adhoc

completed
2026-09-22T18:21:58.514413+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
216.6 s
total steps
243
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: white bowl left, blue bowl center-right, lemon and pear near right arm, plum just ahead of left gripper. Moving right arm over the pear to begin.
move_to
right_x0.3500right_y-0.0100right_z0.1400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8001, 0.6132, -0.3824, -0.0143, -0.0296, 0.9992, -0.0227, 0.7994, 0.6186, -0.387, -0.02, -0.033, 0.9993] state[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.182 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.296 right_y=0.0004 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.3214, -1.7709, 9.8256, 1.8193, -0.105, 0.1587, -0.1001, -0.212, -1.6615, 9.1556, 1.8779, -0.0513, 0.1978, -0.0855] 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": 0.35, "right_y": -0.01, "right_z": 0.14, "right_gripper": 1}, "note": "Scene: white bowl left, blue bowl center-right, lemon and pear near right arm, plum just ahead of left gripper. Moving right arm over the pear to begin."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent notePear sits just ahead of the right jaws. Advancing 2 cm and descending to grasp its body.
move_to
right_x0.3700right_y-0.0100right_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]: [-0.02, 0.8043, 0.6132, -0.3939, -0.0135, -0.0311, 0.9991, -0.0639, 1.1137, 0.5632, -0.0639, -0.0608, -0.0635, 0.9993] state[eef_state]: left_x=0.2947 left_y=0.0001 left_z=0.1785 left_yaw=0.0002 left_pitch=-0.0157 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3454 right_y=-0.0077 right_z=0.13 right_yaw=0.0097 right_pitch=-0.0454 right_roll=-0.0004 right_gripper=0.9993 state[joint_eff]: [-0.1573, -1.4154, 7.0632, 1.8291, -0.0366, -0.0562, -0.022, -0.6496, -4.1094, 6.8581, 2.0586, -0.0269, 0.0317, -0.0855] 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": 0.37, "right_y": -0.01, "right_z": 0.03}, "note": "Pear sits just ahead of the right jaws. Advancing 2 cm and descending to grasp its body."})
tool
executing move_to over 7 steps (0.7s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent notePear fills the view between the right jaws. Closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4057, -0.0135, -0.0311, 0.9991, -0.0639, 1.5768, 0.3908, 0.5346, -0.0616, -0.0711, 0.9993] state[eef_state]: left_x=0.2933 left_y=0.0001 left_z=0.1751 left_yaw=0.0002 left_pitch=-0.0309 left_roll=-0.0011 left_gripper=0.9991 right_x=0.3654 right_y=-0.0089 right_z=0.0222 right_yaw=0.0146 right_pitch=-0.0822 right_roll=-0.0033 right_gripper=0.9993 state[joint_eff]: [-0.0889, -1.4154, 7.0085, 1.8584, -0.022, -0.0757, -0.0122, -0.3214, -5.7641, 4.6154, 1.9707, -0.1148, -0.0024, -0.0171] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Pear fills the view between the right jaws. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteEmpty close: the jaws met just short of the pear. Opening and lifting slightly before advancing.
move_to
right_gripper1.0000right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4164, -0.0139, -0.0311, 0.9991, -0.0639, 1.5768, 0.3904, 0.5262, -0.0612, -0.0788, 0.0094] state[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1729 left_yaw=0.0005 left_pitch=-0.0416 left_roll=-0.0006 left_gripper=0.9991 right_x=0.364 right_y=-0.0089 right_z=0.0204 right_yaw=0.0185 right_pitch=-0.091 right_roll=-0.0089 right_gripper=0.0094 state[joint_eff]: [0.0615, -1.2239, 7.0085, 1.8535, -0.0708, -0.0513, -0.0122, -0.0342, -5.4222, 4.7795, 1.746, -0.0464, 0.0464, 0.7741] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": 0.06}, "note": "Empty close: the jaws met just short of the pear. Opening and lifting slightly before advancing."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent notePear is several cm beyond the jaws. Advancing 5 cm and descending to straddle its wide base.
move_to
right_x0.4100right_y-0.0050right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4236, -0.0139, -0.0315, 0.9991, -0.062, 1.4174, 0.437, 0.2863, -0.0616, -0.0883, 0.9985] state[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1715 left_yaw=0.0007 left_pitch=-0.0488 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3556 right_y=-0.0076 right_z=0.0453 right_yaw=0.0262 right_pitch=-0.1249 right_roll=-0.0132 right_gripper=0.9985 state[joint_eff]: [-0.1846, -1.1966, 7.1863, 1.7411, -0.0366, -0.0659, -0.0171, -0.4171, -5.9692, 8.1026, 1.707, -0.0415, 0.0806, -0.0366] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": -0.005, "right_z": 0.025}, "note": "Pear is several cm beyond the jaws. Advancing 5 cm and descending to straddle its wide base."})
tool
executing move_to over 5 steps (0.5s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent notePear now fills the jaws down to the fingertips. Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4248, -0.0139, -0.0334, 0.9991, -0.041, 1.7058, 0.5842, 0.3771, -0.0574, -0.0898, 0.9985] state[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.17 left_yaw=0.0018 left_pitch=-0.0546 left_roll=-0.0022 left_gripper=0.9991 right_x=0.3975 right_y=-0.0026 right_z=0.0121 right_yaw=0.0451 right_pitch=-0.1753 right_roll=-0.0128 right_gripper=0.9985 state[joint_eff]: [-0.1983, -1.5111, 7.2137, 1.6777, -0.0659, -0.0611, -0.0171, -0.1846, -6.8991, 6.735, 1.9219, 0.0464, 0.0855, -0.0122] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Pear now fills the jaws down to the fingertips. Closing."})
tool
executing move_to over 10 steps (1.0s)
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 noteSecond empty close; the pear seems to get nudged forward as I approach low. Lifting to come down on it from above instead.
move_to
right_gripper1.0000right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4248, -0.0139, -0.0338, 0.9991, -0.0414, 1.7058, 0.5835, 0.3691, -0.0608, -0.0944, 0.0095] state[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.17 left_yaw=0.002 left_pitch=-0.0546 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3959 right_y=-0.0021 right_z=0.0105 right_yaw=0.0503 right_pitch=-0.1838 right_roll=-0.013 right_gripper=0.0095 state[joint_eff]: [-0.0479, -1.347, 6.9949, 1.7021, -0.0708, -0.0806, -0.0171, -0.0752, -6.7214, 5.0256, 1.6874, -0.0513, 0.0513, 0.6911] 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_gripper": 1, "right_z": 0.12}, "note": "Second empty close; the pear seems to get nudged forward as I approach low. Lifting to come down on it from above instead."})
tool
executing move_to over 10 steps (1.0s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent notePear stands upright a few cm ahead of the jaws, just right of the blue bowl. Moving over it at height before descending.
move_to
right_x0.4450right_y0.0000right_z0.1100right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4248, -0.0139, -0.0338, 0.9991, -0.041, 1.4303, 0.8017, -0.1589, -0.0612, -0.1093, 0.9985] state[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1699 left_yaw=0.002 left_pitch=-0.0549 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3907 right_y=-0.0016 right_z=0.1034 right_yaw=0.0598 right_pitch=-0.2181 right_roll=-0.0203 right_gripper=0.9985 state[joint_eff]: [-0.2256, -1.3333, 7.1179, 1.6777, -0.0415, -0.0757, -0.0171, -0.1299, -6.8034, 9.0598, 1.5165, -0.022, 0.105, -0.1685] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.445, "right_y": 0.0, "right_z": 0.11, "right_pitch": 0}, "note": "Pear stands upright a few cm ahead of the jaws, just right of the blue bowl. Moving over it at height before descending."})
tool
executing move_to over 8 steps (0.8s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent notePear is now directly under the jaws. Descending straight down around it.
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]: [-0.02, 0.8127, 0.6132, -0.4248, -0.0139, -0.0338, 0.9991, -0.0391, 1.5814, 0.7895, 0.1905, -0.0765, -0.1131, 0.9985] state[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1699 left_yaw=0.002 left_pitch=-0.0549 left_roll=-0.0025 left_gripper=0.9991 right_x=0.4411 right_y=-0.0002 right_z=0.1046 right_yaw=0.0743 right_pitch=-0.032 right_roll=-0.0335 right_gripper=0.9985 state[joint_eff]: [-0.3761, -1.3333, 7.2274, 1.707, -0.0611, -0.0806, -0.0171, -0.1162, -7.0359, 6.0103, 2.0537, -0.0415, 0.1734, -0.0122] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.035}, "note": "Pear is now directly under the jaws. Descending straight down around it."})
tool
executing move_to over 5 steps (0.5s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent notePear is between the jaws right against the fingers. Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4252, -0.0139, -0.0334, 0.9991, -0.0357, 1.7763, 0.6769, 0.4404, -0.0799, -0.1162, 0.9985] state[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1698 left_yaw=0.0018 left_pitch=-0.0553 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4337 right_y=0.0022 right_z=0.0288 right_yaw=0.0827 right_pitch=-0.0891 right_roll=-0.0273 right_gripper=0.9985 state[joint_eff]: [-0.3487, -1.1966, 7.0769, 1.6874, -0.0366, -0.0562, -0.0122, -0.4308, -7.8017, 5.2034, 1.9267, -0.0317, -0.0171, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Pear is between the jaws right against the fingers. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteGripper settled at 0.72, pear grasped. Lifting it clear of the blue bowl's rim.
move_to
right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4252, -0.0139, -0.0338, 0.9991, -0.0357, 1.7912, 0.6685, 0.4702, -0.0841, -0.1211, 0.7215] state[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1698 left_yaw=0.002 left_pitch=-0.0553 left_roll=-0.0025 left_gripper=0.9991 right_x=0.434 right_y=0.003 right_z=0.0255 right_yaw=0.0888 right_pitch=-0.0824 right_roll=-0.0295 right_gripper=0.7215 state[joint_eff]: [-0.0615, -1.3333, 7.0496, 1.7021, -0.0513, -0.0562, -0.0122, -0.1709, -8.8957, 5.9966, 1.3455, -0.0122, 0.0073, 1.0281] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17}, "note": "Gripper settled at 0.72, pear grasped. Lifting it clear of the blue bowl's rim."})
tool
executing move_to over 10 steps (1.0s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent notePear lifted. Carrying it left over the blue bowl, which is ~10 cm to the arm's left.
move_to
right_x0.4400right_y0.1000right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4267, -0.0139, -0.0334, 0.9991, -0.0345, 1.4952, 0.9569, -0.1581, -0.0837, -0.1246, 0.7256] state[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1695 left_yaw=0.0018 left_pitch=-0.0568 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4305 right_y=0.0035 right_z=0.1434 right_yaw=0.0921 right_pitch=-0.126 right_roll=-0.0269 right_gripper=0.7256 state[joint_eff]: [-0.2803, -1.2923, 7.0085, 1.6777, -0.0464, -0.0513, -0.0122, -0.4581, -8.4991, 9.5658, 1.7363, -0.0562, 0.022, 1.0183] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.1, "right_z": 0.16}, "note": "Pear lifted. Carrying it left over the blue bowl, which is ~10 cm to the arm's left."})
tool
executing move_to over 9 steps (0.9s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent notePear is roughly above the blue bowl (bowl visible just under/left of it). Shifting slightly left and lowering to release gently.
move_to
right_y0.1200right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4274, -0.0135, -0.0338, 0.9991, 0.2665, 1.5604, 1.0534, -0.2481, 0.1162, 0.033, 0.7262] state[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1694 left_yaw=0.0017 left_pitch=-0.0576 left_roll=-0.0027 left_gripper=0.9991 right_x=0.4284 right_y=0.0994 right_z=0.1413 right_yaw=0.1368 right_pitch=-0.1817 right_roll=-0.0415 right_gripper=0.7262 state[joint_eff]: [-0.2803, -1.3197, 7.1863, 1.6972, -0.0317, -0.0659, -0.0171, 0.1573, -7.1316, 9.5658, 1.7363, 0.1587, 0.1832, 1.0281] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.12, "right_z": 0.1}, "note": "Pear is roughly above the blue bowl (bowl visible just under/left of it). Shifting slightly left and lowering to release gently."})
tool
executing move_to over 3 steps (0.3s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent notePear held over the blue bowl at low height. Releasing it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4278, -0.0139, -0.0334, 0.9991, 0.3161, 1.6245, 0.9821, -0.16, 0.149, 0.0517, 0.7295] state[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1693 left_yaw=0.0018 left_pitch=-0.058 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4219 right_y=0.1141 right_z=0.101 right_yaw=0.1466 right_pitch=-0.2245 right_roll=-0.0582 right_gripper=0.7295 state[joint_eff]: [-0.253, -0.9778, 6.9949, 1.663, -0.0415, -0.0317, -0.0122, 0.3487, -8.0205, 6.7897, 1.956, 0.1148, 0.1734, 0.9597] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Pear held over the blue bowl at low height. Releasing it."})
tool
executing move_to over 3 steps (0.3s)
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 notePear is now in the blue bowl. Moving the right arm over the lemon, which lies in front of and slightly left of the bowl.
move_to
right_x0.3100right_y0.1700right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4309, -0.0135, -0.0338, 0.9991, 0.3309, 1.6623, 0.9524, -0.1204, 0.1493, 0.0605, 0.9956] state[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1687 left_yaw=0.0017 left_pitch=-0.061 left_roll=-0.0026 left_gripper=0.9991 right_x=0.418 right_y=0.1196 right_z=0.0802 right_yaw=0.1552 right_pitch=-0.2517 right_roll=-0.0572 right_gripper=0.9956 state[joint_eff]: [-0.2393, -1.1145, 6.9949, 1.6923, -0.0513, -0.0562, -0.0122, -0.4855, -9.2376, 7.1863, 1.7998, 0.105, 0.0757, -0.0269] 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": 0.31, "right_y": 0.17, "right_z": 0.13}, "note": "Pear is now in the blue bowl. Moving the right arm over the lemon, which lies in front of and slightly left of the bowl."})
tool
executing move_to over 9 steps (0.9s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteArm was still in motion toward the lemon (blurred wrist view, readback short). Re-issuing the target with a bit more height.
move_to
right_x0.3100right_y0.1700right_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]: [-0.02, 0.8154, 0.6132, -0.4301, -0.0139, -0.0338, 0.9991, 0.4244, 1.5692, 0.8932, -0.1818, 0.2481, 0.1482, 0.9963] state[eef_state]: left_x=0.2903 left_y=0.0002 left_z=0.1681 left_yaw=0.002 left_pitch=-0.0629 left_roll=-0.0024 left_gripper=0.9991 right_x=0.3865 right_y=0.131 right_z=0.0871 right_yaw=0.1139 right_pitch=-0.2575 right_roll=-0.0763 right_gripper=0.9963 state[joint_eff]: [0.0479, -1.4838, 7.2, 1.7167, -0.0855, -0.0415, -0.0122, 2.441, -11.1111, 8.1026, 2.0342, 0.3785, 0.0513, 0.0611] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.31, "right_y": 0.17, "right_z": 0.14}, "note": "Arm was still in motion toward the lemon (blurred wrist view, readback short). Re-issuing the target with a bit more height."})
tool
executing move_to over 6 steps (0.6s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteLemon is visible ahead and slightly left of the jaws. Moving forward/left over it and lowering partway.
move_to
right_x0.3500right_y0.1850right_z0.0800right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8192, 0.6128, -0.4419, -0.0135, -0.0334, 0.9991, 0.6796, 1.3708, 0.8936, -0.4576, 0.3771, 0.3161, 0.9964] state[eef_state]: left_x=0.2887 left_y=0.0002 left_z=0.1646 left_yaw=0.0015 left_pitch=-0.079 left_roll=-0.0019 left_gripper=0.9991 right_x=0.3124 right_y=0.1734 right_z=0.1231 right_yaw=0.161 right_pitch=-0.2802 right_roll=-0.0874 right_gripper=0.9964 state[joint_eff]: [-0.1709, -1.6205, 7.2821, 1.7607, -0.0513, -0.022, -0.0171, 0.1436, -6.3111, 9.1282, 1.3211, 0.359, 0.1441, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.185, "right_z": 0.08, "right_pitch": 0}, "note": "Lemon is visible ahead and slightly left of the jaws. Moving forward/left over it and lowering partway."})
tool
executing move_to over 10 steps (1.0s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe previous move didn't execute (arm unchanged), possibly due to the pitch request. Retrying the approach over the lemon without changing pitch.
move_to
right_x0.3500right_y0.1850right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8192, 0.6128, -0.4461, -0.0135, -0.0334, 0.9991, 0.6968, 1.3499, 0.9134, -0.5217, 0.4004, 0.3565, 0.9964] state[eef_state]: left_x=0.288 left_y=0.0002 left_z=0.1638 left_yaw=0.0015 left_pitch=-0.0832 left_roll=-0.0018 left_gripper=0.9991 right_x=0.3053 right_y=0.1703 right_z=0.1301 right_yaw=0.1338 right_pitch=-0.2885 right_roll=-0.089 right_gripper=0.9964 state[joint_eff]: [-0.1026, -1.3197, 6.9675, 1.7363, -0.0464, -0.0317, -0.0171, -0.0205, -5.7641, 8.0479, 1.2918, 0.3346, 0.0952, -0.0122] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.185, "right_z": 0.08}, "note": "The previous move didn't execute (arm unchanged), possibly due to the pitch request. Retrying the approach over the lemon without changing pitch."})
tool
executing move_to over 4 steps (0.4s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteLemon is close, left of the jaw column. Shifting left and forward while descending to table level around it.
move_to
right_x0.3500right_y0.2000right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8219, 0.6128, -0.4519, -0.0139, -0.0338, 0.9991, 0.6609, 1.565, 0.804, -0.2859, 0.4034, 0.3031, 0.9965] state[eef_state]: left_x=0.2873 left_y=0.0003 left_z=0.1619 left_yaw=0.002 left_pitch=-0.0916 left_roll=-0.0017 left_gripper=0.9991 right_x=0.3195 right_y=0.1651 right_z=0.0492 right_yaw=0.1096 right_pitch=-0.3664 right_roll=-0.1763 right_gripper=0.9965 state[joint_eff]: [-0.1299, -1.4974, 6.9538, 1.7802, -0.022, -0.0415, -0.0122, -0.3624, -8.9368, 8.8957, 1.4383, 0.2271, -0.0122, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.2, "right_z": 0.025}, "note": "Lemon is close, left of the jaw column. Shifting left and forward while descending to table level around it."})
tool
executing move_to over 3 steps (0.3s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteArm is lagging behind the target (readback short, still converging). Re-sending the descent onto the lemon.
move_to
right_x0.3550right_y0.2050right_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]: [-0.02, 0.8238, 0.6128, -0.4538, -0.0135, -0.0338, 0.9991, 0.6888, 1.6005, 0.8043, -0.1993, 0.4191, 0.2966, 0.9965] state[eef_state]: left_x=0.2871 left_y=0.0002 left_z=0.161 left_yaw=0.0017 left_pitch=-0.0954 left_roll=-0.0019 left_gripper=0.9991 right_x=0.3275 right_y=0.1812 right_z=0.0487 right_yaw=0.1385 right_pitch=-0.3161 right_roll=-0.164 right_gripper=0.9965 state[joint_eff]: [-0.0479, -1.3197, 7.0769, 1.6532, -0.0415, -0.0513, -0.0171, -0.4444, -6.5573, 5.559, 1.5556, 0.5055, 0.1001, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.355, "right_y": 0.205, "right_z": 0.02}, "note": "Arm is lagging behind the target (readback short, still converging). Re-sending the descent onto the lemon."})
tool
executing move_to over 3 steps (0.3s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteDescent stalled at z≈0.047, likely the left finger resting on the lemon. Lifting and shifting left so the lemon is centred between the jaws.
move_to
right_x0.3400right_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]: [-0.02, 0.8238, 0.6128, -0.4679, -0.0139, -0.0338, 0.9991, 0.6899, 1.6028, 0.8024, -0.202, 0.4263, 0.2958, 0.9964] state[eef_state]: left_x=0.285 left_y=0.0003 left_z=0.1583 left_yaw=0.0021 left_pitch=-0.1095 left_roll=-0.0013 left_gripper=0.9991 right_x=0.3268 right_y=0.1796 right_z=0.0474 right_yaw=0.1332 right_pitch=-0.3188 right_roll=-0.1738 right_gripper=0.9964 state[joint_eff]: [-0.0615, -1.388, 7.1179, 1.7949, -0.0611, -0.0415, -0.0122, -0.2393, -6.653, 5.4906, 1.37, 0.3443, 0.0757, -0.0171] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.21, "right_z": 0.1}, "note": "Descent stalled at z\u22480.047, likely the left finger resting on the lemon. Lifting and shifting left so the lemon is centred between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteRight arm has stopped responding (IK likely stuck with drifting pitch/roll). Commanding a relaxed pose with orientation reset to recover.
move_to
right_x0.3000right_y0.1200right_z0.1500right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8238, 0.6128, -0.469, -0.0139, -0.0338, 0.9991, 0.6899, 1.6028, 0.8024, -0.2024, 0.4267, 0.2962, 0.9965] state[eef_state]: left_x=0.2848 left_y=0.0003 left_z=0.1581 left_yaw=0.0021 left_pitch=-0.1106 left_roll=-0.0013 left_gripper=0.9991 right_x=0.3268 right_y=0.1795 right_z=0.0474 right_yaw=0.1327 right_pitch=-0.3189 right_roll=-0.174 right_gripper=0.9965 state[joint_eff]: [-0.0205, -1.388, 6.9402, 1.6972, -0.0562, -0.0513, -0.0122, -0.4991, -6.8034, 5.4906, 1.3553, 0.3736, 0.105, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.12, "right_z": 0.15, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Right arm has stopped responding (IK likely stuck with drifting pitch/roll). Commanding a relaxed pose with orientation reset to recover."})
tool
executing move_to over 11 steps (1.1s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteArm recovered. Lemon lies left of the jaw column and a bit ahead; moving over it with neutral orientation.
move_to
right_x0.3450right_y0.2000right_z0.0900right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8268, 0.6128, -0.4755, -0.0139, -0.0338, 0.9991, 0.6559, 1.0878, 0.6128, -0.2214, 0.5095, 0.3416, 0.9964] state[eef_state]: left_x=0.2839 left_y=0.0004 left_z=0.1561 left_yaw=0.0021 left_pitch=-0.1202 left_roll=-0.0011 left_gripper=0.9991 right_x=0.2999 right_y=0.1266 right_z=0.1434 right_yaw=0.0391 right_pitch=-0.0268 right_roll=-0.021 right_gripper=0.9964 state[joint_eff]: [-0.1162, -1.3197, 6.9265, 1.7411, -0.0562, -0.0562, -0.0122, -0.5402, -3.1658, 6.653, 1.7216, 0.3199, 0.2271, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.345, "right_y": 0.2, "right_z": 0.09, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Arm recovered. Lemon lies left of the jaw column and a bit ahead; moving over it with neutral orientation."})
tool
executing move_to over 7 steps (0.7s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteLemon is just ahead-left of the jaws. Shifting a little further left and descending to table level around it.
move_to
right_x0.3500right_y0.2150right_z0.0200right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8303, 0.6128, -0.4801, -0.0135, -0.0338, 0.9991, 0.7773, 1.5558, 0.6949, 0.046, 0.5987, 0.4358, 0.9964] state[eef_state]: left_x=0.2833 left_y=0.0003 left_z=0.1543 left_yaw=0.0018 left_pitch=-0.1282 left_roll=-0.0012 left_gripper=0.9991 right_x=0.3307 right_y=0.1907 right_z=0.0722 right_yaw=0.0381 right_pitch=-0.0787 right_roll=-0.0665 right_gripper=0.9964 state[joint_eff]: [-0.1299, -1.4701, 6.9128, 1.6777, -0.0415, -0.0415, -0.0122, 0.1983, -7.241, 7.3641, 1.5067, 0.525, 0.1392, -0.0122] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.215, "right_z": 0.02, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Lemon is just ahead-left of the jaws. Shifting a little further left and descending to table level around it."})
tool
executing move_to over 4 steps (0.4s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteLemon is centred between the jaws at table level. Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8322, 0.6128, -0.487, -0.0139, -0.0338, 0.9991, 0.8005, 1.8385, 0.675, 0.3145, 0.625, 0.4652, 0.9965] state[eef_state]: left_x=0.2823 left_y=0.0004 left_z=0.1525 left_yaw=0.0021 left_pitch=-0.1369 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3383 right_y=0.2054 right_z=0.0054 right_yaw=0.0247 right_pitch=-0.0888 right_roll=-0.0807 right_gripper=0.9965 state[joint_eff]: [-0.3624, -1.388, 6.9128, 1.663, -0.0366, -0.0757, -0.0122, 0.2803, -9.4838, 4.6974, 1.7021, 0.4274, 0.1392, -0.0122] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Lemon is centred between the jaws at table level. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 176
top_cam
camera top_cam step 176
assistant
agent noteLemon grasped (gripper 0.50). Lifting it straight up before carrying to the bowl.
move_to
right_z0.1700right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8326, 0.6128, -0.4911, -0.0139, -0.0334, 0.9991, 0.8051, 1.8561, 0.6735, 0.4076, 0.635, 0.4797, 0.4986] state[eef_state]: left_x=0.2816 left_y=0.0004 left_z=0.1516 left_yaw=0.002 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9991 right_x=0.3462 right_y=0.2141 right_z=0.0129 right_yaw=0.0174 right_pitch=-0.0308 right_roll=-0.0218 right_gripper=0.4986 state[joint_eff]: [-0.1026, -1.4291, 7.0496, 1.6532, -0.0415, -0.0171, -0.0122, -0.0342, -8.1709, 4.6701, 1.746, 0.3736, 0.0708, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Lemon grasped (gripper 0.50). Lifting it straight up before carrying to the bowl."})
tool
executing move_to over 11 steps (1.1s)
step 187
assistant
agent noteLemon lifted; blue bowl with the pear is ahead-right. Carrying the lemon over the bowl's left half beside the pear.
move_to
right_x0.4150right_y0.1450right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8326, 0.6128, -0.4919, -0.0135, -0.0338, 0.9991, 0.8097, 1.504, 0.9497, -0.2073, 0.6361, 0.4797, 0.5016] state[eef_state]: left_x=0.2815 left_y=0.0003 left_z=0.1515 left_yaw=0.0018 left_pitch=-0.1423 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3465 right_y=0.2168 right_z=0.1512 right_yaw=0.0214 right_pitch=-0.0208 right_roll=-0.0129 right_gripper=0.5016 state[joint_eff]: [-0.1026, -1.3744, 6.9675, 1.6288, -0.022, -0.0562, -0.0171, 0.1299, -7.9658, 8.4991, 1.5556, 0.4567, 0.1636, 0.6227] approver: 4 step(s) modified (delta_clamped ×4). 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_x": 0.415, "right_y": 0.145, "right_z": 0.13}, "note": "Lemon lifted; blue bowl with the pear is ahead-right. Carrying the lemon over the bowl's left half beside the pear."})
tool
executing move_to over 6 steps (0.6s)
step 193
assistant
agent noteLemon is directly over the blue bowl next to the pear. Releasing.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8333, 0.6128, -0.4923, -0.0139, -0.0338, 0.9991, 0.5026, 1.5528, 0.8902, -0.0414, 0.4221, 0.2729, 0.5047] state[eef_state]: left_x=0.2815 left_y=0.0004 left_z=0.1512 left_yaw=0.0022 left_pitch=-0.1434 left_roll=-0.0006 left_gripper=0.9991 right_x=0.4027 right_y=0.1428 right_z=0.123 right_yaw=-0.0085 right_pitch=-0.0643 right_roll=-0.0337 right_gripper=0.5047 state[joint_eff]: [-0.253, -1.2239, 6.8991, 1.58, -0.0415, -0.0562, -0.0122, -0.3487, -6.147, 6.6256, 1.8535, 0.1197, -0.0171, 0.6422] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Lemon is directly over the blue bowl next to the pear. Releasing."})
tool
executing move_to over 5 steps (0.5s)
step 198
assistant
agent notePear and lemon are in the blue bowl. The plum sits just ahead of the left jaws; descending the left arm onto it.
move_to
left_x0.3300left_y-0.0120left_z0.0150left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8333, 0.6128, -0.4927, -0.0139, -0.0338, 0.9991, 0.5037, 1.5673, 0.8902, -0.0467, 0.4076, 0.2615, 0.9955] state[eef_state]: left_x=0.2814 left_y=0.0004 left_z=0.1511 left_yaw=0.0022 left_pitch=-0.1438 left_roll=-0.0006 left_gripper=0.9991 right_x=0.4014 right_y=0.1454 right_z=0.1156 right_yaw=0.0097 right_pitch=-0.0865 right_roll=-0.0441 right_gripper=0.9955 state[joint_eff]: [-0.1573, -1.4017, 6.9128, 1.6044, -0.0171, -0.0757, -0.0122, -0.3624, -8.1436, 6.4479, 1.6044, 0.2222, 0.0366, -0.1538] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.012, "left_z": 0.015, "left_pitch": 0, "left_gripper": 1}, "note": "Pear and lemon are in the blue bowl. The plum sits just ahead of the left jaws; descending the left arm onto it."})
tool
executing move_to over 9 steps (0.9s)
step 207
assistant
agent notePlum fills the view between the left jaws at table level. 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]: [-0.0799, 1.4837, 0.1963, 0.5949, -0.0666, -0.054, 0.999, 0.503, 1.5673, 0.8902, -0.0528, 0.4061, 0.2607, 0.9963] state[eef_state]: left_x=0.3131 left_y=-0.0097 left_z=-0.0006 left_yaw=-0.0022 left_pitch=-0.1215 left_roll=0.0171 left_gripper=0.999 right_x=0.4007 right_y=0.1449 right_z=0.1145 right_yaw=0.0103 right_pitch=-0.0923 right_roll=-0.0468 right_gripper=0.9963 state[joint_eff]: [-0.4855, -3.7128, 3.0701, 0.735, 0.0415, -0.0806, -0.1099, -0.1026, -7.0496, 6.4615, 1.6093, 0.1538, -0.0464, 0.0757] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Plum fills the view between the left jaws at table level. Closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 217
assistant
agent noteEmpty close: the plum is just beyond the fingertips. Opening and moving up and forward to come down over it.
move_to
left_x0.3550left_y-0.0060left_z0.1000left_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]: [-0.0811, 1.4918, 0.1879, 0.6231, -0.0738, -0.0563, 0.0086, 0.503, 1.5677, 0.8902, -0.054, 0.4057, 0.2607, 0.9964] state[eef_state]: left_x=0.3134 left_y=-0.0088 left_z=-0.0002 left_yaw=0.004 left_pitch=-0.1093 left_roll=0.019 left_gripper=0.0086 right_x=0.4005 right_y=0.1449 right_z=0.1141 right_yaw=0.0106 right_pitch=-0.0938 right_roll=-0.0473 right_gripper=0.9964 state[joint_eff]: [-0.0479, -4.8205, 4.9162, 1.37, 0.0171, 0.0171, 0.6716, -0.0342, -7.1726, 6.4342, 1.5311, 0.1392, -0.0464, -0.0024] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.355, "left_y": -0.006, "left_z": 0.1, "left_gripper": 1}, "note": "Empty close: the plum is just beyond the fingertips. Opening and moving up and forward to come down over it."})
tool
executing move_to over 10 steps (1.0s)
step 227
assistant
agent notePlum is centred on the jaw column a couple of cm ahead. Descending over it.
move_to
left_x0.3720left_y-0.0060left_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0582, 1.2636, 0.522, 0.0479, -0.0662, -0.0502, 0.9948, 0.503, 1.5677, 0.8902, -0.057, 0.4026, 0.2607, 0.9964] state[eef_state]: left_x=0.3512 left_y=-0.0052 left_z=0.085 left_yaw=0.0172 left_pitch=-0.1227 left_roll=0.0199 left_gripper=0.9948 right_x=0.4 right_y=0.1451 right_z=0.1134 right_yaw=0.0129 right_pitch=-0.0975 right_roll=-0.0469 right_gripper=0.9964 state[joint_eff]: [0.4581, -5.9282, 8.7179, 1.6679, 0.0904, 0.0952, 0.0317, -0.1983, -7.1316, 6.4342, 1.5556, 0.1392, -0.0513, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.372, "left_y": -0.006, "left_z": 0.01}, "note": "Plum is centred on the jaw column a couple of cm ahead. Descending over it."})
tool
executing move_to over 5 steps (0.5s)
step 232
assistant
agent notePlum is between the jaws, slightly ahead; nudging forward while closing to catch it.
move_to
left_gripper0.0000left_x0.3750
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]: [-0.0589, 1.6131, 0.4381, 0.4007, -0.0631, -0.0532, 0.9961, 0.503, 1.5673, 0.8898, -0.0643, 0.4023, 0.2607, 0.9964] state[eef_state]: left_x=0.3575 left_y=-0.0063 left_z=0.0007 left_yaw=0.0165 left_pitch=-0.2031 left_roll=0.0217 left_gripper=0.9961 right_x=0.3989 right_y=0.1446 right_z=0.1122 right_yaw=0.0128 right_pitch=-0.104 right_roll=-0.0501 right_gripper=0.9964 state[joint_eff]: [0.0479, -5.2581, 4.9436, 1.0672, -0.0757, 0.0269, 0.1245, -0.0205, -7.1179, 6.8581, 1.6337, 0.149, -0.0562, -0.0073] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0, "left_x": 0.375}, "note": "Plum is between the jaws, slightly ahead; nudging forward while closing to catch it."})
tool
executing move_to over 10 steps (1.0s)
step 242
assistant
agent noteI'm out of LLM calls, so the task is unfinished. The pear and the lemon are in the blue bowl. The plum is still on the table near the white bowl: the left arm tried to grasp it three times and every close came back empty, because the plum stayed just beyond the fingertips and got pushed forward each time. I never started pouring the blue bowl into the white bowl. Also, the blue bowl is outside the left arm's reach, so the plum would have to be handed to the right arm near the middle of the table.
give_up
hindsight- Starting layout: white bowl at the left-front, near left arm x≈0.4, y≈-0.05. Blue bowl at about right arm x≈0.42, y≈0.12, which is left y≈-0.53. That is outside the left arm's box, so only the right arm can put fruit in the blue bowl or pour it. Plum at about left x≈0.37, y≈-0.01. Pear started at about right x≈0.36, y≈-0.01 and got pushed to x≈0.43 before I grasped it. Lemon at about right x≈0.345, y≈0.21. - With the gripper open, fruit that sits centred in the wrist view with its bottom edge near image row 140–160 is still about 3–5 cm beyond the fingertips. Every low approach pushed the fruit forward and the close came back empty. What worked: come in high (z≈0.10), put the fruit at the bottom-centre of the wrist image, then descend straight down and close. Aim 4–5 cm farther forward than the image suggests. - Pitch and roll drift to about -0.3 / -0.17 in free moves. Once the right arm stopped responding at all, even to upward targets. It recovered when I commanded yaw, pitch and roll = 0 together with a relaxed pose (x 0.30, z 0.15). Include pitch=0 and roll=0 in grasp moves. A pitch-only change made while the arm was already in the drifted pose did nothing. - Grasped widths: pear gripper reading 0.72, lemon 0.50. Release fruit from about z 0.10–0.12 over the bowl; it drops in fine. - Budget: 40 calls is tight for 3 fruits plus a pour. Plan about 5 calls per fruit, combine the lift and the carry, and leave about 8 calls for the plum handoff and the pour.
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]: [-0.0589, 1.6596, 0.4873, 0.4046, -0.0666, -0.0566, 0.009, 0.503, 1.5677, 0.8898, -0.0723, 0.4023, 0.2607, 0.9964] state[eef_state]: left_x=0.3714 left_y=-0.0065 left_z=0.0015 left_yaw=0.0212 left_pitch=-0.1964 left_roll=0.0211 left_gripper=0.009 right_x=0.3978 right_y=0.144 right_z=0.1106 right_yaw=0.0124 right_pitch=-0.1114 right_roll=-0.0541 right_gripper=0.9964 state[joint_eff]: [0.3487, -4.7248, 6.5846, 1.4579, -0.0122, 0.0513, 0.5934, -0.0889, -7.1316, 6.4479, 1.619, 0.0952, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I'm out of LLM calls, so the task is unfinished. The pear and the lemon are in the blue bowl. The plum is still on the table near the white bowl: the left arm tried to grasp it three times and every close came back empty, because the plum stayed just beyond the fingertips and got pushed forward each time. I never started pouring the blue bowl into the white bowl. Also, the blue bowl is outside the left arm's reach, so the plum would have to be handed to the right arm near the middle of the table.", "hindsight": "- Starting layout: white bowl at the left-front, near left arm x\u22480.4, y\u2248-0.05. Blue bowl at about right arm x\u22480.42, y\u22480.12, which is left y\u2248-0.53. That is outside the left arm's box, so only the right arm can put fruit in the blue bowl or pour it. Plum at about left x\u22480.37, y\u2248-0.01. Pear started at about right x\u22480.36, y\u2248-0.01 and got pushed to x\u22480.43 before I grasped it. Lemon at about right x\u22480.345, y\u22480.21.\n- With the gripper open, fruit that sits centred in the wrist view with its bottom edge near image row 140\u2013160 is still about 3\u20135 cm beyond the fingertips. Every low approach pushed the fruit forward and the close came back empty. What worked: come in high (z\u22480.10), put the fruit at the bottom-centre of the wrist image, then descend straight down and close. Aim 4\u20135 cm farther forward than the image suggests.\n- Pitch and roll drift to about -0.3 / -0.17 in free moves. Once the right arm stopped responding at all, even to upward targets. It recovered when I commanded yaw, pitch and roll = 0 together with a relaxed pose (x 0.30, z 0.15). Include pitch=0 and roll=0 in grasp moves. A pitch-only change made while the arm was already in the drifted pose did nothing.\n- Grasped widths: pear gripper reading 0.72, lemon 0.50. Release fruit from about z 0.10\u20130.12 over the bowl; it drops in fine.\n- Budget: 40 calls is tight for 3 fruits plus a pour. Plan about 5 calls per fruit, combine the lift and the carry, and leave about 8 calls for the plum handoff and the pour."})
tool
give_up: I'm out of LLM calls, so the task is unfinished. The pear and the lemon are in the blue bowl. The plum is still on the table near the white bowl: the left arm tried to grasp it three times and every close came back empty, because the plum stayed just beyond the fingertips and got pushed forward each time. I never started pouring the blue bowl into the white bowl. Also, the blue bowl is outside the left arm's reach, so the plum would have to be handed to the right arm near the middle of the table.
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 · 13.6 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6132, -0.3824, -0.0143, -0.0296, 0.9992, -0.0227, 0.7994, 0.6186, -0.387, -0.02, -0.033, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.182 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.296 right_y=0.0004 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.7709, 9.8256, 1.8193, -0.105, 0.1587, -0.1001, -0.212, -1.6615, 9.1556, 1.8779, -0.0513, 0.1978, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67c41f8f5e29d005f9b9c7edb9aa80c428df8411d932adbb74881e5c60218b6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88384781f23201a7c4418fe54a5843ccbf08b78a228cfc25db09acb62a387b58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c51eda72a4c8fd38be5487886dc840f10ba0090ffb71a72d609630cdfe7064e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 3.709 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6132, -0.3824, -0.0143, -0.0296, 0.9992, -0.0227, 0.7994, 0.6186, -0.387, -0.02, -0.033, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.182 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.296 right_y=0.0004 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.7709, 9.8256, 1.8193, -0.105, 0.1587, -0.1001, -0.212, -1.6615, 9.1556, 1.8779, -0.0513, 0.1978, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67c41f8f5e29d005f9b9c7edb9aa80c428df8411d932adbb74881e5c60218b6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88384781f23201a7c4418fe54a5843ccbf08b78a228cfc25db09acb62a387b58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c51eda72a4c8fd38be5487886dc840f10ba0090ffb71a72d609630cdfe7064e",
        "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_015pUE1m7BXH5wwKA2F664iU",
      "input": {
        "note": "Scene: white bowl left, blue bowl center-right, lemon and pear near right arm, plum just ahead of left gripper. Moving right arm over the pear to begin.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.35,
          "right_y": -0.01,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_015pUE1m7BXH5wwKA2F664iU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8043, 0.6132, -0.3939, -0.0135, -0.0311, 0.9991, -0.0639, 1.1137, 0.5632, -0.0639, -0.0608, -0.0635, 0.9993]\nstate[eef_state]: left_x=0.2947 left_y=0.0001 left_z=0.1785 left_yaw=0.0002 left_pitch=-0.0157 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3454 right_y=-0.0077 right_z=0.13 right_yaw=0.0097 right_pitch=-0.0454 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.4154, 7.0632, 1.8291, -0.0366, -0.0562, -0.022, -0.6496, -4.1094, 6.8581, 2.0586, -0.0269, 0.0317, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a909e3d30ced80b0475a7b7711f497f0b10e4f5496e170f388398303ff13021",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c7afd7d3aa2f0485e2d74d8c26bc94d44f2cab8a6f3b2fa149775c64fe7ce13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:81add3bd09a799f9e5adbf21234a462a06823e502617bd9a03cbba7290552f49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 3.369 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6132, -0.3824, -0.0143, -0.0296, 0.9992, -0.0227, 0.7994, 0.6186, -0.387, -0.02, -0.033, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.182 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.296 right_y=0.0004 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.7709, 9.8256, 1.8193, -0.105, 0.1587, -0.1001, -0.212, -1.6615, 9.1556, 1.8779, -0.0513, 0.1978, -0.0855]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8043, 0.6132, -0.3939, -0.0135, -0.0311, 0.9991, -0.0639, 1.1137, 0.5632, -0.0639, -0.0608, -0.0635, 0.9993]\nstate[eef_state]: left_x=0.2947 left_y=0.0001 left_z=0.1785 left_yaw=0.0002 left_pitch=-0.0157 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3454 right_y=-0.0077 right_z=0.13 right_yaw=0.0097 right_pitch=-0.0454 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.4154, 7.0632, 1.8291, -0.0366, -0.0562, -0.022, -0.6496, -4.1094, 6.8581, 2.0586, -0.0269, 0.0317, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a909e3d30ced80b0475a7b7711f497f0b10e4f5496e170f388398303ff13021",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c7afd7d3aa2f0485e2d74d8c26bc94d44f2cab8a6f3b2fa149775c64fe7ce13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81add3bd09a799f9e5adbf21234a462a06823e502617bd9a03cbba7290552f49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6wYKEAgSGAI4AUIIdGhpbmtpbmcSDLURGAebnhFuOuZh9BoMw8/Dqrexg0FZieLiIjCkaocrs1gyP2PuWaF3yDaoA8JtYl8Ox1QQM5ePcnDjLF97LBgqp28eX5XEKez4bf0qiAY2BieL44KjbP6TeFFFXHyiLMblKCPSJnyKdRcro+pCTveIhGtnU0QrklxG6O03k59wH4o2++mh3zeajT2sEaHs/F9CbOPce25i/5CnyaAhzRWcI14PD6GH0Jj3/lwPvf3gd0Phee455Dw4uYhcKTlro1IEuqvNQtnp1xbs8UiYJ4An5iwWqWAIYYEwYcX3EKre4dYQduO9NqSxqfW/iiUAjEgWtTjelYHMWNYHn6G03JyY0gUc351Su79ypydqWXpsyTPbzQqd4fDZx3ZXoOioCVAOXq8JdpRGaA9vsezeyFlv8f2EN+XmaHeEm0lKvgDgRc7OUaRbBazgQccGxjNsS3TkI8XyFwbeddM4eCCl6FLzRXs4p60QsXO5p9jkXANXGdo3rVHRKa+wDUEuvaiDtzxV9X+HuU7uga8rsxyAhjRNpvZopVsmeV9EI1Ok3sSFsx5PboZnq0yApahnt+dgUfEBY0GzK2XN+//YGOa+RXnXe1jGb0821RqvE+yLenoDF967oJtvrXYwl0ekrbn5xv9xb84tl+TW+yWMhY4V+vaXeKkvnA4mOpPxUzrJsG4mWa3DXjUKh5i58d4IzaQZKPd2ha1t49JWFu5Fug249M4NkSM2kn8cVXQC2/l/Ye9JjzClvs7WfMD2lOkSHzQpYDNBLv/1iMACA4Hx+lqausA4Sqb2TOefgMTXigYym+oTA/JND9plRlG3iIddYB82yiiIDQtI4IcTdfxrp8SqVxnTEev7XDxQ8iy1dAd3Ed+PGSEQWI42iHSHadenhyhaLk9bbmFz//Mfc1if4m+cTkelEjJ4Svtx2sCmRGUuyC+/dmKK2eMfmUlSvhYxywbdisni4AyNf1KSwMVsGFT+K74xVBKGoSALqjWeXiewanaZ+8Sg6cgowGE3dOuG6qwXPLaAQTOQsd+I2w+C0tBAoV3OeuLyUSOZ8pqJLXL2y8TkSytOC+fZdTnhBSLy/mGy86e5TEsk1YhSJUAsNtyiHTRB+AMBESb9cds4/Npwjhi8rNKW4vpq6hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KYGr8nExQZ4ebcicaKPsKw",
      "input": {
        "note": "Pear sits just ahead of the right jaws. Advancing 2 cm and descending to grasp its body.",
        "targets": {
          "right_x": 0.37,
          "right_y": -0.01,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01KYGr8nExQZ4ebcicaKPsKw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4057, -0.0135, -0.0311, 0.9991, -0.0639, 1.5768, 0.3908, 0.5346, -0.0616, -0.0711, 0.9993]\nstate[eef_state]: left_x=0.2933 left_y=0.0001 left_z=0.1751 left_yaw=0.0002 left_pitch=-0.0309 left_roll=-0.0011 left_gripper=0.9991 right_x=0.3654 right_y=-0.0089 right_z=0.0222 right_yaw=0.0146 right_pitch=-0.0822 right_roll=-0.0033 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.4154, 7.0085, 1.8584, -0.022, -0.0757, -0.0122, -0.3214, -5.7641, 4.6154, 1.9707, -0.1148, -0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcf2382163650aa52dd31a32a77000d9e616c0443944b8aef22910464fff2300",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1460703e19ae753d17ab71972a20ea1a0c4b49ba55c27577e3072816102a74c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d70102784969701564625bfd625b590daa06500247ae091d8dee2a66152d5e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 3.806 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6132, -0.3824, -0.0143, -0.0296, 0.9992, -0.0227, 0.7994, 0.6186, -0.387, -0.02, -0.033, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.182 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.296 right_y=0.0004 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.7709, 9.8256, 1.8193, -0.105, 0.1587, -0.1001, -0.212, -1.6615, 9.1556, 1.8779, -0.0513, 0.1978, -0.0855]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8043, 0.6132, -0.3939, -0.0135, -0.0311, 0.9991, -0.0639, 1.1137, 0.5632, -0.0639, -0.0608, -0.0635, 0.9993]\nstate[eef_state]: left_x=0.2947 left_y=0.0001 left_z=0.1785 left_yaw=0.0002 left_pitch=-0.0157 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3454 right_y=-0.0077 right_z=0.13 right_yaw=0.0097 right_pitch=-0.0454 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.4154, 7.0632, 1.8291, -0.0366, -0.0562, -0.022, -0.6496, -4.1094, 6.8581, 2.0586, -0.0269, 0.0317, -0.0855]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4057, -0.0135, -0.0311, 0.9991, -0.0639, 1.5768, 0.3908, 0.5346, -0.0616, -0.0711, 0.9993]\nstate[eef_state]: left_x=0.2933 left_y=0.0001 left_z=0.1751 left_yaw=0.0002 left_pitch=-0.0309 left_roll=-0.0011 left_gripper=0.9991 right_x=0.3654 right_y=-0.0089 right_z=0.0222 right_yaw=0.0146 right_pitch=-0.0822 right_roll=-0.0033 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.4154, 7.0085, 1.8584, -0.022, -0.0757, -0.0122, -0.3214, -5.7641, 4.6154, 1.9707, -0.1148, -0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcf2382163650aa52dd31a32a77000d9e616c0443944b8aef22910464fff2300",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1460703e19ae753d17ab71972a20ea1a0c4b49ba55c27577e3072816102a74c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d70102784969701564625bfd625b590daa06500247ae091d8dee2a66152d5e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQYKEAgSGAI4AUIIdGhpbmtpbmcSDCubwNl/EUaAWUD8fhoMXICLy5qDlXvV9rNHIjDBvmI8wGmX0drxOoYxaqTkHbN0Ryj4UCtCqTw8oapPPJ+vKsl2pQEAcnint97TQT4qsgVD0CUq+iaRT/5cSG/qqwbqurDf2acq0/UV0QttFr9YOaXXt8kEi5O/xuCG6pNg3NShqzdsZYEG9krYwpwm0GlqhaexecVeaBnJlPoCEF90Bxw6x0L79AIgQWufXi5DwneG6Huwi9vGhUPfK5mWXsO/9hGr7Q2emw+SgXppayAmPEx5EgpXhkMOrqX+SiHTvOuFkh62PD+x+IeC+BgZRPWwkfmnRl+H91z1I1bX0Fs2GssZKTcACPSDhW4QBZUnEjSnGsWnQi1gHPB8mFN6EvUiDT7U6x2tn6xldbPSRCGdz3vZFxw/P9NaDbX3NbC08YLyZ4xIRkGGkcIWk0d8ZAysrLI58T958eZ0K1lBkTu7/ncX2GfOgltVAv+UfI7UFxiVmNC7ElQ4d33c/6iNevDn8hllwyoOh3yIgx/R5IqHeGTdO3Yf3yPPDzxTBD8k5oRG0xGseqbzuONKnWQ0lh6sAgU0giJ2TKjX5/VU2IF7QqrpmmgMzvb3RTFED+UjFyiIiytLw6xDymKEJ0bGk1WvC0NMnkCbx8A7BeBnf4Y32zCIhLCAz/L/885qJHmlezBz0PIp68uTz/IWzGYfXKKjSAgusGisEQWaj/Wyh25poH0CzPSQ8yQirX9HUO6yeFIwuq+jNmfwbc7f17Dp52ZRp7FnQURuMvbrkid0aoOOuoXLcLqhr23YUES4mI3EwJMaMIkKGYGHHdc9euQ+ADjhs7pCYM7rdwAwTJ3nWAmX4awC+7ykTHPXsDWBt/1AD0kVtDHPqpSqZbl8vR+jiBLFExdosvj+YRcjQNeYBWZ++ZOkQFDtDxj1E1NbV09t83UiaDnBXAN/xafZgLntgphYcJEVeTlEsD1VVYc/f3vsqQczxZj5GsEgATwqkip3YKw8gHhpvy1ezTmKvMHEGQO0YM8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NuqyMJ3p28fCDuQG6yfzMz",
      "input": {
        "note": "Pear fills the view between the right jaws. Closing to grasp.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NuqyMJ3p28fCDuQG6yfzMz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4164, -0.0139, -0.0311, 0.9991, -0.0639, 1.5768, 0.3904, 0.5262, -0.0612, -0.0788, 0.0094]\nstate[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1729 left_yaw=0.0005 left_pitch=-0.0416 left_roll=-0.0006 left_gripper=0.9991 right_x=0.364 right_y=-0.0089 right_z=0.0204 right_yaw=0.0185 right_pitch=-0.091 right_roll=-0.0089 right_gripper=0.0094\nstate[joint_eff]: [0.0615, -1.2239, 7.0085, 1.8535, -0.0708, -0.0513, -0.0122, -0.0342, -5.4222, 4.7795, 1.746, -0.0464, 0.0464, 0.7741]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d358fa11c24ea3177967bc021bdc423863e9e68ce585e23d6ebd3eacf923239",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4e300d027c120040f1dc7d3aa3e3fddb14fc5cd361483ca5c8056e8892070fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6e5fc48350f6976dc1fb5fdce42c7dab72c143d83d40833185a7fb1412855aba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /messages · status 200 · 3.465 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]: [-0.02, 0.8043, 0.6132, -0.3939, -0.0135, -0.0311, 0.9991, -0.0639, 1.1137, 0.5632, -0.0639, -0.0608, -0.0635, 0.9993]\nstate[eef_state]: left_x=0.2947 left_y=0.0001 left_z=0.1785 left_yaw=0.0002 left_pitch=-0.0157 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3454 right_y=-0.0077 right_z=0.13 right_yaw=0.0097 right_pitch=-0.0454 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.4154, 7.0632, 1.8291, -0.0366, -0.0562, -0.022, -0.6496, -4.1094, 6.8581, 2.0586, -0.0269, 0.0317, -0.0855]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4057, -0.0135, -0.0311, 0.9991, -0.0639, 1.5768, 0.3908, 0.5346, -0.0616, -0.0711, 0.9993]\nstate[eef_state]: left_x=0.2933 left_y=0.0001 left_z=0.1751 left_yaw=0.0002 left_pitch=-0.0309 left_roll=-0.0011 left_gripper=0.9991 right_x=0.3654 right_y=-0.0089 right_z=0.0222 right_yaw=0.0146 right_pitch=-0.0822 right_roll=-0.0033 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.4154, 7.0085, 1.8584, -0.022, -0.0757, -0.0122, -0.3214, -5.7641, 4.6154, 1.9707, -0.1148, -0.0024, -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]: [-0.02, 0.8078, 0.6132, -0.4164, -0.0139, -0.0311, 0.9991, -0.0639, 1.5768, 0.3904, 0.5262, -0.0612, -0.0788, 0.0094]\nstate[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1729 left_yaw=0.0005 left_pitch=-0.0416 left_roll=-0.0006 left_gripper=0.9991 right_x=0.364 right_y=-0.0089 right_z=0.0204 right_yaw=0.0185 right_pitch=-0.091 right_roll=-0.0089 right_gripper=0.0094\nstate[joint_eff]: [0.0615, -1.2239, 7.0085, 1.8535, -0.0708, -0.0513, -0.0122, -0.0342, -5.4222, 4.7795, 1.746, -0.0464, 0.0464, 0.7741]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d358fa11c24ea3177967bc021bdc423863e9e68ce585e23d6ebd3eacf923239",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4e300d027c120040f1dc7d3aa3e3fddb14fc5cd361483ca5c8056e8892070fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e5fc48350f6976dc1fb5fdce42c7dab72c143d83d40833185a7fb1412855aba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1AcKEAgSGAI4AUIIdGhpbmtpbmcSDKHzvZcz8AXklhyk+BoMx/hd6OnoAPwLmcdVIjDMSyyX2dRtrMRKZEk29+CEbdmunNDcA1N1OzIJ7cNqTvlzPazmW7AhiY18kyQ7XEMq8QaLDCEj19ET4UwO1d9kN5cpglvJuCb4NXwLm3dNL5T6XyYGn+P3OpH+UimONP3PqG+9YdCAsPaZMQq5o0jxs8JtJIIBSDBeXjOq+/KSkaiT6jhR+NDVUzO6zxWBYp+sOuLBsB1dvDaDqfmGQsKiyKH/s97Yw99KrQDQuY0ZXFBjtuaPtB3WSxNYJWFT4ieogo8mwCdgcE9gURXd5h4OLsAdwMp5OcaR+3EshD35rI784w7lUUD1l0YG93kJEby5O0GzVDEj1OkntKVBbmTL7rGdR+R0ENU5cN0F8SHJ/KLlFFlU7omdxIQd/DPFRNsSIugJ1QqsYhaD5SQI8PQN+hbVJ8b1izRMQ+G2a7SEzs8gqlPj3Pzs1PlPRF2BJdIZjKcB7IZ39AGicbYPSOwF+HnGXwDSryG+fyCe5f9A9VV87cs//dofk+Bu5uweQD6YwBi22zPBUSedy6t372h3oZsiuWgsgarfp2F+U0Dvn9s+YWC608QO5bSh5Ze20ouvCsxdWoAfP1VJnHFNTkFaGQlcjORMIhPbFrGR07vUTc/npYfcVlXOM6CSijJbsbvY2jlv7i2153b8JUDx+egPMAEGqQ07GY+7w659yqVPCui0fcpyhKubtURXrk5ntbNoyPKzasYmXed4vuDFVyeNzkHN4+CtyyTD3waHsgr3wJCV6pgT+dzsz9KUkDLhiwM+S9g5aS7rviFBGsRugSjHJz+wsP8exfcsCCg0oO/eDbTf13brlkc2CY7a7bYjaXYkD4UdAe/PecNxrWduSTkbiBRq/McGTzit4mb/Q0FwZ3DY+EnST9/DdGXd8ItxWyZmTMuEDRuiuVjRu8gtUNJysUi+4vXZRpFv0ays8TRoI7ggdUcczmay5MRzXuijKF683mk61twroqciRD2olAQjRuiQK/w4CJc79I/egOFEF+sLuJ/xtlSKtrTNpBnlIJv78WC7IXGKGeCW43AJQKgMeoEBRQEIkXlDRaFS2bLlAid/zd+Opfwz0+Ynk0zLlWnp8RI1O4xIDtGK+hEaA31N0fBTBxz6ZHjigp3D4V2NrCWLKjLqctLZwM738fs5m5KXbbddVk/Top/fZBKj++l6P7SSBtz7lj+6MSXTO/STHhmvUL/VGCit98I8FZH3SaIgdW5I0X8pOmdIZzKfdX7rWI7O2RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017K2wZGo4dTEu97ULDPUgFT",
      "input": {
        "note": "Empty close: the jaws met just short of the pear. Opening and lifting slightly before advancing.",
        "targets": {
          "right_gripper": 1,
          "right_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_017K2wZGo4dTEu97ULDPUgFT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4236, -0.0139, -0.0315, 0.9991, -0.062, 1.4174, 0.437, 0.2863, -0.0616, -0.0883, 0.9985]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1715 left_yaw=0.0007 left_pitch=-0.0488 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3556 right_y=-0.0076 right_z=0.0453 right_yaw=0.0262 right_pitch=-0.1249 right_roll=-0.0132 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -1.1966, 7.1863, 1.7411, -0.0366, -0.0659, -0.0171, -0.4171, -5.9692, 8.1026, 1.707, -0.0415, 0.0806, -0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:387659114bde759abc0f4621b3cbaba02df15bd83ddfa85293c289fb2114073c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18ff040618d1c0c881af03b31a66b986f93956b368e6a6ba53b610eb65642bec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a8265a12b6f130a070b520752278861eff05264dcd9fc2dd91fd5b938bc0becb",
        "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 · 3.191 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]: [-0.02, 0.8078, 0.6132, -0.4057, -0.0135, -0.0311, 0.9991, -0.0639, 1.5768, 0.3908, 0.5346, -0.0616, -0.0711, 0.9993]\nstate[eef_state]: left_x=0.2933 left_y=0.0001 left_z=0.1751 left_yaw=0.0002 left_pitch=-0.0309 left_roll=-0.0011 left_gripper=0.9991 right_x=0.3654 right_y=-0.0089 right_z=0.0222 right_yaw=0.0146 right_pitch=-0.0822 right_roll=-0.0033 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.4154, 7.0085, 1.8584, -0.022, -0.0757, -0.0122, -0.3214, -5.7641, 4.6154, 1.9707, -0.1148, -0.0024, -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]: [-0.02, 0.8078, 0.6132, -0.4164, -0.0139, -0.0311, 0.9991, -0.0639, 1.5768, 0.3904, 0.5262, -0.0612, -0.0788, 0.0094]\nstate[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1729 left_yaw=0.0005 left_pitch=-0.0416 left_roll=-0.0006 left_gripper=0.9991 right_x=0.364 right_y=-0.0089 right_z=0.0204 right_yaw=0.0185 right_pitch=-0.091 right_roll=-0.0089 right_gripper=0.0094\nstate[joint_eff]: [0.0615, -1.2239, 7.0085, 1.8535, -0.0708, -0.0513, -0.0122, -0.0342, -5.4222, 4.7795, 1.746, -0.0464, 0.0464, 0.7741]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4236, -0.0139, -0.0315, 0.9991, -0.062, 1.4174, 0.437, 0.2863, -0.0616, -0.0883, 0.9985]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1715 left_yaw=0.0007 left_pitch=-0.0488 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3556 right_y=-0.0076 right_z=0.0453 right_yaw=0.0262 right_pitch=-0.1249 right_roll=-0.0132 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -1.1966, 7.1863, 1.7411, -0.0366, -0.0659, -0.0171, -0.4171, -5.9692, 8.1026, 1.707, -0.0415, 0.0806, -0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:387659114bde759abc0f4621b3cbaba02df15bd83ddfa85293c289fb2114073c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18ff040618d1c0c881af03b31a66b986f93956b368e6a6ba53b610eb65642bec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8265a12b6f130a070b520752278861eff05264dcd9fc2dd91fd5b938bc0becb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4gYKEAgSGAI4AUIIdGhpbmtpbmcSDPdFFZb1xKkx3RukiBoM+1OGqnQQvuZqSGLjIjDiDGlwS3GfB6Yvb3Z3PXD/vPSe0wqdFwMOO1ANWYFMV6EGLCJpXFQWKJGEgE5IwFIq/wXZyy9/UnnqmnSoVxeNWaPjGdJs5VrTW2mQopF1uAfsQ24BakkVsvXOOEQCPrwngxFE3sx1ugLnkza1ATjNDXpKvCEZbdxid6LUbJtLq74GbnS9gU8TnbrLIxTCdHW2zZGfG94MFbljaqx1WvffeaeIzsAcVqtaAz9tZXHNjD+tvHbCj5pQxnNJi4ukz8bW9k0lQZNwuhRiapZH1p+lLg2vtUwlHyu0sSQ8ZWtlbBPDHvBgZY7kXs78YYxbYw0kFsL2SLczTZNVgPWTD5VqWFL/UFFUk7Z/uzDJsG9P94Qx+JJuaxaFIeIygZvWjjtAZpaYZG4BT35SUD4Tbc3Xbe9sj0thsn27UiFpSrf6A5hM9QQo1kbyM44KOV4jqN2haqFna18CA19MtjxQh5og4Dt/fQ1Y1EHo6mohT0VGMCkcaCjLqZTlESht3EisDtAmYTzwMNJLrTZDgRi8UjufKit+8pY4tBAxLM4ggxuCLhhghp/JXc7v0Ibe43DPtDPWoUw9h+JQW07EcbBhUodbrDVHKtedvoddmcUJTJslLajfPuXDO/F9+o6ac3dmwnsUN2F5Hv+tjOEFTzzTT8QiJJezjfflx0vX1FMOVzEoqoIPdD/PR6dfEVZCJl8K5m50VK0++ahSYoIqgKEsqfOrhKm9DUueBsPZ1Lybzs9r1tLq2Q06Sl3hAABJlGBzpvsCN0CYglUqj1WJI2iUfGzPH1p8dEgHzlOMdG0aASVu8qJ6z9ix0UrqXxdApdCwvCZIZx06RnVJDYmvRR867u1k9Zo3po4a2LCW/dwV6p50RlLWvDERx2T18sGoKzzQ+yoXR5H3W6sFIiiqI0Y4Uh9f+7YWwOtDuEGN/KmS5d87Dyh+NGyNcjE07fbjVSP6oFRP8obp/np3NDSMLv/QtKNW162Q1qaIKL7IJHlvB9qONC4/43mTUDSqoUqdKOVBLFyGV6Ye4ttdE6/FL7eDkiKTjmIiR0K3jQ6C7PqW/x7fbiL6wep5dfa4jYBCcSZxjH8EKRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PpYSjL2wtBfqkKZdyuoV4e",
      "input": {
        "note": "Pear is several cm beyond the jaws. Advancing 5 cm and descending to straddle its wide base.",
        "targets": {
          "right_x": 0.41,
          "right_y": -0.005,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01PpYSjL2wtBfqkKZdyuoV4e",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4248, -0.0139, -0.0334, 0.9991, -0.041, 1.7058, 0.5842, 0.3771, -0.0574, -0.0898, 0.9985]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.17 left_yaw=0.0018 left_pitch=-0.0546 left_roll=-0.0022 left_gripper=0.9991 right_x=0.3975 right_y=-0.0026 right_z=0.0121 right_yaw=0.0451 right_pitch=-0.1753 right_roll=-0.0128 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -1.5111, 7.2137, 1.6777, -0.0659, -0.0611, -0.0171, -0.1846, -6.8991, 6.735, 1.9219, 0.0464, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d81eb55c826e2edcb5f074143b00b0b7bf4085d4a05e26e627afbce31ef7c40d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:061fc02f39c20c17f5bdafcef7a2c4de82b191ba6cd9ae7e905c0437a961ad67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d2a7f36b8ba1566fbda20ba83395593b4be7243b1ece024ba96592f8ff09f474",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 6.425 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]: [-0.02, 0.8078, 0.6132, -0.4164, -0.0139, -0.0311, 0.9991, -0.0639, 1.5768, 0.3904, 0.5262, -0.0612, -0.0788, 0.0094]\nstate[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1729 left_yaw=0.0005 left_pitch=-0.0416 left_roll=-0.0006 left_gripper=0.9991 right_x=0.364 right_y=-0.0089 right_z=0.0204 right_yaw=0.0185 right_pitch=-0.091 right_roll=-0.0089 right_gripper=0.0094\nstate[joint_eff]: [0.0615, -1.2239, 7.0085, 1.8535, -0.0708, -0.0513, -0.0122, -0.0342, -5.4222, 4.7795, 1.746, -0.0464, 0.0464, 0.7741]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4236, -0.0139, -0.0315, 0.9991, -0.062, 1.4174, 0.437, 0.2863, -0.0616, -0.0883, 0.9985]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1715 left_yaw=0.0007 left_pitch=-0.0488 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3556 right_y=-0.0076 right_z=0.0453 right_yaw=0.0262 right_pitch=-0.1249 right_roll=-0.0132 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -1.1966, 7.1863, 1.7411, -0.0366, -0.0659, -0.0171, -0.4171, -5.9692, 8.1026, 1.707, -0.0415, 0.0806, -0.0366]\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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4248, -0.0139, -0.0334, 0.9991, -0.041, 1.7058, 0.5842, 0.3771, -0.0574, -0.0898, 0.9985]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.17 left_yaw=0.0018 left_pitch=-0.0546 left_roll=-0.0022 left_gripper=0.9991 right_x=0.3975 right_y=-0.0026 right_z=0.0121 right_yaw=0.0451 right_pitch=-0.1753 right_roll=-0.0128 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -1.5111, 7.2137, 1.6777, -0.0659, -0.0611, -0.0171, -0.1846, -6.8991, 6.735, 1.9219, 0.0464, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d81eb55c826e2edcb5f074143b00b0b7bf4085d4a05e26e627afbce31ef7c40d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:061fc02f39c20c17f5bdafcef7a2c4de82b191ba6cd9ae7e905c0437a961ad67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2a7f36b8ba1566fbda20ba83395593b4be7243b1ece024ba96592f8ff09f474",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GFpdded54LhT3RVMETPNjU",
      "input": {
        "note": "Pear now fills the jaws down to the fingertips. Closing.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GFpdded54LhT3RVMETPNjU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4248, -0.0139, -0.0338, 0.9991, -0.0414, 1.7058, 0.5835, 0.3691, -0.0608, -0.0944, 0.0095]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.17 left_yaw=0.002 left_pitch=-0.0546 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3959 right_y=-0.0021 right_z=0.0105 right_yaw=0.0503 right_pitch=-0.1838 right_roll=-0.013 right_gripper=0.0095\nstate[joint_eff]: [-0.0479, -1.347, 6.9949, 1.7021, -0.0708, -0.0806, -0.0171, -0.0752, -6.7214, 5.0256, 1.6874, -0.0513, 0.0513, 0.6911]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb7d28c0f095aa8992eac0a32ffee0b5ed9184e156fff6822a961fe139f38843",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92daf704cab0813fe149c332bb6c52e41fcc2184ede5555f417a6c8197efcc36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34f062390db9b8245aaea9e7281094889405d4029d112372c4c10fa17293169e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 4.221 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]: [-0.02, 0.8078, 0.6132, -0.4236, -0.0139, -0.0315, 0.9991, -0.062, 1.4174, 0.437, 0.2863, -0.0616, -0.0883, 0.9985]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1715 left_yaw=0.0007 left_pitch=-0.0488 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3556 right_y=-0.0076 right_z=0.0453 right_yaw=0.0262 right_pitch=-0.1249 right_roll=-0.0132 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -1.1966, 7.1863, 1.7411, -0.0366, -0.0659, -0.0171, -0.4171, -5.9692, 8.1026, 1.707, -0.0415, 0.0806, -0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4248, -0.0139, -0.0334, 0.9991, -0.041, 1.7058, 0.5842, 0.3771, -0.0574, -0.0898, 0.9985]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.17 left_yaw=0.0018 left_pitch=-0.0546 left_roll=-0.0022 left_gripper=0.9991 right_x=0.3975 right_y=-0.0026 right_z=0.0121 right_yaw=0.0451 right_pitch=-0.1753 right_roll=-0.0128 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -1.5111, 7.2137, 1.6777, -0.0659, -0.0611, -0.0171, -0.1846, -6.8991, 6.735, 1.9219, 0.0464, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4248, -0.0139, -0.0338, 0.9991, -0.0414, 1.7058, 0.5835, 0.3691, -0.0608, -0.0944, 0.0095]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.17 left_yaw=0.002 left_pitch=-0.0546 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3959 right_y=-0.0021 right_z=0.0105 right_yaw=0.0503 right_pitch=-0.1838 right_roll=-0.013 right_gripper=0.0095\nstate[joint_eff]: [-0.0479, -1.347, 6.9949, 1.7021, -0.0708, -0.0806, -0.0171, -0.0752, -6.7214, 5.0256, 1.6874, -0.0513, 0.0513, 0.6911]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb7d28c0f095aa8992eac0a32ffee0b5ed9184e156fff6822a961fe139f38843",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92daf704cab0813fe149c332bb6c52e41fcc2184ede5555f417a6c8197efcc36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34f062390db9b8245aaea9e7281094889405d4029d112372c4c10fa17293169e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSoQoKEAgSGAI4AUIIdGhpbmtpbmcSDKrG/7IZiCkdUA7IjhoME4P+rJE/ShurjUw3IjAsjpmtLpuQnfWKiQXqvoaA3eMEr7P0FoP1cFgprd5KnQRJoRx1UkF5lFEB1gKOAmEqvgnNx54GjKFQ2YH9P1GMyguhZpdtf7bGNedNTNKcB6E7MbAOcaTRgKrS2wmbhoQllf6UxlBL3fpwwDngmccl8giW6SbvjAajcCJMnhD9IgRl3UpFWEKa4NImvPMWoBS5P7Kzlyrz0lhmwJua9/KKSJ9BazDeC9hBG+ccoTVe6HCLJrqZQxkUhbdNmDTlE8WNqYkAkmrOuOAdt5A5LYuvAhbsSkKpQW7qs28PyF+d0blb4f8Y6lFMxv0qK6Qk4Fsw5uVAlC2gC1POrC89c71qoCnh0YJsinLFenUutlGvlWabyF9TBA2z1Hyyp9QmcN1V2GyydeHgwq2aEqt3kunR/qpa3DbLkC8wEUJKX1mbtQszm2auNkK0kGLJI/1TbDuczGnBM0XxMk5SMfpf6gHE5f7saRJYc40LWpRicq6QV7Mze98JyhSSSIMciVayYq051sZxxOF+HNbNZ/FkKSBmPVOHnURIZ/uuoIS5dy3IkUyHx8omp+1RotuUJAIslAx7yD32OcOyaOe7qdrvXAYazppw3ley0Udpsrtd1bR5WYSHGmAeXjYdnH8Yc8Q7OFgr7gOuTSc/17KplPSwmhds49oD+RmoB9Ml3X56jHSWrE+Zp9JAYES+3HhzsTw1L1lhMTyzozsjCzW5I8BdFaYG2KB/F/JHHXVtPuhkR86w+U3LfrPtRDsfPmKX96oF99MfqKAr4AmBaryz74Nn71N/4ZtG82yN0MCMrq2f9uiGBkKXXFoz17Y/TQX5PHeqUFW8c38pgVM8bxEtVo8jnxOz5qgWZsrn5KGo54REUhyFjBN01nmTOrQwcatOXa6jmrlX7u4c+hrhuUxx4ZPqXqwYEco78FVP9MMTOGDmghij38cX3FKvvMvb5zfqCoJ11sRyc32vdmdnxznAuI27GGiujdiu+A9orcWWucV7WsAMVbD+XTP4SpHX0brrp+S6OeECDs19IsMMkecb97U2VqdYE5sZ2l9+lnJj20k40Aemn/mEaTzRxazHBeEJZGZaA0MuMB4HwIwEdl9kzIFLXN3RR0HJ2ndyl9fNqixq3FzigM/1XSGJqnlEzJwLpvlzqYFEC5DHt3J3nHaAPH79zDvKB+p6X3nCWgWbJRIpNL9rKcECSGnSlBJsNKQmsp2THInNeZlf54tPDfH+lhhWtttLGGKyCmUWgywHK7gZK5do6bymWTaG0sVcrN3a6rW4Md+HaIl1vzp5nh9YKaXcrxwsBKKVfNPp10ALIbnZhzG7iErG1JaspmBh9ITOSyhCefkHktfxreRf1XvcPGudAJe7jucJDpqFKBjaTfqGKi7UP3AFS48qjqhsEPEElddxWpoAG/KjH2Ua6J/lLvOvzW3eX+yZPy2HGwOglw2kl2tx62lFWrZAYVOcJS5F8jHuxo8927V9xGzSACUnALnmEej3Vkoe7HuYqMMPeWPDfxHuHPO6jwuEEHA7EjpsajV0pQhBnajsiBv1L5Ks0bvSo1k8UIEv2RNiNVJrKBL+bYxK6OmDMONL+0RXXhdyTLRJ/inDZKCk8n6jJjPoMWgfGTPUWfU/Pos/AlTD08/cRNQ9GQO8lkdsWbTw+O6DbSBdt/CPAOaGkotwZdHgxrbgRhz3yxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FQX66s3xkJsdnf13vwMxY4",
      "input": {
        "note": "Second empty close; the pear seems to get nudged forward as I approach low. Lifting to come down on it from above instead.",
        "targets": {
          "right_gripper": 1,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FQX66s3xkJsdnf13vwMxY4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4248, -0.0139, -0.0338, 0.9991, -0.041, 1.4303, 0.8017, -0.1589, -0.0612, -0.1093, 0.9985]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1699 left_yaw=0.002 left_pitch=-0.0549 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3907 right_y=-0.0016 right_z=0.1034 right_yaw=0.0598 right_pitch=-0.2181 right_roll=-0.0203 right_gripper=0.9985\nstate[joint_eff]: [-0.2256, -1.3333, 7.1179, 1.6777, -0.0415, -0.0757, -0.0171, -0.1299, -6.8034, 9.0598, 1.5165, -0.022, 0.105, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ccf166ddb093a24408046d0f03e13ff58d0e4ee4f8f37c22f7f9c3c99718784",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bcf3fd0d30a00f83f0956b128079291c2fb5285a2a854f737a7658fd3dee1f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aaaa8ab8d0fd8291f7b3933f98db8a51f458bc366332fa3a1ea6fefa8029c8c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /messages · status 200 · 3.434 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]: [-0.02, 0.8124, 0.6132, -0.4248, -0.0139, -0.0334, 0.9991, -0.041, 1.7058, 0.5842, 0.3771, -0.0574, -0.0898, 0.9985]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.17 left_yaw=0.0018 left_pitch=-0.0546 left_roll=-0.0022 left_gripper=0.9991 right_x=0.3975 right_y=-0.0026 right_z=0.0121 right_yaw=0.0451 right_pitch=-0.1753 right_roll=-0.0128 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -1.5111, 7.2137, 1.6777, -0.0659, -0.0611, -0.0171, -0.1846, -6.8991, 6.735, 1.9219, 0.0464, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4248, -0.0139, -0.0338, 0.9991, -0.0414, 1.7058, 0.5835, 0.3691, -0.0608, -0.0944, 0.0095]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.17 left_yaw=0.002 left_pitch=-0.0546 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3959 right_y=-0.0021 right_z=0.0105 right_yaw=0.0503 right_pitch=-0.1838 right_roll=-0.013 right_gripper=0.0095\nstate[joint_eff]: [-0.0479, -1.347, 6.9949, 1.7021, -0.0708, -0.0806, -0.0171, -0.0752, -6.7214, 5.0256, 1.6874, -0.0513, 0.0513, 0.6911]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4248, -0.0139, -0.0338, 0.9991, -0.041, 1.4303, 0.8017, -0.1589, -0.0612, -0.1093, 0.9985]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1699 left_yaw=0.002 left_pitch=-0.0549 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3907 right_y=-0.0016 right_z=0.1034 right_yaw=0.0598 right_pitch=-0.2181 right_roll=-0.0203 right_gripper=0.9985\nstate[joint_eff]: [-0.2256, -1.3333, 7.1179, 1.6777, -0.0415, -0.0757, -0.0171, -0.1299, -6.8034, 9.0598, 1.5165, -0.022, 0.105, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ccf166ddb093a24408046d0f03e13ff58d0e4ee4f8f37c22f7f9c3c99718784",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bcf3fd0d30a00f83f0956b128079291c2fb5285a2a854f737a7658fd3dee1f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aaaa8ab8d0fd8291f7b3933f98db8a51f458bc366332fa3a1ea6fefa8029c8c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlAgKEAgSGAI4AUIIdGhpbmtpbmcSDCKHUGX3lJq0AHLHKxoMNEubvzLiW2R+ckgaIjBHoK/sqjxGrCYwRw23qiAIki70UD3Ou/zfOWfoKXIvLpM+ER+2p73JOaKR5PEDpykqsQfH5Kh85tCrxCwF9ZWOOgThaQPbDkXUxWYGKSfB26LPXjYNT6Kpnzm4dXBSsXwZkoA6nD6DKdEOSInWKRx4cR8lvx6Nzc/Y1inoPMQsj3YF5642GRhLXosaWuwXweG43GbT4Ok3rBfrsITOAtJbGn+6XA9JA4ZBRRkLTED6RlG+HlmbcVTwaUtLo3yxQWAXof86cE0Om8JnrcIV37hHB4rXP2PPozyyW3QOi4RrL3qWhmqSX771fiRf386nm36lHvHCjrncJke9lrEn7btwZh5ygLm1sC/RkJvG9M+X7OafTTuwKyOZOqdIAk7FFR4DTm/ttDZIPqIebEpumMH2e5vbGsSF2BhLn1w5rDqmbDg4uvY7fVawry2PX6fMXi04Xw7favPJQxi+XVkl064jYuQI5lBdbZ8eUg5Yr4OySXC0MkjzdWFa6MJp2FsZzJ5ozH/h+Yp27BFlRijdxTxtIoeYWd68FkfKTwCTScmKS7ccxnkddigu5cUVttX1sjOu/qGyUeTsiYwId98HctpAlIVTr5D7vYghjhLcOIq95YScN/Oc8C/ZejuuEJ+Quf46O9RSD2KYaskQkb7fkT+RHjTxHk5+7wNAIyfxIAoxAcZsHR68vLtXhW//OlT/CvOAl4+zXcGEhuDqVbAI0hiX6yifUWDZe5xKOhXRWWwwUo9sI1jIYAKNqHg/h/sdGNKpzDNt4ebcvuSOJiRVLdUjHbiDWtEAykBw+W5FzckA4Tf4i1Pk63OjtsyC5TN3wRwRBDCttL7llgLxW/Zv9blzWhUfxA1kFBzIyeURlCYEdSEkkadUenFp2EW+AmQOdqX35XGmtipmLyOA+VCG/Hew16INjDxF6BNn9vAnEYBTd3yKjg7P/BJ8xQAv/4+8ZuCCQD6ANuc47tv/tuw0+LPXvSp3hQY0ZAoj1lWH78B4w0OhPkGLZyJLrjS1dkDiHTu8DYZ73DDD56sb7fo9q4Sm0tHpiMPpbaK3oyfpHp95H5ReUhvkPb/HigdwHB4Qgn8m8DLy1riu2vUY+rndUyTSLP4btSw0EJZUGdQzj3tyrDGurA/qyoflsMh5MjdswWLXyAtYGMMmvs4ASxktiyVflFQjPSirtpOCVFvCZebEsQZSyUZUUA23DQmDg4I5ncIP8X7lsb4v68aaJ4T4H33UZe51l5pHOzLxpzIn+m7TsQ9mI39LoSoUO1qEpfwzs7uUQh0fzhy9Q8z836f74k8ZhNnPmPb/39eCxmKOtksDY6QxZ9kYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015u4j7RToYKtcjx2b2oH8tP",
      "input": {
        "note": "Pear stands upright a few cm ahead of the jaws, just right of the blue bowl. Moving over it at height before descending.",
        "targets": {
          "right_pitch": 0,
          "right_x": 0.445,
          "right_y": 0.0,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_015u4j7RToYKtcjx2b2oH8tP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4248, -0.0139, -0.0338, 0.9991, -0.0391, 1.5814, 0.7895, 0.1905, -0.0765, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1699 left_yaw=0.002 left_pitch=-0.0549 left_roll=-0.0025 left_gripper=0.9991 right_x=0.4411 right_y=-0.0002 right_z=0.1046 right_yaw=0.0743 right_pitch=-0.032 right_roll=-0.0335 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -1.3333, 7.2274, 1.707, -0.0611, -0.0806, -0.0171, -0.1162, -7.0359, 6.0103, 2.0537, -0.0415, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f101aec106cbd691d8c7cb65c3bcb280c0457a9e9cee69a50051cc56fa8e827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e6ff031cff274553d0aad5db46913c07fe2da69f93cbe739c10cd50f7296e5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:23272694a896d5d4e48ab84d200e40b4fe51ace8ab17d7d5d3bbbc0c8b99989e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 3.578 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]: [-0.02, 0.8124, 0.6132, -0.4248, -0.0139, -0.0338, 0.9991, -0.0414, 1.7058, 0.5835, 0.3691, -0.0608, -0.0944, 0.0095]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.17 left_yaw=0.002 left_pitch=-0.0546 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3959 right_y=-0.0021 right_z=0.0105 right_yaw=0.0503 right_pitch=-0.1838 right_roll=-0.013 right_gripper=0.0095\nstate[joint_eff]: [-0.0479, -1.347, 6.9949, 1.7021, -0.0708, -0.0806, -0.0171, -0.0752, -6.7214, 5.0256, 1.6874, -0.0513, 0.0513, 0.6911]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4248, -0.0139, -0.0338, 0.9991, -0.041, 1.4303, 0.8017, -0.1589, -0.0612, -0.1093, 0.9985]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1699 left_yaw=0.002 left_pitch=-0.0549 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3907 right_y=-0.0016 right_z=0.1034 right_yaw=0.0598 right_pitch=-0.2181 right_roll=-0.0203 right_gripper=0.9985\nstate[joint_eff]: [-0.2256, -1.3333, 7.1179, 1.6777, -0.0415, -0.0757, -0.0171, -0.1299, -6.8034, 9.0598, 1.5165, -0.022, 0.105, -0.1685]\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 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4248, -0.0139, -0.0338, 0.9991, -0.0391, 1.5814, 0.7895, 0.1905, -0.0765, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1699 left_yaw=0.002 left_pitch=-0.0549 left_roll=-0.0025 left_gripper=0.9991 right_x=0.4411 right_y=-0.0002 right_z=0.1046 right_yaw=0.0743 right_pitch=-0.032 right_roll=-0.0335 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -1.3333, 7.2274, 1.707, -0.0611, -0.0806, -0.0171, -0.1162, -7.0359, 6.0103, 2.0537, -0.0415, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f101aec106cbd691d8c7cb65c3bcb280c0457a9e9cee69a50051cc56fa8e827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e6ff031cff274553d0aad5db46913c07fe2da69f93cbe739c10cd50f7296e5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23272694a896d5d4e48ab84d200e40b4fe51ace8ab17d7d5d3bbbc0c8b99989e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSlgcKEAgSGAI4AUIIdGhpbmtpbmcSDLEDluhH62zIIUuMXxoMg2WKY/BdlMrsbiU7IjBE6AxTDlLe1vPMXSedf0i1Fdm/6+nJ/+o1H0vUZgB9CtRzjD7sKxCNaJYgD7I6v0wqswYrWj1eC4QdVC9rspl3zkKk736cxmsL+EITYi0AIoM+PfHLQm+DhGQzc+iQM12KEeVRktDCcdOUuowIwPTq/aprKASZ19X1ybmQuMkK0lqYZjXBVlgbUeHmZYEbrY+2zTsqKQ8yIYW3gUAzg909LzXbSQWLiglbs4asrpewyDDdBA+LxwSd7jXxYT45d1fKxADTSbFqlqWS1JlVZxOFCqXui3ZgtrWtqIIvCD4ggawTNFDwhMeeVdC9UNktD/xk7lugx0lVfYBJ+g5C83hK++mQNdeggMIsq1up/3xYBf3yJbAWA8JhrAT4rSxbqlVmSQpi/eXHMu1/nR85NVbwX9kRARhPS66iPp6+BqjFqOCYMFT5uoy+66iUlnfzzudwDElxHPUbwx+89ZiaTqNCLZMRlq2dvnYBKNDiDpPytIUXp89/Aeg4/NxqeUGH9oMS2e05S01a6akw7L93NIaT34080LwJPl0tl7iZIsC9Zhz4JWPlVaedxIZPOr1TAEeYqbBb0QL6O05lRC+7BFeRmiO1s9Nqz54GqIYELnxXnLxug2ISH0lIZHcL0Ai/FkW8TwUfFqP1bEUphwSQPnvXhAJ3XttJGPcCRvn0mpwL+Mz/6cIIEpIjHo5Id6pcnXCa715w+Wbk3d5yjySwwRqjqR46N87BvtOQgdmPVP0Eg82Yh5fT0KDtywmL0qfXCPbbwHbsiIpEUjvoiJ5Ur+XN6tYG8zFFiEVHdprG/0F1xBYK94nzP9uK1FrS13RtpvPrijuQ/ckZ2ADtt3em+AB8ypZv0p63TyAL1CUB//ASqrjvkW5yn/2ahi9LTT+lT8qgWWd07oPhN0QTMjLJKNojngsJhT/U7fPAl7s2ZFFmxkjSQVutUkr5rYVSVwV9GGQGLTCaunf/9Jz0EmhXaZAjqwSUBWIMoz1rKu+pjju/HAiGzf48aNBATpWZY26fjbv/654ZXB2nkBoaCDWzTMp7qE6J3ujc+1tF3iQPUun3/yLDwAb9exHKNKvsJsalH5Q8LXYVhk4YQ3XPA3H61MqJ9m4/ap/DT2KI+0h1dziejFPP5m/kHhLI+igs4ejA9w794WQdqLwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SpwxFxiXqPZkgNy9rTXv5n",
      "input": {
        "note": "Pear is now directly under the jaws. Descending straight down around it.",
        "targets": {
          "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_01SpwxFxiXqPZkgNy9rTXv5n",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4252, -0.0139, -0.0334, 0.9991, -0.0357, 1.7763, 0.6769, 0.4404, -0.0799, -0.1162, 0.9985]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1698 left_yaw=0.0018 left_pitch=-0.0553 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4337 right_y=0.0022 right_z=0.0288 right_yaw=0.0827 right_pitch=-0.0891 right_roll=-0.0273 right_gripper=0.9985\nstate[joint_eff]: [-0.3487, -1.1966, 7.0769, 1.6874, -0.0366, -0.0562, -0.0122, -0.4308, -7.8017, 5.2034, 1.9267, -0.0317, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40434b293e333b0700f0b519ff69d5174f6abe6f164b1d240a8bfe554700775f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a36043a372f2490428d1b42e7ee41390a708e399d168bea34dc2c3de8718b6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f181c227478f411f1f86d670e32f91086959821463aa1f71f021b672e47c2b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 3.875 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]: [-0.02, 0.8127, 0.6132, -0.4248, -0.0139, -0.0338, 0.9991, -0.041, 1.4303, 0.8017, -0.1589, -0.0612, -0.1093, 0.9985]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1699 left_yaw=0.002 left_pitch=-0.0549 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3907 right_y=-0.0016 right_z=0.1034 right_yaw=0.0598 right_pitch=-0.2181 right_roll=-0.0203 right_gripper=0.9985\nstate[joint_eff]: [-0.2256, -1.3333, 7.1179, 1.6777, -0.0415, -0.0757, -0.0171, -0.1299, -6.8034, 9.0598, 1.5165, -0.022, 0.105, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4248, -0.0139, -0.0338, 0.9991, -0.0391, 1.5814, 0.7895, 0.1905, -0.0765, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1699 left_yaw=0.002 left_pitch=-0.0549 left_roll=-0.0025 left_gripper=0.9991 right_x=0.4411 right_y=-0.0002 right_z=0.1046 right_yaw=0.0743 right_pitch=-0.032 right_roll=-0.0335 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -1.3333, 7.2274, 1.707, -0.0611, -0.0806, -0.0171, -0.1162, -7.0359, 6.0103, 2.0537, -0.0415, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4252, -0.0139, -0.0334, 0.9991, -0.0357, 1.7763, 0.6769, 0.4404, -0.0799, -0.1162, 0.9985]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1698 left_yaw=0.0018 left_pitch=-0.0553 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4337 right_y=0.0022 right_z=0.0288 right_yaw=0.0827 right_pitch=-0.0891 right_roll=-0.0273 right_gripper=0.9985\nstate[joint_eff]: [-0.3487, -1.1966, 7.0769, 1.6874, -0.0366, -0.0562, -0.0122, -0.4308, -7.8017, 5.2034, 1.9267, -0.0317, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40434b293e333b0700f0b519ff69d5174f6abe6f164b1d240a8bfe554700775f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a36043a372f2490428d1b42e7ee41390a708e399d168bea34dc2c3de8718b6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f181c227478f411f1f86d670e32f91086959821463aa1f71f021b672e47c2b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MDbKCXpKUw9hgheKv8YoTT",
      "input": {
        "note": "Pear is between the jaws right against the fingers. Closing.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MDbKCXpKUw9hgheKv8YoTT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4252, -0.0139, -0.0338, 0.9991, -0.0357, 1.7912, 0.6685, 0.4702, -0.0841, -0.1211, 0.7215]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1698 left_yaw=0.002 left_pitch=-0.0553 left_roll=-0.0025 left_gripper=0.9991 right_x=0.434 right_y=0.003 right_z=0.0255 right_yaw=0.0888 right_pitch=-0.0824 right_roll=-0.0295 right_gripper=0.7215\nstate[joint_eff]: [-0.0615, -1.3333, 7.0496, 1.7021, -0.0513, -0.0562, -0.0122, -0.1709, -8.8957, 5.9966, 1.3455, -0.0122, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5f4833f389dd92c1592e1258a957057cf0d242fb84b5742c9d47cf77ca003da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47e1f32a66d70efdf1d899acce81b62a8f2536be6f9efce800964c90ccfc4dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a1e259523c58993768dbc80b98af6845e10ae17c9ae052554baeed1b2da99006",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 3.143 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]: [-0.02, 0.8127, 0.6132, -0.4248, -0.0139, -0.0338, 0.9991, -0.0391, 1.5814, 0.7895, 0.1905, -0.0765, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1699 left_yaw=0.002 left_pitch=-0.0549 left_roll=-0.0025 left_gripper=0.9991 right_x=0.4411 right_y=-0.0002 right_z=0.1046 right_yaw=0.0743 right_pitch=-0.032 right_roll=-0.0335 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -1.3333, 7.2274, 1.707, -0.0611, -0.0806, -0.0171, -0.1162, -7.0359, 6.0103, 2.0537, -0.0415, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4252, -0.0139, -0.0334, 0.9991, -0.0357, 1.7763, 0.6769, 0.4404, -0.0799, -0.1162, 0.9985]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1698 left_yaw=0.0018 left_pitch=-0.0553 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4337 right_y=0.0022 right_z=0.0288 right_yaw=0.0827 right_pitch=-0.0891 right_roll=-0.0273 right_gripper=0.9985\nstate[joint_eff]: [-0.3487, -1.1966, 7.0769, 1.6874, -0.0366, -0.0562, -0.0122, -0.4308, -7.8017, 5.2034, 1.9267, -0.0317, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4252, -0.0139, -0.0338, 0.9991, -0.0357, 1.7912, 0.6685, 0.4702, -0.0841, -0.1211, 0.7215]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1698 left_yaw=0.002 left_pitch=-0.0553 left_roll=-0.0025 left_gripper=0.9991 right_x=0.434 right_y=0.003 right_z=0.0255 right_yaw=0.0888 right_pitch=-0.0824 right_roll=-0.0295 right_gripper=0.7215\nstate[joint_eff]: [-0.0615, -1.3333, 7.0496, 1.7021, -0.0513, -0.0562, -0.0122, -0.1709, -8.8957, 5.9966, 1.3455, -0.0122, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5f4833f389dd92c1592e1258a957057cf0d242fb84b5742c9d47cf77ca003da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47e1f32a66d70efdf1d899acce81b62a8f2536be6f9efce800964c90ccfc4dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1e259523c58993768dbc80b98af6845e10ae17c9ae052554baeed1b2da99006",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmggKEAgSGAI4AUIIdGhpbmtpbmcSDMG4/0xAdJntncBlQhoMTp8s8prrjNr+Sr7DIjBwoq6ygKX4p/+5bE9qiX4/G2ITJG51x4/aHYy8b/qlOmzCdGuDuCvjqlcW9HA5asgqtwdSuN1XpCcMeqVYw7c7ERKe/mpFwv6EzriqF0baItBG4l4z7o781Timib5tWiZ9fOj2++7WXNpNlJ/J89vo0CJapkucyWCdBWn4DZfv2+lSCPDc9vbCV5Ba2Z3AtlawI6wWAUOLUcVu49fyvEDRiLAAYctQlx65zo3+8vEYZ40N+aOnHS9V7Mt0Q5BmQRBZH8G9kEh4hGuU6QbI6aHxBaVViP87NB3YRjc9z5heiU1vNu2VlRuXza2yhlu/FbXHCYvWFcZVq6XLme3sSULw6GXUZcWirK/9qL94Nk10nUcTrNGbeAoH3oltBCXfssDGzLOSPN2Vpq/IqAso8+1nBx0to2Bomx61ODZi1JAMZ0DH+OAoOG5A+/+dOUxNasKSpujlDeVBuLIMEvV0+5prKlwquK3DTKmhPz4zoM1aFmvU42ahIGtlV3mto1ZvDEcTFW/uqqbkmEZL6GtOkIZ61BNk5w6o37JG8KB6nhHxtdRQp5NZM9k7Qt98aQuiqT6Qr+gY1CXjdQD9Vjcv0HaKcXmzJ+36Iea6RhVs1qryL6NcVFPbmOZ95sRI8R2ZMnrqAPsP9KgOuQ7+Pf6iitYZ0frYHEb73W6jyT/DKQmnmxIBdpiwSz4uWq0h+tvuAhQ9XJAtD8HR+Ng9PuEBNEArjO+YhpZNe8Hcj8yLvot+0AFcWKNSOfw8ZnfdWoj32GhPbtmQ0KUs/cLBfNrX993J0DXrz50HjmxVi7o04VVrKTWS+HyK/IuucgsQVNFN1kDMWU5EQH1EooJUrtgOwaVf2JBEDWYQvnPkP1hRuAfQoH4hIVkXiJjnHj+OhvFtFJWeK4t7j/POfeB7H9MmtLPmEX9Lxh4yi0otkF17cNp8Vw6rl2nnB55RK6wmmNf22iAxEJw2gey9NBrJBqBXufjkPyUg8X0VFvXZAwAky2K91BYrb0MNb7T0+vs52ZnWYXM6aUIynat+RSgVZcVgar8qc3APw4pHLJ4MeT/IXmensLMY0a0D/ptiBs11rDLtlMSJ3RUpsOzUqd+C6mfGeJ5l0e/yUpPdbFikMafFaT0ywDcUDL4geD97ZLR+zeutxFfr+Q7V2BQK3TvgQInbxl5T1NJmbQOwhjy5oJNKnoyN47LVisVPDznm+dRGhAJQENC68+ypgzs9iGPnT2YNUarOzU8Xdkjichdexj5WBaeiBSX84kNrOvpW3VhJJo+UVnlf71JjlwT4m9eqk3CkAdIkGbCorwkArObiY9TtTs3fYMX7qMcH+IkFrDoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019JjPKhcRA3Q5BhMZ3n4Ym5",
      "input": {
        "note": "Gripper settled at 0.72, pear grasped. Lifting it clear of the blue bowl's rim.",
        "targets": {
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019JjPKhcRA3Q5BhMZ3n4Ym5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4267, -0.0139, -0.0334, 0.9991, -0.0345, 1.4952, 0.9569, -0.1581, -0.0837, -0.1246, 0.7256]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1695 left_yaw=0.0018 left_pitch=-0.0568 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4305 right_y=0.0035 right_z=0.1434 right_yaw=0.0921 right_pitch=-0.126 right_roll=-0.0269 right_gripper=0.7256\nstate[joint_eff]: [-0.2803, -1.2923, 7.0085, 1.6777, -0.0464, -0.0513, -0.0122, -0.4581, -8.4991, 9.5658, 1.7363, -0.0562, 0.022, 1.0183]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ec1c7492c821055af35979dd5ee2fa4b3395111b8432001e8d0ab2b60e005ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9aefceae65c18813ffc7add8a85e204e5e3760d11b274122762c5ddea4e0e1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29c929954078c0d86853737aa25c811d4d4b5447c23519af8667405f7fea8317",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /messages · status 200 · 3.994 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]: [-0.02, 0.8127, 0.6132, -0.4252, -0.0139, -0.0334, 0.9991, -0.0357, 1.7763, 0.6769, 0.4404, -0.0799, -0.1162, 0.9985]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1698 left_yaw=0.0018 left_pitch=-0.0553 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4337 right_y=0.0022 right_z=0.0288 right_yaw=0.0827 right_pitch=-0.0891 right_roll=-0.0273 right_gripper=0.9985\nstate[joint_eff]: [-0.3487, -1.1966, 7.0769, 1.6874, -0.0366, -0.0562, -0.0122, -0.4308, -7.8017, 5.2034, 1.9267, -0.0317, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4252, -0.0139, -0.0338, 0.9991, -0.0357, 1.7912, 0.6685, 0.4702, -0.0841, -0.1211, 0.7215]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1698 left_yaw=0.002 left_pitch=-0.0553 left_roll=-0.0025 left_gripper=0.9991 right_x=0.434 right_y=0.003 right_z=0.0255 right_yaw=0.0888 right_pitch=-0.0824 right_roll=-0.0295 right_gripper=0.7215\nstate[joint_eff]: [-0.0615, -1.3333, 7.0496, 1.7021, -0.0513, -0.0562, -0.0122, -0.1709, -8.8957, 5.9966, 1.3455, -0.0122, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4267, -0.0139, -0.0334, 0.9991, -0.0345, 1.4952, 0.9569, -0.1581, -0.0837, -0.1246, 0.7256]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1695 left_yaw=0.0018 left_pitch=-0.0568 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4305 right_y=0.0035 right_z=0.1434 right_yaw=0.0921 right_pitch=-0.126 right_roll=-0.0269 right_gripper=0.7256\nstate[joint_eff]: [-0.2803, -1.2923, 7.0085, 1.6777, -0.0464, -0.0513, -0.0122, -0.4581, -8.4991, 9.5658, 1.7363, -0.0562, 0.022, 1.0183]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ec1c7492c821055af35979dd5ee2fa4b3395111b8432001e8d0ab2b60e005ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9aefceae65c18813ffc7add8a85e204e5e3760d11b274122762c5ddea4e0e1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29c929954078c0d86853737aa25c811d4d4b5447c23519af8667405f7fea8317",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R1JaRous2jzsH3P4TYtzTE",
      "input": {
        "note": "Pear lifted. Carrying it left over the blue bowl, which is ~10 cm to the arm's left.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.1,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01R1JaRous2jzsH3P4TYtzTE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4274, -0.0135, -0.0338, 0.9991, 0.2665, 1.5604, 1.0534, -0.2481, 0.1162, 0.033, 0.7262]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1694 left_yaw=0.0017 left_pitch=-0.0576 left_roll=-0.0027 left_gripper=0.9991 right_x=0.4284 right_y=0.0994 right_z=0.1413 right_yaw=0.1368 right_pitch=-0.1817 right_roll=-0.0415 right_gripper=0.7262\nstate[joint_eff]: [-0.2803, -1.3197, 7.1863, 1.6972, -0.0317, -0.0659, -0.0171, 0.1573, -7.1316, 9.5658, 1.7363, 0.1587, 0.1832, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59155942a4bcf1c27f4c5265446d0798fe0d1dcb08a0bd70984797801fee8a45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afa2324dfdec54fb7f2542728e958cf3410d487431cc2f3c7aa6815d37135584",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a36d9ab27e56e6ce22d4f8c69a4e98a8ba3e4f8f5412582daa2e4349e54a8ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 3.489 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]: [-0.02, 0.8127, 0.6132, -0.4252, -0.0139, -0.0338, 0.9991, -0.0357, 1.7912, 0.6685, 0.4702, -0.0841, -0.1211, 0.7215]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1698 left_yaw=0.002 left_pitch=-0.0553 left_roll=-0.0025 left_gripper=0.9991 right_x=0.434 right_y=0.003 right_z=0.0255 right_yaw=0.0888 right_pitch=-0.0824 right_roll=-0.0295 right_gripper=0.7215\nstate[joint_eff]: [-0.0615, -1.3333, 7.0496, 1.7021, -0.0513, -0.0562, -0.0122, -0.1709, -8.8957, 5.9966, 1.3455, -0.0122, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4267, -0.0139, -0.0334, 0.9991, -0.0345, 1.4952, 0.9569, -0.1581, -0.0837, -0.1246, 0.7256]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1695 left_yaw=0.0018 left_pitch=-0.0568 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4305 right_y=0.0035 right_z=0.1434 right_yaw=0.0921 right_pitch=-0.126 right_roll=-0.0269 right_gripper=0.7256\nstate[joint_eff]: [-0.2803, -1.2923, 7.0085, 1.6777, -0.0464, -0.0513, -0.0122, -0.4581, -8.4991, 9.5658, 1.7363, -0.0562, 0.022, 1.0183]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4274, -0.0135, -0.0338, 0.9991, 0.2665, 1.5604, 1.0534, -0.2481, 0.1162, 0.033, 0.7262]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1694 left_yaw=0.0017 left_pitch=-0.0576 left_roll=-0.0027 left_gripper=0.9991 right_x=0.4284 right_y=0.0994 right_z=0.1413 right_yaw=0.1368 right_pitch=-0.1817 right_roll=-0.0415 right_gripper=0.7262\nstate[joint_eff]: [-0.2803, -1.3197, 7.1863, 1.6972, -0.0317, -0.0659, -0.0171, 0.1573, -7.1316, 9.5658, 1.7363, 0.1587, 0.1832, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59155942a4bcf1c27f4c5265446d0798fe0d1dcb08a0bd70984797801fee8a45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afa2324dfdec54fb7f2542728e958cf3410d487431cc2f3c7aa6815d37135584",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a36d9ab27e56e6ce22d4f8c69a4e98a8ba3e4f8f5412582daa2e4349e54a8ab",
        "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+wcKEAgSGAI4AUIIdGhpbmtpbmcSDB74lLwbnOu4oHrx7hoMB7QkWTgTXN6CsQdSIjBC8hcYfxIYJP0dqW9r6xGK2N5EEe+KmOJF32A2OeEQCy73wXfGG6nkLL1YUob5gg8qmAfhIHipF1DBH0RGWdmx0qdKJkju3X/jv/FG/1zDfWNXRDm5sFcA4KjqLWgupqhVmOH34eAER0bEHrM3PVd6Is7nnBu5AeZwht3XUTgy7otcRXkRUdA5+LJ1EcTMSlsCItY5vpApcR3jkdXhI/Jh7F2hLZC5xgc5fOMFNzNuuxOqeiOu4NqWvV6eywXSFI/mnmdcGzXGjXC7t9C8hlAZVSYAGu0JiRtpknqDdQsfxtsfayQuf95dGGrV2ZllSZ8pe5CzeDyG5+PaE8c/1+bdHQMYzmMuV5gWx26iIJwD5b2k+43BqlyIV+l8gYNlGWikR24w8v2FOnuJZRyXJnSG3Y0wJenblF0yjUCZgarJhlDD0i0BYry2s0UNTgz+9zIT2nSZR+RtwqwZ33eCHPvVlt72hHrrl0K+X0fD0hE5gyCGCAQwklKIbRieSDMnEcwPUMVI5YAP3Kvsbr6/UU8So6NPsLQY+GqJmScO8b8SnBRipKw8G8M69HfaOMwxReN9erxynizQT0YCYQbFUcA93WPxrYfd6XgI/uIUDBjsoU3WvtKedWw6bUlmM6aMEFf8oYY4KAVv+GdIYdNEDzY/s/KpIk3pKGE734oY3p0Y/Th3cXlKvDsPmYq5sk1zRa/58vYKbZCf8B5roY4qKoGzmVZUby5wZv8WaccSXWcqYsEB3gnnQq6XpZYAVdO7xvVmkPE2GFyGn/7GEuZZ6LLOAuOr+WTta5l/UmPZcqKreSrR3kIrPYYFTCxi7SKhq3ov/7xUoeRkK5las6pSJIFWK/IIz7g3y7abB1BFtbd42/qe0Pp8hrHJxzzrrLHNdzloVU2uCNMyRpPbFisdMeEfCJxQyHSce4n6N6LSdKJOhQjNJ5iI25ylWJFAWyxf47BBEJIbn+21IsmKg6CSS0Cg8O8uOQr4+e14EV77Rw7lWTN0bmqeNCZ6Hbm3t2dtpqELV/y/c3JaTDbsT82SbkIbpsBe3NlOwdwPb2Va6KqL/wJdmXTJoYJVVN30rQ8mzKv6aoPiviChhNTfUx21VFsV7jJ/EY22fkKGjIl9739acRoA8OP28Q0f23oHC/icfUoiuCURb2+H2/HGkl2Few7WAlogCdQ04tGMT9sE6knNhbAeD3MCz7PVaZzsyoKhTnXcsKm9wOGbUpM6b8+XgLT8GW4Qk0AdcMNfnsUg4VT6Gd74SaEqZL8FFYgPw3ccDgUNq10pZGbO+Scy3BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DpQK3thvEiZgRQtUWNymzx",
      "input": {
        "note": "Pear is roughly above the blue bowl (bowl visible just under/left of it). Shifting slightly left and lowering to release gently.",
        "targets": {
          "right_y": 0.12,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DpQK3thvEiZgRQtUWNymzx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4278, -0.0139, -0.0334, 0.9991, 0.3161, 1.6245, 0.9821, -0.16, 0.149, 0.0517, 0.7295]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1693 left_yaw=0.0018 left_pitch=-0.058 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4219 right_y=0.1141 right_z=0.101 right_yaw=0.1466 right_pitch=-0.2245 right_roll=-0.0582 right_gripper=0.7295\nstate[joint_eff]: [-0.253, -0.9778, 6.9949, 1.663, -0.0415, -0.0317, -0.0122, 0.3487, -8.0205, 6.7897, 1.956, 0.1148, 0.1734, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5850fa2e3ee2e04ff64ed5f30b0f32787ee40579fe9940bc79d28e248ca1315b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4aca71bba973ba91cf4fe27e3d57a25f4183f3fe8714f3139eddd03e5b2555ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c56a544af4181fb52fa5d6c7cbc935d4a12fbb1e1e8ac6665c9d49e08490918",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 4.188 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]: [-0.02, 0.8127, 0.6132, -0.4267, -0.0139, -0.0334, 0.9991, -0.0345, 1.4952, 0.9569, -0.1581, -0.0837, -0.1246, 0.7256]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1695 left_yaw=0.0018 left_pitch=-0.0568 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4305 right_y=0.0035 right_z=0.1434 right_yaw=0.0921 right_pitch=-0.126 right_roll=-0.0269 right_gripper=0.7256\nstate[joint_eff]: [-0.2803, -1.2923, 7.0085, 1.6777, -0.0464, -0.0513, -0.0122, -0.4581, -8.4991, 9.5658, 1.7363, -0.0562, 0.022, 1.0183]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4274, -0.0135, -0.0338, 0.9991, 0.2665, 1.5604, 1.0534, -0.2481, 0.1162, 0.033, 0.7262]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1694 left_yaw=0.0017 left_pitch=-0.0576 left_roll=-0.0027 left_gripper=0.9991 right_x=0.4284 right_y=0.0994 right_z=0.1413 right_yaw=0.1368 right_pitch=-0.1817 right_roll=-0.0415 right_gripper=0.7262\nstate[joint_eff]: [-0.2803, -1.3197, 7.1863, 1.6972, -0.0317, -0.0659, -0.0171, 0.1573, -7.1316, 9.5658, 1.7363, 0.1587, 0.1832, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4278, -0.0139, -0.0334, 0.9991, 0.3161, 1.6245, 0.9821, -0.16, 0.149, 0.0517, 0.7295]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1693 left_yaw=0.0018 left_pitch=-0.058 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4219 right_y=0.1141 right_z=0.101 right_yaw=0.1466 right_pitch=-0.2245 right_roll=-0.0582 right_gripper=0.7295\nstate[joint_eff]: [-0.253, -0.9778, 6.9949, 1.663, -0.0415, -0.0317, -0.0122, 0.3487, -8.0205, 6.7897, 1.956, 0.1148, 0.1734, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5850fa2e3ee2e04ff64ed5f30b0f32787ee40579fe9940bc79d28e248ca1315b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4aca71bba973ba91cf4fe27e3d57a25f4183f3fe8714f3139eddd03e5b2555ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c56a544af4181fb52fa5d6c7cbc935d4a12fbb1e1e8ac6665c9d49e08490918",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JAnKDCbKKokFXhpxWcxWsf",
      "input": {
        "note": "Pear held over the blue bowl at low height. Releasing it.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01JAnKDCbKKokFXhpxWcxWsf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4309, -0.0135, -0.0338, 0.9991, 0.3309, 1.6623, 0.9524, -0.1204, 0.1493, 0.0605, 0.9956]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1687 left_yaw=0.0017 left_pitch=-0.061 left_roll=-0.0026 left_gripper=0.9991 right_x=0.418 right_y=0.1196 right_z=0.0802 right_yaw=0.1552 right_pitch=-0.2517 right_roll=-0.0572 right_gripper=0.9956\nstate[joint_eff]: [-0.2393, -1.1145, 6.9949, 1.6923, -0.0513, -0.0562, -0.0122, -0.4855, -9.2376, 7.1863, 1.7998, 0.105, 0.0757, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33f6e7fffd33218e332337054a730e58b582cfc0ced3057809304f1982a5146d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a36eb2f5a577b2e58928037246ff20f0010a5b4c32521545376f85819f9c4c92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:077d943cf33c66236977f631a8aa82b5e25b5be5e068075423bc22b7cb989c9a",
        "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 · 3.956 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]: [-0.02, 0.8127, 0.6132, -0.4274, -0.0135, -0.0338, 0.9991, 0.2665, 1.5604, 1.0534, -0.2481, 0.1162, 0.033, 0.7262]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1694 left_yaw=0.0017 left_pitch=-0.0576 left_roll=-0.0027 left_gripper=0.9991 right_x=0.4284 right_y=0.0994 right_z=0.1413 right_yaw=0.1368 right_pitch=-0.1817 right_roll=-0.0415 right_gripper=0.7262\nstate[joint_eff]: [-0.2803, -1.3197, 7.1863, 1.6972, -0.0317, -0.0659, -0.0171, 0.1573, -7.1316, 9.5658, 1.7363, 0.1587, 0.1832, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4278, -0.0139, -0.0334, 0.9991, 0.3161, 1.6245, 0.9821, -0.16, 0.149, 0.0517, 0.7295]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1693 left_yaw=0.0018 left_pitch=-0.058 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4219 right_y=0.1141 right_z=0.101 right_yaw=0.1466 right_pitch=-0.2245 right_roll=-0.0582 right_gripper=0.7295\nstate[joint_eff]: [-0.253, -0.9778, 6.9949, 1.663, -0.0415, -0.0317, -0.0122, 0.3487, -8.0205, 6.7897, 1.956, 0.1148, 0.1734, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4309, -0.0135, -0.0338, 0.9991, 0.3309, 1.6623, 0.9524, -0.1204, 0.1493, 0.0605, 0.9956]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1687 left_yaw=0.0017 left_pitch=-0.061 left_roll=-0.0026 left_gripper=0.9991 right_x=0.418 right_y=0.1196 right_z=0.0802 right_yaw=0.1552 right_pitch=-0.2517 right_roll=-0.0572 right_gripper=0.9956\nstate[joint_eff]: [-0.2393, -1.1145, 6.9949, 1.6923, -0.0513, -0.0562, -0.0122, -0.4855, -9.2376, 7.1863, 1.7998, 0.105, 0.0757, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33f6e7fffd33218e332337054a730e58b582cfc0ced3057809304f1982a5146d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a36eb2f5a577b2e58928037246ff20f0010a5b4c32521545376f85819f9c4c92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:077d943cf33c66236977f631a8aa82b5e25b5be5e068075423bc22b7cb989c9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsQgKEAgSGAI4AUIIdGhpbmtpbmcSDA6TLJT9WY6/dNvbBxoMOokQbZ57nP4dkfiWIjC6vwMol3FQKQOQYI1MOogcjsIUGEnNIepww4Ajf/5WLJ2wOn4aFlFwaBrEr5gSaboqzgcu8bvnB7iDUvt2O31Yu5uQMUXmg5vt4dCZCtDHZbSzWXaiSxKI9vdnnPTG4ZHc4SPaOIH8JSkhnOg9UUF2EA7cGFTLZSDKBZRtOC/9b4U+ZiEPetvTCKDcp97mTwwDdJxCmX5fdwb+lKXQ2Rd925KRdnTBskD9pC79e/amV7CwK+JnjSfY2gGKn0ASUGNvhNpfC6uIoYGEYwdbL9QalF+8qzNWSBXtodaL8cqDVelmRk5xOIF026JDKdtZAK1Z0M7hWsvOESHI/3W7WU+8EymAnSk0xrEvMzzOUMidQHUm8+CcKxTgTT/l9AcykVDy79UvqQY974CMj2XfIItFrYN1vFFtx4YNwNJhsSW/j30uadJOwDGpdCf9HUq5j+eV1lbV8w9aMVGIxnC+kUwRXqdp1vD2EXEAR9kMmPVXwfiv+1sqHMercsYI8H4Xiq47wtpYn2VC0y2Id5d7rM32rVbkTNAItRG59TVtrE/hBYMqpmciPlGOSP35NVCB6ddRN965kRsCmtrRgdmYSGLlyUizzAx26Vflk/lCmNTqaQy6ur/db1A1DkIAAVmjdHbLyeqTyUqXFvPE79AW3Ap54dde4MgrJnlt7XTT/tZW2Jc0pd+3Zkk2WqbazHVZKPIN8W9MdbrXghYVNZMzIA2o+Dh12wfcNT/k0YjeF40HCB/x5TqoGOuILsvURCA9Xxk5M5UCmj2/EAq163yP0YGSRjEhg95WCN4yxJQ0ZFHiBG8AK5QaXMWBj1yqMaEO4CYBqC/n0/diOySE6uzSFfiNOz00HgwRPOhhomGmT0cxTjyB5aVYb5DvM0Rfx+zy4CO4CHVp0SO1jscw8S6ScINKHx0wwojXpc8OR4RcLUxv/IBxiE5JGGVI3DbzuQLbvGVIfEadp+D/mXxKxJF5/1SG39UJfxKUyDOGIUgqXWB4MOt49LuEvNrr5fkDa/HKipI6Encj8aENrP/PEBbd3/XDfUAp0BCg/iE0UYqC2v80aMXFQP8uDE79Le66iIoJoaumvyP7UFm/+wWtlWr73JY7I38tPvMIBCWwHuwzBHM1l+a9oT2paMJs6v67hNzQVO2cktVIvxNkRKoAf43ovV7HizPvZzEB2OLRcZ3OepTuCsgdG4YWYDCSarcNwQ8LjimxE8cHTtjsFotFVwyqIe6lrVjcPkzmkoFSPIdzaCjpqdwPuPCGn9REK6ghP2k70VoR8R5wF2PyBwU22jz5YJWbTeOGZ79Z9bC5A8oasKc8GSCpgqPDCUKZIfDi3fUEeTqMg/9l0BjI4VYRQ4CVWEp6ShgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P4NtoatbnRKYN33U8acqF2",
      "input": {
        "note": "Pear is now in the blue bowl. Moving the right arm over the lemon, which lies in front of and slightly left of the bowl.",
        "targets": {
          "right_x": 0.31,
          "right_y": 0.17,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01P4NtoatbnRKYN33U8acqF2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4301, -0.0139, -0.0338, 0.9991, 0.4244, 1.5692, 0.8932, -0.1818, 0.2481, 0.1482, 0.9963]\nstate[eef_state]: left_x=0.2903 left_y=0.0002 left_z=0.1681 left_yaw=0.002 left_pitch=-0.0629 left_roll=-0.0024 left_gripper=0.9991 right_x=0.3865 right_y=0.131 right_z=0.0871 right_yaw=0.1139 right_pitch=-0.2575 right_roll=-0.0763 right_gripper=0.9963\nstate[joint_eff]: [0.0479, -1.4838, 7.2, 1.7167, -0.0855, -0.0415, -0.0122, 2.441, -11.1111, 8.1026, 2.0342, 0.3785, 0.0513, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb9b5ecad8ea9ff9240758c24ea0d32825f416d293a70238f987a1ab22b695fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc31614506b088974199a652a54540159a9f58fd9cdf11a57e3f2b7b10a12b11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:929fd81b6fcabaacde5705d21b4a49586d41b78e8eb9cc30c3550ae1bf115742",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 5.259 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]: [-0.02, 0.8127, 0.6132, -0.4278, -0.0139, -0.0334, 0.9991, 0.3161, 1.6245, 0.9821, -0.16, 0.149, 0.0517, 0.7295]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1693 left_yaw=0.0018 left_pitch=-0.058 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4219 right_y=0.1141 right_z=0.101 right_yaw=0.1466 right_pitch=-0.2245 right_roll=-0.0582 right_gripper=0.7295\nstate[joint_eff]: [-0.253, -0.9778, 6.9949, 1.663, -0.0415, -0.0317, -0.0122, 0.3487, -8.0205, 6.7897, 1.956, 0.1148, 0.1734, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4309, -0.0135, -0.0338, 0.9991, 0.3309, 1.6623, 0.9524, -0.1204, 0.1493, 0.0605, 0.9956]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1687 left_yaw=0.0017 left_pitch=-0.061 left_roll=-0.0026 left_gripper=0.9991 right_x=0.418 right_y=0.1196 right_z=0.0802 right_yaw=0.1552 right_pitch=-0.2517 right_roll=-0.0572 right_gripper=0.9956\nstate[joint_eff]: [-0.2393, -1.1145, 6.9949, 1.6923, -0.0513, -0.0562, -0.0122, -0.4855, -9.2376, 7.1863, 1.7998, 0.105, 0.0757, -0.0269]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4301, -0.0139, -0.0338, 0.9991, 0.4244, 1.5692, 0.8932, -0.1818, 0.2481, 0.1482, 0.9963]\nstate[eef_state]: left_x=0.2903 left_y=0.0002 left_z=0.1681 left_yaw=0.002 left_pitch=-0.0629 left_roll=-0.0024 left_gripper=0.9991 right_x=0.3865 right_y=0.131 right_z=0.0871 right_yaw=0.1139 right_pitch=-0.2575 right_roll=-0.0763 right_gripper=0.9963\nstate[joint_eff]: [0.0479, -1.4838, 7.2, 1.7167, -0.0855, -0.0415, -0.0122, 2.441, -11.1111, 8.1026, 2.0342, 0.3785, 0.0513, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb9b5ecad8ea9ff9240758c24ea0d32825f416d293a70238f987a1ab22b695fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc31614506b088974199a652a54540159a9f58fd9cdf11a57e3f2b7b10a12b11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:929fd81b6fcabaacde5705d21b4a49586d41b78e8eb9cc30c3550ae1bf115742",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSpgcKEAgSGAI4AUIIdGhpbmtpbmcSDOlHp2dZIPcBJkunnxoMOMWbRmEXFHc6/qbbIjDOEFjl6OQ/MQUxpJE8+l6jU8Fal9MNqSlPSWT9qib0QZ9NXOSXYzUMgHy8aYRo7rwqwwbSB1Ak5baCIgOcNZJsTV1CykzT50wHkcQRh4+sVriiQbjgqFXuLIUk69dshlFzhJE4Q8jpuwe7OtAVw4XmSwCDGzObEBF00R0d5zmM60qL/UXYcPwH6FgUk8petltKeXoQDMDDTu/dMIdaTqNRscft4u2+sdjhC3+/AU65pbrTUJqfgwJri3dlHESvAzZngeu1yw0lOTgGvqtXolG8tq0ylbmiYvcuAihqEW87Qg2w+VIqT2Ycm2x0Grl0RDcAMUJPdnMr5PIDh0uT9/sDQSev2nv4bBAKERfw6fMsS6zlRodbpr+8YlTrJdI01mx0zJnngD+c+yI/9Id61u/Ue/wnXJ9LTRtCqLL7hc9lxUgN0KDenDZuRuAHqm/IsI/Ji10Eos3W5DNKZUGhkqbfaqPmyDO3Iz3oXktDrlK7MEFimObevldmiyXX8r88DedQSSaP368LVnH+BY3vQqhmTcowopLt2dyJoYND8OZirTW2QizytFfpKRyiQPfTSAwKjiyvhg/RQg+hbye2IroU+juuJy8kGlZR2XTPeSXJDPkhxLmKZbONEAjzRBpi+z3pd3qsNPkTAV8tcx6b6D/6QvXUlp/bTdbmsZEMZoXQ4oh9h9od/ISddJiD3sQylWgIgHYZwL/28+p1plys9NCLOdcXxw0nGaGySmj/AAQ4QdSAIge9H2a33NF40VUeZYHB/yDYUAZaoERsJWFEjjhQqKsmobNebo1nnCs7RrmEeHkWHdHamNhelSZakzdX0hYhJ25OQE5RZ8IrxLTN5x7zdsQP330UeML+/7czSKgM5j1+/oEBYH6Jw1qeu9YBQ/L7YWeyQG6jcnZGnqlFfCyiVUDkK3SibAgvvMItvEXfJR+chYbKUuAb6J3ndAie1CZ5bvphjXng+CGPRzE7n9mlb2DmMHMOBqKvd4EvyjMR8+07VjM6Sl6VKFXXxh8BdV5uvOU1+mh2f/2bpTRjKNw/PczUsTUAU88p4XmmP+Bsc0+wgtrI0QBoT2kdbGy3k5oxHgcWhplkugGgOX0me9qjz+idsl8a4MKbfEelTvsasyINXpE0OkC68z/g6v0dKtIv6N/HnknRI57vg2yH8wsCrI4/zj8jGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bf8xVKy5A8vd7hgc1AKWNK",
      "input": {
        "note": "Arm was still in motion toward the lemon (blurred wrist view, readback short). Re-issuing the target with a bit more height.",
        "targets": {
          "right_x": 0.31,
          "right_y": 0.17,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Bf8xVKy5A8vd7hgc1AKWNK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6128, -0.4419, -0.0135, -0.0334, 0.9991, 0.6796, 1.3708, 0.8936, -0.4576, 0.3771, 0.3161, 0.9964]\nstate[eef_state]: left_x=0.2887 left_y=0.0002 left_z=0.1646 left_yaw=0.0015 left_pitch=-0.079 left_roll=-0.0019 left_gripper=0.9991 right_x=0.3124 right_y=0.1734 right_z=0.1231 right_yaw=0.161 right_pitch=-0.2802 right_roll=-0.0874 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -1.6205, 7.2821, 1.7607, -0.0513, -0.022, -0.0171, 0.1436, -6.3111, 9.1282, 1.3211, 0.359, 0.1441, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:466eb5671ed46bf269c5c4428dac4c107d1b494f9799361d654fcfd5efec58b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd62e1f89134628b5d8fd87b60c6e1ccd5471e692622f36d36753ad2f012e1b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd37737ac74f467427a6e83a9c83aad44ea461f61b5549eee5354a8fe5a5c2bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 4.2 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]: [-0.02, 0.8127, 0.6132, -0.4309, -0.0135, -0.0338, 0.9991, 0.3309, 1.6623, 0.9524, -0.1204, 0.1493, 0.0605, 0.9956]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1687 left_yaw=0.0017 left_pitch=-0.061 left_roll=-0.0026 left_gripper=0.9991 right_x=0.418 right_y=0.1196 right_z=0.0802 right_yaw=0.1552 right_pitch=-0.2517 right_roll=-0.0572 right_gripper=0.9956\nstate[joint_eff]: [-0.2393, -1.1145, 6.9949, 1.6923, -0.0513, -0.0562, -0.0122, -0.4855, -9.2376, 7.1863, 1.7998, 0.105, 0.0757, -0.0269]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4301, -0.0139, -0.0338, 0.9991, 0.4244, 1.5692, 0.8932, -0.1818, 0.2481, 0.1482, 0.9963]\nstate[eef_state]: left_x=0.2903 left_y=0.0002 left_z=0.1681 left_yaw=0.002 left_pitch=-0.0629 left_roll=-0.0024 left_gripper=0.9991 right_x=0.3865 right_y=0.131 right_z=0.0871 right_yaw=0.1139 right_pitch=-0.2575 right_roll=-0.0763 right_gripper=0.9963\nstate[joint_eff]: [0.0479, -1.4838, 7.2, 1.7167, -0.0855, -0.0415, -0.0122, 2.441, -11.1111, 8.1026, 2.0342, 0.3785, 0.0513, 0.0611]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6128, -0.4419, -0.0135, -0.0334, 0.9991, 0.6796, 1.3708, 0.8936, -0.4576, 0.3771, 0.3161, 0.9964]\nstate[eef_state]: left_x=0.2887 left_y=0.0002 left_z=0.1646 left_yaw=0.0015 left_pitch=-0.079 left_roll=-0.0019 left_gripper=0.9991 right_x=0.3124 right_y=0.1734 right_z=0.1231 right_yaw=0.161 right_pitch=-0.2802 right_roll=-0.0874 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -1.6205, 7.2821, 1.7607, -0.0513, -0.022, -0.0171, 0.1436, -6.3111, 9.1282, 1.3211, 0.359, 0.1441, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:466eb5671ed46bf269c5c4428dac4c107d1b494f9799361d654fcfd5efec58b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd62e1f89134628b5d8fd87b60c6e1ccd5471e692622f36d36753ad2f012e1b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd37737ac74f467427a6e83a9c83aad44ea461f61b5549eee5354a8fe5a5c2bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrQkKEAgSGAI4AUIIdGhpbmtpbmcSDLz/7+2IaekhfxOkchoMRa/t/1KZbNZta0fNIjCD+Xoezy+kv9/GNa7JJp6Zi6e9zc8/Xb0hNKHLhZwQ0xAIpgDOAHwSkGy5lmRpHvsqygj8DnLCOWC9ROAs9kPYxZr9k6xLvsjhestpsZbqXz8lW+j3ZddQ1QyZUHZaMJCO9nnnL0nA5BVzg33PSE+1QFDUSLzwLvbYj1PNsN+xUGhQUJ+eYE9ZfOJIKczmcLEZq+4CE18BQZzpjPTIR0LBfMVuve+jRKuzQW48bosCxcHW7mtua2u1Bj0yCc6YfSyQNHFpxM5PFOUPUJ69Sze84Nwah7P5aH0rfqQHoiyYxoWizfCcSVkm3o+DZvQBmJoztdE0JF+4kkMyzcEI6e1PbAM+44c35plMc/D02QyMlZcHHm1cS3oTsSC7/CnPM5bDBLhgQDUwHjuvKEGWumbZoyAAxLWFEqg9XpJu0rBBEVZyDXpXE9KQ3pbbvFVXgt7uoBvkHK7zHb5KePGWNWYIrjOfh8mILLmghmDCrN4b5Z3oWR/Qn1t9FBtzZrijQpkvxgLpsMN0fiuMk0VEVR0W/KXF2rsR9pHZ/Ox+orHMpWfUFlbQ2RsR/LuifB+rFfZ9UlYfzqXCmKqLh+5NMhNLgFx+n2vi6n19F5Am/3KXTg9N0TzCaV6zZIIrDRhiSmw+LwuhCPCmJVPuTQWogmZSoZWnbZeR8O0s62Q96+VGdTakYA3k2zs4Ad7LPBKl1tTQaJWWxW+vXahT+QHRs9U7nsL/x5HzkXQ4NRKjuPDEMt+dCg3V6YiVw/qgTk8YpMOZAfclXfCDC83e5juTARYD0SLLwgrjqo4eZP0rKWxwTpCwnn2fKHp2YYTeUq0uP1g7KDRs8JQJlnJLZYQB0XNoA+sVI3k+cWqDgs2fabK0DJtsC8FqMEhVmwcjrHvAKKuJeVSLQwUzbViI8wW8r1N8x8I8C74dckvlHiweafGE2LXaBb+LUKdMYRM+QX/jmI15UzgN7+QWobonnnRVMkQrfHJS8Zbodk+0k29x6zOdnbJeAsbed+zbP+mllt4+pOkwcJ03drSkFNsUCq+5/IKIB6UtnBnwKGC3MESJIdME/SmhCJThuMjqYr35sUJ8lumEw6sCm/6G50hhS0ZTp8ha/NpCzqTXMkPeNom1RfABz2zicNIPej8qtYXkEmEttCw3gLxpvdr2LVcnFERzf9xT520yx0SAZoFM9cVAbPuZ6y5rsBcnOJo9Tmqsuq2shvevm9lVCxWlFqnVlZoGOV5FHhDvP1F6W6sxO/Gqq0yMRzJT8DdTHpnY8zdz99GSOzrZJeioHTqWRNUp1ABksWTph/fhL+BH8uMxa7KtxjwmUvx6kudH+mxMgcH4LTBEdn8tUZr6uq/ek3gS26f7rM5nO2SZ8SL7eRvzZlUo3km/eEceJiSAGuwxOKxoAQP7B9WcF/sbNqyynmjiRt9d9D0QnDHlXgUV/PSgKxdiWJsi8YigJgEEIiktPwKnhxUkbKW7ts9DYeCKfaviJWGPw+qKHwSrSeeou/qEpmUTm2B2shgVk5eqBOMQVh+FPc4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017XgfebaBYsJH2YpG9h2g7h",
      "input": {
        "note": "Lemon is visible ahead and slightly left of the jaws. Moving forward/left over it and lowering partway.",
        "targets": {
          "right_pitch": 0,
          "right_x": 0.35,
          "right_y": 0.185,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017XgfebaBYsJH2YpG9h2g7h",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6128, -0.4461, -0.0135, -0.0334, 0.9991, 0.6968, 1.3499, 0.9134, -0.5217, 0.4004, 0.3565, 0.9964]\nstate[eef_state]: left_x=0.288 left_y=0.0002 left_z=0.1638 left_yaw=0.0015 left_pitch=-0.0832 left_roll=-0.0018 left_gripper=0.9991 right_x=0.3053 right_y=0.1703 right_z=0.1301 right_yaw=0.1338 right_pitch=-0.2885 right_roll=-0.089 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.3197, 6.9675, 1.7363, -0.0464, -0.0317, -0.0171, -0.0205, -5.7641, 8.0479, 1.2918, 0.3346, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec4fd462980b33f38d5e4f43200f68e44a78c859ae3065a9d15dbc5ae85e11d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2ed966fbe141d05920b86338da406653d997e05e494b10e3936288be112915f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:16e6479faaccc40baff55efe56c24e63094e1858c7bebbe8cb96d9f54ffc9156",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 4.073 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]: [-0.02, 0.8154, 0.6132, -0.4301, -0.0139, -0.0338, 0.9991, 0.4244, 1.5692, 0.8932, -0.1818, 0.2481, 0.1482, 0.9963]\nstate[eef_state]: left_x=0.2903 left_y=0.0002 left_z=0.1681 left_yaw=0.002 left_pitch=-0.0629 left_roll=-0.0024 left_gripper=0.9991 right_x=0.3865 right_y=0.131 right_z=0.0871 right_yaw=0.1139 right_pitch=-0.2575 right_roll=-0.0763 right_gripper=0.9963\nstate[joint_eff]: [0.0479, -1.4838, 7.2, 1.7167, -0.0855, -0.0415, -0.0122, 2.441, -11.1111, 8.1026, 2.0342, 0.3785, 0.0513, 0.0611]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6128, -0.4419, -0.0135, -0.0334, 0.9991, 0.6796, 1.3708, 0.8936, -0.4576, 0.3771, 0.3161, 0.9964]\nstate[eef_state]: left_x=0.2887 left_y=0.0002 left_z=0.1646 left_yaw=0.0015 left_pitch=-0.079 left_roll=-0.0019 left_gripper=0.9991 right_x=0.3124 right_y=0.1734 right_z=0.1231 right_yaw=0.161 right_pitch=-0.2802 right_roll=-0.0874 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -1.6205, 7.2821, 1.7607, -0.0513, -0.022, -0.0171, 0.1436, -6.3111, 9.1282, 1.3211, 0.359, 0.1441, -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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6128, -0.4461, -0.0135, -0.0334, 0.9991, 0.6968, 1.3499, 0.9134, -0.5217, 0.4004, 0.3565, 0.9964]\nstate[eef_state]: left_x=0.288 left_y=0.0002 left_z=0.1638 left_yaw=0.0015 left_pitch=-0.0832 left_roll=-0.0018 left_gripper=0.9991 right_x=0.3053 right_y=0.1703 right_z=0.1301 right_yaw=0.1338 right_pitch=-0.2885 right_roll=-0.089 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.3197, 6.9675, 1.7363, -0.0464, -0.0317, -0.0171, -0.0205, -5.7641, 8.0479, 1.2918, 0.3346, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec4fd462980b33f38d5e4f43200f68e44a78c859ae3065a9d15dbc5ae85e11d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2ed966fbe141d05920b86338da406653d997e05e494b10e3936288be112915f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16e6479faaccc40baff55efe56c24e63094e1858c7bebbe8cb96d9f54ffc9156",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSqQcKEAgSGAI4AUIIdGhpbmtpbmcSDOvDAHJk2h21sX1kuxoMFYU0sQIRrhDdEBeQIjD/j21avQCSdpbg0QpUneD8LFS6jBzH6NraMRvGEan7beyvYvWa/a1y7scU1wgEmDwqxgYpI2/Ok28ZYn68eDoXCMwWUAO11hLF6neUbqm9aWWB0cI5Pc+VhLxsYyIhAOFsMw05BpcxM7A6VIZeaiceRakVmtK3j9Kpsux3BRnP6Xj9Eh/Km9J6n1uDd77EScthttpraK9ykLtl5ECmg+1bUv3sfkvxmq4RJTXHv6ZspgNd3tOdM372B3EtUMdPxPizQ+E6anFH/BYnSkqlGJfbyD68EHDjTe7WwqYBkFcUczkb0Dcy394Csu+wYi7R/nDx0fmjP2HypGFFhc9rd8gAwUqxlPeSbOhEnLJ61CXnsJkCs9VcoyXCDLXYfXXbgZTkyC9Ueb2u7o12PN9wwxWTmby42sNpgl1QF/3wj4GStRAzVC4HY/dYfsWbW1Ef9tum4t/l1IHEGBjvMsb2fSO7VhS9DRBXt4vFpi3696Mdb+CeCfq4u6L9GM1/LKV0Xdz8Pi4+saKssjVGvCZ2WSZA5iVqPNzmzcTi+gXnpoe31Gwjgjc6QG6vlfMopW9YHmGL4zHsKMIdO/QWXzVAIMJXO0u+FaFFqqmUvMeQHjAYfvPmY6utOlCobIbskHMa8UgdWTSj+yPUXLBEjukXPoIBKJe9JCLt+5TpfjTczUh2XkN/b5sux60tY+nyGgZzkGupnNouhosFj3kRYaDPtBHzN+ZpnzmiCKMk9y3QjiETKb97J+kGT51Gjp3e7k0AKuvsVN983nJNYckHSyPVyVQ+nqgYzo6/jOISPoG0REr84GaKli1rlvR9qJVyP+1Sp4piLuwSq5nxA61K8CjLkl1P3nd9WFUPouhiNe9tJBTcW3FpwOKxON+djxScLqVSXnEItPWXjmCVVW4s6sk6eQc77VO9LJRgiYP8DXs4JRnrFxMfLZ2IjOZIOGXE7TXGHE/LKbAFZZbtsEyrGc7JO9qC0Qv5Qk/KAk1fFVdOo943yVgdQU70ohGYAZQ/3YIPvdTryM0sRTsx+pwCePUjycWvZfbW8wjm6wz8TVZJvOmIqy0cughrFYx1pSDpTXATA3Bq9c5y9JKx/RgOYeBC2MwarRbwmid2zd3AMBIBCr0fPra8N9IzI9gQNe3hcBCL6ezRF/Uf+1oKjugCetiHXWx84agG2tcsd9jzGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C59vwoUEe2G6mBEXkQrsPu",
      "input": {
        "note": "The previous move didn't execute (arm unchanged), possibly due to the pitch request. Retrying the approach over the lemon without changing pitch.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.185,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01C59vwoUEe2G6mBEXkQrsPu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8219, 0.6128, -0.4519, -0.0139, -0.0338, 0.9991, 0.6609, 1.565, 0.804, -0.2859, 0.4034, 0.3031, 0.9965]\nstate[eef_state]: left_x=0.2873 left_y=0.0003 left_z=0.1619 left_yaw=0.002 left_pitch=-0.0916 left_roll=-0.0017 left_gripper=0.9991 right_x=0.3195 right_y=0.1651 right_z=0.0492 right_yaw=0.1096 right_pitch=-0.3664 right_roll=-0.1763 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.4974, 6.9538, 1.7802, -0.022, -0.0415, -0.0122, -0.3624, -8.9368, 8.8957, 1.4383, 0.2271, -0.0122, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc597c034ef255fe2bab5c21059027789d2cfd1e3d462cc17e2a48fe11e45aa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11a6ede5c35d2f6b7b40341e6dab1abc5a89fbdc73eba70811f4fec6eee5d786",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3762e266c5bdb3ab2f189411cc3b506bb9abfc76ac7400240f8f99f9cff6582f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 4.47 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]: [-0.02, 0.8192, 0.6128, -0.4419, -0.0135, -0.0334, 0.9991, 0.6796, 1.3708, 0.8936, -0.4576, 0.3771, 0.3161, 0.9964]\nstate[eef_state]: left_x=0.2887 left_y=0.0002 left_z=0.1646 left_yaw=0.0015 left_pitch=-0.079 left_roll=-0.0019 left_gripper=0.9991 right_x=0.3124 right_y=0.1734 right_z=0.1231 right_yaw=0.161 right_pitch=-0.2802 right_roll=-0.0874 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -1.6205, 7.2821, 1.7607, -0.0513, -0.022, -0.0171, 0.1436, -6.3111, 9.1282, 1.3211, 0.359, 0.1441, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6128, -0.4461, -0.0135, -0.0334, 0.9991, 0.6968, 1.3499, 0.9134, -0.5217, 0.4004, 0.3565, 0.9964]\nstate[eef_state]: left_x=0.288 left_y=0.0002 left_z=0.1638 left_yaw=0.0015 left_pitch=-0.0832 left_roll=-0.0018 left_gripper=0.9991 right_x=0.3053 right_y=0.1703 right_z=0.1301 right_yaw=0.1338 right_pitch=-0.2885 right_roll=-0.089 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.3197, 6.9675, 1.7363, -0.0464, -0.0317, -0.0171, -0.0205, -5.7641, 8.0479, 1.2918, 0.3346, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8219, 0.6128, -0.4519, -0.0139, -0.0338, 0.9991, 0.6609, 1.565, 0.804, -0.2859, 0.4034, 0.3031, 0.9965]\nstate[eef_state]: left_x=0.2873 left_y=0.0003 left_z=0.1619 left_yaw=0.002 left_pitch=-0.0916 left_roll=-0.0017 left_gripper=0.9991 right_x=0.3195 right_y=0.1651 right_z=0.0492 right_yaw=0.1096 right_pitch=-0.3664 right_roll=-0.1763 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.4974, 6.9538, 1.7802, -0.022, -0.0415, -0.0122, -0.3624, -8.9368, 8.8957, 1.4383, 0.2271, -0.0122, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc597c034ef255fe2bab5c21059027789d2cfd1e3d462cc17e2a48fe11e45aa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11a6ede5c35d2f6b7b40341e6dab1abc5a89fbdc73eba70811f4fec6eee5d786",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3762e266c5bdb3ab2f189411cc3b506bb9abfc76ac7400240f8f99f9cff6582f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSngcKEAgSGAI4AUIIdGhpbmtpbmcSDD3r0j8/cPa6aD+TbBoM6dtifbA5YTPGVveVIjB7QhJm0lnnnuwBkEJcwHbbB4IGrtl87Tjww/Dw+QpvuoEtzB8Q3YbCOb1ogekJnXMquwZSuKwFqs38t84jUVetChyD6BKU5nRnzVestK2bIeLgFLHMlYTVqdVr9eaLU+VVBs04FtbEKP5GT56SwJt2s+2Nk/hsKt9k6q+UCZ8rQ2UDP42RraArBFwucfBkoEjr7/4mx8N6wjvrubxUDOXqQd+K3xrVeV53ECEILpWcO3PLvwH8c26s2Gk/qiZt7vMrraGMZjOgY11/t8W96yrFAYZtqQmWaumNH1ZEq+egi7eVwSlaXNXzJoYylH8C11CuiA32tamLd7RI3+A1Ty6zxTpXzqnDpHTl5ynTFTG2TkpRVRXWncXbgx0QduTIJliWQGXqQWLfh3NUWNjx+bKWy8S6cfrUtVC67Cw5C+gRCUoXi/Cnh6AQzmL6dY4ry1hbiKfagOHs11O5kXcKOB3pEhu4O+JPUcek6SNHeOz0/TQPZNJBuUWRoiU5eDYlKJwkIw/r3uTaiqRhXmj/x704xS/SnVU7FIcQChRsEa6L4x5za6/iugapUfoq4TENSKedpOG6k/p/1wJdhomMGTryH4bGrhitNa1pDU+eIGNRCp1fFiX9LRm/5YzVr46XyisWrQn3l87XFFP/xXmpbxSUOsBRvsKjurWCWIm3iFPx2U3rQWwz2auAn1M+7dowohwXeT4WZLex9V1/ClfhIHWsEvD+0LQZbmMTPH9BJ1hlE5vlJKBYPzZ5IHdocnAFgHduN3Pwh6XvYdLpzIKDsY319BvHogvx2PivQE3FmJybwZTjgcrrZ6XltaOR7jDYEG1RlYr2JtJqYpzzp1LpsecKjGIWTuSKIQuE0gZuWwsqCo+XqYmK/WGpOU6zMvCoDuJieh10BIZiR9V/wegynWV6vzrESRBKJtKPcyhD3MUTEvVVx6W5Urq1ifoZRuwlnIZGEvO2ZbJhzDM8w1k2UswmefKM+MReV5fb10ywhrop20RG6X/tH1RscZSyMB7gHe4dYmBig6iTh85RlZOPmGHWnKctXhij64aFtEzf98Brk7nwFkluDExUse7IZNcHmKLQruSsHhztjrcgn+/Jgj0C8Y1I6CckzPq3i+mmbx2uz/JexRT+kk/l1Uy/1uAV9bSdykjENWXRko2ceS8Q8hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HzYujgdP3Mx5xnHfq96MmN",
      "input": {
        "note": "Lemon is close, left of the jaw column. Shifting left and forward while descending to table level around it.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.2,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01HzYujgdP3Mx5xnHfq96MmN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8238, 0.6128, -0.4538, -0.0135, -0.0338, 0.9991, 0.6888, 1.6005, 0.8043, -0.1993, 0.4191, 0.2966, 0.9965]\nstate[eef_state]: left_x=0.2871 left_y=0.0002 left_z=0.161 left_yaw=0.0017 left_pitch=-0.0954 left_roll=-0.0019 left_gripper=0.9991 right_x=0.3275 right_y=0.1812 right_z=0.0487 right_yaw=0.1385 right_pitch=-0.3161 right_roll=-0.164 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.3197, 7.0769, 1.6532, -0.0415, -0.0513, -0.0171, -0.4444, -6.5573, 5.559, 1.5556, 0.5055, 0.1001, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef87745705eff8341c4906f5cd367565d8e6a46ea5ae3f27ff130bf00cd3906a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da29ba695d0e3d870c0c4cb14189a1f6fbf9c5c84ca9d3d6c1563aed0e474aa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d631fa94b6f6c059e5d775ae8153e9016daab1a6d5f7f6be48df6affd5e5e7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /messages · status 200 · 6.134 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]: [-0.02, 0.8192, 0.6128, -0.4461, -0.0135, -0.0334, 0.9991, 0.6968, 1.3499, 0.9134, -0.5217, 0.4004, 0.3565, 0.9964]\nstate[eef_state]: left_x=0.288 left_y=0.0002 left_z=0.1638 left_yaw=0.0015 left_pitch=-0.0832 left_roll=-0.0018 left_gripper=0.9991 right_x=0.3053 right_y=0.1703 right_z=0.1301 right_yaw=0.1338 right_pitch=-0.2885 right_roll=-0.089 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.3197, 6.9675, 1.7363, -0.0464, -0.0317, -0.0171, -0.0205, -5.7641, 8.0479, 1.2918, 0.3346, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8219, 0.6128, -0.4519, -0.0139, -0.0338, 0.9991, 0.6609, 1.565, 0.804, -0.2859, 0.4034, 0.3031, 0.9965]\nstate[eef_state]: left_x=0.2873 left_y=0.0003 left_z=0.1619 left_yaw=0.002 left_pitch=-0.0916 left_roll=-0.0017 left_gripper=0.9991 right_x=0.3195 right_y=0.1651 right_z=0.0492 right_yaw=0.1096 right_pitch=-0.3664 right_roll=-0.1763 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.4974, 6.9538, 1.7802, -0.022, -0.0415, -0.0122, -0.3624, -8.9368, 8.8957, 1.4383, 0.2271, -0.0122, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8238, 0.6128, -0.4538, -0.0135, -0.0338, 0.9991, 0.6888, 1.6005, 0.8043, -0.1993, 0.4191, 0.2966, 0.9965]\nstate[eef_state]: left_x=0.2871 left_y=0.0002 left_z=0.161 left_yaw=0.0017 left_pitch=-0.0954 left_roll=-0.0019 left_gripper=0.9991 right_x=0.3275 right_y=0.1812 right_z=0.0487 right_yaw=0.1385 right_pitch=-0.3161 right_roll=-0.164 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.3197, 7.0769, 1.6532, -0.0415, -0.0513, -0.0171, -0.4444, -6.5573, 5.559, 1.5556, 0.5055, 0.1001, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef87745705eff8341c4906f5cd367565d8e6a46ea5ae3f27ff130bf00cd3906a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da29ba695d0e3d870c0c4cb14189a1f6fbf9c5c84ca9d3d6c1563aed0e474aa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d631fa94b6f6c059e5d775ae8153e9016daab1a6d5f7f6be48df6affd5e5e7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSqgcKEAgSGAI4AUIIdGhpbmtpbmcSDCjUzVcOAAxx8VBalBoM78xR1RUrzGQAT0n0IjBujZ7BBWdPZ1rrUdRheRrglqLk6PCu31tMmM8S4PQThyo6310wwR3cbtLnsUWKiDgqxwYxekIPqYQTrszO9dkCUyuDjtaBaYEO0YQBnL+8IEpcAR2qIzUX+xiAb6nXZj0SDgVHS3tZRYbCoggrqcMxx3bpviiMWCR5ZBRA8EO51jud5JkDpHH4FLA0KRPgIfkMrldbvWfZcZTgFuKYDIVMD2H39zepoMwN8Q+NBAMPhSWEiH5XvAB2cfSdqURtes907Y7xgtvVfXQX2ucQ9OHaMCTsHyZjkRNPFzp+VMz6E7M7x6xQRFbxXqsnnx3nrokptCgO33fba+b4wXTjBsft0Z+ilBw+X6Oik60caqShKJbQUm4FPzX+W5FpCLJIb09KuOWMfSAS/MmXFAiSzoxV92hBLL6LAt4Rw0AQrDpNAOYQd+nfcsFRhBs1IC6ECICJlqc9yMMfKGqMqEEJerUdPnjeOHmq//mI4WiwjbLjK2wrBYTrm+iokPArfwlQeEMJe40jEvARptSuWnM4HnLyEbSLZHt5n1k7TGLfNAprSR93t/QWIizDOwIYgUaJE/2niP9Xs041rrAkz6rdr4u8se9Rhl6ojc8ooI5D2EdsFqGir3yUuu9jy7qbxPPWV3iiB+lSVcOH1SzC/sGAoTJ7XFMLCxotkbaymfys2pIS5//i3kGI/7AW4PDcYBWhPUT5e+yn3VbO4dMK6BFzVTierwhlgGz6NjXFdCYZEw+tOh+R57YF4q4yGi5JHBxjJKB6L6A2xftAeKWsWO+gYBoupTlxe9LUyv0MYyhrX6G5OhZz3Gz/ozsJ7DNpAIc8LJFAM1ef8mBEOI/SUNnUMYwhPv+bVz5AIqRrWsLcmg8K/EpzVfmY/i3a/HCgbQtGzKl2lASkyGuZY51cmmeYa3XcaFfCd8w1li/YvlzV8zhuFVC7M/9Q8VggAcv94wJdcOi5hKOc/AMB1l+CQUq7ML3rYaUd9JJxWN2GmNsg4WsrshpjVBIE0FWq71AUU8lnYz+c6LOZz5Sw17TAypRUxsm/YyPur9eP+XQYjuDP+2O+dCPkRqdZsvo2HXD6Fnj0djXX6JQXdcj311QZ3qatS+mVFsZlv6Y/dThiJ9veLNUyj3Wcr6n1FCBzf4Iz0LhNDeZQpKmrRKxrP5DixRou3JwehzIuETztswzZ9BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VNW1vzVDEpJjfP6hcXjJ2b",
      "input": {
        "note": "Arm is lagging behind the target (readback short, still converging). Re-sending the descent onto the lemon.",
        "targets": {
          "right_x": 0.355,
          "right_y": 0.205,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VNW1vzVDEpJjfP6hcXjJ2b",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8238, 0.6128, -0.4679, -0.0139, -0.0338, 0.9991, 0.6899, 1.6028, 0.8024, -0.202, 0.4263, 0.2958, 0.9964]\nstate[eef_state]: left_x=0.285 left_y=0.0003 left_z=0.1583 left_yaw=0.0021 left_pitch=-0.1095 left_roll=-0.0013 left_gripper=0.9991 right_x=0.3268 right_y=0.1796 right_z=0.0474 right_yaw=0.1332 right_pitch=-0.3188 right_roll=-0.1738 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.388, 7.1179, 1.7949, -0.0611, -0.0415, -0.0122, -0.2393, -6.653, 5.4906, 1.37, 0.3443, 0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e37d2380cd69da89eb117fc0a36f987a9c40093af3611bb979a912eaa0c90806",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5a68c2d62f7a171121a629550946b091237473ecc5988c85a21093aaaf5a126",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bbaa4fbbd88d47e384a8aedbdf3c8d98ea6781f29fab68cc4b9ea3b51868b82c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 4.733 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]: [-0.02, 0.8219, 0.6128, -0.4519, -0.0139, -0.0338, 0.9991, 0.6609, 1.565, 0.804, -0.2859, 0.4034, 0.3031, 0.9965]\nstate[eef_state]: left_x=0.2873 left_y=0.0003 left_z=0.1619 left_yaw=0.002 left_pitch=-0.0916 left_roll=-0.0017 left_gripper=0.9991 right_x=0.3195 right_y=0.1651 right_z=0.0492 right_yaw=0.1096 right_pitch=-0.3664 right_roll=-0.1763 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.4974, 6.9538, 1.7802, -0.022, -0.0415, -0.0122, -0.3624, -8.9368, 8.8957, 1.4383, 0.2271, -0.0122, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8238, 0.6128, -0.4538, -0.0135, -0.0338, 0.9991, 0.6888, 1.6005, 0.8043, -0.1993, 0.4191, 0.2966, 0.9965]\nstate[eef_state]: left_x=0.2871 left_y=0.0002 left_z=0.161 left_yaw=0.0017 left_pitch=-0.0954 left_roll=-0.0019 left_gripper=0.9991 right_x=0.3275 right_y=0.1812 right_z=0.0487 right_yaw=0.1385 right_pitch=-0.3161 right_roll=-0.164 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.3197, 7.0769, 1.6532, -0.0415, -0.0513, -0.0171, -0.4444, -6.5573, 5.559, 1.5556, 0.5055, 0.1001, -0.0171]\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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8238, 0.6128, -0.4679, -0.0139, -0.0338, 0.9991, 0.6899, 1.6028, 0.8024, -0.202, 0.4263, 0.2958, 0.9964]\nstate[eef_state]: left_x=0.285 left_y=0.0003 left_z=0.1583 left_yaw=0.0021 left_pitch=-0.1095 left_roll=-0.0013 left_gripper=0.9991 right_x=0.3268 right_y=0.1796 right_z=0.0474 right_yaw=0.1332 right_pitch=-0.3188 right_roll=-0.1738 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.388, 7.1179, 1.7949, -0.0611, -0.0415, -0.0122, -0.2393, -6.653, 5.4906, 1.37, 0.3443, 0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e37d2380cd69da89eb117fc0a36f987a9c40093af3611bb979a912eaa0c90806",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5a68c2d62f7a171121a629550946b091237473ecc5988c85a21093aaaf5a126",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbaa4fbbd88d47e384a8aedbdf3c8d98ea6781f29fab68cc4b9ea3b51868b82c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrQoKEAgSGAI4AUIIdGhpbmtpbmcSDE7IRplWIes0t3Y9WBoMQ2C4xk8k1DV7RcG5IjAmRvbMKO09M10Fk7sG+/KaEL7cj3uzKJ4aNltj6S1prUek1z4dnjhVRIjMpmidUCAqygmUgHXOGRI28W1nIsb78+/wyBVh2x/R2hAxrcnjoNXkSv9V3UK4ZuGly65F3snRB4YRbtUKK9DPwXIvkDkgrLBwgI/Wc/T1kwHmGykwMUfCUNndqQJ5DUVSdI7OVtn4++ELrXspUo1J2WborQRV1QdJDQ7xKzv32W3+B6WQJFT2ZzaLYbsoGqxeHuMQaN+2V5ev5ViIHItrvd60rkRzkiwUBVBr44waxWgGl43iFBJBWwW55dTgKw843yZ9HPwR0JksfAGPwR22ueYpxCHT8b53A4C77W2TMJFepUspNp4kOeV7yk+wx73mXxT3lVAgsQs1TR2zesJZucUpk+Dp7qtsImqUQaBy0ymKIG/u2qYGhXSR12Tosb+CWxaj2BNgi9N02nk6FXUz8RvcfH72/Y1jE2sVHN0Y/EkuA6Xvx71uyqreWKl/EBjjce9nNikSJVnhlVtK0qt01jkdiOlXQLDuFSLUONWJMSCW/7RX9DTegGZftuibKw8kfZGsd98Iwq4DjUDW+hhZrQOIiXilqx9euYrnCMth+/mH5YuGtFqVYfubuAkr4RTcrmACPJhT/N4Xc/Q0fXW4dtyn/tjhee8pbwzZBD1xuLkwmgLFbTkMe6iajSH36aIgW6nmxCfV/dT59A10qL55iX64a11D3fYy6dFLNY/fPBuGS808HSecZ2hNYKBZJMQEAg2RmZ2v2Nx87urEIuRq8zs5Z3lsymT7DmZDl7JcuuK2q+wfbLr94/ZEr7HsKtFhURWNOxLYICHC0zj1RC1X6XsDhMFZE0bs3di2niWY7HxMCblESunJTrKdb05lpb75IARPHQq0xotzfuYxuhuCilj2zIeRNDHS9Nv7pFVd/dpilrda1XCTPU4nGkNWPXDSBIzvgUp45Ju/RV1W2sdN4qJcX6VjB6OPM0WlkJMAs4YrSWtjR6Uc7Jsp/w6G20/vfZwHvXxgLcJDIuAhNAfFiGspLcV+pVYtMwq8bBrwezom21wGY9DSzeboDqE9CvLxIO0KfM0XmCj+dRpisOrIwc1Ydl8iUt1UphCRM0yPEXLbbgRLZ2Mbktr5I1xOQdbCir3C+G4cUe8S8+kQeCYbiPMh92MTyaoaQuU8kc7mMKA+aAMtUfyl5KoEv5qkZN0IkG6FX0GGcXSQv9QLEVncPm4S2xRnjeJFzArLq2PfL57YDNmbuK3npi1Bza9dljyp55o7VdR0JFNDMS8+fFtyIGQus3yiKyO8OLU+XBsj2geQ+hTLJChaQgxa8sBBGhzNEQlhCtaFjjoCoM4/U/nRkdH8NOTVkxGFqEteuHWw5idB7uHIlk+7p6dftAeWyMuvCbwEdCHkE19xozfF2aZzJ1HdAwS4EU4gNvE4SpeZIFDYXK8BczCCm+2m6dXU/TvctE9DqZitbEqtWefO1eaH7L97y11tH24V6+ZV6lk8L39WurOqZDFvdiUBbfuNJITwl17aajJb7z1ZA4+MMD/LHikCttXD4Wn6hnYdN2xpmxyICQmQOOkBg66BcSrQrc9l4dOFi19++iMBdQ14FioAitPu//9/9wX5RVaaHJr/mPuqBfJSgDPHslCSJQPqAYdf4bs0qlAhNajVp4fS1k14j1S2d3IUgboFh10FLJm8JQc7tBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KsZoWfgEXayMJ6gi5KKz4L",
      "input": {
        "note": "Descent stalled at z≈0.047, likely the left finger resting on the lemon. Lifting and shifting left so the lemon is centred between the jaws.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.21,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KsZoWfgEXayMJ6gi5KKz4L",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8238, 0.6128, -0.469, -0.0139, -0.0338, 0.9991, 0.6899, 1.6028, 0.8024, -0.2024, 0.4267, 0.2962, 0.9965]\nstate[eef_state]: left_x=0.2848 left_y=0.0003 left_z=0.1581 left_yaw=0.0021 left_pitch=-0.1106 left_roll=-0.0013 left_gripper=0.9991 right_x=0.3268 right_y=0.1795 right_z=0.0474 right_yaw=0.1327 right_pitch=-0.3189 right_roll=-0.174 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.388, 6.9402, 1.6972, -0.0562, -0.0513, -0.0122, -0.4991, -6.8034, 5.4906, 1.3553, 0.3736, 0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f599bee038fcc1b8164afbdef0cad27288c637e72d00323ae31d844c754e412b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3df1ac6e9a795a9c65d59ea39f5ec2a191d6ad590860f27a3be6bc4b64abfecf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c624dd4fe45b5c4a74757f4d1374c3ef81ac72e646b4f66679ec77665eb7fac8",
        "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 · 5.196 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]: [-0.02, 0.8238, 0.6128, -0.4538, -0.0135, -0.0338, 0.9991, 0.6888, 1.6005, 0.8043, -0.1993, 0.4191, 0.2966, 0.9965]\nstate[eef_state]: left_x=0.2871 left_y=0.0002 left_z=0.161 left_yaw=0.0017 left_pitch=-0.0954 left_roll=-0.0019 left_gripper=0.9991 right_x=0.3275 right_y=0.1812 right_z=0.0487 right_yaw=0.1385 right_pitch=-0.3161 right_roll=-0.164 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.3197, 7.0769, 1.6532, -0.0415, -0.0513, -0.0171, -0.4444, -6.5573, 5.559, 1.5556, 0.5055, 0.1001, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8238, 0.6128, -0.4679, -0.0139, -0.0338, 0.9991, 0.6899, 1.6028, 0.8024, -0.202, 0.4263, 0.2958, 0.9964]\nstate[eef_state]: left_x=0.285 left_y=0.0003 left_z=0.1583 left_yaw=0.0021 left_pitch=-0.1095 left_roll=-0.0013 left_gripper=0.9991 right_x=0.3268 right_y=0.1796 right_z=0.0474 right_yaw=0.1332 right_pitch=-0.3188 right_roll=-0.1738 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.388, 7.1179, 1.7949, -0.0611, -0.0415, -0.0122, -0.2393, -6.653, 5.4906, 1.37, 0.3443, 0.0757, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8238, 0.6128, -0.469, -0.0139, -0.0338, 0.9991, 0.6899, 1.6028, 0.8024, -0.2024, 0.4267, 0.2962, 0.9965]\nstate[eef_state]: left_x=0.2848 left_y=0.0003 left_z=0.1581 left_yaw=0.0021 left_pitch=-0.1106 left_roll=-0.0013 left_gripper=0.9991 right_x=0.3268 right_y=0.1795 right_z=0.0474 right_yaw=0.1327 right_pitch=-0.3189 right_roll=-0.174 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.388, 6.9402, 1.6972, -0.0562, -0.0513, -0.0122, -0.4991, -6.8034, 5.4906, 1.3553, 0.3736, 0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f599bee038fcc1b8164afbdef0cad27288c637e72d00323ae31d844c754e412b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3df1ac6e9a795a9c65d59ea39f5ec2a191d6ad590860f27a3be6bc4b64abfecf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c624dd4fe45b5c4a74757f4d1374c3ef81ac72e646b4f66679ec77665eb7fac8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSrQgKEAgSGAI4AUIIdGhpbmtpbmcSDECSypOg3eDdfKyCIRoM0ws3ZyLGLXLvBQ1uIjAlmzw8scSk2Fh6r0eZiVkj68/W2PeRyD4OqxT4MtVba4FyymeJccmCU+mDIflZYtEqygcz7wlNtqYgVsVDfSLUS4sdhXBIdN1WGBl9wcTGk03uv1kOW04g/HOiqeJISpdImssv/xM3RO5diWnhDdwDnFQ/aUI0i/gZlbQnGgE47ZwW89FcrOP3l+Lg5orO0ZJD9g8Lfwh+oPXmt2+LIjsHiS8GlrWVmBybvDPUGwW3lh9NbIXFrwqojZFUIBg8mCDrL9vg/lp6HXTU8ym5HCcUmiJE7YhzAnTcxZDKmvBRjx5cmt+xncFHA6kX9Aw1I/FVmEDXixfrT07NChBhco1MOHa0j7amG4MZfIsS3oXAr4IwyGlSCQ9n1gNJdXTpY8RA3OuDCBE3lbyKApNgS5RVoLlL3p/97YRVdPw0vxsu3hzURwlxodw7Fr/63gWhV4FoD+lBJ4Gq1XEvIlZS0TFTwfUtAaxiDTmRXKbdXT3efRg4zYi3vBVHBa+0RQZsnLqFcWhggFlG5krO9k/FsD94EMb3HeFrtUfcGy2PAz4sRDx6Q8ob3iTJrYxhwu7HrlmPR7lMc2/2UZU/gtNZlB8xE5GK8nF8VMcOusEJ4jkgPOLUI6FdLk8msNgc+jCBKTHIxGI7XYwTrUuNvnNKTRt+ZZFKtxnXX6g6AlOvMRqyKMpfy4DufyO3T9VA7ky1etlS2HZ6R/kAXT5wCYoZqzdeI4V68v2Auy/QJOO0xnLgl7cwRpypkmC9T2knS/YIVKhoqnPhIm8hzryGJxdo6F7iab7U/oy87OJWCjG1e3CSiaHF/yAJiaaOqRAwWEv3BhlGrqoR729N6XciPm1lclrd9NGF5WU3IGVuyluuP44X95QaNWBsnimv8IeNg1xRWSivVrr3XA0VyXB/zPMO5XH5wBzMpRujXab6JHdnZdYAhzMlQFcJm1zewiC4SyfuNVOVnVy3kxpaO55oCIfD9haaCT5+99uvEQWkacRZ8zg1IVmgbNgoOxPGEYpfQx7EoASooBq/Brgx89HGpH9sJy6M3Z/u4FBvbQLxRis4h7Q7iafgRjHl3Cxhj8+tsA3nG7XnlG3ZvYLRUiRI5+dXYQAoC/zspmpi0DgIGUNJsHf7Dpaf4NfPUjXcO/LW9jv0LvD2qedUhIMbyxydI/LAx1QYlpMWiRucZ3A0+65+Ql+ZBwH2Qj97ugRnNHCBJXejpY7sEDBC57lk6o/4qZ+WvsjcOAVlB67/1xVPEMAcat2c+EIJa875Uh4FbnVsxxQfq2qNmwFFm5P1yXpwUIkVUBQY4d7H1U8MjvNa8VsVNABKAXJ28Phaff4XpRTrCRVG4QRgurNbil3Qcq25TGQsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PP3yMVYguBzCtySScapzU4",
      "input": {
        "note": "Right arm has stopped responding (IK likely stuck with drifting pitch/roll). Commanding a relaxed pose with orientation reset to recover.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.3,
          "right_y": 0.12,
          "right_yaw": 0,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01PP3yMVYguBzCtySScapzU4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8268, 0.6128, -0.4755, -0.0139, -0.0338, 0.9991, 0.6559, 1.0878, 0.6128, -0.2214, 0.5095, 0.3416, 0.9964]\nstate[eef_state]: left_x=0.2839 left_y=0.0004 left_z=0.1561 left_yaw=0.0021 left_pitch=-0.1202 left_roll=-0.0011 left_gripper=0.9991 right_x=0.2999 right_y=0.1266 right_z=0.1434 right_yaw=0.0391 right_pitch=-0.0268 right_roll=-0.021 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -1.3197, 6.9265, 1.7411, -0.0562, -0.0562, -0.0122, -0.5402, -3.1658, 6.653, 1.7216, 0.3199, 0.2271, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72e9b1d85b2eb7d31a1e3d28bcee4a67540bfe67722b672e8fecc1e34941613d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:190f499c0b2f173720e37631291143bf77733e12554185df9f128489e2460cf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7599c64b0df5ca62ba3aed472eea889ef23b07a068a0091ccfbec1fa702fb160",
        "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 · 4.135 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]: [-0.02, 0.8238, 0.6128, -0.4679, -0.0139, -0.0338, 0.9991, 0.6899, 1.6028, 0.8024, -0.202, 0.4263, 0.2958, 0.9964]\nstate[eef_state]: left_x=0.285 left_y=0.0003 left_z=0.1583 left_yaw=0.0021 left_pitch=-0.1095 left_roll=-0.0013 left_gripper=0.9991 right_x=0.3268 right_y=0.1796 right_z=0.0474 right_yaw=0.1332 right_pitch=-0.3188 right_roll=-0.1738 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.388, 7.1179, 1.7949, -0.0611, -0.0415, -0.0122, -0.2393, -6.653, 5.4906, 1.37, 0.3443, 0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8238, 0.6128, -0.469, -0.0139, -0.0338, 0.9991, 0.6899, 1.6028, 0.8024, -0.2024, 0.4267, 0.2962, 0.9965]\nstate[eef_state]: left_x=0.2848 left_y=0.0003 left_z=0.1581 left_yaw=0.0021 left_pitch=-0.1106 left_roll=-0.0013 left_gripper=0.9991 right_x=0.3268 right_y=0.1795 right_z=0.0474 right_yaw=0.1327 right_pitch=-0.3189 right_roll=-0.174 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.388, 6.9402, 1.6972, -0.0562, -0.0513, -0.0122, -0.4991, -6.8034, 5.4906, 1.3553, 0.3736, 0.105, -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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8268, 0.6128, -0.4755, -0.0139, -0.0338, 0.9991, 0.6559, 1.0878, 0.6128, -0.2214, 0.5095, 0.3416, 0.9964]\nstate[eef_state]: left_x=0.2839 left_y=0.0004 left_z=0.1561 left_yaw=0.0021 left_pitch=-0.1202 left_roll=-0.0011 left_gripper=0.9991 right_x=0.2999 right_y=0.1266 right_z=0.1434 right_yaw=0.0391 right_pitch=-0.0268 right_roll=-0.021 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -1.3197, 6.9265, 1.7411, -0.0562, -0.0562, -0.0122, -0.5402, -3.1658, 6.653, 1.7216, 0.3199, 0.2271, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72e9b1d85b2eb7d31a1e3d28bcee4a67540bfe67722b672e8fecc1e34941613d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:190f499c0b2f173720e37631291143bf77733e12554185df9f128489e2460cf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7599c64b0df5ca62ba3aed472eea889ef23b07a068a0091ccfbec1fa702fb160",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmgkKEAgSGAI4AUIIdGhpbmtpbmcSDHmdjQS2TJhR/7ejZhoMXV5yYU1qlFSi+cLnIjCRtjx9iWyrDCepriDceYoCyvWYC64QYn0veuwHn1so6MChseQnTjOH1AeOVFkki6EqtwiTI8ZDLYYdvy7et0+xB9XzhWilzdR3sy394nXOgAMPY/HQt2EUyPTzYlcnyxYLQzYDW4xjHwRX4wOC4+IBc+SbrFDuzasYjHmR7XzvlfLQZPs6Hrc5udGqOKDzbuYoVMfETCPihSiuiLH6v4d+h5xmpFByQ5Fx61mLGSQK7l47iyv2Vm5/qrZMO5Yva7fj/SBws3koQ30QrSRRR3SzZil+nJnBiwUyW+SCjcpkUmxczzEFXj35lQKIHBCXjyrSlu2DZZJdyLloZOrp8uQq8EftX4Vgal3mM3s9i0EWsltB/q1idcctHeDzPOg4W3NkxsbhhmHdj7iRAGsatbqrKuDZ8JszYaHxD1/8AoOR7VUuzKI0G9B7RpYIHR6+ul52mVKRzFvg/ZTWb3eZ0K2hyhQXLsuAt5oGeY6vz/fjeLHNLuCxauyVb1mzn40TtOGW95GFP1KshvGHNvF/zzXyHShfWeUT+uwtBt6KSu5A1BaPUFJdu30YnZm89lZzp6EkJrXxxf+HZkaN+RwZgNuLzLr9ejqVE8MtoL09cgt5rIcrLhmOAFDMLlGo5wH30JAIRtiUtdOUzyrRvdf7t/o8nHk78Aaj0BP8Ymc/WtR0H/Xi+9MpQxx/9ItT70zkzKj31iw+Uv+lw8urKJAIiUC7BiIbdOjI84fhXR0VG0kEVu3SLeUNuE/MGRrtLiJC/07YgxJesqy3qNgEy3LRHiSSmyZF+E3phaAX9VeyKBQ5PK+0rUWH6YtSyvKRyMpa2/oevTtsxIrWDRR4pN2vYxCjD4iYpVGc/0swL9n2k60EZMkKnk0hJUDRQq61WNwWJTvVMZwL23OqQJMoB+H3xAs6tIGaVkEBe6XM4UY5nAFj4MDZtB/HmjXK45rNiQJGYmpBqqNenH1ne3IhpqX8eyq+2CrCzKZ5GzGQsSadvvqN9xOH3IFQ2Tir7hCiR7GVSnD8mnmUNfqjDDLVxBregd/o/1nyQE5pGDOh9q0kdfUB7cZmZeZyYNZwYo4eUtrR1cK4UyPFSjYfj+RgOXHMv1lmrGqaUTvjtmtszELU/oyYtCk39/zb817gZLkYCh+Zg5M5/RcfLOc+jXiYJHzyWl7+cEIO4iwAb/lzSbfgvKfs6Ajh58HLYyqEYhLcuq9B66B0N1/P6pZ8XPVVKG1s4acDIBrD92UMGhRI+3aM2uqcCiJtq/zxJgy/5CN/S5QWeN4P4C0z+FIIyU/CRwQPtq2Dkj9T47JjZaS/wtgUyZUBqi1LxXFezFF+om+vKiXl3kx9ks9eCVUj/pK7ifphg7ydP0LfXO1t7sFjkU4Pr6FwQKrXftlgZNOXxilw1q9NG0D14YkhEzBOJNSAKkQq1zBLpVwBfdic2M5gvqtKBM7NJOyH97wYLhlyY0p7BfDnN0dB4QxGA7z9DiOzt8PowCX6PbHLUGol/Gou1RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CR8XhNUNi48LMyTv6da8PM",
      "input": {
        "note": "Arm recovered. Lemon lies left of the jaw column and a bit ahead; moving over it with neutral orientation.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.345,
          "right_y": 0.2,
          "right_yaw": 0,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01CR8XhNUNi48LMyTv6da8PM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8303, 0.6128, -0.4801, -0.0135, -0.0338, 0.9991, 0.7773, 1.5558, 0.6949, 0.046, 0.5987, 0.4358, 0.9964]\nstate[eef_state]: left_x=0.2833 left_y=0.0003 left_z=0.1543 left_yaw=0.0018 left_pitch=-0.1282 left_roll=-0.0012 left_gripper=0.9991 right_x=0.3307 right_y=0.1907 right_z=0.0722 right_yaw=0.0381 right_pitch=-0.0787 right_roll=-0.0665 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -1.4701, 6.9128, 1.6777, -0.0415, -0.0415, -0.0122, 0.1983, -7.241, 7.3641, 1.5067, 0.525, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e95200a12db9187cac3d19b68ee33f128d89b99abd680cf2c696190a18d7c784",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbf13d1d8b1f63dbc35e768e64406bae631f19546d7e19773b8890d74828c07a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:95be0e6ca14f98181b435fe9180c11acf4ea4f484c2d3e4c60f8a2bdc29a3694",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 2.918 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]: [-0.02, 0.8238, 0.6128, -0.469, -0.0139, -0.0338, 0.9991, 0.6899, 1.6028, 0.8024, -0.2024, 0.4267, 0.2962, 0.9965]\nstate[eef_state]: left_x=0.2848 left_y=0.0003 left_z=0.1581 left_yaw=0.0021 left_pitch=-0.1106 left_roll=-0.0013 left_gripper=0.9991 right_x=0.3268 right_y=0.1795 right_z=0.0474 right_yaw=0.1327 right_pitch=-0.3189 right_roll=-0.174 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.388, 6.9402, 1.6972, -0.0562, -0.0513, -0.0122, -0.4991, -6.8034, 5.4906, 1.3553, 0.3736, 0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8268, 0.6128, -0.4755, -0.0139, -0.0338, 0.9991, 0.6559, 1.0878, 0.6128, -0.2214, 0.5095, 0.3416, 0.9964]\nstate[eef_state]: left_x=0.2839 left_y=0.0004 left_z=0.1561 left_yaw=0.0021 left_pitch=-0.1202 left_roll=-0.0011 left_gripper=0.9991 right_x=0.2999 right_y=0.1266 right_z=0.1434 right_yaw=0.0391 right_pitch=-0.0268 right_roll=-0.021 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -1.3197, 6.9265, 1.7411, -0.0562, -0.0562, -0.0122, -0.5402, -3.1658, 6.653, 1.7216, 0.3199, 0.2271, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8303, 0.6128, -0.4801, -0.0135, -0.0338, 0.9991, 0.7773, 1.5558, 0.6949, 0.046, 0.5987, 0.4358, 0.9964]\nstate[eef_state]: left_x=0.2833 left_y=0.0003 left_z=0.1543 left_yaw=0.0018 left_pitch=-0.1282 left_roll=-0.0012 left_gripper=0.9991 right_x=0.3307 right_y=0.1907 right_z=0.0722 right_yaw=0.0381 right_pitch=-0.0787 right_roll=-0.0665 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -1.4701, 6.9128, 1.6777, -0.0415, -0.0415, -0.0122, 0.1983, -7.241, 7.3641, 1.5067, 0.525, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e95200a12db9187cac3d19b68ee33f128d89b99abd680cf2c696190a18d7c784",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbf13d1d8b1f63dbc35e768e64406bae631f19546d7e19773b8890d74828c07a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95be0e6ca14f98181b435fe9180c11acf4ea4f484c2d3e4c60f8a2bdc29a3694",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSoQcKEAgSGAI4AUIIdGhpbmtpbmcSDNxdZATWPVRmBGWoLhoMQj5GH2DpzTFgCrqGIjBSHbKcxav827PDVH0fqHa4FLOEMBkQl4OP7fht+iWHJ7rEqK6/lxSlQ0mXxxWB3SQqvgZgpqmSD1phFpcrNDUjmLDPwHZhddJHgWWOJtvDQr8CIEoA4sZlaTYZSD+8qXGscJgFuTYeaIZpEknskEi2bXiCIGq0iOOTC41nJobSva7TdW26ZShwArPcRUBtwRVm/ZABOEnaMhLU1F00rmxFOlt/SqKt/jMxLdrN2Z4UAV57QHolVEvbMupKdjm7M7/MyTN+sZ+E1BO9yfEt47nZjNpjt4ZMwCss+9QJOAsIODYFWDVSm7SICzef0cgQFNtHz4vAu8soGaAA+OeS+69Kwc4LX71HkanOu9hOhDRxUNCNZxyt1HBHsUI3PWESDNQFojSJJE4O7tSECPEGHxLa0Y8DhgLeucnswK09OfT1OsNv80gLG1rpyZdiVptGyNEpWo3t4zu/aIh2ekX9N4E8xhsDzR4TbO73ZkMWMJ6wHeY2M59XSjTH7rq+7r2k06DKWCnfjhE+UdxeAfNy3WQZD7gt84Oh08hiwEzM+A1qd/nJVFT3rCiigd7uIUP+rdYGEClL07Edo49WBBmyWmHZWDZCUqCoHd/zY4GqGW2ZVTtFPlc3ml/iXdbgWmOUeqjOR9jh0QaAp19JUfyrxr1E9A6Rh4A9Z0j5Sx2cNQcIGKDfc/U+282c1ysWf55EUDhGB6JpWThU8Wih5jhaqOJTDL1YoUS/b4jG38nRn/yd+uMv2FVtRZOF+JA7KDneo9BizbfRvl9T8HZnEMh4QktDe3uBKwDfv/+KjpQNtMn0R5r9ySy5ZAQmSkfTuVah9MB3Q0dW2NQrEQ/2iwZp2bWn/EBRNRkYWscjFTM8yN0fWt0fXxUIOnZxltdlUtxNYc4Lr/DExbilpRyfRtfB97wM33+nP5D2AH1FqD2oktCD1ACWIvCFuFYV10WFOVo7xlDsBp0XnDRbP6WLQoF12W6efI+MEOdgtUK9Z/Hmi+ryFBP7ZXLi0/5mH+CbGo4cykGsFnP3yfWCieDTRl7eUBO2LriBJIeHT3HHX9KIXun80jG+odFPM1jMGuIz1pvwyvT0VyyPdmxD4cGaURH1wQuVt409v+yHLi+BNgIpfobRPvOnGu608ZpRcGkrDPEJXXOtttPv5AagLSNLOGJzp3BobBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015zudiECGWBRQM8L1s42uLJ",
      "input": {
        "note": "Lemon is just ahead-left of the jaws. Shifting a little further left and descending to table level around it.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.35,
          "right_y": 0.215,
          "right_yaw": 0,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_015zudiECGWBRQM8L1s42uLJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8322, 0.6128, -0.487, -0.0139, -0.0338, 0.9991, 0.8005, 1.8385, 0.675, 0.3145, 0.625, 0.4652, 0.9965]\nstate[eef_state]: left_x=0.2823 left_y=0.0004 left_z=0.1525 left_yaw=0.0021 left_pitch=-0.1369 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3383 right_y=0.2054 right_z=0.0054 right_yaw=0.0247 right_pitch=-0.0888 right_roll=-0.0807 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.388, 6.9128, 1.663, -0.0366, -0.0757, -0.0122, 0.2803, -9.4838, 4.6974, 1.7021, 0.4274, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ca7274ed8dcc09e183d9f7743d8f1055037e451dbfb7d4138958363bb5c4ab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a52e98f4cebb517a7f8531c8c582bcb6776bf59c074a8d2023b359322cec17f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4fe8780126742cc04fa39ba35cdd2407d24883a1bb4462aed903232cf244b9c",
        "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 · 5.29 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]: [-0.02, 0.8268, 0.6128, -0.4755, -0.0139, -0.0338, 0.9991, 0.6559, 1.0878, 0.6128, -0.2214, 0.5095, 0.3416, 0.9964]\nstate[eef_state]: left_x=0.2839 left_y=0.0004 left_z=0.1561 left_yaw=0.0021 left_pitch=-0.1202 left_roll=-0.0011 left_gripper=0.9991 right_x=0.2999 right_y=0.1266 right_z=0.1434 right_yaw=0.0391 right_pitch=-0.0268 right_roll=-0.021 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -1.3197, 6.9265, 1.7411, -0.0562, -0.0562, -0.0122, -0.5402, -3.1658, 6.653, 1.7216, 0.3199, 0.2271, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8303, 0.6128, -0.4801, -0.0135, -0.0338, 0.9991, 0.7773, 1.5558, 0.6949, 0.046, 0.5987, 0.4358, 0.9964]\nstate[eef_state]: left_x=0.2833 left_y=0.0003 left_z=0.1543 left_yaw=0.0018 left_pitch=-0.1282 left_roll=-0.0012 left_gripper=0.9991 right_x=0.3307 right_y=0.1907 right_z=0.0722 right_yaw=0.0381 right_pitch=-0.0787 right_roll=-0.0665 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -1.4701, 6.9128, 1.6777, -0.0415, -0.0415, -0.0122, 0.1983, -7.241, 7.3641, 1.5067, 0.525, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8322, 0.6128, -0.487, -0.0139, -0.0338, 0.9991, 0.8005, 1.8385, 0.675, 0.3145, 0.625, 0.4652, 0.9965]\nstate[eef_state]: left_x=0.2823 left_y=0.0004 left_z=0.1525 left_yaw=0.0021 left_pitch=-0.1369 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3383 right_y=0.2054 right_z=0.0054 right_yaw=0.0247 right_pitch=-0.0888 right_roll=-0.0807 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.388, 6.9128, 1.663, -0.0366, -0.0757, -0.0122, 0.2803, -9.4838, 4.6974, 1.7021, 0.4274, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ca7274ed8dcc09e183d9f7743d8f1055037e451dbfb7d4138958363bb5c4ab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a52e98f4cebb517a7f8531c8c582bcb6776bf59c074a8d2023b359322cec17f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4fe8780126742cc04fa39ba35cdd2407d24883a1bb4462aed903232cf244b9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tg25fvprPDqX8ion1XXsLK",
      "input": {
        "note": "Lemon is centred between the jaws at table level. Closing.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Tg25fvprPDqX8ion1XXsLK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8326, 0.6128, -0.4911, -0.0139, -0.0334, 0.9991, 0.8051, 1.8561, 0.6735, 0.4076, 0.635, 0.4797, 0.4986]\nstate[eef_state]: left_x=0.2816 left_y=0.0004 left_z=0.1516 left_yaw=0.002 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9991 right_x=0.3462 right_y=0.2141 right_z=0.0129 right_yaw=0.0174 right_pitch=-0.0308 right_roll=-0.0218 right_gripper=0.4986\nstate[joint_eff]: [-0.1026, -1.4291, 7.0496, 1.6532, -0.0415, -0.0171, -0.0122, -0.0342, -8.1709, 4.6701, 1.746, 0.3736, 0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0135810fbfb7d493b88f153acbde2f7fdbe37ead70291cf4e2de08619a7b33db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67993822cd87f6efdcb74962299494c9950379fcaa5ad72110cacdb1190f98e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:89aee914339b2d06550d1c6ef03a081b91480d5fbff95232821608f9a97a93d0",
        "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 · 5.127 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]: [-0.02, 0.8303, 0.6128, -0.4801, -0.0135, -0.0338, 0.9991, 0.7773, 1.5558, 0.6949, 0.046, 0.5987, 0.4358, 0.9964]\nstate[eef_state]: left_x=0.2833 left_y=0.0003 left_z=0.1543 left_yaw=0.0018 left_pitch=-0.1282 left_roll=-0.0012 left_gripper=0.9991 right_x=0.3307 right_y=0.1907 right_z=0.0722 right_yaw=0.0381 right_pitch=-0.0787 right_roll=-0.0665 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -1.4701, 6.9128, 1.6777, -0.0415, -0.0415, -0.0122, 0.1983, -7.241, 7.3641, 1.5067, 0.525, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8322, 0.6128, -0.487, -0.0139, -0.0338, 0.9991, 0.8005, 1.8385, 0.675, 0.3145, 0.625, 0.4652, 0.9965]\nstate[eef_state]: left_x=0.2823 left_y=0.0004 left_z=0.1525 left_yaw=0.0021 left_pitch=-0.1369 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3383 right_y=0.2054 right_z=0.0054 right_yaw=0.0247 right_pitch=-0.0888 right_roll=-0.0807 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.388, 6.9128, 1.663, -0.0366, -0.0757, -0.0122, 0.2803, -9.4838, 4.6974, 1.7021, 0.4274, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8326, 0.6128, -0.4911, -0.0139, -0.0334, 0.9991, 0.8051, 1.8561, 0.6735, 0.4076, 0.635, 0.4797, 0.4986]\nstate[eef_state]: left_x=0.2816 left_y=0.0004 left_z=0.1516 left_yaw=0.002 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9991 right_x=0.3462 right_y=0.2141 right_z=0.0129 right_yaw=0.0174 right_pitch=-0.0308 right_roll=-0.0218 right_gripper=0.4986\nstate[joint_eff]: [-0.1026, -1.4291, 7.0496, 1.6532, -0.0415, -0.0171, -0.0122, -0.0342, -8.1709, 4.6701, 1.746, 0.3736, 0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0135810fbfb7d493b88f153acbde2f7fdbe37ead70291cf4e2de08619a7b33db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67993822cd87f6efdcb74962299494c9950379fcaa5ad72110cacdb1190f98e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89aee914339b2d06550d1c6ef03a081b91480d5fbff95232821608f9a97a93d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwkKEAgSGAI4AUIIdGhpbmtpbmcSDMRHgfH3Z+ejlkDBgxoMFexx96P4ZfsezHpJIjBI0J5Xa1UnPp5Gvn/TrmGTxlOgU0ZJV5kYq+X9qmFjEj62ghDiQEGwHsXXNRyr0hEquAhR2QpOoSqSGlGlwYLETfDYCRZBNO09OnJxPrBR1jLscpav72hQoG+ItSv/vaHARmVJk6ny/99mhoQamAujkDOxHHPiCzLu7vhnX4eRc3VPGICi8Wx1k057+IDWOEpfDyyoiGJbyH/VL2prwikwA55WcrfO6HPYp2TRtPW7VuGSTx3S1kmju8N0DFhRJg+cj1HRCxRPKbkvQwQOGDjz0ozc/VyO4mliEez/iF4JPwJ+vxasRX1AbDbEBIgEHnJcWKfIvl9SfrTMWq3WVsFO2zdvEzd4V+6z0ZAMwHJg3TiKdC8WvuyPw+yvq665yPSBGsDDVMHk6ouuVJqAYr7LauRBJM4/771PTOdx8Ob/hH1XIh55cU5+tRp96qEdlw41+H5vLcvmpGzr+OpBX4HbfR6/YeMQQywZs92JIa2Izfu05pa5vK9h2FxgEn1Ol0bZrwvPtlQ693ItoA1EqpnoLmbHqjEU+F84OCMSYAexkk+pwExswyb7lvATolsYPhfr9KUI3S6Xk+lcCe5dUceTlh9b2PDTEs9enTRMSk9vKczsI8bQGmmWEyNikqA0xcD/+KQ167c467lL/+Wz2Hhfm24ohZZw0bO1drnftp/SiQ7JRLsTYylGwTfwiv0QH9QkJPBSBV9w45Q5WI5/WMdOSp9znZuhdX/gOWIKvmR2EOxGQ9iT1vrMAp5IorO4JdM0dLhlmVrL0UrcM7cpQbit3uMvpn78c2zGZdrb/19BdX6BaCbqq0O/d35YOKl/RiAL+Wq+P0t7z23csTB+muqhRU30nrTaBDrKcEgj2qelpFfPffH64CJgAPJ8K14dh6thb5sUycozFNAjajn5I9XsLVpKensdPlYngSdnGRHculppF75oIxHsbdnti0q67FRjk1X40EJH50y0e++p+dujFTTUG/05kpAnFguID667cBo+l3b1UgiE/LiRL+bp3xT4qk0xAZNp3niQavDaBYg3tDwxn9itgCAHBcFeTOvKt6RNBLtDAxv1xoRU29Wj+wM8s1v4Axorzx6+qwoHebtAmfRXrtLyYfYr9cEw646aVTAlnOpsI7wKzHYeLGlCgYw+F+ACwETAke61hNTVAFnTAAtZeYU0516GrCRsutlRFXgLtBrsdekEmbeXhjpbys6JslNq9bXg2iq6q0mYwL9MYSViZHueQJkqRiCP679TNuLOZYc27VgVZNGK6L81PtxoiFT4yWsQx50o36+gHV2guJMEgiftscWlGsqpbJHMig8FemX4DKGYW9TA4up7jN5Nv/fO6kZbnAPNyJWFBIKayBkxLJcLTEz/hzjxp6G127gqKzAXqInb5+4Ao9jsq/yd6FaVKBVQzgAGnrkCxXgBtaXZ2Y5qjnSbQceTHg74nJwaS5nJJXAJnbk8nZwwaCMfEqh9/2Pi+QLCOq96WTWef9ahGzFmR8/oFEoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XGdtM7yQJeBHkrwUpQ2MkR",
      "input": {
        "note": "Lemon grasped (gripper 0.50). Lifting it straight up before carrying to the bowl.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_yaw": 0,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01XGdtM7yQJeBHkrwUpQ2MkR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8326, 0.6128, -0.4919, -0.0135, -0.0338, 0.9991, 0.8097, 1.504, 0.9497, -0.2073, 0.6361, 0.4797, 0.5016]\nstate[eef_state]: left_x=0.2815 left_y=0.0003 left_z=0.1515 left_yaw=0.0018 left_pitch=-0.1423 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3465 right_y=0.2168 right_z=0.1512 right_yaw=0.0214 right_pitch=-0.0208 right_roll=-0.0129 right_gripper=0.5016\nstate[joint_eff]: [-0.1026, -1.3744, 6.9675, 1.6288, -0.022, -0.0562, -0.0171, 0.1299, -7.9658, 8.4991, 1.5556, 0.4567, 0.1636, 0.6227]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dfab29bf49f34277ed582cbb461e06b3b289555a3da0f2caa85f2ed286f506a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:907bbdcb70ffc36025ee14986fa3a09e34df94b0fbcde13611dda9d1101b6cc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6a2819d21bcad6a663424b8f51e1a44d55ea2c97d3c8a678a89888310792b65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 3.175 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]: [-0.02, 0.8322, 0.6128, -0.487, -0.0139, -0.0338, 0.9991, 0.8005, 1.8385, 0.675, 0.3145, 0.625, 0.4652, 0.9965]\nstate[eef_state]: left_x=0.2823 left_y=0.0004 left_z=0.1525 left_yaw=0.0021 left_pitch=-0.1369 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3383 right_y=0.2054 right_z=0.0054 right_yaw=0.0247 right_pitch=-0.0888 right_roll=-0.0807 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.388, 6.9128, 1.663, -0.0366, -0.0757, -0.0122, 0.2803, -9.4838, 4.6974, 1.7021, 0.4274, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8326, 0.6128, -0.4911, -0.0139, -0.0334, 0.9991, 0.8051, 1.8561, 0.6735, 0.4076, 0.635, 0.4797, 0.4986]\nstate[eef_state]: left_x=0.2816 left_y=0.0004 left_z=0.1516 left_yaw=0.002 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9991 right_x=0.3462 right_y=0.2141 right_z=0.0129 right_yaw=0.0174 right_pitch=-0.0308 right_roll=-0.0218 right_gripper=0.4986\nstate[joint_eff]: [-0.1026, -1.4291, 7.0496, 1.6532, -0.0415, -0.0171, -0.0122, -0.0342, -8.1709, 4.6701, 1.746, 0.3736, 0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8326, 0.6128, -0.4919, -0.0135, -0.0338, 0.9991, 0.8097, 1.504, 0.9497, -0.2073, 0.6361, 0.4797, 0.5016]\nstate[eef_state]: left_x=0.2815 left_y=0.0003 left_z=0.1515 left_yaw=0.0018 left_pitch=-0.1423 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3465 right_y=0.2168 right_z=0.1512 right_yaw=0.0214 right_pitch=-0.0208 right_roll=-0.0129 right_gripper=0.5016\nstate[joint_eff]: [-0.1026, -1.3744, 6.9675, 1.6288, -0.022, -0.0562, -0.0171, 0.1299, -7.9658, 8.4991, 1.5556, 0.4567, 0.1636, 0.6227]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dfab29bf49f34277ed582cbb461e06b3b289555a3da0f2caa85f2ed286f506a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:907bbdcb70ffc36025ee14986fa3a09e34df94b0fbcde13611dda9d1101b6cc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6a2819d21bcad6a663424b8f51e1a44d55ea2c97d3c8a678a89888310792b65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnQgKEAgSGAI4AUIIdGhpbmtpbmcSDEGbf0k3FlIl3VRmGxoMIJYmBY2691r+8jm0IjB7WruO/qMKNE57Spk+jVDOa9wNg34SeaZ+QTgMf0QZvPjr/TYDKtO/nF5qCkpq1MYqugfONSTM5iIytC6US2p1Xb4a57dC1QhupMTalH96dl4GdZqivZyyB/77Y8cbvl3kGURfDfP6r3IkiETKpBeWHWoskwsgYZi1vHkNLAIN3y1RhVxJ3ka1e8MJvkD4bvFg49B90ncjzlXlrIqVeHfvAX2xDYwQ+0VhAVn7nytE0JrGm/CrIrmLDVwLRQ23gFiKYcyaJbpxLUmbt2aFH0FGXFbMaLQNO59Cqrvp5kZhvkk6dt1dId9++49b/gv0VL0AhMI3kVizXqIR5Clo8KFEyH061EW3NWW7Uri0VXy3qhr4AqVJVMImadYMSfiZOfFUWL8Nnnyj4bV4kLNUwpjd2BVH88dyRP/5bRj6rz65P+iybr3bc4tYVink9lNbP7zyK3JFnAV1+5tj+UsOaoZhgT+FuHFB1+Bd8g5fwAZutYt/dAy2X72qXZJYBqivVraJGMyrvP0yPfbz2jb7JYUApZ/G693HZKgxeaU/ze5KkTjJXrnDciE3+vUCTaSDRS4TB3QY7wva1e7Kch6h00Z7pcpEKjVzxnVKWUCG3aQ/2sxHB5VMSQpDgVTP2NCG2R5YTOrGgyFV2RsiimFPhc3N7E5J0T+evnL9vY5nZQEHUaV7YOst0hRNQbij8A3Y/JHNApXQm3mBfwuugqbEyYOBJplUEiwA6rTlX4Xt5X0WEUjFVVYiEdfOqQLxOpRCNbLOlHnOvycKUySLV3rVw4igbIhMv1JXjou5vPmkrk0SxtMBeRGaycc4rYNht4pCBMAtz/S0YTgLpsf9KVCebN9j6+h0PDZwBlzoDoypICYCjEWm/Whrb/jQ3IqQ77C0A0/mSe+VYNlXTk/weOs0JdN5tHzisOn0/zlmie5kDzqTZPRuy6o5oUJwoLSWmm2H1Av2RJvE1M5CDMW9Nk0UKrZ0r19OxXh4xcXgtQKwg3bh6oKvrD+PEXCbhvnGLWzwp6onJoeZpjmzkTGV77qrszIai8K3IZhBOikr6T8j4qYpP1lvZVlXX2qANYsRBPJwqOP6c6ovTLz+UXaAX1uov82IoxbYekGzRMsg+Gwc6TOsEjsNrmQAwjhWpXJPikTQdAbSHGkBPcPQU9Hxw0JK3ns/gUQ6PiaCOUDC8arVGCQR3UZYL2kgifVKwh51P9GmAZyTRfEktr644ap8ePZLcNzIzXHneCuNpX/Gx6WnyFUis0+ZrZvgQs/yutd2Kd7pybJfaSF/E8MtjOXy6ZIgvYYzpn+dC2zPh4UwsL2n+Rb/EJm5+YYjcUgT2zozjHwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TMzJQsCb6u7dN91HkeP9uk",
      "input": {
        "note": "Lemon lifted; blue bowl with the pear is ahead-right. Carrying the lemon over the bowl's left half beside the pear.",
        "targets": {
          "right_x": 0.415,
          "right_y": 0.145,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TMzJQsCb6u7dN91HkeP9uk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8333, 0.6128, -0.4923, -0.0139, -0.0338, 0.9991, 0.5026, 1.5528, 0.8902, -0.0414, 0.4221, 0.2729, 0.5047]\nstate[eef_state]: left_x=0.2815 left_y=0.0004 left_z=0.1512 left_yaw=0.0022 left_pitch=-0.1434 left_roll=-0.0006 left_gripper=0.9991 right_x=0.4027 right_y=0.1428 right_z=0.123 right_yaw=-0.0085 right_pitch=-0.0643 right_roll=-0.0337 right_gripper=0.5047\nstate[joint_eff]: [-0.253, -1.2239, 6.8991, 1.58, -0.0415, -0.0562, -0.0122, -0.3487, -6.147, 6.6256, 1.8535, 0.1197, -0.0171, 0.6422]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae8bd52e7927a6de9c7c7062580b4f4c4a06bf04f847603ced2f31ffee6716f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcaffe60e2c5131741831639206b32f82616d4f3226892bf7df22e0791a8cc31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:474d41c2bbe3fe27f93b486e5acf775c3ba45d50c67011963bff7893333efb51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 9.218 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]: [-0.02, 0.8326, 0.6128, -0.4911, -0.0139, -0.0334, 0.9991, 0.8051, 1.8561, 0.6735, 0.4076, 0.635, 0.4797, 0.4986]\nstate[eef_state]: left_x=0.2816 left_y=0.0004 left_z=0.1516 left_yaw=0.002 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9991 right_x=0.3462 right_y=0.2141 right_z=0.0129 right_yaw=0.0174 right_pitch=-0.0308 right_roll=-0.0218 right_gripper=0.4986\nstate[joint_eff]: [-0.1026, -1.4291, 7.0496, 1.6532, -0.0415, -0.0171, -0.0122, -0.0342, -8.1709, 4.6701, 1.746, 0.3736, 0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8326, 0.6128, -0.4919, -0.0135, -0.0338, 0.9991, 0.8097, 1.504, 0.9497, -0.2073, 0.6361, 0.4797, 0.5016]\nstate[eef_state]: left_x=0.2815 left_y=0.0003 left_z=0.1515 left_yaw=0.0018 left_pitch=-0.1423 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3465 right_y=0.2168 right_z=0.1512 right_yaw=0.0214 right_pitch=-0.0208 right_roll=-0.0129 right_gripper=0.5016\nstate[joint_eff]: [-0.1026, -1.3744, 6.9675, 1.6288, -0.022, -0.0562, -0.0171, 0.1299, -7.9658, 8.4991, 1.5556, 0.4567, 0.1636, 0.6227]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8333, 0.6128, -0.4923, -0.0139, -0.0338, 0.9991, 0.5026, 1.5528, 0.8902, -0.0414, 0.4221, 0.2729, 0.5047]\nstate[eef_state]: left_x=0.2815 left_y=0.0004 left_z=0.1512 left_yaw=0.0022 left_pitch=-0.1434 left_roll=-0.0006 left_gripper=0.9991 right_x=0.4027 right_y=0.1428 right_z=0.123 right_yaw=-0.0085 right_pitch=-0.0643 right_roll=-0.0337 right_gripper=0.5047\nstate[joint_eff]: [-0.253, -1.2239, 6.8991, 1.58, -0.0415, -0.0562, -0.0122, -0.3487, -6.147, 6.6256, 1.8535, 0.1197, -0.0171, 0.6422]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae8bd52e7927a6de9c7c7062580b4f4c4a06bf04f847603ced2f31ffee6716f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcaffe60e2c5131741831639206b32f82616d4f3226892bf7df22e0791a8cc31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:474d41c2bbe3fe27f93b486e5acf775c3ba45d50c67011963bff7893333efb51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V1Wq3qYpyp55whUpr6Rq4q",
      "input": {
        "note": "Lemon is directly over the blue bowl next to the pear. Releasing.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01V1Wq3qYpyp55whUpr6Rq4q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8333, 0.6128, -0.4927, -0.0139, -0.0338, 0.9991, 0.5037, 1.5673, 0.8902, -0.0467, 0.4076, 0.2615, 0.9955]\nstate[eef_state]: left_x=0.2814 left_y=0.0004 left_z=0.1511 left_yaw=0.0022 left_pitch=-0.1438 left_roll=-0.0006 left_gripper=0.9991 right_x=0.4014 right_y=0.1454 right_z=0.1156 right_yaw=0.0097 right_pitch=-0.0865 right_roll=-0.0441 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -1.4017, 6.9128, 1.6044, -0.0171, -0.0757, -0.0122, -0.3624, -8.1436, 6.4479, 1.6044, 0.2222, 0.0366, -0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46693a0071d49f913f8a63d1156a830d5ace952f544ed30f9bec7d9f6609541f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9181a8b659ca5df1824fd0099896717dec86db8793424861a67762be2cefeed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:794ddb1f5edd72a477d721a1725945d4fafc5873fd3878625c22d6054c6ea611",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 3.814 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]: [-0.02, 0.8326, 0.6128, -0.4919, -0.0135, -0.0338, 0.9991, 0.8097, 1.504, 0.9497, -0.2073, 0.6361, 0.4797, 0.5016]\nstate[eef_state]: left_x=0.2815 left_y=0.0003 left_z=0.1515 left_yaw=0.0018 left_pitch=-0.1423 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3465 right_y=0.2168 right_z=0.1512 right_yaw=0.0214 right_pitch=-0.0208 right_roll=-0.0129 right_gripper=0.5016\nstate[joint_eff]: [-0.1026, -1.3744, 6.9675, 1.6288, -0.022, -0.0562, -0.0171, 0.1299, -7.9658, 8.4991, 1.5556, 0.4567, 0.1636, 0.6227]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8333, 0.6128, -0.4923, -0.0139, -0.0338, 0.9991, 0.5026, 1.5528, 0.8902, -0.0414, 0.4221, 0.2729, 0.5047]\nstate[eef_state]: left_x=0.2815 left_y=0.0004 left_z=0.1512 left_yaw=0.0022 left_pitch=-0.1434 left_roll=-0.0006 left_gripper=0.9991 right_x=0.4027 right_y=0.1428 right_z=0.123 right_yaw=-0.0085 right_pitch=-0.0643 right_roll=-0.0337 right_gripper=0.5047\nstate[joint_eff]: [-0.253, -1.2239, 6.8991, 1.58, -0.0415, -0.0562, -0.0122, -0.3487, -6.147, 6.6256, 1.8535, 0.1197, -0.0171, 0.6422]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8333, 0.6128, -0.4927, -0.0139, -0.0338, 0.9991, 0.5037, 1.5673, 0.8902, -0.0467, 0.4076, 0.2615, 0.9955]\nstate[eef_state]: left_x=0.2814 left_y=0.0004 left_z=0.1511 left_yaw=0.0022 left_pitch=-0.1438 left_roll=-0.0006 left_gripper=0.9991 right_x=0.4014 right_y=0.1454 right_z=0.1156 right_yaw=0.0097 right_pitch=-0.0865 right_roll=-0.0441 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -1.4017, 6.9128, 1.6044, -0.0171, -0.0757, -0.0122, -0.3624, -8.1436, 6.4479, 1.6044, 0.2222, 0.0366, -0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46693a0071d49f913f8a63d1156a830d5ace952f544ed30f9bec7d9f6609541f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9181a8b659ca5df1824fd0099896717dec86db8793424861a67762be2cefeed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:794ddb1f5edd72a477d721a1725945d4fafc5873fd3878625c22d6054c6ea611",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qqkvi9SYorJnvw6RHE9iRt",
      "input": {
        "note": "Pear and lemon are in the blue bowl. The plum sits just ahead of the left jaws; descending the left arm onto it.",
        "targets": {
          "left_gripper": 1,
          "left_pitch": 0,
          "left_x": 0.33,
          "left_y": -0.012,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Qqkvi9SYorJnvw6RHE9iRt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0799, 1.4837, 0.1963, 0.5949, -0.0666, -0.054, 0.999, 0.503, 1.5673, 0.8902, -0.0528, 0.4061, 0.2607, 0.9963]\nstate[eef_state]: left_x=0.3131 left_y=-0.0097 left_z=-0.0006 left_yaw=-0.0022 left_pitch=-0.1215 left_roll=0.0171 left_gripper=0.999 right_x=0.4007 right_y=0.1449 right_z=0.1145 right_yaw=0.0103 right_pitch=-0.0923 right_roll=-0.0468 right_gripper=0.9963\nstate[joint_eff]: [-0.4855, -3.7128, 3.0701, 0.735, 0.0415, -0.0806, -0.1099, -0.1026, -7.0496, 6.4615, 1.6093, 0.1538, -0.0464, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e43db7dcbe1f82b10693d9f3c23774fcad48af94e1f286fda4e72f8fdeab436b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:596ca1c053e02670470c930fdc93ad61fa5d759882106c8579754399c4bd4a74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d733b413db980d4bdb1e29e41005c956b123efc166819beda2d3d4d9bcb3c59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 6.583 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]: [-0.02, 0.8333, 0.6128, -0.4923, -0.0139, -0.0338, 0.9991, 0.5026, 1.5528, 0.8902, -0.0414, 0.4221, 0.2729, 0.5047]\nstate[eef_state]: left_x=0.2815 left_y=0.0004 left_z=0.1512 left_yaw=0.0022 left_pitch=-0.1434 left_roll=-0.0006 left_gripper=0.9991 right_x=0.4027 right_y=0.1428 right_z=0.123 right_yaw=-0.0085 right_pitch=-0.0643 right_roll=-0.0337 right_gripper=0.5047\nstate[joint_eff]: [-0.253, -1.2239, 6.8991, 1.58, -0.0415, -0.0562, -0.0122, -0.3487, -6.147, 6.6256, 1.8535, 0.1197, -0.0171, 0.6422]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8333, 0.6128, -0.4927, -0.0139, -0.0338, 0.9991, 0.5037, 1.5673, 0.8902, -0.0467, 0.4076, 0.2615, 0.9955]\nstate[eef_state]: left_x=0.2814 left_y=0.0004 left_z=0.1511 left_yaw=0.0022 left_pitch=-0.1438 left_roll=-0.0006 left_gripper=0.9991 right_x=0.4014 right_y=0.1454 right_z=0.1156 right_yaw=0.0097 right_pitch=-0.0865 right_roll=-0.0441 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -1.4017, 6.9128, 1.6044, -0.0171, -0.0757, -0.0122, -0.3624, -8.1436, 6.4479, 1.6044, 0.2222, 0.0366, -0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0799, 1.4837, 0.1963, 0.5949, -0.0666, -0.054, 0.999, 0.503, 1.5673, 0.8902, -0.0528, 0.4061, 0.2607, 0.9963]\nstate[eef_state]: left_x=0.3131 left_y=-0.0097 left_z=-0.0006 left_yaw=-0.0022 left_pitch=-0.1215 left_roll=0.0171 left_gripper=0.999 right_x=0.4007 right_y=0.1449 right_z=0.1145 right_yaw=0.0103 right_pitch=-0.0923 right_roll=-0.0468 right_gripper=0.9963\nstate[joint_eff]: [-0.4855, -3.7128, 3.0701, 0.735, 0.0415, -0.0806, -0.1099, -0.1026, -7.0496, 6.4615, 1.6093, 0.1538, -0.0464, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e43db7dcbe1f82b10693d9f3c23774fcad48af94e1f286fda4e72f8fdeab436b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:596ca1c053e02670470c930fdc93ad61fa5d759882106c8579754399c4bd4a74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d733b413db980d4bdb1e29e41005c956b123efc166819beda2d3d4d9bcb3c59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrAcKEAgSGAI4AUIIdGhpbmtpbmcSDKJKDxP5tSqKd5pcPBoMlp6F5Q5lfaRMMPd/IjBj02h76IMmpq573Nx2mtBmA3jZfQWTYT7KBLyQNiMOYNgwBM79PiPgGEIoo3AkIXQqyQZJE+JS+lnifOHybbqrEdhaQbqr4GVciuciniM5MzXl3n6NCaYlWhNnOa0v4q5ltp6+TYki8QXrx7ybq6SF93PlanKpIrTB3gLriCZRrWA4yDwt36CrYuEwj2dpHoSYESICswLgyn1zk8o7CP4fJd4fiARl04UgeBWw5+/ZW7PZ6Sthml0YmqtRC2FwHbkkmo4H0Wy2ZemQ6Fkp1e1pa89Fs+4uwvpvrF6ppHNAqHlyo5zrGB63/JshHNrTw7Rl/Cf9tByHAOhMw0lHPztLJM4iMj/TsHk4X+aJJbP8FIGQ6DP8HOiCa/XhkuMDk7LaGHm0eeRbBw/Dase/7iBGcOcXX8/cCIm/Tu1oeAW9v8jWA3qvjVuFw4N7CMU6GbGkZs5xaYRWW2bljPWKRxm24zidWfM2UhTIFgpm3fPO/O+A/AZpcNFYgwdnKSWAxJ+Kki/6cCwCDjQpRu6Yp6HltuIVXlbGtcyvrEpGczEOSZadNAgN4XIXht03/0ZBhc2tsCAdm/0YQSIuwRhT49CjfmI+8tXzKlZSrCVzupZFaf+j4uuqBKU5kpt6WpZoUZNefsyn+kNoMdj/p+sgXw2u0dXfi+ZvKreltEZ2mNtZPCDSJPOFPudumQdosw7/Cb6blgFFfNh1X/pm+gmihKDpsjzwe9yNveVPrj6vQURFoBjJxPJjspRIZ4zGcWAk7zJjTATrLun4k83dfX5hd3CAjAuLBAb2c9BiEFmYhVXWVnRfyXe5NA1xiAd+CZMy2otTOHKHfFFjY67IwZ2qw+xtuWbEiH1DdXLSRvumydi1/Q2tKQhkDeCFVfUGJad9APCEwWgcSHIQHt4c723YG+PH2lET8dpjwymAUacUihLMFW9kVeUzmnZ6AMGWhcuL2M2dmuQOadTXEP3YYi+B/kdE35vtueGly8a+vaGQ2+NJhTf1cbSpFDvnwXfZ1qPwfXUm7cAWFQwRVNyakAjCNXa0HmfOBT07lkkVr5SKUICY35CduqmKoMIdRc3ZK+UCfGraWKAUMF2D2gKjrIJcEWk7QNIB7iDCVlCrqc0+g5k5HkTMEdeLHZXNACsdks94YbCG1AuOPrLdOk+WFR6cln+Z1tYqrAzXvQEgtqDgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N6egmmwMYRyYRjAZ9FktJD",
      "input": {
        "note": "Plum fills the view between the left jaws at table level. Closing on it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01N6egmmwMYRyYRjAZ9FktJD",
      "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]: [-0.0811, 1.4918, 0.1879, 0.6231, -0.0738, -0.0563, 0.0086, 0.503, 1.5677, 0.8902, -0.054, 0.4057, 0.2607, 0.9964]\nstate[eef_state]: left_x=0.3134 left_y=-0.0088 left_z=-0.0002 left_yaw=0.004 left_pitch=-0.1093 left_roll=0.019 left_gripper=0.0086 right_x=0.4005 right_y=0.1449 right_z=0.1141 right_yaw=0.0106 right_pitch=-0.0938 right_roll=-0.0473 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -4.8205, 4.9162, 1.37, 0.0171, 0.0171, 0.6716, -0.0342, -7.1726, 6.4342, 1.5311, 0.1392, -0.0464, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1657deec939cbdffd77d96887d6dc44a4324759589885cbb412422a8bb1fc3c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0bcba2ef64c5268df27674e3388331ca789357910a9bb9bba434e18f6c30b05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:42e5202729e92841a2e353139a697837e2397ce13502453d5800e495ac4ca4c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 4.072 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]: [-0.02, 0.8333, 0.6128, -0.4927, -0.0139, -0.0338, 0.9991, 0.5037, 1.5673, 0.8902, -0.0467, 0.4076, 0.2615, 0.9955]\nstate[eef_state]: left_x=0.2814 left_y=0.0004 left_z=0.1511 left_yaw=0.0022 left_pitch=-0.1438 left_roll=-0.0006 left_gripper=0.9991 right_x=0.4014 right_y=0.1454 right_z=0.1156 right_yaw=0.0097 right_pitch=-0.0865 right_roll=-0.0441 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -1.4017, 6.9128, 1.6044, -0.0171, -0.0757, -0.0122, -0.3624, -8.1436, 6.4479, 1.6044, 0.2222, 0.0366, -0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0799, 1.4837, 0.1963, 0.5949, -0.0666, -0.054, 0.999, 0.503, 1.5673, 0.8902, -0.0528, 0.4061, 0.2607, 0.9963]\nstate[eef_state]: left_x=0.3131 left_y=-0.0097 left_z=-0.0006 left_yaw=-0.0022 left_pitch=-0.1215 left_roll=0.0171 left_gripper=0.999 right_x=0.4007 right_y=0.1449 right_z=0.1145 right_yaw=0.0103 right_pitch=-0.0923 right_roll=-0.0468 right_gripper=0.9963\nstate[joint_eff]: [-0.4855, -3.7128, 3.0701, 0.735, 0.0415, -0.0806, -0.1099, -0.1026, -7.0496, 6.4615, 1.6093, 0.1538, -0.0464, 0.0757]",
      "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]: [-0.0811, 1.4918, 0.1879, 0.6231, -0.0738, -0.0563, 0.0086, 0.503, 1.5677, 0.8902, -0.054, 0.4057, 0.2607, 0.9964]\nstate[eef_state]: left_x=0.3134 left_y=-0.0088 left_z=-0.0002 left_yaw=0.004 left_pitch=-0.1093 left_roll=0.019 left_gripper=0.0086 right_x=0.4005 right_y=0.1449 right_z=0.1141 right_yaw=0.0106 right_pitch=-0.0938 right_roll=-0.0473 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -4.8205, 4.9162, 1.37, 0.0171, 0.0171, 0.6716, -0.0342, -7.1726, 6.4342, 1.5311, 0.1392, -0.0464, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1657deec939cbdffd77d96887d6dc44a4324759589885cbb412422a8bb1fc3c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0bcba2ef64c5268df27674e3388331ca789357910a9bb9bba434e18f6c30b05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42e5202729e92841a2e353139a697837e2397ce13502453d5800e495ac4ca4c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AoKEAgSGAI4AUIIdGhpbmtpbmcSDGUKI9nj6JmHYFI3lhoMYW3JMLHq4pTKDaOrIjCIR3A3TL1DacYyHYgKXN4TJVTE/j7zfJsziNWh3fkWSF0PbbKSsj9i9AG98GR4s3cqhQofqvlvlmnwqS9wpD7HfM7qNVjsUB8OE2+Mb+1GnxwIJ3GRVpy+sILYvQtkwbttX62/oQy8vLvWimk+3KT1nlzT0gite4tTIO0stwIhrrxQoz0lI2SyNru3exwMs5KBLQRevPac15FgQD43BPWtpHUH4JZt0D3y7jdcnM4LsXbZrA1hYHIWHYnFcJwWt7HQtJn3FSHbx4OrdAGSyFaVP2W9l5wOVvMNxelVFAsFG5jNqW68Ft3SeoL1ABKmt388PqS29ipDnnHSJ08zY2wQzlY87OwkR2oqdoYUpTyl0VFBEDmjrJMgTRvg5seQFv5GY1Uv1PtHoz2Z0Q7pOnZ+koys4ipe0Hqd9A7BxBRPZ4s97a17rbaDFaxu+q9kTbzUrYRUYXO3CBCDdIG7doQLbLB9eCcfz30ohDI18hbH0s6Ufzz6BftjWIyPRHV4ZHcvAfYwWooV/M06J/h0GY9pBdv/buO36BmiyI47Ss/onW9BguFS9W79hYIhYNGzCkQq2ERApflRwk1n5O8jgZFXp0YBMpK5NiNXGobziuud9NhkQ6v3qC5BW0wVyAg2Z+9rt/A+ERo+sRVvli3LK4DfqAsxHzkpNNlCfBjXIpEdecopWyOlEVmeCoO8swXQT4y5SW6tAh/Lz4Jw23XVeajnLFtLs6Sj6+WMmVJsUME57THFPAYNaAIRIKOr4dM/QhmSIDJujGejXw2RAk7FZr7h/E8g4p3ZIOhMDmQyLtjsIcxzO6JmoeXsgCCyDajSzQA1ZI7mM5kubznvNJ0VAq44YHvOsQ0ziQKOdsTyw0pLgDqcKjtWKOqSbYmazzbzP4r0L3K1Jl539IvgVr4wNmPZGxBIBlqV4V3vV+7ZwqVZodWBXYJvJDgmNHGRA/jUDJCrOp7/CWEdcJSVxaFPiLcuIqGS54LWQW1/qlGPJj1RcjOfcBLygIYpo740i2HE2sw+EMaPgd3q1w9L0lUaY6k5u3OcCd9bBU1bS+PTPY24uuynEh1cN0q5QBkvzG6vMZNQ4XhQL9eEGlNDtyTRnC6OxTvUcWnFIRaSWo7InCj2ox67T/vqevqGczR6ZE5MXge4e38Uq2wurF1bk5TJa6YFW0mT+L/0eiZALERKe7xTrtFI1wPypCNEj3cY5fnariqWCPsiBHPip+HOUF9w6e3BPPW2/GwzMZX+O5P9oDLLX90HZfoDJ8FLhQXvPhcmsQqc1t+neqztDWlPHSTkTmH7NcZ9UOygbUZ8JlBOWadV2eGzBc31pLDJuRnNezuVIvfGyLbljdbSSNE1U0wfG+qpLfYhWbl7XkSu7hop4DUAwIkz1abXyPxrCNWrWR20AlDDCdhWBQ+hQdn7ygm2WqWABGiUAuOF6sdbL53Rn7TRgVX+isOBhFv6Z0hhx+MSQZxFrcFMm4OOzQ8Kz0nFFey6oJOwvW7ZqDCuPEUyn/ZlCKjlMNNPGI2+ginkWzFeJBN0ruOjy+1kg6Jz924rn8MBgsltzeDT+RCOydNG5xsuT98icYMiXHGKktI5T5i7vfomD7Y1bmMXGI0jeR3b6dNQ/qJOHEsQuJGLgbVS2xe8RHEBg9rE6S3ArKADk7+bzuBjPqjJi4O3Y1+ehgI6G1Lonx+8Hjg36DhVWrMgH3S0XtYy/7onO6YBuHZeOAQPfuzDNUUC5vPx2X2ibsgpq+4Q0he2ycj1AYDKvCV+gIkJ7WivB9eNhUR2GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UYCdW8xdbgj9y15CDN4tup",
      "input": {
        "note": "Empty close: the plum is just beyond the fingertips. Opening and moving up and forward to come down over it.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.355,
          "left_y": -0.006,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UYCdW8xdbgj9y15CDN4tup",
      "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]: [-0.0582, 1.2636, 0.522, 0.0479, -0.0662, -0.0502, 0.9948, 0.503, 1.5677, 0.8902, -0.057, 0.4026, 0.2607, 0.9964]\nstate[eef_state]: left_x=0.3512 left_y=-0.0052 left_z=0.085 left_yaw=0.0172 left_pitch=-0.1227 left_roll=0.0199 left_gripper=0.9948 right_x=0.4 right_y=0.1451 right_z=0.1134 right_yaw=0.0129 right_pitch=-0.0975 right_roll=-0.0469 right_gripper=0.9964\nstate[joint_eff]: [0.4581, -5.9282, 8.7179, 1.6679, 0.0904, 0.0952, 0.0317, -0.1983, -7.1316, 6.4342, 1.5556, 0.1392, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d39bcfa6269eca0b0eaabad2a509c239776770c82625e56bc5b5e64f2de2eaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ba4ce5d80575aca4f0d111cc8f580292279858ec47ef47238ae1cac16b900d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6004c4e3b5162bebd1d515d0d02c9c0ef7b4c94f17c72b18f7d9e507a7a329c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 4.525 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]: [-0.0799, 1.4837, 0.1963, 0.5949, -0.0666, -0.054, 0.999, 0.503, 1.5673, 0.8902, -0.0528, 0.4061, 0.2607, 0.9963]\nstate[eef_state]: left_x=0.3131 left_y=-0.0097 left_z=-0.0006 left_yaw=-0.0022 left_pitch=-0.1215 left_roll=0.0171 left_gripper=0.999 right_x=0.4007 right_y=0.1449 right_z=0.1145 right_yaw=0.0103 right_pitch=-0.0923 right_roll=-0.0468 right_gripper=0.9963\nstate[joint_eff]: [-0.4855, -3.7128, 3.0701, 0.735, 0.0415, -0.0806, -0.1099, -0.1026, -7.0496, 6.4615, 1.6093, 0.1538, -0.0464, 0.0757]",
      "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]: [-0.0811, 1.4918, 0.1879, 0.6231, -0.0738, -0.0563, 0.0086, 0.503, 1.5677, 0.8902, -0.054, 0.4057, 0.2607, 0.9964]\nstate[eef_state]: left_x=0.3134 left_y=-0.0088 left_z=-0.0002 left_yaw=0.004 left_pitch=-0.1093 left_roll=0.019 left_gripper=0.0086 right_x=0.4005 right_y=0.1449 right_z=0.1141 right_yaw=0.0106 right_pitch=-0.0938 right_roll=-0.0473 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -4.8205, 4.9162, 1.37, 0.0171, 0.0171, 0.6716, -0.0342, -7.1726, 6.4342, 1.5311, 0.1392, -0.0464, -0.0024]\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 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]: [-0.0582, 1.2636, 0.522, 0.0479, -0.0662, -0.0502, 0.9948, 0.503, 1.5677, 0.8902, -0.057, 0.4026, 0.2607, 0.9964]\nstate[eef_state]: left_x=0.3512 left_y=-0.0052 left_z=0.085 left_yaw=0.0172 left_pitch=-0.1227 left_roll=0.0199 left_gripper=0.9948 right_x=0.4 right_y=0.1451 right_z=0.1134 right_yaw=0.0129 right_pitch=-0.0975 right_roll=-0.0469 right_gripper=0.9964\nstate[joint_eff]: [0.4581, -5.9282, 8.7179, 1.6679, 0.0904, 0.0952, 0.0317, -0.1983, -7.1316, 6.4342, 1.5556, 0.1392, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d39bcfa6269eca0b0eaabad2a509c239776770c82625e56bc5b5e64f2de2eaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ba4ce5d80575aca4f0d111cc8f580292279858ec47ef47238ae1cac16b900d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6004c4e3b5162bebd1d515d0d02c9c0ef7b4c94f17c72b18f7d9e507a7a329c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSpwcKEAgSGAI4AUIIdGhpbmtpbmcSDFBUaFLR0LTYRGhykxoMs6PEyNSgr4dzhI+pIjCld+zJYF7mn8IWMRZE5RI0GvUHmzyCiol98O1vdr14g4tljzn+p1630OkvPrh8kyIqxAZtIoZv/xF0se65jDHmXLIESikCVnz8QZpagT6WmpqR2C2lS+/vVS0cXBDkRAh8SZHATdH11wO9oe39dz3n2s2NOLoPxWZrySWFFBBaMEIdcL2QLpOv98MBiqrKhajMboTx4UX8aLKcFOSjuuCUzUObWhG2rvOZVSibYBOkdlQvch4+JzVP3Xbvi2QehjqH25AIr9hdSJuscfitoS8NBsl/dwppJdgvt0tNJU2xnj9yTf7UXwNVIcHyrBYEAd0yPozRtrw5Woty1KYYLn/+AFp/DjUHm/gqOr+F+JVlKVVHrWTk4R+MyXGGy+2BEH1FHXIux1wu6P6YZgVoeAeDjLrif9aNkChSwQ1pGHQMaHEUINK+/8sFg8CXjoHjOxCCgyi8ZgasIWev7Qlf18bRp3mOuftvCiYUVpqhJ4vywTRL1JP5vkJWP+D66pA+wy3bkCCYvp25HlH+5ovRR/9WUEkC9PS289mmiNLM3JxTWaQTQv8EHBEMjGii6xVATkYKpIxB1ykm69a20Un6BfaVf50BB+5RUu1HLfCtaYmsvKL84usi+0n8UwoJa38ucJfXBvbLoo6xLF6x1KxIgxVSZ9AkYhBDDvuu8YQj2B6DEN+zEZSxNzrjKfLhkCykxyOKJcjfRxKeYniWtwpV+0rVN4cY5oN19+rB5IO/SpU1wy/j9Nb7Jc1ozXYsdBV1LdQrKQtUNV24883QA1k1beQA9IUK38N55DiPEHk9bMokz02CbmDNCpeXsPU/F4ggBSQGccH/uuAfdaoHwKd1pcBXQs3dOxqMeKY72mE05AXFkWoZwlBedwedAPjpFRYx8Pus5PTENO33VagDBgT4nDT+jNV0F4dTyj0g3gKTXvIbZ2w5cBkSmr0nBKQyJmUK4xtJ23Rp5vBJb7ZsR6xOazGjwd4fixkWbrtN4QnidWQB8Hlj6LJ6WY2/ZGarhn+eEjhPbUH/1LmrCHA/9BlgIo9nJVEBEVFk6sIdLq7wJSoQ1B7qhFdg4PXsI8AOz1z95T/tohcH9vxIJ2aW19hR9Z6sJgnQJvbSSf1CCka3JaDKG2nIrP4iAIcwGSb+5sXALNoLCxdChbHyjDlqqpdVqdIHrFF83zwcaBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BBzmMMME6R8B2zk4VL32rb",
      "input": {
        "note": "Plum is centred on the jaw column a couple of cm ahead. Descending over it.",
        "targets": {
          "left_x": 0.372,
          "left_y": -0.006,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01BBzmMMME6R8B2zk4VL32rb",
      "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]: [-0.0589, 1.6131, 0.4381, 0.4007, -0.0631, -0.0532, 0.9961, 0.503, 1.5673, 0.8898, -0.0643, 0.4023, 0.2607, 0.9964]\nstate[eef_state]: left_x=0.3575 left_y=-0.0063 left_z=0.0007 left_yaw=0.0165 left_pitch=-0.2031 left_roll=0.0217 left_gripper=0.9961 right_x=0.3989 right_y=0.1446 right_z=0.1122 right_yaw=0.0128 right_pitch=-0.104 right_roll=-0.0501 right_gripper=0.9964\nstate[joint_eff]: [0.0479, -5.2581, 4.9436, 1.0672, -0.0757, 0.0269, 0.1245, -0.0205, -7.1179, 6.8581, 1.6337, 0.149, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0dc8ad4933d4bec70227fa997929cf9b1d3d400216cc3371895e35229f84a60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50a0e0b073297cbf2977b3ef189b8b59f16aecce63329a40faf37ddecc33828e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:da49c5580593eb5b236265b526f8263be9b3e9d7cdf8669584474c283451c394",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 10.71 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]: [-0.0811, 1.4918, 0.1879, 0.6231, -0.0738, -0.0563, 0.0086, 0.503, 1.5677, 0.8902, -0.054, 0.4057, 0.2607, 0.9964]\nstate[eef_state]: left_x=0.3134 left_y=-0.0088 left_z=-0.0002 left_yaw=0.004 left_pitch=-0.1093 left_roll=0.019 left_gripper=0.0086 right_x=0.4005 right_y=0.1449 right_z=0.1141 right_yaw=0.0106 right_pitch=-0.0938 right_roll=-0.0473 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -4.8205, 4.9162, 1.37, 0.0171, 0.0171, 0.6716, -0.0342, -7.1726, 6.4342, 1.5311, 0.1392, -0.0464, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0582, 1.2636, 0.522, 0.0479, -0.0662, -0.0502, 0.9948, 0.503, 1.5677, 0.8902, -0.057, 0.4026, 0.2607, 0.9964]\nstate[eef_state]: left_x=0.3512 left_y=-0.0052 left_z=0.085 left_yaw=0.0172 left_pitch=-0.1227 left_roll=0.0199 left_gripper=0.9948 right_x=0.4 right_y=0.1451 right_z=0.1134 right_yaw=0.0129 right_pitch=-0.0975 right_roll=-0.0469 right_gripper=0.9964\nstate[joint_eff]: [0.4581, -5.9282, 8.7179, 1.6679, 0.0904, 0.0952, 0.0317, -0.1983, -7.1316, 6.4342, 1.5556, 0.1392, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.0589, 1.6131, 0.4381, 0.4007, -0.0631, -0.0532, 0.9961, 0.503, 1.5673, 0.8898, -0.0643, 0.4023, 0.2607, 0.9964]\nstate[eef_state]: left_x=0.3575 left_y=-0.0063 left_z=0.0007 left_yaw=0.0165 left_pitch=-0.2031 left_roll=0.0217 left_gripper=0.9961 right_x=0.3989 right_y=0.1446 right_z=0.1122 right_yaw=0.0128 right_pitch=-0.104 right_roll=-0.0501 right_gripper=0.9964\nstate[joint_eff]: [0.0479, -5.2581, 4.9436, 1.0672, -0.0757, 0.0269, 0.1245, -0.0205, -7.1179, 6.8581, 1.6337, 0.149, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0dc8ad4933d4bec70227fa997929cf9b1d3d400216cc3371895e35229f84a60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50a0e0b073297cbf2977b3ef189b8b59f16aecce63329a40faf37ddecc33828e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da49c5580593eb5b236265b526f8263be9b3e9d7cdf8669584474c283451c394",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSsgcKEAgSGAI4AUIIdGhpbmtpbmcSDAfmmRfvbekBvVTUbxoMm7C5kiqrXliwjVFGIjAtbPH9KkSI0KWY4deGvGecTn/hKFHBWxk+T47RezDC6pFkQ3xwP8DAJrgJMzfgquoqzwbjNQf7tUW1zoqhuUPfUbNvEJQ3zpFVH3Xesi7vfmqxTqwiFN5glTJNYCd1u3ZWUWJ+vfmOFvOP78+aTfYJyjiHSCL9cnkDJyKhhbARfMg6/Fs2p4RNvYALvYk41MJ+r7J3aZxjff0SGTkZGN8ztYXxwNTbfryYg0xsJuHJf9CH/G6coeQPveWAWmh/eAFWg4wRs9PUEKldD6YqwHfYWIRINObI0eO5t7liZkknq0R2YXks06L04DAG5DaH1QziWplrhASXotAuVEakP4ZzOIbya9r7jxNNsmkvYWkwPoslV9V6phAP3H1vgYdULsfPREtHocDLSHoWonKdyztq58/9sjvhKItv0awVdMGoXCkEu4bpZm4O7sXn4IxfkdEsj7Upj4kscI+gMIGlprajUzA8/Oej4wDgtKX6dSRFDG0gmC07F9xMS2KthLmbqO2eIVdqCiNkPpxcJz0VnSAqWWSs2fKBfX8rb8Urrlgw3xx5cKoCDTc88FNr4uHX4LmKeu2T/Dkv32D1wb2Xy2zS6o1+c0vXrGN1+pMHu2HMp/p8vEPLSQQhij1uTpB0Ze1nLvNXV2t4qfRfJrq6hKEMcQZXtDBQvShjBy1cn72khyj26HyvmDyNDFRjh5MQU/K92jmnes3Y7A4kl57CeaeS6VTVmNeRg0cMk8QpZCeZwiE9DBfciYkCP2TkXwG1HrCPUFAf3Ne7EQVWMMg1Auk9Xa+eT441Oj9VE83WTn4Wdt1/Qj0jfdmQwRLKSC6xjXn3DkLFOoUxcvXPlBGu8nU4BFNsJTL6MnIv/WuFAUysa0ZtfeUhYPWFE5LuGvoVFf8SoVP1o6zWQFpjiKnwKIqh2K5zLmCfddFAwIpa275T9pt1vQFYrbSIf4bYHcHKIKiajhZBBqUBuWirlUPXumnci43NifDmd37yHcb+z+qgOsTaw4EVugTXXQm4M/huF38dswPBdOEeddcwLeScuPPanNd716xRgN1vtjTvw9YjXEIVCn+iX+QR4ozQxVI53ALycVoAMySq2GDcyEdr70Ntg6qDXlaEr18CTp41Qnz+YXePqJQ4GN+CbK7sJeuAK7e4jHq2T1WHUfrhfBqujWmrHjMb4zU10pKXatt16Aw+osiJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FMqx6jQpkb3UByAggBbuBg",
      "input": {
        "note": "Plum is between the jaws, slightly ahead; nudging forward while closing to catch it.",
        "targets": {
          "left_gripper": 0,
          "left_x": 0.375
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FMqx6jQpkb3UByAggBbuBg",
      "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]: [-0.0589, 1.6596, 0.4873, 0.4046, -0.0666, -0.0566, 0.009, 0.503, 1.5677, 0.8898, -0.0723, 0.4023, 0.2607, 0.9964]\nstate[eef_state]: left_x=0.3714 left_y=-0.0065 left_z=0.0015 left_yaw=0.0212 left_pitch=-0.1964 left_roll=0.0211 left_gripper=0.009 right_x=0.3978 right_y=0.144 right_z=0.1106 right_yaw=0.0124 right_pitch=-0.1114 right_roll=-0.0541 right_gripper=0.9964\nstate[joint_eff]: [0.3487, -4.7248, 6.5846, 1.4579, -0.0122, 0.0513, 0.5934, -0.0889, -7.1316, 6.4479, 1.619, 0.0952, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ce7b197d7f688b6ec0675fbbf52e0ec450a9b6d5cf4d99d356e7a3296307b30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc0143227b60d67b37cfc941a6a155e3a4957dda6f08447ada1108ff24495c98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ebae0931c1146e2564ef7aef532205a2ab2503f3d5dc49883a406faf8851cc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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