adhoc

completed
2026-09-23T00:07:30.833629+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
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
449.4 s
total steps
260
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

done

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 noteTop view shows a big white bowl left-of-centre, a blue bowl right of it, and two fruits (a lemon and a pear) in front of the blue bowl on the right arm's side. Moving the right gripper above where I estimate the pear is, to check alignment in the wrist camera.
move_to
right_x0.2800right_y0.0200right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0204, 0.7994, 0.6136, -0.3828, -0.0139, -0.0299, 0.9991, -0.0227, 0.8001, 0.6182, -0.3866, -0.0204, -0.0124, 0.9994] state[eef_state]: left_x=0.2959 left_y=0.0 left_z=0.1823 left_yaw=-0.0007 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9991 right_x=0.296 right_y=0.0005 right_z=0.1834 right_yaw=0.0002 right_pitch=0.0008 right_roll=-0.0003 right_gripper=0.9994 state[joint_eff]: [-0.5675, -1.7162, 9.5658, 1.7802, -0.105, 0.0952, -0.1001, -0.3077, -1.7983, 9.1966, 1.8779, -0.0513, -0.0464, -0.0757] 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": 0.28, "right_y": 0.02, "right_z": 0.15, "right_gripper": 1}, "note": "Top view shows a big white bowl left-of-centre, a blue bowl right of it, and two fruits (a lemon and a pear) in front of the blue bowl on the right arm's side. Moving the right gripper above where I estimate the pear is, to check alignment in the wrist camera."})
tool
executing move_to over 3 steps (0.3s)
step 3
top_cam
camera top_cam step 3
left_cam
camera left_cam step 3
right_cam
camera right_cam step 3
assistant
agent noteWrist view shows the pear slightly right of the jaw column and a bit short of the fingertips. Shifting right and forward to centre the jaws over the pear before descending.
move_to
right_x0.3100right_y-0.0100right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8005, 0.6132, -0.3866, -0.0139, -0.0307, 0.999, 0.1226, 0.7254, 0.4698, -0.3515, 0.0818, 0.0448, 0.9994] state[eef_state]: left_x=0.2954 left_y=-0.0002 left_z=0.181 left_yaw=-0.0011 left_pitch=-0.0057 left_roll=-0.0007 left_gripper=0.999 right_x=0.2762 right_y=0.0231 right_z=0.143 right_yaw=0.0286 right_pitch=-0.0356 right_roll=-0.0107 right_gripper=0.9994 state[joint_eff]: [-0.0889, -1.3333, 7.2137, 1.8046, -0.0659, -0.0708, -0.0171, -0.1709, -1.306, 6.7624, 2.0391, 0.188, 0.1783, -0.0757] camera 'top_cam' (step 3): [image omitted: streamed camera frame] camera 'left_cam' (step 3): [image omitted: streamed camera frame] camera 'right_cam' (step 3): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.31, "right_y": -0.01, "right_z": 0.14}, "note": "Wrist view shows the pear slightly right of the jaw column and a bit short of the fingertips. Shifting right and forward to centre the jaws over the pear before descending."})
tool
executing move_to over 3 steps (0.3s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent notePear is now centred on the jaw column in the wrist view; advancing 3 cm forward and descending to mid-pear height to grasp it.
move_to
right_x0.3300right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8021, 0.6132, -0.4004, -0.0135, -0.0311, 0.999, -0.1009, 0.9218, 0.485, -0.2356, -0.0921, -0.0761, 0.9994] state[eef_state]: left_x=0.2937 left_y=-0.0002 left_z=0.1778 left_yaw=-0.0012 left_pitch=-0.021 left_roll=-0.001 left_gripper=0.999 right_x=0.3009 right_y=-0.0105 right_z=0.12 right_yaw=0.0173 right_pitch=-0.0998 right_roll=-0.0033 right_gripper=0.9994 state[joint_eff]: [-0.3077, -1.3744, 7.1316, 1.8974, -0.0122, -0.0757, -0.0122, -0.0205, -2.6598, 9.5658, 1.8486, -0.1587, 0.0024, -0.022] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_z": 0.05}, "note": "Pear is now centred on the jaw column in the wrist view; advancing 3 cm forward and descending to mid-pear height to grasp it."})
tool
executing move_to over 5 steps (0.5s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteJaws straddle the pear at mid-height; closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4088, -0.0135, -0.0307, 0.999, -0.0868, 1.2827, 0.3428, 0.2253, -0.091, -0.0795, 0.9994] state[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.175 left_yaw=-0.0014 left_pitch=-0.0332 left_roll=-0.0004 left_gripper=0.999 right_x=0.3243 right_y=-0.0085 right_z=0.0416 right_yaw=0.0329 right_pitch=-0.1419 right_roll=-0.0017 right_gripper=0.9994 state[joint_eff]: [-0.1709, -1.6068, 7.0085, 1.79, -0.022, -0.0464, -0.0073, 0.0889, -4.4103, 5.7641, 1.9805, 0.0269, 0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Jaws straddle the pear at mid-height; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe close came back empty (gripper 0.009) and the pear is still standing in front of the jaws, so the fruit is further out than I thought. Opening and advancing another 4 cm.
move_to
right_gripper1.0000right_x0.3650
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8062, 0.6132, -0.4202, -0.0139, -0.0307, 0.999, -0.0872, 1.2831, 0.3428, 0.2165, -0.0914, -0.0826, 0.0089] state[eef_state]: left_x=0.2912 left_y=-0.0001 left_z=0.1726 left_yaw=-0.001 left_pitch=-0.045 left_roll=0.0001 left_gripper=0.999 right_x=0.3229 right_y=-0.0084 right_z=0.0399 right_yaw=0.0347 right_pitch=-0.1509 right_roll=-0.0026 right_gripper=0.0089 state[joint_eff]: [-0.3487, -1.2923, 7.0085, 1.79, -0.0708, -0.0513, -0.0122, -0.0752, -3.8359, 5.7231, 1.7021, -0.0366, 0.0317, 0.735] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.365}, "note": "The close came back empty (gripper 0.009) and the pear is still standing in front of the jaws, so the fruit is further out than I thought. Opening and advancing another 4 cm."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent notePear now fills the wrist view just above the jaws; nudging 2-3 cm further forward and up to mid-pear height so the fruit sits between the fingers.
move_to
right_x0.3850right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4244, -0.0135, -0.0307, 0.999, -0.0731, 1.4765, 0.4664, 0.2363, -0.0906, -0.0872, 0.9986] state[eef_state]: left_x=0.2907 left_y=-0.0002 left_z=0.1713 left_yaw=-0.0014 left_pitch=-0.0507 left_roll=-0.0 left_gripper=0.999 right_x=0.3528 right_y=-0.0062 right_z=0.0275 right_yaw=0.0517 right_pitch=-0.2006 right_roll=-0.0003 right_gripper=0.9986 state[joint_eff]: [-0.0479, -1.4291, 7.0906, 1.746, -0.0317, -0.0513, -0.0122, -0.1162, -5.0667, 7.0359, 1.8388, 0.0659, 0.105, -0.1587] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_z": 0.05}, "note": "Pear now fills the wrist view just above the jaws; nudging 2-3 cm further forward and up to mid-pear height so the fruit sits between the fingers."})
tool
executing move_to over 3 steps (0.3s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe fruit now sits between the jaw tips in the wrist view; closing to grasp.
move_to
right_gripper0.1000
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]: [-0.0212, 0.8089, 0.6132, -0.4248, -0.0139, -0.0307, 0.999, -0.0612, 1.5246, 0.6022, 0.1322, -0.0914, -0.0906, 0.9986] state[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1709 left_yaw=-0.001 left_pitch=-0.0523 left_roll=0.0002 left_gripper=0.999 right_x=0.3773 right_y=-0.0034 right_z=0.042 right_yaw=0.0666 right_pitch=-0.2168 right_roll=-0.0002 right_gripper=0.9986 state[joint_eff]: [-0.3624, -1.0872, 7.2, 1.7167, -0.0757, -0.0366, -0.0122, -0.1026, -5.3402, 7.159, 1.4628, 0.0073, 0.0855, -0.0171] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.1}, "note": "The fruit now sits between the jaw tips in the wrist view; closing to grasp."})
tool
executing move_to over 9 steps (0.9s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteGripper settled at 0.62 (~6 cm object) — the pear is held. Lifting and moving toward my estimate of the blue bowl position to check alignment from above.
move_to
right_z0.2200right_x0.4200right_y0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8089, 0.6132, -0.4252, -0.0139, -0.0307, 0.999, -0.0616, 1.5242, 0.6086, 0.1379, -0.0998, -0.0952, 0.6195] state[eef_state]: left_x=0.2906 left_y=-0.0001 left_z=0.1709 left_yaw=-0.001 left_pitch=-0.0526 left_roll=0.0002 left_gripper=0.999 right_x=0.3804 right_y=-0.0022 right_z=0.0457 right_yaw=0.0755 right_pitch=-0.2035 right_roll=0.0008 right_gripper=0.6195 state[joint_eff]: [0.0615, -1.0598, 7.0085, 1.6972, -0.0659, -0.0757, -0.0122, -0.0479, -5.9692, 5.2718, 1.4872, -0.0073, 0.0073, 1.033] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_x": 0.42, "right_y": 0.1}, "note": "Gripper settled at 0.62 (~6 cm object) \u2014 the pear is held. Lifting and moving toward my estimate of the blue bowl position to check alignment from above."})
tool
executing move_to over 12 steps (1.2s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteWrist view shows the blue bowl just beyond the held pear and centred on the jaw column; advancing 5 cm so the pear hangs over the bowl.
move_to
right_x0.4600right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8124, 0.6128, -0.4416, -0.0139, -0.0307, 0.999, 0.2916, 1.5227, 1.3174, -0.6319, 0.1268, 0.1192, 0.6227] state[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1665 left_yaw=-0.001 left_pitch=-0.0729 left_roll=0.0006 left_gripper=0.999 right_x=0.4112 right_y=0.1039 right_z=0.2024 right_yaw=0.1137 right_pitch=-0.2591 right_roll=-0.0153 right_gripper=0.6227 state[joint_eff]: [-0.1026, -1.4291, 6.9812, 1.917, -0.0415, -0.0366, -0.0122, -0.4581, -7.4598, 9.1692, 1.7411, 0.2515, 0.2027, 0.6081] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_z": 0.2}, "note": "Wrist view shows the blue bowl just beyond the held pear and centred on the jaw column; advancing 5 cm so the pear hangs over the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteBlue bowl rim is right behind the pear in the wrist view; advancing 3 cm more to centre the pear over the bowl opening.
move_to
right_x0.4750
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8127, 0.6128, -0.4473, -0.0135, -0.0311, 0.999, 0.2562, 1.702, 1.4578, -0.6712, 0.0998, 0.086, 0.6223] state[eef_state]: left_x=0.2875 left_y=-0.0001 left_z=0.1653 left_yaw=-0.0011 left_pitch=-0.079 left_roll=0.0002 left_gripper=0.999 right_x=0.4453 right_y=0.1021 right_z=0.178 right_yaw=0.1168 right_pitch=-0.34 right_roll=-0.0291 right_gripper=0.6223 state[joint_eff]: [-0.0615, -1.1966, 7.0769, 1.7558, -0.0366, -0.0659, -0.0122, -0.5538, -8.8, 9.4701, 1.8291, -0.0024, -0.0073, 0.779] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.475}, "note": "Blue bowl rim is right behind the pear in the wrist view; advancing 3 cm more to centre the pear over the bowl opening."})
tool
executing move_to over 3 steps (0.3s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent notePear is at the near rim of the blue bowl; moving slightly further forward and lowering so the fruit is inside the bowl before I open the jaws.
move_to
right_x0.4850right_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]: [-0.0212, 0.8127, 0.6128, -0.45, -0.0139, -0.0311, 0.999, 0.2394, 1.8164, 1.5551, -0.7273, 0.0891, 0.0601, 0.625] state[eef_state]: left_x=0.2871 left_y=-0.0 left_z=0.1647 left_yaw=-0.0008 left_pitch=-0.0816 left_roll=0.0005 left_gripper=0.999 right_x=0.4611 right_y=0.1 right_z=0.1574 right_yaw=0.121 right_pitch=-0.4142 right_roll=-0.0463 right_gripper=0.625 state[joint_eff]: [-0.0068, -1.265, 6.9675, 1.7216, -0.0659, -0.0806, -0.0122, -0.4855, -9.8667, 9.4017, 1.6142, -0.0024, 0.0513, 0.5934] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.485, "right_z": 0.11}, "note": "Pear is at the near rim of the blue bowl; moving slightly further forward and lowering so the fruit is inside the bowl before I open the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe arm stalled — x=0.485 is past its reach here. Backing off 1 cm and lowering the pear toward the bowl mouth instead.
move_to
right_x0.4550right_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]: [-0.0212, 0.8127, 0.6128, -0.4503, -0.0139, -0.0307, 0.999, 0.2394, 1.816, 1.5551, -0.7269, 0.0891, 0.0601, 0.6263] state[eef_state]: left_x=0.2871 left_y=-0.0 left_z=0.1647 left_yaw=-0.001 left_pitch=-0.082 left_roll=0.0008 left_gripper=0.999 right_x=0.4611 right_y=0.1001 right_z=0.1576 right_yaw=0.121 right_pitch=-0.4135 right_roll=-0.0462 right_gripper=0.6263 state[joint_eff]: [-0.335, -1.2239, 6.9675, 1.7118, -0.0611, -0.022, -0.0122, -0.5538, -9.8803, 9.4291, 1.6386, 0.0269, 0.0806, 0.6325] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.455, "right_z": 0.1}, "note": "The arm stalled \u2014 x=0.485 is past its reach here. Backing off 1 cm and lowering the pear toward the bowl mouth instead."})
tool
executing move_to over 4 steps (0.4s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe right arm has stopped tracking entirely at this stretched pose; pulling back and up to a safer configuration to unstick it.
move_to
right_x0.4000right_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8154, 0.6128, -0.4683, -0.0139, -0.0311, 0.999, 0.2394, 1.8164, 1.5547, -0.7273, 0.0887, 0.0601, 0.6287] state[eef_state]: left_x=0.2845 left_y=0.0 left_z=0.1605 left_yaw=-0.0007 left_pitch=-0.1026 left_roll=0.0009 left_gripper=0.999 right_x=0.461 right_y=0.1001 right_z=0.1572 right_yaw=0.1213 right_pitch=-0.4147 right_roll=-0.046 right_gripper=0.6287 state[joint_eff]: [-0.1162, -1.5248, 7.1179, 1.8486, -0.0415, -0.0806, -0.0073, -0.4308, -9.8667, 9.4427, 1.6337, -0.022, 0.0269, 0.5397] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_z": 0.25}, "note": "The right arm has stopped tracking entirely at this stretched pose; pulling back and up to a safer configuration to unstick it."})
tool
executing move_to over 6 steps (0.6s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe tool has drifted to a 24° backward pitch, which both limits reach and skews the wrist view; levelling it to point straight down over the bowl.
move_to
right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8154, 0.6128, -0.4721, -0.0135, -0.0307, 0.999, 0.2859, 1.6802, 1.6859, -0.9981, 0.1001, 0.0711, 0.6318] state[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1597 left_yaw=-0.0013 left_pitch=-0.1064 left_roll=0.0011 left_gripper=0.999 right_x=0.4145 right_y=0.1072 right_z=0.2301 right_yaw=0.1507 right_pitch=-0.4166 right_roll=-0.0501 right_gripper=0.6318 state[joint_eff]: [-0.0889, -1.2376, 6.9402, 1.7314, -0.0415, -0.0415, -0.0122, -0.5538, -9.1009, 7.8701, 1.3504, 0.149, 0.1978, 0.3199] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_pitch": 0.0}, "note": "The tool has drifted to a 24\u00b0 backward pitch, which both limits reach and skews the wrist view; levelling it to point straight down over the bowl."})
tool
executing move_to over 14 steps (1.4s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteFrom the overhead view the blue bowl is ~5 cm further out and ~4 cm to the arm's left of the current grasp point; moving there with the tool held vertical so the pear hangs over the bowl mouth.
move_to
right_x0.4500right_y0.1400right_z0.1700right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8154, 0.6128, -0.4759, -0.0139, -0.0311, 0.999, 0.305, 1.4128, 1.1183, -0.4076, 0.1444, 0.0513, 0.6339] state[eef_state]: left_x=0.2833 left_y=0.0 left_z=0.159 left_yaw=-0.0007 left_pitch=-0.1102 left_roll=0.0011 left_gripper=0.999 right_x=0.4047 right_y=0.1045 right_z=0.201 right_yaw=0.1537 right_pitch=-0.1251 right_roll=-0.0551 right_gripper=0.6339 state[joint_eff]: [-0.294, -1.2376, 7.1179, 1.6874, -0.0415, -0.0806, -0.0122, 0.3487, -8.0479, 7.4325, 2.2882, 0.1783, -0.1148, 0.2076] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.14, "right_z": 0.17, "right_pitch": 0.0}, "note": "From the overhead view the blue bowl is ~5 cm further out and ~4 cm to the arm's left of the current grasp point; moving there with the tool held vertical so the pear hangs over the bowl mouth."})
tool
executing move_to over 5 steps (0.5s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe blue bowl now appears to the right of the pear in the wrist view, the opposite of what the overhead estimate said; shifting 5 cm to the arm's right to see which way the bowl moves in frame and settle the calibration.
move_to
right_y0.0850
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.82, 0.6128, -0.4782, -0.0135, -0.0311, 0.999, 0.3687, 1.5875, 1.055, -0.1776, 0.1879, 0.0528, 0.6355] state[eef_state]: left_x=0.2832 left_y=-0.0 left_z=0.1574 left_yaw=-0.001 left_pitch=-0.1171 left_roll=0.001 left_gripper=0.999 right_x=0.4311 right_y=0.135 right_z=0.1446 right_yaw=0.1798 right_pitch=-0.1281 right_roll=-0.0833 right_gripper=0.6355 state[joint_eff]: [-0.2256, -1.6615, 6.9402, 1.6239, -0.0122, -0.0611, -0.0122, 0.1846, -7.9658, 7.4598, 2.1612, 0.1734, 0.1538, 0.1587] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.085}, "note": "The blue bowl now appears to the right of the pear in the wrist view, the opposite of what the overhead estimate said; shifting 5 cm to the arm's right to see which way the bowl moves in frame and settle the calibration."})
tool
executing move_to over 5 steps (0.5s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteGood: after the 1.5 cm shift the blue bowl is now centred right behind the pear, so the bowl is at about y=0.11 and ~5 cm further out. Advancing over the bowl mouth.
move_to
right_x0.4700right_y0.1050right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.82, 0.6128, -0.49, -0.0135, -0.0307, 0.999, 0.3382, 1.5761, 0.9543, -0.0895, 0.1787, 0.033, 0.6377] state[eef_state]: left_x=0.2813 left_y=0.0 left_z=0.1551 left_yaw=-0.0012 left_pitch=-0.1289 left_roll=0.0015 left_gripper=0.999 right_x=0.4246 right_y=0.1199 right_z=0.123 right_yaw=0.1677 right_pitch=-0.1313 right_roll=-0.0929 right_gripper=0.6377 state[joint_eff]: [-0.0752, -1.2923, 7.0359, 1.707, -0.0415, -0.0611, -0.0122, 0.1846, -9.347, 7.2957, 2.0684, -0.0415, -0.1294, 0.2173] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.105, "right_z": 0.16}, "note": "Good: after the 1.5 cm shift the blue bowl is now centred right behind the pear, so the bowl is at about y=0.11 and ~5 cm further out. Advancing over the bowl mouth."})
tool
executing move_to over 4 steps (0.4s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe arm stalled again at x≈0.425 with the tool pitched backward; pitching the tool forward should extend reach, so retrying the move over the bowl with +0.45 rad pitch.
move_to
right_pitch0.4500right_x0.4700right_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]: [-0.0212, 0.82, 0.6128, -0.4915, -0.0139, -0.0311, 0.999, 0.342, 1.5761, 0.9543, -0.0856, 0.1787, 0.033, 0.6391] state[eef_state]: left_x=0.2811 left_y=0.0001 left_z=0.1548 left_yaw=-0.0007 left_pitch=-0.1304 left_roll=0.0015 left_gripper=0.999 right_x=0.4248 right_y=0.1217 right_z=0.1237 right_yaw=0.1716 right_pitch=-0.1275 right_roll=-0.0923 right_gripper=0.6391 state[joint_eff]: [-0.0752, -1.1556, 7.1179, 1.6093, -0.0757, -0.0708, -0.0122, 0.0068, -9.2923, 7.2957, 1.9951, -0.0317, -0.1148, 0.1294] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_pitch": 0.45, "right_x": 0.47, "right_z": 0.17}, "note": "The arm stalled again at x\u22480.425 with the tool pitched backward; pitching the tool forward should extend reach, so retrying the move over the bowl with +0.45 rad pitch."})
tool
executing move_to over 20 steps (2.0s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent notePitching forward gained the reach (x=0.4645) and the blue bowl is now hidden directly beneath the gripper; opening the jaws to drop the pear into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8246, 0.6128, -0.4976, -0.0139, -0.0307, 0.999, 0.3195, 1.7176, 0.7238, 0.7601, 0.1791, -0.057, 0.6405] state[eef_state]: left_x=0.2803 left_y=0.0001 left_z=0.1525 left_yaw=-0.0009 left_pitch=-0.1411 left_roll=0.002 left_gripper=0.999 right_x=0.4645 right_y=0.1243 right_z=0.1443 right_yaw=0.1912 right_pitch=0.3367 right_roll=-0.1031 right_gripper=0.6405 state[joint_eff]: [0.0752, -1.7299, 6.8991, 1.6777, -0.0757, -0.0513, -0.0122, -0.6359, -7.8564, 5.5453, 2.6105, 0.0952, -0.0415, 0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Pitching forward gained the reach (x=0.4645) and the blue bowl is now hidden directly beneath the gripper; opening the jaws to drop the pear into the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe wrist view confirms the pear is sitting in the blue bowl. Backing off and moving over the yellow lemon (overhead estimate x≈0.38, y≈0.19) to pick it up next.
move_to
right_x0.3700right_y0.1800right_z0.2000right_pitch0.1000
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]: [-0.0212, 0.8249, 0.6128, -0.498, -0.0139, -0.0307, 0.999, 0.3187, 1.7298, 0.7185, 0.7647, 0.1787, -0.0647, 0.9957] state[eef_state]: left_x=0.2802 left_y=0.0001 left_z=0.1523 left_yaw=-0.0009 left_pitch=-0.1419 left_roll=0.002 left_gripper=0.999 right_x=0.464 right_y=0.1238 right_z=0.1376 right_yaw=0.1956 right_pitch=0.3234 right_roll=-0.1126 right_gripper=0.9957 state[joint_eff]: [-0.1573, -1.3744, 6.9538, 1.619, -0.0855, -0.0708, -0.0122, -0.1436, -8.9094, 6.147, 1.8877, -0.0366, 0.0952, -0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.18, "right_z": 0.2, "right_pitch": 0.1}, "note": "The wrist view confirms the pear is sitting in the blue bowl. Backing off and moving over the yellow lemon (overhead estimate x\u22480.38, y\u22480.19) to pick it up next."})
tool
executing move_to over 8 steps (0.8s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteWrist view shows the pear safely in the blue bowl and the lemon just below-left of the jaws, i.e. closer to the base and slightly to the arm's left. Pulling back 4 cm, over 1.5 cm left, and descending to lemon height.
move_to
right_x0.3400right_y0.2000right_z0.0800right_pitch0.1000
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]: [-0.0212, 0.8303, 0.6128, -0.5129, -0.0135, -0.0307, 0.999, 0.6125, 1.3689, 0.8391, 0.0578, 0.3935, 0.0669, 0.9965] state[eef_state]: left_x=0.278 left_y=0.0001 left_z=0.1482 left_yaw=-0.0011 left_pitch=-0.1621 left_roll=0.0022 left_gripper=0.999 right_x=0.3778 right_y=0.1871 right_z=0.1927 right_yaw=0.2439 right_pitch=0.132 right_roll=-0.1164 right_gripper=0.9965 state[joint_eff]: [0.0479, -1.812, 6.8991, 1.7411, -0.0317, -0.0366, -0.0122, 0.1436, -7.0632, 9.0188, 1.8046, 0.2418, 0.3053, 0.0611] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.2, "right_z": 0.08, "right_pitch": 0.1}, "note": "Wrist view shows the pear safely in the blue bowl and the lemon just below-left of the jaws, i.e. closer to the base and slightly to the arm's left. Pulling back 4 cm, over 1.5 cm left, and descending to lemon height."})
tool
executing move_to over 8 steps (0.8s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteLemon is now just below the jaws and slightly right of the jaw column; advancing ~3 cm and descending to mid-lemon height to straddle it.
move_to
right_x0.3650right_y0.1900right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8322, 0.6128, -0.5205, -0.0139, -0.0307, 0.999, 0.7284, 1.5402, 0.5343, 0.4114, 0.4702, 0.1246, 0.9965] state[eef_state]: left_x=0.2768 left_y=0.0002 left_z=0.1463 left_yaw=-0.0008 left_pitch=-0.1716 left_roll=0.0026 left_gripper=0.999 right_x=0.3362 right_y=0.1975 right_z=0.0738 right_yaw=0.27 right_pitch=0.0396 right_roll=-0.1504 right_gripper=0.9965 state[joint_eff]: [-0.3077, -1.5385, 6.8855, 1.6435, -0.0659, -0.022, -0.0122, 0.2803, -5.8462, 5.6957, 2.0195, 0.2759, 0.1587, -0.0073] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.365, "right_y": 0.19, "right_z": 0.035}, "note": "Lemon is now just below the jaws and slightly right of the jaw column; advancing ~3 cm and descending to mid-lemon height to straddle it."})
tool
executing move_to over 3 steps (0.3s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteLemon fills the lower wrist view just ahead of the jaws; advancing 3 cm so it lies between the fingers.
move_to
right_x0.3830
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.836, 0.6128, -0.5224, -0.0139, -0.0307, 0.999, 0.6498, 1.739, 0.5274, 0.5739, 0.4179, 0.0883, 0.9965] state[eef_state]: left_x=0.2766 left_y=0.0002 left_z=0.1449 left_yaw=-0.0007 left_pitch=-0.1774 left_roll=0.0028 left_gripper=0.999 right_x=0.3538 right_y=0.1833 right_z=0.0263 right_yaw=0.2533 right_pitch=-0.0152 right_roll=-0.1715 right_gripper=0.9965 state[joint_eff]: [-0.2667, -1.2239, 6.8718, 1.6679, -0.0464, -0.0562, -0.0122, -0.1162, -8.1983, 5.8872, 2.0049, 0.2906, 0.0073, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.383}, "note": "Lemon fills the lower wrist view just ahead of the jaws; advancing 3 cm so it lies between the fingers."})
tool
executing move_to over 3 steps (0.3s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe lemon sits between the jaw tips; closing to grasp it.
move_to
right_gripper0.1000
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]: [-0.0212, 0.8379, 0.6128, -0.5354, -0.0139, -0.0307, 0.999, 0.6346, 1.776, 0.527, 0.6308, 0.3878, 0.0673, 0.9965] state[eef_state]: left_x=0.2745 left_y=0.0002 left_z=0.1421 left_yaw=-0.0007 left_pitch=-0.1922 left_roll=0.0031 left_gripper=0.999 right_x=0.3586 right_y=0.1855 right_z=0.0218 right_yaw=0.2738 right_pitch=-0.0056 right_roll=-0.1654 right_gripper=0.9965 state[joint_eff]: [0.1162, -1.3333, 6.8581, 1.6874, -0.0269, -0.0171, -0.0122, 0.0889, -7.8974, 5.5043, 1.873, 0.1587, -0.0415, -0.0171] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.1}, "note": "The lemon sits between the jaw tips; closing to grasp it."})
tool
executing move_to over 9 steps (0.9s)
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 noteGripper settled at 0.41 (~4 cm) — the lemon is grasped. Lifting and carrying it over to the blue bowl with the tool pitched forward for reach.
move_to
right_x0.4600right_y0.1200right_z0.1900right_pitch0.4500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8379, 0.6128, -0.5362, -0.0139, -0.0311, 0.999, 0.6346, 1.776, 0.527, 0.6304, 0.3878, 0.0669, 0.4149] state[eef_state]: left_x=0.2744 left_y=0.0002 left_z=0.142 left_yaw=-0.0005 left_pitch=-0.193 left_roll=0.0028 left_gripper=0.999 right_x=0.3585 right_y=0.1854 right_z=0.0217 right_yaw=0.274 right_pitch=-0.006 right_roll=-0.1659 right_gripper=0.4149 state[joint_eff]: [-0.0752, -1.4154, 6.8718, 1.536, -0.0757, -0.0708, -0.0122, -0.0615, -7.0085, 4.4786, 1.6288, 0.0708, -0.0708, 1.0281] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.12, "right_z": 0.19, "right_pitch": 0.45}, "note": "Gripper settled at 0.41 (~4 cm) \u2014 the lemon is grasped. Lifting and carrying it over to the blue bowl with the tool pitched forward for reach."})
tool
executing move_to over 16 steps (1.6s)
step 175
assistant
agent noteGripper is at essentially the same spot from which the pear dropped cleanly into the blue bowl; nudging 1 cm further out and opening to release the lemon into the bowl.
move_to
right_x0.4650right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8379, 0.6128, -0.5369, -0.0139, -0.0307, 0.999, 0.2924, 1.6451, 0.672, 0.7525, 0.1135, -0.1368, 0.4162] state[eef_state]: left_x=0.2742 left_y=0.0002 left_z=0.1418 left_yaw=-0.0007 left_pitch=-0.1938 left_roll=0.0031 left_gripper=0.999 right_x=0.4519 right_y=0.1189 right_z=0.153 right_yaw=0.2676 right_pitch=0.3428 right_roll=-0.1686 right_gripper=0.4162 state[joint_eff]: [-0.0068, -1.4017, 6.9402, 1.5311, -0.0611, -0.0269, -0.0122, -0.3077, -8.8957, 8.5128, 2.3321, -0.0562, -0.0562, 0.7888] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.465, "right_gripper": 1}, "note": "Gripper is at essentially the same spot from which the pear dropped cleanly into the blue bowl; nudging 1 cm further out and opening to release the lemon into the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 181
assistant
agent noteThe lemon slipped out of the jaws and is back on the table just left of the blue bowl (the pear is safely in the bowl). Returning to lemon height at its new estimated position.
move_to
right_x0.3500right_y0.2150right_z0.0350right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8391, 0.6128, -0.5396, -0.0139, -0.0307, 0.999, 0.2848, 1.681, 0.6933, 0.7349, 0.0986, -0.1436, 0.9958] state[eef_state]: left_x=0.2738 left_y=0.0003 left_z=0.1411 left_yaw=-0.0007 left_pitch=-0.1976 left_roll=0.0032 left_gripper=0.999 right_x=0.4572 right_y=0.1194 right_z=0.1417 right_yaw=0.2773 right_pitch=0.3101 right_roll=-0.1725 right_gripper=0.9958 state[joint_eff]: [-0.3624, -1.306, 6.8718, 1.5458, -0.0464, -0.022, -0.0122, -0.4171, -6.5299, 8.4308, 2.0293, -0.0366, -0.0366, -0.1392] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.215, "right_z": 0.035, "right_pitch": 0.0}, "note": "The lemon slipped out of the jaws and is back on the table just left of the blue bowl (the pear is safely in the bowl). Returning to lemon height at its new estimated position."})
tool
executing move_to over 11 steps (1.1s)
step 192
assistant
agent noteThe lemon has rolled far to the left, outside the right arm's y-limit and out of the left arm's reach of the blue bowl, so I'm moving on to the pour: positioning above the near rim of the blue bowl (pear inside) to pinch the rim.
move_to
right_x0.4000right_y0.1200right_z0.1200right_pitch0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8391, 0.6128, -0.5426, -0.0135, -0.0307, 0.999, 0.7242, 1.7451, 0.5915, 0.5488, 0.4305, 0.0731, 0.9965] state[eef_state]: left_x=0.2733 left_y=0.0002 left_z=0.1405 left_yaw=-0.001 left_pitch=-0.2006 left_roll=0.003 left_gripper=0.999 right_x=0.3534 right_y=0.2189 right_z=0.0414 right_yaw=0.3256 right_pitch=0.0164 right_roll=-0.1784 right_gripper=0.9965 state[joint_eff]: [-0.212, -1.4017, 7.0632, 1.5702, -0.0317, -0.0317, -0.0122, 0.1162, -6.6667, 5.2308, 1.8095, 0.2711, 0.1636, 0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.12, "right_z": 0.12, "right_pitch": 0.2, "right_gripper": 1}, "note": "The lemon has rolled far to the left, outside the right arm's y-limit and out of the left arm's reach of the blue bowl, so I'm moving on to the pour: positioning above the near rim of the blue bowl (pear inside) to pinch the rim."})
tool
executing move_to over 9 steps (0.9s)
step 201
assistant
agent noteWrist view shows the blue bowl with the pear centred just beyond the jaws; descending so the open jaws straddle the near rim wall of the bowl.
move_to
right_z0.0250right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8452, 0.6128, -0.5518, -0.0135, -0.0307, 0.999, 0.3382, 1.5177, 0.522, 0.5789, 0.1394, -0.1326, 0.9986] state[eef_state]: left_x=0.2719 left_y=0.0002 left_z=0.1374 left_yaw=-0.0009 left_pitch=-0.2159 left_roll=0.0033 left_gripper=0.999 right_x=0.3974 right_y=0.1175 right_z=0.1037 right_yaw=0.2902 right_pitch=0.1476 right_roll=-0.1803 right_gripper=0.9986 state[joint_eff]: [-0.0752, -1.9214, 6.8718, 1.619, -0.0366, -0.0366, -0.0122, -0.1573, -7.1179, 5.6684, 2.0781, -0.0757, 0.0366, -0.1587] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.025, "right_pitch": 0.0}, "note": "Wrist view shows the blue bowl with the pear centred just beyond the jaws; descending so the open jaws straddle the near rim wall of the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 207
assistant
agent noteAt jaw height the near rim of the blue bowl is still ~3 cm ahead and slightly right; advancing and shifting so the open jaws straddle the rim wall.
move_to
right_x0.4200right_y0.1050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8471, 0.6128, -0.5549, -0.0139, -0.0307, 0.999, 0.3363, 1.7561, 0.5137, 0.6537, 0.1257, -0.1398, 0.9986] state[eef_state]: left_x=0.2714 left_y=0.0003 left_z=0.1364 left_yaw=-0.0006 left_pitch=-0.2208 left_roll=0.0037 left_gripper=0.999 right_x=0.3918 right_y=0.1173 right_z=0.0228 right_yaw=0.3042 right_pitch=-0.0253 right_roll=-0.1869 right_gripper=0.9986 state[joint_eff]: [-0.0342, -1.4564, 6.8444, 1.5653, -0.0366, -0.0366, -0.0122, -0.1709, -6.6803, 5.559, 1.956, 0.0757, 0.0757, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.105}, "note": "At jaw height the near rim of the blue bowl is still ~3 cm ahead and slightly right; advancing and shifting so the open jaws straddle the rim wall."})
tool
executing move_to over 3 steps (0.3s)
step 210
assistant
agent noteThe arm stalled at x≈0.39 with the tool vertical, so pitching forward again to gain reach and get the jaws onto the far side of the bowl's near rim.
move_to
right_x0.4350right_z0.0350right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8471, 0.6128, -0.5549, -0.0139, -0.0307, 0.999, 0.3367, 1.7782, 0.5129, 0.6621, 0.1253, -0.1398, 0.9986] state[eef_state]: left_x=0.2714 left_y=0.0003 left_z=0.1364 left_yaw=-0.0006 left_pitch=-0.2208 left_roll=0.0037 left_gripper=0.999 right_x=0.3907 right_y=0.1171 right_z=0.0157 right_yaw=0.3049 right_pitch=-0.0398 right_roll=-0.1871 right_gripper=0.9986 state[joint_eff]: [-0.1162, -1.388, 6.8991, 1.5409, -0.0659, -0.0611, -0.0122, -0.3077, -7.2547, 5.0393, 2.0, 0.0562, 0.0659, -0.0122] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.435, "right_z": 0.035, "right_pitch": 0.4}, "note": "The arm stalled at x\u22480.39 with the tool vertical, so pitching forward again to gain reach and get the jaws onto the far side of the bowl's near rim."})
tool
executing move_to over 15 steps (1.5s)
step 225
assistant
agent noteBowl rim is just ahead of the jaw tips; advancing 2 cm so the near rim wall sits between the open jaws.
move_to
right_x0.4500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8482, 0.6128, -0.5613, -0.0139, -0.0307, 0.999, 0.2905, 2.1883, 0.4984, 1.4353, 0.083, -0.1509, 0.9986] state[eef_state]: left_x=0.2703 left_y=0.0003 left_z=0.135 left_yaw=-0.0005 left_pitch=-0.2285 left_roll=0.0038 left_gripper=0.999 right_x=0.4264 right_y=0.1159 right_z=0.0151 right_yaw=0.3009 right_pitch=0.3075 right_roll=-0.1757 right_gripper=0.9986 state[joint_eff]: [-0.3487, -1.3744, 6.8444, 1.58, -0.0659, -0.0269, -0.0122, -0.4718, -7.8017, 4.0547, 2.0, 0.0904, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45}, "note": "Bowl rim is just ahead of the jaw tips; advancing 2 cm so the near rim wall sits between the open jaws."})
tool
executing move_to over 2 steps (0.2s)
step 227
assistant
agent noteJaws are straddling the near rim of the blue bowl; closing to pinch the rim so I can lift and pour.
move_to
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8482, 0.6128, -0.5629, -0.0139, -0.0307, 0.999, 0.2798, 2.2032, 0.551, 1.4254, 0.0647, -0.1585, 0.9985] state[eef_state]: left_x=0.27 left_y=0.0003 left_z=0.1347 left_yaw=-0.0005 left_pitch=-0.23 left_roll=0.0039 left_gripper=0.999 right_x=0.4407 right_y=0.1185 right_z=0.0207 right_yaw=0.3111 right_pitch=0.3347 right_roll=-0.1795 right_gripper=0.9985 state[joint_eff]: [-0.1709, -1.4017, 6.8855, 1.5018, -0.0855, -0.0562, -0.0122, -0.7043, -7.8701, 3.5761, 2.2735, -0.0659, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "Jaws are straddling the near rim of the blue bowl; closing to pinch the rim so I can lift and pour."})
tool
executing move_to over 10 steps (1.0s)
step 237
assistant
agent noteThe jaws pinched the bowl rim (gripper settled at 0.054 ≈ 5 mm wall). Lifting the blue bowl with the pear and carrying it left over the large white bowl, ready to tip.
move_to
right_z0.2200right_x0.4200right_y0.3800right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8501, 0.6128, -0.5652, -0.0139, -0.0307, 0.999, 0.2794, 2.2028, 0.5503, 1.3941, 0.0647, -0.1619, 0.0543] state[eef_state]: left_x=0.2696 left_y=0.0003 left_z=0.1338 left_yaw=-0.0005 left_pitch=-0.2342 left_roll=0.004 left_gripper=0.999 right_x=0.4387 right_y=0.1177 right_z=0.0132 right_yaw=0.3123 right_pitch=0.3028 right_roll=-0.1819 right_gripper=0.0543 state[joint_eff]: [0.0479, -1.388, 6.8444, 1.536, -0.0464, -0.0415, -0.0122, -0.294, -8.5812, 2.6325, 2.1709, 0.0562, -0.0073, 0.1392] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_x": 0.42, "right_y": 0.38, "right_pitch": 0.3}, "note": "The jaws pinched the bowl rim (gripper settled at 0.054 \u2248 5 mm wall). Lifting the blue bowl with the pear and carrying it left over the large white bowl, ready to tip."})
tool
executing move_to over 22 steps (2.2s)
step 259
assistant
agent notePartial success. I picked up the pear with the right arm and dropped it into the blue bowl. The lemon was grasped but slipped out of the jaws during transport and rolled to the far left of the table, into a spot outside the right arm's y-bound (and the left arm cannot reach the blue bowl), so it could not be re-delivered. I then pinched the blue bowl's rim and tried to lift it to pour into the large white bowl, but the rim grip slipped and the bowl stayed on the table; the budget ran out with the gripper hovering over the white bowl. Final state: pear in the blue bowl, lemon loose on the table, no pour performed.
done
hindsightKey things I wish I'd known: (1) On this rig the right arm STALLS completely (zero tracking, identical readback) beyond x≈0.43 when the tool is vertical or pitched backward. Commanding a positive pitch (+0.3 to +0.45, tool tipped forward) instantly restores reach out to x≈0.47. If a move returns an unchanged readback, add forward pitch rather than retrying. (2) The wrist camera's forward tilt is severe: an object that looks centred and fully visible needs roughly 5-8 cm of extra radial advance, not the 2-3 cm the docs suggest — my first pear close at x=0.32 was empty and the real grasp was at x=0.38. (3) Top-cam scale near the working area is ≈2.4 px/cm horizontally and ≈2.9 px/cm in the image-y (depth) direction; a useful anchor: image (190,105) ≈ right frame (x=0.38, y=0.00), and the layout was white bowl ≈ (x0.50, y0.43), blue bowl ≈ (x0.465, y0.12). The white bowl sits outside the right arm's y bound at its centre. (4) Round smooth fruit grasped at gripper≈0.4 slips out during a fast carry — carry slower/lower or grip harder. (5) Pinching a bowl rim reads ~0.05 on the gripper but does not reliably hold the bowl's weight; better to approach the rim from directly above with the jaws well past the rim and grip with a forward-pitched tool.
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8516, 0.6128, -0.5659, -0.0135, -0.0307, 0.999, 0.9218, 1.9335, 1.3895, 0.2226, 0.6476, 0.0101, 0.054] state[eef_state]: left_x=0.2695 left_y=0.0003 left_z=0.1333 left_yaw=-0.0008 left_pitch=-0.2365 left_roll=0.0037 left_gripper=0.999 right_x=0.4173 right_y=0.3797 right_z=0.2169 right_yaw=0.3537 right_pitch=0.3051 right_roll=-0.1914 right_gripper=0.054 state[joint_eff]: [-0.1436, -1.5385, 6.8308, 1.4823, -0.0611, -0.0464, -0.0122, 0.294, -10.0444, 8.335, 1.7167, 0.2808, 0.2076, -0.0415] 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
done({"summary": "Partial success. I picked up the pear with the right arm and dropped it into the blue bowl. The lemon was grasped but slipped out of the jaws during transport and rolled to the far left of the table, into a spot outside the right arm's y-bound (and the left arm cannot reach the blue bowl), so it could not be re-delivered. I then pinched the blue bowl's rim and tried to lift it to pour into the large white bowl, but the rim grip slipped and the bowl stayed on the table; the budget ran out with the gripper hovering over the white bowl. Final state: pear in the blue bowl, lemon loose on the table, no pour performed.", "hindsight": "Key things I wish I'd known: (1) On this rig the right arm STALLS completely (zero tracking, identical readback) beyond x\u22480.43 when the tool is vertical or pitched backward. Commanding a positive pitch (+0.3 to +0.45, tool tipped forward) instantly restores reach out to x\u22480.47. If a move returns an unchanged readback, add forward pitch rather than retrying. (2) The wrist camera's forward tilt is severe: an object that looks centred and fully visible needs roughly 5-8 cm of extra radial advance, not the 2-3 cm the docs suggest \u2014 my first pear close at x=0.32 was empty and the real grasp was at x=0.38. (3) Top-cam scale near the working area is \u22482.4 px/cm horizontally and \u22482.9 px/cm in the image-y (depth) direction; a useful anchor: image (190,105) \u2248 right frame (x=0.38, y=0.00), and the layout was white bowl \u2248 (x0.50, y0.43), blue bowl \u2248 (x0.465, y0.12). The white bowl sits outside the right arm's y bound at its centre. (4) Round smooth fruit grasped at gripper\u22480.4 slips out during a fast carry \u2014 carry slower/lower or grip harder. (5) Pinching a bowl rim reads ~0.05 on the gripper but does not reliably hold the bowl's weight; better to approach the rim from directly above with the jaws well past the rim and grip with a forward-pitched tool."})
tool
done: Partial success. I picked up the pear with the right arm and dropped it into the blue bowl. The lemon was grasped but slipped out of the jaws during transport and rolled to the far left of the table, into a spot outside the right arm's y-bound (and the left arm cannot reach the blue bowl), so it could not be re-delivered. I then pinched the blue bowl's rim and tried to lift it to pour into the large white bowl, but the rim grip slipped and the bowl stayed on the table; the budget ran out with the gripper hovering over the white bowl. Final state: pear in the blue bowl, lemon loose on the table, no pour performed.
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 · 22.09 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.7994, 0.6136, -0.3828, -0.0139, -0.0299, 0.9991, -0.0227, 0.8001, 0.6182, -0.3866, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=0.0 left_z=0.1823 left_yaw=-0.0007 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9991 right_x=0.296 right_y=0.0005 right_z=0.1834 right_yaw=0.0002 right_pitch=0.0008 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.5675, -1.7162, 9.5658, 1.7802, -0.105, 0.0952, -0.1001, -0.3077, -1.7983, 9.1966, 1.8779, -0.0513, -0.0464, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:320776d434b400635c930c69e24d162a16e92da1e5613dbdf12f4376e93273a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:791b95d45359d3d4f6a8bce046cf47f927ccb7cdcd550df5b06a761ad739ed83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:93660286f0b6241d7f2abdeb177774d780949c0a58409ca5a19a42e8ac412ba1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 5.652 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.7994, 0.6136, -0.3828, -0.0139, -0.0299, 0.9991, -0.0227, 0.8001, 0.6182, -0.3866, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=0.0 left_z=0.1823 left_yaw=-0.0007 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9991 right_x=0.296 right_y=0.0005 right_z=0.1834 right_yaw=0.0002 right_pitch=0.0008 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.5675, -1.7162, 9.5658, 1.7802, -0.105, 0.0952, -0.1001, -0.3077, -1.7983, 9.1966, 1.8779, -0.0513, -0.0464, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:320776d434b400635c930c69e24d162a16e92da1e5613dbdf12f4376e93273a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:791b95d45359d3d4f6a8bce046cf47f927ccb7cdcd550df5b06a761ad739ed83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93660286f0b6241d7f2abdeb177774d780949c0a58409ca5a19a42e8ac412ba1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fp6aKJMBMDxSVyBMJfpUeM",
      "input": {
        "note": "Top view shows a big white bowl left-of-centre, a blue bowl right of it, and two fruits (a lemon and a pear) in front of the blue bowl on the right arm's side. Moving the right gripper above where I estimate the pear is, to check alignment in the wrist camera.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.28,
          "right_y": 0.02,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Fp6aKJMBMDxSVyBMJfpUeM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6132, -0.3866, -0.0139, -0.0307, 0.999, 0.1226, 0.7254, 0.4698, -0.3515, 0.0818, 0.0448, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0002 left_z=0.181 left_yaw=-0.0011 left_pitch=-0.0057 left_roll=-0.0007 left_gripper=0.999 right_x=0.2762 right_y=0.0231 right_z=0.143 right_yaw=0.0286 right_pitch=-0.0356 right_roll=-0.0107 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.3333, 7.2137, 1.8046, -0.0659, -0.0708, -0.0171, -0.1709, -1.306, 6.7624, 2.0391, 0.188, 0.1783, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f75e48bfb15cdf2ecae868614d784c86df1ee10c48009e6411c11d3fbbda9bc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fb31e00ab0af7d65d587675fd97db179fd05a7aa0146585718b18c68bad25c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee1487cd9479ae43d6207486ae66a628a7537790ae63d45845ee52e87bfcc3b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 7.32 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.7994, 0.6136, -0.3828, -0.0139, -0.0299, 0.9991, -0.0227, 0.8001, 0.6182, -0.3866, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=0.0 left_z=0.1823 left_yaw=-0.0007 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9991 right_x=0.296 right_y=0.0005 right_z=0.1834 right_yaw=0.0002 right_pitch=0.0008 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.5675, -1.7162, 9.5658, 1.7802, -0.105, 0.0952, -0.1001, -0.3077, -1.7983, 9.1966, 1.8779, -0.0513, -0.0464, -0.0757]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6132, -0.3866, -0.0139, -0.0307, 0.999, 0.1226, 0.7254, 0.4698, -0.3515, 0.0818, 0.0448, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0002 left_z=0.181 left_yaw=-0.0011 left_pitch=-0.0057 left_roll=-0.0007 left_gripper=0.999 right_x=0.2762 right_y=0.0231 right_z=0.143 right_yaw=0.0286 right_pitch=-0.0356 right_roll=-0.0107 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.3333, 7.2137, 1.8046, -0.0659, -0.0708, -0.0171, -0.1709, -1.306, 6.7624, 2.0391, 0.188, 0.1783, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f75e48bfb15cdf2ecae868614d784c86df1ee10c48009e6411c11d3fbbda9bc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fb31e00ab0af7d65d587675fd97db179fd05a7aa0146585718b18c68bad25c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee1487cd9479ae43d6207486ae66a628a7537790ae63d45845ee52e87bfcc3b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISogYKjgEIEhgCKkCRJ5EsJzpQvvJgONKmf3bW4l5ARzDs9+rM7ETwUdbAMxWK30aZD5epOmBjspdPERfYi/P6CdOKyME2a3lF2TaSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeywzNUGEgwa6C/hHwFHntC9yK0aDE1dVWFRKDrvV2jZ0iIwWFfGRuj4lVMqTdtPweKqGtXO2U82H4Z6svUlTfVHEBi2MndDyI+sVN6/4S+fbkgUKsAEN4tUKKayrDBs+KLmxbkzjj/BU3KpaZL//25PKL9uL/SRaVlAu4excbU76yw9Qb9W/83APYoGdgEu7dzDf4lI0RR5pcIm6teIwd9LDOkCV4RRzvF8hHp48Cca9wWUqkOLyAdxzblV1bI9ccRGBQjxGAZYQwfODmQn5w5anqfkrBsJbOZVqcZp0Hk3DlUZ+4qHAIbbJa1WAtHi3JsL/JVw3NBbstW3kwrHqXK8KFTEcq6tf+TU4nk994ouC/w/Eyizh7h8BPMqLGieOGg0kzj3+Z4TkyHLnyewXgFaUpzIINsUPaguseCtFzQjNmttkZSd7qx7RDP8B0hK86uCVEX1UonR5dWfFTHx8s99g76DDdIDO6AjtS/JONu9asUSJesPOQmjwPg8TVOS23dLvFw4gdZdlUviVWlgtwJn/YlO8510Mk+noAqqYrA+KLbAOvDVc2NP5o7vuHHF4oaSNIeJ8PQ5v8Vj52MqKB3vFv1nTXzH2LmhWVQDqfExaSTSJxgv2mASg4mOBLF9x7zGcMLsG677tje4UQZPn9wCmlLNwkWDjLLYMukC4NotqrN3IJJXIYTeGHtyH+0pUQic8CuF1QpuhEgjNyHIvVgt88GxNQWN3z2+wAo9p6cbZvDQKw9SEplU3Pi8na2hqO+8oqJ2ITVpyY8hZGGCrMq303q2Kf4QvCSXLKntSudzKlspe2NFxFacvmR5Ny2WEkFpsi95a6f9gmDyZRX4KFbyYrSALKvQdOYOF7qbnRsxGZLg7dA4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K6jfEBkNVpzTEMWopXcJpD",
      "input": {
        "note": "Wrist view shows the pear slightly right of the jaw column and a bit short of the fingertips. Shifting right and forward to centre the jaws over the pear before descending.",
        "targets": {
          "right_x": 0.31,
          "right_y": -0.01,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01K6jfEBkNVpzTEMWopXcJpD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8021, 0.6132, -0.4004, -0.0135, -0.0311, 0.999, -0.1009, 0.9218, 0.485, -0.2356, -0.0921, -0.0761, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=-0.0002 left_z=0.1778 left_yaw=-0.0012 left_pitch=-0.021 left_roll=-0.001 left_gripper=0.999 right_x=0.3009 right_y=-0.0105 right_z=0.12 right_yaw=0.0173 right_pitch=-0.0998 right_roll=-0.0033 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.3744, 7.1316, 1.8974, -0.0122, -0.0757, -0.0122, -0.0205, -2.6598, 9.5658, 1.8486, -0.1587, 0.0024, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf3e60154e05303f62c2fbdafd8b4e04e4571da74777a417b69553f55ce8614d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb821efa2a7169e6394361d9221cc78774fb32a32e224ddd1983abffc03a280b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c3e77a22262858bb54cf2f281bba0c657ee00dc5f44700bdd9b46e0f8b99c2c6",
        "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 · 3.585 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.7994, 0.6136, -0.3828, -0.0139, -0.0299, 0.9991, -0.0227, 0.8001, 0.6182, -0.3866, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=0.0 left_z=0.1823 left_yaw=-0.0007 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9991 right_x=0.296 right_y=0.0005 right_z=0.1834 right_yaw=0.0002 right_pitch=0.0008 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.5675, -1.7162, 9.5658, 1.7802, -0.105, 0.0952, -0.1001, -0.3077, -1.7983, 9.1966, 1.8779, -0.0513, -0.0464, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6132, -0.3866, -0.0139, -0.0307, 0.999, 0.1226, 0.7254, 0.4698, -0.3515, 0.0818, 0.0448, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0002 left_z=0.181 left_yaw=-0.0011 left_pitch=-0.0057 left_roll=-0.0007 left_gripper=0.999 right_x=0.2762 right_y=0.0231 right_z=0.143 right_yaw=0.0286 right_pitch=-0.0356 right_roll=-0.0107 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.3333, 7.2137, 1.8046, -0.0659, -0.0708, -0.0171, -0.1709, -1.306, 6.7624, 2.0391, 0.188, 0.1783, -0.0757]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8021, 0.6132, -0.4004, -0.0135, -0.0311, 0.999, -0.1009, 0.9218, 0.485, -0.2356, -0.0921, -0.0761, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=-0.0002 left_z=0.1778 left_yaw=-0.0012 left_pitch=-0.021 left_roll=-0.001 left_gripper=0.999 right_x=0.3009 right_y=-0.0105 right_z=0.12 right_yaw=0.0173 right_pitch=-0.0998 right_roll=-0.0033 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.3744, 7.1316, 1.8974, -0.0122, -0.0757, -0.0122, -0.0205, -2.6598, 9.5658, 1.8486, -0.1587, 0.0024, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf3e60154e05303f62c2fbdafd8b4e04e4571da74777a417b69553f55ce8614d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb821efa2a7169e6394361d9221cc78774fb32a32e224ddd1983abffc03a280b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3e77a22262858bb54cf2f281bba0c657ee00dc5f44700bdd9b46e0f8b99c2c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS6gYKjgEIEhgCKkC7bj1mVsLXbg+r5FZPvPx3aZxLfrC8HWRWDFSe9eUm6yxY2jEKns9drzeVRjGhB7nnXBgtORkv8Af0hxMjlv5YMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfWwzNUGEgyD2QqFpF409dtQarIaDH9hD98N+eFDKJ28ISIwkCwNuPxZz1BFj9UcFZE15z7ams5n/4rO1BGAaNXcVgh07/bqgCP4m8HbOsDG2lweKogFNqI1potXkxtLyfM3ni7znZpaAe33T/Kf+Kqp1dQvuuKhPJUf/UZ/+L0jRiEkXR6h/bjDUSGPYHB9aItyC+TJ6/CByOE1U6UAKFLLQo6wvX/i/P/tiqesFsy75A3h7pKCt1fC51GpJtOaGPos6wvW9qYVIefMG6K6QwB9apT1ZfT+ezuDV2WHp7AN+0KP5dQQLByAFo0nVjADT3lrHBkECAYaIK7i0mYAAlqOPY8as6ftEroBHNjIs7L0w9nEGy3RkmxVzhPlNYBTk+VrqnM0yjnfp1MCSQCf51NMGJ17DzaC9drgwWPxcqc5vSKycKtflRic2i3Pg+hjyMrvbT5/etTJXAYJibnKlcczWe5iC0BuabfNeATChv/Ai0FTO00WTbwpkcQpQ5LVcHk+cBcq99D4jhbJ5kRTVo4a0KGKkocKuq9u/TxJMVj1W7oxAdbs9K6RMvEgXp/75zwfSdssMT4nldeL83F4UgCcI419eowu5ZYmR9ZKl05aT4W/TUCQBDb1/F4Xl8SvUEIPGSh1pzno7cZxS38FNQFzvtTaodB6YLnU9ZoNumrxO8y3dmRtsm+ZUv15gICDROYIOMc/QpxQ0svvqB5SjVDZmjkELsWa7VKeEOLAUN5blnkc5mVR567W3dAGNke3WfpzMc8B+CQ9sxYQbYl1FkEfn6rNnVR2rKZrtmCmWFsI0an6xrdhXm9ps+O4XX538gH53z1aNU8wpzJrvSk4m7+W8Rw3C/9kTHfuPu4CnlkML+j4MGn3g9kuE7zyKAOE9t04ESDOpqSFWNqIFKqCfJu5s04FSRBIMn41CbRicsGepXLc08ljjXo5O8KR8RuBnXB/XSLx2tM71KM8hvqmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013wgcVvtU8Ed4Ve3FY6ih59",
      "input": {
        "note": "Pear is now centred on the jaw column in the wrist view; advancing 3 cm forward and descending to mid-pear height to grasp it.",
        "targets": {
          "right_x": 0.33,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_013wgcVvtU8Ed4Ve3FY6ih59",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4088, -0.0135, -0.0307, 0.999, -0.0868, 1.2827, 0.3428, 0.2253, -0.091, -0.0795, 0.9994]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.175 left_yaw=-0.0014 left_pitch=-0.0332 left_roll=-0.0004 left_gripper=0.999 right_x=0.3243 right_y=-0.0085 right_z=0.0416 right_yaw=0.0329 right_pitch=-0.1419 right_roll=-0.0017 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.6068, 7.0085, 1.79, -0.022, -0.0464, -0.0073, 0.0889, -4.4103, 5.7641, 1.9805, 0.0269, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc5b5550f0b0b387647e9a718a5012fe2d274df6f669094a8d90608f591fca36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd746b68a163d28d7e092d0a9c517daa3ad4569b83ecb9c7f7776add2f06c4cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:915c13496dd0514f3690c38949d7ba2eaf170e40f64ef7dad8943fbe1dabdd79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 9.189 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6132, -0.3866, -0.0139, -0.0307, 0.999, 0.1226, 0.7254, 0.4698, -0.3515, 0.0818, 0.0448, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0002 left_z=0.181 left_yaw=-0.0011 left_pitch=-0.0057 left_roll=-0.0007 left_gripper=0.999 right_x=0.2762 right_y=0.0231 right_z=0.143 right_yaw=0.0286 right_pitch=-0.0356 right_roll=-0.0107 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.3333, 7.2137, 1.8046, -0.0659, -0.0708, -0.0171, -0.1709, -1.306, 6.7624, 2.0391, 0.188, 0.1783, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8021, 0.6132, -0.4004, -0.0135, -0.0311, 0.999, -0.1009, 0.9218, 0.485, -0.2356, -0.0921, -0.0761, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=-0.0002 left_z=0.1778 left_yaw=-0.0012 left_pitch=-0.021 left_roll=-0.001 left_gripper=0.999 right_x=0.3009 right_y=-0.0105 right_z=0.12 right_yaw=0.0173 right_pitch=-0.0998 right_roll=-0.0033 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.3744, 7.1316, 1.8974, -0.0122, -0.0757, -0.0122, -0.0205, -2.6598, 9.5658, 1.8486, -0.1587, 0.0024, -0.022]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4088, -0.0135, -0.0307, 0.999, -0.0868, 1.2827, 0.3428, 0.2253, -0.091, -0.0795, 0.9994]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.175 left_yaw=-0.0014 left_pitch=-0.0332 left_roll=-0.0004 left_gripper=0.999 right_x=0.3243 right_y=-0.0085 right_z=0.0416 right_yaw=0.0329 right_pitch=-0.1419 right_roll=-0.0017 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.6068, 7.0085, 1.79, -0.022, -0.0464, -0.0073, 0.0889, -4.4103, 5.7641, 1.9805, 0.0269, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc5b5550f0b0b387647e9a718a5012fe2d274df6f669094a8d90608f591fca36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd746b68a163d28d7e092d0a9c517daa3ad4569b83ecb9c7f7776add2f06c4cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:915c13496dd0514f3690c38949d7ba2eaf170e40f64ef7dad8943fbe1dabdd79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS3QIKjgEIEhgCKkC8y6fTQ5nSKIBiG/dFEkozY1pkMKfYM8SDbZZbJsm77V7D6D1h0wah/Y2/aaIKR8aJ8sb1dG+eLXp6R3lKtwCSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf2wzNUGEgzihiq15QxeULIIGqUaDMBVsoyyw4Nk2paQJCIw3pQbkcK3tvQGO5UmWeQSVpdR43YBitz+i/DI4IJTK4F+MDsSkz1urHvomvce/WOBKnzXv0pWQfCsNTu67c95LFUm8FXY42MtDseLSG1Pn2VNPurqkcnnxbkLPYzmAZB2mmc1eWiG8IMsQVY6sMT9eWA/jZrMR2Qh3hI6D0zVt7cuaIheU3tebyvUeSKJdSoKLZAbpHHatSWX2iDSmRcXx+FcqeOjGZoSDiP5KhrIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TouiwF79Ng1bm5DfJRn3Kw",
      "input": {
        "note": "Jaws straddle the pear at mid-height; closing to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TouiwF79Ng1bm5DfJRn3Kw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8062, 0.6132, -0.4202, -0.0139, -0.0307, 0.999, -0.0872, 1.2831, 0.3428, 0.2165, -0.0914, -0.0826, 0.0089]\nstate[eef_state]: left_x=0.2912 left_y=-0.0001 left_z=0.1726 left_yaw=-0.001 left_pitch=-0.045 left_roll=0.0001 left_gripper=0.999 right_x=0.3229 right_y=-0.0084 right_z=0.0399 right_yaw=0.0347 right_pitch=-0.1509 right_roll=-0.0026 right_gripper=0.0089\nstate[joint_eff]: [-0.3487, -1.2923, 7.0085, 1.79, -0.0708, -0.0513, -0.0122, -0.0752, -3.8359, 5.7231, 1.7021, -0.0366, 0.0317, 0.735]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9452970bd21b67f4c24fc605e63ac0a74d86793b886493cd952810128b1e60e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a11b56cf3377ed3f25ca555b58afd3001a49deeb2c89f41982aded60bcecf9e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:466de0310bd2e99ed40577c847ff27b4052e7ead98b0bff6b446d4808ac4c90c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 6.903 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8021, 0.6132, -0.4004, -0.0135, -0.0311, 0.999, -0.1009, 0.9218, 0.485, -0.2356, -0.0921, -0.0761, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=-0.0002 left_z=0.1778 left_yaw=-0.0012 left_pitch=-0.021 left_roll=-0.001 left_gripper=0.999 right_x=0.3009 right_y=-0.0105 right_z=0.12 right_yaw=0.0173 right_pitch=-0.0998 right_roll=-0.0033 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.3744, 7.1316, 1.8974, -0.0122, -0.0757, -0.0122, -0.0205, -2.6598, 9.5658, 1.8486, -0.1587, 0.0024, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4088, -0.0135, -0.0307, 0.999, -0.0868, 1.2827, 0.3428, 0.2253, -0.091, -0.0795, 0.9994]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.175 left_yaw=-0.0014 left_pitch=-0.0332 left_roll=-0.0004 left_gripper=0.999 right_x=0.3243 right_y=-0.0085 right_z=0.0416 right_yaw=0.0329 right_pitch=-0.1419 right_roll=-0.0017 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.6068, 7.0085, 1.79, -0.022, -0.0464, -0.0073, 0.0889, -4.4103, 5.7641, 1.9805, 0.0269, 0.0513, -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 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8062, 0.6132, -0.4202, -0.0139, -0.0307, 0.999, -0.0872, 1.2831, 0.3428, 0.2165, -0.0914, -0.0826, 0.0089]\nstate[eef_state]: left_x=0.2912 left_y=-0.0001 left_z=0.1726 left_yaw=-0.001 left_pitch=-0.045 left_roll=0.0001 left_gripper=0.999 right_x=0.3229 right_y=-0.0084 right_z=0.0399 right_yaw=0.0347 right_pitch=-0.1509 right_roll=-0.0026 right_gripper=0.0089\nstate[joint_eff]: [-0.3487, -1.2923, 7.0085, 1.79, -0.0708, -0.0513, -0.0122, -0.0752, -3.8359, 5.7231, 1.7021, -0.0366, 0.0317, 0.735]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9452970bd21b67f4c24fc605e63ac0a74d86793b886493cd952810128b1e60e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a11b56cf3377ed3f25ca555b58afd3001a49deeb2c89f41982aded60bcecf9e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:466de0310bd2e99ed40577c847ff27b4052e7ead98b0bff6b446d4808ac4c90c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpQoKjgEIEhgCKkBNegv84T/MwK8Ar+HTgWmyl1U/x9tX6fsVgmi3TSsuFkSoJPivowHnhB5hmprUyQPfMOjz2EGbRnE7jm+n7mjAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYaxzNUGEgxGOVfmfNzaHnLp6gwaDLQI/qgs7LpAsS3wXSIwRZ85vKsodeejMQhrsSI18Cb/FxERCFxRpZoCKvsFXIaitWEZIwyfytRH4vDLK/TwKsMIseisZREqthdEwYGphEn+WoyWoxIa7dpcv9QhS+MSUusuTL4ySchSsDcWX4LMbsTt0g9mQSxPCvLHavaNw2wixiM8eIfsCE1DinlB4s35ia4kbLUpdw7LoRbIiySGxFxJP0FumsWaE9iiog+stFwn/J4hGAv29z8nTvCeNWVWfcAUObTuYekQGjv+rv4CZlI0qnPWPFz7/6DfAux3ODHlimKKTpJ+2PcpU0kSxrloK5V/lny/iBQNICbyRN6IsmuIzOHS0dM/9uh0HsyFVw+qqpnarDNmpX/53piGDAyUKQmi7Ydw3kaal2/y/sQbdC+WqB/ymLF4QRP2+TVgsJkToknDCUluHvsn1aC5bHxV0fLonbqaEQLl6J5azcOOMgphS6a0SGPYt3Uzut/dNDNdAr+SKsXj9i9X/T/pRx3T0RrpMqEX6xz+kL63U15hwDAY5qTetMZQk6oGv7UGnm1YUjbUeT99I5ZXcu3CEf20yEp4mtNXTvGgn6pNrYn3NX9YDEr/ZECUtSd8PgCLmFfccoY8U7bqRtKKcDj93QgR+pAVpz1RcbN9qAa8qYtyssHV1WIl2Ihx+siBtsOKKeVieAEaBVtRJt7ujtm0TEznqe9rK/ri3zdEsCFcvF6k5eIMmg08j6ekkMZrc9OH6T78WXClsCAgA5eSBBiNzLYSXP35Z9t1VD20wGJ3jjAv1iYBV97tt4nX4270JBpmKJhzZJbidg/I8HVwke6G2EZ96iuzneejTErnaiLj4I2H3/eA5ePSRcz1YFWeNuZSYAI8OQAP7YLrM5dIyTuB2WOOYPe7OBIXA/ysNFkcgcDgtPYTy/0jomKLdI+37+j9h5MhZ/+492Lh510ysIUzyMfmoLFlBC1NJRYsRHL8TTf5tMktAenDYWgqBhDXn0mmuD2LzTiF0i/aEcg61YGBPFkpHHq0xfHhGclJlWNuqDSWAZbepylA43lM7VB2bKahKOlbTtdR7SsigCcH2oiQW+ixlAepJBOU1p8fXHZe7/TRLZIbGH6pIAW3BrBH66Wi0KCC2TRrjpGhHZiLywQ1+EMIWZBftEYK1JK6KwxBjQ11dU4R6EQvEVU8TTxb9BtmQUzUYt/CgtGtLHPNfsokGB7C+Biv+yQPqxdSZKxrx+/waA4RVa7Q67e4hWcqdO+beN/gng6ka8JF1X4NWoM5n1lo1RyH6toKRcEKDqPrrhPuEV6DqsHUh8WnNi1zhkk7XQExAopZyRoCtxnsPPQUPU88408qlExHbWEBJttsB4FJKL2pMxHeJoxCxvkCf121mJYFw5HBkdRs1Q4FMpp6kipLgl+kth61idzwNSUkTJu+3tAa4AzdqJG8qChKT2/gjXLaGcD836fl4/3jYkUvw4yBw6DMf2ukEAqfQKfT+o2GvSEfj7G1Trtzifs+/tVasc27wvGcz0JJi3AGEjIRYUEP9DiP85AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AQ7Vf4czcmVFWWCPUAv44r",
      "input": {
        "note": "The close came back empty (gripper 0.009) and the pear is still standing in front of the jaws, so the fruit is further out than I thought. Opening and advancing another 4 cm.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.365
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AQ7Vf4czcmVFWWCPUAv44r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4244, -0.0135, -0.0307, 0.999, -0.0731, 1.4765, 0.4664, 0.2363, -0.0906, -0.0872, 0.9986]\nstate[eef_state]: left_x=0.2907 left_y=-0.0002 left_z=0.1713 left_yaw=-0.0014 left_pitch=-0.0507 left_roll=-0.0 left_gripper=0.999 right_x=0.3528 right_y=-0.0062 right_z=0.0275 right_yaw=0.0517 right_pitch=-0.2006 right_roll=-0.0003 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.4291, 7.0906, 1.746, -0.0317, -0.0513, -0.0122, -0.1162, -5.0667, 7.0359, 1.8388, 0.0659, 0.105, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:418a986d7655fdbe926de36e71274c90e624fff9580d47d7eb7eb64de3e71f8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b834769391c1ebb4254a1547e4de54367c26fb03a2f079a5eb7974ac1d28b55a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d8d9b5bcef33d2235ad026a59790ae3ca5a5b340b6352020fa10e4a908ddf902",
        "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 · 5.342 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4088, -0.0135, -0.0307, 0.999, -0.0868, 1.2827, 0.3428, 0.2253, -0.091, -0.0795, 0.9994]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.175 left_yaw=-0.0014 left_pitch=-0.0332 left_roll=-0.0004 left_gripper=0.999 right_x=0.3243 right_y=-0.0085 right_z=0.0416 right_yaw=0.0329 right_pitch=-0.1419 right_roll=-0.0017 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.6068, 7.0085, 1.79, -0.022, -0.0464, -0.0073, 0.0889, -4.4103, 5.7641, 1.9805, 0.0269, 0.0513, -0.0122]\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]: [-0.0212, 0.8062, 0.6132, -0.4202, -0.0139, -0.0307, 0.999, -0.0872, 1.2831, 0.3428, 0.2165, -0.0914, -0.0826, 0.0089]\nstate[eef_state]: left_x=0.2912 left_y=-0.0001 left_z=0.1726 left_yaw=-0.001 left_pitch=-0.045 left_roll=0.0001 left_gripper=0.999 right_x=0.3229 right_y=-0.0084 right_z=0.0399 right_yaw=0.0347 right_pitch=-0.1509 right_roll=-0.0026 right_gripper=0.0089\nstate[joint_eff]: [-0.3487, -1.2923, 7.0085, 1.79, -0.0708, -0.0513, -0.0122, -0.0752, -3.8359, 5.7231, 1.7021, -0.0366, 0.0317, 0.735]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4244, -0.0135, -0.0307, 0.999, -0.0731, 1.4765, 0.4664, 0.2363, -0.0906, -0.0872, 0.9986]\nstate[eef_state]: left_x=0.2907 left_y=-0.0002 left_z=0.1713 left_yaw=-0.0014 left_pitch=-0.0507 left_roll=-0.0 left_gripper=0.999 right_x=0.3528 right_y=-0.0062 right_z=0.0275 right_yaw=0.0517 right_pitch=-0.2006 right_roll=-0.0003 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.4291, 7.0906, 1.746, -0.0317, -0.0513, -0.0122, -0.1162, -5.0667, 7.0359, 1.8388, 0.0659, 0.105, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:418a986d7655fdbe926de36e71274c90e624fff9580d47d7eb7eb64de3e71f8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b834769391c1ebb4254a1547e4de54367c26fb03a2f079a5eb7974ac1d28b55a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8d9b5bcef33d2235ad026a59790ae3ca5a5b340b6352020fa10e4a908ddf902",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxAUKjgEIEhgCKkDnIpl5IgmSFHquBdLJq976zYXeJKX5xS2tgoMXbB8XGyBdbdCgeEsQk+kXeffk4P8e3S+I8u6i2z2kuU4hSxsgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZOxzNUGEgxMAxko2k5ZmQQOWEYaDC+sDC/4T0TdDAEpPyIwlNRY6+36S2DVU93+7LmZTOoIt6+LpNcrRyUIZxVYmF3EiJa5W3mK0MQEcc7MOSDWKuID07xhKQs23LgrhmtZ+B336YtRQ8GeJ7yaBrs/4/1ucYiRTcKNETofmD9Ruvc5Sb3sNBtmHT3iJTI2lcchsg4v6sOCLnPezYMvN9AAM/xS1CsAxEPXNxEPRBRUm7Q8YnEpGaVJOaWQwAPhBZx+LZMiTZHf4hMQdKCG5obx8d9TgT/e5uGBfJ1w1vi6hLfHqEQv3gAl6hn3idOlx/kCDSUBX9Jxss0Ui6lLJQfRkxAQLvVYAXhpEUv863LuaVbY7eeG1uAK1WiNAddnxYqw1dg3pQJYkq5YlwX+Q3b+/A93vVuboS4BuT7wzL3I0Brcaivyh/nGDWzeLuZc7x0IcbNMEhxiRRNgPuIQ3czJJa7zE+tdmJr+ldcNSXOxIXZMPdWJ+8ZGgAVMD+oSP/6dp3XbQ6xGkfaOYrDIS1bidPokJdgNSoiqX09z8oWMXIJWQQ8R5Uw1nrFMtupYlD8579cfuEZ/Z6NVDE6cbPR8scMC/NP+0Hx5V2njdSp+IH/F6/D3cjPxAp2JIDh0oTvFxPV633aHUTbEEBdzQmA/pu94CsMLRoBsKdj1pOA7sKjX+2z5fb1Sg0RCX6Ean7JWHwNytWLlq+DGaXzN5Qqh5I2wsNuD9nIvOA9sAULn58Ifsmq+cKEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UV7gJDLdWwe3pzv1phftdK",
      "input": {
        "note": "Pear now fills the wrist view just above the jaws; nudging 2-3 cm further forward and up to mid-pear height so the fruit sits between the fingers.",
        "targets": {
          "right_x": 0.385,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01UV7gJDLdWwe3pzv1phftdK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8089, 0.6132, -0.4248, -0.0139, -0.0307, 0.999, -0.0612, 1.5246, 0.6022, 0.1322, -0.0914, -0.0906, 0.9986]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1709 left_yaw=-0.001 left_pitch=-0.0523 left_roll=0.0002 left_gripper=0.999 right_x=0.3773 right_y=-0.0034 right_z=0.042 right_yaw=0.0666 right_pitch=-0.2168 right_roll=-0.0002 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -1.0872, 7.2, 1.7167, -0.0757, -0.0366, -0.0122, -0.1026, -5.3402, 7.159, 1.4628, 0.0073, 0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6c2c33f353720e05fdc20b94aebf82bff99c4f22830d9e5bd308e318e450c63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edd79f689bb45304e688511206ca3dedebed19217a26e2a1dbac1b7887bd2cc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:213bbeda6b03f518894b672749f3f39953450e517e91290c00e8e9e176e592cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 18.14 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8062, 0.6132, -0.4202, -0.0139, -0.0307, 0.999, -0.0872, 1.2831, 0.3428, 0.2165, -0.0914, -0.0826, 0.0089]\nstate[eef_state]: left_x=0.2912 left_y=-0.0001 left_z=0.1726 left_yaw=-0.001 left_pitch=-0.045 left_roll=0.0001 left_gripper=0.999 right_x=0.3229 right_y=-0.0084 right_z=0.0399 right_yaw=0.0347 right_pitch=-0.1509 right_roll=-0.0026 right_gripper=0.0089\nstate[joint_eff]: [-0.3487, -1.2923, 7.0085, 1.79, -0.0708, -0.0513, -0.0122, -0.0752, -3.8359, 5.7231, 1.7021, -0.0366, 0.0317, 0.735]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4244, -0.0135, -0.0307, 0.999, -0.0731, 1.4765, 0.4664, 0.2363, -0.0906, -0.0872, 0.9986]\nstate[eef_state]: left_x=0.2907 left_y=-0.0002 left_z=0.1713 left_yaw=-0.0014 left_pitch=-0.0507 left_roll=-0.0 left_gripper=0.999 right_x=0.3528 right_y=-0.0062 right_z=0.0275 right_yaw=0.0517 right_pitch=-0.2006 right_roll=-0.0003 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.4291, 7.0906, 1.746, -0.0317, -0.0513, -0.0122, -0.1162, -5.0667, 7.0359, 1.8388, 0.0659, 0.105, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8089, 0.6132, -0.4248, -0.0139, -0.0307, 0.999, -0.0612, 1.5246, 0.6022, 0.1322, -0.0914, -0.0906, 0.9986]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1709 left_yaw=-0.001 left_pitch=-0.0523 left_roll=0.0002 left_gripper=0.999 right_x=0.3773 right_y=-0.0034 right_z=0.042 right_yaw=0.0666 right_pitch=-0.2168 right_roll=-0.0002 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -1.0872, 7.2, 1.7167, -0.0757, -0.0366, -0.0122, -0.1026, -5.3402, 7.159, 1.4628, 0.0073, 0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6c2c33f353720e05fdc20b94aebf82bff99c4f22830d9e5bd308e318e450c63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edd79f689bb45304e688511206ca3dedebed19217a26e2a1dbac1b7887bd2cc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:213bbeda6b03f518894b672749f3f39953450e517e91290c00e8e9e176e592cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyQQKjgEIEhgCKkDDzJffDCUb1waLJTGD0U9k5ROq4xFxA+gfq8h88fkDhAB0OvoeyH+SIHgWSAORHLYLHmhS+10Btk6XG3BhcBqUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZixzNUGEgyuGKv7hRCkhvk77AoaDI8dpPCgVu2ZA2K11iIwjig/fLmIPe7Y8DY2vVgdjbu1eX36NBajoJMlGeDaGbXj1uF0MkcBsxnlUeDeMSAIKucCkyDnxXnB87ZciLmqqI/8nKaD18PP3IbR8KNSrMtWPctaulqxjQVNFJ2dI9lCU0cARgPQB3dzD7sWGN0oTYcrj8rVveJBiiIrqO4Mnv76vKlbw9JlB5uBCnj8p4IsJvxrQBu1GbAJp0AhTYA91r3XKrZYrWk6GCXonc5P/qZ6OeQS+fx/EgVOkdzhamwtJeUwMKC1vO2w/fbauw5zlVDSM9oY4PADRxC5fi4niBBK5U5jKmIIjj+OaeL0qWJk774aXzmQL1CTHIGYrQIjddgPtzokOcervTw6vjdSjUA40rJHbK5XnAlFYvyUzjXYymDA8DYLETdTQupmWVSY8rpWMc2fSSZ78il8Izn0miBsRRWGvsbpU5SBw/yTL3N6a50Bmgo9s+89HzWi7TkTPu8fecs3UcHGGCoFIIElP4FGklk0qrmjZ/A8fcvmpx39VFC7XxcdZFEjhHLmcir6M+TY4P3IczZoHZYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TMRsJkUxpPThQXYB3QULhF",
      "input": {
        "note": "The fruit now sits between the jaw tips in the wrist view; closing to grasp.",
        "targets": {
          "right_gripper": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01TMRsJkUxpPThQXYB3QULhF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8089, 0.6132, -0.4252, -0.0139, -0.0307, 0.999, -0.0616, 1.5242, 0.6086, 0.1379, -0.0998, -0.0952, 0.6195]\nstate[eef_state]: left_x=0.2906 left_y=-0.0001 left_z=0.1709 left_yaw=-0.001 left_pitch=-0.0526 left_roll=0.0002 left_gripper=0.999 right_x=0.3804 right_y=-0.0022 right_z=0.0457 right_yaw=0.0755 right_pitch=-0.2035 right_roll=0.0008 right_gripper=0.6195\nstate[joint_eff]: [0.0615, -1.0598, 7.0085, 1.6972, -0.0659, -0.0757, -0.0122, -0.0479, -5.9692, 5.2718, 1.4872, -0.0073, 0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ff0b3f0489637a22b2e7b9efa7b66f09791cf325a4d6971b81a3a9651850a24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a5616251bc1d96c51bffba1ef033d316b3f6134602958cab098741dea15eca9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:96fe96033fa848d5458869c436ca34d2281534adfd1fb5242189b38873497c1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 8.318 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4244, -0.0135, -0.0307, 0.999, -0.0731, 1.4765, 0.4664, 0.2363, -0.0906, -0.0872, 0.9986]\nstate[eef_state]: left_x=0.2907 left_y=-0.0002 left_z=0.1713 left_yaw=-0.0014 left_pitch=-0.0507 left_roll=-0.0 left_gripper=0.999 right_x=0.3528 right_y=-0.0062 right_z=0.0275 right_yaw=0.0517 right_pitch=-0.2006 right_roll=-0.0003 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.4291, 7.0906, 1.746, -0.0317, -0.0513, -0.0122, -0.1162, -5.0667, 7.0359, 1.8388, 0.0659, 0.105, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8089, 0.6132, -0.4248, -0.0139, -0.0307, 0.999, -0.0612, 1.5246, 0.6022, 0.1322, -0.0914, -0.0906, 0.9986]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1709 left_yaw=-0.001 left_pitch=-0.0523 left_roll=0.0002 left_gripper=0.999 right_x=0.3773 right_y=-0.0034 right_z=0.042 right_yaw=0.0666 right_pitch=-0.2168 right_roll=-0.0002 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -1.0872, 7.2, 1.7167, -0.0757, -0.0366, -0.0122, -0.1026, -5.3402, 7.159, 1.4628, 0.0073, 0.0855, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8089, 0.6132, -0.4252, -0.0139, -0.0307, 0.999, -0.0616, 1.5242, 0.6086, 0.1379, -0.0998, -0.0952, 0.6195]\nstate[eef_state]: left_x=0.2906 left_y=-0.0001 left_z=0.1709 left_yaw=-0.001 left_pitch=-0.0526 left_roll=0.0002 left_gripper=0.999 right_x=0.3804 right_y=-0.0022 right_z=0.0457 right_yaw=0.0755 right_pitch=-0.2035 right_roll=0.0008 right_gripper=0.6195\nstate[joint_eff]: [0.0615, -1.0598, 7.0085, 1.6972, -0.0659, -0.0757, -0.0122, -0.0479, -5.9692, 5.2718, 1.4872, -0.0073, 0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ff0b3f0489637a22b2e7b9efa7b66f09791cf325a4d6971b81a3a9651850a24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a5616251bc1d96c51bffba1ef033d316b3f6134602958cab098741dea15eca9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96fe96033fa848d5458869c436ca34d2281534adfd1fb5242189b38873497c1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TpiTuP2Tcaojji8MYUejRV",
      "input": {
        "note": "Gripper settled at 0.62 (~6 cm object) — the pear is held. Lifting and moving toward my estimate of the blue bowl position to check alignment from above.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.1,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01TpiTuP2Tcaojji8MYUejRV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6128, -0.4416, -0.0139, -0.0307, 0.999, 0.2916, 1.5227, 1.3174, -0.6319, 0.1268, 0.1192, 0.6227]\nstate[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1665 left_yaw=-0.001 left_pitch=-0.0729 left_roll=0.0006 left_gripper=0.999 right_x=0.4112 right_y=0.1039 right_z=0.2024 right_yaw=0.1137 right_pitch=-0.2591 right_roll=-0.0153 right_gripper=0.6227\nstate[joint_eff]: [-0.1026, -1.4291, 6.9812, 1.917, -0.0415, -0.0366, -0.0122, -0.4581, -7.4598, 9.1692, 1.7411, 0.2515, 0.2027, 0.6081]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83542ccb77ea79c901c3cd5da1385cf67249d4dded7234614ec8d12b8f200e87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7418fa91053986b5b7cd8d860b1c04518cf07483e9dd2e969a92f7c49112561",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2db309ecbbd75ecf5f9ba87e2ac49d0271850f6925ff4818d5c77391f5b14a2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /messages · status 200 · 5.912 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8089, 0.6132, -0.4248, -0.0139, -0.0307, 0.999, -0.0612, 1.5246, 0.6022, 0.1322, -0.0914, -0.0906, 0.9986]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1709 left_yaw=-0.001 left_pitch=-0.0523 left_roll=0.0002 left_gripper=0.999 right_x=0.3773 right_y=-0.0034 right_z=0.042 right_yaw=0.0666 right_pitch=-0.2168 right_roll=-0.0002 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -1.0872, 7.2, 1.7167, -0.0757, -0.0366, -0.0122, -0.1026, -5.3402, 7.159, 1.4628, 0.0073, 0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8089, 0.6132, -0.4252, -0.0139, -0.0307, 0.999, -0.0616, 1.5242, 0.6086, 0.1379, -0.0998, -0.0952, 0.6195]\nstate[eef_state]: left_x=0.2906 left_y=-0.0001 left_z=0.1709 left_yaw=-0.001 left_pitch=-0.0526 left_roll=0.0002 left_gripper=0.999 right_x=0.3804 right_y=-0.0022 right_z=0.0457 right_yaw=0.0755 right_pitch=-0.2035 right_roll=0.0008 right_gripper=0.6195\nstate[joint_eff]: [0.0615, -1.0598, 7.0085, 1.6972, -0.0659, -0.0757, -0.0122, -0.0479, -5.9692, 5.2718, 1.4872, -0.0073, 0.0073, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6128, -0.4416, -0.0139, -0.0307, 0.999, 0.2916, 1.5227, 1.3174, -0.6319, 0.1268, 0.1192, 0.6227]\nstate[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1665 left_yaw=-0.001 left_pitch=-0.0729 left_roll=0.0006 left_gripper=0.999 right_x=0.4112 right_y=0.1039 right_z=0.2024 right_yaw=0.1137 right_pitch=-0.2591 right_roll=-0.0153 right_gripper=0.6227\nstate[joint_eff]: [-0.1026, -1.4291, 6.9812, 1.917, -0.0415, -0.0366, -0.0122, -0.4581, -7.4598, 9.1692, 1.7411, 0.2515, 0.2027, 0.6081]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83542ccb77ea79c901c3cd5da1385cf67249d4dded7234614ec8d12b8f200e87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7418fa91053986b5b7cd8d860b1c04518cf07483e9dd2e969a92f7c49112561",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2db309ecbbd75ecf5f9ba87e2ac49d0271850f6925ff4818d5c77391f5b14a2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5QYKjgEIEhgCKkC50OtONcxZsZuvRN/+pps+I3WnRZy/pDC/ORbXwXG6AYwCxrVfj6hShNfUP+Z5FtIodSe1YOF3XFYld8cW1/6EMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbixzNUGEgwUrwCBRQJdkKxKpb0aDFrrlN27JpGnl6putyIwsgChEk5chLclpy4xEAKhGvTQpxSoNT3vTJJrGWpsAlGz2iZHLAylfHT1JjJoTctdKoMFME3+4rZW94hW9hvkaANFhpr/QSR9Pu+w4osvg5oKwKG0dPpCt2sQleexGolq1AWtjlfGV0Rz3ryX4Ypd4ObCbNirMdLZ9rQO8vi1OXFJVE2VFGabKQAnb9m+WlZ3JPSgx4ImXRbdQaU2dlt9RWHj2skk3aGgE11hYKlt6HP9y4JyJKnSq2+YsMsk+YhbIvYNTJIGoJ+hmqzZH8epNRw1HrSSQ+P/1NGqpYfclXUTZd4jTUJHgLbQjRSuu1q/vq6NbtwGB/8X9vgrqCG5iM5fL31aCDU40jkDBdgDxHrRwDO6l1OVoRHW3jVTaDI3/TTtVooV3bJVt89oeqss4M3u7eb51HYVPIMccA0eYKOXc06A5jMaApbYsDR8W/DUVAiB3FA39pbBXRl97kLsjjnQYRfYe5I6i4a/RXfOa4UaqLQ7OIZlnX9fFrb6QrF8N0X7Fp5uD6bRs5dYum9mjZYcUooxmdvjGAcyW7SBszW9rFFNK4UHQeDZ71wLKFUlpIzVtrUd9MZfEQE+CnUIp2s5S+ZfNxeyLUnZ8ZNaQ+7Md6ad69brX7n2qtw3LJ8XAAgfnJoNHAVpC3yG8+3uDI9hmTlXJsxneCAh2KwxaLZDF9oirfcBUaXaTG+fJiiOy1SCXNXwfV9vb+KF2xQcjHhAK9TSGiZsGYR8EBZOdmCGPBawFiHO2WUdDKWaJGqbwt1FiSSA1N1W1s0taLeCdgREX5pVgIgs25Ofi5B+KMuAJTViFZa2d3fbU/XPUHnHA2TfDXsD9/0DX/IvB/qyr3miCF3ZFkN3G2EWEDdLfzD58oH9si8DXoPn50STbCl8TUWmn5w5RLMbKyRbHvXC+jfRh2evmBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E9psoFCsjnog1q7r3xvBer",
      "input": {
        "note": "Wrist view shows the blue bowl just beyond the held pear and centred on the jaw column; advancing 5 cm so the pear hangs over the bowl.",
        "targets": {
          "right_x": 0.46,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01E9psoFCsjnog1q7r3xvBer",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6128, -0.4473, -0.0135, -0.0311, 0.999, 0.2562, 1.702, 1.4578, -0.6712, 0.0998, 0.086, 0.6223]\nstate[eef_state]: left_x=0.2875 left_y=-0.0001 left_z=0.1653 left_yaw=-0.0011 left_pitch=-0.079 left_roll=0.0002 left_gripper=0.999 right_x=0.4453 right_y=0.1021 right_z=0.178 right_yaw=0.1168 right_pitch=-0.34 right_roll=-0.0291 right_gripper=0.6223\nstate[joint_eff]: [-0.0615, -1.1966, 7.0769, 1.7558, -0.0366, -0.0659, -0.0122, -0.5538, -8.8, 9.4701, 1.8291, -0.0024, -0.0073, 0.779]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:399bfdd748e17f7b3c5f441f355f5ff3b791666c7c0466220229b4393ec34dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8122722526d6d68576e08a517d4991f511d9d6dec2cf64f128ec97bf4d3932b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c99008caa2dff3c0ab01caf7bc6e36d8d7fb2403c507af1d45279c9fb430d572",
        "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 · 11.92 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8089, 0.6132, -0.4252, -0.0139, -0.0307, 0.999, -0.0616, 1.5242, 0.6086, 0.1379, -0.0998, -0.0952, 0.6195]\nstate[eef_state]: left_x=0.2906 left_y=-0.0001 left_z=0.1709 left_yaw=-0.001 left_pitch=-0.0526 left_roll=0.0002 left_gripper=0.999 right_x=0.3804 right_y=-0.0022 right_z=0.0457 right_yaw=0.0755 right_pitch=-0.2035 right_roll=0.0008 right_gripper=0.6195\nstate[joint_eff]: [0.0615, -1.0598, 7.0085, 1.6972, -0.0659, -0.0757, -0.0122, -0.0479, -5.9692, 5.2718, 1.4872, -0.0073, 0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6128, -0.4416, -0.0139, -0.0307, 0.999, 0.2916, 1.5227, 1.3174, -0.6319, 0.1268, 0.1192, 0.6227]\nstate[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1665 left_yaw=-0.001 left_pitch=-0.0729 left_roll=0.0006 left_gripper=0.999 right_x=0.4112 right_y=0.1039 right_z=0.2024 right_yaw=0.1137 right_pitch=-0.2591 right_roll=-0.0153 right_gripper=0.6227\nstate[joint_eff]: [-0.1026, -1.4291, 6.9812, 1.917, -0.0415, -0.0366, -0.0122, -0.4581, -7.4598, 9.1692, 1.7411, 0.2515, 0.2027, 0.6081]\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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6128, -0.4473, -0.0135, -0.0311, 0.999, 0.2562, 1.702, 1.4578, -0.6712, 0.0998, 0.086, 0.6223]\nstate[eef_state]: left_x=0.2875 left_y=-0.0001 left_z=0.1653 left_yaw=-0.0011 left_pitch=-0.079 left_roll=0.0002 left_gripper=0.999 right_x=0.4453 right_y=0.1021 right_z=0.178 right_yaw=0.1168 right_pitch=-0.34 right_roll=-0.0291 right_gripper=0.6223\nstate[joint_eff]: [-0.0615, -1.1966, 7.0769, 1.7558, -0.0366, -0.0659, -0.0122, -0.5538, -8.8, 9.4701, 1.8291, -0.0024, -0.0073, 0.779]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:399bfdd748e17f7b3c5f441f355f5ff3b791666c7c0466220229b4393ec34dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8122722526d6d68576e08a517d4991f511d9d6dec2cf64f128ec97bf4d3932b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c99008caa2dff3c0ab01caf7bc6e36d8d7fb2403c507af1d45279c9fb430d572",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9QQKjgEIEhgCKkCgpaQTO6eL2cR8VK0GsCjyosVH+JeTKaORepAP7oFRg0QjFFuafn29RpW72rlI94ePJMalfprxC0fb50eU1VtwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcKxzNUGEgw0j0MmAL84Q8pcOpQaDAiPbhYYKwMHeyZAuyIwMCFzK0HSmdtAyIc7VPSMqNstkzIj1sC8cFmw9FmShiuTxPpOTq5Puc4wfuUpmE2hKpMDfyDpPUX3Qhahh1ZYrRWbLDceIeRuaRx7VVivaieRrqEZT6XoFiUe4Y0N2IbtTv+jmIINMz06OMODHr8/wKa6bSBepsi9JneWfZ7DlD+qPvU6cobMRGkzmP2UBYuXm4qU+fx7+r7MRoz1BUl3OLPb0PWl7sxlzaJ02Kc9NyZzrm5mwO4NBGkvwp7/Z7MdsH67g4Rfbc4w5+OV1dBwKNFQOW+5DSEslm7boF3xKfoSYKL5tm3GqgSgUt3UZrxz/0ipl+MKRvh3cCEg2Kans66OqCHeHFdEzhpMbhYEAfEcy+/a74GejlaAEoNX5upWM+xSSqK8PCyjIIFfipg/iRLZApc0fK0IeUC53PQI6gZMYuyKHvOiZkVhcgOJe7bpBBFZIaoiNJ6l1AS6F5SLPg4Z3EPBIO+rfwQ1k+F+ZTmWLV+JSgIcedomtmkF+vpKXd4yB/yOeF7kAQjfhZ2OvSdK7uGtqTgTdMJmRRW6GQtKEyia1bFe39Nq+jjJRIgbBLWe0NvL79POsj/2wbtU88bSZcprzBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SJyy45m1WdwwFQjh4QzKDb",
      "input": {
        "note": "Blue bowl rim is right behind the pear in the wrist view; advancing 3 cm more to centre the pear over the bowl opening.",
        "targets": {
          "right_x": 0.475
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01SJyy45m1WdwwFQjh4QzKDb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6128, -0.45, -0.0139, -0.0311, 0.999, 0.2394, 1.8164, 1.5551, -0.7273, 0.0891, 0.0601, 0.625]\nstate[eef_state]: left_x=0.2871 left_y=-0.0 left_z=0.1647 left_yaw=-0.0008 left_pitch=-0.0816 left_roll=0.0005 left_gripper=0.999 right_x=0.4611 right_y=0.1 right_z=0.1574 right_yaw=0.121 right_pitch=-0.4142 right_roll=-0.0463 right_gripper=0.625\nstate[joint_eff]: [-0.0068, -1.265, 6.9675, 1.7216, -0.0659, -0.0806, -0.0122, -0.4855, -9.8667, 9.4017, 1.6142, -0.0024, 0.0513, 0.5934]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:759e583e38f108c2f46b56374a215bcb5237069e2ee16001dcc20a8717af302e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62aa7557d571312f6c5e161068b610f3e3786d34895ee6c7aa2696f1d7ae8f17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd2123a0c416a9f74c7e840fa4e495450a5e02d9590f4f29fbb629720236efc7",
        "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 · 6.83 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6128, -0.4416, -0.0139, -0.0307, 0.999, 0.2916, 1.5227, 1.3174, -0.6319, 0.1268, 0.1192, 0.6227]\nstate[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1665 left_yaw=-0.001 left_pitch=-0.0729 left_roll=0.0006 left_gripper=0.999 right_x=0.4112 right_y=0.1039 right_z=0.2024 right_yaw=0.1137 right_pitch=-0.2591 right_roll=-0.0153 right_gripper=0.6227\nstate[joint_eff]: [-0.1026, -1.4291, 6.9812, 1.917, -0.0415, -0.0366, -0.0122, -0.4581, -7.4598, 9.1692, 1.7411, 0.2515, 0.2027, 0.6081]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6128, -0.4473, -0.0135, -0.0311, 0.999, 0.2562, 1.702, 1.4578, -0.6712, 0.0998, 0.086, 0.6223]\nstate[eef_state]: left_x=0.2875 left_y=-0.0001 left_z=0.1653 left_yaw=-0.0011 left_pitch=-0.079 left_roll=0.0002 left_gripper=0.999 right_x=0.4453 right_y=0.1021 right_z=0.178 right_yaw=0.1168 right_pitch=-0.34 right_roll=-0.0291 right_gripper=0.6223\nstate[joint_eff]: [-0.0615, -1.1966, 7.0769, 1.7558, -0.0366, -0.0659, -0.0122, -0.5538, -8.8, 9.4701, 1.8291, -0.0024, -0.0073, 0.779]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6128, -0.45, -0.0139, -0.0311, 0.999, 0.2394, 1.8164, 1.5551, -0.7273, 0.0891, 0.0601, 0.625]\nstate[eef_state]: left_x=0.2871 left_y=-0.0 left_z=0.1647 left_yaw=-0.0008 left_pitch=-0.0816 left_roll=0.0005 left_gripper=0.999 right_x=0.4611 right_y=0.1 right_z=0.1574 right_yaw=0.121 right_pitch=-0.4142 right_roll=-0.0463 right_gripper=0.625\nstate[joint_eff]: [-0.0068, -1.265, 6.9675, 1.7216, -0.0659, -0.0806, -0.0122, -0.4855, -9.8667, 9.4017, 1.6142, -0.0024, 0.0513, 0.5934]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:759e583e38f108c2f46b56374a215bcb5237069e2ee16001dcc20a8717af302e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62aa7557d571312f6c5e161068b610f3e3786d34895ee6c7aa2696f1d7ae8f17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd2123a0c416a9f74c7e840fa4e495450a5e02d9590f4f29fbb629720236efc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HRgqyXGjWT7Foqut4hsb8c",
      "input": {
        "note": "Pear is at the near rim of the blue bowl; moving slightly further forward and lowering so the fruit is inside the bowl before I open the jaws.",
        "targets": {
          "right_x": 0.485,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HRgqyXGjWT7Foqut4hsb8c",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6128, -0.4503, -0.0139, -0.0307, 0.999, 0.2394, 1.816, 1.5551, -0.7269, 0.0891, 0.0601, 0.6263]\nstate[eef_state]: left_x=0.2871 left_y=-0.0 left_z=0.1647 left_yaw=-0.001 left_pitch=-0.082 left_roll=0.0008 left_gripper=0.999 right_x=0.4611 right_y=0.1001 right_z=0.1576 right_yaw=0.121 right_pitch=-0.4135 right_roll=-0.0462 right_gripper=0.6263\nstate[joint_eff]: [-0.335, -1.2239, 6.9675, 1.7118, -0.0611, -0.022, -0.0122, -0.5538, -9.8803, 9.4291, 1.6386, 0.0269, 0.0806, 0.6325]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da72e627256239a57574c143baab89f653cdc41a216561d920e9525f04c07215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9846d0f60d1699801fca36c6b4d148f112be4dbf7f153ac7b3929b037b5e2241",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b5e0ade4c2a05ee48f27859199bd088b03525bd9ac9784ea659e7e8a8f02144",
        "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 · 7.029 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6128, -0.4473, -0.0135, -0.0311, 0.999, 0.2562, 1.702, 1.4578, -0.6712, 0.0998, 0.086, 0.6223]\nstate[eef_state]: left_x=0.2875 left_y=-0.0001 left_z=0.1653 left_yaw=-0.0011 left_pitch=-0.079 left_roll=0.0002 left_gripper=0.999 right_x=0.4453 right_y=0.1021 right_z=0.178 right_yaw=0.1168 right_pitch=-0.34 right_roll=-0.0291 right_gripper=0.6223\nstate[joint_eff]: [-0.0615, -1.1966, 7.0769, 1.7558, -0.0366, -0.0659, -0.0122, -0.5538, -8.8, 9.4701, 1.8291, -0.0024, -0.0073, 0.779]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6128, -0.45, -0.0139, -0.0311, 0.999, 0.2394, 1.8164, 1.5551, -0.7273, 0.0891, 0.0601, 0.625]\nstate[eef_state]: left_x=0.2871 left_y=-0.0 left_z=0.1647 left_yaw=-0.0008 left_pitch=-0.0816 left_roll=0.0005 left_gripper=0.999 right_x=0.4611 right_y=0.1 right_z=0.1574 right_yaw=0.121 right_pitch=-0.4142 right_roll=-0.0463 right_gripper=0.625\nstate[joint_eff]: [-0.0068, -1.265, 6.9675, 1.7216, -0.0659, -0.0806, -0.0122, -0.4855, -9.8667, 9.4017, 1.6142, -0.0024, 0.0513, 0.5934]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6128, -0.4503, -0.0139, -0.0307, 0.999, 0.2394, 1.816, 1.5551, -0.7269, 0.0891, 0.0601, 0.6263]\nstate[eef_state]: left_x=0.2871 left_y=-0.0 left_z=0.1647 left_yaw=-0.001 left_pitch=-0.082 left_roll=0.0008 left_gripper=0.999 right_x=0.4611 right_y=0.1001 right_z=0.1576 right_yaw=0.121 right_pitch=-0.4135 right_roll=-0.0462 right_gripper=0.6263\nstate[joint_eff]: [-0.335, -1.2239, 6.9675, 1.7118, -0.0611, -0.022, -0.0122, -0.5538, -9.8803, 9.4291, 1.6386, 0.0269, 0.0806, 0.6325]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da72e627256239a57574c143baab89f653cdc41a216561d920e9525f04c07215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9846d0f60d1699801fca36c6b4d148f112be4dbf7f153ac7b3929b037b5e2241",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b5e0ade4c2a05ee48f27859199bd088b03525bd9ac9784ea659e7e8a8f02144",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShAYKjgEIEhgCKkDnqsgGNnUMf2rZ7fRiPNvezctUFYgDpTrIxBXISh2KUy3HPixB3WJAuVyI3/pPTxllhx8SUIFu30Y/efzG6cGTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdqxzNUGEgyDbwHgGz/4VHBhAJkaDLG5qr9TT8WURbGuCyIwhsIhAhyKF1Kc5/gtp3Dpsq6LCGnvOwO/EsnoyxemUiqwgNv8/DrlX2FrGWGMFjWGKqIENo0RkRnvVmZX8cVDKSkwFmBw2A5ujLsPQdeDVV/YDiCmj4HU4ulG/blOEo9z2kYzP1IWY1jVFfbn1u128kmyFw55FIV3GbrXF9F1WGCltwLhaS3lVYxpWq6wyfoYB9fXkTpzUN6y1sUv6xe5OlAW5jcIi5loswCzKSUvJUGHcFtxeRLXTv138t+I9C6n58NeVZWOK8Nu+k3JNqxkSyg7rGGRRcjm+dW+pbMkVpjdYtrvPbGmTRdl18u4B5fcVaZdImS7pZMfo/My3Mt2qo/aUS4kkeMg2tUIsDG48/vil3chu7hy5W4BUfvPf8hrb+/TW0VM+/4BZd7nqPQe7lXYlJ7udA7hS3TlxLjAQWx/odq2InWaJrldY0IvG7MpK0V5RDbs+wS7GqCAVt3DdAk76txluY9Rui+k5Ax909fJVwD1aECUhLOwtS79HxlBn48T2x8DONr2c1A3ImUG9iWa9+A5GxZ86itbiCZE1RVpw/V8JEQpGG9h1dA8iNAol6dpkHBPaovyFp/9uu8uXkXmaEoCeMLRmPHLMP8Vkuef6j7/6lkrQShy1v39ypKr8PuII+Qjr9wqZR6nN286YpmnAESQmE9BDRDcQ1xIvU93wIwDQYyVNRJDTsGkEpndfX2Cg2X8i/IwYvjKEWkoWb6lV/sTryN0kIYjRI1j7IP+foC45m+JjtqO05G0m7tt+l9IwhLcLqrifZ419jDRseDz4YntGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019UkZkz2Ct6Eah7puh2P9fy",
      "input": {
        "note": "The arm stalled — x=0.485 is past its reach here. Backing off 1 cm and lowering the pear toward the bowl mouth instead.",
        "targets": {
          "right_x": 0.455,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019UkZkz2Ct6Eah7puh2P9fy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6128, -0.4683, -0.0139, -0.0311, 0.999, 0.2394, 1.8164, 1.5547, -0.7273, 0.0887, 0.0601, 0.6287]\nstate[eef_state]: left_x=0.2845 left_y=0.0 left_z=0.1605 left_yaw=-0.0007 left_pitch=-0.1026 left_roll=0.0009 left_gripper=0.999 right_x=0.461 right_y=0.1001 right_z=0.1572 right_yaw=0.1213 right_pitch=-0.4147 right_roll=-0.046 right_gripper=0.6287\nstate[joint_eff]: [-0.1162, -1.5248, 7.1179, 1.8486, -0.0415, -0.0806, -0.0073, -0.4308, -9.8667, 9.4427, 1.6337, -0.022, 0.0269, 0.5397]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18199a76b6ee859e2459e2713af591a61d5a06de9143321638c6efe36fd81cbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7bc10dc7d644c84b0b17e159ee39c98c3eecc725a60cda6e6b585cfc08a6815",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd32165ad94e183d2fc36c924de8314c42b0583096afa8e623f05ec448f2a6c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 17.75 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6128, -0.45, -0.0139, -0.0311, 0.999, 0.2394, 1.8164, 1.5551, -0.7273, 0.0891, 0.0601, 0.625]\nstate[eef_state]: left_x=0.2871 left_y=-0.0 left_z=0.1647 left_yaw=-0.0008 left_pitch=-0.0816 left_roll=0.0005 left_gripper=0.999 right_x=0.4611 right_y=0.1 right_z=0.1574 right_yaw=0.121 right_pitch=-0.4142 right_roll=-0.0463 right_gripper=0.625\nstate[joint_eff]: [-0.0068, -1.265, 6.9675, 1.7216, -0.0659, -0.0806, -0.0122, -0.4855, -9.8667, 9.4017, 1.6142, -0.0024, 0.0513, 0.5934]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6128, -0.4503, -0.0139, -0.0307, 0.999, 0.2394, 1.816, 1.5551, -0.7269, 0.0891, 0.0601, 0.6263]\nstate[eef_state]: left_x=0.2871 left_y=-0.0 left_z=0.1647 left_yaw=-0.001 left_pitch=-0.082 left_roll=0.0008 left_gripper=0.999 right_x=0.4611 right_y=0.1001 right_z=0.1576 right_yaw=0.121 right_pitch=-0.4135 right_roll=-0.0462 right_gripper=0.6263\nstate[joint_eff]: [-0.335, -1.2239, 6.9675, 1.7118, -0.0611, -0.022, -0.0122, -0.5538, -9.8803, 9.4291, 1.6386, 0.0269, 0.0806, 0.6325]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6128, -0.4683, -0.0139, -0.0311, 0.999, 0.2394, 1.8164, 1.5547, -0.7273, 0.0887, 0.0601, 0.6287]\nstate[eef_state]: left_x=0.2845 left_y=0.0 left_z=0.1605 left_yaw=-0.0007 left_pitch=-0.1026 left_roll=0.0009 left_gripper=0.999 right_x=0.461 right_y=0.1001 right_z=0.1572 right_yaw=0.1213 right_pitch=-0.4147 right_roll=-0.046 right_gripper=0.6287\nstate[joint_eff]: [-0.1162, -1.5248, 7.1179, 1.8486, -0.0415, -0.0806, -0.0073, -0.4308, -9.8667, 9.4427, 1.6337, -0.022, 0.0269, 0.5397]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18199a76b6ee859e2459e2713af591a61d5a06de9143321638c6efe36fd81cbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7bc10dc7d644c84b0b17e159ee39c98c3eecc725a60cda6e6b585cfc08a6815",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd32165ad94e183d2fc36c924de8314c42b0583096afa8e623f05ec448f2a6c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3wYKjgEIEhgCKkCk6jGA14hOEkHZswz5GfdeWavSFr4GLn7cq/SfbxWotcg3BawxrPT0nngobg0YNDo5rBOECQxghhZoqb8tDYk3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeKxzNUGEgw/vrHFQ9nuVSEDkR8aDJ2PdCa6bXPZspC3SCIwF8FY9vcc3f2dfnfe2aMFfQ1vnrnB4SgSWiGtaS7zd8T+eIaLDFnufQwGsJyaAbMEKv0Erl6+f9xsFqeBPwPRewbhfU8swF/rsdU50Q61PBKhMFxbJkTqebuaNyNLQmc/TkdXTdxqRiYWCvGG+1Eyh8ccGgAmPmwdoIsSREjQ1SLr9cbyYJvGT10d+9rmNvkHVU/0ujQPpHv+o5o4KSsaMaOzVRSFk+mtJbfKNf2etgxFbPOceS20V3osZmKqXS/LlvbZskKVgVZxZyAJ/dpQxmUqMtYjQqBq8q13Uzy5ztiFUrv3MN4+eBGFpyXyQ/u30woisQZaGWc0Iu4bWO5GaeSa2f1ObqxDxZDKvP7OyjEemOeoEaMYiVGnClGkiRJa8icy4TRweit2Cs3qtvtC26FfWJvRQ+LpgvmtkSsFRgfmxq9TBFXBK0hz4iJwR/xzw3NZrKKlZX6FNr74dlPhAEww/lxFsCj/ghzARUCm/yR2zkUXFKVwUfwLFJaLH/vNNtwohradYiRAtwal5CcVV6NNogGiykm3vwsbUnB5NsJG+fUfHGvYehJiC++tNXbvo3SkxxafxoGprXu0lme0rx7/QORGq4QNttVAuWFFr4r6SP/G+qm6vzYlfRHbgVtbV77eL/CzPcdtkIBJ87hxhhNx7+MEWKGNBKZXOy/d4WN2vV5VgaIY6hsaI0Y0HPa4+57HO7XvVGLdidGDnagDNecDLhQNUtiKvxusgramsUfZNxK6PmQt6/QksANgjW5XVyBCJxFmpSnOTHdsubKnJkuuDMdIub5Xm+JDbTGfm2iQcGokAgmu22YnPA3uIySFwDOpbe9hjGDpHo9huG+DQxUrPobD+SEFfW8iT46w9r9ZDoTLO2P9fOJxvntkuCeUaBzMPvVytU3U632JRB676BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015W1dMWD64J4zEmhEpUHcwG",
      "input": {
        "note": "The right arm has stopped tracking entirely at this stretched pose; pulling back and up to a safer configuration to unstick it.",
        "targets": {
          "right_x": 0.4,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_015W1dMWD64J4zEmhEpUHcwG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6128, -0.4721, -0.0135, -0.0307, 0.999, 0.2859, 1.6802, 1.6859, -0.9981, 0.1001, 0.0711, 0.6318]\nstate[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1597 left_yaw=-0.0013 left_pitch=-0.1064 left_roll=0.0011 left_gripper=0.999 right_x=0.4145 right_y=0.1072 right_z=0.2301 right_yaw=0.1507 right_pitch=-0.4166 right_roll=-0.0501 right_gripper=0.6318\nstate[joint_eff]: [-0.0889, -1.2376, 6.9402, 1.7314, -0.0415, -0.0415, -0.0122, -0.5538, -9.1009, 7.8701, 1.3504, 0.149, 0.1978, 0.3199]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:204e0a8db1d759a39c764c62db40089051129436174e465cdf36b19d7d8ca17f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f4762442b8296d7f757d1cce95f097ab002584182f5fa2fbf77a55e722b2382",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e4cf38c50b1b09f6786d96651ed89203f497c0f8b300d664e2d2a28e3c9fd7e4",
        "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 · 20.89 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6128, -0.4503, -0.0139, -0.0307, 0.999, 0.2394, 1.816, 1.5551, -0.7269, 0.0891, 0.0601, 0.6263]\nstate[eef_state]: left_x=0.2871 left_y=-0.0 left_z=0.1647 left_yaw=-0.001 left_pitch=-0.082 left_roll=0.0008 left_gripper=0.999 right_x=0.4611 right_y=0.1001 right_z=0.1576 right_yaw=0.121 right_pitch=-0.4135 right_roll=-0.0462 right_gripper=0.6263\nstate[joint_eff]: [-0.335, -1.2239, 6.9675, 1.7118, -0.0611, -0.022, -0.0122, -0.5538, -9.8803, 9.4291, 1.6386, 0.0269, 0.0806, 0.6325]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6128, -0.4683, -0.0139, -0.0311, 0.999, 0.2394, 1.8164, 1.5547, -0.7273, 0.0887, 0.0601, 0.6287]\nstate[eef_state]: left_x=0.2845 left_y=0.0 left_z=0.1605 left_yaw=-0.0007 left_pitch=-0.1026 left_roll=0.0009 left_gripper=0.999 right_x=0.461 right_y=0.1001 right_z=0.1572 right_yaw=0.1213 right_pitch=-0.4147 right_roll=-0.046 right_gripper=0.6287\nstate[joint_eff]: [-0.1162, -1.5248, 7.1179, 1.8486, -0.0415, -0.0806, -0.0073, -0.4308, -9.8667, 9.4427, 1.6337, -0.022, 0.0269, 0.5397]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6128, -0.4721, -0.0135, -0.0307, 0.999, 0.2859, 1.6802, 1.6859, -0.9981, 0.1001, 0.0711, 0.6318]\nstate[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1597 left_yaw=-0.0013 left_pitch=-0.1064 left_roll=0.0011 left_gripper=0.999 right_x=0.4145 right_y=0.1072 right_z=0.2301 right_yaw=0.1507 right_pitch=-0.4166 right_roll=-0.0501 right_gripper=0.6318\nstate[joint_eff]: [-0.0889, -1.2376, 6.9402, 1.7314, -0.0415, -0.0415, -0.0122, -0.5538, -9.1009, 7.8701, 1.3504, 0.149, 0.1978, 0.3199]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:204e0a8db1d759a39c764c62db40089051129436174e465cdf36b19d7d8ca17f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f4762442b8296d7f757d1cce95f097ab002584182f5fa2fbf77a55e722b2382",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4cf38c50b1b09f6786d96651ed89203f497c0f8b300d664e2d2a28e3c9fd7e4",
        "media_type": "image/png",
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      "type": "image"
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  "role": "user"
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0181KzqfhXYcAg9Hs9AAQGeA",
      "input": {
        "note": "The tool has drifted to a 24° backward pitch, which both limits reach and skews the wrist view; levelling it to point straight down over the bowl.",
        "targets": {
          "right_pitch": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_0181KzqfhXYcAg9Hs9AAQGeA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6128, -0.4759, -0.0139, -0.0311, 0.999, 0.305, 1.4128, 1.1183, -0.4076, 0.1444, 0.0513, 0.6339]\nstate[eef_state]: left_x=0.2833 left_y=0.0 left_z=0.159 left_yaw=-0.0007 left_pitch=-0.1102 left_roll=0.0011 left_gripper=0.999 right_x=0.4047 right_y=0.1045 right_z=0.201 right_yaw=0.1537 right_pitch=-0.1251 right_roll=-0.0551 right_gripper=0.6339\nstate[joint_eff]: [-0.294, -1.2376, 7.1179, 1.6874, -0.0415, -0.0806, -0.0122, 0.3487, -8.0479, 7.4325, 2.2882, 0.1783, -0.1148, 0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09314913a536212954ac3c8b0d79bb2b68f37728f6a58f28cd34901ba09d62f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:401c2d29be5cc5c9fc72288f96c98d7a77ba630541576b99aa24cdaf46013d79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5bbd41f4d342d8bf2c842439d7560e388bace5ec355daeedab8da77ccd005554",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 20.83 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6128, -0.4683, -0.0139, -0.0311, 0.999, 0.2394, 1.8164, 1.5547, -0.7273, 0.0887, 0.0601, 0.6287]\nstate[eef_state]: left_x=0.2845 left_y=0.0 left_z=0.1605 left_yaw=-0.0007 left_pitch=-0.1026 left_roll=0.0009 left_gripper=0.999 right_x=0.461 right_y=0.1001 right_z=0.1572 right_yaw=0.1213 right_pitch=-0.4147 right_roll=-0.046 right_gripper=0.6287\nstate[joint_eff]: [-0.1162, -1.5248, 7.1179, 1.8486, -0.0415, -0.0806, -0.0073, -0.4308, -9.8667, 9.4427, 1.6337, -0.022, 0.0269, 0.5397]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6128, -0.4721, -0.0135, -0.0307, 0.999, 0.2859, 1.6802, 1.6859, -0.9981, 0.1001, 0.0711, 0.6318]\nstate[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1597 left_yaw=-0.0013 left_pitch=-0.1064 left_roll=0.0011 left_gripper=0.999 right_x=0.4145 right_y=0.1072 right_z=0.2301 right_yaw=0.1507 right_pitch=-0.4166 right_roll=-0.0501 right_gripper=0.6318\nstate[joint_eff]: [-0.0889, -1.2376, 6.9402, 1.7314, -0.0415, -0.0415, -0.0122, -0.5538, -9.1009, 7.8701, 1.3504, 0.149, 0.1978, 0.3199]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6128, -0.4759, -0.0139, -0.0311, 0.999, 0.305, 1.4128, 1.1183, -0.4076, 0.1444, 0.0513, 0.6339]\nstate[eef_state]: left_x=0.2833 left_y=0.0 left_z=0.159 left_yaw=-0.0007 left_pitch=-0.1102 left_roll=0.0011 left_gripper=0.999 right_x=0.4047 right_y=0.1045 right_z=0.201 right_yaw=0.1537 right_pitch=-0.1251 right_roll=-0.0551 right_gripper=0.6339\nstate[joint_eff]: [-0.294, -1.2376, 7.1179, 1.6874, -0.0415, -0.0806, -0.0122, 0.3487, -8.0479, 7.4325, 2.2882, 0.1783, -0.1148, 0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09314913a536212954ac3c8b0d79bb2b68f37728f6a58f28cd34901ba09d62f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:401c2d29be5cc5c9fc72288f96c98d7a77ba630541576b99aa24cdaf46013d79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bbd41f4d342d8bf2c842439d7560e388bace5ec355daeedab8da77ccd005554",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BtaganNGZKoTxUCu311anx",
      "input": {
        "note": "From the overhead view the blue bowl is ~5 cm further out and ~4 cm to the arm's left of the current grasp point; moving there with the tool held vertical so the pear hangs over the bowl mouth.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.45,
          "right_y": 0.14,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01BtaganNGZKoTxUCu311anx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.82, 0.6128, -0.4782, -0.0135, -0.0311, 0.999, 0.3687, 1.5875, 1.055, -0.1776, 0.1879, 0.0528, 0.6355]\nstate[eef_state]: left_x=0.2832 left_y=-0.0 left_z=0.1574 left_yaw=-0.001 left_pitch=-0.1171 left_roll=0.001 left_gripper=0.999 right_x=0.4311 right_y=0.135 right_z=0.1446 right_yaw=0.1798 right_pitch=-0.1281 right_roll=-0.0833 right_gripper=0.6355\nstate[joint_eff]: [-0.2256, -1.6615, 6.9402, 1.6239, -0.0122, -0.0611, -0.0122, 0.1846, -7.9658, 7.4598, 2.1612, 0.1734, 0.1538, 0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f11c9d5b9934025c97a4694512077f31fb0d9eb7bba17fbdaf740a7cda2391d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9172791bbaf4404e99c251317a52fd136230e27b01916fe60caf2a0697e3d0dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:62bfce6389152698c04cbe80431d943fae3091379a65a33f6e3f11e3aeb06cb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 9.137 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6128, -0.4721, -0.0135, -0.0307, 0.999, 0.2859, 1.6802, 1.6859, -0.9981, 0.1001, 0.0711, 0.6318]\nstate[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1597 left_yaw=-0.0013 left_pitch=-0.1064 left_roll=0.0011 left_gripper=0.999 right_x=0.4145 right_y=0.1072 right_z=0.2301 right_yaw=0.1507 right_pitch=-0.4166 right_roll=-0.0501 right_gripper=0.6318\nstate[joint_eff]: [-0.0889, -1.2376, 6.9402, 1.7314, -0.0415, -0.0415, -0.0122, -0.5538, -9.1009, 7.8701, 1.3504, 0.149, 0.1978, 0.3199]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6128, -0.4759, -0.0139, -0.0311, 0.999, 0.305, 1.4128, 1.1183, -0.4076, 0.1444, 0.0513, 0.6339]\nstate[eef_state]: left_x=0.2833 left_y=0.0 left_z=0.159 left_yaw=-0.0007 left_pitch=-0.1102 left_roll=0.0011 left_gripper=0.999 right_x=0.4047 right_y=0.1045 right_z=0.201 right_yaw=0.1537 right_pitch=-0.1251 right_roll=-0.0551 right_gripper=0.6339\nstate[joint_eff]: [-0.294, -1.2376, 7.1179, 1.6874, -0.0415, -0.0806, -0.0122, 0.3487, -8.0479, 7.4325, 2.2882, 0.1783, -0.1148, 0.2076]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.82, 0.6128, -0.4782, -0.0135, -0.0311, 0.999, 0.3687, 1.5875, 1.055, -0.1776, 0.1879, 0.0528, 0.6355]\nstate[eef_state]: left_x=0.2832 left_y=-0.0 left_z=0.1574 left_yaw=-0.001 left_pitch=-0.1171 left_roll=0.001 left_gripper=0.999 right_x=0.4311 right_y=0.135 right_z=0.1446 right_yaw=0.1798 right_pitch=-0.1281 right_roll=-0.0833 right_gripper=0.6355\nstate[joint_eff]: [-0.2256, -1.6615, 6.9402, 1.6239, -0.0122, -0.0611, -0.0122, 0.1846, -7.9658, 7.4598, 2.1612, 0.1734, 0.1538, 0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f11c9d5b9934025c97a4694512077f31fb0d9eb7bba17fbdaf740a7cda2391d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9172791bbaf4404e99c251317a52fd136230e27b01916fe60caf2a0697e3d0dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62bfce6389152698c04cbe80431d943fae3091379a65a33f6e3f11e3aeb06cb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E3v6iJX5x4UNuacoTDuDEY",
      "input": {
        "note": "The blue bowl now appears to the right of the pear in the wrist view, the opposite of what the overhead estimate said; shifting 5 cm to the arm's right to see which way the bowl moves in frame and settle the calibration.",
        "targets": {
          "right_y": 0.085
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01E3v6iJX5x4UNuacoTDuDEY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.82, 0.6128, -0.49, -0.0135, -0.0307, 0.999, 0.3382, 1.5761, 0.9543, -0.0895, 0.1787, 0.033, 0.6377]\nstate[eef_state]: left_x=0.2813 left_y=0.0 left_z=0.1551 left_yaw=-0.0012 left_pitch=-0.1289 left_roll=0.0015 left_gripper=0.999 right_x=0.4246 right_y=0.1199 right_z=0.123 right_yaw=0.1677 right_pitch=-0.1313 right_roll=-0.0929 right_gripper=0.6377\nstate[joint_eff]: [-0.0752, -1.2923, 7.0359, 1.707, -0.0415, -0.0611, -0.0122, 0.1846, -9.347, 7.2957, 2.0684, -0.0415, -0.1294, 0.2173]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0aa9e1404341041a8e64cc3ae67098106836a6ca59e4a5d253fc881119cb3097",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58c37cb34876346904ebf9c39e3d6e63099fa4249aab7d63e38196d2070b7df8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1686df901434740902faf6449c81094ce603edbce3df353716c84da6602942e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /messages · status 200 · 13.59 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6128, -0.4759, -0.0139, -0.0311, 0.999, 0.305, 1.4128, 1.1183, -0.4076, 0.1444, 0.0513, 0.6339]\nstate[eef_state]: left_x=0.2833 left_y=0.0 left_z=0.159 left_yaw=-0.0007 left_pitch=-0.1102 left_roll=0.0011 left_gripper=0.999 right_x=0.4047 right_y=0.1045 right_z=0.201 right_yaw=0.1537 right_pitch=-0.1251 right_roll=-0.0551 right_gripper=0.6339\nstate[joint_eff]: [-0.294, -1.2376, 7.1179, 1.6874, -0.0415, -0.0806, -0.0122, 0.3487, -8.0479, 7.4325, 2.2882, 0.1783, -0.1148, 0.2076]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.82, 0.6128, -0.4782, -0.0135, -0.0311, 0.999, 0.3687, 1.5875, 1.055, -0.1776, 0.1879, 0.0528, 0.6355]\nstate[eef_state]: left_x=0.2832 left_y=-0.0 left_z=0.1574 left_yaw=-0.001 left_pitch=-0.1171 left_roll=0.001 left_gripper=0.999 right_x=0.4311 right_y=0.135 right_z=0.1446 right_yaw=0.1798 right_pitch=-0.1281 right_roll=-0.0833 right_gripper=0.6355\nstate[joint_eff]: [-0.2256, -1.6615, 6.9402, 1.6239, -0.0122, -0.0611, -0.0122, 0.1846, -7.9658, 7.4598, 2.1612, 0.1734, 0.1538, 0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.82, 0.6128, -0.49, -0.0135, -0.0307, 0.999, 0.3382, 1.5761, 0.9543, -0.0895, 0.1787, 0.033, 0.6377]\nstate[eef_state]: left_x=0.2813 left_y=0.0 left_z=0.1551 left_yaw=-0.0012 left_pitch=-0.1289 left_roll=0.0015 left_gripper=0.999 right_x=0.4246 right_y=0.1199 right_z=0.123 right_yaw=0.1677 right_pitch=-0.1313 right_roll=-0.0929 right_gripper=0.6377\nstate[joint_eff]: [-0.0752, -1.2923, 7.0359, 1.707, -0.0415, -0.0611, -0.0122, 0.1846, -9.347, 7.2957, 2.0684, -0.0415, -0.1294, 0.2173]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0aa9e1404341041a8e64cc3ae67098106836a6ca59e4a5d253fc881119cb3097",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58c37cb34876346904ebf9c39e3d6e63099fa4249aab7d63e38196d2070b7df8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1686df901434740902faf6449c81094ce603edbce3df353716c84da6602942e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9QcKjgEIEhgCKkB7R8tg7O96RvTc5ikxWHUMYGlaqoGvxgzsyLLy9Pb0bfa2Yj/0crBacqtYtSBJuVmKdaIcNUvJOoMAzxV+kCXoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAamyzNUGEgwFSogK0zXwvTLTsmsaDMq4iztuwPApPhO91iIwK5vxHNx2pLSQ1mUI3/lP5do2YasX3U1BDgi5dzVtrfR4/NB7TJcnQGu3t+ldZXs4KpMGWoCPyAIh3NwXmTxj7wfVNUKeOlGtIbYxG0sGrS8j+ZWx1MMv6s3U0Dxe9EYSScihXarXz+cegCRil16mU4OXJuphixNB6sJtSttTiICoNObiMqIsdiiKkp7NdHvYAJO+HrPjF/C2bY22BZ4GQzcyVyp+Z/9W1ssKZ+Pgu3mDdMO2Pd6nQnLUvH5s6JBwiHbpOvFR13zMv0nr9r0PZbUkuK0c17uxIsEneVO+7bwzLEorCn6h+G1i43mq/jD9498F+j+jnYikLErPNWfiFLyJgkuORPVuizrRBDR1ptf+P3AQ3K/Ug59bq9THoJa7/Ge3QmSsf7arnQJY2EwW0NHP2rSasJLfvi7h4FRLwUsUzEl/tFnbLLcoMzx9cHFt9JGO+9EcxOs13YqPGJkQcaHT3MpjREBc+sohNFohEzxqYkKF7OtlVx0HtWvmZHFMCbzeq525VPrewUcEJSOuvZqqPptpTpTRdxA5svr1cfcB8H68WI6HZKSWh+uyCsOexK7ytyuDIFRqdodPSOwaLtbDv9OonNbA/X88zt8ppvta8QQDNrO50WXT9HTEyRJDHWLwQtQzaUOoUbSFXuzKlt7OjA/6b1DR51P4RFtOvZv3TK2g/dsJfCmbo+iXMdpnaRi8HjhjMJ5vUl1PZF1ZFSrqYho7v8Pho7UDjX/8akPdHQuCCs7ab27pop3wH0gJuX5AlUcIB3jzA4byIixJRowJgoHEn4OvjwZXg5XZRCEF/iuByTdSPyHYRryMoSl91C+aIV+zl7DK/jySNuvEeC4ZxEwF3HbDL5eOppc8YCwY8/ZawFGOLuYzyGS1Ro+HKaC82s9sqpX98DP213i/5RVjWinwNAM5aCIfrcFwyoabkxhFdmUJF44wUaC5Ii2sErv63e2nxLMU5WsbEdjAIBUPy9J12bzE1xEzwCN7FScuSSg75fwn1HMtFK0+kmDkC1IILJfKCymt5kEIOOcqM8M5Poa7k6k0f8qktnMoSQungX6+JJ1vNreAnf0P4QCE7Y78YiyjiXe7IP1cjvD55gju9uat8xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KSQxxuS5NYfmaDJs9omaDV",
      "input": {
        "note": "Good: after the 1.5 cm shift the blue bowl is now centred right behind the pear, so the bowl is at about y=0.11 and ~5 cm further out. Advancing over the bowl mouth.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.105,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KSQxxuS5NYfmaDJs9omaDV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.82, 0.6128, -0.4915, -0.0139, -0.0311, 0.999, 0.342, 1.5761, 0.9543, -0.0856, 0.1787, 0.033, 0.6391]\nstate[eef_state]: left_x=0.2811 left_y=0.0001 left_z=0.1548 left_yaw=-0.0007 left_pitch=-0.1304 left_roll=0.0015 left_gripper=0.999 right_x=0.4248 right_y=0.1217 right_z=0.1237 right_yaw=0.1716 right_pitch=-0.1275 right_roll=-0.0923 right_gripper=0.6391\nstate[joint_eff]: [-0.0752, -1.1556, 7.1179, 1.6093, -0.0757, -0.0708, -0.0122, 0.0068, -9.2923, 7.2957, 1.9951, -0.0317, -0.1148, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55f991d93de88c491c9b9bf98482cce25b62af7014f47cfac03bfa90479b0316",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4c090768b960b7641918e756d68e0da3f266c0d9fdbb5f41c6b3fd59d199474",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:90c7d8494f8cbf9e33a49b7565d2eebed30854eddd58d2a0e351572d9499fc18",
        "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 · 10.25 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.82, 0.6128, -0.4782, -0.0135, -0.0311, 0.999, 0.3687, 1.5875, 1.055, -0.1776, 0.1879, 0.0528, 0.6355]\nstate[eef_state]: left_x=0.2832 left_y=-0.0 left_z=0.1574 left_yaw=-0.001 left_pitch=-0.1171 left_roll=0.001 left_gripper=0.999 right_x=0.4311 right_y=0.135 right_z=0.1446 right_yaw=0.1798 right_pitch=-0.1281 right_roll=-0.0833 right_gripper=0.6355\nstate[joint_eff]: [-0.2256, -1.6615, 6.9402, 1.6239, -0.0122, -0.0611, -0.0122, 0.1846, -7.9658, 7.4598, 2.1612, 0.1734, 0.1538, 0.1587]\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]: [-0.0212, 0.82, 0.6128, -0.49, -0.0135, -0.0307, 0.999, 0.3382, 1.5761, 0.9543, -0.0895, 0.1787, 0.033, 0.6377]\nstate[eef_state]: left_x=0.2813 left_y=0.0 left_z=0.1551 left_yaw=-0.0012 left_pitch=-0.1289 left_roll=0.0015 left_gripper=0.999 right_x=0.4246 right_y=0.1199 right_z=0.123 right_yaw=0.1677 right_pitch=-0.1313 right_roll=-0.0929 right_gripper=0.6377\nstate[joint_eff]: [-0.0752, -1.2923, 7.0359, 1.707, -0.0415, -0.0611, -0.0122, 0.1846, -9.347, 7.2957, 2.0684, -0.0415, -0.1294, 0.2173]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.82, 0.6128, -0.4915, -0.0139, -0.0311, 0.999, 0.342, 1.5761, 0.9543, -0.0856, 0.1787, 0.033, 0.6391]\nstate[eef_state]: left_x=0.2811 left_y=0.0001 left_z=0.1548 left_yaw=-0.0007 left_pitch=-0.1304 left_roll=0.0015 left_gripper=0.999 right_x=0.4248 right_y=0.1217 right_z=0.1237 right_yaw=0.1716 right_pitch=-0.1275 right_roll=-0.0923 right_gripper=0.6391\nstate[joint_eff]: [-0.0752, -1.1556, 7.1179, 1.6093, -0.0757, -0.0708, -0.0122, 0.0068, -9.2923, 7.2957, 1.9951, -0.0317, -0.1148, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55f991d93de88c491c9b9bf98482cce25b62af7014f47cfac03bfa90479b0316",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4c090768b960b7641918e756d68e0da3f266c0d9fdbb5f41c6b3fd59d199474",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90c7d8494f8cbf9e33a49b7565d2eebed30854eddd58d2a0e351572d9499fc18",
        "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_01CiR5nN27qW78jsyDe8nx9W",
      "input": {
        "note": "The arm stalled again at x≈0.425 with the tool pitched backward; pitching the tool forward should extend reach, so retrying the move over the bowl with +0.45 rad pitch.",
        "targets": {
          "right_pitch": 0.45,
          "right_x": 0.47,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01CiR5nN27qW78jsyDe8nx9W",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8246, 0.6128, -0.4976, -0.0139, -0.0307, 0.999, 0.3195, 1.7176, 0.7238, 0.7601, 0.1791, -0.057, 0.6405]\nstate[eef_state]: left_x=0.2803 left_y=0.0001 left_z=0.1525 left_yaw=-0.0009 left_pitch=-0.1411 left_roll=0.002 left_gripper=0.999 right_x=0.4645 right_y=0.1243 right_z=0.1443 right_yaw=0.1912 right_pitch=0.3367 right_roll=-0.1031 right_gripper=0.6405\nstate[joint_eff]: [0.0752, -1.7299, 6.8991, 1.6777, -0.0757, -0.0513, -0.0122, -0.6359, -7.8564, 5.5453, 2.6105, 0.0952, -0.0415, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:027d89edbd8c777ef038aee174b8fa7dfdfbcab324556a5640a703dbfe4782fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f1d226e43b178066a3b83d1be1cd6654c8750e0f9b48ea4de6674dc2f0f030e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13737a99ca46578dea71ae76132d9e150d26ffed96b8bf86e17a311e4f4e1df8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 12.97 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.82, 0.6128, -0.49, -0.0135, -0.0307, 0.999, 0.3382, 1.5761, 0.9543, -0.0895, 0.1787, 0.033, 0.6377]\nstate[eef_state]: left_x=0.2813 left_y=0.0 left_z=0.1551 left_yaw=-0.0012 left_pitch=-0.1289 left_roll=0.0015 left_gripper=0.999 right_x=0.4246 right_y=0.1199 right_z=0.123 right_yaw=0.1677 right_pitch=-0.1313 right_roll=-0.0929 right_gripper=0.6377\nstate[joint_eff]: [-0.0752, -1.2923, 7.0359, 1.707, -0.0415, -0.0611, -0.0122, 0.1846, -9.347, 7.2957, 2.0684, -0.0415, -0.1294, 0.2173]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.82, 0.6128, -0.4915, -0.0139, -0.0311, 0.999, 0.342, 1.5761, 0.9543, -0.0856, 0.1787, 0.033, 0.6391]\nstate[eef_state]: left_x=0.2811 left_y=0.0001 left_z=0.1548 left_yaw=-0.0007 left_pitch=-0.1304 left_roll=0.0015 left_gripper=0.999 right_x=0.4248 right_y=0.1217 right_z=0.1237 right_yaw=0.1716 right_pitch=-0.1275 right_roll=-0.0923 right_gripper=0.6391\nstate[joint_eff]: [-0.0752, -1.1556, 7.1179, 1.6093, -0.0757, -0.0708, -0.0122, 0.0068, -9.2923, 7.2957, 1.9951, -0.0317, -0.1148, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8246, 0.6128, -0.4976, -0.0139, -0.0307, 0.999, 0.3195, 1.7176, 0.7238, 0.7601, 0.1791, -0.057, 0.6405]\nstate[eef_state]: left_x=0.2803 left_y=0.0001 left_z=0.1525 left_yaw=-0.0009 left_pitch=-0.1411 left_roll=0.002 left_gripper=0.999 right_x=0.4645 right_y=0.1243 right_z=0.1443 right_yaw=0.1912 right_pitch=0.3367 right_roll=-0.1031 right_gripper=0.6405\nstate[joint_eff]: [0.0752, -1.7299, 6.8991, 1.6777, -0.0757, -0.0513, -0.0122, -0.6359, -7.8564, 5.5453, 2.6105, 0.0952, -0.0415, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:027d89edbd8c777ef038aee174b8fa7dfdfbcab324556a5640a703dbfe4782fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f1d226e43b178066a3b83d1be1cd6654c8750e0f9b48ea4de6674dc2f0f030e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13737a99ca46578dea71ae76132d9e150d26ffed96b8bf86e17a311e4f4e1df8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvQYKjgEIEhgCKkA36jFLQ31Ir5aQFb+4AmQ4tgDsM9k+3D9GwMAqZT7HotGb9YLgSi12Izq/63OlPriTVGVneh/Ncb4C8qYaQ7hrMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcOyzNUGEgzGrYeW+ebCu+uVeYMaDPpNvPmcczyh5neIeiIwy9N9LAj7DP1ACkVTUPVbBZR2ksDgIq+heR5i1dUVOUy8E031lhlahF4krMC05JKgKtsEsb3Mt7Fr7BxgxkqTaJcVMgdKCU6HktERk/XGDYBdg5JFWTutJl9ArBCPIf2sjPf7Yg4SutcWk+Y3vto5jIB9orBBEaJREA23So/IJa6V1HEAT6Aumgv/qqHG1ymffICYi+Uoq2iUc+fVPEXqVZfa314SMsJhrq75yP4OwN/XjM7XqXkCzFejEHhofIbeEO8C+o6IvvjOlzkK44fgRayQx9FSt0kYCiAeDCXovfqF/EkpMPcIRkNAzrWo6YBZ8BOg64CStNWRs5X209ly4vgShnoxFt1ghkilhgcARncts3cjJBBcWiW7EmcwSBbmeiHci1j7GG3JOQs6+4H95Ot9k89jp+d63/p2hBBBc86GQUvlh1RZL+zLCVZIwlyCgmrq+JUg3wQJRVv1vNhWpz+GABeimNea+1Rmq/Vmg+y9FfqG5Zmsqw9uyLwuyNxO8DozEXoMLYUGFRmZp9+f9wgHE2OOX1/06584mL0ZhbeO7GkAf7mxn5pnRX2rzLtcvt+k9Ncia2O01Uv4U8f3aZg5UOgbBAIBAJQm0sihK9GPv6NaHRx2GbYfsfUwQsrJdbE8tN7dA2uzIRfKlZBUKS13znARMgk45KFLHvKQsFpRog+B49hwrjZGCaWHP96TZZlRenYw0ImEpdOnLk215/zKGFkHjyrNoJUkX4rFoAEClWJFfY6k48EGq7JnhcGQ/vYfovtCf5qrCATkXM5R0/AqY4EijK9TzgQCv5K5HTMZXOmseD66nw3PxXFEyXtjersTHwqpeDEaWiEdPUkvFTJjXdwZeSyw3w1i+VzFGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0147J3syvqpRzXz3NzhusZoy",
      "input": {
        "note": "Pitching forward gained the reach (x=0.4645) and the blue bowl is now hidden directly beneath the gripper; opening the jaws to drop the pear into the bowl.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0147J3syvqpRzXz3NzhusZoy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8249, 0.6128, -0.498, -0.0139, -0.0307, 0.999, 0.3187, 1.7298, 0.7185, 0.7647, 0.1787, -0.0647, 0.9957]\nstate[eef_state]: left_x=0.2802 left_y=0.0001 left_z=0.1523 left_yaw=-0.0009 left_pitch=-0.1419 left_roll=0.002 left_gripper=0.999 right_x=0.464 right_y=0.1238 right_z=0.1376 right_yaw=0.1956 right_pitch=0.3234 right_roll=-0.1126 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -1.3744, 6.9538, 1.619, -0.0855, -0.0708, -0.0122, -0.1436, -8.9094, 6.147, 1.8877, -0.0366, 0.0952, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:310bf65edfbc697152ecd3ab96c4e9dd40d7f3bbd4ef006c9f2e46274f88d003",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2013dfdefb0b2fa653b2477517a11ef8b798d991dcc25e862edd3df522b0b340",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:42e090ee97f8ee3a85fdffe0b06c6ca1870a7b64103fd9175fbf58d028b21429",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /messages · status 200 · 10.24 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.82, 0.6128, -0.4915, -0.0139, -0.0311, 0.999, 0.342, 1.5761, 0.9543, -0.0856, 0.1787, 0.033, 0.6391]\nstate[eef_state]: left_x=0.2811 left_y=0.0001 left_z=0.1548 left_yaw=-0.0007 left_pitch=-0.1304 left_roll=0.0015 left_gripper=0.999 right_x=0.4248 right_y=0.1217 right_z=0.1237 right_yaw=0.1716 right_pitch=-0.1275 right_roll=-0.0923 right_gripper=0.6391\nstate[joint_eff]: [-0.0752, -1.1556, 7.1179, 1.6093, -0.0757, -0.0708, -0.0122, 0.0068, -9.2923, 7.2957, 1.9951, -0.0317, -0.1148, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8246, 0.6128, -0.4976, -0.0139, -0.0307, 0.999, 0.3195, 1.7176, 0.7238, 0.7601, 0.1791, -0.057, 0.6405]\nstate[eef_state]: left_x=0.2803 left_y=0.0001 left_z=0.1525 left_yaw=-0.0009 left_pitch=-0.1411 left_roll=0.002 left_gripper=0.999 right_x=0.4645 right_y=0.1243 right_z=0.1443 right_yaw=0.1912 right_pitch=0.3367 right_roll=-0.1031 right_gripper=0.6405\nstate[joint_eff]: [0.0752, -1.7299, 6.8991, 1.6777, -0.0757, -0.0513, -0.0122, -0.6359, -7.8564, 5.5453, 2.6105, 0.0952, -0.0415, 0.1441]\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]: [-0.0212, 0.8249, 0.6128, -0.498, -0.0139, -0.0307, 0.999, 0.3187, 1.7298, 0.7185, 0.7647, 0.1787, -0.0647, 0.9957]\nstate[eef_state]: left_x=0.2802 left_y=0.0001 left_z=0.1523 left_yaw=-0.0009 left_pitch=-0.1419 left_roll=0.002 left_gripper=0.999 right_x=0.464 right_y=0.1238 right_z=0.1376 right_yaw=0.1956 right_pitch=0.3234 right_roll=-0.1126 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -1.3744, 6.9538, 1.619, -0.0855, -0.0708, -0.0122, -0.1436, -8.9094, 6.147, 1.8877, -0.0366, 0.0952, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:310bf65edfbc697152ecd3ab96c4e9dd40d7f3bbd4ef006c9f2e46274f88d003",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2013dfdefb0b2fa653b2477517a11ef8b798d991dcc25e862edd3df522b0b340",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42e090ee97f8ee3a85fdffe0b06c6ca1870a7b64103fd9175fbf58d028b21429",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsQ0KjgEIEhgCKkABgrX6FDrCfLFuP5vfKcup/kJjrg1aq70/Ohs1/Y6M1M7e9Ndi+yoRKnhmg1OVF1RfP9DbtQYQggia3OFV0b2sMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdCyzNUGEgwzPgZQgWDnCvukYO8aDPrA0TTP49TDYL3EviIwlSnjRMcmBk7N2nalsPipBRdGBNjbeZrVSZX/q2Kb3jXaXfF+EVhpOo8wCdWqxE1TKs8L4Jf9a53KsK6H+dPWeDpifwv1vhDrkaghEtSt4wJTmbzUHyHsUzM73gOqHylQRdp2+oUKFMNRVIQu6MDRvm16QLtvWFCV8kPJC1uRJlTgNQhLyFtnOEFMC+4pjCPgixhA16/vR7jj0NnLrOYRk0Q0WR8pn+MOtBSMijwn1Q1Qlo+NMVsoWtf+6Xl4DUUhk38DHuMGGmsDVkLnjgEYSJVl7oesklEJ2TKmSetPK187KUecTrZOv6R7hBpij6bXmJzjbLRKDeNobKlSI/rP6CTtcOvRK6ZMPZJJ+QuWxHo63X5ekF1BmSZa8uSXgtlhWIuq4UsYSNshrdW2HFYuc59TyCEtyUHa0desfnDg8e3JTnLNNaoJT5Ht+s+F4WvZ1Up1ippMKwEfW7jwaBSLmf0KaVWlid1pg/rdNDXVrriTFz4H30Pfe+5o0/V24mVTiVyaXQzhzIHqM5xjUI09ca8KLVk+PQDGDskHveoifrgeuAwMa5vpLArqytMjLcFsuaQEa+fL8TBtYIv0m9nZ4ukQng0TEZpuIiqg1FZSe6np5LopJaALXplHOmqKU5wXuiB6f554u0dHeg8AthqUgyvQfwSAjBI9EpUiH/9lvvz4OkYD065NXiyWuQwJQCleNZHWslSBCX0k7daFOabOnH4D9+XxQjE0XAvLftLSRhSQkUg4+tcNeiRXtK/GJw6VxG7HkrfGrgihx5MMD4AwJZ1JAkGeQh4HUNNmJvN2+RcQStHQAp4XNH2Yxbsr/fsqnpIHbpU59z6dFlH4j8//fyPvvSuuyb6gHX5XVTwICVEUk9TwoBDY92RtRZTaKrGN6dyxC5FavR8JseCmaMxR1TbhAGQ5IvY2fHBUw8GxFDX06MQ4TSO8XiEQPEn4fFyPaBQGN4q05NVRoKfXNC33S08LkPWhfcpm8tYE4c5LYE3hNFxoyDGJnYch3XbN92zsSKdCPncFY1puwRWuWAPZSM/3q0k0arXGGVwicxEJAEMQfErsNbBCx4JM2D/4iIvAyHhXnlXEwpM1yPtWpfDZtMxDv55TE7Opz5DfLq0KwlZBPvwERvCuxq1vC18uIgQdrtH1QGrxiiYvKDuX/0Kw1KBJYNvC8vhz6u2Ln9lfJGbdDG8LGdCuz8W+TLRRxAAhk2PKvnhhjsh6eJxtKImXZaIbHBCYa3xz1RY5LUpqAGENpXNssVuBGwwcBv50VHU7ZMQdNrwqvqJgJFjkENa4GaWo2U4ij9C5+JLUV6LXGIb+mmTd/ydHi9DcwlsC/L56pkt1+8LxTh2FUbADYcz5/rPEQjh3iSN+vxz2QR5gHvXzm5mMal9pjga5KkqLzJyaaCAeRkzBSwoPivcDj/Huik0+IVbLahqYPXqc5ad1kMVCeya4d0ZIRhmIiFndx6AChjDGOGE0FeOa6/elO1aHpU3v+QsqwLq6jIMfSsaIxxw0dIosAaJ5UqBn/Gff7z1DTvCN7CCibxDnGYHzD6L7Yjx2qZDXE28PR4qNx4ehleZ+2so/+xbN1aW6FZpzxRotLA0BXafnZVj/8ReX51w+HI6jOrlfMCt8JKm1VjXZreraxr19qKo+TNbbeYJ4KkD9ZqKIgW+r9tQwqP1VDDEke1UZaSX/piH1bjW7VyZxf4rX1VdbkfudHek6YRt4aEW+aXugg5ioBzcvp6E1fdcRHD1DbKrACJXWHGhTREXeeQydHwEGuP9+YDxtCO7CHTAIjpLCyFqOJfIR0gD6lfSG8xMNzhjxQ7Zbj3WUsKlDJ5F1v/sOLKVsnoBRmnbfwcxU+DFggkwoa8r6dZyzaibQC7PKJcFnBHJlUJaiMMpENVcB/WTupXKNRbtJ2iE5uaRY6CeKH6Ai7O+2rbW2tsjlcahXSlzk6cxchQkl231gKawfc1qcbcZnL8hfLaeOKgoRIPFR1i96MqZh5ZfRQj8nbc1IOSiGpZqXt3vAbUhcEDln/JA+KexNlKwvAYeHCZH8DGIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KenPWPHk62vDz88utojLTq",
      "input": {
        "note": "The wrist view confirms the pear is sitting in the blue bowl. Backing off and moving over the yellow lemon (overhead estimate x≈0.38, y≈0.19) to pick it up next.",
        "targets": {
          "right_pitch": 0.1,
          "right_x": 0.37,
          "right_y": 0.18,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KenPWPHk62vDz88utojLTq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8303, 0.6128, -0.5129, -0.0135, -0.0307, 0.999, 0.6125, 1.3689, 0.8391, 0.0578, 0.3935, 0.0669, 0.9965]\nstate[eef_state]: left_x=0.278 left_y=0.0001 left_z=0.1482 left_yaw=-0.0011 left_pitch=-0.1621 left_roll=0.0022 left_gripper=0.999 right_x=0.3778 right_y=0.1871 right_z=0.1927 right_yaw=0.2439 right_pitch=0.132 right_roll=-0.1164 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -1.812, 6.8991, 1.7411, -0.0317, -0.0366, -0.0122, 0.1436, -7.0632, 9.0188, 1.8046, 0.2418, 0.3053, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14e2a1452c8160719d02e7981b3c801b75e448771dc320c6308f788eb22c5297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a1f7dcae06e8e292ea6308ab6af8a38eb40f1eaf4f9509812e3b0c91252a603",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:733d7946633001fd41e1c01e73a16e3644df67f2c3ed30d2ae19ef9f7f1f4402",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 7.991 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8246, 0.6128, -0.4976, -0.0139, -0.0307, 0.999, 0.3195, 1.7176, 0.7238, 0.7601, 0.1791, -0.057, 0.6405]\nstate[eef_state]: left_x=0.2803 left_y=0.0001 left_z=0.1525 left_yaw=-0.0009 left_pitch=-0.1411 left_roll=0.002 left_gripper=0.999 right_x=0.4645 right_y=0.1243 right_z=0.1443 right_yaw=0.1912 right_pitch=0.3367 right_roll=-0.1031 right_gripper=0.6405\nstate[joint_eff]: [0.0752, -1.7299, 6.8991, 1.6777, -0.0757, -0.0513, -0.0122, -0.6359, -7.8564, 5.5453, 2.6105, 0.0952, -0.0415, 0.1441]\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]: [-0.0212, 0.8249, 0.6128, -0.498, -0.0139, -0.0307, 0.999, 0.3187, 1.7298, 0.7185, 0.7647, 0.1787, -0.0647, 0.9957]\nstate[eef_state]: left_x=0.2802 left_y=0.0001 left_z=0.1523 left_yaw=-0.0009 left_pitch=-0.1419 left_roll=0.002 left_gripper=0.999 right_x=0.464 right_y=0.1238 right_z=0.1376 right_yaw=0.1956 right_pitch=0.3234 right_roll=-0.1126 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -1.3744, 6.9538, 1.619, -0.0855, -0.0708, -0.0122, -0.1436, -8.9094, 6.147, 1.8877, -0.0366, 0.0952, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8303, 0.6128, -0.5129, -0.0135, -0.0307, 0.999, 0.6125, 1.3689, 0.8391, 0.0578, 0.3935, 0.0669, 0.9965]\nstate[eef_state]: left_x=0.278 left_y=0.0001 left_z=0.1482 left_yaw=-0.0011 left_pitch=-0.1621 left_roll=0.0022 left_gripper=0.999 right_x=0.3778 right_y=0.1871 right_z=0.1927 right_yaw=0.2439 right_pitch=0.132 right_roll=-0.1164 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -1.812, 6.8991, 1.7411, -0.0317, -0.0366, -0.0122, 0.1436, -7.0632, 9.0188, 1.8046, 0.2418, 0.3053, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14e2a1452c8160719d02e7981b3c801b75e448771dc320c6308f788eb22c5297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a1f7dcae06e8e292ea6308ab6af8a38eb40f1eaf4f9509812e3b0c91252a603",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:733d7946633001fd41e1c01e73a16e3644df67f2c3ed30d2ae19ef9f7f1f4402",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrgkKjgEIEhgCKkAcyJJufwXCKEUmUlNkzP0L3knL3on3bFYHyKjUBvPw1m3mysxaFsvFGzrcMXRVja8BsXGPyIQuWkeUPDMIoF8sMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAduyzNUGEgxqosDiVeFPDd8RIUsaDDjPiRcoeQFhB6S4fCIwpxgegEsMhhXFdT3rbSCl3qmaSliMuTXS2tScrfRi14WZT67SpuOh9v8JFqNFtzMCKswHaTM4i2HueA1va8ODjVwqAoUW8AnjCKFL0SLF9CbNpAw3bF0Xa6hROz2gUn72dEZFMuM8uGEvNQsISD+g40lr01EMZCiG4oi4cUYLUa0D6qET293yFiSkaZMFRXY7chawPIxdAO0m3HcBYHiuOkZAgSyIhDEPV7OJOzz5qvlSn19/N5bGMoaI9Lmbicxa4orne8CZHFtz3FLENhpq1E+KW0UA00fskvbciheHklYaXEa5ebOMOmqILDJgi7fOyxio7HWAdRySylMw4WpxVBRWJhZ4WVIYzdYOdd/HsoIHZvLJthuoPus00gONRePQLa/deJvtpkVcfSpHQ1F8icB/6yjKpV3m6dcS1es2AHBtQ3Z+Wdmzj/vbUOL+oHpcZc5dwBICVL6IGoMWMJ2Zc6IYqYRkuSpTYL88iHcUVa3kgTmO06a7fl0aY45A21T8bEOf/KBCUFTl/PKnyX/Wk3M66FZAFbfJKpk20R5SemGd2sVXM3RXhx61oyeMx69X4dEZljCufOZGvGU7xrCVl6VFp0BgMC0RWruXNmo0Np5ADbq0pYJagBj9c8SzyaCBAiwOWUjHtFWmQXXwKlk8hCXo+1zh4PGEFunhrKMIEpuK8J2UT6YJQqXRkdUSfwZ19ItI5QrZdfVR9UJ/iZZFeogcfKKbbzaHHRxuH62k+lcrYM4QqE/2v4WmrydZibYnDf6qw95x6z2gjwd77Dr5+vYbcAjAPDo+sO/SrI6W1o2gx8AXMF540hUbWyo7TKcN9QO60U+lW6s23kOMvujsiQJZZQii1SkRsTBzaGsX9Mtg/5CEk4I1sMdckP8oGWXO1POkRQY4N/SoiVTOelHUCknzgck8sLyF+9IIEUUl1mg89BkeFFeYkEN+yDl/qORSWL7WV1v8+eRb4S67Dz7hcG7i3dftmQwmTJTPxM87/i692XtVd2CNuvQVCymDvTEwV9THl8Nl/W0hoecePDaCAIkHqL1s+6aHnNrzFcYXZn3qnOnpFgYeAp4GGNqQO0arm9C4gv3tYTE75Q8fB8BBNYCnSTqgvt4Zg4q4GR4DV9truN4ZylV4PhVc5vxWqS4RSbeaCeUImvZ60ZPvAUb3Tk60PTBobeGXL9qoG228ZjIClOPcwa/850oFWwFca6Ndufoq+M5BiNWoXCMxxf4ilkK8llNpBSIzfUnZkAtOpV4/jwmsay3B1aOxSqWEjHnMNSZDGskdRgLaXu/4/le5zGSIBS/hukRzwy7ZO4MEbaWv0T5LcZw+a8XaNjSzYvy46LVkPYfOScvT/yVvb6hhGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019dnFmiXr1caZBwQzgX85NA",
      "input": {
        "note": "Wrist view shows the pear safely in the blue bowl and the lemon just below-left of the jaws, i.e. closer to the base and slightly to the arm's left. Pulling back 4 cm, over 1.5 cm left, and descending to lemon height.",
        "targets": {
          "right_pitch": 0.1,
          "right_x": 0.34,
          "right_y": 0.2,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_019dnFmiXr1caZBwQzgX85NA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8322, 0.6128, -0.5205, -0.0139, -0.0307, 0.999, 0.7284, 1.5402, 0.5343, 0.4114, 0.4702, 0.1246, 0.9965]\nstate[eef_state]: left_x=0.2768 left_y=0.0002 left_z=0.1463 left_yaw=-0.0008 left_pitch=-0.1716 left_roll=0.0026 left_gripper=0.999 right_x=0.3362 right_y=0.1975 right_z=0.0738 right_yaw=0.27 right_pitch=0.0396 right_roll=-0.1504 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -1.5385, 6.8855, 1.6435, -0.0659, -0.022, -0.0122, 0.2803, -5.8462, 5.6957, 2.0195, 0.2759, 0.1587, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:334d02e9106b28c3f2951664f01f60c2c1b4931907f3e4fbfc0a9ee69c50eca9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88b07529d8cdb3ec82546ce8c55cda22909f8acfc67d772e1e0f8201f7fbd67a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:24e9c788e7a43203d57cf613bac76751c11fc2f28577ba8bf63f94d5a884afc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 5.745 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8249, 0.6128, -0.498, -0.0139, -0.0307, 0.999, 0.3187, 1.7298, 0.7185, 0.7647, 0.1787, -0.0647, 0.9957]\nstate[eef_state]: left_x=0.2802 left_y=0.0001 left_z=0.1523 left_yaw=-0.0009 left_pitch=-0.1419 left_roll=0.002 left_gripper=0.999 right_x=0.464 right_y=0.1238 right_z=0.1376 right_yaw=0.1956 right_pitch=0.3234 right_roll=-0.1126 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -1.3744, 6.9538, 1.619, -0.0855, -0.0708, -0.0122, -0.1436, -8.9094, 6.147, 1.8877, -0.0366, 0.0952, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8303, 0.6128, -0.5129, -0.0135, -0.0307, 0.999, 0.6125, 1.3689, 0.8391, 0.0578, 0.3935, 0.0669, 0.9965]\nstate[eef_state]: left_x=0.278 left_y=0.0001 left_z=0.1482 left_yaw=-0.0011 left_pitch=-0.1621 left_roll=0.0022 left_gripper=0.999 right_x=0.3778 right_y=0.1871 right_z=0.1927 right_yaw=0.2439 right_pitch=0.132 right_roll=-0.1164 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -1.812, 6.8991, 1.7411, -0.0317, -0.0366, -0.0122, 0.1436, -7.0632, 9.0188, 1.8046, 0.2418, 0.3053, 0.0611]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8322, 0.6128, -0.5205, -0.0139, -0.0307, 0.999, 0.7284, 1.5402, 0.5343, 0.4114, 0.4702, 0.1246, 0.9965]\nstate[eef_state]: left_x=0.2768 left_y=0.0002 left_z=0.1463 left_yaw=-0.0008 left_pitch=-0.1716 left_roll=0.0026 left_gripper=0.999 right_x=0.3362 right_y=0.1975 right_z=0.0738 right_yaw=0.27 right_pitch=0.0396 right_roll=-0.1504 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -1.5385, 6.8855, 1.6435, -0.0659, -0.022, -0.0122, 0.2803, -5.8462, 5.6957, 2.0195, 0.2759, 0.1587, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:334d02e9106b28c3f2951664f01f60c2c1b4931907f3e4fbfc0a9ee69c50eca9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88b07529d8cdb3ec82546ce8c55cda22909f8acfc67d772e1e0f8201f7fbd67a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24e9c788e7a43203d57cf613bac76751c11fc2f28577ba8bf63f94d5a884afc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8AYKjgEIEhgCKkA7o8h2CC617SMtcmye7YUbwzYKiY6ymgG0mkbhJR+XdsO/y/HtydJBJ8dLmKFR/opEqyzV0gw1eGySZvbXejarMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeSyzNUGEgzF8h0pMJgKkHu83/EaDCZh/YHwCHHiLqiQACIwumpZweryvzHrUU3NybB+PrC7hNzGTs+Qx4U6FlekeifTimkHlbIrn0hkX+Dg8J5AKo4FH5SrJGjF69uAuL1EDnAhFcxNarhgOf2tgok8R6vP8E78/w2tVlpaTco35BzJgMB5bWwGp/mQjSHid3Oh8OHOYNe4gUUEajEuhgT2f4sxPT7cZkMLjMaBob4BeONMPBaCItX8C+iavk4FjC/B2WjV5naHCDBC/6sk9Za3NrsmB2nw7ZuGsuZFUBu8gcrFXnluevmslSMdJk02BcIvEYRRJXkh59C0sGQoU7oRQgfioRbaarX66PeRDuLYwAtrobwYjtEM406rvQjOhd9STcWvmxhh0tsN8ZAvONAXKdpBjuwdF3eq7DdEJcs9/oKktBmpZwqUawEEh8NlitgpdKVQozlXVv70tl4thrX6qfDV044qIRSWVbwpfMgkIZEfWS7TQJGCxXcYg+vEusWUINhPMqbT24vXaIa38rRVnqceZYfeKJLWvaWdfvyfeP97Xw7ICaJN61qwvnydI7OJuWveMN1tnWr3vALqAqS1k1Vr0XVdeAFXtD/8ueVuZlxb75I0J7Wc8n6wZdubME0f1GwaAtLai4OdfdJNn25B7TsRoF5r6Ah6K9BNfKR15QhcHwTWaPFET+ZacoeJ8fA78nuksAh3Wu52yq6NtzeIT02R6OLHoDRJPL/EGaiUsnBnIEmy6bzKywFm+BAlSJ84323wz45p+zjSnRL9Uf46bevNYifzMOndoBaDg2HG251zybGs8WZ6UQKa/9CyJi5SH5nAfhKdTP+6gVek2YnwUaR6/FVAVr1hxC4nbDVpSZzY2oLfNxy78g3+JHjI41T1vDWp2PPluknS00NLFifj3p0hTrXfU2+fFKvqUmFexwZ7ICqtNcxZBpkiIAViv2uzczG0bkDbVxWqxxzBmyXbU2LxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QWEsNgn7iC3Ym344nZe7KB",
      "input": {
        "note": "Lemon is now just below the jaws and slightly right of the jaw column; advancing ~3 cm and descending to mid-lemon height to straddle it.",
        "targets": {
          "right_x": 0.365,
          "right_y": 0.19,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01QWEsNgn7iC3Ym344nZe7KB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.836, 0.6128, -0.5224, -0.0139, -0.0307, 0.999, 0.6498, 1.739, 0.5274, 0.5739, 0.4179, 0.0883, 0.9965]\nstate[eef_state]: left_x=0.2766 left_y=0.0002 left_z=0.1449 left_yaw=-0.0007 left_pitch=-0.1774 left_roll=0.0028 left_gripper=0.999 right_x=0.3538 right_y=0.1833 right_z=0.0263 right_yaw=0.2533 right_pitch=-0.0152 right_roll=-0.1715 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -1.2239, 6.8718, 1.6679, -0.0464, -0.0562, -0.0122, -0.1162, -8.1983, 5.8872, 2.0049, 0.2906, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e605d46e00c511fb131f31bc90dfb4d6a48920d4ddcc6f8f4b350b9d152e54db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:566f23ccff5291d17d4c41e5ec12cca2cb2b3b421efce7936857c16a5816aa4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e56363948fb3576ddcf789f68e6ad96503b5c0e29aba59beab59aa06c49f274",
        "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 · 5.139 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8303, 0.6128, -0.5129, -0.0135, -0.0307, 0.999, 0.6125, 1.3689, 0.8391, 0.0578, 0.3935, 0.0669, 0.9965]\nstate[eef_state]: left_x=0.278 left_y=0.0001 left_z=0.1482 left_yaw=-0.0011 left_pitch=-0.1621 left_roll=0.0022 left_gripper=0.999 right_x=0.3778 right_y=0.1871 right_z=0.1927 right_yaw=0.2439 right_pitch=0.132 right_roll=-0.1164 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -1.812, 6.8991, 1.7411, -0.0317, -0.0366, -0.0122, 0.1436, -7.0632, 9.0188, 1.8046, 0.2418, 0.3053, 0.0611]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8322, 0.6128, -0.5205, -0.0139, -0.0307, 0.999, 0.7284, 1.5402, 0.5343, 0.4114, 0.4702, 0.1246, 0.9965]\nstate[eef_state]: left_x=0.2768 left_y=0.0002 left_z=0.1463 left_yaw=-0.0008 left_pitch=-0.1716 left_roll=0.0026 left_gripper=0.999 right_x=0.3362 right_y=0.1975 right_z=0.0738 right_yaw=0.27 right_pitch=0.0396 right_roll=-0.1504 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -1.5385, 6.8855, 1.6435, -0.0659, -0.022, -0.0122, 0.2803, -5.8462, 5.6957, 2.0195, 0.2759, 0.1587, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.836, 0.6128, -0.5224, -0.0139, -0.0307, 0.999, 0.6498, 1.739, 0.5274, 0.5739, 0.4179, 0.0883, 0.9965]\nstate[eef_state]: left_x=0.2766 left_y=0.0002 left_z=0.1449 left_yaw=-0.0007 left_pitch=-0.1774 left_roll=0.0028 left_gripper=0.999 right_x=0.3538 right_y=0.1833 right_z=0.0263 right_yaw=0.2533 right_pitch=-0.0152 right_roll=-0.1715 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -1.2239, 6.8718, 1.6679, -0.0464, -0.0562, -0.0122, -0.1162, -8.1983, 5.8872, 2.0049, 0.2906, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e605d46e00c511fb131f31bc90dfb4d6a48920d4ddcc6f8f4b350b9d152e54db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:566f23ccff5291d17d4c41e5ec12cca2cb2b3b421efce7936857c16a5816aa4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e56363948fb3576ddcf789f68e6ad96503b5c0e29aba59beab59aa06c49f274",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5wQKjgEIEhgCKkDwgrYRycrRZNF9fzPfvAYa5L8p9ar2UxFwedo0ELK+7bvBFV15+jYGzgwI5MHmJU6MNSnZSwjXpA+LYrLkebCxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeqyzNUGEgwmSQOwOQ89oG2WxWoaDK6FKOgcfMXbsNf35SIwDp0naL4/RXV7NzhW04sSFErLW7h4HInevRIqhEOPknXyXzp4SC3HpAqjTXOM7zpMKoUDDpywcnqG2pEmBUySWchGwLqNNDWVwMnByWLld34SmHm+aAd+QqRyuaVFAGQQ2bwyOoLu2L4gNp5xRjoc0metCdQsU+RJnRpiWULVcOxiR9oXCyIAIIn4iPywwTpr6cJOTd42FsR6gF+sGfnBvVSVzIPJlim/FUVHxx1PoyXLaKPwWK93vZPA7COMKk7dU3c9mowEncySlm212OmMI45NDsHD8Cu9PtYSVtSYYy0goklK9qjE89V9nVH4InyYrqHJVyCi/LKbn39TAxtaGG8WnpHD7qZCacLEAOYkTxgd20wLIpwMkc3TaKT5wGLk0K2xcobqbDiWObwBz1bCAKjyOPXlsFCubSnyr83qHiRYT2onP4XfuZLeXHsW1cU+zNKSxhrZFLKRKJbezUB4DcaQOetYbkuffR4yjw6Y00AgFrDtsJHP6arVLxtyXE4qpD6mHKZgD7GuO0VYI1i1EkaZSM21BCuNg/d5TlmrETbG29GcYEzB9YP9T01WLqR1tfHFP1CRWYYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ErJS7defKoBx4vMzKsjK5V",
      "input": {
        "note": "Lemon fills the lower wrist view just ahead of the jaws; advancing 3 cm so it lies between the fingers.",
        "targets": {
          "right_x": 0.383
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01ErJS7defKoBx4vMzKsjK5V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8379, 0.6128, -0.5354, -0.0139, -0.0307, 0.999, 0.6346, 1.776, 0.527, 0.6308, 0.3878, 0.0673, 0.9965]\nstate[eef_state]: left_x=0.2745 left_y=0.0002 left_z=0.1421 left_yaw=-0.0007 left_pitch=-0.1922 left_roll=0.0031 left_gripper=0.999 right_x=0.3586 right_y=0.1855 right_z=0.0218 right_yaw=0.2738 right_pitch=-0.0056 right_roll=-0.1654 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -1.3333, 6.8581, 1.6874, -0.0269, -0.0171, -0.0122, 0.0889, -7.8974, 5.5043, 1.873, 0.1587, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34e0388d1bef04791f1413f0d1d851b4d830341c425b81634e411153faf5a1e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f116544249ac7b097b6b90aea675fb56e6dd87666087d13b148ee8c30919bf4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:871952a38040796cb65b4d88ca289d3ea6bf831ef8a55a565a617aa05bee22db",
        "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 · 7.011 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8322, 0.6128, -0.5205, -0.0139, -0.0307, 0.999, 0.7284, 1.5402, 0.5343, 0.4114, 0.4702, 0.1246, 0.9965]\nstate[eef_state]: left_x=0.2768 left_y=0.0002 left_z=0.1463 left_yaw=-0.0008 left_pitch=-0.1716 left_roll=0.0026 left_gripper=0.999 right_x=0.3362 right_y=0.1975 right_z=0.0738 right_yaw=0.27 right_pitch=0.0396 right_roll=-0.1504 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -1.5385, 6.8855, 1.6435, -0.0659, -0.022, -0.0122, 0.2803, -5.8462, 5.6957, 2.0195, 0.2759, 0.1587, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.836, 0.6128, -0.5224, -0.0139, -0.0307, 0.999, 0.6498, 1.739, 0.5274, 0.5739, 0.4179, 0.0883, 0.9965]\nstate[eef_state]: left_x=0.2766 left_y=0.0002 left_z=0.1449 left_yaw=-0.0007 left_pitch=-0.1774 left_roll=0.0028 left_gripper=0.999 right_x=0.3538 right_y=0.1833 right_z=0.0263 right_yaw=0.2533 right_pitch=-0.0152 right_roll=-0.1715 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -1.2239, 6.8718, 1.6679, -0.0464, -0.0562, -0.0122, -0.1162, -8.1983, 5.8872, 2.0049, 0.2906, 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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8379, 0.6128, -0.5354, -0.0139, -0.0307, 0.999, 0.6346, 1.776, 0.527, 0.6308, 0.3878, 0.0673, 0.9965]\nstate[eef_state]: left_x=0.2745 left_y=0.0002 left_z=0.1421 left_yaw=-0.0007 left_pitch=-0.1922 left_roll=0.0031 left_gripper=0.999 right_x=0.3586 right_y=0.1855 right_z=0.0218 right_yaw=0.2738 right_pitch=-0.0056 right_roll=-0.1654 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -1.3333, 6.8581, 1.6874, -0.0269, -0.0171, -0.0122, 0.0889, -7.8974, 5.5043, 1.873, 0.1587, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34e0388d1bef04791f1413f0d1d851b4d830341c425b81634e411153faf5a1e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f116544249ac7b097b6b90aea675fb56e6dd87666087d13b148ee8c30919bf4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:871952a38040796cb65b4d88ca289d3ea6bf831ef8a55a565a617aa05bee22db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3QQKjgEIEhgCKkC2GeRIR12buNYVEBBGQgJieSZ0Tod9tZk57whJsBCVYNbDp+Wq6T9WO1G7rMyOUBtKM/Oc27duBkPXoT/PdnvYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfCyzNUGEgwGTc/DFsGvV4xylbcaDPYeAVmpzUBMxLcUBiIwD42v3Vq9Mqtguq1t4Jwczq6KwNtWARbkZ+LP3xetGO6uxtxAnFDiYAdirX3vpEWTKvsCP41N2z8xAjyQAMf44HCpT/jGfLJXjBsKWNUa4AylWtRXB26HTo+CZqeoX+49yywSbH5XTbKZiCPoXsj/lcl2/j0TmcnGKuDOZpPvAwnLg5ma8RGhLl/AjdaG1o/umzgxC4gSUWIpHzwvvne7cVbNq5ePYqzGCOMkwXSZxh64j5JWcPD1VHXKXzpVbAtzuktSz27Rm5Fxw9bYQ9/OZ/fPBoymX88v4LeOaaq1sG9uzKWZEf8mVc5C90JcqS60lsROz/g1+YpFLyWKR0qqccejLtqE5HcFJzHKcZZyaPk/DXZjk8ffeLYf9fpSNsQBpgnggjkqtpZCTAEKIOf5b/B4uAn7NTpZ6nfo+euSvlo9dCDahf/OwSjaieBbJ2fwdJ+bkHXoEDyhnXSA4fGre7sx2ex92vdaYKAPE10E2ZRXm/xs37TbZAdRMcVNQNKPhdLAeuwBqF2BaH8mOjIVXaw1MmP5WOfZC4KsKlZKFBDHNUbPuNxsgfA2/NONQBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FYF5DXYFgfVqMBAJj4f8WB",
      "input": {
        "note": "The lemon sits between the jaw tips; closing to grasp it.",
        "targets": {
          "right_gripper": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01FYF5DXYFgfVqMBAJj4f8WB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8379, 0.6128, -0.5362, -0.0139, -0.0311, 0.999, 0.6346, 1.776, 0.527, 0.6304, 0.3878, 0.0669, 0.4149]\nstate[eef_state]: left_x=0.2744 left_y=0.0002 left_z=0.142 left_yaw=-0.0005 left_pitch=-0.193 left_roll=0.0028 left_gripper=0.999 right_x=0.3585 right_y=0.1854 right_z=0.0217 right_yaw=0.274 right_pitch=-0.006 right_roll=-0.1659 right_gripper=0.4149\nstate[joint_eff]: [-0.0752, -1.4154, 6.8718, 1.536, -0.0757, -0.0708, -0.0122, -0.0615, -7.0085, 4.4786, 1.6288, 0.0708, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3da2f98531db288994a96d49b74318cfc1c90d9e78ecc393bd7607f8dbdef713",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95b4346395ac14c38ef09c224befc867685b7f19cdbc1d7e66c7fd79fb5952da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bc241b1953e2600c3bcf2925050a1309d061ad4d7979a5550a03bc46aa7f9789",
        "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 · 10.01 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.836, 0.6128, -0.5224, -0.0139, -0.0307, 0.999, 0.6498, 1.739, 0.5274, 0.5739, 0.4179, 0.0883, 0.9965]\nstate[eef_state]: left_x=0.2766 left_y=0.0002 left_z=0.1449 left_yaw=-0.0007 left_pitch=-0.1774 left_roll=0.0028 left_gripper=0.999 right_x=0.3538 right_y=0.1833 right_z=0.0263 right_yaw=0.2533 right_pitch=-0.0152 right_roll=-0.1715 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -1.2239, 6.8718, 1.6679, -0.0464, -0.0562, -0.0122, -0.1162, -8.1983, 5.8872, 2.0049, 0.2906, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8379, 0.6128, -0.5354, -0.0139, -0.0307, 0.999, 0.6346, 1.776, 0.527, 0.6308, 0.3878, 0.0673, 0.9965]\nstate[eef_state]: left_x=0.2745 left_y=0.0002 left_z=0.1421 left_yaw=-0.0007 left_pitch=-0.1922 left_roll=0.0031 left_gripper=0.999 right_x=0.3586 right_y=0.1855 right_z=0.0218 right_yaw=0.2738 right_pitch=-0.0056 right_roll=-0.1654 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -1.3333, 6.8581, 1.6874, -0.0269, -0.0171, -0.0122, 0.0889, -7.8974, 5.5043, 1.873, 0.1587, -0.0415, -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]: [-0.0212, 0.8379, 0.6128, -0.5362, -0.0139, -0.0311, 0.999, 0.6346, 1.776, 0.527, 0.6304, 0.3878, 0.0669, 0.4149]\nstate[eef_state]: left_x=0.2744 left_y=0.0002 left_z=0.142 left_yaw=-0.0005 left_pitch=-0.193 left_roll=0.0028 left_gripper=0.999 right_x=0.3585 right_y=0.1854 right_z=0.0217 right_yaw=0.274 right_pitch=-0.006 right_roll=-0.1659 right_gripper=0.4149\nstate[joint_eff]: [-0.0752, -1.4154, 6.8718, 1.536, -0.0757, -0.0708, -0.0122, -0.0615, -7.0085, 4.4786, 1.6288, 0.0708, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3da2f98531db288994a96d49b74318cfc1c90d9e78ecc393bd7607f8dbdef713",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95b4346395ac14c38ef09c224befc867685b7f19cdbc1d7e66c7fd79fb5952da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc241b1953e2600c3bcf2925050a1309d061ad4d7979a5550a03bc46aa7f9789",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISswYKjgEIEhgCKkBM/sz4rnnN/hCDNp63Jcy38KW7K7N8nAb+V68k64LxQ/8GIUOrcX9XOjx6QSClkqXl0c7piuZhyxehb10KOJdWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfeyzNUGEgy81QEEXA5l8kO+qO8aDLQqnOgWw305WspoMCIwUHhYplNUaXlCL9BvQlHCe+K4P+APZ1GCmP8DdhZpUxHMlwXKwGMmVh6c9IfP5JudKtEE1Yx7s2zfg5h0vpxwHK8OncFdrg0hsV1Jm67wJgT26CEdrZhQ5r6U0h4oPoSJCvrsXAsmW+84EEug8aeVRVhCYYJ/OUSfD2XS1/YAr9ezMddE1wAzbg+4gVFoJwStP3ie/93m5aXDPUA6RNyPk4cD2KK48veiaTcHKyM+N5GHpD2vSiGxoxEFFMfP7Z0Ax1PlPUfnI9GlToatXZ4CjHohlv/ril9Z4bbMJh7LSs6cqagMHuheX8OUVK0adWVg1JkkhDGZC4/SPzMw3fu9IhQjl6MrPpy6Iy3lW6n6gGap4owRdpXowhbDN/LPYUj6Rh9/SEnQJ2bS+UEsTCi2q13PFKr+5FsJE2rKa0nQNquips42ogQ5hoolXomjBlYNHowy+We250JpBU286pmJa8uTN1eLfEx9QDUPxdKB5mheSAyj/NSM5o8ZN1W+B9InBOA2uWk3nshSPcEIuHhUaDqn+29wucN+1ZywZ/vd6rM9TKPJH7r/SrqmSJL0FbYzgHNvn6s5LgMgancgly6fhd7dWFNPyb5HWnJFFMANqUqOl7rPyWNS+qh+TTjby2QrcsItKTr7ODPL6lbOpl4FdnDf0K/zlRQ63FicYWGdj0T1pqDpxTA9S+JmiudN7v66myJN5r+mhsTGoTV1uplxaTj6l4Fshmr+PhcbhYXtKWue9YlqQXnEiBdjaaQjE9qCT/7KFxqXEzxoCbO+LmwVcyPgpnwMQFuWyQWEOtdFvX6dYqxAK9YY10CpkY5VjoC0FmB3rbXClqdqbck82mWqFQt65t4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R4FyQ4LYxjDEfk6EJhxSuE",
      "input": {
        "note": "Gripper settled at 0.41 (~4 cm) — the lemon is grasped. Lifting and carrying it over to the blue bowl with the tool pitched forward for reach.",
        "targets": {
          "right_pitch": 0.45,
          "right_x": 0.46,
          "right_y": 0.12,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01R4FyQ4LYxjDEfk6EJhxSuE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8379, 0.6128, -0.5369, -0.0139, -0.0307, 0.999, 0.2924, 1.6451, 0.672, 0.7525, 0.1135, -0.1368, 0.4162]\nstate[eef_state]: left_x=0.2742 left_y=0.0002 left_z=0.1418 left_yaw=-0.0007 left_pitch=-0.1938 left_roll=0.0031 left_gripper=0.999 right_x=0.4519 right_y=0.1189 right_z=0.153 right_yaw=0.2676 right_pitch=0.3428 right_roll=-0.1686 right_gripper=0.4162\nstate[joint_eff]: [-0.0068, -1.4017, 6.9402, 1.5311, -0.0611, -0.0269, -0.0122, -0.3077, -8.8957, 8.5128, 2.3321, -0.0562, -0.0562, 0.7888]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17fd0b0f6793ca26f325dc27c8331e212d5641d9decf4df6435ebe48c7db2cd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1339088576c5564e0c589db36a5f530dbcdbb1cb860c2d967ed9af84122a8657",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0baa93d29392729cf2988de088ec6e29aea6dbec13dac8d7fea377ebde1d5901",
        "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 · 15.77 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8379, 0.6128, -0.5354, -0.0139, -0.0307, 0.999, 0.6346, 1.776, 0.527, 0.6308, 0.3878, 0.0673, 0.9965]\nstate[eef_state]: left_x=0.2745 left_y=0.0002 left_z=0.1421 left_yaw=-0.0007 left_pitch=-0.1922 left_roll=0.0031 left_gripper=0.999 right_x=0.3586 right_y=0.1855 right_z=0.0218 right_yaw=0.2738 right_pitch=-0.0056 right_roll=-0.1654 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -1.3333, 6.8581, 1.6874, -0.0269, -0.0171, -0.0122, 0.0889, -7.8974, 5.5043, 1.873, 0.1587, -0.0415, -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]: [-0.0212, 0.8379, 0.6128, -0.5362, -0.0139, -0.0311, 0.999, 0.6346, 1.776, 0.527, 0.6304, 0.3878, 0.0669, 0.4149]\nstate[eef_state]: left_x=0.2744 left_y=0.0002 left_z=0.142 left_yaw=-0.0005 left_pitch=-0.193 left_roll=0.0028 left_gripper=0.999 right_x=0.3585 right_y=0.1854 right_z=0.0217 right_yaw=0.274 right_pitch=-0.006 right_roll=-0.1659 right_gripper=0.4149\nstate[joint_eff]: [-0.0752, -1.4154, 6.8718, 1.536, -0.0757, -0.0708, -0.0122, -0.0615, -7.0085, 4.4786, 1.6288, 0.0708, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8379, 0.6128, -0.5369, -0.0139, -0.0307, 0.999, 0.2924, 1.6451, 0.672, 0.7525, 0.1135, -0.1368, 0.4162]\nstate[eef_state]: left_x=0.2742 left_y=0.0002 left_z=0.1418 left_yaw=-0.0007 left_pitch=-0.1938 left_roll=0.0031 left_gripper=0.999 right_x=0.4519 right_y=0.1189 right_z=0.153 right_yaw=0.2676 right_pitch=0.3428 right_roll=-0.1686 right_gripper=0.4162\nstate[joint_eff]: [-0.0068, -1.4017, 6.9402, 1.5311, -0.0611, -0.0269, -0.0122, -0.3077, -8.8957, 8.5128, 2.3321, -0.0562, -0.0562, 0.7888]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17fd0b0f6793ca26f325dc27c8331e212d5641d9decf4df6435ebe48c7db2cd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1339088576c5564e0c589db36a5f530dbcdbb1cb860c2d967ed9af84122a8657",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0baa93d29392729cf2988de088ec6e29aea6dbec13dac8d7fea377ebde1d5901",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsgoKjgEIEhgCKkCs8LcLOQhlnDgnT8FzH5XGZslrRf2nOpOdeYOZIG6hO9tAX4bH2+miV70rWKMM3MmaB6x00OpF7bPqlWkwv2xjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYOzzNUGEgy7Eijukx6nRCwOXeEaDD3ZHx2QEAWPDThFtSIwo/Bs3ydtRhlwCOnzXQfv82chJUsTffNMihBqwTAyd2rnD4Bw8MAVm8Clb9NdffkiKtAIYcAyYlm7hDzPbYpe2aj370ZcZAUd7+TZ7nrq1CxXm2V0Y34wP2mwVPPae/DCcy5uga8PMMBpvkNK/FPdbQg9hDRcjoN+ZdAErFpMZWrEODEPaaJTWVLfdNblaXNYrDYCmiCGhzwyGwM0X7f34WKCI6te1H3pK2ROZd+in34PDB8PYLF8ubMoXH/Y6ChRJvgInB/ogIbqDmoAhiifLoTDvtBoxwkQH51UDaj1++PLU/tugW+45rc85Xz5a1LYvcSCCmg6QjPZ3uCqNrPTF6sDvYiv+PCEMWFOiRjZ84Msf4qq3ebhxUdyvQ4T+uwnPGxZ/GIyuLTzvdtna7TUxI5VvDhaFgs+BV4vz/Flt521r12TTALoWK849+FIndgsOPxDuR37RiFtRKs3+l/BqAF/+VwZ/b+LwooNfR6txOxnpLfY1tB0P9yOi0NMzAz7b0GgzvJnSePQGROSvJjhZqn45lzGwmMfadYEwVkQ/l2PKvwVYW2mBklWx59IEqux8Q2ExAVXU85W7F0MAyVjP8y8N5FnO6gcjNsr7dAYPBSkt/2eCDx8djy0xp5U8zSVBjFfbgtrwqlCoBMEDqPMaUWBSRZdGNtHWaZVOf4rhigZNGcMR2+9rJg8mpwtyBegU47IsJy6ylfXeGWTJKVfIQAx+qyG5ochYs7CBL52ZeV+tkihlnm19KpNBiHLabr+Zjt4TgARwUIMB46TuH9RBAPWtLmXT/nPtH677TvH2YaPAuqbpPE10F3G41QN299YY8HgRcwuKMCtxN8g31qnA+a8+q9G7bGhe4ihX/7Oa71RAiTKCOJE+JiaaWodbvO5v0mmnyWIHpuSB+f5onPyVIgpvRRuplmkfIlfk0kmTbT8iJjuL7RhKIinN8l3sj1CG82ilQiV7phPbCXyuwxYkcfirlE/77sRiGS9xsfe5BjRYzXNMhGKxGBIZnepqSkUQ7kbZSZWVNdkhpHB0jPSZJ9kaCmrDkx6fnqs1449j1QgoHbdHOKxmK/j3I1bvLLhLOsnanGgr6OLK0kpdKN1hDA1dAe33BONuX+E5PHbdxKNqEavBb5GTVEBgZ6LZCp27WhSSUgsQ7FX7pcE9t+QqN9N9mTdBMmvt2AK3Gf8zS9DMJhDOCFSEs7hPyUMIjRXjLvp0ShzSnaQcwM86PYg9uR2RGt80lPVcGMLiXOMXwJIi1UmLjpA9/iS49ILZvpHPfjD9aAetO4wSgv85BD0QpNn3zkEANP9BjdolD+tZ/0gNMruh1JM/+czhFIwclT01KpAEKRbT7ZweW920oyctCu2qd/luX7vL6ZGpl+d6xKIUPDRHcMGREPWNeV4WtJQC3fq6oFQyDRKMnE0iVEG0i9DOI0ieJ6LVvw/DUCESBp12VCOmmFYqo3GYgBRZ8LOXNXbsjn+iwN1plliDenMmtjLq3Lp54YsSXNX2dmFQZ7M6SzsbAaxMpSIcBROxIzDmpYSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VLsenm71SZuzqmmpjzD7EB",
      "input": {
        "note": "Gripper is at essentially the same spot from which the pear dropped cleanly into the blue bowl; nudging 1 cm further out and opening to release the lemon into the bowl.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.465
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01VLsenm71SZuzqmmpjzD7EB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8391, 0.6128, -0.5396, -0.0139, -0.0307, 0.999, 0.2848, 1.681, 0.6933, 0.7349, 0.0986, -0.1436, 0.9958]\nstate[eef_state]: left_x=0.2738 left_y=0.0003 left_z=0.1411 left_yaw=-0.0007 left_pitch=-0.1976 left_roll=0.0032 left_gripper=0.999 right_x=0.4572 right_y=0.1194 right_z=0.1417 right_yaw=0.2773 right_pitch=0.3101 right_roll=-0.1725 right_gripper=0.9958\nstate[joint_eff]: [-0.3624, -1.306, 6.8718, 1.5458, -0.0464, -0.022, -0.0122, -0.4171, -6.5299, 8.4308, 2.0293, -0.0366, -0.0366, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78dc5a8249f478361d43cfbd087d8ddd56afa84b6c67fe6ea7fcca127ea607c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8727d02a2f5c1fbba112b30868846800fb317bff698bd2dc19776ccac41ee2a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29d0ae29e5bce3741b9cacf5be7c99d68bf433e93b7e8846defccb2cf304d60a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 43.39 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8379, 0.6128, -0.5362, -0.0139, -0.0311, 0.999, 0.6346, 1.776, 0.527, 0.6304, 0.3878, 0.0669, 0.4149]\nstate[eef_state]: left_x=0.2744 left_y=0.0002 left_z=0.142 left_yaw=-0.0005 left_pitch=-0.193 left_roll=0.0028 left_gripper=0.999 right_x=0.3585 right_y=0.1854 right_z=0.0217 right_yaw=0.274 right_pitch=-0.006 right_roll=-0.1659 right_gripper=0.4149\nstate[joint_eff]: [-0.0752, -1.4154, 6.8718, 1.536, -0.0757, -0.0708, -0.0122, -0.0615, -7.0085, 4.4786, 1.6288, 0.0708, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8379, 0.6128, -0.5369, -0.0139, -0.0307, 0.999, 0.2924, 1.6451, 0.672, 0.7525, 0.1135, -0.1368, 0.4162]\nstate[eef_state]: left_x=0.2742 left_y=0.0002 left_z=0.1418 left_yaw=-0.0007 left_pitch=-0.1938 left_roll=0.0031 left_gripper=0.999 right_x=0.4519 right_y=0.1189 right_z=0.153 right_yaw=0.2676 right_pitch=0.3428 right_roll=-0.1686 right_gripper=0.4162\nstate[joint_eff]: [-0.0068, -1.4017, 6.9402, 1.5311, -0.0611, -0.0269, -0.0122, -0.3077, -8.8957, 8.5128, 2.3321, -0.0562, -0.0562, 0.7888]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8391, 0.6128, -0.5396, -0.0139, -0.0307, 0.999, 0.2848, 1.681, 0.6933, 0.7349, 0.0986, -0.1436, 0.9958]\nstate[eef_state]: left_x=0.2738 left_y=0.0003 left_z=0.1411 left_yaw=-0.0007 left_pitch=-0.1976 left_roll=0.0032 left_gripper=0.999 right_x=0.4572 right_y=0.1194 right_z=0.1417 right_yaw=0.2773 right_pitch=0.3101 right_roll=-0.1725 right_gripper=0.9958\nstate[joint_eff]: [-0.3624, -1.306, 6.8718, 1.5458, -0.0464, -0.022, -0.0122, -0.4171, -6.5299, 8.4308, 2.0293, -0.0366, -0.0366, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78dc5a8249f478361d43cfbd087d8ddd56afa84b6c67fe6ea7fcca127ea607c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8727d02a2f5c1fbba112b30868846800fb317bff698bd2dc19776ccac41ee2a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29d0ae29e5bce3741b9cacf5be7c99d68bf433e93b7e8846defccb2cf304d60a",
        "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_01C7Y3wNbwh1ofeq8Lcmeoze",
      "input": {
        "note": "The lemon slipped out of the jaws and is back on the table just left of the blue bowl (the pear is safely in the bowl). Returning to lemon height at its new estimated position.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.35,
          "right_y": 0.215,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01C7Y3wNbwh1ofeq8Lcmeoze",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8391, 0.6128, -0.5426, -0.0135, -0.0307, 0.999, 0.7242, 1.7451, 0.5915, 0.5488, 0.4305, 0.0731, 0.9965]\nstate[eef_state]: left_x=0.2733 left_y=0.0002 left_z=0.1405 left_yaw=-0.001 left_pitch=-0.2006 left_roll=0.003 left_gripper=0.999 right_x=0.3534 right_y=0.2189 right_z=0.0414 right_yaw=0.3256 right_pitch=0.0164 right_roll=-0.1784 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.4017, 7.0632, 1.5702, -0.0317, -0.0317, -0.0122, 0.1162, -6.6667, 5.2308, 1.8095, 0.2711, 0.1636, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3afc7067a2e03e125a0ae45553975dfa7067b2324d7c4cb91a50f102d526163b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c065c3b9f6a7d6bc0ae9cf47a2e826bea331994a919a2b401037fa977d01e61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:22b6e173e3ff401c824d645da4fcd2966d3dcb894ab0ba63c261b038063853b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /messages · status 200 · 8.412 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8379, 0.6128, -0.5369, -0.0139, -0.0307, 0.999, 0.2924, 1.6451, 0.672, 0.7525, 0.1135, -0.1368, 0.4162]\nstate[eef_state]: left_x=0.2742 left_y=0.0002 left_z=0.1418 left_yaw=-0.0007 left_pitch=-0.1938 left_roll=0.0031 left_gripper=0.999 right_x=0.4519 right_y=0.1189 right_z=0.153 right_yaw=0.2676 right_pitch=0.3428 right_roll=-0.1686 right_gripper=0.4162\nstate[joint_eff]: [-0.0068, -1.4017, 6.9402, 1.5311, -0.0611, -0.0269, -0.0122, -0.3077, -8.8957, 8.5128, 2.3321, -0.0562, -0.0562, 0.7888]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8391, 0.6128, -0.5396, -0.0139, -0.0307, 0.999, 0.2848, 1.681, 0.6933, 0.7349, 0.0986, -0.1436, 0.9958]\nstate[eef_state]: left_x=0.2738 left_y=0.0003 left_z=0.1411 left_yaw=-0.0007 left_pitch=-0.1976 left_roll=0.0032 left_gripper=0.999 right_x=0.4572 right_y=0.1194 right_z=0.1417 right_yaw=0.2773 right_pitch=0.3101 right_roll=-0.1725 right_gripper=0.9958\nstate[joint_eff]: [-0.3624, -1.306, 6.8718, 1.5458, -0.0464, -0.022, -0.0122, -0.4171, -6.5299, 8.4308, 2.0293, -0.0366, -0.0366, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8391, 0.6128, -0.5426, -0.0135, -0.0307, 0.999, 0.7242, 1.7451, 0.5915, 0.5488, 0.4305, 0.0731, 0.9965]\nstate[eef_state]: left_x=0.2733 left_y=0.0002 left_z=0.1405 left_yaw=-0.001 left_pitch=-0.2006 left_roll=0.003 left_gripper=0.999 right_x=0.3534 right_y=0.2189 right_z=0.0414 right_yaw=0.3256 right_pitch=0.0164 right_roll=-0.1784 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.4017, 7.0632, 1.5702, -0.0317, -0.0317, -0.0122, 0.1162, -6.6667, 5.2308, 1.8095, 0.2711, 0.1636, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3afc7067a2e03e125a0ae45553975dfa7067b2324d7c4cb91a50f102d526163b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c065c3b9f6a7d6bc0ae9cf47a2e826bea331994a919a2b401037fa977d01e61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22b6e173e3ff401c824d645da4fcd2966d3dcb894ab0ba63c261b038063853b1",
        "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_01KDhUZLU631mkvNKm9wg4Vb",
      "input": {
        "note": "The lemon has rolled far to the left, outside the right arm's y-limit and out of the left arm's reach of the blue bowl, so I'm moving on to the pour: positioning above the near rim of the blue bowl (pear inside) to pinch the rim.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0.2,
          "right_x": 0.4,
          "right_y": 0.12,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01KDhUZLU631mkvNKm9wg4Vb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8452, 0.6128, -0.5518, -0.0135, -0.0307, 0.999, 0.3382, 1.5177, 0.522, 0.5789, 0.1394, -0.1326, 0.9986]\nstate[eef_state]: left_x=0.2719 left_y=0.0002 left_z=0.1374 left_yaw=-0.0009 left_pitch=-0.2159 left_roll=0.0033 left_gripper=0.999 right_x=0.3974 right_y=0.1175 right_z=0.1037 right_yaw=0.2902 right_pitch=0.1476 right_roll=-0.1803 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.9214, 6.8718, 1.619, -0.0366, -0.0366, -0.0122, -0.1573, -7.1179, 5.6684, 2.0781, -0.0757, 0.0366, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:818e0c41b7f1d9388b8270d678fcf5797f8cfc9910838e9bb123b7c7b4c523fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb7d84919f7c2aaa2d4d833126f811cabe7e77a82fdc22116fdeca791709e04f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5512f2fdf0dfbc463d6e33ad0aa920cccdef13e6fad351570f2676c5410e90af",
        "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 · 7.51 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8391, 0.6128, -0.5396, -0.0139, -0.0307, 0.999, 0.2848, 1.681, 0.6933, 0.7349, 0.0986, -0.1436, 0.9958]\nstate[eef_state]: left_x=0.2738 left_y=0.0003 left_z=0.1411 left_yaw=-0.0007 left_pitch=-0.1976 left_roll=0.0032 left_gripper=0.999 right_x=0.4572 right_y=0.1194 right_z=0.1417 right_yaw=0.2773 right_pitch=0.3101 right_roll=-0.1725 right_gripper=0.9958\nstate[joint_eff]: [-0.3624, -1.306, 6.8718, 1.5458, -0.0464, -0.022, -0.0122, -0.4171, -6.5299, 8.4308, 2.0293, -0.0366, -0.0366, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8391, 0.6128, -0.5426, -0.0135, -0.0307, 0.999, 0.7242, 1.7451, 0.5915, 0.5488, 0.4305, 0.0731, 0.9965]\nstate[eef_state]: left_x=0.2733 left_y=0.0002 left_z=0.1405 left_yaw=-0.001 left_pitch=-0.2006 left_roll=0.003 left_gripper=0.999 right_x=0.3534 right_y=0.2189 right_z=0.0414 right_yaw=0.3256 right_pitch=0.0164 right_roll=-0.1784 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.4017, 7.0632, 1.5702, -0.0317, -0.0317, -0.0122, 0.1162, -6.6667, 5.2308, 1.8095, 0.2711, 0.1636, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8452, 0.6128, -0.5518, -0.0135, -0.0307, 0.999, 0.3382, 1.5177, 0.522, 0.5789, 0.1394, -0.1326, 0.9986]\nstate[eef_state]: left_x=0.2719 left_y=0.0002 left_z=0.1374 left_yaw=-0.0009 left_pitch=-0.2159 left_roll=0.0033 left_gripper=0.999 right_x=0.3974 right_y=0.1175 right_z=0.1037 right_yaw=0.2902 right_pitch=0.1476 right_roll=-0.1803 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.9214, 6.8718, 1.619, -0.0366, -0.0366, -0.0122, -0.1573, -7.1179, 5.6684, 2.0781, -0.0757, 0.0366, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:818e0c41b7f1d9388b8270d678fcf5797f8cfc9910838e9bb123b7c7b4c523fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb7d84919f7c2aaa2d4d833126f811cabe7e77a82fdc22116fdeca791709e04f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5512f2fdf0dfbc463d6e33ad0aa920cccdef13e6fad351570f2676c5410e90af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5AgKjgEIEhgCKkDCk03hUjXf4vga18oOBVZmJKIfqQF1LwjS99f+jw1zBz+DJ3QOLDcYb6vly/he2jHR6evdmuvvD6Dd5gVzt5CmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcmzzNUGEgyzBJOSysIScGGbDtcaDAdH+mNCrqRZnj+FriIwfw6MmaqX0YWzLaIi/LaeMieILOs9bclSP+Q4vnikPlekpMftvJMB6Ma9cUxN6HTnKoIHc/EVDM9BQHgbik0wrDlrqeay2cw3Hl0lebzjIYIw+WEC0hGFUrkem/DM6plDOrVq9UgJ7QIOb5IsD8pSckAi9BSyDjh8GBhHJlw8hR1dVOMkEniylJygtczEatkGrwbfzuc2s7rIDulGMmd0u4q+berBEmzG/RSVCJ6RPtqRUl2YLanptLkGyJafESPWvlDYeNOZJnnBnEqh0uP0snUs01tXMMKrkCf2lUf5c5ujIG6C5/R1oJk7Nl6Jx8SBedyO7770DpJbrTOg/QIkVmgd6BSWC6JI+cvl8hoh2/U7X92okFnJ4ZV7mU1BLZnDi2o8GxlLfDjV39EChFKwERaNc/Pl4GhMyGYQBSQ3hoR8fqQwWD6Mog+5uAJhUTKQzvmjOVI21PRkrjJwN550/8c3hzvd9J1s8GT9SIDafwMr1HR9DEBC2Fl+SvNGuv7yZuzrKi6XVFjxwBKlJpfba1rWR1yiGnbHDwTFceCE3XGbwpKX0l7WNhOwecs8eDgOkAnqo5sk65+EMhEyVYwU72W/19/UGqalfjAg0UOqVRcJ1oF033Y9eXjNZPGLPHqVFu+WWPmSnJJnRveqRr02vnhXL7nSjFX0/Uq+7hExMQGry7BvYmaSfLdF5tjM7aq7BMAQzzY765XjW602rEKM78y1HtCg+KM/1EP1HbP0wNz+e9tiPKS4vCXoJ99QobNui6mJmBBitoaPbuNg3or269UHI13RdCj221xszLg7ExmIuid4XodDTTXIjbiBpulAaD4tPz+vvfLkniig5eup7FNch/ieDj6PVaKF+XnRApRf22d1aHHzV/3l5StiVP0CFQpwq1i9PesYyL5fSOg9nSE3CSEDRnMOGMwBTbeYnIsnhOgRlbooX5+s3PrKjuTUfM9PPEHytsKTlyCgz6wZnicAx6JGIMjSTsNhh1MQqjk9Z+JszMgqKNPv7p/wANw7MeryffrBw6XIbE7ab88CyDjjtj3j8/jTPU+ltkf5hlp4CQCrQyO9jytv/ObgpLK6/L+XRZiG4KeTYyMF5HbWrrAxcxaJSP+kZwuRXcyRPXfV/qqrxCOxFIER9zcz3ySB3wcsPkKrqcVgHP5a4Aut1zoVnMKBqw5fVJNmjJwUfTl6GfX24PTeZQUSZp6h1rLCNNd4wri1ZnV9STHDMbHInLQuHS/g5LUdsLFtqD+tNvHXg0a1HhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WgcaYw5QKCHw14VmkfgjQS",
      "input": {
        "note": "Wrist view shows the blue bowl with the pear centred just beyond the jaws; descending so the open jaws straddle the near rim wall of the bowl.",
        "targets": {
          "right_pitch": 0.0,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01WgcaYw5QKCHw14VmkfgjQS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6128, -0.5549, -0.0139, -0.0307, 0.999, 0.3363, 1.7561, 0.5137, 0.6537, 0.1257, -0.1398, 0.9986]\nstate[eef_state]: left_x=0.2714 left_y=0.0003 left_z=0.1364 left_yaw=-0.0006 left_pitch=-0.2208 left_roll=0.0037 left_gripper=0.999 right_x=0.3918 right_y=0.1173 right_z=0.0228 right_yaw=0.3042 right_pitch=-0.0253 right_roll=-0.1869 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.4564, 6.8444, 1.5653, -0.0366, -0.0366, -0.0122, -0.1709, -6.6803, 5.559, 1.956, 0.0757, 0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c85da0178af6e332dad929aed2833d731626e0eff931471b24deea34997bb457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5a95e4f2aa5b15d4f91462e9223ed12dc0a553dd9f029a4fad9ef66780cb1a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:384e205e3f38c47e9dad4f8b3cfdd64c75547d956fdbfb7d5d85da728a39aacf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 8.227 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8391, 0.6128, -0.5426, -0.0135, -0.0307, 0.999, 0.7242, 1.7451, 0.5915, 0.5488, 0.4305, 0.0731, 0.9965]\nstate[eef_state]: left_x=0.2733 left_y=0.0002 left_z=0.1405 left_yaw=-0.001 left_pitch=-0.2006 left_roll=0.003 left_gripper=0.999 right_x=0.3534 right_y=0.2189 right_z=0.0414 right_yaw=0.3256 right_pitch=0.0164 right_roll=-0.1784 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.4017, 7.0632, 1.5702, -0.0317, -0.0317, -0.0122, 0.1162, -6.6667, 5.2308, 1.8095, 0.2711, 0.1636, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8452, 0.6128, -0.5518, -0.0135, -0.0307, 0.999, 0.3382, 1.5177, 0.522, 0.5789, 0.1394, -0.1326, 0.9986]\nstate[eef_state]: left_x=0.2719 left_y=0.0002 left_z=0.1374 left_yaw=-0.0009 left_pitch=-0.2159 left_roll=0.0033 left_gripper=0.999 right_x=0.3974 right_y=0.1175 right_z=0.1037 right_yaw=0.2902 right_pitch=0.1476 right_roll=-0.1803 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.9214, 6.8718, 1.619, -0.0366, -0.0366, -0.0122, -0.1573, -7.1179, 5.6684, 2.0781, -0.0757, 0.0366, -0.1587]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6128, -0.5549, -0.0139, -0.0307, 0.999, 0.3363, 1.7561, 0.5137, 0.6537, 0.1257, -0.1398, 0.9986]\nstate[eef_state]: left_x=0.2714 left_y=0.0003 left_z=0.1364 left_yaw=-0.0006 left_pitch=-0.2208 left_roll=0.0037 left_gripper=0.999 right_x=0.3918 right_y=0.1173 right_z=0.0228 right_yaw=0.3042 right_pitch=-0.0253 right_roll=-0.1869 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.4564, 6.8444, 1.5653, -0.0366, -0.0366, -0.0122, -0.1709, -6.6803, 5.559, 1.956, 0.0757, 0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c85da0178af6e332dad929aed2833d731626e0eff931471b24deea34997bb457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5a95e4f2aa5b15d4f91462e9223ed12dc0a553dd9f029a4fad9ef66780cb1a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:384e205e3f38c47e9dad4f8b3cfdd64c75547d956fdbfb7d5d85da728a39aacf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShQYKjgEIEhgCKkC2D8DbMcMi5D5Bx2uOMR5sodX8pboGJFeuejmOYfBEzu6nGSooSNnhjGTxpTA1Fn1x5MnVL6WrPM9GBV5uaYkIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdGzzNUGEgwzgCE063msxpfYgYoaDLX0ebj2VxIWUn6apyIw6S8fKLhrlRIUSL0soQZQWdw499TKqDvd7+qz/7QHll5jVRgd/VL7JhwEb/zZ2n/eKqME+XZ3FysiHAdWwagvygFGwv7molAYrJQGjBih+rRUfVYAuA77By1pheUHmyu1CPS5nfHaKhN6UJ1ZJ2Sh9YI07Yu/22lBs9ZVOCUELwtpb7bZOeD9cheRp0abTwzLzUXjcSA9BAuYjXBTeVA1K0tZKv89rGCPU4x3LaP6qe64GNW6YCF95hBdYsC2YLfR9kA7ACbU9DdzsMqwv34Tmd5m/eRUyHpq2mOxjcWgxRoURWXAw1GqUkLJHG7MpNkXz9Oiz+hu5HgOz3dBJ8aiZREadujsiZZ8ndEk40LHw2OWbPG7P0e30KwfzhnsvchWXCggKrpXVAy4x6Iaq0GGGKKuOYTVZRqd63PwS3P+6xSIdKFOgWXzMC6s4X2gMb8SR14S3eficF88xCbktfp97GvNBeutGR8ZIG6Tc3+sAsprew7cQqBaQmnRL8V52hhLjwF3FsQaE1+AmyZ04iK7zDIRJQVeebEkH5dqZd17j3ZFUb2bGuI6Iu9P4pQ5C3PBvWA0WStJ28chAjZJ5wI7niqvKn7yoml8hKlD9+eFmob/VIQ/mTAB6CmGUsaMO8e2joeCK8TRL3WhhuRO9lizVeiMH1TMKCezzwDgOy8cbpcPS62rbsNI2ClCWy57BWWIxqkQEKwLmmV9HboZ+1EAvQJ9cAixi87cBfMg1vnHpLqZ5q+8PacZ552lspJhz5Xk8kMXKWxIQgaS0bh0kP3AHITsMmMePBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011JLmUCxwrHhZe4NCF6qfVt",
      "input": {
        "note": "At jaw height the near rim of the blue bowl is still ~3 cm ahead and slightly right; advancing and shifting so the open jaws straddle the rim wall.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.105
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_011JLmUCxwrHhZe4NCF6qfVt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6128, -0.5549, -0.0139, -0.0307, 0.999, 0.3367, 1.7782, 0.5129, 0.6621, 0.1253, -0.1398, 0.9986]\nstate[eef_state]: left_x=0.2714 left_y=0.0003 left_z=0.1364 left_yaw=-0.0006 left_pitch=-0.2208 left_roll=0.0037 left_gripper=0.999 right_x=0.3907 right_y=0.1171 right_z=0.0157 right_yaw=0.3049 right_pitch=-0.0398 right_roll=-0.1871 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.388, 6.8991, 1.5409, -0.0659, -0.0611, -0.0122, -0.3077, -7.2547, 5.0393, 2.0, 0.0562, 0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37b978dbd05771041b51e70c3927f5fdd1609b8e7858a3a42ca6d959a120d792",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96e87898e09425dc5cca2105254709b53c0ace11952fd40ed3884356430c01bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:54346cd2c3c437fbf96b2e787c529a9c9615eec49408a05de2ea0fcced591738",
        "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 · 7.563 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8452, 0.6128, -0.5518, -0.0135, -0.0307, 0.999, 0.3382, 1.5177, 0.522, 0.5789, 0.1394, -0.1326, 0.9986]\nstate[eef_state]: left_x=0.2719 left_y=0.0002 left_z=0.1374 left_yaw=-0.0009 left_pitch=-0.2159 left_roll=0.0033 left_gripper=0.999 right_x=0.3974 right_y=0.1175 right_z=0.1037 right_yaw=0.2902 right_pitch=0.1476 right_roll=-0.1803 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.9214, 6.8718, 1.619, -0.0366, -0.0366, -0.0122, -0.1573, -7.1179, 5.6684, 2.0781, -0.0757, 0.0366, -0.1587]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6128, -0.5549, -0.0139, -0.0307, 0.999, 0.3363, 1.7561, 0.5137, 0.6537, 0.1257, -0.1398, 0.9986]\nstate[eef_state]: left_x=0.2714 left_y=0.0003 left_z=0.1364 left_yaw=-0.0006 left_pitch=-0.2208 left_roll=0.0037 left_gripper=0.999 right_x=0.3918 right_y=0.1173 right_z=0.0228 right_yaw=0.3042 right_pitch=-0.0253 right_roll=-0.1869 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.4564, 6.8444, 1.5653, -0.0366, -0.0366, -0.0122, -0.1709, -6.6803, 5.559, 1.956, 0.0757, 0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6128, -0.5549, -0.0139, -0.0307, 0.999, 0.3367, 1.7782, 0.5129, 0.6621, 0.1253, -0.1398, 0.9986]\nstate[eef_state]: left_x=0.2714 left_y=0.0003 left_z=0.1364 left_yaw=-0.0006 left_pitch=-0.2208 left_roll=0.0037 left_gripper=0.999 right_x=0.3907 right_y=0.1171 right_z=0.0157 right_yaw=0.3049 right_pitch=-0.0398 right_roll=-0.1871 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.388, 6.8991, 1.5409, -0.0659, -0.0611, -0.0122, -0.3077, -7.2547, 5.0393, 2.0, 0.0562, 0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37b978dbd05771041b51e70c3927f5fdd1609b8e7858a3a42ca6d959a120d792",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96e87898e09425dc5cca2105254709b53c0ace11952fd40ed3884356430c01bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54346cd2c3c437fbf96b2e787c529a9c9615eec49408a05de2ea0fcced591738",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISggcKjgEIEhgCKkAvlDM1MXT2OgBA782ZVyZFcETxLTsHNR8oEM3zOp0zYUWsfdOwCaz+TMxVpKoFTf4cCd3WOSB+oaFWa/hQxSt5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdmzzNUGEgxoixqKspf8U4yf6TUaDLp9Ccq7tQWwlmo3HyIwxO+Bd3TO3XbsAfUWMx4O5Y44a2tiT+xRePGKyVJqnJG2g1CCCehMIUg3JfhP68rHKqAFpNg3yRUsonb7BuucZ0uIqL7+uyU1ttJS8jPou29aMxmK7EbGAHoWbjw3MRlQQRbk9eouRw8sSEiNkMzZzl2PaQ2lZVm4BHGgy03SANbQeghgZWYqkRqmS86LTuYNGY7GYubi4nLjbcF4+2tsaCJCqP+xcJjlzE5wYlTb3xu1EcDo+CZeL5+XfC7wuT9DxNV3jz5u1iiKMAOMVMlT9Zosv/VRV16z+VLvilctIR5zX4Max9wf41ePYJfvGXgNUtJ2ZFaP42I2SDotB6wKM2VHsZMXQ+1c0/KfX1DvmiukSw7CFSa8adDBxIX62ZQMNSH9PpCBG/Jg7tHiTzT0O4Fpk+sHjfVEmvlC6xtTvH3Fi3t8i2v7HBibgiEVVUB57OSCwP5WdI3NGWGA1Ny4XzyZChzqOBRrtQ6f70Zfqr0H//1aBp+ns223dWs6Mjp9W7wU7yzLiuSkuhCGZuM1tMnaKm4WpnPYaaIM9jmXNA6+znW+Jf035aNacJuEa2vPp7BHs12I+pXqYltYNt49CvPg1Q1aEJwSwVGQ8g20tyYn6AltcuD+iFzYvCaTtNwRO/xo5VfwE4sznwckCkq3DsZfNdEFWXeum4/PvpKBlSGpX+NP43N3yEQEjBRfoI7fsQBD7WRiB5Jy57c/9RRhSShBWLTl7bncUiWacw5rRPcVtPwecHBZx/oUEED1NwiDpCWVWjM+cEl+pB2xlLHXxKKUQjbQsHk/584ZhoICwSJFl6bATxslVI1Z59qXTS0lc5fiiod/ZtgPZS8sCKV2uJNcDnc6J+zEkkITNvmsOYnHZ+dnKJ3AOtQxTbt6O1uZFqTkLz7uvnJgYhRC/5E+gKv/l+COZOhCo+dg+3sHe1TllPDeHQkNnRoLh/fQc7kMLewPGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018jH2iaejK2XzdLi1NWcGAe",
      "input": {
        "note": "The arm stalled at x≈0.39 with the tool vertical, so pitching forward again to gain reach and get the jaws onto the far side of the bowl's near rim.",
        "targets": {
          "right_pitch": 0.4,
          "right_x": 0.435,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_018jH2iaejK2XzdLi1NWcGAe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6128, -0.5613, -0.0139, -0.0307, 0.999, 0.2905, 2.1883, 0.4984, 1.4353, 0.083, -0.1509, 0.9986]\nstate[eef_state]: left_x=0.2703 left_y=0.0003 left_z=0.135 left_yaw=-0.0005 left_pitch=-0.2285 left_roll=0.0038 left_gripper=0.999 right_x=0.4264 right_y=0.1159 right_z=0.0151 right_yaw=0.3009 right_pitch=0.3075 right_roll=-0.1757 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -1.3744, 6.8444, 1.58, -0.0659, -0.0269, -0.0122, -0.4718, -7.8017, 4.0547, 2.0, 0.0904, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07f16b1c5f2d4b51f30b3b1bcf4247b5bd0da3211ef07a68e9625c7c1b9223d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47f4ff05ba549cff2340ff73bdfecc5a0a50c404028e0088cc52625f79f46988",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d2c5f0d03cbcda0ec3ff5a3397605e4745732db5e908c6d341dff451f5071cf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 5.347 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6128, -0.5549, -0.0139, -0.0307, 0.999, 0.3363, 1.7561, 0.5137, 0.6537, 0.1257, -0.1398, 0.9986]\nstate[eef_state]: left_x=0.2714 left_y=0.0003 left_z=0.1364 left_yaw=-0.0006 left_pitch=-0.2208 left_roll=0.0037 left_gripper=0.999 right_x=0.3918 right_y=0.1173 right_z=0.0228 right_yaw=0.3042 right_pitch=-0.0253 right_roll=-0.1869 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.4564, 6.8444, 1.5653, -0.0366, -0.0366, -0.0122, -0.1709, -6.6803, 5.559, 1.956, 0.0757, 0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6128, -0.5549, -0.0139, -0.0307, 0.999, 0.3367, 1.7782, 0.5129, 0.6621, 0.1253, -0.1398, 0.9986]\nstate[eef_state]: left_x=0.2714 left_y=0.0003 left_z=0.1364 left_yaw=-0.0006 left_pitch=-0.2208 left_roll=0.0037 left_gripper=0.999 right_x=0.3907 right_y=0.1171 right_z=0.0157 right_yaw=0.3049 right_pitch=-0.0398 right_roll=-0.1871 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.388, 6.8991, 1.5409, -0.0659, -0.0611, -0.0122, -0.3077, -7.2547, 5.0393, 2.0, 0.0562, 0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6128, -0.5613, -0.0139, -0.0307, 0.999, 0.2905, 2.1883, 0.4984, 1.4353, 0.083, -0.1509, 0.9986]\nstate[eef_state]: left_x=0.2703 left_y=0.0003 left_z=0.135 left_yaw=-0.0005 left_pitch=-0.2285 left_roll=0.0038 left_gripper=0.999 right_x=0.4264 right_y=0.1159 right_z=0.0151 right_yaw=0.3009 right_pitch=0.3075 right_roll=-0.1757 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -1.3744, 6.8444, 1.58, -0.0659, -0.0269, -0.0122, -0.4718, -7.8017, 4.0547, 2.0, 0.0904, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07f16b1c5f2d4b51f30b3b1bcf4247b5bd0da3211ef07a68e9625c7c1b9223d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47f4ff05ba549cff2340ff73bdfecc5a0a50c404028e0088cc52625f79f46988",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2c5f0d03cbcda0ec3ff5a3397605e4745732db5e908c6d341dff451f5071cf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7QcKjgEIEhgCKkCaLXxazcMFYPBtYxnVn7hGZAOI3ZtCEWJEOaNCm+j5dCuJahRk0UQFq2wz2FVnUUGULbX66QDVJNvhnitXOIumMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeOzzNUGEgxJMz4K/5uyPP3il/YaDOu2uX03MTSqQY9RLiIwdd+60uBJV60Mi5hlOTcKyrl60+3Zm5xPS/djk22Y+eRlJdrpjfLxBJfsxPXH/ZflKosGz5I4QFasvY9SUtd+79wEHsd8Odl6WbkMDCqB2uPUpJ07LellR+Rf1AFwQXzG1BOITRNmpCBi1ome6+mT75+l6m8j2hOat+wonGBx9bLQuPbzqGoM2+kr+k/XT0zZXDlXnzN5F9GUBnmAjNos16NIhOejOyHeqX2kzxE4LhHpNKK36bt4RkkPtOnlL1uQOxsCGJPPoAIfXWSOEYtIsUdyzbsC/P7FNE9Az+VmpqEOwj2yfDmHKTWqadRJ3PNaBRE+ofJ4S72QM/rAVOn1trAmp8MWCk2/aQHYv0CQkLLLtXkNrK7diriifD8fgAUFGC455tg15zNQ1H+2JA9SWk435r+kt6wljxPYwRo4qBtXqc3ISdubykBpbEuxTUOWI2jGHEmBP6HK4Otn5DVY7Uks2bgahnpifKbcZwt0qozCOkIFJIbM7RyEPMoFFZoq9TkU0jf5vDwLkMi742ERkr4Rt+qjOkoW24dFXfunqK/wWku3qkTKKpFlR/8YO1p1p3Z1nQt6uirEVdw6HyDrvJk9KlqqwwN8aZnBjEXH8S900TUUZRoPHG6OkqRiZN5aiKSHLkPTVP7Ut1v1p81sIvZK2go+YEz9VFAawLzTzglDLDoUgvoYXgJNMXOXnBAFBpKqx96mPC3dSEdZRhlRzlOXU5cCN+FOHVY3rZ1XCKCQqH3yKxB9XIP+HsIu+5VrcJWNPJZ1+Ws+sruTWcZ1x8D6ZN95Z0x9lM50B2EGiuJqrgm+OKXxMvSk8nxvVZuHETQRSzev2r9XN4Kurx8kEOWQSf5AZ+deKEBDWszVmbJT7jPLKMeOKtWmHXPJN9rHgk5WAbJfBuDwouUyiV1zLB5XsN0A/shdAoPHgr1xhOVEm9hbfp0sf4tJXf49E4gJ4m5sXcIyWeq1YAI1+ETdF8EkwV3kW9P9k7vTaClysAJGsi8dHGHp4mKfZdd2ybHKsljPn7lhJgwpHBkGXqAa4nzlXjX2p4iD/0JkkT6D0nQXdwJcuJM6sQtGR0h8/2B0uwhTpRoR0hckgxZGEDkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QS47EQVJdAXphPZJgzWSRY",
      "input": {
        "note": "Bowl rim is just ahead of the jaw tips; advancing 2 cm so the near rim wall sits between the open jaws.",
        "targets": {
          "right_x": 0.45
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01QS47EQVJdAXphPZJgzWSRY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6128, -0.5629, -0.0139, -0.0307, 0.999, 0.2798, 2.2032, 0.551, 1.4254, 0.0647, -0.1585, 0.9985]\nstate[eef_state]: left_x=0.27 left_y=0.0003 left_z=0.1347 left_yaw=-0.0005 left_pitch=-0.23 left_roll=0.0039 left_gripper=0.999 right_x=0.4407 right_y=0.1185 right_z=0.0207 right_yaw=0.3111 right_pitch=0.3347 right_roll=-0.1795 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -1.4017, 6.8855, 1.5018, -0.0855, -0.0562, -0.0122, -0.7043, -7.8701, 3.5761, 2.2735, -0.0659, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b317b97f2d1ba0136ddc380b908415f74c75311c93c5705373c47aa95adce74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b737e29c07979f97fdcbeee16c6ca2f3e0d8ecd72708de308444c8e54aa6c0ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6923b221f2c57a40dcd5b64103f8a14f54cfd83120a1d6dba1e98eed7a5ee41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 10.79 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6128, -0.5549, -0.0139, -0.0307, 0.999, 0.3367, 1.7782, 0.5129, 0.6621, 0.1253, -0.1398, 0.9986]\nstate[eef_state]: left_x=0.2714 left_y=0.0003 left_z=0.1364 left_yaw=-0.0006 left_pitch=-0.2208 left_roll=0.0037 left_gripper=0.999 right_x=0.3907 right_y=0.1171 right_z=0.0157 right_yaw=0.3049 right_pitch=-0.0398 right_roll=-0.1871 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.388, 6.8991, 1.5409, -0.0659, -0.0611, -0.0122, -0.3077, -7.2547, 5.0393, 2.0, 0.0562, 0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6128, -0.5613, -0.0139, -0.0307, 0.999, 0.2905, 2.1883, 0.4984, 1.4353, 0.083, -0.1509, 0.9986]\nstate[eef_state]: left_x=0.2703 left_y=0.0003 left_z=0.135 left_yaw=-0.0005 left_pitch=-0.2285 left_roll=0.0038 left_gripper=0.999 right_x=0.4264 right_y=0.1159 right_z=0.0151 right_yaw=0.3009 right_pitch=0.3075 right_roll=-0.1757 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -1.3744, 6.8444, 1.58, -0.0659, -0.0269, -0.0122, -0.4718, -7.8017, 4.0547, 2.0, 0.0904, -0.0708, -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 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6128, -0.5629, -0.0139, -0.0307, 0.999, 0.2798, 2.2032, 0.551, 1.4254, 0.0647, -0.1585, 0.9985]\nstate[eef_state]: left_x=0.27 left_y=0.0003 left_z=0.1347 left_yaw=-0.0005 left_pitch=-0.23 left_roll=0.0039 left_gripper=0.999 right_x=0.4407 right_y=0.1185 right_z=0.0207 right_yaw=0.3111 right_pitch=0.3347 right_roll=-0.1795 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -1.4017, 6.8855, 1.5018, -0.0855, -0.0562, -0.0122, -0.7043, -7.8701, 3.5761, 2.2735, -0.0659, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b317b97f2d1ba0136ddc380b908415f74c75311c93c5705373c47aa95adce74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b737e29c07979f97fdcbeee16c6ca2f3e0d8ecd72708de308444c8e54aa6c0ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6923b221f2c57a40dcd5b64103f8a14f54cfd83120a1d6dba1e98eed7a5ee41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS7wQKjgEIEhgCKkAlWzKHPaTzI8vSx7D8YTwVzzp4esmq5U6mDQJ1FS4boCbxN5xR7rZDb9DALyVhbc9XV4aDfoDwHJDA6U08Kw1KMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeizzNUGEgwpZA8qFbpsqW7F/xkaDDasjJxZihpSFkKbNiIwLdT43MIyO8m3vOLPV1cZhWjiVuNVtegWZu/oJ3GuSP7jP6L8+0cBbd/EyFRoAn7ZKo0D6Cmk/UAhiesAKxcbMfaALs6+KANBk2w4WHpNGfdQ8td4U+JzneaN4bzrzxfqJdxDvwuE2TNULhjf8usJwVLyWxaQQG/VtKE3O5IWk9s5pKklO/P7K+UJomqHTE3YlvmYn/BuS8ALb1C6DZG4wamk5CVigBvDfNdg7nhAK+RIKACKYU5RBjetH91oHHKY4fC+EcKdQJqGVIaUqX/ypQA8P017uHl7Gies6sQVNcx19NgtXoxBKbSX7hhNgLl6emxi+0UOiOPDgiYxEnxYnLIzkvRvAHzyLxmxfz+keE9i9f0EKRCbgCaAvFD+BpqHmkUPn0/PCk7r534qgtafu2bBvTegkZ8Aet69f3SNMo5YWQm/8K+NJzEID+iHafLU/6iXBBpRhBfmYkPushK+vbJpuKZnk6/KnRVwRnZ4yyPCz9AViAjxfCBWIsdzeKCMQGDVZVVsvfeKApCxu9RuFZlW9b6YzSU0eP3zCxjzsJeAFHap/aR4lNjTkdT/Iovund2pjLyiOePsV5eCK/J2NhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VzsxrWN1SpJjj7KAny5bdr",
      "input": {
        "note": "Jaws are straddling the near rim of the blue bowl; closing to pinch the rim so I can lift and pour.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VzsxrWN1SpJjj7KAny5bdr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8501, 0.6128, -0.5652, -0.0139, -0.0307, 0.999, 0.2794, 2.2028, 0.5503, 1.3941, 0.0647, -0.1619, 0.0543]\nstate[eef_state]: left_x=0.2696 left_y=0.0003 left_z=0.1338 left_yaw=-0.0005 left_pitch=-0.2342 left_roll=0.004 left_gripper=0.999 right_x=0.4387 right_y=0.1177 right_z=0.0132 right_yaw=0.3123 right_pitch=0.3028 right_roll=-0.1819 right_gripper=0.0543\nstate[joint_eff]: [0.0479, -1.388, 6.8444, 1.536, -0.0464, -0.0415, -0.0122, -0.294, -8.5812, 2.6325, 2.1709, 0.0562, -0.0073, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbb94e0ec241fdfdf9e345858ceecd64dc79ce3bdba234f0ad3d4ee53b9b88b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c60b750a77622eb0ab894f4889252a00e6edb6e225918f2898b38db96d947c28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:54d86ac09dee6832b7364a319cec1a1db4268251f84847d91b9ca940f1264ad1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 17.8 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6128, -0.5613, -0.0139, -0.0307, 0.999, 0.2905, 2.1883, 0.4984, 1.4353, 0.083, -0.1509, 0.9986]\nstate[eef_state]: left_x=0.2703 left_y=0.0003 left_z=0.135 left_yaw=-0.0005 left_pitch=-0.2285 left_roll=0.0038 left_gripper=0.999 right_x=0.4264 right_y=0.1159 right_z=0.0151 right_yaw=0.3009 right_pitch=0.3075 right_roll=-0.1757 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -1.3744, 6.8444, 1.58, -0.0659, -0.0269, -0.0122, -0.4718, -7.8017, 4.0547, 2.0, 0.0904, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6128, -0.5629, -0.0139, -0.0307, 0.999, 0.2798, 2.2032, 0.551, 1.4254, 0.0647, -0.1585, 0.9985]\nstate[eef_state]: left_x=0.27 left_y=0.0003 left_z=0.1347 left_yaw=-0.0005 left_pitch=-0.23 left_roll=0.0039 left_gripper=0.999 right_x=0.4407 right_y=0.1185 right_z=0.0207 right_yaw=0.3111 right_pitch=0.3347 right_roll=-0.1795 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -1.4017, 6.8855, 1.5018, -0.0855, -0.0562, -0.0122, -0.7043, -7.8701, 3.5761, 2.2735, -0.0659, -0.0513, -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 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8501, 0.6128, -0.5652, -0.0139, -0.0307, 0.999, 0.2794, 2.2028, 0.5503, 1.3941, 0.0647, -0.1619, 0.0543]\nstate[eef_state]: left_x=0.2696 left_y=0.0003 left_z=0.1338 left_yaw=-0.0005 left_pitch=-0.2342 left_roll=0.004 left_gripper=0.999 right_x=0.4387 right_y=0.1177 right_z=0.0132 right_yaw=0.3123 right_pitch=0.3028 right_roll=-0.1819 right_gripper=0.0543\nstate[joint_eff]: [0.0479, -1.388, 6.8444, 1.536, -0.0464, -0.0415, -0.0122, -0.294, -8.5812, 2.6325, 2.1709, 0.0562, -0.0073, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbb94e0ec241fdfdf9e345858ceecd64dc79ce3bdba234f0ad3d4ee53b9b88b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c60b750a77622eb0ab894f4889252a00e6edb6e225918f2898b38db96d947c28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54d86ac09dee6832b7364a319cec1a1db4268251f84847d91b9ca940f1264ad1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISuwgKjgEIEhgCKkCvGWZWcGblnhilTBbUNsiaTYhJXRtf6gK30e/GBqgYC4q3ClQLe2PVEOwt5DbLfeBqlTa4ifKVjDIxw9ZmZ7p7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfOzzNUGEgyvygloF1lfsZ2MT6YaDHYF/28NbTbwb979KCIwvWmIpSwMW8WcYEeco3xvCeDUiGoX5keylAUcwfcj8q5EU32JDWQhuusc85e0Ng7HKtkGuuUPpJjdRx/qnJCGjgzekKnu1dOC1vejZfb+FyuYmLavLW9+g3My9s9nBs3UbJSuPci7cm4nUxSxzTp4ySaydcEPfeiEaiWPehe89A5a5awv8BO7wzmJZYcEsroMeDQemOJJzcCcDXAaoCdQ/SYKnG3dyl8BJnJFvAnSpOsPjpVWlY3PsY29jaKUELYQxjb5UMZBEf2v53YSrYlqA80CBypZLTXtXbgN9Rsr4DmUJsGswqZ/Jg1OWdl3AeA6kH6Pq0yBxzhkNS8HOeZ4WWg1OktKvZDqXJiGNhtFsfAHNcUYg8R/4KbutXavQ8oWwJpV7To2UEqQhol8Pih8se8pIlvXtQhb50cSN4sUfSmCiSd2eOFPIfclJ3IFUlVYV03z1Eg1GWrIfAqs3AHNJPHG2KgFAv1B9hvdENdr2cUKwdVpbm9CN3Jj82B1l45YhgC7mP8IR/Sp1wfXzSZ+IGcSJIo4eitPzqRilQLmzqP+f3XdcTeHAbu/0dET9TepfgxtEeCa/SFu1REvZLdWQm1ZYbYqTY4YQLD4ODKBA1EUXtGQ88MZLvzpB4eJnKBGis2ZhXpQ6fAEdZ8mHzW5SAQJaGCRCkJJfkkVVY2shnp+sTpF5Z7Iib/JwvSdRdYfxp/Nbq7tuyVXWVxL/ekUh/wlHB9/0k5EcEw0vEtFuMwaVZQV+7fdopy51Ku8TR4ZMVBtI6cpuh425JAU+x1+UjM3xrlf/ZsJ7XBFPhPNy2DD1MpgT5GMcG0mf35I7ZvK8NCJDIVMDSwvz5oKbXoqZX/JN1blVYemPtO+CzMNeZqdrDhBmDapvYGDYOHSWcIWLF25HBn65nRTAzslPIU0ORNtvxr8VWVLATHrwQRkKw81ASPb7VDHfi2eKm5/8E+0M6uDVsQnMRVP6rpDkYBYYg8F2H3tKD40hvbrfxQKyTBlUfBuYqee5NlmcpO8lrmJTa8IpmGpBRX3QpZ14GnZHRjdFA9yWk/L+a6YHi7GcbliJykCfNfFW3NXWdElNL6/5RZlcy9gvS8HGLEOFr7IN8lMN+E4KemTlW9UprnrpPbnxFoJJC/nOYkHxjUUWKmETYBQDo/Kzb+u7TN7X1w2j1D3T0uTSXYwpPgRZKS5+LNQluvbsqH9nVnFj/AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kz75B7uNQUFy3MphEF1MrF",
      "input": {
        "note": "The jaws pinched the bowl rim (gripper settled at 0.054 ≈ 5 mm wall). Lifting the blue bowl with the pear and carrying it left over the large white bowl, ready to tip.",
        "targets": {
          "right_pitch": 0.3,
          "right_x": 0.42,
          "right_y": 0.38,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01Kz75B7uNQUFy3MphEF1MrF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8516, 0.6128, -0.5659, -0.0135, -0.0307, 0.999, 0.9218, 1.9335, 1.3895, 0.2226, 0.6476, 0.0101, 0.054]\nstate[eef_state]: left_x=0.2695 left_y=0.0003 left_z=0.1333 left_yaw=-0.0008 left_pitch=-0.2365 left_roll=0.0037 left_gripper=0.999 right_x=0.4173 right_y=0.3797 right_z=0.2169 right_yaw=0.3537 right_pitch=0.3051 right_roll=-0.1914 right_gripper=0.054\nstate[joint_eff]: [-0.1436, -1.5385, 6.8308, 1.4823, -0.0611, -0.0464, -0.0122, 0.294, -10.0444, 8.335, 1.7167, 0.2808, 0.2076, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f98c9ee02ddc9e9c6d8c29ff18894cb24cde2c09513c875440da8f1de79959af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4d1a1978e5ee3107df6d24031a28632136a76e5b2807e6f00832c35da82ccb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:66cea4102c7069863c436e719f6f14d04cdc2984385133efeadbb4255bbe99ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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