adhoc - adhoc_b34911dd.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: 16000
max_speed_frac: 0.25
model: claude-opus-5
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: messages
wire_capture: true
seed: 0
max steps: 900
duration: 412.5 s
total steps: 305

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

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

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

assistant

agent noteRight wrist view shows the blue bowl with a green pear just in front-right of it and a yellow lemon to its left. I'm advancing the right arm ~6 cm forward at 16 cm height to get a closer look at the pear before descending.

move_to

right_x0.3600right_y-0.0100right_z0.1600right_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, 0.8001, 0.6136, -0.3859, -0.0139, -0.0296, 0.999, -0.0227, 0.8005, 0.6189, -0.387, -0.017, -0.033, 0.9994] state[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1815 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.999 right_x=0.2961 right_y=-0.0001 right_z=0.1836 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9994 state[joint_eff]: [-0.4991, -1.5795, 9.6068, 1.8535, -0.0904, 0.1441, -0.1099, -0.1846, -1.7846, 9.1145, 1.8681, -0.0611, 0.2027, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_y": -0.01, "right_z": 0.16, "right_gripper": 1}, "note": "Right wrist view shows the blue bowl with a green pear just in front-right of it and a yellow lemon to its left. I'm advancing the right arm ~6 cm forward at 16 cm height to get a closer look at the pear before descending."})

tool

executing move_to over 5 steps (0.5s)

step 5

assistant

agent noteThe green pear is now centred on the jaw column low in the right wrist view, so it is just a few cm beyond the fingertips; moving forward and down to straddle it at grasp height.

move_to

right_x0.3900right_y-0.0120right_z0.0500right_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, 0.8021, 0.6147, -0.4007, -0.0139, -0.0269, 0.999, -0.0582, 1.1355, 0.6254, -0.1307, -0.0505, -0.0608, 0.9994] state[eef_state]: left_x=0.2938 left_y=-0.0004 left_z=0.1784 left_yaw=-0.0016 left_pitch=-0.0156 left_roll=0.002 left_gripper=0.999 right_x=0.3497 right_y=-0.0078 right_z=0.1369 right_yaw=0.0076 right_pitch=-0.0712 right_roll=-0.0009 right_gripper=0.9994 state[joint_eff]: [-0.2256, -1.4154, 6.9402, 1.9072, -0.0366, -0.105, -0.022, -0.4444, -4.3282, 9.2786, 2.0098, -0.0611, 0.0269, -0.0708] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": -0.012, "right_z": 0.05, "right_gripper": 1}, "note": "The green pear is now centred on the jaw column low in the right wrist view, so it is just a few cm beyond the fingertips; moving forward and down to straddle it at grasp height."})

tool

executing move_to over 6 steps (0.6s)

step 11

assistant

agent noteThe pear fills the wrist view centred between the jaws; closing the gripper to grasp it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.4088, -0.0139, -0.0265, 0.999, -0.0628, 1.5555, 0.5228, 0.3481, -0.0612, -0.0708, 0.9994] state[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1757 left_yaw=-0.0018 left_pitch=-0.0275 left_roll=0.0026 left_gripper=0.999 right_x=0.3842 right_y=-0.0097 right_z=0.0407 right_yaw=0.0178 right_pitch=-0.1145 right_roll=0.0011 right_gripper=0.9994 state[joint_eff]: [-0.3624, -1.5658, 7.0496, 1.7998, -0.0269, -0.0269, -0.0122, -0.5812, -6.4752, 5.2855, 2.0293, -0.0415, -0.0171, -0.0708] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "The pear fills the wrist view centred between the jaws; closing the gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 21

assistant

agent noteThe close was empty (gripper reads 0.01) — the pear sits slightly right of the jaw column in the wrist view. Reopening and shifting ~2.5 cm to the arm's right and 2 cm forward to centre on it.

move_to

right_gripper1.0000right_y-0.0350right_x0.4000

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, 0.6147, -0.4171, -0.0139, -0.0265, 0.999, -0.0628, 1.5555, 0.5228, 0.3386, -0.0612, -0.0769, 0.0115] state[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.174 left_yaw=-0.0018 left_pitch=-0.0358 left_roll=0.0028 left_gripper=0.999 right_x=0.3827 right_y=-0.0096 right_z=0.0389 right_yaw=0.0212 right_pitch=-0.1241 right_roll=-0.0029 right_gripper=0.0115 state[joint_eff]: [-0.1026, -1.1145, 7.0085, 1.7802, -0.0415, -0.0415, -0.0122, -0.212, -5.9692, 5.3675, 1.7705, -0.0415, 0.0611, 1.0525] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1, "right_y": -0.035, "right_x": 0.4}, "note": "The close was empty (gripper reads 0.01) \u2014 the pear sits slightly right of the jaw column in the wrist view. Reopening and shifting ~2.5 cm to the arm's right and 2 cm forward to centre on it."})

tool

executing move_to over 10 steps (1.0s)

step 31

assistant

agent noteOvershot: the pear now sits left of the jaw column, so I'm shifting ~1.8 cm back toward the arm's left to centre it between the jaws before closing.

move_to

right_y-0.0170right_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, 0.8062, 0.6147, -0.4236, -0.0139, -0.0265, 0.999, -0.1474, 1.6211, 0.5724, 0.3157, -0.1261, -0.1402, 0.9954] state[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1726 left_yaw=-0.0017 left_pitch=-0.0427 left_roll=0.0029 left_gripper=0.999 right_x=0.3894 right_y=-0.0318 right_z=0.0292 right_yaw=0.0266 right_pitch=-0.1574 right_roll=-0.0039 right_gripper=0.9954 state[joint_eff]: [-0.2667, -1.3197, 7.1863, 1.7363, -0.0708, -0.0513, -0.0122, -0.5675, -5.7641, 7.8017, 1.6825, 0.022, 0.0366, -0.1441] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": -0.017, "right_z": 0.04}, "note": "Overshot: the pear now sits left of the jaw column, so I'm shifting ~1.8 cm back toward the arm's left to centre it between the jaws before closing."})

tool

executing move_to over 2 steps (0.2s)

step 33

assistant

agent notePear is now centred between the jaws in the wrist view; closing to grasp.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.424, -0.0135, -0.0265, 0.999, -0.1024, 1.6054, 0.5732, 0.2832, -0.102, -0.123, 0.9965] state[eef_state]: left_x=0.2908 left_y=-0.0004 left_z=0.1726 left_yaw=-0.0021 left_pitch=-0.0427 left_roll=0.0027 left_gripper=0.999 right_x=0.3866 right_y=-0.018 right_z=0.0291 right_yaw=0.0423 right_pitch=-0.1757 right_roll=-0.0046 right_gripper=0.9965 state[joint_eff]: [-0.1983, -1.2513, 7.0085, 1.6777, -0.0464, -0.0415, -0.0122, 0.0752, -8.0889, 6.2701, 1.58, 0.0513, 0.1294, 0.0952] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "Pear is now centred between the jaws in the wrist view; closing to grasp."})

tool

executing move_to over 10 steps (1.0s)

step 43

assistant

agent noteClosed empty again even though the pear looks centred — so it is still beyond the fingertips. Reopening and advancing 3.5 cm radially.

move_to

right_gripper1.0000right_x0.4200

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8062, 0.6147, -0.4244, -0.0139, -0.0265, 0.999, -0.0887, 1.5948, 0.5732, 0.2565, -0.0982, -0.1127, 0.0117] state[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1724 left_yaw=-0.0017 left_pitch=-0.0435 left_roll=0.0029 left_gripper=0.999 right_x=0.3832 right_y=-0.0131 right_z=0.0281 right_yaw=0.0475 right_pitch=-0.1919 right_roll=0.0027 right_gripper=0.0117 state[joint_eff]: [-0.3214, -1.1282, 6.9812, 1.707, -0.0757, -0.0317, -0.0122, -0.2393, -7.8017, 6.2701, 1.6044, 0.1001, 0.0952, 1.0476] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1, "right_x": 0.42}, "note": "Closed empty again even though the pear looks centred \u2014 so it is still beyond the fingertips. Reopening and advancing 3.5 cm radially."})

tool

executing move_to over 10 steps (1.0s)

step 53

assistant

agent noteThe pear now sits between the visible jaw tips at the bottom of the wrist view; closing to grasp.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8062, 0.6147, -0.4252, -0.0139, -0.0269, 0.999, -0.0784, 1.7172, 0.6918, 0.2325, -0.102, -0.1169, 0.9956] state[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1723 left_yaw=-0.0015 left_pitch=-0.0442 left_roll=0.0026 left_gripper=0.999 right_x=0.4099 right_y=-0.0106 right_z=0.0199 right_yaw=0.0642 right_pitch=-0.2191 right_roll=0.0063 right_gripper=0.9956 state[joint_eff]: [-0.3214, -1.1556, 6.9812, 1.6777, -0.0415, -0.0757, -0.0122, -0.2393, -6.8034, 7.4188, 1.5604, 0.0269, 0.0806, -0.1832] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "The pear now sits between the visible jaw tips at the bottom of the wrist view; closing to grasp."})

tool

executing move_to over 10 steps (1.0s)

step 63

assistant

agent noteThird empty close — my depth estimate from the wrist camera is unreliable, so I'm retracting and raising the right arm to get an unobstructed top-camera view of the fruits and bowls.

move_to

right_x0.3000right_z0.2800right_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, 0.8062, 0.6147, -0.4255, -0.0139, -0.0265, 0.999, -0.0784, 1.7195, 0.6945, 0.2192, -0.1066, -0.1211, 0.0115] state[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1722 left_yaw=-0.0017 left_pitch=-0.0446 left_roll=0.0029 left_gripper=0.999 right_x=0.4083 right_y=-0.0096 right_z=0.0177 right_yaw=0.0709 right_pitch=-0.2315 right_roll=0.0085 right_gripper=0.0115 state[joint_eff]: [-0.0342, -1.265, 7.241, 1.6679, -0.0513, -0.0415, -0.0122, -0.0615, -7.5966, 5.0803, 1.6777, -0.0024, 0.0122, 1.0476] approver: 10 step(s) modified (delta_clamped ×10). 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

move_to({"targets": {"right_x": 0.3, "right_z": 0.28, "right_gripper": 1}, "note": "Third empty close \u2014 my depth estimate from the wrist camera is unreliable, so I'm retracting and raising the right arm to get an unobstructed top-camera view of the fruits and bowls."})

tool

executing move_to over 17 steps (1.7s)

step 80

assistant

agent noteClear top view: white bowl left, blue bowl centre-right, lemon in front of the blue bowl and the pear ~10 cm to its right, plus a small dark fruit near the left. The pear is further to the arm's right than I had been reaching, so I'm repositioning above it.

move_to

right_x0.4200right_y-0.0600right_z0.1200right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8062, 0.6147, -0.4305, -0.0139, -0.0265, 0.999, -0.1226, 1.1175, 1.2869, -0.9882, -0.1295, -0.1619, 0.9986] state[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0017 left_pitch=-0.0496 left_roll=0.003 left_gripper=0.999 right_x=0.3043 right_y=-0.0109 right_z=0.2708 right_yaw=0.0695 right_pitch=-0.2414 right_roll=-0.0015 right_gripper=0.9986 state[joint_eff]: [-0.3624, -1.1556, 6.9812, 1.7167, -0.0513, -0.0611, -0.0122, -0.4444, -3.4803, 7.8564, 1.5311, -0.232, 0.0366, -0.1441] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": -0.06, "right_z": 0.12, "right_gripper": 1}, "note": "Clear top view: white bowl left, blue bowl centre-right, lemon in front of the blue bowl and the pear ~10 cm to its right, plus a small dark fruit near the left. The pear is further to the arm's right than I had been reaching, so I'm repositioning above it."})

tool

executing move_to over 10 steps (1.0s)

step 90

assistant

agent noteWrist view puts the pear left of the jaw column, and the top view shows it further from the base than the gripper; moving back to y=-0.018 and reaching 5 cm further forward.

move_to

right_x0.4700right_y-0.0180right_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, 0.8078, 0.6147, -0.4324, -0.0139, -0.0269, 0.999, -0.2321, 1.573, 1.0203, -0.3176, -0.2039, -0.2481, 0.9987] state[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1704 left_yaw=-0.0015 left_pitch=-0.053 left_roll=0.0028 left_gripper=0.999 right_x=0.4152 right_y=-0.0577 right_z=0.1127 right_yaw=0.0752 right_pitch=-0.2776 right_roll=0.0071 right_gripper=0.9987 state[joint_eff]: [-0.1026, -1.4291, 7.159, 1.6825, -0.0464, -0.0708, -0.0171, -0.4444, -7.8974, 6.3385, 1.7314, -0.1538, -0.0269, -0.149] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.47, "right_y": -0.018, "right_z": 0.1}, "note": "Wrist view puts the pear left of the jaw column, and the top view shows it further from the base than the gripper; moving back to y=-0.018 and reaching 5 cm further forward."})

tool

executing move_to over 5 steps (0.5s)

step 95

assistant

agent noteThe pear is now centred on the jaw column right at the bottom of the wrist view; descending to grasp height.

move_to

right_z0.0350

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8116, 0.6147, -0.4347, -0.0139, -0.0265, 0.999, -0.0837, 1.7638, 1.1492, -0.2943, -0.1272, -0.1646, 0.9986] state[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1689 left_yaw=-0.0017 left_pitch=-0.0591 left_roll=0.0032 left_gripper=0.999 right_x=0.4568 right_y=-0.0122 right_z=0.0855 right_yaw=0.113 right_pitch=-0.3301 right_roll=0.013 right_gripper=0.9986 state[joint_eff]: [-0.2393, -1.0872, 6.9812, 1.6777, -0.0757, -0.0269, -0.0171, -0.4855, -8.2667, 9.2239, 1.7265, 0.1197, 0.2173, -0.022] 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_z": 0.035}, "note": "The pear is now centred on the jaw column right at the bottom of the wrist view; descending to grasp height."})

tool

executing move_to over 4 steps (0.4s)

step 99

assistant

agent notePear fills the view between the jaw tips; closing the gripper on it.

move_to

right_gripper0.0500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6147, -0.4358, -0.0135, -0.0269, 0.999, -0.0822, 1.8267, 1.0569, -0.1528, -0.128, -0.168, 0.9986] state[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1685 left_yaw=-0.0018 left_pitch=-0.061 left_roll=0.0027 left_gripper=0.999 right_x=0.4532 right_y=-0.0111 right_z=0.0446 right_yaw=0.1181 right_pitch=-0.3434 right_roll=0.0143 right_gripper=0.9986 state[joint_eff]: [-0.1026, -1.3744, 6.9675, 1.6777, -0.0269, -0.0611, -0.0122, -0.1436, -7.3368, 5.4496, 1.4969, -0.0855, -0.0269, -0.0122] 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": 0.05}, "note": "Pear fills the view between the jaw tips; closing the gripper on it."})

tool

executing move_to over 10 steps (1.0s)

step 109

assistant

agent noteGripper settled at 0.65 (≈6 cm) so the pear is grasped; lifting it and moving left toward the blue bowl.

move_to

right_z0.2500right_x0.4400right_y0.0600

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, 0.8124, 0.6147, -0.4423, -0.0139, -0.0269, 0.999, -0.0822, 1.8534, 1.0389, -0.1467, -0.1284, -0.1734, 0.6529] state[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1672 left_yaw=-0.0015 left_pitch=-0.0675 left_roll=0.0031 left_gripper=0.999 right_x=0.4465 right_y=-0.0105 right_z=0.0276 right_yaw=0.1245 right_pitch=-0.3811 right_roll=0.0195 right_gripper=0.6529 state[joint_eff]: [-0.0342, -1.347, 6.9538, 1.7118, -0.0464, -0.0757, -0.0122, -0.2667, -11.2615, 7.3641, 1.3065, -0.105, -0.0073, 1.033] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.25, "right_x": 0.44, "right_y": 0.06}, "note": "Gripper settled at 0.65 (\u22486 cm) so the pear is grasped; lifting it and moving left toward the blue bowl."})

tool

executing move_to over 15 steps (1.5s)

step 124

assistant

agent noteTop view shows the held pear is beyond and right of the blue bowl; moving 4 cm back toward the base and 2.5 cm further left to get over the bowl.

move_to

right_x0.4000right_y0.0850right_z0.2500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8127, 0.6147, -0.4477, -0.0139, -0.0265, 0.999, 0.1207, 1.7206, 1.7416, -0.9829, -0.0227, -0.0433, 0.6558] state[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1661 left_yaw=-0.0017 left_pitch=-0.0732 left_roll=0.0035 left_gripper=0.999 right_x=0.4401 right_y=0.061 right_z=0.236 right_yaw=0.1562 right_pitch=-0.393 right_roll=0.0078 right_gripper=0.6558 state[joint_eff]: [-0.1709, -1.3197, 6.9538, 1.7314, -0.0513, -0.0464, -0.0122, 0.0068, -7.6786, 8.4581, 1.4921, -0.0171, 0.188, 1.0232] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.085, "right_z": 0.25}, "note": "Top view shows the held pear is beyond and right of the blue bowl; moving 4 cm back toward the base and 2.5 cm further left to get over the bowl."})

tool

executing move_to over 4 steps (0.4s)

step 128

assistant

agent noteThe blue bowl now sits just beyond and slightly left of the held pear in the wrist view; nudging left/back and descending to hover over the bowl.

move_to

right_x0.3800right_y0.1000right_z0.1800

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.4496, -0.0135, -0.0265, 0.999, 0.2066, 1.6569, 1.663, -1.0416, 0.0113, -0.0002, 0.6564] state[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1655 left_yaw=-0.002 left_pitch=-0.0759 left_roll=0.0033 left_gripper=0.999 right_x=0.4041 right_y=0.0863 right_z=0.2244 right_yaw=0.1852 right_pitch=-0.4669 right_roll=0.0026 right_gripper=0.6564 state[joint_eff]: [-0.2256, -0.8821, 6.9538, 1.7509, -0.0317, -0.0415, -0.0122, -0.3487, -11.2205, 7.2821, 1.4139, 0.1294, 0.188, 1.0281] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.38, "right_y": 0.1, "right_z": 0.18}, "note": "The blue bowl now sits just beyond and slightly left of the held pear in the wrist view; nudging left/back and descending to hover over the bowl."})

tool

executing move_to over 3 steps (0.3s)

step 131

assistant

agent noteThe previous command barely executed; re-issuing the move to bring the pear over the blue bowl, slightly left and lower.

move_to

right_x0.3700right_y0.1050right_z0.1900

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.4503, -0.0139, -0.0265, 0.999, 0.2134, 1.6211, 1.6608, -1.0534, 0.0231, 0.012, 0.6571] state[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1653 left_yaw=-0.0017 left_pitch=-0.0767 left_roll=0.0036 left_gripper=0.999 right_x=0.397 right_y=0.0855 right_z=0.2361 right_yaw=0.174 right_pitch=-0.4449 right_roll=-0.0008 right_gripper=0.6571 state[joint_eff]: [-0.3624, -1.2786, 6.9538, 1.7265, -0.0415, -0.0366, -0.0122, -0.1709, -9.1282, 6.9812, 1.453, 0.0562, 0.188, 0.9988] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.105, "right_z": 0.19}, "note": "The previous command barely executed; re-issuing the move to bring the pear over the blue bowl, slightly left and lower."})

tool

executing move_to over 3 steps (0.3s)

step 134

assistant

agent noteThe arm has stopped tracking (wrist pitch has drifted to -0.44); commanding pitch back to 0 and lifting higher to break out of the stuck configuration while keeping the pear.

move_to

right_x0.3600right_z0.3000right_pitch0.0000right_y0.1000

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, 0.6147, -0.4503, -0.0135, -0.0265, 0.999, 0.2131, 1.6211, 1.6611, -1.0534, 0.0227, 0.012, 0.6608] state[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1653 left_yaw=-0.002 left_pitch=-0.0767 left_roll=0.0034 left_gripper=0.999 right_x=0.3971 right_y=0.0855 right_z=0.2362 right_yaw=0.174 right_pitch=-0.4445 right_roll=-0.0004 right_gripper=0.6608 state[joint_eff]: [-0.1709, -1.0872, 6.9538, 1.7216, -0.0464, -0.0513, -0.0122, -0.2803, -9.2376, 6.7624, 1.453, 0.0659, 0.149, 0.8278] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_z": 0.3, "right_pitch": 0, "right_y": 0.1}, "note": "The arm has stopped tracking (wrist pitch has drifted to -0.44); commanding pitch back to 0 and lifting higher to break out of the stuck configuration while keeping the pear."})

tool

executing move_to over 15 steps (1.5s)

step 149

assistant

agent noteTop view shows the held pear still ~7 cm right of the blue bowl; sliding left to line the pear up over the bowl.

move_to

right_y0.1500right_x0.3600right_z0.2800

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, 0.6147, -0.4538, -0.0139, -0.0265, 0.999, 0.3164, 1.235, 1.2705, -0.7063, 0.1066, 0.0383, 0.6619] state[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1641 left_yaw=-0.0017 left_pitch=-0.082 left_roll=0.0037 left_gripper=0.999 right_x=0.3548 right_y=0.1002 right_z=0.2773 right_yaw=0.1957 right_pitch=-0.098 right_roll=-0.0188 right_gripper=0.6619 state[joint_eff]: [-0.0205, -1.4838, 7.1043, 1.7509, -0.0269, -0.0464, -0.0122, 0.1983, -5.5863, 7.1863, 2.2393, 0.1392, 0.188, 0.8816] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.15, "right_x": 0.36, "right_z": 0.28}, "note": "Top view shows the held pear still ~7 cm right of the blue bowl; sliding left to line the pear up over the bowl."})

tool

executing move_to over 5 steps (0.5s)

step 154

assistant

agent noteThe wrist view shows blue bowl rim around the pear, so the pear is over the bowl; lowering before releasing.

move_to

right_z0.1600

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8188, 0.6147, -0.4679, -0.0139, -0.0265, 0.999, 0.4858, 1.3384, 1.3083, -0.7391, 0.2054, 0.1131, 0.6639] state[eef_state]: left_x=0.285 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0017 left_pitch=-0.0995 left_roll=0.0041 left_gripper=0.999 right_x=0.3517 right_y=0.149 right_z=0.2526 right_yaw=0.2385 right_pitch=-0.1814 right_roll=-0.0443 right_gripper=0.6639 state[joint_eff]: [-0.253, -1.6205, 6.9265, 1.7851, -0.0171, -0.0415, -0.0122, 0.212, -5.4632, 10.2632, 1.7949, 0.1929, 0.1441, 0.7985] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.16}, "note": "The wrist view shows blue bowl rim around the pear, so the pear is over the bowl; lowering before releasing."})

tool

executing move_to over 6 steps (0.6s)

step 160

assistant

agent noteWrist view now shows the blue bowl beyond and to the right of the held pear; using the calibrated ~9 px/cm lateral mapping to move 4.4 cm right and 8 cm forward over the bowl.

move_to

right_y0.0980right_x0.4200right_z0.2200

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, 0.6147, -0.4725, -0.0139, -0.0265, 0.999, 0.4873, 1.3338, 0.9478, -0.4831, 0.2043, 0.1154, 0.667] state[eef_state]: left_x=0.2843 left_y=-0.0002 left_z=0.1595 left_yaw=-0.0017 left_pitch=-0.1045 left_roll=0.0042 left_gripper=0.999 right_x=0.3372 right_y=0.1422 right_z=0.1464 right_yaw=0.2339 right_pitch=-0.2784 right_roll=-0.0672 right_gripper=0.667 state[joint_eff]: [-0.1846, -1.347, 6.9265, 1.6825, -0.0415, -0.0513, -0.0122, -0.1983, -5.6137, 7.2957, 1.8828, 0.0659, -0.0708, 0.779] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.098, "right_x": 0.42, "right_z": 0.22}, "note": "Wrist view now shows the blue bowl beyond and to the right of the held pear; using the calibrated ~9 px/cm lateral mapping to move 4.4 cm right and 8 cm forward over the bowl."})

tool

executing move_to over 7 steps (0.7s)

step 167

assistant

agent noteBlue bowl is just beyond the pear now; advancing 4 cm so the pear is over the bowl's centre before releasing.

move_to

right_x0.4500right_z0.1900

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.823, 0.6147, -0.4763, -0.0135, -0.0265, 0.999, 0.2508, 1.5528, 1.38, -0.7033, 0.0639, -0.054, 0.6683] state[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1578 left_yaw=-0.002 left_pitch=-0.1121 left_roll=0.0041 left_gripper=0.999 right_x=0.4133 right_y=0.098 right_z=0.2038 right_yaw=0.2146 right_pitch=-0.3074 right_roll=-0.0724 right_gripper=0.6683 state[joint_eff]: [-0.1573, -1.5658, 6.9265, 1.6532, -0.0317, -0.0317, -0.0122, -0.2667, -7.3915, 8.8274, 1.3993, -0.1538, 0.0366, 0.7985] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.45, "right_z": 0.19}, "note": "Blue bowl is just beyond the pear now; advancing 4 cm so the pear is over the bowl's centre before releasing."})

tool

executing move_to over 3 steps (0.3s)

step 170

assistant

agent notePear is positioned over the blue bowl; opening the gripper to drop it in.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8249, 0.6147, -0.4767, -0.0135, -0.0265, 0.999, 0.2325, 1.6718, 1.4261, -0.7074, 0.0475, -0.0727, 0.6695] state[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1572 left_yaw=-0.002 left_pitch=-0.1144 left_roll=0.0041 left_gripper=0.999 right_x=0.4309 right_y=0.0971 right_z=0.1724 right_yaw=0.221 right_pitch=-0.3855 right_roll=-0.0726 right_gripper=0.6695 state[joint_eff]: [-0.3487, -1.4154, 7.1179, 1.6386, -0.0317, -0.0513, -0.0122, -0.7726, -9.5248, 9.853, 1.619, -0.0171, -0.0415, 0.7643] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1}, "note": "Pear is positioned over the blue bowl; opening the gripper to drop it in."})

tool

executing move_to over 4 steps (0.4s)

step 174

assistant

agent noteThe wrist view suggests the blue bowl may have been nudged/tipped; retracting the right arm to get a clear top-camera view of the situation.

move_to

right_x0.3000right_z0.3000

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, 0.8249, 0.6147, -0.4763, -0.0139, -0.0265, 0.999, 0.226, 1.7138, 1.4372, -0.6956, 0.0471, -0.0883, 0.9958] state[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1573 left_yaw=-0.0016 left_pitch=-0.114 left_roll=0.0043 left_gripper=0.999 right_x=0.4383 right_y=0.0959 right_z=0.1606 right_yaw=0.2239 right_pitch=-0.4053 right_roll=-0.0821 right_gripper=0.9958 state[joint_eff]: [-0.0889, -1.3744, 7.1316, 1.6239, -0.0171, -0.0415, -0.0122, -0.4444, -10.9333, 8.8547, 1.746, -0.0317, 0.0855, -0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.3, "right_z": 0.3}, "note": "The wrist view suggests the blue bowl may have been nudged/tipped; retracting the right arm to get a clear top-camera view of the situation."})

tool

executing move_to over 11 steps (1.1s)

step 185

assistant

agent noteThe pear landed beside the blue bowl rather than inside it (top view: bowl upright at centre-right, pear just in front-right of it). Moving down and over the pear to re-grasp it.

move_to

right_x0.4200right_y0.0400right_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, 0.8284, 0.6147, -0.4786, -0.0135, -0.0269, 0.999, 0.3645, 1.3117, 1.6844, -1.1507, 0.1078, -0.0067, 0.9966] state[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1559 left_yaw=-0.0017 left_pitch=-0.1198 left_roll=0.0039 left_gripper=0.999 right_x=0.3174 right_y=0.1046 right_z=0.34 right_yaw=0.2656 right_pitch=-0.2056 right_roll=-0.0656 right_gripper=0.9966 state[joint_eff]: [-0.0752, -1.5111, 6.9675, 1.707, -0.022, -0.0757, -0.0171, 0.253, 1.0325, 3.9316, 1.3993, -0.0659, 0.2369, 0.0611] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.04, "right_z": 0.1}, "note": "The pear landed beside the blue bowl rather than inside it (top view: bowl upright at centre-right, pear just in front-right of it). Moving down and over the pear to re-grasp it."})

tool

executing move_to over 16 steps (1.6s)

step 201

assistant

agent noteWrist view shows the pear just below-left of the jaws; shifting ~3.7 cm to the arm's left and descending to grasp height.

move_to

right_y0.0770right_z0.0550right_x0.4150

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, 0.8303, 0.6147, -0.4915, -0.0139, -0.0265, 0.999, 0.0391, 1.5455, 0.9039, -0.2184, -0.1135, -0.2268, 0.9966] state[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.153 left_yaw=-0.0016 left_pitch=-0.1346 left_roll=0.0048 left_gripper=0.999 right_x=0.4046 right_y=0.0394 right_z=0.0914 right_yaw=0.2558 right_pitch=-0.2852 right_roll=-0.0502 right_gripper=0.9966 state[joint_eff]: [-0.335, -1.5248, 7.0496, 1.7118, -0.0806, -0.022, -0.0122, -0.3487, -7.2684, 6.4752, 1.8193, -0.2076, -0.1099, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.077, "right_z": 0.055, "right_x": 0.415}, "note": "Wrist view shows the pear just below-left of the jaws; shifting ~3.7 cm to the arm's left and descending to grasp height."})

tool

executing move_to over 4 steps (0.4s)

step 205

assistant

agent noteThe pear is centred at the bottom of the wrist view between the jaws; closing to grasp it.

move_to

right_gripper0.0500

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, 0.8307, 0.6147, -0.4923, -0.0139, -0.0269, 0.999, 0.1547, 1.6573, 0.881, -0.104, -0.0643, -0.173, 0.9966] state[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1527 left_yaw=-0.0014 left_pitch=-0.1358 left_roll=0.0045 left_gripper=0.999 right_x=0.4093 right_y=0.0789 right_z=0.0564 right_yaw=0.2991 right_pitch=-0.3103 right_roll=-0.0486 right_gripper=0.9966 state[joint_eff]: [-0.3214, -1.4017, 6.9128, 1.6239, -0.0366, -0.0611, -0.0122, -0.4034, -7.7607, 5.5453, 1.6484, 0.0904, 0.1587, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.05}, "note": "The pear is centred at the bottom of the wrist view between the jaws; closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 215

assistant

agent noteClose was empty; the pear is still ~2.5 cm to the arm's left of the jaw V in the wrist view. Reopening and shifting left before retrying.

move_to

right_gripper1.0000right_y0.1050

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, 0.8307, 0.6147, -0.4938, -0.0139, -0.0265, 0.999, 0.1665, 1.6775, 0.8707, -0.0711, -0.0452, -0.1417, 0.0542] state[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1524 left_yaw=-0.0016 left_pitch=-0.1373 left_roll=0.0048 left_gripper=0.999 right_x=0.4108 right_y=0.0808 right_z=0.0495 right_yaw=0.2764 right_pitch=-0.3091 right_roll=-0.0432 right_gripper=0.0542 state[joint_eff]: [-0.0615, -1.388, 6.8991, 1.6484, -0.0073, -0.0611, -0.0122, -0.4581, -8.1709, 5.9145, 1.619, 0.0757, 0.0562, 0.1832] 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": {"right_gripper": 1, "right_y": 0.105}, "note": "Close was empty; the pear is still ~2.5 cm to the arm's left of the jaw V in the wrist view. Reopening and shifting left before retrying."})

tool

executing move_to over 10 steps (1.0s)

step 225

assistant

agent noteA green sliver of the pear now sits at the bottom centre of the wrist view, right under the jaws; closing to grasp.

move_to

right_gripper0.0500

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, 0.8345, 0.6147, -0.4946, -0.0135, -0.0265, 0.999, 0.2405, 1.6814, 0.8707, -0.0761, -0.0113, -0.1005, 0.9957] state[eef_state]: left_x=0.2815 left_y=-0.0002 left_z=0.1513 left_yaw=-0.0019 left_pitch=-0.1419 left_roll=0.0047 left_gripper=0.999 right_x=0.404 right_y=0.1048 right_z=0.0471 right_yaw=0.2973 right_pitch=-0.319 right_roll=-0.0424 right_gripper=0.9957 state[joint_eff]: [-0.0479, -1.7299, 7.1179, 1.6142, -0.0464, -0.0269, -0.0122, 0.2393, -6.5026, 7.6376, 1.4042, 0.1099, 0.1294, -0.0904] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.05}, "note": "A green sliver of the pear now sits at the bottom centre of the wrist view, right under the jaws; closing to grasp."})

tool

executing move_to over 10 steps (1.0s)

step 235

assistant

agent noteEmpty close again and the pear has rolled out of view; switching to the lemon, which sits clearly to the arm's left in the wrist view (~7 cm). Opening and moving over it.

move_to

right_gripper1.0000right_y0.1700right_x0.4200right_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, 0.8341, 0.6147, -0.4953, -0.0135, -0.0265, 0.999, 0.2405, 1.6817, 0.8711, -0.0795, -0.0048, -0.1051, 0.0546] state[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1513 left_yaw=-0.0019 left_pitch=-0.1423 left_roll=0.0047 left_gripper=0.999 right_x=0.4038 right_y=0.1036 right_z=0.0465 right_yaw=0.2942 right_pitch=-0.3228 right_roll=-0.0506 right_gripper=0.0546 state[joint_eff]: [-0.2393, -1.2923, 6.9402, 1.5946, -0.0464, -0.0269, -0.0122, -0.0068, -7.747, 6.2291, 1.4774, -0.1197, 0.0171, 0.1245] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1, "right_y": 0.17, "right_x": 0.42, "right_z": 0.06}, "note": "Empty close again and the pear has rolled out of view; switching to the lemon, which sits clearly to the arm's left in the wrist view (~7 cm). Opening and moving over it."})

tool

executing move_to over 10 steps (1.0s)

step 245

assistant

agent noteThe lemon sits centred between the two visible fingers; descending slightly and closing on it.

move_to

right_z0.0300right_gripper0.0500

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, 0.8341, 0.6147, -0.4953, -0.0139, -0.0265, 0.999, 0.4126, 1.7741, 1.0286, -0.1631, 0.0845, 0.0029, 0.9956] state[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1513 left_yaw=-0.0016 left_pitch=-0.1423 left_roll=0.0049 left_gripper=0.999 right_x=0.4126 right_y=0.1682 right_z=0.0545 right_yaw=0.3252 right_pitch=-0.3368 right_roll=-0.0536 right_gripper=0.9956 state[joint_eff]: [-0.0615, -1.306, 6.9128, 1.6044, -0.0708, -0.0317, -0.0122, 0.2667, -7.7744, 8.3897, 1.3162, 0.1929, 0.2711, -0.0073] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.03, "right_gripper": 0.05}, "note": "The lemon sits centred between the two visible fingers; descending slightly and closing on it."})

tool

executing move_to over 10 steps (1.0s)

step 255

assistant

agent noteEmpty close: the lemon is still ~3 cm beyond and ~2 cm left of the jaws. Advancing and shifting left while closing to capture it.

move_to

right_x0.4450right_y0.1870right_gripper0.0500

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, 0.8341, 0.6147, -0.4957, -0.0135, -0.0265, 0.999, 0.4152, 1.816, 0.9874, -0.0967, 0.0891, 0.0002, 0.0544] state[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1512 left_yaw=-0.0019 left_pitch=-0.1426 left_roll=0.0047 left_gripper=0.999 right_x=0.4093 right_y=0.1672 right_z=0.0317 right_yaw=0.3248 right_pitch=-0.3532 right_roll=-0.0608 right_gripper=0.0544 state[joint_eff]: [-0.2256, -1.2103, 6.9402, 1.6044, -0.022, -0.0073, -0.0122, -0.253, -7.5829, 5.4222, 1.7411, -0.0122, -0.0073, 0.1294] camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.445, "right_y": 0.187, "right_gripper": 0.05}, "note": "Empty close: the lemon is still ~3 cm beyond and ~2 cm left of the jaws. Advancing and shifting left while closing to capture it."})

tool

executing move_to over 3 steps (0.3s)

step 258

assistant

agent noteThe lemon looks very large in the wrist view, suggesting it is nearer than the fingertips rather than beyond them; opening and backing off 2 cm to straddle it.

move_to

right_gripper1.0000right_x0.4150right_y0.1900

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8371, 0.6147, -0.498, -0.0135, -0.0265, 0.999, 0.4221, 1.9388, 1.1362, -0.139, 0.0895, 0.0002, 0.0511] state[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.15 left_yaw=-0.0019 left_pitch=-0.148 left_roll=0.0048 left_gripper=0.999 right_x=0.4366 right_y=0.1827 right_z=0.025 right_yaw=0.3308 right_pitch=-0.3695 right_roll=-0.0627 right_gripper=0.0511 state[joint_eff]: [-0.3487, -1.4701, 6.9128, 1.6532, -0.0269, -0.0269, -0.0122, 0.212, -10.6872, 6.8444, 1.2674, 0.0464, 0.0757, 0.0952] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1, "right_x": 0.415, "right_y": 0.19}, "note": "The lemon looks very large in the wrist view, suggesting it is nearer than the fingertips rather than beyond them; opening and backing off 2 cm to straddle it."})

tool

executing move_to over 10 steps (1.0s)

step 268

assistant

agent noteWith jaws open I can see both fingertips at the bottom corners and the lemon beyond and ~3 cm to the arm's left; moving left and forward to straddle it.

move_to

right_y0.2150right_x0.4500right_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, 0.8379, 0.6147, -0.498, -0.0139, -0.0265, 0.999, 0.4606, 1.9278, 1.0706, -0.1352, 0.1013, 0.0193, 0.9956] state[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.1498 left_yaw=-0.0015 left_pitch=-0.1487 left_roll=0.0051 left_gripper=0.999 right_x=0.4116 right_y=0.1883 right_z=0.0077 right_yaw=0.3453 right_pitch=-0.4183 right_roll=-0.0671 right_gripper=0.9956 state[joint_eff]: [-0.1026, -1.2376, 6.9675, 1.619, -0.0611, -0.0659, -0.0122, 0.1709, -12.9299, 5.4085, 1.4042, 0.1343, 0.1392, -0.0855] camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.215, "right_x": 0.45, "right_z": 0.03}, "note": "With jaws open I can see both fingertips at the bottom corners and the lemon beyond and ~3 cm to the arm's left; moving left and forward to straddle it."})

tool

executing move_to over 3 steps (0.3s)

step 271

assistant

agent noteLemon now sits centred between the open fingertips; closing to grasp it.

move_to

right_gripper0.0500

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, 0.8406, 0.6147, -0.5011, -0.0135, -0.0269, 0.999, 0.4736, 2.0293, 1.285, -0.2504, 0.1005, 0.0189, 0.9965] state[eef_state]: left_x=0.2806 left_y=-0.0002 left_z=0.1485 left_yaw=-0.0016 left_pitch=-0.1545 left_roll=0.0046 left_gripper=0.999 right_x=0.444 right_y=0.2116 right_z=0.0209 right_yaw=0.3591 right_pitch=-0.4207 right_roll=-0.0669 right_gripper=0.9965 state[joint_eff]: [-0.2667, -1.5248, 6.8991, 1.6777, -0.0317, -0.0513, -0.0122, 0.212, -11.1248, 6.2974, 0.9939, 0.105, 0.1099, 0.0806] camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.05}, "note": "Lemon now sits centred between the open fingertips; closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 281

assistant

agent noteStill empty — the lemon must sit a couple of cm beyond the fingertips; advancing 3 cm while closing to capture it.

move_to

right_x0.4700right_gripper0.0500

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, 0.841, 0.6147, -0.5022, -0.0135, -0.0265, 0.999, 0.4751, 2.0384, 1.2877, -0.2737, 0.1001, 0.0154, 0.0546] state[eef_state]: left_x=0.2805 left_y=-0.0002 left_z=0.1482 left_yaw=-0.0018 left_pitch=-0.156 left_roll=0.005 left_gripper=0.999 right_x=0.4393 right_y=0.2102 right_z=0.0145 right_yaw=0.3614 right_pitch=-0.4504 right_roll=-0.0723 right_gripper=0.0546 state[joint_eff]: [-0.1573, -1.4291, 6.8991, 1.6435, -0.0122, -0.0122, -0.0122, -0.1846, -11.5761, 5.7641, 1.4725, 0.0024, -0.0122, -0.0269] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.47, "right_gripper": 0.05}, "note": "Still empty \u2014 the lemon must sit a couple of cm beyond the fingertips; advancing 3 cm while closing to capture it."})

tool

executing move_to over 3 steps (0.3s)

step 284

assistant

agent noteLast attempt at the lemon: reopening the jaws fully and nudging 1.7 cm further to the arm's left where the lemon sits in the wrist view.

move_to

right_gripper1.0000right_y0.2280right_x0.4550

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, 0.8436, 0.6147, -0.5041, -0.0139, -0.0265, 0.999, 0.4538, 2.1128, 1.3941, -0.3168, 0.0887, -0.0082, 0.0511] state[eef_state]: left_x=0.2802 left_y=-0.0001 left_z=0.1471 left_yaw=-0.0015 left_pitch=-0.1606 left_roll=0.0053 left_gripper=0.999 right_x=0.4597 right_y=0.2108 right_z=0.0105 right_yaw=0.3643 right_pitch=-0.4634 right_roll=-0.0764 right_gripper=0.0511 state[joint_eff]: [-0.1162, -1.6205, 7.0496, 1.6484, -0.0611, -0.0269, -0.0171, -0.6769, -11.2068, 7.665, 1.0916, -0.0366, -0.0317, 0.0952] camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1, "right_y": 0.228, "right_x": 0.455}, "note": "Last attempt at the lemon: reopening the jaws fully and nudging 1.7 cm further to the arm's left where the lemon sits in the wrist view."})

tool

executing move_to over 10 steps (1.0s)

step 294

assistant

agent noteThe lemon now sits right at the open jaws in the wrist view; closing for a final grasp attempt.

move_to

right_gripper0.0500

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, 0.8455, 0.6147, -0.5133, -0.0135, -0.0265, 0.999, 0.4904, 2.1265, 1.4078, -0.3382, 0.1005, 0.0124, 0.9956] state[eef_state]: left_x=0.2788 left_y=-0.0001 left_z=0.145 left_yaw=-0.0018 left_pitch=-0.1716 left_roll=0.0053 left_gripper=0.999 right_x=0.4513 right_y=0.2249 right_z=0.0062 right_yaw=0.3763 right_pitch=-0.4827 right_roll=-0.0785 right_gripper=0.9956 state[joint_eff]: [-0.0889, -1.6205, 6.8718, 1.746, -0.0171, -0.0171, -0.0122, 0.5128, -11.6034, 6.9402, 1.2576, 0.105, 0.1245, -0.0611] camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.05}, "note": "The lemon now sits right at the open jaws in the wrist view; closing for a final grasp attempt."})

tool

executing move_to over 10 steps (1.0s)

step 304

assistant

agent noteRan out of LLM-call budget with the task unfinished: I grasped and moved the pear once but dropped it beside the blue bowl, and repeated grasp attempts on the lemon closed empty because I could not resolve the object's radial distance from the wrist camera.

give_up

hindsightKey lessons: (1) The wrist camera's vertical axis is nearly useless for depth on this rig — I wasted ~15 calls on empty closes. Lateral alignment from the wrist view IS reliable and linear: at z≈0.05-0.15 the mapping is roughly 900 px per metre of y (≈9 px/cm), i.e. object_column = jaw_column - (Δy)*900, jaw column ≈ 110-115. Calibrate this once with a 2 cm sideways move and then only worry about x. (2) For radial distance, the only reliable signal I found was a successful grasp at x≈0.45 for objects that appear around top-cam row 90; the top camera's row axis is compressed and the arm's own height biases it badly, so prefer bracketing x in 2 cm steps with the gripper OPEN and watching when both fingertips appear at the bottom corners with the object between them — that configuration gave the one successful grasp (settled gripper 0.65 for a 6 cm pear). (3) Commanded gripper value matters: if you command 0.05 and it settles at 0.054 the close was empty; a grasp shows a settled value well above the command. (4) The right arm's wrist pitch drifts negative (to -0.48) as you work low and far out, and the IK then stalls (moves execute 1-3 steps and don't track). Re-command right_pitch=0 and raise z to unstick it. (5) Dropping a fruit from 16 cm above a bowl you have not verified is centred just scatters it; verify the bowl is centred on the jaw column with the same 9 px/cm rule before releasing.

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, 0.8463, 0.6147, -0.5144, -0.0139, -0.0265, 0.999, 0.4938, 2.1265, 1.4078, -0.342, 0.1001, 0.0078, 0.0545] state[eef_state]: left_x=0.2786 left_y=-0.0001 left_z=0.1446 left_yaw=-0.0015 left_pitch=-0.1735 left_roll=0.0056 left_gripper=0.999 right_x=0.4498 right_y=0.2261 right_z=0.0057 right_yaw=0.3826 right_pitch=-0.4867 right_roll=-0.0812 right_gripper=0.0545 state[joint_eff]: [-0.1299, -1.4701, 6.8855, 1.6093, -0.0415, -0.0415, -0.0171, -0.294, -11.5077, 6.1607, 1.2039, 0.0757, 0.0513, 0.1441] camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]

assistant

give_up({"reason": "Ran out of LLM-call budget with the task unfinished: I grasped and moved the pear once but dropped it beside the blue bowl, and repeated grasp attempts on the lemon closed empty because I could not resolve the object's radial distance from the wrist camera.", "hindsight": "Key lessons: (1) The wrist camera's vertical axis is nearly useless for depth on this rig \u2014 I wasted ~15 calls on empty closes. Lateral alignment from the wrist view IS reliable and linear: at z\u22480.05-0.15 the mapping is roughly 900 px per metre of y (\u22489 px/cm), i.e. object_column = jaw_column - (\u0394y)*900, jaw column \u2248 110-115. Calibrate this once with a 2 cm sideways move and then only worry about x. (2) For radial distance, the only reliable signal I found was a successful grasp at x\u22480.45 for objects that appear around top-cam row 90; the top camera's row axis is compressed and the arm's own height biases it badly, so prefer bracketing x in 2 cm steps with the gripper OPEN and watching when both fingertips appear at the bottom corners with the object between them \u2014 that configuration gave the one successful grasp (settled gripper 0.65 for a 6 cm pear). (3) Commanded gripper value matters: if you command 0.05 and it settles at 0.054 the close was empty; a grasp shows a settled value well above the command. (4) The right arm's wrist pitch drifts negative (to -0.48) as you work low and far out, and the IK then stalls (moves execute 1-3 steps and don't track). Re-command right_pitch=0 and raise z to unstick it. (5) Dropping a fruit from 16 cm above a bowl you have not verified is centred just scatters it; verify the bowl is centred on the jaw column with the same 9 px/cm rule before releasing."})

tool

give_up: Ran out of LLM-call budget with the task unfinished: I grasped and moved the pear once but dropped it beside the blue bowl, and repeated grasp attempts on the lemon closed empty because I could not resolve the object's radial distance from the wrist camera.

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"
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"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 · 30.39 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

{
  "content": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.3859, -0.0139, -0.0296, 0.999, -0.0227, 0.8005, 0.6189, -0.387, -0.017, -0.033, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1815 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.999 right_x=0.2961 right_y=-0.0001 right_z=0.1836 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -1.5795, 9.6068, 1.8535, -0.0904, 0.1441, -0.1099, -0.1846, -1.7846, 9.1145, 1.8681, -0.0611, 0.2027, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3006a56bd76c861c63e7931e1be5f336ceab0d9848da8c5423bd4247c6b5254c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65999f0268a4b0e8351d1e7d3b328dd7c0f6084ca041a7a8cd8e5d4ae3b2768f",
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    {
      "text": "camera 'right_cam' (step 0):",
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  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 7.131 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.3859, -0.0139, -0.0296, 0.999, -0.0227, 0.8005, 0.6189, -0.387, -0.017, -0.033, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1815 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.999 right_x=0.2961 right_y=-0.0001 right_z=0.1836 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -1.5795, 9.6068, 1.8535, -0.0904, 0.1441, -0.1099, -0.1846, -1.7846, 9.1145, 1.8681, -0.0611, 0.2027, -0.0708]",
      "type": "text"
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    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3006a56bd76c861c63e7931e1be5f336ceab0d9848da8c5423bd4247c6b5254c",
        "media_type": "image/png",
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
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    {
      "source": {
        "data": "$blob:65999f0268a4b0e8351d1e7d3b328dd7c0f6084ca041a7a8cd8e5d4ae3b2768f",
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      "text": "camera 'right_cam' (step 0):",
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[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VamqREkpdcdhnApZ1fvF7Q",
      "input": {
        "note": "Right wrist view shows the blue bowl with a green pear just in front-right of it and a yellow lemon to its left. I'm advancing the right arm ~6 cm forward at 16 cm height to get a closer look at the pear before descending.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.36,
          "right_y": -0.01,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01VamqREkpdcdhnApZ1fvF7Q",
      "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, 0.6147, -0.4007, -0.0139, -0.0269, 0.999, -0.0582, 1.1355, 0.6254, -0.1307, -0.0505, -0.0608, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0004 left_z=0.1784 left_yaw=-0.0016 left_pitch=-0.0156 left_roll=0.002 left_gripper=0.999 right_x=0.3497 right_y=-0.0078 right_z=0.1369 right_yaw=0.0076 right_pitch=-0.0712 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4154, 6.9402, 1.9072, -0.0366, -0.105, -0.022, -0.4444, -4.3282, 9.2786, 2.0098, -0.0611, 0.0269, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbf6ec6dcdbc2cb5676d78103cd374ea6b7cca16581835605cf89b804210a1e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73a165df2ef570905115b90c4bae5b89ea00465f2cfedd101e5236cf6962a466",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a488d7aa27095702aa2feb1711a3e5bf20a3e3b57de9ee82328ca4411f31035",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 3.53 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.3859, -0.0139, -0.0296, 0.999, -0.0227, 0.8005, 0.6189, -0.387, -0.017, -0.033, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1815 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.999 right_x=0.2961 right_y=-0.0001 right_z=0.1836 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -1.5795, 9.6068, 1.8535, -0.0904, 0.1441, -0.1099, -0.1846, -1.7846, 9.1145, 1.8681, -0.0611, 0.2027, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6147, -0.4007, -0.0139, -0.0269, 0.999, -0.0582, 1.1355, 0.6254, -0.1307, -0.0505, -0.0608, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0004 left_z=0.1784 left_yaw=-0.0016 left_pitch=-0.0156 left_roll=0.002 left_gripper=0.999 right_x=0.3497 right_y=-0.0078 right_z=0.1369 right_yaw=0.0076 right_pitch=-0.0712 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4154, 6.9402, 1.9072, -0.0366, -0.105, -0.022, -0.4444, -4.3282, 9.2786, 2.0098, -0.0611, 0.0269, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbf6ec6dcdbc2cb5676d78103cd374ea6b7cca16581835605cf89b804210a1e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73a165df2ef570905115b90c4bae5b89ea00465f2cfedd101e5236cf6962a466",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a488d7aa27095702aa2feb1711a3e5bf20a3e3b57de9ee82328ca4411f31035",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISrwYKjgEIEhgCKkD82/oehahdmhlRIzqy3i+ruYUsVipsVkgQFc9we4INkUGeYTrX/034rwQ8TodwqkRgkGv3+gdQqFeBm9VMBBdDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfqTzNUGEgyZSw5QGmtcWQBidm0aDDTvRfGHjSMUu1OwXiIwpj6GWe/Sw7fyxWJsfvy/h9DogmNhWTjs8JW1zqv3MuWFeZYUN40PttUMG4zZsDBDKs0E2ClYJlZbUC4m3wA8NZt9E04p9+6gR42Kq2Gw9p+Vuq1gIX59uyPlIVWqUXUowsMFmb59yZ0rjuud+2CNtpQWoiE2HaHCFvZVvqajJpX4d439yNSU56I2MfkAU6yEYlYwtL05K2OWp03pbduMoxC+9tD1tjYZs+If7sP6q5TgQTVz8j2f0vZELokcEk18lLs5v08hVSpvjVyLgn27TjsO8s4stLqxTvCVyaPwPc3uMm86kpf82N1LgRSbJ2SViJDYpox6hT79mPhjrhMIBsID+WInq6RlH96XFq36dQ4IxPDBFvf7F812uCyDBAsTQH/tCey89vRofq+tvFd855R3QPtuSE9G0LasO6mgd2T59BB5Pquf1jTG1jGXM80UnCjSKKTEr6NhJwO8Z8MNdEnAKq6XdYHQPaNBTqnN24X/Un5V/o5cK/gvPxPlLxjV+uPn0ekq7K0foyTm/ByzqirHEXjQxs3ubLO2Bk+gdUGEumdqshZXmbUfV+9oVQBfS71PB+Q8IlxYNN1EZ0fdUp/WcLo8ToN7JPR4xQ61cwZU/3NPyL8VhKnqYp71BYoGtehN+puDXkSN0KBkT3708A5AaRPWVGVakqRxfH/mN8/gCnC8lN2HJTZ7MsRA3jporvFIWurBKdewp6n/2f4CK8dnIAKvNsohfvye5TjrC7G6/sAjacbbxh4yUoCW1zpX74igCuDyEJ126C7yrja+vHM3ZDcPFlCWomU6C6czYiSBfFZvlxhXWG2WuR2fPblc7EozZ2K5f+qR9Zc7mpNz8BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RK9j3NepwV9WWx5pJewP27",
      "input": {
        "note": "The green pear is now centred on the jaw column low in the right wrist view, so it is just a few cm beyond the fingertips; moving forward and down to straddle it at grasp height.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.39,
          "right_y": -0.012,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01RK9j3NepwV9WWx5pJewP27",
      "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, 0.6147, -0.4088, -0.0139, -0.0265, 0.999, -0.0628, 1.5555, 0.5228, 0.3481, -0.0612, -0.0708, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1757 left_yaw=-0.0018 left_pitch=-0.0275 left_roll=0.0026 left_gripper=0.999 right_x=0.3842 right_y=-0.0097 right_z=0.0407 right_yaw=0.0178 right_pitch=-0.1145 right_roll=0.0011 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.5658, 7.0496, 1.7998, -0.0269, -0.0269, -0.0122, -0.5812, -6.4752, 5.2855, 2.0293, -0.0415, -0.0171, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:265deb5ce7e06eb43e8f52f9a08ae2a19062cbf594f7898f076c38eb586d678a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bb911b5b9b16c6d4b82994e3a2fcca1465e896dd5239d54d887e61fc7664403",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2860f9c31a76159fd4eef93d9e6632cf134b7fc423f1dc20c925950751384da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 5.859 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.3859, -0.0139, -0.0296, 0.999, -0.0227, 0.8005, 0.6189, -0.387, -0.017, -0.033, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1815 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.999 right_x=0.2961 right_y=-0.0001 right_z=0.1836 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -1.5795, 9.6068, 1.8535, -0.0904, 0.1441, -0.1099, -0.1846, -1.7846, 9.1145, 1.8681, -0.0611, 0.2027, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6147, -0.4007, -0.0139, -0.0269, 0.999, -0.0582, 1.1355, 0.6254, -0.1307, -0.0505, -0.0608, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0004 left_z=0.1784 left_yaw=-0.0016 left_pitch=-0.0156 left_roll=0.002 left_gripper=0.999 right_x=0.3497 right_y=-0.0078 right_z=0.1369 right_yaw=0.0076 right_pitch=-0.0712 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4154, 6.9402, 1.9072, -0.0366, -0.105, -0.022, -0.4444, -4.3282, 9.2786, 2.0098, -0.0611, 0.0269, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.4088, -0.0139, -0.0265, 0.999, -0.0628, 1.5555, 0.5228, 0.3481, -0.0612, -0.0708, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1757 left_yaw=-0.0018 left_pitch=-0.0275 left_roll=0.0026 left_gripper=0.999 right_x=0.3842 right_y=-0.0097 right_z=0.0407 right_yaw=0.0178 right_pitch=-0.1145 right_roll=0.0011 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.5658, 7.0496, 1.7998, -0.0269, -0.0269, -0.0122, -0.5812, -6.4752, 5.2855, 2.0293, -0.0415, -0.0171, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:265deb5ce7e06eb43e8f52f9a08ae2a19062cbf594f7898f076c38eb586d678a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bb911b5b9b16c6d4b82994e3a2fcca1465e896dd5239d54d887e61fc7664403",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2860f9c31a76159fd4eef93d9e6632cf134b7fc423f1dc20c925950751384da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIShwMKjgEIEhgCKkCZwngo5Jb++T3SWFZ8bY3AaQUZ/QGmDOwTga1x5clArgriBRIWAx0bm2ehVUnAXYr46n8U/a/oiT9zznIsz/LtMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYWUzNUGEgwZu6U9vTzQ8rrTNpAaDH3iiS/k0yGszWVEmSIwvw7SEwkepNvf/i+hhF6z1quFSZ3gwjGATG9gZpFHcZb7cCbypeuTX4aW9NMNyGaaKqUBkLpZZ5H31p4pFo/n20CaiUnm+DHbN8Rq6JHxj5vt/u1g03lYG9/F8Tf4mzmCT+RFsixtj+/vi7IyxV5fzjhGGrEDee1R2H6+Whhlm46nLtAsKld5XoOSXXzuEys5EnCIJLSrRvs7nIWO6CRAN77+3CyfSi8xISZWeunFEXvXsCvys4F/WCtbIQ4bLONenlYf85MP41E0eQR6f3KBJpyxdQqDieNSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0172dSWvjo1eC6M6YPvejA95",
      "input": {
        "note": "The pear fills the wrist view centred between the jaws; closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0172dSWvjo1eC6M6YPvejA95",
      "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, 0.6147, -0.4171, -0.0139, -0.0265, 0.999, -0.0628, 1.5555, 0.5228, 0.3386, -0.0612, -0.0769, 0.0115]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.174 left_yaw=-0.0018 left_pitch=-0.0358 left_roll=0.0028 left_gripper=0.999 right_x=0.3827 right_y=-0.0096 right_z=0.0389 right_yaw=0.0212 right_pitch=-0.1241 right_roll=-0.0029 right_gripper=0.0115\nstate[joint_eff]: [-0.1026, -1.1145, 7.0085, 1.7802, -0.0415, -0.0415, -0.0122, -0.212, -5.9692, 5.3675, 1.7705, -0.0415, 0.0611, 1.0525]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc20411f1a38caf711a51dbefa1b8b440478e857a2e829b6bc55b82b53f68fc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1126fbbec9ede967bba2174b1efeb4bd1a1d1d51e15a7de794e910a5f8c9659d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1643084e6351d7060ee27a0f2d4a1adaf9891dbe7edbe7859677619a5785c888",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 10.87 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6147, -0.4007, -0.0139, -0.0269, 0.999, -0.0582, 1.1355, 0.6254, -0.1307, -0.0505, -0.0608, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0004 left_z=0.1784 left_yaw=-0.0016 left_pitch=-0.0156 left_roll=0.002 left_gripper=0.999 right_x=0.3497 right_y=-0.0078 right_z=0.1369 right_yaw=0.0076 right_pitch=-0.0712 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4154, 6.9402, 1.9072, -0.0366, -0.105, -0.022, -0.4444, -4.3282, 9.2786, 2.0098, -0.0611, 0.0269, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.4088, -0.0139, -0.0265, 0.999, -0.0628, 1.5555, 0.5228, 0.3481, -0.0612, -0.0708, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1757 left_yaw=-0.0018 left_pitch=-0.0275 left_roll=0.0026 left_gripper=0.999 right_x=0.3842 right_y=-0.0097 right_z=0.0407 right_yaw=0.0178 right_pitch=-0.1145 right_roll=0.0011 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.5658, 7.0496, 1.7998, -0.0269, -0.0269, -0.0122, -0.5812, -6.4752, 5.2855, 2.0293, -0.0415, -0.0171, -0.0708]\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, 0.6147, -0.4171, -0.0139, -0.0265, 0.999, -0.0628, 1.5555, 0.5228, 0.3386, -0.0612, -0.0769, 0.0115]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.174 left_yaw=-0.0018 left_pitch=-0.0358 left_roll=0.0028 left_gripper=0.999 right_x=0.3827 right_y=-0.0096 right_z=0.0389 right_yaw=0.0212 right_pitch=-0.1241 right_roll=-0.0029 right_gripper=0.0115\nstate[joint_eff]: [-0.1026, -1.1145, 7.0085, 1.7802, -0.0415, -0.0415, -0.0122, -0.212, -5.9692, 5.3675, 1.7705, -0.0415, 0.0611, 1.0525]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc20411f1a38caf711a51dbefa1b8b440478e857a2e829b6bc55b82b53f68fc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1126fbbec9ede967bba2174b1efeb4bd1a1d1d51e15a7de794e910a5f8c9659d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1643084e6351d7060ee27a0f2d4a1adaf9891dbe7edbe7859677619a5785c888",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISvQUKjgEIEhgCKkAJ6clK/xWfEOHZbNpC9fVKpVjdplAMpqhPU5iIx7g/jbytnBncEJ+ctmMgNn8pIOiLnF8Hxh+F5RuvNb0snAbNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYuUzNUGEgz0NVTCWDz3EZGBLRcaDLqpirWAydnaz1+kuSIwaHjkAP2DS7JzN9NMuI6HR1aQyuz1bOKwpuAB9YbqETM3/R8hnlFml/B6BwUoJpzMKtsD4MjoMXEQOvnGfVNBn/MkxxJvDNUHNThe6T/I4olmZvGCKy0YHymAbMykNHvp3MKrx4CneusHP0aJSUqh4hyL7V3K0QfQjVh2sgcWZ50EiclMcnrbEHCiHF0MXIjK82BiGwE/dFesH6q8/CDZbn+FKPX5ys/u+2yv5ST0L8wal9XvZ3tQ3G6cjroXC9A5vzYv0aRpKcleCCAUnrdvco2EG+uiN7SKRJ5WjF1tpb+HILMMgP1vb2oKfTgBQow2iz4v5Fs0UjlwhntEKv3ZbOWp7oGk7UzMP1wIhTf0MSD6lDC7G82gZ347trA+xAuDwRx5AW2zHWF+19pM9azvHWZB+HmomTicIOZPgaZiBCH7bgeB7B4D2y6xcQxmZ4DsQXsH37uL/ozEmKlnGb7be+KWCrvQv0NUHWLMC8x9oUEM/OsB2083ZE77KsA3XmxV6EfyUwrHchnqbEAHfSes7LmGsE5kZGLEMw/tc88x0GWSAS6CG6D8VoXKodf2Q0JgElQuSqOFDoA1lY2sr9KhyAauY7502V0BwvwyprnLUPC0/MNzXmyTxMoQpoOoeF7kcQ8a9j8tg8aQ89ricfpB7go0pHSnsTTghIqN1YvbGBJZ1GBKs/V1IvLCTHQEAxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HGxscvGJKepJrfL21VGz5k",
      "input": {
        "note": "The close was empty (gripper reads 0.01) — the pear sits slightly right of the jaw column in the wrist view. Reopening and shifting ~2.5 cm to the arm's right and 2 cm forward to centre on it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.4,
          "right_y": -0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HGxscvGJKepJrfL21VGz5k",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6147, -0.4236, -0.0139, -0.0265, 0.999, -0.1474, 1.6211, 0.5724, 0.3157, -0.1261, -0.1402, 0.9954]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1726 left_yaw=-0.0017 left_pitch=-0.0427 left_roll=0.0029 left_gripper=0.999 right_x=0.3894 right_y=-0.0318 right_z=0.0292 right_yaw=0.0266 right_pitch=-0.1574 right_roll=-0.0039 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -1.3197, 7.1863, 1.7363, -0.0708, -0.0513, -0.0122, -0.5675, -5.7641, 7.8017, 1.6825, 0.022, 0.0366, -0.1441]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55cf2c1ece593057eb3c4e5e1547e2a26af4f71e57bd27a131c85748c557c061",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be3e57b94d3bb73ae8c0584efd75165567e38b19427a7f12fa614839840b6a73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0cf5b4e398c0a1603d27c0f7ab4c132d521711edcafb8a9cfc06bee749a75d6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 3.57 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.4088, -0.0139, -0.0265, 0.999, -0.0628, 1.5555, 0.5228, 0.3481, -0.0612, -0.0708, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1757 left_yaw=-0.0018 left_pitch=-0.0275 left_roll=0.0026 left_gripper=0.999 right_x=0.3842 right_y=-0.0097 right_z=0.0407 right_yaw=0.0178 right_pitch=-0.1145 right_roll=0.0011 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.5658, 7.0496, 1.7998, -0.0269, -0.0269, -0.0122, -0.5812, -6.4752, 5.2855, 2.0293, -0.0415, -0.0171, -0.0708]\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, 0.6147, -0.4171, -0.0139, -0.0265, 0.999, -0.0628, 1.5555, 0.5228, 0.3386, -0.0612, -0.0769, 0.0115]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.174 left_yaw=-0.0018 left_pitch=-0.0358 left_roll=0.0028 left_gripper=0.999 right_x=0.3827 right_y=-0.0096 right_z=0.0389 right_yaw=0.0212 right_pitch=-0.1241 right_roll=-0.0029 right_gripper=0.0115\nstate[joint_eff]: [-0.1026, -1.1145, 7.0085, 1.7802, -0.0415, -0.0415, -0.0122, -0.212, -5.9692, 5.3675, 1.7705, -0.0415, 0.0611, 1.0525]\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 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, 0.8062, 0.6147, -0.4236, -0.0139, -0.0265, 0.999, -0.1474, 1.6211, 0.5724, 0.3157, -0.1261, -0.1402, 0.9954]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1726 left_yaw=-0.0017 left_pitch=-0.0427 left_roll=0.0029 left_gripper=0.999 right_x=0.3894 right_y=-0.0318 right_z=0.0292 right_yaw=0.0266 right_pitch=-0.1574 right_roll=-0.0039 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -1.3197, 7.1863, 1.7363, -0.0708, -0.0513, -0.0122, -0.5675, -5.7641, 7.8017, 1.6825, 0.022, 0.0366, -0.1441]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55cf2c1ece593057eb3c4e5e1547e2a26af4f71e57bd27a131c85748c557c061",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be3e57b94d3bb73ae8c0584efd75165567e38b19427a7f12fa614839840b6a73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cf5b4e398c0a1603d27c0f7ab4c132d521711edcafb8a9cfc06bee749a75d6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISvQoKjgEIEhgCKkDeFd5wGHIoT3oFGcPXcBuPgeYSOdb5EpfAwAy14Y16ln69flgbOpyjSb0V6NhgRLQjJHSTYnXEN/LlE4CM0f7SMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZeUzNUGEgwdnkWkb1iPQRfioS4aDI91lXwm6FQgusn/UCIwJi70OysqXeoEnqse/VTer1Y5Rro32aqYWsPlJU9x5xLRB6vJhffEKqRzWWI6W8XXKtsIxQ/xBPZO+ylWnCe8bG4sjdIPOfa6WtruE6v/9n9NX8T+XRmg+KrrktiljUcp5KUNUvZQmCd85Tw87mTsbu3YnMEP4L6x09haV13jKaozlXL4SwoUFjl9pKeEPf4y4ityH1dkmBLlFgBXPC3bAhsjG3XEOTNuX9bebTcG96fe5XSY2XMCnQnKDJo+g5Xg1odtZM7Vhv1Y/ARvWPsW6ufPGW3CNUZSgWMVkHQAyIo5DYAZAT7xHkEyQXhk1uh0rFqKrmnGngpPbOsvEDanzQp9v60vWSmGPH+aJWJnmcawKs6TOAHT4qtc3Q8ov8Z66mML0vo/IMpHKOeVu+3kJld9GcvRXhN0z9Ns08V27Mp4s7xcHLhSxxz+KmOGULMni9BVv0OVySiuJrEC0MkYJ0DWMZJS9GjrgwtdUC4fFPMLou6x1rnj0GA2AUH6zzRrdQbD9T0HpXaPD+y1ybDmfY9rQZ7xbgiP2CM3MYowaymNU0B+CikNUffZE56eKlglU5SN/VTdVrsRsuP3r0dOWiCFsbB2wp1j9IerQ3mquhqFrIszyNm/IyANi93eyryX/Z/TQhSdfdKjrJWcGvb/cZgNF4CDuZeh9MOkHDdEWp1z0dH946unNiVDdi5U44jJs4DEKEniE8Xw+dQL1Kfegx3Q9BsfmP4xWE1Dq0mIfGF+IetM6jvY1tKpZNhwVmRjS0/p9EzOlyCmDwu0ZFAOXKsCrufzM+D2eLR3xKoit+A66lxJI5uL09+MSmXpE55ZT/1mrTgHsP6dwMcxL8fDOJ4CpzHo5gp7Cptzsn0jXTtHTlg1yPy7CPj26X3W7MyyfOBJO6vZlJNozNgUGGFGqrGlUGBxTbQxxSV2Tbp9z1YzjeBL/lsYbUqYol1cLbbH+icxAkQQDb4XWqk0S52DNnQd7WLHA8XfpSQspYBi84Qw3TJn3aa2z2+NP9o3w5k1INlU0YZvMWIgP038XunGNkHLRr3fS9cQn3/zlISaF+KeichIFJOIMb/8puFayKW4Y+Br14k3ufmXyJyKyvkoe/3mtb5j/zSjhnd7Dl19ayzMoEE5Ptclz+5eBUALr4trS1fXhFhgVKk8/+oxrYjqfgx7s4i+AJvumTi8AD6ody/EwHmRp3hA+86/isen4Cq4B+UK0iRxIOV9aXdKPkrKPwOOIsGeuGzPrezvHz7WCcpI3Af9KTjSFUY0XRPmnlKhflNqayEBBG4xp0/et0on4Bu/qwuqTNXgZtBjXW/CKO8BhRv9+AF2OM3V+Hl42haFMpP1KlL0ZXOBMv5bhl/lt0hCKM0DkEzeLaGnAebFVz2bkPlJBOk4OioUxtmvw1n6ps4TqzsJM6mHdOU06JcnVMBN4MQb82ghlq+FyMsG7ANve5bXtWxGM2CTdKlYLd1dt55nllspdfq0xuErZJmacSOvOp44kS4vJJRKxqSMcJDh/qNZUF23/Bp4nMdQhm3LI+jKTDys7WR9NiAALSkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PXkDExz8F1QAXbc5YdeUbv",
      "input": {
        "note": "Overshot: the pear now sits left of the jaw column, so I'm shifting ~1.8 cm back toward the arm's left to centre it between the jaws before closing.",
        "targets": {
          "right_y": -0.017,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01PXkDExz8F1QAXbc5YdeUbv",
      "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, 0.6147, -0.424, -0.0135, -0.0265, 0.999, -0.1024, 1.6054, 0.5732, 0.2832, -0.102, -0.123, 0.9965]\nstate[eef_state]: left_x=0.2908 left_y=-0.0004 left_z=0.1726 left_yaw=-0.0021 left_pitch=-0.0427 left_roll=0.0027 left_gripper=0.999 right_x=0.3866 right_y=-0.018 right_z=0.0291 right_yaw=0.0423 right_pitch=-0.1757 right_roll=-0.0046 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.2513, 7.0085, 1.6777, -0.0464, -0.0415, -0.0122, 0.0752, -8.0889, 6.2701, 1.58, 0.0513, 0.1294, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a918b70e99604cab83a90c42c2945bcc8dba4fe9517bcb7a33cecaf8c501670f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb33a1c434333deab9ca2735576c6fd9850c1b36c3f95af1811d5892e7bc543e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:37c0a340d5e81a2135e62c91910c38eaeba9765e65b3b21f6e45e961acc2e19a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 6.723 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.4171, -0.0139, -0.0265, 0.999, -0.0628, 1.5555, 0.5228, 0.3386, -0.0612, -0.0769, 0.0115]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.174 left_yaw=-0.0018 left_pitch=-0.0358 left_roll=0.0028 left_gripper=0.999 right_x=0.3827 right_y=-0.0096 right_z=0.0389 right_yaw=0.0212 right_pitch=-0.1241 right_roll=-0.0029 right_gripper=0.0115\nstate[joint_eff]: [-0.1026, -1.1145, 7.0085, 1.7802, -0.0415, -0.0415, -0.0122, -0.212, -5.9692, 5.3675, 1.7705, -0.0415, 0.0611, 1.0525]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8062, 0.6147, -0.4236, -0.0139, -0.0265, 0.999, -0.1474, 1.6211, 0.5724, 0.3157, -0.1261, -0.1402, 0.9954]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1726 left_yaw=-0.0017 left_pitch=-0.0427 left_roll=0.0029 left_gripper=0.999 right_x=0.3894 right_y=-0.0318 right_z=0.0292 right_yaw=0.0266 right_pitch=-0.1574 right_roll=-0.0039 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -1.3197, 7.1863, 1.7363, -0.0708, -0.0513, -0.0122, -0.5675, -5.7641, 7.8017, 1.6825, 0.022, 0.0366, -0.1441]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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, 0.8059, 0.6147, -0.424, -0.0135, -0.0265, 0.999, -0.1024, 1.6054, 0.5732, 0.2832, -0.102, -0.123, 0.9965]\nstate[eef_state]: left_x=0.2908 left_y=-0.0004 left_z=0.1726 left_yaw=-0.0021 left_pitch=-0.0427 left_roll=0.0027 left_gripper=0.999 right_x=0.3866 right_y=-0.018 right_z=0.0291 right_yaw=0.0423 right_pitch=-0.1757 right_roll=-0.0046 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.2513, 7.0085, 1.6777, -0.0464, -0.0415, -0.0122, 0.0752, -8.0889, 6.2701, 1.58, 0.0513, 0.1294, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a918b70e99604cab83a90c42c2945bcc8dba4fe9517bcb7a33cecaf8c501670f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb33a1c434333deab9ca2735576c6fd9850c1b36c3f95af1811d5892e7bc543e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37c0a340d5e81a2135e62c91910c38eaeba9765e65b3b21f6e45e961acc2e19a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS9wIKjgEIEhgCKkByBcuVf/FMLwu9lOd9ZlYxDJFhlJT8RLk8SrNg0j4r/VpPaJZDkoJnTGyMkHMbWNg8/BMZuU4y8jedfNa8e7cSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZuUzNUGEgxLnwWXuC3bV5t+7CIaDMgTZ/YxUIvhCMLhNSIwWRzjPAUO97ruCApihjZIIrMKTGvPxxockD8vO3tptZyZfTHRQnDCX+AXWf6hbux9KpUBDNhXcYItQqbxs0OHBo7yZgN1j7kJQ+0r1uOWac1uS9kyloxAAEPZdTAzHNnsh8QGBRgUoM3vsNxqULVyPkKz/v0dQoRXs5EB3rNkZft9jidEAtyo/+RbkyKZm6h13aUZLtpu9g7HkGZQ3HZt+QgZPTHxiT9kTW8ruauTCnv+dzA07oRhm0FZc4RwsGizSTVl2q1kYh8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016tsbvfVCJx3wj4F1KLq2eB",
      "input": {
        "note": "Pear is now centred between the jaws in the wrist view; closing to grasp.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016tsbvfVCJx3wj4F1KLq2eB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6147, -0.4244, -0.0139, -0.0265, 0.999, -0.0887, 1.5948, 0.5732, 0.2565, -0.0982, -0.1127, 0.0117]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1724 left_yaw=-0.0017 left_pitch=-0.0435 left_roll=0.0029 left_gripper=0.999 right_x=0.3832 right_y=-0.0131 right_z=0.0281 right_yaw=0.0475 right_pitch=-0.1919 right_roll=0.0027 right_gripper=0.0117\nstate[joint_eff]: [-0.3214, -1.1282, 6.9812, 1.707, -0.0757, -0.0317, -0.0122, -0.2393, -7.8017, 6.2701, 1.6044, 0.1001, 0.0952, 1.0476]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c89f7387347e8accaeb956ffe616f091312e9addc8058c959079780eaab85962",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4e8349b6c9acc4a23643a74ad98e4f99a661043c69153b8bc875cc126139ccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:907168ce1a5ed52d9c049e6e52c9c75776bec36e8b6c7349d5cb9b1c08c2e6ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 2.916 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6147, -0.4236, -0.0139, -0.0265, 0.999, -0.1474, 1.6211, 0.5724, 0.3157, -0.1261, -0.1402, 0.9954]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1726 left_yaw=-0.0017 left_pitch=-0.0427 left_roll=0.0029 left_gripper=0.999 right_x=0.3894 right_y=-0.0318 right_z=0.0292 right_yaw=0.0266 right_pitch=-0.1574 right_roll=-0.0039 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -1.3197, 7.1863, 1.7363, -0.0708, -0.0513, -0.0122, -0.5675, -5.7641, 7.8017, 1.6825, 0.022, 0.0366, -0.1441]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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, 0.8059, 0.6147, -0.424, -0.0135, -0.0265, 0.999, -0.1024, 1.6054, 0.5732, 0.2832, -0.102, -0.123, 0.9965]\nstate[eef_state]: left_x=0.2908 left_y=-0.0004 left_z=0.1726 left_yaw=-0.0021 left_pitch=-0.0427 left_roll=0.0027 left_gripper=0.999 right_x=0.3866 right_y=-0.018 right_z=0.0291 right_yaw=0.0423 right_pitch=-0.1757 right_roll=-0.0046 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.2513, 7.0085, 1.6777, -0.0464, -0.0415, -0.0122, 0.0752, -8.0889, 6.2701, 1.58, 0.0513, 0.1294, 0.0952]",
      "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, 0.8062, 0.6147, -0.4244, -0.0139, -0.0265, 0.999, -0.0887, 1.5948, 0.5732, 0.2565, -0.0982, -0.1127, 0.0117]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1724 left_yaw=-0.0017 left_pitch=-0.0435 left_roll=0.0029 left_gripper=0.999 right_x=0.3832 right_y=-0.0131 right_z=0.0281 right_yaw=0.0475 right_pitch=-0.1919 right_roll=0.0027 right_gripper=0.0117\nstate[joint_eff]: [-0.3214, -1.1282, 6.9812, 1.707, -0.0757, -0.0317, -0.0122, -0.2393, -7.8017, 6.2701, 1.6044, 0.1001, 0.0952, 1.0476]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c89f7387347e8accaeb956ffe616f091312e9addc8058c959079780eaab85962",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4e8349b6c9acc4a23643a74ad98e4f99a661043c69153b8bc875cc126139ccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:907168ce1a5ed52d9c049e6e52c9c75776bec36e8b6c7349d5cb9b1c08c2e6ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS0AYKjgEIEhgCKkBdD54yXshwKzZr3FrHMCXc/tJ/nT1jmZ6O7kHYFQ7vOOhsm1S/vy0/zL+oe+kO6T9kItsROWM5tOT63MouYxPgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaKUzNUGEgzn0DZPsUF1nNEtAmIaDNUNaCePaDsRN3TpFSIwPjr4UHlR2FkmQki0IbLGvUbZF1dBOO1M/r75oV/5rgwlsmcNU3r/7nVzGg/47TLNKu4E0BLUZmFUdbTwfRieRAG3wrFT+36MS1mEdH6HEP0LNNJhsNXuGoMh5mbVLGPmAOVgGEtIz3T/CGxoYIMd/0yu8hWm4nwYUq/Gv3r21jl6AlUZ4NRJTrr+Yalh+nmJAmyzpurwbsx9s+qHbefpsGzy9ffRsWIcgD+jhlj/0CogCdREsz42agtIVHkwb2SIJUgFNIUWFecd3celpeQnNrArtrPKV2FBBkxKTNQ8NiKrfPlQeJ3qM99TzHJmexZ23XBC80nRUglROJUzXNtjfqRSmcQX1UbkarkVyqzMM0oQylDgvoLznja3bi7xciYAWphWgtPmo8vKhXLdT4nx++xbxrWWNh3gpcfkKvdVGR1X0hMRlixy0BNju9/gN/g3BWB3rbCvJT4TaXYXfH6DzN7UAAd1TAfzUvW98nS7ux142I7R8Jc5wzCv89KqcWxQktUzFIdHqJv6uxvq6IYYjW08J6xIh2bUNSaRsDVSD+NyNpmtlSKuGiqL7np1unodN+qDvJW5Tvgrk6OVjI7de1+KryN5ZUg9V+eBlGScjlq4c2R0tdadH2ReEpEG9QXIUp9hbWgqbKuCRjFHjuo1skUhh8aONpat8FTsScutTR0kEu4dsnECht1OIln6swvqYwskN8nUrwYyDI2kF+NfNfco3RobjMV6hng/ijYhwSCsjVQa9UftTIiaqvFShz5rMcdsWewBDQGnJbncB2lNiT6IvF2u2GS0r6PyxjbJJj6KPPTU+f4BjmlOagZB9jEVpnmG9wYum9HCw6CCZpDosoJ/aDV+7UGzT8ZL5ru5HRRZz5jQ4TfbUH4YhAyPz2T3tBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NsFYpVpnoroxCWWndvwiyc",
      "input": {
        "note": "Closed empty again even though the pear looks centred — so it is still beyond the fingertips. Reopening and advancing 3.5 cm radially.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.42
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NsFYpVpnoroxCWWndvwiyc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6147, -0.4252, -0.0139, -0.0269, 0.999, -0.0784, 1.7172, 0.6918, 0.2325, -0.102, -0.1169, 0.9956]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1723 left_yaw=-0.0015 left_pitch=-0.0442 left_roll=0.0026 left_gripper=0.999 right_x=0.4099 right_y=-0.0106 right_z=0.0199 right_yaw=0.0642 right_pitch=-0.2191 right_roll=0.0063 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.1556, 6.9812, 1.6777, -0.0415, -0.0757, -0.0122, -0.2393, -6.8034, 7.4188, 1.5604, 0.0269, 0.0806, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0415e17b4f3a742b9bf14329119707820446c45194cbe78cc78a48c3d14be5b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f7cc4c615fcb6781f814dbda0d5714a53d6d9f8b27705daaad978cfd0b51780",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f0a4dde2fb7a64173cebdfe5f48569b3d5f1b43faa9020ddb2109b23294ce899",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 16.01 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.424, -0.0135, -0.0265, 0.999, -0.1024, 1.6054, 0.5732, 0.2832, -0.102, -0.123, 0.9965]\nstate[eef_state]: left_x=0.2908 left_y=-0.0004 left_z=0.1726 left_yaw=-0.0021 left_pitch=-0.0427 left_roll=0.0027 left_gripper=0.999 right_x=0.3866 right_y=-0.018 right_z=0.0291 right_yaw=0.0423 right_pitch=-0.1757 right_roll=-0.0046 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.2513, 7.0085, 1.6777, -0.0464, -0.0415, -0.0122, 0.0752, -8.0889, 6.2701, 1.58, 0.0513, 0.1294, 0.0952]",
      "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, 0.8062, 0.6147, -0.4244, -0.0139, -0.0265, 0.999, -0.0887, 1.5948, 0.5732, 0.2565, -0.0982, -0.1127, 0.0117]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1724 left_yaw=-0.0017 left_pitch=-0.0435 left_roll=0.0029 left_gripper=0.999 right_x=0.3832 right_y=-0.0131 right_z=0.0281 right_yaw=0.0475 right_pitch=-0.1919 right_roll=0.0027 right_gripper=0.0117\nstate[joint_eff]: [-0.3214, -1.1282, 6.9812, 1.707, -0.0757, -0.0317, -0.0122, -0.2393, -7.8017, 6.2701, 1.6044, 0.1001, 0.0952, 1.0476]",
      "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, 0.8062, 0.6147, -0.4252, -0.0139, -0.0269, 0.999, -0.0784, 1.7172, 0.6918, 0.2325, -0.102, -0.1169, 0.9956]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1723 left_yaw=-0.0015 left_pitch=-0.0442 left_roll=0.0026 left_gripper=0.999 right_x=0.4099 right_y=-0.0106 right_z=0.0199 right_yaw=0.0642 right_pitch=-0.2191 right_roll=0.0063 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.1556, 6.9812, 1.6777, -0.0415, -0.0757, -0.0122, -0.2393, -6.8034, 7.4188, 1.5604, 0.0269, 0.0806, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0415e17b4f3a742b9bf14329119707820446c45194cbe78cc78a48c3d14be5b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f7cc4c615fcb6781f814dbda0d5714a53d6d9f8b27705daaad978cfd0b51780",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0a4dde2fb7a64173cebdfe5f48569b3d5f1b43faa9020ddb2109b23294ce899",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISvwIKjgEIEhgCKkAwGxLeRE8MebjKJSGA5dRLwPnuI8zu/n4uIb0kw8c7xpu2vQIEymcnupytHJ+SzQ3Gyih0oaiFuimrD8lEDRGEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaeUzNUGEgz/mnQW0IMn29qCmp4aDJzZhfBQaBqZfXl1NyIwPKgQFBQp7JETOoyIaV+8zkGDAavfwrKhRXPmrSMJnfJMZg7PjX3Xp0jOdllHZK7lKl5zeouB71/swAIxskT1awX5UtD2McbHHuIqZ3sUu2wqxKPkhlh0GhdWW971KxX1IFwjFsZqofXb95N8lc5QaTwgzOemrwtt4P6kmsIgaS+0qbUBvTuiSYp3Adp0w7W6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y2TMjn4XzkueFNWY7mrJSt",
      "input": {
        "note": "The pear now sits between the visible jaw tips at the bottom of the wrist view; closing to grasp.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Y2TMjn4XzkueFNWY7mrJSt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6147, -0.4255, -0.0139, -0.0265, 0.999, -0.0784, 1.7195, 0.6945, 0.2192, -0.1066, -0.1211, 0.0115]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1722 left_yaw=-0.0017 left_pitch=-0.0446 left_roll=0.0029 left_gripper=0.999 right_x=0.4083 right_y=-0.0096 right_z=0.0177 right_yaw=0.0709 right_pitch=-0.2315 right_roll=0.0085 right_gripper=0.0115\nstate[joint_eff]: [-0.0342, -1.265, 7.241, 1.6679, -0.0513, -0.0415, -0.0122, -0.0615, -7.5966, 5.0803, 1.6777, -0.0024, 0.0122, 1.0476]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df41ddd59d8a50bacda1c81c0f714163a31e3a083d363248c6db64bcde256763",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:142b84b960806f15370936f44e636ed466425eadd5f34e656a15621852928a4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a501e8fafedad243752f56d7fc3d3edd533c8ff064175390b7a911e28cb52cc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 23.11 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6147, -0.4244, -0.0139, -0.0265, 0.999, -0.0887, 1.5948, 0.5732, 0.2565, -0.0982, -0.1127, 0.0117]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1724 left_yaw=-0.0017 left_pitch=-0.0435 left_roll=0.0029 left_gripper=0.999 right_x=0.3832 right_y=-0.0131 right_z=0.0281 right_yaw=0.0475 right_pitch=-0.1919 right_roll=0.0027 right_gripper=0.0117\nstate[joint_eff]: [-0.3214, -1.1282, 6.9812, 1.707, -0.0757, -0.0317, -0.0122, -0.2393, -7.8017, 6.2701, 1.6044, 0.1001, 0.0952, 1.0476]",
      "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, 0.8062, 0.6147, -0.4252, -0.0139, -0.0269, 0.999, -0.0784, 1.7172, 0.6918, 0.2325, -0.102, -0.1169, 0.9956]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1723 left_yaw=-0.0015 left_pitch=-0.0442 left_roll=0.0026 left_gripper=0.999 right_x=0.4099 right_y=-0.0106 right_z=0.0199 right_yaw=0.0642 right_pitch=-0.2191 right_roll=0.0063 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.1556, 6.9812, 1.6777, -0.0415, -0.0757, -0.0122, -0.2393, -6.8034, 7.4188, 1.5604, 0.0269, 0.0806, -0.1832]\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, 0.8062, 0.6147, -0.4255, -0.0139, -0.0265, 0.999, -0.0784, 1.7195, 0.6945, 0.2192, -0.1066, -0.1211, 0.0115]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1722 left_yaw=-0.0017 left_pitch=-0.0446 left_roll=0.0029 left_gripper=0.999 right_x=0.4083 right_y=-0.0096 right_z=0.0177 right_yaw=0.0709 right_pitch=-0.2315 right_roll=0.0085 right_gripper=0.0115\nstate[joint_eff]: [-0.0342, -1.265, 7.241, 1.6679, -0.0513, -0.0415, -0.0122, -0.0615, -7.5966, 5.0803, 1.6777, -0.0024, 0.0122, 1.0476]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df41ddd59d8a50bacda1c81c0f714163a31e3a083d363248c6db64bcde256763",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:142b84b960806f15370936f44e636ed466425eadd5f34e656a15621852928a4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a501e8fafedad243752f56d7fc3d3edd533c8ff064175390b7a911e28cb52cc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BtExJ5iX7hMmmezzHMd6os",
      "input": {
        "note": "Third empty close — my depth estimate from the wrist camera is unreliable, so I'm retracting and raising the right arm to get an unobstructed top-camera view of the fruits and bowls.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.3,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01BtExJ5iX7hMmmezzHMd6os",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6147, -0.4305, -0.0139, -0.0265, 0.999, -0.1226, 1.1175, 1.2869, -0.9882, -0.1295, -0.1619, 0.9986]\nstate[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0017 left_pitch=-0.0496 left_roll=0.003 left_gripper=0.999 right_x=0.3043 right_y=-0.0109 right_z=0.2708 right_yaw=0.0695 right_pitch=-0.2414 right_roll=-0.0015 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -1.1556, 6.9812, 1.7167, -0.0513, -0.0611, -0.0122, -0.4444, -3.4803, 7.8564, 1.5311, -0.232, 0.0366, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fe502fbbc8c6ca6fe6a4e2c29e3f02143eaba8417a98457e922234b63aec470",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:924d04b468f93ebc7610635f8cebc260a55aac58c3cd2bbdd11a7281c88c2cf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91532efa31aaf7b2b54f1cf55aec6a523b7c634c1ec87fbe0319e791ae84198c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 14.12 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6147, -0.4252, -0.0139, -0.0269, 0.999, -0.0784, 1.7172, 0.6918, 0.2325, -0.102, -0.1169, 0.9956]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1723 left_yaw=-0.0015 left_pitch=-0.0442 left_roll=0.0026 left_gripper=0.999 right_x=0.4099 right_y=-0.0106 right_z=0.0199 right_yaw=0.0642 right_pitch=-0.2191 right_roll=0.0063 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.1556, 6.9812, 1.6777, -0.0415, -0.0757, -0.0122, -0.2393, -6.8034, 7.4188, 1.5604, 0.0269, 0.0806, -0.1832]\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, 0.8062, 0.6147, -0.4255, -0.0139, -0.0265, 0.999, -0.0784, 1.7195, 0.6945, 0.2192, -0.1066, -0.1211, 0.0115]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1722 left_yaw=-0.0017 left_pitch=-0.0446 left_roll=0.0029 left_gripper=0.999 right_x=0.4083 right_y=-0.0096 right_z=0.0177 right_yaw=0.0709 right_pitch=-0.2315 right_roll=0.0085 right_gripper=0.0115\nstate[joint_eff]: [-0.0342, -1.265, 7.241, 1.6679, -0.0513, -0.0415, -0.0122, -0.0615, -7.5966, 5.0803, 1.6777, -0.0024, 0.0122, 1.0476]\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 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, 0.8062, 0.6147, -0.4305, -0.0139, -0.0265, 0.999, -0.1226, 1.1175, 1.2869, -0.9882, -0.1295, -0.1619, 0.9986]\nstate[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0017 left_pitch=-0.0496 left_roll=0.003 left_gripper=0.999 right_x=0.3043 right_y=-0.0109 right_z=0.2708 right_yaw=0.0695 right_pitch=-0.2414 right_roll=-0.0015 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -1.1556, 6.9812, 1.7167, -0.0513, -0.0611, -0.0122, -0.4444, -3.4803, 7.8564, 1.5311, -0.232, 0.0366, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fe502fbbc8c6ca6fe6a4e2c29e3f02143eaba8417a98457e922234b63aec470",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:924d04b468f93ebc7610635f8cebc260a55aac58c3cd2bbdd11a7281c88c2cf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91532efa31aaf7b2b54f1cf55aec6a523b7c634c1ec87fbe0319e791ae84198c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CeSRuJMBG9ryCSASAoCg9q",
      "input": {
        "note": "Clear top view: white bowl left, blue bowl centre-right, lemon in front of the blue bowl and the pear ~10 cm to its right, plus a small dark fruit near the left. The pear is further to the arm's right than I had been reaching, so I'm repositioning above it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.42,
          "right_y": -0.06,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CeSRuJMBG9ryCSASAoCg9q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6147, -0.4324, -0.0139, -0.0269, 0.999, -0.2321, 1.573, 1.0203, -0.3176, -0.2039, -0.2481, 0.9987]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1704 left_yaw=-0.0015 left_pitch=-0.053 left_roll=0.0028 left_gripper=0.999 right_x=0.4152 right_y=-0.0577 right_z=0.1127 right_yaw=0.0752 right_pitch=-0.2776 right_roll=0.0071 right_gripper=0.9987\nstate[joint_eff]: [-0.1026, -1.4291, 7.159, 1.6825, -0.0464, -0.0708, -0.0171, -0.4444, -7.8974, 6.3385, 1.7314, -0.1538, -0.0269, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4918335b987a95b597f7862b08f9a1ca6424156cee0dd77a5a195f96e115a32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3f5194c9d109496d33cd1b871fa02930e7e3de2a18cce8df994f565854943c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:78b9c3968f23031439db23f48b5034d2c09312bd926b7a771a1d50a1063457e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 5.033 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6147, -0.4255, -0.0139, -0.0265, 0.999, -0.0784, 1.7195, 0.6945, 0.2192, -0.1066, -0.1211, 0.0115]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1722 left_yaw=-0.0017 left_pitch=-0.0446 left_roll=0.0029 left_gripper=0.999 right_x=0.4083 right_y=-0.0096 right_z=0.0177 right_yaw=0.0709 right_pitch=-0.2315 right_roll=0.0085 right_gripper=0.0115\nstate[joint_eff]: [-0.0342, -1.265, 7.241, 1.6679, -0.0513, -0.0415, -0.0122, -0.0615, -7.5966, 5.0803, 1.6777, -0.0024, 0.0122, 1.0476]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8062, 0.6147, -0.4305, -0.0139, -0.0265, 0.999, -0.1226, 1.1175, 1.2869, -0.9882, -0.1295, -0.1619, 0.9986]\nstate[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0017 left_pitch=-0.0496 left_roll=0.003 left_gripper=0.999 right_x=0.3043 right_y=-0.0109 right_z=0.2708 right_yaw=0.0695 right_pitch=-0.2414 right_roll=-0.0015 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -1.1556, 6.9812, 1.7167, -0.0513, -0.0611, -0.0122, -0.4444, -3.4803, 7.8564, 1.5311, -0.232, 0.0366, -0.1441]",
      "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, 0.8078, 0.6147, -0.4324, -0.0139, -0.0269, 0.999, -0.2321, 1.573, 1.0203, -0.3176, -0.2039, -0.2481, 0.9987]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1704 left_yaw=-0.0015 left_pitch=-0.053 left_roll=0.0028 left_gripper=0.999 right_x=0.4152 right_y=-0.0577 right_z=0.1127 right_yaw=0.0752 right_pitch=-0.2776 right_roll=0.0071 right_gripper=0.9987\nstate[joint_eff]: [-0.1026, -1.4291, 7.159, 1.6825, -0.0464, -0.0708, -0.0171, -0.4444, -7.8974, 6.3385, 1.7314, -0.1538, -0.0269, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4918335b987a95b597f7862b08f9a1ca6424156cee0dd77a5a195f96e115a32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3f5194c9d109496d33cd1b871fa02930e7e3de2a18cce8df994f565854943c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78b9c3968f23031439db23f48b5034d2c09312bd926b7a771a1d50a1063457e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012XF4FyvFYcofdtcJR1w9x6",
      "input": {
        "note": "Wrist view puts the pear left of the jaw column, and the top view shows it further from the base than the gripper; moving back to y=-0.018 and reaching 5 cm further forward.",
        "targets": {
          "right_x": 0.47,
          "right_y": -0.018,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_012XF4FyvFYcofdtcJR1w9x6",
      "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, 0.8116, 0.6147, -0.4347, -0.0139, -0.0265, 0.999, -0.0837, 1.7638, 1.1492, -0.2943, -0.1272, -0.1646, 0.9986]\nstate[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1689 left_yaw=-0.0017 left_pitch=-0.0591 left_roll=0.0032 left_gripper=0.999 right_x=0.4568 right_y=-0.0122 right_z=0.0855 right_yaw=0.113 right_pitch=-0.3301 right_roll=0.013 right_gripper=0.9986\nstate[joint_eff]: [-0.2393, -1.0872, 6.9812, 1.6777, -0.0757, -0.0269, -0.0171, -0.4855, -8.2667, 9.2239, 1.7265, 0.1197, 0.2173, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12cf831f8a941e783ca7e5dd81b99ca7a81b532464fa6c1e2ddbaab35bd5dd9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:962be53b86d9b86d881816e1a1d7dbf5ef42625ece050b4adfccda6376b5927d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7774effbb5206cd0d67cf144f9d7a730c7ac533105f5c4b1925232c6eee8e00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 3.339 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6147, -0.4305, -0.0139, -0.0265, 0.999, -0.1226, 1.1175, 1.2869, -0.9882, -0.1295, -0.1619, 0.9986]\nstate[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0017 left_pitch=-0.0496 left_roll=0.003 left_gripper=0.999 right_x=0.3043 right_y=-0.0109 right_z=0.2708 right_yaw=0.0695 right_pitch=-0.2414 right_roll=-0.0015 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -1.1556, 6.9812, 1.7167, -0.0513, -0.0611, -0.0122, -0.4444, -3.4803, 7.8564, 1.5311, -0.232, 0.0366, -0.1441]",
      "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, 0.8078, 0.6147, -0.4324, -0.0139, -0.0269, 0.999, -0.2321, 1.573, 1.0203, -0.3176, -0.2039, -0.2481, 0.9987]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1704 left_yaw=-0.0015 left_pitch=-0.053 left_roll=0.0028 left_gripper=0.999 right_x=0.4152 right_y=-0.0577 right_z=0.1127 right_yaw=0.0752 right_pitch=-0.2776 right_roll=0.0071 right_gripper=0.9987\nstate[joint_eff]: [-0.1026, -1.4291, 7.159, 1.6825, -0.0464, -0.0708, -0.0171, -0.4444, -7.8974, 6.3385, 1.7314, -0.1538, -0.0269, -0.149]",
      "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, 0.8116, 0.6147, -0.4347, -0.0139, -0.0265, 0.999, -0.0837, 1.7638, 1.1492, -0.2943, -0.1272, -0.1646, 0.9986]\nstate[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1689 left_yaw=-0.0017 left_pitch=-0.0591 left_roll=0.0032 left_gripper=0.999 right_x=0.4568 right_y=-0.0122 right_z=0.0855 right_yaw=0.113 right_pitch=-0.3301 right_roll=0.013 right_gripper=0.9986\nstate[joint_eff]: [-0.2393, -1.0872, 6.9812, 1.6777, -0.0757, -0.0269, -0.0171, -0.4855, -8.2667, 9.2239, 1.7265, 0.1197, 0.2173, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12cf831f8a941e783ca7e5dd81b99ca7a81b532464fa6c1e2ddbaab35bd5dd9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:962be53b86d9b86d881816e1a1d7dbf5ef42625ece050b4adfccda6376b5927d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7774effbb5206cd0d67cf144f9d7a730c7ac533105f5c4b1925232c6eee8e00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISvQUKjgEIEhgCKkByMwv89c+/eDPHOhelTcGnCW/fzPz5aNicFhzMjFu04NODBly0Z6V/GAOM7egHyI8GKyQe6QSU3Kh7HN4xn1sBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe6UzNUGEgwzDbwJOqY5OV/ZWdEaDHUwtKPoUQThRyGIOiIwiEi14lUo1AOiyMVqS6nrKDd5mX1xBR406R3tM8mBzXVc7ZIvzlZz85J8YqfUmVdmKtsDzsU0dIZuwYKGw649C9kYEXY8b/tuDksHb2lZlaFEL72vOp4aycJ/uMLzN1mx2W9kUXHPymMRFWiu5HPkpgABUohHeffz9oLjw2SMr3vXlj2W/EaD5rp4uyVyDGP5Q7kr3urGzEEJCQ1pt3bQav02IU1yVfuy8UYlpXUlbbm3AErKoQg1Ef/dDleCJjZFhSDSnkE0cvSAwMwck7DW5B/xkI04GW8M0tRjJ+N1QVE1rY0WurrjiRg48tlCb6olozy1sXfWi3CjtA1Ml1i8m3XgfJbAPb+4bUwXUryGYVj2DKt/3qnCrLdIPQkhxoUnccD8T5PhXzYrVJ18MzWrhWR2uCcP3HbVqFEwcLyy91JpsyGM/33/5Zi1cabeIeXZ14HK1YbHkzjpLUNq7z3ECH+Qu84N04gHy0rd3YBq8nS6hk/9/ElHWeY9xdUDddEbv28Sc2/1M1DENDGYYaIy6HLMv3C+5sjfYyqctwxEstE1NHuH+fkYlK1h+ZRCULcpK+Igx3YuUOC7HGZNUCSMJ5NFOgV1P1iPOahVlHvbTbKylrH7viqh64dCmKLUtDGP03oSnKBdNot2fTmIdT3GEnWeCW67ex6y2Ub7f94IyOjNEIIaJrJu2rDJRYwLphgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LHGwP4Pkeq2tFR4y5UhEru",
      "input": {
        "note": "The pear is now centred on the jaw column right at the bottom of the wrist view; descending to grasp height.",
        "targets": {
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01LHGwP4Pkeq2tFR4y5UhEru",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6147, -0.4358, -0.0135, -0.0269, 0.999, -0.0822, 1.8267, 1.0569, -0.1528, -0.128, -0.168, 0.9986]\nstate[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1685 left_yaw=-0.0018 left_pitch=-0.061 left_roll=0.0027 left_gripper=0.999 right_x=0.4532 right_y=-0.0111 right_z=0.0446 right_yaw=0.1181 right_pitch=-0.3434 right_roll=0.0143 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.3744, 6.9675, 1.6777, -0.0269, -0.0611, -0.0122, -0.1436, -7.3368, 5.4496, 1.4969, -0.0855, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1de047a0a4d925abe54ae8a542c4a07b72e51a065ec2deb4fe18c4d437d36142",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c676588469a4706b47deec1d759ebf3c9053b218aa19bd793be45b7e0d9889c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91151039259f2a115b4fa1159e77ad7afe7d0b34fc80d8131884f4134729fad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 7.938 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6147, -0.4324, -0.0139, -0.0269, 0.999, -0.2321, 1.573, 1.0203, -0.3176, -0.2039, -0.2481, 0.9987]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1704 left_yaw=-0.0015 left_pitch=-0.053 left_roll=0.0028 left_gripper=0.999 right_x=0.4152 right_y=-0.0577 right_z=0.1127 right_yaw=0.0752 right_pitch=-0.2776 right_roll=0.0071 right_gripper=0.9987\nstate[joint_eff]: [-0.1026, -1.4291, 7.159, 1.6825, -0.0464, -0.0708, -0.0171, -0.4444, -7.8974, 6.3385, 1.7314, -0.1538, -0.0269, -0.149]",
      "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, 0.8116, 0.6147, -0.4347, -0.0139, -0.0265, 0.999, -0.0837, 1.7638, 1.1492, -0.2943, -0.1272, -0.1646, 0.9986]\nstate[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1689 left_yaw=-0.0017 left_pitch=-0.0591 left_roll=0.0032 left_gripper=0.999 right_x=0.4568 right_y=-0.0122 right_z=0.0855 right_yaw=0.113 right_pitch=-0.3301 right_roll=0.013 right_gripper=0.9986\nstate[joint_eff]: [-0.2393, -1.0872, 6.9812, 1.6777, -0.0757, -0.0269, -0.0171, -0.4855, -8.2667, 9.2239, 1.7265, 0.1197, 0.2173, -0.022]",
      "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, 0.8124, 0.6147, -0.4358, -0.0135, -0.0269, 0.999, -0.0822, 1.8267, 1.0569, -0.1528, -0.128, -0.168, 0.9986]\nstate[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1685 left_yaw=-0.0018 left_pitch=-0.061 left_roll=0.0027 left_gripper=0.999 right_x=0.4532 right_y=-0.0111 right_z=0.0446 right_yaw=0.1181 right_pitch=-0.3434 right_roll=0.0143 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.3744, 6.9675, 1.6777, -0.0269, -0.0611, -0.0122, -0.1436, -7.3368, 5.4496, 1.4969, -0.0855, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1de047a0a4d925abe54ae8a542c4a07b72e51a065ec2deb4fe18c4d437d36142",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c676588469a4706b47deec1d759ebf3c9053b218aa19bd793be45b7e0d9889c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91151039259f2a115b4fa1159e77ad7afe7d0b34fc80d8131884f4134729fad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS7gIKjgEIEhgCKkBU05USPafwlQJ21ITtD/n1xzSRBBSs6zUdK9aCL9HEdbv/JJu98NHC2uSCe4LQoQ1fwp7/9FDS4/aHz7M6drXmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfOUzNUGEgyKxkaQccoWyxaBe8AaDIOzCyCbNKaujbcLUyIwqvgxOusDjVqq5aC0MHu9tE01ZdeRAjXgrwDn60lb2RRf/HTds7eHYXcx7xs/xTfrKowB0vRIDdGLISkiJkwJRHmUy4mt3otNfMIxg0S+tkXA7oIdm+QaUaE6WKkXfMkIwu8nCeBeoR1RY3CJ299D180s74HpdDQg54FKLnyf92g1BgNDGaJerF4fmu1bFuqntuMiL2rCKwobI+82zV4MY8MI8RvvzaQLUZUyGtun6nj2PkzZ8uOjObVkjP0EUz0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UiBrP94j71e3Fb22k6Jx3L",
      "input": {
        "note": "Pear fills the view between the jaw tips; closing the gripper on it.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UiBrP94j71e3Fb22k6Jx3L",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6147, -0.4423, -0.0139, -0.0269, 0.999, -0.0822, 1.8534, 1.0389, -0.1467, -0.1284, -0.1734, 0.6529]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1672 left_yaw=-0.0015 left_pitch=-0.0675 left_roll=0.0031 left_gripper=0.999 right_x=0.4465 right_y=-0.0105 right_z=0.0276 right_yaw=0.1245 right_pitch=-0.3811 right_roll=0.0195 right_gripper=0.6529\nstate[joint_eff]: [-0.0342, -1.347, 6.9538, 1.7118, -0.0464, -0.0757, -0.0122, -0.2667, -11.2615, 7.3641, 1.3065, -0.105, -0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f82931aa454df407ff338a105174ca2e3070784ecf8cad3a8b798139da8485d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93612f0e8dc69f5e23f514b3575a2087f548401b8593503771f89550fe3660f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:90a0790b4802758e3a779fd784936fe501b5af2b9a302565da3a4007ed6e3f9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 15.53 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8116, 0.6147, -0.4347, -0.0139, -0.0265, 0.999, -0.0837, 1.7638, 1.1492, -0.2943, -0.1272, -0.1646, 0.9986]\nstate[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1689 left_yaw=-0.0017 left_pitch=-0.0591 left_roll=0.0032 left_gripper=0.999 right_x=0.4568 right_y=-0.0122 right_z=0.0855 right_yaw=0.113 right_pitch=-0.3301 right_roll=0.013 right_gripper=0.9986\nstate[joint_eff]: [-0.2393, -1.0872, 6.9812, 1.6777, -0.0757, -0.0269, -0.0171, -0.4855, -8.2667, 9.2239, 1.7265, 0.1197, 0.2173, -0.022]",
      "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, 0.8124, 0.6147, -0.4358, -0.0135, -0.0269, 0.999, -0.0822, 1.8267, 1.0569, -0.1528, -0.128, -0.168, 0.9986]\nstate[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1685 left_yaw=-0.0018 left_pitch=-0.061 left_roll=0.0027 left_gripper=0.999 right_x=0.4532 right_y=-0.0111 right_z=0.0446 right_yaw=0.1181 right_pitch=-0.3434 right_roll=0.0143 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.3744, 6.9675, 1.6777, -0.0269, -0.0611, -0.0122, -0.1436, -7.3368, 5.4496, 1.4969, -0.0855, -0.0269, -0.0122]",
      "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, 0.8124, 0.6147, -0.4423, -0.0139, -0.0269, 0.999, -0.0822, 1.8534, 1.0389, -0.1467, -0.1284, -0.1734, 0.6529]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1672 left_yaw=-0.0015 left_pitch=-0.0675 left_roll=0.0031 left_gripper=0.999 right_x=0.4465 right_y=-0.0105 right_z=0.0276 right_yaw=0.1245 right_pitch=-0.3811 right_roll=0.0195 right_gripper=0.6529\nstate[joint_eff]: [-0.0342, -1.347, 6.9538, 1.7118, -0.0464, -0.0757, -0.0122, -0.2667, -11.2615, 7.3641, 1.3065, -0.105, -0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f82931aa454df407ff338a105174ca2e3070784ecf8cad3a8b798139da8485d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93612f0e8dc69f5e23f514b3575a2087f548401b8593503771f89550fe3660f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90a0790b4802758e3a779fd784936fe501b5af2b9a302565da3a4007ed6e3f9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS6gcKjgEIEhgCKkBURLSfZyA/Vf7i8V5/Yp2//+L1a1zjkZJ1+QHAeqhM71SIqUHi6qKNvgNgTGanO+l5jCWjbnLev59DFYyNl5xYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfuUzNUGEgzNtvqQuxz/txzQ+LcaDOpFPC2xzPJNPCePcSIwOhTVWTGjhOA3O7hJRbWOdIPiCyd4B9RtzJdp6faMDYw3e0qIABz0m8gcq1JGOjVjKogGxiI5WrbmEYVLRrqcrzLuQf5FlijDw/a1Fdg3gwjJEHPsq+3zWBYdmpNW9XwtDnekDi724vvgufktsAPkH2F/3jfVuCJNZbSGYGebHb8p/PVspSqfCv9+vlXeYUi44tQIjvnxKsBls0IWAkcf5CIK8JoNE7P3OPmfPUSDbSjXUQCnEWDiNvVZRNMycekgqf7LoOKnyVkcnp8LXrB2TxoEn9XLDemWHdzxJEIp903tzoquqvAwM1g3Biib5j53+0HCuvrH3b0HdU7TbCkXV+LOoP5FKlAUk/sD8IuM/qnsrWUexbLkFIpzOJK1neZ6Y3zI4Dlqq18dp8rqMO3labyMgcxXlhNIQUt7CalkF9CgSDLtRxGRIx3laU9Q4HWAivHcuhRvGlzRiQ7/gQee+ZDqkY+HXbPZWcazsI0F6OcWrJkSJ93PH+iLPkgQsFlpFaDz5kXCNL7bB3Q5m1yjaYOzcbgC30pC0GzqGsh8iHXFdggfga4Wsyqnk7A6tYiwLM1IwQz9SbBp/uqnvCUCYVOfyQolWokKxJS9f12oqQ6BSpVUxtqAIoX36cK4HteFdxhiI0YjreHj1jAlv1COFrA0q3tOEhxzMA5/XVcS7iyEN2pk9nRnDLNLF0HGQnppCFWueNILnWQvYDodq56rcrPEDLSSUtNBi9bRMgAKIkxXPwEOcZn/r7VB4mB3y2CMX5XWi/6Gm7VaDfPkgywwltNgGmXxiFVkG2ckfpyNjW56LegR/SQfFo03xmMccVFPHN3cuyYWXIerGBdNXeTZFz4G7LM0IDD+sa35P7IOgWkYK839vpxj3OB/CUKq43V5L0WWqbNZ5NwysnwZcpl216easHxe0RzzByE8X4m6ePrvqXz/Y5JKID0rh5W38z4VKRsrQUTTHJPCkT8G1qjpju8FLkKuR/WiCtaQpvrnTYJ/M7Kuvn4nfrdEKZ5nZjgaQHL32tY0dEwvZdaIv5sDBPsw9wrwq6rWrJY/nuAMmvXtWknOSlfNgRr8kzgl2IkCLhHDj6HI8iRgUycYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NgRVTuf8AF85oN5KgyAEDT",
      "input": {
        "note": "Gripper settled at 0.65 (≈6 cm) so the pear is grasped; lifting it and moving left toward the blue bowl.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.06,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01NgRVTuf8AF85oN5KgyAEDT",
      "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, 0.8127, 0.6147, -0.4477, -0.0139, -0.0265, 0.999, 0.1207, 1.7206, 1.7416, -0.9829, -0.0227, -0.0433, 0.6558]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1661 left_yaw=-0.0017 left_pitch=-0.0732 left_roll=0.0035 left_gripper=0.999 right_x=0.4401 right_y=0.061 right_z=0.236 right_yaw=0.1562 right_pitch=-0.393 right_roll=0.0078 right_gripper=0.6558\nstate[joint_eff]: [-0.1709, -1.3197, 6.9538, 1.7314, -0.0513, -0.0464, -0.0122, 0.0068, -7.6786, 8.4581, 1.4921, -0.0171, 0.188, 1.0232]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f98c00568f4286c9b9416ff0ad8a4d0b570234d62f55636a47fc4a86cc1f18b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:470e4a67462c3a03cd82f8c776ae8a3b1b009f0562e42f512f47d060c69d5402",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:60d9fc287336639d15780cc80ab166d7dcfd6a2bb71dd2ca07b389f5c0357a02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 8.243 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6147, -0.4358, -0.0135, -0.0269, 0.999, -0.0822, 1.8267, 1.0569, -0.1528, -0.128, -0.168, 0.9986]\nstate[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1685 left_yaw=-0.0018 left_pitch=-0.061 left_roll=0.0027 left_gripper=0.999 right_x=0.4532 right_y=-0.0111 right_z=0.0446 right_yaw=0.1181 right_pitch=-0.3434 right_roll=0.0143 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.3744, 6.9675, 1.6777, -0.0269, -0.0611, -0.0122, -0.1436, -7.3368, 5.4496, 1.4969, -0.0855, -0.0269, -0.0122]",
      "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, 0.8124, 0.6147, -0.4423, -0.0139, -0.0269, 0.999, -0.0822, 1.8534, 1.0389, -0.1467, -0.1284, -0.1734, 0.6529]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1672 left_yaw=-0.0015 left_pitch=-0.0675 left_roll=0.0031 left_gripper=0.999 right_x=0.4465 right_y=-0.0105 right_z=0.0276 right_yaw=0.1245 right_pitch=-0.3811 right_roll=0.0195 right_gripper=0.6529\nstate[joint_eff]: [-0.0342, -1.347, 6.9538, 1.7118, -0.0464, -0.0757, -0.0122, -0.2667, -11.2615, 7.3641, 1.3065, -0.105, -0.0073, 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, 0.8127, 0.6147, -0.4477, -0.0139, -0.0265, 0.999, 0.1207, 1.7206, 1.7416, -0.9829, -0.0227, -0.0433, 0.6558]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1661 left_yaw=-0.0017 left_pitch=-0.0732 left_roll=0.0035 left_gripper=0.999 right_x=0.4401 right_y=0.061 right_z=0.236 right_yaw=0.1562 right_pitch=-0.393 right_roll=0.0078 right_gripper=0.6558\nstate[joint_eff]: [-0.1709, -1.3197, 6.9538, 1.7314, -0.0513, -0.0464, -0.0122, 0.0068, -7.6786, 8.4581, 1.4921, -0.0171, 0.188, 1.0232]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f98c00568f4286c9b9416ff0ad8a4d0b570234d62f55636a47fc4a86cc1f18b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:470e4a67462c3a03cd82f8c776ae8a3b1b009f0562e42f512f47d060c69d5402",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60d9fc287336639d15780cc80ab166d7dcfd6a2bb71dd2ca07b389f5c0357a02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015fgEmS6WU4Ar9y9XSauwDn",
      "input": {
        "note": "Top view shows the held pear is beyond and right of the blue bowl; moving 4 cm back toward the base and 2.5 cm further left to get over the bowl.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.085,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_015fgEmS6WU4Ar9y9XSauwDn",
      "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, 0.6147, -0.4496, -0.0135, -0.0265, 0.999, 0.2066, 1.6569, 1.663, -1.0416, 0.0113, -0.0002, 0.6564]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1655 left_yaw=-0.002 left_pitch=-0.0759 left_roll=0.0033 left_gripper=0.999 right_x=0.4041 right_y=0.0863 right_z=0.2244 right_yaw=0.1852 right_pitch=-0.4669 right_roll=0.0026 right_gripper=0.6564\nstate[joint_eff]: [-0.2256, -0.8821, 6.9538, 1.7509, -0.0317, -0.0415, -0.0122, -0.3487, -11.2205, 7.2821, 1.4139, 0.1294, 0.188, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db69018819f0097b074373f64290c5a96c16f7832e5707ac846f5dd2181bb8ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa767c171ebe053daeaf8a70fdec228a19a093a19e8d0b29feebf5054d5f72d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69a6c3a0f88b2070ae7f9bf0c7878240b73b2c0f5dbe2bfc61468a9a96fa42c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 7.731 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6147, -0.4423, -0.0139, -0.0269, 0.999, -0.0822, 1.8534, 1.0389, -0.1467, -0.1284, -0.1734, 0.6529]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1672 left_yaw=-0.0015 left_pitch=-0.0675 left_roll=0.0031 left_gripper=0.999 right_x=0.4465 right_y=-0.0105 right_z=0.0276 right_yaw=0.1245 right_pitch=-0.3811 right_roll=0.0195 right_gripper=0.6529\nstate[joint_eff]: [-0.0342, -1.347, 6.9538, 1.7118, -0.0464, -0.0757, -0.0122, -0.2667, -11.2615, 7.3641, 1.3065, -0.105, -0.0073, 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, 0.8127, 0.6147, -0.4477, -0.0139, -0.0265, 0.999, 0.1207, 1.7206, 1.7416, -0.9829, -0.0227, -0.0433, 0.6558]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1661 left_yaw=-0.0017 left_pitch=-0.0732 left_roll=0.0035 left_gripper=0.999 right_x=0.4401 right_y=0.061 right_z=0.236 right_yaw=0.1562 right_pitch=-0.393 right_roll=0.0078 right_gripper=0.6558\nstate[joint_eff]: [-0.1709, -1.3197, 6.9538, 1.7314, -0.0513, -0.0464, -0.0122, 0.0068, -7.6786, 8.4581, 1.4921, -0.0171, 0.188, 1.0232]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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, 0.8135, 0.6147, -0.4496, -0.0135, -0.0265, 0.999, 0.2066, 1.6569, 1.663, -1.0416, 0.0113, -0.0002, 0.6564]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1655 left_yaw=-0.002 left_pitch=-0.0759 left_roll=0.0033 left_gripper=0.999 right_x=0.4041 right_y=0.0863 right_z=0.2244 right_yaw=0.1852 right_pitch=-0.4669 right_roll=0.0026 right_gripper=0.6564\nstate[joint_eff]: [-0.2256, -0.8821, 6.9538, 1.7509, -0.0317, -0.0415, -0.0122, -0.3487, -11.2205, 7.2821, 1.4139, 0.1294, 0.188, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db69018819f0097b074373f64290c5a96c16f7832e5707ac846f5dd2181bb8ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa767c171ebe053daeaf8a70fdec228a19a093a19e8d0b29feebf5054d5f72d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69a6c3a0f88b2070ae7f9bf0c7878240b73b2c0f5dbe2bfc61468a9a96fa42c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISgwkKjgEIEhgCKkCFxRoTfcS2xJgnSXtTc91qRMTcQFmPiJl9bpp3u32/M1tuD2AohZKaEoZWLy0vbfMoew5tbxsJPkKMu/peMlTSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZWVzNUGEgwXn1WcRR5KAq0gB64aDLUepBTKkzgRdFdflyIwIQARdubq3VRBeUrnb1FGbP9L/NISVyAuKOq/O0ZqVY/8OQfOIxZZNUzwl+ijkjaaKqEHglm5HbaPANxl8lLpurXnNDkRRYqxk3pQ92z2vxTXtftg98JvxdYNC0XapwK0Ya27Lb7Z1+MHXzcXZa+SSm3u7cJWbcDXvZpJK6eIOJ4RPsss87x0xXrktAiO7U8SDQBak0jjciDnUHH548aE3vbF1m4bOj8ay0NnyiNONW9kee8JuqQpg6ILcdfrcpfyizRyVHNsiOP9+XQrfZegZqD06coTAwnCdPeDM6z/smiN4SU6sBshYLmdB9zioFjzrgujceb6jxHS7fUaCdLkmFYejRkAoGBg6A5L6fmMniEv2GnefvRXX5dh5XiVpnTPzwMlD5YM09b6rziyplW3FfkYaLgTm0pmj9cCpg/s43ugH5QZP/eJ2/xTnEylgTpoQEx5Lu8vAPmhJIaRmxmVWe9yJ5e7TWdkJoiwSwN4ohKISD9nCUa8yNoeWce5Wa5e+yiAOSCll/d8WoUPe2avAchi+d8o2/ISZxdkyXdHgZSK+pnoaq9YQp23uqE+MzvLZvf9A7qxANafWLg0PwkLAuzwyhDUC816WfeX7fzPX9hpAetM7qYeE/HudEZ22s8wuPNG7UiO09g15iX+/JzI3kRXQiU9gwAClA2VCrD68L2f5Qina+hlfCTMuKp9jgUiej6uPGmKow/NtpnhY8cOaOMO4y3NqWz/Lo+POrEKTp0qcvGlWJD/l6+/qm5A7cNZAGYaNIkKq2AuGuKlnYjz1Uzrj0DQH2q2BlKeVyNdgSJcAMutNSfSXSjf4xW65JOJ5tVHaX8dxGLK42R05RCXFkJy/CVQolrLRVtLt0rXR5qIm+Erld9q+3GMvduWJulD6S8Olu4fQxEgA3cB7HhgyhNH5pm2LtW00VrRHT37tNVYBAZ7UF+gK9Q82WDhtbVRWt2FsDiA/TpboFnETHPYWTPETdCcHI71m4g5zx7VrUU+B3/F/r/prbdvUFO0pVPpa7zrxlqVp8TereH+1v/t5KwEYtKWnSyOasWOatdPFs6SnLJkCtymKKlS8l5EUTbZWnypzKG4xjM1bQizQKutHHqFUCUeevMtUUcYEslnWszpEUOuzIUPqas9/B9aHmmT7GDQlVegtMPnY/abgu75AKCFGs+GZYBWkZEYtLTkUgfPUUjH/W21aNO/FjzcWXLdWdrX3rJKImEibbYHhIX0IbZOjreE3MYteSY4H2igHSxHmWCCcyCCLhmlMrxJ7zjf0aRIO/MxnSPUQc5PJdstaES+78oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XFdpz4mepHM3PsyBQzsGBb",
      "input": {
        "note": "The blue bowl now sits just beyond and slightly left of the held pear in the wrist view; nudging left/back and descending to hover over the bowl.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.1,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01XFdpz4mepHM3PsyBQzsGBb",
      "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, 0.6147, -0.4503, -0.0139, -0.0265, 0.999, 0.2134, 1.6211, 1.6608, -1.0534, 0.0231, 0.012, 0.6571]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1653 left_yaw=-0.0017 left_pitch=-0.0767 left_roll=0.0036 left_gripper=0.999 right_x=0.397 right_y=0.0855 right_z=0.2361 right_yaw=0.174 right_pitch=-0.4449 right_roll=-0.0008 right_gripper=0.6571\nstate[joint_eff]: [-0.3624, -1.2786, 6.9538, 1.7265, -0.0415, -0.0366, -0.0122, -0.1709, -9.1282, 6.9812, 1.453, 0.0562, 0.188, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a253d05860bcbfcb332b02e78b2de7c5655a2de7334a95e9feee38e5196819cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78a6d556244ed1bc2dca8b817417b0a7d565ef907acc7c9015bd876c6924ac08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e4e7bef6f3db3cc823e18334ced51f3f0551cb3128912f22ae9fee07cac3f1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 6.727 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8127, 0.6147, -0.4477, -0.0139, -0.0265, 0.999, 0.1207, 1.7206, 1.7416, -0.9829, -0.0227, -0.0433, 0.6558]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1661 left_yaw=-0.0017 left_pitch=-0.0732 left_roll=0.0035 left_gripper=0.999 right_x=0.4401 right_y=0.061 right_z=0.236 right_yaw=0.1562 right_pitch=-0.393 right_roll=0.0078 right_gripper=0.6558\nstate[joint_eff]: [-0.1709, -1.3197, 6.9538, 1.7314, -0.0513, -0.0464, -0.0122, 0.0068, -7.6786, 8.4581, 1.4921, -0.0171, 0.188, 1.0232]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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, 0.8135, 0.6147, -0.4496, -0.0135, -0.0265, 0.999, 0.2066, 1.6569, 1.663, -1.0416, 0.0113, -0.0002, 0.6564]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1655 left_yaw=-0.002 left_pitch=-0.0759 left_roll=0.0033 left_gripper=0.999 right_x=0.4041 right_y=0.0863 right_z=0.2244 right_yaw=0.1852 right_pitch=-0.4669 right_roll=0.0026 right_gripper=0.6564\nstate[joint_eff]: [-0.2256, -0.8821, 6.9538, 1.7509, -0.0317, -0.0415, -0.0122, -0.3487, -11.2205, 7.2821, 1.4139, 0.1294, 0.188, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.4503, -0.0139, -0.0265, 0.999, 0.2134, 1.6211, 1.6608, -1.0534, 0.0231, 0.012, 0.6571]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1653 left_yaw=-0.0017 left_pitch=-0.0767 left_roll=0.0036 left_gripper=0.999 right_x=0.397 right_y=0.0855 right_z=0.2361 right_yaw=0.174 right_pitch=-0.4449 right_roll=-0.0008 right_gripper=0.6571\nstate[joint_eff]: [-0.3624, -1.2786, 6.9538, 1.7265, -0.0415, -0.0366, -0.0122, -0.1709, -9.1282, 6.9812, 1.453, 0.0562, 0.188, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a253d05860bcbfcb332b02e78b2de7c5655a2de7334a95e9feee38e5196819cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78a6d556244ed1bc2dca8b817417b0a7d565ef907acc7c9015bd876c6924ac08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e4e7bef6f3db3cc823e18334ced51f3f0551cb3128912f22ae9fee07cac3f1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS3AcKjgEIEhgCKkAxM+niGeonmfNzkIHsmEF9reZ/+Q829mSSZydGiTCqqcH0enEwBHS3U8orEz2oRzQWUAv0A8VJYOpYInf9Ivy4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ2VzNUGEgzwbYIAAU8R32+sgHUaDA9r122Pl/pN9VtRpSIwP+2qs+N4HuUZZ58MuCzKltUhXbPJE8nynfDcpVssHMYPG9kI9s2BYtCgqKAGPYHUKvoFsGb2nBoPjOA3pr5dluuY2oIMQ5/YVX94AiaMeb/PCtrw7pv/u2iSmgXTSrC0hVePcz/DAJJ7A5+JRalvjr5bYVbo2+P0KXFX67s85rY9srkUs5n7CUSv3j4oTzARstPNBFhlDMWvQG3CitblrAT8CCYLCWhyDUTssIs2yOgnnhN+DcqK5w7KnMPbKYo2IuJ2PkhGfrDJHosr3K7PtXCAOmdKcfKHIn8tTcccPsclKvVNXsCELWZz81Nw8T49+9WqlhxGAlAgGc3rsX/euB4d1N4dmUKVIXgRgKb0umfKR4gTDD5emI/+LMT5eaQxdANPXnPE50AkEiJ3kfk5zVhDbkk1Q4YMYbUJjz1inQwizC1G9Lgioy6jP00JJTN5r/Bj2qYwl3pQIpKW5ceCoH6CoMkaeTDZh44qHbzDod9F5/AdmJjYSJPm2DjEBgzg83gAPZyXOn/tCoGWyDbcaXsIfbGF/uxc3RMZ/sHTsDq7i6eSb1gv4VosysBUdNek4kYlEde03R+5RCT44gN+dzuqyf94K/hDD1ELSEHLsVED4ZF2+BIs09vDrNhYM5yB00yenf+fHoKl16lXAzCrMoTn0LIpta6s66BDaYG5XXw6k3TFkzOZqrm51ARwVNDPSipSdhnjIQl5PFyG+a/V49ioEOqXXsTQhHLqM8JaF3HLA48BPiJoBcUQRUKwUSiozy9jrj7gvJY7w+DGs4VTDqVl8HKkVIhPQPWb7qi4Mqkn4kgkFIIXBaMBTX/znXLSUKZypwA5HglI8X62hk8lBo9j/oleEfvsztIeCnuJ1UyMBAecJKpg5FCl8pxfC2iJ/fNRfh+auTOA2M7yUnlIgEyp8qrVzRwzY8WGs9IT9YymoBRbQJ4Bko/Cl8rMk+qmyPwBEuOAmgzZXhUWITLZhAKnfTEcj/3IVTrIAEUR7nzlVU1vM0LrSSP7BasOpM/a/KKxUGajjAePgmvNPRYYlQ4qqF5Me0bxvkBW8jMmAqd8IdRYK67LZNBbvT8SGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pcct29nHrMcha3HAiFHzig",
      "input": {
        "note": "The previous command barely executed; re-issuing the move to bring the pear over the blue bowl, slightly left and lower.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.105,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Pcct29nHrMcha3HAiFHzig",
      "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, 0.6147, -0.4503, -0.0135, -0.0265, 0.999, 0.2131, 1.6211, 1.6611, -1.0534, 0.0227, 0.012, 0.6608]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1653 left_yaw=-0.002 left_pitch=-0.0767 left_roll=0.0034 left_gripper=0.999 right_x=0.3971 right_y=0.0855 right_z=0.2362 right_yaw=0.174 right_pitch=-0.4445 right_roll=-0.0004 right_gripper=0.6608\nstate[joint_eff]: [-0.1709, -1.0872, 6.9538, 1.7216, -0.0464, -0.0513, -0.0122, -0.2803, -9.2376, 6.7624, 1.453, 0.0659, 0.149, 0.8278]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9e0b0c909115a50a46be2c6aabd97e54774f9512520c66c925aa3614201a231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02eed5e2b61ff0d4fcd0fff4ca0d51ad800360739610d40d1030c7eb1d487f91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:457f3fd8cf9b3f1b41a8a689da6c60b9fac286eaccf714e3c265f31cdd60b155",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 9.795 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.4496, -0.0135, -0.0265, 0.999, 0.2066, 1.6569, 1.663, -1.0416, 0.0113, -0.0002, 0.6564]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1655 left_yaw=-0.002 left_pitch=-0.0759 left_roll=0.0033 left_gripper=0.999 right_x=0.4041 right_y=0.0863 right_z=0.2244 right_yaw=0.1852 right_pitch=-0.4669 right_roll=0.0026 right_gripper=0.6564\nstate[joint_eff]: [-0.2256, -0.8821, 6.9538, 1.7509, -0.0317, -0.0415, -0.0122, -0.3487, -11.2205, 7.2821, 1.4139, 0.1294, 0.188, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.4503, -0.0139, -0.0265, 0.999, 0.2134, 1.6211, 1.6608, -1.0534, 0.0231, 0.012, 0.6571]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1653 left_yaw=-0.0017 left_pitch=-0.0767 left_roll=0.0036 left_gripper=0.999 right_x=0.397 right_y=0.0855 right_z=0.2361 right_yaw=0.174 right_pitch=-0.4449 right_roll=-0.0008 right_gripper=0.6571\nstate[joint_eff]: [-0.3624, -1.2786, 6.9538, 1.7265, -0.0415, -0.0366, -0.0122, -0.1709, -9.1282, 6.9812, 1.453, 0.0562, 0.188, 0.9988]\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, 0.8135, 0.6147, -0.4503, -0.0135, -0.0265, 0.999, 0.2131, 1.6211, 1.6611, -1.0534, 0.0227, 0.012, 0.6608]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1653 left_yaw=-0.002 left_pitch=-0.0767 left_roll=0.0034 left_gripper=0.999 right_x=0.3971 right_y=0.0855 right_z=0.2362 right_yaw=0.174 right_pitch=-0.4445 right_roll=-0.0004 right_gripper=0.6608\nstate[joint_eff]: [-0.1709, -1.0872, 6.9538, 1.7216, -0.0464, -0.0513, -0.0122, -0.2803, -9.2376, 6.7624, 1.453, 0.0659, 0.149, 0.8278]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9e0b0c909115a50a46be2c6aabd97e54774f9512520c66c925aa3614201a231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02eed5e2b61ff0d4fcd0fff4ca0d51ad800360739610d40d1030c7eb1d487f91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:457f3fd8cf9b3f1b41a8a689da6c60b9fac286eaccf714e3c265f31cdd60b155",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS2AUKjgEIEhgCKkA0mRoqcKeXYuSG5TFO+Rg6tsuC8z/ZyZpEhFAofDqH3NJSqdJulIlTrBoGD2APkIm7dxSilCnLfgap76ETCOeKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaOVzNUGEgyBzsJBbZhbdL2U57caDAH4+4wSO6qS/fv56yIw+JQvPaU9VpWfC9QcDPcWrmbZya1O0K+IfYwNFzrRh9bvmV+/J/cPi/oLjS2paL0AKvYDGgryScq/XFvOhovfwwo36s9BbHBvFVKATWuqXOQERzS7Yi8e+wrcMAtaj2juav1C2u1Q5r0SCxTt8lXaen0vM+IRxbBjTexjB/mfSIdkWoH/y18U89Cqa3yBDxJprunVYEvE4teMbfRt/edOJPnWQreUSokEqUuMlb3Dl/FC2yw1QaEHF7ep1tBuPWLv0bIQrviii8HCtkyQgothubL4BOED9Ej4KDzB+DWFmzAgKpZSwbRcQhfLx/0ot7VgpHwreG1gDJoZ5yW+/MSkI+JZh8kkNKBczd72rFW2QjTuy/fDXSIpCnC1aQO9ODJd1m1BT6xPXF1x072SvYKvxvm3C3iLMgPMqGz2ZwBF6JXj8Qewi8C/ixgwiGBerHCHaH06FsulMknUQcANzVnxzQVpfhhV/wrcZM8rgEeZnRS6Gs7fbV2KH7ys476mTpCiN+Ruqezz3xyH7zw9FlAZlOh45p/6JjDeSW5EbEafbXgroO2mM2a5j8yWv/9pSLQIEo4+LM+jvwdM9+JHgQHRo94vmX5z8pNLxs0Bxwl5DPERjglCoLNaI0B7Qy1OcpAzoeAplGp2IZPVbBa4oY4lHTCiFM05C2Kk0EwK0RVqTK6JIsNgwR88DXPULhEpOCJdD0TcSRLtvOsd6Xlvnk6JcATScWMvRMxUDRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D8bUqSzDLDTKe6JRwjT2zN",
      "input": {
        "note": "The arm has stopped tracking (wrist pitch has drifted to -0.44); commanding pitch back to 0 and lifting higher to break out of the stuck configuration while keeping the pear.",
        "targets": {
          "right_pitch": 0,
          "right_x": 0.36,
          "right_y": 0.1,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01D8bUqSzDLDTKe6JRwjT2zN",
      "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, 0.6147, -0.4538, -0.0139, -0.0265, 0.999, 0.3164, 1.235, 1.2705, -0.7063, 0.1066, 0.0383, 0.6619]\nstate[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1641 left_yaw=-0.0017 left_pitch=-0.082 left_roll=0.0037 left_gripper=0.999 right_x=0.3548 right_y=0.1002 right_z=0.2773 right_yaw=0.1957 right_pitch=-0.098 right_roll=-0.0188 right_gripper=0.6619\nstate[joint_eff]: [-0.0205, -1.4838, 7.1043, 1.7509, -0.0269, -0.0464, -0.0122, 0.1983, -5.5863, 7.1863, 2.2393, 0.1392, 0.188, 0.8816]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca27c9901e262cb6c635506c56a7b3f3904bede3a16087f6a5137bd56e199ce9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20f604a90115b7a8e9d7d4f8b0dcd3ac553113f6d17ff6019af1783e2c141855",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a35d23b7b7560ca98ed722dcfcd38a1e6a221430a66c2abe859ea425f5bc46a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 5.063 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.4503, -0.0139, -0.0265, 0.999, 0.2134, 1.6211, 1.6608, -1.0534, 0.0231, 0.012, 0.6571]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1653 left_yaw=-0.0017 left_pitch=-0.0767 left_roll=0.0036 left_gripper=0.999 right_x=0.397 right_y=0.0855 right_z=0.2361 right_yaw=0.174 right_pitch=-0.4449 right_roll=-0.0008 right_gripper=0.6571\nstate[joint_eff]: [-0.3624, -1.2786, 6.9538, 1.7265, -0.0415, -0.0366, -0.0122, -0.1709, -9.1282, 6.9812, 1.453, 0.0562, 0.188, 0.9988]\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, 0.8135, 0.6147, -0.4503, -0.0135, -0.0265, 0.999, 0.2131, 1.6211, 1.6611, -1.0534, 0.0227, 0.012, 0.6608]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1653 left_yaw=-0.002 left_pitch=-0.0767 left_roll=0.0034 left_gripper=0.999 right_x=0.3971 right_y=0.0855 right_z=0.2362 right_yaw=0.174 right_pitch=-0.4445 right_roll=-0.0004 right_gripper=0.6608\nstate[joint_eff]: [-0.1709, -1.0872, 6.9538, 1.7216, -0.0464, -0.0513, -0.0122, -0.2803, -9.2376, 6.7624, 1.453, 0.0659, 0.149, 0.8278]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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, 0.8154, 0.6147, -0.4538, -0.0139, -0.0265, 0.999, 0.3164, 1.235, 1.2705, -0.7063, 0.1066, 0.0383, 0.6619]\nstate[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1641 left_yaw=-0.0017 left_pitch=-0.082 left_roll=0.0037 left_gripper=0.999 right_x=0.3548 right_y=0.1002 right_z=0.2773 right_yaw=0.1957 right_pitch=-0.098 right_roll=-0.0188 right_gripper=0.6619\nstate[joint_eff]: [-0.0205, -1.4838, 7.1043, 1.7509, -0.0269, -0.0464, -0.0122, 0.1983, -5.5863, 7.1863, 2.2393, 0.1392, 0.188, 0.8816]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca27c9901e262cb6c635506c56a7b3f3904bede3a16087f6a5137bd56e199ce9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20f604a90115b7a8e9d7d4f8b0dcd3ac553113f6d17ff6019af1783e2c141855",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a35d23b7b7560ca98ed722dcfcd38a1e6a221430a66c2abe859ea425f5bc46a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIShQoKjgEIEhgCKkDyU1TShCp6UlT6bGKTBWwNJPjSZbj3TLrqG41LaICMafJkI09aOKs6Z77uKXBn83MIX561gboU6fbPakoImpqWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa+VzNUGEgznmzdcCj3nuzlFmPkaDPoFix2xEfwrBbLCZCIwWPvx29PKCLgZW+neaiEkCFB5Jj+j9IWwaCYQvyZ/fBdb6mPK8nKsg1bMM/3A4YAfKqMIKFV2xqIaO0m0p0bl2dgLDKJWEHJNM5Z33TBdNubX0iC6faeGCEPe2roPmkjyks5m+yP3IPCd6EvTqgpR4+4/sfGRnIFD/WuRGjQwooPbs65HqZiUrR48wzQCSNhSu9Ypeu5TFE1KVafU9QKR76uMil893P6VraJqjFNj3Tai1DR1obfFN2Hn3rpg4L8Dgb/Oq5xTC6m5aorAhvwEQoQepnMfBGOh9uwwFCk3WTEaxFQ4ey+kgfjw5sKdBGE2Z+LIsiA5hNifAo1gdXr3z4WXI5Z5poa3R5yuQR29BqBndh/VWzbi3zvIirhe6w8niTnPaIzNLXaehI+UlCuFx/BHiaTW61duqxfthdxL6baTrSHr2WfgcxqvqucK7p16FIpBQjtQpMSeszLMJfozBo3QLvYu04FfrmvQJPwPbY9IG0Jxe3+3PH5IwAgzID5iObvwwH+wnG7c/PYXVsx1P5HaDygBdSH86uk78AxtYZ1xnGJEO+h815L7nF4FMxGeP+/6PZ3aEv6IMirhgFzhP6STEAiwngIEEBhFcf7FHqbLVRQf1v5GAkWY2/Pvmap+zrWCxIEsmrUBqL9vbnsZVGyThx+Eh67IV21/6B5/wNXjQVP62+isDK4TxObPf/0fR5d+/NqhVXL2GTjNWAEk17VJ0ngFBa3EItbFYG6ixlV8SgP2G7DC9yzz+uV8cz15UsNupCPXjBp7rpr8NsJaE0saeP5zIWSi1KumLjnOFmLZiGTgVJGPoNs7+Fe+OgwLs2Jmi5qWbu019Jsv/SA+dZ8TWM9X34db6duT+GFqVr5s04vPCdI0bjIJgOkANqpvrcU8jrvcyCoNeAcjuJIfIWWtQ75GAjAjXreBLvHsR5lbSMTALm1hgcX0i+MZjvxO+T8iPDMWXfCBuc73tNb8ST7z0Rr2DE4KaZ9uBndoOf/w8HaQjhKiwwq9XVbKTxQIPh15ZZXlw5NwlA+Xi0+1DrWsfz/nLoZb0P+EF/5WrZVc9nOBE5TigEVw01zID/O0kzty8rcVAON2c3y6iHvkYu8/8LPr5ISlNRfmZQ0ejfxm5IIsFgp742Fzw0DSKHLthCPJknbClbsQNvYP8GLWmYx3Wbfds8d2jFPqw6jsFgBfWBqYAirfKOERVbOKcCkS+ue6SR6TYD55EVgw2N8B5I5nVi9fPqklcA47M2hC/XqEpNemmCeJIuMmekazvtPxEvey6RLHc3+EMd9NunnVEqhFGum6buSiG1jCstVA/5/ldgpMRc043pfC9rIIlRLXn8xBQS66L2etLM5udPxKU0KS9BQk9l/UNNpDC5mHFetrbiUfrZFGwcvRf3KXXwpGgGkN/whxqOTYuZgNCxpsv47J8jk61reYHoqR2qjAVU+aSbAB18dSSVGzlyZ1E3IHNOHeWNENGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FHmKx86GZWMtcdGRMsGtTx",
      "input": {
        "note": "Top view shows the held pear still ~7 cm right of the blue bowl; sliding left to line the pear up over the bowl.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.15,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01FHmKx86GZWMtcdGRMsGtTx",
      "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, 0.8188, 0.6147, -0.4679, -0.0139, -0.0265, 0.999, 0.4858, 1.3384, 1.3083, -0.7391, 0.2054, 0.1131, 0.6639]\nstate[eef_state]: left_x=0.285 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0017 left_pitch=-0.0995 left_roll=0.0041 left_gripper=0.999 right_x=0.3517 right_y=0.149 right_z=0.2526 right_yaw=0.2385 right_pitch=-0.1814 right_roll=-0.0443 right_gripper=0.6639\nstate[joint_eff]: [-0.253, -1.6205, 6.9265, 1.7851, -0.0171, -0.0415, -0.0122, 0.212, -5.4632, 10.2632, 1.7949, 0.1929, 0.1441, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4033761f612d1fb6e37c8e6d6d8f2684c697aa27a9974477e6c032cfef6cc7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9bed7f75c622235fcdd59a30a5d67f2b9cb765a45bd02be0498cb8410aa6103",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eebc6d5f78e57cafd34ffbe928150d66495d5da099f28d49402888d6a0f32fd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 13.26 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.4503, -0.0135, -0.0265, 0.999, 0.2131, 1.6211, 1.6611, -1.0534, 0.0227, 0.012, 0.6608]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1653 left_yaw=-0.002 left_pitch=-0.0767 left_roll=0.0034 left_gripper=0.999 right_x=0.3971 right_y=0.0855 right_z=0.2362 right_yaw=0.174 right_pitch=-0.4445 right_roll=-0.0004 right_gripper=0.6608\nstate[joint_eff]: [-0.1709, -1.0872, 6.9538, 1.7216, -0.0464, -0.0513, -0.0122, -0.2803, -9.2376, 6.7624, 1.453, 0.0659, 0.149, 0.8278]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8154, 0.6147, -0.4538, -0.0139, -0.0265, 0.999, 0.3164, 1.235, 1.2705, -0.7063, 0.1066, 0.0383, 0.6619]\nstate[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1641 left_yaw=-0.0017 left_pitch=-0.082 left_roll=0.0037 left_gripper=0.999 right_x=0.3548 right_y=0.1002 right_z=0.2773 right_yaw=0.1957 right_pitch=-0.098 right_roll=-0.0188 right_gripper=0.6619\nstate[joint_eff]: [-0.0205, -1.4838, 7.1043, 1.7509, -0.0269, -0.0464, -0.0122, 0.1983, -5.5863, 7.1863, 2.2393, 0.1392, 0.188, 0.8816]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6147, -0.4679, -0.0139, -0.0265, 0.999, 0.4858, 1.3384, 1.3083, -0.7391, 0.2054, 0.1131, 0.6639]\nstate[eef_state]: left_x=0.285 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0017 left_pitch=-0.0995 left_roll=0.0041 left_gripper=0.999 right_x=0.3517 right_y=0.149 right_z=0.2526 right_yaw=0.2385 right_pitch=-0.1814 right_roll=-0.0443 right_gripper=0.6639\nstate[joint_eff]: [-0.253, -1.6205, 6.9265, 1.7851, -0.0171, -0.0415, -0.0122, 0.212, -5.4632, 10.2632, 1.7949, 0.1929, 0.1441, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4033761f612d1fb6e37c8e6d6d8f2684c697aa27a9974477e6c032cfef6cc7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9bed7f75c622235fcdd59a30a5d67f2b9cb765a45bd02be0498cb8410aa6103",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eebc6d5f78e57cafd34ffbe928150d66495d5da099f28d49402888d6a0f32fd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISjgUKjgEIEhgCKkBvTlKh2A5KQ4wtToiHsTjS7BDWs2sf/bfVjgyb8dm0opzwbg3zoRqwd+OFbOxjBZZyQL3zhcVU9bSzcqppYweaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbWVzNUGEgyGmspnXIt1HF6SuucaDKnh1dGxz72+h0quOCIwtcSJ8XggsijouWHrt5LIPiZaIE/sfF9s4njm4z2n2o8igcu4fgtQMld20m0Y3cBxKqwDJdqyjyy/77dIgggd/c5B+gwTt53SijQJROiIguKJiHHJHWR/8nhzp4NgfkFhHWbEvM2I/H0x0Hg2Zyez6O4ovY5AijbrBFWdNntmFbRTljc5lDRnhkKCfU/TuCDcJySryBaSyjm230SYQRyDnazrL2ja26oGsDSJZUR5JlR/qCQjaIUzcL+hiTcWb9fAq6T66jgdKICch0oXNxPAAqYFHqXa6RjNBOclB3eRyJQJ8h4nRJVqsBKjGaJQ4TzAGBTgP2uNbYbSiJKrX4n9b+mhVpjYnU8DDublcl5F2Ibr9uzlM5eugz5Ewvly4K4WJzrz8aOJMLN8zAFC/fn2yd+6RAI9wf323UP3Q7EB+fvbHnHlvMBZOy0E7bznJobV8qZ0IaJeYHI3B2k6coy1I1lJ6Qf0afFji97FxMYuHGmPL5zLi76Tq+iWneO2I6kyiCgHM6NEDfpEh2O3RMW5zGTXGnI7+rcpN0SoxiYZDrpEnUU/ZwOzgFdJCQ12yF5WUSpZP+yLXdz7xHyfLq2vRQjfo1z7hu2ZOD323pMlcN7NrmqUrR+bN7k09pvY8lQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SbFxUchmgP9F6ekCh1oKBd",
      "input": {
        "note": "The wrist view shows blue bowl rim around the pear, so the pear is over the bowl; lowering before releasing.",
        "targets": {
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01SbFxUchmgP9F6ekCh1oKBd",
      "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, 0.6147, -0.4725, -0.0139, -0.0265, 0.999, 0.4873, 1.3338, 0.9478, -0.4831, 0.2043, 0.1154, 0.667]\nstate[eef_state]: left_x=0.2843 left_y=-0.0002 left_z=0.1595 left_yaw=-0.0017 left_pitch=-0.1045 left_roll=0.0042 left_gripper=0.999 right_x=0.3372 right_y=0.1422 right_z=0.1464 right_yaw=0.2339 right_pitch=-0.2784 right_roll=-0.0672 right_gripper=0.667\nstate[joint_eff]: [-0.1846, -1.347, 6.9265, 1.6825, -0.0415, -0.0513, -0.0122, -0.1983, -5.6137, 7.2957, 1.8828, 0.0659, -0.0708, 0.779]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9c92452c60d4705a6fd7bca47499cf1bd5d2df27a540ea3a4e57da3041219f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab454b753a9fb5a41f0045a9ea53fc42ac491131db28c19b7a4afb49b3dfcc37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8bde7e3f8c833034b091aa1637f21012afe0c38d20ece5485b0257c16191bff4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 5.761 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6147, -0.4538, -0.0139, -0.0265, 0.999, 0.3164, 1.235, 1.2705, -0.7063, 0.1066, 0.0383, 0.6619]\nstate[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1641 left_yaw=-0.0017 left_pitch=-0.082 left_roll=0.0037 left_gripper=0.999 right_x=0.3548 right_y=0.1002 right_z=0.2773 right_yaw=0.1957 right_pitch=-0.098 right_roll=-0.0188 right_gripper=0.6619\nstate[joint_eff]: [-0.0205, -1.4838, 7.1043, 1.7509, -0.0269, -0.0464, -0.0122, 0.1983, -5.5863, 7.1863, 2.2393, 0.1392, 0.188, 0.8816]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6147, -0.4679, -0.0139, -0.0265, 0.999, 0.4858, 1.3384, 1.3083, -0.7391, 0.2054, 0.1131, 0.6639]\nstate[eef_state]: left_x=0.285 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0017 left_pitch=-0.0995 left_roll=0.0041 left_gripper=0.999 right_x=0.3517 right_y=0.149 right_z=0.2526 right_yaw=0.2385 right_pitch=-0.1814 right_roll=-0.0443 right_gripper=0.6639\nstate[joint_eff]: [-0.253, -1.6205, 6.9265, 1.7851, -0.0171, -0.0415, -0.0122, 0.212, -5.4632, 10.2632, 1.7949, 0.1929, 0.1441, 0.7985]\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, 0.6147, -0.4725, -0.0139, -0.0265, 0.999, 0.4873, 1.3338, 0.9478, -0.4831, 0.2043, 0.1154, 0.667]\nstate[eef_state]: left_x=0.2843 left_y=-0.0002 left_z=0.1595 left_yaw=-0.0017 left_pitch=-0.1045 left_roll=0.0042 left_gripper=0.999 right_x=0.3372 right_y=0.1422 right_z=0.1464 right_yaw=0.2339 right_pitch=-0.2784 right_roll=-0.0672 right_gripper=0.667\nstate[joint_eff]: [-0.1846, -1.347, 6.9265, 1.6825, -0.0415, -0.0513, -0.0122, -0.1983, -5.6137, 7.2957, 1.8828, 0.0659, -0.0708, 0.779]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9c92452c60d4705a6fd7bca47499cf1bd5d2df27a540ea3a4e57da3041219f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab454b753a9fb5a41f0045a9ea53fc42ac491131db28c19b7a4afb49b3dfcc37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bde7e3f8c833034b091aa1637f21012afe0c38d20ece5485b0257c16191bff4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015WUhDBxUkKcAXyNRjuENAK",
      "input": {
        "note": "Wrist view now shows the blue bowl beyond and to the right of the held pear; using the calibrated ~9 px/cm lateral mapping to move 4.4 cm right and 8 cm forward over the bowl.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.098,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_015WUhDBxUkKcAXyNRjuENAK",
      "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, 0.823, 0.6147, -0.4763, -0.0135, -0.0265, 0.999, 0.2508, 1.5528, 1.38, -0.7033, 0.0639, -0.054, 0.6683]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1578 left_yaw=-0.002 left_pitch=-0.1121 left_roll=0.0041 left_gripper=0.999 right_x=0.4133 right_y=0.098 right_z=0.2038 right_yaw=0.2146 right_pitch=-0.3074 right_roll=-0.0724 right_gripper=0.6683\nstate[joint_eff]: [-0.1573, -1.5658, 6.9265, 1.6532, -0.0317, -0.0317, -0.0122, -0.2667, -7.3915, 8.8274, 1.3993, -0.1538, 0.0366, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29943593f6f0c0400db787845d7a84206053d4fae3f7857c94aa7d23da42b437",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ba07c33af6a87b3d154c2b24656716eb469b84f211ddb02893ba08d24b1caba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:38416ef17821054c72dbaa53e253ea7f3f8d625487aa66ef321ae38022cf4de3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 2.837 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6147, -0.4679, -0.0139, -0.0265, 0.999, 0.4858, 1.3384, 1.3083, -0.7391, 0.2054, 0.1131, 0.6639]\nstate[eef_state]: left_x=0.285 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0017 left_pitch=-0.0995 left_roll=0.0041 left_gripper=0.999 right_x=0.3517 right_y=0.149 right_z=0.2526 right_yaw=0.2385 right_pitch=-0.1814 right_roll=-0.0443 right_gripper=0.6639\nstate[joint_eff]: [-0.253, -1.6205, 6.9265, 1.7851, -0.0171, -0.0415, -0.0122, 0.212, -5.4632, 10.2632, 1.7949, 0.1929, 0.1441, 0.7985]\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, 0.6147, -0.4725, -0.0139, -0.0265, 0.999, 0.4873, 1.3338, 0.9478, -0.4831, 0.2043, 0.1154, 0.667]\nstate[eef_state]: left_x=0.2843 left_y=-0.0002 left_z=0.1595 left_yaw=-0.0017 left_pitch=-0.1045 left_roll=0.0042 left_gripper=0.999 right_x=0.3372 right_y=0.1422 right_z=0.1464 right_yaw=0.2339 right_pitch=-0.2784 right_roll=-0.0672 right_gripper=0.667\nstate[joint_eff]: [-0.1846, -1.347, 6.9265, 1.6825, -0.0415, -0.0513, -0.0122, -0.1983, -5.6137, 7.2957, 1.8828, 0.0659, -0.0708, 0.779]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.823, 0.6147, -0.4763, -0.0135, -0.0265, 0.999, 0.2508, 1.5528, 1.38, -0.7033, 0.0639, -0.054, 0.6683]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1578 left_yaw=-0.002 left_pitch=-0.1121 left_roll=0.0041 left_gripper=0.999 right_x=0.4133 right_y=0.098 right_z=0.2038 right_yaw=0.2146 right_pitch=-0.3074 right_roll=-0.0724 right_gripper=0.6683\nstate[joint_eff]: [-0.1573, -1.5658, 6.9265, 1.6532, -0.0317, -0.0317, -0.0122, -0.2667, -7.3915, 8.8274, 1.3993, -0.1538, 0.0366, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29943593f6f0c0400db787845d7a84206053d4fae3f7857c94aa7d23da42b437",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ba07c33af6a87b3d154c2b24656716eb469b84f211ddb02893ba08d24b1caba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38416ef17821054c72dbaa53e253ea7f3f8d625487aa66ef321ae38022cf4de3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISmQYKjgEIEhgCKkCjHYgc5WnlLQvJ3S4sfr/NNksP1U/ZqqRbJtoaY1Si9PelEQ3dZ1SvnKCnaDvfZOrEq4LL9PFoVY/ZiMVQfWGQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcmVzNUGEgwzfX7IK9jXxKPRJF8aDPZs+0nz65jruH9IAyIw18aatC6Zvg63WL83mBzfZnoFYLIVxcQJ7Eak7WS9xCeRLrHmk89/UrjepNVMDi3qKrcEggHKeCkUaV1/fGoD9wPM5+QfKaMOlaA0z/QNUkSHcvRhl4yfgFJb2++HmRrA+4k9xLMn1Jz8EAWplz6T7qSAXwOU1teFNpjhcaeVlXFK3ztNnrPC8qGHPldjVhwtuesiTtMUaRSGkPPgjXwDWVD1AAKKhUdRZ/05t25yVpLMvYqvaGb8WyQclawamez6LTkX3PXwshRLv9CHBcYN/iaWJDuv4IqloxMcMyuVJICAcSmQrUP7wf33d/+f2YOpcL4bn5Q78ckdq0OdDcVIYlHT5tFiFlM7wCJfaSwwPPX3iL2SSfkd1suI6JqIKgIQEwQfypvOpF+I6GqxWb7RBywVtMpp+uW2aHuNFytnNUxZhHtDuETUvjlRn6O1z16SSr2ApPayD60yrC/m8p5fT+TGJ6eSzpenGKoFdNVefLS6cKySMvGy5PkddtUc+1UdDSbV0zzGz1NcxXttbYxkE84Z7lnHfKcJoNMWF0/H+BkxfV1gyQrijTbAAKMi9TUTdTZ3hHFzvW/+UwRqBmuXgEuKClD8kmhabaUeekh56h/IIR8QMC6/WZWDDAZMzyVtQmyyzHqr9IV2Wo2dF7/Gl4SYe2IVyYUSnCIQbmV3g/sndLyjmPJ1uC29gA8nG9J9X+G402RyUZ/GFj8NsaBxET0HyxIDizchc4osGt/u9bIiad4xTVe7KnvtU+npt68snOoIIxewjFr75nZnZtq6nOCct2/x0oiLNgA3S2cRHlfopDIGuJdo7JPpGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KWftne7aeVof9AZvPz7j3c",
      "input": {
        "note": "Blue bowl is just beyond the pear now; advancing 4 cm so the pear is over the bowl's centre before releasing.",
        "targets": {
          "right_x": 0.45,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KWftne7aeVof9AZvPz7j3c",
      "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, 0.8249, 0.6147, -0.4767, -0.0135, -0.0265, 0.999, 0.2325, 1.6718, 1.4261, -0.7074, 0.0475, -0.0727, 0.6695]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1572 left_yaw=-0.002 left_pitch=-0.1144 left_roll=0.0041 left_gripper=0.999 right_x=0.4309 right_y=0.0971 right_z=0.1724 right_yaw=0.221 right_pitch=-0.3855 right_roll=-0.0726 right_gripper=0.6695\nstate[joint_eff]: [-0.3487, -1.4154, 7.1179, 1.6386, -0.0317, -0.0513, -0.0122, -0.7726, -9.5248, 9.853, 1.619, -0.0171, -0.0415, 0.7643]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63e7399b9f9907de808c8d9127a4e1b0af38c5d21caece8207fe6953717dd69b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d8a765cedc87db51c798f5049838a80aea3bdcf49f1c019937e2eb4c1f55d2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9812e7197dbd6f3987017ba5c2f1e6c9316201b103b9f3b5ae7ba48245124cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 4.661 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4725, -0.0139, -0.0265, 0.999, 0.4873, 1.3338, 0.9478, -0.4831, 0.2043, 0.1154, 0.667]\nstate[eef_state]: left_x=0.2843 left_y=-0.0002 left_z=0.1595 left_yaw=-0.0017 left_pitch=-0.1045 left_roll=0.0042 left_gripper=0.999 right_x=0.3372 right_y=0.1422 right_z=0.1464 right_yaw=0.2339 right_pitch=-0.2784 right_roll=-0.0672 right_gripper=0.667\nstate[joint_eff]: [-0.1846, -1.347, 6.9265, 1.6825, -0.0415, -0.0513, -0.0122, -0.1983, -5.6137, 7.2957, 1.8828, 0.0659, -0.0708, 0.779]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.823, 0.6147, -0.4763, -0.0135, -0.0265, 0.999, 0.2508, 1.5528, 1.38, -0.7033, 0.0639, -0.054, 0.6683]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1578 left_yaw=-0.002 left_pitch=-0.1121 left_roll=0.0041 left_gripper=0.999 right_x=0.4133 right_y=0.098 right_z=0.2038 right_yaw=0.2146 right_pitch=-0.3074 right_roll=-0.0724 right_gripper=0.6683\nstate[joint_eff]: [-0.1573, -1.5658, 6.9265, 1.6532, -0.0317, -0.0317, -0.0122, -0.2667, -7.3915, 8.8274, 1.3993, -0.1538, 0.0366, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6147, -0.4767, -0.0135, -0.0265, 0.999, 0.2325, 1.6718, 1.4261, -0.7074, 0.0475, -0.0727, 0.6695]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1572 left_yaw=-0.002 left_pitch=-0.1144 left_roll=0.0041 left_gripper=0.999 right_x=0.4309 right_y=0.0971 right_z=0.1724 right_yaw=0.221 right_pitch=-0.3855 right_roll=-0.0726 right_gripper=0.6695\nstate[joint_eff]: [-0.3487, -1.4154, 7.1179, 1.6386, -0.0317, -0.0513, -0.0122, -0.7726, -9.5248, 9.853, 1.619, -0.0171, -0.0415, 0.7643]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63e7399b9f9907de808c8d9127a4e1b0af38c5d21caece8207fe6953717dd69b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d8a765cedc87db51c798f5049838a80aea3bdcf49f1c019937e2eb4c1f55d2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9812e7197dbd6f3987017ba5c2f1e6c9316201b103b9f3b5ae7ba48245124cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISrgIKjgEIEhgCKkBnGe2gD3Rpc/enJTkcP5+hMQXUTTmpQvPgjjkGiDtcF7z/aVFcIxcxFJrc05aRLAr23g9079lQFjMOn51YPOb0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc2VzNUGEgw3z22993Fqk8gKnfcaDKupZzjT+Fd/bip7hiIwx0VfQUsvqOUstDPUiJkeL01qhULRD7e2q+S1MWGyDOMABeyhq6OPHw8BlbnRxvrmKk2UwHQ2FU5Qegbr1Uc20RUa6YQO87Oj2JNmP7e8MTXypibOi7Izb/uObPtT7NiMU36BJIDHgE09CbTy6/KQdTg9WyEM4GIXL9vwwCIyChgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qx8idP3G2QJ4jJ2rpBTkAN",
      "input": {
        "note": "Pear is positioned over the blue bowl; opening the gripper to drop it in.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Qx8idP3G2QJ4jJ2rpBTkAN",
      "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, 0.8249, 0.6147, -0.4763, -0.0139, -0.0265, 0.999, 0.226, 1.7138, 1.4372, -0.6956, 0.0471, -0.0883, 0.9958]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1573 left_yaw=-0.0016 left_pitch=-0.114 left_roll=0.0043 left_gripper=0.999 right_x=0.4383 right_y=0.0959 right_z=0.1606 right_yaw=0.2239 right_pitch=-0.4053 right_roll=-0.0821 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.3744, 7.1316, 1.6239, -0.0171, -0.0415, -0.0122, -0.4444, -10.9333, 8.8547, 1.746, -0.0317, 0.0855, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed3c08aab416fb1ecc49f8b1404bf014cfc40eaf1c86a2ed207082c6b53ca0ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cafe669cd233414010af4bf2d9582440b41da95be1de105482ec202d8d435da3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a61bda6352e9f94897ca43cbf8146b817fdf06b65ca65df09921c12d3402cbe4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 18.03 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.823, 0.6147, -0.4763, -0.0135, -0.0265, 0.999, 0.2508, 1.5528, 1.38, -0.7033, 0.0639, -0.054, 0.6683]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1578 left_yaw=-0.002 left_pitch=-0.1121 left_roll=0.0041 left_gripper=0.999 right_x=0.4133 right_y=0.098 right_z=0.2038 right_yaw=0.2146 right_pitch=-0.3074 right_roll=-0.0724 right_gripper=0.6683\nstate[joint_eff]: [-0.1573, -1.5658, 6.9265, 1.6532, -0.0317, -0.0317, -0.0122, -0.2667, -7.3915, 8.8274, 1.3993, -0.1538, 0.0366, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6147, -0.4767, -0.0135, -0.0265, 0.999, 0.2325, 1.6718, 1.4261, -0.7074, 0.0475, -0.0727, 0.6695]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1572 left_yaw=-0.002 left_pitch=-0.1144 left_roll=0.0041 left_gripper=0.999 right_x=0.4309 right_y=0.0971 right_z=0.1724 right_yaw=0.221 right_pitch=-0.3855 right_roll=-0.0726 right_gripper=0.6695\nstate[joint_eff]: [-0.3487, -1.4154, 7.1179, 1.6386, -0.0317, -0.0513, -0.0122, -0.7726, -9.5248, 9.853, 1.619, -0.0171, -0.0415, 0.7643]",
      "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, 0.8249, 0.6147, -0.4763, -0.0139, -0.0265, 0.999, 0.226, 1.7138, 1.4372, -0.6956, 0.0471, -0.0883, 0.9958]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1573 left_yaw=-0.0016 left_pitch=-0.114 left_roll=0.0043 left_gripper=0.999 right_x=0.4383 right_y=0.0959 right_z=0.1606 right_yaw=0.2239 right_pitch=-0.4053 right_roll=-0.0821 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.3744, 7.1316, 1.6239, -0.0171, -0.0415, -0.0122, -0.4444, -10.9333, 8.8547, 1.746, -0.0317, 0.0855, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed3c08aab416fb1ecc49f8b1404bf014cfc40eaf1c86a2ed207082c6b53ca0ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cafe669cd233414010af4bf2d9582440b41da95be1de105482ec202d8d435da3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a61bda6352e9f94897ca43cbf8146b817fdf06b65ca65df09921c12d3402cbe4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS1QQKjgEIEhgCKkC2uXD21us8MpMAdqCP+pG8ZYYrxtSZEz+DPT6VL1r2TTmGdT9vmZbxwPaGhA3f0W1QpevHgtXwwCYjzCRA5AJMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdGVzNUGEgxJCFEi+XNJtf0W9LEaDPuhP5HAh4VmAco4iyIwspRDOVbJ1+UyB/i6SmQE5ifOSTsPCi4pmpDo0TvQnx/QXqEfwnp2X+Ns2IX2JbgvKvMCSDI0rCnk4ixlW/0GenlkvoacI89+Ju5mybuPfpCK0lZ0jdKOEDn5gH7rMc1sEk+xvU5DcFGlbLGkv5HNBAioxW6XDQ50ON/PKbkE/AasUKn4mDl7JFjbLjTyDhxev5NKK6/stZc7NdcEVIF87W9B79oFZ5F7l6tBuk1hHNJLRrA9xGj1aPFDNTsMYPyDt66mmInmN3r4doXPfwdLxX7CzzaJEwpxrAvWZzHa1sZo8yCBnpcDUJHJi6BkJDuWKCElSZCILry7XmQjOme1ZuzacJ3h0OkPKFhUXe+cici67scAw1Af/UPSeiKTVYMk2r9tKJnK+Sczu7hTsGU7Rumn2eOA7ayVq8VtyRieJ8vj3+xRZYgnJ4qto2UVz8ZRGLBtxYpg/ZxvsA/H28vgkPDZ9B8OC6UB5uik9bwgMn7+1EVFOEEDl5WvR80ygitiMcg9G5SsdcC/li88LMg9H9Bsn5ebkRNslJVPW7oY2jyGuvbZfOwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T8beLJCy92Ynxq3pLLFRia",
      "input": {
        "note": "The wrist view suggests the blue bowl may have been nudged/tipped; retracting the right arm to get a clear top-camera view of the situation.",
        "targets": {
          "right_x": 0.3,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01T8beLJCy92Ynxq3pLLFRia",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8284, 0.6147, -0.4786, -0.0135, -0.0269, 0.999, 0.3645, 1.3117, 1.6844, -1.1507, 0.1078, -0.0067, 0.9966]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1559 left_yaw=-0.0017 left_pitch=-0.1198 left_roll=0.0039 left_gripper=0.999 right_x=0.3174 right_y=0.1046 right_z=0.34 right_yaw=0.2656 right_pitch=-0.2056 right_roll=-0.0656 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.5111, 6.9675, 1.707, -0.022, -0.0757, -0.0171, 0.253, 1.0325, 3.9316, 1.3993, -0.0659, 0.2369, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cf8526a58fa28bd19a5ba9efb2e26c09172b5171f05e95b66b0aca287829d44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92f2e519028c761182e42e1bd107347179090d39b439c1022480f3e66520b636",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2da89f5d9a1b43b6114b3b7aedcb9184b4ecd9b32f1f51511dc3baf07aff9e52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 8.76 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6147, -0.4767, -0.0135, -0.0265, 0.999, 0.2325, 1.6718, 1.4261, -0.7074, 0.0475, -0.0727, 0.6695]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1572 left_yaw=-0.002 left_pitch=-0.1144 left_roll=0.0041 left_gripper=0.999 right_x=0.4309 right_y=0.0971 right_z=0.1724 right_yaw=0.221 right_pitch=-0.3855 right_roll=-0.0726 right_gripper=0.6695\nstate[joint_eff]: [-0.3487, -1.4154, 7.1179, 1.6386, -0.0317, -0.0513, -0.0122, -0.7726, -9.5248, 9.853, 1.619, -0.0171, -0.0415, 0.7643]",
      "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, 0.8249, 0.6147, -0.4763, -0.0139, -0.0265, 0.999, 0.226, 1.7138, 1.4372, -0.6956, 0.0471, -0.0883, 0.9958]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1573 left_yaw=-0.0016 left_pitch=-0.114 left_roll=0.0043 left_gripper=0.999 right_x=0.4383 right_y=0.0959 right_z=0.1606 right_yaw=0.2239 right_pitch=-0.4053 right_roll=-0.0821 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.3744, 7.1316, 1.6239, -0.0171, -0.0415, -0.0122, -0.4444, -10.9333, 8.8547, 1.746, -0.0317, 0.0855, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8284, 0.6147, -0.4786, -0.0135, -0.0269, 0.999, 0.3645, 1.3117, 1.6844, -1.1507, 0.1078, -0.0067, 0.9966]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1559 left_yaw=-0.0017 left_pitch=-0.1198 left_roll=0.0039 left_gripper=0.999 right_x=0.3174 right_y=0.1046 right_z=0.34 right_yaw=0.2656 right_pitch=-0.2056 right_roll=-0.0656 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.5111, 6.9675, 1.707, -0.022, -0.0757, -0.0171, 0.253, 1.0325, 3.9316, 1.3993, -0.0659, 0.2369, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cf8526a58fa28bd19a5ba9efb2e26c09172b5171f05e95b66b0aca287829d44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92f2e519028c761182e42e1bd107347179090d39b439c1022480f3e66520b636",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2da89f5d9a1b43b6114b3b7aedcb9184b4ecd9b32f1f51511dc3baf07aff9e52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WifDsmz7tJFFREJkGbPqAM",
      "input": {
        "note": "The pear landed beside the blue bowl rather than inside it (top view: bowl upright at centre-right, pear just in front-right of it). Moving down and over the pear to re-grasp it.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.04,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01WifDsmz7tJFFREJkGbPqAM",
      "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, 0.8303, 0.6147, -0.4915, -0.0139, -0.0265, 0.999, 0.0391, 1.5455, 0.9039, -0.2184, -0.1135, -0.2268, 0.9966]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.153 left_yaw=-0.0016 left_pitch=-0.1346 left_roll=0.0048 left_gripper=0.999 right_x=0.4046 right_y=0.0394 right_z=0.0914 right_yaw=0.2558 right_pitch=-0.2852 right_roll=-0.0502 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -1.5248, 7.0496, 1.7118, -0.0806, -0.022, -0.0122, -0.3487, -7.2684, 6.4752, 1.8193, -0.2076, -0.1099, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23cf55d741ff4755b109ea4a1eef0f0443ad3e19fab7d33e6b9aa2136adcb3ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5a687f6a55a1ddf208a59d2dffb593e24cb4589ebef4a097e2de16068cd8143",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9310e3f4231a9c998e668491a0ef82e6e7dbfed724be65e45015f82ad6ec42bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 4.04 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6147, -0.4763, -0.0139, -0.0265, 0.999, 0.226, 1.7138, 1.4372, -0.6956, 0.0471, -0.0883, 0.9958]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1573 left_yaw=-0.0016 left_pitch=-0.114 left_roll=0.0043 left_gripper=0.999 right_x=0.4383 right_y=0.0959 right_z=0.1606 right_yaw=0.2239 right_pitch=-0.4053 right_roll=-0.0821 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.3744, 7.1316, 1.6239, -0.0171, -0.0415, -0.0122, -0.4444, -10.9333, 8.8547, 1.746, -0.0317, 0.0855, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8284, 0.6147, -0.4786, -0.0135, -0.0269, 0.999, 0.3645, 1.3117, 1.6844, -1.1507, 0.1078, -0.0067, 0.9966]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1559 left_yaw=-0.0017 left_pitch=-0.1198 left_roll=0.0039 left_gripper=0.999 right_x=0.3174 right_y=0.1046 right_z=0.34 right_yaw=0.2656 right_pitch=-0.2056 right_roll=-0.0656 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.5111, 6.9675, 1.707, -0.022, -0.0757, -0.0171, 0.253, 1.0325, 3.9316, 1.3993, -0.0659, 0.2369, 0.0611]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6147, -0.4915, -0.0139, -0.0265, 0.999, 0.0391, 1.5455, 0.9039, -0.2184, -0.1135, -0.2268, 0.9966]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.153 left_yaw=-0.0016 left_pitch=-0.1346 left_roll=0.0048 left_gripper=0.999 right_x=0.4046 right_y=0.0394 right_z=0.0914 right_yaw=0.2558 right_pitch=-0.2852 right_roll=-0.0502 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -1.5248, 7.0496, 1.7118, -0.0806, -0.022, -0.0122, -0.3487, -7.2684, 6.4752, 1.8193, -0.2076, -0.1099, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23cf55d741ff4755b109ea4a1eef0f0443ad3e19fab7d33e6b9aa2136adcb3ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5a687f6a55a1ddf208a59d2dffb593e24cb4589ebef4a097e2de16068cd8143",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9310e3f4231a9c998e668491a0ef82e6e7dbfed724be65e45015f82ad6ec42bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS7QcKjgEIEhgCKkCLbBhQVF75S/WUkKYVZKrm9i6R78mhDeZ0Rtpu5Udw5efmtZ1H8T8sRn7VsPgfVpY54atLCLHwWTnEgM3eDcNXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe6VzNUGEgziMD0KcJCOEPk07ToaDPfHHOGqqf8h+D1/lyIww8c5SF7t/WBdzoA3BDgCpv6xrMaDHnD0T7opzykD96KHLWcfKNbUxLrQAo0qZBSOKosG0MxXPIJbuTQ1ZNLndvgnuEzCMowcQH3Gdf4YlfHnve9eZaNuWmYLkQtF4/y9kcPgs/dyg/geQCkCfmuthO2Z8XdAIQvkJgDLSwr+gUVKRnbCco7uDvKd7QTxlp69t7PUQAjY8S6FqmNLME1TQKvJFt+fX17sE8njTR3OsJqpxrHSKuSKeVsKsMWSIkD72hsf9gpcFQWtZ6bDsPaStgs1a5l4kOFZQkWqaxXnpfteRbiBXOmoLBZBi5pOGVd4KdQ94/4G/ZMJ807zB+S+3cc0n3CYCFW+XZ0iws2OAXEgqJi5BbJTgoojQK6qA1JNOOtx+dP4Gi/xfquNETTHIssPFmm7z8KVdqmzVHHT/bL3r3mmsIoTMDB3LzDGYr4FtX7hY7aDawiSLkM5pB+4kc+E1mM8oQKJ6FWiDC9ERxTDKKdQzaGjS800O+YOX7vhSSJEpk0qRH7FggXMpwZkQlkaDB2+Bz+VlAvwDmIB8NPPAiSuMWPz/znGkxoQSNyToTV1kZVK+Y4wlnZndqwpafVn17edS5wimFCPnR3m3VcspehzpBeCiHn4H4dpzI4kcGOyCKbCU9kqi4tdJKiexy71YhripA9PsbElCmPHjROMKA7P3A32pSmsf4zpHACd+NraJgmT2Hp5yqEyr5AbdyzpIqVCGlgRaZDliFNkblOD16idKlZTBNNEHkDDkBD7XRgXi06JcE0BJRDJl/KHVXYZYhiFRXxw4uizb+4YkMFtSjzD2swQRsKr/53BNW9v0o5b2vVFdsspxlcuCGq6T+vYjyzLYjR3ozSI47fjelqOcWzvS8zQfWU/+NlQE6gNdCrcGbozRs5Femf+tyvABgBfmnXJwH+wAEWdS2RT/qrHCRbTMHuVpYQm8qp8F4Ck7DRwzNd2KhqVqA78vXzjKlWEVhzew4jrGfZaUvvXfUcGY1kFLjQHkkRS4QSiw9kiF9401Ly/qCatew0d1LiE4uuY0W800gGhQQVIVEzyzVDCmzCnEl3UUcUFSClROeGhTmFCwr3HxcfvGOyH9JUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A36xaNiK8mkFPrGpu9HxRh",
      "input": {
        "note": "Wrist view shows the pear just below-left of the jaws; shifting ~3.7 cm to the arm's left and descending to grasp height.",
        "targets": {
          "right_x": 0.415,
          "right_y": 0.077,
          "right_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01A36xaNiK8mkFPrGpu9HxRh",
      "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, 0.8307, 0.6147, -0.4923, -0.0139, -0.0269, 0.999, 0.1547, 1.6573, 0.881, -0.104, -0.0643, -0.173, 0.9966]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1527 left_yaw=-0.0014 left_pitch=-0.1358 left_roll=0.0045 left_gripper=0.999 right_x=0.4093 right_y=0.0789 right_z=0.0564 right_yaw=0.2991 right_pitch=-0.3103 right_roll=-0.0486 right_gripper=0.9966\nstate[joint_eff]: [-0.3214, -1.4017, 6.9128, 1.6239, -0.0366, -0.0611, -0.0122, -0.4034, -7.7607, 5.5453, 1.6484, 0.0904, 0.1587, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a77eacad589b0bf459375f8127a8307714cd8f199d4229feb980d45ff8835e6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77767ffe7b172600104df8efb6c81f8d2f5bcd3da539ed54472d7d6acc25f388",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6a296cc32f81fd7fdaae31a44903d5306ee74b3111dda557089145f914aed5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 8.008 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8284, 0.6147, -0.4786, -0.0135, -0.0269, 0.999, 0.3645, 1.3117, 1.6844, -1.1507, 0.1078, -0.0067, 0.9966]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1559 left_yaw=-0.0017 left_pitch=-0.1198 left_roll=0.0039 left_gripper=0.999 right_x=0.3174 right_y=0.1046 right_z=0.34 right_yaw=0.2656 right_pitch=-0.2056 right_roll=-0.0656 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.5111, 6.9675, 1.707, -0.022, -0.0757, -0.0171, 0.253, 1.0325, 3.9316, 1.3993, -0.0659, 0.2369, 0.0611]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6147, -0.4915, -0.0139, -0.0265, 0.999, 0.0391, 1.5455, 0.9039, -0.2184, -0.1135, -0.2268, 0.9966]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.153 left_yaw=-0.0016 left_pitch=-0.1346 left_roll=0.0048 left_gripper=0.999 right_x=0.4046 right_y=0.0394 right_z=0.0914 right_yaw=0.2558 right_pitch=-0.2852 right_roll=-0.0502 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -1.5248, 7.0496, 1.7118, -0.0806, -0.022, -0.0122, -0.3487, -7.2684, 6.4752, 1.8193, -0.2076, -0.1099, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8307, 0.6147, -0.4923, -0.0139, -0.0269, 0.999, 0.1547, 1.6573, 0.881, -0.104, -0.0643, -0.173, 0.9966]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1527 left_yaw=-0.0014 left_pitch=-0.1358 left_roll=0.0045 left_gripper=0.999 right_x=0.4093 right_y=0.0789 right_z=0.0564 right_yaw=0.2991 right_pitch=-0.3103 right_roll=-0.0486 right_gripper=0.9966\nstate[joint_eff]: [-0.3214, -1.4017, 6.9128, 1.6239, -0.0366, -0.0611, -0.0122, -0.4034, -7.7607, 5.5453, 1.6484, 0.0904, 0.1587, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a77eacad589b0bf459375f8127a8307714cd8f199d4229feb980d45ff8835e6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77767ffe7b172600104df8efb6c81f8d2f5bcd3da539ed54472d7d6acc25f388",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6a296cc32f81fd7fdaae31a44903d5306ee74b3111dda557089145f914aed5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISqwMKjgEIEhgCKkCHbCN7F7KMwlLxWzjpZZ4CHLii9+erOA/6BlV+JnCrIRZ+HvWk2LKUk3nttx5Fo3+YQkghLoxhmjRnUrMZIk8QMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfOVzNUGEgzWToAE9BNr0c7FsCMaDI1W/Ce7GdXU4hDgliIwoAs/4ofN5ivwrAmdcy/AWDhbJqP/36OF6hReIdhe2sNMjm0tjXysFJxexFTS7IHsKskBwJkOBFn2G/RoCwOag93vBeAWX1cH1zPkL+dAwgafSfLUDi9xaWcKXFLz6JmViroWch8nN2AGMoZngQzVuqs84We8+uNoujl8M78jXzZgwjDVo+FBqbJnyAO9Zrp8QpwK3YyiOelxI4GFDIUqVOfAiKe/q7h0nz5j9WFTsXpMcjF5tjbIsTIxer43hDWOt3Pm0Ve+u2rrFk2XoaGPb/w9UyfuvTP+I1qoGuCpgvmAfxH3/59Ux8q8ORIhyGDlAIRaT80nvuc0S7q5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jb3TbH4Kc2WNUkKfu5TV7Q",
      "input": {
        "note": "The pear is centred at the bottom of the wrist view between the jaws; closing to grasp it.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Jb3TbH4Kc2WNUkKfu5TV7Q",
      "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, 0.8307, 0.6147, -0.4938, -0.0139, -0.0265, 0.999, 0.1665, 1.6775, 0.8707, -0.0711, -0.0452, -0.1417, 0.0542]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1524 left_yaw=-0.0016 left_pitch=-0.1373 left_roll=0.0048 left_gripper=0.999 right_x=0.4108 right_y=0.0808 right_z=0.0495 right_yaw=0.2764 right_pitch=-0.3091 right_roll=-0.0432 right_gripper=0.0542\nstate[joint_eff]: [-0.0615, -1.388, 6.8991, 1.6484, -0.0073, -0.0611, -0.0122, -0.4581, -8.1709, 5.9145, 1.619, 0.0757, 0.0562, 0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1d49394eeae0833323a78acb919bd82469a9246b88bc9710bdd70acb109a579",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a77a1fa3342d0fd05635aa1d157d4ff28fe073660b4ed1d8bb905940e29d7ec2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f46711c4a04a6ba25393885989e6e9fec5aac9dcb914cf4e68266c80dd0d7fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 6.215 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6147, -0.4915, -0.0139, -0.0265, 0.999, 0.0391, 1.5455, 0.9039, -0.2184, -0.1135, -0.2268, 0.9966]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.153 left_yaw=-0.0016 left_pitch=-0.1346 left_roll=0.0048 left_gripper=0.999 right_x=0.4046 right_y=0.0394 right_z=0.0914 right_yaw=0.2558 right_pitch=-0.2852 right_roll=-0.0502 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -1.5248, 7.0496, 1.7118, -0.0806, -0.022, -0.0122, -0.3487, -7.2684, 6.4752, 1.8193, -0.2076, -0.1099, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8307, 0.6147, -0.4923, -0.0139, -0.0269, 0.999, 0.1547, 1.6573, 0.881, -0.104, -0.0643, -0.173, 0.9966]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1527 left_yaw=-0.0014 left_pitch=-0.1358 left_roll=0.0045 left_gripper=0.999 right_x=0.4093 right_y=0.0789 right_z=0.0564 right_yaw=0.2991 right_pitch=-0.3103 right_roll=-0.0486 right_gripper=0.9966\nstate[joint_eff]: [-0.3214, -1.4017, 6.9128, 1.6239, -0.0366, -0.0611, -0.0122, -0.4034, -7.7607, 5.5453, 1.6484, 0.0904, 0.1587, -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]: [-0.0219, 0.8307, 0.6147, -0.4938, -0.0139, -0.0265, 0.999, 0.1665, 1.6775, 0.8707, -0.0711, -0.0452, -0.1417, 0.0542]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1524 left_yaw=-0.0016 left_pitch=-0.1373 left_roll=0.0048 left_gripper=0.999 right_x=0.4108 right_y=0.0808 right_z=0.0495 right_yaw=0.2764 right_pitch=-0.3091 right_roll=-0.0432 right_gripper=0.0542\nstate[joint_eff]: [-0.0615, -1.388, 6.8991, 1.6484, -0.0073, -0.0611, -0.0122, -0.4581, -8.1709, 5.9145, 1.619, 0.0757, 0.0562, 0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1d49394eeae0833323a78acb919bd82469a9246b88bc9710bdd70acb109a579",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a77a1fa3342d0fd05635aa1d157d4ff28fe073660b4ed1d8bb905940e29d7ec2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f46711c4a04a6ba25393885989e6e9fec5aac9dcb914cf4e68266c80dd0d7fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISlgcKjgEIEhgCKkD1TA3lGSnvGkP8IkbMtxfDUr2R/dlc8f1pFw9jFfAouTl0qz0yycCiFGYP+A/k7S4lulkVps1P0ohEjUFYnOj6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfyVzNUGEgx9783ZMCbnavwYu30aDK+GAUA3NbpqMjFUCCIwAIrFnizI0cnV5MT3Jd/bG5ChFjsv/hKwV6FPptB8ih0LbwTAF1Rvtw0p+OmvRgwnKrQFVQAJw4mf3H4FaMHafOe5rMV8rj1EF7vVqKUGfwFuJzLXPvu99xHtISsgIXqnZaciQnpYMStLbfiZsUGs6x50dDmDTdBilpdt5/gQpbT5zRO+6yos8wZo+YQs+ts4aybRInvMypwy6Dk1eFMFcX+5fTumFFCYnXkLEakWSo90wmz9jqVBwo5Fe63DoXS/2+q1KYN0WnHp/mvzoBLrwuni+RxfVuwo3jm5NtlMoWz2ZUCeaG/+IPO+tPC58anfFmEzoXtykRVs8zflhuBEujIvgYdnBu8jb63LtwTwLz8YPFQzVgschnHb+XM6d4fx2uViegEnDZy5eV2ik4KjjnxrLxmRGoZDOvHiyT+Pc+MN+DbOGiZ5BfEW8ht+aMiAlOJkgnwbTAeuerRh5dLnGi+G37wKhaLrSQ+dmXOpz42xaIlsFLkIobHzPZUK4wxMJSvdG2O0SgC5iCEybwbnqxU9XMioMx17TwagjdbGGQHz9sZt05kZ/WgoIgV6A5MWvkurLPFLALcbBM250PHbBlXDEVPlqdptSXYh8g0OwToKt7wN+GSTS9KdlKtyddvghUCmU9JwVqjej26UQ5Gmxa7kI5fXofVItgJNg1EPXnWr3InBFIDCPoSoqmfsRPbchXx6OKBoa6HlDZAT4zAlFsuAOH662hMwzaxKF/GpZYLur/+aIk34c9c6Ejhby3z9ej0bMMhD/4mdZqnQVZKS4KPfXDMsUrKOsFaa2CIyT/szg6RZmD6mcdHXb2S3PX2DZ7u0uc37jOHxbZMEXXdj+pRmvJjg6BngRSYimfem3RavLAtkEsr5shb2uZKkL9MY0IwhcWYDloM9IPCKfHLwyWBgSEC8RLbDy5cxTY8IBxf4kVcP6L3pJkpXksvWAXWGubKhWwonlIAaqY76rsMxTBpglzaNPnMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E4k6XysQwJyxHiHe64vkW6",
      "input": {
        "note": "Close was empty; the pear is still ~2.5 cm to the arm's left of the jaw V in the wrist view. Reopening and shifting left before retrying.",
        "targets": {
          "right_gripper": 1,
          "right_y": 0.105
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01E4k6XysQwJyxHiHe64vkW6",
      "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, 0.8345, 0.6147, -0.4946, -0.0135, -0.0265, 0.999, 0.2405, 1.6814, 0.8707, -0.0761, -0.0113, -0.1005, 0.9957]\nstate[eef_state]: left_x=0.2815 left_y=-0.0002 left_z=0.1513 left_yaw=-0.0019 left_pitch=-0.1419 left_roll=0.0047 left_gripper=0.999 right_x=0.404 right_y=0.1048 right_z=0.0471 right_yaw=0.2973 right_pitch=-0.319 right_roll=-0.0424 right_gripper=0.9957\nstate[joint_eff]: [-0.0479, -1.7299, 7.1179, 1.6142, -0.0464, -0.0269, -0.0122, 0.2393, -6.5026, 7.6376, 1.4042, 0.1099, 0.1294, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad94409a6cf2b2054d39d6021f1ca30f977374673bdd14df8e4b290696f4538b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09a730f0b3ddf474a19000b2d2577ce8a5491fff3917cfab9972f97928139742",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a9b692111580a084b6c4e27313dd60fc8428213a6fa4421b44b273a17592c04a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 12.33 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8307, 0.6147, -0.4923, -0.0139, -0.0269, 0.999, 0.1547, 1.6573, 0.881, -0.104, -0.0643, -0.173, 0.9966]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1527 left_yaw=-0.0014 left_pitch=-0.1358 left_roll=0.0045 left_gripper=0.999 right_x=0.4093 right_y=0.0789 right_z=0.0564 right_yaw=0.2991 right_pitch=-0.3103 right_roll=-0.0486 right_gripper=0.9966\nstate[joint_eff]: [-0.3214, -1.4017, 6.9128, 1.6239, -0.0366, -0.0611, -0.0122, -0.4034, -7.7607, 5.5453, 1.6484, 0.0904, 0.1587, -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]: [-0.0219, 0.8307, 0.6147, -0.4938, -0.0139, -0.0265, 0.999, 0.1665, 1.6775, 0.8707, -0.0711, -0.0452, -0.1417, 0.0542]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1524 left_yaw=-0.0016 left_pitch=-0.1373 left_roll=0.0048 left_gripper=0.999 right_x=0.4108 right_y=0.0808 right_z=0.0495 right_yaw=0.2764 right_pitch=-0.3091 right_roll=-0.0432 right_gripper=0.0542\nstate[joint_eff]: [-0.0615, -1.388, 6.8991, 1.6484, -0.0073, -0.0611, -0.0122, -0.4581, -8.1709, 5.9145, 1.619, 0.0757, 0.0562, 0.1832]",
      "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]: [-0.0219, 0.8345, 0.6147, -0.4946, -0.0135, -0.0265, 0.999, 0.2405, 1.6814, 0.8707, -0.0761, -0.0113, -0.1005, 0.9957]\nstate[eef_state]: left_x=0.2815 left_y=-0.0002 left_z=0.1513 left_yaw=-0.0019 left_pitch=-0.1419 left_roll=0.0047 left_gripper=0.999 right_x=0.404 right_y=0.1048 right_z=0.0471 right_yaw=0.2973 right_pitch=-0.319 right_roll=-0.0424 right_gripper=0.9957\nstate[joint_eff]: [-0.0479, -1.7299, 7.1179, 1.6142, -0.0464, -0.0269, -0.0122, 0.2393, -6.5026, 7.6376, 1.4042, 0.1099, 0.1294, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad94409a6cf2b2054d39d6021f1ca30f977374673bdd14df8e4b290696f4538b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09a730f0b3ddf474a19000b2d2577ce8a5491fff3917cfab9972f97928139742",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9b692111580a084b6c4e27313dd60fc8428213a6fa4421b44b273a17592c04a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS3gUKjgEIEhgCKkApwRYPvour2oPImDaRMjOpODoUP7hZYYTCSqNIiu66gU1emEtiP9i8wvSRr+4cVCKjRGisIrRxC0ANlA6dozOPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYOWzNUGEgxjLF8aJBWcl2RTp1QaDJLlE1BUtmMHnSsUvCIwuWkaze0YnsZR3Zn8WMd7REn1hOc8kWuFQgFQTJRq1EWzwNbWqx2rK9CTtsbCZSm6KvwDA3ISMMkwFCKQ6C8V11Cdl7nubeTgR+iRWbKOQynfVbQ2EJm7cCKFdSWm1bGqaGqA+GC9Bv7mm2WL8BQVgZQKBZ3cHjTiJw2S8zaB6d/QOuYgbzRxOhtMni1VaxsaCaTbtSRxMvf/3UvbmqYSpTbMVOxBpUqneymE9Y1vuWRjvPoCNph1DhmPr436XpM5PmislygxfVKyvoaWyfkhpgBzf0//I9Z0Hlof1pgHOu7qxrp9iae+rASOzEoYtdJrJ8mLr9PvVVBDZEx2Gmm8I14xoOpgEyVjTaSopXd0P8+/LAX4enZIqyxzD36Ou7p9snIfreDe/2EZKP/wUXtfgg2w7UtVcSolh+j8CZImNgNBqc9KDymYYZhkp5yaqrYB1mCiLxHuFDOtHJv5U2mr1x0eQz+FLuLvT0A6gSy2rUVWhyGak6z/5w7HG5LWDBZTdOpMbFToZ6apt2cZywIxHT+q2/NOj/Xx/JT4s1td1JZbwHs7TGdYq7DrMhNUGAE3/FmD6mtixdz+gYfSdtkUKlYGS5Xd7JemTlUBCYC2Yj9CcB+/rwsSHk5DAyFM3YVIMzL7hnIMVFbGl+aK7sYYZx71w/PFOGZ/6BX198b0g3Uyc0sOZkDuV0QWW260QAXP7Nl+YDQHfxj7CSuFBlepX3qDQhSFFMExdCQnXY4xxRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015NQFAFAvkPd6Fk8ae7Vrrt",
      "input": {
        "note": "A green sliver of the pear now sits at the bottom centre of the wrist view, right under the jaws; closing to grasp.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015NQFAFAvkPd6Fk8ae7Vrrt",
      "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, 0.8341, 0.6147, -0.4953, -0.0135, -0.0265, 0.999, 0.2405, 1.6817, 0.8711, -0.0795, -0.0048, -0.1051, 0.0546]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1513 left_yaw=-0.0019 left_pitch=-0.1423 left_roll=0.0047 left_gripper=0.999 right_x=0.4038 right_y=0.1036 right_z=0.0465 right_yaw=0.2942 right_pitch=-0.3228 right_roll=-0.0506 right_gripper=0.0546\nstate[joint_eff]: [-0.2393, -1.2923, 6.9402, 1.5946, -0.0464, -0.0269, -0.0122, -0.0068, -7.747, 6.2291, 1.4774, -0.1197, 0.0171, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f868d99ce177fed578499e93e0c6168b97367ba4489983e737af8219c3ba70e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3927ea662b39dca13dc05704a2fd34dbea8f3905d566a1ca0242a822ce8be04c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a397a8a0628fe2b86745c8f941cfc2a7d7b04b0fabb9d1227dd28712626dfacb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 4.391 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8307, 0.6147, -0.4938, -0.0139, -0.0265, 0.999, 0.1665, 1.6775, 0.8707, -0.0711, -0.0452, -0.1417, 0.0542]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1524 left_yaw=-0.0016 left_pitch=-0.1373 left_roll=0.0048 left_gripper=0.999 right_x=0.4108 right_y=0.0808 right_z=0.0495 right_yaw=0.2764 right_pitch=-0.3091 right_roll=-0.0432 right_gripper=0.0542\nstate[joint_eff]: [-0.0615, -1.388, 6.8991, 1.6484, -0.0073, -0.0611, -0.0122, -0.4581, -8.1709, 5.9145, 1.619, 0.0757, 0.0562, 0.1832]",
      "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]: [-0.0219, 0.8345, 0.6147, -0.4946, -0.0135, -0.0265, 0.999, 0.2405, 1.6814, 0.8707, -0.0761, -0.0113, -0.1005, 0.9957]\nstate[eef_state]: left_x=0.2815 left_y=-0.0002 left_z=0.1513 left_yaw=-0.0019 left_pitch=-0.1419 left_roll=0.0047 left_gripper=0.999 right_x=0.404 right_y=0.1048 right_z=0.0471 right_yaw=0.2973 right_pitch=-0.319 right_roll=-0.0424 right_gripper=0.9957\nstate[joint_eff]: [-0.0479, -1.7299, 7.1179, 1.6142, -0.0464, -0.0269, -0.0122, 0.2393, -6.5026, 7.6376, 1.4042, 0.1099, 0.1294, -0.0904]",
      "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]: [-0.0219, 0.8341, 0.6147, -0.4953, -0.0135, -0.0265, 0.999, 0.2405, 1.6817, 0.8711, -0.0795, -0.0048, -0.1051, 0.0546]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1513 left_yaw=-0.0019 left_pitch=-0.1423 left_roll=0.0047 left_gripper=0.999 right_x=0.4038 right_y=0.1036 right_z=0.0465 right_yaw=0.2942 right_pitch=-0.3228 right_roll=-0.0506 right_gripper=0.0546\nstate[joint_eff]: [-0.2393, -1.2923, 6.9402, 1.5946, -0.0464, -0.0269, -0.0122, -0.0068, -7.747, 6.2291, 1.4774, -0.1197, 0.0171, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f868d99ce177fed578499e93e0c6168b97367ba4489983e737af8219c3ba70e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3927ea662b39dca13dc05704a2fd34dbea8f3905d566a1ca0242a822ce8be04c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a397a8a0628fe2b86745c8f941cfc2a7d7b04b0fabb9d1227dd28712626dfacb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UZwNAE9b9LxpDp6Arz7jPk",
      "input": {
        "note": "Empty close again and the pear has rolled out of view; switching to the lemon, which sits clearly to the arm's left in the wrist view (~7 cm). Opening and moving over it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.42,
          "right_y": 0.17,
          "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_01UZwNAE9b9LxpDp6Arz7jPk",
      "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, 0.8341, 0.6147, -0.4953, -0.0139, -0.0265, 0.999, 0.4126, 1.7741, 1.0286, -0.1631, 0.0845, 0.0029, 0.9956]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1513 left_yaw=-0.0016 left_pitch=-0.1423 left_roll=0.0049 left_gripper=0.999 right_x=0.4126 right_y=0.1682 right_z=0.0545 right_yaw=0.3252 right_pitch=-0.3368 right_roll=-0.0536 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.306, 6.9128, 1.6044, -0.0708, -0.0317, -0.0122, 0.2667, -7.7744, 8.3897, 1.3162, 0.1929, 0.2711, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dddaabe8d86f8af1bdd9da86ae970b1fe9e729368e862d29804906a0004058b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8a77a246797bfca00527c48c509165a71e8c3bb825c4cefc024887659d9700f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:18c70c86f74d4cfcc120f47d6c3ff71a95f2c767544956ad193d9a86a841e215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 8.3 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8345, 0.6147, -0.4946, -0.0135, -0.0265, 0.999, 0.2405, 1.6814, 0.8707, -0.0761, -0.0113, -0.1005, 0.9957]\nstate[eef_state]: left_x=0.2815 left_y=-0.0002 left_z=0.1513 left_yaw=-0.0019 left_pitch=-0.1419 left_roll=0.0047 left_gripper=0.999 right_x=0.404 right_y=0.1048 right_z=0.0471 right_yaw=0.2973 right_pitch=-0.319 right_roll=-0.0424 right_gripper=0.9957\nstate[joint_eff]: [-0.0479, -1.7299, 7.1179, 1.6142, -0.0464, -0.0269, -0.0122, 0.2393, -6.5026, 7.6376, 1.4042, 0.1099, 0.1294, -0.0904]",
      "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]: [-0.0219, 0.8341, 0.6147, -0.4953, -0.0135, -0.0265, 0.999, 0.2405, 1.6817, 0.8711, -0.0795, -0.0048, -0.1051, 0.0546]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1513 left_yaw=-0.0019 left_pitch=-0.1423 left_roll=0.0047 left_gripper=0.999 right_x=0.4038 right_y=0.1036 right_z=0.0465 right_yaw=0.2942 right_pitch=-0.3228 right_roll=-0.0506 right_gripper=0.0546\nstate[joint_eff]: [-0.2393, -1.2923, 6.9402, 1.5946, -0.0464, -0.0269, -0.0122, -0.0068, -7.747, 6.2291, 1.4774, -0.1197, 0.0171, 0.1245]",
      "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]: [-0.0219, 0.8341, 0.6147, -0.4953, -0.0139, -0.0265, 0.999, 0.4126, 1.7741, 1.0286, -0.1631, 0.0845, 0.0029, 0.9956]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1513 left_yaw=-0.0016 left_pitch=-0.1423 left_roll=0.0049 left_gripper=0.999 right_x=0.4126 right_y=0.1682 right_z=0.0545 right_yaw=0.3252 right_pitch=-0.3368 right_roll=-0.0536 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.306, 6.9128, 1.6044, -0.0708, -0.0317, -0.0122, 0.2667, -7.7744, 8.3897, 1.3162, 0.1929, 0.2711, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dddaabe8d86f8af1bdd9da86ae970b1fe9e729368e862d29804906a0004058b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8a77a246797bfca00527c48c509165a71e8c3bb825c4cefc024887659d9700f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18c70c86f74d4cfcc120f47d6c3ff71a95f2c767544956ad193d9a86a841e215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISigQKjgEIEhgCKkDIPpYFRbi1m1a42gLD0qIElk9C6dg8FdWFnJTsO4dRbFMpjCWmjtIo2NKsGQQaGycjM5n1dCIzKi4IXpC0/QdeMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZWWzNUGEgxQ2DjzbkJ9BAu3o9UaDInij++98C4wcog4GyIwbnZU5cmhz0TJVAkCOMK9mFQViTyEyOf3hGPyuapSreaZB0CT3L+lHbESUW/MS3M4KqgCboJXKhV3YknXLn/WHVLiSTmLIjCee2E9i1DDzq3IsrBkBd29186cu2bKg9nBxRSI0X5IQO8sDTG4XSWzaHCm4BkXOaLnPmYOOI+LwrMbWTSq682fR+YlbGhOG45CZAHR1prWAUZwtKP/U0NdASRiQw6bjjlnP0a9A7uQcaNWAz1Y74G4iK40mh2dzNmeybCyYkUkH5bOl9OmdK7k3FbYmq9AR60tCRTukI17y7WzMO0nMRQYlQjsWs9ztc9RERiXu9uZhLWSxm4y29TMpJjc0pdHwWM+5exzMfPE984OfxYVnKWNLWCe1+Mbrk0nc8h8ZwQBWctc8ovTptvpzM5blh8DV5YK5rTz4+tYuihNU8dP2RgWtqHj+uO3sS3bG0wrQMuryjrkg/4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019KRMYujA7dgkGyUo3mbVUE",
      "input": {
        "note": "The lemon sits centred between the two visible fingers; descending slightly and closing on it.",
        "targets": {
          "right_gripper": 0.05,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019KRMYujA7dgkGyUo3mbVUE",
      "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, 0.8341, 0.6147, -0.4957, -0.0135, -0.0265, 0.999, 0.4152, 1.816, 0.9874, -0.0967, 0.0891, 0.0002, 0.0544]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1512 left_yaw=-0.0019 left_pitch=-0.1426 left_roll=0.0047 left_gripper=0.999 right_x=0.4093 right_y=0.1672 right_z=0.0317 right_yaw=0.3248 right_pitch=-0.3532 right_roll=-0.0608 right_gripper=0.0544\nstate[joint_eff]: [-0.2256, -1.2103, 6.9402, 1.6044, -0.022, -0.0073, -0.0122, -0.253, -7.5829, 5.4222, 1.7411, -0.0122, -0.0073, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:214b971978f630a5e8f4a2a3b1168b69af36aaec1eb4c66b4cdc4158b4ff4b5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5971fa6d4fc6c89710276b35796927c4753b3c88926c1a01223852c9cb9134b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a95f793edb6baf1841f8e725a11960bdb19ce284bea598650961f68795fdbaed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 10.68 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6147, -0.4953, -0.0135, -0.0265, 0.999, 0.2405, 1.6817, 0.8711, -0.0795, -0.0048, -0.1051, 0.0546]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1513 left_yaw=-0.0019 left_pitch=-0.1423 left_roll=0.0047 left_gripper=0.999 right_x=0.4038 right_y=0.1036 right_z=0.0465 right_yaw=0.2942 right_pitch=-0.3228 right_roll=-0.0506 right_gripper=0.0546\nstate[joint_eff]: [-0.2393, -1.2923, 6.9402, 1.5946, -0.0464, -0.0269, -0.0122, -0.0068, -7.747, 6.2291, 1.4774, -0.1197, 0.0171, 0.1245]",
      "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]: [-0.0219, 0.8341, 0.6147, -0.4953, -0.0139, -0.0265, 0.999, 0.4126, 1.7741, 1.0286, -0.1631, 0.0845, 0.0029, 0.9956]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1513 left_yaw=-0.0016 left_pitch=-0.1423 left_roll=0.0049 left_gripper=0.999 right_x=0.4126 right_y=0.1682 right_z=0.0545 right_yaw=0.3252 right_pitch=-0.3368 right_roll=-0.0536 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.306, 6.9128, 1.6044, -0.0708, -0.0317, -0.0122, 0.2667, -7.7744, 8.3897, 1.3162, 0.1929, 0.2711, -0.0073]",
      "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]: [-0.0219, 0.8341, 0.6147, -0.4957, -0.0135, -0.0265, 0.999, 0.4152, 1.816, 0.9874, -0.0967, 0.0891, 0.0002, 0.0544]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1512 left_yaw=-0.0019 left_pitch=-0.1426 left_roll=0.0047 left_gripper=0.999 right_x=0.4093 right_y=0.1672 right_z=0.0317 right_yaw=0.3248 right_pitch=-0.3532 right_roll=-0.0608 right_gripper=0.0544\nstate[joint_eff]: [-0.2256, -1.2103, 6.9402, 1.6044, -0.022, -0.0073, -0.0122, -0.253, -7.5829, 5.4222, 1.7411, -0.0122, -0.0073, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:214b971978f630a5e8f4a2a3b1168b69af36aaec1eb4c66b4cdc4158b4ff4b5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5971fa6d4fc6c89710276b35796927c4753b3c88926c1a01223852c9cb9134b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a95f793edb6baf1841f8e725a11960bdb19ce284bea598650961f68795fdbaed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISzQgKjgEIEhgCKkCR3fG8VmPurphQIoe8bcCaLHCBDSX0EJLi52gdYVGVxJVsX6dKkz3MiYpiY704DAm+U3BXfCpTXuyuImDa9u7VMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ6WzNUGEgxcojrBh+XHsQZTmmQaDNStA1/QBVswDyCogiIwOvxxgAzDe2rIG0tc3/IcHPMmMzlPX3VGrJsf2KjXa/qqCm1XclRosg/nBLNs31dqKusGIoBumm3e/fI/R6dS67IBl9A4kDClQkOm0kVPRyf90JEPUM8xKW2K6mdvYvZIjWlEu0YL2pi31R2d86fw0+Qjob8qUz834Y3nZ1Ir11ET+r+9/UElMep1XnD9roTgtPDR9bTjnXrwzhtyZR4gWCpwYLRC6+nrlfKwmdbswpfk/QagkphjwykGjtMAhDw1msDd4avbNlmhJ75X9WqBM4J5jcbFeSIlC82I0IZq6MB905bfT3pM8nWPApyxJd5lT5d35p4EWbTlgMjoHIUV0CTh8ZFyOstkAx9TdayeHk4iTXqwdr4gkcX03FHgYIdmJ8ER5AVeZ+97YXvC0xNkMYPxjbOhxngJMsMyUXclyylJFTxXWUiVm7OabuDWHMrFrEu1oFKJ/62cD42WgfUuwMPG/ILOGDY1meVZ9nn9Zg1Oggc2Isy32g4w8DeRYOB6prhH8NFtvSt6uElXzHpEsRYdqnWdoijWfxpwWDhnclXzW/q8dKwVZkgY5UGkJnAHuDY3IpAGhZKJBtx/zTE/ATpa8r3hbkW8GQCmdTnojWED8zvFivYmo/3QA1bcQ+39SxCe0THEyzHhN8+UWBVVPIxG4DEV9Cf7U3wOveDpSKg9pyXkBDMWg3k7eBBklegUvSa6Iz8Ek672vboPajRU9JDfx1dKtG7WJ/tRnlBCkO1/MLqwenszwV1XS0z1AW0M7h8PZCDKEC7tZs5rU4pVZYLMnjuYcZHtx+UfLXR+C8A4WzJ9yUKplIGxi9DpTNqM0XSNC/5lor7/lW3qb/RycS6CiR/4mBuklWZSB83QAQjGQBo/k9YU1okbP/CFuKwPHdT+qEFn72edhb5VBz7sAk4SB7pr84CPXWAUmA7PbtlV7Sc1A3HPBnlltLN6PDCqcPSuSbd4O3SFE4QWLEYFv9BdUZpM7uJt8x3N3ZexK9Pfx05f1qLMzK0m74ITeGjWiT5JM6qKuiHjLopmypZTKZhW+iMHHbyDqsRKhlLAGmfQgp5thMpT126SQPGvixfz5tVPuCzyjymjtw9FwCuyCM9Fy7ap0r/mUDgLyL0QxT6JuPh24wBaaFFlfzaVWd+UTXNdEDLBTkSMf+ah/5Iln1SJlsc8TEEODCXPXh0Y8NVJhaPEspDeX3p9MwsljfFaKq8zU/bMc7FaaCmZRX0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017EFKq2U22kAVQfExPAndZT",
      "input": {
        "note": "Empty close: the lemon is still ~3 cm beyond and ~2 cm left of the jaws. Advancing and shifting left while closing to capture it.",
        "targets": {
          "right_gripper": 0.05,
          "right_x": 0.445,
          "right_y": 0.187
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_017EFKq2U22kAVQfExPAndZT",
      "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, 0.8371, 0.6147, -0.498, -0.0135, -0.0265, 0.999, 0.4221, 1.9388, 1.1362, -0.139, 0.0895, 0.0002, 0.0511]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.15 left_yaw=-0.0019 left_pitch=-0.148 left_roll=0.0048 left_gripper=0.999 right_x=0.4366 right_y=0.1827 right_z=0.025 right_yaw=0.3308 right_pitch=-0.3695 right_roll=-0.0627 right_gripper=0.0511\nstate[joint_eff]: [-0.3487, -1.4701, 6.9128, 1.6532, -0.0269, -0.0269, -0.0122, 0.212, -10.6872, 6.8444, 1.2674, 0.0464, 0.0757, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f2a4e619c5116ce4a2385a525b2222886605f833cbb9e8dd4a0133cd5d4a48b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d22c6a8e58ecd76383a259ed1f8e48dbfe850cf25a6d4f627a0f88aa7596b3ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:250ee44a0f949c50b3588ffdf10f8d623afac503fc42cccbf4ea96e60a24671c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 9.521 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6147, -0.4953, -0.0139, -0.0265, 0.999, 0.4126, 1.7741, 1.0286, -0.1631, 0.0845, 0.0029, 0.9956]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1513 left_yaw=-0.0016 left_pitch=-0.1423 left_roll=0.0049 left_gripper=0.999 right_x=0.4126 right_y=0.1682 right_z=0.0545 right_yaw=0.3252 right_pitch=-0.3368 right_roll=-0.0536 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.306, 6.9128, 1.6044, -0.0708, -0.0317, -0.0122, 0.2667, -7.7744, 8.3897, 1.3162, 0.1929, 0.2711, -0.0073]",
      "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]: [-0.0219, 0.8341, 0.6147, -0.4957, -0.0135, -0.0265, 0.999, 0.4152, 1.816, 0.9874, -0.0967, 0.0891, 0.0002, 0.0544]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1512 left_yaw=-0.0019 left_pitch=-0.1426 left_roll=0.0047 left_gripper=0.999 right_x=0.4093 right_y=0.1672 right_z=0.0317 right_yaw=0.3248 right_pitch=-0.3532 right_roll=-0.0608 right_gripper=0.0544\nstate[joint_eff]: [-0.2256, -1.2103, 6.9402, 1.6044, -0.022, -0.0073, -0.0122, -0.253, -7.5829, 5.4222, 1.7411, -0.0122, -0.0073, 0.1294]",
      "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]: [-0.0219, 0.8371, 0.6147, -0.498, -0.0135, -0.0265, 0.999, 0.4221, 1.9388, 1.1362, -0.139, 0.0895, 0.0002, 0.0511]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.15 left_yaw=-0.0019 left_pitch=-0.148 left_roll=0.0048 left_gripper=0.999 right_x=0.4366 right_y=0.1827 right_z=0.025 right_yaw=0.3308 right_pitch=-0.3695 right_roll=-0.0627 right_gripper=0.0511\nstate[joint_eff]: [-0.3487, -1.4701, 6.9128, 1.6532, -0.0269, -0.0269, -0.0122, 0.212, -10.6872, 6.8444, 1.2674, 0.0464, 0.0757, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f2a4e619c5116ce4a2385a525b2222886605f833cbb9e8dd4a0133cd5d4a48b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d22c6a8e58ecd76383a259ed1f8e48dbfe850cf25a6d4f627a0f88aa7596b3ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:250ee44a0f949c50b3588ffdf10f8d623afac503fc42cccbf4ea96e60a24671c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VCAE6tfcKJmyDbukSSan5A",
      "input": {
        "note": "The lemon looks very large in the wrist view, suggesting it is nearer than the fingertips rather than beyond them; opening and backing off 2 cm to straddle it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.415,
          "right_y": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VCAE6tfcKJmyDbukSSan5A",
      "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, 0.8379, 0.6147, -0.498, -0.0139, -0.0265, 0.999, 0.4606, 1.9278, 1.0706, -0.1352, 0.1013, 0.0193, 0.9956]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.1498 left_yaw=-0.0015 left_pitch=-0.1487 left_roll=0.0051 left_gripper=0.999 right_x=0.4116 right_y=0.1883 right_z=0.0077 right_yaw=0.3453 right_pitch=-0.4183 right_roll=-0.0671 right_gripper=0.9956\nstate[joint_eff]: [-0.1026, -1.2376, 6.9675, 1.619, -0.0611, -0.0659, -0.0122, 0.1709, -12.9299, 5.4085, 1.4042, 0.1343, 0.1392, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01605e2a21dac4c6afdad98d8a3ec286e8481f3ed0e454821d666c3ffaac7232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:709c6587e526d4b0267fa2f4a8aad0340de384a9aa604352a0d1783aca77d2f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7adb246cd5d5ed85ddde0f59017ff1c1771936cd10340c3d83841677e36bca5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 3.503 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6147, -0.4957, -0.0135, -0.0265, 0.999, 0.4152, 1.816, 0.9874, -0.0967, 0.0891, 0.0002, 0.0544]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1512 left_yaw=-0.0019 left_pitch=-0.1426 left_roll=0.0047 left_gripper=0.999 right_x=0.4093 right_y=0.1672 right_z=0.0317 right_yaw=0.3248 right_pitch=-0.3532 right_roll=-0.0608 right_gripper=0.0544\nstate[joint_eff]: [-0.2256, -1.2103, 6.9402, 1.6044, -0.022, -0.0073, -0.0122, -0.253, -7.5829, 5.4222, 1.7411, -0.0122, -0.0073, 0.1294]",
      "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]: [-0.0219, 0.8371, 0.6147, -0.498, -0.0135, -0.0265, 0.999, 0.4221, 1.9388, 1.1362, -0.139, 0.0895, 0.0002, 0.0511]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.15 left_yaw=-0.0019 left_pitch=-0.148 left_roll=0.0048 left_gripper=0.999 right_x=0.4366 right_y=0.1827 right_z=0.025 right_yaw=0.3308 right_pitch=-0.3695 right_roll=-0.0627 right_gripper=0.0511\nstate[joint_eff]: [-0.3487, -1.4701, 6.9128, 1.6532, -0.0269, -0.0269, -0.0122, 0.212, -10.6872, 6.8444, 1.2674, 0.0464, 0.0757, 0.0952]",
      "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]: [-0.0219, 0.8379, 0.6147, -0.498, -0.0139, -0.0265, 0.999, 0.4606, 1.9278, 1.0706, -0.1352, 0.1013, 0.0193, 0.9956]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.1498 left_yaw=-0.0015 left_pitch=-0.1487 left_roll=0.0051 left_gripper=0.999 right_x=0.4116 right_y=0.1883 right_z=0.0077 right_yaw=0.3453 right_pitch=-0.4183 right_roll=-0.0671 right_gripper=0.9956\nstate[joint_eff]: [-0.1026, -1.2376, 6.9675, 1.619, -0.0611, -0.0659, -0.0122, 0.1709, -12.9299, 5.4085, 1.4042, 0.1343, 0.1392, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01605e2a21dac4c6afdad98d8a3ec286e8481f3ed0e454821d666c3ffaac7232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:709c6587e526d4b0267fa2f4a8aad0340de384a9aa604352a0d1783aca77d2f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7adb246cd5d5ed85ddde0f59017ff1c1771936cd10340c3d83841677e36bca5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISmgkKjgEIEhgCKkDl+1hMPzXtP909aJ6lGgKSh6XWzhsE1GPLtr5TnffYVsQ8iEWnyuYlLH68/Pz26EYfd8vhzmpXhlXs7KsUCspXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbSWzNUGEgzNFSZeTG6DbUkXIU8aDAlE7xuxPyj+2QkrPiIww4FxgKlirmXupuOhA3ySCahj0P6mw/XT79ZgbA5cN6dJjZFawYMfjK5xecDsszEIKrgHVJQoTdLBRTb+uPGHRTRvJykjvb6fXxZkgSw/9xVnirr/TbqFDJ3vkuzPXqB4LcMOP6DLqVEfVuXCkJ8PWRKbhL7aP8XHf+LEm/BpkYeSPMqfJC4AfAn7wGlZr+ymjUSITDCAH27j1HCoe5W2SJdRHCosNfZVDTZgaBJP3Lx0Vx1A/ukSbIzvzo08XDDp4fntbISKUE1eLFdFeuhjrVlVun9fLOEt0F4u8gTChcvD/lJl3U6KfuyWGuW2QneJkAap96MxaQrvfZPT9Qlr7XCTziXbkYAz4+FNQyOSamQWmzMiylyMo/9fVuICYUO34TTHU6W9iNsaXKnhfZBXeNjYrOhGgkXEXI0Sh0cIvgtGeMGZewIRxtBV7eo9WVVFEHBcDFEvK9HpQ2g0j8YBdZmwsus0pQ+HKyGx3Nu1Slz+MbecLSKebSTQOVIQnAtg2FiYWU8RJeKgT+t5rCzkqWyVtpMsNUYhATvra8YDm1sV5HhmzuPu4g7kj384bHwlFVdJ7HhJpOOjk2XnYzQcsa4ULqR0Ku2OGTJUVuQLNyf2JzWSh/BiFarUs6jrzf3CNpLndOEbLPHiJphP6qBbjLqDDVm/YHo5siafQNvylgp2T5hScv03EAN6Kppt1zWgYYtOMoNMD+2Vjs9V5+CKALTjNX8x9nmkwAMJp7XWLgK9dUzIR9g3Cd+affTbHjwnc747wHdLcf22lKI6Lyci8cNivqcRlLz9KMg2Hte0Ah1fse0PD/PSakY8U5f5NfCgviAlJeDl4FT5RWv4KMaZoEEeIT8QrEBd5knwqFCDjpLhzR9zODj7I7G3H1I2ygAJFlQcoZ3btYuSEDv1ap3ddSa0CTObw93dnLiFhflQryDq3gV+DYvQyUDvLZZ/xxs+CHh6QHwsrNtI7zS+YR8M9EhkxaJV90O0n8N7k5QCM1zkf3pjaDbQIbggwGs+QI8rRnW3t9dkZgdGgw1PZvaCBIGTR8hovPnyAw+cHxrNOTwvza4pzzvglMGvIVTo38YGhEkiHZHyz9EOWxu7x/pxy/BYLUSulK8sEfSh8a1xJ0SjOv28V6eKm4AAsSCfagJVM8xUZfpTy4U++Wa68nz8orceCci8aZ1OAa+4ZBedWftwBU57JfpWhTeR0zHfBzwHG/NuJ+3ZqGRoCbynp7u04xnSifeBsFF3tfj00+D7jKKCa7mb1mavGKWa9KzwqLsW3KUunVU+N9Gg3KDXubKR8Rq0i98YxHr5MLSHm7T8FPQJ94spVyBj8ZrzIhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XUb7npXrkaqUbAjSvBUoZG",
      "input": {
        "note": "With jaws open I can see both fingertips at the bottom corners and the lemon beyond and ~3 cm to the arm's left; moving left and forward to straddle it.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.215,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01XUb7npXrkaqUbAjSvBUoZG",
      "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, 0.8406, 0.6147, -0.5011, -0.0135, -0.0269, 0.999, 0.4736, 2.0293, 1.285, -0.2504, 0.1005, 0.0189, 0.9965]\nstate[eef_state]: left_x=0.2806 left_y=-0.0002 left_z=0.1485 left_yaw=-0.0016 left_pitch=-0.1545 left_roll=0.0046 left_gripper=0.999 right_x=0.444 right_y=0.2116 right_z=0.0209 right_yaw=0.3591 right_pitch=-0.4207 right_roll=-0.0669 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -1.5248, 6.8991, 1.6777, -0.0317, -0.0513, -0.0122, 0.212, -11.1248, 6.2974, 0.9939, 0.105, 0.1099, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:855057a3dd44f163c1cb7bd72f4af2c167458a60006632a941710d684049473d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bba8edc12229bedfed2d9f45d5c5212644551717f7f4e2d4e457b0195ed031e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9d07da4abd50b26aeeb922a6d81465d8ccdf11e132081229491aaf0bc907f2a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 13.9 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8371, 0.6147, -0.498, -0.0135, -0.0265, 0.999, 0.4221, 1.9388, 1.1362, -0.139, 0.0895, 0.0002, 0.0511]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.15 left_yaw=-0.0019 left_pitch=-0.148 left_roll=0.0048 left_gripper=0.999 right_x=0.4366 right_y=0.1827 right_z=0.025 right_yaw=0.3308 right_pitch=-0.3695 right_roll=-0.0627 right_gripper=0.0511\nstate[joint_eff]: [-0.3487, -1.4701, 6.9128, 1.6532, -0.0269, -0.0269, -0.0122, 0.212, -10.6872, 6.8444, 1.2674, 0.0464, 0.0757, 0.0952]",
      "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]: [-0.0219, 0.8379, 0.6147, -0.498, -0.0139, -0.0265, 0.999, 0.4606, 1.9278, 1.0706, -0.1352, 0.1013, 0.0193, 0.9956]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.1498 left_yaw=-0.0015 left_pitch=-0.1487 left_roll=0.0051 left_gripper=0.999 right_x=0.4116 right_y=0.1883 right_z=0.0077 right_yaw=0.3453 right_pitch=-0.4183 right_roll=-0.0671 right_gripper=0.9956\nstate[joint_eff]: [-0.1026, -1.2376, 6.9675, 1.619, -0.0611, -0.0659, -0.0122, 0.1709, -12.9299, 5.4085, 1.4042, 0.1343, 0.1392, -0.0855]",
      "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]: [-0.0219, 0.8406, 0.6147, -0.5011, -0.0135, -0.0269, 0.999, 0.4736, 2.0293, 1.285, -0.2504, 0.1005, 0.0189, 0.9965]\nstate[eef_state]: left_x=0.2806 left_y=-0.0002 left_z=0.1485 left_yaw=-0.0016 left_pitch=-0.1545 left_roll=0.0046 left_gripper=0.999 right_x=0.444 right_y=0.2116 right_z=0.0209 right_yaw=0.3591 right_pitch=-0.4207 right_roll=-0.0669 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -1.5248, 6.8991, 1.6777, -0.0317, -0.0513, -0.0122, 0.212, -11.1248, 6.2974, 0.9939, 0.105, 0.1099, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:855057a3dd44f163c1cb7bd72f4af2c167458a60006632a941710d684049473d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bba8edc12229bedfed2d9f45d5c5212644551717f7f4e2d4e457b0195ed031e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d07da4abd50b26aeeb922a6d81465d8ccdf11e132081229491aaf0bc907f2a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS1QIKjgEIEhgCKkAGBGBuy3bqY+bY9XxC6KySwzXogXo7SJjIQHwwTCk/dafDiCxKwHKdXYyfkXW7arAvQiB9Hpmz38h0ocIa38EBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbiWzNUGEgwV3kxaWw0FgN4SyZoaDGxJtX6m/EivYuK1OCIwKNqJYdZyQL2swRCVS+PlGXRUBJhVT2LNzR9JDEYaLIZVGQE4lqTb9LuIr6EadGkrKnQ69qvy6yRv7oUKS3h0emT2f77O+XkdqWDmkjvVBd3ZLruZPyPRC1i3ss7TD1NgLYoetYT3EOkE2AFGJhNRMtiXQrovL9WlZ+qW/uqkXFgb0/D5dhsdv08ZclnfVwSvI65JIpztFFG3G1wWI8ldslRwT4IZbhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MKivY554qSe8LndrmGdf6i",
      "input": {
        "note": "Lemon now sits centred between the open fingertips; closing to grasp it.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MKivY554qSe8LndrmGdf6i",
      "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, 0.841, 0.6147, -0.5022, -0.0135, -0.0265, 0.999, 0.4751, 2.0384, 1.2877, -0.2737, 0.1001, 0.0154, 0.0546]\nstate[eef_state]: left_x=0.2805 left_y=-0.0002 left_z=0.1482 left_yaw=-0.0018 left_pitch=-0.156 left_roll=0.005 left_gripper=0.999 right_x=0.4393 right_y=0.2102 right_z=0.0145 right_yaw=0.3614 right_pitch=-0.4504 right_roll=-0.0723 right_gripper=0.0546\nstate[joint_eff]: [-0.1573, -1.4291, 6.8991, 1.6435, -0.0122, -0.0122, -0.0122, -0.1846, -11.5761, 5.7641, 1.4725, 0.0024, -0.0122, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fd1ff89783b9da0d54439f208ab880468f479019c642836bf41ed02c3cbbd69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:757970af5a4e3140c31b397eae376de37ece04d8e5ed653b42c96ac6464ba7bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d2f948217e67c8c84ad81474adbf60545d3371c8ad239fa5fb1637697c711b57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /messages · status 200 · 10.76 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8379, 0.6147, -0.498, -0.0139, -0.0265, 0.999, 0.4606, 1.9278, 1.0706, -0.1352, 0.1013, 0.0193, 0.9956]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.1498 left_yaw=-0.0015 left_pitch=-0.1487 left_roll=0.0051 left_gripper=0.999 right_x=0.4116 right_y=0.1883 right_z=0.0077 right_yaw=0.3453 right_pitch=-0.4183 right_roll=-0.0671 right_gripper=0.9956\nstate[joint_eff]: [-0.1026, -1.2376, 6.9675, 1.619, -0.0611, -0.0659, -0.0122, 0.1709, -12.9299, 5.4085, 1.4042, 0.1343, 0.1392, -0.0855]",
      "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]: [-0.0219, 0.8406, 0.6147, -0.5011, -0.0135, -0.0269, 0.999, 0.4736, 2.0293, 1.285, -0.2504, 0.1005, 0.0189, 0.9965]\nstate[eef_state]: left_x=0.2806 left_y=-0.0002 left_z=0.1485 left_yaw=-0.0016 left_pitch=-0.1545 left_roll=0.0046 left_gripper=0.999 right_x=0.444 right_y=0.2116 right_z=0.0209 right_yaw=0.3591 right_pitch=-0.4207 right_roll=-0.0669 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -1.5248, 6.8991, 1.6777, -0.0317, -0.0513, -0.0122, 0.212, -11.1248, 6.2974, 0.9939, 0.105, 0.1099, 0.0806]",
      "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]: [-0.0219, 0.841, 0.6147, -0.5022, -0.0135, -0.0265, 0.999, 0.4751, 2.0384, 1.2877, -0.2737, 0.1001, 0.0154, 0.0546]\nstate[eef_state]: left_x=0.2805 left_y=-0.0002 left_z=0.1482 left_yaw=-0.0018 left_pitch=-0.156 left_roll=0.005 left_gripper=0.999 right_x=0.4393 right_y=0.2102 right_z=0.0145 right_yaw=0.3614 right_pitch=-0.4504 right_roll=-0.0723 right_gripper=0.0546\nstate[joint_eff]: [-0.1573, -1.4291, 6.8991, 1.6435, -0.0122, -0.0122, -0.0122, -0.1846, -11.5761, 5.7641, 1.4725, 0.0024, -0.0122, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fd1ff89783b9da0d54439f208ab880468f479019c642836bf41ed02c3cbbd69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:757970af5a4e3140c31b397eae376de37ece04d8e5ed653b42c96ac6464ba7bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2f948217e67c8c84ad81474adbf60545d3371c8ad239fa5fb1637697c711b57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TEj3xU655w3eJBX7gcfH5q",
      "input": {
        "note": "Still empty — the lemon must sit a couple of cm beyond the fingertips; advancing 3 cm while closing to capture it.",
        "targets": {
          "right_gripper": 0.05,
          "right_x": 0.47
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01TEj3xU655w3eJBX7gcfH5q",
      "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, 0.8436, 0.6147, -0.5041, -0.0139, -0.0265, 0.999, 0.4538, 2.1128, 1.3941, -0.3168, 0.0887, -0.0082, 0.0511]\nstate[eef_state]: left_x=0.2802 left_y=-0.0001 left_z=0.1471 left_yaw=-0.0015 left_pitch=-0.1606 left_roll=0.0053 left_gripper=0.999 right_x=0.4597 right_y=0.2108 right_z=0.0105 right_yaw=0.3643 right_pitch=-0.4634 right_roll=-0.0764 right_gripper=0.0511\nstate[joint_eff]: [-0.1162, -1.6205, 7.0496, 1.6484, -0.0611, -0.0269, -0.0171, -0.6769, -11.2068, 7.665, 1.0916, -0.0366, -0.0317, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ce0810deb781244bf540515126c885f0bebe81f008cd3fe5d32286d37f0c277",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9f18fc2372d1eadf791ff3df4cf524c311b2aec0ff914f0a0d497e468a6b1c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:37cf03178182b09fc484f4ab6fa8b88e869844e16c6f225cf9bfdd7fc7e2e744",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /messages · status 200 · 3.352 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8406, 0.6147, -0.5011, -0.0135, -0.0269, 0.999, 0.4736, 2.0293, 1.285, -0.2504, 0.1005, 0.0189, 0.9965]\nstate[eef_state]: left_x=0.2806 left_y=-0.0002 left_z=0.1485 left_yaw=-0.0016 left_pitch=-0.1545 left_roll=0.0046 left_gripper=0.999 right_x=0.444 right_y=0.2116 right_z=0.0209 right_yaw=0.3591 right_pitch=-0.4207 right_roll=-0.0669 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -1.5248, 6.8991, 1.6777, -0.0317, -0.0513, -0.0122, 0.212, -11.1248, 6.2974, 0.9939, 0.105, 0.1099, 0.0806]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.841, 0.6147, -0.5022, -0.0135, -0.0265, 0.999, 0.4751, 2.0384, 1.2877, -0.2737, 0.1001, 0.0154, 0.0546]\nstate[eef_state]: left_x=0.2805 left_y=-0.0002 left_z=0.1482 left_yaw=-0.0018 left_pitch=-0.156 left_roll=0.005 left_gripper=0.999 right_x=0.4393 right_y=0.2102 right_z=0.0145 right_yaw=0.3614 right_pitch=-0.4504 right_roll=-0.0723 right_gripper=0.0546\nstate[joint_eff]: [-0.1573, -1.4291, 6.8991, 1.6435, -0.0122, -0.0122, -0.0122, -0.1846, -11.5761, 5.7641, 1.4725, 0.0024, -0.0122, -0.0269]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8436, 0.6147, -0.5041, -0.0139, -0.0265, 0.999, 0.4538, 2.1128, 1.3941, -0.3168, 0.0887, -0.0082, 0.0511]\nstate[eef_state]: left_x=0.2802 left_y=-0.0001 left_z=0.1471 left_yaw=-0.0015 left_pitch=-0.1606 left_roll=0.0053 left_gripper=0.999 right_x=0.4597 right_y=0.2108 right_z=0.0105 right_yaw=0.3643 right_pitch=-0.4634 right_roll=-0.0764 right_gripper=0.0511\nstate[joint_eff]: [-0.1162, -1.6205, 7.0496, 1.6484, -0.0611, -0.0269, -0.0171, -0.6769, -11.2068, 7.665, 1.0916, -0.0366, -0.0317, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ce0810deb781244bf540515126c885f0bebe81f008cd3fe5d32286d37f0c277",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9f18fc2372d1eadf791ff3df4cf524c311b2aec0ff914f0a0d497e468a6b1c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37cf03178182b09fc484f4ab6fa8b88e869844e16c6f225cf9bfdd7fc7e2e744",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISpAsKjgEIEhgCKkDONkdeSXqZTFagSERzBgyYskRSGzfkikPyybrmEya8OKFVuMY+ERIR8lwtcd2xfhsZMAjsMujNUfAi/Gv2+TkbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdGWzNUGEgybA+Rszg3EqhwpO3kaDKvhW8q4zf2fMei41yIwP3o72b8bXCIwRjm0eZxYd0xS8XHtI5J6cYxAN6IEGVhBFBSPfABZmTz4570HZwUAKsIJPg9dO+XchvIwMRZQQvRa20gLRv9DIhWeiOIXxbgpWyM6c4vzm9uReJg23yWwaWUs69slP5FtpbQhdEFAFumcxKSFhuxbcn1CIgUQpDzKYmtbLWhbWOLwuGorAvLk29P5urEGar5SKu97MGpQkFIask0xROsxYAF0+P2rKQQUiCJKwEXCTOjP5PCgLT0XUE6iPg4AKl9k6RrhIWJcplJLYRmbSzct1hY+Oms/qE+ZX6tyt3qTadt6APJN4iY6NF+GdK793NtmPiN8bpjGRwlXtCb0g4hiKpWxiZYWdOUXL2iExe5AZWUjWe5ri0Iwu1eMpnk/IEUcO6HW7u/IM8fZzChLotU/TC5U83OLDTTvEWgo4FVXRXrZM6Tx5mYVOPyiQk+4wLiIEScVTWe/7bCMMEGMdYVu7grILXZQD0/gVRgSDswAuw0HFHQ0TgbL2y6WQdzqG/5nMuP/Ss+H45E9xUdhiL6PdfGAGTownWexc+y40eu32n7uTMVnjDLw/hsYvVg+VkeVV6UaFQ5ZRdsWO8MO0gag0jY5FnnawKIOyzR3veYr/Mp/oU7OH6JTQ3yQjpSJMsi2fg9zINW/bIrVTHdzrUh2YcPmFcMvJzqgKF0Hz1Ybzy9eAkDIwdBF2cMvge9BmUzSEvCIjbnf3A1m0XfUCj/oZRjLKuoFWshTWxP3hbeXmDV9w85AVOwgrW1hIeOdRf1hDUZqzFCjMKLHdbu/dhgq5lHg/2zhLWrjS3vwmuLRZO7UAu8ob27X2T8B61duDl1PrJK73f8SEv9DCzG/xBC1CYVEjBW15A7VTvlNu/V1LlqU/3djP0+yjImF8jXfoY4m93njChoQtxs088J6ktxf0yBET3F5OX9DLNWi/t+GvfL7x89oU7NTQd22BESRt0SHQD3KT1+mHAzyvKqw3N2wgJQgAOVhbhhZv4ZFddIqemXP+BLbHBa2VRdYXUPQa7HnIKn1fr+EXbPQ62KI3bOE9mI92A2rwBvJL/oJGtv1u8TV+McVjpyiLJzIkL/Hp0g6Vgfcd0P26wDqsbwrXwf/Yr/CsfD39Kblbk9rSfM78OFhHDP/vDTwNXjNZDNMZdcxvmhj3oc5hHiokobKB8MaWf+IE1kaFoQTd8rRsl/w0izsoasr8HTH2sAQP1ZLtJhxqJH8vzm/v/5ioJgNY7JkxQlUEdb3rukUG0JvO6RJ+tixggMIwyTZWwXjWdC5+mlEn/PsOhE8MoNQQIAydtW8iX8T8nXA9/nWRbUZcJWeJKl4lAb499UaV7luKmVlNTxsw98e8vp+g1D9i1MTyCN9CfbKyzfTCOfoR6dR6zLpa6wk3mVf86XS4rjP6xPF/u4IJtEr4Q2IgZK2dLnqWnAmxFstUqOHlvC9665jToRzC4uF6hvoc9g41kw9YxBfxkmGei9ytsqs6scHu4TulDOD9p3ULZmT3KdguFiBvCyIEeAKa3RM1NMQDNSP2NNZhhP50lUlW6hM+Xu5UnFhqaXafUZ2Sk+LwWdJhsqhS4ErOXLL7Bs/c5kw4vkiO2tQ9FfYwblkDwTQr97NGZdMJ3spryl34RWVHnUIEnHFOshkJbOR2o/tfBBT5K/vArX0PCvu7IZPpbcO3t6ZdvAxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FcgW6ZqD3BGoBtjSPDfPZY",
      "input": {
        "note": "Last attempt at the lemon: reopening the jaws fully and nudging 1.7 cm further to the arm's left where the lemon sits in the wrist view.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.455,
          "right_y": 0.228
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FcgW6ZqD3BGoBtjSPDfPZY",
      "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, 0.8455, 0.6147, -0.5133, -0.0135, -0.0265, 0.999, 0.4904, 2.1265, 1.4078, -0.3382, 0.1005, 0.0124, 0.9956]\nstate[eef_state]: left_x=0.2788 left_y=-0.0001 left_z=0.145 left_yaw=-0.0018 left_pitch=-0.1716 left_roll=0.0053 left_gripper=0.999 right_x=0.4513 right_y=0.2249 right_z=0.0062 right_yaw=0.3763 right_pitch=-0.4827 right_roll=-0.0785 right_gripper=0.9956\nstate[joint_eff]: [-0.0889, -1.6205, 6.8718, 1.746, -0.0171, -0.0171, -0.0122, 0.5128, -11.6034, 6.9402, 1.2576, 0.105, 0.1245, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20491ec0c17ecd1aead4b54687c0f97b22f285c2fb89adc6847de48c6b0236a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34586f3caa07c199cc12c79fa070ca999ca23a492177c92d6c52f7cd5d179874",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2607826b961692a41d54ff8a1246abe00d0b1e0ccbee4c44f2cb1980432d0aaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /messages · status 200 · 13.1 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.841, 0.6147, -0.5022, -0.0135, -0.0265, 0.999, 0.4751, 2.0384, 1.2877, -0.2737, 0.1001, 0.0154, 0.0546]\nstate[eef_state]: left_x=0.2805 left_y=-0.0002 left_z=0.1482 left_yaw=-0.0018 left_pitch=-0.156 left_roll=0.005 left_gripper=0.999 right_x=0.4393 right_y=0.2102 right_z=0.0145 right_yaw=0.3614 right_pitch=-0.4504 right_roll=-0.0723 right_gripper=0.0546\nstate[joint_eff]: [-0.1573, -1.4291, 6.8991, 1.6435, -0.0122, -0.0122, -0.0122, -0.1846, -11.5761, 5.7641, 1.4725, 0.0024, -0.0122, -0.0269]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8436, 0.6147, -0.5041, -0.0139, -0.0265, 0.999, 0.4538, 2.1128, 1.3941, -0.3168, 0.0887, -0.0082, 0.0511]\nstate[eef_state]: left_x=0.2802 left_y=-0.0001 left_z=0.1471 left_yaw=-0.0015 left_pitch=-0.1606 left_roll=0.0053 left_gripper=0.999 right_x=0.4597 right_y=0.2108 right_z=0.0105 right_yaw=0.3643 right_pitch=-0.4634 right_roll=-0.0764 right_gripper=0.0511\nstate[joint_eff]: [-0.1162, -1.6205, 7.0496, 1.6484, -0.0611, -0.0269, -0.0171, -0.6769, -11.2068, 7.665, 1.0916, -0.0366, -0.0317, 0.0952]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8455, 0.6147, -0.5133, -0.0135, -0.0265, 0.999, 0.4904, 2.1265, 1.4078, -0.3382, 0.1005, 0.0124, 0.9956]\nstate[eef_state]: left_x=0.2788 left_y=-0.0001 left_z=0.145 left_yaw=-0.0018 left_pitch=-0.1716 left_roll=0.0053 left_gripper=0.999 right_x=0.4513 right_y=0.2249 right_z=0.0062 right_yaw=0.3763 right_pitch=-0.4827 right_roll=-0.0785 right_gripper=0.9956\nstate[joint_eff]: [-0.0889, -1.6205, 6.8718, 1.746, -0.0171, -0.0171, -0.0122, 0.5128, -11.6034, 6.9402, 1.2576, 0.105, 0.1245, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20491ec0c17ecd1aead4b54687c0f97b22f285c2fb89adc6847de48c6b0236a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34586f3caa07c199cc12c79fa070ca999ca23a492177c92d6c52f7cd5d179874",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2607826b961692a41d54ff8a1246abe00d0b1e0ccbee4c44f2cb1980432d0aaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS5AIKjgEIEhgCKkAJiUf6sFIcd2OfGOuEM+rAj71mo+a6Zl0MKtIxXVtKfSOymWzd4NtPblc/kyM/QrMV0OzfaOAFH0+StsjoB5FMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdaWzNUGEgwZ1QCcQ3ZWxgLg/eoaDMxIRlwMgezXSNbRyyIwloxvjthbdictRnShRLiUWxev5Vlr3ciaWf1YToV20409In5odN/mPy0WFrRUaJNaKoIBxXcmiC40GIBFHfKizRRHHnmVvgbBqVwoMuWk+NAi0qk2YsLAhNTCcVriF+sdTbQaUQlpVVDL6R92Up0MkCwVQQneKDbMXkXysDGhji/RjIBicaEMVJA0BhoOckGeQoYwXC78KlSvBzKpP7KpFwDfxD+eMZTzYI8qd5oKwa0U5NtOEBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QyPHb8cc3c1PmeWPiJe7iw",
      "input": {
        "note": "The lemon now sits right at the open jaws in the wrist view; closing for a final grasp attempt.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QyPHb8cc3c1PmeWPiJe7iw",
      "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, 0.8463, 0.6147, -0.5144, -0.0139, -0.0265, 0.999, 0.4938, 2.1265, 1.4078, -0.342, 0.1001, 0.0078, 0.0545]\nstate[eef_state]: left_x=0.2786 left_y=-0.0001 left_z=0.1446 left_yaw=-0.0015 left_pitch=-0.1735 left_roll=0.0056 left_gripper=0.999 right_x=0.4498 right_y=0.2261 right_z=0.0057 right_yaw=0.3826 right_pitch=-0.4867 right_roll=-0.0812 right_gripper=0.0545\nstate[joint_eff]: [-0.1299, -1.4701, 6.8855, 1.6093, -0.0415, -0.0415, -0.0171, -0.294, -11.5077, 6.1607, 1.2039, 0.0757, 0.0513, 0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2596d9c16ddf2845999b25c9740a418708dca67ad5b3b6a98b61fd1f36eb2d51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bad67b4840ff1e338efc3b964c6039283fde7785859f7bbb92a99fd343aea237",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab509adbaa515691f1443205997c1b56a0bbb6fc4fcb7170ee1d83a2158db63f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]