adhoc

completed
2026-09-22T18:26:23.100607+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (76 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
239.3 s
total steps
284
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 left, blue bowl center-right, lemon in middle, pear just ahead of right gripper, dark fruit near left arm. Moving right arm slightly forward over the pear to grasp it first.
move_to
right_x0.3400right_y0.0000right_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]: [-0.0204, 0.8005, 0.6136, -0.3828, -0.0322, -0.0299, 0.9993, -0.0227, 0.7986, 0.6186, -0.387, -0.017, -0.012, 0.9994] state[eef_state]: left_x=0.296 left_y=0.0032 left_z=0.182 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2959 right_y=-0.0001 right_z=0.1839 right_yaw=-0.0002 right_pitch=0.0 right_roll=0.0003 right_gripper=0.9994 state[joint_eff]: [-0.2393, -1.812, 9.5795, 1.8291, 0.0659, 0.1197, -0.0855, -0.3487, -1.4838, 9.2103, 1.9023, -0.0757, -0.0415, -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": 0.34, "right_y": 0.0, "right_z": 0.14}, "note": "Scene: large white bowl left, blue bowl center-right, lemon in middle, pear just ahead of right gripper, dark fruit near left arm. Moving right arm slightly forward over the pear to grasp it first."})
tool
executing move_to over 4 steps (0.4s)
step 4
top_cam
camera top_cam step 4
left_cam
camera left_cam step 4
right_cam
camera right_cam step 4
assistant
agent notePear sits at the bottom of the right wrist view, slightly left of the jaw column; advancing ~3 cm and 1 cm left to get over it.
move_to
right_x0.3650right_y0.0100right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.804, 0.6132, -0.387, -0.0326, -0.0315, 0.9993, -0.0162, 1.0622, 0.5388, -0.0799, -0.0166, -0.0124, 0.9994] state[eef_state]: left_x=0.2956 left_y=0.0034 left_z=0.18 left_yaw=0.0012 left_pitch=-0.008 left_roll=-0.0011 left_gripper=0.9993 right_x=0.337 right_y=0.0011 right_z=0.1323 right_yaw=0.0062 right_pitch=-0.0362 right_roll=0.0006 right_gripper=0.9994 state[joint_eff]: [-0.2803, -1.5385, 7.1043, 1.746, -0.0073, -0.0659, -0.0122, -0.4034, -3.6855, 6.5573, 2.0098, 0.0317, -0.0415, -0.0171] camera 'top_cam' (step 4): [image omitted: streamed camera frame] camera 'left_cam' (step 4): [image omitted: streamed camera frame] camera 'right_cam' (step 4): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.365, "right_y": 0.01, "right_z": 0.13}, "note": "Pear sits at the bottom of the right wrist view, slightly left of the jaw column; advancing ~3 cm and 1 cm left to get over it."})
tool
executing move_to over 3 steps (0.3s)
step 7
top_cam
camera top_cam step 7
left_cam
camera left_cam step 7
right_cam
camera right_cam step 7
assistant
agent notePear still just ahead of the jaws; descending to pear mid-height while nudging forward so the jaws straddle it.
move_to
right_x0.3750right_y0.0150right_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]: [-0.02, 0.807, 0.6132, -0.4007, -0.033, -0.0334, 0.9993, 0.028, 1.2102, 0.5758, -0.0399, 0.0032, -0.0082, 0.9994] state[eef_state]: left_x=0.294 left_y=0.0035 left_z=0.1764 left_yaw=0.0026 left_pitch=-0.0247 left_roll=-0.0021 left_gripper=0.9993 right_x=0.3524 right_y=0.0129 right_z=0.1083 right_yaw=0.0314 right_pitch=-0.1073 right_roll=-0.007 right_gripper=0.9994 state[joint_eff]: [-0.2803, -1.347, 7.4051, 1.8974, -0.0464, -0.0366, -0.0122, -0.4718, -4.3966, 9.1282, 1.9853, 0.1099, 0.1587, -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
move_to({"targets": {"right_x": 0.375, "right_y": 0.015, "right_z": 0.03}, "note": "Pear still just ahead of the jaws; descending to pear mid-height while nudging forward so the jaws straddle it."})
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 is now between the jaws at the bottom of the wrist view; lowering a bit more before closing.
move_to
right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8116, 0.6132, -0.408, -0.033, -0.0334, 0.9993, 0.0376, 1.5421, 0.4797, 0.4095, -0.017, -0.0078, 0.9994] state[eef_state]: left_x=0.2932 left_y=0.0035 left_z=0.1737 left_yaw=0.0026 left_pitch=-0.0366 left_roll=-0.0019 left_gripper=0.9993 right_x=0.3797 right_y=0.0209 right_z=0.0414 right_yaw=0.0579 right_pitch=-0.0858 right_roll=0.0056 right_gripper=0.9994 state[joint_eff]: [-0.2393, -1.2923, 7.0632, 1.8144, -0.0855, -0.0659, -0.0122, -0.3761, -4.9026, 3.8632, 1.243, 0.2808, 0.0073, -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_z": 0.015}, "note": "Pear is now between the jaws at the bottom of the wrist view; lowering a bit more before closing."})
tool
executing move_to over 2 steps (0.2s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteJaws straddle the pear at low height; 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]: [-0.02, 0.8127, 0.6132, -0.4171, -0.033, -0.0334, 0.9993, 0.0376, 1.6588, 0.4473, 0.5438, -0.0166, -0.0097, 0.9994] state[eef_state]: left_x=0.292 left_y=0.0036 left_z=0.1715 left_yaw=0.0026 left_pitch=-0.0469 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3788 right_y=0.0208 right_z=0.0141 right_yaw=0.0586 right_pitch=-0.1007 right_roll=0.0042 right_gripper=0.9994 state[joint_eff]: [-0.2393, -0.9778, 7.0222, 1.8437, -0.0806, -0.022, -0.0171, -0.0889, -5.3538, 4.1094, 1.5556, -0.0171, -0.0464, -0.0122] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Jaws straddle the pear at low height; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteGripper settled at 0.75 (~7 cm), so the pear appears held; lifting to carry height.
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]: [-0.02, 0.8124, 0.6132, -0.4236, -0.033, -0.0334, 0.9993, 0.0376, 1.6588, 0.4454, 0.556, -0.0204, -0.012, 0.7459] state[eef_state]: left_x=0.291 left_y=0.0036 left_z=0.1703 left_yaw=0.0026 left_pitch=-0.053 left_roll=-0.0015 left_gripper=0.9993 right_x=0.38 right_y=0.0215 right_z=0.0158 right_yaw=0.0631 right_pitch=-0.0903 right_roll=0.0045 right_gripper=0.7459 state[joint_eff]: [-0.3214, -1.3197, 6.9949, 1.7753, -0.0513, -0.0562, -0.0122, -0.1846, -6.1607, 4.7932, 1.5507, -0.0171, -0.0269, 1.033] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16}, "note": "Gripper settled at 0.75 (~7 cm), so the pear appears held; lifting to carry height."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent notePear is held (visible in jaws, lifted). Carrying it toward the blue bowl, which lies ahead-left of the right arm.
move_to
right_x0.4300right_y0.1500right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4248, -0.033, -0.0334, 0.9993, 0.0376, 1.2766, 0.7773, -0.2153, -0.0238, -0.0196, 0.7499] state[eef_state]: left_x=0.2909 left_y=0.0036 left_z=0.17 left_yaw=0.0026 left_pitch=-0.0545 left_roll=-0.0015 left_gripper=0.9993 right_x=0.3731 right_y=0.0218 right_z=0.1385 right_yaw=0.0703 right_pitch=-0.1475 right_roll=0.0024 right_gripper=0.7499 state[joint_eff]: [-0.0205, -1.3607, 6.9812, 1.6679, -0.0317, -0.0611, -0.0122, -0.2256, -6.2427, 9.4701, 1.7167, 0.0024, 0.0366, 1.0281] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.15, "right_z": 0.17}, "note": "Pear is held (visible in jaws, lifted). Carrying it toward the blue bowl, which lies ahead-left of the right arm."})
tool
executing move_to over 11 steps (1.1s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteBlue bowl is centred under the jaws in the wrist view; lowering the pear toward the bowl before releasing.
move_to
right_x0.4350right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4274, -0.033, -0.0334, 0.9993, 0.4339, 1.6066, 1.1622, -0.3649, 0.2543, 0.2214, 0.7499] state[eef_state]: left_x=0.2905 left_y=0.0036 left_z=0.1694 left_yaw=0.0026 left_pitch=-0.0572 left_roll=-0.0014 left_gripper=0.9993 right_x=0.419 right_y=0.1491 right_z=0.1503 right_yaw=0.0955 right_pitch=-0.2095 right_roll=-0.0249 right_gripper=0.7499 state[joint_eff]: [-0.1709, -1.3197, 6.9949, 1.7363, -0.0806, -0.0611, -0.0122, -0.335, -8.1026, 9.4154, 1.79, 0.2125, 0.2076, 1.0281] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.435, "right_z": 0.11}, "note": "Blue bowl is centred under the jaws in the wrist view; lowering the pear toward the bowl before releasing."})
tool
executing move_to over 3 steps (0.3s)
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 notePear is just above the blue bowl; opening to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4278, -0.033, -0.0334, 0.9993, 0.4152, 1.7077, 1.1, -0.2363, 0.2317, 0.2089, 0.7499] state[eef_state]: left_x=0.2905 left_y=0.0036 left_z=0.1694 left_yaw=0.0026 left_pitch=-0.0575 left_roll=-0.0014 left_gripper=0.9993 right_x=0.4288 right_y=0.1486 right_z=0.1022 right_yaw=0.1001 right_pitch=-0.2479 right_roll=-0.0293 right_gripper=0.7499 state[joint_eff]: [-0.3214, -1.2923, 6.9949, 1.707, -0.0317, -0.0269, -0.0171, -0.1026, -8.7863, 6.5299, 1.7558, 0.1832, -0.0611, 1.0281] 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_gripper": 1.0}, "note": "Pear is just above the blue bowl; opening to drop it in."})
tool
executing move_to over 3 steps (0.3s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent notePear dropped into the blue bowl. Moving the right arm over the lemon, estimated ~25 cm left of where the pear was.
move_to
right_x0.3700right_y0.2700right_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]: [-0.02, 0.8127, 0.6132, -0.4297, -0.033, -0.0334, 0.9993, 0.4152, 1.7077, 1.1, -0.2394, 0.231, 0.1997, 0.9959] state[eef_state]: left_x=0.2902 left_y=0.0036 left_z=0.169 left_yaw=0.0026 left_pitch=-0.0594 left_roll=-0.0013 left_gripper=0.9993 right_x=0.4282 right_y=0.1485 right_z=0.1017 right_yaw=0.1056 right_pitch=-0.2511 right_roll=-0.0362 right_gripper=0.9959 state[joint_eff]: [-0.3077, -1.3333, 6.9949, 1.7265, -0.0513, -0.0611, -0.0122, -0.0615, -8.4718, 6.5436, 1.5067, 0.0611, 0.1441, 0.0269] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.27, "right_z": 0.14}, "note": "Pear dropped into the blue bowl. Moving the right arm over the lemon, estimated ~25 cm left of where the pear was."})
tool
executing move_to over 11 steps (1.1s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteLemon is on the jaw column near the bottom of the wrist view, long axis radial; nudging forward 2 cm and descending to grasp across its width.
move_to
right_x0.3850right_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]: [-0.02, 0.8127, 0.6132, -0.4313, -0.0334, -0.0334, 0.9993, 0.7948, 1.7618, 1.3258, -0.5255, 0.4454, 0.4908, 0.9966] state[eef_state]: left_x=0.29 left_y=0.0037 left_z=0.1687 left_yaw=0.0029 left_pitch=-0.061 left_roll=-0.0011 left_gripper=0.9993 right_x=0.3662 right_y=0.2696 right_z=0.134 right_yaw=0.136 right_pitch=-0.267 right_roll=-0.0416 right_gripper=0.9966 state[joint_eff]: [-0.3214, -1.3333, 6.9949, 1.7021, -0.0806, -0.0415, -0.0122, 0.0205, -7.747, 9.306, 1.1893, 0.3932, 0.1294, 0.0513] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_z": 0.02}, "note": "Lemon is on the jaw column near the bottom of the wrist view, long axis radial; nudging forward 2 cm and descending to grasp across its width."})
tool
executing move_to over 8 steps (0.8s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteLemon is centred 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]: [-0.02, 0.8127, 0.6132, -0.4343, -0.033, -0.0334, 0.9993, 0.7616, 1.977, 1.1259, -0.1158, 0.4145, 0.4599, 0.9966] state[eef_state]: left_x=0.2895 left_y=0.0036 left_z=0.1681 left_yaw=0.0026 left_pitch=-0.064 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3814 right_y=0.2703 right_z=0.0192 right_yaw=0.1426 right_pitch=-0.2872 right_roll=-0.0451 right_gripper=0.9966 state[joint_eff]: [-0.1436, -1.3197, 7.0085, 1.6874, -0.0513, -0.0366, -0.0171, -0.1846, -9.894, 5.1214, 1.536, 0.2759, -0.0513, -0.0073] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon is centred between the jaws at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteGripper settled at 0.42 (~4 cm), lemon grasped; lifting.
move_to
right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4347, -0.033, -0.0334, 0.9993, 0.762, 1.977, 1.1259, -0.1204, 0.4107, 0.453, 0.4189] state[eef_state]: left_x=0.2895 left_y=0.0036 left_z=0.168 left_yaw=0.0026 left_pitch=-0.0644 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3803 right_y=0.2704 right_z=0.0184 right_yaw=0.149 right_pitch=-0.2929 right_roll=-0.0498 right_gripper=0.4189 state[joint_eff]: [-0.294, -1.1419, 7.2957, 1.6581, -0.0708, -0.0757, -0.0171, -0.0479, -10.1265, 5.7231, 1.3065, 0.1538, 0.0464, 1.033] 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_z": 0.17}, "note": "Gripper settled at 0.42 (~4 cm), lemon grasped; lifting."})
tool
executing move_to over 10 steps (1.0s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteLemon held and lifted; carrying it back over the blue bowl.
move_to
right_x0.4300right_y0.1500right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4351, -0.033, -0.0334, 0.9993, 0.7628, 1.8343, 1.4769, -0.6491, 0.4034, 0.448, 0.4218] state[eef_state]: left_x=0.2894 left_y=0.0036 left_z=0.1679 left_yaw=0.0026 left_pitch=-0.0648 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3806 right_y=0.2728 right_z=0.141 right_yaw=0.1516 right_pitch=-0.3253 right_roll=-0.0691 right_gripper=0.4218 state[joint_eff]: [-0.1573, -1.3197, 7.1453, 1.6581, -0.0415, -0.0464, -0.0171, -0.335, -12.6974, 9.1009, 1.3944, 0.2222, 0.0562, 0.735] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.15, "right_z": 0.16}, "note": "Lemon held and lifted; carrying it back over the blue bowl."})
tool
executing move_to over 11 steps (1.1s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteLemon is over the blue bowl (blue rim just below jaws); lowering slightly and releasing.
move_to
right_z0.1100right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4423, -0.033, -0.0334, 0.9993, 0.4171, 1.7351, 1.3804, -0.6277, 0.2123, 0.1631, 0.4231] state[eef_state]: left_x=0.2883 left_y=0.0036 left_z=0.1665 left_yaw=0.0026 left_pitch=-0.072 left_roll=-0.0011 left_gripper=0.9993 right_x=0.4237 right_y=0.151 right_z=0.1418 right_yaw=0.1312 right_pitch=-0.3863 right_roll=-0.0875 right_gripper=0.4231 state[joint_eff]: [-0.335, -1.1009, 7.1726, 1.7998, -0.0366, -0.0317, -0.0122, -0.2393, -11.412, 6.6393, 1.6142, 0.0952, 0.0952, 0.7692] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.11, "right_gripper": 1.0}, "note": "Lemon is over the blue bowl (blue rim just below jaws); lowering slightly and releasing."})
tool
executing move_to over 6 steps (0.6s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteLemon released over the blue bowl. Parking the right arm and moving the left arm over the dark plum, which sits ahead-right of the left gripper.
move_to
right_x0.3000right_y0.0000right_z0.2000left_x0.3200left_y-0.1000left_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]: [-0.02, 0.8127, 0.6132, -0.4465, -0.033, -0.0334, 0.9993, 0.4152, 1.7451, 1.2865, -0.5449, 0.2077, 0.1486, 0.9955] state[eef_state]: left_x=0.2877 left_y=0.0037 left_z=0.1656 left_yaw=0.0026 left_pitch=-0.0762 left_roll=-0.001 left_gripper=0.9993 right_x=0.4182 right_y=0.1485 right_z=0.1126 right_yaw=0.1393 right_pitch=-0.4082 right_roll=-0.0988 right_gripper=0.9955 state[joint_eff]: [-0.1846, -1.2513, 7.0085, 1.707, -0.0611, -0.0806, -0.0171, 0.0342, -7.9795, 6.5436, 1.5458, 0.0904, 0.1343, 0.0366] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.2, "left_x": 0.32, "left_y": -0.1, "left_z": 0.12}, "note": "Lemon released over the blue bowl. Parking the right arm and moving the left arm over the dark plum, which sits ahead-right of the left gripper."})
tool
executing move_to over 13 steps (1.3s)
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 notePlum is just ahead and slightly right of the left jaws; advancing and descending to grasp. (Note: the lemon bounced out of the blue bowl and rolled to the far edge; will address after.)
move_to
left_x0.3450left_y-0.1150left_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.527, 1.1538, 0.5789, -0.2005, -0.403, -0.3458, 0.9993, -0.0196, 1.1782, 1.1049, -0.8902, -0.0059, -0.1825, 0.9965] state[eef_state]: left_x=0.3111 left_y=-0.0967 left_z=0.1079 left_yaw=-0.0237 left_pitch=-0.1308 left_roll=0.0209 left_gripper=0.9993 right_x=0.3086 right_y=-0.0014 right_z=0.1954 right_yaw=0.0938 right_pitch=-0.4016 right_roll=-0.1055 right_gripper=0.9965 state[joint_eff]: [-0.1846, -3.7538, 7.747, 1.7216, -0.3834, -0.0513, -0.0171, -0.1162, -4.2598, 7.5556, 1.4237, -0.1685, -0.0611, 0.0952] 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": {"left_x": 0.345, "left_y": -0.115, "left_z": 0.015}, "note": "Plum is just ahead and slightly right of the left jaws; advancing and descending to grasp. (Note: the lemon bounced out of the blue bowl and rolled to the far edge; will address after.)"})
tool
executing move_to over 6 steps (0.6s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent notePlum fills the wrist view just ahead of and slightly right of the jaws; nudging forward/right so it sits between the fingers.
move_to
left_x0.3450left_y-0.1200left_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]: [-0.5259, 1.5929, 0.4839, 0.2379, -0.4034, -0.3595, 0.9993, -0.0189, 1.1801, 1.1046, -0.9138, -0.0158, -0.2012, 0.9966] state[eef_state]: left_x=0.3294 left_y=-0.1068 left_z=0.0056 left_yaw=-0.0066 left_pitch=-0.2136 left_roll=0.0584 left_gripper=0.9993 right_x=0.3039 right_y=0.0006 right_z=0.1914 right_yaw=0.116 right_pitch=-0.4274 right_roll=-0.1045 right_gripper=0.9966 state[joint_eff]: [0.335, -6.5983, 4.6701, 1.5311, -0.1538, 0.1636, -0.0122, -0.1983, -3.6718, 6.7077, 1.5067, 0.0757, 0.149, -0.0073] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.345, "left_y": -0.12, "left_z": 0.02}, "note": "Plum fills the wrist view just ahead of and slightly right of the jaws; nudging forward/right so it sits between the fingers."})
tool
executing move_to over 2 steps (0.2s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent notePlum is now between the left jaws at table level; closing.
move_to
left_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]: [-0.5331, 1.6257, 0.5312, 0.2398, -0.408, -0.3679, 0.9987, -0.0189, 1.1801, 1.1046, -0.9146, -0.0132, -0.202, 0.9966] state[eef_state]: left_x=0.3411 left_y=-0.1158 left_z=0.0103 left_yaw=-0.0073 left_pitch=-0.1973 left_roll=0.047 left_gripper=0.9987 right_x=0.3037 right_y=0.0002 right_z=0.1913 right_yaw=0.114 right_pitch=-0.4285 right_roll=-0.1072 right_gripper=0.9966 state[joint_eff]: [-0.6632, -7.2957, 7.6923, 1.5409, -0.2662, -0.0464, -0.0806, -0.1983, -3.7128, 6.5299, 1.2821, -0.0952, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Plum is now between the left jaws at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent notePlum grasped (gripper 0.54 ≈ 5 cm). The blue bowl is beyond the left arm's y-limit, so carrying the plum toward the centre to hand it off on the table for the right arm.
move_to
left_z0.0800left_y-0.3300left_x0.3300
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]: [-0.5346, 1.6253, 0.5343, 0.2134, -0.4072, -0.3679, 0.5415, -0.0189, 1.1801, 1.1046, -0.918, -0.0128, -0.2024, 0.9966] state[eef_state]: left_x=0.3379 left_y=-0.1146 left_z=0.0074 left_yaw=-0.007 left_pitch=-0.2174 left_roll=0.0583 left_gripper=0.5415 right_x=0.303 right_y=0.0001 right_z=0.1908 right_yaw=0.1141 right_pitch=-0.432 right_roll=-0.1073 right_gripper=0.9966 state[joint_eff]: [-0.1162, -5.9966, 4.6974, 1.6581, -0.2564, -0.0415, 1.033, -0.2393, -3.6855, 6.4889, 1.2869, -0.0562, -0.0366, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.08, "left_y": -0.33, "left_x": 0.33}, "note": "Plum grasped (gripper 0.54 \u2248 5 cm). The blue bowl is beyond the left arm's y-limit, so carrying the plum toward the centre to hand it off on the table for the right arm."})
tool
executing move_to over 20 steps (2.0s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe blue bowl is right beside the left gripper; raising above the rim and moving to the left arm's y-limit to see if the plum can reach over the bowl.
move_to
left_z0.1200left_y-0.4000left_x0.3500
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]: [-1.0225, 1.982, 1.364, -0.5156, -0.6502, -0.8463, 0.543, -0.0189, 1.1801, 1.1046, -0.9184, -0.0128, -0.2028, 0.9966] state[eef_state]: left_x=0.3284 left_y=-0.3257 left_z=0.0702 left_yaw=-0.0207 left_pitch=-0.238 left_roll=0.0498 left_gripper=0.543 right_x=0.3029 right_y=0.0001 right_z=0.1908 right_yaw=0.1143 right_pitch=-0.4324 right_roll=-0.1075 right_gripper=0.9966 state[joint_eff]: [-0.6906, -10.1402, 8.1299, 0.8425, -0.5934, -0.0659, 1.033, -0.1983, -3.6991, 6.694, 1.2332, 0.0122, -0.0708, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12, "left_y": -0.4, "left_x": 0.35}, "note": "The blue bowl is right beside the left gripper; raising above the rim and moving to the left arm's y-limit to see if the plum can reach over the bowl."})
tool
executing move_to over 7 steps (0.7s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent notePlum can't get over the bowl interior from the left arm's y-limit. Setting the plum down on the table at the centre line so the right arm can pick it up.
move_to
left_z0.0200left_y-0.3200left_x0.3300
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]: [-1.0565, 2.2295, 1.9167, -0.8299, -0.6559, -0.8963, 0.543, -0.0189, 1.1801, 1.1046, -0.9184, -0.0128, -0.2024, 0.9966] state[eef_state]: left_x=0.3529 left_y=-0.3983 left_z=0.1115 left_yaw=-0.0221 left_pitch=-0.2366 left_roll=0.025 left_gripper=0.543 right_x=0.3029 right_y=0.0001 right_z=0.1908 right_yaw=0.1141 right_pitch=-0.4324 right_roll=-0.1073 right_gripper=0.9966 state[joint_eff]: [-0.9094, -12.7521, 8.1026, 0.5299, -0.5201, -0.0073, 1.033, -0.0889, -3.6855, 6.4889, 1.2479, -0.0122, -0.0415, -0.0122] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02, "left_y": -0.32, "left_x": 0.33}, "note": "Plum can't get over the bowl interior from the left arm's y-limit. Setting the plum down on the table at the centre line so the right arm can pick it up."})
tool
executing move_to over 7 steps (0.7s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
Releasing and lifting the left arm clear.
agent notePlum resting on the table at the centre line; opening to release it for the right arm.
move_to
left_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]: [-1.0153, 2.0766, 1.2602, -0.387, -0.6399, -0.8574, 0.5449, -0.0189, 1.1801, 1.1046, -0.9249, -0.0128, -0.2028, 0.9966] state[eef_state]: left_x=0.3223 left_y=-0.3124 left_z=0.008 left_yaw=0.003 left_pitch=-0.2826 left_roll=0.098 left_gripper=0.5449 right_x=0.3016 right_y=0.0002 right_z=0.1899 right_yaw=0.1147 right_pitch=-0.4388 right_roll=-0.1065 right_gripper=0.9966 state[joint_eff]: [0.5128, -11.9726, 5.2171, 1.0232, -0.3492, 0.0757, 0.9402, -0.1162, -3.6308, 6.4752, 1.2918, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
Releasing and lifting the left arm clear.
move_to({"targets": {"left_gripper": 1.0}, "note": "Plum resting on the table at the centre line; opening to release it for the right arm."})
tool
executing move_to over 5 steps (0.5s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent notePlum released on the table; lifting the left arm and moving it back toward its home side to clear the way for the right arm.
move_to
left_z0.2000left_y-0.0500left_x0.2800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.013, 2.0682, 1.2415, -0.3664, -0.6399, -0.8639, 0.9958, -0.0189, 1.1801, 1.1046, -0.9253, -0.0132, -0.2028, 0.9966] state[eef_state]: left_x=0.3223 left_y=-0.3106 left_z=0.0077 left_yaw=0.0064 left_pitch=-0.2767 left_roll=0.0844 left_gripper=0.9958 right_x=0.3015 right_y=0.0002 right_z=0.1899 right_yaw=0.1151 right_pitch=-0.4392 right_roll=-0.1061 right_gripper=0.9966 state[joint_eff]: [-0.4991, -9.8393, 7.0496, 0.7399, -0.3443, 0.0122, -0.1685, -0.212, -3.4256, 6.5162, 1.2479, -0.0366, -0.0464, -0.0171] 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_z": 0.2, "left_y": -0.05, "left_x": 0.28}, "note": "Plum released on the table; lifting the left arm and moving it back toward its home side to clear the way for the right arm."})
tool
executing move_to over 24 steps (2.4s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent notePlum sits on the table at the centre line (left of the blue bowl). Moving the right arm above it.
move_to
right_x0.3400right_y0.3400right_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]: [-0.4046, 1.0473, 0.9447, -0.8253, -0.3462, -0.3134, 0.9964, -0.0189, 1.1801, 1.1046, -0.9257, -0.0132, -0.2028, 0.9966] state[eef_state]: left_x=0.282 left_y=-0.0516 left_z=0.1863 left_yaw=0.0502 left_pitch=-0.2872 left_roll=0.0775 left_gripper=0.9964 right_x=0.3014 right_y=0.0002 right_z=0.1898 right_yaw=0.1151 right_pitch=-0.4396 right_roll=-0.1061 right_gripper=0.9966 state[joint_eff]: [0.1709, -3.3299, 9.2513, 1.2772, -0.1197, 0.1832, 0.0513, -0.0752, -3.5761, 6.8308, 1.2772, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.34, "right_z": 0.12}, "note": "Plum sits on the table at the centre line (left of the blue bowl). Moving the right arm above it."})
tool
executing move_to over 29 steps (2.9s)
step 231
top_cam
camera top_cam step 231
assistant
agent notePlum is just ahead and slightly left of the right jaws; nudging and descending to grasp it.
move_to
right_x0.3500right_y0.3500right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4026, 1.0481, 0.9466, -0.8413, -0.3359, -0.3141, 0.9965, 0.9325, 2.0357, 1.7226, -0.9165, 0.4229, 0.6266, 0.9966] state[eef_state]: left_x=0.2793 left_y=-0.0518 left_z=0.1841 left_yaw=0.0461 left_pitch=-0.3042 left_roll=0.076 left_gripper=0.9965 right_x=0.3337 right_y=0.3342 right_z=0.1119 right_yaw=0.1417 right_pitch=-0.4755 right_roll=-0.1299 right_gripper=0.9966 state[joint_eff]: [-0.4581, -2.5915, 6.5026, 1.5116, -0.2857, -0.0464, -0.0073, 0.1709, -11.3162, 7.8564, 0.8864, 0.4811, 0.1978, -0.0122] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.35, "right_z": 0.015}, "note": "Plum is just ahead and slightly left of the right jaws; nudging and descending to grasp it."})
tool
executing move_to over 7 steps (0.7s)
step 238
assistant
agent notePlum is between the right 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]: [-0.4023, 1.0481, 0.9463, -0.8417, -0.3355, -0.3141, 0.9965, 0.9253, 2.1906, 1.6093, -0.6735, 0.4141, 0.6201, 0.9966] state[eef_state]: left_x=0.2791 left_y=-0.0517 left_z=0.1839 left_yaw=0.0463 left_pitch=-0.305 left_roll=0.0761 left_gripper=0.9965 right_x=0.3445 right_y=0.3452 right_z=0.0223 right_yaw=0.1348 right_pitch=-0.4996 right_roll=-0.1472 right_gripper=0.9966 state[joint_eff]: [0.0342, -2.6735, 6.5846, 1.3162, -0.232, -0.0708, -0.0122, -0.1709, -11.3573, 5.053, 0.9597, 0.2369, -0.0415, -0.0073] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Plum is between the right jaws at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 248
assistant
agent notePlum grasped (0.44 ≈ 4 cm); lifting before carrying to the blue bowl.
move_to
right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4026, 1.0481, 0.9463, -0.8417, -0.3351, -0.3141, 0.9965, 0.9257, 2.2078, 1.5986, -0.6704, 0.4114, 0.6174, 0.4395] state[eef_state]: left_x=0.2791 left_y=-0.0518 left_z=0.1839 left_yaw=0.0456 left_pitch=-0.3052 left_roll=0.0758 left_gripper=0.9965 right_x=0.3415 right_y=0.3422 right_z=0.0112 right_yaw=0.1287 right_pitch=-0.519 right_roll=-0.1668 right_gripper=0.4395 state[joint_eff]: [-0.2393, -2.4547, 6.653, 1.3455, -0.1392, -0.0708, -0.0171, -0.0752, -13.5043, 6.8718, 0.7546, 0.188, -0.022, 1.033] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17}, "note": "Plum grasped (0.44 \u2248 4 cm); lifting before carrying to the blue bowl."})
tool
executing move_to over 11 steps (1.1s)
step 259
assistant
agent notePlum held; the blue bowl (with the pear) is visible to the right in the wrist view. Carrying the plum over the bowl.
move_to
right_x0.4300right_y0.1700right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4026, 1.0481, 0.9463, -0.8421, -0.3351, -0.3141, 0.9965, 0.9264, 2.1712, 2.1193, -1.227, 0.3962, 0.6098, 0.4401] state[eef_state]: left_x=0.279 left_y=-0.0518 left_z=0.1838 left_yaw=0.0456 left_pitch=-0.3055 left_roll=0.076 left_gripper=0.9965 right_x=0.3423 right_y=0.3481 right_z=0.154 right_yaw=0.1448 right_pitch=-0.5296 right_roll=-0.1584 right_gripper=0.4401 state[joint_eff]: [-0.335, -2.6735, 6.5709, 1.2821, -0.1978, -0.0757, -0.0171, -0.294, -12.3692, 7.6239, 0.8278, 0.4029, 0.0269, 0.9548] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.17, "right_z": 0.15}, "note": "Plum held; the blue bowl (with the pear) is visible to the right in the wrist view. Carrying the plum over the bowl."})
tool
executing move_to over 15 steps (1.5s)
step 274
assistant
agent noteWrist view shows the bowl rim and pear right under the jaws, so the grasp point is near the far rim; shifting back and slightly right toward the bowl centre and lowering.
move_to
right_x0.3900right_y0.1500right_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]: [-0.4026, 1.0481, 0.9463, -0.8421, -0.3351, -0.3141, 0.9965, 0.4683, 1.9427, 1.7035, -0.9752, 0.2321, 0.1715, 0.4437] state[eef_state]: left_x=0.279 left_y=-0.0518 left_z=0.1838 left_yaw=0.0456 left_pitch=-0.3055 left_roll=0.076 left_gripper=0.9965 right_x=0.4205 right_y=0.1712 right_z=0.1316 right_yaw=0.1199 right_pitch=-0.6007 right_roll=-0.1839 right_gripper=0.4437 state[joint_eff]: [-0.3487, -2.6325, 6.7624, 1.2772, -0.1832, -0.0415, -0.0171, -0.212, -13.4222, 5.8735, 1.3553, 0.1783, 0.1343, 0.6716] camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.15, "right_z": 0.1}, "note": "Wrist view shows the bowl rim and pear right under the jaws, so the grasp point is near the far rim; shifting back and slightly right toward the bowl centre and lowering."})
tool
executing move_to over 3 steps (0.3s)
step 277
assistant
agent noteDescent stopped at z 0.12, the plum resting on the bowl/pear; releasing it into the blue bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4023, 1.0481, 0.9463, -0.8421, -0.3351, -0.3141, 0.9965, 0.4511, 1.8027, 1.4635, -0.8215, 0.2565, 0.1455, 0.4446] state[eef_state]: left_x=0.2791 left_y=-0.0517 left_z=0.1838 left_yaw=0.046 left_pitch=-0.3055 left_roll=0.076 left_gripper=0.9965 right_x=0.4029 right_y=0.1493 right_z=0.1232 right_yaw=0.1079 right_pitch=-0.5451 right_roll=-0.2006 right_gripper=0.4446 state[joint_eff]: [-0.0889, -2.359, 6.6667, 1.3602, -0.1832, -0.0757, -0.0171, 0.294, -6.188, 4.8752, 1.1453, -0.1832, 0.0708, 0.6813] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Descent stopped at z 0.12, the plum resting on the bowl/pear; releasing it into the blue bowl."})
tool
executing move_to over 6 steps (0.6s)
step 283
assistant
agent noteI couldn't finish the task with the calls I had left. Only the pear ended up in the blue bowl. I grasped the lemon and the plum successfully, but I let go of each one from above the bowl without seating it first, and both bounced out: the lemon rolled to the far fence and the plum rolled forward past the bowl. The pour also isn't possible as the bowls sit now. The blue bowl is at about right-arm y=0.15 (left-arm y≈−0.50, past the left arm's −0.4 limit). The white bowl is at about left-arm (0.45, −0.02), which is right-arm y≈0.63, past the right arm's 0.4 limit. So no single arm can reach both bowls. With about 7 calls left, I couldn't pick up both fruits again and also move the bowl and pour.
give_up
hindsight1) Round fruit (lemon, plum) bounces out of the shallow blue bowl if released from 5–10 cm up. Lower until the descent stops (the held fruit touching the bowl floor, about z≈0.04–0.06), then open. Dropping only worked for the large pear. 2) Layout this trial: blue bowl centre at about right-arm (0.40, 0.15), rim about 4–5 cm tall. White bowl at about left-arm (0.45, −0.02). Neither arm can reach both bowls, so pouring means first sliding or carrying the blue bowl toward the centre line (right_y≈0.33) with the right arm, then pouring with roll into a white bowl the left arm can reach, or moving the white bowl. Plan the bowl moves early. 3) Top-cam scale near the middle rows is about 2 px/cm in image-x (pear at right-arm y=0.02 appeared at px 178; bowl at y=0.15 appeared at px 152). 4) Handoff works: the left arm set the plum at left (0.33, −0.32) and the right arm picked it up at right (0.345, 0.345). 5) Grasp recipe that worked every time: hover at z≈0.12, check that the fruit is on jaw column x≈110 near the bottom of the wrist image, advance 1–2 cm, descend to z≈0.015, close. Settled readings: pear 0.75, lemon 0.42, plum 0.44–0.54. 6) Plan the call budget: 40 calls is tight for 3 fruits plus a pour, so combine moves and skip checking steps.
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]: [-0.4023, 1.0489, 0.9463, -0.8421, -0.3351, -0.3141, 0.9965, 0.4496, 1.7973, 1.4418, -0.8299, 0.2562, 0.1379, 0.9962] state[eef_state]: left_x=0.2791 left_y=-0.0517 left_z=0.1836 left_yaw=0.0461 left_pitch=-0.3062 left_roll=0.0763 left_gripper=0.9965 right_x=0.3965 right_y=0.1456 right_z=0.1171 right_yaw=0.1062 right_pitch=-0.5694 right_roll=-0.214 right_gripper=0.9962 state[joint_eff]: [-0.2256, -2.7009, 6.8034, 1.3065, -0.2027, -0.0659, -0.0122, -0.0479, -8.6906, 8.0479, 1.0281, 0.0904, 0.0708, -0.1734] camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I couldn't finish the task with the calls I had left. Only the pear ended up in the blue bowl. I grasped the lemon and the plum successfully, but I let go of each one from above the bowl without seating it first, and both bounced out: the lemon rolled to the far fence and the plum rolled forward past the bowl. The pour also isn't possible as the bowls sit now. The blue bowl is at about right-arm y=0.15 (left-arm y\u2248\u22120.50, past the left arm's \u22120.4 limit). The white bowl is at about left-arm (0.45, \u22120.02), which is right-arm y\u22480.63, past the right arm's 0.4 limit. So no single arm can reach both bowls. With about 7 calls left, I couldn't pick up both fruits again and also move the bowl and pour.", "hindsight": "1) Round fruit (lemon, plum) bounces out of the shallow blue bowl if released from 5\u201310 cm up. Lower until the descent stops (the held fruit touching the bowl floor, about z\u22480.04\u20130.06), then open. Dropping only worked for the large pear. 2) Layout this trial: blue bowl centre at about right-arm (0.40, 0.15), rim about 4\u20135 cm tall. White bowl at about left-arm (0.45, \u22120.02). Neither arm can reach both bowls, so pouring means first sliding or carrying the blue bowl toward the centre line (right_y\u22480.33) with the right arm, then pouring with roll into a white bowl the left arm can reach, or moving the white bowl. Plan the bowl moves early. 3) Top-cam scale near the middle rows is about 2 px/cm in image-x (pear at right-arm y=0.02 appeared at px 178; bowl at y=0.15 appeared at px 152). 4) Handoff works: the left arm set the plum at left (0.33, \u22120.32) and the right arm picked it up at right (0.345, 0.345). 5) Grasp recipe that worked every time: hover at z\u22480.12, check that the fruit is on jaw column x\u2248110 near the bottom of the wrist image, advance 1\u20132 cm, descend to z\u22480.015, close. Settled readings: pear 0.75, lemon 0.42, plum 0.44\u20130.54. 6) Plan the call budget: 40 calls is tight for 3 fruits plus a pour, so combine moves and skip checking steps."})
tool
give_up: I couldn't finish the task with the calls I had left. Only the pear ended up in the blue bowl. I grasped the lemon and the plum successfully, but I let go of each one from above the bowl without seating it first, and both bounced out: the lemon rolled to the far fence and the plum rolled forward past the bowl. The pour also isn't possible as the bowls sit now. The blue bowl is at about right-arm y=0.15 (left-arm y≈−0.50, past the left arm's −0.4 limit). The white bowl is at about left-arm (0.45, −0.02), which is right-arm y≈0.63, past the right arm's 0.4 limit. So no single arm can reach both bowls. With about 7 calls left, I couldn't pick up both fruits again and also move the bowl and 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 · 19.24 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]: [-0.0204, 0.8005, 0.6136, -0.3828, -0.0322, -0.0299, 0.9993, -0.0227, 0.7986, 0.6186, -0.387, -0.017, -0.012, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0032 left_z=0.182 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2959 right_y=-0.0001 right_z=0.1839 right_yaw=-0.0002 right_pitch=0.0 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.812, 9.5795, 1.8291, 0.0659, 0.1197, -0.0855, -0.3487, -1.4838, 9.2103, 1.9023, -0.0757, -0.0415, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87e2c156dfd9113771bb45735cb25d887dc644aacc6704b369d343e145295607",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75278d2a43b4105e21e82b116007e0e2401c166f1b5a2889c2e8a853d171a4e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35fcf2c534e1487d84884d1d292b4195e47de581bed589e2625b60d374ec3628",
        "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 · 4.82 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]: [-0.0204, 0.8005, 0.6136, -0.3828, -0.0322, -0.0299, 0.9993, -0.0227, 0.7986, 0.6186, -0.387, -0.017, -0.012, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0032 left_z=0.182 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2959 right_y=-0.0001 right_z=0.1839 right_yaw=-0.0002 right_pitch=0.0 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.812, 9.5795, 1.8291, 0.0659, 0.1197, -0.0855, -0.3487, -1.4838, 9.2103, 1.9023, -0.0757, -0.0415, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87e2c156dfd9113771bb45735cb25d887dc644aacc6704b369d343e145295607",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75278d2a43b4105e21e82b116007e0e2401c166f1b5a2889c2e8a853d171a4e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35fcf2c534e1487d84884d1d292b4195e47de581bed589e2625b60d374ec3628",
        "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_011bztUC53o2TJmsMhgFW4xN",
      "input": {
        "note": "Scene: large white bowl left, blue bowl center-right, lemon in middle, pear just ahead of right gripper, dark fruit near left arm. Moving right arm slightly forward over the pear to grasp it first.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.0,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011bztUC53o2TJmsMhgFW4xN",
      "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]: [-0.02, 0.804, 0.6132, -0.387, -0.0326, -0.0315, 0.9993, -0.0162, 1.0622, 0.5388, -0.0799, -0.0166, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0034 left_z=0.18 left_yaw=0.0012 left_pitch=-0.008 left_roll=-0.0011 left_gripper=0.9993 right_x=0.337 right_y=0.0011 right_z=0.1323 right_yaw=0.0062 right_pitch=-0.0362 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.5385, 7.1043, 1.746, -0.0073, -0.0659, -0.0122, -0.4034, -3.6855, 6.5573, 2.0098, 0.0317, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f31ad6a201e6f23d85f8d51d8f8055546c6825d08e8ad8fdf82329986009ea6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c775c754d0eedca67d31a35ca5100d53d9eb9defd414bb0455c91959a2786e0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d043afad7b9f7824f0f86835a4c50b7bae640f119b096a4c7e3ed0475f65306",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 3.918 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]: [-0.0204, 0.8005, 0.6136, -0.3828, -0.0322, -0.0299, 0.9993, -0.0227, 0.7986, 0.6186, -0.387, -0.017, -0.012, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0032 left_z=0.182 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2959 right_y=-0.0001 right_z=0.1839 right_yaw=-0.0002 right_pitch=0.0 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.812, 9.5795, 1.8291, 0.0659, 0.1197, -0.0855, -0.3487, -1.4838, 9.2103, 1.9023, -0.0757, -0.0415, -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]: [-0.02, 0.804, 0.6132, -0.387, -0.0326, -0.0315, 0.9993, -0.0162, 1.0622, 0.5388, -0.0799, -0.0166, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0034 left_z=0.18 left_yaw=0.0012 left_pitch=-0.008 left_roll=-0.0011 left_gripper=0.9993 right_x=0.337 right_y=0.0011 right_z=0.1323 right_yaw=0.0062 right_pitch=-0.0362 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.5385, 7.1043, 1.746, -0.0073, -0.0659, -0.0122, -0.4034, -3.6855, 6.5573, 2.0098, 0.0317, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f31ad6a201e6f23d85f8d51d8f8055546c6825d08e8ad8fdf82329986009ea6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c775c754d0eedca67d31a35ca5100d53d9eb9defd414bb0455c91959a2786e0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d043afad7b9f7824f0f86835a4c50b7bae640f119b096a4c7e3ed0475f65306",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiQcKEAgSGAI4AUIIdGhpbmtpbmcSDPtgCJVlG5xoGG4YCRoMKP+kPGalXH7ziqYXIjA56e50TqmxfyLpRzmdjFpp19lirwdnOk0QAeOHJW18iVBD1Wh4nz7GHIewgJcLXyEqpgaQVsQIveQG+ZML6YhcNegNd3aLQGbWm6jFHY2KocSEwUAFMmSGl6AMbiZSunQabZSDpJFmfI87e2Jf/MfgMQ83wAECfgJKY870ZTGcamW3pOg3gPRnS0YLdRC65DwCMb6Sl1bYcLtMHatO7i7/8J9UTB2cV+nKXraIJKmgXR/wwz5kyfa48r/VyK0ceMpSPtx4k7B+JCP6VrVaoAjkdKn0MyaFI+59Dd5Q3k6mipgTva/moEwnYL9ZHIyI1sJFtkPgSSQkb60uuSow/xguKLkRB8NTveNZZBDLPhQBHMywVcSGHBGe6kKGJJpkpVmDgO5uXS8oLs3liofSM7ti4x8L974EZnRH6SGJ33UytM4X85ekev0voVKJfrABCuPcxRBQMOExM3RniU0PxooKmVLcUzzXIqy1VHO3J5+9gbF1qJBaS0qMVnF9lo9bRyux2yPE+DjYNADlvj/PFpNQt4DDRA5LgkpglIgMfdqk+S9Uh5IyTHiJLHcKRPI2X+1c0Ybuzd9j3s6z0EEHdqUG8ZkfYsLmwN6PR3eHbHmHDsmy8cIB1KEYGtzYRT9I4JviTPPS0STCOoVfiteKDnidTE5hRPs8vg+avc0TeMW3AXVROezVlrw1r+hWU3x5wIt0G+bEjDQLbKAfh6hVTEcxMytiO7lz/0vF6n4A0csD9EcgbM1uNSGoDqMjgsnhglYC2mgNJv4wvB26rGe82BnJ0NInSP17+uWbHdzPqh4GXtLsMqXwqbprO2PkWG+sh/axMv9HmC2Ds5zbwVby3cbhdsLfpMOkm907HY5xm0TZH71X350h2bbrt3z4y+BGZhEXsWSWCzf+R+Nh4MqFtWdM0RSNogoXgeOOZXFzy5rIbimnrudBjz6c0WgRUArM2w6NsG2H9/zhmTBX28+HgVLyjsNhyEamyr2UInZjFMjw+Qz7JEJmsJPsEwPHjK20INn1L/nGzuzhNmdfGXPJPxGZCCfFT/fZY+ZDWtaj+37Bf7zlV8KRsK85d0vOu8RtzDNwfTHXKyrhmyJ/LJSRENpOZGcPJwRMK/pwnd8GmKoGP2MIaVh/MfPyhRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SbHon3uGpmofM2JRGxTDGp",
      "input": {
        "note": "Pear sits at the bottom of the right wrist view, slightly left of the jaw column; advancing ~3 cm and 1 cm left to get over it.",
        "targets": {
          "right_x": 0.365,
          "right_y": 0.01,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01SbHon3uGpmofM2JRGxTDGp",
      "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]: [-0.02, 0.807, 0.6132, -0.4007, -0.033, -0.0334, 0.9993, 0.028, 1.2102, 0.5758, -0.0399, 0.0032, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=0.0035 left_z=0.1764 left_yaw=0.0026 left_pitch=-0.0247 left_roll=-0.0021 left_gripper=0.9993 right_x=0.3524 right_y=0.0129 right_z=0.1083 right_yaw=0.0314 right_pitch=-0.1073 right_roll=-0.007 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.347, 7.4051, 1.8974, -0.0464, -0.0366, -0.0122, -0.4718, -4.3966, 9.1282, 1.9853, 0.1099, 0.1587, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d67b79cec33f2a4d44da048169f098538770ac98df238c2b3b29a7657fbc1773",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faa9dcf955344f80fa9aa4ecd92ec83d1e4a49edd8d9b787b08086d901cb1ba1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a93c47e6d86ff999b27fc5a51af1c9866c1283f4d4b2bfbc42606fcf238a44ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 3.454 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]: [-0.0204, 0.8005, 0.6136, -0.3828, -0.0322, -0.0299, 0.9993, -0.0227, 0.7986, 0.6186, -0.387, -0.017, -0.012, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0032 left_z=0.182 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2959 right_y=-0.0001 right_z=0.1839 right_yaw=-0.0002 right_pitch=0.0 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.812, 9.5795, 1.8291, 0.0659, 0.1197, -0.0855, -0.3487, -1.4838, 9.2103, 1.9023, -0.0757, -0.0415, -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]: [-0.02, 0.804, 0.6132, -0.387, -0.0326, -0.0315, 0.9993, -0.0162, 1.0622, 0.5388, -0.0799, -0.0166, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0034 left_z=0.18 left_yaw=0.0012 left_pitch=-0.008 left_roll=-0.0011 left_gripper=0.9993 right_x=0.337 right_y=0.0011 right_z=0.1323 right_yaw=0.0062 right_pitch=-0.0362 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.5385, 7.1043, 1.746, -0.0073, -0.0659, -0.0122, -0.4034, -3.6855, 6.5573, 2.0098, 0.0317, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.807, 0.6132, -0.4007, -0.033, -0.0334, 0.9993, 0.028, 1.2102, 0.5758, -0.0399, 0.0032, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=0.0035 left_z=0.1764 left_yaw=0.0026 left_pitch=-0.0247 left_roll=-0.0021 left_gripper=0.9993 right_x=0.3524 right_y=0.0129 right_z=0.1083 right_yaw=0.0314 right_pitch=-0.1073 right_roll=-0.007 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.347, 7.4051, 1.8974, -0.0464, -0.0366, -0.0122, -0.4718, -4.3966, 9.1282, 1.9853, 0.1099, 0.1587, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d67b79cec33f2a4d44da048169f098538770ac98df238c2b3b29a7657fbc1773",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faa9dcf955344f80fa9aa4ecd92ec83d1e4a49edd8d9b787b08086d901cb1ba1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a93c47e6d86ff999b27fc5a51af1c9866c1283f4d4b2bfbc42606fcf238a44ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3gYKEAgSGAI4AUIIdGhpbmtpbmcSDHdsYowbfUgEdt0mFhoMC8Jqn+6oojKWFfWBIjCrCX+E4tmnMLOVmV/GfZ2GLvc4QkaLHMqOAlo0Ufi0lSLYBgNGyCNT4jM0+nhmyZcq+wU1izhqq+qNVBpLCrAY/Gy5qj3tbDfnpqJYlM/o6nJgrD1x8yPdR5ia5JmDRrdO53DQA1MPTBO7dLWGY//SzYsU5zDmrNZS0P7g1pjbYUPoyx3eMWs2eIfjHSfLcBmrr8RKlbPbISa9c67gHXy8Ikar8rKdmJKUS5WOgBX4Xw8cVt2yRj4UF2rkfZoM4O6WHTNciJP75jGIMXLy1yRmMvYBMMAxdpmSzMHCE3MKIJ+hehUIw+0dPlz32yk83Fb0j7LlOka/N+jX6PdL98tWFvHsP380AlyDdzMXS5I1+vMu33II/guA8qos68KJl7+L2LAlzXjn7oBgZgUZA9na2rT1quWnkwCFrQImgnqVsKKJeIq7TqZJJAm/6XINsFGnwBIXISJutYqRpQI9//2ZmdIyOzDwpUc8GNP7c9z6/MBWr8lfnDJMkFc0fmzPuxI6yPVWbP1K3CTIbbBM9x4G05kAVujcSfWL9H2lDdD5e8peJntWgOPnt8jxMxhV5dJ/+oCO3i42y6CoKLgHFpJGbqBkgOtTEw9UbgOw6jOvF91KY0ena5HU6ezW+DN+7Nyt+b4y0+GXpvL/zAvszAX8Qm98PnWA45J2E/v4h7uh1isU85pg4PT+VZtTAYgnu4sLWVtzY7T1aIFDWlrURcziiixcXPyTZumu/A3rmOw2RV1YolfhDn51VUOpYgDfCDlfBY7qD6vjra8w9L0xjEJumqjdLXH4oWXXWAmiBhgsgzI483S3yz/Fs5m78fnw0NEm475y/R6JjKg8jSBQi26GQdBW9RXGBvii5stVYB3CtC46KSrNrTMaQkbw6dn58QwvqQYDhXRNrDrWoMTnyglwMxwjU+6U507C0t7mj0hytRmRpAgALcoJHkDF5QmCsS5wt5DYEZqOddUzEYaD7o09rOYG9w34msvN9hFdbKTrfHD0ZarNmcFXDCTL56d3jV5SiVRnhp1jmbPTI1AXQA0+ag7xlF/oEyD4S8l3Po+HTLLrSTqAHCsKcEkGjCL5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VXK8moNv6GeTtaeK9ahfBn",
      "input": {
        "note": "Pear still just ahead of the jaws; descending to pear mid-height while nudging forward so the jaws straddle it.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.015,
          "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_01VXK8moNv6GeTtaeK9ahfBn",
      "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]: [-0.02, 0.8116, 0.6132, -0.408, -0.033, -0.0334, 0.9993, 0.0376, 1.5421, 0.4797, 0.4095, -0.017, -0.0078, 0.9994]\nstate[eef_state]: left_x=0.2932 left_y=0.0035 left_z=0.1737 left_yaw=0.0026 left_pitch=-0.0366 left_roll=-0.0019 left_gripper=0.9993 right_x=0.3797 right_y=0.0209 right_z=0.0414 right_yaw=0.0579 right_pitch=-0.0858 right_roll=0.0056 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.2923, 7.0632, 1.8144, -0.0855, -0.0659, -0.0122, -0.3761, -4.9026, 3.8632, 1.243, 0.2808, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0d134735e90d1ae2de568e31888b68e8ceb0168795c8b5f9ef377230ad6374c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de60ba3272eed851eeb36c45169162277d1714845db9b22090a11752439920c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fcaefd6bb9ac7a8fde17f64cb0a9e11a83a9064e9b936353628c517edfc9ef03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 2.83 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]: [-0.02, 0.804, 0.6132, -0.387, -0.0326, -0.0315, 0.9993, -0.0162, 1.0622, 0.5388, -0.0799, -0.0166, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0034 left_z=0.18 left_yaw=0.0012 left_pitch=-0.008 left_roll=-0.0011 left_gripper=0.9993 right_x=0.337 right_y=0.0011 right_z=0.1323 right_yaw=0.0062 right_pitch=-0.0362 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.5385, 7.1043, 1.746, -0.0073, -0.0659, -0.0122, -0.4034, -3.6855, 6.5573, 2.0098, 0.0317, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.807, 0.6132, -0.4007, -0.033, -0.0334, 0.9993, 0.028, 1.2102, 0.5758, -0.0399, 0.0032, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=0.0035 left_z=0.1764 left_yaw=0.0026 left_pitch=-0.0247 left_roll=-0.0021 left_gripper=0.9993 right_x=0.3524 right_y=0.0129 right_z=0.1083 right_yaw=0.0314 right_pitch=-0.1073 right_roll=-0.007 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.347, 7.4051, 1.8974, -0.0464, -0.0366, -0.0122, -0.4718, -4.3966, 9.1282, 1.9853, 0.1099, 0.1587, -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]: [-0.02, 0.8116, 0.6132, -0.408, -0.033, -0.0334, 0.9993, 0.0376, 1.5421, 0.4797, 0.4095, -0.017, -0.0078, 0.9994]\nstate[eef_state]: left_x=0.2932 left_y=0.0035 left_z=0.1737 left_yaw=0.0026 left_pitch=-0.0366 left_roll=-0.0019 left_gripper=0.9993 right_x=0.3797 right_y=0.0209 right_z=0.0414 right_yaw=0.0579 right_pitch=-0.0858 right_roll=0.0056 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.2923, 7.0632, 1.8144, -0.0855, -0.0659, -0.0122, -0.3761, -4.9026, 3.8632, 1.243, 0.2808, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0d134735e90d1ae2de568e31888b68e8ceb0168795c8b5f9ef377230ad6374c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de60ba3272eed851eeb36c45169162277d1714845db9b22090a11752439920c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcaefd6bb9ac7a8fde17f64cb0a9e11a83a9064e9b936353628c517edfc9ef03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8wYKEAgSGAI4AUIIdGhpbmtpbmcSDI3SnecUyB10qUaCCxoMfywgW4h1BQatlvEOIjCToXGUb+uV7tfmrnA4rxzFijGPGVFJq8XpGEu/MjZ+dHlBnv4QoLvuXqHUDDjE6+kqkAbykYa5d3DEPM26eD8akNC9aZppNDLx+jqa16VpkX4PdL6aAtWliRjfpVtwcwyDa91MWi6+rz1kwOUYDfyzNim6RzUtlM8Aw3arf3juDX2kbKpKys9QXCn5LQK1aG3mYPCiLuDkLpC5ZvPtBQPjpHsduh+aXZPMeMq2dKQRs6brpg3jOMmvrjSUDB5K4CMD2pyMXxt26tzRhX3GFRv3aAsupxu5GEY48NDJz0OBnT14Yur+BCCA3E7Fk5ZFcgUKsAFKPCrzQvHMNQAWvyehTHSsiZnSh4N4z8+subQBNrWp0hRsO0XtvgeWGOrED2jDUjuliz8gZ3VKX5R1UGFkHwrBbXZJJ41UjzWI5nXbgtLTh4uAVIY3FMQMGfwvRJshgaSXFJdO5qVTawVfmTDov+l0j/nnuHDPXj+2ShEAzPrK44/54V/FLLaS7sdOhUxXLK3Hoo/bDPVQMy8jAPuAktUP8MWwfZGL+7CaDVUM0I71qj7wVHHZzuLo/BNMZeY/GNxpgr9VgxdJmIayjXZ+DsE7LmJGbizFU8FrPCX1b8mqL/GzPIBXE6b76zAPNmJDtD4hcG9lM0NKbtuwllAIfy2nEUiPR+VwPPA6TJjiHIUpvZBYi5ilsYEeecr45jFSUdgiRRxEm75utvv+rvrnNAkbIqUa3Qaah0wSDgDhQM0nAm+zEBQy9fzx1BQnm0hApsN9ag96HYresOgOTl+ERyE2e62qbCiRVDLKwfiiHY/cigiqUesIAIiSiJV0fUcZpAlmFgGDOAd7KrxllQr/RHGmW0BKpyt2jEP7MOS5fJgX99SNsqp5Kz0SZT4PvfWi52VbiXX4nbaNw8BruN4w91Ixw+tGPTRgcZ2LoskaJNY1WkbHgi6gjC49hql+iTI1Iurh4JyHpbJ+svFZouqmsbL64coEAQzUSbud7eGEzA9yIulqtPOlkvfFEC4bppjVBfJEZpLlMPOWlqiI+S1M5Wb+nnvHq2ya4yaE+MDZ79IYe/yFXXHW924hQCsWlL81SxHWv0gvkOqCKMrbekxvBngmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CLi45cNwY4q5YdisarvUBF",
      "input": {
        "note": "Pear is now between the jaws at the bottom of the wrist view; lowering a bit more before closing.",
        "targets": {
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01CLi45cNwY4q5YdisarvUBF",
      "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]: [-0.02, 0.8127, 0.6132, -0.4171, -0.033, -0.0334, 0.9993, 0.0376, 1.6588, 0.4473, 0.5438, -0.0166, -0.0097, 0.9994]\nstate[eef_state]: left_x=0.292 left_y=0.0036 left_z=0.1715 left_yaw=0.0026 left_pitch=-0.0469 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3788 right_y=0.0208 right_z=0.0141 right_yaw=0.0586 right_pitch=-0.1007 right_roll=0.0042 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -0.9778, 7.0222, 1.8437, -0.0806, -0.022, -0.0171, -0.0889, -5.3538, 4.1094, 1.5556, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d3b6cfaf613d62e8958ed59162247141fadb0d63a54a6f32a4b0e765b4bf316",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb2174d2e3910c430d17dd294997e137042a82d7c4faed21e0a1047849948c24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d3649434cb84e55d9aa560fb24c59327f9c344044aa33dfd32f067b5522bfb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 4.441 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]: [-0.02, 0.807, 0.6132, -0.4007, -0.033, -0.0334, 0.9993, 0.028, 1.2102, 0.5758, -0.0399, 0.0032, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=0.0035 left_z=0.1764 left_yaw=0.0026 left_pitch=-0.0247 left_roll=-0.0021 left_gripper=0.9993 right_x=0.3524 right_y=0.0129 right_z=0.1083 right_yaw=0.0314 right_pitch=-0.1073 right_roll=-0.007 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.347, 7.4051, 1.8974, -0.0464, -0.0366, -0.0122, -0.4718, -4.3966, 9.1282, 1.9853, 0.1099, 0.1587, -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]: [-0.02, 0.8116, 0.6132, -0.408, -0.033, -0.0334, 0.9993, 0.0376, 1.5421, 0.4797, 0.4095, -0.017, -0.0078, 0.9994]\nstate[eef_state]: left_x=0.2932 left_y=0.0035 left_z=0.1737 left_yaw=0.0026 left_pitch=-0.0366 left_roll=-0.0019 left_gripper=0.9993 right_x=0.3797 right_y=0.0209 right_z=0.0414 right_yaw=0.0579 right_pitch=-0.0858 right_roll=0.0056 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.2923, 7.0632, 1.8144, -0.0855, -0.0659, -0.0122, -0.3761, -4.9026, 3.8632, 1.243, 0.2808, 0.0073, -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]: [-0.02, 0.8127, 0.6132, -0.4171, -0.033, -0.0334, 0.9993, 0.0376, 1.6588, 0.4473, 0.5438, -0.0166, -0.0097, 0.9994]\nstate[eef_state]: left_x=0.292 left_y=0.0036 left_z=0.1715 left_yaw=0.0026 left_pitch=-0.0469 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3788 right_y=0.0208 right_z=0.0141 right_yaw=0.0586 right_pitch=-0.1007 right_roll=0.0042 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -0.9778, 7.0222, 1.8437, -0.0806, -0.022, -0.0171, -0.0889, -5.3538, 4.1094, 1.5556, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d3b6cfaf613d62e8958ed59162247141fadb0d63a54a6f32a4b0e765b4bf316",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb2174d2e3910c430d17dd294997e137042a82d7c4faed21e0a1047849948c24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d3649434cb84e55d9aa560fb24c59327f9c344044aa33dfd32f067b5522bfb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GPyoTFxbPGPW2DRgJF3aJA",
      "input": {
        "note": "Jaws straddle the pear at low height; closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GPyoTFxbPGPW2DRgJF3aJA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4236, -0.033, -0.0334, 0.9993, 0.0376, 1.6588, 0.4454, 0.556, -0.0204, -0.012, 0.7459]\nstate[eef_state]: left_x=0.291 left_y=0.0036 left_z=0.1703 left_yaw=0.0026 left_pitch=-0.053 left_roll=-0.0015 left_gripper=0.9993 right_x=0.38 right_y=0.0215 right_z=0.0158 right_yaw=0.0631 right_pitch=-0.0903 right_roll=0.0045 right_gripper=0.7459\nstate[joint_eff]: [-0.3214, -1.3197, 6.9949, 1.7753, -0.0513, -0.0562, -0.0122, -0.1846, -6.1607, 4.7932, 1.5507, -0.0171, -0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4ac4d3841aec6d7c3b06cbfbbc7a333eca3781aa774fb45543979a10dabd926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3e3f408e624357f45927b5c27f4ec7995201cdb7f49a4c643ae30793db16cee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:086f7531b106b261da0cea17e282d43d8ddcbf87e3745966c2b1e63ec88d1d83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 5.042 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]: [-0.02, 0.8116, 0.6132, -0.408, -0.033, -0.0334, 0.9993, 0.0376, 1.5421, 0.4797, 0.4095, -0.017, -0.0078, 0.9994]\nstate[eef_state]: left_x=0.2932 left_y=0.0035 left_z=0.1737 left_yaw=0.0026 left_pitch=-0.0366 left_roll=-0.0019 left_gripper=0.9993 right_x=0.3797 right_y=0.0209 right_z=0.0414 right_yaw=0.0579 right_pitch=-0.0858 right_roll=0.0056 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.2923, 7.0632, 1.8144, -0.0855, -0.0659, -0.0122, -0.3761, -4.9026, 3.8632, 1.243, 0.2808, 0.0073, -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]: [-0.02, 0.8127, 0.6132, -0.4171, -0.033, -0.0334, 0.9993, 0.0376, 1.6588, 0.4473, 0.5438, -0.0166, -0.0097, 0.9994]\nstate[eef_state]: left_x=0.292 left_y=0.0036 left_z=0.1715 left_yaw=0.0026 left_pitch=-0.0469 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3788 right_y=0.0208 right_z=0.0141 right_yaw=0.0586 right_pitch=-0.1007 right_roll=0.0042 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -0.9778, 7.0222, 1.8437, -0.0806, -0.022, -0.0171, -0.0889, -5.3538, 4.1094, 1.5556, -0.0171, -0.0464, -0.0122]",
      "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]: [-0.02, 0.8124, 0.6132, -0.4236, -0.033, -0.0334, 0.9993, 0.0376, 1.6588, 0.4454, 0.556, -0.0204, -0.012, 0.7459]\nstate[eef_state]: left_x=0.291 left_y=0.0036 left_z=0.1703 left_yaw=0.0026 left_pitch=-0.053 left_roll=-0.0015 left_gripper=0.9993 right_x=0.38 right_y=0.0215 right_z=0.0158 right_yaw=0.0631 right_pitch=-0.0903 right_roll=0.0045 right_gripper=0.7459\nstate[joint_eff]: [-0.3214, -1.3197, 6.9949, 1.7753, -0.0513, -0.0562, -0.0122, -0.1846, -6.1607, 4.7932, 1.5507, -0.0171, -0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4ac4d3841aec6d7c3b06cbfbbc7a333eca3781aa774fb45543979a10dabd926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3e3f408e624357f45927b5c27f4ec7995201cdb7f49a4c643ae30793db16cee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:086f7531b106b261da0cea17e282d43d8ddcbf87e3745966c2b1e63ec88d1d83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjAgKEAgSGAI4AUIIdGhpbmtpbmcSDIjL2srfosE1Q4d7oRoM/DcApVtjgy6x0GloIjC3N8egAuKl/Ta3iJ81wNb07+hXPGfna3jsaNLNssqLarEbOU7NjDQHCbBYlSRvNDMqqQf2TFkve4ShLjYP1hGhCDHdyu0i3ZEOYExvqmMjbCJP+xLcs4O7vZxSE+zM88CYtIPDKisYAwy+4TqqLQdKy3B269yZKanXtNCzAji7hQvzvZGm0KFQdx7F9aVdCayOWHVGN5fjxHwRmsE9bcR6yZSWH3vecccK0NUJDsTVV/udmh74dzT2oMbABD9PkRzh9W1rvovIvrJB4/dWOB7Ttoluji4RV2tVxZSxSlgJoBwBX9C8T2gD5HBnSfzHEfzGrwxLEIkQXIrY7iEWm9yniuhHMAXwEILUlTa0HLgAXa8Yo9Y4yW43z2IcW0re1il2gmd9zo/0p7FDUmzH+kP/LEvv2YcN8lTr7c0G3IUlDDPH5B+BWO8GsyiZ0Ck7pddwbvusgSINmYJqzssSLnnYAFeWgHWQeD0/OlLMdepIckxc9QIPC5ZkJ3/kjtoch6t22/dmvdDiCleEmaGJp9qE0VaXyypWw4tFEMvhESCXQnb8VWzR5mGhAUVx6uTPJQGnlWpbXq/wxeIik0XpvQo1S3ITzXPntybpXkxvdHKCQNHzNu09nstiAuDTGcfJbIHEozJ99jd41pgSIPwv4I7ooo374ZizN/m/3d0RPo+B/wDBrHhSUqHgilaoRLKR+A8DNvFdUQXlcYR8sP/if/At85r2yNuKT/xfUYL2Lwv9jcBveEXIHmHMWqDZsaV/9TJz3Z4RqV5AbpuU5JiiQIKYlYaZdJemwZoC/ccSZ1EapqwKq7Ydr7crEg9oOgWVCa3DZoUQx3f8xtZeXIQLSjkLa3/npkKqWuUCK4PKHj80/FSXgC8u0Sy4ff42rwfl3kEayWlUpWlPaZi340qMZQW5FqOJjO1uoAKBylNz/OWM4OyU2FsAOL8Ovag/hVXgLD43XV/QqekRtwGX0zw67nC6p2s61YAWWXWpGcGr9TCFWUIKmnkxkyYHeevVPMoBklegB55NddTBVs7dURua3A+ettawGVoM3OGVAa3lMUEHiOcqDZJTDKszBCSjkzMlGJBnKRxswplwF5PsHNrJF+e58en1I/ay8yZCnMisJmJXUMQxP12WlpIkJhVAlbeX9o2swlbBurtF91o0eC0NS65LVdlkkm0A6FZAic84YOGT5C3iCpq9S5ue1LwjpCRfqcR2tTcFgd28MsdT3O4JXYWtsmWm+ieQaUx771N1PohHufjOMlgEto95CJlGQ0O38Z6a8PoQ4o+gcZmqiVx3E0asUnOsasbq9Wsff/hsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018v31goSDBSxAB9KmjKeTDm",
      "input": {
        "note": "Gripper settled at 0.75 (~7 cm), so the pear appears held; lifting to carry height.",
        "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_018v31goSDBSxAB9KmjKeTDm",
      "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]: [-0.02, 0.8127, 0.6132, -0.4248, -0.033, -0.0334, 0.9993, 0.0376, 1.2766, 0.7773, -0.2153, -0.0238, -0.0196, 0.7499]\nstate[eef_state]: left_x=0.2909 left_y=0.0036 left_z=0.17 left_yaw=0.0026 left_pitch=-0.0545 left_roll=-0.0015 left_gripper=0.9993 right_x=0.3731 right_y=0.0218 right_z=0.1385 right_yaw=0.0703 right_pitch=-0.1475 right_roll=0.0024 right_gripper=0.7499\nstate[joint_eff]: [-0.0205, -1.3607, 6.9812, 1.6679, -0.0317, -0.0611, -0.0122, -0.2256, -6.2427, 9.4701, 1.7167, 0.0024, 0.0366, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f0ec1f384ba2e3f482c98f67046fa9f8cbce865999385901855ce8dc2703630",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5b110469244b3b253be477f29aad860ea4e6283ae859a2b785a498e8ef7466d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0367bd72ab08769136dc1b2a5d8ecc4427bf538624e1ec483012c2ee340f3267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 4.515 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]: [-0.02, 0.8127, 0.6132, -0.4171, -0.033, -0.0334, 0.9993, 0.0376, 1.6588, 0.4473, 0.5438, -0.0166, -0.0097, 0.9994]\nstate[eef_state]: left_x=0.292 left_y=0.0036 left_z=0.1715 left_yaw=0.0026 left_pitch=-0.0469 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3788 right_y=0.0208 right_z=0.0141 right_yaw=0.0586 right_pitch=-0.1007 right_roll=0.0042 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -0.9778, 7.0222, 1.8437, -0.0806, -0.022, -0.0171, -0.0889, -5.3538, 4.1094, 1.5556, -0.0171, -0.0464, -0.0122]",
      "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]: [-0.02, 0.8124, 0.6132, -0.4236, -0.033, -0.0334, 0.9993, 0.0376, 1.6588, 0.4454, 0.556, -0.0204, -0.012, 0.7459]\nstate[eef_state]: left_x=0.291 left_y=0.0036 left_z=0.1703 left_yaw=0.0026 left_pitch=-0.053 left_roll=-0.0015 left_gripper=0.9993 right_x=0.38 right_y=0.0215 right_z=0.0158 right_yaw=0.0631 right_pitch=-0.0903 right_roll=0.0045 right_gripper=0.7459\nstate[joint_eff]: [-0.3214, -1.3197, 6.9949, 1.7753, -0.0513, -0.0562, -0.0122, -0.1846, -6.1607, 4.7932, 1.5507, -0.0171, -0.0269, 1.033]",
      "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]: [-0.02, 0.8127, 0.6132, -0.4248, -0.033, -0.0334, 0.9993, 0.0376, 1.2766, 0.7773, -0.2153, -0.0238, -0.0196, 0.7499]\nstate[eef_state]: left_x=0.2909 left_y=0.0036 left_z=0.17 left_yaw=0.0026 left_pitch=-0.0545 left_roll=-0.0015 left_gripper=0.9993 right_x=0.3731 right_y=0.0218 right_z=0.1385 right_yaw=0.0703 right_pitch=-0.1475 right_roll=0.0024 right_gripper=0.7499\nstate[joint_eff]: [-0.0205, -1.3607, 6.9812, 1.6679, -0.0317, -0.0611, -0.0122, -0.2256, -6.2427, 9.4701, 1.7167, 0.0024, 0.0366, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f0ec1f384ba2e3f482c98f67046fa9f8cbce865999385901855ce8dc2703630",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5b110469244b3b253be477f29aad860ea4e6283ae859a2b785a498e8ef7466d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0367bd72ab08769136dc1b2a5d8ecc4427bf538624e1ec483012c2ee340f3267",
        "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+QgKEAgSGAI4AUIIdGhpbmtpbmcSDGmunGlCg0UnNyHnPRoMyKQQO7p9o2puh+xtIjBO+2AV3L6JPWEZrJm6MX3sJuFhQxXKESGXsFcb3M3CoteFccxuh/eSyk+kMz0oP3cqlghPrV2VR8vykMPIxnNhi5VcCcfGkNCAz/NI/+AF0d4/xYEAQhfofTpoReQzaypvY/OS6v69QGVAZGvv3a/0xZRZZZpJJH3LMWRXcmNw4hsmYBSO29VNeAf+YdCfl+Mbn+wV2gmck7Y/iDFwsg8aXdxUdhyhhuj0qbUiczC2nWkuAUMN8/CYDnIRVkWgOLTeJRocp4rWJ9XLZeEHi51RT13C8BJ4omjDgMlM5+Pns2RZbJga+2kA1R/CKV2fyawnTgiRI3dhM+/6uaVD7Gdb9SkO5YhhRrUCLHKJkOXfOsfH0bOiKFDXLXZyMf/BASBbrG+GHj4WHEWsdcikaEBhHkTbFTlXept+M5nMZRhLJLN/DU0gXGx8T/pC0dsqGHiaI2KNBwJ1wGLVULzlP7a3D+dXZ59e6acnR6Ac9VJN2vrTMNH/eaYW9yQO85Wv7L1AsVi6NDl72fnWOoqPuAPBkRy8SmC116WkYr1f/NZMkp92bhvwDD7rYSVl6ARmm18rfYDCUNPMW6dnAFy7drKzDiSJ8/E35bwKeB9jaSXDBTULC3CJbdYW1AeuaKdoCacRQHyEEQkBUXUhu0kpOFXJYkYMwRzxHrpdxmgIkUamb5ZfgHELCktJwAVcZtq9j8lxjZ7Y2uY+iv0AWbFMt7vyD5FxVHZ9/uuC7jmuJBgL6H0VXs6rRCq7Roll6cJZhnD4BtGpmV5BIuHTOSYWCoSitNtGjyyPRUcsSJEWjOpwwi23Ia9oS5730oFN/tou9NtpCAoObXuyQqM0J6RQj8+jk/QQPudcMBt3998ASFE1TkvPnLXzLGVAYr2iaiohFcg0LU+lK3pxlcIJubVYbhRTSspFqSlHBno+KQMQfY6NgJ3Sf6/VQRlTHOOGFrxtz5ncuEKrqvbf+D/LJm0vCmIoK5RHXCoUhuez1Ux+FpPfOTy3cyKdLogK3FH9zLp0V0isPqQaJJQ5utlfeJ8Fo25pWppskIztP1pybV3FL0akuhgQupehLtJV7SnwSQfsHU4KPgFYF8P4YVQ10le6RrJnklxctEZTN2/nPOIKC4k050y0fXevG8hVbSb1Dxb9YoDbrz1+vnUBhU8lpBRh+8frfO0HBhhqkOuL4Q0DuY76S5y4esG45XP7cDG71XTFcqCL7DzminVp+6XUertZfXqZUU77N/BkQ3d1z6+9idGP56WfdukENI9gUfTNxcp1Xq9yCW4s42aFKExzMU7OfAaPn3vbaHvZvaaqRNyI/HERaKmgl+myzCyHQ87cocL8xYUCjc/D5PHsfsimcO2ygeILzVmVeHbtKQwPCp0FiIxZENuinehlg4bg70U2ZTucvgiM0qQtKkVxrjjl+Il8Wy05p/4hC8/yVR17gLJorFYBMFagzOXJrVEqCRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Lkr8VzF2tsWM4cCEY8nkAS",
      "input": {
        "note": "Pear is held (visible in jaws, lifted). Carrying it toward the blue bowl, which lies ahead-left of the right arm.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.15,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Lkr8VzF2tsWM4cCEY8nkAS",
      "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]: [-0.02, 0.8127, 0.6132, -0.4274, -0.033, -0.0334, 0.9993, 0.4339, 1.6066, 1.1622, -0.3649, 0.2543, 0.2214, 0.7499]\nstate[eef_state]: left_x=0.2905 left_y=0.0036 left_z=0.1694 left_yaw=0.0026 left_pitch=-0.0572 left_roll=-0.0014 left_gripper=0.9993 right_x=0.419 right_y=0.1491 right_z=0.1503 right_yaw=0.0955 right_pitch=-0.2095 right_roll=-0.0249 right_gripper=0.7499\nstate[joint_eff]: [-0.1709, -1.3197, 6.9949, 1.7363, -0.0806, -0.0611, -0.0122, -0.335, -8.1026, 9.4154, 1.79, 0.2125, 0.2076, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c12266a0a3c7ea37bb86ab7dc7b080b11df5486f0bbc664e993d4cf91b7ab592",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:964d1a13ffb78c73faa40964ab0b865e16263d934a74fc061200e4b8cc12b53a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ae6bf51c306daaf5139d50b0dc91f729621c2b9cb61858f5459729eb05e72d66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 3.037 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]: [-0.02, 0.8124, 0.6132, -0.4236, -0.033, -0.0334, 0.9993, 0.0376, 1.6588, 0.4454, 0.556, -0.0204, -0.012, 0.7459]\nstate[eef_state]: left_x=0.291 left_y=0.0036 left_z=0.1703 left_yaw=0.0026 left_pitch=-0.053 left_roll=-0.0015 left_gripper=0.9993 right_x=0.38 right_y=0.0215 right_z=0.0158 right_yaw=0.0631 right_pitch=-0.0903 right_roll=0.0045 right_gripper=0.7459\nstate[joint_eff]: [-0.3214, -1.3197, 6.9949, 1.7753, -0.0513, -0.0562, -0.0122, -0.1846, -6.1607, 4.7932, 1.5507, -0.0171, -0.0269, 1.033]",
      "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]: [-0.02, 0.8127, 0.6132, -0.4248, -0.033, -0.0334, 0.9993, 0.0376, 1.2766, 0.7773, -0.2153, -0.0238, -0.0196, 0.7499]\nstate[eef_state]: left_x=0.2909 left_y=0.0036 left_z=0.17 left_yaw=0.0026 left_pitch=-0.0545 left_roll=-0.0015 left_gripper=0.9993 right_x=0.3731 right_y=0.0218 right_z=0.1385 right_yaw=0.0703 right_pitch=-0.1475 right_roll=0.0024 right_gripper=0.7499\nstate[joint_eff]: [-0.0205, -1.3607, 6.9812, 1.6679, -0.0317, -0.0611, -0.0122, -0.2256, -6.2427, 9.4701, 1.7167, 0.0024, 0.0366, 1.0281]\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 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]: [-0.02, 0.8127, 0.6132, -0.4274, -0.033, -0.0334, 0.9993, 0.4339, 1.6066, 1.1622, -0.3649, 0.2543, 0.2214, 0.7499]\nstate[eef_state]: left_x=0.2905 left_y=0.0036 left_z=0.1694 left_yaw=0.0026 left_pitch=-0.0572 left_roll=-0.0014 left_gripper=0.9993 right_x=0.419 right_y=0.1491 right_z=0.1503 right_yaw=0.0955 right_pitch=-0.2095 right_roll=-0.0249 right_gripper=0.7499\nstate[joint_eff]: [-0.1709, -1.3197, 6.9949, 1.7363, -0.0806, -0.0611, -0.0122, -0.335, -8.1026, 9.4154, 1.79, 0.2125, 0.2076, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c12266a0a3c7ea37bb86ab7dc7b080b11df5486f0bbc664e993d4cf91b7ab592",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:964d1a13ffb78c73faa40964ab0b865e16263d934a74fc061200e4b8cc12b53a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae6bf51c306daaf5139d50b0dc91f729621c2b9cb61858f5459729eb05e72d66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkwgKEAgSGAI4AUIIdGhpbmtpbmcSDHqeNIFqSKi4uS2dOhoM/w2XNwZBUTK+Yg1ZIjAM1LapTDwfvIumonFieX7zhIRRP94cu28O69J/nDl06l2t1OI7/U0ou62GqoQIvdIqsAcyxMTakNhjzu2p/xA53mmYWTOb+u3/BiJazEgYK79yXtdx3PoCT/xCvkoCMXY6DfN0M2dorz8SWit6pDXTvvHSteSRuv+fe/JAjRj/jZmDt2884ChwcOak/ZsmVN2sdQO7/kFfS/ArWn79y6PbqiG+GYP92DTblK31UlpT4T2pUgc9o9q6t5xpFPfkB9ksfSR3SE7S5v0Q32pwJplw49uYV4ISx0KTtnuLeL3J1n3JnApT5Z8V3JkAYdQctCdHNYsBL/PxE0tjS6eapv70yrXW43KVDBPUt/knhcy19A7cj51d0TuBjdqVqMYQvZvNybTGdyEiRx1Oj4cFyyKkDYvG2OV3JWZ/G9ECKbtRfEuPH7Bwcs6f8xrjdnKykt93QlHw9WIhKnT3m20RSu2vHjaKPp6OOzHl0IkwVIpdHC5zR520v8TqZVa21lWXjcrEIRPP9F/MK5LvYNqZyJU7fl/bWyiajrXzRqIwYMH6I49sShquYDod4rxFJ8Psc1mzCx0t4vEugOR3gq271dneJxOzsT1lC483R8KoGrQl4ggJu+8sybemggWjii1hL8iXE6CAe2tTs5GwplolN8GjQz18yahK4aIMrjbqVSs+gi8F6iIs+UgW6PRIuBYuLqIYSU/+Vcv9QsN+FiG4iyeMSxnxpJdcbt8XXF1z0PZ6NPWR1ILBgejqDvY7Zys2rv1BY9kY+k5h94Ih/hOdB5Heyz3bPiVWyIjW+/SiF9q06SOU4npg88rArqE6isCeykyfe1Db3gtsDYL+VNV1xrqnKaPoxETQs3pSdnxwEZEb3NTfp/zUPpINF/GHCy4q4TmG7qGkC5K8YFgppyRdLK1dC9wGeH4px+qkSefP9yff1HMN15iFnXYmWNQhRVDEqxcTEV+aeoeZbn/AWeNFiMPHNhsX65uxbYpk8Ad3FBfwulQAoW1rdyjjj/cfII9NKHkWiP4kVKtcfHg//P+ZVa9UkqF5EPZAM/OT3tqQJefyQ7FW0tdDMmBMWWrzvChojmVW9Q/wEqolOCfkyvw/WBM8UkpHN6l+b+lM0gkLGfWUklQCW48lCdji4NXvVaAjqcLJTzfS5EdKqhEl7UrIfB9y1ZgxtJ41ikSJpzv9PhrPZ18ewMl3YXDbRD9smlKN2msfwQE1R2eFRjYpUpAdZIV/t1MpOoLwAMjkmsM18mUaEDXVxqb5Ar8NhCIWxwG7NQ107KfUVUC6zZea8duJLcjePN753zvmcQ6e6XAQvaiM9JJoZRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SqpAg4NBjqX5odc3RrUrN3",
      "input": {
        "note": "Blue bowl is centred under the jaws in the wrist view; lowering the pear toward the bowl before releasing.",
        "targets": {
          "right_x": 0.435,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01SqpAg4NBjqX5odc3RrUrN3",
      "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]: [-0.02, 0.8127, 0.6132, -0.4278, -0.033, -0.0334, 0.9993, 0.4152, 1.7077, 1.1, -0.2363, 0.2317, 0.2089, 0.7499]\nstate[eef_state]: left_x=0.2905 left_y=0.0036 left_z=0.1694 left_yaw=0.0026 left_pitch=-0.0575 left_roll=-0.0014 left_gripper=0.9993 right_x=0.4288 right_y=0.1486 right_z=0.1022 right_yaw=0.1001 right_pitch=-0.2479 right_roll=-0.0293 right_gripper=0.7499\nstate[joint_eff]: [-0.3214, -1.2923, 6.9949, 1.707, -0.0317, -0.0269, -0.0171, -0.1026, -8.7863, 6.5299, 1.7558, 0.1832, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d3b528b13f50c725291551b4ce604af53d6f372ebd28c21575d18f59c709e9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6386bc0ab2cc0adfc241a796e8da6c40feb2bea1d3b7f1dbf799bc05cf0789f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2b16cf96104499e84af815a1fa87db8f015858228abb64eb8ae7cd4ec7f09ce8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 8.145 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]: [-0.02, 0.8127, 0.6132, -0.4248, -0.033, -0.0334, 0.9993, 0.0376, 1.2766, 0.7773, -0.2153, -0.0238, -0.0196, 0.7499]\nstate[eef_state]: left_x=0.2909 left_y=0.0036 left_z=0.17 left_yaw=0.0026 left_pitch=-0.0545 left_roll=-0.0015 left_gripper=0.9993 right_x=0.3731 right_y=0.0218 right_z=0.1385 right_yaw=0.0703 right_pitch=-0.1475 right_roll=0.0024 right_gripper=0.7499\nstate[joint_eff]: [-0.0205, -1.3607, 6.9812, 1.6679, -0.0317, -0.0611, -0.0122, -0.2256, -6.2427, 9.4701, 1.7167, 0.0024, 0.0366, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.02, 0.8127, 0.6132, -0.4274, -0.033, -0.0334, 0.9993, 0.4339, 1.6066, 1.1622, -0.3649, 0.2543, 0.2214, 0.7499]\nstate[eef_state]: left_x=0.2905 left_y=0.0036 left_z=0.1694 left_yaw=0.0026 left_pitch=-0.0572 left_roll=-0.0014 left_gripper=0.9993 right_x=0.419 right_y=0.1491 right_z=0.1503 right_yaw=0.0955 right_pitch=-0.2095 right_roll=-0.0249 right_gripper=0.7499\nstate[joint_eff]: [-0.1709, -1.3197, 6.9949, 1.7363, -0.0806, -0.0611, -0.0122, -0.335, -8.1026, 9.4154, 1.79, 0.2125, 0.2076, 1.0281]",
      "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]: [-0.02, 0.8127, 0.6132, -0.4278, -0.033, -0.0334, 0.9993, 0.4152, 1.7077, 1.1, -0.2363, 0.2317, 0.2089, 0.7499]\nstate[eef_state]: left_x=0.2905 left_y=0.0036 left_z=0.1694 left_yaw=0.0026 left_pitch=-0.0575 left_roll=-0.0014 left_gripper=0.9993 right_x=0.4288 right_y=0.1486 right_z=0.1022 right_yaw=0.1001 right_pitch=-0.2479 right_roll=-0.0293 right_gripper=0.7499\nstate[joint_eff]: [-0.3214, -1.2923, 6.9949, 1.707, -0.0317, -0.0269, -0.0171, -0.1026, -8.7863, 6.5299, 1.7558, 0.1832, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d3b528b13f50c725291551b4ce604af53d6f372ebd28c21575d18f59c709e9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6386bc0ab2cc0adfc241a796e8da6c40feb2bea1d3b7f1dbf799bc05cf0789f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b16cf96104499e84af815a1fa87db8f015858228abb64eb8ae7cd4ec7f09ce8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CLM3WWR9sCtcg2xUc8nveC",
      "input": {
        "note": "Pear is just above the blue bowl; opening to drop it in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01CLM3WWR9sCtcg2xUc8nveC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4297, -0.033, -0.0334, 0.9993, 0.4152, 1.7077, 1.1, -0.2394, 0.231, 0.1997, 0.9959]\nstate[eef_state]: left_x=0.2902 left_y=0.0036 left_z=0.169 left_yaw=0.0026 left_pitch=-0.0594 left_roll=-0.0013 left_gripper=0.9993 right_x=0.4282 right_y=0.1485 right_z=0.1017 right_yaw=0.1056 right_pitch=-0.2511 right_roll=-0.0362 right_gripper=0.9959\nstate[joint_eff]: [-0.3077, -1.3333, 6.9949, 1.7265, -0.0513, -0.0611, -0.0122, -0.0615, -8.4718, 6.5436, 1.5067, 0.0611, 0.1441, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba2d9f91c2903afd73e4817c668ae2201143f02e3deb86f9b508fb747d76f95f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdb17a37342daec709678950d4e90b661ca9cafdbbe08ca7fd9d855676651b7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a68dc899ae29d8c75283d1b6cf4ae67eaef87aedbf6b6db60e7b9245834c30f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 5.505 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]: [-0.02, 0.8127, 0.6132, -0.4274, -0.033, -0.0334, 0.9993, 0.4339, 1.6066, 1.1622, -0.3649, 0.2543, 0.2214, 0.7499]\nstate[eef_state]: left_x=0.2905 left_y=0.0036 left_z=0.1694 left_yaw=0.0026 left_pitch=-0.0572 left_roll=-0.0014 left_gripper=0.9993 right_x=0.419 right_y=0.1491 right_z=0.1503 right_yaw=0.0955 right_pitch=-0.2095 right_roll=-0.0249 right_gripper=0.7499\nstate[joint_eff]: [-0.1709, -1.3197, 6.9949, 1.7363, -0.0806, -0.0611, -0.0122, -0.335, -8.1026, 9.4154, 1.79, 0.2125, 0.2076, 1.0281]",
      "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]: [-0.02, 0.8127, 0.6132, -0.4278, -0.033, -0.0334, 0.9993, 0.4152, 1.7077, 1.1, -0.2363, 0.2317, 0.2089, 0.7499]\nstate[eef_state]: left_x=0.2905 left_y=0.0036 left_z=0.1694 left_yaw=0.0026 left_pitch=-0.0575 left_roll=-0.0014 left_gripper=0.9993 right_x=0.4288 right_y=0.1486 right_z=0.1022 right_yaw=0.1001 right_pitch=-0.2479 right_roll=-0.0293 right_gripper=0.7499\nstate[joint_eff]: [-0.3214, -1.2923, 6.9949, 1.707, -0.0317, -0.0269, -0.0171, -0.1026, -8.7863, 6.5299, 1.7558, 0.1832, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.02, 0.8127, 0.6132, -0.4297, -0.033, -0.0334, 0.9993, 0.4152, 1.7077, 1.1, -0.2394, 0.231, 0.1997, 0.9959]\nstate[eef_state]: left_x=0.2902 left_y=0.0036 left_z=0.169 left_yaw=0.0026 left_pitch=-0.0594 left_roll=-0.0013 left_gripper=0.9993 right_x=0.4282 right_y=0.1485 right_z=0.1017 right_yaw=0.1056 right_pitch=-0.2511 right_roll=-0.0362 right_gripper=0.9959\nstate[joint_eff]: [-0.3077, -1.3333, 6.9949, 1.7265, -0.0513, -0.0611, -0.0122, -0.0615, -8.4718, 6.5436, 1.5067, 0.0611, 0.1441, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba2d9f91c2903afd73e4817c668ae2201143f02e3deb86f9b508fb747d76f95f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdb17a37342daec709678950d4e90b661ca9cafdbbe08ca7fd9d855676651b7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a68dc899ae29d8c75283d1b6cf4ae67eaef87aedbf6b6db60e7b9245834c30f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wg7umZcGH9yyNLBq2eUQtV",
      "input": {
        "note": "Pear dropped into the blue bowl. Moving the right arm over the lemon, estimated ~25 cm left of where the pear was.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.27,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Wg7umZcGH9yyNLBq2eUQtV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4313, -0.0334, -0.0334, 0.9993, 0.7948, 1.7618, 1.3258, -0.5255, 0.4454, 0.4908, 0.9966]\nstate[eef_state]: left_x=0.29 left_y=0.0037 left_z=0.1687 left_yaw=0.0029 left_pitch=-0.061 left_roll=-0.0011 left_gripper=0.9993 right_x=0.3662 right_y=0.2696 right_z=0.134 right_yaw=0.136 right_pitch=-0.267 right_roll=-0.0416 right_gripper=0.9966\nstate[joint_eff]: [-0.3214, -1.3333, 6.9949, 1.7021, -0.0806, -0.0415, -0.0122, 0.0205, -7.747, 9.306, 1.1893, 0.3932, 0.1294, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a39f17afa8ac8a2e5adfcfb43659eff1ab53bfeb107f6749e2cc9fcd5313b286",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1769a7957ce415175817cdc995f6a579168661ea4d3b2a3d7707170f37d31ec7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:943f46f910c04831c5f255deefaed33fbb50bea1c4466d8d719de57bce4c400b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 3.676 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]: [-0.02, 0.8127, 0.6132, -0.4278, -0.033, -0.0334, 0.9993, 0.4152, 1.7077, 1.1, -0.2363, 0.2317, 0.2089, 0.7499]\nstate[eef_state]: left_x=0.2905 left_y=0.0036 left_z=0.1694 left_yaw=0.0026 left_pitch=-0.0575 left_roll=-0.0014 left_gripper=0.9993 right_x=0.4288 right_y=0.1486 right_z=0.1022 right_yaw=0.1001 right_pitch=-0.2479 right_roll=-0.0293 right_gripper=0.7499\nstate[joint_eff]: [-0.3214, -1.2923, 6.9949, 1.707, -0.0317, -0.0269, -0.0171, -0.1026, -8.7863, 6.5299, 1.7558, 0.1832, -0.0611, 1.0281]\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]: [-0.02, 0.8127, 0.6132, -0.4297, -0.033, -0.0334, 0.9993, 0.4152, 1.7077, 1.1, -0.2394, 0.231, 0.1997, 0.9959]\nstate[eef_state]: left_x=0.2902 left_y=0.0036 left_z=0.169 left_yaw=0.0026 left_pitch=-0.0594 left_roll=-0.0013 left_gripper=0.9993 right_x=0.4282 right_y=0.1485 right_z=0.1017 right_yaw=0.1056 right_pitch=-0.2511 right_roll=-0.0362 right_gripper=0.9959\nstate[joint_eff]: [-0.3077, -1.3333, 6.9949, 1.7265, -0.0513, -0.0611, -0.0122, -0.0615, -8.4718, 6.5436, 1.5067, 0.0611, 0.1441, 0.0269]",
      "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]: [-0.02, 0.8127, 0.6132, -0.4313, -0.0334, -0.0334, 0.9993, 0.7948, 1.7618, 1.3258, -0.5255, 0.4454, 0.4908, 0.9966]\nstate[eef_state]: left_x=0.29 left_y=0.0037 left_z=0.1687 left_yaw=0.0029 left_pitch=-0.061 left_roll=-0.0011 left_gripper=0.9993 right_x=0.3662 right_y=0.2696 right_z=0.134 right_yaw=0.136 right_pitch=-0.267 right_roll=-0.0416 right_gripper=0.9966\nstate[joint_eff]: [-0.3214, -1.3333, 6.9949, 1.7021, -0.0806, -0.0415, -0.0122, 0.0205, -7.747, 9.306, 1.1893, 0.3932, 0.1294, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a39f17afa8ac8a2e5adfcfb43659eff1ab53bfeb107f6749e2cc9fcd5313b286",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1769a7957ce415175817cdc995f6a579168661ea4d3b2a3d7707170f37d31ec7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:943f46f910c04831c5f255deefaed33fbb50bea1c4466d8d719de57bce4c400b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzAgKEAgSGAI4AUIIdGhpbmtpbmcSDB3q0G4E2AVuAlrDRBoMgpLIR+bj8SOPgUpaIjBJaAj5c573Hw88EK3YuazTqIcfmXxANkYkQTdPRkFvnWTmv/XAxhsfTCPC2VWncNMq6QdOYl7uNEer7T/NZS7jlaGyKgQOlXfq+TGnoM4f4D2kEp1JScEceUhj07OsSmhJvnpi8xWCuQ14Ax+Bh2tnWgr8RcAUJEdwhVOQEBT8ipAl7zJUD/1eH0e9WKXXa3DMOBX42XsEOhJjEI9pqA2w9BQg6hBv9TNO9XcYl6gDD50avSHoGyZAkJPvC9kYEiBoJFAfKqo/B2DE+IAtCeJx/7QTbPvCctSoE1E+wPXWN52WBkU+akefNCjCL3/SacSW8OJrXVEC/Ebqc41bURpGeG/B4tKYnGh4oFefIjQP2O2ZB3Hf9HjDzTH1hbBozokR8L7hwzicFV/ocq58YoDuylsdwLR5w9hpTJPDs+WeCIWfWNTzPtqCuv70MU0aaqkde5IbhMNxca6+pE9idRfFqhy9tejMTRDp5Sodpy3d9K0QKiCxmFLsWIkEp25XaSMtX7dBtYxpcR5K12lti/3iwzvpuEg68otWTifY3FAaQyDYMBc/IJwu2RvUH08qYFrT48eTs87x8cPoPCutCb1RFZGxHMgkkH0771n24IfImfvKbOPf1gQkcqNnJfTlxef0K+mBZ0T0Eszcmju6AbfvZCWnV8WLrx1feu95JQDIJwrcLOCL9PvutHIhLLPF7IS0fCXTGyUaFgU38O1mKjJaH6dl+mKk19FljLSI4EHB1s3kvpxSgatvrbAoYQt1G83IQMsEEaH4yEuktk0Uifqz8Jkh/i4uEPTyDEUuBxLJ6tp6CTRPWeR6BohSxP5oEYofZcf7cUHnBvK05sB74Jj8eNhC8cHwSNsQb2JBL7wHjX52YxJKC1Gg7+cMU2Zhiub+o1lGdn0Yc8VjzAYJCupmi7kUN07DAn0TCTHWbHVXcpqO+Zks9XTzMXnHp5bWgtl3Vwgc+Ubc/4kSjvph2sXnPxG6B5Os5XXL/Mq6G+bWNTIROPn6NulTddpvfxE3uPR5o14lvZU/Jr90p0lFDRXr9VFt8CSbCoQ6MXpGZNqU8mo9+wJLMQ1EJRhxa0WKXVdpw0hz2XBasCslVfItMI8KRmiyNidt8DdnVUabBBpB7nGUqXR+xoBiJKmB/Me9hR29L47BskBgxMO0bRqL/bO7z5mSySJ40zinP0BpUCa+W+WG1QFTGf6oWimSyCUTyqjqoIX49DynWWmHHj9DRgnj1LYV7iZ+UY0TnsxDaNeLJpV5K+4q5T7JmPj/KmI9ZeUC+lfS0/b8/iGVGETBis4uAeRNc6KdZD++sRtsBZWaGFLTOjawk39rJAToCGv//CBKYfX/fHFl9BDze6X3XG/yXRoG9Kr5wlL78LJeI+K4MY2TmZENuR0e52b7fBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RQh3Vta7VSodK3VW1cMdQF",
      "input": {
        "note": "Lemon is on the jaw column near the bottom of the wrist view, long axis radial; nudging forward 2 cm and descending to grasp across its width.",
        "targets": {
          "right_x": 0.385,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01RQh3Vta7VSodK3VW1cMdQF",
      "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]: [-0.02, 0.8127, 0.6132, -0.4343, -0.033, -0.0334, 0.9993, 0.7616, 1.977, 1.1259, -0.1158, 0.4145, 0.4599, 0.9966]\nstate[eef_state]: left_x=0.2895 left_y=0.0036 left_z=0.1681 left_yaw=0.0026 left_pitch=-0.064 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3814 right_y=0.2703 right_z=0.0192 right_yaw=0.1426 right_pitch=-0.2872 right_roll=-0.0451 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.3197, 7.0085, 1.6874, -0.0513, -0.0366, -0.0171, -0.1846, -9.894, 5.1214, 1.536, 0.2759, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c327683928fa376b27a472bc99a9da029580bed42954a76313755a6e63b3428",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:928bbd56dc8392db37cac49988afc5d2bd45dd9f04b874011f1d7383a2b5b65b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:018e067226f901c7bfd2edc506dd3a7887692a22b4827522e8456a2e460f1c96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.094 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]: [-0.02, 0.8127, 0.6132, -0.4297, -0.033, -0.0334, 0.9993, 0.4152, 1.7077, 1.1, -0.2394, 0.231, 0.1997, 0.9959]\nstate[eef_state]: left_x=0.2902 left_y=0.0036 left_z=0.169 left_yaw=0.0026 left_pitch=-0.0594 left_roll=-0.0013 left_gripper=0.9993 right_x=0.4282 right_y=0.1485 right_z=0.1017 right_yaw=0.1056 right_pitch=-0.2511 right_roll=-0.0362 right_gripper=0.9959\nstate[joint_eff]: [-0.3077, -1.3333, 6.9949, 1.7265, -0.0513, -0.0611, -0.0122, -0.0615, -8.4718, 6.5436, 1.5067, 0.0611, 0.1441, 0.0269]",
      "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]: [-0.02, 0.8127, 0.6132, -0.4313, -0.0334, -0.0334, 0.9993, 0.7948, 1.7618, 1.3258, -0.5255, 0.4454, 0.4908, 0.9966]\nstate[eef_state]: left_x=0.29 left_y=0.0037 left_z=0.1687 left_yaw=0.0029 left_pitch=-0.061 left_roll=-0.0011 left_gripper=0.9993 right_x=0.3662 right_y=0.2696 right_z=0.134 right_yaw=0.136 right_pitch=-0.267 right_roll=-0.0416 right_gripper=0.9966\nstate[joint_eff]: [-0.3214, -1.3333, 6.9949, 1.7021, -0.0806, -0.0415, -0.0122, 0.0205, -7.747, 9.306, 1.1893, 0.3932, 0.1294, 0.0513]",
      "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]: [-0.02, 0.8127, 0.6132, -0.4343, -0.033, -0.0334, 0.9993, 0.7616, 1.977, 1.1259, -0.1158, 0.4145, 0.4599, 0.9966]\nstate[eef_state]: left_x=0.2895 left_y=0.0036 left_z=0.1681 left_yaw=0.0026 left_pitch=-0.064 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3814 right_y=0.2703 right_z=0.0192 right_yaw=0.1426 right_pitch=-0.2872 right_roll=-0.0451 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.3197, 7.0085, 1.6874, -0.0513, -0.0366, -0.0171, -0.1846, -9.894, 5.1214, 1.536, 0.2759, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c327683928fa376b27a472bc99a9da029580bed42954a76313755a6e63b3428",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:928bbd56dc8392db37cac49988afc5d2bd45dd9f04b874011f1d7383a2b5b65b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:018e067226f901c7bfd2edc506dd3a7887692a22b4827522e8456a2e460f1c96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016GAmBrSFJXUdRBh2U3TyZc",
      "input": {
        "note": "Lemon is centred between the jaws at table level; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016GAmBrSFJXUdRBh2U3TyZc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4347, -0.033, -0.0334, 0.9993, 0.762, 1.977, 1.1259, -0.1204, 0.4107, 0.453, 0.4189]\nstate[eef_state]: left_x=0.2895 left_y=0.0036 left_z=0.168 left_yaw=0.0026 left_pitch=-0.0644 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3803 right_y=0.2704 right_z=0.0184 right_yaw=0.149 right_pitch=-0.2929 right_roll=-0.0498 right_gripper=0.4189\nstate[joint_eff]: [-0.294, -1.1419, 7.2957, 1.6581, -0.0708, -0.0757, -0.0171, -0.0479, -10.1265, 5.7231, 1.3065, 0.1538, 0.0464, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf42f450e81ef01485fb98c94ee0cb4875cb2e41db4d07b8b09a4dc142603403",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:200267bf7c5169b826cf4057508d83d060cfe40e7eb0992dbdeb1bd525e288ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:96ff01e6f43ee33e295b9b239ee9c34b209f339bbcd3fc41ca47c1cc9b641698",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 3.184 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]: [-0.02, 0.8127, 0.6132, -0.4313, -0.0334, -0.0334, 0.9993, 0.7948, 1.7618, 1.3258, -0.5255, 0.4454, 0.4908, 0.9966]\nstate[eef_state]: left_x=0.29 left_y=0.0037 left_z=0.1687 left_yaw=0.0029 left_pitch=-0.061 left_roll=-0.0011 left_gripper=0.9993 right_x=0.3662 right_y=0.2696 right_z=0.134 right_yaw=0.136 right_pitch=-0.267 right_roll=-0.0416 right_gripper=0.9966\nstate[joint_eff]: [-0.3214, -1.3333, 6.9949, 1.7021, -0.0806, -0.0415, -0.0122, 0.0205, -7.747, 9.306, 1.1893, 0.3932, 0.1294, 0.0513]",
      "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]: [-0.02, 0.8127, 0.6132, -0.4343, -0.033, -0.0334, 0.9993, 0.7616, 1.977, 1.1259, -0.1158, 0.4145, 0.4599, 0.9966]\nstate[eef_state]: left_x=0.2895 left_y=0.0036 left_z=0.1681 left_yaw=0.0026 left_pitch=-0.064 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3814 right_y=0.2703 right_z=0.0192 right_yaw=0.1426 right_pitch=-0.2872 right_roll=-0.0451 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.3197, 7.0085, 1.6874, -0.0513, -0.0366, -0.0171, -0.1846, -9.894, 5.1214, 1.536, 0.2759, -0.0513, -0.0073]",
      "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]: [-0.02, 0.8127, 0.6132, -0.4347, -0.033, -0.0334, 0.9993, 0.762, 1.977, 1.1259, -0.1204, 0.4107, 0.453, 0.4189]\nstate[eef_state]: left_x=0.2895 left_y=0.0036 left_z=0.168 left_yaw=0.0026 left_pitch=-0.0644 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3803 right_y=0.2704 right_z=0.0184 right_yaw=0.149 right_pitch=-0.2929 right_roll=-0.0498 right_gripper=0.4189\nstate[joint_eff]: [-0.294, -1.1419, 7.2957, 1.6581, -0.0708, -0.0757, -0.0171, -0.0479, -10.1265, 5.7231, 1.3065, 0.1538, 0.0464, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf42f450e81ef01485fb98c94ee0cb4875cb2e41db4d07b8b09a4dc142603403",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:200267bf7c5169b826cf4057508d83d060cfe40e7eb0992dbdeb1bd525e288ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96ff01e6f43ee33e295b9b239ee9c34b209f339bbcd3fc41ca47c1cc9b641698",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlgcKEAgSGAI4AUIIdGhpbmtpbmcSDIelboCx5VAoS4+HXBoM8LOo0q3H1tdlvFi9IjBD6azor79ht1d5HwfNfB5E1Pi5N4MQ4ZDo9n5/tARxm1pkUHdjI5/vjgjoR++qUtIqswaFRvXj4TQkGVzlvYm21a1x0l1RKfk2NKOJGEva4BZck8Is6G+hW6UeRPzub9tKsAPFKQK00Y9Ex+FCWBwuhGs/Dzw8Dwhsl794TeApjAtkPoT+IACJEC3pHPAu5We+BtiXwA6LLtH59nNGzY2AMAX2UQceUEcH1r+TACdBq+RCYq/+q0gLTTssoWSjHVatvJfNWy9S4FeD/ogkJx1lN27AGU+emInwU+URMtQgtWZmI8Vcm8rB00YpvhfujH+tFznO9OG3BPbc2vd2IDiswLuyNVG7nrcD1t5jqXJtpRVIAb75BpoSWMLZFqEjBWv84XTVeYdIcS544ZJRdQw0Y2/YDOJU93heUrX5t4/VddqgwYzE2HLnZUd0bL+7SX7GYXrPklgwJIRaK095f33rO6t4kVX6iMT7HBTeB2xifyzhKMTB2VgFyMAk6uZx6ayVlpJFOU/j+aas+SXblgYNtSgTgHr2tF08Ue0LjSEYTCQNFAhTpM+IwTmgjDLcr6IlH+yXehxIUb1dmhSLp6QmLCP56kYyh/jwnaSTOHGjH8kWyFQk7QksGyq2ARa/fzkiPcNtEe+CO/VWrZ5tEPv+z0Mn2wfAvOc2m8EGmK6y3ri1M8JrWNWsgDy2xtuLjf03aO2ef0H1W7c1opUVvHwMRAX50vck9ri4SCsGmbtiiomuTVjLaaEjBEeHNNVtVYHAiUqbzxtzswV5XBspquI3eBIsqmnvkzDDv0TfPbShnHCd/q69DywX8XcfChKl/ZT1Tqey0yHbHobl3ul2KnvJrl2HcDmPCCQXslf6FYCwtjRLKq5xmkercEcbtMYr2zpfJERWSM9Xbpg2akdB6NqCqeOzZ05uHHR5EeX7ZmlkTiTqwy7r1ZBfqiJgBozBtHWJKJGs7HhBITL0N4Bl2OuYxD4qoxRbZvUDwI74vsURkUY6Wg9t+3CC+xm1YsesmPHFXx59a559mHPHzv56+dTz4H5Dd3UuCqw5hruADJ79mu2/uvxQH/keZqKt6oconxXKJhPBKXkAHrLu3ddE/LN6+TOnKgOPJ62ZrGboo52hpvwZ6IaK9Rk6qPKJUcfYekV0JdogpEoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DPynk7ifC6wPaDVdwVjcYZ",
      "input": {
        "note": "Gripper settled at 0.42 (~4 cm), lemon grasped; lifting.",
        "targets": {
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DPynk7ifC6wPaDVdwVjcYZ",
      "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]: [-0.02, 0.8127, 0.6132, -0.4351, -0.033, -0.0334, 0.9993, 0.7628, 1.8343, 1.4769, -0.6491, 0.4034, 0.448, 0.4218]\nstate[eef_state]: left_x=0.2894 left_y=0.0036 left_z=0.1679 left_yaw=0.0026 left_pitch=-0.0648 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3806 right_y=0.2728 right_z=0.141 right_yaw=0.1516 right_pitch=-0.3253 right_roll=-0.0691 right_gripper=0.4218\nstate[joint_eff]: [-0.1573, -1.3197, 7.1453, 1.6581, -0.0415, -0.0464, -0.0171, -0.335, -12.6974, 9.1009, 1.3944, 0.2222, 0.0562, 0.735]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbc8e87628312900d14c4fdc60e60957776e389bce2adfa9a9695f1ccc1db7f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5a0fc249e1f4fbd42ba9f7b2bdee48fce3c9a4024d296e70b0e71b8aae97d63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:825283e5ca6d19ffbabc3e35eb0b6760962f66cbfd22b9131da13e6e6ff2064d",
        "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 · 4.209 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]: [-0.02, 0.8127, 0.6132, -0.4343, -0.033, -0.0334, 0.9993, 0.7616, 1.977, 1.1259, -0.1158, 0.4145, 0.4599, 0.9966]\nstate[eef_state]: left_x=0.2895 left_y=0.0036 left_z=0.1681 left_yaw=0.0026 left_pitch=-0.064 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3814 right_y=0.2703 right_z=0.0192 right_yaw=0.1426 right_pitch=-0.2872 right_roll=-0.0451 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.3197, 7.0085, 1.6874, -0.0513, -0.0366, -0.0171, -0.1846, -9.894, 5.1214, 1.536, 0.2759, -0.0513, -0.0073]",
      "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]: [-0.02, 0.8127, 0.6132, -0.4347, -0.033, -0.0334, 0.9993, 0.762, 1.977, 1.1259, -0.1204, 0.4107, 0.453, 0.4189]\nstate[eef_state]: left_x=0.2895 left_y=0.0036 left_z=0.168 left_yaw=0.0026 left_pitch=-0.0644 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3803 right_y=0.2704 right_z=0.0184 right_yaw=0.149 right_pitch=-0.2929 right_roll=-0.0498 right_gripper=0.4189\nstate[joint_eff]: [-0.294, -1.1419, 7.2957, 1.6581, -0.0708, -0.0757, -0.0171, -0.0479, -10.1265, 5.7231, 1.3065, 0.1538, 0.0464, 1.033]",
      "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]: [-0.02, 0.8127, 0.6132, -0.4351, -0.033, -0.0334, 0.9993, 0.7628, 1.8343, 1.4769, -0.6491, 0.4034, 0.448, 0.4218]\nstate[eef_state]: left_x=0.2894 left_y=0.0036 left_z=0.1679 left_yaw=0.0026 left_pitch=-0.0648 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3806 right_y=0.2728 right_z=0.141 right_yaw=0.1516 right_pitch=-0.3253 right_roll=-0.0691 right_gripper=0.4218\nstate[joint_eff]: [-0.1573, -1.3197, 7.1453, 1.6581, -0.0415, -0.0464, -0.0171, -0.335, -12.6974, 9.1009, 1.3944, 0.2222, 0.0562, 0.735]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbc8e87628312900d14c4fdc60e60957776e389bce2adfa9a9695f1ccc1db7f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5a0fc249e1f4fbd42ba9f7b2bdee48fce3c9a4024d296e70b0e71b8aae97d63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:825283e5ca6d19ffbabc3e35eb0b6760962f66cbfd22b9131da13e6e6ff2064d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vqcih1zM9vxbme6f8a8FaF",
      "input": {
        "note": "Lemon held and lifted; carrying it back over the blue bowl.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.15,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Vqcih1zM9vxbme6f8a8FaF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4423, -0.033, -0.0334, 0.9993, 0.4171, 1.7351, 1.3804, -0.6277, 0.2123, 0.1631, 0.4231]\nstate[eef_state]: left_x=0.2883 left_y=0.0036 left_z=0.1665 left_yaw=0.0026 left_pitch=-0.072 left_roll=-0.0011 left_gripper=0.9993 right_x=0.4237 right_y=0.151 right_z=0.1418 right_yaw=0.1312 right_pitch=-0.3863 right_roll=-0.0875 right_gripper=0.4231\nstate[joint_eff]: [-0.335, -1.1009, 7.1726, 1.7998, -0.0366, -0.0317, -0.0122, -0.2393, -11.412, 6.6393, 1.6142, 0.0952, 0.0952, 0.7692]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94fa4e7c6d6eb16c58d14eb24f7224f91271a6f1e0a9e199ee4988416ed5f037",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41a7c229580e6f60a967b629805ab216217f938eaaceecc666c74fb822adc5a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:76e2fa4fd38947ee04ce198d527b8baa41c60dc9ba6dedaeefc2e015814b45a1",
        "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 · 8.665 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]: [-0.02, 0.8127, 0.6132, -0.4347, -0.033, -0.0334, 0.9993, 0.762, 1.977, 1.1259, -0.1204, 0.4107, 0.453, 0.4189]\nstate[eef_state]: left_x=0.2895 left_y=0.0036 left_z=0.168 left_yaw=0.0026 left_pitch=-0.0644 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3803 right_y=0.2704 right_z=0.0184 right_yaw=0.149 right_pitch=-0.2929 right_roll=-0.0498 right_gripper=0.4189\nstate[joint_eff]: [-0.294, -1.1419, 7.2957, 1.6581, -0.0708, -0.0757, -0.0171, -0.0479, -10.1265, 5.7231, 1.3065, 0.1538, 0.0464, 1.033]",
      "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]: [-0.02, 0.8127, 0.6132, -0.4351, -0.033, -0.0334, 0.9993, 0.7628, 1.8343, 1.4769, -0.6491, 0.4034, 0.448, 0.4218]\nstate[eef_state]: left_x=0.2894 left_y=0.0036 left_z=0.1679 left_yaw=0.0026 left_pitch=-0.0648 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3806 right_y=0.2728 right_z=0.141 right_yaw=0.1516 right_pitch=-0.3253 right_roll=-0.0691 right_gripper=0.4218\nstate[joint_eff]: [-0.1573, -1.3197, 7.1453, 1.6581, -0.0415, -0.0464, -0.0171, -0.335, -12.6974, 9.1009, 1.3944, 0.2222, 0.0562, 0.735]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.02, 0.8127, 0.6132, -0.4423, -0.033, -0.0334, 0.9993, 0.4171, 1.7351, 1.3804, -0.6277, 0.2123, 0.1631, 0.4231]\nstate[eef_state]: left_x=0.2883 left_y=0.0036 left_z=0.1665 left_yaw=0.0026 left_pitch=-0.072 left_roll=-0.0011 left_gripper=0.9993 right_x=0.4237 right_y=0.151 right_z=0.1418 right_yaw=0.1312 right_pitch=-0.3863 right_roll=-0.0875 right_gripper=0.4231\nstate[joint_eff]: [-0.335, -1.1009, 7.1726, 1.7998, -0.0366, -0.0317, -0.0122, -0.2393, -11.412, 6.6393, 1.6142, 0.0952, 0.0952, 0.7692]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94fa4e7c6d6eb16c58d14eb24f7224f91271a6f1e0a9e199ee4988416ed5f037",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41a7c229580e6f60a967b629805ab216217f938eaaceecc666c74fb822adc5a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76e2fa4fd38947ee04ce198d527b8baa41c60dc9ba6dedaeefc2e015814b45a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStAgKEAgSGAI4AUIIdGhpbmtpbmcSDCzy5Vw9TFKjwjfnnxoMPYMh0AlX5JmS6Uc9IjCN85eFlReX7Hu+C4Mw68v5TAl4sFbKkNcbkzRQ7XJy9kYkLo2G0km9yFVMwcOi9DEq0QfnXD+zPydc5Te51+z36iu6gLA252CMT226RJ7GBX5gYSzIWr8+QGYi/OUPWqe0LL3ijwxYjQ8JwsC/gzi/I9xYEo4yiyhFFXeGjkfnjDvv6h/nfsB1x3LYEDp9M8t77ZmEFEXsI/DBDEbKt1c/XWxPYYhVV6sQ7dUM6ERvmeICbEyKuFna3C/fbmEzBuUhwbYNlc6FmKA1wUC9iQBD9K2HOUWxecqgcYYbLaJXwoerghN28PvqIjaxFLb9RLGqqbF+PQfNf7p+lp3sJIdKL2g2B+F/i2XLeRqNUz1VzwNV4ABRoSYRUxr5ecWOJ6U7n8hHzic86Q0ZwHY4htYHxgC6/0yVgyeQ7NSZ9N10+YImV/mXZqcgo3QvWQc80RNpuHoxADA45/yBa8skQe82MDOpysc7yk8MN6wGiYeaJN8qhUv2Y8cyINyJ8RFjq4jr77MWSulk0a+BQLNfFltidoF8MYkgvGD7qdgxH+8zAQ96rIVQAVkp/bDCaAfAtidZMSz8DOroW68BXd2vrBA8emfICyUWZdK8OrXVPwY7E9bH0VDXHl7zfJPVW77euIjd0ZPi/jaKgYrbhv2afl29IB7rNeCs59mIZ7Cx3PMtv+thRnP2TCmxQqNB9KZDlquF/vmC3b0Uod1PDlKO90FZxNVk8fDcWTjx3M511bUjLD+2dkTbLkZLy2BsnfcWUXyX4YkJA2qhKE8nyIsrl/b9mDJaEPuuyd18pDwlr+8WENEvk+ghZyCOWrPd/xS4jmI31FYaRPJjBfFLewpTCtSbBT8TGUGVU3KwqIycJuWV3X4+Zkb6xsGo0rIiGJOZ+0gfReCojstKC831AedbdRUvW7ghq8dZPO/B1fHz9nHowIgNTjzRGxGI5Ct1AeBIxGMmOgERrBgufUv0DFEv5ot8JkuAeGI4rLk3qTqgRt/YdHm7pzoLxGEVZH7STnlpU2Omsi4sJeMNOvBbLmJ/NVqlSAR4d2E7XMiZHuglarlXjOjUSAjO3UotrgTkEyDckxjiSgvoTAwhjRoxW40dfOmkZAQRZ/qNjqLYZ7+KqM8kBA7D3R5zbvLsDf8q8XbCXAIzXXET80ZgmXPJXAlX8SETzwtw1Vbtxd2aif9R1mr3al0pA5RdLK3aCJcGjDfyGVZB4q+wKBxXfxr2MvxpGvkpiVB1xcCUkH1xrzko9JGO7C4jYSz/8VX3HQQWI0x6PRerWYnVHS93xN0vM8om2pvPu1xlYlk1R2mbjR/kNR12TE5Y65pTc+J4TRPRJeC2jrgtZILtmbsH29A42AB3BVgyIKpI8xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gea7TrYUkxsTnbpGeNCaWk",
      "input": {
        "note": "Lemon is over the blue bowl (blue rim just below jaws); lowering slightly and releasing.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Gea7TrYUkxsTnbpGeNCaWk",
      "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]: [-0.02, 0.8127, 0.6132, -0.4465, -0.033, -0.0334, 0.9993, 0.4152, 1.7451, 1.2865, -0.5449, 0.2077, 0.1486, 0.9955]\nstate[eef_state]: left_x=0.2877 left_y=0.0037 left_z=0.1656 left_yaw=0.0026 left_pitch=-0.0762 left_roll=-0.001 left_gripper=0.9993 right_x=0.4182 right_y=0.1485 right_z=0.1126 right_yaw=0.1393 right_pitch=-0.4082 right_roll=-0.0988 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.2513, 7.0085, 1.707, -0.0611, -0.0806, -0.0171, 0.0342, -7.9795, 6.5436, 1.5458, 0.0904, 0.1343, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3e679c6ebb6a6ebc4722e36dcc03942ce50758c546c833a1a56f50576a8b164",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d135f45f49de272cdd9892372644c841b002cafc5b5691884f81122797c732b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bbd0a573a32e478d392377ab32b20b47f252584c6d3610a28af94da72dbb36d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 5.014 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]: [-0.02, 0.8127, 0.6132, -0.4351, -0.033, -0.0334, 0.9993, 0.7628, 1.8343, 1.4769, -0.6491, 0.4034, 0.448, 0.4218]\nstate[eef_state]: left_x=0.2894 left_y=0.0036 left_z=0.1679 left_yaw=0.0026 left_pitch=-0.0648 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3806 right_y=0.2728 right_z=0.141 right_yaw=0.1516 right_pitch=-0.3253 right_roll=-0.0691 right_gripper=0.4218\nstate[joint_eff]: [-0.1573, -1.3197, 7.1453, 1.6581, -0.0415, -0.0464, -0.0171, -0.335, -12.6974, 9.1009, 1.3944, 0.2222, 0.0562, 0.735]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.02, 0.8127, 0.6132, -0.4423, -0.033, -0.0334, 0.9993, 0.4171, 1.7351, 1.3804, -0.6277, 0.2123, 0.1631, 0.4231]\nstate[eef_state]: left_x=0.2883 left_y=0.0036 left_z=0.1665 left_yaw=0.0026 left_pitch=-0.072 left_roll=-0.0011 left_gripper=0.9993 right_x=0.4237 right_y=0.151 right_z=0.1418 right_yaw=0.1312 right_pitch=-0.3863 right_roll=-0.0875 right_gripper=0.4231\nstate[joint_eff]: [-0.335, -1.1009, 7.1726, 1.7998, -0.0366, -0.0317, -0.0122, -0.2393, -11.412, 6.6393, 1.6142, 0.0952, 0.0952, 0.7692]",
      "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]: [-0.02, 0.8127, 0.6132, -0.4465, -0.033, -0.0334, 0.9993, 0.4152, 1.7451, 1.2865, -0.5449, 0.2077, 0.1486, 0.9955]\nstate[eef_state]: left_x=0.2877 left_y=0.0037 left_z=0.1656 left_yaw=0.0026 left_pitch=-0.0762 left_roll=-0.001 left_gripper=0.9993 right_x=0.4182 right_y=0.1485 right_z=0.1126 right_yaw=0.1393 right_pitch=-0.4082 right_roll=-0.0988 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.2513, 7.0085, 1.707, -0.0611, -0.0806, -0.0171, 0.0342, -7.9795, 6.5436, 1.5458, 0.0904, 0.1343, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3e679c6ebb6a6ebc4722e36dcc03942ce50758c546c833a1a56f50576a8b164",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d135f45f49de272cdd9892372644c841b002cafc5b5691884f81122797c732b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbd0a573a32e478d392377ab32b20b47f252584c6d3610a28af94da72dbb36d1",
        "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_01Lh2eMnxsa8HFnKS3YarotW",
      "input": {
        "note": "Lemon released over the blue bowl. Parking the right arm and moving the left arm over the dark plum, which sits ahead-right of the left gripper.",
        "targets": {
          "left_x": 0.32,
          "left_y": -0.1,
          "left_z": 0.12,
          "right_x": 0.3,
          "right_y": 0.0,
          "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_01Lh2eMnxsa8HFnKS3YarotW",
      "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]: [-0.527, 1.1538, 0.5789, -0.2005, -0.403, -0.3458, 0.9993, -0.0196, 1.1782, 1.1049, -0.8902, -0.0059, -0.1825, 0.9965]\nstate[eef_state]: left_x=0.3111 left_y=-0.0967 left_z=0.1079 left_yaw=-0.0237 left_pitch=-0.1308 left_roll=0.0209 left_gripper=0.9993 right_x=0.3086 right_y=-0.0014 right_z=0.1954 right_yaw=0.0938 right_pitch=-0.4016 right_roll=-0.1055 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -3.7538, 7.747, 1.7216, -0.3834, -0.0513, -0.0171, -0.1162, -4.2598, 7.5556, 1.4237, -0.1685, -0.0611, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1e0a0f5ec55ce233dba04a94b54b5894753067878db7375c3923159f9c889b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1499ffc162f3629a54856b57a5d8b86e1b6ee7b4289fcf8411fd44069db9e992",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b4c017f7bd7cbadf7c2a45ea3d0bf1711fff7f97775b8c40004485e0f34704f",
        "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 · 5.476 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]: [-0.02, 0.8127, 0.6132, -0.4423, -0.033, -0.0334, 0.9993, 0.4171, 1.7351, 1.3804, -0.6277, 0.2123, 0.1631, 0.4231]\nstate[eef_state]: left_x=0.2883 left_y=0.0036 left_z=0.1665 left_yaw=0.0026 left_pitch=-0.072 left_roll=-0.0011 left_gripper=0.9993 right_x=0.4237 right_y=0.151 right_z=0.1418 right_yaw=0.1312 right_pitch=-0.3863 right_roll=-0.0875 right_gripper=0.4231\nstate[joint_eff]: [-0.335, -1.1009, 7.1726, 1.7998, -0.0366, -0.0317, -0.0122, -0.2393, -11.412, 6.6393, 1.6142, 0.0952, 0.0952, 0.7692]",
      "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]: [-0.02, 0.8127, 0.6132, -0.4465, -0.033, -0.0334, 0.9993, 0.4152, 1.7451, 1.2865, -0.5449, 0.2077, 0.1486, 0.9955]\nstate[eef_state]: left_x=0.2877 left_y=0.0037 left_z=0.1656 left_yaw=0.0026 left_pitch=-0.0762 left_roll=-0.001 left_gripper=0.9993 right_x=0.4182 right_y=0.1485 right_z=0.1126 right_yaw=0.1393 right_pitch=-0.4082 right_roll=-0.0988 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.2513, 7.0085, 1.707, -0.0611, -0.0806, -0.0171, 0.0342, -7.9795, 6.5436, 1.5458, 0.0904, 0.1343, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.527, 1.1538, 0.5789, -0.2005, -0.403, -0.3458, 0.9993, -0.0196, 1.1782, 1.1049, -0.8902, -0.0059, -0.1825, 0.9965]\nstate[eef_state]: left_x=0.3111 left_y=-0.0967 left_z=0.1079 left_yaw=-0.0237 left_pitch=-0.1308 left_roll=0.0209 left_gripper=0.9993 right_x=0.3086 right_y=-0.0014 right_z=0.1954 right_yaw=0.0938 right_pitch=-0.4016 right_roll=-0.1055 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -3.7538, 7.747, 1.7216, -0.3834, -0.0513, -0.0171, -0.1162, -4.2598, 7.5556, 1.4237, -0.1685, -0.0611, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1e0a0f5ec55ce233dba04a94b54b5894753067878db7375c3923159f9c889b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1499ffc162f3629a54856b57a5d8b86e1b6ee7b4289fcf8411fd44069db9e992",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b4c017f7bd7cbadf7c2a45ea3d0bf1711fff7f97775b8c40004485e0f34704f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9AgKEAgSGAI4AUIIdGhpbmtpbmcSDL6kwn/+hi/5Q0X0nxoMvmUh8o1Ucvj6SPBDIjBQciFD3y9NA012B/OJtk5pUutK0OTkTkUZ5xTiVkvI1tWckYnx1+akiNI6WvRCNa4qkQiiCwOffFRdFcqcY6GkM25Wnsiu9ds1odaBoX5i9cSRAo3DhvMaYT5iqjOKDFhnp2VDhN2JTj+1S3eOhjnQk8m8M7Qb5qUcjMF1EuMVP5XRwkZ94fq1FtQIA59uZp7byl2OgtdJRJcK3yhjj5ks5Kzv7jxUiAm+PR/J7+GWarKXfeEho57gvXYXUJz9yydOFneuQWssj7GGWht1kEEJoB6G9JJ8EuYRsojc63IX9d+ky+fM5nMTQh7r+LzBdHw+Nx3xwHuUPeATWPVolR2pqFHYy/vWut75o8lN36oJ8p6vIAdel976Wz4wWAc3I4kGDHH857SPIjcSPokwaU6mDhNEkaLARC+G69rwFQrd5vlP0gpFbPXsS261A+mBZwNGwunc+vAKtpj6p0tTHstTPN4uPPcynz4wcLhiRGt6oZi48qO7lPHyGX2OLaMw2ai2Pvf7iP+mKpxelU0kwiFcvM3PTbOfdBnkMqzbqqRtJt/AqGeC3NLmGaT4O9oy75Q/0ENSRxm/sj+TxZ60vZIR5AI6HhmHoqeX5aksUdpye6saoyohgw4Us9SuOPnxvUt+iLc+ZWesh68UHXF14/BfxcidHH8cUBMOW0BUAN5egInTVYmrBtPkdpRp0z76n+YanjIBaMmbtDy6k7eBR2lfoyOUsMUP2saPWiItg7owmbn36jXOK+KHggasisH49ySoYkOfiGQCGWB2aaPV4iuH2z6Pxl17sm/xPcuTlP4BwTbT1wkNPlb4F3jhbzCzgaZnLfqj911cYgU8e/+dveKj7/Y8jC5z3KZiOsg034FA6Vcg/muR/oDAYyqeuF4owi6PmmuIuz3ZGnk6hJn3FxRqOiJZcpPMct45myvuDtqGj9sTcJdykYRTjFgo3zL1GTbf8ryFrPFUeR60vc8UpV09xLRywZRWGYqehAeU1FsM0tTIAm7lmsyPo19KVtWH0x6AqFmo0/XT8jCOblVqQbtpx/oz9gzc1t7gy8lbEoxFqcSbd9m3zIV9OCQTAOkSu1J8KybUUpuQz0XuK8l4ZxzyGngWio4M37kG2pjdZkT+1k0dtO/0fKOQj/mVUBBnnOYSuXnyq1AkZtawnQMCH/GifE44a+PlnpUQxMEbAdrKFul7epVoLcCiVxZ2hfoa/TDcYgJZP4JbR6ZkXW6g9BqHiOUVFzOZsJdxLq7hIFNCdcrtPHz+VZUC4Rl+qSGUQnPXnokaKmcOMnfAjYgDMbQkC/DLxuxIaYpapwTkC7OidF/5QeuMkQ3YvHWlfp/7u6MCYrokQshLfA3UnQBoiFC9MJ4f6z/lmmVzIz2R7HnZUtsPtXo6a6Yk0G8w0WlKpqn/owCnK16dgl2NXfqEURLXeRF87nqVRQZCy1s1vNh1R48yw+cYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ReP6xEe1iSAUcwJtRgH9kC",
      "input": {
        "note": "Plum is just ahead and slightly right of the left jaws; advancing and descending to grasp. (Note: the lemon bounced out of the blue bowl and rolled to the far edge; will address after.)",
        "targets": {
          "left_x": 0.345,
          "left_y": -0.115,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01ReP6xEe1iSAUcwJtRgH9kC",
      "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]: [-0.5259, 1.5929, 0.4839, 0.2379, -0.4034, -0.3595, 0.9993, -0.0189, 1.1801, 1.1046, -0.9138, -0.0158, -0.2012, 0.9966]\nstate[eef_state]: left_x=0.3294 left_y=-0.1068 left_z=0.0056 left_yaw=-0.0066 left_pitch=-0.2136 left_roll=0.0584 left_gripper=0.9993 right_x=0.3039 right_y=0.0006 right_z=0.1914 right_yaw=0.116 right_pitch=-0.4274 right_roll=-0.1045 right_gripper=0.9966\nstate[joint_eff]: [0.335, -6.5983, 4.6701, 1.5311, -0.1538, 0.1636, -0.0122, -0.1983, -3.6718, 6.7077, 1.5067, 0.0757, 0.149, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bcab4269c49c2af6c0a77a7a115aecdb0ec3b02acca447b767b261f7ec28866",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2b9de1214a07cb1263674cc1c9c64f92a0eca2b01ed74c8e9894aa00c132672",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:42ef3545c87d35497519fbdf7edefdfcdcb410752a6eccd0c33c41fb0354555b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 4.51 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]: [-0.02, 0.8127, 0.6132, -0.4465, -0.033, -0.0334, 0.9993, 0.4152, 1.7451, 1.2865, -0.5449, 0.2077, 0.1486, 0.9955]\nstate[eef_state]: left_x=0.2877 left_y=0.0037 left_z=0.1656 left_yaw=0.0026 left_pitch=-0.0762 left_roll=-0.001 left_gripper=0.9993 right_x=0.4182 right_y=0.1485 right_z=0.1126 right_yaw=0.1393 right_pitch=-0.4082 right_roll=-0.0988 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.2513, 7.0085, 1.707, -0.0611, -0.0806, -0.0171, 0.0342, -7.9795, 6.5436, 1.5458, 0.0904, 0.1343, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.527, 1.1538, 0.5789, -0.2005, -0.403, -0.3458, 0.9993, -0.0196, 1.1782, 1.1049, -0.8902, -0.0059, -0.1825, 0.9965]\nstate[eef_state]: left_x=0.3111 left_y=-0.0967 left_z=0.1079 left_yaw=-0.0237 left_pitch=-0.1308 left_roll=0.0209 left_gripper=0.9993 right_x=0.3086 right_y=-0.0014 right_z=0.1954 right_yaw=0.0938 right_pitch=-0.4016 right_roll=-0.1055 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -3.7538, 7.747, 1.7216, -0.3834, -0.0513, -0.0171, -0.1162, -4.2598, 7.5556, 1.4237, -0.1685, -0.0611, 0.0952]",
      "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]: [-0.5259, 1.5929, 0.4839, 0.2379, -0.4034, -0.3595, 0.9993, -0.0189, 1.1801, 1.1046, -0.9138, -0.0158, -0.2012, 0.9966]\nstate[eef_state]: left_x=0.3294 left_y=-0.1068 left_z=0.0056 left_yaw=-0.0066 left_pitch=-0.2136 left_roll=0.0584 left_gripper=0.9993 right_x=0.3039 right_y=0.0006 right_z=0.1914 right_yaw=0.116 right_pitch=-0.4274 right_roll=-0.1045 right_gripper=0.9966\nstate[joint_eff]: [0.335, -6.5983, 4.6701, 1.5311, -0.1538, 0.1636, -0.0122, -0.1983, -3.6718, 6.7077, 1.5067, 0.0757, 0.149, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bcab4269c49c2af6c0a77a7a115aecdb0ec3b02acca447b767b261f7ec28866",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2b9de1214a07cb1263674cc1c9c64f92a0eca2b01ed74c8e9894aa00c132672",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42ef3545c87d35497519fbdf7edefdfcdcb410752a6eccd0c33c41fb0354555b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QcKEAgSGAI4AUIIdGhpbmtpbmcSDKI3E5SiAr6tNAtvRRoMsbEe0TKu9KE5EkrNIjCdY6+NYyrw3wktkjpwA0LZMXvky/dAXf7UN/PMwc9mpmd/qBDICHxGorR8Dx/juggqjgfqdFIhSv9Xeyw579wqQgLAxQfpxgf9H8oOTKkT5trWmVqXfb9BO2UOJ/FigpbS6qQPYBCRnotV1dO9lnpN9RsYRhNzOKvnqMnVjNrXXDQ+6mZyoNmB3q6e6Tk5j9ahuYnrPNgj2L9PzjrZEHrpjjYK0oOSex/Z9n2F/8l29ul3nVjL7UhbYUZJozu6WQU5YjM0r1iS1KKKbU9bK8N8auH5ReAvQ6L6ti8TpdVmKitHheiyvkxS7o+9uQk0pvIJIP6+F7kLu0SYCBV0insZiWuC8RhIhDA+Z/eCmJ2gqL5zCFeBM8sdnhtKAU5bi1CbPUkzfbpWy6sMyt8Ob2hbqv2TJQD6sZHzLyr/vQgRX6YVZ/lgv3CSViFtrqgZJK0cIS9ZRsHbUSlUYy4a14gTd9mtwP1QpYLW65ROzXjqJOIMWBO+Q+THn4cOGD2ocz+h1+QOKQktVsrsavZeXG+R4d21+qI3E/CQR5tN9h5VoY6+UP77HkqkKrDqgltQHAy78Ecu+coL2p9h9wof08Ok1oZHeNvWeiy7jSCQwexIoYIxzaLNuQk+zfgt3k1hjZScEX/Hk2aM7qcGgzrb7i6ZSe8v9+qttjl3DKzujELIrFyjjN/XHJeBr+3XSU70wqnAmINADW7eaATymTGVVEgYyi1lLJLozz9vR+r/vJeibcxN7tUuLfquzI6KcjETz8j9PvNjlwywUutrBm0iDGl8MjqLXPqhjbtHz0XLkXyy3/gRpHVePMg3ibQeddiJVBtLvCBslBmdwvZepa3DBmVfGCQIgZAZwIIRlKWJRbziclY9UCH/OEjLJq7HCUsN2CtzPhJj91fKGutwbLZ0VkHralqGn5R64/jrIuLTrfMA2DRnmLb8QzCR8Hx6le3xBJy6xEwvShRNmdeuSk0MVPhxmHvNnUmY+n0U+6iNxQQ+6350BqpNxbnMegrUeEonG6+v4yKI6T9t0KO9+p2kgpsW3UVGMh/hCF+QGNL4UvarhUJmSsZ8SxFao4MfUPQRTihMVDG7/ocgQRpqig9qTbhQlPNdeyxvURGmXKN5ABqJSJp6wyigsupmPtVmaNNfoKM45H/83557WUsl3uN2xThPCid/89rxDAnz5vHsZ/f4+Xpw3HqoF9WpxdpfvMA8Je8ji7G/RKfgQ/5NaU5UyedO4kyOtJTGW+5mXb1HXkROCppLOuY6ZJmI9vfpaYpMH0eDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TktQ4dpiXxipxpJvpTSLMJ",
      "input": {
        "note": "Plum fills the wrist view just ahead of and slightly right of the jaws; nudging forward/right so it sits between the fingers.",
        "targets": {
          "left_x": 0.345,
          "left_y": -0.12,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01TktQ4dpiXxipxpJvpTSLMJ",
      "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]: [-0.5331, 1.6257, 0.5312, 0.2398, -0.408, -0.3679, 0.9987, -0.0189, 1.1801, 1.1046, -0.9146, -0.0132, -0.202, 0.9966]\nstate[eef_state]: left_x=0.3411 left_y=-0.1158 left_z=0.0103 left_yaw=-0.0073 left_pitch=-0.1973 left_roll=0.047 left_gripper=0.9987 right_x=0.3037 right_y=0.0002 right_z=0.1913 right_yaw=0.114 right_pitch=-0.4285 right_roll=-0.1072 right_gripper=0.9966\nstate[joint_eff]: [-0.6632, -7.2957, 7.6923, 1.5409, -0.2662, -0.0464, -0.0806, -0.1983, -3.7128, 6.5299, 1.2821, -0.0952, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:334ee951d3117889ea82b8518bfe923d79ec31cf9f02034b67edd1c12d9af20b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ba0a5ddb7f677aec06fc88a77bcac31e44eff36206fd2c39557fe8d41228fb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ebf4fda9f0d3ab871276543b68e729df61de08c56e0e2925dd77bbbfe5701b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 8.168 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]: [-0.527, 1.1538, 0.5789, -0.2005, -0.403, -0.3458, 0.9993, -0.0196, 1.1782, 1.1049, -0.8902, -0.0059, -0.1825, 0.9965]\nstate[eef_state]: left_x=0.3111 left_y=-0.0967 left_z=0.1079 left_yaw=-0.0237 left_pitch=-0.1308 left_roll=0.0209 left_gripper=0.9993 right_x=0.3086 right_y=-0.0014 right_z=0.1954 right_yaw=0.0938 right_pitch=-0.4016 right_roll=-0.1055 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -3.7538, 7.747, 1.7216, -0.3834, -0.0513, -0.0171, -0.1162, -4.2598, 7.5556, 1.4237, -0.1685, -0.0611, 0.0952]",
      "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]: [-0.5259, 1.5929, 0.4839, 0.2379, -0.4034, -0.3595, 0.9993, -0.0189, 1.1801, 1.1046, -0.9138, -0.0158, -0.2012, 0.9966]\nstate[eef_state]: left_x=0.3294 left_y=-0.1068 left_z=0.0056 left_yaw=-0.0066 left_pitch=-0.2136 left_roll=0.0584 left_gripper=0.9993 right_x=0.3039 right_y=0.0006 right_z=0.1914 right_yaw=0.116 right_pitch=-0.4274 right_roll=-0.1045 right_gripper=0.9966\nstate[joint_eff]: [0.335, -6.5983, 4.6701, 1.5311, -0.1538, 0.1636, -0.0122, -0.1983, -3.6718, 6.7077, 1.5067, 0.0757, 0.149, -0.0073]",
      "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]: [-0.5331, 1.6257, 0.5312, 0.2398, -0.408, -0.3679, 0.9987, -0.0189, 1.1801, 1.1046, -0.9146, -0.0132, -0.202, 0.9966]\nstate[eef_state]: left_x=0.3411 left_y=-0.1158 left_z=0.0103 left_yaw=-0.0073 left_pitch=-0.1973 left_roll=0.047 left_gripper=0.9987 right_x=0.3037 right_y=0.0002 right_z=0.1913 right_yaw=0.114 right_pitch=-0.4285 right_roll=-0.1072 right_gripper=0.9966\nstate[joint_eff]: [-0.6632, -7.2957, 7.6923, 1.5409, -0.2662, -0.0464, -0.0806, -0.1983, -3.7128, 6.5299, 1.2821, -0.0952, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:334ee951d3117889ea82b8518bfe923d79ec31cf9f02034b67edd1c12d9af20b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ba0a5ddb7f677aec06fc88a77bcac31e44eff36206fd2c39557fe8d41228fb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ebf4fda9f0d3ab871276543b68e729df61de08c56e0e2925dd77bbbfe5701b7",
        "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/AgKEAgSGAI4AUIIdGhpbmtpbmcSDOMWVDoVTPVpX2n0LBoMxZ+NRJMEsS7nrznxIjC9EjweZpl3PMRw5z59bEB7IlvD65dbXAnK67KadMdkrSHXsO1ajhPM1VjdVQnz5kYqmQhiuajRo2o2xmZiDoncJWhiM8ec9IL6S3Al9+e1U7O27NCQ+hVwCgkVyHbhWNiUYjxZ7M+Me8E57dzQ3dfnd+Yzike2VXmW5DIPxCQKoWgzfqKsl/VaCA3+TtfEpE7GSlcwO6VqOO91v8irv2BrmHUZMICqEGaRGSdisZmIW+Pb+DIGal6D+LtmwdyvTSMWpQHGffAHI0powW/gytwzVqqiO3ukGIuTxXLLwSsnT5BwQAAP+YeXdiGKKriZSKw0EvrmpQinvahlW4dhzzdlYaGwV7OaCLstAXcORyx77UlUNkVM5yyJpKD9JWKFj18T83RSHwywXzzWbZbvSc4oSeXWt/AKo5anRwDYW2+Hsy32fS1mgLxhuTJNqhXqlzRkq9idTId63Awj0mbESPOsA4PdbU8tjQnt9ERh/qcn6TpwTtXD4YYyX/vgrFMLqb8bIh5+Vhtg+S11ivSg4x7ol88p+2iUss4OrwugkHvpE4GwhJlbkKqSlWye8HZp51lbHEgAzUOkxR256Mg47HxeTrq+MwrTZ74rmkOWavdl3RSg2p3RahiFbgfUr1JkD/jiy2chsRweGzysMRWxsUbX5lxTEHKaRnV7lOGI9goPReC3rUT8dfRzbRoEp339aIL7A2f5QJl5c8PEgHiwC1i7Ydl+Sur6SZ1NlJx/VU1HBkLpBY90o7mU3gr0ZdSd0CmLc5nuJFsjs5YMWMioKtqo8pk8vkbiGzDKEfV1OZT5JV1XeK0nXcv7APCPNggmwL8MHpQyBLiCu6CT7bnfsCU34nqY67ZJicjDNybCwjO7ASTsGuTXkmuxvX2PIiF/HXpsBXT9IqpYvf4eX9rcLQkxko2enx6IkVqjK5CppjhX9b453QnGfjVYFKj8aYxtW5eWXbuybJmgesU/B42U90+6Xp01GYeHAU9T2hycwfJRmE+WhqVLjV6iK5sEStrGZiz0SP/APujL9yniqqnYV8kEcFXklir1S78yzh856lWcSACFY1I4tbXss1zWKB1slX20iBwVUvVIuUafvRKrKE9KWAD298n/Uq8pYJUmi2xGs68TfAKC5OeVVL2vlCk5wWTtDFMDthsJNMghKQTv5HKAomdDrIkskMN9IbrAqWLIlHOeTdCbRYiEbpUtb1VR7P7S9aWnhfHZ1sZvpYWR+5YSKD9o8MgcObXeB+ssCUxqNz82EsZ6Xye39nSAQjJYZe/OhP76Nh0ix2e8pjkMXOiOm22vzAuCoKtfblWdZ/m9NSnOAi7S+7sNeF2vDr1fMe4lvrtRzQuVO9W4iQc5knGgIU6ykS4Wh9lyHIJG+9v0D5vjAegUrqG/L6CKLbjagQvZl1/ETBvQpot2R91add0RV6K1dWM8RutXtFitbltTE2dT6Z6TWmIYYWGQSBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015Jpw2pmhtTTWcYmjPjSUzM",
      "input": {
        "note": "Plum is now between the left jaws at table level; closing.",
        "targets": {
          "left_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_015Jpw2pmhtTTWcYmjPjSUzM",
      "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]: [-0.5346, 1.6253, 0.5343, 0.2134, -0.4072, -0.3679, 0.5415, -0.0189, 1.1801, 1.1046, -0.918, -0.0128, -0.2024, 0.9966]\nstate[eef_state]: left_x=0.3379 left_y=-0.1146 left_z=0.0074 left_yaw=-0.007 left_pitch=-0.2174 left_roll=0.0583 left_gripper=0.5415 right_x=0.303 right_y=0.0001 right_z=0.1908 right_yaw=0.1141 right_pitch=-0.432 right_roll=-0.1073 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -5.9966, 4.6974, 1.6581, -0.2564, -0.0415, 1.033, -0.2393, -3.6855, 6.4889, 1.2869, -0.0562, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d2d7db7a22685403915b425dc99f733c5d00c283232ab4ed80b8bac5003932e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f79e405eb9ef3b8f54f6a59b4d1bd7816109c42d2e897604835730534d5ad283",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8abe912c7283a403981546d73f9e6f3ec83eeb4dfa67a4412123657be0ffbbd0",
        "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 · 5.493 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]: [-0.5259, 1.5929, 0.4839, 0.2379, -0.4034, -0.3595, 0.9993, -0.0189, 1.1801, 1.1046, -0.9138, -0.0158, -0.2012, 0.9966]\nstate[eef_state]: left_x=0.3294 left_y=-0.1068 left_z=0.0056 left_yaw=-0.0066 left_pitch=-0.2136 left_roll=0.0584 left_gripper=0.9993 right_x=0.3039 right_y=0.0006 right_z=0.1914 right_yaw=0.116 right_pitch=-0.4274 right_roll=-0.1045 right_gripper=0.9966\nstate[joint_eff]: [0.335, -6.5983, 4.6701, 1.5311, -0.1538, 0.1636, -0.0122, -0.1983, -3.6718, 6.7077, 1.5067, 0.0757, 0.149, -0.0073]",
      "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]: [-0.5331, 1.6257, 0.5312, 0.2398, -0.408, -0.3679, 0.9987, -0.0189, 1.1801, 1.1046, -0.9146, -0.0132, -0.202, 0.9966]\nstate[eef_state]: left_x=0.3411 left_y=-0.1158 left_z=0.0103 left_yaw=-0.0073 left_pitch=-0.1973 left_roll=0.047 left_gripper=0.9987 right_x=0.3037 right_y=0.0002 right_z=0.1913 right_yaw=0.114 right_pitch=-0.4285 right_roll=-0.1072 right_gripper=0.9966\nstate[joint_eff]: [-0.6632, -7.2957, 7.6923, 1.5409, -0.2662, -0.0464, -0.0806, -0.1983, -3.7128, 6.5299, 1.2821, -0.0952, -0.0024, -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 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]: [-0.5346, 1.6253, 0.5343, 0.2134, -0.4072, -0.3679, 0.5415, -0.0189, 1.1801, 1.1046, -0.918, -0.0128, -0.2024, 0.9966]\nstate[eef_state]: left_x=0.3379 left_y=-0.1146 left_z=0.0074 left_yaw=-0.007 left_pitch=-0.2174 left_roll=0.0583 left_gripper=0.5415 right_x=0.303 right_y=0.0001 right_z=0.1908 right_yaw=0.1141 right_pitch=-0.432 right_roll=-0.1073 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -5.9966, 4.6974, 1.6581, -0.2564, -0.0415, 1.033, -0.2393, -3.6855, 6.4889, 1.2869, -0.0562, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d2d7db7a22685403915b425dc99f733c5d00c283232ab4ed80b8bac5003932e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f79e405eb9ef3b8f54f6a59b4d1bd7816109c42d2e897604835730534d5ad283",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8abe912c7283a403981546d73f9e6f3ec83eeb4dfa67a4412123657be0ffbbd0",
        "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_01N8QRAhcatV1EVJj3ssioJj",
      "input": {
        "note": "Plum grasped (gripper 0.54 ≈ 5 cm). The blue bowl is beyond the left arm's y-limit, so carrying the plum toward the centre to hand it off on the table for the right arm.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.33,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01N8QRAhcatV1EVJj3ssioJj",
      "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]: [-1.0225, 1.982, 1.364, -0.5156, -0.6502, -0.8463, 0.543, -0.0189, 1.1801, 1.1046, -0.9184, -0.0128, -0.2028, 0.9966]\nstate[eef_state]: left_x=0.3284 left_y=-0.3257 left_z=0.0702 left_yaw=-0.0207 left_pitch=-0.238 left_roll=0.0498 left_gripper=0.543 right_x=0.3029 right_y=0.0001 right_z=0.1908 right_yaw=0.1143 right_pitch=-0.4324 right_roll=-0.1075 right_gripper=0.9966\nstate[joint_eff]: [-0.6906, -10.1402, 8.1299, 0.8425, -0.5934, -0.0659, 1.033, -0.1983, -3.6991, 6.694, 1.2332, 0.0122, -0.0708, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24d328972148ed4d28538f2eee8932501b2e14f07b29ebcde80b7514ac1fbc6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c482ce662d9ddb4336ec9811a7247b0420f121d9a64e2fddeb62adee54b2690",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4fd72d3e305aaeba449224ac9a9129ebd8924b9a8cd56ecfb8dc77148ebc9ee7",
        "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 · 6.184 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]: [-0.5331, 1.6257, 0.5312, 0.2398, -0.408, -0.3679, 0.9987, -0.0189, 1.1801, 1.1046, -0.9146, -0.0132, -0.202, 0.9966]\nstate[eef_state]: left_x=0.3411 left_y=-0.1158 left_z=0.0103 left_yaw=-0.0073 left_pitch=-0.1973 left_roll=0.047 left_gripper=0.9987 right_x=0.3037 right_y=0.0002 right_z=0.1913 right_yaw=0.114 right_pitch=-0.4285 right_roll=-0.1072 right_gripper=0.9966\nstate[joint_eff]: [-0.6632, -7.2957, 7.6923, 1.5409, -0.2662, -0.0464, -0.0806, -0.1983, -3.7128, 6.5299, 1.2821, -0.0952, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5346, 1.6253, 0.5343, 0.2134, -0.4072, -0.3679, 0.5415, -0.0189, 1.1801, 1.1046, -0.918, -0.0128, -0.2024, 0.9966]\nstate[eef_state]: left_x=0.3379 left_y=-0.1146 left_z=0.0074 left_yaw=-0.007 left_pitch=-0.2174 left_roll=0.0583 left_gripper=0.5415 right_x=0.303 right_y=0.0001 right_z=0.1908 right_yaw=0.1141 right_pitch=-0.432 right_roll=-0.1073 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -5.9966, 4.6974, 1.6581, -0.2564, -0.0415, 1.033, -0.2393, -3.6855, 6.4889, 1.2869, -0.0562, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-1.0225, 1.982, 1.364, -0.5156, -0.6502, -0.8463, 0.543, -0.0189, 1.1801, 1.1046, -0.9184, -0.0128, -0.2028, 0.9966]\nstate[eef_state]: left_x=0.3284 left_y=-0.3257 left_z=0.0702 left_yaw=-0.0207 left_pitch=-0.238 left_roll=0.0498 left_gripper=0.543 right_x=0.3029 right_y=0.0001 right_z=0.1908 right_yaw=0.1143 right_pitch=-0.4324 right_roll=-0.1075 right_gripper=0.9966\nstate[joint_eff]: [-0.6906, -10.1402, 8.1299, 0.8425, -0.5934, -0.0659, 1.033, -0.1983, -3.6991, 6.694, 1.2332, 0.0122, -0.0708, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24d328972148ed4d28538f2eee8932501b2e14f07b29ebcde80b7514ac1fbc6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c482ce662d9ddb4336ec9811a7247b0420f121d9a64e2fddeb62adee54b2690",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fd72d3e305aaeba449224ac9a9129ebd8924b9a8cd56ecfb8dc77148ebc9ee7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyAkKEAgSGAI4AUIIdGhpbmtpbmcSDG+95dqSiAFDtHSntRoMYd35YI2FAqMwo+qrIjAopjM6EsA+5GoVu+a/ocZP066zHn1zhh+iXMFcXzg6vpKChl3yT56L3KgyUEx46EIq5Qi440unbcVcZBKjRQ4unYCqwcpb0jS8Fb9Kid+/TnYfcFI8qs1omL0NpN/Fygx2+8BsGXI4K9PYFOERS99TxXyvjnGUSj7Ll+L5ZHzpQR3qyS9+YsmaU0RvSk/KNcz7/pT6MjAK2PaAXR153UcwK7zJHBWABqcWVTRUVZqHlOrvN/7s4DV21O+AX17/esCYZHN4ygxmL/ebIOHJTD+iPGUFevuQQANrC7LvOpJtaAlG5alPR5b3Pz/T7PJY/MDyGOleeXNZk9bSxiOLcP/95XNOhML8eQTG9gLw+CiGwtkQerazv5R4n++rNng00O3n/JWA/JXa6ETwzXFGuOOeyaDcXVjVQvOISWgZxfYYOsLszR5/5EuEebbb6PGCwg+r6XGphpZ0qZOEnGVW1kZQAvo5+kezv4XVvi7P3oCgm8TeXZmrqiVC7rEgWSwq2ng0N8zI+jxOh3QTKoOSt2W+dEGh1qW15kdsn4FVHkVDr2lwpHQXqwYZVesJe4aC03pYoHepDv19arvGsr87kWTwVN6pSKQ6Mctfm3RByHfGyZO7DXy0GnNkbj1SlVSKmp9V4/DNbY/GlKwBJiCoixYCyG3ii/8UK5QbTsxSs/zFoIlBMIo1mil5Whrw6Ie1IuCDWX6L2PB0sAiWFPsp9kiCMXS1LurC+ce9XWzMej2wgr64iVMb+aNytIfHtXsj0sRvDcGST2hznohjSL1jQWNhVETRtn1Cx66wlW+EifGZQgYdZcb7UOOGQcyK2zP3pTo8r+iR/a9WVQtJ2Bmuj0LUXmfuACztQ5UqtNRGZj2rlc56oRTwqWA9ixqnjsbI3YiCUvxmvCrUVS3lg/KMWW29ybxHTTuCmvLquEQL0qkS85Kd4u6ICI1UXFIJTNu5EouQTYiU9TyIP8aFB7+3C+9dDQ/sVA3Q7G8Pq56CPv+8aYwcBTq6+5pwFrkH3ASPwaU1Ds2hfo5eVgSDxKjugLQAJgJvZSS1jh9A4r8mCxxBixxSrkLavHHCm+API2X4bXztPIsJwvchZ3ZGu7NeXJlsxHN5mwnVhJb2ArRISuNUproDQOkt3Rj/IoxKjcW3/i9zY2jzwZRz+GVhB+EtACSw/4nIXC7tzLmThi+lfutasFjMCo+Tqu//NlqqA4XDQArAwWTbF10x/wy8XiqBLFQDMYAqlt7ji06MIZFLkix01zJJGksp5Dv514eAUBxWwhZWSdd7qiIpGaTAxBHcYbUlrNhF+A4+jM5qxLC9fngAk2/37k2kXjL1rSD4RT9uu/3222/Lt6dfvg1x7YRA8wQ/2S5ZYpN2CxUVARk/DPTSy1i4V44oH9GJcmGKXIN/cCM4eCtKiZGQP5K4LRQub2qS1zwAkNg4NMkZs11yYnth3g5otpvAVNZFMsSGRRcLoPRqM+LLAJVoLOyQA7YnW2OsnoAR0GBLA/dJrfHkiV89tNLjPv08q20fNZyU5AB7KGZHVfqWTByjX+PL2rGzoZJSdZYC6qBNa7QYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HwjAmq7fp5sBqmNZFCmV5G",
      "input": {
        "note": "The blue bowl is right beside the left gripper; raising above the rim and moving to the left arm's y-limit to see if the plum can reach over the bowl.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.4,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01HwjAmq7fp5sBqmNZFCmV5G",
      "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]: [-1.0565, 2.2295, 1.9167, -0.8299, -0.6559, -0.8963, 0.543, -0.0189, 1.1801, 1.1046, -0.9184, -0.0128, -0.2024, 0.9966]\nstate[eef_state]: left_x=0.3529 left_y=-0.3983 left_z=0.1115 left_yaw=-0.0221 left_pitch=-0.2366 left_roll=0.025 left_gripper=0.543 right_x=0.3029 right_y=0.0001 right_z=0.1908 right_yaw=0.1141 right_pitch=-0.4324 right_roll=-0.1073 right_gripper=0.9966\nstate[joint_eff]: [-0.9094, -12.7521, 8.1026, 0.5299, -0.5201, -0.0073, 1.033, -0.0889, -3.6855, 6.4889, 1.2479, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f62515f177e98558fb76328a7cc2598fe85f2c6fe17c0861234f7e6fbf0c259",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e47a537555f1b1f5b2553489e8fbfc900bd5e91723b79300c92f274c0a8fe9d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cfaeae6f8de36c98d641786aa3f335849fde85ae9f90b6a0f0e8787bd3e0083e",
        "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 · 3.319 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]: [-0.5346, 1.6253, 0.5343, 0.2134, -0.4072, -0.3679, 0.5415, -0.0189, 1.1801, 1.1046, -0.918, -0.0128, -0.2024, 0.9966]\nstate[eef_state]: left_x=0.3379 left_y=-0.1146 left_z=0.0074 left_yaw=-0.007 left_pitch=-0.2174 left_roll=0.0583 left_gripper=0.5415 right_x=0.303 right_y=0.0001 right_z=0.1908 right_yaw=0.1141 right_pitch=-0.432 right_roll=-0.1073 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -5.9966, 4.6974, 1.6581, -0.2564, -0.0415, 1.033, -0.2393, -3.6855, 6.4889, 1.2869, -0.0562, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-1.0225, 1.982, 1.364, -0.5156, -0.6502, -0.8463, 0.543, -0.0189, 1.1801, 1.1046, -0.9184, -0.0128, -0.2028, 0.9966]\nstate[eef_state]: left_x=0.3284 left_y=-0.3257 left_z=0.0702 left_yaw=-0.0207 left_pitch=-0.238 left_roll=0.0498 left_gripper=0.543 right_x=0.3029 right_y=0.0001 right_z=0.1908 right_yaw=0.1143 right_pitch=-0.4324 right_roll=-0.1075 right_gripper=0.9966\nstate[joint_eff]: [-0.6906, -10.1402, 8.1299, 0.8425, -0.5934, -0.0659, 1.033, -0.1983, -3.6991, 6.694, 1.2332, 0.0122, -0.0708, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0565, 2.2295, 1.9167, -0.8299, -0.6559, -0.8963, 0.543, -0.0189, 1.1801, 1.1046, -0.9184, -0.0128, -0.2024, 0.9966]\nstate[eef_state]: left_x=0.3529 left_y=-0.3983 left_z=0.1115 left_yaw=-0.0221 left_pitch=-0.2366 left_roll=0.025 left_gripper=0.543 right_x=0.3029 right_y=0.0001 right_z=0.1908 right_yaw=0.1141 right_pitch=-0.4324 right_roll=-0.1073 right_gripper=0.9966\nstate[joint_eff]: [-0.9094, -12.7521, 8.1026, 0.5299, -0.5201, -0.0073, 1.033, -0.0889, -3.6855, 6.4889, 1.2479, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f62515f177e98558fb76328a7cc2598fe85f2c6fe17c0861234f7e6fbf0c259",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e47a537555f1b1f5b2553489e8fbfc900bd5e91723b79300c92f274c0a8fe9d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfaeae6f8de36c98d641786aa3f335849fde85ae9f90b6a0f0e8787bd3e0083e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjwoKEAgSGAI4AUIIdGhpbmtpbmcSDG4r1iwwFHi2C+2bsxoM4z3ezidz9CVNas/TIjAXd7AgPfubMNMDyj6tFWpgplTIuoy/sYWrz7xn7gYIZgkipOvLbXXgmPWCDWaAfrIqrAlY+HlDKSMfUVUUiZyArf+oQaKHGoRXHD5PpBR6o+M1LysW14WB0hcn+nQyfZuAn3qkLXz+euJn3pjkt6XxUHOi0TkhzuLwSzVwTx28j8jR/fQtg/WRf1yBks8hwY5SWgBDzInBQLDPbuk3XAmdFO1BiVi4L47tvq3pLQlAXGChref4vTKjdv3qvgycYFqj3hd8qwhTkny9tgsNkcWHkQns11EPZqzByY8Bh5umOrLAtWSKEYGf/SDYhtJEaC0kwehwVvBqVWeUpjeDR7bUsJVZ7z9u3//QUI4OeHtZjvFdppftimtgSePwQrXLFRwsLKnnfW8tPzRKgNLIbEeL/5cyt1597sSX4U3DifJycFcMKhGgROQVIx9PZDLzjT4eT/g5PzQkswuITFhuzoKRpjbcb1BNILe9735NchOAj9V4v5J2xw8jBU9OCm6L5hhd3XrxwhQP+qSGNse3uQQTh6UXeXn3CjF3MXcDQUiZ5pQtpf7h1V5HTxJnRnRnBI4Pt0eSqvbHUPpeJ4ZM1MP7lyUx0eXx9YBBpsgqA8zG2CDX1Bunl5suxzvMbuQPcLYHdAJazUSYMrkukWhtcTSr71y+KK/OJrDQqj823Lbalz0tfoSUubCgqoKRCTX2EZbxP/jar9NHDOd4/52SGwTixHKxiAlhb2pxhqToVbS7XGTrnPlv3AGKDYEiAkZK0NdAAIVnkzVf/Tim/uzq+qdbvuldT7llKx/yHuROdoMg08hFAtX7XTEVr/VozYdIGBgzkb6m8bROofGo3A7CenQwFuFeGxrItkaibzjxFgcOvWHQiVhmhi81moZwpSr3jevPnY3xU5YH9NFqd69XVL0xtSHHQIkU60pU4EG8XAnfgfjDDm9P/pmPRoXaTdZIW/tPepXggBsjzmCDEDed4gtpIvJxIxJa2HBd4k1vb53bBuvne/bUKMLv+3LrhoF1sJCc6GD7wQasOwU4RFCKaeLp4yHARjnslqLL9e/hMg7XpVHOcGDR9QSRBEO10jTPu0JC8HH6nZuGijwFyOzXSiF51IzbSy13IkYQEzaVKaKN4IlmfLUQA8571kP7oi2KVqyia6tfmD+njk07lwWQivOl3RiLJx9lF5gCr6oy48Lb4D1zMjucQf6YeYLk/f7eBnA49wrpL8uzjdhcX4lyfR7qLpY5eABoKf1pmkl0GLupczdrs5jrGjBfyl9/RU0wHAE2b3b+pAwpemR0cxVO9ZdN6ReYyBpW9OPrnhP0fvi4AlIreGdl0VKWn/WGlVQ5wKSJYdrESDL01PFb4+f8tVpUVyZnXQ+CnV4HWBM8CZatYolcdraGnWKgm0edxuOFlgIgG+V9lT9PfjoSk4Er16KDHA+twXfz8AFNbsFGPIZfJitbjI4ul9eeJH857vyaDaPDnYcYsquHOTa9pPzlrdciriTvS7RpP88lAzOm+Ysz8pQhifp0Oid+cxbNOiFDTmS4Q3idKNYZ851/4u4ELqeMGn4N54JaprIUGdO1k+oWJTxMKwoEP4fIVCItBEYCtxaNgl4Qob+Zeh7F+Dcov8KNHPIAnQ/OCTsQeqz+mMi/ouBPTd1He7li8m5zUQ0HZxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V6koJP3WY1qtk2G1EKWiFx",
      "input": {
        "note": "Plum can't get over the bowl interior from the left arm's y-limit. Setting the plum down on the table at the centre line so the right arm can pick it up.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.32,
          "left_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_01V6koJP3WY1qtk2G1EKWiFx",
      "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]: [-1.0153, 2.0766, 1.2602, -0.387, -0.6399, -0.8574, 0.5449, -0.0189, 1.1801, 1.1046, -0.9249, -0.0128, -0.2028, 0.9966]\nstate[eef_state]: left_x=0.3223 left_y=-0.3124 left_z=0.008 left_yaw=0.003 left_pitch=-0.2826 left_roll=0.098 left_gripper=0.5449 right_x=0.3016 right_y=0.0002 right_z=0.1899 right_yaw=0.1147 right_pitch=-0.4388 right_roll=-0.1065 right_gripper=0.9966\nstate[joint_eff]: [0.5128, -11.9726, 5.2171, 1.0232, -0.3492, 0.0757, 0.9402, -0.1162, -3.6308, 6.4752, 1.2918, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ce5a87287edab56932762341437506bc9729e0baee7918bc948074b56f96a2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40b7e4a82101e57de5843d8102e09d1ae02d2e6856fd9096dbad1a115d52b16f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fc0999b91bb3c6b3c8ae3e2abeab952af02968433a873596a37a4b95c52eacab",
        "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 · 5.245 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]: [-1.0225, 1.982, 1.364, -0.5156, -0.6502, -0.8463, 0.543, -0.0189, 1.1801, 1.1046, -0.9184, -0.0128, -0.2028, 0.9966]\nstate[eef_state]: left_x=0.3284 left_y=-0.3257 left_z=0.0702 left_yaw=-0.0207 left_pitch=-0.238 left_roll=0.0498 left_gripper=0.543 right_x=0.3029 right_y=0.0001 right_z=0.1908 right_yaw=0.1143 right_pitch=-0.4324 right_roll=-0.1075 right_gripper=0.9966\nstate[joint_eff]: [-0.6906, -10.1402, 8.1299, 0.8425, -0.5934, -0.0659, 1.033, -0.1983, -3.6991, 6.694, 1.2332, 0.0122, -0.0708, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0565, 2.2295, 1.9167, -0.8299, -0.6559, -0.8963, 0.543, -0.0189, 1.1801, 1.1046, -0.9184, -0.0128, -0.2024, 0.9966]\nstate[eef_state]: left_x=0.3529 left_y=-0.3983 left_z=0.1115 left_yaw=-0.0221 left_pitch=-0.2366 left_roll=0.025 left_gripper=0.543 right_x=0.3029 right_y=0.0001 right_z=0.1908 right_yaw=0.1141 right_pitch=-0.4324 right_roll=-0.1073 right_gripper=0.9966\nstate[joint_eff]: [-0.9094, -12.7521, 8.1026, 0.5299, -0.5201, -0.0073, 1.033, -0.0889, -3.6855, 6.4889, 1.2479, -0.0122, -0.0415, -0.0122]",
      "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]: [-1.0153, 2.0766, 1.2602, -0.387, -0.6399, -0.8574, 0.5449, -0.0189, 1.1801, 1.1046, -0.9249, -0.0128, -0.2028, 0.9966]\nstate[eef_state]: left_x=0.3223 left_y=-0.3124 left_z=0.008 left_yaw=0.003 left_pitch=-0.2826 left_roll=0.098 left_gripper=0.5449 right_x=0.3016 right_y=0.0002 right_z=0.1899 right_yaw=0.1147 right_pitch=-0.4388 right_roll=-0.1065 right_gripper=0.9966\nstate[joint_eff]: [0.5128, -11.9726, 5.2171, 1.0232, -0.3492, 0.0757, 0.9402, -0.1162, -3.6308, 6.4752, 1.2918, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ce5a87287edab56932762341437506bc9729e0baee7918bc948074b56f96a2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40b7e4a82101e57de5843d8102e09d1ae02d2e6856fd9096dbad1a115d52b16f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc0999b91bb3c6b3c8ae3e2abeab952af02968433a873596a37a4b95c52eacab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Releasing and lifting the left arm clear.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G3EfTJNRQN5excUh9aZrqa",
      "input": {
        "note": "Plum resting on the table at the centre line; opening to release it for the right arm.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01G3EfTJNRQN5excUh9aZrqa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.013, 2.0682, 1.2415, -0.3664, -0.6399, -0.8639, 0.9958, -0.0189, 1.1801, 1.1046, -0.9253, -0.0132, -0.2028, 0.9966]\nstate[eef_state]: left_x=0.3223 left_y=-0.3106 left_z=0.0077 left_yaw=0.0064 left_pitch=-0.2767 left_roll=0.0844 left_gripper=0.9958 right_x=0.3015 right_y=0.0002 right_z=0.1899 right_yaw=0.1151 right_pitch=-0.4392 right_roll=-0.1061 right_gripper=0.9966\nstate[joint_eff]: [-0.4991, -9.8393, 7.0496, 0.7399, -0.3443, 0.0122, -0.1685, -0.212, -3.4256, 6.5162, 1.2479, -0.0366, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1f62bcaf4970341688ff520ebae4a8c1f3862d0a70dd60f0f4a66bca40acee1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e025c4cc6bfff4f5a79e8bb013d523c4b91e5a3b9d3235eac20fff3ab4a620cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3235532078cabe9effe1b8c0a94d423c79807591f178bc4c0a91116c6c0eca3d",
        "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 · 3.781 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]: [-1.0565, 2.2295, 1.9167, -0.8299, -0.6559, -0.8963, 0.543, -0.0189, 1.1801, 1.1046, -0.9184, -0.0128, -0.2024, 0.9966]\nstate[eef_state]: left_x=0.3529 left_y=-0.3983 left_z=0.1115 left_yaw=-0.0221 left_pitch=-0.2366 left_roll=0.025 left_gripper=0.543 right_x=0.3029 right_y=0.0001 right_z=0.1908 right_yaw=0.1141 right_pitch=-0.4324 right_roll=-0.1073 right_gripper=0.9966\nstate[joint_eff]: [-0.9094, -12.7521, 8.1026, 0.5299, -0.5201, -0.0073, 1.033, -0.0889, -3.6855, 6.4889, 1.2479, -0.0122, -0.0415, -0.0122]",
      "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]: [-1.0153, 2.0766, 1.2602, -0.387, -0.6399, -0.8574, 0.5449, -0.0189, 1.1801, 1.1046, -0.9249, -0.0128, -0.2028, 0.9966]\nstate[eef_state]: left_x=0.3223 left_y=-0.3124 left_z=0.008 left_yaw=0.003 left_pitch=-0.2826 left_roll=0.098 left_gripper=0.5449 right_x=0.3016 right_y=0.0002 right_z=0.1899 right_yaw=0.1147 right_pitch=-0.4388 right_roll=-0.1065 right_gripper=0.9966\nstate[joint_eff]: [0.5128, -11.9726, 5.2171, 1.0232, -0.3492, 0.0757, 0.9402, -0.1162, -3.6308, 6.4752, 1.2918, -0.0317, -0.0513, -0.0122]",
      "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]: [-1.013, 2.0682, 1.2415, -0.3664, -0.6399, -0.8639, 0.9958, -0.0189, 1.1801, 1.1046, -0.9253, -0.0132, -0.2028, 0.9966]\nstate[eef_state]: left_x=0.3223 left_y=-0.3106 left_z=0.0077 left_yaw=0.0064 left_pitch=-0.2767 left_roll=0.0844 left_gripper=0.9958 right_x=0.3015 right_y=0.0002 right_z=0.1899 right_yaw=0.1151 right_pitch=-0.4392 right_roll=-0.1061 right_gripper=0.9966\nstate[joint_eff]: [-0.4991, -9.8393, 7.0496, 0.7399, -0.3443, 0.0122, -0.1685, -0.212, -3.4256, 6.5162, 1.2479, -0.0366, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1f62bcaf4970341688ff520ebae4a8c1f3862d0a70dd60f0f4a66bca40acee1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e025c4cc6bfff4f5a79e8bb013d523c4b91e5a3b9d3235eac20fff3ab4a620cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3235532078cabe9effe1b8c0a94d423c79807591f178bc4c0a91116c6c0eca3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzQgKEAgSGAI4AUIIdGhpbmtpbmcSDILIbvu7E/0l7eYlMxoMu5u0QivVYKmJY7hfIjA5xfquBEMK1BkyIaAJp+a7AjYwcBa13W7UdJZd5JwZfWaT8PumvK/ijd3KUlwme0sq6gczd3WFs6x8UvcYLy23NcXqdHF8dQX5rfJYrq983A0hYa8YFRrI/zeEKfYC4kri0jzizYNS7Req5PtR9HJjoB7wx3hghc7obHda4bNYfh2ZCZZyXcwOhkTmi+mWTlJ1r3RIjBEakmBX/66fInbzDTEHTgDn3hNUCGO/duxg2AVdk6ytxhdyQPyTA4h0Y8zp5YjwEzMXlRA7Y8hRibXSki3j4dJI68wcHqdVchVCSPnm39Q2AsZnYVP/0OV839JbXzQkNJS4jbHntc018QrDQGi28kAuHheoFqfmtCtbuLtUqamKmJUte9JN3dlJiP/e6P3Ryumuc1QlfNHx3kj2NeLLlSvsCjfmjgo9PcQF6DwcV3z+DMxJcr2685GBf/dn2GkTD+CjUZs6El4//pGEf9K0FPv9WNvl6oLfSKqcn9HHrpB/gQH7fpbG0IfDK2wxp5sOmOywndBP4A047EaIQksrkJwGQe1OWI3lcUQWNxGgaGB7ICvzFDTVJgdAxbwzka5yAYSLBqULHBoL2eonYYG9RudylOU3KcW/0y5++j6ZVpfO+rxCvOzF9DnvX/RH6U5yAn2tjXKbjillJ0JafYsKwnex7g87QupVLoWsnmFAfIlts/7x/nfKX8rjb14yys1rRQYv9sm43Oa0ehk+H4i/xvzbRnlv0HviVBrFr14MI2tM0Hfe+HLgithgmjlYMzfn79jtUWlxoQfzUZEPeHoiCYfK01iGDsqgCdaRKSPeH5JPg9v92CdZCyqmMR1pA4SGzGUb5bmS5GgjHb+6XeT6btN98EPWbkH77hP3Bc7LH93JlDaYT1gpPofrO7BCeoU8qR8N8gh089PrO9CwyIGctQvPPd0dFianAvmcOBxDMvNZ2diopSMQm/Q23KFrhMSklTYlhNt75qEe03TwcLgRsHHuaX9ow+hwBnFsPauDw8/UMuvldmxMvw4t0tY53NCkZmUyTdLibXVUt/D0UFtDrQCTZWjSfXa3VSur5ALblYPnCsHsTMW14PIKYTENczlYUMPMX0uUXMlBU8IdC4fbmeGPhfkuX8pQGO6MXdjOXE2FnZnEj/VGX9uQKMAYPnH2mnQWJyoIXr9BKAnq3Bl27xa53erhgHRkQMDWuVdNZz9cafBb5h9IT2gxK0KWRGYbQvbyNTI4RwThtJyfLCLtvzBQKWYT8UudlE5LrG8/+qt5wYS0jVLTRTxwWJilsRfEOxd9u1beZOQmJPqcFeWZ+QMl3xeVo2eJI21vs/gm9NeZOTHq7VfWwLHMTYxgrOiM96oMIjUksQtjifrryTHrF0IOP8ePcjVEGw0Oay0TXw8PxELpVUntC3gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JnJ2Zm14Z4GwFCuMQhtNp9",
      "input": {
        "note": "Plum released on the table; lifting the left arm and moving it back toward its home side to clear the way for the right arm.",
        "targets": {
          "left_x": 0.28,
          "left_y": -0.05,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_01JnJ2Zm14Z4GwFCuMQhtNp9",
      "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]: [-0.4046, 1.0473, 0.9447, -0.8253, -0.3462, -0.3134, 0.9964, -0.0189, 1.1801, 1.1046, -0.9257, -0.0132, -0.2028, 0.9966]\nstate[eef_state]: left_x=0.282 left_y=-0.0516 left_z=0.1863 left_yaw=0.0502 left_pitch=-0.2872 left_roll=0.0775 left_gripper=0.9964 right_x=0.3014 right_y=0.0002 right_z=0.1898 right_yaw=0.1151 right_pitch=-0.4396 right_roll=-0.1061 right_gripper=0.9966\nstate[joint_eff]: [0.1709, -3.3299, 9.2513, 1.2772, -0.1197, 0.1832, 0.0513, -0.0752, -3.5761, 6.8308, 1.2772, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd8278d984f95ac93907814042d5175f78d1e5dd36083d52aaac4c6b78bdd4aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a3b6aa7a21072b778032555aec30707480c25b4199cac8e96e2b5ded47125d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:05e7b8af55c0749aaccd1609edc4f0ca89bda613432cffaeec033698f08b3550",
        "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 · 3.671 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]: [-1.0153, 2.0766, 1.2602, -0.387, -0.6399, -0.8574, 0.5449, -0.0189, 1.1801, 1.1046, -0.9249, -0.0128, -0.2028, 0.9966]\nstate[eef_state]: left_x=0.3223 left_y=-0.3124 left_z=0.008 left_yaw=0.003 left_pitch=-0.2826 left_roll=0.098 left_gripper=0.5449 right_x=0.3016 right_y=0.0002 right_z=0.1899 right_yaw=0.1147 right_pitch=-0.4388 right_roll=-0.1065 right_gripper=0.9966\nstate[joint_eff]: [0.5128, -11.9726, 5.2171, 1.0232, -0.3492, 0.0757, 0.9402, -0.1162, -3.6308, 6.4752, 1.2918, -0.0317, -0.0513, -0.0122]",
      "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]: [-1.013, 2.0682, 1.2415, -0.3664, -0.6399, -0.8639, 0.9958, -0.0189, 1.1801, 1.1046, -0.9253, -0.0132, -0.2028, 0.9966]\nstate[eef_state]: left_x=0.3223 left_y=-0.3106 left_z=0.0077 left_yaw=0.0064 left_pitch=-0.2767 left_roll=0.0844 left_gripper=0.9958 right_x=0.3015 right_y=0.0002 right_z=0.1899 right_yaw=0.1151 right_pitch=-0.4392 right_roll=-0.1061 right_gripper=0.9966\nstate[joint_eff]: [-0.4991, -9.8393, 7.0496, 0.7399, -0.3443, 0.0122, -0.1685, -0.212, -3.4256, 6.5162, 1.2479, -0.0366, -0.0464, -0.0171]",
      "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]: [-0.4046, 1.0473, 0.9447, -0.8253, -0.3462, -0.3134, 0.9964, -0.0189, 1.1801, 1.1046, -0.9257, -0.0132, -0.2028, 0.9966]\nstate[eef_state]: left_x=0.282 left_y=-0.0516 left_z=0.1863 left_yaw=0.0502 left_pitch=-0.2872 left_roll=0.0775 left_gripper=0.9964 right_x=0.3014 right_y=0.0002 right_z=0.1898 right_yaw=0.1151 right_pitch=-0.4396 right_roll=-0.1061 right_gripper=0.9966\nstate[joint_eff]: [0.1709, -3.3299, 9.2513, 1.2772, -0.1197, 0.1832, 0.0513, -0.0752, -3.5761, 6.8308, 1.2772, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd8278d984f95ac93907814042d5175f78d1e5dd36083d52aaac4c6b78bdd4aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a3b6aa7a21072b778032555aec30707480c25b4199cac8e96e2b5ded47125d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05e7b8af55c0749aaccd1609edc4f0ca89bda613432cffaeec033698f08b3550",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4wYKEAgSGAI4AUIIdGhpbmtpbmcSDCpYegw07sHKsIcdYBoM0H3F+JtIlDtRopPPIjAMEICdTdDRIL+dV61UL/p7JmomYPfGyhWbmOE5M0+Mt0WiulX7caFOVW49lKY9lscqgAa+DBl/2E4rVhKBqhBX/+TN5w9JCRiC45sKF3h9dpsGRPVnC81+fEFniUSDsg9A1U1DQhZyKEzOkAnUR6535JUih6YEADsRMdlkj/5DzUFOAaM1L3k+OD3FaSq01F24FblgrAzHReq4t/iM6aQAYMRNW0uRIC5424sBiaeZkmyBSlwvJdu9IghZHp/8LgZoPywaCi3TDrZMK0VB/Qq0lXBhrlhqqM1S9er/69uEL0OwSK1/Hn8ABDxXm3w7l/vAyPQLBX7rB6NKeQpBahSTV7NqEzRmuztAELNlp9+Ne8soHlDpLaNCi8LttR/Git3oUU8lN7PiVgqVPyLixy5cF6aR5gvNfPAi/3D6a35l5dnH16cjo260bVenZ0UUXFBx3rwM096KukvmcauSxQk/NlIMDyYScI734x5o63+4HWZJynZawt/kkOwh7+ajd5bhyD7++gqAauUfxcHs2dTKIz25WXEqPF9RI9+IDIX90A0GPsTAW7ceGGPx6soufpN4lVcYdRG21BxtR7KetPjpN4RoOd3TadroH+OFlvYEpNOLTNyvOox9Mw3Ld9DY4CeuOCu15hnBXBZ0Ngjf7ZkjsNb32ATY5YnFEIlz+bYg3Hv3zkN2ywMLwoRR/TMh30aDfcOAtaCLSIgj4nbRl2yQKGYDg7D8wv9XsxUNc5boVo0eksGKwH61K7Zb0pxfiso/6rDygqJecHLfwWIJMquELd0aLLe+NGCnXI+3AHXl/Ba/IfX0Hn4Tz5zFAVAvfjf8Djw8havG8gnZ0dzcNYwbVPM+zuyg6oStzQ2uUAUN6RXB8faqfnh+IVcYqy6vKLVGXfNtBCcAqacGj71nwl+wXUUES4W1XltHWsiZVwNYnngOxolUmWi/S1TNLkhBm+/cc5iUIXUGXz0DVVvDwiditd7C21zpM25rLormjd4CNEPZKAr64oFE49/ESkMh0c4Bt4wYEAQ4Oo5Dhpc34OgnKJE5BdXbQkPYC7sUbmI91v3e+mQsVrGqWmyiZOLahtJXEYYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tvgn9DticftnrNf7Y6CsRM",
      "input": {
        "note": "Plum sits on the table at the centre line (left of the blue bowl). Moving the right arm above it.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.34,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 29 steps (2.9s)",
      "tool_use_id": "toolu_01Tvgn9DticftnrNf7Y6CsRM",
      "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]: [-0.4026, 1.0481, 0.9466, -0.8413, -0.3359, -0.3141, 0.9965, 0.9325, 2.0357, 1.7226, -0.9165, 0.4229, 0.6266, 0.9966]\nstate[eef_state]: left_x=0.2793 left_y=-0.0518 left_z=0.1841 left_yaw=0.0461 left_pitch=-0.3042 left_roll=0.076 left_gripper=0.9965 right_x=0.3337 right_y=0.3342 right_z=0.1119 right_yaw=0.1417 right_pitch=-0.4755 right_roll=-0.1299 right_gripper=0.9966\nstate[joint_eff]: [-0.4581, -2.5915, 6.5026, 1.5116, -0.2857, -0.0464, -0.0073, 0.1709, -11.3162, 7.8564, 0.8864, 0.4811, 0.1978, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5c2e6316a74ac847a4cd4845d807f615b3dfa919bf9dacfffdfc18297670033",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4c037308bf2c1854042caa1bbba6d62858695075f828fd6d678fe1b01bfe2f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1bca6a5d60f3451bdabb5449fed27041a4e75aa1d9d1cd3ec204cc8e83a38592",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 3.671 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]: [-1.013, 2.0682, 1.2415, -0.3664, -0.6399, -0.8639, 0.9958, -0.0189, 1.1801, 1.1046, -0.9253, -0.0132, -0.2028, 0.9966]\nstate[eef_state]: left_x=0.3223 left_y=-0.3106 left_z=0.0077 left_yaw=0.0064 left_pitch=-0.2767 left_roll=0.0844 left_gripper=0.9958 right_x=0.3015 right_y=0.0002 right_z=0.1899 right_yaw=0.1151 right_pitch=-0.4392 right_roll=-0.1061 right_gripper=0.9966\nstate[joint_eff]: [-0.4991, -9.8393, 7.0496, 0.7399, -0.3443, 0.0122, -0.1685, -0.212, -3.4256, 6.5162, 1.2479, -0.0366, -0.0464, -0.0171]",
      "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]: [-0.4046, 1.0473, 0.9447, -0.8253, -0.3462, -0.3134, 0.9964, -0.0189, 1.1801, 1.1046, -0.9257, -0.0132, -0.2028, 0.9966]\nstate[eef_state]: left_x=0.282 left_y=-0.0516 left_z=0.1863 left_yaw=0.0502 left_pitch=-0.2872 left_roll=0.0775 left_gripper=0.9964 right_x=0.3014 right_y=0.0002 right_z=0.1898 right_yaw=0.1151 right_pitch=-0.4396 right_roll=-0.1061 right_gripper=0.9966\nstate[joint_eff]: [0.1709, -3.3299, 9.2513, 1.2772, -0.1197, 0.1832, 0.0513, -0.0752, -3.5761, 6.8308, 1.2772, -0.0366, -0.0562, -0.0122]",
      "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]: [-0.4026, 1.0481, 0.9466, -0.8413, -0.3359, -0.3141, 0.9965, 0.9325, 2.0357, 1.7226, -0.9165, 0.4229, 0.6266, 0.9966]\nstate[eef_state]: left_x=0.2793 left_y=-0.0518 left_z=0.1841 left_yaw=0.0461 left_pitch=-0.3042 left_roll=0.076 left_gripper=0.9965 right_x=0.3337 right_y=0.3342 right_z=0.1119 right_yaw=0.1417 right_pitch=-0.4755 right_roll=-0.1299 right_gripper=0.9966\nstate[joint_eff]: [-0.4581, -2.5915, 6.5026, 1.5116, -0.2857, -0.0464, -0.0073, 0.1709, -11.3162, 7.8564, 0.8864, 0.4811, 0.1978, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5c2e6316a74ac847a4cd4845d807f615b3dfa919bf9dacfffdfc18297670033",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4c037308bf2c1854042caa1bbba6d62858695075f828fd6d678fe1b01bfe2f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bca6a5d60f3451bdabb5449fed27041a4e75aa1d9d1cd3ec204cc8e83a38592",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjgcKEAgSGAI4AUIIdGhpbmtpbmcSDAe+xZQtaoQi2wsa7hoMzT203HSuZagjuXaVIjCadzZEfjNui4qPLDMoa1KjejhHK4DRrVmSHm3wdPjySGE8JkfCJ5Y97gcN8P5/trYqqwbeL/4eBV+3P8WAxYKSWteVYDc6ly96q9+bRXmPincoQACwDCfxrlrawy98960YIlZoci2A3Pfa9KFzKNyuWMUyCDHcGnQCwEIoIxvBAE/XIVBjX/KaPwec/lsOr9pa9cZBGNfsiJNajzDcfSk3DTvxqMlEKdl8e0A33gCz0TejWurPv0VYqZWMRuNCql2z/86xdzHS+0xLjmWxGeJ1VjV2xYn5QKWzrjbIPVBaCdZgiL9noK48b4lOMgd7UjVBqzzCz/l+XaXEo6kZ5hWqushMUw26eTyGNMVSbB7VY23GUZG8F7vpHfCyWwoaP+kUB/glWvKis2YgjNdlIenMeDJvTd4Hr7TC3LehzRg5qXrJoQd3B+ej4MhZOC7TcgDWnddSZvAi5hPbnmoxltG44xBsxu3jQREJA5OZivFJrPq3DM66PH+oz3YNk4T8P0WUIMYJcyBW1yWS3BT/0GQoxpIDOPOdz/5agPfCn1SHJCnZA9ddl2qzAODgxebOuryJwBNLi11knxHYUwllufRneds84jYSruOoV/b10MI0F4+8IQiNfh5rlGQR0THk/vGk/KEDRLH4sTRcD/6MZyTD4dnGFtSJB4rjFHqL4tp5swZr7Gh20HtabMNHvRkfnWEJi6hWHjs5tkXKL5FcS09FffLFy0BkqNDqglhmYBRaV98jF4Z14jIh+dx40tZwWraf9sS+vyUbv17uN/WAiZl4U4siPXUK2Nzb0g1qj6Cko2Ack0IV+VaCU0/11qI5uAMnfdPUttQayAbkORC/WLcOO0KgxzVKjc9+HQWOqJduXOsIbn1KTXJtP8/PjHJgfwjXPpX7RzJ7KEORB+Vfsd/RIMcW2Yp2EozkYBzbtI0kerfnMis1H+03QnK/OITgws38tjrQMvgEkE5sGI0K7I7NYDfgzdc7iNZ0U1g+ewPwZsrAF68IO5ua7U3gOnWAujnno8YL7jNkzCnOamuVaiucbdf8eFF/1f0pkNAc9uERrXH28VTmzXICblRgk+SXlDwcgfDZHvmb1Mk1B8XAW0ib+Nq9yp2UbU9wwYS2bkkbsCNRKSmBZv3a1c4j70YdGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GmNcq6UFfuSaPk6b9cZaE7",
      "input": {
        "note": "Plum is just ahead and slightly left of the right jaws; nudging and descending to grasp it.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.35,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01GmNcq6UFfuSaPk6b9cZaE7",
      "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]: [-0.4023, 1.0481, 0.9463, -0.8417, -0.3355, -0.3141, 0.9965, 0.9253, 2.1906, 1.6093, -0.6735, 0.4141, 0.6201, 0.9966]\nstate[eef_state]: left_x=0.2791 left_y=-0.0517 left_z=0.1839 left_yaw=0.0463 left_pitch=-0.305 left_roll=0.0761 left_gripper=0.9965 right_x=0.3445 right_y=0.3452 right_z=0.0223 right_yaw=0.1348 right_pitch=-0.4996 right_roll=-0.1472 right_gripper=0.9966\nstate[joint_eff]: [0.0342, -2.6735, 6.5846, 1.3162, -0.232, -0.0708, -0.0122, -0.1709, -11.3573, 5.053, 0.9597, 0.2369, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8ca7a3fece849dd4dd5a298eb35f1c0066e42e2b738039012a1e85dba58c077",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:489f9a807673bf6e8a6c0a1c1480801a168b311aa8736789de84b0a2eb5abfde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b498fde6e88617b79ff030dec485181eb94bd95293eed71f0a85705886f0b22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 5.22 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]: [-0.4046, 1.0473, 0.9447, -0.8253, -0.3462, -0.3134, 0.9964, -0.0189, 1.1801, 1.1046, -0.9257, -0.0132, -0.2028, 0.9966]\nstate[eef_state]: left_x=0.282 left_y=-0.0516 left_z=0.1863 left_yaw=0.0502 left_pitch=-0.2872 left_roll=0.0775 left_gripper=0.9964 right_x=0.3014 right_y=0.0002 right_z=0.1898 right_yaw=0.1151 right_pitch=-0.4396 right_roll=-0.1061 right_gripper=0.9966\nstate[joint_eff]: [0.1709, -3.3299, 9.2513, 1.2772, -0.1197, 0.1832, 0.0513, -0.0752, -3.5761, 6.8308, 1.2772, -0.0366, -0.0562, -0.0122]",
      "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]: [-0.4026, 1.0481, 0.9466, -0.8413, -0.3359, -0.3141, 0.9965, 0.9325, 2.0357, 1.7226, -0.9165, 0.4229, 0.6266, 0.9966]\nstate[eef_state]: left_x=0.2793 left_y=-0.0518 left_z=0.1841 left_yaw=0.0461 left_pitch=-0.3042 left_roll=0.076 left_gripper=0.9965 right_x=0.3337 right_y=0.3342 right_z=0.1119 right_yaw=0.1417 right_pitch=-0.4755 right_roll=-0.1299 right_gripper=0.9966\nstate[joint_eff]: [-0.4581, -2.5915, 6.5026, 1.5116, -0.2857, -0.0464, -0.0073, 0.1709, -11.3162, 7.8564, 0.8864, 0.4811, 0.1978, -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]: [-0.4023, 1.0481, 0.9463, -0.8417, -0.3355, -0.3141, 0.9965, 0.9253, 2.1906, 1.6093, -0.6735, 0.4141, 0.6201, 0.9966]\nstate[eef_state]: left_x=0.2791 left_y=-0.0517 left_z=0.1839 left_yaw=0.0463 left_pitch=-0.305 left_roll=0.0761 left_gripper=0.9965 right_x=0.3445 right_y=0.3452 right_z=0.0223 right_yaw=0.1348 right_pitch=-0.4996 right_roll=-0.1472 right_gripper=0.9966\nstate[joint_eff]: [0.0342, -2.6735, 6.5846, 1.3162, -0.232, -0.0708, -0.0122, -0.1709, -11.3573, 5.053, 0.9597, 0.2369, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8ca7a3fece849dd4dd5a298eb35f1c0066e42e2b738039012a1e85dba58c077",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:489f9a807673bf6e8a6c0a1c1480801a168b311aa8736789de84b0a2eb5abfde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b498fde6e88617b79ff030dec485181eb94bd95293eed71f0a85705886f0b22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSygcKEAgSGAI4AUIIdGhpbmtpbmcSDDldfx/q+Ta45Y0xjhoMyKd57r3Cx8oTy1PMIjDa+oqi6DnUACQ2fwjnaIwtWTEQaseXTFZc0YtAXXHfMWETT1t5tlnvMR3KWsAM1EAq5waA5BUhQvCVzPmz3EDnv8hH1sEmBkiGXCI7VFTFs+5fWjIg3yvxSk90h/eaMSSFB/5nlnYDd0f+k36aoba0BI75EkJU1gKISj1ZbZygkMHfpNiFoBykB5+fJRGwFG2lEi5zOQKU9jzAwgTl3eQZmBkGdLlKR+vWTeqsgTeE57g2IS7KiAccBMAh3JhlcpCh9/6XmW54IFUrwxcM+xQej8hoiPTW68/BgeUlBuTf7cgZCMuQJNTvKy5zC21JkJtkS2SEADhs5s58J3geotMugPgh1UwF/qYS8tAh4NHCx9eWuWUvqq6EUmGjuieYpvGcuZyyfDn7DuPsuB7G+E5/tXIZV41BWBIlTDARrgrb+xB2YCG17j1oFiZX3kjKBPIOqW8F972fGPeJ/p6+p/1g2/z0u+ITYYmiJIe1gTn5VeTvLlk6TI7eTQiB9N/YnMnCmkj88v7UMh3VgQ7bVw8IFuBKAFWlE0wyjAt3c+TUqr3VY+yBV87KCSSqWzCBtnwBn9vmto6ey8k/+0MR4wr7IOd5MqL44VmK0bfyBId+rDZ0a6emf3OTcazZk4SLMobc/HthtGnhY5nxecakGQI72smqIX+8CaJ6VHDlVzs2gs0r4jfJpHVlaOQQ3+urAf3kTNAnUwhMNbTz14NBMFrN02bb/QOVlZ+0Nkl44nn0h7YM6ajzv7IHAkTVK7d2IyaBDQyR/NB6W3Km0B2fcrhOTiuA0EIHcrUBUz1s76vdeGJ3qZQ6JDOAmXS2TP5rbkoENV0PYWf7MeyZJbzPOUkrtqxYzHLVOK7Lo0X7G2dV3PctDEZXymTDOsQVKg3S0kCtqvU8ssq6uyXX2nfKpkDOXcvfAFC9Y+qaSRI2o4wwYKYDEwkCX6ISHJICUKnDOrnv1MjhdHhxEgAc9cCWfgx0WPDPiSvoGfrNsMRH60XwcP9c/w3tq/FBukFAPonTWh+f8+vzRG5Clt562z3sqrrw2ByjpZuFMvfOl/L9DsHcdx4ZeFVoozybSADb4Wy5D3HK3TgQL/HIgKNzT+ry0VAvssPcP1zROziZ0BQ5WdMUApl90ZA1mnGKzs9QG+Be2alrJVyZaM4gDMZ3xl7NWQfmxXizjgjYhkRrdpTnUFGP1ZWqhFrgwUtKRA3//Ok4XSwBs8B/8FzVnCa4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C5SsCdR3MDM16zzc99AsUs",
      "input": {
        "note": "Plum is between the right 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_01C5SsCdR3MDM16zzc99AsUs",
      "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]: [-0.4026, 1.0481, 0.9463, -0.8417, -0.3351, -0.3141, 0.9965, 0.9257, 2.2078, 1.5986, -0.6704, 0.4114, 0.6174, 0.4395]\nstate[eef_state]: left_x=0.2791 left_y=-0.0518 left_z=0.1839 left_yaw=0.0456 left_pitch=-0.3052 left_roll=0.0758 left_gripper=0.9965 right_x=0.3415 right_y=0.3422 right_z=0.0112 right_yaw=0.1287 right_pitch=-0.519 right_roll=-0.1668 right_gripper=0.4395\nstate[joint_eff]: [-0.2393, -2.4547, 6.653, 1.3455, -0.1392, -0.0708, -0.0171, -0.0752, -13.5043, 6.8718, 0.7546, 0.188, -0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1e33da761673a2dd3012df778edad7b35f12410afcc5eb07212774ffb0ccc10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:feb4ce7892fdf5a7933ec427c5ea7b98f756aa7fa80e37f56eed58a06da4fb7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:55220dcaf495ea12663eae013409378e80672538e726e3dbdc533219fb2c62c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 4.328 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]: [-0.4026, 1.0481, 0.9466, -0.8413, -0.3359, -0.3141, 0.9965, 0.9325, 2.0357, 1.7226, -0.9165, 0.4229, 0.6266, 0.9966]\nstate[eef_state]: left_x=0.2793 left_y=-0.0518 left_z=0.1841 left_yaw=0.0461 left_pitch=-0.3042 left_roll=0.076 left_gripper=0.9965 right_x=0.3337 right_y=0.3342 right_z=0.1119 right_yaw=0.1417 right_pitch=-0.4755 right_roll=-0.1299 right_gripper=0.9966\nstate[joint_eff]: [-0.4581, -2.5915, 6.5026, 1.5116, -0.2857, -0.0464, -0.0073, 0.1709, -11.3162, 7.8564, 0.8864, 0.4811, 0.1978, -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]: [-0.4023, 1.0481, 0.9463, -0.8417, -0.3355, -0.3141, 0.9965, 0.9253, 2.1906, 1.6093, -0.6735, 0.4141, 0.6201, 0.9966]\nstate[eef_state]: left_x=0.2791 left_y=-0.0517 left_z=0.1839 left_yaw=0.0463 left_pitch=-0.305 left_roll=0.0761 left_gripper=0.9965 right_x=0.3445 right_y=0.3452 right_z=0.0223 right_yaw=0.1348 right_pitch=-0.4996 right_roll=-0.1472 right_gripper=0.9966\nstate[joint_eff]: [0.0342, -2.6735, 6.5846, 1.3162, -0.232, -0.0708, -0.0122, -0.1709, -11.3573, 5.053, 0.9597, 0.2369, -0.0415, -0.0073]",
      "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]: [-0.4026, 1.0481, 0.9463, -0.8417, -0.3351, -0.3141, 0.9965, 0.9257, 2.2078, 1.5986, -0.6704, 0.4114, 0.6174, 0.4395]\nstate[eef_state]: left_x=0.2791 left_y=-0.0518 left_z=0.1839 left_yaw=0.0456 left_pitch=-0.3052 left_roll=0.0758 left_gripper=0.9965 right_x=0.3415 right_y=0.3422 right_z=0.0112 right_yaw=0.1287 right_pitch=-0.519 right_roll=-0.1668 right_gripper=0.4395\nstate[joint_eff]: [-0.2393, -2.4547, 6.653, 1.3455, -0.1392, -0.0708, -0.0171, -0.0752, -13.5043, 6.8718, 0.7546, 0.188, -0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1e33da761673a2dd3012df778edad7b35f12410afcc5eb07212774ffb0ccc10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:feb4ce7892fdf5a7933ec427c5ea7b98f756aa7fa80e37f56eed58a06da4fb7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55220dcaf495ea12663eae013409378e80672538e726e3dbdc533219fb2c62c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvgkKEAgSGAI4AUIIdGhpbmtpbmcSDCCjmxyl2YIM/rztdBoM2rStFvo2cwv91GbEIjDW2cnql0er1NZ8UMA026KS6yhuS9SFDlrEoTEDCSlPJ9mPZG7lg1qvMNN5XQ5UGY0q2wi1dK4QoqomOea9GltYbVkkn+lVzkuTr/LN0fhgu+k02hgq49ZIHlhcuM9oCAjICfDnUCU/fi1rIKveM3ZglADYJ/ogwugoGh88G4G4c6Q4ltTGPds4mkZitBXpFCkkI7wK6HUY9F2LoUnmpRe+BHPoNKy/R5RyzT05K2nLSnB0AE7w/OTLVHKpouMkSVBtNpT7ZeGpHYHdrUR6kIKlA4b5FgOWrk1kf84dcVPrEeTywfnt49oif+UD8bP7syS2+KMY+70/iuqt25rAZXnaKu13hQqzyliYs8TuDjwes1eetnu3ZJxV6AZtTdrKFuLYdAY5Dy1svfekYOmRgVQugLrr9xbAkV/PoOeCQ597GvhYeUpqGjYSD4ogbeU5/aIG4iuY+xsgfSVUumQRWeC0KPY7wsFKXl8SnkZbEl+yzsB4iRSXVtesZyR4j7116Jy1jQl4Fb9kuty69/Fs8+R1szliBjXiKWLYauHh2iLOfosmYjz58rajKonN/VcMSDWfCnnUltMafVGyj5Lby87UgcqOdsSU1w7s+qogvo91KXBjGzb37aKcOZ/kuaXoZb5wJe+Eu9BZsgLSZmyXGqeI9XLaOVrahX/FORs7ZBLfiBDdzK3IjkxNyP2VimgFCI0fVjKcZKBG21UoAsa4GGh97rj+Zsi0lXf6L87xNVCLl2fMydTUi//4yFT1HYxeiuKXnK2+BnQzmD+/2Up9Wxdk7f7Mk27Y86aDE1kA+AB5deHlDjulOHXzaZFS83KF0+UPDaR+QqapIg8rXun+ZTdenFX3guHiQZBrKqPS760WUOzGOyLxS2dDHlfZDewuKBMppGM+udM4bi8siaYKRAINwWhxf2xHxiL1l/m4stzDj0QbjOu4EaWTGdsoaW9RiJrzskLq4QzAl8Ulgb226H8syevk8N2iHw4b0MUI+Fv9JDwY3gOggDCyBQTP0OF4RSwIY/qdf9ftkD7aTT4VgvGmwYnhS8aI0vwrVd1DLFJk0/AhwoG4te3dtC52wJrmetQWwmKDt0d43VUvgW5pzzAo7zEN7NHe7IEsyaemslxGenwDA2wfrBa4qi+PoLTE67nfUnPeXxN+3r+moaIiGhnVzzkML+rNdLmt+85s4LJK5Rk3ydM4SCbK4Vgp7c654FqEejyWzn9NUF5iSpkTaUDJ2x/NgZrhYuqsxYJBvrRFPTc/WaMtCDV4d271KPUh5i1TKqtcLiUZcX84qFP6GG0rouxPENqSFvjKXmORcXjlmpeidzXgr37jtpBFM2Db4KDPPtv9q8RQvbXoh51ZPHgHfULokk9nsexKZzo4OQaiRqienfX1jWgOzopDW730CMvm4vK6szNSw9zyKir31zVgvoMoArX9oletrsJZuqeqjmnYb8wRbVkmBX6O8AvOOnxWUeitHGzr5q7orFHB9FUWgrwsr989s1C1FpQ8a/XM1QwWx8ovPl+Gp7cTvxVxnnW9a4DqUUpOGocRg+m+9xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gd6coXQFQRYC8sTaV28tyr",
      "input": {
        "note": "Plum grasped (0.44 ≈ 4 cm); lifting before carrying to the blue bowl.",
        "targets": {
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Gd6coXQFQRYC8sTaV28tyr",
      "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]: [-0.4026, 1.0481, 0.9463, -0.8421, -0.3351, -0.3141, 0.9965, 0.9264, 2.1712, 2.1193, -1.227, 0.3962, 0.6098, 0.4401]\nstate[eef_state]: left_x=0.279 left_y=-0.0518 left_z=0.1838 left_yaw=0.0456 left_pitch=-0.3055 left_roll=0.076 left_gripper=0.9965 right_x=0.3423 right_y=0.3481 right_z=0.154 right_yaw=0.1448 right_pitch=-0.5296 right_roll=-0.1584 right_gripper=0.4401\nstate[joint_eff]: [-0.335, -2.6735, 6.5709, 1.2821, -0.1978, -0.0757, -0.0171, -0.294, -12.3692, 7.6239, 0.8278, 0.4029, 0.0269, 0.9548]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cebc539a6ce34eb2ec26a57df14c977b22cef91e5bc6721fcd5fc898e54f5003",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5875fe4782bb5f2df19a9bee8047bf0f9e86e1de8035e9a399d2662d5a18ac62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9fcc499290ac5b9686bf4127ad1b037050f2fc6f52626c3ba39e2f93686d0080",
        "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 · 6.98 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]: [-0.4023, 1.0481, 0.9463, -0.8417, -0.3355, -0.3141, 0.9965, 0.9253, 2.1906, 1.6093, -0.6735, 0.4141, 0.6201, 0.9966]\nstate[eef_state]: left_x=0.2791 left_y=-0.0517 left_z=0.1839 left_yaw=0.0463 left_pitch=-0.305 left_roll=0.0761 left_gripper=0.9965 right_x=0.3445 right_y=0.3452 right_z=0.0223 right_yaw=0.1348 right_pitch=-0.4996 right_roll=-0.1472 right_gripper=0.9966\nstate[joint_eff]: [0.0342, -2.6735, 6.5846, 1.3162, -0.232, -0.0708, -0.0122, -0.1709, -11.3573, 5.053, 0.9597, 0.2369, -0.0415, -0.0073]",
      "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]: [-0.4026, 1.0481, 0.9463, -0.8417, -0.3351, -0.3141, 0.9965, 0.9257, 2.2078, 1.5986, -0.6704, 0.4114, 0.6174, 0.4395]\nstate[eef_state]: left_x=0.2791 left_y=-0.0518 left_z=0.1839 left_yaw=0.0456 left_pitch=-0.3052 left_roll=0.0758 left_gripper=0.9965 right_x=0.3415 right_y=0.3422 right_z=0.0112 right_yaw=0.1287 right_pitch=-0.519 right_roll=-0.1668 right_gripper=0.4395\nstate[joint_eff]: [-0.2393, -2.4547, 6.653, 1.3455, -0.1392, -0.0708, -0.0171, -0.0752, -13.5043, 6.8718, 0.7546, 0.188, -0.022, 1.033]",
      "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]: [-0.4026, 1.0481, 0.9463, -0.8421, -0.3351, -0.3141, 0.9965, 0.9264, 2.1712, 2.1193, -1.227, 0.3962, 0.6098, 0.4401]\nstate[eef_state]: left_x=0.279 left_y=-0.0518 left_z=0.1838 left_yaw=0.0456 left_pitch=-0.3055 left_roll=0.076 left_gripper=0.9965 right_x=0.3423 right_y=0.3481 right_z=0.154 right_yaw=0.1448 right_pitch=-0.5296 right_roll=-0.1584 right_gripper=0.4401\nstate[joint_eff]: [-0.335, -2.6735, 6.5709, 1.2821, -0.1978, -0.0757, -0.0171, -0.294, -12.3692, 7.6239, 0.8278, 0.4029, 0.0269, 0.9548]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cebc539a6ce34eb2ec26a57df14c977b22cef91e5bc6721fcd5fc898e54f5003",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5875fe4782bb5f2df19a9bee8047bf0f9e86e1de8035e9a399d2662d5a18ac62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fcc499290ac5b9686bf4127ad1b037050f2fc6f52626c3ba39e2f93686d0080",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkwgKEAgSGAI4AUIIdGhpbmtpbmcSDDeWEBsfrC62sqOAMxoMEqst94ADlIBNT9fQIjDoWSdU58wJy0mjDZd/QH0j5Glz0GV+5efDg75VRUx3ftmjGkl2re2lEfnczoTYSUUqsAfccyu+dPOGTADHSdLyAg9zW+nW+cvxCeTPLcUvss3U+i4GiYDXimR9JO3Y1cevnMZFiaGdmXgj7JMGgL/+cTkrd+Kf51Xj4XVhBeShXX4qidI2cDHrb/oc4nAxuc6Gi9meYq6SUh9poa7Bp9p0UByqCTThSE3Uio5A1dazME7jV+FeCdu/nufUIKCIPjAvic7WK+dgHfk/avLGno9urRp6Mi7ZoQjbmCCZM7dpbF6T+nNksjC7ccDNzNtTBSthrQ9mCkbZLHPt6+0kgGGUC3/vhBpqBqf0GSwudcsAHBFahp2ebZjgZO31q1u3YbKFjMRThqKaXrEfJfdyaFHG82f03v2s3IZ0f19wMNYjHUQO4ExmcIXnB5bN+Gn/ZTgNsrXttd3RaB+bYHoc8rpkY1xAvhVIGKx7Nhapm+OUKREzTTUdB9kSMYRPWLQmwS9azUOSM+PqI03uIS/qJJo08mj1eb2fk3iTGwD3rjx835eGoy1GZa7OXn2NjHnpWkuOJ7MlFu6HW1TgSUsXukh+izDD/VqMXoGkXXO3X0y9v5KURPzTkiz6a9XXm2YG4PfDQRSqqNMowjMZxhRcj47Vljqt2iw1IzvHnjbVyUvkSnCr0ATFUVLXCXwM0qET68psOCzLk2PY4oR8hvWPJuEXq+RFMxytm1grDdAj65e+4AB6Gb47ZWKHQ2U7mNwxDZrYWIkWNMMmToQ/pauPDNlcuBdg/o10lWbcjwJFGlEMmUQdNPgTW+COIH1v8UkYJVQGh5KWBnHTkuP6yv21y4JyyyRE9yF8SAklXs9AQLRwIG3cGhrwWR8LsenvM9884dVvSU68ecqbRKYiq4SfjmdPYXQ0z6wZVBEf5xI/Fyac785pUlYFoYgCPkMhXGGGOXW1lyNPX2qLgOGR2fNOhZ2qNXI4YdiVHnf0jiAw9YYwFivih9I6UEd/HEB3yzoQjdOHTAJ9naJdoIaEPwkLLytRWuq6Z0psItsZcb/oUv4Ufbitz1AAI3JIwr5z+EuhTRwlYtJV3hDyz+4pnvAmA0KVVINuiA+5En/+WqFzPp+Rk7yt1pqOgaa4Nao5dVXUgnqpKVVJMDUUTS7eS6IjDasiuz60zqr9a9IzvQCX5nHVOJCOFv7cSW/1fly2jNGsLBy4FCpMbh3rAndmQ0WtJ66aj5JN2/iPnSGkzrBKBOsaKcTVnvt8zYt6wnWElYbXVQgbTMWiaYhro43CT/I1cSIwfhz82t4uKtwBa3RjjaLf5dpP7BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PL7N4hcZceRsosRX6QEeEj",
      "input": {
        "note": "Plum held; the blue bowl (with the pear) is visible to the right in the wrist view. Carrying the plum over the bowl.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.17,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01PL7N4hcZceRsosRX6QEeEj",
      "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]: [-0.4026, 1.0481, 0.9463, -0.8421, -0.3351, -0.3141, 0.9965, 0.4683, 1.9427, 1.7035, -0.9752, 0.2321, 0.1715, 0.4437]\nstate[eef_state]: left_x=0.279 left_y=-0.0518 left_z=0.1838 left_yaw=0.0456 left_pitch=-0.3055 left_roll=0.076 left_gripper=0.9965 right_x=0.4205 right_y=0.1712 right_z=0.1316 right_yaw=0.1199 right_pitch=-0.6007 right_roll=-0.1839 right_gripper=0.4437\nstate[joint_eff]: [-0.3487, -2.6325, 6.7624, 1.2772, -0.1832, -0.0415, -0.0171, -0.212, -13.4222, 5.8735, 1.3553, 0.1783, 0.1343, 0.6716]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed0acc81ef739e233e427dd3ecea7afd80777f95be1a458412e64533f1d0a3bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c040fff9ea7604db5c513f4baee93fb6ea2a02e5af6f93bda8f69750dafacb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0da791202c00e82015acac1fb920751093ea655e98f3e7d287f3081121c28941",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 4.021 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]: [-0.4026, 1.0481, 0.9463, -0.8417, -0.3351, -0.3141, 0.9965, 0.9257, 2.2078, 1.5986, -0.6704, 0.4114, 0.6174, 0.4395]\nstate[eef_state]: left_x=0.2791 left_y=-0.0518 left_z=0.1839 left_yaw=0.0456 left_pitch=-0.3052 left_roll=0.0758 left_gripper=0.9965 right_x=0.3415 right_y=0.3422 right_z=0.0112 right_yaw=0.1287 right_pitch=-0.519 right_roll=-0.1668 right_gripper=0.4395\nstate[joint_eff]: [-0.2393, -2.4547, 6.653, 1.3455, -0.1392, -0.0708, -0.0171, -0.0752, -13.5043, 6.8718, 0.7546, 0.188, -0.022, 1.033]",
      "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]: [-0.4026, 1.0481, 0.9463, -0.8421, -0.3351, -0.3141, 0.9965, 0.9264, 2.1712, 2.1193, -1.227, 0.3962, 0.6098, 0.4401]\nstate[eef_state]: left_x=0.279 left_y=-0.0518 left_z=0.1838 left_yaw=0.0456 left_pitch=-0.3055 left_roll=0.076 left_gripper=0.9965 right_x=0.3423 right_y=0.3481 right_z=0.154 right_yaw=0.1448 right_pitch=-0.5296 right_roll=-0.1584 right_gripper=0.4401\nstate[joint_eff]: [-0.335, -2.6735, 6.5709, 1.2821, -0.1978, -0.0757, -0.0171, -0.294, -12.3692, 7.6239, 0.8278, 0.4029, 0.0269, 0.9548]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4026, 1.0481, 0.9463, -0.8421, -0.3351, -0.3141, 0.9965, 0.4683, 1.9427, 1.7035, -0.9752, 0.2321, 0.1715, 0.4437]\nstate[eef_state]: left_x=0.279 left_y=-0.0518 left_z=0.1838 left_yaw=0.0456 left_pitch=-0.3055 left_roll=0.076 left_gripper=0.9965 right_x=0.4205 right_y=0.1712 right_z=0.1316 right_yaw=0.1199 right_pitch=-0.6007 right_roll=-0.1839 right_gripper=0.4437\nstate[joint_eff]: [-0.3487, -2.6325, 6.7624, 1.2772, -0.1832, -0.0415, -0.0171, -0.212, -13.4222, 5.8735, 1.3553, 0.1783, 0.1343, 0.6716]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed0acc81ef739e233e427dd3ecea7afd80777f95be1a458412e64533f1d0a3bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c040fff9ea7604db5c513f4baee93fb6ea2a02e5af6f93bda8f69750dafacb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0da791202c00e82015acac1fb920751093ea655e98f3e7d287f3081121c28941",
        "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_013qJYP5hKevz5H8GPcqRRQe",
      "input": {
        "note": "Wrist view shows the bowl rim and pear right under the jaws, so the grasp point is near the far rim; shifting back and slightly right toward the bowl centre and lowering.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.15,
          "right_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_013qJYP5hKevz5H8GPcqRRQe",
      "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]: [-0.4023, 1.0481, 0.9463, -0.8421, -0.3351, -0.3141, 0.9965, 0.4511, 1.8027, 1.4635, -0.8215, 0.2565, 0.1455, 0.4446]\nstate[eef_state]: left_x=0.2791 left_y=-0.0517 left_z=0.1838 left_yaw=0.046 left_pitch=-0.3055 left_roll=0.076 left_gripper=0.9965 right_x=0.4029 right_y=0.1493 right_z=0.1232 right_yaw=0.1079 right_pitch=-0.5451 right_roll=-0.2006 right_gripper=0.4446\nstate[joint_eff]: [-0.0889, -2.359, 6.6667, 1.3602, -0.1832, -0.0757, -0.0171, 0.294, -6.188, 4.8752, 1.1453, -0.1832, 0.0708, 0.6813]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fb947a9226217c885b72e003345db4b372695cefbf6671886b82a8d371d1465",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9336c7e48c7ec6a79a79ce816f34d4434bffec2bc6b8505f7a09c21183ac8292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:22dc842c3dc9eb933b4b98d4754e0cb455ccfe9b0f32f8e03e07bc4e5d46157a",
        "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 · 15.79 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]: [-0.4026, 1.0481, 0.9463, -0.8421, -0.3351, -0.3141, 0.9965, 0.9264, 2.1712, 2.1193, -1.227, 0.3962, 0.6098, 0.4401]\nstate[eef_state]: left_x=0.279 left_y=-0.0518 left_z=0.1838 left_yaw=0.0456 left_pitch=-0.3055 left_roll=0.076 left_gripper=0.9965 right_x=0.3423 right_y=0.3481 right_z=0.154 right_yaw=0.1448 right_pitch=-0.5296 right_roll=-0.1584 right_gripper=0.4401\nstate[joint_eff]: [-0.335, -2.6735, 6.5709, 1.2821, -0.1978, -0.0757, -0.0171, -0.294, -12.3692, 7.6239, 0.8278, 0.4029, 0.0269, 0.9548]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.4026, 1.0481, 0.9463, -0.8421, -0.3351, -0.3141, 0.9965, 0.4683, 1.9427, 1.7035, -0.9752, 0.2321, 0.1715, 0.4437]\nstate[eef_state]: left_x=0.279 left_y=-0.0518 left_z=0.1838 left_yaw=0.0456 left_pitch=-0.3055 left_roll=0.076 left_gripper=0.9965 right_x=0.4205 right_y=0.1712 right_z=0.1316 right_yaw=0.1199 right_pitch=-0.6007 right_roll=-0.1839 right_gripper=0.4437\nstate[joint_eff]: [-0.3487, -2.6325, 6.7624, 1.2772, -0.1832, -0.0415, -0.0171, -0.212, -13.4222, 5.8735, 1.3553, 0.1783, 0.1343, 0.6716]",
      "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]: [-0.4023, 1.0481, 0.9463, -0.8421, -0.3351, -0.3141, 0.9965, 0.4511, 1.8027, 1.4635, -0.8215, 0.2565, 0.1455, 0.4446]\nstate[eef_state]: left_x=0.2791 left_y=-0.0517 left_z=0.1838 left_yaw=0.046 left_pitch=-0.3055 left_roll=0.076 left_gripper=0.9965 right_x=0.4029 right_y=0.1493 right_z=0.1232 right_yaw=0.1079 right_pitch=-0.5451 right_roll=-0.2006 right_gripper=0.4446\nstate[joint_eff]: [-0.0889, -2.359, 6.6667, 1.3602, -0.1832, -0.0757, -0.0171, 0.294, -6.188, 4.8752, 1.1453, -0.1832, 0.0708, 0.6813]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fb947a9226217c885b72e003345db4b372695cefbf6671886b82a8d371d1465",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9336c7e48c7ec6a79a79ce816f34d4434bffec2bc6b8505f7a09c21183ac8292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22dc842c3dc9eb933b4b98d4754e0cb455ccfe9b0f32f8e03e07bc4e5d46157a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4wcKEAgSGAI4AUIIdGhpbmtpbmcSDJRjRAgMD8LmVaWbCRoMX3MVwTfdB/7De++kIjAAvfjWs6Ay1Xgl5hohAWWI7GNRDnFcAsPdl495Qq8c1RsI6LaPGZhpvZUIrr4BJBQqgAfwbOZ7b2Re2MLSK8yFId43+th0hiQc5ixZ/GOt2mucVU+6NA48vV120jn7YvSNJ8+9vizF8ob+qdHmQPALAm+YdqCeOtoCZ4y7Xl/e2LP06VxWRNkqSyyXDS0WmQUS8y/DH4wuyn9Ed6Hh4DaSb+Rjb9dJn2edAR0Hz1GfpJX7H9tIuztFQx5CBYQQa7aa9KX64+WWp/uwSFqfERoGW91jKNXQdWoXLJiSzyEu34vyrZAT6hKQNVKxBrPmkgp7rPmzYyKS/vHWKrR4amZsfWQTqQqw3TvioZjcI9AJiILX5EEGyNX+rbIv52rapB0B9O0SuscFtPvWwcEOnh76AX8RYaDG+37evz7ijBKcx2c+kBKceX/2xXi6soePW9XM0rxl06wdiRwvOjdyngSlYml0IdSE77Vc+8yO/Bso6qVqarYS45OuDGtx72Dve6ZUOaWdzuDPmaEms3wmx7QmEtp97pm9O27nsyuh7l55SekKZ9JLkmL+RomIFknWCpvD0qL8sNXH/xqIfh2LwOXsyISaYHR+Ov4DGQaAmBl/g5QSOkjQjfaK/+phyZ8gR3nGXMcQI/IKM3Z0V3U9FzRVF2t2OqqgIZ/DF1llpbX8jFZrPITPA1DEI0RmOittgHKzSvAVOVq+9GWfCiyRZ1BVlwNcvo7dxD+wR7D16p/UCW7tIXfEZUhc+Ar72FbhW17sdvHRkml5fedyQtbEjUJBWunlWAeOUn8lBs4wsQ7fYjx7eQfdUIrOVvEmPSjQOo035pkHJ0BXiYyTvfqlWfUCnO4tIpsjuBi/tK87qa00zde+VqoxpBqD730K2a8yUzuwbRZ8++gTNsRWCoRYxh2gDr0iWNcLcDVnb1LUZLkTmT8Xc2SUf9FFoQvMmmUhatL++8HPRxQF6WlswsaFudFVUlR0gd0rDx0qWp3w693NBFjtya43d8M88XpIWwCY9oFLi/qglB3ZTYFa62xJxaYUtJNodmlWi/sT655JW5ADM7o38XxX2nGiibWhnYLHMiQtJZKt0pCv8T1G2P3mKPfMALFZGIQk7TgWCV6k2RyDaDVITzlgXl9OO1eN6oL4vf1M1a19wSnnhw0yqiSB3r1clYV2nfanCyQnRqeIN3k/HrdAnLtnUTqYCzT5socd6HAzASIMKhLeCRtmxg6OLEy6g8qdvQDinxvROk5IdsjOyzq1TxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01393Twm4zMzZmAU2We2a8qd",
      "input": {
        "note": "Descent stopped at z 0.12, the plum resting on the bowl/pear; releasing it into the blue bowl.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01393Twm4zMzZmAU2We2a8qd",
      "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]: [-0.4023, 1.0489, 0.9463, -0.8421, -0.3351, -0.3141, 0.9965, 0.4496, 1.7973, 1.4418, -0.8299, 0.2562, 0.1379, 0.9962]\nstate[eef_state]: left_x=0.2791 left_y=-0.0517 left_z=0.1836 left_yaw=0.0461 left_pitch=-0.3062 left_roll=0.0763 left_gripper=0.9965 right_x=0.3965 right_y=0.1456 right_z=0.1171 right_yaw=0.1062 right_pitch=-0.5694 right_roll=-0.214 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -2.7009, 6.8034, 1.3065, -0.2027, -0.0659, -0.0122, -0.0479, -8.6906, 8.0479, 1.0281, 0.0904, 0.0708, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d560a2d00d6dbe3eab8342c851a7a1dbd0c6006749a784d7272a153ff3b33ca5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4b4674575efc6075c6dd05e96f7ee085ce3a2ebd2eb0587f2a2dbfa9f33d2cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:94c637c0cedd88a7aa7d9c08501bdb16b6d2fe22b7f6b35d9aaa0d730c7f0698",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]