adhoc

completed
2026-09-22T20:26:35.384264+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 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
200.5 s
total steps
247
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 on left, blue bowl right-centre, lemon left of it, pear right of it, dark plum near centre. Moving the right arm forward over the pear, which sits on its jaw column a few cm ahead.
move_to
right_x0.3500right_y0.0100right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8001, 0.6136, -0.382, -0.0143, -0.0296, 0.9993, -0.0227, 0.7994, 0.6182, -0.3874, -0.0174, -0.0124, 0.9993] state[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1823 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=-0.0001 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.335, -1.5521, 9.7436, 1.8437, -0.1197, 0.149, -0.0855, -0.3487, -1.7162, 9.3607, 1.8388, -0.1001, -0.0611, -0.0904] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.01, "right_z": 0.15, "right_gripper": 1.0}, "note": "Scene: white bowl on left, blue bowl right-centre, lemon left of it, pear right of it, dark plum near centre. Moving the right arm forward over the pear, which sits on its jaw column a few cm ahead."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent notePear is centred on the jaw column just ahead of the fingertips. Advancing ~3 cm and descending to straddle the pear body.
move_to
right_x0.3750right_y0.0120right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0208, 0.8024, 0.6147, -0.3874, -0.0139, -0.0307, 0.9993, 0.0338, 1.0996, 0.5953, -0.1158, 0.0067, -0.0082, 0.9992] state[eef_state]: left_x=0.2957 left_y=-0.0001 left_z=0.181 left_yaw=-0.0005 left_pitch=-0.0065 left_roll=-0.001 left_gripper=0.9993 right_x=0.3443 right_y=0.014 right_z=0.1382 right_yaw=0.0339 right_pitch=-0.0516 right_roll=-0.0094 right_gripper=0.9992 state[joint_eff]: [0.0615, -1.4427, 7.1453, 1.7509, -0.0611, -0.022, -0.022, -0.3624, -4.1094, 6.9538, 2.1074, 0.1538, 0.1978, -0.0952] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.012, "right_z": 0.04}, "note": "Pear is centred on the jaw column just ahead of the fingertips. Advancing ~3 cm and descending to straddle the pear body."})
tool
executing move_to over 7 steps (0.7s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent notePear fills the view between the jaws. Closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8066, 0.6147, -0.4007, -0.0139, -0.0307, 0.9993, 0.0223, 1.5429, 0.4313, 0.4522, -0.0059, -0.0196, 0.9992] state[eef_state]: left_x=0.2941 left_y=-0.0002 left_z=0.1771 left_yaw=-0.0008 left_pitch=-0.024 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3699 right_y=0.0129 right_z=0.0319 right_yaw=0.0393 right_pitch=-0.0909 right_roll=-0.0107 right_gripper=0.9992 state[joint_eff]: [-0.0615, -1.6342, 7.0085, 1.8632, -0.0806, -0.022, -0.0122, -0.4308, -5.9556, 5.094, 2.0244, -0.0611, -0.0415, -0.0122] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear fills the view between the jaws. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteEmpty close: the pear sits a few cm further forward than the jaws. Opening and lifting slightly before re-approaching.
move_to
right_gripper1.0000right_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]: [-0.0212, 0.8062, 0.6147, -0.4088, -0.0139, -0.0307, 0.9993, 0.0223, 1.5429, 0.4305, 0.4442, -0.009, -0.0193, 0.0111] state[eef_state]: left_x=0.293 left_y=-0.0002 left_z=0.1756 left_yaw=-0.0008 left_pitch=-0.0317 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3684 right_y=0.0134 right_z=0.03 right_yaw=0.0417 right_pitch=-0.0997 right_roll=-0.0084 right_gripper=0.0111 state[joint_eff]: [-0.335, -1.2786, 7.1863, 1.8242, -0.0317, -0.0415, -0.0122, -0.0752, -5.3675, 5.4222, 1.707, 0.0024, -0.022, 0.9304] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.08}, "note": "Empty close: the pear sits a few cm further forward than the jaws. Opening and lifting slightly before re-approaching."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent notePear centred slightly left of the jaw column and ~5 cm ahead. Advancing and descending to straddle it.
move_to
right_x0.4150right_y0.0200right_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]: [-0.0212, 0.8062, 0.6147, -0.4179, -0.0135, -0.0307, 0.9993, 0.0235, 1.3701, 0.5087, 0.1555, -0.0162, -0.0273, 0.9984] state[eef_state]: left_x=0.2917 left_y=-0.0002 left_z=0.1737 left_yaw=-0.0012 left_pitch=-0.0408 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3601 right_y=0.0149 right_z=0.064 right_yaw=0.0535 right_pitch=-0.1374 right_roll=-0.009 right_gripper=0.9984 state[joint_eff]: [-0.3214, -1.2923, 7.1453, 1.7705, -0.0317, -0.0806, -0.0122, -0.1162, -5.8735, 8.759, 1.7363, 0.0464, 0.0611, -0.1734] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.415, "right_y": 0.02, "right_z": 0.03}, "note": "Pear centred slightly left of the jaw column and ~5 cm ahead. Advancing and descending to straddle it."})
tool
executing move_to over 5 steps (0.5s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent notePear now fills the space between the jaws. Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8116, 0.6147, -0.424, -0.0139, -0.0307, 0.9993, 0.0376, 1.7058, 0.6262, 0.318, -0.0162, -0.0311, 0.9984] state[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1711 left_yaw=-0.0008 left_pitch=-0.0523 left_roll=-0.0001 left_gripper=0.9993 right_x=0.4021 right_y=0.0216 right_z=0.0158 right_yaw=0.07 right_pitch=-0.1931 right_roll=-0.0102 right_gripper=0.9984 state[joint_eff]: [-0.2256, -1.4974, 6.9812, 1.7656, -0.0757, -0.0806, -0.0122, -0.3214, -7.3231, 6.7897, 1.9121, 0.1001, 0.0513, -0.0122] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear now fills the space between the jaws. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteSecond empty close: jaws meet just short of the pear's near side. Opening and lifting slightly to re-approach further forward.
move_to
right_gripper1.0000right_z0.0500right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4248, -0.0139, -0.0307, 0.9993, 0.0376, 1.7058, 0.6262, 0.3241, -0.0162, -0.0284, 0.0105] state[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1707 left_yaw=-0.0008 left_pitch=-0.0538 left_roll=-0.0001 left_gripper=0.9993 right_x=0.4031 right_y=0.0216 right_z=0.0169 right_yaw=0.0685 right_pitch=-0.1869 right_roll=-0.0084 right_gripper=0.0105 state[joint_eff]: [0.1026, -0.9778, 7.159, 1.707, -0.0562, -0.0513, -0.0122, -0.0342, -7.3231, 6.7897, 1.8437, 0.0708, 0.0806, 0.906] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.05, "right_pitch": 0.0}, "note": "Second empty close: jaws meet just short of the pear's near side. Opening and lifting slightly to re-approach further forward."})
tool
executing move_to over 10 steps (1.0s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent notePear is centred on the jaw column but still ahead of the fingertips. Advancing ~4 cm further at low height.
move_to
right_x0.4400right_y0.0220right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4267, -0.0139, -0.0307, 0.9993, 0.0376, 1.6474, 0.5163, 0.4904, -0.0212, -0.0349, 0.9956] state[eef_state]: left_x=0.2908 left_y=-0.0001 left_z=0.1703 left_yaw=-0.0008 left_pitch=-0.0557 left_roll=-0.0 left_gripper=0.9993 right_x=0.3961 right_y=0.0222 right_z=0.0318 right_yaw=0.0757 right_pitch=-0.0721 right_roll=-0.0142 right_gripper=0.9956 state[joint_eff]: [-0.1026, -1.2923, 7.0496, 1.6972, -0.0513, -0.0611, -0.0171, -0.2667, -8.3214, 5.0803, 1.9658, -0.0562, 0.0659, -0.1099] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.022, "right_z": 0.025}, "note": "Pear is centred on the jaw column but still ahead of the fingertips. Advancing ~4 cm further at low height."})
tool
executing move_to over 4 steps (0.4s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
Pear now reaches down to the jaw tips. Closing.
agent noteThe pear now fills the image all the way down to the jaw tips, so it should be between the fingers. Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.815, 0.6147, -0.4339, -0.0135, -0.0307, 0.9993, 0.0372, 1.8042, 0.6491, 0.4774, -0.0284, -0.0444, 0.9963] state[eef_state]: left_x=0.2899 left_y=-0.0002 left_z=0.1682 left_yaw=-0.0011 left_pitch=-0.0656 left_roll=-0.0001 left_gripper=0.9993 right_x=0.4265 right_y=0.0245 right_z=0.0144 right_yaw=0.0868 right_pitch=-0.109 right_roll=-0.0157 right_gripper=0.9963 state[joint_eff]: [-0.1436, -1.5658, 7.1726, 1.7216, -0.022, -0.0317, -0.0122, -0.7863, -8.0342, 6.6393, 1.7363, 0.0317, 0.0659, 0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
Pear now reaches down to the jaw tips. Closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "The pear now fills the image all the way down to the jaw tips, so it should be between the fingers. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteJaws closed just in front of the pear's near end (visible tip at bottom of the image). Opening to push a little further forward.
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]: [-0.0212, 0.8154, 0.6147, -0.4347, -0.0139, -0.0307, 0.9993, 0.0368, 1.816, 0.6552, 0.4667, -0.0311, -0.046, 0.0111] state[eef_state]: left_x=0.2898 left_y=-0.0001 left_z=0.1679 left_yaw=-0.0008 left_pitch=-0.0668 left_roll=0.0002 left_gripper=0.9993 right_x=0.4258 right_y=0.0248 right_z=0.0097 right_yaw=0.0896 right_pitch=-0.1253 right_roll=-0.0143 right_gripper=0.0111 state[joint_eff]: [-0.2256, -1.0598, 6.9675, 1.7021, -0.0562, -0.0366, -0.0122, -0.0205, -8.7726, 4.3692, 1.7216, -0.0562, -0.0464, 0.7448] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Jaws closed just in front of the pear's near end (visible tip at bottom of the image). Opening to push a little further forward."})
tool
executing move_to over 10 steps (1.0s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent notePear sits just beyond the open jaws. Advancing ~4 cm so the jaws surround its body.
move_to
right_x0.4650right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4347, -0.0139, -0.0307, 0.9993, 0.0364, 1.816, 0.6552, 0.458, -0.0315, -0.0532, 0.9954] state[eef_state]: left_x=0.2898 left_y=-0.0001 left_z=0.1679 left_yaw=-0.0008 left_pitch=-0.0668 left_roll=0.0002 left_gripper=0.9993 right_x=0.4244 right_y=0.0246 right_z=0.008 right_yaw=0.0935 right_pitch=-0.1341 right_roll=-0.0192 right_gripper=0.9954 state[joint_eff]: [-0.1299, -1.347, 6.9675, 1.6777, -0.0611, -0.0708, -0.0122, -0.2667, -7.8154, 4.8479, 1.6825, -0.0122, 0.0464, -0.0366] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.465, "right_z": 0.02}, "note": "Pear sits just beyond the open jaws. Advancing ~4 cm so the jaws surround its body."})
tool
executing move_to over 4 steps (0.4s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent notePear body now extends down between the jaws. Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4408, -0.0135, -0.0307, 0.9993, 0.0364, 1.887, 0.8078, 0.3637, -0.0399, -0.0647, 0.9963] state[eef_state]: left_x=0.2889 left_y=-0.0001 left_z=0.1667 left_yaw=-0.0011 left_pitch=-0.0729 left_roll=0.0001 left_gripper=0.9993 right_x=0.4562 right_y=0.0273 right_z=0.0136 right_yaw=0.107 right_pitch=-0.1465 right_roll=-0.0216 right_gripper=0.9963 state[joint_eff]: [-0.1846, -1.3333, 7.1316, 1.7558, -0.0269, -0.0708, -0.0122, -0.7043, -8.5402, 6.735, 1.536, -0.0366, 0.0073, 0.0806] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear body now extends down between the jaws. Closing."})
tool
executing move_to over 10 steps (1.0s)
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 noteThird miss: the pear lies lengthwise pointing away and each approach nudges it forward. Lifting to come down on top of its body instead of sliding into it.
move_to
right_gripper1.0000right_z0.1200right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4431, -0.0135, -0.0307, 0.9993, 0.0364, 1.8912, 0.8124, 0.3389, -0.0395, -0.0711, 0.0106] state[eef_state]: left_x=0.2886 left_y=-0.0001 left_z=0.1662 left_yaw=-0.0011 left_pitch=-0.0751 left_roll=0.0001 left_gripper=0.9993 right_x=0.4533 right_y=0.0271 right_z=0.0089 right_yaw=0.1105 right_pitch=-0.171 right_roll=-0.025 right_gripper=0.0106 state[joint_eff]: [-0.1162, -1.2239, 7.0222, 1.6972, -0.0269, -0.0806, -0.0122, 0.0889, -9.1556, 4.8205, 1.8535, -0.0317, 0.0708, 0.9255] 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_gripper": 1.0, "right_z": 0.12, "right_pitch": 0.0}, "note": "Third miss: the pear lies lengthwise pointing away and each approach nudges it forward. Lifting to come down on top of its body instead of sliding into it."})
tool
executing move_to over 10 steps (1.0s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe pear is actually upright, centred on the jaw column, ~4 cm ahead of the fingertips. Moving above it at height so I can descend onto it without pushing.
move_to
right_x0.4850right_y0.0280right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8173, 0.6147, -0.4496, -0.0139, -0.0307, 0.9993, 0.0357, 1.6249, 0.8127, 0.1856, -0.0547, -0.0795, 0.9955] state[eef_state]: left_x=0.2877 left_y=-0.0 left_z=0.1645 left_yaw=-0.0008 left_pitch=-0.0835 left_roll=0.0005 left_gripper=0.9993 right_x=0.4454 right_y=0.0292 right_z=0.0947 right_yaw=0.1261 right_pitch=-0.0574 right_roll=-0.0313 right_gripper=0.9955 state[joint_eff]: [-0.3077, -1.1966, 6.9538, 1.7167, -0.0317, -0.0562, -0.0122, -0.6085, -8.9504, 8.9641, 1.8095, -0.0562, 0.1197, -0.149] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.485, "right_y": 0.028, "right_z": 0.12}, "note": "The pear is actually upright, centred on the jaw column, ~4 cm ahead of the fingertips. Moving above it at height so I can descend onto it without pushing."})
tool
executing move_to over 4 steps (0.4s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent notePear is centred between the jaws and reaches the bottom of the view. Descending straight down around it.
move_to
right_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]: [-0.0212, 0.8188, 0.6147, -0.4538, -0.0139, -0.0307, 0.9993, 0.0357, 1.7081, 0.9859, 0.0685, -0.065, -0.0952, 0.9963] state[eef_state]: left_x=0.2872 left_y=-0.0 left_z=0.1632 left_yaw=-0.0008 left_pitch=-0.0893 left_roll=0.0006 left_gripper=0.9993 right_x=0.4745 right_y=0.032 right_z=0.1069 right_yaw=0.1435 right_pitch=-0.084 right_roll=-0.035 right_gripper=0.9963 state[joint_eff]: [-0.1846, -1.4974, 6.9402, 1.6728, -0.0269, -0.0269, -0.0122, -0.8957, -7.8291, 8.4308, 1.79, 0.0513, 0.1441, 0.0757] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03}, "note": "Pear is centred between the jaws and reaches the bottom of the view. Descending straight down around it."})
tool
executing move_to over 5 steps (0.5s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteArm fell back to x=0.46 while descending, leaving the pear just ahead of the jaws again. Pushing the target further out to bring the jaws around it.
move_to
right_x0.5100right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8192, 0.6147, -0.4625, -0.0135, -0.0307, 0.9993, 0.0338, 1.8931, 0.8577, 0.2897, -0.065, -0.0978, 0.9963] state[eef_state]: left_x=0.2858 left_y=-0.0001 left_z=0.1614 left_yaw=-0.0011 left_pitch=-0.0984 left_roll=0.0006 left_gripper=0.9993 right_x=0.4605 right_y=0.0306 right_z=0.0153 right_yaw=0.1443 right_pitch=-0.1755 right_roll=-0.027 right_gripper=0.9963 state[joint_eff]: [-0.335, -1.3744, 7.0632, 1.7265, -0.0269, -0.0757, -0.0122, -0.0068, -9.7162, 5.3675, 1.9365, -0.0073, 0.0024, -0.0024] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.51, "right_z": 0.035}, "note": "Arm fell back to x=0.46 while descending, leaving the pear just ahead of the jaws again. Pushing the target further out to bring the jaws around it."})
tool
executing move_to over 4 steps (0.4s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent notePear body now spans the jaw gap at the bottom of the wrist view. Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8211, 0.6147, -0.469, -0.0135, -0.0307, 0.9993, 0.0372, 1.9816, 1.0698, 0.1722, -0.0727, -0.1135, 0.9964] state[eef_state]: left_x=0.2849 left_y=-0.0001 left_z=0.1597 left_yaw=-0.0011 left_pitch=-0.1068 left_roll=0.0008 left_gripper=0.9993 right_x=0.504 right_y=0.0352 right_z=0.0313 right_yaw=0.1627 right_pitch=-0.1691 right_roll=-0.0342 right_gripper=0.9964 state[joint_eff]: [-0.335, -1.4838, 7.0222, 1.6777, -0.0366, -0.0464, -0.0122, -0.759, -9.7162, 7.0359, 1.5702, 0.0366, 0.1392, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear body now spans the jaw gap at the bottom of the wrist view. Closing."})
tool
executing move_to over 10 steps (1.0s)
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 noteGripper settled at 0.72 (~6.8 cm), so the pear is held. Lifting it clear before carrying to the blue bowl.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8211, 0.6147, -0.4736, -0.0139, -0.0307, 0.9993, 0.0357, 1.9846, 1.0744, 0.1528, -0.0769, -0.1169, 0.7153] state[eef_state]: left_x=0.2842 left_y=0.0 left_z=0.1588 left_yaw=-0.0007 left_pitch=-0.1114 left_roll=0.0011 left_gripper=0.9993 right_x=0.5019 right_y=0.0351 right_z=0.0281 right_yaw=0.167 right_pitch=-0.1866 right_roll=-0.0316 right_gripper=0.7153 state[joint_eff]: [-0.3487, -1.1419, 7.1316, 1.7021, -0.0366, -0.0269, -0.0122, -0.2393, -10.3726, 5.4632, 1.746, -0.0415, -0.0366, 1.0281] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Gripper settled at 0.72 (~6.8 cm), so the pear is held. Lifting it clear before carrying to the blue bowl."})
tool
executing move_to over 12 steps (1.2s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent notePear lifted with the jaws. Carrying it over the blue bowl, which sits ~11 cm left and ~8 cm back from the gripper.
move_to
right_x0.4200right_y0.1400right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8211, 0.6147, -0.4759, -0.0135, -0.0307, 0.9993, 0.0395, 1.8137, 1.4685, -0.4969, -0.0837, -0.1329, 0.7191] state[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1583 left_yaw=-0.001 left_pitch=-0.1137 left_roll=0.0009 left_gripper=0.9993 right_x=0.4972 right_y=0.038 right_z=0.1583 right_yaw=0.1884 right_pitch=-0.27 right_roll=-0.0259 right_gripper=0.7191 state[joint_eff]: [-0.3487, -1.3607, 7.0769, 1.6239, -0.0464, -0.0659, -0.0122, -0.4855, -13.2855, 9.2786, 1.746, -0.022, 0.1441, 0.7399] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.14, "right_z": 0.18}, "note": "Pear lifted with the jaws. Carrying it over the blue bowl, which sits ~11 cm left and ~8 cm back from the gripper."})
tool
executing move_to over 9 steps (0.9s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent notePear is over the blue bowl (bowl rim visible just below/ahead of it in the wrist view). Lowering toward the bowl before releasing.
move_to
right_x0.4300right_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]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.3523, 1.6363, 1.3281, -0.564, 0.099, 0.065, 0.7188] state[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1583 left_yaw=-0.0007 left_pitch=-0.114 left_roll=0.0012 left_gripper=0.9993 right_x=0.4244 right_y=0.1413 right_z=0.1701 right_yaw=0.2299 right_pitch=-0.2985 right_roll=-0.0338 right_gripper=0.7188 state[joint_eff]: [-0.0752, -1.1556, 6.9402, 1.663, -0.0611, -0.0269, -0.0122, 0.1436, -10.6462, 5.6684, 1.5409, 0.1099, 0.1441, 0.6178] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_z": 0.13}, "note": "Pear is over the blue bowl (bowl rim visible just below/ahead of it in the wrist view). Lowering toward the bowl before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteGripper with pear is positioned over the blue bowl in the overhead view. 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]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.3492, 1.665, 1.2285, -0.4812, 0.1036, 0.0696, 0.7194] state[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1583 left_yaw=-0.0007 left_pitch=-0.114 left_roll=0.0012 left_gripper=0.9993 right_x=0.42 right_y=0.1373 right_z=0.1306 right_yaw=0.2183 right_pitch=-0.343 right_roll=-0.0405 right_gripper=0.7194 state[joint_eff]: [-0.335, -1.2513, 6.9402, 1.6044, -0.0659, -0.0366, -0.0122, -0.4718, -7.9385, 7.1726, 1.8242, 0.0269, -0.0855, 0.7937] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Gripper with pear is positioned over the blue bowl in the overhead view. Releasing the pear."})
tool
executing move_to over 3 steps (0.3s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent notePear is now in the blue bowl. Moving the right arm up and over the lemon, which sits just behind-left of the bowl.
move_to
right_z0.1800right_x0.3600right_y0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0135, -0.0307, 0.9993, 0.3477, 1.692, 1.2011, -0.4755, 0.0971, 0.0601, 0.9953] state[eef_state]: left_x=0.2838 left_y=-0.0 left_z=0.1583 left_yaw=-0.001 left_pitch=-0.114 left_roll=0.0009 left_gripper=0.9993 right_x=0.4145 right_y=0.1358 right_z=0.1093 right_yaw=0.2257 right_pitch=-0.3923 right_roll=-0.0476 right_gripper=0.9953 state[joint_eff]: [-0.2256, -1.3607, 6.9402, 1.6239, -0.0317, -0.0366, -0.0122, 0.0889, -10.5504, 8.7726, 1.409, 0.1587, 0.105, 0.1148] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18, "right_x": 0.36, "right_y": 0.19}, "note": "Pear is now in the blue bowl. Moving the right arm up and over the lemon, which sits just behind-left of the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe lemon is behind-left of the gripper (bottom-left of the wrist view, below the bowl in the overhead view). Moving over it and straightening the wrist, which had drifted in pitch and yaw.
move_to
right_x0.2900right_y0.2500right_z0.1400right_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]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.5602, 1.6093, 1.3315, -0.7166, 0.1841, 0.189, 0.9963] state[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1583 left_yaw=-0.0007 left_pitch=-0.114 left_roll=0.0012 left_gripper=0.9993 right_x=0.3669 right_y=0.1962 right_z=0.1621 right_yaw=0.2825 right_pitch=-0.4016 right_roll=-0.0508 right_gripper=0.9963 state[joint_eff]: [-0.1846, -1.3607, 6.9675, 1.6337, -0.0415, -0.0806, -0.0122, 0.1299, -9.2786, 8.2667, 1.1062, 0.2173, 0.2271, 0.0855] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.25, "right_z": 0.14, "right_pitch": 0.0, "right_yaw": 0.0}, "note": "The lemon is behind-left of the gripper (bottom-left of the wrist view, below the bowl in the overhead view). Moving over it and straightening the wrist, which had drifted in pitch and yaw."})
tool
executing move_to over 14 steps (1.4s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteLemon sits just in front of the jaws, slightly left of centre. Nudging left/forward and descending to straddle it.
move_to
right_x0.3000right_y0.2600right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 1.0386, 1.5303, 0.9695, -0.3836, 0.765, 0.6746, 0.9963] state[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1583 left_yaw=-0.0007 left_pitch=-0.114 left_roll=0.0012 left_gripper=0.9993 right_x=0.2873 right_y=0.2538 right_z=0.1364 right_yaw=0.0652 right_pitch=-0.0574 right_roll=-0.0709 right_gripper=0.9963 state[joint_eff]: [-0.1709, -1.2513, 7.0085, 1.619, -0.0415, -0.0757, -0.0122, 0.2393, -5.7778, 5.8188, 1.4335, 0.5348, 0.1685, -0.0024] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.26, "right_z": 0.02}, "note": "Lemon sits just in front of the jaws, slightly left of centre. Nudging left/forward and descending to straddle it."})
tool
executing move_to over 8 steps (0.8s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteLemon is between the jaws at the bottom of the wrist view. Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8265, 0.6147, -0.4782, -0.0139, -0.0307, 0.9993, 1.0157, 1.821, 0.7761, 0.0635, 0.7425, 0.6537, 0.9964] state[eef_state]: left_x=0.2837 left_y=0.0 left_z=0.1565 left_yaw=-0.0007 left_pitch=-0.1213 left_roll=0.0013 left_gripper=0.9993 right_x=0.2943 right_y=0.2547 right_z=0.0197 right_yaw=0.0649 right_pitch=-0.0948 right_roll=-0.1076 right_gripper=0.9964 state[joint_eff]: [-0.212, -1.7026, 6.9675, 1.6484, -0.0464, -0.0366, -0.0122, -0.5128, -8.1162, 4.588, 1.3944, 0.3834, -0.0952, -0.0073] 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}, "note": "Lemon is between the jaws at the bottom of the wrist view. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 192
assistant
agent noteGripper settled at 0.49 (~4.7 cm): lemon is held. Lifting before carrying to the bowl.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8257, 0.6147, -0.4885, -0.0139, -0.0307, 0.9993, 1.0142, 1.8458, 0.7647, 0.0727, 0.7353, 0.6464, 0.4925] state[eef_state]: left_x=0.2821 left_y=0.0001 left_z=0.1547 left_yaw=-0.0007 left_pitch=-0.1308 left_roll=0.0015 left_gripper=0.9993 right_x=0.2915 right_y=0.251 right_z=0.0081 right_yaw=0.0693 right_pitch=-0.116 right_roll=-0.1319 right_gripper=0.4925 state[joint_eff]: [-0.3214, -1.306, 6.9128, 1.7265, -0.0464, -0.0415, -0.0171, -0.0479, -9.6615, 5.6684, 1.0427, 0.3443, 0.0122, 0.9402] 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
move_to({"targets": {"right_z": 0.18}, "note": "Gripper settled at 0.49 (~4.7 cm): lemon is held. Lifting before carrying to the bowl."})
tool
executing move_to over 12 steps (1.2s)
step 204
assistant
agent noteLemon held; blue bowl with the pear is ahead and to the right in the wrist view. Carrying the lemon over the bowl.
move_to
right_x0.4000right_y0.1500right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8257, 0.6147, -0.4915, -0.0139, -0.0307, 0.9993, 1.0142, 1.5574, 1.1484, -0.6064, 0.7242, 0.6426, 0.4935] state[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1542 left_yaw=-0.0007 left_pitch=-0.1339 left_roll=0.0016 left_gripper=0.9993 right_x=0.2928 right_y=0.2558 right_z=0.1618 right_yaw=0.0772 right_pitch=-0.1279 right_roll=-0.1349 right_gripper=0.4935 state[joint_eff]: [-0.0479, -1.388, 6.9265, 1.6728, -0.0464, -0.0513, -0.0122, -0.3624, -9.0735, 8.2256, 1.1209, 0.4322, 0.022, 0.8132] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.15, "right_z": 0.16}, "note": "Lemon held; blue bowl with the pear is ahead and to the right in the wrist view. Carrying the lemon over the bowl."})
tool
executing move_to over 9 steps (0.9s)
step 213
assistant
agent noteLemon is directly above the blue bowl (bowl rim surrounds it in the wrist view). Releasing.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8268, 0.6147, -0.4934, -0.0139, -0.0307, 0.9993, 0.5339, 1.5276, 1.055, -0.3641, 0.4377, 0.226, 0.4966] state[eef_state]: left_x=0.2813 left_y=0.0001 left_z=0.1535 left_yaw=-0.0007 left_pitch=-0.1369 left_roll=0.0016 left_gripper=0.9993 right_x=0.3877 right_y=0.1464 right_z=0.147 right_yaw=0.0414 right_pitch=-0.1784 right_roll=-0.1585 right_gripper=0.4966 state[joint_eff]: [-0.3077, -1.0325, 6.9265, 1.619, -0.0464, -0.022, -0.0171, -0.1846, -7.0359, 7.4598, 1.7167, 0.1197, 0.0171, 0.6032] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Lemon is directly above the blue bowl (bowl rim surrounds it in the wrist view). Releasing."})
tool
executing move_to over 6 steps (0.6s)
step 219
assistant
agent noteThe lemon bounced off the bowl rim and rolled onto the table in front of the right base; the pear stays in the bowl. Going straight down onto the lemon's new position.
move_to
right_x0.2550right_y0.2200right_z0.0200right_pitch0.0000right_yaw0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8268, 0.6147, -0.4938, -0.0139, -0.0307, 0.9993, 0.5331, 1.5276, 1.0546, -0.3717, 0.4175, 0.2165, 0.9957] state[eef_state]: left_x=0.2813 left_y=0.0001 left_z=0.1534 left_yaw=-0.0007 left_pitch=-0.1373 left_roll=0.0016 left_gripper=0.9993 right_x=0.3858 right_y=0.1487 right_z=0.1445 right_yaw=0.0611 right_pitch=-0.1933 right_roll=-0.1557 right_gripper=0.9957 state[joint_eff]: [-0.0889, -1.347, 6.9538, 1.6239, -0.0415, -0.0708, -0.0122, -0.1983, -6.9265, 6.8308, 1.5165, 0.3541, 0.0024, -0.2222] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.255, "right_y": 0.22, "right_z": 0.02, "right_pitch": 0.0, "right_yaw": 0.0, "right_roll": 0.0}, "note": "The lemon bounced off the bowl rim and rolled onto the table in front of the right base; the pear stays in the bowl. Going straight down onto the lemon's new position."})
tool
executing move_to over 11 steps (1.1s)
step 230
assistant
agent noteLemon has rolled further back, now just behind the gripper near the right base (bottom of overhead view). Moving back over it at table height.
move_to
right_x0.1750right_y0.2350right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8303, 0.6147, -0.4946, -0.0139, -0.0307, 0.9993, 1.084, 1.676, 0.5407, 0.1398, 0.7841, 0.7345, 0.9963] state[eef_state]: left_x=0.2813 left_y=0.0001 left_z=0.1524 left_yaw=-0.0006 left_pitch=-0.1415 left_roll=0.0017 left_gripper=0.9993 right_x=0.2529 right_y=0.2188 right_z=0.0141 right_yaw=0.0643 right_pitch=-0.0696 right_roll=-0.0741 right_gripper=0.9963 state[joint_eff]: [-0.335, -1.6752, 6.9265, 1.6044, -0.0464, -0.0317, -0.0171, 0.1026, -6.7077, 4.3009, 1.4335, 0.7057, 0.1343, 0.0562] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.175, "right_y": 0.235, "right_z": 0.02}, "note": "Lemon has rolled further back, now just behind the gripper near the right base (bottom of overhead view). Moving back over it at table height."})
tool
executing move_to over 6 steps (0.6s)
step 236
assistant
agent noteThe lemon is hidden under the gripper in the overhead view, so it should be between the fingertips. Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8314, 0.6147, -0.4946, -0.0135, -0.0307, 0.9993, 1.3922, 1.668, 0.598, -0.205, 0.8803, 1.0931, 0.9964] state[eef_state]: left_x=0.2813 left_y=0.0 left_z=0.1521 left_yaw=-0.001 left_pitch=-0.1427 left_roll=0.0015 left_gripper=0.9993 right_x=0.1783 right_y=0.2412 right_z=0.0141 right_yaw=0.1138 right_pitch=-0.089 right_roll=-0.0794 right_gripper=0.9964 state[joint_eff]: [-0.1026, -1.306, 6.9949, 1.6679, -0.0366, -0.0366, -0.0122, 0.1573, -6.1744, 5.9556, 0.735, 0.6129, 0.1441, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The lemon is hidden under the gripper in the overhead view, so it should be between the fingertips. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 246
assistant
agent noteI ran out of call budget before finishing. The pear is in the blue bowl. The lemon bounced off the bowl rim when I released it from about 14 cm up and rolled toward the right base. My last close came up empty and I can't see the lemon in the overhead view now, so it may be under the arm or off the table. The dark plum is still on the table and the pour into the white bowl was never attempted. With 4 calls left there's no realistic way to finish the pick-and-place and pour sequence.
give_up
hindsight- The right arm's jaws kept closing 3–5 cm short of the target. Three low approaches to the pear missed, and each one pushed it forward. What worked was hovering high over the object until it filled the wrist view down to the jaw tips, then descending straight down. Also command x about 2–3 cm beyond the target: at long reach and low z the readback falls short (0.485 commanded gave 0.46 during the descent). - Wrist pitch and yaw drift during moves (pitch reached -0.4, yaw +0.28). Command pitch=0 and yaw=0 explicitly on transport moves. - Don't drop round fruit from high up. The lemon, released with the grasp point at about 0.145 m, bounced out of the blue bowl and rolled far. Lower until the fruit is nearly touching the bowl floor (grasp z ≈ 0.08–0.10 for a lemon) before opening. - Scene: blue bowl at roughly right-arm (x 0.40–0.42, y 0.14); releasing at (0.415, 0.136, 0.11) landed the pear in it. The pear stood upright at about right (0.50, 0.035) and needed a full 9.5 cm open; it settled at 0.72. The lemon settles at about 0.49. The white bowl and the plum are on the left arm's side. - Budget: 40 calls is tight for 3 picks plus a pour. Combine open+lift and move+descend into single calls, and plan about 5 calls per fruit.
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8345, 0.6147, -0.4988, -0.0135, -0.0307, 0.9993, 1.3949, 1.668, 0.601, -0.2119, 0.87, 1.0912, 0.0109] state[eef_state]: left_x=0.2808 left_y=0.0 left_z=0.1505 left_yaw=-0.0009 left_pitch=-0.1499 left_roll=0.0016 left_gripper=0.9993 right_x=0.1765 right_y=0.2421 right_z=0.0131 right_yaw=0.1204 right_pitch=-0.0996 right_roll=-0.0817 right_gripper=0.0109 state[joint_eff]: [-0.3487, -1.5385, 6.9128, 1.619, -0.0269, -0.0659, -0.0122, -0.4171, -6.0513, 4.2325, 0.8474, 0.5104, -0.0171, 0.8327] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I ran out of call budget before finishing. The pear is in the blue bowl. The lemon bounced off the bowl rim when I released it from about 14 cm up and rolled toward the right base. My last close came up empty and I can't see the lemon in the overhead view now, so it may be under the arm or off the table. The dark plum is still on the table and the pour into the white bowl was never attempted. With 4 calls left there's no realistic way to finish the pick-and-place and pour sequence.", "hindsight": "- The right arm's jaws kept closing 3\u20135 cm short of the target. Three low approaches to the pear missed, and each one pushed it forward. What worked was hovering high over the object until it filled the wrist view down to the jaw tips, then descending straight down. Also command x about 2\u20133 cm beyond the target: at long reach and low z the readback falls short (0.485 commanded gave 0.46 during the descent).\n- Wrist pitch and yaw drift during moves (pitch reached -0.4, yaw +0.28). Command pitch=0 and yaw=0 explicitly on transport moves.\n- Don't drop round fruit from high up. The lemon, released with the grasp point at about 0.145 m, bounced out of the blue bowl and rolled far. Lower until the fruit is nearly touching the bowl floor (grasp z \u2248 0.08\u20130.10 for a lemon) before opening.\n- Scene: blue bowl at roughly right-arm (x 0.40\u20130.42, y 0.14); releasing at (0.415, 0.136, 0.11) landed the pear in it. The pear stood upright at about right (0.50, 0.035) and needed a full 9.5 cm open; it settled at 0.72. The lemon settles at about 0.49. The white bowl and the plum are on the left arm's side.\n- Budget: 40 calls is tight for 3 picks plus a pour. Combine open+lift and move+descend into single calls, and plan about 5 calls per fruit."})
tool
give_up: I ran out of call budget before finishing. The pear is in the blue bowl. The lemon bounced off the bowl rim when I released it from about 14 cm up and rolled toward the right base. My last close came up empty and I can't see the lemon in the overhead view now, so it may be under the arm or off the table. The dark plum is still on the table and the pour into the white bowl was never attempted. With 4 calls left there's no realistic way to finish the pick-and-place and pour sequence.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 14.37 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.382, -0.0143, -0.0296, 0.9993, -0.0227, 0.7994, 0.6182, -0.3874, -0.0174, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1823 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=-0.0001 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.5521, 9.7436, 1.8437, -0.1197, 0.149, -0.0855, -0.3487, -1.7162, 9.3607, 1.8388, -0.1001, -0.0611, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f311cc7ed93a3b1682518f514c604a3c182b9212f1e5d0eed779b2f35a5aa61b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:616b7cc32de6625de38da6601852da24a6e542c51dbb216bc7f10768d8ecf7fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e8f12cf64c103f3d107ccaa7e985ad8701419b7fa26821816029cdc53530ad0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 4.244 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.382, -0.0143, -0.0296, 0.9993, -0.0227, 0.7994, 0.6182, -0.3874, -0.0174, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1823 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=-0.0001 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.5521, 9.7436, 1.8437, -0.1197, 0.149, -0.0855, -0.3487, -1.7162, 9.3607, 1.8388, -0.1001, -0.0611, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f311cc7ed93a3b1682518f514c604a3c182b9212f1e5d0eed779b2f35a5aa61b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:616b7cc32de6625de38da6601852da24a6e542c51dbb216bc7f10768d8ecf7fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e8f12cf64c103f3d107ccaa7e985ad8701419b7fa26821816029cdc53530ad0",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BspzZNsu8CFPToiYonHSv3",
      "input": {
        "note": "Scene: white bowl on left, blue bowl right-centre, lemon left of it, pear right of it, dark plum near centre. Moving the right arm forward over the pear, which sits on its jaw column a few cm ahead.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.35,
          "right_y": 0.01,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01BspzZNsu8CFPToiYonHSv3",
      "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]: [-0.0208, 0.8024, 0.6147, -0.3874, -0.0139, -0.0307, 0.9993, 0.0338, 1.0996, 0.5953, -0.1158, 0.0067, -0.0082, 0.9992]\nstate[eef_state]: left_x=0.2957 left_y=-0.0001 left_z=0.181 left_yaw=-0.0005 left_pitch=-0.0065 left_roll=-0.001 left_gripper=0.9993 right_x=0.3443 right_y=0.014 right_z=0.1382 right_yaw=0.0339 right_pitch=-0.0516 right_roll=-0.0094 right_gripper=0.9992\nstate[joint_eff]: [0.0615, -1.4427, 7.1453, 1.7509, -0.0611, -0.022, -0.022, -0.3624, -4.1094, 6.9538, 2.1074, 0.1538, 0.1978, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:994fcff5ee1808ab6ba3e20ed439c2e5bc36641988a88c3538cd1e61edea133b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90d541fddabd50e9ad5aa1c9398d078478d7b6c0bf8dbb18e6be16a75e611804",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ba076f2618f92bcc083fe11986d61586c15a5a3c9075d4d2f368d7c686ecf7a",
        "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 · 3.032 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.382, -0.0143, -0.0296, 0.9993, -0.0227, 0.7994, 0.6182, -0.3874, -0.0174, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1823 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=-0.0001 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.5521, 9.7436, 1.8437, -0.1197, 0.149, -0.0855, -0.3487, -1.7162, 9.3607, 1.8388, -0.1001, -0.0611, -0.0904]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6147, -0.3874, -0.0139, -0.0307, 0.9993, 0.0338, 1.0996, 0.5953, -0.1158, 0.0067, -0.0082, 0.9992]\nstate[eef_state]: left_x=0.2957 left_y=-0.0001 left_z=0.181 left_yaw=-0.0005 left_pitch=-0.0065 left_roll=-0.001 left_gripper=0.9993 right_x=0.3443 right_y=0.014 right_z=0.1382 right_yaw=0.0339 right_pitch=-0.0516 right_roll=-0.0094 right_gripper=0.9992\nstate[joint_eff]: [0.0615, -1.4427, 7.1453, 1.7509, -0.0611, -0.022, -0.022, -0.3624, -4.1094, 6.9538, 2.1074, 0.1538, 0.1978, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:994fcff5ee1808ab6ba3e20ed439c2e5bc36641988a88c3538cd1e61edea133b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90d541fddabd50e9ad5aa1c9398d078478d7b6c0bf8dbb18e6be16a75e611804",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ba076f2618f92bcc083fe11986d61586c15a5a3c9075d4d2f368d7c686ecf7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+QYKEAgSGAI4AUIIdGhpbmtpbmcSDOp6zUABFC6ABdgvoxoMFqRWV8wATVE2Xm5mIjAFSzvzDvLR8mr60VUs9U0YotqeW4HYkUVJcmqigdbRrz55mV+rRW28jc4na6EiKpUqlgb2FdE8pvEDL/jpGgIAqx0/AHuFO3UOjgk1Y+UQEGbMY1/qbF/DhW1Hwz5qgNOvLT+9Dy+xYrLIMUfPwB2o8xAP8HjYZserBDHHvkcS5M8GYdq0r0eBjm0hgO4E6umcrMrP73tjydNjJV6qMBPGnli+EBWR/lZOZhEJdPjmBwzmpRF9A6yZSOQWtgeNosGLalEY7MHyqWmUl5Q73EqkZwynwHM7lUDfAvn07sqXnSjAl1oI7vVsjBQrX2NbMybqaV571tLZyY7p5kkF8yIygL2aF2OL4Wx3zNm6ar9gU1BDFP8KodvSivOG/rdoSgr37XTouyPmahcnsRGJoW6MmolmRNALi3aKHS/NRZrIE1wWsbNFQoLUkK7zXy1/d9o5Ick75/AsSl7+ul5ukSNFrmGSzQzcQAtDa85/jO1YomeTDnXFRxFy9SB65ycOmQTKTEDvxy9VVoloYVe5ngZBpKQ9aJSPKmiWIx9j8izFCrtv86EECeNZjgORnwiEVkj6ydqQepzfizji1TZSfoxXZqqTsCko/BuvmYFKVL1u4+uqlmBnZoa/rNqXVl30P0lgAQTSeWeA84ImMIIKhcKFSfG3/Rqm6PA2U2rRKFfWgZRnCBYbBS+++t6QZV3WNz68TL/EGIV+uF59/94Ueq4kbbkbd+Jz1EkTXRMxoZY9crlBK4XasGBJRxGB5GcEpac4WXDUdpGNqKWRv7bg8T6UDMBem3IbXpR4nu0oTeQt5AUQB3MGhV5BxVSHHd0DTeM/Xn8IbI9VqTNCJO8K9l2k3RVxx1Z93CgTW88/VvXPS0HrpRZZGw1KPpFEMLqVygMQu1C7xwUP5aRXgwX2v9PPu3Cfna7HVAUA/I8oYiEQMg5Rk/cVhrW+8gi2jVx3MGmzv72PmqZ8s2AdDPFf6ph28fb+ShwQYtZT7OTC+YcypjYUVXu1HjBCGX1aTToL5+OIft4JPtAN4uPSWzdO50pSW3Hi+uz76WuarOHbE+wVjdsmYmb5vXO6sAE4KYAracxgxX3XlDfORe0VcOmCNF66WGPfQHjZdzMsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WSt7CKpmfVW3xtJMKB8u67",
      "input": {
        "note": "Pear is centred on the jaw column just ahead of the fingertips. Advancing ~3 cm and descending to straddle the pear body.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.012,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01WSt7CKpmfVW3xtJMKB8u67",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8066, 0.6147, -0.4007, -0.0139, -0.0307, 0.9993, 0.0223, 1.5429, 0.4313, 0.4522, -0.0059, -0.0196, 0.9992]\nstate[eef_state]: left_x=0.2941 left_y=-0.0002 left_z=0.1771 left_yaw=-0.0008 left_pitch=-0.024 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3699 right_y=0.0129 right_z=0.0319 right_yaw=0.0393 right_pitch=-0.0909 right_roll=-0.0107 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.6342, 7.0085, 1.8632, -0.0806, -0.022, -0.0122, -0.4308, -5.9556, 5.094, 2.0244, -0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2496f03a6e5527b0449b2ddf33887d664c8cf47c55a4b2e61cf5b71b679da1ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d082045b6eef222f886c0af41222059a8ae1e535cfd758725defee70c1a4bbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d05ac44d66cad48689ef2ee9928f9b55a9bccab9a48e813738e61d69ab240c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 4.485 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.382, -0.0143, -0.0296, 0.9993, -0.0227, 0.7994, 0.6182, -0.3874, -0.0174, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1823 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=-0.0001 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.5521, 9.7436, 1.8437, -0.1197, 0.149, -0.0855, -0.3487, -1.7162, 9.3607, 1.8388, -0.1001, -0.0611, -0.0904]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6147, -0.3874, -0.0139, -0.0307, 0.9993, 0.0338, 1.0996, 0.5953, -0.1158, 0.0067, -0.0082, 0.9992]\nstate[eef_state]: left_x=0.2957 left_y=-0.0001 left_z=0.181 left_yaw=-0.0005 left_pitch=-0.0065 left_roll=-0.001 left_gripper=0.9993 right_x=0.3443 right_y=0.014 right_z=0.1382 right_yaw=0.0339 right_pitch=-0.0516 right_roll=-0.0094 right_gripper=0.9992\nstate[joint_eff]: [0.0615, -1.4427, 7.1453, 1.7509, -0.0611, -0.022, -0.022, -0.3624, -4.1094, 6.9538, 2.1074, 0.1538, 0.1978, -0.0952]",
      "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]: [-0.0212, 0.8066, 0.6147, -0.4007, -0.0139, -0.0307, 0.9993, 0.0223, 1.5429, 0.4313, 0.4522, -0.0059, -0.0196, 0.9992]\nstate[eef_state]: left_x=0.2941 left_y=-0.0002 left_z=0.1771 left_yaw=-0.0008 left_pitch=-0.024 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3699 right_y=0.0129 right_z=0.0319 right_yaw=0.0393 right_pitch=-0.0909 right_roll=-0.0107 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.6342, 7.0085, 1.8632, -0.0806, -0.022, -0.0122, -0.4308, -5.9556, 5.094, 2.0244, -0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2496f03a6e5527b0449b2ddf33887d664c8cf47c55a4b2e61cf5b71b679da1ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d082045b6eef222f886c0af41222059a8ae1e535cfd758725defee70c1a4bbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d05ac44d66cad48689ef2ee9928f9b55a9bccab9a48e813738e61d69ab240c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkQYKEAgSGAI4AUIIdGhpbmtpbmcSDLT4JKXEIcxZq7v5ohoMKppl/SMsTJIvhl1QIjA/nJJn3lGuk12qWYzaQEhLkELO6K5mqN6t6upFWqB+9ShmpB8Fu6WPkSvZhUXvfkIqrgVs4fvLnJ4MO+lQ56d+L/XIcvZ9cTPdhHd2HS/tq422miHn/FNDrDwFKYSj/R7eYMkvIS8zrLqBJRcuEBPecB78H/TFAZNjAQdYFkzYWSFM/x45HaD0VUfjZw3rd+PzMm+dlye3UlOeMPboPMRfJ2lNMZg7XrVmgE6GYpc7wODJ7eW+b8q+ZIYHJSuf7HKMz2ugwgNnywA+SKfycnOdOtFrVf7xra6SthUAlQO0DEOyQVQKIbjxkQfQ/9FNzEjlbWXkCfM24cDP+4wP3b7BwzCUpHOwg2OwUBisBSRioPw5TdcDBDKsof2ldq7Eo6JwK5zP+MyruZPkxP2uKaH3wjGBlzzAlZmh+zDe7+mycI5EQc1no9K6Y/XttTOmikL24KLBqRa4531qrpm8cBPIoIxibks/oKD/XhzxTDodxymB6Oji0uHdQF7xXLSq2a2xlm7rx1f14SvLEZVihMWvitJmazHzMwCo+KeI4YAbLonwFt/wfAKeIoSK/yf94MPa7Z9g4mSlK7tkCnDMdD1IQjPbawi4p7HXUvKUvFobs/87nYs0pzyn20SXHWZr7ne5d7RZKutc8qhnKbpg/zNEZIEvgHDuKEBfE5NFxAbea6vNPkBUfV0hojJGSLKIfOe1nz9MPLmvX1KTU6RsDNIYvoMTv/3QvHFvW9FHD3jnPwI7N+o2Co8jccOvrsa/DEzaCHJ1EuRepgYuXsAmNuQwSL/AkyTHyNznO2nBzbjDWXYnuGpu/psusGJiVUupJUSzWmqWHkrLI2rlTfEmDPNoOYSyc029fVCE82fIYQ6ljDc3wfu4oytym/f8QgHwach4T+HRmQMtJ3EXee7E1+U6rH7QHxRJnOPISLWTR4gO+iMii5EaDP9bd4VMsQF5mGL72sKW0UEoyuTS8HYTbusSjhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012uSeVJhHZXrQSocWwtdo2P",
      "input": {
        "note": "Pear fills the view between the jaws. Closing to grasp.",
        "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_012uSeVJhHZXrQSocWwtdo2P",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8062, 0.6147, -0.4088, -0.0139, -0.0307, 0.9993, 0.0223, 1.5429, 0.4305, 0.4442, -0.009, -0.0193, 0.0111]\nstate[eef_state]: left_x=0.293 left_y=-0.0002 left_z=0.1756 left_yaw=-0.0008 left_pitch=-0.0317 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3684 right_y=0.0134 right_z=0.03 right_yaw=0.0417 right_pitch=-0.0997 right_roll=-0.0084 right_gripper=0.0111\nstate[joint_eff]: [-0.335, -1.2786, 7.1863, 1.8242, -0.0317, -0.0415, -0.0122, -0.0752, -5.3675, 5.4222, 1.707, 0.0024, -0.022, 0.9304]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99321232a154cd52e319eee6e6afa05ce200011839f65413b1ecf6a5926137f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a84efe632a97e7f23403bc0cf54c4df2002f494901311dcc003214764f871037",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:480c868fa18204c3c31c253a04897a8b1d181da70f188dd32aa547e35d958ced",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 3.454 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]: [-0.0208, 0.8024, 0.6147, -0.3874, -0.0139, -0.0307, 0.9993, 0.0338, 1.0996, 0.5953, -0.1158, 0.0067, -0.0082, 0.9992]\nstate[eef_state]: left_x=0.2957 left_y=-0.0001 left_z=0.181 left_yaw=-0.0005 left_pitch=-0.0065 left_roll=-0.001 left_gripper=0.9993 right_x=0.3443 right_y=0.014 right_z=0.1382 right_yaw=0.0339 right_pitch=-0.0516 right_roll=-0.0094 right_gripper=0.9992\nstate[joint_eff]: [0.0615, -1.4427, 7.1453, 1.7509, -0.0611, -0.022, -0.022, -0.3624, -4.1094, 6.9538, 2.1074, 0.1538, 0.1978, -0.0952]",
      "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]: [-0.0212, 0.8066, 0.6147, -0.4007, -0.0139, -0.0307, 0.9993, 0.0223, 1.5429, 0.4313, 0.4522, -0.0059, -0.0196, 0.9992]\nstate[eef_state]: left_x=0.2941 left_y=-0.0002 left_z=0.1771 left_yaw=-0.0008 left_pitch=-0.024 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3699 right_y=0.0129 right_z=0.0319 right_yaw=0.0393 right_pitch=-0.0909 right_roll=-0.0107 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.6342, 7.0085, 1.8632, -0.0806, -0.022, -0.0122, -0.4308, -5.9556, 5.094, 2.0244, -0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8062, 0.6147, -0.4088, -0.0139, -0.0307, 0.9993, 0.0223, 1.5429, 0.4305, 0.4442, -0.009, -0.0193, 0.0111]\nstate[eef_state]: left_x=0.293 left_y=-0.0002 left_z=0.1756 left_yaw=-0.0008 left_pitch=-0.0317 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3684 right_y=0.0134 right_z=0.03 right_yaw=0.0417 right_pitch=-0.0997 right_roll=-0.0084 right_gripper=0.0111\nstate[joint_eff]: [-0.335, -1.2786, 7.1863, 1.8242, -0.0317, -0.0415, -0.0122, -0.0752, -5.3675, 5.4222, 1.707, 0.0024, -0.022, 0.9304]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99321232a154cd52e319eee6e6afa05ce200011839f65413b1ecf6a5926137f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a84efe632a97e7f23403bc0cf54c4df2002f494901311dcc003214764f871037",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:480c868fa18204c3c31c253a04897a8b1d181da70f188dd32aa547e35d958ced",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QcKEAgSGAI4AUIIdGhpbmtpbmcSDPpFyQLEuCjCfGaalBoMyZ5kSbm2dAUiI2zRIjDBVVucfkLQRZf8HEmLn5Df0B784kejwGK3HG7dN45qZN288rYI65CJlGgMZWSLbBMqjgeonzr1CLxDbwl2XoHm5zQOdmlvb3i5ppdR6Exkk2XVL2m2lUoIgs8Ue70J5Ij4MZjKEU1qVjCaXwtj+M2eAYVMx5+JzCMR2XUtTRZduuyl/jzWbw7uhh3gGZ1o5dGLdmmoAWKbVKq2d4V2EXiFSH+OD29lKWr+XPCn0pgBT3oDv9HF3kxwIGRaeWkFoVcb2VnDcmhD37AC2jzWglbvTOwdYbk0S8qNJkUDTtAlZnuJJAgDZzLfZp+08QkvIRA57pteTrfSkeTheR4klnYa489rWge6zBPoUfk5CfLqM55ztHHQIQl5w5i56rqj3u6nlmNLrY8QqYAzQoO0d7BI4DZWXb0lA7uEn07PuOItvzJDLHS6wClvlqNR3GsT+y37TPmLNABjUbQbzkbgtUjOOe5Dbm+KECErnXXs0L5tRuAOQHCtrs95lvOHYIuwcQtiHY6/MfBrHhU0dbUsv/0hylOerPbFlu8/cD3BaBx8ukp6GaCFblC5T8Fsv80H7g8Z6TQ48uNvC+IFXM/GL/jINGSWTN7dLTKf7uaduaYK6d7q/D0Q7GschzBvxXQYI8yDpK4TfrtbZt3zsr3k5xpnAI8TO1ajYEcRz+ldUitYNGpbWp1+e9TAjNWxtzXx6KjecE0CPoSY2hKrMuySNsUZMWBqkFYQxJVWYRSqeUTAx0GYCnwryoQ7uVua0Ch90GDa8ICZqSb01q+1uFmnBzvvSQVuT9f6WwrISyCla6BET95Kewz/i0m0GrhqSv4uojPrk8jpRyeyEJjrw08GK+F7FKSZa3nd0Lf9n2oU170+bal94sJGRcHvTWqkX4fvXqG8LkNW/OmrOs0her0yVbxtHPlTgE2cg3tIEN+CaoJ4DxIj5079fdFOFL9KUBpVgWH1sSdWK16UiizOE1e8U1vDNS02sUI7E/d+j18nu758pzMhgyKn3wbDdLMPicy3Lyg6BHZlApsHshZEPSqC8E5OPxqdlaFLclENkyPL4+z8q8wOBnRinYlLJHfvRsBdSd8+uShUZJTRWV7fHG4UYGFN6Nlv8Bp7qFKKSXY/93P7Km187Y7c4KzG2Ny9AMOcDvSsHN2hmufDt93ar6JDP+Ozmkmq4P8LoXkwvsOfJqMBiQjnZI1Hzv8+2dIn8yDyPv6aMXakb69h4ncMi5rTViJCBJN8R5gDF6cd8y8Q/xrt9JodtvzM0cb29WXWseTmqr14GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016PU87RifXRW7nMc4utLC5d",
      "input": {
        "note": "Empty close: the pear sits a few cm further forward than the jaws. Opening and lifting slightly before re-approaching.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016PU87RifXRW7nMc4utLC5d",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8062, 0.6147, -0.4179, -0.0135, -0.0307, 0.9993, 0.0235, 1.3701, 0.5087, 0.1555, -0.0162, -0.0273, 0.9984]\nstate[eef_state]: left_x=0.2917 left_y=-0.0002 left_z=0.1737 left_yaw=-0.0012 left_pitch=-0.0408 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3601 right_y=0.0149 right_z=0.064 right_yaw=0.0535 right_pitch=-0.1374 right_roll=-0.009 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -1.2923, 7.1453, 1.7705, -0.0317, -0.0806, -0.0122, -0.1162, -5.8735, 8.759, 1.7363, 0.0464, 0.0611, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae82e4c5013d7ec21cba918b24c848180ce3e6f497d8efeaaff096e47f27dc57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:365dfd86bfed0b73c91aea66ad4495e383b60250243519269cad4a351fb44558",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:670dd3c453a96f7e5d3e8f44709c33b2973674db11375c4f610d1088b65c9a90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 3.162 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]: [-0.0212, 0.8066, 0.6147, -0.4007, -0.0139, -0.0307, 0.9993, 0.0223, 1.5429, 0.4313, 0.4522, -0.0059, -0.0196, 0.9992]\nstate[eef_state]: left_x=0.2941 left_y=-0.0002 left_z=0.1771 left_yaw=-0.0008 left_pitch=-0.024 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3699 right_y=0.0129 right_z=0.0319 right_yaw=0.0393 right_pitch=-0.0909 right_roll=-0.0107 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.6342, 7.0085, 1.8632, -0.0806, -0.022, -0.0122, -0.4308, -5.9556, 5.094, 2.0244, -0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8062, 0.6147, -0.4088, -0.0139, -0.0307, 0.9993, 0.0223, 1.5429, 0.4305, 0.4442, -0.009, -0.0193, 0.0111]\nstate[eef_state]: left_x=0.293 left_y=-0.0002 left_z=0.1756 left_yaw=-0.0008 left_pitch=-0.0317 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3684 right_y=0.0134 right_z=0.03 right_yaw=0.0417 right_pitch=-0.0997 right_roll=-0.0084 right_gripper=0.0111\nstate[joint_eff]: [-0.335, -1.2786, 7.1863, 1.8242, -0.0317, -0.0415, -0.0122, -0.0752, -5.3675, 5.4222, 1.707, 0.0024, -0.022, 0.9304]",
      "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]: [-0.0212, 0.8062, 0.6147, -0.4179, -0.0135, -0.0307, 0.9993, 0.0235, 1.3701, 0.5087, 0.1555, -0.0162, -0.0273, 0.9984]\nstate[eef_state]: left_x=0.2917 left_y=-0.0002 left_z=0.1737 left_yaw=-0.0012 left_pitch=-0.0408 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3601 right_y=0.0149 right_z=0.064 right_yaw=0.0535 right_pitch=-0.1374 right_roll=-0.009 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -1.2923, 7.1453, 1.7705, -0.0317, -0.0806, -0.0122, -0.1162, -5.8735, 8.759, 1.7363, 0.0464, 0.0611, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae82e4c5013d7ec21cba918b24c848180ce3e6f497d8efeaaff096e47f27dc57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:365dfd86bfed0b73c91aea66ad4495e383b60250243519269cad4a351fb44558",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:670dd3c453a96f7e5d3e8f44709c33b2973674db11375c4f610d1088b65c9a90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+wYKEAgSGAI4AUIIdGhpbmtpbmcSDICFqQCUvh2k+oXs+BoMDMMOZy8vNEPBsMIuIjDxt5kxZW17mQQv+BQSmUyhZQRDJvKoqAH3IsMQJMimV1xAQmJaJqgD8AeAT4UU4UEqmAZjFwZda1QChdDKbQLWJH5gyoL+JbFONyoT6u7une1jyKtQa0dUd89l1FUys3nHbMvf4CLt4k7Suj2SohRIfWiAWkCR4IuPyqYdsvc1K64YfsIN0ytJGi6OoeyBX/vFa+0qty6StJAAeu+KC81K8EJj9bPCCzB72IkpgY11addzYLHlYsnY4/0gumXHgWYELItfQgSAJnLWtUpGOiB24CWtPUWVd97N8VrwHBwXNX62sEP9N59Rm+u8YjzoROLR4PtlS/mlBe6LlcUxsPqg49K1HehpOBlVWo0xKmCwrOuNFQNmA77u4FNm7Mrmxb19zbnOVq1Jc5QKs9kPaycBWXqzEsrmo/gqsQBFMvlMZxjmcTeSrUwL4DKVzMAQk+bgS9Ae4TvxPaogxYezbrYly6llGKA0kQ8VYrvQDm7/+hxEgeT0WWtGijKVWCobTS1Kb6c7pPPnNuEGYVg4E92wktFt638zll6zzQFMrlE7TYrxqvxBzKtD6wBPLXK0UwkVFpcqk3x5B2YNYQhEpWEYJ6AiyLpKAJEKb+nDjDbe5ybMwJX8D9EHx05Zw9k/HDi0y+kZ0d9NakC4A7C5J2jlRfLgERKNyd90d/2s0qYUGK3FZJ7OJLXpMjAr2ykn3PzcIqRGAQcbTwUJOUIziEi3YR8pS5oOYsCuZn4hF2XrcF8++Mtya5d2j6XEzOIPKBKkp7K6pTLzdk49H3k3224G4Utu7r976KJ2c07WSCXlwmLhGNH+yiBhBb2h0PXjHORRdnkQpmeRI4ySlWB+XOggX8WegtZN/uT3pwWSEIAYi8wBl3ZM6BW5p/Q31hi+KNB5YY1up2YincQQeq7H9efZXOrK+NlkSPBhJubMrbya7GFQQW62Ht6VVb6Qrben67QO6RgEnA24DxM03ohcDZFZTOIFy1ylpNWzh5vWp0gAQT/BjMO8VbiQ8ncnknd4vWels8rH5wsl6DAOB9/jNJCe/Hhp0564bMSgStBXk3lznA6mrOIsxvUdSScGJrVLmpoJ20JhUdH6g0hzNvBjhubkmJIMWdMnvfOlGD8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FRpdYYRKVWzVHLGY9htGXh",
      "input": {
        "note": "Pear centred slightly left of the jaw column and ~5 cm ahead. Advancing and descending to straddle it.",
        "targets": {
          "right_x": 0.415,
          "right_y": 0.02,
          "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_01FRpdYYRKVWzVHLGY9htGXh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8116, 0.6147, -0.424, -0.0139, -0.0307, 0.9993, 0.0376, 1.7058, 0.6262, 0.318, -0.0162, -0.0311, 0.9984]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1711 left_yaw=-0.0008 left_pitch=-0.0523 left_roll=-0.0001 left_gripper=0.9993 right_x=0.4021 right_y=0.0216 right_z=0.0158 right_yaw=0.07 right_pitch=-0.1931 right_roll=-0.0102 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -1.4974, 6.9812, 1.7656, -0.0757, -0.0806, -0.0122, -0.3214, -7.3231, 6.7897, 1.9121, 0.1001, 0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96ce19eec8263ce3993a034acdd17350c834b94c2cd963100bb202b44430df33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf14219cd1561c053b9960f74aad7f5986f6351c7b9cba97a6e693c4d9a15c20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:68c8e595dae99e3ac70b13bcda95d7e116deffa43c27790e0ae8ffa2e6d0c196",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 4.009 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]: [-0.0212, 0.8062, 0.6147, -0.4088, -0.0139, -0.0307, 0.9993, 0.0223, 1.5429, 0.4305, 0.4442, -0.009, -0.0193, 0.0111]\nstate[eef_state]: left_x=0.293 left_y=-0.0002 left_z=0.1756 left_yaw=-0.0008 left_pitch=-0.0317 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3684 right_y=0.0134 right_z=0.03 right_yaw=0.0417 right_pitch=-0.0997 right_roll=-0.0084 right_gripper=0.0111\nstate[joint_eff]: [-0.335, -1.2786, 7.1863, 1.8242, -0.0317, -0.0415, -0.0122, -0.0752, -5.3675, 5.4222, 1.707, 0.0024, -0.022, 0.9304]",
      "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]: [-0.0212, 0.8062, 0.6147, -0.4179, -0.0135, -0.0307, 0.9993, 0.0235, 1.3701, 0.5087, 0.1555, -0.0162, -0.0273, 0.9984]\nstate[eef_state]: left_x=0.2917 left_y=-0.0002 left_z=0.1737 left_yaw=-0.0012 left_pitch=-0.0408 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3601 right_y=0.0149 right_z=0.064 right_yaw=0.0535 right_pitch=-0.1374 right_roll=-0.009 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -1.2923, 7.1453, 1.7705, -0.0317, -0.0806, -0.0122, -0.1162, -5.8735, 8.759, 1.7363, 0.0464, 0.0611, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8116, 0.6147, -0.424, -0.0139, -0.0307, 0.9993, 0.0376, 1.7058, 0.6262, 0.318, -0.0162, -0.0311, 0.9984]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1711 left_yaw=-0.0008 left_pitch=-0.0523 left_roll=-0.0001 left_gripper=0.9993 right_x=0.4021 right_y=0.0216 right_z=0.0158 right_yaw=0.07 right_pitch=-0.1931 right_roll=-0.0102 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -1.4974, 6.9812, 1.7656, -0.0757, -0.0806, -0.0122, -0.3214, -7.3231, 6.7897, 1.9121, 0.1001, 0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96ce19eec8263ce3993a034acdd17350c834b94c2cd963100bb202b44430df33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf14219cd1561c053b9960f74aad7f5986f6351c7b9cba97a6e693c4d9a15c20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68c8e595dae99e3ac70b13bcda95d7e116deffa43c27790e0ae8ffa2e6d0c196",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSswcKEAgSGAI4AUIIdGhpbmtpbmcSDHVQj4PkTJep0VFmPhoMyeFQH4tvOXALS/wDIjAvMBxaPJGXy1C6dbt2sncfindlN2oPLHRPAVirI8dP99o6VKfR6RyvcbfKNkX5u0Aq0AZAbNk6VgYr0AZYlWC4vTz3NFJOVTxUwefNR+tRpej8VA1rWPfE4ybIT8vt6R9spwdy1Sz5dsZQ49JmXzp20yZPBU23zWZ5oLdlm+VDpaFkQbCPHMSx4QCmSrIMI+XwKLSMu1HR4pbNRkcRm4MmbF81KrcepqE3wK8hFu0PeU/U5bIlZf47VghOQG+4niwO7NMCs8LOi7NdEuqnecx0Apa7dhwxVwC404WbrwuRnqwPatLPr6ZGLyHw95x50OCcvyf7UV9dbFaTxMzajDTXOWyipxmuV7RTxwL7M3mLhAi0VMLtBV0vsRDnHHEOPDW1a3wsS0hOaXGdIlJq7ACYD0bECszANLZNH9q0icVbSoqiRwdgmjf4oyZTBM9NxhXkNWbaTxHd7PEvtb2leNteIyQLzfe1Fk/FgaP/P2n8rVK6vJRG8M5zqbjFyzn6veVxNk00d7wWb0GFD/EdoKPzNtO8IVUGXk+P9jfaDqEu9Q3jcEKnWvEIT+oJZe3tTrxkfrXST2Pdjd7sv3tFdBL/4Wp3VVUHeDt3Ua/nvP2V14G899eF79hzpv8KaOtvwjX4gTL9uCgFUPnUl7UY02wysddMDFXhJTw9X/7U4E7fbfO0Mjw6UJFhV+pbeI7SoEwYBiBvJCNkbndE+/3F0PzKjvR2HE4YHpPtHq8Yd9uwkR6dT1J7j34vDi8k9Cg+dIxErtwaG9VLnlvAySlzWXicyvx01awm6hjyFtVGbV5orlpgry+xiKQtWU0SxUIUPL6tNxdT7RTl9WAcMnyUdiKxoDe9IDqZRyZGlKY/EoiuyPhKrwXZ8tW2lZttPI/BbvdRJ5BvYxy9NIzYfOJxp63x5hAKbDUk2LXYs+OCAjcPJvjdqB1I2+6ZQJLCmFd4HBCPvExkRsNJNbgStdjwUat1XiTdCXVJ0h0GVM4EQqS6+JMySdWvuFDc+h1/6PDWq+ATAlkVWTxZHMhMw3LSMPFt4cuatfInF+vyuR39PwVcxkI0o4/iQd3SE10s0x25DzY4SgtlP9yUV5TAqIfwtvPsFfloR9BFeR1NMfzDjNJ25XnmUIDFhr+f+OD9NqNnywV//rcFjNRXKKiuAlbm0RmSA9kj1knZIXUD6YojCHod57L+4RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Uqgz3tz6D3dp5qZtyMkG5g",
      "input": {
        "note": "Pear now fills the space between the jaws. Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Uqgz3tz6D3dp5qZtyMkG5g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4248, -0.0139, -0.0307, 0.9993, 0.0376, 1.7058, 0.6262, 0.3241, -0.0162, -0.0284, 0.0105]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1707 left_yaw=-0.0008 left_pitch=-0.0538 left_roll=-0.0001 left_gripper=0.9993 right_x=0.4031 right_y=0.0216 right_z=0.0169 right_yaw=0.0685 right_pitch=-0.1869 right_roll=-0.0084 right_gripper=0.0105\nstate[joint_eff]: [0.1026, -0.9778, 7.159, 1.707, -0.0562, -0.0513, -0.0122, -0.0342, -7.3231, 6.7897, 1.8437, 0.0708, 0.0806, 0.906]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:732528d77abd6613f2744bae23b74b199983427bc8120567511b44f2642abaf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bf46e21e83ae719635f57009d0d241ec9b04655f263e25b9d61303f228a3fc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1c25d70297925918efd91ba9c0c57b992d85d6b98ca502c7392c91c164608304",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 3.972 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]: [-0.0212, 0.8062, 0.6147, -0.4179, -0.0135, -0.0307, 0.9993, 0.0235, 1.3701, 0.5087, 0.1555, -0.0162, -0.0273, 0.9984]\nstate[eef_state]: left_x=0.2917 left_y=-0.0002 left_z=0.1737 left_yaw=-0.0012 left_pitch=-0.0408 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3601 right_y=0.0149 right_z=0.064 right_yaw=0.0535 right_pitch=-0.1374 right_roll=-0.009 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -1.2923, 7.1453, 1.7705, -0.0317, -0.0806, -0.0122, -0.1162, -5.8735, 8.759, 1.7363, 0.0464, 0.0611, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8116, 0.6147, -0.424, -0.0139, -0.0307, 0.9993, 0.0376, 1.7058, 0.6262, 0.318, -0.0162, -0.0311, 0.9984]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1711 left_yaw=-0.0008 left_pitch=-0.0523 left_roll=-0.0001 left_gripper=0.9993 right_x=0.4021 right_y=0.0216 right_z=0.0158 right_yaw=0.07 right_pitch=-0.1931 right_roll=-0.0102 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -1.4974, 6.9812, 1.7656, -0.0757, -0.0806, -0.0122, -0.3214, -7.3231, 6.7897, 1.9121, 0.1001, 0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4248, -0.0139, -0.0307, 0.9993, 0.0376, 1.7058, 0.6262, 0.3241, -0.0162, -0.0284, 0.0105]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1707 left_yaw=-0.0008 left_pitch=-0.0538 left_roll=-0.0001 left_gripper=0.9993 right_x=0.4031 right_y=0.0216 right_z=0.0169 right_yaw=0.0685 right_pitch=-0.1869 right_roll=-0.0084 right_gripper=0.0105\nstate[joint_eff]: [0.1026, -0.9778, 7.159, 1.707, -0.0562, -0.0513, -0.0122, -0.0342, -7.3231, 6.7897, 1.8437, 0.0708, 0.0806, 0.906]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:732528d77abd6613f2744bae23b74b199983427bc8120567511b44f2642abaf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bf46e21e83ae719635f57009d0d241ec9b04655f263e25b9d61303f228a3fc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c25d70297925918efd91ba9c0c57b992d85d6b98ca502c7392c91c164608304",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSswgKEAgSGAI4AUIIdGhpbmtpbmcSDO3xAiAjMS4EtqANUhoM25O8DkgIdT6uko71IjBJd4KI3MxfysAHTfn+PPRLcAz/Fu+2t6Pl/HLlNowgjd7hVXdn3EQKYmhBQWL2NT0q0AcLm4RMbVAXsr2gQOuNEORxQo32zGNXwgOEkBd0iZ0fTYMoqSww39U0uI1yjPdKg5OTEK6RLso41aOeul3CkR56mrlz4Ll8YeZn/13jWKEmkvBBv1twP4nizfb+H1ebx5QCTAah+TkhQmjEolOoIRoIC7Z6U19z8eC9svqDnggjCMxFdNoBKiOpkdIWTismPQIZRZNrGggtsxQ5LPmPNrhL08X0gwP/02wllXbXT/2TkaCOspGkS7PqysHS+yc8lICEa+JBXhbv5iO5huLZNJUYpA2S+box/lR7JHYbjaP1KdM0FuJkRmtbdHCGfdXG7i7qTpXp664c4xf7r1WFKIeEn7bSPG9abR9+luPa6O1ORr15oaXCBMepGB3B2YEnVTRmecpYltKq7nPf+JfKdD82PhIsAZocyKSg8ANZ/cNm3cOrXs9RjQHxEPm2ZH269S1CaX/53dvibCef2W4j9ELLg/h95FuX+JylqqTXO2sXwITezlSjlxWtzgRBv90zMvGBexSWFl207OuuNGKVFbSGij5PW3pF0fvlugdVR68jIuhrs+cqvIkod8bFXlsln/F5u6j5jLNGhV/ECH0u8RjIjSmLPpx7+jCCyGOLHlB/yZMQ3TxeC/z7NATOJ6hrCOkRySzkM7nZQF2vm1crMuYuj04yQRWRCRlZZgt1o8ZYGPAGBYPrM1x6vjcrQZCds/3t5SEyMaLGm3fzj+lclsh0GY0YjZ2wJB3wX6m0fmOg6F1rdaF78ECKGc6vBffmYkq0R1gzPIU/WvkLRtiRH4wZ2Sk/gL8A3WCL3hsw8YeP4pvDSEEc+LIsMOi3FF+KanIgF1VqsJgBF0+w5A5QxnyVPY1NPfsYK7M6I7IJUyNbdEYkkhzU2qn9zs05a6TuTpqeLq+PgbWHoqTbPW9TrzRrX9pw8es0wF3HxPtCg3T0fBcFqJo0yWWlw5HAXmSO7VWIu9wFwicoUiKt3w319EajNPx4MYlD1s0wulIJH59gE6jKTOIriZRH2T5NAINuKFJyAjyBjgxBiFwseySDjO1dhxlloyA/ct9qWe/UXDF8z+C0KVQLMrIp4V1Jjom9kG1Rz/0s+TJ9D5yZPsJYBvfLyFCguHO6DtHwmZGr6nZq8C4x8byhzgB2EuN4FsvNvEfT9tnIjatPRO4h9HNcj9+/cUImFt0FRu/CTHhnFO2CIsxbVmsXrGUnhv5o2akHg6uPOM2i7W5HLxJbR7YIkk+xRZBE5SP0dOA5KFf7ZNDbehSN9TW8g+J8/4vW4xyQdsKw3NTAGSKeCYXcrPBbeLRKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0136VkdR154s1YRfScbRvCh9",
      "input": {
        "note": "Second empty close: jaws meet just short of the pear's near side. Opening and lifting slightly to re-approach further forward.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0136VkdR154s1YRfScbRvCh9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4267, -0.0139, -0.0307, 0.9993, 0.0376, 1.6474, 0.5163, 0.4904, -0.0212, -0.0349, 0.9956]\nstate[eef_state]: left_x=0.2908 left_y=-0.0001 left_z=0.1703 left_yaw=-0.0008 left_pitch=-0.0557 left_roll=-0.0 left_gripper=0.9993 right_x=0.3961 right_y=0.0222 right_z=0.0318 right_yaw=0.0757 right_pitch=-0.0721 right_roll=-0.0142 right_gripper=0.9956\nstate[joint_eff]: [-0.1026, -1.2923, 7.0496, 1.6972, -0.0513, -0.0611, -0.0171, -0.2667, -8.3214, 5.0803, 1.9658, -0.0562, 0.0659, -0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75f32dad2459a5bc03ffe17b87695b8386190493053bb2b502a4a875d60ccd1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2f83f303cdda82784594ca7472e6ffbca5b5c0e03396a3210fdbacdd5ff6327",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ba78b984e9566e13b49998be759cfb84e7cc1ceed22eaae3d8478c229d3177b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 3.028 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]: [-0.0212, 0.8116, 0.6147, -0.424, -0.0139, -0.0307, 0.9993, 0.0376, 1.7058, 0.6262, 0.318, -0.0162, -0.0311, 0.9984]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1711 left_yaw=-0.0008 left_pitch=-0.0523 left_roll=-0.0001 left_gripper=0.9993 right_x=0.4021 right_y=0.0216 right_z=0.0158 right_yaw=0.07 right_pitch=-0.1931 right_roll=-0.0102 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -1.4974, 6.9812, 1.7656, -0.0757, -0.0806, -0.0122, -0.3214, -7.3231, 6.7897, 1.9121, 0.1001, 0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4248, -0.0139, -0.0307, 0.9993, 0.0376, 1.7058, 0.6262, 0.3241, -0.0162, -0.0284, 0.0105]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1707 left_yaw=-0.0008 left_pitch=-0.0538 left_roll=-0.0001 left_gripper=0.9993 right_x=0.4031 right_y=0.0216 right_z=0.0169 right_yaw=0.0685 right_pitch=-0.1869 right_roll=-0.0084 right_gripper=0.0105\nstate[joint_eff]: [0.1026, -0.9778, 7.159, 1.707, -0.0562, -0.0513, -0.0122, -0.0342, -7.3231, 6.7897, 1.8437, 0.0708, 0.0806, 0.906]",
      "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]: [-0.0212, 0.8124, 0.6147, -0.4267, -0.0139, -0.0307, 0.9993, 0.0376, 1.6474, 0.5163, 0.4904, -0.0212, -0.0349, 0.9956]\nstate[eef_state]: left_x=0.2908 left_y=-0.0001 left_z=0.1703 left_yaw=-0.0008 left_pitch=-0.0557 left_roll=-0.0 left_gripper=0.9993 right_x=0.3961 right_y=0.0222 right_z=0.0318 right_yaw=0.0757 right_pitch=-0.0721 right_roll=-0.0142 right_gripper=0.9956\nstate[joint_eff]: [-0.1026, -1.2923, 7.0496, 1.6972, -0.0513, -0.0611, -0.0171, -0.2667, -8.3214, 5.0803, 1.9658, -0.0562, 0.0659, -0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75f32dad2459a5bc03ffe17b87695b8386190493053bb2b502a4a875d60ccd1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2f83f303cdda82784594ca7472e6ffbca5b5c0e03396a3210fdbacdd5ff6327",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ba78b984e9566e13b49998be759cfb84e7cc1ceed22eaae3d8478c229d3177b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrwcKEAgSGAI4AUIIdGhpbmtpbmcSDNFGyb69nEIraC1YWhoMZH5cxZkJPmgkpQR5IjAd6zvpiHGmiylSeVMAFpNsgl01isJlZ5O6vHfo6TRm2Pn3wG4knjrTUQmdE79CFtQqzAa+MhBaYEBOPqeMG+EepnSoBqIz/QbJOI7JuRCZ+Cgbdxjxf+ei+/c4oxVkbZRxIlNBU04A6B48hBzE5bLrDlk7cXAafwvJLAGgVW1t5YiEXLgMG/R09kEd9IbCjlG75cBa2sji4E/y+/HLrkCIB1MZg4vcIKZZHg1z89Ed3xJy2+wcDULUcCKjd08bTzptHdDKS8cEJqbXC/s9otrhlhrPM4YpBHCvHeKQ5jVoQKDN1EjLIXxSybS70Mt7uRvijLe7hRdZZsTLkBhHwR6DfR0r/C+Vbks1rW0LAL7+ltkCJRVnPvCaKJqO3VapZW8Zircw9mtUGWMjfxI4sUqc+b3c0ztwljP3pbYE9A7clUHfsgL2IdC4oQIAyRP3mDbRLZgPtERscf7Dd+bnnZmg8P3dHzFqCF6oOIvxm24NWpk6EDbzbn44WMdwmIJlVEIomARUcLd5U6E6A/0KYrn4Nr0unsnWhOfwrlI8LZ/0K6JqeP5FJSs538BiL6nC9rX9utE9DeaJ+UE6QbnlvVrXzVBppuKTjWhh7Luiwkl2C5oA3bOnZ6QssxkZcJr7Z/G+pVnNSMh0ObJmDx8Gf6CAeRd4OAYmNpMWSl2yd641OMRQOUDBpBCcWYuOO0d5wazBKwmy704bRlvCNiXkREFOjfuPDriFOv3TMHYGzxlrXaMHcE0XT4tf032OvHLsB5+ouR5ysXrMBcloHEnylK4lmzxJd3mwa1CVvEM1cQytOQ+kJiVuV/v6ph141BLbh/sdRoUyEVhXFz/vKDE75CSygNw9XFpJJkkX71s7MZE1QZeU+/Z3lstJrvo8B3cA+CdSvhZuQGW8COkZigMuFG2KuUKT3rvwE9fld8A84XCQXbvBm3HiDWhQEemwJJbSpGov7h7WQlsWPzXs8zKxbWB9mJAoXjPh8Y2LVEwX0GCOBnsA4x6EzZjt17uhnHzNUP6znW3W9kYcB6wtbRwQbkCrcDf9JLCVmKIIxy9ycKfqENnRX84fPvJu7Egqn5up6L+O5dB0mWYreF1ge4lpe29GGv7GjYRLSNgAwHRNetpvrjTtVeUsSHVroigrRiprddC2YWHvw6OoZSLL+P5rm/dz+la8Bie24ts2MT508yPxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XF3AUTxbe7S16SMf8VwZHK",
      "input": {
        "note": "Pear is centred on the jaw column but still ahead of the fingertips. Advancing ~4 cm further at low height.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.022,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XF3AUTxbe7S16SMf8VwZHK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.815, 0.6147, -0.4339, -0.0135, -0.0307, 0.9993, 0.0372, 1.8042, 0.6491, 0.4774, -0.0284, -0.0444, 0.9963]\nstate[eef_state]: left_x=0.2899 left_y=-0.0002 left_z=0.1682 left_yaw=-0.0011 left_pitch=-0.0656 left_roll=-0.0001 left_gripper=0.9993 right_x=0.4265 right_y=0.0245 right_z=0.0144 right_yaw=0.0868 right_pitch=-0.109 right_roll=-0.0157 right_gripper=0.9963\nstate[joint_eff]: [-0.1436, -1.5658, 7.1726, 1.7216, -0.022, -0.0317, -0.0122, -0.7863, -8.0342, 6.6393, 1.7363, 0.0317, 0.0659, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a52ff3a3653e4b20707de464c2f7f72beedaec6865fa90617a970c5a5a82b467",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b9e373149e91ee4e91d210f9168d6cea3b2ad805ebcd5811a7790f0a92314dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:64c8b77e0a1bd3f2835cba53408bb3787c61f86e35c9f3bd1ada3aef1841e4cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 4.135 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]: [-0.0212, 0.8124, 0.6147, -0.4248, -0.0139, -0.0307, 0.9993, 0.0376, 1.7058, 0.6262, 0.3241, -0.0162, -0.0284, 0.0105]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1707 left_yaw=-0.0008 left_pitch=-0.0538 left_roll=-0.0001 left_gripper=0.9993 right_x=0.4031 right_y=0.0216 right_z=0.0169 right_yaw=0.0685 right_pitch=-0.1869 right_roll=-0.0084 right_gripper=0.0105\nstate[joint_eff]: [0.1026, -0.9778, 7.159, 1.707, -0.0562, -0.0513, -0.0122, -0.0342, -7.3231, 6.7897, 1.8437, 0.0708, 0.0806, 0.906]",
      "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]: [-0.0212, 0.8124, 0.6147, -0.4267, -0.0139, -0.0307, 0.9993, 0.0376, 1.6474, 0.5163, 0.4904, -0.0212, -0.0349, 0.9956]\nstate[eef_state]: left_x=0.2908 left_y=-0.0001 left_z=0.1703 left_yaw=-0.0008 left_pitch=-0.0557 left_roll=-0.0 left_gripper=0.9993 right_x=0.3961 right_y=0.0222 right_z=0.0318 right_yaw=0.0757 right_pitch=-0.0721 right_roll=-0.0142 right_gripper=0.9956\nstate[joint_eff]: [-0.1026, -1.2923, 7.0496, 1.6972, -0.0513, -0.0611, -0.0171, -0.2667, -8.3214, 5.0803, 1.9658, -0.0562, 0.0659, -0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0212, 0.815, 0.6147, -0.4339, -0.0135, -0.0307, 0.9993, 0.0372, 1.8042, 0.6491, 0.4774, -0.0284, -0.0444, 0.9963]\nstate[eef_state]: left_x=0.2899 left_y=-0.0002 left_z=0.1682 left_yaw=-0.0011 left_pitch=-0.0656 left_roll=-0.0001 left_gripper=0.9993 right_x=0.4265 right_y=0.0245 right_z=0.0144 right_yaw=0.0868 right_pitch=-0.109 right_roll=-0.0157 right_gripper=0.9963\nstate[joint_eff]: [-0.1436, -1.5658, 7.1726, 1.7216, -0.022, -0.0317, -0.0122, -0.7863, -8.0342, 6.6393, 1.7363, 0.0317, 0.0659, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a52ff3a3653e4b20707de464c2f7f72beedaec6865fa90617a970c5a5a82b467",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b9e373149e91ee4e91d210f9168d6cea3b2ad805ebcd5811a7790f0a92314dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64c8b77e0a1bd3f2835cba53408bb3787c61f86e35c9f3bd1ada3aef1841e4cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pear now reaches down to the jaw tips. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MBKXp8iJt8j3NVVGiRZHs1",
      "input": {
        "note": "The pear now fills the image all the way down to the jaw tips, so it should be between the fingers. Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MBKXp8iJt8j3NVVGiRZHs1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4347, -0.0139, -0.0307, 0.9993, 0.0368, 1.816, 0.6552, 0.4667, -0.0311, -0.046, 0.0111]\nstate[eef_state]: left_x=0.2898 left_y=-0.0001 left_z=0.1679 left_yaw=-0.0008 left_pitch=-0.0668 left_roll=0.0002 left_gripper=0.9993 right_x=0.4258 right_y=0.0248 right_z=0.0097 right_yaw=0.0896 right_pitch=-0.1253 right_roll=-0.0143 right_gripper=0.0111\nstate[joint_eff]: [-0.2256, -1.0598, 6.9675, 1.7021, -0.0562, -0.0366, -0.0122, -0.0205, -8.7726, 4.3692, 1.7216, -0.0562, -0.0464, 0.7448]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47f85d87ece86ab790b8b7e2b65a184f7797777f2e38d11804e0e2acacdcc8f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:670703507c9e8d955dcd4529e4c3b8c9c4be77e05a16bd3f784ac9b799812b46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aa3f0d6e9e32f4727478bfce544f1992ff191efae7410eebb51f6c4f5a7f4627",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 2.639 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]: [-0.0212, 0.8124, 0.6147, -0.4267, -0.0139, -0.0307, 0.9993, 0.0376, 1.6474, 0.5163, 0.4904, -0.0212, -0.0349, 0.9956]\nstate[eef_state]: left_x=0.2908 left_y=-0.0001 left_z=0.1703 left_yaw=-0.0008 left_pitch=-0.0557 left_roll=-0.0 left_gripper=0.9993 right_x=0.3961 right_y=0.0222 right_z=0.0318 right_yaw=0.0757 right_pitch=-0.0721 right_roll=-0.0142 right_gripper=0.9956\nstate[joint_eff]: [-0.1026, -1.2923, 7.0496, 1.6972, -0.0513, -0.0611, -0.0171, -0.2667, -8.3214, 5.0803, 1.9658, -0.0562, 0.0659, -0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.815, 0.6147, -0.4339, -0.0135, -0.0307, 0.9993, 0.0372, 1.8042, 0.6491, 0.4774, -0.0284, -0.0444, 0.9963]\nstate[eef_state]: left_x=0.2899 left_y=-0.0002 left_z=0.1682 left_yaw=-0.0011 left_pitch=-0.0656 left_roll=-0.0001 left_gripper=0.9993 right_x=0.4265 right_y=0.0245 right_z=0.0144 right_yaw=0.0868 right_pitch=-0.109 right_roll=-0.0157 right_gripper=0.9963\nstate[joint_eff]: [-0.1436, -1.5658, 7.1726, 1.7216, -0.022, -0.0317, -0.0122, -0.7863, -8.0342, 6.6393, 1.7363, 0.0317, 0.0659, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0212, 0.8154, 0.6147, -0.4347, -0.0139, -0.0307, 0.9993, 0.0368, 1.816, 0.6552, 0.4667, -0.0311, -0.046, 0.0111]\nstate[eef_state]: left_x=0.2898 left_y=-0.0001 left_z=0.1679 left_yaw=-0.0008 left_pitch=-0.0668 left_roll=0.0002 left_gripper=0.9993 right_x=0.4258 right_y=0.0248 right_z=0.0097 right_yaw=0.0896 right_pitch=-0.1253 right_roll=-0.0143 right_gripper=0.0111\nstate[joint_eff]: [-0.2256, -1.0598, 6.9675, 1.7021, -0.0562, -0.0366, -0.0122, -0.0205, -8.7726, 4.3692, 1.7216, -0.0562, -0.0464, 0.7448]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47f85d87ece86ab790b8b7e2b65a184f7797777f2e38d11804e0e2acacdcc8f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:670703507c9e8d955dcd4529e4c3b8c9c4be77e05a16bd3f784ac9b799812b46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa3f0d6e9e32f4727478bfce544f1992ff191efae7410eebb51f6c4f5a7f4627",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvAgKEAgSGAI4AUIIdGhpbmtpbmcSDN3Krcwwr3WrbCxq2RoMgTGSiQiq8Elz9soDIjA/cPHPbuFD2QBoE8mxLupnuM/dQ2/1EANxy0QzuIv6z4AqXh+NMzPfPikudM4VMnAq2Qel0GVwst35r8kwJUPZHNYMsjc4qGq1FGve0NXJ2nidY9qWCWbiFdYrlx9rAgN6DjCp4xJAOjnOLUF0z7BfM6+bGXLQvHub0xuZdxopkNVpDaoLmXnRJP3i1tBl23dpOXPhjqhukf25bjpSy3cRy/Zs2TdkrTVU8AiqvGRuSyQjKtZYCtcZnp/uIVuzliAkxoj7QmTblXEbLtFFPRO8HNzF1yKHcYftwE0IgKxpULg63n4IpI1+HwhzdEHzB5haMPD+6z1F+HpFTMa6wCapfEh5uz/n4dUPS+syS6iHx1ckV5vi4Z3ENnbFZ9sV6WgkMr9laRepjOYTNtEeh+mDasJr4z1BqHSYFhErrBL39g6lDiMTtyeGaPp2JFtUXzZbGMGkxcGc33Ufg8HOiuKyQRfsi9dUGxNF7O3MwQkjF9dJQ+jxnU6elZ/HeCL9bdFXF9AC+JZKr+OY/VQXWElJW0vqyilCGsQwS0yhmjkYQ9MyP4iEctdjtXT81YSI/R7AW/V9NkcCIlHV/tmRaJHIlbzk2EyzywGYQUkMPOfvzaXvXiO8zyChFp0xsebMfmkr+/9182qj6h1CiPxaBCxAYBwkbw6R1goqQ71g9ieihQjWzSBFzjf+AV2A4CoyZZUN6+fdo2EnhvFvvYYyn5ojRcFQEpX6AEDBvUnlbsR6++hiN3EBrrEaEM6ClyrvXK4o8nBtA4+/CLa1M2SFYaYwYU+9lKJ9J24gtsYSaZX9QCw7TNR+nhMghNffFf96srs4BeijEM5HrLWTlDQu1I2oJ1b35kk0OLh31APgyaF8LsUnCJY8W7l/0sbYDIZftYX1VHG4ZRL6CuAZ3Ftj6ELO2r0zg79ajuQx6MmeeD//QWC9PKV5eBxuAJRXi8q/fwUwcq0Y4Q+o7W6TCbsXA4cuN+B/SFywEFRIio9g+GggV6YEiJVSKD7CXLwafG+M8Ru7PVEAXJz51H69A+ydB3hlZfMgWjUFSWfzcTzUfOX1+rUMwZ1Us2y3C/yhpQUVamD6Y6bJbOh1u4Qu9yI2rvsG3UycwOsH67UokPRPtqtzvNR5ovGn5HjMBGyO17Oce9f/BIFJfpra/LdWEQTEshfXLn3RS68O8K0qmkzN7QZgVG+kTpj2Yp4E9LBESn0piusPFdbz0sffx0bFEKLet+26Q+DhwF81HRisZfsMgQxdgfe6fDu4x0qs2a3kodv6I0JuNccvu1/ePMUCKXU5irDfEbZCFLyp1crAROkEt2+cZDEGrGwvA2cF0BCE0d2oCvOc8j2Xz6MB2bK66P8t9l3WzktcAJipWGFPRWXxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K9We1pH9qSuCL62j1Pm6qQ",
      "input": {
        "note": "Jaws closed just in front of the pear's near end (visible tip at bottom of the image). Opening to push a little further forward.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01K9We1pH9qSuCL62j1Pm6qQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4347, -0.0139, -0.0307, 0.9993, 0.0364, 1.816, 0.6552, 0.458, -0.0315, -0.0532, 0.9954]\nstate[eef_state]: left_x=0.2898 left_y=-0.0001 left_z=0.1679 left_yaw=-0.0008 left_pitch=-0.0668 left_roll=0.0002 left_gripper=0.9993 right_x=0.4244 right_y=0.0246 right_z=0.008 right_yaw=0.0935 right_pitch=-0.1341 right_roll=-0.0192 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.347, 6.9675, 1.6777, -0.0611, -0.0708, -0.0122, -0.2667, -7.8154, 4.8479, 1.6825, -0.0122, 0.0464, -0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf42c30bc5449322144da92161609cf94316a1d12da6c75c2e14d221c3d75e29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00cc7788320de0a30371250c457378e3e8defc47b7247999ec02a7ace9d59967",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a8c8266844fccf2a666e225ba221edeec3c7a96642fafbca33e46dde5e303901",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 2.751 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]: [-0.0212, 0.815, 0.6147, -0.4339, -0.0135, -0.0307, 0.9993, 0.0372, 1.8042, 0.6491, 0.4774, -0.0284, -0.0444, 0.9963]\nstate[eef_state]: left_x=0.2899 left_y=-0.0002 left_z=0.1682 left_yaw=-0.0011 left_pitch=-0.0656 left_roll=-0.0001 left_gripper=0.9993 right_x=0.4265 right_y=0.0245 right_z=0.0144 right_yaw=0.0868 right_pitch=-0.109 right_roll=-0.0157 right_gripper=0.9963\nstate[joint_eff]: [-0.1436, -1.5658, 7.1726, 1.7216, -0.022, -0.0317, -0.0122, -0.7863, -8.0342, 6.6393, 1.7363, 0.0317, 0.0659, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0212, 0.8154, 0.6147, -0.4347, -0.0139, -0.0307, 0.9993, 0.0368, 1.816, 0.6552, 0.4667, -0.0311, -0.046, 0.0111]\nstate[eef_state]: left_x=0.2898 left_y=-0.0001 left_z=0.1679 left_yaw=-0.0008 left_pitch=-0.0668 left_roll=0.0002 left_gripper=0.9993 right_x=0.4258 right_y=0.0248 right_z=0.0097 right_yaw=0.0896 right_pitch=-0.1253 right_roll=-0.0143 right_gripper=0.0111\nstate[joint_eff]: [-0.2256, -1.0598, 6.9675, 1.7021, -0.0562, -0.0366, -0.0122, -0.0205, -8.7726, 4.3692, 1.7216, -0.0562, -0.0464, 0.7448]",
      "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]: [-0.0212, 0.8154, 0.6147, -0.4347, -0.0139, -0.0307, 0.9993, 0.0364, 1.816, 0.6552, 0.458, -0.0315, -0.0532, 0.9954]\nstate[eef_state]: left_x=0.2898 left_y=-0.0001 left_z=0.1679 left_yaw=-0.0008 left_pitch=-0.0668 left_roll=0.0002 left_gripper=0.9993 right_x=0.4244 right_y=0.0246 right_z=0.008 right_yaw=0.0935 right_pitch=-0.1341 right_roll=-0.0192 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.347, 6.9675, 1.6777, -0.0611, -0.0708, -0.0122, -0.2667, -7.8154, 4.8479, 1.6825, -0.0122, 0.0464, -0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf42c30bc5449322144da92161609cf94316a1d12da6c75c2e14d221c3d75e29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00cc7788320de0a30371250c457378e3e8defc47b7247999ec02a7ace9d59967",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8c8266844fccf2a666e225ba221edeec3c7a96642fafbca33e46dde5e303901",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016ft1bC4CbjtGPVQGnN9E5X",
      "input": {
        "note": "Pear sits just beyond the open jaws. Advancing ~4 cm so the jaws surround its body.",
        "targets": {
          "right_x": 0.465,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_016ft1bC4CbjtGPVQGnN9E5X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4408, -0.0135, -0.0307, 0.9993, 0.0364, 1.887, 0.8078, 0.3637, -0.0399, -0.0647, 0.9963]\nstate[eef_state]: left_x=0.2889 left_y=-0.0001 left_z=0.1667 left_yaw=-0.0011 left_pitch=-0.0729 left_roll=0.0001 left_gripper=0.9993 right_x=0.4562 right_y=0.0273 right_z=0.0136 right_yaw=0.107 right_pitch=-0.1465 right_roll=-0.0216 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.3333, 7.1316, 1.7558, -0.0269, -0.0708, -0.0122, -0.7043, -8.5402, 6.735, 1.536, -0.0366, 0.0073, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73e70436cddbad4f41514685516cf2e8b279dab6d153236daefe44059d74d532",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4043f36b5e55ffadbcb477c83531ef1418d089f7e03dbf912cc0430ceff97438",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:299b94decec460284c892dce093ddd5a0e30b764a3f8d9c12989b8569560bcda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 8.351 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]: [-0.0212, 0.8154, 0.6147, -0.4347, -0.0139, -0.0307, 0.9993, 0.0368, 1.816, 0.6552, 0.4667, -0.0311, -0.046, 0.0111]\nstate[eef_state]: left_x=0.2898 left_y=-0.0001 left_z=0.1679 left_yaw=-0.0008 left_pitch=-0.0668 left_roll=0.0002 left_gripper=0.9993 right_x=0.4258 right_y=0.0248 right_z=0.0097 right_yaw=0.0896 right_pitch=-0.1253 right_roll=-0.0143 right_gripper=0.0111\nstate[joint_eff]: [-0.2256, -1.0598, 6.9675, 1.7021, -0.0562, -0.0366, -0.0122, -0.0205, -8.7726, 4.3692, 1.7216, -0.0562, -0.0464, 0.7448]",
      "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]: [-0.0212, 0.8154, 0.6147, -0.4347, -0.0139, -0.0307, 0.9993, 0.0364, 1.816, 0.6552, 0.458, -0.0315, -0.0532, 0.9954]\nstate[eef_state]: left_x=0.2898 left_y=-0.0001 left_z=0.1679 left_yaw=-0.0008 left_pitch=-0.0668 left_roll=0.0002 left_gripper=0.9993 right_x=0.4244 right_y=0.0246 right_z=0.008 right_yaw=0.0935 right_pitch=-0.1341 right_roll=-0.0192 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.347, 6.9675, 1.6777, -0.0611, -0.0708, -0.0122, -0.2667, -7.8154, 4.8479, 1.6825, -0.0122, 0.0464, -0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0212, 0.8154, 0.6147, -0.4408, -0.0135, -0.0307, 0.9993, 0.0364, 1.887, 0.8078, 0.3637, -0.0399, -0.0647, 0.9963]\nstate[eef_state]: left_x=0.2889 left_y=-0.0001 left_z=0.1667 left_yaw=-0.0011 left_pitch=-0.0729 left_roll=0.0001 left_gripper=0.9993 right_x=0.4562 right_y=0.0273 right_z=0.0136 right_yaw=0.107 right_pitch=-0.1465 right_roll=-0.0216 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.3333, 7.1316, 1.7558, -0.0269, -0.0708, -0.0122, -0.7043, -8.5402, 6.735, 1.536, -0.0366, 0.0073, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73e70436cddbad4f41514685516cf2e8b279dab6d153236daefe44059d74d532",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4043f36b5e55ffadbcb477c83531ef1418d089f7e03dbf912cc0430ceff97438",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:299b94decec460284c892dce093ddd5a0e30b764a3f8d9c12989b8569560bcda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShgcKEAgSGAI4AUIIdGhpbmtpbmcSDPAT1IoUsOgDA07ESRoMYYq8mJLQws29tqOOIjDmCIiD9o4qL+8HGC3uWybmmI1UqeU+JuBfKFimZa3/rKLccdk+rT4t6XMNej3qGXcqowa5DGn2wlko7AcCYIPeEoEaZDFBlx8YTeZQpYKUAXDQWsec/dW36eG1NeyTffghar9kkna3uYvUoAurSlk+E6SWmAiYw37o5iUSyaljyQmbOyzlcAWrG7mbYynCZdZHuQTuZhYrX5QX2d+Omd52dRcRXTBI4RVkGHBny43qfZ7eH3iL26516VcVD1XLaL/ZdjVCJgZAZB9KFaPQgcSqFXnNs5av3TFNMwCmwzTSTEKvw8/5oAM1UsXx2E8KH87CqJtv9cmhzO7+7bhOH/xtKwEKtQERGjPEQfS7/KljsAsKEOw/cF0z3TGdswJDMjmrP6qTNPltgolDIJhte6skPU1i8AShFOid/lHqCEPk92G1ShGU/wCzPhQyZRurKasN+bUZ1WQCSKTPpCPmYFBwe+we94KOyXlaTafo/WPJZLJbcZUjBc6dB6166MvGo7layRUfJ9SAQU9Ih6kWaqz8cBdlpExARCWOAVS6gVq4sZ2l3ccry4+o1v9jm2JWTDmyda3xMnR/B46mzbd48OBaDBCdMRJ6ArxA40lkZsnGJUCzcJs80rqjMZRU62XQIL/D4ag2E02Xd0k5IemyPD+G84cyMrhgqdpsiWWex5FyCap+Br/7NELpUqw13SqpRg0aDeq/t9sfsIt/IL35g5raFHWuwMZER4VHh8J+J7oOky2a9zhutbtsgBhQNtBk03zSUlq6dJ+itaHq2u1qDoihKHAgJlzkfuiX+L+w8XqtRNhiFM/085G2qJBPZsgkwCHoQkASzg42pD561NeyxOqN9eN+HxKkm1OcGj3yLwkekT4TM7+NxMHltkxdJljKY8KEMIpZ6NteX+zAthNZ4DiGhXnyPFWfpj30a/KesuUNgCyhComMfymL1Jex8OM6bMXO+nqR7bYJNd9poMWbtW8P71F+ISbbWxvVyhnR7sjb03/tDw5Sdb8mJeiApeewNd3wsA1Quo7zs3WbjGJNTSNNdxLqDKjaiIjoyKu3eQB6xVhhm1SaHKqRdhXBafITAnC/gIGBM14w74qKW2UhLQV/JuMhHWcf34LWhQIQgMCNF9/qoGzMPhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016RZU7b9Fb6R79gXSkfJHWX",
      "input": {
        "note": "Pear body now extends down between the jaws. Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016RZU7b9Fb6R79gXSkfJHWX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4431, -0.0135, -0.0307, 0.9993, 0.0364, 1.8912, 0.8124, 0.3389, -0.0395, -0.0711, 0.0106]\nstate[eef_state]: left_x=0.2886 left_y=-0.0001 left_z=0.1662 left_yaw=-0.0011 left_pitch=-0.0751 left_roll=0.0001 left_gripper=0.9993 right_x=0.4533 right_y=0.0271 right_z=0.0089 right_yaw=0.1105 right_pitch=-0.171 right_roll=-0.025 right_gripper=0.0106\nstate[joint_eff]: [-0.1162, -1.2239, 7.0222, 1.6972, -0.0269, -0.0806, -0.0122, 0.0889, -9.1556, 4.8205, 1.8535, -0.0317, 0.0708, 0.9255]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:723e0eea6a24594b30f072a50899fcb45e327060e51e6303ae6fe3228d387288",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acbdc68c5cd641c617fd93cf15892aa26d339604ba9899c181347a93b54f771b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:06f93bf3be83cfcc7d195306991309777b6c8c9cbdaa13d702d5b835a05a0692",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /messages · status 200 · 5.438 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]: [-0.0212, 0.8154, 0.6147, -0.4347, -0.0139, -0.0307, 0.9993, 0.0364, 1.816, 0.6552, 0.458, -0.0315, -0.0532, 0.9954]\nstate[eef_state]: left_x=0.2898 left_y=-0.0001 left_z=0.1679 left_yaw=-0.0008 left_pitch=-0.0668 left_roll=0.0002 left_gripper=0.9993 right_x=0.4244 right_y=0.0246 right_z=0.008 right_yaw=0.0935 right_pitch=-0.1341 right_roll=-0.0192 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.347, 6.9675, 1.6777, -0.0611, -0.0708, -0.0122, -0.2667, -7.8154, 4.8479, 1.6825, -0.0122, 0.0464, -0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0212, 0.8154, 0.6147, -0.4408, -0.0135, -0.0307, 0.9993, 0.0364, 1.887, 0.8078, 0.3637, -0.0399, -0.0647, 0.9963]\nstate[eef_state]: left_x=0.2889 left_y=-0.0001 left_z=0.1667 left_yaw=-0.0011 left_pitch=-0.0729 left_roll=0.0001 left_gripper=0.9993 right_x=0.4562 right_y=0.0273 right_z=0.0136 right_yaw=0.107 right_pitch=-0.1465 right_roll=-0.0216 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.3333, 7.1316, 1.7558, -0.0269, -0.0708, -0.0122, -0.7043, -8.5402, 6.735, 1.536, -0.0366, 0.0073, 0.0806]",
      "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]: [-0.0212, 0.8154, 0.6147, -0.4431, -0.0135, -0.0307, 0.9993, 0.0364, 1.8912, 0.8124, 0.3389, -0.0395, -0.0711, 0.0106]\nstate[eef_state]: left_x=0.2886 left_y=-0.0001 left_z=0.1662 left_yaw=-0.0011 left_pitch=-0.0751 left_roll=0.0001 left_gripper=0.9993 right_x=0.4533 right_y=0.0271 right_z=0.0089 right_yaw=0.1105 right_pitch=-0.171 right_roll=-0.025 right_gripper=0.0106\nstate[joint_eff]: [-0.1162, -1.2239, 7.0222, 1.6972, -0.0269, -0.0806, -0.0122, 0.0889, -9.1556, 4.8205, 1.8535, -0.0317, 0.0708, 0.9255]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:723e0eea6a24594b30f072a50899fcb45e327060e51e6303ae6fe3228d387288",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acbdc68c5cd641c617fd93cf15892aa26d339604ba9899c181347a93b54f771b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06f93bf3be83cfcc7d195306991309777b6c8c9cbdaa13d702d5b835a05a0692",
        "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_01EE7VRMcDGEo7exh5tuFGnZ",
      "input": {
        "note": "Third miss: the pear lies lengthwise pointing away and each approach nudges it forward. Lifting to come down on top of its body instead of sliding into it.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EE7VRMcDGEo7exh5tuFGnZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8173, 0.6147, -0.4496, -0.0139, -0.0307, 0.9993, 0.0357, 1.6249, 0.8127, 0.1856, -0.0547, -0.0795, 0.9955]\nstate[eef_state]: left_x=0.2877 left_y=-0.0 left_z=0.1645 left_yaw=-0.0008 left_pitch=-0.0835 left_roll=0.0005 left_gripper=0.9993 right_x=0.4454 right_y=0.0292 right_z=0.0947 right_yaw=0.1261 right_pitch=-0.0574 right_roll=-0.0313 right_gripper=0.9955\nstate[joint_eff]: [-0.3077, -1.1966, 6.9538, 1.7167, -0.0317, -0.0562, -0.0122, -0.6085, -8.9504, 8.9641, 1.8095, -0.0562, 0.1197, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17997498b904b81496a70f52f0c27ae6c12a3fcb932a07a134c7587b9a36162a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63774926febf665fe53d733650aa5ee5c8f0f0d5fc7f2830dfa5d7dea87bf553",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:049fa3a5d4239be49e5d7110ccb62c9e460028534a532cb40079f7520668ad92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 2.914 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]: [-0.0212, 0.8154, 0.6147, -0.4408, -0.0135, -0.0307, 0.9993, 0.0364, 1.887, 0.8078, 0.3637, -0.0399, -0.0647, 0.9963]\nstate[eef_state]: left_x=0.2889 left_y=-0.0001 left_z=0.1667 left_yaw=-0.0011 left_pitch=-0.0729 left_roll=0.0001 left_gripper=0.9993 right_x=0.4562 right_y=0.0273 right_z=0.0136 right_yaw=0.107 right_pitch=-0.1465 right_roll=-0.0216 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.3333, 7.1316, 1.7558, -0.0269, -0.0708, -0.0122, -0.7043, -8.5402, 6.735, 1.536, -0.0366, 0.0073, 0.0806]",
      "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]: [-0.0212, 0.8154, 0.6147, -0.4431, -0.0135, -0.0307, 0.9993, 0.0364, 1.8912, 0.8124, 0.3389, -0.0395, -0.0711, 0.0106]\nstate[eef_state]: left_x=0.2886 left_y=-0.0001 left_z=0.1662 left_yaw=-0.0011 left_pitch=-0.0751 left_roll=0.0001 left_gripper=0.9993 right_x=0.4533 right_y=0.0271 right_z=0.0089 right_yaw=0.1105 right_pitch=-0.171 right_roll=-0.025 right_gripper=0.0106\nstate[joint_eff]: [-0.1162, -1.2239, 7.0222, 1.6972, -0.0269, -0.0806, -0.0122, 0.0889, -9.1556, 4.8205, 1.8535, -0.0317, 0.0708, 0.9255]",
      "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]: [-0.0212, 0.8173, 0.6147, -0.4496, -0.0139, -0.0307, 0.9993, 0.0357, 1.6249, 0.8127, 0.1856, -0.0547, -0.0795, 0.9955]\nstate[eef_state]: left_x=0.2877 left_y=-0.0 left_z=0.1645 left_yaw=-0.0008 left_pitch=-0.0835 left_roll=0.0005 left_gripper=0.9993 right_x=0.4454 right_y=0.0292 right_z=0.0947 right_yaw=0.1261 right_pitch=-0.0574 right_roll=-0.0313 right_gripper=0.9955\nstate[joint_eff]: [-0.3077, -1.1966, 6.9538, 1.7167, -0.0317, -0.0562, -0.0122, -0.6085, -8.9504, 8.9641, 1.8095, -0.0562, 0.1197, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17997498b904b81496a70f52f0c27ae6c12a3fcb932a07a134c7587b9a36162a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63774926febf665fe53d733650aa5ee5c8f0f0d5fc7f2830dfa5d7dea87bf553",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:049fa3a5d4239be49e5d7110ccb62c9e460028534a532cb40079f7520668ad92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQoKEAgSGAI4AUIIdGhpbmtpbmcSDGOtl6jfiTPI9/9oghoMz1Fh2UiIrQFcvqz4IjDPWdHPjRRbvfCmePyfqIKOa6QmGdCB2VICDoJunxp+dY5qfZTep8mkziae74bXn/IqxgmNqRKtWDxOiJUbk9Pmo/2FXiJYupd3LebJSSKVw9zN/mk86cTsgMBY2PO4kaHXOA/acE694bdeiTlxrB6BQkBRcsTKg+xkqyJYBqmSDy2SNlypv0D/X8awP8hNS6P9x/R0jCfVtqOU6Cey9lxQyqafecHF29dhtpH5gIuTK+8al6rYRKxlSDds1DVr7KcHdbXsrh33redR2cwO0fsmT7MdH+zpcYru1izV2Mhr1c0v+D+2fYKAXB7uJnIjHyvMmWIcjTuDR+fLv566Pa18SJtX41mX+h0sdQQkHSORLRDh2DrXgzkJVfXobUpKHD5jG15AB+zOCqOrb2Q4pYXjXQK9eLytYjiGxndwNfbr/0IkZR3lacFcqIBbLyTTDxytIhT8bYs+ID0A/D7EOs1qHc0SpN6KPGGW27TodaeB8PRoS2Jx8Zx7hZ/mx53eXVylB7IJLQTvCL2KEOKiUaS2NS9fD2V7gwQ61SecCy96aJ1m3JXBUgkpMKupJB6un8gKRQUNwQp1rcAXDrGd2P9Qq9zldMGFJa6OcJfxojetf/Ie7baE7D6b/Mbhljqov40FacX+onBzsW9ba51r/ecAKA0uixKrmFpzwA2briyHhMcN59LUVhLGaZ644kpPtjrLKwK/1zbLwZ+iv3bYCgBiOS9RH51ltCVlvNzCmxEZVTEmRzFoLUBRCbkAF1PeFMQPF3U9VqX4zzTYx90vKKzXF5NHVTZsOPYM/Mw3tCS5lGmjSMOpjSWl2ZmbVfmzFDkFdkrvz4Y3+4aSQXKd+U8bcZ+Nf7zZr4TaHW32zkzEtXhMIe+DhfGA/DMoxQAI+zkmPifnVBHAJINSj3p6arWEwqYCgDvvEsmUT3OwH8072eWkILNLsrMjKZWyMaXnm9+dSXLZcRW4ijc2GtaykP/ie658eelTXn5BqkfsurmSy4b+BqfcDUFRwlHxAJpC/1NIeRv1xrIlKXqCU6ucuRqHhZA7Rf1BAfLw/lGMHGQhcFTGS/6MxVLNNosp/XS5y9s8HThkWbBTwSzct6cSvpDiGmR5KYBeHcbm0mLSLpWn011UM7OlZaWEk9m/V4Sz5QCKO95f6fIfrnvw/C7X7XaqKoSkHG9qcSa5/ktaAJEGwtx3Y9L6clhMV/9Ls8hFSOXVnkVFi2gvsLp32ZjYF34nl19NQr+hi7xbwuv6g33BAsNDrjelq90KtnkR/qR2bPzqUflpPoeNCwaNuQH4nrNxx0y462FT+otsIkYgYje4DEiKB6CL+tMNhJNFL2Pxc/EXkJlw9iD2Kvt8EpPRjWkakOMV4q6QScFqEu+yKpnRGUAfJlh0YF2Y1c9FQodpot0acugz/gOSDG37D0HEVRcqzZ9ym+VUenOfkhTImH5kUO1vyJuqtbrF20/Vf4aRdZPEICBWeik1eCn7KkZJyhFPJwNsv+dLqbonEsxTqaLJXJBhISyi5wMytInjmTJ5B75lk7Q5L6VAqEdWcNX971Xxy/W1L8oLgFLZ6yG+/vFeOCPzoyxC5KaudvG08Tm/cKzp7HhZYvHKMExb+/WH9XHSanFCLCnWZASDvZEHlCvILSyBC2Qr95WbU7+nQJs3RdjWvCB+2Wntpn4STcLR9bYNNnkvjnGmp+RlGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018wXHtyjQSWaVQVhovHy8zM",
      "input": {
        "note": "The pear is actually upright, centred on the jaw column, ~4 cm ahead of the fingertips. Moving above it at height so I can descend onto it without pushing.",
        "targets": {
          "right_x": 0.485,
          "right_y": 0.028,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018wXHtyjQSWaVQVhovHy8zM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8188, 0.6147, -0.4538, -0.0139, -0.0307, 0.9993, 0.0357, 1.7081, 0.9859, 0.0685, -0.065, -0.0952, 0.9963]\nstate[eef_state]: left_x=0.2872 left_y=-0.0 left_z=0.1632 left_yaw=-0.0008 left_pitch=-0.0893 left_roll=0.0006 left_gripper=0.9993 right_x=0.4745 right_y=0.032 right_z=0.1069 right_yaw=0.1435 right_pitch=-0.084 right_roll=-0.035 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.4974, 6.9402, 1.6728, -0.0269, -0.0269, -0.0122, -0.8957, -7.8291, 8.4308, 1.79, 0.0513, 0.1441, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:105f683b402fbfd3715eb183105458318531d9cdefb3bac4b75e334be125bbf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00039c1b38c08a884fd523280d2a0d4bab9eddb54206f127f165661ed6cf64ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2896b019ba657e48097616e0bdad8ddafa395161b4b539118b5e8ea05f56cfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 4.823 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]: [-0.0212, 0.8154, 0.6147, -0.4431, -0.0135, -0.0307, 0.9993, 0.0364, 1.8912, 0.8124, 0.3389, -0.0395, -0.0711, 0.0106]\nstate[eef_state]: left_x=0.2886 left_y=-0.0001 left_z=0.1662 left_yaw=-0.0011 left_pitch=-0.0751 left_roll=0.0001 left_gripper=0.9993 right_x=0.4533 right_y=0.0271 right_z=0.0089 right_yaw=0.1105 right_pitch=-0.171 right_roll=-0.025 right_gripper=0.0106\nstate[joint_eff]: [-0.1162, -1.2239, 7.0222, 1.6972, -0.0269, -0.0806, -0.0122, 0.0889, -9.1556, 4.8205, 1.8535, -0.0317, 0.0708, 0.9255]",
      "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]: [-0.0212, 0.8173, 0.6147, -0.4496, -0.0139, -0.0307, 0.9993, 0.0357, 1.6249, 0.8127, 0.1856, -0.0547, -0.0795, 0.9955]\nstate[eef_state]: left_x=0.2877 left_y=-0.0 left_z=0.1645 left_yaw=-0.0008 left_pitch=-0.0835 left_roll=0.0005 left_gripper=0.9993 right_x=0.4454 right_y=0.0292 right_z=0.0947 right_yaw=0.1261 right_pitch=-0.0574 right_roll=-0.0313 right_gripper=0.9955\nstate[joint_eff]: [-0.3077, -1.1966, 6.9538, 1.7167, -0.0317, -0.0562, -0.0122, -0.6085, -8.9504, 8.9641, 1.8095, -0.0562, 0.1197, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0212, 0.8188, 0.6147, -0.4538, -0.0139, -0.0307, 0.9993, 0.0357, 1.7081, 0.9859, 0.0685, -0.065, -0.0952, 0.9963]\nstate[eef_state]: left_x=0.2872 left_y=-0.0 left_z=0.1632 left_yaw=-0.0008 left_pitch=-0.0893 left_roll=0.0006 left_gripper=0.9993 right_x=0.4745 right_y=0.032 right_z=0.1069 right_yaw=0.1435 right_pitch=-0.084 right_roll=-0.035 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.4974, 6.9402, 1.6728, -0.0269, -0.0269, -0.0122, -0.8957, -7.8291, 8.4308, 1.79, 0.0513, 0.1441, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:105f683b402fbfd3715eb183105458318531d9cdefb3bac4b75e334be125bbf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00039c1b38c08a884fd523280d2a0d4bab9eddb54206f127f165661ed6cf64ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2896b019ba657e48097616e0bdad8ddafa395161b4b539118b5e8ea05f56cfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6gYKEAgSGAI4AUIIdGhpbmtpbmcSDO4tl1qQ5b7kIlsrdBoM9X8bXcgTFAG0KcMvIjDgvotgfE3A4HjVsQmmRBr21hnMUihwv9wdO7HIzH3HO8dnJV/vTyvxYnXScNsNS08qhwaahWc7BJw30avan1KbfWBtgeBscvhREGvy5hEYWkeeN2hRCnK1khJxF1+/HiI9RJFTanvtI6uKiVBg4nzaLFbEj0zlhvcZI7hvBQWfkOpuqfs5EoS42FMNUsQcJ+tbJXnXtcFFE77h3pvq4nE7sZ25yqqP81h08UBFlbb7HJKwvibHpvm5cElsiA02miDB3xRSFJS+ajnQh8KC8fS4KDWlcKi6BCm8WmwY5mf+3juahdrEZj0xP+a11kgY+onHSwl1WbFcmhJqC4519XQhYT9SVZQQDWbOeIEhuDqx4ZroWR7U02bhZ1xI8QRn4wrxzLucm9TLISMuwMz/zyntyr+uZ3j5zExn25+3Px0ulCg4aU+yVDCTVX+o6L1in/Hb1pNAZ7pIh8o14ug20MEC6FF0BGRe9uaWxv1zph+H75h5qt1jMohFpapzJFuuDlWB7g1CC9pNHWSA8ENfgJa2Gsl4qsavPS7WBmBbCLuB8w55Ro2VKnO86kBQQ+gimT6njBe659avw3F0D8xQn7aLKzVHghPLUP08S1yxLaDjv383MT02KTSvOEx3z3yiJrNX3Qa2+SrxVGmLWEQNp33Jn7j0lCOzNIA3DEpbJlA7ROxR4qmPJOuuf8tWdeA3RUICNrnkFLf7UaIIypuKkeK/nbQnuD6AMGE1OE0/TmMnplkWAL+rLCzHS/8vOyWYtqBPR+Chx0L8n5yI5xprdOZb2tb4aUdbaLiJwj+ieRq46FwVgV1MAuq42yqpBOeY5TJg+xSqUVoPKDVc9FjR8cQNy2XRZa5vPmLdrWNEjMhp0GUj2FD+UeAIMfqcBE4o9S2qSMgynpYy1QFL2UhkVVGgqycsgynns8RTxYGLejQ43IIq726y4WrMHaM+A2cOjG3cRFEHDPTsxM1nOCwsvcq5Mdlc4l7VUFfDcaFiQ+2ZX4aUiOpy7GxvK0w06+rYGdp4/oAFlcUg8rs3K+aRFjl42u3VOz9/cQrFhnqsXFhydp6evNc/0sn5XtHv6qDvpWZ3OskPgsyFM8i8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TvkP6fmdeaQ8MbhwU8RFvW",
      "input": {
        "note": "Pear is centred between the jaws and reaches the bottom of the view. Descending straight down around it.",
        "targets": {
          "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_01TvkP6fmdeaQ8MbhwU8RFvW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8192, 0.6147, -0.4625, -0.0135, -0.0307, 0.9993, 0.0338, 1.8931, 0.8577, 0.2897, -0.065, -0.0978, 0.9963]\nstate[eef_state]: left_x=0.2858 left_y=-0.0001 left_z=0.1614 left_yaw=-0.0011 left_pitch=-0.0984 left_roll=0.0006 left_gripper=0.9993 right_x=0.4605 right_y=0.0306 right_z=0.0153 right_yaw=0.1443 right_pitch=-0.1755 right_roll=-0.027 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -1.3744, 7.0632, 1.7265, -0.0269, -0.0757, -0.0122, -0.0068, -9.7162, 5.3675, 1.9365, -0.0073, 0.0024, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e86af7a51e6d05dcaa71bd8c2300f5a117710f36d6a019bbc12d4009c8748dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08c881d351d1808a1ea539de2aeb62670164d3c30509be6a8d3d675b22d886ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e424ad3dce9382304a1a4d26f58d88ae178f03761e27a2281c4ff23eaa760fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 2.948 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]: [-0.0212, 0.8173, 0.6147, -0.4496, -0.0139, -0.0307, 0.9993, 0.0357, 1.6249, 0.8127, 0.1856, -0.0547, -0.0795, 0.9955]\nstate[eef_state]: left_x=0.2877 left_y=-0.0 left_z=0.1645 left_yaw=-0.0008 left_pitch=-0.0835 left_roll=0.0005 left_gripper=0.9993 right_x=0.4454 right_y=0.0292 right_z=0.0947 right_yaw=0.1261 right_pitch=-0.0574 right_roll=-0.0313 right_gripper=0.9955\nstate[joint_eff]: [-0.3077, -1.1966, 6.9538, 1.7167, -0.0317, -0.0562, -0.0122, -0.6085, -8.9504, 8.9641, 1.8095, -0.0562, 0.1197, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0212, 0.8188, 0.6147, -0.4538, -0.0139, -0.0307, 0.9993, 0.0357, 1.7081, 0.9859, 0.0685, -0.065, -0.0952, 0.9963]\nstate[eef_state]: left_x=0.2872 left_y=-0.0 left_z=0.1632 left_yaw=-0.0008 left_pitch=-0.0893 left_roll=0.0006 left_gripper=0.9993 right_x=0.4745 right_y=0.032 right_z=0.1069 right_yaw=0.1435 right_pitch=-0.084 right_roll=-0.035 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.4974, 6.9402, 1.6728, -0.0269, -0.0269, -0.0122, -0.8957, -7.8291, 8.4308, 1.79, 0.0513, 0.1441, 0.0757]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8192, 0.6147, -0.4625, -0.0135, -0.0307, 0.9993, 0.0338, 1.8931, 0.8577, 0.2897, -0.065, -0.0978, 0.9963]\nstate[eef_state]: left_x=0.2858 left_y=-0.0001 left_z=0.1614 left_yaw=-0.0011 left_pitch=-0.0984 left_roll=0.0006 left_gripper=0.9993 right_x=0.4605 right_y=0.0306 right_z=0.0153 right_yaw=0.1443 right_pitch=-0.1755 right_roll=-0.027 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -1.3744, 7.0632, 1.7265, -0.0269, -0.0757, -0.0122, -0.0068, -9.7162, 5.3675, 1.9365, -0.0073, 0.0024, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e86af7a51e6d05dcaa71bd8c2300f5a117710f36d6a019bbc12d4009c8748dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08c881d351d1808a1ea539de2aeb62670164d3c30509be6a8d3d675b22d886ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e424ad3dce9382304a1a4d26f58d88ae178f03761e27a2281c4ff23eaa760fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/wgKEAgSGAI4AUIIdGhpbmtpbmcSDMZuOhv8p5RceJ5xkhoMoRKZgGOVZ8sFSxp0IjDIYlTg2BT6U3JTj1iUVRcIIR7FZtdTWx3aj+4d2D/ExKPovvw3VU5bkOod9cdm44YqnAjHZ9QCCg4r6t5lbxMIJ1G5m+tt8dnONFrltubwBdRALfB/bkUtSePqgMYErDhxaoak2OSCZAAbjgw559hfYd2o+5Q7S3eFpGDoSMhwogJPcxzJio4a2zGrmHcYYogpc1bIXP17C2gxkNNiSGLvG2zha1+MhriVHtHjPHM+mORix4mhcjkg7EcOwMcVOStpASLpjdlOhsMUczuUWyyKspv6qXLVQnmgvNO19x04DfZOyNbGXwduGf79RbsJboVP2AOn1oNlZfUtwopKuaVmvLTPvM7R/2XUUJ92fipIg7KqsRUA0hVuqtXzi89ModPkNetjGaQujMBLMPUb8EAakXrvpfHi9vu5LC45DdufPyyJLIeLCgK3sXWeuxy2kkccQ3OUwXEXeH5oXiJZeNKM3x3YAZCbOWCme9Yq6NNvTWhQWVpJ6BZNYgH/Of+G8DJA10iRsDPIsiNGnKFFhlZJChXhAoR9H6Rz8TYUOoml7+LRS/LmOhwJ9WH0aQMNWG3DG2Ap1bWTnj/0bPZbpJE+QKPmkuN0OZpXTmtF/v2jUolU87rKeWer6NOMX521CVEfNvn32NpCTqGDXQ0ktNdbHlELkcjkJ40wqNgjHz7C/k4ULpjor6UMwAM4wdTcr/ofnhy/HAHcItKnROBb4asqmVL9jvhl0o7lnPwh7+VopfWrWz9hfBu+F4upW/JTInJX+VLqzk4wvVHCvofPUdwY/kJQwWQpcSS04FAmYi48GF6C/y1z6IXqTjuSgYUox76/MObQ9GP6nyOA6SyeGFJrlqdE7Gm0iJT9z7OXPAv+5SMD/r2D6gP4Lt0hHHj3/WgWVt4xXGhxfxC/J+vM3w4KokdOC3Kb4VnCdFW3nDVboMXmK/XL9R7x+7HsvYlKE4FIRp/wLg+JD2VdD9Q2Sxuv/zWYqnpgSc66euB+gJXU/jxlZso0IvW2HuVlOSfmAFP79LVBwt1KaACPfx3UKRxUnzSaadNJTi3Kele7aWXwbOAnvyqaSkoYh9jDchyENrhOeA1txj7aQw4klCoBjBN8QSR2xg0wCxDxjeQamliBYjTSm6W68u82Esud689ilexqFvxx9UkRMU9xv+hJv9UlZQvTaj3DxG+aktD2CI6T1ol/jSya527DIHVKMq5jlBRt8i5AqxdLoHbH5om8DGnxJHijjiI73jAcM2lDZDEFE4VoZ8ldG1GF8eecV4IAJmqN+62/znhwfcrgmm+8IXYb/f4RcELarL6UFqfd5VTdCxD3S229BOD+DS3tI6PXjjVutaPGsUJPoFzk6B9THESknrFS+pOnd09rn82QjgXMoI5uePuBqYty2zE2Ahe9EpsmDQ3pTi4U+HZypvrzVKUPYpa9f0eoWNlxiwi8YX4Dzr6B4T4YXThcp1cd6drllhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RDAB1nFvFPt1jP3W9mTnHo",
      "input": {
        "note": "Arm fell back to x=0.46 while descending, leaving the pear just ahead of the jaws again. Pushing the target further out to bring the jaws around it.",
        "targets": {
          "right_x": 0.51,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RDAB1nFvFPt1jP3W9mTnHo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8211, 0.6147, -0.469, -0.0135, -0.0307, 0.9993, 0.0372, 1.9816, 1.0698, 0.1722, -0.0727, -0.1135, 0.9964]\nstate[eef_state]: left_x=0.2849 left_y=-0.0001 left_z=0.1597 left_yaw=-0.0011 left_pitch=-0.1068 left_roll=0.0008 left_gripper=0.9993 right_x=0.504 right_y=0.0352 right_z=0.0313 right_yaw=0.1627 right_pitch=-0.1691 right_roll=-0.0342 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -1.4838, 7.0222, 1.6777, -0.0366, -0.0464, -0.0122, -0.759, -9.7162, 7.0359, 1.5702, 0.0366, 0.1392, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f2ddaffad1e1db9056a9b4577dd468e362d4efc8c12a4db9247886ed88d2052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51fe34ff03e6647a356a4e99a4f26ff4a85766e11886c1660455684900b887cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ca87aa12e0eaa7acafaf8fe55e9b25b022b7f1a75f913317536f318908de3191",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 4.504 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]: [-0.0212, 0.8188, 0.6147, -0.4538, -0.0139, -0.0307, 0.9993, 0.0357, 1.7081, 0.9859, 0.0685, -0.065, -0.0952, 0.9963]\nstate[eef_state]: left_x=0.2872 left_y=-0.0 left_z=0.1632 left_yaw=-0.0008 left_pitch=-0.0893 left_roll=0.0006 left_gripper=0.9993 right_x=0.4745 right_y=0.032 right_z=0.1069 right_yaw=0.1435 right_pitch=-0.084 right_roll=-0.035 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.4974, 6.9402, 1.6728, -0.0269, -0.0269, -0.0122, -0.8957, -7.8291, 8.4308, 1.79, 0.0513, 0.1441, 0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8192, 0.6147, -0.4625, -0.0135, -0.0307, 0.9993, 0.0338, 1.8931, 0.8577, 0.2897, -0.065, -0.0978, 0.9963]\nstate[eef_state]: left_x=0.2858 left_y=-0.0001 left_z=0.1614 left_yaw=-0.0011 left_pitch=-0.0984 left_roll=0.0006 left_gripper=0.9993 right_x=0.4605 right_y=0.0306 right_z=0.0153 right_yaw=0.1443 right_pitch=-0.1755 right_roll=-0.027 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -1.3744, 7.0632, 1.7265, -0.0269, -0.0757, -0.0122, -0.0068, -9.7162, 5.3675, 1.9365, -0.0073, 0.0024, -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]: [-0.0212, 0.8211, 0.6147, -0.469, -0.0135, -0.0307, 0.9993, 0.0372, 1.9816, 1.0698, 0.1722, -0.0727, -0.1135, 0.9964]\nstate[eef_state]: left_x=0.2849 left_y=-0.0001 left_z=0.1597 left_yaw=-0.0011 left_pitch=-0.1068 left_roll=0.0008 left_gripper=0.9993 right_x=0.504 right_y=0.0352 right_z=0.0313 right_yaw=0.1627 right_pitch=-0.1691 right_roll=-0.0342 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -1.4838, 7.0222, 1.6777, -0.0366, -0.0464, -0.0122, -0.759, -9.7162, 7.0359, 1.5702, 0.0366, 0.1392, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f2ddaffad1e1db9056a9b4577dd468e362d4efc8c12a4db9247886ed88d2052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51fe34ff03e6647a356a4e99a4f26ff4a85766e11886c1660455684900b887cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca87aa12e0eaa7acafaf8fe55e9b25b022b7f1a75f913317536f318908de3191",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3gYKEAgSGAI4AUIIdGhpbmtpbmcSDOSbvzMV0p4J9kRl4BoMhsNP5VFq+dzqA+kUIjAbJTLbX/Gv/7CWvSONeWU5wFvHEI6yoRnAS/ebqzOPkoQ1sGACCadwBFmt6TeYeY0q+wVYzP6P1hPHC5y7SirFwHlKvKkuheFQOeEDVMzeJ9Vj1Sl89HoX7LlXcPhvP8KURzFmyyvrQI6+Ht7HjTkC1MyXPvYhX+TW0+ezz2EtzXQeGkKZBE4EYvYCuIKjHcPlmY+Du32jyltSJUnb1xkl8vMr+n9HbKWwpD/a31UhZ1vn40y7cj/j0ZhFegumUmMwP9UzkW0QXzvoZ2MxIQuZ1+mcB80xE9/NS/dul0NMqq6ux/SGY3XnxVCXbg7LWvUPHVnCvfFGYuLORZCSaKHkQqib5l322Tg88OU4V68MhAW2soU6FJyl0g1uSy6hPif1Ld74GaxDqVZBvPnjtHt2mDScxYlLc983ThXrO6QIRy3g03wedvkvhtAMfwFL6QZdgCOLZIABfQxuBVdOnwR/OB14SfBr+HWQRTnbWfy9aUTS18tOdUlw1o1cKOY6CD1EH6oQSo9ajZiYjqS/Bf44baJTVrOxfVeEdk/v2NrG6/lPgu+IPRbS+WwTCfa7VygLvfi3VgPACjlYoixROd4rsuitUKpSfnFmHY8480eivfpfMEzxTI0y4169ZYKPKwoffHOcmk+LSHV7gJoprvuUOEsUWi3cl6EOFPzyKuIIsrGclDkoFW4jVOCHbH1zR+s3ci0VVYhjbzU8w34HzW22neWjHwjL8PkmgKZ2TXj5RGd9cXLRvl3J0mruOYo+6/AwbjxT3SJOTRTE8bs8uddLND68EYfwnArve4VcMLBsrfnSRkj0d0ElXIEluHioMNmmnvk5Wv6zmu7DmTgqpOPLc5z7VZKJBSQJ+EBdQkGlPJbXic4gNtiYzhbYMuhHPDI+bYUOSwFbVloy8KYo1uJ8z+fD1Astfx7uvx5AkwIrPc3ap7Ky97GSp5dep+3VvEHRf11Wkfiils0R/RV/we9cV82igsIzpE786WJRSI+Ag2pb+LD7BMxHBVG5O1UC6LcKAS9BmROpzqzodczpGwwm8t1Y+9Fik+wEhQfHCeeaMZ7xB4NyegE03w1zMLW4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DNpD1zUPkTpWugUXbepZRV",
      "input": {
        "note": "Pear body now spans the jaw gap at the bottom of the wrist view. Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DNpD1zUPkTpWugUXbepZRV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8211, 0.6147, -0.4736, -0.0139, -0.0307, 0.9993, 0.0357, 1.9846, 1.0744, 0.1528, -0.0769, -0.1169, 0.7153]\nstate[eef_state]: left_x=0.2842 left_y=0.0 left_z=0.1588 left_yaw=-0.0007 left_pitch=-0.1114 left_roll=0.0011 left_gripper=0.9993 right_x=0.5019 right_y=0.0351 right_z=0.0281 right_yaw=0.167 right_pitch=-0.1866 right_roll=-0.0316 right_gripper=0.7153\nstate[joint_eff]: [-0.3487, -1.1419, 7.1316, 1.7021, -0.0366, -0.0269, -0.0122, -0.2393, -10.3726, 5.4632, 1.746, -0.0415, -0.0366, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f6e2270b97a73059337889b7eaf0ee4fea672e91938d83550373fa88b0a1db8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d2402c61b9c1c8a73b714df62780d05bea73a7049d671b3ac3a2552f043ad92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7cf1fe5125ba22f51f1532c8315b5dd6bd84b62f3f13fe2598d8b4963830f239",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 3.634 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]: [-0.0212, 0.8192, 0.6147, -0.4625, -0.0135, -0.0307, 0.9993, 0.0338, 1.8931, 0.8577, 0.2897, -0.065, -0.0978, 0.9963]\nstate[eef_state]: left_x=0.2858 left_y=-0.0001 left_z=0.1614 left_yaw=-0.0011 left_pitch=-0.0984 left_roll=0.0006 left_gripper=0.9993 right_x=0.4605 right_y=0.0306 right_z=0.0153 right_yaw=0.1443 right_pitch=-0.1755 right_roll=-0.027 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -1.3744, 7.0632, 1.7265, -0.0269, -0.0757, -0.0122, -0.0068, -9.7162, 5.3675, 1.9365, -0.0073, 0.0024, -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]: [-0.0212, 0.8211, 0.6147, -0.469, -0.0135, -0.0307, 0.9993, 0.0372, 1.9816, 1.0698, 0.1722, -0.0727, -0.1135, 0.9964]\nstate[eef_state]: left_x=0.2849 left_y=-0.0001 left_z=0.1597 left_yaw=-0.0011 left_pitch=-0.1068 left_roll=0.0008 left_gripper=0.9993 right_x=0.504 right_y=0.0352 right_z=0.0313 right_yaw=0.1627 right_pitch=-0.1691 right_roll=-0.0342 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -1.4838, 7.0222, 1.6777, -0.0366, -0.0464, -0.0122, -0.759, -9.7162, 7.0359, 1.5702, 0.0366, 0.1392, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8211, 0.6147, -0.4736, -0.0139, -0.0307, 0.9993, 0.0357, 1.9846, 1.0744, 0.1528, -0.0769, -0.1169, 0.7153]\nstate[eef_state]: left_x=0.2842 left_y=0.0 left_z=0.1588 left_yaw=-0.0007 left_pitch=-0.1114 left_roll=0.0011 left_gripper=0.9993 right_x=0.5019 right_y=0.0351 right_z=0.0281 right_yaw=0.167 right_pitch=-0.1866 right_roll=-0.0316 right_gripper=0.7153\nstate[joint_eff]: [-0.3487, -1.1419, 7.1316, 1.7021, -0.0366, -0.0269, -0.0122, -0.2393, -10.3726, 5.4632, 1.746, -0.0415, -0.0366, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f6e2270b97a73059337889b7eaf0ee4fea672e91938d83550373fa88b0a1db8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d2402c61b9c1c8a73b714df62780d05bea73a7049d671b3ac3a2552f043ad92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cf1fe5125ba22f51f1532c8315b5dd6bd84b62f3f13fe2598d8b4963830f239",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7QgKEAgSGAI4AUIIdGhpbmtpbmcSDM6QSYAC6DgO91g9KhoMfg5B/NmRJFZND80EIjB5vF1LZZZ/8iNoBuEkl4t2CjNXK+Kisq/zbZaepcPhLY9LaYF1+oI42V9PiGGYIrcqiggJWxJi5DfFpWNP8y/83vBHO42dcWmqWFSsAuXin8jDpdc5hKAyylbuPVHViszK4HmXI7UvNykPrDfubLFVBjWo4pDiy6FkMwrMg63eZdb1pOHqYFoacCG7A+eAEuvBhcki69jltP0vLNrpOX8sGJO0HHOJ6SXozvSdNT0WQBkiBt5fRENWkzWIg82LCPfEhbfMPZsJuUx1/GCUvwWTB82kUsfiUzILAhQwkoj1BHTPKAbAlQ62Tst/AHgxg9/A2B02KIczoJ+lBVpqc5mUJAOs+Q5DIqIqWzaCHRJgllIPL9+kye/wn4pQZiNY/KQTGVBatBgAoGCyxbsA8JWhi66XOAf95R9JISXJkq/6t1Yq/1osex4VEZBPG5dV0czFxfe1W5+bJdcnNUgDwtm/SwB0E0xyQaj3My/7cg+4vapS7Fi/xQ+K0OaYSbdQLAhiApz55IFY4az0I4mf3j/DPjrrfjOuLdFVx+6ky9Xxcxo8KxPRHRh6CmvnVRRGVgiCu8OBG4HQktssqn+y0k0mOjfWDME6/d1Jp/BYonpuk1S50noL61VsabQVRpA9vxAbsbq6cYtzNRbX/5Z5CQTw7yk2Fs1yR/HEaNM1WaV4RnrGcpL+JIBjjSVWzAlHyT8VKMVs+Iv9o4GBM39UvKrDIUjzgpn2YVXW2GLsUlx/yDBiG4hDUjiou2zE8caJe/pn+v3RCwmxQCV1PXbfY/6asBnntzuedOWaIBhcfiMORckhvI2/+hFrhH+PvWPdRrFBggWKdGl0iIbqzZdPk+S0gHd+tRl99UmkbowJWSVT5SA57bpYVQrYlfQQAvLs0syEbVHFPmopU77GEZ1ejTp35EkFrW08I8gBhhyUvYl2jt0+cE55y5QU/UuHXSKk6k9ZbRMANqwB5EYyQef5J+Sk5+cSZ8hGKD1gggRTe0tyIEC9uSMtSep69PL2pXJLVipfCkWupPQTqrbTOaaYMWXa8vaMiEDLE3ob++uk0PycTV/YJ4bWsllFp04YoKC3vgk7WTypixZB1qv24T/a18rvqU2VHm8yC2fLrOSPz9u1p2kyF7caWEA8mQizXjgtJgmw4p82jQLVOgrtGuSQ5ytuVqhtuY0qG4GGWCfRuxC4dGx/8TdDnaukhPjWcXr02nxkH46CKD/BRI5aKx1m5BDPIDXnOI3pAm0bU7/fmthDhmd0uEQiO0EwJR9oG20MObeF4wWdRehoE1VSW7tPmcbfo0hTQxduadzCcTF+FAi4aNXyEXQAC7XNVjojb4Lv9xUEjwUh1MrpKKwkFPfCi6c+ETdTVVISa9XUmfyzuZuI7SMkUxD1Ucw/ckr8VKpbQGUQel1t8+6DapZQnHDSHEPRQ5hHffljqdgTumt3FRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dp6eeRAiDGtYpApT5QcAqv",
      "input": {
        "note": "Gripper settled at 0.72 (~6.8 cm), so the pear is held. Lifting it clear before carrying to the blue bowl.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Dp6eeRAiDGtYpApT5QcAqv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8211, 0.6147, -0.4759, -0.0135, -0.0307, 0.9993, 0.0395, 1.8137, 1.4685, -0.4969, -0.0837, -0.1329, 0.7191]\nstate[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1583 left_yaw=-0.001 left_pitch=-0.1137 left_roll=0.0009 left_gripper=0.9993 right_x=0.4972 right_y=0.038 right_z=0.1583 right_yaw=0.1884 right_pitch=-0.27 right_roll=-0.0259 right_gripper=0.7191\nstate[joint_eff]: [-0.3487, -1.3607, 7.0769, 1.6239, -0.0464, -0.0659, -0.0122, -0.4855, -13.2855, 9.2786, 1.746, -0.022, 0.1441, 0.7399]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a249bdb5f73162f95d9ebac3ac12081e6afbef4a89c8b6e5dfb6863d43b2a4e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef97b750a853d991225caf5e58c719737f164453757e25e3d1c03e4cad347491",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9efa8600cbc155c5cd062466f6622bce871266a7f592563dafc8fae2b8baaad2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 5.278 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]: [-0.0212, 0.8211, 0.6147, -0.469, -0.0135, -0.0307, 0.9993, 0.0372, 1.9816, 1.0698, 0.1722, -0.0727, -0.1135, 0.9964]\nstate[eef_state]: left_x=0.2849 left_y=-0.0001 left_z=0.1597 left_yaw=-0.0011 left_pitch=-0.1068 left_roll=0.0008 left_gripper=0.9993 right_x=0.504 right_y=0.0352 right_z=0.0313 right_yaw=0.1627 right_pitch=-0.1691 right_roll=-0.0342 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -1.4838, 7.0222, 1.6777, -0.0366, -0.0464, -0.0122, -0.759, -9.7162, 7.0359, 1.5702, 0.0366, 0.1392, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8211, 0.6147, -0.4736, -0.0139, -0.0307, 0.9993, 0.0357, 1.9846, 1.0744, 0.1528, -0.0769, -0.1169, 0.7153]\nstate[eef_state]: left_x=0.2842 left_y=0.0 left_z=0.1588 left_yaw=-0.0007 left_pitch=-0.1114 left_roll=0.0011 left_gripper=0.9993 right_x=0.5019 right_y=0.0351 right_z=0.0281 right_yaw=0.167 right_pitch=-0.1866 right_roll=-0.0316 right_gripper=0.7153\nstate[joint_eff]: [-0.3487, -1.1419, 7.1316, 1.7021, -0.0366, -0.0269, -0.0122, -0.2393, -10.3726, 5.4632, 1.746, -0.0415, -0.0366, 1.0281]",
      "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]: [-0.0212, 0.8211, 0.6147, -0.4759, -0.0135, -0.0307, 0.9993, 0.0395, 1.8137, 1.4685, -0.4969, -0.0837, -0.1329, 0.7191]\nstate[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1583 left_yaw=-0.001 left_pitch=-0.1137 left_roll=0.0009 left_gripper=0.9993 right_x=0.4972 right_y=0.038 right_z=0.1583 right_yaw=0.1884 right_pitch=-0.27 right_roll=-0.0259 right_gripper=0.7191\nstate[joint_eff]: [-0.3487, -1.3607, 7.0769, 1.6239, -0.0464, -0.0659, -0.0122, -0.4855, -13.2855, 9.2786, 1.746, -0.022, 0.1441, 0.7399]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a249bdb5f73162f95d9ebac3ac12081e6afbef4a89c8b6e5dfb6863d43b2a4e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef97b750a853d991225caf5e58c719737f164453757e25e3d1c03e4cad347491",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9efa8600cbc155c5cd062466f6622bce871266a7f592563dafc8fae2b8baaad2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1AYKEAgSGAI4AUIIdGhpbmtpbmcSDKKYCnmME17iypTvDRoMkCKcrjhEN9E1c0/PIjCCwvqRF2knUiP/x+pKyNli1vEUj6qA3nnEc3TFot6vizjQe2ClrTqjFwTaCDfWcA0q8QVNlljWEpwYfiuJRRIr3KgR8zMdzTgeG5QdxhRl2D/mDpIaKeZwV19qDS8v7A1uJgdm0Jd4zg9HDTyhHOwvUFncFwGtAki+eolIxTN7Jmb5pKIxDkvKRfqGEAv18mkmpiCab0FiHCkrv8QCp+qFI2+M/xY1Ud1nyNpBJxB30WgzdmvPGfGG5pfRzRiezbzDrsG0AZxmPbr/r4FE38mGjh55tcV7+NrBTLFSMQ8RWSlc6rpamFfvtJJigQ+PlbV2SKBJGKihqWqqLMGRGEZEXGhBVxEfqBYVh3TlH0s0nqXpVUD4+e54hlzw3+OzdQpbkGFRBUvhpeTRVonQBQGU9noJgXV/R0RryibovMkirmAE0sg87xpaHxq3IszdpBLEphgtY7iYV75qtV+tzIq+quYWWTdeux7a3Lp+y7SRKYv5Pp/sZDllHWcpf2uxG0Pi1dO9A6PpqG51yEzBzz4l3P+rzdzO/Iq8Nj5JeXztkGmGyWo3PvatDqZOBbak6NLzP5ESMb9ohZjJm5nDxeO4tWuSX8kwIQTWVurLpp8/bE4ulf9ZeVPXLiKDvp675oR1Dp0lc+qmQLGxqG4bucnQEysw8NWqDO4Q4iXKmUTX3a2qatoyo7ddC3nbT4EB9t5/Yd9wRXsHl2QzIDzkIBnyXHUqh1GdWRjo6ui0reri6khr0yaJefvTAleQIw/W4qoUeDXVOaS8jbbRKJ315fN7s2M0DR+e8sRyYScmGwkU7NKlsJJ2SZK+qLyXz1/DF0tA+ix2CcSirDplX9nbw1U/tGxCPJf6a13knmQfTW80VEaosorQdkB/0ywrd5Xo7+luh7nAtfhYTHGV2ALm5eac6tJEkbpbTOiKR7tWhJVn4FaedoIbOhgp3U+DBLVyYROsoPUy4i1UIHQYs9t5dqBVm4gr1w0sLO2Q8FYMWfdbOnEqQayhDxR7jCXNkJmiPYYNPFHNoVt6bvdXXPAL8qk/02rvEyzlerSGWdt+PugCSETZZ8cYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0188qKESLBkViH3HYJmFzDmE",
      "input": {
        "note": "Pear lifted with the jaws. Carrying it over the blue bowl, which sits ~11 cm left and ~8 cm back from the gripper.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.14,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_0188qKESLBkViH3HYJmFzDmE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.3523, 1.6363, 1.3281, -0.564, 0.099, 0.065, 0.7188]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1583 left_yaw=-0.0007 left_pitch=-0.114 left_roll=0.0012 left_gripper=0.9993 right_x=0.4244 right_y=0.1413 right_z=0.1701 right_yaw=0.2299 right_pitch=-0.2985 right_roll=-0.0338 right_gripper=0.7188\nstate[joint_eff]: [-0.0752, -1.1556, 6.9402, 1.663, -0.0611, -0.0269, -0.0122, 0.1436, -10.6462, 5.6684, 1.5409, 0.1099, 0.1441, 0.6178]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2dd0e960f74c65b2372c9fea60ca86127b7b6921cc0b3ef466ad94c3ba6947f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f8b65adc8d7f7c10fddf55bf2ad44f7715f520461a418596361cb3b43f9a03f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f985cfaef933f75db9ef97f1c86f92721891311f030220a6def9babeb5bd807",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /messages · status 200 · 3.05 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]: [-0.0212, 0.8211, 0.6147, -0.4736, -0.0139, -0.0307, 0.9993, 0.0357, 1.9846, 1.0744, 0.1528, -0.0769, -0.1169, 0.7153]\nstate[eef_state]: left_x=0.2842 left_y=0.0 left_z=0.1588 left_yaw=-0.0007 left_pitch=-0.1114 left_roll=0.0011 left_gripper=0.9993 right_x=0.5019 right_y=0.0351 right_z=0.0281 right_yaw=0.167 right_pitch=-0.1866 right_roll=-0.0316 right_gripper=0.7153\nstate[joint_eff]: [-0.3487, -1.1419, 7.1316, 1.7021, -0.0366, -0.0269, -0.0122, -0.2393, -10.3726, 5.4632, 1.746, -0.0415, -0.0366, 1.0281]",
      "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]: [-0.0212, 0.8211, 0.6147, -0.4759, -0.0135, -0.0307, 0.9993, 0.0395, 1.8137, 1.4685, -0.4969, -0.0837, -0.1329, 0.7191]\nstate[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1583 left_yaw=-0.001 left_pitch=-0.1137 left_roll=0.0009 left_gripper=0.9993 right_x=0.4972 right_y=0.038 right_z=0.1583 right_yaw=0.1884 right_pitch=-0.27 right_roll=-0.0259 right_gripper=0.7191\nstate[joint_eff]: [-0.3487, -1.3607, 7.0769, 1.6239, -0.0464, -0.0659, -0.0122, -0.4855, -13.2855, 9.2786, 1.746, -0.022, 0.1441, 0.7399]\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 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]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.3523, 1.6363, 1.3281, -0.564, 0.099, 0.065, 0.7188]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1583 left_yaw=-0.0007 left_pitch=-0.114 left_roll=0.0012 left_gripper=0.9993 right_x=0.4244 right_y=0.1413 right_z=0.1701 right_yaw=0.2299 right_pitch=-0.2985 right_roll=-0.0338 right_gripper=0.7188\nstate[joint_eff]: [-0.0752, -1.1556, 6.9402, 1.663, -0.0611, -0.0269, -0.0122, 0.1436, -10.6462, 5.6684, 1.5409, 0.1099, 0.1441, 0.6178]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2dd0e960f74c65b2372c9fea60ca86127b7b6921cc0b3ef466ad94c3ba6947f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f8b65adc8d7f7c10fddf55bf2ad44f7715f520461a418596361cb3b43f9a03f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f985cfaef933f75db9ef97f1c86f92721891311f030220a6def9babeb5bd807",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkAoKEAgSGAI4AUIIdGhpbmtpbmcSDBC+IRzLF4nrqb1FiRoM2p2kVKD1d6eeWquiIjB7zoZEySnB5xot2LMyVPv+kPitSSedFWdJfwhZ/yknoJqD8v0bhEh1fn/bAOqWiXcqrQksMnvAEBACsRmlcj49nf0gwi3+Oii4LNyMNvCn0HxJP7NhoxGcPcr57mrWjAueJsKleNgNOH4wnkesTXBL7drSBhupBGXuY2km3l20OXZ6xK9SRNThUJJ8yaz5vWGRaTVpwyg8Lm3oATa4jpW1Nt9MCmp65iM4yCGuw8XKSxFVm1DMScTeFWJOpkELm6P04+TeEmqNtcTqGhKJonzIsv6C/4tunAuqKipohCCiGqc5vsJvSCmkUewqplayz0DamdMaPtfAr669v2nwdDA2n/FXjq+8sPYIjwlQRNsTBsiR2qYpFA35lQCJWt7p2ZjIYTXjHSiqLMVuqlvwgdjYtDwvLo8GliVTT9lfL1u8L1E7t5gBFwvQPaGcP1CEGTYFg4ld287bAmGHvUrgOGS1iTZDPS6SVunPFoCNufEo0UHDUzKCvo5KepKWlxAotYejs/V0XLgH433sL/NcmypshQED3Ywo/vx8KppLMMDMGtFD1tHU/biFUhVppV9jFeKRpaITj+md5wcJv3ErWZRU2jkSXXDo0nftCQ/cHUuvZesLV/rsWtqYtP2IUY+NcDVnL2UZVoT9ftqCbZnoSbYgVZ/Ruizlfys0mvSgWKVy6eYBHkXCfe7aIZnSwuBDVCBozzaP9kNkXLssR9r2sbz4oSk0KCyoQZzLJT0bQyl0Mwa1bQ0R42DnGMF35rNXH7231G/7Lca8lRbBd1ahDlpJQiczQGlx1qTkUcWJ1M8ASwO4vqYsvv8HO5mBVHnWePRuTq4BXDSQqqcBBeq/NPF5FklFAvl5zIX5ReD8/6aLFQRcCYxXxeF0ZHYAV+DjKq8V1qW2s0Z/m1GIs9zongcaWbHthFxWdJW+HYMsd3PB8t8xt5fXTelY68xrL0+Tj/tUKZcPzP0l+8k1YGYjNHd5XeAiYNSRAykjpgnPLpwyo8saqddjQUMAXWvugqB+/6QQQMcRv7E/bFaJ+WJut0AOsb27cDsF5MN8MPfGEzP8tr4KxHoBYEw2bKWonV1KuwLNNVixOUpQFfCzhwN52b/MaB/J+hZN3Nfi0+tplI+9L7UVhnj2tGY5hMNmLyweT32e4yKgN0Dw+NMD7d82hR720sPOk8i65LUqi2XmnyPdDpTUEIYMgv9hB9qZxmoGfWxhFJ2XIh+812X+y3ItXs8RGhWlm6nFL6y56PYhm2sNX6grQ45HsY9H6PmPq4lpdMAPCa7GyesqjCiV6ZbWlPVS3G4uYO7qg7/lnQ9haWDEobBKw0zdp+kv7RddyM0I/ewhC7fPuTHVEIony3Mu1ip/I1zUwqMUmMEtMqBqVxVM99TC/FGtp1Ld9AyY9vy2OmZZHNTP7uaYaOPQEeVnKSRgnejQtnTsUIt8onhz2uptnblTMDBYSNhAao7nJj0yDP2k8RikwCbr+axeHCPXOI8DDBqxjNehkhjGcCa42uzKvQIxt38Am7dSrDpCODWmaGeZlXNffYl3qmJyD4iWf4By7gN9km/DpT25xQrvFE6IJnh2za8P8zC5573n9xSnBk3BZRL/TNPMN8rj/AKqlTwmF1rcg20mPARKwSHPlkb/Npp8lesDMu+Iwfb+lNP8Ve0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GjcZk3755h8oBGzSC3Rp8z",
      "input": {
        "note": "Pear is over the blue bowl (bowl rim visible just below/ahead of it in the wrist view). Lowering toward the bowl before releasing.",
        "targets": {
          "right_x": 0.43,
          "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_01GjcZk3755h8oBGzSC3Rp8z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.3492, 1.665, 1.2285, -0.4812, 0.1036, 0.0696, 0.7194]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1583 left_yaw=-0.0007 left_pitch=-0.114 left_roll=0.0012 left_gripper=0.9993 right_x=0.42 right_y=0.1373 right_z=0.1306 right_yaw=0.2183 right_pitch=-0.343 right_roll=-0.0405 right_gripper=0.7194\nstate[joint_eff]: [-0.335, -1.2513, 6.9402, 1.6044, -0.0659, -0.0366, -0.0122, -0.4718, -7.9385, 7.1726, 1.8242, 0.0269, -0.0855, 0.7937]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:007ab567776f59fdb1aa35d5d8c2b51390fe4b87c5fd956c86b5084163a42458",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55b2bbc7e8beb89095002b4dd75d911cd292cbf18ab61c0bec370647df3df943",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a4d5e3bff0e8b488b273f5e59bd08fd87e7490ba5eb035fad020bb41121d571a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 5.284 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]: [-0.0212, 0.8211, 0.6147, -0.4759, -0.0135, -0.0307, 0.9993, 0.0395, 1.8137, 1.4685, -0.4969, -0.0837, -0.1329, 0.7191]\nstate[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1583 left_yaw=-0.001 left_pitch=-0.1137 left_roll=0.0009 left_gripper=0.9993 right_x=0.4972 right_y=0.038 right_z=0.1583 right_yaw=0.1884 right_pitch=-0.27 right_roll=-0.0259 right_gripper=0.7191\nstate[joint_eff]: [-0.3487, -1.3607, 7.0769, 1.6239, -0.0464, -0.0659, -0.0122, -0.4855, -13.2855, 9.2786, 1.746, -0.022, 0.1441, 0.7399]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.3523, 1.6363, 1.3281, -0.564, 0.099, 0.065, 0.7188]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1583 left_yaw=-0.0007 left_pitch=-0.114 left_roll=0.0012 left_gripper=0.9993 right_x=0.4244 right_y=0.1413 right_z=0.1701 right_yaw=0.2299 right_pitch=-0.2985 right_roll=-0.0338 right_gripper=0.7188\nstate[joint_eff]: [-0.0752, -1.1556, 6.9402, 1.663, -0.0611, -0.0269, -0.0122, 0.1436, -10.6462, 5.6684, 1.5409, 0.1099, 0.1441, 0.6178]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.3492, 1.665, 1.2285, -0.4812, 0.1036, 0.0696, 0.7194]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1583 left_yaw=-0.0007 left_pitch=-0.114 left_roll=0.0012 left_gripper=0.9993 right_x=0.42 right_y=0.1373 right_z=0.1306 right_yaw=0.2183 right_pitch=-0.343 right_roll=-0.0405 right_gripper=0.7194\nstate[joint_eff]: [-0.335, -1.2513, 6.9402, 1.6044, -0.0659, -0.0366, -0.0122, -0.4718, -7.9385, 7.1726, 1.8242, 0.0269, -0.0855, 0.7937]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:007ab567776f59fdb1aa35d5d8c2b51390fe4b87c5fd956c86b5084163a42458",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55b2bbc7e8beb89095002b4dd75d911cd292cbf18ab61c0bec370647df3df943",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4d5e3bff0e8b488b273f5e59bd08fd87e7490ba5eb035fad020bb41121d571a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwcKEAgSGAI4AUIIdGhpbmtpbmcSDOYVMDy6xcfp+C1ilRoMzkFrM/qbF5eBxjxTIjDv+Ia3xp7Y589L3JpeUtxN8x7EhGJIil0Ru+4bVXbdqcfCoz3G6VRkW9liBzBRMpQqpAYMhnE3xs/VZrry8EV5oUbqGWorvfvDTmOcuudMfFlYentH+7vuY3fkaGkS2f8RMtU6ybTRs365d987eMw1+WTtOClLRnyrEwC0S9tq12IsbbNAOq8rdmsG/p+3a0ULNN9x+FGgLJwcOLIe89lz4X9l76GLEEU6aFKFleNBkBumWLsTEVwsFqVjzveOXvjpqlormk/9iALSBZ5UowxiRVgu0mH+BNXhYC8BC13IaHBRuKNq0EZiDMdOh91DF8LhSbCP2cOWIogFRw3rKMByZh6lDfPcVfcrGYBKT3el1eTepoRHCjZNlFmS6uidBUf7I4Odav3IOeTb6wJsF7fNNexJIoPD1Ru8gluufzhMrjlZfn0lgI7wSBUevcFjlxTtrtKsDCAx2xBc2oZh/c5B6rOu33cS/R1i4sf9UMMlcibnqmRm6Gp1WUAxmllKZ4LygR59A+mDcBylJdDgcqeAhZeZmVx9+s0sKccGSjuvIZLnMsVkAfs/nHfDGNxmCdbtb8LB3OYTQ4FDxFV6JkfHBunr3ZBkk2VgJPyfLLEYosqQ8x1/x4PtDV+2+CpiGYG4rvUtSlYImbpUYGn4uKVUFxuEPRcnRpHONcu7AtzJ1wNjzkek1HMnlYwqoUuxQ9DSA4MK3MUwyeNXxuxhK5it82QXaPMn9uSEO329+bjZjC+jIyjxxvtAvAy/71L6REnHb+i3mytBb7hKMuUgr/MGqGlsti6vckVXZWxwWvokdLAefB3aDzl1L6boW8nwew5pf20n0BV2Qfx+Yui17hNiOjCAG8dG/hWRoMl2ajOC/QbQJoa2CfqZ2OKrh25TxK/2xwnF/ZtG5LyoX1X71oNZVNPpQdIzXc1DXK89fSCus1lYNSsxzKPhP4U5/Pwvc0xys2kActNqavgpnhlGk6aPN278KuoKK7d7i/D/iqpESNiZGxUzkV1OjbD7cD6e9btbf+gtCA55w/1xtqP6GQ0BkTqYGBzDV9NWG/kQIDIAUpQXM9A49NLrbaBkDSBL5Rxho/3FJZOF6EV98akbHDpB6CIzMEab94exHQPbmF3eAFvtJ20R1acYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017zoqbL8wvw26BJb2k9HpGT",
      "input": {
        "note": "Gripper with pear is positioned over the blue bowl in the overhead view. 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_017zoqbL8wvw26BJb2k9HpGT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0135, -0.0307, 0.9993, 0.3477, 1.692, 1.2011, -0.4755, 0.0971, 0.0601, 0.9953]\nstate[eef_state]: left_x=0.2838 left_y=-0.0 left_z=0.1583 left_yaw=-0.001 left_pitch=-0.114 left_roll=0.0009 left_gripper=0.9993 right_x=0.4145 right_y=0.1358 right_z=0.1093 right_yaw=0.2257 right_pitch=-0.3923 right_roll=-0.0476 right_gripper=0.9953\nstate[joint_eff]: [-0.2256, -1.3607, 6.9402, 1.6239, -0.0317, -0.0366, -0.0122, 0.0889, -10.5504, 8.7726, 1.409, 0.1587, 0.105, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:effeb155fcfc0f01e53e4481a23b3b18b38ebf3cdad0d6df9429acb0c9d9ab80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:549ad093046671a199cbe1400655f9343bc29c38c3ed70f88edc860174ab044b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f460b038bd48d3dc06a88e93476711e75c2e1819b8cbf9071914e7b372fbdf6d",
        "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 · 6.016 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]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.3523, 1.6363, 1.3281, -0.564, 0.099, 0.065, 0.7188]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1583 left_yaw=-0.0007 left_pitch=-0.114 left_roll=0.0012 left_gripper=0.9993 right_x=0.4244 right_y=0.1413 right_z=0.1701 right_yaw=0.2299 right_pitch=-0.2985 right_roll=-0.0338 right_gripper=0.7188\nstate[joint_eff]: [-0.0752, -1.1556, 6.9402, 1.663, -0.0611, -0.0269, -0.0122, 0.1436, -10.6462, 5.6684, 1.5409, 0.1099, 0.1441, 0.6178]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.3492, 1.665, 1.2285, -0.4812, 0.1036, 0.0696, 0.7194]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1583 left_yaw=-0.0007 left_pitch=-0.114 left_roll=0.0012 left_gripper=0.9993 right_x=0.42 right_y=0.1373 right_z=0.1306 right_yaw=0.2183 right_pitch=-0.343 right_roll=-0.0405 right_gripper=0.7194\nstate[joint_eff]: [-0.335, -1.2513, 6.9402, 1.6044, -0.0659, -0.0366, -0.0122, -0.4718, -7.9385, 7.1726, 1.8242, 0.0269, -0.0855, 0.7937]",
      "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]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0135, -0.0307, 0.9993, 0.3477, 1.692, 1.2011, -0.4755, 0.0971, 0.0601, 0.9953]\nstate[eef_state]: left_x=0.2838 left_y=-0.0 left_z=0.1583 left_yaw=-0.001 left_pitch=-0.114 left_roll=0.0009 left_gripper=0.9993 right_x=0.4145 right_y=0.1358 right_z=0.1093 right_yaw=0.2257 right_pitch=-0.3923 right_roll=-0.0476 right_gripper=0.9953\nstate[joint_eff]: [-0.2256, -1.3607, 6.9402, 1.6239, -0.0317, -0.0366, -0.0122, 0.0889, -10.5504, 8.7726, 1.409, 0.1587, 0.105, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:effeb155fcfc0f01e53e4481a23b3b18b38ebf3cdad0d6df9429acb0c9d9ab80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:549ad093046671a199cbe1400655f9343bc29c38c3ed70f88edc860174ab044b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f460b038bd48d3dc06a88e93476711e75c2e1819b8cbf9071914e7b372fbdf6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4AkKEAgSGAI4AUIIdGhpbmtpbmcSDAGJRO/RtfGwtdeLDBoMVodZd4i+YgjqqGVRIjBndJ35S+1necpOHkcSlTtbDkWkUZcLVICFA1xSGZvDCf9N3B1QBrA+K1mZez9ng1wq/QiSJhbMsh5r3VkNeLyy5HwbJX/+gDLgaCIs/kYoGistyxMl2MZTC0QZUNTEqA1txsu2npTAcXdtIG7QiMHZYsHMxD3gbHC2DtAk0H2EtXadIewwsozU47dpyD8yhLBkvjU2on3KjHwedilcGTlt2gK+lq+IMfhMHMGu01mOz18J0h6M/hoICvUM7eqHftf8YbAnIi8A2AqkjbEFgx5SVjnaVkY4GLP3DOMaofC0niI8WHJztFD0qvZ5k+5gBgk4rAQZxg0St4fB/sxReCEhIyRF0RBRcdO/2x17RfBIvC6CLMK2YXoEPx4Gc26/yWYuQOygKItGDiBvRTVMR8US2Bkiv9wDvp/cAPuGBMsJgPWPY3EOOq/RyayfL9doeRZHS7SSu8nweCj1QlWnCuXFEP4mx5QpVsyIX1etrrWbJYoWvMtRExLmi/vzBgHT9quoU8I4nZY9zR7DUSnSLM1Rf9V/Kn7nWLt1MVVpburdG2omTXjn2O8xUPLVv6J+vVBrP/fFQk25EWxQGr+rUps2I2Vk2Uxxr9jL9T/rG00rcoW2IEjZQnDn62Qt34MBseGqMoZ18f9ntWJ+2Jd4Lzdd42kpk56MoSWQs+2sHYP4tSpyJ9rvw7hEOGTAA8yJqYP9BsMzbLve/WjMWQ/+ouboO79LkSG7RlpUfl+8fG402ZA31QqmnawNCnl6vyqmAKewQjMfCl09LaUtGaC3LDHg4iM4PrIryDHdb21pf1WwdhzOgKCWJ82ifFU5eBP0mgFy0q0p7pr19+TbaXGyZC40TS1lQptZYaEamzP+TFDVrTou33vqZn+DRFRRGDZdEtCzlrIUKKwD7LVEi2va0og5yrUcnMnT2DKsGTyV+p6VV0BsHCeeg3yaBsd3Ts61a6Iz9iEaaiLKO6cbwofxt1rC5rxzfqoarR70COk0lJxmmM1D4zSAOwRc1CEPjJ1QfB1QF0eC2p0WQTMYxjB/3+t0yMam82c7SJ0IbNq0p44EBitQM6YmAAnDhdYc5YxyPuya8MGsG7fl11D065rYSyCFuqAmEZ6mVyVX2AOA3aidwWpKJtmuVGdJ6ROOUFrERxhoc35q99LeWc7wHU+PTwyRqrcs+/1qMFrIflliwo30txEJUHYUe8U9UTgcpclp08Q9X2tPn4ZtV9qhy7Ph7e0kBZy39+mEgmF2XM3lcVOhyaVM7oCpjA5oZUYRHRtcQvE26q4SCdnHNLsdsiwtVNXDuAqj13W+ZikWiECIOZhercyr4mAb5NcOtAtCS3mOnYa2P8Q6YaJhs2+sBy6DL9tDDNsS7jZf4K3fr8MipvJsdG2FkIcO94Hchr72SDtKeD7lJXwiftOSGhnkZUvgAdnpaV2lnNM/jD3VfCBxz47F+CRZfjGXL+UQ3oHC5/PKLac3mDOnsd6icfYs2Lt9TGX+xkkhYBDboqWLKiH5WJC2msZd4etC3/PHgVA40deYvh5J6rArHG6FZUC90c6B5Lzxd2g2ZstJlgjjW9AI9fUsZ1K7mTwKvT00ycKGe9sr+2UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C9QJXksuGrNF2s8yYmBcuS",
      "input": {
        "note": "Pear is now in the blue bowl. Moving the right arm up and over the lemon, which sits just behind-left of the bowl.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.19,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01C9QJXksuGrNF2s8yYmBcuS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.5602, 1.6093, 1.3315, -0.7166, 0.1841, 0.189, 0.9963]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1583 left_yaw=-0.0007 left_pitch=-0.114 left_roll=0.0012 left_gripper=0.9993 right_x=0.3669 right_y=0.1962 right_z=0.1621 right_yaw=0.2825 right_pitch=-0.4016 right_roll=-0.0508 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.3607, 6.9675, 1.6337, -0.0415, -0.0806, -0.0122, 0.1299, -9.2786, 8.2667, 1.1062, 0.2173, 0.2271, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e51245bf017cdd75ed5211d2a72951fc2ccfc87a13b0f448d57581f1effcecdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d75114f5cf90c717f76f04e293a3b41280a697ad8cfbe47d8bf7fca81b804d47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0a103508bbde65e87561a827e3a9a9cf4dbca55aea730ff6dbe87c82753ffb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 3.729 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]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.3492, 1.665, 1.2285, -0.4812, 0.1036, 0.0696, 0.7194]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1583 left_yaw=-0.0007 left_pitch=-0.114 left_roll=0.0012 left_gripper=0.9993 right_x=0.42 right_y=0.1373 right_z=0.1306 right_yaw=0.2183 right_pitch=-0.343 right_roll=-0.0405 right_gripper=0.7194\nstate[joint_eff]: [-0.335, -1.2513, 6.9402, 1.6044, -0.0659, -0.0366, -0.0122, -0.4718, -7.9385, 7.1726, 1.8242, 0.0269, -0.0855, 0.7937]",
      "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]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0135, -0.0307, 0.9993, 0.3477, 1.692, 1.2011, -0.4755, 0.0971, 0.0601, 0.9953]\nstate[eef_state]: left_x=0.2838 left_y=-0.0 left_z=0.1583 left_yaw=-0.001 left_pitch=-0.114 left_roll=0.0009 left_gripper=0.9993 right_x=0.4145 right_y=0.1358 right_z=0.1093 right_yaw=0.2257 right_pitch=-0.3923 right_roll=-0.0476 right_gripper=0.9953\nstate[joint_eff]: [-0.2256, -1.3607, 6.9402, 1.6239, -0.0317, -0.0366, -0.0122, 0.0889, -10.5504, 8.7726, 1.409, 0.1587, 0.105, 0.1148]",
      "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]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.5602, 1.6093, 1.3315, -0.7166, 0.1841, 0.189, 0.9963]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1583 left_yaw=-0.0007 left_pitch=-0.114 left_roll=0.0012 left_gripper=0.9993 right_x=0.3669 right_y=0.1962 right_z=0.1621 right_yaw=0.2825 right_pitch=-0.4016 right_roll=-0.0508 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.3607, 6.9675, 1.6337, -0.0415, -0.0806, -0.0122, 0.1299, -9.2786, 8.2667, 1.1062, 0.2173, 0.2271, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e51245bf017cdd75ed5211d2a72951fc2ccfc87a13b0f448d57581f1effcecdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d75114f5cf90c717f76f04e293a3b41280a697ad8cfbe47d8bf7fca81b804d47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0a103508bbde65e87561a827e3a9a9cf4dbca55aea730ff6dbe87c82753ffb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnAkKEAgSGAI4AUIIdGhpbmtpbmcSDP1eKmf3883WCwzKdRoM+6IMNa5LWOrIQMC8IjDNwYtFAkACl8RA5wkM5G8l6Za+4XCyu7NG7XB02M7A66ai9sLdekic4i7ESnye9v0quQhYbx98H9asWJGLu7XriMO/1I595qm2EkU54qqhl8MeieezsfJmPM9tUj/FQFF4fA/3ZqUISxVjcOnygxnfMkx3hNMDFp/7DYsdL8C25xfs3Ec1R8Om3dvTp2s9kV6YiEfBwqWvfPyGMM68Kf3AzsqxG/Kj86FYoALVBZdWjLy2e8yUke9bTmmU7F9sESZJ+AT9tl90HHkcRKKJvouQK21r+jfKVVbYLYF51We6PG1t8xYJc95+ueo+ra5qQcPzRUr6rUvqPuBSI3+3eSY73lXcSXUA4VPZCrkt/eCadZya4J9XMjfjTc6Yzllq48cMYHxSImvGlZ0BUkbIhZeHIWdXoO2qaNjVN5lNCqYPbRoQLNTeMWVYn91+6K8BjcV/RNUhY8hamzVvM+NZ0xSp5Fjp7e1B8Tzjvob+lwg26E+bNNhmIFnT41pYLEiBEQylpzBUDPdBn/9Q4bMXPYsdy17nmG54NhC+QDRs2daymY5Avynd892HbL5ER2aR1l6YhYzCkHC0pu7abqM/E9YA2sU5rm5swDr6nVWMt3+dnF+6+tjNmhugbVjYth9Ny1n9LlPoDNvO7NErW7MRUomGUaac7vU207vRfwbGcmLkMWizZCe3zghZaycV38EdbzbjbfVLoxM0fRdxIdNHwaIAcG3hsynACVMsoFkUxtAza60ll2xlSYjokarIv5lpqn4wVv7RPu583W5cBmfm27O2JfOum2twYbjge6sxdffLQcsBBhF43n9/LLRta+TNXRMfqbic/LKjjjZ3rDLKuidVjKJB1yqdIGk/mxddQFZB8ekzz8oFtSR3rnPTfERut5HJVw7jdQ5oEX0OTXnlyz0sIz6RRy1wS6/zks6+AvjSCpLDpVdGPiTS9kBqMuy5ZTIDFSsaSft5gZk8GjxevlcF0I6xaL9wV2oEGj5hx4MKvLXaM6PfPJYHGvp5QXlD/CKbgzzAU6ycGJ/RGxghmyPajx0O2mn+jSV2aUE5Kkgz6uVwhdEqKgiZCuO7Jwtu34iZSYSPa9V4UksiBZrGZGv7U8xmSy/+Ov14+AFPxgN+qOm9fBVS/YLyChdGDqOBmPMqgGR8/ArYfjNZpJ6pFLpnFSXpr1ETqbDAE3q1TGkBSymxjEDTUK2QLS0liiMuuPRFP6lk8j4nvEHIk4Nq/UzbcBCkgSGnu7033IqO1SLmFnyhHpja2sLL80cscPIYulRgBtkCfLjqONIMLpQaz1g8yMCgkdX5XHcr40zEfLuWz1y2tPEi42pam5uJLg43p5hNV78rRBSeqfoCuRPqbeO4qC/KGVZPEY+jH5MRkNPexQaIur2vspgkOTClWXSCyPrbNyammEifM4ivhGnPGMI/xy8b4WWv2lraKXMwTy/7t8L3cROVN1hfkwJW/PmsS4ERhlzdAsbjcdJa+w1hSPkPv9bLCoVwP9U00R29GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TN6i7E8QjT58jwQGxhMT8H",
      "input": {
        "note": "The lemon is behind-left of the gripper (bottom-left of the wrist view, below the bowl in the overhead view). Moving over it and straightening the wrist, which had drifted in pitch and yaw.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.29,
          "right_y": 0.25,
          "right_yaw": 0.0,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01TN6i7E8QjT58jwQGxhMT8H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 1.0386, 1.5303, 0.9695, -0.3836, 0.765, 0.6746, 0.9963]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1583 left_yaw=-0.0007 left_pitch=-0.114 left_roll=0.0012 left_gripper=0.9993 right_x=0.2873 right_y=0.2538 right_z=0.1364 right_yaw=0.0652 right_pitch=-0.0574 right_roll=-0.0709 right_gripper=0.9963\nstate[joint_eff]: [-0.1709, -1.2513, 7.0085, 1.619, -0.0415, -0.0757, -0.0122, 0.2393, -5.7778, 5.8188, 1.4335, 0.5348, 0.1685, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:766cdddc23b1d910284680be6cd50cf3be0e053e2785483ff6b78c13593adbf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47acb94bcc0affd8a05ea866f1cf34b205ae5e439db6eff559862ee3b6218f8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c83013810a63648ae01a637223f91940cc410e3f53878ed9c0882d28570eda8",
        "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 · 3.09 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]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0135, -0.0307, 0.9993, 0.3477, 1.692, 1.2011, -0.4755, 0.0971, 0.0601, 0.9953]\nstate[eef_state]: left_x=0.2838 left_y=-0.0 left_z=0.1583 left_yaw=-0.001 left_pitch=-0.114 left_roll=0.0009 left_gripper=0.9993 right_x=0.4145 right_y=0.1358 right_z=0.1093 right_yaw=0.2257 right_pitch=-0.3923 right_roll=-0.0476 right_gripper=0.9953\nstate[joint_eff]: [-0.2256, -1.3607, 6.9402, 1.6239, -0.0317, -0.0366, -0.0122, 0.0889, -10.5504, 8.7726, 1.409, 0.1587, 0.105, 0.1148]",
      "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]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.5602, 1.6093, 1.3315, -0.7166, 0.1841, 0.189, 0.9963]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1583 left_yaw=-0.0007 left_pitch=-0.114 left_roll=0.0012 left_gripper=0.9993 right_x=0.3669 right_y=0.1962 right_z=0.1621 right_yaw=0.2825 right_pitch=-0.4016 right_roll=-0.0508 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.3607, 6.9675, 1.6337, -0.0415, -0.0806, -0.0122, 0.1299, -9.2786, 8.2667, 1.1062, 0.2173, 0.2271, 0.0855]",
      "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]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 1.0386, 1.5303, 0.9695, -0.3836, 0.765, 0.6746, 0.9963]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1583 left_yaw=-0.0007 left_pitch=-0.114 left_roll=0.0012 left_gripper=0.9993 right_x=0.2873 right_y=0.2538 right_z=0.1364 right_yaw=0.0652 right_pitch=-0.0574 right_roll=-0.0709 right_gripper=0.9963\nstate[joint_eff]: [-0.1709, -1.2513, 7.0085, 1.619, -0.0415, -0.0757, -0.0122, 0.2393, -5.7778, 5.8188, 1.4335, 0.5348, 0.1685, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:766cdddc23b1d910284680be6cd50cf3be0e053e2785483ff6b78c13593adbf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47acb94bcc0affd8a05ea866f1cf34b205ae5e439db6eff559862ee3b6218f8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c83013810a63648ae01a637223f91940cc410e3f53878ed9c0882d28570eda8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwAcKEAgSGAI4AUIIdGhpbmtpbmcSDMOaB8Rotrt5R7xNGxoMDZRk9Uxp8xftA6UZIjBLebyjNLPJgD/+Z6WnSWpTVBqXAV/Q6tf2xQr5d2Acco4rLSar9RYmLePhmRZxRl0q3QZn+WZFoOr5mf+QObJBEatvr4aqBfp2vqSo4Bv4NRCRYuvU04lnkwsOPZ+WC1InoT/259odDv9rPhWFXAydQgZUQPsnIlTLHAHfB3u7QS4J2lbkGMGzleaYVSfXjnuuZPPDjMBXVah0SUgJvoSzFTfEDg9jWae9WKg8NTzdPdKZupYsFW/7kpx6jMfW++oUvXKVilG+6r/hn+zLaffjN4l0popWMrlyF27+RuC8SXF4OH83X6/8bnJT1JVmelHzENRH/i89HGMJky34jJ8BeA20I1mMW0cU3qUR2RjMiRAGTZo9J+1CiVAlt+Rkqj8AzlN7Nndw/ZBe6MGmYKeC5gbWFJD3ulYgK9p/cb70/ntaP0TLjB75kvntYaq38KZEXldFHi7OoPi7CXoYG77u19hlwxWM3ljkmk6aNp3LJY/5hWkO+SgSMWD0FMyr1FxVhzDZQOGN63eAVAH8tI1bUuHXItvSTVtoNYY/fAwMbhxt4k1pbJlHUL2GjrXOnlugkatvXfSN6tLm/NJ/qnxN8Sfz24BRwD1cQOSmFWbtwMXhYwY40o9jt4xSfOJJBH4o8Y7HCXaKc1Sl/HFLh8a8ODr+yLzgRhyFJGXcFTn4mP99WEvFHJFFo3eM6S/DTzmA96Udw5wPnruUKy/hAjGD/pyVLV3RCvqYvxpHsfkS2xvS0/sjxU1jJI2RqhmR5ilIzO7WEqxlaBlV3P5QRI+88IMXMetUpzSWHduBK/th8GAlYPLvDVzN9sF99mvIDjs7NRsm+xZO+gttyv0N03MRDpI9qFcBzLtkz/92x1XFGc0WtBh6c6rB6DgHUvX3YNieKPtvFbNgdWgIRgQM01/MkJcnKwVGHEQ/a7scs7jlVW/njNhTcjPeg0xPDrM6nHNZOx5EF2eN0g5UPHk3yVDnaZImZS7T2qS6iM36dGj2xqR/N1RqCrmMhTUMZ0yuvNwhiFKSY0PnnLe2/D5CWt+u4lIrx5iEgWuDq3Tx3UzCjddyy6hKF/isFE0LAlavfD+TzJmoRp3xa59lrl0R0fYIqTi7f/OXyslvE309QQ1AmbZ3v5jPgvDZRkxTHbg689Mcud7qfdMhjSe9Bhwl7stzYvvngvsWPMWKOhkfuBPSvR6S1susLugFYx0ivgSQeXMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017ibf3t8VRSrR1xRYbYv3CV",
      "input": {
        "note": "Lemon sits just in front of the jaws, slightly left of centre. Nudging left/forward and descending to straddle it.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.26,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_017ibf3t8VRSrR1xRYbYv3CV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8265, 0.6147, -0.4782, -0.0139, -0.0307, 0.9993, 1.0157, 1.821, 0.7761, 0.0635, 0.7425, 0.6537, 0.9964]\nstate[eef_state]: left_x=0.2837 left_y=0.0 left_z=0.1565 left_yaw=-0.0007 left_pitch=-0.1213 left_roll=0.0013 left_gripper=0.9993 right_x=0.2943 right_y=0.2547 right_z=0.0197 right_yaw=0.0649 right_pitch=-0.0948 right_roll=-0.1076 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -1.7026, 6.9675, 1.6484, -0.0464, -0.0366, -0.0122, -0.5128, -8.1162, 4.588, 1.3944, 0.3834, -0.0952, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a3444c131269d2307e1a98895f095610e5ea45229ef33386fcef4a7ea066072",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffa37bad16fb3509550d487e64d95ae978163aaaa7346c1a7db54741752320c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d63c69693d205cfaf4f72e69c4db16320db94c85abaee455c43ddea20a589a2a",
        "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 · 4.821 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]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.5602, 1.6093, 1.3315, -0.7166, 0.1841, 0.189, 0.9963]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1583 left_yaw=-0.0007 left_pitch=-0.114 left_roll=0.0012 left_gripper=0.9993 right_x=0.3669 right_y=0.1962 right_z=0.1621 right_yaw=0.2825 right_pitch=-0.4016 right_roll=-0.0508 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.3607, 6.9675, 1.6337, -0.0415, -0.0806, -0.0122, 0.1299, -9.2786, 8.2667, 1.1062, 0.2173, 0.2271, 0.0855]",
      "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]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 1.0386, 1.5303, 0.9695, -0.3836, 0.765, 0.6746, 0.9963]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1583 left_yaw=-0.0007 left_pitch=-0.114 left_roll=0.0012 left_gripper=0.9993 right_x=0.2873 right_y=0.2538 right_z=0.1364 right_yaw=0.0652 right_pitch=-0.0574 right_roll=-0.0709 right_gripper=0.9963\nstate[joint_eff]: [-0.1709, -1.2513, 7.0085, 1.619, -0.0415, -0.0757, -0.0122, 0.2393, -5.7778, 5.8188, 1.4335, 0.5348, 0.1685, -0.0024]",
      "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]: [-0.0212, 0.8265, 0.6147, -0.4782, -0.0139, -0.0307, 0.9993, 1.0157, 1.821, 0.7761, 0.0635, 0.7425, 0.6537, 0.9964]\nstate[eef_state]: left_x=0.2837 left_y=0.0 left_z=0.1565 left_yaw=-0.0007 left_pitch=-0.1213 left_roll=0.0013 left_gripper=0.9993 right_x=0.2943 right_y=0.2547 right_z=0.0197 right_yaw=0.0649 right_pitch=-0.0948 right_roll=-0.1076 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -1.7026, 6.9675, 1.6484, -0.0464, -0.0366, -0.0122, -0.5128, -8.1162, 4.588, 1.3944, 0.3834, -0.0952, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a3444c131269d2307e1a98895f095610e5ea45229ef33386fcef4a7ea066072",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffa37bad16fb3509550d487e64d95ae978163aaaa7346c1a7db54741752320c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d63c69693d205cfaf4f72e69c4db16320db94c85abaee455c43ddea20a589a2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7gYKEAgSGAI4AUIIdGhpbmtpbmcSDPRRysrhWFfNP7zydxoMVVGOpiu6S1BhQNCtIjBh/IQ8UuQpCGBByMtbGwiOwlAFkPMqo3+y90toKSbzARLAgyvJ98t537jgHKW/k8sqiwbFh3cd1jGdu2xROzoCtFdacAKtCD3/YOvo0oRi1Qah6rAXnAR0kE4rhI+Ap5y9jamRWfnYs3xjpSZtLwebDrbtOOtupqr389J5qlSKfN/vW+ifm8lLdWLoxU3lRir55SeBG+rUsEY77juwFk1smj6tPVcsCKMvSp87yP1HryJwzdZWdTRXy6n9TltjqAYk6c+dVjYjKF0rJl1rTqFTGchRQpUphn9TSYPOPFZNBNKG671emyDjvSgslLsrESn1NHp68fHAR6q7Pn/U7uMuKlbsGOjBHCqlhzyHHGey2Kj5D7CVMS1QRxDw0Gk82G0FX9TqQ0JZavsXcxJvaJbi7+AuGTPC6QnnlgDn9I5s+18HtTk2WGP39rM+9Vl77BHcggz6R3F3T0tYnArDsRVhzyK1SfTBO9FWov/5PrHy5izceXLh1ic6qQYkBeg+Z+Ea0RGoHBeJwYWEL1ndaDfaZIwBfORN1K54c87PtJYZiGYfjqyq0PoWKSWhGldkbtZXJ+EZJoaRLIb6CPXGAolG3nbwM+tMnuAYzvbEWWRYku/D3WzdQV9LuD1iaB/OPVDQc92ClWVnD9I8OJSKn4Z/5Nf5fmU/gYEk5OTQCOdanMnCFbQS4W/bDfcsvqyj76ZzbOduiNEm0bxymwW8nJ8ffX3ZV9xlLkTc4Icukejj89Mhqm/EOUSLzqGF/L1aAaHk2F3e9QvdevtZlTdWMK8L/zdhDBdoOHp+mHtw8qvtsGL0CTxwNdxXEulo1zNdnZo8wtRwjz2y7PwwhvfuZlKYNXLf+jnpVc4c94T2gYSH2VPCMI/VQYjcJywt/7oOxzljSjhft6uYw2LxFKJ1mFci05cAwVkvnyM5Hez6rQIepj1CUMIeDE1XbIfhxG/cSXj6M/92Ds/LVRvDkvcgPechDtM6MypEOBcIcAldFyiUXCXAs1fZfrAOPz0tXJu8ChThQY6H5eKFZplS51EFshaaLEjaH1ji2BIIyOod9ORmCb3ACJMFRW2J2mY+P2VDgJ/frzHbNwLKDW/pJrCymBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011EPi32zgRoYRqsNe3Z9nD1",
      "input": {
        "note": "Lemon is between the jaws at the bottom of the wrist view. Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011EPi32zgRoYRqsNe3Z9nD1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8257, 0.6147, -0.4885, -0.0139, -0.0307, 0.9993, 1.0142, 1.8458, 0.7647, 0.0727, 0.7353, 0.6464, 0.4925]\nstate[eef_state]: left_x=0.2821 left_y=0.0001 left_z=0.1547 left_yaw=-0.0007 left_pitch=-0.1308 left_roll=0.0015 left_gripper=0.9993 right_x=0.2915 right_y=0.251 right_z=0.0081 right_yaw=0.0693 right_pitch=-0.116 right_roll=-0.1319 right_gripper=0.4925\nstate[joint_eff]: [-0.3214, -1.306, 6.9128, 1.7265, -0.0464, -0.0415, -0.0171, -0.0479, -9.6615, 5.6684, 1.0427, 0.3443, 0.0122, 0.9402]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea8adb659c53a3f3ff2e04b812baaa0dc6ed3169b3f11a73dac9fbfa4aba7c89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9200bb15c0500bcf7daf57c01da3eb107985df03108ea6a06c9c773995a11409",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:faf64876ac88dfbfae3a65161abe984c605d9b45d1e70f8d753edd77fc8990cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 3.281 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]: [-0.0212, 0.8211, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 1.0386, 1.5303, 0.9695, -0.3836, 0.765, 0.6746, 0.9963]\nstate[eef_state]: left_x=0.2838 left_y=0.0 left_z=0.1583 left_yaw=-0.0007 left_pitch=-0.114 left_roll=0.0012 left_gripper=0.9993 right_x=0.2873 right_y=0.2538 right_z=0.1364 right_yaw=0.0652 right_pitch=-0.0574 right_roll=-0.0709 right_gripper=0.9963\nstate[joint_eff]: [-0.1709, -1.2513, 7.0085, 1.619, -0.0415, -0.0757, -0.0122, 0.2393, -5.7778, 5.8188, 1.4335, 0.5348, 0.1685, -0.0024]",
      "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]: [-0.0212, 0.8265, 0.6147, -0.4782, -0.0139, -0.0307, 0.9993, 1.0157, 1.821, 0.7761, 0.0635, 0.7425, 0.6537, 0.9964]\nstate[eef_state]: left_x=0.2837 left_y=0.0 left_z=0.1565 left_yaw=-0.0007 left_pitch=-0.1213 left_roll=0.0013 left_gripper=0.9993 right_x=0.2943 right_y=0.2547 right_z=0.0197 right_yaw=0.0649 right_pitch=-0.0948 right_roll=-0.1076 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -1.7026, 6.9675, 1.6484, -0.0464, -0.0366, -0.0122, -0.5128, -8.1162, 4.588, 1.3944, 0.3834, -0.0952, -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]: [-0.0212, 0.8257, 0.6147, -0.4885, -0.0139, -0.0307, 0.9993, 1.0142, 1.8458, 0.7647, 0.0727, 0.7353, 0.6464, 0.4925]\nstate[eef_state]: left_x=0.2821 left_y=0.0001 left_z=0.1547 left_yaw=-0.0007 left_pitch=-0.1308 left_roll=0.0015 left_gripper=0.9993 right_x=0.2915 right_y=0.251 right_z=0.0081 right_yaw=0.0693 right_pitch=-0.116 right_roll=-0.1319 right_gripper=0.4925\nstate[joint_eff]: [-0.3214, -1.306, 6.9128, 1.7265, -0.0464, -0.0415, -0.0171, -0.0479, -9.6615, 5.6684, 1.0427, 0.3443, 0.0122, 0.9402]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea8adb659c53a3f3ff2e04b812baaa0dc6ed3169b3f11a73dac9fbfa4aba7c89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9200bb15c0500bcf7daf57c01da3eb107985df03108ea6a06c9c773995a11409",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faf64876ac88dfbfae3a65161abe984c605d9b45d1e70f8d753edd77fc8990cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/QgKEAgSGAI4AUIIdGhpbmtpbmcSDLgYQan9byx7uIKYIxoMEW4v5nrx+1wsGHQ+IjCpA1ahZIFitZTOmEksO66TxhOY3p3LJVGBUmEHnmJYDiT1hF8llGv618KlyoSRb6wqmgg18wt8PlqkNabwp4GCut7535oDVNT2wC7PfZu+Y254M/+Dt/HRz++FRAen+OfYnxmKF0eYF3Tjx81s677DV42EUzgVBw3GIurVkPvA/p65OsIyx7evmHQ6iV44+PRv9nPe++nMTsWkSbt8NDzMHihXlviYpjL5IsIqfY2XLGTt/Noto+ythm3g9NSP7V8kpIrjSlqm8jQOMf8O6HKl7rHjqZbNMwDULjCvb704pX0tBmDgL8g0cRSYhzINzkHCODxj5tBZzEVb7q1UOc01fYoNoxrGUXAY1s1LNrlJMpy0RP4VbJsvYD0gYFDGjUvUvCpGVAPvkzMjq52t721JQLQjKypJNRsGqWEa04hMraX5s7jH6xQXROI74bGquTQtNEOTjl3stGFHN7w+fW+XfTuUmpo/ol+zMEJ66ZZn8jccXvO22X9+aZNboQdX2jgL9u3frJGUmYfC/jxjwatF7ecS2jj9dgepnAPQkjd/ugZqls+0PdtFHnfhYvyxXSGTdLv+gllzxNjPKeEkdEVjrPI2N5g/GzPZFj5od8Q0V39Ahsk5i3mL0XTo3NU4ijxa9fuPWOn62wTTvsCI2htxz5XX6oT6FRt2VyabA8uy6wlKTT6zE67JV26w8cznIM7FH8yWfEXHktObN1CCmO22S+Ay+AfpyqSvsNP74obslhkP7FaWMBfpR7X13UcK4L29irmS8ZN4JrT5vOTnEoyB80MgM6Gs84/C74sVAjH3stDtKgcAtMtZvwtktqhZm/hG2074lnq15xG9zNdENxy0jucplHSXWDAKs1kukWktFB61J7Imx5DiUDOgTbndX99WlRXuZtympzrKWA0ZhzM2VLd5kjv7hdWIOZ7lTRKGnyZEw0fJmpZPcYAdF/WfhjXWYXZo43mqUVwln8W4Oe6XGRcHY7fIsHrcoK7noBmxqty5QYlMiVtXc5CUqijpbulnmSeH2z3lhOGjGmVsQ2Icrq0P9IASpzzbDDsnTe1Pb9cbDAfI5uMUMKtkDQIT7yPkfFWIPuyeEPLK0qx6JShHVxlllgiasdZUxigdq19L4N75zWJ/fxOIV1vbUxh+xx538otuNGx8rsFaIAkBVpTld6xvPkeHJ7XtIYZx7qelyaynhmk/lB8NHrla7ZpPjOVYxi/cUMFHY/DxoOVFtq9zdlS5t/FOssuZvjb9QyfMdQ3GQuVFwYld0ycJGM2/AsKzyySe/AOCj03Z44xR91w3I/Yn0/XcW+Kq7vI70ZQ0J8GIozyoiJMbmRry6lXBmlvqgvE93U3i+qCY/uCAEptxosKQTuFBCG5cwQ91aDOb7szoudxaAfPc4UtMrs/WlEIYv95l6fpi3CyR6OOBPFjLv+Zq2L5hSMAOpF86p4RM/VsgRRmEcmFj+S55QaMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017VRwFBDSkyiqkoX6d4W9Jd",
      "input": {
        "note": "Gripper settled at 0.49 (~4.7 cm): lemon is held. Lifting before carrying to the bowl.",
        "targets": {
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_017VRwFBDSkyiqkoX6d4W9Jd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8257, 0.6147, -0.4915, -0.0139, -0.0307, 0.9993, 1.0142, 1.5574, 1.1484, -0.6064, 0.7242, 0.6426, 0.4935]\nstate[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1542 left_yaw=-0.0007 left_pitch=-0.1339 left_roll=0.0016 left_gripper=0.9993 right_x=0.2928 right_y=0.2558 right_z=0.1618 right_yaw=0.0772 right_pitch=-0.1279 right_roll=-0.1349 right_gripper=0.4935\nstate[joint_eff]: [-0.0479, -1.388, 6.9265, 1.6728, -0.0464, -0.0513, -0.0122, -0.3624, -9.0735, 8.2256, 1.1209, 0.4322, 0.022, 0.8132]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db8c55f690a3372b4983cf03d4d1b246426a244a9180a3dee8e4410f4c39acb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58c971e9c6a3f25c1335705e773f9bda0af84d8d52417eef95b041c05cbb8ad2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e9706d9a613c8180c4bb349ef7fd559468deaa77677d9fda8d1506644dff43a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 3.038 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]: [-0.0212, 0.8265, 0.6147, -0.4782, -0.0139, -0.0307, 0.9993, 1.0157, 1.821, 0.7761, 0.0635, 0.7425, 0.6537, 0.9964]\nstate[eef_state]: left_x=0.2837 left_y=0.0 left_z=0.1565 left_yaw=-0.0007 left_pitch=-0.1213 left_roll=0.0013 left_gripper=0.9993 right_x=0.2943 right_y=0.2547 right_z=0.0197 right_yaw=0.0649 right_pitch=-0.0948 right_roll=-0.1076 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -1.7026, 6.9675, 1.6484, -0.0464, -0.0366, -0.0122, -0.5128, -8.1162, 4.588, 1.3944, 0.3834, -0.0952, -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]: [-0.0212, 0.8257, 0.6147, -0.4885, -0.0139, -0.0307, 0.9993, 1.0142, 1.8458, 0.7647, 0.0727, 0.7353, 0.6464, 0.4925]\nstate[eef_state]: left_x=0.2821 left_y=0.0001 left_z=0.1547 left_yaw=-0.0007 left_pitch=-0.1308 left_roll=0.0015 left_gripper=0.9993 right_x=0.2915 right_y=0.251 right_z=0.0081 right_yaw=0.0693 right_pitch=-0.116 right_roll=-0.1319 right_gripper=0.4925\nstate[joint_eff]: [-0.3214, -1.306, 6.9128, 1.7265, -0.0464, -0.0415, -0.0171, -0.0479, -9.6615, 5.6684, 1.0427, 0.3443, 0.0122, 0.9402]",
      "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]: [-0.0212, 0.8257, 0.6147, -0.4915, -0.0139, -0.0307, 0.9993, 1.0142, 1.5574, 1.1484, -0.6064, 0.7242, 0.6426, 0.4935]\nstate[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1542 left_yaw=-0.0007 left_pitch=-0.1339 left_roll=0.0016 left_gripper=0.9993 right_x=0.2928 right_y=0.2558 right_z=0.1618 right_yaw=0.0772 right_pitch=-0.1279 right_roll=-0.1349 right_gripper=0.4935\nstate[joint_eff]: [-0.0479, -1.388, 6.9265, 1.6728, -0.0464, -0.0513, -0.0122, -0.3624, -9.0735, 8.2256, 1.1209, 0.4322, 0.022, 0.8132]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db8c55f690a3372b4983cf03d4d1b246426a244a9180a3dee8e4410f4c39acb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58c971e9c6a3f25c1335705e773f9bda0af84d8d52417eef95b041c05cbb8ad2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e9706d9a613c8180c4bb349ef7fd559468deaa77677d9fda8d1506644dff43a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+AYKEAgSGAI4AUIIdGhpbmtpbmcSDOzOmfrUz2189WIUORoMys4XN6JS/EoERHe7IjCNrvPnayYZX10VhMLsEaAlSh8OK1LmCmUxowMpjoKwNdhnG/aPZw/HctXCpUJ5tJEqlQb66akLGl5gge1mQ9Yl9uuos8NRWdjXF2GvJlV746bZC3OPEvbnnsDml8D0SEdpuiFrF9Zf8t2hH+aOyi/oQd7pkh98R7qtaOqu5bGgOUZz873smTXUK7QRUnWOrp3gGsjNLecCuI5GEtW4EJ3bVgv7b/uPsHPo4krFXdRJLk26DJ1iec4wYylq8BPLJre65LCox/CkAZC5S6qJ9vAmy/sl/YtlLM8Y4VJBcuK9Exth4Ol6qxk7Hc5bWq3evY/XRiDKYnC9pdQzMrI7xPjHqp1xwIzqYfVZj1R/nrAIPIGe2ZZzYjL0Qxjj+SK5bWUVC7QyP7M5UVxBQ6S9WbZAupdXJJB1+MN0DpaVa6RzoOiN8tVzUYkXnGwATcFIQ0vxGlX0FjRR1dIGPeXv8t4GxZ5fQ2OW5wiUo5ZFEOe7unjd+Pg1n1KTdRv9fJ320Bra/HU1yc2cqwKwa3jy1DfoSSOZ93bx5NG5TPElG0WTuEZS0bvPubukfqCAaYwE4brdPxFKLuwOgzXiPiBiomllMKI8UIzmI2EAHlp7ad+kAMmb2hO/1LxmSZ7z9671pOsz7s19laD0XdL83sCVfAOmt0SLPmZr3YbfVaVasGNuHv/UBBsenBy5d6A7MqLPFr15irGee0hZN4EFuP62HA7lFHHAFu9A20xT5kqH9aqNcGOyyaCNYO5DfGpCG1ch6MwJAD1r7uTtt7sDjvEmFEy8M3zRrwQFeGyaTjFz7hcz5xCFTfj3ZDDwImhPEq5e5GuG6T8LkY8xDGIF6wNhw962GqgQJk8LOPc5+sBEy58Zjzf6BQNaVdND+Exz9HwfzJ9MBK3YfA6GooE9qer+xVo2EwDnYS1xxV/4u3IUgtkQ9UBUS0OIZlTAPuZmcbdaZANF6zRjLTmbQ3srWZo1AOrXJh5if6x3uM988k1uhXHkd9NaW3j1IlsLwUxkUCFgkHfPSWKHRTnAIm3QVGeNEsr1uYVkHuq3wAC6IJUrmfehs5SGzGf1lykI+6+w2u90AZQGR457b4QGpMQKB88HFXNSwmNnBywzbE4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012MRQySJn1LxtL7NNsRJoHn",
      "input": {
        "note": "Lemon held; blue bowl with the pear is ahead and to the right in the wrist view. Carrying the lemon over the bowl.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.15,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_012MRQySJn1LxtL7NNsRJoHn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8268, 0.6147, -0.4934, -0.0139, -0.0307, 0.9993, 0.5339, 1.5276, 1.055, -0.3641, 0.4377, 0.226, 0.4966]\nstate[eef_state]: left_x=0.2813 left_y=0.0001 left_z=0.1535 left_yaw=-0.0007 left_pitch=-0.1369 left_roll=0.0016 left_gripper=0.9993 right_x=0.3877 right_y=0.1464 right_z=0.147 right_yaw=0.0414 right_pitch=-0.1784 right_roll=-0.1585 right_gripper=0.4966\nstate[joint_eff]: [-0.3077, -1.0325, 6.9265, 1.619, -0.0464, -0.022, -0.0171, -0.1846, -7.0359, 7.4598, 1.7167, 0.1197, 0.0171, 0.6032]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcdc7287980c09bd222bb796192d59312be2b7c8317a6caddb1b6da753c72f49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f24fb2dc1f5dfa3942b9fbcfbad20ae6e62f6546e417cd07e21096472f2e7c71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:584695cf8d31b963f6c8a851bf1b25f23e5b14fcaa00585ab5a3acaeef134075",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 8.949 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]: [-0.0212, 0.8257, 0.6147, -0.4885, -0.0139, -0.0307, 0.9993, 1.0142, 1.8458, 0.7647, 0.0727, 0.7353, 0.6464, 0.4925]\nstate[eef_state]: left_x=0.2821 left_y=0.0001 left_z=0.1547 left_yaw=-0.0007 left_pitch=-0.1308 left_roll=0.0015 left_gripper=0.9993 right_x=0.2915 right_y=0.251 right_z=0.0081 right_yaw=0.0693 right_pitch=-0.116 right_roll=-0.1319 right_gripper=0.4925\nstate[joint_eff]: [-0.3214, -1.306, 6.9128, 1.7265, -0.0464, -0.0415, -0.0171, -0.0479, -9.6615, 5.6684, 1.0427, 0.3443, 0.0122, 0.9402]",
      "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]: [-0.0212, 0.8257, 0.6147, -0.4915, -0.0139, -0.0307, 0.9993, 1.0142, 1.5574, 1.1484, -0.6064, 0.7242, 0.6426, 0.4935]\nstate[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1542 left_yaw=-0.0007 left_pitch=-0.1339 left_roll=0.0016 left_gripper=0.9993 right_x=0.2928 right_y=0.2558 right_z=0.1618 right_yaw=0.0772 right_pitch=-0.1279 right_roll=-0.1349 right_gripper=0.4935\nstate[joint_eff]: [-0.0479, -1.388, 6.9265, 1.6728, -0.0464, -0.0513, -0.0122, -0.3624, -9.0735, 8.2256, 1.1209, 0.4322, 0.022, 0.8132]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8268, 0.6147, -0.4934, -0.0139, -0.0307, 0.9993, 0.5339, 1.5276, 1.055, -0.3641, 0.4377, 0.226, 0.4966]\nstate[eef_state]: left_x=0.2813 left_y=0.0001 left_z=0.1535 left_yaw=-0.0007 left_pitch=-0.1369 left_roll=0.0016 left_gripper=0.9993 right_x=0.3877 right_y=0.1464 right_z=0.147 right_yaw=0.0414 right_pitch=-0.1784 right_roll=-0.1585 right_gripper=0.4966\nstate[joint_eff]: [-0.3077, -1.0325, 6.9265, 1.619, -0.0464, -0.022, -0.0171, -0.1846, -7.0359, 7.4598, 1.7167, 0.1197, 0.0171, 0.6032]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcdc7287980c09bd222bb796192d59312be2b7c8317a6caddb1b6da753c72f49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f24fb2dc1f5dfa3942b9fbcfbad20ae6e62f6546e417cd07e21096472f2e7c71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:584695cf8d31b963f6c8a851bf1b25f23e5b14fcaa00585ab5a3acaeef134075",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5QYKEAgSGAI4AUIIdGhpbmtpbmcSDCBACmSBrQoag5lBQBoMIBG5ppf7/8tqLHN+IjCcbdwDEQxO7ZHwg3kowX42elUUL4xFxWNvrASkiYSh5w6pkWKWnP5fFIR//ozFRIcqggYhJktAgrLCTbsbf20KyARORgEk1n52qoRFVX8f8ZGKY7fjdFYKcq1qPPIcw9k/3PbfuiNZk9WlNjT+c7KXKxnIQj0x9z0RIwsox96H4wxbUvs4sqc6C/PgZwxxANF2cad5FfgsoBf0wD/ncAr3klxNqnR0f4zr5aueeBq8g3P1co5TXe0pamp038L4S6/R08unE+pCNFpLcUvEcMo+V/JlwqucU9zexZRQ/Qg3WUEVYk4s857H7u/Ycb8f1wikkBCM7nbEldjYD9EFZBqSmPMJJXA4iQXLJjTx4WJ4mj0V17zaGrPQbUFeQeqj8tDrcxTW3aK8ABmC9VSUMAFbMbfP4/E+hnYbvhnOhN7Y10FUiSUM6U70vAi3oC5+U/pcmCq4MoKVcbe0nmTU/wYkVX+mlrQWJAbJJVV16ikTDrofNzhxrg0EWp4ebCwMeblw0j1iVKl7WfmyxB2KnR5T8niM9kaSOHu6XpN0bKOwBgdXroSTtuyJT+/NKU3+0+QEmNn1tLMyosxI+fG3mxhpSdIcndqwxoMiRfr0a6aTlQq5cLMkojP3pTxJNlMFVIV0GoeviACkGT3gdnPCNNEZDgTe5qY8/iRVUpHZokmvF+Gz7b9BooXQX7ej4r0n+zgMXUf1IKodHO2b5nJsn2imr3svhsBQKf5dP0I4eo48sJC4r2ZxYQhjOKxHCspPnq2MH8FwAr2lMosc3TAs8hFVgbDvH2VjBA9SqDaTMZtvZpXWqBJOtwiEOtTj1YdWZLr3a/1envkG3+drVgqwSti4TjX5NPMQ4Qt0vmD6wRzejPDGaLvfzrCyXVobaU+b2CDCJKrwI1FVxzOjRSzbRfATRBT6qGkUAop4F/eXegc6JqXP0OFOJ0ZYGVcIn0ZFFdZ8b7um3fUzPXYSkdPpRMSUIvoduxhkppY74sP+j6duPUQ+I1rrSSuvELWPqlSLXrkgZQE3fg3ElOLYs0sWh2mHBF5uGbq4lQIph7/h/iq5lFis87CztSZ3ZcaT4EV1fBvwABGKchgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TdZKFEgX1pTiAAPQeU6ASL",
      "input": {
        "note": "Lemon is directly above the blue bowl (bowl rim surrounds it in the wrist view). Releasing.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TdZKFEgX1pTiAAPQeU6ASL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8268, 0.6147, -0.4938, -0.0139, -0.0307, 0.9993, 0.5331, 1.5276, 1.0546, -0.3717, 0.4175, 0.2165, 0.9957]\nstate[eef_state]: left_x=0.2813 left_y=0.0001 left_z=0.1534 left_yaw=-0.0007 left_pitch=-0.1373 left_roll=0.0016 left_gripper=0.9993 right_x=0.3858 right_y=0.1487 right_z=0.1445 right_yaw=0.0611 right_pitch=-0.1933 right_roll=-0.1557 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -1.347, 6.9538, 1.6239, -0.0415, -0.0708, -0.0122, -0.1983, -6.9265, 6.8308, 1.5165, 0.3541, 0.0024, -0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ff1a1ee0761cf9de6b6c16a0e01a49fc887c26bf83c85b414a3b771852f4a91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8f77dfc34291a0cc008fbc40c133eba22cebf6ecde7ac4380756a9818365af4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ab4ff0c8c45abea1b566a6cab9b59df4b374a6eaf0108de00870b84a068e1db",
        "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 · 4.287 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]: [-0.0212, 0.8257, 0.6147, -0.4915, -0.0139, -0.0307, 0.9993, 1.0142, 1.5574, 1.1484, -0.6064, 0.7242, 0.6426, 0.4935]\nstate[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1542 left_yaw=-0.0007 left_pitch=-0.1339 left_roll=0.0016 left_gripper=0.9993 right_x=0.2928 right_y=0.2558 right_z=0.1618 right_yaw=0.0772 right_pitch=-0.1279 right_roll=-0.1349 right_gripper=0.4935\nstate[joint_eff]: [-0.0479, -1.388, 6.9265, 1.6728, -0.0464, -0.0513, -0.0122, -0.3624, -9.0735, 8.2256, 1.1209, 0.4322, 0.022, 0.8132]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8268, 0.6147, -0.4934, -0.0139, -0.0307, 0.9993, 0.5339, 1.5276, 1.055, -0.3641, 0.4377, 0.226, 0.4966]\nstate[eef_state]: left_x=0.2813 left_y=0.0001 left_z=0.1535 left_yaw=-0.0007 left_pitch=-0.1369 left_roll=0.0016 left_gripper=0.9993 right_x=0.3877 right_y=0.1464 right_z=0.147 right_yaw=0.0414 right_pitch=-0.1784 right_roll=-0.1585 right_gripper=0.4966\nstate[joint_eff]: [-0.3077, -1.0325, 6.9265, 1.619, -0.0464, -0.022, -0.0171, -0.1846, -7.0359, 7.4598, 1.7167, 0.1197, 0.0171, 0.6032]",
      "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]: [-0.0212, 0.8268, 0.6147, -0.4938, -0.0139, -0.0307, 0.9993, 0.5331, 1.5276, 1.0546, -0.3717, 0.4175, 0.2165, 0.9957]\nstate[eef_state]: left_x=0.2813 left_y=0.0001 left_z=0.1534 left_yaw=-0.0007 left_pitch=-0.1373 left_roll=0.0016 left_gripper=0.9993 right_x=0.3858 right_y=0.1487 right_z=0.1445 right_yaw=0.0611 right_pitch=-0.1933 right_roll=-0.1557 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -1.347, 6.9538, 1.6239, -0.0415, -0.0708, -0.0122, -0.1983, -6.9265, 6.8308, 1.5165, 0.3541, 0.0024, -0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ff1a1ee0761cf9de6b6c16a0e01a49fc887c26bf83c85b414a3b771852f4a91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8f77dfc34291a0cc008fbc40c133eba22cebf6ecde7ac4380756a9818365af4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ab4ff0c8c45abea1b566a6cab9b59df4b374a6eaf0108de00870b84a068e1db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1g0KEAgSGAI4AUIIdGhpbmtpbmcSDCPX0LHRaT4h0J+MGRoMIG3bMfE+BWnGSh3+IjCmJm0T7ZVp4s7VDMq0Ke23W1DCSz3p62UjG+wF+zfJNg6Lk7a2Jbg6aQ/MB95X5E0q8wzbUDvRcvA9+OWRFLmfdx2vCQGUhTUCB3rKgz/L8pLpKGBo5vJ5EjFiVvNMdMuvbs/CDRRp9e/OxJtX0b5CxGgr4fA9VHpdLts87V2kyhr6N0omHndey3DBpbYRAYyR40Zq1BUyeUN5TeNtQvk6iPNRpR0+Dttq1VkyCBS83y/+KYTZFU+NyfzpFUBVa23mg0YzBJHffEYBbYmEFoM71ADgE76Ay1vVH3654Z0ZGQlFKgaTNWSYk3mlToWjTMaUe3l9nx2HZAZAP9sz3jnMHdWytLOH4Y6+zO6YiQh0wegQRfhIAA8HetUXbGmJb+RrOY9msjqgcUG+s7h0jzRiC1mqx9dgC8G2l7lCj8PElxb2mw3dC1uFeYHlL57n+lkD1GL6oW7o+8KR4hqjMoti0u6xO/1Qx+xNdwz83uwRfNoRjfieikDCMkiTsy0tAKxT92+gscJCaNlduHKLKWJEPMQeRcSykymU7w2bDM4x7oo/SC++Yd9HoTt1EqlvhIcWturcVXKPcsqHq8/nISQx3KIVy6TT62VFOkS8FcSbh3PpaekMxzYTEfaTbAWhbeoW85ePkED7IGtADJAhFBbTihNz9grmgtec2GmRWgH61bPJ7r1+j7idS2oR3PkhI3j0qKfvSFNc0uCDn3wuQ53pdnFwTm8eYiaipHaEtaven3/0Ty5rtPGgIW387iRm2BIJr1ByjKCy54xfRZuf0djJ25mgsl7yeGq9dQrFbyHIHzv2rbzXx7oHCEp5kai8NFn9+OkPcpv46pTWOVb3s/taedyNmqbvCDQMc+LwhqzO9jHqn1H/HbRHQJb8V5g/MsQJZObPzX3FNX5l8xJJgZmc+yMlS29UY+LmMI1ArQ2iVQJxj5Am+KxO5sbdK/aThcqjcglrjsmhlZQnRxpAhjbFFoDU2EqTv4u9FVH0/xx36j9SQVSEz9yA2HILfgfXP88wTEJLaRVcXwz7m0ZDqRHZvKM19p1mo33BFyDcFnfrTY1LWHgeob0cV80II55yfKrLbdJvMFkWzcelC9+zQ+fD40SxWsy79eUNwAyGmz8RjDLTFrFzPJdRD/SLrlBpg/Ymj5eBxGhCRk9kmGk98b2VzE/LuHvOKG/+U/CEuqKWxHuUteZMzJuvOrecLeiD2izVWrwdgNb+B7VlxAFrm24RpbeCDTqLPG2rx1TGJx4NT+x+ohfRnVFFyo70IZoLDEjen/QVGCNaXx5kSsbqGxBEpcg0s7fLt71bEEGtkCGC5MoAibieSig1iO5s8jR6GF5CTWxKcW657BY8CGZ0htrdZlAD6uAcrgsILbg7bDNOWYwdNlpDAaREcKlBJKhnxzudBOqtdfgvSPbG0h6uedJA4NTLu4ZYTgp8fqEU7YqG9tHMfRM03LOnyZgVPvH6gSquibvSatseGM9Q8KRiTYEwdhn2ZO8xMw5pzFOVbYgD3wAYsZ4EYf9FE0znTpDDkDMA4WgGjHTlQJegxrUSO+zdvfr88Cb7TZe0//MJJnNTyj3brunDfZek0vVPgVemTngkXOt2e16xbKmfy6wAN5Yt1iAzkvSxNbi0h6U/kf2BPduCY0WmGw13VC+tY3IspgXgsGH59bJgn2mIoqC5YrsVxicW+sPNV6MCRE5ZwauRLSpM05bybccQw7Fsw8w9L//hKA91yTw9NpJ7YZ10DS7ZX5ytPYT9USepOXeDMBgqWUXrPdW5MKrMrVo/AwPwMWVQvnJH+vklBCi0cp7zvwWocCg/zixrm0IknoRFHz9KqDuA8ljd82fme7GmixtVsRD2YyloI2cY3cdyfIYLzG/MIUqAnw200wq5XfeWANnX8GrW1eE8WRrcM16m1giBm+ACih+b7i+ZWUi29KpMC/qMWn6qPtHFZJJoOG5zj+0IwqP/Dp114wqCQM4u8f3rWltehKo/EXwqNqj3+TI2p9iFbwddfiwoNqufcPrtJ9gmhu7cA/sb0WkHJ8G7msyIlRAdcM8E2txhGDy5fR+K631twgr1F44DkobPeWDKGnwyLoF3sjSKBnp3SF6iWPkwcJ81hJZR7yTiAw/SRqA9/+oIRvFMlHjkZYZNN2MQmowqQ64GXkaHIaevuj3wCdDSSPODb/8rJvFqORJGFgf1Xs6fo6eQ/FLGi2nLDc9+48A9eqUh/TV/6p+pUmwnQdJW71b7qIGMb6wk46hBlDfQbMNA12gId5ydGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TYkpw39ayveHEh48bhuP2S",
      "input": {
        "note": "The lemon bounced off the bowl rim and rolled onto the table in front of the right base; the pear stays in the bowl. Going straight down onto the lemon's new position.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.255,
          "right_y": 0.22,
          "right_yaw": 0.0,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01TYkpw39ayveHEh48bhuP2S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8303, 0.6147, -0.4946, -0.0139, -0.0307, 0.9993, 1.084, 1.676, 0.5407, 0.1398, 0.7841, 0.7345, 0.9963]\nstate[eef_state]: left_x=0.2813 left_y=0.0001 left_z=0.1524 left_yaw=-0.0006 left_pitch=-0.1415 left_roll=0.0017 left_gripper=0.9993 right_x=0.2529 right_y=0.2188 right_z=0.0141 right_yaw=0.0643 right_pitch=-0.0696 right_roll=-0.0741 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -1.6752, 6.9265, 1.6044, -0.0464, -0.0317, -0.0171, 0.1026, -6.7077, 4.3009, 1.4335, 0.7057, 0.1343, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7a5e5ef6988bf00a1395d4fcd47a0096a4f0f283b919e9bda8dbadf66dfd3a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4287f088f76ac30125f2c666b680a5d20daf345637475f3d0919a299bad5811",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cff6cf93dc39e5fc7c1271204bef49869e4d5a7db6d6a14b4c618e75c23cf7ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 3.585 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]: [-0.0212, 0.8268, 0.6147, -0.4934, -0.0139, -0.0307, 0.9993, 0.5339, 1.5276, 1.055, -0.3641, 0.4377, 0.226, 0.4966]\nstate[eef_state]: left_x=0.2813 left_y=0.0001 left_z=0.1535 left_yaw=-0.0007 left_pitch=-0.1369 left_roll=0.0016 left_gripper=0.9993 right_x=0.3877 right_y=0.1464 right_z=0.147 right_yaw=0.0414 right_pitch=-0.1784 right_roll=-0.1585 right_gripper=0.4966\nstate[joint_eff]: [-0.3077, -1.0325, 6.9265, 1.619, -0.0464, -0.022, -0.0171, -0.1846, -7.0359, 7.4598, 1.7167, 0.1197, 0.0171, 0.6032]",
      "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]: [-0.0212, 0.8268, 0.6147, -0.4938, -0.0139, -0.0307, 0.9993, 0.5331, 1.5276, 1.0546, -0.3717, 0.4175, 0.2165, 0.9957]\nstate[eef_state]: left_x=0.2813 left_y=0.0001 left_z=0.1534 left_yaw=-0.0007 left_pitch=-0.1373 left_roll=0.0016 left_gripper=0.9993 right_x=0.3858 right_y=0.1487 right_z=0.1445 right_yaw=0.0611 right_pitch=-0.1933 right_roll=-0.1557 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -1.347, 6.9538, 1.6239, -0.0415, -0.0708, -0.0122, -0.1983, -6.9265, 6.8308, 1.5165, 0.3541, 0.0024, -0.2222]",
      "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]: [-0.0212, 0.8303, 0.6147, -0.4946, -0.0139, -0.0307, 0.9993, 1.084, 1.676, 0.5407, 0.1398, 0.7841, 0.7345, 0.9963]\nstate[eef_state]: left_x=0.2813 left_y=0.0001 left_z=0.1524 left_yaw=-0.0006 left_pitch=-0.1415 left_roll=0.0017 left_gripper=0.9993 right_x=0.2529 right_y=0.2188 right_z=0.0141 right_yaw=0.0643 right_pitch=-0.0696 right_roll=-0.0741 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -1.6752, 6.9265, 1.6044, -0.0464, -0.0317, -0.0171, 0.1026, -6.7077, 4.3009, 1.4335, 0.7057, 0.1343, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7a5e5ef6988bf00a1395d4fcd47a0096a4f0f283b919e9bda8dbadf66dfd3a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4287f088f76ac30125f2c666b680a5d20daf345637475f3d0919a299bad5811",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cff6cf93dc39e5fc7c1271204bef49869e4d5a7db6d6a14b4c618e75c23cf7ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiAgKEAgSGAI4AUIIdGhpbmtpbmcSDCwFUWg1nTdRGb4zyxoMAh1GTc6AftQa/JuZIjBDkJhSU2yKV3UXji7LD+fO+4cXHKAyF8Gk78yX5ZVKASaNy8+y5sVBOCEl9HdwhpAqpQdqy1Atemqpoa/fGVEi5NUhqoH6mwKP6BbTEKV0Mv/KynA+eud7mVnP3o/g9fMu25isZ++ggxRh5e1hQQkRsrpo6nq6k3nCuDDIhxZuxzmDxthTKfJmV2qgf4BbFFaiDcB2kIJw8Z5mlKZL/oMeQFvsMwUgbc2osl5ml5o358NN+msmYOYbj3Y7tawPPACqQS5fPYpGsdPMq3kojAN6b+AHGZ8IdwapliNQk0rTrtjcGQdN1n2Wg5qgOQIJ/CB35Cu+K0y9dGqIpiqqijJXDU3gDZchzHivhklL7Qne6sg/OqWOcX/Bj5DHspIf+eVjtCEqHBdr0rUSuCclqJh6cRiXoDPJ0UiOy3HWPZTsu9YpDgHsOZeTZZmjVe7eG+/cun9ZcD9uNMUhc2cIEWGh3MAi0iwJELlOO0zd1iLcYNqnN4531fFhWEcI2U8NDI00L67GtlKq0smyQitxFOJmNQ7aypwVTSV1aepDlpK0Y2Y7kgQla+tgPfwfTZdO9a2ohfVnIh14p7Ie8mF6Y+397BW2vLfnwiy1YnuDoigmJLEe3EESzDSxb7XuUxIOfn2zjrQ1H/+BMEqr1aFswspQeGNpSZ6mN2/oY0ATiqfnhs74Rwk+wbfxduQ3J+ZeM6f+YlHy32MxS2sxO4yS+I2usZShHDL978kIxdxLavP505NvaxpOg3uGl+I736kywcumLddK7tQUuo4vZ3D41XdSBWVALH/Ch8iRXs9xsVp/2VQ43Lf+scW+b5lao64SBysTNhzetmZVrerWcFnB1LATc/5Eagih/+hWoF5gf0oJF4TIFO1BHA1TKJB1SW6MNke5igLUPBNMhbkbsAsSbuhQPJCbeHIDi+Q2Jyomw5CdKN3sSqzX7/hbcrCnfKwhWaMaIyiSm2UhjDzZ/eK0T8s4kNaYte9+25fG8lvro0jdsiwuVGmdLWtDSoyf1lCN9DjJRJB9ioWCdsjbMcxViU/j7hS54mACbkCqZcjrC3s3jxQwLf/9oe9/4f/Ly5m3rflciaM6m8nS1bjl+QggbDmORvKIUiA1OSKpvFzG0hfIXq/j0xE8kMa6uCsUgTfNHAtsl5BNrnPNLKIU7549F7Ru7y9/scJhzp4N1rqWIF0CY8vXmPwFbF5B8nt6Pcyi7KKkcpSLtBQms74D628FPu+LML8OHIFWj5d7IQN39IHmukReOsiujAKxgtW+18enpZfyt+JZfYCtHsPKVEAMoDAxb7GT4+pNgrwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fsw4iFgsaMc2JGjBPLTPGH",
      "input": {
        "note": "Lemon has rolled further back, now just behind the gripper near the right base (bottom of overhead view). Moving back over it at table height.",
        "targets": {
          "right_x": 0.175,
          "right_y": 0.235,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Fsw4iFgsaMc2JGjBPLTPGH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8314, 0.6147, -0.4946, -0.0135, -0.0307, 0.9993, 1.3922, 1.668, 0.598, -0.205, 0.8803, 1.0931, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=0.0 left_z=0.1521 left_yaw=-0.001 left_pitch=-0.1427 left_roll=0.0015 left_gripper=0.9993 right_x=0.1783 right_y=0.2412 right_z=0.0141 right_yaw=0.1138 right_pitch=-0.089 right_roll=-0.0794 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.306, 6.9949, 1.6679, -0.0366, -0.0366, -0.0122, 0.1573, -6.1744, 5.9556, 0.735, 0.6129, 0.1441, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daf8fce59cdf10dc5c1e4e4785daf44dfe61eda1af9b52e023e5969e94561e9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:082f9353d3a2378fed3f458657d6813d8c4a263f183c87e5d6e8225345f38683",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:87193465b11f06ad484420cb796dd1e672719ef1308ab0322f4e849495c87100",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 10.4 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]: [-0.0212, 0.8268, 0.6147, -0.4938, -0.0139, -0.0307, 0.9993, 0.5331, 1.5276, 1.0546, -0.3717, 0.4175, 0.2165, 0.9957]\nstate[eef_state]: left_x=0.2813 left_y=0.0001 left_z=0.1534 left_yaw=-0.0007 left_pitch=-0.1373 left_roll=0.0016 left_gripper=0.9993 right_x=0.3858 right_y=0.1487 right_z=0.1445 right_yaw=0.0611 right_pitch=-0.1933 right_roll=-0.1557 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -1.347, 6.9538, 1.6239, -0.0415, -0.0708, -0.0122, -0.1983, -6.9265, 6.8308, 1.5165, 0.3541, 0.0024, -0.2222]",
      "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]: [-0.0212, 0.8303, 0.6147, -0.4946, -0.0139, -0.0307, 0.9993, 1.084, 1.676, 0.5407, 0.1398, 0.7841, 0.7345, 0.9963]\nstate[eef_state]: left_x=0.2813 left_y=0.0001 left_z=0.1524 left_yaw=-0.0006 left_pitch=-0.1415 left_roll=0.0017 left_gripper=0.9993 right_x=0.2529 right_y=0.2188 right_z=0.0141 right_yaw=0.0643 right_pitch=-0.0696 right_roll=-0.0741 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -1.6752, 6.9265, 1.6044, -0.0464, -0.0317, -0.0171, 0.1026, -6.7077, 4.3009, 1.4335, 0.7057, 0.1343, 0.0562]",
      "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]: [-0.0212, 0.8314, 0.6147, -0.4946, -0.0135, -0.0307, 0.9993, 1.3922, 1.668, 0.598, -0.205, 0.8803, 1.0931, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=0.0 left_z=0.1521 left_yaw=-0.001 left_pitch=-0.1427 left_roll=0.0015 left_gripper=0.9993 right_x=0.1783 right_y=0.2412 right_z=0.0141 right_yaw=0.1138 right_pitch=-0.089 right_roll=-0.0794 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.306, 6.9949, 1.6679, -0.0366, -0.0366, -0.0122, 0.1573, -6.1744, 5.9556, 0.735, 0.6129, 0.1441, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daf8fce59cdf10dc5c1e4e4785daf44dfe61eda1af9b52e023e5969e94561e9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:082f9353d3a2378fed3f458657d6813d8c4a263f183c87e5d6e8225345f38683",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87193465b11f06ad484420cb796dd1e672719ef1308ab0322f4e849495c87100",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSuQcKEAgSGAI4AUIIdGhpbmtpbmcSDCTUelmrieSJYn5OhhoMdjX4eQ7N1cxKcwPvIjClvbYS+H1H9z5jCnhLPvIbnQJju3KC9qLmexbwiqXBt0JcPTM6qeVSY+J6XBm7Sykq1gY0lNwZWPBCOMYokI6CEa/98YQ0b2frrcqHwbfnH3LAIjVjXoA1+MK0SerM1MPe1JHyG2SqG8BdFDfJjp5PpKPv9Nab7vyi4Ew1sJ8M8Ivr1MdBBk0Q0LO2Slm00Yqjw7vJMdeG6AzgTxAi91XovoV71erTQZwIdsq+Nt0cwKQ/aDpQ6OoAXYwKbyk7Qw9WQOSg2H7RkL51M8w0H4TxZdn1CnINKRtlhY2lxFyZmupBhWvydPM+LIsJzmvjCTfRk4RwCsN9En5fSsN8CTBoOS33V1tnUx/oeBig/Xg40Ay3uarT2vyNCN8NTUQP1BAHWV/3YsuB7YzPG5clRpt3SwqB6a8BFzX0C9IaABxP4GdATOO1zMwz5rTmmKd0WrkL3xllhWNA5d9yTqwXgaYzkx36+dSQJc/o2wK47pRgZLsvz/JJmQQefyvPnV4fWT5hnQlE++ZLH/VOjrVeuwctNXzFCKgQJOX2Vuq6xTCXe1GpDuyJLfBnLmRUt6fCCW8CCHutmr/Mg+Z7fB7XYTQH379RRFw329TbykZ3iK6ozLfxlpudQIRcEaoDTC2pRuxWovPzsYZzTyayzDagfF6OF3Y7OyA0+oslOy5HNppqM5WSGNHnEgJOoOp4dYFmI7Oy10wCMQ0NRkzCPNRPy2m2vbSNBXVbX5x+UVmQCIXYdW2NLhMBq5lh8yfqv1bdrBW/hii4Br6S3j12RyMl+lw6SX6FHYUC2XRuWU1e5srnqpQ9d/1UoxAAFRLnJG8CinjJYC696ylQvPfcNs+Ah2rE09vxkC2uR3M+0fl/L6rpCV/vWalZGeeSBn/0eU1jjpbBzGUAkwdmhH6IIYdZs382Ii5vtVJ1NRTS4pfWdzonGM3l6Z47a3JQK1g1UjZuULYSiHAdjHPz6LPCXN3rR28Qf31vYLmfMqo1dqVnXWKsV5jIr1gqB8cs73Qpqm6ODJC+edvsH4cSt7beatvFnQvfaeI1KaBQEkh2fCLxooL8MzmjI/M8Urux3hLTIFUoBgHcB55uaRWigSMP3qZwm1JcWsEucsdBZkj1E61qUhUPIkKPRS+DoG3Dw2VllUyZPg8Pbg0RihKnf9wXCfqxfiHcLzGSyqmYPU4SzUbA589H2d07hHV4uo6B5RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JnKhyZjnPmYDK32FWps5rQ",
      "input": {
        "note": "The lemon is hidden under the gripper in the overhead view, so it should be between the fingertips. Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JnKhyZjnPmYDK32FWps5rQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8345, 0.6147, -0.4988, -0.0135, -0.0307, 0.9993, 1.3949, 1.668, 0.601, -0.2119, 0.87, 1.0912, 0.0109]\nstate[eef_state]: left_x=0.2808 left_y=0.0 left_z=0.1505 left_yaw=-0.0009 left_pitch=-0.1499 left_roll=0.0016 left_gripper=0.9993 right_x=0.1765 right_y=0.2421 right_z=0.0131 right_yaw=0.1204 right_pitch=-0.0996 right_roll=-0.0817 right_gripper=0.0109\nstate[joint_eff]: [-0.3487, -1.5385, 6.9128, 1.619, -0.0269, -0.0659, -0.0122, -0.4171, -6.0513, 4.2325, 0.8474, 0.5104, -0.0171, 0.8327]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea0fe91f5f4822800b08732a4a57e9240649f58341a65abf9a5d3e943dbf9bb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e486fb95e073c8db1b7a783d9ff83951b18bec8615831573bf6a06f72830117",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:da1c85a03862c585b797d486e44867c070641b90434d3456386f71d9eaf821a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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