adhoc

completed
2026-09-22T19:49:55.163895+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
255.1 s
total steps
319
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: white bowl far-left, blue bowl centre-right, lemon, pear, and dark plum on table. Moving right arm above the pear first.
move_to
right_x0.3400right_y0.1000right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8005, 0.6136, -0.3828, -0.0143, -0.02, 0.9992, -0.0227, 0.8001, 0.6197, -0.387, -0.02, -0.0334, 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=0.2962 right_y=0.0004 right_z=0.184 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9993 state[joint_eff]: [-0.5812, -1.5385, 9.7436, 1.8144, -0.1099, 0.0513, -0.1001, -0.4581, -1.7983, 9.0735, 1.8632, -0.0366, 0.1441, -0.0904] 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": 0.34, "right_y": 0.1, "right_z": 0.15}, "note": "Scene: white bowl far-left, blue bowl centre-right, lemon, pear, and dark plum on table. Moving right arm above the pear first."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent notePear sits nearly on the jaw column in the right wrist view, just ahead. Descending onto it with a small forward adjust.
move_to
right_x0.3500right_y0.0950right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.3901, -0.0177, -0.0242, 0.9991, 0.4675, 1.1698, 0.6235, -0.131, 0.363, 0.2211, 0.9992] state[eef_state]: left_x=0.2951 left_y=0.0002 left_z=0.1799 left_yaw=0.0044 left_pitch=-0.0091 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3309 right_y=0.1008 right_z=0.1318 right_yaw=0.0322 right_pitch=-0.0593 right_roll=-0.0299 right_gripper=0.9992 state[joint_eff]: [0.0889, -1.2923, 7.2684, 1.8193, -0.0024, -0.0073, -0.022, -0.1026, -3.9863, 8.6359, 1.9267, 0.3443, 0.1734, -0.022] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.095, "right_z": 0.04}, "note": "Pear sits nearly on the jaw column in the right wrist view, just ahead. Descending onto it with a small forward adjust."})
tool
executing move_to over 6 steps (0.6s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent notePear is centred between the jaws in the wrist view. Closing the gripper.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4011, -0.0177, -0.0246, 0.9991, 0.4095, 1.5169, 0.4259, 0.3939, 0.3126, 0.1825, 0.9992] state[eef_state]: left_x=0.2938 left_y=0.0003 left_z=0.1766 left_yaw=0.0046 left_pitch=-0.024 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3457 right_y=0.0947 right_z=0.0332 right_yaw=0.0355 right_pitch=-0.0907 right_roll=-0.0392 right_gripper=0.9992 state[joint_eff]: [-0.335, -1.4154, 7.0222, 1.8339, -0.0269, -0.0317, -0.0122, -0.0342, -5.6957, 5.0393, 1.9023, 0.0806, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear is centred between the jaws in the wrist view. Closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteClose was empty (0.009); the pear sits just beyond the fingertips. 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]: [-0.0219, 0.8059, 0.6132, -0.4088, -0.0181, -0.0246, 0.9991, 0.4091, 1.5169, 0.4259, 0.3916, 0.3092, 0.1757, 0.0088] state[eef_state]: left_x=0.2928 left_y=0.0004 left_z=0.175 left_yaw=0.0049 left_pitch=-0.0316 left_roll=-0.0009 left_gripper=0.9991 right_x=0.3453 right_y=0.095 right_z=0.0327 right_yaw=0.0416 right_pitch=-0.0938 right_roll=-0.0434 right_gripper=0.0088 state[joint_eff]: [-0.0342, -1.3333, 7.0085, 1.8339, -0.0513, -0.0415, -0.0122, -0.1709, -5.1214, 5.2034, 1.6972, 0.1245, 0.0415, 0.6764] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.06}, "note": "Close was empty (0.009); the pear sits just beyond the fingertips. Opening and lifting slightly before advancing."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent notePear is directly ahead of the open jaws, slightly left. Advancing ~4 cm and descending so it sits between the fingers.
move_to
right_x0.3850right_y0.1000right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4175, -0.0181, -0.0242, 0.9991, 0.4091, 1.4235, 0.4595, 0.2329, 0.3054, 0.1719, 0.9955] state[eef_state]: left_x=0.2915 left_y=0.0004 left_z=0.1732 left_yaw=0.0047 left_pitch=-0.0404 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3389 right_y=0.093 right_z=0.047 right_yaw=0.0456 right_pitch=-0.1244 right_roll=-0.0555 right_gripper=0.9955 state[joint_eff]: [-0.212, -1.3197, 7.3094, 1.8193, -0.0415, -0.0317, -0.0122, -0.3214, -6.1744, 7.5692, 1.5556, 0.0904, -0.0024, -0.1197] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_y": 0.1, "right_z": 0.03}, "note": "Pear is directly ahead of the open jaws, slightly left. Advancing ~4 cm and descending so it sits between the fingers."})
tool
executing move_to over 4 steps (0.4s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent notePear now fills the space between the jaws. Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8104, 0.6132, -0.424, -0.0181, -0.0242, 0.9991, 0.3683, 1.6684, 0.5766, 0.3183, 0.271, 0.1379, 0.9963] state[eef_state]: left_x=0.2909 left_y=0.0004 left_z=0.1707 left_yaw=0.0047 left_pitch=-0.0514 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3739 right_y=0.0974 right_z=0.0173 right_yaw=0.0494 right_pitch=-0.1733 right_roll=-0.0733 right_gripper=0.9963 state[joint_eff]: [-0.0342, -1.7026, 6.9949, 1.7363, -0.0366, -0.022, -0.0122, -0.3761, -6.9812, 6.7214, 1.8779, 0.0611, -0.0171, 0.0708] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear now fills the space between the jaws. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteSecond close empty: jaws met just in front of the pear's base. Opening and lifting a bit to advance further.
move_to
right_gripper1.0000right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.812, 0.6132, -0.424, -0.0181, -0.0246, 0.9991, 0.3691, 1.6684, 0.5766, 0.3096, 0.2642, 0.131, 0.009] state[eef_state]: left_x=0.291 left_y=0.0004 left_z=0.1703 left_yaw=0.005 left_pitch=-0.053 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3722 right_y=0.0984 right_z=0.0155 right_yaw=0.0591 right_pitch=-0.1834 right_roll=-0.0766 right_gripper=0.009 state[joint_eff]: [-0.1299, -1.4564, 7.1043, 1.7753, -0.0366, -0.0415, -0.0122, -0.1573, -6.6803, 5.0393, 1.6142, 0.1734, 0.0757, 0.6325] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.04}, "note": "Second close empty: jaws met just in front of the pear's base. Opening and lifting a bit to advance further."})
tool
executing move_to over 10 steps (1.0s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent notePear is still a few cm beyond the open fingertips, centred on the jaw column. Advancing ~5 cm at low height.
move_to
right_x0.4150right_y0.0970right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.812, 0.6132, -0.4244, -0.0177, -0.0246, 0.9991, 0.3691, 1.6093, 0.5941, 0.1871, 0.2565, 0.1226, 0.9953] state[eef_state]: left_x=0.2909 left_y=0.0003 left_z=0.1702 left_yaw=0.0046 left_pitch=-0.0534 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3631 right_y=0.0962 right_z=0.022 right_yaw=0.0672 right_pitch=-0.229 right_roll=-0.0914 right_gripper=0.9953 state[joint_eff]: [-0.3077, -1.3197, 7.1453, 1.6728, -0.0464, -0.0513, -0.0171, -0.2393, -8.253, 7.6786, 1.4628, 0.1392, 0.1001, 0.0366] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.415, "right_y": 0.097, "right_z": 0.03}, "note": "Pear is still a few cm beyond the open fingertips, centred on the jaw column. Advancing ~5 cm at low height."})
tool
executing move_to over 4 steps (0.4s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
Pear now extends down between the jaw tips. Closing.
agent noteThe pear now reaches down between the jaw tips in the wrist view. Closing on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4248, -0.0181, -0.0246, 0.9991, 0.3172, 1.747, 0.7731, 0.1303, 0.2195, 0.0807, 0.9963] state[eef_state]: left_x=0.2909 left_y=0.0004 left_z=0.1697 left_yaw=0.005 left_pitch=-0.0553 left_roll=-0.0003 left_gripper=0.9991 right_x=0.405 right_y=0.0962 right_z=0.022 right_yaw=0.0687 right_pitch=-0.2536 right_roll=-0.0985 right_gripper=0.9963 state[joint_eff]: [-0.253, -1.2786, 7.0085, 1.6874, -0.0269, -0.0611, -0.0171, -0.5128, -7.6239, 6.6256, 1.4725, 0.1245, 0.0757, 0.0904] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
Pear now extends down between the jaw tips. Closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "The pear now reaches down between the jaw tips in the wrist view. Closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent notePear grasped (gripper settled at 0.53). Lifting to carry height.
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]: [-0.0219, 0.8135, 0.6132, -0.4259, -0.0181, -0.0246, 0.9991, 0.3161, 1.7512, 0.7803, 0.1371, 0.2119, 0.07, 0.5309] state[eef_state]: left_x=0.2908 left_y=0.0004 left_z=0.1695 left_yaw=0.005 left_pitch=-0.0564 left_roll=-0.0003 left_gripper=0.9991 right_x=0.4081 right_y=0.0982 right_z=0.0238 right_yaw=0.0806 right_pitch=-0.2459 right_roll=-0.0979 right_gripper=0.5309 state[joint_eff]: [-0.1983, -1.347, 6.9949, 1.7167, -0.0415, -0.0415, -0.0122, 0.0479, -8.0205, 5.2171, 1.3895, 0.1197, 0.0562, 1.2576] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17}, "note": "Pear grasped (gripper settled at 0.53). Lifting to carry height."})
tool
executing move_to over 10 steps (1.0s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent notePear held and lifted; blue bowl is just to the left in the wrist view. Moving over the bowl.
move_to
right_x0.4300right_y0.1900right_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]: [-0.0219, 0.8135, 0.6132, -0.4305, -0.0177, -0.0246, 0.9991, 0.3176, 1.5425, 1.1408, -0.5144, 0.2047, 0.0624, 0.5531] state[eef_state]: left_x=0.2901 left_y=0.0004 left_z=0.1686 left_yaw=0.0046 left_pitch=-0.061 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3991 right_y=0.0972 right_z=0.1427 right_yaw=0.087 right_pitch=-0.3278 right_roll=-0.1173 right_gripper=0.5531 state[joint_eff]: [-0.3077, -1.2239, 7.0085, 1.7411, -0.0171, -0.0611, -0.0122, -0.2393, -9.6205, 8.8547, 1.6093, 0.1392, 0.0073, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.19, "right_z": 0.17}, "note": "Pear held and lifted; blue bowl is just to the left in the wrist view. Moving over the bowl."})
tool
executing move_to over 8 steps (0.8s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteGripper appears over the blue bowl in the top view. Lowering the pear toward the bowl before releasing.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4343, -0.0181, -0.0246, 0.9991, 0.5289, 1.8, 1.5101, -0.7261, 0.3061, 0.2115, 0.5531] state[eef_state]: left_x=0.2896 left_y=0.0004 left_z=0.1678 left_yaw=0.005 left_pitch=-0.0648 left_roll=-0.0001 left_gripper=0.9991 right_x=0.4201 right_y=0.188 right_z=0.1539 right_yaw=0.1141 right_pitch=-0.3861 right_roll=-0.1395 right_gripper=0.5531 state[joint_eff]: [-0.3487, -1.347, 7.0085, 1.7558, -0.022, -0.0757, -0.0122, 0.0068, -9.0462, 9.5248, 1.4676, 0.3394, 0.2564, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1}, "note": "Gripper appears over the blue bowl in the top view. Lowering the pear toward the bowl before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteWrist view shows the blue bowl still ahead and slightly left of the pear. Shifting forward ~4 cm to centre over it.
move_to
right_x0.4600right_y0.2050right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4423, -0.0177, -0.0242, 0.9991, 0.5331, 1.8217, 1.3499, -0.5751, 0.2985, 0.202, 0.5531] state[eef_state]: left_x=0.2885 left_y=0.0004 left_z=0.1657 left_yaw=0.0045 left_pitch=-0.0747 left_roll=0.0003 left_gripper=0.9991 right_x=0.4126 right_y=0.1873 right_z=0.1031 right_yaw=0.1251 right_pitch=-0.4178 right_roll=-0.1523 right_gripper=0.5531 state[joint_eff]: [0.0889, -1.4838, 7.1726, 1.7558, -0.0366, -0.022, -0.0122, -0.335, -8.5402, 6.4068, 1.3846, 0.1832, 0.0659, 1.0379] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.205, "right_z": 0.11}, "note": "Wrist view shows the blue bowl still ahead and slightly left of the pear. Shifting forward ~4 cm to centre over it."})
tool
executing move_to over 4 steps (0.4s)
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 noteBlue bowl is now centred behind/around the pear in the wrist view. Releasing the pear into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4473, -0.0177, -0.0242, 0.9991, 0.5201, 1.9953, 1.5688, -0.6567, 0.2802, 0.1787, 0.5531] state[eef_state]: left_x=0.2878 left_y=0.0004 left_z=0.1642 left_yaw=0.0045 left_pitch=-0.0816 left_roll=0.0005 left_gripper=0.9991 right_x=0.4468 right_y=0.2037 right_z=0.0941 right_yaw=0.135 right_pitch=-0.4594 right_roll=-0.1653 right_gripper=0.5531 state[joint_eff]: [-0.3077, -1.4974, 6.9812, 1.6874, -0.0366, -0.0415, -0.0122, -0.8137, -11.2752, 8.841, 1.1404, 0.2271, 0.022, 1.033] 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_gripper": 1.0}, "note": "Blue bowl is now centred behind/around the pear in the wrist view. Releasing the pear into the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent notePear is now in the blue bowl. Lifting and moving the right arm above the lemon next.
move_to
right_z0.1600right_x0.3500right_y0.2700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.45, -0.0177, -0.0246, 0.9991, 0.5159, 2.0125, 1.5723, -0.675, 0.2764, 0.1722, 0.9957] state[eef_state]: left_x=0.2874 left_y=0.0004 left_z=0.1637 left_yaw=0.0047 left_pitch=-0.0843 left_roll=0.0002 left_gripper=0.9991 right_x=0.4444 right_y=0.2008 right_z=0.0851 right_yaw=0.1318 right_pitch=-0.4909 right_roll=-0.179 right_gripper=0.9957 state[joint_eff]: [-0.212, -1.3607, 7.1726, 1.7216, -0.0171, -0.0317, -0.0122, 0.253, -12.4239, 6.2974, 1.1941, 0.1587, 0.0122, -0.0757] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16, "right_x": 0.35, "right_y": 0.27}, "note": "Pear is now in the blue bowl. Lifting and moving the right arm above the lemon next."})
tool
executing move_to over 8 steps (0.8s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteLemon is ahead and slightly left of the jaw column in the wrist view, oriented so the jaws will close across its width. Advancing and descending onto it.
move_to
right_x0.4100right_y0.2800right_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]: [-0.0219, 0.8173, 0.6132, -0.453, -0.0177, -0.0246, 0.9991, 0.783, 1.924, 1.6806, -0.968, 0.3645, 0.392, 0.9963] state[eef_state]: left_x=0.287 left_y=0.0004 left_z=0.1631 left_yaw=0.0047 left_pitch=-0.0873 left_roll=0.0003 left_gripper=0.9991 right_x=0.3581 right_y=0.2726 right_z=0.1389 right_yaw=0.1666 right_pitch=-0.5151 right_roll=-0.1913 right_gripper=0.9963 state[joint_eff]: [-0.335, -1.1282, 7.2821, 1.7118, -0.022, -0.0269, -0.0122, 0.3077, -12.8615, 7.8974, 0.8523, 0.3541, 0.1343, 0.0562] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.28, "right_z": 0.025}, "note": "Lemon is ahead and slightly left of the jaw column in the wrist view, oriented so the jaws will close across its width. Advancing and descending onto it."})
tool
executing move_to over 8 steps (0.8s)
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 sits at the bottom-centre between the jaw tips. Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4599, -0.0177, -0.0246, 0.9991, 0.7238, 2.141, 1.5776, -0.6716, 0.3397, 0.321, 0.9964] state[eef_state]: left_x=0.2859 left_y=0.0004 left_z=0.1618 left_yaw=0.0047 left_pitch=-0.0942 left_roll=0.0005 left_gripper=0.9991 right_x=0.3959 right_y=0.2762 right_z=0.0308 right_yaw=0.163 right_pitch=-0.5555 right_roll=-0.2218 right_gripper=0.9964 state[joint_eff]: [-0.2667, -1.3333, 6.9949, 1.7753, -0.0366, -0.0757, -0.0122, -1.1009, -10.441, 6.0376, 1.1306, 0.0757, -0.0366, -0.0073] 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_gripper": 0.0}, "note": "Lemon sits at the bottom-centre between the jaw tips. Closing."})
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 noteClose missed (0.024); the tool had drifted to a -0.58 pitch which skews the wrist view. Opening, lifting and resetting the wrist orientation to re-aim at the lemon.
move_to
right_gripper1.0000right_z0.1200right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4683, -0.0181, -0.0246, 0.9991, 0.7181, 2.1624, 1.5772, -0.6765, 0.3443, 0.3096, 0.0243] state[eef_state]: left_x=0.2847 left_y=0.0005 left_z=0.1601 left_yaw=0.0051 left_pitch=-0.1025 left_roll=0.001 left_gripper=0.9991 right_x=0.3956 right_y=0.2713 right_z=0.0208 right_yaw=0.1515 right_pitch=-0.5771 right_roll=-0.2489 right_gripper=0.0243 state[joint_eff]: [-0.335, -1.347, 7.1316, 1.7558, -0.0317, -0.0562, -0.0171, 0.212, -13.3812, 6.0923, 0.9499, 0.1001, 0.0415, 0.9402] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.12, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Close missed (0.024); the tool had drifted to a -0.58 pitch which skews the wrist view. Opening, lifting and resetting the wrist orientation to re-aim at the lemon."})
tool
executing move_to over 20 steps (2.0s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteWrist view now shows the pear in the blue bowl ahead-right, with no lemon visible, so the lemon is beneath/behind the grasp point. Backing up to bring it into the wrist view.
move_to
right_x0.3300right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4755, -0.0181, -0.0246, 0.9991, 0.8196, 1.8568, 1.1648, -0.1478, 0.6266, 0.4835, 0.9973] state[eef_state]: left_x=0.2836 left_y=0.0006 left_z=0.1582 left_yaw=0.0051 left_pitch=-0.1117 left_roll=0.0012 left_gripper=0.9991 right_x=0.3896 right_y=0.2707 right_z=0.0966 right_yaw=0.0328 right_pitch=-0.0816 right_roll=-0.0603 right_gripper=0.9973 state[joint_eff]: [-0.0205, -1.306, 7.0769, 1.7607, -0.0415, -0.0562, -0.0122, 0.253, -12.041, 5.7504, 1.7753, 0.4176, 0.1538, -0.1587] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_z": 0.13}, "note": "Wrist view now shows the pear in the blue bowl ahead-right, with no lemon visible, so the lemon is beneath/behind the grasp point. Backing up to bring it into the wrist view."})
tool
executing move_to over 5 steps (0.5s)
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 noteLemon now visible at the bottom-centre of the right wrist view, just ahead of the grasp point, with the blue bowl beyond it. Descending onto the lemon.
move_to
right_x0.3650right_y0.2800right_z0.0200right_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]: [-0.0219, 0.8192, 0.6132, -0.4759, -0.0177, -0.0246, 0.9991, 0.9417, 1.7161, 1.1206, -0.2951, 0.6758, 0.569, 0.9983] state[eef_state]: left_x=0.2836 left_y=0.0005 left_z=0.1582 left_yaw=0.0048 left_pitch=-0.1121 left_roll=0.001 left_gripper=0.9991 right_x=0.3368 right_y=0.2811 right_z=0.124 right_yaw=0.0717 right_pitch=-0.0857 right_roll=-0.055 right_gripper=0.9983 state[joint_eff]: [-0.0068, -1.3333, 6.9538, 1.6728, 0.0024, -0.0366, -0.0171, 0.1846, -9.4427, 5.8462, 1.2527, 0.3492, 0.0952, 0.0904] 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": 0.365, "right_y": 0.28, "right_z": 0.02, "right_pitch": 0.0}, "note": "Lemon now visible at the bottom-centre of the right wrist view, just ahead of the grasp point, with the blue bowl beyond it. Descending onto the lemon."})
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 at the bottom edge between the jaw tips, hidden under the gripper in the top view. Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0177, -0.0246, 0.9991, 0.8997, 1.9694, 0.9413, 0.2005, 0.6868, 0.4774, 0.9983] state[eef_state]: left_x=0.2835 left_y=0.0005 left_z=0.1581 left_yaw=0.0048 left_pitch=-0.1125 left_roll=0.001 left_gripper=0.9991 right_x=0.3587 right_y=0.2774 right_z=0.0245 right_yaw=0.0743 right_pitch=-0.0412 right_roll=-0.0874 right_gripper=0.9983 state[joint_eff]: [-0.1436, -1.1692, 6.9949, 1.663, -0.0464, -0.0073, -0.0122, -0.7726, -8.8547, 3.9863, 1.3797, 0.2564, -0.0708, -0.0024] 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_gripper": 0.0}, "note": "Lemon is at the bottom edge between the jaw tips, hidden under the gripper in the top view. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteLemon grasped (gripper 0.45). Lifting to carry height.
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]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0181, -0.0242, 0.9991, 0.8974, 1.9823, 0.9321, 0.2119, 0.7063, 0.4591, 0.4482] state[eef_state]: left_x=0.2835 left_y=0.0006 left_z=0.1581 left_yaw=0.0049 left_pitch=-0.1125 left_roll=0.0015 left_gripper=0.9991 right_x=0.3589 right_y=0.2718 right_z=0.0194 right_yaw=0.068 right_pitch=-0.0388 right_roll=-0.1201 right_gripper=0.4482 state[joint_eff]: [-0.1573, -1.306, 7.1453, 1.6093, -0.0464, -0.0269, -0.0122, 0.0752, -10.5778, 5.8325, 1.3016, 0.0611, 0.105, 1.0281] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17}, "note": "Lemon grasped (gripper 0.45). Lifting to carry height."})
tool
executing move_to over 10 steps (1.0s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteLemon held; the blue bowl (with the pear) is just ahead and slightly right in the wrist view. Moving over it.
move_to
right_x0.4200right_y0.2550right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0181, -0.0242, 0.9991, 0.8974, 1.7313, 1.2057, -0.3359, 0.6952, 0.4519, 0.4517] state[eef_state]: left_x=0.2835 left_y=0.0006 left_z=0.1581 left_yaw=0.0049 left_pitch=-0.1125 left_roll=0.0015 left_gripper=0.9991 right_x=0.359 right_y=0.2743 right_z=0.1456 right_yaw=0.0786 right_pitch=-0.0612 right_roll=-0.1374 right_gripper=0.4517 state[joint_eff]: [-0.1709, -1.2923, 6.9812, 1.619, -0.0269, -0.0171, -0.0122, -0.3077, -10.7419, 8.5128, 1.4872, 0.3736, 0.0513, 0.7937] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.255, "right_z": 0.13}, "note": "Lemon held; the blue bowl (with the pear) is just ahead and slightly right in the wrist view. Moving over it."})
tool
executing move_to over 5 steps (0.5s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe blue bowl is directly under the jaws now. Releasing the lemon into it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8204, 0.6132, -0.4763, -0.0181, -0.0246, 0.9991, 0.7471, 1.8297, 1.2301, -0.2577, 0.6014, 0.3302, 0.4545] state[eef_state]: left_x=0.2836 left_y=0.0006 left_z=0.1578 left_yaw=0.0051 left_pitch=-0.1136 left_roll=0.0013 left_gripper=0.9991 right_x=0.4066 right_y=0.2452 right_z=0.1155 right_yaw=0.0593 right_pitch=-0.1169 right_roll=-0.1794 right_gripper=0.4545 state[joint_eff]: [-0.253, -1.2376, 6.9812, 1.619, -0.0415, -0.0317, -0.0171, -0.2393, -8.9915, 8.294, 1.7216, 0.2662, 0.0269, 0.5348] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The blue bowl is directly under the jaws now. Releasing the lemon into it."})
tool
executing move_to over 6 steps (0.6s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteLemon and pear are in the blue bowl. Moving the left arm above the dark plum, and lifting/retracting the right arm out of the way.
move_to
left_x0.3300left_y-0.1700left_z0.1200left_pitch0.0000right_z0.2000right_x0.3000right_y0.3000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8204, 0.6132, -0.4763, -0.0181, -0.0246, 0.9991, 0.7383, 1.8355, 1.2304, -0.2207, 0.5781, 0.3019, 0.9957] state[eef_state]: left_x=0.2836 left_y=0.0006 left_z=0.1578 left_yaw=0.0051 left_pitch=-0.1136 left_roll=0.0013 left_gripper=0.9991 right_x=0.4121 right_y=0.2493 right_z=0.1167 right_yaw=0.0848 right_pitch=-0.1055 right_roll=-0.1681 right_gripper=0.9957 state[joint_eff]: [-0.2256, -1.2239, 6.9538, 1.6435, -0.0269, -0.0269, -0.0171, -0.1846, -9.5111, 8.3077, 1.6532, 0.2613, 0.0464, 0.0122] 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": {"left_x": 0.33, "left_y": -0.17, "left_z": 0.12, "left_pitch": 0.0, "right_z": 0.2, "right_x": 0.3, "right_y": 0.3}, "note": "Lemon and pear are in the blue bowl. Moving the left arm above the dark plum, and lifting/retracting the right arm out of the way."})
tool
executing move_to over 16 steps (1.6s)
step 209
top_cam
camera top_cam step 209
assistant
agent notePlum is just ahead of the left jaws, nearly centred. Advancing slightly and descending to grasp it.
move_to
left_x0.3400left_y-0.1550left_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]: [-0.7555, 1.3628, 0.6559, -0.0898, -0.5865, -0.477, 0.9991, 1.0611, 1.7302, 1.4178, -0.7425, 0.7513, 0.6037, 0.9963] state[eef_state]: left_x=0.3189 left_y=-0.1612 left_z=0.1016 left_yaw=-0.0177 left_pitch=-0.0686 left_roll=0.0397 left_gripper=0.9991 right_x=0.303 right_y=0.3023 right_z=0.1813 right_yaw=0.111 right_pitch=-0.1351 right_roll=-0.1969 right_gripper=0.9963 state[joint_eff]: [-0.212, -5.2444, 8.6496, 1.619, -0.486, -0.0171, -0.0122, 0.4171, -10.1402, 8.9094, 1.2137, 0.3639, 0.1734, 0.0562] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.155, "left_z": 0.01}, "note": "Plum is just ahead of the left jaws, nearly centred. Advancing slightly and descending to grasp it."})
tool
executing move_to over 6 steps (0.6s)
step 215
assistant
agent notePlum fills the gap between the left jaw tips. Closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6868, 1.7054, 0.5152, 0.3527, -0.5461, -0.44, 0.9985, 1.0565, 1.7325, 1.4143, -0.7692, 0.7464, 0.6022, 0.9963] state[eef_state]: left_x=0.3312 left_y=-0.1483 left_z=0.0043 left_yaw=0.0037 left_pitch=-0.1198 left_roll=0.0735 left_gripper=0.9985 right_x=0.3014 right_y=0.2969 right_z=0.1762 right_yaw=0.1061 right_pitch=-0.1576 right_roll=-0.2222 right_gripper=0.9963 state[joint_eff]: [0.4991, -6.8855, 4.4513, 0.5543, -0.0464, 0.3736, -0.105, 0.4991, -8.6222, 6.7214, 1.1795, 0.3248, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Plum fills the gap between the left jaw tips. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 225
assistant
agent notePlum grasped (0.52). Lifting it and moving the right arm aside so the left arm can reach the blue bowl.
move_to
left_z0.1700right_x0.3000right_y0.0500right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6853, 1.7187, 0.5087, 0.3851, -0.5396, -0.4458, 0.5238, 1.0584, 1.7325, 1.4143, -0.7681, 0.7433, 0.6022, 0.9964] state[eef_state]: left_x=0.3322 left_y=-0.1497 left_z=0.0024 left_yaw=0.0026 left_pitch=-0.1129 left_roll=0.0572 left_gripper=0.5238 right_x=0.3007 right_y=0.298 right_z=0.1759 right_yaw=0.1098 right_pitch=-0.1592 right_roll=-0.2196 right_gripper=0.9964 state[joint_eff]: [-0.1846, -7.5966, 5.094, 1.0769, -0.3053, 0.022, 1.0281, -0.212, -8.6496, 6.4205, 1.072, 0.3443, -0.0415, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17, "right_x": 0.3, "right_y": 0.05, "right_z": 0.2}, "note": "Plum grasped (0.52). Lifting it and moving the right arm aside so the left arm can reach the blue bowl."})
tool
executing move_to over 21 steps (2.1s)
step 246
assistant
agent notePlum held by the left arm; blue bowl sits to its right near the left arm's y limit. Moving over the bowl's near-left part.
move_to
left_x0.4100left_y-0.4000left_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6853, 1.338, 0.8894, -0.4202, -0.5381, -0.4538, 0.5238, 0.3267, 0.9981, 0.87, -0.6495, 0.3077, -0.0284, 0.9964] state[eef_state]: left_x=0.3299 left_y=-0.1481 left_z=0.1475 left_yaw=0.0094 left_pitch=-0.1472 left_roll=0.0784 left_gripper=0.5238 right_x=0.2979 right_y=0.0482 right_z=0.1949 right_yaw=0.0668 right_pitch=-0.183 right_roll=-0.224 right_gripper=0.9964 state[joint_eff]: [-0.1573, -7.3641, 9.6479, 1.4481, -0.3248, 0.0562, 0.9939, -0.1573, -3.0838, 6.4615, 1.8632, 0.1099, -0.0024, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.4, "left_z": 0.15}, "note": "Plum held by the left arm; blue bowl sits to its right near the left arm's y limit. Moving over the bowl's near-left part."})
tool
executing move_to over 23 steps (2.3s)
step 269
assistant
agent noteBlue bowl's far rim shows at the bottom of the left wrist view, so the bowl centre is a bit nearer the base. Stepping back 2-3 cm and lowering before releasing.
move_to
left_x0.3850left_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]: [-0.9676, 2.3432, 2.1658, -0.8711, -0.6849, -0.7528, 0.5239, 0.3199, 1.0004, 0.87, -0.6636, 0.3099, -0.038, 0.9964] state[eef_state]: left_x=0.4122 left_y=-0.3951 left_z=0.1377 left_yaw=0.0097 left_pitch=-0.1675 left_roll=0.0688 left_gripper=0.5239 right_x=0.2961 right_y=0.0451 right_z=0.192 right_yaw=0.0622 right_pitch=-0.1996 right_roll=-0.237 right_gripper=0.9964 state[joint_eff]: [-1.4564, -14.1197, 8.7316, 0.8523, -0.6276, 0.0806, 0.9255, 0.6496, -2.6735, 6.7624, 1.5946, -0.0269, -0.0317, -0.0122] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.385, "left_z": 0.1}, "note": "Blue bowl's far rim shows at the bottom of the left wrist view, so the bowl centre is a bit nearer the base. Stepping back 2-3 cm and lowering before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 272
assistant
agent notePlum is over the blue bowl with the lemon visible just beyond it. Releasing.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9783, 2.2974, 1.9675, -0.7574, -0.6937, -0.7883, 0.5247, 0.3191, 1.0084, 0.8593, -0.7315, 0.313, -0.0559, 0.9964] state[eef_state]: left_x=0.3995 left_y=-0.3848 left_z=0.1045 left_yaw=0.0291 left_pitch=-0.1811 left_roll=0.0796 left_gripper=0.5247 right_x=0.2838 right_y=0.0403 right_z=0.1748 right_yaw=0.0631 right_pitch=-0.2852 right_roll=-0.2747 right_gripper=0.9964 state[joint_eff]: [-3.0974, -14.0376, 5.3949, 0.7692, -0.3443, -0.0122, 0.9158, 0.212, -2.7692, 8.4308, 2.5128, 0.1245, 0.1929, -0.0122] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Plum is over the blue bowl with the lemon visible just beyond it. Releasing."})
tool
executing move_to over 5 steps (0.5s)
step 277
assistant
agent noteAll three fruits are in the blue bowl. Positioning the open left gripper to straddle the bowl's left rim wall (toward the white bowl) for a pour.
move_to
left_x0.4000left_y-0.3450left_z0.0350left_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]: [-0.9794, 2.2963, 1.943, -0.733, -0.6914, -0.8009, 0.9953, 0.3187, 1.0119, 0.8528, -0.7559, 0.313, -0.0639, 0.9964] state[eef_state]: left_x=0.3985 left_y=-0.385 left_z=0.0988 left_yaw=0.0334 left_pitch=-0.1817 left_roll=0.0681 left_gripper=0.9953 right_x=0.2787 right_y=0.0384 right_z=0.1677 right_yaw=0.0643 right_pitch=-0.3196 right_roll=-0.2893 right_gripper=0.9964 state[joint_eff]: [-0.1299, -13.2034, 8.3487, 0.7937, -0.4225, 0.0952, -0.1441, -0.1162, -2.5504, 7.3641, 1.6142, 0.0659, 0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.345, "left_z": 0.035, "left_gripper": 1.0}, "note": "All three fruits are in the blue bowl. Positioning the open left gripper to straddle the bowl's left rim wall (toward the white bowl) for a pour."})
tool
executing move_to over 5 steps (0.5s)
step 282
assistant
agent noteDescent stopped at 6 cm on the fruit inside the bowl, so the bowl centre is here; shifting ~7 cm left to straddle the bowl's left rim wall.
move_to
left_x0.4000left_y-0.2850left_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]: [-0.9367, 2.2139, 1.6188, -0.3801, -0.68, -0.7761, 0.9979, 0.3187, 1.0138, 0.8516, -0.7685, 0.3126, -0.0689, 0.9964] state[eef_state]: left_x=0.4071 left_y=-0.36 left_z=0.064 left_yaw=0.0412 left_pitch=-0.1298 left_roll=-0.0127 left_gripper=0.9979 right_x=0.2763 right_y=0.0377 right_z=0.1649 right_yaw=0.066 right_pitch=-0.3356 right_roll=-0.2964 right_gripper=0.9964 state[joint_eff]: [0.5949, -11.0154, 5.2991, 1.0427, -0.2222, 0.0659, -0.2271, -0.0615, -2.6051, 6.7214, 1.4823, 0.105, -0.0122, -0.0171] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.285, "left_z": 0.03}, "note": "Descent stopped at 6 cm on the fruit inside the bowl, so the bowl centre is here; shifting ~7 cm left to straddle the bowl's left rim wall."})
tool
executing move_to over 7 steps (0.7s)
step 289
assistant
agent noteBowl rim (teal) sits right at the jaws with the fruit just beyond; descent stopped at rim height. Closing on the rim wall.
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]: [-0.8524, 2.0613, 1.2385, -0.0509, -0.6353, -0.7082, 0.9977, 0.3187, 1.0172, 0.8516, -0.7685, 0.3126, -0.0689, 0.9964] state[eef_state]: left_x=0.405 left_y=-0.2985 left_z=0.0435 left_yaw=0.0499 left_pitch=-0.0971 left_roll=-0.0634 left_gripper=0.9977 right_x=0.2765 right_y=0.0378 right_z=0.164 right_yaw=0.0657 right_pitch=-0.3389 right_roll=-0.2973 right_gripper=0.9964 state[joint_eff]: [0.9641, -10.4684, 4.5744, 0.823, -0.1245, 0.2466, -0.022, -0.0205, -2.7829, 6.653, 1.37, 0.1001, -0.0562, -0.0122] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Bowl rim (teal) sits right at the jaws with the fruit just beyond; descent stopped at rim height. Closing on the rim wall."})
tool
executing move_to over 10 steps (1.0s)
step 299
assistant
agent noteGripper stopped at 0.81, holding something wide (bowl rim or contents). Lifting toward the white bowl and rolling toward it to pour.
move_to
left_x0.4500left_y-0.1300left_z0.1600left_roll1.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8494, 2.0502, 1.2415, -0.0097, -0.6476, -0.7078, 0.8138, 0.3187, 1.0191, 0.8513, -0.7837, 0.3126, -0.0715, 0.9964] state[eef_state]: left_x=0.412 left_y=-0.3016 left_z=0.0565 left_yaw=0.058 left_pitch=-0.0557 left_roll=-0.101 left_gripper=0.8138 right_x=0.2737 right_y=0.0369 right_z=0.1612 right_yaw=0.0656 right_pitch=-0.3563 right_roll=-0.3037 right_gripper=0.9964 state[joint_eff]: [-0.4171, -10.0991, 5.7231, 0.989, -0.2027, -0.0659, 1.0281, -0.212, -2.6462, 6.6393, 1.4823, 0.1001, -0.0073, -0.0171] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.13, "left_z": 0.16, "left_roll": 1.2}, "note": "Gripper stopped at 0.81, holding something wide (bowl rim or contents). Lifting toward the white bowl and rolling toward it to pour."})
tool
executing move_to over 17 steps (1.7s)
step 316
assistant
agent noteThe rim grab actually picked up the lemon, not the blue bowl; the lemon is now over the white bowl. Releasing it there since the call budget is nearly used up.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6533, 1.9381, 1.1954, -0.0696, -1.1175, 0.4732, 0.8141, 0.3187, 1.0229, 0.8513, -0.7906, 0.3126, -0.0719, 0.9964] state[eef_state]: left_x=0.446 left_y=-0.1368 left_z=0.13 left_yaw=0.0569 left_pitch=-0.0996 left_roll=1.1258 left_gripper=0.8141 right_x=0.2726 right_y=0.0365 right_z=0.1593 right_yaw=0.0648 right_pitch=-0.3667 right_roll=-0.3069 right_gripper=0.9964 state[joint_eff]: [0.4034, -13.0667, 6.0239, 1.5214, -0.5641, 0.1343, 0.0171, -0.1026, -2.6325, 6.5983, 1.3846, 0.0855, -0.0757, -0.0171] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The rim grab actually picked up the lemon, not the blue bowl; the lemon is now over the white bowl. Releasing it there since the call budget is nearly used up."})
tool
executing move_to over 2 steps (0.2s)
step 318
assistant
agent noteOnly partly done. All three fruits (pear, lemon, plum) went into the blue bowl, but the pour failed. When I tried to grab the blue bowl's rim with the left arm, the jaws closed on the lemon instead (gripper stopped at 0.81), and the bowl stayed on the table. I released the lemon over the large white bowl, so it should now be in the white bowl. The pear and plum are still in the blue bowl, and the blue bowl was never tilted.
done
hindsight- The top-cam arm-position estimates were rough. The right arm's start position (x=0.30, y=0) shows up around image (205,125), and the left arm's around (30,125). - Object positions in the right arm's frame: pear about (0.40, 0.10), lemon about (0.36, 0.28), blue bowl centre about (0.42, 0.23). In the left arm's frame: plum about (0.33, -0.16), blue bowl about (0.40, -0.36), white bowl about (0.45, -0.13). - Wrist views: an object at image row ~160 near the bottom, seen from z≈0.13, is really another ~6–7 cm forward of the grasp point. An object at row ~195–200 is about 2 cm ahead. Advance more than you think; my first two pear closes came up empty. - Pitch drifts steadily negative (down to -0.5) over repeated moves unless you command pitch 0 each time. That drift skews the wrist view and caused a missed grasp. - Early on I mistook the pear in the bowl for the lemon. Check colour and context before descending. - Budget: picking and placing 3 fruits took about 30 calls. Save at least 10 calls for the pour. - For the pour: the blue bowl is shallow (~5 cm) and sits right at the left arm's y limit (-0.4). Grasping its rim needs the jaws to straddle the wall at about z=0.02, about 7 cm out from the bowl centre. Check in the wrist view that the jaws are on the wall and not on the fruit; a gripper reading around 0.8 means you grabbed fruit, not the thin wall, which should settle near 0.05–0.1. - An easier plan: pick the right arm for the bowl-rim grasp, since the bowl is well inside the right arm's workspace box. Pour by rolling the wrist while the arm holding the bowl stays within its box. The white bowl is only reachable by the left arm (right-frame y≈0.5 is outside the right arm's bounds), so the right arm would have to carry the bowl across to around right-frame y 0.4, or you could plan a left-arm grasp from the start.
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]: [-0.6456, 1.935, 1.1805, -0.0109, -1.1442, 0.5621, 0.9919, 0.3187, 1.0233, 0.8513, -0.791, 0.3126, -0.0719, 0.9964] state[eef_state]: left_x=0.4479 left_y=-0.1316 left_z=0.1355 left_yaw=0.062 left_pitch=-0.0953 left_roll=1.1825 left_gripper=0.9919 right_x=0.2725 right_y=0.0365 right_z=0.1592 right_yaw=0.0647 right_pitch=-0.3674 right_roll=-0.3071 right_gripper=0.9964 state[joint_eff]: [-0.8547, -9.7846, 7.4051, 1.0281, -0.022, -0.2125, 0.0415, -0.1162, -2.3043, 6.6803, 1.3065, 0.1099, -0.0366, -0.0171] camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
done({"summary": "Only partly done. All three fruits (pear, lemon, plum) went into the blue bowl, but the pour failed. When I tried to grab the blue bowl's rim with the left arm, the jaws closed on the lemon instead (gripper stopped at 0.81), and the bowl stayed on the table. I released the lemon over the large white bowl, so it should now be in the white bowl. The pear and plum are still in the blue bowl, and the blue bowl was never tilted.", "hindsight": "- The top-cam arm-position estimates were rough. The right arm's start position (x=0.30, y=0) shows up around image (205,125), and the left arm's around (30,125).\n- Object positions in the right arm's frame: pear about (0.40, 0.10), lemon about (0.36, 0.28), blue bowl centre about (0.42, 0.23). In the left arm's frame: plum about (0.33, -0.16), blue bowl about (0.40, -0.36), white bowl about (0.45, -0.13).\n- Wrist views: an object at image row ~160 near the bottom, seen from z\u22480.13, is really another ~6\u20137 cm forward of the grasp point. An object at row ~195\u2013200 is about 2 cm ahead. Advance more than you think; my first two pear closes came up empty.\n- Pitch drifts steadily negative (down to -0.5) over repeated moves unless you command pitch 0 each time. That drift skews the wrist view and caused a missed grasp.\n- Early on I mistook the pear in the bowl for the lemon. Check colour and context before descending.\n- Budget: picking and placing 3 fruits took about 30 calls. Save at least 10 calls for the pour.\n- For the pour: the blue bowl is shallow (~5 cm) and sits right at the left arm's y limit (-0.4). Grasping its rim needs the jaws to straddle the wall at about z=0.02, about 7 cm out from the bowl centre. Check in the wrist view that the jaws are on the wall and not on the fruit; a gripper reading around 0.8 means you grabbed fruit, not the thin wall, which should settle near 0.05\u20130.1.\n- An easier plan: pick the right arm for the bowl-rim grasp, since the bowl is well inside the right arm's workspace box. Pour by rolling the wrist while the arm holding the bowl stays within its box. The white bowl is only reachable by the left arm (right-frame y\u22480.5 is outside the right arm's bounds), so the right arm would have to carry the bowl across to around right-frame y 0.4, or you could plan a left-arm grasp from the start."})
tool
done: Only partly done. All three fruits (pear, lemon, plum) went into the blue bowl, but the pour failed. When I tried to grab the blue bowl's rim with the left arm, the jaws closed on the lemon instead (gripper stopped at 0.81), and the bowl stayed on the table. I released the lemon over the large white bowl, so it should now be in the white bowl. The pear and plum are still in the blue bowl, and the blue bowl was never tilted.
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 · 14.74 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6136, -0.3828, -0.0143, -0.02, 0.9992, -0.0227, 0.8001, 0.6197, -0.387, -0.02, -0.0334, 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=0.2962 right_y=0.0004 right_z=0.184 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.5812, -1.5385, 9.7436, 1.8144, -0.1099, 0.0513, -0.1001, -0.4581, -1.7983, 9.0735, 1.8632, -0.0366, 0.1441, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2486c59e70e29b1f860d2b601a6963b8dc8856092afc1421a4fef7613394fb19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a3674bb0a3723884bbe9d4d041a24fa869ee7747d9475d076bb7e419ceee30a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9dd95a86a9c60295a8d874187301f2e13db2dca2a55b52420964db30792d05cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 4.374 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6136, -0.3828, -0.0143, -0.02, 0.9992, -0.0227, 0.8001, 0.6197, -0.387, -0.02, -0.0334, 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=0.2962 right_y=0.0004 right_z=0.184 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.5812, -1.5385, 9.7436, 1.8144, -0.1099, 0.0513, -0.1001, -0.4581, -1.7983, 9.0735, 1.8632, -0.0366, 0.1441, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2486c59e70e29b1f860d2b601a6963b8dc8856092afc1421a4fef7613394fb19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a3674bb0a3723884bbe9d4d041a24fa869ee7747d9475d076bb7e419ceee30a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dd95a86a9c60295a8d874187301f2e13db2dca2a55b52420964db30792d05cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QZcREv2zsdwarqT6LVJF6s",
      "input": {
        "note": "Scene: white bowl far-left, blue bowl centre-right, lemon, pear, and dark plum on table. Moving right arm above the pear first.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.1,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01QZcREv2zsdwarqT6LVJF6s",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.3901, -0.0177, -0.0242, 0.9991, 0.4675, 1.1698, 0.6235, -0.131, 0.363, 0.2211, 0.9992]\nstate[eef_state]: left_x=0.2951 left_y=0.0002 left_z=0.1799 left_yaw=0.0044 left_pitch=-0.0091 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3309 right_y=0.1008 right_z=0.1318 right_yaw=0.0322 right_pitch=-0.0593 right_roll=-0.0299 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -1.2923, 7.2684, 1.8193, -0.0024, -0.0073, -0.022, -0.1026, -3.9863, 8.6359, 1.9267, 0.3443, 0.1734, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:223eaca5cce266fd98ccd3a9e7e7b0a2c72f534a8d183b079b5415b49ffe3bc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7afb23e10b1091ab2891c9bd7499a75842e2acd816ab70333d923ef49513a51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f951bdb0ba5bc74598564a8ff13efd50ccec5011e59cdedb9050d7d8241c5852",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 2.966 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6136, -0.3828, -0.0143, -0.02, 0.9992, -0.0227, 0.8001, 0.6197, -0.387, -0.02, -0.0334, 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=0.2962 right_y=0.0004 right_z=0.184 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.5812, -1.5385, 9.7436, 1.8144, -0.1099, 0.0513, -0.1001, -0.4581, -1.7983, 9.0735, 1.8632, -0.0366, 0.1441, -0.0904]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.3901, -0.0177, -0.0242, 0.9991, 0.4675, 1.1698, 0.6235, -0.131, 0.363, 0.2211, 0.9992]\nstate[eef_state]: left_x=0.2951 left_y=0.0002 left_z=0.1799 left_yaw=0.0044 left_pitch=-0.0091 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3309 right_y=0.1008 right_z=0.1318 right_yaw=0.0322 right_pitch=-0.0593 right_roll=-0.0299 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -1.2923, 7.2684, 1.8193, -0.0024, -0.0073, -0.022, -0.1026, -3.9863, 8.6359, 1.9267, 0.3443, 0.1734, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:223eaca5cce266fd98ccd3a9e7e7b0a2c72f534a8d183b079b5415b49ffe3bc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7afb23e10b1091ab2891c9bd7499a75842e2acd816ab70333d923ef49513a51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f951bdb0ba5bc74598564a8ff13efd50ccec5011e59cdedb9050d7d8241c5852",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnggKEAgSGAI4AUIIdGhpbmtpbmcSDHNuxEgJYEiqImkLfhoMshw9Qo1ZOuq3WwJCIjAwgqZUJTBNVaZQLRbRM3Vpg8zvpbu2oyy4BQjBU3A7q16aHN/gW9QFWN/+mlIqcYQquwfXT/azMTdbE8J5FlA+hO0MS8wDdJ5M7nxR2MQt1f/cMwgcU7obHNXp8jaDWWsS6B/PGhWDXWVQTdUMsRZiXa76bf9Ak7NtO71/8D6qCxFi76vI/5B8l2nD8D0Qh9XZeTA7IWDd8jLjDXZxnDnd9KiqfbdPzH74f69UKFV7j/MjwHfVtH95VyrMOUpwtVjAZzMrO8ClW1fMiy5mAgqP5W0kPoTMr6Ltqg6/2PJb9RKFWkVLvzAVdOA2YMIpzVD7CQqnnrrgqK6+AYzpOW267xXKA2ukpBIGy9Whj1LMRZhRBWzzwvz4TVNUZdGRCfHQuYAJ+E2CDuaQjZXO7e0slPqyg60CzLwDvk9TQZwxP0K4Voi5ZmNLkR+ZJaa2NHLR+L+VWcIMOcpyecb3R4PPgjALkOYVt9mO8j1ruAYlndwwkPuxcR09q1n2bCX39g/HyX2TsDAVDV4Oyl9T0IQblwtvuFvT6u02arP+CMO6JTnJ0PGsKI7u9Vi8Uy9i7m7K6A+DgHV2KUo0bMxt/Zsed15PMMFbrqFWUjjUKLAYL0xagLSIwU8676zmKjW3kUQclnGnKGXqVTEHBV2t4n1UXX7rXmAF7QeIsxM5CvbXJbcAIo/zQ5UyKbHybYIWnGkNv1ihD46NuRNVCe07yKRlBX2LLo5dKrzSYYsqea05Jh4NaXHoCanc0V1Av5J/6fuhlXr7AWlE5+6/Q94CVgpaHUgx/7g/q6Rgosr/X9sX8zKEenlf2/e+kn0kZERhoIGBGozUu2XMPJkfpCBtnbpoNjG7YYQGZ3LyZtN2Ed5FUUHG/5GKBWGyua1n3dpCOQ3ta0j7kzmFffDB7FqD0JqVEwpu9bHuVQ8rATy9mL60Txhhs9mtsJP9GzhWlWxN+qTjFbGG3NGS/I75mpvnU/0V0H0FCjLktWa5v4ydimf4+qQ7Yn8zUu4+LHFk0M2ccR+CiD9iRgLLcGFOce4DU2pGAsHNfixLsM2y6Nv260Hs3OkGARLT8gx9yq/Ly4g3EP3/csCKP1OJiwMYSqYXDopg0QIKXArO/YlxGdD6mgOzpjSOGA5TFlvHq6q0PEdIl4PM54G7oKQdo6D4y/IAPOz/TlCe1FiWocEmbF93gkDbmpy9chMY82RKdAalHIfnCZC/M59oPWxrCG9SpTK3oXdQqZfl73hGpExuDn79hBny/3IJlOiS52v10xaJ4QcayJmJBpSo84lGU5Ot7oMCx/ZAfh3f4TGV9jNaDIGJ6rc8+WFOSTaNjrmZnODHlUgGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014KfmzE9AzwfDopDEu4C8A7",
      "input": {
        "note": "Pear sits nearly on the jaw column in the right wrist view, just ahead. Descending onto it with a small forward adjust.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.095,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_014KfmzE9AzwfDopDEu4C8A7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4011, -0.0177, -0.0246, 0.9991, 0.4095, 1.5169, 0.4259, 0.3939, 0.3126, 0.1825, 0.9992]\nstate[eef_state]: left_x=0.2938 left_y=0.0003 left_z=0.1766 left_yaw=0.0046 left_pitch=-0.024 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3457 right_y=0.0947 right_z=0.0332 right_yaw=0.0355 right_pitch=-0.0907 right_roll=-0.0392 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -1.4154, 7.0222, 1.8339, -0.0269, -0.0317, -0.0122, -0.0342, -5.6957, 5.0393, 1.9023, 0.0806, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea65f3cbadc60471322622e259908afdf7a67aa38c50a2dfd54c6d2c8a20c217",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65baab989660fb0b6cb1acf914070dbd0963cf33374589bac8665a200adc663c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:03afe6f6b76810121f4d9aa6dd93861a227f9f418e9af019d4e784281615eae8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 4.672 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6136, -0.3828, -0.0143, -0.02, 0.9992, -0.0227, 0.8001, 0.6197, -0.387, -0.02, -0.0334, 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=0.2962 right_y=0.0004 right_z=0.184 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.5812, -1.5385, 9.7436, 1.8144, -0.1099, 0.0513, -0.1001, -0.4581, -1.7983, 9.0735, 1.8632, -0.0366, 0.1441, -0.0904]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.3901, -0.0177, -0.0242, 0.9991, 0.4675, 1.1698, 0.6235, -0.131, 0.363, 0.2211, 0.9992]\nstate[eef_state]: left_x=0.2951 left_y=0.0002 left_z=0.1799 left_yaw=0.0044 left_pitch=-0.0091 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3309 right_y=0.1008 right_z=0.1318 right_yaw=0.0322 right_pitch=-0.0593 right_roll=-0.0299 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -1.2923, 7.2684, 1.8193, -0.0024, -0.0073, -0.022, -0.1026, -3.9863, 8.6359, 1.9267, 0.3443, 0.1734, -0.022]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4011, -0.0177, -0.0246, 0.9991, 0.4095, 1.5169, 0.4259, 0.3939, 0.3126, 0.1825, 0.9992]\nstate[eef_state]: left_x=0.2938 left_y=0.0003 left_z=0.1766 left_yaw=0.0046 left_pitch=-0.024 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3457 right_y=0.0947 right_z=0.0332 right_yaw=0.0355 right_pitch=-0.0907 right_roll=-0.0392 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -1.4154, 7.0222, 1.8339, -0.0269, -0.0317, -0.0122, -0.0342, -5.6957, 5.0393, 1.9023, 0.0806, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea65f3cbadc60471322622e259908afdf7a67aa38c50a2dfd54c6d2c8a20c217",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65baab989660fb0b6cb1acf914070dbd0963cf33374589bac8665a200adc663c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03afe6f6b76810121f4d9aa6dd93861a227f9f418e9af019d4e784281615eae8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwYKEAgSGAI4AUIIdGhpbmtpbmcSDEnHH05VA6xMLDLNdBoMilnOnzLLDLPW8HHnIjCKApp2qzvS01/vOZaUw3u6xlm2VpJ5Akb6W1lyOx58VexYB6g8nlLq9M4TOWFoOhwquAW6xYR/OR0Px/TJYwrTTemzYa+XV99bqUGdafgOjQQRY95VSoCG1qwwmHB47O1x9TAcelTsiiYbm80VSeKXrmvbWMN7mVJLWUWcfzfkrzecJo4wrFv+u+1MT/I34U44CZPsB7exjC+raxLOaEtO7+plPAMuxwQ+Z3/LI2bRkoeKMYrgriWTakLhk4s1PSxRa/sUyyHkE1jYSX7w60UH/yi7xbOQT8ngGSVVDWEFKhSsUo3hry4i5r8UEU386npZE3UFz3F7lygxarG3/OQuzY4u1QJfYf/7bPflG3QOPL+OurTSixbYDpgJRoiLcM0FDVbnXYge3m3WeJ07fkDeF914jkV9kQUhTUklvCC+aP1I7s8kbXJolxzqOYOvPqmVD5X+RhCaih/9BqD0tuPLd4AQodfhR3Oe/uFPKYxbzwJb4PYEvq4liQyyfLTssjn5CkNdqOD+dSPMMNH75JUZjOs91tS9STxdylJ2iiPhA8kX1FX3aG8HvHS93wUBtVYLATSuPmIFRG55jSp5kIgdbIIq8l/DLGfUyKOpaye7FJ/MFibFKOoSZBxrJof4rpx9B/jAhoF6PW1HIcLOmsdUyvsCspj5hBFnKMyKef1B8B6Mtmue0WQliPMVCQrQ7PYq/E+UlGql2xeqJJockLREntG/mQ7fpTDppju4PsLAOS9IOpOdiReYMPlpUIiMPwUe1uqz/IXwL1vnQfkszQWxefFfwOFcdGV3z/yCW94snf+xyAqa46Cn4U+dHC+0ZTETMawSho8vtp/y/0yyHudQSvjZ54BuRMT+kpeOKqa6s5DH+pcFivGRL3KUoJ0emjOWoIuBIYEVJZ3eusVr5C3NAMVG4ub6KeE3UStMNhT8gqNd33fxfz9RRoe5GeMoLephR/8kgbNtCo+SJAks5Idoi7oOj9vOn0ekZDgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HEdLBxaL6cU9Qz3gZQs8NZ",
      "input": {
        "note": "Pear is centred between the jaws in the wrist view. Closing the gripper.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HEdLBxaL6cU9Qz3gZQs8NZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4088, -0.0181, -0.0246, 0.9991, 0.4091, 1.5169, 0.4259, 0.3916, 0.3092, 0.1757, 0.0088]\nstate[eef_state]: left_x=0.2928 left_y=0.0004 left_z=0.175 left_yaw=0.0049 left_pitch=-0.0316 left_roll=-0.0009 left_gripper=0.9991 right_x=0.3453 right_y=0.095 right_z=0.0327 right_yaw=0.0416 right_pitch=-0.0938 right_roll=-0.0434 right_gripper=0.0088\nstate[joint_eff]: [-0.0342, -1.3333, 7.0085, 1.8339, -0.0513, -0.0415, -0.0122, -0.1709, -5.1214, 5.2034, 1.6972, 0.1245, 0.0415, 0.6764]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cfce19ff8c96e237beae650a526751f03b80d447d1715aac4961d40cbced957",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec5fe372c0f61cc49076e2fba61355d63f7e8fa76f34c6343758a22676408b6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3617e24c751bf954d3e042aa9530e297742792dcba26fd27ad461624ba76dd14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 3.492 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.3901, -0.0177, -0.0242, 0.9991, 0.4675, 1.1698, 0.6235, -0.131, 0.363, 0.2211, 0.9992]\nstate[eef_state]: left_x=0.2951 left_y=0.0002 left_z=0.1799 left_yaw=0.0044 left_pitch=-0.0091 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3309 right_y=0.1008 right_z=0.1318 right_yaw=0.0322 right_pitch=-0.0593 right_roll=-0.0299 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -1.2923, 7.2684, 1.8193, -0.0024, -0.0073, -0.022, -0.1026, -3.9863, 8.6359, 1.9267, 0.3443, 0.1734, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4011, -0.0177, -0.0246, 0.9991, 0.4095, 1.5169, 0.4259, 0.3939, 0.3126, 0.1825, 0.9992]\nstate[eef_state]: left_x=0.2938 left_y=0.0003 left_z=0.1766 left_yaw=0.0046 left_pitch=-0.024 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3457 right_y=0.0947 right_z=0.0332 right_yaw=0.0355 right_pitch=-0.0907 right_roll=-0.0392 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -1.4154, 7.0222, 1.8339, -0.0269, -0.0317, -0.0122, -0.0342, -5.6957, 5.0393, 1.9023, 0.0806, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4088, -0.0181, -0.0246, 0.9991, 0.4091, 1.5169, 0.4259, 0.3916, 0.3092, 0.1757, 0.0088]\nstate[eef_state]: left_x=0.2928 left_y=0.0004 left_z=0.175 left_yaw=0.0049 left_pitch=-0.0316 left_roll=-0.0009 left_gripper=0.9991 right_x=0.3453 right_y=0.095 right_z=0.0327 right_yaw=0.0416 right_pitch=-0.0938 right_roll=-0.0434 right_gripper=0.0088\nstate[joint_eff]: [-0.0342, -1.3333, 7.0085, 1.8339, -0.0513, -0.0415, -0.0122, -0.1709, -5.1214, 5.2034, 1.6972, 0.1245, 0.0415, 0.6764]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cfce19ff8c96e237beae650a526751f03b80d447d1715aac4961d40cbced957",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec5fe372c0f61cc49076e2fba61355d63f7e8fa76f34c6343758a22676408b6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3617e24c751bf954d3e042aa9530e297742792dcba26fd27ad461624ba76dd14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQkKEAgSGAI4AUIIdGhpbmtpbmcSDKY1GBLq4Z48BpGyNxoMoW19u/sm3j0tsH8zIjAA46Ebx5F5qBDf5RMWMTYiXVW6SElg4vhx9r/jmOnTE68XceS6792T8JMxmXGPyREqoghBtwrrH0htsAhBOGz1jC7H9hXWwmh9nKjF+bWKF/5HG1lR0Ln6XKBnWoGRTP5mcmGcvSULszrvCx4QD286h41NwlBlM0p8c9NTEIJhyIpNuuSGNRbpX9Tq6JsXcm6vvn9p6apOQPwjyo8KyHvkxoSWoAcDNnLZ5IaUqIPdDJYx12y59c/tY0gPfqSUpAzIfgIOeKuuYfBnP43QFUc2PI1NK3K9Q0bXx5/B3JRTX11CTeT6715OXS7/4G4SkOTFxnmSmqT7nA1Deu7L9Lj8eCq73lHwnpwMkTIQfD0uYOvcZMWM6jaS9WitgpF0fvfn0fxOKW5Du5bZRZdouUV3PBml0zht61ggi7PyyUBcepk986QBucni4juTl1/VzPat4vA5ZxD5y9sur9NFwgmE7xh2swKkTP6Mz/2xwKmJ7cxrtWR6A3wzMdEPrVJ6eN7ow8xJlCtS60tnHlhDrMG6yvscFJoFwLSQc4xxfTZNO/jrJp8Y4fUHI7m6fO83+xWGWerEeyMlCURWg3FUNcvai/qlDTYi+cSRMdpIgd0+GfHVc0rnxQhgOaZ+hsL+g2fx+BQuI0U8Uz9ycDbUnWLgXBc5bzzEHLdGdT51hEjjoC6ZfraeZfMCSu2DSALACmdJYTgnRmyRCsp7HZdU3awYRtN3qT3RATsVXS09xzICPBZaM4vKLepEtOHhORPXNvivzghBtctJ6E6c89QkG/K090vwmEgzgciEwSqwzzTOBfcPQs0+cYNdvSSMKrXKR0nIxwvk91Ft7agAgPCF62ddWx7gwO3yKo55X0fBcSyBrp1lqCpwlnTRSm0nBb3VLNXvenSGXqNjSwjZawVpDpBO4mYs0uHuFSBkqxu9pQhZosm4Qf+UojpgFzq+oOwL/LmgwIN9uO3pXYUsvB9gTmeoeltG29w6GkftE9ZpscUdUX6li1zMgGY2cyAVLFigNdb99aaM7Y/jyHeZgomS3DLb5k5RZ1zmeUJwLPd9/9rnelnziQLEKZFjzONXYN3Pg/NHwyzjjy3IRUWwRdakbckm0h4ewuozg0ll2dPfTNCbOt/rqowaD7yj6uF1BI7K/nGI5wVoZTleDXNQfQiooOBsX3GDszEF6gJDopYmXLGKWAg6V+iaxrpvg09aW8vsjcQuxWkSgfwyPvFUOiCniBxPx0obOPnUK08tZL2DJTpbherx+HbYR9qlI6jMloxvblpmpxNZXMXR3+ekB/4UHqoua/x1u6skuD59IPyXseaV9MM5nFAr4tqo44bsZ4PESzgkP0Lk8OeeW8jKuzJ3XKRjYZCNz5Rfe9X5sGtn++GwDvIj6Ej6QKt4W8gUs20j+sY+QbIh7WVx0zWZ8HqL2B5Q41mdpcaayD8IycpD3lAfodWLgWMajKRQsvuT0dpmXOfDvbaj2BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016bXXj5hPBFN9XjbHE2C4dv",
      "input": {
        "note": "Close was empty (0.009); the pear sits just beyond the fingertips. Opening and lifting slightly before advancing.",
        "targets": {
          "right_gripper": 1.0,
          "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_016bXXj5hPBFN9XjbHE2C4dv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4175, -0.0181, -0.0242, 0.9991, 0.4091, 1.4235, 0.4595, 0.2329, 0.3054, 0.1719, 0.9955]\nstate[eef_state]: left_x=0.2915 left_y=0.0004 left_z=0.1732 left_yaw=0.0047 left_pitch=-0.0404 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3389 right_y=0.093 right_z=0.047 right_yaw=0.0456 right_pitch=-0.1244 right_roll=-0.0555 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.3197, 7.3094, 1.8193, -0.0415, -0.0317, -0.0122, -0.3214, -6.1744, 7.5692, 1.5556, 0.0904, -0.0024, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1007ef3119803629945f527685bdc0bc888000d67713a79965e12b44ad1bea4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67fe52bddd09c99ee60d93aa790191259dcc8a4f7c9f2290e2d1d4328150447b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0acd6b82a9172329f1e5c8458518566fb7d2daa658b48b0cd077126190d18699",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 3.125 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4011, -0.0177, -0.0246, 0.9991, 0.4095, 1.5169, 0.4259, 0.3939, 0.3126, 0.1825, 0.9992]\nstate[eef_state]: left_x=0.2938 left_y=0.0003 left_z=0.1766 left_yaw=0.0046 left_pitch=-0.024 left_roll=-0.0014 left_gripper=0.9991 right_x=0.3457 right_y=0.0947 right_z=0.0332 right_yaw=0.0355 right_pitch=-0.0907 right_roll=-0.0392 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -1.4154, 7.0222, 1.8339, -0.0269, -0.0317, -0.0122, -0.0342, -5.6957, 5.0393, 1.9023, 0.0806, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4088, -0.0181, -0.0246, 0.9991, 0.4091, 1.5169, 0.4259, 0.3916, 0.3092, 0.1757, 0.0088]\nstate[eef_state]: left_x=0.2928 left_y=0.0004 left_z=0.175 left_yaw=0.0049 left_pitch=-0.0316 left_roll=-0.0009 left_gripper=0.9991 right_x=0.3453 right_y=0.095 right_z=0.0327 right_yaw=0.0416 right_pitch=-0.0938 right_roll=-0.0434 right_gripper=0.0088\nstate[joint_eff]: [-0.0342, -1.3333, 7.0085, 1.8339, -0.0513, -0.0415, -0.0122, -0.1709, -5.1214, 5.2034, 1.6972, 0.1245, 0.0415, 0.6764]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4175, -0.0181, -0.0242, 0.9991, 0.4091, 1.4235, 0.4595, 0.2329, 0.3054, 0.1719, 0.9955]\nstate[eef_state]: left_x=0.2915 left_y=0.0004 left_z=0.1732 left_yaw=0.0047 left_pitch=-0.0404 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3389 right_y=0.093 right_z=0.047 right_yaw=0.0456 right_pitch=-0.1244 right_roll=-0.0555 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.3197, 7.3094, 1.8193, -0.0415, -0.0317, -0.0122, -0.3214, -6.1744, 7.5692, 1.5556, 0.0904, -0.0024, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1007ef3119803629945f527685bdc0bc888000d67713a79965e12b44ad1bea4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67fe52bddd09c99ee60d93aa790191259dcc8a4f7c9f2290e2d1d4328150447b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0acd6b82a9172329f1e5c8458518566fb7d2daa658b48b0cd077126190d18699",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSzgYKEAgSGAI4AUIIdGhpbmtpbmcSDJannnb7HTxI5lSCCxoMZESwZltckXY/gw1SIjCJB6ccBd8qRmaTgN27FOUPYAhoSMopfRVQ7cf40d1oGFnnijlNyHTqUZdQQoY/B74q6wWgjU1+hjZwlMrorTImNGGbbjvQrVLvJqLZHiw1SBgvRK7G4HOsQeTTxtvB0erlLKVvMW0ezvk/zpmXcFMNu4vajcjVdxcswkUVPO2CVVVfl5kM/E8zgu4JNPP+0LE+lxW2jlgYaNTwEJY3MfHsvLIOUqUIgqFjwglKwNVXOX1zz2I7rDUb4QyCaF1YBXY5FP7PglvVaXib/Paf5mLgltq5/l/RjWQlWNoHiX3+Z5ziAPiROuniy2LPX8Bx3Uj8ICu/bDJ95gHiu8Ol3aG08n2Xwrb8Cx+1c6/xEDMqVuTtGveVWa/M5Ob98qRCbX6wgglkyqfS19XEWtvedx5kWQd4xUI/4re0GL1Togim3uPDuvDQKeMGVMOvNTxWXYIlkaveWE7eupUbSt1SM+/E0t700Xu2s7kVKd7qSRuNfIKECkJuufEzxDRg2W3PlytRzJuYdzNnR7p68bkFU8LYFhSfFW6R6VVrQQpUTj3CIYKAxhZk8gxEHifF4e28ZTbxqYgjX3VzJXRO1TELi0tMXWuAgHYOZxMgceQKMtbOXnDinM0DB36Je6myln0wNhq8F5QKFK2ILWjy3y7e0GT4rvk/Io7RQZEkDdW6kzd0Ds+D4WyThMMIlpjI3GSNKmE1roLaIaEARn0pqzCh/0El6dCTQZW+g8R4Wv1nrZ5CE9gl74Jb3ZwCHPZfjcWIhmt3eu0ESBdUM4Ya3brSErKHOW63+rUdUYA7tC56KNXdShVh0njRbYjRXX1hQvhx47MbFQKfAH6kwfcjSSvr/AaUjNAkoTt8Od41LgwlipcwscOiCyMEusEjkfrmeqXF/jgmXE3mA6+sxjMkOQQQJch0FGqMpGlMIq3IioS7t9ANYKw9oBEGzdQ/2yQoncNzZ93edoB9kz1uZRjF86hg6qG7B+cWrBAdM34Omspg1Q2VZmsacUYKZKaPzwjSgwQzMPfsT9YdzplgNg6bItEgbmiUxvpMXnRMvhYGml7s6zIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0153Ac4C6ejnnUmFf6iE8cYe",
      "input": {
        "note": "Pear is directly ahead of the open jaws, slightly left. Advancing ~4 cm and descending so it sits between the fingers.",
        "targets": {
          "right_x": 0.385,
          "right_y": 0.1,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0153Ac4C6ejnnUmFf6iE8cYe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8104, 0.6132, -0.424, -0.0181, -0.0242, 0.9991, 0.3683, 1.6684, 0.5766, 0.3183, 0.271, 0.1379, 0.9963]\nstate[eef_state]: left_x=0.2909 left_y=0.0004 left_z=0.1707 left_yaw=0.0047 left_pitch=-0.0514 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3739 right_y=0.0974 right_z=0.0173 right_yaw=0.0494 right_pitch=-0.1733 right_roll=-0.0733 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.7026, 6.9949, 1.7363, -0.0366, -0.022, -0.0122, -0.3761, -6.9812, 6.7214, 1.8779, 0.0611, -0.0171, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f08eda7547ce0b30c2cbef35175e743f04f34d0657dbf2b66c3ff105f16208c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:900612d975e7c1f484c9f8717f3fa0e2817ea8122fe00143d9b75db7b1247ab3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:079473fc1fd9391d7dc2b0f43e9f6e4deef0844e835e5f4aab2425b7895bfffc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 5.098 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4088, -0.0181, -0.0246, 0.9991, 0.4091, 1.5169, 0.4259, 0.3916, 0.3092, 0.1757, 0.0088]\nstate[eef_state]: left_x=0.2928 left_y=0.0004 left_z=0.175 left_yaw=0.0049 left_pitch=-0.0316 left_roll=-0.0009 left_gripper=0.9991 right_x=0.3453 right_y=0.095 right_z=0.0327 right_yaw=0.0416 right_pitch=-0.0938 right_roll=-0.0434 right_gripper=0.0088\nstate[joint_eff]: [-0.0342, -1.3333, 7.0085, 1.8339, -0.0513, -0.0415, -0.0122, -0.1709, -5.1214, 5.2034, 1.6972, 0.1245, 0.0415, 0.6764]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4175, -0.0181, -0.0242, 0.9991, 0.4091, 1.4235, 0.4595, 0.2329, 0.3054, 0.1719, 0.9955]\nstate[eef_state]: left_x=0.2915 left_y=0.0004 left_z=0.1732 left_yaw=0.0047 left_pitch=-0.0404 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3389 right_y=0.093 right_z=0.047 right_yaw=0.0456 right_pitch=-0.1244 right_roll=-0.0555 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.3197, 7.3094, 1.8193, -0.0415, -0.0317, -0.0122, -0.3214, -6.1744, 7.5692, 1.5556, 0.0904, -0.0024, -0.1197]\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]: [-0.0219, 0.8104, 0.6132, -0.424, -0.0181, -0.0242, 0.9991, 0.3683, 1.6684, 0.5766, 0.3183, 0.271, 0.1379, 0.9963]\nstate[eef_state]: left_x=0.2909 left_y=0.0004 left_z=0.1707 left_yaw=0.0047 left_pitch=-0.0514 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3739 right_y=0.0974 right_z=0.0173 right_yaw=0.0494 right_pitch=-0.1733 right_roll=-0.0733 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.7026, 6.9949, 1.7363, -0.0366, -0.022, -0.0122, -0.3761, -6.9812, 6.7214, 1.8779, 0.0611, -0.0171, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f08eda7547ce0b30c2cbef35175e743f04f34d0657dbf2b66c3ff105f16208c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:900612d975e7c1f484c9f8717f3fa0e2817ea8122fe00143d9b75db7b1247ab3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:079473fc1fd9391d7dc2b0f43e9f6e4deef0844e835e5f4aab2425b7895bfffc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS2wYKEAgSGAI4AUIIdGhpbmtpbmcSDJEUI/9zl17fdKkBURoM8i70qnBARtHcNx5xIjAAzHY+VdEpuvQRgNvlwK5sfBGAc/wsLF5okNcbRXzUns5J1HB7X+nnBIpIQZhcuEoq+AXZOPDqETsNQ9Hi8iGr1iBjcyeKG19X0dwxS14aiNI/PujSMMzYr3GrtG9TAn5ZI1E2T8sRqb1Q/xtkjZzvaDwLFv2FYbHtcH61pcnsGfOHUTM1Rnl1lrqls+/Mv2BmJGeavALg7JXGg0WsMYu9dCYyjQhKwg6wrgMsrY4WONLg9azeQWUEqrDoQb/0RF+3kNtHbZcnVoTjK1x8mKoz1xLQ1YBVK36bqHSXMS22FzgibzTrxchmDQ/hIjmH/LWsfgGJiDZeXWFZ67wmnnK3L+ao0oPg1jcHk4WBXFnGI/PmcyJy7uKtAv665NnUZDT8y0sLZN8gVG02VSBR9MM6YWWska2WD7Zdh7gYeLnNcEl7Q9h2ABp85nLX1rPME87QGRet2EHhMFBkx5Kpb9Hy9ZeuHrhokfRdZHlt837xw1bTb5UqV6kNqayCuZbcullDVzPTc1PCPV3fxYGCi6uTOtFEBp/lCF7W0swVWI97eHdF1FNE3FdkSnLLgjDSVEScCDM/3q7kl5hQ+mYz+Fo5DlVBjINKb6CML0q2y1U69dQHLmsTY/GpMy6dgTUUozXs/i4qaepbu19ANLovnWeug7sXXBbNMVcTRlybMAnx6XMg7PgqoscTgCVzwht2/d9KARdpx/qwIilV3Bsx6hnSDVQ072qZW4Xu36F12RQRHZbXxdLZIfWvBTBUk3qphJCt0mT9ewhVrgZ0nW+K4vzWWTzMQ6w7qAMZxC5ajSKP22XO3B73FL/kzQA16bqGVyJRw/PoQJkdV1uZOF/x3X42JrYpSuEAWwNcddFL6OhCKAHYMqMhhYUXGE8KWCoFK2bFh9M9wfaSt984DFZvOIj7Sf+BbwQQH3LvLZHOT59p3lohs5pX0BSieEl3e1csk4mA/6CvMB8JTPEQFQYvybJXGnvu+8nGkiO1JYvaNNaRn7HQsdvb2LRupJu1PWCwjwfyJRABOxE/aJ+AdkqSN/VuHyZJIKUetwdNSCTykEalZqR12ZZvIH7V1TsJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015JC7Qaq29DvM5bjtkRY1TD",
      "input": {
        "note": "Pear now fills the space between the jaws. Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015JC7Qaq29DvM5bjtkRY1TD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.812, 0.6132, -0.424, -0.0181, -0.0246, 0.9991, 0.3691, 1.6684, 0.5766, 0.3096, 0.2642, 0.131, 0.009]\nstate[eef_state]: left_x=0.291 left_y=0.0004 left_z=0.1703 left_yaw=0.005 left_pitch=-0.053 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3722 right_y=0.0984 right_z=0.0155 right_yaw=0.0591 right_pitch=-0.1834 right_roll=-0.0766 right_gripper=0.009\nstate[joint_eff]: [-0.1299, -1.4564, 7.1043, 1.7753, -0.0366, -0.0415, -0.0122, -0.1573, -6.6803, 5.0393, 1.6142, 0.1734, 0.0757, 0.6325]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da49bb55a5baefdd225c4d244fda0d9f5681f8b1b612fa135dff92d2a97efb75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:619c972fbc0f65f23a85d06f68465eca7cb73a2e6bd24992a102f0ab6108259d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd9decbba413b16e41fea716769b4570a4ac625117336546d02d1c38a5148183",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 4.23 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4175, -0.0181, -0.0242, 0.9991, 0.4091, 1.4235, 0.4595, 0.2329, 0.3054, 0.1719, 0.9955]\nstate[eef_state]: left_x=0.2915 left_y=0.0004 left_z=0.1732 left_yaw=0.0047 left_pitch=-0.0404 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3389 right_y=0.093 right_z=0.047 right_yaw=0.0456 right_pitch=-0.1244 right_roll=-0.0555 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.3197, 7.3094, 1.8193, -0.0415, -0.0317, -0.0122, -0.3214, -6.1744, 7.5692, 1.5556, 0.0904, -0.0024, -0.1197]\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]: [-0.0219, 0.8104, 0.6132, -0.424, -0.0181, -0.0242, 0.9991, 0.3683, 1.6684, 0.5766, 0.3183, 0.271, 0.1379, 0.9963]\nstate[eef_state]: left_x=0.2909 left_y=0.0004 left_z=0.1707 left_yaw=0.0047 left_pitch=-0.0514 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3739 right_y=0.0974 right_z=0.0173 right_yaw=0.0494 right_pitch=-0.1733 right_roll=-0.0733 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.7026, 6.9949, 1.7363, -0.0366, -0.022, -0.0122, -0.3761, -6.9812, 6.7214, 1.8779, 0.0611, -0.0171, 0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.812, 0.6132, -0.424, -0.0181, -0.0246, 0.9991, 0.3691, 1.6684, 0.5766, 0.3096, 0.2642, 0.131, 0.009]\nstate[eef_state]: left_x=0.291 left_y=0.0004 left_z=0.1703 left_yaw=0.005 left_pitch=-0.053 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3722 right_y=0.0984 right_z=0.0155 right_yaw=0.0591 right_pitch=-0.1834 right_roll=-0.0766 right_gripper=0.009\nstate[joint_eff]: [-0.1299, -1.4564, 7.1043, 1.7753, -0.0366, -0.0415, -0.0122, -0.1573, -6.6803, 5.0393, 1.6142, 0.1734, 0.0757, 0.6325]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da49bb55a5baefdd225c4d244fda0d9f5681f8b1b612fa135dff92d2a97efb75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:619c972fbc0f65f23a85d06f68465eca7cb73a2e6bd24992a102f0ab6108259d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd9decbba413b16e41fea716769b4570a4ac625117336546d02d1c38a5148183",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7ggKEAgSGAI4AUIIdGhpbmtpbmcSDGz1H4Xjxjc1xZfN2hoMcq6yKfnI9QhoDj8XIjBSutplCFENdaWYn2Enr9l+TuXQqwbLzHBAePoGGO7qD0vJvh7XKg0RivYmq6J/roEqiwjforsi5rF1+DZP6QRxm0EJEaEybTarKCckohqYtHEB2V4fT8eN6r6PT2A4JGTnm2ReQmYkpBUzhInodNuyqZ2Q/bMQgC/wp6hrRIf9vPA3Eccw4IDqRG6PEMHLspWMlVOU4wu/aCKPmN9aKxNZ2wAsEHmoN6VUju0sUI6tUjzMl7qO3wGVNz4WyGpNhj0APEjLBJHcARN6hRuNlLNmbZRo6SxsFS101HdYtcWlFnxGgurDdZKFP3jZFxtNHu9RD45o34QPDKyemDA//Jf5K/ybuWyRI0+TOm+jS25GV4h3BPo3fCNzhlrkmFilKtnpduwDwxq+h+o8Zm9I7AjIEZI/Afl7kOKEjZg6t2BpkVaiqivH9s6H/i8XhtbE0jM3NZLtygE9/jt3HmrpEpMvr1OLOazQVlwPmXGS0OG+NUF8mV+7rXpr3Dcn+SHLvwq1XwS7KE6xPjxf1/WOXw5mED2V39+oPeLhDRykBnmmesKVEJO7+0BAX+RnSxw8FZ0+4/IcP/nHRoDonDayGCcQRdVR6cniYFpSCBnuvIUOnQ7ekaHlJ+iOruVGgqw7WVxx4gpL5VViyU08s9lacH+DDHNFjIjuALS0uVRVejCwoh7WBXIYiEXemBhXHI1WEU3S+tGHDfoPS8lWTWTADEON1OB9IDdpbxqY6XzUVY12hjKM57FZwXYVKY/3jCFlrfRZONduQnJ8u9Bz9ld8NejWL030FVh02u+isgIkKlc0FDDqcCKH+/XKrm1LQL4EIV/rJk/3nNFfj9erJTYNAf+BMTtHOriVfmLcS3X19bhYuainitAG+b0fCiL/rI9a/eDerTfrdnyFxHxjZnTJh2HTtjze6Fw41Es9sfxQbDpsW6tT0zRK0TuRerCQEriVgqnAZymNIWct5oe1EnCzoCI2/dnD4DgJwv2iTf+JvnpYQQcHTEOXONmkDMdK3Zu7ff5/bpK4n6vX37gnWoiPUdAf8NfQRi96RPt0QrYPwYyM+7dqd1+RKaCUZW438aqhuHShvec83/KAAIj8j3Q0/pEziE7F8z9bdthgolX2gwCtgtk9Tb3D+wtPcdqDXQ9qqLpAOIcOwHo3q1HkeMJrTLI9PnyTeZC8x/W5Y6Nbj80fhXPbpyAoIuH/pnLLpqSqKxNWZcU9e9G85CS2gr9zh4mpHXL/iWC+GxNarUoBmu9O9zfTS2pHj3C82KX/8/GNf/xgsidOBJsQafyzUOKN0C3xUQJ/9CCXOU3PZI6DS5MgdiR53ephbkRg/Eg8cdYRhvNA5mij++F4jhVqC0D3tdPZWWN7FmShx72z5s1BmCv0EoH3UzlRsxfHBhIHAeAEbeBVV5NpnfleXRQytFfI8jOppNx3SoZObPEdFLMWnlMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kmh3LeK4dRYPDGRRhknrNU",
      "input": {
        "note": "Second close empty: jaws met just in front of the pear's base. Opening and lifting a bit to advance further.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Kmh3LeK4dRYPDGRRhknrNU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.812, 0.6132, -0.4244, -0.0177, -0.0246, 0.9991, 0.3691, 1.6093, 0.5941, 0.1871, 0.2565, 0.1226, 0.9953]\nstate[eef_state]: left_x=0.2909 left_y=0.0003 left_z=0.1702 left_yaw=0.0046 left_pitch=-0.0534 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3631 right_y=0.0962 right_z=0.022 right_yaw=0.0672 right_pitch=-0.229 right_roll=-0.0914 right_gripper=0.9953\nstate[joint_eff]: [-0.3077, -1.3197, 7.1453, 1.6728, -0.0464, -0.0513, -0.0171, -0.2393, -8.253, 7.6786, 1.4628, 0.1392, 0.1001, 0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:119b341c4d48b5b0d48b727d7f402f92e3fed4fda5ecd2fb5def1d543dbac232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee3337170aeaaef5a87bc6d49d4a80598ddc50deaaee0b6d4102ec9b2c822966",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9102cbccd6755e7ad98062df0767657e5cfd35cea36e4ac08ecea126113b2e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 3.11 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8104, 0.6132, -0.424, -0.0181, -0.0242, 0.9991, 0.3683, 1.6684, 0.5766, 0.3183, 0.271, 0.1379, 0.9963]\nstate[eef_state]: left_x=0.2909 left_y=0.0004 left_z=0.1707 left_yaw=0.0047 left_pitch=-0.0514 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3739 right_y=0.0974 right_z=0.0173 right_yaw=0.0494 right_pitch=-0.1733 right_roll=-0.0733 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.7026, 6.9949, 1.7363, -0.0366, -0.022, -0.0122, -0.3761, -6.9812, 6.7214, 1.8779, 0.0611, -0.0171, 0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.812, 0.6132, -0.424, -0.0181, -0.0246, 0.9991, 0.3691, 1.6684, 0.5766, 0.3096, 0.2642, 0.131, 0.009]\nstate[eef_state]: left_x=0.291 left_y=0.0004 left_z=0.1703 left_yaw=0.005 left_pitch=-0.053 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3722 right_y=0.0984 right_z=0.0155 right_yaw=0.0591 right_pitch=-0.1834 right_roll=-0.0766 right_gripper=0.009\nstate[joint_eff]: [-0.1299, -1.4564, 7.1043, 1.7753, -0.0366, -0.0415, -0.0122, -0.1573, -6.6803, 5.0393, 1.6142, 0.1734, 0.0757, 0.6325]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.812, 0.6132, -0.4244, -0.0177, -0.0246, 0.9991, 0.3691, 1.6093, 0.5941, 0.1871, 0.2565, 0.1226, 0.9953]\nstate[eef_state]: left_x=0.2909 left_y=0.0003 left_z=0.1702 left_yaw=0.0046 left_pitch=-0.0534 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3631 right_y=0.0962 right_z=0.022 right_yaw=0.0672 right_pitch=-0.229 right_roll=-0.0914 right_gripper=0.9953\nstate[joint_eff]: [-0.3077, -1.3197, 7.1453, 1.6728, -0.0464, -0.0513, -0.0171, -0.2393, -8.253, 7.6786, 1.4628, 0.1392, 0.1001, 0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:119b341c4d48b5b0d48b727d7f402f92e3fed4fda5ecd2fb5def1d543dbac232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee3337170aeaaef5a87bc6d49d4a80598ddc50deaaee0b6d4102ec9b2c822966",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9102cbccd6755e7ad98062df0767657e5cfd35cea36e4ac08ecea126113b2e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS/AcKEAgSGAI4AUIIdGhpbmtpbmcSDHjyu11eUzpp7N7bHBoMn7yF6Fo4YAaQE3S5IjDG3MiwqDGTDclcZLx+PQLmWog0lCI1OsFXXg+fNqWmWUbYh3T34N0V1EoWxbrS6bQqmQdrr+JPesy9kjbV2zmQCGMMzHskW9eucXV5ju0eyD7ysDdvwhPDp3CCnrKTk9noJ6A+rWJo3m2Me1RC+BwIqQ8Q6UrIj14AVERY2BZvh+EeFIaxfEoiH/tD6cGV7GW9eVGe8NivIvfAG/MfnobE4zKbcOSSSJ5LQvAnPUBbIbzi0xjNjzaH3dtuHnU7u70LOIJRDrr5iAvq3MlGG2+YepPcTpxNZgr5XrbyOvrWKDmCmBs4wGWLufyZA596Kn7Ib2u/UO9e9DFCNLDwxVBJ0bo5o5JzEIKEVpKYXEZKwkjRJmYs/0pmJlmcGULuDPyQzlCcJagia6BvryScAM0YbDekxCjJ9Fn11MCsUN9O+03AKIb1XMbnPZWjvc/FKD8/VWPWLRRzC44Jridwph8+Bt5PcTfHtqluUtk2wiZsZGwXvOnnEj5bfr5CjrQJW0Zx7lsqmWeEKw2oN7wH4q0tUgs97abQ9o8M5RI1YCzGJA1VmX/WHc8vopjUDKF4to4ddvLiLGFPdBsU8mi3Z4FgH9ks7b4PP6rq6XHzTE9dumZNglDKnU/LylqrmOOS/w1WHVWIb8pBJc4joOA29ey0sLWsK1OZApOpAalVcz0/9nWN/BAhJCqUX+cExzQV0V6WuaGkwCFV5AiPYH067OlCcQH54PtpxMIXlqbDNMn9k8I11zrx5iGugrgBemi7jVYmT+LMmaVik7TBsdLT6CVyAAJ2tUkqBTBdNm6F1FAZ8lhF8zwDU43PLkN7dxvkUIf6xdOp3lMTqAiGUa9dZQKcx6m0nKTnu+jzQEx4BcANq7Vs3y0IPssZXRq9aD04RUU9y3jvELuZlRbPPkpSBOJT93emL2qEY3+Gmoha4GpdZEQ5uJFTx4gM0QE38oWEo2am8ZUMUFEugo1nsyAp2MM4+EjtTnVsa5YHytupgBRgP00z7Nt5x94dgOGL+WzaYUnnmuFfOZ7w78Dy7sJxhNkEaeYMT/F8NZQyyOzFmJmcFcIbViXefZxGT9F3geWKDvgSr+Aw0azUwzf81ISoCqbN/q+Q669awBD1it9EUSFypQlFqtfVSapWcVPpSfH9a66EJA+Ob9yOWkS3Atsqz0gnrCZLIBMcx2caTyCKjSDJWameQ/0adCS0SHtDgsHtq5g1MD3ZeHPAyZlOIkAS4aNFojTEbuA/BMQE/nStHz8Cwv5jUmAbuNGHQYLV8Kf3vRydiYbHmYmSgDECECUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MsEEXfhHs1U8joS7S6LcV4",
      "input": {
        "note": "Pear is still a few cm beyond the open fingertips, centred on the jaw column. Advancing ~5 cm at low height.",
        "targets": {
          "right_x": 0.415,
          "right_y": 0.097,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01MsEEXfhHs1U8joS7S6LcV4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4248, -0.0181, -0.0246, 0.9991, 0.3172, 1.747, 0.7731, 0.1303, 0.2195, 0.0807, 0.9963]\nstate[eef_state]: left_x=0.2909 left_y=0.0004 left_z=0.1697 left_yaw=0.005 left_pitch=-0.0553 left_roll=-0.0003 left_gripper=0.9991 right_x=0.405 right_y=0.0962 right_z=0.022 right_yaw=0.0687 right_pitch=-0.2536 right_roll=-0.0985 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -1.2786, 7.0085, 1.6874, -0.0269, -0.0611, -0.0171, -0.5128, -7.6239, 6.6256, 1.4725, 0.1245, 0.0757, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5b2c9269a6ad609aaa79df559fb55d9831e96df1567c86804c9cf784c0c565e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a94ca6626be76263e2711cc757a2f4b52a5047ae48d0dc868b7aba2afcf1183",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:430655440285bd27406a37d158097fb140aeae4bf802371522445ff7e404543b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 4.391 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.812, 0.6132, -0.424, -0.0181, -0.0246, 0.9991, 0.3691, 1.6684, 0.5766, 0.3096, 0.2642, 0.131, 0.009]\nstate[eef_state]: left_x=0.291 left_y=0.0004 left_z=0.1703 left_yaw=0.005 left_pitch=-0.053 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3722 right_y=0.0984 right_z=0.0155 right_yaw=0.0591 right_pitch=-0.1834 right_roll=-0.0766 right_gripper=0.009\nstate[joint_eff]: [-0.1299, -1.4564, 7.1043, 1.7753, -0.0366, -0.0415, -0.0122, -0.1573, -6.6803, 5.0393, 1.6142, 0.1734, 0.0757, 0.6325]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.812, 0.6132, -0.4244, -0.0177, -0.0246, 0.9991, 0.3691, 1.6093, 0.5941, 0.1871, 0.2565, 0.1226, 0.9953]\nstate[eef_state]: left_x=0.2909 left_y=0.0003 left_z=0.1702 left_yaw=0.0046 left_pitch=-0.0534 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3631 right_y=0.0962 right_z=0.022 right_yaw=0.0672 right_pitch=-0.229 right_roll=-0.0914 right_gripper=0.9953\nstate[joint_eff]: [-0.3077, -1.3197, 7.1453, 1.6728, -0.0464, -0.0513, -0.0171, -0.2393, -8.253, 7.6786, 1.4628, 0.1392, 0.1001, 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 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4248, -0.0181, -0.0246, 0.9991, 0.3172, 1.747, 0.7731, 0.1303, 0.2195, 0.0807, 0.9963]\nstate[eef_state]: left_x=0.2909 left_y=0.0004 left_z=0.1697 left_yaw=0.005 left_pitch=-0.0553 left_roll=-0.0003 left_gripper=0.9991 right_x=0.405 right_y=0.0962 right_z=0.022 right_yaw=0.0687 right_pitch=-0.2536 right_roll=-0.0985 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -1.2786, 7.0085, 1.6874, -0.0269, -0.0611, -0.0171, -0.5128, -7.6239, 6.6256, 1.4725, 0.1245, 0.0757, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5b2c9269a6ad609aaa79df559fb55d9831e96df1567c86804c9cf784c0c565e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a94ca6626be76263e2711cc757a2f4b52a5047ae48d0dc868b7aba2afcf1183",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:430655440285bd27406a37d158097fb140aeae4bf802371522445ff7e404543b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pear now extends down between the jaw tips. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018SFHcQR4CT1ogJAbvTC1ZV",
      "input": {
        "note": "The pear now reaches down between the jaw tips in the wrist view. Closing on it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018SFHcQR4CT1ogJAbvTC1ZV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4259, -0.0181, -0.0246, 0.9991, 0.3161, 1.7512, 0.7803, 0.1371, 0.2119, 0.07, 0.5309]\nstate[eef_state]: left_x=0.2908 left_y=0.0004 left_z=0.1695 left_yaw=0.005 left_pitch=-0.0564 left_roll=-0.0003 left_gripper=0.9991 right_x=0.4081 right_y=0.0982 right_z=0.0238 right_yaw=0.0806 right_pitch=-0.2459 right_roll=-0.0979 right_gripper=0.5309\nstate[joint_eff]: [-0.1983, -1.347, 6.9949, 1.7167, -0.0415, -0.0415, -0.0122, 0.0479, -8.0205, 5.2171, 1.3895, 0.1197, 0.0562, 1.2576]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e05d0591315df04e6370e10b1d650d557015b8b59f52c7cbb9c1ceb89a5fd9e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf3e68345cd2eed3a338994854b3c6058c4e5260e6f06f69b15addb99964e600",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:58b273fef971b43e6070d627c369d7291a308eb9b7c3d774cc3d9383af169f70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 4.116 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.812, 0.6132, -0.4244, -0.0177, -0.0246, 0.9991, 0.3691, 1.6093, 0.5941, 0.1871, 0.2565, 0.1226, 0.9953]\nstate[eef_state]: left_x=0.2909 left_y=0.0003 left_z=0.1702 left_yaw=0.0046 left_pitch=-0.0534 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3631 right_y=0.0962 right_z=0.022 right_yaw=0.0672 right_pitch=-0.229 right_roll=-0.0914 right_gripper=0.9953\nstate[joint_eff]: [-0.3077, -1.3197, 7.1453, 1.6728, -0.0464, -0.0513, -0.0171, -0.2393, -8.253, 7.6786, 1.4628, 0.1392, 0.1001, 0.0366]\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]: [-0.0219, 0.8135, 0.6132, -0.4248, -0.0181, -0.0246, 0.9991, 0.3172, 1.747, 0.7731, 0.1303, 0.2195, 0.0807, 0.9963]\nstate[eef_state]: left_x=0.2909 left_y=0.0004 left_z=0.1697 left_yaw=0.005 left_pitch=-0.0553 left_roll=-0.0003 left_gripper=0.9991 right_x=0.405 right_y=0.0962 right_z=0.022 right_yaw=0.0687 right_pitch=-0.2536 right_roll=-0.0985 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -1.2786, 7.0085, 1.6874, -0.0269, -0.0611, -0.0171, -0.5128, -7.6239, 6.6256, 1.4725, 0.1245, 0.0757, 0.0904]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4259, -0.0181, -0.0246, 0.9991, 0.3161, 1.7512, 0.7803, 0.1371, 0.2119, 0.07, 0.5309]\nstate[eef_state]: left_x=0.2908 left_y=0.0004 left_z=0.1695 left_yaw=0.005 left_pitch=-0.0564 left_roll=-0.0003 left_gripper=0.9991 right_x=0.4081 right_y=0.0982 right_z=0.0238 right_yaw=0.0806 right_pitch=-0.2459 right_roll=-0.0979 right_gripper=0.5309\nstate[joint_eff]: [-0.1983, -1.347, 6.9949, 1.7167, -0.0415, -0.0415, -0.0122, 0.0479, -8.0205, 5.2171, 1.3895, 0.1197, 0.0562, 1.2576]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e05d0591315df04e6370e10b1d650d557015b8b59f52c7cbb9c1ceb89a5fd9e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf3e68345cd2eed3a338994854b3c6058c4e5260e6f06f69b15addb99964e600",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58b273fef971b43e6070d627c369d7291a308eb9b7c3d774cc3d9383af169f70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QgKEAgSGAI4AUIIdGhpbmtpbmcSDFa+yW/jN9Yj+QSK8xoMRGC+AcEge7J8YxTjIjBLe1sbi2AFpD2H2qR1r/UT0K0UzQV/yV38qAz9eMC2CiwKOIBRw+7lwLBdbBG5oAgqjgizNrWVP4gbpJUM6UMoShsnshdQ0+l7uhh8Cy3fVNvDZcolF/d+hkWfPUwNhewhpATBhNWrJNIU0aYGOZw3LSRxOOWUODRGvefUm/8/i73aEH6PyK0J6fdQIce/bnERddDWsQonhXIAu5Nz0OLzcsoEeJJt9P6IX9D0oHQoc/A01+eDl3oMYCBRK9p6AeL9kbE9G7eHIQ/spVL+OMcRAF+EdGU1hwvIcGoIxv/Gu2m2VvnFyEsOAsKxmCk3XQlPFt0XmFeNQrp8EeWjRJimcW4ILZCGFZZpkBxwZN1otNL4hbLBTHbFMrSv0Fcwp4fe8ca0p4nBGLZ6AGxI3osuaK1KqPSRRFt/G68X43SXBRnyVWreO1/uENh38JofpwndsD9I2zjTVeplr3Jp3rH7T110gyIjPrl+/bN3XldKzOaGmf9K6g0YRqvfmA8M6iZRQatMBZ/7vmzUZg/XzazRSkmsatRj4Pu4TmIDCO0PGXbJjS9G5/70VPVvVim+ncD2dyT05BcHBPgg9qecV0+abTfiHbnUUttvSkHR4zMmNFTPeNnRbtPNdKlH1A3419vrXOlBNMfNC1PEjbnUlvvY07hr6E4nq+u/gBGYSOwk/IrSriK9BnMgQlJDtUJVZ/QuDVag6nxNVBgxr6UBApKs/G4sldwLJIfYNBpnZo1S8KXDmwViiZxHTKDHfsHZQIJ7IXcAxsINsXmPXI3SeDcADNKKOBCnoTakk21JBqNYjVeZaiFFlbm/meicwRFubvfwgRN8VgQBwHsZH9rU4oF9IhtrzbDkG8BhsAhBELqwFK0UX2GiQB9JSuK2Tko07XpgIb3jBd/EMD9mopD8YeXqOUwHBqL1jAWZAhvSS7kK0DJC3KA9E4iT5YYJRq0D/olD/L7v/QL4P8BXkmzTlOtReoDq1cBObGDZ1Q1RW3+jA7XoWTrMxjhenhyHF80iuLPrzDL/i70Dwucj0eyT5xEcDul4rfpL17WwgdviNiJl0S8sGaWzgqzJyZKgVsz0hDCPI1KMB/FLuupDDWNMaVzHZnU5hRx+bnX/nIQ7EF3zQiRfYis+swBpVDfd730RPiljtFKY5DYz3rnHc8MZdG7CFmf+xWzPy3RwbQ/mlwjkORVvWv8T51wY9G3JfjERtpfo8KO7+M3gGkkXfS42EJceo3s6Nvx8/9KlMu+m5ftnUScL9k7DUUPwwEaExgDcxBe3wWt8EldyOCgHqmcs0POHvnHWK8xrQWlRI7Wza9zwb8ZAblXKp/DZYznVDFyVwOpiF88ZlyFJult4m0CU1rU6kM+KeVvxxXN9sVyYG0y2Q9/ho87PzTkhIIsHNy5UNRdrZtLm8uhumE+pkh9BDGq2W9VqfF5r6bSPuypfmbyEfzMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EknroG7ruiwDB7s2FK2DUm",
      "input": {
        "note": "Pear grasped (gripper settled at 0.53). Lifting to carry height.",
        "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_01EknroG7ruiwDB7s2FK2DUm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4305, -0.0177, -0.0246, 0.9991, 0.3176, 1.5425, 1.1408, -0.5144, 0.2047, 0.0624, 0.5531]\nstate[eef_state]: left_x=0.2901 left_y=0.0004 left_z=0.1686 left_yaw=0.0046 left_pitch=-0.061 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3991 right_y=0.0972 right_z=0.1427 right_yaw=0.087 right_pitch=-0.3278 right_roll=-0.1173 right_gripper=0.5531\nstate[joint_eff]: [-0.3077, -1.2239, 7.0085, 1.7411, -0.0171, -0.0611, -0.0122, -0.2393, -9.6205, 8.8547, 1.6093, 0.1392, 0.0073, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d1894919e2c53f7f3d1d3f2720a54b8a33ae497042c56c65220430534ef676b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39629afe34f272ba0ead7598f1560d1e3496d93befb358068da194344a0a5b62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:75427eac4b4f66f80e7b1aa88a20fd48889a634520f1a18a9d391021070127b1",
        "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 · 3.546 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4248, -0.0181, -0.0246, 0.9991, 0.3172, 1.747, 0.7731, 0.1303, 0.2195, 0.0807, 0.9963]\nstate[eef_state]: left_x=0.2909 left_y=0.0004 left_z=0.1697 left_yaw=0.005 left_pitch=-0.0553 left_roll=-0.0003 left_gripper=0.9991 right_x=0.405 right_y=0.0962 right_z=0.022 right_yaw=0.0687 right_pitch=-0.2536 right_roll=-0.0985 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -1.2786, 7.0085, 1.6874, -0.0269, -0.0611, -0.0171, -0.5128, -7.6239, 6.6256, 1.4725, 0.1245, 0.0757, 0.0904]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4259, -0.0181, -0.0246, 0.9991, 0.3161, 1.7512, 0.7803, 0.1371, 0.2119, 0.07, 0.5309]\nstate[eef_state]: left_x=0.2908 left_y=0.0004 left_z=0.1695 left_yaw=0.005 left_pitch=-0.0564 left_roll=-0.0003 left_gripper=0.9991 right_x=0.4081 right_y=0.0982 right_z=0.0238 right_yaw=0.0806 right_pitch=-0.2459 right_roll=-0.0979 right_gripper=0.5309\nstate[joint_eff]: [-0.1983, -1.347, 6.9949, 1.7167, -0.0415, -0.0415, -0.0122, 0.0479, -8.0205, 5.2171, 1.3895, 0.1197, 0.0562, 1.2576]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4305, -0.0177, -0.0246, 0.9991, 0.3176, 1.5425, 1.1408, -0.5144, 0.2047, 0.0624, 0.5531]\nstate[eef_state]: left_x=0.2901 left_y=0.0004 left_z=0.1686 left_yaw=0.0046 left_pitch=-0.061 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3991 right_y=0.0972 right_z=0.1427 right_yaw=0.087 right_pitch=-0.3278 right_roll=-0.1173 right_gripper=0.5531\nstate[joint_eff]: [-0.3077, -1.2239, 7.0085, 1.7411, -0.0171, -0.0611, -0.0122, -0.2393, -9.6205, 8.8547, 1.6093, 0.1392, 0.0073, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d1894919e2c53f7f3d1d3f2720a54b8a33ae497042c56c65220430534ef676b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39629afe34f272ba0ead7598f1560d1e3496d93befb358068da194344a0a5b62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75427eac4b4f66f80e7b1aa88a20fd48889a634520f1a18a9d391021070127b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8gcKEAgSGAI4AUIIdGhpbmtpbmcSDIuoqtyIIsJt8uupNxoM0AYLGlm8PQGw8OxEIjDDmHH9sUvtO18r7lLFLSoE5NXwVR9NrmWb42exMN4KCBDgXvX9shi2pz8hJ+KdmQYqjwdUcDIdWyU1B/PwRF/L0uxu7jcVNciH0cDuVg+D/05mbXLPYa5UP14GYITBX2oxfTtz0lvwZG8OYYY9Eb+D8ltbUwVp0F5s0yDOCyR9SAzzUuLw3bvfiy4tBILPw3+zNJoYwo1HQs3vH/Gpjy1LI3LyxSVHyYE9QAHpyntf/hkys7vdHUOmO07LYTukZeQeTOW1aFzmdn1yOl0jd0hH3oMtj6EpaD3vNErzD29kBWZMJw4m20d6IRc58fRAXq1w94zYAj2A8FwwfaCtLgMpo4gaBEX2oYW8RSGdqYwd3jzbiE4JjVHE7dCLELIPVTInYxEHOU6xL/oTD9hNsWpfhaENy/IMsdJg49EKs4u6IP7ZFdg4xLFFmPf9XxxJ9g0ga37YGlXz5gv1hnMmYnEyJlIXUfXf81B66bTXLllRfD/iOg7u698CGyDNEpjeasRf9kEjOpTTIGcDUUyXUinIR+D7uspNlqlkP0oS+KvRniuyJderrBIcf3C1y4mdZGBktWfi01Pk8NFdrejcKKN1b24t4Ja53pMdT1au52VBgWYG9wO/4TgkhI/08BOmiVENVNu76wBr5+qCn+P+23vNw48uQANjoX+3V3BfKC4aEfBwsEtOr0XM8dYTsM8ziMOjEB46vsOGtJkN3uJp/EUnLfKZ08DhKmF+lxj1e737kvSfVMZShMeC66Cbr6hn4S0jEOZwX43IOsGkm502wvCDqHr4CaCqHj42GFIEg3N+iqgiPo5KgaClQAFz4xvIE9JFbd7H8qbNuqPOJ8g6YXJpWL4TTkZxlnYPnPY58wMD7HIr+SFppsh8KCl7lnQX9cyC2Y9ylBqSPmPXLGRj18kopTEc8nr6vTDqmx6C4qaCa29SZpJCvuzyf5B8SxiQ1hZFOsZGTijiTqXZLuDM92rRN6jYE4iJbX7vvHvB3CbaoyOyAaL2Go1r8n1ZD+VfkiFoz0Y8dUq9engRw9kE9O4a2JxUjRls9keGihWODoBK4ahtiunl97DhxXqAvYMKUrsNeEn8vgSUJrmeR/42Jod3SPiTUm+ZCt7qWAZjMNPOd7bnyVXh8IP4TtWAorWrgEZJyuvNk+83lWpSXWefQyLeOSlwCaVmEhhd7ESvY4rxv8iiYpFkYzNAkVUsdoPWuc5aj5BtloTLt+D6XA25M0VGzimVTKQGg9dvMbVC8qQfhOulgZ/xIEGQZrXuf1g9vL0LbxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GstDfJ4jKH8aJRHtnn3f12",
      "input": {
        "note": "Pear held and lifted; blue bowl is just to the left in the wrist view. Moving over the bowl.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.19,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01GstDfJ4jKH8aJRHtnn3f12",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4343, -0.0181, -0.0246, 0.9991, 0.5289, 1.8, 1.5101, -0.7261, 0.3061, 0.2115, 0.5531]\nstate[eef_state]: left_x=0.2896 left_y=0.0004 left_z=0.1678 left_yaw=0.005 left_pitch=-0.0648 left_roll=-0.0001 left_gripper=0.9991 right_x=0.4201 right_y=0.188 right_z=0.1539 right_yaw=0.1141 right_pitch=-0.3861 right_roll=-0.1395 right_gripper=0.5531\nstate[joint_eff]: [-0.3487, -1.347, 7.0085, 1.7558, -0.022, -0.0757, -0.0122, 0.0068, -9.0462, 9.5248, 1.4676, 0.3394, 0.2564, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58afd74e773a14012e97a6870c2f4cb6c73cb3b9e5e5942e5181e516546b4594",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c0d6e6ffb56a9a7e327f2f80e48c3b52cc6e23ca304b711135808a809740dad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b5b3efe3c56569ea7fdb4661b1a44322afe6d88b914395dc26027468abfe5d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 6.339 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4259, -0.0181, -0.0246, 0.9991, 0.3161, 1.7512, 0.7803, 0.1371, 0.2119, 0.07, 0.5309]\nstate[eef_state]: left_x=0.2908 left_y=0.0004 left_z=0.1695 left_yaw=0.005 left_pitch=-0.0564 left_roll=-0.0003 left_gripper=0.9991 right_x=0.4081 right_y=0.0982 right_z=0.0238 right_yaw=0.0806 right_pitch=-0.2459 right_roll=-0.0979 right_gripper=0.5309\nstate[joint_eff]: [-0.1983, -1.347, 6.9949, 1.7167, -0.0415, -0.0415, -0.0122, 0.0479, -8.0205, 5.2171, 1.3895, 0.1197, 0.0562, 1.2576]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4305, -0.0177, -0.0246, 0.9991, 0.3176, 1.5425, 1.1408, -0.5144, 0.2047, 0.0624, 0.5531]\nstate[eef_state]: left_x=0.2901 left_y=0.0004 left_z=0.1686 left_yaw=0.0046 left_pitch=-0.061 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3991 right_y=0.0972 right_z=0.1427 right_yaw=0.087 right_pitch=-0.3278 right_roll=-0.1173 right_gripper=0.5531\nstate[joint_eff]: [-0.3077, -1.2239, 7.0085, 1.7411, -0.0171, -0.0611, -0.0122, -0.2393, -9.6205, 8.8547, 1.6093, 0.1392, 0.0073, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4343, -0.0181, -0.0246, 0.9991, 0.5289, 1.8, 1.5101, -0.7261, 0.3061, 0.2115, 0.5531]\nstate[eef_state]: left_x=0.2896 left_y=0.0004 left_z=0.1678 left_yaw=0.005 left_pitch=-0.0648 left_roll=-0.0001 left_gripper=0.9991 right_x=0.4201 right_y=0.188 right_z=0.1539 right_yaw=0.1141 right_pitch=-0.3861 right_roll=-0.1395 right_gripper=0.5531\nstate[joint_eff]: [-0.3487, -1.347, 7.0085, 1.7558, -0.022, -0.0757, -0.0122, 0.0068, -9.0462, 9.5248, 1.4676, 0.3394, 0.2564, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58afd74e773a14012e97a6870c2f4cb6c73cb3b9e5e5942e5181e516546b4594",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c0d6e6ffb56a9a7e327f2f80e48c3b52cc6e23ca304b711135808a809740dad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b5b3efe3c56569ea7fdb4661b1a44322afe6d88b914395dc26027468abfe5d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzQcKEAgSGAI4AUIIdGhpbmtpbmcSDMQOtrSo+2+BFmnUbRoMpHPeCL7ak94/GA6+IjDjYg6tAlQ9J+BFXp8dQtDlmCqryc73tNj7sxc0M6Zlmjp4R8BzpbC0aewxFE8MQhUq6gai2EJE3sQ03GKJRDNZS7ObUl0MjNzilFugQCWRREOVg7sLPkitqhZ0rWagV+/RdIFo/KaFRUz7I2gfSQhaRgriLKH6VuYfatKs3ss+d78If1ILVztjLnw+koqCzRKYZs4/XqZI0Ww+9joFqwRwziL0AljQMtfX7LsJPPKx3FLsNquOx7Zo1RmBqHSmZGQRoGnikAHPpAaK27S0yn5izz8ju6MX3pJWe2/qx25JZqWVM+W2i+UcTlgs1ciOZXI8KWO7oYp6UJRuUKICyKd2LQDnWHOkO565Ct14VmeDO6mr6jJxhorA1yFTg6kvGSfn4zh7CfUgnQFNNHMPzkdWoadbTsXkqMVXcY/wlZdKhFUolCI1LoX3Llon3wMdT1NF5qJYuv3ivnsq/rGbKMvvlPC/etTa5vgtMSqBEKfj1aax/CRufydzCV3V3gzrRoTC4/7n7xgwtoj0+tRq9WhiIe0UD6Iv1uiP53/vNN+DPxSpJ8pq5YkJZCw6gqkhYzbT20/BTZtuJmhLYJxvjeCRkU6qa0pNv8S4mhIYSYSFRSy0yo3PJw0iTJmZjXf1hnWAU07JMGovIJT8ICh1o3s1qlF5DEJgsD7KH2UzGAkjcy0ZtSSzDySum3MIcmjc8y9jatyoqyONMnFmAfD0f/KTjajlAhpA/GZlEwpD5Y+qYWrpiEn2MQy3lJAeoeqtaLJchnMwF67Xp4Vx+WrSZBZaFYTy1tP+Y1q6JSWSv9pZoJBNBWdrkjK9fXS2Gb1/ZRHNu49MXc8Lo8fkQTa/IrvByBhV7brcOWtlzX7wcvG7uAe6cJZnFQtMt79L09Dc4ZTv9WQydGxffqYHQfDxNawDKm3MPjYOTBuiPYk+0DeSX2EXMU3JSvhZDDx3i/vH2kkriXh4Qt7Sub7VeRC9jNtEmyU3Ne7eQbWDuaU6AX9O1anFFEJMY+20v/cwLylUKghMFRvVhtPCtPCQ+zRZKlyW84hkRq6fi2VxzAjwq2PEfLsYUVo1i6gmOHExdN8aKlbe2aUF2JCzxSu56c7CjWy289AnRr5f2dmjCkQMDN8aG78mMjfxKV4fYKvHP7nSyfJGYwEF8PMPKbaDZieYCY+T5lefNxXuicKBB2LUfdN4GktFPfFgmHY43SFaPgoj3mx4WBYfkKyYXavu7a8cGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0162C5eaeP73DP2hy6CsZ8xg",
      "input": {
        "note": "Gripper appears over the blue bowl in the top view. Lowering the pear toward the bowl before releasing.",
        "targets": {
          "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_0162C5eaeP73DP2hy6CsZ8xg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4423, -0.0177, -0.0242, 0.9991, 0.5331, 1.8217, 1.3499, -0.5751, 0.2985, 0.202, 0.5531]\nstate[eef_state]: left_x=0.2885 left_y=0.0004 left_z=0.1657 left_yaw=0.0045 left_pitch=-0.0747 left_roll=0.0003 left_gripper=0.9991 right_x=0.4126 right_y=0.1873 right_z=0.1031 right_yaw=0.1251 right_pitch=-0.4178 right_roll=-0.1523 right_gripper=0.5531\nstate[joint_eff]: [0.0889, -1.4838, 7.1726, 1.7558, -0.0366, -0.022, -0.0122, -0.335, -8.5402, 6.4068, 1.3846, 0.1832, 0.0659, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13eb22eb4704ff47d49afe47ae9b281fa4e9acc2bf9dfcfc9c62e7a9da3cc98b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce86bb191276930da9fb64259b9c6ecb194bf345e0633956c02feb2e3cb594ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:874616c995be644e6ceaa00e4f20a39a62f45684dcbb9ca83214369ef60b4407",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 3.157 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4305, -0.0177, -0.0246, 0.9991, 0.3176, 1.5425, 1.1408, -0.5144, 0.2047, 0.0624, 0.5531]\nstate[eef_state]: left_x=0.2901 left_y=0.0004 left_z=0.1686 left_yaw=0.0046 left_pitch=-0.061 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3991 right_y=0.0972 right_z=0.1427 right_yaw=0.087 right_pitch=-0.3278 right_roll=-0.1173 right_gripper=0.5531\nstate[joint_eff]: [-0.3077, -1.2239, 7.0085, 1.7411, -0.0171, -0.0611, -0.0122, -0.2393, -9.6205, 8.8547, 1.6093, 0.1392, 0.0073, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4343, -0.0181, -0.0246, 0.9991, 0.5289, 1.8, 1.5101, -0.7261, 0.3061, 0.2115, 0.5531]\nstate[eef_state]: left_x=0.2896 left_y=0.0004 left_z=0.1678 left_yaw=0.005 left_pitch=-0.0648 left_roll=-0.0001 left_gripper=0.9991 right_x=0.4201 right_y=0.188 right_z=0.1539 right_yaw=0.1141 right_pitch=-0.3861 right_roll=-0.1395 right_gripper=0.5531\nstate[joint_eff]: [-0.3487, -1.347, 7.0085, 1.7558, -0.022, -0.0757, -0.0122, 0.0068, -9.0462, 9.5248, 1.4676, 0.3394, 0.2564, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4423, -0.0177, -0.0242, 0.9991, 0.5331, 1.8217, 1.3499, -0.5751, 0.2985, 0.202, 0.5531]\nstate[eef_state]: left_x=0.2885 left_y=0.0004 left_z=0.1657 left_yaw=0.0045 left_pitch=-0.0747 left_roll=0.0003 left_gripper=0.9991 right_x=0.4126 right_y=0.1873 right_z=0.1031 right_yaw=0.1251 right_pitch=-0.4178 right_roll=-0.1523 right_gripper=0.5531\nstate[joint_eff]: [0.0889, -1.4838, 7.1726, 1.7558, -0.0366, -0.022, -0.0122, -0.335, -8.5402, 6.4068, 1.3846, 0.1832, 0.0659, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13eb22eb4704ff47d49afe47ae9b281fa4e9acc2bf9dfcfc9c62e7a9da3cc98b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce86bb191276930da9fb64259b9c6ecb194bf345e0633956c02feb2e3cb594ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:874616c995be644e6ceaa00e4f20a39a62f45684dcbb9ca83214369ef60b4407",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyAsKEAgSGAI4AUIIdGhpbmtpbmcSDDpMgidkeH6VZWrh2RoM3dDwJ87qZkGPG5JeIjAF0cSKXOJFePMY4sruZcdLu+RD72IMt5N7noLlXu3yImpKdmAWKb0wfTSxVhKeTjYq5QoffbDCF3H2k9kiEJSyu+TjOLAvH0XemI98ByEot8q/98CJ/C8HCs2BwLqKKey/wpNMvAkzWs/vBgldpXcOduz5/KFN1nAEeJEgqcmmyf8zmz7iu/u+f5mB921803dHz7iqMYpEVZ2PmoHHnOFxbXnOTdFO6hCsKAvuV2klLWdRTGakz0XTLaRA9/R+oMw3z8U5UaVbAks2mJFQNr9UV78qAuZaKsBaPt86m2KvNEAHNUbx7drn2UjYEhG5ABY3LujppM1DaPw6RC+PodOJvojwVoW7WqxK4Eq3OKJCax7jVuADVUHkoYbPxY68N2SMXSSpXWzUgxLXJsN87WU4YTE89UQqxz+ZOIdPxPbOag9u3MoDrxZl9N0F1k9havvIVtTYhJBQQfRNCiDIGhMWO7T05bj7Le+UZzxkYKHbl+HeoCgKYgnHfQzERxm8BCkOigRH77l+1G4Ithf+7EUF9p3BiM5VRYRYjNhxbXqm+02Jp43FQfSoHN9TTtI86w3Xt58r+T+Vq0VU8G7WBEo6zS7M2FzduWOmQ1nJHvWknaqKGBN+nFU1x2Vx8Cy06uQ+e6np3V6weImBn1Cdl+zqrvC/9X0TdR1LYpLdPTvz7Ss9V+/yDzo+3NVxW9wqMOIwW5tUHchaZX39dQfiKQcT5sl0TaMt21geOQ4cW1OdjXRjvZsXHQSmIS+wWancV89vdfkkZhOUZaTHmp2GWgQwixBQo0wiN3PD4XwFTGJNC08/dULnT5VcSTLnXw1902HhSY15PLh9r6uOgbzEgiRo51TsfxsY9rfJyixD2yk/uOjcyra8GXVLzIJz8S1kw+grZuspIFvWMkVhGcMXTPhgqR2Sbnot1v/LiLODMvLQQXI+SE3Eck+rktBNSdd7K18g+kMsacPi36QzvkNpQ4Y2P+TDe1zMo5xHTynYk1UMJFqK/sFRa2EQl7hZ3TLZUEXP8f4XputSYpuiML8ME6ztWbX7utr6sO7q0TwFfn+LCTaGLw0yb4FZVmb0iqOCar8ZdJl2hJUnLXVBgPM+Nvlbzan1D37NI6rF8oC07AR3Y7c2WUdCxwS1TbUF292Vh70U0HW2GaspjnayL1mgm2mfPVUkuGNlqZWMQmtKO59UuAbb3T6oNlTxv+4LR3CxPvFWI0ej/WhmVjq9mbbaDhf05VeBae7i07XCq+4QVpQkG1bpwoeFUZ/wxgV6WlDp5d3W/HTmfl7Prkt99td/QAy2CJ0XgKkZX1RU4yITmzVT6EooJetYmhNt4R0I/sKvGnyyEs9QqMOEjhuFySUPAmHQRTXdB9xhcVxc26RP/680NQywEd8kof8Qc//ytDGnM7mxTrtwNbeVra8kIIfZ2hJxW/0AJJ/Qm0Kveilffqema87OF3+Kt6YAcehuTlEs6TwiKNHVxLaaUMeLuNjb7s1ZafarXlOd+mkCesqjGURU7/71054KKQRWtZoAI9e8dWm9+91W65jhcKaL92TOr8C4aHXlZKbWqmCrxQhEt758DB0vwp1BvaDpE89fA1T78oEmbHWXxjc+dfYPYQitQlifIDh8rPNljWeYjX6bfnEgJgr5inAad2kK3O4wfD3yRH81WvPpbRRiM5BOx29R5yzNeY4zIHELl0uBGMD4Pdl0bpWYr10Y1RM4rdxBVj5YjUBvvNrCXm0lOtf/FMsNTc+8YgY2Le3xIfpW4odv1VonLTwnIC7s79flK6KWspBHHpSfduoDpjON0nmzvoaNYOUWu7pKaPPthUKNYWky4Et1VGWWe/Bt26RTISaowQvS06Oh9RIGZqozZLoJt5sB78fwnp/rBjF5T/FIkPK1TV91MKUuEU4K30ePGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LKqts8BhG7PB2AmXVDUwGU",
      "input": {
        "note": "Wrist view shows the blue bowl still ahead and slightly left of the pear. Shifting forward ~4 cm to centre over it.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.205,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01LKqts8BhG7PB2AmXVDUwGU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4473, -0.0177, -0.0242, 0.9991, 0.5201, 1.9953, 1.5688, -0.6567, 0.2802, 0.1787, 0.5531]\nstate[eef_state]: left_x=0.2878 left_y=0.0004 left_z=0.1642 left_yaw=0.0045 left_pitch=-0.0816 left_roll=0.0005 left_gripper=0.9991 right_x=0.4468 right_y=0.2037 right_z=0.0941 right_yaw=0.135 right_pitch=-0.4594 right_roll=-0.1653 right_gripper=0.5531\nstate[joint_eff]: [-0.3077, -1.4974, 6.9812, 1.6874, -0.0366, -0.0415, -0.0122, -0.8137, -11.2752, 8.841, 1.1404, 0.2271, 0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79dc5f0f4ecc2385f784e5f9c4a9d8ab601db011ddbc988735b25c8508769878",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:431d6cf6a1e2f6642c231da838d55041d8b1e9210954dd2f6614c841db18fa04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:709b3eb79153bc1bb968147795c33c1b02e6bf77a13027f055384c78ba2f1e1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 5.498 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4343, -0.0181, -0.0246, 0.9991, 0.5289, 1.8, 1.5101, -0.7261, 0.3061, 0.2115, 0.5531]\nstate[eef_state]: left_x=0.2896 left_y=0.0004 left_z=0.1678 left_yaw=0.005 left_pitch=-0.0648 left_roll=-0.0001 left_gripper=0.9991 right_x=0.4201 right_y=0.188 right_z=0.1539 right_yaw=0.1141 right_pitch=-0.3861 right_roll=-0.1395 right_gripper=0.5531\nstate[joint_eff]: [-0.3487, -1.347, 7.0085, 1.7558, -0.022, -0.0757, -0.0122, 0.0068, -9.0462, 9.5248, 1.4676, 0.3394, 0.2564, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4423, -0.0177, -0.0242, 0.9991, 0.5331, 1.8217, 1.3499, -0.5751, 0.2985, 0.202, 0.5531]\nstate[eef_state]: left_x=0.2885 left_y=0.0004 left_z=0.1657 left_yaw=0.0045 left_pitch=-0.0747 left_roll=0.0003 left_gripper=0.9991 right_x=0.4126 right_y=0.1873 right_z=0.1031 right_yaw=0.1251 right_pitch=-0.4178 right_roll=-0.1523 right_gripper=0.5531\nstate[joint_eff]: [0.0889, -1.4838, 7.1726, 1.7558, -0.0366, -0.022, -0.0122, -0.335, -8.5402, 6.4068, 1.3846, 0.1832, 0.0659, 1.0379]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4473, -0.0177, -0.0242, 0.9991, 0.5201, 1.9953, 1.5688, -0.6567, 0.2802, 0.1787, 0.5531]\nstate[eef_state]: left_x=0.2878 left_y=0.0004 left_z=0.1642 left_yaw=0.0045 left_pitch=-0.0816 left_roll=0.0005 left_gripper=0.9991 right_x=0.4468 right_y=0.2037 right_z=0.0941 right_yaw=0.135 right_pitch=-0.4594 right_roll=-0.1653 right_gripper=0.5531\nstate[joint_eff]: [-0.3077, -1.4974, 6.9812, 1.6874, -0.0366, -0.0415, -0.0122, -0.8137, -11.2752, 8.841, 1.1404, 0.2271, 0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79dc5f0f4ecc2385f784e5f9c4a9d8ab601db011ddbc988735b25c8508769878",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:431d6cf6a1e2f6642c231da838d55041d8b1e9210954dd2f6614c841db18fa04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:709b3eb79153bc1bb968147795c33c1b02e6bf77a13027f055384c78ba2f1e1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1AYKEAgSGAI4AUIIdGhpbmtpbmcSDCEthBndXOJdM1Bg8hoMcb8jhvZ1E2+Uxhv+IjCt+fdj/3Q5nGWuvZI20GCBcLuBR6gZzh/vJ/M7U947guPynoxSXBdvqhUr3Xf8+7kq8QWBKTh5Icvf4IKTbVqL5dJEkJGlO+3iv+o70SIkZOEqdCoMCoj4DhhS6t5kHNepOkUXbFcUxsWdJmaAhj5ozRA5zcozQULCFSdo6Q+D2Wkcqb/1Qlak0wcQ660iUsVuQ8C/jPBz/UKFNYjRgfx//BsIuP7Rk60DqMRCkDF39mIP9aJtdcmrTk5COrMC352eU9VC3OmWN7lWkhRr6UNOFld3njjhM+dmv813raEYwSzKadkQ3F9TuKco83QHir8H8F+x6PooI2rHhRMgdKZd1TJiLyB+m4wwUHd6M6SyLYz78A6jv7Qqocyahz6/2XadRjwyqT/OmGoC+L+XYxAKlHPmiEmZmHGa8+zOz8dZNp08a19TZVeYysBPuGNNtZaoEsdqtBiG2hr+c4N9ybnhnq4yMIALx3fJ5C0GpjpQVito8ae3nEabu5I93daKqlYQCNYT6AV3V0OSPqiLEOEglpWdtRxgInjnc/4d293QO4zJF2s1HSYb+IWyL7wDR18zXTIh9OodpwD/hY19pp8oDsXfoVCJNPgyUjeMGDMZQykUqGBd+S7tQ0sneqLY4S9PKeT6gzPF1JfBauDLsfukGC23gprD2sf5x/9iZ8BLa826Y+mOzUKQDbF7hp1p1scKyyoeo7Mk4mIejYasTa41HfOji2sGuX4DvMyMIu2lVM+bzqsUjJQiYp0YXDD79gCw/+GNI6OLnE3EGsPMZo1yiQRmhfyQNlGXBJBojrkdnmDVMotFLOZl40vVvD10BMZ2tYSpiYSmh7t+Tzb4yBpkblLwkh/opM39AEfqKfMZ5dx9KlwOkBktc8xQLriKElBFYaRgqb0BP2UXQ/uMzcTPEBuDHOXfyFngWLkKmOP4A4FN5s66NKnl4mvhiDk2Pt1X9kbLQaFHumnJfTtEPRKqKDeBQehEkMeNbwldKsPNojPqvitI3/NhLOrzAcIf4yRBK/XmrPNrdeghJN/68iclMUe/E96bQEYIynB1UBmlaXZUTRsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017s7b8uL3FU6T3b2iF3uP1p",
      "input": {
        "note": "Blue bowl is now centred behind/around the pear in the wrist view. Releasing the pear into the bowl.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_017s7b8uL3FU6T3b2iF3uP1p",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.45, -0.0177, -0.0246, 0.9991, 0.5159, 2.0125, 1.5723, -0.675, 0.2764, 0.1722, 0.9957]\nstate[eef_state]: left_x=0.2874 left_y=0.0004 left_z=0.1637 left_yaw=0.0047 left_pitch=-0.0843 left_roll=0.0002 left_gripper=0.9991 right_x=0.4444 right_y=0.2008 right_z=0.0851 right_yaw=0.1318 right_pitch=-0.4909 right_roll=-0.179 right_gripper=0.9957\nstate[joint_eff]: [-0.212, -1.3607, 7.1726, 1.7216, -0.0171, -0.0317, -0.0122, 0.253, -12.4239, 6.2974, 1.1941, 0.1587, 0.0122, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12f173ce7f7b8e73d646e6c5a8a4fab14824bf79f0e088dbb0a065587ac02b57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97ce351536d41e401f3c35a99e10850c879ca849e601b68cd6062a16cd8c63ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e7e7b34a9c676770fd97cae9db72cbc00b123b21b0a56cd3d2e0b6fe87eab30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 6.566 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4423, -0.0177, -0.0242, 0.9991, 0.5331, 1.8217, 1.3499, -0.5751, 0.2985, 0.202, 0.5531]\nstate[eef_state]: left_x=0.2885 left_y=0.0004 left_z=0.1657 left_yaw=0.0045 left_pitch=-0.0747 left_roll=0.0003 left_gripper=0.9991 right_x=0.4126 right_y=0.1873 right_z=0.1031 right_yaw=0.1251 right_pitch=-0.4178 right_roll=-0.1523 right_gripper=0.5531\nstate[joint_eff]: [0.0889, -1.4838, 7.1726, 1.7558, -0.0366, -0.022, -0.0122, -0.335, -8.5402, 6.4068, 1.3846, 0.1832, 0.0659, 1.0379]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4473, -0.0177, -0.0242, 0.9991, 0.5201, 1.9953, 1.5688, -0.6567, 0.2802, 0.1787, 0.5531]\nstate[eef_state]: left_x=0.2878 left_y=0.0004 left_z=0.1642 left_yaw=0.0045 left_pitch=-0.0816 left_roll=0.0005 left_gripper=0.9991 right_x=0.4468 right_y=0.2037 right_z=0.0941 right_yaw=0.135 right_pitch=-0.4594 right_roll=-0.1653 right_gripper=0.5531\nstate[joint_eff]: [-0.3077, -1.4974, 6.9812, 1.6874, -0.0366, -0.0415, -0.0122, -0.8137, -11.2752, 8.841, 1.1404, 0.2271, 0.022, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.45, -0.0177, -0.0246, 0.9991, 0.5159, 2.0125, 1.5723, -0.675, 0.2764, 0.1722, 0.9957]\nstate[eef_state]: left_x=0.2874 left_y=0.0004 left_z=0.1637 left_yaw=0.0047 left_pitch=-0.0843 left_roll=0.0002 left_gripper=0.9991 right_x=0.4444 right_y=0.2008 right_z=0.0851 right_yaw=0.1318 right_pitch=-0.4909 right_roll=-0.179 right_gripper=0.9957\nstate[joint_eff]: [-0.212, -1.3607, 7.1726, 1.7216, -0.0171, -0.0317, -0.0122, 0.253, -12.4239, 6.2974, 1.1941, 0.1587, 0.0122, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12f173ce7f7b8e73d646e6c5a8a4fab14824bf79f0e088dbb0a065587ac02b57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97ce351536d41e401f3c35a99e10850c879ca849e601b68cd6062a16cd8c63ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e7e7b34a9c676770fd97cae9db72cbc00b123b21b0a56cd3d2e0b6fe87eab30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3AkKEAgSGAI4AUIIdGhpbmtpbmcSDIOdhu80ZTraGSub1RoMtYPd66ECu3fv+DiYIjCGt8yALHfpQ1tDOheQFVenR8sRA2ltr760VPvNhrjrfz+xbInjnEsPb3zwx2hVEB8q+QjOqZoCGWwuwpjHYF/qeB9AwiZuZg/ImMHJDkPOzTJEmNv9Lax/GIv+C85q/Ta3di3MmIRCagmw1MF1Dz35qarpGvvl6CsLhl1+h5hchiyiesTwRQMTPXXGH1fEdYP6F9CZGuXRzAnad3Yr7ghBiItwXxZJ5WDgFvv5azVxDrMepvkQjlrqXiOdHHWieb7Lz5Gr0yBAU7hCT5QqlwymW+7wWy4EqwtUPhqSHIlq/29nuCGqXAz8iZb0/UPDcXNu3noR7h4GwSGnP2iDhXsqYkjIb3EbJlHs4fazBxaaptNleGZlvY8PCQvNwmKx1WGHJVHOoeUqG0RGnk52hIti78li+LaVoypUK0m4Qrj291DQqTkNjbYT0/9TA+KCiaEUL9WYb+Lz03Oa1hx0ewppFSdQb8saPqlL/vMaBEHeaX3JMpKFsVtRtm2fW+T1DldvwLYBvdoFTn/FINU9XFEQt4Pxdf2M3TxKJpz2j9bev8F9+9ZDhpzKGGCkT4liIfCgx4/GPRBxyEnLFgtXgefUBs/urae1Kc+GvRLovKHAAfhZdpP1w4tJlitTubGybf3QbGcfMMiN4WOoj4S1ZXYoYF6pYbNEuDSzRCUjqbHGsEclVKzEy7ephwKebKrY+YTrASv0S6iBeFozTsHi4ZHv4ZslYHMPqUCG9s70CdXnQepYINq7FQHboVxdUoZtQndqGMqW6FNeTBljJrHExUCXiuFcZqTuHa9mvAf+xnUVu48EXjpNGuAFpcfqudjx+/rEDnRe4fVXhYLHyO6Gzd4yMbW1k8BZKOMEOGakv4Ta24+NSg85CZVXspArCu7PehBslry87NNJgwDrrrSMwbPzqbE5SW8XpUKxdZ0M1tA/SztYqxDobvaa4WWrp3ej2/6LdjHenhX/ruavOJJALZp6uU6JzLblfLp6qQ9VB4x/nPOzxU4bTWp8JXbRWTvPR4cTlLXMJPGMag2tisQvb5zpxgJRvX4eCg4wCoDqpIF57HvDJzRcnneoJ7IWsbwTYQ4ox71fCKYnkmI9/wlzZstRVcNrxZv29eCPSTaEfDEqC1BUUWOsjwW/7BBFsDAeLNp3pKDHQqfAwoDygX5nVySGbkCxhZg+W4dN4+CDBnBX+HNgF9H6jnAmZ4A40tPw8kQDIo8MV2Nd0zVTzTSMlMJTP8r7Xub+B7XXBKQk3znGm5Qp0RXbUYX/g6j1qCCq4vlYQ7ezPTHp72DVqzLxp98O4Ndox6ZnhA7bUtAfZlg0SmNHCYobKo/Y4OJdWC3wkm36nzRFTNKZnXSop391NTXmH6m6mKOwedAwVSMD9kdQewDxrRSIzFoydgnOpPwFM+cmkgSA6P4al4yI8OZa/f9xYXDX/40VgO6Lw8ab/t0RrUW0f4LMN7/qUWPyfd2KOy17axBRuxKRbj5cClbzJGnDaPFJsxM8cYcxmjd4yGS78+9fuVZnsJc6qjUbMT+HZnokqW6LAT45rWIk1VJCO9ZCVZ/SAQvsyTcrLJ5rlUqBpBSkF8g10lDQApW1IxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017BxUKsGqUB75qV8yXLcaif",
      "input": {
        "note": "Pear is now in the blue bowl. Lifting and moving the right arm above the lemon next.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.27,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_017BxUKsGqUB75qV8yXLcaif",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.453, -0.0177, -0.0246, 0.9991, 0.783, 1.924, 1.6806, -0.968, 0.3645, 0.392, 0.9963]\nstate[eef_state]: left_x=0.287 left_y=0.0004 left_z=0.1631 left_yaw=0.0047 left_pitch=-0.0873 left_roll=0.0003 left_gripper=0.9991 right_x=0.3581 right_y=0.2726 right_z=0.1389 right_yaw=0.1666 right_pitch=-0.5151 right_roll=-0.1913 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -1.1282, 7.2821, 1.7118, -0.022, -0.0269, -0.0122, 0.3077, -12.8615, 7.8974, 0.8523, 0.3541, 0.1343, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b471db1fb327a93ef2f7accc96a266b694bc3eb8c8f1279a4b90fb547c1049f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c7065f8c3281fc8a68acdd7d73141d39253eb6c4c5a4d85e02edfd5bcc318af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b07a89cc0389b36ae4e535365b3ef163384fbb1fe089f7ea3281bcf92eb32974",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 2.98 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4473, -0.0177, -0.0242, 0.9991, 0.5201, 1.9953, 1.5688, -0.6567, 0.2802, 0.1787, 0.5531]\nstate[eef_state]: left_x=0.2878 left_y=0.0004 left_z=0.1642 left_yaw=0.0045 left_pitch=-0.0816 left_roll=0.0005 left_gripper=0.9991 right_x=0.4468 right_y=0.2037 right_z=0.0941 right_yaw=0.135 right_pitch=-0.4594 right_roll=-0.1653 right_gripper=0.5531\nstate[joint_eff]: [-0.3077, -1.4974, 6.9812, 1.6874, -0.0366, -0.0415, -0.0122, -0.8137, -11.2752, 8.841, 1.1404, 0.2271, 0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.45, -0.0177, -0.0246, 0.9991, 0.5159, 2.0125, 1.5723, -0.675, 0.2764, 0.1722, 0.9957]\nstate[eef_state]: left_x=0.2874 left_y=0.0004 left_z=0.1637 left_yaw=0.0047 left_pitch=-0.0843 left_roll=0.0002 left_gripper=0.9991 right_x=0.4444 right_y=0.2008 right_z=0.0851 right_yaw=0.1318 right_pitch=-0.4909 right_roll=-0.179 right_gripper=0.9957\nstate[joint_eff]: [-0.212, -1.3607, 7.1726, 1.7216, -0.0171, -0.0317, -0.0122, 0.253, -12.4239, 6.2974, 1.1941, 0.1587, 0.0122, -0.0757]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.453, -0.0177, -0.0246, 0.9991, 0.783, 1.924, 1.6806, -0.968, 0.3645, 0.392, 0.9963]\nstate[eef_state]: left_x=0.287 left_y=0.0004 left_z=0.1631 left_yaw=0.0047 left_pitch=-0.0873 left_roll=0.0003 left_gripper=0.9991 right_x=0.3581 right_y=0.2726 right_z=0.1389 right_yaw=0.1666 right_pitch=-0.5151 right_roll=-0.1913 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -1.1282, 7.2821, 1.7118, -0.022, -0.0269, -0.0122, 0.3077, -12.8615, 7.8974, 0.8523, 0.3541, 0.1343, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b471db1fb327a93ef2f7accc96a266b694bc3eb8c8f1279a4b90fb547c1049f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c7065f8c3281fc8a68acdd7d73141d39253eb6c4c5a4d85e02edfd5bcc318af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b07a89cc0389b36ae4e535365b3ef163384fbb1fe089f7ea3281bcf92eb32974",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoAsKEAgSGAI4AUIIdGhpbmtpbmcSDGO1On4WOVQPQR5d/hoM0k5k4RFy6gdoLC5ZIjCYb8iq+ooUO7r5X9QnI6NxbwYReZElMAu4LO/QyuNZmDjX0Qh3aryrdZJmCcrJ1poqvQpHLOq2+IZck4pDJSLGi2Qn6w7dM27Fa33fh5/YVS95dXTEQ2lEVTMzk+GpwOT0mi/zjUzDO8rHVqzw34SVPenY8V4qLkEH5Xbx6zO8D4uKwKHEsCCZe1xYtTIpwn/KIsbgl21ZL0zopWJADyUsjNTenKe9AJDfHSwwYBk/7ZlZJptc0n3h0G9gI5WHphjIUtg/QOFTUTwNrtq7B42nlHE/9PEjc1yaNsGksL8UMehhTi4My0SuNaO4D+jeZ16/is5pa80HFa10t2IKmOqq9gweEev2OYiGI036mFtqhR41ulDDxKF4wvFSEnYpCq/9sar6Y/c9Md44VhqG+XNdZyOKGt+L6qNeICCBjst6+TrEio8ElbBF/cuE9CxGFIYruBPs9c7vWAzmW4tdtz9Cv3JPrH3VMT1HOJlbLaimoINwKHEGjp+mMSI70YH0QP8xe+2wnWF8YEDMl+ee7lrcp1p65HsbJRj/v7Jze3AIi6b0oqe8cc7YzwoWpjIdW0ZUkg2xYvF7+tc5nrtNFasN2M5SbcIMQqQgGPSeHA3CJbNIVDJJO1KylSKP7hv6i7++31tRAWawCoYM5kdESqYVBfyAPVLOYUm7oRYwzW6N+UEeX3iFfu4qItpdU2oX57eQ1DrQW277yCIFLOHZUeJHZntjzKrwSELROpxbnWmudxpS8Al9/kVj4J2Bp/pwwbDO8uYQPHLXsP2R9d8rXYJo0BHb5/WrF8cLogUWy+KoUgRntlRbYRygge7qPIBjYjWNCyD3UajDh36WGS4wnE08pjNsywoJctdh3zmjIQTlhz8BuL0Fp7aSxe2jZrOWfc5ROEY7kIs4nkdeFsZPBSShIAFgsyBjksaRUfw4q9GZ3PAgzMIi58rAXNs206uXSZzXJNt4YoATXF1GnQQIn0M0R/g1Lt1R+ndxBM+jaCF1fwbvfLqra9fb/JPy4vJhEBhfKsz0Sw70DX7dBj2IN4REET4XpYWaVYsRcEbe2BemUt86t7eyAko/3S5INEIWDQyKH9xGmb+CbYeH77DV/myAJciDjgiX/bOJPWf6cxdQ6tKbZeSbEStBvrZFCF3BwYDX5eI5cvDmS8ouDjbF7Gr3ZFT8waWipzem0jllwGt6BJAVlPe09D3Dn5Ui/aTQrfRslU6I0rYXy/Ua3KHEvJNDcL6jKOn1aW4elztKp1cLw/RyU14vpCnFcX8aNwMKMXNtK4Y173qOBEqOAaD5FFin9lahTKpNdFJ1bdCFZyKi4eV63ZaO2WYwwgNmbwuJ6PSk10wUnaNRhHp/kVZco6ttKCIu23xeQ1sYDuTKBrbkKhbcGjNxlKw8D3j0ij8FTF2mpCszgJcgSOfveryHf7yKuFcyd+8NyebNN1Lx0rDvbirISR7l3PhtTNT4a4/TLH4wlWEQvc0VKd0BpcjYbr8MmEyY+4xMlO2vdLKxIeWuahlAH2WZ9mE0Yyd2g76txYRvHray0Qw48fojmMywqVlKshRQh6KwmKl+FUTY4ucEaj/mNLtNJAr2vCbteREHW/1+b09NwHDd6SKyaGtajLrHkCj6/mXb68yOH3LgizF0+1i9O4NgApazPaJYz2kmy3GD52DHEkqoST9vn8yZAxapKLKSsLOVLPz4VQ0HKwk/s6cwc8NSIPVkicoERhQUSlLfF21h7hVtJEmh+GwJE+dVaUPq+HEk0YfkqSJVzJXRG+zOfMvF3uP9tk6lHZTCV5btB11hvr+ZE1KcW/i/P6xxaCBe1DmJwueMW8TAUdOuS4ZsDbe6SPLBBjRvZ/GlSAUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QDZSqe9SXLcsUM4eNDYbPm",
      "input": {
        "note": "Lemon is ahead and slightly left of the jaw column in the wrist view, oriented so the jaws will close across its width. Advancing and descending onto it.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.28,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01QDZSqe9SXLcsUM4eNDYbPm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4599, -0.0177, -0.0246, 0.9991, 0.7238, 2.141, 1.5776, -0.6716, 0.3397, 0.321, 0.9964]\nstate[eef_state]: left_x=0.2859 left_y=0.0004 left_z=0.1618 left_yaw=0.0047 left_pitch=-0.0942 left_roll=0.0005 left_gripper=0.9991 right_x=0.3959 right_y=0.2762 right_z=0.0308 right_yaw=0.163 right_pitch=-0.5555 right_roll=-0.2218 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -1.3333, 6.9949, 1.7753, -0.0366, -0.0757, -0.0122, -1.1009, -10.441, 6.0376, 1.1306, 0.0757, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc3657db07f4ee06953c64539945179b91ad9ac272f5c8c20dd99a2795ca2651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a148932a561c23ed9f106e2b17aabe2636bd1a0ab7790a2acd1b436880d94f30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5610f8fedc7d42f729f564c5e5dfc10e25fd534a75ae72ae0c3685fd2fb899d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 6.958 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.45, -0.0177, -0.0246, 0.9991, 0.5159, 2.0125, 1.5723, -0.675, 0.2764, 0.1722, 0.9957]\nstate[eef_state]: left_x=0.2874 left_y=0.0004 left_z=0.1637 left_yaw=0.0047 left_pitch=-0.0843 left_roll=0.0002 left_gripper=0.9991 right_x=0.4444 right_y=0.2008 right_z=0.0851 right_yaw=0.1318 right_pitch=-0.4909 right_roll=-0.179 right_gripper=0.9957\nstate[joint_eff]: [-0.212, -1.3607, 7.1726, 1.7216, -0.0171, -0.0317, -0.0122, 0.253, -12.4239, 6.2974, 1.1941, 0.1587, 0.0122, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.453, -0.0177, -0.0246, 0.9991, 0.783, 1.924, 1.6806, -0.968, 0.3645, 0.392, 0.9963]\nstate[eef_state]: left_x=0.287 left_y=0.0004 left_z=0.1631 left_yaw=0.0047 left_pitch=-0.0873 left_roll=0.0003 left_gripper=0.9991 right_x=0.3581 right_y=0.2726 right_z=0.1389 right_yaw=0.1666 right_pitch=-0.5151 right_roll=-0.1913 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -1.1282, 7.2821, 1.7118, -0.022, -0.0269, -0.0122, 0.3077, -12.8615, 7.8974, 0.8523, 0.3541, 0.1343, 0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4599, -0.0177, -0.0246, 0.9991, 0.7238, 2.141, 1.5776, -0.6716, 0.3397, 0.321, 0.9964]\nstate[eef_state]: left_x=0.2859 left_y=0.0004 left_z=0.1618 left_yaw=0.0047 left_pitch=-0.0942 left_roll=0.0005 left_gripper=0.9991 right_x=0.3959 right_y=0.2762 right_z=0.0308 right_yaw=0.163 right_pitch=-0.5555 right_roll=-0.2218 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -1.3333, 6.9949, 1.7753, -0.0366, -0.0757, -0.0122, -1.1009, -10.441, 6.0376, 1.1306, 0.0757, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc3657db07f4ee06953c64539945179b91ad9ac272f5c8c20dd99a2795ca2651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a148932a561c23ed9f106e2b17aabe2636bd1a0ab7790a2acd1b436880d94f30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5610f8fedc7d42f729f564c5e5dfc10e25fd534a75ae72ae0c3685fd2fb899d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7QYKEAgSGAI4AUIIdGhpbmtpbmcSDAWK37/VIrR/Ebg8iBoMwOhn/AWxfszKWxQ2IjCb3aF/Bqq6WFzJ+7+RPB5LoQRNUbRuvXHQwx/tqlrFGKznXQWDqacqRk3mYSXofxkqigZMrcNre9sBVX9kemZsro5Zq6ulFCVuElHmeZ0oil2s1FQVqtmdEgsf1WsV4hPWQD4XnSwPtGq0/ocJVNQoorLN05zUXDyBGJRGWxV0+r4JDVAPyrKLYrO3ImCstx01ZeoAiTNgpb1mW+yXM8P4g5l6mli4iQjjHvq9eqVHKR+tburqFcePi4m5r/1tpRVZ6qMxZlmbtyV9TUw12M/ulzTckvxvVUCfw+CW+KGEU2DIxzQVwLqDUQA5298ctSpijID8vFhKbuODA5QpXS5JQBrG5RHgUiQ+n/nw1GsgoJ+XSxJ34pRiM0rUM+FgfxrQ3grafSecso6Ux390G2Z0vynMHB8J4nBoaui4b175ilQRqRJXIOGd0ligNZBpO3iSr2/D8chfmHruq7y/G9rAluVANvGNcwHTl0cn77UEfWD+ipccQKfNMbMlMUBvFfyFhT+mZSheSD995L9MKa6HDcYz+V5baWGqah7WKZSEjMrjzxa18SPftxIrxGwLz1KVWB9N4sS/8vvp8iTGafO4ysbV1acYFNE2OqJmeqUJMVfQ7A/P8lG/qNZKGFWIwkchqYXLX1V+Flu9ImIecBiO/HenVKm0UGqUuj6rEGdA+Q024slcNiwOEqq9HNadJVNYLNOqyjVR2tJmu7OaBr6PPOaoZv9rp+OAdkY1gW86VNXgJ08LiCjc3KoLPnGV/sqJDw4rPR5V5Fpm1d2MX4VPL3NJSqzZZPaMk5uVpj7DFhys9IZ0qVqssh/SfbrN0dbrEH/MfijyXmxwrtMNbZe/FIrnjX8JA7ntMEaniD2SNo/dbe/hlXCKHeaIDBkl+0tvDi0E/6WiFLDN5SYJJxDKASIoVQOKTR9QbQ4OmoMIsQHOXJHRA5fZcLZpqdUKBZyJ/LhmcnSB49r7NRISucwOV2maBJuOBpn60jPvbzLyY1wcvNF1mm2PHxgj+JQjvPgxnbAvUARLeuYCCGXr9jMIb/rmISjhWETsHx4zjbupt+tCmk57l4cZxITGyI08qQQeJL1NibfxdYxgX/lBGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FRWj5pSrtRPtkLZaAtwrTn",
      "input": {
        "note": "Lemon sits at the bottom-centre between the jaw tips. Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FRWj5pSrtRPtkLZaAtwrTn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4683, -0.0181, -0.0246, 0.9991, 0.7181, 2.1624, 1.5772, -0.6765, 0.3443, 0.3096, 0.0243]\nstate[eef_state]: left_x=0.2847 left_y=0.0005 left_z=0.1601 left_yaw=0.0051 left_pitch=-0.1025 left_roll=0.001 left_gripper=0.9991 right_x=0.3956 right_y=0.2713 right_z=0.0208 right_yaw=0.1515 right_pitch=-0.5771 right_roll=-0.2489 right_gripper=0.0243\nstate[joint_eff]: [-0.335, -1.347, 7.1316, 1.7558, -0.0317, -0.0562, -0.0171, 0.212, -13.3812, 6.0923, 0.9499, 0.1001, 0.0415, 0.9402]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6af50fed4017c68fa543ce67a8205e75abc38045ada9f9c77b3933863238d2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ab576fa73d4513a7a39c0d660408355173ee9731761611ca05284e56978d501",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9dc260609eddc53ebf97de1b150bb9432b2e21eb83d7dbeff4b20f4dfcb3b44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 7.497 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.453, -0.0177, -0.0246, 0.9991, 0.783, 1.924, 1.6806, -0.968, 0.3645, 0.392, 0.9963]\nstate[eef_state]: left_x=0.287 left_y=0.0004 left_z=0.1631 left_yaw=0.0047 left_pitch=-0.0873 left_roll=0.0003 left_gripper=0.9991 right_x=0.3581 right_y=0.2726 right_z=0.1389 right_yaw=0.1666 right_pitch=-0.5151 right_roll=-0.1913 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -1.1282, 7.2821, 1.7118, -0.022, -0.0269, -0.0122, 0.3077, -12.8615, 7.8974, 0.8523, 0.3541, 0.1343, 0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4599, -0.0177, -0.0246, 0.9991, 0.7238, 2.141, 1.5776, -0.6716, 0.3397, 0.321, 0.9964]\nstate[eef_state]: left_x=0.2859 left_y=0.0004 left_z=0.1618 left_yaw=0.0047 left_pitch=-0.0942 left_roll=0.0005 left_gripper=0.9991 right_x=0.3959 right_y=0.2762 right_z=0.0308 right_yaw=0.163 right_pitch=-0.5555 right_roll=-0.2218 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -1.3333, 6.9949, 1.7753, -0.0366, -0.0757, -0.0122, -1.1009, -10.441, 6.0376, 1.1306, 0.0757, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4683, -0.0181, -0.0246, 0.9991, 0.7181, 2.1624, 1.5772, -0.6765, 0.3443, 0.3096, 0.0243]\nstate[eef_state]: left_x=0.2847 left_y=0.0005 left_z=0.1601 left_yaw=0.0051 left_pitch=-0.1025 left_roll=0.001 left_gripper=0.9991 right_x=0.3956 right_y=0.2713 right_z=0.0208 right_yaw=0.1515 right_pitch=-0.5771 right_roll=-0.2489 right_gripper=0.0243\nstate[joint_eff]: [-0.335, -1.347, 7.1316, 1.7558, -0.0317, -0.0562, -0.0171, 0.212, -13.3812, 6.0923, 0.9499, 0.1001, 0.0415, 0.9402]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6af50fed4017c68fa543ce67a8205e75abc38045ada9f9c77b3933863238d2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ab576fa73d4513a7a39c0d660408355173ee9731761611ca05284e56978d501",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9dc260609eddc53ebf97de1b150bb9432b2e21eb83d7dbeff4b20f4dfcb3b44",
        "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_01WZuYZsa9LQcSEyUF6gJjcb",
      "input": {
        "note": "Close missed (0.024); the tool had drifted to a -0.58 pitch which skews the wrist view. Opening, lifting and resetting the wrist orientation to re-aim at the lemon.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_yaw": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01WZuYZsa9LQcSEyUF6gJjcb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4755, -0.0181, -0.0246, 0.9991, 0.8196, 1.8568, 1.1648, -0.1478, 0.6266, 0.4835, 0.9973]\nstate[eef_state]: left_x=0.2836 left_y=0.0006 left_z=0.1582 left_yaw=0.0051 left_pitch=-0.1117 left_roll=0.0012 left_gripper=0.9991 right_x=0.3896 right_y=0.2707 right_z=0.0966 right_yaw=0.0328 right_pitch=-0.0816 right_roll=-0.0603 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.306, 7.0769, 1.7607, -0.0415, -0.0562, -0.0122, 0.253, -12.041, 5.7504, 1.7753, 0.4176, 0.1538, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4be64a9eff6b7ea54d56f84ca4d42ca15a4f1c87caf096e0481690edd292122",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38aa4e3e3ed19d4d39aaeaa7ddae970c5d1274c95168c43359b37f848bef174a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c8da2f431248a4a56347d48782c94847ac69aee7e911894004e20cd3f067acb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 5.35 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4599, -0.0177, -0.0246, 0.9991, 0.7238, 2.141, 1.5776, -0.6716, 0.3397, 0.321, 0.9964]\nstate[eef_state]: left_x=0.2859 left_y=0.0004 left_z=0.1618 left_yaw=0.0047 left_pitch=-0.0942 left_roll=0.0005 left_gripper=0.9991 right_x=0.3959 right_y=0.2762 right_z=0.0308 right_yaw=0.163 right_pitch=-0.5555 right_roll=-0.2218 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -1.3333, 6.9949, 1.7753, -0.0366, -0.0757, -0.0122, -1.1009, -10.441, 6.0376, 1.1306, 0.0757, -0.0366, -0.0073]\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]: [-0.0219, 0.8173, 0.6132, -0.4683, -0.0181, -0.0246, 0.9991, 0.7181, 2.1624, 1.5772, -0.6765, 0.3443, 0.3096, 0.0243]\nstate[eef_state]: left_x=0.2847 left_y=0.0005 left_z=0.1601 left_yaw=0.0051 left_pitch=-0.1025 left_roll=0.001 left_gripper=0.9991 right_x=0.3956 right_y=0.2713 right_z=0.0208 right_yaw=0.1515 right_pitch=-0.5771 right_roll=-0.2489 right_gripper=0.0243\nstate[joint_eff]: [-0.335, -1.347, 7.1316, 1.7558, -0.0317, -0.0562, -0.0171, 0.212, -13.3812, 6.0923, 0.9499, 0.1001, 0.0415, 0.9402]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4755, -0.0181, -0.0246, 0.9991, 0.8196, 1.8568, 1.1648, -0.1478, 0.6266, 0.4835, 0.9973]\nstate[eef_state]: left_x=0.2836 left_y=0.0006 left_z=0.1582 left_yaw=0.0051 left_pitch=-0.1117 left_roll=0.0012 left_gripper=0.9991 right_x=0.3896 right_y=0.2707 right_z=0.0966 right_yaw=0.0328 right_pitch=-0.0816 right_roll=-0.0603 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.306, 7.0769, 1.7607, -0.0415, -0.0562, -0.0122, 0.253, -12.041, 5.7504, 1.7753, 0.4176, 0.1538, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4be64a9eff6b7ea54d56f84ca4d42ca15a4f1c87caf096e0481690edd292122",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38aa4e3e3ed19d4d39aaeaa7ddae970c5d1274c95168c43359b37f848bef174a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8da2f431248a4a56347d48782c94847ac69aee7e911894004e20cd3f067acb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0179eiCqR71HbPU78FLAwM9P",
      "input": {
        "note": "Wrist view now shows the pear in the blue bowl ahead-right, with no lemon visible, so the lemon is beneath/behind the grasp point. Backing up to bring it into the wrist view.",
        "targets": {
          "right_x": 0.33,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0179eiCqR71HbPU78FLAwM9P",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4759, -0.0177, -0.0246, 0.9991, 0.9417, 1.7161, 1.1206, -0.2951, 0.6758, 0.569, 0.9983]\nstate[eef_state]: left_x=0.2836 left_y=0.0005 left_z=0.1582 left_yaw=0.0048 left_pitch=-0.1121 left_roll=0.001 left_gripper=0.9991 right_x=0.3368 right_y=0.2811 right_z=0.124 right_yaw=0.0717 right_pitch=-0.0857 right_roll=-0.055 right_gripper=0.9983\nstate[joint_eff]: [-0.0068, -1.3333, 6.9538, 1.6728, 0.0024, -0.0366, -0.0171, 0.1846, -9.4427, 5.8462, 1.2527, 0.3492, 0.0952, 0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17097e7e766c06e218a3e97e5a98f39949db358de3c66ba8fec2d3ef751b54f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af2f2e9a70bec2afa6f3feebee9de42c8ea3b5d29710a346ee51b496a2d3423b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c7801b8f373230d64ba0b65f98474799a577db70174749f491bb6d0cb22ebc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 3.496 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4683, -0.0181, -0.0246, 0.9991, 0.7181, 2.1624, 1.5772, -0.6765, 0.3443, 0.3096, 0.0243]\nstate[eef_state]: left_x=0.2847 left_y=0.0005 left_z=0.1601 left_yaw=0.0051 left_pitch=-0.1025 left_roll=0.001 left_gripper=0.9991 right_x=0.3956 right_y=0.2713 right_z=0.0208 right_yaw=0.1515 right_pitch=-0.5771 right_roll=-0.2489 right_gripper=0.0243\nstate[joint_eff]: [-0.335, -1.347, 7.1316, 1.7558, -0.0317, -0.0562, -0.0171, 0.212, -13.3812, 6.0923, 0.9499, 0.1001, 0.0415, 0.9402]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4755, -0.0181, -0.0246, 0.9991, 0.8196, 1.8568, 1.1648, -0.1478, 0.6266, 0.4835, 0.9973]\nstate[eef_state]: left_x=0.2836 left_y=0.0006 left_z=0.1582 left_yaw=0.0051 left_pitch=-0.1117 left_roll=0.0012 left_gripper=0.9991 right_x=0.3896 right_y=0.2707 right_z=0.0966 right_yaw=0.0328 right_pitch=-0.0816 right_roll=-0.0603 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.306, 7.0769, 1.7607, -0.0415, -0.0562, -0.0122, 0.253, -12.041, 5.7504, 1.7753, 0.4176, 0.1538, -0.1587]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4759, -0.0177, -0.0246, 0.9991, 0.9417, 1.7161, 1.1206, -0.2951, 0.6758, 0.569, 0.9983]\nstate[eef_state]: left_x=0.2836 left_y=0.0005 left_z=0.1582 left_yaw=0.0048 left_pitch=-0.1121 left_roll=0.001 left_gripper=0.9991 right_x=0.3368 right_y=0.2811 right_z=0.124 right_yaw=0.0717 right_pitch=-0.0857 right_roll=-0.055 right_gripper=0.9983\nstate[joint_eff]: [-0.0068, -1.3333, 6.9538, 1.6728, 0.0024, -0.0366, -0.0171, 0.1846, -9.4427, 5.8462, 1.2527, 0.3492, 0.0952, 0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17097e7e766c06e218a3e97e5a98f39949db358de3c66ba8fec2d3ef751b54f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af2f2e9a70bec2afa6f3feebee9de42c8ea3b5d29710a346ee51b496a2d3423b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c7801b8f373230d64ba0b65f98474799a577db70174749f491bb6d0cb22ebc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS4gkKEAgSGAI4AUIIdGhpbmtpbmcSDCx3Ulv2Lfb/MDYRuhoMGAsfbj3HO2KMS6DQIjCDhzTFEH7U6H2WfRUAlSNcdm6+K3hDXgJIqRzMYccDiNnrdzVO2W5o6LRHnppHzf8q/wgyIKBdK+IDbsy0BCaJZ33I14Igzb0J2vgEPnbNjS6Qv6KYQ4QuRuvBWka8ePn59wB1zO+ja+rnkriMBljZLe/bJdGRa4QYpw3BQrDf5W/rVhbdOwg3suESWs/dgoXoA0o+Uluv3dTNoCBliH3XXY1LS1ZRJ0DXnhyWl88b5ab4/c3A9tdLPnTCnRK5hY5JzM9St80rp7ZkZZVSmM6GKXGvDJ3Ya+LT97hxJb8kNhHGTFWcIQp6izNrOdEWPDp+ahgfi68QGZZ5zweztSgZIeZycI4tmtEh3zKu2j8wXMjt6+B7xVSnn1fAjM4lf2A6br5V9KLaSJxkgCY0/srF1X89ssWVPUrXd7QMfyB88KYCG3dZslNTnCoOsY856N2xTSPZBiWo6pxZvmwPYNNmzdUdrfiCQh+DdVZUxES/pM/NKRX9zBpeG7ykB9YP+4M16cB8+CGE5BWzNJ8F7bvBjjmf6KU827r9ZCKRZFdmyTMCpuQgzamVRD4+kkDSJvH68Jrw0QgzUC7OpTM+WNQzBjBLug3mluJHUh4g0thLY5i/Kn/Lj+oFu8szw6vH3WUJ/xCrTn0+LlbhK91b6Nj/Im58rYlkaP8JrAdII1g0Z1JfdOOk8feb3cspl0FqYwupdfKt37T8zoJUUnlPCwwufcF1hahLO3lYzXoGKtC+0si9KLID2IlewKo4IK8jkFK0OGOWtGeX2bpxPGezuGWzyg/BiWgJuqHHU7dYN8Pk9HupzU4QNrjJ+WU5/jtYSYpsLrsdSaT9VN8RAxwIS+eu4uM7tRrH8f8jdzpZiSmKtNkNwXl9xAHAn2MhJ0Oq7XeaxWbT3bgeXMNIlf9x0dYeny2p6+KiwNpmIsEpBfCgekeQAKHO3CIq0kAS8FCOVYUkjccXdhwUKGIbmDombA5AzUtYyIyu6fZgW+dmlnlT+39av1LdER+Z9zesptz/h5AP5UKIPKFGUg0zNvJLARVKvBynzFq1L/NJ19MGOQ294URiHgbIZ5KuzF6qJ/HYWUYDBqEBBjvKJA5+joG4FVuluIqc1c5SetFEXP1zNcLxwiABOLESsIyPE/X92KYO0Cxj09R5tOdgiaJiO/tJaupLcI4be3zBUCAfkywkRZjw2J0nnwO+AjS+ky4fmUFJimhCmyttn3OUJyx5M6zMEnpmseJKNSg2T2URT4wb5MjQ8VHGwxFA7tP9KWzCxoalRnOsEcr7XYJ/WaO7rTUWp4fMXcJeM5FIWu7fmAOHWQNbUhMzZZAr7XN8IioahYII6GF4JYQV62+eov9p86MNp6oU1xvLiI8WlTpS7dAUkUF3OzGRHQHf2xaVdc3RyYvXsc1e9zS/nFO5HNs9EQWwT882tfcl7C83/KBjeuR5galFO/Y/mkoB9aoTBQFyziqd7T7AyDP7kLT+yGHqM1O3SC+FuSRtOradxEn0Qyw/nX2nnXKlhBDr3X68EfQJLQBGW5+NSsUZUci+qOD7rtUK8cLiAxbkMjca8IeEwyZPG0tNvXFrr9RIVQPgLUOtg57UTg9GcxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0192Kpv8kWLQEfZqBePkkKK9",
      "input": {
        "note": "Lemon now visible at the bottom-centre of the right wrist view, just ahead of the grasp point, with the blue bowl beyond it. Descending onto the lemon.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.365,
          "right_y": 0.28,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_0192Kpv8kWLQEfZqBePkkKK9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0177, -0.0246, 0.9991, 0.8997, 1.9694, 0.9413, 0.2005, 0.6868, 0.4774, 0.9983]\nstate[eef_state]: left_x=0.2835 left_y=0.0005 left_z=0.1581 left_yaw=0.0048 left_pitch=-0.1125 left_roll=0.001 left_gripper=0.9991 right_x=0.3587 right_y=0.2774 right_z=0.0245 right_yaw=0.0743 right_pitch=-0.0412 right_roll=-0.0874 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -1.1692, 6.9949, 1.663, -0.0464, -0.0073, -0.0122, -0.7726, -8.8547, 3.9863, 1.3797, 0.2564, -0.0708, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:017078d012d76f065d787d5d91cf14d7b3bcfd217e0e6996b57461eebc47e587",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc3d74499ec9b56f5054fbb2c18c04c5504e5d1934a982aa0a555bc9029b4bf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7276f9733827d34400e59bb04c7505d0f5da219df071bd2771e8bdd73b111773",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 3.977 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4755, -0.0181, -0.0246, 0.9991, 0.8196, 1.8568, 1.1648, -0.1478, 0.6266, 0.4835, 0.9973]\nstate[eef_state]: left_x=0.2836 left_y=0.0006 left_z=0.1582 left_yaw=0.0051 left_pitch=-0.1117 left_roll=0.0012 left_gripper=0.9991 right_x=0.3896 right_y=0.2707 right_z=0.0966 right_yaw=0.0328 right_pitch=-0.0816 right_roll=-0.0603 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.306, 7.0769, 1.7607, -0.0415, -0.0562, -0.0122, 0.253, -12.041, 5.7504, 1.7753, 0.4176, 0.1538, -0.1587]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4759, -0.0177, -0.0246, 0.9991, 0.9417, 1.7161, 1.1206, -0.2951, 0.6758, 0.569, 0.9983]\nstate[eef_state]: left_x=0.2836 left_y=0.0005 left_z=0.1582 left_yaw=0.0048 left_pitch=-0.1121 left_roll=0.001 left_gripper=0.9991 right_x=0.3368 right_y=0.2811 right_z=0.124 right_yaw=0.0717 right_pitch=-0.0857 right_roll=-0.055 right_gripper=0.9983\nstate[joint_eff]: [-0.0068, -1.3333, 6.9538, 1.6728, 0.0024, -0.0366, -0.0171, 0.1846, -9.4427, 5.8462, 1.2527, 0.3492, 0.0952, 0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0177, -0.0246, 0.9991, 0.8997, 1.9694, 0.9413, 0.2005, 0.6868, 0.4774, 0.9983]\nstate[eef_state]: left_x=0.2835 left_y=0.0005 left_z=0.1581 left_yaw=0.0048 left_pitch=-0.1125 left_roll=0.001 left_gripper=0.9991 right_x=0.3587 right_y=0.2774 right_z=0.0245 right_yaw=0.0743 right_pitch=-0.0412 right_roll=-0.0874 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -1.1692, 6.9949, 1.663, -0.0464, -0.0073, -0.0122, -0.7726, -8.8547, 3.9863, 1.3797, 0.2564, -0.0708, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:017078d012d76f065d787d5d91cf14d7b3bcfd217e0e6996b57461eebc47e587",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc3d74499ec9b56f5054fbb2c18c04c5504e5d1934a982aa0a555bc9029b4bf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7276f9733827d34400e59bb04c7505d0f5da219df071bd2771e8bdd73b111773",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQcKEAgSGAI4AUIIdGhpbmtpbmcSDJzR0K40ncO3+yku8xoM8TXT59rxppP0CmymIjAdmC9DLKjdGE54giUPbBoHFjJb755PV6zk6bWWJ7tWYHmjY9dUunO7pGOwFtuh1mUq0gYzypGAlbhtB9AkqXXkUueqt94cXcdRAwlnlDxRsOJNmwABm/3stwbFWE88mOgvgccuFztQ8rqFaWXdzLVhqe2NqbC9TZPJflTgTJ3M6GZZbrQczO//R15NBADwJ1SKjISMh3CncPAveRaeryq690PUOy07K8IFenJquIQGjp2pkR3h/bfUygfe+ToEo0NvPCsKjQsA3K4Gd5BRy/vG6Q1ZIZof+73qXEa514F1VTmM7tOaBDUd+P4G06NQzeHvwpwc72+4B2ouDA7bOBNbze23Qxdm/UZfQkbLxnFA8/zYd1objV8NrEoAKDlsszpWkmAWmS9Xzj0v8Ro8Cw+UNISQyUav3OfcuW9OMomCmu5iHh0MD33cjzxzMPiZnrJ0edprYU6X5ugJv2KGMJJpz2S1INeLzdwEoWBxEVv/DXzWhpWZLDFOMhUcoCY+9RjdS4dcsS5/iFqg2+4BP+sS+yqdtx8b5DhDZbJ/eJFowDLthQb6YiRqY5bMBJwUHg5T3H2uXC56M2yXHZs/JGHtwVSat3U4BnOVpOqlzkqY/PRss69eEZe5j0BHjte28JM6Wd3xJSgXQxOzBSY9TynazW0BiZ4fZWbVd8+nPC/eS+POjwjGHkIdP8XrW5S3RWmL3sOkSFnzwjYGQwf2bhohcAn6/x19Onza+ZFQThKbBTD4kvdcbF0ZRRITkXa8TSgsW7/pP9jWZEL6s4tevlPYcmVfZ4nB7xAtAiWYcO6iB4eTEaLDXyElniy4D2FqReX+vZn01UAZgVeELBjtaXjnTKSv01IzGhoIOvf64+9IKIV44JRKrVAi/3wj0AlAoJeav2Bp4dBVysYjsHbUQlOjgXnPQlJzjXb0TRa3ohtmRckx3tZCbwVQGUyqY9kFU2uvU/BALQExJkcSAQusOw8CpQ0m0Ak8/j/5NDCiIDCtfkK2HSPO0orXRFXft3xhzi8zmk5L5Exz3hMThjyRqkIGJb4zFaAUSuxkPOrPfR7oUEfoLGo6G8E/1oq5HgWYoMN+nHkYBo8RH+giDDED7QyraSm0UrW+m6//7nsXCrmNBAMEX5oAg58LLer1CFNkQkz+Mjft9N/QCxNOv003lhseyjOIFdnuLlig9eRiIBufhRHCyz0PGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VC7cvoPvcczjEGxB25Gimt",
      "input": {
        "note": "Lemon is at the bottom edge between the jaw tips, hidden under the gripper in the top view. Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VC7cvoPvcczjEGxB25Gimt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0181, -0.0242, 0.9991, 0.8974, 1.9823, 0.9321, 0.2119, 0.7063, 0.4591, 0.4482]\nstate[eef_state]: left_x=0.2835 left_y=0.0006 left_z=0.1581 left_yaw=0.0049 left_pitch=-0.1125 left_roll=0.0015 left_gripper=0.9991 right_x=0.3589 right_y=0.2718 right_z=0.0194 right_yaw=0.068 right_pitch=-0.0388 right_roll=-0.1201 right_gripper=0.4482\nstate[joint_eff]: [-0.1573, -1.306, 7.1453, 1.6093, -0.0464, -0.0269, -0.0122, 0.0752, -10.5778, 5.8325, 1.3016, 0.0611, 0.105, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73eeef4724dfdf64eb92114df86ff110316e113bf5696b6b064fb779c382256c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbfb048782b914fc53b7eb113d6aff8907d65ca4c8c05730248966d7090a5b65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f3d85a94cbbe32c3e6e086fa18801c0f40b9b2d7304ec6ef1d8ae619f854f04b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 4.026 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4759, -0.0177, -0.0246, 0.9991, 0.9417, 1.7161, 1.1206, -0.2951, 0.6758, 0.569, 0.9983]\nstate[eef_state]: left_x=0.2836 left_y=0.0005 left_z=0.1582 left_yaw=0.0048 left_pitch=-0.1121 left_roll=0.001 left_gripper=0.9991 right_x=0.3368 right_y=0.2811 right_z=0.124 right_yaw=0.0717 right_pitch=-0.0857 right_roll=-0.055 right_gripper=0.9983\nstate[joint_eff]: [-0.0068, -1.3333, 6.9538, 1.6728, 0.0024, -0.0366, -0.0171, 0.1846, -9.4427, 5.8462, 1.2527, 0.3492, 0.0952, 0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0177, -0.0246, 0.9991, 0.8997, 1.9694, 0.9413, 0.2005, 0.6868, 0.4774, 0.9983]\nstate[eef_state]: left_x=0.2835 left_y=0.0005 left_z=0.1581 left_yaw=0.0048 left_pitch=-0.1125 left_roll=0.001 left_gripper=0.9991 right_x=0.3587 right_y=0.2774 right_z=0.0245 right_yaw=0.0743 right_pitch=-0.0412 right_roll=-0.0874 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -1.1692, 6.9949, 1.663, -0.0464, -0.0073, -0.0122, -0.7726, -8.8547, 3.9863, 1.3797, 0.2564, -0.0708, -0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0181, -0.0242, 0.9991, 0.8974, 1.9823, 0.9321, 0.2119, 0.7063, 0.4591, 0.4482]\nstate[eef_state]: left_x=0.2835 left_y=0.0006 left_z=0.1581 left_yaw=0.0049 left_pitch=-0.1125 left_roll=0.0015 left_gripper=0.9991 right_x=0.3589 right_y=0.2718 right_z=0.0194 right_yaw=0.068 right_pitch=-0.0388 right_roll=-0.1201 right_gripper=0.4482\nstate[joint_eff]: [-0.1573, -1.306, 7.1453, 1.6093, -0.0464, -0.0269, -0.0122, 0.0752, -10.5778, 5.8325, 1.3016, 0.0611, 0.105, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73eeef4724dfdf64eb92114df86ff110316e113bf5696b6b064fb779c382256c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbfb048782b914fc53b7eb113d6aff8907d65ca4c8c05730248966d7090a5b65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3d85a94cbbe32c3e6e086fa18801c0f40b9b2d7304ec6ef1d8ae619f854f04b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS0gcKEAgSGAI4AUIIdGhpbmtpbmcSDEv0ovXJS5aqG08HyBoMFLY4JCjMMKXiNt78IjCJeEtN1+Pi6UwrQgqQHl9eCgXN8+6fYlv6UmNbVFwfZ0RzD+Q6Djrv16x9iUQATHMq7wbqPRwiVbnCiDChp8HjQA51GaQtqOA32ZCuASwjbqI7gXnMFrCn/ABlEELPvyed4PkdFLdo7UN0KZPG++SKqgOdXJuDD7+2rDkTWO1liU7f9B1kBycxbqqzdRxk/NhdwplwrbWw2uiy7VRNisnlXgMjn9LbYR0HPsMVJmcJiEuQg5B4U1psuE6n9HDsUFkuDP7KBzJDawUJseqQMS9GO0aJbDMJlKiew5yTIcs/7kAp3sVbAARkfDC5bKO8KQqQPamVvCLtQR7KyPOGukwbU/8i0+lp6BGysjEafZD5lUAwRDqW3kAWJCRV2oCM2kiUGywIrCy4XHrJOIKIBrWqRXOM5mtQp87iAl2jzoIiqKeYN3VfMw6/NzOQ0CJdqERzud5+qwZjb6Uzapv7a5Ul7lOlpvImIHaHfcxgmmuQ+hbgxLL1xvVNlO492WZI6nLDwaf3AZQGY55zpHfy/DXPAPncyKPJ+HfcxxvMndTGX9OqQYxm+7l+Z05imzcq3vd6IdZy9SGDKDi+XIWBUSNo9X19fZ4FZzJkJ9X2CzqDbgX6ul9vB1SlUDLZvChXi3YX6C5U8eoD8G6KmgxWBIQzvaanhFgXRubqlgehdUHtZF8qKFVYg7+VjhAR/oheskYtD6mCCk6bixJFL3WQTKZzF6NM0Pay8Zav4lgeQ7+6n13jlJ+VF8JYDj9/Nc6rO3MaE7E2sh+DZVk1aXUVSBST9QdEKo1X4+BGAezRR7Kc2fVSlZIyMvebYH59HWsNiVPBms8qaT9wKxuSduaBaqmBFL1LXNHoE5OGo4ATlZ2PjjDoSoRCgDeA+rUjVX5g4Ta0MufKslbHu5lu/WpnBQ0W2SVNGQyQm1Hf4MN5wR7aQVwxL3gidO8WTGT4dBgUDjA/X4PuC8wU44hdSjDfQw8rf4IoCvdmcJz7vwPWF/YUQPAEGRRdNVEvFY3oiA8Sl1ybZxwFfDqak2HMfByeYN3HbC0UK4kBu4NBBi47XsWSR1IhbgvfplOHK55DIiagntfcCDCHyib+F8phNUR7CrTIWK9ZL9ChgtPn0zK6xjGloX3APUtnitSe+vqfxaQCOHOewxXBLF/ObVaTLe0WxpFG97TA7S0B2dpEwWRlgSYNC2NgzLiV9/YlY4bCYc+U9EJl36gg//Oc5DU/3msMLt0tIoIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017fVvHFP3aRQ4VbXLrqW1kY",
      "input": {
        "note": "Lemon grasped (gripper 0.45). Lifting to carry height.",
        "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_017fVvHFP3aRQ4VbXLrqW1kY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0181, -0.0242, 0.9991, 0.8974, 1.7313, 1.2057, -0.3359, 0.6952, 0.4519, 0.4517]\nstate[eef_state]: left_x=0.2835 left_y=0.0006 left_z=0.1581 left_yaw=0.0049 left_pitch=-0.1125 left_roll=0.0015 left_gripper=0.9991 right_x=0.359 right_y=0.2743 right_z=0.1456 right_yaw=0.0786 right_pitch=-0.0612 right_roll=-0.1374 right_gripper=0.4517\nstate[joint_eff]: [-0.1709, -1.2923, 6.9812, 1.619, -0.0269, -0.0171, -0.0122, -0.3077, -10.7419, 8.5128, 1.4872, 0.3736, 0.0513, 0.7937]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:207aedcaf32e1acc3c5b6cb8cc9abc8b2aad6f00934e266e02502337a935e693",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26c7313ee3269e60213648803ef95e24aff0d84cee02659152f61efc062a8c81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf57d387e4975e61261b4d4757e4e3f183acf3c623fae78843b4341576039d11",
        "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 · 3.136 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0177, -0.0246, 0.9991, 0.8997, 1.9694, 0.9413, 0.2005, 0.6868, 0.4774, 0.9983]\nstate[eef_state]: left_x=0.2835 left_y=0.0005 left_z=0.1581 left_yaw=0.0048 left_pitch=-0.1125 left_roll=0.001 left_gripper=0.9991 right_x=0.3587 right_y=0.2774 right_z=0.0245 right_yaw=0.0743 right_pitch=-0.0412 right_roll=-0.0874 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -1.1692, 6.9949, 1.663, -0.0464, -0.0073, -0.0122, -0.7726, -8.8547, 3.9863, 1.3797, 0.2564, -0.0708, -0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0181, -0.0242, 0.9991, 0.8974, 1.9823, 0.9321, 0.2119, 0.7063, 0.4591, 0.4482]\nstate[eef_state]: left_x=0.2835 left_y=0.0006 left_z=0.1581 left_yaw=0.0049 left_pitch=-0.1125 left_roll=0.0015 left_gripper=0.9991 right_x=0.3589 right_y=0.2718 right_z=0.0194 right_yaw=0.068 right_pitch=-0.0388 right_roll=-0.1201 right_gripper=0.4482\nstate[joint_eff]: [-0.1573, -1.306, 7.1453, 1.6093, -0.0464, -0.0269, -0.0122, 0.0752, -10.5778, 5.8325, 1.3016, 0.0611, 0.105, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0181, -0.0242, 0.9991, 0.8974, 1.7313, 1.2057, -0.3359, 0.6952, 0.4519, 0.4517]\nstate[eef_state]: left_x=0.2835 left_y=0.0006 left_z=0.1581 left_yaw=0.0049 left_pitch=-0.1125 left_roll=0.0015 left_gripper=0.9991 right_x=0.359 right_y=0.2743 right_z=0.1456 right_yaw=0.0786 right_pitch=-0.0612 right_roll=-0.1374 right_gripper=0.4517\nstate[joint_eff]: [-0.1709, -1.2923, 6.9812, 1.619, -0.0269, -0.0171, -0.0122, -0.3077, -10.7419, 8.5128, 1.4872, 0.3736, 0.0513, 0.7937]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:207aedcaf32e1acc3c5b6cb8cc9abc8b2aad6f00934e266e02502337a935e693",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26c7313ee3269e60213648803ef95e24aff0d84cee02659152f61efc062a8c81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf57d387e4975e61261b4d4757e4e3f183acf3c623fae78843b4341576039d11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgwgKEAgSGAI4AUIIdGhpbmtpbmcSDIPTx4U21RETYy3CLhoMonO3v2l6Vw/RCKDBIjBKphr4r4iFM13sZUeIlgx0hpAKnEOI7TcDJuXXXueIjlgyw9vu01MZknsg6+AmvmcqoAc74cLFxBj9txikJX3/YO+X3K3vWvqoT0zuCCbDgdQwulURu5CGxDECaZ9l5vlpKtTgkwEmtaumWMn7HGR/dvTEdFbNn1dyix3Ue08f4B1eScA7gahVIpbcHot25bMUz3uuEmaH7N9xt9R4JLycQjXLqZ37KAIqdZJ8vIufDY7Y3q8CuGSdguHd3qMAZqZm9y4s7+4LGbKUnEY9NhYKlKmlmKSNX4EpLZQxPuiwId+tGhzntuiUc2hzgtuVYbwIo62lVsxF04InJdBVoLw/ECyfFNj7BvttzE/HCyJRZti/b9PtgRYGBNVoD1GIhij82dVj60mwY4ILTInGtMwnnFCC6QzMRWpuHaGMhu2Y9YwbQtWBVVIZGgqMtWJobgSdKcqIqWVmnEfluQjFKtCS/D11+u+v2COzxQugqaG0mdCDQ2nmyhNCMWiHaq/13IToAqcVkNd2pgZ2j8fnzI97k63a04bMyQXHtd2qbVYFxD7U9cKH6NErFY3VUHRHWlBi8w2fNUMqfAy+TMoPPcQIVoaPsnplmXI/nJbcamFxkNzF8CW3zA698Xj2Xld4NibqEHTbhtz7fALBQ8RGbPAWil3+aP2n5DoHBWLLxJUTL+0OjC+KSBTy2DHlvdKw0E5jrCYgFyhN+kyW/XQalrl7iCheCHhscJwZrDwXkG3OaDaIDiOMI+CsTTIXsAcL3N8siQbbDOWh5sAy2rT7mxDGDRdtXYiJ76D7G9dxWTj9RnIbRT9IBzwEN6FXLl0NgqUwUezSe/XmKQ/mwy91ifFFh1PXOBrsn7q/xqyoVEck307BJPCI83XclIdjxdVdaiH4mvsURYrZrGtrtBwcHhDA2v0/ALfrcV5L8ihqWVgheFFBByy7COJS1Drx+jD1L4l9pwt0OcqToptl8gVyFPuCRSoFQ5UBeZE+BdI9BqAMrupKAVYimj+DKakrUXh/G/g3RXDLLtKABUVmqjSTZNgvroIxJBoAGXrA1PM8k7tSJCyPKJCoJglXhXXebudmLVow4S+3wJCLKhmGBCVcY/4tecgHOns9XnkU5RrutQA8fXzLGfohI0QAY9E8rckWfKTBo6K94olRt2mW5TtrA0N/ovg6AteI68ptycDp93+Ep4oOWQpyXi14k4yw7il8J1tcXrwUGKNmy634zheY6YvcbLBiklpIKcdj6KZ5c6Tggq/uto10Mog8lJjCMOmiwfBBPwfhr3AW8ose2gH7u7uoe432GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018nbbFKsXpDBQnb4pd1VFAK",
      "input": {
        "note": "Lemon held; the blue bowl (with the pear) is just ahead and slightly right in the wrist view. Moving over it.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.255,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_018nbbFKsXpDBQnb4pd1VFAK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8204, 0.6132, -0.4763, -0.0181, -0.0246, 0.9991, 0.7471, 1.8297, 1.2301, -0.2577, 0.6014, 0.3302, 0.4545]\nstate[eef_state]: left_x=0.2836 left_y=0.0006 left_z=0.1578 left_yaw=0.0051 left_pitch=-0.1136 left_roll=0.0013 left_gripper=0.9991 right_x=0.4066 right_y=0.2452 right_z=0.1155 right_yaw=0.0593 right_pitch=-0.1169 right_roll=-0.1794 right_gripper=0.4545\nstate[joint_eff]: [-0.253, -1.2376, 6.9812, 1.619, -0.0415, -0.0317, -0.0171, -0.2393, -8.9915, 8.294, 1.7216, 0.2662, 0.0269, 0.5348]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1359616086335cee09b652b3f3b90e94867ad80c2a3c7a0b1624ec96f817ade6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f747132a1fa7805a92ee03a0cd275afa79b166f504ea0f370eae1ee1615a3a02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8f29a00d45d70a3a3516d4bf41aa6efac15d61570a094b3f5526dff1ac7a34c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 5.83 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0181, -0.0242, 0.9991, 0.8974, 1.9823, 0.9321, 0.2119, 0.7063, 0.4591, 0.4482]\nstate[eef_state]: left_x=0.2835 left_y=0.0006 left_z=0.1581 left_yaw=0.0049 left_pitch=-0.1125 left_roll=0.0015 left_gripper=0.9991 right_x=0.3589 right_y=0.2718 right_z=0.0194 right_yaw=0.068 right_pitch=-0.0388 right_roll=-0.1201 right_gripper=0.4482\nstate[joint_eff]: [-0.1573, -1.306, 7.1453, 1.6093, -0.0464, -0.0269, -0.0122, 0.0752, -10.5778, 5.8325, 1.3016, 0.0611, 0.105, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0181, -0.0242, 0.9991, 0.8974, 1.7313, 1.2057, -0.3359, 0.6952, 0.4519, 0.4517]\nstate[eef_state]: left_x=0.2835 left_y=0.0006 left_z=0.1581 left_yaw=0.0049 left_pitch=-0.1125 left_roll=0.0015 left_gripper=0.9991 right_x=0.359 right_y=0.2743 right_z=0.1456 right_yaw=0.0786 right_pitch=-0.0612 right_roll=-0.1374 right_gripper=0.4517\nstate[joint_eff]: [-0.1709, -1.2923, 6.9812, 1.619, -0.0269, -0.0171, -0.0122, -0.3077, -10.7419, 8.5128, 1.4872, 0.3736, 0.0513, 0.7937]\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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8204, 0.6132, -0.4763, -0.0181, -0.0246, 0.9991, 0.7471, 1.8297, 1.2301, -0.2577, 0.6014, 0.3302, 0.4545]\nstate[eef_state]: left_x=0.2836 left_y=0.0006 left_z=0.1578 left_yaw=0.0051 left_pitch=-0.1136 left_roll=0.0013 left_gripper=0.9991 right_x=0.4066 right_y=0.2452 right_z=0.1155 right_yaw=0.0593 right_pitch=-0.1169 right_roll=-0.1794 right_gripper=0.4545\nstate[joint_eff]: [-0.253, -1.2376, 6.9812, 1.619, -0.0415, -0.0317, -0.0171, -0.2393, -8.9915, 8.294, 1.7216, 0.2662, 0.0269, 0.5348]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1359616086335cee09b652b3f3b90e94867ad80c2a3c7a0b1624ec96f817ade6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f747132a1fa7805a92ee03a0cd275afa79b166f504ea0f370eae1ee1615a3a02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8f29a00d45d70a3a3516d4bf41aa6efac15d61570a094b3f5526dff1ac7a34c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSwQYKEAgSGAI4AUIIdGhpbmtpbmcSDDoWWrNcltcD9F2vWhoMUl/t9rEs3aX3KQFZIjCv78Nq4lR7WwqgbSXIghl0HBnwJoCOtuX+7Sow6nR3sfTgt8tOILM3P2X4apRURhwq3gWKLJJZv3eHwv3PevJVlGJcjiS1+0GvEKpmVNwfIL9588kk47m/kcPUtYd64so3+ekztt6WiQCP7ScLOT8tAV3OwAG9MnaNUGlHF1Qm6JIFeZmlPP53UOjx7NxrST+OY0CGyLaEKYzhtmUCAOc+pVpGGNoXyWOtRZVvwc/YDPe3H3+le7Es+flXnYXSRHMflf8MdCC2uIGEb1ZKiqAD639KwSryt/MbXrXr9fLNLAUor7sFO/VgwpuPGTwMEFkK/6SUGgAT13RH0iIiKSiOER3EonavWOLk6GDzldmfAPSwr7daYMyGbA1WeSsSsD6MK7lt2rAi5ewx3IxHxq9MKrbtRhQl8AKlbyFsfrcVUhYjg6JH1xldrBovmZw3PsfDE/Yolnx0i97w6jIFLZjVHRwqTvEKyA3NYocgTfkd9yf9e0a3PH9Ct3xB5+3BVb8S7fkF52/V4AS6fXUyuqFCnsceO9Y4YwiaCKZm8KEsvRhnNRdonRdCqx3WKpjVfzMWQM8wQWbsEgQy6S/DGKicZFOOSdZa1FM3uz0nFU5Lv1Q+wrGuGAl5rJyhz3ZaDO6NrsUZuH6wkrNowwJ5WsaVR9NPYMq1kBfZA0SdWhZqoy8ym2+D2MXIf4q3QAwjqkqY6zlcVyQ3DCsPfvMHBPJD7RwGVSkE/LkaEnJ0KE6PG7dXwG/6xaQ4EiUFJQP41WXLarqP1sP+DAISF4jHehuaFdgDOutL9yAPxKuiGyK0BuRABI1wlHQO65dfnCuVVb73MHnYoO/WYysW5XSScGQp5OuVv//d6OF0CWxNpuabutvSk/aEPuOX5+BCM1eTuY8G8McqB6ZCKM0vws1pbd6xY+Cjb1PcWzn9RkntSvKk11Vc2qCKF1B7N0pp/5peZzbIaZQgR2N30ikH/MVp8vzzAJR1uQ4E0vut+p1o/msD62e8I387+HSq8unKKM24oNHsjjWo/JKKz30TM9g86EfrWhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RwVFqNRDVvz1qemy3rn2Qc",
      "input": {
        "note": "The blue bowl is directly under the jaws now. Releasing the lemon into it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01RwVFqNRDVvz1qemy3rn2Qc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8204, 0.6132, -0.4763, -0.0181, -0.0246, 0.9991, 0.7383, 1.8355, 1.2304, -0.2207, 0.5781, 0.3019, 0.9957]\nstate[eef_state]: left_x=0.2836 left_y=0.0006 left_z=0.1578 left_yaw=0.0051 left_pitch=-0.1136 left_roll=0.0013 left_gripper=0.9991 right_x=0.4121 right_y=0.2493 right_z=0.1167 right_yaw=0.0848 right_pitch=-0.1055 right_roll=-0.1681 right_gripper=0.9957\nstate[joint_eff]: [-0.2256, -1.2239, 6.9538, 1.6435, -0.0269, -0.0269, -0.0171, -0.1846, -9.5111, 8.3077, 1.6532, 0.2613, 0.0464, 0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b669fcd1d6647be0ec3a2bb894ee3f8528e32784512751131511ac98d338d045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6febba7a1bba76afff5d8a67f2046ab2c43db832ad52014ac843eb25bbda7298",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1171733867922a04c7c964fe2f943d5fc16dc1fc3388a34a7e5e444eff29963",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 4.639 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0181, -0.0242, 0.9991, 0.8974, 1.7313, 1.2057, -0.3359, 0.6952, 0.4519, 0.4517]\nstate[eef_state]: left_x=0.2835 left_y=0.0006 left_z=0.1581 left_yaw=0.0049 left_pitch=-0.1125 left_roll=0.0015 left_gripper=0.9991 right_x=0.359 right_y=0.2743 right_z=0.1456 right_yaw=0.0786 right_pitch=-0.0612 right_roll=-0.1374 right_gripper=0.4517\nstate[joint_eff]: [-0.1709, -1.2923, 6.9812, 1.619, -0.0269, -0.0171, -0.0122, -0.3077, -10.7419, 8.5128, 1.4872, 0.3736, 0.0513, 0.7937]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8204, 0.6132, -0.4763, -0.0181, -0.0246, 0.9991, 0.7471, 1.8297, 1.2301, -0.2577, 0.6014, 0.3302, 0.4545]\nstate[eef_state]: left_x=0.2836 left_y=0.0006 left_z=0.1578 left_yaw=0.0051 left_pitch=-0.1136 left_roll=0.0013 left_gripper=0.9991 right_x=0.4066 right_y=0.2452 right_z=0.1155 right_yaw=0.0593 right_pitch=-0.1169 right_roll=-0.1794 right_gripper=0.4545\nstate[joint_eff]: [-0.253, -1.2376, 6.9812, 1.619, -0.0415, -0.0317, -0.0171, -0.2393, -8.9915, 8.294, 1.7216, 0.2662, 0.0269, 0.5348]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8204, 0.6132, -0.4763, -0.0181, -0.0246, 0.9991, 0.7383, 1.8355, 1.2304, -0.2207, 0.5781, 0.3019, 0.9957]\nstate[eef_state]: left_x=0.2836 left_y=0.0006 left_z=0.1578 left_yaw=0.0051 left_pitch=-0.1136 left_roll=0.0013 left_gripper=0.9991 right_x=0.4121 right_y=0.2493 right_z=0.1167 right_yaw=0.0848 right_pitch=-0.1055 right_roll=-0.1681 right_gripper=0.9957\nstate[joint_eff]: [-0.2256, -1.2239, 6.9538, 1.6435, -0.0269, -0.0269, -0.0171, -0.1846, -9.5111, 8.3077, 1.6532, 0.2613, 0.0464, 0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b669fcd1d6647be0ec3a2bb894ee3f8528e32784512751131511ac98d338d045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6febba7a1bba76afff5d8a67f2046ab2c43db832ad52014ac843eb25bbda7298",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1171733867922a04c7c964fe2f943d5fc16dc1fc3388a34a7e5e444eff29963",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgwoKEAgSGAI4AUIIdGhpbmtpbmcSDJITN9mG6BdqWeOQPRoMpHb0lifLK3frkVzOIjAIXWR4F6A0HB+VXYPKtX32E0tEzk20GE5m92NytsZKShsCBbjLqmytDHQzqIzpmqIqoAkBn/KS1tOb+D2KE23tLEkalsVHUCWNiLTTuEnqrT/6Ii0bG/fWYMy6XcVvhQm/Xc4ZyKibbOTnJAcBRT7ohdpsAvgv25ny6cZt4q878swpHUGKF/l+JIrSTB735yUyJzbby0mTVR7Y51oMj39X/YI7NaDa+AMBri9PUFbpToyOEtk9O71DeoRo2mGVV4U8WJM49Mmszaikm7Chr9qZZghMhzOOC/I4g5XnxXTcYOea0SaRjuwLUP0o0xUvvsvwMKUwPVu7DTArEZ2/Erd9bkn0piri7klUkDoqaWthZDU4covsu3OfDOJXIdVOL/HOjCM2NAS7LrGerjLN3hojtMOg/QMWsXah+YhUAwVtXk+o8gkYMr03r6EQfaNQjIyb2vsdgo1x0w89j1MBPoZ6eY0wP4rELfJd2OEN46jhy8vkzT/nSgDE0/Rq0FgKEDOcZgGbMXRaaiDFDa4i0UFwnczmkiAY+xvRPDUVS0hOPhll4F3H57h0N+QSso71AGqejgdTHKHFih+BVWQa1REY/xfaupRwy0wS5vnJo/1T5tPt0PgbEmJ3ip/54RtUB/cvT3hUmTM9kQ8iWYKNwU2TC78fMXF68n2VKy4PhvhNpqd04rE3B0e2tBJVlLT4LPc/NcsM4IfKXUjXo5xDHL9CDqqM4DD+c7uj+IikxHipqv29txQskhe038iyGekwJHwaCIVH9EGEFUaH0pis8Z9fZegbSEBfpXXxVFkmqbCFcFfVeizsD0YOWacJNy17UJHTQq/uKC41h/yK6cnvszfhnSa+wR8vqcu2rQviQMQsfRDn5TvrjGiVb7qhzLweciQ0zvDznsspl0YWh48QckZJMXSNVCWAghHr7dx4Fw4lCVGzBk0EcCdNqpKg//mMc1snA718A9rdgJBCLbCfrMMDiiKGjDUMsnqTP50/1IR6PkbxQJ8P+jaUk3Ak6RoJGxSGMw6dGLlyXANMieCqGL9HTzS4Pk8+yx+/HgxeAIQXbl5V6fIEwZVsM820RSD8tMfB2GeKBQdvSfJaZSmtmhowkYJSvKsN9iQKBvnGIpIgp/8Cqb+pZOG8XzR0BJ/umT5NhCjFIYYqsPscjryuHw+0XD67dTr1LzjjdED+YvHuZLqfwYoUT5WgP+PypWovtrsqcN3QtGpxrbBiEEwuKvYwhpeprc1TFvhAidPiNDMtlX7GVyeotSoGni1fSs2s1Gop2PAe0cCL6xdPTGIVKP4iikp/7jB13HFtWmXwawKsd+q4F/xuHeAYZ6m1A69bQzC0sTE0dFcoSAdP8GDE+oxg7ouxR6J9kUf9q0v8HqOM4lgopIRG6g1EWmfgOUPSdOO5FK+QQrIvq7DnYkjlgY34n205xFYUY7IsccMuG3yyKQNxtGTCMrN2Bm/liM/KjHGi8g0GrpY5ksH8/GPT/8SVYpwCDXQFYk3qr5bWoy4x1KYayvwspFmROIs/cMxLQ7RxGtZFzqBBYj1Wb2YW9NCxGt2XaHoTXpURa0FKktqWlfsPAU0bTgygQrrYlNBarZMYumz2S0uzgSUgtbE46AtSg/VftXcGCRurbc+bljuHBXyihhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017E2Rm2TXDUrhqxGy7wN9TL",
      "input": {
        "note": "Lemon and pear are in the blue bowl. Moving the left arm above the dark plum, and lifting/retracting the right arm out of the way.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.33,
          "left_y": -0.17,
          "left_z": 0.12,
          "right_x": 0.3,
          "right_y": 0.3,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_017E2Rm2TXDUrhqxGy7wN9TL",
      "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]: [-0.7555, 1.3628, 0.6559, -0.0898, -0.5865, -0.477, 0.9991, 1.0611, 1.7302, 1.4178, -0.7425, 0.7513, 0.6037, 0.9963]\nstate[eef_state]: left_x=0.3189 left_y=-0.1612 left_z=0.1016 left_yaw=-0.0177 left_pitch=-0.0686 left_roll=0.0397 left_gripper=0.9991 right_x=0.303 right_y=0.3023 right_z=0.1813 right_yaw=0.111 right_pitch=-0.1351 right_roll=-0.1969 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -5.2444, 8.6496, 1.619, -0.486, -0.0171, -0.0122, 0.4171, -10.1402, 8.9094, 1.2137, 0.3639, 0.1734, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:096fa34e68387af3e5562cb2a5030468bc5607a5b27158f278f6eef10efecd41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d0e3c79235b3fc478404ec5cd5a310d9905b0cacae20b1898f47a0b52b1e4b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b0c4c3d71bfd328a52d1bbd28d13b6e5af79b7c333f06fa121deaecc872ed0a1",
        "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 · 3.369 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8204, 0.6132, -0.4763, -0.0181, -0.0246, 0.9991, 0.7471, 1.8297, 1.2301, -0.2577, 0.6014, 0.3302, 0.4545]\nstate[eef_state]: left_x=0.2836 left_y=0.0006 left_z=0.1578 left_yaw=0.0051 left_pitch=-0.1136 left_roll=0.0013 left_gripper=0.9991 right_x=0.4066 right_y=0.2452 right_z=0.1155 right_yaw=0.0593 right_pitch=-0.1169 right_roll=-0.1794 right_gripper=0.4545\nstate[joint_eff]: [-0.253, -1.2376, 6.9812, 1.619, -0.0415, -0.0317, -0.0171, -0.2393, -8.9915, 8.294, 1.7216, 0.2662, 0.0269, 0.5348]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8204, 0.6132, -0.4763, -0.0181, -0.0246, 0.9991, 0.7383, 1.8355, 1.2304, -0.2207, 0.5781, 0.3019, 0.9957]\nstate[eef_state]: left_x=0.2836 left_y=0.0006 left_z=0.1578 left_yaw=0.0051 left_pitch=-0.1136 left_roll=0.0013 left_gripper=0.9991 right_x=0.4121 right_y=0.2493 right_z=0.1167 right_yaw=0.0848 right_pitch=-0.1055 right_roll=-0.1681 right_gripper=0.9957\nstate[joint_eff]: [-0.2256, -1.2239, 6.9538, 1.6435, -0.0269, -0.0269, -0.0171, -0.1846, -9.5111, 8.3077, 1.6532, 0.2613, 0.0464, 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]: [-0.7555, 1.3628, 0.6559, -0.0898, -0.5865, -0.477, 0.9991, 1.0611, 1.7302, 1.4178, -0.7425, 0.7513, 0.6037, 0.9963]\nstate[eef_state]: left_x=0.3189 left_y=-0.1612 left_z=0.1016 left_yaw=-0.0177 left_pitch=-0.0686 left_roll=0.0397 left_gripper=0.9991 right_x=0.303 right_y=0.3023 right_z=0.1813 right_yaw=0.111 right_pitch=-0.1351 right_roll=-0.1969 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -5.2444, 8.6496, 1.619, -0.486, -0.0171, -0.0122, 0.4171, -10.1402, 8.9094, 1.2137, 0.3639, 0.1734, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:096fa34e68387af3e5562cb2a5030468bc5607a5b27158f278f6eef10efecd41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d0e3c79235b3fc478404ec5cd5a310d9905b0cacae20b1898f47a0b52b1e4b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0c4c3d71bfd328a52d1bbd28d13b6e5af79b7c333f06fa121deaecc872ed0a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsQgKEAgSGAI4AUIIdGhpbmtpbmcSDKeAGNa02WA0rPio/RoMKaOmF/P2JvhiguhtIjCe0aVkNBh5tdLIb/yD9IfnJjPCXJ2Ook57R+e9wD8wh3ObogcrUkUghFpAOpJZIb0qzgcwcF8PfAv6pTxbSmNQBRs+5g4vZCQ3yfjrzyQR6aHRUT0OTRcB4QDbOujv5E0DKT5iyjfpP7zcVRnv8g1k5wnzQ6Z9ANJRVjuEFgRW5FKvU2kzRG4Jr1oFdcsdD8BbSxa5/gepp2nZGdpRC25+7rvvpLl4LsJHsrHG7y7hFHuQ4Bb5mvEEzAOREEsS7pLruo9oIVfjmwfvdEC7oHG8pM/SKO/1/ajKzuF5qzWivebgkSwCwErfzpHKzfQPqPIiotjHvcT0cFBL3g8Sn5tnjWjEJBhRC7I0WHVAsrKuyV91nkHRR0mJBgZ2nN3c+yKN3rT79vslrR13SEvJQUYJztKLhHwEPlfFeMWSzPdaqAvEavoJoLv8dHDxb+DWqFoTxK0YKorOyfUu4CT0O+wd0/n3XwpbzCrjpjmfo6DPPvmzItXaZyb5on6A09/lFitX4keZrtKZWY/Snmu8lkLaeW/tVsxJhN/pMQsq5sOPOJd2Duui9HAQMhBYVN55qwFvYxueS5uhY+EOyJ72hz2NE/Xb2M01eHExtTLRMEU+O07XGpYt1InkbpU7e8q4PFeWlWPV1ikFOP7YhpgznlzhELokIEoUPYHQujt3K5PmpkZ7nsDfriJoeRZSSGR8PpKhW31zJ2QqOFsE4p2wvqQkudnJXeC4L0zDaZtGbP+tVrnfqqUz5zR3aT36WW04Hs+aRkgHv7u1oA9CgyDwFyGeOzo277uUI1+3waXLHkuluQldAE77HvA+7Idk1yax2hl3RRW6Ediz9rYvOQe5+s4LYOVrPM2Q9hikRX0OpKf2EpznwVaHgUr4x/hshkIYKi/WDE6dYsMLz0VC43PjOnOZ1gwhTkTru/PjPG7+CNfOani0uusVl8Be8cNxoDv9PuWBPhI6CeZEHL3NtW6uuQMDRtcm/Nplj7Mi+Pw4raYBU1uVUGKS1Zl2YfwwhxNeiUPh+DPiSZ7BpZSjMYto3ifHfbVGnP7nIwMzI9i1GdlCQwIzameNN1jx+P6vAph2HV8PANju2kB8qplWWlzxWTzB35iojmAo/Rfw2xTKK3Kuk2AuVyRNzrkksVK8c1v3g+/GlvUfd4RRCwixkb+uo+KsiRMTgMZO4M5mlSzIqFEpsMzV/Ky/3SmIWodLRNNucnG5pHMvVdlEEfRqexMxIly1pnPqyJdViX2YXsjWc5iAscHeaSjPhWHanZng4dMdYVzXtM/u8m8f1d/bY8it/IxNJKm1mOvYeTrdVhOhuEFyy7YxK8re/zHaRRy1FHNmfeho4VbpQDFB2bL/klgNwRe1rhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X8yUSuk4SFn5zH6dD8hzHY",
      "input": {
        "note": "Plum is just ahead of the left jaws, nearly centred. Advancing slightly and descending to grasp it.",
        "targets": {
          "left_x": 0.34,
          "left_y": -0.155,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01X8yUSuk4SFn5zH6dD8hzHY",
      "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]: [-0.6868, 1.7054, 0.5152, 0.3527, -0.5461, -0.44, 0.9985, 1.0565, 1.7325, 1.4143, -0.7692, 0.7464, 0.6022, 0.9963]\nstate[eef_state]: left_x=0.3312 left_y=-0.1483 left_z=0.0043 left_yaw=0.0037 left_pitch=-0.1198 left_roll=0.0735 left_gripper=0.9985 right_x=0.3014 right_y=0.2969 right_z=0.1762 right_yaw=0.1061 right_pitch=-0.1576 right_roll=-0.2222 right_gripper=0.9963\nstate[joint_eff]: [0.4991, -6.8855, 4.4513, 0.5543, -0.0464, 0.3736, -0.105, 0.4991, -8.6222, 6.7214, 1.1795, 0.3248, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb412288f87898d0651c0bdb5594e0097995a364d6b24f2eecf689d10e8bae6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b630a281bd7ae0fe169e42de7f7018592a63568f40a7c3a574e26b7f7c8f37b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bcbbd24e2e1726893bf356adc0eb8628085d7f26d7740990fa6a10cffeb98840",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 5.866 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8204, 0.6132, -0.4763, -0.0181, -0.0246, 0.9991, 0.7383, 1.8355, 1.2304, -0.2207, 0.5781, 0.3019, 0.9957]\nstate[eef_state]: left_x=0.2836 left_y=0.0006 left_z=0.1578 left_yaw=0.0051 left_pitch=-0.1136 left_roll=0.0013 left_gripper=0.9991 right_x=0.4121 right_y=0.2493 right_z=0.1167 right_yaw=0.0848 right_pitch=-0.1055 right_roll=-0.1681 right_gripper=0.9957\nstate[joint_eff]: [-0.2256, -1.2239, 6.9538, 1.6435, -0.0269, -0.0269, -0.0171, -0.1846, -9.5111, 8.3077, 1.6532, 0.2613, 0.0464, 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]: [-0.7555, 1.3628, 0.6559, -0.0898, -0.5865, -0.477, 0.9991, 1.0611, 1.7302, 1.4178, -0.7425, 0.7513, 0.6037, 0.9963]\nstate[eef_state]: left_x=0.3189 left_y=-0.1612 left_z=0.1016 left_yaw=-0.0177 left_pitch=-0.0686 left_roll=0.0397 left_gripper=0.9991 right_x=0.303 right_y=0.3023 right_z=0.1813 right_yaw=0.111 right_pitch=-0.1351 right_roll=-0.1969 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -5.2444, 8.6496, 1.619, -0.486, -0.0171, -0.0122, 0.4171, -10.1402, 8.9094, 1.2137, 0.3639, 0.1734, 0.0562]",
      "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]: [-0.6868, 1.7054, 0.5152, 0.3527, -0.5461, -0.44, 0.9985, 1.0565, 1.7325, 1.4143, -0.7692, 0.7464, 0.6022, 0.9963]\nstate[eef_state]: left_x=0.3312 left_y=-0.1483 left_z=0.0043 left_yaw=0.0037 left_pitch=-0.1198 left_roll=0.0735 left_gripper=0.9985 right_x=0.3014 right_y=0.2969 right_z=0.1762 right_yaw=0.1061 right_pitch=-0.1576 right_roll=-0.2222 right_gripper=0.9963\nstate[joint_eff]: [0.4991, -6.8855, 4.4513, 0.5543, -0.0464, 0.3736, -0.105, 0.4991, -8.6222, 6.7214, 1.1795, 0.3248, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb412288f87898d0651c0bdb5594e0097995a364d6b24f2eecf689d10e8bae6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b630a281bd7ae0fe169e42de7f7018592a63568f40a7c3a574e26b7f7c8f37b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcbbd24e2e1726893bf356adc0eb8628085d7f26d7740990fa6a10cffeb98840",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AYKEAgSGAI4AUIIdGhpbmtpbmcSDFfpy0u/tdM8cZ1oIxoMaZsFOlb2b7/fW4X4IjD2Nuc1vt82PQb/pNkOLkuAU8xsJ3FgV9lgiqwuRg+aM76gauTXgwMbDKMymXuCbVYqhQYWpMuYSbga2AGX1dYb0aDNbv/CCyUFhdH+b4yOCHG4YyNJh+ZBf8bP6P3t8+II4EHP1kQV0dGcgkd0ni2k2Jt6czu8MbWFwx0WlIZbA+MJOn4sXdOARNPWctu9qN2FgCBXa0E6zBH0ifXHya4abA/1regOMmkpEG9/H1boGUriB6TEQIrJ8Ha/1sAHfzJkqI7x2KP/7B0IMHwKMqEwyCt0q/1YESptXhyTfTiMrI9pX7GvQ0m7DWOQwHFtuO0/dn28/0buP8ZYjffqOJ7u8GEl8yyUIFFBdssv7R9m6QdyC/HfVNgxBfAhvaExHHcBfrYQ1xf0qJE0zqmpEvtWIo6FnWUlGDmeTI9/ig8IuX7nNsp4daS9qkEnTARRUYrHmCJ86cmM9T1FyAV7aD/wz7MaMHJY07zc9051fqkW45hT7Ag7lm2hDy5JxBs5d5DYvFDn5wTOMUDjEd80ojI8OJLCBgNaFBYnPQUe47jGrz6dyhR29oVINUnmbsAyhzLnjyKcPdP3f9N1T9QinrzO7NUSBHhAMzlizEk17V00NQlcu8UqMX2z1uxnAPcidmuRNZFKkYOaI42z3KnC39z3AU6SvKuqZDZiYPtkLNO8ERbDso3aDCAH7m9RHKMzCo4bmKEIS1JgV7YxvF6QBa2jdx7TQkoSvFf11/XAbijXZSL8a9dkAqeaatIcRKDqH2iScD7LfCrRSfR9HkPtF79IXSFxUm/I0M4+MB6BJgnQacEz/fLeUEBnRTQnh7z9p8CLmUFpzgP5xw8HuFJBcWzeNwca0Yowknh0pnO14rKs5P6FBgPjJLNqxS3/eklch6a7gqUg2HEFHN+DDJI8KR0XsrZDBEziqL7LnB7/AujPdCkKvX3tsi5fR4w6HIZQL+3LE/0iNZ+ApSGHTFayPjkdsOd0H/14R+5g3snf+et7rjQjw1EiMxGQGlTIAmqiVzJCGLBTzsz7Guvc0IY4e2+5cXsnJBVomSO/1Ck9f0Lsw/UfjapFdwoQKVwZsAH1H/tjt+zwfep90hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018bk8KPW4JMJL49aV8HrwXw",
      "input": {
        "note": "Plum fills the gap between the left jaw tips. Closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018bk8KPW4JMJL49aV8HrwXw",
      "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]: [-0.6853, 1.7187, 0.5087, 0.3851, -0.5396, -0.4458, 0.5238, 1.0584, 1.7325, 1.4143, -0.7681, 0.7433, 0.6022, 0.9964]\nstate[eef_state]: left_x=0.3322 left_y=-0.1497 left_z=0.0024 left_yaw=0.0026 left_pitch=-0.1129 left_roll=0.0572 left_gripper=0.5238 right_x=0.3007 right_y=0.298 right_z=0.1759 right_yaw=0.1098 right_pitch=-0.1592 right_roll=-0.2196 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -7.5966, 5.094, 1.0769, -0.3053, 0.022, 1.0281, -0.212, -8.6496, 6.4205, 1.072, 0.3443, -0.0415, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2edda7646eb4881a799869d7fc7f073d054917e0a60614437ceaff71d2b7a93b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:604d07b78cff740724e060d56376d3f4b2acdaa81df6e12a4e643a1aa9dd72eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8a0b096246743fb9797e344011d3f1884386e76995864a989cd13f4f917b37fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /messages · status 200 · 6.713 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]: [-0.7555, 1.3628, 0.6559, -0.0898, -0.5865, -0.477, 0.9991, 1.0611, 1.7302, 1.4178, -0.7425, 0.7513, 0.6037, 0.9963]\nstate[eef_state]: left_x=0.3189 left_y=-0.1612 left_z=0.1016 left_yaw=-0.0177 left_pitch=-0.0686 left_roll=0.0397 left_gripper=0.9991 right_x=0.303 right_y=0.3023 right_z=0.1813 right_yaw=0.111 right_pitch=-0.1351 right_roll=-0.1969 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -5.2444, 8.6496, 1.619, -0.486, -0.0171, -0.0122, 0.4171, -10.1402, 8.9094, 1.2137, 0.3639, 0.1734, 0.0562]",
      "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]: [-0.6868, 1.7054, 0.5152, 0.3527, -0.5461, -0.44, 0.9985, 1.0565, 1.7325, 1.4143, -0.7692, 0.7464, 0.6022, 0.9963]\nstate[eef_state]: left_x=0.3312 left_y=-0.1483 left_z=0.0043 left_yaw=0.0037 left_pitch=-0.1198 left_roll=0.0735 left_gripper=0.9985 right_x=0.3014 right_y=0.2969 right_z=0.1762 right_yaw=0.1061 right_pitch=-0.1576 right_roll=-0.2222 right_gripper=0.9963\nstate[joint_eff]: [0.4991, -6.8855, 4.4513, 0.5543, -0.0464, 0.3736, -0.105, 0.4991, -8.6222, 6.7214, 1.1795, 0.3248, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6853, 1.7187, 0.5087, 0.3851, -0.5396, -0.4458, 0.5238, 1.0584, 1.7325, 1.4143, -0.7681, 0.7433, 0.6022, 0.9964]\nstate[eef_state]: left_x=0.3322 left_y=-0.1497 left_z=0.0024 left_yaw=0.0026 left_pitch=-0.1129 left_roll=0.0572 left_gripper=0.5238 right_x=0.3007 right_y=0.298 right_z=0.1759 right_yaw=0.1098 right_pitch=-0.1592 right_roll=-0.2196 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -7.5966, 5.094, 1.0769, -0.3053, 0.022, 1.0281, -0.212, -8.6496, 6.4205, 1.072, 0.3443, -0.0415, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2edda7646eb4881a799869d7fc7f073d054917e0a60614437ceaff71d2b7a93b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:604d07b78cff740724e060d56376d3f4b2acdaa81df6e12a4e643a1aa9dd72eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a0b096246743fb9797e344011d3f1884386e76995864a989cd13f4f917b37fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSkAoKEAgSGAI4AUIIdGhpbmtpbmcSDMKZrvB9m6L6I0OwChoMazl5AFp0RKYYEJpRIjCpbHDx+We3DxXoktlJgCe8LI20BTWtJMGEowEut7NJGjTBoPBBJokrIKRo6ufdo5cqrQlRzpXLFIjb0NFZQQhqkPtLf1MPKN5h7vw2g5VP3tZgSmI0VuixscurdSm2SLt3j/cDJhW1WAIQEVGf+cR9coMM6I5TkCqxrazRID3W4ZYQ04tZLuLlJiWz6OxeE523ZaiJY1YtHOt6P/W2oZ+ckvXlk2lI6ifgpDmEEAw8gvbQwinNXJkUnfxxiIih8aFD4Z5xFg6ttB2rzKKJUXdGu+OVbwR+8Bi6VyX0FX1+EIfzjjiIMzQzY9m0Jde8umdCKq6D7AswRCJoBXE+Y4kl+1KaxkKg2OCJ9ds3KX9hcjxehAdkVxMROqofYPtGvp0FdBu5ki+XwL6/LdfIDhlOV0ZJ07Tswit59dDRKae4ciHamrzqB2V2nf1RSMOiLA+811A37VcM+ndvUiHywNNbqtju4JU6sEc4OH2fVIyZyK7GyO3jmpTeWNTw5DoGWpKXod05O69MW5c1K26E7H2dMB5LWNVKcMu/m8jHkyMdRdWqYHyBp01H+acqDyU1gUNdoW2ztX5AjkUcPWoJsNWbOENn4espGHk70CqAE9dikyuKH7QgKjI3PdYrBGcQ0aEiNVPmMIpAwcULAScYDBCdma5U/k0fTqTD2HGho3V2yy+0ZOZayDTDUMGqq8fOX5zswbBexnPEIIAD3TYOHrMqtImU80d9rMsELjINLGUsu0yU/X6XnFpLgQw99vufZYhIlE3SF9x7rjxRndk4REszrgXXwu/+13Jl73BMLaYF4dn/ib3Z1cyIhnRN3JPuyymwYfaNXfDu0JQz5bXYAC6SxVkwvO4RLbASntTxqkt/5N5NtakLN/pat4J16L5ECQ+8hW1Yo7GLCjfH6xATyF9qZG8zKzmbpn/IbtRtQTLmnTot7KaIYx9yI+pgaV2ksu/qreZoFra0xTrTudDLWj/gOSSqcwshSB/Wh3a6GfH4gsu7nfltZc4Vrf+YJ7GMm+ywOlM0pd4ZceUsifWRS+5wo1rcBe9qC6g7F+QCW36xqcu62Tk2SR00EXpF/wU7YUNvcM3B7aTkOI4u8JNS5CUeo2PMzmnOm78fMBfM6563MzMhAny2y0rbld8+l+QgU/zs6B4zQBmi/dAWqiwWsgd04skSEimNQaduqHwR2c1uno6y8AmkFhX20k8HicmBxhQRC8IYyBkrl9QEPTHwChYqceXzGzt740d7Hfim5eid6lKtHDSrEpdaJ2ZddMrkZNvwCgRF9ZudoMiq2JHuu/iQzKf7K55EXc17F94RniqmPeEDKe14kRLFoVaFNhzpDrTJqjCtCzOoRd8sEx2Ipma9K/BSjyT/kA23PH6Uyv24Iw2LkgDhzBWawVgcNRgZFL3hOrsfM0Y3d+nP1t39X+grrBG9TXGx5QdVD5BG22xnsqMtXGHrV77XHTdTwn2oOHLOaF2zC0EOtT7LmsP0oLNjVjMRSQDgeXAPgeAgeVLsZM2wW06V/g6IV/yNoRjAFpOFjMPmmvXILZlJYCSs3wNO52iXPfwnZ2EFq8y/0MklxHKedhtlm4PYpLYRNa5pO/OIZinHgO+weuMtQNJVtoxgWY0QrcR/uT+kOukMCD25Lc+HKBufBcxNs9EBkDHhUCwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VSYyKMx5MqEtCT6myA2Cr3",
      "input": {
        "note": "Plum grasped (0.52). Lifting it and moving the right arm aside so the left arm can reach the blue bowl.",
        "targets": {
          "left_z": 0.17,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01VSYyKMx5MqEtCT6myA2Cr3",
      "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]: [-0.6853, 1.338, 0.8894, -0.4202, -0.5381, -0.4538, 0.5238, 0.3267, 0.9981, 0.87, -0.6495, 0.3077, -0.0284, 0.9964]\nstate[eef_state]: left_x=0.3299 left_y=-0.1481 left_z=0.1475 left_yaw=0.0094 left_pitch=-0.1472 left_roll=0.0784 left_gripper=0.5238 right_x=0.2979 right_y=0.0482 right_z=0.1949 right_yaw=0.0668 right_pitch=-0.183 right_roll=-0.224 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -7.3641, 9.6479, 1.4481, -0.3248, 0.0562, 0.9939, -0.1573, -3.0838, 6.4615, 1.8632, 0.1099, -0.0024, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afe1c8920739f5788b280c611986d4799a2f4dfe27f888c150667db23ff39bc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:018fd151f58c79c52d06cb90d8f3a6e8f4b3cd7ab79957ac3918b38cfc034c63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:887965fe84acc0bb41ea08a2e3190a71e980a90b0ac340dd2d5164cd120cadae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 6.239 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]: [-0.6868, 1.7054, 0.5152, 0.3527, -0.5461, -0.44, 0.9985, 1.0565, 1.7325, 1.4143, -0.7692, 0.7464, 0.6022, 0.9963]\nstate[eef_state]: left_x=0.3312 left_y=-0.1483 left_z=0.0043 left_yaw=0.0037 left_pitch=-0.1198 left_roll=0.0735 left_gripper=0.9985 right_x=0.3014 right_y=0.2969 right_z=0.1762 right_yaw=0.1061 right_pitch=-0.1576 right_roll=-0.2222 right_gripper=0.9963\nstate[joint_eff]: [0.4991, -6.8855, 4.4513, 0.5543, -0.0464, 0.3736, -0.105, 0.4991, -8.6222, 6.7214, 1.1795, 0.3248, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6853, 1.7187, 0.5087, 0.3851, -0.5396, -0.4458, 0.5238, 1.0584, 1.7325, 1.4143, -0.7681, 0.7433, 0.6022, 0.9964]\nstate[eef_state]: left_x=0.3322 left_y=-0.1497 left_z=0.0024 left_yaw=0.0026 left_pitch=-0.1129 left_roll=0.0572 left_gripper=0.5238 right_x=0.3007 right_y=0.298 right_z=0.1759 right_yaw=0.1098 right_pitch=-0.1592 right_roll=-0.2196 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -7.5966, 5.094, 1.0769, -0.3053, 0.022, 1.0281, -0.212, -8.6496, 6.4205, 1.072, 0.3443, -0.0415, -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 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]: [-0.6853, 1.338, 0.8894, -0.4202, -0.5381, -0.4538, 0.5238, 0.3267, 0.9981, 0.87, -0.6495, 0.3077, -0.0284, 0.9964]\nstate[eef_state]: left_x=0.3299 left_y=-0.1481 left_z=0.1475 left_yaw=0.0094 left_pitch=-0.1472 left_roll=0.0784 left_gripper=0.5238 right_x=0.2979 right_y=0.0482 right_z=0.1949 right_yaw=0.0668 right_pitch=-0.183 right_roll=-0.224 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -7.3641, 9.6479, 1.4481, -0.3248, 0.0562, 0.9939, -0.1573, -3.0838, 6.4615, 1.8632, 0.1099, -0.0024, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afe1c8920739f5788b280c611986d4799a2f4dfe27f888c150667db23ff39bc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:018fd151f58c79c52d06cb90d8f3a6e8f4b3cd7ab79957ac3918b38cfc034c63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:887965fe84acc0bb41ea08a2e3190a71e980a90b0ac340dd2d5164cd120cadae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QfvekQ1Fx1qSV1vvaX6gFt",
      "input": {
        "note": "Plum held by the left arm; blue bowl sits to its right near the left arm's y limit. Moving over the bowl's near-left part.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.4,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01QfvekQ1Fx1qSV1vvaX6gFt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9676, 2.3432, 2.1658, -0.8711, -0.6849, -0.7528, 0.5239, 0.3199, 1.0004, 0.87, -0.6636, 0.3099, -0.038, 0.9964]\nstate[eef_state]: left_x=0.4122 left_y=-0.3951 left_z=0.1377 left_yaw=0.0097 left_pitch=-0.1675 left_roll=0.0688 left_gripper=0.5239 right_x=0.2961 right_y=0.0451 right_z=0.192 right_yaw=0.0622 right_pitch=-0.1996 right_roll=-0.237 right_gripper=0.9964\nstate[joint_eff]: [-1.4564, -14.1197, 8.7316, 0.8523, -0.6276, 0.0806, 0.9255, 0.6496, -2.6735, 6.7624, 1.5946, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf5fb259733f53082b74b6e48d05c9453204ba7fb4de0dd35ff4706f9778e552",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e4e271d9d040a599609bbec0d60c0d8323adce55678ca125b2341d7fe441954",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c66705b196c1ad6e8bf01c1bc50cac228c340f846b4733c60d40840cae940a28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 3.914 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]: [-0.6853, 1.7187, 0.5087, 0.3851, -0.5396, -0.4458, 0.5238, 1.0584, 1.7325, 1.4143, -0.7681, 0.7433, 0.6022, 0.9964]\nstate[eef_state]: left_x=0.3322 left_y=-0.1497 left_z=0.0024 left_yaw=0.0026 left_pitch=-0.1129 left_roll=0.0572 left_gripper=0.5238 right_x=0.3007 right_y=0.298 right_z=0.1759 right_yaw=0.1098 right_pitch=-0.1592 right_roll=-0.2196 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -7.5966, 5.094, 1.0769, -0.3053, 0.022, 1.0281, -0.212, -8.6496, 6.4205, 1.072, 0.3443, -0.0415, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.6853, 1.338, 0.8894, -0.4202, -0.5381, -0.4538, 0.5238, 0.3267, 0.9981, 0.87, -0.6495, 0.3077, -0.0284, 0.9964]\nstate[eef_state]: left_x=0.3299 left_y=-0.1481 left_z=0.1475 left_yaw=0.0094 left_pitch=-0.1472 left_roll=0.0784 left_gripper=0.5238 right_x=0.2979 right_y=0.0482 right_z=0.1949 right_yaw=0.0668 right_pitch=-0.183 right_roll=-0.224 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -7.3641, 9.6479, 1.4481, -0.3248, 0.0562, 0.9939, -0.1573, -3.0838, 6.4615, 1.8632, 0.1099, -0.0024, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9676, 2.3432, 2.1658, -0.8711, -0.6849, -0.7528, 0.5239, 0.3199, 1.0004, 0.87, -0.6636, 0.3099, -0.038, 0.9964]\nstate[eef_state]: left_x=0.4122 left_y=-0.3951 left_z=0.1377 left_yaw=0.0097 left_pitch=-0.1675 left_roll=0.0688 left_gripper=0.5239 right_x=0.2961 right_y=0.0451 right_z=0.192 right_yaw=0.0622 right_pitch=-0.1996 right_roll=-0.237 right_gripper=0.9964\nstate[joint_eff]: [-1.4564, -14.1197, 8.7316, 0.8523, -0.6276, 0.0806, 0.9255, 0.6496, -2.6735, 6.7624, 1.5946, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf5fb259733f53082b74b6e48d05c9453204ba7fb4de0dd35ff4706f9778e552",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e4e271d9d040a599609bbec0d60c0d8323adce55678ca125b2341d7fe441954",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c66705b196c1ad6e8bf01c1bc50cac228c340f846b4733c60d40840cae940a28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSswsKEAgSGAI4AUIIdGhpbmtpbmcSDBhwgNvrCFAU4td56RoMiockQGPg2+sZXK6WIjClRlfOyMgTexKSDWLWgj4AWPseYDrupz/CHVji1Odx04HiUvsreLrkUx5au8RF2Wkq0AqQ+NiRkd1AfgEDmnqZXNK6Ma52QkfsG04w43VxQmvp20Din2NGQ/kLdHMvbczuJBMB0m748KZ8QNw3eVAfk775TXh0bpy9Q/aCL0CO/0xQzV+S7vCR4gIbUH4CtacTMBqw37VEpYmoTnHPgeanib3pQiP/yY+nCcmIhhSI5m9kOpzcrStbNG8S+Kp6m2QkBv2Q9u7wyICHmYbGk88gAeF8yBqoaHKxMv/zk2eOQpyO2VivdTDzshSJekBhSzbTHItv1o4CcTMW2r6Ulg8gvUf4CgeziYtW+CUVgLvTHEWLbkhiZ2wiBOswV7zOm4pf++dXc9/O1nZWyTWBjG4O0lmvhz947gCjr2XiszHO4+K6IV5zzRO2Mo7isBUmFKCR/ujm0RebTy0FdoWCNOQAQCY77hhKUWg8C2rcGkvxxYwX3XaoIaK1EfI1+61zJt1Q0bbg4MOINK6e2xRJzgTY/rDsoYj+Hehy63Ewqsb/ALvcoV3hxefhiSAKyAKo7sMyrdHDQbDSa6uLbB3URYk0rWywhyetbiYOfRyWJuQNQehL/eZPrXnA6R/4ceEsmJesMyQhQboc2EI5BUNlQDtVaManmWWJaaVkj4BdFaUeRLpNPWSNJNB7tE6J33pMAcZJLs12TLB+ypQz8aqTqy+2Dhy1566LP3w67oQKZsWL8Xdpen/spF5rsChPe3lXEUNsQdzP+LjRH7fCHRvXyKTmePFF5bvkC5wdWCXycfSH4igYlx542VOAiqivc9BqkNI1BxtD6Laozhq81WpotjwSH8nOO/MtxnlbEBcZPWD7wDdhZEo60ZHnJ8yRJ3++uARcinpy7utl3l3enaAqbZoCVwh/8TR+9mz3JKZ1/ZJvTlR/o1aYn1blsOeB5o+1I/SZ5pAYW+69rv8VUSkaSWXjOGKz1ZbjVM9JWubcoruMBrNOKdvJa7PreOU/LCK2x2XspEeCX/r+T9R4btp6B47tBIQlIZeBf++rQlpIMYuJwJvPPulU5Xgv4MGwF6ECeT5TrV70KMYfsEnfjlI206b++Yc11oN6YHokDZtMZoUNVnuMHz655xfetVHj1SctpTHcyK+8vJPJzl6mbKzgiziojnCJYqw+6pfCDjcKHIxKKE+0FOHD/KxXrkcEB7TbmzExwEHT080LwAHPN0otwmAsb6UbKjH19bfKxzdtLlt840ERRpUx63ET0qPZ7szaCN/Mmzei/7t/ES+083YBCqq1j8a0sZbgwKLKg8DbyKwCrJaPeZZ29Ylxbez+DgxgYRl2aLndmNgdcHYLkpVXtwbBwU+PqlhdeDxnGISUgGMWOT+pDXu+3sP9S1pK9YkqeAxLec2iWLc3lYUaqTyZfNewpQ9+ZztvlW4+FtHsGBibokQWqGuznZz6XVw/bB83FjP5rgoj4joGpRQHDTCdmlPK+xbdqvHVNb5U+gFmtkyOQkWfIeq8ODyPvAXz58gsjvzlu/VzkOzuCEipxVBZkMzhLHy9pnNtY8kn/D33gXm+QcsJyMURT5Ukyf7m531nr0JM0NjvQ1Z2Z5NtswSl9oJdtzwLtFu86DMfrFrmD3qWp7zyROH11Z6Su9YrHuh/FI4L5rGHa9rGePYEfRbD1CSOPIOwxdQ8pFMsfAgZ81AumoylEHCiSksGhaSWc6WofF+jvh1hk4gjqLVP/Qxk20439uFN9G+jU/K2KgY5NY6NYh6jRnQmt0mnyHBLgAuatugFxaPXiWUhk4IhN/JsUHWENXBn+b/pKLijcqSzFks+VbBYbh2OH/eXH4s4uFyG19eacsHI/Wcdy+4AqYkYCz4AxsumGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017EZGwQcrs8iAYzvt2VH8CS",
      "input": {
        "note": "Blue bowl's far rim shows at the bottom of the left wrist view, so the bowl centre is a bit nearer the base. Stepping back 2-3 cm and lowering before releasing.",
        "targets": {
          "left_x": 0.385,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_017EZGwQcrs8iAYzvt2VH8CS",
      "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]: [-0.9783, 2.2974, 1.9675, -0.7574, -0.6937, -0.7883, 0.5247, 0.3191, 1.0084, 0.8593, -0.7315, 0.313, -0.0559, 0.9964]\nstate[eef_state]: left_x=0.3995 left_y=-0.3848 left_z=0.1045 left_yaw=0.0291 left_pitch=-0.1811 left_roll=0.0796 left_gripper=0.5247 right_x=0.2838 right_y=0.0403 right_z=0.1748 right_yaw=0.0631 right_pitch=-0.2852 right_roll=-0.2747 right_gripper=0.9964\nstate[joint_eff]: [-3.0974, -14.0376, 5.3949, 0.7692, -0.3443, -0.0122, 0.9158, 0.212, -2.7692, 8.4308, 2.5128, 0.1245, 0.1929, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eccb410c24fcf806a0f74a2f153283cfc6a3469ebc1e93aa2cdc1b8568f07f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2db3279fe60bea951a6f083a18fc6b21d22fbb6afa4984fb643a4afecd6f7ace",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b4ca9d6df10cd478653feda667194ae0abc08afbe88985400e53d7a87089d756",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /messages · status 200 · 10.96 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]: [-0.6853, 1.338, 0.8894, -0.4202, -0.5381, -0.4538, 0.5238, 0.3267, 0.9981, 0.87, -0.6495, 0.3077, -0.0284, 0.9964]\nstate[eef_state]: left_x=0.3299 left_y=-0.1481 left_z=0.1475 left_yaw=0.0094 left_pitch=-0.1472 left_roll=0.0784 left_gripper=0.5238 right_x=0.2979 right_y=0.0482 right_z=0.1949 right_yaw=0.0668 right_pitch=-0.183 right_roll=-0.224 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -7.3641, 9.6479, 1.4481, -0.3248, 0.0562, 0.9939, -0.1573, -3.0838, 6.4615, 1.8632, 0.1099, -0.0024, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.9676, 2.3432, 2.1658, -0.8711, -0.6849, -0.7528, 0.5239, 0.3199, 1.0004, 0.87, -0.6636, 0.3099, -0.038, 0.9964]\nstate[eef_state]: left_x=0.4122 left_y=-0.3951 left_z=0.1377 left_yaw=0.0097 left_pitch=-0.1675 left_roll=0.0688 left_gripper=0.5239 right_x=0.2961 right_y=0.0451 right_z=0.192 right_yaw=0.0622 right_pitch=-0.1996 right_roll=-0.237 right_gripper=0.9964\nstate[joint_eff]: [-1.4564, -14.1197, 8.7316, 0.8523, -0.6276, 0.0806, 0.9255, 0.6496, -2.6735, 6.7624, 1.5946, -0.0269, -0.0317, -0.0122]",
      "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]: [-0.9783, 2.2974, 1.9675, -0.7574, -0.6937, -0.7883, 0.5247, 0.3191, 1.0084, 0.8593, -0.7315, 0.313, -0.0559, 0.9964]\nstate[eef_state]: left_x=0.3995 left_y=-0.3848 left_z=0.1045 left_yaw=0.0291 left_pitch=-0.1811 left_roll=0.0796 left_gripper=0.5247 right_x=0.2838 right_y=0.0403 right_z=0.1748 right_yaw=0.0631 right_pitch=-0.2852 right_roll=-0.2747 right_gripper=0.9964\nstate[joint_eff]: [-3.0974, -14.0376, 5.3949, 0.7692, -0.3443, -0.0122, 0.9158, 0.212, -2.7692, 8.4308, 2.5128, 0.1245, 0.1929, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eccb410c24fcf806a0f74a2f153283cfc6a3469ebc1e93aa2cdc1b8568f07f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2db3279fe60bea951a6f083a18fc6b21d22fbb6afa4984fb643a4afecd6f7ace",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4ca9d6df10cd478653feda667194ae0abc08afbe88985400e53d7a87089d756",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQcKEAgSGAI4AUIIdGhpbmtpbmcSDGGcZTOIztftgUiROxoMGvRrQUYdE5JIaSPtIjDxZWn6ILbhrmqCzNR86ds0Un0JxYjiVNeYBbYCQC71HOTyoQxsq5vrPMSOBmF4N34qsgZMjGuWwSRyu6uqt9F+9KZ6I8wNkluodPX4Cqx0W/Jdv+YhXcCrZvlD2bzqSns15MHy5JKNXptRodBNE/w/F6HSizZS130uqbFZ9THALgAYSqD/dUHc5KcIRebDr0mEvnFh5qHDAUM0yWnUSXbsnVusUoMDJkL9ew8eToDzDgq3l3hC6x8Mn6Fv8oauVm8YMgMBqPLLyrl4SJKlwnXeME9Gr8abzd4eXJIESE4u2M1vK2n0sMPpE414rkEDoLeexGbbnBmdynFUwi59ID7rufRR1KIUo886haypwaTD7uudzduFS7SV2dO5Y7X7SCBfdSABOeZDMmwtF31vaV5J6vIGLVrFFAmcoOxGq0pCSLbC81fQ0a9V39Mlp1/rYYUPFcy7nhD8E/T+mowtleRsDw05iyPt37KZDf1QSWOdh4rbNzo8PxoLu1jjrz0roQDsLFC4pvNpwaZ+Ha2RMQb0CU7CwNx2rcHJWs2qq5F/yNNdrsSjicax4oAcJVt7SSON0zs4DQj0uWcNwPJfltCWAlsIo0TEYmZCKXkAQ1pA9wJtgAivttOMWcmquZUfxdtuSr6u2xGOP1pxc8Xck9bcMsYQjajtUMXGdie/ORgOlmz0u1v2kix618fZaPPRNgvW8u+qQL0GUi2MpOT0M5iKh6pAhRFNrvPq62ws2v1MqPvJ7RbhspFC4dPq9uosVi+RRuw3XF38dUq8Cu9hApTjKPJR3R3BPTCud1K/pP+/pewTv9cFiJICUgvt4YyjxrF4vHr79GHlr22f77GYmX+ZXqTenk7Hvive61qbjQKA5+Hg9KsKhzlJG0ZKZzAO5TVRK75/B66zaUfbnQbXguQMv7pbN/a5zSKLp2/PxWZ9OnkQwXDUHm5b5+RWtmOzVr+s2lYW/Bxk6OB+j4AHYw+Bc3OSXCOkq1ykOQBvg9sPexL6J346wmrMS26SujudQgaWaYiZFD/2mVnQoineduNujoIx0/2YkVKNT53vbRUQRvAFSh9cikXwFnb/ZJOOOduWO4eplmSG3sHrFCW5HDA0HD3swPRwHRRbncq+zFH1XAe4FxN/dsUJReX2sRj2if52bQS1XhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RepM9LLNZft2638p2RYFy5",
      "input": {
        "note": "Plum is over the blue bowl with the lemon visible just beyond it. Releasing.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01RepM9LLNZft2638p2RYFy5",
      "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]: [-0.9794, 2.2963, 1.943, -0.733, -0.6914, -0.8009, 0.9953, 0.3187, 1.0119, 0.8528, -0.7559, 0.313, -0.0639, 0.9964]\nstate[eef_state]: left_x=0.3985 left_y=-0.385 left_z=0.0988 left_yaw=0.0334 left_pitch=-0.1817 left_roll=0.0681 left_gripper=0.9953 right_x=0.2787 right_y=0.0384 right_z=0.1677 right_yaw=0.0643 right_pitch=-0.3196 right_roll=-0.2893 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -13.2034, 8.3487, 0.7937, -0.4225, 0.0952, -0.1441, -0.1162, -2.5504, 7.3641, 1.6142, 0.0659, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f77c0c0e1291ec2de7a08cce3b672319ad86098aca4bb757cdad15a9f17ece8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd6a59fff5b02f5163d7159e95a0f81e4ec1e8b71a225ce10b3d86b69ec46fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:085db618c7bc704d7f2815853df18dc5c53ed81f0efbaec279f918e123b70149",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 5.097 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]: [-0.9676, 2.3432, 2.1658, -0.8711, -0.6849, -0.7528, 0.5239, 0.3199, 1.0004, 0.87, -0.6636, 0.3099, -0.038, 0.9964]\nstate[eef_state]: left_x=0.4122 left_y=-0.3951 left_z=0.1377 left_yaw=0.0097 left_pitch=-0.1675 left_roll=0.0688 left_gripper=0.5239 right_x=0.2961 right_y=0.0451 right_z=0.192 right_yaw=0.0622 right_pitch=-0.1996 right_roll=-0.237 right_gripper=0.9964\nstate[joint_eff]: [-1.4564, -14.1197, 8.7316, 0.8523, -0.6276, 0.0806, 0.9255, 0.6496, -2.6735, 6.7624, 1.5946, -0.0269, -0.0317, -0.0122]",
      "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]: [-0.9783, 2.2974, 1.9675, -0.7574, -0.6937, -0.7883, 0.5247, 0.3191, 1.0084, 0.8593, -0.7315, 0.313, -0.0559, 0.9964]\nstate[eef_state]: left_x=0.3995 left_y=-0.3848 left_z=0.1045 left_yaw=0.0291 left_pitch=-0.1811 left_roll=0.0796 left_gripper=0.5247 right_x=0.2838 right_y=0.0403 right_z=0.1748 right_yaw=0.0631 right_pitch=-0.2852 right_roll=-0.2747 right_gripper=0.9964\nstate[joint_eff]: [-3.0974, -14.0376, 5.3949, 0.7692, -0.3443, -0.0122, 0.9158, 0.212, -2.7692, 8.4308, 2.5128, 0.1245, 0.1929, -0.0122]",
      "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]: [-0.9794, 2.2963, 1.943, -0.733, -0.6914, -0.8009, 0.9953, 0.3187, 1.0119, 0.8528, -0.7559, 0.313, -0.0639, 0.9964]\nstate[eef_state]: left_x=0.3985 left_y=-0.385 left_z=0.0988 left_yaw=0.0334 left_pitch=-0.1817 left_roll=0.0681 left_gripper=0.9953 right_x=0.2787 right_y=0.0384 right_z=0.1677 right_yaw=0.0643 right_pitch=-0.3196 right_roll=-0.2893 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -13.2034, 8.3487, 0.7937, -0.4225, 0.0952, -0.1441, -0.1162, -2.5504, 7.3641, 1.6142, 0.0659, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f77c0c0e1291ec2de7a08cce3b672319ad86098aca4bb757cdad15a9f17ece8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd6a59fff5b02f5163d7159e95a0f81e4ec1e8b71a225ce10b3d86b69ec46fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:085db618c7bc704d7f2815853df18dc5c53ed81f0efbaec279f918e123b70149",
        "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_013nx8m2uAm7X3W8bJ1zuDx9",
      "input": {
        "note": "All three fruits are in the blue bowl. Positioning the open left gripper to straddle the bowl's left rim wall (toward the white bowl) for a pour.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.4,
          "left_y": -0.345,
          "left_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_013nx8m2uAm7X3W8bJ1zuDx9",
      "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]: [-0.9367, 2.2139, 1.6188, -0.3801, -0.68, -0.7761, 0.9979, 0.3187, 1.0138, 0.8516, -0.7685, 0.3126, -0.0689, 0.9964]\nstate[eef_state]: left_x=0.4071 left_y=-0.36 left_z=0.064 left_yaw=0.0412 left_pitch=-0.1298 left_roll=-0.0127 left_gripper=0.9979 right_x=0.2763 right_y=0.0377 right_z=0.1649 right_yaw=0.066 right_pitch=-0.3356 right_roll=-0.2964 right_gripper=0.9964\nstate[joint_eff]: [0.5949, -11.0154, 5.2991, 1.0427, -0.2222, 0.0659, -0.2271, -0.0615, -2.6051, 6.7214, 1.4823, 0.105, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae7a46b4f2fb21f88f568b0a14698ea021760f1e2df64d6b9152159acacc55d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fec56beadd50f64cdcf391c9d19bdb34896272108a23b73d31cfb7aa2295577e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:637b89c956004d1d54198f91dc91db4010d4b1f0403dc193d8304e31af2287a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /messages · status 200 · 4.721 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]: [-0.9783, 2.2974, 1.9675, -0.7574, -0.6937, -0.7883, 0.5247, 0.3191, 1.0084, 0.8593, -0.7315, 0.313, -0.0559, 0.9964]\nstate[eef_state]: left_x=0.3995 left_y=-0.3848 left_z=0.1045 left_yaw=0.0291 left_pitch=-0.1811 left_roll=0.0796 left_gripper=0.5247 right_x=0.2838 right_y=0.0403 right_z=0.1748 right_yaw=0.0631 right_pitch=-0.2852 right_roll=-0.2747 right_gripper=0.9964\nstate[joint_eff]: [-3.0974, -14.0376, 5.3949, 0.7692, -0.3443, -0.0122, 0.9158, 0.212, -2.7692, 8.4308, 2.5128, 0.1245, 0.1929, -0.0122]",
      "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]: [-0.9794, 2.2963, 1.943, -0.733, -0.6914, -0.8009, 0.9953, 0.3187, 1.0119, 0.8528, -0.7559, 0.313, -0.0639, 0.9964]\nstate[eef_state]: left_x=0.3985 left_y=-0.385 left_z=0.0988 left_yaw=0.0334 left_pitch=-0.1817 left_roll=0.0681 left_gripper=0.9953 right_x=0.2787 right_y=0.0384 right_z=0.1677 right_yaw=0.0643 right_pitch=-0.3196 right_roll=-0.2893 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -13.2034, 8.3487, 0.7937, -0.4225, 0.0952, -0.1441, -0.1162, -2.5504, 7.3641, 1.6142, 0.0659, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9367, 2.2139, 1.6188, -0.3801, -0.68, -0.7761, 0.9979, 0.3187, 1.0138, 0.8516, -0.7685, 0.3126, -0.0689, 0.9964]\nstate[eef_state]: left_x=0.4071 left_y=-0.36 left_z=0.064 left_yaw=0.0412 left_pitch=-0.1298 left_roll=-0.0127 left_gripper=0.9979 right_x=0.2763 right_y=0.0377 right_z=0.1649 right_yaw=0.066 right_pitch=-0.3356 right_roll=-0.2964 right_gripper=0.9964\nstate[joint_eff]: [0.5949, -11.0154, 5.2991, 1.0427, -0.2222, 0.0659, -0.2271, -0.0615, -2.6051, 6.7214, 1.4823, 0.105, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae7a46b4f2fb21f88f568b0a14698ea021760f1e2df64d6b9152159acacc55d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fec56beadd50f64cdcf391c9d19bdb34896272108a23b73d31cfb7aa2295577e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:637b89c956004d1d54198f91dc91db4010d4b1f0403dc193d8304e31af2287a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnAkKEAgSGAI4AUIIdGhpbmtpbmcSDM5/UjS4S0LyrGCXgRoMQzUw7ZjXNsXEl98TIjAu8bSfFkS0AyKdDFZckHorDDUB4ploumlgNj2F6e/fh5NYwS1Q4T64pJmtC/bBzv8quQg3EYOo+LKKNxHw3qtuAIojND9xid87bG7OgcHRslHwdyh+oKaKVVDffzDSTgtdkeQHF1rvpjj1Il1vIde3KJmMR3kAJn2Sj0/kg8eDt2xz+4QZE+UQ/EHxV4pXjVFEDWbVdH+Yp2JJru5caWegbwQLWXijAUMFMgpflUZtDmhRM4IjzXeAgznarfX8D+gnQPF4bvwH84E4fK9aX7bMqkX5vgdc11zZsux28ErexRtNHCwIF/bEMd7F2ejm44X9n+qz/bjgTpSWXb8JuSmt6qmbF5Z4HImCLDWVW9Bxj1745yorNjir2fsxi5fqQcHgZS0tKPSfWL70dyPWsOVqJP6sYx1+e3HgJ95yEEcN5ZHDMGY0HbO/3PuFPDsrQe+iQWxIg2uyU8u2NjBHdOZQ/7t2fBnugTCaUEAklmD0r5AJejaUrIAk63Bqz8HKIRkau7bdjGJHWSJ/NNZlkMdfYyT2tHgZsmpB9g8INyRC9/32dYRSUQmMRChjJqxjzDAopEKhmueuIeBIghR5GTJWvlTiNS8g9O9nT88Ne4Bz180rXJ7p+8Rr7fnl4WUjrjFWJwuwROZ73JiNBAhHy/UnXJeDF/Zl9nAKlEAU/s4xMl21RFLz/zgEOZWpfYyoAQ/s6rpBEv9oO47Ud30eD7zUpChKBDGQ7+f1uqmcp0TBD4uK9y9avZN9Woa/OqA/Nvli7/ZkP01FPo10Jej+mR1065zkOD4QrLXmZ/oS5RjtfDvrOn63lWCnf4cQINuFLxtZXHNHRMvFjeThb23REDYCkvmtHzXtx3YECig2f+Mq1zda4ATzlFt1pN7oKNMoVPktBDc80cZwTG2urSdyjKYhntRvbZWO5vY/v63obJeD9h3UsNsVTartubGGVxreneGIRBKkPlW56Zca8vIz9q/m+81ZpvtS0En7VXZLdfo+tkjq6cu4GE4jVeLK1/a+Hia/PXX1nTra/NJ1swo3eD9NOaQgeWPdUPRRrF7WsEEH+j6jy/GIAV9aM4XWDx4Gca/192HOi8FHbZBP4EYEJBGjNeQNl9wIpv9GiTPeWrzpLjgchmInYCz18BTlalidf/lDz3je0n1dif2k0P9ueU+sLVCKi99z0if/Z2tnrhDZmYJ/+Fm1uUcbWfdXqpYcyyGsLMeL7RQx/DKqoMga6SmoYti0AfPYsW/8bjSb0X9fiNvEfmoBAiYiPV+iiF+nJiz4LJbqMsx4mgUBlUitUmRrxqYISoOD5UEWO5L8YhRpaSYBaSBlS1XI1OjjskraxdH57VFH4rkU0OTSkqY5XCkwGRPmppC62qQ6TCYdsyQVcL92xbJN7SHx2Du3BN0tI3aJNEC1mZufLpmCnZyEGA+iy2VCiXH4dJY2tdtWgTRKXP3ImYYRqg+RwnTsQAjZzhjjy4GCyzD0cpY/StgPMRwNAqpK+opuuibnMnh/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EWhFCHZU57RwVngikUsKRC",
      "input": {
        "note": "Descent stopped at 6 cm on the fruit inside the bowl, so the bowl centre is here; shifting ~7 cm left to straddle the bowl's left rim wall.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.285,
          "left_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_01EWhFCHZU57RwVngikUsKRC",
      "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]: [-0.8524, 2.0613, 1.2385, -0.0509, -0.6353, -0.7082, 0.9977, 0.3187, 1.0172, 0.8516, -0.7685, 0.3126, -0.0689, 0.9964]\nstate[eef_state]: left_x=0.405 left_y=-0.2985 left_z=0.0435 left_yaw=0.0499 left_pitch=-0.0971 left_roll=-0.0634 left_gripper=0.9977 right_x=0.2765 right_y=0.0378 right_z=0.164 right_yaw=0.0657 right_pitch=-0.3389 right_roll=-0.2973 right_gripper=0.9964\nstate[joint_eff]: [0.9641, -10.4684, 4.5744, 0.823, -0.1245, 0.2466, -0.022, -0.0205, -2.7829, 6.653, 1.37, 0.1001, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f5b92e2ccf21905db79a667d5211995a07379318c3341c4499390b6a258b062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:118192fc6b19de82f0a5b3d4ee408c101dee67845b915256e747c98cff5182b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aa571d45fa044bfb0db9aa5c650a669931ef4fd8c57fb8f073810bbd012be395",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 6.098 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9794, 2.2963, 1.943, -0.733, -0.6914, -0.8009, 0.9953, 0.3187, 1.0119, 0.8528, -0.7559, 0.313, -0.0639, 0.9964]\nstate[eef_state]: left_x=0.3985 left_y=-0.385 left_z=0.0988 left_yaw=0.0334 left_pitch=-0.1817 left_roll=0.0681 left_gripper=0.9953 right_x=0.2787 right_y=0.0384 right_z=0.1677 right_yaw=0.0643 right_pitch=-0.3196 right_roll=-0.2893 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -13.2034, 8.3487, 0.7937, -0.4225, 0.0952, -0.1441, -0.1162, -2.5504, 7.3641, 1.6142, 0.0659, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9367, 2.2139, 1.6188, -0.3801, -0.68, -0.7761, 0.9979, 0.3187, 1.0138, 0.8516, -0.7685, 0.3126, -0.0689, 0.9964]\nstate[eef_state]: left_x=0.4071 left_y=-0.36 left_z=0.064 left_yaw=0.0412 left_pitch=-0.1298 left_roll=-0.0127 left_gripper=0.9979 right_x=0.2763 right_y=0.0377 right_z=0.1649 right_yaw=0.066 right_pitch=-0.3356 right_roll=-0.2964 right_gripper=0.9964\nstate[joint_eff]: [0.5949, -11.0154, 5.2991, 1.0427, -0.2222, 0.0659, -0.2271, -0.0615, -2.6051, 6.7214, 1.4823, 0.105, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8524, 2.0613, 1.2385, -0.0509, -0.6353, -0.7082, 0.9977, 0.3187, 1.0172, 0.8516, -0.7685, 0.3126, -0.0689, 0.9964]\nstate[eef_state]: left_x=0.405 left_y=-0.2985 left_z=0.0435 left_yaw=0.0499 left_pitch=-0.0971 left_roll=-0.0634 left_gripper=0.9977 right_x=0.2765 right_y=0.0378 right_z=0.164 right_yaw=0.0657 right_pitch=-0.3389 right_roll=-0.2973 right_gripper=0.9964\nstate[joint_eff]: [0.9641, -10.4684, 4.5744, 0.823, -0.1245, 0.2466, -0.022, -0.0205, -2.7829, 6.653, 1.37, 0.1001, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f5b92e2ccf21905db79a667d5211995a07379318c3341c4499390b6a258b062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:118192fc6b19de82f0a5b3d4ee408c101dee67845b915256e747c98cff5182b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa571d45fa044bfb0db9aa5c650a669931ef4fd8c57fb8f073810bbd012be395",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyAgKEAgSGAI4AUIIdGhpbmtpbmcSDK7foLpgA8nZ7NqHARoMQHONlGxRPrmY961UIjCLLNoq9KSXqprcHg6kqlBI1Bn4jW47uiJSUncCG16FNN5a6y3nxbfV8c+fI+2UNfUq5Qc68KMK3pFzFBHDlpWUzEBxrLOwo6jTm4dxlabdh9h371EBaE0r38pKWrs2mzEVoLQcGF0xaZS/QcXCvvDUYSbombqg8WXqTn1QbDlDShhGuvsro9DwB2YLD72CzjO+ejQ4WBQ2W5dsQz6KrnTz3A5dqTtmNvllUUVYkWahIBNDsdG61KxY45vy9hoY4aYfjnWAXLRwo6Xplh+UjqM1By7ikozutrEKa1Syh6DQ5ntKW6my3yugE0jF1brG3P73G2CL2i7lgSaFUvVChrRhMexbowt3KpZQ64Vori7nU6l89bs0mPaDhsiDO9Ox0KepWsw4zu8g+yZpB5mjOWqXcG3VFgo8o+xunI/lNeVkdK8xJIDZYWIumMlpaNEKmsNqG+JemxYwebbpoNGPomAV5Fe4TiCRuxPcfa9C1Gc0ug54N+eaCccod2eyfCfyDOWdLqYiN166Al+bPyADatuILiQfNh4UrSJwn0bthXH9Yez2Ys7XewASoU7LQEt9fYU+m0eIwgUJj0Cs9JIpqoQKQ1r3+UoYLK7TMaGfsJgHTHXyug2Gv5QTgG5RqvyMl1wjv69fdvxL3IdIDBGgUh9XRa/HPAFM6mLTrpqJyGlL0PIEHWtbttDnIx9jADG4DxCsVdq2ni6C84bgVN6yqYWMea1jx47uycUs5uZ6PunZqdInfQ2HxwAgnlTxt//AM2WHlQNYOgGfPiPyO2LcqtIrz7hNAQrEeIiNhjhik5TgpI7yb1Wbz/f/ovHYSRnBMbQggQWJMWgz6OkY/MhxRk4ayqnCyK+88xWjj99Vi0P1YdiaCo2uGtzU+7N9kdESUhSObnfdmbaKNh5PnR701mvqi5mwbHrEaEpIAGRyZ9YRgo/sQTXIaSwJz0ONdgS7HiaMAUIVITz4/6xlnjSDGEjRyF6G+miRkAsE2HN/TtBy7XpRsjeuXaqacvgcFK7FiKYS+5ScBV95/0OOoCsB2Zxr3FRcnEPKDk+h8QspftsZDwBAj3JKtPqjRvOrLXzAkWH58KCDfuI6AdY2hwa1YNMg70rN5fI7epbsZOPWSyqNsAaWKvtU7WXRuKfVNcPUznHgU/6UjDzaR2dHyhYCsREyHJ61b/POh9G4uJb0yweijQsrGpzNNW+Q1Fz2NsxLQ3R5dgA8yKKfWjucq2vfEkXGCxAOgl04PKID1z0gIQHcF/U7f/3GkDeySakvsuMsxBbwVdhMulNp7vv+qrzpYWtDByZgWKztgCUVTeHDXDIdG2OxpuVXcAl6o6AfdgeVyWSEn5EajP2dv+RFu90w2Dt/P4gaHQu2LFDkmpZWwEAOKspOFpOSt+VEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019KBrvUW8RRJirTLYj8Tfv6",
      "input": {
        "note": "Bowl rim (teal) sits right at the jaws with the fruit just beyond; descent stopped at rim height. Closing on the rim wall.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019KBrvUW8RRJirTLYj8Tfv6",
      "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]: [-0.8494, 2.0502, 1.2415, -0.0097, -0.6476, -0.7078, 0.8138, 0.3187, 1.0191, 0.8513, -0.7837, 0.3126, -0.0715, 0.9964]\nstate[eef_state]: left_x=0.412 left_y=-0.3016 left_z=0.0565 left_yaw=0.058 left_pitch=-0.0557 left_roll=-0.101 left_gripper=0.8138 right_x=0.2737 right_y=0.0369 right_z=0.1612 right_yaw=0.0656 right_pitch=-0.3563 right_roll=-0.3037 right_gripper=0.9964\nstate[joint_eff]: [-0.4171, -10.0991, 5.7231, 0.989, -0.2027, -0.0659, 1.0281, -0.212, -2.6462, 6.6393, 1.4823, 0.1001, -0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a72219bfa257b95c0745fcf68fe037900d340bce114cb5833c2278dec768a862",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e284795247702a2374d9b3a437a6cb5aec8c0a608a5b1af9861609f270cf484",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ae4db98e5cf7ff9b0439aeaea87754206929a9925c327be468596c1f03ec145",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 4.147 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9367, 2.2139, 1.6188, -0.3801, -0.68, -0.7761, 0.9979, 0.3187, 1.0138, 0.8516, -0.7685, 0.3126, -0.0689, 0.9964]\nstate[eef_state]: left_x=0.4071 left_y=-0.36 left_z=0.064 left_yaw=0.0412 left_pitch=-0.1298 left_roll=-0.0127 left_gripper=0.9979 right_x=0.2763 right_y=0.0377 right_z=0.1649 right_yaw=0.066 right_pitch=-0.3356 right_roll=-0.2964 right_gripper=0.9964\nstate[joint_eff]: [0.5949, -11.0154, 5.2991, 1.0427, -0.2222, 0.0659, -0.2271, -0.0615, -2.6051, 6.7214, 1.4823, 0.105, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8524, 2.0613, 1.2385, -0.0509, -0.6353, -0.7082, 0.9977, 0.3187, 1.0172, 0.8516, -0.7685, 0.3126, -0.0689, 0.9964]\nstate[eef_state]: left_x=0.405 left_y=-0.2985 left_z=0.0435 left_yaw=0.0499 left_pitch=-0.0971 left_roll=-0.0634 left_gripper=0.9977 right_x=0.2765 right_y=0.0378 right_z=0.164 right_yaw=0.0657 right_pitch=-0.3389 right_roll=-0.2973 right_gripper=0.9964\nstate[joint_eff]: [0.9641, -10.4684, 4.5744, 0.823, -0.1245, 0.2466, -0.022, -0.0205, -2.7829, 6.653, 1.37, 0.1001, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8494, 2.0502, 1.2415, -0.0097, -0.6476, -0.7078, 0.8138, 0.3187, 1.0191, 0.8513, -0.7837, 0.3126, -0.0715, 0.9964]\nstate[eef_state]: left_x=0.412 left_y=-0.3016 left_z=0.0565 left_yaw=0.058 left_pitch=-0.0557 left_roll=-0.101 left_gripper=0.8138 right_x=0.2737 right_y=0.0369 right_z=0.1612 right_yaw=0.0656 right_pitch=-0.3563 right_roll=-0.3037 right_gripper=0.9964\nstate[joint_eff]: [-0.4171, -10.0991, 5.7231, 0.989, -0.2027, -0.0659, 1.0281, -0.212, -2.6462, 6.6393, 1.4823, 0.1001, -0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a72219bfa257b95c0745fcf68fe037900d340bce114cb5833c2278dec768a862",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e284795247702a2374d9b3a437a6cb5aec8c0a608a5b1af9861609f270cf484",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ae4db98e5cf7ff9b0439aeaea87754206929a9925c327be468596c1f03ec145",
        "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/goKEAgSGAI4AUIIdGhpbmtpbmcSDPb11Cr7Q0YQ1gA96RoMOIZV4AECQmXiwMDMIjBv1/IputipAXrOTGZ5b+xFXEt1kTOfiR5HjpnABqrhaaqkmJqJ7+IycjtYMdJu48AqmwrtBK8WMkE1nEZPTEQESaWBuAoB/jZgAauwQJf8FEoG1EuuCmaheDn1UC7llnhey/RRD2O9BhGpvfD7K95wE9ieqV2yZD0uSPfFQwFFuMDkG7jUa1mp8BprCUlVl41pt42AYVJMYe78wUzac3eVhyGhHVY5iFbl3AIioD84JrTwq3+2TQFL2VnpQqVzxgcaE81ejGxTffeReSF28xKnfNfz1MFuf14omjKp9Fkqv68ocxAp4PAyUIi2ZY2adIra4QY9HIXk25N/GqjD9lYRnZQAYT9ro5Oyl7cIyA+cdb+sOqLaE0w6Ou1rn5fs25+1DzvrTITjgO/fjhFXufM0QZL5PtwZ0tq/qmoROrvhfnrfdZ5WXT/WxdqiUsy2GqFeDNfvQDiqiFCJXEH8Vc8t1Zs6IWQN+yj4HKSi1vEd4vVN2V1UigNFrDqXUa9mxthPw/rN9ApzPgi/ZUcg/2jvt6br5mHosMNgYP7poua48ngWKfonYPNC8hA9HhxNGhwSVZXB1Ko/9p2g/pAmTqvu/Bwk0XLmcW2r3CQBH1eg2h6JoU60eK8Fm9D8ohjSH4rw0FBrmnUImWVrBeoUAVofCwJVnCU4JwQEtbzFgv4MEmzh83s9dL0yBN78bXAd4DYJE1gq4BFgASAR3pWD3/uNPHK1agLBoQWuDczY4bI3IbtSgAzPtec3og1QghyRqAzbQG0CmbrMTtzP/XUYUhaTq+rH5oJmETNIQVrucIkIaThBRCQ5wvDCEl+QfIhqP6fy1BNEWL7+R3cuGP1+Wr47UhpNx1FdYReOWvEG+N8+1+xi98Gg7h/knd9xPqh2zp/zgZf4FKCvMDdoi5xzowztTjyH+e7g/1N7iBxXA8Lx+8FjmMZ9yDH+dtToI0z3XmceZGk440Ku9kpJd1EO6aZLB35JsItdVknFNyM7R7d7xim1Qu5qBD1LnthB1n5l4/fPF72Qt7iywn4U7eRP/vL9amrHCK1bNZ9n621WnjD1Sx+Q115akHhcV4z22+5oUyxF5tQnyIZA3oKcueThZ/cP+FZ/y+oTRr2xFDBfHTMz+hOV4CsBbD8DX9ARACBSHRZYZxdXk7lG3X+/50PF7+6SqlUkTl6Gie5kQgPQgzA8on5idQXZqIDSdre+OZFAWRv6tcQJRVsCuc+eKP9WJhTI7ygz9nT//kxyUCkwkqzIl38ZsOkX42uGsFeoBp1OjuPXSubGFOW/hRqrCGSP74gCKV66LBcwji63fn/ydMQYIrcHYTUeOV2T8qvHO83VO6YfUdrsq61u5FhUB4x6Q1Kpvxi0WRBKEG7yOp+G65G6sGRJxFq4WV9TLHnhP05kiXAWUX86i682p84W7RCVKPCcAjdCPSIXZJoeBCyUQWHQsxriPls8gC1NhUFu4sCdDvsnv/opB9ruo5k9nX0wjokMhG0xTb+55F5gsiO7LojuSKoJ1Am03TdNCgT/35OU+/gXComO2HpmYhin1bVl8Px5DqYM7r85NBZUzKCDQ9OyFZYqFrBzmJjFQCxKcG6mh5xpN6BqXEsNPEs1LuwFf/han5YUoP38N3V7Hslb2tyXdXmPOwPWMuJ6U/pYzWa0Ztf2n3UYjxSsCn0F7682enx93wC6XL6CXiRQtbvimxh1po4fFE0wkhLGFIThP+CBKp+DgS/A+vYasSmfehuE8kEz0dkn/6dS7ToCWgSad98oqbfMuRg+Lq17+RO9AlQiTdo7oKXUl1ge9m9hI2L/KhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JSXB6LwKt1PPohF4iCmFW3",
      "input": {
        "note": "Gripper stopped at 0.81, holding something wide (bowl rim or contents). Lifting toward the white bowl and rolling toward it to pour.",
        "targets": {
          "left_roll": 1.2,
          "left_x": 0.45,
          "left_y": -0.13,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01JSXB6LwKt1PPohF4iCmFW3",
      "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]: [-0.6533, 1.9381, 1.1954, -0.0696, -1.1175, 0.4732, 0.8141, 0.3187, 1.0229, 0.8513, -0.7906, 0.3126, -0.0719, 0.9964]\nstate[eef_state]: left_x=0.446 left_y=-0.1368 left_z=0.13 left_yaw=0.0569 left_pitch=-0.0996 left_roll=1.1258 left_gripper=0.8141 right_x=0.2726 right_y=0.0365 right_z=0.1593 right_yaw=0.0648 right_pitch=-0.3667 right_roll=-0.3069 right_gripper=0.9964\nstate[joint_eff]: [0.4034, -13.0667, 6.0239, 1.5214, -0.5641, 0.1343, 0.0171, -0.1026, -2.6325, 6.5983, 1.3846, 0.0855, -0.0757, -0.0171]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb076bf2b560e37b073657b01cc2bf3cf6b508f8884d05ce72ffcea8646e1af7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3412ed0decec3a7259424a92bbac7c1d2e22c8189c74de60cedd76444e7e5bb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5dcd432b74c150a4960f6c94797db8d48a73c2d18d1367fb9c0755293d621d7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 10.85 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8524, 2.0613, 1.2385, -0.0509, -0.6353, -0.7082, 0.9977, 0.3187, 1.0172, 0.8516, -0.7685, 0.3126, -0.0689, 0.9964]\nstate[eef_state]: left_x=0.405 left_y=-0.2985 left_z=0.0435 left_yaw=0.0499 left_pitch=-0.0971 left_roll=-0.0634 left_gripper=0.9977 right_x=0.2765 right_y=0.0378 right_z=0.164 right_yaw=0.0657 right_pitch=-0.3389 right_roll=-0.2973 right_gripper=0.9964\nstate[joint_eff]: [0.9641, -10.4684, 4.5744, 0.823, -0.1245, 0.2466, -0.022, -0.0205, -2.7829, 6.653, 1.37, 0.1001, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8494, 2.0502, 1.2415, -0.0097, -0.6476, -0.7078, 0.8138, 0.3187, 1.0191, 0.8513, -0.7837, 0.3126, -0.0715, 0.9964]\nstate[eef_state]: left_x=0.412 left_y=-0.3016 left_z=0.0565 left_yaw=0.058 left_pitch=-0.0557 left_roll=-0.101 left_gripper=0.8138 right_x=0.2737 right_y=0.0369 right_z=0.1612 right_yaw=0.0656 right_pitch=-0.3563 right_roll=-0.3037 right_gripper=0.9964\nstate[joint_eff]: [-0.4171, -10.0991, 5.7231, 0.989, -0.2027, -0.0659, 1.0281, -0.212, -2.6462, 6.6393, 1.4823, 0.1001, -0.0073, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6533, 1.9381, 1.1954, -0.0696, -1.1175, 0.4732, 0.8141, 0.3187, 1.0229, 0.8513, -0.7906, 0.3126, -0.0719, 0.9964]\nstate[eef_state]: left_x=0.446 left_y=-0.1368 left_z=0.13 left_yaw=0.0569 left_pitch=-0.0996 left_roll=1.1258 left_gripper=0.8141 right_x=0.2726 right_y=0.0365 right_z=0.1593 right_yaw=0.0648 right_pitch=-0.3667 right_roll=-0.3069 right_gripper=0.9964\nstate[joint_eff]: [0.4034, -13.0667, 6.0239, 1.5214, -0.5641, 0.1343, 0.0171, -0.1026, -2.6325, 6.5983, 1.3846, 0.0855, -0.0757, -0.0171]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb076bf2b560e37b073657b01cc2bf3cf6b508f8884d05ce72ffcea8646e1af7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3412ed0decec3a7259424a92bbac7c1d2e22c8189c74de60cedd76444e7e5bb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dcd432b74c150a4960f6c94797db8d48a73c2d18d1367fb9c0755293d621d7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSgQgKEAgSGAI4AUIIdGhpbmtpbmcSDD1H1YBFvEXHQq+dwhoMt2WQKnc0s4DZ+iG/IjC1tCnlxtXP6dfb8PvAbiw5PZasOCgD+LuYiBlzk2BF9cfayVMA1TDnUYepaNh3GIUqngd1baPnTCCaPy9T7twMWxw4XWKqeUPmkFs/iZ4y+51VLSoCcoNKlLTdiK3hIXIZTTgWXaLxkdKf2dzwVRwaKirp3zlxJpdLdEe4b7P/W15oW6NEfWWJ2qmQPqgln/fX5oG/hfigcPnXgbW9iVu9UEzAVmA3yErG85UnHRY0aOR5bss0PKzMoxQYFqoKF87tjKlK51sqCKF/9PAZDEvQSouo/OADRexVA6x1WLPGK2gG4a6scem17GzY1f4iOcWNg2SgOKFv6Zwqom2T2ljXxa1t5HtO0E118+eD/E4UW2gGR9VZ8PDC3Fuc7yQbl9KLfJxKArLxeuM7P1vLleS5s0/HA233EoavGbxv2NpJaaVViJGz8nYEXlvNe04s+4Ie2biF7h9x3Jnge+5xHVXOO1Lq64S5Zz4mP0SNqmKNT7ocT7bgOw0AspE07FkLIOkT8bz+bDWVc97NfOaXf6OMHOqAblpj6hqBdKTz2OFzY4hxK7bQD4KcaQJfkWVP0qvDxv4rib8Xu9DqKKm/1jyFj8MHbzhph7bD8ibX6FO5jIuUZg4YE1hiuyuL7r+Nvufd1F8EkigGu/X3y2SDCJX4VFRByWvTZz+oeNIEMKCSwprUHpYxmnKRfgbhYuDrDHrF5iL8GKoZUcYED+V1Xr2P+PfXPBdQVn+vd2k6oVXRuzA33aSWYoQSwBynOfAD327XeoKiCOVEGV/oxEAL6cOuK6M/urLWufv+9y7ZJZLFEKFzIoiMOy1B3msPOj8zBSLf7JEbi6nrAhizh86dBF4u4V2SPB2NcoYvWZM0eEW5DRp3rJ/rO2s6DpJrH2xKAs8sqw7KdCUDhdqOegK75eYhYm2ep77VZLlINVB6pVT3Ip+zRYS42PLfIAvN7sQFS6f+J89b2Kj2xAa7BzDWBXZpWuGbiw9oOs+1s1Gc2vGep6qngXvD9lF4Y5Pxmy0FfL4fItDwVh7e5FQhXAxaxPRK3hg/vsbI5ZRygiQrRm6vPC9IjaT8XTos7T/ZC1c42IShyFX9miT3GJNfvjEl2u0aYJf+XvJB6CW6bJrQMio6bp01Yk0xq97y+9d5Kx/4hXptcW5B8bIWTTXQ0nu+Od45RL362q0gY3Pi+5Thai4H+DTj9LoUffWHjDxYbxywuOPhKogJwjkpc0AXhL3AQwdlSlUBowtTAROlSov68+CD1iVyOa87bKuskVcc1vDS8VTPhDinhKVeoh81bapbSunWcRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SHbhUrq7hJYsFHjRAx8bmp",
      "input": {
        "note": "The rim grab actually picked up the lemon, not the blue bowl; the lemon is now over the white bowl. Releasing it there since the call budget is nearly used up.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01SHbhUrq7hJYsFHjRAx8bmp",
      "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]: [-0.6456, 1.935, 1.1805, -0.0109, -1.1442, 0.5621, 0.9919, 0.3187, 1.0233, 0.8513, -0.791, 0.3126, -0.0719, 0.9964]\nstate[eef_state]: left_x=0.4479 left_y=-0.1316 left_z=0.1355 left_yaw=0.062 left_pitch=-0.0953 left_roll=1.1825 left_gripper=0.9919 right_x=0.2725 right_y=0.0365 right_z=0.1592 right_yaw=0.0647 right_pitch=-0.3674 right_roll=-0.3071 right_gripper=0.9964\nstate[joint_eff]: [-0.8547, -9.7846, 7.4051, 1.0281, -0.022, -0.2125, 0.0415, -0.1162, -2.3043, 6.6803, 1.3065, 0.1099, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ce4c758066fdfb2f6c5b152ad6b58e91b8cef43e7ecc740a50594a629ad18de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcb1e57afebbf43a2efe72615735a21b4f579dd2529f38c82a49b12397e435b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c33471dfb6abade106badc4059e4ac4c90ff597399a4e3f2fa880b6c1efd676b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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