adhoc

completed
2026-09-22T23:45:00.341707+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (76 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
343.2 s
total steps
269
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

done

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 noteTwo fruits (a lemon and a green pear) sit to the right of the blue bowl, with the large white bowl further left. I'm moving the right arm to hover ~15 cm above the green pear to line up a grasp.
move_to
right_x0.3600right_y0.0900right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0204, 0.8001, 0.6132, -0.3855, -0.0139, -0.0261, 0.999, -0.0227, 0.8005, 0.6182, -0.3904, -0.0174, -0.0124, 0.9994] state[eef_state]: left_x=0.2956 left_y=0.0 left_z=0.1814 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.999 right_x=0.2955 right_y=-0.0001 right_z=0.1825 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9994 state[joint_eff]: [-0.5265, -1.7983, 9.6889, 1.8144, -0.1148, 0.0757, -0.1197, -0.4171, -1.7846, 9.1692, 1.917, -0.0659, -0.0415, -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": 0.36, "right_y": 0.09, "right_z": 0.15, "right_gripper": 1}, "note": "Two fruits (a lemon and a green pear) sit to the right of the blue bowl, with the large white bowl further left. I'm moving the right arm to hover ~15 cm above the green pear to line up a grasp."})
tool
executing move_to over 8 steps (0.8s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent noteIn the right wrist view the green pear sits at the far right edge, so it is about 9 cm to my right; I'm shifting y to 0.0 to centre the jaws over it.
move_to
right_x0.3600right_y0.0000right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8036, 0.6132, -0.4007, -0.0139, -0.0265, 0.9989, 0.3901, 1.2362, 0.6575, -0.1009, 0.3031, 0.1951, 0.9994] state[eef_state]: left_x=0.2937 left_y=0.0002 left_z=0.1773 left_yaw=0.0003 left_pitch=-0.0187 left_roll=-0.0001 left_gripper=0.9989 right_x=0.3489 right_y=0.0903 right_z=0.1277 right_yaw=0.0321 right_pitch=-0.071 right_roll=-0.032 right_gripper=0.9994 state[joint_eff]: [-0.1436, -1.5521, 7.2547, 1.8681, -0.0513, -0.0366, -0.0171, -0.2393, -4.9299, 9.0325, 1.9707, 0.2564, 0.1685, -0.0708] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.0, "right_z": 0.15}, "note": "In the right wrist view the green pear sits at the far right edge, so it is about 9 cm to my right; I'm shifting y to 0.0 to centre the jaws over it."})
tool
executing move_to over 8 steps (0.8s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe pear is now centred on the jaw column but sits above the jaw row, meaning it is still a few cm beyond the fingertips; advancing 3 cm radially before descending.
move_to
right_x0.3900right_y0.0000right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8043, 0.6132, -0.4084, -0.0139, -0.0265, 0.9989, -0.0216, 1.1854, 0.6704, -0.1844, -0.0189, -0.0559, 0.9994] state[eef_state]: left_x=0.2927 left_y=0.0002 left_z=0.1755 left_yaw=0.0003 left_pitch=-0.0271 left_roll=0.0 left_gripper=0.9989 right_x=0.3525 right_y=-0.0007 right_z=0.1295 right_yaw=0.0267 right_pitch=-0.127 right_roll=-0.0294 right_gripper=0.9994 state[joint_eff]: [-0.3077, -1.1829, 7.1453, 1.8046, -0.0806, -0.0171, -0.0122, 0.0068, -5.3402, 9.5795, 1.7753, -0.0122, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.0, "right_z": 0.15}, "note": "The pear is now centred on the jaw column but sits above the jaw row, meaning it is still a few cm beyond the fingertips; advancing 3 cm radially before descending."})
tool
executing move_to over 3 steps (0.3s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent notePear is centred and closer to the jaw row; advancing 2 cm more and descending to mid-pear height to grasp.
move_to
right_x0.4050right_y0.0000right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4202, -0.0139, -0.0265, 0.9989, -0.0139, 1.3254, 0.8188, -0.2348, -0.0238, -0.0639, 0.9994] state[eef_state]: left_x=0.2913 left_y=0.0002 left_z=0.1722 left_yaw=0.0003 left_pitch=-0.0423 left_roll=0.0003 left_gripper=0.9989 right_x=0.3813 right_y=0.0025 right_z=0.1352 right_yaw=0.0433 right_pitch=-0.1689 right_roll=-0.03 right_gripper=0.9994 state[joint_eff]: [-0.1983, -1.0462, 7.0496, 1.8095, -0.0659, -0.0269, -0.0122, 0.0752, -5.3265, 8.4444, 1.7118, 0.0562, 0.0415, -0.0171] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.405, "right_y": 0.0, "right_z": 0.045}, "note": "Pear is centred and closer to the jaw row; advancing 2 cm more and descending to mid-pear height to grasp."})
tool
executing move_to over 6 steps (0.6s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe pear is sitting right between the open jaws in the wrist view; 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]: [-0.02, 0.8089, 0.6132, -0.4244, -0.0139, -0.0269, 0.9989, -0.0189, 1.6188, 0.6682, 0.1787, -0.0319, -0.0719, 0.9994] state[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.171 left_yaw=0.0005 left_pitch=-0.0477 left_roll=0.0001 left_gripper=0.9989 right_x=0.4008 right_y=0.0016 right_z=0.0393 right_yaw=0.0499 right_pitch=-0.1991 right_roll=-0.0284 right_gripper=0.9994 state[joint_eff]: [-0.212, -1.265, 6.9949, 1.7265, -0.0464, -0.0464, -0.0122, -0.2667, -7.1316, 5.3675, 1.873, -0.0659, -0.0269, -0.0073] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The pear is sitting right between the open jaws in the wrist view; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteGripper closed to 0.61 (~5.8 cm) so the pear is held. Lifting and moving left toward the blue bowl to check alignment from the wrist camera.
move_to
right_z0.2200right_x0.4200right_y0.0800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8089, 0.6132, -0.4252, -0.0139, -0.0269, 0.9989, -0.0189, 1.6176, 0.6689, 0.2066, -0.0353, -0.0795, 0.6139] state[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1709 left_yaw=0.0005 left_pitch=-0.0484 left_roll=0.0001 left_gripper=0.9989 right_x=0.4059 right_y=0.0022 right_z=0.045 right_yaw=0.0567 right_pitch=-0.1694 right_roll=-0.0338 right_gripper=0.6139 state[joint_eff]: [0.0205, -1.1829, 6.9949, 1.6972, -0.0317, -0.0659, -0.0122, -0.1162, -6.7077, 5.641, 1.3504, -0.022, 0.0464, 1.0281] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_x": 0.42, "right_y": 0.08}, "note": "Gripper closed to 0.61 (~5.8 cm) so the pear is held. Lifting and moving left toward the blue bowl to check alignment from the wrist camera."})
tool
executing move_to over 12 steps (1.2s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe blue bowl is centred on the jaw column in the wrist view but well above the jaw row, so it is still several cm further out; advancing 4 cm and lowering slightly.
move_to
right_x0.4600right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8124, 0.6128, -0.4343, -0.0139, -0.0265, 0.9989, 0.2424, 1.4864, 1.2602, -0.5583, 0.1413, 0.0711, 0.6137] state[eef_state]: left_x=0.2894 left_y=0.0003 left_z=0.1679 left_yaw=0.0003 left_pitch=-0.0614 left_roll=0.0007 left_gripper=0.9989 right_x=0.4161 right_y=0.081 right_z=0.2057 right_yaw=0.0837 right_pitch=-0.2029 right_roll=-0.0484 right_gripper=0.6137 state[joint_eff]: [-0.1436, -1.5521, 6.9949, 1.7753, -0.0366, -0.0366, -0.0122, 0.0068, -7.1863, 8.9504, 1.5604, 0.2271, 0.188, -0.0366] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_z": 0.17}, "note": "The blue bowl is centred on the jaw column in the wrist view but well above the jaw row, so it is still several cm further out; advancing 4 cm and lowering slightly."})
tool
executing move_to over 4 steps (0.4s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteBlue bowl fills the lower-left of the wrist view; nudging 3 cm further out and 3 cm left, and lowering, to hold the pear over the bowl centre.
move_to
right_x0.4800right_y0.1100right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4461, -0.0139, -0.0269, 0.9989, 0.2131, 1.6638, 1.264, -0.4496, 0.1181, 0.041, 0.6137] state[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1653 left_yaw=0.0005 left_pitch=-0.0748 left_roll=0.0007 left_gripper=0.9989 right_x=0.4491 right_y=0.0795 right_z=0.1506 right_yaw=0.0889 right_pitch=-0.2705 right_roll=-0.062 right_gripper=0.6137 state[joint_eff]: [-0.3487, -1.4974, 6.9538, 1.7753, -0.0562, -0.0366, -0.0122, -0.2803, -9.0325, 8.6769, 1.7949, -0.0073, 0.022, -0.0122] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": 0.11, "right_z": 0.12}, "note": "Blue bowl fills the lower-left of the wrist view; nudging 3 cm further out and 3 cm left, and lowering, to hold the pear over the bowl centre."})
tool
executing move_to over 3 steps (0.3s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe previous command didn't move the arm (likely a reach limit), so I'm pitching the tool forward to extend reach and pushing out to x=0.50 toward the blue bowl.
move_to
right_x0.5000right_y0.1000right_z0.1500right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8143, 0.6128, -0.4496, -0.0135, -0.0265, 0.9989, 0.2131, 1.6638, 1.264, -0.4492, 0.1181, 0.041, 0.6137] state[eef_state]: left_x=0.2873 left_y=0.0002 left_z=0.1644 left_yaw=0.0 left_pitch=-0.0786 left_roll=0.0008 left_gripper=0.9989 right_x=0.4492 right_y=0.0795 right_z=0.1506 right_yaw=0.0889 right_pitch=-0.2701 right_roll=-0.0619 right_gripper=0.6137 state[joint_eff]: [-0.0068, -1.306, 6.9812, 1.7118, -0.0464, -0.0464, -0.0122, -0.4444, -9.0188, 8.5812, 1.7753, -0.0122, 0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.1, "right_z": 0.15, "right_pitch": 0.3}, "note": "The previous command didn't move the arm (likely a reach limit), so I'm pitching the tool forward to extend reach and pushing out to x=0.50 toward the blue bowl."})
tool
executing move_to over 20 steps (2.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe blue bowl now sits directly under the jaws in the wrist view; opening the gripper to drop the pear into it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4622, -0.0135, -0.0269, 0.9989, 0.2577, 1.766, 0.8902, 0.514, 0.1795, -0.0044, 0.6137] state[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1618 left_yaw=0.0002 left_pitch=-0.0919 left_roll=0.0008 left_gripper=0.9989 right_x=0.493 right_y=0.101 right_z=0.1351 right_yaw=0.1077 right_pitch=0.2155 right_roll=-0.0681 right_gripper=0.6137 state[joint_eff]: [-0.1983, -1.2786, 6.9402, 1.7656, -0.0317, -0.0708, -0.0171, 0.1299, -7.4051, 5.9009, 2.3028, 0.2125, 0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The blue bowl now sits directly under the jaws in the wrist view; opening the gripper to drop the pear into it."})
tool
executing move_to over 4 steps (0.4s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent notePear dropped in the blue bowl. Now moving to hover over the yellow lemon, which sits left of the pear's old spot.
move_to
right_x0.4100right_y0.1600right_z0.1600right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4686, -0.0139, -0.0269, 0.9989, 0.2581, 1.7775, 0.886, 0.5182, 0.1795, -0.009, 0.9956] state[eef_state]: left_x=0.2845 left_y=0.0004 left_z=0.1606 left_yaw=0.0006 left_pitch=-0.0984 left_roll=0.0012 left_gripper=0.9989 right_x=0.4926 right_y=0.1011 right_z=0.1287 right_yaw=0.1109 right_pitch=0.204 right_roll=-0.0742 right_gripper=0.9956 state[joint_eff]: [-0.0068, -1.3197, 7.0359, 1.707, -0.0757, -0.0708, -0.0122, -0.294, -9.5248, 6.4889, 1.8974, -0.0366, 0.0415, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.16, "right_z": 0.16, "right_pitch": 0.0}, "note": "Pear dropped in the blue bowl. Now moving to hover over the yellow lemon, which sits left of the pear's old spot."})
tool
executing move_to over 7 steps (0.7s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe lemon appears at the bottom-left of the wrist view (the blue bowl with the pear is centred ahead), so I'm shifting 6 cm left and slightly back and down to line up on it.
move_to
right_x0.3900right_y0.2200right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8192, 0.6128, -0.4755, -0.0139, -0.0265, 0.9989, 0.4942, 1.5528, 0.9199, 0.0353, 0.3359, 0.1181, 0.9965] state[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1581 left_yaw=0.0004 left_pitch=-0.1095 left_roll=0.0017 left_gripper=0.9989 right_x=0.417 right_y=0.1626 right_z=0.1463 right_yaw=0.1519 right_pitch=0.0101 right_roll=-0.0857 right_gripper=0.9965 state[joint_eff]: [-0.1299, -1.4017, 7.0222, 1.7265, -0.0269, -0.0317, -0.0122, 0.1983, -9.3333, 9.0051, 1.7851, 0.232, 0.1538, 0.0806] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.22, "right_z": 0.12}, "note": "The lemon appears at the bottom-left of the wrist view (the blue bowl with the pear is centred ahead), so I'm shifting 6 cm left and slightly back and down to line up on it."})
tool
executing move_to over 5 steps (0.5s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe lemon is centred on the jaw column just short of the fingertips; advancing 2 cm and descending to table level to grasp it.
move_to
right_x0.4050right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4759, -0.0139, -0.0265, 0.9989, 0.6842, 1.6302, 0.9104, 0.049, 0.4526, 0.205, 0.9965] state[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1582 left_yaw=0.0004 left_pitch=-0.1095 left_roll=0.0017 left_gripper=0.9989 right_x=0.3867 right_y=0.2203 right_z=0.117 right_yaw=0.2001 right_pitch=-0.0244 right_roll=-0.1056 right_gripper=0.9965 state[joint_eff]: [-0.0205, -1.2923, 6.9949, 1.6581, -0.0562, -0.0269, -0.0122, 0.1983, -6.8581, 6.3385, 1.8242, 0.2564, 0.2613, -0.0073] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.405, "right_z": 0.025}, "note": "The lemon is centred on the jaw column just short of the fingertips; advancing 2 cm and descending to table level to grasp it."})
tool
executing move_to over 6 steps (0.6s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe arm did not descend last time; trying a smaller pure-z step down toward the lemon.
move_to
right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4759, -0.0139, -0.0265, 0.9989, 0.6975, 1.6421, 0.9104, 0.0555, 0.4786, 0.2287, 0.9965] state[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1582 left_yaw=0.0004 left_pitch=-0.1095 left_roll=0.0017 left_gripper=0.9989 right_x=0.3858 right_y=0.2219 right_z=0.1145 right_yaw=0.18 right_pitch=-0.02 right_roll=-0.1028 right_gripper=0.9965 state[joint_eff]: [-0.1026, -1.2786, 6.9949, 1.6923, -0.0464, -0.0611, -0.0122, -0.253, -7.706, 6.7214, 1.873, 0.2955, 0.105, -0.0122] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.06}, "note": "The arm did not descend last time; trying a smaller pure-z step down toward the lemon."})
tool
executing move_to over 4 steps (0.4s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe right arm has stopped responding at this pose (identical readbacks), so I'm retreating to a safer, more central pose to re-establish control.
move_to
right_x0.3500right_y0.1500right_z0.2000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4763, -0.0139, -0.0265, 0.9989, 0.6975, 1.6421, 0.9104, 0.0551, 0.4786, 0.2287, 0.9965] state[eef_state]: left_x=0.2835 left_y=0.0004 left_z=0.1581 left_yaw=0.0004 left_pitch=-0.1098 left_roll=0.0017 left_gripper=0.9989 right_x=0.3858 right_y=0.2219 right_z=0.1144 right_yaw=0.18 right_pitch=-0.0203 right_roll=-0.103 right_gripper=0.9965 state[joint_eff]: [-0.0205, -1.2103, 6.9949, 1.6337, -0.0415, -0.0317, -0.0122, -0.2667, -7.706, 6.3385, 1.8584, 0.3639, 0.1148, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.15, "right_z": 0.2, "right_yaw": 0.0}, "note": "The right arm has stopped responding at this pose (identical readbacks), so I'm retreating to a safer, more central pose to re-establish control."})
tool
executing move_to over 6 steps (0.6s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteControl is restored; the lemon sits at the lower-left of the wrist view with the blue bowl ahead. Descending toward the lemon from a slightly nearer approach this time.
move_to
right_x0.3700right_y0.2150right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8211, 0.6128, -0.4759, -0.0139, -0.0265, 0.9989, 0.6598, 1.3491, 0.9596, -0.3, 0.5499, 0.2943, 0.9965] state[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1575 left_yaw=0.0004 left_pitch=-0.1118 left_roll=0.0018 left_gripper=0.9989 right_x=0.356 right_y=0.1639 right_z=0.1918 right_yaw=0.051 right_pitch=-0.0036 right_roll=-0.0933 right_gripper=0.9965 state[joint_eff]: [-0.335, -1.5111, 7.1316, 1.6972, -0.0757, -0.0464, -0.0122, -0.3897, -5.6137, 9.0872, 1.5458, 0.3541, 0.1783, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.215, "right_z": 0.06}, "note": "Control is restored; the lemon sits at the lower-left of the wrist view with the blue bowl ahead. Descending toward the lemon from a slightly nearer approach this time."})
tool
executing move_to over 9 steps (0.9s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe lemon now fills the centre of the wrist view just beyond the jaws; advancing 2 cm and dropping to table level to bracket it.
move_to
right_x0.3850right_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]: [-0.02, 0.8257, 0.6128, -0.477, -0.0139, -0.0265, 0.9989, 0.757, 1.7451, 0.8021, 0.1532, 0.606, 0.3527, 0.9966] state[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1561 left_yaw=0.0004 left_pitch=-0.1175 left_roll=0.0019 left_gripper=0.9989 right_x=0.3645 right_y=0.2109 right_z=0.0562 right_yaw=0.0726 right_pitch=-0.0572 right_roll=-0.1358 right_gripper=0.9966 state[joint_eff]: [-0.1299, -1.6479, 6.9538, 1.6239, -0.0464, -0.0415, -0.0122, 0.2667, -8.5128, 4.7932, 1.5702, 0.398, 0.1099, -0.0073] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_z": 0.03}, "note": "The lemon now fills the centre of the wrist view just beyond the jaws; advancing 2 cm and dropping to table level to bracket it."})
tool
executing move_to over 2 steps (0.2s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteStill slightly short of the lemon; pushing 2.5 cm further forward at table height so the jaws straddle it.
move_to
right_x0.4000right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8253, 0.6132, -0.477, -0.0135, -0.0269, 0.9989, 0.7391, 1.8172, 0.8074, 0.2436, 0.588, 0.3389, 0.9965] state[eef_state]: left_x=0.2836 left_y=0.0003 left_z=0.1563 left_yaw=0.0003 left_pitch=-0.1167 left_roll=0.0013 left_gripper=0.9989 right_x=0.3755 right_y=0.2145 right_z=0.0421 right_yaw=0.0761 right_pitch=-0.0475 right_roll=-0.1223 right_gripper=0.9965 state[joint_eff]: [-0.1299, -1.265, 6.9402, 1.6239, -0.0366, -0.0562, -0.0122, -1.1692, -6.9949, 5.9692, 1.3016, 0.5055, -0.0122, -0.0171] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_z": 0.025}, "note": "Still slightly short of the lemon; pushing 2.5 cm further forward at table height so the jaws straddle it."})
tool
executing move_to over 2 steps (0.2s)
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 noteThe lemon is between the jaws in the wrist view; closing the gripper on 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]: [-0.02, 0.8276, 0.6128, -0.4767, -0.0135, -0.0265, 0.9989, 0.7021, 1.9038, 0.8291, 0.2741, 0.5568, 0.3099, 0.9965] state[eef_state]: left_x=0.2837 left_y=0.0003 left_z=0.1556 left_yaw=0.0001 left_pitch=-0.119 left_roll=0.0017 left_gripper=0.9989 right_x=0.3855 right_y=0.2085 right_z=0.0168 right_yaw=0.0767 right_pitch=-0.0904 right_roll=-0.1486 right_gripper=0.9965 state[joint_eff]: [-0.0752, -1.5248, 6.9812, 1.6288, -0.022, -0.0317, -0.0122, -0.7863, -7.9385, 6.7214, 1.8437, 0.3004, -0.0513, -0.0073] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The lemon is between the jaws in the wrist view; closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteLemon grasped (gripper settled at 0.51 ≈ 4.8 cm). The top view shows the earlier pear ended up beside the blue bowl rather than in it, so I'll be more careful: lifting and moving toward the bowl to re-check alignment.
move_to
right_z0.2000right_x0.4500right_y0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8318, 0.6128, -0.4923, -0.0139, -0.0269, 0.9989, 0.6907, 1.9228, 0.8471, 0.2977, 0.5449, 0.2955, 0.5062] state[eef_state]: left_x=0.2814 left_y=0.0004 left_z=0.1516 left_yaw=0.0007 left_pitch=-0.1388 left_roll=0.002 left_gripper=0.9989 right_x=0.3935 right_y=0.2111 right_z=0.0177 right_yaw=0.083 right_pitch=-0.0781 right_roll=-0.1402 right_gripper=0.5062 state[joint_eff]: [-0.1983, -1.6342, 6.9949, 1.7705, -0.0317, -0.0415, -0.0171, -0.3077, -8.7453, 6.1197, 1.6728, 0.3053, -0.0317, 1.0281] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.45, "right_y": 0.13}, "note": "Lemon grasped (gripper settled at 0.51 \u2248 4.8 cm). The top view shows the earlier pear ended up beside the blue bowl rather than in it, so I'll be more careful: lifting and moving toward the bowl to re-check alignment."})
tool
executing move_to over 12 steps (1.2s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe blue bowl rim is just visible behind the held lemon, centred on the jaw column; moving 3 cm further out and slightly left and down to hold the lemon over the bowl's middle.
move_to
right_x0.4800right_y0.1450right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8341, 0.6128, -0.4934, -0.0139, -0.0265, 0.9989, 0.4065, 1.6413, 1.2255, -0.3004, 0.3359, 0.0868, 0.5083] state[eef_state]: left_x=0.2813 left_y=0.0004 left_z=0.1508 left_yaw=0.0005 left_pitch=-0.1423 left_roll=0.0024 left_gripper=0.9989 right_x=0.4494 right_y=0.1339 right_z=0.1759 right_yaw=0.0792 right_pitch=-0.104 right_roll=-0.1502 right_gripper=0.5083 state[joint_eff]: [-0.1709, -1.4291, 6.9128, 1.5946, -0.0806, -0.0269, -0.0122, -0.4991, -10.6462, 8.6769, 1.6044, 0.0757, 0.105, 0.6716] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": 0.145, "right_z": 0.13}, "note": "The blue bowl rim is just visible behind the held lemon, centred on the jaw column; moving 3 cm further out and slightly left and down to hold the lemon over the bowl's middle."})
tool
executing move_to over 3 steps (0.3s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteBowl rim sits just left of the jaw column; nudging 1 cm left and lowering to ~9 cm so the lemon is released close to the bowl bottom instead of bouncing out.
move_to
right_x0.4850right_y0.1550right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8364, 0.6128, -0.4946, -0.0135, -0.0269, 0.9989, 0.3996, 1.779, 1.2446, -0.2146, 0.3206, 0.0776, 0.5103] state[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.15 left_yaw=0.0004 left_pitch=-0.1457 left_roll=0.0019 left_gripper=0.9989 right_x=0.4718 right_y=0.1427 right_z=0.1354 right_yaw=0.0885 right_pitch=-0.1391 right_roll=-0.1579 right_gripper=0.5103 state[joint_eff]: [-0.3077, -1.1282, 6.9812, 1.6386, -0.0366, -0.022, -0.0122, 0.0889, -10.5368, 5.7094, 1.6923, 0.2173, 0.0562, 0.7497] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.485, "right_y": 0.155, "right_z": 0.09}, "note": "Bowl rim sits just left of the jaw column; nudging 1 cm left and lowering to ~9 cm so the lemon is released close to the bowl bottom instead of bouncing out."})
tool
executing move_to over 3 steps (0.3s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe lemon is directly over the blue bowl's opening, low down; opening the gripper to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.836, 0.6128, -0.4946, -0.0139, -0.0265, 0.9989, 0.4038, 1.8309, 1.2163, -0.1837, 0.3191, 0.0772, 0.5126] state[eef_state]: left_x=0.2812 left_y=0.0004 left_z=0.1501 left_yaw=0.0005 left_pitch=-0.1453 left_roll=0.0024 left_gripper=0.9989 right_x=0.4698 right_y=0.1444 right_z=0.1047 right_yaw=0.0917 right_pitch=-0.1864 right_roll=-0.1725 right_gripper=0.5126 state[joint_eff]: [-0.1709, -1.347, 6.9812, 1.5702, -0.0757, -0.0464, -0.0122, -0.1299, -10.5094, 7.7333, 1.6972, 0.1343, -0.0171, 0.5592] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The lemon is directly over the blue bowl's opening, low down; opening the gripper to drop it in."})
tool
executing move_to over 5 steps (0.5s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteLemon is in the blue bowl. Retracting the right arm to clear the overhead view so I can locate the remaining fruits (the pear that missed the bowl and a dark fruit on the left).
move_to
right_x0.3000right_y0.0000right_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.836, 0.6128, -0.4946, -0.0139, -0.0265, 0.9989, 0.4038, 1.8309, 1.2163, -0.1837, 0.3164, 0.0696, 0.9954] state[eef_state]: left_x=0.2812 left_y=0.0004 left_z=0.1501 left_yaw=0.0005 left_pitch=-0.1453 left_roll=0.0024 left_gripper=0.9989 right_x=0.4697 right_y=0.1448 right_z=0.1046 right_yaw=0.098 right_pitch=-0.1877 right_roll=-0.1762 right_gripper=0.9954 state[joint_eff]: [-0.212, -1.4017, 6.9538, 1.6386, -0.0513, -0.022, -0.0122, -0.2393, -10.5094, 7.6103, 1.7363, 0.1392, 0.0708, -0.0562] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.25}, "note": "Lemon is in the blue bowl. Retracting the right arm to clear the overhead view so I can locate the remaining fruits (the pear that missed the bowl and a dark fruit on the left)."})
tool
executing move_to over 14 steps (1.4s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteClear view now: the lemon is in the blue bowl, the pear lies on the table just right of it, and a dark fruit sits further left. Moving down over the pear to regrasp it.
move_to
right_x0.4000right_y0.0300right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8413, 0.6128, -0.4984, -0.0135, -0.0265, 0.9989, 0.0257, 1.0401, 1.0641, -0.7815, 0.0727, -0.1753, 0.9964] state[eef_state]: left_x=0.2808 left_y=0.0004 left_z=0.148 left_yaw=0.0002 left_pitch=-0.1545 left_roll=0.0024 left_gripper=0.9989 right_x=0.309 right_y=-0.0013 right_z=0.2365 right_yaw=0.0613 right_pitch=-0.1944 right_roll=-0.1786 right_gripper=0.9964 state[joint_eff]: [-0.0068, -1.6889, 6.9402, 1.6093, -0.0317, -0.0269, -0.0122, -0.1436, -3.1248, 9.0462, 1.8144, -0.0659, -0.0024, 0.0952] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.03, "right_z": 0.06}, "note": "Clear view now: the lemon is in the blue bowl, the pear lies on the table just right of it, and a dark fruit sits further left. Moving down over the pear to regrasp it."})
tool
executing move_to over 12 steps (1.2s)
step 178
top_cam
camera top_cam step 178
assistant
agent noteThe pear is squarely between the jaws; settling 2 cm lower while closing to grasp it.
move_to
right_z0.0350right_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]: [-0.02, 0.8421, 0.6128, -0.4992, -0.0135, -0.0265, 0.9989, 0.1287, 1.5429, 0.7158, -0.0193, 0.1299, -0.1291, 0.9965] state[eef_state]: left_x=0.2807 left_y=0.0004 left_z=0.1476 left_yaw=0.0002 left_pitch=-0.156 left_roll=0.0024 left_gripper=0.9989 right_x=0.3845 right_y=0.0303 right_z=0.0527 right_yaw=0.0892 right_pitch=-0.2786 right_roll=-0.1882 right_gripper=0.9965 state[joint_eff]: [-0.2667, -1.4974, 6.9675, 1.6581, -0.0611, -0.0562, -0.0122, 0.2393, -7.3231, 5.6137, 1.6532, 0.1685, 0.1929, 0.0024] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.035, "right_gripper": 0}, "note": "The pear is squarely between the jaws; settling 2 cm lower while closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 188
assistant
agent noteGripper settled at 0.21 (~2 cm), so it has the pear by a narrow part; lifting and carrying toward the blue bowl using the same approach that worked for the lemon.
move_to
right_z0.1800right_x0.4500right_y0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8436, 0.6128, -0.5022, -0.0139, -0.0265, 0.9989, 0.1291, 1.5726, 0.7033, 0.0826, 0.1188, -0.1318, 0.21] state[eef_state]: left_x=0.2802 left_y=0.0004 left_z=0.1467 left_yaw=0.0005 left_pitch=-0.1606 left_roll=0.0028 left_gripper=0.9989 right_x=0.3968 right_y=0.034 right_z=0.0539 right_yaw=0.1012 right_pitch=-0.2196 right_roll=-0.1797 right_gripper=0.21 state[joint_eff]: [-0.0068, -1.5795, 6.8991, 1.6239, -0.0366, -0.0269, -0.0171, -0.1983, -5.1077, 4.2325, 1.243, 0.1245, -0.0122, 0.9402] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18, "right_x": 0.45, "right_y": 0.14}, "note": "Gripper settled at 0.21 (~2 cm), so it has the pear by a narrow part; lifting and carrying toward the blue bowl using the same approach that worked for the lemon."})
tool
executing move_to over 9 steps (0.9s)
step 197
assistant
agent noteBlue bowl (with the lemon) is centred under the jaw column; moving out and down to hold the pear just above the bowl before releasing.
move_to
right_x0.4700right_y0.1500right_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]: [-0.02, 0.8463, 0.6128, -0.514, -0.0139, -0.0265, 0.9989, 0.4023, 1.7069, 1.3392, -0.4732, 0.2749, 0.0284, 0.211] state[eef_state]: left_x=0.2784 left_y=0.0005 left_z=0.1438 left_yaw=0.0006 left_pitch=-0.1751 left_roll=0.0031 left_gripper=0.9989 right_x=0.4463 right_y=0.1417 right_z=0.1627 right_yaw=0.1512 right_pitch=-0.2412 right_roll=-0.1882 right_gripper=0.211 state[joint_eff]: [-0.1983, -1.6068, 6.8855, 1.6728, -0.0562, -0.0317, -0.0122, 0.1026, -9.1419, 8.6359, 1.3797, 0.3101, 0.2955, 0.0952] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.15, "right_z": 0.1}, "note": "Blue bowl (with the lemon) is centred under the jaw column; moving out and down to hold the pear just above the bowl before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 202
assistant
agent noteThe jaws are down inside the blue bowl next to the lemon; opening to release the pear.
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]: [-0.02, 0.8467, 0.6128, -0.5175, -0.0139, -0.0265, 0.9989, 0.4019, 1.8561, 1.2633, -0.3393, 0.2718, 0.033, 0.2119] state[eef_state]: left_x=0.2778 left_y=0.0005 left_z=0.1431 left_yaw=0.0006 left_pitch=-0.1789 left_roll=0.0031 left_gripper=0.9989 right_x=0.4536 right_y=0.1452 right_z=0.0855 right_yaw=0.1441 right_pitch=-0.3296 right_roll=-0.2066 right_gripper=0.2119 state[joint_eff]: [-0.0342, -1.4701, 6.8855, 1.6142, -0.0513, -0.0269, -0.0122, -0.4171, -10.4547, 6.735, 1.8242, 0.0855, -0.1294, 0.0757] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The jaws are down inside the blue bowl next to the lemon; opening to release the pear."})
tool
executing move_to over 8 steps (0.8s)
step 210
assistant
agent notePear released into the bowl. Now moving the right arm across to hover over the remaining dark fruit sitting on the table to the left, near the white bowl.
move_to
right_x0.2800right_y0.3300right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5205, -0.0135, -0.0265, 0.9989, 0.4023, 1.8683, 1.2613, -0.3412, 0.2649, 0.0189, 0.9955] state[eef_state]: left_x=0.2773 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1823 left_roll=0.003 left_gripper=0.9989 right_x=0.4521 right_y=0.146 right_z=0.0787 right_yaw=0.157 right_pitch=-0.3481 right_roll=-0.2143 right_gripper=0.9955 state[joint_eff]: [-0.1162, -1.3744, 7.0769, 1.5946, -0.0415, -0.0415, -0.0122, -0.3624, -10.6051, 6.5709, 1.3602, 0.105, 0.1197, 0.022] approver: 1 step(s) modified (delta_clamped). 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": 0.28, "right_y": 0.33, "right_z": 0.15}, "note": "Pear released into the bowl. Now moving the right arm across to hover over the remaining dark fruit sitting on the table to the left, near the white bowl."})
tool
executing move_to over 16 steps (1.6s)
step 226
assistant
agent noteWrist view shows a dark plum to the left and a yellow-green fruit centred on the jaw column; advancing and descending onto the centred fruit.
move_to
right_x0.3200right_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0269, 0.9989, 1.0725, 1.8599, 1.5681, -0.8997, 0.5621, 0.6231, 0.9965] state[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0005 left_pitch=-0.1827 left_roll=0.0027 left_gripper=0.9989 right_x=0.2843 right_y=0.333 right_z=0.1482 right_yaw=0.2092 right_pitch=-0.3484 right_roll=-0.1973 right_gripper=0.9965 state[joint_eff]: [-0.2393, -1.4838, 7.0359, 1.5849, -0.0317, -0.0562, -0.0122, 0.1846, -8.5949, 7.7607, 0.6618, 0.398, 0.1245, 0.0904] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_z": 0.055}, "note": "Wrist view shows a dark plum to the left and a yellow-green fruit centred on the jaw column; advancing and descending onto the centred fruit."})
tool
executing move_to over 7 steps (0.7s)
step 233
assistant
agent noteDescending pushed both fruits out of the wrist frame (they're beside the fingertips now); lifting back up to regain the view and re-aim.
move_to
right_z0.1400right_x0.3000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0265, 0.9989, 0.9977, 1.9774, 1.3834, -0.5877, 0.5335, 0.5549, 0.9965] state[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1827 left_roll=0.003 left_gripper=0.9989 right_x=0.3139 right_y=0.3274 right_z=0.0617 right_yaw=0.1932 right_pitch=-0.3691 right_roll=-0.2143 right_gripper=0.9965 state[joint_eff]: [0.1026, -1.347, 6.8855, 1.5409, -0.0317, -0.0415, -0.0122, -0.5675, -9.5385, 5.7094, 1.0183, 0.2222, -0.1734, -0.0024] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.14, "right_x": 0.3}, "note": "Descending pushed both fruits out of the wrist frame (they're beside the fingertips now); lifting back up to regain the view and re-aim."})
tool
executing move_to over 6 steps (0.6s)
step 239
assistant
agent noteThe yellow fruit sits to my right-front (top view puts it just left of the blue bowl); moving over it and down to grasp height.
move_to
right_x0.3800right_y0.1700right_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0265, 0.9989, 1.026, 1.9293, 1.5536, -0.8364, 0.5236, 0.5617, 0.9965] state[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1827 left_roll=0.003 left_gripper=0.9989 right_x=0.3009 right_y=0.333 right_z=0.1164 right_yaw=0.2149 right_pitch=-0.3961 right_roll=-0.2268 right_gripper=0.9965 state[joint_eff]: [-0.0889, -1.4154, 6.8855, 1.5311, -0.0073, -0.0073, -0.0122, 0.335, -12.8205, 7.706, 0.8474, 0.4567, 0.2466, -0.0122] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.17, "right_z": 0.055}, "note": "The yellow fruit sits to my right-front (top view puts it just left of the blue bowl); moving over it and down to grasp height."})
tool
executing move_to over 14 steps (1.4s)
step 253
assistant
agent noteThe yellow fruit is at the bottom of the wrist view, slightly right of the jaw centre; shifting 2 cm right and 1.5 cm back so the jaws straddle it.
move_to
right_x0.3650right_y0.1480
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0269, 0.9989, 0.5545, 1.7641, 1.0332, -0.3588, 0.3214, 0.1204, 0.9965] state[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0005 left_pitch=-0.1827 left_roll=0.0027 left_gripper=0.9989 right_x=0.3702 right_y=0.1679 right_z=0.0416 right_yaw=0.1834 right_pitch=-0.4557 right_roll=-0.2482 right_gripper=0.9965 state[joint_eff]: [-0.1709, -1.4838, 7.1179, 1.619, -0.0317, -0.0317, -0.0171, -0.1846, -10.7556, 5.5863, 1.4725, 0.1783, 0.0024, -0.0073] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.365, "right_y": 0.148}, "note": "The yellow fruit is at the bottom of the wrist view, slightly right of the jaw centre; shifting 2 cm right and 1.5 cm back so the jaws straddle it."})
tool
executing move_to over 2 steps (0.2s)
step 255
assistant
agent noteThe pear drifted toward the right jaw rather than centring, so image-left/right maps opposite to what I assumed here; shifting y the other way to bracket it.
move_to
right_y0.1850
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5205, -0.0135, -0.0265, 0.9989, 0.5259, 1.7462, 0.9939, -0.3149, 0.2974, 0.0849, 0.9965] state[eef_state]: left_x=0.2773 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1823 left_roll=0.003 left_gripper=0.9989 right_x=0.3712 right_y=0.1598 right_z=0.0392 right_yaw=0.2002 right_pitch=-0.4465 right_roll=-0.2384 right_gripper=0.9965 state[joint_eff]: [-0.0068, -1.265, 6.9128, 1.6239, -0.0366, -0.0562, -0.0122, -0.8274, -9.9897, 5.6547, 1.1795, 0.149, -0.1001, -0.0122] camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.185}, "note": "The pear drifted toward the right jaw rather than centring, so image-left/right maps opposite to what I assumed here; shifting y the other way to bracket it."})
tool
executing move_to over 3 steps (0.3s)
step 258
assistant
agent noteThe pear is right at the jaws; closing now to try to catch it before I run out of budget.
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]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0265, 0.9989, 0.5076, 1.7309, 0.9695, -0.3374, 0.2974, 0.0776, 0.9965] state[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1827 left_roll=0.003 left_gripper=0.9989 right_x=0.3638 right_y=0.1472 right_z=0.0343 right_yaw=0.1811 right_pitch=-0.4774 right_roll=-0.2539 right_gripper=0.9965 state[joint_eff]: [-0.3487, -1.4701, 6.9128, 1.5702, -0.0171, -0.0366, -0.0122, 0.0752, -9.5658, 5.7778, 1.0965, 0.1294, -0.0708, -0.0073] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The pear is right at the jaws; closing now to try to catch it before I run out of budget."})
tool
executing move_to over 10 steps (1.0s)
step 268
assistant
agent noteI moved the lemon into the blue bowl and made two attempts with the pear (it bounced/rolled out the first time, and on the last regrasp attempt the jaws closed empty next to it). A dark plum remains on the table at the far-left of the right arm's reach. I ran out of call budget before the pouring phase, so the blue bowl currently holds one fruit and nothing has been poured into the white bowl.
done
hindsightUseful facts learned: (1) Fruit positions in this scene, right-arm frame: pear ≈ (0.405, 0.00), lemon ≈ (0.39, 0.21), dark plum ≈ far left, beyond y≈0.4 (probably only reachable by the left arm); blue bowl centre ≈ (0.49, 0.145) with rim ~7 cm tall; large white bowl ≈ 27 cm further left, i.e. right_y ≈ 0.41, just outside the right arm's y bound. (2) Reaching x>0.47 needs right_pitch ≈ +0.2..0.3 or the IK silently freezes — several commands returned identical readbacks; retreating to a central pose (x≈0.35, moderate y, z≈0.2) restores control. (3) Releasing a fruit from z≈0.13 over the bowl lets it bounce out; go down to z≈0.09–0.10 so the jaws are inside the rim before opening. (4) Near the wrist camera's bottom edge and at large base yaw/roll the image left-right mapping is not reliable; re-centre from a higher hover (z≈0.15) instead of nudging at grasp height. (5) Budget: each grasp cycle cost me 5-7 calls; a 3-fruit + pour task needs far tighter planning, e.g. grasp straight from an overhead estimate and verify only after the close.
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8474, 0.6128, -0.5209, -0.0135, -0.0265, 0.9989, 0.5076, 1.7313, 0.9691, -0.3408, 0.2955, 0.0696, 0.0105] state[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1423 left_yaw=0.0003 left_pitch=-0.1831 left_roll=0.003 left_gripper=0.9989 right_x=0.3629 right_y=0.1471 right_z=0.0336 right_yaw=0.1869 right_pitch=-0.4831 right_roll=-0.2581 right_gripper=0.0105 state[joint_eff]: [-0.1026, -1.4017, 6.8855, 1.5653, -0.0122, -0.0317, -0.0122, -0.1709, -7.9795, 5.9966, 1.1404, 0.1783, 0.0562, 0.823] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
done({"summary": "I moved the lemon into the blue bowl and made two attempts with the pear (it bounced/rolled out the first time, and on the last regrasp attempt the jaws closed empty next to it). A dark plum remains on the table at the far-left of the right arm's reach. I ran out of call budget before the pouring phase, so the blue bowl currently holds one fruit and nothing has been poured into the white bowl.", "hindsight": "Useful facts learned: (1) Fruit positions in this scene, right-arm frame: pear \u2248 (0.405, 0.00), lemon \u2248 (0.39, 0.21), dark plum \u2248 far left, beyond y\u22480.4 (probably only reachable by the left arm); blue bowl centre \u2248 (0.49, 0.145) with rim ~7 cm tall; large white bowl \u2248 27 cm further left, i.e. right_y \u2248 0.41, just outside the right arm's y bound. (2) Reaching x>0.47 needs right_pitch \u2248 +0.2..0.3 or the IK silently freezes \u2014 several commands returned identical readbacks; retreating to a central pose (x\u22480.35, moderate y, z\u22480.2) restores control. (3) Releasing a fruit from z\u22480.13 over the bowl lets it bounce out; go down to z\u22480.09\u20130.10 so the jaws are inside the rim before opening. (4) Near the wrist camera's bottom edge and at large base yaw/roll the image left-right mapping is not reliable; re-centre from a higher hover (z\u22480.15) instead of nudging at grasp height. (5) Budget: each grasp cycle cost me 5-7 calls; a 3-fruit + pour task needs far tighter planning, e.g. grasp straight from an overhead estimate and verify only after the close."})
tool
done: I moved the lemon into the blue bowl and made two attempts with the pear (it bounced/rolled out the first time, and on the last regrasp attempt the jaws closed empty next to it). A dark plum remains on the table at the far-left of the right arm's reach. I ran out of call budget before the pouring phase, so the blue bowl currently holds one fruit and nothing has been poured into the white bowl.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 17.09 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8001, 0.6132, -0.3855, -0.0139, -0.0261, 0.999, -0.0227, 0.8005, 0.6182, -0.3904, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0 left_z=0.1814 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.999 right_x=0.2955 right_y=-0.0001 right_z=0.1825 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -1.7983, 9.6889, 1.8144, -0.1148, 0.0757, -0.1197, -0.4171, -1.7846, 9.1692, 1.917, -0.0659, -0.0415, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:025f2cd23591fd900ea7b2aa2ea1c1d68527c22dd97b447fdd33dcac2da88f91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f78f9d67241a7a31bb7e8d64b09caa697b157b7600e9bbef4a36f77e670fda42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29bc66c6f03a7ca440ce71e6360f2050c86a417b68174e6e5ada9600a1b8de06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 11.37 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8001, 0.6132, -0.3855, -0.0139, -0.0261, 0.999, -0.0227, 0.8005, 0.6182, -0.3904, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0 left_z=0.1814 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.999 right_x=0.2955 right_y=-0.0001 right_z=0.1825 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -1.7983, 9.6889, 1.8144, -0.1148, 0.0757, -0.1197, -0.4171, -1.7846, 9.1692, 1.917, -0.0659, -0.0415, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:025f2cd23591fd900ea7b2aa2ea1c1d68527c22dd97b447fdd33dcac2da88f91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f78f9d67241a7a31bb7e8d64b09caa697b157b7600e9bbef4a36f77e670fda42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29bc66c6f03a7ca440ce71e6360f2050c86a417b68174e6e5ada9600a1b8de06",
        "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_01MktA5PtSrk2irJJeWixH3e",
      "input": {
        "note": "Two fruits (a lemon and a green pear) sit to the right of the blue bowl, with the large white bowl further left. I'm moving the right arm to hover ~15 cm above the green pear to line up a grasp.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.36,
          "right_y": 0.09,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01MktA5PtSrk2irJJeWixH3e",
      "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]: [-0.02, 0.8036, 0.6132, -0.4007, -0.0139, -0.0265, 0.9989, 0.3901, 1.2362, 0.6575, -0.1009, 0.3031, 0.1951, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=0.0002 left_z=0.1773 left_yaw=0.0003 left_pitch=-0.0187 left_roll=-0.0001 left_gripper=0.9989 right_x=0.3489 right_y=0.0903 right_z=0.1277 right_yaw=0.0321 right_pitch=-0.071 right_roll=-0.032 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.5521, 7.2547, 1.8681, -0.0513, -0.0366, -0.0171, -0.2393, -4.9299, 9.0325, 1.9707, 0.2564, 0.1685, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:077eb0afb210aafd29a3e82a210920fc876afcf3b4c2a679b97c81d8d57ddb74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cfffb95a8d877915e5d3f295dde05774cd5776641c37761e02fd48999f240d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:886798b06d390f3e890982f1e6f7cda6827a506dc6ccd4dab253670552cc12d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 4.793 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8001, 0.6132, -0.3855, -0.0139, -0.0261, 0.999, -0.0227, 0.8005, 0.6182, -0.3904, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0 left_z=0.1814 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.999 right_x=0.2955 right_y=-0.0001 right_z=0.1825 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -1.7983, 9.6889, 1.8144, -0.1148, 0.0757, -0.1197, -0.4171, -1.7846, 9.1692, 1.917, -0.0659, -0.0415, -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]: [-0.02, 0.8036, 0.6132, -0.4007, -0.0139, -0.0265, 0.9989, 0.3901, 1.2362, 0.6575, -0.1009, 0.3031, 0.1951, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=0.0002 left_z=0.1773 left_yaw=0.0003 left_pitch=-0.0187 left_roll=-0.0001 left_gripper=0.9989 right_x=0.3489 right_y=0.0903 right_z=0.1277 right_yaw=0.0321 right_pitch=-0.071 right_roll=-0.032 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.5521, 7.2547, 1.8681, -0.0513, -0.0366, -0.0171, -0.2393, -4.9299, 9.0325, 1.9707, 0.2564, 0.1685, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:077eb0afb210aafd29a3e82a210920fc876afcf3b4c2a679b97c81d8d57ddb74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cfffb95a8d877915e5d3f295dde05774cd5776641c37761e02fd48999f240d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:886798b06d390f3e890982f1e6f7cda6827a506dc6ccd4dab253670552cc12d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018hMZNQFxhj1Dci8jFuXkv1",
      "input": {
        "note": "In the right wrist view the green pear sits at the far right edge, so it is about 9 cm to my right; I'm shifting y to 0.0 to centre the jaws over it.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.0,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_018hMZNQFxhj1Dci8jFuXkv1",
      "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]: [-0.02, 0.8043, 0.6132, -0.4084, -0.0139, -0.0265, 0.9989, -0.0216, 1.1854, 0.6704, -0.1844, -0.0189, -0.0559, 0.9994]\nstate[eef_state]: left_x=0.2927 left_y=0.0002 left_z=0.1755 left_yaw=0.0003 left_pitch=-0.0271 left_roll=0.0 left_gripper=0.9989 right_x=0.3525 right_y=-0.0007 right_z=0.1295 right_yaw=0.0267 right_pitch=-0.127 right_roll=-0.0294 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.1829, 7.1453, 1.8046, -0.0806, -0.0171, -0.0122, 0.0068, -5.3402, 9.5795, 1.7753, -0.0122, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cb6629332ff2ed8b63e5387f859e7316c739451bf251cdb44f0423ddf410793",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f37bf992d4d5db2160bdc2b0c6eccaab7e56e467a13c602c5eb7df40d46842d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0164dba2c61bdbba15aa92b7adf0a708386a511a85ef362f11fc1bcb975af828",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /messages · status 200 · 4.061 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8001, 0.6132, -0.3855, -0.0139, -0.0261, 0.999, -0.0227, 0.8005, 0.6182, -0.3904, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0 left_z=0.1814 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.999 right_x=0.2955 right_y=-0.0001 right_z=0.1825 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -1.7983, 9.6889, 1.8144, -0.1148, 0.0757, -0.1197, -0.4171, -1.7846, 9.1692, 1.917, -0.0659, -0.0415, -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]: [-0.02, 0.8036, 0.6132, -0.4007, -0.0139, -0.0265, 0.9989, 0.3901, 1.2362, 0.6575, -0.1009, 0.3031, 0.1951, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=0.0002 left_z=0.1773 left_yaw=0.0003 left_pitch=-0.0187 left_roll=-0.0001 left_gripper=0.9989 right_x=0.3489 right_y=0.0903 right_z=0.1277 right_yaw=0.0321 right_pitch=-0.071 right_roll=-0.032 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.5521, 7.2547, 1.8681, -0.0513, -0.0366, -0.0171, -0.2393, -4.9299, 9.0325, 1.9707, 0.2564, 0.1685, -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]: [-0.02, 0.8043, 0.6132, -0.4084, -0.0139, -0.0265, 0.9989, -0.0216, 1.1854, 0.6704, -0.1844, -0.0189, -0.0559, 0.9994]\nstate[eef_state]: left_x=0.2927 left_y=0.0002 left_z=0.1755 left_yaw=0.0003 left_pitch=-0.0271 left_roll=0.0 left_gripper=0.9989 right_x=0.3525 right_y=-0.0007 right_z=0.1295 right_yaw=0.0267 right_pitch=-0.127 right_roll=-0.0294 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.1829, 7.1453, 1.8046, -0.0806, -0.0171, -0.0122, 0.0068, -5.3402, 9.5795, 1.7753, -0.0122, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cb6629332ff2ed8b63e5387f859e7316c739451bf251cdb44f0423ddf410793",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f37bf992d4d5db2160bdc2b0c6eccaab7e56e467a13c602c5eb7df40d46842d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0164dba2c61bdbba15aa92b7adf0a708386a511a85ef362f11fc1bcb975af828",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0AUKjgEIEhgCKkBd/UJLvS7yuPP5tu+qghHe8QRX1IM3cYsoMTDpoShZOiSnVSWmbALm13DwpnB76Xch1qEPpnUHudoLsnQmuMK7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbKmzNUGEgykHSPZzGK/FxqnZz4aDKir4VduAg24/1dgeyIwNMRzZYA942Hstu/e1ThHxbKytT7eC0+TDp1KWweDI6NY2NDfz7CrQkIYCi75iqW3Ku4DAFuoxeYmkHocE1aNa09y1gpMHBJjwS1Dyg5cn3MFSTkEnXMKiG6lbxxNHnqGqdTsM+0ZHcHaI7zEmSNMWkjwaLLxSRYcQN0Ol940BKIhrkkvcF266vpdi4+b9OayrZGvc9MnMOkB+3jfWXSqdkJyDI7KfI+eoHY7qUvOw9EQF+slvUUXjKqnn2vwdm4icP4yZ1hNEgXUKlfyEYjoda0eGb0HLEgKGz23uLH78bltpRaJyN8uqE3cgwOWIyWTzn9y+qnolE7IGqvGFf+T5oh+2b+Ilif0iI8ccAXJ+uiuoY8jUmkaOqmDrZiFoQIgpt8zr1zzCZoOFM+B4IUbvwG753WySP5JkAbjK9AhUQ5xo61xA+bEwBFlRTAjgGTrJvUjUYVt//A+UObwyF6Gkvt9ucrQRAMOwGpq6g+5EJBxe68s7j3UlvMwCgMG0K1cYo6BBX+Zt8iA3HDQGXqLlNBHHfNhgNHIEvHnh6IDC2PWz6NheTNppBSV1N0XFqq2GWjCk4ADDCXBi5vcWui6HPiuteErm975YC6decIG22PBBsjLBGbxKHrH7g6ND+iFr71M6zrs0RdnarS7Mpy0QJUQCW/YRiZ/VcymKPHzBEs8JnPy5FkuZlO5sP1fo55STnD3vMuiWdecSAxz5USfuCMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EJ7AcCaGwTZxHsW6HBYskG",
      "input": {
        "note": "The pear is now centred on the jaw column but sits above the jaw row, meaning it is still a few cm beyond the fingertips; advancing 3 cm radially before descending.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.0,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01EJ7AcCaGwTZxHsW6HBYskG",
      "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]: [-0.02, 0.8078, 0.6132, -0.4202, -0.0139, -0.0265, 0.9989, -0.0139, 1.3254, 0.8188, -0.2348, -0.0238, -0.0639, 0.9994]\nstate[eef_state]: left_x=0.2913 left_y=0.0002 left_z=0.1722 left_yaw=0.0003 left_pitch=-0.0423 left_roll=0.0003 left_gripper=0.9989 right_x=0.3813 right_y=0.0025 right_z=0.1352 right_yaw=0.0433 right_pitch=-0.1689 right_roll=-0.03 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.0462, 7.0496, 1.8095, -0.0659, -0.0269, -0.0122, 0.0752, -5.3265, 8.4444, 1.7118, 0.0562, 0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb0c862df4a26ae606f9dfc58da48b086c46e7873c324925c4c61ed383ecd835",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce90c8780fc555ce03226d5c83428fd66eff5c61f4ff7838355af29edd311d1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8c6477fba4e3beae571e799f3ca4258bf300510d688f3a981e0c30932088e1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 2.186 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8036, 0.6132, -0.4007, -0.0139, -0.0265, 0.9989, 0.3901, 1.2362, 0.6575, -0.1009, 0.3031, 0.1951, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=0.0002 left_z=0.1773 left_yaw=0.0003 left_pitch=-0.0187 left_roll=-0.0001 left_gripper=0.9989 right_x=0.3489 right_y=0.0903 right_z=0.1277 right_yaw=0.0321 right_pitch=-0.071 right_roll=-0.032 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.5521, 7.2547, 1.8681, -0.0513, -0.0366, -0.0171, -0.2393, -4.9299, 9.0325, 1.9707, 0.2564, 0.1685, -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]: [-0.02, 0.8043, 0.6132, -0.4084, -0.0139, -0.0265, 0.9989, -0.0216, 1.1854, 0.6704, -0.1844, -0.0189, -0.0559, 0.9994]\nstate[eef_state]: left_x=0.2927 left_y=0.0002 left_z=0.1755 left_yaw=0.0003 left_pitch=-0.0271 left_roll=0.0 left_gripper=0.9989 right_x=0.3525 right_y=-0.0007 right_z=0.1295 right_yaw=0.0267 right_pitch=-0.127 right_roll=-0.0294 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.1829, 7.1453, 1.8046, -0.0806, -0.0171, -0.0122, 0.0068, -5.3402, 9.5795, 1.7753, -0.0122, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4202, -0.0139, -0.0265, 0.9989, -0.0139, 1.3254, 0.8188, -0.2348, -0.0238, -0.0639, 0.9994]\nstate[eef_state]: left_x=0.2913 left_y=0.0002 left_z=0.1722 left_yaw=0.0003 left_pitch=-0.0423 left_roll=0.0003 left_gripper=0.9989 right_x=0.3813 right_y=0.0025 right_z=0.1352 right_yaw=0.0433 right_pitch=-0.1689 right_roll=-0.03 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.0462, 7.0496, 1.8095, -0.0659, -0.0269, -0.0122, 0.0752, -5.3265, 8.4444, 1.7118, 0.0562, 0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb0c862df4a26ae606f9dfc58da48b086c46e7873c324925c4c61ed383ecd835",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce90c8780fc555ce03226d5c83428fd66eff5c61f4ff7838355af29edd311d1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8c6477fba4e3beae571e799f3ca4258bf300510d688f3a981e0c30932088e1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS8QMKjgEIEhgCKkCvR5A8r3D0LurrlyRLGpjmWMDwViFZ5cLoilG5DlpNMbye31h2Nm7vjd5jkbf7hZT6KG6F9/Z1iJOwYOU0C3uYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbemzNUGEgylOn28kypNmyVMnx0aDJYapMFbwB4cPlwSUyIwsMg19ptZw4PeS16v5U4c9I6lhqMezuRXeSjwA4rWWvzLNP6Pr1jRD8r7LNJXuhgfKo8CgcVy95oCo3fSiHX9vv5ycXvBxbUTuNHg1vqrQ3foDlJA7FrFCLi5voy6E00S0OM91vDNt8fonI9Cf1/MU5YWDnIZFQE8cWHEHXe8Dat3/rW1f1dKiuUIuFw7u7RWU6j+nZEJQECds/Rm6gN+imqxM1AZ9jDC7yC2LvSl56UjYqDIn4I165hHOAYj6zQW6NSD7ugdS/c1oHUlvWCFwrF/c/vcUNi6PneO8sVZ80OjaiV/w3XW9+2VTKVZ909akHO3yY6JgoALiVmaFJUO30/BbsVRlji8QoyrV3iaAJsWJSgPnhjSSNlJhljolycgKjPMW9KZm+0XhAiu2S2MZUkpKeNu3/XiEQmMZPu3YjlokBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BEMnKGMp6fnHie4fy7ALpR",
      "input": {
        "note": "Pear is centred and closer to the jaw row; advancing 2 cm more and descending to mid-pear height to grasp.",
        "targets": {
          "right_x": 0.405,
          "right_y": 0.0,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01BEMnKGMp6fnHie4fy7ALpR",
      "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]: [-0.02, 0.8089, 0.6132, -0.4244, -0.0139, -0.0269, 0.9989, -0.0189, 1.6188, 0.6682, 0.1787, -0.0319, -0.0719, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.171 left_yaw=0.0005 left_pitch=-0.0477 left_roll=0.0001 left_gripper=0.9989 right_x=0.4008 right_y=0.0016 right_z=0.0393 right_yaw=0.0499 right_pitch=-0.1991 right_roll=-0.0284 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.265, 6.9949, 1.7265, -0.0464, -0.0464, -0.0122, -0.2667, -7.1316, 5.3675, 1.873, -0.0659, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08c4cd70bdf23e4804711c8161a9f1d8dc041c6e4fc51f60ebf7c420fcbac6fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c0ed26ef896685db395e39cb345ede500c76e816a47110f21dc4d9d3d699e0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:076d8a74c57a04f4bfed6d157a24f9d93aa64a5fcd2e42996c99b7f0563b6c84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 8.449 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8043, 0.6132, -0.4084, -0.0139, -0.0265, 0.9989, -0.0216, 1.1854, 0.6704, -0.1844, -0.0189, -0.0559, 0.9994]\nstate[eef_state]: left_x=0.2927 left_y=0.0002 left_z=0.1755 left_yaw=0.0003 left_pitch=-0.0271 left_roll=0.0 left_gripper=0.9989 right_x=0.3525 right_y=-0.0007 right_z=0.1295 right_yaw=0.0267 right_pitch=-0.127 right_roll=-0.0294 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.1829, 7.1453, 1.8046, -0.0806, -0.0171, -0.0122, 0.0068, -5.3402, 9.5795, 1.7753, -0.0122, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4202, -0.0139, -0.0265, 0.9989, -0.0139, 1.3254, 0.8188, -0.2348, -0.0238, -0.0639, 0.9994]\nstate[eef_state]: left_x=0.2913 left_y=0.0002 left_z=0.1722 left_yaw=0.0003 left_pitch=-0.0423 left_roll=0.0003 left_gripper=0.9989 right_x=0.3813 right_y=0.0025 right_z=0.1352 right_yaw=0.0433 right_pitch=-0.1689 right_roll=-0.03 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.0462, 7.0496, 1.8095, -0.0659, -0.0269, -0.0122, 0.0752, -5.3265, 8.4444, 1.7118, 0.0562, 0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8089, 0.6132, -0.4244, -0.0139, -0.0269, 0.9989, -0.0189, 1.6188, 0.6682, 0.1787, -0.0319, -0.0719, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.171 left_yaw=0.0005 left_pitch=-0.0477 left_roll=0.0001 left_gripper=0.9989 right_x=0.4008 right_y=0.0016 right_z=0.0393 right_yaw=0.0499 right_pitch=-0.1991 right_roll=-0.0284 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.265, 6.9949, 1.7265, -0.0464, -0.0464, -0.0122, -0.2667, -7.1316, 5.3675, 1.873, -0.0659, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08c4cd70bdf23e4804711c8161a9f1d8dc041c6e4fc51f60ebf7c420fcbac6fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c0ed26ef896685db395e39cb345ede500c76e816a47110f21dc4d9d3d699e0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:076d8a74c57a04f4bfed6d157a24f9d93aa64a5fcd2e42996c99b7f0563b6c84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnwIKjgEIEhgCKkCcBJmXolxCVwO29n12hkQTii76+cGXIj7lD+sqWWJsjaW79iLzIXmsUeFEmIJ+82srXEhcKffDTngnRrq5HxnSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb+mzNUGEgx/GBRKo7yCCbwUJ7MaDDPK6koXqXS3s2uHUiIwvhlRYTb/w1w25t2mOmWY1LaeUv2U5YSFr/FZKWeTQ1Tc2qlaAsR2MEQ2ePoMXo4XKj6nlPlB0ykPqKekLDF17lZ66dFKGBGl7L6uU+BONePT46yIknRKNfxns29xr/aZcbwbNV+s+iwqyCpetqd5JRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QnKPn92dSwtvrkUb7tnXBC",
      "input": {
        "note": "The pear is sitting right between the open jaws in the wrist view; closing to grasp.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QnKPn92dSwtvrkUb7tnXBC",
      "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]: [-0.02, 0.8089, 0.6132, -0.4252, -0.0139, -0.0269, 0.9989, -0.0189, 1.6176, 0.6689, 0.2066, -0.0353, -0.0795, 0.6139]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1709 left_yaw=0.0005 left_pitch=-0.0484 left_roll=0.0001 left_gripper=0.9989 right_x=0.4059 right_y=0.0022 right_z=0.045 right_yaw=0.0567 right_pitch=-0.1694 right_roll=-0.0338 right_gripper=0.6139\nstate[joint_eff]: [0.0205, -1.1829, 6.9949, 1.6972, -0.0317, -0.0659, -0.0122, -0.1162, -6.7077, 5.641, 1.3504, -0.022, 0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28d1b73f598164415eac73d9da3db9bd0c06b9043e6dfbf4f290bf2360ab8f89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c2549bcb2bfcdee00fa1eb89c77e202212d45a359e9e82b0b1cd16fbe421e6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ca8ecfc159f8f7c69162db0c5d6fcc215d64858b3dcd5b44ab1a976e40e2f82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 6.956 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4202, -0.0139, -0.0265, 0.9989, -0.0139, 1.3254, 0.8188, -0.2348, -0.0238, -0.0639, 0.9994]\nstate[eef_state]: left_x=0.2913 left_y=0.0002 left_z=0.1722 left_yaw=0.0003 left_pitch=-0.0423 left_roll=0.0003 left_gripper=0.9989 right_x=0.3813 right_y=0.0025 right_z=0.1352 right_yaw=0.0433 right_pitch=-0.1689 right_roll=-0.03 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.0462, 7.0496, 1.8095, -0.0659, -0.0269, -0.0122, 0.0752, -5.3265, 8.4444, 1.7118, 0.0562, 0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8089, 0.6132, -0.4244, -0.0139, -0.0269, 0.9989, -0.0189, 1.6188, 0.6682, 0.1787, -0.0319, -0.0719, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.171 left_yaw=0.0005 left_pitch=-0.0477 left_roll=0.0001 left_gripper=0.9989 right_x=0.4008 right_y=0.0016 right_z=0.0393 right_yaw=0.0499 right_pitch=-0.1991 right_roll=-0.0284 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.265, 6.9949, 1.7265, -0.0464, -0.0464, -0.0122, -0.2667, -7.1316, 5.3675, 1.873, -0.0659, -0.0269, -0.0073]",
      "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]: [-0.02, 0.8089, 0.6132, -0.4252, -0.0139, -0.0269, 0.9989, -0.0189, 1.6176, 0.6689, 0.2066, -0.0353, -0.0795, 0.6139]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1709 left_yaw=0.0005 left_pitch=-0.0484 left_roll=0.0001 left_gripper=0.9989 right_x=0.4059 right_y=0.0022 right_z=0.045 right_yaw=0.0567 right_pitch=-0.1694 right_roll=-0.0338 right_gripper=0.6139\nstate[joint_eff]: [0.0205, -1.1829, 6.9949, 1.6972, -0.0317, -0.0659, -0.0122, -0.1162, -6.7077, 5.641, 1.3504, -0.022, 0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28d1b73f598164415eac73d9da3db9bd0c06b9043e6dfbf4f290bf2360ab8f89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c2549bcb2bfcdee00fa1eb89c77e202212d45a359e9e82b0b1cd16fbe421e6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ca8ecfc159f8f7c69162db0c5d6fcc215d64858b3dcd5b44ab1a976e40e2f82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwQkKjgEIEhgCKkB6vklry9tdolDKxhem0o0zQTfojFNvrD/H0pMEoBM3trjPfgs7hxQs5UcGnGgrm2feB7NaPH5JJ3yY8uS8cQo1Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcemzNUGEgz4rrMj02to884DvoUaDGfhLD2DNGjuwo9zKyIwe+Bm5HlHKKfh+ApG0kLrtxXtgYe4ptWrewPbuSZCLARTy79CIO27nEq5otSeSQQCKt8H8pFGwGfQLgsfxNOxacsyKXFzPyWojlycuxhIBiVn/cDiBSrZcaIuod8ndpCrdjboPRrj7gl8v4Oei60g4vvWzrwcMls75AqAJouoFGJ/NoDhrdpQ17j2p2Fn+hdtHS79zYTsp+k3asq0oX0aoQ+BHfV0PbP1tvbsm49JnmT/7kCCsIjpWQywhNH0Oppj160C1zE5lzhbCzDgdOf03g3+PxOqfmaPO4fkbxyXah0krT8lSiZo+iz/VxkD14URzMmUhzN64I+qsuUSdZe/id5RNAEC+0spvV1SCpYUqvX6eS3W0h9ydg00B1UDq/l98A+FOemiyhJiPyDOXgGqnJmE8dqOFQQPbQxoRgN+jov2o71VyXSuhY4Ol/0O01w/FzZZ16hABqFgDODK8So1IkyjaiRbjUcSAGfNuWyyZqNq2/69cGci7VeHG0Yh8ICpsPH8N0tz9mI5wUfRc9F2mIS1gQPSU/85PGsbYWePazYQPUxIc3OHqjYR3oibuXjbcOBFB7Rxrwcx9EOkVbwtgBr1Gv6JGBlG1ljGuP57qWpfAGLWhpN1x3gQ+EpZ5n8Sh8TSZypkJJ/2kuWX8DMhQYIx9lKxDCaprBYkGO4LLhAt+/hbqzSkiNu0yU0sjG29xQ1vBGMdfUrGtR41MPEW1vw/w0oI7V2FehVLnkocDELWgHJgL5OC1iVVJZRzFiTV/NEUfaYEX4Q+i0tUNaYHkZRBWj1A5J7fJSt2kWmaE+NhuLNQ11FEWUiQNfBx5EHsZFa/TrHud8o6YB3kVAMM0espntx31ChCQyQlVhr5GtOZEZ7/u9TZgwo/GhbdtifqQA/cVxFmy4ncMoKdrUNBm44IOYnPxSXN7AKutVZBmWqBxhTs/ShnR0pBI+dQyHhCWf4xIn27WnKXpP9MfcgBD24G/pppVCM8aO6FecpHk/hlUIoYsHM1pplMtLdNLNjJ4KX3PqOzI9ckS9T/5/6zntnJRXWqFctulFDXIaFw+B/lyUhQ/RzaezpckV4/B7krpKTQHQbGTSXDTOnc4hzd+LcE6UtdsCAXrjx9lwXMlg7Dyv6AOld56JeswFkIdYPg20CKQSe+4nSNFzLUi7qHgOjslZankZlHdnpWdTv5xBGqq6FnlfEo4jJ0bTWAWiriy7cCe48xJQk9+9/fRWz2o+aQx/kwK7iLSl6s/4/x7go0Zg91T3SlZTNQf+xINymcJaMRdqtQRRw6BxdTqTQAIJNt29pmH98skUJm0aQNWmmIWTw3Q5lgIkdv+r3Vw/YUDxzDzxOyZK/X7c6oHxgUwURwB6hFSMDrEQMNjLSODLQvgxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CeHiHUStUyEWXkAjkdTxy4",
      "input": {
        "note": "Gripper closed to 0.61 (~5.8 cm) so the pear is held. Lifting and moving left toward the blue bowl to check alignment from the wrist camera.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.08,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01CeHiHUStUyEWXkAjkdTxy4",
      "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]: [-0.02, 0.8124, 0.6128, -0.4343, -0.0139, -0.0265, 0.9989, 0.2424, 1.4864, 1.2602, -0.5583, 0.1413, 0.0711, 0.6137]\nstate[eef_state]: left_x=0.2894 left_y=0.0003 left_z=0.1679 left_yaw=0.0003 left_pitch=-0.0614 left_roll=0.0007 left_gripper=0.9989 right_x=0.4161 right_y=0.081 right_z=0.2057 right_yaw=0.0837 right_pitch=-0.2029 right_roll=-0.0484 right_gripper=0.6137\nstate[joint_eff]: [-0.1436, -1.5521, 6.9949, 1.7753, -0.0366, -0.0366, -0.0122, 0.0068, -7.1863, 8.9504, 1.5604, 0.2271, 0.188, -0.0366]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b61d71614f22cab23b2a96c91c635a82da9eec3a6110481606493677711cf5e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ff3a88e5ce9472ccf3d13657d0bbcbc7b242c087c80c8f02e6a871ba6f9325c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6647c1ee7d6ac1336ee1b1d881f7975f0107f969f63e5eb8022e83a11619f72e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 14.32 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8089, 0.6132, -0.4244, -0.0139, -0.0269, 0.9989, -0.0189, 1.6188, 0.6682, 0.1787, -0.0319, -0.0719, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.171 left_yaw=0.0005 left_pitch=-0.0477 left_roll=0.0001 left_gripper=0.9989 right_x=0.4008 right_y=0.0016 right_z=0.0393 right_yaw=0.0499 right_pitch=-0.1991 right_roll=-0.0284 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.265, 6.9949, 1.7265, -0.0464, -0.0464, -0.0122, -0.2667, -7.1316, 5.3675, 1.873, -0.0659, -0.0269, -0.0073]",
      "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]: [-0.02, 0.8089, 0.6132, -0.4252, -0.0139, -0.0269, 0.9989, -0.0189, 1.6176, 0.6689, 0.2066, -0.0353, -0.0795, 0.6139]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1709 left_yaw=0.0005 left_pitch=-0.0484 left_roll=0.0001 left_gripper=0.9989 right_x=0.4059 right_y=0.0022 right_z=0.045 right_yaw=0.0567 right_pitch=-0.1694 right_roll=-0.0338 right_gripper=0.6139\nstate[joint_eff]: [0.0205, -1.1829, 6.9949, 1.6972, -0.0317, -0.0659, -0.0122, -0.1162, -6.7077, 5.641, 1.3504, -0.022, 0.0464, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6128, -0.4343, -0.0139, -0.0265, 0.9989, 0.2424, 1.4864, 1.2602, -0.5583, 0.1413, 0.0711, 0.6137]\nstate[eef_state]: left_x=0.2894 left_y=0.0003 left_z=0.1679 left_yaw=0.0003 left_pitch=-0.0614 left_roll=0.0007 left_gripper=0.9989 right_x=0.4161 right_y=0.081 right_z=0.2057 right_yaw=0.0837 right_pitch=-0.2029 right_roll=-0.0484 right_gripper=0.6137\nstate[joint_eff]: [-0.1436, -1.5521, 6.9949, 1.7753, -0.0366, -0.0366, -0.0122, 0.0068, -7.1863, 8.9504, 1.5604, 0.2271, 0.188, -0.0366]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b61d71614f22cab23b2a96c91c635a82da9eec3a6110481606493677711cf5e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ff3a88e5ce9472ccf3d13657d0bbcbc7b242c087c80c8f02e6a871ba6f9325c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6647c1ee7d6ac1336ee1b1d881f7975f0107f969f63e5eb8022e83a11619f72e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISwwcKjgEIEhgCKkCFr1pyAkd0LszZvXyx9xfWvNTihC63ASz8mhonhLriyYae8oyxMLFbN6q7DOdCeL/ICFVVDWGZXJcDLBw10QktMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdGmzNUGEgwTPjSAKmeP0bF0Ha0aDOAZaO5D4s1hxkR+ciIwldp+8/hklMyk85pIDKm/hqs3F8T1Mdb4bHVe+qW3U7xc321rYyu1bUDUpdzZKIrWKuEF/afwEQNFvwTAnVYm5UXny0oJBDJbEI7qVZSMBNcslIpZrnLdnCFX/yIceFGjSK9NzvDt0rnnJAiSYUiEXJHIYT2jNV8qn25/iZOvCMqhJUu8jTS/BHRwzv1bBgZ6KnZiXuqc6jOcL96Kh4Xopzw0PF44wiDrwXMKWUCcVgXMMfwGYaktZ2zZtI6PEZNJ/QzIMEfA3wYzNPBMhrMM+XG9TIVxbXGmRBEQNr/KEbSEEOgyPvhAoFuIwp25IZArXPBoe2tyH+jMypAREGUihV8DvGmlY/dico8fCf+75h7p6hXOqvQhBUq5KcdYhKuNZrLkrEpFQk+Bn5cwlsQHDr1AbOFkgyDH1wbvU58qTOxbdeOTIfbottbXHtJDFCQRfx+aT3fZXBQCc9KGDMLeqiwJBulSBkm1eYufRKCWnk4Jv0asJqy4UFqPaBOb3Vq0cgAIkANmZy7J+4sazkxX3kCycc4k+jYsguWILhw5f4pyNe2uDrs6z6IwWCup2/47yMZv+tUZwWlXYyW1xyJAtoCqsA+irbpVWkVRKlKyeY/6y17MJz5js6I+2ZSRXrjbzQPvLmvW/QnohhVz2wCsL940HNBBVODSVkMrnrhSeIzRCi2HcJqqUis4YYHcTF4VsnBloaHZLtBTGnPyF8KaPOjpAdDpVcwPE8u3oYMvvsZ5vGMQCVLgbmqHzkKPbyG/OMMufBPCZK5tC6+fYp2QK6gfFzuSOMtJdUF1iuoOyhEsBWFQYv+MIwuh2rXD+JSkCGq/i1lv5Y4qgRSFi0RaDzLRscYOlvobIT4YUIw56h9ufUDczA8kPJ/K9oLHD0B6goKDFtEPigWR1dWfnAtaJTpGH3xUA0zakx8O+Rz3krNlNsBKR+kXXcQ6YJAB4QCjfLOA6sA+UG37HuG8c6QAiYov2vbwNjZ+7LNTS9RNJ3XPGjjjTzCSnxcSel/h1cFN3efu+ljjquhscnY357QeyDCz+ncYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YUbxSxmwfqJhPwV1Gdn3UQ",
      "input": {
        "note": "The blue bowl is centred on the jaw column in the wrist view but well above the jaw row, so it is still several cm further out; advancing 4 cm and lowering slightly.",
        "targets": {
          "right_x": 0.46,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01YUbxSxmwfqJhPwV1Gdn3UQ",
      "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]: [-0.02, 0.8143, 0.6132, -0.4461, -0.0139, -0.0269, 0.9989, 0.2131, 1.6638, 1.264, -0.4496, 0.1181, 0.041, 0.6137]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1653 left_yaw=0.0005 left_pitch=-0.0748 left_roll=0.0007 left_gripper=0.9989 right_x=0.4491 right_y=0.0795 right_z=0.1506 right_yaw=0.0889 right_pitch=-0.2705 right_roll=-0.062 right_gripper=0.6137\nstate[joint_eff]: [-0.3487, -1.4974, 6.9538, 1.7753, -0.0562, -0.0366, -0.0122, -0.2803, -9.0325, 8.6769, 1.7949, -0.0073, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44a0b1dbb1c9acb0411dc726218d82f71ee442e9b5a9720f9c4a29f1adb37019",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70a60adf308cc0df8e8d4366c51c60382f2def348aee75b57ccf99df194d28bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b19341eba7e34d955274022bafdf948adb072b2198fe1c3878ded407fc49f011",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 16.37 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8089, 0.6132, -0.4252, -0.0139, -0.0269, 0.9989, -0.0189, 1.6176, 0.6689, 0.2066, -0.0353, -0.0795, 0.6139]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1709 left_yaw=0.0005 left_pitch=-0.0484 left_roll=0.0001 left_gripper=0.9989 right_x=0.4059 right_y=0.0022 right_z=0.045 right_yaw=0.0567 right_pitch=-0.1694 right_roll=-0.0338 right_gripper=0.6139\nstate[joint_eff]: [0.0205, -1.1829, 6.9949, 1.6972, -0.0317, -0.0659, -0.0122, -0.1162, -6.7077, 5.641, 1.3504, -0.022, 0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6128, -0.4343, -0.0139, -0.0265, 0.9989, 0.2424, 1.4864, 1.2602, -0.5583, 0.1413, 0.0711, 0.6137]\nstate[eef_state]: left_x=0.2894 left_y=0.0003 left_z=0.1679 left_yaw=0.0003 left_pitch=-0.0614 left_roll=0.0007 left_gripper=0.9989 right_x=0.4161 right_y=0.081 right_z=0.2057 right_yaw=0.0837 right_pitch=-0.2029 right_roll=-0.0484 right_gripper=0.6137\nstate[joint_eff]: [-0.1436, -1.5521, 6.9949, 1.7753, -0.0366, -0.0366, -0.0122, 0.0068, -7.1863, 8.9504, 1.5604, 0.2271, 0.188, -0.0366]\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 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]: [-0.02, 0.8143, 0.6132, -0.4461, -0.0139, -0.0269, 0.9989, 0.2131, 1.6638, 1.264, -0.4496, 0.1181, 0.041, 0.6137]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1653 left_yaw=0.0005 left_pitch=-0.0748 left_roll=0.0007 left_gripper=0.9989 right_x=0.4491 right_y=0.0795 right_z=0.1506 right_yaw=0.0889 right_pitch=-0.2705 right_roll=-0.062 right_gripper=0.6137\nstate[joint_eff]: [-0.3487, -1.4974, 6.9538, 1.7753, -0.0562, -0.0366, -0.0122, -0.2803, -9.0325, 8.6769, 1.7949, -0.0073, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44a0b1dbb1c9acb0411dc726218d82f71ee442e9b5a9720f9c4a29f1adb37019",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70a60adf308cc0df8e8d4366c51c60382f2def348aee75b57ccf99df194d28bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b19341eba7e34d955274022bafdf948adb072b2198fe1c3878ded407fc49f011",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS9REKjgEIEhgCKkCxF+shvGmky9ukkl2ra8pRURulNG41etwEfckBHspktV+gKp0vUgsoChyq61KOFMH+WRpDHdFVNIoP8jY28akJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeOmzNUGEgx4u9TNAq7YdOeU/tUaDHO4zEflJbK5QqSssSIw1xVZeagqhEDaRXbYVnBM0W/c4O7BFwsnm9NmTNJYp0kdwvqucErYeomsxktsBBwbKpMQ2qYeUUIARZcd3JTm5E2J7x3auf4dE+YBRiWddJE4GH+9fS9vXRboK76UCiYySaVQ3yoW2ZuBxfB03GBdtbcFHmmxN1G/AylV9ucEHRh8ysGJrcGDYejxTM5YAa8kXozm+y42JxtqRu9Pf2dKYHI8zRU2KWIGry0lbmsek8x4DT4OSKFAr2c3g1ynXdw/6Vja02SPf+xDzDpV5wswsUtEx+ci4g7f4syiC9BkJDPXmbBnN2FC8RUX4Ne00HwOXQdWs4zFe3DLhboFVlIV9SXKnqb7YcCtGlZ31huLSJ9P1tDy7oSTWMrXfEhbl+Z0zBjsV8KH81cT8sj2d2k/GDOj67mGwROF4G8NYgY5gkCcFGwEp10lFVC5YqrRwPZZXg0mFkD8mI+zeAjueF63BNEOKAigd/f0wGWbWP1h+4j+2PhibcBazoY3ayp7708aH4JNcEHkT+JhjoEoTiDBWcehkLvikCm2wM1SCO4ppFbbq++CSS7RREvi11Ap9fZCdpZwHIioRViP3yPpX0DUeGDVQaMcl/LQ7t4PsJOBkDYupEh87FUY8o4u/33pw5r3ZFatw3U5usGDn9i1eZAdEahKKJyvI3jAwkCEmbxEItLqX3h64/RvA8q33YeRJkOoCRopX6tS5cN6BNhRDxeVLc5BshC1dhIQB2JZRT+nuIZgHsUY0e8uvEnDmOjtLZJby2qhvbk5WeU0NFNN+c2zFWj6P5ni4thPOokd47hAjl8MrX6LduQj0szpijf64dtFtTCfxh9HQMjE7YUhS4dlQ0uAnHNaD5f8xVHLY1s07t9BfAyd0K5/VOQZKEyqMmzBxe9lQ/arH2JemmFRsWQzla3OdRf+1HsBlgtOTpXljovomKUy1AGigr/JRWzlQzYiWQ9vYgVVU9vwYCE0zmKwJH/7+JUdaZxdgBwZ1c3RFEPUnLlQfVhpRX1yILE4fsiZbk2KMK7QTcJjM+v0tN+gOZdeTq/FFfWkqqy5gXVOmaHl7Qjloahktmw3bQ5kt/r22nvA8Z2rlOOkw8J24mw305TB2ZTj7KS28Iwd7uYCXhMVumNGlLr2Z5kWUJu0xtpCzswUJfOsB5vSW294+E/Lu6gDWWykWob1dWjxvmj9AsOvC/FjVcW/+faWZAtQwhbXdS5kM1hdr+rBW5OYOZzKLWG/wJiVx4emXn9pfs/ZcuphboACU1sZpIsAmLnKiO1CUzJY5JEQAGfmvO0AGmhVSIG7twx5qOpalyjX+1BKR6FIxnjYWbwrvcRLJaqN18k7nrZ69p1rAR4sqCwwoyCw4ikPrUXGTpL+vPmike5XmDR1mSkPhTXwv9uLc+GqC9/ocNHOa+pxEujzrTCg3rBFwLjwAWWtVOZkLUHG00QDcMKz4pb7gsji8l3H5ArxNRegPaqa4nk5YWUgdVez0xuH3ORYw2bw9MnvX9QM81HZnBgv7HQOhTed+sbXDVElWv4nJHM2vhpKk/CWgI0Qpb9TyqeBgqETwl5YityMfu4bZnS716HQ6C71XYlT/P8tkx6JoNyuMatIWTyEhZHEh18L40rkySx+1uVQAJF7CXJfIhNyRu12n/4gq0iqwinEVPU6hvUWBmtgfFuMsFXmKgv8psrkRdoiswmIiXUeOhq65Lxhk+E8bbbHg4h8Ae2lhILHjmPIrZIvEoL30QhLIZmHwIwxf8uJsbRu5SdVpF0ZNJEDdBtJqpCeywrilMkHco5bXonD6f4404DzHYqjdonSgODioYWnLN0KVg3Cb7/yiAOAsa5V2rKOD9zXudSVc8CgLPtT5GtkcsRcZRVVzNvFPdPksp0av0uPWMqmoAaIJte5y8/CH9GVTiG+yhzvhxYFrsLpUxNqvMR88WrRXq5wkk4yprt3XxDlietcQbLU6CUAOuSR5gXkPN6Sag7qGeL7ydlE2OXfs9R6oN6F+xyhh4D/OKQtufuTiWlPUCWxNmfPl55hvYCIggfDv6L9mjXSMsfawMaB4M/xW9kEAs6mNaU1UZj5KYVp4/5zaMWqG/LpISwitKgWnT5ZWWZwMjEcYYmxEjEXgKQnDuGdWdd32/jZcT4RHDwK/ZpIY4wAOlzBCy2XzsaKTFIKlEhz8JEZr/bP8fCQqtWIxH+sVx35lSb4O1K2ZVbWx99jEcvi3nZ4Vafk8eLItYyk22SXag/czkSJlmdVyJ1wxiN3Sgw6jELvUPsc6KN8FcdskxToO/oaBuC5It2chYA4O9XHIRan7KZf/1+F+eE1V83J/oeqspXPsEV+U6JwUB9Uic5SiIHlwLC/y7jvmthq/+4uyZyjIlObWKUaPQOd/FChlb+7YdRMTjPAg1EJrpmqx4dX4fGBGCc5guG1sBhqk0NfVtBT4V7zJQdc+Nrau0b4AdilM07Fu7wHlMSi5oi2x8qdTY0qTb5OC2WAfCelyn4luEfLgChbxN1kbBlBjwrCDQ47tHN8v9zqv8X8s9a2qtIqyapFZiT05uvQKUGQ3kxTfPb+xAPQku3AFhlVKI03zIknlGqG99yWDj9Be0p2aHQ389e04QEyta4pgxyJ8d/j7s5l2GquFAbxz3qffu1sTVMTQHPP7iQcCdm8QpupVz2KyOPLOdip3qQgKJ4qf09VknWyeJfYV8wVDUgO2kG7PQbxbGXaG2NgidlUifRetN68Fgi83kRTrKjebERd+ewRKvZQWfGAi/rSsdQwZvv1Yzq5Tg6prc2Qa3iIP+KIHIJnLeKjf3h+shbJ0NZ/fKyC7BKuJsZATBt8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QJTh2WA5LaH2eSy57QfXMw",
      "input": {
        "note": "Blue bowl fills the lower-left of the wrist view; nudging 3 cm further out and 3 cm left, and lowering, to hold the pear over the bowl centre.",
        "targets": {
          "right_x": 0.48,
          "right_y": 0.11,
          "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_01QJTh2WA5LaH2eSy57QfXMw",
      "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]: [-0.02, 0.8143, 0.6128, -0.4496, -0.0135, -0.0265, 0.9989, 0.2131, 1.6638, 1.264, -0.4492, 0.1181, 0.041, 0.6137]\nstate[eef_state]: left_x=0.2873 left_y=0.0002 left_z=0.1644 left_yaw=0.0 left_pitch=-0.0786 left_roll=0.0008 left_gripper=0.9989 right_x=0.4492 right_y=0.0795 right_z=0.1506 right_yaw=0.0889 right_pitch=-0.2701 right_roll=-0.0619 right_gripper=0.6137\nstate[joint_eff]: [-0.0068, -1.306, 6.9812, 1.7118, -0.0464, -0.0464, -0.0122, -0.4444, -9.0188, 8.5812, 1.7753, -0.0122, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4224f9fb93a08cbc4c29e93bb581ba131ffc6479fa013112a018c0a35ce2e8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35551cedbbb8f9ec5189b6e97f84dab98288b4ade7abe9481acb2bcd4cd5cb71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:da292e09f240251b59988e5c7d5719054f9795e9d462bbfb38d31bdcb16a1981",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 3.299 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6128, -0.4343, -0.0139, -0.0265, 0.9989, 0.2424, 1.4864, 1.2602, -0.5583, 0.1413, 0.0711, 0.6137]\nstate[eef_state]: left_x=0.2894 left_y=0.0003 left_z=0.1679 left_yaw=0.0003 left_pitch=-0.0614 left_roll=0.0007 left_gripper=0.9989 right_x=0.4161 right_y=0.081 right_z=0.2057 right_yaw=0.0837 right_pitch=-0.2029 right_roll=-0.0484 right_gripper=0.6137\nstate[joint_eff]: [-0.1436, -1.5521, 6.9949, 1.7753, -0.0366, -0.0366, -0.0122, 0.0068, -7.1863, 8.9504, 1.5604, 0.2271, 0.188, -0.0366]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.02, 0.8143, 0.6132, -0.4461, -0.0139, -0.0269, 0.9989, 0.2131, 1.6638, 1.264, -0.4496, 0.1181, 0.041, 0.6137]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1653 left_yaw=0.0005 left_pitch=-0.0748 left_roll=0.0007 left_gripper=0.9989 right_x=0.4491 right_y=0.0795 right_z=0.1506 right_yaw=0.0889 right_pitch=-0.2705 right_roll=-0.062 right_gripper=0.6137\nstate[joint_eff]: [-0.3487, -1.4974, 6.9538, 1.7753, -0.0562, -0.0366, -0.0122, -0.2803, -9.0325, 8.6769, 1.7949, -0.0073, 0.022, -0.0122]",
      "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]: [-0.02, 0.8143, 0.6128, -0.4496, -0.0135, -0.0265, 0.9989, 0.2131, 1.6638, 1.264, -0.4492, 0.1181, 0.041, 0.6137]\nstate[eef_state]: left_x=0.2873 left_y=0.0002 left_z=0.1644 left_yaw=0.0 left_pitch=-0.0786 left_roll=0.0008 left_gripper=0.9989 right_x=0.4492 right_y=0.0795 right_z=0.1506 right_yaw=0.0889 right_pitch=-0.2701 right_roll=-0.0619 right_gripper=0.6137\nstate[joint_eff]: [-0.0068, -1.306, 6.9812, 1.7118, -0.0464, -0.0464, -0.0122, -0.4444, -9.0188, 8.5812, 1.7753, -0.0122, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4224f9fb93a08cbc4c29e93bb581ba131ffc6479fa013112a018c0a35ce2e8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35551cedbbb8f9ec5189b6e97f84dab98288b4ade7abe9481acb2bcd4cd5cb71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da292e09f240251b59988e5c7d5719054f9795e9d462bbfb38d31bdcb16a1981",
        "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_01ThcVAv8hMyv3g4jsk5fvu6",
      "input": {
        "note": "The previous command didn't move the arm (likely a reach limit), so I'm pitching the tool forward to extend reach and pushing out to x=0.50 toward the blue bowl.",
        "targets": {
          "right_pitch": 0.3,
          "right_x": 0.5,
          "right_y": 0.1,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01ThcVAv8hMyv3g4jsk5fvu6",
      "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]: [-0.02, 0.8154, 0.6132, -0.4622, -0.0135, -0.0269, 0.9989, 0.2577, 1.766, 0.8902, 0.514, 0.1795, -0.0044, 0.6137]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1618 left_yaw=0.0002 left_pitch=-0.0919 left_roll=0.0008 left_gripper=0.9989 right_x=0.493 right_y=0.101 right_z=0.1351 right_yaw=0.1077 right_pitch=0.2155 right_roll=-0.0681 right_gripper=0.6137\nstate[joint_eff]: [-0.1983, -1.2786, 6.9402, 1.7656, -0.0317, -0.0708, -0.0171, 0.1299, -7.4051, 5.9009, 2.3028, 0.2125, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e396cf281db7ab436761db41d86c6d6ddad415cffbd2bee26f1de091b4b5ebe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36bdfb8df5f9fde720e2942a03b983bc9145216a2b6307857d99a0988dbb5b5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:586e09bd0934a3f2bf8e2d2581239193855697917be301d11f6e5b44e121cd43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 6.295 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4461, -0.0139, -0.0269, 0.9989, 0.2131, 1.6638, 1.264, -0.4496, 0.1181, 0.041, 0.6137]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1653 left_yaw=0.0005 left_pitch=-0.0748 left_roll=0.0007 left_gripper=0.9989 right_x=0.4491 right_y=0.0795 right_z=0.1506 right_yaw=0.0889 right_pitch=-0.2705 right_roll=-0.062 right_gripper=0.6137\nstate[joint_eff]: [-0.3487, -1.4974, 6.9538, 1.7753, -0.0562, -0.0366, -0.0122, -0.2803, -9.0325, 8.6769, 1.7949, -0.0073, 0.022, -0.0122]",
      "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]: [-0.02, 0.8143, 0.6128, -0.4496, -0.0135, -0.0265, 0.9989, 0.2131, 1.6638, 1.264, -0.4492, 0.1181, 0.041, 0.6137]\nstate[eef_state]: left_x=0.2873 left_y=0.0002 left_z=0.1644 left_yaw=0.0 left_pitch=-0.0786 left_roll=0.0008 left_gripper=0.9989 right_x=0.4492 right_y=0.0795 right_z=0.1506 right_yaw=0.0889 right_pitch=-0.2701 right_roll=-0.0619 right_gripper=0.6137\nstate[joint_eff]: [-0.0068, -1.306, 6.9812, 1.7118, -0.0464, -0.0464, -0.0122, -0.4444, -9.0188, 8.5812, 1.7753, -0.0122, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.02, 0.8154, 0.6132, -0.4622, -0.0135, -0.0269, 0.9989, 0.2577, 1.766, 0.8902, 0.514, 0.1795, -0.0044, 0.6137]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1618 left_yaw=0.0002 left_pitch=-0.0919 left_roll=0.0008 left_gripper=0.9989 right_x=0.493 right_y=0.101 right_z=0.1351 right_yaw=0.1077 right_pitch=0.2155 right_roll=-0.0681 right_gripper=0.6137\nstate[joint_eff]: [-0.1983, -1.2786, 6.9402, 1.7656, -0.0317, -0.0708, -0.0171, 0.1299, -7.4051, 5.9009, 2.3028, 0.2125, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e396cf281db7ab436761db41d86c6d6ddad415cffbd2bee26f1de091b4b5ebe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36bdfb8df5f9fde720e2942a03b983bc9145216a2b6307857d99a0988dbb5b5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:586e09bd0934a3f2bf8e2d2581239193855697917be301d11f6e5b44e121cd43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISggQKjgEIEhgCKkCA0NqrKVQYvaQ2KHbMXaopBm9M0KLDXs0AzCTHzxbkOc7c9Vwh7vcgVZlRpvMzx8jTzGMjapsi8zmyNkgitixRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf6mzNUGEgyNl7nERQij0ex8yxYaDMRlHXc6rxNdmbnCiSIwJoA1Ix9neSU9uwwMeZB6DxRcaErBvlaJTn9xudO8jRQyNedWocuxhd0LyW8nfi8wKqACowW752n7pQ1ccgcRjoHS88ZBhiia3n+0uPeRViJACfzeBlP/yf+r1KEXO4T5DoW1nJkz7PXKv/rHz6pA4vUznY9KNyFPW9Nb8Nn096822w3BTUYaPsT478cmXY0ml9cvc2OCvVot2nm44oPZAP/rYhckRwDCX87mwSO+lD3EV8kJb4ap1F5GrvguXMVfoUgV57Id4zbZMNHSY7hZ6WvS5O0zc+6MKtdq86+mYBUFgnwcXrZB61BQ591ujNXYO7sBvihyqNLlnMZBPMM++NjnzTtxsYZZqwSinl3j4CzF6zfepGbf785zeNlIVQxGIFL3YC9gon3jnEuUC7/Vml3kJoMLfi4xLc/G4muFPay0Fzgy2VXC2UVi5spD4NaalzZ1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014Uq18U1BmH75NbA4EEwUr4",
      "input": {
        "note": "The blue bowl now sits directly under the jaws in the wrist view; opening the gripper to drop the pear into it.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_014Uq18U1BmH75NbA4EEwUr4",
      "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]: [-0.02, 0.8154, 0.6132, -0.4686, -0.0139, -0.0269, 0.9989, 0.2581, 1.7775, 0.886, 0.5182, 0.1795, -0.009, 0.9956]\nstate[eef_state]: left_x=0.2845 left_y=0.0004 left_z=0.1606 left_yaw=0.0006 left_pitch=-0.0984 left_roll=0.0012 left_gripper=0.9989 right_x=0.4926 right_y=0.1011 right_z=0.1287 right_yaw=0.1109 right_pitch=0.204 right_roll=-0.0742 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.3197, 7.0359, 1.707, -0.0757, -0.0708, -0.0122, -0.294, -9.5248, 6.4889, 1.8974, -0.0366, 0.0415, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27f2eac4e9e7628d8e5ed32f2e7e7f0fe1ed08aaca4a9ea1c362965561f93afa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fa46ea6f5b655a96986e39af859c58a9c275bc5adc3bbf1986706c3fbc0ee09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46fc5b6c1a79ad15cda546ede9f43381af4c857ac2141e53538f52a24cb1544c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 5.917 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6128, -0.4496, -0.0135, -0.0265, 0.9989, 0.2131, 1.6638, 1.264, -0.4492, 0.1181, 0.041, 0.6137]\nstate[eef_state]: left_x=0.2873 left_y=0.0002 left_z=0.1644 left_yaw=0.0 left_pitch=-0.0786 left_roll=0.0008 left_gripper=0.9989 right_x=0.4492 right_y=0.0795 right_z=0.1506 right_yaw=0.0889 right_pitch=-0.2701 right_roll=-0.0619 right_gripper=0.6137\nstate[joint_eff]: [-0.0068, -1.306, 6.9812, 1.7118, -0.0464, -0.0464, -0.0122, -0.4444, -9.0188, 8.5812, 1.7753, -0.0122, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.8154, 0.6132, -0.4622, -0.0135, -0.0269, 0.9989, 0.2577, 1.766, 0.8902, 0.514, 0.1795, -0.0044, 0.6137]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1618 left_yaw=0.0002 left_pitch=-0.0919 left_roll=0.0008 left_gripper=0.9989 right_x=0.493 right_y=0.101 right_z=0.1351 right_yaw=0.1077 right_pitch=0.2155 right_roll=-0.0681 right_gripper=0.6137\nstate[joint_eff]: [-0.1983, -1.2786, 6.9402, 1.7656, -0.0317, -0.0708, -0.0171, 0.1299, -7.4051, 5.9009, 2.3028, 0.2125, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.02, 0.8154, 0.6132, -0.4686, -0.0139, -0.0269, 0.9989, 0.2581, 1.7775, 0.886, 0.5182, 0.1795, -0.009, 0.9956]\nstate[eef_state]: left_x=0.2845 left_y=0.0004 left_z=0.1606 left_yaw=0.0006 left_pitch=-0.0984 left_roll=0.0012 left_gripper=0.9989 right_x=0.4926 right_y=0.1011 right_z=0.1287 right_yaw=0.1109 right_pitch=0.204 right_roll=-0.0742 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.3197, 7.0359, 1.707, -0.0757, -0.0708, -0.0122, -0.294, -9.5248, 6.4889, 1.8974, -0.0366, 0.0415, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27f2eac4e9e7628d8e5ed32f2e7e7f0fe1ed08aaca4a9ea1c362965561f93afa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fa46ea6f5b655a96986e39af859c58a9c275bc5adc3bbf1986706c3fbc0ee09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46fc5b6c1a79ad15cda546ede9f43381af4c857ac2141e53538f52a24cb1544c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7gYKjgEIEhgCKkAOMrVrkIsSCAbyvS3msF+lTNjLF6FSGXsBkrRlehIV8Zm1T6mlOlZSMBSiAHXTt8IWRR9t6fT3LKTuAJ2ncn4XMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYSnzNUGEgyFOCNzM189jcfNESEaDI9+O8g/zyEN+SNdeiIwm1W2G1KHty3hmiPMdzVnp5sz8d58cfXdzknjqhk9e/vvugL2m532dWY+uMHJAJU9KowF9zj6Dkpbrmp8mLd+CuXdDuAoZ/mU4RM5SqN+VvTukFnuMbV1s7n7XFib4Cz4bS1LnwH9s346o39vZ9t2SIa/rneSGCp+S1BNFDhqfm22esBf3OyiPfVBuwCxYw96rSF8Y/LANcgUCUM7efwKhR8A+r08kVuBfAgHyzWmX8FZUSkDoVJfQQcDq3PYs2Y0o9LPsLKs7OcrY02UO5pTpk2tn5lTR8fKMkZqnR0P3zTuk8Ol26YyXd7D5iODoqeIGxjvo6G94Xye2k2lNmbYHCg0UHuLEpNkDcUX+mTCyhol60PW0kTV1t+rikCqq14BdkN1ZtxY7n17SXmZIj9yIeDggYLsnoA2ZcEWEuCkOZepEYm3GLlpGeW2Fq/Bg6dWs8Hg0mK/9wHyJSjNOuX37kmrWC7fO3rVQVbKoFJ/3bGORgXGn16vtUsKHh/st8SqJz4PA1Hs+X8DKGV1yJm36jaBInnAfaDR06vQDsERAoBa15tYqhlLPjtvr30JcVuE1sfIEOqT20IBj0O4SBqkaHwAYL/2DCpJBBKgx8mep8L0Tp4rnuE4w9m1hOwFEBREBfw82eB3+tFu9VejuvuLguLXkgwf8dYd8d0CntDOsVPNz1RfmVBhmykbxnvt6gGCAKhfyMaCCzAwHnFcnUb3U7LzLPT8MwigFpl6d8xFC7cTYr92IRNr8A63EHhGrqajKDwqlzJh4pPZDVPRqg6I8DxUyTBvAPZkHztgFxgKClN7nICsDEHJnquJmXz2j5yAxoqI/+7ImReCrLix17kvnKC6l9ny59bMb6zl9IMExcfuFQMvP5bS7n/imu6WrYAz3D7g9NGWaDlWHnicdg1c4GhnbNj0PJj9cNEOHcoMUhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0181n8RJfQB1Qaii5sxaLU1D",
      "input": {
        "note": "Pear dropped in the blue bowl. Now moving to hover over the yellow lemon, which sits left of the pear's old spot.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.41,
          "right_y": 0.16,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_0181n8RJfQB1Qaii5sxaLU1D",
      "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]: [-0.02, 0.8192, 0.6128, -0.4755, -0.0139, -0.0265, 0.9989, 0.4942, 1.5528, 0.9199, 0.0353, 0.3359, 0.1181, 0.9965]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1581 left_yaw=0.0004 left_pitch=-0.1095 left_roll=0.0017 left_gripper=0.9989 right_x=0.417 right_y=0.1626 right_z=0.1463 right_yaw=0.1519 right_pitch=0.0101 right_roll=-0.0857 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.4017, 7.0222, 1.7265, -0.0269, -0.0317, -0.0122, 0.1983, -9.3333, 9.0051, 1.7851, 0.232, 0.1538, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1217986f8e12348c8487bcea174c4a4339f96b665a0e26391212dafd4bfe2e82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d54ebd34f387580f8f35f7363e56d72edc938914b6857236b2232feb2061933f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:24845c7cce7475025d9d3e3a415d53b0b261c493df3ca7cd2bd282e8df446a50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 6.485 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4622, -0.0135, -0.0269, 0.9989, 0.2577, 1.766, 0.8902, 0.514, 0.1795, -0.0044, 0.6137]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1618 left_yaw=0.0002 left_pitch=-0.0919 left_roll=0.0008 left_gripper=0.9989 right_x=0.493 right_y=0.101 right_z=0.1351 right_yaw=0.1077 right_pitch=0.2155 right_roll=-0.0681 right_gripper=0.6137\nstate[joint_eff]: [-0.1983, -1.2786, 6.9402, 1.7656, -0.0317, -0.0708, -0.0171, 0.1299, -7.4051, 5.9009, 2.3028, 0.2125, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4686, -0.0139, -0.0269, 0.9989, 0.2581, 1.7775, 0.886, 0.5182, 0.1795, -0.009, 0.9956]\nstate[eef_state]: left_x=0.2845 left_y=0.0004 left_z=0.1606 left_yaw=0.0006 left_pitch=-0.0984 left_roll=0.0012 left_gripper=0.9989 right_x=0.4926 right_y=0.1011 right_z=0.1287 right_yaw=0.1109 right_pitch=0.204 right_roll=-0.0742 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.3197, 7.0359, 1.707, -0.0757, -0.0708, -0.0122, -0.294, -9.5248, 6.4889, 1.8974, -0.0366, 0.0415, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6128, -0.4755, -0.0139, -0.0265, 0.9989, 0.4942, 1.5528, 0.9199, 0.0353, 0.3359, 0.1181, 0.9965]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1581 left_yaw=0.0004 left_pitch=-0.1095 left_roll=0.0017 left_gripper=0.9989 right_x=0.417 right_y=0.1626 right_z=0.1463 right_yaw=0.1519 right_pitch=0.0101 right_roll=-0.0857 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.4017, 7.0222, 1.7265, -0.0269, -0.0317, -0.0122, 0.1983, -9.3333, 9.0051, 1.7851, 0.232, 0.1538, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1217986f8e12348c8487bcea174c4a4339f96b665a0e26391212dafd4bfe2e82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d54ebd34f387580f8f35f7363e56d72edc938914b6857236b2232feb2061933f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24845c7cce7475025d9d3e3a415d53b0b261c493df3ca7cd2bd282e8df446a50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvAYKjgEIEhgCKkC7nWTXzmFKXf1KcqkSsJEfEkJLf34glVbVseqKxAeH1sQmuLw1jBSJqH5KSr0nJbf9DO9PsI8FEuHBgUIUmmuQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYunzNUGEgx5J8w4jsNwwLgRD54aDJEk6jcbeny+ZyYVrCIwtWwxTEe0MEdOGwAp5bhpIlxBmkDE0M7IKNwkhSM+QVMClNk9NSYMik6YdeB62QA1KtoELivf0vz7ALhcXoWyUH9gYt1Q/8se72D6pnlOXXmWP/ubnswYCAodl5QZmFNe0u10A7mAPmwlTDUuZTaU6sQIXMlcBM2MLsH2XeGnalEqoMWmolFykqZddkrBSSKqS5qmuALKnyjou6sxTH3fZZ5Gmd/BUT2luDV2sYnDB0V+uK4CmVQqtTldtoIuq0bhiHtBVhZW+t55OjJWV/ezeyOyyeSPCb0AmIrA835t3BTM0y9l8nCEV2+A8mnKTAVtxxZCjlvhH+tIrKzUdmt3ZeoedWKgAApgOqrc4amwU/dBorTWexOYos4VNgYa+2uD27ghVdB58adP+TgpDlR/aU4R0iadVr5Y24Hwn+dbsDrW5e18ETtb8LKwKM3/B/LlqfnRmKHTaCqkoGC3028nfwbGBh+OPTydd5/yIQBh2OQ5SxqKHQ8WrZxJMGyA2dyUGVpyX/oEXQbHMo3wzLdqA0nl7OavxnokJQIGJBdEkwoORGWkwzipD3jmjT1J1qY1s8XoEHJwT8rEoEMwBYHoxQLA2WNhSFVecKAezhdKWTXIW8OH2sfzF5JQk/C6UdllxpEgOIselfvOC7JpCIumq2sTuCmAmaE6BzpjcHvYzxBP4iaJHv5jUlNZVA3cEqRmmFeUv0Hv/N8AnIvonCocKeDpqJnUu5+DKfitmWQjBRfJpLzk0/5L1yMra2alQTidxOgV4wnxbGGRrqcJi5UkWd39NFG4cxHNDIJdSZxiVdspxPSD6jHiBGisd2wcvNk9b/Ng+/IQXBvYqw6/X8EVqN5C+1HcWyr+BFYM5LIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N93JEBS6MPnhJZLnFRo9A8",
      "input": {
        "note": "The lemon appears at the bottom-left of the wrist view (the blue bowl with the pear is centred ahead), so I'm shifting 6 cm left and slightly back and down to line up on it.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.22,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01N93JEBS6MPnhJZLnFRo9A8",
      "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]: [-0.02, 0.8192, 0.6132, -0.4759, -0.0139, -0.0265, 0.9989, 0.6842, 1.6302, 0.9104, 0.049, 0.4526, 0.205, 0.9965]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1582 left_yaw=0.0004 left_pitch=-0.1095 left_roll=0.0017 left_gripper=0.9989 right_x=0.3867 right_y=0.2203 right_z=0.117 right_yaw=0.2001 right_pitch=-0.0244 right_roll=-0.1056 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.2923, 6.9949, 1.6581, -0.0562, -0.0269, -0.0122, 0.1983, -6.8581, 6.3385, 1.8242, 0.2564, 0.2613, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c121a16bfbf56a741fc4101e181601bb476050e803c7257628e49a66bc3d2b1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11e20625436a1697445ac84e0d7bfff6fb5e591c355e1e2e6c172be630b05e3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0c2a0f59946e159c083334424299250f6c3cdafa86d95836cbf53db76d0d223",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 4.543 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4686, -0.0139, -0.0269, 0.9989, 0.2581, 1.7775, 0.886, 0.5182, 0.1795, -0.009, 0.9956]\nstate[eef_state]: left_x=0.2845 left_y=0.0004 left_z=0.1606 left_yaw=0.0006 left_pitch=-0.0984 left_roll=0.0012 left_gripper=0.9989 right_x=0.4926 right_y=0.1011 right_z=0.1287 right_yaw=0.1109 right_pitch=0.204 right_roll=-0.0742 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.3197, 7.0359, 1.707, -0.0757, -0.0708, -0.0122, -0.294, -9.5248, 6.4889, 1.8974, -0.0366, 0.0415, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6128, -0.4755, -0.0139, -0.0265, 0.9989, 0.4942, 1.5528, 0.9199, 0.0353, 0.3359, 0.1181, 0.9965]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1581 left_yaw=0.0004 left_pitch=-0.1095 left_roll=0.0017 left_gripper=0.9989 right_x=0.417 right_y=0.1626 right_z=0.1463 right_yaw=0.1519 right_pitch=0.0101 right_roll=-0.0857 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.4017, 7.0222, 1.7265, -0.0269, -0.0317, -0.0122, 0.1983, -9.3333, 9.0051, 1.7851, 0.232, 0.1538, 0.0806]",
      "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]: [-0.02, 0.8192, 0.6132, -0.4759, -0.0139, -0.0265, 0.9989, 0.6842, 1.6302, 0.9104, 0.049, 0.4526, 0.205, 0.9965]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1582 left_yaw=0.0004 left_pitch=-0.1095 left_roll=0.0017 left_gripper=0.9989 right_x=0.3867 right_y=0.2203 right_z=0.117 right_yaw=0.2001 right_pitch=-0.0244 right_roll=-0.1056 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.2923, 6.9949, 1.6581, -0.0562, -0.0269, -0.0122, 0.1983, -6.8581, 6.3385, 1.8242, 0.2564, 0.2613, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c121a16bfbf56a741fc4101e181601bb476050e803c7257628e49a66bc3d2b1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11e20625436a1697445ac84e0d7bfff6fb5e591c355e1e2e6c172be630b05e3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0c2a0f59946e159c083334424299250f6c3cdafa86d95836cbf53db76d0d223",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiggKjgEIEhgCKkAlZlKcg9CVwOsSNqW+Kql+rijBGUXgFoUJUSpmPYq5adckdWVOa8D+3BkOT++/NEwonz7YkT/zwWuXgfOveXhJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZKnzNUGEgwWlStKZhcCpMPEhvAaDO8gjEHLG5Vx4wFV5CIwJPiA5msZ+dm74VPYfs5NIfYZtBSbPcyjOvX4CRRGhzkmucMRU9qsI7FlLsOxQe2fKqgG1qTWx3BoKMGoN9IHNGMoGEg1JkFIU8e5JUlzerMHKjaEKGg2RzKWuLuY0hhqvpWO7qsQTRrOTdoTSq+QAlgjniMoz51YvNT35B5G3i9aVu6LH3l+luepIeqeZLSIFJfrouUhOqTnqoIQRfhBCy5v3mv3DIbtTci/h6r6F/en3K+YAmS2tpRcraYrVwR4PKvVzKv4IBIneGB3mvlDlV1vX4uB9ijWz9LNAw4OL1urMx1AOGb4wKSbDP6+jiEOsj2NI+vwpmM8w7LMNynWHxdjXtukGfcYB23dohf8hD/7Jyzr5Qori0fglsiw/aB3PozzqARvq3JXe9p0aSwWE5VupZZTkNz8Id7lCZgigUcMx+oxXwyfoDK4ZLL8cL7bPzdp6sNB24H5z5CQKlroeCSRHk1UZLPFtNEe93MNiHuGvu3D3Fe2Tq/vIINxLISYt/EZlau7N7uZ2XCT4cD/U6OdZ7DaGyFLjNrZ6U9YuKjhlLoAYe16TRg+kgxeVj3xXQBHVN+8Bq9Gk2EHUv9LomgnAd9uRWE4+uxHyQc1dtB6rKGZxmIdBCKSGXtQ2LAjYtShkAshLX2iA/G2aJD+jBu/4aDqQcnzev7dvR1azPrUyDlPdq9WoUk2kR3qL0lSgk+w8cktRTNXYVOWw3YS8sS5S43sf/+VmecqDgj8ocohN9MOL9uiGu+eQiXKIObnDsiqFVBOUmhI997FoXC8YakY6iI96jOH+OiyKvM0gFZk/5GEz/XlFrzOsPFjwfXkyWyxgaKHAiS5r/FHtdK6y1irDywLJ1ARst8LrC9wjRTEG2iYxY7AONFQ9StrOxmf2CvkTcBxxWRZ0Us3CT4zIm8BA3Jf6tAPp2eNsDOhwTtN618I+gB+AFnkK6DW2pCa/EAZUf9MGrkMmXRx2zYPRFbYrOPjB1GXVyBrORY1UZNM0slZoLz846NkZ/dW8THUwUJOsXeGpr4NN1DVIsfitBqrSDg2occ1LklXwd6kNNKEnQy37/cqffkkplpzhtG9uJNpd6rk2/3+tOBFM2jdCTNdVI40OYMFPKZxzkeWbgHvkUU2R/NGCjEkAxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fx21h69x123XHYKRX1XK3g",
      "input": {
        "note": "The lemon is centred on the jaw column just short of the fingertips; advancing 2 cm and descending to table level to grasp it.",
        "targets": {
          "right_x": 0.405,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Fx21h69x123XHYKRX1XK3g",
      "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]: [-0.02, 0.8192, 0.6132, -0.4759, -0.0139, -0.0265, 0.9989, 0.6975, 1.6421, 0.9104, 0.0555, 0.4786, 0.2287, 0.9965]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1582 left_yaw=0.0004 left_pitch=-0.1095 left_roll=0.0017 left_gripper=0.9989 right_x=0.3858 right_y=0.2219 right_z=0.1145 right_yaw=0.18 right_pitch=-0.02 right_roll=-0.1028 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -1.2786, 6.9949, 1.6923, -0.0464, -0.0611, -0.0122, -0.253, -7.706, 6.7214, 1.873, 0.2955, 0.105, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c50e57e1297c5a9d34fd7b6c6c02299d0a81b921917cb785ed7c13afb8764b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9563e9dd9cbcb014b8b40c71cc6fdf4acfff51b13a732395478f93afffd6bfaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3717f18e756174f5885cc973d3fd0317e69320c55400b41bc2c650385594be25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 10.09 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6128, -0.4755, -0.0139, -0.0265, 0.9989, 0.4942, 1.5528, 0.9199, 0.0353, 0.3359, 0.1181, 0.9965]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1581 left_yaw=0.0004 left_pitch=-0.1095 left_roll=0.0017 left_gripper=0.9989 right_x=0.417 right_y=0.1626 right_z=0.1463 right_yaw=0.1519 right_pitch=0.0101 right_roll=-0.0857 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.4017, 7.0222, 1.7265, -0.0269, -0.0317, -0.0122, 0.1983, -9.3333, 9.0051, 1.7851, 0.232, 0.1538, 0.0806]",
      "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]: [-0.02, 0.8192, 0.6132, -0.4759, -0.0139, -0.0265, 0.9989, 0.6842, 1.6302, 0.9104, 0.049, 0.4526, 0.205, 0.9965]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1582 left_yaw=0.0004 left_pitch=-0.1095 left_roll=0.0017 left_gripper=0.9989 right_x=0.3867 right_y=0.2203 right_z=0.117 right_yaw=0.2001 right_pitch=-0.0244 right_roll=-0.1056 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.2923, 6.9949, 1.6581, -0.0562, -0.0269, -0.0122, 0.1983, -6.8581, 6.3385, 1.8242, 0.2564, 0.2613, -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]: [-0.02, 0.8192, 0.6132, -0.4759, -0.0139, -0.0265, 0.9989, 0.6975, 1.6421, 0.9104, 0.0555, 0.4786, 0.2287, 0.9965]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1582 left_yaw=0.0004 left_pitch=-0.1095 left_roll=0.0017 left_gripper=0.9989 right_x=0.3858 right_y=0.2219 right_z=0.1145 right_yaw=0.18 right_pitch=-0.02 right_roll=-0.1028 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -1.2786, 6.9949, 1.6923, -0.0464, -0.0611, -0.0122, -0.253, -7.706, 6.7214, 1.873, 0.2955, 0.105, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c50e57e1297c5a9d34fd7b6c6c02299d0a81b921917cb785ed7c13afb8764b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9563e9dd9cbcb014b8b40c71cc6fdf4acfff51b13a732395478f93afffd6bfaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3717f18e756174f5885cc973d3fd0317e69320c55400b41bc2c650385594be25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1wUKjgEIEhgCKkBC6l/ec0fq7iOzeIYlmRjWfegLJsnDAMJddLmXS5AlHpWbohtbs+2mazLaSDvhq04SGFvpJR+ilbvR9gFy3dLMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZenzNUGEgzbQ9mmpADpcslZ9CoaDGe7R720P5TasdRdkSIwpM/ECbl28Hn5tnXTLtTHYMmaqi3NGJNnqLnqz9eu6JzDgA7P5aD3UlMrLdk843GJKvUDCcE+G4iZSyaD/IMtS14QoYNQX8h7bZEzhqtwS4C5ktGHPcQdXwmOgGYEKeKmwyV297hLrxh27C24sNHJGVIAWEzNNbC1HMq8aqKveVSgEuNmrQlbfXWRofcUlt2L4P7F1g1E53ze2h1iwWgb7KOpL3lJ0tNII9IzOKYs5JEoiy4RIEsPjeDPtYqPNTVXFTBeXfbBZ60f2FyzMda8RG/vPKZ4OZcLtlZsES7hTPAwZBp/2ZD7OfcdIxI/R1hYksNxC+HGnodjOTsWBaeO6pL83sg9F4tjKxtNOdN2TMEfGqPQNxf7t/t7apwj6rtPSekVvwQb8nlE1Tvof58eoJ5n+KfU2FM9z9Z/iW7VstMOu8qpYhe+89drXV1c+RECIbHRDxFUWKtfbVE+JQH2eO/JaA3zyMaUmNlfOQcItN/dhOiA9/MLaYOycPf4LJ5dGcyoo/09m2xhnP4XD+itx+yVicoHVeB+w2MXGz3Adlx6gChaGMsNgk0sMfnmJc8ExsHE750yP4ZYbFE7Do2ial2/r2kQsgNdsU7GI+/M+7MnUwLhQhA5LcpC/n+Nh4UczSMf7FRWlz/kcKUXf5/tF9jOScmwRpFm37AX+9r+jPp2WGZVccp2TdH+03KAaGj00Xtj51LME59tGik+IriSN03tSMwEDSxBGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MjrH2krYZbxAVGv7mQMgZv",
      "input": {
        "note": "The arm did not descend last time; trying a smaller pure-z step down toward the lemon.",
        "targets": {
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01MjrH2krYZbxAVGv7mQMgZv",
      "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]: [-0.02, 0.8192, 0.6132, -0.4763, -0.0139, -0.0265, 0.9989, 0.6975, 1.6421, 0.9104, 0.0551, 0.4786, 0.2287, 0.9965]\nstate[eef_state]: left_x=0.2835 left_y=0.0004 left_z=0.1581 left_yaw=0.0004 left_pitch=-0.1098 left_roll=0.0017 left_gripper=0.9989 right_x=0.3858 right_y=0.2219 right_z=0.1144 right_yaw=0.18 right_pitch=-0.0203 right_roll=-0.103 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.2103, 6.9949, 1.6337, -0.0415, -0.0317, -0.0122, -0.2667, -7.706, 6.3385, 1.8584, 0.3639, 0.1148, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c54d185046d1419bc8c85d336f25d5d4f73b8e030d0029942f76cbb2212d761f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cec1dff3d6dbf8bc441c025d951d92591b98ce279194e60a337f7d253aceb8b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c09d8dd9ea57f722ff3dcb6e38ac9a93e7f94ad7197b22eb80e96de2c4a2ecfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 15.46 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4759, -0.0139, -0.0265, 0.9989, 0.6842, 1.6302, 0.9104, 0.049, 0.4526, 0.205, 0.9965]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1582 left_yaw=0.0004 left_pitch=-0.1095 left_roll=0.0017 left_gripper=0.9989 right_x=0.3867 right_y=0.2203 right_z=0.117 right_yaw=0.2001 right_pitch=-0.0244 right_roll=-0.1056 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.2923, 6.9949, 1.6581, -0.0562, -0.0269, -0.0122, 0.1983, -6.8581, 6.3385, 1.8242, 0.2564, 0.2613, -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]: [-0.02, 0.8192, 0.6132, -0.4759, -0.0139, -0.0265, 0.9989, 0.6975, 1.6421, 0.9104, 0.0555, 0.4786, 0.2287, 0.9965]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1582 left_yaw=0.0004 left_pitch=-0.1095 left_roll=0.0017 left_gripper=0.9989 right_x=0.3858 right_y=0.2219 right_z=0.1145 right_yaw=0.18 right_pitch=-0.02 right_roll=-0.1028 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -1.2786, 6.9949, 1.6923, -0.0464, -0.0611, -0.0122, -0.253, -7.706, 6.7214, 1.873, 0.2955, 0.105, -0.0122]",
      "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]: [-0.02, 0.8192, 0.6132, -0.4763, -0.0139, -0.0265, 0.9989, 0.6975, 1.6421, 0.9104, 0.0551, 0.4786, 0.2287, 0.9965]\nstate[eef_state]: left_x=0.2835 left_y=0.0004 left_z=0.1581 left_yaw=0.0004 left_pitch=-0.1098 left_roll=0.0017 left_gripper=0.9989 right_x=0.3858 right_y=0.2219 right_z=0.1144 right_yaw=0.18 right_pitch=-0.0203 right_roll=-0.103 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.2103, 6.9949, 1.6337, -0.0415, -0.0317, -0.0122, -0.2667, -7.706, 6.3385, 1.8584, 0.3639, 0.1148, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c54d185046d1419bc8c85d336f25d5d4f73b8e030d0029942f76cbb2212d761f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cec1dff3d6dbf8bc441c025d951d92591b98ce279194e60a337f7d253aceb8b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c09d8dd9ea57f722ff3dcb6e38ac9a93e7f94ad7197b22eb80e96de2c4a2ecfb",
        "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_015Wm1EHBqm8zrqtajbbZeze",
      "input": {
        "note": "The right arm has stopped responding at this pose (identical readbacks), so I'm retreating to a safer, more central pose to re-establish control.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.15,
          "right_yaw": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_015Wm1EHBqm8zrqtajbbZeze",
      "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]: [-0.02, 0.8211, 0.6128, -0.4759, -0.0139, -0.0265, 0.9989, 0.6598, 1.3491, 0.9596, -0.3, 0.5499, 0.2943, 0.9965]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1575 left_yaw=0.0004 left_pitch=-0.1118 left_roll=0.0018 left_gripper=0.9989 right_x=0.356 right_y=0.1639 right_z=0.1918 right_yaw=0.051 right_pitch=-0.0036 right_roll=-0.0933 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -1.5111, 7.1316, 1.6972, -0.0757, -0.0464, -0.0122, -0.3897, -5.6137, 9.0872, 1.5458, 0.3541, 0.1783, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da154773f29015e1236bc0ad5742a7ba2577eb72c4db2994046fea9838f9bd07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4862f50ff5ddc369b0c7b71fdadd4769a3c5a3b5b2d937062991cc9f031ce106",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6fb8292ef5a32ee1ba9cc31405ffa9e846b862332b324f3726cfc6505f34273d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 5.754 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4759, -0.0139, -0.0265, 0.9989, 0.6975, 1.6421, 0.9104, 0.0555, 0.4786, 0.2287, 0.9965]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1582 left_yaw=0.0004 left_pitch=-0.1095 left_roll=0.0017 left_gripper=0.9989 right_x=0.3858 right_y=0.2219 right_z=0.1145 right_yaw=0.18 right_pitch=-0.02 right_roll=-0.1028 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -1.2786, 6.9949, 1.6923, -0.0464, -0.0611, -0.0122, -0.253, -7.706, 6.7214, 1.873, 0.2955, 0.105, -0.0122]",
      "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]: [-0.02, 0.8192, 0.6132, -0.4763, -0.0139, -0.0265, 0.9989, 0.6975, 1.6421, 0.9104, 0.0551, 0.4786, 0.2287, 0.9965]\nstate[eef_state]: left_x=0.2835 left_y=0.0004 left_z=0.1581 left_yaw=0.0004 left_pitch=-0.1098 left_roll=0.0017 left_gripper=0.9989 right_x=0.3858 right_y=0.2219 right_z=0.1144 right_yaw=0.18 right_pitch=-0.0203 right_roll=-0.103 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.2103, 6.9949, 1.6337, -0.0415, -0.0317, -0.0122, -0.2667, -7.706, 6.3385, 1.8584, 0.3639, 0.1148, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.02, 0.8211, 0.6128, -0.4759, -0.0139, -0.0265, 0.9989, 0.6598, 1.3491, 0.9596, -0.3, 0.5499, 0.2943, 0.9965]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1575 left_yaw=0.0004 left_pitch=-0.1118 left_roll=0.0018 left_gripper=0.9989 right_x=0.356 right_y=0.1639 right_z=0.1918 right_yaw=0.051 right_pitch=-0.0036 right_roll=-0.0933 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -1.5111, 7.1316, 1.6972, -0.0757, -0.0464, -0.0122, -0.3897, -5.6137, 9.0872, 1.5458, 0.3541, 0.1783, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da154773f29015e1236bc0ad5742a7ba2577eb72c4db2994046fea9838f9bd07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4862f50ff5ddc369b0c7b71fdadd4769a3c5a3b5b2d937062991cc9f031ce106",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fb8292ef5a32ee1ba9cc31405ffa9e846b862332b324f3726cfc6505f34273d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS+REKjgEIEhgCKkBG9FcLDYRewlN4++SCD+M1djB8MQmpDcTfSEMwFPogvIq1063iyVVf6WjkxIVdcM5nFPLGAyY52i3PTZTh9KoqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbGnzNUGEgyRW2u4tw8JOL0peiQaDC9rL6RjaCzmeNDG8SIwEX2eX2mZYj7GkwH4vLc1ubAc97xTJvPgcNq5ooQk4dhcptZcExmz2kceB9t9htKxKpcQOS4blt7RMsCOMoB7z+ug96Q2Be4vQGCxeEwfzSCg0f54FW0ZEa6HLtgF0j6LHaKL3d0hIYH0JkNtxuZOEqTo6V6eeINdtJiXeXLx8CWGLwII0o16n+9vyvAOuWUc17ncSK5fuV/qYt5qFnqz3AJY5PCb3rj6QgFExbB298GsSUN55okmnhTy1pZo/7pgpyZ8Xxvcj4TF6djEMoP2ojg77zjL6cyM4X/dhQbI5F2fBriY10iYEG60WkAC9OQ0P0V4MywHCJBye+Kmm6PweDBmsTZPDmUaeIxvVYm06Au1+Ixpv1uHKBhF0bOkBSFHSiD2fnbzsqJ6M8GyO6A8HsdmFzPZfe9yrBpF1yJp3ZF8b7h3AL2ZKDmX25bg0U+RukgiGRF/D0C2Za6pmAOdMz4EarroG0FyuafHz34zxHc8xPYrnvzi6vYiLtK6UP+5h8HJGOrueqMXogNvNt2ziVoxKnlrFau5/h/YRQu5X5tLpvkfehlfa2wTg/bxCOHR+YtL0gIgknOFSOuUjhjwoVFeD8waBNR/guypfaQTxcusZ7LBFmTnKv2DMyDnb8hsc/4imiwNAnqXvO/5S818AF2nunlQMrgzCeJvk9kpoAY+YannkHIFG4vFPiM3EWD3+xricQ35Fk/BBBohs2U7dBC6vGDtwkBJroRoty0jsritFeJyB4sSmOvWBMxHOhEM/Con1v2haUlm6XmQTxImy3XuK1qVPmBAVT2d266riak0NnKJnbxqsrDsur5UG9WFkBzLAcrhzcHl4nx3Bqdx9eHg1q4JM8hP6fBouUdJOJ/jkczVilSnMnhUinzHraRlrDKnt8Bk2dzJMRL+Pds/MlCTCj0v7nNqRZtipYYAwqT65X1iji/Hq3oJ4n8EJ8W0hJyGCMOobg7oObt4zo2Wx1MjYwGDVpbk28bsNH9IHtc+w8zf4OD7wzSgbuZ2Idc8x/Pcr8RFW48WOo+W+2HbpdVVMGqa2o/cCXCYcEV5KcsxQgQxEiXHsXEtqjctP8HpesPSlnHs8qFOzOoY2r5BX5GOcJi2VTMxDFgBb+/z+ellZ4BpQa5iwiCS35xnb3l6c5PnUxc5+N35FEb+WnGVQx0MfjygZaz/4jyiFnoA8V+w3pQuCl144BU9F4VFxdK0NFbgkQnevAiOBpU9xM9fifTxN9dNaqfUi3ish8frKEuUh+gZ891w7H4QmpP/R33w5DwDDnzISzJAwKnImlx6+6W0S5LVi86+IliOmsztgsCQGSA/oXNoHgVRpoUbBUOx0weSRlzgtYAm3Upc4LhoLX6AVCgEgC5XIw2twhAy+rXwykYqb1oFioiIOc25wyqBmvMRRRvwt0pcEj1mOOEJfn8N2YLVfff7hKZUljlRKkVy0dXamSd2mGup8GL15Wb1vHL9Ikpto77cu43MKlPEz38XdFea/Z2tJ58ZY0Z246LlpJ9kDtFeKz3y0gQyH46f8SG6NO+UGHfifOxvw53RtHBkKY8vHVMedaIp7LE0mI0W1Ql43nXcFuqKWWwx7fmN86i2HzZufvu+KCUwAMfLXkQgYC/MQuerh8+gnjdzB7VejqeW/hvpXo8NRo2ikbxiYcBUlgbBnrk3me4mUakuPKBgIGM3PWyEB2Qp6RJXXuUQ5Tnpd2cmM6IAf7h3EuG/f1i5iqqnu1d8CSgTMRXB6CW1n7RQoMtWCB3AAy47q1AUcAiA3Mdl+AgGTbLI2WOwbnCSrZ04LPftHIn+2gvKTS1aAnftwwuxx/zWqXxf70XTVvynnHmIgNwvxMbA2cu9/+EB+D0yv0JvH7EZnkGVkBb8vvWnjZdw1gQwGaZAPekPCZ2B9TnSd39rr1+pvxgXFpou3jK1pgxL6U+DIlUPy9Z4olOia/ir+ZW7ySzpJcOxg4oyhf6QM9F/PaEJhVllD73zGFunhgvltfuhpFOVcSZalsmRPEg2KFrH70u8fGHE5twm2sxiNCjcnvyxg3OdsxEV5Ocrmhj98tk+DZ0I30hqAkN3k9e9bgDIr5+qjCx1PEEYq/2SzilAo1LDi0py4pPbjjgk8yX9CH/n9bMyYYNZsPxhs5JUqi7JdMdaM6pucFYRI6XezhkgRfwKQiAC6Dj/fznMHCgIAhFuVvKS5FDuJ5bDMHIpw9y68tGH4Lk5r3lSNA1VpK4vZqbeOs6EbsRjtntnbBgz2i/kxrbzMyOLUTv5tfx6UCmg2ICWGv7APFQne32IK/IklfKB2Tj30T5NO/x69LNPLNiLXIqd5rg1sey2hQhRynYVlfXfOHQafmaujroXZNTn13iP83YsAmIaArWTbJ5BdOHhGOKaU9dHHCmrVpbdXnOXqE54sZos1w7/C0t0U6qVTeDKkEj2AfjIGOyd6pxJfu1A9FxCFXvtRo7qn6rCaylxChQSYQ+rJk2LqmxF/P2ONWPskp+mgXZJSb1PEMMgXAmzkZ9I1xmZZkbH4Hq+G5dN9WDuWMsB8XrIS4SkGQ9BMV3Q86oGM3bWfvzbf0kAGUGA7+IfHPXwwkJn5BaRsOD+rGwtDbtsbJrredn//frTKKeQ8x0lOK187bggODf0s1LCiaVOjLqGvMg1U4T09DBf+71WTX5QJy+jANnY6iXInvMRaDU/8uZkpeWjA/DqTipbm+/Kk817/JfIlGwdjMu+C52AVsmNyrWVIJMajund+zZjizlTyks6ONeLTSMWz2Y880sCqTra1p323F75QJXG14I0EfFfkrWoeWFYVtTrWlK2A2mytu7cgZud1764hRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016m2vY96wuUBGgNr8oppthW",
      "input": {
        "note": "Control is restored; the lemon sits at the lower-left of the wrist view with the blue bowl ahead. Descending toward the lemon from a slightly nearer approach this time.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.215,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_016m2vY96wuUBGgNr8oppthW",
      "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]: [-0.02, 0.8257, 0.6128, -0.477, -0.0139, -0.0265, 0.9989, 0.757, 1.7451, 0.8021, 0.1532, 0.606, 0.3527, 0.9966]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1561 left_yaw=0.0004 left_pitch=-0.1175 left_roll=0.0019 left_gripper=0.9989 right_x=0.3645 right_y=0.2109 right_z=0.0562 right_yaw=0.0726 right_pitch=-0.0572 right_roll=-0.1358 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.6479, 6.9538, 1.6239, -0.0464, -0.0415, -0.0122, 0.2667, -8.5128, 4.7932, 1.5702, 0.398, 0.1099, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62041ae1988261f982a5c56dd944ea71a4ac64e0817a4d5ba65e2997e5e4e346",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f787a26a98837805d94e74b5bd58947f2d6e34f24f18aafe5cf419ca5367ff92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d484496ce8f6a7c16275cefae1f6fa70d1f13c154ea93c003befba03f6ae8f35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /messages · status 200 · 4.499 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4763, -0.0139, -0.0265, 0.9989, 0.6975, 1.6421, 0.9104, 0.0551, 0.4786, 0.2287, 0.9965]\nstate[eef_state]: left_x=0.2835 left_y=0.0004 left_z=0.1581 left_yaw=0.0004 left_pitch=-0.1098 left_roll=0.0017 left_gripper=0.9989 right_x=0.3858 right_y=0.2219 right_z=0.1144 right_yaw=0.18 right_pitch=-0.0203 right_roll=-0.103 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.2103, 6.9949, 1.6337, -0.0415, -0.0317, -0.0122, -0.2667, -7.706, 6.3385, 1.8584, 0.3639, 0.1148, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.02, 0.8211, 0.6128, -0.4759, -0.0139, -0.0265, 0.9989, 0.6598, 1.3491, 0.9596, -0.3, 0.5499, 0.2943, 0.9965]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1575 left_yaw=0.0004 left_pitch=-0.1118 left_roll=0.0018 left_gripper=0.9989 right_x=0.356 right_y=0.1639 right_z=0.1918 right_yaw=0.051 right_pitch=-0.0036 right_roll=-0.0933 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -1.5111, 7.1316, 1.6972, -0.0757, -0.0464, -0.0122, -0.3897, -5.6137, 9.0872, 1.5458, 0.3541, 0.1783, -0.0073]\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 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]: [-0.02, 0.8257, 0.6128, -0.477, -0.0139, -0.0265, 0.9989, 0.757, 1.7451, 0.8021, 0.1532, 0.606, 0.3527, 0.9966]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1561 left_yaw=0.0004 left_pitch=-0.1175 left_roll=0.0019 left_gripper=0.9989 right_x=0.3645 right_y=0.2109 right_z=0.0562 right_yaw=0.0726 right_pitch=-0.0572 right_roll=-0.1358 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.6479, 6.9538, 1.6239, -0.0464, -0.0415, -0.0122, 0.2667, -8.5128, 4.7932, 1.5702, 0.398, 0.1099, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62041ae1988261f982a5c56dd944ea71a4ac64e0817a4d5ba65e2997e5e4e346",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f787a26a98837805d94e74b5bd58947f2d6e34f24f18aafe5cf419ca5367ff92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d484496ce8f6a7c16275cefae1f6fa70d1f13c154ea93c003befba03f6ae8f35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkQUKjgEIEhgCKkA041JYmKE0tz3o4Nfkg5x45vDikfPNYXvbjRPbninABEGi5+/JwAfKk0PXPbhWoUeqHia/JzTuYjNX/IRnIMRwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbinzNUGEgxxMDsz7IY2UBlvby4aDERnJqfTcoJpIcpbDyIwAJWW/WHTsE0MaDbhNL/FMf+mSCyUrTBv1IOxE8CJnDrCS8Xa9X/Xy++j9b8TO+Q2Kq8Dt3YbfaTgdfI6dWg1EaXMCMemDaue3cmZ2izGCia2SgG692zLRqLaxR1eoBX5UWIqOR4LoL2cnLq8aEcVrHNMIgZM0S5Fcmjg27KDsL72hLqLjX2tOU0qnHf5obFd69koW8jhwiw4D8Duvg5TDzWyMIik03ZjrT/sVTZIWqyIHwkr/y9PwwPxF64+7g8U30pDRfXdIuFNwJkMbeas1INzX+1634KO2rMJGohv5fDWXySUlDZ7PNHKbFg8UUkYbgYokMI76czdJqMXCHUk0qHKupNxeV/pOViaogyUmGvxo7rkFAzh3ENiwao1gk5+C19kWlfzCI8WANYG1H2z/47roo7Dy5AvDwxsc/sEXnNhbO7VE8xnjmn54GWOA58nYPXlAp21WO2b5ZCP9Z0xJyRtnx0312a8eDDl985yZSYcFa2rdisuPNgtQjT0qNAAjfubSO3QmVFNfwFzonFfx42LdB1p0QGar+LmP878MoJqnBIUVv86AsKR712jdGC0NsIPzY0iOeP1GC/uv4Tv1bT8/hzfD5Y6QlvhZCpCkrdHaRbTyoGAHtqhRDcrmlpeEcQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B6ZF9aLdQhs1cLh2KnEq2L",
      "input": {
        "note": "The lemon now fills the centre of the wrist view just beyond the jaws; advancing 2 cm and dropping to table level to bracket it.",
        "targets": {
          "right_x": 0.385,
          "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_01B6ZF9aLdQhs1cLh2KnEq2L",
      "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]: [-0.02, 0.8253, 0.6132, -0.477, -0.0135, -0.0269, 0.9989, 0.7391, 1.8172, 0.8074, 0.2436, 0.588, 0.3389, 0.9965]\nstate[eef_state]: left_x=0.2836 left_y=0.0003 left_z=0.1563 left_yaw=0.0003 left_pitch=-0.1167 left_roll=0.0013 left_gripper=0.9989 right_x=0.3755 right_y=0.2145 right_z=0.0421 right_yaw=0.0761 right_pitch=-0.0475 right_roll=-0.1223 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.265, 6.9402, 1.6239, -0.0366, -0.0562, -0.0122, -1.1692, -6.9949, 5.9692, 1.3016, 0.5055, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2396b1bc5aa327d270fd47ade32d00ff4b1e989962b06b3bc0e03194140fd13b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab5cd2a048734e164b80f89ccedbbbd2e698dcbc0f2f0de8a987ccd1101c03a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb11b281e29828e421db160a1fc13aff5f590344d28e134003d7c11d642cc051",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 3.78 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6128, -0.4759, -0.0139, -0.0265, 0.9989, 0.6598, 1.3491, 0.9596, -0.3, 0.5499, 0.2943, 0.9965]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1575 left_yaw=0.0004 left_pitch=-0.1118 left_roll=0.0018 left_gripper=0.9989 right_x=0.356 right_y=0.1639 right_z=0.1918 right_yaw=0.051 right_pitch=-0.0036 right_roll=-0.0933 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -1.5111, 7.1316, 1.6972, -0.0757, -0.0464, -0.0122, -0.3897, -5.6137, 9.0872, 1.5458, 0.3541, 0.1783, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.02, 0.8257, 0.6128, -0.477, -0.0139, -0.0265, 0.9989, 0.757, 1.7451, 0.8021, 0.1532, 0.606, 0.3527, 0.9966]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1561 left_yaw=0.0004 left_pitch=-0.1175 left_roll=0.0019 left_gripper=0.9989 right_x=0.3645 right_y=0.2109 right_z=0.0562 right_yaw=0.0726 right_pitch=-0.0572 right_roll=-0.1358 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.6479, 6.9538, 1.6239, -0.0464, -0.0415, -0.0122, 0.2667, -8.5128, 4.7932, 1.5702, 0.398, 0.1099, -0.0073]",
      "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]: [-0.02, 0.8253, 0.6132, -0.477, -0.0135, -0.0269, 0.9989, 0.7391, 1.8172, 0.8074, 0.2436, 0.588, 0.3389, 0.9965]\nstate[eef_state]: left_x=0.2836 left_y=0.0003 left_z=0.1563 left_yaw=0.0003 left_pitch=-0.1167 left_roll=0.0013 left_gripper=0.9989 right_x=0.3755 right_y=0.2145 right_z=0.0421 right_yaw=0.0761 right_pitch=-0.0475 right_roll=-0.1223 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.265, 6.9402, 1.6239, -0.0366, -0.0562, -0.0122, -1.1692, -6.9949, 5.9692, 1.3016, 0.5055, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2396b1bc5aa327d270fd47ade32d00ff4b1e989962b06b3bc0e03194140fd13b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab5cd2a048734e164b80f89ccedbbbd2e698dcbc0f2f0de8a987ccd1101c03a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb11b281e29828e421db160a1fc13aff5f590344d28e134003d7c11d642cc051",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISowMKjgEIEhgCKkC5IZRcdVwiqxF/TwkqLI1onnRFBWPU9smonRWd6DcpwuXCuz5SkpFJT/cTJB02J+9X+J0gi8sVu7uT5h7loVtNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb2nzNUGEgxJ14j+/O7eyla5ZNMaDL6fxa1IjzwGW4E28iIwR+7EmlA0th81Knb3e+9wM103vnt9qQOgD/8X5BlqnznNcE0tg9+PfI99HPyg8ip8KsEB02knozI0KoQvhAKYnqh/sAAgNxneufBJR7O45Bjedh7poFzxAYrVvOHhunxPYxhVuzhNY+iGsPJ57ftNusFfSfOi9AKkny56u+5rvVn5H//o8xu+n/UFkRyuOxVqKZCYpPddc2jQGrdW8WmTh6ShihrhHRNHmFYaivALhqSMQ5GdEQCpbW4nesjEkqneG+51K1nsTQ9b9N7cjl6SPIUtZ79b4KSMv5GWHOCEIIDjvKHt9rm9vKAZYpUa/lhSo+2KwBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L7PVbMhKWKzjB5j3JcWNR4",
      "input": {
        "note": "Still slightly short of the lemon; pushing 2.5 cm further forward at table height so the jaws straddle it.",
        "targets": {
          "right_x": 0.4,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01L7PVbMhKWKzjB5j3JcWNR4",
      "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]: [-0.02, 0.8276, 0.6128, -0.4767, -0.0135, -0.0265, 0.9989, 0.7021, 1.9038, 0.8291, 0.2741, 0.5568, 0.3099, 0.9965]\nstate[eef_state]: left_x=0.2837 left_y=0.0003 left_z=0.1556 left_yaw=0.0001 left_pitch=-0.119 left_roll=0.0017 left_gripper=0.9989 right_x=0.3855 right_y=0.2085 right_z=0.0168 right_yaw=0.0767 right_pitch=-0.0904 right_roll=-0.1486 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.5248, 6.9812, 1.6288, -0.022, -0.0317, -0.0122, -0.7863, -7.9385, 6.7214, 1.8437, 0.3004, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1afb163276b17e41181b89b93327bd5bbefe1885be8744c97ef0039ee11989c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47d3d76fc9d2459a499fe0c066e8d36cca2c48030431afb75869b3348378e773",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bfe2775475409fdf1e577d4e5ed4c76009fb05fdc3a016185822ce4bce49e645",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 9.141 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8257, 0.6128, -0.477, -0.0139, -0.0265, 0.9989, 0.757, 1.7451, 0.8021, 0.1532, 0.606, 0.3527, 0.9966]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1561 left_yaw=0.0004 left_pitch=-0.1175 left_roll=0.0019 left_gripper=0.9989 right_x=0.3645 right_y=0.2109 right_z=0.0562 right_yaw=0.0726 right_pitch=-0.0572 right_roll=-0.1358 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.6479, 6.9538, 1.6239, -0.0464, -0.0415, -0.0122, 0.2667, -8.5128, 4.7932, 1.5702, 0.398, 0.1099, -0.0073]",
      "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]: [-0.02, 0.8253, 0.6132, -0.477, -0.0135, -0.0269, 0.9989, 0.7391, 1.8172, 0.8074, 0.2436, 0.588, 0.3389, 0.9965]\nstate[eef_state]: left_x=0.2836 left_y=0.0003 left_z=0.1563 left_yaw=0.0003 left_pitch=-0.1167 left_roll=0.0013 left_gripper=0.9989 right_x=0.3755 right_y=0.2145 right_z=0.0421 right_yaw=0.0761 right_pitch=-0.0475 right_roll=-0.1223 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.265, 6.9402, 1.6239, -0.0366, -0.0562, -0.0122, -1.1692, -6.9949, 5.9692, 1.3016, 0.5055, -0.0122, -0.0171]",
      "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]: [-0.02, 0.8276, 0.6128, -0.4767, -0.0135, -0.0265, 0.9989, 0.7021, 1.9038, 0.8291, 0.2741, 0.5568, 0.3099, 0.9965]\nstate[eef_state]: left_x=0.2837 left_y=0.0003 left_z=0.1556 left_yaw=0.0001 left_pitch=-0.119 left_roll=0.0017 left_gripper=0.9989 right_x=0.3855 right_y=0.2085 right_z=0.0168 right_yaw=0.0767 right_pitch=-0.0904 right_roll=-0.1486 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.5248, 6.9812, 1.6288, -0.022, -0.0317, -0.0122, -0.7863, -7.9385, 6.7214, 1.8437, 0.3004, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1afb163276b17e41181b89b93327bd5bbefe1885be8744c97ef0039ee11989c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47d3d76fc9d2459a499fe0c066e8d36cca2c48030431afb75869b3348378e773",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfe2775475409fdf1e577d4e5ed4c76009fb05fdc3a016185822ce4bce49e645",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsgMKjgEIEhgCKkD9mj9n1krQEkiZU4+sikzSJKrIplPkYH1bJfRSZAJn52nAhxtDWoGLMHAIdzSOss1QGoRjgFV/wmTorIGp2FL+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcGnzNUGEgyZ6vDTkKPg9O8wl04aDB4to15tnEF/LOCwZSIwCY2msUU9ert5acgRA9n6zNjQcVpEKTAPGVu78bAepDBApL+8n0ckSipBUWskXJ/2KtABf+iJ2b10/8tRb5ETtJZOr+xDzIWB2amXmVHs/qppB32vcabWKQcudh+3S3mfCWUTulhiZR6LDbLuTDuHliqsR7DVcOkaxoKSzDu5bwpgZ2n6FHK5lPAL+KFZT5RPowZYI9ofwt2+RDzAzwPT1Jq5AuyHEt4Xakf9FIYpRSSjz9zANXoLGyNvoGzYsgbeflhZ7IIgMdRe1Zr8ofVrPQk044QVhXTYtbpe1C5HHHXHrCm0Ds1zdwJ4hO96bFpWJuNTlCnyIhDsHEGQdvUQiteujxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01945W8zsFoNoQEDBrF8XwKJ",
      "input": {
        "note": "The lemon is between the jaws in the wrist view; closing the gripper on it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01945W8zsFoNoQEDBrF8XwKJ",
      "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]: [-0.02, 0.8318, 0.6128, -0.4923, -0.0139, -0.0269, 0.9989, 0.6907, 1.9228, 0.8471, 0.2977, 0.5449, 0.2955, 0.5062]\nstate[eef_state]: left_x=0.2814 left_y=0.0004 left_z=0.1516 left_yaw=0.0007 left_pitch=-0.1388 left_roll=0.002 left_gripper=0.9989 right_x=0.3935 right_y=0.2111 right_z=0.0177 right_yaw=0.083 right_pitch=-0.0781 right_roll=-0.1402 right_gripper=0.5062\nstate[joint_eff]: [-0.1983, -1.6342, 6.9949, 1.7705, -0.0317, -0.0415, -0.0171, -0.3077, -8.7453, 6.1197, 1.6728, 0.3053, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34d5822daec94b1bfa030822748d0d7d65c7997418706a72dea3effa6cd54448",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cff2f2809755aa85a0e437d4143f567e6a23eb72ed6371992f70fcf19ed5ecd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9059096f6280f49e79b177f56aaf33b6229b553592071c7d739c2d266f8e24f2",
        "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 · 5.004 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8253, 0.6132, -0.477, -0.0135, -0.0269, 0.9989, 0.7391, 1.8172, 0.8074, 0.2436, 0.588, 0.3389, 0.9965]\nstate[eef_state]: left_x=0.2836 left_y=0.0003 left_z=0.1563 left_yaw=0.0003 left_pitch=-0.1167 left_roll=0.0013 left_gripper=0.9989 right_x=0.3755 right_y=0.2145 right_z=0.0421 right_yaw=0.0761 right_pitch=-0.0475 right_roll=-0.1223 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.265, 6.9402, 1.6239, -0.0366, -0.0562, -0.0122, -1.1692, -6.9949, 5.9692, 1.3016, 0.5055, -0.0122, -0.0171]",
      "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]: [-0.02, 0.8276, 0.6128, -0.4767, -0.0135, -0.0265, 0.9989, 0.7021, 1.9038, 0.8291, 0.2741, 0.5568, 0.3099, 0.9965]\nstate[eef_state]: left_x=0.2837 left_y=0.0003 left_z=0.1556 left_yaw=0.0001 left_pitch=-0.119 left_roll=0.0017 left_gripper=0.9989 right_x=0.3855 right_y=0.2085 right_z=0.0168 right_yaw=0.0767 right_pitch=-0.0904 right_roll=-0.1486 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.5248, 6.9812, 1.6288, -0.022, -0.0317, -0.0122, -0.7863, -7.9385, 6.7214, 1.8437, 0.3004, -0.0513, -0.0073]",
      "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]: [-0.02, 0.8318, 0.6128, -0.4923, -0.0139, -0.0269, 0.9989, 0.6907, 1.9228, 0.8471, 0.2977, 0.5449, 0.2955, 0.5062]\nstate[eef_state]: left_x=0.2814 left_y=0.0004 left_z=0.1516 left_yaw=0.0007 left_pitch=-0.1388 left_roll=0.002 left_gripper=0.9989 right_x=0.3935 right_y=0.2111 right_z=0.0177 right_yaw=0.083 right_pitch=-0.0781 right_roll=-0.1402 right_gripper=0.5062\nstate[joint_eff]: [-0.1983, -1.6342, 6.9949, 1.7705, -0.0317, -0.0415, -0.0171, -0.3077, -8.7453, 6.1197, 1.6728, 0.3053, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34d5822daec94b1bfa030822748d0d7d65c7997418706a72dea3effa6cd54448",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cff2f2809755aa85a0e437d4143f567e6a23eb72ed6371992f70fcf19ed5ecd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9059096f6280f49e79b177f56aaf33b6229b553592071c7d739c2d266f8e24f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsQkKjgEIEhgCKkDr8tJXHEIZVYBuWN9ldu8fsd0Jm+PH9S9QQnxwqw50bcUi9Dx6/sOhYFOnNIpxzb6ZtQ9IgZIHIqRbfhuSg/FyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcqnzNUGEgzSA0fPWhxY6MZX+mEaDAu1rPyRUXfqPi1n5yIwC/e8A7ED8TSV4pPe8swQKSO/FDUVK/ZFm7F+Lni5S5ZgjbnnHtfnzmEQAlnT83NgKs8Hez+Y7LzuvJWHN/tGLy3D9nizejqelJSFDqH/SZcjHsa3bFeYXTiLMwIWlgz2B64VOLwIj7MvWzUpXUIHXRSIYajLoDyTn1m5RuHJdiO+fUQ+CVNkbgOi0stfDIsp5sVneKETKyQWMq0Xl1dhuX/5CO8/q5DUTXX9L2Q1Y9SBn+QOEW9j7E/hZvqhRX4OrNCcotoK9RxfFLwBpZsYT4aE98nqMZZ3yb0RQk2+9l6z4QafbXZo6q2IbiMhjpiIUyHIofo4z2HjsPdjmMbPNh547gUPS/KPl0O8ajdQ0x9axXB5Gfp46IIf2WLeTA14KkqRjRfyFlSrnW3AEM1+QnUSvM/ICWHESnetX0P8UHdPD3LYmNPJBoPgunsMelQgCDAYnJc+Grjy/puur0VB3+VD9V5e5YzKQiSI/JS1hzU9SZEF25hdEQwBmXtD4o53/RmZ2puwMfHEiUScjE2UPUGwESbx5fD3ETROVeQHjWvkpAFac1LXY67O25GY5XpFzJtcVfEl9VArthjWOVPen7cn/BoCsQPZJB9EwZmXVDjfJ130oyD5W8Wra2QocPx6rnEwi1zdrO/7m25dtkm9X6SU6DbuTQOjgwkzDik5Kg6YAXlSaQ8gh7vIQdqAUpb5IKnI5zuAnGUXtjrqwaonIkcHCrq5lzZTH5m1xJRa2hG52zSRrctyxT6cZvws3mGUurDApN5kHvWO+Im/WirMosuI/0mmw/ND+HjhOh+fVtPSPdxQmrJ9v6OW5j8F/Go54lg7DDRg//kv4IuiHyvsj9I6dedS/w8CBdzSDbA/sezpkAHADdZAAAcgLpNtWpieM1N8F/sW3SJCY//xsTCid5H8fSXb/iP+QXUC4Zjdp896val31zZ0cIWLrkf5W+SuiDY4cbcRiCONtIp73hKnixLVrS5+eUCuT/CsKWbjAsTBXvFERqGGO2P02veCYaDtbKS7eFQa/4lk3a8i85Iee1C19KBzoHZkUEKO0V+YQwGti8/nINWvOR4Em9jHxyzmEL24HAr/+W1yBEWt75WPPQ38apJADf5lLPDWiyrMUWe0wX2OPBrCYBX2dSy+PUsAzYeUov5j8h435MTbjTXOn90Bk7HkUAnAT5xnjbhZLl0bh1OcI0FbQBR3KEIO0o2BqysizFO/+r2haLWtC0NbJE9Y3ttxZ3zLVGMWplhS4LkrnNCSuaWqYj7WQlO9ImjDDAdYoP4VJcsCNC5w4Dpz4RuFrw6knRRimYrs/v+0n9PUjmkmrZejtH/npmMq10F2nwaFwlH3C27iJ1uyuTCV9kmvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BgnZKaaSfgThookq6iZ79e",
      "input": {
        "note": "Lemon grasped (gripper settled at 0.51 ≈ 4.8 cm). The top view shows the earlier pear ended up beside the blue bowl rather than in it, so I'll be more careful: lifting and moving toward the bowl to re-check alignment.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.13,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01BgnZKaaSfgThookq6iZ79e",
      "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]: [-0.02, 0.8341, 0.6128, -0.4934, -0.0139, -0.0265, 0.9989, 0.4065, 1.6413, 1.2255, -0.3004, 0.3359, 0.0868, 0.5083]\nstate[eef_state]: left_x=0.2813 left_y=0.0004 left_z=0.1508 left_yaw=0.0005 left_pitch=-0.1423 left_roll=0.0024 left_gripper=0.9989 right_x=0.4494 right_y=0.1339 right_z=0.1759 right_yaw=0.0792 right_pitch=-0.104 right_roll=-0.1502 right_gripper=0.5083\nstate[joint_eff]: [-0.1709, -1.4291, 6.9128, 1.5946, -0.0806, -0.0269, -0.0122, -0.4991, -10.6462, 8.6769, 1.6044, 0.0757, 0.105, 0.6716]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90557ce86860c2f0294fb06a7d3452a78749784e432b87323a3199a8294880c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e3bec0f3fa449f61fcbc35428edd7efb3b651226a29a900a7850222537cd01c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:177bb470adfef661011500b1487f555d539663d9890f061d89f687a1a0741364",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 21 attempt 0 · /messages · status 200 · 4.197 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8276, 0.6128, -0.4767, -0.0135, -0.0265, 0.9989, 0.7021, 1.9038, 0.8291, 0.2741, 0.5568, 0.3099, 0.9965]\nstate[eef_state]: left_x=0.2837 left_y=0.0003 left_z=0.1556 left_yaw=0.0001 left_pitch=-0.119 left_roll=0.0017 left_gripper=0.9989 right_x=0.3855 right_y=0.2085 right_z=0.0168 right_yaw=0.0767 right_pitch=-0.0904 right_roll=-0.1486 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.5248, 6.9812, 1.6288, -0.022, -0.0317, -0.0122, -0.7863, -7.9385, 6.7214, 1.8437, 0.3004, -0.0513, -0.0073]",
      "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]: [-0.02, 0.8318, 0.6128, -0.4923, -0.0139, -0.0269, 0.9989, 0.6907, 1.9228, 0.8471, 0.2977, 0.5449, 0.2955, 0.5062]\nstate[eef_state]: left_x=0.2814 left_y=0.0004 left_z=0.1516 left_yaw=0.0007 left_pitch=-0.1388 left_roll=0.002 left_gripper=0.9989 right_x=0.3935 right_y=0.2111 right_z=0.0177 right_yaw=0.083 right_pitch=-0.0781 right_roll=-0.1402 right_gripper=0.5062\nstate[joint_eff]: [-0.1983, -1.6342, 6.9949, 1.7705, -0.0317, -0.0415, -0.0171, -0.3077, -8.7453, 6.1197, 1.6728, 0.3053, -0.0317, 1.0281]",
      "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]: [-0.02, 0.8341, 0.6128, -0.4934, -0.0139, -0.0265, 0.9989, 0.4065, 1.6413, 1.2255, -0.3004, 0.3359, 0.0868, 0.5083]\nstate[eef_state]: left_x=0.2813 left_y=0.0004 left_z=0.1508 left_yaw=0.0005 left_pitch=-0.1423 left_roll=0.0024 left_gripper=0.9989 right_x=0.4494 right_y=0.1339 right_z=0.1759 right_yaw=0.0792 right_pitch=-0.104 right_roll=-0.1502 right_gripper=0.5083\nstate[joint_eff]: [-0.1709, -1.4291, 6.9128, 1.5946, -0.0806, -0.0269, -0.0122, -0.4991, -10.6462, 8.6769, 1.6044, 0.0757, 0.105, 0.6716]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90557ce86860c2f0294fb06a7d3452a78749784e432b87323a3199a8294880c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e3bec0f3fa449f61fcbc35428edd7efb3b651226a29a900a7850222537cd01c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:177bb470adfef661011500b1487f555d539663d9890f061d89f687a1a0741364",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISxgUKjgEIEhgCKkAD1z0/vn8enjC7M4o4o22wZ/bUBnoPxx7gsnKFVxPlyVKrHSoXUr9NVBvKo8wA2JvpZGkH8jd7n76fvwkIurXnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdGnzNUGEgwjFQqrOzipdYrlwOsaDPlGGeSJfEAD/2NvwiIwaZ8HzzAG6ZNex7ImJq8QWpJFGfmvac677lbrukFk9rUixLRvY4Yn0vFfSPF0Cl9CKuQDGwrh7k8Pu40khMAeRcl7Oh75mZmQb5uyOksy7SpxFS6GBC4NmDdpKB5pWp8c//TRwoB3dbkuDvbY1zRwPKdLNIrAA9p3blQbcHaeA4y7n6mRdor5jKyeXYoq/bNExcy1pI2lvdwdi3kB+OFJLDHiS+35U7xrxOOPvhv05CRat9fLVP73IzNBczdxnwJDHY9aZdrOTQ9XjyLMN+GtRnIlO5wY/2O7x8FWvNXB6SvTyDnYjGQy8R/9koWiq0MB+uDOUMB0cInHVSMaixLqemotKUryvSO9lk17Li5GWUxWv61C8FKzlkdjp/qRCIGElnQuqizwphBxhy7nNB1RXIz7UaG9mO+/NJyUyO4nmaUqxObIqHJvSvZmsKYHZdZ9ltf8qdQtnrN+g/4C72lcn/EV+U8fnUfA1H6eYGk6hcg+fbzHJIelaRMSjfyhCZ81T/xJ7ukNYxw3wsNLqusSVNIqVxAIboJD9iWBEDC/VUWE1WXNeHZRyU1QmCWbQNGBmHoY222WAxoyfL6HMtmcDdFcH2nc+ewZTtFnn0dIgL6vMI/ONQm44kOzyvROQoZnenQ9YrhstIwiXt1Wkpwybz65SKwD+q5xCHKAI+qaOc9I7UejT54zQVDJ45CWJcN+Z76uUvvEWBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VwYiEd9TNvMtBPmeDJXGk5",
      "input": {
        "note": "The blue bowl rim is just visible behind the held lemon, centred on the jaw column; moving 3 cm further out and slightly left and down to hold the lemon over the bowl's middle.",
        "targets": {
          "right_x": 0.48,
          "right_y": 0.145,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VwYiEd9TNvMtBPmeDJXGk5",
      "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]: [-0.02, 0.8364, 0.6128, -0.4946, -0.0135, -0.0269, 0.9989, 0.3996, 1.779, 1.2446, -0.2146, 0.3206, 0.0776, 0.5103]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.15 left_yaw=0.0004 left_pitch=-0.1457 left_roll=0.0019 left_gripper=0.9989 right_x=0.4718 right_y=0.1427 right_z=0.1354 right_yaw=0.0885 right_pitch=-0.1391 right_roll=-0.1579 right_gripper=0.5103\nstate[joint_eff]: [-0.3077, -1.1282, 6.9812, 1.6386, -0.0366, -0.022, -0.0122, 0.0889, -10.5368, 5.7094, 1.6923, 0.2173, 0.0562, 0.7497]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2110b3146e4484e5b2d209659268251480d7e0723b83f27463ebca86a6b6b5c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31f8203039f2e7bfabd02a6500eea6f1508b71a0333e5020bcbb474e3bb85507",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f44d2d95b98b1e0438af3c84cce151eac3562f09e9bced34ed15ec91fbd1373",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 3.052 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8318, 0.6128, -0.4923, -0.0139, -0.0269, 0.9989, 0.6907, 1.9228, 0.8471, 0.2977, 0.5449, 0.2955, 0.5062]\nstate[eef_state]: left_x=0.2814 left_y=0.0004 left_z=0.1516 left_yaw=0.0007 left_pitch=-0.1388 left_roll=0.002 left_gripper=0.9989 right_x=0.3935 right_y=0.2111 right_z=0.0177 right_yaw=0.083 right_pitch=-0.0781 right_roll=-0.1402 right_gripper=0.5062\nstate[joint_eff]: [-0.1983, -1.6342, 6.9949, 1.7705, -0.0317, -0.0415, -0.0171, -0.3077, -8.7453, 6.1197, 1.6728, 0.3053, -0.0317, 1.0281]",
      "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]: [-0.02, 0.8341, 0.6128, -0.4934, -0.0139, -0.0265, 0.9989, 0.4065, 1.6413, 1.2255, -0.3004, 0.3359, 0.0868, 0.5083]\nstate[eef_state]: left_x=0.2813 left_y=0.0004 left_z=0.1508 left_yaw=0.0005 left_pitch=-0.1423 left_roll=0.0024 left_gripper=0.9989 right_x=0.4494 right_y=0.1339 right_z=0.1759 right_yaw=0.0792 right_pitch=-0.104 right_roll=-0.1502 right_gripper=0.5083\nstate[joint_eff]: [-0.1709, -1.4291, 6.9128, 1.5946, -0.0806, -0.0269, -0.0122, -0.4991, -10.6462, 8.6769, 1.6044, 0.0757, 0.105, 0.6716]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.02, 0.8364, 0.6128, -0.4946, -0.0135, -0.0269, 0.9989, 0.3996, 1.779, 1.2446, -0.2146, 0.3206, 0.0776, 0.5103]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.15 left_yaw=0.0004 left_pitch=-0.1457 left_roll=0.0019 left_gripper=0.9989 right_x=0.4718 right_y=0.1427 right_z=0.1354 right_yaw=0.0885 right_pitch=-0.1391 right_roll=-0.1579 right_gripper=0.5103\nstate[joint_eff]: [-0.3077, -1.1282, 6.9812, 1.6386, -0.0366, -0.022, -0.0122, 0.0889, -10.5368, 5.7094, 1.6923, 0.2173, 0.0562, 0.7497]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2110b3146e4484e5b2d209659268251480d7e0723b83f27463ebca86a6b6b5c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31f8203039f2e7bfabd02a6500eea6f1508b71a0333e5020bcbb474e3bb85507",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f44d2d95b98b1e0438af3c84cce151eac3562f09e9bced34ed15ec91fbd1373",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISqQQKjgEIEhgCKkDUMYEQNaXMBe78o274LzXLarzsq/HMTD39clA037p0kC05vfKbF5HFjQAvWGAryLE2LEmybb6k09QYveHDuLJvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdWnzNUGEgxxmzxsQXxNB/nd4ewaDIuDfLrfBv5Rw2IHcSIwentNcLEW1QRky3gy0hK6utCTTpHzGE5u9LbfgCGWMgSBb7xEKtA8x4pcMQ1zXMk6KscCwtLxjbHCQ4szYjc3crBc2dPxVcOB1hxalniicgqZcJcm+gx3U9ulb7E6FNu60DvWtXKCUObC5XhxLpFRwdFRWOHEN7FdtRUC63zwFRPhVHS7dnJJLi2NghfxErA52wUHWBCBCs/OrKIL63PJVZvqscUjEJXh8mCkNrrwHlT78wb6oNpbJD8ME9KDYV/IrYvehqaRSDqfZdI7FOeIPaidipSKzEfCKHDOKQvtwJ6qXo7s1jWG0hG5Imv3IAr6TcG/gwNlpWj1MOzAmwNKbzBnFvNzm6GGoSCjJjOQ8xUCW13VioVA0hi8alUSwfoAxJku7LewUjQB0IaURtjyBRtB4jxqLq9Ocy6+SvNZlfa8RawsM/FWEHmpbOU9PDl8de8simPSWmA3OxxnGlp74xxop0pVADIWV3kiKp6Ji1sAe0UgUoAxLdFiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wu3FXeMNjXvixSPjqzj9YM",
      "input": {
        "note": "Bowl rim sits just left of the jaw column; nudging 1 cm left and lowering to ~9 cm so the lemon is released close to the bowl bottom instead of bouncing out.",
        "targets": {
          "right_x": 0.485,
          "right_y": 0.155,
          "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_01Wu3FXeMNjXvixSPjqzj9YM",
      "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]: [-0.02, 0.836, 0.6128, -0.4946, -0.0139, -0.0265, 0.9989, 0.4038, 1.8309, 1.2163, -0.1837, 0.3191, 0.0772, 0.5126]\nstate[eef_state]: left_x=0.2812 left_y=0.0004 left_z=0.1501 left_yaw=0.0005 left_pitch=-0.1453 left_roll=0.0024 left_gripper=0.9989 right_x=0.4698 right_y=0.1444 right_z=0.1047 right_yaw=0.0917 right_pitch=-0.1864 right_roll=-0.1725 right_gripper=0.5126\nstate[joint_eff]: [-0.1709, -1.347, 6.9812, 1.5702, -0.0757, -0.0464, -0.0122, -0.1299, -10.5094, 7.7333, 1.6972, 0.1343, -0.0171, 0.5592]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d14d4ac072b06015a4a539a165ac1fb5f5733a4342124a3eaedb909ce8c72226",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5975778ef9a849d759ac71bd718bb2a7c432c9d0618703bb073b0f81b522cb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f35783013b3c9c61671d9f6070a55420d556076aa3e028ca539e5f3fcdd1106a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.191 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8341, 0.6128, -0.4934, -0.0139, -0.0265, 0.9989, 0.4065, 1.6413, 1.2255, -0.3004, 0.3359, 0.0868, 0.5083]\nstate[eef_state]: left_x=0.2813 left_y=0.0004 left_z=0.1508 left_yaw=0.0005 left_pitch=-0.1423 left_roll=0.0024 left_gripper=0.9989 right_x=0.4494 right_y=0.1339 right_z=0.1759 right_yaw=0.0792 right_pitch=-0.104 right_roll=-0.1502 right_gripper=0.5083\nstate[joint_eff]: [-0.1709, -1.4291, 6.9128, 1.5946, -0.0806, -0.0269, -0.0122, -0.4991, -10.6462, 8.6769, 1.6044, 0.0757, 0.105, 0.6716]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.02, 0.8364, 0.6128, -0.4946, -0.0135, -0.0269, 0.9989, 0.3996, 1.779, 1.2446, -0.2146, 0.3206, 0.0776, 0.5103]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.15 left_yaw=0.0004 left_pitch=-0.1457 left_roll=0.0019 left_gripper=0.9989 right_x=0.4718 right_y=0.1427 right_z=0.1354 right_yaw=0.0885 right_pitch=-0.1391 right_roll=-0.1579 right_gripper=0.5103\nstate[joint_eff]: [-0.3077, -1.1282, 6.9812, 1.6386, -0.0366, -0.022, -0.0122, 0.0889, -10.5368, 5.7094, 1.6923, 0.2173, 0.0562, 0.7497]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.836, 0.6128, -0.4946, -0.0139, -0.0265, 0.9989, 0.4038, 1.8309, 1.2163, -0.1837, 0.3191, 0.0772, 0.5126]\nstate[eef_state]: left_x=0.2812 left_y=0.0004 left_z=0.1501 left_yaw=0.0005 left_pitch=-0.1453 left_roll=0.0024 left_gripper=0.9989 right_x=0.4698 right_y=0.1444 right_z=0.1047 right_yaw=0.0917 right_pitch=-0.1864 right_roll=-0.1725 right_gripper=0.5126\nstate[joint_eff]: [-0.1709, -1.347, 6.9812, 1.5702, -0.0757, -0.0464, -0.0122, -0.1299, -10.5094, 7.7333, 1.6972, 0.1343, -0.0171, 0.5592]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d14d4ac072b06015a4a539a165ac1fb5f5733a4342124a3eaedb909ce8c72226",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5975778ef9a849d759ac71bd718bb2a7c432c9d0618703bb073b0f81b522cb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f35783013b3c9c61671d9f6070a55420d556076aa3e028ca539e5f3fcdd1106a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9gIKjgEIEhgCKkBQz9FwaixBKyomvON5xZDhrsJcUUkviG3CwyOXib20ACVXnzePAO1abF/doHyZsRgsCY1PhlEZLnZ6xDB/u8bdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdinzNUGEgzk8VlY2uXaMtDUzJAaDHzPBCcF34JKxmk0ECIw8xQzDkId0YgvGIA/T+4Oq32DCtFyqprJ9o3DJrEvacFYNZnsP3l4pOoYo2U5Cv+wKpQBbY+o3hyQheXBZpOZ5Q10raNpzZgyO7YTOA89YYf/HrUedf1PoMwCKoxiIly+XuuvbFHZK5DTQURfWkkLRvIuqU4kQIM9+ceZeVuV9egJu5qLy4FZh3EbMoL2QvIqcDJCXqM9kNTO7+AJjpoi7O/LbcgDOT1VapeE6tctxOk7pzp6lAlU8NoZrCp1z5Dxm/Qiqjq1VxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0145RRJq8bVvPXLjcPdCj6Dv",
      "input": {
        "note": "The lemon is directly over the blue bowl's opening, low down; opening the gripper to drop it in.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0145RRJq8bVvPXLjcPdCj6Dv",
      "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]: [-0.02, 0.836, 0.6128, -0.4946, -0.0139, -0.0265, 0.9989, 0.4038, 1.8309, 1.2163, -0.1837, 0.3164, 0.0696, 0.9954]\nstate[eef_state]: left_x=0.2812 left_y=0.0004 left_z=0.1501 left_yaw=0.0005 left_pitch=-0.1453 left_roll=0.0024 left_gripper=0.9989 right_x=0.4697 right_y=0.1448 right_z=0.1046 right_yaw=0.098 right_pitch=-0.1877 right_roll=-0.1762 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -1.4017, 6.9538, 1.6386, -0.0513, -0.022, -0.0122, -0.2393, -10.5094, 7.6103, 1.7363, 0.1392, 0.0708, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdbc51cb11d5e4d288514f451e47fc001243a2d757f12b251e3fc60b4766a3a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06358804efea23d588e8d4a7789b8a021b6dd6c4ee0bc0ade11ccdb1f5d9ddd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dac1e6f336b90cea18e5630807a079497bafa74e9282b1682a74c1c5df714398",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 5.647 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8364, 0.6128, -0.4946, -0.0135, -0.0269, 0.9989, 0.3996, 1.779, 1.2446, -0.2146, 0.3206, 0.0776, 0.5103]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.15 left_yaw=0.0004 left_pitch=-0.1457 left_roll=0.0019 left_gripper=0.9989 right_x=0.4718 right_y=0.1427 right_z=0.1354 right_yaw=0.0885 right_pitch=-0.1391 right_roll=-0.1579 right_gripper=0.5103\nstate[joint_eff]: [-0.3077, -1.1282, 6.9812, 1.6386, -0.0366, -0.022, -0.0122, 0.0889, -10.5368, 5.7094, 1.6923, 0.2173, 0.0562, 0.7497]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.836, 0.6128, -0.4946, -0.0139, -0.0265, 0.9989, 0.4038, 1.8309, 1.2163, -0.1837, 0.3191, 0.0772, 0.5126]\nstate[eef_state]: left_x=0.2812 left_y=0.0004 left_z=0.1501 left_yaw=0.0005 left_pitch=-0.1453 left_roll=0.0024 left_gripper=0.9989 right_x=0.4698 right_y=0.1444 right_z=0.1047 right_yaw=0.0917 right_pitch=-0.1864 right_roll=-0.1725 right_gripper=0.5126\nstate[joint_eff]: [-0.1709, -1.347, 6.9812, 1.5702, -0.0757, -0.0464, -0.0122, -0.1299, -10.5094, 7.7333, 1.6972, 0.1343, -0.0171, 0.5592]",
      "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]: [-0.02, 0.836, 0.6128, -0.4946, -0.0139, -0.0265, 0.9989, 0.4038, 1.8309, 1.2163, -0.1837, 0.3164, 0.0696, 0.9954]\nstate[eef_state]: left_x=0.2812 left_y=0.0004 left_z=0.1501 left_yaw=0.0005 left_pitch=-0.1453 left_roll=0.0024 left_gripper=0.9989 right_x=0.4697 right_y=0.1448 right_z=0.1046 right_yaw=0.098 right_pitch=-0.1877 right_roll=-0.1762 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -1.4017, 6.9538, 1.6386, -0.0513, -0.022, -0.0122, -0.2393, -10.5094, 7.6103, 1.7363, 0.1392, 0.0708, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdbc51cb11d5e4d288514f451e47fc001243a2d757f12b251e3fc60b4766a3a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06358804efea23d588e8d4a7789b8a021b6dd6c4ee0bc0ade11ccdb1f5d9ddd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dac1e6f336b90cea18e5630807a079497bafa74e9282b1682a74c1c5df714398",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlgUKjgEIEhgCKkBQGvHjzbHBxzMzy5USCaATbLzUeLHKA+FDXq49nKI4GsZnhYSVi9TWX04fNxke7H4obGceDQ8flYeitjlwhlzGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd2nzNUGEgyqLzpJL3ehzloQYZMaDGM/FntEvZztCtkyAiIwI5jDTDJ75hLBJ2TYMUsIGf+vHoRkQCzwtMB/3SDxJNCugC4L9TJ0IrQ7XU68sC7HKrQD4HQ6e8WSwtbxCUWpXNCJuvO+kRiDJHLu+iCcgDxO+E9XYmMIQxV10fmROzrH2iUaFFGwnuZY/CkDLn1Fo+v3w8H+4zLVLvH7lZr4xiFkiEt05ZOgpmyeH3luWlkMmfyHMlG/eRWSDxuLfzd0MiVVcK8LUi2Mbk/qfDifKWNwW3bSCCugtDXPOQkuqhQsCxevqx5cKGtT0e831DyIc7DKUNqmBhCc8dyjEkCSTJKNEq2aky62euQrqULAnXnGkNjK/hoh+JkD9/IWJLiEoOINNto1P6aKRcTVYUyRf0jMizaB+2xcaRCAgglzjSPubOSAmV6B5IPC7ROBS6EqJKoixxHWjAQbXfijShrYDdbhUlRrC/+MyDiOWTwkyB9uV2lKSttReUrxsPONK2R8JyPUR34PRWg2CrgMYZvwyYs/Uj/wz4/kIp62ficJP+HwKsENsBW9tHY01MUFVNdshsLr9a5KjEi2frwJrcxZB+Yk9CeGI9AOGXRHjmZmIQXsCAMIusMVXwOuNZl051rZMdyWokCRR0JZRNEdPdEjNNfS7kEBaaFTYAUM4afWd8FNo66qT3+M8xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XTdePXj2M665ubs1He9HnV",
      "input": {
        "note": "Lemon is in the blue bowl. Retracting the right arm to clear the overhead view so I can locate the remaining fruits (the pear that missed the bowl and a dark fruit on the left).",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01XTdePXj2M665ubs1He9HnV",
      "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]: [-0.02, 0.8413, 0.6128, -0.4984, -0.0135, -0.0265, 0.9989, 0.0257, 1.0401, 1.0641, -0.7815, 0.0727, -0.1753, 0.9964]\nstate[eef_state]: left_x=0.2808 left_y=0.0004 left_z=0.148 left_yaw=0.0002 left_pitch=-0.1545 left_roll=0.0024 left_gripper=0.9989 right_x=0.309 right_y=-0.0013 right_z=0.2365 right_yaw=0.0613 right_pitch=-0.1944 right_roll=-0.1786 right_gripper=0.9964\nstate[joint_eff]: [-0.0068, -1.6889, 6.9402, 1.6093, -0.0317, -0.0269, -0.0122, -0.1436, -3.1248, 9.0462, 1.8144, -0.0659, -0.0024, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a6941281b902d488d9f0e96f9edd74fe43cf201aa8e45fd9498328ab92d5319",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1822a14edb3e6c3cf27b1688068055fba09f2a308510daba908c8f02bc60121d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57876d210bbd3eed77abf6fa788030b4b23d9fed442661f93f0870cb1aca31be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 6.523 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.836, 0.6128, -0.4946, -0.0139, -0.0265, 0.9989, 0.4038, 1.8309, 1.2163, -0.1837, 0.3191, 0.0772, 0.5126]\nstate[eef_state]: left_x=0.2812 left_y=0.0004 left_z=0.1501 left_yaw=0.0005 left_pitch=-0.1453 left_roll=0.0024 left_gripper=0.9989 right_x=0.4698 right_y=0.1444 right_z=0.1047 right_yaw=0.0917 right_pitch=-0.1864 right_roll=-0.1725 right_gripper=0.5126\nstate[joint_eff]: [-0.1709, -1.347, 6.9812, 1.5702, -0.0757, -0.0464, -0.0122, -0.1299, -10.5094, 7.7333, 1.6972, 0.1343, -0.0171, 0.5592]",
      "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]: [-0.02, 0.836, 0.6128, -0.4946, -0.0139, -0.0265, 0.9989, 0.4038, 1.8309, 1.2163, -0.1837, 0.3164, 0.0696, 0.9954]\nstate[eef_state]: left_x=0.2812 left_y=0.0004 left_z=0.1501 left_yaw=0.0005 left_pitch=-0.1453 left_roll=0.0024 left_gripper=0.9989 right_x=0.4697 right_y=0.1448 right_z=0.1046 right_yaw=0.098 right_pitch=-0.1877 right_roll=-0.1762 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -1.4017, 6.9538, 1.6386, -0.0513, -0.022, -0.0122, -0.2393, -10.5094, 7.6103, 1.7363, 0.1392, 0.0708, -0.0562]",
      "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]: [-0.02, 0.8413, 0.6128, -0.4984, -0.0135, -0.0265, 0.9989, 0.0257, 1.0401, 1.0641, -0.7815, 0.0727, -0.1753, 0.9964]\nstate[eef_state]: left_x=0.2808 left_y=0.0004 left_z=0.148 left_yaw=0.0002 left_pitch=-0.1545 left_roll=0.0024 left_gripper=0.9989 right_x=0.309 right_y=-0.0013 right_z=0.2365 right_yaw=0.0613 right_pitch=-0.1944 right_roll=-0.1786 right_gripper=0.9964\nstate[joint_eff]: [-0.0068, -1.6889, 6.9402, 1.6093, -0.0317, -0.0269, -0.0122, -0.1436, -3.1248, 9.0462, 1.8144, -0.0659, -0.0024, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a6941281b902d488d9f0e96f9edd74fe43cf201aa8e45fd9498328ab92d5319",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1822a14edb3e6c3cf27b1688068055fba09f2a308510daba908c8f02bc60121d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57876d210bbd3eed77abf6fa788030b4b23d9fed442661f93f0870cb1aca31be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkAcKjgEIEhgCKkBTv5YC3Nk8S3zHqj9RHaxSuoURmPKUN6pGECRHFfwZQq9D4PobNWEKjjG9YRkY8X64iPh6XTVvJn5MIhB/Xl1xMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeSnzNUGEgwz5KqGiVi+pAeDzhkaDP5AeHJ+8xUVjcksVyIwDbL0YVIg6OJvTQGOYpQ/+bgymI2KMOUzeHUsFt0iScDajbng17UCJkwMoJc0PZNoKq4FHDsy1p13gx20zYYy7O3GZubZINihdjuiQLQ1/d+9LeABSufs4ONDAA37Mrsqw6h8dUrUxkW5dVxhZ4uxIcDMNVep6b4ZMUJgN3XBwlgjYxT3P6WuKFUKA6zPMoXK8P9QCu4usFggxqnL8l3MdbjEUIi043WTxfC+X1WFcQntr8zEPAWffTUulh9Fh7b5C/PLe1Zo/bNflhzM9mPU3tB/FUC931rH2He+73OzA44ljTpe3s1eS+0gxzvesd1c5MZtabIJU3djHV2LhUyzNCBTsXLKs8cGQdi5kSGqG1Xfph8JJW7qbk67ikei8c19X7O2RG5DLRbjphN78UfhDdFEIjwAtrLKhhFOAdQWSFLgINY6UxNOKZRyo12Nq5DSO906Gf1fd267NJ/Rqzw3ugOBkidULklLzlaDhkULf5uOG5umWEeawKfO7Wk+yPMUXU8GbCQE9eQwWDBKQkdmgFYDfx4yrDJPVq5ogjOk9hcSOErHu5yKA6Y7jHLfHlQpExYmODV/uOfQrU1avaWs8V0EFKhpWkRG59Cj1McPci/tRTX5UJhfRdlxxrYUVeQXMYdGsvxK3bSA2dtsyCYgaq1Zrxi+rxJRNCipROexTv9g//HO2HCblFUKDrdHHLjUm3HjyHFn2HFRX7GHKKQV6PChrqb7kUI/IMeWYSONWnIENg2+H+H8ZIJtCpw9sa9AZDw9hAXTnJjGwmgGj2lYh73HdYMjKYHH9d6i8nNxTUEXpEhZfUtKEJxkASzSshGjz8sgWFG53TNI2VzaLlreh6sUQU4JLhOj0qzDIQiVBxP5Huf5AOk4AU8xCemRxt0SA3nRi0vxJAOFDSvy+IrYHimddo2imYxDC0M9lYaI6s60/hWPOs3EUkLXXRfE5Vsv/8D9TWld1aXylVByITC7lagYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014N9HCsqioy7PzoUcFowMgm",
      "input": {
        "note": "Clear view now: the lemon is in the blue bowl, the pear lies on the table just right of it, and a dark fruit sits further left. Moving down over the pear to regrasp it.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.03,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_014N9HCsqioy7PzoUcFowMgm",
      "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]: [-0.02, 0.8421, 0.6128, -0.4992, -0.0135, -0.0265, 0.9989, 0.1287, 1.5429, 0.7158, -0.0193, 0.1299, -0.1291, 0.9965]\nstate[eef_state]: left_x=0.2807 left_y=0.0004 left_z=0.1476 left_yaw=0.0002 left_pitch=-0.156 left_roll=0.0024 left_gripper=0.9989 right_x=0.3845 right_y=0.0303 right_z=0.0527 right_yaw=0.0892 right_pitch=-0.2786 right_roll=-0.1882 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -1.4974, 6.9675, 1.6581, -0.0611, -0.0562, -0.0122, 0.2393, -7.3231, 5.6137, 1.6532, 0.1685, 0.1929, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44b31f83674bc843a1cad9f0c4271f63a5e6c9d2cff2b5db60f711d559bd19c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca986da37af7f5de376e86ba1e1beb4c771296ba8a0457659880325441084d90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b8aa22e31f8f0ddf35e7391df21651bab429acdb48502f22d67d6dedaa1c6d3",
        "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 · 4.812 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.836, 0.6128, -0.4946, -0.0139, -0.0265, 0.9989, 0.4038, 1.8309, 1.2163, -0.1837, 0.3164, 0.0696, 0.9954]\nstate[eef_state]: left_x=0.2812 left_y=0.0004 left_z=0.1501 left_yaw=0.0005 left_pitch=-0.1453 left_roll=0.0024 left_gripper=0.9989 right_x=0.4697 right_y=0.1448 right_z=0.1046 right_yaw=0.098 right_pitch=-0.1877 right_roll=-0.1762 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -1.4017, 6.9538, 1.6386, -0.0513, -0.022, -0.0122, -0.2393, -10.5094, 7.6103, 1.7363, 0.1392, 0.0708, -0.0562]",
      "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]: [-0.02, 0.8413, 0.6128, -0.4984, -0.0135, -0.0265, 0.9989, 0.0257, 1.0401, 1.0641, -0.7815, 0.0727, -0.1753, 0.9964]\nstate[eef_state]: left_x=0.2808 left_y=0.0004 left_z=0.148 left_yaw=0.0002 left_pitch=-0.1545 left_roll=0.0024 left_gripper=0.9989 right_x=0.309 right_y=-0.0013 right_z=0.2365 right_yaw=0.0613 right_pitch=-0.1944 right_roll=-0.1786 right_gripper=0.9964\nstate[joint_eff]: [-0.0068, -1.6889, 6.9402, 1.6093, -0.0317, -0.0269, -0.0122, -0.1436, -3.1248, 9.0462, 1.8144, -0.0659, -0.0024, 0.0952]",
      "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]: [-0.02, 0.8421, 0.6128, -0.4992, -0.0135, -0.0265, 0.9989, 0.1287, 1.5429, 0.7158, -0.0193, 0.1299, -0.1291, 0.9965]\nstate[eef_state]: left_x=0.2807 left_y=0.0004 left_z=0.1476 left_yaw=0.0002 left_pitch=-0.156 left_roll=0.0024 left_gripper=0.9989 right_x=0.3845 right_y=0.0303 right_z=0.0527 right_yaw=0.0892 right_pitch=-0.2786 right_roll=-0.1882 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -1.4974, 6.9675, 1.6581, -0.0611, -0.0562, -0.0122, 0.2393, -7.3231, 5.6137, 1.6532, 0.1685, 0.1929, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44b31f83674bc843a1cad9f0c4271f63a5e6c9d2cff2b5db60f711d559bd19c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca986da37af7f5de376e86ba1e1beb4c771296ba8a0457659880325441084d90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b8aa22e31f8f0ddf35e7391df21651bab429acdb48502f22d67d6dedaa1c6d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjAgKjgEIEhgCKkBP7ylX4MVCqzImfxiOHUqwMm5USrA6SrC6EikGdNiRZRUqRgT9MvKadYaZ+RDIcOeXIOWr97/RiNsN8TLlJd0NMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeynzNUGEgzjOhxSnvtfh6wFZLwaDG7s6LqHGuoPSX4HqiIwLRwNzgzewr8+7IxgcaMhD1NFEfpeNWKW9726bDYzohfOedBj2g8fjPm/NcpecZbHKqoGuMJaO7NmwHY+LGgsig9+FsX1s3xpjs7hhePZ60T92RoS9eOuA1G/KmguhmBOqE2bDYXaeY2rqogDaBzOP06OZfY1zh5Ob3wIn/+d92mj2cTf10l1EC03eJeNJ/mUOKNj6RJ1bBGoGsSWm9K3Htsm3bovpZFmWUejqRSMEh+n2mPEG6Yx+++JvjF8xNhPnwD0HktZsvXs+tu8wUoqZsm31CciHhvEf6/0Hs/Z0jKPZoELICZz1p6YsAHEcBdJ0JsCpsmCS21K9TAHs2ocyrIEz2hKmDu2w6N++btUXtMX7dO86JLD+ZSiWD6USqxnfT4kKlZUR11Jan9O57ZR6st2NFrQOWHyztatmyB1ZnI/jFlJ7zEopysSyesD9wdICPaiRjFWjqlIV94Gb6y8NCYZ9MzuQ/TFfM+YxX31OKySSehOP8NvGvEIAQuS4bJMQuVe3Mh5Y6Hdwy42+OCUz568hMgriWMHc1cVhEg/IrZvagcKMrcoZ+Rv7AaryqXuTrMkM/E2lS0fwetHiuUqSExaq5rJil1U+Z9sDgeKUfBpYX994CgWxHuT1YyVfXvko1/Wc08wdsBvcXRzKalbX+j1KcWAkYv+vv7Pto/ExtjJI4/uyytuBZ65J754JCNRflB3z099ZSwpkWFX/vXNS3VSOpdRLKR76LRpC/IBOJM+3eX4jqxrRMxQ0yFZTNAjlwPzNe8whMXXBgBjaP2zzpXbfTvNEyyY5iU7MHXSnkPxl/C/zRq4E4MvLQXyGsO03PoLYgg2xqM8rJ5K+9695KZey3vFkBvYqz+hazYToN2KqD7alQtehYfjEP6ZpvOzTOU5hGdEeYqUGPS/4FDzA2qT+K8GrX+R3sM9QhYLvQtCdNU3ixJNYjaLkWj9b3CDtXURodVrxBXUfgpFinWk4HgmBky0AdBbctKnURQXvjQ4weoAtaI73z30hUTQ5tNFuTiMeRzJijKS5ttVkb8M+zdw84zpmKLzCL1x0l0ikNLMFo6+DSx8VRvsJwbk9DjnP1OdkpUrFOjgQJ0jn5RoTAqbADc2LbLxc1/YTQOn+UdT7Fgv/jo1dFV1xNxKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RzpnZWSpSYmZXm2BwbK7Np",
      "input": {
        "note": "The pear is squarely between the jaws; settling 2 cm lower while closing to grasp it.",
        "targets": {
          "right_gripper": 0,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RzpnZWSpSYmZXm2BwbK7Np",
      "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]: [-0.02, 0.8436, 0.6128, -0.5022, -0.0139, -0.0265, 0.9989, 0.1291, 1.5726, 0.7033, 0.0826, 0.1188, -0.1318, 0.21]\nstate[eef_state]: left_x=0.2802 left_y=0.0004 left_z=0.1467 left_yaw=0.0005 left_pitch=-0.1606 left_roll=0.0028 left_gripper=0.9989 right_x=0.3968 right_y=0.034 right_z=0.0539 right_yaw=0.1012 right_pitch=-0.2196 right_roll=-0.1797 right_gripper=0.21\nstate[joint_eff]: [-0.0068, -1.5795, 6.8991, 1.6239, -0.0366, -0.0269, -0.0171, -0.1983, -5.1077, 4.2325, 1.243, 0.1245, -0.0122, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecc8f1b00d3ba22c11e007518e1c5d25a8b3c5be4c63d4f8adaac2c8d5b8a245",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9718e87d8524e97442c27e975672c155e08fe517ea598eb300fab811eb1c618b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e069d0b16bb06e1b2ea36185668ff71cf0ab955496a6d7c8adf5bb699e293cca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 3.275 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8413, 0.6128, -0.4984, -0.0135, -0.0265, 0.9989, 0.0257, 1.0401, 1.0641, -0.7815, 0.0727, -0.1753, 0.9964]\nstate[eef_state]: left_x=0.2808 left_y=0.0004 left_z=0.148 left_yaw=0.0002 left_pitch=-0.1545 left_roll=0.0024 left_gripper=0.9989 right_x=0.309 right_y=-0.0013 right_z=0.2365 right_yaw=0.0613 right_pitch=-0.1944 right_roll=-0.1786 right_gripper=0.9964\nstate[joint_eff]: [-0.0068, -1.6889, 6.9402, 1.6093, -0.0317, -0.0269, -0.0122, -0.1436, -3.1248, 9.0462, 1.8144, -0.0659, -0.0024, 0.0952]",
      "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]: [-0.02, 0.8421, 0.6128, -0.4992, -0.0135, -0.0265, 0.9989, 0.1287, 1.5429, 0.7158, -0.0193, 0.1299, -0.1291, 0.9965]\nstate[eef_state]: left_x=0.2807 left_y=0.0004 left_z=0.1476 left_yaw=0.0002 left_pitch=-0.156 left_roll=0.0024 left_gripper=0.9989 right_x=0.3845 right_y=0.0303 right_z=0.0527 right_yaw=0.0892 right_pitch=-0.2786 right_roll=-0.1882 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -1.4974, 6.9675, 1.6581, -0.0611, -0.0562, -0.0122, 0.2393, -7.3231, 5.6137, 1.6532, 0.1685, 0.1929, 0.0024]",
      "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]: [-0.02, 0.8436, 0.6128, -0.5022, -0.0139, -0.0265, 0.9989, 0.1291, 1.5726, 0.7033, 0.0826, 0.1188, -0.1318, 0.21]\nstate[eef_state]: left_x=0.2802 left_y=0.0004 left_z=0.1467 left_yaw=0.0005 left_pitch=-0.1606 left_roll=0.0028 left_gripper=0.9989 right_x=0.3968 right_y=0.034 right_z=0.0539 right_yaw=0.1012 right_pitch=-0.2196 right_roll=-0.1797 right_gripper=0.21\nstate[joint_eff]: [-0.0068, -1.5795, 6.8991, 1.6239, -0.0366, -0.0269, -0.0171, -0.1983, -5.1077, 4.2325, 1.243, 0.1245, -0.0122, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecc8f1b00d3ba22c11e007518e1c5d25a8b3c5be4c63d4f8adaac2c8d5b8a245",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9718e87d8524e97442c27e975672c155e08fe517ea598eb300fab811eb1c618b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e069d0b16bb06e1b2ea36185668ff71cf0ab955496a6d7c8adf5bb699e293cca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISugUKjgEIEhgCKkBk9RyzZbLdvQmGPm0QcU7FAIMn9zfx+8CC+zhN4rsG+7shxzqRcp0MbLTETSLcEaBSQ76/6QLffHJT7Jx3TdUtMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfGnzNUGEgzU+7RHGenkD+0Wo6caDEbNUGB548pokEiI2SIwYg/VwciL5U9y8p/ZgogL7ydZESewT+HZBwzCkLVDKyLSSVHJlGEtGT775D1EnfpiKtgDSAbF8VswRPvqPDezZ+ir+ldsyE6q0sJOZtrhwkYOUAsldNGjcae4WcehFi0XcvWvRqqEpsH8mqBi1f6W0yRp9uo1/6z2H8HLjslDHwQV4Pbp8zN0SLRiZKbY0nWOv2hPppULsMKEerPiJ/qF8oiA1qAmZpb9YZEdcVCOuj/qCpjusk9wFwLTSUdwOIg/CPXLxeOARGnjsZhzoyk0UQQT/up6bsqU676l/u2INeyZ5icWSuPK9t5zKAIeboKxYP7hPPIUG/yXgYJY9FYH37xnDo2pS2x1WwmqpyJaVW29ylrITf1tWZ8Ku4yX+oCALWhkfDWOYpIfFMhctvZWLtPi1Oz47zXrM0je7Yon661qTpERE4Itd7+uNi8pGojVHfcum0XIbwvTtrc/9UlLoiwK0ou4bIc3sBLiRpHqIs3brhktTOrXPwFv+KQ1KaZma0dk+Coe00BzapG8eXE2KhAyz+O2rqwtQXkYfAbycdpA3DllECkqau2D7l+vu1RkzuTfV8bTWEoDb9zy38s33JXXsWpBNxolDqvDmmxWUBO8MlxwBTH0cM6PFAwcBt0d3VDxfpEHQnDl+/Pi7WJX+c1dZKAgBT9s7TZoQNCGROpdjfYryfdPMUmq4BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KHwrSLRJW9kjX84NuRYBjS",
      "input": {
        "note": "Gripper settled at 0.21 (~2 cm), so it has the pear by a narrow part; lifting and carrying toward the blue bowl using the same approach that worked for the lemon.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.14,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01KHwrSLRJW9kjX84NuRYBjS",
      "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]: [-0.02, 0.8463, 0.6128, -0.514, -0.0139, -0.0265, 0.9989, 0.4023, 1.7069, 1.3392, -0.4732, 0.2749, 0.0284, 0.211]\nstate[eef_state]: left_x=0.2784 left_y=0.0005 left_z=0.1438 left_yaw=0.0006 left_pitch=-0.1751 left_roll=0.0031 left_gripper=0.9989 right_x=0.4463 right_y=0.1417 right_z=0.1627 right_yaw=0.1512 right_pitch=-0.2412 right_roll=-0.1882 right_gripper=0.211\nstate[joint_eff]: [-0.1983, -1.6068, 6.8855, 1.6728, -0.0562, -0.0317, -0.0122, 0.1026, -9.1419, 8.6359, 1.3797, 0.3101, 0.2955, 0.0952]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4951117b60dbdb5ba59077fbba88af14f9c5e03dc70abb0f208fdba735e057ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daba30a0c4e5857c292e87bb4afc21e0aa74a0691c035ccd3e0b9e5147cef2c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e915083a83a13a1a15568b27dc59561bf26765c069065ce4e85ab747b5453908",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 2.19 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8421, 0.6128, -0.4992, -0.0135, -0.0265, 0.9989, 0.1287, 1.5429, 0.7158, -0.0193, 0.1299, -0.1291, 0.9965]\nstate[eef_state]: left_x=0.2807 left_y=0.0004 left_z=0.1476 left_yaw=0.0002 left_pitch=-0.156 left_roll=0.0024 left_gripper=0.9989 right_x=0.3845 right_y=0.0303 right_z=0.0527 right_yaw=0.0892 right_pitch=-0.2786 right_roll=-0.1882 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -1.4974, 6.9675, 1.6581, -0.0611, -0.0562, -0.0122, 0.2393, -7.3231, 5.6137, 1.6532, 0.1685, 0.1929, 0.0024]",
      "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]: [-0.02, 0.8436, 0.6128, -0.5022, -0.0139, -0.0265, 0.9989, 0.1291, 1.5726, 0.7033, 0.0826, 0.1188, -0.1318, 0.21]\nstate[eef_state]: left_x=0.2802 left_y=0.0004 left_z=0.1467 left_yaw=0.0005 left_pitch=-0.1606 left_roll=0.0028 left_gripper=0.9989 right_x=0.3968 right_y=0.034 right_z=0.0539 right_yaw=0.1012 right_pitch=-0.2196 right_roll=-0.1797 right_gripper=0.21\nstate[joint_eff]: [-0.0068, -1.5795, 6.8991, 1.6239, -0.0366, -0.0269, -0.0171, -0.1983, -5.1077, 4.2325, 1.243, 0.1245, -0.0122, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8463, 0.6128, -0.514, -0.0139, -0.0265, 0.9989, 0.4023, 1.7069, 1.3392, -0.4732, 0.2749, 0.0284, 0.211]\nstate[eef_state]: left_x=0.2784 left_y=0.0005 left_z=0.1438 left_yaw=0.0006 left_pitch=-0.1751 left_roll=0.0031 left_gripper=0.9989 right_x=0.4463 right_y=0.1417 right_z=0.1627 right_yaw=0.1512 right_pitch=-0.2412 right_roll=-0.1882 right_gripper=0.211\nstate[joint_eff]: [-0.1983, -1.6068, 6.8855, 1.6728, -0.0562, -0.0317, -0.0122, 0.1026, -9.1419, 8.6359, 1.3797, 0.3101, 0.2955, 0.0952]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4951117b60dbdb5ba59077fbba88af14f9c5e03dc70abb0f208fdba735e057ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daba30a0c4e5857c292e87bb4afc21e0aa74a0691c035ccd3e0b9e5147cef2c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e915083a83a13a1a15568b27dc59561bf26765c069065ce4e85ab747b5453908",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9gIKjgEIEhgCKkAnfom0LHOlutK09MG6QKyHwzZR1k4kx01qoV5GQUVaIFfSfLeUa9OPVoIb1/JMp3KCjg5kUZ27OskXyKqPvIi0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfWnzNUGEgzev2FWDhQQrKqKTEEaDIcDlzBy23yzNgy0HyIwTNDvb6nxMyqGVq1l/qw/EGE/9bP+GE0RwXpQxmjTRAE/ZTb8YqptP/hDn+wQXNfNKpQBKZmvalyooNlQn75ZwSlrI0DHrSfO3zU2cozHG6aKTDDpgXPCePMr5R4R0HWmdsEbm4uM4bkb6WylzSLKXRlYPBZMWO8o/gVhU5zH/jUjbPuBljiLui//Xw66XIQeHeIFyVCfAFFZtT9s8jDhODgRc8ZE6w5MrE7bRMEnNPiUFFeI+RwFo65mqRAJOhi6ZybE56BujBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0166tQoyB3R26ffP3jGCfsjS",
      "input": {
        "note": "Blue bowl (with the lemon) is centred under the jaw column; moving out and down to hold the pear just above the bowl before releasing.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.15,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0166tQoyB3R26ffP3jGCfsjS",
      "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]: [-0.02, 0.8467, 0.6128, -0.5175, -0.0139, -0.0265, 0.9989, 0.4019, 1.8561, 1.2633, -0.3393, 0.2718, 0.033, 0.2119]\nstate[eef_state]: left_x=0.2778 left_y=0.0005 left_z=0.1431 left_yaw=0.0006 left_pitch=-0.1789 left_roll=0.0031 left_gripper=0.9989 right_x=0.4536 right_y=0.1452 right_z=0.0855 right_yaw=0.1441 right_pitch=-0.3296 right_roll=-0.2066 right_gripper=0.2119\nstate[joint_eff]: [-0.0342, -1.4701, 6.8855, 1.6142, -0.0513, -0.0269, -0.0122, -0.4171, -10.4547, 6.735, 1.8242, 0.0855, -0.1294, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ff67a62777d40a0ddadc30ef18a9c365a5a23fb1ac683eb72db99ce6b1d7027",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67525c019a4cc75131f00911f62e45f705a193c8d2f8db3f82133e2270de04b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a058b770b5e868c714698b5dafca8874114caba2ac65add7ea23f9f4e10a8c9",
        "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 · 10.58 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8436, 0.6128, -0.5022, -0.0139, -0.0265, 0.9989, 0.1291, 1.5726, 0.7033, 0.0826, 0.1188, -0.1318, 0.21]\nstate[eef_state]: left_x=0.2802 left_y=0.0004 left_z=0.1467 left_yaw=0.0005 left_pitch=-0.1606 left_roll=0.0028 left_gripper=0.9989 right_x=0.3968 right_y=0.034 right_z=0.0539 right_yaw=0.1012 right_pitch=-0.2196 right_roll=-0.1797 right_gripper=0.21\nstate[joint_eff]: [-0.0068, -1.5795, 6.8991, 1.6239, -0.0366, -0.0269, -0.0171, -0.1983, -5.1077, 4.2325, 1.243, 0.1245, -0.0122, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8463, 0.6128, -0.514, -0.0139, -0.0265, 0.9989, 0.4023, 1.7069, 1.3392, -0.4732, 0.2749, 0.0284, 0.211]\nstate[eef_state]: left_x=0.2784 left_y=0.0005 left_z=0.1438 left_yaw=0.0006 left_pitch=-0.1751 left_roll=0.0031 left_gripper=0.9989 right_x=0.4463 right_y=0.1417 right_z=0.1627 right_yaw=0.1512 right_pitch=-0.2412 right_roll=-0.1882 right_gripper=0.211\nstate[joint_eff]: [-0.1983, -1.6068, 6.8855, 1.6728, -0.0562, -0.0317, -0.0122, 0.1026, -9.1419, 8.6359, 1.3797, 0.3101, 0.2955, 0.0952]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8467, 0.6128, -0.5175, -0.0139, -0.0265, 0.9989, 0.4019, 1.8561, 1.2633, -0.3393, 0.2718, 0.033, 0.2119]\nstate[eef_state]: left_x=0.2778 left_y=0.0005 left_z=0.1431 left_yaw=0.0006 left_pitch=-0.1789 left_roll=0.0031 left_gripper=0.9989 right_x=0.4536 right_y=0.1452 right_z=0.0855 right_yaw=0.1441 right_pitch=-0.3296 right_roll=-0.2066 right_gripper=0.2119\nstate[joint_eff]: [-0.0342, -1.4701, 6.8855, 1.6142, -0.0513, -0.0269, -0.0122, -0.4171, -10.4547, 6.735, 1.8242, 0.0855, -0.1294, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ff67a62777d40a0ddadc30ef18a9c365a5a23fb1ac683eb72db99ce6b1d7027",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67525c019a4cc75131f00911f62e45f705a193c8d2f8db3f82133e2270de04b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a058b770b5e868c714698b5dafca8874114caba2ac65add7ea23f9f4e10a8c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISugIKjgEIEhgCKkCwGysXSnp0LUNgk0h0kaP49fPBK+0FutQQi4X0SH4ShLkQTwKeE/akHwPoBWYngMRndKexhdnABK/vpSqYdESmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfmnzNUGEgyrsYZ+yqjlkhrpDo4aDEWjP7B3zXK74fcKpSIwe7TIdc+2FRgeJICqN/tsAOGKNPvGJy3TfpGqUHk/fW4uyCJLebrKUwtMX1wfUc+ZKlnJ9LnLYBNI+GNDzit2drnutfLidI0v9SNPutm1NzUSFydyf52h89IBrhqgK63aKdSPIsagQoAERXUqFJhJ5gNZbTre37b/iTI85fgl7CvV+IFw4Mv8NG+52RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BbHKz7iA42A2jUCT6aDfz4",
      "input": {
        "note": "The jaws are down inside the blue bowl next to the lemon; opening to release the pear.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01BbHKz7iA42A2jUCT6aDfz4",
      "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]: [-0.02, 0.8471, 0.6128, -0.5205, -0.0135, -0.0265, 0.9989, 0.4023, 1.8683, 1.2613, -0.3412, 0.2649, 0.0189, 0.9955]\nstate[eef_state]: left_x=0.2773 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1823 left_roll=0.003 left_gripper=0.9989 right_x=0.4521 right_y=0.146 right_z=0.0787 right_yaw=0.157 right_pitch=-0.3481 right_roll=-0.2143 right_gripper=0.9955\nstate[joint_eff]: [-0.1162, -1.3744, 7.0769, 1.5946, -0.0415, -0.0415, -0.0122, -0.3624, -10.6051, 6.5709, 1.3602, 0.105, 0.1197, 0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf2c326f394c8994616c7f442b92b7e1a68616f3bd56fff9f788ff543db6d232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9a6704b182fc834c073bcb4acbd4260bfdea65e0d40059097fad880f90b23f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b211e22b7a6bf43e23d066732c5ed4b2a87744a60e0a0976bde9ac73983874e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 11.16 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8463, 0.6128, -0.514, -0.0139, -0.0265, 0.9989, 0.4023, 1.7069, 1.3392, -0.4732, 0.2749, 0.0284, 0.211]\nstate[eef_state]: left_x=0.2784 left_y=0.0005 left_z=0.1438 left_yaw=0.0006 left_pitch=-0.1751 left_roll=0.0031 left_gripper=0.9989 right_x=0.4463 right_y=0.1417 right_z=0.1627 right_yaw=0.1512 right_pitch=-0.2412 right_roll=-0.1882 right_gripper=0.211\nstate[joint_eff]: [-0.1983, -1.6068, 6.8855, 1.6728, -0.0562, -0.0317, -0.0122, 0.1026, -9.1419, 8.6359, 1.3797, 0.3101, 0.2955, 0.0952]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8467, 0.6128, -0.5175, -0.0139, -0.0265, 0.9989, 0.4019, 1.8561, 1.2633, -0.3393, 0.2718, 0.033, 0.2119]\nstate[eef_state]: left_x=0.2778 left_y=0.0005 left_z=0.1431 left_yaw=0.0006 left_pitch=-0.1789 left_roll=0.0031 left_gripper=0.9989 right_x=0.4536 right_y=0.1452 right_z=0.0855 right_yaw=0.1441 right_pitch=-0.3296 right_roll=-0.2066 right_gripper=0.2119\nstate[joint_eff]: [-0.0342, -1.4701, 6.8855, 1.6142, -0.0513, -0.0269, -0.0122, -0.4171, -10.4547, 6.735, 1.8242, 0.0855, -0.1294, 0.0757]",
      "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]: [-0.02, 0.8471, 0.6128, -0.5205, -0.0135, -0.0265, 0.9989, 0.4023, 1.8683, 1.2613, -0.3412, 0.2649, 0.0189, 0.9955]\nstate[eef_state]: left_x=0.2773 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1823 left_roll=0.003 left_gripper=0.9989 right_x=0.4521 right_y=0.146 right_z=0.0787 right_yaw=0.157 right_pitch=-0.3481 right_roll=-0.2143 right_gripper=0.9955\nstate[joint_eff]: [-0.1162, -1.3744, 7.0769, 1.5946, -0.0415, -0.0415, -0.0122, -0.3624, -10.6051, 6.5709, 1.3602, 0.105, 0.1197, 0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf2c326f394c8994616c7f442b92b7e1a68616f3bd56fff9f788ff543db6d232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9a6704b182fc834c073bcb4acbd4260bfdea65e0d40059097fad880f90b23f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b211e22b7a6bf43e23d066732c5ed4b2a87744a60e0a0976bde9ac73983874e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VoUT5rRVJUv83RJJ11U6e2",
      "input": {
        "note": "Pear released into the bowl. Now moving the right arm across to hover over the remaining dark fruit sitting on the table to the left, near the white bowl.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.33,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01VoUT5rRVJUv83RJJ11U6e2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0269, 0.9989, 1.0725, 1.8599, 1.5681, -0.8997, 0.5621, 0.6231, 0.9965]\nstate[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0005 left_pitch=-0.1827 left_roll=0.0027 left_gripper=0.9989 right_x=0.2843 right_y=0.333 right_z=0.1482 right_yaw=0.2092 right_pitch=-0.3484 right_roll=-0.1973 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -1.4838, 7.0359, 1.5849, -0.0317, -0.0562, -0.0122, 0.1846, -8.5949, 7.7607, 0.6618, 0.398, 0.1245, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:503a93406ddc35230cc7302400ac84ae8822580e7436fd86784330f278aed712",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8e18cdc0062ed5265e6ee702b2ab0a5936f5fd8190fb6ebe949bb3ac2c02f3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b88f441b97c771830207ad55a21df1453cc1a6532396b8b2da22e6160594adec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 8.079 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8467, 0.6128, -0.5175, -0.0139, -0.0265, 0.9989, 0.4019, 1.8561, 1.2633, -0.3393, 0.2718, 0.033, 0.2119]\nstate[eef_state]: left_x=0.2778 left_y=0.0005 left_z=0.1431 left_yaw=0.0006 left_pitch=-0.1789 left_roll=0.0031 left_gripper=0.9989 right_x=0.4536 right_y=0.1452 right_z=0.0855 right_yaw=0.1441 right_pitch=-0.3296 right_roll=-0.2066 right_gripper=0.2119\nstate[joint_eff]: [-0.0342, -1.4701, 6.8855, 1.6142, -0.0513, -0.0269, -0.0122, -0.4171, -10.4547, 6.735, 1.8242, 0.0855, -0.1294, 0.0757]",
      "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]: [-0.02, 0.8471, 0.6128, -0.5205, -0.0135, -0.0265, 0.9989, 0.4023, 1.8683, 1.2613, -0.3412, 0.2649, 0.0189, 0.9955]\nstate[eef_state]: left_x=0.2773 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1823 left_roll=0.003 left_gripper=0.9989 right_x=0.4521 right_y=0.146 right_z=0.0787 right_yaw=0.157 right_pitch=-0.3481 right_roll=-0.2143 right_gripper=0.9955\nstate[joint_eff]: [-0.1162, -1.3744, 7.0769, 1.5946, -0.0415, -0.0415, -0.0122, -0.3624, -10.6051, 6.5709, 1.3602, 0.105, 0.1197, 0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0269, 0.9989, 1.0725, 1.8599, 1.5681, -0.8997, 0.5621, 0.6231, 0.9965]\nstate[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0005 left_pitch=-0.1827 left_roll=0.0027 left_gripper=0.9989 right_x=0.2843 right_y=0.333 right_z=0.1482 right_yaw=0.2092 right_pitch=-0.3484 right_roll=-0.1973 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -1.4838, 7.0359, 1.5849, -0.0317, -0.0562, -0.0122, 0.1846, -8.5949, 7.7607, 0.6618, 0.398, 0.1245, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:503a93406ddc35230cc7302400ac84ae8822580e7436fd86784330f278aed712",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8e18cdc0062ed5265e6ee702b2ab0a5936f5fd8190fb6ebe949bb3ac2c02f3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b88f441b97c771830207ad55a21df1453cc1a6532396b8b2da22e6160594adec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GU3U2GBcv3phQL9uUH3zqf",
      "input": {
        "note": "Wrist view shows a dark plum to the left and a yellow-green fruit centred on the jaw column; advancing and descending onto the centred fruit.",
        "targets": {
          "right_x": 0.32,
          "right_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01GU3U2GBcv3phQL9uUH3zqf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0265, 0.9989, 0.9977, 1.9774, 1.3834, -0.5877, 0.5335, 0.5549, 0.9965]\nstate[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1827 left_roll=0.003 left_gripper=0.9989 right_x=0.3139 right_y=0.3274 right_z=0.0617 right_yaw=0.1932 right_pitch=-0.3691 right_roll=-0.2143 right_gripper=0.9965\nstate[joint_eff]: [0.1026, -1.347, 6.8855, 1.5409, -0.0317, -0.0415, -0.0122, -0.5675, -9.5385, 5.7094, 1.0183, 0.2222, -0.1734, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aad40f1f3923d2a82413fdfc81be557aa33b5ef11bc22f3a24227ef401a6015",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9eeadd65da04adcb4da6f54550e01e634c327b7e7bcf5d0feee9f8f1ea5836ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3058a6d84c3bd3d2908071eb99c6e26683be7072aeca265582404c68b078ef6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 11.06 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5205, -0.0135, -0.0265, 0.9989, 0.4023, 1.8683, 1.2613, -0.3412, 0.2649, 0.0189, 0.9955]\nstate[eef_state]: left_x=0.2773 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1823 left_roll=0.003 left_gripper=0.9989 right_x=0.4521 right_y=0.146 right_z=0.0787 right_yaw=0.157 right_pitch=-0.3481 right_roll=-0.2143 right_gripper=0.9955\nstate[joint_eff]: [-0.1162, -1.3744, 7.0769, 1.5946, -0.0415, -0.0415, -0.0122, -0.3624, -10.6051, 6.5709, 1.3602, 0.105, 0.1197, 0.022]\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]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0269, 0.9989, 1.0725, 1.8599, 1.5681, -0.8997, 0.5621, 0.6231, 0.9965]\nstate[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0005 left_pitch=-0.1827 left_roll=0.0027 left_gripper=0.9989 right_x=0.2843 right_y=0.333 right_z=0.1482 right_yaw=0.2092 right_pitch=-0.3484 right_roll=-0.1973 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -1.4838, 7.0359, 1.5849, -0.0317, -0.0562, -0.0122, 0.1846, -8.5949, 7.7607, 0.6618, 0.398, 0.1245, 0.0904]",
      "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]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0265, 0.9989, 0.9977, 1.9774, 1.3834, -0.5877, 0.5335, 0.5549, 0.9965]\nstate[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1827 left_roll=0.003 left_gripper=0.9989 right_x=0.3139 right_y=0.3274 right_z=0.0617 right_yaw=0.1932 right_pitch=-0.3691 right_roll=-0.2143 right_gripper=0.9965\nstate[joint_eff]: [0.1026, -1.347, 6.8855, 1.5409, -0.0317, -0.0415, -0.0122, -0.5675, -9.5385, 5.7094, 1.0183, 0.2222, -0.1734, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aad40f1f3923d2a82413fdfc81be557aa33b5ef11bc22f3a24227ef401a6015",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9eeadd65da04adcb4da6f54550e01e634c327b7e7bcf5d0feee9f8f1ea5836ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3058a6d84c3bd3d2908071eb99c6e26683be7072aeca265582404c68b078ef6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwQkKjgEIEhgCKkADJooKF/wgQ7AufXhT0D8FKAbzfZvCOMzGBLvpu8fYQ5vLQocnYzgO/Uf45pE0npZ8OOYXx4GfvidPdqVbH0k+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZmozNUGEgxPNwOfo9AaHxTLZEQaDPatEh7ZTwckTJyGmSIwU+3+9+NmM4x6AiTczKV17DBnlYBsyTAg9CYxwtd+vUUlN+o+5lORAFII5h7vrbMIKt8Hn6xrZnC2iehLGjgjZmFcHjRAQmxxfmQHS+iMz+IF1nfDHJ3xCXnSe92z7Hb9cHaXdSjynACsyE4a7c89/HyF18r/mvBb+jpZ9IJOMu0NZVwj/oAKFHmBo13VoCTIPXpHTL9ggTBW5pcbsdHaxVMYoBnbd+bMy3xEdAX/1aE5SCjXZSuKnnnhNGXx8ej3NhxP3vGZbbsKgXkr/bmRZ2vMHC2Xv8V46EycB+6LsUT8VYs/XkCEVsrQtkDY+L//hG0LVqcQP7an8p2btn0Jlju43xr2r7NTuHhW1lUgqzSf866zBYLtwXviqN+tC1kE593IXZGXdmXLqONm7tg9fbKbOoIbqqrCHH1u/Rx1AfB01EHPRe6jKcUp/q2wsT34umycnfmfuxginfx0fu3TKdYbPxYkSvxCTSC7fxB8RaeCquoC6lAbITo/5Omqw9NimpTOkukHQjWlzJlYZEI7tFbfq1jI9Xb6BiWEA71cEUNQuRuzxibxR+bgoUa2lSekgUuoJgDpNBL/H4SANVjk74F7xCGbVu4MDs4+QUFNTB2G40HwXDaOfMtApEjt1XJ05nukZGZkrTKOQUQOYl1Z6+PK985pJGPtGThdAiWKqOGzL72tA16KOcLNw0PDqAE4FiFnKlg6KPuy7+Hb8BYD/xZe7055nGZcEjJKsO1uZppE/ydaxuOHnpD19AnWXCgAwFNL5PS434UKKrNSrjAA9cQUO7V5gzxxq91bHF0WXkuuvrHqOvRAJF5VWaIQ7Amcc5262uunynSEB0g6YL00fM2bZ1LckUgU3hVVOvZt1E7A/uGtO10pJ694uJzuQnp6uIrkY5uEs/Ame8PdFjRLfk6DANS2ruEf2VmipBwiEE7gYghIzBkZRZsLzWj7rbcuc8m9AN2BdbxFs84E7oyq5RsUVBaxmIPvHizY/PSzyYp8yN9Ab31Vg3iXsT5glVyFB18od7uk8BwfYoCuzFGpEVOPdvAguM7piLIONFKEhXM9Xicp8aSnNQr9e+CXJTWQqiJfBxHH0/6n6SPhbRrCEpy4Mm/KNHyXc/fgtiAtyFYDEeTn4Yu/LUBTPSZg4O3YJu6elb3JSZth7FeBbG+7pPoqRafpaxXk7YoDu9FziQG4htlUVTNRt0rLW53mYnNoOl5Iz7mc8ARYX/ZSxVZLAOEQntdf9kNtd90SOjq3h9kopsUsu+ifjH2qYEGc/nx3Vr/TYHKcOUNICtK+TnDPGsenosyZkcMZfIExGmzWo9paZT8TUgYH0JhlJZITolz8Zo9xBFr7Xm+uEmOy2n+hRqdEwkQKA1Kzim5I6hfa6wI8GhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DifuY45qUDTcChutFCjUe4",
      "input": {
        "note": "Descending pushed both fruits out of the wrist frame (they're beside the fingertips now); lifting back up to regain the view and re-aim.",
        "targets": {
          "right_x": 0.3,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01DifuY45qUDTcChutFCjUe4",
      "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]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0265, 0.9989, 1.026, 1.9293, 1.5536, -0.8364, 0.5236, 0.5617, 0.9965]\nstate[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1827 left_roll=0.003 left_gripper=0.9989 right_x=0.3009 right_y=0.333 right_z=0.1164 right_yaw=0.2149 right_pitch=-0.3961 right_roll=-0.2268 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.4154, 6.8855, 1.5311, -0.0073, -0.0073, -0.0122, 0.335, -12.8205, 7.706, 0.8474, 0.4567, 0.2466, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8760e6330a2f54fe1b5d9ab4b935fff9bb839508a33ec51ce89661c4e568de5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb2861af162e336913cbd2f61f959219bc48e92df9dbfa1e35615859deaf5428",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad804916da1b12ff6ba549800289668386146e9b20b5a88a0db7bd95cddb229f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 8.008 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0269, 0.9989, 1.0725, 1.8599, 1.5681, -0.8997, 0.5621, 0.6231, 0.9965]\nstate[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0005 left_pitch=-0.1827 left_roll=0.0027 left_gripper=0.9989 right_x=0.2843 right_y=0.333 right_z=0.1482 right_yaw=0.2092 right_pitch=-0.3484 right_roll=-0.1973 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -1.4838, 7.0359, 1.5849, -0.0317, -0.0562, -0.0122, 0.1846, -8.5949, 7.7607, 0.6618, 0.398, 0.1245, 0.0904]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0265, 0.9989, 0.9977, 1.9774, 1.3834, -0.5877, 0.5335, 0.5549, 0.9965]\nstate[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1827 left_roll=0.003 left_gripper=0.9989 right_x=0.3139 right_y=0.3274 right_z=0.0617 right_yaw=0.1932 right_pitch=-0.3691 right_roll=-0.2143 right_gripper=0.9965\nstate[joint_eff]: [0.1026, -1.347, 6.8855, 1.5409, -0.0317, -0.0415, -0.0122, -0.5675, -9.5385, 5.7094, 1.0183, 0.2222, -0.1734, -0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0265, 0.9989, 1.026, 1.9293, 1.5536, -0.8364, 0.5236, 0.5617, 0.9965]\nstate[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1827 left_roll=0.003 left_gripper=0.9989 right_x=0.3009 right_y=0.333 right_z=0.1164 right_yaw=0.2149 right_pitch=-0.3961 right_roll=-0.2268 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.4154, 6.8855, 1.5311, -0.0073, -0.0073, -0.0122, 0.335, -12.8205, 7.706, 0.8474, 0.4567, 0.2466, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8760e6330a2f54fe1b5d9ab4b935fff9bb839508a33ec51ce89661c4e568de5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb2861af162e336913cbd2f61f959219bc48e92df9dbfa1e35615859deaf5428",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad804916da1b12ff6ba549800289668386146e9b20b5a88a0db7bd95cddb229f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011LiXi9QUbERdMLqePXLsHr",
      "input": {
        "note": "The yellow fruit sits to my right-front (top view puts it just left of the blue bowl); moving over it and down to grasp height.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.17,
          "right_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_011LiXi9QUbERdMLqePXLsHr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0269, 0.9989, 0.5545, 1.7641, 1.0332, -0.3588, 0.3214, 0.1204, 0.9965]\nstate[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0005 left_pitch=-0.1827 left_roll=0.0027 left_gripper=0.9989 right_x=0.3702 right_y=0.1679 right_z=0.0416 right_yaw=0.1834 right_pitch=-0.4557 right_roll=-0.2482 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.4838, 7.1179, 1.619, -0.0317, -0.0317, -0.0171, -0.1846, -10.7556, 5.5863, 1.4725, 0.1783, 0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:992bed54ea77d033a6ba106051c865ecb668ac7bb9b3d3b3e555fea095ad7b39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16a169ef236c458afe7bef2da888278657f1964a6ead10b717c256da1874e28a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:95ac3957f9d15fa502e80317f45072ad08060af61278ca62f1b42d6c2b83f4bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 13.94 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0265, 0.9989, 0.9977, 1.9774, 1.3834, -0.5877, 0.5335, 0.5549, 0.9965]\nstate[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1827 left_roll=0.003 left_gripper=0.9989 right_x=0.3139 right_y=0.3274 right_z=0.0617 right_yaw=0.1932 right_pitch=-0.3691 right_roll=-0.2143 right_gripper=0.9965\nstate[joint_eff]: [0.1026, -1.347, 6.8855, 1.5409, -0.0317, -0.0415, -0.0122, -0.5675, -9.5385, 5.7094, 1.0183, 0.2222, -0.1734, -0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0265, 0.9989, 1.026, 1.9293, 1.5536, -0.8364, 0.5236, 0.5617, 0.9965]\nstate[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1827 left_roll=0.003 left_gripper=0.9989 right_x=0.3009 right_y=0.333 right_z=0.1164 right_yaw=0.2149 right_pitch=-0.3961 right_roll=-0.2268 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.4154, 6.8855, 1.5311, -0.0073, -0.0073, -0.0122, 0.335, -12.8205, 7.706, 0.8474, 0.4567, 0.2466, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0269, 0.9989, 0.5545, 1.7641, 1.0332, -0.3588, 0.3214, 0.1204, 0.9965]\nstate[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0005 left_pitch=-0.1827 left_roll=0.0027 left_gripper=0.9989 right_x=0.3702 right_y=0.1679 right_z=0.0416 right_yaw=0.1834 right_pitch=-0.4557 right_roll=-0.2482 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.4838, 7.1179, 1.619, -0.0317, -0.0317, -0.0171, -0.1846, -10.7556, 5.5863, 1.4725, 0.1783, 0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:992bed54ea77d033a6ba106051c865ecb668ac7bb9b3d3b3e555fea095ad7b39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16a169ef236c458afe7bef2da888278657f1964a6ead10b717c256da1874e28a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95ac3957f9d15fa502e80317f45072ad08060af61278ca62f1b42d6c2b83f4bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvggKjgEIEhgCKkBLWZkB7TdHM7Ja66ijEYjTFEaJCRFpgFEMQE9yJr5CjEKGaT1kohx/+2PsWel4R5gb7CF0FLo+FxbKs/HqagUWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa6ozNUGEgwrLBm+z8yrPUWmHVcaDISVaYxGLwHBUyAqJSIwrnbJ0BnmokI+omxH6NwocP9CYQsvRYMhix1OLtVrMWrZdNn7ExJ+/HhCAzOULxZbKtwGfR7zObNiWa8DVSv1z1N2jehWCx+l1bPmxJG+gRbQpnr43vxysQeTW+mVXXLEVx9CvAwWRXsWEL2bCcK3ll02DpNSphAG/TkLLuogAG+ngkHF9agZamdl9e1ENnsOqLAALOpRkWDEMJYmYnQGnZiCM6sBa/nEpy5rKAzOIAksgyE/0jq5vCDdt+ImyuAtZBOQ0PeIb/wolanQ1sPcDFy3SoQ5VbRj0L6DRBNLi0R8F79UWxd3kRD1+TSZRle/kojfMhcTfYmOVhnzss4is532RT/YlYb1I77VI+/Hwhoz4mSlAnptAd9XZV5fsisqGUhSlEIueKXB7WIG4IxX+oISY+a6zg65XrWAZp91eB5YtvzcfzRsp7n2S7K4UKZrTEzKOmOzGhOuomP9BKdKvs4xwl1EcianDwUy0kZsHRxgejyHLCVj05KYtnOUbnzBr3zKdkIVYV6ZfAv3cX5Ay+9dhaDi52TUd4KcP08Qff3Z1xGetZ8xl0qFeYE9GtAmde9A8hZHj8AMtlFGvlS1sQrCNgzBSSbLUDABcrWDdKuA/0LJ16bsoJSHoXua88ZEt4AyUj5TddRCaXjgoB3XJJunOd3EQD/VsfYJdiPF2Zp124vRz85VPcGK6PSdsbidSms+mG9+8NaLKbAxTFGz7qNKZPX7a0UU6OlyJWsZHBrG5ZqfQE2oM69/ZUTk7rKwdKasFW3dibCvR+KeQPnQZXowjSQ8CGFq1qgokpplSGoSACxcGurkcqErjsiUtupW00Rac2y5indbJlUHYzdn9aRcVtPZ2sIvZJJQSIBH9j93M4OhHZvLw7i1VpDwmLxA2wBOZABNKQZPkGh9ko6g4u5Zc6m160QOXfnHvyTr9kWLKMnYtYqbNT/fj2adjSOTVtIfMK4XkxLr/Yyj74GufKPCqF+f7TXeOpolh0QhOWOmyRPTmdCFM7ix5PBLWHhQh2b+EjpxjOkc2BO64aBKBdU+NW64p5mYwc2bPo6H48V99xtnASwVkMfO4RbYnWwvK88MRviRYYt4HVG7A7Gy2E0ssCYLUh/eZzH6a0ZBvIijXjo4IT72B7icq3QzoG8i6AO04ShJ27DoQEOe2C5emB6NZsrT+CWNnLaYj3L5X+FP7G5hvly57Uv59+GaU8gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EbbGic7yfd7pV66hTGXWrZ",
      "input": {
        "note": "The yellow fruit is at the bottom of the wrist view, slightly right of the jaw centre; shifting 2 cm right and 1.5 cm back so the jaws straddle it.",
        "targets": {
          "right_x": 0.365,
          "right_y": 0.148
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01EbbGic7yfd7pV66hTGXWrZ",
      "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]: [-0.02, 0.8471, 0.6128, -0.5205, -0.0135, -0.0265, 0.9989, 0.5259, 1.7462, 0.9939, -0.3149, 0.2974, 0.0849, 0.9965]\nstate[eef_state]: left_x=0.2773 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1823 left_roll=0.003 left_gripper=0.9989 right_x=0.3712 right_y=0.1598 right_z=0.0392 right_yaw=0.2002 right_pitch=-0.4465 right_roll=-0.2384 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.265, 6.9128, 1.6239, -0.0366, -0.0562, -0.0122, -0.8274, -9.9897, 5.6547, 1.1795, 0.149, -0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7fd7d93b8f7834816b2790f74b2ceab5cd0b4c5c9341c75c452bb971da7092f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67ecc281138dc7b086dae7b9737357b577fa5a3945f34c9b67f9cea8ff6ed988",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:323379bc24fe72f2c2d474881806ce3c69a6cb7c8d9af8b3e2f661a63f2597e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 6.518 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0265, 0.9989, 1.026, 1.9293, 1.5536, -0.8364, 0.5236, 0.5617, 0.9965]\nstate[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1827 left_roll=0.003 left_gripper=0.9989 right_x=0.3009 right_y=0.333 right_z=0.1164 right_yaw=0.2149 right_pitch=-0.3961 right_roll=-0.2268 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.4154, 6.8855, 1.5311, -0.0073, -0.0073, -0.0122, 0.335, -12.8205, 7.706, 0.8474, 0.4567, 0.2466, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0269, 0.9989, 0.5545, 1.7641, 1.0332, -0.3588, 0.3214, 0.1204, 0.9965]\nstate[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0005 left_pitch=-0.1827 left_roll=0.0027 left_gripper=0.9989 right_x=0.3702 right_y=0.1679 right_z=0.0416 right_yaw=0.1834 right_pitch=-0.4557 right_roll=-0.2482 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.4838, 7.1179, 1.619, -0.0317, -0.0317, -0.0171, -0.1846, -10.7556, 5.5863, 1.4725, 0.1783, 0.0024, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5205, -0.0135, -0.0265, 0.9989, 0.5259, 1.7462, 0.9939, -0.3149, 0.2974, 0.0849, 0.9965]\nstate[eef_state]: left_x=0.2773 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1823 left_roll=0.003 left_gripper=0.9989 right_x=0.3712 right_y=0.1598 right_z=0.0392 right_yaw=0.2002 right_pitch=-0.4465 right_roll=-0.2384 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.265, 6.9128, 1.6239, -0.0366, -0.0562, -0.0122, -0.8274, -9.9897, 5.6547, 1.1795, 0.149, -0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7fd7d93b8f7834816b2790f74b2ceab5cd0b4c5c9341c75c452bb971da7092f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67ecc281138dc7b086dae7b9737357b577fa5a3945f34c9b67f9cea8ff6ed988",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:323379bc24fe72f2c2d474881806ce3c69a6cb7c8d9af8b3e2f661a63f2597e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RvNF8sE3XNa97rrGHFn3Wr",
      "input": {
        "note": "The pear drifted toward the right jaw rather than centring, so image-left/right maps opposite to what I assumed here; shifting y the other way to bracket it.",
        "targets": {
          "right_y": 0.185
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01RvNF8sE3XNa97rrGHFn3Wr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0265, 0.9989, 0.5076, 1.7309, 0.9695, -0.3374, 0.2974, 0.0776, 0.9965]\nstate[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1827 left_roll=0.003 left_gripper=0.9989 right_x=0.3638 right_y=0.1472 right_z=0.0343 right_yaw=0.1811 right_pitch=-0.4774 right_roll=-0.2539 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -1.4701, 6.9128, 1.5702, -0.0171, -0.0366, -0.0122, 0.0752, -9.5658, 5.7778, 1.0965, 0.1294, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffd9e2c0f13f4d1a8d4db871372b48e2ba4c87df79c5b68afa0840f11c0675e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d9841ec9cb69fa0c5960c1d1f96b5aa2aaf302120f1ba78a735adcfdb58680e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c2e1ec3a59e10bb42c168489caceab6b144e85574ee5a2c7f266ad7bc61f3ebc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 19.61 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0269, 0.9989, 0.5545, 1.7641, 1.0332, -0.3588, 0.3214, 0.1204, 0.9965]\nstate[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0005 left_pitch=-0.1827 left_roll=0.0027 left_gripper=0.9989 right_x=0.3702 right_y=0.1679 right_z=0.0416 right_yaw=0.1834 right_pitch=-0.4557 right_roll=-0.2482 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.4838, 7.1179, 1.619, -0.0317, -0.0317, -0.0171, -0.1846, -10.7556, 5.5863, 1.4725, 0.1783, 0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5205, -0.0135, -0.0265, 0.9989, 0.5259, 1.7462, 0.9939, -0.3149, 0.2974, 0.0849, 0.9965]\nstate[eef_state]: left_x=0.2773 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1823 left_roll=0.003 left_gripper=0.9989 right_x=0.3712 right_y=0.1598 right_z=0.0392 right_yaw=0.2002 right_pitch=-0.4465 right_roll=-0.2384 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.265, 6.9128, 1.6239, -0.0366, -0.0562, -0.0122, -0.8274, -9.9897, 5.6547, 1.1795, 0.149, -0.1001, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6128, -0.5209, -0.0135, -0.0265, 0.9989, 0.5076, 1.7309, 0.9695, -0.3374, 0.2974, 0.0776, 0.9965]\nstate[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1424 left_yaw=0.0003 left_pitch=-0.1827 left_roll=0.003 left_gripper=0.9989 right_x=0.3638 right_y=0.1472 right_z=0.0343 right_yaw=0.1811 right_pitch=-0.4774 right_roll=-0.2539 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -1.4701, 6.9128, 1.5702, -0.0171, -0.0366, -0.0122, 0.0752, -9.5658, 5.7778, 1.0965, 0.1294, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffd9e2c0f13f4d1a8d4db871372b48e2ba4c87df79c5b68afa0840f11c0675e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d9841ec9cb69fa0c5960c1d1f96b5aa2aaf302120f1ba78a735adcfdb58680e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2e1ec3a59e10bb42c168489caceab6b144e85574ee5a2c7f266ad7bc61f3ebc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzwcKjgEIEhgCKkBSHoVHQKPWHf1m/dU+vDAvd3WArYyj5SgL/HOC5XqKxOVQJHrfz/+g83vYrzU4JYIMHqV93qOK5E4wHRJbe6iCMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcOozNUGEgzKXdBTiWI6MrnwgOkaDF7ABnvT5sXb2BmYRCIwoz0DKUevRWl76sLRF9pyIa0vFNauJYDSf0EtTCf7cLUtoLjwpiZin2gOx2qGF9uIKu0FVoCGutDY5boNjy5IiKDd8v6Y+AnYIhshic3ot//LdmwFQ7l8L9UL1zFETvdvulDHHr0CiXBteCSKC94zu27Hc+01hdQGaBHIazDuNKYR96t6cJP6QFdJcdfXZenByVTSO03AkjgOIjjW/SKCkWZ+ZoPIW0bK1xZRmXw5LxplAaPNQjMRyjhut4thYfedvLPjdzuh1a7lE2s21aM0RTztP6mnJScVomLvK3pEMJ+e0Q1x9Crqs10PUiwveXYt6unTU/T/w/PDb8DjAj2KCDOwacj8TUS/F5CYZ3EFP7yL1XOLpMTgsoPyoPDgDijzyiMelnFklnPf596gsA9ZxMv/pGbKH2rxrTqzoDTtRo0BftiTGBkrsm1O3kFIyxhxsKP87FXlHmR2N8QaibNeQufU1Y+5RNoUalMXbJS4HyNHBx2RKtUR/VBoBMEr86njtVyBGxtiVwZQI+nTGJvW/E8CWpzUQ6UdnkcT/s/TvowUXghRFEPSrh2iurcCxnumaNQaBREQuSRoBcBwah196N5fWUVKIhDXI+S2RAqva27vJyKtNt/LtzpcVJZ3SVPwle2BucUGggW3DIyqzyGTV+FbGCORSuU34CTRQwWf9+QP6UgVkIlcxUD4E0YXUT/zt+qCuu4ThbZhHNdcD6IrARUVKb2YI9j9LAYCYkAam65mJPzhdXCaQmWRUDPmS4QzkiCe429/wGKdiFYUjtCbg2lP3XfQvqtsbUMnx57wodfNNzZAC4xawjSoCtlOJYeoqPB5Q5RPG7Oakf7sESHxubAhuIsQrfFoPjr5mYAAd1X1AcEEGF1tTZN+sXf6WxlLMj2Gjc3mUlAZO7m50UBqve4syS2hjDEE4oPEGwA57Re0YahMCBORTzY9HPLJ32MR/RzaRv+e5EpeaP25JD2aUdBInw2U/ku7QjXmxI0uGW/Rs2dlmRZpYgscM4KY6xmCl8gnXcPsO7dWsKcbWcivm0FP1zWwRX6XBjT+XVvZ5vcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011sdk9DkeehhJuwm84qtHpj",
      "input": {
        "note": "The pear is right at the jaws; closing now to try to catch it before I run out of budget.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011sdk9DkeehhJuwm84qtHpj",
      "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]: [-0.02, 0.8474, 0.6128, -0.5209, -0.0135, -0.0265, 0.9989, 0.5076, 1.7313, 0.9691, -0.3408, 0.2955, 0.0696, 0.0105]\nstate[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1423 left_yaw=0.0003 left_pitch=-0.1831 left_roll=0.003 left_gripper=0.9989 right_x=0.3629 right_y=0.1471 right_z=0.0336 right_yaw=0.1869 right_pitch=-0.4831 right_roll=-0.2581 right_gripper=0.0105\nstate[joint_eff]: [-0.1026, -1.4017, 6.8855, 1.5653, -0.0122, -0.0317, -0.0122, -0.1709, -7.9795, 5.9966, 1.1404, 0.1783, 0.0562, 0.823]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:721f1ec0ca0a05d6f91542cad75628ea720952db0db7cf1f87e7912d106fb794",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1a45dbf310686418c4d4e9c706df693bc96bb1e243d3672bb416e4919789d86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a06b9279cfa844f4fa2ed2f0c583d5a53b0737e388b255263349d41f0c1c011",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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