adhoc

completed
2026-09-22T20:10:25.870596+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (77 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
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
213.8 s
total steps
214
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: large white bowl on left, blue bowl centre-right, lemon, pear (right), and a dark plum near the left arm. Right wrist cam shows the pear just ahead; moving the right arm forward over the pear.
move_to
right_x0.3600right_y0.0000right_z0.1400right_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]: [-0.0319, 0.8005, 0.6136, -0.3828, -0.0143, -0.0307, 0.999, -0.0219, 0.8005, 0.6186, -0.3878, -0.0174, -0.0341, 0.9994] state[eef_state]: left_x=0.296 left_y=-0.0033 left_z=0.182 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.999 right_x=0.2959 right_y=0.0002 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [0.5949, -1.7846, 9.7026, 1.7998, -0.1441, 0.1148, -0.1197, -0.2803, -1.7299, 9.1556, 1.8584, -0.0757, 0.2125, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.0, "right_z": 0.14, "right_gripper": 1.0}, "note": "Scene: large white bowl on left, blue bowl centre-right, lemon, pear (right), and a dark plum near the left arm. Right wrist cam shows the pear just ahead; moving the right arm forward over the pear."})
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 sits just ahead of the right jaws, slightly left; advancing a bit before descending.
move_to
right_x0.3800right_y0.0100right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.033, 0.8051, 0.6132, -0.3939, -0.0139, -0.0315, 0.9989, -0.0154, 1.1629, 0.5892, -0.046, -0.0238, -0.0383, 0.9994] state[eef_state]: left_x=0.2947 left_y=-0.0037 left_z=0.1783 left_yaw=-0.0007 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9989 right_x=0.3546 right_y=0.0023 right_z=0.1286 right_yaw=0.0142 right_pitch=-0.0499 right_roll=0.0014 right_gripper=0.9994 state[joint_eff]: [-0.1709, -1.6342, 7.0769, 1.8291, -0.0415, -0.022, -0.0171, -0.3077, -4.5607, 6.735, 2.0733, 0.0464, 0.0122, -0.0708] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.01, "right_z": 0.14}, "note": "Pear sits just ahead of the right jaws, slightly left; advancing a bit before descending."})
tool
executing move_to over 2 steps (0.2s)
step 7
top_cam
camera top_cam step 7
left_cam
camera left_cam step 7
right_cam
camera right_cam step 7
assistant
Descending on the pear.
agent notePear is centred between the right jaws, slightly ahead; descending to grasp its body at ~3 cm height.
move_to
right_x0.3850right_y0.0120right_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]: [-0.033, 0.8078, 0.6132, -0.4019, -0.0139, -0.0319, 0.9989, 0.0208, 1.2697, 0.6685, -0.0708, -0.0154, -0.0372, 0.9994] state[eef_state]: left_x=0.2938 left_y=-0.0036 left_z=0.1759 left_yaw=-0.0005 left_pitch=-0.0271 left_roll=-0.0003 left_gripper=0.9989 right_x=0.3707 right_y=0.014 right_z=0.1216 right_yaw=0.0429 right_pitch=-0.1022 right_roll=-0.0013 right_gripper=0.9994 state[joint_eff]: [-0.0615, -1.1009, 7.1179, 1.8291, -0.0708, -0.0611, -0.0122, -0.253, -5.2308, 8.8, 1.8681, 0.1294, 0.1099, -0.0171] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]
assistant
Descending on the pear.
move_to({"targets": {"right_x": 0.385, "right_y": 0.012, "right_z": 0.03}, "note": "Pear is centred between the right jaws, slightly ahead; descending to grasp its body at ~3 cm height."})
tool
executing move_to over 6 steps (0.6s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent notePear fills the view between the right jaws at z≈2 cm; 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]: [-0.033, 0.8124, 0.6132, -0.4084, -0.0139, -0.0315, 0.9989, 0.0151, 1.6085, 0.4988, 0.4004, -0.028, -0.0456, 0.9994] state[eef_state]: left_x=0.2932 left_y=-0.0036 left_z=0.1733 left_yaw=-0.0006 left_pitch=-0.0381 left_roll=0.0004 left_gripper=0.9989 right_x=0.3798 right_y=0.0143 right_z=0.0226 right_yaw=0.0525 right_pitch=-0.1394 right_roll=0.0013 right_gripper=0.9994 state[joint_eff]: [-0.0615, -1.5932, 7.241, 1.7851, -0.0415, -0.0464, -0.0122, -0.6359, -6.3795, 4.9026, 1.9707, -0.0073, -0.0317, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear fills the view between the right jaws at z\u22482 cm; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteGripper settled at 0.72 (~6.8 cm) — pear grasped. Lifting to carry height.
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]: [-0.033, 0.8135, 0.6132, -0.4202, -0.0139, -0.0319, 0.9989, 0.0158, 1.6085, 0.4984, 0.3996, -0.0319, -0.0456, 0.7174] state[eef_state]: left_x=0.2916 left_y=-0.0036 left_z=0.1706 left_yaw=-0.0004 left_pitch=-0.0511 left_roll=0.0005 left_gripper=0.9989 right_x=0.3795 right_y=0.0152 right_z=0.0223 right_yaw=0.0565 right_pitch=-0.1404 right_roll=0.0039 right_gripper=0.7174 state[joint_eff]: [-0.2256, -1.4427, 7.2, 1.7998, -0.0855, -0.0659, -0.0122, -0.1709, -5.8598, 5.3675, 1.5897, -0.0024, -0.0562, 1.0232] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18}, "note": "Gripper settled at 0.72 (~6.8 cm) \u2014 pear grasped. Lifting to carry height."})
tool
executing move_to over 11 steps (1.1s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent notePear lifted with the gripper. Blue bowl is to the left of the right arm; carrying the pear over it.
move_to
right_x0.4000right_y0.1400right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.033, 0.8135, 0.6132, -0.4244, -0.0139, -0.0319, 0.9989, 0.0166, 1.2907, 0.9043, -0.4061, -0.0319, -0.0532, 0.7204] state[eef_state]: left_x=0.291 left_y=-0.0036 left_z=0.1698 left_yaw=-0.0004 left_pitch=-0.0553 left_roll=0.0006 left_gripper=0.9989 right_x=0.3696 right_y=0.0153 right_z=0.1535 right_yaw=0.0621 right_pitch=-0.2224 right_roll=0.0018 right_gripper=0.7204 state[joint_eff]: [-0.0068, -1.3333, 6.9949, 1.7021, -0.0269, -0.0464, -0.0122, -0.4171, -6.6393, 9.3744, 1.7753, -0.0562, 0.0366, 0.9158] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.14, "right_z": 0.19}, "note": "Pear lifted with the gripper. Blue bowl is to the left of the right arm; carrying the pear over it."})
tool
executing move_to over 11 steps (1.1s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteBlue bowl peeks out just ahead/behind the held pear; nudging forward and slightly left to centre over it.
move_to
right_x0.4300right_y0.1550right_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]: [-0.033, 0.8135, 0.6132, -0.4255, -0.0135, -0.0315, 0.9989, 0.4252, 1.5143, 1.2011, -0.5739, 0.2195, 0.2008, 0.7227] state[eef_state]: left_x=0.2908 left_y=-0.0036 left_z=0.1696 left_yaw=-0.0009 left_pitch=-0.0565 left_roll=0.0008 left_gripper=0.9989 right_x=0.3878 right_y=0.1373 right_z=0.1693 right_yaw=0.1079 right_pitch=-0.2888 right_roll=-0.0251 right_gripper=0.7227 state[joint_eff]: [0.0068, -1.306, 7.1863, 1.6728, -0.0269, -0.0317, -0.0122, 0.212, -7.0769, 9.3744, 1.6288, 0.3297, 0.2076, 0.8376] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.155, "right_z": 0.18}, "note": "Blue bowl peeks out just ahead/behind the held pear; nudging forward and slightly left to centre over it."})
tool
executing move_to over 4 steps (0.4s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteGripper with pear is above the blue bowl in the overhead view; lowering into the bowl before releasing.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.033, 0.8165, 0.6132, -0.432, -0.0139, -0.0319, 0.9989, 0.4263, 1.6875, 1.3651, -0.6472, 0.21, 0.1932, 0.7262] state[eef_state]: left_x=0.29 left_y=-0.0035 left_z=0.1674 left_yaw=-0.0004 left_pitch=-0.066 left_roll=0.001 left_gripper=0.9989 right_x=0.4139 right_y=0.1515 right_z=0.1534 right_yaw=0.1129 right_pitch=-0.3697 right_roll=-0.0494 right_gripper=0.7262 state[joint_eff]: [-0.1573, -1.5932, 7.4188, 1.7314, -0.0415, -0.022, -0.0073, -0.3077, -9.7709, 9.894, 1.5946, 0.1783, 0.0317, 0.7399] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.09}, "note": "Gripper with pear is above the blue bowl in the overhead view; lowering into the bowl before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteWrist view shows the bowl's interior just ahead of the pear, so the pear is over the near rim; moving forward to centre it over the bowl.
move_to
right_x0.4400right_y0.1500right_z0.1000right_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]: [-0.033, 0.8185, 0.6132, -0.4343, -0.0139, -0.0319, 0.9989, 0.4263, 1.737, 1.1721, -0.4908, 0.205, 0.1909, 0.7264] state[eef_state]: left_x=0.2898 left_y=-0.0035 left_z=0.1665 left_yaw=-0.0004 left_pitch=-0.0702 left_roll=0.0011 left_gripper=0.9989 right_x=0.398 right_y=0.1452 right_z=0.0805 right_yaw=0.1069 right_pitch=-0.453 right_roll=-0.0757 right_gripper=0.7264 state[joint_eff]: [-0.212, -1.3333, 7.0085, 1.6728, -0.0562, -0.0464, -0.0122, 0.0205, -8.4308, 6.8581, 1.619, 0.105, -0.0122, 0.862] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.15, "right_z": 0.1, "right_pitch": 0.0}, "note": "Wrist view shows the bowl's interior just ahead of the pear, so the pear is over the near rim; moving forward to centre it over the bowl."})
tool
executing move_to over 16 steps (1.6s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe pear now sits inside the blue bowl in the overhead view; opening to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.033, 0.8219, 0.6128, -0.4465, -0.0135, -0.0319, 0.9989, 0.4385, 1.7134, 0.8906, 0.0914, 0.2935, 0.1078, 0.7267] state[eef_state]: left_x=0.2881 left_y=-0.0035 left_z=0.163 left_yaw=-0.0007 left_pitch=-0.0862 left_roll=0.0014 left_gripper=0.9989 right_x=0.4242 right_y=0.1464 right_z=0.0749 right_yaw=0.1209 right_pitch=-0.1274 right_roll=-0.0953 right_gripper=0.7267 state[joint_eff]: [-0.1983, -1.6615, 6.9812, 1.7656, -0.0317, -0.0317, -0.0122, 0.294, -8.6906, 5.3812, 1.9414, 0.3785, -0.0122, 0.4518] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The pear now sits inside the blue bowl in the overhead view; opening to release it."})
tool
executing move_to over 3 steps (0.3s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent notePear released into the blue bowl. Lifting and moving over the lemon, which sits just in front of (base-side of) the blue bowl.
move_to
right_z0.1600right_x0.3600right_y0.2000
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]: [-0.033, 0.8219, 0.6132, -0.4492, -0.0139, -0.0319, 0.9989, 0.4393, 1.7134, 0.8837, 0.1143, 0.2916, 0.0963, 0.9956] state[eef_state]: left_x=0.2878 left_y=-0.0034 left_z=0.1626 left_yaw=-0.0003 left_pitch=-0.0885 left_roll=0.0017 left_gripper=0.9989 right_x=0.4254 right_y=0.1477 right_z=0.0763 right_yaw=0.1301 right_pitch=-0.1131 right_roll=-0.098 right_gripper=0.9956 state[joint_eff]: [-0.1846, -1.347, 7.1453, 1.6972, -0.0171, -0.0464, -0.0122, -0.1709, -8.1162, 6.612, 1.5995, 0.0611, 0.1294, -0.022] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16, "right_x": 0.36, "right_y": 0.2}, "note": "Pear released into the blue bowl. Lifting and moving over the lemon, which sits just in front of (base-side of) the blue bowl."})
tool
executing move_to over 6 steps (0.6s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteLemon appears lower-left of the jaw column in the right wrist view; shifting left and slightly forward, and resetting yaw.
move_to
right_x0.3750right_y0.2250right_z0.1400right_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]: [-0.033, 0.8238, 0.6132, -0.45, -0.0139, -0.0319, 0.9989, 0.6811, 1.5146, 0.9966, -0.247, 0.4332, 0.2333, 0.9965] state[eef_state]: left_x=0.2877 left_y=-0.0034 left_z=0.162 left_yaw=-0.0003 left_pitch=-0.0911 left_roll=0.0018 left_gripper=0.9989 right_x=0.3661 right_y=0.2059 right_z=0.147 right_yaw=0.181 right_pitch=-0.1136 right_roll=-0.099 right_gripper=0.9965 state[joint_eff]: [-0.1709, -1.4291, 7.1316, 1.663, -0.022, -0.0513, -0.0122, 0.1709, -8.1299, 8.3897, 1.5018, 0.2955, 0.2076, 0.0806] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.225, "right_z": 0.14, "right_yaw": 0.0}, "note": "Lemon appears lower-left of the jaw column in the right wrist view; shifting left and slightly forward, and resetting yaw."})
tool
executing move_to over 2 steps (0.2s)
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 noteLemon still left of jaw column; continuing left/forward before descending.
move_to
right_x0.3850right_y0.2350right_z0.1200right_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]: [-0.033, 0.8246, 0.6128, -0.4515, -0.0139, -0.0319, 0.9989, 0.7338, 1.6035, 1.1053, -0.3607, 0.5335, 0.3443, 0.9965] state[eef_state]: left_x=0.2875 left_y=-0.0034 left_z=0.1613 left_yaw=-0.0003 left_pitch=-0.0938 left_roll=0.0019 left_gripper=0.9989 right_x=0.368 right_y=0.2157 right_z=0.1434 right_yaw=0.0898 right_pitch=-0.1463 right_roll=-0.1262 right_gripper=0.9965 state[joint_eff]: [-0.1846, -1.4154, 6.9812, 1.6728, -0.0611, -0.0366, -0.0122, 0.9094, -7.8701, 6.4068, 0.9792, 0.486, 0.232, -0.0024] 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": 0.385, "right_y": 0.235, "right_z": 0.12, "right_yaw": 0.0}, "note": "Lemon still left of jaw column; continuing left/forward before descending."})
tool
executing move_to over 2 steps (0.2s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteLemon is just left of the jaw column and near the bottom of the wrist view (so slightly ahead of fingertips); descending onto it with a small forward/left offset.
move_to
right_x0.3900right_y0.2400right_z0.0200right_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]: [-0.0349, 0.8284, 0.6128, -0.4679, -0.0139, -0.0319, 0.9989, 0.7685, 1.6924, 1.1397, -0.3721, 0.5911, 0.4381, 0.9966] state[eef_state]: left_x=0.2851 left_y=-0.0039 left_z=0.1571 left_yaw=-0.0022 left_pitch=-0.114 left_roll=0.0026 left_gripper=0.9989 right_x=0.3697 right_y=0.2255 right_z=0.1235 right_yaw=0.0256 right_pitch=-0.1617 right_roll=-0.1326 right_gripper=0.9966 state[joint_eff]: [0.1026, -1.4838, 6.9538, 1.8339, -0.022, -0.0171, -0.0073, -0.335, -9.6342, 7.6103, 1.4383, 0.4762, 0.1978, -0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.24, "right_z": 0.02, "right_yaw": 0.0}, "note": "Lemon is just left of the jaw column and near the bottom of the wrist view (so slightly ahead of fingertips); descending onto it with a small forward/left offset."})
tool
executing move_to over 7 steps (0.7s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe right arm held position on the last command (possibly an awkward IK target); retrying a smaller descent with pitch/roll explicitly zeroed.
move_to
right_x0.3850right_y0.2350right_z0.0600right_yaw0.0000right_pitch0.0000right_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]: [-0.0349, 0.8284, 0.6132, -0.4694, -0.0139, -0.0319, 0.9989, 0.7685, 1.6924, 1.1397, -0.3717, 0.5911, 0.4381, 0.9966] state[eef_state]: left_x=0.285 left_y=-0.0039 left_z=0.157 left_yaw=-0.0022 left_pitch=-0.1152 left_roll=0.0026 left_gripper=0.9989 right_x=0.3698 right_y=0.2255 right_z=0.1236 right_yaw=0.0257 right_pitch=-0.1614 right_roll=-0.1323 right_gripper=0.9966 state[joint_eff]: [-0.0068, -1.4154, 7.0769, 1.7021, -0.0464, -0.0171, -0.0122, -0.1846, -9.812, 7.5009, 1.4335, 0.4518, 0.188, -0.0171] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_y": 0.235, "right_z": 0.06, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "The right arm held position on the last command (possibly an awkward IK target); retrying a smaller descent with pitch/roll explicitly zeroed."})
tool
executing move_to over 6 steps (0.6s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteLemon is centred between the right jaws, just ahead; final descent to lemon mid-height.
move_to
right_x0.3900right_y0.2320right_z0.0100right_yaw0.0000right_pitch0.0000right_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]: [-0.0349, 0.8333, 0.6128, -0.4759, -0.0139, -0.0322, 0.9989, 0.7704, 1.8332, 0.8951, 0.0582, 0.606, 0.4385, 0.9966] state[eef_state]: left_x=0.2841 left_y=-0.0039 left_z=0.1543 left_yaw=-0.0019 left_pitch=-0.127 left_roll=0.0027 left_gripper=0.9989 right_x=0.3682 right_y=0.2221 right_z=0.0391 right_yaw=0.0212 right_pitch=-0.1207 right_roll=-0.1101 right_gripper=0.9966 state[joint_eff]: [-0.0615, -1.7983, 6.9538, 1.6777, -0.0708, -0.0464, -0.0122, -0.0068, -8.5265, 5.9282, 1.6923, 0.4664, 0.2076, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.232, "right_z": 0.01, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Lemon is centred between the right jaws, just ahead; final descent to lemon mid-height."})
tool
executing move_to over 5 steps (0.5s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteLemon is between the jaws at table level; 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]: [-0.0353, 0.8341, 0.6128, -0.4763, -0.0139, -0.0322, 0.9989, 0.762, 1.9804, 0.8459, 0.3511, 0.6125, 0.4377, 0.9965] state[eef_state]: left_x=0.2841 left_y=-0.004 left_z=0.154 left_yaw=-0.0023 left_pitch=-0.1281 left_roll=0.0027 left_gripper=0.9989 right_x=0.3825 right_y=0.2296 right_z=0.0062 right_yaw=0.0141 right_pitch=-0.0467 right_roll=-0.0483 right_gripper=0.9965 state[joint_eff]: [-0.1573, -1.3333, 7.0085, 1.6484, -0.0757, -0.0659, -0.0122, -0.8274, -8.7316, 4.6154, 1.6728, 0.2125, 0.105, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon is between the jaws at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteGripper settled at 0.54 (~5 cm): lemon grasped. Lifting before moving over the blue bowl.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0349, 0.8341, 0.6128, -0.477, -0.0135, -0.0322, 0.9989, 0.7563, 1.9903, 0.8398, 0.4229, 0.6128, 0.4377, 0.5376] state[eef_state]: left_x=0.2839 left_y=-0.0039 left_z=0.1539 left_yaw=-0.0022 left_pitch=-0.1289 left_roll=0.0025 left_gripper=0.9989 right_x=0.3892 right_y=0.2324 right_z=0.0113 right_yaw=0.0091 right_pitch=-0.0057 right_roll=-0.0106 right_gripper=0.5376 state[joint_eff]: [-0.0615, -1.3744, 6.9128, 1.6337, -0.0024, -0.0513, -0.0122, -0.0615, -8.6496, 4.6017, 1.6288, 0.1832, 0.0904, 1.0281] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16}, "note": "Gripper settled at 0.54 (~5 cm): lemon grasped. Lifting before moving over the blue bowl."})
tool
executing move_to over 10 steps (1.0s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteLemon held; the blue bowl (with pear) lies ahead-right in the wrist view. Moving over the bowl's free right side.
move_to
right_x0.4400right_y0.1500right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0349, 0.8387, 0.6132, -0.4911, -0.0139, -0.0322, 0.9989, 0.757, 1.6878, 1.0771, -0.1413, 0.6052, 0.4343, 0.5392] state[eef_state]: left_x=0.2819 left_y=-0.0038 left_z=0.1502 left_yaw=-0.0018 left_pitch=-0.1472 left_roll=0.0034 left_gripper=0.9989 right_x=0.3888 right_y=0.234 right_z=0.1359 right_yaw=0.0171 right_pitch=-0.0272 right_roll=-0.0262 right_gripper=0.5392 state[joint_eff]: [-0.0889, -1.812, 7.0769, 1.707, -0.0464, -0.0366, -0.0122, -0.1162, -10.5778, 8.5402, 1.6093, 0.3101, 0.0122, 0.7106] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.15, "right_z": 0.14}, "note": "Lemon held; the blue bowl (with pear) lies ahead-right in the wrist view. Moving over the bowl's free right side."})
tool
executing move_to over 7 steps (0.7s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteBlue bowl is directly ahead with the pear in its middle; moving slightly forward and right so the lemon drops beside the pear, and lowering.
move_to
right_x0.4550right_y0.1300right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0349, 0.8402, 0.6128, -0.4927, -0.0139, -0.0322, 0.9989, 0.4824, 1.6661, 1.0294, -0.0784, 0.4053, 0.2417, 0.5395] state[eef_state]: left_x=0.2817 left_y=-0.0038 left_z=0.1493 left_yaw=-0.0018 left_pitch=-0.1506 left_roll=0.0035 left_gripper=0.9989 right_x=0.4323 right_y=0.1518 right_z=0.1251 right_yaw=0.0022 right_pitch=-0.078 right_roll=-0.0521 right_gripper=0.5395 state[joint_eff]: [-0.0889, -1.4291, 7.1179, 1.6581, -0.0415, -0.0317, -0.0122, -0.2667, -9.6342, 6.4068, 1.9023, 0.1343, 0.0708, 0.7204] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.455, "right_y": 0.13, "right_z": 0.1}, "note": "Blue bowl is directly ahead with the pear in its middle; moving slightly forward and right so the lemon drops beside the pear, and lowering."})
tool
executing move_to over 2 steps (0.2s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteLemon appears near the bowl's near rim; advancing a bit further over the bowl before releasing.
move_to
right_x0.4700right_y0.1300right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0349, 0.8398, 0.6128, -0.4934, -0.0139, -0.0319, 0.9989, 0.4313, 1.7035, 1.0252, -0.0097, 0.3534, 0.1963, 0.5395] state[eef_state]: left_x=0.2815 left_y=-0.0038 left_z=0.1493 left_yaw=-0.002 left_pitch=-0.151 left_roll=0.0038 left_gripper=0.9989 right_x=0.447 right_y=0.1423 right_z=0.1171 right_yaw=0.0183 right_pitch=-0.0693 right_roll=-0.0465 right_gripper=0.5395 state[joint_eff]: [-0.0479, -1.388, 6.9812, 1.58, -0.0415, -0.0122, -0.0122, -1.4564, -6.5709, 5.2718, 1.6337, 0.0611, -0.0708, 0.7253] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.13, "right_z": 0.1}, "note": "Lemon appears near the bowl's near rim; advancing a bit further over the bowl before releasing."})
tool
executing move_to over 2 steps (0.2s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteLemon is over the blue bowl, next to the pear; 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]: [-0.0349, 0.8417, 0.6128, -0.4942, -0.0139, -0.0319, 0.9989, 0.3882, 1.7699, 1.0164, 0.0273, 0.3183, 0.1661, 0.5395] state[eef_state]: left_x=0.2815 left_y=-0.0038 left_z=0.1486 left_yaw=-0.002 left_pitch=-0.1537 left_roll=0.0039 left_gripper=0.9989 right_x=0.4545 right_y=0.13 right_z=0.0892 right_yaw=0.0188 right_pitch=-0.1142 right_roll=-0.0638 right_gripper=0.5395 state[joint_eff]: [-0.0752, -1.5658, 6.9128, 1.5849, -0.0269, -0.0171, -0.0122, -1.1145, -7.665, 8.8684, 1.9365, 0.2662, 0.0904, 0.7302] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Lemon is over the blue bowl, next to the pear; releasing."})
tool
executing move_to over 5 steps (0.5s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent notePear and lemon are in the blue bowl. Retracting the right arm and moving the left arm toward the dark plum, which is ahead-right of the left gripper.
move_to
right_z0.2000right_x0.3000right_y0.0500left_x0.3600left_y-0.1000left_z0.1300left_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]: [-0.0349, 0.8417, 0.6128, -0.4942, -0.0139, -0.0319, 0.9989, 0.3756, 1.7878, 1.0218, 0.0334, 0.3046, 0.1478, 0.9959] state[eef_state]: left_x=0.2815 left_y=-0.0038 left_z=0.1486 left_yaw=-0.002 left_pitch=-0.1537 left_roll=0.0039 left_gripper=0.9989 right_x=0.4577 right_y=0.1273 right_z=0.0838 right_yaw=0.0271 right_pitch=-0.1242 right_roll=-0.0717 right_gripper=0.9959 state[joint_eff]: [-0.0889, -1.4564, 7.1043, 1.58, -0.0562, -0.0317, -0.0122, -0.4718, -8.5675, 8.7316, 1.873, 0.0659, 0.0708, -0.0904] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.3, "right_y": 0.05, "left_x": 0.36, "left_y": -0.1, "left_z": 0.13, "left_gripper": 1.0}, "note": "Pear and lemon are in the blue bowl. Retracting the right arm and moving the left arm toward the dark plum, which is ahead-right of the left gripper."})
tool
executing move_to over 13 steps (1.3s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent notePear and lemon are in the blue bowl. The plum is right of the left jaw column; shifting right and slightly forward.
move_to
left_x0.3700left_y-0.1250left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4095, 1.3109, 0.7525, -0.2749, -0.276, -0.2844, 0.999, 0.2974, 1.0016, 0.8196, -0.5232, 0.2527, 0.1017, 0.9965] state[eef_state]: left_x=0.3446 left_y=-0.0932 left_z=0.1107 left_yaw=-0.011 left_pitch=-0.2231 left_roll=0.024 left_gripper=0.999 right_x=0.3114 right_y=0.053 right_z=0.1929 right_yaw=0.0178 right_pitch=-0.1104 right_roll=-0.0664 right_gripper=0.9965 state[joint_eff]: [-0.5812, -5.0393, 9.3607, 1.7216, -0.2613, 0.0562, -0.1148, -0.2393, -3.4803, 8.6632, 1.8926, 0.0269, -0.1148, 0.0513] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.125, "left_z": 0.1}, "note": "Pear and lemon are in the blue bowl. The plum is right of the left jaw column; shifting right and slightly forward."})
tool
executing move_to over 3 steps (0.3s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent notePlum still right of and slightly ahead of the left jaws; moving right/forward and descending to grasp height.
move_to
left_x0.3850left_y-0.1400left_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]: [-0.4664, 1.4658, 0.8108, -0.2462, -0.3065, -0.3241, 0.9989, 0.297, 1.0084, 0.8196, -0.5694, 0.2489, 0.0929, 0.9965] state[eef_state]: left_x=0.3572 left_y=-0.1161 left_z=0.086 left_yaw=-0.0135 left_pitch=-0.2751 left_roll=0.0469 left_gripper=0.9989 right_x=0.3047 right_y=0.0515 right_z=0.1825 right_yaw=0.0234 right_pitch=-0.1625 right_roll=-0.0853 right_gripper=0.9965 state[joint_eff]: [-0.1573, -7.8017, 8.9915, 1.5409, -0.3248, -0.1392, -0.0171, -0.2256, -2.865, 6.8718, 2.044, 0.0855, 0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.385, "left_y": -0.14, "left_z": 0.02}, "note": "Plum still right of and slightly ahead of the left jaws; moving right/forward and descending to grasp height."})
tool
executing move_to over 5 steps (0.5s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
assistant
agent noteLeft arm stalled on the last target with pitch drifting; re-commanding with orientation explicitly zeroed and a smaller descent.
move_to
left_x0.3800left_y-0.1400left_z0.0600left_pitch0.0000left_roll0.0000left_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]: [-0.4782, 1.4971, 0.8139, -0.2379, -0.3073, -0.3412, 0.9989, 0.297, 1.01, 0.8196, -0.5739, 0.2489, 0.0925, 0.9965] state[eef_state]: left_x=0.3572 left_y=-0.1209 left_z=0.0774 left_yaw=-0.0125 left_pitch=-0.2924 left_roll=0.0448 left_gripper=0.9989 right_x=0.3041 right_y=0.0513 right_z=0.1813 right_yaw=0.0233 right_pitch=-0.1684 right_roll=-0.0872 right_gripper=0.9965 state[joint_eff]: [-0.0752, -7.6239, 9.0872, 1.6288, -0.2662, -0.0317, -0.0122, -0.1162, -2.2906, 6.8581, 1.6386, 0.0513, -0.0611, -0.0122] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.14, "left_z": 0.06, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "Left arm stalled on the last target with pitch drifting; re-commanding with orientation explicitly zeroed and a smaller descent."})
tool
executing move_to over 10 steps (1.0s)
step 168
assistant
agent notePlum is right of and just ahead of the left jaws at low height; nudging right/forward and down to table level.
move_to
left_x0.3900left_y-0.1550left_z0.0100left_pitch0.0000left_roll0.0000left_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]: [-0.5423, 1.6253, 0.6014, 0.2161, -0.4129, -0.3408, 0.9989, 0.297, 1.0119, 0.8192, -0.5827, 0.2489, 0.0925, 0.9965] state[eef_state]: left_x=0.3582 left_y=-0.1289 left_z=0.0301 left_yaw=-0.0044 left_pitch=-0.1545 left_roll=0.0616 left_gripper=0.9989 right_x=0.3027 right_y=0.0509 right_z=0.1791 right_yaw=0.0228 right_pitch=-0.179 right_roll=-0.0903 right_gripper=0.9965 state[joint_eff]: [-0.841, -6.0786, 5.1077, 1.707, -0.359, 0.0757, -0.0122, -0.0889, -2.7419, 7.0222, 1.6044, 0.0513, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.155, "left_z": 0.01, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "Plum is right of and just ahead of the left jaws at low height; nudging right/forward and down to table level."})
tool
executing move_to over 6 steps (0.6s)
step 174
assistant
agent notePlum got nudged and now sits ahead-right of the left fingertips (upper right of wrist view); moving forward/right at low height to bring it between the jaws.
move_to
left_x0.4300left_y-0.1850left_z0.0200left_pitch0.0000left_roll0.0000left_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]: [-0.5709, 1.8523, 0.5957, 0.5514, -0.4553, -0.3531, 0.9988, 0.297, 1.0119, 0.8192, -0.59, 0.2489, 0.0925, 0.9965] state[eef_state]: left_x=0.3808 left_y=-0.148 left_z=0.003 left_yaw=0.0014 left_pitch=-0.0519 left_roll=0.0225 left_gripper=0.9988 right_x=0.3015 right_y=0.0505 right_z=0.1778 right_yaw=0.0224 right_pitch=-0.186 right_roll=-0.0923 right_gripper=0.9965 state[joint_eff]: [-0.5812, -6.5436, 5.3402, 1.3602, -0.1538, 0.0317, -0.022, -0.0342, -2.6325, 6.9265, 1.5751, 0.0562, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.185, "left_z": 0.02, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "Plum got nudged and now sits ahead-right of the left fingertips (upper right of wrist view); moving forward/right at low height to bring it between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 178
assistant
agent noteLeft arm won't advance while at table level; lifting while moving forward/right toward the plum, then I'll descend.
move_to
left_x0.4300left_y-0.1850left_z0.0800left_pitch0.0000left_roll0.0000left_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]: [-0.572, 1.8668, 0.5957, 0.5922, -0.4603, -0.3565, 0.9988, 0.297, 1.0119, 0.8192, -0.5957, 0.2489, 0.0925, 0.9966] state[eef_state]: left_x=0.3845 left_y=-0.15 left_z=0.0049 left_yaw=0.0055 left_pitch=-0.0281 left_roll=0.008 left_gripper=0.9988 right_x=0.3006 right_y=0.0502 right_z=0.1768 right_yaw=0.0221 right_pitch=-0.1915 right_roll=-0.0939 right_gripper=0.9966 state[joint_eff]: [-0.6222, -6.735, 5.2171, 1.8926, -0.2808, 0.0659, -0.0073, -0.1026, -2.6188, 6.8171, 1.58, 0.0415, -0.0757, -0.0122] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.185, "left_z": 0.08, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "Left arm won't advance while at table level; lifting while moving forward/right toward the plum, then I'll descend."})
tool
executing move_to over 5 steps (0.5s)
step 183
assistant
agent noteLeft arm isn't responding to combined moves; trying a pure vertical lift to free it.
move_to
left_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]: [-0.572, 1.8668, 0.5957, 0.5922, -0.4603, -0.3565, 0.9988, 0.297, 1.0119, 0.8192, -0.5968, 0.2489, 0.0925, 0.9966] state[eef_state]: left_x=0.3845 left_y=-0.15 left_z=0.0049 left_yaw=0.0055 left_pitch=-0.0281 left_roll=0.008 left_gripper=0.9988 right_x=0.3004 right_y=0.0502 right_z=0.1766 right_yaw=0.0221 right_pitch=-0.1926 right_roll=-0.0942 right_gripper=0.9966 state[joint_eff]: [-0.6085, -6.6667, 5.2308, 1.917, -0.2466, 0.0611, -0.0122, -0.1026, -2.5641, 6.8171, 1.5409, 0.0464, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "Left arm isn't responding to combined moves; trying a pure vertical lift to free it."})
tool
executing move_to over 8 steps (0.8s)
step 191
assistant
agent noteLeft arm freed. Plum is ahead-right of the jaws, beside the white bowl; moving over it at 10 cm height.
move_to
left_x0.4200left_y-0.1800left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5716, 1.5311, 0.7513, 0.0986, -0.4568, -0.3649, 0.9988, 0.297, 1.0176, 0.8192, -0.6109, 0.2489, 0.0925, 0.9965] state[eef_state]: left_x=0.3836 left_y=-0.1498 left_z=0.1024 left_yaw=0.0077 left_pitch=-0.0313 left_roll=0.0005 left_gripper=0.9988 right_x=0.2984 right_y=0.0496 right_z=0.1727 right_yaw=0.021 right_pitch=-0.2117 right_roll=-0.0997 right_gripper=0.9965 state[joint_eff]: [-0.0889, -8.0068, 9.265, 1.663, -0.2564, 0.0269, -0.0073, -0.1983, -3.0974, 6.7897, 1.6386, 0.0366, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.18, "left_z": 0.1}, "note": "Left arm freed. Plum is ahead-right of the jaws, beside the white bowl; moving over it at 10 cm height."})
tool
executing move_to over 3 steps (0.3s)
step 194
assistant
agent notePlum remains ahead-right of the left jaws; moving further right/forward and descending to grasp height.
move_to
left_x0.4400left_y-0.2000left_z0.0200left_pitch0.0000left_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]: [-0.5816, 1.7, 0.8898, 0.057, -0.4686, -0.3752, 0.9988, 0.297, 1.0203, 0.8192, -0.6151, 0.2493, 0.0925, 0.9965] state[eef_state]: left_x=0.4072 left_y=-0.1679 left_z=0.0821 left_yaw=0.015 left_pitch=-0.087 left_roll=0.0387 left_gripper=0.9988 right_x=0.2979 right_y=0.0493 right_z=0.1712 right_yaw=0.0202 right_pitch=-0.2182 right_roll=-0.1019 right_gripper=0.9965 state[joint_eff]: [-0.2256, -9.5111, 8.1026, 2.0147, 0.0513, -0.0415, -0.0073, -0.3077, -2.5094, 6.7897, 1.5409, 0.105, -0.0269, -0.0073] camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.2, "left_z": 0.02, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Plum remains ahead-right of the left jaws; moving further right/forward and descending to grasp height."})
tool
executing move_to over 5 steps (0.5s)
step 199
assistant
agent notePlum is close, just right of and ahead of the jaws; shifting ~3 cm right and 2 cm forward at table level.
move_to
left_x0.4500left_y-0.2250left_z0.0100left_pitch0.0000left_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]: [-0.6044, 1.9995, 0.8974, 0.3462, -0.4946, -0.3943, 0.9984, 0.297, 1.0225, 0.8192, -0.6235, 0.2489, 0.0921, 0.9965] state[eef_state]: left_x=0.4267 left_y=-0.1884 left_z=0.0061 left_yaw=0.0227 left_pitch=-0.0788 left_roll=0.0396 left_gripper=0.9984 right_x=0.2966 right_y=0.049 right_z=0.1692 right_yaw=0.0201 right_pitch=-0.2286 right_roll=-0.1049 right_gripper=0.9965 state[joint_eff]: [-0.4855, -9.2103, 6.065, 1.1258, -0.1636, 0.0708, -0.0562, -0.1983, -2.8103, 6.9675, 1.5556, 0.0855, -0.0757, -0.0122] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.225, "left_z": 0.01, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Plum is close, just right of and ahead of the jaws; shifting ~3 cm right and 2 cm forward at table level."})
tool
executing move_to over 4 steps (0.4s)
step 203
assistant
agent notePlum is centred on the left jaw column right in front of the fingertips; closing while creeping forward 1.5 cm.
move_to
left_gripper0.0000left_x0.4600
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]: [-0.6434, 2.0911, 0.9909, 0.3977, -0.532, -0.4198, 0.9982, 0.297, 1.0233, 0.8192, -0.627, 0.2489, 0.0925, 0.9965] state[eef_state]: left_x=0.4444 left_y=-0.2167 left_z=0.0064 left_yaw=0.0248 left_pitch=-0.0212 left_roll=0.0064 left_gripper=0.9982 right_x=0.296 right_y=0.0488 right_z=0.1684 right_yaw=0.0196 right_pitch=-0.2326 right_roll=-0.1058 right_gripper=0.9965 state[joint_eff]: [-0.5675, -9.3333, 6.612, 1.6532, -0.3687, -0.0269, -0.0269, -0.0752, -2.7419, 6.7761, 1.4676, 0.1099, -0.0562, -0.0073] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0, "left_x": 0.46}, "note": "Plum is centred on the left jaw column right in front of the fingertips; closing while creeping forward 1.5 cm."})
tool
executing move_to over 10 steps (1.0s)
step 213
assistant
agent noteOut of LLM-call budget. The pear and lemon are in the blue bowl. The plum is still on the table beside the large white bowl: my last close missed because the plum sat several cm beyond the fingertips. I never tried the pour.
give_up
hindsight- Scene layout (top_cam): the large white bowl is upper-left, reachable by the left arm. The blue bowl is upper-centre-right, centred at about right_x 0.45, right_y 0.14; drops at x 0.43–0.46, y 0.13–0.15, z 0.08–0.10 landed inside. The pear was at about right (0.38, 0.01) and the lemon at about right (0.38, 0.23). Both grasps worked at z 0.01–0.02 with a full close (settled readings 0.72 and 0.54). - The plum was at about left (0.46+, -0.22) at table level, farther out than I estimated. When it looks centred in the left wrist cam at z≈0, it is still 3–5 cm beyond the fingertips. Go straight to about left x 0.48–0.49. - IK stalls: at table level (z<0.02) the arm often refuses to move in x/y and joint_pos doesn't change at all. Lift to z≥0.08, move in x/y, then descend. Also send pitch/roll/yaw = 0 explicitly; otherwise pitch drifts to -0.3 to -0.45 and the IK holds. - Very short moves (0.2 s) leave the readback lagging; don't read them as stalls. - Budget: 40 calls is tight for 3 picks plus a pour. Plan about 5 calls per fruit (approach at z 0.1 with the fingertip offset already added, one correction, descend, close, lift+carry combined, release) and save about 8 calls for the pour: right arm grasps the blue bowl rim, lifts, moves over the white bowl, rolls the wrist about 1.5 rad.
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]: [-0.6506, 2.104, 1.0054, 0.4007, -0.5392, -0.4198, 0.0094, 0.297, 1.0248, 0.8192, -0.6308, 0.2489, 0.0925, 0.9966] state[eef_state]: left_x=0.4462 left_y=-0.2211 left_z=0.0061 left_yaw=0.0231 left_pitch=-0.0147 left_roll=0.0072 left_gripper=0.0094 right_x=0.2955 right_y=0.0487 right_z=0.1674 right_yaw=0.0193 right_pitch=-0.2377 right_roll=-0.1073 right_gripper=0.9966 state[joint_eff]: [-0.4308, -9.8256, 6.2291, 1.663, -0.2662, 0.0317, 0.7155, -0.0752, -2.7966, 6.8991, 1.4774, 0.0757, -0.0757, -0.0073] 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
give_up({"reason": "Out of LLM-call budget. The pear and lemon are in the blue bowl. The plum is still on the table beside the large white bowl: my last close missed because the plum sat several cm beyond the fingertips. I never tried the pour.", "hindsight": "- Scene layout (top_cam): the large white bowl is upper-left, reachable by the left arm. The blue bowl is upper-centre-right, centred at about right_x 0.45, right_y 0.14; drops at x 0.43\u20130.46, y 0.13\u20130.15, z 0.08\u20130.10 landed inside. The pear was at about right (0.38, 0.01) and the lemon at about right (0.38, 0.23). Both grasps worked at z 0.01\u20130.02 with a full close (settled readings 0.72 and 0.54).\n- The plum was at about left (0.46+, -0.22) at table level, farther out than I estimated. When it looks centred in the left wrist cam at z\u22480, it is still 3\u20135 cm beyond the fingertips. Go straight to about left x 0.48\u20130.49.\n- IK stalls: at table level (z<0.02) the arm often refuses to move in x/y and joint_pos doesn't change at all. Lift to z\u22650.08, move in x/y, then descend. Also send pitch/roll/yaw = 0 explicitly; otherwise pitch drifts to -0.3 to -0.45 and the IK holds.\n- Very short moves (0.2 s) leave the readback lagging; don't read them as stalls.\n- Budget: 40 calls is tight for 3 picks plus a pour. Plan about 5 calls per fruit (approach at z 0.1 with the fingertip offset already added, one correction, descend, close, lift+carry combined, release) and save about 8 calls for the pour: right arm grasps the blue bowl rim, lifts, moves over the white bowl, rolls the wrist about 1.5 rad."})
tool
give_up: Out of LLM-call budget. The pear and lemon are in the blue bowl. The plum is still on the table beside the large white bowl: my last close missed because the plum sat several cm beyond the fingertips. I never tried the pour.
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 · 8.852 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]: [-0.0319, 0.8005, 0.6136, -0.3828, -0.0143, -0.0307, 0.999, -0.0219, 0.8005, 0.6186, -0.3878, -0.0174, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0033 left_z=0.182 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.999 right_x=0.2959 right_y=0.0002 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.5949, -1.7846, 9.7026, 1.7998, -0.1441, 0.1148, -0.1197, -0.2803, -1.7299, 9.1556, 1.8584, -0.0757, 0.2125, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:656b0ea1cec20d742d780e306aece512ac0f5a6653dd0298646bd56b40619408",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d627ca5a4476d1c798c5364bb3c47831e2fd5693e48abdd906dd2293f8b54809",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d625adeb58b2a7055da2d61962f7670128f1f3a9c2e9701896faf1691804975",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 3.372 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]: [-0.0319, 0.8005, 0.6136, -0.3828, -0.0143, -0.0307, 0.999, -0.0219, 0.8005, 0.6186, -0.3878, -0.0174, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0033 left_z=0.182 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.999 right_x=0.2959 right_y=0.0002 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.5949, -1.7846, 9.7026, 1.7998, -0.1441, 0.1148, -0.1197, -0.2803, -1.7299, 9.1556, 1.8584, -0.0757, 0.2125, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:656b0ea1cec20d742d780e306aece512ac0f5a6653dd0298646bd56b40619408",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d627ca5a4476d1c798c5364bb3c47831e2fd5693e48abdd906dd2293f8b54809",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d625adeb58b2a7055da2d61962f7670128f1f3a9c2e9701896faf1691804975",
        "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_01XcC8inPaTA5LWr7QPZBEcY",
      "input": {
        "note": "Scene: large white bowl on left, blue bowl centre-right, lemon, pear (right), and a dark plum near the left arm. Right wrist cam shows the pear just ahead; moving the right arm forward over the pear.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.36,
          "right_y": 0.0,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XcC8inPaTA5LWr7QPZBEcY",
      "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]: [-0.033, 0.8051, 0.6132, -0.3939, -0.0139, -0.0315, 0.9989, -0.0154, 1.1629, 0.5892, -0.046, -0.0238, -0.0383, 0.9994]\nstate[eef_state]: left_x=0.2947 left_y=-0.0037 left_z=0.1783 left_yaw=-0.0007 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9989 right_x=0.3546 right_y=0.0023 right_z=0.1286 right_yaw=0.0142 right_pitch=-0.0499 right_roll=0.0014 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.6342, 7.0769, 1.8291, -0.0415, -0.022, -0.0171, -0.3077, -4.5607, 6.735, 2.0733, 0.0464, 0.0122, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:293d8f067e5302a62c3a3d9dca91588fb797022d1ee17f8d18fad04b3762365d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73837654da60f9622a58865bd59d8abc24b2367e740953381f047459949f7698",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b12f958ed496a24fe0afad6c005b2e6bf4fa828bf2bf7e83eb0608987d3aae1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 3.295 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]: [-0.0319, 0.8005, 0.6136, -0.3828, -0.0143, -0.0307, 0.999, -0.0219, 0.8005, 0.6186, -0.3878, -0.0174, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0033 left_z=0.182 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.999 right_x=0.2959 right_y=0.0002 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.5949, -1.7846, 9.7026, 1.7998, -0.1441, 0.1148, -0.1197, -0.2803, -1.7299, 9.1556, 1.8584, -0.0757, 0.2125, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8051, 0.6132, -0.3939, -0.0139, -0.0315, 0.9989, -0.0154, 1.1629, 0.5892, -0.046, -0.0238, -0.0383, 0.9994]\nstate[eef_state]: left_x=0.2947 left_y=-0.0037 left_z=0.1783 left_yaw=-0.0007 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9989 right_x=0.3546 right_y=0.0023 right_z=0.1286 right_yaw=0.0142 right_pitch=-0.0499 right_roll=0.0014 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.6342, 7.0769, 1.8291, -0.0415, -0.022, -0.0171, -0.3077, -4.5607, 6.735, 2.0733, 0.0464, 0.0122, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:293d8f067e5302a62c3a3d9dca91588fb797022d1ee17f8d18fad04b3762365d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73837654da60f9622a58865bd59d8abc24b2367e740953381f047459949f7698",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b12f958ed496a24fe0afad6c005b2e6bf4fa828bf2bf7e83eb0608987d3aae1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS7AYKEAgSGAI4AUIIdGhpbmtpbmcSDGFIU/a5KMMwPylRTxoMnNI0XYCl2MNo5/lrIjB9ImtsKFRUV2CJpiTtPQkiVuVEl4HwkaFKy3A8S2LrTohktSg2PXqrAlBIsq5O/BwqiQYtghrh3pyq8gfmMuQJ15fN8pNGpfbR8OPb2Dfej16Wic8GcqMQnFAq30OYlT4BNNXUAXAe9qO3TLDowuYX3WJaz9VJzc7yzzzPmA/Os+FVKdBKqfM2FMXAENAa0DAT48KreNYgLue71gAboAoGGkqjRMsrKzknaxNJQQNIISvtiYtFJcG/5KcY8qQ5O3gMdBRAAs4JeuIFE7FRX9po8Bvq3uu4wxk+CkbPG0SlsDCgX4zbrHI50YbvHbe31pIbueWPDZiu2a5eliwssXQoVaaielD3BAHajCPnuVRy9sY3aCkdBSsSSRaLPhwd2qr8jrZVbfAtUGPy/KKHYI1cDe6P7xpdU89rANkFk4jpBcv6JDTDmNVSqV4hrADTO+zGL6HV/5U1JlWdHYBzQHeEGLPAJ/NnSbKMse/eHfrRFbX8Z7I5SyriEI7in3wb3MTWobTQ2bPeVk+vKdk2QGS5B9rpxi6mwCOw80+bhj7GWHrJPY5ZwlkHQpFrxbLxR4ZMgRjfUx0Ig4JUuHePYzpUeUYvLfyn4diUgS1kVcxYXhLL47sMkUtB6h39PDFDEQabvXI03YacQV1t5BLcOEfoIieENFR0s6W9vvsUJm4gA7DaS9u9Xx9uvXngT0laC/I0aJ8tGqURc0ijR8LR5UuXz5YUT/uym89TepKNa/Z3k78UQIEANk6dILjB/EahIZuv3yN8RFdka7wy/djkOgbQN/3Q7Ov5ymeSRK3+ijt5EF1x7i3yyxwxP1iyfIAIFXiJCDb6Tz4WO4UwNRs8W7/ju2Bi7yorEZuqHOEeEQSZo76IGWd+PZJCdnVwHsq0+Hn5MLhQPeJsn/D/ZPK5YhXI9t69Z7QROjajazhRm5v7PsX+Z1Ngs0iqvXXI6QM30oi+Ti+TvTCUyTlD7jhYm689jNrv08DUJbsDXScq1s6aWyJiLoBGNnUttFlREsUK/WidJlGfO7Hk979RUdpEwpjqmhjAyfQwG2G0eDBV/6iW99F0DcXcX8LLvNaBWY5nbebhCB+0T+TIAeqjHrcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011eZLtbjae98X1WPgvYYnga",
      "input": {
        "note": "Pear sits just ahead of the right jaws, slightly left; advancing a bit before descending.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.01,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_011eZLtbjae98X1WPgvYYnga",
      "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]: [-0.033, 0.8078, 0.6132, -0.4019, -0.0139, -0.0319, 0.9989, 0.0208, 1.2697, 0.6685, -0.0708, -0.0154, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0036 left_z=0.1759 left_yaw=-0.0005 left_pitch=-0.0271 left_roll=-0.0003 left_gripper=0.9989 right_x=0.3707 right_y=0.014 right_z=0.1216 right_yaw=0.0429 right_pitch=-0.1022 right_roll=-0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.1009, 7.1179, 1.8291, -0.0708, -0.0611, -0.0122, -0.253, -5.2308, 8.8, 1.8681, 0.1294, 0.1099, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2206448669bc86399df99d074cfd8c9315cce7e20f198430305bdd88e48a5bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5ea22d43a5db31eaf8bb3b749b468ab5034e878c04876e06fe514f242ed489f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9dae0d0c4c6f974a51f943f3e5e852b6c626db5c5f27c839e5a09445c42b979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 3.662 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]: [-0.0319, 0.8005, 0.6136, -0.3828, -0.0143, -0.0307, 0.999, -0.0219, 0.8005, 0.6186, -0.3878, -0.0174, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0033 left_z=0.182 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.999 right_x=0.2959 right_y=0.0002 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.5949, -1.7846, 9.7026, 1.7998, -0.1441, 0.1148, -0.1197, -0.2803, -1.7299, 9.1556, 1.8584, -0.0757, 0.2125, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8051, 0.6132, -0.3939, -0.0139, -0.0315, 0.9989, -0.0154, 1.1629, 0.5892, -0.046, -0.0238, -0.0383, 0.9994]\nstate[eef_state]: left_x=0.2947 left_y=-0.0037 left_z=0.1783 left_yaw=-0.0007 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9989 right_x=0.3546 right_y=0.0023 right_z=0.1286 right_yaw=0.0142 right_pitch=-0.0499 right_roll=0.0014 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.6342, 7.0769, 1.8291, -0.0415, -0.022, -0.0171, -0.3077, -4.5607, 6.735, 2.0733, 0.0464, 0.0122, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8078, 0.6132, -0.4019, -0.0139, -0.0319, 0.9989, 0.0208, 1.2697, 0.6685, -0.0708, -0.0154, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0036 left_z=0.1759 left_yaw=-0.0005 left_pitch=-0.0271 left_roll=-0.0003 left_gripper=0.9989 right_x=0.3707 right_y=0.014 right_z=0.1216 right_yaw=0.0429 right_pitch=-0.1022 right_roll=-0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.1009, 7.1179, 1.8291, -0.0708, -0.0611, -0.0122, -0.253, -5.2308, 8.8, 1.8681, 0.1294, 0.1099, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2206448669bc86399df99d074cfd8c9315cce7e20f198430305bdd88e48a5bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5ea22d43a5db31eaf8bb3b749b468ab5034e878c04876e06fe514f242ed489f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9dae0d0c4c6f974a51f943f3e5e852b6c626db5c5f27c839e5a09445c42b979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Descending on the pear.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01436FVdMuuNZnXAcgpQLHF3",
      "input": {
        "note": "Pear is centred between the right jaws, slightly ahead; descending to grasp its body at ~3 cm height.",
        "targets": {
          "right_x": 0.385,
          "right_y": 0.012,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01436FVdMuuNZnXAcgpQLHF3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8124, 0.6132, -0.4084, -0.0139, -0.0315, 0.9989, 0.0151, 1.6085, 0.4988, 0.4004, -0.028, -0.0456, 0.9994]\nstate[eef_state]: left_x=0.2932 left_y=-0.0036 left_z=0.1733 left_yaw=-0.0006 left_pitch=-0.0381 left_roll=0.0004 left_gripper=0.9989 right_x=0.3798 right_y=0.0143 right_z=0.0226 right_yaw=0.0525 right_pitch=-0.1394 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.5932, 7.241, 1.7851, -0.0415, -0.0464, -0.0122, -0.6359, -6.3795, 4.9026, 1.9707, -0.0073, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ca1e64eaae84d4e244ea0d6b7e75cb2bc586ff1153f3720dac7248868571b07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b945c3b3dde150c2d7a59d4e5c3a092c6f3b5f19335b91c1a4c4862d11b12674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:da7e2394e6896f7c1685496cbc1da2a47945f3ebe64b7e657de0b32cfea26077",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /messages · status 200 · 5.493 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]: [-0.033, 0.8051, 0.6132, -0.3939, -0.0139, -0.0315, 0.9989, -0.0154, 1.1629, 0.5892, -0.046, -0.0238, -0.0383, 0.9994]\nstate[eef_state]: left_x=0.2947 left_y=-0.0037 left_z=0.1783 left_yaw=-0.0007 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9989 right_x=0.3546 right_y=0.0023 right_z=0.1286 right_yaw=0.0142 right_pitch=-0.0499 right_roll=0.0014 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.6342, 7.0769, 1.8291, -0.0415, -0.022, -0.0171, -0.3077, -4.5607, 6.735, 2.0733, 0.0464, 0.0122, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8078, 0.6132, -0.4019, -0.0139, -0.0319, 0.9989, 0.0208, 1.2697, 0.6685, -0.0708, -0.0154, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0036 left_z=0.1759 left_yaw=-0.0005 left_pitch=-0.0271 left_roll=-0.0003 left_gripper=0.9989 right_x=0.3707 right_y=0.014 right_z=0.1216 right_yaw=0.0429 right_pitch=-0.1022 right_roll=-0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.1009, 7.1179, 1.8291, -0.0708, -0.0611, -0.0122, -0.253, -5.2308, 8.8, 1.8681, 0.1294, 0.1099, -0.0171]",
      "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]: [-0.033, 0.8124, 0.6132, -0.4084, -0.0139, -0.0315, 0.9989, 0.0151, 1.6085, 0.4988, 0.4004, -0.028, -0.0456, 0.9994]\nstate[eef_state]: left_x=0.2932 left_y=-0.0036 left_z=0.1733 left_yaw=-0.0006 left_pitch=-0.0381 left_roll=0.0004 left_gripper=0.9989 right_x=0.3798 right_y=0.0143 right_z=0.0226 right_yaw=0.0525 right_pitch=-0.1394 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.5932, 7.241, 1.7851, -0.0415, -0.0464, -0.0122, -0.6359, -6.3795, 4.9026, 1.9707, -0.0073, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ca1e64eaae84d4e244ea0d6b7e75cb2bc586ff1153f3720dac7248868571b07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b945c3b3dde150c2d7a59d4e5c3a092c6f3b5f19335b91c1a4c4862d11b12674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da7e2394e6896f7c1685496cbc1da2a47945f3ebe64b7e657de0b32cfea26077",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnwcKEAgSGAI4AUIIdGhpbmtpbmcSDN+XS9hUGW3dzZ9DsRoMXsKXmxac1VmQWqpsIjDNd9LDfGznqoMCG1yR8b5t3t1assYqpQJKaljHFI+VMZUoh/BJ3fAEY6Q3ekP0SugqvAbL9u9LC7J5GUZhUmu5HFnM2+0hNtgD1Okyh4mMonS2kSVmRwXD45pvwRSzdQTFD97tTd8f2RZPAxxwhU6WLK4pUnZl8w1MCJi6/f5HEPPDP9uRv6sYh7ELcovye2rFJvaDy3smgeySVa0GIIWpdPhA8Dhi3UB4jp04yMYEaRnoGlCPN1d4CeOV0uKcoaffgT0y73TBmfOutmzfiM76pZbQb7Yc3jvMWaI4abiQEJtcgpWV246/jnQUOaYFkP7xZSx3AGj/K+90ZC2zvdaTKXAhIafO7Vp75AmiejCoW3u6sGlgeFtgfTstQEE8RKvb9s5o7sMdlvTtbU+GZ/5esIMus0EMQ9aO1CryPBqLjbfjn7GlzWfGkoU0DQh/dy6l4chf4vXtmWnZG06t5P3teo1YsoFcBbP30AM+BRRPeXBVWzwaJq33yJBVvmM7mS2HphGCU8dfAg33v0YZiYNFr3ZvoccM00ByHsM1Rf+pyQKbt6yPAWuy909MSAelyhr9VmVGomThUwKzDa6XlIGfpeOlLKTfNi+g1WImvTq63KQa4GmByyOATcd6Hbv1NfUY2IskjhBsmJ85H2DGNjWCOteF+lC5wUulj01iIfVsoNWCrKiEz3ysrLrGFOpu4TJS4oJLsA0sxw+NWPzzvNWuYlIOtmORyTAleDDUFMIqQOlsIKKS5Cdrv2Nr+7z/wDQaH8AEKFu/2g5hsqTOTBGW9goRhKjo7dArMpkkbuvx1KJWtR5F3alB0LhvDuIOR2UO5zXBeChC+ae9sATZdJAc9BbxFZ7oe5bGkt2rPVj4g2UGgAuDnWi4B166BltyQJ07q5KO8Bu5Hn+LS15QxqFvfQJUgLLmPr/rolTbUN4gLoOt2KIpZNkNRsfyf7ZMLaaYc8EFB9aQ5ByAIepRGHAFQUjdO2xc5GEl0VwU7oOyWHp2izTPhX4CBB1qIWwDA9V+0SLsZHGWrgaAanSVG7s5v3nWYHCt3/HtOJQRY8irZUt6ScaY02nlmrj9X1N2V7pHf/J2nBnMwbS4DAvCX0cKID6V8bHknRJV/a1LKxzoG8vO5+KcUivI0IGOFQfjiKu2HeWF9+y06EVF5blSxyIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UJPwEJPXFZnbhmQ1d7tvLY",
      "input": {
        "note": "Pear fills the view between the right jaws at z≈2 cm; 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_01UJPwEJPXFZnbhmQ1d7tvLY",
      "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]: [-0.033, 0.8135, 0.6132, -0.4202, -0.0139, -0.0319, 0.9989, 0.0158, 1.6085, 0.4984, 0.3996, -0.0319, -0.0456, 0.7174]\nstate[eef_state]: left_x=0.2916 left_y=-0.0036 left_z=0.1706 left_yaw=-0.0004 left_pitch=-0.0511 left_roll=0.0005 left_gripper=0.9989 right_x=0.3795 right_y=0.0152 right_z=0.0223 right_yaw=0.0565 right_pitch=-0.1404 right_roll=0.0039 right_gripper=0.7174\nstate[joint_eff]: [-0.2256, -1.4427, 7.2, 1.7998, -0.0855, -0.0659, -0.0122, -0.1709, -5.8598, 5.3675, 1.5897, -0.0024, -0.0562, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cbfa7a274ca9f9b82d6fd39e7ef2dc763067a1b89567667ebbd516329ddfe7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d95c843c4e988ec8fe4d639156ef04fcd0f52e7483d8cf2f26cc15cb7252a35a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c06bbc3f67a58d52d4c4b7793966a6cd840544140d902ca2be7ff6936935f54f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 4.995 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]: [-0.033, 0.8078, 0.6132, -0.4019, -0.0139, -0.0319, 0.9989, 0.0208, 1.2697, 0.6685, -0.0708, -0.0154, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0036 left_z=0.1759 left_yaw=-0.0005 left_pitch=-0.0271 left_roll=-0.0003 left_gripper=0.9989 right_x=0.3707 right_y=0.014 right_z=0.1216 right_yaw=0.0429 right_pitch=-0.1022 right_roll=-0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.1009, 7.1179, 1.8291, -0.0708, -0.0611, -0.0122, -0.253, -5.2308, 8.8, 1.8681, 0.1294, 0.1099, -0.0171]",
      "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]: [-0.033, 0.8124, 0.6132, -0.4084, -0.0139, -0.0315, 0.9989, 0.0151, 1.6085, 0.4988, 0.4004, -0.028, -0.0456, 0.9994]\nstate[eef_state]: left_x=0.2932 left_y=-0.0036 left_z=0.1733 left_yaw=-0.0006 left_pitch=-0.0381 left_roll=0.0004 left_gripper=0.9989 right_x=0.3798 right_y=0.0143 right_z=0.0226 right_yaw=0.0525 right_pitch=-0.1394 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.5932, 7.241, 1.7851, -0.0415, -0.0464, -0.0122, -0.6359, -6.3795, 4.9026, 1.9707, -0.0073, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8135, 0.6132, -0.4202, -0.0139, -0.0319, 0.9989, 0.0158, 1.6085, 0.4984, 0.3996, -0.0319, -0.0456, 0.7174]\nstate[eef_state]: left_x=0.2916 left_y=-0.0036 left_z=0.1706 left_yaw=-0.0004 left_pitch=-0.0511 left_roll=0.0005 left_gripper=0.9989 right_x=0.3795 right_y=0.0152 right_z=0.0223 right_yaw=0.0565 right_pitch=-0.1404 right_roll=0.0039 right_gripper=0.7174\nstate[joint_eff]: [-0.2256, -1.4427, 7.2, 1.7998, -0.0855, -0.0659, -0.0122, -0.1709, -5.8598, 5.3675, 1.5897, -0.0024, -0.0562, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cbfa7a274ca9f9b82d6fd39e7ef2dc763067a1b89567667ebbd516329ddfe7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d95c843c4e988ec8fe4d639156ef04fcd0f52e7483d8cf2f26cc15cb7252a35a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c06bbc3f67a58d52d4c4b7793966a6cd840544140d902ca2be7ff6936935f54f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQStQkKEAgSGAI4AUIIdGhpbmtpbmcSDK2sO8xfqMD1OYdgoBoMmpZ6WP3kjYnA9kH0IjAJzDoBYgreU+x4HFfc4wVzDKQq9S3SWLPCCe7p+iPGpNEPYLQya5VCmaTx2YpXyg4q0ginkhQt1XF4TcF4ghcwk4TwqWSMPIz8Nm1c4SviC2bTE10LeBSWLWyKfA7w7Dnk5/lfs4/pqAfY2qF2HIEmaQOJlaec8u4LgWE/VEuLT0eaHFAc4jE8Z+5cYMZTqf90176C/3k/37Zn7QPgNF2j1X2aDnYyKgT1NHkDBHfCvIMl5Ueh0RIR4LIl9pPVVzpJ69nXzJ5rk8qn9B4+RSNL1BMFZ8VTLA2kxwstkpXFH0JNAhXhx67DiyTR5UoidPrxkrokkbSRgeyZMCwNXgmmkwYLUIVgBQuOWNTuLDZmtr6cI86Pb04iPJ+jnHVtmddXeWozK6xApLEP/oKEGVOS5byyrvh/y7QsDoU96HEhyNXTzx+iPTORxgSD5KmhQWIXRZnFQ8294Tt6EACkKIFS78tNr/vgU0bRKdEwAFup3Q3CJzWrgozNRKdNFHH/b1W9202da2Rb4x5UuhPl4M3dZMsNQBiSpTnVRndGqdvKYwnGdkCP1x0xo2rxxnC4wqTyt4AIy7CPKEXw6VCFLBrK++OKIxvbPCPVTJb0a519k0LQ71PEvDG6tXuntrv1NWZvi9s/W/APSJP2XMaP0oPYe0f5CtnaOnlt3XnJONUSKCJsYcaP8sx0L8CNQ1sfjvD3wA6gBzzuYlcBp8l8JNk6Ix0us3jG81SZ8ztSotpFUNoPugdqVEHTUOfWTfIoSE0No716SI2e5+2lcNsFsQadn/QPFSecBOQVrGysgfqAsCQfGAJyLIdsNL5Cf8ko81Qd/BHsMwy3boENwcEK3K2lO7YzAmcJGHx9OlHGiTnlASH+6pWUyka2HNubxV5jRgj/YPrT5uCmNl1tcWRvkILqv9eEPj8+bsOb836rnUVwCApXkq10U0yYNK/L9NhHUh3iUT3NaUa+7SOusbxqM3HxBYwLCMDWZobeEVuxQo+zXrN5ERmHyEVOx6rpuPNR0Kh/iRerDXa3NRqBxF458mfJkFEWh4ZugnXOgxfLL3RDZ/YZBw3dN6cS728eD0T8kTACIg/tF7DmSOvBAfzNOELGIrPVF2jig0trYBvEwtrGRY1OtAJ9XPjjEhkXnZ5WuSzwCRVAgWVSCHk8NY9rzB9Wr5TN8t6doe5gJZ0NeLkctHCUEdV54DTO8guAyayuDDyCQdqoS92WbnM7x1gA1/X9tlzf8+P8jjb6dfzuTIn6aQZGlPQjssfF/UEHhYxaF/PfYRWEz02Ou4+8te6sSZC8lnDJoyZtGS+JJmEP2ox8OMpMoWU0e2ZjYsHi0FEBwGrz9PcvfgGW+KWgd9RNpaNOiUfQKTGqVTsECz12faOIuuKjrVEzWGLG9k0qA8d1IoPv+7LropZvalXoOXOZYch3BpJamBaWLf3iB4TnVxWeYxKun9gc99Hwu4m4mJJDvEvkbG1ouyp2uY/edmka1Zd9xu+AHV2xeuzRQmlnHnfJd2O0vXvC8UxkAtwiVdQo5h4l0krzYhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YTuQfSdZQ4QMkDF9U39YkY",
      "input": {
        "note": "Gripper settled at 0.72 (~6.8 cm) — pear grasped. Lifting to carry height.",
        "targets": {
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01YTuQfSdZQ4QMkDF9U39YkY",
      "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]: [-0.033, 0.8135, 0.6132, -0.4244, -0.0139, -0.0319, 0.9989, 0.0166, 1.2907, 0.9043, -0.4061, -0.0319, -0.0532, 0.7204]\nstate[eef_state]: left_x=0.291 left_y=-0.0036 left_z=0.1698 left_yaw=-0.0004 left_pitch=-0.0553 left_roll=0.0006 left_gripper=0.9989 right_x=0.3696 right_y=0.0153 right_z=0.1535 right_yaw=0.0621 right_pitch=-0.2224 right_roll=0.0018 right_gripper=0.7204\nstate[joint_eff]: [-0.0068, -1.3333, 6.9949, 1.7021, -0.0269, -0.0464, -0.0122, -0.4171, -6.6393, 9.3744, 1.7753, -0.0562, 0.0366, 0.9158]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aacf1dad92ceee10bd435462445dd869eb34ad546b81d0e662a18a18c66d3eca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acc4b9fea5b9eddc59acb925979419059f83cf696aed19dcb2254e478163ef96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab4fb843553fa96170e62805d604eaefb1d67eaac0a0590aed2f590a6a7e51d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 3.857 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]: [-0.033, 0.8124, 0.6132, -0.4084, -0.0139, -0.0315, 0.9989, 0.0151, 1.6085, 0.4988, 0.4004, -0.028, -0.0456, 0.9994]\nstate[eef_state]: left_x=0.2932 left_y=-0.0036 left_z=0.1733 left_yaw=-0.0006 left_pitch=-0.0381 left_roll=0.0004 left_gripper=0.9989 right_x=0.3798 right_y=0.0143 right_z=0.0226 right_yaw=0.0525 right_pitch=-0.1394 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.5932, 7.241, 1.7851, -0.0415, -0.0464, -0.0122, -0.6359, -6.3795, 4.9026, 1.9707, -0.0073, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8135, 0.6132, -0.4202, -0.0139, -0.0319, 0.9989, 0.0158, 1.6085, 0.4984, 0.3996, -0.0319, -0.0456, 0.7174]\nstate[eef_state]: left_x=0.2916 left_y=-0.0036 left_z=0.1706 left_yaw=-0.0004 left_pitch=-0.0511 left_roll=0.0005 left_gripper=0.9989 right_x=0.3795 right_y=0.0152 right_z=0.0223 right_yaw=0.0565 right_pitch=-0.1404 right_roll=0.0039 right_gripper=0.7174\nstate[joint_eff]: [-0.2256, -1.4427, 7.2, 1.7998, -0.0855, -0.0659, -0.0122, -0.1709, -5.8598, 5.3675, 1.5897, -0.0024, -0.0562, 1.0232]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8135, 0.6132, -0.4244, -0.0139, -0.0319, 0.9989, 0.0166, 1.2907, 0.9043, -0.4061, -0.0319, -0.0532, 0.7204]\nstate[eef_state]: left_x=0.291 left_y=-0.0036 left_z=0.1698 left_yaw=-0.0004 left_pitch=-0.0553 left_roll=0.0006 left_gripper=0.9989 right_x=0.3696 right_y=0.0153 right_z=0.1535 right_yaw=0.0621 right_pitch=-0.2224 right_roll=0.0018 right_gripper=0.7204\nstate[joint_eff]: [-0.0068, -1.3333, 6.9949, 1.7021, -0.0269, -0.0464, -0.0122, -0.4171, -6.6393, 9.3744, 1.7753, -0.0562, 0.0366, 0.9158]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aacf1dad92ceee10bd435462445dd869eb34ad546b81d0e662a18a18c66d3eca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acc4b9fea5b9eddc59acb925979419059f83cf696aed19dcb2254e478163ef96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab4fb843553fa96170e62805d604eaefb1d67eaac0a0590aed2f590a6a7e51d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiwgKEAgSGAI4AUIIdGhpbmtpbmcSDMFz/argJdgyQFQYyBoMKmR92BBOUhAYHMbsIjCSK7+uVhl/XPe7+Vu1zyeQjuQ4GsNPKZ2csKSZWvU1jYqfPVRo9OcvDZvczs5stfMqqAfnVmSuPx+t53bEcrmZqpqGIhcsLybwvfPuoE9rI10dc+Cb/fTa3O1OqK3EdKuTrKbyH0Qjsf7Wpxhxoyke3BfTjGfNh1BR+LeYERMnbz/6ORwVVIuptt2v4Y7aehFeXap5ZMgINeXoaZD/2HbIf0wTfTrpoXgWk4w3O2a3gWWVTVkcahBosRl+F0iAqiKcwoyxno91ka4uWFUk73qjN+/jIFHSNpHLGWpcLHUveo9tGWgQ4wIb0Hj49UvkXCa1tyznzQA7URaCP4lJficULeU18fA9qsPId3T3/nP/HcQbWqRzzSR8I2yExLpe78HN4vliZxEsDn1yzGENaqHVcZekVelTKJJQB3Zu+rIb8VPUDl7NIAZdyD5iZrAhtw2ve6fzHK2qtX1vKMFUzXtlWOoiA+Z034pRn0LzSRXogYEhlUU9b8WaYMw5WwvbMLPfe4LG/+Klj/0QLGB4hzayJAbGC1H9xvCRB/SMEP9bV7IJBq+FoDXlPFUwKKSTxtyTGMocxbwOgVfQ6cvuCg18d0g+Bn7pt1scKLe0UcNCbQhkFpDj/WLfEPoO6aLfcfHVozwXk9SvWLH0ZlkKlrXmQDGvzkQDeugPXEUH3G/oDqu/OPYaJwukWwioBlvMdDmjiSGz3ZnM+OG5AmTKavo2tFxKUydeXy8pDfldN4sHeAqzP8t/WOBOK9wZ3so3x2V0Dwf6I7VNf3+tew4fnzL1t8BwKI75sKM46sjaXJbZjHKxI+rKTv0rCE/H6A+TOQ3JIsnS4HYyCP3J+HSQZi4uh1VNjAQjKRotMtMFG/eBVIbv5Q7q4fWZH+3j6N4yZl353g+PeYF/cK1YlRfZyWRx9tcj6j4W821sMf0nE7gRvpS7N3gvi4DawPwy3aJLffGJGRuBVQBOZxidkvA55IC9c8zQcej4YKxCCpboTsBOOOum3Y3B5C3Nqfm17+kprxPKZFHQC/Ddl0JIggeMtRWPVG4kvwgdMQx1RdJNOd5GBNp8i/T3frqqlrIcRS1Z/oghaM712MTi7a39pW3wldecREYZ4pzvTE9tsc5DLt97VTDjXJRgnlMMJW+qDdmp/+P74s2tcG8H/4HumvaoAJevCG+p7lwCQdMqFauZF85WvGgyd2fSOpfCP+P7lXaMjpuIpz8eelQcJ2UK9nw9pHvzHx5Dj4A3/qBPpbSamy1o91T1fx/p99C+hEbKN+K7ZToO2ltOtFq03kKjLECHY3AYcDEX2G625w3U0EAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XGpQYdYtLkcBENejsLo7jc",
      "input": {
        "note": "Pear lifted with the gripper. Blue bowl is to the left of the right arm; carrying the pear over it.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.14,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01XGpQYdYtLkcBENejsLo7jc",
      "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]: [-0.033, 0.8135, 0.6132, -0.4255, -0.0135, -0.0315, 0.9989, 0.4252, 1.5143, 1.2011, -0.5739, 0.2195, 0.2008, 0.7227]\nstate[eef_state]: left_x=0.2908 left_y=-0.0036 left_z=0.1696 left_yaw=-0.0009 left_pitch=-0.0565 left_roll=0.0008 left_gripper=0.9989 right_x=0.3878 right_y=0.1373 right_z=0.1693 right_yaw=0.1079 right_pitch=-0.2888 right_roll=-0.0251 right_gripper=0.7227\nstate[joint_eff]: [0.0068, -1.306, 7.1863, 1.6728, -0.0269, -0.0317, -0.0122, 0.212, -7.0769, 9.3744, 1.6288, 0.3297, 0.2076, 0.8376]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a0c9ab2af04eb5bf8a0c03ad8a70e8518cc2c236165cd0f4839e8c93e9844a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab57a551ba4c6971b000efc5c7f1abdf9b7b805c7bf8445bc10155ae6a095537",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a51421a1680aa28e85f9b415b1268af55e699fee223d4eb7895b47ca506c5498",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 4.271 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]: [-0.033, 0.8135, 0.6132, -0.4202, -0.0139, -0.0319, 0.9989, 0.0158, 1.6085, 0.4984, 0.3996, -0.0319, -0.0456, 0.7174]\nstate[eef_state]: left_x=0.2916 left_y=-0.0036 left_z=0.1706 left_yaw=-0.0004 left_pitch=-0.0511 left_roll=0.0005 left_gripper=0.9989 right_x=0.3795 right_y=0.0152 right_z=0.0223 right_yaw=0.0565 right_pitch=-0.1404 right_roll=0.0039 right_gripper=0.7174\nstate[joint_eff]: [-0.2256, -1.4427, 7.2, 1.7998, -0.0855, -0.0659, -0.0122, -0.1709, -5.8598, 5.3675, 1.5897, -0.0024, -0.0562, 1.0232]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8135, 0.6132, -0.4244, -0.0139, -0.0319, 0.9989, 0.0166, 1.2907, 0.9043, -0.4061, -0.0319, -0.0532, 0.7204]\nstate[eef_state]: left_x=0.291 left_y=-0.0036 left_z=0.1698 left_yaw=-0.0004 left_pitch=-0.0553 left_roll=0.0006 left_gripper=0.9989 right_x=0.3696 right_y=0.0153 right_z=0.1535 right_yaw=0.0621 right_pitch=-0.2224 right_roll=0.0018 right_gripper=0.7204\nstate[joint_eff]: [-0.0068, -1.3333, 6.9949, 1.7021, -0.0269, -0.0464, -0.0122, -0.4171, -6.6393, 9.3744, 1.7753, -0.0562, 0.0366, 0.9158]\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 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]: [-0.033, 0.8135, 0.6132, -0.4255, -0.0135, -0.0315, 0.9989, 0.4252, 1.5143, 1.2011, -0.5739, 0.2195, 0.2008, 0.7227]\nstate[eef_state]: left_x=0.2908 left_y=-0.0036 left_z=0.1696 left_yaw=-0.0009 left_pitch=-0.0565 left_roll=0.0008 left_gripper=0.9989 right_x=0.3878 right_y=0.1373 right_z=0.1693 right_yaw=0.1079 right_pitch=-0.2888 right_roll=-0.0251 right_gripper=0.7227\nstate[joint_eff]: [0.0068, -1.306, 7.1863, 1.6728, -0.0269, -0.0317, -0.0122, 0.212, -7.0769, 9.3744, 1.6288, 0.3297, 0.2076, 0.8376]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a0c9ab2af04eb5bf8a0c03ad8a70e8518cc2c236165cd0f4839e8c93e9844a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab57a551ba4c6971b000efc5c7f1abdf9b7b805c7bf8445bc10155ae6a095537",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a51421a1680aa28e85f9b415b1268af55e699fee223d4eb7895b47ca506c5498",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS0QcKEAgSGAI4AUIIdGhpbmtpbmcSDC2QPf1jE9dGzQaSghoM9MKPJjU501BnVT1HIjCskH/SkJdO1xvdMFNRreKzjnXgrjutesUMhs4NBwRrT32l4DvjDdZiAjRYNGhjVRkq7gYhaHyzrAOqD5+9ulUBWUFW0IjDy+IZTlEQi9X2LnM2XVa0G+07GqqCTYxaIJcZTJH7pHLr7YJRbXp4XeU44/Jof/Z1yNvEN1RHdcpych9T4XJHHU9Fay0QcrCKD1dFnmR8XZgUcML8+jtWNZvgLDzJVdNhtN6FUbAUU1ClyxokPvaezUdg4vlxs9/ovyUCG1yYGzU68nvofORuEHaa1ijvgIgYfRxhJ3p7O9JtPwpjL4OPHDpNBRcYQuoQWuxgeAL1HASIumGRiyD7tDgK/UHtClf2HT2uspOlCIFaHp+m1Ek0hNcYDqr2oVveS/J/7fx2257/AEgcg93kPDmMZ8L7wSw/1M/uOc2uyalhbChN4kPmx73tEDNbhB05rSipidzID1xNY8YGS4YO9mhVENwYbbcwaSNHbQqrPmM8BGirnvJXGYnBjgIk0hC1Su4xcicj3IVvcl5ghgustEPUU/KbBBAHlb9iy2QzQGxZLmsnkLpFZOKHUdxrmRXQObZjgHyELWs60cV6ge/m3skzgIu4G9vW9pGeLCuvReZG7qnm5AlYY0qfB2dTSuVR3Tvd5aohMYE3l0PLzjPWVNWj0mutTsfv+dwvP3oeh3TrzMJGIE/p8vtPVfAnr46YeranrTT70AVzbbIVT3LItxxpHZhki71jauDVbk4l3yJnTSvzXlSfgEKBTyc2oxDMs3m0CutgzYOXOn0TJhiKEjM8d8aA4EsQE09Y8eRrGJn49k/mG9C29uCMgOIY54ciI9I/TgDjKL07V4Je/uh7zpIrSMWUR8mQFAutg9lpS5t2WyyRMreNnKibSyiJ7qjrdPSq87w3yS9BM+xDxQD5yYwjZb3pg0uDJSl+7MjDYl8DYkBz0HxKRBDKQyRd/cOIFtvxHYUg/EL2w1WwVF+OWyauMVvsmvcx2Cnm1Q89R9iV/wOvRH5cOjkNjg8ApacD6AGQFJS+rDCGVXdZKpg8kIZSaSSC0cYYS0ROaNZgUzMZxsXVg1mKUUN75yBBb27MyId8OBpiiCoUE5jjE2AEMbKrOPeSjuaZ/zloH1qe3b8UaFKDzbATy7sV1GaFwJAflxLpuvMhATuuY/0r4bNVdi7kYwsU4U73K7TE09k++0tDb0QPcRtFRk+7Qa19mMuVNqbN97kfBZhbO+1PypuLrbVkjBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ew1nGWHKSpKGTBPQBQW29z",
      "input": {
        "note": "Blue bowl peeks out just ahead/behind the held pear; nudging forward and slightly left to centre over it.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.155,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Ew1nGWHKSpKGTBPQBQW29z",
      "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]: [-0.033, 0.8165, 0.6132, -0.432, -0.0139, -0.0319, 0.9989, 0.4263, 1.6875, 1.3651, -0.6472, 0.21, 0.1932, 0.7262]\nstate[eef_state]: left_x=0.29 left_y=-0.0035 left_z=0.1674 left_yaw=-0.0004 left_pitch=-0.066 left_roll=0.001 left_gripper=0.9989 right_x=0.4139 right_y=0.1515 right_z=0.1534 right_yaw=0.1129 right_pitch=-0.3697 right_roll=-0.0494 right_gripper=0.7262\nstate[joint_eff]: [-0.1573, -1.5932, 7.4188, 1.7314, -0.0415, -0.022, -0.0073, -0.3077, -9.7709, 9.894, 1.5946, 0.1783, 0.0317, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2715ebf256ac0b8aa99eaa2ef576dcf1846ace80bb207dc1f1893d888d77ab52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26d42d59bc563c6356495a7bf07befd6b01960804966f31caa54138f0f473c3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6707406cf35956ebff504f4b48021a6fc422f05421007489616fc36d09913d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 4.08 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]: [-0.033, 0.8135, 0.6132, -0.4244, -0.0139, -0.0319, 0.9989, 0.0166, 1.2907, 0.9043, -0.4061, -0.0319, -0.0532, 0.7204]\nstate[eef_state]: left_x=0.291 left_y=-0.0036 left_z=0.1698 left_yaw=-0.0004 left_pitch=-0.0553 left_roll=0.0006 left_gripper=0.9989 right_x=0.3696 right_y=0.0153 right_z=0.1535 right_yaw=0.0621 right_pitch=-0.2224 right_roll=0.0018 right_gripper=0.7204\nstate[joint_eff]: [-0.0068, -1.3333, 6.9949, 1.7021, -0.0269, -0.0464, -0.0122, -0.4171, -6.6393, 9.3744, 1.7753, -0.0562, 0.0366, 0.9158]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.033, 0.8135, 0.6132, -0.4255, -0.0135, -0.0315, 0.9989, 0.4252, 1.5143, 1.2011, -0.5739, 0.2195, 0.2008, 0.7227]\nstate[eef_state]: left_x=0.2908 left_y=-0.0036 left_z=0.1696 left_yaw=-0.0009 left_pitch=-0.0565 left_roll=0.0008 left_gripper=0.9989 right_x=0.3878 right_y=0.1373 right_z=0.1693 right_yaw=0.1079 right_pitch=-0.2888 right_roll=-0.0251 right_gripper=0.7227\nstate[joint_eff]: [0.0068, -1.306, 7.1863, 1.6728, -0.0269, -0.0317, -0.0122, 0.212, -7.0769, 9.3744, 1.6288, 0.3297, 0.2076, 0.8376]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8165, 0.6132, -0.432, -0.0139, -0.0319, 0.9989, 0.4263, 1.6875, 1.3651, -0.6472, 0.21, 0.1932, 0.7262]\nstate[eef_state]: left_x=0.29 left_y=-0.0035 left_z=0.1674 left_yaw=-0.0004 left_pitch=-0.066 left_roll=0.001 left_gripper=0.9989 right_x=0.4139 right_y=0.1515 right_z=0.1534 right_yaw=0.1129 right_pitch=-0.3697 right_roll=-0.0494 right_gripper=0.7262\nstate[joint_eff]: [-0.1573, -1.5932, 7.4188, 1.7314, -0.0415, -0.022, -0.0073, -0.3077, -9.7709, 9.894, 1.5946, 0.1783, 0.0317, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2715ebf256ac0b8aa99eaa2ef576dcf1846ace80bb207dc1f1893d888d77ab52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26d42d59bc563c6356495a7bf07befd6b01960804966f31caa54138f0f473c3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6707406cf35956ebff504f4b48021a6fc422f05421007489616fc36d09913d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkQgKEAgSGAI4AUIIdGhpbmtpbmcSDBi/zNvNWX7pLdBlsRoMI+SSpWfDpkfgLqxQIjDcSdwMdgiK7QhIohS4y7CHd2ZtS/zWsVH0NHAn4yYj0+DoQ9KQBA22PoYsnd7ehp0qrgcZrVfJ29GbvebK8XfC89V1SCfXFLWi29HcWVvHpI19K9o06A6npJNNU6tOlFsP4h8d7W3nIW9f9p8QDGjA5ipQzM6hNPguM6BhIcbtQJUyjy6ILK4PIFPEZS2gh1DRZGthdYwCDK1ubeWh3yAqF16vCPFGMS4wosTyYCT7PtuoKn9oTpnAYkFMKk87eghduvF6+d74Cju5G3NJaQ60sKut6SThpw19EQ48F8JEdyvVX63hRdMLfpUS5Spe0b7rIE6AwYlLsZmg56ny5Hv/FEYeF3QkY2du1al0oa2bbuYvzI+rK9ALWYHiX9vFOumg1zeE57pmZGOLaaNjDLM4AaJfSpIm7lYXQRwYLsI2guKTThl4ZkUbCSEqQ5/EQ/+SQMZNfd61XorZa/2VyD916z17aOIjI3Lf6ZUykEwVEKmAe4WAp19ie3oX2c2GJSOk6NOhzZvI24oqhP+rCW83J2HVLVc+3nK7Et7KBVZVC/ucpjcEQ0PnPMrRvo/EBgrTtOfAzyXohvUfhTtX1s2HG4VO8uLTAB5nNRY0azWD3rsvNWPqYPDTeS5iikEu/XQMwdr8IFrgzDItZ0ITyJxpKA8/P6f5fiwmttGZToqJozJauEAWMDDviiYTbJ7W+JdbA3ozT4GUdjoM9EQRO6ssGwCqhVynT1PK5XSobyQDxGJmfvANawd30LNZTqthDiBvZlwIJPPwR9HO13JTbSrcubpLZtzT8dAmsICS4GJk48BBUXSWsWQ1wIRHy23z2NZsyXbAW3WlFEodeRVw6vedABM1cClx0isTjlvNm5T1Zw5LDbqDcQMPMob4CZj4oWWBFpiOeDcLg6WsMf/2nBo7rXlvLXeqxoLCtBUc4J3npN0kLpU3n+Y4A6Vy/X632wfIyesH09l3PnAGOYwxgLko98oxWeX6r1ovhUZejFoW48TH6TvYLKVUcm0YecM47c04SK8/bcwuUJRSl69cpbnnFvuJc2rnE2OM0/7hjWDI88N+alBsHwnN/NAeM1U5mfL7mMJMbmZaY9D68VSHgrhytlW0DwCAtLVTFENhAe8YcebXqMxfehXqrphe31iQR1zYh1OFhintktCmGHbSuy30I6Okkt+6mxv+M3xFqTOwjhxO6BP25GKIiEpNJZRm2QkPlIhvJQOSQTqJBD9LR9FVgPkoBekDVhmOExx18cjRBpFKdn7LMcf5HWdpVv1XJ3ntObUQpYRLluohGBm/FdDEvbdkTXg1CxN2deruPK2JWxAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RWmzu8PAegxaADT4B6YkMj",
      "input": {
        "note": "Gripper with pear is above the blue bowl in the overhead view; lowering into the bowl before releasing.",
        "targets": {
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01RWmzu8PAegxaADT4B6YkMj",
      "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]: [-0.033, 0.8185, 0.6132, -0.4343, -0.0139, -0.0319, 0.9989, 0.4263, 1.737, 1.1721, -0.4908, 0.205, 0.1909, 0.7264]\nstate[eef_state]: left_x=0.2898 left_y=-0.0035 left_z=0.1665 left_yaw=-0.0004 left_pitch=-0.0702 left_roll=0.0011 left_gripper=0.9989 right_x=0.398 right_y=0.1452 right_z=0.0805 right_yaw=0.1069 right_pitch=-0.453 right_roll=-0.0757 right_gripper=0.7264\nstate[joint_eff]: [-0.212, -1.3333, 7.0085, 1.6728, -0.0562, -0.0464, -0.0122, 0.0205, -8.4308, 6.8581, 1.619, 0.105, -0.0122, 0.862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6297478d98679e4164c25339154304d62fc2f893e2b2dac1658356768accbf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2a5512bb1b585d04ae3ca9a58c9b16c8f38e059cc708263f96de08f38c2992e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e0085395ced2c160889c593a68cde7f23ef897d77aabbeafb1f4952b379d997",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 3.785 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]: [-0.033, 0.8135, 0.6132, -0.4255, -0.0135, -0.0315, 0.9989, 0.4252, 1.5143, 1.2011, -0.5739, 0.2195, 0.2008, 0.7227]\nstate[eef_state]: left_x=0.2908 left_y=-0.0036 left_z=0.1696 left_yaw=-0.0009 left_pitch=-0.0565 left_roll=0.0008 left_gripper=0.9989 right_x=0.3878 right_y=0.1373 right_z=0.1693 right_yaw=0.1079 right_pitch=-0.2888 right_roll=-0.0251 right_gripper=0.7227\nstate[joint_eff]: [0.0068, -1.306, 7.1863, 1.6728, -0.0269, -0.0317, -0.0122, 0.212, -7.0769, 9.3744, 1.6288, 0.3297, 0.2076, 0.8376]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8165, 0.6132, -0.432, -0.0139, -0.0319, 0.9989, 0.4263, 1.6875, 1.3651, -0.6472, 0.21, 0.1932, 0.7262]\nstate[eef_state]: left_x=0.29 left_y=-0.0035 left_z=0.1674 left_yaw=-0.0004 left_pitch=-0.066 left_roll=0.001 left_gripper=0.9989 right_x=0.4139 right_y=0.1515 right_z=0.1534 right_yaw=0.1129 right_pitch=-0.3697 right_roll=-0.0494 right_gripper=0.7262\nstate[joint_eff]: [-0.1573, -1.5932, 7.4188, 1.7314, -0.0415, -0.022, -0.0073, -0.3077, -9.7709, 9.894, 1.5946, 0.1783, 0.0317, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8185, 0.6132, -0.4343, -0.0139, -0.0319, 0.9989, 0.4263, 1.737, 1.1721, -0.4908, 0.205, 0.1909, 0.7264]\nstate[eef_state]: left_x=0.2898 left_y=-0.0035 left_z=0.1665 left_yaw=-0.0004 left_pitch=-0.0702 left_roll=0.0011 left_gripper=0.9989 right_x=0.398 right_y=0.1452 right_z=0.0805 right_yaw=0.1069 right_pitch=-0.453 right_roll=-0.0757 right_gripper=0.7264\nstate[joint_eff]: [-0.212, -1.3333, 7.0085, 1.6728, -0.0562, -0.0464, -0.0122, 0.0205, -8.4308, 6.8581, 1.619, 0.105, -0.0122, 0.862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6297478d98679e4164c25339154304d62fc2f893e2b2dac1658356768accbf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2a5512bb1b585d04ae3ca9a58c9b16c8f38e059cc708263f96de08f38c2992e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e0085395ced2c160889c593a68cde7f23ef897d77aabbeafb1f4952b379d997",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQShQgKEAgSGAI4AUIIdGhpbmtpbmcSDBC+prWSc3G4/FVtIRoMRIp81KlvlyGrmi2/IjASSGlQpXs9qoY9wpg1AxMouGn27KhOb7y9OQrEC25wua1VWeg8wTXFUUVwoFWguaEqogepFM+ZZd+AfUj2ZUIEzYsKh/SeqpzjHGWVJ64Z5PJL3ucKzjPWS5BGdmjtKhQfQ1zkianH6LERQefECinLeOE1pQL/gdWqvmib3q4d2nZ0fMlK5wLOZbinvzCPE6JFejABQSNfVxegWb+u9qav4gKubEzBq7d1fzAeV46e94rC7TR0jHiINTfeB39/3xFqItTQAMwmAPX6YFCMgudzqPTjxxjsQDLq0kCwOoXVCAZyG90w0cv6inNGb7XA7JUnQucCir50/nBCLW4VV7qlOTpUGYWAv9E//JIYj3/emYt8+7J2r3MpalW7JNAOIX1mMA01cXTxAXq/EvtOpT+KfrfaDcu9lUknRsUeFYCM9aU1DuRX2VABrDLMrTCf21pShDIEWnmYy+u110FBQmAX6qOi1gZEl25dwozk1J9n+NqkTcvj2CRt/z5DfTi2lhhxOBqhsKZCkIiBcmV2n717P3bjsA+QrBLNb8kKOg62V7yd3LhlHEixtSMdH7igPVFJh1hQlFQSMe6A9levQeO9jgzKYGxhxX8eQvMOUBqqJswLeEu+3UAkSIkEBMK3p8QNsY6P1FwCmHjNjCchmuBwMNgkQB5VSPxTGJDO6l5i9nEOpIRHKxKcn8mWMNxQtz3iqzpznMQXhLOjiZt5rZRJrnZwjU5Rpx8gYOw2XBHprtCGVA5G0+AKdJXhNO1tEgEjMmBB0jFJkyeUvf6BcDIdz5GoEdAj+Nhd3px45eB164uSwYJ/DJlKfm/rWcMZcn5g8pKnoH5tnLDEWE6qMDJ0U2i5crWYBuPuc3SiBB9wEhCOU8bnedhzJaHBl9y54T4WODowxpx9W7OunjPrfy7fRsXqza7muJgtfp+hOQyio0tMAupADjnJVKXbLvDFG6JTkmNYiF1CnUQ3KAgFNcrJIS95MFXfwBpt/HVPs2L009rSzZPbUBx2iwyhJDBFUdn3rPE1s4N86V4xnS7IQRazRDK0VEonHaJbgyo573HMPR2dm+Y8bX5PCFu5tawUvNW9tUl4VZlrtI4qgqHlkGf6AajlEJMYoQ8EUFtijgXKGCrMEjmVFvVac7EZME/m696kXfJbpUBDJN/ehp62F4V/BwBQoFJVHR2DszKW7gvGa7A3acDqcsUCJHX2Cmk0Crb7dH8aCUNLPlPZo0shBQkqMKQOnthABqluvWtfraSMXhrB+jivTyNZ2/UpsORhxrbmlDAaLT3gmFDX/4N1foQ9BQinPLIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011RfSsx8uTHhDxs6cB6vAJ1",
      "input": {
        "note": "Wrist view shows the bowl's interior just ahead of the pear, so the pear is over the near rim; moving forward to centre it over the bowl.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.44,
          "right_y": 0.15,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_011RfSsx8uTHhDxs6cB6vAJ1",
      "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]: [-0.033, 0.8219, 0.6128, -0.4465, -0.0135, -0.0319, 0.9989, 0.4385, 1.7134, 0.8906, 0.0914, 0.2935, 0.1078, 0.7267]\nstate[eef_state]: left_x=0.2881 left_y=-0.0035 left_z=0.163 left_yaw=-0.0007 left_pitch=-0.0862 left_roll=0.0014 left_gripper=0.9989 right_x=0.4242 right_y=0.1464 right_z=0.0749 right_yaw=0.1209 right_pitch=-0.1274 right_roll=-0.0953 right_gripper=0.7267\nstate[joint_eff]: [-0.1983, -1.6615, 6.9812, 1.7656, -0.0317, -0.0317, -0.0122, 0.294, -8.6906, 5.3812, 1.9414, 0.3785, -0.0122, 0.4518]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80367f772f5f1468d6f06ff2a0282f107d1d51a1e81a27d18fe90590c64613bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c794b36ce1c559bd891b92a8e6cf0591933af01ba66cd7f5bb22dedd59b6fdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:33d2175688db04c8c73ae48828aed0638a9dd35497e09e10bb958317afcd5d61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 5.628 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]: [-0.033, 0.8165, 0.6132, -0.432, -0.0139, -0.0319, 0.9989, 0.4263, 1.6875, 1.3651, -0.6472, 0.21, 0.1932, 0.7262]\nstate[eef_state]: left_x=0.29 left_y=-0.0035 left_z=0.1674 left_yaw=-0.0004 left_pitch=-0.066 left_roll=0.001 left_gripper=0.9989 right_x=0.4139 right_y=0.1515 right_z=0.1534 right_yaw=0.1129 right_pitch=-0.3697 right_roll=-0.0494 right_gripper=0.7262\nstate[joint_eff]: [-0.1573, -1.5932, 7.4188, 1.7314, -0.0415, -0.022, -0.0073, -0.3077, -9.7709, 9.894, 1.5946, 0.1783, 0.0317, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8185, 0.6132, -0.4343, -0.0139, -0.0319, 0.9989, 0.4263, 1.737, 1.1721, -0.4908, 0.205, 0.1909, 0.7264]\nstate[eef_state]: left_x=0.2898 left_y=-0.0035 left_z=0.1665 left_yaw=-0.0004 left_pitch=-0.0702 left_roll=0.0011 left_gripper=0.9989 right_x=0.398 right_y=0.1452 right_z=0.0805 right_yaw=0.1069 right_pitch=-0.453 right_roll=-0.0757 right_gripper=0.7264\nstate[joint_eff]: [-0.212, -1.3333, 7.0085, 1.6728, -0.0562, -0.0464, -0.0122, 0.0205, -8.4308, 6.8581, 1.619, 0.105, -0.0122, 0.862]\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]: [-0.033, 0.8219, 0.6128, -0.4465, -0.0135, -0.0319, 0.9989, 0.4385, 1.7134, 0.8906, 0.0914, 0.2935, 0.1078, 0.7267]\nstate[eef_state]: left_x=0.2881 left_y=-0.0035 left_z=0.163 left_yaw=-0.0007 left_pitch=-0.0862 left_roll=0.0014 left_gripper=0.9989 right_x=0.4242 right_y=0.1464 right_z=0.0749 right_yaw=0.1209 right_pitch=-0.1274 right_roll=-0.0953 right_gripper=0.7267\nstate[joint_eff]: [-0.1983, -1.6615, 6.9812, 1.7656, -0.0317, -0.0317, -0.0122, 0.294, -8.6906, 5.3812, 1.9414, 0.3785, -0.0122, 0.4518]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80367f772f5f1468d6f06ff2a0282f107d1d51a1e81a27d18fe90590c64613bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c794b36ce1c559bd891b92a8e6cf0591933af01ba66cd7f5bb22dedd59b6fdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33d2175688db04c8c73ae48828aed0638a9dd35497e09e10bb958317afcd5d61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwcKEAgSGAI4AUIIdGhpbmtpbmcSDOLhq/MZgco3xFpfrBoMCgi4I9YkRbjClVkdIjDLDW9Lrs6C0uTuPwyS/9BwUpz+MFfEnA2djSKyIVHiozkJRGPejPYVBZvhLFZXotkquAaHF0i6opnUP52aqTUwiwCmnF6SgoOtwTkcJoKkrvxWwIusexxtEfP+350f9kTR3da5Vkm8H0E2xdBT+ibTnDUy1k+hCy4Mwc6ZWkmkf7/7GT/S+9b9/otMJ9gMolhxwPSHksJtSobtp0DktB/AtIM9L/3A2MBoCIa3lvM6znON/YLEIYdd7Pn3YUPHd4Vmk5NiL2D5NxXqajRt8tnCiRTNOLmPPMRtMxUXBzbhAHtucB2m32aw5VH+6fGIKKWjcdk3aD6CtbEAjfbTWinIt58f4ww/tfEr2+zSg1ic/m6r5iWSeszvVTkgI0+vgtJBlyu+MxsY5ITZ7fQG4uGcBKS8vDvF60vVEH9JJxpuCqZN+KMfBgYhEgc9cXIWVNaGM0Wt9T0llaKacN01x7KSsBPsHTu5cDU/Vra50qMKg5fb8KnQYKnSOyPRA46tvYYSsP1tU95S++b9h1spMU8jRiyMhdlqDh7u/9lpuwX+QBWkmkvGjEp4xiOttGB+sd3Uk75+qLspLmdU7ytO0Op2ShI5g/ODFspIo4RIrL/00Io4SPGXLikz4X+8VpKEYQrs6JahL0i013OFQ7JIpaXEaSxHm2uPB2yDjOPgknGlWrYVL5J8LMOeQsKIOJn/+WqQSQlMWwlX9A07YtxIxsUonI/JMiPa11OBWJuAmTIjUG8wDwBKp15AjHI4FB1vtHOcBY+kZ+mq4JiiiSz56BuQ3WPwuRkiXw6c/NIDma2wQP4fVM3tkH8ZNWk+UaZmDmBHzV/cYmVk9OeD5FGVunU/vCpMLBKo85WqMQTtCKDeEEERctpaZWwst9oFLO9aeaFbbfQDbL5YMcaQtTVtrwBgbSrndReeH7Hiy+JBz1ObKHI7yT1I69fKb+tuBeGNQ45h4cP/T70QdQlly5uRtavWCTO9cTC8rPgc6kHmIUT7HXc39Mv/NIS7rCgRjUFkxNUg1lx0uHLgHOc3k2GARK73xOMoDQPwSuZvZqJoPxeghQ50vAwpTypZzbpDcKyAjNpuFgFl7leG+ONqj0897X1YtdUh3Ujov12cnyfP4B3C01aiC2Sg9/baQgclJY1Q6bJBi/zFKk9E5VPKdhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XS957qBrwubXiEPWWh5KMy",
      "input": {
        "note": "The pear now sits inside the blue bowl in the overhead view; opening to release it.",
        "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_01XS957qBrwubXiEPWWh5KMy",
      "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]: [-0.033, 0.8219, 0.6132, -0.4492, -0.0139, -0.0319, 0.9989, 0.4393, 1.7134, 0.8837, 0.1143, 0.2916, 0.0963, 0.9956]\nstate[eef_state]: left_x=0.2878 left_y=-0.0034 left_z=0.1626 left_yaw=-0.0003 left_pitch=-0.0885 left_roll=0.0017 left_gripper=0.9989 right_x=0.4254 right_y=0.1477 right_z=0.0763 right_yaw=0.1301 right_pitch=-0.1131 right_roll=-0.098 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -1.347, 7.1453, 1.6972, -0.0171, -0.0464, -0.0122, -0.1709, -8.1162, 6.612, 1.5995, 0.0611, 0.1294, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33785af91820957d447295454fcbf26b65fcb303805a09f4517028de554f527d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1661aed1215e43ebb418c7acb69063d132ab9480fd941431b8c67e02b131395",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4ad1f5292baa5769b0a22bd9af703721b11f6694f6bd82e944b83bf2f0c86d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 4.288 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8185, 0.6132, -0.4343, -0.0139, -0.0319, 0.9989, 0.4263, 1.737, 1.1721, -0.4908, 0.205, 0.1909, 0.7264]\nstate[eef_state]: left_x=0.2898 left_y=-0.0035 left_z=0.1665 left_yaw=-0.0004 left_pitch=-0.0702 left_roll=0.0011 left_gripper=0.9989 right_x=0.398 right_y=0.1452 right_z=0.0805 right_yaw=0.1069 right_pitch=-0.453 right_roll=-0.0757 right_gripper=0.7264\nstate[joint_eff]: [-0.212, -1.3333, 7.0085, 1.6728, -0.0562, -0.0464, -0.0122, 0.0205, -8.4308, 6.8581, 1.619, 0.105, -0.0122, 0.862]\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]: [-0.033, 0.8219, 0.6128, -0.4465, -0.0135, -0.0319, 0.9989, 0.4385, 1.7134, 0.8906, 0.0914, 0.2935, 0.1078, 0.7267]\nstate[eef_state]: left_x=0.2881 left_y=-0.0035 left_z=0.163 left_yaw=-0.0007 left_pitch=-0.0862 left_roll=0.0014 left_gripper=0.9989 right_x=0.4242 right_y=0.1464 right_z=0.0749 right_yaw=0.1209 right_pitch=-0.1274 right_roll=-0.0953 right_gripper=0.7267\nstate[joint_eff]: [-0.1983, -1.6615, 6.9812, 1.7656, -0.0317, -0.0317, -0.0122, 0.294, -8.6906, 5.3812, 1.9414, 0.3785, -0.0122, 0.4518]",
      "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]: [-0.033, 0.8219, 0.6132, -0.4492, -0.0139, -0.0319, 0.9989, 0.4393, 1.7134, 0.8837, 0.1143, 0.2916, 0.0963, 0.9956]\nstate[eef_state]: left_x=0.2878 left_y=-0.0034 left_z=0.1626 left_yaw=-0.0003 left_pitch=-0.0885 left_roll=0.0017 left_gripper=0.9989 right_x=0.4254 right_y=0.1477 right_z=0.0763 right_yaw=0.1301 right_pitch=-0.1131 right_roll=-0.098 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -1.347, 7.1453, 1.6972, -0.0171, -0.0464, -0.0122, -0.1709, -8.1162, 6.612, 1.5995, 0.0611, 0.1294, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33785af91820957d447295454fcbf26b65fcb303805a09f4517028de554f527d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1661aed1215e43ebb418c7acb69063d132ab9480fd941431b8c67e02b131395",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4ad1f5292baa5769b0a22bd9af703721b11f6694f6bd82e944b83bf2f0c86d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQShQkKEAgSGAI4AUIIdGhpbmtpbmcSDJ4qrPLwemMb99syQBoMiQVEUTGIFt88ucSMIjBEy2U37OQaok2kyS4woIlOxyCcBu/pG6HlVxCwECqpnyk3AlyUvJrPnJsnt1g4CoUqogi+kt1WBS2Sdq9ZfgTkyV1CECgWv49cVAMsJJ6flgwb476Wt6ENIr1bAIl/ME0lzhadAYbZJhMg+bXhV63BBKmhmCi0dny2vYXHnKQhdf/gCULE+WLeBy0xjLF5tnq/Wcuz+1u/QNbJBaCePM8X6uxlALWJRzTatTZAEsi7YCunSP4yXCqWg4Y+hCbErFFIrW/CDLtzxgcMhQ3Q6bt8Df3tLgwCjf1zAR1JtCw10VXrYcfAm+QjoGRUMllenUYnd3XEXrKaTQ/gFGZwmi/j069FQflxry5PM6EmH3KpHRlKFEpkEMvDILn+scOdDltn+ZgbZ9uYuDwSDjEG4d59atOxEi/0IjAy3k9eyAdDVLXcdV0HFF5up4j5Qmkbzvjo5jVeIJ5ka7KHFAyghfSHbT/IErrZHv1o0y8cmPkYUe9aqD4KJT5TQAat+5dNstYdH9YZ2QwwTh7JbmeaPol6e37vznLSgOkwMI8OSNEVfV2vqYvzOFCMd4T81htw/4JXtLgJVZOzIpXhtQTEq6qSyHXSFbz8K2uLv9PlbdmW5UL7uILp/DXEAYnJF01aUDFveDTpWbsUYE0slPDkS8lKHdRkqnRZVr6qIwhBcI1CbHjCiUId6cBxkzQ4f3/OUEna2NJ0zeU6KotWVIkMP+HcLIug5O8aOUo1YJ/8twbst5vO4rjTPQn/fWxqXMp2fJxI4+0GkNE4zf5adjZJjRMOABTvb9d4/pQw5FERZbOflFci5EI3kFgbUhi+j3QOPnnqLQWZoDtCNjtFl1jxjnEheEKMT33EX5eVYeq8u30dbqKJ11HzvcWBVEt5++42mox2f29bDFjw3Iq43QMOU/vXHKC5hlV2RHrG0z2oyb4J5dCzOZG/HW+P4PZeO1EMBYX+NnIwEDsv8/uhXaBlMNNfKYggfi8LdLPiV7ZZWq0/I4Xjnuw9Kn7Qo9tBLYEQjojpbH0vC7yI9di8fW7UEBLEc9M4i/g+/8+bTez3AfkbKFUYEAChy/DDJiqOpaP7Yawu+xEUfZ4eET4Qn4HTum+oOO3aw/l9gABtf0ixA2NXcQnP/42NCV1laVpi50fmS8XV2QgGCtcgxUGTQ8ht0eh8rnvTx/8QdA+cHDEqHudJP1fjCmUBGKG/OoRGB5Wws1xgdzJouQXfH+tNnIF2tuKi/VxYMhp7ICWOZwXhxNZqIAqDs8leMbTWNp9Y5M71wxiIKff1jL3mv5BodcVf+pwUb/kHO2V1L3lFOopmzmlNOinR1/9o9ooKm/ArS2p4fcPhuUpuSNo4RYsmCflxVVH1eevr6+7EGgvqXk3snHPNTveL5cXSDR20Ee6689f2O5BZIFx7up+k75l8zRWKeuHMkePBPMijKOFTwwYhi1KtNPhGJdEJSupvYL40nabIHSyjseZQ3BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RTwxHat6PPhnipjhk8LhQX",
      "input": {
        "note": "Pear released into the blue bowl. Lifting and moving over the lemon, which sits just in front of (base-side of) the blue bowl.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.2,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01RTwxHat6PPhnipjhk8LhQX",
      "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]: [-0.033, 0.8238, 0.6132, -0.45, -0.0139, -0.0319, 0.9989, 0.6811, 1.5146, 0.9966, -0.247, 0.4332, 0.2333, 0.9965]\nstate[eef_state]: left_x=0.2877 left_y=-0.0034 left_z=0.162 left_yaw=-0.0003 left_pitch=-0.0911 left_roll=0.0018 left_gripper=0.9989 right_x=0.3661 right_y=0.2059 right_z=0.147 right_yaw=0.181 right_pitch=-0.1136 right_roll=-0.099 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.4291, 7.1316, 1.663, -0.022, -0.0513, -0.0122, 0.1709, -8.1299, 8.3897, 1.5018, 0.2955, 0.2076, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14938ea92f60b222aab9690e5ecd98cb28fb22478aa6657306eecab33f4dedb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2f3ac2b3dbba77fee01270930f2650c3ed979b567b4fec7ce0d2d254cbeffed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:21af1a474700fa67e9b80410f5cab56a0459d7fa2252b8d82d7ef49b4b057469",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 3.896 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]: [-0.033, 0.8219, 0.6128, -0.4465, -0.0135, -0.0319, 0.9989, 0.4385, 1.7134, 0.8906, 0.0914, 0.2935, 0.1078, 0.7267]\nstate[eef_state]: left_x=0.2881 left_y=-0.0035 left_z=0.163 left_yaw=-0.0007 left_pitch=-0.0862 left_roll=0.0014 left_gripper=0.9989 right_x=0.4242 right_y=0.1464 right_z=0.0749 right_yaw=0.1209 right_pitch=-0.1274 right_roll=-0.0953 right_gripper=0.7267\nstate[joint_eff]: [-0.1983, -1.6615, 6.9812, 1.7656, -0.0317, -0.0317, -0.0122, 0.294, -8.6906, 5.3812, 1.9414, 0.3785, -0.0122, 0.4518]",
      "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]: [-0.033, 0.8219, 0.6132, -0.4492, -0.0139, -0.0319, 0.9989, 0.4393, 1.7134, 0.8837, 0.1143, 0.2916, 0.0963, 0.9956]\nstate[eef_state]: left_x=0.2878 left_y=-0.0034 left_z=0.1626 left_yaw=-0.0003 left_pitch=-0.0885 left_roll=0.0017 left_gripper=0.9989 right_x=0.4254 right_y=0.1477 right_z=0.0763 right_yaw=0.1301 right_pitch=-0.1131 right_roll=-0.098 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -1.347, 7.1453, 1.6972, -0.0171, -0.0464, -0.0122, -0.1709, -8.1162, 6.612, 1.5995, 0.0611, 0.1294, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.033, 0.8238, 0.6132, -0.45, -0.0139, -0.0319, 0.9989, 0.6811, 1.5146, 0.9966, -0.247, 0.4332, 0.2333, 0.9965]\nstate[eef_state]: left_x=0.2877 left_y=-0.0034 left_z=0.162 left_yaw=-0.0003 left_pitch=-0.0911 left_roll=0.0018 left_gripper=0.9989 right_x=0.3661 right_y=0.2059 right_z=0.147 right_yaw=0.181 right_pitch=-0.1136 right_roll=-0.099 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.4291, 7.1316, 1.663, -0.022, -0.0513, -0.0122, 0.1709, -8.1299, 8.3897, 1.5018, 0.2955, 0.2076, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14938ea92f60b222aab9690e5ecd98cb28fb22478aa6657306eecab33f4dedb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2f3ac2b3dbba77fee01270930f2650c3ed979b567b4fec7ce0d2d254cbeffed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21af1a474700fa67e9b80410f5cab56a0459d7fa2252b8d82d7ef49b4b057469",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjggKEAgSGAI4AUIIdGhpbmtpbmcSDFhQY68h+G32cw3rChoMHyPIJv6zCnCKITXWIjDoCiwVpMTS5WJSQwHCygmeA7qAZj2WS+rON5mhp+M9hkDTptX5UZm4aXoMz7xlcM8qqwes99yaB49XY3M4gysCCS5/1cQWAHlqNIA5ga7SCskGupWaI7rmn0cpjTWjNn0Ta4EZLd338yqBj4jaYsKrj/Uql7k8JkhuQ4YcyeajsLsIbcLW7J7hn01WdPkCAB/4F+LRGQ2XF2dzlbW8hllvAmaUoGrXna6Y4dMovzf5OXfF1oHil+0zIxjEOjkyZm+cKGN1Ii8kiqcC2RE0To2q2fLvnvcqaaHcmqHRbPFANgVAlZvKM5IZDnDIDReqyUlRkOBcdjhIo0P35cbQSEUu4mEGInUPuyOMilmpX2HBZ8yo1bLGqLnYFlkSP8TJhBU0W1nMoqQbE8UEojHwFhuMkuuX+GeOg13UtJRznsz3ipxz6SZaQd2cZGhp+UG+XvzyBn/nfDunaZLKvYUATVqmkUBnzT+Numjm7qy2VSKzK7bk3M2NgcJ6TBsYx8dYRS0jljBmKLfGtd6Sr8I4ubN6fjHbqk6S41l9iBQneV/LwMZxsYcBE8AIm0mEWvyHgBSzsKYoc+AkIySvn1GdIn+F7fduLPEtferKuqtN618CfwC8t+83lAPd7jcPs1RMgzboJuZMq2WtQms/lqqP3FbYJTNP4SBHt17uacfzPU6BSO1w98HPNqfcVGa7A7dpS3vDK/KyXYpl69CzIDYKOozVU0SkIfNavRfxbedZc9hgWgECB16GistTW7dRwvfd8Cbv8btIU++Cc1EGYVZ+vazbZFUkickiwa6s92FgoWbRwTXQ/FV89k1fQPAlz+V5Xclba92iEbDNoUxqqrsMAaxYX6x5r2jz496LSPGl+HPE7j2d5YDrftVbCOBqoYmtbb2YX7elHr0ASYlR7LZzJfQdBBlKNuO/RkhkZNHL4oeWyky6ycZnMaJ5zlBnAYel1Gcvw2S9NqFg4Df0ZnOJKBvrsn5l1Jp94LRf5NNCipTIFjR9qQo/PeWZmTgd7gixtyfyK2H0olSBKgdNfuL/YjLihJV5V0mfHm+sG1zknxZ5RS10vLzsFhuvGdwh5NQkMW5rHCxszzB9nUE6G8jyJYc7aekjQoRESUIK7EG47m8KEFX62QDLxZvwYEccDuz9gCqCjYEYstMB76/DchQ+E8JCRx6VaS8MCtPVf5IWGMOeLm+zm3Is6sfLdXDu7wSpMpLrOtFD2D8Eyu6M49CeojBzmMIS1/x4eg0kKoo56GVUvRhSmq+VoZvm/aWd/vdjtJg2yMxfFhGqC1TvX7Z3xCo4jw3YhmVRRBUjTbQGdvUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wi37cZr6ex5xcT1cPT8jUc",
      "input": {
        "note": "Lemon appears lower-left of the jaw column in the right wrist view; shifting left and slightly forward, and resetting yaw.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.225,
          "right_yaw": 0.0,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Wi37cZr6ex5xcT1cPT8jUc",
      "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]: [-0.033, 0.8246, 0.6128, -0.4515, -0.0139, -0.0319, 0.9989, 0.7338, 1.6035, 1.1053, -0.3607, 0.5335, 0.3443, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=-0.0034 left_z=0.1613 left_yaw=-0.0003 left_pitch=-0.0938 left_roll=0.0019 left_gripper=0.9989 right_x=0.368 right_y=0.2157 right_z=0.1434 right_yaw=0.0898 right_pitch=-0.1463 right_roll=-0.1262 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.4154, 6.9812, 1.6728, -0.0611, -0.0366, -0.0122, 0.9094, -7.8701, 6.4068, 0.9792, 0.486, 0.232, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03dac4020e2eacfdf4308dfa0e67d455b0e7e20d33486d6bb539d85540322857",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:002f4660f14a478f88bedafb5f620f3de7f6f2e6dd7ee5ba7c02406dba55dbb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:38717a8e48e5a724aef0f0770b1ca8998e60c4b2c75870a520adc127fd73516e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 5.259 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]: [-0.033, 0.8219, 0.6132, -0.4492, -0.0139, -0.0319, 0.9989, 0.4393, 1.7134, 0.8837, 0.1143, 0.2916, 0.0963, 0.9956]\nstate[eef_state]: left_x=0.2878 left_y=-0.0034 left_z=0.1626 left_yaw=-0.0003 left_pitch=-0.0885 left_roll=0.0017 left_gripper=0.9989 right_x=0.4254 right_y=0.1477 right_z=0.0763 right_yaw=0.1301 right_pitch=-0.1131 right_roll=-0.098 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -1.347, 7.1453, 1.6972, -0.0171, -0.0464, -0.0122, -0.1709, -8.1162, 6.612, 1.5995, 0.0611, 0.1294, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.033, 0.8238, 0.6132, -0.45, -0.0139, -0.0319, 0.9989, 0.6811, 1.5146, 0.9966, -0.247, 0.4332, 0.2333, 0.9965]\nstate[eef_state]: left_x=0.2877 left_y=-0.0034 left_z=0.162 left_yaw=-0.0003 left_pitch=-0.0911 left_roll=0.0018 left_gripper=0.9989 right_x=0.3661 right_y=0.2059 right_z=0.147 right_yaw=0.181 right_pitch=-0.1136 right_roll=-0.099 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.4291, 7.1316, 1.663, -0.022, -0.0513, -0.0122, 0.1709, -8.1299, 8.3897, 1.5018, 0.2955, 0.2076, 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]: [-0.033, 0.8246, 0.6128, -0.4515, -0.0139, -0.0319, 0.9989, 0.7338, 1.6035, 1.1053, -0.3607, 0.5335, 0.3443, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=-0.0034 left_z=0.1613 left_yaw=-0.0003 left_pitch=-0.0938 left_roll=0.0019 left_gripper=0.9989 right_x=0.368 right_y=0.2157 right_z=0.1434 right_yaw=0.0898 right_pitch=-0.1463 right_roll=-0.1262 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.4154, 6.9812, 1.6728, -0.0611, -0.0366, -0.0122, 0.9094, -7.8701, 6.4068, 0.9792, 0.486, 0.232, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03dac4020e2eacfdf4308dfa0e67d455b0e7e20d33486d6bb539d85540322857",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:002f4660f14a478f88bedafb5f620f3de7f6f2e6dd7ee5ba7c02406dba55dbb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38717a8e48e5a724aef0f0770b1ca8998e60c4b2c75870a520adc127fd73516e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSmAcKEAgSGAI4AUIIdGhpbmtpbmcSDB4qv/UUw46hQMK8tBoMZgmNZ9d3gp9WucD6IjBQqLz/omL1DNoPkLeLPl0vka05aSO+51eajZCjr03r1BP5yArwy04b/e1yHoF1rkwqtQYfCUX0dk5qY6udskaYqX8DopGzcya69UefySHkfrLoKmHN9odlTlxLHuvC9gHMiinWdgv/qFqYkJmGaxMtdpFNvXPVh5/p7gySbHcxIrwY9gAw81kt4xSM5kJSscWUJAzFyUmWXsYeSpNecT1iZ1+meyRApscHnL/XZFo0xT3/NceOid036KFWYK+m9xDdhATUEhh6lUuwwbK3K/x4POhE44I10H6mUQJTooLezYlkWk4UG9fzZxPHEIzxuNXgthYGyZEPTt3pLlTWwb2M8ffnzaCZNQ4t9aINOxzFf2euFT2JiwDpUsM7ZAOhJJuvK/LA2Wn/T2wTDgye8atWUOpEv+qLNA/DgDpGkG+6OCB/Wcz/Qc40aZpdg4N9rWQZ0dk1MPzqcVoN78kZl2DLvcuPSr/p+PHPXjl2VaudDi+mQUBhJwV3MINnnq1GxrUSi6QXlRhSXj3H1AEtnQuSmosNPLxUHVV2iMqTCcQwbe5tQtCd9w3OZg3aAYU5gASU8h5y3HVpklLYHGoHHBu95aUWtf6iWoyrlQtN0PXDilc1QCRk1RUHXP3pIYUX+QrMp7reYCAdJLHSPkCqGhxqxnHgilgOuvj8zonZFij1y/WiCVOPMxuo6DksuCFrfdeh6aaIFvPZC1cETUw5a3PoGKlAESnAZx1PF8o9At0kMdlc25+VRhNDkfeS/Ueg96OX8aoTw8amsn83iNM5VUjcJU1yKL9x2UO2YValy5LJ0ob3N4d7E4jKTcL5SVFXL3zVDTQPd73o4vXyB5pA7wMgbn/gsxZYT1e1TRZfakFY1hRQDwcb0cWWkKMqtvXKl6MNDtPK9e5tQdBSZ2ui1iC7o5nJ9mx/UhMZqvf2w5tDp3buMlnjaWTzy2V30dh/tjElhN+OiqPA09t++TZGnqquzijncufRlg6dLIPwccZd71C2c1zFHHWYyF7MlLHYA70ALDJV/9GVBrb+W/Ldy59aC+5+UcIfkj7Jry60nFu2K1LC/q3j2UrtsRO7dwp4a+g7KJggl3x1nAFobtR16hSuc6kvSlM/uZ1obFAU1pmlPFoJ6dQAsoG3dS750IEgfebeOvhogyUV5hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KC2zamLhNnvTNsMFcf2tUQ",
      "input": {
        "note": "Lemon still left of jaw column; continuing left/forward before descending.",
        "targets": {
          "right_x": 0.385,
          "right_y": 0.235,
          "right_yaw": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01KC2zamLhNnvTNsMFcf2tUQ",
      "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]: [-0.0349, 0.8284, 0.6128, -0.4679, -0.0139, -0.0319, 0.9989, 0.7685, 1.6924, 1.1397, -0.3721, 0.5911, 0.4381, 0.9966]\nstate[eef_state]: left_x=0.2851 left_y=-0.0039 left_z=0.1571 left_yaw=-0.0022 left_pitch=-0.114 left_roll=0.0026 left_gripper=0.9989 right_x=0.3697 right_y=0.2255 right_z=0.1235 right_yaw=0.0256 right_pitch=-0.1617 right_roll=-0.1326 right_gripper=0.9966\nstate[joint_eff]: [0.1026, -1.4838, 6.9538, 1.8339, -0.022, -0.0171, -0.0073, -0.335, -9.6342, 7.6103, 1.4383, 0.4762, 0.1978, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80051aca1acea5cd82b07800f437afb9872e717dcd975004b67eb283a5133393",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:965ad5c3c5b2a6845c7dfb3b25f08a23c24d96f225790b1e25b2c374aa9e9809",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a6ff71ea1d588daabf55c88aa94709a9c4a942c40d84bf1351fd0e76e545f30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 4.788 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]: [-0.033, 0.8238, 0.6132, -0.45, -0.0139, -0.0319, 0.9989, 0.6811, 1.5146, 0.9966, -0.247, 0.4332, 0.2333, 0.9965]\nstate[eef_state]: left_x=0.2877 left_y=-0.0034 left_z=0.162 left_yaw=-0.0003 left_pitch=-0.0911 left_roll=0.0018 left_gripper=0.9989 right_x=0.3661 right_y=0.2059 right_z=0.147 right_yaw=0.181 right_pitch=-0.1136 right_roll=-0.099 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.4291, 7.1316, 1.663, -0.022, -0.0513, -0.0122, 0.1709, -8.1299, 8.3897, 1.5018, 0.2955, 0.2076, 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]: [-0.033, 0.8246, 0.6128, -0.4515, -0.0139, -0.0319, 0.9989, 0.7338, 1.6035, 1.1053, -0.3607, 0.5335, 0.3443, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=-0.0034 left_z=0.1613 left_yaw=-0.0003 left_pitch=-0.0938 left_roll=0.0019 left_gripper=0.9989 right_x=0.368 right_y=0.2157 right_z=0.1434 right_yaw=0.0898 right_pitch=-0.1463 right_roll=-0.1262 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.4154, 6.9812, 1.6728, -0.0611, -0.0366, -0.0122, 0.9094, -7.8701, 6.4068, 0.9792, 0.486, 0.232, -0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0349, 0.8284, 0.6128, -0.4679, -0.0139, -0.0319, 0.9989, 0.7685, 1.6924, 1.1397, -0.3721, 0.5911, 0.4381, 0.9966]\nstate[eef_state]: left_x=0.2851 left_y=-0.0039 left_z=0.1571 left_yaw=-0.0022 left_pitch=-0.114 left_roll=0.0026 left_gripper=0.9989 right_x=0.3697 right_y=0.2255 right_z=0.1235 right_yaw=0.0256 right_pitch=-0.1617 right_roll=-0.1326 right_gripper=0.9966\nstate[joint_eff]: [0.1026, -1.4838, 6.9538, 1.8339, -0.022, -0.0171, -0.0073, -0.335, -9.6342, 7.6103, 1.4383, 0.4762, 0.1978, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80051aca1acea5cd82b07800f437afb9872e717dcd975004b67eb283a5133393",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:965ad5c3c5b2a6845c7dfb3b25f08a23c24d96f225790b1e25b2c374aa9e9809",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a6ff71ea1d588daabf55c88aa94709a9c4a942c40d84bf1351fd0e76e545f30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5ggKEAgSGAI4AUIIdGhpbmtpbmcSDCRiRQ2YVOjX0xAGoxoMDWCBXp4iY/0bDw92IjACxpaTiDshzuBRyn23AEhu8WQBbZhd65fFzZhw4YJ1Nzkuo75M8k00BZTMlcRmRKEqgwgwqZ6pFriQAggYauCSLXgdZ2jyM2YrxeikQ1oCUIcvTnVfbp4nEzZXkpOffgNkZzJwJcwG5DVSpXQ1twa6ry2eEj++9AJAVsJ1ERwG2o1oZDnYpJWOuadvFWTLtp43rXKVjEKnPfUa79CiUH2wQ6yzdMoFZkBajyz7aa8kfJZENwXha2m+b8LVQ7Jtuwsgf2PEQcfCw+oDOINDmIPEdl7NLC3hhZPq+fud3btLTj7/cs7y6vsDUYiSnoZ9ci71v3lkQYdV/QcknC0QFrNmg3F43wPBI5khbf7mvGtIC4kbaJd96yblPYqA4ax4U6hdUPAOCfwY8jEM0sQJ47nFle4WEpfV4pDNGtc5rPMIMgaluoqYIeqrdsVwzCgxPkbg3E5r+BaRgfAqmggr0w9Vsc2URY6CAJwmfOzXh7xOQhhc4xOg5D1GmT2hu437oiWBSvuQJplteh9XjKOnfJvOGs88suwJ9I4b5abABzcEGKJqS12aY4qJCFoErvvh4YlxxLG2QT9clS2jVgKB8k99WIloZJIt2/z+q6WmQYrXEnV2W3evAFvRyr1pOpx+AvZxg54N6wUYyolTok/duxFvl/L2kI+TgOCRpbvEL6EH9SsIHXt5H4YYzUEQfIiubplATcGYSOLOM2JFf6nYldlCjf7+KSy+uinYs5H7/Rvjnfjf6+l2iUjDw2enUQOe8iIL0pyw8JpOp3NBJlrvQo99glRg7uig2W9B7ySG9Zb67trXgahSC936ea9D74hY3ZwAYkg99C/EUb8XDF0zeuJVrZAB6V49ox0UoL/WQZYXhduJdsxDW4ictnPoT9pWt/phxBtC6zLnAjE54KS3mLPEs/gUoWHXaIfmwu4ZMT1Dej5c1JFQPPhQv5/xHGJzeBDqCxW2JewvGXR1nxoOtUy6Iss76TZIp9qUDVUFgjPkXiMld+U1NS0NkllISKYfQKkIsU0ppEXOAFlandRH10Mcd54DpRnV6WFgz+nQm4GOKTptFjE6eCejKURMvYb0nEJzZLV16NVpzRhE45rgfvIMoCebWi3op29l9SwYm3rOdmBdtBfJbDa+DxFajstknRHOLFeZA1nLLEZ36Gfk+ktoKEB8RUZNXAZg4aSJe1ghEJM2TmMKz+bUxc+Tk9Nb8sIM4t/S8ylV40NtP5TSpuPSRxNxPZYtgVEnOAvXG0189biBfx/R37+bCjIcYHupUt4dGDKrdvCqMqvvoRTVdGRxFAxTHGx1AC/enOpY/6LhXaiKObepKy+WIQdv5dY5pR3W65U5YZ9Yc6XbDC8g6t98Fg5dBnt69wKkJTeZGhuE6Bt32qjR1YSstwYLTOpmtBQBBblcU7/DuuBae+BnjbqrqROqgpnFGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013abRYhWFE2Y6AFPdjmAY2F",
      "input": {
        "note": "Lemon is just left of the jaw column and near the bottom of the wrist view (so slightly ahead of fingertips); descending onto it with a small forward/left offset.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.24,
          "right_yaw": 0.0,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_013abRYhWFE2Y6AFPdjmAY2F",
      "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]: [-0.0349, 0.8284, 0.6132, -0.4694, -0.0139, -0.0319, 0.9989, 0.7685, 1.6924, 1.1397, -0.3717, 0.5911, 0.4381, 0.9966]\nstate[eef_state]: left_x=0.285 left_y=-0.0039 left_z=0.157 left_yaw=-0.0022 left_pitch=-0.1152 left_roll=0.0026 left_gripper=0.9989 right_x=0.3698 right_y=0.2255 right_z=0.1236 right_yaw=0.0257 right_pitch=-0.1614 right_roll=-0.1323 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.4154, 7.0769, 1.7021, -0.0464, -0.0171, -0.0122, -0.1846, -9.812, 7.5009, 1.4335, 0.4518, 0.188, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b13a44052169aae40661e04a9600bacc5894fee55890d45b0421abb90e920e32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3c122d2b2e9a97bd05e28fadc7c941aca08a7b228d17c8454b0f9a984cfc913",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b61548187d156e110413ca6ae2c831fc3c74089d6d949f115814f64002927daa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 4.628 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]: [-0.033, 0.8246, 0.6128, -0.4515, -0.0139, -0.0319, 0.9989, 0.7338, 1.6035, 1.1053, -0.3607, 0.5335, 0.3443, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=-0.0034 left_z=0.1613 left_yaw=-0.0003 left_pitch=-0.0938 left_roll=0.0019 left_gripper=0.9989 right_x=0.368 right_y=0.2157 right_z=0.1434 right_yaw=0.0898 right_pitch=-0.1463 right_roll=-0.1262 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.4154, 6.9812, 1.6728, -0.0611, -0.0366, -0.0122, 0.9094, -7.8701, 6.4068, 0.9792, 0.486, 0.232, -0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0349, 0.8284, 0.6128, -0.4679, -0.0139, -0.0319, 0.9989, 0.7685, 1.6924, 1.1397, -0.3721, 0.5911, 0.4381, 0.9966]\nstate[eef_state]: left_x=0.2851 left_y=-0.0039 left_z=0.1571 left_yaw=-0.0022 left_pitch=-0.114 left_roll=0.0026 left_gripper=0.9989 right_x=0.3697 right_y=0.2255 right_z=0.1235 right_yaw=0.0256 right_pitch=-0.1617 right_roll=-0.1326 right_gripper=0.9966\nstate[joint_eff]: [0.1026, -1.4838, 6.9538, 1.8339, -0.022, -0.0171, -0.0073, -0.335, -9.6342, 7.6103, 1.4383, 0.4762, 0.1978, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0349, 0.8284, 0.6132, -0.4694, -0.0139, -0.0319, 0.9989, 0.7685, 1.6924, 1.1397, -0.3717, 0.5911, 0.4381, 0.9966]\nstate[eef_state]: left_x=0.285 left_y=-0.0039 left_z=0.157 left_yaw=-0.0022 left_pitch=-0.1152 left_roll=0.0026 left_gripper=0.9989 right_x=0.3698 right_y=0.2255 right_z=0.1236 right_yaw=0.0257 right_pitch=-0.1614 right_roll=-0.1323 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.4154, 7.0769, 1.7021, -0.0464, -0.0171, -0.0122, -0.1846, -9.812, 7.5009, 1.4335, 0.4518, 0.188, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b13a44052169aae40661e04a9600bacc5894fee55890d45b0421abb90e920e32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3c122d2b2e9a97bd05e28fadc7c941aca08a7b228d17c8454b0f9a984cfc913",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b61548187d156e110413ca6ae2c831fc3c74089d6d949f115814f64002927daa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoAgKEAgSGAI4AUIIdGhpbmtpbmcSDBct8+/ZZVamGZ5rChoMk5enK939xCntA4KWIjCYv0vnEcPlPeDsZza8+DEk4qKqIjr9Pm+6/dgFts4lxgLjqHEeBJCGSw59SbufwD8qvQfUrBj5lj3ttrn/iBCgrrf0C2rqfs8MuA0vvscLFHuaXoENBVk6Ju+wTQY7Tkt9hToFVYI14A+nUK+1uLF1X8MYVElXVhW5e069aKKxCOHRy/IoZQedVhePyAwN4uwNYauNm8zGbhKrxtf83RGPLuPuu39z9jm4lGcgZJXbGN/VWvKiw/VpLCy/gf3nwXhkZphe7qsbDTsHYzxFy8mrW0jkAmnX1V8ha8Ds1RwibFkUDJf9KFjJTX6eUgbpq4QVVJoTwaPkmcwgUKZz6kJ8iootaFOr2ozPcuigL7YjvEz5bpxPSpyt2j4bAGIc/lYMPa6xhnL4jTGSdYVlAGlMavV+r2k+lpgG9/4ivbPeA5bhtFakRwfDdbA7O8r694u3jsHDwP4KSKVKbA1dCWE8iRi1qjyEGEZyPRN28gwagwUhBoDl5xuWjN2ppGZIrpTn8/aCFcW2xRZuaigtFm5hklMpfu3mNh8ZNlDRUhNTGdlRD6oP6iVfmaD9bWc10FpFHv3+J7GCmkG51ILzNjDDlHHOqsWWoUPY/yWhxM45RsR+GYPSAlp87dYjhx5JiKpg3/lIkLGrLRLoBSxv1+pJCPcJQHTXgxJHd+xiZNq/kJ/sT+YeoGg8XJ2+CztJY70Q5Wmj/S4JuiVoKW5vRKo9GM1MqXx79mdo8UPfn4okl3+G/oVeqQM+ZPBk+W+SGgQaCWrSyYn6LFvGWsNBVyuKNnajkMQh3eC7M0BhDaISlWzA2zrkfo0G9CR2ELCUoKGDiSHZ5Unov34pLUyJ03LDli90NnK6Vy3xzHvu1HLyViXjUfqdpqVrdBJ0h67H4GVL5HYQk7nnYuMupOz2CTuCv3pWc7IB63rs04ApvFXkfnyFCXBHkJz79ApgJ9fBrwfkkUvMcXdXySp7GwqZFXrFV/eaTFHYFoQ3q4cebmSJffEV76qKHgs32AuXDnapdTqIl1nRzoPi7wRPbcSHu2U576FdoQ99MynaZYabK+q9FNIsLn1QwWulMD5MT1qQH3R06umJCHmlUa7Pl7wYQ2OyOBkcPYizF1XQSbBexmr6WCMdNSG2r6Cqr7lPk2gJa/sbHHGX3j7G9GsUPthGMKUBx7T2dzNNf2P8aI516xKZVUT28Twh2A9l2CcE9AD/g9s8mxdAADKkLf/fDObLt16O+YHdIpnX0r9IZnI+azdlbTWG+gHdWyNLxQm0edDDf4LUjGtMCgzgIjv861iMpXqz0p2Izi1YYkrHU7LHCJF9C4aZBHDTyi+bfEku06ORAkoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J2rR4XoLuWWEyo9MMN82pz",
      "input": {
        "note": "The right arm held position on the last command (possibly an awkward IK target); retrying a smaller descent with pitch/roll explicitly zeroed.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.385,
          "right_y": 0.235,
          "right_yaw": 0.0,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01J2rR4XoLuWWEyo9MMN82pz",
      "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]: [-0.0349, 0.8333, 0.6128, -0.4759, -0.0139, -0.0322, 0.9989, 0.7704, 1.8332, 0.8951, 0.0582, 0.606, 0.4385, 0.9966]\nstate[eef_state]: left_x=0.2841 left_y=-0.0039 left_z=0.1543 left_yaw=-0.0019 left_pitch=-0.127 left_roll=0.0027 left_gripper=0.9989 right_x=0.3682 right_y=0.2221 right_z=0.0391 right_yaw=0.0212 right_pitch=-0.1207 right_roll=-0.1101 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.7983, 6.9538, 1.6777, -0.0708, -0.0464, -0.0122, -0.0068, -8.5265, 5.9282, 1.6923, 0.4664, 0.2076, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50ad325a2a683cf8a089a86583c16afee94107fde6915bc08117d42769ca4155",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25be1a4d5f719d40bac48aa449d54f5a7b430c7c20ff05d549a3f8015232985e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43025a384ab56f7d06b46dc9ff5419b82e9ce5454de4d96d5f92716fbd93c7c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 2.831 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]: [-0.0349, 0.8284, 0.6128, -0.4679, -0.0139, -0.0319, 0.9989, 0.7685, 1.6924, 1.1397, -0.3721, 0.5911, 0.4381, 0.9966]\nstate[eef_state]: left_x=0.2851 left_y=-0.0039 left_z=0.1571 left_yaw=-0.0022 left_pitch=-0.114 left_roll=0.0026 left_gripper=0.9989 right_x=0.3697 right_y=0.2255 right_z=0.1235 right_yaw=0.0256 right_pitch=-0.1617 right_roll=-0.1326 right_gripper=0.9966\nstate[joint_eff]: [0.1026, -1.4838, 6.9538, 1.8339, -0.022, -0.0171, -0.0073, -0.335, -9.6342, 7.6103, 1.4383, 0.4762, 0.1978, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0349, 0.8284, 0.6132, -0.4694, -0.0139, -0.0319, 0.9989, 0.7685, 1.6924, 1.1397, -0.3717, 0.5911, 0.4381, 0.9966]\nstate[eef_state]: left_x=0.285 left_y=-0.0039 left_z=0.157 left_yaw=-0.0022 left_pitch=-0.1152 left_roll=0.0026 left_gripper=0.9989 right_x=0.3698 right_y=0.2255 right_z=0.1236 right_yaw=0.0257 right_pitch=-0.1614 right_roll=-0.1323 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.4154, 7.0769, 1.7021, -0.0464, -0.0171, -0.0122, -0.1846, -9.812, 7.5009, 1.4335, 0.4518, 0.188, -0.0171]",
      "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]: [-0.0349, 0.8333, 0.6128, -0.4759, -0.0139, -0.0322, 0.9989, 0.7704, 1.8332, 0.8951, 0.0582, 0.606, 0.4385, 0.9966]\nstate[eef_state]: left_x=0.2841 left_y=-0.0039 left_z=0.1543 left_yaw=-0.0019 left_pitch=-0.127 left_roll=0.0027 left_gripper=0.9989 right_x=0.3682 right_y=0.2221 right_z=0.0391 right_yaw=0.0212 right_pitch=-0.1207 right_roll=-0.1101 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.7983, 6.9538, 1.6777, -0.0708, -0.0464, -0.0122, -0.0068, -8.5265, 5.9282, 1.6923, 0.4664, 0.2076, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50ad325a2a683cf8a089a86583c16afee94107fde6915bc08117d42769ca4155",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25be1a4d5f719d40bac48aa449d54f5a7b430c7c20ff05d549a3f8015232985e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43025a384ab56f7d06b46dc9ff5419b82e9ce5454de4d96d5f92716fbd93c7c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9gcKEAgSGAI4AUIIdGhpbmtpbmcSDCacowTk9rq09KipOxoMkt5K/8Z6bO6CR8TyIjC5nCz6dKjjZLwOWm+q3w9RYRWJNqS9O6Sm/EYEhGSfPmfOtSiv9Tt3hL0Z+f7S0EEqkwdpbu1n9NX4emKq7vT/4FnHwhI4JEwQ2W5kh2GvmD8VGQtQhPhaCuSStfxk0lPiOcnIfP4UfibAZs2qkLxKe6kEmK9tb8+gh8nnQdVzHwvw285C5IFkDD041kOuTm7Ncz5O1XKoZ30ie9nts7WkkVXhHgM4RCd5OihTQKupOxyZCDm8GuLZldTxG6hmmkfybOiq+q08oRiy0vIBphzjwZYifgvyJNsH0YTSmPrX+7fLPeU0G2E0j1uVDZ2jT+bkh6bXqQhvm5RW1DbsshifmK3Trdg2rZGDiWQoo51uiWov13JQB2JTbHIT964FPWyv8mSw4+pm4eJUPi0WCY2esHKgkj6Xac8uYaTZUnG7VtXFeCy8de40h5ebINIixAX2Fe1IQj7tCckaEdoHxzx+E6P/Dx+zS0hXluR/b/jtGbHlFCL+AnNzVCojhkfV57ebaaBU6fRWx188VKeWNUSxujy1SIvztIJJBAxDKfR67VlDVAAcRERfNV3aPZCfsmI+PIz04i4gQs5O+p91FQgAqlc9WE+3JFurXfHHBZzu8JV41NnBTSSkQFKeSuxZm4u6LRtuqFNqNzp63ry3ui8crrjH0IX32z+nlel27Mle3Vn4rtx2f9akWVeKRUg2gA7CoOxq+8NTs6biR3iq+LW20Z6OK5b9KLbTF+O+X2myTFm7nayyGcnAgGj+02wpA96eU5CTNBthbbKSR9eJfS4aCB31vSpi6P91/q2yG7UYL2k2zQGeXSTSkVSomZWJSpKa9vIMrR+z87evvjH7CPctcBGKl5AfG6JzAdSllwv4hoREZsijifeVuYupPBTWev2vsBEg5QSacqw31E7GSv6eSB46M2w2T3ihwvr/92A179a7nvu83lCcrNusB7E4K1zOfM2wVOKzNqL0TkWbgWS4xbeit4LMRBQTUBarzIwQI+lcLR7nEB4g2QgEa5aPIN+qO1zq2ZLqDghWgWfscQdW81Lbck+9M5JDvAkmCmG/WX4l2I3xeDv99Wyvio/GYx9VnGb5v42SZi6K98RInRO9cHr6vqPPhsmXntvF+4UGMVU/8i6iL/Vu6570n1edJN/V7oaGluLXE7upLyTJKGDJ3OYJBSwZ01JVpgaQD6IFntTNAITQGy1F+lgOyg0d2cR4gZOFHjcCzBee2QOzmIYRJLaOvfaV4KaKSAHi1dbTmz/YshRSuy7Fyy6wCiseuiSMeOKeejgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013wEvxfejxLWiempGtwjKMp",
      "input": {
        "note": "Lemon is centred between the right jaws, just ahead; final descent to lemon mid-height.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.39,
          "right_y": 0.232,
          "right_yaw": 0.0,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_013wEvxfejxLWiempGtwjKMp",
      "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]: [-0.0353, 0.8341, 0.6128, -0.4763, -0.0139, -0.0322, 0.9989, 0.762, 1.9804, 0.8459, 0.3511, 0.6125, 0.4377, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.004 left_z=0.154 left_yaw=-0.0023 left_pitch=-0.1281 left_roll=0.0027 left_gripper=0.9989 right_x=0.3825 right_y=0.2296 right_z=0.0062 right_yaw=0.0141 right_pitch=-0.0467 right_roll=-0.0483 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.3333, 7.0085, 1.6484, -0.0757, -0.0659, -0.0122, -0.8274, -8.7316, 4.6154, 1.6728, 0.2125, 0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7196a3f3e151e5422c4043727f8fea8300838d858094be30bb0757a02b79b6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73a61dc81c10b6add5da2b39e3ed7d9a6561c3e465496f42cf353943dfff7d98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a352c471c32e581d8a1f30f55e813e84cf7d6ca6ca3b822c7565fb51d6dbde9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 3.908 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]: [-0.0349, 0.8284, 0.6132, -0.4694, -0.0139, -0.0319, 0.9989, 0.7685, 1.6924, 1.1397, -0.3717, 0.5911, 0.4381, 0.9966]\nstate[eef_state]: left_x=0.285 left_y=-0.0039 left_z=0.157 left_yaw=-0.0022 left_pitch=-0.1152 left_roll=0.0026 left_gripper=0.9989 right_x=0.3698 right_y=0.2255 right_z=0.1236 right_yaw=0.0257 right_pitch=-0.1614 right_roll=-0.1323 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.4154, 7.0769, 1.7021, -0.0464, -0.0171, -0.0122, -0.1846, -9.812, 7.5009, 1.4335, 0.4518, 0.188, -0.0171]",
      "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]: [-0.0349, 0.8333, 0.6128, -0.4759, -0.0139, -0.0322, 0.9989, 0.7704, 1.8332, 0.8951, 0.0582, 0.606, 0.4385, 0.9966]\nstate[eef_state]: left_x=0.2841 left_y=-0.0039 left_z=0.1543 left_yaw=-0.0019 left_pitch=-0.127 left_roll=0.0027 left_gripper=0.9989 right_x=0.3682 right_y=0.2221 right_z=0.0391 right_yaw=0.0212 right_pitch=-0.1207 right_roll=-0.1101 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.7983, 6.9538, 1.6777, -0.0708, -0.0464, -0.0122, -0.0068, -8.5265, 5.9282, 1.6923, 0.4664, 0.2076, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0353, 0.8341, 0.6128, -0.4763, -0.0139, -0.0322, 0.9989, 0.762, 1.9804, 0.8459, 0.3511, 0.6125, 0.4377, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.004 left_z=0.154 left_yaw=-0.0023 left_pitch=-0.1281 left_roll=0.0027 left_gripper=0.9989 right_x=0.3825 right_y=0.2296 right_z=0.0062 right_yaw=0.0141 right_pitch=-0.0467 right_roll=-0.0483 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.3333, 7.0085, 1.6484, -0.0757, -0.0659, -0.0122, -0.8274, -8.7316, 4.6154, 1.6728, 0.2125, 0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7196a3f3e151e5422c4043727f8fea8300838d858094be30bb0757a02b79b6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73a61dc81c10b6add5da2b39e3ed7d9a6561c3e465496f42cf353943dfff7d98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a352c471c32e581d8a1f30f55e813e84cf7d6ca6ca3b822c7565fb51d6dbde9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WwnRhTtzes1zeNuHe7JGHj",
      "input": {
        "note": "Lemon is between the jaws at table level; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WwnRhTtzes1zeNuHe7JGHj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0349, 0.8341, 0.6128, -0.477, -0.0135, -0.0322, 0.9989, 0.7563, 1.9903, 0.8398, 0.4229, 0.6128, 0.4377, 0.5376]\nstate[eef_state]: left_x=0.2839 left_y=-0.0039 left_z=0.1539 left_yaw=-0.0022 left_pitch=-0.1289 left_roll=0.0025 left_gripper=0.9989 right_x=0.3892 right_y=0.2324 right_z=0.0113 right_yaw=0.0091 right_pitch=-0.0057 right_roll=-0.0106 right_gripper=0.5376\nstate[joint_eff]: [-0.0615, -1.3744, 6.9128, 1.6337, -0.0024, -0.0513, -0.0122, -0.0615, -8.6496, 4.6017, 1.6288, 0.1832, 0.0904, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6cd91ec0ae75df7a512b28434b02a730b2be0cc593de47eb5f616744a4de014",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52d98d1c77c8f870f4d6601adb8084130a149b0490b0a45bc5484a948eb012ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8b6ff88e1114cb971cb33c205951e1f4034e2a6c07824c5bbcb1ce695d9c9132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /messages · status 200 · 6.045 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]: [-0.0349, 0.8333, 0.6128, -0.4759, -0.0139, -0.0322, 0.9989, 0.7704, 1.8332, 0.8951, 0.0582, 0.606, 0.4385, 0.9966]\nstate[eef_state]: left_x=0.2841 left_y=-0.0039 left_z=0.1543 left_yaw=-0.0019 left_pitch=-0.127 left_roll=0.0027 left_gripper=0.9989 right_x=0.3682 right_y=0.2221 right_z=0.0391 right_yaw=0.0212 right_pitch=-0.1207 right_roll=-0.1101 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.7983, 6.9538, 1.6777, -0.0708, -0.0464, -0.0122, -0.0068, -8.5265, 5.9282, 1.6923, 0.4664, 0.2076, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0353, 0.8341, 0.6128, -0.4763, -0.0139, -0.0322, 0.9989, 0.762, 1.9804, 0.8459, 0.3511, 0.6125, 0.4377, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.004 left_z=0.154 left_yaw=-0.0023 left_pitch=-0.1281 left_roll=0.0027 left_gripper=0.9989 right_x=0.3825 right_y=0.2296 right_z=0.0062 right_yaw=0.0141 right_pitch=-0.0467 right_roll=-0.0483 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.3333, 7.0085, 1.6484, -0.0757, -0.0659, -0.0122, -0.8274, -8.7316, 4.6154, 1.6728, 0.2125, 0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0349, 0.8341, 0.6128, -0.477, -0.0135, -0.0322, 0.9989, 0.7563, 1.9903, 0.8398, 0.4229, 0.6128, 0.4377, 0.5376]\nstate[eef_state]: left_x=0.2839 left_y=-0.0039 left_z=0.1539 left_yaw=-0.0022 left_pitch=-0.1289 left_roll=0.0025 left_gripper=0.9989 right_x=0.3892 right_y=0.2324 right_z=0.0113 right_yaw=0.0091 right_pitch=-0.0057 right_roll=-0.0106 right_gripper=0.5376\nstate[joint_eff]: [-0.0615, -1.3744, 6.9128, 1.6337, -0.0024, -0.0513, -0.0122, -0.0615, -8.6496, 4.6017, 1.6288, 0.1832, 0.0904, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6cd91ec0ae75df7a512b28434b02a730b2be0cc593de47eb5f616744a4de014",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52d98d1c77c8f870f4d6601adb8084130a149b0490b0a45bc5484a948eb012ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b6ff88e1114cb971cb33c205951e1f4034e2a6c07824c5bbcb1ce695d9c9132",
        "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+gcKEAgSGAI4AUIIdGhpbmtpbmcSDKFR1YzWdkBaTilisxoMIIePP3MPdImTZ4RlIjBWTmrnH+/1jimEfbxadRiKsllT6hyfh5iarKvwU796ju9yyuCpn85dotZjrI6EP4gqlwcTifS8vrFMT7IUBKbomI0S1/G9qpC0aw7znYVgEqF0AXzrfWjUr9WJu/gZoj80MtRCuPzsHmZSvK75tbu9rg3Pa65I5t0+andzQG3MXUDEgJ8PHLgX0eW4qrmC+4/Vfq8ngWQPOBcGZCZpYBs2CJVv01xvuabwTjVZaAo0k+yvoMiV31NdvtxDoARGR36cLSkIF/CJauVowh2N1KwGAaw6zXtmtG4cVfB3ihWLLjINXUYijJRqHkpmnzyObrGB6BTBb6VD6Ua4Sdn3KwO9oBOaFSwITI05uguukfXBZTgAFizKrzCqwKveh8Gfm5bEXMFyVJb/DwpDlYgETMVZET9G1KQU71HP+AI+get5GbEgQFqoLoLFCh33IQFJX7w6SHApt1dbxa/AjHrnLxO03b3o6T3zhJZcJQyXAhHJkXWx6K6OISLHPXpN1mn5NvmT5Fu1Dg0rWaNtncLVb1aq0lqRQ5GIvT/AE4VeHi3Tuqm0SPp3dip4WtcJivu2b+WQmbeDJIjzjqn8P1pj4NW3TAx+ndlZtg49SuYsCvkfoitJUqQpYCjdj0DIvBOdNqBaetgrQysdnLnJc3h9QD4k0aN+PCIPhC05Ldy5s/riQ65UccRGLtp5reZPkozBGUwObLn0czMnEvoQdge5pQXLRkcJ3etU0tWJ96tNw8eXp9ylFoxnd+FspQ9OoqFtq1tGfthla/YGFjjGrmNo4jWk9Cvd9a7s0zhk/pgsA1UAFRYaczR0U/5hhqbwLxWdqmMXvfLJgJI0u2AzL5nxP3nUk4R8kacp1d4g+LRlCJF7ux+SNW7oDOSps0NgMVN+XasZ8f1wfjTAsaojdcFohLirRAbRLrDLDwfoFZj+nkAOMQksmSGjJV5SX/sqHlTPzLPZOr1qVLFrHAYEjS7KEU4FVQv4sDFO648xZxOBw4Jf0sFqFwH0oTcYVBT0S4vgI9L+e+W8xeU/3G9RoIUVqpTPHUDF76mUIboa+HjHKfO6wxxhQ6b+E/CuDrRFCK0msvkjCHnDeNRaKha8kMSQJiLaSdUiXD4g7lMvYUkgjw1jXrJdQXdpYaLpzFqMeScsgMWIWUFK17+qzMtL0PuXmEKYeuvBtkvt3B1A3t4BGiCzIkZJkGVIVJCQgaBjyrPzF2/YMaltHCEs0/yKiETD2OfNpAvS+/zBa0UslUrNwdBIny8OC93YxhoGAi6YAY6smHPf6RbzurF/QHvKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WRoNy4yhDQreFnrPT8DGqL",
      "input": {
        "note": "Gripper settled at 0.54 (~5 cm): lemon grasped. Lifting before moving over the blue bowl.",
        "targets": {
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WRoNy4yhDQreFnrPT8DGqL",
      "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]: [-0.0349, 0.8387, 0.6132, -0.4911, -0.0139, -0.0322, 0.9989, 0.757, 1.6878, 1.0771, -0.1413, 0.6052, 0.4343, 0.5392]\nstate[eef_state]: left_x=0.2819 left_y=-0.0038 left_z=0.1502 left_yaw=-0.0018 left_pitch=-0.1472 left_roll=0.0034 left_gripper=0.9989 right_x=0.3888 right_y=0.234 right_z=0.1359 right_yaw=0.0171 right_pitch=-0.0272 right_roll=-0.0262 right_gripper=0.5392\nstate[joint_eff]: [-0.0889, -1.812, 7.0769, 1.707, -0.0464, -0.0366, -0.0122, -0.1162, -10.5778, 8.5402, 1.6093, 0.3101, 0.0122, 0.7106]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:709119b38b311ed2b5fefe1827988a1d23c67da46aa6dedce213f5adc0f64dab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a94934a991f01cd285f57bcb737f27abb1b92ff09072248ae195263636f1a943",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6752a62bfb8e011b0145fab45feec97b56c8535a210eca04184a4aacab42e390",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 4.823 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]: [-0.0353, 0.8341, 0.6128, -0.4763, -0.0139, -0.0322, 0.9989, 0.762, 1.9804, 0.8459, 0.3511, 0.6125, 0.4377, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.004 left_z=0.154 left_yaw=-0.0023 left_pitch=-0.1281 left_roll=0.0027 left_gripper=0.9989 right_x=0.3825 right_y=0.2296 right_z=0.0062 right_yaw=0.0141 right_pitch=-0.0467 right_roll=-0.0483 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.3333, 7.0085, 1.6484, -0.0757, -0.0659, -0.0122, -0.8274, -8.7316, 4.6154, 1.6728, 0.2125, 0.105, -0.0171]\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]: [-0.0349, 0.8341, 0.6128, -0.477, -0.0135, -0.0322, 0.9989, 0.7563, 1.9903, 0.8398, 0.4229, 0.6128, 0.4377, 0.5376]\nstate[eef_state]: left_x=0.2839 left_y=-0.0039 left_z=0.1539 left_yaw=-0.0022 left_pitch=-0.1289 left_roll=0.0025 left_gripper=0.9989 right_x=0.3892 right_y=0.2324 right_z=0.0113 right_yaw=0.0091 right_pitch=-0.0057 right_roll=-0.0106 right_gripper=0.5376\nstate[joint_eff]: [-0.0615, -1.3744, 6.9128, 1.6337, -0.0024, -0.0513, -0.0122, -0.0615, -8.6496, 4.6017, 1.6288, 0.1832, 0.0904, 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]: [-0.0349, 0.8387, 0.6132, -0.4911, -0.0139, -0.0322, 0.9989, 0.757, 1.6878, 1.0771, -0.1413, 0.6052, 0.4343, 0.5392]\nstate[eef_state]: left_x=0.2819 left_y=-0.0038 left_z=0.1502 left_yaw=-0.0018 left_pitch=-0.1472 left_roll=0.0034 left_gripper=0.9989 right_x=0.3888 right_y=0.234 right_z=0.1359 right_yaw=0.0171 right_pitch=-0.0272 right_roll=-0.0262 right_gripper=0.5392\nstate[joint_eff]: [-0.0889, -1.812, 7.0769, 1.707, -0.0464, -0.0366, -0.0122, -0.1162, -10.5778, 8.5402, 1.6093, 0.3101, 0.0122, 0.7106]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:709119b38b311ed2b5fefe1827988a1d23c67da46aa6dedce213f5adc0f64dab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a94934a991f01cd285f57bcb737f27abb1b92ff09072248ae195263636f1a943",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6752a62bfb8e011b0145fab45feec97b56c8535a210eca04184a4aacab42e390",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmQoKEAgSGAI4AUIIdGhpbmtpbmcSDOd+9ZcyEiyecs8LphoM7ChyL5dszxMuwPQ4IjCuxg/GTr58uGhnNM/S5FePghhpb57snYQgdmhV/mRdWnoDS5gN90sj/bYIaHcT8SIqtgldgqrT/qEGdAUSPfbYHESPx9QClGXWoKhpkdd2kVi/46Ni5oh/ZPMesyt9WmvyMuBd6pEVZXaR6yC8WgBRgR4kleSxJSxb/F1unPzDoYfZgFc2kFEd2GHZAqJoqOFhVAJnJdQn8BZj1/9/MDrPprTmNC+tdgYpFS5sqWrR8fMK2s117XtJ19Nv2OkKzBTy3xuVxlozzMoHfd7j1QDmrnBt6WiDuDOfEYHoVprdmiGq59LR9aNqdtfbWLri7h0c+up/nNw23hFKQCIcYQjF0Azfr+Vb8IxuoiBzC9+MJ+ln2JUk6w7nM6NhrF7UzU3faIkND4QTrDHwTMoOjtbqJWy0WgQi8YHZrV0bjtMiVEv0wMmn6Urk8E8gE4GTZvYPGsZHrdbHNEzcwJXDDuc8lh0wibAhoCHkvQ1h6qpDe0e4LuKgpRgKTOw5Y2Gx6TCCTyi+F0hP/HUREPmAlLa9DNpeeQxzti4yH96Un9mOHBRGeewQAAfV1pJcZW8DW0qKpScK7F092JyMcsnUWWcajgwYl/Pxg9uZZyC9m9w1RlN8VX6r/dZa+Pm64i16KGDrF6hNtOF33hahH9N5mEKGsmjq+vYBkHPTheEXnT7pxrzav1FelYaIcHuW3PN6pcroUQ/j+r6YmEpDFw8C0EGf2WoP0+tQYYalC3wzGltbtx3HlN7lERUUSfsOLMueWcpDs/xGfHcHUzaaOjsAx+vt+iVKvSXRDAoYaPXIbpuVzjtnRJJIi85bCOFlwuKC+eLY5h3IxXB7l0VE4I52SmqbymLglcCZ0HcWg3qkEE9ALM+PiYSZuudHRW1QL+FjX9wL+goX7zR2vKGJi5OejJvSOakW3uWnG04qvIsTQMolaFEL/AHa1jsal3wkCGxThibzQ2vM1FUMOJUxS8l3dykqRlLVIzIeFp3kVRE/WapaD2RxUDOYyqrqDDDaNcPOVkX9H29IH4gwfP4nurZ3SG1z1QERBDMsyxea7Dx9CRUQOE5T+hWeZSmJUVfLXQUiMOhzi2a6WrUgH/algrPi9GQ7m4gY46N+62m6LXHHwB6a23gt7gkyt3wLMOwrBuedeiG2d6zzlODOoymHO2vVgmebp8asEje+fjhYb9kbAmTQj9wGrPFvRCYT0ecOMDK8CIkeGukol7RheSn/LfxWW2E5Ml9gV2H0+3F962P7aRyyZsU4j4Td7CqiNkTXhJDI7qkmHzq8AcUcxgWH1idtEbjLrIkMycMU0ffM8reDJrgDZQY3kmS38kAOF8cM7inXBfldYdY55WH3z2piVDi8yXflCs5eR7XXTYn+Buz8uXb3hjrNz+p9XT/+mhvafEyp6355FU42tsVRqiSKB04I7/uTLYaaHe90HBFTqbcN1gsbWCpOs70tv57anU5OJ8fDJT73KQEWG4cwUdvYDxkZjiVl68qk0YoeeKUW2vzG+H+yf7jFsKPwDS5T78+Zn7f2wIELrfN4ed5XMg7mIMS/PIGTTUeIMUFtWGw1L3pmZUDjQZFS4CoUy2FcKDfSBZdRkKbcCz2KismFe3woyNPZUpiEtaI1x44PQohvNVOkocuwAp3Krxl7GCaPhvCdvpNjk7XnT7WiB/8TWXAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013hFj2r5bQsWKFkA112SuqA",
      "input": {
        "note": "Lemon held; the blue bowl (with pear) lies ahead-right in the wrist view. Moving over the bowl's free right side.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.15,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_013hFj2r5bQsWKFkA112SuqA",
      "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]: [-0.0349, 0.8402, 0.6128, -0.4927, -0.0139, -0.0322, 0.9989, 0.4824, 1.6661, 1.0294, -0.0784, 0.4053, 0.2417, 0.5395]\nstate[eef_state]: left_x=0.2817 left_y=-0.0038 left_z=0.1493 left_yaw=-0.0018 left_pitch=-0.1506 left_roll=0.0035 left_gripper=0.9989 right_x=0.4323 right_y=0.1518 right_z=0.1251 right_yaw=0.0022 right_pitch=-0.078 right_roll=-0.0521 right_gripper=0.5395\nstate[joint_eff]: [-0.0889, -1.4291, 7.1179, 1.6581, -0.0415, -0.0317, -0.0122, -0.2667, -9.6342, 6.4068, 1.9023, 0.1343, 0.0708, 0.7204]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65033ef6de58cbfb0aeb79c342545bb4954fcc2fc8bc7f8df26839610f312617",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e422296e85ca7431cf4a6354ed2e22cc2b3ee1e87811cb948cc93d77fb4e4665",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6b55316fd118753ff7417c08964f90c701c81bb2d204267e21633952882090b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 4.401 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]: [-0.0349, 0.8341, 0.6128, -0.477, -0.0135, -0.0322, 0.9989, 0.7563, 1.9903, 0.8398, 0.4229, 0.6128, 0.4377, 0.5376]\nstate[eef_state]: left_x=0.2839 left_y=-0.0039 left_z=0.1539 left_yaw=-0.0022 left_pitch=-0.1289 left_roll=0.0025 left_gripper=0.9989 right_x=0.3892 right_y=0.2324 right_z=0.0113 right_yaw=0.0091 right_pitch=-0.0057 right_roll=-0.0106 right_gripper=0.5376\nstate[joint_eff]: [-0.0615, -1.3744, 6.9128, 1.6337, -0.0024, -0.0513, -0.0122, -0.0615, -8.6496, 4.6017, 1.6288, 0.1832, 0.0904, 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]: [-0.0349, 0.8387, 0.6132, -0.4911, -0.0139, -0.0322, 0.9989, 0.757, 1.6878, 1.0771, -0.1413, 0.6052, 0.4343, 0.5392]\nstate[eef_state]: left_x=0.2819 left_y=-0.0038 left_z=0.1502 left_yaw=-0.0018 left_pitch=-0.1472 left_roll=0.0034 left_gripper=0.9989 right_x=0.3888 right_y=0.234 right_z=0.1359 right_yaw=0.0171 right_pitch=-0.0272 right_roll=-0.0262 right_gripper=0.5392\nstate[joint_eff]: [-0.0889, -1.812, 7.0769, 1.707, -0.0464, -0.0366, -0.0122, -0.1162, -10.5778, 8.5402, 1.6093, 0.3101, 0.0122, 0.7106]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0349, 0.8402, 0.6128, -0.4927, -0.0139, -0.0322, 0.9989, 0.4824, 1.6661, 1.0294, -0.0784, 0.4053, 0.2417, 0.5395]\nstate[eef_state]: left_x=0.2817 left_y=-0.0038 left_z=0.1493 left_yaw=-0.0018 left_pitch=-0.1506 left_roll=0.0035 left_gripper=0.9989 right_x=0.4323 right_y=0.1518 right_z=0.1251 right_yaw=0.0022 right_pitch=-0.078 right_roll=-0.0521 right_gripper=0.5395\nstate[joint_eff]: [-0.0889, -1.4291, 7.1179, 1.6581, -0.0415, -0.0317, -0.0122, -0.2667, -9.6342, 6.4068, 1.9023, 0.1343, 0.0708, 0.7204]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65033ef6de58cbfb0aeb79c342545bb4954fcc2fc8bc7f8df26839610f312617",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e422296e85ca7431cf4a6354ed2e22cc2b3ee1e87811cb948cc93d77fb4e4665",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b55316fd118753ff7417c08964f90c701c81bb2d204267e21633952882090b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7AgKEAgSGAI4AUIIdGhpbmtpbmcSDE9QKjN19hK8lYZlvxoMyUsdr7Pf40arZ8IBIjCKESb4sNi5xOmyEav6JK33RV237gwqdVwpfssr0/Ak9sOPkRDjIlFkkUnRmLtLm9gqiQi5IhrIRYNx6nqnCWXuFK73vgXBV/OlVbjDrS6/PKXIWeE0qSFgbt+fOQyqWaHnOm7tOo4ytXEPN2GTx/R+rWgnU/+uEjD6ClWZil3YflPzRhhMs5/EyKylokKXpBsouMFWtxp+h5oTwyXNJr78IZkqu7/JI3q2BhdV4fifW549x1IzqW89o3lK2K9K2DmSSu08SuLSrWPxf/nBenqZJ0m4hR1H5kXs0n481nqO4VR/QCD/O+dWAjRM8t9J2ovQlNgAfzR1WuRNXBDGdi8mpmKUGI289KPHMUV08TcYpVtdioplMQo3WIC3RVunKQhwW+3dP7UwuDqpYahFsgLA26p1cBOi+kbSdb75cy/d20jnOlHn6UjHtgeoKZ6JRs+bD0awxHRaG1tzt6mQjwK8iGZTvSfKIVylD6BVdGN0FTkz4fd9Aeiu+yddvrn+qAsg2sPvh1UL6SjsbqNFGrfZQliJbiMrNInkdAatRTrHoTbP+kVSSTAxY9npJrDOGVOUYBbCHtqV2zz6n3JEqKhRwn8DaLJAgJKFpeYB7LQIipKyIHUiVemx4iH2Zj8cTlFMO7Jt+oDIYkVteCS8cbFO6i8/chVxOlke/+pwuFEz/fe3lpt6QsRAExOhmUZHRWjhLfHqvm3Dv/JCb88ZbtLOONmZawtUBg3JpkrNuesxVSki4LEtp6mFgo+bg44xXhIwr2MhaOAUw+JsY+ZfauCLNYDs1dgMkpD/72kKWHEsYHMXDZBfxuFQ3Kn/SG+lD6Ao4qZK5huNdAGW6xqyf1hJHz+GgBl8oVYch50zj9RtxOpnf8MQZFlGpLM/aCHAs1etPSIAdoEPHtSLqR39O0hmbal94qpLUec+E1dyJEy4e1ttpDJx3j0wgOJi8nplh4XpTl+6V7MJ37qEccAql09AchkB0ytcqtULWtymaMZ7r1UzH8wdo6WvlhKvx7ybhLZrpH2vKAXbkFBVYa2J5PzvZXtdhjcaGrDX2/U3hwxHwfFWRjp1hijFtHmzFx/+Ip+2uZ3TB2agQzBIObIRhrLRkvir2iGUNgwivSnW3LXvN6ZoJ70ivKcS5bjyNRYg4y4rKl3t2Q6VIHy12pELXdhz/p5NccRAkfaanKvr77mG1rPw061H3Xi5EZDAyYP8HEMBcErenyFMZu/D2utnRYBMp6v9SlQnwsqVZKruBs5yFabFhcwTujk3qtLiuUs/g3UxImavsUlwIMna+eR0lr5jbqTDY8ZxUq2nzNa1tXNI8KkS2uL8MK9ez7U1449hv8dahnr8vJnqfPMFg46cpuBLVO2GtXgJhauL9tBLePGkDDeG2/zOn6Exf5VxBuTEKu0gp5147U5B6Tt2slez1d8SATvgVbJgVwDL1RWCGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M543FSwQbbWYEb1MFzSakE",
      "input": {
        "note": "Blue bowl is directly ahead with the pear in its middle; moving slightly forward and right so the lemon drops beside the pear, and lowering.",
        "targets": {
          "right_x": 0.455,
          "right_y": 0.13,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01M543FSwQbbWYEb1MFzSakE",
      "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]: [-0.0349, 0.8398, 0.6128, -0.4934, -0.0139, -0.0319, 0.9989, 0.4313, 1.7035, 1.0252, -0.0097, 0.3534, 0.1963, 0.5395]\nstate[eef_state]: left_x=0.2815 left_y=-0.0038 left_z=0.1493 left_yaw=-0.002 left_pitch=-0.151 left_roll=0.0038 left_gripper=0.9989 right_x=0.447 right_y=0.1423 right_z=0.1171 right_yaw=0.0183 right_pitch=-0.0693 right_roll=-0.0465 right_gripper=0.5395\nstate[joint_eff]: [-0.0479, -1.388, 6.9812, 1.58, -0.0415, -0.0122, -0.0122, -1.4564, -6.5709, 5.2718, 1.6337, 0.0611, -0.0708, 0.7253]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f99df0bd621dfdd267d869e66a0e9a9b9b91a44f9d10fe14ee8336491f20ea2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cf35ca1d98c9c418a0c7f410bfeb3add39d393fa67b556dfa5ddf53871a024b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e7ebd557b9b02265dbed47456090d3f61f189825a062d392ca4acd24a5a9afa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 3.238 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]: [-0.0349, 0.8387, 0.6132, -0.4911, -0.0139, -0.0322, 0.9989, 0.757, 1.6878, 1.0771, -0.1413, 0.6052, 0.4343, 0.5392]\nstate[eef_state]: left_x=0.2819 left_y=-0.0038 left_z=0.1502 left_yaw=-0.0018 left_pitch=-0.1472 left_roll=0.0034 left_gripper=0.9989 right_x=0.3888 right_y=0.234 right_z=0.1359 right_yaw=0.0171 right_pitch=-0.0272 right_roll=-0.0262 right_gripper=0.5392\nstate[joint_eff]: [-0.0889, -1.812, 7.0769, 1.707, -0.0464, -0.0366, -0.0122, -0.1162, -10.5778, 8.5402, 1.6093, 0.3101, 0.0122, 0.7106]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.0349, 0.8402, 0.6128, -0.4927, -0.0139, -0.0322, 0.9989, 0.4824, 1.6661, 1.0294, -0.0784, 0.4053, 0.2417, 0.5395]\nstate[eef_state]: left_x=0.2817 left_y=-0.0038 left_z=0.1493 left_yaw=-0.0018 left_pitch=-0.1506 left_roll=0.0035 left_gripper=0.9989 right_x=0.4323 right_y=0.1518 right_z=0.1251 right_yaw=0.0022 right_pitch=-0.078 right_roll=-0.0521 right_gripper=0.5395\nstate[joint_eff]: [-0.0889, -1.4291, 7.1179, 1.6581, -0.0415, -0.0317, -0.0122, -0.2667, -9.6342, 6.4068, 1.9023, 0.1343, 0.0708, 0.7204]",
      "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]: [-0.0349, 0.8398, 0.6128, -0.4934, -0.0139, -0.0319, 0.9989, 0.4313, 1.7035, 1.0252, -0.0097, 0.3534, 0.1963, 0.5395]\nstate[eef_state]: left_x=0.2815 left_y=-0.0038 left_z=0.1493 left_yaw=-0.002 left_pitch=-0.151 left_roll=0.0038 left_gripper=0.9989 right_x=0.447 right_y=0.1423 right_z=0.1171 right_yaw=0.0183 right_pitch=-0.0693 right_roll=-0.0465 right_gripper=0.5395\nstate[joint_eff]: [-0.0479, -1.388, 6.9812, 1.58, -0.0415, -0.0122, -0.0122, -1.4564, -6.5709, 5.2718, 1.6337, 0.0611, -0.0708, 0.7253]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f99df0bd621dfdd267d869e66a0e9a9b9b91a44f9d10fe14ee8336491f20ea2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cf35ca1d98c9c418a0c7f410bfeb3add39d393fa67b556dfa5ddf53871a024b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e7ebd557b9b02265dbed47456090d3f61f189825a062d392ca4acd24a5a9afa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSowgKEAgSGAI4AUIIdGhpbmtpbmcSDIV2+Ik/ND4z85vFbhoMPGLv3+VUvtkRwIaGIjCk+wjaZYo1MwpSsIvuFFhzGoj6yFTBPh0QNLtJNdr8nIFOlsNvI918zk+1mlBjPtQqwAeQjrxnTPBsiuCZbf4KUUnHoSzGYAki0ZkI5MmJ5oXtr5zTedO7Vi50qdN/zUDdpn0Lg51hBhiWAZ2RLaigxdTUQkyFHkwfZTxgO5D1TawMiNeAVYAgWm6n4kTxLAEjeaIs4Sw5ra8Oo/btoy+RIANDFFbFESkcElFebQHungfJOOcjNV26Hu8yyEK/FI3o29vddC+LePxw8x9BDpa91OqvJxLZWa2GG1Lnufoc+u24iDzxtPsbQFn63EyiwHh/00iqCyEqJdLUF0c8w7vUC3lL4VpKvwYImRBrl0yQXquPEz61HQ/asMaVUWcA3VeauIBR0dsVNTFB9bPvDezui+3yzd/LGNsdosLAtAomG4VXwT2OUPWIknwn0xtD0uCcF/4TztQWujyQUU9ZgC/iUKuqNFg04K+hXyEly7cvh5lguEquZX4IVmbJq92lKDIhXN0VrslYuz81wqStVVDUpzJ2uXwlmiC4aB9228wVKytOoaEQwhq3bkM+I/qiiSdqtBXfms3GdWSbOYclPcez7b2X8wExfdlNBCvm37gvsBy7t/UYUy3tcPcJR3UKN2T00yAgNHntCTJCpS0IMqKTFiKxJq/Bq6jm/uVazGRJ6nq6S6ULA9B9fi4cj4GcwecTseGM/KToTrPlWAMN+R39drPxS7B8zzbrouQDzm7FjetZcIFMFXhhpW5haCp613oEZa5JtwTKFnDdMihOqzk0CsyDBwfj88CyeVMQOdCksoXDptRFZELETzv8gnjzbkRn+vhDKa8jLklCHqelzqvMewAH7oMKlgG76ShV7eulAm6wVLmDshh5PFpbZTEzul2aNg56EfISSlZ+3iU84jtEOydRP5G6e0q0XsgkYDR5jH9L+lGFWtRLWKS19pqQ6HERsjmdqztMGGlZJe7Aam9bt6snqOFVOntX+MUgZ0o8pDPfBitxRg1UL2htO4L72CL5W+nppUo6M9HRvn9a38fFRitkYG9azovNJYDIOuCg83LZlr6M0lbxjIKyLJuXJu5iYUv+FxunRcCt/cJhTSkgab+uUB5M/pXHqGozWtOmg/mPdTdMd6Vnjg3oJntRv+pPX3ngKAal+r6f7fDHf4iT/d7e1nTb1T53zT/loJnn3czgOaiNE+8o2k1QXYCRpbz3PfcJevZb6M8wfHGxv0H7cw4bSVM3G3Hz6scd6OeKwJhV01EwR7U+G6fIDT/mN+vm11ag8kDa7PaVEKQc+92ww2FYD3eOOiPj53hQLTUjmedwZ4bALH/s26FjfMIodFFsF0gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EAAXCn6X7zbsSJC1xLhCSh",
      "input": {
        "note": "Lemon appears near the bowl's near rim; advancing a bit further over the bowl before releasing.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.13,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01EAAXCn6X7zbsSJC1xLhCSh",
      "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]: [-0.0349, 0.8417, 0.6128, -0.4942, -0.0139, -0.0319, 0.9989, 0.3882, 1.7699, 1.0164, 0.0273, 0.3183, 0.1661, 0.5395]\nstate[eef_state]: left_x=0.2815 left_y=-0.0038 left_z=0.1486 left_yaw=-0.002 left_pitch=-0.1537 left_roll=0.0039 left_gripper=0.9989 right_x=0.4545 right_y=0.13 right_z=0.0892 right_yaw=0.0188 right_pitch=-0.1142 right_roll=-0.0638 right_gripper=0.5395\nstate[joint_eff]: [-0.0752, -1.5658, 6.9128, 1.5849, -0.0269, -0.0171, -0.0122, -1.1145, -7.665, 8.8684, 1.9365, 0.2662, 0.0904, 0.7302]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d7c40c89b8f5a2582a03bedcedaef4ddb14eeb1848a61816cfbbf6c7549f44d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96b83a4b8804227bfe10238e47cdc8e9e864a008756364027e727bca1c7e3557",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:33975c4d068a6393503339cdf9d03e3e1490f86ace609089b485afa7e0d8d97b",
        "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 · 7.306 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]: [-0.0349, 0.8402, 0.6128, -0.4927, -0.0139, -0.0322, 0.9989, 0.4824, 1.6661, 1.0294, -0.0784, 0.4053, 0.2417, 0.5395]\nstate[eef_state]: left_x=0.2817 left_y=-0.0038 left_z=0.1493 left_yaw=-0.0018 left_pitch=-0.1506 left_roll=0.0035 left_gripper=0.9989 right_x=0.4323 right_y=0.1518 right_z=0.1251 right_yaw=0.0022 right_pitch=-0.078 right_roll=-0.0521 right_gripper=0.5395\nstate[joint_eff]: [-0.0889, -1.4291, 7.1179, 1.6581, -0.0415, -0.0317, -0.0122, -0.2667, -9.6342, 6.4068, 1.9023, 0.1343, 0.0708, 0.7204]",
      "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]: [-0.0349, 0.8398, 0.6128, -0.4934, -0.0139, -0.0319, 0.9989, 0.4313, 1.7035, 1.0252, -0.0097, 0.3534, 0.1963, 0.5395]\nstate[eef_state]: left_x=0.2815 left_y=-0.0038 left_z=0.1493 left_yaw=-0.002 left_pitch=-0.151 left_roll=0.0038 left_gripper=0.9989 right_x=0.447 right_y=0.1423 right_z=0.1171 right_yaw=0.0183 right_pitch=-0.0693 right_roll=-0.0465 right_gripper=0.5395\nstate[joint_eff]: [-0.0479, -1.388, 6.9812, 1.58, -0.0415, -0.0122, -0.0122, -1.4564, -6.5709, 5.2718, 1.6337, 0.0611, -0.0708, 0.7253]",
      "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]: [-0.0349, 0.8417, 0.6128, -0.4942, -0.0139, -0.0319, 0.9989, 0.3882, 1.7699, 1.0164, 0.0273, 0.3183, 0.1661, 0.5395]\nstate[eef_state]: left_x=0.2815 left_y=-0.0038 left_z=0.1486 left_yaw=-0.002 left_pitch=-0.1537 left_roll=0.0039 left_gripper=0.9989 right_x=0.4545 right_y=0.13 right_z=0.0892 right_yaw=0.0188 right_pitch=-0.1142 right_roll=-0.0638 right_gripper=0.5395\nstate[joint_eff]: [-0.0752, -1.5658, 6.9128, 1.5849, -0.0269, -0.0171, -0.0122, -1.1145, -7.665, 8.8684, 1.9365, 0.2662, 0.0904, 0.7302]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d7c40c89b8f5a2582a03bedcedaef4ddb14eeb1848a61816cfbbf6c7549f44d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96b83a4b8804227bfe10238e47cdc8e9e864a008756364027e727bca1c7e3557",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33975c4d068a6393503339cdf9d03e3e1490f86ace609089b485afa7e0d8d97b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9wYKEAgSGAI4AUIIdGhpbmtpbmcSDNjNdD5C0GD3WVK66RoMh2GLS6V4l2PIpe2OIjCLA343SulU5KBQf7Z39u/45XySu3CA0U3hHWh/OGwIu3mNyLLBI2AIbfm1Oe1KCY0qlAYMkFkbUQ1rH8dNaxHx4r/CuXA3AubYHC7Xj4+TaQThiXDLZ4xJjJxutIy/5WSaS1cmN0hFfdGRBKbhUfOl/AGvRcOCILGsDy+4bVrWgHypT46/iToL2P365UuaSP/ZvvJJZZvqteSUv+PlZShU+Lo5T4bCS9HuQk0Kol4yJY7lb26aOLQUVEQX27JTxEzSw1k9xMc+c2xJsuCectW0M1pLHTEXkBmQi4UyduRAadzxrdSAV1TzCM8JWbPpw7itSgEWS5ds0oSxqiEWEg6MfGRGh89RLCtl3x+3VfKhzL/gA015u6wOuUe+EBeritqnwdbyVcEqCvQSkaYJ98tDyXyIZkpECnrCt4FPxgRYUkneARW0zbtBZxO9GNh2qVKjidQ234Jw1L8iVRez+qy6HdyuzKc4huVHYYoU5NTIEy5GnEmqyc4NgTxIrtenI5qMo1eJKrHLXBT4sh3P/c4XgBDt0SZdm5N1atyZdv0DlCZRzE1jomZhdW+aaJTgFsJzlBDTVdBy0qUJOgqjn+ysTkFUTeEh5ShjLBCYKjpWucxTQF6kYVXKCTfHAp0XIKh//Gz5w2h2R5e0vSe95nC4+WkpPqoiv7NKcJ6IZ+ubFYD963KjxtMGKKXdCI1ulQAHD2i7J+NY8jBpQqhkT+elt5qJV2NcBCXWrZqCueB/NxcmoJ8faX5Y/tDpdN+ZwXLgssJr0eFaV1WhsMHd016chAY1X0S28GzqtoXF2ySBI4eqt61e+zPG+xzN4whMWJBFyxOxMWzA+PSDOubxjakOoi7XSzbwqSneaNokSEJuVnF1kXaifv4uUD6pyUPNI3dUI0XsKYilSI2ZYbapgbmj09JncJPhvEzzvk2PUx+rM8zwNo8khuHmBcINX+OJJBi1b/uYlBNS4/lsKTfe7S4Sxhz70KFCCgZRCkWrsrtJ9PdTY5qIbi91VZUTiYI9CoPUsoGhO4LyHlANvoB/WfzsqyPYNNprU3xgRsrmQBulmxC7FPZOPgnhBeE9vccFGpMAoiRL2etohBHQW13rOv3y0Y5tbRYEKRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013bMLyjuqRhtiq6fgjtPJQS",
      "input": {
        "note": "Lemon is over the blue bowl, next to the pear; releasing.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_013bMLyjuqRhtiq6fgjtPJQS",
      "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]: [-0.0349, 0.8417, 0.6128, -0.4942, -0.0139, -0.0319, 0.9989, 0.3756, 1.7878, 1.0218, 0.0334, 0.3046, 0.1478, 0.9959]\nstate[eef_state]: left_x=0.2815 left_y=-0.0038 left_z=0.1486 left_yaw=-0.002 left_pitch=-0.1537 left_roll=0.0039 left_gripper=0.9989 right_x=0.4577 right_y=0.1273 right_z=0.0838 right_yaw=0.0271 right_pitch=-0.1242 right_roll=-0.0717 right_gripper=0.9959\nstate[joint_eff]: [-0.0889, -1.4564, 7.1043, 1.58, -0.0562, -0.0317, -0.0122, -0.4718, -8.5675, 8.7316, 1.873, 0.0659, 0.0708, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f5163258c49584ec8a03ee7735161d9fbd7787f293e2322ef02072542f3eeb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b1b3edd716ce2b8f6e47179577cd1e59d4d8fd350501a6a1d7ae3a0143d7215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c312d108651fde40010bd28b860d4931077814412d0f82920ade39ab207508f7",
        "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 · 4.344 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]: [-0.0349, 0.8398, 0.6128, -0.4934, -0.0139, -0.0319, 0.9989, 0.4313, 1.7035, 1.0252, -0.0097, 0.3534, 0.1963, 0.5395]\nstate[eef_state]: left_x=0.2815 left_y=-0.0038 left_z=0.1493 left_yaw=-0.002 left_pitch=-0.151 left_roll=0.0038 left_gripper=0.9989 right_x=0.447 right_y=0.1423 right_z=0.1171 right_yaw=0.0183 right_pitch=-0.0693 right_roll=-0.0465 right_gripper=0.5395\nstate[joint_eff]: [-0.0479, -1.388, 6.9812, 1.58, -0.0415, -0.0122, -0.0122, -1.4564, -6.5709, 5.2718, 1.6337, 0.0611, -0.0708, 0.7253]",
      "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]: [-0.0349, 0.8417, 0.6128, -0.4942, -0.0139, -0.0319, 0.9989, 0.3882, 1.7699, 1.0164, 0.0273, 0.3183, 0.1661, 0.5395]\nstate[eef_state]: left_x=0.2815 left_y=-0.0038 left_z=0.1486 left_yaw=-0.002 left_pitch=-0.1537 left_roll=0.0039 left_gripper=0.9989 right_x=0.4545 right_y=0.13 right_z=0.0892 right_yaw=0.0188 right_pitch=-0.1142 right_roll=-0.0638 right_gripper=0.5395\nstate[joint_eff]: [-0.0752, -1.5658, 6.9128, 1.5849, -0.0269, -0.0171, -0.0122, -1.1145, -7.665, 8.8684, 1.9365, 0.2662, 0.0904, 0.7302]",
      "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]: [-0.0349, 0.8417, 0.6128, -0.4942, -0.0139, -0.0319, 0.9989, 0.3756, 1.7878, 1.0218, 0.0334, 0.3046, 0.1478, 0.9959]\nstate[eef_state]: left_x=0.2815 left_y=-0.0038 left_z=0.1486 left_yaw=-0.002 left_pitch=-0.1537 left_roll=0.0039 left_gripper=0.9989 right_x=0.4577 right_y=0.1273 right_z=0.0838 right_yaw=0.0271 right_pitch=-0.1242 right_roll=-0.0717 right_gripper=0.9959\nstate[joint_eff]: [-0.0889, -1.4564, 7.1043, 1.58, -0.0562, -0.0317, -0.0122, -0.4718, -8.5675, 8.7316, 1.873, 0.0659, 0.0708, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f5163258c49584ec8a03ee7735161d9fbd7787f293e2322ef02072542f3eeb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b1b3edd716ce2b8f6e47179577cd1e59d4d8fd350501a6a1d7ae3a0143d7215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c312d108651fde40010bd28b860d4931077814412d0f82920ade39ab207508f7",
        "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_01YDLJgGggHua1npGqjYA9ww",
      "input": {
        "note": "Pear and lemon are in the blue bowl. Retracting the right arm and moving the left arm toward the dark plum, which is ahead-right of the left gripper.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.36,
          "left_y": -0.1,
          "left_z": 0.13,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01YDLJgGggHua1npGqjYA9ww",
      "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]: [-0.4095, 1.3109, 0.7525, -0.2749, -0.276, -0.2844, 0.999, 0.2974, 1.0016, 0.8196, -0.5232, 0.2527, 0.1017, 0.9965]\nstate[eef_state]: left_x=0.3446 left_y=-0.0932 left_z=0.1107 left_yaw=-0.011 left_pitch=-0.2231 left_roll=0.024 left_gripper=0.999 right_x=0.3114 right_y=0.053 right_z=0.1929 right_yaw=0.0178 right_pitch=-0.1104 right_roll=-0.0664 right_gripper=0.9965\nstate[joint_eff]: [-0.5812, -5.0393, 9.3607, 1.7216, -0.2613, 0.0562, -0.1148, -0.2393, -3.4803, 8.6632, 1.8926, 0.0269, -0.1148, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:546212edec930d90d4b9df4f89d1205f58dbaf7f184b36b2ea7b804615241202",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffb2e9d548b6cb76e729b6f8eed086ba5551c4f28448bdc688cbed753f92d804",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1173ce59438d94411972f4ebf8ca3d7a0879dd5fd3de4d29c7623e756e68ff37",
        "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 · 3.571 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]: [-0.0349, 0.8417, 0.6128, -0.4942, -0.0139, -0.0319, 0.9989, 0.3882, 1.7699, 1.0164, 0.0273, 0.3183, 0.1661, 0.5395]\nstate[eef_state]: left_x=0.2815 left_y=-0.0038 left_z=0.1486 left_yaw=-0.002 left_pitch=-0.1537 left_roll=0.0039 left_gripper=0.9989 right_x=0.4545 right_y=0.13 right_z=0.0892 right_yaw=0.0188 right_pitch=-0.1142 right_roll=-0.0638 right_gripper=0.5395\nstate[joint_eff]: [-0.0752, -1.5658, 6.9128, 1.5849, -0.0269, -0.0171, -0.0122, -1.1145, -7.665, 8.8684, 1.9365, 0.2662, 0.0904, 0.7302]",
      "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]: [-0.0349, 0.8417, 0.6128, -0.4942, -0.0139, -0.0319, 0.9989, 0.3756, 1.7878, 1.0218, 0.0334, 0.3046, 0.1478, 0.9959]\nstate[eef_state]: left_x=0.2815 left_y=-0.0038 left_z=0.1486 left_yaw=-0.002 left_pitch=-0.1537 left_roll=0.0039 left_gripper=0.9989 right_x=0.4577 right_y=0.1273 right_z=0.0838 right_yaw=0.0271 right_pitch=-0.1242 right_roll=-0.0717 right_gripper=0.9959\nstate[joint_eff]: [-0.0889, -1.4564, 7.1043, 1.58, -0.0562, -0.0317, -0.0122, -0.4718, -8.5675, 8.7316, 1.873, 0.0659, 0.0708, -0.0904]",
      "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]: [-0.4095, 1.3109, 0.7525, -0.2749, -0.276, -0.2844, 0.999, 0.2974, 1.0016, 0.8196, -0.5232, 0.2527, 0.1017, 0.9965]\nstate[eef_state]: left_x=0.3446 left_y=-0.0932 left_z=0.1107 left_yaw=-0.011 left_pitch=-0.2231 left_roll=0.024 left_gripper=0.999 right_x=0.3114 right_y=0.053 right_z=0.1929 right_yaw=0.0178 right_pitch=-0.1104 right_roll=-0.0664 right_gripper=0.9965\nstate[joint_eff]: [-0.5812, -5.0393, 9.3607, 1.7216, -0.2613, 0.0562, -0.1148, -0.2393, -3.4803, 8.6632, 1.8926, 0.0269, -0.1148, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:546212edec930d90d4b9df4f89d1205f58dbaf7f184b36b2ea7b804615241202",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffb2e9d548b6cb76e729b6f8eed086ba5551c4f28448bdc688cbed753f92d804",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1173ce59438d94411972f4ebf8ca3d7a0879dd5fd3de4d29c7623e756e68ff37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0wcKEAgSGAI4AUIIdGhpbmtpbmcSDLmGw8epk1thYLQz1RoMgV8haOXS8G3BX1xXIjAvjmc6XF93uuQdW1CqJ9S8lo/1D0lXdBvpZ+wI52FHp1j/XCArVgMbM08FW3P4Ttwq8AaqyKAaIxebuEDDnm5S/XOrQ7APZQ2tf7SMHAtoKRMfHZe7XaQbl0Jgno88npuvoWeydxmyVz9ooR7r19j04oy4XAoR3wy3Hf8+ZJJ2bPt0q03bx9opu0Ee1M1yK9eKOf5NHXDA9EaM+Phql0q7n74flMI3S4+j7bmAZUniDIZu6ViMtxEEFMr8wzfmxgsTVzBSgC+8jE8Kh0HQ6GrKy+kgIZ6/ZHmZi69SWbbFthzgr9GqdwNs8hvk+f6jgsJoCsQ6UzEs9ct0SMAu9L6kMioXm5MxQjsLqk3VTOMvqIGSD5FhyzOTIjES2sdTG52QzKobVrwFgIuBUl+zMZLv/FQEFC8yUYuODrWS6nRcHrPMo5JAPR/+fV2b1VTby/nCjHeJsTPpFTIbSN95uigqWpEVfiXfA3IGJU3TTlAjToFIfRnWAWrAT3XJA7gji9LLidOzW483NvxUO1qR24TeRECALcGsrMKMtWgAJcFs9ieWU8002lFSgHvBdzjJDVl5PgGz+geSUrC/yXIibBwNh20F4d34dTkvijnniV/JQUQdLw96fEnN72+JTnM9TBKRlySlMq/jGExGT5pcWybkv35VIQhyNnR+W6gwkvYhY3+2HrNNvQYP9Xava/6pFps1wYKT9bpJ6Hn9BCCTSa8ys/mnECSlOA2qV99zjT3IEfWf/T+ub6WVFv71QkEW3Pgcv/g/ib1DPxBUMUweIUP1j4f1d6MwgGVr7MY/DzZNGnttnxqqGGbkohEzdEYDxMNtTGCed7L2WvhlnqE22MvZRK69dMO+bCF8mNJrJBEPh6hROFpMsNWd3pHTNi/ELtP0W6Xp68xA1KHXTZLnw28Gm5MyIuz/eJeay5x0BjQg8b3xkLVxvqwhsq0Lg8TY25OfrtuUOKpO4LxjVbv7r8FbT9t7RiwIFXHeYweSdRhP1EAH9e3HmNfmYL2m/9ljpk7XJMYxljC1+TTCvElKwhNKUW3+qrbqeqBRsAMKz7RrRtS3HHag8hJpWFnSWZPcmkcVzhiaHaEVlTO9aoiMZMuijr9F1mmfRtPdaIla3hpBpYksZ35t96PiwgFfFaoK/vjvhaWtadl72qH2yy5MD80+2o0ilq8A4n8sUmYb0qmRxHuFR8j2xWJslAvvm02LcvLNzFkhoOd+4NJd6r3DyO1kTpmEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VCpHRfJXXGE7Epy1i2scCr",
      "input": {
        "note": "Pear and lemon are in the blue bowl. The plum is right of the left jaw column; shifting right and slightly forward.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.125,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VCpHRfJXXGE7Epy1i2scCr",
      "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]: [-0.4664, 1.4658, 0.8108, -0.2462, -0.3065, -0.3241, 0.9989, 0.297, 1.0084, 0.8196, -0.5694, 0.2489, 0.0929, 0.9965]\nstate[eef_state]: left_x=0.3572 left_y=-0.1161 left_z=0.086 left_yaw=-0.0135 left_pitch=-0.2751 left_roll=0.0469 left_gripper=0.9989 right_x=0.3047 right_y=0.0515 right_z=0.1825 right_yaw=0.0234 right_pitch=-0.1625 right_roll=-0.0853 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -7.8017, 8.9915, 1.5409, -0.3248, -0.1392, -0.0171, -0.2256, -2.865, 6.8718, 2.044, 0.0855, 0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26ef3b76f2259c6a765033d781bae4df5561cd37be4d946a92736a42a30bbc0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6986ccce1030a8e35e3d215129377aa048aa9d2e895340baaa1d1d3c7259875",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e7942e5503ebd382dc1c08c8d1650751b2cfbe8c071287952defbbed993e330b",
        "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 · 4.524 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]: [-0.0349, 0.8417, 0.6128, -0.4942, -0.0139, -0.0319, 0.9989, 0.3756, 1.7878, 1.0218, 0.0334, 0.3046, 0.1478, 0.9959]\nstate[eef_state]: left_x=0.2815 left_y=-0.0038 left_z=0.1486 left_yaw=-0.002 left_pitch=-0.1537 left_roll=0.0039 left_gripper=0.9989 right_x=0.4577 right_y=0.1273 right_z=0.0838 right_yaw=0.0271 right_pitch=-0.1242 right_roll=-0.0717 right_gripper=0.9959\nstate[joint_eff]: [-0.0889, -1.4564, 7.1043, 1.58, -0.0562, -0.0317, -0.0122, -0.4718, -8.5675, 8.7316, 1.873, 0.0659, 0.0708, -0.0904]",
      "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]: [-0.4095, 1.3109, 0.7525, -0.2749, -0.276, -0.2844, 0.999, 0.2974, 1.0016, 0.8196, -0.5232, 0.2527, 0.1017, 0.9965]\nstate[eef_state]: left_x=0.3446 left_y=-0.0932 left_z=0.1107 left_yaw=-0.011 left_pitch=-0.2231 left_roll=0.024 left_gripper=0.999 right_x=0.3114 right_y=0.053 right_z=0.1929 right_yaw=0.0178 right_pitch=-0.1104 right_roll=-0.0664 right_gripper=0.9965\nstate[joint_eff]: [-0.5812, -5.0393, 9.3607, 1.7216, -0.2613, 0.0562, -0.1148, -0.2393, -3.4803, 8.6632, 1.8926, 0.0269, -0.1148, 0.0513]",
      "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]: [-0.4664, 1.4658, 0.8108, -0.2462, -0.3065, -0.3241, 0.9989, 0.297, 1.0084, 0.8196, -0.5694, 0.2489, 0.0929, 0.9965]\nstate[eef_state]: left_x=0.3572 left_y=-0.1161 left_z=0.086 left_yaw=-0.0135 left_pitch=-0.2751 left_roll=0.0469 left_gripper=0.9989 right_x=0.3047 right_y=0.0515 right_z=0.1825 right_yaw=0.0234 right_pitch=-0.1625 right_roll=-0.0853 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -7.8017, 8.9915, 1.5409, -0.3248, -0.1392, -0.0171, -0.2256, -2.865, 6.8718, 2.044, 0.0855, 0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26ef3b76f2259c6a765033d781bae4df5561cd37be4d946a92736a42a30bbc0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6986ccce1030a8e35e3d215129377aa048aa9d2e895340baaa1d1d3c7259875",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7942e5503ebd382dc1c08c8d1650751b2cfbe8c071287952defbbed993e330b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSgQcKEAgSGAI4AUIIdGhpbmtpbmcSDG7/Nt+fokqgfpq/AhoM0JDy+f+pFdKsbue+IjCEts3cul9Ii3avOQxGvQgDY6YQj8Ln5Enip2W8o2K0AknJcR0LpBbYxZIZSmffXm0qngZw4od5iaHovhsvJywTGNOyZPHJDtWNhdqvSCWRy9B00zsdXVFy6f83LFFwQO6byIijfXdIR9yN5gJF1vTD+fH4iT60Na4QLP57PtwTtCU8HxL1kZVF6dozPpvGuUtM48tQfA4+v6VANFUdL4tOCPP3PpogpkWIX38tLAt57bwJsRIi2GhplaVx4EeGE0kdDVUkvwOKRCNrf9Wz7pjtCRveae0wzRF62RVkC4cK+Xpt9ek7YdshloUdrXf4dmIQYIHNDLfT80rH8AEjjnoSphO5TyAYg8jvlxGsjVkkelyFeKN33LTtO1rr3OF7g+haN8kg6ZlON1CzmWuC+abnlEpQQuSZGwnXHrT7+2mQ2KpUI0uT+YK6x4Y/y8DjjHllZM006Nec65ZWlXExrJH54m+lGXeCwfMeORYxQHvg+PURw1TcfqFnLIhrhNyM+zwsCKmuWhTLE279UTRlu6jkmEotWG1SiKVTEhIbfd6WiQQ6vwjhoFunI7TLmydoyglO64t9i9T/Zf+eRZFnKE+QIRCqyV8qHzngw/XlnG10SD42kbZ7PsJoaASLsa8ts5ID+Hr/6CSaFKn3NZ4HAYYgZvINKtjqc+pHlppba0wezkbCfQcfL0HTqPU0fhkZZ3TZTk2G4Bi9csurJqrXzWv94FyLVwXmyF0mQtg53xnYpu8UUAseGB5bdvWVaWAlq/YoWfItdpAN6+ipgPEpTpVbv0kganYAMosOzPLe+v6JWPbPH7A6W/V3QUNPISmi2wvV+VbwP7UuH7of+HLdEapAOhbFZwaiYUHx5mpRkoZBARL56Tj6mvpgWgv7g3Jegw66o6P3OtXmVcbR79MFS0x+pYRej+/0gABNq4eZyR40r4mDt/4AxYRm4/qYuBmAVEonEdCUjenpGhceFp5RKYtnXJGDXmf+Uol42YfncebS2ZWNxrUnsahwzD17JX1KqgPpBPqpVKZ9fjuzdHcBjEwMRBteZ/kM6Sc4bEwIfYVw7oPY0iJtJir9nSgPj1cut31oRgvvrWhwcvJsbKAgO3xA3/FDPbA9wWo5rrIoLWCvuaMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019HH2hKNUeB9r3uaCnXptE3",
      "input": {
        "note": "Plum still right of and slightly ahead of the left jaws; moving right/forward and descending to grasp height.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.14,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_019HH2hKNUeB9r3uaCnXptE3",
      "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]: [-0.4782, 1.4971, 0.8139, -0.2379, -0.3073, -0.3412, 0.9989, 0.297, 1.01, 0.8196, -0.5739, 0.2489, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.3572 left_y=-0.1209 left_z=0.0774 left_yaw=-0.0125 left_pitch=-0.2924 left_roll=0.0448 left_gripper=0.9989 right_x=0.3041 right_y=0.0513 right_z=0.1813 right_yaw=0.0233 right_pitch=-0.1684 right_roll=-0.0872 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -7.6239, 9.0872, 1.6288, -0.2662, -0.0317, -0.0122, -0.1162, -2.2906, 6.8581, 1.6386, 0.0513, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:066af5d1cff6738ba843b1bbebf1893f98c778593b2361786d666ef51e1f8a99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1128b4541e1c47769f8c2cbc2f000743ac8f5d529906e67fda109590826ee2e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b0239cb0c1df8ea2e74aa271b105080e8f725db89f00f8f10813d5db5f9dbd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 4.372 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]: [-0.4095, 1.3109, 0.7525, -0.2749, -0.276, -0.2844, 0.999, 0.2974, 1.0016, 0.8196, -0.5232, 0.2527, 0.1017, 0.9965]\nstate[eef_state]: left_x=0.3446 left_y=-0.0932 left_z=0.1107 left_yaw=-0.011 left_pitch=-0.2231 left_roll=0.024 left_gripper=0.999 right_x=0.3114 right_y=0.053 right_z=0.1929 right_yaw=0.0178 right_pitch=-0.1104 right_roll=-0.0664 right_gripper=0.9965\nstate[joint_eff]: [-0.5812, -5.0393, 9.3607, 1.7216, -0.2613, 0.0562, -0.1148, -0.2393, -3.4803, 8.6632, 1.8926, 0.0269, -0.1148, 0.0513]",
      "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]: [-0.4664, 1.4658, 0.8108, -0.2462, -0.3065, -0.3241, 0.9989, 0.297, 1.0084, 0.8196, -0.5694, 0.2489, 0.0929, 0.9965]\nstate[eef_state]: left_x=0.3572 left_y=-0.1161 left_z=0.086 left_yaw=-0.0135 left_pitch=-0.2751 left_roll=0.0469 left_gripper=0.9989 right_x=0.3047 right_y=0.0515 right_z=0.1825 right_yaw=0.0234 right_pitch=-0.1625 right_roll=-0.0853 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -7.8017, 8.9915, 1.5409, -0.3248, -0.1392, -0.0171, -0.2256, -2.865, 6.8718, 2.044, 0.0855, 0.0464, -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 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]: [-0.4782, 1.4971, 0.8139, -0.2379, -0.3073, -0.3412, 0.9989, 0.297, 1.01, 0.8196, -0.5739, 0.2489, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.3572 left_y=-0.1209 left_z=0.0774 left_yaw=-0.0125 left_pitch=-0.2924 left_roll=0.0448 left_gripper=0.9989 right_x=0.3041 right_y=0.0513 right_z=0.1813 right_yaw=0.0233 right_pitch=-0.1684 right_roll=-0.0872 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -7.6239, 9.0872, 1.6288, -0.2662, -0.0317, -0.0122, -0.1162, -2.2906, 6.8581, 1.6386, 0.0513, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:066af5d1cff6738ba843b1bbebf1893f98c778593b2361786d666ef51e1f8a99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1128b4541e1c47769f8c2cbc2f000743ac8f5d529906e67fda109590826ee2e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b0239cb0c1df8ea2e74aa271b105080e8f725db89f00f8f10813d5db5f9dbd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AcKEAgSGAI4AUIIdGhpbmtpbmcSDDqsvhxG9yHSy41OghoMGrFy35GZyFWqxXEVIjCL/p3SrdSTPnGknFEEjMsYxK4IDn5iiphNwRuCm+xY5Y1u+qXmUol0YfggzrFSNX0q9QaygLeCwtVXXmEhk3nsIWX5w7Fbvl1eGirHOmyUWdb09wlo/pfZZr84zUXo7WelVhIq83H/GXYZENKrYjp4XORpkFbT4DXCSeaa4heFF3uG0SFOXQpgCEtEHylxGXVXGEjD7zX/P6ZFCvWG0bYcxUgWQwmuLhP2nubGQO68Uc+aEmPMGvxEiBJelJWaSncKwGx+WM2jOxNRpoBQDL6I5uNNlM0ke6QNPdSn0A9PY6dc4QfC6CLvbxU1m9+Dq1DIYFbomt862nsqTV18OBdIgZ03Wico8szQBxFjpTAbsbC+1G72KlTvlS5zljUTEFCBguye3jvSKPORU7Zsi9h6/ZkFDqOtoh0aqFk/axrsZ6pHnlX4hwcSZJq68cCH5ukjMdapmSSB461ZKiq0XlhJkOz29OXUwpxpIEGzJX7CtF9mpgbilbuIjE6DQ2wAn+0d0oO0tee74WcF3jzxcOVHlpN/XfvPVKK4D91yL/bD1JRq9zi/lXWhM0surp+k1hmnjUoRyI22cAJxY+lpN2TZE4R4U6nEjzY3BG8EgKt7coyQzoH85nA8Jh7dOXPqBRWZT1KXp4IAuU9DHtN2YUc5GBdLHznRnCMrv8sUu3cupYDmahTwfGVLKhuZrf/CM6dvXzIBsvD6ZeT1SqwcMnxZCjGy2YwnBcScaqcLPc7w4m0rcpDH+8syGoR8KmKQv9hGupMfeB77P/qpzP/w83HT8DumXtgoNl8c39eM3hIRu1M+Z5bGx25ydGS9kaRAxWQ5nKQc9YrWmiO+TtIVAKF3uqmtDb5rTRPYtwgP1OgrSk8zosREG6PvupzWSFLRnjQPJKeOCTL7c1pLcg7Nxv2dVHK1pgUcV0i49fI5shHX8aOkTd++/lx/fWnW3ugl58DdwV2bya2PpmZBEzKF1ZfYiNXn3QLMtb67AphKZYFWoOxYz4j3hfd/WmfYOSnNu2zEHwrXhVl+CY/ug8yI3/zXtLRivhEAmsP2/f9AISfYLQ85Pg5FixFua9PtS3Lybo6yyIbIn7nHurCLq+suJ3iB6DRlGkvk4lcsJwkxqfiqrxCDBHZKwEH1/3wVL1kWeyLpE+O5AO/W5PnBX8W85CS5yJQRObJ7qrwBg7G+ISf7GiB//tcI/r5WFukHnKgBLguUlCdqNcA5Td1iMhx3hWqJrxDEX+4OjfgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bhxzvb26tkGiVdVfdQCCGB",
      "input": {
        "note": "Left arm stalled on the last target with pitch drifting; re-commanding with orientation explicitly zeroed and a smaller descent.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.38,
          "left_y": -0.14,
          "left_yaw": 0.0,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Bhxzvb26tkGiVdVfdQCCGB",
      "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]: [-0.5423, 1.6253, 0.6014, 0.2161, -0.4129, -0.3408, 0.9989, 0.297, 1.0119, 0.8192, -0.5827, 0.2489, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.3582 left_y=-0.1289 left_z=0.0301 left_yaw=-0.0044 left_pitch=-0.1545 left_roll=0.0616 left_gripper=0.9989 right_x=0.3027 right_y=0.0509 right_z=0.1791 right_yaw=0.0228 right_pitch=-0.179 right_roll=-0.0903 right_gripper=0.9965\nstate[joint_eff]: [-0.841, -6.0786, 5.1077, 1.707, -0.359, 0.0757, -0.0122, -0.0889, -2.7419, 7.0222, 1.6044, 0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7aca79ccf0c10ca605c4f8018dab374911269e57d66dcfcd4a28f2e7e0472ccf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ed2f96eb9341d84a4cb5d24f0f221f12fcbea9bab69b06b148fe6f24760b3c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:374f7c6d6d325e7c31b12653eab26b4b2496a03079d75dc4703cbaafd69641fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 5.712 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]: [-0.4664, 1.4658, 0.8108, -0.2462, -0.3065, -0.3241, 0.9989, 0.297, 1.0084, 0.8196, -0.5694, 0.2489, 0.0929, 0.9965]\nstate[eef_state]: left_x=0.3572 left_y=-0.1161 left_z=0.086 left_yaw=-0.0135 left_pitch=-0.2751 left_roll=0.0469 left_gripper=0.9989 right_x=0.3047 right_y=0.0515 right_z=0.1825 right_yaw=0.0234 right_pitch=-0.1625 right_roll=-0.0853 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -7.8017, 8.9915, 1.5409, -0.3248, -0.1392, -0.0171, -0.2256, -2.865, 6.8718, 2.044, 0.0855, 0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4782, 1.4971, 0.8139, -0.2379, -0.3073, -0.3412, 0.9989, 0.297, 1.01, 0.8196, -0.5739, 0.2489, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.3572 left_y=-0.1209 left_z=0.0774 left_yaw=-0.0125 left_pitch=-0.2924 left_roll=0.0448 left_gripper=0.9989 right_x=0.3041 right_y=0.0513 right_z=0.1813 right_yaw=0.0233 right_pitch=-0.1684 right_roll=-0.0872 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -7.6239, 9.0872, 1.6288, -0.2662, -0.0317, -0.0122, -0.1162, -2.2906, 6.8581, 1.6386, 0.0513, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5423, 1.6253, 0.6014, 0.2161, -0.4129, -0.3408, 0.9989, 0.297, 1.0119, 0.8192, -0.5827, 0.2489, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.3582 left_y=-0.1289 left_z=0.0301 left_yaw=-0.0044 left_pitch=-0.1545 left_roll=0.0616 left_gripper=0.9989 right_x=0.3027 right_y=0.0509 right_z=0.1791 right_yaw=0.0228 right_pitch=-0.179 right_roll=-0.0903 right_gripper=0.9965\nstate[joint_eff]: [-0.841, -6.0786, 5.1077, 1.707, -0.359, 0.0757, -0.0122, -0.0889, -2.7419, 7.0222, 1.6044, 0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7aca79ccf0c10ca605c4f8018dab374911269e57d66dcfcd4a28f2e7e0472ccf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ed2f96eb9341d84a4cb5d24f0f221f12fcbea9bab69b06b148fe6f24760b3c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:374f7c6d6d325e7c31b12653eab26b4b2496a03079d75dc4703cbaafd69641fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS5wcKEAgSGAI4AUIIdGhpbmtpbmcSDFcuLwGf9/8ydHyyWxoMlFTIC94Xoyxpo8QpIjBmdpPqPN4sDakxM17/7c6iYKZTtXwVtPweYUwlr00UtT8ZzF+rbgeg6fHYdtI+cP8qhAfodV4bY7K0dJ6p+8JLIpqdWMvLPjw4poRRuC/+lJNoriOWnRsb7eKcgh58h6PMhl6ICDx6q7M0x40TLZd9TMwlwoT3f3iUlD+lwuhTDN3mcc4ngj/vP76YV2MmK4wcCL9FryFBVr/q7uZCmF06UYFPcW5K31rOLVqCiKlCP+0YdSt2UttuEiy30m03FRN4qBnRe/Hnh/hZdsv9FFYqPHPsQsmPbtS5g20QH5tPRQc8AGdgg4bOdK2Eny5tupj743Vq/panYy/ybPhfa5zwJgMk8RwzVKUWuRAOO/U7bKojX6tdNgCxh4tpJ+WdwD8/HjfaqFGLyzawwxdRmLgPy0J+ADy8Xo/522t8eLzMSH2BQasdjwPVxJR84/YkY073pijLcAbX4GT6XFzBHny//7w01uAoE0VSjy5HE38ZjDAsUJ1K1+PpKdPME/2nXKqcHOkhqxqyATia8IaCwh9U63h3VBAeFax0JgyTgilOyrn3V0022l+zfcJkjBhrJ8An2i2nzCy/jyqL9gEM8hW7YvKc9LqAU11rp/NYZPb63HfFGRv68E8VNrusw174qm/T0SDJXmvFEJ5j9aB2l8FZPNjcsRFf45g5axMIbRomw8eOCBkKQTudfLT9roedPTCA2ImvBIcnaiMA93WotEEaqe0KpSkMpr1dWod9FhKleChX16eQfAInZAs2BIXUcj3TMSs2gctYS7yrS8c3Nj5ydBmnRCRyqx1bTFsXGWCN3gG5v2oNfrDWidPoEicnE4b9vhaNiZ3AGONl7mFCfpcKWCUP3COAWpKEUKxyHumI+R8xiu3exG+N60cgLuuttfMo1WBz4KnQHhJGujno/jxxmaRhyE3bsqLLZ/QVqhN8q9AYSReOfc9dUri3zHeIIsT0se/AGgLhIsmBhyLabc4qw7xYfA4WLyNz9ixm2tFGLDBELlg7Nmevf7/Ie3gjS4UgoLeh70glzAnvMlv8wTe6r/8A73kmKuUEYcGOz9GH0ult3upV8p4TRhcNi2jscE3HfFGs+w8MR8J8qQYqt6GesuF/o7og84Jzhq64BjNgjQhd5Zqvvex9mAE2YlTdxvgSSHSWwRpJmH08Pj+HwL/eqBTP/X2VCLIUIAHCXFnpU9xZeWJODBOz5rMA0Fq+Oc5ByuuWLm2amjObP7To2PtnTNx7GKwvMzNIcMGYgWjxEJy0qJQGu6UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VfLVSpcX7EBMuSusii1sgf",
      "input": {
        "note": "Plum is right of and just ahead of the left jaws at low height; nudging right/forward and down to table level.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.39,
          "left_y": -0.155,
          "left_yaw": 0.0,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01VfLVSpcX7EBMuSusii1sgf",
      "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]: [-0.5709, 1.8523, 0.5957, 0.5514, -0.4553, -0.3531, 0.9988, 0.297, 1.0119, 0.8192, -0.59, 0.2489, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.3808 left_y=-0.148 left_z=0.003 left_yaw=0.0014 left_pitch=-0.0519 left_roll=0.0225 left_gripper=0.9988 right_x=0.3015 right_y=0.0505 right_z=0.1778 right_yaw=0.0224 right_pitch=-0.186 right_roll=-0.0923 right_gripper=0.9965\nstate[joint_eff]: [-0.5812, -6.5436, 5.3402, 1.3602, -0.1538, 0.0317, -0.022, -0.0342, -2.6325, 6.9265, 1.5751, 0.0562, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:116aedea57e0c92dd016b754c8db53cb387db05b23c4dabf053230cf6e0bddc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bb97faa041e290c9c9899fd189088f0ea1bed17bf8346a2e55eda2cfbac45a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6e3c35fc3059b1fcd9685589427009f8b0a4305e55fdea51f378ebb462015aa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 5.316 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]: [-0.4782, 1.4971, 0.8139, -0.2379, -0.3073, -0.3412, 0.9989, 0.297, 1.01, 0.8196, -0.5739, 0.2489, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.3572 left_y=-0.1209 left_z=0.0774 left_yaw=-0.0125 left_pitch=-0.2924 left_roll=0.0448 left_gripper=0.9989 right_x=0.3041 right_y=0.0513 right_z=0.1813 right_yaw=0.0233 right_pitch=-0.1684 right_roll=-0.0872 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -7.6239, 9.0872, 1.6288, -0.2662, -0.0317, -0.0122, -0.1162, -2.2906, 6.8581, 1.6386, 0.0513, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5423, 1.6253, 0.6014, 0.2161, -0.4129, -0.3408, 0.9989, 0.297, 1.0119, 0.8192, -0.5827, 0.2489, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.3582 left_y=-0.1289 left_z=0.0301 left_yaw=-0.0044 left_pitch=-0.1545 left_roll=0.0616 left_gripper=0.9989 right_x=0.3027 right_y=0.0509 right_z=0.1791 right_yaw=0.0228 right_pitch=-0.179 right_roll=-0.0903 right_gripper=0.9965\nstate[joint_eff]: [-0.841, -6.0786, 5.1077, 1.707, -0.359, 0.0757, -0.0122, -0.0889, -2.7419, 7.0222, 1.6044, 0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5709, 1.8523, 0.5957, 0.5514, -0.4553, -0.3531, 0.9988, 0.297, 1.0119, 0.8192, -0.59, 0.2489, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.3808 left_y=-0.148 left_z=0.003 left_yaw=0.0014 left_pitch=-0.0519 left_roll=0.0225 left_gripper=0.9988 right_x=0.3015 right_y=0.0505 right_z=0.1778 right_yaw=0.0224 right_pitch=-0.186 right_roll=-0.0923 right_gripper=0.9965\nstate[joint_eff]: [-0.5812, -6.5436, 5.3402, 1.3602, -0.1538, 0.0317, -0.022, -0.0342, -2.6325, 6.9265, 1.5751, 0.0562, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:116aedea57e0c92dd016b754c8db53cb387db05b23c4dabf053230cf6e0bddc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bb97faa041e290c9c9899fd189088f0ea1bed17bf8346a2e55eda2cfbac45a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e3c35fc3059b1fcd9685589427009f8b0a4305e55fdea51f378ebb462015aa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwQkKEAgSGAI4AUIIdGhpbmtpbmcSDHi93Ual6VyyGajuKBoMSGcNpNa/L5i/35B3IjC7mVytJe2Oey7KGeoBnB3VZLHGgPBbQlzbjIQjxdZGiRUTDAQZiyKKgKgSxj3MMgIq3gh3C5flMwZVmBSzDprUBz1zaI7BllZrTK7srugLyVUj+m/LBI47ZD4fLGTpPrYDcVtyiNzkpc4b2hdPQbSr+sQZEMYoaVNZrTAJyMvXkJZPMLmE18PT2ZPVZy1IkAmtfWgSKxNcEo/4fwzuKNrvY6Olb4xJiTdDYcNaQxWhdwvtJoEvDGhGm82DK80E+wITH6foCdieJBiVq8651hytfOkW5zRVjwCCugQb9LEiB0fm4qnlr0nZLKWzsqkflDrU/IYn7cK/HL3aXwWAkdNVfYVMTVoasZ0J5uWE80iQ1WZGS7ESGVFu6xb5V50Oq9mKXK0tcAQ0nEe+aBk2dG6acHvbvvRIgdmciG3hl3yWXLlx5COblxK22GrwLwsVfB5mZka+bYdq8ZI5phLK0FPb0ZxvgNLMMcdIAlze5848TcpBxdG7GO/ZEkLGliNoRfbU5O2YnCocnINNx6iu1kpo+j+7m5ulyeHtaCUTYy/M7+u3hz0Se5o0H0r2g98TbNeEcbNzLjridPDOS7r0wo8o2LYh84mfeCVsorjYz+wLzjmK/HgSx6pQzELZ4yvfGpLkHJ5jOPu0R8Kt1A79C8wynKLpPtHkFfQI8bzXFgAj4M2X3qLRUHSSRizfnv1+7MVp91Em+iBaZeaLRHLT90I8AaRR1AJYog36lnZ683Jc0cxLs0OUlcvHJaEK4Eu6Ns4d7zpba0HZ2WMnT4+ZQJL+oSUnrfJtwzFiWKWK2f9gp/2PkzTMekoJmjsF0sDijFrSHzvYRtd7LTUzJ8/pgONMFHmbj6CEAOZjuv826jQCLaqXb4BRYtwwxWW8LmUe8Pgi4GD6RYcCiGH8EqHXOPEy+Xq+r0YHGoNjdkkq+5Jafs0nVv1d3f57kHRvbleK8tj1L43cd1zbD2LjdOnMLJvWL5CKzWetrBsIwQ/teVvjRKMFQ/IY1WRmJsXgXn6Te5FtHz4NE48B/SZVQSHgBtqwgcIx3jC0CM48eoRqV4ylf8Xb4AfbUzH1HqeDCOq8YVu00x3zpHruVyntV+kE8MlKf6qn5TOiAzMMoyxU7+JeJ9fwT8KPcnqSNZ6HwB4limTNfovVl+FJirJVcu8QV28NeHAKHgQkHvEc91peTCKseF6W1K+0fWlBphN8MooHxgSl4GqHra4Z2XCI8tlc86WHZuvoE1IhJz/JPvKbz3RoxycvPAUWRzIJskhCB9MyRPJ7EBdsvUF8nksD+dUhqcZ0I7636aF+ZYsGiBU4dIGqJM4E+9eLvyLCVzhHBeqRb+5uJVaiISYwCS57KNljbNejkQRnGgUNYBzi7PVkLZZOY84BoZs9nbGbNwmTb/6lXVp/NAMCWScvrbec9sDW4O4V1olSX/p6JTi4fT9ZZ5PVXhXF7GU7wUy7pCxTFm1TQJhLwi8+7LU6ZKia+QxkLxjmp2HgmWvs4VZkrKgDLnBoTfG+9balPCVTfT6lImTrnz/U5lRZjrCeZLs//o6UAIl6JRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0162CFiDJLGWBw6FJDMRvZWH",
      "input": {
        "note": "Plum got nudged and now sits ahead-right of the left fingertips (upper right of wrist view); moving forward/right at low height to bring it between the jaws.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.43,
          "left_y": -0.185,
          "left_yaw": 0.0,
          "left_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_0162CFiDJLGWBw6FJDMRvZWH",
      "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]: [-0.572, 1.8668, 0.5957, 0.5922, -0.4603, -0.3565, 0.9988, 0.297, 1.0119, 0.8192, -0.5957, 0.2489, 0.0925, 0.9966]\nstate[eef_state]: left_x=0.3845 left_y=-0.15 left_z=0.0049 left_yaw=0.0055 left_pitch=-0.0281 left_roll=0.008 left_gripper=0.9988 right_x=0.3006 right_y=0.0502 right_z=0.1768 right_yaw=0.0221 right_pitch=-0.1915 right_roll=-0.0939 right_gripper=0.9966\nstate[joint_eff]: [-0.6222, -6.735, 5.2171, 1.8926, -0.2808, 0.0659, -0.0073, -0.1026, -2.6188, 6.8171, 1.58, 0.0415, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a04621e888e6470df0fa6cdbc3106fe0e2af7620418f56cdd70bfee7ce7141c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ec4cc88a03da8536db623705334e94767d6b78b74c3b60bc6bf743218db51d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba32863150f681cd2b2ac985cb7f472c214c9aa04f70b1a31398ce6d9641416d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 3.41 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]: [-0.5423, 1.6253, 0.6014, 0.2161, -0.4129, -0.3408, 0.9989, 0.297, 1.0119, 0.8192, -0.5827, 0.2489, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.3582 left_y=-0.1289 left_z=0.0301 left_yaw=-0.0044 left_pitch=-0.1545 left_roll=0.0616 left_gripper=0.9989 right_x=0.3027 right_y=0.0509 right_z=0.1791 right_yaw=0.0228 right_pitch=-0.179 right_roll=-0.0903 right_gripper=0.9965\nstate[joint_eff]: [-0.841, -6.0786, 5.1077, 1.707, -0.359, 0.0757, -0.0122, -0.0889, -2.7419, 7.0222, 1.6044, 0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5709, 1.8523, 0.5957, 0.5514, -0.4553, -0.3531, 0.9988, 0.297, 1.0119, 0.8192, -0.59, 0.2489, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.3808 left_y=-0.148 left_z=0.003 left_yaw=0.0014 left_pitch=-0.0519 left_roll=0.0225 left_gripper=0.9988 right_x=0.3015 right_y=0.0505 right_z=0.1778 right_yaw=0.0224 right_pitch=-0.186 right_roll=-0.0923 right_gripper=0.9965\nstate[joint_eff]: [-0.5812, -6.5436, 5.3402, 1.3602, -0.1538, 0.0317, -0.022, -0.0342, -2.6325, 6.9265, 1.5751, 0.0562, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.572, 1.8668, 0.5957, 0.5922, -0.4603, -0.3565, 0.9988, 0.297, 1.0119, 0.8192, -0.5957, 0.2489, 0.0925, 0.9966]\nstate[eef_state]: left_x=0.3845 left_y=-0.15 left_z=0.0049 left_yaw=0.0055 left_pitch=-0.0281 left_roll=0.008 left_gripper=0.9988 right_x=0.3006 right_y=0.0502 right_z=0.1768 right_yaw=0.0221 right_pitch=-0.1915 right_roll=-0.0939 right_gripper=0.9966\nstate[joint_eff]: [-0.6222, -6.735, 5.2171, 1.8926, -0.2808, 0.0659, -0.0073, -0.1026, -2.6188, 6.8171, 1.58, 0.0415, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a04621e888e6470df0fa6cdbc3106fe0e2af7620418f56cdd70bfee7ce7141c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ec4cc88a03da8536db623705334e94767d6b78b74c3b60bc6bf743218db51d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba32863150f681cd2b2ac985cb7f472c214c9aa04f70b1a31398ce6d9641416d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQkKEAgSGAI4AUIIdGhpbmtpbmcSDB1nRTZHecg+GDZzWxoMMn319W/uUgZ1nniqIjA7aRMloDpCOIkCFDShcu4BF+uuGez54HHoVL2XsIWVwbAaOmzkRqSMK23Wa8gdHq4qxgiicYWd3ncPNUWqS0U/GcPD8xWQB8H3Li6CFpSd5Mdn6yVQk8BIFWYmJKcL6M8f1qJEgynlJBTEZWibP6f8MISShc+5cDJxbHhR7QUSxFjkEASpeqQWZWbxOB4CyOy3naVQ26Cbd6n9081N/VLf9UAu5ItuRfzhwjLw+DoV5Oftqm8QzrVsBst4sB/UYgPQPsLm2Mp3/O8qsaKqDkWsXXRAqSObMqcyWcKBRyofhQYgQ9jEq9CgZ79WHso2B+SYW831TG6jdZLZCU7HNClS5zhLKKxyZO4Qha4RyMct/O2VXpmo6s5csm2dgNFTLNz+BCTDphwjbCzrTRMrHdvpqDfkHCygh5hZCxwmpF6wB1gwqc1AHWbVKTAMxjtV+nsCMqMWElMPqJE6p0O/PLn8bopz5zn7XL+ACVfAH0Uitp2XCw5aY01zZZVZWOowMWGHcaCnLp/BfCXtbwT73YkrV552x2HXLL1BtT8g2DZ4U0Rw4FmRzxMIvH1RTABP2q4DpzS3wwBviY6m16BUqQPxwas1RuLAlUUA5dP1NXqTpnTsnGtknt0mVGZfn6S29BKo5L4y9s3CQ7lxM+AalkKoG0MDAyorWWQxNs1BNYOkKwSddqVFPkqMHC5nL8IkK3OGozVR3A5zqweNekl2XLD2CJkTMlh4gwAnWagDpLr6PfHc3fw8ANFuYKJH0RJ/LVu+XxnZ8Dzb3ZXphuXVZ8RW0VXGkhRCE2cT1jWOvcyA3JFnV85D79DpXbSWZMODH7n1uu0Y1WcK/L3ORhRTFTtht/2u+8CKtju6dG9FpRIpF55dKU8eFxfxPtb65xsM87PgBloqHYTLqkL07RNEg7aTQWYyCmLo0WwWV3/aFQ+Ck2ScfWGR0yDhmCirtUFpgT7mygXtqoVURvCj4D29iZ+59k+fg85SuxastmVeqzgNbUkNb8ZVp8jZXxRGRwZyE10qbQp3qXddk6YwLH4KES7s1fIQuTuwCoTixlcMAp5hk9BUgQ22kiMi87T7OvP105bqFTlq2tC4OwHH9rf4wFukN5FIQ6yDv8FsIYtGH3ons63Rx6/V1Fcqw9ftb0ncL+fwMV+z14TSfYKQa4TaEjkZWjnrB0M2vEaKoHKLKG+LFAuccvGRHkb+37n76A9JVR/amy/LW63i5/7XQJAxKmyrhfSLlp0Co9FAA4X723yGvPqL6Oe3N0ml+xW5qoVcW1EVjSTk2pqF5Qmnuoz5j/+PdSACJQaceEVz8J+3hWskkowy2o2qk6ETxT4mSy/vw0OFL440GpjFAUhKGtiyAaMJiop/l9cCWjvTjRWPjUiRLtKhQJ827hY3xcwKDLHr4AMlPsnY8IjedYAnKNJ9RpiSHzbhcKGMR0r/TN5oMOY1kv36jGZJKHq0S/eTIhRZRJGyYGgh5rFrzymz02we9/jL76JAehPW22WKzPQ1oP92hLV9tTItbCAwbhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LCBK2yDUzKc2Pec41vLxRs",
      "input": {
        "note": "Left arm won't advance while at table level; lifting while moving forward/right toward the plum, then I'll descend.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.43,
          "left_y": -0.185,
          "left_yaw": 0.0,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LCBK2yDUzKc2Pec41vLxRs",
      "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]: [-0.572, 1.8668, 0.5957, 0.5922, -0.4603, -0.3565, 0.9988, 0.297, 1.0119, 0.8192, -0.5968, 0.2489, 0.0925, 0.9966]\nstate[eef_state]: left_x=0.3845 left_y=-0.15 left_z=0.0049 left_yaw=0.0055 left_pitch=-0.0281 left_roll=0.008 left_gripper=0.9988 right_x=0.3004 right_y=0.0502 right_z=0.1766 right_yaw=0.0221 right_pitch=-0.1926 right_roll=-0.0942 right_gripper=0.9966\nstate[joint_eff]: [-0.6085, -6.6667, 5.2308, 1.917, -0.2466, 0.0611, -0.0122, -0.1026, -2.5641, 6.8171, 1.5409, 0.0464, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0dc051e1cfdb9adf88d7166bf400d1827daf355d04f1b1fd1b35932f8702240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0a29d9c4ed75e1e14c3789ac81b7406d077661fcc50293683dfd257141895e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5cc33aa6391ab7a25fc6ce48fd37bdc11a9ae5a6e17e8f39e9bf2c719d954d8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 30 attempt 0 · /messages · status 200 · 5.85 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]: [-0.5709, 1.8523, 0.5957, 0.5514, -0.4553, -0.3531, 0.9988, 0.297, 1.0119, 0.8192, -0.59, 0.2489, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.3808 left_y=-0.148 left_z=0.003 left_yaw=0.0014 left_pitch=-0.0519 left_roll=0.0225 left_gripper=0.9988 right_x=0.3015 right_y=0.0505 right_z=0.1778 right_yaw=0.0224 right_pitch=-0.186 right_roll=-0.0923 right_gripper=0.9965\nstate[joint_eff]: [-0.5812, -6.5436, 5.3402, 1.3602, -0.1538, 0.0317, -0.022, -0.0342, -2.6325, 6.9265, 1.5751, 0.0562, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.572, 1.8668, 0.5957, 0.5922, -0.4603, -0.3565, 0.9988, 0.297, 1.0119, 0.8192, -0.5957, 0.2489, 0.0925, 0.9966]\nstate[eef_state]: left_x=0.3845 left_y=-0.15 left_z=0.0049 left_yaw=0.0055 left_pitch=-0.0281 left_roll=0.008 left_gripper=0.9988 right_x=0.3006 right_y=0.0502 right_z=0.1768 right_yaw=0.0221 right_pitch=-0.1915 right_roll=-0.0939 right_gripper=0.9966\nstate[joint_eff]: [-0.6222, -6.735, 5.2171, 1.8926, -0.2808, 0.0659, -0.0073, -0.1026, -2.6188, 6.8171, 1.58, 0.0415, -0.0757, -0.0122]",
      "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]: [-0.572, 1.8668, 0.5957, 0.5922, -0.4603, -0.3565, 0.9988, 0.297, 1.0119, 0.8192, -0.5968, 0.2489, 0.0925, 0.9966]\nstate[eef_state]: left_x=0.3845 left_y=-0.15 left_z=0.0049 left_yaw=0.0055 left_pitch=-0.0281 left_roll=0.008 left_gripper=0.9988 right_x=0.3004 right_y=0.0502 right_z=0.1766 right_yaw=0.0221 right_pitch=-0.1926 right_roll=-0.0942 right_gripper=0.9966\nstate[joint_eff]: [-0.6085, -6.6667, 5.2308, 1.917, -0.2466, 0.0611, -0.0122, -0.1026, -2.5641, 6.8171, 1.5409, 0.0464, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0dc051e1cfdb9adf88d7166bf400d1827daf355d04f1b1fd1b35932f8702240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0a29d9c4ed75e1e14c3789ac81b7406d077661fcc50293683dfd257141895e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cc33aa6391ab7a25fc6ce48fd37bdc11a9ae5a6e17e8f39e9bf2c719d954d8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSogcKEAgSGAI4AUIIdGhpbmtpbmcSDIe7u+eVk4OTneGJXRoMmaDqqq2zSHy9HtyWIjATJzaNVuk4rFYOLLOdqjKHMn/sfY4HWdTNlhHQmJIKZG6CzSNbjuBEMEW4RY/WvkIqvwbfpHjB7LnKVUMuabaekXqyNmXV+ArNmK5iAPQFQ9Q1V7Uvlg8sfl3bZqSSq0aAyArjh97dtu+fxYBHi31BRtETRl4OveRQKwraw92t90f4tOAZHHmLrGwzCxEyFLnrBtBwW8XjzMZZSymWEJDv62RvyptSSEiO2o4B/ifhxnVa+KcmMlYUwUXg7gPNTMt146oJBXS/vrtc+Zq8tEUyk8MnIvpJTurdOQ+FM56XB9ViA8qEIgwIHul8/3vEsyUozPU0DHldWC1nUaodeFAg3ds2yxWSRFE3c/Ly0sQRKg9vwiaVuXHKjhfJVkx1lwxEqj0Xwyy7bK0XBp0nCnFU752aVKeJemYW0taZ3/pHgnxT4vXbsitIn45LGvIXKTaMmL+iUkn/5u1rrp2XYClnenabcnmnf1ZHjvKWXFnP3XSY5SdYCNa7Mkr8vO5oW/+ohahGyaFfulcNbjU53TSc+Q3sJMHzQ750AWvLCy29dPxfqsrXVP60GGTpBLZC8nWZE6uHnhqVlWp9SRXkbDFjN4w21rUsfgQuy22YoMwXppcbKD1x9daJTnKlX/J4bEKmI2VvFAV7v+QK9KzEp5NlSm8VGtzPuq9Hi8JeJvU6roBx8ck12RbT8FaU37JNN5G6I7mNegUMOY88G9mruDbQPh3xBrXzQ7HDAcy4H5wGVq5iZBeuqIOYOLtsA3fXmbBIaH/reHbayy8wCnvg3RynLcGBFvNXrg9h5AkX+toCe43OqPHZpAja+jkn1QuwAKCoWwE0uw6XIJsNle0WG0m8tvS+Z/iUX0DtoBuYXIY2u3NuZ6mPtOiRt7J51E+AJuineU98Cr6cfs3UDIRMVgVjpEYNUU+hNsDbD7TG81bg0BJ8KXa8vez+PqInDlWK9vZ1cTxEBXbu7OkluKHKKvuuSN2F0fEM8dqFVcxL8QDyWPI+2jB/5xcpIZRp9QL6dtc87qctVJ1csKuB3agKTI0MI5Ebcw8rq/oZOUARoyYZeU6X3t9RKXMhsJNAOPIVP6NnyX5pJejqPP9A0lScXTGx1UiY2x8SXhCh+a7lVXAcyPaZkCjOoqy+2HY1VrPLOj/fyduVmkcZ43XtIdEIWTQdcGsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017Ee3Ki3S447MGckzMyL1fE",
      "input": {
        "note": "Left arm isn't responding to combined moves; trying a pure vertical lift to free it.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_017Ee3Ki3S447MGckzMyL1fE",
      "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]: [-0.5716, 1.5311, 0.7513, 0.0986, -0.4568, -0.3649, 0.9988, 0.297, 1.0176, 0.8192, -0.6109, 0.2489, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.3836 left_y=-0.1498 left_z=0.1024 left_yaw=0.0077 left_pitch=-0.0313 left_roll=0.0005 left_gripper=0.9988 right_x=0.2984 right_y=0.0496 right_z=0.1727 right_yaw=0.021 right_pitch=-0.2117 right_roll=-0.0997 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -8.0068, 9.265, 1.663, -0.2564, 0.0269, -0.0073, -0.1983, -3.0974, 6.7897, 1.6386, 0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e6cba3c55c6e38209089dad8549bc10af055bc4358b2cd37e20b6119fa12674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b481244396b9ee15e724077d619f9e986c98a3d5de0da7a816822e1250ed848",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c2a9b0cc86429deeac177e436255ac15612d139b5e693eb11a4d2dfbfd014d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 4.904 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]: [-0.572, 1.8668, 0.5957, 0.5922, -0.4603, -0.3565, 0.9988, 0.297, 1.0119, 0.8192, -0.5957, 0.2489, 0.0925, 0.9966]\nstate[eef_state]: left_x=0.3845 left_y=-0.15 left_z=0.0049 left_yaw=0.0055 left_pitch=-0.0281 left_roll=0.008 left_gripper=0.9988 right_x=0.3006 right_y=0.0502 right_z=0.1768 right_yaw=0.0221 right_pitch=-0.1915 right_roll=-0.0939 right_gripper=0.9966\nstate[joint_eff]: [-0.6222, -6.735, 5.2171, 1.8926, -0.2808, 0.0659, -0.0073, -0.1026, -2.6188, 6.8171, 1.58, 0.0415, -0.0757, -0.0122]",
      "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]: [-0.572, 1.8668, 0.5957, 0.5922, -0.4603, -0.3565, 0.9988, 0.297, 1.0119, 0.8192, -0.5968, 0.2489, 0.0925, 0.9966]\nstate[eef_state]: left_x=0.3845 left_y=-0.15 left_z=0.0049 left_yaw=0.0055 left_pitch=-0.0281 left_roll=0.008 left_gripper=0.9988 right_x=0.3004 right_y=0.0502 right_z=0.1766 right_yaw=0.0221 right_pitch=-0.1926 right_roll=-0.0942 right_gripper=0.9966\nstate[joint_eff]: [-0.6085, -6.6667, 5.2308, 1.917, -0.2466, 0.0611, -0.0122, -0.1026, -2.5641, 6.8171, 1.5409, 0.0464, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5716, 1.5311, 0.7513, 0.0986, -0.4568, -0.3649, 0.9988, 0.297, 1.0176, 0.8192, -0.6109, 0.2489, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.3836 left_y=-0.1498 left_z=0.1024 left_yaw=0.0077 left_pitch=-0.0313 left_roll=0.0005 left_gripper=0.9988 right_x=0.2984 right_y=0.0496 right_z=0.1727 right_yaw=0.021 right_pitch=-0.2117 right_roll=-0.0997 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -8.0068, 9.265, 1.663, -0.2564, 0.0269, -0.0073, -0.1983, -3.0974, 6.7897, 1.6386, 0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e6cba3c55c6e38209089dad8549bc10af055bc4358b2cd37e20b6119fa12674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b481244396b9ee15e724077d619f9e986c98a3d5de0da7a816822e1250ed848",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c2a9b0cc86429deeac177e436255ac15612d139b5e693eb11a4d2dfbfd014d9",
        "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+QkKEAgSGAI4AUIIdGhpbmtpbmcSDAaIBCsClSk72kEqYRoM7DHgvs6QCH8zkuoIIjCfBOJOEaPWmmV8cuG7fBxCBv3enb0L5NBL4V1HvCI+IA3V/x79PCjNECgpXXHDKV8qlgmLLUMXrLLZuSoA8zw/4ltj6sV8bBfGJcOpd3DUqrT1xSj+yKf4SmlniArnZE2475DYAy5Q51lyhKnZHEq8qkEwV/b7LYyxaDQRFMvShGKHS9zj7OzR3NwdbpWGAZe9h4K2QfQsLSz6CZrXJUOjFe46VQwsuvcn73CT822rYVw3j7poPu9AFb2lKVtXpE6tkpGxchOWO8aZDVFAXgnPRBU1Z8hvaDQIambkP6CQabDo/ZmckK3dlHKJ//oofpG1GC2jtU6ET7s2puoE/QHKLzNHPomQehWRhY6sd/uDC1HyZdhiX0Sb2dwFGuNxNLTpGLo+27qUcJLv/oIJ8MRzgluhth2vqNuRpfRAMsEP1Oi2YO8QeREjQwRLaq+Z6UJkDvcV/M55hGGZBCXs/Yw8F8LWwyEitllkCcXDblztAmg4GVgc6vuo21LLImR+E13cM40c8w4AZu7huRFldlYPX4PJo4MMpsRGyUe8FMixcidpg/bwdvuSOgZeuoKgHc8c5+ckQOHYPJLIdvFhru3M1ZrvMMqqCszhzdtQKVLWvCX+D/Ql+ezfbs3TkUnCgNYitgWVGjPhcT2v7Yew8W6Jc2gvyfC7OTg5eQ2bBZisbmfHaM9ZocVsWRaPFnehq3TuwKjO0X7CYT/I9mY5oOOmHJCfdy2MUPGTaFNuD1KM7oGym8HTWkD07paQK+XCTyBWTqhKiHULpb357VpVKSEYXwlB+R2jeJqnKC+rOiR/fjHLpf/yX818CGqL55CimmqKuDOjUXStE7qutWlYT8wbwGVLY7EfSGHt4/pV3jlIB4Rbd2EBKTc8Tjg3abDODlR16YFpURl/31VJE0agbj54vdmHUilDeN4L+V8ObhsB69dM3YlIebu+mlrn8KgPF3J+djJrD5vtW0A/1sho5mnLAq5KW258I5HNCnMSzt55G+elCx8qnSMjACuIViNep19ygkG9tK48//XVPSZFEPpxBovfOReGfyKwYMFM00RRwHtFJBeHOTBkSoQOv9GjG43CJ1zz5xYBOUmN3+A3kb+d9reeQTYA42VwiHzSZLhKkzvTgArvptOtvU4TliBzA1ZA9F/ZaSPGuWBSxnRGTT5UbNAbYnCCeMVhDvWw9BZoP+HLlGLk5QVDlxdQuZkDgeuGBJdjYRfdLvLVmVS/HCRx0h73QsLKe8vz4iNqXvfKZb0R/hvHpJToebbTkE0UnoJcXIfXDAxA/9BzdPidaRxblmrprins20Yt8g6DKlsRY2by+63gF5ezslP9tWTG1DUW1PZWP+FkWYXBQClHcFXarFaPEaALJESokZbKGUXT0M93R5h7ZqE5zohghBLPsv5EVwkxP27Xr2F45ATdqPSMrkbj11q8JeNqPAX+ck7KOkfw7EDn/MqTwwt20yIpymHzVeVl5nhQGhEj9iU/C0dqaLdwmMUH+4b/TKR7lYIlZFaqIw7UAYNkQWL5bTDFEBT1ClwFZKMcC6v+cbemeBIlEEvDh+WLu4zYPw2nGelOR9+f1SFs9rdXqTGpX7v/QnwSk+wLaKGQamOXra/EjUnJMj9/4pkxf+X/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0162fBGedigoRKYMwEc5nc6a",
      "input": {
        "note": "Left arm freed. Plum is ahead-right of the jaws, beside the white bowl; moving over it at 10 cm height.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.18,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0162fBGedigoRKYMwEc5nc6a",
      "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]: [-0.5816, 1.7, 0.8898, 0.057, -0.4686, -0.3752, 0.9988, 0.297, 1.0203, 0.8192, -0.6151, 0.2493, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.4072 left_y=-0.1679 left_z=0.0821 left_yaw=0.015 left_pitch=-0.087 left_roll=0.0387 left_gripper=0.9988 right_x=0.2979 right_y=0.0493 right_z=0.1712 right_yaw=0.0202 right_pitch=-0.2182 right_roll=-0.1019 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -9.5111, 8.1026, 2.0147, 0.0513, -0.0415, -0.0073, -0.3077, -2.5094, 6.7897, 1.5409, 0.105, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffdcf2733401915929fac09b18983fb8003e22c52afb0c2a5769df8b359f19ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7edafdb0d6e8a16f80046d151bdf2117bf7e3d2e38b89d5ea2b7c8bfd55e1e8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0e59183e1d8303f1fd38e299ad16bb6482c4ffbac7b33d4a8070274b733a4cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 4.988 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.572, 1.8668, 0.5957, 0.5922, -0.4603, -0.3565, 0.9988, 0.297, 1.0119, 0.8192, -0.5968, 0.2489, 0.0925, 0.9966]\nstate[eef_state]: left_x=0.3845 left_y=-0.15 left_z=0.0049 left_yaw=0.0055 left_pitch=-0.0281 left_roll=0.008 left_gripper=0.9988 right_x=0.3004 right_y=0.0502 right_z=0.1766 right_yaw=0.0221 right_pitch=-0.1926 right_roll=-0.0942 right_gripper=0.9966\nstate[joint_eff]: [-0.6085, -6.6667, 5.2308, 1.917, -0.2466, 0.0611, -0.0122, -0.1026, -2.5641, 6.8171, 1.5409, 0.0464, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5716, 1.5311, 0.7513, 0.0986, -0.4568, -0.3649, 0.9988, 0.297, 1.0176, 0.8192, -0.6109, 0.2489, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.3836 left_y=-0.1498 left_z=0.1024 left_yaw=0.0077 left_pitch=-0.0313 left_roll=0.0005 left_gripper=0.9988 right_x=0.2984 right_y=0.0496 right_z=0.1727 right_yaw=0.021 right_pitch=-0.2117 right_roll=-0.0997 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -8.0068, 9.265, 1.663, -0.2564, 0.0269, -0.0073, -0.1983, -3.0974, 6.7897, 1.6386, 0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5816, 1.7, 0.8898, 0.057, -0.4686, -0.3752, 0.9988, 0.297, 1.0203, 0.8192, -0.6151, 0.2493, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.4072 left_y=-0.1679 left_z=0.0821 left_yaw=0.015 left_pitch=-0.087 left_roll=0.0387 left_gripper=0.9988 right_x=0.2979 right_y=0.0493 right_z=0.1712 right_yaw=0.0202 right_pitch=-0.2182 right_roll=-0.1019 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -9.5111, 8.1026, 2.0147, 0.0513, -0.0415, -0.0073, -0.3077, -2.5094, 6.7897, 1.5409, 0.105, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffdcf2733401915929fac09b18983fb8003e22c52afb0c2a5769df8b359f19ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7edafdb0d6e8a16f80046d151bdf2117bf7e3d2e38b89d5ea2b7c8bfd55e1e8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0e59183e1d8303f1fd38e299ad16bb6482c4ffbac7b33d4a8070274b733a4cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1QcKEAgSGAI4AUIIdGhpbmtpbmcSDOAM2F7mwktpclQwwRoMafnCmco71yntjikRIjCxUXIkLy1J4xKKLKaCcD4GYkE+1qGBsSCvKrlXXeKcfonlN2CW0cBTeawVkr7vXlYq8gYp2m6e6/kaz6+u75bN/5XYoLQzJdo/hEOb56zFKfGdV/V2G0lHB7LtczfGrT1ormLofleJs4XigTTceRBtu/+1wEs+Xw3tFqJqVYvDG6C2v8ZvyXeZOyayIzOZli42yoXonF9BGnloxjqcdiqRWpefnObRvk7QFF3KAPE5LRbstlW7GXu8SygacJx4IM5PVHZKwasq2/4bmKvRivU76eYLVX04ZROIlx1QihVD2x8O2oO0nsqB8tmzDjMsFW8n3aUHT8xhkWXDwBMisjCO1iu1FzN5N094JQFNHiCEYbHAGeuNtSOgke/sf34j34IbXHoIIL5ZgsFf7mcHC6w2YctoaFrwnWuOh5GMihc0FZjjvRgUX8JdVQfqzwk4SdeoTfEfP6r4Y5UeagTa4/CtT7JWm7HhqwRLVV2paig4TpF5WmgmyqYSepZXhSblLdo3mMOG0h9f2OvxHe/5LBiDbmtuXjXgikm6MHRBEyG9XYZF6kV+TnDps/K6pYUG9vv5D1VK0icuN3bHGHHId1L9JR4FNwTlRMteFv82Sr35TJn3uw0LkkvAb63TdVzvdvzUimpO7+TaiqDkjXW5MFpcnPE/9DEiZsGOrANyd7DzHW90uoXiAirMpuX6aWFxITeAwVX6up2E0wXHHOjDLBrvgzMu7JZR3mvGTKmsWm65NUN35UCVKvH9n6IFLZuFkZSdsIx7N59dLXFxoqzYNBRFDdEJfAs5ALj7dAFYwU39MDtlRbwB6kqQriJF52xySB+AHOEHWNxbwsQW/MKMfXVQlT0uQxz6mQuVeRIMwcH/U/kwEr03QIKNqfzt759uk8pYxHIUEuZwiTWFaEL0QQ9EOF8G7HE8VWH5TWZgLBqdFeMNofikMmOfa7fz0i3aaytklfNZIyvYIH/10n/WeFYggIOYncgJylI8RnoDd7n/u94mLMQmuGtEoVe65sZ7BTqmrbmDasP9vMZACeERxW2oMci9CIpcy89mqBsjLLbOQwCiwNgTd6P0TSwnEKjET4oRLKD60+xg+2Tl5PFQVzFD4WvN3oJVedA2GEG6jQQyyE3+3vLjcuLnua/47W/eXPJJ6Knid/MXSYjU9W78GS6uv9AqNJGie4r0/VB1O5ZMLKPNw/wbxZz275ln5jYGdf0nQEQrSeZO2aMI11bp1TAIQDKcMWIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hh25TUQ9MecV8WoqHULm3W",
      "input": {
        "note": "Plum remains ahead-right of the left jaws; moving further right/forward and descending to grasp height.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.44,
          "left_y": -0.2,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Hh25TUQ9MecV8WoqHULm3W",
      "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]: [-0.6044, 1.9995, 0.8974, 0.3462, -0.4946, -0.3943, 0.9984, 0.297, 1.0225, 0.8192, -0.6235, 0.2489, 0.0921, 0.9965]\nstate[eef_state]: left_x=0.4267 left_y=-0.1884 left_z=0.0061 left_yaw=0.0227 left_pitch=-0.0788 left_roll=0.0396 left_gripper=0.9984 right_x=0.2966 right_y=0.049 right_z=0.1692 right_yaw=0.0201 right_pitch=-0.2286 right_roll=-0.1049 right_gripper=0.9965\nstate[joint_eff]: [-0.4855, -9.2103, 6.065, 1.1258, -0.1636, 0.0708, -0.0562, -0.1983, -2.8103, 6.9675, 1.5556, 0.0855, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:596e63bef3505219ccce4b568ec498b2ad2b022b8d22af6815879fc459835d12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6382f84d9603d6609316afe0955b94dc589e8cbbf116fb6b7e6a0ec9e7d7a82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:59b5a850c13f159cc341d29a1c83511ae1861dad473ccfe57559cfd6ad164cc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 4.041 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5716, 1.5311, 0.7513, 0.0986, -0.4568, -0.3649, 0.9988, 0.297, 1.0176, 0.8192, -0.6109, 0.2489, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.3836 left_y=-0.1498 left_z=0.1024 left_yaw=0.0077 left_pitch=-0.0313 left_roll=0.0005 left_gripper=0.9988 right_x=0.2984 right_y=0.0496 right_z=0.1727 right_yaw=0.021 right_pitch=-0.2117 right_roll=-0.0997 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -8.0068, 9.265, 1.663, -0.2564, 0.0269, -0.0073, -0.1983, -3.0974, 6.7897, 1.6386, 0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5816, 1.7, 0.8898, 0.057, -0.4686, -0.3752, 0.9988, 0.297, 1.0203, 0.8192, -0.6151, 0.2493, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.4072 left_y=-0.1679 left_z=0.0821 left_yaw=0.015 left_pitch=-0.087 left_roll=0.0387 left_gripper=0.9988 right_x=0.2979 right_y=0.0493 right_z=0.1712 right_yaw=0.0202 right_pitch=-0.2182 right_roll=-0.1019 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -9.5111, 8.1026, 2.0147, 0.0513, -0.0415, -0.0073, -0.3077, -2.5094, 6.7897, 1.5409, 0.105, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6044, 1.9995, 0.8974, 0.3462, -0.4946, -0.3943, 0.9984, 0.297, 1.0225, 0.8192, -0.6235, 0.2489, 0.0921, 0.9965]\nstate[eef_state]: left_x=0.4267 left_y=-0.1884 left_z=0.0061 left_yaw=0.0227 left_pitch=-0.0788 left_roll=0.0396 left_gripper=0.9984 right_x=0.2966 right_y=0.049 right_z=0.1692 right_yaw=0.0201 right_pitch=-0.2286 right_roll=-0.1049 right_gripper=0.9965\nstate[joint_eff]: [-0.4855, -9.2103, 6.065, 1.1258, -0.1636, 0.0708, -0.0562, -0.1983, -2.8103, 6.9675, 1.5556, 0.0855, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:596e63bef3505219ccce4b568ec498b2ad2b022b8d22af6815879fc459835d12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6382f84d9603d6609316afe0955b94dc589e8cbbf116fb6b7e6a0ec9e7d7a82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59b5a850c13f159cc341d29a1c83511ae1861dad473ccfe57559cfd6ad164cc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS7AgKEAgSGAI4AUIIdGhpbmtpbmcSDFcdQntUchTX4WYALxoMmJpPPXoMGW83k1R0IjB9m1ai1Lmg669vopKJDHHxh8oDPSiR9nFrWbbVwa9W0XwMXl9PFTVTLc68sLHP55wqiQgU0gKjcVCSNzoQevHYmFvmYyKaTZGVGk6HBX2LJlEZfJhdNOQTV24wKkY6V126T7BchJCmyQhRSJaHPWkRtTWVcqHznUF03ttKfSkLSFS5ABJam3W9SM3EGx4hUWaOk/+Q2yA7obQI3gV3WIZeSWvvksEDUMu7CJuwI2CNptloeqwoklcZsuxwlEp7SIbg8IIdZUjSclkOVRHx/hMiCVfEcBoCkbU9BFcxnEUctFL48vruKFOPM1p84b2kNAV4MB6+AqVnNNbciyRyTwrDJH7cPBw/qopwq+3Ig9i27TPK2HRG53Iy/bla2Cpdzv2og3MCE9wz07J0moktAh+izC1q814MUKfmKCGSP0ybYNS5AiRfJDLxn2Rx8L0lTLVHAoDG/qJyfiw+hLJ1C6aCMafygYoeDJzGVryDCb8S1hmRXdXOFeC6klNpfFZH3k5jS4n/U6ZS5X9lAsGacjaPECxX4T10HozCms4rpXtp43F2K5J3fDtFJKUwRAeXH2azm34whnAt8ThF03OGGRnNeFIgeqzWSgH7jLUSsH7erDEDOPa0R4XlSEIQ6bJUtfOuRmvNq1Du5H4JsQvMEi0FNH/g8zcL68BFvQg4CetqrPZVW2SsMVwHggf6HovoYfm6L7WD7KC/EChz1G6PYCq7gdrZD7U2jb8jhUunmVB/NlnMyFnXsn+MXdBrUgxqC+FG8Cw5swVTue2/nqQoH/cyChl/CMTZI+hZxFfvpM+wyFa7zlwoZ7yjfORXsE9X9ZZlpyQp64WDN3JgCH9hvYCgRgDDMiq+diMA/oZFcVCXzvnhi4EqcjxD1jemSqeye7PEbeUVbadS06Mf/pzC6nO7TH+zE9XTG3TzES/N0qMaMEWLU0Oxer+zTyBLBFgEjkz5VWWbJ171Vj8hLL+ga71vOdPfnFHVCmBYOsoBg+43taCFjx7ltmlaZkXJBHOiXEp4r7QIQ0ybDU6X3DsVv9af45HylDKONOrF2wlS11GSKeuJirQ0GzTPzf1aU7dUe9pppISO6Bl6COFA7EPKT0V6RJ59rDbPesDWcVlCXpniR7EIMY3KpOwg54FOHLugpmn8UuqNioWTv7uHqIR9UU+1dFSZ6sbmnxy0KVaFZvaZLd0UFGCJwb6WotgtT0xL/EzU72mgNM2ufHNa2sIkWi4kSiYM5yYEMrTfxbFclVMlWH1kQbqZFI2PFrnzYAJLpPsizlgRdkS9/m/DZ64mUOpxTQdG0x1214nLeXUag4u4+QSZa+MvkOTbOGVz2OkEsYxToxE/r1GF7WhsdVw8RBLncFONS8tIfi+XwTfxlaKgu2R577lr5YtSrbmYSDH0LZIGm5NPILpp5181a21ausUJcYaCR9baqpf7puJPGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VtELtgVp9smPkmXkjKpiWd",
      "input": {
        "note": "Plum is close, just right of and ahead of the jaws; shifting ~3 cm right and 2 cm forward at table level.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.45,
          "left_y": -0.225,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01VtELtgVp9smPkmXkjKpiWd",
      "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]: [-0.6434, 2.0911, 0.9909, 0.3977, -0.532, -0.4198, 0.9982, 0.297, 1.0233, 0.8192, -0.627, 0.2489, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.4444 left_y=-0.2167 left_z=0.0064 left_yaw=0.0248 left_pitch=-0.0212 left_roll=0.0064 left_gripper=0.9982 right_x=0.296 right_y=0.0488 right_z=0.1684 right_yaw=0.0196 right_pitch=-0.2326 right_roll=-0.1058 right_gripper=0.9965\nstate[joint_eff]: [-0.5675, -9.3333, 6.612, 1.6532, -0.3687, -0.0269, -0.0269, -0.0752, -2.7419, 6.7761, 1.4676, 0.1099, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a041c635caefbeb75c6c6496de931e01044f82aebd216444e60275bfb5505d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:591a81e00ce13440edc67002e55eea1cb41353dd0b472a0e3dcd03dd390eca49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27067bb33a6fb1c47f0c6e836427a2b5692e6e751f029c81fc2d965483a20662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 9.077 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5816, 1.7, 0.8898, 0.057, -0.4686, -0.3752, 0.9988, 0.297, 1.0203, 0.8192, -0.6151, 0.2493, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.4072 left_y=-0.1679 left_z=0.0821 left_yaw=0.015 left_pitch=-0.087 left_roll=0.0387 left_gripper=0.9988 right_x=0.2979 right_y=0.0493 right_z=0.1712 right_yaw=0.0202 right_pitch=-0.2182 right_roll=-0.1019 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -9.5111, 8.1026, 2.0147, 0.0513, -0.0415, -0.0073, -0.3077, -2.5094, 6.7897, 1.5409, 0.105, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6044, 1.9995, 0.8974, 0.3462, -0.4946, -0.3943, 0.9984, 0.297, 1.0225, 0.8192, -0.6235, 0.2489, 0.0921, 0.9965]\nstate[eef_state]: left_x=0.4267 left_y=-0.1884 left_z=0.0061 left_yaw=0.0227 left_pitch=-0.0788 left_roll=0.0396 left_gripper=0.9984 right_x=0.2966 right_y=0.049 right_z=0.1692 right_yaw=0.0201 right_pitch=-0.2286 right_roll=-0.1049 right_gripper=0.9965\nstate[joint_eff]: [-0.4855, -9.2103, 6.065, 1.1258, -0.1636, 0.0708, -0.0562, -0.1983, -2.8103, 6.9675, 1.5556, 0.0855, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6434, 2.0911, 0.9909, 0.3977, -0.532, -0.4198, 0.9982, 0.297, 1.0233, 0.8192, -0.627, 0.2489, 0.0925, 0.9965]\nstate[eef_state]: left_x=0.4444 left_y=-0.2167 left_z=0.0064 left_yaw=0.0248 left_pitch=-0.0212 left_roll=0.0064 left_gripper=0.9982 right_x=0.296 right_y=0.0488 right_z=0.1684 right_yaw=0.0196 right_pitch=-0.2326 right_roll=-0.1058 right_gripper=0.9965\nstate[joint_eff]: [-0.5675, -9.3333, 6.612, 1.6532, -0.3687, -0.0269, -0.0269, -0.0752, -2.7419, 6.7761, 1.4676, 0.1099, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a041c635caefbeb75c6c6496de931e01044f82aebd216444e60275bfb5505d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:591a81e00ce13440edc67002e55eea1cb41353dd0b472a0e3dcd03dd390eca49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27067bb33a6fb1c47f0c6e836427a2b5692e6e751f029c81fc2d965483a20662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS/QcKEAgSGAI4AUIIdGhpbmtpbmcSDN8QgOzauSw0IqXCuhoM3AnmwkGJLz0JN1svIjAKVNvAMR6fjKhMjoUt68wLHG2Z+moo0djniRFimL8rr2KBdnZuddeoSSs94HW9lnYqmgeqbBhk3rEWPzxIm1POw8Td2QTniIFcCz6SNvKMDNi7tbd0xMoym+T3Qt19dOE74t/r3KhxVBsU1kQY6w5qRJXmPRVA8OEH2qZRMmM5+LSLA9bwfw+RUuNBTsjPQ0Rq/V60kZjnICY4gdCRE+J4YlfTSoSZXE0+BJmhCRVErpeNjhceMfk4bqwc//GlPWZxZGiLEWk0vqIUy7tQBLpZsjIVWovwiQNJYj565ODxfpPH61UHsMTFG3UeD32C6GDPq4H1P1f7Shtmlltg0Zwur0yb+3x6cEN68BVChqfe6ZqoL9AyatIKBeTU6cb2MgeLUOjXxylpS4ATv006OKJzZpWxZL1bU9q2vqyBZnJn+ej5FTEeDxbTyMXlJUGtlRepOr8fa5BaDbt9KBhIMXjay7chccBQdeub2cDepZYo7GMDCPtO3kGmDQa5c1wsUJUJxki8QeI60CIJveV/moLWz+ZflzsaZrLoQ7O/zlP3WSz4v6jRWynUpVJkkUbG4LEF3cBTb9b0No7XOWSR5PujpibEmy/aoRjbQK/3Gi274Wb5xNbV07vpUT2P94C9nolQOFvHzA1QBYDA4Kq1e5yIlTmm3lw+hJASqvjjEP/NhtVFcswJgSlSBwadwXZEQkYpkWQXN3fm2LBe9H6x6edUMmgv5Y1hvHnxrcUGtizabCT/yRvPm3ahx8HZ9+6RfDKMFFFevzVRzARf7WhJg9GKG8NAp8fjSO0QmfLIyWcdt/D5F+Bwo9ukuqqT1mwWWgl6PtuMPwWNXyej2NRqF28deF9UVptp1CxAIlb3x47Do7xwICXPR+meE3n6RoAIBQAFu7MtCaQlMZ5Taifya2y5l+kx8QaPvTeMp+/VCDUSK4QbJk6edspplj0aAF6lhXp9IVf1z8xbI20wldAHJdwJEjW8JrJtEvTLPCMEJOJh6ig6w0qFVrsUsmCG9THiDQp+LGvz0OkTi6gyVsrW3rZfWrJccZKSnp2Fkn5OX8QwXFi9NpgWyDQpxdi14PzshMxYRpInay4lPFkkH5XwQAaWNt+zcx+DcX2pQaiXdFRPQhU7JX48zoEC0LdgXbaH2VAqOLDnL33dTExxbBNal+hJ4VABEXoI+G2HnQ6T12a352JKoFoK869nYMWUuylBPdqNqnR2VAlOLybKaKom2QM9zY2hMjhjobrfNBalqnKNuOjLzOW0Z3wObEPxubweIYwcC6ebc7dCHo+G03FnGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GH9UY5K9iLJSNPhGfbzwGf",
      "input": {
        "note": "Plum is centred on the left jaw column right in front of the fingertips; closing while creeping forward 1.5 cm.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.46
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GH9UY5K9iLJSNPhGfbzwGf",
      "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]: [-0.6506, 2.104, 1.0054, 0.4007, -0.5392, -0.4198, 0.0094, 0.297, 1.0248, 0.8192, -0.6308, 0.2489, 0.0925, 0.9966]\nstate[eef_state]: left_x=0.4462 left_y=-0.2211 left_z=0.0061 left_yaw=0.0231 left_pitch=-0.0147 left_roll=0.0072 left_gripper=0.0094 right_x=0.2955 right_y=0.0487 right_z=0.1674 right_yaw=0.0193 right_pitch=-0.2377 right_roll=-0.1073 right_gripper=0.9966\nstate[joint_eff]: [-0.4308, -9.8256, 6.2291, 1.663, -0.2662, 0.0317, 0.7155, -0.0752, -2.7966, 6.8991, 1.4774, 0.0757, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe773b2e86023208cc8e3610f0520f791df83ef007298df2ba7e8ea322155369",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63f34fcd1175465d224c6976317857938dd08f890abab8abd8d51ea1bf8ed010",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9d04c16d65dc75b2749429ed0347a1443ec6deb9402c3fdb8ca6efb567f746b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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