adhoc

completed
2026-09-22T23:37:36.781378+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (77 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
398.1 s
total steps
357
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see a blue bowl and a large white bowl on the table, with a lemon and a green pear beside the blue bowl on the right side. Moving the right arm to hover above the pear to line up a grasp.
move_to
right_x0.3600right_y0.0200right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0204, 0.7994, 0.6136, -0.3824, -0.0139, -0.0292, 0.9993, -0.0227, 0.8005, 0.6189, -0.387, -0.0162, -0.0334, 0.9995] state[eef_state]: left_x=0.296 left_y=0.0 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=-0.0003 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995 state[joint_eff]: [-0.6496, -1.7299, 9.5658, 1.7753, -0.1001, 0.1392, -0.0855, -0.1846, -1.7846, 9.1282, 1.873, -0.0855, 0.1392, -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": 0.02, "right_z": 0.15, "right_gripper": 1}, "note": "I see a blue bowl and a large white bowl on the table, with a lemon and a green pear beside the blue bowl on the right side. Moving the right arm to hover above the pear to line up a grasp."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent noteThe pear now sits low-right in the right wrist view, off the jaw column; shifting the gripper right and a bit further out to centre it over the pear.
move_to
right_x0.3900right_y-0.0050right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8021, 0.6132, -0.3946, -0.0139, -0.0269, 0.9993, 0.0788, 1.1522, 0.6102, -0.0799, 0.0525, 0.001, 0.9994] state[eef_state]: left_x=0.2945 left_y=-0.0002 left_z=0.179 left_yaw=-0.002 left_pitch=-0.0152 left_roll=0.0022 left_gripper=0.9993 right_x=0.3533 right_y=0.0222 right_z=0.1348 right_yaw=0.0251 right_pitch=-0.0526 right_roll=-0.0109 right_gripper=0.9994 state[joint_eff]: [0.0615, -1.306, 7.0769, 1.8339, -0.0415, -0.0513, -0.0171, -0.2393, -4.4376, 7.9248, 1.9658, 0.1392, 0.2076, -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": -0.005, "right_z": 0.12}, "note": "The pear now sits low-right in the right wrist view, off the jaw column; shifting the gripper right and a bit further out to centre it over the pear."})
tool
executing move_to over 3 steps (0.3s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent noteThe pear is now nearly on the jaw column in the wrist view; nudging slightly right and descending to mid-pear height before closing.
move_to
right_y-0.0140right_z0.0500
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, 0.8059, 0.6132, -0.4076, -0.0139, -0.0265, 0.9993, -0.0414, 1.3483, 0.6434, 0.0212, -0.0429, -0.0715, 0.9994] state[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1752 left_yaw=-0.003 left_pitch=-0.032 left_roll=0.0029 left_gripper=0.9993 right_x=0.3786 right_y=-0.0045 right_z=0.1008 right_yaw=0.0248 right_pitch=-0.1146 right_roll=-0.0102 right_gripper=0.9994 state[joint_eff]: [-0.294, -1.5932, 7.2274, 1.8779, -0.0366, -0.0513, -0.0122, -0.4855, -5.5726, 8.6769, 1.9658, -0.105, -0.0513, -0.0122] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": -0.014, "right_z": 0.05}, "note": "The pear is now nearly on the jaw column in the wrist view; nudging slightly right and descending to mid-pear height before closing."})
tool
executing move_to over 4 steps (0.4s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe pear is centred between the jaws in the wrist view; closing the gripper on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4168, -0.0135, -0.0269, 0.9993, -0.0807, 1.5017, 0.5228, 0.2638, -0.0692, -0.0978, 0.9994] state[eef_state]: left_x=0.2916 left_y=-0.0004 left_z=0.1734 left_yaw=-0.0031 left_pitch=-0.0412 left_roll=0.0025 left_gripper=0.9993 right_x=0.3744 right_y=-0.0144 right_z=0.0442 right_yaw=0.0225 right_pitch=-0.1446 right_roll=-0.0108 right_gripper=0.9994 state[joint_eff]: [-0.2803, -1.0735, 7.0085, 1.7851, -0.0171, -0.0708, -0.0122, -0.3214, -5.6957, 5.4496, 1.8486, -0.1343, 0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The pear is centred between the jaws in the wrist view; closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteGripper closed to 0.60 (~5.7 cm) so the pear is held; lifting and moving left toward the blue bowl to check alignment from above.
move_to
right_z0.2200right_x0.4000right_y0.0900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4236, -0.0139, -0.0269, 0.9993, -0.0807, 1.5017, 0.5228, 0.2611, -0.0731, -0.0978, 0.6022] state[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.172 left_yaw=-0.0027 left_pitch=-0.0481 left_roll=0.0029 left_gripper=0.9993 right_x=0.374 right_y=-0.0137 right_z=0.0437 right_yaw=0.0257 right_pitch=-0.147 right_roll=-0.008 right_gripper=0.6022 state[joint_eff]: [-0.1436, -1.1145, 7.0085, 1.7753, -0.0611, -0.0611, -0.0122, -0.0342, -5.641, 5.7778, 1.6484, -0.0122, -0.0513, 1.0232] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_x": 0.4, "right_y": 0.09}, "note": "Gripper closed to 0.60 (~5.7 cm) so the pear is held; lifting and moving left toward the blue bowl to check alignment from above."})
tool
executing move_to over 12 steps (1.2s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteHolding the pear, the blue bowl appears further out ahead of the jaws in the wrist view; advancing radially to get over the bowl.
move_to
right_x0.4500right_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, 0.8078, 0.6132, -0.4248, -0.0139, -0.0265, 0.9993, 0.3065, 1.4124, 1.1751, -0.5674, 0.1986, 0.1326, 0.6027] state[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1713 left_yaw=-0.0029 left_pitch=-0.0511 left_roll=0.0032 left_gripper=0.9993 right_x=0.3901 right_y=0.0907 right_z=0.1983 right_yaw=0.0533 right_pitch=-0.2165 right_roll=-0.033 right_gripper=0.6027 state[joint_eff]: [-0.212, -1.4701, 7.0632, 1.6874, -0.0366, -0.0513, -0.0122, -0.2803, -6.5709, 9.4974, 1.7949, 0.2173, 0.2271, 0.8327] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.1}, "note": "Holding the pear, the blue bowl appears further out ahead of the jaws in the wrist view; advancing radially to get over the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe blue bowl is now directly under the held pear, slightly to the right; shifting right and lowering before releasing.
move_to
right_y0.0750right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8116, 0.6128, -0.4343, -0.0139, -0.0265, 0.9993, 0.284, 1.6478, 1.3586, -0.5961, 0.1783, 0.1047, 0.6032] state[eef_state]: left_x=0.2894 left_y=-0.0003 left_z=0.1681 left_yaw=-0.0029 left_pitch=-0.0648 left_roll=0.0035 left_gripper=0.9993 right_x=0.4366 right_y=0.0985 right_z=0.1742 right_yaw=0.0586 right_pitch=-0.2991 right_roll=-0.0571 right_gripper=0.6032 state[joint_eff]: [-0.0889, -1.4427, 7.0769, 1.7802, -0.0855, -0.0513, -0.0122, -0.5128, -8.8684, 9.5795, 1.8388, 0.0366, 0.0171, 0.7009] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.075, "right_z": 0.13}, "note": "The blue bowl is now directly under the held pear, slightly to the right; shifting right and lowering before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe previous small command did not move the arm (readback unchanged), so I am re-commanding a slightly larger step: pull in a little, shift right over the bowl centre and lower toward the rim.
move_to
right_x0.4200right_y0.0750right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.812, 0.6128, -0.4351, -0.0135, -0.0269, 0.9993, 0.284, 1.6478, 1.3586, -0.5961, 0.1787, 0.1047, 0.6059] state[eef_state]: left_x=0.2893 left_y=-0.0004 left_z=0.1679 left_yaw=-0.003 left_pitch=-0.066 left_roll=0.003 left_gripper=0.9993 right_x=0.4366 right_y=0.0985 right_z=0.1742 right_yaw=0.0582 right_pitch=-0.299 right_roll=-0.0574 right_gripper=0.6059 state[joint_eff]: [-0.1709, -1.1966, 6.9675, 1.6728, -0.0269, -0.0708, -0.0122, -0.5402, -8.8547, 9.3744, 1.8632, 0.0562, 0.0366, 0.5983] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.075, "right_z": 0.12}, "note": "The previous small command did not move the arm (readback unchanged), so I am re-commanding a slightly larger step: pull in a little, shift right over the bowl centre and lower toward the rim."})
tool
executing move_to over 4 steps (0.4s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe right arm is stalled at the same pose despite two commands; trying to unstick it by lifting up and pulling in, which is usually easier for the IK.
move_to
right_x0.4000right_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, 0.8154, 0.6128, -0.4461, -0.0139, -0.0269, 0.9993, 0.284, 1.6478, 1.3586, -0.5961, 0.1787, 0.1047, 0.6077] state[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.1648 left_yaw=-0.0027 left_pitch=-0.0805 left_roll=0.0035 left_gripper=0.9993 right_x=0.4366 right_y=0.0985 right_z=0.1742 right_yaw=0.0582 right_pitch=-0.299 right_roll=-0.0574 right_gripper=0.6077 state[joint_eff]: [-0.1162, -1.5385, 6.9675, 1.8095, -0.0464, -0.0415, -0.0122, -0.4855, -8.8547, 9.5111, 1.8632, 0.0952, 0.0317, 0.6813] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_z": 0.25}, "note": "The right arm is stalled at the same pose despite two commands; trying to unstick it by lifting up and pulling in, which is usually easier for the IK."})
tool
executing move_to over 5 steps (0.5s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe pear is held right over the blue bowl rim in the wrist view; opening the gripper to drop it into the bowl and then I'll check the overhead view.
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, 0.8154, 0.6128, -0.4496, -0.0135, -0.0265, 0.9993, 0.2993, 1.6447, 1.4353, -0.704, 0.1837, 0.1078, 0.61] state[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1641 left_yaw=-0.0032 left_pitch=-0.0839 left_roll=0.0036 left_gripper=0.9993 right_x=0.4295 right_y=0.1025 right_z=0.1902 right_yaw=0.0654 right_pitch=-0.3255 right_roll=-0.0661 right_gripper=0.61 state[joint_eff]: [-0.0342, -1.347, 7.1316, 1.6923, -0.0269, -0.0562, -0.0122, 1.1009, -15.0632, 12.6017, 2.2491, 0.2125, 0.2711, 0.5055] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The pear is held right over the blue bowl rim in the wrist view; opening the gripper to drop it into the bowl and then I'll check the overhead view."})
tool
executing move_to over 4 steps (0.4s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe pear is now sitting in the blue bowl. Lifting clear and moving left over the lemon, which lies on the table to the left of the bowl.
move_to
right_z0.2500right_x0.3800right_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, 0.8154, 0.6128, -0.4503, -0.0139, -0.0265, 0.9993, 0.297, 1.6791, 1.4197, -0.7368, 0.1825, 0.1028, 0.9953] state[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.164 left_yaw=-0.0029 left_pitch=-0.0847 left_roll=0.0039 left_gripper=0.9993 right_x=0.4226 right_y=0.0995 right_z=0.1651 right_yaw=0.0596 right_pitch=-0.4064 right_roll=-0.089 right_gripper=0.9953 state[joint_eff]: [-0.0342, -1.3197, 6.9538, 1.6337, -0.0073, -0.0464, -0.0073, -0.1573, -10.9744, 8.2393, 1.5995, 0.0513, 0.1099, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.25, "right_x": 0.38, "right_y": 0.19}, "note": "The pear is now sitting in the blue bowl. Lifting clear and moving left over the lemon, which lies on the table to the left of the bowl."})
tool
executing move_to over 8 steps (0.8s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe lemon is just left of the jaw column in the wrist view; shifting left slightly and descending to grasp height for a closer look.
move_to
right_y0.2150right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8188, 0.6128, -0.4686, -0.0139, -0.0265, 0.9993, 0.5785, 1.7485, 1.8198, -1.1099, 0.305, 0.3077, 0.9964] state[eef_state]: left_x=0.2846 left_y=-0.0002 left_z=0.1595 left_yaw=-0.0029 left_pitch=-0.1064 left_roll=0.0043 left_gripper=0.9993 right_x=0.3852 right_y=0.1925 right_z=0.2437 right_yaw=0.1091 right_pitch=-0.3998 right_roll=-0.0855 right_gripper=0.9964 state[joint_eff]: [0.0068, -1.6068, 6.9402, 1.8095, -0.0562, -0.022, -0.0122, 0.1573, -7.9385, 7.747, 1.033, 0.2662, 0.149, 0.1001] approver: 1 step(s) modified (delta_clamped). 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_y": 0.215, "right_z": 0.12}, "note": "The lemon is just left of the jaw column in the wrist view; shifting left slightly and descending to grasp height for a closer look."})
tool
executing move_to over 8 steps (0.8s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe lemon sits slightly left and beyond the jaws; advancing radially, nudging left and dropping to grasp height.
move_to
right_y0.2250right_x0.4050right_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, 0.8192, 0.6128, -0.4759, -0.0139, -0.0269, 0.9993, 0.6266, 1.7546, 1.3689, -0.7174, 0.3183, 0.3336, 0.9965] state[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=-0.0026 left_pitch=-0.114 left_roll=0.0041 left_gripper=0.9993 right_x=0.3746 right_y=0.2073 right_z=0.1228 right_yaw=0.1171 right_pitch=-0.4498 right_roll=-0.1145 right_gripper=0.9965 state[joint_eff]: [-0.0615, -1.347, 6.9675, 1.6972, -0.0513, -0.0464, -0.0122, 0.4855, -7.4598, 6.7761, 1.4042, 0.2222, 0.188, 0.0024] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.225, "right_x": 0.405, "right_z": 0.06}, "note": "The lemon sits slightly left and beyond the jaws; advancing radially, nudging left and dropping to grasp height."})
tool
executing move_to over 5 steps (0.5s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe lemon fills the jaw column in the wrist view; lowering to mid-lemon height before closing.
move_to
right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0265, 0.9993, 0.6197, 1.9293, 1.3506, -0.5674, 0.3107, 0.3294, 0.9965] state[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.0032 left_pitch=-0.1144 left_roll=0.0042 left_gripper=0.9993 right_x=0.3945 right_y=0.2195 right_z=0.0585 right_yaw=0.1084 right_pitch=-0.491 right_roll=-0.1338 right_gripper=0.9965 state[joint_eff]: [-0.0752, -1.2103, 6.9812, 1.6386, -0.0415, -0.0317, -0.0122, -0.294, -9.853, 6.3385, 1.1941, 0.2027, -0.0904, -0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.025}, "note": "The lemon fills the jaw column in the wrist view; lowering to mid-lemon height before closing."})
tool
executing move_to over 3 steps (0.3s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe descent stalled but the lemon is centred between the jaws in the wrist view; closing on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0265, 0.9993, 0.6189, 1.9488, 1.3506, -0.5385, 0.3096, 0.3222, 0.9965] state[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.0032 left_pitch=-0.1144 left_roll=0.0042 left_gripper=0.9993 right_x=0.3988 right_y=0.2224 right_z=0.0529 right_yaw=0.1154 right_pitch=-0.4838 right_roll=-0.1316 right_gripper=0.9965 state[joint_eff]: [-0.1573, -1.306, 6.9265, 1.6142, -0.0269, -0.0464, -0.0122, -0.4581, -10.7282, 6.3111, 1.3211, 0.1441, 0.0171, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The descent stalled but the lemon is centred between the jaws in the wrist view; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe close was empty (0.009), so the lemon is a few cm beyond the fingertips; reopening and advancing 3 cm radially.
move_to
right_gripper1.0000right_x0.4300
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, 0.6128, -0.4767, -0.0139, -0.0265, 0.9993, 0.6189, 1.9488, 1.3506, -0.5434, 0.3099, 0.3141, 0.009] state[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1578 left_yaw=-0.0028 left_pitch=-0.1148 left_roll=0.0044 left_gripper=0.9993 right_x=0.398 right_y=0.2217 right_z=0.0524 right_yaw=0.1187 right_pitch=-0.4885 right_roll=-0.1391 right_gripper=0.009 state[joint_eff]: [-0.0615, -1.2103, 6.9402, 1.619, -0.0513, -0.0464, -0.0171, -0.212, -10.2222, 6.147, 1.1111, 0.1685, 0.0562, 0.6862] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.43}, "note": "The close was empty (0.009), so the lemon is a few cm beyond the fingertips; reopening and advancing 3 cm radially."})
tool
executing move_to over 10 steps (1.0s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe lemon now sits between the open jaws in the wrist view; closing on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.477, -0.0139, -0.0265, 0.9993, 0.5793, 2.0304, 1.4509, -0.5808, 0.2901, 0.2638, 0.9953] state[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.1578 left_yaw=-0.0028 left_pitch=-0.1152 left_roll=0.0044 left_gripper=0.9993 right_x=0.4194 right_y=0.2182 right_z=0.0453 right_yaw=0.1218 right_pitch=-0.5176 right_roll=-0.1583 right_gripper=0.9953 state[joint_eff]: [-0.1846, -1.3333, 6.9949, 1.6435, -0.0562, -0.0415, -0.0122, -0.6906, -9.935, 8.5812, 1.0672, 0.1148, 0.1148, 0.0171] approver: 10 step(s) modified (delta_clamped ×10). 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}, "note": "The lemon now sits between the open jaws in the wrist view; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteEmpty close again — the lemon is still just beyond the fingertips (it appears right below the jaws); reopening and advancing another 3.5 cm.
move_to
right_gripper1.0000right_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, 0.8192, 0.6128, -0.4767, -0.0139, -0.0265, 0.9993, 0.5785, 2.0346, 1.454, -0.585, 0.2909, 0.2619, 0.0093] state[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1578 left_yaw=-0.0028 left_pitch=-0.1148 left_roll=0.0044 left_gripper=0.9993 right_x=0.4194 right_y=0.2176 right_z=0.0441 right_yaw=0.1202 right_pitch=-0.5223 right_roll=-0.1627 right_gripper=0.0093 state[joint_eff]: [-0.1846, -1.2239, 7.1726, 1.6337, -0.0513, -0.0317, -0.0122, -0.0068, -11.1521, 6.0239, 1.0476, 0.1587, -0.022, 0.6862] approver: 10 step(s) modified (delta_clamped ×10). 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_gripper": 1, "right_x": 0.455}, "note": "Empty close again \u2014 the lemon is still just beyond the fingertips (it appears right below the jaws); reopening and advancing another 3.5 cm."})
tool
executing move_to over 10 steps (1.0s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe lemon is now right at the jaw opening in the wrist view; closing on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8238, 0.6128, -0.4904, -0.0139, -0.0265, 0.9993, 0.5407, 2.1304, 1.5879, -0.6449, 0.2718, 0.2111, 0.9956] state[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.154 left_yaw=-0.0028 left_pitch=-0.1331 left_roll=0.0048 left_gripper=0.9993 right_x=0.4433 right_y=0.215 right_z=0.038 right_yaw=0.1251 right_pitch=-0.5543 right_roll=-0.1816 right_gripper=0.9956 state[joint_eff]: [-0.212, -1.5795, 6.9675, 1.7802, -0.0366, -0.0513, -0.0122, -0.841, -10.3179, 8.4855, 1.1746, 0.105, 0.0611, -0.1343] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The lemon is now right at the jaw opening in the wrist view; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteStill empty; in the wrist view the lemon is under the left jaw, so it is slightly to the arm's left and just beyond; reopening, shifting left 2 cm, forward 2 cm and lowering.
move_to
right_gripper1.0000right_y0.2350right_x0.4650right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8249, 0.6128, -0.4915, -0.0139, -0.0265, 0.9993, 0.5404, 2.1323, 1.5921, -0.6525, 0.2718, 0.2047, 0.0084] state[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1535 left_yaw=-0.0028 left_pitch=-0.1354 left_roll=0.0048 left_gripper=0.9993 right_x=0.4429 right_y=0.2146 right_z=0.0378 right_yaw=0.1274 right_pitch=-0.5598 right_roll=-0.1874 right_gripper=0.0084 state[joint_eff]: [0.0068, -1.4427, 7.0222, 1.5995, -0.0415, -0.0708, -0.0122, -0.0615, -11.8222, 5.8735, 1.0037, 0.1343, 0.0513, 0.6569] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_y": 0.235, "right_x": 0.465, "right_z": 0.02}, "note": "Still empty; in the wrist view the lemon is under the left jaw, so it is slightly to the arm's left and just beyond; reopening, shifting left 2 cm, forward 2 cm and lowering."})
tool
executing move_to over 10 steps (1.0s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteI have lost track of the lemon and the blue bowl behind the arm; retracting the right arm out of the way to get a clear overhead view of the scene.
move_to
right_x0.2500right_y0.0000right_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, 0.6128, -0.4923, -0.0135, -0.0265, 0.9993, 0.5537, 2.2543, 1.71, -0.6811, 0.2722, 0.2008, 0.9955] state[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1534 left_yaw=-0.0031 left_pitch=-0.1362 left_roll=0.0046 left_gripper=0.9993 right_x=0.4557 right_y=0.2301 right_z=0.0152 right_yaw=0.1342 right_pitch=-0.5901 right_roll=-0.2055 right_gripper=0.9955 state[joint_eff]: [-0.212, -1.2786, 6.9265, 1.5946, -0.0269, 0.0024, -0.0122, 0.0342, -11.7675, 8.5675, 1.0134, 0.1685, 0.0855, -0.1099] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.0, "right_z": 0.3}, "note": "I have lost track of the lemon and the blue bowl behind the arm; retracting the right arm out of the way to get a clear overhead view of the scene."})
tool
executing move_to over 20 steps (2.0s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteClear view now: the pear is in the blue bowl, and the lemon sits on the table just left of it. Hovering the right gripper above the lemon for a fresh top-down approach.
move_to
right_x0.4000right_y0.2300right_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, 0.8322, 0.6128, -0.498, -0.0139, -0.0265, 0.9993, 0.0586, 1.3174, 1.692, -1.5013, 0.102, -0.2306, 0.9965] state[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.1504 left_yaw=-0.0028 left_pitch=-0.1491 left_roll=0.0051 left_gripper=0.9993 right_x=0.2658 right_y=0.0012 right_z=0.2912 right_yaw=0.0917 right_pitch=-0.5722 right_roll=-0.2117 right_gripper=0.9965 state[joint_eff]: [-0.0342, -1.7573, 6.8991, 1.6825, -0.0269, -0.022, -0.0122, -0.1846, -4.4786, 6.5162, 0.989, -0.0855, -0.022, 0.0855] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.23, "right_z": 0.16}, "note": "Clear view now: the pear is in the blue bowl, and the lemon sits on the table just left of it. Hovering the right gripper above the lemon for a fresh top-down approach."})
tool
executing move_to over 20 steps (2.0s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteLemon is just about on the jaw column, a little beyond; descending nearly straight down to grasp height with a small 2 cm advance.
move_to
right_x0.4100right_y0.2250right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4988, -0.0139, -0.0265, 0.9993, 0.6308, 1.9934, 1.8683, -1.1664, 0.3027, 0.279, 0.9965] state[eef_state]: left_x=0.2804 left_y=-0.0001 left_z=0.1503 left_yaw=-0.0027 left_pitch=-0.1499 left_roll=0.0051 left_gripper=0.9993 right_x=0.3879 right_y=0.2225 right_z=0.1524 right_yaw=0.113 right_pitch=-0.6265 right_roll=-0.2361 right_gripper=0.9965 state[joint_eff]: [-0.1436, -1.4017, 6.8991, 1.5849, -0.0464, -0.0415, -0.0122, 0.2667, -10.3726, 8.1846, 0.862, 0.3346, 0.1734, -0.0073] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.225, "right_z": 0.045}, "note": "Lemon is just about on the jaw column, a little beyond; descending nearly straight down to grasp height with a small 2 cm advance."})
tool
executing move_to over 7 steps (0.7s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThe lemon is right of the jaw column in the wrist view; shifting the gripper 2.5 cm to its right and 1 cm forward to straddle it.
move_to
right_y0.1970right_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, 0.8322, 0.6128, -0.4988, -0.0139, -0.0265, 0.9993, 0.6132, 2.0674, 1.5753, -0.812, 0.3019, 0.2577, 0.9965] state[eef_state]: left_x=0.2804 left_y=-0.0001 left_z=0.1503 left_yaw=-0.0027 left_pitch=-0.1499 left_roll=0.0051 left_gripper=0.9993 right_x=0.3985 right_y=0.2206 right_z=0.0511 right_yaw=0.1054 right_pitch=-0.6406 right_roll=-0.2528 right_gripper=0.9965 state[joint_eff]: [-0.0205, -1.2786, 6.9128, 1.5702, -0.0171, -0.0415, -0.0122, -0.4444, -10.3043, 6.1333, 0.9109, 0.2125, -0.0806, -0.0122] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.197, "right_x": 0.42}, "note": "The lemon is right of the jaw column in the wrist view; shifting the gripper 2.5 cm to its right and 1 cm forward to straddle it."})
tool
executing move_to over 2 steps (0.2s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe lemon is up against the right jaw, so the gripper centre is still too far left; lifting clear and shifting ~4 cm to the arm's right before descending again.
move_to
right_z0.1400right_y0.1750
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4988, -0.0135, -0.0265, 0.9993, 0.5854, 2.0872, 1.5486, -0.7544, 0.2909, 0.2161, 0.9965] state[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1503 left_yaw=-0.0031 left_pitch=-0.1499 left_roll=0.0049 left_gripper=0.9993 right_x=0.4069 right_y=0.2132 right_z=0.0374 right_yaw=0.1185 right_pitch=-0.6416 right_roll=-0.2535 right_gripper=0.9965 state[joint_eff]: [-0.0752, -1.3744, 6.8991, 1.5702, -0.0122, -0.022, -0.0122, -2.0991, -14.0239, 5.7094, 1.0427, 0.1978, 0.0611, -0.0073] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.14, "right_y": 0.175}, "note": "The lemon is up against the right jaw, so the gripper centre is still too far left; lifting clear and shifting ~4 cm to the arm's right before descending again."})
tool
executing move_to over 7 steps (0.7s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
assistant
agent noteThe lemon now sits between the two jaws in the wrist view; closing on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4988, -0.0135, -0.0265, 0.9993, 0.543, 2.0869, 1.5394, -0.7441, 0.2916, 0.1822, 0.9965] state[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1503 left_yaw=-0.0031 left_pitch=-0.1499 left_roll=0.0049 left_gripper=0.9993 right_x=0.4153 right_y=0.1955 right_z=0.0355 right_yaw=0.098 right_pitch=-0.6447 right_roll=-0.2689 right_gripper=0.9965 state[joint_eff]: [-0.0615, -1.4154, 7.1043, 1.5751, -0.0171, -0.0513, -0.0122, -0.0205, -13.8051, 5.9829, 0.8913, 0.1734, -0.0464, -0.0122] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The lemon now sits between the two jaws in the wrist view; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 205
assistant
agent noteAnother empty close — the wrist has drifted to a strongly pitched-back pose at the edge of reach, which likely puts the real fingertips away from where I aim. Commanding the tool back to level pitch and re-hovering just above the lemon.
move_to
right_gripper1.0000right_pitch0.0000right_z0.0600right_x0.4000right_y0.1930
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4988, -0.0135, -0.0265, 0.9993, 0.548, 2.0815, 1.4807, -0.6952, 0.2993, 0.1745, 0.0095] state[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1503 left_yaw=-0.0031 left_pitch=-0.1499 left_roll=0.0049 left_gripper=0.9993 right_x=0.4092 right_y=0.1929 right_z=0.0235 right_yaw=0.0993 right_pitch=-0.6468 right_roll=-0.2831 right_gripper=0.0095 state[joint_eff]: [-0.1983, -1.4154, 6.8991, 1.5849, -0.0269, -0.0317, -0.0122, 0.1573, -12.8889, 5.9692, 1.0525, 0.2759, 0.0904, 0.6813] approver: 3 step(s) modified (delta_clamped ×3). 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": 1, "right_pitch": 0.0, "right_z": 0.06, "right_x": 0.4, "right_y": 0.193}, "note": "Another empty close \u2014 the wrist has drifted to a strongly pitched-back pose at the edge of reach, which likely puts the real fingertips away from where I aim. Commanding the tool back to level pitch and re-hovering just above the lemon."})
tool
executing move_to over 22 steps (2.2s)
step 227
assistant
agent noteThe wrist view is confusing; pulling the right arm well back to get a clean overhead picture of where the lemon, pear and blue bowl actually are.
move_to
right_x0.2200right_y-0.0500right_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, 0.8322, 0.6128, -0.4988, -0.0135, -0.0265, 0.9993, 0.6735, 1.8492, 0.8379, 0.2203, 0.5995, 0.1104, 0.9975] state[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1503 left_yaw=-0.0031 left_pitch=-0.1499 left_roll=0.0049 left_gripper=0.9993 right_x=0.3924 right_y=0.1902 right_z=0.0366 right_yaw=0.1101 right_pitch=-0.092 right_roll=-0.31 right_gripper=0.9975 state[joint_eff]: [-0.212, -1.306, 7.1726, 1.5751, -0.0464, -0.0513, -0.0122, 0.3761, -11.1248, 5.2171, 1.6288, 0.4322, -0.1294, -0.0269] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.22, "right_y": -0.05, "right_z": 0.3}, "note": "The wrist view is confusing; pulling the right arm well back to get a clean overhead picture of where the lemon, pear and blue bowl actually are."})
tool
executing move_to over 21 steps (2.1s)
step 248
assistant
agent noteClear view: the pear is in the blue bowl and the lemon lies on the table just short of and left of the bowl. Approaching the lemon from a nearer, less-extended pose (previous attempts over-reached past it).
move_to
right_x0.3700right_y0.1750right_z0.0450right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8341, 0.6128, -0.5037, -0.0139, -0.0265, 0.9993, -0.4297, 0.7563, 1.132, -1.0073, -0.1699, -0.543, 0.9979] state[eef_state]: left_x=0.2797 left_y=-0.0001 left_z=0.1489 left_yaw=-0.0027 left_pitch=-0.1568 left_roll=0.0053 left_gripper=0.9993 right_x=0.224 right_y=-0.0658 right_z=0.2949 right_yaw=-0.0065 right_pitch=-0.0877 right_roll=-0.3208 right_gripper=0.9979 state[joint_eff]: [-0.1573, -1.4427, 6.8855, 1.6532, -0.0415, -0.0659, -0.0122, 0.9231, 0.5812, 6.5983, 1.4725, -0.1636, -0.0171, 0.0366] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.175, "right_z": 0.045, "right_pitch": 0.0}, "note": "Clear view: the pear is in the blue bowl and the lemon lies on the table just short of and left of the bowl. Approaching the lemon from a nearer, less-extended pose (previous attempts over-reached past it)."})
tool
executing move_to over 21 steps (2.1s)
step 269
assistant
agent noteThe lemon is large and centred between the jaws in the wrist view; closing on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8398, 0.6128, -0.5148, -0.0135, -0.0265, 0.9993, 0.733, 1.7805, 0.717, 0.1833, 0.7383, 0.1852, 0.998] state[eef_state]: left_x=0.278 left_y=-0.0001 left_z=0.1453 left_yaw=-0.003 left_pitch=-0.1735 left_roll=0.0053 left_gripper=0.9993 right_x=0.3553 right_y=0.1648 right_z=0.0306 right_yaw=0.026 right_pitch=-0.0886 right_roll=-0.3867 right_gripper=0.998 state[joint_eff]: [-0.2256, -1.8256, 7.0769, 1.707, -0.022, -0.0464, -0.0122, 0.335, -8.4991, 6.3521, 1.4774, 0.5592, 0.2466, 0.0024] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The lemon is large and centred between the jaws in the wrist view; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 279
assistant
agent noteEmpty close again and the lemon now shows to the right of the jaws — my gripper is consistently ~3 cm to the lemon's left. Reopening and stepping 3 cm to the arm's right.
move_to
right_gripper1.0000right_y0.1320
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, 0.8398, 0.6128, -0.5205, -0.0139, -0.0265, 0.9993, 0.7349, 1.7859, 0.7223, 0.1894, 0.7395, 0.1761, 0.0088] state[eef_state]: left_x=0.2771 left_y=-0.0 left_z=0.1443 left_yaw=-0.0027 left_pitch=-0.1793 left_roll=0.0057 left_gripper=0.9993 right_x=0.3568 right_y=0.1668 right_z=0.0312 right_yaw=0.032 right_pitch=-0.0853 right_roll=-0.3907 right_gripper=0.0088 state[joint_eff]: [-0.0342, -1.4017, 7.0769, 1.6093, -0.0757, -0.0757, -0.0122, -0.2393, -8.0752, 4.547, 1.3358, 0.359, 0.0904, 0.7106] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_y": 0.132}, "note": "Empty close again and the lemon now shows to the right of the jaws \u2014 my gripper is consistently ~3 cm to the lemon's left. Reopening and stepping 3 cm to the arm's right."})
tool
executing move_to over 10 steps (1.0s)
step 289
assistant
agent noteThe wrist has drifted to roll -0.42 rad, which rotates the wrist image and the jaw axis and probably explains my repeated misses; commanding roll/pitch/yaw back to zero and lifting slightly to re-reference.
move_to
right_roll0.0000right_yaw0.0000right_pitch0.0000right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8452, 0.6128, -0.5209, -0.0139, -0.0265, 0.9993, 0.6456, 1.7367, 0.6209, 0.252, 0.6754, 0.0856, 0.9954] state[eef_state]: left_x=0.2772 left_y=-0.0 left_z=0.1429 left_yaw=-0.0026 left_pitch=-0.185 left_roll=0.0058 left_gripper=0.9993 right_x=0.352 right_y=0.1314 right_z=0.0207 right_yaw=0.0339 right_pitch=-0.1264 right_roll=-0.4169 right_gripper=0.9954 state[joint_eff]: [-0.0479, -1.9077, 6.8718, 1.6044, -0.0464, -0.0366, -0.0122, -0.4034, -8.4991, 4.5197, 1.7167, 0.2418, 0.0317, -0.1441] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_roll": 0.0, "right_yaw": 0.0, "right_pitch": 0.0, "right_z": 0.06}, "note": "The wrist has drifted to roll -0.42 rad, which rotates the wrist image and the jaw axis and probably explains my repeated misses; commanding roll/pitch/yaw back to zero and lifting slightly to re-reference."})
tool
executing move_to over 6 steps (0.6s)
step 295
assistant
agent noteWith the wrist level, the lemon sits ~4 cm right of the jaw column; stepping the gripper that far to the arm's right and down to grasp height.
move_to
right_y0.0850right_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, 0.8467, 0.6128, -0.5205, -0.0139, -0.0265, 0.9993, 0.569, 1.5517, 0.5076, 0.3229, 0.5034, 0.2485, 0.9964] state[eef_state]: left_x=0.2773 left_y=-0.0 left_z=0.1425 left_yaw=-0.0026 left_pitch=-0.1861 left_roll=0.0058 left_gripper=0.9993 right_x=0.3463 right_y=0.1246 right_z=0.046 right_yaw=0.0094 right_pitch=-0.0523 right_roll=-0.1055 right_gripper=0.9964 state[joint_eff]: [-0.0615, -1.0872, 7.0359, 1.6337, -0.0464, -0.0562, -0.0122, -0.3761, -6.653, 5.5316, 2.0342, 0.188, 0.1832, 0.0904] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.085, "right_z": 0.035}, "note": "With the wrist level, the lemon sits ~4 cm right of the jaw column; stepping the gripper that far to the arm's right and down to grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 299
assistant
agent noteThe lemon is finally centred between the two jaws in the wrist view; closing on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8474, 0.6128, -0.5354, -0.0135, -0.0265, 0.9993, 0.4309, 1.5406, 0.411, 0.3931, 0.4175, 0.1791, 0.9965] state[eef_state]: left_x=0.2748 left_y=-0.0 left_z=0.1397 left_yaw=-0.0029 left_pitch=-0.2018 left_roll=0.0059 left_gripper=0.9993 right_x=0.3397 right_y=0.0812 right_z=0.0246 right_yaw=-0.0242 right_pitch=-0.0978 right_roll=-0.1186 right_gripper=0.9965 state[joint_eff]: [-0.0889, -1.4291, 6.8581, 1.6825, -0.0366, -0.0562, -0.0122, -0.1846, -6.4479, 5.1624, 1.9902, 0.0952, -0.0757, 0.0024] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The lemon is finally centred between the two jaws in the wrist view; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 309
assistant
agent noteGripper settled at 0.34 (~3.2 cm) — the lemon is grasped. Lifting and moving over the blue bowl, which lies just ahead and to the arm's left.
move_to
right_z0.2000right_x0.4100right_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, 0.8474, 0.6128, -0.5362, -0.0139, -0.0265, 0.9993, 0.4168, 1.5387, 0.4046, 0.4446, 0.387, 0.1371, 0.3351] state[eef_state]: left_x=0.2746 left_y=0.0 left_z=0.1396 left_yaw=-0.0026 left_pitch=-0.2025 left_roll=0.0061 left_gripper=0.9993 right_x=0.3455 right_y=0.084 right_z=0.0307 right_yaw=0.0104 right_pitch=-0.0662 right_roll=-0.1143 right_gripper=0.3351 state[joint_eff]: [-0.0205, -1.4427, 6.8718, 1.5263, -0.0269, -0.0464, -0.0122, 0.1162, -6.2154, 4.8889, 1.6386, 0.0806, 0.0073, 1.0281] camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.41, "right_y": 0.105}, "note": "Gripper settled at 0.34 (~3.2 cm) \u2014 the lemon is grasped. Lifting and moving over the blue bowl, which lies just ahead and to the arm's left."})
tool
executing move_to over 11 steps (1.1s)
step 320
assistant
agent noteHolding the lemon, the blue bowl appears low and right of the jaws in the wrist view, meaning it is nearer and to the arm's right; pulling in 3 cm and shifting right 3 cm to sit over it.
move_to
right_x0.3800right_y0.0800right_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, 0.8474, 0.6128, -0.5396, -0.0135, -0.0265, 0.9993, 0.4019, 1.4326, 1.0565, -0.2897, 0.3611, 0.1135, 0.3358] state[eef_state]: left_x=0.274 left_y=-0.0 left_z=0.139 left_yaw=-0.0029 left_pitch=-0.206 left_roll=0.0059 left_gripper=0.9993 right_x=0.4084 right_y=0.1097 right_z=0.1941 right_yaw=0.0298 right_pitch=-0.052 right_roll=-0.1094 right_gripper=0.3358 state[joint_eff]: [-0.1983, -1.265, 6.9675, 1.6337, -0.0269, -0.0415, -0.0171, -0.759, -5.5726, 8.0205, 1.5067, 0.1587, 0.0464, 0.6374] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.08, "right_z": 0.18}, "note": "Holding the lemon, the blue bowl appears low and right of the jaws in the wrist view, meaning it is nearer and to the arm's right; pulling in 3 cm and shifting right 3 cm to sit over it."})
tool
executing move_to over 3 steps (0.3s)
step 323
assistant
agent noteThe blue bowl with the pear is centred right under the held lemon; releasing so the lemon drops into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8474, 0.6128, -0.5419, -0.0135, -0.0265, 0.9993, 0.3492, 1.3273, 0.9047, -0.2909, 0.329, 0.0879, 0.337] state[eef_state]: left_x=0.2736 left_y=-0.0 left_z=0.1385 left_yaw=-0.0029 left_pitch=-0.2082 left_roll=0.006 left_gripper=0.9993 right_x=0.379 right_y=0.0811 right_z=0.1673 right_yaw=0.0158 right_pitch=-0.1055 right_roll=-0.1272 right_gripper=0.337 state[joint_eff]: [-0.1709, -1.0735, 6.8855, 1.6337, -0.0659, -0.0806, -0.0122, -0.1846, -6.2838, 8.4034, 2.1465, -0.0171, -0.0269, 0.3297] camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The blue bowl with the pear is centred right under the held lemon; releasing so the lemon drops into the bowl."})
tool
executing move_to over 7 steps (0.7s)
step 330
assistant
agent noteThe lemon slipped out and rolled toward the front of the table near the base; moving the gripper back over that area to try to recover it.
move_to
right_x0.2400right_y0.1300right_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, 0.8494, 0.6128, -0.543, -0.0135, -0.0265, 0.9993, 0.3496, 1.3262, 0.8833, -0.3042, 0.3168, 0.0704, 0.9959] state[eef_state]: left_x=0.2735 left_y=-0.0 left_z=0.1379 left_yaw=-0.0029 left_pitch=-0.2113 left_roll=0.006 left_gripper=0.9993 right_x=0.3726 right_y=0.0811 right_z=0.1558 right_yaw=0.0344 right_pitch=-0.1412 right_roll=-0.1438 right_gripper=0.9959 state[joint_eff]: [-0.1026, -1.4427, 7.0496, 1.5214, -0.0122, -0.0269, -0.0122, -0.1162, -5.1487, 8.5402, 1.6777, 0.2173, 0.1538, -0.1783] camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.24, "right_y": 0.13, "right_z": 0.1}, "note": "The lemon slipped out and rolled toward the front of the table near the base; moving the gripper back over that area to try to recover it."})
tool
executing move_to over 11 steps (1.1s)
step 341
assistant
agent noteThe lemon lies near the front edge, left of and nearer than the gripper; moving down and onto it to grasp.
move_to
right_x0.1900right_y0.1900right_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, 0.852, 0.6128, -0.5461, -0.0139, -0.0265, 0.9993, 0.878, 1.0897, 0.5568, -0.424, 0.6254, 0.4629, 0.9965] state[eef_state]: left_x=0.273 left_y=0.0001 left_z=0.1367 left_yaw=-0.0025 left_pitch=-0.217 left_roll=0.0064 left_gripper=0.9993 right_x=0.2443 right_y=0.138 right_z=0.099 right_yaw=0.0965 right_pitch=-0.1652 right_roll=-0.1563 right_gripper=0.9965 state[joint_eff]: [-0.2256, -1.306, 6.8444, 1.6288, -0.0708, -0.0562, -0.0122, 0.1436, -3.959, 6.1333, 1.2821, 0.4029, 0.1197, 0.0562] camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.19, "right_y": 0.19, "right_z": 0.03}, "note": "The lemon lies near the front edge, left of and nearer than the gripper; moving down and onto it to grasp."})
tool
executing move_to over 5 steps (0.5s)
step 346
assistant
agent noteThe lemon is just at the left fingertip in the overhead view; nudging 1.5 cm left/nearer and closing on it.
move_to
right_y0.2000right_x0.1800right_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, 0.8528, 0.6128, -0.5472, -0.0139, -0.0265, 0.9993, 1.2312, 1.4067, 0.5053, -0.358, 0.7528, 0.8017, 0.9966] state[eef_state]: left_x=0.2728 left_y=0.0001 left_z=0.1363 left_yaw=-0.0025 left_pitch=-0.2189 left_roll=0.0065 left_gripper=0.9993 right_x=0.1894 right_y=0.1842 right_z=0.0283 right_yaw=0.1469 right_pitch=-0.2186 right_roll=-0.2232 right_gripper=0.9966 state[joint_eff]: [0.0615, -1.5385, 7.0222, 1.5311, -0.0806, -0.0366, -0.0122, 0.1026, -4.9573, 6.0513, 0.735, 0.779, 0.1734, -0.0073] camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.2, "right_x": 0.18, "right_gripper": 0}, "note": "The lemon is just at the left fingertip in the overhead view; nudging 1.5 cm left/nearer and closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 356
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, 0.8539, 0.6128, -0.551, -0.0135, -0.0265, 0.9993, 1.2613, 1.4437, 0.5049, -0.3367, 0.7776, 0.9092, 0.0093] state[eef_state]: left_x=0.2722 left_y=0.0 left_z=0.1353 left_yaw=-0.0028 left_pitch=-0.2239 left_roll=0.0063 left_gripper=0.9993 right_x=0.1867 right_y=0.1887 right_z=0.0243 right_yaw=0.1065 right_pitch=-0.1927 right_roll=-0.1696 right_gripper=0.0093 state[joint_eff]: [-0.0068, -1.2923, 7.0496, 1.5458, -0.0317, -0.0415, -0.0122, -0.0479, -5.0803, 5.2581, 0.8523, 0.6276, 0.0708, 0.652] camera 'top_cam' (step 356): [image omitted: streamed camera frame] camera 'left_cam' (step 356): [image omitted: streamed camera frame] camera 'right_cam' (step 356): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 31.92 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.7994, 0.6136, -0.3824, -0.0139, -0.0292, 0.9993, -0.0227, 0.8005, 0.6189, -0.387, -0.0162, -0.0334, 0.9995]\nstate[eef_state]: left_x=0.296 left_y=0.0 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=-0.0003 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.6496, -1.7299, 9.5658, 1.7753, -0.1001, 0.1392, -0.0855, -0.1846, -1.7846, 9.1282, 1.873, -0.0855, 0.1392, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac2731b2e9a7bff50e286d272daaea91d7d30826c977aaa0dafabd6be186cd1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07857def9498e1f6af7413f7e5b6aac21b49258c80aab8713c16448849d497fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bdc143c3b72e82c6b938db0a50f7156e49e69efdf48ad9150402e01c1c031608",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 11.21 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.7994, 0.6136, -0.3824, -0.0139, -0.0292, 0.9993, -0.0227, 0.8005, 0.6189, -0.387, -0.0162, -0.0334, 0.9995]\nstate[eef_state]: left_x=0.296 left_y=0.0 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=-0.0003 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.6496, -1.7299, 9.5658, 1.7753, -0.1001, 0.1392, -0.0855, -0.1846, -1.7846, 9.1282, 1.873, -0.0855, 0.1392, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac2731b2e9a7bff50e286d272daaea91d7d30826c977aaa0dafabd6be186cd1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07857def9498e1f6af7413f7e5b6aac21b49258c80aab8713c16448849d497fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdc143c3b72e82c6b938db0a50f7156e49e69efdf48ad9150402e01c1c031608",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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uLQ1Ec/GitFNV9al4HfitsIMkUDDOilIkaX+kVHXRirvvkWDg12WtnVUrjn7zf4gqwHLBxwWbg7vs7bx5SgL2fRaCeCpJrnGQHdaXUJh2RtsBHXZ5KzSRNeWOelTGDNPRvAxvIueuQlmVAQJ9kdcS6bmeWPNcnyHlFmSC+bRwa4Hg6IuTDeboEvsjxbv3H9L6AyRhnNQ2YLMWao+dcYLzPsRYpbvdTHBfkF5EtNThZXEJdDCTSM24cOfAxDzmUf4fE7vDnvk5tlySXWgOaY1q/VrQpQdc+bTnLl3bRN9R6UEsgot0YhxuJi8UjU36gluO7bjT2W05++YfyJieRcfZg32qLboYrTn+AUI/w2/r2bGHS2sgeCm9M2KGiULmpUK4xNzcE24qrMRoqD4t/quijdGmtTqNUxrApyaGS9iuNuZF/D0x7oyGVKu9k6J3p0Usu9YJedIHh1FuFNtdSU1SF1ie+hYvC+KxnsJ4l/D2CKwvsxZ948Oz1+ktYEd6hKwu/7+vmUu4tCNeEvdPse4ECTNbRcJv/Y3ozta3jo6g0IMGh8NzNFFmL7gSIxgXUlctaGbyvboFCAisyAqkhctmzBi3TOmnFO78zjIZxG9JOOWOAKQ0Gve3pUkoP0QwQR74OqIf2Q5vnVdZ8T9IMosbf7G7vuY2fhmJC3nPuks0Ydfz7pvgg3RRPsMfnJJuoHx6kx61ciJcbLBjCZhEmrSTwKLCgBw828sr1EpTspO4qXf9LZ++SFBbG8lo9HNAK5u3J90e0VxkMzSWdPGUIAIEgk5V/cKSKwaDq4iRE29iWDpjLPYAN57zJgbyYdkj6YIIFASk6fikk9FQ7GsqFgPmSwVe00TmllovpiMBBifwaQSYtyKJJSUrrZT8+Wg1FmhmjB/T/t/5Sd9CduWKcH6TRDnneM+pBsJBdLEY39yOHpLn+E9n1BVbkSTtuOFp0gwgt0St1lP5X4IYma3YC9HsKBP1KJtrXFQmxDZ6ZvFN1biLgwk5imeMFcDoijX6NIyu5kTttfTRGyo0kKOnBlVP4Vtms6k6tkUPUFqnc0quZ8mIa40pqwlCRTju9+ygwxpMe04PVOMnbqKUu0sdeqNSnp0agFNe6+njz+TkhXqrlruyJaS36jL8F3uac9UesCsIZRkeAW67740bbnCf/GzOTK5o3eJDMLaaehCc9RC+vpZ65anMMYSs4FYM/zex1TRvhxkZ+lpxOz2qZ7JWTy38q9sMA8s5/EK8+qdBM4Mndu3Pv+cDnVl7sAxqfbWeD3ICeg9mTRrfLkHVML/6Ms0cP3Nvx6XKTICibjaNpZZ/3/jDeyZsR7qtjETAwyF1YkiyTw4u538MMYo75+qKXT98V2lBUbJJugx+1UZIvny9qPOS1eoiqansinwFt7jxpuRcVfPcchq7/o0wmpKMUPlIiRXGnlBdt6rIneNDSrYU2YZ+2W0hO/8jAS8yD7HWsM0exJMNpPGzkdUNpObmSzqVMYdQbwgSStL0CQkTC1H6fgCuStgwDyKBQHO6fvwNBzk70NkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PVk2VNVV3QVyzs4Gdjk1n1",
      "input": {
        "note": "I see a blue bowl and a large white bowl on the table, with a lemon and a green pear beside the blue bowl on the right side. Moving the right arm to hover above the pear to line up a grasp.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.36,
          "right_y": 0.02,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01PVk2VNVV3QVyzs4Gdjk1n1",
      "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]: [-0.0212, 0.8021, 0.6132, -0.3946, -0.0139, -0.0269, 0.9993, 0.0788, 1.1522, 0.6102, -0.0799, 0.0525, 0.001, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=-0.0002 left_z=0.179 left_yaw=-0.002 left_pitch=-0.0152 left_roll=0.0022 left_gripper=0.9993 right_x=0.3533 right_y=0.0222 right_z=0.1348 right_yaw=0.0251 right_pitch=-0.0526 right_roll=-0.0109 right_gripper=0.9994\nstate[joint_eff]: [0.0615, -1.306, 7.0769, 1.8339, -0.0415, -0.0513, -0.0171, -0.2393, -4.4376, 7.9248, 1.9658, 0.1392, 0.2076, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b9331c4abdd80758edaaced2ff55ee5e102f78c9c70d2040abf8e4e324f93f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d7c92e4a835c827020e30d798a6d9f99c9d519ad2c5fc68233e9a87ed30fe28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:603cbeae55ef1157d880d40e315e5f3c9ce300cb08d8e7a71b4c0532163219df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 5.457 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.7994, 0.6136, -0.3824, -0.0139, -0.0292, 0.9993, -0.0227, 0.8005, 0.6189, -0.387, -0.0162, -0.0334, 0.9995]\nstate[eef_state]: left_x=0.296 left_y=0.0 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=-0.0003 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.6496, -1.7299, 9.5658, 1.7753, -0.1001, 0.1392, -0.0855, -0.1846, -1.7846, 9.1282, 1.873, -0.0855, 0.1392, -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]: [-0.0212, 0.8021, 0.6132, -0.3946, -0.0139, -0.0269, 0.9993, 0.0788, 1.1522, 0.6102, -0.0799, 0.0525, 0.001, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=-0.0002 left_z=0.179 left_yaw=-0.002 left_pitch=-0.0152 left_roll=0.0022 left_gripper=0.9993 right_x=0.3533 right_y=0.0222 right_z=0.1348 right_yaw=0.0251 right_pitch=-0.0526 right_roll=-0.0109 right_gripper=0.9994\nstate[joint_eff]: [0.0615, -1.306, 7.0769, 1.8339, -0.0415, -0.0513, -0.0171, -0.2393, -4.4376, 7.9248, 1.9658, 0.1392, 0.2076, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b9331c4abdd80758edaaced2ff55ee5e102f78c9c70d2040abf8e4e324f93f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d7c92e4a835c827020e30d798a6d9f99c9d519ad2c5fc68233e9a87ed30fe28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:603cbeae55ef1157d880d40e315e5f3c9ce300cb08d8e7a71b4c0532163219df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISpgsKjgEIEhgCKkBYwXwC7KzgpzIUB6VPui3LEtiCrw5hPYviGOg0G5AMKNsaSogxryhw0mcPyiUCEUjwPw9yTDhZBdegi8G60tzWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf2izNUGEgzWSbat8wWRIROuTB4aDA2iywWOw+D4LnYZmiIwfk5+qCY1gAaxdGmSQ4IJ+U1uAkPhs75BUPGASzp5QIjtxgtsxgyiwVyR5kGqZqfGKsQJRSyUga2AdRbqyyCSp5ffKnqx3YAbP1xaENNLyxMAKgX4KyrQfWGWgAQ8TZ8sXqETbobEspRDXHM6RGjgqHvPmi7XvdMzWp/JPp+9iXr27yhoWMl0WLvdig0iBhS2bjwbMPrOWHsKlw5wGJVz5yhzYLnYaU0rc0B9MAX6jYWIh1HmZBKEM0O/69e8ubX4VS30fkwoprzGYx1lQIs6Kjs+D6T7HHDTF9HhbW7GrHj+BHrMsZvKuIpZclN9CrHCus0eHonHCh0DwB4TWuLi70K6/K9+tQnMA5/fa/z56RJfiq1TPTRtschSQHehQ2sTyVKnCQsEzmKpNsXu5qYa63zePrnLEsYxXLrNll5XlCK1kVnrjN59weZ64HVVn6Bg9Lym2TLRo7MEPSJ6lV93g8dSJgHUcpn+B1k2TIh9Fl4T35ZEjcd7pm3VbF1q59o0R9GNNmV3/aXKUpqxYjamDBRBmFIOATqAjYRVm3Tc0nQOwV4D6ecjcBJrVXJM8S76IZcIOJg0vHFD8bkXVAvMQ0QLkr9KdCl4RD4o0SnCle6vzVl/JTndwkb8Zp8ksNojXBTeK7OxsluVkgcrKhMFozccvORnYdELtEz0is1/e03ZmJISd8qJRlzB/ljqXUJBv6TkpHoCHZ5ToDxAjgPb0NHHfI09St9+2xyesWQi6DT5O1AXTZfAI/fRBrinSv+3i9FXABlk0aroJe21GB3qyJpxq8ORWK3uZ9/HJh2+/nNXwDNIEjrbq+YL+jzwazNmvwhBjGszT6iQjPtZOjoz3FRdf/rNJyw79QmckMtLWU9cvudChOEX7ilt9Km1WHHzosaQRlruSAzXhl/nabkHDkMGuWkzfYRkM9ZYXLurSsbQAn9lWoYJmwYw7nC+0yrKDmhm4Kxnj2lbJjSIZ7ONTjzhZeQ1AlcJqSCph9d/EAFKC6RZdAkmNiDfuNc6HTG7k8EIiHEUEn3wPFMkNLqqtE/IpzRtr/s9RheGsjdaR1reTlefEX8i1FOvNzPMmeWXbpr/qeSQVYVH63inHx5gTZkmIpRCTRhFx7aXajqy2T1lBS4LSQ7F1zrh1pn8mzvwZMIrdwnbRC9h+f8w4xaUnBEcLO5MSQJS3AtZf7n7iS8kb7bYJQXdRD1EbYLtbkqgAv3ECKpxPtdsrAyS4WPbeg9NvhzXqNm2LsP8QSBY6eYhrrF0wzuHHTgMMkxD3zpQuTkeTHEA8Gn1HQnfIKrMuymV8+9foaXiYrnJd3ZbShaOSbqaqyZgudqtv2r3UsfkeVjPbWgnBHausByvwzN38vM7SlK8L4/ll4MLu33nOZQwJlrjwlmU6Gefn9gslIt845NedvK1Mth9whXqIWLQhuHnqF4Lvt0cI+3uIedNFShlFza/r3i538L2bsZbtQan2f2fqouaQmeIvfWYTBm2px1dtbMIZAVPIwLr9CziySnDLYFcsd3kYHLxe1+wACKq2otFmn/aOT0d6vj+UF6ZjZzQQzce+EN8IsuqqZx5/NFCvxp+Z416nY61/03UXXc2C7bGYIrrXQjVsayYnNaq/DkyT2j+keFQ8t5aUFxd/u3DUWqC2oXw/G6tpMu0TKQcyKmGl3GAZ7mdSpaPZErgz92/2kFw9vAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CXCrCK3xbKtjLZ6kEdQibo",
      "input": {
        "note": "The pear now sits low-right in the right wrist view, off the jaw column; shifting the gripper right and a bit further out to centre it over the pear.",
        "targets": {
          "right_x": 0.39,
          "right_y": -0.005,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01CXCrCK3xbKtjLZ6kEdQibo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4076, -0.0139, -0.0265, 0.9993, -0.0414, 1.3483, 0.6434, 0.0212, -0.0429, -0.0715, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1752 left_yaw=-0.003 left_pitch=-0.032 left_roll=0.0029 left_gripper=0.9993 right_x=0.3786 right_y=-0.0045 right_z=0.1008 right_yaw=0.0248 right_pitch=-0.1146 right_roll=-0.0102 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.5932, 7.2274, 1.8779, -0.0366, -0.0513, -0.0122, -0.4855, -5.5726, 8.6769, 1.9658, -0.105, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a9e7d8eaff950347a4062977e0b468f136288038c78c719d189c4a2cfc7eddc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0308d5296e57570ed359c911f06c4e36a57921ed8e74afbc92fc5f9f5e1d1ffd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e66856005c18565c19dbd9f84aed4aeb4139da8cab95ad60958b73b5c3432fb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 3.061 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.7994, 0.6136, -0.3824, -0.0139, -0.0292, 0.9993, -0.0227, 0.8005, 0.6189, -0.387, -0.0162, -0.0334, 0.9995]\nstate[eef_state]: left_x=0.296 left_y=0.0 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=-0.0003 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.6496, -1.7299, 9.5658, 1.7753, -0.1001, 0.1392, -0.0855, -0.1846, -1.7846, 9.1282, 1.873, -0.0855, 0.1392, -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]: [-0.0212, 0.8021, 0.6132, -0.3946, -0.0139, -0.0269, 0.9993, 0.0788, 1.1522, 0.6102, -0.0799, 0.0525, 0.001, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=-0.0002 left_z=0.179 left_yaw=-0.002 left_pitch=-0.0152 left_roll=0.0022 left_gripper=0.9993 right_x=0.3533 right_y=0.0222 right_z=0.1348 right_yaw=0.0251 right_pitch=-0.0526 right_roll=-0.0109 right_gripper=0.9994\nstate[joint_eff]: [0.0615, -1.306, 7.0769, 1.8339, -0.0415, -0.0513, -0.0171, -0.2393, -4.4376, 7.9248, 1.9658, 0.1392, 0.2076, -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, 0.6132, -0.4076, -0.0139, -0.0265, 0.9993, -0.0414, 1.3483, 0.6434, 0.0212, -0.0429, -0.0715, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1752 left_yaw=-0.003 left_pitch=-0.032 left_roll=0.0029 left_gripper=0.9993 right_x=0.3786 right_y=-0.0045 right_z=0.1008 right_yaw=0.0248 right_pitch=-0.1146 right_roll=-0.0102 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.5932, 7.2274, 1.8779, -0.0366, -0.0513, -0.0122, -0.4855, -5.5726, 8.6769, 1.9658, -0.105, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a9e7d8eaff950347a4062977e0b468f136288038c78c719d189c4a2cfc7eddc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0308d5296e57570ed359c911f06c4e36a57921ed8e74afbc92fc5f9f5e1d1ffd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e66856005c18565c19dbd9f84aed4aeb4139da8cab95ad60958b73b5c3432fb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqQUKjgEIEhgCKkBogdhhUlOgFlYUezer797XkX7vOeM1J68bOfvCplxWbC39pEb9x90HAe+GCUwEzxChqQszK/RcG1lEI7yFXxnAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYSjzNUGEgxR+dvgoRZ2+/Gpl2YaDGPwDj6n9jX9ERPebyIwYDE7niS0NBI3QMJyuNpW6N46exByDAz+Cvr/FOMH4Nr2BPUpGquXWJRIn01UuZk/KscDHY5m3l0bfeDv4SKsuA/muqCpeJQCuyn9mPyHqgv7lSySAbM6abzExLjkjTP6VdZjxeVxINc+yfuyRAX4moIpBEgGVkHqqnB08KMXqTXWo4KSMKmLwypixwFWiLQt6CUWam+ti2qxio2Yaxt7B+vLALG5ffM9NGxIlstq8UydnVROhGDa8BW2c1kUtZ/HXIvWAZhx3l5d0V6Otpr5s4A2j61oSNbl7wuvIeThQXF6n24eIf5kiPHVCCH4W+vnq1ABJg8T/SV5RydTqvR2I1mYRj2O1WvDCcQZbF0A334L19kIG55lok5vO1wJDV0Opg2HD0opn3yyTNzGqJUXSmelzIh56wTAlFAs8XG9iZONoqsXuKnhSt9HSCN7BFxXjHmLuCq6WdwioBh3AQeiVXRArMi6+aslToK2voRI/t/LCnmfijC0yyVwF/Xd8wjKzPdkpBjyJ054swtC9kvQL962VlRpFveIU+Q/nT11SoTolg9IZmrGoXbCo/yhIlBeis95GokrZie8PK8agQIsCfp8mJIgdzZFyX6doVKJSZYpu7t7P5IORVLghYPjECqbXak4rDVpUkAfhBp/TdyOla5Ywa3rEETvPfQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MDGTKB4NR8sDFRArrVuLqD",
      "input": {
        "note": "The pear is now nearly on the jaw column in the wrist view; nudging slightly right and descending to mid-pear height before closing.",
        "targets": {
          "right_y": -0.014,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01MDGTKB4NR8sDFRArrVuLqD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4168, -0.0135, -0.0269, 0.9993, -0.0807, 1.5017, 0.5228, 0.2638, -0.0692, -0.0978, 0.9994]\nstate[eef_state]: left_x=0.2916 left_y=-0.0004 left_z=0.1734 left_yaw=-0.0031 left_pitch=-0.0412 left_roll=0.0025 left_gripper=0.9993 right_x=0.3744 right_y=-0.0144 right_z=0.0442 right_yaw=0.0225 right_pitch=-0.1446 right_roll=-0.0108 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.0735, 7.0085, 1.7851, -0.0171, -0.0708, -0.0122, -0.3214, -5.6957, 5.4496, 1.8486, -0.1343, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e87dbb2704068e31ee1c7b01e52ca4e01d0303a5bfb113842917ee878ab28f8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dffb4f9bdb08b283dcfc6836f803b39556c71b29768f92a5ade9b1b39df2afa0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19b3577c9489c31f0878ca39a77633a21b76032d26184800c3551b53b1a573d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 9.211 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]: [-0.0212, 0.8021, 0.6132, -0.3946, -0.0139, -0.0269, 0.9993, 0.0788, 1.1522, 0.6102, -0.0799, 0.0525, 0.001, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=-0.0002 left_z=0.179 left_yaw=-0.002 left_pitch=-0.0152 left_roll=0.0022 left_gripper=0.9993 right_x=0.3533 right_y=0.0222 right_z=0.1348 right_yaw=0.0251 right_pitch=-0.0526 right_roll=-0.0109 right_gripper=0.9994\nstate[joint_eff]: [0.0615, -1.306, 7.0769, 1.8339, -0.0415, -0.0513, -0.0171, -0.2393, -4.4376, 7.9248, 1.9658, 0.1392, 0.2076, -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, 0.6132, -0.4076, -0.0139, -0.0265, 0.9993, -0.0414, 1.3483, 0.6434, 0.0212, -0.0429, -0.0715, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1752 left_yaw=-0.003 left_pitch=-0.032 left_roll=0.0029 left_gripper=0.9993 right_x=0.3786 right_y=-0.0045 right_z=0.1008 right_yaw=0.0248 right_pitch=-0.1146 right_roll=-0.0102 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.5932, 7.2274, 1.8779, -0.0366, -0.0513, -0.0122, -0.4855, -5.5726, 8.6769, 1.9658, -0.105, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4168, -0.0135, -0.0269, 0.9993, -0.0807, 1.5017, 0.5228, 0.2638, -0.0692, -0.0978, 0.9994]\nstate[eef_state]: left_x=0.2916 left_y=-0.0004 left_z=0.1734 left_yaw=-0.0031 left_pitch=-0.0412 left_roll=0.0025 left_gripper=0.9993 right_x=0.3744 right_y=-0.0144 right_z=0.0442 right_yaw=0.0225 right_pitch=-0.1446 right_roll=-0.0108 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.0735, 7.0085, 1.7851, -0.0171, -0.0708, -0.0122, -0.3214, -5.6957, 5.4496, 1.8486, -0.1343, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e87dbb2704068e31ee1c7b01e52ca4e01d0303a5bfb113842917ee878ab28f8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dffb4f9bdb08b283dcfc6836f803b39556c71b29768f92a5ade9b1b39df2afa0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19b3577c9489c31f0878ca39a77633a21b76032d26184800c3551b53b1a573d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISsQIKjgEIEhgCKkAQlNiUdRnaL+7/2d9TxheM0RK8P25UAGYjGlFUtCulAmSU7oJRQBmvEaJz+vOdH8jJl5hlJv9NQE2e3Mp0XwweMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYmjzNUGEgwAo9yW2YwPLxg8GFwaDFheY0LxZGiuP3eI6SIwFAq8uwbU9UxwciIvbQkoYyX0NiwezyTlvm6DJpJ0pXjHgsIW98xvdFToM6awMRe3KlAUPABM/JjCGuNvCYUIJrunHiiWk00/dtKz8WQJd+Ts1rR+rWdDKfJyYZ5wkCEhMTARJwBNHQAjcLPkqKBq6aiVL94KvN2HApDcw59AioBSWhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AGkActNk5DxKtHFdabpJ4k",
      "input": {
        "note": "The pear is centred between the jaws in the wrist view; closing the gripper on it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AGkActNk5DxKtHFdabpJ4k",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4236, -0.0139, -0.0269, 0.9993, -0.0807, 1.5017, 0.5228, 0.2611, -0.0731, -0.0978, 0.6022]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.172 left_yaw=-0.0027 left_pitch=-0.0481 left_roll=0.0029 left_gripper=0.9993 right_x=0.374 right_y=-0.0137 right_z=0.0437 right_yaw=0.0257 right_pitch=-0.147 right_roll=-0.008 right_gripper=0.6022\nstate[joint_eff]: [-0.1436, -1.1145, 7.0085, 1.7753, -0.0611, -0.0611, -0.0122, -0.0342, -5.641, 5.7778, 1.6484, -0.0122, -0.0513, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2565fca6e6fd5b06c0720cb71f42baa244ac67bad5aaa0e6178d0157b39b7f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a65680ca589a9c29ba5ea21812846bea8ab57c473c83a472cc6dc9cc71a1e9c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:856974a589c79bae5447adf53b18fd048a5598800a647517dcf9e215d077a9e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 6.06 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, 0.6132, -0.4076, -0.0139, -0.0265, 0.9993, -0.0414, 1.3483, 0.6434, 0.0212, -0.0429, -0.0715, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1752 left_yaw=-0.003 left_pitch=-0.032 left_roll=0.0029 left_gripper=0.9993 right_x=0.3786 right_y=-0.0045 right_z=0.1008 right_yaw=0.0248 right_pitch=-0.1146 right_roll=-0.0102 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.5932, 7.2274, 1.8779, -0.0366, -0.0513, -0.0122, -0.4855, -5.5726, 8.6769, 1.9658, -0.105, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4168, -0.0135, -0.0269, 0.9993, -0.0807, 1.5017, 0.5228, 0.2638, -0.0692, -0.0978, 0.9994]\nstate[eef_state]: left_x=0.2916 left_y=-0.0004 left_z=0.1734 left_yaw=-0.0031 left_pitch=-0.0412 left_roll=0.0025 left_gripper=0.9993 right_x=0.3744 right_y=-0.0144 right_z=0.0442 right_yaw=0.0225 right_pitch=-0.1446 right_roll=-0.0108 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.0735, 7.0085, 1.7851, -0.0171, -0.0708, -0.0122, -0.3214, -5.6957, 5.4496, 1.8486, -0.1343, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4236, -0.0139, -0.0269, 0.9993, -0.0807, 1.5017, 0.5228, 0.2611, -0.0731, -0.0978, 0.6022]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.172 left_yaw=-0.0027 left_pitch=-0.0481 left_roll=0.0029 left_gripper=0.9993 right_x=0.374 right_y=-0.0137 right_z=0.0437 right_yaw=0.0257 right_pitch=-0.147 right_roll=-0.008 right_gripper=0.6022\nstate[joint_eff]: [-0.1436, -1.1145, 7.0085, 1.7753, -0.0611, -0.0611, -0.0122, -0.0342, -5.641, 5.7778, 1.6484, -0.0122, -0.0513, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2565fca6e6fd5b06c0720cb71f42baa244ac67bad5aaa0e6178d0157b39b7f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a65680ca589a9c29ba5ea21812846bea8ab57c473c83a472cc6dc9cc71a1e9c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:856974a589c79bae5447adf53b18fd048a5598800a647517dcf9e215d077a9e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9QgKjgEIEhgCKkCpc2j3NoE4nRDHThz0aJU4VHExqzjIBY5itww9Q0HiIbyBhEHikgeE6LUgZ5Sgsb6oE5dU4YCZfnKMpbuDW8xbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZKjzNUGEgxUBmzhfleqy6EFQrYaDAzL2YrStJgHZPHp0iIwawbd+j1ijCLAwW5CUA0EeSmRH0fwhq0WEyUCNMchk8zZcf7osch9Eq/JJB9U2Tt4KpMHKEa6QHuJo5DbDE/TzaXmpB2MV2+FPTi55u27+29VK1Hcr6471nUQo5epseEnA1Z1YOrJ437pcZGQj9bCQovMYiTP8fmROagA+X/cLkNSEUBlEQuJGuUICjbkFWxSn+xomljG4IY0g6XNOTF+VVtiWUKaSVIKMvm5txKjJVtrx7pijO5lAeO0z0wSZ3iWJLL1p4RSEje6yyNMJHJPrIoTt1zaMegDQBNWqeOCKVIrF6hQqT6hlvkMUWLnYKAKZkajUXifHYRQ2Gy2LL/hqYKkb+nz0e8eXGida7H3iFNZuVh0MIHiD0t5EugC8zPvlOLEmHriqTVp3RzbkBzs2SR7dukJLpYqCxll9g+2Dbh4OvgkwqoG/9QhXt/qECN9aktMvBPzOV8O7HqJqouftS0TIa6TQjOrFXMpDa5XkcxOzSKpoVwzuZx0ZhGowzayIBFTtHyKoVJi+8c6z8BPi5jaUXG9wQWxOJWFsFvaG/e+ILDQ7gXk+PeuDqPZWSVYmeNwDQOFx/RAE51UaaS0w+VqLRiyqv1JC5EXPpQR+KuUqTVLwfJszhwKyQDTcFVCpWaWW0q5Jchcx6D4IWe2wPUJO45Bq9V+PECeK+E4lk3pL2ncqxBe+oO4eN1zNLKqSfQa2YhgvILiFqZy1cglXWCEhpuhQrlXxo3lNIqIEnL0/D6TUEXAkkypBGotGQKjvdMnImuSPzC/Mu2lP+klrfIeGlqLA3IiOw5ym1pZbOOFub3oI4KwoGNOygs9OvYFHPssQ+SYBx5qSlKvgFxnV7SRpHYfxUuPDGP9/fJe6d8L8kEOevcIhMJMOHiD4tKCmC5JUUWZk2Qf4qW97a2id1IwlW+2XbylMNwsiSo0sVDqrDG/3iWAQuwnLVZYlyg3oycF0kxII0ZVwjs0dFS5DSgHqaqAGV+ko402T1B57Z9wJcuTPRmwoMVkuMQDCX2RATGbP3uRaBWDcDP6kJbPVKTnmOIsdr7yErM1c8MVho1F+FNvrDah1W7kOpDjubu7On6UBZUuhpKTXn1osOBtb3WJDAVG1IZDCfwakqGyGnfLwymj2Bmg7Ycv0ji4k2vH573X8ZZ5t/Ugx2W+iQtBkgEYEiVO9oQQwzlY36LCgd1yLnnvTu/y8yh4G/N/ThGc4zWe8rqQWZCqgtcU3GaDZ4lhgqQudLgJ3uDgj4XipOuQ0Pb+mSc4ZQl4Oc2+o+IhFJLES61YGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KMBcEGDbrruXq2h2HdbpaA",
      "input": {
        "note": "Gripper closed to 0.60 (~5.7 cm) so the pear is held; lifting and moving left toward the blue bowl to check alignment from above.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.09,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01KMBcEGDbrruXq2h2HdbpaA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4248, -0.0139, -0.0265, 0.9993, 0.3065, 1.4124, 1.1751, -0.5674, 0.1986, 0.1326, 0.6027]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1713 left_yaw=-0.0029 left_pitch=-0.0511 left_roll=0.0032 left_gripper=0.9993 right_x=0.3901 right_y=0.0907 right_z=0.1983 right_yaw=0.0533 right_pitch=-0.2165 right_roll=-0.033 right_gripper=0.6027\nstate[joint_eff]: [-0.212, -1.4701, 7.0632, 1.6874, -0.0366, -0.0513, -0.0122, -0.2803, -6.5709, 9.4974, 1.7949, 0.2173, 0.2271, 0.8327]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da6c29f685472422379bc651854297edeaa3ac5f296ea96c2d7bd12522c6dbf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2a4076d29b6a14f8de49cc3fe86c649058fe8e894b86891055ffb821072a27a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e89cc5c1895f1e248f628a9f60c2cb9d6d53bc558aa07b376835d0d3775a5e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 6.948 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, 0.6132, -0.4168, -0.0135, -0.0269, 0.9993, -0.0807, 1.5017, 0.5228, 0.2638, -0.0692, -0.0978, 0.9994]\nstate[eef_state]: left_x=0.2916 left_y=-0.0004 left_z=0.1734 left_yaw=-0.0031 left_pitch=-0.0412 left_roll=0.0025 left_gripper=0.9993 right_x=0.3744 right_y=-0.0144 right_z=0.0442 right_yaw=0.0225 right_pitch=-0.1446 right_roll=-0.0108 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.0735, 7.0085, 1.7851, -0.0171, -0.0708, -0.0122, -0.3214, -5.6957, 5.4496, 1.8486, -0.1343, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4236, -0.0139, -0.0269, 0.9993, -0.0807, 1.5017, 0.5228, 0.2611, -0.0731, -0.0978, 0.6022]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.172 left_yaw=-0.0027 left_pitch=-0.0481 left_roll=0.0029 left_gripper=0.9993 right_x=0.374 right_y=-0.0137 right_z=0.0437 right_yaw=0.0257 right_pitch=-0.147 right_roll=-0.008 right_gripper=0.6022\nstate[joint_eff]: [-0.1436, -1.1145, 7.0085, 1.7753, -0.0611, -0.0611, -0.0122, -0.0342, -5.641, 5.7778, 1.6484, -0.0122, -0.0513, 1.0232]",
      "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, 0.8078, 0.6132, -0.4248, -0.0139, -0.0265, 0.9993, 0.3065, 1.4124, 1.1751, -0.5674, 0.1986, 0.1326, 0.6027]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1713 left_yaw=-0.0029 left_pitch=-0.0511 left_roll=0.0032 left_gripper=0.9993 right_x=0.3901 right_y=0.0907 right_z=0.1983 right_yaw=0.0533 right_pitch=-0.2165 right_roll=-0.033 right_gripper=0.6027\nstate[joint_eff]: [-0.212, -1.4701, 7.0632, 1.6874, -0.0366, -0.0513, -0.0122, -0.2803, -6.5709, 9.4974, 1.7949, 0.2173, 0.2271, 0.8327]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da6c29f685472422379bc651854297edeaa3ac5f296ea96c2d7bd12522c6dbf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2a4076d29b6a14f8de49cc3fe86c649058fe8e894b86891055ffb821072a27a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e89cc5c1895f1e248f628a9f60c2cb9d6d53bc558aa07b376835d0d3775a5e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISwQUKjgEIEhgCKkD1kZNgL5p70TjzxniXxXhlBj/16hyHhdfwC8JVm6VYWwrIQM5/iczLDZVfBhw7n3OhWRS/QkHmfNOTII/gRbXAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZyjzNUGEgyXGVyccUsTY71LwtgaDCbxPIfIgbbNprugPyIwHBjrItqeuLu/aSQI1jOwoVk8FWbQzByZ8B5TPQOx+gouXcwgQfNDJMjPMZSsRgthKt8DfrkkF0AsPS5zv7D3Sv2fEgKDdHKzZ7Vdio2DCXYj5MOJNp0ul/A/lbJx0cfMW3TJDW8oQxDs48FtSefdTtZG4uCL8fe301NFjfgcfhhwew9YYX8bo/dKPybHgj6eiWJn1S/IwUm6IGQQCGvxov7Nf1jf4IF2PruGKiRYxG5cornfHhqiG7SSz8PXycO0Xc7YhTApqBPn/itRESE1VIczC8xz+O85qwR3FWaokuryfUD7Rt75HkBj8olB+dXrMAm7azS18BU745dvo5nnrNp4opXOuEkWsStaj1bI8e7USdLbvOo3hAnbEWwEX3GPbfVi4Xouo1n8FJqCKEogyI0sYqc3tlWQ7L/DdeZ6BpC2u6P8+paotKBwLZ3HesYfyX5avj/2tTFiv0lnM1Zva7YNeylPaLd4UsAar4m1NvkMcia/Lm1Wyxqc1WTHjaHVlAPV4Hyw+joVDFFxmNNSVP9KnTYraU/zxjSgoiXwIiO0oM31jhq21HrWLBUQLZk7MO1UJjRWYcREuVZrLQKZ2jOYGa1dU8bU818Mvyb94qUgfpnlgl2vnOOjIwEmGPtOB0IuQjNwNsbiohZWJdPV54RU75zzP4YZ92jwxw/6wPdX9qT37unj43PyYaY3P7g5Pc8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012F6bJ7D3Se9tJxoyC7RCMJ",
      "input": {
        "note": "Holding the pear, the blue bowl appears further out ahead of the jaws in the wrist view; advancing radially to get over the bowl.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_012F6bJ7D3Se9tJxoyC7RCMJ",
      "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, 0.6128, -0.4343, -0.0139, -0.0265, 0.9993, 0.284, 1.6478, 1.3586, -0.5961, 0.1783, 0.1047, 0.6032]\nstate[eef_state]: left_x=0.2894 left_y=-0.0003 left_z=0.1681 left_yaw=-0.0029 left_pitch=-0.0648 left_roll=0.0035 left_gripper=0.9993 right_x=0.4366 right_y=0.0985 right_z=0.1742 right_yaw=0.0586 right_pitch=-0.2991 right_roll=-0.0571 right_gripper=0.6032\nstate[joint_eff]: [-0.0889, -1.4427, 7.0769, 1.7802, -0.0855, -0.0513, -0.0122, -0.5128, -8.8684, 9.5795, 1.8388, 0.0366, 0.0171, 0.7009]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4b29d20a39fafd2507d3ff92ac26d2fc16c537259a0bc85a600f8c8602b44ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce1d0923b8d121bddba27ded8f65c0a09aabf1776316bbe79dad5f2b97174349",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:12ec1378c3dc0db3c61ee09383418eeb529010f65452ed34dba55366953226b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 6.178 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, 0.8059, 0.6132, -0.4236, -0.0139, -0.0269, 0.9993, -0.0807, 1.5017, 0.5228, 0.2611, -0.0731, -0.0978, 0.6022]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.172 left_yaw=-0.0027 left_pitch=-0.0481 left_roll=0.0029 left_gripper=0.9993 right_x=0.374 right_y=-0.0137 right_z=0.0437 right_yaw=0.0257 right_pitch=-0.147 right_roll=-0.008 right_gripper=0.6022\nstate[joint_eff]: [-0.1436, -1.1145, 7.0085, 1.7753, -0.0611, -0.0611, -0.0122, -0.0342, -5.641, 5.7778, 1.6484, -0.0122, -0.0513, 1.0232]",
      "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, 0.8078, 0.6132, -0.4248, -0.0139, -0.0265, 0.9993, 0.3065, 1.4124, 1.1751, -0.5674, 0.1986, 0.1326, 0.6027]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1713 left_yaw=-0.0029 left_pitch=-0.0511 left_roll=0.0032 left_gripper=0.9993 right_x=0.3901 right_y=0.0907 right_z=0.1983 right_yaw=0.0533 right_pitch=-0.2165 right_roll=-0.033 right_gripper=0.6027\nstate[joint_eff]: [-0.212, -1.4701, 7.0632, 1.6874, -0.0366, -0.0513, -0.0122, -0.2803, -6.5709, 9.4974, 1.7949, 0.2173, 0.2271, 0.8327]\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 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, 0.8116, 0.6128, -0.4343, -0.0139, -0.0265, 0.9993, 0.284, 1.6478, 1.3586, -0.5961, 0.1783, 0.1047, 0.6032]\nstate[eef_state]: left_x=0.2894 left_y=-0.0003 left_z=0.1681 left_yaw=-0.0029 left_pitch=-0.0648 left_roll=0.0035 left_gripper=0.9993 right_x=0.4366 right_y=0.0985 right_z=0.1742 right_yaw=0.0586 right_pitch=-0.2991 right_roll=-0.0571 right_gripper=0.6032\nstate[joint_eff]: [-0.0889, -1.4427, 7.0769, 1.7802, -0.0855, -0.0513, -0.0122, -0.5128, -8.8684, 9.5795, 1.8388, 0.0366, 0.0171, 0.7009]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4b29d20a39fafd2507d3ff92ac26d2fc16c537259a0bc85a600f8c8602b44ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce1d0923b8d121bddba27ded8f65c0a09aabf1776316bbe79dad5f2b97174349",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12ec1378c3dc0db3c61ee09383418eeb529010f65452ed34dba55366953226b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqAYKjgEIEhgCKkC6uRhGCJ2VF7FRLYyz12pvpqpr6q7h+NAPuYShWh92tZubdBBce4qS3wSn7IlctU6wfeMd1xs5XLb4naYGEQx1Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaijzNUGEgzluadWVH3/PggHQg4aDL61kuG9c0KC23DDVCIwXpw+9MOkWSbiMuO2gPQEhsslfmWrB53nx2oGvFUEQ9KkS5+bbWw+OvH6E++8NeTOKsYEDQxuKy/LraMygFVcCOa7WNro1Juo2K3q7fqjn883Tzi7dhJ9MOqcrp0Fsf1tV3DV41k8D2H7sMV2KS45RulKOv34ZIvLz3ym6gUz4y5v7J8HAR/mDrTbor8WCmlbT4+1jH85Lkef2fN7fkxT4g6ajBwHEOYoXLj/L30uquCk2rwxhBj6+F6eyXqOaNiS2hfHQ93Dn8UeZ63zlXlJFGB8Sr7hgpFhwIglMJxJEQg2BeHH7eHhpEvYvdVi6c3aLLUaCj1j+Cd60Vpemit3HLb5CRfHNjDkzzBwg9Ep9xVt6sdikCOZMNNUa6g+TI1v/EtfDfvsVkm2tCXjmmduYTp3dF/0A9/Ba5bM8Avqx9GpYhyqMRH/u0C37Pdx7cESdxdxx+sbKvGkgoXgR2oCACuL3ZOG87+QwryxiHVSvC1l6/ngYlObjVE8iOUJoxgtMoieDEU8vQIIqCEEc6qiqi1RLc621IP0+yUZpJ9ALmIke02dylqnVE4P6YRV+n3Ep2VL+8LuBoKzoIQp4HtJwy06AEsN79qFD3LgraDgCXTj34J/VE7etdqp3geJOQjBQd7Xsj1VtoZZGCzgYPc60glyJdi07mdkHnHRZkBrIVuCQ0/BmD4ih2fP8Sy2gu1ZD4gbZly8LlXEq78XQk3nYML1dwiWJsdmoMAlUSjG1PyE4bJbI/QLVFp+mN2Ai40UkMeTYsIQBZZmw7iqw11VZ5NAkKQaBuZKqHrvXiw38VTH7cQpezn7VrQXtaLBjmJDbLHO/r+DfOi8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011ff2E2SEXaunVLbJZbHtPz",
      "input": {
        "note": "The blue bowl is now directly under the held pear, slightly to the right; shifting right and lowering before releasing.",
        "targets": {
          "right_y": 0.075,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_011ff2E2SEXaunVLbJZbHtPz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.812, 0.6128, -0.4351, -0.0135, -0.0269, 0.9993, 0.284, 1.6478, 1.3586, -0.5961, 0.1787, 0.1047, 0.6059]\nstate[eef_state]: left_x=0.2893 left_y=-0.0004 left_z=0.1679 left_yaw=-0.003 left_pitch=-0.066 left_roll=0.003 left_gripper=0.9993 right_x=0.4366 right_y=0.0985 right_z=0.1742 right_yaw=0.0582 right_pitch=-0.299 right_roll=-0.0574 right_gripper=0.6059\nstate[joint_eff]: [-0.1709, -1.1966, 6.9675, 1.6728, -0.0269, -0.0708, -0.0122, -0.5402, -8.8547, 9.3744, 1.8632, 0.0562, 0.0366, 0.5983]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b3275c625b57c5053efa6d0337689c332403017651641001022c35b5d722a8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ad606f6df4c2a308512471483483ed3d4fb38349bac4ffac38a440139866eca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:60ab249cdb0c7944be012d9c5be705bb7e3d3462c7da2d153b544d6459e823c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 5.138 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, 0.8078, 0.6132, -0.4248, -0.0139, -0.0265, 0.9993, 0.3065, 1.4124, 1.1751, -0.5674, 0.1986, 0.1326, 0.6027]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1713 left_yaw=-0.0029 left_pitch=-0.0511 left_roll=0.0032 left_gripper=0.9993 right_x=0.3901 right_y=0.0907 right_z=0.1983 right_yaw=0.0533 right_pitch=-0.2165 right_roll=-0.033 right_gripper=0.6027\nstate[joint_eff]: [-0.212, -1.4701, 7.0632, 1.6874, -0.0366, -0.0513, -0.0122, -0.2803, -6.5709, 9.4974, 1.7949, 0.2173, 0.2271, 0.8327]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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, 0.8116, 0.6128, -0.4343, -0.0139, -0.0265, 0.9993, 0.284, 1.6478, 1.3586, -0.5961, 0.1783, 0.1047, 0.6032]\nstate[eef_state]: left_x=0.2894 left_y=-0.0003 left_z=0.1681 left_yaw=-0.0029 left_pitch=-0.0648 left_roll=0.0035 left_gripper=0.9993 right_x=0.4366 right_y=0.0985 right_z=0.1742 right_yaw=0.0586 right_pitch=-0.2991 right_roll=-0.0571 right_gripper=0.6032\nstate[joint_eff]: [-0.0889, -1.4427, 7.0769, 1.7802, -0.0855, -0.0513, -0.0122, -0.5128, -8.8684, 9.5795, 1.8388, 0.0366, 0.0171, 0.7009]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.812, 0.6128, -0.4351, -0.0135, -0.0269, 0.9993, 0.284, 1.6478, 1.3586, -0.5961, 0.1787, 0.1047, 0.6059]\nstate[eef_state]: left_x=0.2893 left_y=-0.0004 left_z=0.1679 left_yaw=-0.003 left_pitch=-0.066 left_roll=0.003 left_gripper=0.9993 right_x=0.4366 right_y=0.0985 right_z=0.1742 right_yaw=0.0582 right_pitch=-0.299 right_roll=-0.0574 right_gripper=0.6059\nstate[joint_eff]: [-0.1709, -1.1966, 6.9675, 1.6728, -0.0269, -0.0708, -0.0122, -0.5402, -8.8547, 9.3744, 1.8632, 0.0562, 0.0366, 0.5983]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b3275c625b57c5053efa6d0337689c332403017651641001022c35b5d722a8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ad606f6df4c2a308512471483483ed3d4fb38349bac4ffac38a440139866eca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60ab249cdb0c7944be012d9c5be705bb7e3d3462c7da2d153b544d6459e823c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrAUKjgEIEhgCKkDHDbGjXSZ3zPQz+lJfBpJq33mzk8inGVZCzwvvGy6kS/S/LCp9JXqddhClh5emyW4tS2Q/Evl0/s4sdv3ibwGoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbCjzNUGEgwbdjBHphQ6uZOS0ngaDFJCo9ndv4HKCUE8niIwif4RpuzpEHj0pG7FmCPDD7t9xuRGLAIrQMAe160RGEa20WL5dEnOHrE1IBqRCYEoKsoDTyd5+XJSPZrvYdIp5Vl7728jYvyh1LfIvxmytOMiYcnpT74O85avH1+G9kFX3cWIf1ceWNVslohOSurdwcahlyHfU8Dg6RQQAbfqDmHa7vOnMFrGm02Vp+AYHuTP2EyO33TUci6hJwae5gKnQ3Xd4X1jElQ1TQRBfMHHQANAJCUbj5x1XaQHuqLMhV93kqonbqsLBqtF+rWlXcFHuO1DSVaYHDsVkvvAQRVQMrp92EFWydGudwfwJswnvQvKez9rWb1B6xTxJZ2O5fZ05xkvfNekAdUrMHlS39L70z/jF2sY9FJDre3A6HIA2TL9KALMJhoV01H4uwmPDbkjBXibxcNt9QDwvR01YmC/8mAACbNVLQC2JcyYQIp6ynRbVhK9WYNzF1agzspIjv7eeQacha0nbjFss2Qng+YWYjv9TmWvO0BOuQjwQjK4njWXl+aT2zXSLnkFvG9mhN/UYsUtwSm+sGKedtNicutYxAzvQugSL3rtJrAv7y5IxfFZs11d9IlqFGgHnckxVv0YaMK8vahZZxsWhd8UqWvcx39mo2RRHad81pkLvaNbaUhZViWzP57zgxt9GOVQX9QimArgjqtgg2ZsmLkvCbkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018zkak1rafpKg7pjWAsTPNS",
      "input": {
        "note": "The previous small command did not move the arm (readback unchanged), so I am re-commanding a slightly larger step: pull in a little, shift right over the bowl centre and lower toward the rim.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.075,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018zkak1rafpKg7pjWAsTPNS",
      "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, 0.6128, -0.4461, -0.0139, -0.0269, 0.9993, 0.284, 1.6478, 1.3586, -0.5961, 0.1787, 0.1047, 0.6077]\nstate[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.1648 left_yaw=-0.0027 left_pitch=-0.0805 left_roll=0.0035 left_gripper=0.9993 right_x=0.4366 right_y=0.0985 right_z=0.1742 right_yaw=0.0582 right_pitch=-0.299 right_roll=-0.0574 right_gripper=0.6077\nstate[joint_eff]: [-0.1162, -1.5385, 6.9675, 1.8095, -0.0464, -0.0415, -0.0122, -0.4855, -8.8547, 9.5111, 1.8632, 0.0952, 0.0317, 0.6813]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88dab02b0c3cac30bd3effa59555c799885f074a3e891edfeadbfac9308e8091",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d56664e3326d279ecc4e70bdfc421413a94b4633a9f26387eddbf066be1d3c01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c386ef4d48d9f4728a998c8bef4ae67465d2a1195160138a894ff0ff63700fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 8.293 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, 0.8116, 0.6128, -0.4343, -0.0139, -0.0265, 0.9993, 0.284, 1.6478, 1.3586, -0.5961, 0.1783, 0.1047, 0.6032]\nstate[eef_state]: left_x=0.2894 left_y=-0.0003 left_z=0.1681 left_yaw=-0.0029 left_pitch=-0.0648 left_roll=0.0035 left_gripper=0.9993 right_x=0.4366 right_y=0.0985 right_z=0.1742 right_yaw=0.0586 right_pitch=-0.2991 right_roll=-0.0571 right_gripper=0.6032\nstate[joint_eff]: [-0.0889, -1.4427, 7.0769, 1.7802, -0.0855, -0.0513, -0.0122, -0.5128, -8.8684, 9.5795, 1.8388, 0.0366, 0.0171, 0.7009]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.812, 0.6128, -0.4351, -0.0135, -0.0269, 0.9993, 0.284, 1.6478, 1.3586, -0.5961, 0.1787, 0.1047, 0.6059]\nstate[eef_state]: left_x=0.2893 left_y=-0.0004 left_z=0.1679 left_yaw=-0.003 left_pitch=-0.066 left_roll=0.003 left_gripper=0.9993 right_x=0.4366 right_y=0.0985 right_z=0.1742 right_yaw=0.0582 right_pitch=-0.299 right_roll=-0.0574 right_gripper=0.6059\nstate[joint_eff]: [-0.1709, -1.1966, 6.9675, 1.6728, -0.0269, -0.0708, -0.0122, -0.5402, -8.8547, 9.3744, 1.8632, 0.0562, 0.0366, 0.5983]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8154, 0.6128, -0.4461, -0.0139, -0.0269, 0.9993, 0.284, 1.6478, 1.3586, -0.5961, 0.1787, 0.1047, 0.6077]\nstate[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.1648 left_yaw=-0.0027 left_pitch=-0.0805 left_roll=0.0035 left_gripper=0.9993 right_x=0.4366 right_y=0.0985 right_z=0.1742 right_yaw=0.0582 right_pitch=-0.299 right_roll=-0.0574 right_gripper=0.6077\nstate[joint_eff]: [-0.1162, -1.5385, 6.9675, 1.8095, -0.0464, -0.0415, -0.0122, -0.4855, -8.8547, 9.5111, 1.8632, 0.0952, 0.0317, 0.6813]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88dab02b0c3cac30bd3effa59555c799885f074a3e891edfeadbfac9308e8091",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d56664e3326d279ecc4e70bdfc421413a94b4633a9f26387eddbf066be1d3c01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c386ef4d48d9f4728a998c8bef4ae67465d2a1195160138a894ff0ff63700fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1QQKjgEIEhgCKkAfd8eXY0DCZDIQDVPEJk3A5FwrNxCYoIaY8IZiv2OT4npBK5j2TE9723DPmaRAS+XkfKv+dDY/yilOSJ4nBF6CMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbqjzNUGEgzO8Fxrjyysf+WHbAMaDK+X/LpW5KKfOmSKeyIw0znvEkSx4J8OCnAFriqy/TZOGBfiu2gXEttGUazwNEws9NR56ndXEnOPFmQ9clUcKvMCGzJirDxoMzBYx8tLqKoQaDDMy0UsuFRhbfQTqWk7qVGiX/VARnBzUc51gFlJguo9DFupoJbxrv7Z2PJ6O9pBcay3YUgCQh44dQjMnYNAsGGBkY4cmBIA/YlEie3NI/3d/f1AHG5rJGA1D8LlHF2/PzgxsK+NoBFP8D6Pc6QyRT5LLO54r/C96KO++DbiqU4XWZseOH4hKoo5kGuRQ6P3nNe5c78fy2z9I29KUzMqZK37eqCW1XOnBvtm1/k1phw8qvtzgiNqyEiomxvVsL3nr2xnvcHvVgNLbtrMtTIWYb2NgG0RZrpRldIzXrsnb1Qmufjg5iqB9GKPyeZHVy2AuiR3ohsrcdrr1tJRkEkw6mbTb+rcrA3WlZej9FPgmFEbHRKcigkreuj93uKHKGiS4vi4nuXEqVG1+oZZPXPG6UYAcl+oG/sHKu6sChZjqxC3vfXAeC3Wulj4AfE4Xjbl866+YIfRdbn8j9jwoadNACqPwRQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sbq26nT8rR3uq7VfxfxHaF",
      "input": {
        "note": "The right arm is stalled at the same pose despite two commands; trying to unstick it by lifting up and pulling in, which is usually easier for the IK.",
        "targets": {
          "right_x": 0.4,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Sbq26nT8rR3uq7VfxfxHaF",
      "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, 0.6128, -0.4496, -0.0135, -0.0265, 0.9993, 0.2993, 1.6447, 1.4353, -0.704, 0.1837, 0.1078, 0.61]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1641 left_yaw=-0.0032 left_pitch=-0.0839 left_roll=0.0036 left_gripper=0.9993 right_x=0.4295 right_y=0.1025 right_z=0.1902 right_yaw=0.0654 right_pitch=-0.3255 right_roll=-0.0661 right_gripper=0.61\nstate[joint_eff]: [-0.0342, -1.347, 7.1316, 1.6923, -0.0269, -0.0562, -0.0122, 1.1009, -15.0632, 12.6017, 2.2491, 0.2125, 0.2711, 0.5055]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cc3c3397dc48be046d28e4d6d74b9d800bcb7018e5805972dbc8f241f171b91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b7cbc4b38ad6e924960fcdc2c6a82563025d23eecf6cb3ba8341c403edd7662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b36dad9efe64f892ae209abea72a6bfda844cd6f40cf8b87ea469f81f56b756f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 7.498 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, 0.812, 0.6128, -0.4351, -0.0135, -0.0269, 0.9993, 0.284, 1.6478, 1.3586, -0.5961, 0.1787, 0.1047, 0.6059]\nstate[eef_state]: left_x=0.2893 left_y=-0.0004 left_z=0.1679 left_yaw=-0.003 left_pitch=-0.066 left_roll=0.003 left_gripper=0.9993 right_x=0.4366 right_y=0.0985 right_z=0.1742 right_yaw=0.0582 right_pitch=-0.299 right_roll=-0.0574 right_gripper=0.6059\nstate[joint_eff]: [-0.1709, -1.1966, 6.9675, 1.6728, -0.0269, -0.0708, -0.0122, -0.5402, -8.8547, 9.3744, 1.8632, 0.0562, 0.0366, 0.5983]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8154, 0.6128, -0.4461, -0.0139, -0.0269, 0.9993, 0.284, 1.6478, 1.3586, -0.5961, 0.1787, 0.1047, 0.6077]\nstate[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.1648 left_yaw=-0.0027 left_pitch=-0.0805 left_roll=0.0035 left_gripper=0.9993 right_x=0.4366 right_y=0.0985 right_z=0.1742 right_yaw=0.0582 right_pitch=-0.299 right_roll=-0.0574 right_gripper=0.6077\nstate[joint_eff]: [-0.1162, -1.5385, 6.9675, 1.8095, -0.0464, -0.0415, -0.0122, -0.4855, -8.8547, 9.5111, 1.8632, 0.0952, 0.0317, 0.6813]",
      "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, 0.8154, 0.6128, -0.4496, -0.0135, -0.0265, 0.9993, 0.2993, 1.6447, 1.4353, -0.704, 0.1837, 0.1078, 0.61]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1641 left_yaw=-0.0032 left_pitch=-0.0839 left_roll=0.0036 left_gripper=0.9993 right_x=0.4295 right_y=0.1025 right_z=0.1902 right_yaw=0.0654 right_pitch=-0.3255 right_roll=-0.0661 right_gripper=0.61\nstate[joint_eff]: [-0.0342, -1.347, 7.1316, 1.6923, -0.0269, -0.0562, -0.0122, 1.1009, -15.0632, 12.6017, 2.2491, 0.2125, 0.2711, 0.5055]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cc3c3397dc48be046d28e4d6d74b9d800bcb7018e5805972dbc8f241f171b91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b7cbc4b38ad6e924960fcdc2c6a82563025d23eecf6cb3ba8341c403edd7662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b36dad9efe64f892ae209abea72a6bfda844cd6f40cf8b87ea469f81f56b756f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7QgKjgEIEhgCKkCC9b4QI1yw1AjrKF4iONjg6aVyxBqrRUP3g86JXOP2rMlgYQcSUHA7EblWVBLbq+0A1oJrRw1G8Jhoa6OqGEe9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcWjzNUGEgzKO09ElCAHQrP96+YaDNlsi8m60iZEo/9D4iIwpwbNuV+tKVGZPP9/WygF8WIz8rEiv5GEFikldqvnmfe716MFvbocIdSaRa8Agt2fKosHnFEoTiJF+qr2/4scN0SpWqgJJSvb7L/HLiTVk8qVmm5ntGL7038t1Lkp3rZ8wFBMgznPgXcUq9xIbCJPS5FFt8nrXEimfozcjPQU1lTTRJN+i+joiqT3iYATYLvfzOO6ZRleAf8QwopIPqSqgvF8yjKQqe0vRSwnIGCnCpBN6IcphH3co7MCEU1AkjzuG+k9YX46okzerTIyx+/Z27KBFe0ccrMeB6mfqYtSNTHvb9WthR5qGCVy0Bd7Nw8NKgt8Kv/ZLMremvbIi0g8lOTt7nt86e2Z4yZD1XL8N5va/KfbIINtWZmDb46+OCvGAN1mCBWvbGmYsUxnmXXVvyPmdvoO5zFBCeJ7XpBjUY0VrWcGhi9rD/FgCsYP/FaouBcGZsE6MqDcCgh7iT+WqAYjWJq6jfwQ5bLrmVexGfwXg6zV2xmnt0aUVDVzYDgygkJWHTrpgcgr3Pc/3HfJw1f6zjKCl+QX0aCx3OtjWAWn4nx2/QTSBusKDSWtj+JueuGu6l9GOLJ+mpyQSbfiOvzAiz6C9cilqiYTbVTF+4JSMWnZKw+gQ4o2j9Io/HNLZ4iLxYnZc7eI2F4dRdd6P1QmMZvolATTW+WUnnh1AHk0ZAsq5xFNDs2jbrTaDxLupksu3x6xYG5R8CYYDb5qF7wqyL6+WKAI3pJnaB0NNRuE20T8PiII7/Mi5TuJiPoDbPjHNQlcgzzXj3o80evz8vamXo+68EEG32xtUfNgbOanitbeUzoTDJ6J+gZ2lqh/mA1NP4TRuhBjQo7zMKEdAmF/QsKBX1/PJO3Gk1Mt2fFA9o5WPQnbbo2BXYpCXnLAlqlpk97jK2PRVotB1pS7x0e4Z6Gg0U9a/4hRHlGHpXAaHue3JQlQ3NAUVtFa+RYTrzTb53PBnwrL6rqzSRY2jiEXh5qTTRj2b5Fyz2dK77hhU8PeKXWYW4jgCDnw/Uhbj3XeAur+leQHuLpa12kiM5ZFfSnjGCk4NWBGCk1F1KF79acE3bsIUVYxV6FMjZ7It7idhMQhBnO/GIY4wMUMa0pXe83h6UY2O6wAKKYtUxX8Ji1lSsgUFBS9+zCkfMtPN5ol7Q9SNMCxrMZe9eZRoYVdd6+Y9Tg4zWMFmsPPJdNA5mABIduZDZp2ud/QTPbT7ErDxfjdGuqdYop2b2vGW7tjXbJCy+Q/XxujyuifIniiqDo0pRFqaOiYDFl/8hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013rqxAbDgkhjV7rEbAqbMEN",
      "input": {
        "note": "The pear is held right over the blue bowl rim in the wrist view; opening the gripper to drop it into the bowl and then I'll check the overhead view.",
        "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_013rqxAbDgkhjV7rEbAqbMEN",
      "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, 0.6128, -0.4503, -0.0139, -0.0265, 0.9993, 0.297, 1.6791, 1.4197, -0.7368, 0.1825, 0.1028, 0.9953]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.164 left_yaw=-0.0029 left_pitch=-0.0847 left_roll=0.0039 left_gripper=0.9993 right_x=0.4226 right_y=0.0995 right_z=0.1651 right_yaw=0.0596 right_pitch=-0.4064 right_roll=-0.089 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -1.3197, 6.9538, 1.6337, -0.0073, -0.0464, -0.0073, -0.1573, -10.9744, 8.2393, 1.5995, 0.0513, 0.1099, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43ea764e7a9433206f5c250eae8ae86b52827bf1842303c397589aa4a40721e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d54ed42dee051a57a3cf99013b93732cc67f545db0053e82533c4ce56940e42b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:559fc1a310317b8179772b8b92f1fac38e9e7e1b904777813bcec85a00ad4ef4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 4.758 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, 0.8154, 0.6128, -0.4461, -0.0139, -0.0269, 0.9993, 0.284, 1.6478, 1.3586, -0.5961, 0.1787, 0.1047, 0.6077]\nstate[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.1648 left_yaw=-0.0027 left_pitch=-0.0805 left_roll=0.0035 left_gripper=0.9993 right_x=0.4366 right_y=0.0985 right_z=0.1742 right_yaw=0.0582 right_pitch=-0.299 right_roll=-0.0574 right_gripper=0.6077\nstate[joint_eff]: [-0.1162, -1.5385, 6.9675, 1.8095, -0.0464, -0.0415, -0.0122, -0.4855, -8.8547, 9.5111, 1.8632, 0.0952, 0.0317, 0.6813]",
      "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, 0.8154, 0.6128, -0.4496, -0.0135, -0.0265, 0.9993, 0.2993, 1.6447, 1.4353, -0.704, 0.1837, 0.1078, 0.61]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1641 left_yaw=-0.0032 left_pitch=-0.0839 left_roll=0.0036 left_gripper=0.9993 right_x=0.4295 right_y=0.1025 right_z=0.1902 right_yaw=0.0654 right_pitch=-0.3255 right_roll=-0.0661 right_gripper=0.61\nstate[joint_eff]: [-0.0342, -1.347, 7.1316, 1.6923, -0.0269, -0.0562, -0.0122, 1.1009, -15.0632, 12.6017, 2.2491, 0.2125, 0.2711, 0.5055]\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 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, 0.8154, 0.6128, -0.4503, -0.0139, -0.0265, 0.9993, 0.297, 1.6791, 1.4197, -0.7368, 0.1825, 0.1028, 0.9953]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.164 left_yaw=-0.0029 left_pitch=-0.0847 left_roll=0.0039 left_gripper=0.9993 right_x=0.4226 right_y=0.0995 right_z=0.1651 right_yaw=0.0596 right_pitch=-0.4064 right_roll=-0.089 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -1.3197, 6.9538, 1.6337, -0.0073, -0.0464, -0.0073, -0.1573, -10.9744, 8.2393, 1.5995, 0.0513, 0.1099, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43ea764e7a9433206f5c250eae8ae86b52827bf1842303c397589aa4a40721e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d54ed42dee051a57a3cf99013b93732cc67f545db0053e82533c4ce56940e42b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:559fc1a310317b8179772b8b92f1fac38e9e7e1b904777813bcec85a00ad4ef4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxQYKjgEIEhgCKkAfJVkNwhMe1ECuG/2qMORdpzdtf4Z5CxKMqTKqXATN2s2xgZRErsKNJ8hUJ/HpaMCd5VAMNcQByy865LN7iNtqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc2jzNUGEgyOkbZvYI5zgecrPC4aDCZCmXUNvkFxOYvDTCIwfMw3UEnM35de8h7Ru2scvGJ2KeYmx80rVuo3kYIf9nmV8Fi0B9BvJ7ELNLPhHR3vKuMEdCtGz08SYvg2VSGHXKS3zs1IxjuqIzF2IamwkjDfwG1BOHDECMYyQiWG9MvCfHoRI7wTfWkGhN5abvF3fy+wieKPcp3kQ0kT3Gw6VTtJFmfkfP6U+z5v8xmbVda3ED50dZpUJrg6mHrNL6TiXW+cVyWA0dfvybVb8tqRw1Mn/2wgbdTtp4nJT1UMIjtJmOp/+tznJVN0LdWL+s/mfnpkADlkq1O0tY59mT/quept2P2M4fueIaBcucmhQwAmeNgBK9zhRtOAvAlELTsld5da4UJ/Pe7QyUxPAGim6mNsLU7LMvnZ34MWDSL5bhH4iGUUGCknUAzvIZz2fvT1J9KB1k5z/RryicRQ9UiqyYF4X60m+apRvyNP5yp1QPZ3p/Ei/jYrg9jWWzBtclXPffxW+T4SmbiuTHZQAHmmdxwH1BvVuc+tNfFQ/YtoNIO4WTu4x89boY1GGDBxYKegKTnPcHNhJs7P5pyw152/pzrmHo0u7JKD4dz6B87XEbQrqq76DKfAv4QLCwDwdngxxDAHzkSRfibklXqB2SavkBhVSBAHJPrB1Fs6im6J8ct6IdKhzcJXfeFAISPvjZF8EBOSSnpcaTYp5frr+JCURlwVKFoOfakMsBCr8DVUHFI4WeLjmkFJTzz+9RPX0rVPn7SetcgLdj752eX6ERVqiY3KCB4PM/5UhAvUewIajuWSMgCA4DDWoWmFQVXiizymfiKW0EP3kdYJueyfUofwsO1u7DMTMEIOmPfwJbRGOp+6tftXHAeNwIYA2SZ4AbQc1H6DLI7sQdypqm9/+AOxm4uIydzxlQUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PzJZkVVVVr3JuL9j4kRvAG",
      "input": {
        "note": "The pear is now sitting in the blue bowl. Lifting clear and moving left over the lemon, which lies on the table to the left of the bowl.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.19,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01PzJZkVVVVr3JuL9j4kRvAG",
      "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, 0.6128, -0.4686, -0.0139, -0.0265, 0.9993, 0.5785, 1.7485, 1.8198, -1.1099, 0.305, 0.3077, 0.9964]\nstate[eef_state]: left_x=0.2846 left_y=-0.0002 left_z=0.1595 left_yaw=-0.0029 left_pitch=-0.1064 left_roll=0.0043 left_gripper=0.9993 right_x=0.3852 right_y=0.1925 right_z=0.2437 right_yaw=0.1091 right_pitch=-0.3998 right_roll=-0.0855 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -1.6068, 6.9402, 1.8095, -0.0562, -0.022, -0.0122, 0.1573, -7.9385, 7.747, 1.033, 0.2662, 0.149, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3a5767e2e6cbcf3ad3006111802c9865083273e76b52b0010e4c75b37f955a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78c246078740623477da6455c0a9b2291adf3ba8f0cac695ff79f48004b2069b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47307228da18b43f8c06537011b7baeba603a1efc8c6ce376d8aa0f9738adf4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /messages · status 200 · 5.738 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, 0.8154, 0.6128, -0.4496, -0.0135, -0.0265, 0.9993, 0.2993, 1.6447, 1.4353, -0.704, 0.1837, 0.1078, 0.61]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1641 left_yaw=-0.0032 left_pitch=-0.0839 left_roll=0.0036 left_gripper=0.9993 right_x=0.4295 right_y=0.1025 right_z=0.1902 right_yaw=0.0654 right_pitch=-0.3255 right_roll=-0.0661 right_gripper=0.61\nstate[joint_eff]: [-0.0342, -1.347, 7.1316, 1.6923, -0.0269, -0.0562, -0.0122, 1.1009, -15.0632, 12.6017, 2.2491, 0.2125, 0.2711, 0.5055]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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, 0.8154, 0.6128, -0.4503, -0.0139, -0.0265, 0.9993, 0.297, 1.6791, 1.4197, -0.7368, 0.1825, 0.1028, 0.9953]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.164 left_yaw=-0.0029 left_pitch=-0.0847 left_roll=0.0039 left_gripper=0.9993 right_x=0.4226 right_y=0.0995 right_z=0.1651 right_yaw=0.0596 right_pitch=-0.4064 right_roll=-0.089 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -1.3197, 6.9538, 1.6337, -0.0073, -0.0464, -0.0073, -0.1573, -10.9744, 8.2393, 1.5995, 0.0513, 0.1099, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8188, 0.6128, -0.4686, -0.0139, -0.0265, 0.9993, 0.5785, 1.7485, 1.8198, -1.1099, 0.305, 0.3077, 0.9964]\nstate[eef_state]: left_x=0.2846 left_y=-0.0002 left_z=0.1595 left_yaw=-0.0029 left_pitch=-0.1064 left_roll=0.0043 left_gripper=0.9993 right_x=0.3852 right_y=0.1925 right_z=0.2437 right_yaw=0.1091 right_pitch=-0.3998 right_roll=-0.0855 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -1.6068, 6.9402, 1.8095, -0.0562, -0.022, -0.0122, 0.1573, -7.9385, 7.747, 1.033, 0.2662, 0.149, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3a5767e2e6cbcf3ad3006111802c9865083273e76b52b0010e4c75b37f955a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78c246078740623477da6455c0a9b2291adf3ba8f0cac695ff79f48004b2069b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47307228da18b43f8c06537011b7baeba603a1efc8c6ce376d8aa0f9738adf4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqwQKjgEIEhgCKkCUCaY43bVvje9VSpA/+f6R/kL+03CZA/fTXwIwTzXntomJt/p2RFmfeYt9+Q0pkoIHDbvJDS1QQXHEJLqydl08Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdOjzNUGEgxbzWL/d/MO49YnUMIaDAPdYMc0XZNLRP8VziIwHYsJ7T6pxpz4hnJa3dgNomcaaAFWoXRpJN+YZhKfNrRF5YRIu1bLHzn8L3vqXB1gKskCVa/hh6y5JqsG5OlBenCRqrYycbEldd+y3w2izDeeClIdeg00+jcmFVzW/SrUsYV7c2VWD2ote8+G4H6PD0Oga4LBm/jIloneOMVXcFtp7bUxV1934+JrZRMrdV+z1WrEnudvkImZZZ1R1VWeCoN8hZEPmgLT/sJaljjxHdw/zpB3A5RNhxCe8Fn7Wi69d5Uy9hcr6f02Rm9zfGcq5zuBOS5oGsj2y1yR/SBlD9adPsVZleCLyseK3x/LWGyTz5+FSLWsoSa4x+dJMI5A6mWiYbbqHgsF2361fzaXiONIlL++NsYOGgpCH70PQsXzGSwSPG3KHAOZtxLQfFC6KqaHz9mm73QK7ZM7e0ZUlRC6dfDTBjZOCxstlAkHCgSjgqA32Z1JwfGXTXh4gKBytBcufpwyu7wWzz6X4aMKalJep0y8KvW/QLatCx8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JZSWrREc11ChK2Btyv4dEW",
      "input": {
        "note": "The lemon is just left of the jaw column in the wrist view; shifting left slightly and descending to grasp height for a closer look.",
        "targets": {
          "right_y": 0.215,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01JZSWrREc11ChK2Btyv4dEW",
      "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, 0.6128, -0.4759, -0.0139, -0.0269, 0.9993, 0.6266, 1.7546, 1.3689, -0.7174, 0.3183, 0.3336, 0.9965]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=-0.0026 left_pitch=-0.114 left_roll=0.0041 left_gripper=0.9993 right_x=0.3746 right_y=0.2073 right_z=0.1228 right_yaw=0.1171 right_pitch=-0.4498 right_roll=-0.1145 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.347, 6.9675, 1.6972, -0.0513, -0.0464, -0.0122, 0.4855, -7.4598, 6.7761, 1.4042, 0.2222, 0.188, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15ca0f8e381cb501a1641fa9f870432b8b995f96c1b3e258db0e28c5de017400",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf535ce87f7c2db4b415dd19dc776b297ac3b03b9ac5455255c9288b6b547dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e3a4bd93b291ddd29030aec8ed542a7b77c28b44a2c9b61b11fa6837a4ac0761",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /messages · status 200 · 5.234 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, 0.8154, 0.6128, -0.4503, -0.0139, -0.0265, 0.9993, 0.297, 1.6791, 1.4197, -0.7368, 0.1825, 0.1028, 0.9953]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.164 left_yaw=-0.0029 left_pitch=-0.0847 left_roll=0.0039 left_gripper=0.9993 right_x=0.4226 right_y=0.0995 right_z=0.1651 right_yaw=0.0596 right_pitch=-0.4064 right_roll=-0.089 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -1.3197, 6.9538, 1.6337, -0.0073, -0.0464, -0.0073, -0.1573, -10.9744, 8.2393, 1.5995, 0.0513, 0.1099, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6128, -0.4686, -0.0139, -0.0265, 0.9993, 0.5785, 1.7485, 1.8198, -1.1099, 0.305, 0.3077, 0.9964]\nstate[eef_state]: left_x=0.2846 left_y=-0.0002 left_z=0.1595 left_yaw=-0.0029 left_pitch=-0.1064 left_roll=0.0043 left_gripper=0.9993 right_x=0.3852 right_y=0.1925 right_z=0.2437 right_yaw=0.1091 right_pitch=-0.3998 right_roll=-0.0855 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -1.6068, 6.9402, 1.8095, -0.0562, -0.022, -0.0122, 0.1573, -7.9385, 7.747, 1.033, 0.2662, 0.149, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4759, -0.0139, -0.0269, 0.9993, 0.6266, 1.7546, 1.3689, -0.7174, 0.3183, 0.3336, 0.9965]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=-0.0026 left_pitch=-0.114 left_roll=0.0041 left_gripper=0.9993 right_x=0.3746 right_y=0.2073 right_z=0.1228 right_yaw=0.1171 right_pitch=-0.4498 right_roll=-0.1145 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.347, 6.9675, 1.6972, -0.0513, -0.0464, -0.0122, 0.4855, -7.4598, 6.7761, 1.4042, 0.2222, 0.188, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15ca0f8e381cb501a1641fa9f870432b8b995f96c1b3e258db0e28c5de017400",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf535ce87f7c2db4b415dd19dc776b297ac3b03b9ac5455255c9288b6b547dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3a4bd93b291ddd29030aec8ed542a7b77c28b44a2c9b61b11fa6837a4ac0761",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmAQKjgEIEhgCKkD5RHdkJDCNdQ7SPOmbINoGjjINC13MuMGAFRP3xC/vXp0wROcDIAt5cODFYffEbrxRl9GNqbxwPM5vZAVkB7IUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdmjzNUGEgz4hNVLLflryjX1upUaDOOWWz5gJmv3cqOvHyIwC09m7GXcI93kvQJevSTOQ0ObPO/duw86AwGSI5OXs2dSNEdPQ3vo285bJmCzO7CkKrYCoMCI0LdAXrWWH034y9fTnTCVvETYsaH4Li8B6BnGUd6F0KZUrBd6bRoVm4MH+1hqje1hhAWdgU9S4E7gHJkZ9wq7Z9kJhgDs7+seLwpPpUCYFrbjLx8atL5MZrBCCwSrIpe/CKSwjUjbOnVvLshjTqmP3ZELnuGBrCp8ekPsHsWv00SaCUz2a332tu7iAPPf2VMBxGlfc2P7tsIXf+1XRreI0++/9MDF26sAgDrKH+JFhISlKldMhv+1dMFGnJsa9dp+GZwzeT+iowoTEvb8yc6x20gJdGpbna9trBtwW6oU7K8WDmsbOvP3rPTaOC+p/TYWq1HoQJy4WtPTzLiBPAPDplyc6lxS4+w2AjbsMiC6yUhGCsoH++9cBVr4wDmiDLpU+yv2Glre48FbX+BJEyP0Sxn7VhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013eBYbwkNaTZh62JrPYMhFr",
      "input": {
        "note": "The lemon sits slightly left and beyond the jaws; advancing radially, nudging left and dropping to grasp height.",
        "targets": {
          "right_x": 0.405,
          "right_y": 0.225,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_013eBYbwkNaTZh62JrPYMhFr",
      "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, 0.6128, -0.4763, -0.0135, -0.0265, 0.9993, 0.6197, 1.9293, 1.3506, -0.5674, 0.3107, 0.3294, 0.9965]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.0032 left_pitch=-0.1144 left_roll=0.0042 left_gripper=0.9993 right_x=0.3945 right_y=0.2195 right_z=0.0585 right_yaw=0.1084 right_pitch=-0.491 right_roll=-0.1338 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.2103, 6.9812, 1.6386, -0.0415, -0.0317, -0.0122, -0.294, -9.853, 6.3385, 1.1941, 0.2027, -0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e003d19fd1e8b5543b508dce7ee2be77856f97c15a6c0d8cb817dc485c946e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:672812b336c40a920ed8875a27676c2fdb98f34864bcef98cd0988cd48f7a24e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ab2afa477b493d1ba31921e479081ee0e5c3073643d2d982fac923eb256df16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 4.067 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, 0.8188, 0.6128, -0.4686, -0.0139, -0.0265, 0.9993, 0.5785, 1.7485, 1.8198, -1.1099, 0.305, 0.3077, 0.9964]\nstate[eef_state]: left_x=0.2846 left_y=-0.0002 left_z=0.1595 left_yaw=-0.0029 left_pitch=-0.1064 left_roll=0.0043 left_gripper=0.9993 right_x=0.3852 right_y=0.1925 right_z=0.2437 right_yaw=0.1091 right_pitch=-0.3998 right_roll=-0.0855 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -1.6068, 6.9402, 1.8095, -0.0562, -0.022, -0.0122, 0.1573, -7.9385, 7.747, 1.033, 0.2662, 0.149, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4759, -0.0139, -0.0269, 0.9993, 0.6266, 1.7546, 1.3689, -0.7174, 0.3183, 0.3336, 0.9965]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=-0.0026 left_pitch=-0.114 left_roll=0.0041 left_gripper=0.9993 right_x=0.3746 right_y=0.2073 right_z=0.1228 right_yaw=0.1171 right_pitch=-0.4498 right_roll=-0.1145 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.347, 6.9675, 1.6972, -0.0513, -0.0464, -0.0122, 0.4855, -7.4598, 6.7761, 1.4042, 0.2222, 0.188, 0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0265, 0.9993, 0.6197, 1.9293, 1.3506, -0.5674, 0.3107, 0.3294, 0.9965]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.0032 left_pitch=-0.1144 left_roll=0.0042 left_gripper=0.9993 right_x=0.3945 right_y=0.2195 right_z=0.0585 right_yaw=0.1084 right_pitch=-0.491 right_roll=-0.1338 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.2103, 6.9812, 1.6386, -0.0415, -0.0317, -0.0122, -0.294, -9.853, 6.3385, 1.1941, 0.2027, -0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e003d19fd1e8b5543b508dce7ee2be77856f97c15a6c0d8cb817dc485c946e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:672812b336c40a920ed8875a27676c2fdb98f34864bcef98cd0988cd48f7a24e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ab2afa477b493d1ba31921e479081ee0e5c3073643d2d982fac923eb256df16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmQUKjgEIEhgCKkAjH0nyW/bHbOxZ15k0V4EmuoCRPT2mFR3M2aReYiPMt7bvXLZkMOfBh8hgcCmY6SRZ6P94u2wEFmnEoXxiJlguMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd+jzNUGEgyaOPANiV8UyPhXEe8aDHK1B3YvPhWEu35P6CIw3S587uQ2RIMwMtWj3i7eVRkmQ+tlb84L1+wpXaKNyUcVDyHOjhRCP54QXe96J0bGKrcDTw5sfEtj86cfBaHYGr312HMSY8I7H+Z0e0S1A+qDbHB7LXfnYpS5/Ol6l0CI728T8tnt612cYc03H+KZa2t02NFr2/vFwJqOQQvZBUlIngvQCWGYxYDFokeRaeOfqfJ47ZSem2UQp4nZXwa3w2CJ/hWN4iKvumRcEqm7jtl8yossJp1oUjtDlM0PYUFIqZy2VQxtYDKhQDbvwqQDCmHTwHPzheWzGCRk1KSCeU3/JuwUqXCj2+v3bnfRNUW2YxixJfbMQtlQxMWHCrZ4slWMEauozYEwl1DK21Unn3Ofs3BHW/hnFc/GMCKI1HPgSyGE4eCLbXgV2b1Qrjg4YeuoO+hm3Q5pxdIa+tY/ajhvrDlnG+yfoGBnIi+Il4NUIXMtG6e1Yg9OdQ7+/Qiy3HBLzpLT0ttvtjNkoahkfxrq5+4zLCsjG9XpAiRHrpRGFa7qVOEtv4ZybP4F3iHbV1HEkfK06mzVXhs8s8nfMzleoYnQy3VrOZ+mBWoelsNlbAnOU+VwFjeX0MGL7NtVUu6/N0PQZy8xFmDM0u4ZrU85kJ4Gpng7auF75XOnRT6kdm1lT865PA/JRRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HKDavxHuE9aaoowbz232PP",
      "input": {
        "note": "The lemon fills the jaw column in the wrist view; lowering to mid-lemon height before closing.",
        "targets": {
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01HKDavxHuE9aaoowbz232PP",
      "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, 0.6128, -0.4763, -0.0135, -0.0265, 0.9993, 0.6189, 1.9488, 1.3506, -0.5385, 0.3096, 0.3222, 0.9965]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.0032 left_pitch=-0.1144 left_roll=0.0042 left_gripper=0.9993 right_x=0.3988 right_y=0.2224 right_z=0.0529 right_yaw=0.1154 right_pitch=-0.4838 right_roll=-0.1316 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.306, 6.9265, 1.6142, -0.0269, -0.0464, -0.0122, -0.4581, -10.7282, 6.3111, 1.3211, 0.1441, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:694e3f573c822edf90fdfcc6cc23216052d9202aa6ef5bb56290e761cfef48ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a89a57756462af1b3d73ea8b35c324419c3d06d95f3e5a17accb7c1e2f35ef2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:745cfdab1799856b64404ff2d9f673d13f02030bda4467cf3b38abf6b7f997f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 4.565 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, 0.8192, 0.6128, -0.4759, -0.0139, -0.0269, 0.9993, 0.6266, 1.7546, 1.3689, -0.7174, 0.3183, 0.3336, 0.9965]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=-0.0026 left_pitch=-0.114 left_roll=0.0041 left_gripper=0.9993 right_x=0.3746 right_y=0.2073 right_z=0.1228 right_yaw=0.1171 right_pitch=-0.4498 right_roll=-0.1145 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.347, 6.9675, 1.6972, -0.0513, -0.0464, -0.0122, 0.4855, -7.4598, 6.7761, 1.4042, 0.2222, 0.188, 0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0265, 0.9993, 0.6197, 1.9293, 1.3506, -0.5674, 0.3107, 0.3294, 0.9965]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.0032 left_pitch=-0.1144 left_roll=0.0042 left_gripper=0.9993 right_x=0.3945 right_y=0.2195 right_z=0.0585 right_yaw=0.1084 right_pitch=-0.491 right_roll=-0.1338 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.2103, 6.9812, 1.6386, -0.0415, -0.0317, -0.0122, -0.294, -9.853, 6.3385, 1.1941, 0.2027, -0.0904, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0265, 0.9993, 0.6189, 1.9488, 1.3506, -0.5385, 0.3096, 0.3222, 0.9965]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.0032 left_pitch=-0.1144 left_roll=0.0042 left_gripper=0.9993 right_x=0.3988 right_y=0.2224 right_z=0.0529 right_yaw=0.1154 right_pitch=-0.4838 right_roll=-0.1316 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.306, 6.9265, 1.6142, -0.0269, -0.0464, -0.0122, -0.4581, -10.7282, 6.3111, 1.3211, 0.1441, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:694e3f573c822edf90fdfcc6cc23216052d9202aa6ef5bb56290e761cfef48ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a89a57756462af1b3d73ea8b35c324419c3d06d95f3e5a17accb7c1e2f35ef2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:745cfdab1799856b64404ff2d9f673d13f02030bda4467cf3b38abf6b7f997f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiQQKjgEIEhgCKkBjlpc8KiN1Cx71A+c2gibGXeC1/tIcummK8vUxxfQlfAdvC2DLGZdPVMa02IlOR0b/q7CQCGsAg9Dt49LxmH+eMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeOjzNUGEgyZ6RhvXhhJW42YzCMaDIixGWtMECNJ+lSBgyIwIghx+BvFEAH84EB62TFei3rl4ydGYwLdGzMrzYtpGKJ8cszzX37egv9GWzTb9qn9KqcCUCifFRzHo70uXu+iZf5BuKDxr/Ar8tVOH8p6+o714QuYyDP+CrqD0D5X20c118Prirgseb4BB5lp2xUkVewrsO2IZcuEXpZk3YmdebjEi0kIuM8O8U4PUtKAIc4IKfeFkKQ1DkbsRuLYSMU3SlC67rl94vMNzuflAX22NEzeg33LVgpAdOHkxEQ+hvZlgbowVSrOqFUvi6Q2HBpS3L8eF0ns+GSrMRAg39xKhYkUkaj3X7BWlhyzu9JzOq6uknF5XkomOUlirFbijUXtdazcckxkTDLCiKT2vBBHFyuN3Bl7F5/1Vsdi+8Aei55c7XeqiYAjtbgNG/DiVpslX6/wlC2lBs5B1NI56XIPkOJ+y+q1XHf3gJ7jcFmXx2/Zo3N6hYccZql+8hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QYbA2shjkPQPUR8i7pw8qe",
      "input": {
        "note": "The descent stalled but the lemon is centred between the jaws in the wrist view; closing on it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QYbA2shjkPQPUR8i7pw8qe",
      "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, 0.6128, -0.4767, -0.0139, -0.0265, 0.9993, 0.6189, 1.9488, 1.3506, -0.5434, 0.3099, 0.3141, 0.009]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1578 left_yaw=-0.0028 left_pitch=-0.1148 left_roll=0.0044 left_gripper=0.9993 right_x=0.398 right_y=0.2217 right_z=0.0524 right_yaw=0.1187 right_pitch=-0.4885 right_roll=-0.1391 right_gripper=0.009\nstate[joint_eff]: [-0.0615, -1.2103, 6.9402, 1.619, -0.0513, -0.0464, -0.0171, -0.212, -10.2222, 6.147, 1.1111, 0.1685, 0.0562, 0.6862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d62884ba2b5e2b0589c5307da14c9e5ece8ab6fbcd0b21bf1b5f44e26401852",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5070569a14a4fca5430c671b9942577a69c259b15940bbad8b99508ce472031b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd93f21d68c6adfd93b655297a48bfe608148e30bab99fce75d4c087732a0291",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 3.125 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, 0.8192, 0.6128, -0.4763, -0.0135, -0.0265, 0.9993, 0.6197, 1.9293, 1.3506, -0.5674, 0.3107, 0.3294, 0.9965]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.0032 left_pitch=-0.1144 left_roll=0.0042 left_gripper=0.9993 right_x=0.3945 right_y=0.2195 right_z=0.0585 right_yaw=0.1084 right_pitch=-0.491 right_roll=-0.1338 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.2103, 6.9812, 1.6386, -0.0415, -0.0317, -0.0122, -0.294, -9.853, 6.3385, 1.1941, 0.2027, -0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0265, 0.9993, 0.6189, 1.9488, 1.3506, -0.5385, 0.3096, 0.3222, 0.9965]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.0032 left_pitch=-0.1144 left_roll=0.0042 left_gripper=0.9993 right_x=0.3988 right_y=0.2224 right_z=0.0529 right_yaw=0.1154 right_pitch=-0.4838 right_roll=-0.1316 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.306, 6.9265, 1.6142, -0.0269, -0.0464, -0.0122, -0.4581, -10.7282, 6.3111, 1.3211, 0.1441, 0.0171, -0.0122]",
      "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, 0.8192, 0.6128, -0.4767, -0.0139, -0.0265, 0.9993, 0.6189, 1.9488, 1.3506, -0.5434, 0.3099, 0.3141, 0.009]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1578 left_yaw=-0.0028 left_pitch=-0.1148 left_roll=0.0044 left_gripper=0.9993 right_x=0.398 right_y=0.2217 right_z=0.0524 right_yaw=0.1187 right_pitch=-0.4885 right_roll=-0.1391 right_gripper=0.009\nstate[joint_eff]: [-0.0615, -1.2103, 6.9402, 1.619, -0.0513, -0.0464, -0.0171, -0.212, -10.2222, 6.147, 1.1111, 0.1685, 0.0562, 0.6862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d62884ba2b5e2b0589c5307da14c9e5ece8ab6fbcd0b21bf1b5f44e26401852",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5070569a14a4fca5430c671b9942577a69c259b15940bbad8b99508ce472031b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd93f21d68c6adfd93b655297a48bfe608148e30bab99fce75d4c087732a0291",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8AMKjgEIEhgCKkCHdEGn/yMeYsJO0mrr4gGr4Iu59KglvFV0nWhTN/bdEmCqwWKZfhS6GsRjO3sCeuppBZThnsuXYs7iA2nBpEjPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAemjzNUGEgw5sjIVVFN0EwNWtT0aDP+eH4mrFFaCHd43KiIwDxmtS+oPx2nwssuHkzDPwkXvufOC4/Wlud56m4DxBzATw5T3r+uZA0BV27s8UdMZKo4CnI8Zsge26NipVv6oh5Ypu74bsVF/5h99yDKIWxv4McOhAShgFU9k61RwCjSsZ+7y54Y+VwZiWpEbR8ZTEilOmAmQ3SmcUe4Rn7obIgrbhwOdwdn8rliWNoNEkPGnGFywsdYTS8290R28xrNL6bthdAz/Ioc01WmQxCbCz9vWuRvJ+C/P7I8yYk/aq7X/lU6VdwuJPIrmFW1GM73gXr94jT411kMADJrKeIvKQd+fKFCK65Do6wXb1X/4oO/l51FmLJbuLZrLIZEWQl1wYYRp8FNldubJ4wEeJOFgj/VXHKC9IjncYyS7fxP0p08B3Vt/lbmm+DiCAVF1/uBNPo0d0nVIRZJGX+otHUpVVCmaGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CgJVdEEo6QDEyY7VHbo7CN",
      "input": {
        "note": "The close was empty (0.009), so the lemon is a few cm beyond the fingertips; reopening and advancing 3 cm radially.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.43
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CgJVdEEo6QDEyY7VHbo7CN",
      "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, 0.6128, -0.477, -0.0139, -0.0265, 0.9993, 0.5793, 2.0304, 1.4509, -0.5808, 0.2901, 0.2638, 0.9953]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.1578 left_yaw=-0.0028 left_pitch=-0.1152 left_roll=0.0044 left_gripper=0.9993 right_x=0.4194 right_y=0.2182 right_z=0.0453 right_yaw=0.1218 right_pitch=-0.5176 right_roll=-0.1583 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.3333, 6.9949, 1.6435, -0.0562, -0.0415, -0.0122, -0.6906, -9.935, 8.5812, 1.0672, 0.1148, 0.1148, 0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58b6a0ac59de1152782ea500aec4aced1c3b96d27d8f8ee93ec7e33e6d31178c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abf2fefda5c4068616e13faf136aa5ab499f04d9b98cdddabd76fef5a2ad759a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a2f58d0c48edd9a417c1af9bba27cf2a49862a6bd42d6cabab1e1b9768ee174f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 17 attempt 0 · /messages · status 200 · 5.859 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, 0.8192, 0.6128, -0.4763, -0.0135, -0.0265, 0.9993, 0.6189, 1.9488, 1.3506, -0.5385, 0.3096, 0.3222, 0.9965]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.0032 left_pitch=-0.1144 left_roll=0.0042 left_gripper=0.9993 right_x=0.3988 right_y=0.2224 right_z=0.0529 right_yaw=0.1154 right_pitch=-0.4838 right_roll=-0.1316 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.306, 6.9265, 1.6142, -0.0269, -0.0464, -0.0122, -0.4581, -10.7282, 6.3111, 1.3211, 0.1441, 0.0171, -0.0122]",
      "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, 0.8192, 0.6128, -0.4767, -0.0139, -0.0265, 0.9993, 0.6189, 1.9488, 1.3506, -0.5434, 0.3099, 0.3141, 0.009]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1578 left_yaw=-0.0028 left_pitch=-0.1148 left_roll=0.0044 left_gripper=0.9993 right_x=0.398 right_y=0.2217 right_z=0.0524 right_yaw=0.1187 right_pitch=-0.4885 right_roll=-0.1391 right_gripper=0.009\nstate[joint_eff]: [-0.0615, -1.2103, 6.9402, 1.619, -0.0513, -0.0464, -0.0171, -0.212, -10.2222, 6.147, 1.1111, 0.1685, 0.0562, 0.6862]",
      "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, 0.8192, 0.6128, -0.477, -0.0139, -0.0265, 0.9993, 0.5793, 2.0304, 1.4509, -0.5808, 0.2901, 0.2638, 0.9953]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.1578 left_yaw=-0.0028 left_pitch=-0.1152 left_roll=0.0044 left_gripper=0.9993 right_x=0.4194 right_y=0.2182 right_z=0.0453 right_yaw=0.1218 right_pitch=-0.5176 right_roll=-0.1583 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.3333, 6.9949, 1.6435, -0.0562, -0.0415, -0.0122, -0.6906, -9.935, 8.5812, 1.0672, 0.1148, 0.1148, 0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58b6a0ac59de1152782ea500aec4aced1c3b96d27d8f8ee93ec7e33e6d31178c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abf2fefda5c4068616e13faf136aa5ab499f04d9b98cdddabd76fef5a2ad759a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2f58d0c48edd9a417c1af9bba27cf2a49862a6bd42d6cabab1e1b9768ee174f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5wIKjgEIEhgCKkAfHRlDlzBulwtyW11jsPCFUn8v+nGE8QSG1vAA5/csRQrx63qHB01ePFTLBPL3YRlNqfm02LPVK3mpPUGOGPjAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe2jzNUGEgz9xHcurzbakw3vyMoaDF4SnUqI+K2SajQ+jyIwKVPrYjtYF0CxyD6g9LzV6Sb3oynNvSbid2CkUvJpYAxhlUpL+ZUe4nt78+wgFFkzKoUBwcxfWBWEaE6AQIbjag7r2xnZWnSX5Ui7/VDF6maEU3JwzV4//XufvzkiDZxSIqHWp/VOy4IMuKT+iaknaOIr4vmaAhwhWXsD/zNO0JvR40P+56Lm0B450/0OPrD90xTwkIbdkIAFxM8zEIXcK7cgESgg/aXtIUYYveS7ObyunVZeGVEbwxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EDoQiedKTT7uMfL1uvDEva",
      "input": {
        "note": "The lemon now sits between the open jaws in the wrist view; closing on it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EDoQiedKTT7uMfL1uvDEva",
      "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, 0.6128, -0.4767, -0.0139, -0.0265, 0.9993, 0.5785, 2.0346, 1.454, -0.585, 0.2909, 0.2619, 0.0093]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1578 left_yaw=-0.0028 left_pitch=-0.1148 left_roll=0.0044 left_gripper=0.9993 right_x=0.4194 right_y=0.2176 right_z=0.0441 right_yaw=0.1202 right_pitch=-0.5223 right_roll=-0.1627 right_gripper=0.0093\nstate[joint_eff]: [-0.1846, -1.2239, 7.1726, 1.6337, -0.0513, -0.0317, -0.0122, -0.0068, -11.1521, 6.0239, 1.0476, 0.1587, -0.022, 0.6862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e08f57cf8fc7529fc7f1737e84d1cbf4e54f52d095115e1af2f9c4bdf6b8d4ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95e860e29e0816c6c73624de4adaf8209624bf3ef1e7d4bd6ead420082db27a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:67b3722697f7023e708b1502242af18d5e6d2a8272080ac955144bbb8cdf2b6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 9.142 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, 0.8192, 0.6128, -0.4767, -0.0139, -0.0265, 0.9993, 0.6189, 1.9488, 1.3506, -0.5434, 0.3099, 0.3141, 0.009]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1578 left_yaw=-0.0028 left_pitch=-0.1148 left_roll=0.0044 left_gripper=0.9993 right_x=0.398 right_y=0.2217 right_z=0.0524 right_yaw=0.1187 right_pitch=-0.4885 right_roll=-0.1391 right_gripper=0.009\nstate[joint_eff]: [-0.0615, -1.2103, 6.9402, 1.619, -0.0513, -0.0464, -0.0171, -0.212, -10.2222, 6.147, 1.1111, 0.1685, 0.0562, 0.6862]",
      "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, 0.8192, 0.6128, -0.477, -0.0139, -0.0265, 0.9993, 0.5793, 2.0304, 1.4509, -0.5808, 0.2901, 0.2638, 0.9953]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.1578 left_yaw=-0.0028 left_pitch=-0.1152 left_roll=0.0044 left_gripper=0.9993 right_x=0.4194 right_y=0.2182 right_z=0.0453 right_yaw=0.1218 right_pitch=-0.5176 right_roll=-0.1583 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.3333, 6.9949, 1.6435, -0.0562, -0.0415, -0.0122, -0.6906, -9.935, 8.5812, 1.0672, 0.1148, 0.1148, 0.0171]\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 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, 0.8192, 0.6128, -0.4767, -0.0139, -0.0265, 0.9993, 0.5785, 2.0346, 1.454, -0.585, 0.2909, 0.2619, 0.0093]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1578 left_yaw=-0.0028 left_pitch=-0.1148 left_roll=0.0044 left_gripper=0.9993 right_x=0.4194 right_y=0.2176 right_z=0.0441 right_yaw=0.1202 right_pitch=-0.5223 right_roll=-0.1627 right_gripper=0.0093\nstate[joint_eff]: [-0.1846, -1.2239, 7.1726, 1.6337, -0.0513, -0.0317, -0.0122, -0.0068, -11.1521, 6.0239, 1.0476, 0.1587, -0.022, 0.6862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e08f57cf8fc7529fc7f1737e84d1cbf4e54f52d095115e1af2f9c4bdf6b8d4ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95e860e29e0816c6c73624de4adaf8209624bf3ef1e7d4bd6ead420082db27a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67b3722697f7023e708b1502242af18d5e6d2a8272080ac955144bbb8cdf2b6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqAUKjgEIEhgCKkAZRWgrr3RErWJufWeMmvGhMdeahVdc+/374+sYJMCsIjjXfR0RPYJcb3BWpGmb1RstRu55IBKbZqy3NheHaIsOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfOjzNUGEgxBslW0sCtAngAqxYoaDGsmhYF2R0RzWPoVRiIwVsSESh89HG4jjGoT1N6aJvjCPbGFN+/EGLG6RDyv/94P3GUUlHGN1iAp6JPjjw7mKsYDxc0KfGZOpDwyMim2JWBwrerGkIqtF+6kPzUyWvmWp5Fjj6Rzrsg5pnY6slwmVXqZ/fm5Iy/zwtVqR5qdQhqwttkpoWPpxmrV8sEv15cuB28IYW+zujcEwg239VsQLg1fBBqaimuz8Pr1DDz0iI0bhLZ6iO3CHIvhvfml2zrKrrGSMhFebOIc9rQh6Z2kifj5NmFkAVig9YXYo1KzNTQxZSQ+kcPcOutpozpTqUwfndtjo6fJEk0+95dKBeGFcZWKco9iLeXMz89qLfVJC0ozZRYt09I91jnudMY5fe5cYPRur5cTzHn8RyOsMWBz1tFGJF8p+VRDHEIQjnT+3uNuOQUv3N2eEc2bcAVHqsGDPiBJt9tXtYMUNMeHxWXWwMV8m8mgYzcdhoEvf9j4ZXN0BpFIXHUM+8edsG6PBsGT5Nrgk0d03zAzEjcsjTAr6OsWcYp27+9/cJgIunXzE+TITNXqky+ynPT6+26V5ZqGI1WMSV3kB7Oh3CsDd3HyiRtLR8/SB9yD5Ds8q+o/gHuIwWLGFQ5e1pSOAE+fEkEvQpJ/wZCVbsgt5ylmeI9Y/0/De/jiHHKllK5oUbu2EWEPhYnin0DrJhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TvS2YqsCXotivb3ZpDWT43",
      "input": {
        "note": "Empty close again — the lemon is still just beyond the fingertips (it appears right below the jaws); reopening and advancing another 3.5 cm.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.455
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TvS2YqsCXotivb3ZpDWT43",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8238, 0.6128, -0.4904, -0.0139, -0.0265, 0.9993, 0.5407, 2.1304, 1.5879, -0.6449, 0.2718, 0.2111, 0.9956]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.154 left_yaw=-0.0028 left_pitch=-0.1331 left_roll=0.0048 left_gripper=0.9993 right_x=0.4433 right_y=0.215 right_z=0.038 right_yaw=0.1251 right_pitch=-0.5543 right_roll=-0.1816 right_gripper=0.9956\nstate[joint_eff]: [-0.212, -1.5795, 6.9675, 1.7802, -0.0366, -0.0513, -0.0122, -0.841, -10.3179, 8.4855, 1.1746, 0.105, 0.0611, -0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cf98341f7479ccc32e778dd19f3b168b0ae29f960ea983fca69cc814e02e456",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0a77366ba87fe536ebaed5ad13253c8297df1207993e9f68e22aef0285ddada",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d3a3b3f3408129609f0dabf0fd8a9dc73f6e2a5f31e1729114c1a7f1ef6a9abc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 10.55 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, 0.8192, 0.6128, -0.477, -0.0139, -0.0265, 0.9993, 0.5793, 2.0304, 1.4509, -0.5808, 0.2901, 0.2638, 0.9953]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.1578 left_yaw=-0.0028 left_pitch=-0.1152 left_roll=0.0044 left_gripper=0.9993 right_x=0.4194 right_y=0.2182 right_z=0.0453 right_yaw=0.1218 right_pitch=-0.5176 right_roll=-0.1583 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.3333, 6.9949, 1.6435, -0.0562, -0.0415, -0.0122, -0.6906, -9.935, 8.5812, 1.0672, 0.1148, 0.1148, 0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8192, 0.6128, -0.4767, -0.0139, -0.0265, 0.9993, 0.5785, 2.0346, 1.454, -0.585, 0.2909, 0.2619, 0.0093]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1578 left_yaw=-0.0028 left_pitch=-0.1148 left_roll=0.0044 left_gripper=0.9993 right_x=0.4194 right_y=0.2176 right_z=0.0441 right_yaw=0.1202 right_pitch=-0.5223 right_roll=-0.1627 right_gripper=0.0093\nstate[joint_eff]: [-0.1846, -1.2239, 7.1726, 1.6337, -0.0513, -0.0317, -0.0122, -0.0068, -11.1521, 6.0239, 1.0476, 0.1587, -0.022, 0.6862]\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 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, 0.8238, 0.6128, -0.4904, -0.0139, -0.0265, 0.9993, 0.5407, 2.1304, 1.5879, -0.6449, 0.2718, 0.2111, 0.9956]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.154 left_yaw=-0.0028 left_pitch=-0.1331 left_roll=0.0048 left_gripper=0.9993 right_x=0.4433 right_y=0.215 right_z=0.038 right_yaw=0.1251 right_pitch=-0.5543 right_roll=-0.1816 right_gripper=0.9956\nstate[joint_eff]: [-0.212, -1.5795, 6.9675, 1.7802, -0.0366, -0.0513, -0.0122, -0.841, -10.3179, 8.4855, 1.1746, 0.105, 0.0611, -0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cf98341f7479ccc32e778dd19f3b168b0ae29f960ea983fca69cc814e02e456",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0a77366ba87fe536ebaed5ad13253c8297df1207993e9f68e22aef0285ddada",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3a3b3f3408129609f0dabf0fd8a9dc73f6e2a5f31e1729114c1a7f1ef6a9abc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrQsKjgEIEhgCKkBrABsy06ZkeNTZu5hITroxJDletQi8R+Fd8qOAU2gW+vy5YNEg8wEAx2AV+bVn3Ya5HR7X0F1JVWxpjKni7B6+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf6jzNUGEgy9hDGE/WI/9/a4sgwaDH04j/rdwgtzek9FTyIwdVFhT4MvfflCoM+Wms7rMqDQG3fCrtB6ug2r3mSSyePn47089CLF1Iqa29o4EdynKssJZNQjBDyAKd7rfsUIPV1eoMoM4CKonHQrSWb1Dx/D7grpdxcGWfXIdOYNogzPTCyAx/dRNVYfawRc9Z0KXonb7KOh/qRa8nmfB+6B67FOBwuTuUkjwXnXATDV8qUmvxiRbUcBvofVrufdQyisyXehXGLPIQIQqnl6v8NZG68WXzfDfoFGrhiNDwb/Vv9wgleJAupAJOxO4mBTJKOORbYOQJB6HQFqL8EmxBkUIR8OJX5tCqJVZUhBjX4MOxlGqBWhIgbzs9Jqb4bF9q+klexlt4MYnKobxgxd0GieGynbo+zfsnb+0AcUwhB5IpqIb6hMcWAYWg0xtCz0Qjfixnj2kw2nGICZN7PMOJBeJXW5fLbFhOEvIyq1bGQ5fmN1IQAc+biNYDVDPM9X1a4y9y5wQ+uUk+KYSJI3FACg7dPS8dYrC8fe/6DpASuxb8KEMFbH07pb+4J+thCvi0KX7o/QYG2+7hyN7JV5NxMXUk+YKECthfaLk2bxfI90Dkc9l0MCWAfvThT3mHFSIZ0alJpOlGhUOArsbA0leB5z3s+cRaoQkgDJCuCaUutwPXmMOgSlS8Y6bG4Q4y+PF0AF2w7MrUS3zz8LqhFgCuPhJN9ZsxPa1lKPM93GuE0CV5T17z8RTsA3A3sx+OJ86jUWmJ9gacy259HJBRG+UqFL0uJY+KjruE9mlAyT0/ZyDfJI2FgoxabnlxmzfFdeb4z4nD98V3mF7ncdHzbovY5FqS+oGESMtf8zKJkw+DLyT13Rmi9tAFt/r0XvtuRbvVgFtvNjkJ96tZkMiNXYLDzX//95spYhIG7hsh61r9q/0RYpQW70Kmwr7mHz9H+vpKwB84LSXttp7sPcWQspTBHir8qFJPwbohgJ/CswPtRYA5NxJeufhQwDHaBELLvNaG/uO2FiBT1va6kPi3tsXn6Y8UuK7y/joHhGJvYR4riyzIlA0BkzE7kxCajOTE/lCarJKWTD02IijnmCWhnuD/nxf2Njlilr1b0XpDAq1srvdOh+kmCMV6yiHTBMJPKFvnHd9FaO1LzsMV5PlUhGYVuTXGS6IgLV4b4a4iFZFPg12ufhWBluGgOx0fyN+HNP7hMXXmlEPovUZIw7JSxhiNv6HXsRLhNAHP+w4qWdkxQfxSl3ytQIqe+XL8m+wjTJ02iZvfaVrzUaqQj+RGYv+dfOCfZPV7KsXZZ+14wchbTzl6De5zgdeiX29AGr8VbtoovsG+LsSGuw6d8feSEha4UMIYuDwlj3D5wRyAiW3ARBTfbNIAJDjt4T9sYCSYBo0RBoA51wW+In2+jq2QoYiKZ9HO2RXhbbK3nI3Yfo8od2hsYeAwCaPJ6NDTfmFqK1ahs9vTfClQXDMRED46UWIBpNfIqUciHwiPpBOHl+Pqoo8Q4iTlUcMTFBUzk5YGu1sOZiOc+LmeTxvad1pMjd2cXPTrC9Cn1vT2U0hrspNioAEPwKQFZ0a67XDmu7HGlnufC7S83O0ClzsA/gRt67R7+ur0mTgZsSzC22yqVN7EbcVLxfINaKgw+2vqehK080jvaq2nOQGc3HuTVywZD4Bqeka0kChofVAWIgvY2nGGat9DU3YnjyIxpSLxSUbsOwIor2vzgrIN/X4+P+hmsJh8Z4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BrkE8wohJr8e83ZyCjxa1w",
      "input": {
        "note": "The lemon is now right at the jaw opening in the wrist view; closing on it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BrkE8wohJr8e83ZyCjxa1w",
      "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, 0.6128, -0.4915, -0.0139, -0.0265, 0.9993, 0.5404, 2.1323, 1.5921, -0.6525, 0.2718, 0.2047, 0.0084]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1535 left_yaw=-0.0028 left_pitch=-0.1354 left_roll=0.0048 left_gripper=0.9993 right_x=0.4429 right_y=0.2146 right_z=0.0378 right_yaw=0.1274 right_pitch=-0.5598 right_roll=-0.1874 right_gripper=0.0084\nstate[joint_eff]: [0.0068, -1.4427, 7.0222, 1.5995, -0.0415, -0.0708, -0.0122, -0.0615, -11.8222, 5.8735, 1.0037, 0.1343, 0.0513, 0.6569]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6df17ed108c3d20e35a16bd3a5f89a6278b586731735f4365f54ba968b1b978",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20a0279304297780168745a5fc8d31625699049622d4eab627cf8f0bc55cd485",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4a43e68571de847ca229ba26c55024d458487f60c38b7bb93856ad12007224dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 14.52 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, 0.8192, 0.6128, -0.4767, -0.0139, -0.0265, 0.9993, 0.5785, 2.0346, 1.454, -0.585, 0.2909, 0.2619, 0.0093]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1578 left_yaw=-0.0028 left_pitch=-0.1148 left_roll=0.0044 left_gripper=0.9993 right_x=0.4194 right_y=0.2176 right_z=0.0441 right_yaw=0.1202 right_pitch=-0.5223 right_roll=-0.1627 right_gripper=0.0093\nstate[joint_eff]: [-0.1846, -1.2239, 7.1726, 1.6337, -0.0513, -0.0317, -0.0122, -0.0068, -11.1521, 6.0239, 1.0476, 0.1587, -0.022, 0.6862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8238, 0.6128, -0.4904, -0.0139, -0.0265, 0.9993, 0.5407, 2.1304, 1.5879, -0.6449, 0.2718, 0.2111, 0.9956]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.154 left_yaw=-0.0028 left_pitch=-0.1331 left_roll=0.0048 left_gripper=0.9993 right_x=0.4433 right_y=0.215 right_z=0.038 right_yaw=0.1251 right_pitch=-0.5543 right_roll=-0.1816 right_gripper=0.9956\nstate[joint_eff]: [-0.212, -1.5795, 6.9675, 1.7802, -0.0366, -0.0513, -0.0122, -0.841, -10.3179, 8.4855, 1.1746, 0.105, 0.0611, -0.1343]\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 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, 0.8249, 0.6128, -0.4915, -0.0139, -0.0265, 0.9993, 0.5404, 2.1323, 1.5921, -0.6525, 0.2718, 0.2047, 0.0084]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1535 left_yaw=-0.0028 left_pitch=-0.1354 left_roll=0.0048 left_gripper=0.9993 right_x=0.4429 right_y=0.2146 right_z=0.0378 right_yaw=0.1274 right_pitch=-0.5598 right_roll=-0.1874 right_gripper=0.0084\nstate[joint_eff]: [0.0068, -1.4427, 7.0222, 1.5995, -0.0415, -0.0708, -0.0122, -0.0615, -11.8222, 5.8735, 1.0037, 0.1343, 0.0513, 0.6569]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6df17ed108c3d20e35a16bd3a5f89a6278b586731735f4365f54ba968b1b978",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20a0279304297780168745a5fc8d31625699049622d4eab627cf8f0bc55cd485",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a43e68571de847ca229ba26c55024d458487f60c38b7bb93856ad12007224dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5ggKjgEIEhgCKkBwMZZONPTRuzqLHfLxbaC9SYODj/7EgNIwUZ+vVVu8HybVsEhrhX54GOcRFYnMexSqdvcjHa3Z9OyRf/gHMkEuMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYikzNUGEgynpfQIl+ounfYYOPoaDKZmOXUJVhy6nZ0B/CIwSXWbRoyiytqJHH7cJVA9kBWzCvShjtpvdmVovPokD5BHsqzaGbc4r0pzT9lgsMrqKoQHLTADvuOPg4WDsS0jN4on23PQKdg7hvAnF4j7dcmgkfAgVpCyWM10lUh0ZSh2JNWaaTRRXWQF1JE7fxvnq6FPLaIRNKU/Xw3H1Asxn8eQ4W4FJzpgtB0mYTf0YcWkYvGUeqxIQiuHQNJ7bZlCPtVWzkESHigPhJhYWvAOj3nql1ioVAp/DStm9ub9Bq2jXb/Kq/uXkTZDbfdXO1FdgqNf9PoIVlezoKNKwxRSnPedS74TmZOkBMqd17YkK/8kQeTyx/fS94fMxMfX0/cXHNT/C14vkaGjP3rw7h02ZqUtjrKbl8JSJZtcEY0NQnDTRn8YcQuQto8ud0hcBurL0aQkSyibegIwxhieylfuAm8ElmRmDMTYLOXTyes6did5UpGPtLh5MX9wXsQy0ygCjmeQIKX4tpwXlg2uXJV+bvghOaGaw5gf4IKei1b8ERuXkkBtNKgp/WsJPXTp1ogcvuNVnF3F/76+OPba01OrCjfGlilK3YC6wPwsdcY/Cu20wzgGRGeL2ve/sOvGV3LgT+Xz5iYc2I7ddYvD+uFMirgE2s46OWbB596cEuJbSXcf5If0BHCqip9eOfNcBM9WYdXMNCcnKGFBSwgTT6YwHSyKPd6KvudeMQdYLSlcZ8AjX3l8aRYIXd8i4ve3KdOkLATAv4rqngrbNXNVSfX32my5dS+1dErC4d/DPBaByP39xciC355GjEbOIbLWdSWNQI8suq5NLvrXuZExtRTlTwcD4VjBMxCOiBz6uB7xsD6g6XBsXv2mUl/6n+YqDYzpq8/+jL5VOS4FdO8Uh8qe0Ss42Aa/Epm4fHrl1c01wc051unQ/I4sxlTenFzKcBC3leT6Dv0m4iMv1frb3AYYFo6tJInLL/YMb6Y2vISxTcdqSNztjtWWvg1o9kErBKDArrYbZS2Px5hEeYKvV4QDV1viZbKQEZ92rNTqM/Xa/q9XBRRvkwLTrCwx9AIivUtXTnO4NallU6WfhkgmzQw5Mty6wuXJtuFSPqbqPZc7Jp1B+KA3cQgQ7sjbmWyWu+l8nM8CU4Q0AGiDAIUr0dq0KtJd0amz9He3ETj8bGYa43QOZJ9xSP2BnJDUB2XxPmK1pVa7F/wIiPJdfHMKynknwf5gX8gqHErx2S4a+dXk+8p0OevPJ9L4LJDrebiEPtW0uaWE2982PGQ2cjazx+8QLAEyfqEod6w5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N8uYy2FqX3Ay4mqmq3BKt2",
      "input": {
        "note": "Still empty; in the wrist view the lemon is under the left jaw, so it is slightly to the arm's left and just beyond; reopening, shifting left 2 cm, forward 2 cm and lowering.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.465,
          "right_y": 0.235,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01N8uYy2FqX3Ay4mqmq3BKt2",
      "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, 0.6128, -0.4923, -0.0135, -0.0265, 0.9993, 0.5537, 2.2543, 1.71, -0.6811, 0.2722, 0.2008, 0.9955]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1534 left_yaw=-0.0031 left_pitch=-0.1362 left_roll=0.0046 left_gripper=0.9993 right_x=0.4557 right_y=0.2301 right_z=0.0152 right_yaw=0.1342 right_pitch=-0.5901 right_roll=-0.2055 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.2786, 6.9265, 1.5946, -0.0269, 0.0024, -0.0122, 0.0342, -11.7675, 8.5675, 1.0134, 0.1685, 0.0855, -0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:090b130d092cd0baf39170f04f409f00666a8a2ab40a5bb8f8a70d3e6ace5c9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8901d16803875cef856af0a639bee23aeed02619eab0de219d9c045119d0b9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:084f6d077948135dd18c0d922c32220f52f74fe585c1d6994562eb998d50d030",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 12.98 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, 0.8238, 0.6128, -0.4904, -0.0139, -0.0265, 0.9993, 0.5407, 2.1304, 1.5879, -0.6449, 0.2718, 0.2111, 0.9956]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.154 left_yaw=-0.0028 left_pitch=-0.1331 left_roll=0.0048 left_gripper=0.9993 right_x=0.4433 right_y=0.215 right_z=0.038 right_yaw=0.1251 right_pitch=-0.5543 right_roll=-0.1816 right_gripper=0.9956\nstate[joint_eff]: [-0.212, -1.5795, 6.9675, 1.7802, -0.0366, -0.0513, -0.0122, -0.841, -10.3179, 8.4855, 1.1746, 0.105, 0.0611, -0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8249, 0.6128, -0.4915, -0.0139, -0.0265, 0.9993, 0.5404, 2.1323, 1.5921, -0.6525, 0.2718, 0.2047, 0.0084]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1535 left_yaw=-0.0028 left_pitch=-0.1354 left_roll=0.0048 left_gripper=0.9993 right_x=0.4429 right_y=0.2146 right_z=0.0378 right_yaw=0.1274 right_pitch=-0.5598 right_roll=-0.1874 right_gripper=0.0084\nstate[joint_eff]: [0.0068, -1.4427, 7.0222, 1.5995, -0.0415, -0.0708, -0.0122, -0.0615, -11.8222, 5.8735, 1.0037, 0.1343, 0.0513, 0.6569]\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 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, 0.8249, 0.6128, -0.4923, -0.0135, -0.0265, 0.9993, 0.5537, 2.2543, 1.71, -0.6811, 0.2722, 0.2008, 0.9955]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1534 left_yaw=-0.0031 left_pitch=-0.1362 left_roll=0.0046 left_gripper=0.9993 right_x=0.4557 right_y=0.2301 right_z=0.0152 right_yaw=0.1342 right_pitch=-0.5901 right_roll=-0.2055 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.2786, 6.9265, 1.5946, -0.0269, 0.0024, -0.0122, 0.0342, -11.7675, 8.5675, 1.0134, 0.1685, 0.0855, -0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:090b130d092cd0baf39170f04f409f00666a8a2ab40a5bb8f8a70d3e6ace5c9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8901d16803875cef856af0a639bee23aeed02619eab0de219d9c045119d0b9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:084f6d077948135dd18c0d922c32220f52f74fe585c1d6994562eb998d50d030",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BtiRVV9k8sQvgrJgV4AGYv",
      "input": {
        "note": "I have lost track of the lemon and the blue bowl behind the arm; retracting the right arm out of the way to get a clear overhead view of the scene.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.0,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01BtiRVV9k8sQvgrJgV4AGYv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.498, -0.0139, -0.0265, 0.9993, 0.0586, 1.3174, 1.692, -1.5013, 0.102, -0.2306, 0.9965]\nstate[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.1504 left_yaw=-0.0028 left_pitch=-0.1491 left_roll=0.0051 left_gripper=0.9993 right_x=0.2658 right_y=0.0012 right_z=0.2912 right_yaw=0.0917 right_pitch=-0.5722 right_roll=-0.2117 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.7573, 6.8991, 1.6825, -0.0269, -0.022, -0.0122, -0.1846, -4.4786, 6.5162, 0.989, -0.0855, -0.022, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13f34c0510a06a5c42f8f6c26b8e84b56d995f363dca3f3ee286e790a49ed44d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:733a94121c0b036e6ae8ae2865e915ebf70011903498778474a57b69ada653e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3121d023593d0d437b028bd053fcea027be5c03dcd73a43d61fdb457a7725a48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 8.28 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, 0.8249, 0.6128, -0.4915, -0.0139, -0.0265, 0.9993, 0.5404, 2.1323, 1.5921, -0.6525, 0.2718, 0.2047, 0.0084]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1535 left_yaw=-0.0028 left_pitch=-0.1354 left_roll=0.0048 left_gripper=0.9993 right_x=0.4429 right_y=0.2146 right_z=0.0378 right_yaw=0.1274 right_pitch=-0.5598 right_roll=-0.1874 right_gripper=0.0084\nstate[joint_eff]: [0.0068, -1.4427, 7.0222, 1.5995, -0.0415, -0.0708, -0.0122, -0.0615, -11.8222, 5.8735, 1.0037, 0.1343, 0.0513, 0.6569]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8249, 0.6128, -0.4923, -0.0135, -0.0265, 0.9993, 0.5537, 2.2543, 1.71, -0.6811, 0.2722, 0.2008, 0.9955]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1534 left_yaw=-0.0031 left_pitch=-0.1362 left_roll=0.0046 left_gripper=0.9993 right_x=0.4557 right_y=0.2301 right_z=0.0152 right_yaw=0.1342 right_pitch=-0.5901 right_roll=-0.2055 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.2786, 6.9265, 1.5946, -0.0269, 0.0024, -0.0122, 0.0342, -11.7675, 8.5675, 1.0134, 0.1685, 0.0855, -0.1099]\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 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, 0.8322, 0.6128, -0.498, -0.0139, -0.0265, 0.9993, 0.0586, 1.3174, 1.692, -1.5013, 0.102, -0.2306, 0.9965]\nstate[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.1504 left_yaw=-0.0028 left_pitch=-0.1491 left_roll=0.0051 left_gripper=0.9993 right_x=0.2658 right_y=0.0012 right_z=0.2912 right_yaw=0.0917 right_pitch=-0.5722 right_roll=-0.2117 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.7573, 6.8991, 1.6825, -0.0269, -0.022, -0.0122, -0.1846, -4.4786, 6.5162, 0.989, -0.0855, -0.022, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13f34c0510a06a5c42f8f6c26b8e84b56d995f363dca3f3ee286e790a49ed44d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:733a94121c0b036e6ae8ae2865e915ebf70011903498778474a57b69ada653e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3121d023593d0d437b028bd053fcea027be5c03dcd73a43d61fdb457a7725a48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M7siFi3Hzu9xokbpESM3o8",
      "input": {
        "note": "Clear view now: the pear is in the blue bowl, and the lemon sits on the table just left of it. Hovering the right gripper above the lemon for a fresh top-down approach.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.23,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01M7siFi3Hzu9xokbpESM3o8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4988, -0.0139, -0.0265, 0.9993, 0.6308, 1.9934, 1.8683, -1.1664, 0.3027, 0.279, 0.9965]\nstate[eef_state]: left_x=0.2804 left_y=-0.0001 left_z=0.1503 left_yaw=-0.0027 left_pitch=-0.1499 left_roll=0.0051 left_gripper=0.9993 right_x=0.3879 right_y=0.2225 right_z=0.1524 right_yaw=0.113 right_pitch=-0.6265 right_roll=-0.2361 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.4017, 6.8991, 1.5849, -0.0464, -0.0415, -0.0122, 0.2667, -10.3726, 8.1846, 0.862, 0.3346, 0.1734, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a2fa1af318bfcc2b224693bf49252f1389869b15c68ab9444b0caeda3636eba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d1f7fe2c9aa8cb3ee772c53f526f6485cfbd370933810d35aa31bfa661198d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d50f591e2480cccc8bb4194540734da1a42c0c9d04629a9c062565081db5dfd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 6.333 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, 0.8249, 0.6128, -0.4923, -0.0135, -0.0265, 0.9993, 0.5537, 2.2543, 1.71, -0.6811, 0.2722, 0.2008, 0.9955]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1534 left_yaw=-0.0031 left_pitch=-0.1362 left_roll=0.0046 left_gripper=0.9993 right_x=0.4557 right_y=0.2301 right_z=0.0152 right_yaw=0.1342 right_pitch=-0.5901 right_roll=-0.2055 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.2786, 6.9265, 1.5946, -0.0269, 0.0024, -0.0122, 0.0342, -11.7675, 8.5675, 1.0134, 0.1685, 0.0855, -0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8322, 0.6128, -0.498, -0.0139, -0.0265, 0.9993, 0.0586, 1.3174, 1.692, -1.5013, 0.102, -0.2306, 0.9965]\nstate[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.1504 left_yaw=-0.0028 left_pitch=-0.1491 left_roll=0.0051 left_gripper=0.9993 right_x=0.2658 right_y=0.0012 right_z=0.2912 right_yaw=0.0917 right_pitch=-0.5722 right_roll=-0.2117 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.7573, 6.8991, 1.6825, -0.0269, -0.022, -0.0122, -0.1846, -4.4786, 6.5162, 0.989, -0.0855, -0.022, 0.0855]",
      "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, 0.8322, 0.6128, -0.4988, -0.0139, -0.0265, 0.9993, 0.6308, 1.9934, 1.8683, -1.1664, 0.3027, 0.279, 0.9965]\nstate[eef_state]: left_x=0.2804 left_y=-0.0001 left_z=0.1503 left_yaw=-0.0027 left_pitch=-0.1499 left_roll=0.0051 left_gripper=0.9993 right_x=0.3879 right_y=0.2225 right_z=0.1524 right_yaw=0.113 right_pitch=-0.6265 right_roll=-0.2361 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.4017, 6.8991, 1.5849, -0.0464, -0.0415, -0.0122, 0.2667, -10.3726, 8.1846, 0.862, 0.3346, 0.1734, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a2fa1af318bfcc2b224693bf49252f1389869b15c68ab9444b0caeda3636eba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d1f7fe2c9aa8cb3ee772c53f526f6485cfbd370933810d35aa31bfa661198d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d50f591e2480cccc8bb4194540734da1a42c0c9d04629a9c062565081db5dfd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISgQgKjgEIEhgCKkADE/H5Dx95P7LynGAuLDdiL4O9WoTQfSGXhJk9Oq/FM/j+1PN2/uecF4hnQnFBuA/r0cR/GsAmyubDVvjRGZYZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbGkzNUGEgw1YJKCc5GJDdJV7jwaDIWQ0ObcAh72y2joVyIwCegP3ImMt3Ai8ve5vmuwGrtt9JbsKs2aYVh6IUA4UpXGa5U5TsCSM3FyPy3je13LKp8GArtMBRCJOhEJTkV4GTWDR4jaro77Btd7TvcW8CyP4su5DSRAydzy3UQlq0DUWynVz8tegLuXgYsmVX3KB+11B25fKRIodvVtwFvog6/wjdHDcUuedIQIOqPR7B3wGry0h+X82Bs1BYkFuP239TLzNqPfW5tTCnidL/YbDqJIAJXjHtRgx1/2efWZHhxcdDzd9r7ayEVlVYS2s5B7xbHFlOIVW+k1tk3dctHBzeyI5imOjuJLPjnb6nFie8Y27c7CgIIamC7qr2MyD2ALupsRrZEmAPpkt279G+afyHXVwiy2iC9UkVtkCxsdgm9gINUfnoaJf8QCMc/iefaE+efDOD/bCQWTXiXXnwp3dRPNmawXcpTjo9ilv9B6l4OUg4HvFmYKWhySixNtWSXFAwEn69vgAZtWw3qImLBN8uiiTmFMr20Pq3Q9HSRqidCjJmlITNox90J8OUqYPdN90cqVj1YTq7gkIcuFIB3F1d/l8qHtf6Jesn1XilVDxLszGLGsC7fHcRHcTE0mbUjUa32Z9vHaEd5scOUXye5frEYCcSY24aTS3Kc4ipBMohILwjNQ5bgOF7A+mDRw3kChFi0E3OyTcSRmESRCoZtBiUU5KG5slUITH+xdZ2RUszqS1q1bY6DVGuCNoF62+k0UODX/A3Iol+Y+3ktRAZ7Wv7/0RcCJdsRh4B9VYajcg2d6I9P11s7huFZJ3dg7wH/wXIxONvQBM6jvcHwdtTR+72iRTIW2eYCLUzjj57/GV5J5+s+qWUTr4w2CKit3PlVxthWzW8K5rJ1+P6rKtMS04DDgnINbNppe/diXQ2L3z7EQxzHWDotWbfUDyy39h04UCghxDsp2swgBV0GQY28Jk4b02wm2Mf2xZqDaUxbUcuCp3eyRiL486GsyPWjiXDhrV0LWvgkzGgJi/8RAIo+2gS2PAgC0Gcj7CEWy38uhUYEqh7iq03NiAMw+IzzzF4Yaaww3FjiYVuwL5dCFBJf1rqF2btTJz+fNH/WBvJZMGPrZLM9lu8sOOYxHsoUY6jQIHDCMvor1B2DrbqAMiGTcvB9L6xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Njx858G1ZvHYmN9APzxfkP",
      "input": {
        "note": "Lemon is just about on the jaw column, a little beyond; descending nearly straight down to grasp height with a small 2 cm advance.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.225,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Njx858G1ZvHYmN9APzxfkP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4988, -0.0139, -0.0265, 0.9993, 0.6132, 2.0674, 1.5753, -0.812, 0.3019, 0.2577, 0.9965]\nstate[eef_state]: left_x=0.2804 left_y=-0.0001 left_z=0.1503 left_yaw=-0.0027 left_pitch=-0.1499 left_roll=0.0051 left_gripper=0.9993 right_x=0.3985 right_y=0.2206 right_z=0.0511 right_yaw=0.1054 right_pitch=-0.6406 right_roll=-0.2528 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.2786, 6.9128, 1.5702, -0.0171, -0.0415, -0.0122, -0.4444, -10.3043, 6.1333, 0.9109, 0.2125, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18accc4c86e69d91355485ba17b7720ee337fcd34b6f4ae4bd521c86e1eb0811",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50fe4902ecebfccb6ed564f51d809c6b1070629091f7cfaeb7ca900e0af82277",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7206840c2036adb30ce975e34268a3746509994e46ddcd499a608b1a19bc2745",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 8.294 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, 0.8322, 0.6128, -0.498, -0.0139, -0.0265, 0.9993, 0.0586, 1.3174, 1.692, -1.5013, 0.102, -0.2306, 0.9965]\nstate[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.1504 left_yaw=-0.0028 left_pitch=-0.1491 left_roll=0.0051 left_gripper=0.9993 right_x=0.2658 right_y=0.0012 right_z=0.2912 right_yaw=0.0917 right_pitch=-0.5722 right_roll=-0.2117 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.7573, 6.8991, 1.6825, -0.0269, -0.022, -0.0122, -0.1846, -4.4786, 6.5162, 0.989, -0.0855, -0.022, 0.0855]",
      "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, 0.8322, 0.6128, -0.4988, -0.0139, -0.0265, 0.9993, 0.6308, 1.9934, 1.8683, -1.1664, 0.3027, 0.279, 0.9965]\nstate[eef_state]: left_x=0.2804 left_y=-0.0001 left_z=0.1503 left_yaw=-0.0027 left_pitch=-0.1499 left_roll=0.0051 left_gripper=0.9993 right_x=0.3879 right_y=0.2225 right_z=0.1524 right_yaw=0.113 right_pitch=-0.6265 right_roll=-0.2361 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.4017, 6.8991, 1.5849, -0.0464, -0.0415, -0.0122, 0.2667, -10.3726, 8.1846, 0.862, 0.3346, 0.1734, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4988, -0.0139, -0.0265, 0.9993, 0.6132, 2.0674, 1.5753, -0.812, 0.3019, 0.2577, 0.9965]\nstate[eef_state]: left_x=0.2804 left_y=-0.0001 left_z=0.1503 left_yaw=-0.0027 left_pitch=-0.1499 left_roll=0.0051 left_gripper=0.9993 right_x=0.3985 right_y=0.2206 right_z=0.0511 right_yaw=0.1054 right_pitch=-0.6406 right_roll=-0.2528 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.2786, 6.9128, 1.5702, -0.0171, -0.0415, -0.0122, -0.4444, -10.3043, 6.1333, 0.9109, 0.2125, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18accc4c86e69d91355485ba17b7720ee337fcd34b6f4ae4bd521c86e1eb0811",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50fe4902ecebfccb6ed564f51d809c6b1070629091f7cfaeb7ca900e0af82277",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7206840c2036adb30ce975e34268a3746509994e46ddcd499a608b1a19bc2745",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStQUKjgEIEhgCKkACpBgA4ZG3c294YBWfvBIXdgKPfsp8b+hVtlQ8AWmK6r3g7wseMzXqPSjZimpy3kp/J6AF7ERcbuJ8XP8wkRKgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbikzNUGEgwcU5m4IwSVNm+/BDgaDM05FIWdwPR5F7lDxSIwBU+/eXWmGl76+JIpG6uN1NYHqbEmyF031uSFiMIEMMEUoEU9+knQ62qjEFh2X3H+KtMDprYPIC0j7T9zEIOjFr9RQzEc50MxtveUguWE4m5sYXhhfHHZgDnPu7+6SsR6galdzL/Fi/xf9wT37fKIalTVnON/p0uQGpHChRCbW7AoEznYisrZU0uzNHEJ11h3Q7IZlTim+67KD6q1YoCMpZ65m94QYuqkvk+gxiU/GzIpaXtFv0e6kCYtcQQ1+ChpHNgWpK77u9FnHEWuN7KbaToP9N2Hu8MeYzNhN8myJpiNSll7+FX4GF/f2RvCQ4N3nRgzPZdCfsC/4rH+FREwtuGGVOJWdgMv80XeKuSM3UPk1YkJ0KOn3ma7LC27e5qdwlyYiPY112JDmWqOoHn243h4mYvLZRJGGJ0oBJu7z1wYiM+zl7UVFvphS3qecg6FUHZTY2cE10ycI8YnYDPDb0lLD2G6DdJbUvebijoypx4Yq6VYJQ9Otiq9V7TjcCfp9d/T1XQlYkLYp9t2WDgX0eyrPfrFKLMUTww65/1OBmvVIm5zho1d7F6kvxC2VzZCQuvspnUIHHmDNIufxRlCUnqfTmBin7VRhwqjXT74vzC3j0AHjl2do9GxILT9psMoqKEzWSPU9MuCQc5V0al/YvCASw4WlvBexy8O6LI++5vfT5NW3UUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015dpvxRhVHc4S4qDTRRF7Bf",
      "input": {
        "note": "The lemon is right of the jaw column in the wrist view; shifting the gripper 2.5 cm to its right and 1 cm forward to straddle it.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.197
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_015dpvxRhVHc4S4qDTRRF7Bf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4988, -0.0135, -0.0265, 0.9993, 0.5854, 2.0872, 1.5486, -0.7544, 0.2909, 0.2161, 0.9965]\nstate[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1503 left_yaw=-0.0031 left_pitch=-0.1499 left_roll=0.0049 left_gripper=0.9993 right_x=0.4069 right_y=0.2132 right_z=0.0374 right_yaw=0.1185 right_pitch=-0.6416 right_roll=-0.2535 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.3744, 6.8991, 1.5702, -0.0122, -0.022, -0.0122, -2.0991, -14.0239, 5.7094, 1.0427, 0.1978, 0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff49714e833da7de6c9c50734bb1ab7f6e3c926a3c4c1624baf20512ee36c012",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ccdbc4ec298f3654fb6ee76cf822eb37d099428ac41a695cb7cf4d75678812a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:816dc2aa30e80f6c9cd7ec347d46fd9562cc7e3788285d401c928b7609c11314",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 4.465 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, 0.8322, 0.6128, -0.4988, -0.0139, -0.0265, 0.9993, 0.6308, 1.9934, 1.8683, -1.1664, 0.3027, 0.279, 0.9965]\nstate[eef_state]: left_x=0.2804 left_y=-0.0001 left_z=0.1503 left_yaw=-0.0027 left_pitch=-0.1499 left_roll=0.0051 left_gripper=0.9993 right_x=0.3879 right_y=0.2225 right_z=0.1524 right_yaw=0.113 right_pitch=-0.6265 right_roll=-0.2361 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.4017, 6.8991, 1.5849, -0.0464, -0.0415, -0.0122, 0.2667, -10.3726, 8.1846, 0.862, 0.3346, 0.1734, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4988, -0.0139, -0.0265, 0.9993, 0.6132, 2.0674, 1.5753, -0.812, 0.3019, 0.2577, 0.9965]\nstate[eef_state]: left_x=0.2804 left_y=-0.0001 left_z=0.1503 left_yaw=-0.0027 left_pitch=-0.1499 left_roll=0.0051 left_gripper=0.9993 right_x=0.3985 right_y=0.2206 right_z=0.0511 right_yaw=0.1054 right_pitch=-0.6406 right_roll=-0.2528 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.2786, 6.9128, 1.5702, -0.0171, -0.0415, -0.0122, -0.4444, -10.3043, 6.1333, 0.9109, 0.2125, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4988, -0.0135, -0.0265, 0.9993, 0.5854, 2.0872, 1.5486, -0.7544, 0.2909, 0.2161, 0.9965]\nstate[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1503 left_yaw=-0.0031 left_pitch=-0.1499 left_roll=0.0049 left_gripper=0.9993 right_x=0.4069 right_y=0.2132 right_z=0.0374 right_yaw=0.1185 right_pitch=-0.6416 right_roll=-0.2535 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.3744, 6.8991, 1.5702, -0.0122, -0.022, -0.0122, -2.0991, -14.0239, 5.7094, 1.0427, 0.1978, 0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff49714e833da7de6c9c50734bb1ab7f6e3c926a3c4c1624baf20512ee36c012",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ccdbc4ec298f3654fb6ee76cf822eb37d099428ac41a695cb7cf4d75678812a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:816dc2aa30e80f6c9cd7ec347d46fd9562cc7e3788285d401c928b7609c11314",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISywgKjgEIEhgCKkD5ffY4Z8kRc52pVzgHaTHyu8Ct50kREObxz49n/MMaA8+P8bvL7wpU4dk29ttTeGdsF8Qh04aI+mZrYpSQgCgSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcGkzNUGEgy8eeRKj2P31XhAkz4aDC/z6E2Cw6vqpD2fEiIwa9O0J0YMP+nLO55/ndqmGc2kl8DzfeUt1ZosYz3nDYtlgQ8K/ZMLn3lEUPm6we5ZKukGutdAWCFiOllTyE58aTqLnhhkZeAzpZEK86YrDAoopG3yIwKkHlzmFm8a51P3b+elafY/wC5SfhWUHm3mgr7Vcm+as7g92rA0wvJsM+07OQtXBXUaoLy/Vb3YI0scSt1WZbxOdZgPckUkGsbkFxkW5ZJ8gV3vBBNpSaa97YyehW3TgrAOh8F4GD+oPb805LKNN8fdmBVyDGLcjfShw7qyx4AFXp/LgvJaF0X/Vg/S0iW7WehRwobqejPcQFPRkPzPMvOkLKvF07VNPFptF9IUZHVRVK5FCu9qdTyEQsMzE+AvozuKQV/TkA/fEBwNPqikkFLwfncbaFRBekLIYy4bk8k2HdTo/YJN6v2ZSJHJzfd/JWe2x65/PyJNl1pSC9k3KlebYNd+y6NBGI7xbr4uFcgvbIRVF1QWD8oq1lxah6qJU0FrXm3hnoIj1jd3mLIZJclcB4OB8lD18164qjZGES4i6wH1t/hJR+WdA4i0JMRdquCS6e73fYxqCIuwDTKc0yQi+h+GAfYhuqS0X0yuxeG2utPv52Muk8arq/Wxgj3xRAcpc+QSuQmGfdIStdraDgmpX1U/aMX2FqxsqzSCPfaZxdWSPIERFnB+CYNdUuwOAzkqDynuhW6npuEXtSGWo6tKx4VVh2kLSeAQiDF2WS776zTnYITZbvwueoeof6LZBman221fZGnzTzFXqXo10GOyyhEW1N+wFp/qAieL9qsqXHce2gD+Uvbp8fC2r+AHOqWUHPmh7qD+u3l3dFtQBECUdMlQJgphGLb0M0EM8fU5a7+ZVFlkT6a+9JchpgsDBnMHvGawGJ1MzdHnJEjmZF9GnwC9E2bfIy/pjsvqOFeYNqqbzcPZSUI/BasG9SKZE1Dgwr6fJnaippMNJEy7HNxQRcbosRUU5UAa5bliFeDz+MpaR6Xj8q2mAHAzNtnBM5YHlyqfWaP1WfOmJ/+GeSWOmo84RY9OSu1d1yOsfB/OgPh6NLr5hrjDV58qCJBTpXi8TysCRoR/Czd0RTClAKhr+5tJBUQGqmL6euztPOpDEGZldQiNutV1FgKYHCoL36Tu8LreFHW1DCz8NjmVROo4W/mqAqmJj3dkvzhpaATqY2lCyza1pdGLxN3K9+ULGzkB4HDkHmAq7VKCOY/3NSAqFK/P9CtNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LZWKUofoUbE5H8Bno8N814",
      "input": {
        "note": "The lemon is up against the right jaw, so the gripper centre is still too far left; lifting clear and shifting ~4 cm to the arm's right before descending again.",
        "targets": {
          "right_y": 0.175,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01LZWKUofoUbE5H8Bno8N814",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4988, -0.0135, -0.0265, 0.9993, 0.543, 2.0869, 1.5394, -0.7441, 0.2916, 0.1822, 0.9965]\nstate[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1503 left_yaw=-0.0031 left_pitch=-0.1499 left_roll=0.0049 left_gripper=0.9993 right_x=0.4153 right_y=0.1955 right_z=0.0355 right_yaw=0.098 right_pitch=-0.6447 right_roll=-0.2689 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.4154, 7.1043, 1.5751, -0.0171, -0.0513, -0.0122, -0.0205, -13.8051, 5.9829, 0.8913, 0.1734, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68aa59200465c1738bd12984b5d5075ad848f3cafd5ec6a53c8d8dedf684665e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd899d993ab4a9ff4f3f7df08ffc1493886632c85870115f958ea0a127c476af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:65c7a8a62105d9b85fa3669f6a025c5135a4f138ebb5e5524bb5a9f7d1df6c20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 14.41 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, 0.8322, 0.6128, -0.4988, -0.0139, -0.0265, 0.9993, 0.6132, 2.0674, 1.5753, -0.812, 0.3019, 0.2577, 0.9965]\nstate[eef_state]: left_x=0.2804 left_y=-0.0001 left_z=0.1503 left_yaw=-0.0027 left_pitch=-0.1499 left_roll=0.0051 left_gripper=0.9993 right_x=0.3985 right_y=0.2206 right_z=0.0511 right_yaw=0.1054 right_pitch=-0.6406 right_roll=-0.2528 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.2786, 6.9128, 1.5702, -0.0171, -0.0415, -0.0122, -0.4444, -10.3043, 6.1333, 0.9109, 0.2125, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4988, -0.0135, -0.0265, 0.9993, 0.5854, 2.0872, 1.5486, -0.7544, 0.2909, 0.2161, 0.9965]\nstate[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1503 left_yaw=-0.0031 left_pitch=-0.1499 left_roll=0.0049 left_gripper=0.9993 right_x=0.4069 right_y=0.2132 right_z=0.0374 right_yaw=0.1185 right_pitch=-0.6416 right_roll=-0.2535 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.3744, 6.8991, 1.5702, -0.0122, -0.022, -0.0122, -2.0991, -14.0239, 5.7094, 1.0427, 0.1978, 0.0611, -0.0073]",
      "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, 0.8322, 0.6128, -0.4988, -0.0135, -0.0265, 0.9993, 0.543, 2.0869, 1.5394, -0.7441, 0.2916, 0.1822, 0.9965]\nstate[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1503 left_yaw=-0.0031 left_pitch=-0.1499 left_roll=0.0049 left_gripper=0.9993 right_x=0.4153 right_y=0.1955 right_z=0.0355 right_yaw=0.098 right_pitch=-0.6447 right_roll=-0.2689 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.4154, 7.1043, 1.5751, -0.0171, -0.0513, -0.0122, -0.0205, -13.8051, 5.9829, 0.8913, 0.1734, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68aa59200465c1738bd12984b5d5075ad848f3cafd5ec6a53c8d8dedf684665e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd899d993ab4a9ff4f3f7df08ffc1493886632c85870115f958ea0a127c476af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65c7a8a62105d9b85fa3669f6a025c5135a4f138ebb5e5524bb5a9f7d1df6c20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISogQKjgEIEhgCKkAecjPoRUhiLga86AJf9cTyKREgEJmu3t1W+pOL7xvhtwkHq+Oc+o3dSH0Njkm0z++sTDzZOryf+R9OXMRCptfgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcakzNUGEgwfX379+c4kr7mIVTAaDC7djNplQJ/yeNbIdCIwAAUgGQdkDRFekbLoaqD8gKxl2c1YdRcZ5pslCyvr0x0eszRVAVWg8m/DX4ZX1R/QKsACqqFKuNN+3aLOFDtPH3I7W45Gej4nKjnfpXeP8wdbWOCHFuODL87OQ5O9ZT1P9adoXBokAbyJ+l0DP1sC8l4/UQW6AvISP2DFamnNqgaMGakjZW0AotNinnkrnTDnfh0INOBPSPPTuv58uHiMLoKxWJlKnJqA71m3ul39e2sF1lvRobX5sRdbkOouP1e9ZqZ4+WlgV3ruCJN+8F1j0Ke3kz7Lb33LkswejY1jDy4pmMioIV9na0EAcjKuyce9BZdJtkarAULylaexVjAc78JOWU/g7Gx7h3yqyiGZaMxzoBq6lIRyA/2V2AiLG/6DR/3OoxtzFz6QT83WaaWSvf3hUz9oOlLhmwSx9aiMp7KLlziHvDMji6yFSbJP2cHBtrughWfuUKak9hSwQxrbsipb6w/HgHaNywVepIPhESTS3t8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015GMxC3YEiZhuXbQdQMwMLu",
      "input": {
        "note": "The lemon now sits between the two jaws in the wrist view; closing on it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015GMxC3YEiZhuXbQdQMwMLu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4988, -0.0135, -0.0265, 0.9993, 0.548, 2.0815, 1.4807, -0.6952, 0.2993, 0.1745, 0.0095]\nstate[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1503 left_yaw=-0.0031 left_pitch=-0.1499 left_roll=0.0049 left_gripper=0.9993 right_x=0.4092 right_y=0.1929 right_z=0.0235 right_yaw=0.0993 right_pitch=-0.6468 right_roll=-0.2831 right_gripper=0.0095\nstate[joint_eff]: [-0.1983, -1.4154, 6.8991, 1.5849, -0.0269, -0.0317, -0.0122, 0.1573, -12.8889, 5.9692, 1.0525, 0.2759, 0.0904, 0.6813]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:942d3e168f4da05de41c10bfab1bc79f144f04da4a801653c58c602d6c254164",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:276df404146f7ebb638ccad908ac74f02286117ad7f71cc9bd1e7f3e04f5f419",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf4ff56b504b62faa606cc911eea2fe88aec8e95d70c28477205eea69d7083c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 7.448 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, 0.8322, 0.6128, -0.4988, -0.0135, -0.0265, 0.9993, 0.5854, 2.0872, 1.5486, -0.7544, 0.2909, 0.2161, 0.9965]\nstate[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1503 left_yaw=-0.0031 left_pitch=-0.1499 left_roll=0.0049 left_gripper=0.9993 right_x=0.4069 right_y=0.2132 right_z=0.0374 right_yaw=0.1185 right_pitch=-0.6416 right_roll=-0.2535 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.3744, 6.8991, 1.5702, -0.0122, -0.022, -0.0122, -2.0991, -14.0239, 5.7094, 1.0427, 0.1978, 0.0611, -0.0073]",
      "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, 0.8322, 0.6128, -0.4988, -0.0135, -0.0265, 0.9993, 0.543, 2.0869, 1.5394, -0.7441, 0.2916, 0.1822, 0.9965]\nstate[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1503 left_yaw=-0.0031 left_pitch=-0.1499 left_roll=0.0049 left_gripper=0.9993 right_x=0.4153 right_y=0.1955 right_z=0.0355 right_yaw=0.098 right_pitch=-0.6447 right_roll=-0.2689 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.4154, 7.1043, 1.5751, -0.0171, -0.0513, -0.0122, -0.0205, -13.8051, 5.9829, 0.8913, 0.1734, -0.0464, -0.0122]",
      "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, 0.8322, 0.6128, -0.4988, -0.0135, -0.0265, 0.9993, 0.548, 2.0815, 1.4807, -0.6952, 0.2993, 0.1745, 0.0095]\nstate[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1503 left_yaw=-0.0031 left_pitch=-0.1499 left_roll=0.0049 left_gripper=0.9993 right_x=0.4092 right_y=0.1929 right_z=0.0235 right_yaw=0.0993 right_pitch=-0.6468 right_roll=-0.2831 right_gripper=0.0095\nstate[joint_eff]: [-0.1983, -1.4154, 6.8991, 1.5849, -0.0269, -0.0317, -0.0122, 0.1573, -12.8889, 5.9692, 1.0525, 0.2759, 0.0904, 0.6813]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:942d3e168f4da05de41c10bfab1bc79f144f04da4a801653c58c602d6c254164",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:276df404146f7ebb638ccad908ac74f02286117ad7f71cc9bd1e7f3e04f5f419",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf4ff56b504b62faa606cc911eea2fe88aec8e95d70c28477205eea69d7083c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DbJTRx9Egny21Hq2HBvLwy",
      "input": {
        "note": "Another empty close — the wrist has drifted to a strongly pitched-back pose at the edge of reach, which likely puts the real fingertips away from where I aim. Commanding the tool back to level pitch and re-hovering just above the lemon.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0.0,
          "right_x": 0.4,
          "right_y": 0.193,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01DbJTRx9Egny21Hq2HBvLwy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4988, -0.0135, -0.0265, 0.9993, 0.6735, 1.8492, 0.8379, 0.2203, 0.5995, 0.1104, 0.9975]\nstate[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1503 left_yaw=-0.0031 left_pitch=-0.1499 left_roll=0.0049 left_gripper=0.9993 right_x=0.3924 right_y=0.1902 right_z=0.0366 right_yaw=0.1101 right_pitch=-0.092 right_roll=-0.31 right_gripper=0.9975\nstate[joint_eff]: [-0.212, -1.306, 7.1726, 1.5751, -0.0464, -0.0513, -0.0122, 0.3761, -11.1248, 5.2171, 1.6288, 0.4322, -0.1294, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f92cc684d149004a5b9e762fc79194d4ca26c7004c79a1356611e9b14ddc29b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dac8986ec64f374dc7246a6c2459c1086fcf14e9dd91e4fbf49fc381572fefe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:de58640cc2761fd73ad79fa962bab1b6b71f679d92d4d7d77da61c4f60af7665",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 15.37 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, 0.8322, 0.6128, -0.4988, -0.0135, -0.0265, 0.9993, 0.543, 2.0869, 1.5394, -0.7441, 0.2916, 0.1822, 0.9965]\nstate[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1503 left_yaw=-0.0031 left_pitch=-0.1499 left_roll=0.0049 left_gripper=0.9993 right_x=0.4153 right_y=0.1955 right_z=0.0355 right_yaw=0.098 right_pitch=-0.6447 right_roll=-0.2689 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.4154, 7.1043, 1.5751, -0.0171, -0.0513, -0.0122, -0.0205, -13.8051, 5.9829, 0.8913, 0.1734, -0.0464, -0.0122]",
      "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, 0.8322, 0.6128, -0.4988, -0.0135, -0.0265, 0.9993, 0.548, 2.0815, 1.4807, -0.6952, 0.2993, 0.1745, 0.0095]\nstate[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1503 left_yaw=-0.0031 left_pitch=-0.1499 left_roll=0.0049 left_gripper=0.9993 right_x=0.4092 right_y=0.1929 right_z=0.0235 right_yaw=0.0993 right_pitch=-0.6468 right_roll=-0.2831 right_gripper=0.0095\nstate[joint_eff]: [-0.1983, -1.4154, 6.8991, 1.5849, -0.0269, -0.0317, -0.0122, 0.1573, -12.8889, 5.9692, 1.0525, 0.2759, 0.0904, 0.6813]\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 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, 0.8322, 0.6128, -0.4988, -0.0135, -0.0265, 0.9993, 0.6735, 1.8492, 0.8379, 0.2203, 0.5995, 0.1104, 0.9975]\nstate[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1503 left_yaw=-0.0031 left_pitch=-0.1499 left_roll=0.0049 left_gripper=0.9993 right_x=0.3924 right_y=0.1902 right_z=0.0366 right_yaw=0.1101 right_pitch=-0.092 right_roll=-0.31 right_gripper=0.9975\nstate[joint_eff]: [-0.212, -1.306, 7.1726, 1.5751, -0.0464, -0.0513, -0.0122, 0.3761, -11.1248, 5.2171, 1.6288, 0.4322, -0.1294, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f92cc684d149004a5b9e762fc79194d4ca26c7004c79a1356611e9b14ddc29b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dac8986ec64f374dc7246a6c2459c1086fcf14e9dd91e4fbf49fc381572fefe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de58640cc2761fd73ad79fa962bab1b6b71f679d92d4d7d77da61c4f60af7665",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0wgKjgEIEhgCKkB3lcZU1Yoz/9r+yiTZWnT1dCT23f1mHfiWIvSrJBckpiyy3Ju1SzIXGDABa1V1J79rYJC8VCH8eCR6Xsm6huJCMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd+kzNUGEgzqHoK3fNPIFZnRXj8aDILM4bfkGCGjxHVcYSIw7eyb5yBYvSAru7pRI4zE8fkLK6Ur3c5jIvI8bXYa6oAQaUCoBl3TM5NrRsL3ApWjKvEG3RXcrwW28rbZAiOT1bo9/1cl/WGIYfH6O3gL83sWTpAoLm9vprx8Y+RucKVi6gXd7J4jZ4GvP5IuKXJMFn2c9QNsYQdFOVRY1YnDHeni2dI2pq1o4urQKq6eBdbKfWDWaGo5uGB7AQghAhAUB6KkaNxBCCLaKwjWhx0f/71AQUs0FXA78VJ33nfOnp+iF80ZpByoij/JWfkPj8t2SL02TvDwjFtyaOr9CBiiEEBVADAMsWu+ot56Lp+JK7QyNJb2NyHqnAzw4XorYL4su7VUW8mjiFDXg5pYNqkSfIMJcyI/FSJW7lWrxyww4PmOGdQs4xJ7zPPlB7gNxut/FfY1KTbvwE89G/uTThn2lYP3wYY/7sRZuNyqXbsFE2NhDR+2yRgnphY1vw+CWlU7sj6w6VofU/C+k7E8EtuJnSR2JrLdxuZs2iFee8Uh8TtcNk8tmDbIKhKl2Wp4MWnK8+DNAcR+myoBRmY+2jesR9BG+pculCeFCEbfmrqtg7b3wfLyiSyQD6kqhRnKgbzWQQvvlsIpq9GuRlBL65br08RGAf/4LqEqkpcq/T69hpitRfPlByBTmV9NMYETT9g/z6c/FTqZxt52EeLTGzEIX9zgpH7kVSXEO6Xd3SS2poZAEARs3wLyYjQB9czzAOxuMErpro4JzWDnKPTIYKfOrn26K+I0S+igUmBx0K9N1ocKH3tvYTmPHygPP/Ge0zZ/2P/And22t4s7N9WdSoMVKAz7vr8n6aTxe3bkZzbZxKvN9j+mhhutVezn+/DBH6m/hFSeiCZiIvlN7ng/WyF77NxjLtQfOR0B/ywMa5ttLiOLM6KgEWFRU6wx3d6N+oIXLF3ajBr/WgFhd3WVPrlqahp2eij6ssdTLvHAb7MCZQB1BudDFqjSowY6AEW+yCfMVDg6YV4C8ylNi6n6B8bwAieTmJPIXs3KzBr324YWe8P2cLHJaVI8fsPaRTpirOUHtBV4u/MbZnNZd54exVp0cL+GwFstSRURZ9I7vuSXxosMNtKsCQuJMurQuOyiTpDaToNBWAXnwvEZ7OPn6nheC1yXnvIE7xYKZYxCSGgePF6m5Ficb+ElG/wSILxxEEGdCjguE9zxqZYtyIOnXSm3yLi0n6syJUbycA0yM1i3Tery9dJyzuLHeQrGq76iNlLTxuCwT5sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016EeF8LhQCvUe2iWFE6MV8h",
      "input": {
        "note": "The wrist view is confusing; pulling the right arm well back to get a clean overhead picture of where the lemon, pear and blue bowl actually are.",
        "targets": {
          "right_x": 0.22,
          "right_y": -0.05,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_016EeF8LhQCvUe2iWFE6MV8h",
      "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, 0.6128, -0.5037, -0.0139, -0.0265, 0.9993, -0.4297, 0.7563, 1.132, -1.0073, -0.1699, -0.543, 0.9979]\nstate[eef_state]: left_x=0.2797 left_y=-0.0001 left_z=0.1489 left_yaw=-0.0027 left_pitch=-0.1568 left_roll=0.0053 left_gripper=0.9993 right_x=0.224 right_y=-0.0658 right_z=0.2949 right_yaw=-0.0065 right_pitch=-0.0877 right_roll=-0.3208 right_gripper=0.9979\nstate[joint_eff]: [-0.1573, -1.4427, 6.8855, 1.6532, -0.0415, -0.0659, -0.0122, 0.9231, 0.5812, 6.5983, 1.4725, -0.1636, -0.0171, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf6f62fcc4c17850e1034c34e877b605f5b9151efe84775aa696723bcb974ebe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0c3583df08ec7cf0cfae08382695650642a3f0c2df71fc955c716c06cafc82f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:298f6b6ec36c3bcaf2052fd0f00818333d24bd43474e918506522e558f01f58c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 6.737 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, 0.8322, 0.6128, -0.4988, -0.0135, -0.0265, 0.9993, 0.548, 2.0815, 1.4807, -0.6952, 0.2993, 0.1745, 0.0095]\nstate[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1503 left_yaw=-0.0031 left_pitch=-0.1499 left_roll=0.0049 left_gripper=0.9993 right_x=0.4092 right_y=0.1929 right_z=0.0235 right_yaw=0.0993 right_pitch=-0.6468 right_roll=-0.2831 right_gripper=0.0095\nstate[joint_eff]: [-0.1983, -1.4154, 6.8991, 1.5849, -0.0269, -0.0317, -0.0122, 0.1573, -12.8889, 5.9692, 1.0525, 0.2759, 0.0904, 0.6813]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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, 0.8322, 0.6128, -0.4988, -0.0135, -0.0265, 0.9993, 0.6735, 1.8492, 0.8379, 0.2203, 0.5995, 0.1104, 0.9975]\nstate[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1503 left_yaw=-0.0031 left_pitch=-0.1499 left_roll=0.0049 left_gripper=0.9993 right_x=0.3924 right_y=0.1902 right_z=0.0366 right_yaw=0.1101 right_pitch=-0.092 right_roll=-0.31 right_gripper=0.9975\nstate[joint_eff]: [-0.212, -1.306, 7.1726, 1.5751, -0.0464, -0.0513, -0.0122, 0.3761, -11.1248, 5.2171, 1.6288, 0.4322, -0.1294, -0.0269]",
      "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, 0.8341, 0.6128, -0.5037, -0.0139, -0.0265, 0.9993, -0.4297, 0.7563, 1.132, -1.0073, -0.1699, -0.543, 0.9979]\nstate[eef_state]: left_x=0.2797 left_y=-0.0001 left_z=0.1489 left_yaw=-0.0027 left_pitch=-0.1568 left_roll=0.0053 left_gripper=0.9993 right_x=0.224 right_y=-0.0658 right_z=0.2949 right_yaw=-0.0065 right_pitch=-0.0877 right_roll=-0.3208 right_gripper=0.9979\nstate[joint_eff]: [-0.1573, -1.4427, 6.8855, 1.6532, -0.0415, -0.0659, -0.0122, 0.9231, 0.5812, 6.5983, 1.4725, -0.1636, -0.0171, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf6f62fcc4c17850e1034c34e877b605f5b9151efe84775aa696723bcb974ebe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0c3583df08ec7cf0cfae08382695650642a3f0c2df71fc955c716c06cafc82f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:298f6b6ec36c3bcaf2052fd0f00818333d24bd43474e918506522e558f01f58c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015Wpac43Vwgkz2cFtZA7ATh",
      "input": {
        "note": "Clear view: the pear is in the blue bowl and the lemon lies on the table just short of and left of the bowl. Approaching the lemon from a nearer, less-extended pose (previous attempts over-reached past it).",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.37,
          "right_y": 0.175,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_015Wpac43Vwgkz2cFtZA7ATh",
      "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, 0.8398, 0.6128, -0.5148, -0.0135, -0.0265, 0.9993, 0.733, 1.7805, 0.717, 0.1833, 0.7383, 0.1852, 0.998]\nstate[eef_state]: left_x=0.278 left_y=-0.0001 left_z=0.1453 left_yaw=-0.003 left_pitch=-0.1735 left_roll=0.0053 left_gripper=0.9993 right_x=0.3553 right_y=0.1648 right_z=0.0306 right_yaw=0.026 right_pitch=-0.0886 right_roll=-0.3867 right_gripper=0.998\nstate[joint_eff]: [-0.2256, -1.8256, 7.0769, 1.707, -0.022, -0.0464, -0.0122, 0.335, -8.4991, 6.3521, 1.4774, 0.5592, 0.2466, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0744235cdb583be7f3a8d35df33a60310432cf7bdbc450d1460e894062969bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a629b960f5e2af927d437f7e0b082c97d4f3611aab79b5ac70c4f29bdc83ebe7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c4fb06e04e9df362bd786c677f1fdad72c5d0c2831b1a525c5875f908ced2fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 7.352 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, 0.8322, 0.6128, -0.4988, -0.0135, -0.0265, 0.9993, 0.6735, 1.8492, 0.8379, 0.2203, 0.5995, 0.1104, 0.9975]\nstate[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1503 left_yaw=-0.0031 left_pitch=-0.1499 left_roll=0.0049 left_gripper=0.9993 right_x=0.3924 right_y=0.1902 right_z=0.0366 right_yaw=0.1101 right_pitch=-0.092 right_roll=-0.31 right_gripper=0.9975\nstate[joint_eff]: [-0.212, -1.306, 7.1726, 1.5751, -0.0464, -0.0513, -0.0122, 0.3761, -11.1248, 5.2171, 1.6288, 0.4322, -0.1294, -0.0269]",
      "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, 0.8341, 0.6128, -0.5037, -0.0139, -0.0265, 0.9993, -0.4297, 0.7563, 1.132, -1.0073, -0.1699, -0.543, 0.9979]\nstate[eef_state]: left_x=0.2797 left_y=-0.0001 left_z=0.1489 left_yaw=-0.0027 left_pitch=-0.1568 left_roll=0.0053 left_gripper=0.9993 right_x=0.224 right_y=-0.0658 right_z=0.2949 right_yaw=-0.0065 right_pitch=-0.0877 right_roll=-0.3208 right_gripper=0.9979\nstate[joint_eff]: [-0.1573, -1.4427, 6.8855, 1.6532, -0.0415, -0.0659, -0.0122, 0.9231, 0.5812, 6.5983, 1.4725, -0.1636, -0.0171, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8398, 0.6128, -0.5148, -0.0135, -0.0265, 0.9993, 0.733, 1.7805, 0.717, 0.1833, 0.7383, 0.1852, 0.998]\nstate[eef_state]: left_x=0.278 left_y=-0.0001 left_z=0.1453 left_yaw=-0.003 left_pitch=-0.1735 left_roll=0.0053 left_gripper=0.9993 right_x=0.3553 right_y=0.1648 right_z=0.0306 right_yaw=0.026 right_pitch=-0.0886 right_roll=-0.3867 right_gripper=0.998\nstate[joint_eff]: [-0.2256, -1.8256, 7.0769, 1.707, -0.022, -0.0464, -0.0122, 0.335, -8.4991, 6.3521, 1.4774, 0.5592, 0.2466, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0744235cdb583be7f3a8d35df33a60310432cf7bdbc450d1460e894062969bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a629b960f5e2af927d437f7e0b082c97d4f3611aab79b5ac70c4f29bdc83ebe7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c4fb06e04e9df362bd786c677f1fdad72c5d0c2831b1a525c5875f908ced2fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3wUKjgEIEhgCKkCehYOiJzk7AW7uy4O4xhe5WXp5ZnywJS//3Y0GTUuUBWKy39O5Gdj2f849BHP4RGafP7EAY1/juPR1XYvkYIMNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfmkzNUGEgzyMZxTTme9TgHknXoaDJFWs2unRrb0HOHfdyIwbS3mDnfPIFNeT6J/TBNDmgSuRZDTruOfMIB4k2Sw1XiV3//Q/FfS6nq8LkhvotKjKv0DWQbb65Qsp1HBm/WXQsiP1az5EnOsp0BfXePhrphsUgOMQTvUGkVqw4f40zayUQnyJwtKZnJ4aGq+ELXL6VxgNLxDNMS+EQ0XhIS4blmtqmz6nlsJluLfG/w5v4LsIaKKYo7fSB5LJXKtj4squUr3IvGgvlMcuc78Rwhhsf4nUK/7NI1AAcfKiu7YC+1IwoxSjRks9P5icCsk27qul2LHmP9eG7W1KswZZj4Olu7PcYozkzsV5AipXbauEY49znsMzMUhgFZchd7BMfvx05iS2rcrLAlUlmOdNWPv+VHPzWm22BDMR5Nerd+kXLhQChCLw2n5cTjHR3YitWTpCPYLSX19taBhRbpYWHZxb2ZC6fYGgCb1ScJuSt84MQ7TDfhSPCB2HHTvGL7+D7wxBfo8U/T9tfyQfzhFAoSAOG2qc8pBVdDZBFoypXonbrKtSVTn57rnLuxVQaneONu5wtctdzTESYtUQts5eTMi6txC8C/wkhaSwY4UXHa781uviYeqzsDJoL+WpkQ87IwqvkVxfSgOrzi1Zb+w8+rRy8CjUeDrzD8WwPgP0efQWm0/VxbKL0jrUtrlmZSr3mCTIRvlw6NdsiFHdYStt/RKWWNq86kd9bRjsxdscVrxjvkbhtzufbMOixGIpQ6dak1OZVD/3QqJYbk8uDldVmCM/xwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N3eg9RTmLFgpMxUZAVx8tc",
      "input": {
        "note": "The lemon is large and centred between the jaws in the wrist view; closing on it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01N3eg9RTmLFgpMxUZAVx8tc",
      "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, 0.8398, 0.6128, -0.5205, -0.0139, -0.0265, 0.9993, 0.7349, 1.7859, 0.7223, 0.1894, 0.7395, 0.1761, 0.0088]\nstate[eef_state]: left_x=0.2771 left_y=-0.0 left_z=0.1443 left_yaw=-0.0027 left_pitch=-0.1793 left_roll=0.0057 left_gripper=0.9993 right_x=0.3568 right_y=0.1668 right_z=0.0312 right_yaw=0.032 right_pitch=-0.0853 right_roll=-0.3907 right_gripper=0.0088\nstate[joint_eff]: [-0.0342, -1.4017, 7.0769, 1.6093, -0.0757, -0.0757, -0.0122, -0.2393, -8.0752, 4.547, 1.3358, 0.359, 0.0904, 0.7106]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4018789d1e7a7da4dfa7b86ff7acda93d0023fb73c1b7dfaa1c05e629d1f6a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54ccfeeda4b2c42746fcc63a4b40e7aa1345ff707476940a155e8e784b698ca4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:68553ddde6884539a5b422fd8a331d1f79c74a1c7730e89e5381743bc6e5c795",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 9.181 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, 0.8341, 0.6128, -0.5037, -0.0139, -0.0265, 0.9993, -0.4297, 0.7563, 1.132, -1.0073, -0.1699, -0.543, 0.9979]\nstate[eef_state]: left_x=0.2797 left_y=-0.0001 left_z=0.1489 left_yaw=-0.0027 left_pitch=-0.1568 left_roll=0.0053 left_gripper=0.9993 right_x=0.224 right_y=-0.0658 right_z=0.2949 right_yaw=-0.0065 right_pitch=-0.0877 right_roll=-0.3208 right_gripper=0.9979\nstate[joint_eff]: [-0.1573, -1.4427, 6.8855, 1.6532, -0.0415, -0.0659, -0.0122, 0.9231, 0.5812, 6.5983, 1.4725, -0.1636, -0.0171, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8398, 0.6128, -0.5148, -0.0135, -0.0265, 0.9993, 0.733, 1.7805, 0.717, 0.1833, 0.7383, 0.1852, 0.998]\nstate[eef_state]: left_x=0.278 left_y=-0.0001 left_z=0.1453 left_yaw=-0.003 left_pitch=-0.1735 left_roll=0.0053 left_gripper=0.9993 right_x=0.3553 right_y=0.1648 right_z=0.0306 right_yaw=0.026 right_pitch=-0.0886 right_roll=-0.3867 right_gripper=0.998\nstate[joint_eff]: [-0.2256, -1.8256, 7.0769, 1.707, -0.022, -0.0464, -0.0122, 0.335, -8.4991, 6.3521, 1.4774, 0.5592, 0.2466, 0.0024]",
      "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, 0.8398, 0.6128, -0.5205, -0.0139, -0.0265, 0.9993, 0.7349, 1.7859, 0.7223, 0.1894, 0.7395, 0.1761, 0.0088]\nstate[eef_state]: left_x=0.2771 left_y=-0.0 left_z=0.1443 left_yaw=-0.0027 left_pitch=-0.1793 left_roll=0.0057 left_gripper=0.9993 right_x=0.3568 right_y=0.1668 right_z=0.0312 right_yaw=0.032 right_pitch=-0.0853 right_roll=-0.3907 right_gripper=0.0088\nstate[joint_eff]: [-0.0342, -1.4017, 7.0769, 1.6093, -0.0757, -0.0757, -0.0122, -0.2393, -8.0752, 4.547, 1.3358, 0.359, 0.0904, 0.7106]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4018789d1e7a7da4dfa7b86ff7acda93d0023fb73c1b7dfaa1c05e629d1f6a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54ccfeeda4b2c42746fcc63a4b40e7aa1345ff707476940a155e8e784b698ca4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68553ddde6884539a5b422fd8a331d1f79c74a1c7730e89e5381743bc6e5c795",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6AUKjgEIEhgCKkDgWafRgdiK2SKWI3IFvs8eTsGGp8sILNlkEdIk83ApqusmjdgvAMOLNWC0O7SXggYILt9cVCgPkxnRVeymwjC3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYGlzNUGEgy89xHmlXj5up9i8doaDNheIcCbsVJYBL+VwiIwFKzrXdR58NwEvXLjnnSWAndmtLH1PxdMIeYsvaZN8v0rwTu8AiUDYUMyK8BSKcdFKoYEH4bn1AkY2r29sPkXvGZuOLf+5IIBV+/mDdffWfK3QIHqeza7Aw0tLit/o+jra72xDqwm+JDY/3bez1vC1qLWF1zrDHwc+p05r6/sfwEQko9Nr2zYchrgYGxVr1DxCOXzl+1WN32ntAnGouJKQ9/dUH+TFPBHT7ZsZ2zi4rXg/7MxlRFR1NG4NuMIN8QuJ17Oo4QQqCf0TR2WNVKKCe06g78/ufUbeRQGEVo6sOaA+uAf6LmDyVA4lhM7nQVX0qNS1HCaldZ71bo+sQN1RtX2F3WTzx7UCSOTk0c4sRKZpJldZGiJChoA/Q3JxMq9x6ETGltsjRr7og+WnABKPQ28W0Rl7kVgvd1JDBtUXTEzd7Q8rP0vvfbK/rM0pP/lmepDoPui0gIFtZ7VbJ7zyaAbLQ7sZ1pr4XQg3IkwJjCxU8F5Kgu6JnBKYmL3iIvMTcaTXoI167bzreHTdyNWLA/99ZDz+bV67n4+/9aTgQPPS9pSVKwmTkDlmvuWPS2KklURrF8FzT4m63FOs/Iq1s4DiMgzZrq5VoyrwEVlU+issnPff2kvXjFxrjUFH4hY+70QRHRTHGtQxq5mSI6eVDVc+WC78Gmk7fWuBdUcSIkRizIM74isKAZNx/uWho8equFKT2MrAdd9oXraVEZgFuwolp+Vu3qDKlku+N2Y7s8x06N57O6FME8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017w8CZG9QcECNRvKwEQ1PaJ",
      "input": {
        "note": "Empty close again and the lemon now shows to the right of the jaws — my gripper is consistently ~3 cm to the lemon's left. Reopening and stepping 3 cm to the arm's right.",
        "targets": {
          "right_gripper": 1,
          "right_y": 0.132
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017w8CZG9QcECNRvKwEQ1PaJ",
      "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, 0.8452, 0.6128, -0.5209, -0.0139, -0.0265, 0.9993, 0.6456, 1.7367, 0.6209, 0.252, 0.6754, 0.0856, 0.9954]\nstate[eef_state]: left_x=0.2772 left_y=-0.0 left_z=0.1429 left_yaw=-0.0026 left_pitch=-0.185 left_roll=0.0058 left_gripper=0.9993 right_x=0.352 right_y=0.1314 right_z=0.0207 right_yaw=0.0339 right_pitch=-0.1264 right_roll=-0.4169 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.9077, 6.8718, 1.6044, -0.0464, -0.0366, -0.0122, -0.4034, -8.4991, 4.5197, 1.7167, 0.2418, 0.0317, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbaad614065e4cb7bb09a992cbedc12e1b0a3890e1e64da12860181c880ef567",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e6c01f3fcc611c1456ad5cf0f002c60b0aa555c30428e9d83412f1573d07ec3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bbeb17812a128b0a0a3228e9501e590ff028fba8df0248c7170f67fbfc1afa1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 6.817 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, 0.8398, 0.6128, -0.5148, -0.0135, -0.0265, 0.9993, 0.733, 1.7805, 0.717, 0.1833, 0.7383, 0.1852, 0.998]\nstate[eef_state]: left_x=0.278 left_y=-0.0001 left_z=0.1453 left_yaw=-0.003 left_pitch=-0.1735 left_roll=0.0053 left_gripper=0.9993 right_x=0.3553 right_y=0.1648 right_z=0.0306 right_yaw=0.026 right_pitch=-0.0886 right_roll=-0.3867 right_gripper=0.998\nstate[joint_eff]: [-0.2256, -1.8256, 7.0769, 1.707, -0.022, -0.0464, -0.0122, 0.335, -8.4991, 6.3521, 1.4774, 0.5592, 0.2466, 0.0024]",
      "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, 0.8398, 0.6128, -0.5205, -0.0139, -0.0265, 0.9993, 0.7349, 1.7859, 0.7223, 0.1894, 0.7395, 0.1761, 0.0088]\nstate[eef_state]: left_x=0.2771 left_y=-0.0 left_z=0.1443 left_yaw=-0.0027 left_pitch=-0.1793 left_roll=0.0057 left_gripper=0.9993 right_x=0.3568 right_y=0.1668 right_z=0.0312 right_yaw=0.032 right_pitch=-0.0853 right_roll=-0.3907 right_gripper=0.0088\nstate[joint_eff]: [-0.0342, -1.4017, 7.0769, 1.6093, -0.0757, -0.0757, -0.0122, -0.2393, -8.0752, 4.547, 1.3358, 0.359, 0.0904, 0.7106]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8452, 0.6128, -0.5209, -0.0139, -0.0265, 0.9993, 0.6456, 1.7367, 0.6209, 0.252, 0.6754, 0.0856, 0.9954]\nstate[eef_state]: left_x=0.2772 left_y=-0.0 left_z=0.1429 left_yaw=-0.0026 left_pitch=-0.185 left_roll=0.0058 left_gripper=0.9993 right_x=0.352 right_y=0.1314 right_z=0.0207 right_yaw=0.0339 right_pitch=-0.1264 right_roll=-0.4169 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.9077, 6.8718, 1.6044, -0.0464, -0.0366, -0.0122, -0.4034, -8.4991, 4.5197, 1.7167, 0.2418, 0.0317, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbaad614065e4cb7bb09a992cbedc12e1b0a3890e1e64da12860181c880ef567",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e6c01f3fcc611c1456ad5cf0f002c60b0aa555c30428e9d83412f1573d07ec3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbeb17812a128b0a0a3228e9501e590ff028fba8df0248c7170f67fbfc1afa1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8AgKjgEIEhgCKkAYUhP14TERHN85ExzQaMm5pmxNKCzQ4jffz6WV5EUivcV2YBXlY+Ak2oaiXDAnRGtIlosmSXcAPlKH4xcl0OEhMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYulzNUGEgxBvQT1DWF0Q6BClJoaDGTCjaB+RjeMXPbsgiIw+iQbq8WhNY80rUBzHpch6d53N7v6j38lnqAneJYrOpSpSpouCaJuBAvjRKZ8gnvXKo4H7t6N2+h4zeAsJ1APARsrlBJDS8B4rFIO0nrgAVkqGCwFeIK+CiXkzESG8V4ikIBCjmZXIFdGV3XQ6Afn6Iu9acgWQyf+8qHt0JIN+rlkLFjQXcEQvH5KjD4TUGuxi+zZC8vCJJj/R385BoZ7KnZ7SfOE0m9qc+QBL8E9AouGQzLuUTC3ZyuchzMKOqHICqY4RkaiWXqH/4SX8bIK03Jdu4QNtVEPYfA1r7J7mrMfwCxro/i/g0FWomrJi9qF9linV45LpNGeYhGZ58uHJwOSeko+mPnpqcnslU6mxNr4ndf8sMHaqMBZTCXqRnpq70feDBQJMoiSe/heKrfUxHiN9DY4+yEpLYwjrnC0SimoFTqdHPsLHPGSrPStvqwqnDR5GMoOvxW8PfJseJ+9bJa3V0UBRNQdU64UfSa2fIpKumtO/h9gaHvF5gwtYdaUQBE1IvHhcAieYDfvTxdFr6I/sk7y8n3T80SSuh139xnTRi9Fnr/D4VHKrMu581GGANYQBhs0RNUE7uIyDbFtYX9cHvbOufi7dswMT0JHYIqN570SSmfg62P17P5GOuAfZADFWFzsa8E4qZAjKyl2C6Xdq3KOqhsFOlULmN0Xkduy8h9dT9Pi8J1CFXoAQr2aTdENQDTB06APOfGusHaYu7Ppa9ArguumG5O6vFlLLy8ZddWZcrBVEpaMlKQqy18yGfT+a+hQV6y0hCEa2S0cZ3kB0+Ynnsp0Tg2BJVIUTLOwU4oFzGoyGrci+VFc6loKygczSXzfVSjGpONRmp+1rZp42UHCgE8LEACq8MYLkABlGril3moTyBEfleTKq9ZlfdZx99cdQdQ1AfkbYy5JX+s09Qg33ly5MICilA1lRq5no+AmFPNcVkgiNVPlv1giEmUwl12c0irApGzR7joORawhn9LFSNLvZ3VXCgYxzS6Nb0mHFio7iz/6rzHDLRsetjOqHWpu5fSDicjeyTid5c6/zBPFE5WKuXk6njv0OHGxh1AfV1urEu83CIR8nb0wXqcmDTjhDCCASAeNJyhTYmXXbxIHBZ+KabyW11RFSkC2jUJsWHnnOyBqhzQwYokLhJlXxK4Nbxyvg37W8KLo0nhDoIrYnxyKDcvMaLEsUBMY6B3ZBAac8oqyUOmgXJsk5hstNSxYxjTkL0Qzd5ur4nOICbTXV0w1Gvas/1kEVGCA+jX+YSpIg/hjLkS67XM1VBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0146L8wiuM1veMRc61ESDLT7",
      "input": {
        "note": "The wrist has drifted to roll -0.42 rad, which rotates the wrist image and the jaw axis and probably explains my repeated misses; commanding roll/pitch/yaw back to zero and lifting slightly to re-reference.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_yaw": 0.0,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0146L8wiuM1veMRc61ESDLT7",
      "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, 0.8467, 0.6128, -0.5205, -0.0139, -0.0265, 0.9993, 0.569, 1.5517, 0.5076, 0.3229, 0.5034, 0.2485, 0.9964]\nstate[eef_state]: left_x=0.2773 left_y=-0.0 left_z=0.1425 left_yaw=-0.0026 left_pitch=-0.1861 left_roll=0.0058 left_gripper=0.9993 right_x=0.3463 right_y=0.1246 right_z=0.046 right_yaw=0.0094 right_pitch=-0.0523 right_roll=-0.1055 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.0872, 7.0359, 1.6337, -0.0464, -0.0562, -0.0122, -0.3761, -6.653, 5.5316, 2.0342, 0.188, 0.1832, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ee5ce50e1259c7634d3329dd171c6609f16f90603a2656f507803fb3e2b7ab4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f8b86beff10713fa23ffc559d3a5a8fefc6a070fbb440cc3b059321adba7272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4fbeffcdab2760a72b8bbf13bf8c95ba9cac33b03a4206ea3b2b677eaf82834",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 4.563 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, 0.8398, 0.6128, -0.5205, -0.0139, -0.0265, 0.9993, 0.7349, 1.7859, 0.7223, 0.1894, 0.7395, 0.1761, 0.0088]\nstate[eef_state]: left_x=0.2771 left_y=-0.0 left_z=0.1443 left_yaw=-0.0027 left_pitch=-0.1793 left_roll=0.0057 left_gripper=0.9993 right_x=0.3568 right_y=0.1668 right_z=0.0312 right_yaw=0.032 right_pitch=-0.0853 right_roll=-0.3907 right_gripper=0.0088\nstate[joint_eff]: [-0.0342, -1.4017, 7.0769, 1.6093, -0.0757, -0.0757, -0.0122, -0.2393, -8.0752, 4.547, 1.3358, 0.359, 0.0904, 0.7106]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8452, 0.6128, -0.5209, -0.0139, -0.0265, 0.9993, 0.6456, 1.7367, 0.6209, 0.252, 0.6754, 0.0856, 0.9954]\nstate[eef_state]: left_x=0.2772 left_y=-0.0 left_z=0.1429 left_yaw=-0.0026 left_pitch=-0.185 left_roll=0.0058 left_gripper=0.9993 right_x=0.352 right_y=0.1314 right_z=0.0207 right_yaw=0.0339 right_pitch=-0.1264 right_roll=-0.4169 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.9077, 6.8718, 1.6044, -0.0464, -0.0366, -0.0122, -0.4034, -8.4991, 4.5197, 1.7167, 0.2418, 0.0317, -0.1441]\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 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, 0.8467, 0.6128, -0.5205, -0.0139, -0.0265, 0.9993, 0.569, 1.5517, 0.5076, 0.3229, 0.5034, 0.2485, 0.9964]\nstate[eef_state]: left_x=0.2773 left_y=-0.0 left_z=0.1425 left_yaw=-0.0026 left_pitch=-0.1861 left_roll=0.0058 left_gripper=0.9993 right_x=0.3463 right_y=0.1246 right_z=0.046 right_yaw=0.0094 right_pitch=-0.0523 right_roll=-0.1055 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.0872, 7.0359, 1.6337, -0.0464, -0.0562, -0.0122, -0.3761, -6.653, 5.5316, 2.0342, 0.188, 0.1832, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ee5ce50e1259c7634d3329dd171c6609f16f90603a2656f507803fb3e2b7ab4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f8b86beff10713fa23ffc559d3a5a8fefc6a070fbb440cc3b059321adba7272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4fbeffcdab2760a72b8bbf13bf8c95ba9cac33b03a4206ea3b2b677eaf82834",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6AUKjgEIEhgCKkCaBwHZRkM4QiA4ojJy78v6NNLUNYakTMBYEEphHwJmBwdqnxBSxCv7bXLfHAjqCcJh6uekgE+lFuo1867Oc1elMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZKlzNUGEgxJMDvZWQf2R/XlO4AaDCcaD3n/k+tAt/ulYiIwxkxI9/nLzqF2xx7lS/i6DmXDnxRjNoK/dOrH0NegeR1Gl0fbcOCbII4wi1Q3BQc+KoYEWwGezvjUxk4Lazk+tb8vXdtJsnR3Jet37Nnfowbs950HyTYBWYrjr0ut6EhjXNAy4fKhL9B0egPTfxy9eTJDm93XaGy/jkeP3q9G1MrKSvjS47XYV6OwQ4cn6a5GtCqiaG1BxCv8oN3oDGGjflQ6+rh800Nr5mgngOiWKxJFScLU8ykY6MN/HbgQ3Pe9oAi++gzjZKz7VRCVHScBq85CLlVLxZsYURD+peEjRH3gASfyPVupYpxXBLIs+6wWqky+wbpzZh1wCvBLOo2x2hADRkb4mokazwdXv/QgvRp/lkX1RMvV8IkiEjT9ZmS+r4AsAIr6jZdQyyRVSU+lZK+QmszQGczcyWHeLLsND+0Rwnc/fKknaK6PbAGVpu7t17YEV+yzrnL6aS6evBONkYWGK/ZFlBU9xKNZS+xwt7+Qw/yotNJpJDq2fMoasi17m+REyLDmFQOzd2dDgwvoEu3opjrs6R85ecDzuvNl8LB0Ba1CaHGn3drHzJwZNqJEqbM/pKJ+pK6qxu8KvKA5CeQ/SQkFOXf+PZ5Q8r88iGUO4ZYIfywFipMv7eM/TQcQrJV8SeMC3RYUSezo2nmeQlUKFwgf9VVvmwgPTiks6UQTfCe53Nx5+SMS5TQAcfJkymjMqsz8O2JaxR2BBbV1WLp32TPAhSJYmJ5AcIVnRVH8/SGfb9uNELYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016mk6RKrkvfNotDTDdmmaFA",
      "input": {
        "note": "With the wrist level, the lemon sits ~4 cm right of the jaw column; stepping the gripper that far to the arm's right and down to grasp height.",
        "targets": {
          "right_y": 0.085,
          "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_016mk6RKrkvfNotDTDdmmaFA",
      "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, 0.8474, 0.6128, -0.5354, -0.0135, -0.0265, 0.9993, 0.4309, 1.5406, 0.411, 0.3931, 0.4175, 0.1791, 0.9965]\nstate[eef_state]: left_x=0.2748 left_y=-0.0 left_z=0.1397 left_yaw=-0.0029 left_pitch=-0.2018 left_roll=0.0059 left_gripper=0.9993 right_x=0.3397 right_y=0.0812 right_z=0.0246 right_yaw=-0.0242 right_pitch=-0.0978 right_roll=-0.1186 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.4291, 6.8581, 1.6825, -0.0366, -0.0562, -0.0122, -0.1846, -6.4479, 5.1624, 1.9902, 0.0952, -0.0757, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6d3e61e3b654b5aeaef58419ba6e2db19bb428dce71310efe67cde8c7c6137a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7ba428d479ae355bcf4d8dd5a3355c51ba63ac286276106c33d4dce28cef455",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:825f4bfcc6c73abe3f5e39675685a9586d956eaaa61aef9ebd01bb6d5ba3f605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 5.775 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, 0.8452, 0.6128, -0.5209, -0.0139, -0.0265, 0.9993, 0.6456, 1.7367, 0.6209, 0.252, 0.6754, 0.0856, 0.9954]\nstate[eef_state]: left_x=0.2772 left_y=-0.0 left_z=0.1429 left_yaw=-0.0026 left_pitch=-0.185 left_roll=0.0058 left_gripper=0.9993 right_x=0.352 right_y=0.1314 right_z=0.0207 right_yaw=0.0339 right_pitch=-0.1264 right_roll=-0.4169 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.9077, 6.8718, 1.6044, -0.0464, -0.0366, -0.0122, -0.4034, -8.4991, 4.5197, 1.7167, 0.2418, 0.0317, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8467, 0.6128, -0.5205, -0.0139, -0.0265, 0.9993, 0.569, 1.5517, 0.5076, 0.3229, 0.5034, 0.2485, 0.9964]\nstate[eef_state]: left_x=0.2773 left_y=-0.0 left_z=0.1425 left_yaw=-0.0026 left_pitch=-0.1861 left_roll=0.0058 left_gripper=0.9993 right_x=0.3463 right_y=0.1246 right_z=0.046 right_yaw=0.0094 right_pitch=-0.0523 right_roll=-0.1055 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.0872, 7.0359, 1.6337, -0.0464, -0.0562, -0.0122, -0.3761, -6.653, 5.5316, 2.0342, 0.188, 0.1832, 0.0904]",
      "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, 0.8474, 0.6128, -0.5354, -0.0135, -0.0265, 0.9993, 0.4309, 1.5406, 0.411, 0.3931, 0.4175, 0.1791, 0.9965]\nstate[eef_state]: left_x=0.2748 left_y=-0.0 left_z=0.1397 left_yaw=-0.0029 left_pitch=-0.2018 left_roll=0.0059 left_gripper=0.9993 right_x=0.3397 right_y=0.0812 right_z=0.0246 right_yaw=-0.0242 right_pitch=-0.0978 right_roll=-0.1186 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.4291, 6.8581, 1.6825, -0.0366, -0.0562, -0.0122, -0.1846, -6.4479, 5.1624, 1.9902, 0.0952, -0.0757, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6d3e61e3b654b5aeaef58419ba6e2db19bb428dce71310efe67cde8c7c6137a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7ba428d479ae355bcf4d8dd5a3355c51ba63ac286276106c33d4dce28cef455",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:825f4bfcc6c73abe3f5e39675685a9586d956eaaa61aef9ebd01bb6d5ba3f605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7wQKjgEIEhgCKkCeTy9RJCOUDIzLL7z4Hhqg9RaNou2OA4HnDy4Bfw/LFBwojmdvNuGO4CipiQ2zMDwJ7vZZADiPnoS9156jUPbUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZilzNUGEgx9heYYuwEsqMflfxgaDKVwwfL/dyBNGhW/2iIwha3lZ2q2glJjuVjWJ4x5j6hEDRE4gCIOvDyXdYVBEdYSmCUww393rF3xeVXxb/WZKo0D2ekj2K9a5VLHcksTU4XxFt1Y63aWWHsKHhPY8jEEJ1FppZ16WY3SdGmZIw/02J2wjL29Bqo8PjZuPKxWVIoznz9CKk/NM/6hEbpI+rE+Z+ZdqaoVRcwlYe+GUxB2+gZQuZe7QRhGQ0E41/W6iHet16nB3Or7RPGytZZ307BQHELLrKbb8+fN0w82WkO8lVCJ8zzYjYSTlUbtDm6Nuz1AXNcQMXKTt6ThcMr/7U7Tnh7VuXK6AmKVBxjXX3hjWniuY1g0i8N4bTAGJL3F5w1IGEdJ7L5tuuzFZVVL//eVPBnbGMaT3LOFHzcMHe1g3zTXLGC6kynGd1zf/ByHKWm1+LGry9kM5Rfq8gLmKU0B8AiovUHJIHKjefLiMe06jGeIM1xIE3iqRzd+9LZKSQ96ZsuCnjAITku0xop51xQcD5d0hM8a0Kss/MdgDRd7neRId7WCrZiurOCGfM33Vnjz7scPLM6DbRrmwWefN86teZ2ty2UuevsYQEnLsjkZo1mMn/q19jWEWxeGVVr24RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NigzVYM5JK3bn19QNpM9Ew",
      "input": {
        "note": "The lemon is finally centred between the two jaws in the wrist view; closing on it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NigzVYM5JK3bn19QNpM9Ew",
      "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, 0.8474, 0.6128, -0.5362, -0.0139, -0.0265, 0.9993, 0.4168, 1.5387, 0.4046, 0.4446, 0.387, 0.1371, 0.3351]\nstate[eef_state]: left_x=0.2746 left_y=0.0 left_z=0.1396 left_yaw=-0.0026 left_pitch=-0.2025 left_roll=0.0061 left_gripper=0.9993 right_x=0.3455 right_y=0.084 right_z=0.0307 right_yaw=0.0104 right_pitch=-0.0662 right_roll=-0.1143 right_gripper=0.3351\nstate[joint_eff]: [-0.0205, -1.4427, 6.8718, 1.5263, -0.0269, -0.0464, -0.0122, 0.1162, -6.2154, 4.8889, 1.6386, 0.0806, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d0fa8c6967d6ce4071bfa997e6b33d9b1d0c573ebf8769d590362798baee057",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae2647d6138588dc4710da5d478b843ccbcc90b8ec4a7ad0ee8d019fb402d323",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e59b4bd5fd0e797d88a19d2c3d358ca33b6931bcd63f752d698d9842e800025",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 6.024 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, 0.8467, 0.6128, -0.5205, -0.0139, -0.0265, 0.9993, 0.569, 1.5517, 0.5076, 0.3229, 0.5034, 0.2485, 0.9964]\nstate[eef_state]: left_x=0.2773 left_y=-0.0 left_z=0.1425 left_yaw=-0.0026 left_pitch=-0.1861 left_roll=0.0058 left_gripper=0.9993 right_x=0.3463 right_y=0.1246 right_z=0.046 right_yaw=0.0094 right_pitch=-0.0523 right_roll=-0.1055 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.0872, 7.0359, 1.6337, -0.0464, -0.0562, -0.0122, -0.3761, -6.653, 5.5316, 2.0342, 0.188, 0.1832, 0.0904]",
      "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, 0.8474, 0.6128, -0.5354, -0.0135, -0.0265, 0.9993, 0.4309, 1.5406, 0.411, 0.3931, 0.4175, 0.1791, 0.9965]\nstate[eef_state]: left_x=0.2748 left_y=-0.0 left_z=0.1397 left_yaw=-0.0029 left_pitch=-0.2018 left_roll=0.0059 left_gripper=0.9993 right_x=0.3397 right_y=0.0812 right_z=0.0246 right_yaw=-0.0242 right_pitch=-0.0978 right_roll=-0.1186 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.4291, 6.8581, 1.6825, -0.0366, -0.0562, -0.0122, -0.1846, -6.4479, 5.1624, 1.9902, 0.0952, -0.0757, 0.0024]",
      "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, 0.8474, 0.6128, -0.5362, -0.0139, -0.0265, 0.9993, 0.4168, 1.5387, 0.4046, 0.4446, 0.387, 0.1371, 0.3351]\nstate[eef_state]: left_x=0.2746 left_y=0.0 left_z=0.1396 left_yaw=-0.0026 left_pitch=-0.2025 left_roll=0.0061 left_gripper=0.9993 right_x=0.3455 right_y=0.084 right_z=0.0307 right_yaw=0.0104 right_pitch=-0.0662 right_roll=-0.1143 right_gripper=0.3351\nstate[joint_eff]: [-0.0205, -1.4427, 6.8718, 1.5263, -0.0269, -0.0464, -0.0122, 0.1162, -6.2154, 4.8889, 1.6386, 0.0806, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d0fa8c6967d6ce4071bfa997e6b33d9b1d0c573ebf8769d590362798baee057",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae2647d6138588dc4710da5d478b843ccbcc90b8ec4a7ad0ee8d019fb402d323",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e59b4bd5fd0e797d88a19d2c3d358ca33b6931bcd63f752d698d9842e800025",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0AQKjgEIEhgCKkAoGO4+BhjKirmxUDvR7gc7deilXV0l+XBqkF93dhVndFbl/9OXuOnQWbeYjMITvmDCKM8bLTkUv2MHapkDYwslMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ6lzNUGEgwWliHJbngH3gEBZAoaDB4DxJiy85MlTM4H6yIwP6DKrQ/jQK62Fp5HN+1ZLEaMQQueWvL337hjQQIwBRnP40TB+TTogSIiSBV+pfOIKu4CmVoepDTf1rcqEd1mNlrXJpfDbPog8f57VOESi82KTaDc5PUqoieMlwJew92dBptZ/zLCEOuKg/zsAZfGVujfyrw+PtPtnLBjnRzZr0QGnVEtGlC+R0Qo6UF4dcVV7+7IN3Pl61G8KtMAKPy5/YX929p+yEo5ZLUvF+dKwzzyBhxW4dzNuwcu6byh+ml8fXgVfk6xx3NUHthvh7A7eUsMvQ2owZCqouCdmRmOyI7lSQwJYvz0llx4SkunZ0Gayl983NLXi75qt5bYWrYiblpxbV1ClZRw0ufkLnLpZai2W9y+/TmO6C++MH2Eoc0vK+zOf5JUZf9gj8KNIxhYwLSoatZNlSIbLU4eE0rMpDbqLcbDD7ivJNI+gPbV2fbTwUXvNZ3VeYiF/HHjtAPZB7Hsb3kLgb99T1df+FBGg3lpKp64ilwxwGW0tjiWqxT2Fmw0HmIv92tjts4vupK6lKwYAGEPImYo3liKOwOx0aubGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ESRUAWyvr1HSZtcGgki3RF",
      "input": {
        "note": "Gripper settled at 0.34 (~3.2 cm) — the lemon is grasped. Lifting and moving over the blue bowl, which lies just ahead and to the arm's left.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.105,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01ESRUAWyvr1HSZtcGgki3RF",
      "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, 0.8474, 0.6128, -0.5396, -0.0135, -0.0265, 0.9993, 0.4019, 1.4326, 1.0565, -0.2897, 0.3611, 0.1135, 0.3358]\nstate[eef_state]: left_x=0.274 left_y=-0.0 left_z=0.139 left_yaw=-0.0029 left_pitch=-0.206 left_roll=0.0059 left_gripper=0.9993 right_x=0.4084 right_y=0.1097 right_z=0.1941 right_yaw=0.0298 right_pitch=-0.052 right_roll=-0.1094 right_gripper=0.3358\nstate[joint_eff]: [-0.1983, -1.265, 6.9675, 1.6337, -0.0269, -0.0415, -0.0171, -0.759, -5.5726, 8.0205, 1.5067, 0.1587, 0.0464, 0.6374]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aeaf0000b501e920f825c73459968dbe0f33f38f9a9aeb18a375b423312a1bed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f28abe89e15d0717777b219eb647a4178e919c15fb911a86e08bb0ccd9d80b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:95f4b29290f645e3f4e8d76f3c688d0055e231e3691f5f4e4a0d8c9a501096ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 8.093 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, 0.8474, 0.6128, -0.5354, -0.0135, -0.0265, 0.9993, 0.4309, 1.5406, 0.411, 0.3931, 0.4175, 0.1791, 0.9965]\nstate[eef_state]: left_x=0.2748 left_y=-0.0 left_z=0.1397 left_yaw=-0.0029 left_pitch=-0.2018 left_roll=0.0059 left_gripper=0.9993 right_x=0.3397 right_y=0.0812 right_z=0.0246 right_yaw=-0.0242 right_pitch=-0.0978 right_roll=-0.1186 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.4291, 6.8581, 1.6825, -0.0366, -0.0562, -0.0122, -0.1846, -6.4479, 5.1624, 1.9902, 0.0952, -0.0757, 0.0024]",
      "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, 0.8474, 0.6128, -0.5362, -0.0139, -0.0265, 0.9993, 0.4168, 1.5387, 0.4046, 0.4446, 0.387, 0.1371, 0.3351]\nstate[eef_state]: left_x=0.2746 left_y=0.0 left_z=0.1396 left_yaw=-0.0026 left_pitch=-0.2025 left_roll=0.0061 left_gripper=0.9993 right_x=0.3455 right_y=0.084 right_z=0.0307 right_yaw=0.0104 right_pitch=-0.0662 right_roll=-0.1143 right_gripper=0.3351\nstate[joint_eff]: [-0.0205, -1.4427, 6.8718, 1.5263, -0.0269, -0.0464, -0.0122, 0.1162, -6.2154, 4.8889, 1.6386, 0.0806, 0.0073, 1.0281]",
      "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, 0.8474, 0.6128, -0.5396, -0.0135, -0.0265, 0.9993, 0.4019, 1.4326, 1.0565, -0.2897, 0.3611, 0.1135, 0.3358]\nstate[eef_state]: left_x=0.274 left_y=-0.0 left_z=0.139 left_yaw=-0.0029 left_pitch=-0.206 left_roll=0.0059 left_gripper=0.9993 right_x=0.4084 right_y=0.1097 right_z=0.1941 right_yaw=0.0298 right_pitch=-0.052 right_roll=-0.1094 right_gripper=0.3358\nstate[joint_eff]: [-0.1983, -1.265, 6.9675, 1.6337, -0.0269, -0.0415, -0.0171, -0.759, -5.5726, 8.0205, 1.5067, 0.1587, 0.0464, 0.6374]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aeaf0000b501e920f825c73459968dbe0f33f38f9a9aeb18a375b423312a1bed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f28abe89e15d0717777b219eb647a4178e919c15fb911a86e08bb0ccd9d80b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95f4b29290f645e3f4e8d76f3c688d0055e231e3691f5f4e4a0d8c9a501096ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkwUKjgEIEhgCKkBqMtokzBy7KraAVPNxOCBJ8NbaAN7VSHr0h9ZoOY7TfK0SwS4ZhgRl3n2u9z3+At+8vG/OVhTZdN5PqGFEa3ZUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaWlzNUGEgxJMau2UstyyJx70K0aDIpvDCx8/fAWEwNOQiIwBdddtsjtH89aO970hGO2ztCDijUOAGVlh6u8qkjfpoVdCLxbMOXCMAfZ/SvyYnBKKrEDwXGIWcMYLF0+tJfQu+kokXnGTCgxfjVzx5Y7E4j+DqEsuotfOiT7YpHTo+6caJ1IrFXsylQsFCG+y8R/wSxFVD+n1tLBVxDzrf2cC3M2O7FsF4tThhTdKgHk/rb734vV4xNBW9h07ysvezp2G/f25JeqpoYBiR4/HSZoP92tm70Pdjhp9AKVusYfwMuyHkZ4Cux96mpn/XPD6zTW444uoySuMKgIIYw/2WaTII5aIXLC+Dmt5MeUQfqgfAqehBLxZTJMbGHmMsEkXFJ042RH88Lz+ijMZLjNH5Pohr9gtRLEOLYfnG9YaGZf8q+QUjaUAcrDzo3/utMEcOXDOZ2v3pErATpoZLxDFmgK7IWfGtmw0QT2x0fbvZ2c5jHaYVXAv7Wh7+ylbFWhFn1qch9SBzF+esHixM4TWnn8gIzwUAphf0cWp8O2DT5cYjR4ugyjMf/fCY36Hh07Qm2/Fo4tt8rSoyeZTs+KXEbYZpuh1f4I/7oR8Unrzjxd9GAiBTjlghw3bp3H6E+VMYndLv37HsUL25NOy4vf8prXpO/54XLULMbv2M8DZZ0dDlbT15OOfhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016GQweLs7D6KExqAP956tSt",
      "input": {
        "note": "Holding the lemon, the blue bowl appears low and right of the jaws in the wrist view, meaning it is nearer and to the arm's right; pulling in 3 cm and shifting right 3 cm to sit over it.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.08,
          "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_016GQweLs7D6KExqAP956tSt",
      "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, 0.8474, 0.6128, -0.5419, -0.0135, -0.0265, 0.9993, 0.3492, 1.3273, 0.9047, -0.2909, 0.329, 0.0879, 0.337]\nstate[eef_state]: left_x=0.2736 left_y=-0.0 left_z=0.1385 left_yaw=-0.0029 left_pitch=-0.2082 left_roll=0.006 left_gripper=0.9993 right_x=0.379 right_y=0.0811 right_z=0.1673 right_yaw=0.0158 right_pitch=-0.1055 right_roll=-0.1272 right_gripper=0.337\nstate[joint_eff]: [-0.1709, -1.0735, 6.8855, 1.6337, -0.0659, -0.0806, -0.0122, -0.1846, -6.2838, 8.4034, 2.1465, -0.0171, -0.0269, 0.3297]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed1e7cc0a86493d1ddde5cdc27eb8169cd9bce3839c08ce9dc9b40c247025bb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aff89e2497312fdb261e838de113d0c94cdb7371272f91d9a8905488866115d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6e4de9693dd3d9e76bfe5db27104893c82a364ad75233990221352bc36329e02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 16.35 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, 0.8474, 0.6128, -0.5362, -0.0139, -0.0265, 0.9993, 0.4168, 1.5387, 0.4046, 0.4446, 0.387, 0.1371, 0.3351]\nstate[eef_state]: left_x=0.2746 left_y=0.0 left_z=0.1396 left_yaw=-0.0026 left_pitch=-0.2025 left_roll=0.0061 left_gripper=0.9993 right_x=0.3455 right_y=0.084 right_z=0.0307 right_yaw=0.0104 right_pitch=-0.0662 right_roll=-0.1143 right_gripper=0.3351\nstate[joint_eff]: [-0.0205, -1.4427, 6.8718, 1.5263, -0.0269, -0.0464, -0.0122, 0.1162, -6.2154, 4.8889, 1.6386, 0.0806, 0.0073, 1.0281]",
      "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, 0.8474, 0.6128, -0.5396, -0.0135, -0.0265, 0.9993, 0.4019, 1.4326, 1.0565, -0.2897, 0.3611, 0.1135, 0.3358]\nstate[eef_state]: left_x=0.274 left_y=-0.0 left_z=0.139 left_yaw=-0.0029 left_pitch=-0.206 left_roll=0.0059 left_gripper=0.9993 right_x=0.4084 right_y=0.1097 right_z=0.1941 right_yaw=0.0298 right_pitch=-0.052 right_roll=-0.1094 right_gripper=0.3358\nstate[joint_eff]: [-0.1983, -1.265, 6.9675, 1.6337, -0.0269, -0.0415, -0.0171, -0.759, -5.5726, 8.0205, 1.5067, 0.1587, 0.0464, 0.6374]\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 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, 0.8474, 0.6128, -0.5419, -0.0135, -0.0265, 0.9993, 0.3492, 1.3273, 0.9047, -0.2909, 0.329, 0.0879, 0.337]\nstate[eef_state]: left_x=0.2736 left_y=-0.0 left_z=0.1385 left_yaw=-0.0029 left_pitch=-0.2082 left_roll=0.006 left_gripper=0.9993 right_x=0.379 right_y=0.0811 right_z=0.1673 right_yaw=0.0158 right_pitch=-0.1055 right_roll=-0.1272 right_gripper=0.337\nstate[joint_eff]: [-0.1709, -1.0735, 6.8855, 1.6337, -0.0659, -0.0806, -0.0122, -0.1846, -6.2838, 8.4034, 2.1465, -0.0171, -0.0269, 0.3297]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed1e7cc0a86493d1ddde5cdc27eb8169cd9bce3839c08ce9dc9b40c247025bb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aff89e2497312fdb261e838de113d0c94cdb7371272f91d9a8905488866115d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e4de9693dd3d9e76bfe5db27104893c82a364ad75233990221352bc36329e02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiwkKjgEIEhgCKkDRqBO2Ck8wG6GxKWixdPI4w7fPypqXvObrIOPRikq2OHWeuWKdCDS8NYsADBR+zc1aCGn1dwnCv3TO9PXZM0fVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa6lzNUGEgwdJxDUIHJKi/GZKKAaDOuJsHozzIXEfipn1yIwUScyAQWzGbkDJOaQNTFUaCC4VksWRsHzngXwcIxaws3IjLWNPsjoXbstHO/8G4ATKqkHmLw6J0q7fOnEaT8ROHJO/wx40+fpKeofMhbloxDh5qfwXlbwdrK+ym+wTPNSQXBHBV4PeuuRAGTovRkdYFaBt+kpqKIW+fX8HL51toM0TplfKWVJFw6DFzrwPnainzLtCUccQBpRuWEdeAEBHO3LV94eqtaM5hyBH1GE7hYADxUL6Wh7ko+eXoFnNMlIzyz5iikeuVE7nE0YN1u1PNyH2yqZ5RZLhYKtx//q0GNaZCkniEkB+HOcPGZjiIQPaV2+BvddlDmB2f40+iAWlxBIVk+5jNymYmA27lHYbAlAnIEtmKii7wUAXh3iBjuYXAWFowK220RDHEyq8FuU/s+sicsQMjyXLkqClhYGgnZFw7I68H6cfs01S3EDRaElGJT8KXqoH627oMWyd2dFc3WdEK57l7NKh7JoA6Dcf8qOVtl17hJGvsgpog0qejuF4zrAxmPYRptMZ3GQmdZ1pm26z4YVV4+w/ePaHqsLBgEdpcR4jcvKNYZjX1J9Yk6LOfnRyPpIG5BXcc38c1nMWrSfwXmSQ3tvFUTW3FO0xrscBUF3dkugNUujjX5jmJvHWcW58lvSrVVDdjYxl3u7LS6S/cvTgfiHUirhP7AvOgXDYcpxm11PILW5yCb7TxeP6YLNGR2RU0/v3Ef9OUCnei/K6agI4pW7KJQb8jY8fM8KloXqxCId2kEMAejRY4RK8+jproMomrl8QZ5rOCutW4ArCcdD3nx+aLaVfGvY8A3togzl+hk3Ov5JKboeGWulQqX2L9Q/ace/2n72zejFtKHpSNMhpR2Sh/lpqaeoglSaQFzy10Iw/cIPwjmX+lYK4z/yBoTHsmAgBn4zl2YqeEanDF0xuNoqCum6v3BJ0Lw5DGqiA0IBMR9XGOxlCoEcAOc7vjUiLs7HrUIZunahlwt/GxJ1dkX0wfmX3a+r+5VVewjVCHOgT1v2fqJuvQv0F0qPoIjdH9Q1JlwoKFziEMm9qxjGxL8b0xij6J6o0496KlAnH1Gw0+WAqsBrhDDIcBPfKsa5ENjBV+wfKMRcxUUJsCelRyECLPIiMDLcPWu8F6FyDm+gTbF6noQvHeJ3LAoUDP7eGm7HvlxyFDRqxnt5SxtWtPJb+SPBkRdtAFMCSVTk0gE75UY6axzjC5cL+Uuq8H+Smb7yfCcDwwaLqfTxjmFj01slQUAGxtymi5aytsjnka4BKv2sb2H01j934z2DtAuaPQ6SnnXnpA0TUZWvZESzy8baxx0vYhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XSnHL6xnfc9wPsq8FfY4Le",
      "input": {
        "note": "The blue bowl with the pear is centred right under the held lemon; releasing so the lemon drops into the bowl.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01XSnHL6xnfc9wPsq8FfY4Le",
      "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, 0.8494, 0.6128, -0.543, -0.0135, -0.0265, 0.9993, 0.3496, 1.3262, 0.8833, -0.3042, 0.3168, 0.0704, 0.9959]\nstate[eef_state]: left_x=0.2735 left_y=-0.0 left_z=0.1379 left_yaw=-0.0029 left_pitch=-0.2113 left_roll=0.006 left_gripper=0.9993 right_x=0.3726 right_y=0.0811 right_z=0.1558 right_yaw=0.0344 right_pitch=-0.1412 right_roll=-0.1438 right_gripper=0.9959\nstate[joint_eff]: [-0.1026, -1.4427, 7.0496, 1.5214, -0.0122, -0.0269, -0.0122, -0.1162, -5.1487, 8.5402, 1.6777, 0.2173, 0.1538, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:209f9e7760ced97e458b58b7292ae378b86506bdcbfd8204d3f9ba89d4ffef86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90ad70abcd779269ff2395652c2c3232838d42d64c026ab32d7d75ec1ddee2e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f7e62e6dbc338fc827b7762c3203fa7dc1c9e59431cd1e19b1ee9ddff3db5641",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 38 attempt 0 · /messages · status 200 · 11.73 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, 0.8474, 0.6128, -0.5396, -0.0135, -0.0265, 0.9993, 0.4019, 1.4326, 1.0565, -0.2897, 0.3611, 0.1135, 0.3358]\nstate[eef_state]: left_x=0.274 left_y=-0.0 left_z=0.139 left_yaw=-0.0029 left_pitch=-0.206 left_roll=0.0059 left_gripper=0.9993 right_x=0.4084 right_y=0.1097 right_z=0.1941 right_yaw=0.0298 right_pitch=-0.052 right_roll=-0.1094 right_gripper=0.3358\nstate[joint_eff]: [-0.1983, -1.265, 6.9675, 1.6337, -0.0269, -0.0415, -0.0171, -0.759, -5.5726, 8.0205, 1.5067, 0.1587, 0.0464, 0.6374]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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, 0.8474, 0.6128, -0.5419, -0.0135, -0.0265, 0.9993, 0.3492, 1.3273, 0.9047, -0.2909, 0.329, 0.0879, 0.337]\nstate[eef_state]: left_x=0.2736 left_y=-0.0 left_z=0.1385 left_yaw=-0.0029 left_pitch=-0.2082 left_roll=0.006 left_gripper=0.9993 right_x=0.379 right_y=0.0811 right_z=0.1673 right_yaw=0.0158 right_pitch=-0.1055 right_roll=-0.1272 right_gripper=0.337\nstate[joint_eff]: [-0.1709, -1.0735, 6.8855, 1.6337, -0.0659, -0.0806, -0.0122, -0.1846, -6.2838, 8.4034, 2.1465, -0.0171, -0.0269, 0.3297]",
      "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, 0.8494, 0.6128, -0.543, -0.0135, -0.0265, 0.9993, 0.3496, 1.3262, 0.8833, -0.3042, 0.3168, 0.0704, 0.9959]\nstate[eef_state]: left_x=0.2735 left_y=-0.0 left_z=0.1379 left_yaw=-0.0029 left_pitch=-0.2113 left_roll=0.006 left_gripper=0.9993 right_x=0.3726 right_y=0.0811 right_z=0.1558 right_yaw=0.0344 right_pitch=-0.1412 right_roll=-0.1438 right_gripper=0.9959\nstate[joint_eff]: [-0.1026, -1.4427, 7.0496, 1.5214, -0.0122, -0.0269, -0.0122, -0.1162, -5.1487, 8.5402, 1.6777, 0.2173, 0.1538, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:209f9e7760ced97e458b58b7292ae378b86506bdcbfd8204d3f9ba89d4ffef86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90ad70abcd779269ff2395652c2c3232838d42d64c026ab32d7d75ec1ddee2e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7e62e6dbc338fc827b7762c3203fa7dc1c9e59431cd1e19b1ee9ddff3db5641",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011vu5nd1YDByRdBbFDmK4sL",
      "input": {
        "note": "The lemon slipped out and rolled toward the front of the table near the base; moving the gripper back over that area to try to recover it.",
        "targets": {
          "right_x": 0.24,
          "right_y": 0.13,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_011vu5nd1YDByRdBbFDmK4sL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.852, 0.6128, -0.5461, -0.0139, -0.0265, 0.9993, 0.878, 1.0897, 0.5568, -0.424, 0.6254, 0.4629, 0.9965]\nstate[eef_state]: left_x=0.273 left_y=0.0001 left_z=0.1367 left_yaw=-0.0025 left_pitch=-0.217 left_roll=0.0064 left_gripper=0.9993 right_x=0.2443 right_y=0.138 right_z=0.099 right_yaw=0.0965 right_pitch=-0.1652 right_roll=-0.1563 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.306, 6.8444, 1.6288, -0.0708, -0.0562, -0.0122, 0.1436, -3.959, 6.1333, 1.2821, 0.4029, 0.1197, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:857f705fda1b1d655379b155c262e557ce947ad3e7dd9c8b8fa0d421de4b82ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0174f0be584b3ec0ef05964bbdfe984c0a8c78c9c4e0d58c38ebd2e742e8d6d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5fd2f46fd2b748a27fa0d14f118334b8f57b868e0e6ca077eb9a334ee9424064",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /messages · status 200 · 5.371 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8474, 0.6128, -0.5419, -0.0135, -0.0265, 0.9993, 0.3492, 1.3273, 0.9047, -0.2909, 0.329, 0.0879, 0.337]\nstate[eef_state]: left_x=0.2736 left_y=-0.0 left_z=0.1385 left_yaw=-0.0029 left_pitch=-0.2082 left_roll=0.006 left_gripper=0.9993 right_x=0.379 right_y=0.0811 right_z=0.1673 right_yaw=0.0158 right_pitch=-0.1055 right_roll=-0.1272 right_gripper=0.337\nstate[joint_eff]: [-0.1709, -1.0735, 6.8855, 1.6337, -0.0659, -0.0806, -0.0122, -0.1846, -6.2838, 8.4034, 2.1465, -0.0171, -0.0269, 0.3297]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8494, 0.6128, -0.543, -0.0135, -0.0265, 0.9993, 0.3496, 1.3262, 0.8833, -0.3042, 0.3168, 0.0704, 0.9959]\nstate[eef_state]: left_x=0.2735 left_y=-0.0 left_z=0.1379 left_yaw=-0.0029 left_pitch=-0.2113 left_roll=0.006 left_gripper=0.9993 right_x=0.3726 right_y=0.0811 right_z=0.1558 right_yaw=0.0344 right_pitch=-0.1412 right_roll=-0.1438 right_gripper=0.9959\nstate[joint_eff]: [-0.1026, -1.4427, 7.0496, 1.5214, -0.0122, -0.0269, -0.0122, -0.1162, -5.1487, 8.5402, 1.6777, 0.2173, 0.1538, -0.1783]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.852, 0.6128, -0.5461, -0.0139, -0.0265, 0.9993, 0.878, 1.0897, 0.5568, -0.424, 0.6254, 0.4629, 0.9965]\nstate[eef_state]: left_x=0.273 left_y=0.0001 left_z=0.1367 left_yaw=-0.0025 left_pitch=-0.217 left_roll=0.0064 left_gripper=0.9993 right_x=0.2443 right_y=0.138 right_z=0.099 right_yaw=0.0965 right_pitch=-0.1652 right_roll=-0.1563 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.306, 6.8444, 1.6288, -0.0708, -0.0562, -0.0122, 0.1436, -3.959, 6.1333, 1.2821, 0.4029, 0.1197, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:857f705fda1b1d655379b155c262e557ce947ad3e7dd9c8b8fa0d421de4b82ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0174f0be584b3ec0ef05964bbdfe984c0a8c78c9c4e0d58c38ebd2e742e8d6d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fd2f46fd2b748a27fa0d14f118334b8f57b868e0e6ca077eb9a334ee9424064",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JJkstCPRHaP5knXSrFEwDB",
      "input": {
        "note": "The lemon lies near the front edge, left of and nearer than the gripper; moving down and onto it to grasp.",
        "targets": {
          "right_x": 0.19,
          "right_y": 0.19,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01JJkstCPRHaP5knXSrFEwDB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8528, 0.6128, -0.5472, -0.0139, -0.0265, 0.9993, 1.2312, 1.4067, 0.5053, -0.358, 0.7528, 0.8017, 0.9966]\nstate[eef_state]: left_x=0.2728 left_y=0.0001 left_z=0.1363 left_yaw=-0.0025 left_pitch=-0.2189 left_roll=0.0065 left_gripper=0.9993 right_x=0.1894 right_y=0.1842 right_z=0.0283 right_yaw=0.1469 right_pitch=-0.2186 right_roll=-0.2232 right_gripper=0.9966\nstate[joint_eff]: [0.0615, -1.5385, 7.0222, 1.5311, -0.0806, -0.0366, -0.0122, 0.1026, -4.9573, 6.0513, 0.735, 0.779, 0.1734, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26343aebe5ed01d27704ad809a9aa46fcea229f48bf34ba8b8442704424e4b95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62024cef04f15c58611a7da1aa30062916a7d1042123ef29b289af953f28623b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8a66d0db16021e6b05fd7c95cb35fd87139d94b31ce7ac48f985d02715791ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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