adhoc

completed
2026-09-22T18:56:03.894035+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (76 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
205.6 s
total steps
193
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: white bowl left, blue bowl center-right, lemon, pear, and dark plum on table. Right wrist cam shows the pear just ahead; moving the right arm forward over it.
move_to
right_x0.3700right_y0.0200right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8005, 0.6136, -0.382, -0.0185, -0.0296, 0.9988, -0.0227, 0.8005, 0.6182, -0.3874, -0.0174, -0.0299, 0.9994] state[eef_state]: left_x=0.2961 left_y=0.0004 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2959 right_y=-0.0001 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.5128, -1.812, 9.5658, 1.7753, -0.0513, 0.1294, -0.1343, -0.4444, -1.7573, 9.1966, 1.873, -0.0659, 0.1538, -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": 0.37, "right_y": 0.02, "right_z": 0.15}, "note": "Scene: white bowl left, blue bowl center-right, lemon, pear, and dark plum on table. Right wrist cam shows the pear just ahead; moving the right arm forward over it."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent notePear is at the bottom-centre of the right wrist view, a bit ahead and slightly left; advancing 3 cm and 1 cm left before descending.
move_to
right_x0.3900right_y0.0300right_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, 0.8059, 0.6132, -0.3901, -0.0181, -0.0307, 0.9987, 0.0757, 1.1988, 0.6247, -0.0681, 0.0483, -0.0074, 0.9994] state[eef_state]: left_x=0.2953 left_y=0.0003 left_z=0.1789 left_yaw=0.0003 left_pitch=-0.0137 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3592 right_y=0.0223 right_z=0.1278 right_yaw=0.0309 right_pitch=-0.0719 right_roll=-0.0197 right_gripper=0.9994 state[joint_eff]: [-0.253, -1.7299, 7.0906, 1.7753, -0.0415, -0.0317, -0.0171, -0.3761, -4.7658, 9.0325, 2.0586, 0.1148, 0.2613, -0.0171] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.03, "right_z": 0.13}, "note": "Pear is at the bottom-centre of the right wrist view, a bit ahead and slightly left; advancing 3 cm and 1 cm left before descending."})
tool
executing move_to over 3 steps (0.3s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent notePear is centred between the jaws at the bottom of the wrist view; descending around it to grasp near its base.
move_to
right_x0.3950right_y0.0320right_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, 0.807, 0.6132, -0.4011, -0.0181, -0.0311, 0.9987, 0.0971, 1.3392, 0.7025, -0.0643, 0.0486, -0.0082, 0.9994] state[eef_state]: left_x=0.2939 left_y=0.0003 left_z=0.1763 left_yaw=0.0005 left_pitch=-0.0259 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3793 right_y=0.0319 right_z=0.1127 right_yaw=0.0521 right_pitch=-0.1306 right_roll=-0.0232 right_gripper=0.9994 state[joint_eff]: [-0.0752, -1.388, 7.0222, 1.8144, -0.0464, -0.0757, -0.0122, -0.2393, -5.3949, 8.4718, 1.956, 0.1197, 0.1148, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.395, "right_y": 0.032, "right_z": 0.03}, "note": "Pear is centred between the jaws at the bottom of the wrist view; descending around it to grasp near its base."})
tool
executing move_to over 6 steps (0.6s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe last descent did not move the right arm at all; trying a smaller downward step to see whether it tracks.
move_to
right_x0.3900right_y0.0320right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4088, -0.0177, -0.0334, 0.9987, 0.0975, 1.3392, 0.7025, -0.0643, 0.0513, -0.0086, 0.9994] state[eef_state]: left_x=0.2929 left_y=0.0003 left_z=0.1745 left_yaw=0.0014 left_pitch=-0.0343 left_roll=-0.0028 left_gripper=0.9987 right_x=0.3793 right_y=0.0316 right_z=0.1127 right_yaw=0.0504 right_pitch=-0.1305 right_roll=-0.0252 right_gripper=0.9994 state[joint_eff]: [-0.335, -1.1556, 7.0769, 1.7949, -0.0122, -0.0562, -0.0122, 0.1162, -5.0667, 8.4718, 1.9512, 0.1001, 0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.032, "right_z": 0.08}, "note": "The last descent did not move the right arm at all; trying a smaller downward step to see whether it tracks."})
tool
executing move_to over 3 steps (0.3s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteRight arm is not responding to downward targets; testing whether it tracks a move up and back.
move_to
right_x0.3600right_y0.0300right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4164, -0.0181, -0.0334, 0.9987, 0.0971, 1.3392, 0.7025, -0.0643, 0.0513, -0.0086, 0.9994] state[eef_state]: left_x=0.2918 left_y=0.0004 left_z=0.173 left_yaw=0.0018 left_pitch=-0.042 left_roll=-0.0024 left_gripper=0.9987 right_x=0.3793 right_y=0.0314 right_z=0.1127 right_yaw=0.05 right_pitch=-0.1305 right_roll=-0.0252 right_gripper=0.9994 state[joint_eff]: [-0.335, -1.2923, 7.0085, 1.7949, -0.0464, -0.022, -0.0122, -0.2256, -5.2581, 8.4718, 1.9072, 0.0952, 0.1148, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.03, "right_z": 0.15}, "note": "Right arm is not responding to downward targets; testing whether it tracks a move up and back."})
tool
executing move_to over 3 steps (0.3s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe right arm does move but only a little per call (steps being clamped). Re-issuing the descent onto the pear, which sits centred between the jaws.
move_to
right_x0.3950right_y0.0320right_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, 0.8089, 0.6132, -0.4229, -0.0177, -0.0338, 0.9987, 0.0971, 1.29, 0.7124, -0.1467, 0.0509, -0.0086, 0.9993] state[eef_state]: left_x=0.291 left_y=0.0003 left_z=0.1713 left_yaw=0.0016 left_pitch=-0.0496 left_roll=-0.0028 left_gripper=0.9987 right_x=0.3684 right_y=0.0304 right_z=0.119 right_yaw=0.0502 right_pitch=-0.1537 right_roll=-0.026 right_gripper=0.9993 state[joint_eff]: [-0.0752, -1.0735, 7.0085, 1.7949, -0.022, -0.0708, -0.0171, -0.1983, -7.5966, 10.865, 2.083, 0.022, -0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.395, "right_y": 0.032, "right_z": 0.03}, "note": "The right arm does move but only a little per call (steps being clamped). Re-issuing the descent onto the pear, which sits centred between the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
Pear is between the jaws. Closing.
agent noteRight gripper is down at z≈0.02 with the pear filling the view between the jaws; closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6128, -0.4274, -0.0181, -0.0334, 0.9987, 0.0956, 1.6146, 0.5953, 0.2012, 0.0441, -0.012, 0.9993] state[eef_state]: left_x=0.2904 left_y=0.0004 left_z=0.1693 left_yaw=0.0018 left_pitch=-0.058 left_roll=-0.002 left_gripper=0.9987 right_x=0.3783 right_y=0.032 right_z=0.0187 right_yaw=0.0557 right_pitch=-0.2478 right_roll=-0.0278 right_gripper=0.9993 state[joint_eff]: [-0.1983, -1.5385, 7.2, 1.7021, -0.0366, -0.0513, -0.0122, -0.0752, -6.7761, 4.9162, 1.746, 0.0659, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
Pear is between the jaws. Closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "Right gripper is down at z\u22480.02 with the pear filling the view between the jaws; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteGripper reads 0.72 with high effort, possibly still closing; re-sending close to make sure the pear is gripped firmly.
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, 0.8127, 0.6128, -0.4278, -0.0181, -0.0334, 0.9987, 0.0952, 1.6341, 0.5896, 0.2356, 0.0406, -0.012, 0.7242] state[eef_state]: left_x=0.2904 left_y=0.0004 left_z=0.1691 left_yaw=0.0018 left_pitch=-0.0587 left_roll=-0.002 left_gripper=0.9987 right_x=0.3805 right_y=0.0327 right_z=0.0155 right_yaw=0.0583 right_pitch=-0.2387 right_roll=-0.0249 right_gripper=0.7242 state[joint_eff]: [-0.1846, -1.2376, 6.9812, 1.7216, -0.0122, -0.0269, -0.0171, -0.1573, -8.0205, 5.6821, 1.1746, 0.0611, -0.0464, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Gripper reads 0.72 with high effort, possibly still closing; re-sending close to make sure the pear is gripped firmly."})
tool
executing move_to over 8 steps (0.8s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent notePear grasped (gripper settled at 0.72 ≈ 6.8 cm). Lifting it clear of the table.
move_to
right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8127, 0.6128, -0.4278, -0.0177, -0.0334, 0.9987, 0.0952, 1.6325, 0.5896, 0.2352, 0.0402, -0.0116, 0.7242] state[eef_state]: left_x=0.2904 left_y=0.0004 left_z=0.1691 left_yaw=0.0015 left_pitch=-0.0587 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3806 right_y=0.0328 right_z=0.016 right_yaw=0.0585 right_pitch=-0.2376 right_roll=-0.0243 right_gripper=0.7242 state[joint_eff]: [-0.1299, -1.3333, 7.159, 1.6532, -0.0366, -0.0317, -0.0171, -0.212, -6.3932, 5.2581, 1.4725, -0.0611, -0.0269, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17}, "note": "Pear grasped (gripper settled at 0.72 \u2248 6.8 cm). Lifting it clear of the table."})
tool
executing move_to over 10 steps (1.0s)
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 notePear lifted; blue bowl visible ahead-left in the right wrist view. Carrying the pear toward the blue bowl.
move_to
right_x0.4700right_y0.1200right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6128, -0.4343, -0.0177, -0.0338, 0.9987, 0.0956, 1.3712, 0.9699, -0.4416, 0.0395, -0.0196, 0.7284] state[eef_state]: left_x=0.2895 left_y=0.0004 left_z=0.1676 left_yaw=0.0017 left_pitch=-0.066 left_roll=-0.0024 left_gripper=0.9987 right_x=0.3793 right_y=0.033 right_z=0.1463 right_yaw=0.0637 right_pitch=-0.2728 right_roll=-0.0306 right_gripper=0.7284 state[joint_eff]: [-0.3214, -1.3744, 7.0085, 1.7265, -0.0171, -0.0464, -0.0073, -0.2256, -7.4872, 9.2239, 1.6386, 0.022, 0.0513, 1.033] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.12, "right_z": 0.17}, "note": "Pear lifted; blue bowl visible ahead-left in the right wrist view. Carrying the pear toward the blue 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 noteTop view shows the gripper just right of the blue bowl; shifting 3.5 cm left to centre the pear over it and lowering slightly.
move_to
right_x0.4700right_y0.1550right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8169, 0.6128, -0.4431, -0.0181, -0.0334, 0.9987, 0.3023, 1.7622, 1.4193, -0.5728, 0.1509, 0.0975, 0.7319] state[eef_state]: left_x=0.2884 left_y=0.0005 left_z=0.165 left_yaw=0.0018 left_pitch=-0.0782 left_roll=-0.0016 left_gripper=0.9987 right_x=0.4558 right_y=0.1181 right_z=0.1514 right_yaw=0.1038 right_pitch=-0.3326 right_roll=-0.0498 right_gripper=0.7319 state[joint_eff]: [-0.1983, -1.6205, 6.9949, 1.7314, -0.0415, -0.0122, -0.0122, -0.0068, -9.6615, 8.8821, 1.4921, 0.232, 0.2711, 1.0281] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.155, "right_z": 0.14}, "note": "Top view shows the gripper just right of the blue bowl; shifting 3.5 cm left to centre the pear over it and lowering slightly."})
tool
executing move_to over 4 steps (0.4s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent notePear is over the blue bowl rim, bowl slightly ahead in the wrist view; nudging forward and lowering before release.
move_to
right_x0.4850right_y0.1550right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8188, 0.6128, -0.4461, -0.0181, -0.0334, 0.9987, 0.3737, 1.8652, 1.4677, -0.5957, 0.1787, 0.1326, 0.7319] state[eef_state]: left_x=0.288 left_y=0.0005 left_z=0.1639 left_yaw=0.0018 left_pitch=-0.0831 left_roll=-0.0014 left_gripper=0.9987 right_x=0.456 right_y=0.1489 right_z=0.1209 right_yaw=0.1236 right_pitch=-0.4019 right_roll=-0.0697 right_gripper=0.7319 state[joint_eff]: [-0.253, -1.5385, 6.9812, 1.6923, -0.0611, -0.0269, -0.0122, 0.212, -10.5778, 9.7846, 1.5849, 0.1294, 0.2418, 1.0281] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.485, "right_y": 0.155, "right_z": 0.09}, "note": "Pear is over the blue bowl rim, bowl slightly ahead in the wrist view; nudging forward and lowering before release."})
tool
executing move_to over 3 steps (0.3s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteArm stopped at z≈0.11, likely the pear touching the bowl; the gripper is over the blue bowl in the top view, so releasing the pear.
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, 0.8192, 0.6128, -0.4465, -0.0181, -0.0338, 0.9987, 0.3832, 1.8824, 1.4742, -0.6041, 0.1799, 0.1398, 0.7319] state[eef_state]: left_x=0.288 left_y=0.0005 left_z=0.1637 left_yaw=0.002 left_pitch=-0.0839 left_roll=-0.0017 left_gripper=0.9987 right_x=0.4546 right_y=0.1531 right_z=0.1144 right_yaw=0.1258 right_pitch=-0.4198 right_roll=-0.0715 right_gripper=0.7319 state[joint_eff]: [-0.0342, -1.3607, 7.1316, 1.6435, -0.0171, -0.0611, -0.0171, -0.4718, -11.2205, 9.3197, 1.6337, 0.2173, 0.149, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Arm stopped at z\u22480.11, likely the pear touching the bowl; the gripper is over the blue bowl in the top view, so releasing the pear."})
tool
executing move_to over 3 steps (0.3s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent notePear is now in the blue bowl. Lemon lies left of and slightly behind the bowl; moving the right arm above it.
move_to
right_x0.3700right_y0.2300right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4465, -0.0181, -0.0338, 0.9987, 0.3832, 1.8824, 1.4746, -0.6033, 0.1833, 0.1429, 0.9958] state[eef_state]: left_x=0.288 left_y=0.0005 left_z=0.1637 left_yaw=0.002 left_pitch=-0.0839 left_roll=-0.0017 left_gripper=0.9987 right_x=0.455 right_y=0.1526 right_z=0.1148 right_yaw=0.1211 right_pitch=-0.4178 right_roll=-0.0724 right_gripper=0.9958 state[joint_eff]: [-0.2393, -1.3333, 7.1043, 1.6435, -0.0122, -0.0757, -0.0171, -0.4581, -11.1658, 9.5521, 1.5751, 0.1685, 0.1197, -0.0366] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.23, "right_z": 0.13}, "note": "Pear is now in the blue bowl. Lemon lies left of and slightly behind the bowl; moving the right arm above it."})
tool
executing move_to over 7 steps (0.7s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteLemon appears slightly left and ahead of the jaw column in the wrist view; shifting to centre over it before descending.
move_to
right_x0.4000right_y0.2350right_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, 0.8223, 0.6128, -0.4511, -0.0181, -0.0334, 0.9987, 0.617, 1.8057, 1.3972, -0.6769, 0.2874, 0.3088, 0.9965] state[eef_state]: left_x=0.2875 left_y=0.0005 left_z=0.162 left_yaw=0.0018 left_pitch=-0.0915 left_roll=-0.0012 left_gripper=0.9987 right_x=0.3872 right_y=0.2177 right_z=0.1148 right_yaw=0.1533 right_pitch=-0.4475 right_roll=-0.096 right_gripper=0.9965 state[joint_eff]: [-0.2256, -1.2513, 6.9538, 1.7656, -0.0513, -0.0122, -0.0122, -0.6359, -11.7675, 6.3111, 1.16, 0.4176, 0.1538, 0.0611] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.235, "right_z": 0.13}, "note": "Lemon appears slightly left and ahead of the jaw column in the wrist view; shifting to centre over it before descending."})
tool
executing move_to over 2 steps (0.2s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteLemon is now on the jaw column, a few cm ahead; advancing and descending to table level to grasp it.
move_to
right_x0.4100right_y0.2350right_z0.0150
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, 0.8234, 0.6128, -0.4538, -0.0177, -0.0334, 0.9987, 0.6575, 1.8465, 1.4876, -0.7647, 0.3019, 0.3546, 0.9965] state[eef_state]: left_x=0.2871 left_y=0.0004 left_z=0.1612 left_yaw=0.0015 left_pitch=-0.0954 left_roll=-0.0014 left_gripper=0.9987 right_x=0.3826 right_y=0.2335 right_z=0.121 right_yaw=0.1452 right_pitch=-0.4727 right_roll=-0.1023 right_gripper=0.9965 state[joint_eff]: [-0.3624, -1.4291, 7.159, 1.6874, -0.0611, -0.0317, -0.0122, -0.9778, -9.306, 7.8701, 0.9109, 0.1099, -0.1294, -0.0024] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.235, "right_z": 0.015}, "note": "Lemon is now on the jaw column, a few cm ahead; advancing and descending to table level to grasp it."})
tool
executing move_to over 7 steps (0.7s)
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 noteArm only reached z≈0.10 (slow tracking); re-sending the descent onto the lemon, which is centred ahead of the jaws.
move_to
right_x0.4100right_y0.2350right_z0.0150
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, 0.8268, 0.6128, -0.4675, -0.0177, -0.0338, 0.9987, 0.6506, 1.8755, 1.4536, -0.7258, 0.2913, 0.3328, 0.9965] state[eef_state]: left_x=0.2852 left_y=0.0005 left_z=0.1576 left_yaw=0.0018 left_pitch=-0.1125 left_roll=-0.0013 left_gripper=0.9987 right_x=0.383 right_y=0.2323 right_z=0.1002 right_yaw=0.1544 right_pitch=-0.4997 right_roll=-0.118 right_gripper=0.9965 state[joint_eff]: [-0.1983, -1.6615, 7.1453, 1.7558, -0.0073, -0.0317, -0.0122, -0.0205, -10.4957, 6.3111, 1.2332, 0.1587, 0.0855, -0.0073] 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_x": 0.41, "right_y": 0.235, "right_z": 0.015}, "note": "Arm only reached z\u22480.10 (slow tracking); re-sending the descent onto the lemon, which is centred ahead of the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteStill descending (z≈0.07); lemon stays centred on the jaw column. Continuing down to table level.
move_to
right_x0.4150right_y0.2350right_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8261, 0.6128, -0.4698, -0.0177, -0.0334, 0.9987, 0.6384, 1.9347, 1.4212, -0.6212, 0.284, 0.3164, 0.9965] state[eef_state]: left_x=0.2848 left_y=0.0005 left_z=0.1574 left_yaw=0.0016 left_pitch=-0.114 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3952 right_y=0.2361 right_z=0.0736 right_yaw=0.1616 right_pitch=-0.4924 right_roll=-0.1136 right_gripper=0.9965 state[joint_eff]: [-0.253, -1.0872, 6.9402, 1.6679, -0.022, -0.0366, -0.0122, -1.5111, -4.0684, 2.9197, 0.4615, 0.3883, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.415, "right_y": 0.235, "right_z": 0.01}, "note": "Still descending (z\u22480.07); lemon stays centred on the jaw column. Continuing down to table level."})
tool
executing move_to over 5 steps (0.5s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteLemon fills the space between the jaws at table level; closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4755, -0.0181, -0.0338, 0.9987, 0.6147, 2.0514, 1.3621, -0.4671, 0.2672, 0.2867, 0.9965] state[eef_state]: left_x=0.2841 left_y=0.0006 left_z=0.1547 left_yaw=0.0021 left_pitch=-0.1259 left_roll=-0.0007 left_gripper=0.9987 right_x=0.4055 right_y=0.2336 right_z=0.0166 right_yaw=0.1653 right_pitch=-0.5206 right_roll=-0.1253 right_gripper=0.9965 state[joint_eff]: [-0.1162, -1.7299, 6.9812, 1.7021, -0.0269, -0.0708, -0.0171, -0.8547, -9.3607, 5.5453, 1.199, 0.1001, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon fills the space between the jaws at table level; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteLemon grasped (gripper 0.52 ≈ 4.9 cm). Lifting it before carrying to the blue bowl.
move_to
right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4759, -0.0181, -0.0338, 0.9987, 0.6094, 2.0705, 1.3621, -0.4335, 0.2642, 0.2768, 0.5179] state[eef_state]: left_x=0.2841 left_y=0.0006 left_z=0.1546 left_yaw=0.0021 left_pitch=-0.1262 left_roll=-0.0007 left_gripper=0.9987 right_x=0.411 right_y=0.235 right_z=0.0112 right_yaw=0.1723 right_pitch=-0.5094 right_roll=-0.1206 right_gripper=0.5179 state[joint_eff]: [-0.0205, -1.4427, 6.9265, 1.6239, -0.0317, -0.0366, -0.0122, -0.5402, -10.6188, 5.6821, 1.3065, 0.1441, 0.0562, 1.033] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17}, "note": "Lemon grasped (gripper 0.52 \u2248 4.9 cm). Lifting it before carrying to the blue bowl."})
tool
executing move_to over 11 steps (1.1s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteLemon held; blue bowl with the pear is to the right in the wrist view. Carrying the lemon over the bowl.
move_to
right_x0.4500right_y0.1650right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4755, -0.0177, -0.0338, 0.9987, 0.6109, 1.9934, 1.8103, -0.981, 0.2573, 0.2687, 0.5186] state[eef_state]: left_x=0.2841 left_y=0.0005 left_z=0.1547 left_yaw=0.0018 left_pitch=-0.1259 left_roll=-0.001 left_gripper=0.9987 right_x=0.4131 right_y=0.2388 right_z=0.146 right_yaw=0.1794 right_pitch=-0.5327 right_roll=-0.129 right_gripper=0.5186 state[joint_eff]: [-0.1573, -1.1145, 6.9265, 1.6777, -0.0366, -0.0757, -0.0122, -0.4991, -13.094, 8.0479, 1.0818, 0.188, 0.0122, 0.9499] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.165, "right_z": 0.15}, "note": "Lemon held; blue bowl with the pear is to the right in the wrist view. Carrying the lemon over the bowl."})
tool
executing move_to over 7 steps (0.7s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteLemon is over the blue bowl (top view shows gripper above the bowl, wrist view shows the pear just beyond); releasing the lemon into it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8326, 0.6128, -0.4763, -0.0181, -0.0338, 0.9987, 0.4244, 1.9877, 1.7786, -0.9844, 0.1829, 0.1013, 0.5185] state[eef_state]: left_x=0.284 left_y=0.0006 left_z=0.1544 left_yaw=0.0021 left_pitch=-0.127 left_roll=-0.0007 left_gripper=0.9987 right_x=0.4389 right_y=0.167 right_z=0.1348 right_yaw=0.1619 right_pitch=-0.5966 right_roll=-0.1487 right_gripper=0.5185 state[joint_eff]: [-0.1436, -1.2376, 6.9538, 1.5995, -0.0415, -0.0513, -0.0122, -0.7043, -12.6838, 6.3795, 1.3993, 0.0904, -0.0708, 0.9402] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Lemon is over the blue bowl (top view shows gripper above the bowl, wrist view shows the pear just beyond); releasing the lemon into it."})
tool
executing move_to over 5 steps (0.5s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe lemon bounced out of the blue bowl and landed just left of it. Moving back above the lemon to re-grasp.
move_to
right_x0.4100right_y0.2050right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8326, 0.6128, -0.4763, -0.0177, -0.0338, 0.9987, 0.4244, 1.9877, 1.7786, -0.9894, 0.1783, 0.0895, 0.9957] state[eef_state]: left_x=0.284 left_y=0.0005 left_z=0.1544 left_yaw=0.0018 left_pitch=-0.127 left_roll=-0.0009 left_gripper=0.9987 right_x=0.4376 right_y=0.1673 right_z=0.1342 right_yaw=0.1731 right_pitch=-0.6034 right_roll=-0.1509 right_gripper=0.9957 state[joint_eff]: [-0.1162, -1.2923, 6.9265, 1.6044, -0.0562, -0.0366, -0.0122, -0.1299, -10.6735, 6.2838, 0.9695, 0.1197, 0.0562, -0.1587] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.205, "right_z": 0.08}, "note": "The lemon bounced out of the blue bowl and landed just left of it. Moving back above the lemon to re-grasp."})
tool
executing move_to over 4 steps (0.4s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteLemon sits at the left edge of the wrist view and in the top view left of and behind the gripper; shifting left/back over it.
move_to
right_x0.3850right_y0.2500right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8326, 0.6128, -0.4763, -0.0177, -0.0338, 0.9987, 0.5312, 1.9785, 1.562, -0.8597, 0.2047, 0.157, 0.9965] state[eef_state]: left_x=0.284 left_y=0.0005 left_z=0.1544 left_yaw=0.0018 left_pitch=-0.127 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3987 right_y=0.1968 right_z=0.0777 right_yaw=0.1926 right_pitch=-0.6647 right_roll=-0.1781 right_gripper=0.9965 state[joint_eff]: [-0.1983, -1.4154, 6.9538, 1.6532, -0.0464, -0.0513, -0.0171, -0.4718, -10.3726, 7.2684, 1.1941, 0.2613, 0.105, 0.0757] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_y": 0.25, "right_z": 0.08}, "note": "Lemon sits at the left edge of the wrist view and in the top view left of and behind the gripper; shifting left/back over it."})
tool
executing move_to over 5 steps (0.5s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteLemon is left of the jaw column and just ahead in the wrist view; shifting ~2 cm left and descending to grasp.
move_to
right_x0.3950right_y0.2700right_z0.0150
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, -0.4763, -0.0177, -0.0338, 0.9987, 0.6674, 1.985, 1.5627, -0.8249, 0.2501, 0.2462, 0.9965] state[eef_state]: left_x=0.2841 left_y=0.0005 left_z=0.154 left_yaw=0.0018 left_pitch=-0.1285 left_roll=-0.0009 left_gripper=0.9987 right_x=0.379 right_y=0.2476 right_z=0.0794 right_yaw=0.2342 right_pitch=-0.6129 right_roll=-0.1744 right_gripper=0.9965 state[joint_eff]: [-0.0342, -1.388, 6.9538, 1.6728, -0.0366, -0.0464, -0.0171, -0.4991, -8.4444, 8.1709, 0.8034, 0.2857, 0.2076, -0.0073] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.395, "right_y": 0.27, "right_z": 0.015}, "note": "Lemon is left of the jaw column and just ahead in the wrist view; shifting ~2 cm left and descending to grasp."})
tool
executing move_to over 5 steps (0.5s)
step 147
top_cam
camera top_cam step 147
assistant
agent noteRight arm stalled with its pitch reading beyond the -0.6 limit; commanding a moderate pitch and zero yaw along with the descent onto the lemon.
move_to
right_x0.3900right_y0.2650right_z0.0300right_pitch-0.3000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8341, 0.6128, -0.4767, -0.0181, -0.0338, 0.9987, 0.6769, 1.9953, 1.5757, -0.8417, 0.2573, 0.2703, 0.9965] state[eef_state]: left_x=0.284 left_y=0.0006 left_z=0.1539 left_yaw=0.0021 left_pitch=-0.1289 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3768 right_y=0.2498 right_z=0.0782 right_yaw=0.2172 right_pitch=-0.6203 right_roll=-0.1783 right_gripper=0.9965 state[joint_eff]: [-0.1846, -1.3197, 6.9265, 1.6044, -0.0317, -0.0366, -0.0122, -0.4308, -9.3744, 8.253, 0.9402, 0.232, 0.0806, -0.0122] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.265, "right_z": 0.03, "right_pitch": -0.3, "right_yaw": 0.0}, "note": "Right arm stalled with its pitch reading beyond the -0.6 limit; commanding a moderate pitch and zero yaw along with the descent onto the lemon."})
tool
executing move_to over 11 steps (1.1s)
step 158
assistant
agent noteArm now tracks; lemon appears at the top-right of the wrist view, beside the bowl, ~6 cm ahead. Advancing toward it at low height.
move_to
right_x0.4400right_y0.2500right_z0.0300right_pitch-0.3000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8391, 0.6128, -0.4908, -0.0181, -0.0338, 0.9987, 0.7841, 2.0296, 1.3178, -0.4408, 0.4942, 0.4709, 0.9966] state[eef_state]: left_x=0.282 left_y=0.0006 left_z=0.15 left_yaw=0.0022 left_pitch=-0.148 left_roll=-0.0002 left_gripper=0.9987 right_x=0.3775 right_y=0.2633 right_z=0.0281 right_yaw=0.05 right_pitch=-0.384 right_roll=-0.2071 right_gripper=0.9966 state[joint_eff]: [-0.1709, -1.8393, 7.1179, 1.746, -0.0708, -0.0562, -0.0171, 0.4581, -9.2376, 5.3675, 1.0769, 0.4664, 0.1441, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.25, "right_z": 0.03, "right_pitch": -0.3, "right_yaw": 0.0}, "note": "Arm now tracks; lemon appears at the top-right of the wrist view, beside the bowl, ~6 cm ahead. Advancing toward it at low height."})
tool
executing move_to over 5 steps (0.5s)
step 163
assistant
agent noteLemon is centred slightly right of the jaw column, a few cm ahead, with the bowl rim to the right. Advancing so the jaws straddle it.
move_to
right_x0.4650right_y0.2400right_z0.0150right_pitch-0.3000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8398, 0.6128, -0.4919, -0.0177, -0.0338, 0.9987, 0.6891, 2.1254, 1.4067, -0.3866, 0.5011, 0.4019, 0.9966] state[eef_state]: left_x=0.2818 left_y=0.0005 left_z=0.1496 left_yaw=0.0019 left_pitch=-0.1499 left_roll=-0.0004 left_gripper=0.9987 right_x=0.4251 right_y=0.245 right_z=0.0193 right_yaw=0.0011 right_pitch=-0.3522 right_roll=-0.2232 right_gripper=0.9966 state[joint_eff]: [-0.1436, -1.2239, 6.9128, 1.6093, -0.0269, -0.022, -0.0122, -0.253, -10.6462, 8.4034, 1.2772, 0.4811, 0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.465, "right_y": 0.24, "right_z": 0.015, "right_pitch": -0.3, "right_yaw": 0.0}, "note": "Lemon is centred slightly right of the jaw column, a few cm ahead, with the bowl rim to the right. Advancing so the jaws straddle it."})
tool
executing move_to over 4 steps (0.4s)
step 167
assistant
agent noteArm stalled at x≈0.43 at table level; trying the forward move with a neutral pitch and slightly higher so the jaws can reach the lemon.
move_to
right_x0.4650right_y0.2400right_z0.0300right_pitch0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8455, 0.6128, -0.4946, -0.0177, -0.0334, 0.9987, 0.6842, 2.1304, 1.4109, -0.3706, 0.5007, 0.3817, 0.9966] state[eef_state]: left_x=0.2816 left_y=0.0005 left_z=0.1476 left_yaw=0.0017 left_pitch=-0.1583 left_roll=0.0001 left_gripper=0.9987 right_x=0.4295 right_y=0.2455 right_z=0.02 right_yaw=0.0112 right_pitch=-0.343 right_roll=-0.2259 right_gripper=0.9966 state[joint_eff]: [-0.2256, -1.935, 7.0359, 1.6581, -0.0269, -0.0317, -0.0122, -0.335, -11.0564, 8.212, 1.2723, 0.4322, 0.0806, -0.0171] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.465, "right_y": 0.24, "right_z": 0.03, "right_pitch": 0.0, "right_yaw": 0.0}, "note": "Arm stalled at x\u22480.43 at table level; trying the forward move with a neutral pitch and slightly higher so the jaws can reach the lemon."})
tool
executing move_to over 12 steps (1.2s)
step 179
assistant
agent noteLemon is centred on the jaw column a few cm ahead of the fingertips; advancing to straddle it.
move_to
right_x0.4900right_y0.2370right_z0.0200right_pitch0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8471, 0.6128, -0.4953, -0.0181, -0.0338, 0.9987, 0.6865, 2.1342, 1.2224, 0.0933, 0.6357, 0.2485, 0.9966] state[eef_state]: left_x=0.2815 left_y=0.0006 left_z=0.147 left_yaw=0.0022 left_pitch=-0.1606 left_roll=0.0001 left_gripper=0.9987 right_x=0.4537 right_y=0.2408 right_z=0.0235 right_yaw=0.0242 right_pitch=-0.0781 right_roll=-0.2404 right_gripper=0.9966 state[joint_eff]: [-0.1436, -1.6205, 7.0359, 1.6288, -0.0464, -0.0513, -0.0171, -0.6085, -9.6752, 5.1897, 1.7949, 0.4957, 0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). 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": 0.49, "right_y": 0.237, "right_z": 0.02, "right_pitch": 0.0, "right_yaw": 0.0}, "note": "Lemon is centred on the jaw column a few cm ahead of the fingertips; advancing to straddle it."})
tool
executing move_to over 3 steps (0.3s)
step 182
assistant
agent noteLemon's near end is between the jaws; closing (with a last small forward push) to grasp it.
move_to
right_gripper0.0000right_x0.4900
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, 0.8471, 0.6128, -0.4953, -0.0181, -0.0334, 0.9987, 0.6624, 2.2078, 1.2678, 0.1841, 0.6434, 0.207, 0.9965] state[eef_state]: left_x=0.2815 left_y=0.0006 left_z=0.147 left_yaw=0.002 left_pitch=-0.1606 left_roll=0.0004 left_gripper=0.9987 right_x=0.4761 right_y=0.2415 right_z=0.0169 right_yaw=0.0184 right_pitch=-0.0305 right_roll=-0.2405 right_gripper=0.9965 state[joint_eff]: [-0.1709, -1.4974, 6.8991, 1.5751, -0.0415, -0.0415, -0.0122, -1.4017, -10.7145, 7.5419, 0.8913, 0.3248, -0.2466, -0.0171] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0, "right_x": 0.49}, "note": "Lemon's near end is between the jaws; closing (with a last small forward push) to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 192
assistant
agent noteI didn't finish the task and don't have enough calls left to do it. Only the pear is in the blue bowl. The lemon bounced out when I dropped it from about 10 cm up. My second grasp missed and pushed it further away, to about x≈0.50 in the right arm's frame. That's at the limit of how far the gripper can reach at table height. The plum still has to be picked up with the left arm, and the pour hasn't been started. With 8 calls left, that can't all be done.
give_up
hindsight- The approver limits how far each step can move, so one move_to often covers only part of a long move, especially descents. Check the readback and send the target again or send a new one; don't assume the arm stalled. - When the right arm's pitch readback drifted past -0.6, the IK froze and the arm stopped responding. Sending right_pitch explicitly (0 or -0.3) and right_yaw 0 freed it. Yaw and pitch drift a lot during long reaches, so command them explicitly on every move. - Drop fruit low, with the object's bottom 1–2 cm above the bowl floor and centred. A lemon dropped from about 10 cm bounced out of the small blue bowl. - Positions in the right arm's frame at the start: pear at about (0.38, 0.03), grasped successfully at z=0.016. Blue bowl centre at about (0.47–0.49, 0.16), near the reach limit. The lemon started at about (0.41, 0.235). The plum is on the left side, near the left arm. - With the tool vertical (pitch 0), the jaws meet near row 200 of the wrist image. An object whose lower edge is at row 150–175 is still 2–4 cm ahead of the jaws, and closing will push it away. - The task is long (3 fruits plus a pour) and needs 40+ calls at this pace. Plan efficient moves: combine lift and transport, and avoid extra re-sends.
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, 0.8471, 0.6128, -0.4957, -0.0181, -0.0334, 0.9987, 0.6449, 2.2204, 1.2835, 0.1974, 0.6422, 0.1787, 0.009] state[eef_state]: left_x=0.2814 left_y=0.0006 left_z=0.147 left_yaw=0.002 left_pitch=-0.1609 left_roll=0.0004 left_gripper=0.9987 right_x=0.4846 right_y=0.2366 right_z=0.018 right_yaw=0.0167 right_pitch=-0.0215 right_roll=-0.2535 right_gripper=0.009 state[joint_eff]: [-0.0889, -1.4974, 7.1043, 1.5653, -0.0464, -0.0366, -0.0171, -0.5128, -10.865, 7.1863, 1.6923, 0.3443, 0.0855, 0.7253] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I didn't finish the task and don't have enough calls left to do it. Only the pear is in the blue bowl. The lemon bounced out when I dropped it from about 10 cm up. My second grasp missed and pushed it further away, to about x\u22480.50 in the right arm's frame. That's at the limit of how far the gripper can reach at table height. The plum still has to be picked up with the left arm, and the pour hasn't been started. With 8 calls left, that can't all be done.", "hindsight": "- The approver limits how far each step can move, so one move_to often covers only part of a long move, especially descents. Check the readback and send the target again or send a new one; don't assume the arm stalled.\n- When the right arm's pitch readback drifted past -0.6, the IK froze and the arm stopped responding. Sending right_pitch explicitly (0 or -0.3) and right_yaw 0 freed it. Yaw and pitch drift a lot during long reaches, so command them explicitly on every move.\n- Drop fruit low, with the object's bottom 1\u20132 cm above the bowl floor and centred. A lemon dropped from about 10 cm bounced out of the small blue bowl.\n- Positions in the right arm's frame at the start: pear at about (0.38, 0.03), grasped successfully at z=0.016. Blue bowl centre at about (0.47\u20130.49, 0.16), near the reach limit. The lemon started at about (0.41, 0.235). The plum is on the left side, near the left arm.\n- With the tool vertical (pitch 0), the jaws meet near row 200 of the wrist image. An object whose lower edge is at row 150\u2013175 is still 2\u20134 cm ahead of the jaws, and closing will push it away.\n- The task is long (3 fruits plus a pour) and needs 40+ calls at this pace. Plan efficient moves: combine lift and transport, and avoid extra re-sends."})
tool
give_up: I didn't finish the task and don't have enough calls left to do it. Only the pear is in the blue bowl. The lemon bounced out when I dropped it from about 10 cm up. My second grasp missed and pushed it further away, to about x≈0.50 in the right arm's frame. That's at the limit of how far the gripper can reach at table height. The plum still has to be picked up with the left arm, and the pour hasn't been started. With 8 calls left, that can't all be done.
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 · 10.09 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8005, 0.6136, -0.382, -0.0185, -0.0296, 0.9988, -0.0227, 0.8005, 0.6182, -0.3874, -0.0174, -0.0299, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0004 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2959 right_y=-0.0001 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.812, 9.5658, 1.7753, -0.0513, 0.1294, -0.1343, -0.4444, -1.7573, 9.1966, 1.873, -0.0659, 0.1538, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4f3069fa1aca752a7e7a500596ca7331e05f3c72c32cde75b442bcc1c773d42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c777ea6929a0508a4fbb8057d961f1a6f9d894f3b1dd5b321e3e125a35deeab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b744807c1d88199bce161f1e665b12ddec926de3a4adb45df8eedb862236b99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 4.953 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8005, 0.6136, -0.382, -0.0185, -0.0296, 0.9988, -0.0227, 0.8005, 0.6182, -0.3874, -0.0174, -0.0299, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0004 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2959 right_y=-0.0001 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.812, 9.5658, 1.7753, -0.0513, 0.1294, -0.1343, -0.4444, -1.7573, 9.1966, 1.873, -0.0659, 0.1538, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4f3069fa1aca752a7e7a500596ca7331e05f3c72c32cde75b442bcc1c773d42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c777ea6929a0508a4fbb8057d961f1a6f9d894f3b1dd5b321e3e125a35deeab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b744807c1d88199bce161f1e665b12ddec926de3a4adb45df8eedb862236b99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012Dat5g4EUX6YNqpCC3s7MH",
      "input": {
        "note": "Scene: white bowl left, blue bowl center-right, lemon, pear, and dark plum on table. Right wrist cam shows the pear just ahead; moving the right arm forward over it.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.02,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_012Dat5g4EUX6YNqpCC3s7MH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.3901, -0.0181, -0.0307, 0.9987, 0.0757, 1.1988, 0.6247, -0.0681, 0.0483, -0.0074, 0.9994]\nstate[eef_state]: left_x=0.2953 left_y=0.0003 left_z=0.1789 left_yaw=0.0003 left_pitch=-0.0137 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3592 right_y=0.0223 right_z=0.1278 right_yaw=0.0309 right_pitch=-0.0719 right_roll=-0.0197 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -1.7299, 7.0906, 1.7753, -0.0415, -0.0317, -0.0171, -0.3761, -4.7658, 9.0325, 2.0586, 0.1148, 0.2613, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93202ff00f89dcaa77a22b91e38b9e8e1d58e08ea606b6e4699b3a5e62e043aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:058c247f10d20e15910ff3a7965f85110d45544e0dd75a552551412953252be2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4ccf33f62ac7db48a3d8285a643c0e48be03e830643235f5b789d0966be72a2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 3.347 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8005, 0.6136, -0.382, -0.0185, -0.0296, 0.9988, -0.0227, 0.8005, 0.6182, -0.3874, -0.0174, -0.0299, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0004 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2959 right_y=-0.0001 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.812, 9.5658, 1.7753, -0.0513, 0.1294, -0.1343, -0.4444, -1.7573, 9.1966, 1.873, -0.0659, 0.1538, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.3901, -0.0181, -0.0307, 0.9987, 0.0757, 1.1988, 0.6247, -0.0681, 0.0483, -0.0074, 0.9994]\nstate[eef_state]: left_x=0.2953 left_y=0.0003 left_z=0.1789 left_yaw=0.0003 left_pitch=-0.0137 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3592 right_y=0.0223 right_z=0.1278 right_yaw=0.0309 right_pitch=-0.0719 right_roll=-0.0197 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -1.7299, 7.0906, 1.7753, -0.0415, -0.0317, -0.0171, -0.3761, -4.7658, 9.0325, 2.0586, 0.1148, 0.2613, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93202ff00f89dcaa77a22b91e38b9e8e1d58e08ea606b6e4699b3a5e62e043aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:058c247f10d20e15910ff3a7965f85110d45544e0dd75a552551412953252be2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ccf33f62ac7db48a3d8285a643c0e48be03e830643235f5b789d0966be72a2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvgcKEAgSGAI4AUIIdGhpbmtpbmcSDB9UcphDJQ6fQcbrBxoMdrchnw76U6iWsJ7QIjAfOzGFnAtKezC+H5fi6dr9QOMcrSrGkuo/Z1mCvAWRQa47h5cwJTRNORtQ5i5TDkwq2wYAMMt2u+oVnJqXFRwmHaqpKqlQnSFYeYdKrfJosfc3KCVmdfc6Oa8JW87ekO3QnTkHkK1rAC+SlXIrzEgwxaa7BqpxcLetQs1sd0xyQLkN/WdJ3hlv60eyXPx0zV2lruak7t9qpl/OBeJABiacgeYSWBSVWWjtdIhyRFZQ0AD9SSyMeWa+gsCReKufvIiPvG4SAM6m3EWGu0Jms5+2tmlfirDkhNYhdFht8QiYJVwIWB+Jgut9K0R30THK0hozZsPrXZgJ1z6xdNHmziom8LAKAbAwygNIzkMwSIG49zw3QO3PIw9HojSNzhzdfd5dKK+RJYCLDCN5AxXiAc7+hcDgAibSvuxfxMCyBE8T+h7INBZZBJggRlJD6jIGqkAzZ4yd/bcUR4X0fEHirayZ2NIFIX8uCALhUJylkuzPaH/HR9p6na43DJsGip7q4lPrDrffk75Ap6Lj3pmPe67AIvCSqmXS80CGYAk2TCb/L0LOw3ioDbdVXM6D+IsRFYxKiJ8pQqzYV97Q9mQ+kbGdyVmcpY8t7fgqqBwVCfm9ad/FxThwl1An5L0KMPy0w1qTPA3Fv9kDhCGVfPt248SCpNyT+DSPFxuUBXHGhdPEXEnbsXwpFxZdJ5KubdOhEr+JXm7FZpx9q9aovDveBYMxq6aqh65WdpOw0n25EQX6DR+avNxMRh1DLySbCSRS/oYSs3WUupEJ/Tu/RGXfZaPcHCavOZ254W/U27JhY+x9u2GyPpdlS0gnspEEse8OjtElMVmGJlp9O7073X/1Y7VO0t3hUc2CmdaLGpOKWRB2EZeafeKIQJU9ldy5Rkq6e8xvS9N+J5StRtCXGHxLGDvc/dHQzuFMSY8eqTmq5aesFmEM61UEXr7jLq/fIU1f81MYIeLPLX50Ay1GDq/T6j0J2evaex0sjfsM1VTJydj2wM05S1BRv35ksMdDfTlpKsnzIFETYOtiYWAp/sIRUwJblxYYyeG8r4WawswNYa2Qlu+OGRo7enIfdb0uFfPiVsCiVeLXVCa9xbf/9UOdY7yCuT12x7UTpFcQU6oIcGgOjdq36cpQaQpUSKdpoHqj0xgyJKFvhABy676eeMwWkL1z+d4Sf0odBcZKpGrJf63xMGvSrUzNqencziQ0Iv7YGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018jf53goJiiRJdfCJj6rCxM",
      "input": {
        "note": "Pear is at the bottom-centre of the right wrist view, a bit ahead and slightly left; advancing 3 cm and 1 cm left before descending.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.03,
          "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_018jf53goJiiRJdfCJj6rCxM",
      "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, 0.807, 0.6132, -0.4011, -0.0181, -0.0311, 0.9987, 0.0971, 1.3392, 0.7025, -0.0643, 0.0486, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=0.0003 left_z=0.1763 left_yaw=0.0005 left_pitch=-0.0259 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3793 right_y=0.0319 right_z=0.1127 right_yaw=0.0521 right_pitch=-0.1306 right_roll=-0.0232 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.388, 7.0222, 1.8144, -0.0464, -0.0757, -0.0122, -0.2393, -5.3949, 8.4718, 1.956, 0.1197, 0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:073c9344132b9117aa14811ca102d2655dedb3307aefb5f09432a2fb7eeb6c17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf68c53da9bc7ccb0ebb874f74bf94dc4eeaed19ad8cb13b44e781a24e43384c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ac59abf1066e27d8a67ef2472f6e2da43759c85ebdb96cf49106f31540becf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 5.644 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8005, 0.6136, -0.382, -0.0185, -0.0296, 0.9988, -0.0227, 0.8005, 0.6182, -0.3874, -0.0174, -0.0299, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0004 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2959 right_y=-0.0001 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.812, 9.5658, 1.7753, -0.0513, 0.1294, -0.1343, -0.4444, -1.7573, 9.1966, 1.873, -0.0659, 0.1538, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.3901, -0.0181, -0.0307, 0.9987, 0.0757, 1.1988, 0.6247, -0.0681, 0.0483, -0.0074, 0.9994]\nstate[eef_state]: left_x=0.2953 left_y=0.0003 left_z=0.1789 left_yaw=0.0003 left_pitch=-0.0137 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3592 right_y=0.0223 right_z=0.1278 right_yaw=0.0309 right_pitch=-0.0719 right_roll=-0.0197 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -1.7299, 7.0906, 1.7753, -0.0415, -0.0317, -0.0171, -0.3761, -4.7658, 9.0325, 2.0586, 0.1148, 0.2613, -0.0171]",
      "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, 0.807, 0.6132, -0.4011, -0.0181, -0.0311, 0.9987, 0.0971, 1.3392, 0.7025, -0.0643, 0.0486, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=0.0003 left_z=0.1763 left_yaw=0.0005 left_pitch=-0.0259 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3793 right_y=0.0319 right_z=0.1127 right_yaw=0.0521 right_pitch=-0.1306 right_roll=-0.0232 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.388, 7.0222, 1.8144, -0.0464, -0.0757, -0.0122, -0.2393, -5.3949, 8.4718, 1.956, 0.1197, 0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:073c9344132b9117aa14811ca102d2655dedb3307aefb5f09432a2fb7eeb6c17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf68c53da9bc7ccb0ebb874f74bf94dc4eeaed19ad8cb13b44e781a24e43384c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ac59abf1066e27d8a67ef2472f6e2da43759c85ebdb96cf49106f31540becf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSxAYKEAgSGAI4AUIIdGhpbmtpbmcSDJeuiSQQv7BwW14X7hoMjjwNIlGErmkxfZ1GIjABncapv9i/AOP5jg4EkAXKXCAslwwoMoqtmBTJIJW5xaoEavaL7Zy9k+iT1vU8JW0q4QWG+RcWtbrQlC7yl2KsYXjBgTrQmO2GfxhqbD7aCsfT26R5HeOVsnwl9f0eiqdlinHwDeqltF6LtjCHvi/OwHuZCIMQ8M5QtkC6jdSWrySfw4qno2Y9gtN2CUWWKhJMfYVc5tH3kDeJ40CVT4SiJZaxFlfdjXv8i91bMUUGT99U/zVst8/9K+OoMQEzFDAkU4nrjomzkIuAJt2pqOAeZc88uEpjxsYmzUOawVaqp3KhdrRdjueE8NnhL3yWvgR89j2pZYXJuM954rYIYtBJn6sI1c9vZ6fYjUaJhGHQ7quqhICcif5qvaf6sINe6Euq/W6VDhU/BUkFR8iNSvtUVhf9aoJF97zYva7YMEXrrCSKGzHAxq8rsBhszxtQzYbFlBgDu+YHzyrP7Ra4GLVXWlIkXZU6+CU91piLSK9+65uc201sdwbHud7wP4CBuTCqMJ+GlEF7Ahilvp3myNDhkVi+4Ki1LJyS2fM0c6FaXMU7ek8ck9rVXzZoUQkYtApOhJ8IK4zu9AKBX0eW32mKZVmNrPtrNkT2JGs1OmDQoJHPslBQu+tTyAsgrYFfUas69K5+4Fd2wYRUoiC4w9RdWLobjA60FZMiThKyn+9Re9VhMu90IKFzUiQZVmkO+digSRHiJvVWblpiq9Z9WRsTmUdv4EupzWe2hBdxGjfta7bn6N+QnX7mr7O9oO8b7EtDHIriotujpVymLVLkv4lyjXuUL21xYJVHdY9otogWGUjeFjv3oyl0yRYTaVo6PfwFfAosyXnEFNzFBFcGWcP04oCjXgoiXIk3pEHoRqXeI0wxmIHgAG5Gj5VM0EghsUcauLrdsLUmnU7fAs+AFVf5vGVyJCRkpemKLJtKiv1lkmEInHuHDt69cMTuBWeLfLqFDM8nIBSD5qHYrpXbL4YtHc3AHUg2UnfHiqZb2pEA6TUg8ULwKZWQrt7SkEVlfdQH2Vkc5Afz2y74CKqR4LokSRW/6BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0116GuQSWToxHfTFsuGCvMSG",
      "input": {
        "note": "Pear is centred between the jaws at the bottom of the wrist view; descending around it to grasp near its base.",
        "targets": {
          "right_x": 0.395,
          "right_y": 0.032,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0116GuQSWToxHfTFsuGCvMSG",
      "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, -0.4088, -0.0177, -0.0334, 0.9987, 0.0975, 1.3392, 0.7025, -0.0643, 0.0513, -0.0086, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=0.0003 left_z=0.1745 left_yaw=0.0014 left_pitch=-0.0343 left_roll=-0.0028 left_gripper=0.9987 right_x=0.3793 right_y=0.0316 right_z=0.1127 right_yaw=0.0504 right_pitch=-0.1305 right_roll=-0.0252 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.1556, 7.0769, 1.7949, -0.0122, -0.0562, -0.0122, 0.1162, -5.0667, 8.4718, 1.9512, 0.1001, 0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1078b00715b426412b534f7a9bc2f081e36a85a8a58fe1374486af5302d4cebb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:735afacfca44331705c8ef1dc15e3b11ea386fccd4bddcb6e8fb138fa6e7b63e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:792f6cd3fe2c83f89db7669abf69ce36248fc96bf14aab078d10b96ec941a1a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 5.264 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.3901, -0.0181, -0.0307, 0.9987, 0.0757, 1.1988, 0.6247, -0.0681, 0.0483, -0.0074, 0.9994]\nstate[eef_state]: left_x=0.2953 left_y=0.0003 left_z=0.1789 left_yaw=0.0003 left_pitch=-0.0137 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3592 right_y=0.0223 right_z=0.1278 right_yaw=0.0309 right_pitch=-0.0719 right_roll=-0.0197 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -1.7299, 7.0906, 1.7753, -0.0415, -0.0317, -0.0171, -0.3761, -4.7658, 9.0325, 2.0586, 0.1148, 0.2613, -0.0171]",
      "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, 0.807, 0.6132, -0.4011, -0.0181, -0.0311, 0.9987, 0.0971, 1.3392, 0.7025, -0.0643, 0.0486, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=0.0003 left_z=0.1763 left_yaw=0.0005 left_pitch=-0.0259 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3793 right_y=0.0319 right_z=0.1127 right_yaw=0.0521 right_pitch=-0.1306 right_roll=-0.0232 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.388, 7.0222, 1.8144, -0.0464, -0.0757, -0.0122, -0.2393, -5.3949, 8.4718, 1.956, 0.1197, 0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4088, -0.0177, -0.0334, 0.9987, 0.0975, 1.3392, 0.7025, -0.0643, 0.0513, -0.0086, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=0.0003 left_z=0.1745 left_yaw=0.0014 left_pitch=-0.0343 left_roll=-0.0028 left_gripper=0.9987 right_x=0.3793 right_y=0.0316 right_z=0.1127 right_yaw=0.0504 right_pitch=-0.1305 right_roll=-0.0252 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.1556, 7.0769, 1.7949, -0.0122, -0.0562, -0.0122, 0.1162, -5.0667, 8.4718, 1.9512, 0.1001, 0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1078b00715b426412b534f7a9bc2f081e36a85a8a58fe1374486af5302d4cebb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:735afacfca44331705c8ef1dc15e3b11ea386fccd4bddcb6e8fb138fa6e7b63e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:792f6cd3fe2c83f89db7669abf69ce36248fc96bf14aab078d10b96ec941a1a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSsgoKEAgSGAI4AUIIdGhpbmtpbmcSDKqUiWBP6Jo3y9H2ehoMciGxoHYyjGns/tamIjChvTXW0vwaiozmBiD/PETiPsBDaflbTQaAfMtYU0hUtYgbRrt60HATb4IBLCDSvZIqzwmlY5ZHVqgWqHy7sY5vFSkOg3OTYl3d9C/rmnD2GfKipBrkXJ5P70/JbxKOFS5VtE4N9qAdjBpjqmB4RV8RVVXoMDwPs/mXX4GNqRWt+PiUr/Ss64x+xc3jXItHdZEeF5t4gg+OR33wZbZMN4BCC5fcpzlxq2PFavsIBQdV2hANe81bxUM1G9WazBXMl5oHQVgy26DqKA47OGnGBsSbZZUzJZUchPKB2MCTEhTMuyA5t0Z+ZxAGwBDOktlVhaP0nC4ZYQllYPefVXaXleQ3GW06x3VsiiRsD7Wg3xpYSQeLAejW/qf1HTxtNFH6J3iruWyQnxA0fm8KDkHcpup9KD3eohN0P0KCZwvBC1Uujrg2+mzeYadJhET2jzjMGTjyL/+GqmRh5dh9bGVjXpFKKdtl0plTqkCZe/5/SYS6dLw5jiwdiBbnai3ZPMh2EuMw3o45FPgy/tsgUY9NdLZd6jxqT3VDtAOUqnb+rrefDvR15LQlXBRhfceff8JpgSjYVP14GbdoFK6Aju591D+ghhQBfj//PF4nYeaRSaosb+LKF7usizTwrJugBAqwxiRPY0CQqZuiIi6GRfUzmihmBYx/rImuvj3/i8BbkFiIOKrZ7lwUr5k5aoKQNRYMMCvFgOs1nsL6Wgpdqz5K0cMtdewmwQMslEORaeex+c2BrSyf2xoEMNdqeCz7sVCJH0CipKiNFDYU2ag0WDt/Bdn712+RUMOd7rEsNcSLkaCvYR4D+XkZBV2V3EDnAbsE6O9Paw0aPM26jt+hEc4zLQu5RP8iZ4DWlZGhkU5rmteuwvjDbtwBiTkKoUjxxlB12jFd8xqA9Kc9PTEcOu9wuTxdiMUEk0HIynC8o1Xf28fc/hRO5I9KWSnX59u1vAdAHLKexMOkiTp7wf14wc70eCDbfp8WxCRJyh8foPzE2BWHlLxZ5hPu2s7lVCbVeDD3yjeORVCszLg0YOGQq3eePOdsTnMV2+VzsRQTqflk1KJAt9GSXb5jeqFRhFvyMIvWhS/uG9DU35HUfkY5HzDjXz9WwHTEJde+PQxtmKvJ4yk0p1DWv1+nmQn38/mZueUgP8c6k3bJx4WEPRGRrDzeZIx9q+rzdE8bGSK1amhTKtwS5uUrRpmSm2xIv9fIYKhGIrKkVOoNw/1oaWlZlM+CHpX84NwVzVM5H0PWpXR4Mt++kFi1OFcfuvj0tnbCjpjiir09a7otkhVkA+VmWKJrzPvDPzdSeYAWXvb44boNeuNewZUm8qc10rXeaTomDXHrv9OGB09SDF6ARvqsiuI/EKJwgKDDVBQaCSt1jvm4tbgRCit/3EJjR7TZJ7Y2RtZv5ntR3ekdTW8L1khMwwabKRjLQJLE6g8RxGl16uW+RIzlczcwfSUNiFcZzB8dr/mmTKD+nK4ayD1AeODLifwlls4/k4Ov/Sjh70njtv/NmF/39ofjVmyFoceHdYwPTjNHOJf+Tf5XX/KyugNnVVhpNXuatUP//339GfD5hvIAakMIDKlfQDtO3ocWC3BemeqrCCnGonmlnpFaoaMLuzAYWm5tIBzFXnNoz2w9CFej4G7+ZdmEjk2CXC89vFZw3v+8ycC8I7lKeGcnxrDq3GPWRw/jnZkhnLN+DuHtKol9CM3p6kOlGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C1vutJTtFuM4D6gvwAXsPk",
      "input": {
        "note": "The last descent did not move the right arm at all; trying a smaller downward step to see whether it tracks.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.032,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01C1vutJTtFuM4D6gvwAXsPk",
      "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, -0.4164, -0.0181, -0.0334, 0.9987, 0.0971, 1.3392, 0.7025, -0.0643, 0.0513, -0.0086, 0.9994]\nstate[eef_state]: left_x=0.2918 left_y=0.0004 left_z=0.173 left_yaw=0.0018 left_pitch=-0.042 left_roll=-0.0024 left_gripper=0.9987 right_x=0.3793 right_y=0.0314 right_z=0.1127 right_yaw=0.05 right_pitch=-0.1305 right_roll=-0.0252 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.2923, 7.0085, 1.7949, -0.0464, -0.022, -0.0122, -0.2256, -5.2581, 8.4718, 1.9072, 0.0952, 0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ed5a230c5caa95f165dc41bb59c23e72aa883515021edb70f977d59333d0761",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4c911983c477d01e7d1f80c63d7ae019dfcb7f1da8771c062e46721a3ffa211",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f4782e4ac87360ba87db1ac482d6e3a705c0e0a6e6393e4636351b8f1f9273da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 5.597 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4011, -0.0181, -0.0311, 0.9987, 0.0971, 1.3392, 0.7025, -0.0643, 0.0486, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=0.0003 left_z=0.1763 left_yaw=0.0005 left_pitch=-0.0259 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3793 right_y=0.0319 right_z=0.1127 right_yaw=0.0521 right_pitch=-0.1306 right_roll=-0.0232 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.388, 7.0222, 1.8144, -0.0464, -0.0757, -0.0122, -0.2393, -5.3949, 8.4718, 1.956, 0.1197, 0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4088, -0.0177, -0.0334, 0.9987, 0.0975, 1.3392, 0.7025, -0.0643, 0.0513, -0.0086, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=0.0003 left_z=0.1745 left_yaw=0.0014 left_pitch=-0.0343 left_roll=-0.0028 left_gripper=0.9987 right_x=0.3793 right_y=0.0316 right_z=0.1127 right_yaw=0.0504 right_pitch=-0.1305 right_roll=-0.0252 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.1556, 7.0769, 1.7949, -0.0122, -0.0562, -0.0122, 0.1162, -5.0667, 8.4718, 1.9512, 0.1001, 0.0806, -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, 0.8078, 0.6132, -0.4164, -0.0181, -0.0334, 0.9987, 0.0971, 1.3392, 0.7025, -0.0643, 0.0513, -0.0086, 0.9994]\nstate[eef_state]: left_x=0.2918 left_y=0.0004 left_z=0.173 left_yaw=0.0018 left_pitch=-0.042 left_roll=-0.0024 left_gripper=0.9987 right_x=0.3793 right_y=0.0314 right_z=0.1127 right_yaw=0.05 right_pitch=-0.1305 right_roll=-0.0252 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.2923, 7.0085, 1.7949, -0.0464, -0.022, -0.0122, -0.2256, -5.2581, 8.4718, 1.9072, 0.0952, 0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ed5a230c5caa95f165dc41bb59c23e72aa883515021edb70f977d59333d0761",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4c911983c477d01e7d1f80c63d7ae019dfcb7f1da8771c062e46721a3ffa211",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4782e4ac87360ba87db1ac482d6e3a705c0e0a6e6393e4636351b8f1f9273da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS5AcKEAgSGAI4AUIIdGhpbmtpbmcSDETOnj5g4EqiULQwzhoMQ5RrYlKFOPB4JUdAIjB5ye0nagmiGy10qePhxznvYPqCvm82GpsMNEW7+Asoq7DiBEosJz4vEzP1iNJ994UqgQfFT02fPC9LQASwHUdO71weT6+5BpMC19MH+QDrPueCYNSrzZdncLPRc/d2rQ5374R6AksuP90YpZeuulUGEVdWRxTNlMUeV0GO1VvccBOUURpID0jqVjtTmn+8uJPiODeVSA87OeJw9pv+o8unfXyMfaEZJxMA4A7tyViRjSY2xSslH+YB9spMPT0zdfoJXVKGj2DXc2Du3HkyKPu1Po3ci6RN+LxG+G9JCKlhVhkynlZcoXtZmmrcvDkmGYxOWmHk96dUTPMh4vvjnQa/RKPh+2s53VtQM6TsUuLQEQ1G0HLoJFLZMJX3BjgWznMng7C6VG2yIXioF1pIgA1FVyjXPpDtvWlU+O2J5YP21RJ/qm31K+5NrTrKhZR1CE+tVRdkZOMGWGIeH1o4vCh81sDEFxLuYUl5FUTKgoeXPhZ/5FaVV87T0yjVNWVzAu6hpf613nuW+KHhPD8Gajl8ShIfk8K+EKWqj2Qa4xwDtbswAeucI/pIcYDfpe7Jo9hX3l+eU4Y/BqQAu05zKtrgm10lheUVqmR+qpw+AO0iw31TwrRy7KUvVG++/ebrSNpIbYvACzEpUiiJaO+RhQKRn3ZX5gEMahyMIW9sujmavF05pGYLZFT8uBt0j2bepuqc7QJakIz2wbkI87cxfKfjwlezuQ5D0qJkpZ7ogBaVJlr8ZHZOTZrpuD7G/NtvJn5gsvMEzklcgnpMhjRssHjH+UUWGJonewp19pjD6iEVDbDMkv6DVPL+bwM/QcgeRNIPPtIxrdA+HGOOwIYo++/249kVUksenNmeYUjuqXq1ywSe5csrJhLegXwSFZa1oEko5rlAbbQEEbf6n2snCFO2gCNm4h4W5cqCz3B5gOK5WK+MZBjCRK+1ZutDFSPxh5EJ8u51OyqV986ioRELuyp7Gg80ldCYj6Xoyev/VvmTu9ozGdYMxv6F2lONtEERjd3jfe3+hxKnKnYT+YQfqjR7z2JF5xtM6tC+QvcQmBPEVapWfYcvewYKZA9xTZWVilBLJ6MozsO/ITy+oPK1lnJnLRKhBprZGjwYAt372wzddJ/+fiu7COE6zN014O0SfAyKKg97oCze0biS4CpEIDjwAESvA0NFE+pCQhB85bjHs1xAImq27N1gH2fvHXIWnxWLFg8SNktPSFoOplAddt/E6imBXZcUFhXur+PowIdUgVClBMcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GkPgEPwRR8vXnevtP5k6eg",
      "input": {
        "note": "Right arm is not responding to downward targets; testing whether it tracks a move up and back.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.03,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01GkPgEPwRR8vXnevtP5k6eg",
      "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, 0.8089, 0.6132, -0.4229, -0.0177, -0.0338, 0.9987, 0.0971, 1.29, 0.7124, -0.1467, 0.0509, -0.0086, 0.9993]\nstate[eef_state]: left_x=0.291 left_y=0.0003 left_z=0.1713 left_yaw=0.0016 left_pitch=-0.0496 left_roll=-0.0028 left_gripper=0.9987 right_x=0.3684 right_y=0.0304 right_z=0.119 right_yaw=0.0502 right_pitch=-0.1537 right_roll=-0.026 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.0735, 7.0085, 1.7949, -0.022, -0.0708, -0.0171, -0.1983, -7.5966, 10.865, 2.083, 0.022, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5d6375019e6deea72ada8e0f5cda8331d82b0a622f1a1ac9395ff868e5af586",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73d34796754df91487e31b2c265e12b13b349c689d0185e883b9c99644d5d08b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5acba6be4d1061a0b19f8abb77c5b85fd28dc1f3abafb16843f81759ceed451",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 3.329 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4088, -0.0177, -0.0334, 0.9987, 0.0975, 1.3392, 0.7025, -0.0643, 0.0513, -0.0086, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=0.0003 left_z=0.1745 left_yaw=0.0014 left_pitch=-0.0343 left_roll=-0.0028 left_gripper=0.9987 right_x=0.3793 right_y=0.0316 right_z=0.1127 right_yaw=0.0504 right_pitch=-0.1305 right_roll=-0.0252 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.1556, 7.0769, 1.7949, -0.0122, -0.0562, -0.0122, 0.1162, -5.0667, 8.4718, 1.9512, 0.1001, 0.0806, -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, 0.8078, 0.6132, -0.4164, -0.0181, -0.0334, 0.9987, 0.0971, 1.3392, 0.7025, -0.0643, 0.0513, -0.0086, 0.9994]\nstate[eef_state]: left_x=0.2918 left_y=0.0004 left_z=0.173 left_yaw=0.0018 left_pitch=-0.042 left_roll=-0.0024 left_gripper=0.9987 right_x=0.3793 right_y=0.0314 right_z=0.1127 right_yaw=0.05 right_pitch=-0.1305 right_roll=-0.0252 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.2923, 7.0085, 1.7949, -0.0464, -0.022, -0.0122, -0.2256, -5.2581, 8.4718, 1.9072, 0.0952, 0.1148, -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 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, 0.8089, 0.6132, -0.4229, -0.0177, -0.0338, 0.9987, 0.0971, 1.29, 0.7124, -0.1467, 0.0509, -0.0086, 0.9993]\nstate[eef_state]: left_x=0.291 left_y=0.0003 left_z=0.1713 left_yaw=0.0016 left_pitch=-0.0496 left_roll=-0.0028 left_gripper=0.9987 right_x=0.3684 right_y=0.0304 right_z=0.119 right_yaw=0.0502 right_pitch=-0.1537 right_roll=-0.026 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.0735, 7.0085, 1.7949, -0.022, -0.0708, -0.0171, -0.1983, -7.5966, 10.865, 2.083, 0.022, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5d6375019e6deea72ada8e0f5cda8331d82b0a622f1a1ac9395ff868e5af586",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73d34796754df91487e31b2c265e12b13b349c689d0185e883b9c99644d5d08b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5acba6be4d1061a0b19f8abb77c5b85fd28dc1f3abafb16843f81759ceed451",
        "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_01FYs7RUD2YJY1Hcm1pA9epS",
      "input": {
        "note": "The right arm does move but only a little per call (steps being clamped). Re-issuing the descent onto the pear, which sits centred between the jaws.",
        "targets": {
          "right_x": 0.395,
          "right_y": 0.032,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01FYs7RUD2YJY1Hcm1pA9epS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6128, -0.4274, -0.0181, -0.0334, 0.9987, 0.0956, 1.6146, 0.5953, 0.2012, 0.0441, -0.012, 0.9993]\nstate[eef_state]: left_x=0.2904 left_y=0.0004 left_z=0.1693 left_yaw=0.0018 left_pitch=-0.058 left_roll=-0.002 left_gripper=0.9987 right_x=0.3783 right_y=0.032 right_z=0.0187 right_yaw=0.0557 right_pitch=-0.2478 right_roll=-0.0278 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.5385, 7.2, 1.7021, -0.0366, -0.0513, -0.0122, -0.0752, -6.7761, 4.9162, 1.746, 0.0659, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fbfe97c47d03613995ab52ac7f199758e4798fb9a40f20a7f6f6819ad606af6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6701d203da502420bafd31c44b000bb258a3c1ec24ecbd5388fc5340b974ad63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4af6dd86d42696690f4d03417e3d8da783be1bb41a1186b0301371ba4a9fb47e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 3.668 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4164, -0.0181, -0.0334, 0.9987, 0.0971, 1.3392, 0.7025, -0.0643, 0.0513, -0.0086, 0.9994]\nstate[eef_state]: left_x=0.2918 left_y=0.0004 left_z=0.173 left_yaw=0.0018 left_pitch=-0.042 left_roll=-0.0024 left_gripper=0.9987 right_x=0.3793 right_y=0.0314 right_z=0.1127 right_yaw=0.05 right_pitch=-0.1305 right_roll=-0.0252 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.2923, 7.0085, 1.7949, -0.0464, -0.022, -0.0122, -0.2256, -5.2581, 8.4718, 1.9072, 0.0952, 0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8089, 0.6132, -0.4229, -0.0177, -0.0338, 0.9987, 0.0971, 1.29, 0.7124, -0.1467, 0.0509, -0.0086, 0.9993]\nstate[eef_state]: left_x=0.291 left_y=0.0003 left_z=0.1713 left_yaw=0.0016 left_pitch=-0.0496 left_roll=-0.0028 left_gripper=0.9987 right_x=0.3684 right_y=0.0304 right_z=0.119 right_yaw=0.0502 right_pitch=-0.1537 right_roll=-0.026 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.0735, 7.0085, 1.7949, -0.022, -0.0708, -0.0171, -0.1983, -7.5966, 10.865, 2.083, 0.022, -0.022, -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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6128, -0.4274, -0.0181, -0.0334, 0.9987, 0.0956, 1.6146, 0.5953, 0.2012, 0.0441, -0.012, 0.9993]\nstate[eef_state]: left_x=0.2904 left_y=0.0004 left_z=0.1693 left_yaw=0.0018 left_pitch=-0.058 left_roll=-0.002 left_gripper=0.9987 right_x=0.3783 right_y=0.032 right_z=0.0187 right_yaw=0.0557 right_pitch=-0.2478 right_roll=-0.0278 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.5385, 7.2, 1.7021, -0.0366, -0.0513, -0.0122, -0.0752, -6.7761, 4.9162, 1.746, 0.0659, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fbfe97c47d03613995ab52ac7f199758e4798fb9a40f20a7f6f6819ad606af6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6701d203da502420bafd31c44b000bb258a3c1ec24ecbd5388fc5340b974ad63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4af6dd86d42696690f4d03417e3d8da783be1bb41a1186b0301371ba4a9fb47e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pear is between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014eEqDi5qt7rMhjW1sMsfHZ",
      "input": {
        "note": "Right gripper is down at z≈0.02 with the pear filling the view between the jaws; closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014eEqDi5qt7rMhjW1sMsfHZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8127, 0.6128, -0.4278, -0.0181, -0.0334, 0.9987, 0.0952, 1.6341, 0.5896, 0.2356, 0.0406, -0.012, 0.7242]\nstate[eef_state]: left_x=0.2904 left_y=0.0004 left_z=0.1691 left_yaw=0.0018 left_pitch=-0.0587 left_roll=-0.002 left_gripper=0.9987 right_x=0.3805 right_y=0.0327 right_z=0.0155 right_yaw=0.0583 right_pitch=-0.2387 right_roll=-0.0249 right_gripper=0.7242\nstate[joint_eff]: [-0.1846, -1.2376, 6.9812, 1.7216, -0.0122, -0.0269, -0.0171, -0.1573, -8.0205, 5.6821, 1.1746, 0.0611, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e70566014210abea841b55635040eb51f8541b8e5e545e11110a175e01f47e9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f26075be91d037ab62ea2435b830f52891ab0d62f4a3d46ebaf0ea4ee983ae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d76aeed07f16a93616ec7f4d8be1ac14dd6ffd198a25081936006d2e31641a17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 6.109 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4229, -0.0177, -0.0338, 0.9987, 0.0971, 1.29, 0.7124, -0.1467, 0.0509, -0.0086, 0.9993]\nstate[eef_state]: left_x=0.291 left_y=0.0003 left_z=0.1713 left_yaw=0.0016 left_pitch=-0.0496 left_roll=-0.0028 left_gripper=0.9987 right_x=0.3684 right_y=0.0304 right_z=0.119 right_yaw=0.0502 right_pitch=-0.1537 right_roll=-0.026 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.0735, 7.0085, 1.7949, -0.022, -0.0708, -0.0171, -0.1983, -7.5966, 10.865, 2.083, 0.022, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6128, -0.4274, -0.0181, -0.0334, 0.9987, 0.0956, 1.6146, 0.5953, 0.2012, 0.0441, -0.012, 0.9993]\nstate[eef_state]: left_x=0.2904 left_y=0.0004 left_z=0.1693 left_yaw=0.0018 left_pitch=-0.058 left_roll=-0.002 left_gripper=0.9987 right_x=0.3783 right_y=0.032 right_z=0.0187 right_yaw=0.0557 right_pitch=-0.2478 right_roll=-0.0278 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.5385, 7.2, 1.7021, -0.0366, -0.0513, -0.0122, -0.0752, -6.7761, 4.9162, 1.746, 0.0659, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8127, 0.6128, -0.4278, -0.0181, -0.0334, 0.9987, 0.0952, 1.6341, 0.5896, 0.2356, 0.0406, -0.012, 0.7242]\nstate[eef_state]: left_x=0.2904 left_y=0.0004 left_z=0.1691 left_yaw=0.0018 left_pitch=-0.0587 left_roll=-0.002 left_gripper=0.9987 right_x=0.3805 right_y=0.0327 right_z=0.0155 right_yaw=0.0583 right_pitch=-0.2387 right_roll=-0.0249 right_gripper=0.7242\nstate[joint_eff]: [-0.1846, -1.2376, 6.9812, 1.7216, -0.0122, -0.0269, -0.0171, -0.1573, -8.0205, 5.6821, 1.1746, 0.0611, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e70566014210abea841b55635040eb51f8541b8e5e545e11110a175e01f47e9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f26075be91d037ab62ea2435b830f52891ab0d62f4a3d46ebaf0ea4ee983ae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d76aeed07f16a93616ec7f4d8be1ac14dd6ffd198a25081936006d2e31641a17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS2AcKEAgSGAI4AUIIdGhpbmtpbmcSDITHXr8MUv1IDHXHdxoMq4WbSqBHxdylSUN2IjAyFmpH3zNrRJrN/x5mwFHfYdE8vQtzoTjuVh0wgbl5zG/n511MBwvMIw1JXyFZrQgq9QaECjX8Ur1N8vAZ/nd4DBu73lxM5xZnI1ttbo+erioGSZIaTrhVNYSr8c2WNv+f+L4z1LliatHT0xfTQAZ4AIi3ppiAe88fXJlDXxIlSbg696JKIwSmj9zveJ8YT/tJRsNaezKz3ZoZl0HT06zMZTupofNkcr+hjajYeeuup/dD1jaUxcAgQAfi+kxi21qHw4hY+SaYI+Av7biJp6qX+qIf82mKyVRu53YKbfRQfi66TqnWiT0X++HaknG37JnBkAvm2FcBvZddUFK8zs+prz6zmSWPGJBWnrH+ioTjP6ItJXq7AHki4wryU0ELtXbPhtkTWFZaQ5WGfYfAWVy7KDVNWjEoYJIJNg+98GizatueKgdYR+0szfiyFPsZfFj/hLduB8QSxzxq0GvrlTTUQ2N6MNOuPsGINB+3Ex8qJConsQfJCBzvUmu/lPQRE/JSqEA0NBx8JqI2hf3WP6/G6UyfJRZkxnrgw2pFo437OsBniqEruwXlOMdlZPHHOUzTLDtFOIwt0HqZdK8HjA2qcLYCG9kS8dj0Qjlip/6xcKWqqeJBQooVboBflwAJur51anJVegbyuHi++UJDJZUyVH+Yk/UCfASj3dPkix2Qv2V4E0G8yx/W/Aai2hbEwF5wyKM2KiFCFpNYWOK12D6HENyDjZh1E+oR+cB7y8Ys5k3RJ1u9TpAHRNn6AQtLUy3xtcUqXcVtm9ASVBpXrrHB8lNoBuULmhBPJIUZ/8sAfzn9pV0veIaXXSJNAuGb4NeqCbFzIfm3FCnWWkMQ1yQznpSTtpJGpUAvMiARqaE9ElIQIsR2TGKvr6BFypd8DGhnTX+O2Ut6g80cDZilSXZJQ1sbxFl1zPxGWeCOybMr+28w1/kI75OP7ax0gSgr2N43G2pCwbq2SbjVOLFRZEHkPr9mUBitUNFK/CXnmykCsQ+/aq/X5EpdEXNtYi80/PGSIFlj9w8gtSrWq7yJDw4Urzi3JYUeu8VtP6/EvqunZiAWhGS+T8qpC2xigQ2wjfO5XfcpBW3eMoQ8g/aaoKMWcnPrbHF7cjBs+WnHDAq74VLEsWmrD1k4Zn4MksEDqa4JCuOQTh6AtbLJA6XUYsj9EQqv4qTSrnTtK9qH5QM0A2bv7nusYCsskuPIv2nkg/XffZabZhd/YsgbloLrQiK680r235OwTCMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015AZvNuMnnWhutdq21R3jSQ",
      "input": {
        "note": "Gripper reads 0.72 with high effort, possibly still closing; re-sending close to make sure the pear is gripped firmly.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_015AZvNuMnnWhutdq21R3jSQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8127, 0.6128, -0.4278, -0.0177, -0.0334, 0.9987, 0.0952, 1.6325, 0.5896, 0.2352, 0.0402, -0.0116, 0.7242]\nstate[eef_state]: left_x=0.2904 left_y=0.0004 left_z=0.1691 left_yaw=0.0015 left_pitch=-0.0587 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3806 right_y=0.0328 right_z=0.016 right_yaw=0.0585 right_pitch=-0.2376 right_roll=-0.0243 right_gripper=0.7242\nstate[joint_eff]: [-0.1299, -1.3333, 7.159, 1.6532, -0.0366, -0.0317, -0.0171, -0.212, -6.3932, 5.2581, 1.4725, -0.0611, -0.0269, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:723761d8dc2637a8b747442ba259377c4c658c2ce078fc0e4ae6500ec0553e08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e401520352d00f735d76a0f0046f794a404cf751db2955cde26f124ed94581d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f3f0934d9808b6ec60755bd46250a16ed13df406e82d19968703873b366aab0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 3.466 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6128, -0.4274, -0.0181, -0.0334, 0.9987, 0.0956, 1.6146, 0.5953, 0.2012, 0.0441, -0.012, 0.9993]\nstate[eef_state]: left_x=0.2904 left_y=0.0004 left_z=0.1693 left_yaw=0.0018 left_pitch=-0.058 left_roll=-0.002 left_gripper=0.9987 right_x=0.3783 right_y=0.032 right_z=0.0187 right_yaw=0.0557 right_pitch=-0.2478 right_roll=-0.0278 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.5385, 7.2, 1.7021, -0.0366, -0.0513, -0.0122, -0.0752, -6.7761, 4.9162, 1.746, 0.0659, -0.0317, -0.0122]\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, 0.8127, 0.6128, -0.4278, -0.0181, -0.0334, 0.9987, 0.0952, 1.6341, 0.5896, 0.2356, 0.0406, -0.012, 0.7242]\nstate[eef_state]: left_x=0.2904 left_y=0.0004 left_z=0.1691 left_yaw=0.0018 left_pitch=-0.0587 left_roll=-0.002 left_gripper=0.9987 right_x=0.3805 right_y=0.0327 right_z=0.0155 right_yaw=0.0583 right_pitch=-0.2387 right_roll=-0.0249 right_gripper=0.7242\nstate[joint_eff]: [-0.1846, -1.2376, 6.9812, 1.7216, -0.0122, -0.0269, -0.0171, -0.1573, -8.0205, 5.6821, 1.1746, 0.0611, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8127, 0.6128, -0.4278, -0.0177, -0.0334, 0.9987, 0.0952, 1.6325, 0.5896, 0.2352, 0.0402, -0.0116, 0.7242]\nstate[eef_state]: left_x=0.2904 left_y=0.0004 left_z=0.1691 left_yaw=0.0015 left_pitch=-0.0587 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3806 right_y=0.0328 right_z=0.016 right_yaw=0.0585 right_pitch=-0.2376 right_roll=-0.0243 right_gripper=0.7242\nstate[joint_eff]: [-0.1299, -1.3333, 7.159, 1.6532, -0.0366, -0.0317, -0.0171, -0.212, -6.3932, 5.2581, 1.4725, -0.0611, -0.0269, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:723761d8dc2637a8b747442ba259377c4c658c2ce078fc0e4ae6500ec0553e08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e401520352d00f735d76a0f0046f794a404cf751db2955cde26f124ed94581d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3f0934d9808b6ec60755bd46250a16ed13df406e82d19968703873b366aab0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSwAsKEAgSGAI4AUIIdGhpbmtpbmcSDH9Jlagc+wrAQPCpgxoMvMis87X+wl5iW2sUIjBkKqHRv0XOoXKnKO1Br7HbYAqgTahD24uHjIrDdwGJ33YZ3ZdfZUwQmFOu8SZOW34q3QrJRvRopGMwzA0biTUM0UsR0jXCW0RYyiuD1hCy2VUjIoMST/403vzeLZHvrByZIBmJ8/BH7//PItFUwPwVdzgW6MNck8ei0ItOvpZsVg7q0TTEflbXVhssBb7GF/hqU000AA29Qh4lrxbStAiIAT4cpWGb0GE6cvWDoHpwH32Kn7aC7vPhA7NiBPjitGmryUd04BzlSw1I1MLGwf+K2Lr+pu2EjW//UJBKsE3WPy7RSGi7XuckuLNNc4lwZ1koA2DCZY+PMGfh30mUX7PFgkJqpqKhQNIpOqsx/1dJXC6UtwW2JfneuqAegaGX+s3mJmAxb4OWoy6r8Zl3MI9qlChMLir/KXXGKSI0cSKwHpU00t30LH15GKuw/ETyPOlgPYmBBIUghiUTtjEJwK8CNSHNK90s+YTY6c3ze9nFzsJQ0C8WnJXKazetYY5PP1CeN6Dvat31uPx9hs520hpj4j6q0DuYDIOYMZnJJkDPOeolh2SayTb8gAaQIysH26y3ZRYk6UAaUCHP3iMBqLe4giHoYrn6rRqipUcQJ3yGYNJ2nmLd/nvZRVnwDiI7/5mz/d5ExD9rUZS0xmlQs7bo0iVHR1LuwnWmuGl+MMEuS/KqsghuKXSHjo4nIPGO9r9yZhoubIZBP5xoD3YSu8l1M8QADwKBvK4WO654ECogk1uX+lIn9uESLefIu2c9G+tDtb9FMLGigHpHVgof1Gw4rrpUUpaMxqWNY2o2LNnBpAAeUgfmvTcpAtdbh6H36ijs6y1rpqNAcuejBvdaURlL5TNc+5glq9KLHLmiJPkMhPjPu2WRdlag+Ws/3S9EfF4cpA2AsGXcmtLzr8+F86QBjrVccQ+iTxtijQDnLx7SPcM7/DwtSyxbgc9g647SO+SG0rhlpeDg++zi8PeS8XX5eyjUDrssZrBiZEaxWWAJfGEbqiCVCQSorlXmDoNAl4Bfz8x2C8SvjLK+fbiDj+xJpfxtLYmjAvxIgxd8CFHd8DeavaNPQaGnBYdDkXOQ7vRzKraYTboM6wx/TuSeII3o2vGXMLCSOnscJHNwZWKDX9iWyQhXt+VUg+P4OCpO1Yu/okQouiORBUTeJAhzI5cgA/cGIO+kk5E8C46uQa+9zjaIfUeN1pboCRQRS2XeIQVxmn223S4ron8wHrQEKkIDq7B8NsEPOT9eVt4cnczaVDnCjP8tTV8GxvLWrM6ljhmWDrVVmoV01MWnDminT5+CJQIF0FQZKcJg7eCuRdvSQd5C0r84nQOp1pILwcLLC+iw/Zw/63marwSi6xiOoL8zpV8g1e8O7CsEzYOFzVeCIE3gaDgpFDzZ41Nb7V30DTBjEzn598HNdKjJsZSZ++83sgMhAjBpWlVs6xB7GGawCgKE3dfnfiVdMldcj/VWfHbi8At73HkleEtGCJ4uue5sgExtSyhml160nbhITcJWswDZIeF/R4G+ZKXhT9zp4GozxmaltwHMuwUzN3zW8IVLq04XLip4OwimRU8Le46A2pmuAFP+dLdd5B4mDgSaoXJCKyb8SC60cnL9xEhCujBrvTBJ9QX8JmXjzvRNtSIo91PWlADT0kGOhRcu+raevSAxzZpeaBpYKOOcwxhrw9Bo56oGOPcsZOjBQaU+tGPsjYsTh3XxrLLfb237xxc15aJ/nUuBMaMtKwyturtOLw2O1wU4L0GWqy6vXch9BmcTsLnr5LvQ/GnXLNU4cC1aM5lolAkxdo2mSuBwORTNLVWTfG7eXeGLpP623PnwYfyUNNJsJgsNZ1yFx4elRe1SFU4JNn8oeRGGUNkIFPtznQrvuwjkxMsfQ5Il4rJihcUy8BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017sStBfDRqJ8v3KmAHitC8T",
      "input": {
        "note": "Pear grasped (gripper settled at 0.72 ≈ 6.8 cm). Lifting it clear of the table.",
        "targets": {
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017sStBfDRqJ8v3KmAHitC8T",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6128, -0.4343, -0.0177, -0.0338, 0.9987, 0.0956, 1.3712, 0.9699, -0.4416, 0.0395, -0.0196, 0.7284]\nstate[eef_state]: left_x=0.2895 left_y=0.0004 left_z=0.1676 left_yaw=0.0017 left_pitch=-0.066 left_roll=-0.0024 left_gripper=0.9987 right_x=0.3793 right_y=0.033 right_z=0.1463 right_yaw=0.0637 right_pitch=-0.2728 right_roll=-0.0306 right_gripper=0.7284\nstate[joint_eff]: [-0.3214, -1.3744, 7.0085, 1.7265, -0.0171, -0.0464, -0.0073, -0.2256, -7.4872, 9.2239, 1.6386, 0.022, 0.0513, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fa5feb2ab1b20aa03fd7610bbeb35b9032836430618700102c96c0eeea665e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7e4586d50551885c6d0d9a47bc26a6dd73d629820524ba9a3143207c01f4bf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:98906bb5beb3b9c96edef2cd18d439bc094e813ecaaf93e8726aae830716efea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 4.927 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8127, 0.6128, -0.4278, -0.0181, -0.0334, 0.9987, 0.0952, 1.6341, 0.5896, 0.2356, 0.0406, -0.012, 0.7242]\nstate[eef_state]: left_x=0.2904 left_y=0.0004 left_z=0.1691 left_yaw=0.0018 left_pitch=-0.0587 left_roll=-0.002 left_gripper=0.9987 right_x=0.3805 right_y=0.0327 right_z=0.0155 right_yaw=0.0583 right_pitch=-0.2387 right_roll=-0.0249 right_gripper=0.7242\nstate[joint_eff]: [-0.1846, -1.2376, 6.9812, 1.7216, -0.0122, -0.0269, -0.0171, -0.1573, -8.0205, 5.6821, 1.1746, 0.0611, -0.0464, 1.0281]\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, 0.8127, 0.6128, -0.4278, -0.0177, -0.0334, 0.9987, 0.0952, 1.6325, 0.5896, 0.2352, 0.0402, -0.0116, 0.7242]\nstate[eef_state]: left_x=0.2904 left_y=0.0004 left_z=0.1691 left_yaw=0.0015 left_pitch=-0.0587 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3806 right_y=0.0328 right_z=0.016 right_yaw=0.0585 right_pitch=-0.2376 right_roll=-0.0243 right_gripper=0.7242\nstate[joint_eff]: [-0.1299, -1.3333, 7.159, 1.6532, -0.0366, -0.0317, -0.0171, -0.212, -6.3932, 5.2581, 1.4725, -0.0611, -0.0269, 1.033]\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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6128, -0.4343, -0.0177, -0.0338, 0.9987, 0.0956, 1.3712, 0.9699, -0.4416, 0.0395, -0.0196, 0.7284]\nstate[eef_state]: left_x=0.2895 left_y=0.0004 left_z=0.1676 left_yaw=0.0017 left_pitch=-0.066 left_roll=-0.0024 left_gripper=0.9987 right_x=0.3793 right_y=0.033 right_z=0.1463 right_yaw=0.0637 right_pitch=-0.2728 right_roll=-0.0306 right_gripper=0.7284\nstate[joint_eff]: [-0.3214, -1.3744, 7.0085, 1.7265, -0.0171, -0.0464, -0.0073, -0.2256, -7.4872, 9.2239, 1.6386, 0.022, 0.0513, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fa5feb2ab1b20aa03fd7610bbeb35b9032836430618700102c96c0eeea665e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7e4586d50551885c6d0d9a47bc26a6dd73d629820524ba9a3143207c01f4bf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98906bb5beb3b9c96edef2cd18d439bc094e813ecaaf93e8726aae830716efea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9AYKEAgSGAI4AUIIdGhpbmtpbmcSDO+iUXAreBXhuQiRbxoM8v7iJpf1d7qoV7UyIjBQHp2N+TWSRITzaRUJxKVHwvwOy3h8LD1uq9sXe9szuE6PiYXmXW8hQkasT4boVsEqkQamT20bNQsHOHjHfWmzNRB6QOi1rRx7Tk5q9kBgSFXgLr//YcZXhBU/ofI/7kUQfqHFqGxbSaPQ57QyA2GLmJ3NWvj6c7X99yvzQZbcgx+eoKyzFw4zNhHlM8g37CQIcfMD37UbFxtjRxkpJuVcKQp9dmDJ2YEHEvgdbDfyZHBgq+euyDnY0Rbb4ioKCSD2b1H4ljdkzsREmZ31J+BtzqlBYSYiEqz13Zl2/PUYzuGnPU7C4A3CdzPhi5tRhccvrxt4SB7cs6OOyU0FEpcgJKd/vDd/DLYYtz+PaUjACGr3LdEwL8PBMLLhw0f+9j4eYn30IVfCMViY7V19tNzAQb9/d/9PZQsX8jmIkYYVjcaj1IDqDYphu3WYvJUM2tddHyExOe3lk4Mnh64sdRCSD+lLtRkc2/6RJk7+QbL46HBPJuubJy87vbXCUg9LVfiV7D8LRd3tQ5/Sxe443qEiyWiqjnu665XGlXXkFann3icB/Wa36sFkTobgAzCPzWDCApZ7sCj2tNSDEBe78oXLIs3t/naYZBeNlW1UPKdN/dPu3yjxsi3T4TgKMmdVFO9cp91OyOIQuzhPzwf3qB4qAwC/IekAlVcF8jJmrG4zU9+kwOaGm/taxwXXaxWQsgIevGYfIDD+k2m9E5wlMiB8ipAN1QUjyO4xhUTtHBv/3qIF892V1cFiOb8g+2ItjR6lJTcab2QEORclchChnAMYBycFMW75dhYOLasGMdu2VP57eQys65tc2ib2w/eJ8IjUL6x/kLaxgGcmrDZ1wOdRW6tPT1JltQGfqEFfU0kgAqz86m7wAtuW3Htmbyr6u5WvLVtRA/BfSrYWZFf4smdwP2bC2/U5JGpqO9gnx5E5E/W/QCGM0vbJO2qLGGlBuOnturgMvrPm1ZjXccE4a5uEhlw9JmjYWY9tl9AJMII2ylTXg6FYF3D9A0FG58NfQ0+uGIsrmNqShAYHDlaebVnKO0dElFHLYOCuuP7hN/8YBVWwaZ2ngA+EfgAyT4GdqoDYkk6PGPOjXGUi3qMw20FF4HNbhRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015btK4ndc87q1SsfMeysSS3",
      "input": {
        "note": "Pear lifted; blue bowl visible ahead-left in the right wrist view. Carrying the pear toward the blue bowl.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.12,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_015btK4ndc87q1SsfMeysSS3",
      "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, 0.8169, 0.6128, -0.4431, -0.0181, -0.0334, 0.9987, 0.3023, 1.7622, 1.4193, -0.5728, 0.1509, 0.0975, 0.7319]\nstate[eef_state]: left_x=0.2884 left_y=0.0005 left_z=0.165 left_yaw=0.0018 left_pitch=-0.0782 left_roll=-0.0016 left_gripper=0.9987 right_x=0.4558 right_y=0.1181 right_z=0.1514 right_yaw=0.1038 right_pitch=-0.3326 right_roll=-0.0498 right_gripper=0.7319\nstate[joint_eff]: [-0.1983, -1.6205, 6.9949, 1.7314, -0.0415, -0.0122, -0.0122, -0.0068, -9.6615, 8.8821, 1.4921, 0.232, 0.2711, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d7017df48a20c3a79dd3556c359e5e4eb45e94fa43081b5805035ce2b9353cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed0df3db83a9d51e1fa6d7030bb2068a3afe527c547756041a503fca87b5a6c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a1f05646179a4e868cb8ffe3c4342266ae9bc2745dd562d04a8a8b7027f90785",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 6.288 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8127, 0.6128, -0.4278, -0.0177, -0.0334, 0.9987, 0.0952, 1.6325, 0.5896, 0.2352, 0.0402, -0.0116, 0.7242]\nstate[eef_state]: left_x=0.2904 left_y=0.0004 left_z=0.1691 left_yaw=0.0015 left_pitch=-0.0587 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3806 right_y=0.0328 right_z=0.016 right_yaw=0.0585 right_pitch=-0.2376 right_roll=-0.0243 right_gripper=0.7242\nstate[joint_eff]: [-0.1299, -1.3333, 7.159, 1.6532, -0.0366, -0.0317, -0.0171, -0.212, -6.3932, 5.2581, 1.4725, -0.0611, -0.0269, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6128, -0.4343, -0.0177, -0.0338, 0.9987, 0.0956, 1.3712, 0.9699, -0.4416, 0.0395, -0.0196, 0.7284]\nstate[eef_state]: left_x=0.2895 left_y=0.0004 left_z=0.1676 left_yaw=0.0017 left_pitch=-0.066 left_roll=-0.0024 left_gripper=0.9987 right_x=0.3793 right_y=0.033 right_z=0.1463 right_yaw=0.0637 right_pitch=-0.2728 right_roll=-0.0306 right_gripper=0.7284\nstate[joint_eff]: [-0.3214, -1.3744, 7.0085, 1.7265, -0.0171, -0.0464, -0.0073, -0.2256, -7.4872, 9.2239, 1.6386, 0.022, 0.0513, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8169, 0.6128, -0.4431, -0.0181, -0.0334, 0.9987, 0.3023, 1.7622, 1.4193, -0.5728, 0.1509, 0.0975, 0.7319]\nstate[eef_state]: left_x=0.2884 left_y=0.0005 left_z=0.165 left_yaw=0.0018 left_pitch=-0.0782 left_roll=-0.0016 left_gripper=0.9987 right_x=0.4558 right_y=0.1181 right_z=0.1514 right_yaw=0.1038 right_pitch=-0.3326 right_roll=-0.0498 right_gripper=0.7319\nstate[joint_eff]: [-0.1983, -1.6205, 6.9949, 1.7314, -0.0415, -0.0122, -0.0122, -0.0068, -9.6615, 8.8821, 1.4921, 0.232, 0.2711, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d7017df48a20c3a79dd3556c359e5e4eb45e94fa43081b5805035ce2b9353cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed0df3db83a9d51e1fa6d7030bb2068a3afe527c547756041a503fca87b5a6c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1f05646179a4e868cb8ffe3c4342266ae9bc2745dd562d04a8a8b7027f90785",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS2wkKEAgSGAI4AUIIdGhpbmtpbmcSDNNO8xU1MqlotgK4ihoMHafsGlYXCEGCpUEoIjAwINXwuFtwHD0DzEL8Ovkr2KIQz9Vnt4ycjeUF0Z0IKq0ejWfMxJgFBST5pvnFtegq+AieatFqP/dzoR15SnzZbEv6kv3kkaP6J3oAUn1BmeNbidUQB7nmJHfMl88Wx3LCTLFi8+J04C/uecqZ/MTMZq4kVA2S3U0mKZkXlN/Cr0RWDliGRLyvi6ViaK6hBqqDzzaxA5XT0PhxQDk+ys78OpebCEpOfhMtFyifXc9kJMWY+d5ftmkoPcxuMawRXUihv5mMW6pBFAKSu6XQYiKoFfgloSRgxEflg4RuRUwavGqfrmxp3CJJzjyAiCizB1dnLktR7en16gIlxAWlOx/I6ffwf2YPQop3LlpiGiEqTf53mRkfw2dNQDE7+sSMFSTDgZAZ9R8cgmTUYvsTh+SXmsSod087V9qmWBDbepOImOgkLUkdr4+cN3ggWrLf51UZ6ctCcu5GUF6tQs39kQySAjfimUjYz5mZOlM3E0pDlLg/eFvf8lsDZakvPtor9VjOAsBDJ9Ig2lhmUBujbJaaqAZ4FpBBY5ij0FJfBbRLKhbFpXytHZi/lFtCBXP/eg4EyRF7PNAeGDX4Fe8V38gSjDwz+dVaC5bMt/4+cr3jaDFunTVl+WICM40t74SV/McZERE3By5+/J9t0eGeXVdiPCXMTiQhaSwLRzLwh+Iuhf7RNC7NhGRRSWNRzF7zH7gIJQ4D6Wl2VVE94dHexiEdmsWOICZndbmAcjumiS7dURoUBbQbUj1JZZ4GcPc6cNQIvtGZbKjHoyJzA5i0V8IkMn9OwIS8gqD1/EGlvWjJcpMUEwkiCZQvDVN1jhhERUuqV2NfUEsnMghT7VJdKSNXnfB12On73EjAwVKoZzPDWUtv/EEshcrjpEr/TUr+0WuDhnCv/EiTCYW5WML2nD3X00xiW4dorTnnYlgg1OvbiJrWBPQI23zK8eL9bpzgz96lDEUK2wk2f9ujappY93vx+cfp8pWpxAxpErpA69rwthxWodgTns0NCobO6T4NmAZTXZaSWJ0RDsN5DCHQ4Cxv6oRMSjEqYHTI2uoI6CTf42MqEM1f3VDhnDTYqlBj2vGv0lqMeAympxW9h3Q9x+W43jGh/XESi3qYtWr0NwXBiZ3NyP/al4XlOxdaaNuoWdgkPdDiwzlueUJJDpUUo3pncft6FsuXkSrkIW5HZrLSJrlCxvYPKn0ylc+bfJefON/UnJMGZJvkqKKsYc5tmBp4zU+tjAvN6WCHss+XKaRSxU89iMzFXRlFwQLt/1YIyYSru4lcIMkkOmwDvldWtOFFngeJCINwsRkgbhT7FWvOqYpQG4ZmZwBa41l/P6DtOno3/eksPIBIXBIUuO98aViCyT2TmwzzTzaoQT+U8XItgRV9LJ1RkwYEMuEXyxxg4xQZdVY+E/Thm6IuTNz9wH5kcIwAH6XtaGrw/X9dT8LrHNSph88lI2rBe23P58Xkgf1LqPWoWZtGBktlQjtQyuR5DLhTLMR9wejX30Y96Fnhnht9tSlndFe/prIrESgCLwxky6txCTC8SMNcui4xjc2IM7lwJKbU4jR+FNW6KU7gslHVu+DiWygexrE1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B4bidpomyR3dPUCX7cPHQa",
      "input": {
        "note": "Top view shows the gripper just right of the blue bowl; shifting 3.5 cm left to centre the pear over it and lowering slightly.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.155,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01B4bidpomyR3dPUCX7cPHQa",
      "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, -0.4461, -0.0181, -0.0334, 0.9987, 0.3737, 1.8652, 1.4677, -0.5957, 0.1787, 0.1326, 0.7319]\nstate[eef_state]: left_x=0.288 left_y=0.0005 left_z=0.1639 left_yaw=0.0018 left_pitch=-0.0831 left_roll=-0.0014 left_gripper=0.9987 right_x=0.456 right_y=0.1489 right_z=0.1209 right_yaw=0.1236 right_pitch=-0.4019 right_roll=-0.0697 right_gripper=0.7319\nstate[joint_eff]: [-0.253, -1.5385, 6.9812, 1.6923, -0.0611, -0.0269, -0.0122, 0.212, -10.5778, 9.7846, 1.5849, 0.1294, 0.2418, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:312c4a8d54260ff1ad4559195290861e6abf3632668de33524bdea5d6e34ac9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0709d3da8cfa638cf5f219302d791d7abd2d334d83ff4f858163b286a8ba2459",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49f82a9c2d1af2440de3d6dbcdd347bea1ee0a2980bc178f3dc7016673287e76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 5.031 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6128, -0.4343, -0.0177, -0.0338, 0.9987, 0.0956, 1.3712, 0.9699, -0.4416, 0.0395, -0.0196, 0.7284]\nstate[eef_state]: left_x=0.2895 left_y=0.0004 left_z=0.1676 left_yaw=0.0017 left_pitch=-0.066 left_roll=-0.0024 left_gripper=0.9987 right_x=0.3793 right_y=0.033 right_z=0.1463 right_yaw=0.0637 right_pitch=-0.2728 right_roll=-0.0306 right_gripper=0.7284\nstate[joint_eff]: [-0.3214, -1.3744, 7.0085, 1.7265, -0.0171, -0.0464, -0.0073, -0.2256, -7.4872, 9.2239, 1.6386, 0.022, 0.0513, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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, 0.8169, 0.6128, -0.4431, -0.0181, -0.0334, 0.9987, 0.3023, 1.7622, 1.4193, -0.5728, 0.1509, 0.0975, 0.7319]\nstate[eef_state]: left_x=0.2884 left_y=0.0005 left_z=0.165 left_yaw=0.0018 left_pitch=-0.0782 left_roll=-0.0016 left_gripper=0.9987 right_x=0.4558 right_y=0.1181 right_z=0.1514 right_yaw=0.1038 right_pitch=-0.3326 right_roll=-0.0498 right_gripper=0.7319\nstate[joint_eff]: [-0.1983, -1.6205, 6.9949, 1.7314, -0.0415, -0.0122, -0.0122, -0.0068, -9.6615, 8.8821, 1.4921, 0.232, 0.2711, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6128, -0.4461, -0.0181, -0.0334, 0.9987, 0.3737, 1.8652, 1.4677, -0.5957, 0.1787, 0.1326, 0.7319]\nstate[eef_state]: left_x=0.288 left_y=0.0005 left_z=0.1639 left_yaw=0.0018 left_pitch=-0.0831 left_roll=-0.0014 left_gripper=0.9987 right_x=0.456 right_y=0.1489 right_z=0.1209 right_yaw=0.1236 right_pitch=-0.4019 right_roll=-0.0697 right_gripper=0.7319\nstate[joint_eff]: [-0.253, -1.5385, 6.9812, 1.6923, -0.0611, -0.0269, -0.0122, 0.212, -10.5778, 9.7846, 1.5849, 0.1294, 0.2418, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:312c4a8d54260ff1ad4559195290861e6abf3632668de33524bdea5d6e34ac9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0709d3da8cfa638cf5f219302d791d7abd2d334d83ff4f858163b286a8ba2459",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49f82a9c2d1af2440de3d6dbcdd347bea1ee0a2980bc178f3dc7016673287e76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpAkKEAgSGAI4AUIIdGhpbmtpbmcSDHSS7jJfS1YNwyXEMxoMSiQVaEyS1fG3h+jqIjDt3HizZTyuP90ZplNY7DuO/x9xM2FEV1L0SuDrIFRQGSzv5ZV35gP/6QyIa2OqRy0qwQgtwPcmTixOfmj1OhDzhigfAXKnRQuupvvZxL1obc4HPjVEkA0InGa2NTU702s9Ti0qri9+CwOP/vGF2YtmHWuSe+gHA1eg68Cxh7OMxfnf7SWiiSomnzrV1R8n7ZabvUOtQUU2T4cW5ZqtXbb7FobLpg4uNLINOlht/OIAa6Un176PmSCcjeDtGe9rbVrkNp4zkPH/KQLQccWB/HIygspjMaykhU92UJ4hhRSA6nhSWabVW6nRrVJ9MtIvOiHfz9CyDfB9TMiR+sh1ulRuUlpuwY1lnwwifuKsQ4Vd1SfdH6y5rB3iWAtz/VySDPcFZN9QXgemsfgoKpc6ElQUuxqEkdd12XoEljrCQ4t+saZTUEdI8YQ7IrcwIczOA7vcobtByO3PYi97AKKaT2O1hsa3Blx6VikyhLAWB0etETu3GCx/SZo8ZLBv2Cr16exVjU/guiniPvMQ9xUFbvpzv9dAMDq2+LX1JUcjqZz6nu5+ad6j6YWV0M9iSXd+hC8Hfr3K1PA5q7qwSO6h7CnOpIK/PiqTQWzm8B547PL37RtbOv9EB5m5wwBaBDGBCmz1JIRqmnZ4a3fIOKwJwEFGkZjVJVMIMrctLqvusgNoaJLrb+3FFHdG3aG1evBsJNPVnmy34G09KGKPaVaNF/9AN8GO8dIQM/526VsOlB9xsOJm656QyWd9nR6Xsi2kQQPahuBenr9ajHRP2R0x4fjShl+vtnPMAhcpyffhuhTKVZga5vBBTucWUyvC07ZzT76DSrBmmceOxSpjM2AbQWgnr6j3e1/OnRX5dAh0gkTGEF5jvBm+Fny3eFdbKXi3mieYYwgpht1ZtZJhtngzpJqO0wHBVMHAi4b1MV2kiwDB84YSJbWRgQiDOMhwLBUKVqvLLvYp9jWpsxLpYymkgfgBQAbw2sQpwznd8nJ2Rcaa3aZjc0fz6DioKoNiAOFUDvAJpGVAuyTSw+yheN1JkFdeaP5RtaT11KR9s8kPngYrvyybO05XDZb5apuZP1Xlqj+nv+OhTjFcGzTlUbttMnThAWbfx37wQzxnDEQ4cF0ACN3XttAd2ttAB0ry77cOYWF+1A92tN/VMubjdcF9znoPGzNVSp3YbWszR1WZETSWyKmF6tqf5G65IRg0xLgZZJqwXgXYR990YANSWJP/57IL9XDVThXme0zg7IEFxeNsXo+1jz9sDwojpVmIcx69OTA1waJ3Qk1gHm6ExI69wnY327y9rQxXzaXqYPXU8ifTsGvr/iwuRbKa6Nv+t/nhADCRjNS/y6cSPhRkcyKTpB3cBihXnAKpyzOVLmUQg5cwoVzY3sEw4VaQLwC/5qUt8sYurknQgQ2Xxbv9UINfsiSq+L96CkuCpax8ixzKcaGwJDVeDhEwkj76Zk7PwNxztrzLj6Gmcuyri7I8GO17NzVoM4eO07yaHAw1jlzLtguRzvZNm+oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WXitRFfmshTwUTGHERX4C1",
      "input": {
        "note": "Pear is over the blue bowl rim, bowl slightly ahead in the wrist view; nudging forward and lowering before release.",
        "targets": {
          "right_x": 0.485,
          "right_y": 0.155,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WXitRFfmshTwUTGHERX4C1",
      "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, -0.4465, -0.0181, -0.0338, 0.9987, 0.3832, 1.8824, 1.4742, -0.6041, 0.1799, 0.1398, 0.7319]\nstate[eef_state]: left_x=0.288 left_y=0.0005 left_z=0.1637 left_yaw=0.002 left_pitch=-0.0839 left_roll=-0.0017 left_gripper=0.9987 right_x=0.4546 right_y=0.1531 right_z=0.1144 right_yaw=0.1258 right_pitch=-0.4198 right_roll=-0.0715 right_gripper=0.7319\nstate[joint_eff]: [-0.0342, -1.3607, 7.1316, 1.6435, -0.0171, -0.0611, -0.0171, -0.4718, -11.2205, 9.3197, 1.6337, 0.2173, 0.149, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f7237d5c5360e3290bf5aa1dd3c5ec5d5d056c10e7c5ca140ae501359d8a01d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:770bd787aacc90e979d6ee66d879dd986242a1e30fd83f67811b428954636420",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04abd2d424696ff263bdca6486f6bc99541f09023d90f37c86423fca62d9a60f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 7.549 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8169, 0.6128, -0.4431, -0.0181, -0.0334, 0.9987, 0.3023, 1.7622, 1.4193, -0.5728, 0.1509, 0.0975, 0.7319]\nstate[eef_state]: left_x=0.2884 left_y=0.0005 left_z=0.165 left_yaw=0.0018 left_pitch=-0.0782 left_roll=-0.0016 left_gripper=0.9987 right_x=0.4558 right_y=0.1181 right_z=0.1514 right_yaw=0.1038 right_pitch=-0.3326 right_roll=-0.0498 right_gripper=0.7319\nstate[joint_eff]: [-0.1983, -1.6205, 6.9949, 1.7314, -0.0415, -0.0122, -0.0122, -0.0068, -9.6615, 8.8821, 1.4921, 0.232, 0.2711, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6128, -0.4461, -0.0181, -0.0334, 0.9987, 0.3737, 1.8652, 1.4677, -0.5957, 0.1787, 0.1326, 0.7319]\nstate[eef_state]: left_x=0.288 left_y=0.0005 left_z=0.1639 left_yaw=0.0018 left_pitch=-0.0831 left_roll=-0.0014 left_gripper=0.9987 right_x=0.456 right_y=0.1489 right_z=0.1209 right_yaw=0.1236 right_pitch=-0.4019 right_roll=-0.0697 right_gripper=0.7319\nstate[joint_eff]: [-0.253, -1.5385, 6.9812, 1.6923, -0.0611, -0.0269, -0.0122, 0.212, -10.5778, 9.7846, 1.5849, 0.1294, 0.2418, 1.0281]",
      "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, -0.4465, -0.0181, -0.0338, 0.9987, 0.3832, 1.8824, 1.4742, -0.6041, 0.1799, 0.1398, 0.7319]\nstate[eef_state]: left_x=0.288 left_y=0.0005 left_z=0.1637 left_yaw=0.002 left_pitch=-0.0839 left_roll=-0.0017 left_gripper=0.9987 right_x=0.4546 right_y=0.1531 right_z=0.1144 right_yaw=0.1258 right_pitch=-0.4198 right_roll=-0.0715 right_gripper=0.7319\nstate[joint_eff]: [-0.0342, -1.3607, 7.1316, 1.6435, -0.0171, -0.0611, -0.0171, -0.4718, -11.2205, 9.3197, 1.6337, 0.2173, 0.149, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f7237d5c5360e3290bf5aa1dd3c5ec5d5d056c10e7c5ca140ae501359d8a01d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:770bd787aacc90e979d6ee66d879dd986242a1e30fd83f67811b428954636420",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04abd2d424696ff263bdca6486f6bc99541f09023d90f37c86423fca62d9a60f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSoQgKEAgSGAI4AUIIdGhpbmtpbmcSDG5vCHLUafqvLfL1wBoMeq6e7+i/SJi7oxFKIjCRrG3J3DHC5ZgxjXT/AqULDKn3Zdkc9fO0L/TjB/ksPyIbDqAAsMKpVsPucUFuOIEqvgeLUbzGnH/H2iPxJgNYkroT0ZvoUpT0XhB8fYUVSR+AeQit6TvPi41JOVdJILZ8gLNnxE1WWEq428SrcQgPcTe+lLheHZLKpIO4ODp95PIMIz4ZszLqeTthSfOb1Y8TsfmuFvdNQ+rfh/srMhV3Cz+MWchm4MRPznVE+h1Zp1Va0YLRyfUX5R0wk65OHjtXEfMCaMhNphnyjfdWRDJhVN+qDy+0+h980ziESHW3oLkgVJAks8hP6u1AWy/La8K83pgvbUPPI24AQndcqW8Hr4gpPNWT2X9UU0zJNj3Ma5Fhfx/tL7hlQAIZyNQtGThHgNyqaSpG5ut4oM0798qlFf8r706kszju4wnQZz9KvtCiKHEC+YRg6c2KZ9SoS1Q095oDTkdpo4YdZwNFAOXugYq5ZEPQXo8VamhXzhaCt6LrxlkcRMweZ0orHF49JufRj/VZsNSOkCFD+H9Qbn64Ll5hLufiCBGaFTrXTxAa6vH6bp8xZuau/+VZsJsoNSZwEXCLhIaV9q2Qdy5u7DEAmd0Lv+WnleowSWV1nYPHc0gqXloTVAAby6oaE8tSPYzfKzFU3be8ohGPh+1s/JL1ykrhrSk/U8EUpLkh3g+dNUK5I22T3sIFihUtmCuC8Kv4KlwuPDOp4Qq7eKSF3dQL8Ob6DWiZBY9r36dHZrgnm46I92+5nkDpaCHeQ5cGGTxSR0b1kWyY58d7e32PJKkAYslCMXSeUUJlZE6F7kYwEx7fKgbq4UtxxnIVbypKXcHnTWJadhhnYnWxJs9ckS46MO6IiwWGiUeeEa57B0RSCKzUD14vf/36gHboLK4vdgcRs8F6PMYFqCk0b9mdfo+FB9XJnq9yp8dI6NQ/KNMJo2BQ85Bsqvt946zeA6GPyV2l0fEDnFVGtoQii9/n3p3Tc0J2Iyj6uJg/DSDySFfbYiOr6WK64WOBpMeAX0Vkl82lazAqdUoY15OCYXJF+D2Qs0580DzjU8qO1UYfnxfRPp5NVjKS5EXJA8G0Q76EvGQMKoKE295eEtRXtuE9Wyjis6uqZILTV/wx0Tz6uDWaXhTnNbwAoaTPw4ZV27MQvxfR55ck1upiIPtyQPerUEvUwkjQAPaI38LwO/WveY6iFQ/wjFwxCAIQzXww+SlkznQP71hm767237wpiXb/hkGWE+2SQ5nDggwBVnuiCRO81HJ21vA8q3QXHKx7Kx1Pc0y+f/3K6E5s0GvEp4q24V1khUJl8oUuU3gFb9u3oVONhACR9XTAVOlPg3nSaM8zewtXGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VbMPUBzGfEJTEhz9Fg3GqS",
      "input": {
        "note": "Arm stopped at z≈0.11, likely the pear touching the bowl; the gripper is over the blue bowl in the top view, so releasing the pear.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VbMPUBzGfEJTEhz9Fg3GqS",
      "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, -0.4465, -0.0181, -0.0338, 0.9987, 0.3832, 1.8824, 1.4746, -0.6033, 0.1833, 0.1429, 0.9958]\nstate[eef_state]: left_x=0.288 left_y=0.0005 left_z=0.1637 left_yaw=0.002 left_pitch=-0.0839 left_roll=-0.0017 left_gripper=0.9987 right_x=0.455 right_y=0.1526 right_z=0.1148 right_yaw=0.1211 right_pitch=-0.4178 right_roll=-0.0724 right_gripper=0.9958\nstate[joint_eff]: [-0.2393, -1.3333, 7.1043, 1.6435, -0.0122, -0.0757, -0.0171, -0.4581, -11.1658, 9.5521, 1.5751, 0.1685, 0.1197, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:603e7fe0c3ea01ce5737a901c8a3c209fc7bf6aaa33e0e27f051cbaf6bf95727",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:578a711250da331e0739c6fb48c9af459561d70ab9aab83e07aa5faf72a5700e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:59068a0b40ab540fc889131a5126fd840e2145ff27af8be9578498af3cee2a4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 4.392 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6128, -0.4461, -0.0181, -0.0334, 0.9987, 0.3737, 1.8652, 1.4677, -0.5957, 0.1787, 0.1326, 0.7319]\nstate[eef_state]: left_x=0.288 left_y=0.0005 left_z=0.1639 left_yaw=0.0018 left_pitch=-0.0831 left_roll=-0.0014 left_gripper=0.9987 right_x=0.456 right_y=0.1489 right_z=0.1209 right_yaw=0.1236 right_pitch=-0.4019 right_roll=-0.0697 right_gripper=0.7319\nstate[joint_eff]: [-0.253, -1.5385, 6.9812, 1.6923, -0.0611, -0.0269, -0.0122, 0.212, -10.5778, 9.7846, 1.5849, 0.1294, 0.2418, 1.0281]",
      "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, -0.4465, -0.0181, -0.0338, 0.9987, 0.3832, 1.8824, 1.4742, -0.6041, 0.1799, 0.1398, 0.7319]\nstate[eef_state]: left_x=0.288 left_y=0.0005 left_z=0.1637 left_yaw=0.002 left_pitch=-0.0839 left_roll=-0.0017 left_gripper=0.9987 right_x=0.4546 right_y=0.1531 right_z=0.1144 right_yaw=0.1258 right_pitch=-0.4198 right_roll=-0.0715 right_gripper=0.7319\nstate[joint_eff]: [-0.0342, -1.3607, 7.1316, 1.6435, -0.0171, -0.0611, -0.0171, -0.4718, -11.2205, 9.3197, 1.6337, 0.2173, 0.149, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, -0.4465, -0.0181, -0.0338, 0.9987, 0.3832, 1.8824, 1.4746, -0.6033, 0.1833, 0.1429, 0.9958]\nstate[eef_state]: left_x=0.288 left_y=0.0005 left_z=0.1637 left_yaw=0.002 left_pitch=-0.0839 left_roll=-0.0017 left_gripper=0.9987 right_x=0.455 right_y=0.1526 right_z=0.1148 right_yaw=0.1211 right_pitch=-0.4178 right_roll=-0.0724 right_gripper=0.9958\nstate[joint_eff]: [-0.2393, -1.3333, 7.1043, 1.6435, -0.0122, -0.0757, -0.0171, -0.4581, -11.1658, 9.5521, 1.5751, 0.1685, 0.1197, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:603e7fe0c3ea01ce5737a901c8a3c209fc7bf6aaa33e0e27f051cbaf6bf95727",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:578a711250da331e0739c6fb48c9af459561d70ab9aab83e07aa5faf72a5700e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59068a0b40ab540fc889131a5126fd840e2145ff27af8be9578498af3cee2a4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS4goKEAgSGAI4AUIIdGhpbmtpbmcSDLhXSRkzPCWKtEBqXxoMplJr96n1CFXkxsR5IjDRgbNLmf7bJmhQH3c/eD8EAMjETvAB2qwzcVgWX2/9bviLm+5dec5r7uv2FuwspTcq/wnG+A3iT71fMozFvfdwbT5qPkdcYEjOUk+kSIxhdteEl44n//Oya+wc0HE2iO1tBAGO62kA8TMEnhu+ntYVH688tSfwHG1xMk+b/cBllx/l4sIwo6JdLu9xMBGYjwgIYM6N9ymyqj5+NnOnP8GeYVxkI1ZXCz1Ug7CagvwrOoZJ5KMzum75gHvMA7jPF7XVW4SiG2U68/mtCvgUQtg3WC/VB47MvTBee6Mtdu3CYCv7WpLQkrAM0XCluzcxukbnDXTpKXEDTPVBQdC8zLY7sY7VoXes0doRGRxgzeOpvp30VoKbJyGaLkVKFCoL2rHB0dva7EatNZl0dnpfuWt4+340dbrWXOk/7eC9XOakq7QcLtP0M3Cj1YOCFtlInYbToT1PRiGxLgvaj86Ym8cKV1M/tgQj7ZH1Aldv6nrJH+lcl6BPSX7oBkIWSPClhWCH7CfkAPb3aAh8W5KhmN/U+3YMLBT4kTDS3tmZfsColVcPcYJ1KJyFhUzkQHKvjpZDg/Yif6EM2fBRvQ8bXS3vWzKsFgaodzS98BR5jCNEnt653n3mGb8lE7Ql/mUzl3J+rAlCufD7lRkOnkhY2mWxQ6yqCLg71hr9VxIs7FVL+NxwEFAT26raW0XC8MDWP3dtLEKorVqX+Pa6ulnRpB3LboqKicdpxXW6Gz3nrtkqUs2LJSu6iZTWxa/I6yb3uGq16TVzf435Yc/iW6r0k607syd6d1d2UIC/GDREgO3DcF3opWmRaJodN8yxNaZfydrcdRpY9bic5r2vOiClZqbFntdaPTHXe3sEtXQh7IsiZWYS4WdrK4FjbkgtIPPhmQErEfNbXuR41HoQnf99FDjpVW157HbhngbgO97uVNbIAjZ0eE4OcxZj1CA2q/P1Oz/Rwi6xnATPaeiitUAmKMfP6+yj0nxNxFB4TgafKDsZ/rpE/yhZvAThAKyfUh5UG8u8L7q2tLt3/66LdK+bz/sIcevcskrV2cbEVekhSc8FwT1WJ9yumEhWkEIaPsEckI5NlKIj0cHXtMZekKIEgbCoYRcwEyBVlqLq1AjVXCKo97JLp3Y4fhTyoqWgW+K2m7+TBD3mcVjPXHoISFcCME5HpXs6LDNq922gwwG34uxytU5+glPT3bOa9xc4CVasH85EAHoyaDEbXPFGoKbkXspSlnBq6IVhy1ZwSPGNNmxTFKX1rqIbp0idF1MuHx61B6+by+FNFF60lDjuD60arPckgUoAge2G/hS8ptK7cF6XbXUR96p8Mqh+jU1d9jVhXmGkoqeMM6UlhHRN/TMmkG7yAw0NzlXKvPlSGAySJ9/HKlEwhA0is4H5Kz2Jzgr7zNEzVJpiGYPi58ln1e0aTXG3GF6FquRoF5PehAcYffdARObSzQfANnDjcrrjRjB+kxl/kdMb7QmPynx9Z+kHmmtiyPC1tb1dEJV2A+uRtPaI7FE2alcMC3yU60w5LllEBl9OiI0g3fByOJdeo6wgGkMM8/XyuZs7JMKKqOfyFAIyxHv3t7+0RL15DHuv19QXlLBN7KCT5iRrVYmltc5+DtCYGe2TphlQ3xsEgwUXxALERjGoL4+o1rH0qoBHtpE4vb4t+XhGR4+QF4D2XF1EmSawUEDXEob+HaRPZrvzG6P3GR++/ohBKqIJCpRmAXCFmTZwqXpdSxSHWduvcmcWeYHg/SxOpvNK0to638R3N/Au+moeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GjbR4sM2tynykEZSk6FiqF",
      "input": {
        "note": "Pear is now in the blue bowl. Lemon lies left of and slightly behind the bowl; moving the right arm above it.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.23,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01GjbR4sM2tynykEZSk6FiqF",
      "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, 0.8223, 0.6128, -0.4511, -0.0181, -0.0334, 0.9987, 0.617, 1.8057, 1.3972, -0.6769, 0.2874, 0.3088, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=0.0005 left_z=0.162 left_yaw=0.0018 left_pitch=-0.0915 left_roll=-0.0012 left_gripper=0.9987 right_x=0.3872 right_y=0.2177 right_z=0.1148 right_yaw=0.1533 right_pitch=-0.4475 right_roll=-0.096 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.2513, 6.9538, 1.7656, -0.0513, -0.0122, -0.0122, -0.6359, -11.7675, 6.3111, 1.16, 0.4176, 0.1538, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a7e82b533f6ac20c42c5d68e91877b22e569feb35267b57cff7346900dc9add",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26640c6f4b41547e281b779e16a3d3aa757a43fb7896e4424aa3524a8e002764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab98b7c74c2876e076da805b842bf4350089733002d7f2d44ee810865d3a02a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 4.123 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4465, -0.0181, -0.0338, 0.9987, 0.3832, 1.8824, 1.4742, -0.6041, 0.1799, 0.1398, 0.7319]\nstate[eef_state]: left_x=0.288 left_y=0.0005 left_z=0.1637 left_yaw=0.002 left_pitch=-0.0839 left_roll=-0.0017 left_gripper=0.9987 right_x=0.4546 right_y=0.1531 right_z=0.1144 right_yaw=0.1258 right_pitch=-0.4198 right_roll=-0.0715 right_gripper=0.7319\nstate[joint_eff]: [-0.0342, -1.3607, 7.1316, 1.6435, -0.0171, -0.0611, -0.0171, -0.4718, -11.2205, 9.3197, 1.6337, 0.2173, 0.149, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "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, -0.4465, -0.0181, -0.0338, 0.9987, 0.3832, 1.8824, 1.4746, -0.6033, 0.1833, 0.1429, 0.9958]\nstate[eef_state]: left_x=0.288 left_y=0.0005 left_z=0.1637 left_yaw=0.002 left_pitch=-0.0839 left_roll=-0.0017 left_gripper=0.9987 right_x=0.455 right_y=0.1526 right_z=0.1148 right_yaw=0.1211 right_pitch=-0.4178 right_roll=-0.0724 right_gripper=0.9958\nstate[joint_eff]: [-0.2393, -1.3333, 7.1043, 1.6435, -0.0122, -0.0757, -0.0171, -0.4581, -11.1658, 9.5521, 1.5751, 0.1685, 0.1197, -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 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, 0.8223, 0.6128, -0.4511, -0.0181, -0.0334, 0.9987, 0.617, 1.8057, 1.3972, -0.6769, 0.2874, 0.3088, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=0.0005 left_z=0.162 left_yaw=0.0018 left_pitch=-0.0915 left_roll=-0.0012 left_gripper=0.9987 right_x=0.3872 right_y=0.2177 right_z=0.1148 right_yaw=0.1533 right_pitch=-0.4475 right_roll=-0.096 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.2513, 6.9538, 1.7656, -0.0513, -0.0122, -0.0122, -0.6359, -11.7675, 6.3111, 1.16, 0.4176, 0.1538, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a7e82b533f6ac20c42c5d68e91877b22e569feb35267b57cff7346900dc9add",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26640c6f4b41547e281b779e16a3d3aa757a43fb7896e4424aa3524a8e002764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab98b7c74c2876e076da805b842bf4350089733002d7f2d44ee810865d3a02a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuAgKEAgSGAI4AUIIdGhpbmtpbmcSDBaauAXa5mQkMMHb2xoMcRc2p+69qIM5YFGOIjAh4xihpD2rkTr5FIK2FHxT+xdtE2aKVMwL8wUafdwNtHhrYAiy0ZDbZKHuU2AsUWsq1Qc2KnKhiSySEMC36Cf6dsLAF0wXGQhWm7a6cWIWLEhTlwLOuAlGv0QHl+B3/Y2iTMZe1YCo1Pd0ZX/d31it3zaE15SsbO0AFWUsbwD2wi/bKUthCaM0o5MLZzOSrTpkDiTqA+dRLmY7NUe1wYb3A/UV98AibLlrrQYlFWyeCsl3M2d1SRtozSA0OWvWhypv+DzAa79LJGkP/WpI9TGYgdEfB8jE3M5pnMVhPIbKmqcgtG/eZm2pIijLi1aIPSjjuTEtNCeHFAeYZ0MOCRH5/GsQH1YiJMlgmLbDB+Wgx6VGjXFzKE41rOVb9RArfJKn946UUAN9eNsyN70a86NYJxZCJt0NwsXJlZm+lMVYhU/c/myC15Y2rjREaX/lk1pf6nJCB9mSU93zVGckBn4ztHMLA0qV2Ch3g9lasaxFZw2kxrVSQvCX6fYtEId9b0IROLu9mQKRSFbZFEwpgxEBHgcrTObd4pzXQVx1ynPzw+E6h02RgGFuu7ksBFdxbDWgdJEsmVy0mO7cQinp32c3xSk1XAHA61zfEcPXd/rA9EWTnTxiCnTqFfF/xU5epDryifap/pU5E4PxYSMFzImfUmJmUbl5u5i23vI5N34PcN/zMWw8hoa+clu35ffRzwa6SSWwPhmALQ+YIxCHVolTny4J4V1ri6RcuLjsMJZXXFJJKYqbBx3ipILY64qV3vDW1if40JTfhN+DoEhyF9K8o0+hF4O3CXX4EOCHSFOz9nNg9NdEvJlt1PQOLLV6++uiwsvBTmI6m2KULSzm3o2Dobtw39pP55J0/gzZJz00OMd5huvHFYE6GlHBfFhrX3EAvN6EQzLc6qFbE6W7tAwPw5XkqP3bUTAtYSJSj9YrpmudL/OJk2upD9fb5U3RrwmvePHdqEV66QEqvObCspw4NgbL/BB4vEtV696Yvam/s0F6sGU72eJJ7W4BUz8GxyOrvzHpEMQtFRFfWcTUjYp+YSbN8ZrvuscKjDy3wRn65XAEb55geJVjKPIImMqjAW6xkyTeBIN2pzjI//9cH/FZEB+G+Fcy4yFzWXdhDLE1VEtwN3NEW3w4RPqE4TwhwnKMJdaOi9M5gb0IMbOsEWgZjX89CZrwgmOxJDT2jOrSOJVOO2dF8KHRj5tXQvWpgxzR8Pb6fGWS48Ld8GmFW8+CeFQnHzBH8pwukPLRLuQn8YGzquKl/YdCFamq03gjnAmAiKkhZHVT3daW6BsSGVrGDSp3QaIrzPyOhmdMjakmuBd6l1p8nLarf4VN2jX/ifyFunukLnGFKBZHMg/CtI2MV5GGYbvrvHQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qo7GHquUgvTtPWEPUSHN3N",
      "input": {
        "note": "Lemon appears slightly left and ahead of the jaw column in the wrist view; shifting to centre over it before descending.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.235,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Qo7GHquUgvTtPWEPUSHN3N",
      "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, 0.8234, 0.6128, -0.4538, -0.0177, -0.0334, 0.9987, 0.6575, 1.8465, 1.4876, -0.7647, 0.3019, 0.3546, 0.9965]\nstate[eef_state]: left_x=0.2871 left_y=0.0004 left_z=0.1612 left_yaw=0.0015 left_pitch=-0.0954 left_roll=-0.0014 left_gripper=0.9987 right_x=0.3826 right_y=0.2335 right_z=0.121 right_yaw=0.1452 right_pitch=-0.4727 right_roll=-0.1023 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.4291, 7.159, 1.6874, -0.0611, -0.0317, -0.0122, -0.9778, -9.306, 7.8701, 0.9109, 0.1099, -0.1294, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eeb1774b3a3352cbda9a4b13ea5ed03e164f8f78b3af3e7229bfa02a98859c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dacf05eed22792305d04c74eeae9b912ede2fff168ec33ff97dd3d833d725ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d8b13f960c5391bfea2ec613a2c9e5950fe3d08b31ed07747dd786f52e5752c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 3.288 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4465, -0.0181, -0.0338, 0.9987, 0.3832, 1.8824, 1.4746, -0.6033, 0.1833, 0.1429, 0.9958]\nstate[eef_state]: left_x=0.288 left_y=0.0005 left_z=0.1637 left_yaw=0.002 left_pitch=-0.0839 left_roll=-0.0017 left_gripper=0.9987 right_x=0.455 right_y=0.1526 right_z=0.1148 right_yaw=0.1211 right_pitch=-0.4178 right_roll=-0.0724 right_gripper=0.9958\nstate[joint_eff]: [-0.2393, -1.3333, 7.1043, 1.6435, -0.0122, -0.0757, -0.0171, -0.4581, -11.1658, 9.5521, 1.5751, 0.1685, 0.1197, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8223, 0.6128, -0.4511, -0.0181, -0.0334, 0.9987, 0.617, 1.8057, 1.3972, -0.6769, 0.2874, 0.3088, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=0.0005 left_z=0.162 left_yaw=0.0018 left_pitch=-0.0915 left_roll=-0.0012 left_gripper=0.9987 right_x=0.3872 right_y=0.2177 right_z=0.1148 right_yaw=0.1533 right_pitch=-0.4475 right_roll=-0.096 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.2513, 6.9538, 1.7656, -0.0513, -0.0122, -0.0122, -0.6359, -11.7675, 6.3111, 1.16, 0.4176, 0.1538, 0.0611]",
      "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, 0.8234, 0.6128, -0.4538, -0.0177, -0.0334, 0.9987, 0.6575, 1.8465, 1.4876, -0.7647, 0.3019, 0.3546, 0.9965]\nstate[eef_state]: left_x=0.2871 left_y=0.0004 left_z=0.1612 left_yaw=0.0015 left_pitch=-0.0954 left_roll=-0.0014 left_gripper=0.9987 right_x=0.3826 right_y=0.2335 right_z=0.121 right_yaw=0.1452 right_pitch=-0.4727 right_roll=-0.1023 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.4291, 7.159, 1.6874, -0.0611, -0.0317, -0.0122, -0.9778, -9.306, 7.8701, 0.9109, 0.1099, -0.1294, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eeb1774b3a3352cbda9a4b13ea5ed03e164f8f78b3af3e7229bfa02a98859c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dacf05eed22792305d04c74eeae9b912ede2fff168ec33ff97dd3d833d725ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8b13f960c5391bfea2ec613a2c9e5950fe3d08b31ed07747dd786f52e5752c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSkQcKEAgSGAI4AUIIdGhpbmtpbmcSDO8HDi9CfIFL3V5JKxoMCxGCRl9qhNObyNAPIjAaLQ2ZNp8dQpVc+dh+ZT9hAGHT2FS2s0KXDMsre+8z1A1GsBgZFa8bhNGBi67/RCUqrgaQQFA9xJAT2DIgm1dVAuZuv36JvYLQ8gNwuXH0AK7tj+asmi4VSMUnRhDTAOZmcWSOnaqQvBb7Hjyr6M6dLt0s+TdcsLWERFVythCaW3kofAGiqXQS7wQ/EnBA8JLDQLZYwTuf6PIJxyMS/4dUQioufavnYZygtk7TAEkbgSkMKLOOpqurOFRXWPJfylRdgXOpYDsnh0z92OdV2v/jpUm1mJg2nRRb+J5KCV8IVwaUe1DF2PopnUEh6ypKoX0nH2GdNl4l19B9Q/YnKvMrHwxQWIz5ogw9ESIkJanuakOe5xzAszihMxy1REmaL+OXBx74/m889pWRE1XHzKxCGp8+jIaSiqlDPy9sKpc+Diu2AP2tXgkinNUXDuBHJ+CqyK9Q2n3TVIGZ9xMaud6QwvWwJM7pjmjXkbTSK/G+GsEZ1ZyB+SBv27L3o4w6xvM7aF+7/wxP4Vk2Xx0bgt6ogDCmIxSkNSGnCd7C67hZ4MnlPd+59edMHgbbQnBrNXJqhdh6RpaDpEYmqOvWO5qJxzvoVyObcE0EATyDMNutsj3C4Hn5+OTXHx40KDkb78usnCe9EjUXGDuUlbkijkGUHTPkviX9rMSSTjr88+f/Qaxou1Yc06wuXcwZ/+8h7XIXD5G3CCqGqNIIqtgZANVq2++dO7h8BDtKUgTC1J9Rc/PaWdMZQUpBzdGcq5TdY21+1V4VdJYmgSDY/e46UvuXA6Rs6DKTYt6okgYdda3QdCQdYKBZ0u+wyllz7wjg4ABYZjVV/6BOOBQ9OearEsYTPEAdr4FnvZYBytz55qldlJ4mnRndvHyro6WlnDpZd13gWK531ykmkgJ6/vGDhEqoGL7+2CJBZ8YBwOHhXHkDyiSELRrPth6DOnNT/bUwo/iDizFkbya0kuiWZza8l7OTB3ctJ27XmaA9YJGcas/J2QiwRetu1gQXa9dTLd+inNFKaM12CTVGJPa+OYnJ/hkkrtfa7mwfXmEVrQaXBqnGvZ9CLJN37uDfYodRsBMvdMLa7hjLNqj2cZSsP7X4hYC3sm7bKax9RQSAcQrwd/rt94LiLC8VlkVTgPGebw1sF6NwGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NjNJKFb4gW9RSrB7b27GLT",
      "input": {
        "note": "Lemon is now on the jaw column, a few cm ahead; advancing and descending to table level to grasp it.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.235,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01NjNJKFb4gW9RSrB7b27GLT",
      "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, 0.8268, 0.6128, -0.4675, -0.0177, -0.0338, 0.9987, 0.6506, 1.8755, 1.4536, -0.7258, 0.2913, 0.3328, 0.9965]\nstate[eef_state]: left_x=0.2852 left_y=0.0005 left_z=0.1576 left_yaw=0.0018 left_pitch=-0.1125 left_roll=-0.0013 left_gripper=0.9987 right_x=0.383 right_y=0.2323 right_z=0.1002 right_yaw=0.1544 right_pitch=-0.4997 right_roll=-0.118 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.6615, 7.1453, 1.7558, -0.0073, -0.0317, -0.0122, -0.0205, -10.4957, 6.3111, 1.2332, 0.1587, 0.0855, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab15eb16a643ffbbdd4428641cb2cb6d2c1bfaddb0956d56b1f05b09ca6b2922",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:089c228c4a9e024f81423ac948a5005eee2ca91c2193ed6dbddded7957d9d27f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7ee52360ef11ac3cb493dbd19df5d1c1828bb449f702dbe6544f88c961468016",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /messages · status 200 · 3.704 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8223, 0.6128, -0.4511, -0.0181, -0.0334, 0.9987, 0.617, 1.8057, 1.3972, -0.6769, 0.2874, 0.3088, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=0.0005 left_z=0.162 left_yaw=0.0018 left_pitch=-0.0915 left_roll=-0.0012 left_gripper=0.9987 right_x=0.3872 right_y=0.2177 right_z=0.1148 right_yaw=0.1533 right_pitch=-0.4475 right_roll=-0.096 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.2513, 6.9538, 1.7656, -0.0513, -0.0122, -0.0122, -0.6359, -11.7675, 6.3111, 1.16, 0.4176, 0.1538, 0.0611]",
      "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, 0.8234, 0.6128, -0.4538, -0.0177, -0.0334, 0.9987, 0.6575, 1.8465, 1.4876, -0.7647, 0.3019, 0.3546, 0.9965]\nstate[eef_state]: left_x=0.2871 left_y=0.0004 left_z=0.1612 left_yaw=0.0015 left_pitch=-0.0954 left_roll=-0.0014 left_gripper=0.9987 right_x=0.3826 right_y=0.2335 right_z=0.121 right_yaw=0.1452 right_pitch=-0.4727 right_roll=-0.1023 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.4291, 7.159, 1.6874, -0.0611, -0.0317, -0.0122, -0.9778, -9.306, 7.8701, 0.9109, 0.1099, -0.1294, -0.0024]",
      "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, 0.8268, 0.6128, -0.4675, -0.0177, -0.0338, 0.9987, 0.6506, 1.8755, 1.4536, -0.7258, 0.2913, 0.3328, 0.9965]\nstate[eef_state]: left_x=0.2852 left_y=0.0005 left_z=0.1576 left_yaw=0.0018 left_pitch=-0.1125 left_roll=-0.0013 left_gripper=0.9987 right_x=0.383 right_y=0.2323 right_z=0.1002 right_yaw=0.1544 right_pitch=-0.4997 right_roll=-0.118 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.6615, 7.1453, 1.7558, -0.0073, -0.0317, -0.0122, -0.0205, -10.4957, 6.3111, 1.2332, 0.1587, 0.0855, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab15eb16a643ffbbdd4428641cb2cb6d2c1bfaddb0956d56b1f05b09ca6b2922",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:089c228c4a9e024f81423ac948a5005eee2ca91c2193ed6dbddded7957d9d27f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ee52360ef11ac3cb493dbd19df5d1c1828bb449f702dbe6544f88c961468016",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSvQYKEAgSGAI4AUIIdGhpbmtpbmcSDJaB60+S2j8u08iJgxoMiD27WYbw7sXxz3rZIjDXb+5s58nnbcP8BA1HzYFdAtTJ31W6SPS8o2PPAAAU2t4JeZHnVLcjYNZh6uJu8l8q2gXbdgQQ6HpXMNQnwNVRJV2Qt3qfqEWHEvEnT6rvqzJLmrVVGe//QfgDU8dXsq6Q8awWcf/K6NLqT4P4/N2tOQYuBs+BxiXh1w5Z3inqzA8uvIvbsEYu2ZeiE81dGdKH3RM7tFK1b7TsakKeZQt1RnIOd62mdDOEmSz/YFubHmPk/o8BHUfSFchvdfhOIqZtIMFNM+oISTorly+S+jQFOIBzP+7RbhAw9g8mwx9QmFrS/BrfJBXaRvmNiC+8nQvpDkvLvF3IHR7N5/asPTkWGjLLeTA3yuDDBmSidvljOqLukyzSo7e60Y3keKHIMAgmgmph0wRJsJs0jdScSBycNfyncCMhwkO3rlTzYs+w5wI491QI/LRwyJSyVuQgOgACFZZ2EEtDJnzVIjvzp1CmRnN17uB7dJFKokHYoFJb2h7c+14bf4xucK91OhpOI8UECkK2kk8GTmg5ADSS8oTjWGRF+BQ9nY6KGBw+65PE7Ct0YmDkNqJtyM8y6vSosd1NHxpG9lumvHJzRfVZyqloYyULx12ZUvoqw1RY/4kN40SZdNqs/0PsRrhLHDGRks157ibbX9tDLEyAqtUcwEJgPyjptowQU0CLdKp6fD6FizbDMVCbLarW6+Dkph8XRfWrmVosDoMrE5QNeCiwbpg6DUZiWK4+YGdGx9LBMz1e/Tr5bYNSSWT8FWpOaNH3mgVDSVyWckfKedaXZ+SUWFmIn69XU/51ukBQ5ig4J6p2eKSY46PYOR0/apRj/DnK3euNYpRKnW62NYERMNHfalx8CyA7tUdCUwD7PSt9IQttwdPrCUwlOO2D/iTg3BlHA2/dSqkI8w19fITwVCBN/ee67MUKucwM6IAXbqci2tw8o5FI2sB+yx3aLCkeKqJM0zBJCoEqMLK7nuCJLmmyftORpBY+SUWOXDy4M4Xr6fIbfEiOAWSq7RL/gIfWAZVOWYtVketGBFoP4bHCNdMpGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LDwSvSw2iztfpvEaE3ki4k",
      "input": {
        "note": "Arm only reached z≈0.10 (slow tracking); re-sending the descent onto the lemon, which is centred ahead of the jaws.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.235,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01LDwSvSw2iztfpvEaE3ki4k",
      "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, 0.8261, 0.6128, -0.4698, -0.0177, -0.0334, 0.9987, 0.6384, 1.9347, 1.4212, -0.6212, 0.284, 0.3164, 0.9965]\nstate[eef_state]: left_x=0.2848 left_y=0.0005 left_z=0.1574 left_yaw=0.0016 left_pitch=-0.114 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3952 right_y=0.2361 right_z=0.0736 right_yaw=0.1616 right_pitch=-0.4924 right_roll=-0.1136 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.0872, 6.9402, 1.6679, -0.022, -0.0366, -0.0122, -1.5111, -4.0684, 2.9197, 0.4615, 0.3883, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c04d72fc21e8423ace0ca77bdfd737b03a6d69a39de19afa746a99adbb9929b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e13334b0a16f630476893fdc7e53234c801c30d6768c07441f9d973e8e1309c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63a820afbe91b3c42a845a592282fe84775c2af1c9b8f7616a896774366b8349",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /messages · status 200 · 2.82 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8234, 0.6128, -0.4538, -0.0177, -0.0334, 0.9987, 0.6575, 1.8465, 1.4876, -0.7647, 0.3019, 0.3546, 0.9965]\nstate[eef_state]: left_x=0.2871 left_y=0.0004 left_z=0.1612 left_yaw=0.0015 left_pitch=-0.0954 left_roll=-0.0014 left_gripper=0.9987 right_x=0.3826 right_y=0.2335 right_z=0.121 right_yaw=0.1452 right_pitch=-0.4727 right_roll=-0.1023 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.4291, 7.159, 1.6874, -0.0611, -0.0317, -0.0122, -0.9778, -9.306, 7.8701, 0.9109, 0.1099, -0.1294, -0.0024]",
      "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, 0.8268, 0.6128, -0.4675, -0.0177, -0.0338, 0.9987, 0.6506, 1.8755, 1.4536, -0.7258, 0.2913, 0.3328, 0.9965]\nstate[eef_state]: left_x=0.2852 left_y=0.0005 left_z=0.1576 left_yaw=0.0018 left_pitch=-0.1125 left_roll=-0.0013 left_gripper=0.9987 right_x=0.383 right_y=0.2323 right_z=0.1002 right_yaw=0.1544 right_pitch=-0.4997 right_roll=-0.118 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.6615, 7.1453, 1.7558, -0.0073, -0.0317, -0.0122, -0.0205, -10.4957, 6.3111, 1.2332, 0.1587, 0.0855, -0.0073]",
      "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, 0.8261, 0.6128, -0.4698, -0.0177, -0.0334, 0.9987, 0.6384, 1.9347, 1.4212, -0.6212, 0.284, 0.3164, 0.9965]\nstate[eef_state]: left_x=0.2848 left_y=0.0005 left_z=0.1574 left_yaw=0.0016 left_pitch=-0.114 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3952 right_y=0.2361 right_z=0.0736 right_yaw=0.1616 right_pitch=-0.4924 right_roll=-0.1136 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.0872, 6.9402, 1.6679, -0.022, -0.0366, -0.0122, -1.5111, -4.0684, 2.9197, 0.4615, 0.3883, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c04d72fc21e8423ace0ca77bdfd737b03a6d69a39de19afa746a99adbb9929b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e13334b0a16f630476893fdc7e53234c801c30d6768c07441f9d973e8e1309c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63a820afbe91b3c42a845a592282fe84775c2af1c9b8f7616a896774366b8349",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiQcKEAgSGAI4AUIIdGhpbmtpbmcSDFcWCMCIIDvWKF12VxoMPkztIAh6L9fY6hwxIjD52whAYXkMLDmA5n5DoGuZ72pdul2XTZaUhAJJDdyxajisPn1+ppgMZyc+lFnZ3GgqpgZo14J6q3UNhfBcVzoFYV5FfZqET0NZYTCbqdFafStTQN0mjtumVMIxZgDV2BuGfoH6t2UQlSjVjEAWlHws/58ZDexYcDAgfUuztmWVmkqKSUntmnlJmn2kXW1WKF/vTOnTkrfUGRYHFpvV04TwjdCB/wJcD/WI8pwFBe66oBsJ4ku0oWMUbefNeJJshBOWXdhgse32R/zTURhd1pyGbH9LAGUV+ruA50FucEsxysqB6F6H/dCcPfYbVVnzekklOMjexqucrDdLLL30A4RZ2WNqB7A8305SoOhBz+DUa0hEYcP6Hjr4Eyltkq3lm+k2QSlFB7aDkwdjcp+tDRKBGdpSG8aM+Wmck1lH0JLjvuThXJQfoozVThWcC38C8cYt8CTIzKN0NvA2cO7wmWls2i2c98IUL2VhnR2LOrAD1yCFpxRgESfg6URFncTcj9x89bVuq3cFRX/EDFJTSkk9v3LSJfsmWePWXeNmDCFEVu3C8nTs6crQK07zZZr7k1MAq2G3Kmit/3Vlf/YCP90rL0SHYZ+lL62+g9I+Rfjjch5ILCW2D0WVlS87GHGAJKGUSTHqO441qSeicSJ26w1V7DEDUJIzScd4Fa54B/8RkPz0Yk7pb3BdpOoiFPaWCGaGroswhByTe1VRvIgtdhHS6g2G4L91ajf1HPeaK1nlN7Is+OBT8E7Nag3lY7L7UbTgqHTbI9KVU6WnN+0ZBoMDLHS2tGKKScstdF2NfU7X0XLWtLFx9d3X7wLmAO9NMTxKnJUUw1riD/V1JpqhgSy2pBbdwSMDwBJ9u5LDIGbRArhPj9Wo1ZkdHAoipQUtt/srfIjpW372A2qkAM1/XsGRWtfBHG3L7dJS07wZHZk/whn6MopTrlHDLD/u4nGb/zKX8AhjeiVIYDSgAT6BNr8Du6v7sGos6n4h9eVKziYpZxIyj51gkMelBKbwA2GDt12/YCOgQWNUeVcXk53tbqQ8YUSC6WvjfzDIqylstVQ+pddmxn9M8CyynmLr3kIpox5/JBCTfxPGXWSdL7uqpNZAd4t0OIjbv7HHJZ2Dg6SOcfNziW3vVUke5hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017rUbr9qVKYLdHF5xxzwbaM",
      "input": {
        "note": "Still descending (z≈0.07); lemon stays centred on the jaw column. Continuing down to table level.",
        "targets": {
          "right_x": 0.415,
          "right_y": 0.235,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_017rUbr9qVKYLdHF5xxzwbaM",
      "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, -0.4755, -0.0181, -0.0338, 0.9987, 0.6147, 2.0514, 1.3621, -0.4671, 0.2672, 0.2867, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=0.0006 left_z=0.1547 left_yaw=0.0021 left_pitch=-0.1259 left_roll=-0.0007 left_gripper=0.9987 right_x=0.4055 right_y=0.2336 right_z=0.0166 right_yaw=0.1653 right_pitch=-0.5206 right_roll=-0.1253 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -1.7299, 6.9812, 1.7021, -0.0269, -0.0708, -0.0171, -0.8547, -9.3607, 5.5453, 1.199, 0.1001, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e9d988904272bde78a29541d42fcf3638fc632977203c344c1890870dc9af54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:375170d1effe35bb33a82acdafd7c631b9711358078451c6309fc0d763be764f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ec32fe4b897d699fba81da783c18b1da5d00a9275f6437396490f03064bf0c5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 4.05 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8268, 0.6128, -0.4675, -0.0177, -0.0338, 0.9987, 0.6506, 1.8755, 1.4536, -0.7258, 0.2913, 0.3328, 0.9965]\nstate[eef_state]: left_x=0.2852 left_y=0.0005 left_z=0.1576 left_yaw=0.0018 left_pitch=-0.1125 left_roll=-0.0013 left_gripper=0.9987 right_x=0.383 right_y=0.2323 right_z=0.1002 right_yaw=0.1544 right_pitch=-0.4997 right_roll=-0.118 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.6615, 7.1453, 1.7558, -0.0073, -0.0317, -0.0122, -0.0205, -10.4957, 6.3111, 1.2332, 0.1587, 0.0855, -0.0073]",
      "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, 0.8261, 0.6128, -0.4698, -0.0177, -0.0334, 0.9987, 0.6384, 1.9347, 1.4212, -0.6212, 0.284, 0.3164, 0.9965]\nstate[eef_state]: left_x=0.2848 left_y=0.0005 left_z=0.1574 left_yaw=0.0016 left_pitch=-0.114 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3952 right_y=0.2361 right_z=0.0736 right_yaw=0.1616 right_pitch=-0.4924 right_roll=-0.1136 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.0872, 6.9402, 1.6679, -0.022, -0.0366, -0.0122, -1.5111, -4.0684, 2.9197, 0.4615, 0.3883, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8322, 0.6128, -0.4755, -0.0181, -0.0338, 0.9987, 0.6147, 2.0514, 1.3621, -0.4671, 0.2672, 0.2867, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=0.0006 left_z=0.1547 left_yaw=0.0021 left_pitch=-0.1259 left_roll=-0.0007 left_gripper=0.9987 right_x=0.4055 right_y=0.2336 right_z=0.0166 right_yaw=0.1653 right_pitch=-0.5206 right_roll=-0.1253 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -1.7299, 6.9812, 1.7021, -0.0269, -0.0708, -0.0171, -0.8547, -9.3607, 5.5453, 1.199, 0.1001, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e9d988904272bde78a29541d42fcf3638fc632977203c344c1890870dc9af54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:375170d1effe35bb33a82acdafd7c631b9711358078451c6309fc0d763be764f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec32fe4b897d699fba81da783c18b1da5d00a9275f6437396490f03064bf0c5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSygYKEAgSGAI4AUIIdGhpbmtpbmcSDNTeR6Rkxa/p3AIQYBoMhgBmN9EA7VxQ9DGTIjCB73BuYaLmEf7IiqEwHKQotOQ1IUtANiR+0UZqUoVIr840j1/qk5brnOZTEp3SX8Iq5wVUULsBcx1xZvbJczGDZXY52DwCnr4Lw6MC/8JmJlBWw9/DH36gttlBxs1yZj9UG3sWU9QphtZ0+g704YgjSUsV8xFuFV8EoLddda1RDTP1M9iqjcOd3thQX1DfB3tyPsI1kDcwYGQF92EIi9Oa6E4OpvEXFWVff0FDc5UPhjIz73+RWaGjrTGKjK+Bu2ntp7jH2lTgrw6PLCnoHH4IZ8pG1oKF9hbnh2ffq3hoTE19deKU4WvTUTusrhnfjf1LSFX1bkoSzGLjYvwt48asUMPIXkQvvzmCi6yRO+5l7KNoxJQSJ/7/5zQkq8fzQFpgTtvqpq4AYsGPkjfW1vknnTmPfWOtqdyyRAZiAT3PKv6qjJ5qByi1zr37TxI4irPUJ4ezlHxncUUzouCGmAw8Wjl8diP2pIEudq0x/UyfD02rdLmhpEToGBTZQplAqX/m71Owm1qstQXd6l2EJ3KYWxqoQCM/9WaCo6TPspjbV0Euj7Sgkr2avp7WpVjO17RPCQkTJqz4rljT2+g4R08AaIvGWzrU3hScwdNN33IgP0o3XLPQudBgYBNOCG3yzxuI9nikQml8keVAKG92iLLU84ZM0SSawa4jSgtG7RkQTsb8ZFgPiMQEnpPPwqJmCAG4T2PEnlv/hfPEufdh5K5A2xU0vx8LUprVOAw+ySnVgaGZtVMTdKPc9kvhGhtIKc5kOYOx7EMFvhlJUazqVETj+g643vzYdKIK1ZbvGCr3Dmnzw7lTORqHqBrQ4l2GnR3W1tO3KwSAqjAOJwX1bIc9hP249r+HaSphEVuFzkfDfqgNdBMRb7GnW2LLx+NmE/POoc/H9MDACmgWAgp+3LlLO1KKJpG8HuDZqhsIejWOCxDgyIBKJ7dPE/AsvECH0fHiYB/7jp/oR/kvbY8XNdfTcl9Kbls+hdLzE7hddeR0a/l0xkI3OwsHXz2K749NfjGethX7HPu1UUGxL9uZOseTkh+jb0l24SQg3xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016xvaix5ru7VA4Vpf8MTdCV",
      "input": {
        "note": "Lemon fills the space between the jaws at table level; closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016xvaix5ru7VA4Vpf8MTdCV",
      "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, -0.4759, -0.0181, -0.0338, 0.9987, 0.6094, 2.0705, 1.3621, -0.4335, 0.2642, 0.2768, 0.5179]\nstate[eef_state]: left_x=0.2841 left_y=0.0006 left_z=0.1546 left_yaw=0.0021 left_pitch=-0.1262 left_roll=-0.0007 left_gripper=0.9987 right_x=0.411 right_y=0.235 right_z=0.0112 right_yaw=0.1723 right_pitch=-0.5094 right_roll=-0.1206 right_gripper=0.5179\nstate[joint_eff]: [-0.0205, -1.4427, 6.9265, 1.6239, -0.0317, -0.0366, -0.0122, -0.5402, -10.6188, 5.6821, 1.3065, 0.1441, 0.0562, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e78bd317a9b22a507fc607c646fab24beb2f13c2c7e2d96adec207c82686333c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:231c41c9f9280de22167f69f699ca4074a990d9a91d95881555d2360e532640c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a956337d0687517f2e5d1e488270ce20306c3a04462a096c595ecacf3ff05dde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 4.425 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8261, 0.6128, -0.4698, -0.0177, -0.0334, 0.9987, 0.6384, 1.9347, 1.4212, -0.6212, 0.284, 0.3164, 0.9965]\nstate[eef_state]: left_x=0.2848 left_y=0.0005 left_z=0.1574 left_yaw=0.0016 left_pitch=-0.114 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3952 right_y=0.2361 right_z=0.0736 right_yaw=0.1616 right_pitch=-0.4924 right_roll=-0.1136 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.0872, 6.9402, 1.6679, -0.022, -0.0366, -0.0122, -1.5111, -4.0684, 2.9197, 0.4615, 0.3883, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4755, -0.0181, -0.0338, 0.9987, 0.6147, 2.0514, 1.3621, -0.4671, 0.2672, 0.2867, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=0.0006 left_z=0.1547 left_yaw=0.0021 left_pitch=-0.1259 left_roll=-0.0007 left_gripper=0.9987 right_x=0.4055 right_y=0.2336 right_z=0.0166 right_yaw=0.1653 right_pitch=-0.5206 right_roll=-0.1253 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -1.7299, 6.9812, 1.7021, -0.0269, -0.0708, -0.0171, -0.8547, -9.3607, 5.5453, 1.199, 0.1001, -0.0562, -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 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, 0.8322, 0.6128, -0.4759, -0.0181, -0.0338, 0.9987, 0.6094, 2.0705, 1.3621, -0.4335, 0.2642, 0.2768, 0.5179]\nstate[eef_state]: left_x=0.2841 left_y=0.0006 left_z=0.1546 left_yaw=0.0021 left_pitch=-0.1262 left_roll=-0.0007 left_gripper=0.9987 right_x=0.411 right_y=0.235 right_z=0.0112 right_yaw=0.1723 right_pitch=-0.5094 right_roll=-0.1206 right_gripper=0.5179\nstate[joint_eff]: [-0.0205, -1.4427, 6.9265, 1.6239, -0.0317, -0.0366, -0.0122, -0.5402, -10.6188, 5.6821, 1.3065, 0.1441, 0.0562, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e78bd317a9b22a507fc607c646fab24beb2f13c2c7e2d96adec207c82686333c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:231c41c9f9280de22167f69f699ca4074a990d9a91d95881555d2360e532640c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a956337d0687517f2e5d1e488270ce20306c3a04462a096c595ecacf3ff05dde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStAgKEAgSGAI4AUIIdGhpbmtpbmcSDNkbbD7+UglghY2nwxoM+a5p4c6+seTZ0JqHIjCAfolN6JVOUfzhwfSCjuZwk1D/sDHli52LSHR05DAM65pfIotXl23njb17zkpQfmEq0QeRFAi6NeVRwKyqTpKLEkFEdqrGdAx+S65G3gQqINUmWbWljqDHyl2LFX/qWfLOEaDFKGbpodfqb9y+Qy3ofIi0PSCyLO8An3Zo9j8y8qVFEzQRnWgeYTB+RihbSC/OsmhSndSHd87YY9Qo1Fr8lPjzs2V5S0CMjqrHrHEv/5PymMzNCKewLv3gjGHefl/IM4A7uHrnSIbKOSdkJhtZ3vTnZP0kzW7h7wLtGszKQx2R+0MyoZmk7w3yDf5T2ZjFSae1tGhcaahTJv7+It0aT9otiH3U+9oK2neeoqMTqnJ9DIFlKjXnSLnvkTj5KoKK8xitgMbAZO8dfZMkK4OOPwGoT40qu1R78rMnSw0L0EZAAHnoPpUtMo90oLmfNSIaa0HpHyrK6zEN/P7xUztFHCtey16mkIXgQe8oHb7EERUMZ0jM0dLJfKRXw1IjN6eH1zqY2nOguHkHoGPoDnvIeSm+iKyIV3+gQE906sz/fGjDT98OXkC74Up9RchAvyXZi4ZQk3XaU1QePwBO5/42HsVGOAgUq7U1xlYW4ebIg5toy0l1HI/MjBtPCyO3KzbXQk6oUi0QRfjRpxvoZl2iOUacB6wnYPL7pEmgLJ9aqYy6N/X53L7tYlwl7LVbb9AUvh7aofjtY5/Q+0aKLUMFJ3ucqEl9U3/19iEPX2BRN1xZLQoyuX2I5SQ3nI+ZtOTRFyeQ7a3iRkxFN3/zowOp4jy0G0HvmLmqsuA7MUBmR0+xeYUKCJQRnCOYAzG1bNkC3I0qSw2mO5UnQalWXqyQFbfXu2CY/y8Ot4CLOKjSabyFK0rKOLypfYJZ0TpVPSSX+l9zqe3aWpwyGmp8/KznA1Rlv+4QktRhA4iVAEK0ZysvwUYhtK5VCSG3ZuDWawe/UcA9lRR7bCxFLvNub2amTaLkALWlRsNnUONwJxg58xCPn/2Dnn7uEvRpUCC8KH6+ZFdi/uRd/dal6lxD8E/NQLG6XFvtLAGRUjKkfNAyI0/UnoeI/cjrLHIGZgJG4L+Vb+D6PbHBd04B6umt5rxDVnh+kzGuS7BgmvXWhixzf4RG2MYjAMxlofZYwANFN4dYhPzuhmtAaEGMXtYpq0ABHh+Q97y6yPzVE8uBipoZd/MUGMc+tnizVSfYz31iW1cJB5sExFzr3L4bZ0DQtcxkF/kuobGeLqilJe3O0TMMxt1QRsD3DeUDfJdPZekFrozfDwIRIV79NVDfGhgrWdeKkCiLCteKL73QkiOwaVOuxzzgKtwV2D8BN3552gaTgSJ/9DvGLlPjzPEH4MR+4yZ5WhltWhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018q45Z96QMm5ka4Ncvapm47",
      "input": {
        "note": "Lemon grasped (gripper 0.52 ≈ 4.9 cm). Lifting it before carrying to the blue bowl.",
        "targets": {
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_018q45Z96QMm5ka4Ncvapm47",
      "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, -0.4755, -0.0177, -0.0338, 0.9987, 0.6109, 1.9934, 1.8103, -0.981, 0.2573, 0.2687, 0.5186]\nstate[eef_state]: left_x=0.2841 left_y=0.0005 left_z=0.1547 left_yaw=0.0018 left_pitch=-0.1259 left_roll=-0.001 left_gripper=0.9987 right_x=0.4131 right_y=0.2388 right_z=0.146 right_yaw=0.1794 right_pitch=-0.5327 right_roll=-0.129 right_gripper=0.5186\nstate[joint_eff]: [-0.1573, -1.1145, 6.9265, 1.6777, -0.0366, -0.0757, -0.0122, -0.4991, -13.094, 8.0479, 1.0818, 0.188, 0.0122, 0.9499]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e224dc330287e08476f048e434e32a660c6bdbcbc6e72ca6dd28a27b7011cc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9aa17b1030512d61018376dc3ad8e4d8e2aa26a8d27cfa7afbffabec8b9772ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:56335aac8ff813e5b1088bbc27db58c099ec60b1f6a137a2cd65b5e3e73cf5e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 4.101 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4755, -0.0181, -0.0338, 0.9987, 0.6147, 2.0514, 1.3621, -0.4671, 0.2672, 0.2867, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=0.0006 left_z=0.1547 left_yaw=0.0021 left_pitch=-0.1259 left_roll=-0.0007 left_gripper=0.9987 right_x=0.4055 right_y=0.2336 right_z=0.0166 right_yaw=0.1653 right_pitch=-0.5206 right_roll=-0.1253 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -1.7299, 6.9812, 1.7021, -0.0269, -0.0708, -0.0171, -0.8547, -9.3607, 5.5453, 1.199, 0.1001, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4759, -0.0181, -0.0338, 0.9987, 0.6094, 2.0705, 1.3621, -0.4335, 0.2642, 0.2768, 0.5179]\nstate[eef_state]: left_x=0.2841 left_y=0.0006 left_z=0.1546 left_yaw=0.0021 left_pitch=-0.1262 left_roll=-0.0007 left_gripper=0.9987 right_x=0.411 right_y=0.235 right_z=0.0112 right_yaw=0.1723 right_pitch=-0.5094 right_roll=-0.1206 right_gripper=0.5179\nstate[joint_eff]: [-0.0205, -1.4427, 6.9265, 1.6239, -0.0317, -0.0366, -0.0122, -0.5402, -10.6188, 5.6821, 1.3065, 0.1441, 0.0562, 1.033]",
      "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, 0.8322, 0.6128, -0.4755, -0.0177, -0.0338, 0.9987, 0.6109, 1.9934, 1.8103, -0.981, 0.2573, 0.2687, 0.5186]\nstate[eef_state]: left_x=0.2841 left_y=0.0005 left_z=0.1547 left_yaw=0.0018 left_pitch=-0.1259 left_roll=-0.001 left_gripper=0.9987 right_x=0.4131 right_y=0.2388 right_z=0.146 right_yaw=0.1794 right_pitch=-0.5327 right_roll=-0.129 right_gripper=0.5186\nstate[joint_eff]: [-0.1573, -1.1145, 6.9265, 1.6777, -0.0366, -0.0757, -0.0122, -0.4991, -13.094, 8.0479, 1.0818, 0.188, 0.0122, 0.9499]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e224dc330287e08476f048e434e32a660c6bdbcbc6e72ca6dd28a27b7011cc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9aa17b1030512d61018376dc3ad8e4d8e2aa26a8d27cfa7afbffabec8b9772ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56335aac8ff813e5b1088bbc27db58c099ec60b1f6a137a2cd65b5e3e73cf5e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSmwgKEAgSGAI4AUIIdGhpbmtpbmcSDATe9irO/mvOnb215BoMRPr+79q/7q5fc+IsIjBHClOcofrUtxOf5OAavnt+3YyAZNliPEoBmAZneCzoZJTEQzkTOTXmG0l+1fJT/m0quAfRWWKl5ZkkZ/rDqQmU+ZgSQwkNAtYoKEjhReEZPvIoQVSiqyX30asPlePrfE3f+bLIWxI6qN378pkvGCwSLjm7jl9qt78nrkiB8IvK7+JItL6aDpk/6y6IpddCJp/e8O+1J0Be7+SoNuqAhYhjSRLomuJ8j2tXMVMTBhUrW630gCKKs/HthDWfS1HMlvItKQTb9b30J/f2+vl0CWtXAAJ03Tl09eLHpLVWnFYRGkasTPXF8HKFOreLdldKcbGIotzyeSyX3FjyIx5NtwkJec/tuPoVyWGJunNWCmTdBCz88T3cZK/IcdeV8EaLJJ/V9mUTOm4mdg6He+1EPjfoWf/TQpNYcRSCinOZlVBetlF2SUGHdLmFi6q5v48Vf4PLKlAVX9IlG0OLO7rszDG6xT/ZAgW1ALyUdRRU+dN+007yDo34VBwq8l6Xq1I9PtN0IYtYD2KgGFbz0C9QNF2tYlZCaRhv2xJUT1bXAcDjIEZbFu7ibgS8wMCT4zHXO2KJJGVpmuSdaeC9XykW89gHDtIOGSLWOAhrE6SaI7t6qi+S/twKja9G5Iuktbqn/6JVmBgOUldwvZkdhf77yLhHTzUB12MF1JzFQ+WemwLxkBgOA/h97Na5MwrDd5QtOg7S9sm3zodyC6CSEsPpCcjNhmqdU0V1TjGvXlPOeFY4lmiBNkTJy6UQcMGfdXu5bo0rAv1TteTJFKnC2q+Qz0+Pyxqf7Y8+PRARXH+fKmvKdOsZ5pUaUDAca4lCHuRHTiwHqFGQA81Yr0g9Zn+NPaZz4eA5GVPcy4RudveWoyzcH8Xsut0qdtEuWchL+oGMjqRw3DtYM0L8am77F9iyhW84iVXOXgK0/qBGVtEtr/Pz8pD2i+Ol+Tv2lvTPMulGNrABUwbZEGNr2wogRcRQxf5jMaYCheLUbhaZFX5ZDXEhfaPz2awgpxqLFDF4IFNN+3L5awriIxFF478Jar8/GaERMXUMniQ3rE9AId85lzolqVq2XlejIk+jI7jkHEIqOrFuexMyPton84MDOsds+AbIh/GR2F4wMk+XQ5q09dsp2BlZlY8FFcBp0zcOPRzYRDaEtMT/i0qeA7stwm5nwJsXy0KtycLcMlwXEbiQqy6LIfGzQnWBK+hLX9aOcJNhWORtMFg+mS8XQVy9Su4wtZVEvyVxtXt1AC/eF5GrTeNJEddaLn7amLp8TbLk065RhqyPUAXo/VNyUqwkdpaFc8uM4fiAhzMWTN9iksSz7G/lHcO5wi5cCnTLygrtGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C96KTAVDu6xvw6VkvB6V7e",
      "input": {
        "note": "Lemon held; blue bowl with the pear is to the right in the wrist view. Carrying the lemon over the bowl.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.165,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01C96KTAVDu6xvw6VkvB6V7e",
      "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, 0.8326, 0.6128, -0.4763, -0.0181, -0.0338, 0.9987, 0.4244, 1.9877, 1.7786, -0.9844, 0.1829, 0.1013, 0.5185]\nstate[eef_state]: left_x=0.284 left_y=0.0006 left_z=0.1544 left_yaw=0.0021 left_pitch=-0.127 left_roll=-0.0007 left_gripper=0.9987 right_x=0.4389 right_y=0.167 right_z=0.1348 right_yaw=0.1619 right_pitch=-0.5966 right_roll=-0.1487 right_gripper=0.5185\nstate[joint_eff]: [-0.1436, -1.2376, 6.9538, 1.5995, -0.0415, -0.0513, -0.0122, -0.7043, -12.6838, 6.3795, 1.3993, 0.0904, -0.0708, 0.9402]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d99db592bc093ee8ccd37d168bb9b07df4fbe5d6c92853bfa98d7a3ccce6b83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0529d8174063502c7c0343cab45b2b7fee1378f0fa069fb42157e67381c4eed8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e46ff87376976f0d2937a9bd0266c6bac081c7626bce016fb961eb3ce163691c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 5.722 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4759, -0.0181, -0.0338, 0.9987, 0.6094, 2.0705, 1.3621, -0.4335, 0.2642, 0.2768, 0.5179]\nstate[eef_state]: left_x=0.2841 left_y=0.0006 left_z=0.1546 left_yaw=0.0021 left_pitch=-0.1262 left_roll=-0.0007 left_gripper=0.9987 right_x=0.411 right_y=0.235 right_z=0.0112 right_yaw=0.1723 right_pitch=-0.5094 right_roll=-0.1206 right_gripper=0.5179\nstate[joint_eff]: [-0.0205, -1.4427, 6.9265, 1.6239, -0.0317, -0.0366, -0.0122, -0.5402, -10.6188, 5.6821, 1.3065, 0.1441, 0.0562, 1.033]",
      "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, 0.8322, 0.6128, -0.4755, -0.0177, -0.0338, 0.9987, 0.6109, 1.9934, 1.8103, -0.981, 0.2573, 0.2687, 0.5186]\nstate[eef_state]: left_x=0.2841 left_y=0.0005 left_z=0.1547 left_yaw=0.0018 left_pitch=-0.1259 left_roll=-0.001 left_gripper=0.9987 right_x=0.4131 right_y=0.2388 right_z=0.146 right_yaw=0.1794 right_pitch=-0.5327 right_roll=-0.129 right_gripper=0.5186\nstate[joint_eff]: [-0.1573, -1.1145, 6.9265, 1.6777, -0.0366, -0.0757, -0.0122, -0.4991, -13.094, 8.0479, 1.0818, 0.188, 0.0122, 0.9499]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8326, 0.6128, -0.4763, -0.0181, -0.0338, 0.9987, 0.4244, 1.9877, 1.7786, -0.9844, 0.1829, 0.1013, 0.5185]\nstate[eef_state]: left_x=0.284 left_y=0.0006 left_z=0.1544 left_yaw=0.0021 left_pitch=-0.127 left_roll=-0.0007 left_gripper=0.9987 right_x=0.4389 right_y=0.167 right_z=0.1348 right_yaw=0.1619 right_pitch=-0.5966 right_roll=-0.1487 right_gripper=0.5185\nstate[joint_eff]: [-0.1436, -1.2376, 6.9538, 1.5995, -0.0415, -0.0513, -0.0122, -0.7043, -12.6838, 6.3795, 1.3993, 0.0904, -0.0708, 0.9402]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d99db592bc093ee8ccd37d168bb9b07df4fbe5d6c92853bfa98d7a3ccce6b83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0529d8174063502c7c0343cab45b2b7fee1378f0fa069fb42157e67381c4eed8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e46ff87376976f0d2937a9bd0266c6bac081c7626bce016fb961eb3ce163691c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqwgKEAgSGAI4AUIIdGhpbmtpbmcSDFylhogrLxdMH8e5bBoMdqpk8+kcA9VJFz8sIjDRvoEPu9yTz8+beuZILNDrnnfusDwdnwGq2u6nDl7L2QYATO+X72fH1NcCOQ0qflwqyAfIgvgJUa4BUSeF8OhadHn+oNWXQ+CItw1+8c6gf9VNkYmABq6kbSbqESQGHRT+xc//6/Xlr+/hQNHj9P6N8y2tTWwgypwj22jThASpDxVwzUy2MEAzC74xQQeTkoJfOeQ+UdSTyftcT0JQz0kWC6+VXASifNnCIWb4X7EIBQKXERf4WAf+CX13PzNk+K/8GwpQIsHwxtrXhqxcPqgP3Hj6JzZbZ9lg9uLk1ty3sTXEQfbHwKZ6IInhNNL8SBnFti5vY/vkYN/tHaR/D3RRd4hnbBUzp+u/hLmwC2TufJ03gRIfQy3LIKhOe8ZNIAwsH5N1NTcqAz7IRbsTcfMZMh+NLxLZVdeRFseFNzQYDmOV9mAo3rmn0OB45O3N2QiCa6mOThZBDsjsvwT75dnlT/Brg91cuvXB4L3718IYi1kZDUPe+3Im4Gaply43OFko7r10rvIh5MRvW+wcdLMvEJsykV97FQpZWwPkvcegCM97YNn3ThxYf+1YD5Zo+jDa7UVXF88q12gfO7UFbpjvhJKVGccERCAtfuV1CQHwVvgjjMo3ezJcBW7R4YeXTPTmts8hDxmAN5l8Vo5GVh9fOaR2A5Pbh1iB0k3AvR1CSf96sy7Nx1ZZp3a5o5iC3nLI++G0xXSn9Hwx0n+ML8owARh1Ujiqv7+63PpO9jRsmZD9JTg+U+gxCQEWnOL9agSIdntJNh7IjFD73XFAnZ7dTuVnXtPP4nrftTmMyfiJ73rXp2kQBYe2RXITa6x2IyqN86y+b7R9ByKZW7d/FGAai3r8etIPndiynm7kIPkwwMQoC+6zUp5CXmLkNs9bfu+jFfzWBrbb7ARPADOL0311qBlzN5g2WSmsaFzSUE6nrQyHW5cyykhDA9xfBRUD1+Vaq2ibVBFmRiec85HTd4QV3vdtIVwp9RRPTvr5YQUmqMWpwoHphBuopElMtoFMLbWBDTrBjl17fvwq75U3PVHdGioZucJylKmAFCL27hYG5pZcijnmLqo3HPfGoEnvFklth7txLICYrne2t3tUdnV3vnMlonZuo9sPMcAo5Kv+20IzYyglFfF0WfuVcI4kIbLD13OVo6iLfMe5uME80QbtsWXpeQ+0a3PT9lrxLnYVpRxFRjNSovm/A7SZiHfXoiVQ4d90SYh0nslKzoPJqtD0Z3NxHim3eDXyEYd/QAX7oCj93Xzdw8pHcVmxuPS7ZbbsHQvvh34743JhpYph2Q9uFc9TexzzIZXBRTfIQEu1TLqO4ZqpRgQRII8M2Rv8C5xyOI3y7Y64nhhL7BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q53YT4Q7dhHpN1NjGBNsLu",
      "input": {
        "note": "Lemon is over the blue bowl (top view shows gripper above the bowl, wrist view shows the pear just beyond); releasing the lemon into it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Q53YT4Q7dhHpN1NjGBNsLu",
      "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, 0.8326, 0.6128, -0.4763, -0.0177, -0.0338, 0.9987, 0.4244, 1.9877, 1.7786, -0.9894, 0.1783, 0.0895, 0.9957]\nstate[eef_state]: left_x=0.284 left_y=0.0005 left_z=0.1544 left_yaw=0.0018 left_pitch=-0.127 left_roll=-0.0009 left_gripper=0.9987 right_x=0.4376 right_y=0.1673 right_z=0.1342 right_yaw=0.1731 right_pitch=-0.6034 right_roll=-0.1509 right_gripper=0.9957\nstate[joint_eff]: [-0.1162, -1.2923, 6.9265, 1.6044, -0.0562, -0.0366, -0.0122, -0.1299, -10.6735, 6.2838, 0.9695, 0.1197, 0.0562, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60184034a297749f66065bcb2fcfa9325540be8a19a5cad3848f2fd09ae810f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93f61f7131275638d2b09ce7e93c1df51c1506b81a9a5e00ed0030e8665f37eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:67d6aaf331a1ac8b5c724ee699c7923ca2f1cbaf780894a21bc8527ba3b1b790",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /messages · status 200 · 6.653 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4755, -0.0177, -0.0338, 0.9987, 0.6109, 1.9934, 1.8103, -0.981, 0.2573, 0.2687, 0.5186]\nstate[eef_state]: left_x=0.2841 left_y=0.0005 left_z=0.1547 left_yaw=0.0018 left_pitch=-0.1259 left_roll=-0.001 left_gripper=0.9987 right_x=0.4131 right_y=0.2388 right_z=0.146 right_yaw=0.1794 right_pitch=-0.5327 right_roll=-0.129 right_gripper=0.5186\nstate[joint_eff]: [-0.1573, -1.1145, 6.9265, 1.6777, -0.0366, -0.0757, -0.0122, -0.4991, -13.094, 8.0479, 1.0818, 0.188, 0.0122, 0.9499]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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, 0.8326, 0.6128, -0.4763, -0.0181, -0.0338, 0.9987, 0.4244, 1.9877, 1.7786, -0.9844, 0.1829, 0.1013, 0.5185]\nstate[eef_state]: left_x=0.284 left_y=0.0006 left_z=0.1544 left_yaw=0.0021 left_pitch=-0.127 left_roll=-0.0007 left_gripper=0.9987 right_x=0.4389 right_y=0.167 right_z=0.1348 right_yaw=0.1619 right_pitch=-0.5966 right_roll=-0.1487 right_gripper=0.5185\nstate[joint_eff]: [-0.1436, -1.2376, 6.9538, 1.5995, -0.0415, -0.0513, -0.0122, -0.7043, -12.6838, 6.3795, 1.3993, 0.0904, -0.0708, 0.9402]",
      "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, 0.8326, 0.6128, -0.4763, -0.0177, -0.0338, 0.9987, 0.4244, 1.9877, 1.7786, -0.9894, 0.1783, 0.0895, 0.9957]\nstate[eef_state]: left_x=0.284 left_y=0.0005 left_z=0.1544 left_yaw=0.0018 left_pitch=-0.127 left_roll=-0.0009 left_gripper=0.9987 right_x=0.4376 right_y=0.1673 right_z=0.1342 right_yaw=0.1731 right_pitch=-0.6034 right_roll=-0.1509 right_gripper=0.9957\nstate[joint_eff]: [-0.1162, -1.2923, 6.9265, 1.6044, -0.0562, -0.0366, -0.0122, -0.1299, -10.6735, 6.2838, 0.9695, 0.1197, 0.0562, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60184034a297749f66065bcb2fcfa9325540be8a19a5cad3848f2fd09ae810f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93f61f7131275638d2b09ce7e93c1df51c1506b81a9a5e00ed0030e8665f37eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67d6aaf331a1ac8b5c724ee699c7923ca2f1cbaf780894a21bc8527ba3b1b790",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS1AoKEAgSGAI4AUIIdGhpbmtpbmcSDHl1W1ocJkbsNoGrkRoM48QwopSF4kKYN5gZIjAimUioQC5ZeNauCfLuQIKcxlKRRiCe4pX2oHlBtGKEKkEYMueX/wpHHacs7QOdecsq8QnCyDz2PCqk41H5LapNUFNZ0YFxw6x1mviXAJOK0i4lWgj8Vw6SxBze4iIHa+10yDOL+XPTCutIh3LMds4sAhBvuP2NHkrZbbBSU4x2/2DV6dqs6HE7EGx6TyVOBv+fWv4eG38B165JLYtuY/L1oRZcm8MOWryRrQ7tBH0PMHQ931R95eEsWN8yeLqMDzOfM/xJhP1OG0V4vxqxW0SfzjHKVZbjDsm5Pyr/OhQMIfoJZyWimmfmxmLJ4q8U/3CUJLeAZFwc1YUbcQDGyxfIGhETOT+CzW7eWSt/zHhTi/dEK0WKXhlOn5DltebvwE+7C+Jj4DyWRqH32Wgh9wVEmbqO3B/gBhU+UF1V9SE4AjAAs5jrbl3+mSZeYViq1EFSrVeTioIu5dAvEloMZDwi6xWjNQ1nHvDKO7GPBBC8ZIRlW3uVkozcUCVzgWnd3c9MTgw7H6ajBqdPQxQE0qHiiDYgHGcLH1UfikzyGYGjd3FQ4BQSrspxlFkCqF0KPvBDpqM1v0E42ijPF5jhsTFRD3EMl0beu/2e5gCKQYcsYrJe9L78J4BJlUDc8vYtQzA9C6+mbu5SqAha6am0sg3LeaUf77QDAMzweKzRbwtPbeCraEcg2juw1l15Hz2exKnQj+8q9jGfA0jWFw0jGQXIi7ICWKeZ5EHLBf3kYPPU8iCPSEwrlUR7bSd88APcDl5Sc42DJWAK+Zyhp9HHqmiZSW79WNzpxE6SWwhaOYGMQLsKagzPE7ngcXBeMypbcsOUr2mBYkmMlwbST4f347UgHL24DlpLv9FuePkTFhAO2DJ080UTMs7usLqhFvi5+ufLwx2IvzUfKZw2oy+UrxnpbanVjuOa0/7tXJDXtwZZDtU+I1bT+QI93Klv6v9l7jj2GRRrQtaoDVmiQen2KJRTRjT5zXEsqTHmpjLdq4qAzq1kHKBS460Q0nZCFnJvnjugtwI5ijstqEv6k12l5mAyueSkpRtppCHGaNtiQdh1yrmEk6btjhLLcvzpc3SBeBDo+7PO1OSXtkI5BZc6LAd2H74kN5Wbrniwhh6kNCtqC4OsB7Bg8UVLkAGMdnP9bzpbDVmwnORyWWBVeAae9qQtqvc3FNO6I1N4y7gAoFFUzcpk6ApZVe9sYGfY49ZaLqzpwZcSG9S5xeNsQU5KA6DDKWRsnQbTVYT7xjOkMyAB4WV3jtldJrw1Jlx1Xvkce4dhs9+IpTX+2EZjPgn7M2FMmp+H6FIDv2ArVC24xaFQoEDEPmitAboj5eqz3POGU2Yq7sJde6ef2ocrDeUfH0Y9VkTcgplijNvRHuhgbLx5thLmrhQ62c/CDM1B+aRfUsnjJGf9lJPeXyxhnI0WbGh1AETCntk43DZXzxLs3OzFwkxmjn4geoaQUNd3K+a+/xypB6ZHeCbtRYkGy0JglvrgwRXyLRQaqC7MC7oTw6y18GPpfiJWK1+kGA2JmwwkykgyyncIfTaAZyA/y0gl4CV3t6C12KRaDtBv1kj/lcIC9KcZJdNy4UXybgWFGmUDa6CZxhoPslOg6yGvVzi+JQ+y7a4zrX7ed0AS+noOSsasNKFuV+84PD4h20LWOkZRMg+eY78y+M3yGjowvCmYShZWOal97hurS1zF7e5DhEOL3zizdUN/iN8EAq6t00zKaZoxsqi05jrrWwpre5Ft+RjcGHDxsxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EysDaojfvzSH7zB4bfXpAJ",
      "input": {
        "note": "The lemon bounced out of the blue bowl and landed just left of it. Moving back above the lemon to re-grasp.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.205,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EysDaojfvzSH7zB4bfXpAJ",
      "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, 0.8326, 0.6128, -0.4763, -0.0177, -0.0338, 0.9987, 0.5312, 1.9785, 1.562, -0.8597, 0.2047, 0.157, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=0.0005 left_z=0.1544 left_yaw=0.0018 left_pitch=-0.127 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3987 right_y=0.1968 right_z=0.0777 right_yaw=0.1926 right_pitch=-0.6647 right_roll=-0.1781 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.4154, 6.9538, 1.6532, -0.0464, -0.0513, -0.0171, -0.4718, -10.3726, 7.2684, 1.1941, 0.2613, 0.105, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4807a190aa914d5f739f8a4808dcd85c1e945a4a6bc8f9cb4e361d09b639cf20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29958168da9ede266c824ad4dcda64d309f0ca0f674f823ed8c018b4b494acc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ff59d02092703b993c08348d7d733a2b5a629fe1c0dfff92437d58f09fc5059",
        "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 · 4.003 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8326, 0.6128, -0.4763, -0.0181, -0.0338, 0.9987, 0.4244, 1.9877, 1.7786, -0.9844, 0.1829, 0.1013, 0.5185]\nstate[eef_state]: left_x=0.284 left_y=0.0006 left_z=0.1544 left_yaw=0.0021 left_pitch=-0.127 left_roll=-0.0007 left_gripper=0.9987 right_x=0.4389 right_y=0.167 right_z=0.1348 right_yaw=0.1619 right_pitch=-0.5966 right_roll=-0.1487 right_gripper=0.5185\nstate[joint_eff]: [-0.1436, -1.2376, 6.9538, 1.5995, -0.0415, -0.0513, -0.0122, -0.7043, -12.6838, 6.3795, 1.3993, 0.0904, -0.0708, 0.9402]",
      "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, 0.8326, 0.6128, -0.4763, -0.0177, -0.0338, 0.9987, 0.4244, 1.9877, 1.7786, -0.9894, 0.1783, 0.0895, 0.9957]\nstate[eef_state]: left_x=0.284 left_y=0.0005 left_z=0.1544 left_yaw=0.0018 left_pitch=-0.127 left_roll=-0.0009 left_gripper=0.9987 right_x=0.4376 right_y=0.1673 right_z=0.1342 right_yaw=0.1731 right_pitch=-0.6034 right_roll=-0.1509 right_gripper=0.9957\nstate[joint_eff]: [-0.1162, -1.2923, 6.9265, 1.6044, -0.0562, -0.0366, -0.0122, -0.1299, -10.6735, 6.2838, 0.9695, 0.1197, 0.0562, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8326, 0.6128, -0.4763, -0.0177, -0.0338, 0.9987, 0.5312, 1.9785, 1.562, -0.8597, 0.2047, 0.157, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=0.0005 left_z=0.1544 left_yaw=0.0018 left_pitch=-0.127 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3987 right_y=0.1968 right_z=0.0777 right_yaw=0.1926 right_pitch=-0.6647 right_roll=-0.1781 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.4154, 6.9538, 1.6532, -0.0464, -0.0513, -0.0171, -0.4718, -10.3726, 7.2684, 1.1941, 0.2613, 0.105, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4807a190aa914d5f739f8a4808dcd85c1e945a4a6bc8f9cb4e361d09b639cf20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29958168da9ede266c824ad4dcda64d309f0ca0f674f823ed8c018b4b494acc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ff59d02092703b993c08348d7d733a2b5a629fe1c0dfff92437d58f09fc5059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsAoKEAgSGAI4AUIIdGhpbmtpbmcSDHnxtiZaBR4trlPcsxoM05oflZ/JIOTkTubMIjAoQnwkdCrOOINyU5fkMTufXuwwezjeqqYGVITSJ30KTduCSYMpiBQ2rXmag0PhhrsqzQleBalD3mt1fo7nBhRO+ZiaNXY1GFoNxklI896lqA9ABbCLjrjl9vmfOiuRYM/IlmQQbvjd06v/JYQ7vH61p2mpaY+BSgflT+MDUJtcUBM8etNC4A7opY99qz7AGbbSkNmVOe/8fYf6bXv5BTpwH0ni431LA682hYHQ9k2ZQN/KEA2pH8IRtZYXY/hGWDqfW71q90Bx/EA/XZC/ATFwn1s+YxS/QEaKo7bsHw1KY8O6Ru1uSAnOI5yCSiFyV+tN4bort5R9qB9/hAmhokKj7gpNdMgIxOcQnWfPLYraeWtS2Nsbnk5p7Uokem9PeQhzpraOKjgOGT2iXmTR0KaJq6bZhFZ1VCAPrGTXoeBK0KAK6VPsAUUss2jAVrmq71jg0vz1btfmf790ayDQhvhfhICeRHeiEuD6ztIgdOlZrNGqHddmW+ydm8/qm+5HoJfUD/gtZHDJ2hetZwLGKhKzZq9vB5rf42fFDS/pJqdufP/jMbJU9os+c3RqIepuFzhjhpLAQ8foxN6E9Niz0NifstfEUXdjYUhxof7EM5LF3qR4+Tv/P+Zuk0xNAmdc45lgrDAPZMjt9raYdDdgqQBj9XQ2mMGxXIGz6xTN9u9hqLVtATExBujG/4fpplGsZUsLOX/tDcZCGu/irFgpj7S8Tmc9g4cTK9lWM1FAvHvqX8e5FjiqS+eqZRrnbHkPF2Ge5JRhqbc3Y6QcmJiBUIa/WNfE4vI4rRLLYi27bLRVgjrrbaq4LZVw+t1k2V4mtBcR5qEFbkUFbe22nJrUXNdVhpKPiDpoc1+wcl8mhIV/jE4+et1iDEhEZaoATkcxOSHdUezifZgF0YyASkZqAw7eosilfE3IS+peZboIh9SzAF2Q7RQTkZydczYAsSIgGZ+qdtCK3kcbMsjoDY9xsOrZcwTYJY24v9rxSs+ZtIKz75zcIH7FrFkVWoHeuYSiMqJtHnueTKaOKv6levkprmR/BGilcr5W/o873NvZKAWjZf2Nj7lBTamAl6qcChxc8BuiHXtpnFXzwigzrphLSZh3tbz/MdOtzO2UH7/gUm7xLhpDONRiKRT6avmzeRU17lCFspoY6/6qtukoAxLlxO9oFRz5tv0QDmmvl4hditKuCBA+IL2ulokkxWXF8iX3zA3ChnIVHfyQRmeTtMMcs20KTKdRhCRDpC0859cbTuj7NsMdqBp+hAjA8ZoQ2J1HQsgjM85llbBoKhM+RC+cPehLIgQ9gFoKcYsO8R7W5V6E6XFOFz22pK8kbCvEIkEqrh8+kli+AtlV/6C4A0XoCk/sJzOKewb+fqdNDORKdfiOks2aT5AJ/BRJiOh29q3xKBKBwNxF5y+K3mv8oM/qgi2irbwDxD1q/yirjDQtJabZoiTLnZw613LjM7xg/yMqzEOR7SVHv7KVm8TZpKgpmKv+Z7Ffa5Tx9uFgZNOeqSML0/KUyjCd8FLqVSAc823PaiaKyW6yo6KfwJYHENafCJ/xLwcGgw1XlaDqAEFtNwjLAjDb34bT46HRYb9zhIeZejVI4IUCnc9P8+Fon7N60ppj4YkCfEgNzrQyRZX9s6Zgyx6PbKtWPbGEWIvpE9Uddvdqr5BAh5ySBufXQgMsG8zJmZ3fHK9JfEXkVASRbJUQ7RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018ZoiJBQvnZLdkMLEXrvw5d",
      "input": {
        "note": "Lemon sits at the left edge of the wrist view and in the top view left of and behind the gripper; shifting left/back over it.",
        "targets": {
          "right_x": 0.385,
          "right_y": 0.25,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_018ZoiJBQvnZLdkMLEXrvw5d",
      "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, -0.4763, -0.0177, -0.0338, 0.9987, 0.6674, 1.985, 1.5627, -0.8249, 0.2501, 0.2462, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=0.0005 left_z=0.154 left_yaw=0.0018 left_pitch=-0.1285 left_roll=-0.0009 left_gripper=0.9987 right_x=0.379 right_y=0.2476 right_z=0.0794 right_yaw=0.2342 right_pitch=-0.6129 right_roll=-0.1744 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.388, 6.9538, 1.6728, -0.0366, -0.0464, -0.0171, -0.4991, -8.4444, 8.1709, 0.8034, 0.2857, 0.2076, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14407cc42e56927da63c37e7895e0626f374721b2565fb8882a7caded215ad8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59bd3e4e754d2094d2e27c4a8c614dac2623e8ae685dfa02c0d397db74e49b99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0bc5f0dff7939ad2137ab23e343df088af243a80ed83f0a6014d894e1d6da217",
        "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 · 4.479 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8326, 0.6128, -0.4763, -0.0177, -0.0338, 0.9987, 0.4244, 1.9877, 1.7786, -0.9894, 0.1783, 0.0895, 0.9957]\nstate[eef_state]: left_x=0.284 left_y=0.0005 left_z=0.1544 left_yaw=0.0018 left_pitch=-0.127 left_roll=-0.0009 left_gripper=0.9987 right_x=0.4376 right_y=0.1673 right_z=0.1342 right_yaw=0.1731 right_pitch=-0.6034 right_roll=-0.1509 right_gripper=0.9957\nstate[joint_eff]: [-0.1162, -1.2923, 6.9265, 1.6044, -0.0562, -0.0366, -0.0122, -0.1299, -10.6735, 6.2838, 0.9695, 0.1197, 0.0562, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8326, 0.6128, -0.4763, -0.0177, -0.0338, 0.9987, 0.5312, 1.9785, 1.562, -0.8597, 0.2047, 0.157, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=0.0005 left_z=0.1544 left_yaw=0.0018 left_pitch=-0.127 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3987 right_y=0.1968 right_z=0.0777 right_yaw=0.1926 right_pitch=-0.6647 right_roll=-0.1781 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.4154, 6.9538, 1.6532, -0.0464, -0.0513, -0.0171, -0.4718, -10.3726, 7.2684, 1.1941, 0.2613, 0.105, 0.0757]",
      "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, 0.8341, 0.6128, -0.4763, -0.0177, -0.0338, 0.9987, 0.6674, 1.985, 1.5627, -0.8249, 0.2501, 0.2462, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=0.0005 left_z=0.154 left_yaw=0.0018 left_pitch=-0.1285 left_roll=-0.0009 left_gripper=0.9987 right_x=0.379 right_y=0.2476 right_z=0.0794 right_yaw=0.2342 right_pitch=-0.6129 right_roll=-0.1744 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.388, 6.9538, 1.6728, -0.0366, -0.0464, -0.0171, -0.4991, -8.4444, 8.1709, 0.8034, 0.2857, 0.2076, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14407cc42e56927da63c37e7895e0626f374721b2565fb8882a7caded215ad8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59bd3e4e754d2094d2e27c4a8c614dac2623e8ae685dfa02c0d397db74e49b99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bc5f0dff7939ad2137ab23e343df088af243a80ed83f0a6014d894e1d6da217",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4AcKEAgSGAI4AUIIdGhpbmtpbmcSDDEgD3RD3S7jr1OnThoMuCnN8KZq19qlX4U1IjAm33Ejk07UM0xOdi8uHkUhqgxc4MfLtq6kgYuUQci18Jss/qcHlP1NSS2uHEWR1EQq/Qay4BzH7watZ94GKSQg36thTqCdMjiib7QmzHcepDkx3iqET5qpQ/c4meskCUoWd+FV1FzQlSwGjsmNFMem47kO/C8a9G8fikPnJXNYRmqmx2+3k2aeO9Sc02sL6tNdBN8zS+bfeG10mBPzkUhDBqWayd7M5mm6yVsbTGXjOiF7CtAWfM9INqA+2B5wnwcA2YM5IdhRsbl42819EfBXbDgVbvjrsGedBsffPJSJqJ+1ZDgxC3+rSnZvXwqYyJFH0KuDWDEfJq3QzfOYZqf8CbUwYi4doj5tJFLHlhykmbj2mAX7vVjcVHsatfgUkIqjas0L/3s2LloCfMAu5FQNH1vX3CS7u9kbLCmVlNiAskhT2j3zcdFlOR5lLKNJgMsb4gI0yCdthRwbBns3ISdgnqDo7U4miAV/2/qjk8yljMraFzuYvLvl94nQDOLa35BgjWjpJkvxM373xHc2UHiyP8qgMrP8JpY+RVPbQi+ADzsRTIs+C6sQs0Iu3nLP+3nvEhXBtiR6/ZN+8n8gTPPHYOaSPnimNp/9rMfOkgUOuMa/5IlBu9nGzWujJxo0b0xvBFKIdwag3RKUnokCZxkP5Y3UcAm/RBubl7MpOrtE+VAD6FxuaXDfuIf7yk2tqClAvLe1CENQDduMnouG/QniQy/QS4ap8P1nFsHmKze+2Fxm3AFVntsKf1+6UJOx9Ead1cjKCrdoDJffULmRMN/E14kt+8KVMwZAT5jE76eatATbNNHIQ1pflm1CuAt92yWTZtNC29lrGlee5Ukdws5ekotXuVRqRe92Tgwds7jnODG9lwm1N4PUNjA05Cw9DUAn3PU6q+FljNpay1lYDoCXktxVM1pmbi5J2XpgSXyyGn+q521209uyfAtvVF+YZoGan8Okfe9bO2XaAfMK2k6tFryUtL+oqd9XjC8jpQt9306IiVrCGOq77M46qwRPReSw35XFHsVRDMVnjrTpqXMMKtsqprrmAnMt6QABdLUsw22cAFSy19OdG0SovxiFeOZHO3Qd4INK2kNKwqemzclhlm9EC1l8qX9T8q9Yfyk2Hi4dlxUUu8VRR/uDbdCC+abMLlx5BXkFM6J5RUQg07Fy5IJ45m+1Ce413/sBPbg7Uqla1NCtql9MW4NUv+JuNpwN4yq6XB1sitgu99f221TqFN9lRfItWQ5WIxfHxCk+IhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011SBqfSHys6oevbQgTJn1ks",
      "input": {
        "note": "Lemon is left of the jaw column and just ahead in the wrist view; shifting ~2 cm left and descending to grasp.",
        "targets": {
          "right_x": 0.395,
          "right_y": 0.27,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_011SBqfSHys6oevbQgTJn1ks",
      "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, -0.4767, -0.0181, -0.0338, 0.9987, 0.6769, 1.9953, 1.5757, -0.8417, 0.2573, 0.2703, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=0.0006 left_z=0.1539 left_yaw=0.0021 left_pitch=-0.1289 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3768 right_y=0.2498 right_z=0.0782 right_yaw=0.2172 right_pitch=-0.6203 right_roll=-0.1783 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.3197, 6.9265, 1.6044, -0.0317, -0.0366, -0.0122, -0.4308, -9.3744, 8.253, 0.9402, 0.232, 0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2372a179095f1fcb2b9d25833347f61bcafb74502bd390655a569d61040c3aa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0e62caada8349522a414fcae7c2d18ba6689a4ff86db7ebe267c963ff3588bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c97264f8e9245583a1a0bb2244f14cc4101685b91bfdacec004ad59f0e697b7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 5.048 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8326, 0.6128, -0.4763, -0.0177, -0.0338, 0.9987, 0.5312, 1.9785, 1.562, -0.8597, 0.2047, 0.157, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=0.0005 left_z=0.1544 left_yaw=0.0018 left_pitch=-0.127 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3987 right_y=0.1968 right_z=0.0777 right_yaw=0.1926 right_pitch=-0.6647 right_roll=-0.1781 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.4154, 6.9538, 1.6532, -0.0464, -0.0513, -0.0171, -0.4718, -10.3726, 7.2684, 1.1941, 0.2613, 0.105, 0.0757]",
      "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, 0.8341, 0.6128, -0.4763, -0.0177, -0.0338, 0.9987, 0.6674, 1.985, 1.5627, -0.8249, 0.2501, 0.2462, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=0.0005 left_z=0.154 left_yaw=0.0018 left_pitch=-0.1285 left_roll=-0.0009 left_gripper=0.9987 right_x=0.379 right_y=0.2476 right_z=0.0794 right_yaw=0.2342 right_pitch=-0.6129 right_roll=-0.1744 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.388, 6.9538, 1.6728, -0.0366, -0.0464, -0.0171, -0.4991, -8.4444, 8.1709, 0.8034, 0.2857, 0.2076, -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, 0.8341, 0.6128, -0.4767, -0.0181, -0.0338, 0.9987, 0.6769, 1.9953, 1.5757, -0.8417, 0.2573, 0.2703, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=0.0006 left_z=0.1539 left_yaw=0.0021 left_pitch=-0.1289 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3768 right_y=0.2498 right_z=0.0782 right_yaw=0.2172 right_pitch=-0.6203 right_roll=-0.1783 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.3197, 6.9265, 1.6044, -0.0317, -0.0366, -0.0122, -0.4308, -9.3744, 8.253, 0.9402, 0.232, 0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2372a179095f1fcb2b9d25833347f61bcafb74502bd390655a569d61040c3aa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0e62caada8349522a414fcae7c2d18ba6689a4ff86db7ebe267c963ff3588bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c97264f8e9245583a1a0bb2244f14cc4101685b91bfdacec004ad59f0e697b7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQgKEAgSGAI4AUIIdGhpbmtpbmcSDHPrHv2myWCuZ/qZ2xoM0xHcYi8YzFr2yFWzIjCD9QkvLPdgomT9/M5dRIiXJuyUd55rit4OCjeu67PmRf3qnPBcxESwrVjxnHkv284qxge7I8NF7sQzLHIEHx5Gy9ZodahYke9OqM/0fE9gz+3ZQ35fphRBEXETnWEe1fMGV6F9URT+W1uZ4Od06QIm8K1poL6xWwy2e9pGuC3dkYxhT+mV5JtHNCjwNUoyjF+2QV6Xkofcugwxc9Mu3lVeCOwp5tOpWep9qW5yb7WBd/yKmZfJkfbN0TSPiGPkBeFPUGQ+QX+tn0BN4sAJuZBGQnU0buTri+nIih9SV6dF2lnd26US0ai8QwfsU56hdqa4fG9HxnOEGz92u/lu8f3p9uf7ISAO931G+VSzwCDKHKj4CG6Cb3tESJ/sJkHhwM/VqCdrSa36QjiBccwUJYMPY/kSon9/ZWDTC1rlXmZ9ie4e77goWlO1rkhY0h6i25Dv813QZmBxoDdLBzq9Hs9R3cWCndoy4YGED39kjS6AB06fCfomoFX0FWdFpa+2gG1o5Sh4oziPTezUAEEe3FyQEGHqiHCTyLNwOirPkYfjHodmgQXUtrU1a1RfxWbXW2EysNTeDmL2HaZKAulYqBYD9C35Pn44GJCk4u13o9UB+YzeuO7qcTsueCN9V3B7+eqrYbgv8FBEkozpYsCcxmYvYQzdEU9FzirDHNtS2oIlpUTB9CBuHGA/mj8Z34Fo3Zs8sg6Yk33VHEoR6ondOq5Wv4aIC0U3BjHng+BPbnDjB8hIL1ftApB8iXGXdAQLNXFIdJD5qqx367EOF1Md6djTrlGjQyYdRiTZUMmWZzOo/YtvcMBxTmXOIZBWpCLr3kBOSQSV7Dv+Za9qzNAOUb9KX7V0vyQrn8HPkUttcAMTwiiuF18Nae8irJ4T0JknCUFYshzP/FW1CfmFtcU0dMitnPCHAyNoAn532qPaub9/JiNSjCm77pIJborvM99m2DcAPbrnvce7xyPUaMf0njNMbetl7oKWdcs+wFRa1v2BADx/Ai03eYKIJzY2L7K8maaBXG9PiBHvld2ZQgIOOkqo6r1utQzxhIuPl6nVsxWq2xOiM7dmlUteoxEdqzL3GA08T8zQKWscutIGghepG9ImE4zeymcpoJHkCGt5S9DOq6LnFj9jrt25R1NA4IaJB0kAoX/027Yn7lUqWc6JdM1Ku7fTQOsJLpm7O9e/ENCCWS/Fesj/0nsfFj8JiBgERHIb+Dn8C5TTsien+jWXJzHFeLY6RD6+DzZbbq1gCMwgGxroGTq75ro0oGJiD7r9QebD7ngLiHdMyKbhBhRZ3UJUHX42L7fucRVmjEK3FowDys4ewlXPpINZpB7uZMAzeZDJf39Hw84Jb4IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HvEgUe3CrdiMLMKjN6DmA5",
      "input": {
        "note": "Right arm stalled with its pitch reading beyond the -0.6 limit; commanding a moderate pitch and zero yaw along with the descent onto the lemon.",
        "targets": {
          "right_pitch": -0.3,
          "right_x": 0.39,
          "right_y": 0.265,
          "right_yaw": 0.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01HvEgUe3CrdiMLMKjN6DmA5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8391, 0.6128, -0.4908, -0.0181, -0.0338, 0.9987, 0.7841, 2.0296, 1.3178, -0.4408, 0.4942, 0.4709, 0.9966]\nstate[eef_state]: left_x=0.282 left_y=0.0006 left_z=0.15 left_yaw=0.0022 left_pitch=-0.148 left_roll=-0.0002 left_gripper=0.9987 right_x=0.3775 right_y=0.2633 right_z=0.0281 right_yaw=0.05 right_pitch=-0.384 right_roll=-0.2071 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.8393, 7.1179, 1.746, -0.0708, -0.0562, -0.0171, 0.4581, -9.2376, 5.3675, 1.0769, 0.4664, 0.1441, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de05b60dc1407cd2e566b279325168c17ac7916347d2f480f99fc1f3e1689bec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc903213e3538e60bfbbe2c81b5ac2d631e9c33785741148491f4ceade4b3471",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:228f53e3c03c09e8f770e3b708194b81eaa470e7309b742e317de732fee2a4cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 4.217 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6128, -0.4763, -0.0177, -0.0338, 0.9987, 0.6674, 1.985, 1.5627, -0.8249, 0.2501, 0.2462, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=0.0005 left_z=0.154 left_yaw=0.0018 left_pitch=-0.1285 left_roll=-0.0009 left_gripper=0.9987 right_x=0.379 right_y=0.2476 right_z=0.0794 right_yaw=0.2342 right_pitch=-0.6129 right_roll=-0.1744 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.388, 6.9538, 1.6728, -0.0366, -0.0464, -0.0171, -0.4991, -8.4444, 8.1709, 0.8034, 0.2857, 0.2076, -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, 0.8341, 0.6128, -0.4767, -0.0181, -0.0338, 0.9987, 0.6769, 1.9953, 1.5757, -0.8417, 0.2573, 0.2703, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=0.0006 left_z=0.1539 left_yaw=0.0021 left_pitch=-0.1289 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3768 right_y=0.2498 right_z=0.0782 right_yaw=0.2172 right_pitch=-0.6203 right_roll=-0.1783 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.3197, 6.9265, 1.6044, -0.0317, -0.0366, -0.0122, -0.4308, -9.3744, 8.253, 0.9402, 0.232, 0.0806, -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, 0.8391, 0.6128, -0.4908, -0.0181, -0.0338, 0.9987, 0.7841, 2.0296, 1.3178, -0.4408, 0.4942, 0.4709, 0.9966]\nstate[eef_state]: left_x=0.282 left_y=0.0006 left_z=0.15 left_yaw=0.0022 left_pitch=-0.148 left_roll=-0.0002 left_gripper=0.9987 right_x=0.3775 right_y=0.2633 right_z=0.0281 right_yaw=0.05 right_pitch=-0.384 right_roll=-0.2071 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.8393, 7.1179, 1.746, -0.0708, -0.0562, -0.0171, 0.4581, -9.2376, 5.3675, 1.0769, 0.4664, 0.1441, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de05b60dc1407cd2e566b279325168c17ac7916347d2f480f99fc1f3e1689bec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc903213e3538e60bfbbe2c81b5ac2d631e9c33785741148491f4ceade4b3471",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:228f53e3c03c09e8f770e3b708194b81eaa470e7309b742e317de732fee2a4cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS3wgKEAgSGAI4AUIIdGhpbmtpbmcSDHwKn8jm05XKFxaWnBoMfxDkFFhWyoIQUx+3IjDL1t6Wbp+y4lEvf9teIxpqHo40O93vqD3dYpNH6rDjkCAjFQFvIGBJyfJRbNYGNMIq/AcnMhfLEc3r+9K1frwffdoG5XijQgi8TQzWCSFCGdoryWrQu0pEpFEYBTeVDt014Zn9rulIpgbAYeemtNsDD+mqbpql+H1IfcbyUJSdOl0ow6DfntiWrAQ69KzvTcKVB4PW5P4wjzz5RNXRtkrfVU6mB5leSEWp61sFYFWchGRC8kN36CiyVbrfS94RUy64Ug6XIXQ6XJJzUkckMrQFi945j6E2Zh8LKupjMnQE2QbXAGJZ7pUw9hZ/H8uUkWC0CI8jA822+OjfyPUkWxwIL+pVGDWKVFUd772Qc5N9mMQBPGjHZpuqiHJCh7bqLP3xPiSD6j8pHiNGo2ub3/fF4scs4PDmXk7e5EcP+cWcCaobVGmQLQTHTzSeNnAUR94XSVohylcEg4ZoV3rKlJKadIeucnkriaDOhiP1rAVeZqGJdghePUQvFjdc+rcjaqYZtyADfxL8usr51HyMopygTICYJKctv+F/6Cl14wViFQHIYzLo3QtImG/W4qIc9MQY3+FqDJDvH4AmG9Jlxx2GaNsCA8fA/0lkSVpyCO2IR0VCc5BJSowjBOrUldCdwHgsSA9v+p+PLa8Ot/xm0U5VTT7HY68M19G/UEZBR2rf2jaPp9K59nkkc3rcjBgvutb0Xd+hwGrcQEaab849MIcfcRKJOkT7zal7PYhl8NANEF3gQ79MWusotODsmqwOgGoe58s10eIKqgGqi5EZQ+8lZEJjmghOezbPS+6JheI+I9HXdjh8CX9KOPTqES2J6aeLcosyEbm9r643MiMGi9cMxxW6JHVhr3m2MKBWLBPb8b9ZLRj2c5uRrxRY2TZA7+EedI620UhrqUzF2gd0aseYd/yXzEl7tTWn3mpWLv5MddyJcLo9c4F3FcolMHNx5pj5IhXPsafUcbL1lFp9UAjeu0gNR9NshF44GUELOLtz7qSLm7rk8YllSEVS+35HPhnoPgrq7EDwkEtw40bn1g/vxA577VnXMgSTNbAbQKHMvZcwxD+k1QqfcH1JA7jc7yjyKoXdhJJ5cz4/6Hta1xlh+i1Q3m2ZK5aZ3zg6SFXzRCNd0vLn2i40dRbMCfd+QuACQPU06eA8JlG4hKnlRbuseL0PIwy7Vjql6LEtmfbsNtTH/KaBLrpfvEWPY56LAPlpM8+w/p6uwtdkfSOBJN0yJk28OcXawq0EpRFbxNNmNWBwmV8ZJhBaOSWNNNktJmkglyOv8DD0EOQYkLVV8ja2vSq5NISN2bYAF/dmjyPad8tZklPVld/yn4V8bmHUFn7TRpD2Kc/We26oBrFmM+lDwI1Qse2tM0c+W+LjBT3zCXfFlSPUBhT73wAKQ+R//jRm/21PGSPSd55OaBcRyygYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016cva3NwtxR3BRDtG4AXwX8",
      "input": {
        "note": "Arm now tracks; lemon appears at the top-right of the wrist view, beside the bowl, ~6 cm ahead. Advancing toward it at low height.",
        "targets": {
          "right_pitch": -0.3,
          "right_x": 0.44,
          "right_y": 0.25,
          "right_yaw": 0.0,
          "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_016cva3NwtxR3BRDtG4AXwX8",
      "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, -0.4919, -0.0177, -0.0338, 0.9987, 0.6891, 2.1254, 1.4067, -0.3866, 0.5011, 0.4019, 0.9966]\nstate[eef_state]: left_x=0.2818 left_y=0.0005 left_z=0.1496 left_yaw=0.0019 left_pitch=-0.1499 left_roll=-0.0004 left_gripper=0.9987 right_x=0.4251 right_y=0.245 right_z=0.0193 right_yaw=0.0011 right_pitch=-0.3522 right_roll=-0.2232 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.2239, 6.9128, 1.6093, -0.0269, -0.022, -0.0122, -0.253, -10.6462, 8.4034, 1.2772, 0.4811, 0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82b2154f6b6e0c74df47b1d8abea61b183552f67cbea9063f4e9e81db50385c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b04f090593c11c7891353a7494135b29aa729881ac710e48569d892b3ec06423",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:76a9aac0bc517d050467a653641a7849ad22018e91be9b215678fec86c695266",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /messages · status 200 · 5.255 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6128, -0.4767, -0.0181, -0.0338, 0.9987, 0.6769, 1.9953, 1.5757, -0.8417, 0.2573, 0.2703, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=0.0006 left_z=0.1539 left_yaw=0.0021 left_pitch=-0.1289 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3768 right_y=0.2498 right_z=0.0782 right_yaw=0.2172 right_pitch=-0.6203 right_roll=-0.1783 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.3197, 6.9265, 1.6044, -0.0317, -0.0366, -0.0122, -0.4308, -9.3744, 8.253, 0.9402, 0.232, 0.0806, -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, 0.8391, 0.6128, -0.4908, -0.0181, -0.0338, 0.9987, 0.7841, 2.0296, 1.3178, -0.4408, 0.4942, 0.4709, 0.9966]\nstate[eef_state]: left_x=0.282 left_y=0.0006 left_z=0.15 left_yaw=0.0022 left_pitch=-0.148 left_roll=-0.0002 left_gripper=0.9987 right_x=0.3775 right_y=0.2633 right_z=0.0281 right_yaw=0.05 right_pitch=-0.384 right_roll=-0.2071 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.8393, 7.1179, 1.746, -0.0708, -0.0562, -0.0171, 0.4581, -9.2376, 5.3675, 1.0769, 0.4664, 0.1441, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8398, 0.6128, -0.4919, -0.0177, -0.0338, 0.9987, 0.6891, 2.1254, 1.4067, -0.3866, 0.5011, 0.4019, 0.9966]\nstate[eef_state]: left_x=0.2818 left_y=0.0005 left_z=0.1496 left_yaw=0.0019 left_pitch=-0.1499 left_roll=-0.0004 left_gripper=0.9987 right_x=0.4251 right_y=0.245 right_z=0.0193 right_yaw=0.0011 right_pitch=-0.3522 right_roll=-0.2232 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.2239, 6.9128, 1.6093, -0.0269, -0.022, -0.0122, -0.253, -10.6462, 8.4034, 1.2772, 0.4811, 0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82b2154f6b6e0c74df47b1d8abea61b183552f67cbea9063f4e9e81db50385c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b04f090593c11c7891353a7494135b29aa729881ac710e48569d892b3ec06423",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76a9aac0bc517d050467a653641a7849ad22018e91be9b215678fec86c695266",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvgcKEAgSGAI4AUIIdGhpbmtpbmcSDNqQlyy2jLLRcCxPohoMnyaYbXU/2xqMR42mIjAsE0oYWPQMY00i11cR7t7u8iL0jtLgtE3T3g2K6W4oPP0CYVvCF1FUyVCTccvj3tUq2wZy27Ng7/ZvmEIJutQzShmG9FYpccEa09jqfKs1wUSbgogq+Z6DYvOTqc+4/PGYmfPUnh3TcZpX5wxIOP2jgUaQLfBmRLJ+j/zewLtjpUAv+XNv8peMiGkgSdQerX5tIabGPvND15uG36ZxGrSqxv72m0K/kOSHuVGYaBtC1R12wjZEhx9yMyTECFUae2lP+hU4ypnws5kcNO9jdUiBN00BEa3s87wDK2GmV49XMpBBw0Np6lDu+F6RafMOdWTL+HNMejgoaljp9TlLz/yzEpNNHRr1vFQ8OQ472oK/IcO/JxJfHNBwJ7VM7hsL+bXAJPulGIWdrl/7PhXF4AG1KPay30KkgMQi5VxTNQZ1hRDJM0Q6xXL0t9jfblSSnFnstwhxXFUQf3r8HGYT+MwZ7fpV7ydh6BR0JGWTQUuZR+RS5llTnlCvFdYBILrJlVsLyMbHv9bYMHn5JlJE0Dq331XqvNbSeANU013cm68zWE4adnFSdszGKsicS3uwmNa5Eamp8br2sTW2sghJCffBNG0MgLvdIEPj2Kp54FXsONZCKYzSCA7lIcIKo4j91gDfH1Zj3iga2MIS+2oHIel6OdAyorQj9rJLZKVArZYTWwPZHwz1/uo9SZKKIZTFZ/xFnllMnzZBIE1CRs1NvN68R3cJbjmfy9zG4uGu/0SF8PF7NRTu1Je30d/uUgOV5ffF1i8tpKSrjpMkmIFmofDcUIe7+KsekIpF5wJYbH12el/OigjUYUt9n9j1G7rt2SZC6WoSapVGZfyNIqjsM4XZ7fDLvlMiHMQTyHNoNjmy8hGS8o/gkuTx3lryEO6odc5mAjo7piYhd5PpcwWoA9lcJwpc3WQJ10rmcpN8yahkJBd02C3NZmTSZtT3lYNdErRMFjI6TcwhAIM0Y2exis9Yko0RJthCT8UhByhh/Ryv56RLbL+SMFka9QqBTagBy9ow9JUn50jqBn9yRgrJbNPFoOomrC3ObK9uvRumlVIUYrPpcuxBlVfMW6uSyg4S2uHtt7O85Rj3KWGDv3Bf4oRvITR60J8eznx3ZrCCE6b022SvG+WFkszI1aNqt9YSB977lBssvstk5vzlnhYLt7ElMRDP30Kp9HtJ+LRzcaXq0dKchkITDT445MWve3CiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FkYa2NmXsTkGEnTEjiwt1c",
      "input": {
        "note": "Lemon is centred slightly right of the jaw column, a few cm ahead, with the bowl rim to the right. Advancing so the jaws straddle it.",
        "targets": {
          "right_pitch": -0.3,
          "right_x": 0.465,
          "right_y": 0.24,
          "right_yaw": 0.0,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01FkYa2NmXsTkGEnTEjiwt1c",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8455, 0.6128, -0.4946, -0.0177, -0.0334, 0.9987, 0.6842, 2.1304, 1.4109, -0.3706, 0.5007, 0.3817, 0.9966]\nstate[eef_state]: left_x=0.2816 left_y=0.0005 left_z=0.1476 left_yaw=0.0017 left_pitch=-0.1583 left_roll=0.0001 left_gripper=0.9987 right_x=0.4295 right_y=0.2455 right_z=0.02 right_yaw=0.0112 right_pitch=-0.343 right_roll=-0.2259 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.935, 7.0359, 1.6581, -0.0269, -0.0317, -0.0122, -0.335, -11.0564, 8.212, 1.2723, 0.4322, 0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2eb9871e8f3c5147a85b49d4902e06775ce06fda43f44e2997d77f3cc4692be1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ad1ee6bf2ae9ff1111861a1bb982498d32393bc4913e21ab873d5d498462f09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bba4f013b0ad4eaf2080f25c522bb81b6169d035d29dce2ef2278c6746f6b265",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 4.294 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8391, 0.6128, -0.4908, -0.0181, -0.0338, 0.9987, 0.7841, 2.0296, 1.3178, -0.4408, 0.4942, 0.4709, 0.9966]\nstate[eef_state]: left_x=0.282 left_y=0.0006 left_z=0.15 left_yaw=0.0022 left_pitch=-0.148 left_roll=-0.0002 left_gripper=0.9987 right_x=0.3775 right_y=0.2633 right_z=0.0281 right_yaw=0.05 right_pitch=-0.384 right_roll=-0.2071 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.8393, 7.1179, 1.746, -0.0708, -0.0562, -0.0171, 0.4581, -9.2376, 5.3675, 1.0769, 0.4664, 0.1441, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8398, 0.6128, -0.4919, -0.0177, -0.0338, 0.9987, 0.6891, 2.1254, 1.4067, -0.3866, 0.5011, 0.4019, 0.9966]\nstate[eef_state]: left_x=0.2818 left_y=0.0005 left_z=0.1496 left_yaw=0.0019 left_pitch=-0.1499 left_roll=-0.0004 left_gripper=0.9987 right_x=0.4251 right_y=0.245 right_z=0.0193 right_yaw=0.0011 right_pitch=-0.3522 right_roll=-0.2232 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.2239, 6.9128, 1.6093, -0.0269, -0.022, -0.0122, -0.253, -10.6462, 8.4034, 1.2772, 0.4811, 0.0269, -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 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, 0.8455, 0.6128, -0.4946, -0.0177, -0.0334, 0.9987, 0.6842, 2.1304, 1.4109, -0.3706, 0.5007, 0.3817, 0.9966]\nstate[eef_state]: left_x=0.2816 left_y=0.0005 left_z=0.1476 left_yaw=0.0017 left_pitch=-0.1583 left_roll=0.0001 left_gripper=0.9987 right_x=0.4295 right_y=0.2455 right_z=0.02 right_yaw=0.0112 right_pitch=-0.343 right_roll=-0.2259 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.935, 7.0359, 1.6581, -0.0269, -0.0317, -0.0122, -0.335, -11.0564, 8.212, 1.2723, 0.4322, 0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2eb9871e8f3c5147a85b49d4902e06775ce06fda43f44e2997d77f3cc4692be1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ad1ee6bf2ae9ff1111861a1bb982498d32393bc4913e21ab873d5d498462f09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bba4f013b0ad4eaf2080f25c522bb81b6169d035d29dce2ef2278c6746f6b265",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSxQcKEAgSGAI4AUIIdGhpbmtpbmcSDORc0pFoCg8RMNRhCBoMKZoOQynxYw4VlPmJIjAhlZXhPTT6qJuxcdYauwPshhQaOZ2o31jmtnzOe9W3wfnxtdZVirSfDoP092SZm1wq4gYmDvdMyEMmFkfDNontI/huk0uoNlVNdkBXHxfQs+l1u8xeal57GQOev/1drHXbUx/2EIU22kbaO1qfcC2nk+sivqqbC6vHouk3dD7D1M4rfWhgz+dKje7g3XBVNBYSlzMmVpDDVvU27QnXC/LVyYTRJUgpnKD5VbWcXTRzchmJpPk/1QfPY4c6iNTEAjPB59DFtrSj0fcU+EJ5bAx5FejCZ5/YBHpIPBXBQJQcRXEjLfNi+9LU5HTa2n5kAZwqNTN0fpRpcjHjizazpwQ5m7cv7g8MDHRxuN4CwveizVrGrq+TGmO5tAPOHDLe6PKJZrn6K3u6sjBogUL8fP3lOhWpn0drdbwym6amOHb7QUkciWnvhtuDZ21UJMZJIVxPrDuAoGKOcBHylmVHBjwSVhb+pzt1oDqkIIrm7etd71RDB0CUvvBr3WyPv6Lk3vQz1MIrnbthxRpLsdlefd7tOw19HmoTOH8JG4ysb8mw1ZWZk9y7Thzqawsh7V/nQYhaH4YZ0HxLjp0YH9VbYicOdIjTELwrI0uKbbrsHnvzTCiyt1dygIxd9kNgxeYoWtH7K11ghcaEdmnNxZczZgq3WW3swaxBFqpl8YJ/x8q+ypoCXuUL0znVQPYbiQp8Wdp4KiQuzx5ur9/IScL9M+fXIHEveEiYHLSkqeooQeQslqm2D1CFd4WxIet7yUvO6LtFsyae+tslX1AI0iHyPqbfatcQWSfq+mP9IzoSBQ15KARyXcb45gCS5R6vnYsW//uDh2lD4/vobYtZDIKqS60snR4Mxptc9eZ9aOyLdS/1VWotf3+x5wz+x4cSzJbxLk77nQ+CWKNzMagKZQBne3MR+HSZdIyHvjWedy/+co+HG0VD2cY8zSyHYo0huHPlI07hvkqovwpky1uximPF6t/v//6zYEOLkhf66v6LDKJwM5T+y98h7eJph83qeE7x52pJOleK7DZKR/hFd6dUo9mXlb7lvvIRbP2PV7cOSgff75ckimiQm77esly/TKWuk0EJXMtSAh6/sEYzQENgx9PjhUhAQcyBZUjtC2/6HfSwMvwQsamxSt2ukK576OCQLnKXyCbPgmjr1fl4XZ54nNjOhQ6+BmoetSSuJbfocLNmu1nI4d3JmL+JuFyTgHQggU06oSU1URgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JKUF9Gg5rrDj4UrwLEEbc8",
      "input": {
        "note": "Arm stalled at x≈0.43 at table level; trying the forward move with a neutral pitch and slightly higher so the jaws can reach the lemon.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.465,
          "right_y": 0.24,
          "right_yaw": 0.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01JKUF9Gg5rrDj4UrwLEEbc8",
      "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, 0.8471, 0.6128, -0.4953, -0.0181, -0.0338, 0.9987, 0.6865, 2.1342, 1.2224, 0.0933, 0.6357, 0.2485, 0.9966]\nstate[eef_state]: left_x=0.2815 left_y=0.0006 left_z=0.147 left_yaw=0.0022 left_pitch=-0.1606 left_roll=0.0001 left_gripper=0.9987 right_x=0.4537 right_y=0.2408 right_z=0.0235 right_yaw=0.0242 right_pitch=-0.0781 right_roll=-0.2404 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.6205, 7.0359, 1.6288, -0.0464, -0.0513, -0.0171, -0.6085, -9.6752, 5.1897, 1.7949, 0.4957, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c4c22db3c93c584083b81ce63ef01ab619c37cd849eac98857828da1ea4b419",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99e589be9c48df3bc5b247e361696eb09890942f0a2185d0a0d72ec89b7519cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47ce2a959b26fae04cc632186122f406f59641e9ceac5fb57ee468f9c8ddffd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /messages · status 200 · 4.374 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8398, 0.6128, -0.4919, -0.0177, -0.0338, 0.9987, 0.6891, 2.1254, 1.4067, -0.3866, 0.5011, 0.4019, 0.9966]\nstate[eef_state]: left_x=0.2818 left_y=0.0005 left_z=0.1496 left_yaw=0.0019 left_pitch=-0.1499 left_roll=-0.0004 left_gripper=0.9987 right_x=0.4251 right_y=0.245 right_z=0.0193 right_yaw=0.0011 right_pitch=-0.3522 right_roll=-0.2232 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.2239, 6.9128, 1.6093, -0.0269, -0.022, -0.0122, -0.253, -10.6462, 8.4034, 1.2772, 0.4811, 0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8455, 0.6128, -0.4946, -0.0177, -0.0334, 0.9987, 0.6842, 2.1304, 1.4109, -0.3706, 0.5007, 0.3817, 0.9966]\nstate[eef_state]: left_x=0.2816 left_y=0.0005 left_z=0.1476 left_yaw=0.0017 left_pitch=-0.1583 left_roll=0.0001 left_gripper=0.9987 right_x=0.4295 right_y=0.2455 right_z=0.02 right_yaw=0.0112 right_pitch=-0.343 right_roll=-0.2259 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.935, 7.0359, 1.6581, -0.0269, -0.0317, -0.0122, -0.335, -11.0564, 8.212, 1.2723, 0.4322, 0.0806, -0.0171]",
      "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, 0.8471, 0.6128, -0.4953, -0.0181, -0.0338, 0.9987, 0.6865, 2.1342, 1.2224, 0.0933, 0.6357, 0.2485, 0.9966]\nstate[eef_state]: left_x=0.2815 left_y=0.0006 left_z=0.147 left_yaw=0.0022 left_pitch=-0.1606 left_roll=0.0001 left_gripper=0.9987 right_x=0.4537 right_y=0.2408 right_z=0.0235 right_yaw=0.0242 right_pitch=-0.0781 right_roll=-0.2404 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.6205, 7.0359, 1.6288, -0.0464, -0.0513, -0.0171, -0.6085, -9.6752, 5.1897, 1.7949, 0.4957, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c4c22db3c93c584083b81ce63ef01ab619c37cd849eac98857828da1ea4b419",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99e589be9c48df3bc5b247e361696eb09890942f0a2185d0a0d72ec89b7519cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47ce2a959b26fae04cc632186122f406f59641e9ceac5fb57ee468f9c8ddffd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQcKEAgSGAI4AUIIdGhpbmtpbmcSDBGgoOYQ1ZOs/KYivRoM0oj4osQm3T5xfYXeIjB0Q6Xm6kCuZtVBYGkkYkqoVz39OmA5ERY2J6efKCVsdcdpwvPm4jRT6RGDMfUXgN8q0gY8j3YxwUmcEChyW06b1QacfFRZGzItcC4zKrGDhAlaHEbjKX8dcFZHy2Pg8GlXYRZ9HjdUPtRsGwK7aDpyM82Ovje1sOfw63XjnTblrAuKhSfgfNylrcH/4Gf0CxGaAf9WooRp5h/suLR5EUPw/+ACEQ0QZRvgwJgGiV7oTKu0aNmGcB/LrBqO8mXnBagS0dXDgCXkPJrFgwZpwFCbsdrl2cUakZeqfqylRYgotrik6G8oXW/fNiDmKpEm746o8apHfqOCnHtfIDgjH+67cfpkA/GM7N4V/gwXPS2lBRHDpnchM68brd1g0MfT8KAMXKucOCnKbejLhU7qjFljH4ARBZVvwhh6A198IHncFTYoisQDgeQWgzBWQZdk9fA+A3fBGP9HFDxzCv6+1zivYlb6ah+NJqIm5oIXKnAC8fogVsvjXvQ8ZQUxC3uPaJ7mSh8FOKMJSQgluNXFVBXm846Y9nhQc6P7E3xP9GNB3KHh3n3QaH6qYbScVuUhDHCCflISVlx+xQNu30UfRqJwfV+Ahk83XGTvrSfwb4g/MpmkTrBHQ7toEdXVt9EtToLBARdODC1OLrDdJyuo0z7hjpK+dRnJMGc6XA2JMEutQleYudvT8gyT9GUPN/tMsfhq7vJY8k8sEwr6unUJ/iXXF/2e7W91i/cKimWb9Eycy7rARiGkB1fhFA4IN8va+KWJSMuxuqqiDDl/pfWUv0Rc34kCAD8mAKLTtJXKKVglmYgL1jYdhVWWTGsDQmL1WjwiHPnwR8p+RSojS6fJQduSTOlik+DLdzxVBuSz/5Ku5L8iThcmrMhJPoOLQhBL1kS3GbC22W+YIm9wq4koejaWecCBGAnKHOtizLDnAAHWpsRAOh6bF0LwlBqD/eqDzA8jqOrhAQ76WHBu+jZ2Y5WxahSQnHZY9f/U5wmtA5rS9gAISiUQQdTdepTm1MJE16rAAO4tO/XmW8r/sMibHnV+xZLfg++ORbfBwisDkIffl+BtfTn0hcSNxcm2/k7diGQhla1p9QQSBCshUcFm6V1Tft209PUr0J11uN2TX0qOfrnyYqRmpoxc4oYn/lXjmxkTZllmkgNuvQf3CDXVUfcuXO0ZDko/xEglSsnoVSRMCDdRZtfpGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P5JdfXmANUYYjvhqp4gtij",
      "input": {
        "note": "Lemon is centred on the jaw column a few cm ahead of the fingertips; advancing to straddle it.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.49,
          "right_y": 0.237,
          "right_yaw": 0.0,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01P5JdfXmANUYYjvhqp4gtij",
      "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, 0.8471, 0.6128, -0.4953, -0.0181, -0.0334, 0.9987, 0.6624, 2.2078, 1.2678, 0.1841, 0.6434, 0.207, 0.9965]\nstate[eef_state]: left_x=0.2815 left_y=0.0006 left_z=0.147 left_yaw=0.002 left_pitch=-0.1606 left_roll=0.0004 left_gripper=0.9987 right_x=0.4761 right_y=0.2415 right_z=0.0169 right_yaw=0.0184 right_pitch=-0.0305 right_roll=-0.2405 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.4974, 6.8991, 1.5751, -0.0415, -0.0415, -0.0122, -1.4017, -10.7145, 7.5419, 0.8913, 0.3248, -0.2466, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e0979088b2f3826ad0373e3c0c63fa95fc04c5c6fd8888fcffe8d8f4c1dc7e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66c0183e07cb29f612787035db0f7c04975b48c18b945be9f94ed4e8a59a9c6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:df0c61d8739c2a395ba0fa3afde6b12a2fc2b8e31431850433fd15ddf420304c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 11.76 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8455, 0.6128, -0.4946, -0.0177, -0.0334, 0.9987, 0.6842, 2.1304, 1.4109, -0.3706, 0.5007, 0.3817, 0.9966]\nstate[eef_state]: left_x=0.2816 left_y=0.0005 left_z=0.1476 left_yaw=0.0017 left_pitch=-0.1583 left_roll=0.0001 left_gripper=0.9987 right_x=0.4295 right_y=0.2455 right_z=0.02 right_yaw=0.0112 right_pitch=-0.343 right_roll=-0.2259 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.935, 7.0359, 1.6581, -0.0269, -0.0317, -0.0122, -0.335, -11.0564, 8.212, 1.2723, 0.4322, 0.0806, -0.0171]",
      "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, 0.8471, 0.6128, -0.4953, -0.0181, -0.0338, 0.9987, 0.6865, 2.1342, 1.2224, 0.0933, 0.6357, 0.2485, 0.9966]\nstate[eef_state]: left_x=0.2815 left_y=0.0006 left_z=0.147 left_yaw=0.0022 left_pitch=-0.1606 left_roll=0.0001 left_gripper=0.9987 right_x=0.4537 right_y=0.2408 right_z=0.0235 right_yaw=0.0242 right_pitch=-0.0781 right_roll=-0.2404 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.6205, 7.0359, 1.6288, -0.0464, -0.0513, -0.0171, -0.6085, -9.6752, 5.1897, 1.7949, 0.4957, 0.0122, -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 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, 0.8471, 0.6128, -0.4953, -0.0181, -0.0334, 0.9987, 0.6624, 2.2078, 1.2678, 0.1841, 0.6434, 0.207, 0.9965]\nstate[eef_state]: left_x=0.2815 left_y=0.0006 left_z=0.147 left_yaw=0.002 left_pitch=-0.1606 left_roll=0.0004 left_gripper=0.9987 right_x=0.4761 right_y=0.2415 right_z=0.0169 right_yaw=0.0184 right_pitch=-0.0305 right_roll=-0.2405 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.4974, 6.8991, 1.5751, -0.0415, -0.0415, -0.0122, -1.4017, -10.7145, 7.5419, 0.8913, 0.3248, -0.2466, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e0979088b2f3826ad0373e3c0c63fa95fc04c5c6fd8888fcffe8d8f4c1dc7e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66c0183e07cb29f612787035db0f7c04975b48c18b945be9f94ed4e8a59a9c6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df0c61d8739c2a395ba0fa3afde6b12a2fc2b8e31431850433fd15ddf420304c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSyAgKEAgSGAI4AUIIdGhpbmtpbmcSDDBY7CXTW/YQOSaTsRoMM+Dsnm6CA9TqZ+juIjBoDzc8G0pqUzw3OILv2aD6RzqEGNWCwETxYeCNJ+KN8Mh4B2eTuIHpT3eJsinKP+sq5QflKz6kCMprcsVK/8H4Ete1yJ7qMjSxl2pd3tPhfcs8ZOhpDaV7/nzAemJ/tMXBbmRK0xCrt9Iy4tASU9W6ABp4l8n652uAm/m5yk+Mh3XhgCCNMHx5CTa2xMDKTaFi1lQ324oslxd9GWbeMSztlV3O7ou6Pey7l3Lnf+16zxNi6B0MErAUOFi1Cyd22y1Rj2W8zaFCQIwLd4yEM2VlbZSJtLvLcSAciCYZsGB2sJO7iRFJc3NNunUJoJcn9g6ogy6taUyL5jAppXpMj44tMKOK30Ea1HTGh5os05c8n6QEgC8j6cCD9AAh/HIvybS7BGGeq1ScpjVDSIsOQ/tzfdsZi/hUHwQd7Qii7I4/GfPgot7W1ohyKBeveClssfosFxRaYBnrHTM/vO+OVxszgnF0UaKQukwM5n6A7TTX3KC4PWmYCQugfoAeIOuGSRBLA2ovHwz6qeQFloKFudUfxWuid8HLDDH6WCh+AEA5elW6eggpWbO1TH8X/lLC8mtz24YCTnhsTInvHv7/kjsrTtMrkCBSqXFcLtbQ6boMcgMwACqnmdzw905Jc58wUMMRStWRyIzdxTLG33ahCvZA9nWCBQKlp2z0cH5fFK2Y4qJizCwYCGt/Un5dmYQpPyL5Q/q44X6hoq+c0kV/qXF8Cy4owqSLUh182EyfMELEyzUGFPcS9vFITc+7j184aqfu59qQ+wXC7nxubt7OlbmVTI+EsVaYVtVF+DTkxbQ1yMQOxWvpF+2tCN3opZXtJPoQfpGxXkQXuUIPlvms1Ht0ZNK71pFZDHBt1ywztUOmz9xJRXVb64Zw1OCFU4ieC2gVe+L0Q1SagWqV8C+wu9Cx1b7N9R1N9px1R1EK874k9PuQEnLAQQ0yj6jdBCVum/tA+9Ot2OGfj1w3mwbRvyS4QOfeGrfNRFAm3kf2kY+x4Ye4SEgzIhEpvB4gU3ALaVnrxg4+NIqFKGEes8hypXp15nuMJgxRbQssYoJi6n+VVGbJ6PDHYxUO25v2yejaz1+MZlJfuyZ2Nth7kGyecW68j/AvvtNxtoX1n7AZUVPQ5qTdRtCsLOTVfaxMiE4vwx9bngFPM+fDYpltv02EoqOBNDHgyqwNT7W1p3zt/vwEvxjIrgmXIwyaksjHrQutLFB1rmkCm6hH/qMaQdTFeYvj1LHJhMAnyvY3Q5ra6Q/M4pFUHFrbswFTtInoY5/uT2Odc0uW/G7npVgRbv/MxPtqWIVeVX8Zg3nwbgZj14ajTlGkdk2i86+pFUitQ12ejNv0nA8Sm6laaIqMFOLhJ4CD/wHCgybbPYNasIrRPgQTZeiMuuhIGIoJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XrMnJqi1pGhXSmqGXyzH3s",
      "input": {
        "note": "Lemon's near end is between the jaws; closing (with a last small forward push) to grasp it.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.49
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XrMnJqi1pGhXSmqGXyzH3s",
      "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, 0.8471, 0.6128, -0.4957, -0.0181, -0.0334, 0.9987, 0.6449, 2.2204, 1.2835, 0.1974, 0.6422, 0.1787, 0.009]\nstate[eef_state]: left_x=0.2814 left_y=0.0006 left_z=0.147 left_yaw=0.002 left_pitch=-0.1609 left_roll=0.0004 left_gripper=0.9987 right_x=0.4846 right_y=0.2366 right_z=0.018 right_yaw=0.0167 right_pitch=-0.0215 right_roll=-0.2535 right_gripper=0.009\nstate[joint_eff]: [-0.0889, -1.4974, 7.1043, 1.5653, -0.0464, -0.0366, -0.0171, -0.5128, -10.865, 7.1863, 1.6923, 0.3443, 0.0855, 0.7253]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f32d7d7d594c47c75f01eb04cd2ba86ff6d5c17178e8fa33a3fabd9f35e1c7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab736b80eeec90fe9cc3617fcb95681df287e0089ecc47b8c971d44f01cbec66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1bf2240b92b2b3ada94ba7898f4f3fb2399fde4e6d020657d1d022068d3ca7ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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