adhoc

completed
2026-09-22T18:40:17.343196+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-5-5
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
270.9 s
total steps
320
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe right wrist cam shows the pear just ahead of the jaws, the blue bowl ahead-left, and the lemon further left. I'm moving the right arm a little forward and lower, above the pear.
move_to
right_x0.3300right_y0.0000right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8005, 0.6136, -0.3832, -0.0154, -0.0299, 0.9992, -0.0227, 0.8005, 0.6189, -0.3874, -0.0227, -0.033, 0.9994] state[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1819 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9992 right_x=0.296 right_y=0.0009 right_z=0.1835 right_yaw=-0.0002 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9994 state[joint_eff]: [-0.5675, -1.812, 9.7162, 1.8339, -0.1099, 0.1343, -0.1001, -0.2256, -1.5385, 9.1556, 1.8242, -0.022, 0.1832, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.0, "right_z": 0.12, "right_gripper": 1.0}, "note": "The right wrist cam shows the pear just ahead of the jaws, the blue bowl ahead-left, and the lemon further left. I'm moving the right arm a little forward and lower, above the pear."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent noteThe pear sits right in front of the jaws, slightly to the left. I'm edging forward and a bit left, then going down to grip the pear's body.
move_to
right_x0.3450right_y0.0100right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.387, -0.0151, -0.0311, 0.9991, -0.0227, 1.0416, 0.4446, -0.0105, -0.0231, -0.0372, 0.9994] state[eef_state]: left_x=0.2955 left_y=-0.0002 left_z=0.1805 left_yaw=-0.0001 left_pitch=-0.0061 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3258 right_y=0.0003 right_z=0.1111 right_yaw=0.0024 right_pitch=-0.0385 right_roll=-0.002 right_gripper=0.9994 state[joint_eff]: [-0.1709, -1.4017, 7.1043, 1.7607, -0.0855, -0.0562, -0.022, -0.3897, -3.2205, 6.8718, 2.0684, -0.0464, 0.0024, -0.0708] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.345, "right_y": 0.01, "right_z": 0.03}, "note": "The pear sits right in front of the jaws, slightly to the left. I'm edging forward and a bit left, then going down to grip the pear's body."})
tool
executing move_to over 6 steps (0.6s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
Pear is between the jaws. Close.
agent noteThe pear fills the space between the jaws. 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]: [-0.0219, 0.8062, 0.6132, -0.4004, -0.0151, -0.0311, 0.9991, 0.0265, 1.4784, 0.2893, 0.5354, 0.0067, -0.0254, 0.9994] state[eef_state]: left_x=0.294 left_y=-0.0002 left_z=0.1766 left_yaw=-0.0001 left_pitch=-0.0236 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3384 right_y=0.0114 right_z=0.02 right_yaw=0.0201 right_pitch=-0.0848 right_roll=-0.0096 right_gripper=0.9994 state[joint_eff]: [0.0342, -1.1556, 7.0222, 1.9414, -0.0659, -0.0317, -0.0171, 0.1162, -5.053, 5.053, 2.0342, 0.105, 0.1587, -0.0171] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
Pear is between the jaws. Close.
move_to({"targets": {"right_gripper": 0.0}, "note": "The pear fills the space between the jaws. Closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe gripper stopped at 0.69, so it has the pear. Lifting it clear of the table and the rim of the blue bowl.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.408, -0.0151, -0.0315, 0.9991, 0.0261, 1.4784, 0.289, 0.5331, 0.0036, -0.0265, 0.6896] state[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1752 left_yaw=0.0001 left_pitch=-0.0309 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3379 right_y=0.0118 right_z=0.0194 right_yaw=0.0229 right_pitch=-0.0875 right_roll=-0.0087 right_gripper=0.6896 state[joint_eff]: [-0.2393, -1.2786, 7.0769, 1.79, -0.0464, -0.0269, -0.0122, -0.0889, -4.588, 4.7795, 1.6777, 0.0073, -0.0708, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "The gripper stopped at 0.69, so it has the pear. Lifting it clear of the table and the rim of the blue bowl."})
tool
executing move_to over 12 steps (1.2s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe pear is lifted and the blue bowl is forward-left in both views. Carrying the pear to a spot above the bowl.
move_to
right_x0.4100right_y0.0900right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4202, -0.0147, -0.0338, 0.9991, 0.0261, 1.0725, 0.82, -0.4767, 0.0036, -0.0341, 0.69] state[eef_state]: left_x=0.2913 left_y=-0.0002 left_z=0.1722 left_yaw=0.001 left_pitch=-0.045 left_roll=-0.0024 left_gripper=0.9991 right_x=0.3299 right_y=0.0116 right_z=0.1765 right_yaw=0.0271 right_pitch=-0.1604 right_roll=-0.0147 right_gripper=0.69 state[joint_eff]: [-0.1573, -1.4701, 7.0085, 1.7998, -0.022, -0.0513, -0.0122, -0.2667, -4.3692, 9.4154, 1.8681, -0.0024, -0.0024, 0.823] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.09, "right_z": 0.2}, "note": "The pear is lifted and the blue bowl is forward-left in both views. Carrying the pear to a spot above the bowl."})
tool
executing move_to over 7 steps (0.7s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe top view shows the pear roughly over the right half of the blue bowl. Moving a bit left and down so it drops into the middle of the bowl.
move_to
right_y0.1100right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.424, -0.0147, -0.0338, 0.9991, 0.2916, 1.459, 1.1423, -0.514, 0.1802, 0.1173, 0.6899] state[eef_state]: left_x=0.291 left_y=-0.0002 left_z=0.1702 left_yaw=0.001 left_pitch=-0.0534 left_roll=-0.0022 left_gripper=0.9991 right_x=0.3975 right_y=0.09 right_z=0.1752 right_yaw=0.0554 right_pitch=-0.2447 right_roll=-0.0419 right_gripper=0.6899 state[joint_eff]: [-0.212, -1.5111, 7.0632, 1.7363, -0.0269, -0.0708, -0.0122, -0.3077, -7.2547, 9.3607, 1.8486, 0.2564, 0.2222, 0.8181] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.11, "right_z": 0.13}, "note": "The top view shows the pear roughly over the right half of the blue bowl. Moving a bit left and down so it drops into the middle of the bowl."})
tool
executing move_to over 3 steps (0.3s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe pear is hanging just above the blue bowl. Opening the gripper to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0147, -0.0338, 0.9991, 0.358, 1.5208, 1.0157, -0.3855, 0.2062, 0.1432, 0.6902] state[eef_state]: left_x=0.2909 left_y=-0.0002 left_z=0.17 left_yaw=0.001 left_pitch=-0.0542 left_roll=-0.0022 left_gripper=0.9991 right_x=0.389 right_y=0.1107 right_z=0.1209 right_yaw=0.0808 right_pitch=-0.2971 right_roll=-0.0594 right_gripper=0.6902 state[joint_eff]: [-0.1026, -1.2376, 7.1726, 1.6874, -0.0171, -0.0708, -0.0122, -0.1709, -7.241, 6.4615, 1.8926, 0.2271, 0.188, 0.8278] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The pear is hanging just above the blue bowl. Opening the gripper to drop it in."})
tool
executing move_to over 4 steps (0.4s)
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 pear is now in the blue bowl. The lemon lies on its side to the left of and nearer than the bowl, so I'm moving the right arm above it.
move_to
right_x0.3100right_y0.2000right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4313, -0.0147, -0.0338, 0.9991, 0.3573, 1.5208, 1.0157, -0.363, 0.2092, 0.1501, 0.9961] state[eef_state]: left_x=0.29 left_y=-0.0002 left_z=0.1684 left_yaw=0.001 left_pitch=-0.0618 left_roll=-0.002 left_gripper=0.9991 right_x=0.3931 right_y=0.1114 right_z=0.1244 right_yaw=0.0754 right_pitch=-0.2746 right_roll=-0.0506 right_gripper=0.9961 state[joint_eff]: [-0.2393, -1.388, 7.0085, 1.7802, -0.022, -0.0513, -0.0171, -0.4171, -7.0632, 6.5026, 1.6532, 0.1587, 0.1294, 0.022] 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": 0.31, "right_y": 0.2, "right_z": 0.12}, "note": "The pear is now in the blue bowl. The lemon lies on its side to the left of and nearer than the bowl, so I'm moving the right arm above it."})
tool
executing move_to over 8 steps (0.8s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe arm stopped short of its target; the lemon is still at the lower left of the right wrist view. Continuing left and slightly back toward the lemon.
move_to
right_x0.3000right_y0.2100right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.815, 0.6132, -0.4343, -0.0147, -0.0338, 0.9991, 0.5526, 1.4864, 0.9691, -0.4957, 0.4, 0.3386, 0.9966] state[eef_state]: left_x=0.2896 left_y=-0.0002 left_z=0.1674 left_yaw=0.001 left_pitch=-0.0664 left_roll=-0.0019 left_gripper=0.9991 right_x=0.3437 right_y=0.1353 right_z=0.1087 right_yaw=-0.012 right_pitch=-0.3348 right_roll=-0.1335 right_gripper=0.9966 state[joint_eff]: [0.1026, -1.0872, 7.1863, 1.746, -0.022, -0.0659, -0.0122, 0.1026, -7.9521, 6.147, 1.3455, 0.2759, 0.1148, 0.0366] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.21, "right_z": 0.1}, "note": "The arm stopped short of its target; the lemon is still at the lower left of the right wrist view. Continuing left and slightly back toward the lemon."})
tool
executing move_to over 7 steps (0.7s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe lemon is still to the left in the right wrist view, and the tool has drifted into some pitch and roll. Moving further left while levelling the tool orientation.
move_to
right_x0.3100right_y0.2300right_z0.1000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4419, -0.0147, -0.0338, 0.9991, 0.6392, 1.5238, 0.9829, -0.543, 0.4366, 0.4263, 0.9966] state[eef_state]: left_x=0.2886 left_y=-0.0001 left_z=0.1653 left_yaw=0.001 left_pitch=-0.0763 left_roll=-0.0017 left_gripper=0.9991 right_x=0.3283 right_y=0.1554 right_z=0.0977 right_yaw=-0.018 right_pitch=-0.3684 right_roll=-0.1478 right_gripper=0.9966 state[joint_eff]: [-0.0615, -1.1692, 6.9949, 1.7216, -0.0415, -0.0659, -0.0171, -0.0342, -8.1573, 6.2017, 1.3065, 0.2418, -0.0904, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.31, "right_y": 0.23, "right_z": 0.1, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "The lemon is still to the left in the right wrist view, and the tool has drifted into some pitch and roll. Moving further left while levelling the tool orientation."})
tool
executing move_to over 13 steps (1.3s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe lemon is now centred on the jaw column, a few cm ahead, with its long axis running forward so the jaws will close across it. Moving forward and down to lemon height.
move_to
right_x0.3350right_y0.2250right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4465, -0.0147, -0.0334, 0.9991, 0.9428, 1.5509, 0.786, -0.0761, 0.7254, 0.5961, 0.9966] state[eef_state]: left_x=0.288 left_y=-0.0001 left_z=0.1639 left_yaw=0.0008 left_pitch=-0.0828 left_roll=-0.0012 left_gripper=0.9991 right_x=0.3081 right_y=0.231 right_z=0.099 right_yaw=0.025 right_pitch=-0.0228 right_roll=-0.0193 right_gripper=0.9966 state[joint_eff]: [-0.212, -1.306, 6.9812, 1.7607, -0.0366, -0.0513, -0.0122, 0.3624, -5.6, 5.4632, 1.5751, 0.4518, 0.1783, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.335, "right_y": 0.225, "right_z": 0.02}, "note": "The lemon is now centred on the jaw column, a few cm ahead, with its long axis running forward so the jaws will close across it. Moving forward and down to lemon height."})
tool
executing move_to over 6 steps (0.6s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe lemon sits between the jaws at table level. 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]: [-0.0219, 0.8192, 0.6132, -0.4503, -0.0147, -0.0338, 0.9991, 0.8551, 1.8301, 0.6792, 0.3332, 0.6567, 0.514, 0.9966] state[eef_state]: left_x=0.2875 left_y=-0.0001 left_z=0.1631 left_yaw=0.0011 left_pitch=-0.0866 left_roll=-0.0014 left_gripper=0.9991 right_x=0.332 right_y=0.2229 right_z=0.0149 right_yaw=0.0297 right_pitch=-0.0475 right_roll=-0.0364 right_gripper=0.9966 state[joint_eff]: [-0.3624, -1.3607, 6.9812, 1.7216, -0.0562, -0.0366, -0.0122, 0.0479, -7.706, 4.8752, 1.5995, 0.2808, -0.0708, -0.0171] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The lemon sits between the jaws at table level. Closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThat close missed: the gripper reads 0.01 and the lemon is still just ahead of the jaws. Opening and lifting slightly before moving forward.
move_to
right_gripper1.0000right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4507, -0.0147, -0.0338, 0.9991, 0.8551, 1.8301, 0.6792, 0.3321, 0.6498, 0.5121, 0.0113] state[eef_state]: left_x=0.2874 left_y=-0.0001 left_z=0.163 left_yaw=0.0011 left_pitch=-0.087 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3315 right_y=0.2238 right_z=0.0142 right_yaw=0.0355 right_pitch=-0.052 right_roll=-0.0354 right_gripper=0.0113 state[joint_eff]: [-0.1846, -1.3607, 6.9949, 1.6581, -0.0415, -0.0562, -0.0122, -0.0889, -7.7744, 4.7111, 1.453, 0.3053, -0.0171, 0.906] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.04}, "note": "That close missed: the gripper reads 0.01 and the lemon is still just ahead of the jaws. Opening and lifting slightly before moving forward."})
tool
executing move_to over 10 steps (1.0s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe lemon is centred but still ahead of the fingertips. Advancing about 5 cm forward at table level to get it between the jaws.
move_to
right_x0.3750right_y0.2250right_z0.0150right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4534, -0.0147, -0.0338, 0.9991, 0.8551, 1.7683, 0.6907, 0.2092, 0.6487, 0.5072, 0.9985] state[eef_state]: left_x=0.287 left_y=-0.0001 left_z=0.1625 left_yaw=0.0011 left_pitch=-0.0896 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3251 right_y=0.2167 right_z=0.0227 right_yaw=0.0365 right_pitch=-0.0866 right_roll=-0.0752 right_gripper=0.9985 state[joint_eff]: [-0.3214, -1.3333, 7.0085, 1.7216, -0.0562, -0.0562, -0.0122, -0.1162, -9.5658, 6.694, 1.3455, 0.2857, 0.0073, -0.0757] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.225, "right_z": 0.015, "right_pitch": 0.0, "right_roll": 0.0}, "note": "The lemon is centred but still ahead of the fingertips. Advancing about 5 cm forward at table level to get it between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe lemon now spans the jaws in the right wrist view. Nudging forward 1 cm and closing.
move_to
right_x0.3800right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4679, -0.0147, -0.0338, 0.9991, 0.7574, 1.9263, 0.73, 0.4484, 0.5793, 0.4252, 0.9986] state[eef_state]: left_x=0.2848 left_y=-0.0001 left_z=0.1597 left_yaw=0.0011 left_pitch=-0.1041 left_roll=-0.001 left_gripper=0.9991 right_x=0.3671 right_y=0.219 right_z=0.0054 right_yaw=0.0386 right_pitch=-0.0367 right_roll=-0.0214 right_gripper=0.9986 state[joint_eff]: [-0.253, -1.3333, 6.9538, 1.8242, -0.0659, -0.0122, -0.0122, -0.0615, -8.0479, 6.188, 1.79, 0.3199, -0.0708, 0.0024] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_gripper": 0.0}, "note": "The lemon now spans the jaws in the right wrist view. Nudging forward 1 cm and closing."})
tool
executing move_to over 10 steps (1.0s)
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 is gripped (reading 0.52). Lifting it clear before carrying it to the blue bowl.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8238, 0.6132, -0.4698, -0.0147, -0.0338, 0.9991, 0.7353, 1.94, 0.7498, 0.445, 0.5591, 0.4065, 0.5159] state[eef_state]: left_x=0.2847 left_y=-0.0001 left_z=0.1581 left_yaw=0.0011 left_pitch=-0.1106 left_roll=-0.0009 left_gripper=0.9991 right_x=0.3746 right_y=0.2174 right_z=0.0041 right_yaw=0.0419 right_pitch=-0.0438 right_roll=-0.0246 right_gripper=0.5159 state[joint_eff]: [-0.3077, -1.7299, 7.1453, 1.6435, -0.0317, -0.0415, -0.0122, -0.6906, -7.3094, 6.3111, 1.5116, 0.1587, -0.0708, 1.0281] 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_z": 0.2}, "note": "The lemon is gripped (reading 0.52). Lifting it clear before carrying it to the blue bowl."})
tool
executing move_to over 13 steps (1.3s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe lemon is up and the blue bowl with the pear is ahead-right of the jaws. Carrying the lemon over the bowl.
move_to
right_x0.4000right_y0.1200right_z0.1500right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4755, -0.0147, -0.0338, 0.9991, 0.7357, 1.5669, 1.1656, -0.382, 0.5446, 0.3996, 0.5162] state[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1565 left_yaw=0.0011 left_pitch=-0.1182 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3739 right_y=0.2198 right_z=0.1796 right_yaw=0.0554 right_pitch=-0.0797 right_roll=-0.0466 right_gripper=0.5162 state[joint_eff]: [-0.2256, -1.265, 7.0632, 1.6825, -0.0708, -0.0757, -0.0171, -0.0889, -9.5521, 8.7316, 1.4335, 0.3004, 0.0513, 0.4713] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.12, "right_z": 0.15, "right_pitch": 0.0, "right_roll": 0.0}, "note": "The lemon is up and the blue bowl with the pear is ahead-right of the jaws. Carrying the lemon over the bowl."})
tool
executing move_to over 9 steps (0.9s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
Lemon is over the bowl. Release.
agent noteThe lemon is hanging right over the blue bowl. Opening to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4759, -0.0147, -0.0338, 0.9991, 0.4183, 1.449, 0.828, -0.0704, 0.313, 0.189, 0.5173] state[eef_state]: left_x=0.2838 left_y=-0.0 left_z=0.1565 left_yaw=0.0011 left_pitch=-0.1186 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3913 right_y=0.1184 right_z=0.1286 right_yaw=0.0388 right_pitch=-0.0833 right_roll=-0.0336 right_gripper=0.5173 state[joint_eff]: [-0.0752, -1.388, 6.9675, 1.6532, -0.0317, -0.0611, -0.0122, -0.1709, -8.2803, 7.4598, 2.1123, 0.0904, -0.0317, 0.7741] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
Lemon is over the bowl. Release.
move_to({"targets": {"right_gripper": 1.0}, "note": "The lemon is hanging right over the blue bowl. Opening to drop it in."})
tool
executing move_to over 5 steps (0.5s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe pear and lemon are both in the blue bowl. The left arm can't reach the bowl where it is, so I'll slide it toward the table centre: first moving the right gripper over the bowl's left rim.
move_to
right_x0.3900right_y0.1900right_z0.1200right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4759, -0.0147, -0.0334, 0.9991, 0.4171, 1.4456, 0.8185, -0.0757, 0.2985, 0.1749, 0.9956] state[eef_state]: left_x=0.2838 left_y=-0.0 left_z=0.1565 left_yaw=0.0009 left_pitch=-0.1186 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3881 right_y=0.1191 right_z=0.1245 right_yaw=0.0568 right_pitch=-0.0975 right_roll=-0.0402 right_gripper=0.9956 state[joint_eff]: [-0.1983, -1.388, 6.9538, 1.7021, -0.0366, -0.0415, -0.0122, 0.0479, -5.8598, 7.5145, 1.663, 0.1685, 0.0904, -0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.19, "right_z": 0.12, "right_pitch": 0.0, "right_roll": 0.0}, "note": "The pear and lemon are both in the blue bowl. The left arm can't reach the bowl where it is, so I'll slide it toward the table centre: first moving the right gripper over the bowl's left rim."})
tool
executing move_to over 6 steps (0.6s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe bowl's left rim now runs down the middle of the jaw gap in the right wrist view. Lowering so the jaws straddle the bowl wall.
move_to
right_x0.4000right_y0.1950right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4763, -0.0151, -0.0338, 0.9991, 0.6167, 1.5681, 0.8219, 0.0322, 0.4267, 0.2779, 0.9965] state[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1564 left_yaw=0.0015 left_pitch=-0.119 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3784 right_y=0.183 right_z=0.1027 right_yaw=0.0965 right_pitch=-0.0702 right_roll=-0.0385 right_gripper=0.9965 state[joint_eff]: [-0.1846, -1.388, 6.9812, 1.6239, -0.0513, -0.0415, -0.0122, 0.3624, -6.2838, 9.2923, 1.663, 0.3248, 0.1343, 0.0855] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.195, "right_z": 0.035}, "note": "The bowl's left rim now runs down the middle of the jaw gap in the right wrist view. Lowering so the jaws straddle the bowl wall."})
tool
executing move_to over 5 steps (0.5s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe bowl wall sits between the jaws, with the right jaw inside the bowl. Closing to pinch the rim.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8284, 0.6132, -0.4774, -0.0147, -0.0338, 0.9991, 0.6094, 1.8137, 0.794, 0.2501, 0.4259, 0.2695, 0.9966] state[eef_state]: left_x=0.2837 left_y=-0.0 left_z=0.1555 left_yaw=0.0011 left_pitch=-0.1228 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3914 right_y=0.1886 right_z=0.0304 right_yaw=0.0918 right_pitch=-0.119 right_roll=-0.0725 right_gripper=0.9966 state[joint_eff]: [-0.2803, -1.5658, 6.9538, 1.663, -0.0317, -0.0513, -0.0122, -0.3077, -7.7744, 5.3128, 1.4969, 0.0806, 0.105, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The bowl wall sits between the jaws, with the right jaw inside the bowl. Closing to pinch the rim."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe gripper settled at 0.04, consistent with pinching the thin bowl wall, and the wrist view shows the wall between the jaws. Lifting the bowl a few cm to confirm the grip.
move_to
right_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]: [-0.0223, 0.8288, 0.6132, -0.4767, -0.0147, -0.0338, 0.9991, 0.6083, 1.813, 0.7937, 0.2691, 0.448, 0.2508, 0.0418] state[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1555 left_yaw=0.0008 left_pitch=-0.1224 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3951 right_y=0.1862 right_z=0.0349 right_yaw=0.0843 right_pitch=-0.0953 right_roll=-0.0907 right_gripper=0.0418 state[joint_eff]: [-0.294, -1.3744, 6.9538, 1.6288, -0.0317, -0.0757, -0.0122, -0.1162, -7.5009, 5.7231, 1.3504, -0.0366, 0.1197, 0.906] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.09}, "note": "The gripper settled at 0.04, consistent with pinching the thin bowl wall, and the wrist view shows the wall between the jaws. Lifting the bowl a few cm to confirm the grip."})
tool
executing move_to over 4 steps (0.4s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThe bowl looks to be hanging from the rim grip. Carrying it left toward the table centre so the left arm can reach it.
move_to
right_y0.3800right_x0.3800right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8288, 0.6132, -0.4767, -0.0147, -0.0338, 0.9991, 0.609, 1.7119, 0.8509, 0.0669, 0.4316, 0.2501, 0.0427] state[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1555 left_yaw=0.0011 left_pitch=-0.1224 left_roll=-0.0006 left_gripper=0.9991 right_x=0.388 right_y=0.1849 right_z=0.0624 right_yaw=0.0959 right_pitch=-0.1391 right_roll=-0.1032 right_gripper=0.0427 state[joint_eff]: [-0.1299, -1.3607, 7.1043, 1.6288, -0.0317, -0.0317, -0.0122, 0.0068, -10.0855, 8.6359, 1.7509, 0.3394, -0.0269, 1.0281] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.38, "right_x": 0.38, "right_z": 0.09}, "note": "The bowl looks to be hanging from the rim grip. Carrying it left toward the table centre so the left arm can reach it."})
tool
executing move_to over 17 steps (1.7s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe blue bowl, with the pear and lemon inside, is now near the table centre, beside the white bowl and the dark fruit. Setting it down so the left arm can drop the dark fruit in.
move_to
right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4793, -0.0147, -0.0338, 0.9991, 0.9791, 2.154, 1.5967, -0.4416, 0.6224, 0.5556, 0.0427] state[eef_state]: left_x=0.2836 left_y=-0.0 left_z=0.1541 left_yaw=0.0012 left_pitch=-0.1285 left_roll=-0.0005 left_gripper=0.9991 right_x=0.3729 right_y=0.3767 right_z=0.0742 right_yaw=0.1385 right_pitch=-0.188 right_roll=-0.1206 right_gripper=0.0427 state[joint_eff]: [-0.3077, -1.6752, 7.0359, 1.6288, -0.0415, -0.0464, -0.0122, 0.1846, -12.2462, 8.335, 1.2576, 0.6716, 0.2125, 1.0281] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.035}, "note": "The blue bowl, with the pear and lemon inside, is now near the table centre, beside the white bowl and the dark fruit. Setting it down so the left arm can drop the dark fruit in."})
tool
executing move_to over 3 steps (0.3s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe bowl should be resting on the table now. Opening the right gripper to let go of the rim.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.485, -0.0147, -0.0338, 0.9991, 0.9802, 2.1937, 1.5375, -0.3748, 0.6113, 0.5644, 0.0427] state[eef_state]: left_x=0.2827 left_y=-0.0 left_z=0.153 left_yaw=0.0012 left_pitch=-0.1343 left_roll=-0.0003 left_gripper=0.9991 right_x=0.3681 right_y=0.3734 right_z=0.0404 right_yaw=0.1371 right_pitch=-0.2158 right_roll=-0.1322 right_gripper=0.0427 state[joint_eff]: [-0.1846, -1.4291, 7.1179, 1.6484, -0.0171, -0.0513, -0.0171, -0.2667, -11.6034, 6.0376, 1.5311, 0.3932, -0.1148, 1.033] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The bowl should be resting on the table now. Opening the right gripper to let go of the rim."})
tool
executing move_to over 10 steps (1.0s)
step 197
top_cam
camera top_cam step 197
assistant
agent noteI've let go of the bowl; it's down near the centre with the pear and lemon in it. Lifting the right arm up and to the right so the left arm has room.
move_to
right_z0.2000right_y0.2000right_x0.3000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8333, 0.6132, -0.4911, -0.0147, -0.0338, 0.9991, 0.9798, 2.207, 1.5265, -0.3794, 0.598, 0.5583, 0.9956] state[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1516 left_yaw=0.0012 left_pitch=-0.1415 left_roll=-0.0002 left_gripper=0.9991 right_x=0.3641 right_y=0.3706 right_z=0.0285 right_yaw=0.1435 right_pitch=-0.2442 right_roll=-0.1508 right_gripper=0.9956 state[joint_eff]: [-0.3077, -1.306, 6.9538, 1.6435, -0.0464, -0.0415, -0.0122, -0.0752, -13.1624, 6.8991, 1.1746, 0.3932, 0.0317, -0.0366] 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_z": 0.2, "right_y": 0.2, "right_x": 0.3, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "I've let go of the bowl; it's down near the centre with the pear and lemon in it. Lifting the right arm up and to the right so the left arm has room."})
tool
executing move_to over 15 steps (1.5s)
step 212
assistant
agent noteThe blue bowl with the pear and lemon is now near the centre. The dark fruit is ahead-right of the left gripper, so I'm moving the left arm over it.
move_to
left_x0.3200left_y-0.0700left_z0.1000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8391, 0.6132, -0.4934, -0.0147, -0.0338, 0.9991, 0.9131, 1.338, 0.9848, -0.4606, 0.6991, 0.569, 0.9965] state[eef_state]: left_x=0.2816 left_y=0.0 left_z=0.1496 left_yaw=0.0012 left_pitch=-0.1495 left_roll=0.0 left_gripper=0.9991 right_x=0.3016 right_y=0.2103 right_z=0.1913 right_yaw=0.0284 right_pitch=-0.0213 right_roll=-0.0085 right_gripper=0.9965 state[joint_eff]: [-0.212, -1.4427, 6.9265, 1.6679, -0.0806, -0.0513, -0.0122, -0.4855, -5.7231, 6.694, 1.6435, 0.3687, 0.1001, 0.0757] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.07, "left_z": 0.1, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "The blue bowl with the pear and lemon is now near the centre. The dark fruit is ahead-right of the left gripper, so I'm moving the left arm over it."})
tool
executing move_to over 7 steps (0.7s)
step 219
assistant
agent noteThe dark fruit is slightly right of and ahead of the left jaws. Moving forward, a little right, and down to grasp it.
move_to
left_x0.3400left_y-0.0850left_z0.0250left_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]: [-0.3862, 1.0866, 0.4149, -0.0349, -0.2783, -0.2188, 0.9991, 0.9123, 1.3411, 0.9821, -0.474, 0.6987, 0.5655, 0.9966] state[eef_state]: left_x=0.3057 left_y=-0.0681 left_z=0.0845 left_yaw=-0.0409 left_pitch=-0.1048 left_roll=0.0254 left_gripper=0.9991 right_x=0.3003 right_y=0.2083 right_z=0.1874 right_yaw=0.0294 right_pitch=-0.0336 right_roll=-0.026 right_gripper=0.9966 state[joint_eff]: [-0.1709, -3.4256, 6.2017, 1.9023, -0.4029, -0.105, -0.0171, -0.1573, -5.559, 7.0085, 1.5018, 0.2466, -0.0415, -0.0073] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.085, "left_z": 0.025, "left_pitch": 0.0}, "note": "The dark fruit is slightly right of and ahead of the left jaws. Moving forward, a little right, and down to grasp it."})
tool
executing move_to over 4 steps (0.4s)
step 223
assistant
agent noteThe fingertips went all the way down to the table, short of the fruit, which is still ahead and to the right of the jaws. Lifting slightly and moving forward and right.
move_to
left_x0.3500left_y-0.0950left_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]: [-0.4095, 1.5269, 0.3035, 0.4644, -0.3222, -0.2321, 0.9986, 0.9123, 1.3415, 0.9821, -0.4774, 0.6949, 0.5655, 0.9966] state[eef_state]: left_x=0.3179 left_y=-0.0731 left_z=0.0024 left_yaw=-0.0185 left_pitch=-0.1427 left_roll=0.0616 left_gripper=0.9986 right_x=0.2998 right_y=0.2085 right_z=0.1865 right_yaw=0.0319 right_pitch=-0.0382 right_roll=-0.0271 right_gripper=0.9966 state[joint_eff]: [-0.6906, -6.147, 4.7932, 0.4176, -0.1343, 0.4176, -0.105, -0.212, -5.1897, 6.735, 1.4579, 0.2564, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.095, "left_z": 0.03}, "note": "The fingertips went all the way down to the table, short of the fruit, which is still ahead and to the right of the jaws. Lifting slightly and moving forward and right."})
tool
executing move_to over 3 steps (0.3s)
step 226
assistant
agent noteThe dark fruit is right between the jaws now, just a little ahead and right. Advancing 2 cm so it sits in the jaws.
move_to
left_x0.3550left_y-0.0920left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4347, 1.5711, 0.3042, 0.6056, -0.3485, -0.2264, 0.9985, 0.9123, 1.343, 0.9821, -0.477, 0.6949, 0.5652, 0.9966] state[eef_state]: left_x=0.3327 left_y=-0.084 left_z=0.0153 left_yaw=-0.0289 left_pitch=-0.0461 left_roll=0.044 left_gripper=0.9985 right_x=0.2999 right_y=0.2086 right_z=0.186 right_yaw=0.0321 right_pitch=-0.039 right_roll=-0.0283 right_gripper=0.9966 state[joint_eff]: [-0.6085, -5.2444, 3.7538, 1.5311, -0.3297, -0.0464, -0.0269, -0.1162, -5.3949, 6.694, 1.326, 0.2662, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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": {"left_x": 0.355, "left_y": -0.092, "left_z": 0.02}, "note": "The dark fruit is right between the jaws now, just a little ahead and right. Advancing 2 cm so it sits in the jaws."})
tool
executing move_to over 2 steps (0.2s)
step 228
assistant
agent noteThe arm isn't advancing any further and the dark fruit fills the space between the jaws. Closing on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4347, 1.5711, 0.3042, 0.5869, -0.3523, -0.2287, 0.9985, 0.9123, 1.343, 0.9821, -0.477, 0.6945, 0.5652, 0.9966] state[eef_state]: left_x=0.3303 left_y=-0.0822 left_z=0.012 left_yaw=-0.0242 left_pitch=-0.0623 left_roll=0.0517 left_gripper=0.9985 right_x=0.2999 right_y=0.2087 right_z=0.186 right_yaw=0.0323 right_pitch=-0.0392 right_roll=-0.0281 right_gripper=0.9966 state[joint_eff]: [-0.5538, -5.1214, 3.7265, 1.6288, -0.2711, 0.0024, -0.0122, -0.0342, -5.2855, 6.6803, 1.37, 0.2125, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The arm isn't advancing any further and the dark fruit fills the space between the jaws. Closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 238
assistant
agent noteEmpty close: the fruit is still a few cm ahead of the fingertips. Opening, lifting a little, and moving forward to get past the stall.
move_to
left_gripper1.0000left_z0.0600left_x0.3700left_y-0.0850
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4381, 1.5726, 0.2977, 0.5808, -0.3588, -0.2329, 0.0091, 0.9123, 1.3502, 0.9821, -0.4919, 0.6834, 0.5652, 0.9966] state[eef_state]: left_x=0.3271 left_y=-0.0808 left_z=0.0087 left_yaw=-0.0197 left_pitch=-0.0735 left_roll=0.0578 left_gripper=0.0091 right_x=0.2981 right_y=0.2088 right_z=0.1806 right_yaw=0.0391 right_pitch=-0.0597 right_roll=-0.0398 right_gripper=0.9966 state[joint_eff]: [0.2393, -4.9436, 4.9026, 1.6728, -0.0464, 0.022, 0.6813, -0.0889, -5.7368, 6.6803, 1.4725, 0.359, -0.022, -0.0122] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.06, "left_x": 0.37, "left_y": -0.085}, "note": "Empty close: the fruit is still a few cm ahead of the fingertips. Opening, lifting a little, and moving forward to get past the stall."})
tool
executing move_to over 10 steps (1.0s)
step 248
assistant
agent noteThe dark fruit now sits centred between the open jaws. Going straight down to its mid-height.
move_to
left_z0.0150left_x0.3650
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]: [-0.387, 1.5181, 0.5045, 0.2977, -0.3248, -0.2085, 0.9945, 0.9123, 1.3502, 0.9821, -0.4984, 0.6765, 0.5652, 0.9966] state[eef_state]: left_x=0.3614 left_y=-0.0826 left_z=0.0437 left_yaw=-0.0087 left_pitch=-0.1028 left_roll=0.0653 left_gripper=0.9945 right_x=0.297 right_y=0.209 right_z=0.1792 right_yaw=0.0434 right_pitch=-0.0679 right_roll=-0.0414 right_gripper=0.9966 state[joint_eff]: [0.4991, -7.4325, 7.6513, 1.6288, -0.022, 0.1441, 0.0024, -0.0479, -5.1077, 6.6667, 1.3602, 0.3248, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.015, "left_x": 0.365}, "note": "The dark fruit now sits centred between the open jaws. Going straight down to its mid-height."})
tool
executing move_to over 2 steps (0.2s)
step 250
assistant
agent noteThe dark fruit is centred in the jaws at a low height. Closing on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.3836, 1.5959, 0.4999, 0.3756, -0.3237, -0.2096, 0.9961, 0.9123, 1.3502, 0.9821, -0.4995, 0.6762, 0.5652, 0.9966] state[eef_state]: left_x=0.3661 left_y=-0.0833 left_z=0.0289 left_yaw=-0.0054 left_pitch=-0.1073 left_roll=0.0654 left_gripper=0.9961 right_x=0.2969 right_y=0.2089 right_z=0.179 right_yaw=0.0436 right_pitch=-0.0688 right_roll=-0.0421 right_gripper=0.9966 state[joint_eff]: [0.1983, -6.0239, 3.3573, 1.536, -0.149, -0.0171, 0.1441, -0.1709, -5.3402, 6.653, 1.3065, 0.2857, -0.0366, -0.0122] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The dark fruit is centred in the jaws at a low height. Closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 260
assistant
agent noteThe dark fruit is gripped (reading 0.50). Lifting it before carrying it to the blue bowl.
move_to
left_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.3843, 1.6096, 0.4843, 0.3824, -0.3244, -0.2176, 0.5032, 0.9123, 1.3506, 0.9821, -0.4992, 0.6758, 0.5652, 0.9966] state[eef_state]: left_x=0.3608 left_y=-0.0813 left_z=0.02 left_yaw=-0.0002 left_pitch=-0.1277 left_roll=0.0681 left_gripper=0.5032 right_x=0.2969 right_y=0.209 right_z=0.1789 right_yaw=0.0439 right_pitch=-0.0691 right_roll=-0.0419 right_gripper=0.9966 state[joint_eff]: [-0.0889, -6.9128, 6.188, 1.4823, -0.188, 0.0024, 0.9451, -0.1983, -5.3812, 6.694, 1.37, 0.2418, -0.0269, -0.0122] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.18}, "note": "The dark fruit is gripped (reading 0.50). Lifting it before carrying it to the blue bowl."})
tool
executing move_to over 11 steps (1.1s)
step 271
assistant
agent noteThe dark fruit is lifted. The blue bowl is about 22 cm to the right of the left gripper in the top view, so I'm carrying the fruit over it.
move_to
left_x0.3800left_y-0.3000left_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.3843, 1.2839, 0.8783, -0.3546, -0.3244, -0.218, 0.5031, 0.9123, 1.3506, 0.9821, -0.4992, 0.6758, 0.5652, 0.9966] state[eef_state]: left_x=0.362 left_y=-0.0818 left_z=0.1602 left_yaw=0.0009 left_pitch=-0.1436 left_roll=0.0743 left_gripper=0.5031 right_x=0.2969 right_y=0.209 right_z=0.1789 right_yaw=0.0439 right_pitch=-0.0691 right_roll=-0.0419 right_gripper=0.9966 state[joint_eff]: [-0.1983, -6.694, 9.4427, 1.5702, -0.1441, -0.0464, 0.3785, -0.0752, -5.1761, 6.6803, 1.3553, 0.2466, -0.0171, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.3, "left_z": 0.18}, "note": "The dark fruit is lifted. The blue bowl is about 22 cm to the right of the left gripper in the top view, so I'm carrying the fruit over it."})
tool
executing move_to over 20 steps (2.0s)
step 291
assistant
agent noteThe left wrist view shows the blue bowl just to the lower right of the held fruit. Moving about 4 cm further right and down to sit over the bowl.
move_to
left_x0.3700left_y-0.3300left_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]: [-0.8734, 1.8652, 1.5597, -0.6884, -0.6361, -0.6567, 0.5048, 0.9012, 1.3521, 0.9821, -0.5217, 0.6819, 0.5777, 0.9966] state[eef_state]: left_x=0.3812 left_y=-0.286 left_z=0.1704 left_yaw=0.008 left_pitch=-0.1722 left_roll=0.0781 left_gripper=0.5048 right_x=0.2974 right_y=0.2021 right_z=0.1759 right_yaw=0.0205 right_pitch=-0.0806 right_roll=-0.0534 right_gripper=0.9966 state[joint_eff]: [-2.5915, -8.6496, 9.5795, 1.2186, -0.486, 0.0269, 0.7546, 1.1692, -5.4085, 6.653, 1.5311, 0.1685, -0.2466, -0.0122] camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.33, "left_z": 0.13}, "note": "The left wrist view shows the blue bowl just to the lower right of the held fruit. Moving about 4 cm further right and down to sit over the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 295
assistant
agent noteThe left arm stalled and the right arm got nudged, so the two arms look to be in contact over the centre. Moving the right arm back toward its home side to clear the way.
move_to
right_x0.2500right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8906, 1.9507, 1.5841, -0.6529, -0.6521, -0.7311, 0.5053, 0.8734, 1.3548, 0.9562, -0.6106, 0.6834, 0.63, 0.9966] state[eef_state]: left_x=0.387 left_y=-0.3022 left_z=0.1462 left_yaw=0.0451 left_pitch=-0.1748 left_roll=0.0514 left_gripper=0.5053 right_x=0.29 right_y=0.1781 right_z=0.1549 right_yaw=-0.0473 right_pitch=-0.1506 right_roll=-0.1061 right_gripper=0.9966 state[joint_eff]: [-5.7094, -7.0906, 8.1299, 1.1355, -0.6813, -0.0269, 0.6862, 2.3726, -5.2581, 9.1829, 2.5128, 0.2564, -0.5055, -0.0073] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.0, "right_z": 0.2}, "note": "The left arm stalled and the right arm got nudged, so the two arms look to be in contact over the centre. Moving the right arm back toward its home side to clear the way."})
tool
executing move_to over 15 steps (1.5s)
step 310
assistant
agent noteWith the right arm out of the way, the left wrist view shows the bowl just below and right of the fruit. Moving further right to centre the fruit over the bowl.
move_to
left_x0.3600left_y-0.3400left_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8822, 1.9987, 1.5837, -0.6502, -0.6464, -0.7486, 0.5075, 0.1341, 0.7509, 0.7872, -0.7784, 0.2356, 0.0574, 0.9966] state[eef_state]: left_x=0.39 left_y=-0.3008 left_z=0.1238 left_yaw=0.0668 left_pitch=-0.2052 left_roll=0.0732 left_gripper=0.5075 right_x=0.2508 right_y=-0.0041 right_z=0.1977 right_yaw=-0.1118 right_pitch=-0.1516 right_roll=-0.1031 right_gripper=0.9966 state[joint_eff]: [-0.7316, -14.8034, 6.4479, 1.1453, -0.3785, 0.1538, 0.5836, -0.0889, -0.6769, 6.9265, 1.6972, 0.0611, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.34, "left_z": 0.14}, "note": "With the right arm out of the way, the left wrist view shows the bowl just below and right of the fruit. Moving further right to centre the fruit over the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 314
assistant
agent noteThe left wrist view shows the dark fruit right over the blue bowl, which holds the pear and lemon. Releasing it into the bowl.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9779, 2.0537, 1.7115, -0.783, -0.6659, -0.8471, 0.5104, 0.1345, 0.757, 0.7872, -0.791, 0.215, 0.0353, 0.9966] state[eef_state]: left_x=0.3637 left_y=-0.338 left_z=0.1317 left_yaw=0.047 left_pitch=-0.2205 left_roll=0.0627 left_gripper=0.5104 right_x=0.2494 right_y=-0.0007 right_z=0.1935 right_yaw=-0.0828 right_pitch=-0.1742 right_roll=-0.1103 right_gripper=0.9966 state[joint_eff]: [-0.253, -10.9744, 8.5128, 0.7888, -0.6716, 0.0024, 0.2906, -0.1709, -1.0735, 6.8991, 1.6728, 0.2271, 0.1783, -0.0073] camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The left wrist view shows the dark fruit right over the blue bowl, which holds the pear and lemon. Releasing it into the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 319
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]: [-0.9775, 2.0609, 1.7161, -0.7986, -0.6613, -0.8608, 0.9949, 0.1345, 0.7574, 0.7872, -0.791, 0.2115, 0.0357, 0.9966] state[eef_state]: left_x=0.3623 left_y=-0.3369 left_z=0.128 left_yaw=0.0562 left_pitch=-0.233 left_roll=0.0667 left_gripper=0.9949 right_x=0.2494 right_y=-0.0001 right_z=0.1933 right_yaw=-0.0802 right_pitch=-0.1751 right_roll=-0.1077 right_gripper=0.9966 state[joint_eff]: [-0.3487, -11.9316, 6.2017, 1.1697, -0.3883, 0.0855, 0.0073, -0.0752, -0.5949, 6.8308, 1.5751, 0.0806, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 24.23 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6136, -0.3832, -0.0154, -0.0299, 0.9992, -0.0227, 0.8005, 0.6189, -0.3874, -0.0227, -0.033, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1819 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9992 right_x=0.296 right_y=0.0009 right_z=0.1835 right_yaw=-0.0002 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.5675, -1.812, 9.7162, 1.8339, -0.1099, 0.1343, -0.1001, -0.2256, -1.5385, 9.1556, 1.8242, -0.022, 0.1832, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5443f241967c76acc0a59c0b0cd626019baa45e5932588c03fad43ab645f7a7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a532837e638d6cfb589ec8b57b7a7ae44e65b8b95c28b5ea94e91c1947f3e9f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be5d98d133faf440316e7026f17ba088e7ad73977623cbd4e3578658f9e5c648",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 4.113 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6136, -0.3832, -0.0154, -0.0299, 0.9992, -0.0227, 0.8005, 0.6189, -0.3874, -0.0227, -0.033, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1819 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9992 right_x=0.296 right_y=0.0009 right_z=0.1835 right_yaw=-0.0002 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.5675, -1.812, 9.7162, 1.8339, -0.1099, 0.1343, -0.1001, -0.2256, -1.5385, 9.1556, 1.8242, -0.022, 0.1832, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5443f241967c76acc0a59c0b0cd626019baa45e5932588c03fad43ab645f7a7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a532837e638d6cfb589ec8b57b7a7ae44e65b8b95c28b5ea94e91c1947f3e9f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be5d98d133faf440316e7026f17ba088e7ad73977623cbd4e3578658f9e5c648",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
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      "signature": 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Go7Zt0N99i32GlmHXGF74wVBhM/7Rg8IhOFUqFoIl0DjDEW8eNp91+OiTIlGliEKdVnbBTK3n/rCLyo6PiFE3PSPmanI14IDtiScpKLwang3xLSB/oDN8aT6lAkULlmyFlERM+eafZAAfwBBIxdtogzrTk7MF0/ES8eFZgWI489V2s/6enestSSuHnhGFNqk5SlgdMAWcjMZn/vydBevkUgZjDhI9WXjRuN0X3jwJs6o/WqKsq6Ur3yv4trb+BSMWfrS7gpIjfZquKZ50mvhUKrs9EBm+stcNaeQzmtmKTTxyLAnmOGRNr7VO/4SSgvYh95+def0/BLGHxxmGNL7bgUyvfhwAAX9mwtng+PA6H+PXTwLTr1T4v7u8KyBk/I0XGyHJPr8/J+TuYZI9KmfEkyIme5wJbLZEeljjbaOs4jF6JttZHAPbpMwnIhHg4fZF7SuZVf7ivEzC9o40Lq+ZnLRg4jwZMx9FmOi7opTWFY22OPrlKGGjfiVI/Ufh8w4HtZoWn3BpGHN9f19n+AFlZ+TaBxMT+Nzcht76Qu27102KQ6nZcCdlw7IO4yVL/cA9gvmmUolHQGDZKhfbLOroNoZU8xZ9U6UjdX9CfhgLr5/EfM/G9tRAsyhf6QDpWOnN9pEDOVWg6R9x0fyV1WinyG9WnJ/NBrdiIpb9rB8JRuh2KxCWuAfMnIJKQcm/urYmMhFw+5fk+noOml8F1QjBhivT+sBRhXvHCi88LXlRjRKBUHu6aVT6XXwAoqcE+AVLncUMcFpUTPMrdrIT0rWFHpgW96WWWjThBMiGYl3lEZmYdzVTFN3bl1+nUng0rGKVWlxfdcNDV6hjnvGLoPtAx3OfnJy0nREB6sRakPFe8BQZJPUXWY8FHY8f9SD5lW0CIXeBDMCvVEQp/dbj8N1y7Pkvv8zBuSLVN6Isk6TCjaP/hUWoIwNp3pVMAYELG8kHsjfYSFCNct6+fWqtlWPZ+Je0nvkERuwQnHTFart+f5K3Kt2XmlKqyUeKk6hnsjv0aJyK60AvJYmJtS2/I3BzLQJsG2Vnw53nJhRVOFL2MrTfVIde6GULiuqpmvykh/khD3MTazf5jvJBQcKdQ+Vuh6CKBF1BWh8D1SG6kD63/G7FQtzLvMmeZuPjQ5niBpqtCNlWqnDDIFo0FKhuaGY5nI4Z4hX4U1g5wytTQMMGhjYbE16IX3+RKDyyDj9Xg0+2cnnzYKJ5776/AQM0LMJFSR8BguIfBrOpD7UjCOcHHPLj8/iT2EvxRu0vA92Rl++qNLe8CQM/JTfy4F8nNoCCDvZbGauzEOI3hBPXZuPgOAfDaNRzYxHev62f2PnR1364Wm3DBgWyN6fePZe8dgCHluKxmjx50E/k5+EWwFVKM4ZvgE66repcTHXKSxqL/6si39Kg1zBhAtJtlWqJ9iXwYDaqu4CezqaGOuDsE2OWoW5zJ3zf7Ndr5Bizn6xy61IGti8XjQ7j/wnrcAZ11MsJO8EEMYlD+bWZmLyqL1h8N70IqDGWW1tAl0maWHfgRyrjy6AyMc2205hKiyDU/D826/mmyxPI9YmUDcfZ0Ek/beHJJDCdm+qE0pTb1U+eVgErqGguWDPO6epTeXg4UjQFnxqPIiCD7uI7a5oGIMZAVuAwEUhhQS6mkbfbnSTzhiSn4WzOxX0AMPAsPHRNMp5l6o3Q/63TCPtO/iTmz1D4+lohINS7Z2pJPbAbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ApFBbuFWTMQbeXxj9TU3FD",
      "input": {
        "note": "The right wrist cam shows the pear just ahead of the jaws, the blue bowl ahead-left, and the lemon further left. I'm moving the right arm a little forward and lower, above the pear.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.33,
          "right_y": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01ApFBbuFWTMQbeXxj9TU3FD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.387, -0.0151, -0.0311, 0.9991, -0.0227, 1.0416, 0.4446, -0.0105, -0.0231, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=-0.0002 left_z=0.1805 left_yaw=-0.0001 left_pitch=-0.0061 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3258 right_y=0.0003 right_z=0.1111 right_yaw=0.0024 right_pitch=-0.0385 right_roll=-0.002 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.4017, 7.1043, 1.7607, -0.0855, -0.0562, -0.022, -0.3897, -3.2205, 6.8718, 2.0684, -0.0464, 0.0024, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:706a32cbda1886396df8e3c45b6b20664eab3701bd016f11bb0b72959c3aab83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:960ec3a90f53b11953584e0703b75b046ee3f4caaf41818a2596ecfc65993338",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dba6cfc0270437269c185f40b1602530583c35a745fba5fd86667a1b6ebc5a32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 2.885 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6136, -0.3832, -0.0154, -0.0299, 0.9992, -0.0227, 0.8005, 0.6189, -0.3874, -0.0227, -0.033, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1819 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9992 right_x=0.296 right_y=0.0009 right_z=0.1835 right_yaw=-0.0002 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.5675, -1.812, 9.7162, 1.8339, -0.1099, 0.1343, -0.1001, -0.2256, -1.5385, 9.1556, 1.8242, -0.022, 0.1832, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.387, -0.0151, -0.0311, 0.9991, -0.0227, 1.0416, 0.4446, -0.0105, -0.0231, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=-0.0002 left_z=0.1805 left_yaw=-0.0001 left_pitch=-0.0061 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3258 right_y=0.0003 right_z=0.1111 right_yaw=0.0024 right_pitch=-0.0385 right_roll=-0.002 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.4017, 7.1043, 1.7607, -0.0855, -0.0562, -0.022, -0.3897, -3.2205, 6.8718, 2.0684, -0.0464, 0.0024, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:706a32cbda1886396df8e3c45b6b20664eab3701bd016f11bb0b72959c3aab83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:960ec3a90f53b11953584e0703b75b046ee3f4caaf41818a2596ecfc65993338",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dba6cfc0270437269c185f40b1602530583c35a745fba5fd86667a1b6ebc5a32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS+gYKEAgSGAI4AUIIdGhpbmtpbmcSDKDTUogM1Qgoy5ki5RoM7Cw5hkpzSTfqIpl3IjBLeUM8NI9TcfTUqVRVazRc38SUybYvcUaDxysl0O9ZfpzPZLzEmqorIzVR7PofX7EqlwY99BLn0B8mX8Hb7ItFuGor1HEK2W2HpFUt+i4kNTLWdSITS7QmPlAChACU7P3NqJdTWWR54qwoVtQ3DfFTEBaU/BphvQLS2pW93hYQ51qUPaJwRkI2q0VGjPp7I9ppr7JCmL4qvEUFSwfjZC7EMwPRDedxxTQcyvTqnh50wuktEkT8FnmnRp0r6veYR8xbk3g9eoD7+pqjyh730lMg+7TFQhPBtkBnZ98WGNMdeOcod1l+6TjYCr8ZGJ/aZkc6HmNSKQmy9i7hkFcqO++V/iI97647cQNhcsNly4r0cUiQ6tvtHRC8Fff9RZi/caZaSyaJ6bO5LYWLrei5AJoH6/6LC/g3B/Au1N+66DZ3PhGnqt7av4cUHktm6iHJQDdIzh7RhhFIay5+MiTsCBYZX7S5FMps/chtrbTJMkjVgis3hYBH9NEPw2xGRrVvOI8Sva9zPKVD8ZalLXczaLl+NUIwedreYBjvO4tNBelUDLRETJ6RdPLWPm0Zn1FKVZp6DkkaSE3Y37eMYX4nIVEOBuo8ZACo4DwvYPUcd+o2szkyMK6Yea/WvPlEVfCkURBLRAotaQ0bWe8Me//uwNOEkGT2S4wJ5OcyWCuTIdkECYvkzGqYaOC3ACIGzm3EyDFHnhBVD2U33TuVPnfU1Qyt+byf60RBUOYVUUzqVNOoXj6K7S6R7cLlD0iVGBxzTjUYvAPG1Sv4LM8w976TMFlLl/yEzT6kangogDDCCvvpuWeoJpggYjTtcmruNuHLOkZVLoPKU9Rsc50vs/DLKGKj5JK+QU0zPd8vJH4T80Rdvuu8QW2tQE+h3HP7epXIWLFAlj7Wm2JJU3fFppBXKwlJgYCmYzSWr4cnBnklwVnaMgT1h0OjEqGIXrBayIdPIDQU5jwh+aXpnZHCiYDay1bjbgW4ApCu6y9qnmu8YRE9wfhHc2avOz/T8hGcaVvvgJ9TrnHCVBYDz0QOWyt68h16zM0YaLK7T0THXKwmrdJNKDE8Pqtv5SGMDF7HBN/7yEX6XRDKSnspSNtlujK9IwYJwlT2o8xVYGdsKRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BBvH2eTBJHHmWTxABKYRc3",
      "input": {
        "note": "The pear sits right in front of the jaws, slightly to the left. I'm edging forward and a bit left, then going down to grip the pear's body.",
        "targets": {
          "right_x": 0.345,
          "right_y": 0.01,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01BBvH2eTBJHHmWTxABKYRc3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4004, -0.0151, -0.0311, 0.9991, 0.0265, 1.4784, 0.2893, 0.5354, 0.0067, -0.0254, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=-0.0002 left_z=0.1766 left_yaw=-0.0001 left_pitch=-0.0236 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3384 right_y=0.0114 right_z=0.02 right_yaw=0.0201 right_pitch=-0.0848 right_roll=-0.0096 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -1.1556, 7.0222, 1.9414, -0.0659, -0.0317, -0.0171, 0.1162, -5.053, 5.053, 2.0342, 0.105, 0.1587, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:552bcd4d86c8a6eb152498ec052712a0fb756ba7d12682cc1207000346635f20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea35442f51c962a65d3489840089ffd26776837bbd4c750fb5ad7e99b329670f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d1a916e209b6432dc57a5348bc9587c802bbbd80e39a96bfac874a487b8d634",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 4.451 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6136, -0.3832, -0.0154, -0.0299, 0.9992, -0.0227, 0.8005, 0.6189, -0.3874, -0.0227, -0.033, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1819 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9992 right_x=0.296 right_y=0.0009 right_z=0.1835 right_yaw=-0.0002 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.5675, -1.812, 9.7162, 1.8339, -0.1099, 0.1343, -0.1001, -0.2256, -1.5385, 9.1556, 1.8242, -0.022, 0.1832, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.387, -0.0151, -0.0311, 0.9991, -0.0227, 1.0416, 0.4446, -0.0105, -0.0231, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=-0.0002 left_z=0.1805 left_yaw=-0.0001 left_pitch=-0.0061 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3258 right_y=0.0003 right_z=0.1111 right_yaw=0.0024 right_pitch=-0.0385 right_roll=-0.002 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.4017, 7.1043, 1.7607, -0.0855, -0.0562, -0.022, -0.3897, -3.2205, 6.8718, 2.0684, -0.0464, 0.0024, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4004, -0.0151, -0.0311, 0.9991, 0.0265, 1.4784, 0.2893, 0.5354, 0.0067, -0.0254, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=-0.0002 left_z=0.1766 left_yaw=-0.0001 left_pitch=-0.0236 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3384 right_y=0.0114 right_z=0.02 right_yaw=0.0201 right_pitch=-0.0848 right_roll=-0.0096 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -1.1556, 7.0222, 1.9414, -0.0659, -0.0317, -0.0171, 0.1162, -5.053, 5.053, 2.0342, 0.105, 0.1587, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:552bcd4d86c8a6eb152498ec052712a0fb756ba7d12682cc1207000346635f20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea35442f51c962a65d3489840089ffd26776837bbd4c750fb5ad7e99b329670f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d1a916e209b6432dc57a5348bc9587c802bbbd80e39a96bfac874a487b8d634",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pear is between the jaws. Close.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RpC2xzq6t8t32XJAD7jpvv",
      "input": {
        "note": "The pear fills the space between the jaws. Closing the gripper on it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RpC2xzq6t8t32XJAD7jpvv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.408, -0.0151, -0.0315, 0.9991, 0.0261, 1.4784, 0.289, 0.5331, 0.0036, -0.0265, 0.6896]\nstate[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1752 left_yaw=0.0001 left_pitch=-0.0309 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3379 right_y=0.0118 right_z=0.0194 right_yaw=0.0229 right_pitch=-0.0875 right_roll=-0.0087 right_gripper=0.6896\nstate[joint_eff]: [-0.2393, -1.2786, 7.0769, 1.79, -0.0464, -0.0269, -0.0122, -0.0889, -4.588, 4.7795, 1.6777, 0.0073, -0.0708, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:910bd3376f2d3d7a4ec7e3af2af810ab0d4121de0b4c8e20f880ab93dd7efc78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ab1023ee6fb18bd21b07b3a250dbf55c1b81facad3d48b489d9e65c7097bbd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5bfb9daaf61e181bbedd53d0a516ee4099d8f9269c2705ffce7b599e80cb9be1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 5.399 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.387, -0.0151, -0.0311, 0.9991, -0.0227, 1.0416, 0.4446, -0.0105, -0.0231, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=-0.0002 left_z=0.1805 left_yaw=-0.0001 left_pitch=-0.0061 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3258 right_y=0.0003 right_z=0.1111 right_yaw=0.0024 right_pitch=-0.0385 right_roll=-0.002 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.4017, 7.1043, 1.7607, -0.0855, -0.0562, -0.022, -0.3897, -3.2205, 6.8718, 2.0684, -0.0464, 0.0024, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4004, -0.0151, -0.0311, 0.9991, 0.0265, 1.4784, 0.2893, 0.5354, 0.0067, -0.0254, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=-0.0002 left_z=0.1766 left_yaw=-0.0001 left_pitch=-0.0236 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3384 right_y=0.0114 right_z=0.02 right_yaw=0.0201 right_pitch=-0.0848 right_roll=-0.0096 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -1.1556, 7.0222, 1.9414, -0.0659, -0.0317, -0.0171, 0.1162, -5.053, 5.053, 2.0342, 0.105, 0.1587, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.408, -0.0151, -0.0315, 0.9991, 0.0261, 1.4784, 0.289, 0.5331, 0.0036, -0.0265, 0.6896]\nstate[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1752 left_yaw=0.0001 left_pitch=-0.0309 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3379 right_y=0.0118 right_z=0.0194 right_yaw=0.0229 right_pitch=-0.0875 right_roll=-0.0087 right_gripper=0.6896\nstate[joint_eff]: [-0.2393, -1.2786, 7.0769, 1.79, -0.0464, -0.0269, -0.0122, -0.0889, -4.588, 4.7795, 1.6777, 0.0073, -0.0708, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:910bd3376f2d3d7a4ec7e3af2af810ab0d4121de0b4c8e20f880ab93dd7efc78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ab1023ee6fb18bd21b07b3a250dbf55c1b81facad3d48b489d9e65c7097bbd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bfb9daaf61e181bbedd53d0a516ee4099d8f9269c2705ffce7b599e80cb9be1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6wcKEAgSGAI4AUIIdGhpbmtpbmcSDHLvoptVAEkdvw+VixoMH2SAXuPO5ZFpvTP4IjABOJ8a/Wp5C2JpDg0MTlwEC8BWJVJwOBYgT9LDoTEjmt9+vOTgg6nVoUen1XCmkqUqiAcPrcObxWASv2TdbxVx8Eep7gCIKjA4X7heTgGHJS8ivhDft6Az9oNLypOLYI1jcw+hKmAatBFB0SPpBPM1lzIRd9a+e7y4yAr+WMLp6bqbxJQA32RERU/eJDnXLEAVpSGTXjREytmHEghtPXxuj7+Blb0Q88aBVk35kIX4NAW2C35BWBNJhkOSN14JGll7GRAWx5XJG7r1lVCHx3i4o3L9SETYLXFJGB0WoUBDKgUeju0ORj051S3NhLAyEXACp4C7bgoX6qw3w5jrCdsSIbuFRtnWZsZMBWQfq84Q5dOIGcy1JaX+QFMSd+XFD0+ARZvpRexP3K1UOYvchuYlTskdw+uBuEBZYX5oCbpk3UddcOmBTEBLC2WMV56P+uWg2MwQpWrcZutFc8dJb4bK+1vmwgnLHOb0BX2J2xtyxyrifPhEI/4lYaNqa5e5UiXFhmzPw9ksMsdmypfZgY33thSt6k3KdFIoaYkgBTvg3mkS73sJmH0Q/1kLtiWZWX6xsyEdStMBnYf1fXMvyBh1M437aRq1OQ1ghMdPXxDXuTsL6f6P5XQtEco1vYh/6l0pBiyLrjDjIJLJ2pBjDW7bD5i5ihfMf+pUbbTGT3/JQ9j8ANLowuy1a6xSbD/rFQnzv+Y38xrAnT4Zgv3rSdkWTO5VfcNEBZZWjpFe8SE1DUmACr5F/awrUEPvkPggIE3LUHEqyFfwDesJeYi3s1YCpg6Q8qvlCWdQO4IaqhODODbYlHnmJ/pw1HgTLM653ZOSWE0X5jl6W5Q57+PZdIPAv6ZpWxUgDEagduCFq+vMsOwGmjx/9xxI8/IamdP2Ci9ShGo/0kZh2S5Reg0NNC3Tahr5GReHWycDEc6Bclc7l0cjWxy14nQQZFRmCqsKFXhCA9jhixxbycD3mzqyDPaEd5OOOPYWdWbunAawzN2+FQ8OjWyFUTupKV5lOY9Mg/2fRYj20YWJtZ8ZiVtUfGsLK8+loSJrgUG5fD3zoL9tvtxNtBsiS/+ww4UwWKoo9B8YzXGEEzCib21cOKdYY2PiIlTXPAIzDUlaFKuuBsUcxLKitk4nnFZi0dyFx5SHBtOQS/IM+DyOuZd+e9Qr7Re3GU7BqyaSyg0cPk1AqyudjV/1OF1NV+sl5uZGQ5nm9aMLAjZjj+cusOspUTin76J9IZBjv0WgsAI26KY+ywN+3Ba9FAr3JQ2AFqz7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G58GnJhc94P1TtAGGM6cLC",
      "input": {
        "note": "The gripper stopped at 0.69, so it has the pear. Lifting it clear of the table and the rim of the blue bowl.",
        "targets": {
          "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_01G58GnJhc94P1TtAGGM6cLC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4202, -0.0147, -0.0338, 0.9991, 0.0261, 1.0725, 0.82, -0.4767, 0.0036, -0.0341, 0.69]\nstate[eef_state]: left_x=0.2913 left_y=-0.0002 left_z=0.1722 left_yaw=0.001 left_pitch=-0.045 left_roll=-0.0024 left_gripper=0.9991 right_x=0.3299 right_y=0.0116 right_z=0.1765 right_yaw=0.0271 right_pitch=-0.1604 right_roll=-0.0147 right_gripper=0.69\nstate[joint_eff]: [-0.1573, -1.4701, 7.0085, 1.7998, -0.022, -0.0513, -0.0122, -0.2667, -4.3692, 9.4154, 1.8681, -0.0024, -0.0024, 0.823]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df57628d1df1ab274ffa10f52c4250c21aca3272ff1919004b1afd3553906167",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a00d078b7c2a2544a9e0a2eb7fc63b4029061f3d6cefee7c24d85083659256f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c083afcc58f7530b25ad7eea773d3d46d72b16a6435abea42afc14e16cac88c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /messages · status 200 · 4.732 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4004, -0.0151, -0.0311, 0.9991, 0.0265, 1.4784, 0.2893, 0.5354, 0.0067, -0.0254, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=-0.0002 left_z=0.1766 left_yaw=-0.0001 left_pitch=-0.0236 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3384 right_y=0.0114 right_z=0.02 right_yaw=0.0201 right_pitch=-0.0848 right_roll=-0.0096 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -1.1556, 7.0222, 1.9414, -0.0659, -0.0317, -0.0171, 0.1162, -5.053, 5.053, 2.0342, 0.105, 0.1587, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.408, -0.0151, -0.0315, 0.9991, 0.0261, 1.4784, 0.289, 0.5331, 0.0036, -0.0265, 0.6896]\nstate[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1752 left_yaw=0.0001 left_pitch=-0.0309 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3379 right_y=0.0118 right_z=0.0194 right_yaw=0.0229 right_pitch=-0.0875 right_roll=-0.0087 right_gripper=0.6896\nstate[joint_eff]: [-0.2393, -1.2786, 7.0769, 1.79, -0.0464, -0.0269, -0.0122, -0.0889, -4.588, 4.7795, 1.6777, 0.0073, -0.0708, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4202, -0.0147, -0.0338, 0.9991, 0.0261, 1.0725, 0.82, -0.4767, 0.0036, -0.0341, 0.69]\nstate[eef_state]: left_x=0.2913 left_y=-0.0002 left_z=0.1722 left_yaw=0.001 left_pitch=-0.045 left_roll=-0.0024 left_gripper=0.9991 right_x=0.3299 right_y=0.0116 right_z=0.1765 right_yaw=0.0271 right_pitch=-0.1604 right_roll=-0.0147 right_gripper=0.69\nstate[joint_eff]: [-0.1573, -1.4701, 7.0085, 1.7998, -0.022, -0.0513, -0.0122, -0.2667, -4.3692, 9.4154, 1.8681, -0.0024, -0.0024, 0.823]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df57628d1df1ab274ffa10f52c4250c21aca3272ff1919004b1afd3553906167",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a00d078b7c2a2544a9e0a2eb7fc63b4029061f3d6cefee7c24d85083659256f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c083afcc58f7530b25ad7eea773d3d46d72b16a6435abea42afc14e16cac88c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5QgKEAgSGAI4AUIIdGhpbmtpbmcSDFWPOgh9AOU+lzW4exoMUYI+D7vabla9XfT4IjAdOKT8r/Hauk2kCBY02o7rHnEa29cFHn7QKpQ7pd5I6pQjGZ23tuZWaT4NMM9GAagqggiaFZi+HJBhZ8pvIGUVTWGqPo/53x3rujCu2/A6ByxkxNG9rFH1eVKgMNPwsWU/E5ba+L8lz2T87ji+3sTX0LMClrWwMh9nz92fu+DRbF16eKSe5rQ7bj02vJ457psxi6jK0bhykmejN/kr3k7tnPcGhee9KnNlQyXOczMH7Q/4Ypbw65tg1sGlW8UjO7THl1t3WcdH85no5Zt0sDcLB/bahgQ3gxsKSBYVYDQrcZ7E9DmQNYPhaabTioKxZt4UGGiSQgRxqlb0XrJD5A7Itfz3UgDOFlZCn0xDO/UmZjpq2jXpYf6+HqFkn6YT+XmCBs2jgI/1KzJn4TlB8zyrJNr/Tsw9oHIV6ERAM+FV5p52okhCVN2Xym2EO2t0YqGcgbPqXMF5LDVIMivfZp29zWfFJvjjs49H78QiTZmv/JItlYJcZ0fiwvWuzNgMRWSSJDDKJGr/ai1lO0xWcSduPgWq5I8NBHVONQu97ssvEbB6NvNlwk3h0F0FpGoszMhVDbPocT6os8JBcJxPkC496pug54FGP+aBXRrc18CeOQJ1wH4inUGUTuUjlmY3UP98X8YJTEDY1NzMDdkUA4OD2aRl/8LtzceCG6n4Sqgo/AGA4EL5SvI2JfFNWRZphGNtwEsXh8OMc2GHNxBYziYutAi9z8xCJ8qmMN7GqT5NtqgZnliRq5TOEP++jcMPDp6Ckk5AMcaKD+erwpcthuhuJ8AzwZzmYuxW1GzCgOdFZT60PEFyhXaAnO+2ocDb6jEOEpwPKkwLOuzEx9F9kLbwoaf2cy/2hedjMct3JWL3+tlshch4iy7R4U5scNwHsb2YC9wy50PIPiWxzP4+B5V1iii08Pt1mSSe/1UaTqVol90HMXGWpqn2efsdHHIyVmJMHAhnmQ21rbJs49ikl3oxiTUX4yh3LS8/TQyBA/CFkNT8ugqLnDVxg8aslIoBABGL2jzYADRQQiQ88b8xFbX3V8Rq+Je/1J6P/nM7+wn77XBt/M0hqVpeoRx5Yljkqegsk+do/P5G46HqbRBb33jkMzvGVZSJT0UGfTRcOIwGqV1QCqUwhCyuy8L7v5TDlbuFxkcaxQRoR483nZhcIzpMoLQ7F0DDXyeNSeyDk7Vw3c4E5ztM5iaUqSxseAyGhNrNiYF774P9qzWroCgv/H2NVbpgF3E02tirTud+1xeBkc1ru97JHNiMyLl/jP+ZJUjzWLgmuuezAovCiPsFsl3Rau/iDs1ekW/t9uUJZLdBRnuXFqL2P0G2BVVPKuAQy7syOKKd+xH0NDSiHmlvgKqL1++ny8B2ig9nwCA3M35tHzrr45b1xP78U2ZD3AVDvuM263X6zNP5BGpqm+ErVFasgDUmFqAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HZDKn7vroUa3xX4qY3d3eG",
      "input": {
        "note": "The pear is lifted and the blue bowl is forward-left in both views. Carrying the pear to a spot above the bowl.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.09,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01HZDKn7vroUa3xX4qY3d3eG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.424, -0.0147, -0.0338, 0.9991, 0.2916, 1.459, 1.1423, -0.514, 0.1802, 0.1173, 0.6899]\nstate[eef_state]: left_x=0.291 left_y=-0.0002 left_z=0.1702 left_yaw=0.001 left_pitch=-0.0534 left_roll=-0.0022 left_gripper=0.9991 right_x=0.3975 right_y=0.09 right_z=0.1752 right_yaw=0.0554 right_pitch=-0.2447 right_roll=-0.0419 right_gripper=0.6899\nstate[joint_eff]: [-0.212, -1.5111, 7.0632, 1.7363, -0.0269, -0.0708, -0.0122, -0.3077, -7.2547, 9.3607, 1.8486, 0.2564, 0.2222, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a44961ee93fa9a3b1f663b07215992d126a6ab8243198bd5fa5fa817c2bb726d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1369ab01a778dd3c5c4805f8bf6fc2d716c4209e866309714c0839c93487352",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d878ed7a81f0f6e76bb9bae592eca9af20d0f89d6838d89eb982be5d43bf6940",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 2.958 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.408, -0.0151, -0.0315, 0.9991, 0.0261, 1.4784, 0.289, 0.5331, 0.0036, -0.0265, 0.6896]\nstate[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1752 left_yaw=0.0001 left_pitch=-0.0309 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3379 right_y=0.0118 right_z=0.0194 right_yaw=0.0229 right_pitch=-0.0875 right_roll=-0.0087 right_gripper=0.6896\nstate[joint_eff]: [-0.2393, -1.2786, 7.0769, 1.79, -0.0464, -0.0269, -0.0122, -0.0889, -4.588, 4.7795, 1.6777, 0.0073, -0.0708, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4202, -0.0147, -0.0338, 0.9991, 0.0261, 1.0725, 0.82, -0.4767, 0.0036, -0.0341, 0.69]\nstate[eef_state]: left_x=0.2913 left_y=-0.0002 left_z=0.1722 left_yaw=0.001 left_pitch=-0.045 left_roll=-0.0024 left_gripper=0.9991 right_x=0.3299 right_y=0.0116 right_z=0.1765 right_yaw=0.0271 right_pitch=-0.1604 right_roll=-0.0147 right_gripper=0.69\nstate[joint_eff]: [-0.1573, -1.4701, 7.0085, 1.7998, -0.022, -0.0513, -0.0122, -0.2667, -4.3692, 9.4154, 1.8681, -0.0024, -0.0024, 0.823]\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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.424, -0.0147, -0.0338, 0.9991, 0.2916, 1.459, 1.1423, -0.514, 0.1802, 0.1173, 0.6899]\nstate[eef_state]: left_x=0.291 left_y=-0.0002 left_z=0.1702 left_yaw=0.001 left_pitch=-0.0534 left_roll=-0.0022 left_gripper=0.9991 right_x=0.3975 right_y=0.09 right_z=0.1752 right_yaw=0.0554 right_pitch=-0.2447 right_roll=-0.0419 right_gripper=0.6899\nstate[joint_eff]: [-0.212, -1.5111, 7.0632, 1.7363, -0.0269, -0.0708, -0.0122, -0.3077, -7.2547, 9.3607, 1.8486, 0.2564, 0.2222, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a44961ee93fa9a3b1f663b07215992d126a6ab8243198bd5fa5fa817c2bb726d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1369ab01a778dd3c5c4805f8bf6fc2d716c4209e866309714c0839c93487352",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d878ed7a81f0f6e76bb9bae592eca9af20d0f89d6838d89eb982be5d43bf6940",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuggKEAgSGAI4AUIIdGhpbmtpbmcSDPMtlsFRTni3Z6+iMRoMrbxRGKSueiQWsEobIjCUc0Hl/SV1QeY8PuwQW4XsWLzGcGXdcr9nGPby/dzUTYu1axrHh4AW3RZeZiCMnRYq1wenLIiNC+1zwIzA8696XYBXNOHQqHKX70u7+kNS2Av94jVjEBJfgqtNitghtOGWPIC6F2gkn0CvdgV+qTetnNK+OxxjpxYcXfhbvijhSkUw6PyvErVWV9E6uy8C29502ha1sG19nxvB9BClCb91u7D0xy147nIlC6ZnuzFF77qx98hL2zellhWGOyP7wtsKu9Pxd9PfkxV60fUpGxdNyv4LCGkPcaAM2Ev9QaEcWZRJgSfua0uSFmUOTOFwtIGKxRxn3eQ0sg0k+T66Gmuz807AiJmH63MU3OcndoOhsGDbDmvrbdpWZphLWsVMpsLfSmHh5DhV64WSDwNivlMmTgDgboLqMa9Q52NJgnfMMy6U8swOyUUVFm6GzfXJ05rEUEcA4taZBkEpnuo9DWwlaHgJ96o9uEyw8Bl+UpBYkh8xL2KAXBPZxfwaZbO8IMNAogfUQ60dzHlybCsQJ+0iEjSAe0RJfcpWzQ2PdJv4TOB/UF7qk/8T/tE0dXClpp3iEgx4jQnqLYYKIM6F3PLmJs17Th/4WFFq5bHJJb5aYq+xfPThY9MeKstKVaEc2dbHGzZkQhzClQ+K3CRwMFRK9bwjkfc/RxcGBQyowGIgGUcRkUQTc+o36iWeLq9ePkNrZ1SJdrsDr9SZrgBhxi6i9g4/7cVrID6VEWeovmOJJis5JhIn7ojIO26xLuJK5gPfI2LgK3wS+KYCDYAn14DZwDEcsGVgGBRCMTqJFw4RME7/Pp57IoFpLUIvqC7WJYV5lR3TOn6s83I3txskhRm+AonlWvYQXX4Hs6nvBSIuWiQOGmOX0+8MuBodfdEI2gTVavDlv3KUta+bmmDGbrZtSJjE5G6aSTMhz6kUx4BhuxgRQD4q4UFKQF7rOwPYPDY+mxxLvfB/TIJm5AOigZ7z+R1b1PqkGt8n9x5kSF8xg34AoU+dzOAm61KVMtO/dB0FWBYZ+IGKaNKbN/1eBzZ4awX5LjKPxkbn17pLTNWzeZW2MzEyy+Bq8/3z2ZWA8XIrfKPZq0RGP95+yPEVPE6I0pV2WwFnpzBwyVpy/SrhpmDGySnO5G3ceFDlCzdYOOnB0mEcuF1DRCXjBQ3qc0qbq625GfWL54WXX1CBKM/sXhAKNIj3XGPueeNK+HEf8vJA3/aVHUs9J8Q0/o91DA3ggme62Sg3ya590IEO8tz+vIy6qThxcGJfrC5c++Fo0pHl0yA/TqZUyxpLoWAu74pFUtb6eIFQ0bUHi0LZz6HTK5Aos8ksBpNfaPLiyCZYFoLebc1rmclHly9yJLZI5ghTdr8k25jUfKUVMhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EcdkZSzxkPvzDksNYitgYA",
      "input": {
        "note": "The top view shows the pear roughly over the right half of the blue bowl. Moving a bit left and down so it drops into the middle of the bowl.",
        "targets": {
          "right_y": 0.11,
          "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_01EcdkZSzxkPvzDksNYitgYA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0147, -0.0338, 0.9991, 0.358, 1.5208, 1.0157, -0.3855, 0.2062, 0.1432, 0.6902]\nstate[eef_state]: left_x=0.2909 left_y=-0.0002 left_z=0.17 left_yaw=0.001 left_pitch=-0.0542 left_roll=-0.0022 left_gripper=0.9991 right_x=0.389 right_y=0.1107 right_z=0.1209 right_yaw=0.0808 right_pitch=-0.2971 right_roll=-0.0594 right_gripper=0.6902\nstate[joint_eff]: [-0.1026, -1.2376, 7.1726, 1.6874, -0.0171, -0.0708, -0.0122, -0.1709, -7.241, 6.4615, 1.8926, 0.2271, 0.188, 0.8278]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74d0fa808a52ffdd24ceb58ebec6c669d06f573aae482e0f6c7acdd04772d9e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40037d2dec2d50de236b8d18e1778bf35d21f0a031b7cf1c6f6542072db3bdc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:588b4759a486e5c2a43203f6b1e94f78ab17d9b29aaf112589b7c79aaacea472",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 6.358 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4202, -0.0147, -0.0338, 0.9991, 0.0261, 1.0725, 0.82, -0.4767, 0.0036, -0.0341, 0.69]\nstate[eef_state]: left_x=0.2913 left_y=-0.0002 left_z=0.1722 left_yaw=0.001 left_pitch=-0.045 left_roll=-0.0024 left_gripper=0.9991 right_x=0.3299 right_y=0.0116 right_z=0.1765 right_yaw=0.0271 right_pitch=-0.1604 right_roll=-0.0147 right_gripper=0.69\nstate[joint_eff]: [-0.1573, -1.4701, 7.0085, 1.7998, -0.022, -0.0513, -0.0122, -0.2667, -4.3692, 9.4154, 1.8681, -0.0024, -0.0024, 0.823]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.424, -0.0147, -0.0338, 0.9991, 0.2916, 1.459, 1.1423, -0.514, 0.1802, 0.1173, 0.6899]\nstate[eef_state]: left_x=0.291 left_y=-0.0002 left_z=0.1702 left_yaw=0.001 left_pitch=-0.0534 left_roll=-0.0022 left_gripper=0.9991 right_x=0.3975 right_y=0.09 right_z=0.1752 right_yaw=0.0554 right_pitch=-0.2447 right_roll=-0.0419 right_gripper=0.6899\nstate[joint_eff]: [-0.212, -1.5111, 7.0632, 1.7363, -0.0269, -0.0708, -0.0122, -0.3077, -7.2547, 9.3607, 1.8486, 0.2564, 0.2222, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0147, -0.0338, 0.9991, 0.358, 1.5208, 1.0157, -0.3855, 0.2062, 0.1432, 0.6902]\nstate[eef_state]: left_x=0.2909 left_y=-0.0002 left_z=0.17 left_yaw=0.001 left_pitch=-0.0542 left_roll=-0.0022 left_gripper=0.9991 right_x=0.389 right_y=0.1107 right_z=0.1209 right_yaw=0.0808 right_pitch=-0.2971 right_roll=-0.0594 right_gripper=0.6902\nstate[joint_eff]: [-0.1026, -1.2376, 7.1726, 1.6874, -0.0171, -0.0708, -0.0122, -0.1709, -7.241, 6.4615, 1.8926, 0.2271, 0.188, 0.8278]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74d0fa808a52ffdd24ceb58ebec6c669d06f573aae482e0f6c7acdd04772d9e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40037d2dec2d50de236b8d18e1778bf35d21f0a031b7cf1c6f6542072db3bdc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:588b4759a486e5c2a43203f6b1e94f78ab17d9b29aaf112589b7c79aaacea472",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwAYKEAgSGAI4AUIIdGhpbmtpbmcSDMYTFJR8Ds5l4Y9P2BoMMMW+KRmlWEzYEdweIjBaHSGsyoVshcCuQOmqnLAgCMfZq3ITu6q5h4S6JguxZqJjpDaf11He3c9qiCn4v8Aq3QXAEm+2/zRug2EINSrk+rFVJBDhx/TlIruQmL7k1l/kG9dbfHV1wmMuC6S/PAEfvvgMPMw/US/hxAs3u91S7fLwqgXAxufFFzaFe0Wk8DpqsX94mYIOWOAyjFg2/C5z91Datzy5D7HmCjtriRaEECLCZibULYPL0GYGIrP9x45P5RJVs3nm9CAZwnxA3dfy8U3q3BqKjPAMmijWRPrhUhJzKT6e+I7I/mi/AoHlrWsmRy+L87amh8tNGqBPVnUMnUUcBslDTEc0JLyt3lSoXFdOMRHYQ8tRwSW3x2wx6RZ70ytDa6rtE4UyI4OlakT9wOJBVdQf+gzo8Qg2i/68D0645+jpVqV/+fGa46iK4s1iltSDRvOKRFZINqktRO8z85Hq6WNnD0ftxELuhLmu0qsKl4ZBVEFMpjan0J3EJlYTJ6VGOYXoa1NNjB+P7nBlM1InMmACLDgsTvLXpBJY/sP9UAGGDRiEViVMXIH81zBvUZ3+5PA+X2QwTzF9stSbst1nyyg2tnqUEmBTfTvbRPI283V6PertqfXPyWXO+v4Tgg1myESLzquZ0+hs0zEkWqNdHT3QCF71uHE/uyjxnRvQsR/GAz04tEaMDHFNlny/Q4+ZJWvbjTLymz7hEXNo5pqJh2hXWhCnSx9F59oqheN7Oe9v+bYR047LWIMz0cfSa6xpHLvBwexaMvXOiU0aJQ+UGsNsoFjjWHui40XDU9cTnaJabC52qmHi6uOU0HAmk06INocvA38msIYsFFwt3VeS14YNxf6jKF4x+qeyCUPAcQZUMepFWdRVkGCQ73sNFeRcLv/8BtKdUVgVtxp0R0r/k1GB9GFj+SzjFizXAo6FDX4B8ao0moD3oGpAsqoFY2hcbg6XPYA8zp2kEvBwnr9vFBec7bmVhmKtBBcX2jc649g6me744laesdVPJTYCjURO+oZw5YibSM5o/tcr4XySuEXcrBk5IOgXc62HGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JRQR3nudK9ye1JZYsRTAwz",
      "input": {
        "note": "The pear is hanging just above the blue bowl. Opening the gripper to drop it in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01JRQR3nudK9ye1JZYsRTAwz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4313, -0.0147, -0.0338, 0.9991, 0.3573, 1.5208, 1.0157, -0.363, 0.2092, 0.1501, 0.9961]\nstate[eef_state]: left_x=0.29 left_y=-0.0002 left_z=0.1684 left_yaw=0.001 left_pitch=-0.0618 left_roll=-0.002 left_gripper=0.9991 right_x=0.3931 right_y=0.1114 right_z=0.1244 right_yaw=0.0754 right_pitch=-0.2746 right_roll=-0.0506 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -1.388, 7.0085, 1.7802, -0.022, -0.0513, -0.0171, -0.4171, -7.0632, 6.5026, 1.6532, 0.1587, 0.1294, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fc33b22b8f44954e309ee3e9ca07378a64366cb6d4b62c2c56da9fdc0ecf6dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88c3771e26a5b66cf203683b77a7e3d13c666ed5d1a6a34f5ee5c00224ff24b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0055119fdaff5e5483f9e1913d048fbb23dd76927a3dcad862238aa281982e52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 4.555 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.424, -0.0147, -0.0338, 0.9991, 0.2916, 1.459, 1.1423, -0.514, 0.1802, 0.1173, 0.6899]\nstate[eef_state]: left_x=0.291 left_y=-0.0002 left_z=0.1702 left_yaw=0.001 left_pitch=-0.0534 left_roll=-0.0022 left_gripper=0.9991 right_x=0.3975 right_y=0.09 right_z=0.1752 right_yaw=0.0554 right_pitch=-0.2447 right_roll=-0.0419 right_gripper=0.6899\nstate[joint_eff]: [-0.212, -1.5111, 7.0632, 1.7363, -0.0269, -0.0708, -0.0122, -0.3077, -7.2547, 9.3607, 1.8486, 0.2564, 0.2222, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0147, -0.0338, 0.9991, 0.358, 1.5208, 1.0157, -0.3855, 0.2062, 0.1432, 0.6902]\nstate[eef_state]: left_x=0.2909 left_y=-0.0002 left_z=0.17 left_yaw=0.001 left_pitch=-0.0542 left_roll=-0.0022 left_gripper=0.9991 right_x=0.389 right_y=0.1107 right_z=0.1209 right_yaw=0.0808 right_pitch=-0.2971 right_roll=-0.0594 right_gripper=0.6902\nstate[joint_eff]: [-0.1026, -1.2376, 7.1726, 1.6874, -0.0171, -0.0708, -0.0122, -0.1709, -7.241, 6.4615, 1.8926, 0.2271, 0.188, 0.8278]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4313, -0.0147, -0.0338, 0.9991, 0.3573, 1.5208, 1.0157, -0.363, 0.2092, 0.1501, 0.9961]\nstate[eef_state]: left_x=0.29 left_y=-0.0002 left_z=0.1684 left_yaw=0.001 left_pitch=-0.0618 left_roll=-0.002 left_gripper=0.9991 right_x=0.3931 right_y=0.1114 right_z=0.1244 right_yaw=0.0754 right_pitch=-0.2746 right_roll=-0.0506 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -1.388, 7.0085, 1.7802, -0.022, -0.0513, -0.0171, -0.4171, -7.0632, 6.5026, 1.6532, 0.1587, 0.1294, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fc33b22b8f44954e309ee3e9ca07378a64366cb6d4b62c2c56da9fdc0ecf6dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88c3771e26a5b66cf203683b77a7e3d13c666ed5d1a6a34f5ee5c00224ff24b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0055119fdaff5e5483f9e1913d048fbb23dd76927a3dcad862238aa281982e52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQoKEAgSGAI4AUIIdGhpbmtpbmcSDL37Bi921anwmbCEZhoMZLRwm2iBKz3cu/u0IjA6oDOOvQw2fyp6qvgP8sDrXvqMg7XMH67VHvPpB+p9hxU9wHvK4e61fCFP6b0kYD4q0gnzTdkN/B8N1AMJopKlKtOtF10+lcNZO7md4bpsKzZ5QUhaJIB970zIcIUCPPe4772hD9GIlL+pzD+MHokgR8O9S+vqqjmXzZNG8QsNvzUfFy7SArSDf4hvxx65l5iweQHil5Tdx9LrV4Ema4cbhnFEwNt0J9KPvmQSP9Bka9wLVCioU+1M+a6kt6ZTbmLxMVv9ILivDOfvh931BSG98KydoQ/txoFKj4vrn4OQBgxdSsoUBsA8HPSCvFK0wtU6XN8G93paVYUSBkJ80bwnfd7OR0a2QvfrnvRSfYPbu+Y1v8K8b9kgEUGnrl3p4+qyysS1kwFduptzjpNWeM2i/dzUyEgHlO6Zbb3IlmVTXZxXOiPyeADWsMico6EG75Zn+8WJmx7mxaGWf9YvzPMg6hCzEA21dK6+b9J/hqp3uPtLQjM6L+AGGhPZdIouoySMgaLcTp8T2quX2K9027/BZADgRi54af/fK6TSWmaQ+A3rXy5vQVtsQFXwfJEuck4ehRl6RXXqVkeHosIAExME/3J3pkvRHF/xfzIlQxGPTvVzKXSbyMs6UWn3Qwdg39aRtqJLY/vbi+z1+eq3W6KOyMMtnwgZ2W0czaYbz8wsWyxGTzdCLXbJVjzBo4qGY9AL3gw7d8UNOQ5DqfDXtqM9lwphkmTRMvIvdZWKznAV2bf5IG18w9s3y+Nfyl6N9c6j87GVQ4BW4SEIVPvpdX/LHevihNwaa8Za7c1ZnFI5oVoSftEmX3/BioEAkn8EbFIF3mDQ/bxcQmEUgAwe7iPysPuFfzdrANyGq4fAWc8sXN9wnAaqNyn1Ryr24Tr+6W5namNsgGCxCUuDRdz3KATYv+OMNAFiLmLE4+LAEFRO3GdVO4iUgXMXuqdQ2W1HfMCZHPBc1Z0A/WO9eLAvMCaRA+4P5AkNq0AgBKxcT9dqzJUxXDKXlXAcFmcNyLyEfcCwWb3h8vN+FQiD0ZQttdVO9Zkgv14z6vVjLG33W1ymrnbFxRqHVH1Nz8MEJ5Gmj4JtUEUEAd7NboPGPzlaofRBX6KFYcu1/NiVRgQjXJdUCvjNHKC4c5lDM7tpn6+cKLbtUrD3aE6fwyfsRUjx5jCvf6go5DfxZjtpHnlG8iFj342NB0kXoJUUv6G7wILpTuE3ONKj/tQi2nGiptsfuuT9aPBNBPJwRblqUIIhzhO6+GkuK0890Yaqjc8fLbAxAnYzc/FdLd4JoHOveqgE6YUv6Kq2kn+GEo70UOTUaJEawXDaJ8VumB2CD5+5H6vRsZglN84dcJwOgRmVAj78OJ1FmwHQdmuHXyMR6dCiTT8jNwqxcq5ReVuBLHJnlSRrAzlqH6dxDPM9j5cLhY1iytnMOKLS9JL+lSEB8cX9z039Baqx2E/uTGYY1rEHMyebuFQOcvI/xKU3gUHLdGRBPWVPWLVC6YCMdad/p7dJWcYh4IIzpcuv+XDsvOeVWOZR9JuQpzKXifG1hs60Rdq4NYwFU8NwuRrzi/n5jYDpEpdM8r+1ucB5i4lLP7sHHPmucF2vFy5YM9maG0T3IxBYD1WNxNwaloWqjPgEOr7kJYOpVtdMnHdOCFeKoc1eoWfRNFbnZALV96HuWUwnx3Y/6WThiN7SHoBQ0VQM9dqeM/ChP2OZTOxcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ai7LuDSa98P4BvhviRdQLo",
      "input": {
        "note": "The pear is now in the blue bowl. The lemon lies on its side to the left of and nearer than the bowl, so I'm moving the right arm above it.",
        "targets": {
          "right_x": 0.31,
          "right_y": 0.2,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Ai7LuDSa98P4BvhviRdQLo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.815, 0.6132, -0.4343, -0.0147, -0.0338, 0.9991, 0.5526, 1.4864, 0.9691, -0.4957, 0.4, 0.3386, 0.9966]\nstate[eef_state]: left_x=0.2896 left_y=-0.0002 left_z=0.1674 left_yaw=0.001 left_pitch=-0.0664 left_roll=-0.0019 left_gripper=0.9991 right_x=0.3437 right_y=0.1353 right_z=0.1087 right_yaw=-0.012 right_pitch=-0.3348 right_roll=-0.1335 right_gripper=0.9966\nstate[joint_eff]: [0.1026, -1.0872, 7.1863, 1.746, -0.022, -0.0659, -0.0122, 0.1026, -7.9521, 6.147, 1.3455, 0.2759, 0.1148, 0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:711e7b827c3e55b207ff66398c047fabc6953f8573cf74f0b5bc73356467c5f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebb02102177f0820b56af151a75622b3fb0d0a7ca832fd150e5754d8a0db9c31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0ee7946c4b23377eddcacc284362b562cebb731e15cc90e0324cbb58999527d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 4.643 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0147, -0.0338, 0.9991, 0.358, 1.5208, 1.0157, -0.3855, 0.2062, 0.1432, 0.6902]\nstate[eef_state]: left_x=0.2909 left_y=-0.0002 left_z=0.17 left_yaw=0.001 left_pitch=-0.0542 left_roll=-0.0022 left_gripper=0.9991 right_x=0.389 right_y=0.1107 right_z=0.1209 right_yaw=0.0808 right_pitch=-0.2971 right_roll=-0.0594 right_gripper=0.6902\nstate[joint_eff]: [-0.1026, -1.2376, 7.1726, 1.6874, -0.0171, -0.0708, -0.0122, -0.1709, -7.241, 6.4615, 1.8926, 0.2271, 0.188, 0.8278]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4313, -0.0147, -0.0338, 0.9991, 0.3573, 1.5208, 1.0157, -0.363, 0.2092, 0.1501, 0.9961]\nstate[eef_state]: left_x=0.29 left_y=-0.0002 left_z=0.1684 left_yaw=0.001 left_pitch=-0.0618 left_roll=-0.002 left_gripper=0.9991 right_x=0.3931 right_y=0.1114 right_z=0.1244 right_yaw=0.0754 right_pitch=-0.2746 right_roll=-0.0506 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -1.388, 7.0085, 1.7802, -0.022, -0.0513, -0.0171, -0.4171, -7.0632, 6.5026, 1.6532, 0.1587, 0.1294, 0.022]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.815, 0.6132, -0.4343, -0.0147, -0.0338, 0.9991, 0.5526, 1.4864, 0.9691, -0.4957, 0.4, 0.3386, 0.9966]\nstate[eef_state]: left_x=0.2896 left_y=-0.0002 left_z=0.1674 left_yaw=0.001 left_pitch=-0.0664 left_roll=-0.0019 left_gripper=0.9991 right_x=0.3437 right_y=0.1353 right_z=0.1087 right_yaw=-0.012 right_pitch=-0.3348 right_roll=-0.1335 right_gripper=0.9966\nstate[joint_eff]: [0.1026, -1.0872, 7.1863, 1.746, -0.022, -0.0659, -0.0122, 0.1026, -7.9521, 6.147, 1.3455, 0.2759, 0.1148, 0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:711e7b827c3e55b207ff66398c047fabc6953f8573cf74f0b5bc73356467c5f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebb02102177f0820b56af151a75622b3fb0d0a7ca832fd150e5754d8a0db9c31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ee7946c4b23377eddcacc284362b562cebb731e15cc90e0324cbb58999527d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5QgKEAgSGAI4AUIIdGhpbmtpbmcSDCIbIPOHjo+donnTgxoMMjfrcHRHA0TZqQxxIjBOv8Zl5wKIN6hynmdMPZYUMSPGg66aqpRA3YLWoOzJKaDoNakbz6ZG3OsjqcLk5+8qggj0CYR5D/GelbqhPDNU/w/0S9citSaKlLyVIWOgfbS7cajwmz7ogR+M3cTRvlBkCCvpzTuxdXXTN9QJ2W7oKj50LuHT9ZIpC7AmFcgq+ZyvWjmTEK8Kc8L/OufZomwZnqQDE0M6Ud+WbfYayFjy1PjC848Qcm1ofq19WkTpIo0gbA12Bzs2lLHdGobHIjZmxot2/Ycr7RiVjvA3/KlBk7G1RA1HlfS1S/vRHAjW5QJJUiwQmsD2ZXqJQ/IwVjS8sgtCdYPtffFpeYHsU0QuDZao4DMqVt6jYsuCq3y5KjcCDbVPuVOj9SuVsdjv8BNNwq57501lcMjZHIjw9MOJu3VPEXWWojSEF836S5EmZktBxGbpZ37EhkJvamY1yszkeL4DkJcWOTyFVPS0SqF8sxschXNdz3PoCvEAJLxHA+DsKxBNPBBiF0PcvJ9Xf0zYg/XmJEhbZ4nG6E4K9/ftu5viASoQlNC0byvbzpyl+/xaP3LVpPTC4COwZEE76/J2ics0bf3yW0+Er+FlGnfPXhTLdp/JEnbZ1okDWaFZO3y9IhM83rhwxCm6kQrEkc2Q4i/ZRlrD/Pw6tTNX3x304GEoeFxvj2OvkI3D5VKs6kWIDmTwMBzv1Xu6A1NQLqJgxf8lRhjeCk4tuy250MLjRlNDF2AL0e0vHD+BEtJq/9JE2rGRcW5mW0UWZklshfCm8rxo7+rQRc3/VDd9AG4UbNLVQnX9/EqEGd0qWgNhSnzFYG8hySYHi22wwmmDI1BFwdi/H7HnU2E1qrbAgTVLtfoM96H2p9B6vpk3VAD/8tDKgPchJuQ4BgXMB3YCN8N+NmghTIXNE+0ORwhiEuFbZBTIMiar8qvF+f1tQhas709kfoRAsDO4Z6OxuNCSIJJJ/AVuK0xbrcZ4A8yGhiVHrYtbrMIuFYG/3U3zg7cHqk8K0Id54zxUaGvnddgNh3vd/iZ3Wgo6X9YjgLYwWgme7JrADA3b5O9TlafofqMc8fzpcQfyWEKLS3s4ijqgJ5TYtOSGjM92AIKuhOeTbCc+cZeJ4CI8fDlbOcSgAFAAy7VY6MEfWMKmr5WpdEnD3m7Wbbbpd5MDeBoONMAEySZ2dKhAGXuhnOXPG1+r/w3vUxr9TfaqTbbWT7LzZYb9u8tnvmXgUkXWmsR0RPuMghw8IY44VEhlRKvrIQU0+72ff6cIxIiJ793nrsnppMvKERA9pqtQqf+WXu0qwX/F3Ds1QJZtQvL2i/PvcaolV4wFoCsGclOIRh6kFvWrKR7WPhaeuDRDQ9pBdroLlWg3Oxf99/tty61auzpMwQNoQ5udjEhrzvEsLhomsZ6wF/e86jwkVGYnW9NcfBOu523VzfD0SRbC0p4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cvfny4v7tXAj5dpdaWF9zK",
      "input": {
        "note": "The arm stopped short of its target; the lemon is still at the lower left of the right wrist view. Continuing left and slightly back toward the lemon.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.21,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Cvfny4v7tXAj5dpdaWF9zK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4419, -0.0147, -0.0338, 0.9991, 0.6392, 1.5238, 0.9829, -0.543, 0.4366, 0.4263, 0.9966]\nstate[eef_state]: left_x=0.2886 left_y=-0.0001 left_z=0.1653 left_yaw=0.001 left_pitch=-0.0763 left_roll=-0.0017 left_gripper=0.9991 right_x=0.3283 right_y=0.1554 right_z=0.0977 right_yaw=-0.018 right_pitch=-0.3684 right_roll=-0.1478 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.1692, 6.9949, 1.7216, -0.0415, -0.0659, -0.0171, -0.0342, -8.1573, 6.2017, 1.3065, 0.2418, -0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:934018341c2eedba1098a5deb76ef2126797f250720d6e1b615da2f519a12064",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be8c6a3c9fa9878bd50102b5690a7b5a37b5a295e217ece2450ba65a6d8f0b9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:543279f3e50fff51ba65e88d36a7fb7eef0a32d0c2a0437cd542b3926af84f4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 4.711 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4313, -0.0147, -0.0338, 0.9991, 0.3573, 1.5208, 1.0157, -0.363, 0.2092, 0.1501, 0.9961]\nstate[eef_state]: left_x=0.29 left_y=-0.0002 left_z=0.1684 left_yaw=0.001 left_pitch=-0.0618 left_roll=-0.002 left_gripper=0.9991 right_x=0.3931 right_y=0.1114 right_z=0.1244 right_yaw=0.0754 right_pitch=-0.2746 right_roll=-0.0506 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -1.388, 7.0085, 1.7802, -0.022, -0.0513, -0.0171, -0.4171, -7.0632, 6.5026, 1.6532, 0.1587, 0.1294, 0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.815, 0.6132, -0.4343, -0.0147, -0.0338, 0.9991, 0.5526, 1.4864, 0.9691, -0.4957, 0.4, 0.3386, 0.9966]\nstate[eef_state]: left_x=0.2896 left_y=-0.0002 left_z=0.1674 left_yaw=0.001 left_pitch=-0.0664 left_roll=-0.0019 left_gripper=0.9991 right_x=0.3437 right_y=0.1353 right_z=0.1087 right_yaw=-0.012 right_pitch=-0.3348 right_roll=-0.1335 right_gripper=0.9966\nstate[joint_eff]: [0.1026, -1.0872, 7.1863, 1.746, -0.022, -0.0659, -0.0122, 0.1026, -7.9521, 6.147, 1.3455, 0.2759, 0.1148, 0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4419, -0.0147, -0.0338, 0.9991, 0.6392, 1.5238, 0.9829, -0.543, 0.4366, 0.4263, 0.9966]\nstate[eef_state]: left_x=0.2886 left_y=-0.0001 left_z=0.1653 left_yaw=0.001 left_pitch=-0.0763 left_roll=-0.0017 left_gripper=0.9991 right_x=0.3283 right_y=0.1554 right_z=0.0977 right_yaw=-0.018 right_pitch=-0.3684 right_roll=-0.1478 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.1692, 6.9949, 1.7216, -0.0415, -0.0659, -0.0171, -0.0342, -8.1573, 6.2017, 1.3065, 0.2418, -0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:934018341c2eedba1098a5deb76ef2126797f250720d6e1b615da2f519a12064",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be8c6a3c9fa9878bd50102b5690a7b5a37b5a295e217ece2450ba65a6d8f0b9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:543279f3e50fff51ba65e88d36a7fb7eef0a32d0c2a0437cd542b3926af84f4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpAgKEAgSGAI4AUIIdGhpbmtpbmcSDKg1k5VYjL+93AUdbBoMutMELX2Rdk5Pw2rFIjDZvpH1/rXsH//AXJYvexpm4IEkT/vXVQ+xGXIT9ZNqNTg3Vzi2FWq/1HXHlxia83YqwQf8wycQr9jTznof1EJgzuapimVH9Nrxwswk5t5vL0sVs7vC7b7NvOnV5+hTTB1x7tL/iyqy06UCd4L0Lpb0SSobpfn0YMVHKAf8osg8tCDpBGTuJG/VBVmDWUbdcBIhqtveiVJ+AZ8pmxNTs+uzwwSBTd1kgKgH8iwFdC9aVNHDTL471KN5Ch01UtvNtXMHLxlTIl8/0+GIVJCersXq/vuvW+2djqKtNRqkyhk4rk+d/Ki0sJwmq5c4iw4i2k5NFCG1qJxeTNIrinbfV3o3Ot8+mPmIA8rJIxrfbug7N3DHDcjwZUHxujwulevjT09/JVP/H6alwF8XM14Li6IVGEg5MEOjg1K71wF0CXJ1C3XDTG2kovq8WQ9iXgxWobhlkOH0GwiPp8sQVbpRHuYIPz7HhneHBJmNMxQfJwMrY4FWBkaJbG5FyCgw91JT2tezghwpvWgFE7NuwQAoj7xpkTQfda+kCSY2cryxZnW/JGy/FJsOIw2Skq4XjCGxRLzcoPbvJQghdFBBNls3B3Vh/F7JaL/3qaQ3noIcqAzpJY+lYC/osQovevER3Q/NIKSjBxbFWSpEug3WF0xJPtX7gfuon/jKGmAOWxGE9L0nX3xOPbBjKb7U/7T+lRo/CRKuBnhzH+KAWNp1PJORFgVEsUhvL+TMGK4EiRpZx7wnEZ/M16v0Gp0qMa+pbcy0kjm4o4Uj5qhvjmx8IFqfRaqV44SynYB6gNjR98gkGa4wbXmneEd9NwK3y66Karu6qvJ04hMvjHnMTWId9TF72MBLzv/9oGnuEXb5rI5uJVVlFuclPtXyzaj9kzvZmTNmHunr1ZQ3JDxEGghoZRuzVxNEMHmLl10Zroi9IuO8VIQkaciofxGX88JAtPu8RSa0NgE50hYV/WZxRs7qTOH6dBynXabrhE+pQlhlX+EkvNRxJf+7npOSeIlcYFIvTMjvnVGHnRTews9rXNZiUNFb/ELyPu7ovw88MfQMMmgxkF3euh0SZRVCj55KSuTUZ7nN5j7kuzKJGQgGKnL9spMkCEapSIa++ldC9PSWyANrSVhzNmB3C+Y+a19pp3Km5nttDeslCpUuMPG5MIBM1Umnr1FtRjpHN/Lz0mgONAadUFB+B7/y+Nh3lLPsF2wZe0CpZvniAs80wYz0u4kHU5D4dEu+iWnLhsL1503nTfRVhTPoqxMDZ3ftZfXZfYKdTOdSQHP4Co+1A8Taizl9/TSpKscShVmF30EkuB2jPvEQB0Puny+yeQrRkl2CcgEcv4BSXFcW6faRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YBcwbm8jXSGzqAGzsDnVW5",
      "input": {
        "note": "The lemon is still to the left in the right wrist view, and the tool has drifted into some pitch and roll. Moving further left while levelling the tool orientation.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.31,
          "right_y": 0.23,
          "right_yaw": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01YBcwbm8jXSGzqAGzsDnVW5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4465, -0.0147, -0.0334, 0.9991, 0.9428, 1.5509, 0.786, -0.0761, 0.7254, 0.5961, 0.9966]\nstate[eef_state]: left_x=0.288 left_y=-0.0001 left_z=0.1639 left_yaw=0.0008 left_pitch=-0.0828 left_roll=-0.0012 left_gripper=0.9991 right_x=0.3081 right_y=0.231 right_z=0.099 right_yaw=0.025 right_pitch=-0.0228 right_roll=-0.0193 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -1.306, 6.9812, 1.7607, -0.0366, -0.0513, -0.0122, 0.3624, -5.6, 5.4632, 1.5751, 0.4518, 0.1783, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6e3c311ca2592912864a888af24d712e68fa054d6d1fed5f8422c23a78af722",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92fb96c8402510f9d944827b831fae31e19497208546397202cc9c9a6146556a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f484b800ca01ebb11812d9a1c198b9fd6afa40e156d87e229dcbc2f9d3817147",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 3.502 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.815, 0.6132, -0.4343, -0.0147, -0.0338, 0.9991, 0.5526, 1.4864, 0.9691, -0.4957, 0.4, 0.3386, 0.9966]\nstate[eef_state]: left_x=0.2896 left_y=-0.0002 left_z=0.1674 left_yaw=0.001 left_pitch=-0.0664 left_roll=-0.0019 left_gripper=0.9991 right_x=0.3437 right_y=0.1353 right_z=0.1087 right_yaw=-0.012 right_pitch=-0.3348 right_roll=-0.1335 right_gripper=0.9966\nstate[joint_eff]: [0.1026, -1.0872, 7.1863, 1.746, -0.022, -0.0659, -0.0122, 0.1026, -7.9521, 6.147, 1.3455, 0.2759, 0.1148, 0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4419, -0.0147, -0.0338, 0.9991, 0.6392, 1.5238, 0.9829, -0.543, 0.4366, 0.4263, 0.9966]\nstate[eef_state]: left_x=0.2886 left_y=-0.0001 left_z=0.1653 left_yaw=0.001 left_pitch=-0.0763 left_roll=-0.0017 left_gripper=0.9991 right_x=0.3283 right_y=0.1554 right_z=0.0977 right_yaw=-0.018 right_pitch=-0.3684 right_roll=-0.1478 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.1692, 6.9949, 1.7216, -0.0415, -0.0659, -0.0171, -0.0342, -8.1573, 6.2017, 1.3065, 0.2418, -0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4465, -0.0147, -0.0334, 0.9991, 0.9428, 1.5509, 0.786, -0.0761, 0.7254, 0.5961, 0.9966]\nstate[eef_state]: left_x=0.288 left_y=-0.0001 left_z=0.1639 left_yaw=0.0008 left_pitch=-0.0828 left_roll=-0.0012 left_gripper=0.9991 right_x=0.3081 right_y=0.231 right_z=0.099 right_yaw=0.025 right_pitch=-0.0228 right_roll=-0.0193 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -1.306, 6.9812, 1.7607, -0.0366, -0.0513, -0.0122, 0.3624, -5.6, 5.4632, 1.5751, 0.4518, 0.1783, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6e3c311ca2592912864a888af24d712e68fa054d6d1fed5f8422c23a78af722",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92fb96c8402510f9d944827b831fae31e19497208546397202cc9c9a6146556a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f484b800ca01ebb11812d9a1c198b9fd6afa40e156d87e229dcbc2f9d3817147",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4gcKEAgSGAI4AUIIdGhpbmtpbmcSDJGYaSysNFVyX+XmLxoMGRDQ0oeMOw52YjO6IjCq4iT1xpL9W2qQgz7tZycBzpLgFJI/gLx0t5sjDhPSdhbW2WJjYFBTg/7t7KZp268q/wajY/xc2eShyi/2UABtY6xHmPZuLCCAQp/zVMfFTJuTwh8wj7wes1128VJd1iDqqW+5yvjv/VW4KrDb6bZjK6qJISDpXpzqzBvM6fpeX6/M3yezxrMetRFpB+QbBiHHTifDLwLRFOTo1KweAxNKEj6HeCsxOy470A/Je9C+t5Oo4LQ/b3JhdRPayD4PtF5fMmtSDbTjBF9nUTe6zylGpy3i0yc6BKSlsZ8ieYnEqwy05dwViqWjHnZ79/ecwnCwIq271Wksg2gLs1rrh7RH05++kolSIS05HX1gLQxpPljiEzzOACwxnG60Hkv5znvb9iamEixO9zaQy3oozW3YdRXEkpw3/Ct7HcVQ103cVjnpxTrqhjFndzBBl9UC6BzWfFYj1xGMb+rK/khHznyO908zEqUZWrF/29jC9UeqmxJjkKp3zt6IdT5ZkHXUrluSPL/4axDAKyp5scTQxGzOOaDbxm2qlwJjccK6TsnqErpJnwPMwbGpWrSaM9NhIqnTPdqig9JrSqqZWibPs0bKVYIw2QjpJrfYTIbFmCK5+RcEz3g3vwgtsy3+duxcFsgrrLJAx3+0Pj4Dh0+kkkNYVyqIPNy1pArNsJg/CsB6KyZQgef/2N43VYS/C/C4TpJGIOG/C8C+8BRH3o/Nugl4JuEn3nAEbjf+s3i57X4UZDcaxJKsZw2cvlOMMHPbq2QdpeJHp5UB6TuviGCghEz4wwtYj47NM5P7JmSWnW8grPWSIHrYrD47z87GxuDoBu045UT3b2ljHzFPLP7eUpjrXRcebkZ7IZeuDf2kz6uNAWWtfgzoz3xaugXz9WoLkcQwfitWKXq6rYj7Uq3HCGUosleMIt9peoMAuPz7jZEdGnSo2wSDLarFeqi+j7Uce7xyHF1ZG6MdmQaor4bVyApKP+R6a26W+a9TeZMty2NbF4/nPhAEoFNMmktIVVT3hwBymrKYVQNO5OHEfrZZBwIzaxBrbN/VKCpjT+g8xNWxhoBx3G8jypgHTDFf1SIPxdSnbWrOosiH9MBfP/sIs76amhCShg/GtGHsiF9573Qlvzh2d2X4LdsnE059HtgJGJaJ1p5CvvxUduUTzUhuZDm3rSuSabcKaT65inxzykV8Fccf640D0lB8wpNd2yA1AlTrVnbp0xepdBw8Q38o+bkDYujMlXpSv0RHUpctc4w5+EghGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NorK9nyUUYS9m7pyv5EUVZ",
      "input": {
        "note": "The lemon is now centred on the jaw column, a few cm ahead, with its long axis running forward so the jaws will close across it. Moving forward and down to lemon height.",
        "targets": {
          "right_x": 0.335,
          "right_y": 0.225,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01NorK9nyUUYS9m7pyv5EUVZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4503, -0.0147, -0.0338, 0.9991, 0.8551, 1.8301, 0.6792, 0.3332, 0.6567, 0.514, 0.9966]\nstate[eef_state]: left_x=0.2875 left_y=-0.0001 left_z=0.1631 left_yaw=0.0011 left_pitch=-0.0866 left_roll=-0.0014 left_gripper=0.9991 right_x=0.332 right_y=0.2229 right_z=0.0149 right_yaw=0.0297 right_pitch=-0.0475 right_roll=-0.0364 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -1.3607, 6.9812, 1.7216, -0.0562, -0.0366, -0.0122, 0.0479, -7.706, 4.8752, 1.5995, 0.2808, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ecbb2da6c08b9e4dd2016d39bf05699a3d7c94f49baaf3e8a99a2f5c1498fda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b26ef5baa5b2cac00bda3a1296dbec4a39fff71cc801ef7b4055805f325f97d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7da4041be91c92354bf273886d011419855acc6bf4bce0a546fe35003fed2a99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 3.977 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4419, -0.0147, -0.0338, 0.9991, 0.6392, 1.5238, 0.9829, -0.543, 0.4366, 0.4263, 0.9966]\nstate[eef_state]: left_x=0.2886 left_y=-0.0001 left_z=0.1653 left_yaw=0.001 left_pitch=-0.0763 left_roll=-0.0017 left_gripper=0.9991 right_x=0.3283 right_y=0.1554 right_z=0.0977 right_yaw=-0.018 right_pitch=-0.3684 right_roll=-0.1478 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.1692, 6.9949, 1.7216, -0.0415, -0.0659, -0.0171, -0.0342, -8.1573, 6.2017, 1.3065, 0.2418, -0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4465, -0.0147, -0.0334, 0.9991, 0.9428, 1.5509, 0.786, -0.0761, 0.7254, 0.5961, 0.9966]\nstate[eef_state]: left_x=0.288 left_y=-0.0001 left_z=0.1639 left_yaw=0.0008 left_pitch=-0.0828 left_roll=-0.0012 left_gripper=0.9991 right_x=0.3081 right_y=0.231 right_z=0.099 right_yaw=0.025 right_pitch=-0.0228 right_roll=-0.0193 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -1.306, 6.9812, 1.7607, -0.0366, -0.0513, -0.0122, 0.3624, -5.6, 5.4632, 1.5751, 0.4518, 0.1783, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4503, -0.0147, -0.0338, 0.9991, 0.8551, 1.8301, 0.6792, 0.3332, 0.6567, 0.514, 0.9966]\nstate[eef_state]: left_x=0.2875 left_y=-0.0001 left_z=0.1631 left_yaw=0.0011 left_pitch=-0.0866 left_roll=-0.0014 left_gripper=0.9991 right_x=0.332 right_y=0.2229 right_z=0.0149 right_yaw=0.0297 right_pitch=-0.0475 right_roll=-0.0364 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -1.3607, 6.9812, 1.7216, -0.0562, -0.0366, -0.0122, 0.0479, -7.706, 4.8752, 1.5995, 0.2808, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ecbb2da6c08b9e4dd2016d39bf05699a3d7c94f49baaf3e8a99a2f5c1498fda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b26ef5baa5b2cac00bda3a1296dbec4a39fff71cc801ef7b4055805f325f97d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7da4041be91c92354bf273886d011419855acc6bf4bce0a546fe35003fed2a99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1AYKEAgSGAI4AUIIdGhpbmtpbmcSDCJLa62nAB3xV0UtwxoMTwWq6ZlO8i+VbjdMIjDSHNEQtKUsWUTzm7qF44iHzZyts4/UYwNNYwPnHKNJ5HqOEK+D7umUUj0C0lwjPZwq8QW2loNyAWfBwrWVwAaeT0aYGWwXBllQGmh4PBqh7Qhqup1++4F7b76uvlAht5wEGOKJXDQNh/w2kMFrJtWko+AeY83ncJh9VDQe26OZCkPCJc1bDgIBfeICK/OslQRD7QIzbTtrEWGq9dHqVGm2IZ2GcJXxg2WvmY7My9tf5WULnIRNHEeIeX9Wc6R5ygDzTMaIRRU/JgbEE4yXRkqMjjAT8V8A8DvuqOy+Epx87vBimrv/RoLC7rycoUJoZ8IuzbMLY6dwNG3ezNzGkwZk/D6aIyrhfN9g87rI1MIEYWZH15RWhJWnYm3AqJzSKfDEpnOpd25UXczyLIYzhfsa6f9khXqXYdBPKfuGc8MYfC7fNo8lyTEdFtijiZEzumVYu9iLtWO9UF2vr0hhnh0TnzB853fsSjPNr9SOJey+9ktRBIpSLkM5UkmW0/sExDdFWZcHO6DMwE9+TEK7PWd5TVT75ItUrvhoJXJQNuZ8HZhUVAXm8soGJw9GZpqTNGxzmWxOzfTZL/Vu/yrNbjQ9+9WJDzJU+f1FSEFYxmZB/kaZrjNjrSrX7jZQJXqJ/7O7ypiGhgMRFYAsSfE7PYYqp8LollLqnvMmb/F4z3g0Xs/VFcblfj/TSMSAJnNb9fRBFB3U1Ihgc6gHqjTsADXg+p/lZn+6ZmMunfLM1Y9TyvwixMrnntlE/TXQp6B+kgtxMAKUA8AhteYp0GwYRhT+nEXN60scQUaEOnfgTilXUJtA12lOgduxQnak69NUUaXT75TmVqpejfuIoEh3o5MiboD7ZdZGo89+7z7T+edFPGLCrLwSU2Owhj9cpQxc7zzEIV0hAgYFGD2otcE5Qb9zHrmpCeMLszJl9XnNTAQmWTdB0YrUIidYmGGlUuso6HDgf9x/XDZQ8i2xr3XCrCWMs7P+fiy4DdjpjYrzv4Hn9KHgEHA/g9R2CwlAW6BEH1g+hlauA/UQSZxLFn+USAru2vsev9YkqZ49QVCiW0tZyQ1br1wYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013wMWa9DpJsxtUrhRZZVHTL",
      "input": {
        "note": "The lemon sits between the jaws at table level. Closing the gripper on it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013wMWa9DpJsxtUrhRZZVHTL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4507, -0.0147, -0.0338, 0.9991, 0.8551, 1.8301, 0.6792, 0.3321, 0.6498, 0.5121, 0.0113]\nstate[eef_state]: left_x=0.2874 left_y=-0.0001 left_z=0.163 left_yaw=0.0011 left_pitch=-0.087 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3315 right_y=0.2238 right_z=0.0142 right_yaw=0.0355 right_pitch=-0.052 right_roll=-0.0354 right_gripper=0.0113\nstate[joint_eff]: [-0.1846, -1.3607, 6.9949, 1.6581, -0.0415, -0.0562, -0.0122, -0.0889, -7.7744, 4.7111, 1.453, 0.3053, -0.0171, 0.906]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6204137ac0bca3aa669579d66b5e5a720945364baeffc13e157b1e1f8b172e96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f9806a3dc8f1b6616d140ae242de13db985c8da9dd5c9da80b8d820d87e8b21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:02d24aa7413b09241dd412435370a33471e0d9297da2c50ed19ca4c5df56a9b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /messages · status 200 · 3.941 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4465, -0.0147, -0.0334, 0.9991, 0.9428, 1.5509, 0.786, -0.0761, 0.7254, 0.5961, 0.9966]\nstate[eef_state]: left_x=0.288 left_y=-0.0001 left_z=0.1639 left_yaw=0.0008 left_pitch=-0.0828 left_roll=-0.0012 left_gripper=0.9991 right_x=0.3081 right_y=0.231 right_z=0.099 right_yaw=0.025 right_pitch=-0.0228 right_roll=-0.0193 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -1.306, 6.9812, 1.7607, -0.0366, -0.0513, -0.0122, 0.3624, -5.6, 5.4632, 1.5751, 0.4518, 0.1783, -0.0073]\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]: [-0.0219, 0.8192, 0.6132, -0.4503, -0.0147, -0.0338, 0.9991, 0.8551, 1.8301, 0.6792, 0.3332, 0.6567, 0.514, 0.9966]\nstate[eef_state]: left_x=0.2875 left_y=-0.0001 left_z=0.1631 left_yaw=0.0011 left_pitch=-0.0866 left_roll=-0.0014 left_gripper=0.9991 right_x=0.332 right_y=0.2229 right_z=0.0149 right_yaw=0.0297 right_pitch=-0.0475 right_roll=-0.0364 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -1.3607, 6.9812, 1.7216, -0.0562, -0.0366, -0.0122, 0.0479, -7.706, 4.8752, 1.5995, 0.2808, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4507, -0.0147, -0.0338, 0.9991, 0.8551, 1.8301, 0.6792, 0.3321, 0.6498, 0.5121, 0.0113]\nstate[eef_state]: left_x=0.2874 left_y=-0.0001 left_z=0.163 left_yaw=0.0011 left_pitch=-0.087 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3315 right_y=0.2238 right_z=0.0142 right_yaw=0.0355 right_pitch=-0.052 right_roll=-0.0354 right_gripper=0.0113\nstate[joint_eff]: [-0.1846, -1.3607, 6.9949, 1.6581, -0.0415, -0.0562, -0.0122, -0.0889, -7.7744, 4.7111, 1.453, 0.3053, -0.0171, 0.906]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6204137ac0bca3aa669579d66b5e5a720945364baeffc13e157b1e1f8b172e96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f9806a3dc8f1b6616d140ae242de13db985c8da9dd5c9da80b8d820d87e8b21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02d24aa7413b09241dd412435370a33471e0d9297da2c50ed19ca4c5df56a9b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpQcKEAgSGAI4AUIIdGhpbmtpbmcSDGSzFwHAX1GfML98gRoMQW0IpQ9QhVW8MBFjIjBkyDSM/hQddh8x/hayc1bE/81R62DGO7alJ2WZl7ZFWp4+ZDBUvkfMZExKgL5dj8MqwgZxk5ok1+DgupksGeMqPG5AyxisXojRZZcWc/cRXPmSMhG18XH4+AgqNzL6ggY4yOnapzZuv77L193yKiBTYV+HzgX0kHwsxS/hMMVXpZbqZ0Yg2KpzvG3dUo3CvnRbgEqZDYal3B+t22qJn/CEdmbqosFlpfdF2aqr/FwgvPtmmKJqEqam2dtnk/TfDpkbtXgS88HDQKyTPYe0DZGl5VqekqhYUj5mHEZWX9T2jmJPoR1qWspaMZC0bQDv531wCmRBquvm7ZbNKLXqIUcdXBW1sH89PtWMcV3jGaqSX8M8s1WgncsrHE0S+LpfoD0PYCmsQUsjfTpa3MZsJxl8rsO9+GDd3SfpNCa5dmXbfTsvB1FMvALIBSvgnIXbYTqOnyMWOIIVGKEi/UXMzjukl/Z/wYHdWRjond+pefi6GLlOOStEXj6AX3iC+1mn+ud9/Zj+8eDwF5zERG0vXSPbfehhD/ICl82q8dOxU00+vdfH61Lr/q/cTT7M6mZ9F0PDGG+FkEn+iG1ao8I2m72z/P9w4g8AIs2aL9dp9z8rn9nojsaiYE2A3FeMv5hTlpqQ7q18izIDyq4mYPDYYukV2wuchm4PyLfcAKpRHRq/0SK9Lpwd3+YP5SA3xJ0DNkGRQU9q8c9LaPL/igvRQVkcCbpCBKInWyAlxiK3qhp0RN0keFvVE3Xxj19JmqlOJa12IF6h/j0F2LRO8OS64SavQu5r4fKv+TUNVCjsG0PcCkXu/RtCNHStgXvW/H03N1LlQmie3bOa61BAQlT5AH5GoJc8ACSZ7Tj/25S4mOEBvbr6ibKMS6RqJseN/0x7pKJqhiC29BueXsTL09gdr0eyZfuFAC71V43OU9Rw/zf7cIHYOhWH1d7+DtnxnjSGhReBXJhGiLlVJYW5DkeFSHzqEFFi65GL5Vvvdug1+Bhe6SoRY1V83EQvgvG18eyK8DSOUoeoFcvjRruk0FIP1k0i2uNEfASxrnZKJ383e5hVHuEBw8PcHcr0xOI0zoo8I6h2kBP09PWd8xkZo2yRyiWhFolyRrxWZEbfZNDOf0u2Kr7gJ+RWyuUWa4PAwVmY36wPpzwdf6jL6MwDJCNk0BkY4Rqb598YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013AiCJAVYz8GxiEj4nE3ibv",
      "input": {
        "note": "That close missed: the gripper reads 0.01 and the lemon is still just ahead of the jaws. Opening and lifting slightly before moving forward.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013AiCJAVYz8GxiEj4nE3ibv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4534, -0.0147, -0.0338, 0.9991, 0.8551, 1.7683, 0.6907, 0.2092, 0.6487, 0.5072, 0.9985]\nstate[eef_state]: left_x=0.287 left_y=-0.0001 left_z=0.1625 left_yaw=0.0011 left_pitch=-0.0896 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3251 right_y=0.2167 right_z=0.0227 right_yaw=0.0365 right_pitch=-0.0866 right_roll=-0.0752 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -1.3333, 7.0085, 1.7216, -0.0562, -0.0562, -0.0122, -0.1162, -9.5658, 6.694, 1.3455, 0.2857, 0.0073, -0.0757]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bc2a26ef46385d0232932a09e93cde9f6508aa2b4b6511d8120cf76bbe90a92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e75daf55cab8787bc4cb15659e5538924dbe1dacdc16edefa8b16215ab1d9752",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91e9be88539f1f77ce1fba07bbc006f136963b4fa1eab01b02807a72e28290e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 3.282 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4503, -0.0147, -0.0338, 0.9991, 0.8551, 1.8301, 0.6792, 0.3332, 0.6567, 0.514, 0.9966]\nstate[eef_state]: left_x=0.2875 left_y=-0.0001 left_z=0.1631 left_yaw=0.0011 left_pitch=-0.0866 left_roll=-0.0014 left_gripper=0.9991 right_x=0.332 right_y=0.2229 right_z=0.0149 right_yaw=0.0297 right_pitch=-0.0475 right_roll=-0.0364 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -1.3607, 6.9812, 1.7216, -0.0562, -0.0366, -0.0122, 0.0479, -7.706, 4.8752, 1.5995, 0.2808, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4507, -0.0147, -0.0338, 0.9991, 0.8551, 1.8301, 0.6792, 0.3321, 0.6498, 0.5121, 0.0113]\nstate[eef_state]: left_x=0.2874 left_y=-0.0001 left_z=0.163 left_yaw=0.0011 left_pitch=-0.087 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3315 right_y=0.2238 right_z=0.0142 right_yaw=0.0355 right_pitch=-0.052 right_roll=-0.0354 right_gripper=0.0113\nstate[joint_eff]: [-0.1846, -1.3607, 6.9949, 1.6581, -0.0415, -0.0562, -0.0122, -0.0889, -7.7744, 4.7111, 1.453, 0.3053, -0.0171, 0.906]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4534, -0.0147, -0.0338, 0.9991, 0.8551, 1.7683, 0.6907, 0.2092, 0.6487, 0.5072, 0.9985]\nstate[eef_state]: left_x=0.287 left_y=-0.0001 left_z=0.1625 left_yaw=0.0011 left_pitch=-0.0896 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3251 right_y=0.2167 right_z=0.0227 right_yaw=0.0365 right_pitch=-0.0866 right_roll=-0.0752 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -1.3333, 7.0085, 1.7216, -0.0562, -0.0562, -0.0122, -0.1162, -9.5658, 6.694, 1.3455, 0.2857, 0.0073, -0.0757]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bc2a26ef46385d0232932a09e93cde9f6508aa2b4b6511d8120cf76bbe90a92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e75daf55cab8787bc4cb15659e5538924dbe1dacdc16edefa8b16215ab1d9752",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91e9be88539f1f77ce1fba07bbc006f136963b4fa1eab01b02807a72e28290e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiQcKEAgSGAI4AUIIdGhpbmtpbmcSDMm/7qOokRJggo30wRoMoGgrtUJ1IrVcpTZlIjBrvd1Dlp4vzUg4cCFdjSJsRr6iHVjSa1UdCokLJuNa9WtIVR/g8bIKmSZaD5Ho2cQqpgadV8lGv557ZmTf2VvIUvzr+TAxocRZz9WH32x566tmN4MIHtweB4P4aI/oAXDG7fdSLu3LfVfvuYUSYJ5kjqdviluFUN7OfgnNi5dtAfkZ+0NVDNu3Wa/WHkttjgrW6RZWE8ar0QqLk4/vOwEuFeQl3LWBeAW10ZqTicsrGi8WW+Cnrm3JTyJ86B0kTV21Jbv/BARutlhj0egVqSKyYdYzo8wK/UPJkbWKzJs5/GYd2NaGrLbopT5Z7yTKX61PWIV5rnjgWSzTIJiU1YGMNtIIr/mwnxmOQk8LtbruB+VWWQYtNDhVqEeHEqvKFRst9rDrhDcIGPA15BBFBv/B24JWP5ntEmo5fRguFNLO6It6jTcc4VZuWmYyxA6ORNlSbv7Sj//SgGOAJx3lxbH0z5lGb4zFI5FeclC0PnDWKVZ8VH3ZmIM8JH4RAwQT44fJxVlVnH+HQH+oj7OK+33ft5I+IBLBcoPAtxS6ulRr0rEmwosLIE/Xvuh+D92vayViNi+pN+xRCyjMbH5RXorUGsTIm6DB7ok/pblbW+CeTASCXf3FYCY40tYoBQdNtwv/7h4Z3R2y9NB1623YY60/sHmoY6+rygXuHmYcajAuNJtD2kN+QFP1Rh4qtjhh4y9m8aQy7+gWOBrfIW6QmT99pPTtTKKKq/Y9816AXNXoC56s5ILJKuOGm+CMz1bJTjBfin2y/e8yR/3D8yif6mvEx++Os+H+VWb/tRWLZdQUO/6cQyjOEhmOFpZZzURFLTZtodHeVrohHXTA8k2y82TspLrE75mcrp+cjZNLYwcGUP0FaJcae16OOlFR8zDu6Qn34jRGU7TjAnh8vg1GWM84y/MLXtno4kFeA57X8eD3qVg1WGmL/+8cB96DE61m3+9jTfcHeHwFkwFLWebbhJtKh9MEXtw222TBVsIqZsTn0312q8Wt4FxsH8fFCVg8mHIoNZOBKE9lVZVfAm5NvnHM67aIUw8+tN3TerCCT05rltq+2mn0pPs/eLrClgKkPq/aZsoFwWcmbhNV+oG/GZeaD7LXCXsxY3uCEq9T7ki4u/Ec7tGCae9wXxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018E1SK7G1L7G5Ygo5WP6S4F",
      "input": {
        "note": "The lemon is centred but still ahead of the fingertips. Advancing about 5 cm forward at table level to get it between the jaws.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.375,
          "right_y": 0.225,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018E1SK7G1L7G5Ygo5WP6S4F",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4679, -0.0147, -0.0338, 0.9991, 0.7574, 1.9263, 0.73, 0.4484, 0.5793, 0.4252, 0.9986]\nstate[eef_state]: left_x=0.2848 left_y=-0.0001 left_z=0.1597 left_yaw=0.0011 left_pitch=-0.1041 left_roll=-0.001 left_gripper=0.9991 right_x=0.3671 right_y=0.219 right_z=0.0054 right_yaw=0.0386 right_pitch=-0.0367 right_roll=-0.0214 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -1.3333, 6.9538, 1.8242, -0.0659, -0.0122, -0.0122, -0.0615, -8.0479, 6.188, 1.79, 0.3199, -0.0708, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8520d53bbc9d6297768c3efafecbd5479b8b16fea92d9d325734eaa481b12b4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:805785c503244774449a4cfb6671214ba0cfd00b73f09b06db7924976b308c40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e232c51ff0ebb15978caaa5ac3f804c9975f28003f8a79a3c7f5997658297a87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /messages · status 200 · 3.716 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4507, -0.0147, -0.0338, 0.9991, 0.8551, 1.8301, 0.6792, 0.3321, 0.6498, 0.5121, 0.0113]\nstate[eef_state]: left_x=0.2874 left_y=-0.0001 left_z=0.163 left_yaw=0.0011 left_pitch=-0.087 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3315 right_y=0.2238 right_z=0.0142 right_yaw=0.0355 right_pitch=-0.052 right_roll=-0.0354 right_gripper=0.0113\nstate[joint_eff]: [-0.1846, -1.3607, 6.9949, 1.6581, -0.0415, -0.0562, -0.0122, -0.0889, -7.7744, 4.7111, 1.453, 0.3053, -0.0171, 0.906]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4534, -0.0147, -0.0338, 0.9991, 0.8551, 1.7683, 0.6907, 0.2092, 0.6487, 0.5072, 0.9985]\nstate[eef_state]: left_x=0.287 left_y=-0.0001 left_z=0.1625 left_yaw=0.0011 left_pitch=-0.0896 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3251 right_y=0.2167 right_z=0.0227 right_yaw=0.0365 right_pitch=-0.0866 right_roll=-0.0752 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -1.3333, 7.0085, 1.7216, -0.0562, -0.0562, -0.0122, -0.1162, -9.5658, 6.694, 1.3455, 0.2857, 0.0073, -0.0757]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4679, -0.0147, -0.0338, 0.9991, 0.7574, 1.9263, 0.73, 0.4484, 0.5793, 0.4252, 0.9986]\nstate[eef_state]: left_x=0.2848 left_y=-0.0001 left_z=0.1597 left_yaw=0.0011 left_pitch=-0.1041 left_roll=-0.001 left_gripper=0.9991 right_x=0.3671 right_y=0.219 right_z=0.0054 right_yaw=0.0386 right_pitch=-0.0367 right_roll=-0.0214 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -1.3333, 6.9538, 1.8242, -0.0659, -0.0122, -0.0122, -0.0615, -8.0479, 6.188, 1.79, 0.3199, -0.0708, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8520d53bbc9d6297768c3efafecbd5479b8b16fea92d9d325734eaa481b12b4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:805785c503244774449a4cfb6671214ba0cfd00b73f09b06db7924976b308c40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e232c51ff0ebb15978caaa5ac3f804c9975f28003f8a79a3c7f5997658297a87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9AYKEAgSGAI4AUIIdGhpbmtpbmcSDA79W0X9hBKBm69nmxoM0mSBhwQTlNDY7sPXIjDMkQberhdvMk1KLY/qGXc4LuJazkAOknRtLaRZEZ4Qc+IWFbftm9ksodIFodtc8E8qkQabOTX3dNVyl6VgVDJl6e4e/mS46fXiDQTGkj1Tr2TsJ/Xki+moNDRyBLWm6pqRSWnmZoUs3Gfo/NjQ31pUdv3j5s4fKPVvWoA9ChdP3YQFAxe2tdHZ5/9VRBL4pGUkfy9v+2casgpmhDHdDhr9y4LanR2KU3Lc110V8IReXv/0pwlkTyFBtp/6xFyAYx+9uZzIjb/TRD3n/0ZsueYMYTjHAVBNtDHDwHY1IltDorAZd0odTWAaDD2rA2WKQ8KDzfF05s1x4yf5XIihskNNl5sLurq4eOCSM+ATcFWMS6VDD/i4WtMfZkSsK7MePC+drrqqGfxveuNd9Z9rcu8enTI9XCM7gIUAGAC5Jd5GWpGl6pYp01xskvB45JpKRlfp331IC8B6RQo2W5trw9gHtS6da48+wE6PCPixzPtj1+GPolA1+6rNCRW5+l1sFV/xT6Bfc0SVzfYuYTA8Quapr77IIlsJwOyYzjAyDig+gUha47dcD/FeRuPKwMJqmnftmBBhNqY+UitahQIv324OJBWvr4g5f2IfY7QpxbK1H0tZ0EryM9cxQp/G9OZrtoKt3gOijQaQ890ATNOcvJdt5FB/nJSbqxbxLGK0XDI6P+pY0F5wiG/zhNUzFFH924r/UkenWr52jo6SP4htQT4it19t9My6RLZKtYxiMfOewBmTFN8ur6BK/7/MsGUM4IereNPv4zBuQsg8nrz4d324sLFoKOgvdWttfKGr3LVtGwYm9TEdwuTMrOZbc2IX2X5QSU9DstN03UYq9JdN2kt4ABhuFxmcupi4OXL33j5tAAGEVrvmo2UkGhEiOKDUFLVY5ECEQAdX1Yh5O2qG31XWoveiVymSvp5OufT8YbeqsdPAO79oYytuuRrRWU6gYdjGXcCG7SxRI8Ct40tKIDVeZjQkviGow2NB7UC2r+fyPTCgpVFLhqjxgLpZkujIYuQ/oy0C+mQQpjBg+A5XpBjlJ23NGb3wCwt3eSzuNyE18GdsCxKdDfrbKazeSDLYzoWAHWYqimkFGgPJqeOo6hONTQ9M7RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W42i3hiZ1zaQJaAeuVN2Vm",
      "input": {
        "note": "The lemon now spans the jaws in the right wrist view. Nudging forward 1 cm and closing.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.38
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01W42i3hiZ1zaQJaAeuVN2Vm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8238, 0.6132, -0.4698, -0.0147, -0.0338, 0.9991, 0.7353, 1.94, 0.7498, 0.445, 0.5591, 0.4065, 0.5159]\nstate[eef_state]: left_x=0.2847 left_y=-0.0001 left_z=0.1581 left_yaw=0.0011 left_pitch=-0.1106 left_roll=-0.0009 left_gripper=0.9991 right_x=0.3746 right_y=0.2174 right_z=0.0041 right_yaw=0.0419 right_pitch=-0.0438 right_roll=-0.0246 right_gripper=0.5159\nstate[joint_eff]: [-0.3077, -1.7299, 7.1453, 1.6435, -0.0317, -0.0415, -0.0122, -0.6906, -7.3094, 6.3111, 1.5116, 0.1587, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d39a0e1574d3ef6d6aef24ede6e5d4860ba95065a8825763acfdd8b5c91ab83e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7008ce27f6bacbf6ab3c3c4ab24ab175fe624e49bcfbce071c107079d9a064c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d0b1337827d553a1a919a168036c6af5799e111d628d349a1dd095228b8718a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 4.086 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4534, -0.0147, -0.0338, 0.9991, 0.8551, 1.7683, 0.6907, 0.2092, 0.6487, 0.5072, 0.9985]\nstate[eef_state]: left_x=0.287 left_y=-0.0001 left_z=0.1625 left_yaw=0.0011 left_pitch=-0.0896 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3251 right_y=0.2167 right_z=0.0227 right_yaw=0.0365 right_pitch=-0.0866 right_roll=-0.0752 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -1.3333, 7.0085, 1.7216, -0.0562, -0.0562, -0.0122, -0.1162, -9.5658, 6.694, 1.3455, 0.2857, 0.0073, -0.0757]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4679, -0.0147, -0.0338, 0.9991, 0.7574, 1.9263, 0.73, 0.4484, 0.5793, 0.4252, 0.9986]\nstate[eef_state]: left_x=0.2848 left_y=-0.0001 left_z=0.1597 left_yaw=0.0011 left_pitch=-0.1041 left_roll=-0.001 left_gripper=0.9991 right_x=0.3671 right_y=0.219 right_z=0.0054 right_yaw=0.0386 right_pitch=-0.0367 right_roll=-0.0214 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -1.3333, 6.9538, 1.8242, -0.0659, -0.0122, -0.0122, -0.0615, -8.0479, 6.188, 1.79, 0.3199, -0.0708, 0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8238, 0.6132, -0.4698, -0.0147, -0.0338, 0.9991, 0.7353, 1.94, 0.7498, 0.445, 0.5591, 0.4065, 0.5159]\nstate[eef_state]: left_x=0.2847 left_y=-0.0001 left_z=0.1581 left_yaw=0.0011 left_pitch=-0.1106 left_roll=-0.0009 left_gripper=0.9991 right_x=0.3746 right_y=0.2174 right_z=0.0041 right_yaw=0.0419 right_pitch=-0.0438 right_roll=-0.0246 right_gripper=0.5159\nstate[joint_eff]: [-0.3077, -1.7299, 7.1453, 1.6435, -0.0317, -0.0415, -0.0122, -0.6906, -7.3094, 6.3111, 1.5116, 0.1587, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d39a0e1574d3ef6d6aef24ede6e5d4860ba95065a8825763acfdd8b5c91ab83e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7008ce27f6bacbf6ab3c3c4ab24ab175fe624e49bcfbce071c107079d9a064c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0b1337827d553a1a919a168036c6af5799e111d628d349a1dd095228b8718a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrgcKEAgSGAI4AUIIdGhpbmtpbmcSDG4A4/xACz602k2OgBoMy8vX/ts1IMCjhZfpIjCHm7g9GQxVFqmNo3TUctq/1WoH1oJ6BN05Bjnw7TPjJVPV5Ana+VVVorvs7h2ZchIqywakf1lN01D3i2rO+AWh0q+RF09W9zsEURbNFXVF1hQI/NunZJlGiFYlloDl4fwZ1CBbh5qEbtsDT7bDuhiWsjAAEC6/KJZuIREatO+a9ysH8nQ+gXAtjIYC0YP5Fh4QL8wPhPmOI3sMRp5j2zOOfufOM8DR2FGi1VW6sLDxgReNitKaqO2Xw3KJ054NcPn8pM0JUTHBw+kGoLCV0zEG0OQVTl4aNMCnjyVZuBrNcHp9heZrwNFTEAUwfuVreMUGJh2x0iFDl26lOHepcgmUFpbLZbkpMZGcWnzIwwO1+tBrAQmcmEP+nFezlaAaDaAInUxOaV+osyIW+tNJz9Hx9jF3axR4OkrmOmxeCBjTMNbLnrGcoVR/Cw4Bqz06B1TowknfiotZTypy8Eslh7mJeg2btxlFtbNZOZuvNSoIxvIdrv4FXFgq6RTUGaJ06lSlctqjgpoGb4ptEqKkj2zc2Cl8gml8cMHsE99RSc1aMlwLAiZmtjmWXSurv/iceYpfjIhfsX+vHPtxcaSaIKj/TAJHwaCmrjbidpaM1xQ7uR8pXkhnaHYUZEPUnnZqQPWDjZklzJ2KkKKL8HtKuLPCn2DqsABSRvc+CNM+LPkwsWV38Q84BpqTQyW+qPPh7lrzbcJ+OiJR2yTjuzoxqbsINoQBuNXqAoZyMuL6ZabmsGdm8aOMWDB5RWBanDvu/rDkQBOM604ZB6R1xN6scNCeS2yd+vdFk+SVc9OVOWDyYc8pclxdHiekqMhsup1dCD9japg+z9oNjCeq+Ho4diZdWyq03vKkBqtOoxJatcQZHKpZYX6y5QA3mO5nyyJNJs4R204WPbGDaHysf4dr3FBquMviLYn5TgbYAg0N5BTGBOL9Hz7uNWoUKdpWrTNDj2+FZBdABtoyPNOc0qDIw8wfrEgfIY2Jf5jGc4TkTfslKUX0qIQVGvZkGlO/Tst7Cs3ryI4zO4Iei2zle6bGw/eELYQG4jqnGkVebCCiLGd1AJpJoDHFiiST7HGwSvEaaJmP5fTeOG6fdf1jwGAOAoXdWXlPX9Nmm8Mxgho2rmE158Dt7OVsa3UTPQAhyWcF4HAusd8m55OBDhSk7ZFbrk/XFZ5VsT3HNS+I3JuxQiwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011cw8BveHAyHPRq5zDzVhqN",
      "input": {
        "note": "The lemon is gripped (reading 0.52). Lifting it clear before carrying it to the blue bowl.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_011cw8BveHAyHPRq5zDzVhqN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4755, -0.0147, -0.0338, 0.9991, 0.7357, 1.5669, 1.1656, -0.382, 0.5446, 0.3996, 0.5162]\nstate[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1565 left_yaw=0.0011 left_pitch=-0.1182 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3739 right_y=0.2198 right_z=0.1796 right_yaw=0.0554 right_pitch=-0.0797 right_roll=-0.0466 right_gripper=0.5162\nstate[joint_eff]: [-0.2256, -1.265, 7.0632, 1.6825, -0.0708, -0.0757, -0.0171, -0.0889, -9.5521, 8.7316, 1.4335, 0.3004, 0.0513, 0.4713]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:515079d15626fc207ecd526cfc4afa47f9761826f19fb6ba2e61fd4d84ff4d6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6125cce6d48e9712051f6e3755bf7d0e2669e783ec793c964dea2ad65fc37a7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:01014e5fa4e93f971a5cde55dc424f169d7da61ba20686d638b8955c28b0514d",
        "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 · 2.973 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4679, -0.0147, -0.0338, 0.9991, 0.7574, 1.9263, 0.73, 0.4484, 0.5793, 0.4252, 0.9986]\nstate[eef_state]: left_x=0.2848 left_y=-0.0001 left_z=0.1597 left_yaw=0.0011 left_pitch=-0.1041 left_roll=-0.001 left_gripper=0.9991 right_x=0.3671 right_y=0.219 right_z=0.0054 right_yaw=0.0386 right_pitch=-0.0367 right_roll=-0.0214 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -1.3333, 6.9538, 1.8242, -0.0659, -0.0122, -0.0122, -0.0615, -8.0479, 6.188, 1.79, 0.3199, -0.0708, 0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8238, 0.6132, -0.4698, -0.0147, -0.0338, 0.9991, 0.7353, 1.94, 0.7498, 0.445, 0.5591, 0.4065, 0.5159]\nstate[eef_state]: left_x=0.2847 left_y=-0.0001 left_z=0.1581 left_yaw=0.0011 left_pitch=-0.1106 left_roll=-0.0009 left_gripper=0.9991 right_x=0.3746 right_y=0.2174 right_z=0.0041 right_yaw=0.0419 right_pitch=-0.0438 right_roll=-0.0246 right_gripper=0.5159\nstate[joint_eff]: [-0.3077, -1.7299, 7.1453, 1.6435, -0.0317, -0.0415, -0.0122, -0.6906, -7.3094, 6.3111, 1.5116, 0.1587, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4755, -0.0147, -0.0338, 0.9991, 0.7357, 1.5669, 1.1656, -0.382, 0.5446, 0.3996, 0.5162]\nstate[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1565 left_yaw=0.0011 left_pitch=-0.1182 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3739 right_y=0.2198 right_z=0.1796 right_yaw=0.0554 right_pitch=-0.0797 right_roll=-0.0466 right_gripper=0.5162\nstate[joint_eff]: [-0.2256, -1.265, 7.0632, 1.6825, -0.0708, -0.0757, -0.0171, -0.0889, -9.5521, 8.7316, 1.4335, 0.3004, 0.0513, 0.4713]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:515079d15626fc207ecd526cfc4afa47f9761826f19fb6ba2e61fd4d84ff4d6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6125cce6d48e9712051f6e3755bf7d0e2669e783ec793c964dea2ad65fc37a7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01014e5fa4e93f971a5cde55dc424f169d7da61ba20686d638b8955c28b0514d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStAcKEAgSGAI4AUIIdGhpbmtpbmcSDGGMyHYCwaOrDq2iTBoMyOL1DKr/ZO7TUjxVIjDkfOMXmVD2Onf6j2wHPP7Yei6aHDJ2xzySf+ZT+1fF1vza7gnLop8h29UxBIjUpQQq0QbywAUroiTxKL2i++pnjGVN82ZHP3Cyc1d4LWv9vQY8npEal7zq6GndYci3XdgIc2f6DcxXLonKpvJl7bX3VQaJw9/oQzCcGlBOKCTYP2UbTmARXfCzXsClabyo2+QJKWdIyrcgFxznipMFnvx9u9LZwqkvdvIwaFYyBVJRT/wh7l+EjnZ+3w4k+0ukucRXhC+42IXt75eDeNQ4QJORic5/IhslkmCEWiyvGG48K6zdcOxelKmZWLEQMqzZGK2Aj6wHjr0NFPz34Dx8NCUF2T4SXin6LTBNb3IlcpZoQxA1eEbs3We0DYx3TtX+P5NYnG+/1/DLylnxFmTiipq0JUO+ZZ+ZRsz2H+ClJo56F/hthgdLR6MtyaSMGYk+jnDkkkb0ZY/Oc1iyV1fCQsdSiY4l0m8RFyBAJ+Xz/2EYEDzhVjnz9jRmdyfHvbGa5yAtr0XF8OQJg9qa+Dj3xFdXuTq3NOLvfIX6DMRmDqfN/ounqzubBBrrNdC2UaahqW3uYzqUlMC3P8WkTzoWOLIeX1cRJVXMgcYZXnw57c3snhn0tJ5vMjK33xHuDJRsp5GZXa4daiHSSS+cFcsDJu8WCnFuDlyPFrJ1mx3Ms3mX7RShgBq5cEZsPuELWNp+Bl1oi8Qqm7E6mdL/+Y1m1aXLE4eTLiCrzhZQHdcSryoYaK000gMd6NSUCv+pnB5taiS2YYJCXtPFKLl8id3HBVLlEAOn2eou4V0aoQ2NM+OWvg99ZPNKMWDrUDNHSt+fXQ6Ju/1t6OPdoyyUtZ1MTHrHvGbW5uLENTXnAnJ1xsKTcN9TKeIFh4i/5MYHHVVdAyYLBx7iKWaAawRCnXrinVQiAFf5moGVFNjVykYtVXIto+Ubvkx6vF2mp4hi4WMXmjs/X+lP30Wh+de+wZkpNl4wNuH9a3bzECZuaTw11N+QyIxYs4javD5E5otVBhZy78qqMJafdlVFZd0jt3hhRuoUnF54NbMsy2h6+1dUnrYZ1FBgZS20mFvzua7uFWqjdRniaWIF8xxvQ1Y9ZECJ+sxguAMRHgP3+YfbcpQ5OM3RlilUcDTSCRXygZgUQaApcxcH21szjCrk5/gHWlScl1O+cEt8XbxJqg0sbQCoEJNt3DFytTcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012sZYBjF2qdkdCBYpGXFEJP",
      "input": {
        "note": "The lemon is up and the blue bowl with the pear is ahead-right of the jaws. Carrying the lemon over the bowl.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.4,
          "right_y": 0.12,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_012sZYBjF2qdkdCBYpGXFEJP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4759, -0.0147, -0.0338, 0.9991, 0.4183, 1.449, 0.828, -0.0704, 0.313, 0.189, 0.5173]\nstate[eef_state]: left_x=0.2838 left_y=-0.0 left_z=0.1565 left_yaw=0.0011 left_pitch=-0.1186 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3913 right_y=0.1184 right_z=0.1286 right_yaw=0.0388 right_pitch=-0.0833 right_roll=-0.0336 right_gripper=0.5173\nstate[joint_eff]: [-0.0752, -1.388, 6.9675, 1.6532, -0.0317, -0.0611, -0.0122, -0.1709, -8.2803, 7.4598, 2.1123, 0.0904, -0.0317, 0.7741]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5ffed08af07aac8966deaab71b266614b9055dbd4ab380b236f99af8932ad97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab5a0f36831c9d987776a52de53f710c7726620036e94cc27026aad4fce6318a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:389e00a0aef178f97ac4268073fe72f7d611e014b331e5772c58c54a4f0caf2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 11.83 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8238, 0.6132, -0.4698, -0.0147, -0.0338, 0.9991, 0.7353, 1.94, 0.7498, 0.445, 0.5591, 0.4065, 0.5159]\nstate[eef_state]: left_x=0.2847 left_y=-0.0001 left_z=0.1581 left_yaw=0.0011 left_pitch=-0.1106 left_roll=-0.0009 left_gripper=0.9991 right_x=0.3746 right_y=0.2174 right_z=0.0041 right_yaw=0.0419 right_pitch=-0.0438 right_roll=-0.0246 right_gripper=0.5159\nstate[joint_eff]: [-0.3077, -1.7299, 7.1453, 1.6435, -0.0317, -0.0415, -0.0122, -0.6906, -7.3094, 6.3111, 1.5116, 0.1587, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4755, -0.0147, -0.0338, 0.9991, 0.7357, 1.5669, 1.1656, -0.382, 0.5446, 0.3996, 0.5162]\nstate[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1565 left_yaw=0.0011 left_pitch=-0.1182 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3739 right_y=0.2198 right_z=0.1796 right_yaw=0.0554 right_pitch=-0.0797 right_roll=-0.0466 right_gripper=0.5162\nstate[joint_eff]: [-0.2256, -1.265, 7.0632, 1.6825, -0.0708, -0.0757, -0.0171, -0.0889, -9.5521, 8.7316, 1.4335, 0.3004, 0.0513, 0.4713]\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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4759, -0.0147, -0.0338, 0.9991, 0.4183, 1.449, 0.828, -0.0704, 0.313, 0.189, 0.5173]\nstate[eef_state]: left_x=0.2838 left_y=-0.0 left_z=0.1565 left_yaw=0.0011 left_pitch=-0.1186 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3913 right_y=0.1184 right_z=0.1286 right_yaw=0.0388 right_pitch=-0.0833 right_roll=-0.0336 right_gripper=0.5173\nstate[joint_eff]: [-0.0752, -1.388, 6.9675, 1.6532, -0.0317, -0.0611, -0.0122, -0.1709, -8.2803, 7.4598, 2.1123, 0.0904, -0.0317, 0.7741]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5ffed08af07aac8966deaab71b266614b9055dbd4ab380b236f99af8932ad97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab5a0f36831c9d987776a52de53f710c7726620036e94cc27026aad4fce6318a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:389e00a0aef178f97ac4268073fe72f7d611e014b331e5772c58c54a4f0caf2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Lemon is over the bowl. Release.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F6UPMs2HxGP5265X4GD1ek",
      "input": {
        "note": "The lemon is hanging right over the blue bowl. Opening to drop it in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01F6UPMs2HxGP5265X4GD1ek",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4759, -0.0147, -0.0334, 0.9991, 0.4171, 1.4456, 0.8185, -0.0757, 0.2985, 0.1749, 0.9956]\nstate[eef_state]: left_x=0.2838 left_y=-0.0 left_z=0.1565 left_yaw=0.0009 left_pitch=-0.1186 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3881 right_y=0.1191 right_z=0.1245 right_yaw=0.0568 right_pitch=-0.0975 right_roll=-0.0402 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.388, 6.9538, 1.7021, -0.0366, -0.0415, -0.0122, 0.0479, -5.8598, 7.5145, 1.663, 0.1685, 0.0904, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74b45d9858628c94e642dee5b8468e5f27af948299644936e614962a3d291410",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61c419d8eafb1d35e7154d8f284fe9b4736d9e7afa7d99eb02f7899936544fdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f4f8d79003c399953257e673b92db8f158589a26a5fd4e9bc68e51ed924c29a9",
        "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 · 6.809 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4755, -0.0147, -0.0338, 0.9991, 0.7357, 1.5669, 1.1656, -0.382, 0.5446, 0.3996, 0.5162]\nstate[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1565 left_yaw=0.0011 left_pitch=-0.1182 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3739 right_y=0.2198 right_z=0.1796 right_yaw=0.0554 right_pitch=-0.0797 right_roll=-0.0466 right_gripper=0.5162\nstate[joint_eff]: [-0.2256, -1.265, 7.0632, 1.6825, -0.0708, -0.0757, -0.0171, -0.0889, -9.5521, 8.7316, 1.4335, 0.3004, 0.0513, 0.4713]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4759, -0.0147, -0.0338, 0.9991, 0.4183, 1.449, 0.828, -0.0704, 0.313, 0.189, 0.5173]\nstate[eef_state]: left_x=0.2838 left_y=-0.0 left_z=0.1565 left_yaw=0.0011 left_pitch=-0.1186 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3913 right_y=0.1184 right_z=0.1286 right_yaw=0.0388 right_pitch=-0.0833 right_roll=-0.0336 right_gripper=0.5173\nstate[joint_eff]: [-0.0752, -1.388, 6.9675, 1.6532, -0.0317, -0.0611, -0.0122, -0.1709, -8.2803, 7.4598, 2.1123, 0.0904, -0.0317, 0.7741]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4759, -0.0147, -0.0334, 0.9991, 0.4171, 1.4456, 0.8185, -0.0757, 0.2985, 0.1749, 0.9956]\nstate[eef_state]: left_x=0.2838 left_y=-0.0 left_z=0.1565 left_yaw=0.0009 left_pitch=-0.1186 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3881 right_y=0.1191 right_z=0.1245 right_yaw=0.0568 right_pitch=-0.0975 right_roll=-0.0402 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.388, 6.9538, 1.7021, -0.0366, -0.0415, -0.0122, 0.0479, -5.8598, 7.5145, 1.663, 0.1685, 0.0904, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74b45d9858628c94e642dee5b8468e5f27af948299644936e614962a3d291410",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61c419d8eafb1d35e7154d8f284fe9b4736d9e7afa7d99eb02f7899936544fdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4f8d79003c399953257e673b92db8f158589a26a5fd4e9bc68e51ed924c29a9",
        "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_017bNauqvY8VDXpmKdHcbzvM",
      "input": {
        "note": "The pear and lemon are both in the blue bowl. The left arm can't reach the bowl where it is, so I'll slide it toward the table centre: first moving the right gripper over the bowl's left rim.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.39,
          "right_y": 0.19,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_017bNauqvY8VDXpmKdHcbzvM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4763, -0.0151, -0.0338, 0.9991, 0.6167, 1.5681, 0.8219, 0.0322, 0.4267, 0.2779, 0.9965]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1564 left_yaw=0.0015 left_pitch=-0.119 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3784 right_y=0.183 right_z=0.1027 right_yaw=0.0965 right_pitch=-0.0702 right_roll=-0.0385 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.388, 6.9812, 1.6239, -0.0513, -0.0415, -0.0122, 0.3624, -6.2838, 9.2923, 1.663, 0.3248, 0.1343, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:651619ae30948c3097564691c0f0c6206f3c0cb428243cae2c51a5fb0d649fde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9acb18fc8c0a1d38ec7d1463273529551de3ce4abb68061b9db805a4f9aa2941",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:230d1daed1c0c9cb559df626d9a3f1eb1b8bb233aa7af260286092190cd09174",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 3.394 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4759, -0.0147, -0.0338, 0.9991, 0.4183, 1.449, 0.828, -0.0704, 0.313, 0.189, 0.5173]\nstate[eef_state]: left_x=0.2838 left_y=-0.0 left_z=0.1565 left_yaw=0.0011 left_pitch=-0.1186 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3913 right_y=0.1184 right_z=0.1286 right_yaw=0.0388 right_pitch=-0.0833 right_roll=-0.0336 right_gripper=0.5173\nstate[joint_eff]: [-0.0752, -1.388, 6.9675, 1.6532, -0.0317, -0.0611, -0.0122, -0.1709, -8.2803, 7.4598, 2.1123, 0.0904, -0.0317, 0.7741]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4759, -0.0147, -0.0334, 0.9991, 0.4171, 1.4456, 0.8185, -0.0757, 0.2985, 0.1749, 0.9956]\nstate[eef_state]: left_x=0.2838 left_y=-0.0 left_z=0.1565 left_yaw=0.0009 left_pitch=-0.1186 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3881 right_y=0.1191 right_z=0.1245 right_yaw=0.0568 right_pitch=-0.0975 right_roll=-0.0402 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.388, 6.9538, 1.7021, -0.0366, -0.0415, -0.0122, 0.0479, -5.8598, 7.5145, 1.663, 0.1685, 0.0904, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4763, -0.0151, -0.0338, 0.9991, 0.6167, 1.5681, 0.8219, 0.0322, 0.4267, 0.2779, 0.9965]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1564 left_yaw=0.0015 left_pitch=-0.119 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3784 right_y=0.183 right_z=0.1027 right_yaw=0.0965 right_pitch=-0.0702 right_roll=-0.0385 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.388, 6.9812, 1.6239, -0.0513, -0.0415, -0.0122, 0.3624, -6.2838, 9.2923, 1.663, 0.3248, 0.1343, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:651619ae30948c3097564691c0f0c6206f3c0cb428243cae2c51a5fb0d649fde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9acb18fc8c0a1d38ec7d1463273529551de3ce4abb68061b9db805a4f9aa2941",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:230d1daed1c0c9cb559df626d9a3f1eb1b8bb233aa7af260286092190cd09174",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7woKEAgSGAI4AUIIdGhpbmtpbmcSDMO+G+pSQJyY8kQH9hoMYolKWsPFgTwMFNPfIjAU2Ol0YXuuuMxUYdMR0mFimPDbeHowWMAgA63pmNg45qnsujNVEfEWXZ9rBo/bdSwqjAoLUYWdhV/EoP34JHfjJ2ahLmZ88X4LmHbK0bY5K5/8eylPmg7oRdWXSt7Y67o/JPTZOfLMWP+uzWkM5HYbMW3gHw+kqpYYdLvzUtcJ8//On32eXEYIA3BXdVT+mlGIcwqpbdIYknEqYs/DDkXEVfsCELg/4DRlCwm30giaVr8NVIKR31njYLAqJmSdAC4UOySqGfak76GEAzi37MwxfVAG+3J4fCzjHVcojTuE+khe1Q/ern9FQ9S9y8kEnMDxNH11osbUH6zpW0b1BcW8WNWigVEYqPkVOBvFU+0ViKYs/nkwuZbFtT4Ede00xpOZFG0q0Vgn9OPDODEmxWBg4mIEE0oNDtimlxFTVYahtozLurXyk9Y9rhl0pOoGaz3802qyQXNPKguVUKRk2zsqQztyX+6GlFwuqzB0UNPhLRi9ZM4ln2VYy4uUaSQu0TEwXkUliJ4p9XEB2R86GBSyeQV0duTvNNopyCsIX3h4dDxsBOCYnxrmXg0QtFx1eT3+aGPjvW/v52Vmu1kXK+d7gmJxCW15c8E5JmeUqZXqxelpjxdx56nT0Mqn0RwFig3eiiRanDhOeCbQHPxkK9wINv+9W338STyGAX3SjvCmNEVldPXBZycSo99G0LV/GBiFLuqBhAYavKN/yn4xI9TOP5Afc3mrgLS+TU4UZEMMJA6qhVE2Cf+0zU+tLi38qIzZmf9DIu97g9M4x/lkuLyxr44pcBfy09+L/pdSn0Dufp1Y8HlbV6WHt3xpgwKp0hFf1yIMmGARZTzclzUW8UrDqFrHjFpmKKvju0466xO6R7v2KEAt1gXyZdfWWnvkua87gRczq3GMeNNUt38DHWm248138oL1e2WZjMcqzWZPVMlKjxcoFHyEBV0Q1HaOxjY445x2Wzrzooy5Q5lfgf0DjweClSgKZK/gNyEkDRW59/pAxwsuNxEfyXIoRbP/+U2f6mSvxemwDTb5uIzk5c7FgCaHpM5TXGPYSzVMVhNAUB7sYyRI3R2PeMoQ3jMG56Pvqqq13JEvHAQQJobjZr9yhS2MMaNV4Oba7pZl3+WJbOTkzBbpWuQvh8dIZ7fhPTJW+hEL3m89/qyyfi0zgOG+8MmUq0XvmMtvJGyLeySopHzSMDACElzOe07rxCCqr8Tnar/KjkncZ2SVK+XhE5FXWBTG7a4qWIhsmEuqMkszDUvo6g5Sv5WUFP9cElMvRBEuD5P8qpF6w44BBJSYwgpsjk7oTIvPg5Qi+y2Zxvvfcc1ejvX6mgOv5Fby4wTJGIXnE83HkIORVjg6fB0oEllsP2hOyDxOOoMjoPG/k6A83DFoT7Cpywv27eEjyMXMirbIn8I55NuUWA9mF1Cx4yBFs0cC3QzYZCkB+hnnU88wv8r+fspZ8/bj1LaShaP9oEJ7fGj+1yS6VMLQIZNI7pwL5hSW0/3ckMMX+2ebbUTHK2isnDDSZSvVsrXCyaW1teQtJybdW06izMEr+kfjVYRQSQXn1mTZ+ngBoOaL9hyVnkqjivsHnZJNbCm/IMb/NbNaK+wmaDUX0+FBn3+CtpTjD2AZKPAwIDME1HER8bbKbbpP9U+oFvmwTlYSePPDobaWrQJlLXTI6NLJD75ZzovS+AoVBipJcvo/gQr4mQH0uoNdPfDhbjSER0PwcMWJtzQdBLzLEWuHwZUgT0ch/FJ0GvsSXZEwcOjUhlXYpWEbRNqH/kmYWTQaGAI1zl+8hBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Afb9NaWEDR6kTq1qiYHEHA",
      "input": {
        "note": "The bowl's left rim now runs down the middle of the jaw gap in the right wrist view. Lowering so the jaws straddle the bowl wall.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.195,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Afb9NaWEDR6kTq1qiYHEHA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8284, 0.6132, -0.4774, -0.0147, -0.0338, 0.9991, 0.6094, 1.8137, 0.794, 0.2501, 0.4259, 0.2695, 0.9966]\nstate[eef_state]: left_x=0.2837 left_y=-0.0 left_z=0.1555 left_yaw=0.0011 left_pitch=-0.1228 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3914 right_y=0.1886 right_z=0.0304 right_yaw=0.0918 right_pitch=-0.119 right_roll=-0.0725 right_gripper=0.9966\nstate[joint_eff]: [-0.2803, -1.5658, 6.9538, 1.663, -0.0317, -0.0513, -0.0122, -0.3077, -7.7744, 5.3128, 1.4969, 0.0806, 0.105, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9ade80089fa0e5853012770ff283ea5aa8a420bdfb7d5fbe3516739788cf376",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22588c36ababd7ef922cdc0fc47acadf5301efdc1a2d8a1ef9909a986dbc9ef7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af785aca51d4b585f021ece87419363950e89e908b237e8ec558555dcbf4d29b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 6.406 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4759, -0.0147, -0.0334, 0.9991, 0.4171, 1.4456, 0.8185, -0.0757, 0.2985, 0.1749, 0.9956]\nstate[eef_state]: left_x=0.2838 left_y=-0.0 left_z=0.1565 left_yaw=0.0009 left_pitch=-0.1186 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3881 right_y=0.1191 right_z=0.1245 right_yaw=0.0568 right_pitch=-0.0975 right_roll=-0.0402 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.388, 6.9538, 1.7021, -0.0366, -0.0415, -0.0122, 0.0479, -5.8598, 7.5145, 1.663, 0.1685, 0.0904, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4763, -0.0151, -0.0338, 0.9991, 0.6167, 1.5681, 0.8219, 0.0322, 0.4267, 0.2779, 0.9965]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1564 left_yaw=0.0015 left_pitch=-0.119 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3784 right_y=0.183 right_z=0.1027 right_yaw=0.0965 right_pitch=-0.0702 right_roll=-0.0385 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.388, 6.9812, 1.6239, -0.0513, -0.0415, -0.0122, 0.3624, -6.2838, 9.2923, 1.663, 0.3248, 0.1343, 0.0855]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8284, 0.6132, -0.4774, -0.0147, -0.0338, 0.9991, 0.6094, 1.8137, 0.794, 0.2501, 0.4259, 0.2695, 0.9966]\nstate[eef_state]: left_x=0.2837 left_y=-0.0 left_z=0.1555 left_yaw=0.0011 left_pitch=-0.1228 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3914 right_y=0.1886 right_z=0.0304 right_yaw=0.0918 right_pitch=-0.119 right_roll=-0.0725 right_gripper=0.9966\nstate[joint_eff]: [-0.2803, -1.5658, 6.9538, 1.663, -0.0317, -0.0513, -0.0122, -0.3077, -7.7744, 5.3128, 1.4969, 0.0806, 0.105, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9ade80089fa0e5853012770ff283ea5aa8a420bdfb7d5fbe3516739788cf376",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22588c36ababd7ef922cdc0fc47acadf5301efdc1a2d8a1ef9909a986dbc9ef7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af785aca51d4b585f021ece87419363950e89e908b237e8ec558555dcbf4d29b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoAcKEAgSGAI4AUIIdGhpbmtpbmcSDFFj7A/yOHVQE75QbBoMLeRtTCFiVur1clPjIjDutBLXKGu2TlbKFAH6xDQcsKKHL4kft0b+/ZkWH9FAwpcUb8jkeDwIpjMddBo1Km8qvQYzA8OOSpTwuuaEVHrAQLYkg2RQv9F8xpIA2MRcCNu4u1D1FFfqcH3f38J+/1TGSFdbdMt8tfVV1B+Meuf02RJCgtMPpclgcRsRcLU5cBmDG87ijj/L/HXE79eH2CSqT2ZOS+7zUrf5bCIxRjn283gn+6H4F0dZH62OoepcepcTZXoR3t5zsU+R9K/lvKJtaNQIsjW7Ub94KO+1o3rwJlC5ucjDzITNAEmHFF6jtNVkDLY7gBtciFKhoWnFvBMtKEXosNw4i33tiRdkKMVapmRDmXnkp2HLV6KSwPthrAUUEHxEBWNrQuh4JG9PJlYPy2juqrrutkGwDW8+ddEudxtpvSP35skrqVQUlj6FgkxcJFe+maGUvUMaHbL8lfbgtM1VksP7B3LFg9heeY/fHuJYhAAwbhcFypB95AHvAsp1fiN0c4RPRZFhMZFtKKU3slm+f6G+m9CmHR1L8QA+gPzpIBC3iOs+J8QClSM3K7VdjAa+j/3H9Yhl4KkIWhe/ZABa1Clt64p+kMWOzpceOsc3n6WzDNwf5YPHjSHsohqsAci2Ug7uLfdY/yviMMDoMwXfOJELwca+eq9zhuGzHvqea0mew5hhXNfC5miyzYCiazcrhKTbTTvaAz8L8WNmKZDg3ks17avOyJ0U2sqHdR9k3KdT6HM31VN04jc/02SoYwLEu2io+tdTvFkx9QNrPvxHYER8hiRW/nTO/ZosDsUv/y8kDty91wSLIX+WHPGFGvwjXJ7Cxd4X/32IcgxcyHqr91SI/Jj2YnTk+qrBVXZKZi5nCdQ0ZJE4fzxh0EBJ+T/VjWwc938FaUWM+xWxTIQcDPtb6BSvrHsvAoPQHIQPkjTm/Ap7Ft6Kk6NyjBU+7/pohjnWMIwIExPp88lydHTXrt8eKEODLNxWrm4y2/U2FNIXu+kIhcHZv2+VYGyOOSVqtpo0ZRjTl34U6pH7XB4TpODNikEQBGT+B7GMgSIIEKBDXgbZVEWCYkmk7KHiKuKbgcIg2f1pPSj/UMG2e/R7XuOOmyZAtu4lZWkiR9ImS4D/vnAhac3WfDN0MSA6vqj9sTHA2vMQuNRnZT5wbfBD7oN4Mfkm/Nshhxu6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MFuYMDNypSpYSNv3FZZLz6",
      "input": {
        "note": "The bowl wall sits between the jaws, with the right jaw inside the bowl. Closing to pinch the rim.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MFuYMDNypSpYSNv3FZZLz6",
      "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]: [-0.0223, 0.8288, 0.6132, -0.4767, -0.0147, -0.0338, 0.9991, 0.6083, 1.813, 0.7937, 0.2691, 0.448, 0.2508, 0.0418]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1555 left_yaw=0.0008 left_pitch=-0.1224 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3951 right_y=0.1862 right_z=0.0349 right_yaw=0.0843 right_pitch=-0.0953 right_roll=-0.0907 right_gripper=0.0418\nstate[joint_eff]: [-0.294, -1.3744, 6.9538, 1.6288, -0.0317, -0.0757, -0.0122, -0.1162, -7.5009, 5.7231, 1.3504, -0.0366, 0.1197, 0.906]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:324cf75a550113365e1b3ff9dceca7bae3063d2cd28f5ecd1e5d31e89ccf38d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4591267a4f55c0cb139a16f6f8cca7ec51458b4d3be48d348db2dd19c0b5cfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd09f6330cad0f4111ab4d9634367b3822c36ad3215c3d5d340f2a706f78376d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /messages · status 200 · 3.453 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4763, -0.0151, -0.0338, 0.9991, 0.6167, 1.5681, 0.8219, 0.0322, 0.4267, 0.2779, 0.9965]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1564 left_yaw=0.0015 left_pitch=-0.119 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3784 right_y=0.183 right_z=0.1027 right_yaw=0.0965 right_pitch=-0.0702 right_roll=-0.0385 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.388, 6.9812, 1.6239, -0.0513, -0.0415, -0.0122, 0.3624, -6.2838, 9.2923, 1.663, 0.3248, 0.1343, 0.0855]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8284, 0.6132, -0.4774, -0.0147, -0.0338, 0.9991, 0.6094, 1.8137, 0.794, 0.2501, 0.4259, 0.2695, 0.9966]\nstate[eef_state]: left_x=0.2837 left_y=-0.0 left_z=0.1555 left_yaw=0.0011 left_pitch=-0.1228 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3914 right_y=0.1886 right_z=0.0304 right_yaw=0.0918 right_pitch=-0.119 right_roll=-0.0725 right_gripper=0.9966\nstate[joint_eff]: [-0.2803, -1.5658, 6.9538, 1.663, -0.0317, -0.0513, -0.0122, -0.3077, -7.7744, 5.3128, 1.4969, 0.0806, 0.105, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0223, 0.8288, 0.6132, -0.4767, -0.0147, -0.0338, 0.9991, 0.6083, 1.813, 0.7937, 0.2691, 0.448, 0.2508, 0.0418]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1555 left_yaw=0.0008 left_pitch=-0.1224 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3951 right_y=0.1862 right_z=0.0349 right_yaw=0.0843 right_pitch=-0.0953 right_roll=-0.0907 right_gripper=0.0418\nstate[joint_eff]: [-0.294, -1.3744, 6.9538, 1.6288, -0.0317, -0.0757, -0.0122, -0.1162, -7.5009, 5.7231, 1.3504, -0.0366, 0.1197, 0.906]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:324cf75a550113365e1b3ff9dceca7bae3063d2cd28f5ecd1e5d31e89ccf38d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4591267a4f55c0cb139a16f6f8cca7ec51458b4d3be48d348db2dd19c0b5cfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd09f6330cad0f4111ab4d9634367b3822c36ad3215c3d5d340f2a706f78376d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnAsKEAgSGAI4AUIIdGhpbmtpbmcSDD7At81aKEX6nQkTixoMPVUGQjBZav16gz7xIjAhVIb5geOV02pCkSd2q1GBN3Cudrj5Ij6dX4ciYlQ1ll9MaiQnNm2h5hxE1RUmscUquQptEGSsDLnmdz2Vh9gAq6TAq3WFD7vsQfSws9jfJIWqNR9aur2xV0ggajxsMqBr7FOD6QAjgG8CQhU3yBbeAFfCDDvfKxwgOwdc3bJRqtb8s2O/+QO/VvgJIWwSE73wOSm8Byv9CLGDPYBE4hMps713LMTo8udbmij7DBMHDiJ7Jtj5gMU5EId6BjDS85rQqd6yw7o9UFNCBDCVV/E5lLqCmyM6H4gIPSOICIQu6ihrjIWmtqPIKto7JXuYVUSdVZarOITKN5KXvhr673u4byyIqf++KWEnM/1bSVDyfWWdxPRdyAzyOhYNpVR9pMVFb2wIp+VtooLFNaNdQBfBI+CEqkvhs/RaP5DIbdcEJOHlnkb2Ti8453pkCShwJqqTdhhHLFB4ZoJvfrUnyqPnjavXwZ39tYgbkXDOa+5hbk+kN9IDSV7R2tG6enBynVcr+I39I2haZua9mySZuZ8TmBuKaaUJLcGrakIT+gPJVCy5A9SOd0QxgMyfybTh0t6Onn5nF2ztQeDyBPBcjRPnLS6M5DbI/btrU/r90+aQbfTp0ZAIV88g8SbVJJYX1kBYJeiTj21KTje2uzWEPXayYgFLyMBAW9dgtyZihLZ9Mhqr0pSmeslDCAFcqV4r2hsNnV0PLSNzMuXZN3PsPpgTRRXfHrCY4MXpk0oSdPESpD19uDNaEC6TcXYOR6ELkUHFM6Usik4e+/WoXiLg8xZcT6IkH41UrBtBHTjPlwaT3UzLormfffPeZY/fO89z4OwJNqrAoxBmPw5K59hnHexN7PFMMFLi8+YQdHp29CQ3KiP3IOh6xULmPXsMPthxmKEkkSBaIAj0xnv9KyIZ7gBWWVRF9inNETblwISFtkRT3g8cc1ipe0cTCTSRw9QQUnKueSCrOX2KH4MAJfymiUoFgBm2XHKtLK0iBlihGDw0YM0783rQRRGrmgIPnzUPR5B13vdzKPlKh2MbC9hWd4V8cuFYSV01CKmkogptHcazr9tXLTFI+4DjRzkMY29ahvnURMie0Nl+xXi7qGKol9TGTHG6z1UIpHG2CAPXNUJWusEO83wsBT078nPq99DkUWf6ZwiS3C7/bEnKP2VG7Y/ysLIWs4rh77yvY0G+wFB/KSLCRi9yAaELBqVuA+UmPbHTlCzZ3Z3kyKW4uYwp1uH89X7QJ45ofHCP/5jNMhCQJZRvzoYwuBtHDXPP/C+5hFv3WV5HtyjCwa5FT9+yor1K5o/1bv9lUSefPUGDUvC9dTtPfQSAequ7IyNkjUbXbQdIr9x1wGxL49wDDhMQHkYLBDVNdR4IJ2Tva8sjxTgivCtf452htfY/127GeBOkMfffObCjyt1cnBkdWP5JeVqltclpTIoCb8iJk5h3qUkjHxj4WpObU+dLMByAO8aCBKMxUJG5sS3BH58vKdVmePl/HVvsT7y4lWSZ8GCHx2gBynKmJsy4VCk4VdzY4Iock1QXjPDJD8cYNwKO7/c1YEsbzkfyo9+bFj60Pai4nL/OdBwqgSY52PSi/EfKn+r+mtW+zJd1NlYqXEED7iz6lHuDFgk8ljUoHuGz5Gw2YnrzRFeZeXsXAWR/nCid28M862k76tFQgL4yqut1KqyBVPxnjB3fJNWOXdbv9zoH8sSNMm7NfyuFa51hVwmbE68hvjv21J/I1YHZuOYJLFxqXKtHeo91La6s+7nnswN5B0UVy0Lw+rAeQeFmLAW/V47MyTg4uHBz2brHiOoos/Sbqvo2Jrlf1wHuBhYFkCNV4ddxllnnTVUiF2c8tl/KWRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018skEWSWEZR4vmDnpxCmzn7",
      "input": {
        "note": "The gripper settled at 0.04, consistent with pinching the thin bowl wall, and the wrist view shows the wall between the jaws. Lifting the bowl a few cm to confirm the grip.",
        "targets": {
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018skEWSWEZR4vmDnpxCmzn7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8288, 0.6132, -0.4767, -0.0147, -0.0338, 0.9991, 0.609, 1.7119, 0.8509, 0.0669, 0.4316, 0.2501, 0.0427]\nstate[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1555 left_yaw=0.0011 left_pitch=-0.1224 left_roll=-0.0006 left_gripper=0.9991 right_x=0.388 right_y=0.1849 right_z=0.0624 right_yaw=0.0959 right_pitch=-0.1391 right_roll=-0.1032 right_gripper=0.0427\nstate[joint_eff]: [-0.1299, -1.3607, 7.1043, 1.6288, -0.0317, -0.0317, -0.0122, 0.0068, -10.0855, 8.6359, 1.7509, 0.3394, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f2855ae7fdf6e0e5d027b33fff48e4d878e91033f32367aa0d3abf436172bc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9857f51b09ed7b6fbaf660816e1473b3972d746e3cafcc5dceeb58c0e1e5451a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:023777264c18f619fd75232f309506f5b5f663a081c52cdbe227591a4b3fce92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /messages · status 200 · 7.949 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8284, 0.6132, -0.4774, -0.0147, -0.0338, 0.9991, 0.6094, 1.8137, 0.794, 0.2501, 0.4259, 0.2695, 0.9966]\nstate[eef_state]: left_x=0.2837 left_y=-0.0 left_z=0.1555 left_yaw=0.0011 left_pitch=-0.1228 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3914 right_y=0.1886 right_z=0.0304 right_yaw=0.0918 right_pitch=-0.119 right_roll=-0.0725 right_gripper=0.9966\nstate[joint_eff]: [-0.2803, -1.5658, 6.9538, 1.663, -0.0317, -0.0513, -0.0122, -0.3077, -7.7744, 5.3128, 1.4969, 0.0806, 0.105, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0223, 0.8288, 0.6132, -0.4767, -0.0147, -0.0338, 0.9991, 0.6083, 1.813, 0.7937, 0.2691, 0.448, 0.2508, 0.0418]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1555 left_yaw=0.0008 left_pitch=-0.1224 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3951 right_y=0.1862 right_z=0.0349 right_yaw=0.0843 right_pitch=-0.0953 right_roll=-0.0907 right_gripper=0.0418\nstate[joint_eff]: [-0.294, -1.3744, 6.9538, 1.6288, -0.0317, -0.0757, -0.0122, -0.1162, -7.5009, 5.7231, 1.3504, -0.0366, 0.1197, 0.906]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8288, 0.6132, -0.4767, -0.0147, -0.0338, 0.9991, 0.609, 1.7119, 0.8509, 0.0669, 0.4316, 0.2501, 0.0427]\nstate[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1555 left_yaw=0.0011 left_pitch=-0.1224 left_roll=-0.0006 left_gripper=0.9991 right_x=0.388 right_y=0.1849 right_z=0.0624 right_yaw=0.0959 right_pitch=-0.1391 right_roll=-0.1032 right_gripper=0.0427\nstate[joint_eff]: [-0.1299, -1.3607, 7.1043, 1.6288, -0.0317, -0.0317, -0.0122, 0.0068, -10.0855, 8.6359, 1.7509, 0.3394, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f2855ae7fdf6e0e5d027b33fff48e4d878e91033f32367aa0d3abf436172bc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9857f51b09ed7b6fbaf660816e1473b3972d746e3cafcc5dceeb58c0e1e5451a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:023777264c18f619fd75232f309506f5b5f663a081c52cdbe227591a4b3fce92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSogcKEAgSGAI4AUIIdGhpbmtpbmcSDB4L9zCG1eDQgrGschoMZcZNxKzfsKiCOS0ZIjBjdnn2m44lDmYI0Kakk1P/CKMb88ylkwmVHtF7xBn5l04vqfpE7iUpUHxnPuQOgEQqvwb/2Xpq+u5ADL0rziUt3iQWxfubJO822iA9hYIr9Ac6g9awql61G37qzaPGVEGUQOiIzcQwpXqDPIem0CcTnpFaSWDJs7VyHscJHwED6Glkazeg11PhTKeDDuAh7efAgRKw523ymREbl+w87tkI0p3Lmu4DBtzYy5+2TU9I+LP+7sluH1D4aiCFY2/GWK8yjXu8MhyERXrcx7tylMPFmaWqB6adwwALevQmVqYsY0HxUG0JcVhxEm05ZGVnYTghOgHF6VhhCcLyG2+W0iXPpztRCjhTm8cFj4Pe4OHAx1G2Zl7l727go8gtv3+tm2CQHnBaYEw8GLMkNWAVJ5o/WKXm1ZMPcS36OViljcqzaJ47wGaLN7BLJ7QAotMpwlk1MbSzO5SuL50MF4w+vMKTI6PJbVoYouOcjjz29uNsfMQq+MiHeDtimRif6rAlmHY1OhwEvApUsOyx2ig+3KkYLpFYy7Me28hPMLmO7E1U0Zgwfxm6PrUwEb3F8EB9qP5cz+H98fqOgNc19iQWgWZB1fvw/yZVc9QMJ6DK3W53D/cnrgkmoaYNBt0aWlkEMlIisRl7VA5k19x2FtOmPu2BIGPtCE4HLy3uX0N9LA3hSbBVkl2gCSDv2Lpm7C/hHn7iFsVA/krDBd5WBoE7JE22QZVh4mEg5zXyNEq8HvE31aII1LDQ1xUw1XGHFsaQ+WhGH1i+EvK6ROcpvasm/tkLU/E19g5fdcrIbRaeBxOe3BAfkdOk6mWl1LfO2T9j8V7vauBG48uALGDAT6Zj9AYK/MfKJla0+2dX0UhZyKXkP0NO7sWuKUmDWLl1To+IsUR5f/OLC1cfrchi9SDwTPRmLS1zHoNptRw/wBnCqEU7MFaLqYeHInNJBNXP4lo/PeEqMrLPTtsDJTdy5KoDj1sip3fPWTuusqZ9KJcOOx+Hka8prhO84QzAHvGH70z0L9OpU4C5tNXi7oL8JIumWGaNl7yegDjLh5KU727YrZFKoN57yhBUvNy9Yf/VrXWCJZRwdS5tSDUkPkQyDaPbvqKV/iRrBshuyXI9ShNzcewusTsfN5J9TmIyCu1hOvCYSX8n9hHhhSPp74eCBqsTm9kmrPUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TV5bU6myWW3r4DA1TyRLQj",
      "input": {
        "note": "The bowl looks to be hanging from the rim grip. Carrying it left toward the table centre so the left arm can reach it.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.38,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01TV5bU6myWW3r4DA1TyRLQj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4793, -0.0147, -0.0338, 0.9991, 0.9791, 2.154, 1.5967, -0.4416, 0.6224, 0.5556, 0.0427]\nstate[eef_state]: left_x=0.2836 left_y=-0.0 left_z=0.1541 left_yaw=0.0012 left_pitch=-0.1285 left_roll=-0.0005 left_gripper=0.9991 right_x=0.3729 right_y=0.3767 right_z=0.0742 right_yaw=0.1385 right_pitch=-0.188 right_roll=-0.1206 right_gripper=0.0427\nstate[joint_eff]: [-0.3077, -1.6752, 7.0359, 1.6288, -0.0415, -0.0464, -0.0122, 0.1846, -12.2462, 8.335, 1.2576, 0.6716, 0.2125, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11c9cced3ceae4fc9dabe032425720f751e20816b3193f7643a21f1aef0ac077",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6bbccf6cc9fbc933d79c502a5e7057614b29fcb10ee2a9cea6f17aa9f14cb3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ea661390b61003a7e7d2ff26b62d7fcac728a71d0697b5f54f2f9536b05f10a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 3.318 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0223, 0.8288, 0.6132, -0.4767, -0.0147, -0.0338, 0.9991, 0.6083, 1.813, 0.7937, 0.2691, 0.448, 0.2508, 0.0418]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1555 left_yaw=0.0008 left_pitch=-0.1224 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3951 right_y=0.1862 right_z=0.0349 right_yaw=0.0843 right_pitch=-0.0953 right_roll=-0.0907 right_gripper=0.0418\nstate[joint_eff]: [-0.294, -1.3744, 6.9538, 1.6288, -0.0317, -0.0757, -0.0122, -0.1162, -7.5009, 5.7231, 1.3504, -0.0366, 0.1197, 0.906]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8288, 0.6132, -0.4767, -0.0147, -0.0338, 0.9991, 0.609, 1.7119, 0.8509, 0.0669, 0.4316, 0.2501, 0.0427]\nstate[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1555 left_yaw=0.0011 left_pitch=-0.1224 left_roll=-0.0006 left_gripper=0.9991 right_x=0.388 right_y=0.1849 right_z=0.0624 right_yaw=0.0959 right_pitch=-0.1391 right_roll=-0.1032 right_gripper=0.0427\nstate[joint_eff]: [-0.1299, -1.3607, 7.1043, 1.6288, -0.0317, -0.0317, -0.0122, 0.0068, -10.0855, 8.6359, 1.7509, 0.3394, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4793, -0.0147, -0.0338, 0.9991, 0.9791, 2.154, 1.5967, -0.4416, 0.6224, 0.5556, 0.0427]\nstate[eef_state]: left_x=0.2836 left_y=-0.0 left_z=0.1541 left_yaw=0.0012 left_pitch=-0.1285 left_roll=-0.0005 left_gripper=0.9991 right_x=0.3729 right_y=0.3767 right_z=0.0742 right_yaw=0.1385 right_pitch=-0.188 right_roll=-0.1206 right_gripper=0.0427\nstate[joint_eff]: [-0.3077, -1.6752, 7.0359, 1.6288, -0.0415, -0.0464, -0.0122, 0.1846, -12.2462, 8.335, 1.2576, 0.6716, 0.2125, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11c9cced3ceae4fc9dabe032425720f751e20816b3193f7643a21f1aef0ac077",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6bbccf6cc9fbc933d79c502a5e7057614b29fcb10ee2a9cea6f17aa9f14cb3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ea661390b61003a7e7d2ff26b62d7fcac728a71d0697b5f54f2f9536b05f10a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WrjCPDk8qRm7rkVbfYwpSy",
      "input": {
        "note": "The blue bowl, with the pear and lemon inside, is now near the table centre, beside the white bowl and the dark fruit. Setting it down so the left arm can drop the dark fruit in.",
        "targets": {
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WrjCPDk8qRm7rkVbfYwpSy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.485, -0.0147, -0.0338, 0.9991, 0.9802, 2.1937, 1.5375, -0.3748, 0.6113, 0.5644, 0.0427]\nstate[eef_state]: left_x=0.2827 left_y=-0.0 left_z=0.153 left_yaw=0.0012 left_pitch=-0.1343 left_roll=-0.0003 left_gripper=0.9991 right_x=0.3681 right_y=0.3734 right_z=0.0404 right_yaw=0.1371 right_pitch=-0.2158 right_roll=-0.1322 right_gripper=0.0427\nstate[joint_eff]: [-0.1846, -1.4291, 7.1179, 1.6484, -0.0171, -0.0513, -0.0171, -0.2667, -11.6034, 6.0376, 1.5311, 0.3932, -0.1148, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e07058cdda399eb55a857f88aae30e6b5b425d4ea5115aee2155dcedf00ccbb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ba65feefbc1247e2004bcd342b6783cd6af128ad358f73929fb9d3d19b8488b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e677a4f92a4533ed3b5b14ce9a2ac2568c99ea845f47185c9bbb094d1a067f3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 3.587 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8288, 0.6132, -0.4767, -0.0147, -0.0338, 0.9991, 0.609, 1.7119, 0.8509, 0.0669, 0.4316, 0.2501, 0.0427]\nstate[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1555 left_yaw=0.0011 left_pitch=-0.1224 left_roll=-0.0006 left_gripper=0.9991 right_x=0.388 right_y=0.1849 right_z=0.0624 right_yaw=0.0959 right_pitch=-0.1391 right_roll=-0.1032 right_gripper=0.0427\nstate[joint_eff]: [-0.1299, -1.3607, 7.1043, 1.6288, -0.0317, -0.0317, -0.0122, 0.0068, -10.0855, 8.6359, 1.7509, 0.3394, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4793, -0.0147, -0.0338, 0.9991, 0.9791, 2.154, 1.5967, -0.4416, 0.6224, 0.5556, 0.0427]\nstate[eef_state]: left_x=0.2836 left_y=-0.0 left_z=0.1541 left_yaw=0.0012 left_pitch=-0.1285 left_roll=-0.0005 left_gripper=0.9991 right_x=0.3729 right_y=0.3767 right_z=0.0742 right_yaw=0.1385 right_pitch=-0.188 right_roll=-0.1206 right_gripper=0.0427\nstate[joint_eff]: [-0.3077, -1.6752, 7.0359, 1.6288, -0.0415, -0.0464, -0.0122, 0.1846, -12.2462, 8.335, 1.2576, 0.6716, 0.2125, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.485, -0.0147, -0.0338, 0.9991, 0.9802, 2.1937, 1.5375, -0.3748, 0.6113, 0.5644, 0.0427]\nstate[eef_state]: left_x=0.2827 left_y=-0.0 left_z=0.153 left_yaw=0.0012 left_pitch=-0.1343 left_roll=-0.0003 left_gripper=0.9991 right_x=0.3681 right_y=0.3734 right_z=0.0404 right_yaw=0.1371 right_pitch=-0.2158 right_roll=-0.1322 right_gripper=0.0427\nstate[joint_eff]: [-0.1846, -1.4291, 7.1179, 1.6484, -0.0171, -0.0513, -0.0171, -0.2667, -11.6034, 6.0376, 1.5311, 0.3932, -0.1148, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e07058cdda399eb55a857f88aae30e6b5b425d4ea5115aee2155dcedf00ccbb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ba65feefbc1247e2004bcd342b6783cd6af128ad358f73929fb9d3d19b8488b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e677a4f92a4533ed3b5b14ce9a2ac2568c99ea845f47185c9bbb094d1a067f3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiQcKEAgSGAI4AUIIdGhpbmtpbmcSDMXReXUilDMNNFEvaRoMtLTtkVy/LWTrYeWcIjD/5P5Q5tb5EOno0jQXiOsCQ0PsKPOHEm2GF23GbPTR2uddCFM2MFkp1nH1gZiB3l4qpgZgSJvtWQyulWV2C+x2PT6ftyfx1yMCL96JJPyex0XsYN77k6LC5Pti5Q+oy/Gwia66U+BybuGDMrJUaiPBqcbwZ031TGaNx3nmeg5EZ8835NqkUus0gAtL/yuaZoInvxnahXBjcnIKMQF6wYvSe7ZsqAozYf9qmvhIZ0O1OgfXIDGAmHQtdqsk0ak7TJnW08X6YDWbevBdgLUkUJIscmqrYX4lCmvJ/loT9YFYIF7jSU6bVwYlPXpOCn6slqDeySPxoytRa6b/TffvvjaGMHTpdE6ATIHxah0patX/evm+RD7iUlYf1rMqmOfYge2PF6j1QFuUVJMDHP5RAyZHeORebBeB75UYYx3kmmK+eA1MrIbeKpLwQLVYV9sqjTcUCLIPgwa4F47tdHrdbjv52LEmsE1GECXC6amRsrfWL3Ho/j42pKBxiLsVKUHlAFs7a+lpvVvj4I3sDhDRPto1TUdF0cwE0Q+LpdX3W/EspZLQS/BY2a1ZAimOTd4kv0shKwwymh+mx/H2o3EhGi8gP+E1ZoIWlyNNp8wxtU9UTumOLkfEcdy94yY91ix79jew2eBo2RRp7IByuZADJz8O9XjBvEscK/S1jCkDgdWahxCxr7TlzYJsOEsgjqRkpIB71ZzooeDDNBjbsA3yk+GaI323t4ROh++vLnBLsKeM2NyYRzo/nzleFrR/U9a73OdOVZ+v41sWTE+C+86BcDa1H1u7nvW5xBHqHVfdQ93jD5MTUlH2AhEdp4Lsgj9ELUobLnkYUJ+sITwJTf80TM/nvWV9K14YKWZ6Q6NNqLxBjjzUyb+25crQHmcJtwFuKYwFy19JteXnbtn1U11CrePcyG8+6YGtf4DrFJnIeepCLhsDjwJvuusx5XBKqav2zQd7VOQVdkJ4yxaS4nhJx18M9vkdl9WOaE0YCvKlAhCC0HofLiQFdHfzmKW/YxbreL5GwcuJzSN1sAImm9NzcfVXP8AR82g5CpfAuNWxvky0kd+lPn+BO8F3H5RoDtNQu3+SGLUcqW13UUEm8+ZRUSe8IQzOjiIwzExKzCzh5zwt82WcrNNqCiEiNRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PMoxohALzj55J7g3VrRM6u",
      "input": {
        "note": "The bowl should be resting on the table now. Opening the right gripper to let go of the rim.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PMoxohALzj55J7g3VrRM6u",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8333, 0.6132, -0.4911, -0.0147, -0.0338, 0.9991, 0.9798, 2.207, 1.5265, -0.3794, 0.598, 0.5583, 0.9956]\nstate[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1516 left_yaw=0.0012 left_pitch=-0.1415 left_roll=-0.0002 left_gripper=0.9991 right_x=0.3641 right_y=0.3706 right_z=0.0285 right_yaw=0.1435 right_pitch=-0.2442 right_roll=-0.1508 right_gripper=0.9956\nstate[joint_eff]: [-0.3077, -1.306, 6.9538, 1.6435, -0.0464, -0.0415, -0.0122, -0.0752, -13.1624, 6.8991, 1.1746, 0.3932, 0.0317, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f23e278b44454d46cba826681dd8277747fb5c4d66d4774c9d089e4978ea329d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ec34d5b92e6fcf11f39a51afc9b989eaf9fc109cec991ae89e07098377da674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:541e86fb30e230caa36f6eab0833ff4dde1f7d039cae8ccb7fde487304d36bb2",
        "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 · 5.444 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4793, -0.0147, -0.0338, 0.9991, 0.9791, 2.154, 1.5967, -0.4416, 0.6224, 0.5556, 0.0427]\nstate[eef_state]: left_x=0.2836 left_y=-0.0 left_z=0.1541 left_yaw=0.0012 left_pitch=-0.1285 left_roll=-0.0005 left_gripper=0.9991 right_x=0.3729 right_y=0.3767 right_z=0.0742 right_yaw=0.1385 right_pitch=-0.188 right_roll=-0.1206 right_gripper=0.0427\nstate[joint_eff]: [-0.3077, -1.6752, 7.0359, 1.6288, -0.0415, -0.0464, -0.0122, 0.1846, -12.2462, 8.335, 1.2576, 0.6716, 0.2125, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.485, -0.0147, -0.0338, 0.9991, 0.9802, 2.1937, 1.5375, -0.3748, 0.6113, 0.5644, 0.0427]\nstate[eef_state]: left_x=0.2827 left_y=-0.0 left_z=0.153 left_yaw=0.0012 left_pitch=-0.1343 left_roll=-0.0003 left_gripper=0.9991 right_x=0.3681 right_y=0.3734 right_z=0.0404 right_yaw=0.1371 right_pitch=-0.2158 right_roll=-0.1322 right_gripper=0.0427\nstate[joint_eff]: [-0.1846, -1.4291, 7.1179, 1.6484, -0.0171, -0.0513, -0.0171, -0.2667, -11.6034, 6.0376, 1.5311, 0.3932, -0.1148, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8333, 0.6132, -0.4911, -0.0147, -0.0338, 0.9991, 0.9798, 2.207, 1.5265, -0.3794, 0.598, 0.5583, 0.9956]\nstate[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1516 left_yaw=0.0012 left_pitch=-0.1415 left_roll=-0.0002 left_gripper=0.9991 right_x=0.3641 right_y=0.3706 right_z=0.0285 right_yaw=0.1435 right_pitch=-0.2442 right_roll=-0.1508 right_gripper=0.9956\nstate[joint_eff]: [-0.3077, -1.306, 6.9538, 1.6435, -0.0464, -0.0415, -0.0122, -0.0752, -13.1624, 6.8991, 1.1746, 0.3932, 0.0317, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f23e278b44454d46cba826681dd8277747fb5c4d66d4774c9d089e4978ea329d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ec34d5b92e6fcf11f39a51afc9b989eaf9fc109cec991ae89e07098377da674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:541e86fb30e230caa36f6eab0833ff4dde1f7d039cae8ccb7fde487304d36bb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AYKEAgSGAI4AUIIdGhpbmtpbmcSDPfNvBw+BxEM5x6KlBoM++xlRQpdoaJYV3wpIjDpOMMclHXp6EhIrgbMjzaTx9ZBIkJBOZwqyi7Zh0JSpteapFMCVlPfmcR6I6hm8w8q9QUaussXP9VdimGpsVsnaWs3zncW4Uj15CzBvUkgzg9jYnK/+7aVXuxhJwyEQV9FB/n+CxOEiazvnld7iNQcdMfKPBHdgkF05rJF99M8QEynnhT56XbmNu/DEzzBg0cghUXHYsO9xx5LKQY1fqabkkWv4yyX+aO+JvFYtrFhgHOmh1QJhLocTmKzioyEsbfiZmuk25q+LxybprhkDbW+aqXihI6a2K8E5jelYz+5pChIsS3HTKU/RKABkRKQT/gY9eviPuYBUQr5WPOoO8CHHVag7u/lG/pblWsdj0Q9C0ofak02NSX2wFBB56VAiHa9a7IYqWQzF2mIaw3NJ1IVMEV+DaQEyC5r2QvirzLP4kw8zpAFoe5kSCYYAA301uyuW/iWDZxUcQZd7VREr48Q5E0nRGxPbct9hIPtPfNQC1hCKFAnQiAyicHRep7a/5mjDRj0cBkoqGvXy/x+jbk6SantHfW4ttZo3l8Jug0bj7shPst9o8wWIOfpt5UNjHzcxmE6c3p9fwPrM3762mYNzrLHx4hJOAO5WC8V08x6rD3xfBAcxwAJbQBuupAHwZPhK602CJXSYlVfDFAe6ktLl78DfcibaZk/GPtJDtw4B0UR/hZB/njXBYKop6XOUF1Mr48nqrG6XA2d/ccJuLLAPNRRycH88fMyAuPzjYeLR7aal5YrXRh5ko0hDBGWQ4PhweC5o7tmK7J4n5jGe7b+Nc37sVymO+BSDw30KGLU+0o+bu3tNvf62frJw1fhCDItZLzqAFgrFsH/1CG1jjm+rpQY+FEJVcgdEkV/amPt0G5HiHyNDLP7i0qgBWsULOFTRBdqmwJDDRQTwCB8p6sVOHOL37PPXXpQ+vSTMh8pyg5FUwqrkw5VP1hzPYwT8XiN4f44NxjhckDopkKR7tmPg8/pvOVAn1o9EeuJRA2CqpIF6Qu+hDmMPqSfLpMnevCpQSPdoEmM5226sErxbICeljL5elCka4pJ8gmHvbMGs/QGsiTPfLLDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T3FefFrTnvuFPe4pkvEBzp",
      "input": {
        "note": "I've let go of the bowl; it's down near the centre with the pear and lemon in it. Lifting the right arm up and to the right so the left arm has room.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.3,
          "right_y": 0.2,
          "right_yaw": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01T3FefFrTnvuFPe4pkvEBzp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8391, 0.6132, -0.4934, -0.0147, -0.0338, 0.9991, 0.9131, 1.338, 0.9848, -0.4606, 0.6991, 0.569, 0.9965]\nstate[eef_state]: left_x=0.2816 left_y=0.0 left_z=0.1496 left_yaw=0.0012 left_pitch=-0.1495 left_roll=0.0 left_gripper=0.9991 right_x=0.3016 right_y=0.2103 right_z=0.1913 right_yaw=0.0284 right_pitch=-0.0213 right_roll=-0.0085 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.4427, 6.9265, 1.6679, -0.0806, -0.0513, -0.0122, -0.4855, -5.7231, 6.694, 1.6435, 0.3687, 0.1001, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9759c7561f11e2a74475a63fdc1f5fc2cde22ab177b4326afe9bd6e871c5eac6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:843dacbf2573d4b9c5ac8066c9247748fecfed0b39f1f78869dc7f6367b8a6c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:88322be7247d0350ed7563d3ba7bad09ef3d24854da2a048020be29979fb2a7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 4.106 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.485, -0.0147, -0.0338, 0.9991, 0.9802, 2.1937, 1.5375, -0.3748, 0.6113, 0.5644, 0.0427]\nstate[eef_state]: left_x=0.2827 left_y=-0.0 left_z=0.153 left_yaw=0.0012 left_pitch=-0.1343 left_roll=-0.0003 left_gripper=0.9991 right_x=0.3681 right_y=0.3734 right_z=0.0404 right_yaw=0.1371 right_pitch=-0.2158 right_roll=-0.1322 right_gripper=0.0427\nstate[joint_eff]: [-0.1846, -1.4291, 7.1179, 1.6484, -0.0171, -0.0513, -0.0171, -0.2667, -11.6034, 6.0376, 1.5311, 0.3932, -0.1148, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8333, 0.6132, -0.4911, -0.0147, -0.0338, 0.9991, 0.9798, 2.207, 1.5265, -0.3794, 0.598, 0.5583, 0.9956]\nstate[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1516 left_yaw=0.0012 left_pitch=-0.1415 left_roll=-0.0002 left_gripper=0.9991 right_x=0.3641 right_y=0.3706 right_z=0.0285 right_yaw=0.1435 right_pitch=-0.2442 right_roll=-0.1508 right_gripper=0.9956\nstate[joint_eff]: [-0.3077, -1.306, 6.9538, 1.6435, -0.0464, -0.0415, -0.0122, -0.0752, -13.1624, 6.8991, 1.1746, 0.3932, 0.0317, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8391, 0.6132, -0.4934, -0.0147, -0.0338, 0.9991, 0.9131, 1.338, 0.9848, -0.4606, 0.6991, 0.569, 0.9965]\nstate[eef_state]: left_x=0.2816 left_y=0.0 left_z=0.1496 left_yaw=0.0012 left_pitch=-0.1495 left_roll=0.0 left_gripper=0.9991 right_x=0.3016 right_y=0.2103 right_z=0.1913 right_yaw=0.0284 right_pitch=-0.0213 right_roll=-0.0085 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.4427, 6.9265, 1.6679, -0.0806, -0.0513, -0.0122, -0.4855, -5.7231, 6.694, 1.6435, 0.3687, 0.1001, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9759c7561f11e2a74475a63fdc1f5fc2cde22ab177b4326afe9bd6e871c5eac6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:843dacbf2573d4b9c5ac8066c9247748fecfed0b39f1f78869dc7f6367b8a6c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88322be7247d0350ed7563d3ba7bad09ef3d24854da2a048020be29979fb2a7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6ggKEAgSGAI4AUIIdGhpbmtpbmcSDDlDwd6fnUSZ4/FyAxoM1KLZ0EwzxyfkUue3IjAGNokal2K8bI+EOctSWobx9/LbY0OyTJdD01zYd5yfcVea9UxEwkvMLhf8zOZhpZsqhwgOjDSUaO898vy3miHrXtzYU5aLMCQRcxUj7GRAr1UfoiyMwPUX0TikfhYCR2Ky3ovvlw3x8i5Z+XnqSxYvZSlnrj+ET4wC60LHo+B6wWx1SFYuAQdmpWXEBLmGWrBaRIsaEsxOP1JZne0NhLhanf+3mUU7/qYzOtjoo35+B7yiyvJ8y/0kyBWMjB75C9MmVeNnSpKFqZT18rq72G2jKZPdaotEqbGWaC6VOC/qaIFZ2xDwLk3sEp9J/kjjCEnn1sVAg3ikB8CcDZJSTjlYjbtmLMsz3hIAiD5/gw42FuS//TltNFpS5ia2eQdGmhzeB7ytpEU+a+pKMMKtnotqsIiQh9s64OY1x2dZYXgCzfRR8lDBHaTpQgKH+7/BmTAw1CceUPmKWtOQpYQSI2/le5veoFwFHY+KCC6nhMHlK1P0bJFmF/e7pMc7A+EbgKnHy1U1pj3lekQyDOOmuut9AhsTBnk+tupFZZOyL6Ef6Rnqq4/dQWhjENd1CicmS5n5e8f2tB0pt3O1VPYX19COCFc7EjTCPwQcpCn5QhPSxpKIIRtaCuACEMcEvHK3kip8nO6g+18/DxVteFC0ljFnnca9jeoDMMpAN6XD8cE5FEfBMRlFjMh3FzzSpvxmqZjOrT9nlw9gPY3U79slQVOHvDqdOfddXirXP05B99zwIoY3zXl8hIV2KGJfyS0Ir62cnrTzMV+eiAx2ucSKYJfcJOpoZpUois2c1+y/prFgHbZb5UR+tMwpIdte4fkeJmabLZfB4RQ2qxfbZdxwTDeiLEZza6RDJdIraCxC+VTbG2841Rw0qGP0obcsxj1JXrl+LYhNPHnAC4M9ZehW/8mE0onIBp+Wjn4+/zM5XtSTWUWB/u26YWI2o9I3Ez24eOJ+p4m7PxHgrd9P8gIMuv5AIfCyHVx8p6TBdrU9z6xSAEjwuhNGcTYyAMeEXBb9mKdam2Clkx73/phx1F9KCAJ92dIv4S+uKqYSLJswSz824ExOzQUW0hG5l3qRYAJr3R8bOnU56QOEm/jK9/E2NaM2+ebSqajcBQFV1O4SInLbsDPychOBZ7ocWsS1oln3daGnuTkJ7d6io8A8SQGCQzLGLaKCmtOTnruQDLCOdDeqgZEbpvMrlZ5kKzKU+NYofFqtEClovcsBUzIOZX+7osiygTBbgNnY0YdlPxocLl/TzjXHzsTG6s86rNUyjjc4JO4MxG+8JsBuXKYOZRjATBnH8GCmrB0GxHiSqCOC6Smz9gc24bK+BiK/KeMgXWAyOrOmrwtIbyhrjb4nP6XxDE4PBbx6XKSaZdwOJMJESevSLi+zBCvvYUUviPFglP5d6uoH6c3omSiGmxRk4L0zw19W7n+yN+cuUzjbWRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PxTBFgTN4Mj25BptQPJMju",
      "input": {
        "note": "The blue bowl with the pear and lemon is now near the centre. The dark fruit is ahead-right of the left gripper, so I'm moving the left arm over it.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.32,
          "left_y": -0.07,
          "left_yaw": 0.0,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01PxTBFgTN4Mj25BptQPJMju",
      "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]: [-0.3862, 1.0866, 0.4149, -0.0349, -0.2783, -0.2188, 0.9991, 0.9123, 1.3411, 0.9821, -0.474, 0.6987, 0.5655, 0.9966]\nstate[eef_state]: left_x=0.3057 left_y=-0.0681 left_z=0.0845 left_yaw=-0.0409 left_pitch=-0.1048 left_roll=0.0254 left_gripper=0.9991 right_x=0.3003 right_y=0.2083 right_z=0.1874 right_yaw=0.0294 right_pitch=-0.0336 right_roll=-0.026 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -3.4256, 6.2017, 1.9023, -0.4029, -0.105, -0.0171, -0.1573, -5.559, 7.0085, 1.5018, 0.2466, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:448a81c640604b724bdf78853739d9d26e832f11e80a129088f8c864f2a92494",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8ce9240801f185f551ddf34f64dc955da7cdd3a8271c0d96844f7dd11599562",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3dba79468d46693daae98279e0043423afc082749fb274990a927886c284f0f5",
        "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 · 4.458 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8333, 0.6132, -0.4911, -0.0147, -0.0338, 0.9991, 0.9798, 2.207, 1.5265, -0.3794, 0.598, 0.5583, 0.9956]\nstate[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1516 left_yaw=0.0012 left_pitch=-0.1415 left_roll=-0.0002 left_gripper=0.9991 right_x=0.3641 right_y=0.3706 right_z=0.0285 right_yaw=0.1435 right_pitch=-0.2442 right_roll=-0.1508 right_gripper=0.9956\nstate[joint_eff]: [-0.3077, -1.306, 6.9538, 1.6435, -0.0464, -0.0415, -0.0122, -0.0752, -13.1624, 6.8991, 1.1746, 0.3932, 0.0317, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8391, 0.6132, -0.4934, -0.0147, -0.0338, 0.9991, 0.9131, 1.338, 0.9848, -0.4606, 0.6991, 0.569, 0.9965]\nstate[eef_state]: left_x=0.2816 left_y=0.0 left_z=0.1496 left_yaw=0.0012 left_pitch=-0.1495 left_roll=0.0 left_gripper=0.9991 right_x=0.3016 right_y=0.2103 right_z=0.1913 right_yaw=0.0284 right_pitch=-0.0213 right_roll=-0.0085 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.4427, 6.9265, 1.6679, -0.0806, -0.0513, -0.0122, -0.4855, -5.7231, 6.694, 1.6435, 0.3687, 0.1001, 0.0757]",
      "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]: [-0.3862, 1.0866, 0.4149, -0.0349, -0.2783, -0.2188, 0.9991, 0.9123, 1.3411, 0.9821, -0.474, 0.6987, 0.5655, 0.9966]\nstate[eef_state]: left_x=0.3057 left_y=-0.0681 left_z=0.0845 left_yaw=-0.0409 left_pitch=-0.1048 left_roll=0.0254 left_gripper=0.9991 right_x=0.3003 right_y=0.2083 right_z=0.1874 right_yaw=0.0294 right_pitch=-0.0336 right_roll=-0.026 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -3.4256, 6.2017, 1.9023, -0.4029, -0.105, -0.0171, -0.1573, -5.559, 7.0085, 1.5018, 0.2466, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:448a81c640604b724bdf78853739d9d26e832f11e80a129088f8c864f2a92494",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8ce9240801f185f551ddf34f64dc955da7cdd3a8271c0d96844f7dd11599562",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dba79468d46693daae98279e0043423afc082749fb274990a927886c284f0f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkAcKEAgSGAI4AUIIdGhpbmtpbmcSDJh6wD1BalyPA1tL5BoMClu5hWxOm5uadcs6IjB56N5ezzek+NADboENRsRoCnkjh6aHFGPuC6awOwzOgMakL3ACsZijOzlN1G7qk6cqrQYt4kspxldoNqH7GC2Gkza4jdJ+xd1zNJx8oT35IRjt+fSTanMy4mTPGvMR59/vi6fvN0W1h0lX3ePzMR882mVzeAU8iBjHqgWgXeJus/nlHkMmgObpfePppW1b8QN+VwZodhSZfQ3s8mlPMDV+7/0A+mYAZ2icqfFI3t3tAVFVZuai0MMhuCPTCClimmXe9m3EPMPnFugQJ98BVFA6dcX5oWHGzFlgn0JUmHXAvN38jmCnjtdfarkIfER6Q7EIMmOfq0l8QjhD5HZk2ybtO7zgvc4C3dAAdRyxi92DMs8FZlN7Hsp6ab0jazBW4Y5e78/LjfoX3leT2W/Ap7yo4mTjbMFRZ0bqEXs+3boCfeyfYWhjFjvVysO9Dw8YuaNulxORFuzqkxejt+PaVv84J2ELe3q9B7FQ2vyokPaWOkLw/FNnRGp7RXj6+Kip4wRHHfXFfzlwqWvwli2LVHC5MLpks3ofWK7KDMVAhRtBVbbcRw2cQk71rBsfMIMNBXPf0pKsr4lQyc2Nepdo9o/QS1fTCykwNW8vsOcGqfaSZP4gAXT1dpU8qNNS2yU6oWffO6YRKCBUuSM8Bm6i0Bmv9tT8si+fdZPXpR6HkHXmiO5APgnUJATutbJHVl9q2fC6IBYJtgB+Ek98I8ceQyBjwdnP2KLo5ChVPZR8MaHgxFBQUsyipHqWt79R/TLNk/uO/+5Dci9SE16gVWyZgNldHYjm0QRaIyuqmStMSpoO++1Qrad4yH4eiISttNHpb+i776qQ6YyMacAHJYvyDF4RB5e2BcaWsDt1SfU65Dfwp7gtSk0S9LKRxJ/JcoGB9E2Qn+D+ukQY8x36fGWM/HK1zzbjOf4Xamo4E1558w/XRlwDGx8/9AlcBWTFVyido55NHYcRPA9EV30zgGUUfHITUK8TIAKcNPWQ/OGdBti2XW7zxBoqIjUygVmCXqjBqHFs9j/5nSi25XbN04FbIhtKSFl9G1r78c0m/g5gleLhI7oZB4y4H+gS7R/HV30Fff/2COEMHFd+wlVRPTx1fKGRzaxHhShrrgeEMXgqxUOWp7jINS8C0Wf5ZPoe4WNJNuIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BHwif3vyreaKLTz9gXd2ws",
      "input": {
        "note": "The dark fruit is slightly right of and ahead of the left jaws. Moving forward, a little right, and down to grasp it.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.34,
          "left_y": -0.085,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01BHwif3vyreaKLTz9gXd2ws",
      "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]: [-0.4095, 1.5269, 0.3035, 0.4644, -0.3222, -0.2321, 0.9986, 0.9123, 1.3415, 0.9821, -0.4774, 0.6949, 0.5655, 0.9966]\nstate[eef_state]: left_x=0.3179 left_y=-0.0731 left_z=0.0024 left_yaw=-0.0185 left_pitch=-0.1427 left_roll=0.0616 left_gripper=0.9986 right_x=0.2998 right_y=0.2085 right_z=0.1865 right_yaw=0.0319 right_pitch=-0.0382 right_roll=-0.0271 right_gripper=0.9966\nstate[joint_eff]: [-0.6906, -6.147, 4.7932, 0.4176, -0.1343, 0.4176, -0.105, -0.212, -5.1897, 6.735, 1.4579, 0.2564, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b42d44010672fe4f550dabb24d2b2302cca0ec5bf526a03e78c1cebdc6778663",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:847e956b0d4e1ebfc0dbeb159395ba7ca362c48694b8472623264f23b586a21e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b62c3876531a2ae74918b3ab0a635960174818d9b56c8b9e762872a017d23600",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 29 attempt 0 · /messages · status 200 · 4.117 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8391, 0.6132, -0.4934, -0.0147, -0.0338, 0.9991, 0.9131, 1.338, 0.9848, -0.4606, 0.6991, 0.569, 0.9965]\nstate[eef_state]: left_x=0.2816 left_y=0.0 left_z=0.1496 left_yaw=0.0012 left_pitch=-0.1495 left_roll=0.0 left_gripper=0.9991 right_x=0.3016 right_y=0.2103 right_z=0.1913 right_yaw=0.0284 right_pitch=-0.0213 right_roll=-0.0085 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.4427, 6.9265, 1.6679, -0.0806, -0.0513, -0.0122, -0.4855, -5.7231, 6.694, 1.6435, 0.3687, 0.1001, 0.0757]",
      "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]: [-0.3862, 1.0866, 0.4149, -0.0349, -0.2783, -0.2188, 0.9991, 0.9123, 1.3411, 0.9821, -0.474, 0.6987, 0.5655, 0.9966]\nstate[eef_state]: left_x=0.3057 left_y=-0.0681 left_z=0.0845 left_yaw=-0.0409 left_pitch=-0.1048 left_roll=0.0254 left_gripper=0.9991 right_x=0.3003 right_y=0.2083 right_z=0.1874 right_yaw=0.0294 right_pitch=-0.0336 right_roll=-0.026 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -3.4256, 6.2017, 1.9023, -0.4029, -0.105, -0.0171, -0.1573, -5.559, 7.0085, 1.5018, 0.2466, -0.0415, -0.0073]",
      "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]: [-0.4095, 1.5269, 0.3035, 0.4644, -0.3222, -0.2321, 0.9986, 0.9123, 1.3415, 0.9821, -0.4774, 0.6949, 0.5655, 0.9966]\nstate[eef_state]: left_x=0.3179 left_y=-0.0731 left_z=0.0024 left_yaw=-0.0185 left_pitch=-0.1427 left_roll=0.0616 left_gripper=0.9986 right_x=0.2998 right_y=0.2085 right_z=0.1865 right_yaw=0.0319 right_pitch=-0.0382 right_roll=-0.0271 right_gripper=0.9966\nstate[joint_eff]: [-0.6906, -6.147, 4.7932, 0.4176, -0.1343, 0.4176, -0.105, -0.212, -5.1897, 6.735, 1.4579, 0.2564, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b42d44010672fe4f550dabb24d2b2302cca0ec5bf526a03e78c1cebdc6778663",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:847e956b0d4e1ebfc0dbeb159395ba7ca362c48694b8472623264f23b586a21e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b62c3876531a2ae74918b3ab0a635960174818d9b56c8b9e762872a017d23600",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+wcKEAgSGAI4AUIIdGhpbmtpbmcSDE/fqyqOZFXfQc3SBRoM25Src/yohxRcbDAdIjDJmIvSz3w8s49F4LqLGIm4z06pXTBn8KHSrd++1xuY4kK0xKml/ACpmq/EdCRIZNEqmAfZdIsrWUtQE+WHWuqVUQNZWsOT1V9l1iM1i1JLcDpRvka1CTu+QuAHpUyi7KegLz8GFe+UYJoDSrXGV1e3/jxzda1wH2NrzjxI2GBRBV6xnEZXbAdwkCYwbne4jacH/cjA+s17F0oJgeMESB3jRo/2wPZ/U8Mji7sVHuhArcZnhfNsyM3bBk8SkG6Ubx98ohABJQ4MC3fqfPlAMo80uJWwhOEeWr4lq0iQktuceebk7uUmlJBBij3KCCAZSW5xXb/iRLfzMK4Nx0Yx+089M64ETHzMtQJQUcFvrjCZv3uP7o3m7dFBMhQeEPSe6Ax3qu11PsfGZkn6sThvk4xGUveOr4laPMMb4i4nC7oD1lCjXWL1BIJsYxe36qbT239+aNEtMcbN8TWPHzsTgvplhn35gXoa4rKIP81pcUaLFdJCnrBmk2IEe0npjHHdAjbSIpg5xB3Ljbuyx6XfL6pHfpBW+mmi3EADM2tUsTBqQSc+RSqQ8tD1z9xH9vlSLVD8oZAWQHu0NLbOitWIEJ9AD7DWQ2aYXnSZVp/4r3+rOdccD2Y8EAh/T4yPA48AJjfUnDBnLtlT158GGmUOZt4I0fioCoaJ+FFjVFLmvnoJ0Ts/o4SLRp6JgzhpFP/O3bIUijpAVw5s2Y3kYvS3diD9mdjJoSpsktvJXYgvLXG+0N2xgseJqjUVNmhNuVQn3uI3NTgrpx7em3XBIB6uKzetzO1V6yMyxsRN7pIHueq6LoM9udV1lPiLwwnEhGQ1HK0AB+Vn/yG1t8A1VdNxwEL9/AyinpnAfL9tdpuRozyH/MSV04nCe7+807fsugP+pqpT71echPmjAZd1XgPi7a3SXKgpTvpo9BV/xtabpQLlqUP4NCBUdW2aid1Jl/oAUtzVajupoXlBxHXfbnTP4Z8jP67proOKNeFkjdpawbGjS+opuaKRn/oSGrS3HI4e3KHjtj6sTrEBu7+yA24Nsi7jZqKiJ4Z8lRTkskqPLkaiEMjjW5Ej4uhYfscgFXn5JvuDQ92WILJ4erLozD3u8yKlUcf4WZZAW+cn5kWtgidUSqv+fK9P7b10myY49fs1VeSFou8p6FJo81VUqKAaQ4djNlUXKhUKuSvyjvn/NFMUyGXm9sd4bJuHfFHWJpcTUbj9i5feD8wB7Pa+FRuI0PPqwIh409lVh7IeLiMJrEBYk9pXeK4eu68QNF3g5zLqnH2slGP4I8OfwTSB2RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H2sXCurnZVTRj9WbnRoSLa",
      "input": {
        "note": "The fingertips went all the way down to the table, short of the fruit, which is still ahead and to the right of the jaws. Lifting slightly and moving forward and right.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.095,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01H2sXCurnZVTRj9WbnRoSLa",
      "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]: [-0.4347, 1.5711, 0.3042, 0.6056, -0.3485, -0.2264, 0.9985, 0.9123, 1.343, 0.9821, -0.477, 0.6949, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3327 left_y=-0.084 left_z=0.0153 left_yaw=-0.0289 left_pitch=-0.0461 left_roll=0.044 left_gripper=0.9985 right_x=0.2999 right_y=0.2086 right_z=0.186 right_yaw=0.0321 right_pitch=-0.039 right_roll=-0.0283 right_gripper=0.9966\nstate[joint_eff]: [-0.6085, -5.2444, 3.7538, 1.5311, -0.3297, -0.0464, -0.0269, -0.1162, -5.3949, 6.694, 1.326, 0.2662, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a061dd1c59a966fc54ee24c567f871eec71b240e140d3ae4b942ddca751e82d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55327c853cd763fe91a87bc093284d5bc637babd6ae06c7e1b6cbf8f62b518e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a133548e55c1732242c9e541466e83b2894aa3ddf152cd6d9c777dd9f48093ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 3.885 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3862, 1.0866, 0.4149, -0.0349, -0.2783, -0.2188, 0.9991, 0.9123, 1.3411, 0.9821, -0.474, 0.6987, 0.5655, 0.9966]\nstate[eef_state]: left_x=0.3057 left_y=-0.0681 left_z=0.0845 left_yaw=-0.0409 left_pitch=-0.1048 left_roll=0.0254 left_gripper=0.9991 right_x=0.3003 right_y=0.2083 right_z=0.1874 right_yaw=0.0294 right_pitch=-0.0336 right_roll=-0.026 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -3.4256, 6.2017, 1.9023, -0.4029, -0.105, -0.0171, -0.1573, -5.559, 7.0085, 1.5018, 0.2466, -0.0415, -0.0073]",
      "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]: [-0.4095, 1.5269, 0.3035, 0.4644, -0.3222, -0.2321, 0.9986, 0.9123, 1.3415, 0.9821, -0.4774, 0.6949, 0.5655, 0.9966]\nstate[eef_state]: left_x=0.3179 left_y=-0.0731 left_z=0.0024 left_yaw=-0.0185 left_pitch=-0.1427 left_roll=0.0616 left_gripper=0.9986 right_x=0.2998 right_y=0.2085 right_z=0.1865 right_yaw=0.0319 right_pitch=-0.0382 right_roll=-0.0271 right_gripper=0.9966\nstate[joint_eff]: [-0.6906, -6.147, 4.7932, 0.4176, -0.1343, 0.4176, -0.105, -0.212, -5.1897, 6.735, 1.4579, 0.2564, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4347, 1.5711, 0.3042, 0.6056, -0.3485, -0.2264, 0.9985, 0.9123, 1.343, 0.9821, -0.477, 0.6949, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3327 left_y=-0.084 left_z=0.0153 left_yaw=-0.0289 left_pitch=-0.0461 left_roll=0.044 left_gripper=0.9985 right_x=0.2999 right_y=0.2086 right_z=0.186 right_yaw=0.0321 right_pitch=-0.039 right_roll=-0.0283 right_gripper=0.9966\nstate[joint_eff]: [-0.6085, -5.2444, 3.7538, 1.5311, -0.3297, -0.0464, -0.0269, -0.1162, -5.3949, 6.694, 1.326, 0.2662, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a061dd1c59a966fc54ee24c567f871eec71b240e140d3ae4b942ddca751e82d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55327c853cd763fe91a87bc093284d5bc637babd6ae06c7e1b6cbf8f62b518e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a133548e55c1732242c9e541466e83b2894aa3ddf152cd6d9c777dd9f48093ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkQgKEAgSGAI4AUIIdGhpbmtpbmcSDJYWtN3yQ9CNiCKNvxoMXHoJQbZqb7lwFFAGIjDRxT8N5NayPJ8jQPe3H3bcZzjQ+igmDYic0HbQTot7KrAmaqeG2hgCShb9JrGNVAsqrgferLh4sJwPqdWctgneFjqrBZyDf5po3p+dJXdQELXMNAsF1E3eCQVbPyQ3gHz4u2LLXjCKJ0fvLyC2ZpjwIKQ+H8HSnkkBe52v0kOjhR11kT1bNgvKBR5P49wS6QMTxbYR0+Z65ZMc4QtvWNJ2RE2jYWQZtwDs4bFqKQZSjbo2A1ab87wTsdDFjTRxkOKX32kdGPtEZphfwHQ9TAN6v3LB0zJ3OKwRlsW20AzLmzegBpxh2AcxR+b88+MFeaVc6xZ5B6ROAoan0VSzsZ1my5oN62uasV4LGudSU72wAbpG8zR0THy6bpnpSIaNa4+pnY+DHIbtWuRlLAnOsqgv+N0bgzc+j+hGAIB8wn7cOiamR66821H514LCulrwUPgD7Q3yTEn2crzDMnTBqV3GiBgl3nXP2i2q5g1HXsHa4deAcAciMca7/Wt2ByAkuvtQCwwFw19T0DOHx5/95EqWksoVUyHNJ+t+regG5l69vZIa79KaEPftP+iW9tfzEBJOnlVLMnIvyDMd9WDeLqPh4tWSqPLrynIKgrc4rIwCuO26NoofBnE++4RjlrVAORPfJvGKWs6H55EtMZ/BdBIEr7r12rR24s/ykbPHAbB/JOKAYdK+jMCAXWhNNRot7cB2LaY5UimhRhFMkCTbSS/kRsKWg1utSbf/IPbY36c+ENiAZ7grBK/q21PIKEBLhafU/nbSqVGJHIn9QzrVDz3FchfaIHEyG2EipmAKuYYOBL2wDBZ0qUPCXQPwLfUoXfdWBO8SrYfKDa5ZHGw2iiIAPPkYSE/hLadY68eSGvbUqOoEcT6pQYICh9Mwc4Rrb0rE1rDUy4avYdJ5isNlorRJKTi7hFCRYGjJpQxlbzJ2s/FgrAhUj0mECY3q14+0v6aFSpN4r9/auDxPGP5q+zLh/l86WovQaP+a50dxXPWiRIaswGrF2R2yTxWpy9UUFa/ra0bclOct6dX6nLtRZsDw5VJZajSLnsC2g5DgOH/QZ5vE6QX6EVzCHPilYm9sd6SowLgzijc8YVMXiP7wWViBdyql+2RC+M2pN43u2wbIkz2HoeoxDTLGC3IbA7EbicMcRMmtsyNaqKVsk3uotEgiM0ya2jL26NoVFHEnbXC9hWlhFFdDRF/CMzSSr22bZ/Yi4ZicSq64k/2AWWX3W+qrcjdxEy7bCijBEJkHZS8Wcl6GRYv9Yadxlj0f8Mr67fy3XAqcLznX82y/M82EmBWzCZ+RGfnkRy7HOR8W5TYIrL8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014SFqMvHoYmZo2LjxMLU5i6",
      "input": {
        "note": "The dark fruit is right between the jaws now, just a little ahead and right. Advancing 2 cm so it sits in the jaws.",
        "targets": {
          "left_x": 0.355,
          "left_y": -0.092,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_014SFqMvHoYmZo2LjxMLU5i6",
      "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]: [-0.4347, 1.5711, 0.3042, 0.5869, -0.3523, -0.2287, 0.9985, 0.9123, 1.343, 0.9821, -0.477, 0.6945, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3303 left_y=-0.0822 left_z=0.012 left_yaw=-0.0242 left_pitch=-0.0623 left_roll=0.0517 left_gripper=0.9985 right_x=0.2999 right_y=0.2087 right_z=0.186 right_yaw=0.0323 right_pitch=-0.0392 right_roll=-0.0281 right_gripper=0.9966\nstate[joint_eff]: [-0.5538, -5.1214, 3.7265, 1.6288, -0.2711, 0.0024, -0.0122, -0.0342, -5.2855, 6.6803, 1.37, 0.2125, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a280534cec50d5c360f3a96e98fc094c8ac2e7b17be7fb1167c37f7a83bb43ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d24034a940aa01eb4dd6e5371af5dad90d76ccda0b4d4de3e784a87374184240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0229e2136a1603235d5325fd32f961653fc8b896b49608c11dc0a076d6cac17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 4.957 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4095, 1.5269, 0.3035, 0.4644, -0.3222, -0.2321, 0.9986, 0.9123, 1.3415, 0.9821, -0.4774, 0.6949, 0.5655, 0.9966]\nstate[eef_state]: left_x=0.3179 left_y=-0.0731 left_z=0.0024 left_yaw=-0.0185 left_pitch=-0.1427 left_roll=0.0616 left_gripper=0.9986 right_x=0.2998 right_y=0.2085 right_z=0.1865 right_yaw=0.0319 right_pitch=-0.0382 right_roll=-0.0271 right_gripper=0.9966\nstate[joint_eff]: [-0.6906, -6.147, 4.7932, 0.4176, -0.1343, 0.4176, -0.105, -0.212, -5.1897, 6.735, 1.4579, 0.2564, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4347, 1.5711, 0.3042, 0.6056, -0.3485, -0.2264, 0.9985, 0.9123, 1.343, 0.9821, -0.477, 0.6949, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3327 left_y=-0.084 left_z=0.0153 left_yaw=-0.0289 left_pitch=-0.0461 left_roll=0.044 left_gripper=0.9985 right_x=0.2999 right_y=0.2086 right_z=0.186 right_yaw=0.0321 right_pitch=-0.039 right_roll=-0.0283 right_gripper=0.9966\nstate[joint_eff]: [-0.6085, -5.2444, 3.7538, 1.5311, -0.3297, -0.0464, -0.0269, -0.1162, -5.3949, 6.694, 1.326, 0.2662, -0.0366, -0.0122]\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 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]: [-0.4347, 1.5711, 0.3042, 0.5869, -0.3523, -0.2287, 0.9985, 0.9123, 1.343, 0.9821, -0.477, 0.6945, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3303 left_y=-0.0822 left_z=0.012 left_yaw=-0.0242 left_pitch=-0.0623 left_roll=0.0517 left_gripper=0.9985 right_x=0.2999 right_y=0.2087 right_z=0.186 right_yaw=0.0323 right_pitch=-0.0392 right_roll=-0.0281 right_gripper=0.9966\nstate[joint_eff]: [-0.5538, -5.1214, 3.7265, 1.6288, -0.2711, 0.0024, -0.0122, -0.0342, -5.2855, 6.6803, 1.37, 0.2125, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a280534cec50d5c360f3a96e98fc094c8ac2e7b17be7fb1167c37f7a83bb43ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d24034a940aa01eb4dd6e5371af5dad90d76ccda0b4d4de3e784a87374184240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0229e2136a1603235d5325fd32f961653fc8b896b49608c11dc0a076d6cac17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AcKEAgSGAI4AUIIdGhpbmtpbmcSDPoA0UEDOGJdtKg89RoMiV+wfURU23F7186EIjAWvWnGzvAvp5FBD7bK1ltADYwmXF9zcnS3xhgehsexnLclO4d/8A1NOIhFLZS+AHUqhQew/aPAxkhdLrNOn5qOPQDUPMXE2bgclMZMgvVfdu7v0D50u7QMLxw5E15YZ6zygta4/DuAJwnZyc0kcGpfB1IJM2f3MueecUCiSY5xqJP4UVW2wAL2A+dZUSt5m2gxePRQPC7aEgkVkLOFjA/BZtyz4PuTU0JAtjVrGKgIRTZQ/kX3goCMpOurfTwhvpfRqlrEDvknwDAfrt6F5+8qDII3LKOJ5jzrFAkUuJamC2dvxj+bIvssac5P2pdq8YsDYQd+ebIZbyfLYxrPgN8rfdG8Abvl5EJcqMY3JZCsrP3xg+rLtULIa3nmpxswLn47DYDQD9B15h2CB9G6OIfVMkhZGA59EREYvR+6zs69AwRz27oGEox7K1zj6sUdXp2zb6qTVosTwv5VyEXSTbGXi3vh/DAlflWiSSw4+mc92Urn0nVvf5T1a8H0iW98k2zIMcUtOaBuj2BS92Hh7gx5W29FMql/q/NoXk5ilV2oVoxDlSi/phZRuk0nb3jcOuXHr6mJZa9rHwN/1fVAZ/V7IYiuPqwOEBQvYX/ZFK5Blp159rh8CvhWOfOZ8G9iSPXuiy+Xn1imifOnzsVrD/+iNmfDgWz9Ypn/k5yrddDMrR2mpv3dcZkeDHsBOIBk/L/y1rCj5FitBc0bQns4X/w7KWfx/bg96ylU4TIT4RA+JxpQe9dTrLM8S8tjibGkOcce9Kg0uzK8UTCjrvp3CofrHH5vYhpunp7C7w+6bBA5MULN8Qn2vd2yFcnb0+NdQljMV1sapdlCG0VwFRkzYYFCm6WmYe0c5Z661a3lrxiNfHAyw6m5pGbNx28ZOm2ZsynHbh5H70PUCj97pNiP6EyFH5ZctZQ9ESiq88a4voD3qqPyummtvL8E6oTxP4z7o83PJJ2o72WH7pC1k7jFtCVTMvrz+lefJEuRs0pHLTyW0hObjp8OVpgdOiS2yYFyrb9KR7jdNbTsOm/IxEzbW/FiddTHICO6QLCjLTeDM66b5DrHidbqOESDQ8NwtYgWbLcmY35/gp7BxREb1RARy60zn8ApDSG1j0eYpzVBpudcc0euvCSXYb+wxhqEIldeEpya3/epecjOoyVoJD1EhCds+ICWOxllTvwqaPphH9G/2PzYZwPe2rscgfC92XgUc9yKYuPd8j9rQFtaU85KWrEDzVbJhNBVnuJnJvqPzMG2vZF8UteVB/5cGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BVNtidbzacN3Hine6TN1rm",
      "input": {
        "note": "The arm isn't advancing any further and the dark fruit fills the space between the jaws. Closing on it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BVNtidbzacN3Hine6TN1rm",
      "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]: [-0.4381, 1.5726, 0.2977, 0.5808, -0.3588, -0.2329, 0.0091, 0.9123, 1.3502, 0.9821, -0.4919, 0.6834, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3271 left_y=-0.0808 left_z=0.0087 left_yaw=-0.0197 left_pitch=-0.0735 left_roll=0.0578 left_gripper=0.0091 right_x=0.2981 right_y=0.2088 right_z=0.1806 right_yaw=0.0391 right_pitch=-0.0597 right_roll=-0.0398 right_gripper=0.9966\nstate[joint_eff]: [0.2393, -4.9436, 4.9026, 1.6728, -0.0464, 0.022, 0.6813, -0.0889, -5.7368, 6.6803, 1.4725, 0.359, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14d7eefd5ea0632ec73c404ea396dcdeafd61e4c28f5c34e9797e8dc6c819456",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28dbcd4dbc8496d546123936011ba3d500e75ebad2fb679fc56e80052bf2e217",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:16675919cffa8423e70337a29b38b56a601b4ef5842b752a92ae857c2916f6f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 3.388 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4347, 1.5711, 0.3042, 0.6056, -0.3485, -0.2264, 0.9985, 0.9123, 1.343, 0.9821, -0.477, 0.6949, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3327 left_y=-0.084 left_z=0.0153 left_yaw=-0.0289 left_pitch=-0.0461 left_roll=0.044 left_gripper=0.9985 right_x=0.2999 right_y=0.2086 right_z=0.186 right_yaw=0.0321 right_pitch=-0.039 right_roll=-0.0283 right_gripper=0.9966\nstate[joint_eff]: [-0.6085, -5.2444, 3.7538, 1.5311, -0.3297, -0.0464, -0.0269, -0.1162, -5.3949, 6.694, 1.326, 0.2662, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.4347, 1.5711, 0.3042, 0.5869, -0.3523, -0.2287, 0.9985, 0.9123, 1.343, 0.9821, -0.477, 0.6945, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3303 left_y=-0.0822 left_z=0.012 left_yaw=-0.0242 left_pitch=-0.0623 left_roll=0.0517 left_gripper=0.9985 right_x=0.2999 right_y=0.2087 right_z=0.186 right_yaw=0.0323 right_pitch=-0.0392 right_roll=-0.0281 right_gripper=0.9966\nstate[joint_eff]: [-0.5538, -5.1214, 3.7265, 1.6288, -0.2711, 0.0024, -0.0122, -0.0342, -5.2855, 6.6803, 1.37, 0.2125, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4381, 1.5726, 0.2977, 0.5808, -0.3588, -0.2329, 0.0091, 0.9123, 1.3502, 0.9821, -0.4919, 0.6834, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3271 left_y=-0.0808 left_z=0.0087 left_yaw=-0.0197 left_pitch=-0.0735 left_roll=0.0578 left_gripper=0.0091 right_x=0.2981 right_y=0.2088 right_z=0.1806 right_yaw=0.0391 right_pitch=-0.0597 right_roll=-0.0398 right_gripper=0.9966\nstate[joint_eff]: [0.2393, -4.9436, 4.9026, 1.6728, -0.0464, 0.022, 0.6813, -0.0889, -5.7368, 6.6803, 1.4725, 0.359, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14d7eefd5ea0632ec73c404ea396dcdeafd61e4c28f5c34e9797e8dc6c819456",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28dbcd4dbc8496d546123936011ba3d500e75ebad2fb679fc56e80052bf2e217",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16675919cffa8423e70337a29b38b56a601b4ef5842b752a92ae857c2916f6f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStAgKEAgSGAI4AUIIdGhpbmtpbmcSDFy3kSAVXeXJkqB82hoMg62jaOuvVfIf5aVmIjBgMBqtU6kgpLYY+AeSwbWeP+yes/WJFtbihrksro+U4gRUEQ/qCW5FzkH6fsVZAokq0Qe5VJHrX1cZ5WgwEtqlAHeujKTYIl9Jc4u0dKsTQSKuKsAo2RJJiWLbaQe8I7n7mxoPpUymVBwvzncfdTsjTKDHzLpg3PSfGKxGKSiHeB7bfpST5OQQuRLPyZ4I2RuQEoEKisfIhyh3lAZrz8lwBP7DXfqc0irXSQXJ2DkpjWK1oR3GTtzWK5iIE96hv/S9SVcsOQdIhI+zzOp9fHdnfAhoHykLbbqtv7kTGdyFu4C+BBc8NpxG91XdRu0rwrK8VP3BIhjnI+hDf621eGVUjsKx0EeGApXqj/h+FIwJZG0Xt/h3zpPTcuZGWnUtHnGRoXRjh6pDjMrgdYc6LiABJiO19Mp+Dyn7uD2NyTyymApV3DopE8dZSr7pbYHv6Vd4JabDeNJbXnbu0WR3qG6+aozKVh2tmhv3kXcQPcG7JaaCPKbTY+BaflA38EuwhXbQ+lMPGJqxAB+27Zih3alGuKW1fa9IlYKKU5OlZuLVZDJXUg1xwHUX7qZU51kgB1FN7b3VKXEN7CVGLAS5tvoQv+BlW8HLnkzTsRA194aly6gkgbvgB40GtFEgXbRKxW0vamOMfooCJF72ZDhewQQ9wDXYPeZHCiNDqc4jmrDoUrU6QOT462WOHfUpPOj5UMa4OyTidyzWbOh9iPDK97rqyrNPwla0kjx7cyDOUdMbZM4Uviko7tZ4ZkkugyT2h0flMaEuUAsQxZ11nVF6CSiWWt4g2mlRFGMK2VGCYUiU1iHcfrbn+XMrkAifhkvFNVzOFKkNoInRwDyv1MxRnDlGodSdHJcTYMH083sM/aKkPrYV9gLIG39UgJ3z4HgBkoVIavcADsWNunATtA2/OJQxMJz1yBoqKPOGAEzMl52mZ0wjFuZTgc8cIzKKQX0kcy/i3yTvfUHOldXVZD98STBgvUVQ3do1NVj+7lS4D7ljJUZNHLoShEH9NSinxW0cMbko/tPGvEaUbfxNvDH/hE1LdmRe4geMu5Otud8FuSN/S9KcY8YYEBaW/23IK10ByKNirQI1OT+q/jAbaydy6u3f5pkPHmi2znfUfLL6wshEdvOISl9wQUB0EUjiFfC0/GB7vbekov4aFXm31iOvc4SxcxLzkFd2aLMo21U2VzaGIn9iJbLJnXnBAbZKDIGYsWG5y9io0g5yVSQhTZ4+BwoRcXxQ8/w8YjTEyDVwHPMD7V8DjRonnyWoFJu+rz8OZ7gO6Na1tZZsMnhvBNjDT939kVs38TiRy1Fz6+OmQ68yS10vjfydl9oxuwL0hIQIChXwWwbp8gBm3Sy6asC3CCek5ndgohgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KP4xs6Eva2mZJtMEx4eXep",
      "input": {
        "note": "Empty close: the fruit is still a few cm ahead of the fingertips. Opening, lifting a little, and moving forward to get past the stall.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.37,
          "left_y": -0.085,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KP4xs6Eva2mZJtMEx4eXep",
      "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]: [-0.387, 1.5181, 0.5045, 0.2977, -0.3248, -0.2085, 0.9945, 0.9123, 1.3502, 0.9821, -0.4984, 0.6765, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3614 left_y=-0.0826 left_z=0.0437 left_yaw=-0.0087 left_pitch=-0.1028 left_roll=0.0653 left_gripper=0.9945 right_x=0.297 right_y=0.209 right_z=0.1792 right_yaw=0.0434 right_pitch=-0.0679 right_roll=-0.0414 right_gripper=0.9966\nstate[joint_eff]: [0.4991, -7.4325, 7.6513, 1.6288, -0.022, 0.1441, 0.0024, -0.0479, -5.1077, 6.6667, 1.3602, 0.3248, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c698c30ea5ff9a8cab6b1aefc4408b504dc056a623ce782a86c10a0a42251314",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57a245c3e0f4c6f1a927545bc698743ec5ab04e7c0edf79378aef27e48c05ceb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b3bca647c97473583df5d9f49aab37c8a57feb0d86e4b20160f591e15b7c6a81",
        "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 · 2.751 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4347, 1.5711, 0.3042, 0.5869, -0.3523, -0.2287, 0.9985, 0.9123, 1.343, 0.9821, -0.477, 0.6945, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3303 left_y=-0.0822 left_z=0.012 left_yaw=-0.0242 left_pitch=-0.0623 left_roll=0.0517 left_gripper=0.9985 right_x=0.2999 right_y=0.2087 right_z=0.186 right_yaw=0.0323 right_pitch=-0.0392 right_roll=-0.0281 right_gripper=0.9966\nstate[joint_eff]: [-0.5538, -5.1214, 3.7265, 1.6288, -0.2711, 0.0024, -0.0122, -0.0342, -5.2855, 6.6803, 1.37, 0.2125, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4381, 1.5726, 0.2977, 0.5808, -0.3588, -0.2329, 0.0091, 0.9123, 1.3502, 0.9821, -0.4919, 0.6834, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3271 left_y=-0.0808 left_z=0.0087 left_yaw=-0.0197 left_pitch=-0.0735 left_roll=0.0578 left_gripper=0.0091 right_x=0.2981 right_y=0.2088 right_z=0.1806 right_yaw=0.0391 right_pitch=-0.0597 right_roll=-0.0398 right_gripper=0.9966\nstate[joint_eff]: [0.2393, -4.9436, 4.9026, 1.6728, -0.0464, 0.022, 0.6813, -0.0889, -5.7368, 6.6803, 1.4725, 0.359, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.387, 1.5181, 0.5045, 0.2977, -0.3248, -0.2085, 0.9945, 0.9123, 1.3502, 0.9821, -0.4984, 0.6765, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3614 left_y=-0.0826 left_z=0.0437 left_yaw=-0.0087 left_pitch=-0.1028 left_roll=0.0653 left_gripper=0.9945 right_x=0.297 right_y=0.209 right_z=0.1792 right_yaw=0.0434 right_pitch=-0.0679 right_roll=-0.0414 right_gripper=0.9966\nstate[joint_eff]: [0.4991, -7.4325, 7.6513, 1.6288, -0.022, 0.1441, 0.0024, -0.0479, -5.1077, 6.6667, 1.3602, 0.3248, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c698c30ea5ff9a8cab6b1aefc4408b504dc056a623ce782a86c10a0a42251314",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57a245c3e0f4c6f1a927545bc698743ec5ab04e7c0edf79378aef27e48c05ceb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3bca647c97473583df5d9f49aab37c8a57feb0d86e4b20160f591e15b7c6a81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QYKEAgSGAI4AUIIdGhpbmtpbmcSDJ/xVDVelqPb+4sMvRoMYme9ObVI0OwPrhIAIjAslZborAL3fKCdSd5kPh6gVlRR4gTmbgTJUiZG3RL2sEipp39FqQZMGq6SaVETsLMqjgYhd/ks9oc8HxjZJzsIztYVHMfEHVwTHu8AB/lXRB0G0DSSpthWVtqRB30nLyvVso2DKDVQyQ5+Er/oRcs3UAqU0u0Wy4aowfhTPJKuM1hGoLDP2DXxLvpy5m3s3pStXcGf9oQcTZ6buN/U174yh4DbCLEiwqpl25bkYcdC0CB1J/a/oCnIYta9FTVnCIscREGht9yWOX70zXynsbpN+q/TlZb3RtkQlOFRc1VryRRWREhGabMqWKZiV6W+sGtqHYmDrhxAcHg01PJLYQIYyJyMwBTT6wjS9E6RGmZfj3ZLL+KypigaGOZZbAfYWI7V99zFTgKZakh/jaCTwRMOmGU5Xo1uAurIGhzf/exlm/cAd6DL/6zgBwIdeh4C1dDwxS622mPmuJ2NZT9LB6L0pJ1gXnNbQwY3auFCJa1E1+pkcqn8lBaHxwv65C6f55fmlMhZ15kwpEHiN4luSA3cDvbNShd2E/gpoRt9UCDD1kP8z34VIvJV97UgeoSmuGRrwrukaKDwae2XmBG+ffS7avkOTB4oU2qKI+xAH1/RfQr5elF3pkHsTM7KszCj6zPoYwLum7V6iCvE0FC+88x3/zZ1IymOimd/U5rCQsptMDAT5CjwDwk9TocTXUtfROMD3hCCj9tcKen34brHG3qDll1Z9dvK6CBj+x9s/yMcZ5ea47pTLQTSPM6qpmtVQoMrw3Iu93TCKW6ymXrn8pqzWC2KWwXunagc6g4zpfxfCR83QDuSQ6VFUinTV51B9Xv9Aa/Ky9Vwmf8W6DVBE9tkcYBkOCLAeCe7E1I6BJRyhdqKEY81efFJkPm7gWb5Em2P3ksllk4xVESQmmyx61q1qHqKhwdcv3rIf0aBmFo6bI2ME1C388yNJsLyKTpJA0snTxMnVGZGIDVHVXewraqOXnHgSp9LpWKKGLIr2BwLKUWSOaac8MQT6o0OIpR5XL01jcUAf6Gx9Qo3p4kDcT9jlUniUBj+nQbjjINoXMU2IFMNXvmbDsRh8kAOaZZAlP+fo7lcJJPDCfz3qCq8w/qjrhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01McWyd23VujXNx8hsFYYD4b",
      "input": {
        "note": "The dark fruit now sits centred between the open jaws. Going straight down to its mid-height.",
        "targets": {
          "left_x": 0.365,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01McWyd23VujXNx8hsFYYD4b",
      "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]: [-0.3836, 1.5959, 0.4999, 0.3756, -0.3237, -0.2096, 0.9961, 0.9123, 1.3502, 0.9821, -0.4995, 0.6762, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3661 left_y=-0.0833 left_z=0.0289 left_yaw=-0.0054 left_pitch=-0.1073 left_roll=0.0654 left_gripper=0.9961 right_x=0.2969 right_y=0.2089 right_z=0.179 right_yaw=0.0436 right_pitch=-0.0688 right_roll=-0.0421 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -6.0239, 3.3573, 1.536, -0.149, -0.0171, 0.1441, -0.1709, -5.3402, 6.653, 1.3065, 0.2857, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b46c841adba1b1e1b9aaca37395780898a5bbc7c51b845d2655be55bd472ec2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d9262671f6b36281c6c89e84ad3d534b3603e3b3a485d71be323cdea4ac17ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d89f040e439636377dcbad83e3b704d9906ae831ec98ac0fe90be235c02f9869",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 5.139 s
model
claude-opus-5-5
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]: [-0.4381, 1.5726, 0.2977, 0.5808, -0.3588, -0.2329, 0.0091, 0.9123, 1.3502, 0.9821, -0.4919, 0.6834, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3271 left_y=-0.0808 left_z=0.0087 left_yaw=-0.0197 left_pitch=-0.0735 left_roll=0.0578 left_gripper=0.0091 right_x=0.2981 right_y=0.2088 right_z=0.1806 right_yaw=0.0391 right_pitch=-0.0597 right_roll=-0.0398 right_gripper=0.9966\nstate[joint_eff]: [0.2393, -4.9436, 4.9026, 1.6728, -0.0464, 0.022, 0.6813, -0.0889, -5.7368, 6.6803, 1.4725, 0.359, -0.022, -0.0122]",
      "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]: [-0.387, 1.5181, 0.5045, 0.2977, -0.3248, -0.2085, 0.9945, 0.9123, 1.3502, 0.9821, -0.4984, 0.6765, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3614 left_y=-0.0826 left_z=0.0437 left_yaw=-0.0087 left_pitch=-0.1028 left_roll=0.0653 left_gripper=0.9945 right_x=0.297 right_y=0.209 right_z=0.1792 right_yaw=0.0434 right_pitch=-0.0679 right_roll=-0.0414 right_gripper=0.9966\nstate[joint_eff]: [0.4991, -7.4325, 7.6513, 1.6288, -0.022, 0.1441, 0.0024, -0.0479, -5.1077, 6.6667, 1.3602, 0.3248, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3836, 1.5959, 0.4999, 0.3756, -0.3237, -0.2096, 0.9961, 0.9123, 1.3502, 0.9821, -0.4995, 0.6762, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3661 left_y=-0.0833 left_z=0.0289 left_yaw=-0.0054 left_pitch=-0.1073 left_roll=0.0654 left_gripper=0.9961 right_x=0.2969 right_y=0.2089 right_z=0.179 right_yaw=0.0436 right_pitch=-0.0688 right_roll=-0.0421 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -6.0239, 3.3573, 1.536, -0.149, -0.0171, 0.1441, -0.1709, -5.3402, 6.653, 1.3065, 0.2857, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b46c841adba1b1e1b9aaca37395780898a5bbc7c51b845d2655be55bd472ec2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d9262671f6b36281c6c89e84ad3d534b3603e3b3a485d71be323cdea4ac17ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d89f040e439636377dcbad83e3b704d9906ae831ec98ac0fe90be235c02f9869",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016DTHRpkNtcLiwKk6UvCr28",
      "input": {
        "note": "The dark fruit is centred in the jaws at a low height. Closing on it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016DTHRpkNtcLiwKk6UvCr28",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3843, 1.6096, 0.4843, 0.3824, -0.3244, -0.2176, 0.5032, 0.9123, 1.3506, 0.9821, -0.4992, 0.6758, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3608 left_y=-0.0813 left_z=0.02 left_yaw=-0.0002 left_pitch=-0.1277 left_roll=0.0681 left_gripper=0.5032 right_x=0.2969 right_y=0.209 right_z=0.1789 right_yaw=0.0439 right_pitch=-0.0691 right_roll=-0.0419 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -6.9128, 6.188, 1.4823, -0.188, 0.0024, 0.9451, -0.1983, -5.3812, 6.694, 1.37, 0.2418, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5ea10db1c95b9c3809c10f1e925395759cac31adc514b07dfbd8835bc40466e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3aa059044e3a59dfca0effcbcc74cc394de6b3eef843b13dd95ca08fa518706f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9d16f552ea921a25284e18a86f8a1240d7303ce45296318f8fd8b3b6b2432dd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 35 attempt 0 · /messages · status 200 · 5.428 s
model
claude-opus-5-5
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]: [-0.387, 1.5181, 0.5045, 0.2977, -0.3248, -0.2085, 0.9945, 0.9123, 1.3502, 0.9821, -0.4984, 0.6765, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3614 left_y=-0.0826 left_z=0.0437 left_yaw=-0.0087 left_pitch=-0.1028 left_roll=0.0653 left_gripper=0.9945 right_x=0.297 right_y=0.209 right_z=0.1792 right_yaw=0.0434 right_pitch=-0.0679 right_roll=-0.0414 right_gripper=0.9966\nstate[joint_eff]: [0.4991, -7.4325, 7.6513, 1.6288, -0.022, 0.1441, 0.0024, -0.0479, -5.1077, 6.6667, 1.3602, 0.3248, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.3836, 1.5959, 0.4999, 0.3756, -0.3237, -0.2096, 0.9961, 0.9123, 1.3502, 0.9821, -0.4995, 0.6762, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3661 left_y=-0.0833 left_z=0.0289 left_yaw=-0.0054 left_pitch=-0.1073 left_roll=0.0654 left_gripper=0.9961 right_x=0.2969 right_y=0.2089 right_z=0.179 right_yaw=0.0436 right_pitch=-0.0688 right_roll=-0.0421 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -6.0239, 3.3573, 1.536, -0.149, -0.0171, 0.1441, -0.1709, -5.3402, 6.653, 1.3065, 0.2857, -0.0366, -0.0122]",
      "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]: [-0.3843, 1.6096, 0.4843, 0.3824, -0.3244, -0.2176, 0.5032, 0.9123, 1.3506, 0.9821, -0.4992, 0.6758, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3608 left_y=-0.0813 left_z=0.02 left_yaw=-0.0002 left_pitch=-0.1277 left_roll=0.0681 left_gripper=0.5032 right_x=0.2969 right_y=0.209 right_z=0.1789 right_yaw=0.0439 right_pitch=-0.0691 right_roll=-0.0419 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -6.9128, 6.188, 1.4823, -0.188, 0.0024, 0.9451, -0.1983, -5.3812, 6.694, 1.37, 0.2418, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5ea10db1c95b9c3809c10f1e925395759cac31adc514b07dfbd8835bc40466e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3aa059044e3a59dfca0effcbcc74cc394de6b3eef843b13dd95ca08fa518706f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d16f552ea921a25284e18a86f8a1240d7303ce45296318f8fd8b3b6b2432dd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS8wkKEAgSGAI4AUIIdGhpbmtpbmcSDFrA/RKnsd7ZK2n5KhoMbj0KU1MQHFMhQsvfIjCgm51lo35MYuxlaxS5p11Pf/CaD+fy9vkZehGEc7BPZPzOZO1n67BG36iE7+xZ4E4qkAn5d3Knxf3OQ/JfvVNKzl7n/3HiMV9o8wEqxLfHfjj9crCm9uWPSzKZxGxaVLUl5C3uhrxQAfjaeJvppygROhiFMFEOrMJuXleM7Vl7wr47kg8SYdd8Oz8dsQv1XnH/KL0QD7/5X4Rd1KHRTnvHoaq5gCwzd3UeGRS9njj5l4P8dX0qlFBUx7JzozfTeUzdFN4t0vPbiAq/ni2aSGek0PCZMyp8oPkG0ABx0s0ZF5wEa3MyD8MplM7PqR1MF592NGgpLIj3UkTf8Yz1krOQqH7PBzW5KRSBqZPFO/P/1bD2y/QkcCw6Bj5CWYvKF3kuLqLSHSf/tKYlqJIOTZys9S1VsPDVaVDqi0gjOiF1n1heOychVQWnZ//FR9TWBzvn2PJln2z6T6steCnzA+EBDlJJXALluTMR0bh6PYD8j6iyN1skNCYT4hKJCbHfdXpjg/7+x6lrA+nVEZ2Nb55TkMHwu7gyBJSOOUMNzkdZpE6u/wLPZ5e/m7VtlhQKNsqr1kaxMV/SvIBQ5dzZCP/JMN7IOGhuVemiD5s5qvDfMb+IEQd2GbV22jyfWqt4hShPjNy7wVQAyIntgIQTaPV9Z7kyzI3bkWmCHlLZX9tpUsEdVTpmU11YDqRs3MDbyqcZip+jn0jBcEhhJUriJ0vVQKphwy4Ivhyrq2kyFCUtiSJRZos2cfMjSPk+pgSHlvfHcbaoV4V8pjCpbkWm6Va12lXdMMajFiJXeGPe9h1fVcW7oyLzr1NrJJ9GZ0P+Hy/xPlg+XR6QyiorDcFcUvMwbJym/rOg6usksMAFrfbqho1IBy8D6dhrXn1qH/5kWdZjd64cFBddqu4e8H0hS+IW0EjLdSfHzE5MFIEMyuTcESJ9KOXsR874k28+QcVvB3ChYa3JobLVs60keh8OH57mkMIxe/mftx//zg9CWiNp6WEcV1NPlDak0w3pQOpQFkTSzvBRvvve+pLBlxHwNw3bqMzdcPmS78+nfRXV4YVPJC31JwdqkaAA4mBzFrxDBDeM2QvOHYBLCWUzxbY2QyZJg6bsVW5rLzV9TvKIs5nF4qFmoXvcMMHm/vOb7csMw0P50RNwrOvHU+eT8x9ZKs78FegmhAMfJDhHyHiF4LYDQK4rnAC335t0QzO7I0f1Wibkwn9aefs2ox0/dueVRw2W7tvVaSvuNf4NczLOn3S5DtFmFFSE1JGaEvsYB9yS31VScftomMvKPrg3aKiE8M8fd+NMdKN6iZ2EGUfkKNMUPwqMKetH9EWh77KLx0KeQQl99qbKwkWEB6TLMD1fC40erdzxhMyUQjHZ8wSiXQHlWhI1SMxOXcBFB3NPCeDH7sQOV227jXrj9aaw4Cvv2Vl7yUVXpykhS5kM4WqEDMWQQsuofdLiWrgXmyi2Gg55GDTlOYkP+BaAtmIB67Jfj1IYawPf8uYXTc1S5Ogi/uFxnq84JQ01F6J63qRKCgmsbyopqeqBVq97T+oLOvEnuIv8l3x73GFcI0JtHj//hgfXDIyaaJ4JhE65ivfpmRS5s4ZtMCu0rZLRyQZy4rqcctlAQwxgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gq8GvSFZibbG2fgAZ2FFrq",
      "input": {
        "note": "The dark fruit is gripped (reading 0.50). Lifting it before carrying it to the blue bowl.",
        "targets": {
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Gq8GvSFZibbG2fgAZ2FFrq",
      "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]: [-0.3843, 1.2839, 0.8783, -0.3546, -0.3244, -0.218, 0.5031, 0.9123, 1.3506, 0.9821, -0.4992, 0.6758, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.362 left_y=-0.0818 left_z=0.1602 left_yaw=0.0009 left_pitch=-0.1436 left_roll=0.0743 left_gripper=0.5031 right_x=0.2969 right_y=0.209 right_z=0.1789 right_yaw=0.0439 right_pitch=-0.0691 right_roll=-0.0419 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -6.694, 9.4427, 1.5702, -0.1441, -0.0464, 0.3785, -0.0752, -5.1761, 6.6803, 1.3553, 0.2466, -0.0171, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:862df7ac6b23c39f41fb08baea45462021a3f947b4668a9b9b02270645edc705",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db9d7738136dc260d1d8ad81e4f662f4e97f25f5820676c5fbd7a898068227ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:87077138ef7e9b98740f3a80274d8460a8de0ebe063495cd507c3461de1aa47a",
        "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 · 4.968 s
model
claude-opus-5-5
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]: [-0.3836, 1.5959, 0.4999, 0.3756, -0.3237, -0.2096, 0.9961, 0.9123, 1.3502, 0.9821, -0.4995, 0.6762, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3661 left_y=-0.0833 left_z=0.0289 left_yaw=-0.0054 left_pitch=-0.1073 left_roll=0.0654 left_gripper=0.9961 right_x=0.2969 right_y=0.2089 right_z=0.179 right_yaw=0.0436 right_pitch=-0.0688 right_roll=-0.0421 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -6.0239, 3.3573, 1.536, -0.149, -0.0171, 0.1441, -0.1709, -5.3402, 6.653, 1.3065, 0.2857, -0.0366, -0.0122]",
      "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]: [-0.3843, 1.6096, 0.4843, 0.3824, -0.3244, -0.2176, 0.5032, 0.9123, 1.3506, 0.9821, -0.4992, 0.6758, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3608 left_y=-0.0813 left_z=0.02 left_yaw=-0.0002 left_pitch=-0.1277 left_roll=0.0681 left_gripper=0.5032 right_x=0.2969 right_y=0.209 right_z=0.1789 right_yaw=0.0439 right_pitch=-0.0691 right_roll=-0.0419 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -6.9128, 6.188, 1.4823, -0.188, 0.0024, 0.9451, -0.1983, -5.3812, 6.694, 1.37, 0.2418, -0.0269, -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]: [-0.3843, 1.2839, 0.8783, -0.3546, -0.3244, -0.218, 0.5031, 0.9123, 1.3506, 0.9821, -0.4992, 0.6758, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.362 left_y=-0.0818 left_z=0.1602 left_yaw=0.0009 left_pitch=-0.1436 left_roll=0.0743 left_gripper=0.5031 right_x=0.2969 right_y=0.209 right_z=0.1789 right_yaw=0.0439 right_pitch=-0.0691 right_roll=-0.0419 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -6.694, 9.4427, 1.5702, -0.1441, -0.0464, 0.3785, -0.0752, -5.1761, 6.6803, 1.3553, 0.2466, -0.0171, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:862df7ac6b23c39f41fb08baea45462021a3f947b4668a9b9b02270645edc705",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db9d7738136dc260d1d8ad81e4f662f4e97f25f5820676c5fbd7a898068227ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87077138ef7e9b98740f3a80274d8460a8de0ebe063495cd507c3461de1aa47a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsQkKEAgSGAI4AUIIdGhpbmtpbmcSDNzi8+jgoU83xPcLKRoM7Gp1ocTuWInQ8YrzIjAbGM4JExrbEv2Pmo1B/n9jkrYBh5luiOJ+c4KXhx1bu4q4VzvlaNFR2Gu+3apqcgEqzggPufUj+gs3OIPI5ch+fZ1GhTuhPoYuhzjWgzaC9BDmQj3QTEQEbpfKiuYcy4ZBWiLPBf7lmApWJspGFQ7kPzdtTn4+YyUXH8LFdG39ja13sXQT7U6nt4BxZhpK9uaMhjDU+vh6QT9apxLvitiu0nWi9j+k3tqmJbM+gS1pJWrKdLsmkkTDff3/rNlWufLmkxOyXaS8c7bwNtfOJxZht4lnDblNUfXAzB6u1nLsZ5q31UFQ+VfhYTqLfBkywEkjyFcWGy7Q+ObwwF8JUfcov2Lyf9Gyz0HYDQGl4SN1GWRpbB1Ku1BIEyDxcz9sMOMaxO8TBt+bR6LIBb2cNEJ0RStm0j0G44G9FUF6EQpEd1ZDHfekT0m0GgWqLNMIyAu8oJtn2ps6x1dvY/gT2k9PnXs2UzKU8eYXwU11HhT2xLV6FI0KOPRRbn+ycqhV9ooHLPeyYCrOqgHxHpYlAYHV/RmNamJIGFcUbNpjfjA/KwWOT3MBeIn/1iXfLZDTNCizbkM0SpvzRKwZJlFc5xnlbwkcpqfdl54Z74uC6dpdIv5GAAF0PlJ6DCzn6EKf6c8g9IpI8TDtL2NH6F9w4FHxqH2bGWM3emrKkLIz7ZNx+KCgTzVivKxGrMcJcTbTVsAuH8eesGE3fWTzUxBFlRMVDZbFFaOMwCSoYEoavIOWRJjJyR/UmirlkJg8kBux19/ShoB2+cT6BWEQz14hmfyZf8ckl/RmKICRhcQLhuz2JBz6p69MMgrkMBkxcDkbpj4DTLWGsG3flDsYK6aI8Hm5BU4s/eC1yMb6MT5SAyHXdpRoV7qtHnqAKcijr8f4TDGdka04MfhHw0+8gZKXyPpYZ5OTOR7xHMm+Awoh9HO37sYRsKxmrv2qm3bUQ1lUNcviei4DXb8jd62PMQf9W9gRoa9TIjglgG5pSTvKCStxXvp6SR8zH+Tw5k/Y0vhqL7NSPhwTsUkpt5gTtmOEXvzNPROJAJaJuNV2nKtjBxFRLxyQIkwm5ujcHFDtVBPRAR8Tll3eALUN7e76eyRq1xUl/56Ke/lqZ+YDwowZJpLAAaqabKB1wvJpl1tmMW9O9XP185W+Ot9aZyoTHv1TRt0rR9vIEqOUAgiyKpvxTvdJcWCjxOvwkZE+yfrDwe5qdJd/pmVIHK2RzYgWd0eHy7ziHyliO6td4maZfnIXBDHqi94CnfqFISxkK2mdvXuqzR8oe9LZSre4Y3EQPSaKctii+qp9Gygfy5XkyBxkRRFxkQsoVILN2fTuOL9USTiD6Ou61kQfC43nj5gj0Zno0g+mpItxvvlxccyf0abWlB9LhFHdp8TroLxmlJ+EE1iRp7uE/YkyI+pOcC0hAaeaFEs3gyMyf8XyeABsDbm4GHh/ZDJDt19tvntSSgxtW9DCRLd0WSfAT/Ap4lcUW1LgUaBv8txZ9RDQdDHg5eNb61q2qsACl1mxzY+0ZvZvGtfuy4OoGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F2aNvUYeJAUqC79VpFPUnY",
      "input": {
        "note": "The dark fruit is lifted. The blue bowl is about 22 cm to the right of the left gripper in the top view, so I'm carrying the fruit over it.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.3,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01F2aNvUYeJAUqC79VpFPUnY",
      "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]: [-0.8734, 1.8652, 1.5597, -0.6884, -0.6361, -0.6567, 0.5048, 0.9012, 1.3521, 0.9821, -0.5217, 0.6819, 0.5777, 0.9966]\nstate[eef_state]: left_x=0.3812 left_y=-0.286 left_z=0.1704 left_yaw=0.008 left_pitch=-0.1722 left_roll=0.0781 left_gripper=0.5048 right_x=0.2974 right_y=0.2021 right_z=0.1759 right_yaw=0.0205 right_pitch=-0.0806 right_roll=-0.0534 right_gripper=0.9966\nstate[joint_eff]: [-2.5915, -8.6496, 9.5795, 1.2186, -0.486, 0.0269, 0.7546, 1.1692, -5.4085, 6.653, 1.5311, 0.1685, -0.2466, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bf4577c34de64e65bdc04f0ca858d76f97fa54ddc0a29437a4e14d179fb2637",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:467e518129e47ca83d63527d99a54014c69ee70ab509af2cdad892f519b49b18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:061406fa2fd9129337da8f5acc6fdd229de2ccdc40df5db6cd91d38abbcf4e38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 4.945 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3843, 1.6096, 0.4843, 0.3824, -0.3244, -0.2176, 0.5032, 0.9123, 1.3506, 0.9821, -0.4992, 0.6758, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.3608 left_y=-0.0813 left_z=0.02 left_yaw=-0.0002 left_pitch=-0.1277 left_roll=0.0681 left_gripper=0.5032 right_x=0.2969 right_y=0.209 right_z=0.1789 right_yaw=0.0439 right_pitch=-0.0691 right_roll=-0.0419 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -6.9128, 6.188, 1.4823, -0.188, 0.0024, 0.9451, -0.1983, -5.3812, 6.694, 1.37, 0.2418, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3843, 1.2839, 0.8783, -0.3546, -0.3244, -0.218, 0.5031, 0.9123, 1.3506, 0.9821, -0.4992, 0.6758, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.362 left_y=-0.0818 left_z=0.1602 left_yaw=0.0009 left_pitch=-0.1436 left_roll=0.0743 left_gripper=0.5031 right_x=0.2969 right_y=0.209 right_z=0.1789 right_yaw=0.0439 right_pitch=-0.0691 right_roll=-0.0419 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -6.694, 9.4427, 1.5702, -0.1441, -0.0464, 0.3785, -0.0752, -5.1761, 6.6803, 1.3553, 0.2466, -0.0171, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8734, 1.8652, 1.5597, -0.6884, -0.6361, -0.6567, 0.5048, 0.9012, 1.3521, 0.9821, -0.5217, 0.6819, 0.5777, 0.9966]\nstate[eef_state]: left_x=0.3812 left_y=-0.286 left_z=0.1704 left_yaw=0.008 left_pitch=-0.1722 left_roll=0.0781 left_gripper=0.5048 right_x=0.2974 right_y=0.2021 right_z=0.1759 right_yaw=0.0205 right_pitch=-0.0806 right_roll=-0.0534 right_gripper=0.9966\nstate[joint_eff]: [-2.5915, -8.6496, 9.5795, 1.2186, -0.486, 0.0269, 0.7546, 1.1692, -5.4085, 6.653, 1.5311, 0.1685, -0.2466, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bf4577c34de64e65bdc04f0ca858d76f97fa54ddc0a29437a4e14d179fb2637",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:467e518129e47ca83d63527d99a54014c69ee70ab509af2cdad892f519b49b18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:061406fa2fd9129337da8f5acc6fdd229de2ccdc40df5db6cd91d38abbcf4e38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjAkKEAgSGAI4AUIIdGhpbmtpbmcSDOAlWmS08+tIiRpYiRoMRpjpVTVOIPoqGW+UIjAXcz3G0dqvunScJay2RPkutpxuuzor0jhALkK1OvjazGxIHPSCykCxUEl1ql5JqpcqqQg0LBVUzJ1KRXK18mbBbq5w8AIroqXhKCIPN6F8ZWRO5xPQbrUTKE4n8BuTK+2khN/MDVKXzKq0KLgUiuI+H9YnKyESaqDO5E5ewDI6zblyehs/tQXzKFL0p3Nzich2zECZewJ+hyaKOkh+/4sCf0rzqQnxawN/mtm9rfTuH179dX8DxHygaZmXSuhCRreXndaRdDT0tlYtdc6W31CHVrCXSH1336GtEI/TQqLdDQJePYZsDKQUB1bhx9CyUCUB6lG2TRKbzo/1OC0YTQOhB+y3g/wrz8jZ9hVl4wK/W144tPUyRU8+UGBQDZnxx7va/FqBaJ6KQ2fBx6f7Cee1A5esP7BxwkZ3j55Ckht+FXV8SD/ONu9Lwlme9roGwOnwaZdME7RjeuBgLaFOl9YFvRaaxcVB8vBcuSXspYXl0rLPi6z28FrJseO+D0WJNFYQ+x3XpvKvkoOqV6A0OKKLQ9NrJ/euZ5Qvljr8ZSRRc1Q6N7wMK3Z8qmP59kxk99+Mv+w4G+TqEhfjQ1sjMDpXVJQEFUmbnoRHAI3KWUAtF5rWduSc7naFkl7Vwdx2xKZjQWwvxRe4rOlWOj+Wvyk8WgJk6+u71tANHeSXeZQ9gJ1vxJ65pRthorvBSmWB2yqoRxnHGRhiQYs8nPrr/Z1/nBGurFWebBJmlUEhYxwXjJ63e4LSeYzgAuumfNQo2khwTg0i10m6TZcuCC+DJahqmzDhABrOZhW7mEZsMcHoUTFIkgAbANaCGOmH3YYXDNNAf6UmHp7w5pICXbtoYj7uLkSzsubWNagoyDYCaUUn3ZxFdVFyL7UMQrxRlDqo5EsGH7Mn/PiThqRmvk2Pa2WOyv6OCuudvbddWzCZd24n0+4112gdiu29RQelfUeJWVeGDv8VFVHInzpVZPXB+vklIlc4Qp5YV5eG+3QPS7N26Zjoo/fda5p0PSnRsSLfrCdO1l3c0e8WcdZ/5HaE7y08zF5nDAQYFvwIz+RTRDiOAfadi8RkQoxbmsx1u4RorhruonkZo57NwzAmCeUIKH8K6+97U5Tq+d3iIYU7FhAFH/mO1SIA2RXRy0GrXT+MtfurwbxhiAL84ZzyCNUM7aa8O8dNXiXWaOyJ7Q4U67fvPz0NNqEaxIduQzF3bUM6v2wdsr0QgEV0/l5+TrQDNK/7Rrq8+osoBd1cnxeICTuAIQTpE7PiXFA0dKzanoKAN27l2ogqLT1munrGBmvlbTA+Crc3Jk5C3Hg1dCizARf/RVpickaGaiw9UbqoGAO6ls4WjEIxK3CpfRalcB1AMefDS3ykbnssR98dbBHOkQyt1O8wJBrHLQhE666s4uGZNFOejzxtpkgcvU5CjdgbiJTmYFX8G2V+3wnTSmtupt4pZCFUl38ajFdAf0txA2AQ3drcRvv388HVkgc0vPkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012MBK8wq1CgtDPBuCr2ywHK",
      "input": {
        "note": "The left wrist view shows the blue bowl just to the lower right of the held fruit. Moving about 4 cm further right and down to sit over the bowl.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.33,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_012MBK8wq1CgtDPBuCr2ywHK",
      "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]: [-0.8906, 1.9507, 1.5841, -0.6529, -0.6521, -0.7311, 0.5053, 0.8734, 1.3548, 0.9562, -0.6106, 0.6834, 0.63, 0.9966]\nstate[eef_state]: left_x=0.387 left_y=-0.3022 left_z=0.1462 left_yaw=0.0451 left_pitch=-0.1748 left_roll=0.0514 left_gripper=0.5053 right_x=0.29 right_y=0.1781 right_z=0.1549 right_yaw=-0.0473 right_pitch=-0.1506 right_roll=-0.1061 right_gripper=0.9966\nstate[joint_eff]: [-5.7094, -7.0906, 8.1299, 1.1355, -0.6813, -0.0269, 0.6862, 2.3726, -5.2581, 9.1829, 2.5128, 0.2564, -0.5055, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9566fae6df3ed40e2c5acf6af2304552e1a8a5c9b4a78eb9d063ac3a41e147fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1410402e34e45d1a4c58776c9880fbb77f7833c17820236cd7eb09f001f266d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8fa9defe00e98f8c0bbd3ca984d8eddfc70676c5ad9d0ba32547e8dddefc6be7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /messages · status 200 · 5.765 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3843, 1.2839, 0.8783, -0.3546, -0.3244, -0.218, 0.5031, 0.9123, 1.3506, 0.9821, -0.4992, 0.6758, 0.5652, 0.9966]\nstate[eef_state]: left_x=0.362 left_y=-0.0818 left_z=0.1602 left_yaw=0.0009 left_pitch=-0.1436 left_roll=0.0743 left_gripper=0.5031 right_x=0.2969 right_y=0.209 right_z=0.1789 right_yaw=0.0439 right_pitch=-0.0691 right_roll=-0.0419 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -6.694, 9.4427, 1.5702, -0.1441, -0.0464, 0.3785, -0.0752, -5.1761, 6.6803, 1.3553, 0.2466, -0.0171, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8734, 1.8652, 1.5597, -0.6884, -0.6361, -0.6567, 0.5048, 0.9012, 1.3521, 0.9821, -0.5217, 0.6819, 0.5777, 0.9966]\nstate[eef_state]: left_x=0.3812 left_y=-0.286 left_z=0.1704 left_yaw=0.008 left_pitch=-0.1722 left_roll=0.0781 left_gripper=0.5048 right_x=0.2974 right_y=0.2021 right_z=0.1759 right_yaw=0.0205 right_pitch=-0.0806 right_roll=-0.0534 right_gripper=0.9966\nstate[joint_eff]: [-2.5915, -8.6496, 9.5795, 1.2186, -0.486, 0.0269, 0.7546, 1.1692, -5.4085, 6.653, 1.5311, 0.1685, -0.2466, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8906, 1.9507, 1.5841, -0.6529, -0.6521, -0.7311, 0.5053, 0.8734, 1.3548, 0.9562, -0.6106, 0.6834, 0.63, 0.9966]\nstate[eef_state]: left_x=0.387 left_y=-0.3022 left_z=0.1462 left_yaw=0.0451 left_pitch=-0.1748 left_roll=0.0514 left_gripper=0.5053 right_x=0.29 right_y=0.1781 right_z=0.1549 right_yaw=-0.0473 right_pitch=-0.1506 right_roll=-0.1061 right_gripper=0.9966\nstate[joint_eff]: [-5.7094, -7.0906, 8.1299, 1.1355, -0.6813, -0.0269, 0.6862, 2.3726, -5.2581, 9.1829, 2.5128, 0.2564, -0.5055, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9566fae6df3ed40e2c5acf6af2304552e1a8a5c9b4a78eb9d063ac3a41e147fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1410402e34e45d1a4c58776c9880fbb77f7833c17820236cd7eb09f001f266d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fa9defe00e98f8c0bbd3ca984d8eddfc70676c5ad9d0ba32547e8dddefc6be7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwAkKEAgSGAI4AUIIdGhpbmtpbmcSDHfMOX2sDL42/600JRoM9rN+9eFKpUUqah6aIjCpdZT+gaW+2/h5ZVzEu3+gH0guAaHmEM0pICIeAZ8Cc/yn1EaITdmzXXm5jaKMcK4q3QiHlm4p/VtY8cwR+yPsrEhn7+v7xZTgFMzH+QoLgtq8c1b+Dy0lLcfacvpmxNHmpKJeT54d9PcsSyLvxy/n7/+kENkzugeIgwA7Dw/UC2zUI0pxZn0goW7VYDyYsYaUwvPHLDPh6f4wAxSbCn9js9RlIvL3bTjXhkoPPZYGo9EPxbkPsVJxWVwIOEUcVrO+OJFUzaI3uwDE8ngw+iy0HstOFfio48W5MaKVvK1IZfes8iH8Gb8MQMJuEwKnWt1AZ61hI/xYs9EnqyMrZC0BQptTGFiRfm/1rvJOgG76f0HgHjIMSpRaqHrY8H7FpWkD+1bYoc3B2bZ2ei460RflK3RTA1IlZ9SdVJM1yLiDOe0kBHtEgOPflTZ4B3mxQk8ETZTOa5GIZ8LNy5Zus4wyfV7qQ68XB1hVU7XMLslh1wvji3tyzfOtGl2qsO1VMpiyzGTY5+hqFSQl3kJ84NPWrJQwl54PzIc+RzHVvSAsDSDgdpJDFOtuJMDKlEmyL2ZJAk+OoneNaTZxwJUt4U5GW4lIXLvSLTrvJd9AHyPdCcLfHz9QGvDwOHwN5oU0yc0IBF3F6Aw0IfmreTI/ocZhsaqE5YF4ND6OGx+xD/XwWuIVaYU6STdA/QaZ3W4jeYM2H5/+ofZKUeluqgmv7mblpPpk/i0lvTKx/dsWUNIUvqCBUqy3HXPwRmBvMN2AkXbTsiLhb2rUg5LXKX1oxPaPE6itKGaXbXskKcGFCZmg4hgro42WUke6SMWtlZCzTlVGc/I0FOquG0DjEqH/aRHHO+Qu1qPoceuzVuU5GoD+Pjc+mDWzTfgitK0MYqJg639Hnm8SX12pJlvl0+Rj3fxzykq0Varz7adR8zG7qOk2KWf0+sdpglk6e+H90V1FAGXRJ0/yPcFoFF1RwbDz+/iptie8ZFU8+pzmrESJRIan73Dys4y7trlGuojjZk2d0tGFAu5dAxCm9F/FpBLli43xUdTxrfwn3YSsewGIZ3vZUf0ZwgKTZj7RQgT3FxUWowYreX86H2jV31s82eRf+0YNVao6714s9HtRw9gFQXUsFLjWxhnL/cngEbuxdhmd4ed1mFf6tqnyavl8BrfcG+otHnOI+RtHm85YTCiA1bbXMcPKhli6FTH5pl6s+Tdv2ycLPt8M7qEACZxB9XYQFmXdCvPIVxeIC2csa+QJhS6FJyhp7phwvoODY8puMU+V0NOzsrAVCULcB/5TXwBZlB5kR+bwo+uvroRQzyqaSdUDFYemiCKMv2sDNUxTdZ7VkVK6DuZ1j5qdVbDjNIN/ObWz7KXZxg6IG4gu6VIJ6wBkKV2PG8tE/f9o0f6eJ4GAGO+C97DSzYa4r4uKnps/sqsT83R/XIgglUsS7qRhE83PHk4KZxVTM8qq4Tke2rMXW+JSCHlMB9EWMN73f1wlko7k3/ExXGv2j3ERXM9xyWe532e9z8ELTf0GZ94y51IPmaQkcdxc1VhgojjczzwLxfIZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0184yhLR7xG23S3eU2KCCEiy",
      "input": {
        "note": "The left arm stalled and the right arm got nudged, so the two arms look to be in contact over the centre. Moving the right arm back toward its home side to clear the way.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_0184yhLR7xG23S3eU2KCCEiy",
      "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]: [-0.8822, 1.9987, 1.5837, -0.6502, -0.6464, -0.7486, 0.5075, 0.1341, 0.7509, 0.7872, -0.7784, 0.2356, 0.0574, 0.9966]\nstate[eef_state]: left_x=0.39 left_y=-0.3008 left_z=0.1238 left_yaw=0.0668 left_pitch=-0.2052 left_roll=0.0732 left_gripper=0.5075 right_x=0.2508 right_y=-0.0041 right_z=0.1977 right_yaw=-0.1118 right_pitch=-0.1516 right_roll=-0.1031 right_gripper=0.9966\nstate[joint_eff]: [-0.7316, -14.8034, 6.4479, 1.1453, -0.3785, 0.1538, 0.5836, -0.0889, -0.6769, 6.9265, 1.6972, 0.0611, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2640430399a878e5c16e2fff16915b7d887684a218e9ec62d7f1e4ff93bf92c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6578eaebded567455e3b05583693b7dee27545ff724c44d4a6d0e0a7e6d47ccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f89c89b4d054b930d9126918af798313b1719fec914ac5cbc7e1f7001a2f8475",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 39 attempt 0 · /messages · status 200 · 3.077 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8734, 1.8652, 1.5597, -0.6884, -0.6361, -0.6567, 0.5048, 0.9012, 1.3521, 0.9821, -0.5217, 0.6819, 0.5777, 0.9966]\nstate[eef_state]: left_x=0.3812 left_y=-0.286 left_z=0.1704 left_yaw=0.008 left_pitch=-0.1722 left_roll=0.0781 left_gripper=0.5048 right_x=0.2974 right_y=0.2021 right_z=0.1759 right_yaw=0.0205 right_pitch=-0.0806 right_roll=-0.0534 right_gripper=0.9966\nstate[joint_eff]: [-2.5915, -8.6496, 9.5795, 1.2186, -0.486, 0.0269, 0.7546, 1.1692, -5.4085, 6.653, 1.5311, 0.1685, -0.2466, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8906, 1.9507, 1.5841, -0.6529, -0.6521, -0.7311, 0.5053, 0.8734, 1.3548, 0.9562, -0.6106, 0.6834, 0.63, 0.9966]\nstate[eef_state]: left_x=0.387 left_y=-0.3022 left_z=0.1462 left_yaw=0.0451 left_pitch=-0.1748 left_roll=0.0514 left_gripper=0.5053 right_x=0.29 right_y=0.1781 right_z=0.1549 right_yaw=-0.0473 right_pitch=-0.1506 right_roll=-0.1061 right_gripper=0.9966\nstate[joint_eff]: [-5.7094, -7.0906, 8.1299, 1.1355, -0.6813, -0.0269, 0.6862, 2.3726, -5.2581, 9.1829, 2.5128, 0.2564, -0.5055, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8822, 1.9987, 1.5837, -0.6502, -0.6464, -0.7486, 0.5075, 0.1341, 0.7509, 0.7872, -0.7784, 0.2356, 0.0574, 0.9966]\nstate[eef_state]: left_x=0.39 left_y=-0.3008 left_z=0.1238 left_yaw=0.0668 left_pitch=-0.2052 left_roll=0.0732 left_gripper=0.5075 right_x=0.2508 right_y=-0.0041 right_z=0.1977 right_yaw=-0.1118 right_pitch=-0.1516 right_roll=-0.1031 right_gripper=0.9966\nstate[joint_eff]: [-0.7316, -14.8034, 6.4479, 1.1453, -0.3785, 0.1538, 0.5836, -0.0889, -0.6769, 6.9265, 1.6972, 0.0611, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2640430399a878e5c16e2fff16915b7d887684a218e9ec62d7f1e4ff93bf92c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6578eaebded567455e3b05583693b7dee27545ff724c44d4a6d0e0a7e6d47ccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f89c89b4d054b930d9126918af798313b1719fec914ac5cbc7e1f7001a2f8475",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS3goKEAgSGAI4AUIIdGhpbmtpbmcSDH1z2n5DMnC8coynNhoMafpIzGTY+L1PFlHoIjBuPva6sc0y8AwLIi4YxcTg02dLPd4qh085VMFMng8g7NPDEcSWYzpYhsxBr7wg5v4q+wm18Jy7uPTSa3x/TKbgA2rg9ZJB8KqdazJ2ru0B9C/l8jBetBk2aY2F2z4b7B8ApuYXhcpkmc0jCIqPoBHZ+1X1x3sac5g07ZPHJ0HIpmQ1DctzZbvrP6V5odvSyiSF8QBLFWDgxEvOOiWOyzdfHKrCHsqPt/w6wzueTnJ+0he83Q+acxF/etwWLcA+WZUngg9GBkZBt9oylgxyExU2tPbkXB3WMhjQI6jwgyQqnlXHvUTJ8qDNOy3hAN5ozwUPoFgJHg5PQzBa1nBF0IzgfbXgQhZEXf2VR2yruhJbgI2pSwqNAZINs3rKBHMLriWgfTgeK7syYfqMMVM+7I6Hu2yvK/DO+29z3jeDf6o7h3ToDRWi09U41CjRdvyd/ZmTtyRA3iSdsgoFFQ5Nk0cpAxRGqCN/15fMCVQVVIH+uWQN09yDgCL6ot8ArnOxqaqmi21mchswOudUFvOmr/49g3TYHdCRhlkCRwo4Dxbi+rJHW1ZU3ffpIf+ZLYSocamPNbfFAWdFK1bQuhLhOOz4c9PhldsQOvzcO2O4Ock0jSAyUctEMdyEEKnwaIabChv3biUgY41KcMw6wS1lRxqE1tsMPCEbdsgF9QzVtdVGPDv6Fm4UUwS8fGx3eI/tf2BhE46hNAQUF88ANuVtxntC8ppb4nlxo3jMQXR6RGQZKHRWUWKn+EHKIlEHnDLs6G2AaJm9Wt8MwTqhiQWYtw/PtCxEJTBfB6pZfp9/Cn3wQ5y9Vifvfg+euoF9tGUgkEMm3dzZGfO6qkpT/uuohB9ES5dmY7JLBLp6DK078n+4Lk+1zMDdI3Zi93bw3LGOdpdnD9ZLt6w3XcKsrGNm8JJFQ8zPBUE9RGr2XNkuI579G0mHr+ob0NbXIAkU5gKxtSsC/CrOV722xbwRsQ8vRwdyKHkN42qNloRbfALmxnDpPvBqsTmEcnkliO6aGN/9D1NRgyO9JW6JAqdqvlUPX+/h+KRfdysQ80mTe2OakpfE7/9OBVPzfE5Ac3QEbrLGbPsRHwdqEbxMrFHzgjUwHPNNzChSJ2BSJlnqLE2DTSqJrQA4znmee3UGtfEGzP3NncP4L2k4pobTgzUO/MktUEzjOIRV4mFs1TI68WlKYTKYRtbMfbKOyGCZ/QkYh10RF+Zqaum5pQ/WQgNzDbBC01isu/S8plFfIicAs/7slBQMg7CXlOPkD7PaVf+t7iyt1jfMKnZtkVSOa4meJtRrJGPvSxgv8LRysjVGnsWZlBlI5nW3dtXCYElbdsmM9BBBjpL6BmMcEwzr0XGqU68qAV737WjDw2L0J/9oUTNLzr/PKfYoZW9IPkO3PoBrWfAKnhCB37gt+GhPfvlMf3ff1qW3xhUQdBi1pARbVyz6uR6ftu9gK+wKhUjRpCCiyWboZBq/ZRrPSufcq2NR1fyBlIOMuY3Ekd2TtkvZVsY0oe48fE9oyoCZKL9fLx0QCcl6lBgmj1UL/JGaU8UDcAOeif1xNYSQ8ly3CT8aHgDcV2npuFiTDI9nUdWqrr3AtHwXNf44Muca+fgnvtv26kwJHC3AJf6TU9ww00s4MNPPHLaPTGA93DeuMBYzE6Zwrlm5pHeYxBB+p+s/A48aR8dA7yqL4CpRBrKVxfA9rFq9lDaTGPe77wVvzYX96gtB5qPMcHLqJ4g5wvf7uIpNuO/LHajATjri9VsI1hp8HZSmw7oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YEwgdNy6sZUBJ5LXtoJD2u",
      "input": {
        "note": "With the right arm out of the way, the left wrist view shows the bowl just below and right of the fruit. Moving further right to centre the fruit over the bowl.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.34,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01YEwgdNy6sZUBJ5LXtoJD2u",
      "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]: [-0.9779, 2.0537, 1.7115, -0.783, -0.6659, -0.8471, 0.5104, 0.1345, 0.757, 0.7872, -0.791, 0.215, 0.0353, 0.9966]\nstate[eef_state]: left_x=0.3637 left_y=-0.338 left_z=0.1317 left_yaw=0.047 left_pitch=-0.2205 left_roll=0.0627 left_gripper=0.5104 right_x=0.2494 right_y=-0.0007 right_z=0.1935 right_yaw=-0.0828 right_pitch=-0.1742 right_roll=-0.1103 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -10.9744, 8.5128, 0.7888, -0.6716, 0.0024, 0.2906, -0.1709, -1.0735, 6.8991, 1.6728, 0.2271, 0.1783, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e69767783967b2d9af6cf91736736ebf2196872146f5515d034fc5e59816f74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd08afa2722cf7911f1eb9e04ac4610e5176903588c6256920ed5075b53cd4ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ebe9803f6bd27a0277445e16aa7b100a434e921cc7b89b626f5604b91f77c497",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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