adhoc

completed
2026-09-22T19:05:53.678571+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
251.9 s
total steps
255
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: white bowl ahead of left arm, blue bowl/lemon/pear ahead of right arm, dark plum just ahead-right of left gripper. Moving right arm over the pear to grasp it.
move_to
right_x0.3800right_y0.0000right_z0.1300right_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]: [-0.0265, 0.8009, 0.6136, -0.382, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6189, -0.3866, -0.0227, -0.012, 0.9994] state[eef_state]: left_x=0.2961 left_y=-0.0017 left_z=0.182 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=0.0009 right_z=0.1837 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9994 state[joint_eff]: [0.0342, -1.7983, 9.5658, 1.8242, -0.0708, 0.1441, -0.0855, -0.2803, -1.7983, 9.1419, 1.8681, -0.0171, -0.0806, -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": 0.38, "right_y": 0.0, "right_z": 0.13, "right_gripper": 1.0}, "note": "Scene: white bowl ahead of left arm, blue bowl/lemon/pear ahead of right arm, dark plum just ahead-right of left gripper. Moving right arm over the pear to grasp it."})
tool
executing move_to over 7 steps (0.7s)
step 7
top_cam
camera top_cam step 7
left_cam
camera left_cam step 7
right_cam
camera right_cam step 7
assistant
agent notePear sits just ahead and slightly left of the jaws in the wrist view. Advancing 2 cm, shifting 1 cm left and descending to grasp height.
move_to
right_x0.4000right_y0.0100right_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]: [-0.0265, 0.8059, 0.6132, -0.3866, -0.0139, -0.0307, 0.9993, -0.0196, 1.2755, 0.5964, 0.0521, -0.0231, -0.012, 0.9994] state[eef_state]: left_x=0.2958 left_y=-0.0018 left_z=0.1796 left_yaw=0.0003 left_pitch=-0.0099 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3715 right_y=0.0004 right_z=0.1128 right_yaw=0.0031 right_pitch=-0.0584 right_roll=0.0013 right_gripper=0.9994 state[joint_eff]: [-0.1162, -1.5248, 7.1179, 1.7558, -0.0317, -0.0464, -0.0171, 0.1299, -5.3265, 7.8838, 2.0293, 0.0122, -0.0024, -0.0708] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.01, "right_z": 0.03}, "note": "Pear sits just ahead and slightly left of the jaws in the wrist view. Advancing 2 cm, shifting 1 cm left and descending to grasp height."})
tool
executing move_to over 6 steps (0.6s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
Pear between jaws. Closing.
agent notePear body fills the space between the jaws. Closing the gripper to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0265, 0.8124, 0.6132, -0.4007, -0.0135, -0.0307, 0.9993, 0.0189, 1.6787, 0.5144, 0.4976, -0.0044, -0.0082, 0.9994] state[eef_state]: left_x=0.2943 left_y=-0.0018 left_z=0.1749 left_yaw=-0.0 left_pitch=-0.0305 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3943 right_y=0.0118 right_z=0.0208 right_yaw=0.0238 right_pitch=-0.0982 right_roll=-0.0064 right_gripper=0.9994 state[joint_eff]: [-0.0342, -1.7436, 7.1316, 1.8877, -0.0269, -0.0415, -0.0122, -0.2256, -7.1316, 4.9436, 1.9707, 0.0659, 0.1148, -0.0122] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
Pear between jaws. Closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear body fills the space between the jaws. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteGripper settled at 0.73 (~7 cm), pear is held. Lifting it clear before carrying to the blue bowl.
move_to
right_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]: [-0.0265, 0.8127, 0.6132, -0.4084, -0.0135, -0.0307, 0.9993, 0.0185, 1.6787, 0.5144, 0.4961, -0.0082, -0.0113, 0.7299] state[eef_state]: left_x=0.2932 left_y=-0.0018 left_z=0.1732 left_yaw=-0.0 left_pitch=-0.0385 left_roll=-0.0004 left_gripper=0.9993 right_x=0.394 right_y=0.0123 right_z=0.0205 right_yaw=0.0283 right_pitch=-0.0997 right_roll=-0.0064 right_gripper=0.7299 state[joint_eff]: [-0.1026, -1.3333, 7.0085, 1.8095, -0.022, -0.0562, -0.0122, -0.3214, -6.5436, 4.8479, 1.6825, 0.0024, -0.0317, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18}, "note": "Gripper settled at 0.73 (~7 cm), pear is held. Lifting it clear before carrying to the blue bowl."})
tool
executing move_to over 11 steps (1.1s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent notePear lifted; blue bowl is ahead-left of the right gripper. Carrying the pear over the blue bowl.
move_to
right_x0.4700right_y0.1000right_z0.1900
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]: [-0.0265, 0.8127, 0.6132, -0.4168, -0.0139, -0.0307, 0.9993, 0.0177, 1.3293, 0.8986, -0.3199, -0.0154, -0.0124, 0.7299] state[eef_state]: left_x=0.292 left_y=-0.0017 left_z=0.1715 left_yaw=0.0003 left_pitch=-0.0469 left_roll=0.0001 left_gripper=0.9993 right_x=0.3849 right_y=0.0131 right_z=0.1525 right_yaw=0.0345 right_pitch=-0.182 right_roll=-0.0014 right_gripper=0.7299 state[joint_eff]: [-0.1162, -1.3197, 7.0906, 1.8388, -0.0269, -0.0757, -0.0122, -0.294, -7.3231, 9.2786, 1.8242, 0.0073, -0.0366, 1.0281] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.1, "right_z": 0.19}, "note": "Pear lifted; blue bowl is ahead-left of the right gripper. Carrying the pear over the blue bowl."})
tool
executing move_to over 8 steps (0.8s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent notePear is roughly over the blue bowl (bowl rim visible just behind/left of the pear). Nudging left and lowering into the bowl.
move_to
right_y0.1200right_z0.1100
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]: [-0.0265, 0.8143, 0.6132, -0.4236, -0.0139, -0.0311, 0.9993, 0.2638, 1.6966, 1.3582, -0.4984, 0.1452, 0.1246, 0.7355] state[eef_state]: left_x=0.2911 left_y=-0.0017 left_z=0.1697 left_yaw=0.0005 left_pitch=-0.0553 left_roll=0.0 left_gripper=0.9993 right_x=0.4578 right_y=0.1009 right_z=0.1675 right_yaw=0.0648 right_pitch=-0.2569 right_roll=-0.0273 right_gripper=0.7355 state[joint_eff]: [-0.0615, -1.306, 6.9949, 1.7705, -0.0806, -0.0757, -0.0122, -0.5128, -9.0051, 9.4701, 1.8437, 0.1978, 0.2222, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.12, "right_z": 0.11}, "note": "Pear is roughly over the blue bowl (bowl rim visible just behind/left of the pear). Nudging left and lowering into the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent notePear is over the blue bowl's interior. Lowering slightly and opening to drop it in.
move_to
right_x0.4600right_z0.0900right_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]: [-0.0265, 0.8143, 0.6132, -0.4244, -0.0135, -0.0307, 0.9993, 0.3122, 1.7645, 1.2007, -0.3321, 0.1638, 0.1429, 0.7404] state[eef_state]: left_x=0.291 left_y=-0.0017 left_z=0.1696 left_yaw=0.0 left_pitch=-0.0561 left_roll=0.0001 left_gripper=0.9993 right_x=0.4481 right_y=0.1181 right_z=0.1002 right_yaw=0.0831 right_pitch=-0.3114 right_roll=-0.0423 right_gripper=0.7404 state[joint_eff]: [0.0068, -1.3744, 7.2, 1.6679, -0.0122, -0.0317, -0.0171, 0.2803, -9.0598, 6.8034, 1.8584, 0.1832, 0.1294, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_z": 0.09, "right_gripper": 1.0}, "note": "Pear is over the blue bowl's interior. Lowering slightly and opening to drop it in."})
tool
executing move_to over 3 steps (0.3s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent notePear is now in the blue bowl. Moving the right arm above the lemon, which lies left of where the pear was.
move_to
right_x0.3700right_y0.1500right_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]: [-0.0265, 0.8143, 0.6132, -0.4244, -0.0139, -0.0307, 0.9993, 0.3122, 1.7645, 1.2007, -0.3161, 0.1638, 0.149, 0.9959] state[eef_state]: left_x=0.291 left_y=-0.0017 left_z=0.1696 left_yaw=0.0003 left_pitch=-0.0561 left_roll=0.0003 left_gripper=0.9993 right_x=0.451 right_y=0.1191 right_z=0.1027 right_yaw=0.0808 right_pitch=-0.2957 right_roll=-0.0344 right_gripper=0.9959 state[joint_eff]: [-0.1026, -1.3333, 6.9949, 1.6874, -0.0562, -0.0415, -0.0122, -0.0615, -8.8821, 6.8718, 1.7411, 0.1441, 0.1001, -0.0024] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.15, "right_z": 0.12}, "note": "Pear is now in the blue bowl. Moving the right arm above the lemon, which lies left of where the pear was."})
tool
executing move_to over 7 steps (0.7s)
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 noteThe arm did not move on the last command (still over the bowl). Raising straight up first to clear the pear and bowl.
move_to
right_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]: [-0.0265, 0.8143, 0.6132, -0.4244, -0.0139, -0.0307, 0.9993, 0.3122, 1.7645, 1.2007, -0.3141, 0.1638, 0.1493, 0.9966] state[eef_state]: left_x=0.291 left_y=-0.0017 left_z=0.1696 left_yaw=0.0003 left_pitch=-0.0561 left_roll=0.0003 left_gripper=0.9993 right_x=0.4513 right_y=0.1192 right_z=0.103 right_yaw=0.0807 right_pitch=-0.2938 right_roll=-0.0336 right_gripper=0.9966 state[joint_eff]: [-0.1299, -1.3197, 6.9949, 1.6825, -0.0659, -0.0562, -0.0171, 0.0752, -9.0872, 6.8855, 1.7118, 0.1929, 0.1148, 0.0611] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18}, "note": "The arm did not move on the last command (still over the bowl). Raising straight up first to clear the pear and bowl."})
tool
executing move_to over 5 steps (0.5s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent notePear sits in the blue bowl; lemon is just in front-left of the bowl. Moving above the lemon.
move_to
right_x0.3700right_y0.1700right_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]: [-0.0265, 0.8173, 0.6132, -0.4252, -0.0135, -0.0307, 0.9993, 0.3138, 1.7168, 1.4139, -0.551, 0.16, 0.1459, 0.9966] state[eef_state]: left_x=0.2911 left_y=-0.0017 left_z=0.1686 left_yaw=0.0 left_pitch=-0.0599 left_roll=0.0002 left_gripper=0.9993 right_x=0.4554 right_y=0.122 right_z=0.1732 right_yaw=0.089 right_pitch=-0.2711 right_roll=-0.0274 right_gripper=0.9966 state[joint_eff]: [-0.0615, -1.5795, 7.1863, 1.6874, -0.0513, -0.022, -0.0122, -0.2803, -8.7726, 8.3897, 1.3016, 0.0855, -0.0171, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.17, "right_z": 0.12}, "note": "Pear sits in the blue bowl; lemon is just in front-left of the bowl. Moving above the lemon."})
tool
executing move_to over 7 steps (0.7s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteLemon appears left of the jaw column in the wrist view (~4-5 cm). Shifting left over it before descending.
move_to
right_x0.3800right_y0.2100right_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]: [-0.0265, 0.8192, 0.6132, -0.4274, -0.0135, -0.0307, 0.9993, 0.5396, 1.5715, 1.0424, -0.4221, 0.279, 0.2897, 0.9966] state[eef_state]: left_x=0.2909 left_y=-0.0017 left_z=0.1676 left_yaw=0.0 left_pitch=-0.0641 left_roll=0.0003 left_gripper=0.9993 right_x=0.3674 right_y=0.1675 right_z=0.109 right_yaw=0.1227 right_pitch=-0.3314 right_roll=-0.0552 right_gripper=0.9966 state[joint_eff]: [-0.0479, -1.5385, 6.9949, 1.6777, -0.022, -0.0659, -0.0171, 0.1436, -8.5812, 6.8581, 1.7802, 0.3101, 0.0855, -0.0122] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.21, "right_z": 0.1}, "note": "Lemon appears left of the jaw column in the wrist view (~4-5 cm). Shifting left over it before descending."})
tool
executing move_to over 4 steps (0.4s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteLemon now nearly on the jaw column, lying lengthwise toward the arm so the jaws close across its width. Advancing slightly and descending to grasp height.
move_to
right_x0.3900right_y0.2150right_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]: [-0.0265, 0.8211, 0.6132, -0.4305, -0.0139, -0.0307, 0.9993, 0.6209, 1.702, 1.1252, -0.4267, 0.308, 0.3382, 0.9966] state[eef_state]: left_x=0.2905 left_y=-0.0017 left_z=0.1665 left_yaw=0.0004 left_pitch=-0.069 left_roll=0.0007 left_gripper=0.9993 right_x=0.3713 right_y=0.2041 right_z=0.0895 right_yaw=0.1439 right_pitch=-0.3667 right_roll=-0.071 right_gripper=0.9966 state[joint_eff]: [-0.1299, -1.4154, 6.9949, 1.6874, -0.0562, -0.0659, -0.0122, 0.2393, -8.212, 8.7316, 1.2967, 0.2906, 0.1001, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.215, "right_z": 0.02}, "note": "Lemon now nearly on the jaw column, lying lengthwise toward the arm so the jaws close across its width. Advancing slightly and descending to grasp height."})
tool
executing move_to over 5 steps (0.5s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteLast command was held (no descent). Trying a pure vertical descent onto the lemon.
move_to
right_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]: [-0.0265, 0.8211, 0.6132, -0.4313, -0.0139, -0.0307, 0.9993, 0.6319, 1.7149, 1.1358, -0.4343, 0.3107, 0.3523, 0.9966] state[eef_state]: left_x=0.2904 left_y=-0.0017 left_z=0.1664 left_yaw=0.0004 left_pitch=-0.0698 left_roll=0.0007 left_gripper=0.9993 right_x=0.3702 right_y=0.2085 right_z=0.0873 right_yaw=0.1428 right_pitch=-0.3739 right_roll=-0.0691 right_gripper=0.9966 state[joint_eff]: [-0.0205, -1.1419, 6.9949, 1.6923, -0.0366, -0.0757, -0.0171, -0.3624, -8.5128, 8.4171, 1.3358, 0.2662, 0.1099, -0.0073] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03}, "note": "Last command was held (no descent). Trying a pure vertical descent onto the lemon."})
tool
executing move_to over 4 steps (0.4s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteArm is holding still and has drifted to pitch -0.37. Explicitly commanding a neutral orientation along with the descent to unstick the IK.
move_to
right_z0.0500right_pitch0.0000right_yaw0.0000right_roll0.0000right_x0.3800
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]: [-0.0265, 0.8211, 0.6132, -0.4313, -0.0135, -0.0307, 0.9993, 0.6319, 1.7149, 1.1358, -0.4343, 0.3111, 0.3523, 0.9966] state[eef_state]: left_x=0.2904 left_y=-0.0017 left_z=0.1664 left_yaw=0.0 left_pitch=-0.0698 left_roll=0.0005 left_gripper=0.9993 right_x=0.3702 right_y=0.2084 right_z=0.0874 right_yaw=0.1425 right_pitch=-0.3738 right_roll=-0.0694 right_gripper=0.9966 state[joint_eff]: [-0.1436, -1.2239, 6.9949, 1.6923, -0.022, -0.0611, -0.0122, -0.4581, -8.294, 8.5812, 1.326, 0.2906, 0.1197, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.05, "right_pitch": 0.0, "right_yaw": 0.0, "right_roll": 0.0, "right_x": 0.38}, "note": "Arm is holding still and has drifted to pitch -0.37. Explicitly commanding a neutral orientation along with the descent to unstick the IK."})
tool
executing move_to over 13 steps (1.3s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteDescent works with neutral orientation; lemon is just ahead and slightly left of the jaws. Final small adjust and descend to grasp height.
move_to
right_z0.0150right_y0.2150right_x0.3850right_pitch0.0000right_yaw0.0000right_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]: [-0.0269, 0.8211, 0.6132, -0.4343, -0.0139, -0.0307, 0.9992, 0.7158, 1.7844, 0.7807, 0.2344, 0.5457, 0.4221, 0.9966] state[eef_state]: left_x=0.29 left_y=-0.0018 left_z=0.1657 left_yaw=-0.0 left_pitch=-0.0729 left_roll=0.0008 left_gripper=0.9992 right_x=0.3725 right_y=0.2072 right_z=0.042 right_yaw=0.0344 right_pitch=-0.0686 right_roll=-0.0376 right_gripper=0.9966 state[joint_eff]: [-0.1846, -1.3744, 7.1316, 1.7265, -0.0757, -0.0708, -0.0122, 0.335, -7.3368, 5.2581, 1.6972, 0.3492, 0.0855, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.015, "right_y": 0.215, "right_x": 0.385, "right_pitch": 0.0, "right_yaw": 0.0, "right_roll": 0.0}, "note": "Descent works with neutral orientation; lemon is just ahead and slightly left of the jaws. Final small adjust and descend to grasp height."})
tool
executing move_to over 3 steps (0.3s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteLemon is between the jaws at table level. Closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0265, 0.823, 0.6132, -0.4355, -0.0135, -0.0307, 0.9993, 0.7181, 1.9198, 0.7727, 0.3927, 0.5713, 0.4278, 0.9966] state[eef_state]: left_x=0.2899 left_y=-0.0017 left_z=0.165 left_yaw=0.0001 left_pitch=-0.0759 left_roll=0.0006 left_gripper=0.9993 right_x=0.3806 right_y=0.2105 right_z=0.0118 right_yaw=0.0149 right_pitch=-0.0458 right_roll=-0.0371 right_gripper=0.9966 state[joint_eff]: [-0.1436, -1.1556, 7.159, 1.6825, -0.0122, -0.0659, -0.0073, 0.4855, -9.6205, 4.465, 1.7998, 0.3053, 0.1294, -0.0073] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon is between the jaws at table level. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteLemon grasped (reading 0.39 ≈ 3.7 cm). Lifting it clear of the bowl rim.
move_to
right_z0.1800right_pitch0.0000right_yaw0.0000right_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]: [-0.0265, 0.8249, 0.6132, -0.4419, -0.0139, -0.0307, 0.9993, 0.7238, 1.9476, 0.7677, 0.4477, 0.572, 0.4377, 0.3906] state[eef_state]: left_x=0.289 left_y=-0.0016 left_z=0.1632 left_yaw=0.0004 left_pitch=-0.0843 left_roll=0.0011 left_gripper=0.9993 right_x=0.3821 right_y=0.2149 right_z=0.0078 right_yaw=0.0152 right_pitch=-0.0285 right_roll=-0.0149 right_gripper=0.3906 state[joint_eff]: [-0.0889, -1.4974, 6.9812, 1.707, -0.0317, -0.0366, -0.0171, 0.0479, -9.1419, 4.5333, 1.7314, 0.3346, -0.0073, 0.9255] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18, "right_pitch": 0.0, "right_yaw": 0.0, "right_roll": 0.0}, "note": "Lemon grasped (reading 0.39 \u2248 3.7 cm). Lifting it clear of the bowl rim."})
tool
executing move_to over 12 steps (1.2s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteLemon held; blue bowl with the pear is ahead-right in the wrist view. Carrying the lemon over the bowl's left half.
move_to
right_x0.4500right_y0.1400right_z0.1700right_pitch0.0000right_yaw0.0000right_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]: [-0.0265, 0.8257, 0.6132, -0.4465, -0.0139, -0.0307, 0.9993, 0.7307, 1.5948, 1.0584, -0.1963, 0.5724, 0.4377, 0.3931] state[eef_state]: left_x=0.2884 left_y=-0.0016 left_z=0.1621 left_yaw=0.0004 left_pitch=-0.0896 left_roll=0.0012 left_gripper=0.9993 right_x=0.3818 right_y=0.2185 right_z=0.1563 right_yaw=0.0218 right_pitch=-0.0286 right_roll=-0.0154 right_gripper=0.3931 state[joint_eff]: [-0.0068, -1.1829, 6.9812, 1.6777, -0.0464, -0.0659, -0.0171, 0.2393, -9.6615, 8.9915, 1.6044, 0.4322, 0.0611, 0.2564] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.14, "right_z": 0.17, "right_pitch": 0.0, "right_yaw": 0.0, "right_roll": 0.0}, "note": "Lemon held; blue bowl with the pear is ahead-right in the wrist view. Carrying the lemon over the bowl's left half."})
tool
executing move_to over 7 steps (0.7s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteLemon is directly over the blue bowl (bowl rim visible under it). Lowering before release.
move_to
right_z0.1000right_pitch0.0000right_yaw0.0000right_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]: [-0.0265, 0.831, 0.6132, -0.4561, -0.0139, -0.0307, 0.9993, 0.4416, 1.6073, 1.0603, -0.1349, 0.3767, 0.2596, 0.3962] state[eef_state]: left_x=0.2872 left_y=-0.0016 left_z=0.1588 left_yaw=0.0004 left_pitch=-0.1045 left_roll=0.0016 left_gripper=0.9993 right_x=0.435 right_y=0.1377 right_z=0.1521 right_yaw=-0.0164 right_pitch=-0.0579 right_roll=-0.0273 right_gripper=0.3962 state[joint_eff]: [-0.0889, -1.265, 6.9675, 1.8242, -0.0806, -0.0757, -0.0122, -0.1846, -6.8581, 9.5521, 2.127, 0.0806, 0.0562, 0.3101] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1, "right_pitch": 0.0, "right_yaw": 0.0, "right_roll": 0.0}, "note": "Lemon is directly over the blue bowl (bowl rim visible under it). Lowering before release."})
tool
executing move_to over 4 steps (0.4s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteLemon/mango is centred over the blue bowl just above it. Releasing it into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0265, 0.8322, 0.6132, -0.4683, -0.0139, -0.0307, 0.9993, 0.4366, 1.6752, 0.8734, 0.0986, 0.35, 0.2428, 0.3982] state[eef_state]: left_x=0.2853 left_y=-0.0015 left_z=0.1562 left_yaw=0.0005 left_pitch=-0.1178 left_roll=0.002 left_gripper=0.9993 right_x=0.4239 right_y=0.1349 right_z=0.0877 right_yaw=0.0087 right_pitch=-0.0847 right_roll=-0.0346 right_gripper=0.3982 state[joint_eff]: [-0.212, -1.2786, 6.9675, 1.7363, -0.0366, -0.022, -0.0171, -0.1162, -8.0752, 6.8034, 1.7314, 0.1245, 0.0024, 0.2027] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Lemon/mango is centred over the blue bowl just above it. Releasing it into the bowl."})
tool
executing move_to over 7 steps (0.7s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent notePear and lemon are in the blue bowl. The plum is out of right-arm reach, so I'll slide the blue bowl toward the table centre: moving above the bowl's left (+y) rim to grip it.
move_to
right_x0.4400right_y0.2050right_z0.1300right_pitch0.0000right_yaw0.0000right_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]: [-0.0265, 0.8322, 0.6132, -0.4698, -0.0139, -0.0307, 0.9993, 0.4358, 1.6814, 0.8593, 0.0887, 0.3424, 0.2424, 0.9959] state[eef_state]: left_x=0.2851 left_y=-0.0015 left_z=0.1559 left_yaw=0.0005 left_pitch=-0.1194 left_roll=0.002 left_gripper=0.9993 right_x=0.4184 right_y=0.1334 right_z=0.0776 right_yaw=0.0131 right_pitch=-0.1142 right_roll=-0.0428 right_gripper=0.9959 state[joint_eff]: [-0.0479, -1.4291, 6.9538, 1.6581, -0.0415, -0.0415, -0.0171, -0.1026, -8.1436, 7.3231, 1.6825, 0.1245, -0.0122, -0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.205, "right_z": 0.13, "right_pitch": 0.0, "right_yaw": 0.0, "right_roll": 0.0}, "note": "Pear and lemon are in the blue bowl. The plum is out of right-arm reach, so I'll slide the blue bowl toward the table centre: moving above the bowl's left (+y) rim to grip it."})
tool
executing move_to over 6 steps (0.6s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe bowl's left rim runs under the jaw column in the wrist view. Descending so the jaws straddle the rim wall.
move_to
right_z0.0300right_pitch0.0000right_yaw0.0000right_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]: [-0.0265, 0.8322, 0.6132, -0.4759, -0.0139, -0.0307, 0.9993, 0.5949, 1.7496, 1.058, 0.0082, 0.4473, 0.3183, 0.9966] state[eef_state]: left_x=0.2841 left_y=-0.0015 left_z=0.1547 left_yaw=0.0005 left_pitch=-0.1255 left_roll=0.0022 left_gripper=0.9993 right_x=0.4316 right_y=0.2042 right_z=0.1171 right_yaw=0.0486 right_pitch=-0.0373 right_roll=-0.0191 right_gripper=0.9966 state[joint_eff]: [0.0068, -1.4291, 7.241, 1.6972, -0.0415, -0.0073, -0.0122, 0.2803, -7.9795, 8.6085, 1.5751, 0.4078, 0.1783, 0.0562] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03, "right_pitch": 0.0, "right_yaw": 0.0, "right_roll": 0.0}, "note": "The bowl's left rim runs under the jaw column in the wrist view. Descending so the jaws straddle the rim wall."})
tool
executing move_to over 6 steps (0.6s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteDescent stopped at z 0.06, probably a finger resting on the rim; the rim wall sits just right of the jaw column. Shifting 1.4 cm right and descending again.
move_to
right_y0.1950right_z0.0300right_pitch0.0000right_yaw0.0000right_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]: [-0.0265, 0.8326, 0.6132, -0.4763, -0.0135, -0.0307, 0.9993, 0.6155, 1.9209, 0.9337, 0.3794, 0.5121, 0.3302, 0.9966] state[eef_state]: left_x=0.2841 left_y=-0.0016 left_z=0.1546 left_yaw=0.0002 left_pitch=-0.1262 left_roll=0.002 left_gripper=0.9993 right_x=0.4396 right_y=0.2092 right_z=0.0608 right_yaw=0.011 right_pitch=0.0473 right_roll=-0.0008 right_gripper=0.9966 state[joint_eff]: [-0.1026, -1.3197, 7.0632, 1.6337, -0.0513, -0.0708, -0.0122, -0.0068, -7.1726, 3.8496, 1.5263, 0.2076, 0.1197, -0.0073] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.195, "right_z": 0.03, "right_pitch": 0.0, "right_yaw": 0.0, "right_roll": 0.0}, "note": "Descent stopped at z 0.06, probably a finger resting on the rim; the rim wall sits just right of the jaw column. Shifting 1.4 cm right and descending again."})
tool
executing move_to over 2 steps (0.2s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe bowl's rim wall is now between the jaws at z 0.025. 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]: [-0.0265, 0.8322, 0.6132, -0.4763, -0.0135, -0.0307, 0.9993, 0.6029, 1.977, 0.897, 0.4015, 0.4862, 0.3325, 0.9966] state[eef_state]: left_x=0.2841 left_y=-0.0016 left_z=0.1547 left_yaw=0.0002 left_pitch=-0.1259 left_roll=0.002 left_gripper=0.9993 right_x=0.4311 right_y=0.2009 right_z=0.0249 right_yaw=0.0183 right_pitch=-0.0199 right_roll=-0.0255 right_gripper=0.9966 state[joint_eff]: [-0.0479, -1.2376, 6.9402, 1.6142, -0.0562, -0.0366, -0.0122, -1.5521, -9.4838, 5.7778, 1.8926, 0.1343, 0.188, -0.0073] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The bowl's rim wall is now between the jaws at z 0.025. Closing to pinch the rim."})
tool
executing move_to over 10 steps (1.0s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteGripper closed to 0.011 on the thin bowl wall (could be a thin-rim pinch). Sliding the bowl left toward the table centre along the table; will check it follows.
move_to
right_y0.4000right_z0.0350right_pitch0.0000right_yaw0.0000right_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]: [-0.0265, 0.8322, 0.6132, -0.4759, -0.0139, -0.0307, 0.9993, 0.5812, 1.977, 0.8982, 0.4206, 0.4694, 0.329, 0.0114] state[eef_state]: left_x=0.2841 left_y=-0.0015 left_z=0.1547 left_yaw=0.0005 left_pitch=-0.1255 left_roll=0.0022 left_gripper=0.9993 right_x=0.4373 right_y=0.196 right_z=0.0278 right_yaw=0.0118 right_pitch=-0.0086 right_roll=-0.0086 right_gripper=0.0114 state[joint_eff]: [-0.0205, -1.347, 7.159, 1.6532, -0.0317, -0.0708, -0.0122, -0.1299, -9.4974, 5.5179, 1.6777, 0.3199, 0.0855, 1.0232] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.4, "right_z": 0.035, "right_pitch": 0.0, "right_yaw": 0.0, "right_roll": 0.0}, "note": "Gripper closed to 0.011 on the thin bowl wall (could be a thin-rim pinch). Sliding the bowl left toward the table centre along the table; will check it follows."})
tool
executing move_to over 18 steps (1.8s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
assistant
agent noteThe rim pinch was empty; the bowl stayed put. New approach: position the closed gripper on the bowl's right side so I can push it left toward the table centre.
move_to
right_x0.4500right_y0.0300right_z0.1200right_pitch0.0000right_yaw0.0000right_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]: [-0.0265, 0.836, 0.6132, -0.4767, -0.0139, -0.0307, 0.9993, 0.9337, 2.389, 1.6886, -0.1078, 0.7086, 0.5961, 0.0127] state[eef_state]: left_x=0.2842 left_y=-0.0015 left_z=0.1536 left_yaw=0.0005 left_pitch=-0.1301 left_roll=0.0023 left_gripper=0.9993 right_x=0.4345 right_y=0.3998 right_z=0.0329 right_yaw=0.039 right_pitch=-0.0127 right_roll=-0.0039 right_gripper=0.0127 state[joint_eff]: [-0.0342, -1.7162, 6.9675, 1.6288, -0.0269, -0.0269, -0.0171, 0.1709, -12.7521, 7.6513, 1.2088, 0.569, 0.1783, 0.9597] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.03, "right_z": 0.12, "right_pitch": 0.0, "right_yaw": 0.0, "right_roll": 0.0}, "note": "The rim pinch was empty; the bowl stayed put. New approach: position the closed gripper on the bowl's right side so I can push it left toward the table centre."})
tool
executing move_to over 31 steps (3.1s)
step 210
assistant
agent noteOverhead view shows the lemon ended up on the table in front of the blue bowl (only the pear is in it). Moving the open gripper above the lemon to regrasp it.
move_to
right_x0.3100right_y0.1000right_z0.0800right_gripper1.0000right_pitch0.0000right_yaw0.0000right_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]: [-0.0265, 0.8398, 0.6132, -0.4767, -0.0135, -0.0307, 0.9993, 0.1001, 1.6196, 0.8375, 0.1783, 0.0978, 0.0635, 0.0149] state[eef_state]: left_x=0.2843 left_y=-0.0016 left_z=0.1526 left_yaw=0.0002 left_pitch=-0.1339 left_roll=0.0022 left_gripper=0.9993 right_x=0.4506 right_y=0.0315 right_z=0.1062 right_yaw=-0.0197 right_pitch=-0.032 right_roll=-0.0055 right_gripper=0.0149 state[joint_eff]: [-0.1299, -1.7709, 7.0359, 1.5995, -0.0415, -0.0708, -0.0122, -0.1709, -9.9487, 5.9419, 1.7851, -0.0317, -0.0269, 0.696] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.31, "right_y": 0.1, "right_z": 0.08, "right_gripper": 1.0, "right_pitch": 0.0, "right_yaw": 0.0, "right_roll": 0.0}, "note": "Overhead view shows the lemon ended up on the table in front of the blue bowl (only the pear is in it). Moving the open gripper above the lemon to regrasp it."})
tool
executing move_to over 11 steps (1.1s)
step 221
assistant
agent noteLemon is at the bottom edge of the wrist view on the jaw column, i.e. right under the fingertips. Descending to grasp it.
move_to
right_x0.3050right_z0.0150right_pitch0.0000right_yaw0.0000right_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]: [-0.0265, 0.8455, 0.6132, -0.49, -0.0139, -0.0307, 0.9993, 0.5106, 1.2221, 0.3767, 0.2031, 0.3782, 0.2584, 0.9956] state[eef_state]: left_x=0.2824 left_y=-0.0014 left_z=0.1486 left_yaw=0.0006 left_pitch=-0.1529 left_roll=0.003 left_gripper=0.9993 right_x=0.3136 right_y=0.105 right_z=0.0765 right_yaw=0.0527 right_pitch=-0.0219 right_roll=-0.0115 right_gripper=0.9956 state[joint_eff]: [-0.1846, -1.5521, 7.0222, 1.8144, -0.0513, -0.0366, -0.0171, 0.1709, -3.9863, 6.2427, 1.746, 0.3101, 0.2271, 0.0513] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.305, "right_z": 0.015, "right_pitch": 0.0, "right_yaw": 0.0, "right_roll": 0.0}, "note": "Lemon is at the bottom edge of the wrist view on the jaw column, i.e. right under the fingertips. Descending to grasp it."})
tool
executing move_to over 4 steps (0.4s)
step 225
assistant
agent noteThe lemon fills the gap between the jaws at table level. Closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0265, 0.8474, 0.6132, -0.4942, -0.0135, -0.0307, 0.9993, 0.5621, 1.5196, 0.2283, 0.5377, 0.4431, 0.3153, 0.9959] state[eef_state]: left_x=0.2818 left_y=-0.0015 left_z=0.1473 left_yaw=0.0003 left_pitch=-0.159 left_roll=0.0029 left_gripper=0.9993 right_x=0.2917 right_y=0.0985 right_z=-0.0003 right_yaw=0.0183 right_pitch=-0.0988 right_roll=-0.0557 right_gripper=0.9959 state[joint_eff]: [-0.3214, -1.5932, 7.0632, 1.6239, -0.022, -0.0611, -0.0171, 0.3761, -4.3966, 4.0957, 0.9109, 0.2222, 0.0366, -0.0269] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The lemon fills the gap between the jaws at table level. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 235
assistant
agent noteLemon grasped (0.61 ≈ 5.8 cm). Carrying it up and over the blue bowl, which holds the pear.
move_to
right_x0.4500right_y0.1300right_z0.1700right_pitch0.0000right_yaw0.0000right_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]: [-0.0265, 0.8474, 0.6132, -0.4942, -0.0139, -0.0307, 0.9993, 0.5674, 1.5513, 0.223, 0.6548, 0.4526, 0.3233, 0.6132] state[eef_state]: left_x=0.2818 left_y=-0.0014 left_z=0.1473 left_yaw=0.0006 left_pitch=-0.159 left_roll=0.0031 left_gripper=0.9993 right_x=0.3018 right_y=0.105 right_z=0.0099 right_yaw=0.0144 right_pitch=-0.0271 right_roll=-0.0127 right_gripper=0.6132 state[joint_eff]: [-0.0342, -1.4564, 7.159, 1.5702, -0.0611, -0.0757, -0.0122, 0.0889, -4.4376, 4.3009, 1.8388, 0.2906, 0.0611, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.13, "right_z": 0.17, "right_pitch": 0.0, "right_yaw": 0.0, "right_roll": 0.0}, "note": "Lemon grasped (0.61 \u2248 5.8 cm). Carrying it up and over the blue bowl, which holds the pear."})
tool
executing move_to over 12 steps (1.2s)
step 247
assistant
agent noteBlue bowl with the pear is just ahead of the held lemon in the wrist view. Advancing 2 cm and lowering over the bowl centre.
move_to
right_x0.4650right_y0.1250right_z0.1200right_pitch0.0000right_yaw0.0000right_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]: [-0.0265, 0.8516, 0.6132, -0.495, -0.0139, -0.0307, 0.9993, 0.4011, 1.5917, 1.026, -0.0357, 0.3313, 0.2195, 0.6129] state[eef_state]: left_x=0.2818 left_y=-0.0014 left_z=0.1461 left_yaw=0.0007 left_pitch=-0.164 left_roll=0.0033 left_gripper=0.9993 right_x=0.4447 right_y=0.1301 right_z=0.1613 right_yaw=0.0027 right_pitch=0.0039 right_roll=-0.0023 right_gripper=0.6129 state[joint_eff]: [-0.1573, -1.8393, 6.9402, 1.5653, -0.0415, -0.0513, -0.0122, -0.5949, -7.6513, 8.1983, 1.5604, 0.0562, -0.0122, 0.7595] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.465, "right_y": 0.125, "right_z": 0.12, "right_pitch": 0.0, "right_yaw": 0.0, "right_roll": 0.0}, "note": "Blue bowl with the pear is just ahead of the held lemon in the wrist view. Advancing 2 cm and lowering over the bowl centre."})
tool
executing move_to over 3 steps (0.3s)
step 250
assistant
agent noteLemon is held over the blue bowl on top of the pear. Releasing it into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0265, 0.8528, 0.6132, -0.4953, -0.0135, -0.0307, 0.9993, 0.3706, 1.6993, 1.0069, 0.0509, 0.3084, 0.2153, 0.6144] state[eef_state]: left_x=0.2817 left_y=-0.0015 left_z=0.1457 left_yaw=0.0003 left_pitch=-0.1655 left_roll=0.0031 left_gripper=0.9993 right_x=0.4579 right_y=0.1243 right_z=0.1211 right_yaw=-0.007 right_pitch=-0.0382 right_roll=-0.0087 right_gripper=0.6144 state[joint_eff]: [-0.1846, -1.5932, 7.1043, 1.5946, -0.0415, -0.0366, -0.0171, -0.1983, -9.2376, 5.9966, 1.7949, 0.0269, -0.1978, 0.4127] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Lemon is held over the blue bowl on top of the pear. Releasing it into the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 254
assistant
agent noteI've used almost all of my LLM-call budget, and the task isn't done. The pear and lemon are in the blue bowl, but the lemon rolled out after the first drop and I had to grasp it again; the last wrist image shows it sitting in the bowl. The plum hasn't been moved. It's next to the left arm, and the blue bowl is outside the left arm's y bounds, so I'd need to hand it over or move the bowl first. The bowl also has to reach the centre before the left arm can pour it into the white bowl. That's roughly 10 more calls than I have left.
give_up
hindsight- Positions: the white bowl is about (0.48, -0.02) in the left arm's frame, which is out of the right arm's reach. The blue bowl is about (0.45, 0.13) in the right arm's frame, and the pear and lemon started near it. The plum starts about (0.33, -0.05) in the left arm's frame. Neither arm can reach both bowls, so the whole task needs a hand-off. Plan it from the start and go straight to it: have the right arm push the blue bowl to the table centre first (right y ≈ 0.33). Then the left arm can drop the plum in and do the pour itself. - The IK got stuck twice (targets were held with zero motion) when I sent only position commands after the wrist had drifted in pitch and yaw (pitch -0.37). Sending pitch, yaw and roll as 0 explicitly with every move fixed it right away. Do this on every move. - Pinching the thin rim of the blue bowl with the parallel gripper failed: the gripper closed to 0.011 with nothing in it, and the bowl didn't move when I slid the arm. Try pushing the bowl sideways with the closed gripper at z ≈ 0.03, or grip the rim with the fingers deeper and the rim well centred. - Don't drop a round fruit onto a fruit already in the bowl from about 8 cm up; the lemon rolled out. Release it lower, close to the bowl bottom, beside the first fruit. - Descents onto fruit at z ≈ 0.01–0.02 with the gripper fully open worked on the first try each time. The pear read 0.73 on the gripper and the lemon 0.4–0.6. - The call budget is the real constraint: every calibration or look-around call costs a full step, so combine lift and carry into one move where you can.
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]: [-0.0265, 0.8528, 0.6132, -0.4946, -0.0135, -0.0307, 0.9992, 0.3702, 1.7332, 0.9829, 0.0555, 0.2943, 0.2008, 0.9954] state[eef_state]: left_x=0.2819 left_y=-0.0015 left_z=0.1458 left_yaw=0.0003 left_pitch=-0.1648 left_roll=0.003 left_gripper=0.9992 right_x=0.4522 right_y=0.1244 right_z=0.0964 right_yaw=0.0108 right_pitch=-0.0913 right_roll=-0.0315 right_gripper=0.9954 state[joint_eff]: [-0.0205, -1.5385, 6.9128, 1.5556, -0.0024, -0.0513, -0.0122, 0.0205, -11.1932, 8.3214, 1.7216, 0.1978, 0.1734, 0.0952] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I've used almost all of my LLM-call budget, and the task isn't done. The pear and lemon are in the blue bowl, but the lemon rolled out after the first drop and I had to grasp it again; the last wrist image shows it sitting in the bowl. The plum hasn't been moved. It's next to the left arm, and the blue bowl is outside the left arm's y bounds, so I'd need to hand it over or move the bowl first. The bowl also has to reach the centre before the left arm can pour it into the white bowl. That's roughly 10 more calls than I have left.", "hindsight": "- Positions: the white bowl is about (0.48, -0.02) in the left arm's frame, which is out of the right arm's reach. The blue bowl is about (0.45, 0.13) in the right arm's frame, and the pear and lemon started near it. The plum starts about (0.33, -0.05) in the left arm's frame. Neither arm can reach both bowls, so the whole task needs a hand-off. Plan it from the start and go straight to it: have the right arm push the blue bowl to the table centre first (right y \u2248 0.33). Then the left arm can drop the plum in and do the pour itself.\n- The IK got stuck twice (targets were held with zero motion) when I sent only position commands after the wrist had drifted in pitch and yaw (pitch -0.37). Sending pitch, yaw and roll as 0 explicitly with every move fixed it right away. Do this on every move.\n- Pinching the thin rim of the blue bowl with the parallel gripper failed: the gripper closed to 0.011 with nothing in it, and the bowl didn't move when I slid the arm. Try pushing the bowl sideways with the closed gripper at z \u2248 0.03, or grip the rim with the fingers deeper and the rim well centred.\n- Don't drop a round fruit onto a fruit already in the bowl from about 8 cm up; the lemon rolled out. Release it lower, close to the bowl bottom, beside the first fruit.\n- Descents onto fruit at z \u2248 0.01\u20130.02 with the gripper fully open worked on the first try each time. The pear read 0.73 on the gripper and the lemon 0.4\u20130.6.\n- The call budget is the real constraint: every calibration or look-around call costs a full step, so combine lift and carry into one move where you can."})
tool
give_up: I've used almost all of my LLM-call budget, and the task isn't done. The pear and lemon are in the blue bowl, but the lemon rolled out after the first drop and I had to grasp it again; the last wrist image shows it sitting in the bowl. The plum hasn't been moved. It's next to the left arm, and the blue bowl is outside the left arm's y bounds, so I'd need to hand it over or move the bowl first. The bowl also has to reach the centre before the left arm can pour it into the white bowl. That's roughly 10 more calls than I have left.
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 · 18.29 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]: [-0.0265, 0.8009, 0.6136, -0.382, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6189, -0.3866, -0.0227, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=-0.0017 left_z=0.182 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=0.0009 right_z=0.1837 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -1.7983, 9.5658, 1.8242, -0.0708, 0.1441, -0.0855, -0.2803, -1.7983, 9.1419, 1.8681, -0.0171, -0.0806, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:677abb89f08213911649c9ed1b0fb9e0c71e9d4a31ff9664cf8e4e4d4173b84b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b500acfbb62d655d36a890f940197d90b09e4cdba685ccd0d0b8cbe96e90433",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:54b59c08e33ff8ed19516aec48f01544d9bdea6d012aac7b349a4d77a34ba427",
        "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 · 4.201 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]: [-0.0265, 0.8009, 0.6136, -0.382, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6189, -0.3866, -0.0227, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=-0.0017 left_z=0.182 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=0.0009 right_z=0.1837 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -1.7983, 9.5658, 1.8242, -0.0708, 0.1441, -0.0855, -0.2803, -1.7983, 9.1419, 1.8681, -0.0171, -0.0806, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:677abb89f08213911649c9ed1b0fb9e0c71e9d4a31ff9664cf8e4e4d4173b84b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b500acfbb62d655d36a890f940197d90b09e4cdba685ccd0d0b8cbe96e90433",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54b59c08e33ff8ed19516aec48f01544d9bdea6d012aac7b349a4d77a34ba427",
        "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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TnEjDOsjXGmT3f6M7AiU4i7rf5qOfPkwutE0i+wUb6JEW2oohQ77jtS7wCxE6Q+oMv6UOra3wghIN6r6+Fv6IfQjnMv10HETT2zK6lWh/7JdI6povVtFzET7Tj8B2/240SLMBJRpIXncRvnBCPXMVmwQlR3UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VEaLKYfPTx53UYZ1SDvN8h",
      "input": {
        "note": "Scene: white bowl ahead of left arm, blue bowl/lemon/pear ahead of right arm, dark plum just ahead-right of left gripper. Moving right arm over the pear to grasp it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.38,
          "right_y": 0.0,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01VEaLKYfPTx53UYZ1SDvN8h",
      "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]: [-0.0265, 0.8059, 0.6132, -0.3866, -0.0139, -0.0307, 0.9993, -0.0196, 1.2755, 0.5964, 0.0521, -0.0231, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2958 left_y=-0.0018 left_z=0.1796 left_yaw=0.0003 left_pitch=-0.0099 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3715 right_y=0.0004 right_z=0.1128 right_yaw=0.0031 right_pitch=-0.0584 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -1.5248, 7.1179, 1.7558, -0.0317, -0.0464, -0.0171, 0.1299, -5.3265, 7.8838, 2.0293, 0.0122, -0.0024, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eabafeb315764fa860a93c6c70434d6fb5fe4ed8cbb05193f5cf1b4ed20504f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36577e69f673b2edb859a58cb991826c1a5b84431f023821dfd80f375e07f096",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b09b5cf6882f0bee3e73a76a12230e7e60c4ce93f1d8fcc6c15a14e967c83487",
        "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 · 3.003 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]: [-0.0265, 0.8009, 0.6136, -0.382, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6189, -0.3866, -0.0227, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=-0.0017 left_z=0.182 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=0.0009 right_z=0.1837 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -1.7983, 9.5658, 1.8242, -0.0708, 0.1441, -0.0855, -0.2803, -1.7983, 9.1419, 1.8681, -0.0171, -0.0806, -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]: [-0.0265, 0.8059, 0.6132, -0.3866, -0.0139, -0.0307, 0.9993, -0.0196, 1.2755, 0.5964, 0.0521, -0.0231, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2958 left_y=-0.0018 left_z=0.1796 left_yaw=0.0003 left_pitch=-0.0099 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3715 right_y=0.0004 right_z=0.1128 right_yaw=0.0031 right_pitch=-0.0584 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -1.5248, 7.1179, 1.7558, -0.0317, -0.0464, -0.0171, 0.1299, -5.3265, 7.8838, 2.0293, 0.0122, -0.0024, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eabafeb315764fa860a93c6c70434d6fb5fe4ed8cbb05193f5cf1b4ed20504f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36577e69f673b2edb859a58cb991826c1a5b84431f023821dfd80f375e07f096",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b09b5cf6882f0bee3e73a76a12230e7e60c4ce93f1d8fcc6c15a14e967c83487",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0AYKEAgSGAI4AUIIdGhpbmtpbmcSDFxFTcGie4iFh+tlkRoMHHNPYGarOP5Fns61IjDSPAmPj0+j1jT9kf5EdMLgCLkxE0kqxKRMK4Z/Cb1fn6qrNjKDq0Hb/tv8BMwuSnkq7QX5mVJ7x6eoZxfVisneI/chFuqfN9QeZq4YbL9MwoEIZ00lvUomQ1Va0rznHEqrbtV0shLFOV3D/Hs+amleHbRJUWcddOnRjPwToWDYrWkCg7cXhV7EYNrY/OqClCUkAvpEmUQjlEC0aPC8XPDPnfCIjXAcaeFdDL7eGMAtUFYhxORIl1r9TYpr6fRBT+4/OL+olsZcuFQCOwj9xWg4TSyGyItFytKXRyrobr62FR/9Vwge4gS6/0mKuZw2Aj9mu1tOYVRhPrEVarBxS1u38Bj6HnidbmdMwN2wjAlgnTZ9le7UBT3XJREGzoxPxb0af0hjd3Z2Lvhtq2yfD4Wke/TMw6CYwKvjNZFrgL1ngn9XVlJTQyV3jSisDV3kKw6Eron2JbXFG/vC8FH+hAKRIInXObVpi00A9Ro9PipP4d8H3yuF4IZzWOIHKjOxomfhUeNKVDmB81jecYafHZV4mFMOvQZi631Um0mb1eonnQ8E7J1ba6YTwyOry0QrIAT6R/la3fwFesQg/Bal8t8UoN+Eo1qKAlsVGBOXQLoJOng69eZnHLrJkCMlmZtu/ksVSd0UBHZEj5QepqrlKRJ2Q4vx+pA2H0hojbijNE6KnOWpugPkk6c4TCj9zx6vis1oKz2Y1q0bNTgRmcG0pvfeDnD4ruA8PbwnAF621FtQBgWgcRkBVSzpbcdT2BGCmlWVa66lKxduMCgQ77uD8X9KSs/B2+ZViYRyNw5eH2vT6v/6o1bg4IFKU6zVFkhPK06uyUP51bZjsqJOFLyvMfRWcDkhhIqwpdZurSwy46/c/y/p19xv+ftc/S6wKZb8yxI4q02dGtF1u4re2gKQH2fJpRl3SLtQvYzNVIzkdWMMZ/e7fkK17HjCChg5xRKmo/CMZraOnaoIarUfcziHEV4m2tCTWcG7Xe0sT4pm/gLewrzQ8KRnhWd7oXE07ngb/sVRkzT4l+LXzUCe1nOveNGf4ikqHYQYaPo8DhF6/L9cIRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A6ncom2E3gXFdktVhMvq7D",
      "input": {
        "note": "Pear sits just ahead and slightly left of the jaws in the wrist view. Advancing 2 cm, shifting 1 cm left and descending to grasp height.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.01,
          "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_01A6ncom2E3gXFdktVhMvq7D",
      "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]: [-0.0265, 0.8124, 0.6132, -0.4007, -0.0135, -0.0307, 0.9993, 0.0189, 1.6787, 0.5144, 0.4976, -0.0044, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.2943 left_y=-0.0018 left_z=0.1749 left_yaw=-0.0 left_pitch=-0.0305 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3943 right_y=0.0118 right_z=0.0208 right_yaw=0.0238 right_pitch=-0.0982 right_roll=-0.0064 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -1.7436, 7.1316, 1.8877, -0.0269, -0.0415, -0.0122, -0.2256, -7.1316, 4.9436, 1.9707, 0.0659, 0.1148, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:640590f26bcb1746a22646fd31992e96df9b3f0ee9cedc980d6639f3f1276d5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:743079ffad93f505af8fc37bced5bf846a6cd134afca502e11e6783c62574862",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e3958920074f7f2635e1ef94ed1da71029ed8dad798bc341cd30e375659d10ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 4.164 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]: [-0.0265, 0.8009, 0.6136, -0.382, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6189, -0.3866, -0.0227, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=-0.0017 left_z=0.182 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=0.0009 right_z=0.1837 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -1.7983, 9.5658, 1.8242, -0.0708, 0.1441, -0.0855, -0.2803, -1.7983, 9.1419, 1.8681, -0.0171, -0.0806, -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]: [-0.0265, 0.8059, 0.6132, -0.3866, -0.0139, -0.0307, 0.9993, -0.0196, 1.2755, 0.5964, 0.0521, -0.0231, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2958 left_y=-0.0018 left_z=0.1796 left_yaw=0.0003 left_pitch=-0.0099 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3715 right_y=0.0004 right_z=0.1128 right_yaw=0.0031 right_pitch=-0.0584 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -1.5248, 7.1179, 1.7558, -0.0317, -0.0464, -0.0171, 0.1299, -5.3265, 7.8838, 2.0293, 0.0122, -0.0024, -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]: [-0.0265, 0.8124, 0.6132, -0.4007, -0.0135, -0.0307, 0.9993, 0.0189, 1.6787, 0.5144, 0.4976, -0.0044, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.2943 left_y=-0.0018 left_z=0.1749 left_yaw=-0.0 left_pitch=-0.0305 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3943 right_y=0.0118 right_z=0.0208 right_yaw=0.0238 right_pitch=-0.0982 right_roll=-0.0064 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -1.7436, 7.1316, 1.8877, -0.0269, -0.0415, -0.0122, -0.2256, -7.1316, 4.9436, 1.9707, 0.0659, 0.1148, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:640590f26bcb1746a22646fd31992e96df9b3f0ee9cedc980d6639f3f1276d5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:743079ffad93f505af8fc37bced5bf846a6cd134afca502e11e6783c62574862",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3958920074f7f2635e1ef94ed1da71029ed8dad798bc341cd30e375659d10ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pear between jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018L73u7xEJk3fxMmLaPn12F",
      "input": {
        "note": "Pear body fills the space between the jaws. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018L73u7xEJk3fxMmLaPn12F",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0265, 0.8127, 0.6132, -0.4084, -0.0135, -0.0307, 0.9993, 0.0185, 1.6787, 0.5144, 0.4961, -0.0082, -0.0113, 0.7299]\nstate[eef_state]: left_x=0.2932 left_y=-0.0018 left_z=0.1732 left_yaw=-0.0 left_pitch=-0.0385 left_roll=-0.0004 left_gripper=0.9993 right_x=0.394 right_y=0.0123 right_z=0.0205 right_yaw=0.0283 right_pitch=-0.0997 right_roll=-0.0064 right_gripper=0.7299\nstate[joint_eff]: [-0.1026, -1.3333, 7.0085, 1.8095, -0.022, -0.0562, -0.0122, -0.3214, -6.5436, 4.8479, 1.6825, 0.0024, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bfd733ad209a7824f6e708140c409e72b05127ab195c65f3fd9f41753a2eb72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c280ea2480e6430c1c6719c134ae02bba98030217c0dd6326ddca9f940f4a094",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d3e4614c3739f91b44b99d9932d953198012fef6b0442b364480866e62f495cd",
        "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 · 6.659 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]: [-0.0265, 0.8059, 0.6132, -0.3866, -0.0139, -0.0307, 0.9993, -0.0196, 1.2755, 0.5964, 0.0521, -0.0231, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2958 left_y=-0.0018 left_z=0.1796 left_yaw=0.0003 left_pitch=-0.0099 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3715 right_y=0.0004 right_z=0.1128 right_yaw=0.0031 right_pitch=-0.0584 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -1.5248, 7.1179, 1.7558, -0.0317, -0.0464, -0.0171, 0.1299, -5.3265, 7.8838, 2.0293, 0.0122, -0.0024, -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]: [-0.0265, 0.8124, 0.6132, -0.4007, -0.0135, -0.0307, 0.9993, 0.0189, 1.6787, 0.5144, 0.4976, -0.0044, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.2943 left_y=-0.0018 left_z=0.1749 left_yaw=-0.0 left_pitch=-0.0305 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3943 right_y=0.0118 right_z=0.0208 right_yaw=0.0238 right_pitch=-0.0982 right_roll=-0.0064 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -1.7436, 7.1316, 1.8877, -0.0269, -0.0415, -0.0122, -0.2256, -7.1316, 4.9436, 1.9707, 0.0659, 0.1148, -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]: [-0.0265, 0.8127, 0.6132, -0.4084, -0.0135, -0.0307, 0.9993, 0.0185, 1.6787, 0.5144, 0.4961, -0.0082, -0.0113, 0.7299]\nstate[eef_state]: left_x=0.2932 left_y=-0.0018 left_z=0.1732 left_yaw=-0.0 left_pitch=-0.0385 left_roll=-0.0004 left_gripper=0.9993 right_x=0.394 right_y=0.0123 right_z=0.0205 right_yaw=0.0283 right_pitch=-0.0997 right_roll=-0.0064 right_gripper=0.7299\nstate[joint_eff]: [-0.1026, -1.3333, 7.0085, 1.8095, -0.022, -0.0562, -0.0122, -0.3214, -6.5436, 4.8479, 1.6825, 0.0024, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bfd733ad209a7824f6e708140c409e72b05127ab195c65f3fd9f41753a2eb72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c280ea2480e6430c1c6719c134ae02bba98030217c0dd6326ddca9f940f4a094",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3e4614c3739f91b44b99d9932d953198012fef6b0442b364480866e62f495cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjAgKEAgSGAI4AUIIdGhpbmtpbmcSDJdUcfkB6EHk7LWIQRoMQY3hpqFOLwE+UL8tIjCULqGKFxagNuWPbVtDY5DElxlNev+CLTR6m6/Zwxt7luHOkMO39Lx7Tge/pUK+h2cqqQcL9xr41VtkiAgk7H4n4cQ6PbjYPGSiYursWxOXnOIoy5h1PNmNJaWIyp2aGRmBuPuibkNf534jf3Mguaxj/APxojl+xNQ9O6epDIkDzBa/mfouxtZim3FX6XPhfA0MtZV1dcOA2+9BvQ3rGILbva6EwAn4hJyAjfCoFMJaJ28dFQJXKDy8hac1aziG2m6Veb2LJFbLSdYZU5adOuMFD3TAXeUrIbQrORQj9FcykqmCOtYW1E+6aa5WvHObki4JzHzfILS/uxUdcX5CB5FrJRpp7zN3dHaqyJboubnGbE5fvi6ocV/kbGC5cZ+zgcfKlrXiiSMgtz3s/F4HOdc5knBNQz6Fhfnr/ZF1VhL/A3HwlJRTUcPTB8SKsrD7mSmopORXqvWbZPtszgH1icaMfBVQYe+8XhRe+W3uhmXDNr8HqKORKEil55bCbgGKNJfHqRzYf/RkLQZMgLPUZGfJZpg+2YETtfd9NO28smydObWPCytlwQDGpDECOoF/6WF8IV5P6AHDLGqkjLn/Q6J2s4Ka7uzv/gH199fg3iezpIZ/jGETYoXCm7OsrYcvYdF+cnWJ/pffuvQ4v8Lum85qDuRlje4pJEAisuAIgzPAdEHYu2m/7DHTkO/vPlfcqX/izOYBFzM8WP6XyV49ch+SUUknu8QsPSQ1oVfJHgmn6defeC9b163XrPwMgPQ0FF8DG/tul2lBwf82ps+Kw4GFmE8nd20hsdRelOm2cQLX4aqDgcNzpdzOP0a+WjO0K71qQ199g+j8XpfKtRTsM11A9OLJUiFP6IZoEt9+8+EkBhGY54BHu9Wp9pZgb9Tec6FPKw8LmWwgE3NeX3JNHfDSeuAMxRULQjFx3J4BZt5D0wP3aw2FFS57Qz9r+K+3oNqNYVF5f9ZXrTBx2qjfROYxG1c0X6la6+J1cZiQkKLN1Rj4s3biwypawAN48Q302a+YFm46A+YVLf9ehsZPC+Sep5zIWeT+TcSfu9IHVAmIQ1XlcYxP+Mg1xMwKt01/Zi0kacCn8e8+kwvR1O9bnDym+B+nQibum8ItPboyZc8QEHlpN15kX6QY6OCXXHRNBZBbDpgjIS9IAJipAWDnhBE75g3FyCHYsLhuh7+dOBQU1YG/aHpM7e8RYuHX49EJhmfBzdrnWPKy8X9G9bM0A1v89uZB4n6YIymPLlzap+SGyv1peMmT2RKWp9KGbYHRCkf04auWB4Aw0lEkIG+9K800Nf1j4hruKReGD5NEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DK6yrBNb2VtBDMgAgaYQz5",
      "input": {
        "note": "Gripper settled at 0.73 (~7 cm), pear is held. Lifting it clear before carrying to the blue bowl.",
        "targets": {
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01DK6yrBNb2VtBDMgAgaYQz5",
      "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]: [-0.0265, 0.8127, 0.6132, -0.4168, -0.0139, -0.0307, 0.9993, 0.0177, 1.3293, 0.8986, -0.3199, -0.0154, -0.0124, 0.7299]\nstate[eef_state]: left_x=0.292 left_y=-0.0017 left_z=0.1715 left_yaw=0.0003 left_pitch=-0.0469 left_roll=0.0001 left_gripper=0.9993 right_x=0.3849 right_y=0.0131 right_z=0.1525 right_yaw=0.0345 right_pitch=-0.182 right_roll=-0.0014 right_gripper=0.7299\nstate[joint_eff]: [-0.1162, -1.3197, 7.0906, 1.8388, -0.0269, -0.0757, -0.0122, -0.294, -7.3231, 9.2786, 1.8242, 0.0073, -0.0366, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aedf730d8fa6bb4deede2794cb65480f267c0ebee1c4bb937f76ac2e52868d9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:976526507dfaffffe597ca792a80bb7d36c156d51d017d7bf3a7cc88a1ec9f81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:26ebfcf7e18f21e1676a7b73ce2d1298bdf75c8b4ea26ae3f29bc8a90a71badf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 9.078 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]: [-0.0265, 0.8124, 0.6132, -0.4007, -0.0135, -0.0307, 0.9993, 0.0189, 1.6787, 0.5144, 0.4976, -0.0044, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.2943 left_y=-0.0018 left_z=0.1749 left_yaw=-0.0 left_pitch=-0.0305 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3943 right_y=0.0118 right_z=0.0208 right_yaw=0.0238 right_pitch=-0.0982 right_roll=-0.0064 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -1.7436, 7.1316, 1.8877, -0.0269, -0.0415, -0.0122, -0.2256, -7.1316, 4.9436, 1.9707, 0.0659, 0.1148, -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]: [-0.0265, 0.8127, 0.6132, -0.4084, -0.0135, -0.0307, 0.9993, 0.0185, 1.6787, 0.5144, 0.4961, -0.0082, -0.0113, 0.7299]\nstate[eef_state]: left_x=0.2932 left_y=-0.0018 left_z=0.1732 left_yaw=-0.0 left_pitch=-0.0385 left_roll=-0.0004 left_gripper=0.9993 right_x=0.394 right_y=0.0123 right_z=0.0205 right_yaw=0.0283 right_pitch=-0.0997 right_roll=-0.0064 right_gripper=0.7299\nstate[joint_eff]: [-0.1026, -1.3333, 7.0085, 1.8095, -0.022, -0.0562, -0.0122, -0.3214, -6.5436, 4.8479, 1.6825, 0.0024, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0265, 0.8127, 0.6132, -0.4168, -0.0139, -0.0307, 0.9993, 0.0177, 1.3293, 0.8986, -0.3199, -0.0154, -0.0124, 0.7299]\nstate[eef_state]: left_x=0.292 left_y=-0.0017 left_z=0.1715 left_yaw=0.0003 left_pitch=-0.0469 left_roll=0.0001 left_gripper=0.9993 right_x=0.3849 right_y=0.0131 right_z=0.1525 right_yaw=0.0345 right_pitch=-0.182 right_roll=-0.0014 right_gripper=0.7299\nstate[joint_eff]: [-0.1162, -1.3197, 7.0906, 1.8388, -0.0269, -0.0757, -0.0122, -0.294, -7.3231, 9.2786, 1.8242, 0.0073, -0.0366, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aedf730d8fa6bb4deede2794cb65480f267c0ebee1c4bb937f76ac2e52868d9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:976526507dfaffffe597ca792a80bb7d36c156d51d017d7bf3a7cc88a1ec9f81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26ebfcf7e18f21e1676a7b73ce2d1298bdf75c8b4ea26ae3f29bc8a90a71badf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7woKEAgSGAI4AUIIdGhpbmtpbmcSDBejVfesslN+CkHAGhoM/bFCLPlIlpOmpGSRIjCR5z1q7DtSR+IAfkVqgGu16o1/PzAp3OcqjhNcmcEvubZws7jV6b5xwEvk+BgamtgqjAqivF5yr/aSiYd8yFzISGsZd6Reyr3+LIsUA3XFJ4Of7OunqwUT1S6gv0pfOOx3OE/9wbcUQLSY+Upr2hCLzbe0c+9vgXvYMn2OA6aUaqWP4nnNsuVYexNdXofy0188VkWaBWP/58ZWPt+vA6lQr6Q2X+G9TM+UdQs1Lh6AjBigbAZq28zh3WNOaBnQCkcrEJ+X7AMWWiH+JQqAjRU35bJPON7h9WArRg530x8d42zgYBetlwM/QejQUpQOwKEwi3El4bzuYMXb3fnRbB62Wt9JdOLhvHvjZpizc+p9qHx5aqq8ZK4AoMz/5Yn6AcVq6HCjG0itXlwKecrppXzXqnnENITi9ONFfqQarYtg+zDhMkWqfEpBAtc0e75Iuc9ke/V479vrv/JI6GiWFKbgv+5bNkJQ0Gm5Qp8PKNSDCcVZcPYE9Sr19hjmQqt9m6eY0SsPZs7Km4RRLnwFnssT0plPV7DI6AD06ryo4+7/VuH4GnY/aLGvi2o6tnt+AZvdm8L2ODTXr0DJHiQ3uixN1ZoeaNUILZE//xOAtclC69kHyyKda0xQG6s04l0AT8zCZP6U9LHyKcxubut32mBys+zYFC7g8elGIIjyGanfPuR+rztl/BKFKgxq9AeNBTC9QcKgtn+/j04hpxmMBrEDPl5rft4w1AfEb83/oCZl7Uskpu1NDWNL1deOWm9a/vPHk6bRXes7mh/C44W7+RsBRFuKAgTtA7K/HroShqkuuNU2Vy0LsLI8Ykbv9bOf+GOlkAEHZ13YDcv457UeCZbz8CgJWYS+CgFZ+uTWE9x3qM6sA8vH2f3gg1CKu8qHbIh4QEJAizTa8FbS8hZlS73kNuz6P6JKhZMPXIRJqE/mSGZiqQYcz4XIsPQW7ZaYj7SCcw90AkGGybYp+mpb6wFs3mRFzYGPlpG7Ni0be9YrSXrcyoHrbiW4sbrD4pO9kvUGGOl/8zNYrEFEXZ+KiKuNEFCJfiU8GGfrx77VvcJO15r2t1ISWdP+FZKarTnJm6/d6wkCJMbB30/qC+dNTnww8XN0lpJc4JJNbotKTPzOP7ltNPhyEYh+g+CFP4xO36eumugpJvqgkqrgbSOoahMNIgXYUGhhFCr5qiGV8ZMJ9kehGTjKkcfde1poIaVBiXxy++8KfXHpCZpy5rI2mqimZvCCAk1/5D1eo+rOjq/lhRUWfC3zpg2FrLLmQ2ejnKrTIfJyXQtHwDlCutjp0fhkVSc5nIQy8TkgGdPWon2c7qA9eWFKi2aDWV3c7TGBSoS4T03FUxX/UiN9J0RCHww3RWYyFUEqYmM9R6nZxxNkl5bswsf22VSBULyKh7PkAQpOUI7YhxReyC7ryAb3GjvayopX2rUPPEkLRMRvDI7AXRsp01Vk1xYen5JA6w1ssWdsWHGo3ZpDuyUcAN69GzvpXr6aAatGm6LFDAv/0tEklh1hj/dVR2MQw6TCe7Xra+tPNecdY9wtxSS2iu3KZNZbwabcFsYq+yoA8TkbdxeUin6c4iG3TPyO9qdAdZKh2VLObwxvLFTdnKlRY3Jju0WEtTS71uNj9zhsY3pVeizEAvppc3yHnfrrl8p3KOaOUq9EVoDyoi11vq1NNkjo/iWqFwlmIopJIVSlshNt3NVrOQDICwTddSdXuasilCguakkabSNm6YrFrw3kPUEdG353zPRp4sEQlOQSzyzk2TFH97yeAIU/w09eddwzV83FnRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BTAjfWmtA9p9uskRncgzhF",
      "input": {
        "note": "Pear lifted; blue bowl is ahead-left of the right gripper. Carrying the pear over the blue bowl.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.1,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01BTAjfWmtA9p9uskRncgzhF",
      "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]: [-0.0265, 0.8143, 0.6132, -0.4236, -0.0139, -0.0311, 0.9993, 0.2638, 1.6966, 1.3582, -0.4984, 0.1452, 0.1246, 0.7355]\nstate[eef_state]: left_x=0.2911 left_y=-0.0017 left_z=0.1697 left_yaw=0.0005 left_pitch=-0.0553 left_roll=0.0 left_gripper=0.9993 right_x=0.4578 right_y=0.1009 right_z=0.1675 right_yaw=0.0648 right_pitch=-0.2569 right_roll=-0.0273 right_gripper=0.7355\nstate[joint_eff]: [-0.0615, -1.306, 6.9949, 1.7705, -0.0806, -0.0757, -0.0122, -0.5128, -9.0051, 9.4701, 1.8437, 0.1978, 0.2222, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4af5f242fb8f0acef0b1b966870bf699301068425d6d9d9b106e51edbb99e002",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aeaceb5089296470640a342460b561e67ec8ee0be19e44d22cef1474faee84c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:546f594f802b26f4efcbdc54f982b8b15e6f3a5d6540f72ed851115c3e0808ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 6.104 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]: [-0.0265, 0.8127, 0.6132, -0.4084, -0.0135, -0.0307, 0.9993, 0.0185, 1.6787, 0.5144, 0.4961, -0.0082, -0.0113, 0.7299]\nstate[eef_state]: left_x=0.2932 left_y=-0.0018 left_z=0.1732 left_yaw=-0.0 left_pitch=-0.0385 left_roll=-0.0004 left_gripper=0.9993 right_x=0.394 right_y=0.0123 right_z=0.0205 right_yaw=0.0283 right_pitch=-0.0997 right_roll=-0.0064 right_gripper=0.7299\nstate[joint_eff]: [-0.1026, -1.3333, 7.0085, 1.8095, -0.022, -0.0562, -0.0122, -0.3214, -6.5436, 4.8479, 1.6825, 0.0024, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0265, 0.8127, 0.6132, -0.4168, -0.0139, -0.0307, 0.9993, 0.0177, 1.3293, 0.8986, -0.3199, -0.0154, -0.0124, 0.7299]\nstate[eef_state]: left_x=0.292 left_y=-0.0017 left_z=0.1715 left_yaw=0.0003 left_pitch=-0.0469 left_roll=0.0001 left_gripper=0.9993 right_x=0.3849 right_y=0.0131 right_z=0.1525 right_yaw=0.0345 right_pitch=-0.182 right_roll=-0.0014 right_gripper=0.7299\nstate[joint_eff]: [-0.1162, -1.3197, 7.0906, 1.8388, -0.0269, -0.0757, -0.0122, -0.294, -7.3231, 9.2786, 1.8242, 0.0073, -0.0366, 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]: [-0.0265, 0.8143, 0.6132, -0.4236, -0.0139, -0.0311, 0.9993, 0.2638, 1.6966, 1.3582, -0.4984, 0.1452, 0.1246, 0.7355]\nstate[eef_state]: left_x=0.2911 left_y=-0.0017 left_z=0.1697 left_yaw=0.0005 left_pitch=-0.0553 left_roll=0.0 left_gripper=0.9993 right_x=0.4578 right_y=0.1009 right_z=0.1675 right_yaw=0.0648 right_pitch=-0.2569 right_roll=-0.0273 right_gripper=0.7355\nstate[joint_eff]: [-0.0615, -1.306, 6.9949, 1.7705, -0.0806, -0.0757, -0.0122, -0.5128, -9.0051, 9.4701, 1.8437, 0.1978, 0.2222, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4af5f242fb8f0acef0b1b966870bf699301068425d6d9d9b106e51edbb99e002",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aeaceb5089296470640a342460b561e67ec8ee0be19e44d22cef1474faee84c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:546f594f802b26f4efcbdc54f982b8b15e6f3a5d6540f72ed851115c3e0808ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3QgKEAgSGAI4AUIIdGhpbmtpbmcSDBQuIEZbAwx85dZDyxoM9kvCGNjNcGxyhar2IjAyVnjoZBev8IcBsHjA+hlYrqRPfWPljVTUv9wyH3YzP7ZOuw33ZuzaariGzTenJdkq+gdtS9qRpt2tHuVXLhDn1ypi6QoHhyx1XVybzE7e+0FPGngv/SkLiWpWQvt4cz0gUypV4zBx59uQfLS3MdrNi/9wJPaAKXWQvRJ0z/e0crJ3ulVTQuf9fmcJHBpjK7XQybdle4N39swKvWJRXospq8TAKGe4Q9tcVtRKRaVqO9bTe2ZU2LYAf+5NtvN3N+sR+z6JsuIFBr/MD/WqWXM6D45wNgh7j7brVy7Ac+imN22ZJvfF57A1QtC15VN4zA5b/N4I64/+5wdtoLfkHaaC7E1qLSPfbZxqikXeBk329VI//t2aX/Df0gL0dx9ywtxn8n0SRDMBq+0Uvbo/iV2ahv3f0m0oDKqXER5TCJnY5Zu3gb2rrZ3hQGhy3U09SifqSntIByUAeGcYiQlMdTcIY+KoYxyr/FFnzogDvZgjiM0EMR3b5vN+2DfMBsz2uSUu4/hr6SZVSH9Ap6utmH0Vuqj7pL8Rt/p3yLn8Ip77/29CQGuRPMNl484JA1s3z031FMsWSz2Nx4UEWGqd+fEKTmSLuAFIJLDbxYbVJ67YM0MQdO8ZLkjB+7fV37QuTTduNS/B1hpUlD01mBSfMOW+sJWrGysuln8+V+R/lWtTx9caaf4TxnF4Wh69Fo3l6qSrIZQHziPSJJ9syqYQdmiSTVZ+dkXxnUeUYYmfBkYBCsGYGRVg/g+AdsI2jwgdumjxkUvmTe0IJP5YnUuseXVZsgMRWAjK1OPFhinzu/zPp1vpFBnua0rHx8UwK7hLtRCYw2QFIOI/3zW2mK6uEWxq6FCZthffGT4fNVkXQw4I4q8p4kCQW/z3nCsRN3LUeZkviiZX/QrrRTK0n21UKdR8Y9t7TxCGreahe4hJHgYyLs0XQYIYhUqJgP/htcSpndGFr3spa94q5/bOsq4xIphww7qoooYQbUJV9ufXvAzhCDA1OPwzn94mdGfSNiTK/C3QnlsVhtodhJ1FoEwAEU+aZBZSkixPBG6nx5s7AyPKD4y2hIwhxso2X/mx+M4UtU80TdKvKWl8nt9Yy3gIHIZmdQRwMqFU4i12yif+vNHVtsoPOEoHp1w6DmvpsGivCgg2KFm4c6Q9NY8ik4evDDAC7tbpQxGVT/e5RerLEPSc7FJLrZRv8uEHFaLiTv+CadneYI0i+CmSMyfu/FI+D+DUr0wzd7qKz8JZwUTe3HHQ05P8qhVWTYW3qwKo5lAKAOq0pLakyS0GR3CV/QokGgZ6fTfTlMUqhs+OkH/z9jMMGBj5DnkJaLCHpDP0nFbps8repy1ZguPiRcNVVNm73WN5A6GGcPEbSsln/nHa0B0fYi0+8TfiOHTvbxc0egi53zb7aK3QOLl7II7MHe0/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019L48AJLXskJW2HCrLwBJfX",
      "input": {
        "note": "Pear is roughly over the blue bowl (bowl rim visible just behind/left of the pear). Nudging left and lowering into the bowl.",
        "targets": {
          "right_y": 0.12,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019L48AJLXskJW2HCrLwBJfX",
      "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]: [-0.0265, 0.8143, 0.6132, -0.4244, -0.0135, -0.0307, 0.9993, 0.3122, 1.7645, 1.2007, -0.3321, 0.1638, 0.1429, 0.7404]\nstate[eef_state]: left_x=0.291 left_y=-0.0017 left_z=0.1696 left_yaw=0.0 left_pitch=-0.0561 left_roll=0.0001 left_gripper=0.9993 right_x=0.4481 right_y=0.1181 right_z=0.1002 right_yaw=0.0831 right_pitch=-0.3114 right_roll=-0.0423 right_gripper=0.7404\nstate[joint_eff]: [0.0068, -1.3744, 7.2, 1.6679, -0.0122, -0.0317, -0.0171, 0.2803, -9.0598, 6.8034, 1.8584, 0.1832, 0.1294, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bcc2c0d9e7be3a7f073adf19b35b4a4ab352dd7a06a5efef2bb883bf713f18d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e213cdf28a069df944a3aa38f9ada73671c5a790ba7badbf30701b0561be7cc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1bb7bb63fae48bfd29aa79d0555ce873843dbede684161ae4019be79c6cf850",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 4.444 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]: [-0.0265, 0.8127, 0.6132, -0.4168, -0.0139, -0.0307, 0.9993, 0.0177, 1.3293, 0.8986, -0.3199, -0.0154, -0.0124, 0.7299]\nstate[eef_state]: left_x=0.292 left_y=-0.0017 left_z=0.1715 left_yaw=0.0003 left_pitch=-0.0469 left_roll=0.0001 left_gripper=0.9993 right_x=0.3849 right_y=0.0131 right_z=0.1525 right_yaw=0.0345 right_pitch=-0.182 right_roll=-0.0014 right_gripper=0.7299\nstate[joint_eff]: [-0.1162, -1.3197, 7.0906, 1.8388, -0.0269, -0.0757, -0.0122, -0.294, -7.3231, 9.2786, 1.8242, 0.0073, -0.0366, 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]: [-0.0265, 0.8143, 0.6132, -0.4236, -0.0139, -0.0311, 0.9993, 0.2638, 1.6966, 1.3582, -0.4984, 0.1452, 0.1246, 0.7355]\nstate[eef_state]: left_x=0.2911 left_y=-0.0017 left_z=0.1697 left_yaw=0.0005 left_pitch=-0.0553 left_roll=0.0 left_gripper=0.9993 right_x=0.4578 right_y=0.1009 right_z=0.1675 right_yaw=0.0648 right_pitch=-0.2569 right_roll=-0.0273 right_gripper=0.7355\nstate[joint_eff]: [-0.0615, -1.306, 6.9949, 1.7705, -0.0806, -0.0757, -0.0122, -0.5128, -9.0051, 9.4701, 1.8437, 0.1978, 0.2222, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0265, 0.8143, 0.6132, -0.4244, -0.0135, -0.0307, 0.9993, 0.3122, 1.7645, 1.2007, -0.3321, 0.1638, 0.1429, 0.7404]\nstate[eef_state]: left_x=0.291 left_y=-0.0017 left_z=0.1696 left_yaw=0.0 left_pitch=-0.0561 left_roll=0.0001 left_gripper=0.9993 right_x=0.4481 right_y=0.1181 right_z=0.1002 right_yaw=0.0831 right_pitch=-0.3114 right_roll=-0.0423 right_gripper=0.7404\nstate[joint_eff]: [0.0068, -1.3744, 7.2, 1.6679, -0.0122, -0.0317, -0.0171, 0.2803, -9.0598, 6.8034, 1.8584, 0.1832, 0.1294, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bcc2c0d9e7be3a7f073adf19b35b4a4ab352dd7a06a5efef2bb883bf713f18d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e213cdf28a069df944a3aa38f9ada73671c5a790ba7badbf30701b0561be7cc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1bb7bb63fae48bfd29aa79d0555ce873843dbede684161ae4019be79c6cf850",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywoKEAgSGAI4AUIIdGhpbmtpbmcSDJNoMek5+KOUIVMXBBoMz3Y255Oz9qLRkcnkIjCmO8apXPrbmqffVpl2h+mZu2GX2fOC4HdMhxX+rG4OafNbO8quUss9t+2+HP7kyFAq6AkAE26DOqxJAkkHC7d3gaCZY0gHu1g3Jm5mseyFXSf9AN/nV22JSmp3egQfoh2xoNIRR5mCubvgkElFH60kvQ8cFcYQkd1rzzFd1v/uKkwIoS7kKxINBJ1X/Wena3zkvtv9XJPXqMRSGJAers/cbQshijiY2g/ehg9wQrnAJK6gXpaqJKfPouusHAU4xze+BDLJ7lmw+dBu2Z3B7zHrhQXdkIV/vRdl0TKvabbiHuzUc8mtB0aTgHJDxliHC0JXOjSo0MHudpDTxwb1eLWxo/RixGK45MfegkPMA2mYQSUunSqIxdz1fBV2GTY9LQh2DBxrAjo+nvTihibSyjPLUkACbAj45cqHwY4vyvsWD0jnMU5pSm1lk4wQmuSsqomJ2KJ2VmocRGpryLkyHUeGV/uWhMxzJnhskNeUwaHsO8HDWErUzhniMn/7Gvs9jGwEXKK+1KhC4tpgVss7udABzm8E5DD+Fk/HmmjKwjfptdCZAcmimo3pEgJQLp8yarYqFREVH99ucLTJlwSIRaMeWBibCVWVmbytHMAPRw5xt+Nl0OMjf7WiPxXpzJnxPdbyqGpAW/CmLzWg0ASRAaoOl+L5C+t6TOvXXnLpEjS4zLRxgHrNnddxni7lySAfUULw9OcuAxJN/fjh+FS9FI1OLJtSXOx8Oft7h1lUGQF7emsKeKVSw6isG0jKgYMB55vuXskgN7aAFqgInjK0q+sHMNe/Wz9pvhMu8Vi0yNfHI+hLHbFBKeRbCKhgDbIE6gL+i6XnVxvkLv10sinI7y6HTRy46Y+GoknwjX/zuYoJr3UMXgtg+NXELscov3ZlvwxfiKiBX60KjEfAoTgR//dglYNH86mjsQLzDSv12aP8O/kYpbbPMDpPpixzj/4FOQXVs1DoKFnBezkpxMAn9wNq4bCAWCHGESnAL+agwq6yErRBV7dXlOOYW3kBMZV5nalMmVeqHRwWW0M5wk/NHnNxKxfhlyiHErVgtcQjigERrDKNA0LbvE43ygYrfRvj952ipWWk2es5hcUANcZOl+JscHsJDnLxWxLAnVmBTKsWHLBRO85+OyBkdCFYuJVS02cje/OAFyYGjS1aqUjHRGfhBeSsB5VHflkW7x48F8fZI0+VttZoPQ5X+JnnnL3L6cwGyHXmXMnlKzK4SyecOHJOc+Hj+hjc7dN8nZigzzQTtx7CVxVQfjU2Js4TwGMKowvopPuz/8iOc4EwzUpNFX26OdchAYLxwRRieRORHa0IkQz4gPM9I2EFWynU3IiaVzm/jVkysGikyuckHXiUyfyXoerEHiYlBLRs8xXOY5NMvuDQMEhe4TZ0UTmjEjDAlKKS4FS2Sfa4OQSZDnmuMkOlwwt9ylY9vtZB6SSUfTAtFI8SOcYjkVYOdp9tE4bpu2DF+eXappl6lKAu8e7ayVUTp6y8KEt1lDj8wTF2nagn1ihGKlbeUNYWbjawEaOmQtCJSoRDMyszwMMBOU6DBfkAYiFTcFB81cF4QgE4Nn/4sL3ZNAHGSwa6ed2LYmHkp6zkAUhlTzFHDeLLHdUDsRrsHzPuWtigS2IHxsfTZSV02kJTAHfy7PcGf0Y4ELisRv5ZE7boSfpT6ieYy5A+v/tx9FhjQ0YB7HgfcgLpZfVzBP1hbl69NROoC7XveGARBhpFcOzWwDTZFaNl4BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PqsJmcYAtT9pry2km5XLdA",
      "input": {
        "note": "Pear is over the blue bowl's interior. Lowering slightly and opening to drop it in.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.46,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01PqsJmcYAtT9pry2km5XLdA",
      "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]: [-0.0265, 0.8143, 0.6132, -0.4244, -0.0139, -0.0307, 0.9993, 0.3122, 1.7645, 1.2007, -0.3161, 0.1638, 0.149, 0.9959]\nstate[eef_state]: left_x=0.291 left_y=-0.0017 left_z=0.1696 left_yaw=0.0003 left_pitch=-0.0561 left_roll=0.0003 left_gripper=0.9993 right_x=0.451 right_y=0.1191 right_z=0.1027 right_yaw=0.0808 right_pitch=-0.2957 right_roll=-0.0344 right_gripper=0.9959\nstate[joint_eff]: [-0.1026, -1.3333, 6.9949, 1.6874, -0.0562, -0.0415, -0.0122, -0.0615, -8.8821, 6.8718, 1.7411, 0.1441, 0.1001, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:447dc73c3d41e3f0db7a756162065af6092ed10953dbc8f60f9208f854a8aed6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59fe65a9254416fd80a78b380b1b7bc39526e1231f8fe7b043ce01b502f181e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d71851c2d588e58d2f7258b64adf92214fca12e50b0e3c064c261b8a302ca0fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /messages · status 200 · 3.462 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]: [-0.0265, 0.8143, 0.6132, -0.4236, -0.0139, -0.0311, 0.9993, 0.2638, 1.6966, 1.3582, -0.4984, 0.1452, 0.1246, 0.7355]\nstate[eef_state]: left_x=0.2911 left_y=-0.0017 left_z=0.1697 left_yaw=0.0005 left_pitch=-0.0553 left_roll=0.0 left_gripper=0.9993 right_x=0.4578 right_y=0.1009 right_z=0.1675 right_yaw=0.0648 right_pitch=-0.2569 right_roll=-0.0273 right_gripper=0.7355\nstate[joint_eff]: [-0.0615, -1.306, 6.9949, 1.7705, -0.0806, -0.0757, -0.0122, -0.5128, -9.0051, 9.4701, 1.8437, 0.1978, 0.2222, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0265, 0.8143, 0.6132, -0.4244, -0.0135, -0.0307, 0.9993, 0.3122, 1.7645, 1.2007, -0.3321, 0.1638, 0.1429, 0.7404]\nstate[eef_state]: left_x=0.291 left_y=-0.0017 left_z=0.1696 left_yaw=0.0 left_pitch=-0.0561 left_roll=0.0001 left_gripper=0.9993 right_x=0.4481 right_y=0.1181 right_z=0.1002 right_yaw=0.0831 right_pitch=-0.3114 right_roll=-0.0423 right_gripper=0.7404\nstate[joint_eff]: [0.0068, -1.3744, 7.2, 1.6679, -0.0122, -0.0317, -0.0171, 0.2803, -9.0598, 6.8034, 1.8584, 0.1832, 0.1294, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0265, 0.8143, 0.6132, -0.4244, -0.0139, -0.0307, 0.9993, 0.3122, 1.7645, 1.2007, -0.3161, 0.1638, 0.149, 0.9959]\nstate[eef_state]: left_x=0.291 left_y=-0.0017 left_z=0.1696 left_yaw=0.0003 left_pitch=-0.0561 left_roll=0.0003 left_gripper=0.9993 right_x=0.451 right_y=0.1191 right_z=0.1027 right_yaw=0.0808 right_pitch=-0.2957 right_roll=-0.0344 right_gripper=0.9959\nstate[joint_eff]: [-0.1026, -1.3333, 6.9949, 1.6874, -0.0562, -0.0415, -0.0122, -0.0615, -8.8821, 6.8718, 1.7411, 0.1441, 0.1001, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:447dc73c3d41e3f0db7a756162065af6092ed10953dbc8f60f9208f854a8aed6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59fe65a9254416fd80a78b380b1b7bc39526e1231f8fe7b043ce01b502f181e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d71851c2d588e58d2f7258b64adf92214fca12e50b0e3c064c261b8a302ca0fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpQgKEAgSGAI4AUIIdGhpbmtpbmcSDNNdiQxxcLbnodAVlRoMgdt2/z1QU/C32MGZIjAUFgV3mUoG07Pv1sjZGhdpNh5rHUbD0xP3ElD/OOQ8ofv2coNziMKuY97t3u5lh80qwgeWy24pjpT9XK+MW4sm++OiZfO12UYujz/k2RB8/5ctFsA+VJwQUHuEVtMQcA9XDasd2VtkzDXNs4W16ZX+HG2cCVgpcO+MstEW9oeJv/XzIUDKxbpeG40yyKqRQMSH49O7hRpWvTrmOrRdZXGu8LSI7FGPBOQWie0KA9uc8ay2CTraSmM+QGdw90bMYJuLNJdaHzZ3Vu/sf4jV2TAxqzPxgX3cpVo9vNeuKsQCCOOx6kUtrLB20syvkfFmqrKMAzSi/7W9TOuX/x3C720hpbax8VlXKlhZnHydIHlGZ9WM6CjTfd0O5vGsO7za7ZW6e9xTz8+PRpyUFmvOdRiUc2sFwXA/3yWoTzpuZjfEJToVCMCYVHVSgIqdUG9dKPk5BXxdA/lrtxCBmSgmftbParG/d1FOyZKNABjKTFqqB5oWuG4Tf+vu/49MD7u87MQ/U0/C5VuQ1Iz7aIthWfC4ereLWsKgydTqY/s50TA+rPZcH+tPRuMbPqZvE9zlUs6sxBaCc4wAEXKkYA0TP/w9aqECL3spTT0p2d1NjJYyr/4fCX0RQ0wG397E+Nr9JoK0NoKlFHj4rz6M6iJVw7wz5jQ0UGqA7Np68H94U+KzPT4vjNm+f5v5t3CexWPDrv09bELnzgsFAtNFCItHq3FM25vRyyj6uOCOTZ7mXSGEIdbIlZXBx5p9PbEe3JAuc/3cMUfIgxx6g6r87VnO7GE9u5TiBSnbHUftp5CE16t6dU9ZUNpynjtwwVaHND6Y83pOuzoH/Wh0+6kcWawm2A+W9QPm3uA/0vfclvHg/VuoFlQ+JM6MivLzeWt3v7apLUmno6UVwedMAsg8dQuUNaYqeEP9eJJe3O8f6L33j6J8PygX2WEb7Rjae4J7vfWxuo1Ro7iL/VabmKMRg+HpjjzR6xnljb2pR43AuuFPmswsajqgBTZKviM+rm9B/y7lmY1znoNo4NOlHeqEZrwkwNogv/JCS+lrQjSt4JblL7FwSPr4ZYQ5AgSujHb+CAKhDCWrYbUfaQvLJVIuYJR/Dgu7kTFsps2AZGO2yzs3jDz8LDx8XZ+TPQSPmxybKTBE1iyzB3IUA2AE9ug6CMRokq/5aEXWhr1cs3wBgbHOxQm5sflQhOZ8DlvgBYq0L14ahLYfIFjWZ42x1WMYGso7XGI+URSnP5Uf2elj/cTF8sfX+UGBg2zmk7GU3xMmpWP8IK5z1Kh/KHkUmDWSIPircml2exYQXXyqjcylQCpsAqsYne7mYyW4smCgIb8e73pHvSMOeHeq3xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jj4gPbnA1v8QRWBMjQTbZy",
      "input": {
        "note": "Pear is now in the blue bowl. Moving the right arm above the lemon, which lies left of where the pear was.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.15,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Jj4gPbnA1v8QRWBMjQTbZy",
      "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]: [-0.0265, 0.8143, 0.6132, -0.4244, -0.0139, -0.0307, 0.9993, 0.3122, 1.7645, 1.2007, -0.3141, 0.1638, 0.1493, 0.9966]\nstate[eef_state]: left_x=0.291 left_y=-0.0017 left_z=0.1696 left_yaw=0.0003 left_pitch=-0.0561 left_roll=0.0003 left_gripper=0.9993 right_x=0.4513 right_y=0.1192 right_z=0.103 right_yaw=0.0807 right_pitch=-0.2938 right_roll=-0.0336 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.3197, 6.9949, 1.6825, -0.0659, -0.0562, -0.0171, 0.0752, -9.0872, 6.8855, 1.7118, 0.1929, 0.1148, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa73aee968fae962d63e9282082b131446a48f862d95e99bc7b15535ee519b98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d6e548293caa7268540396c189c2c5be08737eb0fe122e0dc1eabfbb288c388",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8bbd020b0897c5e081f450711586c78f42048cdef0bc63769eb9b15c37276a81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 4.426 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]: [-0.0265, 0.8143, 0.6132, -0.4244, -0.0135, -0.0307, 0.9993, 0.3122, 1.7645, 1.2007, -0.3321, 0.1638, 0.1429, 0.7404]\nstate[eef_state]: left_x=0.291 left_y=-0.0017 left_z=0.1696 left_yaw=0.0 left_pitch=-0.0561 left_roll=0.0001 left_gripper=0.9993 right_x=0.4481 right_y=0.1181 right_z=0.1002 right_yaw=0.0831 right_pitch=-0.3114 right_roll=-0.0423 right_gripper=0.7404\nstate[joint_eff]: [0.0068, -1.3744, 7.2, 1.6679, -0.0122, -0.0317, -0.0171, 0.2803, -9.0598, 6.8034, 1.8584, 0.1832, 0.1294, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0265, 0.8143, 0.6132, -0.4244, -0.0139, -0.0307, 0.9993, 0.3122, 1.7645, 1.2007, -0.3161, 0.1638, 0.149, 0.9959]\nstate[eef_state]: left_x=0.291 left_y=-0.0017 left_z=0.1696 left_yaw=0.0003 left_pitch=-0.0561 left_roll=0.0003 left_gripper=0.9993 right_x=0.451 right_y=0.1191 right_z=0.1027 right_yaw=0.0808 right_pitch=-0.2957 right_roll=-0.0344 right_gripper=0.9959\nstate[joint_eff]: [-0.1026, -1.3333, 6.9949, 1.6874, -0.0562, -0.0415, -0.0122, -0.0615, -8.8821, 6.8718, 1.7411, 0.1441, 0.1001, -0.0024]",
      "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]: [-0.0265, 0.8143, 0.6132, -0.4244, -0.0139, -0.0307, 0.9993, 0.3122, 1.7645, 1.2007, -0.3141, 0.1638, 0.1493, 0.9966]\nstate[eef_state]: left_x=0.291 left_y=-0.0017 left_z=0.1696 left_yaw=0.0003 left_pitch=-0.0561 left_roll=0.0003 left_gripper=0.9993 right_x=0.4513 right_y=0.1192 right_z=0.103 right_yaw=0.0807 right_pitch=-0.2938 right_roll=-0.0336 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.3197, 6.9949, 1.6825, -0.0659, -0.0562, -0.0171, 0.0752, -9.0872, 6.8855, 1.7118, 0.1929, 0.1148, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa73aee968fae962d63e9282082b131446a48f862d95e99bc7b15535ee519b98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d6e548293caa7268540396c189c2c5be08737eb0fe122e0dc1eabfbb288c388",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bbd020b0897c5e081f450711586c78f42048cdef0bc63769eb9b15c37276a81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStwcKEAgSGAI4AUIIdGhpbmtpbmcSDDUB45kYzfyOs+4t5BoM7YDeoJzCCwFdsY7ZIjC/McMf+jzFO67FcD+iqUX4FN8h2cw0tR+5WxFrqcwGN6OXPbYtB9qqV/hmon9xK6cq1Abb0AiHA3z7AwKb43YnhZSXtxOHXOefCt+QQX65/iikDCE80Mv1wmhm8u85X9QEVZSPsh3khS1zlQqrREGIq90wxwXoIY8BIo6yv7CYkPpHr3ipblYj0erR+AUkTvDqP6WhptK8APo4D81fvytk84hRhn6OLdDw+6i8aTO1yU/p5VNVURQrX7venfIiIh2tHdpM1/iB+RCy5p0VWGjDJWn5r4JJjBZFiYYoQy6NsnkMSSiGowL9X07fhhxLB+CFzC2z135cCiag/q4/uNZ+9eE049KkBRTDtSeuCEaFGSvNGcs/byoz1M5yfl2iDxm5wQjC3kw9pdtw8U4D4i2jNkCAebgsbaOPivm2V/LNCx0Xq/3n1oviuYryUNPeA/XvvBR5DHbmLO7CRQSaXYeKBYTnhxCe8F3SxVk06t0qgSrp09XS2WyfbMz0AwjraadPdIYOwte1trZo3czorWHvKCxCfCsxYUFSBRcSMnOTrbYjXBYvn6hvxWVBCuoRgOzME2cCATLGAIqko8Alf23KESXcVPglOaxRP5wIjmQMQZmCR8Vc5Kn4m8qoX8fboCxoQ0SoLtyrAQR3ESxDCkERTAN1NZxX68g2+Gr7KaY2vh7INVDs8N15J0GxyC8qNgeRdVysAUL+EtyOoH6CteseWIqkGr5YaU0kZIXKO/ociAIdRJJEC1ppsc11C2rwCfVQNDpsyUuespq0CvaGbEBt/ANID49+Gru9iHpn+kYBXxgCsB/A7S5wkb3Qu+UP7jFATN4fen5ppPbHs2FDk17NF/11+9KSdtsCXqzlXHhIHKZ+c9fEurWCwecO4SHdKZxGSu9FOeiXtXZVbtS+HUuR7VGkn7H3TLOY6P2P64YWi/d0uXaVV1XDZJQugOfJVcNiVgqV24pS3v1PYguO+sI2U/4YGXTxoVUD1/QIZvXSCuNc6PkaM0pw/yummZS/I6slcT3APK1lO6tcUiRfffL+BHW+WjiibD86p/1sPETPKuISh9UMdaR1I2tjys0YcTxrgMNNenPqFk1F2rWmXaTCQFAGHYknI352J9vdjGE3USAnGgmauxcV8WF+bZA+jrNT76yKELByIYxAx8FyIz/CNkiDrZH2Con42Xz4GJjIm8s7PaoJQisYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pu8GQe51wFSfuLW5U7eQ2R",
      "input": {
        "note": "The arm did not move on the last command (still over the bowl). Raising straight up first to clear the pear and bowl.",
        "targets": {
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Pu8GQe51wFSfuLW5U7eQ2R",
      "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]: [-0.0265, 0.8173, 0.6132, -0.4252, -0.0135, -0.0307, 0.9993, 0.3138, 1.7168, 1.4139, -0.551, 0.16, 0.1459, 0.9966]\nstate[eef_state]: left_x=0.2911 left_y=-0.0017 left_z=0.1686 left_yaw=0.0 left_pitch=-0.0599 left_roll=0.0002 left_gripper=0.9993 right_x=0.4554 right_y=0.122 right_z=0.1732 right_yaw=0.089 right_pitch=-0.2711 right_roll=-0.0274 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.5795, 7.1863, 1.6874, -0.0513, -0.022, -0.0122, -0.2803, -8.7726, 8.3897, 1.3016, 0.0855, -0.0171, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f613c7566052ec0950b0116a7d5ab934ab34c6ba47908d524576589af6a176ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1e628ba943167c2f4c59dbbe8f8b4fc866c6f976b10ce3f9ada068cc321b549",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b7630db4f0d63fcb904e74f3647b667c68e437a4fe4373ea76fbfe035bb74ac2",
        "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 · 4.64 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]: [-0.0265, 0.8143, 0.6132, -0.4244, -0.0139, -0.0307, 0.9993, 0.3122, 1.7645, 1.2007, -0.3161, 0.1638, 0.149, 0.9959]\nstate[eef_state]: left_x=0.291 left_y=-0.0017 left_z=0.1696 left_yaw=0.0003 left_pitch=-0.0561 left_roll=0.0003 left_gripper=0.9993 right_x=0.451 right_y=0.1191 right_z=0.1027 right_yaw=0.0808 right_pitch=-0.2957 right_roll=-0.0344 right_gripper=0.9959\nstate[joint_eff]: [-0.1026, -1.3333, 6.9949, 1.6874, -0.0562, -0.0415, -0.0122, -0.0615, -8.8821, 6.8718, 1.7411, 0.1441, 0.1001, -0.0024]",
      "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]: [-0.0265, 0.8143, 0.6132, -0.4244, -0.0139, -0.0307, 0.9993, 0.3122, 1.7645, 1.2007, -0.3141, 0.1638, 0.1493, 0.9966]\nstate[eef_state]: left_x=0.291 left_y=-0.0017 left_z=0.1696 left_yaw=0.0003 left_pitch=-0.0561 left_roll=0.0003 left_gripper=0.9993 right_x=0.4513 right_y=0.1192 right_z=0.103 right_yaw=0.0807 right_pitch=-0.2938 right_roll=-0.0336 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.3197, 6.9949, 1.6825, -0.0659, -0.0562, -0.0171, 0.0752, -9.0872, 6.8855, 1.7118, 0.1929, 0.1148, 0.0611]",
      "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]: [-0.0265, 0.8173, 0.6132, -0.4252, -0.0135, -0.0307, 0.9993, 0.3138, 1.7168, 1.4139, -0.551, 0.16, 0.1459, 0.9966]\nstate[eef_state]: left_x=0.2911 left_y=-0.0017 left_z=0.1686 left_yaw=0.0 left_pitch=-0.0599 left_roll=0.0002 left_gripper=0.9993 right_x=0.4554 right_y=0.122 right_z=0.1732 right_yaw=0.089 right_pitch=-0.2711 right_roll=-0.0274 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.5795, 7.1863, 1.6874, -0.0513, -0.022, -0.0122, -0.2803, -8.7726, 8.3897, 1.3016, 0.0855, -0.0171, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f613c7566052ec0950b0116a7d5ab934ab34c6ba47908d524576589af6a176ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1e628ba943167c2f4c59dbbe8f8b4fc866c6f976b10ce3f9ada068cc321b549",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7630db4f0d63fcb904e74f3647b667c68e437a4fe4373ea76fbfe035bb74ac2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQgKEAgSGAI4AUIIdGhpbmtpbmcSDEiUpQv1wQWK9Kt+pBoM1m2nxL0MyXkfiMxMIjD/gNFUgRvm9JCDrhK/5OzO+oaq+ZWAWM/U1eaWHEbKf+fnnTJq1Oxxqg15OW1AhvUqogdyrFPbXKDkNTja82E0rlSVS5IdmRguFw3RKKoliZl3TftWcrffE26dsgOKB6BWr6P5vbNpwdrSbxzNh1L0JyOo5J7IDhOZYQmf4CTR//deFWAZJ18YMY9i5OIJLLZamq3X6mAyIVZpN+MOA32/fD8ZUZc1yLZtqA896Qk6J09TL6fxzVoSG8FIKj99kr3YiFrYy2kJs+moGNeZSz1ylirFqPc6D6NRVl7XjpXOdoTytDlTw2EqWe0FtLozeKBBmkZ6Kx5fV/jc+aIgtqRGe4t4pWo0KYGpGqsFf9FKNiQ8uJ/w/O511t5ogKFgdfqQmkrnP29PN4OTWH1zCKazCetjh4hfdo55DJUgGadNgbJq2kwGcKmJDFLdx9GeVtuVDssmHl4xlyWcSkqOqZgOqXqHPhJkKPsEesLgn2UEOgHTqg7Js8AiAAyg6zi/taxCoKJ5qDHeyP6DQOyGkd4Qf2V3WosYMiVOGZNXpXYObiNYQ5sTPZ5mkXdTE2kfgh86y4p0NkoXYbsxNkeDilJp6XxTqRQVaj0eM5QJ6nBoPoAPJOj7YF7x34Vd4i0BpGzCdRwRIo+A66UxUZUZIlyJsi1NJYFrqdqphI6r/Z7RUTc0/qZMqFKrVKGC61kWpAr3XLdLnDItWGwDHdZQ6ZahB32/ft9ciLJGuHgWmoo1hr2hMclXO+uvjo47kx6FzEhw4ZY2z7R87C/q+BsbKXadAik4kOlgKALWenHXvyg73fVZNPJNn0z9x/A1lSsWKZao/EqV3O6j4+XgVW1FInFfI6Qrw9uibwLPg00KvoDxwh3AKITMdjttupU/ovNPEaHAe+fSWPG0LfPbvwF2T7E3b+wsWxa16sxNFubRJ0WjuHw8XMAD6yf1xdV6NeEUBHOxJZKmYxq8pYmqTU5RflNKVEB6uLa2ZpP4Avd3+Q9saURA2RKe8EhXrz3OXRRDyN0s620GuFTzZg2R4P6SVxMQIGtJqDQA6Jq1sn25fTA8UG7W3DgmZAkRpfvBrrnwTkzy8f8ZAKve4vo1mv45+lqbxkcu3Lr2W+Swh6g9WDbAjZbSo1iCCdilaXskPAqMkZ/s2uJkSu68AS45WxFXhYtJi0n5fpDiEQOAy0ayHVMa6wzORnigYYwtf4cBVdpr0OK+TAyYBXF3Y5IwLrudwttohlN/RMGqJDBzV96rBmKNSwv1ZPZDPB+/mbC/OdJD5yJSCXoFDxUF1MQQ/XHaJDH2o3/R+yEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018E9Dpibuxo6nzN5Wvtdnmy",
      "input": {
        "note": "Pear sits in the blue bowl; lemon is just in front-left of the bowl. Moving above the lemon.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.17,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_018E9Dpibuxo6nzN5Wvtdnmy",
      "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]: [-0.0265, 0.8192, 0.6132, -0.4274, -0.0135, -0.0307, 0.9993, 0.5396, 1.5715, 1.0424, -0.4221, 0.279, 0.2897, 0.9966]\nstate[eef_state]: left_x=0.2909 left_y=-0.0017 left_z=0.1676 left_yaw=0.0 left_pitch=-0.0641 left_roll=0.0003 left_gripper=0.9993 right_x=0.3674 right_y=0.1675 right_z=0.109 right_yaw=0.1227 right_pitch=-0.3314 right_roll=-0.0552 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -1.5385, 6.9949, 1.6777, -0.022, -0.0659, -0.0171, 0.1436, -8.5812, 6.8581, 1.7802, 0.3101, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6129544c15c3aa36427bd1fac0796a3c7c151c1d4716fa3aa3bd603e59c8117e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05b5451a829af388f94d03edeea778399186724f025c13e78e760648c22c76e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:922df9e755fa6d35313a1416e81b29df2356d5c8f038403a87702073eb2494d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 4.127 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]: [-0.0265, 0.8143, 0.6132, -0.4244, -0.0139, -0.0307, 0.9993, 0.3122, 1.7645, 1.2007, -0.3141, 0.1638, 0.1493, 0.9966]\nstate[eef_state]: left_x=0.291 left_y=-0.0017 left_z=0.1696 left_yaw=0.0003 left_pitch=-0.0561 left_roll=0.0003 left_gripper=0.9993 right_x=0.4513 right_y=0.1192 right_z=0.103 right_yaw=0.0807 right_pitch=-0.2938 right_roll=-0.0336 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.3197, 6.9949, 1.6825, -0.0659, -0.0562, -0.0171, 0.0752, -9.0872, 6.8855, 1.7118, 0.1929, 0.1148, 0.0611]",
      "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]: [-0.0265, 0.8173, 0.6132, -0.4252, -0.0135, -0.0307, 0.9993, 0.3138, 1.7168, 1.4139, -0.551, 0.16, 0.1459, 0.9966]\nstate[eef_state]: left_x=0.2911 left_y=-0.0017 left_z=0.1686 left_yaw=0.0 left_pitch=-0.0599 left_roll=0.0002 left_gripper=0.9993 right_x=0.4554 right_y=0.122 right_z=0.1732 right_yaw=0.089 right_pitch=-0.2711 right_roll=-0.0274 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.5795, 7.1863, 1.6874, -0.0513, -0.022, -0.0122, -0.2803, -8.7726, 8.3897, 1.3016, 0.0855, -0.0171, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0265, 0.8192, 0.6132, -0.4274, -0.0135, -0.0307, 0.9993, 0.5396, 1.5715, 1.0424, -0.4221, 0.279, 0.2897, 0.9966]\nstate[eef_state]: left_x=0.2909 left_y=-0.0017 left_z=0.1676 left_yaw=0.0 left_pitch=-0.0641 left_roll=0.0003 left_gripper=0.9993 right_x=0.3674 right_y=0.1675 right_z=0.109 right_yaw=0.1227 right_pitch=-0.3314 right_roll=-0.0552 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -1.5385, 6.9949, 1.6777, -0.022, -0.0659, -0.0171, 0.1436, -8.5812, 6.8581, 1.7802, 0.3101, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6129544c15c3aa36427bd1fac0796a3c7c151c1d4716fa3aa3bd603e59c8117e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05b5451a829af388f94d03edeea778399186724f025c13e78e760648c22c76e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:922df9e755fa6d35313a1416e81b29df2356d5c8f038403a87702073eb2494d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9QgKEAgSGAI4AUIIdGhpbmtpbmcSDASUMheWiEF2WLQ4tBoMzuCnLWnRqlxsd+m4IjCz6AskAK6dQ2xV1pVFzDeTkGh1KBeM8G3Ae3oZ0SLpwFmlVa7uKQUmM27MfS6Xpl0qkghs2bTvRqHUqPc3p++idzsSgYUT9m3HHLAOFkFT8dQQ6nk9S7mXbCGIN+BZpc5Jfskf+uSrStqstmn5lr2hmkLmMRtlaXqaQC3h05yGFsDncYNzndbSaIL76f3SUmgBVu9AX9DQqUpYoBfXI8nliNbLdIclovMC+ya+4lYoC5W2d4txngRdz2BLVD8hlMnPJ+sDr1UtHtJbAmshB4CDtO8he7IozEiWWuS557vx9UgUlj2TaCRaoQw2uOYLUdsw6Pr3T6y1WYdMI3lXhevE19p2dn3kiF2+BkohX06jCvYjGKiHAJMn999AFSjggCv2wg6ES69Ok5SgKG7QmLiIg5jh13LgVrSoDh/ByUkk6dy2ifQwj5BTP8zty0GhtiPybpTdTXXzP82B8qzDRMXbQ6TDs9e0NBgbAmCx6P+ckMelaKcyBWaSc/OpB75xb9X3Jxr0WL8S2VALKRNhmYv0hAv+OhQ9lqhGSTr46gWAxiSZaHzSfPXxT8VIa7/LxEGv73rQLgusJBIuwjq2HlUrzQX9ah0Gj1uopSflHaFPTqRISrFXYS8sFyDV7Aq7kFQPDD1N0s2e2ZLjZZpvCrOhNw/xN3uLDx8Zr04gSYxHTsGol5R2rRO0jNI1mAsqHMU1VD7H008fsFprjWoqQUlMy+p2e+iVTKBmlKX+92Hw2pBRRMj60W5VpTOzLSxtxTWkApbzapBaJSHtbW8QtnqQZY5Btmr4MF3eMPskre3mGgchZij5Nc51LlZJc+AWrDbNSxU91kl+ZHa4QDaJz3B4pBC+fcxH9Wd9AflgRytfVENjOx465RxmHkS9P0W/L4hm3NqDSFXiGb5TLcRwdL/CWabga5pRnUR7R6uw8D6slUOenXdgLUIVS77Fa42/EcTAMzfsXNx3e1C1Rt/WVogQDB8Qx1KcZt2KNglmMRQxnqJ47sa+0g+rdVNsd2lTJgwEj1ousfNNTA1NBGSYhtma2Pu+JAawi3Y+zves+hka+nx7MK5jajQBpPg5fi3UhwC74Y1DRkCBnsxmCo+C/OECk0zJ8VLICpRt7tWHqG/xcIGTkiayGzXGdXL+oZu/ULVAsVfHMjQQTvCHM4llIL75l/x69d7MUeHRZtXmJ+FR41mqKOExphiQYf7ZBH8KIVrtId/G19Rk+opc4YIfgvgmsCrO96+CFYpI2HAAzSi24jbaBji8QU4EguDGyrBA+1T+euGz37kxhrtRMhfg1riOMgaitewyzaSYJ1UQDnJEhOGmMpnwfc8HLzk9LlbiJ632EbLzav0DrwrmV8Uur68qh2Ki3aUofxbZFWAX+tRBwB3p/fx4HpvKYta2AYVMnlMBFKmLCdMa7UN0DAGC1PmW5OIs2Qnnaw1L07I4AUrTvq5oseZ1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015wL2EZbsQMoGDqDsbVVs7c",
      "input": {
        "note": "Lemon appears left of the jaw column in the wrist view (~4-5 cm). Shifting left over it before descending.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.21,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_015wL2EZbsQMoGDqDsbVVs7c",
      "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]: [-0.0265, 0.8211, 0.6132, -0.4305, -0.0139, -0.0307, 0.9993, 0.6209, 1.702, 1.1252, -0.4267, 0.308, 0.3382, 0.9966]\nstate[eef_state]: left_x=0.2905 left_y=-0.0017 left_z=0.1665 left_yaw=0.0004 left_pitch=-0.069 left_roll=0.0007 left_gripper=0.9993 right_x=0.3713 right_y=0.2041 right_z=0.0895 right_yaw=0.1439 right_pitch=-0.3667 right_roll=-0.071 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.4154, 6.9949, 1.6874, -0.0562, -0.0659, -0.0122, 0.2393, -8.212, 8.7316, 1.2967, 0.2906, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd44f758e1b794c6b94ec705e6f693e726c8cbe838febf7e93b17978f40840e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a27fd7148314c53d33155598d2cd025fe352f0534e5fb7e045a2b43e23dc3e48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b834b065f13d24f6fa8367674e57ad6a09f69a3ac81ea58ff039db24bdc4e626",
        "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 · 3.978 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]: [-0.0265, 0.8173, 0.6132, -0.4252, -0.0135, -0.0307, 0.9993, 0.3138, 1.7168, 1.4139, -0.551, 0.16, 0.1459, 0.9966]\nstate[eef_state]: left_x=0.2911 left_y=-0.0017 left_z=0.1686 left_yaw=0.0 left_pitch=-0.0599 left_roll=0.0002 left_gripper=0.9993 right_x=0.4554 right_y=0.122 right_z=0.1732 right_yaw=0.089 right_pitch=-0.2711 right_roll=-0.0274 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.5795, 7.1863, 1.6874, -0.0513, -0.022, -0.0122, -0.2803, -8.7726, 8.3897, 1.3016, 0.0855, -0.0171, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0265, 0.8192, 0.6132, -0.4274, -0.0135, -0.0307, 0.9993, 0.5396, 1.5715, 1.0424, -0.4221, 0.279, 0.2897, 0.9966]\nstate[eef_state]: left_x=0.2909 left_y=-0.0017 left_z=0.1676 left_yaw=0.0 left_pitch=-0.0641 left_roll=0.0003 left_gripper=0.9993 right_x=0.3674 right_y=0.1675 right_z=0.109 right_yaw=0.1227 right_pitch=-0.3314 right_roll=-0.0552 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -1.5385, 6.9949, 1.6777, -0.022, -0.0659, -0.0171, 0.1436, -8.5812, 6.8581, 1.7802, 0.3101, 0.0855, -0.0122]",
      "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]: [-0.0265, 0.8211, 0.6132, -0.4305, -0.0139, -0.0307, 0.9993, 0.6209, 1.702, 1.1252, -0.4267, 0.308, 0.3382, 0.9966]\nstate[eef_state]: left_x=0.2905 left_y=-0.0017 left_z=0.1665 left_yaw=0.0004 left_pitch=-0.069 left_roll=0.0007 left_gripper=0.9993 right_x=0.3713 right_y=0.2041 right_z=0.0895 right_yaw=0.1439 right_pitch=-0.3667 right_roll=-0.071 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.4154, 6.9949, 1.6874, -0.0562, -0.0659, -0.0122, 0.2393, -8.212, 8.7316, 1.2967, 0.2906, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd44f758e1b794c6b94ec705e6f693e726c8cbe838febf7e93b17978f40840e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a27fd7148314c53d33155598d2cd025fe352f0534e5fb7e045a2b43e23dc3e48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b834b065f13d24f6fa8367674e57ad6a09f69a3ac81ea58ff039db24bdc4e626",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0wcKEAgSGAI4AUIIdGhpbmtpbmcSDCO/zt4mfvkNvP8U4BoMLb0lNhbgS1pimdFEIjBQE7DtauHgC8jEN9yirCPusL/IGKejO/Mj7a2XGnlGCO7CDLzGedKm00fC6PzV9ZMq8Aazbp4ywGSRahITdTAQfuj1nPyl551FmllFGq3NuV/b8WiIonBInG7agBR+qr9oxB/QqwEXcLLsqSLtZwxmLKr+8IsyfC8koS8RTtsfEzxuasoplRrrjm8eO+2dxzJ6D1EhMVPRTt52MYmu4NOgQjeB3/kFFAOTsG8LyJUNCHFvkOmOCyNL4arWxLdHUHmPCV5YyDRlQNe5zoyiz6GscPQPoBal8qS/TcajKuxtAGZ79pGMhHEMtE/fG6Uaq+aiXir95dMhVji57VIMKy8lSIcLNAN/SCugD/z7So5F+I9m8pFBhVeP+56668U6g9EO0fULQbYfBKtGF3l43lq314WAIzgIF7jGHsqOqqulZFsv/vwcOyXUNMI7lUXiMqzDjada8bwgUvcpcykZjrZ0RQQehXq/K+Q4uJohJVWZLHR54nrjRaspa0cCJC6EPdtYLFKdue54/gKAea0n4hQsDBm1BDLKg2Omku0zbXv6q4+HAjUf+PeC+jiJEhQGCUeFpgQnuCwqZ0SKERawc8BQNirSTMBL4hR0AD3QMY70MKYsx1xEu7tW2EY7tC86mUDaIfvyrCOfpdkUp7ai1UuifBrkAlZKeZ4kMql3eDHcnyu1Cwn9DhA/vzog5VUWIkBnYioa1UO7GKeBfI5WsKD/kGYwxcWVULXKK/EWET6usRn/P1thmB4ySwPd4vhZXgBhAS6uGbaNGIxn1zrTz5/AOe5+ZgpZdN1pDuQg6IXqFmpeLcgsnYM3gkmSgQezsRSS4110uH33mSRTct8QV4sjBqyRb7TduvR1jzYWQlKMMV6q0bKG6VfOr1Lba2mNWxl84RHbO9snf8kCQM+02k6CmOQK4fkIsJI9QIhoYRc9b38a+wg/noE4P4ABSt2HUaY5E1EyklASHaR0oKxbXyHkoNtq4LceO82j0T6WXpad8T6rp279P8xTufNwyNaIQvh7cnO2i5Qvk8cAqblTwHcvNs/5GQGMxPJCr2swro5z4ig7papMz5PEIq1jn+X3nSJsSU8DUqiZ+cfYU8f4Ct16oeDTIVn8LJC1tzGbMY/b8SaO8gkWnUTkKo0JjKKg3Ob+pIGE3mNICJ9pDUFcZPyf7WqC3ZQz1WqEIvcBDiqzbN8u7KUg8oid5lwMPs9rPD538N/VjTqlr+LhMXEmH3xgGVztGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WBJLLW9wvaWdK4v1VpfoHH",
      "input": {
        "note": "Lemon now nearly on the jaw column, lying lengthwise toward the arm so the jaws close across its width. Advancing slightly and descending to grasp height.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.215,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01WBJLLW9wvaWdK4v1VpfoHH",
      "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]: [-0.0265, 0.8211, 0.6132, -0.4313, -0.0139, -0.0307, 0.9993, 0.6319, 1.7149, 1.1358, -0.4343, 0.3107, 0.3523, 0.9966]\nstate[eef_state]: left_x=0.2904 left_y=-0.0017 left_z=0.1664 left_yaw=0.0004 left_pitch=-0.0698 left_roll=0.0007 left_gripper=0.9993 right_x=0.3702 right_y=0.2085 right_z=0.0873 right_yaw=0.1428 right_pitch=-0.3739 right_roll=-0.0691 right_gripper=0.9966\nstate[joint_eff]: [-0.0205, -1.1419, 6.9949, 1.6923, -0.0366, -0.0757, -0.0171, -0.3624, -8.5128, 8.4171, 1.3358, 0.2662, 0.1099, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc0e51e7d2f98a8f9e5fc0ce8d8e9d4e26b0387fbfe660ba0185fac150e7865c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d256997e034fe92077c9cdc15f4d5ad96b30e30d761d05dacb8bd43c5c29fd6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:035ba2b1bb591aab9bfaf6dd29b01f9b608475fb2659398f072d43f01d44772c",
        "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 · 5.001 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]: [-0.0265, 0.8192, 0.6132, -0.4274, -0.0135, -0.0307, 0.9993, 0.5396, 1.5715, 1.0424, -0.4221, 0.279, 0.2897, 0.9966]\nstate[eef_state]: left_x=0.2909 left_y=-0.0017 left_z=0.1676 left_yaw=0.0 left_pitch=-0.0641 left_roll=0.0003 left_gripper=0.9993 right_x=0.3674 right_y=0.1675 right_z=0.109 right_yaw=0.1227 right_pitch=-0.3314 right_roll=-0.0552 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -1.5385, 6.9949, 1.6777, -0.022, -0.0659, -0.0171, 0.1436, -8.5812, 6.8581, 1.7802, 0.3101, 0.0855, -0.0122]",
      "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]: [-0.0265, 0.8211, 0.6132, -0.4305, -0.0139, -0.0307, 0.9993, 0.6209, 1.702, 1.1252, -0.4267, 0.308, 0.3382, 0.9966]\nstate[eef_state]: left_x=0.2905 left_y=-0.0017 left_z=0.1665 left_yaw=0.0004 left_pitch=-0.069 left_roll=0.0007 left_gripper=0.9993 right_x=0.3713 right_y=0.2041 right_z=0.0895 right_yaw=0.1439 right_pitch=-0.3667 right_roll=-0.071 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.4154, 6.9949, 1.6874, -0.0562, -0.0659, -0.0122, 0.2393, -8.212, 8.7316, 1.2967, 0.2906, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0265, 0.8211, 0.6132, -0.4313, -0.0139, -0.0307, 0.9993, 0.6319, 1.7149, 1.1358, -0.4343, 0.3107, 0.3523, 0.9966]\nstate[eef_state]: left_x=0.2904 left_y=-0.0017 left_z=0.1664 left_yaw=0.0004 left_pitch=-0.0698 left_roll=0.0007 left_gripper=0.9993 right_x=0.3702 right_y=0.2085 right_z=0.0873 right_yaw=0.1428 right_pitch=-0.3739 right_roll=-0.0691 right_gripper=0.9966\nstate[joint_eff]: [-0.0205, -1.1419, 6.9949, 1.6923, -0.0366, -0.0757, -0.0171, -0.3624, -8.5128, 8.4171, 1.3358, 0.2662, 0.1099, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc0e51e7d2f98a8f9e5fc0ce8d8e9d4e26b0387fbfe660ba0185fac150e7865c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d256997e034fe92077c9cdc15f4d5ad96b30e30d761d05dacb8bd43c5c29fd6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:035ba2b1bb591aab9bfaf6dd29b01f9b608475fb2659398f072d43f01d44772c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8gcKEAgSGAI4AUIIdGhpbmtpbmcSDI3unQ38ahTDLWr4ABoMU5llRVzC71Gx8BdFIjDh1e/q0643Klce+3J9S510p77FkYgo+IMzYnmBJ3pGw6dJSE0ZsV4FUZdRfdeGhNwqjwc0xuicVP43RxHvNO7C8aqzymUb0FoD0rHOxlELVM31sbtCaQh0F1KgzcIPGrOZrxttqxJaw7bgVkixWZnVT8yT8VNmQS69TIRxzNOaaItMBBHp7ar1C2Akj/RrQSXP7NwhLmLyCMIHiVo8vc7jxwuxUlyZXn9W2+I3fpdRMSUyoNhPwG8HUL7nkotoGxinYAcVnjeeMfIJXfIAoyhOZ+T26bTlI5qEO+rr4h0tMjn392TQs/6eq7zBpMceYqy3yH2feBv3NmYTTYkQqjzJgBlbenKMUG+PV47eFUp1IyrT3z8hK2X4uO/sfnrhpGLxf9r76YBJ0Jly+s8kfoOqQCc2zpJ6M3b28U/Cv2bxDJ2coEw2TTIGrN7lCJ1bThvzV+aGH+HHD47BTwOEPe5kydxIAcSFv7Zw+AvBOjSXS6JZPOeB97RLNwqPZVCxdcEqTlb93uO8Xl0MS+WDoffTW/esdFyAox5c03fhtEROvW/fOSKeFCfE5MLqaMlLCeX+hNIMhTeRdthwgIesmUz+0AEs94lRxfn8WZmnbI4d8zMBT/cRfhmqRgP4srqjGt476EI3jrHBIIGmU6je1gu2ZGyvg9RI4hcP0H3rLwE4ziymdEt8n+iR9J8lBW8Ul/me9mRY6RJeojS2n6ouLdkPj7tTB0vyQ3XZYUELA8BElOTYHF4wbd0J5mK/jilq4pSPLNbybcdXHTW498H3q5VbC0IA3paubBNcKYaKobNGFjBUkiMijnjjvfwmSTMd43hIM5CRxtEZOpxdRqE+c1YTg5TGCXoMyYQKK6WFxFRc74UirDyu3/zj619u1a/UZ7mjDwY/95tsXuGOnGGOU9+fHVZcGrWGxuSDLDMgxaySVLrlF6OEzGvM74jMtsc6mta4KAqdoHTDuUSFtow8hrbulVfBq9TDkvGisYLVESFo0VFa/KUaITwGO5uyG5L7AphrIqXaXJrptXw2MoMfli0GQBZe+CPggfsCixCnfelx+343Qmr7GyiNosrleC9ck3oPQekqxMLMS1Sb+F58Nipoa9ctYWLWSFWKw06UoEBggMaBoDOWHGpjAqRAFfvRLIHMp5hejYX5mY0cDCIbm0xtEAMAqP/IpaYD5P5qXT/Dj/PmYvq7Au5+/Fgk2lp58DKxqPJ1YfIgxIN3NYJJ8mt2NKTvdut76+v4q4Ux9KrJXavhkuuBsVHtS3uRZLf1EMQODhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B8YhMhEjTawstaRJ37sCwM",
      "input": {
        "note": "Last command was held (no descent). Trying a pure vertical descent onto the lemon.",
        "targets": {
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01B8YhMhEjTawstaRJ37sCwM",
      "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]: [-0.0265, 0.8211, 0.6132, -0.4313, -0.0135, -0.0307, 0.9993, 0.6319, 1.7149, 1.1358, -0.4343, 0.3111, 0.3523, 0.9966]\nstate[eef_state]: left_x=0.2904 left_y=-0.0017 left_z=0.1664 left_yaw=0.0 left_pitch=-0.0698 left_roll=0.0005 left_gripper=0.9993 right_x=0.3702 right_y=0.2084 right_z=0.0874 right_yaw=0.1425 right_pitch=-0.3738 right_roll=-0.0694 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.2239, 6.9949, 1.6923, -0.022, -0.0611, -0.0122, -0.4581, -8.294, 8.5812, 1.326, 0.2906, 0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f78de2184cd3430be19ae4576a0ad85cea0f11324f896bf7cc881b71e00c451",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:462ca3aa1631727bd257716fb73910c7b93514bd7465ea959c0b0ef006676029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d86c30031e32078e0ca1a71de153e91f6fef183df0cfe6b7c16a80258597879",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 4.709 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]: [-0.0265, 0.8211, 0.6132, -0.4305, -0.0139, -0.0307, 0.9993, 0.6209, 1.702, 1.1252, -0.4267, 0.308, 0.3382, 0.9966]\nstate[eef_state]: left_x=0.2905 left_y=-0.0017 left_z=0.1665 left_yaw=0.0004 left_pitch=-0.069 left_roll=0.0007 left_gripper=0.9993 right_x=0.3713 right_y=0.2041 right_z=0.0895 right_yaw=0.1439 right_pitch=-0.3667 right_roll=-0.071 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.4154, 6.9949, 1.6874, -0.0562, -0.0659, -0.0122, 0.2393, -8.212, 8.7316, 1.2967, 0.2906, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0265, 0.8211, 0.6132, -0.4313, -0.0139, -0.0307, 0.9993, 0.6319, 1.7149, 1.1358, -0.4343, 0.3107, 0.3523, 0.9966]\nstate[eef_state]: left_x=0.2904 left_y=-0.0017 left_z=0.1664 left_yaw=0.0004 left_pitch=-0.0698 left_roll=0.0007 left_gripper=0.9993 right_x=0.3702 right_y=0.2085 right_z=0.0873 right_yaw=0.1428 right_pitch=-0.3739 right_roll=-0.0691 right_gripper=0.9966\nstate[joint_eff]: [-0.0205, -1.1419, 6.9949, 1.6923, -0.0366, -0.0757, -0.0171, -0.3624, -8.5128, 8.4171, 1.3358, 0.2662, 0.1099, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0265, 0.8211, 0.6132, -0.4313, -0.0135, -0.0307, 0.9993, 0.6319, 1.7149, 1.1358, -0.4343, 0.3111, 0.3523, 0.9966]\nstate[eef_state]: left_x=0.2904 left_y=-0.0017 left_z=0.1664 left_yaw=0.0 left_pitch=-0.0698 left_roll=0.0005 left_gripper=0.9993 right_x=0.3702 right_y=0.2084 right_z=0.0874 right_yaw=0.1425 right_pitch=-0.3738 right_roll=-0.0694 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.2239, 6.9949, 1.6923, -0.022, -0.0611, -0.0122, -0.4581, -8.294, 8.5812, 1.326, 0.2906, 0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f78de2184cd3430be19ae4576a0ad85cea0f11324f896bf7cc881b71e00c451",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:462ca3aa1631727bd257716fb73910c7b93514bd7465ea959c0b0ef006676029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d86c30031e32078e0ca1a71de153e91f6fef183df0cfe6b7c16a80258597879",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AgKEAgSGAI4AUIIdGhpbmtpbmcSDPeyfI60F8dV5CrUehoMugJrDyC+Sq/LrfVzIjCNu9LvAMuRk7A4BE96X91twnlGATJsRRKf9aK/y5PSY3QX90DFN3L/96rZbjlOU8EqhQjuenWqnhkSg7bdEluK6i6+iAEaUjOmvcFHslXsR8/d0QCrqvBk1bPTIdOsgk+yP0EDiQAXia9BTaIiLEspEiPQpyEYLzXZybuMwr2py+2XrXzcSBtg9HxBCfvmA+U6U/38I0fRnKRwdpZXCHHAYDGrtVNwUF3fmXPAF+yUpC6/3fi+EliQuc8kd42Q80z9gwkzHhlyFExZc7X5Vj9f05NNHirjym2rT9xbByzvKCXmtiuyRYVs+TopAi2HM3WGeKNf8zFeODfyjvZ8WpJF/bQfg7DpVFcqNtgZfUWm9GfYxv1npnHBEE/X+mbiHPYET/HuUyLnhxAN0sC+3ce+0KgjqoVU1nP3zXROIr0q7IXI4YHH3slimppKoJNy9dlH9yqD0LWOgadEQ6Kwa+NMMOMETvjKZsBI/3+SVPFn67kcDGjkezt5FP1OgRdPydjzdPFHi4piowymqCaCsfMiuAW1ur0PXEznHdcZuN3HSe+zZRSjNh3+LgQ93vL3ipTV1HQ0nxbQbxdmaHx/U/YkZPONsjMNhzdSOVqRFBflDEYC0mzeYs48L1XS0gkQfUlCGmzo8lmqwQXdGHr2qCKjmJ4NtT+xCjmynnDguO04lqAY9I/vW5bSpAt6+Tr2BDAjRq5htOKGDvQDdEjzlOtDpCT85fsRnrNnwkDXaNfUe/IIZDUa/dC+SiLXHTy5L3F97zCOIMYJSfa8kqmOZSMQlEVWqT7NYdF1Om7FM6ab3aZLKjMQJOvbIGeLvpDOffgzZhRP5NrLSLUy73xEsxJ3QeYlRknat6TcSdx3hvaQrWq95fTi6Mc9ARCrKVg1BbaHoK/zQFemwCc9eVlavA52v04fPFTpRwsIzNQT3oYqgb8f1A0fut0Gl4QsjVzhg6K9dWr3O5jt9iCHREASLVnubwSyLPqcKRURPVlShGxdrWhgNo7F9W7wgjwaQG3j2ZizkKGM31dkbJQb443x2FmoKtlmLdvHNysO+aFWzQbOHJJ5TIfLWAVso5aZDMarZzgFpuMYr6KKKn88l+em2jrfC4hjBpy4TARtMce8v/0+b9QOXKkr8IYTOY0i5HOpf5egArW/WUY87Tvt4a9+17nyueZsuA/lWgqYZ2KnexybtAHg5FQrSODhj+9K13OLi7CM+98ytHDumJx2Oh1oHigRltVCiKPA+ridR/rpyxX1o9hjS1hYw5A7DnlG5V6/i2LM6Ny7wTGc/jMC1IOrk13C+lgRs/ebGAy8cMiLGCjAcutpenSSdwYnmuZ99aeHXBSJwXIuc0npNGfRxkNs1jFXsv3OBT8QliWTgrWbF37zAcfWobRJz10+6EdC9sgRpt1EksYQ1qzWN44q+Ju6SFYO8lol3hD4ERAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017bbP44Jck2S9T4oki6uZzc",
      "input": {
        "note": "Arm is holding still and has drifted to pitch -0.37. Explicitly commanding a neutral orientation along with the descent to unstick the IK.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.38,
          "right_yaw": 0.0,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_017bbP44Jck2S9T4oki6uZzc",
      "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]: [-0.0269, 0.8211, 0.6132, -0.4343, -0.0139, -0.0307, 0.9992, 0.7158, 1.7844, 0.7807, 0.2344, 0.5457, 0.4221, 0.9966]\nstate[eef_state]: left_x=0.29 left_y=-0.0018 left_z=0.1657 left_yaw=-0.0 left_pitch=-0.0729 left_roll=0.0008 left_gripper=0.9992 right_x=0.3725 right_y=0.2072 right_z=0.042 right_yaw=0.0344 right_pitch=-0.0686 right_roll=-0.0376 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.3744, 7.1316, 1.7265, -0.0757, -0.0708, -0.0122, 0.335, -7.3368, 5.2581, 1.6972, 0.3492, 0.0855, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0016ffb99d9a937079c3fe44ca2748be751726b1d56f2ae50bbe53a4bdd2c421",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5386e9cae5c1f712299656e5ee12557cc4d0075b8781ad22cb43b2043f600d27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e4abcdbc838198a03f5f5bb611adff17db061d7b1b47adb58934159edcef071b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 2.893 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]: [-0.0265, 0.8211, 0.6132, -0.4313, -0.0139, -0.0307, 0.9993, 0.6319, 1.7149, 1.1358, -0.4343, 0.3107, 0.3523, 0.9966]\nstate[eef_state]: left_x=0.2904 left_y=-0.0017 left_z=0.1664 left_yaw=0.0004 left_pitch=-0.0698 left_roll=0.0007 left_gripper=0.9993 right_x=0.3702 right_y=0.2085 right_z=0.0873 right_yaw=0.1428 right_pitch=-0.3739 right_roll=-0.0691 right_gripper=0.9966\nstate[joint_eff]: [-0.0205, -1.1419, 6.9949, 1.6923, -0.0366, -0.0757, -0.0171, -0.3624, -8.5128, 8.4171, 1.3358, 0.2662, 0.1099, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0265, 0.8211, 0.6132, -0.4313, -0.0135, -0.0307, 0.9993, 0.6319, 1.7149, 1.1358, -0.4343, 0.3111, 0.3523, 0.9966]\nstate[eef_state]: left_x=0.2904 left_y=-0.0017 left_z=0.1664 left_yaw=0.0 left_pitch=-0.0698 left_roll=0.0005 left_gripper=0.9993 right_x=0.3702 right_y=0.2084 right_z=0.0874 right_yaw=0.1425 right_pitch=-0.3738 right_roll=-0.0694 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.2239, 6.9949, 1.6923, -0.022, -0.0611, -0.0122, -0.4581, -8.294, 8.5812, 1.326, 0.2906, 0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0269, 0.8211, 0.6132, -0.4343, -0.0139, -0.0307, 0.9992, 0.7158, 1.7844, 0.7807, 0.2344, 0.5457, 0.4221, 0.9966]\nstate[eef_state]: left_x=0.29 left_y=-0.0018 left_z=0.1657 left_yaw=-0.0 left_pitch=-0.0729 left_roll=0.0008 left_gripper=0.9992 right_x=0.3725 right_y=0.2072 right_z=0.042 right_yaw=0.0344 right_pitch=-0.0686 right_roll=-0.0376 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.3744, 7.1316, 1.7265, -0.0757, -0.0708, -0.0122, 0.335, -7.3368, 5.2581, 1.6972, 0.3492, 0.0855, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0016ffb99d9a937079c3fe44ca2748be751726b1d56f2ae50bbe53a4bdd2c421",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5386e9cae5c1f712299656e5ee12557cc4d0075b8781ad22cb43b2043f600d27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4abcdbc838198a03f5f5bb611adff17db061d7b1b47adb58934159edcef071b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnAcKEAgSGAI4AUIIdGhpbmtpbmcSDASahTnVnGYpwCAjEBoMDRVfew9hQlAygMrFIjCq5Qv2hCuXsIWKkKoUF5OBMylRBbC6qDkPkLgC3mMrHIScA2LlJKMJWjp1tO+dyh8quQZyQVZrkVK3VL6gELcdhDc7zeEm/DNEUApETqCV+anyz62qik9jqy55r/VcKuECMxKE48U12K1RcxyV+IH7u4wp9LHp9UcXk5fCvr2RGvLqSgWhIXwWxczAiOH+fMU1PKPNKXQNagMKt8oA81Zg2Srkkp7c+k8guYpi/mloUl4Z/VIhGhB8DZQovfTwB6vYO/KUSzbjzaJaVIB5QE/+Q/kie1ntgWF4qu0W/RJxyg08lylguJ0gR+li4vbtB2ErCab4Gz0IU0hXUuBhn28TWdQQNf2D4MydLRKy1e2aHdmxBNPpzPPiI3RU4V9spL7CtLItgePmc6rKp4d+rH3nxu1mk0jh1NCwsNMKe/LYnDAUoP1Gi0kMg4X4iN7odC+/iRApnyxGLLLd32IB+vsMLSDElJU0VyLrd2No/PwnGR2c/4G+qpqGIHf5YySilVg5S9/nAuKc1yy8iUB9rPOxaN99cepobUd0yN3ZHfGxr8Mbla1IfhIUJopdEcLQA9o/pA1ymG0Z+3wH4c/8JmSeky0P/IBosMr9bs3nO8l1mHbJ3zHTVENLOY5/vpBaLUOl3pmPeYvOGfNjt8llbcTAbFJ0hKObuQFoKGlPltW4qbWJQqLwjvokPFMmrm1QiEqiDUV1A+UD0DPDhaJ2WwhOA66golw/N6oS8w/r1dikvzgjrZve8xREMPNUFoibnc8azvbh5+Gn0i7LCqdRnBWyKoJIll8Bs1Whe1eAjrdt8Rw/gneRuZ7esUuVks3BPz6/L4ibq2uGFIisNb49hwrwR3BehviS/2AsixJ8qr80hV7NTXmR2/K8pmTzrTqX2xpMXA70SkmotQhjV1+nU7mNGTrF/hAPUZSWxgXRopGmVh/rCNn6misvKbJFgk4XiyJS9hAuAwYDSQSF6a0L/AhpdZ5wBkE0TYxWGRF0FV7KmobhlbSG7Vu9mvmaqaQ4RXs5UCdUc86cjd75DeYJGKQMVD6312hu5sTXcmkgn2sCD8BE5Kn+X5ErczdMBhUe9gKaP5gneim1I7nRo5DIM34qU7sL2ovr27poBVytZLGbCh4uZSMbSje8tF20GsugwhXq9EFOL6IrchAmeGkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sbv4hvAwCF2HzCqGaXZ3LZ",
      "input": {
        "note": "Descent works with neutral orientation; lemon is just ahead and slightly left of the jaws. Final small adjust and descend to grasp height.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.385,
          "right_y": 0.215,
          "right_yaw": 0.0,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Sbv4hvAwCF2HzCqGaXZ3LZ",
      "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]: [-0.0265, 0.823, 0.6132, -0.4355, -0.0135, -0.0307, 0.9993, 0.7181, 1.9198, 0.7727, 0.3927, 0.5713, 0.4278, 0.9966]\nstate[eef_state]: left_x=0.2899 left_y=-0.0017 left_z=0.165 left_yaw=0.0001 left_pitch=-0.0759 left_roll=0.0006 left_gripper=0.9993 right_x=0.3806 right_y=0.2105 right_z=0.0118 right_yaw=0.0149 right_pitch=-0.0458 right_roll=-0.0371 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.1556, 7.159, 1.6825, -0.0122, -0.0659, -0.0073, 0.4855, -9.6205, 4.465, 1.7998, 0.3053, 0.1294, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a9653d1b43adac045120a28a618cbcbd63e69476c4035cb791f426e88eff842",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d15fd3731ab885e8a580c435fb5861cdf9f7533c27a3385c1d041f3d847120bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bdbce89c6a9e5ba60fda53003aa002d574665b4bf0444aa99576eac1689fa21b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 4.489 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]: [-0.0265, 0.8211, 0.6132, -0.4313, -0.0135, -0.0307, 0.9993, 0.6319, 1.7149, 1.1358, -0.4343, 0.3111, 0.3523, 0.9966]\nstate[eef_state]: left_x=0.2904 left_y=-0.0017 left_z=0.1664 left_yaw=0.0 left_pitch=-0.0698 left_roll=0.0005 left_gripper=0.9993 right_x=0.3702 right_y=0.2084 right_z=0.0874 right_yaw=0.1425 right_pitch=-0.3738 right_roll=-0.0694 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.2239, 6.9949, 1.6923, -0.022, -0.0611, -0.0122, -0.4581, -8.294, 8.5812, 1.326, 0.2906, 0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0269, 0.8211, 0.6132, -0.4343, -0.0139, -0.0307, 0.9992, 0.7158, 1.7844, 0.7807, 0.2344, 0.5457, 0.4221, 0.9966]\nstate[eef_state]: left_x=0.29 left_y=-0.0018 left_z=0.1657 left_yaw=-0.0 left_pitch=-0.0729 left_roll=0.0008 left_gripper=0.9992 right_x=0.3725 right_y=0.2072 right_z=0.042 right_yaw=0.0344 right_pitch=-0.0686 right_roll=-0.0376 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.3744, 7.1316, 1.7265, -0.0757, -0.0708, -0.0122, 0.335, -7.3368, 5.2581, 1.6972, 0.3492, 0.0855, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0265, 0.823, 0.6132, -0.4355, -0.0135, -0.0307, 0.9993, 0.7181, 1.9198, 0.7727, 0.3927, 0.5713, 0.4278, 0.9966]\nstate[eef_state]: left_x=0.2899 left_y=-0.0017 left_z=0.165 left_yaw=0.0001 left_pitch=-0.0759 left_roll=0.0006 left_gripper=0.9993 right_x=0.3806 right_y=0.2105 right_z=0.0118 right_yaw=0.0149 right_pitch=-0.0458 right_roll=-0.0371 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.1556, 7.159, 1.6825, -0.0122, -0.0659, -0.0073, 0.4855, -9.6205, 4.465, 1.7998, 0.3053, 0.1294, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a9653d1b43adac045120a28a618cbcbd63e69476c4035cb791f426e88eff842",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d15fd3731ab885e8a580c435fb5861cdf9f7533c27a3385c1d041f3d847120bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdbce89c6a9e5ba60fda53003aa002d574665b4bf0444aa99576eac1689fa21b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01487tACHqLcLbvK3kb4fan3",
      "input": {
        "note": "Lemon is between the jaws at table level. Closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01487tACHqLcLbvK3kb4fan3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0265, 0.8249, 0.6132, -0.4419, -0.0139, -0.0307, 0.9993, 0.7238, 1.9476, 0.7677, 0.4477, 0.572, 0.4377, 0.3906]\nstate[eef_state]: left_x=0.289 left_y=-0.0016 left_z=0.1632 left_yaw=0.0004 left_pitch=-0.0843 left_roll=0.0011 left_gripper=0.9993 right_x=0.3821 right_y=0.2149 right_z=0.0078 right_yaw=0.0152 right_pitch=-0.0285 right_roll=-0.0149 right_gripper=0.3906\nstate[joint_eff]: [-0.0889, -1.4974, 6.9812, 1.707, -0.0317, -0.0366, -0.0171, 0.0479, -9.1419, 4.5333, 1.7314, 0.3346, -0.0073, 0.9255]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b07f6de5df6c4011edea2be195ecc0d4237c83af9556f3f9db9eb691d5c70af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ebd2b7508a14e5ddf13f9e2e9f715a0faff6285ce6cfe58ac98609908dc0cbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1c9ab1ccc2990de10869e02df4452dd2708cfc407d3f4e2e8143b896a6d09f6c",
        "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 · 4.821 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]: [-0.0269, 0.8211, 0.6132, -0.4343, -0.0139, -0.0307, 0.9992, 0.7158, 1.7844, 0.7807, 0.2344, 0.5457, 0.4221, 0.9966]\nstate[eef_state]: left_x=0.29 left_y=-0.0018 left_z=0.1657 left_yaw=-0.0 left_pitch=-0.0729 left_roll=0.0008 left_gripper=0.9992 right_x=0.3725 right_y=0.2072 right_z=0.042 right_yaw=0.0344 right_pitch=-0.0686 right_roll=-0.0376 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.3744, 7.1316, 1.7265, -0.0757, -0.0708, -0.0122, 0.335, -7.3368, 5.2581, 1.6972, 0.3492, 0.0855, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0265, 0.823, 0.6132, -0.4355, -0.0135, -0.0307, 0.9993, 0.7181, 1.9198, 0.7727, 0.3927, 0.5713, 0.4278, 0.9966]\nstate[eef_state]: left_x=0.2899 left_y=-0.0017 left_z=0.165 left_yaw=0.0001 left_pitch=-0.0759 left_roll=0.0006 left_gripper=0.9993 right_x=0.3806 right_y=0.2105 right_z=0.0118 right_yaw=0.0149 right_pitch=-0.0458 right_roll=-0.0371 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.1556, 7.159, 1.6825, -0.0122, -0.0659, -0.0073, 0.4855, -9.6205, 4.465, 1.7998, 0.3053, 0.1294, -0.0073]",
      "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]: [-0.0265, 0.8249, 0.6132, -0.4419, -0.0139, -0.0307, 0.9993, 0.7238, 1.9476, 0.7677, 0.4477, 0.572, 0.4377, 0.3906]\nstate[eef_state]: left_x=0.289 left_y=-0.0016 left_z=0.1632 left_yaw=0.0004 left_pitch=-0.0843 left_roll=0.0011 left_gripper=0.9993 right_x=0.3821 right_y=0.2149 right_z=0.0078 right_yaw=0.0152 right_pitch=-0.0285 right_roll=-0.0149 right_gripper=0.3906\nstate[joint_eff]: [-0.0889, -1.4974, 6.9812, 1.707, -0.0317, -0.0366, -0.0171, 0.0479, -9.1419, 4.5333, 1.7314, 0.3346, -0.0073, 0.9255]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b07f6de5df6c4011edea2be195ecc0d4237c83af9556f3f9db9eb691d5c70af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ebd2b7508a14e5ddf13f9e2e9f715a0faff6285ce6cfe58ac98609908dc0cbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c9ab1ccc2990de10869e02df4452dd2708cfc407d3f4e2e8143b896a6d09f6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSiggKEAgSGAI4AUIIdGhpbmtpbmcSDPPO0WXVkerXQ7LuDBoMWqPS+CnYScs++c4fIjD3J4q9QfrxIoP2D5KlWapKLRg7UoAi3jlUZSmPZUGgV1GQGH9UiIAVsqWHe+2jOLQqpwcI+AWWQxXiQNxL+yL8IC4Fb7eGPzpIXgO55vjoSjRGQTICPorjXpC2ORGGqPE2qiJHS37WzKHRmP4EfMy22td00FMmDDCd4QSKEPjfedLONl2Zv2flLiJtJj26/LH908c3vCCySGortmSjcXSmjOPzFoPhpvU8WUjX7duXfg1+z/BxikzqKUQM2ou0ow+XqALi2aaLL+DsDE3m4zZKEjuEnZ/IZopLInbGFpqJJrdN06TKxzrlX+OJ8xv/+bJgiFhAFjvXjE+djM0AghaJJzNSuCNcHp1FOjPh61nDWv55iHir6qP63nZhKxrTzFgK06T1H15wrIsPOhgTTOfY5+rakubGfHVLETPntVhH+czU5hKWgQTzkC9twJVws4w2pFdWnBdp8MO25wi6gnzhB6ERA2ycHyhvKo7UvlBubYd16ummG/hXE+Itvn/r/3Nj1FBxvLWowk6kHgqY/A7CacvNxzCW+mkOZSFddygVdqE8r7O0ekwdR6qq6SlgROYpzLMJizJ2QytF1zBD1BU+5X1G7Pa5o9Ks9XrlhuAHVg8kO1b3NnIRA0zI1qNTQtqenYRfzI5DOVhY5Ws9pS6MiYrpGmKuSQNcIuym+cfeBFjq0yR7KIZUJiS7tiGE5DRmhHw0txOYClrry2Gk5Ha9uXdhPWFZUQza7K54A+UgqYhsnBBOvITiVTnTMQyENZN0CN6jV73AB47SrCvhnWkRU/zHF0IyarmYy6hXuMhUscU3c8AKO5abaltkrhUGA223MOLDfRh/McPwMzPfWxMlaoeu60yrJ8uepM17HSB0NY/NMSg/QuEd7HERBD3yeRmQz7YYLoJyNhcopuinnFeb5o936HAP6wc0T0G6SaTLf6FqrhOfIgJ4fD+b16JerDw1t79XgEXZmVNh0SsNEzngqyEwFi8lSTeSyMJ/Uw0v1HBQl54vjaNTNMxN4XZ2lELoOgu13jtGE82N4tgHM74tL5Rlj7zd0KOTno1Tinixs2VQzRi/+lWNx4T/yJs8dSB/LZF//AWStLIb08nmpslPtLXYHRJVMT+KjpG2dDefwRVENVaVo6zRHUKck6+YtH9jrG2bS9DUyS+ip9nlQp2aqEKvhZsRl8tgXXIWkuLDXR4CO5ZcBna+tfy3Da9jaRNqtYrdERampO0x47NAQo4FkuhP2dfbBx7ko7mD9pvsgdK5Nuc65fZGSlnIwdDI2Nn807hnVEB7XSSvC3JSJk8+PXDeopuVcVO+uRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011JQWmVadS9QPWn2T1BiVef",
      "input": {
        "note": "Lemon grasped (reading 0.39 ≈ 3.7 cm). Lifting it clear of the bowl rim.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_yaw": 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_011JQWmVadS9QPWn2T1BiVef",
      "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]: [-0.0265, 0.8257, 0.6132, -0.4465, -0.0139, -0.0307, 0.9993, 0.7307, 1.5948, 1.0584, -0.1963, 0.5724, 0.4377, 0.3931]\nstate[eef_state]: left_x=0.2884 left_y=-0.0016 left_z=0.1621 left_yaw=0.0004 left_pitch=-0.0896 left_roll=0.0012 left_gripper=0.9993 right_x=0.3818 right_y=0.2185 right_z=0.1563 right_yaw=0.0218 right_pitch=-0.0286 right_roll=-0.0154 right_gripper=0.3931\nstate[joint_eff]: [-0.0068, -1.1829, 6.9812, 1.6777, -0.0464, -0.0659, -0.0171, 0.2393, -9.6615, 8.9915, 1.6044, 0.4322, 0.0611, 0.2564]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60dbcd97d0c8f14d68b4871386783381a81826ddb54ea1740f94501da1665c50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a59e8d3030cf9689e3c69ec2ca80efd219d8b829d75601b850e46e6b257573ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7b0e462c725b29eaf3230f3d9da378607b46f637a939c91b39329dc86989032",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 3.335 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]: [-0.0265, 0.823, 0.6132, -0.4355, -0.0135, -0.0307, 0.9993, 0.7181, 1.9198, 0.7727, 0.3927, 0.5713, 0.4278, 0.9966]\nstate[eef_state]: left_x=0.2899 left_y=-0.0017 left_z=0.165 left_yaw=0.0001 left_pitch=-0.0759 left_roll=0.0006 left_gripper=0.9993 right_x=0.3806 right_y=0.2105 right_z=0.0118 right_yaw=0.0149 right_pitch=-0.0458 right_roll=-0.0371 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.1556, 7.159, 1.6825, -0.0122, -0.0659, -0.0073, 0.4855, -9.6205, 4.465, 1.7998, 0.3053, 0.1294, -0.0073]",
      "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]: [-0.0265, 0.8249, 0.6132, -0.4419, -0.0139, -0.0307, 0.9993, 0.7238, 1.9476, 0.7677, 0.4477, 0.572, 0.4377, 0.3906]\nstate[eef_state]: left_x=0.289 left_y=-0.0016 left_z=0.1632 left_yaw=0.0004 left_pitch=-0.0843 left_roll=0.0011 left_gripper=0.9993 right_x=0.3821 right_y=0.2149 right_z=0.0078 right_yaw=0.0152 right_pitch=-0.0285 right_roll=-0.0149 right_gripper=0.3906\nstate[joint_eff]: [-0.0889, -1.4974, 6.9812, 1.707, -0.0317, -0.0366, -0.0171, 0.0479, -9.1419, 4.5333, 1.7314, 0.3346, -0.0073, 0.9255]",
      "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]: [-0.0265, 0.8257, 0.6132, -0.4465, -0.0139, -0.0307, 0.9993, 0.7307, 1.5948, 1.0584, -0.1963, 0.5724, 0.4377, 0.3931]\nstate[eef_state]: left_x=0.2884 left_y=-0.0016 left_z=0.1621 left_yaw=0.0004 left_pitch=-0.0896 left_roll=0.0012 left_gripper=0.9993 right_x=0.3818 right_y=0.2185 right_z=0.1563 right_yaw=0.0218 right_pitch=-0.0286 right_roll=-0.0154 right_gripper=0.3931\nstate[joint_eff]: [-0.0068, -1.1829, 6.9812, 1.6777, -0.0464, -0.0659, -0.0171, 0.2393, -9.6615, 8.9915, 1.6044, 0.4322, 0.0611, 0.2564]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60dbcd97d0c8f14d68b4871386783381a81826ddb54ea1740f94501da1665c50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a59e8d3030cf9689e3c69ec2ca80efd219d8b829d75601b850e46e6b257573ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7b0e462c725b29eaf3230f3d9da378607b46f637a939c91b39329dc86989032",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxAgKEAgSGAI4AUIIdGhpbmtpbmcSDFb7+4SBopDbquS6DBoMhi6ykjDOuRJ2CQxzIjC+O6UL/mmBv3D0+28/JPKo9M2h3jGSpHh8veOcB5wckTa6m5fNV1GM6eaWLghQG18q4Qeges2Z+8rF+CeADCJiNxaIjGjwVb42n0o+8V0zxWYFgYxvXs8OwtGkILqtTtpBlljZrhK4T98VYugQJkyvR7hhHhB+VADAzbCM4ogp7tHK5etoG913ll83eq0Cui0pS3LEl0PHJaQEy4SfwWd3J2SdPYUA7FuzkgkvRL9nxQCC4uV4eyl8BQJuPL4UKu/fTOw476ENs1Mla++S31jvNVh45mvbmnWVt56HO7RIMWZI5Ydv7nQdAEEkUTHkkwkC1/Pl9kQ5nXGzEIESCT38+D3hY3KIEuMho1MBBOISo1vfbEd+WwEDODXEBAc1jCznP2sCcoBhZMklBfyp/zM4LKCg//p2rECVvhADWoPn6IStpNkfF7qMIg29CGOtM7oouaEnQNSzXKgpBdCT3TY4A/9rI3fT+ylTfvaEoB0kEcYUZm2jOyAU5fEiPn+jPtb3n3J4QzC4v+74yje85aZKVNVlYVe7z0nYukHixYyJOx9yKkB2Dcp3DNVUnS65kCnHHZGpNzxGmR4zVxi1XFk4p/Oaoad23d3Q1EwTgIRJvQGe9BLtQWDRBWt7Wz6Xu6H6quJJuPB0k9p2TF3nfPE1vIlwhXy5ojjE2fO0OpvxuxNGyAuK6nXHKm+rMoVrTvCDzQBpjjlW0gxktJhC0qAiJ58A6qosMGpGRK2nyU8zG2oxcjnYx0ubVIfQ5m+M/ckOAIgDgo+w12Z0PSX8r1rPcFU7nN4LP8U1Z6VDecsa5oM6aC/sg3fBn2zEjMnp1l0qR+/Ww1DEtL2d5YkO50ZDAtizYWeOdTCwFGhyC8rvuRRXaPEWrMEXBu5b4T1dqmbraVeDhbiDe8ZO0TAXhMMDBvdAMa0ezdPsz7DJfBq3ovlhXDO3RY1/bsNW4X/8MV/i8G95JISkhhnjmrLqpd5aTEslKG1QXKI1nhSWMC0t7aLa/vyU9vpueVcchE9LiySwkTZDNGl+7wfRGICui8yc3iAN8ROPuS2D2NwRMYxdL91NtPsbWi1hmt4LEoc2YnkZFUx0ERXRlQ2qP1q7PVK28O/N8Wqah2pZJ0hxaidsBxh3EL5HvvNA+aE1KaDK0ApPrTe5Mcvg4/YZnNwxKlzq2lNBwpDfMRdmGIVCvvCC3B2ChaCSPDGWagxG1F+A+pBm+Ci/pFH+UIuuCIKoM/YfIFNBb1IwgJlETv7LMm0PqslHmEU3C2hAnNGu2BWu1mbdkpP1bagN9gLL8V6rAjmOeGXrzhdXImQ4VjdjbbX4pWH1zhp7qJftlvfMmUM5HRRTBjIX7RQOjP9F+U9BOj3p3fjB2+Fj+6wlLZ/vhKLyJa49i1sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F8CLLwbHKR3PKXnhswZ3Tj",
      "input": {
        "note": "Lemon held; blue bowl with the pear is ahead-right in the wrist view. Carrying the lemon over the bowl's left half.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.45,
          "right_y": 0.14,
          "right_yaw": 0.0,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01F8CLLwbHKR3PKXnhswZ3Tj",
      "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]: [-0.0265, 0.831, 0.6132, -0.4561, -0.0139, -0.0307, 0.9993, 0.4416, 1.6073, 1.0603, -0.1349, 0.3767, 0.2596, 0.3962]\nstate[eef_state]: left_x=0.2872 left_y=-0.0016 left_z=0.1588 left_yaw=0.0004 left_pitch=-0.1045 left_roll=0.0016 left_gripper=0.9993 right_x=0.435 right_y=0.1377 right_z=0.1521 right_yaw=-0.0164 right_pitch=-0.0579 right_roll=-0.0273 right_gripper=0.3962\nstate[joint_eff]: [-0.0889, -1.265, 6.9675, 1.8242, -0.0806, -0.0757, -0.0122, -0.1846, -6.8581, 9.5521, 2.127, 0.0806, 0.0562, 0.3101]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea526c3038cd46000627945b1f8ad2c00e72333b113dcb6a323d787a1d49eb30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3dea053952b487c2f31b786267178b98dfe73afda5582b481f1580e3fdd11f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a3fdd6b8d5d4d468384adeabef85b10158d6ab99b2772d92e2e48562635da71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 3.723 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]: [-0.0265, 0.8249, 0.6132, -0.4419, -0.0139, -0.0307, 0.9993, 0.7238, 1.9476, 0.7677, 0.4477, 0.572, 0.4377, 0.3906]\nstate[eef_state]: left_x=0.289 left_y=-0.0016 left_z=0.1632 left_yaw=0.0004 left_pitch=-0.0843 left_roll=0.0011 left_gripper=0.9993 right_x=0.3821 right_y=0.2149 right_z=0.0078 right_yaw=0.0152 right_pitch=-0.0285 right_roll=-0.0149 right_gripper=0.3906\nstate[joint_eff]: [-0.0889, -1.4974, 6.9812, 1.707, -0.0317, -0.0366, -0.0171, 0.0479, -9.1419, 4.5333, 1.7314, 0.3346, -0.0073, 0.9255]",
      "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]: [-0.0265, 0.8257, 0.6132, -0.4465, -0.0139, -0.0307, 0.9993, 0.7307, 1.5948, 1.0584, -0.1963, 0.5724, 0.4377, 0.3931]\nstate[eef_state]: left_x=0.2884 left_y=-0.0016 left_z=0.1621 left_yaw=0.0004 left_pitch=-0.0896 left_roll=0.0012 left_gripper=0.9993 right_x=0.3818 right_y=0.2185 right_z=0.1563 right_yaw=0.0218 right_pitch=-0.0286 right_roll=-0.0154 right_gripper=0.3931\nstate[joint_eff]: [-0.0068, -1.1829, 6.9812, 1.6777, -0.0464, -0.0659, -0.0171, 0.2393, -9.6615, 8.9915, 1.6044, 0.4322, 0.0611, 0.2564]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0265, 0.831, 0.6132, -0.4561, -0.0139, -0.0307, 0.9993, 0.4416, 1.6073, 1.0603, -0.1349, 0.3767, 0.2596, 0.3962]\nstate[eef_state]: left_x=0.2872 left_y=-0.0016 left_z=0.1588 left_yaw=0.0004 left_pitch=-0.1045 left_roll=0.0016 left_gripper=0.9993 right_x=0.435 right_y=0.1377 right_z=0.1521 right_yaw=-0.0164 right_pitch=-0.0579 right_roll=-0.0273 right_gripper=0.3962\nstate[joint_eff]: [-0.0889, -1.265, 6.9675, 1.8242, -0.0806, -0.0757, -0.0122, -0.1846, -6.8581, 9.5521, 2.127, 0.0806, 0.0562, 0.3101]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea526c3038cd46000627945b1f8ad2c00e72333b113dcb6a323d787a1d49eb30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3dea053952b487c2f31b786267178b98dfe73afda5582b481f1580e3fdd11f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a3fdd6b8d5d4d468384adeabef85b10158d6ab99b2772d92e2e48562635da71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS3QYKEAgSGAI4AUIIdGhpbmtpbmcSDC/jLleTgC3jDVFY3xoMJAFreuRz0zTNlypIIjAcF8bDUtYQTy/OKX20uHcDcBZluQglMeoEkob2E8heOpCxlXMMScf7r31kZhe13zUq+gWhnDn3OpUKFwjE1A1rnT5PmiHqDJrHXU5ZMrigSpc08njdtFpDFbjq8PLASfurTxN7YLW+dCXciI+N3KP6JigM9xv1+fdvlx/EnLjNryt8PUfLsyzAXbXMA84UcXotICUohu/I7uHZ1urSSHG3upCfN59PzdfE24bMrOW80KLqM+6JVaGqXUXNQU+6klMOJKxQJ6rRRv6xz/530nukdpIIx9cwfgkSMR5toBqpDTC0/sn4eoUx7bnd+CQC6S4FfooAb15+cGODW+T3biPftSB8CoFQjJQUADwJbUA5ILQg1R/oSAedwF5ASrsJ4bPB8JNXNDANyelY2jcD9u/hN/01VoL8zO46pzvVkrr6W8VWE9YAKrbdwicFWAFYkenKOX1EnIKTZI1wlorZOeooJE1fH1b/eM556SdnlljxXrL1qQICdnbqO91REN1EX0u4QCQIS4fsB4Nb9BhD9NVY/G0bRReka/oLqpabhzzOfgt9Ar6KLGTRXSsa7Qy/JnZtlTPO/oXxabO8vJOigab61sZtRn8MkGCYkK8dYMIpLFWZrsqpQPnu8tCCQ8qe9iA1QUBA9XlFsPINIEKVUNS/zWhiWtZg4x+GJWod+X0u209z2Rpv85O5zSip5Jhlk1puh7WJ8iH/9n+0RI+QiqwN+spgoslJZ5S3jh46l+sF+zjW2Ma4yOqh3qOA8DqMHvDjqrXL1YlCj8llztwSrFpDJ/+LtwD1P5g6rnPnGX6ULoKPVYa2eMx+c6k9/zj/iFM2JJCNohI7eNsJrSM4XlHlV+pkRfhK72OMzKJrabXtl46e4g29JZBxCsLK25h95J2kJ84tweg73KQbAUrz1p659+czpAswu+O5xrEj6CrmQmCWF/UXV5pa9kygvgvtUmvmqptIYmW9J1lDqu+TULdCH+91nDGUp7M3zS2EEjGkqZYcJbG0qSSN9Cm6FXQ/SSla9145HSQsLx+B8NflebpSeCD383ApQHXjXNdwa6IwQzpwpwzA2ZiApoKANXwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TVkBSuj9RZc1BjfiMXi4dm",
      "input": {
        "note": "Lemon is directly over the blue bowl (bowl rim visible under it). Lowering before release.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_yaw": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01TVkBSuj9RZc1BjfiMXi4dm",
      "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]: [-0.0265, 0.8322, 0.6132, -0.4683, -0.0139, -0.0307, 0.9993, 0.4366, 1.6752, 0.8734, 0.0986, 0.35, 0.2428, 0.3982]\nstate[eef_state]: left_x=0.2853 left_y=-0.0015 left_z=0.1562 left_yaw=0.0005 left_pitch=-0.1178 left_roll=0.002 left_gripper=0.9993 right_x=0.4239 right_y=0.1349 right_z=0.0877 right_yaw=0.0087 right_pitch=-0.0847 right_roll=-0.0346 right_gripper=0.3982\nstate[joint_eff]: [-0.212, -1.2786, 6.9675, 1.7363, -0.0366, -0.022, -0.0171, -0.1162, -8.0752, 6.8034, 1.7314, 0.1245, 0.0024, 0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07927400767a436f030d3429a2ecf4a42464ccb76d88e2452f7ccd36f17bb052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e2d3230ef52b297f518f3f5da7a6f683ad34cd4ed335187670632e663dd1634",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5aae7da4cb29d4a5a542d36ccbf1d420b55fd790e1cc68d13e69e935514948e2",
        "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 · 19.89 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]: [-0.0265, 0.8257, 0.6132, -0.4465, -0.0139, -0.0307, 0.9993, 0.7307, 1.5948, 1.0584, -0.1963, 0.5724, 0.4377, 0.3931]\nstate[eef_state]: left_x=0.2884 left_y=-0.0016 left_z=0.1621 left_yaw=0.0004 left_pitch=-0.0896 left_roll=0.0012 left_gripper=0.9993 right_x=0.3818 right_y=0.2185 right_z=0.1563 right_yaw=0.0218 right_pitch=-0.0286 right_roll=-0.0154 right_gripper=0.3931\nstate[joint_eff]: [-0.0068, -1.1829, 6.9812, 1.6777, -0.0464, -0.0659, -0.0171, 0.2393, -9.6615, 8.9915, 1.6044, 0.4322, 0.0611, 0.2564]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0265, 0.831, 0.6132, -0.4561, -0.0139, -0.0307, 0.9993, 0.4416, 1.6073, 1.0603, -0.1349, 0.3767, 0.2596, 0.3962]\nstate[eef_state]: left_x=0.2872 left_y=-0.0016 left_z=0.1588 left_yaw=0.0004 left_pitch=-0.1045 left_roll=0.0016 left_gripper=0.9993 right_x=0.435 right_y=0.1377 right_z=0.1521 right_yaw=-0.0164 right_pitch=-0.0579 right_roll=-0.0273 right_gripper=0.3962\nstate[joint_eff]: [-0.0889, -1.265, 6.9675, 1.8242, -0.0806, -0.0757, -0.0122, -0.1846, -6.8581, 9.5521, 2.127, 0.0806, 0.0562, 0.3101]",
      "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]: [-0.0265, 0.8322, 0.6132, -0.4683, -0.0139, -0.0307, 0.9993, 0.4366, 1.6752, 0.8734, 0.0986, 0.35, 0.2428, 0.3982]\nstate[eef_state]: left_x=0.2853 left_y=-0.0015 left_z=0.1562 left_yaw=0.0005 left_pitch=-0.1178 left_roll=0.002 left_gripper=0.9993 right_x=0.4239 right_y=0.1349 right_z=0.0877 right_yaw=0.0087 right_pitch=-0.0847 right_roll=-0.0346 right_gripper=0.3982\nstate[joint_eff]: [-0.212, -1.2786, 6.9675, 1.7363, -0.0366, -0.022, -0.0171, -0.1162, -8.0752, 6.8034, 1.7314, 0.1245, 0.0024, 0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07927400767a436f030d3429a2ecf4a42464ccb76d88e2452f7ccd36f17bb052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e2d3230ef52b297f518f3f5da7a6f683ad34cd4ed335187670632e663dd1634",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aae7da4cb29d4a5a542d36ccbf1d420b55fd790e1cc68d13e69e935514948e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7gcKEAgSGAI4AUIIdGhpbmtpbmcSDElYGqudxvSeq4rFzBoM1zFV/OEt56Xr6ATWIjAlzqs/CEgEyCKAevaVoot0t3Z3qoVH+LzdyIsa0Dx9PsjyX4o0+Y9VQcVoQJSQzU4qiwcWlKk3PMn3Vlc9LJEfBrWeN4VeAVJJCAaWuxDFvtMgFXdEE3fDetu4qp2h0WjUqm0cV+KKXGQcEgHYHBKw/ih/z4StGtPU6s6Maxom5u6jvcK3L1HJL0ymXT6r2HEWL+wmB08yRF9bNmNaL4wtv6f/H5Mmuxumv5G64RnW6kQNkUBKcuhli6pZdn6hgRKK+K4FE3z8wnYm+VOVCQlfLCcMelvXkSVhsG7DMJwRLgWyVybmpaxlgVzePQLHxvjLrFMpyelKJpDf/1qjQgyyJCkhFsj71odfFviWbSUYZaBvpDhV3j2KAG+sIzK604R4lqjBPeSQqajEo5cd9UmLH99dPKyP5YfOht+YwlNWR6tb6bRqEYBXSnMYCV7mkbQxpp0BsP28JykeoEySiay9Q789y1hUIdkkPbjg8+z4/GI2zacA1N9MZSyWeK8NJmQwB+0b5fzYkyHDagxeLPOeNuxGCvamW+ntiBYdgnLcATwsJfTbWAXXpgilIQmKnupy582ziMiuYZeSJT+bBoOVZIh8928w8t9wvkWm9SJEKbOAytupF2uv6ZBuyKbHfUf9mM4brX2O/EWoSb+V6010d1ZQwyn1BmS2dYXOY6C2XRt74ntRxV90MiNquxCm8wL9jTD9+w8BCC9cKL0CZlgZNZPgWoAY7K8RpLFrCXG4eV436t1KZmLTImyPK/yGQcDQfme01Vp/oxTlQzc0lHJEhRekMp5Yh7vR5M5PzQICNQcHKsZyatgB/N+oTF2JXTnCFl9DpznvZGR5KmOF5+U05pcVUgj3njqT/AJ/V4dkpXNC5OrfkTGswqAJDMDhZTp8jzWVtb03ow9VVYig5bEgCj6OwP9ftNxp+EC3RBZJVtX10SI6p344twnnO28NZmAR9e1E7OEXDITZ1PR5sU7W3OA5femKEDDhhCyYb35oHZGcebRRugsjB7HvFpeYvTtNMvlTC/yTXj4gn4caWjLXd6miA9Lw9SZz03huIxfkaYQZ2c+Wmw/kR2/JlAHoB38Rll3L9hJkcnIlsTJh9y5N+MR5ADSRNOKDs08DKnDqu0GSK5RDjSY8dO+oHuERE+5SBfK2f5bd+hL1YtW/Qlctkd/tN6I5jKn5l+enVft4+FQICgStRz6B04DSQNOkSWv7aoqAQaYbxhBStFQoyfl3UIAqIAmsnZlwNUQ9vvMKTrXzHeZwVKt+/M9UuecgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016UBSb1dQkEwEwPbn1bucSD",
      "input": {
        "note": "Lemon/mango is centred over the blue bowl just above it. Releasing it into the bowl.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_016UBSb1dQkEwEwPbn1bucSD",
      "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]: [-0.0265, 0.8322, 0.6132, -0.4698, -0.0139, -0.0307, 0.9993, 0.4358, 1.6814, 0.8593, 0.0887, 0.3424, 0.2424, 0.9959]\nstate[eef_state]: left_x=0.2851 left_y=-0.0015 left_z=0.1559 left_yaw=0.0005 left_pitch=-0.1194 left_roll=0.002 left_gripper=0.9993 right_x=0.4184 right_y=0.1334 right_z=0.0776 right_yaw=0.0131 right_pitch=-0.1142 right_roll=-0.0428 right_gripper=0.9959\nstate[joint_eff]: [-0.0479, -1.4291, 6.9538, 1.6581, -0.0415, -0.0415, -0.0171, -0.1026, -8.1436, 7.3231, 1.6825, 0.1245, -0.0122, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:273cc70a9e3b9b0253a1423688a20262e8ffda5a966a595314d4856666a011be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dc2ae2907315a22cf58f7234f04faabd1e957a4b4098772e1d07769d0de3ca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0022abff040eb03771af2da0429a4e7a20201da4286b90084d057cb8be5082de",
        "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 · 5.031 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]: [-0.0265, 0.831, 0.6132, -0.4561, -0.0139, -0.0307, 0.9993, 0.4416, 1.6073, 1.0603, -0.1349, 0.3767, 0.2596, 0.3962]\nstate[eef_state]: left_x=0.2872 left_y=-0.0016 left_z=0.1588 left_yaw=0.0004 left_pitch=-0.1045 left_roll=0.0016 left_gripper=0.9993 right_x=0.435 right_y=0.1377 right_z=0.1521 right_yaw=-0.0164 right_pitch=-0.0579 right_roll=-0.0273 right_gripper=0.3962\nstate[joint_eff]: [-0.0889, -1.265, 6.9675, 1.8242, -0.0806, -0.0757, -0.0122, -0.1846, -6.8581, 9.5521, 2.127, 0.0806, 0.0562, 0.3101]",
      "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]: [-0.0265, 0.8322, 0.6132, -0.4683, -0.0139, -0.0307, 0.9993, 0.4366, 1.6752, 0.8734, 0.0986, 0.35, 0.2428, 0.3982]\nstate[eef_state]: left_x=0.2853 left_y=-0.0015 left_z=0.1562 left_yaw=0.0005 left_pitch=-0.1178 left_roll=0.002 left_gripper=0.9993 right_x=0.4239 right_y=0.1349 right_z=0.0877 right_yaw=0.0087 right_pitch=-0.0847 right_roll=-0.0346 right_gripper=0.3982\nstate[joint_eff]: [-0.212, -1.2786, 6.9675, 1.7363, -0.0366, -0.022, -0.0171, -0.1162, -8.0752, 6.8034, 1.7314, 0.1245, 0.0024, 0.2027]",
      "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]: [-0.0265, 0.8322, 0.6132, -0.4698, -0.0139, -0.0307, 0.9993, 0.4358, 1.6814, 0.8593, 0.0887, 0.3424, 0.2424, 0.9959]\nstate[eef_state]: left_x=0.2851 left_y=-0.0015 left_z=0.1559 left_yaw=0.0005 left_pitch=-0.1194 left_roll=0.002 left_gripper=0.9993 right_x=0.4184 right_y=0.1334 right_z=0.0776 right_yaw=0.0131 right_pitch=-0.1142 right_roll=-0.0428 right_gripper=0.9959\nstate[joint_eff]: [-0.0479, -1.4291, 6.9538, 1.6581, -0.0415, -0.0415, -0.0171, -0.1026, -8.1436, 7.3231, 1.6825, 0.1245, -0.0122, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:273cc70a9e3b9b0253a1423688a20262e8ffda5a966a595314d4856666a011be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dc2ae2907315a22cf58f7234f04faabd1e957a4b4098772e1d07769d0de3ca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0022abff040eb03771af2da0429a4e7a20201da4286b90084d057cb8be5082de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MZjiGSHZkGxDEhYhVJ2DPo",
      "input": {
        "note": "Pear and lemon are in the blue bowl. The plum is out of right-arm reach, so I'll slide the blue bowl toward the table centre: moving above the bowl's left (+y) rim to grip it.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.44,
          "right_y": 0.205,
          "right_yaw": 0.0,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01MZjiGSHZkGxDEhYhVJ2DPo",
      "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]: [-0.0265, 0.8322, 0.6132, -0.4759, -0.0139, -0.0307, 0.9993, 0.5949, 1.7496, 1.058, 0.0082, 0.4473, 0.3183, 0.9966]\nstate[eef_state]: left_x=0.2841 left_y=-0.0015 left_z=0.1547 left_yaw=0.0005 left_pitch=-0.1255 left_roll=0.0022 left_gripper=0.9993 right_x=0.4316 right_y=0.2042 right_z=0.1171 right_yaw=0.0486 right_pitch=-0.0373 right_roll=-0.0191 right_gripper=0.9966\nstate[joint_eff]: [0.0068, -1.4291, 7.241, 1.6972, -0.0415, -0.0073, -0.0122, 0.2803, -7.9795, 8.6085, 1.5751, 0.4078, 0.1783, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61419db04779ca908122129240f3ac960298248094a3e55baf370e07ea367693",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae53b99431c67cc64a0b5cb96fb80f0a02290bef40af0d584a318766d6d1e9dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:067fca74518a7b6c4e3e88b658fe24eec041a425c8b25d6a23e79316775f7032",
        "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 · 5.026 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]: [-0.0265, 0.8322, 0.6132, -0.4683, -0.0139, -0.0307, 0.9993, 0.4366, 1.6752, 0.8734, 0.0986, 0.35, 0.2428, 0.3982]\nstate[eef_state]: left_x=0.2853 left_y=-0.0015 left_z=0.1562 left_yaw=0.0005 left_pitch=-0.1178 left_roll=0.002 left_gripper=0.9993 right_x=0.4239 right_y=0.1349 right_z=0.0877 right_yaw=0.0087 right_pitch=-0.0847 right_roll=-0.0346 right_gripper=0.3982\nstate[joint_eff]: [-0.212, -1.2786, 6.9675, 1.7363, -0.0366, -0.022, -0.0171, -0.1162, -8.0752, 6.8034, 1.7314, 0.1245, 0.0024, 0.2027]",
      "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]: [-0.0265, 0.8322, 0.6132, -0.4698, -0.0139, -0.0307, 0.9993, 0.4358, 1.6814, 0.8593, 0.0887, 0.3424, 0.2424, 0.9959]\nstate[eef_state]: left_x=0.2851 left_y=-0.0015 left_z=0.1559 left_yaw=0.0005 left_pitch=-0.1194 left_roll=0.002 left_gripper=0.9993 right_x=0.4184 right_y=0.1334 right_z=0.0776 right_yaw=0.0131 right_pitch=-0.1142 right_roll=-0.0428 right_gripper=0.9959\nstate[joint_eff]: [-0.0479, -1.4291, 6.9538, 1.6581, -0.0415, -0.0415, -0.0171, -0.1026, -8.1436, 7.3231, 1.6825, 0.1245, -0.0122, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0265, 0.8322, 0.6132, -0.4759, -0.0139, -0.0307, 0.9993, 0.5949, 1.7496, 1.058, 0.0082, 0.4473, 0.3183, 0.9966]\nstate[eef_state]: left_x=0.2841 left_y=-0.0015 left_z=0.1547 left_yaw=0.0005 left_pitch=-0.1255 left_roll=0.0022 left_gripper=0.9993 right_x=0.4316 right_y=0.2042 right_z=0.1171 right_yaw=0.0486 right_pitch=-0.0373 right_roll=-0.0191 right_gripper=0.9966\nstate[joint_eff]: [0.0068, -1.4291, 7.241, 1.6972, -0.0415, -0.0073, -0.0122, 0.2803, -7.9795, 8.6085, 1.5751, 0.4078, 0.1783, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61419db04779ca908122129240f3ac960298248094a3e55baf370e07ea367693",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae53b99431c67cc64a0b5cb96fb80f0a02290bef40af0d584a318766d6d1e9dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:067fca74518a7b6c4e3e88b658fe24eec041a425c8b25d6a23e79316775f7032",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9wgKEAgSGAI4AUIIdGhpbmtpbmcSDNGwwllzv1Z6nFXImBoMIgpGEn8Y5q6d0TnBIjDGwRtLuGbxMh5C7jkdCKDzel5jsvY7OrZ2skv5YL8i9GsgFf+h4Un1Y6b5CmqkMZAqlAim16QJOECjguqW1+RHzBAlxVeQryXXS0jRXqzTF7bRk+kamCUEdG4azDixAu2lo7NJ5jSIpi1t7P4q45nDfkCg2hN0A0FetvQnuz42eq3DafATrqty7OXEimyH0RUbSezPuFMze21H/JBZBAxSe2vvck6oSwtl/oWcKOxzu35PDu3Cf6pK8rcQWoeKNT+kcDd4uejqg0/uY5tAuVdvNRVnebBhBtLyiGs/BqqQrAwi5rSuEhYRvmFLt8r81T2frjKpuhmmfvkj31P78ZAkEYMHEFf1qwgsH52rhHJhyB5eC8PrYAhi1dxesTcxhzpq42ufq4g4w1VFisykN5ZzGplErwDUEjcqavnVg1wnScemEpo+bMXcRkpzlNaMQafH482DrkuaTRK7LTWWpA3jKfut7f5t6kRFLkGJQMY4tgIrD6uCdgLGwCtV5NFiZLiV5vxrU8kIrFoM9+7rT4oSu8s0EINdTB8hB3ahxny9RcRrdRRH6hGMmiCuajRJcP/OJ2UBi8Sin7uCaKWEwGPYg1wQsLCc3CEqAt+I3yazDWQI2m4EdU8HR+A+IdhVZ0p5xM4hWtF8t4Bs7WwI8ZyOMHywCmv1fTg+rHNrKUhmREAl3aaw7OzBowmIWXmDyw982dTP0jEL4BaTc54E09q4cMeEwGz4P8v9SGuXI0zkYN1QxVY/Dhf3s8DKn0ezlfkw3fVpvb90+N+Kxoyu3BaO/vmsGUPxdpIe6Jsd9BiZ3SZ5poV70gzj3hqB/SVzNs54n4He8kampcm00e9AfIpOEPq8T6XnoaRaOxdRM3fuc6imDAdc8mWujRFtrp/qoU3aT0U8WraP0qKD9Jvw8xmzv9/exgDZyJQavNligNlpVvrpmthSIggRskEPiaM4spkJ/IvlwyJxp9SBrR8a7ai5pk/jli4ebFsCO9FuU6DfUxRlDnAoDkAbE+n4hdl9V0oby/xt7eX6KetXYVAmug8/C9W6ZrhzeWRe1/sEg2pnRLSR2DMKPMzjSXapR17nNmaP0irKvPhhQBcwS8J1rzz1o53GBCmutwOaDdGM+ud9v8Pv90xQ5aqvgplbYk/S+VWyh3UdSjphC5g19nRetad+sdqXtGZQ9XDiC11QvPAgd/SKcEj769+dyrHS/+p4hLXzSAbRL8J9/NsfEL4gN2r6pySbkNddaVeoU5U9YuH0QBKyKj4n3XJRCUwwR4NYCPKlY+vmgx93ogHds3LNJml6vgvtx+NCA+tROis6ttqQfRJz+8uCrghjzgwonwRKmqYMas741dlogRw0TW3Y1+1ChQJOBLuNLGvxw+AOK/s1kA9xwhAk04UvIJnwhb4oyNFR6M3RqwYMot0+p3YpPBLKF3LnpVrrxd5J2/ptJD/gz6KUFrgYKqUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JQdW175nXAPR1UHktNQ3Pe",
      "input": {
        "note": "The bowl's left rim runs under the jaw column in the wrist view. Descending so the jaws straddle the rim wall.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_yaw": 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_01JQdW175nXAPR1UHktNQ3Pe",
      "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]: [-0.0265, 0.8326, 0.6132, -0.4763, -0.0135, -0.0307, 0.9993, 0.6155, 1.9209, 0.9337, 0.3794, 0.5121, 0.3302, 0.9966]\nstate[eef_state]: left_x=0.2841 left_y=-0.0016 left_z=0.1546 left_yaw=0.0002 left_pitch=-0.1262 left_roll=0.002 left_gripper=0.9993 right_x=0.4396 right_y=0.2092 right_z=0.0608 right_yaw=0.011 right_pitch=0.0473 right_roll=-0.0008 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -1.3197, 7.0632, 1.6337, -0.0513, -0.0708, -0.0122, -0.0068, -7.1726, 3.8496, 1.5263, 0.2076, 0.1197, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7387fff19ea9cac2bd4d2255e4c8f68d4e61695c17ec21761b8a2c0ad2141c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20b5c5e3435610b5ae87f991fc63bd3bbad34cca41de489f0e9c5f95e6d4f639",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9dc1a645c6c447658823fe6829fcbc2eec1ce099961f58ae6169805cc3f2b138",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 23 attempt 0 · /messages · status 200 · 4.249 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]: [-0.0265, 0.8322, 0.6132, -0.4698, -0.0139, -0.0307, 0.9993, 0.4358, 1.6814, 0.8593, 0.0887, 0.3424, 0.2424, 0.9959]\nstate[eef_state]: left_x=0.2851 left_y=-0.0015 left_z=0.1559 left_yaw=0.0005 left_pitch=-0.1194 left_roll=0.002 left_gripper=0.9993 right_x=0.4184 right_y=0.1334 right_z=0.0776 right_yaw=0.0131 right_pitch=-0.1142 right_roll=-0.0428 right_gripper=0.9959\nstate[joint_eff]: [-0.0479, -1.4291, 6.9538, 1.6581, -0.0415, -0.0415, -0.0171, -0.1026, -8.1436, 7.3231, 1.6825, 0.1245, -0.0122, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0265, 0.8322, 0.6132, -0.4759, -0.0139, -0.0307, 0.9993, 0.5949, 1.7496, 1.058, 0.0082, 0.4473, 0.3183, 0.9966]\nstate[eef_state]: left_x=0.2841 left_y=-0.0015 left_z=0.1547 left_yaw=0.0005 left_pitch=-0.1255 left_roll=0.0022 left_gripper=0.9993 right_x=0.4316 right_y=0.2042 right_z=0.1171 right_yaw=0.0486 right_pitch=-0.0373 right_roll=-0.0191 right_gripper=0.9966\nstate[joint_eff]: [0.0068, -1.4291, 7.241, 1.6972, -0.0415, -0.0073, -0.0122, 0.2803, -7.9795, 8.6085, 1.5751, 0.4078, 0.1783, 0.0562]",
      "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]: [-0.0265, 0.8326, 0.6132, -0.4763, -0.0135, -0.0307, 0.9993, 0.6155, 1.9209, 0.9337, 0.3794, 0.5121, 0.3302, 0.9966]\nstate[eef_state]: left_x=0.2841 left_y=-0.0016 left_z=0.1546 left_yaw=0.0002 left_pitch=-0.1262 left_roll=0.002 left_gripper=0.9993 right_x=0.4396 right_y=0.2092 right_z=0.0608 right_yaw=0.011 right_pitch=0.0473 right_roll=-0.0008 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -1.3197, 7.0632, 1.6337, -0.0513, -0.0708, -0.0122, -0.0068, -7.1726, 3.8496, 1.5263, 0.2076, 0.1197, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7387fff19ea9cac2bd4d2255e4c8f68d4e61695c17ec21761b8a2c0ad2141c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20b5c5e3435610b5ae87f991fc63bd3bbad34cca41de489f0e9c5f95e6d4f639",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dc1a645c6c447658823fe6829fcbc2eec1ce099961f58ae6169805cc3f2b138",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuQkKEAgSGAI4AUIIdGhpbmtpbmcSDHv2FtjqmXUErPEdNBoMEyKUMS0vOCt1oNIHIjDW1IHa5SaGzQbHXD4XPbk8pueq8LR/zCHFeaiVBNcJj6zIBWlPNHPfdFIbIUFFqlYq1ghZucCfJQybbuHJ9yXv+p0m29YOt5yqjPlxm0Y7pVDSLO4iQErv/Bwl3T7zC8p36djRmCS4tdgTWcueixQFvCO3LP9sjfMYHcthuOCcku1f4OdVVkidvXZ+xFWIEP7ycP3MICWJWmZXAxD0bx2cZ6ruNljS/Vkk3rumbUJIy9E4oSZrdJOZcEtDc64SMUxhR7gZPdstflnf/fa1CUdLZTyBejNoZ1NFTKZL7KWWWIrpR9prJUHjxpfm9cQrWBxHm/sGn9ZUKJmVna3OpU/8RINmZRAAkY0sCEalyDHMNWWE/aQAIObMPscvcWZWGy0O+hEnsD0rmKOcmhm2YiBTmTSvG0KE0BveXrPPrrfkVutnwx9dl3zAz+z1JO8uFBkZue0f3BRZDIORpjgqYkOGZ1OQU1AjJCjpMVURB/H10ljaQkdki6857Kg6Jszm2gtOMZRt7euUKdk3sOc9N1Wf6KfYjUnAYWJ7LXsBQ3RJC//bvKOo2poP5+IkYwVPKhaGqccCTJTDWPrTPXH3uLyzHf+3GBNw0iiFmbdTpVHggTbvmCWJ2MO1k1leTCblvFa/aXSrUPub1z5a7FjhTXwY23obpk6AB3CYvShBDA0Msu6PbdUkXegwfzKlhAcyXbA7UwE16Rkb4UB02xW0qxoLmCnjmY5k3NR5/oWamf9U8YfFdQkO6eAMJYT99ZThxycixEyJBx0/K8BiEOuf6tKOmy8j56XHwFBUXccIFfQ7r0d4XbqMojgsj57FANHuCPMxVhL35+U0uC8ECp8cxn8Lm0ZRMVVknpkrS5zWNfxmcRX3+tr5Y+xUuW6ulgJDounmQZ4iiWdwZMQwJ1T7mED0SnYmUPwUPfuEJhKdGHgVyugRtZqyBxwh4a55HYXfopYsDTVv88nF2hZVUTQxGABlMwWP21PglZY+2PDgVlWrnW6J9uXR2Qt1JBXDKmTrhaXLvlaFkhTZx6oklSLOIrAwXhmk1nHPsxJcHbGYR2ZgHj6KCx/9w3luGaJTURqgdbT+nI/nllAQXqmao/h2WSbWGsXa8XP0iVNLGzkM8KIKG2yQdrIsCIP0+iNjCwSJioPuLlB/EzcPoEU8QT69F+fq3FcneSttDH7z4943Qde2QazP9yNrCulz4vpprL1nlDFdlJ3dCq1H5K9UCcyHlhGr5z42b99LG9Jz8IYX4cnCKejxAWM29KYvi3AQWpYMoAr1TPbGs6Kc0UH02qy8QQEHBkXljHfWYmN7vWLUcXVUicYbfI/NGs3YOPFcf8QU6S0Fx7mfQLUBGdlEm+pnrdqeSwXroNGFWhkqzQxFjN8uoi6aO/93YwS4Q3/giIwalVlAp0ERdCXjLyWesBJnTC0S5GHWXUj9Zpb6ogFShfhug9Nxt/2R7tDE7y7i7dKi6SW8YZQRLWFFJXBqrpUbT1JoJCMlh5jt/O1xyNDRe3cBhji8KaCO2fGEkSjNgebZX9EOkAwg37Vv4F8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01STMoLWfpw3wfGsiFv1cnZy",
      "input": {
        "note": "Descent stopped at z 0.06, probably a finger resting on the rim; the rim wall sits just right of the jaw column. Shifting 1.4 cm right and descending again.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_y": 0.195,
          "right_yaw": 0.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01STMoLWfpw3wfGsiFv1cnZy",
      "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]: [-0.0265, 0.8322, 0.6132, -0.4763, -0.0135, -0.0307, 0.9993, 0.6029, 1.977, 0.897, 0.4015, 0.4862, 0.3325, 0.9966]\nstate[eef_state]: left_x=0.2841 left_y=-0.0016 left_z=0.1547 left_yaw=0.0002 left_pitch=-0.1259 left_roll=0.002 left_gripper=0.9993 right_x=0.4311 right_y=0.2009 right_z=0.0249 right_yaw=0.0183 right_pitch=-0.0199 right_roll=-0.0255 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -1.2376, 6.9402, 1.6142, -0.0562, -0.0366, -0.0122, -1.5521, -9.4838, 5.7778, 1.8926, 0.1343, 0.188, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d31f7d1d1f76a919bae9b3642e46062a4a4b95017ba555e082365c41ce1ae811",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:018552a6c5f25ca2dab82fbfbfe315dd792e19d6f7a047fdde930ba7516452c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:21f43eab49555c92d56e5a5c4088eea294cbc3d0739bde426842deeb1e6408f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 5.655 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]: [-0.0265, 0.8322, 0.6132, -0.4759, -0.0139, -0.0307, 0.9993, 0.5949, 1.7496, 1.058, 0.0082, 0.4473, 0.3183, 0.9966]\nstate[eef_state]: left_x=0.2841 left_y=-0.0015 left_z=0.1547 left_yaw=0.0005 left_pitch=-0.1255 left_roll=0.0022 left_gripper=0.9993 right_x=0.4316 right_y=0.2042 right_z=0.1171 right_yaw=0.0486 right_pitch=-0.0373 right_roll=-0.0191 right_gripper=0.9966\nstate[joint_eff]: [0.0068, -1.4291, 7.241, 1.6972, -0.0415, -0.0073, -0.0122, 0.2803, -7.9795, 8.6085, 1.5751, 0.4078, 0.1783, 0.0562]",
      "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]: [-0.0265, 0.8326, 0.6132, -0.4763, -0.0135, -0.0307, 0.9993, 0.6155, 1.9209, 0.9337, 0.3794, 0.5121, 0.3302, 0.9966]\nstate[eef_state]: left_x=0.2841 left_y=-0.0016 left_z=0.1546 left_yaw=0.0002 left_pitch=-0.1262 left_roll=0.002 left_gripper=0.9993 right_x=0.4396 right_y=0.2092 right_z=0.0608 right_yaw=0.011 right_pitch=0.0473 right_roll=-0.0008 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -1.3197, 7.0632, 1.6337, -0.0513, -0.0708, -0.0122, -0.0068, -7.1726, 3.8496, 1.5263, 0.2076, 0.1197, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0265, 0.8322, 0.6132, -0.4763, -0.0135, -0.0307, 0.9993, 0.6029, 1.977, 0.897, 0.4015, 0.4862, 0.3325, 0.9966]\nstate[eef_state]: left_x=0.2841 left_y=-0.0016 left_z=0.1547 left_yaw=0.0002 left_pitch=-0.1259 left_roll=0.002 left_gripper=0.9993 right_x=0.4311 right_y=0.2009 right_z=0.0249 right_yaw=0.0183 right_pitch=-0.0199 right_roll=-0.0255 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -1.2376, 6.9402, 1.6142, -0.0562, -0.0366, -0.0122, -1.5521, -9.4838, 5.7778, 1.8926, 0.1343, 0.188, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d31f7d1d1f76a919bae9b3642e46062a4a4b95017ba555e082365c41ce1ae811",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:018552a6c5f25ca2dab82fbfbfe315dd792e19d6f7a047fdde930ba7516452c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21f43eab49555c92d56e5a5c4088eea294cbc3d0739bde426842deeb1e6408f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxQgKEAgSGAI4AUIIdGhpbmtpbmcSDHAGNK3fW7R7xaGwVRoM7p3Q/X+5/ir1PPoLIjCaqR+855jnKaa8j0OE0bk9pAA11X/vpK9Q5rv+15sFUVxATEV2Bxe/MIn+RljhBtUq4geNagbYzL1HA/Tjmx0b58//uNmD5K+q1ZW0m2Jb+2RGU4LUy4D2ZNu1uCoRx8Jx9+cW+B+ft4fZzHquGuWvaSMAfxSyaqCRMZ5qcRQF+C4uUdARj4nbYVrMlvv150nsboVtUdD0X6Kwctt42ROjfLS8Bo16VD3xIFOQPG7dfUyT235bErmHLc3eFoJbZW/bU6VbaWoxzBtkAD0fdCz6zwd5dJSOiOZvps7zLeb0EBUo5b1RuSUk/7TVQq4vuawCQPXibVg7ZZZ5euNskZ99FUlwPdzZ2V5uymr+7B6XAld3TLwZoPRByI2TEJFDdfUOzVB+yOM7GJie/fuCzzPQGjVRXR3xEiW/oJ7xGL4/nJCK2ULHt/eV+3pcHP8GoqYk2JGagkAcPoWBplutTZRsKuh+qKB1rZs8wqV1a6x2C67P6nOGiotNbdBaYGCq1wC1jcP+5HxWQMA7L5tYQLH8+O5tFjM7eded6ie1JWRSNvXts6k12ZWr5T+3yH4lpsL7oAdfItFiuwd1CqaG5B4jQhKKicXYE0REGIaVLFubiDzLtNT6jG3bdU70AHRY0x8lOsFh46fJAAXgpYAJ+2SsOoniuJLA7xH8BRph83u+lvTKEPp+f7ckFA9Gks7DUizWDbU2HS1Eem8a16PVUzj2s7D//kcSeRv8vQ5vpgJZCDFO+CietJte6tIQendare1SC2ovkg1N+LndPvy+DXb9TiyLSPdmbmwTXnrvk9QTz7CnZJMhePR5uRkfiQP/VU7AjqUHTv4En7uuP3A2HPZXO9V/jthEKwO7MXFL8fuK6JsKp++aoi7bh3JBUa1jcITZUTsbv0YJpUNHzpU4tS4u1rP5tinim5uZ1M6GRQ4zmNKYuhkzTcYGnM3S3EdR4bQoodoF18Nh7hKA/OkIB9j6gqwzL4HlD8H8Wqg7xWI4QjnCsRGGumHeG39gt9vUdqzwKvcR8NqJIhEc8kadyJn1K/qmcYeKaQ/9lGpIQ9mvq90WNMJJxufigWW1RQv9RsVK7mDoDb1lWANidkYNFIxueX88sJmDCWELxJI7TNTlZmwtYX2ht7A4fh8RmmnFM621kE1kvW62DaldUfuaruIRX2PrRLbfvfBUum4EQrUjPmcph/tSZYB9TR8S3tQS7rJhICEz+R/I3mVsgxjEe+A5Lee5B/C4/OAhMy2qt00nYtNnWlYX4UVsA3Yei79DO2JVmfTXY4cyGbxhCkj007WIOxGgOKRr3KbFNQhtzPhC44x002w+a8Zajtac6u2akv2ET3NzqZkKKCkPtsCiQGMjhfr4Wkf1j4oFE7o+PbtsMz6DajHHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PQZfHUqguC7byVMACGPr4j",
      "input": {
        "note": "The bowl's rim wall is now between the jaws at z 0.025. 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_01PQZfHUqguC7byVMACGPr4j",
      "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]: [-0.0265, 0.8322, 0.6132, -0.4759, -0.0139, -0.0307, 0.9993, 0.5812, 1.977, 0.8982, 0.4206, 0.4694, 0.329, 0.0114]\nstate[eef_state]: left_x=0.2841 left_y=-0.0015 left_z=0.1547 left_yaw=0.0005 left_pitch=-0.1255 left_roll=0.0022 left_gripper=0.9993 right_x=0.4373 right_y=0.196 right_z=0.0278 right_yaw=0.0118 right_pitch=-0.0086 right_roll=-0.0086 right_gripper=0.0114\nstate[joint_eff]: [-0.0205, -1.347, 7.159, 1.6532, -0.0317, -0.0708, -0.0122, -0.1299, -9.4974, 5.5179, 1.6777, 0.3199, 0.0855, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29d963d6f215c58e8714168ec0c12af234850c610b1390524668a5d1f514ad7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70548aca03d47b85cee1aa3e1fe68533b333f30ccc1c7bd4c98979183d023cdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4032bd272a2e2059750cd3025e83939cbbf47dcd8b2d8f51625e6b0d7d52189b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 10.27 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]: [-0.0265, 0.8326, 0.6132, -0.4763, -0.0135, -0.0307, 0.9993, 0.6155, 1.9209, 0.9337, 0.3794, 0.5121, 0.3302, 0.9966]\nstate[eef_state]: left_x=0.2841 left_y=-0.0016 left_z=0.1546 left_yaw=0.0002 left_pitch=-0.1262 left_roll=0.002 left_gripper=0.9993 right_x=0.4396 right_y=0.2092 right_z=0.0608 right_yaw=0.011 right_pitch=0.0473 right_roll=-0.0008 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -1.3197, 7.0632, 1.6337, -0.0513, -0.0708, -0.0122, -0.0068, -7.1726, 3.8496, 1.5263, 0.2076, 0.1197, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0265, 0.8322, 0.6132, -0.4763, -0.0135, -0.0307, 0.9993, 0.6029, 1.977, 0.897, 0.4015, 0.4862, 0.3325, 0.9966]\nstate[eef_state]: left_x=0.2841 left_y=-0.0016 left_z=0.1547 left_yaw=0.0002 left_pitch=-0.1259 left_roll=0.002 left_gripper=0.9993 right_x=0.4311 right_y=0.2009 right_z=0.0249 right_yaw=0.0183 right_pitch=-0.0199 right_roll=-0.0255 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -1.2376, 6.9402, 1.6142, -0.0562, -0.0366, -0.0122, -1.5521, -9.4838, 5.7778, 1.8926, 0.1343, 0.188, -0.0073]",
      "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]: [-0.0265, 0.8322, 0.6132, -0.4759, -0.0139, -0.0307, 0.9993, 0.5812, 1.977, 0.8982, 0.4206, 0.4694, 0.329, 0.0114]\nstate[eef_state]: left_x=0.2841 left_y=-0.0015 left_z=0.1547 left_yaw=0.0005 left_pitch=-0.1255 left_roll=0.0022 left_gripper=0.9993 right_x=0.4373 right_y=0.196 right_z=0.0278 right_yaw=0.0118 right_pitch=-0.0086 right_roll=-0.0086 right_gripper=0.0114\nstate[joint_eff]: [-0.0205, -1.347, 7.159, 1.6532, -0.0317, -0.0708, -0.0122, -0.1299, -9.4974, 5.5179, 1.6777, 0.3199, 0.0855, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29d963d6f215c58e8714168ec0c12af234850c610b1390524668a5d1f514ad7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70548aca03d47b85cee1aa3e1fe68533b333f30ccc1c7bd4c98979183d023cdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4032bd272a2e2059750cd3025e83939cbbf47dcd8b2d8f51625e6b0d7d52189b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3gkKEAgSGAI4AUIIdGhpbmtpbmcSDAsIi3YcRjEzbqdz9RoMxdxVyueLaxHSaRViIjBnLobfoKmxBI1Z+V1HifVb99TKK4rwz8NQ+iO3nUKR83eGKkqcfLuY9odukO1f1EIq+wj9Hdy0x5dS1MHtRFGSUqQMyY+8xb7gN2ubA0/3RzU2JxM4xfDYduZTWjEWX1GXHRjM0Ewsq99O+OJO9x4yUALhOwdaWP8sIBnb2uUoFPfrRj/D8bZUr7L5CYUiW7V5Q8KHtoXYqe3lXH5+0v1j9ea3GlP0bmNaJPvfIM58w4bLXke5GT+lK19mR64yvwgEszw7cH/Uds6/q0C8Z2oPLLhssWYIIACiQFshe/DDKyWe9ybZjSK+wdoxnTZJVoXjsj6mzaSt058us0ncQovW76m/Z45T6T5FpML0NMw8emc0uak2LC15PxSRv4EVrJeMoBIhoy32SWPwzMkMVeBot1qp6hoxkxh+f+BUebLc/dSdFfXDEQAkdA9WUg5FAZHkUFhs27AHUVb+EqKl7ggIpvfNhiHU6RxjO8KzZiwsR0m79NAOYeAB2tavDSlNrJc8aleTILXC9sZdsTZtJeyo512YMjrOWRKczvphqsPkhZ/qzSGuL9U7bI8+nES4Y4Qki5X6XZZNoVL/LptlCSKOupUZ66DMLBo1TZQQbkcBAnHRTqUsbOnFfLZXa8esRD3CKmScZUCerD70oVvXlLTa3KlgVQX5dco5EkJyY6Rc2Ut6uP0Tksuhx0u5kEwL/ZPHDosxQ9rAbrxG+7aLlxJ9qa1OvF9RZ9YWKiDiXQRju/RjLdv4cVzqB04EgohaxXubwSTpsWoLPeD3Ktlbp/IEiAwGmrZLojV2Sh3DaaPyUqU0ZOdwl/t2086/9n8W5LjDhiRqsNUfs+BGXXm/+nOUAx6zZdqr1QG+HxT8RczTpcVv7tw8udEp6uEd52owfmWiuGZ3PqIkSRhH+upg77y+6F7qdvDb+W/t9pWltfxGjyXvjgIH7zTGOeuDNIX/atBrykzWqmh5WJYNNXRskKZ9ojR6KnkWYNbhFpHGfrAfFtumbBdO3VKbbSudSsA61Xtr4tGsQJD56sBVFAEmcOYZsxj7nCK4jR8/mbpL5Ncup/S52JwdvqKs4yS7eGVACMrdhwhbS4oLApdgDzc0u02SjDob0DQ1TJ6d6i59pxkJySBuUgaL4O3W6ZJcxg80DjYw9i6805wyt71nMUw2lPi+pE7t07kT0IKW9lBdMJPy8l44V2cMc3fS4xzveQG0XZ3XcgqQPcvopa4Gl9CAmWkLPPeIfTG2y2UoYAl2wU/8SUp5vjUQObvaDOOajAuZ0bD6LUCPrmpMS/EShWUS8RB3xmZy+oU0XcYrCQr7eJg0kFU+LLXpdrYOurhZ1P//xSrD1gdmiQiJYkJ6SxEE94At3VDfiXWY6msId+6EUqfqr5Y7LcRM7An7VAlK1sJ/109hsx/Y5NKoIneHEluAJJkzHdef96dXTjQJ36uAcer+uJCBwxZeHXcph4hnIxBM91Snn0lN6Tu/gtO1V/m7ZzLz4IdpCbMSOPR5x84aJ1SHQ+cOivTvevjtk1t79mMK2QTyx9mSZiBajU8Ys6wV4Vo6171z6TRmsIKpTRnZEvCOkdg7QDjkgMYHUQg3ABzSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012eTqnSKuDUoxwfGmia1Y8D",
      "input": {
        "note": "Gripper closed to 0.011 on the thin bowl wall (could be a thin-rim pinch). Sliding the bowl left toward the table centre along the table; will check it follows.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_y": 0.4,
          "right_yaw": 0.0,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_012eTqnSKuDUoxwfGmia1Y8D",
      "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]: [-0.0265, 0.836, 0.6132, -0.4767, -0.0139, -0.0307, 0.9993, 0.9337, 2.389, 1.6886, -0.1078, 0.7086, 0.5961, 0.0127]\nstate[eef_state]: left_x=0.2842 left_y=-0.0015 left_z=0.1536 left_yaw=0.0005 left_pitch=-0.1301 left_roll=0.0023 left_gripper=0.9993 right_x=0.4345 right_y=0.3998 right_z=0.0329 right_yaw=0.039 right_pitch=-0.0127 right_roll=-0.0039 right_gripper=0.0127\nstate[joint_eff]: [-0.0342, -1.7162, 6.9675, 1.6288, -0.0269, -0.0269, -0.0171, 0.1709, -12.7521, 7.6513, 1.2088, 0.569, 0.1783, 0.9597]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57ad720599afabe7f66b6edee8b44be7a0bdc421332a13c0752f5ac22b318521",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c60142a10dd28d2c057ca9f3ad61448f2984e107eafd325c21ab09167e5d941",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:70613648176ec81271f12bd7a6ed3f59a6e12926f8d7b320f2f3bd5970dca6e9",
        "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 · 7.322 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]: [-0.0265, 0.8322, 0.6132, -0.4763, -0.0135, -0.0307, 0.9993, 0.6029, 1.977, 0.897, 0.4015, 0.4862, 0.3325, 0.9966]\nstate[eef_state]: left_x=0.2841 left_y=-0.0016 left_z=0.1547 left_yaw=0.0002 left_pitch=-0.1259 left_roll=0.002 left_gripper=0.9993 right_x=0.4311 right_y=0.2009 right_z=0.0249 right_yaw=0.0183 right_pitch=-0.0199 right_roll=-0.0255 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -1.2376, 6.9402, 1.6142, -0.0562, -0.0366, -0.0122, -1.5521, -9.4838, 5.7778, 1.8926, 0.1343, 0.188, -0.0073]",
      "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]: [-0.0265, 0.8322, 0.6132, -0.4759, -0.0139, -0.0307, 0.9993, 0.5812, 1.977, 0.8982, 0.4206, 0.4694, 0.329, 0.0114]\nstate[eef_state]: left_x=0.2841 left_y=-0.0015 left_z=0.1547 left_yaw=0.0005 left_pitch=-0.1255 left_roll=0.0022 left_gripper=0.9993 right_x=0.4373 right_y=0.196 right_z=0.0278 right_yaw=0.0118 right_pitch=-0.0086 right_roll=-0.0086 right_gripper=0.0114\nstate[joint_eff]: [-0.0205, -1.347, 7.159, 1.6532, -0.0317, -0.0708, -0.0122, -0.1299, -9.4974, 5.5179, 1.6777, 0.3199, 0.0855, 1.0232]",
      "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]: [-0.0265, 0.836, 0.6132, -0.4767, -0.0139, -0.0307, 0.9993, 0.9337, 2.389, 1.6886, -0.1078, 0.7086, 0.5961, 0.0127]\nstate[eef_state]: left_x=0.2842 left_y=-0.0015 left_z=0.1536 left_yaw=0.0005 left_pitch=-0.1301 left_roll=0.0023 left_gripper=0.9993 right_x=0.4345 right_y=0.3998 right_z=0.0329 right_yaw=0.039 right_pitch=-0.0127 right_roll=-0.0039 right_gripper=0.0127\nstate[joint_eff]: [-0.0342, -1.7162, 6.9675, 1.6288, -0.0269, -0.0269, -0.0171, 0.1709, -12.7521, 7.6513, 1.2088, 0.569, 0.1783, 0.9597]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57ad720599afabe7f66b6edee8b44be7a0bdc421332a13c0752f5ac22b318521",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c60142a10dd28d2c057ca9f3ad61448f2984e107eafd325c21ab09167e5d941",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70613648176ec81271f12bd7a6ed3f59a6e12926f8d7b320f2f3bd5970dca6e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G55KzwDto4qXwdLxvbEFFz",
      "input": {
        "note": "The rim pinch was empty; the bowl stayed put. New approach: position the closed gripper on the bowl's right side so I can push it left toward the table centre.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.45,
          "right_y": 0.03,
          "right_yaw": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 31 steps (3.1s)",
      "tool_use_id": "toolu_01G55KzwDto4qXwdLxvbEFFz",
      "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]: [-0.0265, 0.8398, 0.6132, -0.4767, -0.0135, -0.0307, 0.9993, 0.1001, 1.6196, 0.8375, 0.1783, 0.0978, 0.0635, 0.0149]\nstate[eef_state]: left_x=0.2843 left_y=-0.0016 left_z=0.1526 left_yaw=0.0002 left_pitch=-0.1339 left_roll=0.0022 left_gripper=0.9993 right_x=0.4506 right_y=0.0315 right_z=0.1062 right_yaw=-0.0197 right_pitch=-0.032 right_roll=-0.0055 right_gripper=0.0149\nstate[joint_eff]: [-0.1299, -1.7709, 7.0359, 1.5995, -0.0415, -0.0708, -0.0122, -0.1709, -9.9487, 5.9419, 1.7851, -0.0317, -0.0269, 0.696]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:740444fcc3f2fee9fdc6f81b702decef4eca7545b9fd16205bd08deccd683cd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e841c4bbcb2ae6fe606764aca22509a2145c1b132daa35c63dd77cc244cf2719",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:609b84da0c4c27f6b0a35215d9c85fb950153f82b227b722f1682796008212f8",
        "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 · 3.809 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]: [-0.0265, 0.8322, 0.6132, -0.4759, -0.0139, -0.0307, 0.9993, 0.5812, 1.977, 0.8982, 0.4206, 0.4694, 0.329, 0.0114]\nstate[eef_state]: left_x=0.2841 left_y=-0.0015 left_z=0.1547 left_yaw=0.0005 left_pitch=-0.1255 left_roll=0.0022 left_gripper=0.9993 right_x=0.4373 right_y=0.196 right_z=0.0278 right_yaw=0.0118 right_pitch=-0.0086 right_roll=-0.0086 right_gripper=0.0114\nstate[joint_eff]: [-0.0205, -1.347, 7.159, 1.6532, -0.0317, -0.0708, -0.0122, -0.1299, -9.4974, 5.5179, 1.6777, 0.3199, 0.0855, 1.0232]",
      "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]: [-0.0265, 0.836, 0.6132, -0.4767, -0.0139, -0.0307, 0.9993, 0.9337, 2.389, 1.6886, -0.1078, 0.7086, 0.5961, 0.0127]\nstate[eef_state]: left_x=0.2842 left_y=-0.0015 left_z=0.1536 left_yaw=0.0005 left_pitch=-0.1301 left_roll=0.0023 left_gripper=0.9993 right_x=0.4345 right_y=0.3998 right_z=0.0329 right_yaw=0.039 right_pitch=-0.0127 right_roll=-0.0039 right_gripper=0.0127\nstate[joint_eff]: [-0.0342, -1.7162, 6.9675, 1.6288, -0.0269, -0.0269, -0.0171, 0.1709, -12.7521, 7.6513, 1.2088, 0.569, 0.1783, 0.9597]",
      "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]: [-0.0265, 0.8398, 0.6132, -0.4767, -0.0135, -0.0307, 0.9993, 0.1001, 1.6196, 0.8375, 0.1783, 0.0978, 0.0635, 0.0149]\nstate[eef_state]: left_x=0.2843 left_y=-0.0016 left_z=0.1526 left_yaw=0.0002 left_pitch=-0.1339 left_roll=0.0022 left_gripper=0.9993 right_x=0.4506 right_y=0.0315 right_z=0.1062 right_yaw=-0.0197 right_pitch=-0.032 right_roll=-0.0055 right_gripper=0.0149\nstate[joint_eff]: [-0.1299, -1.7709, 7.0359, 1.5995, -0.0415, -0.0708, -0.0122, -0.1709, -9.9487, 5.9419, 1.7851, -0.0317, -0.0269, 0.696]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:740444fcc3f2fee9fdc6f81b702decef4eca7545b9fd16205bd08deccd683cd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e841c4bbcb2ae6fe606764aca22509a2145c1b132daa35c63dd77cc244cf2719",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:609b84da0c4c27f6b0a35215d9c85fb950153f82b227b722f1682796008212f8",
        "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_01RrSgrc4CajV4jpuHwfcPqX",
      "input": {
        "note": "Overhead view shows the lemon ended up on the table in front of the blue bowl (only the pear is in it). Moving the open gripper above the lemon to regrasp it.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.31,
          "right_y": 0.1,
          "right_yaw": 0.0,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01RrSgrc4CajV4jpuHwfcPqX",
      "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]: [-0.0265, 0.8455, 0.6132, -0.49, -0.0139, -0.0307, 0.9993, 0.5106, 1.2221, 0.3767, 0.2031, 0.3782, 0.2584, 0.9956]\nstate[eef_state]: left_x=0.2824 left_y=-0.0014 left_z=0.1486 left_yaw=0.0006 left_pitch=-0.1529 left_roll=0.003 left_gripper=0.9993 right_x=0.3136 right_y=0.105 right_z=0.0765 right_yaw=0.0527 right_pitch=-0.0219 right_roll=-0.0115 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -1.5521, 7.0222, 1.8144, -0.0513, -0.0366, -0.0171, 0.1709, -3.9863, 6.2427, 1.746, 0.3101, 0.2271, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb51c064d3e44bf98680d83c6eef587d8f6b52cdd4f7411846563f3ce051484f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86f0eedef8152cdb84da807b9bbd7dd9dd46f37b518ba876670f006ac4063723",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d21f979d59387378098d503e523ef16bb58b8ff36c6275e80c2796d17f5a7e5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /messages · status 200 · 3.675 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]: [-0.0265, 0.836, 0.6132, -0.4767, -0.0139, -0.0307, 0.9993, 0.9337, 2.389, 1.6886, -0.1078, 0.7086, 0.5961, 0.0127]\nstate[eef_state]: left_x=0.2842 left_y=-0.0015 left_z=0.1536 left_yaw=0.0005 left_pitch=-0.1301 left_roll=0.0023 left_gripper=0.9993 right_x=0.4345 right_y=0.3998 right_z=0.0329 right_yaw=0.039 right_pitch=-0.0127 right_roll=-0.0039 right_gripper=0.0127\nstate[joint_eff]: [-0.0342, -1.7162, 6.9675, 1.6288, -0.0269, -0.0269, -0.0171, 0.1709, -12.7521, 7.6513, 1.2088, 0.569, 0.1783, 0.9597]",
      "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]: [-0.0265, 0.8398, 0.6132, -0.4767, -0.0135, -0.0307, 0.9993, 0.1001, 1.6196, 0.8375, 0.1783, 0.0978, 0.0635, 0.0149]\nstate[eef_state]: left_x=0.2843 left_y=-0.0016 left_z=0.1526 left_yaw=0.0002 left_pitch=-0.1339 left_roll=0.0022 left_gripper=0.9993 right_x=0.4506 right_y=0.0315 right_z=0.1062 right_yaw=-0.0197 right_pitch=-0.032 right_roll=-0.0055 right_gripper=0.0149\nstate[joint_eff]: [-0.1299, -1.7709, 7.0359, 1.5995, -0.0415, -0.0708, -0.0122, -0.1709, -9.9487, 5.9419, 1.7851, -0.0317, -0.0269, 0.696]",
      "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]: [-0.0265, 0.8455, 0.6132, -0.49, -0.0139, -0.0307, 0.9993, 0.5106, 1.2221, 0.3767, 0.2031, 0.3782, 0.2584, 0.9956]\nstate[eef_state]: left_x=0.2824 left_y=-0.0014 left_z=0.1486 left_yaw=0.0006 left_pitch=-0.1529 left_roll=0.003 left_gripper=0.9993 right_x=0.3136 right_y=0.105 right_z=0.0765 right_yaw=0.0527 right_pitch=-0.0219 right_roll=-0.0115 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -1.5521, 7.0222, 1.8144, -0.0513, -0.0366, -0.0171, 0.1709, -3.9863, 6.2427, 1.746, 0.3101, 0.2271, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb51c064d3e44bf98680d83c6eef587d8f6b52cdd4f7411846563f3ce051484f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86f0eedef8152cdb84da807b9bbd7dd9dd46f37b518ba876670f006ac4063723",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d21f979d59387378098d503e523ef16bb58b8ff36c6275e80c2796d17f5a7e5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkwcKEAgSGAI4AUIIdGhpbmtpbmcSDOFalWow0kuetPrqNRoMdJ3BZp4kPhFSZynMIjAJK031404qg0+AeWDfc7gc5IlxP7o/pkcbw7rFMSCYmdO+p9F9O7wukGC7/24Q2a4qsAYFrKEoKH6jYvk+E1Lx/R2reNPkL3zpsUmH0yXl+nLEZlEtfFL0fdtUdko65KtLZhYlpV6TzaLC231lXje6aRcydebfO6Fz6yzvJUMogdM3llnuMlySApctqtkcHt6CtUDE/ZLC8bRjJUCYApsC6PEcjHflWCCclx2SH+JCCGsOlL2KS7okgf3nBlejy/5N7ETHe/oXrnO6AWwI04E4wJp67vTUErdi9UKNugUaPLeuJ0rmGkTx0/V3eOcesQvk9CgUUaNi+7DERQQ7HnmxeF3uqPnKb/oXw1SSpokDlC3kK94IdCbpbu+5BcWO9qlVe0A/V/uxQB+GuoLiFWoPQtC3kbN4GkJbQXZhVRuSlvmdRz0fx37C8BNmqgZPZdLC42c+qFIzBeyoyKwE9U/A7l36v/gId4nxzygvn0gUlSvlo2+gNKGSZlojNZxlTAXchXtzMbIkmKgVtMiD7NNhFvmVFxDIuvQeLsWJvMxRFem6LdndwaB/ckjR+DjlPNsPYftk/CI0WepXtzEk5M0Xc63fqSJo8DCYT65qxRmkG9/v1bThT7qMuAtPMJIVW/kh03G9GcTov83FBR8/luXOTusl9iuzu6A0BSQnjgQBoyaqPx7bPzbgw+QibTwc9TfUQEFk/zIJIEqZ/CSogC540SqYisRiQdD1JeCnyTLdsNfejU4VruvTGcS4VdeHMoBrTDJynOJIVCWnV4s0I3A4IrGH3fke5TyDnq+kG54ogSF2vVQAyUXegP/G4I1sQY4E2rT7STPvRVTxepq/n2t7Epg1/+4BMxNERhwsLY7thZV0wyC9k3HFvWhP/Kff7+vGRLPIgbl3Hbc3SrfWPtVCJFUk0Vw3zozCqLyq6AAPyh6CshIT7jMWUkc5y+nhoeMFPHkCQkK4H6ckKXdcKsFEYSzb2gqIM9hvMqVcZYE21sjSvCVlIjISORTxCwByItQC5DpOSoDht+Y/7jIM432rVf2s9OpWzv2qNnAhYyLmF9IDVUH6Q1t3hfNKIg+GBgLP3X7EbpuGAJKDLn94rMoBYEAcqvnK6969DxMDCDhyMTEjLxMqbgYCFgBPAKAVheqKClEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DeNuYrDqRJTZhDLWDTZpo4",
      "input": {
        "note": "Lemon is at the bottom edge of the wrist view on the jaw column, i.e. right under the fingertips. Descending to grasp it.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.305,
          "right_yaw": 0.0,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01DeNuYrDqRJTZhDLWDTZpo4",
      "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]: [-0.0265, 0.8474, 0.6132, -0.4942, -0.0135, -0.0307, 0.9993, 0.5621, 1.5196, 0.2283, 0.5377, 0.4431, 0.3153, 0.9959]\nstate[eef_state]: left_x=0.2818 left_y=-0.0015 left_z=0.1473 left_yaw=0.0003 left_pitch=-0.159 left_roll=0.0029 left_gripper=0.9993 right_x=0.2917 right_y=0.0985 right_z=-0.0003 right_yaw=0.0183 right_pitch=-0.0988 right_roll=-0.0557 right_gripper=0.9959\nstate[joint_eff]: [-0.3214, -1.5932, 7.0632, 1.6239, -0.022, -0.0611, -0.0171, 0.3761, -4.3966, 4.0957, 0.9109, 0.2222, 0.0366, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60a89ea59e45d981cd3f5ec3d4191438c2f709d8dceacda699380d6389a445b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ced80ce11df49c74198ab7ec4b64d155caa9791d443e8d6ef1c635f2876c98ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7370a259e37c4e2edef4912d856799cbf37573628c07c9d91b0d684853547d0f",
        "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 · 7.487 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]: [-0.0265, 0.8398, 0.6132, -0.4767, -0.0135, -0.0307, 0.9993, 0.1001, 1.6196, 0.8375, 0.1783, 0.0978, 0.0635, 0.0149]\nstate[eef_state]: left_x=0.2843 left_y=-0.0016 left_z=0.1526 left_yaw=0.0002 left_pitch=-0.1339 left_roll=0.0022 left_gripper=0.9993 right_x=0.4506 right_y=0.0315 right_z=0.1062 right_yaw=-0.0197 right_pitch=-0.032 right_roll=-0.0055 right_gripper=0.0149\nstate[joint_eff]: [-0.1299, -1.7709, 7.0359, 1.5995, -0.0415, -0.0708, -0.0122, -0.1709, -9.9487, 5.9419, 1.7851, -0.0317, -0.0269, 0.696]",
      "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]: [-0.0265, 0.8455, 0.6132, -0.49, -0.0139, -0.0307, 0.9993, 0.5106, 1.2221, 0.3767, 0.2031, 0.3782, 0.2584, 0.9956]\nstate[eef_state]: left_x=0.2824 left_y=-0.0014 left_z=0.1486 left_yaw=0.0006 left_pitch=-0.1529 left_roll=0.003 left_gripper=0.9993 right_x=0.3136 right_y=0.105 right_z=0.0765 right_yaw=0.0527 right_pitch=-0.0219 right_roll=-0.0115 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -1.5521, 7.0222, 1.8144, -0.0513, -0.0366, -0.0171, 0.1709, -3.9863, 6.2427, 1.746, 0.3101, 0.2271, 0.0513]",
      "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]: [-0.0265, 0.8474, 0.6132, -0.4942, -0.0135, -0.0307, 0.9993, 0.5621, 1.5196, 0.2283, 0.5377, 0.4431, 0.3153, 0.9959]\nstate[eef_state]: left_x=0.2818 left_y=-0.0015 left_z=0.1473 left_yaw=0.0003 left_pitch=-0.159 left_roll=0.0029 left_gripper=0.9993 right_x=0.2917 right_y=0.0985 right_z=-0.0003 right_yaw=0.0183 right_pitch=-0.0988 right_roll=-0.0557 right_gripper=0.9959\nstate[joint_eff]: [-0.3214, -1.5932, 7.0632, 1.6239, -0.022, -0.0611, -0.0171, 0.3761, -4.3966, 4.0957, 0.9109, 0.2222, 0.0366, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60a89ea59e45d981cd3f5ec3d4191438c2f709d8dceacda699380d6389a445b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ced80ce11df49c74198ab7ec4b64d155caa9791d443e8d6ef1c635f2876c98ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7370a259e37c4e2edef4912d856799cbf37573628c07c9d91b0d684853547d0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8gYKEAgSGAI4AUIIdGhpbmtpbmcSDGEP1E8wcRMcRWNKuhoM+x4mCQJpX7pKUYrNIjBYXra+9PJcV1FgM6+EPLxvuA7v35VsPkbYXxynU3dm6+Gvj9cZLIg+kNQivxHDeB8qjwbCBdp5HopbdAuLScFN/Ee04Q009DcyNlmHSCi20auwyYYEv5svSy+UchVJk5c5/eX9D22EnBfUS6RD9bSr/+9h+RNNFh7zSupYikXAUg1nHLNWMfIQ21uu2blsO/dMSM5J/23FMXsFCv176g0UsIy5ErZ/cyQLlU6PqnCthXcI0N5darXpjWW0Zg7X48TGYn1SZ1qEFfQRXl8MgFVVzJqbzPPjbEZ+2G//2WiwcqUAzzgOBUCsaGei1eKvFmWtruVD1hf1BoaDQj+If/KmXMqVAQc5G55+QtfXuZhamittogT/P+YgFMwoJYoyGQAt/YAmKGOPLaiusI3LeYUcvyAwdJA8cD3m1wER6arrKN2SaFWDQ8Npqu/tv0k3/p5Z9Xf7mEGFBSZyA4ZBEuz7PPiWxVazF7bgPCEBk5L0MIV1FqbOpgXV9QlCy1rXqWnJaMB1xjGoOriJbm7JDjCzBjdamPZb//5NxMvtYM79DVxGG5FAmlNHo2CyXvGTowgv27ITDCtD4lbVBcRejQDBjPBFCOMNMOnqg7cubhoGIFKMSjg+2DaIrQ2FA1dqsznHH79L1yV57qX3E37R9VVuWXZ2+Zmq35gIegagTxKa/Z1fiOGDOz8RNn60AN5k/nOKWn+RXXpN1WAhxERgq2YbG0bb7i9Y/z1lEH7mJ60Bo0V/BbYxOXZp2cbbzpSUl6jb2I4YSAArSeGdd6Qd4TP0g90iLvbN50ssPhzdvQBEO9yUuAeru3V5RY7c67L8tf+5NeqVryW6fOpaRAx/UwgtkBIcSDa8lJcjvN5jPq4c8FuY/9CpK+d+aM0u/+0gf9zG8JYD4CgAoBpSB/gugK6axXCw/qrwvvrTuVP5nXoDuX/xW+Sq1HXP1oJzhkjHDGionjEutz+40chzd19/E/cedfGOzzGOE8S8s/R++P6e6Niii7Bq566MWlMA1mwRpwNdplrFmtUveUiq/JwVhVNIxTbsbDvCpGxxiuhRBzPqQ94FpKdx3ifwlVMpZX+K/Ptz25JF1qvSfBCknTxXvz5pwl4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F7DiYuNWk7bbqUNfdJCSWq",
      "input": {
        "note": "The lemon fills the gap between the jaws at table level. Closing to grasp.",
        "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_01F7DiYuNWk7bbqUNfdJCSWq",
      "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]: [-0.0265, 0.8474, 0.6132, -0.4942, -0.0139, -0.0307, 0.9993, 0.5674, 1.5513, 0.223, 0.6548, 0.4526, 0.3233, 0.6132]\nstate[eef_state]: left_x=0.2818 left_y=-0.0014 left_z=0.1473 left_yaw=0.0006 left_pitch=-0.159 left_roll=0.0031 left_gripper=0.9993 right_x=0.3018 right_y=0.105 right_z=0.0099 right_yaw=0.0144 right_pitch=-0.0271 right_roll=-0.0127 right_gripper=0.6132\nstate[joint_eff]: [-0.0342, -1.4564, 7.159, 1.5702, -0.0611, -0.0757, -0.0122, 0.0889, -4.4376, 4.3009, 1.8388, 0.2906, 0.0611, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:908b909c79e7018ca32e116717d33794ff8896f2394996c9a473607783fcdb36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec773577be132d6162b353ad55189f30f59d2a614205846d30807c46f45f8337",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3be43d0e61112db04539576a09cb8a0363916468e1447d0665d7bddd27d9934e",
        "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 · 5.202 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]: [-0.0265, 0.8455, 0.6132, -0.49, -0.0139, -0.0307, 0.9993, 0.5106, 1.2221, 0.3767, 0.2031, 0.3782, 0.2584, 0.9956]\nstate[eef_state]: left_x=0.2824 left_y=-0.0014 left_z=0.1486 left_yaw=0.0006 left_pitch=-0.1529 left_roll=0.003 left_gripper=0.9993 right_x=0.3136 right_y=0.105 right_z=0.0765 right_yaw=0.0527 right_pitch=-0.0219 right_roll=-0.0115 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -1.5521, 7.0222, 1.8144, -0.0513, -0.0366, -0.0171, 0.1709, -3.9863, 6.2427, 1.746, 0.3101, 0.2271, 0.0513]",
      "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]: [-0.0265, 0.8474, 0.6132, -0.4942, -0.0135, -0.0307, 0.9993, 0.5621, 1.5196, 0.2283, 0.5377, 0.4431, 0.3153, 0.9959]\nstate[eef_state]: left_x=0.2818 left_y=-0.0015 left_z=0.1473 left_yaw=0.0003 left_pitch=-0.159 left_roll=0.0029 left_gripper=0.9993 right_x=0.2917 right_y=0.0985 right_z=-0.0003 right_yaw=0.0183 right_pitch=-0.0988 right_roll=-0.0557 right_gripper=0.9959\nstate[joint_eff]: [-0.3214, -1.5932, 7.0632, 1.6239, -0.022, -0.0611, -0.0171, 0.3761, -4.3966, 4.0957, 0.9109, 0.2222, 0.0366, -0.0269]",
      "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]: [-0.0265, 0.8474, 0.6132, -0.4942, -0.0139, -0.0307, 0.9993, 0.5674, 1.5513, 0.223, 0.6548, 0.4526, 0.3233, 0.6132]\nstate[eef_state]: left_x=0.2818 left_y=-0.0014 left_z=0.1473 left_yaw=0.0006 left_pitch=-0.159 left_roll=0.0031 left_gripper=0.9993 right_x=0.3018 right_y=0.105 right_z=0.0099 right_yaw=0.0144 right_pitch=-0.0271 right_roll=-0.0127 right_gripper=0.6132\nstate[joint_eff]: [-0.0342, -1.4564, 7.159, 1.5702, -0.0611, -0.0757, -0.0122, 0.0889, -4.4376, 4.3009, 1.8388, 0.2906, 0.0611, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:908b909c79e7018ca32e116717d33794ff8896f2394996c9a473607783fcdb36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec773577be132d6162b353ad55189f30f59d2a614205846d30807c46f45f8337",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3be43d0e61112db04539576a09cb8a0363916468e1447d0665d7bddd27d9934e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvAsKEAgSGAI4AUIIdGhpbmtpbmcSDPXZb4crhNXb3sErpxoMKGEbT3W9hLFlGlZxIjCV6wqhmq9dlN+OM06VZfjpNPCJRTW8FkJ9pA0YeEfQeft6VqYp0VuzhFQnyKYJXIMq2QqP9gSSLXj8NTFXD0XIH5vtMnhy487r4yhE8ZRUz2u4F316nQkeTyawRSnOMelpOtMGFNNx2SqKsqONq+B2L8jrXKJA9o6pztPGNoaaNE1NNIWhbCzyx9shPrWeyRRu0HDtdguFxfG5rsz9uS28yn7srKZhRDrhNKyTp2h3ki5650XKTq4iSoAV53VHEsyn95m27KKtJ+D/kDSVDuPx9Um765bvOnLLYJrKYAQzv7NI4AYFGK1dptF4nIvhjULp2LivDHRcLxB9WgXdeP18ErF05nB6M0RUHVzVqGO2HBXCYwk22xavC8nnBUJZJAJar1kgU6RVS1PRWdQsO8iythzymYVelFcDQ6J+L9pyGx24eQjERjT1G5ujXVUDJHN9DLav5/1MBmCAkbcf6Ru0v3Q45T0FWedZ0kbjmgocI+WU18H3hyx2oabOlHf8ghYcXy5aPbLVkIA/pNa2uen1GyCspjHXILXErZIZ5+I07g1ScN8JLW/w/UGI04UKRP9EmeWR142/dNf/MX/+PGcDrZJ36GCuJXUj/Lg51LBn4/jsoMjpEu4N5VwwizrEzj/Tel/N9kVmU4+0xdVVuz+SLKIm5ZSMF3gm6fMAjZKknaAKlSUxvokkoagwQmmb0aiDTNllpVtoMV0mROWid6SYJDLZR/0bIKWmRYrbhJj5itQ/1sKhlG0yVTsvMV2QG0WipB+tX4uKqm9CUoeSZkRx/xVw+yj4MsDpjZ11lSvU4tqfUY+YpJJl8LzO2qimaZ0dxxzIdB1bI/Zd9gdn9NjZnNhoGztq/XYlDmc5ebaA+09G/6HqKk9iTp843115u+z6K9rk6egadMqEvlvRruwlWXrDfQBPKuf6PJ3eH9ZXPyRd2HPZK4dbd23IwLnZgzBjxfEfMzF4V4zsHvU5mDE47AFFspaHIkVv08Ypw1Xh3ccykWP3vPZ4x234G764nCXIeBq/X1T//kv0poe5xLAz7S6qdGEYd1Q7YQ3wvE47x9VHCbC1LAcQxYCYEOVqAPB8QEjfR3UV90v6oZ6lidj+einJbYoK3oQ3JHqpENv349opsaCXOw6TOQ0V50Ud5bwAPLXik+UWw5a4KUxXTRyt1/19ZQlOlYJUMgiFwYOgwGlpLGHusGucM77VIV3vM3+ioyEaNxO598eP5Xat46/7+OdunsqS1+hPeU+ZyrR9B7cYqD4/r0hBbm4FdiX+SC1pIkQaPMBmYfQA6n8mgfN2CtOMwOP5iWq9hMyc8gJZ5grGhSXN6w+zLoVCEanX2QRZylDCSaYuyzzJDu1IKe8ctLjDVLFYzRHdznIgYvuM4z7J+MNVj4HydIyUjU/fAKCJlg9uVtcmhAEAPM2v7KOkGQoG0tAwehnpj7KSZ63NfmQbl6dGZi6Z/5/N+VwuLfaz2PowzBP3ZhTH8fWkVXhkH8xxgyFsp7jtOKl6sD1/3L3+478psMFyZcvDbyZXf8JIx+OY2thLi8Jqkh+pBACBkPloIZ/MU6mjPIPz0/B1JurgPZhoemYrtBr9WyUvbBgv3uBRFwgU7q+bI3zXVHaqHbFwcrZGqWJbyQQsYOwbarzlXZ5yQSVjmW3pOx5UTzBdLDOZEnx7ClKb8JGMnEuajCcGCIaTHRYzVSlqfYK2O48iqCudAkGbgNBqNwokM+kv9/4yOEKAIBtJTkrbh+8xcCn5WqalX6BcMq0AKydt7ljvdJ9brJ+xNB15tdoGrvhCI3EvX8+FE57rQBTs4MaBGav02LrV0UUjV0VTA10CCeAusjrJzD22JpVoeqLgdJ90zuDQiJNZ5znpQTUBBUbmnNPk1dSXJ+aRuMgqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018qYqudZd9NgSM5W8f9pXHd",
      "input": {
        "note": "Lemon grasped (0.61 ≈ 5.8 cm). Carrying it up and over the blue bowl, which holds the pear.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.45,
          "right_y": 0.13,
          "right_yaw": 0.0,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_018qYqudZd9NgSM5W8f9pXHd",
      "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]: [-0.0265, 0.8516, 0.6132, -0.495, -0.0139, -0.0307, 0.9993, 0.4011, 1.5917, 1.026, -0.0357, 0.3313, 0.2195, 0.6129]\nstate[eef_state]: left_x=0.2818 left_y=-0.0014 left_z=0.1461 left_yaw=0.0007 left_pitch=-0.164 left_roll=0.0033 left_gripper=0.9993 right_x=0.4447 right_y=0.1301 right_z=0.1613 right_yaw=0.0027 right_pitch=0.0039 right_roll=-0.0023 right_gripper=0.6129\nstate[joint_eff]: [-0.1573, -1.8393, 6.9402, 1.5653, -0.0415, -0.0513, -0.0122, -0.5949, -7.6513, 8.1983, 1.5604, 0.0562, -0.0122, 0.7595]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e07f5e6007f579237a8a1a84aebafe5343124ff42514e2ff491b220ccd207dd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7594bcb49456ce1ed71bc0c59b46d3bb4a9ae40a9b950771732bb46881096908",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:84e9bceb5b7c5d6c72717813a3e4854a1ed9e58a7f4b097823c79b911e8fc7ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /messages · status 200 · 2.998 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]: [-0.0265, 0.8474, 0.6132, -0.4942, -0.0135, -0.0307, 0.9993, 0.5621, 1.5196, 0.2283, 0.5377, 0.4431, 0.3153, 0.9959]\nstate[eef_state]: left_x=0.2818 left_y=-0.0015 left_z=0.1473 left_yaw=0.0003 left_pitch=-0.159 left_roll=0.0029 left_gripper=0.9993 right_x=0.2917 right_y=0.0985 right_z=-0.0003 right_yaw=0.0183 right_pitch=-0.0988 right_roll=-0.0557 right_gripper=0.9959\nstate[joint_eff]: [-0.3214, -1.5932, 7.0632, 1.6239, -0.022, -0.0611, -0.0171, 0.3761, -4.3966, 4.0957, 0.9109, 0.2222, 0.0366, -0.0269]",
      "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]: [-0.0265, 0.8474, 0.6132, -0.4942, -0.0139, -0.0307, 0.9993, 0.5674, 1.5513, 0.223, 0.6548, 0.4526, 0.3233, 0.6132]\nstate[eef_state]: left_x=0.2818 left_y=-0.0014 left_z=0.1473 left_yaw=0.0006 left_pitch=-0.159 left_roll=0.0031 left_gripper=0.9993 right_x=0.3018 right_y=0.105 right_z=0.0099 right_yaw=0.0144 right_pitch=-0.0271 right_roll=-0.0127 right_gripper=0.6132\nstate[joint_eff]: [-0.0342, -1.4564, 7.159, 1.5702, -0.0611, -0.0757, -0.0122, 0.0889, -4.4376, 4.3009, 1.8388, 0.2906, 0.0611, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0265, 0.8516, 0.6132, -0.495, -0.0139, -0.0307, 0.9993, 0.4011, 1.5917, 1.026, -0.0357, 0.3313, 0.2195, 0.6129]\nstate[eef_state]: left_x=0.2818 left_y=-0.0014 left_z=0.1461 left_yaw=0.0007 left_pitch=-0.164 left_roll=0.0033 left_gripper=0.9993 right_x=0.4447 right_y=0.1301 right_z=0.1613 right_yaw=0.0027 right_pitch=0.0039 right_roll=-0.0023 right_gripper=0.6129\nstate[joint_eff]: [-0.1573, -1.8393, 6.9402, 1.5653, -0.0415, -0.0513, -0.0122, -0.5949, -7.6513, 8.1983, 1.5604, 0.0562, -0.0122, 0.7595]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e07f5e6007f579237a8a1a84aebafe5343124ff42514e2ff491b220ccd207dd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7594bcb49456ce1ed71bc0c59b46d3bb4a9ae40a9b950771732bb46881096908",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84e9bceb5b7c5d6c72717813a3e4854a1ed9e58a7f4b097823c79b911e8fc7ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiwkKEAgSGAI4AUIIdGhpbmtpbmcSDEPLHl2VcjDv3pX1fxoMVTGalTm7+Ijt4pFdIjDsv87Wf0McNdaRUy5z/cLxIyD65lFHV08T0pU3mCMCzBAGb/tpfs6jrpdrrYSAuMcqqAi911bvAWB+7RYxy3PpBxIXOh2cYgHUDc8AKSgHouE1p/AFNQ3DnZiTbyxynih0sl93KE8k9Zr6Oyyl5HQ25C+VzOZsqo5jlgSNKYRDFj1Mm8Jk9Z5uxAT01PAWJ1vVHBM60wFUXX7edz2pu76ghAWAKf+8PAAa7FXxmo9Pkk7/a9A00ZjNmFuS62hZ1wAW9Lwm7pgaLEuQaiSPF7gI9kI/6n0SIJ8QC1mJI2vUYgIcyBdbUiCADOOFjZptJA19L3UzCZJVasq3JwCOcVAVKq4ZOIIxw1akq0T9e/Dc6xxPHdp0+RD/iBNnur9U81PmIqDsVTO2X7h6zJKd8NlQYptXCkId+mKNeq1qKdxhbBh0qPjmW2KukWF7r0SRHJbahAHw26qzhDrALOOx+cq2aRExNlY7J5qZAPKGBI9aZMJ3IpNJh+yFrzB86iGfyUwp3tkVM03pvC3lKT9vVhXamAwYt+tZtCbttsXHGGAiDpvMsYaww6bhdlWzf58cipC/Gf1q8gRXNT5SkhnLrGksnaR7Hn2etSxCnxz7Z8nBG6g885FwWgqZKCiAJWnOcfrgWyYc9dbuewLJyOPB0IXcQtApNj8wulVu28HnaFqsydB9VYqQIfCsnO+B37ADlFXLgUKsDLrcXFUSsrzRAAda/iWfxWyXuXYQyLzsmIkm+b6x5fG38blHSDoQ8XdIkmkAxj4/Y3mjbOoEBAUqV0IJ9YVymXvjH3oVvCLNXW6+EBe9AYIiPABvUz/fmWwNDRJ978VnmCajzFldisrz1jA6Z/f52D9iJBpTXv4M75srkzUha2z3IzAJ2l+bXohznmAWQ9bKYKSotnQwOzvCKE0DdZdzSk1AplUW/opMsmv3ZSH+4zGg7x0dYsnE0gIvyjcA1EaOSZPLFiy8Q/McDTO26txeSjg2M44z6YtCiyZukTIc4073HeUeXmOhSFyETsuQ789+pwv+b3RNGunzdvHjdWEB1IZw07SrJD8+fr+BknDk0fliPGp6gljXetfeo2b8cYvggrZ+2+hbi1WvdrXhprcFxVR3ZXu4GKZFnbEy1uQLlhYw/+JWq03bnV3NcS1jc6G8sLUdWcDxTtl1dFt7t32Ct0bZHNPbKz1vSGbMVhGrkrgBjLhR7AWDBm+ZhxNfMIh4TBhTxYutOd7kBL7I1KNcbvFqeOAANa7/ZSIpuwuKRhOU+3yAD2LC3B5bPrMSE0xYC3qSD5Ei10f6DfZVgbAnuqUV2C9BJZ8UejozaUXq+wKUlucuu8WpCHBtbq6vOrSc7t2y9vRwQjYbZWRhpIOCzBtktbY+YVgET48xRTPSmK6+nGZX0QvCx6/OAzieEeLYEUbbzLZofZ4LwEReHbUAZAVhJXw5cQUUflxEkIt4WuhijoDOwtNMjj28kNwTSK583TxUVLbnhRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YXCwddRao43sAY4mBAPEsD",
      "input": {
        "note": "Blue bowl with the pear is just ahead of the held lemon in the wrist view. Advancing 2 cm and lowering over the bowl centre.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.465,
          "right_y": 0.125,
          "right_yaw": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01YXCwddRao43sAY4mBAPEsD",
      "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]: [-0.0265, 0.8528, 0.6132, -0.4953, -0.0135, -0.0307, 0.9993, 0.3706, 1.6993, 1.0069, 0.0509, 0.3084, 0.2153, 0.6144]\nstate[eef_state]: left_x=0.2817 left_y=-0.0015 left_z=0.1457 left_yaw=0.0003 left_pitch=-0.1655 left_roll=0.0031 left_gripper=0.9993 right_x=0.4579 right_y=0.1243 right_z=0.1211 right_yaw=-0.007 right_pitch=-0.0382 right_roll=-0.0087 right_gripper=0.6144\nstate[joint_eff]: [-0.1846, -1.5932, 7.1043, 1.5946, -0.0415, -0.0366, -0.0171, -0.1983, -9.2376, 5.9966, 1.7949, 0.0269, -0.1978, 0.4127]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d51e0ce69c035eceadcd52d030018eab0bf452ee0e1532a81faf980bce47465",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f605aed498707cd6a8c29a07e3dd785b1e08060d5cad2fdbdf604ef62f450b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:674d0d3d3fc43269615fd1f95a45d51fa8b12b49ad7d0071b30d038520520668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 12.37 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]: [-0.0265, 0.8474, 0.6132, -0.4942, -0.0139, -0.0307, 0.9993, 0.5674, 1.5513, 0.223, 0.6548, 0.4526, 0.3233, 0.6132]\nstate[eef_state]: left_x=0.2818 left_y=-0.0014 left_z=0.1473 left_yaw=0.0006 left_pitch=-0.159 left_roll=0.0031 left_gripper=0.9993 right_x=0.3018 right_y=0.105 right_z=0.0099 right_yaw=0.0144 right_pitch=-0.0271 right_roll=-0.0127 right_gripper=0.6132\nstate[joint_eff]: [-0.0342, -1.4564, 7.159, 1.5702, -0.0611, -0.0757, -0.0122, 0.0889, -4.4376, 4.3009, 1.8388, 0.2906, 0.0611, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0265, 0.8516, 0.6132, -0.495, -0.0139, -0.0307, 0.9993, 0.4011, 1.5917, 1.026, -0.0357, 0.3313, 0.2195, 0.6129]\nstate[eef_state]: left_x=0.2818 left_y=-0.0014 left_z=0.1461 left_yaw=0.0007 left_pitch=-0.164 left_roll=0.0033 left_gripper=0.9993 right_x=0.4447 right_y=0.1301 right_z=0.1613 right_yaw=0.0027 right_pitch=0.0039 right_roll=-0.0023 right_gripper=0.6129\nstate[joint_eff]: [-0.1573, -1.8393, 6.9402, 1.5653, -0.0415, -0.0513, -0.0122, -0.5949, -7.6513, 8.1983, 1.5604, 0.0562, -0.0122, 0.7595]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0265, 0.8528, 0.6132, -0.4953, -0.0135, -0.0307, 0.9993, 0.3706, 1.6993, 1.0069, 0.0509, 0.3084, 0.2153, 0.6144]\nstate[eef_state]: left_x=0.2817 left_y=-0.0015 left_z=0.1457 left_yaw=0.0003 left_pitch=-0.1655 left_roll=0.0031 left_gripper=0.9993 right_x=0.4579 right_y=0.1243 right_z=0.1211 right_yaw=-0.007 right_pitch=-0.0382 right_roll=-0.0087 right_gripper=0.6144\nstate[joint_eff]: [-0.1846, -1.5932, 7.1043, 1.5946, -0.0415, -0.0366, -0.0171, -0.1983, -9.2376, 5.9966, 1.7949, 0.0269, -0.1978, 0.4127]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d51e0ce69c035eceadcd52d030018eab0bf452ee0e1532a81faf980bce47465",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f605aed498707cd6a8c29a07e3dd785b1e08060d5cad2fdbdf604ef62f450b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:674d0d3d3fc43269615fd1f95a45d51fa8b12b49ad7d0071b30d038520520668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BfGBvvQJtr9okJQi55bY2x",
      "input": {
        "note": "Lemon is held over the blue bowl on top of the pear. Releasing it into the bowl.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01BfGBvvQJtr9okJQi55bY2x",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0265, 0.8528, 0.6132, -0.4946, -0.0135, -0.0307, 0.9992, 0.3702, 1.7332, 0.9829, 0.0555, 0.2943, 0.2008, 0.9954]\nstate[eef_state]: left_x=0.2819 left_y=-0.0015 left_z=0.1458 left_yaw=0.0003 left_pitch=-0.1648 left_roll=0.003 left_gripper=0.9992 right_x=0.4522 right_y=0.1244 right_z=0.0964 right_yaw=0.0108 right_pitch=-0.0913 right_roll=-0.0315 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -1.5385, 6.9128, 1.5556, -0.0024, -0.0513, -0.0122, 0.0205, -11.1932, 8.3214, 1.7216, 0.1978, 0.1734, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12b9d61742b1f2f48b622682e2e278c024fd943066041d2d2b7d1a3e4efedcdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d99576b230fb8af81b423715696c67c3b6db0079c2ca8172c554c6dc187d0620",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:54741f4504376031c4c0599c2b4bd6958589662d3d5dad00d1bfe8c39c6ea0db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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