adhoc

completed
2026-09-22T18:50:52.115936+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
265.1 s
total steps
241
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: big white bowl at back-left, blue bowl centre-right, lemon beside it, pear right in front of the right gripper, and a dark round fruit near the left arm. First I'm moving the right arm a little way out over the pear.
move_to
right_x0.3500right_y0.0200right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0284, 0.8001, 0.6136, -0.382, -0.0139, -0.0296, 0.9988, -0.0227, 0.8005, 0.6182, -0.3874, -0.0238, -0.0124, 0.9994] state[eef_state]: left_x=0.2961 left_y=-0.0024 left_z=0.1823 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.296 right_y=0.0011 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [0.2667, -1.7026, 9.5658, 1.7949, -0.1099, 0.1636, -0.1343, -0.3077, -1.7709, 9.1966, 1.8388, -0.0366, -0.0562, -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": 0.35, "right_y": 0.02, "right_z": 0.15}, "note": "Scene: big white bowl at back-left, blue bowl centre-right, lemon beside it, pear right in front of the right gripper, and a dark round fruit near the left arm. First I'm moving the right arm a little way out over the pear."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent noteThe pear sits on the jaw column just ahead of the fingertips, so I'm moving 3.5 cm further out before going down.
move_to
right_x0.3800right_y0.0150right_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]: [-0.0288, 0.8051, 0.6132, -0.387, -0.0139, -0.0307, 0.9987, 0.0769, 1.103, 0.5961, -0.1158, 0.0479, 0.0181, 0.9994] state[eef_state]: left_x=0.2957 left_y=-0.0025 left_z=0.1797 left_yaw=0.0002 left_pitch=-0.0103 left_roll=-0.0007 left_gripper=0.9987 right_x=0.344 right_y=0.0216 right_z=0.1375 right_yaw=0.0226 right_pitch=-0.0524 right_roll=-0.0158 right_gripper=0.9994 state[joint_eff]: [-0.294, -1.6889, 7.1453, 1.7656, -0.0708, -0.0269, -0.022, -0.3077, -4.1094, 7.1179, 2.0684, 0.1245, 0.1587, -0.022] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.015, "right_z": 0.14}, "note": "The pear sits on the jaw column just ahead of the fingertips, so I'm moving 3.5 cm further out before going down."})
tool
executing move_to over 3 steps (0.3s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent noteThe pear now sits between the open jaws, so I'm lowering straight down to grip it around its middle.
move_to
right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8078, 0.6132, -0.4004, -0.0139, -0.0311, 0.9987, 0.041, 1.2701, 0.6743, -0.0937, 0.0132, -0.012, 0.9994] state[eef_state]: left_x=0.294 left_y=-0.0024 left_z=0.1762 left_yaw=0.0005 left_pitch=-0.0263 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3684 right_y=0.0164 right_z=0.1195 right_yaw=0.0323 right_pitch=-0.1199 right_roll=-0.0207 right_gripper=0.9994 state[joint_eff]: [-0.1573, -1.4701, 7.1863, 1.9072, -0.0659, -0.0464, -0.0171, -0.6085, -4.8342, 8.8957, 1.9707, 0.0024, 0.0073, -0.0171] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03}, "note": "The pear now sits between the open jaws, so I'm lowering straight down to grip it around its middle."})
tool
executing move_to over 6 steps (0.6s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe pear fills the space between the jaws at low height, so I'm closing the gripper on 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]: [-0.0288, 0.8082, 0.6132, -0.4084, -0.0139, -0.0311, 0.9987, 0.0418, 1.5383, 0.4484, 0.3634, 0.0059, -0.012, 0.9994] state[eef_state]: left_x=0.293 left_y=-0.0024 left_z=0.1745 left_yaw=0.0005 left_pitch=-0.0347 left_roll=-0.0003 left_gripper=0.9987 right_x=0.362 right_y=0.0177 right_z=0.0227 right_yaw=0.0392 right_pitch=-0.1569 right_roll=-0.0161 right_gripper=0.9994 state[joint_eff]: [-0.1983, -1.0598, 7.0222, 1.8242, -0.0562, -0.0415, -0.0122, -0.3761, -5.5453, 5.5043, 1.9219, 0.0171, -0.0757, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The pear fills the space between the jaws at low height, so I'm closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe gripper stopped at 0.69 open (about 6.6 cm), so it has the pear. Lifting to carry height.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8082, 0.6132, -0.4168, -0.0135, -0.0334, 0.9987, 0.0418, 1.5383, 0.448, 0.3622, 0.0029, -0.0162, 0.6949] state[eef_state]: left_x=0.2918 left_y=-0.0024 left_z=0.1728 left_yaw=0.0014 left_pitch=-0.0431 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3617 right_y=0.0182 right_z=0.0223 right_yaw=0.0441 right_pitch=-0.1585 right_roll=-0.0173 right_gripper=0.6949 state[joint_eff]: [-0.335, -1.306, 7.0359, 1.7705, -0.0122, -0.0317, -0.0122, -0.0068, -5.5316, 5.3265, 1.6386, 0.0171, -0.0269, 0.9548] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "The gripper stopped at 0.69 open (about 6.6 cm), so it has the pear. Lifting to carry height."})
tool
executing move_to over 12 steps (1.2s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe pear came up with the jaws. The blue bowl is ahead and to the left in the wrist view, so I'm carrying the pear over it.
move_to
right_x0.4400right_y0.0800right_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]: [-0.0288, 0.8082, 0.6132, -0.4232, -0.0139, -0.0334, 0.9987, 0.0429, 1.2247, 0.9554, -0.5301, 0.0025, -0.0196, 0.698] state[eef_state]: left_x=0.2908 left_y=-0.0023 left_z=0.1715 left_yaw=0.0017 left_pitch=-0.0496 left_roll=-0.0017 left_gripper=0.9987 right_x=0.3542 right_y=0.0184 right_z=0.1763 right_yaw=0.0475 right_pitch=-0.2298 right_roll=-0.0193 right_gripper=0.698 state[joint_eff]: [-0.1299, -1.0598, 7.241, 1.746, -0.0464, -0.0562, -0.0122, -0.4581, -5.9282, 9.3744, 1.6923, -0.0317, -0.0366, 0.8132] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.08, "right_z": 0.2}, "note": "The pear came up with the jaws. The blue bowl is ahead and to the left in the wrist view, so I'm carrying the pear over it."})
tool
executing move_to over 7 steps (0.7s)
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 noteThe pear is roughly over the blue bowl. Lowering partway to check the alignment before letting go.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8124, 0.6132, -0.4244, -0.0139, -0.0334, 0.9987, 0.2245, 1.5982, 1.3231, -0.6109, 0.1116, 0.0872, 0.6997] state[eef_state]: left_x=0.2909 left_y=-0.0023 left_z=0.1701 left_yaw=0.0017 left_pitch=-0.0549 left_roll=-0.0015 left_gripper=0.9987 right_x=0.4274 right_y=0.0811 right_z=0.177 right_yaw=0.0723 right_pitch=-0.3091 right_roll=-0.0361 right_gripper=0.6997 state[joint_eff]: [-0.2667, -1.6889, 7.1043, 1.6874, -0.0757, -0.0415, -0.0171, -0.5812, -8.4171, 9.4154, 1.8242, 0.1538, 0.1441, 0.7692] approver: 1 step(s) modified (delta_clamped). 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": 0.12}, "note": "The pear is roughly over the blue bowl. Lowering partway to check the alignment before letting go."})
tool
executing move_to over 4 steps (0.4s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteFrom the overhead view the pear is just to the right of the blue bowl, and in the wrist view the bowl's centre is a bit further ahead. Shifting left and slightly forward, and levelling the pitch.
move_to
right_x0.4300right_y0.1200right_z0.1300right_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]: [-0.0288, 0.8127, 0.6132, -0.4248, -0.0139, -0.0334, 0.9987, 0.2245, 1.6333, 1.1347, -0.4816, 0.1108, 0.0864, 0.7] state[eef_state]: left_x=0.2909 left_y=-0.0023 left_z=0.1699 left_yaw=0.0017 left_pitch=-0.0557 left_roll=-0.0015 left_gripper=0.9987 right_x=0.4102 right_y=0.0773 right_z=0.1071 right_yaw=0.068 right_pitch=-0.4023 right_roll=-0.0514 right_gripper=0.7 state[joint_eff]: [-0.0615, -1.1009, 7.1726, 1.663, -0.0464, -0.0317, -0.0122, -0.1026, -8.3761, 7.788, 1.9658, 0.0073, -0.0269, 0.2955] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.12, "right_z": 0.13, "right_pitch": 0.0}, "note": "From the overhead view the pear is just to the right of the blue bowl, and in the wrist view the bowl's centre is a bit further ahead. Shifting left and slightly forward, and levelling the pitch."})
tool
executing move_to over 14 steps (1.4s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe arm ended short and low (x 0.375, z 0.065), probably with the pear catching the bowl rim. Lifting clear while holding the target x/y.
move_to
right_x0.4300right_y0.1200right_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]: [-0.0288, 0.8143, 0.6132, -0.4286, -0.0139, -0.0334, 0.9987, 0.3744, 1.5814, 0.8719, -0.2367, 0.2153, 0.1055, 0.7015] state[eef_state]: left_x=0.2904 left_y=-0.0023 left_z=0.1687 left_yaw=0.0017 left_pitch=-0.061 left_roll=-0.0014 left_gripper=0.9987 right_x=0.3752 right_y=0.1107 right_z=0.0652 right_yaw=0.1167 right_pitch=-0.3507 right_roll=-0.1222 right_gripper=0.7015 state[joint_eff]: [-0.0752, -1.1009, 7.1316, 1.7118, -0.0464, -0.0366, -0.0122, -2.5094, -8.2256, 8.7453, 2.2979, 0.6911, 0.1587, 0.7155] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.12, "right_z": 0.2}, "note": "The arm ended short and low (x 0.375, z 0.065), probably with the pear catching the bowl rim. Lifting clear while holding the target x/y."})
tool
executing move_to over 9 steps (0.9s)
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 arm isn't following the lift and is still around z 0.08. Trying a smaller lift close to the current pose so the IK can track it.
move_to
right_x0.3900right_y0.1100right_z0.1300right_pitch-0.2000right_yaw0.1000right_roll-0.1000
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]: [-0.0288, 0.8173, 0.6132, -0.4316, -0.0139, -0.0338, 0.9987, 0.3908, 1.5116, 0.7391, -0.0116, 0.2577, 0.078, 0.7022] state[eef_state]: left_x=0.2901 left_y=-0.0023 left_z=0.1673 left_yaw=0.0019 left_pitch=-0.0672 left_roll=-0.0015 left_gripper=0.9987 right_x=0.3785 right_y=0.1112 right_z=0.0775 right_yaw=0.1239 right_pitch=-0.1875 right_roll=-0.13 right_gripper=0.7022 state[joint_eff]: [-0.0889, -1.6068, 6.9812, 1.7216, -0.0562, -0.0317, -0.0122, -0.1162, -7.8974, 6.7624, 1.9023, 0.2076, -0.0708, 0.735] approver: 5 step(s) modified (delta_clamped ×5). 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": 0.39, "right_y": 0.11, "right_z": 0.13, "right_pitch": -0.2, "right_yaw": 0.1, "right_roll": -0.1}, "note": "The arm isn't following the lift and is still around z 0.08. Trying a smaller lift close to the current pose so the IK can track it."})
tool
executing move_to over 4 steps (0.4s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe right arm has frozen for two moves. Backing it toward the pose it last tracked well, which is nearer the base and higher, to free it up.
move_to
right_x0.3400right_y0.0800right_z0.1600right_pitch0.0000right_yaw0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8192, 0.6132, -0.4351, -0.0139, -0.0334, 0.9987, 0.3908, 1.5097, 0.7391, -0.004, 0.2581, 0.078, 0.702] state[eef_state]: left_x=0.2897 left_y=-0.0023 left_z=0.1661 left_yaw=0.0018 left_pitch=-0.0725 left_roll=-0.001 left_gripper=0.9987 right_x=0.3798 right_y=0.1116 right_z=0.0796 right_yaw=0.124 right_pitch=-0.1782 right_roll=-0.1277 right_gripper=0.702 state[joint_eff]: [-0.212, -1.5111, 6.9812, 1.7411, -0.0562, -0.0464, -0.0171, -0.0752, -7.6923, 6.694, 1.8828, 0.2222, -0.0757, 0.3394] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.08, "right_z": 0.16, "right_pitch": 0.0, "right_yaw": 0.0, "right_roll": 0.0}, "note": "The right arm has frozen for two moves. Backing it toward the pose it last tracked well, which is nearer the base and higher, to free it up."})
tool
executing move_to over 6 steps (0.6s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe arm is free and still holding the pear. The blue bowl is just ahead and to the left of the gripper in the top view, so I'm moving over it at a safe height.
move_to
right_x0.4100right_y0.1300right_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]: [-0.0288, 0.8249, 0.6132, -0.4423, -0.0139, -0.0334, 0.9987, 0.3801, 1.1461, 0.659, -0.1417, 0.2848, 0.1696, 0.7023] state[eef_state]: left_x=0.289 left_y=-0.0023 left_z=0.1631 left_yaw=0.0018 left_pitch=-0.0855 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3418 right_y=0.087 right_z=0.1501 right_yaw=0.046 right_pitch=-0.0304 right_roll=-0.029 right_gripper=0.7023 state[joint_eff]: [-0.1436, -1.3197, 6.9812, 1.8046, -0.0122, -0.0171, -0.0122, -0.5538, -3.9043, 6.7761, 2.1368, 0.2711, 0.1929, 0.735] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.13, "right_z": 0.17}, "note": "The arm is free and still holding the pear. The blue bowl is just ahead and to the left of the gripper in the top view, so I'm moving over it at a safe height."})
tool
executing move_to over 6 steps (0.6s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe last move didn't happen. Trying a smaller step toward the bowl to see if the IK will follow.
move_to
right_x0.3800right_y0.1000right_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]: [-0.0284, 0.8249, 0.6132, -0.4461, -0.0139, -0.0334, 0.9987, 0.3759, 1.1164, 0.6567, -0.1848, 0.292, 0.1951, 0.7042] state[eef_state]: left_x=0.2884 left_y=-0.0021 left_z=0.1624 left_yaw=0.0022 left_pitch=-0.0893 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3352 right_y=0.0815 right_z=0.1507 right_yaw=0.0219 right_pitch=-0.0435 right_roll=-0.0173 right_gripper=0.7042 state[joint_eff]: [-0.0205, -1.1966, 7.2, 1.7411, -0.0806, -0.0171, -0.0171, -0.4171, -4.0137, 6.9949, 2.0635, 0.2027, 0.0952, 0.6569] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.1, "right_z": 0.16}, "note": "The last move didn't happen. Trying a smaller step toward the bowl to see if the IK will follow."})
tool
executing move_to over 4 steps (0.4s)
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 noteThe right arm still won't move toward the bowl. Testing a pure vertical move to see which directions it will follow.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8249, 0.6132, -0.4465, -0.0135, -0.0338, 0.9987, 0.3759, 1.1164, 0.6567, -0.1848, 0.2916, 0.1951, 0.7043] state[eef_state]: left_x=0.2883 left_y=-0.0023 left_z=0.1623 left_yaw=0.0017 left_pitch=-0.0897 left_roll=-0.001 left_gripper=0.9987 right_x=0.3352 right_y=0.0816 right_z=0.1507 right_yaw=0.0222 right_pitch=-0.0436 right_roll=-0.0171 right_gripper=0.7043 state[joint_eff]: [-0.1846, -1.2239, 7.0085, 1.6728, -0.0464, -0.0611, -0.0122, -0.2393, -4.0821, 6.8171, 2.0391, 0.1978, 0.0952, 0.6813] approver: 2 step(s) modified (delta_clamped ×2). 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_z": 0.2}, "note": "The right arm still won't move toward the bowl. Testing a pure vertical move to see which directions it will follow."})
tool
executing move_to over 4 steps (0.4s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe vertical move worked. The blue bowl is about 6–7 cm to the left of and ahead of the gripper in the top view, so I'm moving over it.
move_to
right_x0.4000right_y0.1400right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8249, 0.6132, -0.448, -0.0139, -0.0334, 0.9987, 0.3759, 1.113, 0.7898, -0.3672, 0.284, 0.1913, 0.7036] state[eef_state]: left_x=0.2881 left_y=-0.0022 left_z=0.162 left_yaw=0.0018 left_pitch=-0.0912 left_roll=-0.0004 left_gripper=0.9987 right_x=0.3327 right_y=0.082 right_z=0.1755 right_yaw=0.0295 right_pitch=-0.0882 right_roll=-0.0314 right_gripper=0.7036 state[joint_eff]: [-0.0205, -1.4017, 7.1453, 1.6923, -0.0122, -0.0415, -0.0122, -0.3214, -5.2171, 9.4974, 1.7998, 0.1978, -0.0024, 0.5055] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.14, "right_z": 0.19}, "note": "The vertical move worked. The blue bowl is about 6\u20137 cm to the left of and ahead of the gripper in the top view, so I'm moving over it."})
tool
executing move_to over 6 steps (0.6s)
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 noteThe gripper now covers the blue bowl in the top view and the bowl's rim shows just past the pear in the wrist view. Lowering before letting go.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8303, 0.6132, -0.4538, -0.0135, -0.0338, 0.9987, 0.4709, 1.4494, 1.0496, -0.3901, 0.3298, 0.2287, 0.7039] state[eef_state]: left_x=0.2875 left_y=-0.0023 left_z=0.1595 left_yaw=0.0017 left_pitch=-0.1022 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3845 right_y=0.1356 right_z=0.1656 right_yaw=0.0618 right_pitch=-0.1686 right_roll=-0.0685 right_gripper=0.7039 state[joint_eff]: [-0.2256, -1.812, 7.1043, 1.7021, -0.0415, -0.0562, -0.0122, 0.3487, -7.0769, 8.8, 1.7363, 0.359, 0.2466, 0.6667] 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_z": 0.12}, "note": "The gripper now covers the blue bowl in the top view and the bowl's rim shows just past the pear in the wrist view. Lowering before letting go."})
tool
executing move_to over 3 steps (0.3s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteIn the wrist view the bowl sits a little ahead of and to the right of the pear. Nudging forward and right so the pear is over the bowl's centre.
move_to
right_x0.3950right_y0.1250right_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]: [-0.0288, 0.8307, 0.6132, -0.458, -0.0135, -0.0338, 0.9987, 0.4744, 1.4853, 0.9215, -0.284, 0.329, 0.2276, 0.703] state[eef_state]: left_x=0.2869 left_y=-0.0023 left_z=0.1586 left_yaw=0.0017 left_pitch=-0.1068 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3746 right_y=0.1322 right_z=0.1171 right_yaw=0.062 right_pitch=-0.222 right_roll=-0.0924 right_gripper=0.703 state[joint_eff]: [-0.1846, -1.0325, 7.241, 1.7265, -0.0269, -0.0415, -0.0122, -0.4171, -6.4752, 7.8701, 2.2344, 0.188, -0.022, 0.3297] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.395, "right_y": 0.125, "right_z": 0.11}, "note": "In the wrist view the bowl sits a little ahead of and to the right of the pear. Nudging forward and right so the pear is over the bowl's centre."})
tool
executing move_to over 2 steps (0.2s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent notex stays stuck at 0.374, which probably means the pear is pressing on the bowl's near rim. Lifting and moving forward over the bowl's centre.
move_to
right_x0.4300right_y0.1250right_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]: [-0.0288, 0.8307, 0.6132, -0.4683, -0.0135, -0.0338, 0.9987, 0.4599, 1.5173, 0.9001, -0.2638, 0.308, 0.215, 0.7045] state[eef_state]: left_x=0.2852 left_y=-0.0022 left_z=0.1566 left_yaw=0.0018 left_pitch=-0.1171 left_roll=-0.0002 left_gripper=0.9987 right_x=0.3736 right_y=0.1293 right_z=0.099 right_yaw=0.0685 right_pitch=-0.2594 right_roll=-0.0996 right_gripper=0.7045 state[joint_eff]: [-0.3487, -1.388, 6.9675, 1.7753, -0.0122, -0.0366, -0.0122, -0.6359, -6.0513, 9.7299, 1.5556, 0.1538, -0.0611, 0.486] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.125, "right_z": 0.16}, "note": "x stays stuck at 0.374, which probably means the pear is pressing on the bowl's near rim. Lifting and moving forward over the bowl's centre."})
tool
executing move_to over 5 steps (0.5s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe arm is still stalled, and the pitch has drifted to -0.28. Last time, commanding the orientation back to level freed it, so I'm doing that while moving over the bowl.
move_to
right_x0.4200right_y0.1250right_z0.1700right_pitch0.1000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8341, 0.6132, -0.4694, -0.0139, -0.0338, 0.9987, 0.4469, 1.5185, 0.9001, -0.2817, 0.3054, 0.2016, 0.7043] state[eef_state]: left_x=0.2852 left_y=-0.0022 left_z=0.1555 left_yaw=0.0021 left_pitch=-0.1217 left_roll=0.0002 left_gripper=0.9987 right_x=0.3721 right_y=0.1234 right_z=0.0958 right_yaw=0.0631 right_pitch=-0.2785 right_roll=-0.1144 right_gripper=0.7043 state[joint_eff]: [-0.0752, -1.5111, 6.9538, 1.6484, -0.0317, -0.0366, -0.0122, -0.1846, -6.6803, 9.2239, 1.5653, 0.1392, 0.0171, 0.6862] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.125, "right_z": 0.17, "right_pitch": 0.1, "right_roll": 0.0, "right_yaw": 0.0}, "note": "The arm is still stalled, and the pitch has drifted to -0.28. Last time, commanding the orientation back to level freed it, so I'm doing that while moving over the bowl."})
tool
executing move_to over 13 steps (1.3s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe blue bowl now sits right under the pear in the wrist view and the gripper covers it in the top view. Opening to drop the pear in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8341, 0.6132, -0.4759, -0.0139, -0.0334, 0.9987, 0.4385, 1.5036, 0.87, 0.0074, 0.3447, 0.1986, 0.7045] state[eef_state]: left_x=0.2842 left_y=-0.0021 left_z=0.1542 left_yaw=0.0019 left_pitch=-0.1282 left_roll=0.0007 left_gripper=0.9987 right_x=0.4103 right_y=0.1304 right_z=0.1403 right_yaw=0.0396 right_pitch=-0.015 right_roll=-0.0368 right_gripper=0.7045 state[joint_eff]: [-0.1299, -1.388, 6.9402, 1.7167, -0.0562, -0.022, -0.0122, -0.9094, -9.347, 6.188, 2.2637, 0.3883, -0.0024, 0.696] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The blue bowl now sits right under the pear in the wrist view and the gripper covers it in the top view. Opening to drop the pear in."})
tool
executing move_to over 3 steps (0.3s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe pear dropped into the blue bowl. The lemon is just left of the bowl and a little nearer, so I'm moving the open right gripper above it.
move_to
right_x0.3700right_y0.2000right_z0.1500right_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]: [-0.0288, 0.8341, 0.6132, -0.4763, -0.0135, -0.0338, 0.9987, 0.4366, 1.5036, 0.8661, 0.0143, 0.3424, 0.1936, 0.9954] state[eef_state]: left_x=0.2841 left_y=-0.0022 left_z=0.1542 left_yaw=0.0018 left_pitch=-0.1286 left_roll=0.0002 left_gripper=0.9987 right_x=0.4105 right_y=0.1301 right_z=0.14 right_yaw=0.0422 right_pitch=-0.0127 right_roll=-0.0385 right_gripper=0.9954 state[joint_eff]: [-0.294, -1.4154, 7.0222, 1.5995, -0.0464, -0.0513, -0.0122, -0.1709, -6.7214, 6.9265, 1.6532, 0.0757, 0.0415, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.2, "right_z": 0.15, "right_pitch": 0.1}, "note": "The pear dropped into the blue bowl. The lemon is just left of the bowl and a little nearer, so I'm moving the open right gripper above it."})
tool
executing move_to over 6 steps (0.6s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe lemon is still to the left of and slightly nearer than the gripper, in both the top and wrist views. Shifting left over it.
move_to
right_x0.3500right_y0.2600right_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]: [-0.0288, 0.8341, 0.6132, -0.4759, -0.0139, -0.0338, 0.9987, 0.7113, 1.5036, 0.8307, 0.0536, 0.551, 0.2901, 0.9964] state[eef_state]: left_x=0.2842 left_y=-0.0021 left_z=0.1542 left_yaw=0.0021 left_pitch=-0.1282 left_roll=0.0004 left_gripper=0.9987 right_x=0.3694 right_y=0.201 right_z=0.1417 right_yaw=0.0969 right_pitch=0.0514 right_roll=-0.0606 right_gripper=0.9964 state[joint_eff]: [-0.1026, -1.4427, 6.9675, 1.6581, -0.0415, -0.0269, -0.0122, 0.253, -6.5983, 6.1607, 1.9219, 0.3443, 0.2076, 0.0904] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.26, "right_z": 0.14}, "note": "The lemon is still to the left of and slightly nearer than the gripper, in both the top and wrist views. Shifting left over it."})
tool
executing move_to over 5 steps (0.5s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe lemon lies lengthwise just short of the fingertips and slightly left of the jaw line. Nudging forward and left, then lowering to grip it across its width.
move_to
right_x0.3650right_y0.2650right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8341, 0.6132, -0.4767, -0.0139, -0.0338, 0.9987, 0.8806, 1.6161, 0.9264, -0.0238, 0.6514, 0.3836, 0.9965] state[eef_state]: left_x=0.2841 left_y=-0.0021 left_z=0.1541 left_yaw=0.0021 left_pitch=-0.1289 left_roll=0.0004 left_gripper=0.9987 right_x=0.3462 right_y=0.2568 right_z=0.1285 right_yaw=0.1408 right_pitch=0.0202 right_roll=-0.0875 right_gripper=0.9965 state[joint_eff]: [-0.2256, -1.4154, 7.2, 1.5849, -0.0562, -0.0611, -0.0122, 0.1983, -7.0769, 8.5128, 1.6093, 0.4713, 0.1392, -0.0073] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.365, "right_y": 0.265, "right_z": 0.03}, "note": "The lemon lies lengthwise just short of the fingertips and slightly left of the jaw line. Nudging forward and left, then lowering to grip it across its width."})
tool
executing move_to over 7 steps (0.7s)
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 noteThe arm stalled again, with roll and yaw drifting. Commanding a level orientation along with the descent over the lemon.
move_to
right_x0.3650right_y0.2650right_z0.0500right_pitch0.1000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0284, 0.8341, 0.6132, -0.4763, -0.0139, -0.0338, 0.9987, 0.8928, 1.6253, 0.939, -0.0463, 0.6769, 0.4091, 0.9965] state[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1542 left_yaw=0.0025 left_pitch=-0.1285 left_roll=0.0004 left_gripper=0.9987 right_x=0.3446 right_y=0.2572 right_z=0.128 right_yaw=0.1206 right_pitch=0.019 right_roll=-0.0911 right_gripper=0.9965 state[joint_eff]: [0.0752, -1.4564, 7.0222, 1.6386, -0.0757, -0.0611, -0.0122, -0.0342, -7.5966, 8.5128, 1.5751, 0.359, 0.1148, -0.0122] 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": 0.265, "right_z": 0.05, "right_pitch": 0.1, "right_roll": 0.0, "right_yaw": 0.0}, "note": "The arm stalled again, with roll and yaw drifting. Commanding a level orientation along with the descent over the lemon."})
tool
executing move_to over 6 steps (0.6s)
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 is centred between the jaws. Lowering to its mid-height to grip it.
move_to
right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8398, 0.6132, -0.4919, -0.0139, -0.0338, 0.9987, 0.894, 1.8832, 0.8822, 0.2085, 0.7254, 0.4686, 0.9965] state[eef_state]: left_x=0.2818 left_y=-0.0021 left_z=0.1497 left_yaw=0.0022 left_pitch=-0.1499 left_roll=0.0011 left_gripper=0.9987 right_x=0.3553 right_y=0.2609 right_z=0.0454 right_yaw=0.0555 right_pitch=0.0045 right_roll=-0.107 right_gripper=0.9965 state[joint_eff]: [0.0068, -1.7709, 7.0222, 1.8193, -0.0317, -0.0317, -0.0122, -0.1436, -13.0256, 4.9162, 1.7509, 0.6178, 0.1245, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). 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_z": 0.015}, "note": "The lemon is centred between the jaws. Lowering to its mid-height to grip it."})
tool
executing move_to over 2 steps (0.2s)
step 152
assistant
agent noteThe lemon sits between the jaws at table level. Closing on 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]: [-0.0288, 0.8406, 0.6132, -0.4915, -0.0135, -0.0338, 0.9987, 0.894, 1.9549, 0.8391, 0.3397, 0.7315, 0.4824, 0.9965] state[eef_state]: left_x=0.2819 left_y=-0.0021 left_z=0.1496 left_yaw=0.0019 left_pitch=-0.1503 left_roll=0.0009 left_gripper=0.9987 right_x=0.355 right_y=0.2592 right_z=0.022 right_yaw=0.0437 right_pitch=0.0193 right_roll=-0.0859 right_gripper=0.9965 state[joint_eff]: [-0.1709, -1.4838, 6.9402, 1.5751, -0.0611, -0.0562, -0.0171, -0.0205, -7.4188, 5.9692, 1.3651, 0.2564, -0.0806, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The lemon sits between the jaws at table level. Closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 162
assistant
agent noteThe gripper stopped at 0.51 (about 4.9 cm), so it has the lemon. Lifting and carrying it to the same spot over the blue bowl where the pear dropped in.
move_to
right_x0.4100right_y0.1400right_z0.1700right_pitch0.1000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8406, 0.6132, -0.4919, -0.0135, -0.0338, 0.9987, 0.894, 1.9728, 0.8387, 0.3294, 0.7246, 0.4717, 0.511] state[eef_state]: left_x=0.2819 left_y=-0.0021 left_z=0.1495 left_yaw=0.0019 left_pitch=-0.1507 left_roll=0.0009 left_gripper=0.9987 right_x=0.3526 right_y=0.2576 right_z=0.0126 right_yaw=0.0544 right_pitch=-0.0039 right_roll=-0.1131 right_gripper=0.511 state[joint_eff]: [-0.1026, -1.4427, 6.9675, 1.6093, -0.0317, -0.0415, -0.0122, -0.1299, -10.3043, 4.7795, 1.5214, 0.3199, 0.0757, 1.0281] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.14, "right_z": 0.17, "right_pitch": 0.1, "right_roll": 0.0, "right_yaw": 0.0}, "note": "The gripper stopped at 0.51 (about 4.9 cm), so it has the lemon. Lifting and carrying it to the same spot over the blue bowl where the pear dropped in."})
tool
executing move_to over 11 steps (1.1s)
step 173
assistant
agent noteThe top view shows the lemon held over the blue bowl, at the same x/y where the pear dropped in cleanly. Releasing it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8436, 0.6132, -0.4942, -0.0135, -0.0338, 0.9987, 0.5076, 1.4952, 0.8162, 0.0982, 0.4583, 0.2512, 0.5134] state[eef_state]: left_x=0.2816 left_y=-0.0021 left_z=0.1483 left_yaw=0.0019 left_pitch=-0.156 left_roll=0.001 left_gripper=0.9987 right_x=0.4029 right_y=0.1388 right_z=0.1429 right_yaw=-0.0127 right_pitch=0.055 right_roll=-0.0296 right_gripper=0.5134 state[joint_eff]: [-0.2256, -1.7162, 6.9265, 1.5995, -0.0171, -0.0366, -0.0122, -0.2393, -7.8838, 9.5521, 1.9219, 0.1148, -0.0366, 0.735] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The top view shows the lemon held over the blue bowl, at the same x/y where the pear dropped in cleanly. Releasing it."})
tool
executing move_to over 5 steps (0.5s)
step 178
assistant
agent noteThe wrist view shows the lemon missed the bowl and landed just beyond it, and the bowl looks tipped with the pear inside. Moving the right arm out of the way to check the scene from the top camera.
move_to
right_x0.3000right_y0.0000right_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]: [-0.0288, 0.8459, 0.6132, -0.4953, -0.0135, -0.0334, 0.9987, 0.5064, 1.4944, 0.8192, 0.0788, 0.4408, 0.2428, 0.9954] state[eef_state]: left_x=0.2815 left_y=-0.0021 left_z=0.1475 left_yaw=0.0017 left_pitch=-0.1594 left_roll=0.0014 left_gripper=0.9987 right_x=0.4011 right_y=0.1404 right_z=0.14 right_yaw=0.0052 right_pitch=0.0365 right_roll=-0.036 right_gripper=0.9954 state[joint_eff]: [-0.1573, -1.306, 7.0359, 1.6435, -0.0464, -0.0269, -0.0122, -0.294, -6.4889, 6.3248, 1.9658, 0.2711, 0.1001, 0.0659] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.2}, "note": "The wrist view shows the lemon missed the bowl and landed just beyond it, and the bowl looks tipped with the pear inside. Moving the right arm out of the way to check the scene from the top camera."})
tool
executing move_to over 12 steps (1.2s)
step 190
assistant
agent noteThe pear is in the blue bowl, but the lemon rolled away to the far back-right corner, probably out of reach. Next is the dark plum, which sits ahead and to the right of the left gripper, so I'm moving the left arm over it.
move_to
left_x0.3100left_y-0.1000left_z0.1200left_pitch0.1000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8474, 0.6128, -0.4984, -0.0135, -0.0338, 0.9987, 0.0132, 0.8207, 0.6487, -0.3401, 0.0689, -0.0006, 0.9964] state[eef_state]: left_x=0.281 left_y=-0.0021 left_z=0.1464 left_yaw=0.002 left_pitch=-0.1644 left_roll=0.0013 left_gripper=0.9987 right_x=0.3067 right_y=-0.0045 right_z=0.2018 right_yaw=-0.0487 right_pitch=0.0585 right_roll=-0.0365 right_gripper=0.9964 state[joint_eff]: [-0.1162, -1.4154, 6.9265, 1.6435, -0.0269, -0.0464, -0.0122, -0.1983, -1.3197, 7.5009, 1.8828, -0.0904, -0.0415, 0.0904] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": -0.1, "left_z": 0.12, "left_pitch": 0.1, "left_roll": 0.0, "left_yaw": 0.0}, "note": "The pear is in the blue bowl, but the lemon rolled away to the far back-right corner, probably out of reach. Next is the dark plum, which sits ahead and to the right of the left gripper, so I'm moving the left arm over it."})
tool
executing move_to over 9 steps (0.9s)
step 199
assistant
agent noteThe plum is slightly right of and just ahead of the left jaws. Stepping 2–3 cm forward and right and lowering to grip it.
move_to
left_x0.3300left_y-0.1200left_z0.0250left_pitch0.1000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5724, 1.055, 0.4, 0.0174, -0.4408, -0.2855, 0.9987, 0.0128, 0.8265, 0.6483, -0.371, 0.0521, -0.0227, 0.9965] state[eef_state]: left_x=0.2995 left_y=-0.0991 left_z=0.1033 left_yaw=-0.0519 left_pitch=0.0 left_roll=0.0348 left_gripper=0.9987 right_x=0.3034 right_y=-0.0017 right_z=0.1933 right_yaw=-0.0229 right_pitch=0.0208 right_roll=-0.0489 right_gripper=0.9965 state[joint_eff]: [-0.1709, -3.1521, 6.147, 1.8828, -0.4518, -0.0757, -0.0122, -0.3214, -1.9214, 7.0632, 2.0928, 0.1587, 0.1441, -0.0024] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.12, "left_z": 0.025, "left_pitch": 0.1, "left_roll": 0.0, "left_yaw": 0.0}, "note": "The plum is slightly right of and just ahead of the left jaws. Stepping 2\u20133 cm forward and right and lowering to grip it."})
tool
executing move_to over 6 steps (0.6s)
step 205
assistant
agent noteThe plum is still just beyond the fingertips and a bit right of the jaw line. Nudging forward and right at grasp height.
move_to
left_x0.3400left_y-0.1250left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6117, 1.6485, 0.2794, 0.672, -0.5117, -0.3187, 0.9983, 0.0132, 0.8303, 0.6483, -0.382, 0.0509, -0.0196, 0.9965] state[eef_state]: left_x=0.3139 left_y=-0.1102 left_z=0.0035 left_yaw=-0.0166 left_pitch=-0.0265 left_roll=0.0758 left_gripper=0.9983 right_x=0.3022 right_y=-0.0014 right_z=0.1899 right_yaw=-0.0232 right_pitch=0.0059 right_roll=-0.0462 right_gripper=0.9965 state[joint_eff]: [-0.4444, -6.5846, 4.3282, 1.6923, -0.3443, -0.0171, -0.0708, -0.1709, -1.6479, 7.159, 1.8926, 0.0171, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.125, "left_z": 0.02}, "note": "The plum is still just beyond the fingertips and a bit right of the jaw line. Nudging forward and right at grasp height."})
tool
executing move_to over 3 steps (0.3s)
step 208
assistant
agent noteThe plum is now between the left jaws at low height. Closing on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6044, 1.6775, 0.3721, 0.6357, -0.5167, -0.3218, 0.9981, 0.0132, 0.8307, 0.6483, -0.387, 0.0509, -0.0196, 0.9965] state[eef_state]: left_x=0.3361 left_y=-0.1217 left_z=0.0151 left_yaw=-0.004 left_pitch=-0.002 left_roll=0.0604 left_gripper=0.9981 right_x=0.3016 right_y=-0.0014 right_z=0.1888 right_yaw=-0.0232 right_pitch=0.0006 right_roll=-0.0464 right_gripper=0.9965 state[joint_eff]: [0.5812, -7.6239, 5.7504, 1.6484, -0.1001, 0.0757, -0.0317, -0.0479, -1.4701, 7.0085, 1.7607, -0.0317, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The plum is now between the left jaws at low height. Closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 218
assistant
agent noteThat close came up empty: the plum sits centred just beyond the fingertips. Opening again and moving about 3 cm forward.
move_to
left_gripper1.0000left_x0.3650left_y-0.1200left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6048, 1.668, 0.3756, 0.6159, -0.5087, -0.3218, 0.0091, 0.0132, 0.8326, 0.6483, -0.3874, 0.0509, -0.0193, 0.9965] state[eef_state]: left_x=0.3353 left_y=-0.1228 left_z=0.0154 left_yaw=-0.0107 left_pitch=-0.0105 left_roll=0.0601 left_gripper=0.0091 right_x=0.3017 right_y=-0.0014 right_z=0.1882 right_yaw=-0.0234 right_pitch=-0.0017 right_roll=-0.0462 right_gripper=0.9965 state[joint_eff]: [-0.212, -5.0667, 3.9453, 1.8046, -0.2271, -0.0122, 0.6667, -0.0889, -1.6479, 7.0222, 1.7314, -0.0317, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.365, "left_y": -0.12, "left_z": 0.025}, "note": "That close came up empty: the plum sits centred just beyond the fingertips. Opening again and moving about 3 cm forward."})
tool
executing move_to over 10 steps (1.0s)
step 228
assistant
agent noteThe plum is now framed between the open jaws, but the fingertips are probably still a little short, so I'm advancing about 2 cm more before closing.
move_to
left_x0.3780left_y-0.1180left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5335, 1.6852, 0.4492, 0.5648, -0.4644, -0.2871, 0.9949, 0.0132, 0.8326, 0.6483, -0.3897, 0.0509, -0.0196, 0.9965] state[eef_state]: left_x=0.3572 left_y=-0.1149 left_z=0.0209 left_yaw=0.007 left_pitch=-0.0216 left_roll=0.0629 left_gripper=0.9949 right_x=0.3014 right_y=-0.0014 right_z=0.1877 right_yaw=-0.0232 right_pitch=-0.004 right_roll=-0.0466 right_gripper=0.9965 state[joint_eff]: [0.3214, -4.6838, 6.5436, 1.6532, -0.0513, 0.1245, -0.0513, -0.0342, -1.1419, 7.0222, 1.7656, 0.0024, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.378, "left_y": -0.118, "left_z": 0.02}, "note": "The plum is now framed between the open jaws, but the fingertips are probably still a little short, so I'm advancing about 2 cm more before closing."})
tool
executing move_to over 2 steps (0.2s)
step 230
assistant
agent noteThe plum fills the space between the jaws right down to the bottom of the wrist image. Closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5186, 1.7294, 0.4866, 0.5594, -0.4549, -0.2848, 0.9958, 0.0132, 0.8322, 0.6483, -0.3912, 0.0509, -0.0196, 0.9965] state[eef_state]: left_x=0.3659 left_y=-0.1153 left_z=0.0158 left_yaw=0.0132 left_pitch=-0.0352 left_roll=0.0659 left_gripper=0.9958 right_x=0.3011 right_y=-0.0014 right_z=0.1875 right_yaw=-0.0232 right_pitch=-0.0051 right_roll=-0.0466 right_gripper=0.9965 state[joint_eff]: [0.6085, -6.4889, 6.065, 1.6239, -0.0366, 0.188, 0.0562, -0.0615, -1.4427, 7.0085, 1.7167, 0.0073, -0.0464, -0.0122] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The plum fills the space between the jaws right down to the bottom of the wrist image. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 240
assistant
agent noteI have 4 calls left and the rest of the task needs far more than that. The pear is in the blue bowl. The lemon hit the bowl rim when I dropped it and rolled to the far back-right corner, which looks out of reach. The left arm is holding the plum, but the blue bowl is at about y = −0.52 in the left arm's frame, past its −0.4 limit. Getting the plum in would need a hand-off to the right arm, and pouring the bowl into the white bowl would need a two-arm grasp and tilt.
give_up
hindsight- Where things were: the blue bowl centre was at about right_x 0.41, right_y 0.13. Releasing at z 0.14 there drops fruit in. The large white bowl is in the back-left, in the left arm's area. The plum started at about left_x 0.37, left_y −0.12. - Which arm can reach what: the blue bowl is too far right for the left arm (about left_y −0.52, beyond the −0.4 limit). Anything bound for the blue bowl from the left side needs a hand-off or should be picked with the right arm. - Stalls: the right arm often froze and ignored targets. This happened whenever its pitch drifted to about −0.2 to −0.4 or its roll and yaw drifted. Putting right_pitch 0.1, right_roll 0, right_yaw 0 into the target freed it every time. Include explicit level orientation in every move from the start. - Dropping fruit: the lemon was released at z 0.14 over the bowl, hit the rim, tipped the bowl and rolled across the table. Lower a held fruit into the bowl, to about z 0.08, before opening, and don't release near the rim. - Grasping: fruit that looks centred in the wrist view with some table visible below it is still 2–4 cm beyond the fingertips. My first close on the plum was empty; it worked only when the fruit filled the image down to the bottom edge. Commanded z 0.02–0.03 settles at about 0.01. Settled gripper readings were pear 0.69, lemon 0.51, plum 0.53. - Budget: plan the pour early. It needs a two-arm or rim grasp on the blue bowl, and 40 calls is tight for 3 fruits plus a pour.
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]: [-0.5156, 1.7519, 0.4896, 0.5549, -0.4549, -0.2882, 0.5287, 0.0132, 0.8352, 0.6483, -0.3943, 0.0505, -0.0196, 0.9965] state[eef_state]: left_x=0.3646 left_y=-0.1133 left_z=0.0079 left_yaw=0.0187 left_pitch=-0.0558 left_roll=0.0753 left_gripper=0.5287 right_x=0.301 right_y=-0.0014 right_z=0.186 right_yaw=-0.0229 right_pitch=-0.0112 right_roll=-0.0466 right_gripper=0.9965 state[joint_eff]: [-0.1299, -8.5128, 4.1368, 1.5751, -0.232, -0.0024, 1.033, -0.1026, -1.7573, 7.0085, 1.7265, -0.0171, -0.022, -0.0122] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I have 4 calls left and the rest of the task needs far more than that. The pear is in the blue bowl. The lemon hit the bowl rim when I dropped it and rolled to the far back-right corner, which looks out of reach. The left arm is holding the plum, but the blue bowl is at about y = \u22120.52 in the left arm's frame, past its \u22120.4 limit. Getting the plum in would need a hand-off to the right arm, and pouring the bowl into the white bowl would need a two-arm grasp and tilt.", "hindsight": "- Where things were: the blue bowl centre was at about right_x 0.41, right_y 0.13. Releasing at z 0.14 there drops fruit in. The large white bowl is in the back-left, in the left arm's area. The plum started at about left_x 0.37, left_y \u22120.12.\n- Which arm can reach what: the blue bowl is too far right for the left arm (about left_y \u22120.52, beyond the \u22120.4 limit). Anything bound for the blue bowl from the left side needs a hand-off or should be picked with the right arm.\n- Stalls: the right arm often froze and ignored targets. This happened whenever its pitch drifted to about \u22120.2 to \u22120.4 or its roll and yaw drifted. Putting right_pitch 0.1, right_roll 0, right_yaw 0 into the target freed it every time. Include explicit level orientation in every move from the start.\n- Dropping fruit: the lemon was released at z 0.14 over the bowl, hit the rim, tipped the bowl and rolled across the table. Lower a held fruit into the bowl, to about z 0.08, before opening, and don't release near the rim.\n- Grasping: fruit that looks centred in the wrist view with some table visible below it is still 2\u20134 cm beyond the fingertips. My first close on the plum was empty; it worked only when the fruit filled the image down to the bottom edge. Commanded z 0.02\u20130.03 settles at about 0.01. Settled gripper readings were pear 0.69, lemon 0.51, plum 0.53.\n- Budget: plan the pour early. It needs a two-arm or rim grasp on the blue bowl, and 40 calls is tight for 3 fruits plus a pour."})
tool
give_up: I have 4 calls left and the rest of the task needs far more than that. The pear is in the blue bowl. The lemon hit the bowl rim when I dropped it and rolled to the far back-right corner, which looks out of reach. The left arm is holding the plum, but the blue bowl is at about y = −0.52 in the left arm's frame, past its −0.4 limit. Getting the plum in would need a hand-off to the right arm, and pouring the bowl into the white bowl would need a two-arm grasp and tilt.
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 · 13.9 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0284, 0.8001, 0.6136, -0.382, -0.0139, -0.0296, 0.9988, -0.0227, 0.8005, 0.6182, -0.3874, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=-0.0024 left_z=0.1823 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.296 right_y=0.0011 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.2667, -1.7026, 9.5658, 1.7949, -0.1099, 0.1636, -0.1343, -0.3077, -1.7709, 9.1966, 1.8388, -0.0366, -0.0562, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd306d4ace4c9fbd2c7d18822364df4893bbfee868915d486eb114de3573a5a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ccee600e9ea9b441895f61ce91b8def77a9f65ff74e4a8ecf59ac203a849233",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:155512b4ccef9bb56e872834378173daaa61bd94c6923db7479a818ecf21283f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 4.361 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0284, 0.8001, 0.6136, -0.382, -0.0139, -0.0296, 0.9988, -0.0227, 0.8005, 0.6182, -0.3874, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=-0.0024 left_z=0.1823 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.296 right_y=0.0011 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.2667, -1.7026, 9.5658, 1.7949, -0.1099, 0.1636, -0.1343, -0.3077, -1.7709, 9.1966, 1.8388, -0.0366, -0.0562, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd306d4ace4c9fbd2c7d18822364df4893bbfee868915d486eb114de3573a5a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ccee600e9ea9b441895f61ce91b8def77a9f65ff74e4a8ecf59ac203a849233",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:155512b4ccef9bb56e872834378173daaa61bd94c6923db7479a818ecf21283f",
        "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_01W2PiQKG6UnetbCKtVWbaBe",
      "input": {
        "note": "Scene: big white bowl at back-left, blue bowl centre-right, lemon beside it, pear right in front of the right gripper, and a dark round fruit near the left arm. First I'm moving the right arm a little way out over the pear.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.02,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01W2PiQKG6UnetbCKtVWbaBe",
      "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]: [-0.0288, 0.8051, 0.6132, -0.387, -0.0139, -0.0307, 0.9987, 0.0769, 1.103, 0.5961, -0.1158, 0.0479, 0.0181, 0.9994]\nstate[eef_state]: left_x=0.2957 left_y=-0.0025 left_z=0.1797 left_yaw=0.0002 left_pitch=-0.0103 left_roll=-0.0007 left_gripper=0.9987 right_x=0.344 right_y=0.0216 right_z=0.1375 right_yaw=0.0226 right_pitch=-0.0524 right_roll=-0.0158 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.6889, 7.1453, 1.7656, -0.0708, -0.0269, -0.022, -0.3077, -4.1094, 7.1179, 2.0684, 0.1245, 0.1587, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1ae053606b8026b6f96ab29a20b155cc136e276a1a29e45c54077cf43bdabf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c7a3e9f2f8b2e753a0ca9e8a8c2b35e8c67b02ae003708e286eeaadf986eb9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1bc261b6789bd4b00c700d45a3fe9efd4561dcaf15a1871bbd40277d16b78a62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 2.964 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0284, 0.8001, 0.6136, -0.382, -0.0139, -0.0296, 0.9988, -0.0227, 0.8005, 0.6182, -0.3874, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=-0.0024 left_z=0.1823 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.296 right_y=0.0011 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.2667, -1.7026, 9.5658, 1.7949, -0.1099, 0.1636, -0.1343, -0.3077, -1.7709, 9.1966, 1.8388, -0.0366, -0.0562, -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]: [-0.0288, 0.8051, 0.6132, -0.387, -0.0139, -0.0307, 0.9987, 0.0769, 1.103, 0.5961, -0.1158, 0.0479, 0.0181, 0.9994]\nstate[eef_state]: left_x=0.2957 left_y=-0.0025 left_z=0.1797 left_yaw=0.0002 left_pitch=-0.0103 left_roll=-0.0007 left_gripper=0.9987 right_x=0.344 right_y=0.0216 right_z=0.1375 right_yaw=0.0226 right_pitch=-0.0524 right_roll=-0.0158 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.6889, 7.1453, 1.7656, -0.0708, -0.0269, -0.022, -0.3077, -4.1094, 7.1179, 2.0684, 0.1245, 0.1587, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1ae053606b8026b6f96ab29a20b155cc136e276a1a29e45c54077cf43bdabf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c7a3e9f2f8b2e753a0ca9e8a8c2b35e8c67b02ae003708e286eeaadf986eb9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bc261b6789bd4b00c700d45a3fe9efd4561dcaf15a1871bbd40277d16b78a62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxwcKEAgSGAI4AUIIdGhpbmtpbmcSDP0unC3LG7lafzf47xoMOg3ZEGK27l+Lh3/YIjCmgvfrmsr9x9GufevVN8u8Jyq04FY0+tKaNZzg03wyopJnfIsSwSJ25hhL9VC6l3cq5AYQhV/vdksY3JtKKBg5dpJ9pp7sdgpY/lbHvBgBmHdR5eAXuVtwAZndImW/WLKE4Sr69KX88g5Z8oV7P68bcr9tZBT6U7unEZlyshOmEZORo4TdIbboSfgQmAi98dcTvvv/ZJHhpTXiZkeygdJrvnqN0e6sS7OhfDEVfxkvnnBoanwDbqHFRL/K2BRTfoi3zvY7nd1bnS8bGMtL3d+xc1cOQIIflzeq5D9RCq70NMpdCVncJ9y4x+MO9Vg8gzy441Z+1FcxVObXWDwh9quRC4JHPdZMKTmlIwjKTx9M1kEbiKPgrySZmvz6CKohGPIxR9R1R1jsv9SU+vp3tNEjltHvglkJqBS9VBHtEzt1b8wd6SJrxzNohBjPUShjyUyK8zP+3hSnHhaQOvgKqeotcuD0yWQHEOOzFybwXMBE1TLX6X5I0osMmW/2gqrkllyLvrvfM/oOJ0en4sKUoK9cA5IJYnV6nVbeoPGFp8CsRCZZWR53AAfmXBSgLwKUfcg7GH5L1s0CAhOD89EB2GVhtWA1clFkdv67IIVJ6LYIMArAkPnFDByyO4NcWQ7kpsmIcM5fNP696+xBqyltJ7KmO+uch2851PtaM3mINQQHs6P+BcOkVG+B+WNGgg2mrT/llXxLVy6FHEj5+chaEmNM7aFK3ZoIHqJTRjjfDaAKwlXHiT5hIuADwkI0fyD5p4hame9ps0AwwsrELtiAwAmT6PC/f92zZdjUgVCpQueB8vmvQO+88CsR+c/Us9PInh1f76bZyFcNdkBgnbBLwhj+dktLu2FfuzemS0cXsFqP3pDPpGTR317GEpy3fpQ09P7hlSEAy2EMBtqiGUpOUqO0PrOeqdS+RmLaz+DkQOxJuu+MN9JC35m6rht2+2fhN01dIRy5whsnP+eWEs3vUTHwPtLEitzL3+TM5HmH0rT7nbbjjfGedZj488npuUp1PfdN2yelwH70sS/ELqgIWYsJv6Bzbx69eH7fFB+trSGPFnZljrnCe5sOdMhTUwt4cZuBUpBQHBpH9wxHLx/MxLsAA7++fa4cENcmwcbUuRVBYVaKV6yqFuMJOhizzSMm0lvUjyLqKK2VrSdJvzXWQSUS1rtoSLgWDv9+9PRKMyhQH7uzm2Ud4iwHFhrjZ2hNigQSGxZ+1uBQGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DXzDjF5EUfqkjKnpAgNgYW",
      "input": {
        "note": "The pear sits on the jaw column just ahead of the fingertips, so I'm moving 3.5 cm further out before going down.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.015,
          "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_01DXzDjF5EUfqkjKnpAgNgYW",
      "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]: [-0.0288, 0.8078, 0.6132, -0.4004, -0.0139, -0.0311, 0.9987, 0.041, 1.2701, 0.6743, -0.0937, 0.0132, -0.012, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=-0.0024 left_z=0.1762 left_yaw=0.0005 left_pitch=-0.0263 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3684 right_y=0.0164 right_z=0.1195 right_yaw=0.0323 right_pitch=-0.1199 right_roll=-0.0207 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.4701, 7.1863, 1.9072, -0.0659, -0.0464, -0.0171, -0.6085, -4.8342, 8.8957, 1.9707, 0.0024, 0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee21b1fef3c64b07f098298273a29733ed0177fce201b8ba29e45189824ebd88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c9197e869eba72404d4c5c9f9f750fc2153b9a3857b6123766595f3523d3c86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ec96ebde58ad43ca4f23501fd612511ee9f94a3ef7ed5c3e7c27023a296e8d83",
        "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 · 3.66 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0284, 0.8001, 0.6136, -0.382, -0.0139, -0.0296, 0.9988, -0.0227, 0.8005, 0.6182, -0.3874, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=-0.0024 left_z=0.1823 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.296 right_y=0.0011 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.2667, -1.7026, 9.5658, 1.7949, -0.1099, 0.1636, -0.1343, -0.3077, -1.7709, 9.1966, 1.8388, -0.0366, -0.0562, -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]: [-0.0288, 0.8051, 0.6132, -0.387, -0.0139, -0.0307, 0.9987, 0.0769, 1.103, 0.5961, -0.1158, 0.0479, 0.0181, 0.9994]\nstate[eef_state]: left_x=0.2957 left_y=-0.0025 left_z=0.1797 left_yaw=0.0002 left_pitch=-0.0103 left_roll=-0.0007 left_gripper=0.9987 right_x=0.344 right_y=0.0216 right_z=0.1375 right_yaw=0.0226 right_pitch=-0.0524 right_roll=-0.0158 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.6889, 7.1453, 1.7656, -0.0708, -0.0269, -0.022, -0.3077, -4.1094, 7.1179, 2.0684, 0.1245, 0.1587, -0.022]",
      "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]: [-0.0288, 0.8078, 0.6132, -0.4004, -0.0139, -0.0311, 0.9987, 0.041, 1.2701, 0.6743, -0.0937, 0.0132, -0.012, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=-0.0024 left_z=0.1762 left_yaw=0.0005 left_pitch=-0.0263 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3684 right_y=0.0164 right_z=0.1195 right_yaw=0.0323 right_pitch=-0.1199 right_roll=-0.0207 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.4701, 7.1863, 1.9072, -0.0659, -0.0464, -0.0171, -0.6085, -4.8342, 8.8957, 1.9707, 0.0024, 0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee21b1fef3c64b07f098298273a29733ed0177fce201b8ba29e45189824ebd88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c9197e869eba72404d4c5c9f9f750fc2153b9a3857b6123766595f3523d3c86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec96ebde58ad43ca4f23501fd612511ee9f94a3ef7ed5c3e7c27023a296e8d83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqAYKEAgSGAI4AUIIdGhpbmtpbmcSDJbivnkctCYxr+FLqhoM6C8+vFr4ujygRkPsIjCuK2F6A4rcUTCQy6bC52S1U36s/GGxuJu8GGO8Wm0mZ1aVfVFFU/yCqdK515DAGLUqxQVYP2hHJYRau+yJ1VRTkEI//LPgyrwDBHWKiegJNLpeTcFMLcjTzJHp+l5nW8RCrsiqYMiTJ4rBiG959z0weskp+TMb41ae0HdYU7+CIb8mTTM35LbwyFGy/lrSYHDq0fA5QuSK49kk8qwH93yOpImUPgkm+S/x/sy2x7I0XCss+2D4Jjf4xnLob0sUttyi08SX4dwvuwRsWDlpyjV6QTo1TwaIKxp+qGBdEojIdi/mhYWFzlgq/y9MdyZPfDxIIy7CzU2KEXNFvvdYoQO2hpj2za0t6FCo+KthqRhpJvG2bhYnxDakVtkxwS7lZnavendQ+Pb9LftfO/xtjgAipMCHXo0i+u0mq0p7RpzPRf73aMX1KLme46jvO1GJwjZF7o9S+PGMRQHDhRd5Vjing3NRCGy1nppOcjKXfJz7O9PluKvKktr5DUASjj8AARriJ5Bf7reN5+XMkS39VTeyg8ly286fByucoz1ril5Pj271iLazs+UxD2gMqj8zjwEebWdK7c9KicPSu88GvP86jIZjiGds+0XsaG5jbUv7/2hP1k2VC+aVsoUWqBQ/T7Od3WaS7TkKQ3uWFCzrgYVLFnJHuTSQfa4MTsrICExweg4lEzYux64quLb5MQJfVy9QeNSeD6z5itJJMCeBAwSNaxYjTXf/zr2FqHowOmtLPQRy2taxg2gcrr2+rM169tiSrppDsD/pjHrETSNpZp1YA4bdxbsq1vVmx2ap2W+TSfPkh9AvWo2hhrRoXcbSnRD/79CPfYCYCAH0isdWZOJq4vdocEOVB3H//7DD/GnGpar9m8rZpkW6T5XfEEy/Y86TMHLLuQyPBU/lNb/X0z6iDwA2bfnA7qGpBUheU+KP0gt+Cf2ArmKP9MfOJUEZFE91Z9GIIGgr/yUIM+kS99aftL/CqzwUdl5vxBvE4lnfGthJvr0c4HfgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FgMhEvcMoRXbh4yLUaEfap",
      "input": {
        "note": "The pear now sits between the open jaws, so I'm lowering straight down to grip it around its middle.",
        "targets": {
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01FgMhEvcMoRXbh4yLUaEfap",
      "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]: [-0.0288, 0.8082, 0.6132, -0.4084, -0.0139, -0.0311, 0.9987, 0.0418, 1.5383, 0.4484, 0.3634, 0.0059, -0.012, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=-0.0024 left_z=0.1745 left_yaw=0.0005 left_pitch=-0.0347 left_roll=-0.0003 left_gripper=0.9987 right_x=0.362 right_y=0.0177 right_z=0.0227 right_yaw=0.0392 right_pitch=-0.1569 right_roll=-0.0161 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.0598, 7.0222, 1.8242, -0.0562, -0.0415, -0.0122, -0.3761, -5.5453, 5.5043, 1.9219, 0.0171, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35cd1635631acbe56bb05acb1cf976340df5306fbec94ea544d0d00704f090db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1de691111d8221b9f2b8f7701ee7f9c17b72118d5f73b7284db1df5defa2b27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:66c240bcef5676831935ecb376e1a6ef124e6f5f10cd3799797cfe75f850fcef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 5.432 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8051, 0.6132, -0.387, -0.0139, -0.0307, 0.9987, 0.0769, 1.103, 0.5961, -0.1158, 0.0479, 0.0181, 0.9994]\nstate[eef_state]: left_x=0.2957 left_y=-0.0025 left_z=0.1797 left_yaw=0.0002 left_pitch=-0.0103 left_roll=-0.0007 left_gripper=0.9987 right_x=0.344 right_y=0.0216 right_z=0.1375 right_yaw=0.0226 right_pitch=-0.0524 right_roll=-0.0158 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.6889, 7.1453, 1.7656, -0.0708, -0.0269, -0.022, -0.3077, -4.1094, 7.1179, 2.0684, 0.1245, 0.1587, -0.022]",
      "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]: [-0.0288, 0.8078, 0.6132, -0.4004, -0.0139, -0.0311, 0.9987, 0.041, 1.2701, 0.6743, -0.0937, 0.0132, -0.012, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=-0.0024 left_z=0.1762 left_yaw=0.0005 left_pitch=-0.0263 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3684 right_y=0.0164 right_z=0.1195 right_yaw=0.0323 right_pitch=-0.1199 right_roll=-0.0207 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.4701, 7.1863, 1.9072, -0.0659, -0.0464, -0.0171, -0.6085, -4.8342, 8.8957, 1.9707, 0.0024, 0.0073, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8082, 0.6132, -0.4084, -0.0139, -0.0311, 0.9987, 0.0418, 1.5383, 0.4484, 0.3634, 0.0059, -0.012, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=-0.0024 left_z=0.1745 left_yaw=0.0005 left_pitch=-0.0347 left_roll=-0.0003 left_gripper=0.9987 right_x=0.362 right_y=0.0177 right_z=0.0227 right_yaw=0.0392 right_pitch=-0.1569 right_roll=-0.0161 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.0598, 7.0222, 1.8242, -0.0562, -0.0415, -0.0122, -0.3761, -5.5453, 5.5043, 1.9219, 0.0171, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35cd1635631acbe56bb05acb1cf976340df5306fbec94ea544d0d00704f090db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1de691111d8221b9f2b8f7701ee7f9c17b72118d5f73b7284db1df5defa2b27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66c240bcef5676831935ecb376e1a6ef124e6f5f10cd3799797cfe75f850fcef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JQ36A55cXdBs6ibLSRBYDH",
      "input": {
        "note": "The pear fills the space between the jaws at low height, so I'm closing the gripper on it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JQ36A55cXdBs6ibLSRBYDH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8082, 0.6132, -0.4168, -0.0135, -0.0334, 0.9987, 0.0418, 1.5383, 0.448, 0.3622, 0.0029, -0.0162, 0.6949]\nstate[eef_state]: left_x=0.2918 left_y=-0.0024 left_z=0.1728 left_yaw=0.0014 left_pitch=-0.0431 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3617 right_y=0.0182 right_z=0.0223 right_yaw=0.0441 right_pitch=-0.1585 right_roll=-0.0173 right_gripper=0.6949\nstate[joint_eff]: [-0.335, -1.306, 7.0359, 1.7705, -0.0122, -0.0317, -0.0122, -0.0068, -5.5316, 5.3265, 1.6386, 0.0171, -0.0269, 0.9548]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:453cf2489e0fc564a13eedc5f15f5cec3c8101909915067582a8e457b89f6294",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0d74aaf6f604877c128cf451ad7630799eded7a3a3681dbaa04c88d8393e5b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a620ca44c37e0ff2c6f083efad5d9196068228e773d4f6cc9371429058ad0ea9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 3.389 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8078, 0.6132, -0.4004, -0.0139, -0.0311, 0.9987, 0.041, 1.2701, 0.6743, -0.0937, 0.0132, -0.012, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=-0.0024 left_z=0.1762 left_yaw=0.0005 left_pitch=-0.0263 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3684 right_y=0.0164 right_z=0.1195 right_yaw=0.0323 right_pitch=-0.1199 right_roll=-0.0207 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.4701, 7.1863, 1.9072, -0.0659, -0.0464, -0.0171, -0.6085, -4.8342, 8.8957, 1.9707, 0.0024, 0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8082, 0.6132, -0.4084, -0.0139, -0.0311, 0.9987, 0.0418, 1.5383, 0.4484, 0.3634, 0.0059, -0.012, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=-0.0024 left_z=0.1745 left_yaw=0.0005 left_pitch=-0.0347 left_roll=-0.0003 left_gripper=0.9987 right_x=0.362 right_y=0.0177 right_z=0.0227 right_yaw=0.0392 right_pitch=-0.1569 right_roll=-0.0161 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.0598, 7.0222, 1.8242, -0.0562, -0.0415, -0.0122, -0.3761, -5.5453, 5.5043, 1.9219, 0.0171, -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 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]: [-0.0288, 0.8082, 0.6132, -0.4168, -0.0135, -0.0334, 0.9987, 0.0418, 1.5383, 0.448, 0.3622, 0.0029, -0.0162, 0.6949]\nstate[eef_state]: left_x=0.2918 left_y=-0.0024 left_z=0.1728 left_yaw=0.0014 left_pitch=-0.0431 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3617 right_y=0.0182 right_z=0.0223 right_yaw=0.0441 right_pitch=-0.1585 right_roll=-0.0173 right_gripper=0.6949\nstate[joint_eff]: [-0.335, -1.306, 7.0359, 1.7705, -0.0122, -0.0317, -0.0122, -0.0068, -5.5316, 5.3265, 1.6386, 0.0171, -0.0269, 0.9548]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:453cf2489e0fc564a13eedc5f15f5cec3c8101909915067582a8e457b89f6294",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0d74aaf6f604877c128cf451ad7630799eded7a3a3681dbaa04c88d8393e5b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a620ca44c37e0ff2c6f083efad5d9196068228e773d4f6cc9371429058ad0ea9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7wkKEAgSGAI4AUIIdGhpbmtpbmcSDPqcZsCg8KJHjeRgJRoMYuHHHdGJVkxFvDSkIjC9/zCRk2RxrsZJBLRsDL7NwOgbFP8J+6PTKAvt2xECMOvRkafQ89Gifb+HAJ9wnFgqjAkGlAhOcdSNpkTKaWDUPGaovRg4jY7lE9f+3TpVpfILXfLEQK08eUkIxSxbbI9tYs4XuTO/X0pxFySe4wnvxW0nMsXpcmAd0ch8nYShkWysNxQx/9IVzm1JPMsTBxwEIjL4YW6ZT2LzthAYaUizLV8cR40iqx6DbY5y3v2/dLeTuys5ZuF46NNEdmxErZL7zbIQHIKkB4Uvduad+d6dC8fgRMQ877jdzaV8+tSpPzxMgoSxHo+oUVmtw0DlJWTTWJ/XANhVdF+fbFO/Wwqtj89Pcp8D/sSdvFmUS0OCefYw4coFinrESLnfq7xxKMBa7jKvudBqBh6scl1Eimoo1b+PZS2gAECjFYrnrfz+oDKLwaNT8/k4ppTHgVQ52PxA9GRJOwLhyX0BxMk0L2pqQppm8ADO7fzrrXiC77ypgjQ93zk8wzIN5g9wHZappKI+BqAv9QyDwfCoVCt5zH26MxAYOAbl9OkUCjd5r+DFiAtBYtesqhvoL0dK0Fsc5CcYOLRwAdOM85OevLL7mglshdC0LMlub53JuGfKJ3UBjmd43YicLHXtK5PGPgPUkjDIKmb5KTLKlTYx2BjZusf/QeAh4w1u5ElsDO5ucA3dmhw/809kMqAzEl6DpvXDBks1qiv8Lm5ON75el6NNWqQ2X0o8sC+BMDAN8MB9mUP3RjeXMWOvsVPZX/Xh8q6cCLdOGdRKeMAZkCAsCgfP0PXQ4Q7IGx355KZQO+6Bq6IKdS3HVY7PFWlMGNJKuXSnFuNsjgQ676WrD7FxRNF/5b/lbjvTYQXFb0WtHj25nwqOvuENOd9g90CYcqHA1tI8lSFeNUrqDgru89Ibfm2xNKUqeRZRoFxDEUMQbBRj5tlmcW2nJK7nVWA9vPVs7P9i0Jjv101W5g8zj4ZpUA4ZkLHNz/kOSkVI4+cEogBDqa7pDBnxS1RviTo5MSKWC5ggGsbRN6r7cVwmSq3Kd/DMrguUibFChvcDcb//UnRfJk33l6++lWmuQ4xSW03n4u9m9UZJU2tx4pAC5KiJb+bAbx74VCFvo1CWCxsEzz8NJ0hk8s2RHo1/MBfyvSsJFzBSVlbog+cgwx2qBvzbAM6wXfDFXzdYb1sQ9GdNTmilhpi/tFOS4KPG8hqH21b+RPSus3S2GfoIqnpD9D3kLoA4gJcfl8pRudB8Tli3Lt65aeMsmc1nKOHySOJ1QYk+8cSLusEN5H85SA0gmD95eLQ52NOgC4w1eVow8b6m88b9FkUn55CByl+efhubFYyNx/7q9NUKPtRB+H53h+IzAsjSWR1TlNfc6w2LUXH1uI408EiyIs1Ez/Vtz7omZZ477SdBW5YbRnGtvLCFGnjD0zxe4dLVc8m/kXQpBUESlqMeBKCg2Aruk/A5Npavo3s1NtIO94rUsDmn7JWrleIKXmLvtX90KpMLYExD6WQH+od25vZN1FnijXFtaS7Uz1YOgfyB90EuS09XcYNMUSXy4lpAOQxZ86KKAhKgGyNOC6hQ444DyFF08tLXCwIDwmAH8RGvpXkwEoBHl9+M894YJ72DNisYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017C8FAGbNKLvvybEJ2vM2Vp",
      "input": {
        "note": "The gripper stopped at 0.69 open (about 6.6 cm), so it has the pear. Lifting to carry height.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_017C8FAGbNKLvvybEJ2vM2Vp",
      "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]: [-0.0288, 0.8082, 0.6132, -0.4232, -0.0139, -0.0334, 0.9987, 0.0429, 1.2247, 0.9554, -0.5301, 0.0025, -0.0196, 0.698]\nstate[eef_state]: left_x=0.2908 left_y=-0.0023 left_z=0.1715 left_yaw=0.0017 left_pitch=-0.0496 left_roll=-0.0017 left_gripper=0.9987 right_x=0.3542 right_y=0.0184 right_z=0.1763 right_yaw=0.0475 right_pitch=-0.2298 right_roll=-0.0193 right_gripper=0.698\nstate[joint_eff]: [-0.1299, -1.0598, 7.241, 1.746, -0.0464, -0.0562, -0.0122, -0.4581, -5.9282, 9.3744, 1.6923, -0.0317, -0.0366, 0.8132]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:343c0592c2cd936df8cc2eda831b04fd9a5efecc0329152bc004ceeae8771c6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13d30b5091ac8784468a6cb867580b37dc6eb60e41a7ec448f2960a18b73ec2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0bfd74c7370223ad4359d68bcb7057c89bb6c1d8e4baeb479faff573d9ae860d",
        "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 · 6.537 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8082, 0.6132, -0.4084, -0.0139, -0.0311, 0.9987, 0.0418, 1.5383, 0.4484, 0.3634, 0.0059, -0.012, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=-0.0024 left_z=0.1745 left_yaw=0.0005 left_pitch=-0.0347 left_roll=-0.0003 left_gripper=0.9987 right_x=0.362 right_y=0.0177 right_z=0.0227 right_yaw=0.0392 right_pitch=-0.1569 right_roll=-0.0161 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.0598, 7.0222, 1.8242, -0.0562, -0.0415, -0.0122, -0.3761, -5.5453, 5.5043, 1.9219, 0.0171, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8082, 0.6132, -0.4168, -0.0135, -0.0334, 0.9987, 0.0418, 1.5383, 0.448, 0.3622, 0.0029, -0.0162, 0.6949]\nstate[eef_state]: left_x=0.2918 left_y=-0.0024 left_z=0.1728 left_yaw=0.0014 left_pitch=-0.0431 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3617 right_y=0.0182 right_z=0.0223 right_yaw=0.0441 right_pitch=-0.1585 right_roll=-0.0173 right_gripper=0.6949\nstate[joint_eff]: [-0.335, -1.306, 7.0359, 1.7705, -0.0122, -0.0317, -0.0122, -0.0068, -5.5316, 5.3265, 1.6386, 0.0171, -0.0269, 0.9548]",
      "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]: [-0.0288, 0.8082, 0.6132, -0.4232, -0.0139, -0.0334, 0.9987, 0.0429, 1.2247, 0.9554, -0.5301, 0.0025, -0.0196, 0.698]\nstate[eef_state]: left_x=0.2908 left_y=-0.0023 left_z=0.1715 left_yaw=0.0017 left_pitch=-0.0496 left_roll=-0.0017 left_gripper=0.9987 right_x=0.3542 right_y=0.0184 right_z=0.1763 right_yaw=0.0475 right_pitch=-0.2298 right_roll=-0.0193 right_gripper=0.698\nstate[joint_eff]: [-0.1299, -1.0598, 7.241, 1.746, -0.0464, -0.0562, -0.0122, -0.4581, -5.9282, 9.3744, 1.6923, -0.0317, -0.0366, 0.8132]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:343c0592c2cd936df8cc2eda831b04fd9a5efecc0329152bc004ceeae8771c6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13d30b5091ac8784468a6cb867580b37dc6eb60e41a7ec448f2960a18b73ec2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bfd74c7370223ad4359d68bcb7057c89bb6c1d8e4baeb479faff573d9ae860d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShgcKEAgSGAI4AUIIdGhpbmtpbmcSDF2TIuOsYS+Vj+NwNxoMVVuNXVn2UAeBetHoIjCsj9KHw6z8MeQW/9CamgRq9MpqEhsXqWXtn35PxsvhwEiEvSxKCz/JAxxE4LBPv9EqowbkFobnWo8cKCzdVy2Xj/jXF1htpIpKWHZzcm3BfGBgqQB3O4m5iszU79ubfdRhgt18RPozeQAAUTZb6BrgFt5oUrLZPSWt4YLIVDQPnzhj2QpLV/xK40TFSu8KuL75+wkZH67Jc2QDifsLsDHX3/NLFp7AFFI5HTS37/XMjegYUrXmFDt9CnOtD9x9UT9vm0TGKb+MwZB3M6KquYHK3GLi6Ch0I4LpWiWPTYT7hyKZhssCIhw50Lb6mtpc+D/T2RuZFFxD8dSfqMXlXPFceMCUSSFMsoaFjPDEwvY1lHk+0RfRPcTux1SgcgCKzUoK+XlJJHhHvke15ClOXjW0nRSKdlp8Hudvrbs77+9p/jGtccnvjv79qD6hKyvcQqj65eRxpQ3vuuGF1OGxfFaamTTFtk5pMAPfTQpQ22+FsxOqxpUE60y7xOd+9V3o6Kz5r+ohu+gzEfDxXQ/rvlhPnPevGZ1XzBHXfAFE4aws1Hk1vKe4j9RXBrB94l/rtMgV/lUn+lSS798vKW/FTIQ+6YlIwRb9JlRD7qk7imJ1QyT9DDPz+9jCPC4v3Rm+SMh06b3gGn4mbmo7z8h74euvq2QH/oMEU5PFd/Vcv/Qn6KaUO70hJr71B45YTuB5nKI1kvOE17uokphmTzmwRePfy7hClLKl6aLRnSzIYPMJbpcGDBSOFH4K+ZuzTT2/NBlgzxSkZ5j0W7gxYgR4lt5n1yONHD8HI972lWnkT8w4HZOPPgJez6xcIy+Ahmjo6RpoNJU8MvEXAJ98XHTfX5Z5GDnXxHSSBNTy792BOHyZmSostx8TT6tazKcvKC97LhWBfYKhlxRNS5s7GPdm0VXuVPSmZ5OTaPbaiIhrl9xtTTJfXu7wq8uD5f6/1/76xKoJYJQdhOT7VKf5L7eO18DERVHpM5oiEtBAyTNKwtb2UFvXdkvQaaz9D54cmkvWXcosT2XxtI9ullE2y6lKFQ/vYY2nS3Oh+E4pLi3EsTXG0wwhhHUtE/YoN22WVxmOZ9aJGiWykL1aY9xeV2LJY10NXG2Zpt1S2tM6LEQLLCGpXpT8yq8vWBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GWCqPZN119Y84UepaL3t6L",
      "input": {
        "note": "The pear came up with the jaws. The blue bowl is ahead and to the left in the wrist view, so I'm carrying the pear over it.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.08,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01GWCqPZN119Y84UepaL3t6L",
      "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]: [-0.0288, 0.8124, 0.6132, -0.4244, -0.0139, -0.0334, 0.9987, 0.2245, 1.5982, 1.3231, -0.6109, 0.1116, 0.0872, 0.6997]\nstate[eef_state]: left_x=0.2909 left_y=-0.0023 left_z=0.1701 left_yaw=0.0017 left_pitch=-0.0549 left_roll=-0.0015 left_gripper=0.9987 right_x=0.4274 right_y=0.0811 right_z=0.177 right_yaw=0.0723 right_pitch=-0.3091 right_roll=-0.0361 right_gripper=0.6997\nstate[joint_eff]: [-0.2667, -1.6889, 7.1043, 1.6874, -0.0757, -0.0415, -0.0171, -0.5812, -8.4171, 9.4154, 1.8242, 0.1538, 0.1441, 0.7692]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75add06aa371a9884c9f6134b5be80a4debc56c7176b806ade833480dca1dc64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d2f716b79f1d248bbd5893b982401c0dacdc2cfccfb982058e215a04a954884",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dd5496941f153800c750747e00da6c8e283d8479e61536c2f8b999575947ba9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 6.004 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8082, 0.6132, -0.4168, -0.0135, -0.0334, 0.9987, 0.0418, 1.5383, 0.448, 0.3622, 0.0029, -0.0162, 0.6949]\nstate[eef_state]: left_x=0.2918 left_y=-0.0024 left_z=0.1728 left_yaw=0.0014 left_pitch=-0.0431 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3617 right_y=0.0182 right_z=0.0223 right_yaw=0.0441 right_pitch=-0.1585 right_roll=-0.0173 right_gripper=0.6949\nstate[joint_eff]: [-0.335, -1.306, 7.0359, 1.7705, -0.0122, -0.0317, -0.0122, -0.0068, -5.5316, 5.3265, 1.6386, 0.0171, -0.0269, 0.9548]",
      "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]: [-0.0288, 0.8082, 0.6132, -0.4232, -0.0139, -0.0334, 0.9987, 0.0429, 1.2247, 0.9554, -0.5301, 0.0025, -0.0196, 0.698]\nstate[eef_state]: left_x=0.2908 left_y=-0.0023 left_z=0.1715 left_yaw=0.0017 left_pitch=-0.0496 left_roll=-0.0017 left_gripper=0.9987 right_x=0.3542 right_y=0.0184 right_z=0.1763 right_yaw=0.0475 right_pitch=-0.2298 right_roll=-0.0193 right_gripper=0.698\nstate[joint_eff]: [-0.1299, -1.0598, 7.241, 1.746, -0.0464, -0.0562, -0.0122, -0.4581, -5.9282, 9.3744, 1.6923, -0.0317, -0.0366, 0.8132]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.0288, 0.8124, 0.6132, -0.4244, -0.0139, -0.0334, 0.9987, 0.2245, 1.5982, 1.3231, -0.6109, 0.1116, 0.0872, 0.6997]\nstate[eef_state]: left_x=0.2909 left_y=-0.0023 left_z=0.1701 left_yaw=0.0017 left_pitch=-0.0549 left_roll=-0.0015 left_gripper=0.9987 right_x=0.4274 right_y=0.0811 right_z=0.177 right_yaw=0.0723 right_pitch=-0.3091 right_roll=-0.0361 right_gripper=0.6997\nstate[joint_eff]: [-0.2667, -1.6889, 7.1043, 1.6874, -0.0757, -0.0415, -0.0171, -0.5812, -8.4171, 9.4154, 1.8242, 0.1538, 0.1441, 0.7692]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75add06aa371a9884c9f6134b5be80a4debc56c7176b806ade833480dca1dc64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d2f716b79f1d248bbd5893b982401c0dacdc2cfccfb982058e215a04a954884",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd5496941f153800c750747e00da6c8e283d8479e61536c2f8b999575947ba9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017uKneM9DSjA8iVRJtqsraY",
      "input": {
        "note": "The pear is roughly over the blue bowl. Lowering partway to check the alignment before letting go.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_017uKneM9DSjA8iVRJtqsraY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8127, 0.6132, -0.4248, -0.0139, -0.0334, 0.9987, 0.2245, 1.6333, 1.1347, -0.4816, 0.1108, 0.0864, 0.7]\nstate[eef_state]: left_x=0.2909 left_y=-0.0023 left_z=0.1699 left_yaw=0.0017 left_pitch=-0.0557 left_roll=-0.0015 left_gripper=0.9987 right_x=0.4102 right_y=0.0773 right_z=0.1071 right_yaw=0.068 right_pitch=-0.4023 right_roll=-0.0514 right_gripper=0.7\nstate[joint_eff]: [-0.0615, -1.1009, 7.1726, 1.663, -0.0464, -0.0317, -0.0122, -0.1026, -8.3761, 7.788, 1.9658, 0.0073, -0.0269, 0.2955]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8455d837bd4bb65a27049a488c9e448e7fe2cb2359c6aa619f8e8cd0cfaf7ec3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b3b9863a23d625724824c6f0389bb5f841a4b461d714b80a4b90ffe6d8255f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:85b6c4480d2077c2bbc9fe3ab3600729ef946d1ee0e73c8ffb329c1f72ec0dd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 4.292 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8082, 0.6132, -0.4232, -0.0139, -0.0334, 0.9987, 0.0429, 1.2247, 0.9554, -0.5301, 0.0025, -0.0196, 0.698]\nstate[eef_state]: left_x=0.2908 left_y=-0.0023 left_z=0.1715 left_yaw=0.0017 left_pitch=-0.0496 left_roll=-0.0017 left_gripper=0.9987 right_x=0.3542 right_y=0.0184 right_z=0.1763 right_yaw=0.0475 right_pitch=-0.2298 right_roll=-0.0193 right_gripper=0.698\nstate[joint_eff]: [-0.1299, -1.0598, 7.241, 1.746, -0.0464, -0.0562, -0.0122, -0.4581, -5.9282, 9.3744, 1.6923, -0.0317, -0.0366, 0.8132]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.0288, 0.8124, 0.6132, -0.4244, -0.0139, -0.0334, 0.9987, 0.2245, 1.5982, 1.3231, -0.6109, 0.1116, 0.0872, 0.6997]\nstate[eef_state]: left_x=0.2909 left_y=-0.0023 left_z=0.1701 left_yaw=0.0017 left_pitch=-0.0549 left_roll=-0.0015 left_gripper=0.9987 right_x=0.4274 right_y=0.0811 right_z=0.177 right_yaw=0.0723 right_pitch=-0.3091 right_roll=-0.0361 right_gripper=0.6997\nstate[joint_eff]: [-0.2667, -1.6889, 7.1043, 1.6874, -0.0757, -0.0415, -0.0171, -0.5812, -8.4171, 9.4154, 1.8242, 0.1538, 0.1441, 0.7692]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8127, 0.6132, -0.4248, -0.0139, -0.0334, 0.9987, 0.2245, 1.6333, 1.1347, -0.4816, 0.1108, 0.0864, 0.7]\nstate[eef_state]: left_x=0.2909 left_y=-0.0023 left_z=0.1699 left_yaw=0.0017 left_pitch=-0.0557 left_roll=-0.0015 left_gripper=0.9987 right_x=0.4102 right_y=0.0773 right_z=0.1071 right_yaw=0.068 right_pitch=-0.4023 right_roll=-0.0514 right_gripper=0.7\nstate[joint_eff]: [-0.0615, -1.1009, 7.1726, 1.663, -0.0464, -0.0317, -0.0122, -0.1026, -8.3761, 7.788, 1.9658, 0.0073, -0.0269, 0.2955]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8455d837bd4bb65a27049a488c9e448e7fe2cb2359c6aa619f8e8cd0cfaf7ec3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b3b9863a23d625724824c6f0389bb5f841a4b461d714b80a4b90ffe6d8255f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85b6c4480d2077c2bbc9fe3ab3600729ef946d1ee0e73c8ffb329c1f72ec0dd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQkKEAgSGAI4AUIIdGhpbmtpbmcSDO8tlqxazJtYJKvzjhoMSLWZiHeKjcrNdh68IjBz5SNwefKBX847oDIk7KG0GJz5wRfx4G9qH2ywYbfEeR3TArRqk6vMXZipWaUUYAYq0gjcRUrI61ZMFThcmcc7b3HEddE7ECBlDGgcvfv9jDxrJN2No1X/M/7gx3TxUA0dHJlH2dYb/QxOuu+EfrQ8fZ42CcEPoMGuZeIJy42n1FJ4T+QSlcS1hig6iEdjS906MzTbfNyPRRxXnSk6NfKgiv2nZig/RD5du3XpHnl0/38m67ZA6saxXMWt5D6S1OK8W6x6u33m7aTGukcerzMNw5kDGCAWK+nYAFmEW+WQhRSkZihUwMuEqM0sSeFKiPxbRuKiMBScGmw2POtk70VZbki6DkiYMvE7ByGuCoFQGyzdKn0kP0fg8bWNbk5gUAjA7nCYnZd7BYO3D+6Ai7HO7PveD553mbAliSLln7PdUis8E9BnA7KonYPP0PukqsskM98io5pjwHTDgomhb1jnMotmswQdPOTNgHuFOJAE6lkrg3ZXECst4iDR336erpC/TmNrxb8HuVdzevy88hignvJMMwBfwfRy8H0/lbqBvsQY6mS5ALvro9ymhEVnh6LgnU3lAC9AC9ph8Yrs/Z1vy8PxAGNr0fApU6bWbaN469LieroETW5aCXm5IS9IQ+7JbTiEJFWd18rjC8bYsqHzknOCeaOkpEhMyPb82h6Q+5KMQINefPaYfRW1UMmTqEmEUROJ68OqJqepRGS1bKaiLXAmri2d2wuEN2hpbxJzSl3T+DGbdFvpXzArNDBxm+k6GY2TmIv/iE7dDiOOdmOv3/Q1uJUFVkP8OAbkgcM1xiJasxQs5CMxxrIcmgJKNAhNQGzjCaDqEU21Yfdb8ci+zA1JF7xGR4qcCo3ZHGvesJpxxxN9maDCxPpzX6yxKhlkdwBgf0iWqkO0+DVwfiO62Nxdyi4zqcqvz7ZEuIRzrgWQL4kCtX/vISbT6ieDb6tr2Eys4JYWv6tYtwE6zon/Y3ejK+d7bCg/BPSZbV/s/oON9zJUPFmTB13AnvH940hg4b3aD8JlEdW2ltbPafdc/RNMJcFziTZs3SIj3gX/uhDCVyCYFPB7sPmKFypOgB3Oau8BixOj8af3pK/ySw2hya6cUSr9ecz6l8WWc/gMxTlGU2SQKHYzgMjJ2n8Lgg77BxQj4ZeXtGEFAd+jkkApCeZ2j2Di9Ym+Ievi5+tipO5PfYblA4L1hhWslWcOnD2DJ9ZaSDJpJxh1oTk66/GRD3T2gnKaqBNwMoO0gbqTHMl95Ja+aISet/TgwoO2MhnVC/Ss6cNjJl3R1WnCFNF0yOxAl4o48octRp3XnVTX9CYlOlR8hRbvobo1lD/3IXM5wN2u3FgcabmctEEq3vsxHMVqR9NhWwEP/M9l4C7f7hNpRwLOjcKF4giYOO79cv+FeJxjfsCErSP/vTu8JEKoEtoIBSNPA72XMe6t1J9Ape1taGMchXaXNQd48D6x+4VHz440iUi/3VTApAPrffRgyTYNi9h3v/3V4novPBAEJUzM6nZ52WHdQDqYmJIHZSrk4uQo5BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015T7xYZRSfyPy9S7okYS2Vi",
      "input": {
        "note": "From the overhead view the pear is just to the right of the blue bowl, and in the wrist view the bowl's centre is a bit further ahead. Shifting left and slightly forward, and levelling the pitch.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.43,
          "right_y": 0.12,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_015T7xYZRSfyPy9S7okYS2Vi",
      "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]: [-0.0288, 0.8143, 0.6132, -0.4286, -0.0139, -0.0334, 0.9987, 0.3744, 1.5814, 0.8719, -0.2367, 0.2153, 0.1055, 0.7015]\nstate[eef_state]: left_x=0.2904 left_y=-0.0023 left_z=0.1687 left_yaw=0.0017 left_pitch=-0.061 left_roll=-0.0014 left_gripper=0.9987 right_x=0.3752 right_y=0.1107 right_z=0.0652 right_yaw=0.1167 right_pitch=-0.3507 right_roll=-0.1222 right_gripper=0.7015\nstate[joint_eff]: [-0.0752, -1.1009, 7.1316, 1.7118, -0.0464, -0.0366, -0.0122, -2.5094, -8.2256, 8.7453, 2.2979, 0.6911, 0.1587, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c25e4e57d38ec3743e8e03afbbc003527a5d824560dce13d90d4cd8530d3f288",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baea2b55c97663f5094ea6e81f1a541fc7faebff81ec32ba12b34bbc7db599d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a81dad250316b1aef0d21b7babab985c6334df67fe0d95f47c6ea53ec108ee5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 5.292 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8124, 0.6132, -0.4244, -0.0139, -0.0334, 0.9987, 0.2245, 1.5982, 1.3231, -0.6109, 0.1116, 0.0872, 0.6997]\nstate[eef_state]: left_x=0.2909 left_y=-0.0023 left_z=0.1701 left_yaw=0.0017 left_pitch=-0.0549 left_roll=-0.0015 left_gripper=0.9987 right_x=0.4274 right_y=0.0811 right_z=0.177 right_yaw=0.0723 right_pitch=-0.3091 right_roll=-0.0361 right_gripper=0.6997\nstate[joint_eff]: [-0.2667, -1.6889, 7.1043, 1.6874, -0.0757, -0.0415, -0.0171, -0.5812, -8.4171, 9.4154, 1.8242, 0.1538, 0.1441, 0.7692]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8127, 0.6132, -0.4248, -0.0139, -0.0334, 0.9987, 0.2245, 1.6333, 1.1347, -0.4816, 0.1108, 0.0864, 0.7]\nstate[eef_state]: left_x=0.2909 left_y=-0.0023 left_z=0.1699 left_yaw=0.0017 left_pitch=-0.0557 left_roll=-0.0015 left_gripper=0.9987 right_x=0.4102 right_y=0.0773 right_z=0.1071 right_yaw=0.068 right_pitch=-0.4023 right_roll=-0.0514 right_gripper=0.7\nstate[joint_eff]: [-0.0615, -1.1009, 7.1726, 1.663, -0.0464, -0.0317, -0.0122, -0.1026, -8.3761, 7.788, 1.9658, 0.0073, -0.0269, 0.2955]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8143, 0.6132, -0.4286, -0.0139, -0.0334, 0.9987, 0.3744, 1.5814, 0.8719, -0.2367, 0.2153, 0.1055, 0.7015]\nstate[eef_state]: left_x=0.2904 left_y=-0.0023 left_z=0.1687 left_yaw=0.0017 left_pitch=-0.061 left_roll=-0.0014 left_gripper=0.9987 right_x=0.3752 right_y=0.1107 right_z=0.0652 right_yaw=0.1167 right_pitch=-0.3507 right_roll=-0.1222 right_gripper=0.7015\nstate[joint_eff]: [-0.0752, -1.1009, 7.1316, 1.7118, -0.0464, -0.0366, -0.0122, -2.5094, -8.2256, 8.7453, 2.2979, 0.6911, 0.1587, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c25e4e57d38ec3743e8e03afbbc003527a5d824560dce13d90d4cd8530d3f288",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baea2b55c97663f5094ea6e81f1a541fc7faebff81ec32ba12b34bbc7db599d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a81dad250316b1aef0d21b7babab985c6334df67fe0d95f47c6ea53ec108ee5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvAgKEAgSGAI4AUIIdGhpbmtpbmcSDHjr0a2fEoXKDtleihoM7T0QfknCQi8RB9fjIjBYh/8CwlgJ+n8UO7sPhHeUsajJ37pIxZQQQBEyIh34d69DvRDdVhYnD6nAWdWLOQIq2Qe1WAAC/nQDy+7BIEp0ijuw3PszoZZdw4BEuwf5+WYf8va4SwemrcwbaveKgQDYETeZeOE1Ul92wpJE08STU2B9i0TNeKJwDNvoM9qOQEouoWSwOOwAQ1ODCFH8sEW/IBZP1pW5WLPYvhGdb7SQ8PGtbSwUF7OfXN0WtlXOODuQz4au+KeIQTS4b/BpoGSqbBb44VuH9u9OQGxAftjAFmGAv+1O7MtRe75rpFewkQGDXHEs/6ASRhoiWOI59wNbKLI06BedjYpobAoS6c5LDhhdt2JCGIT3qLSLUjInJDfZaG4DzGg7WAq/q892BRBAAjO5GBOG18COiLjWXYZPhf1mDtpLDS5qDJS61IS48bua90WD8PN5pG2Qr8PFNw4lPcu51VglJ1XI8TzU55o1ns7gdWPUzK3C8yVq1lWXV/dP76wg+xNCv4U8MW0+UYo/AfiZ0frF4LtRejEEiQwHf9nqYg4kVLSguDMYeUzkIAAvX3zBSZWRP28w6VgdLOyNQ/ve+3HuUFg9sZXv0xMvL9PcFbu0h0+vzfSz5l8lUZKhqZ//bkFpmmJNcaYblBtrGOZIpgRybyAFniOZJEj5Cqv27k34KQHG+lnvak4HX8aurpUA1oUVwGssZWhEL7oVh25nmMLG3SboACzA+P8sZ0B/kcHTq/Xfz5vkdjkRC3jCT8BU6g9U/ejJnE5hq+eK8AnHLdDQ+bF6ullcEMPAoE++sjy/bJlF7eyWw0CSG1aCHNUo5BEYoX9B1YMbeaiRIEKkIVXHn8VXrx7S4I56A8bjdvVZe1PvmBmbs6ZnApiNmjl3VM019HSwxCwtg2mruWUFKYmBJkXzzMN/aVJCje+qgJtSa90TkRdCZi728BDarjxtR1oe+R89FgU5ZgbrxB5e4Vs2iFOt3xjF+RhUP88cdiCuHqoWdBmeeV+xCI4g2udP4Rdlvk6GmYyjJOUbrvIsyophkel7JziqxAi8FEwTKbbolmzajKdLuk6cBLSxNkhFc9sC+V9R2zeRYDQJvXkdBGwViHkOPi3/GlRFzFT3qGI6ar/+I8VUV6P+As3rnuov0Z/uhNN+VVC7MWznsnZBMfUOdAYmeyOixA701GujcgbvXKnpse3xXlU+E03j4gRLEH2i/Q0GtSeem2kyT6OtVIvG4GsGIZf/opSpcWouZVWwMMqbf/8ZG9F/FtlB2VZwduxBLwEM6qAM+NlOKybr9b//ZuUN0P1fm0JiL7A0wAsvqtg/YgacEvDFbOyQ2Y6rGL33WbU8eMbYIU8LAzzagiGC6A8m8hskQ8PY5wf+9WG1wM/U5wuiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VVLfxL3bKiFm578fR2tiY2",
      "input": {
        "note": "The arm ended short and low (x 0.375, z 0.065), probably with the pear catching the bowl rim. Lifting clear while holding the target x/y.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.12,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01VVLfxL3bKiFm578fR2tiY2",
      "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]: [-0.0288, 0.8173, 0.6132, -0.4316, -0.0139, -0.0338, 0.9987, 0.3908, 1.5116, 0.7391, -0.0116, 0.2577, 0.078, 0.7022]\nstate[eef_state]: left_x=0.2901 left_y=-0.0023 left_z=0.1673 left_yaw=0.0019 left_pitch=-0.0672 left_roll=-0.0015 left_gripper=0.9987 right_x=0.3785 right_y=0.1112 right_z=0.0775 right_yaw=0.1239 right_pitch=-0.1875 right_roll=-0.13 right_gripper=0.7022\nstate[joint_eff]: [-0.0889, -1.6068, 6.9812, 1.7216, -0.0562, -0.0317, -0.0122, -0.1162, -7.8974, 6.7624, 1.9023, 0.2076, -0.0708, 0.735]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50f68742aa49e378b21ee9fd456e233b22396fc4355bf24d01f99de0ba1a6d97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01d39c7b8b5e5fe8db47917e6fa105a349f7cd7facb1ca8398a678798248aec1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:41924a78098eb878aef9b199aef17dbe66dbf30369bff470b796af5c2ab1c596",
        "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 · 6.406 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8127, 0.6132, -0.4248, -0.0139, -0.0334, 0.9987, 0.2245, 1.6333, 1.1347, -0.4816, 0.1108, 0.0864, 0.7]\nstate[eef_state]: left_x=0.2909 left_y=-0.0023 left_z=0.1699 left_yaw=0.0017 left_pitch=-0.0557 left_roll=-0.0015 left_gripper=0.9987 right_x=0.4102 right_y=0.0773 right_z=0.1071 right_yaw=0.068 right_pitch=-0.4023 right_roll=-0.0514 right_gripper=0.7\nstate[joint_eff]: [-0.0615, -1.1009, 7.1726, 1.663, -0.0464, -0.0317, -0.0122, -0.1026, -8.3761, 7.788, 1.9658, 0.0073, -0.0269, 0.2955]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8143, 0.6132, -0.4286, -0.0139, -0.0334, 0.9987, 0.3744, 1.5814, 0.8719, -0.2367, 0.2153, 0.1055, 0.7015]\nstate[eef_state]: left_x=0.2904 left_y=-0.0023 left_z=0.1687 left_yaw=0.0017 left_pitch=-0.061 left_roll=-0.0014 left_gripper=0.9987 right_x=0.3752 right_y=0.1107 right_z=0.0652 right_yaw=0.1167 right_pitch=-0.3507 right_roll=-0.1222 right_gripper=0.7015\nstate[joint_eff]: [-0.0752, -1.1009, 7.1316, 1.7118, -0.0464, -0.0366, -0.0122, -2.5094, -8.2256, 8.7453, 2.2979, 0.6911, 0.1587, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8173, 0.6132, -0.4316, -0.0139, -0.0338, 0.9987, 0.3908, 1.5116, 0.7391, -0.0116, 0.2577, 0.078, 0.7022]\nstate[eef_state]: left_x=0.2901 left_y=-0.0023 left_z=0.1673 left_yaw=0.0019 left_pitch=-0.0672 left_roll=-0.0015 left_gripper=0.9987 right_x=0.3785 right_y=0.1112 right_z=0.0775 right_yaw=0.1239 right_pitch=-0.1875 right_roll=-0.13 right_gripper=0.7022\nstate[joint_eff]: [-0.0889, -1.6068, 6.9812, 1.7216, -0.0562, -0.0317, -0.0122, -0.1162, -7.8974, 6.7624, 1.9023, 0.2076, -0.0708, 0.735]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50f68742aa49e378b21ee9fd456e233b22396fc4355bf24d01f99de0ba1a6d97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01d39c7b8b5e5fe8db47917e6fa105a349f7cd7facb1ca8398a678798248aec1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41924a78098eb878aef9b199aef17dbe66dbf30369bff470b796af5c2ab1c596",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwkKEAgSGAI4AUIIdGhpbmtpbmcSDNlvpK7UPix7Cv/hSxoMpT5EryEdWYHdlTndIjCfJ9uTmVoYOM06Y2gTm+/OCUG7r9t6bXu1Ov42uI9GYuCLvg6RJkIk2tOYVOWr5SQquAg35WxP+RA0xIqJ69oO/vnuPjDt2XLLGBfi1sHkVio6DRtkAUKMdppnOmtZvZHFTvfCC6/FNFR0TihlxQnl8pafuzA1AnjbVLyd1jMEt1De0bRLZRi2xBQOt6/nQ3B2VvwuSlsFnJEttIZZxPKxiyO4kpw8OttdJ0fQNac7k5iKF+0hhlsqvf1OYYkowVEyzWBgApbmb3lLizGMrC+/l5PUvE3p+84Nu13mY9rHbCcmuHepK3Xz8GUFYkmwnnXU+v7AOIJY3P6UkU4iDY4Kt/ffVLYJD3diu1UE5kGiO1+5SqjrXaazYQCKRpu4UUphWR5583pCp+wz1/tglIUzdoiCHzmcR7g3mM9Aqa0U28Dpi8th368hSfDh7tpUph5mIyvjBbTsDRHAJOdOMJvy6q9NKWr95q6Jto4LayEVBh0ikJWsql73zZw02lS4TYJQfaHfLmSrGUes8qRt4LDtBBMLts0xJ99atJ+/kxEI9ieRLafIgUMLhOgGsVnrCKHEhq6r2eM/2Q9ANErXBZMq//LSkQP15QLJ8Wn5nFFd9bMQGU/NChQIYjyr3qbXdiHIBJqC4dhNcSee88ajCQS0MWxZ/5xKs3smOATT5+MZ9vUHvhQ5zD2DK07h9NCd2CDFaGdrXv7R8t349joFphZ4JeeBRvsx4zOPUBqdFX1tMnqt7mI5EB/cHYYT3ekT/bZu2oJgED4gT3ilW/gieT/rU2ss/PISpnLswNyG/HOQO8iGojZkZ76Nj3xXVShny9httGu+bnBfGU/tRWANWzU7iwf3KJswyXw9fl5qi3zwW/kywil/C87smCDtimgaKEJXmFpEIN1lCDaBqUxgUgSQAzb1Pd83hS71gIJJBR+HC5F5Zl5kxjq/q4XhY+mKphaztGeggerTyB5+PIR1R3msu6lYycdRp0kuS+sOGXlCfh1ernM21WrPCQilsOamDk7KfRdQjhpYRY+rT9QXoAJtWo8wG5oysQq1w335FkYYjMFlT1dk/XUfy6xL8UXaeKPDVQsoz3wP7CHxKiGOrDvu8ke7LqwwG8BZOB83EfPauPmL3lrXDVKhKHU82TLxijX673zWryg587JgeSDLj7NRyTNpujFxTaYtJQhXMIkiSHTCQ0KKMtYuPIN3lnAEQO4bWFi8M5IhBq0rMX1qp2x3CB+Lq83/y2m0oOGrsLXe/xz53pnHH6/aLIIWmrns8SJCcF3RzcfOx7vRcoQA7SlIxp5M3f3dFEFUAyGISEA0m1Ng/MnuKkyuhwwX+s8zcu56zuuD3w3Pr8qIsBUethNmTxpc/0MKFu0u0ws/So9bM6q7UqmREZ9sh0Oy5Dyntx0e3iLoHcKp7YVlRHprHhE9VulsnpZsIUl6aX00uDVHBSUq+BmH11i/4n7A6u9FrP2CZzm3ksFr+LdJUTAts3xnDiStb4dGp/s0o8AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019vwr8twpiHTHtPfBd7BqZY",
      "input": {
        "note": "The arm isn't following the lift and is still around z 0.08. Trying a smaller lift close to the current pose so the IK can track it.",
        "targets": {
          "right_pitch": -0.2,
          "right_roll": -0.1,
          "right_x": 0.39,
          "right_y": 0.11,
          "right_yaw": 0.1,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019vwr8twpiHTHtPfBd7BqZY",
      "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]: [-0.0288, 0.8192, 0.6132, -0.4351, -0.0139, -0.0334, 0.9987, 0.3908, 1.5097, 0.7391, -0.004, 0.2581, 0.078, 0.702]\nstate[eef_state]: left_x=0.2897 left_y=-0.0023 left_z=0.1661 left_yaw=0.0018 left_pitch=-0.0725 left_roll=-0.001 left_gripper=0.9987 right_x=0.3798 right_y=0.1116 right_z=0.0796 right_yaw=0.124 right_pitch=-0.1782 right_roll=-0.1277 right_gripper=0.702\nstate[joint_eff]: [-0.212, -1.5111, 6.9812, 1.7411, -0.0562, -0.0464, -0.0171, -0.0752, -7.6923, 6.694, 1.8828, 0.2222, -0.0757, 0.3394]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16e8064b19dd0b0ea205b4a212adca8db67a11800840aaed66a9c726911d4ed0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a19e1b4181709178625006fb07298e39f420f64e0b4be7b242b8df053b98081d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69fe464727a0792fa30911254b7870aba265182e2f8c923e207d6c9e9e4a0ddd",
        "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 · 5.463 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8143, 0.6132, -0.4286, -0.0139, -0.0334, 0.9987, 0.3744, 1.5814, 0.8719, -0.2367, 0.2153, 0.1055, 0.7015]\nstate[eef_state]: left_x=0.2904 left_y=-0.0023 left_z=0.1687 left_yaw=0.0017 left_pitch=-0.061 left_roll=-0.0014 left_gripper=0.9987 right_x=0.3752 right_y=0.1107 right_z=0.0652 right_yaw=0.1167 right_pitch=-0.3507 right_roll=-0.1222 right_gripper=0.7015\nstate[joint_eff]: [-0.0752, -1.1009, 7.1316, 1.7118, -0.0464, -0.0366, -0.0122, -2.5094, -8.2256, 8.7453, 2.2979, 0.6911, 0.1587, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8173, 0.6132, -0.4316, -0.0139, -0.0338, 0.9987, 0.3908, 1.5116, 0.7391, -0.0116, 0.2577, 0.078, 0.7022]\nstate[eef_state]: left_x=0.2901 left_y=-0.0023 left_z=0.1673 left_yaw=0.0019 left_pitch=-0.0672 left_roll=-0.0015 left_gripper=0.9987 right_x=0.3785 right_y=0.1112 right_z=0.0775 right_yaw=0.1239 right_pitch=-0.1875 right_roll=-0.13 right_gripper=0.7022\nstate[joint_eff]: [-0.0889, -1.6068, 6.9812, 1.7216, -0.0562, -0.0317, -0.0122, -0.1162, -7.8974, 6.7624, 1.9023, 0.2076, -0.0708, 0.735]\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 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]: [-0.0288, 0.8192, 0.6132, -0.4351, -0.0139, -0.0334, 0.9987, 0.3908, 1.5097, 0.7391, -0.004, 0.2581, 0.078, 0.702]\nstate[eef_state]: left_x=0.2897 left_y=-0.0023 left_z=0.1661 left_yaw=0.0018 left_pitch=-0.0725 left_roll=-0.001 left_gripper=0.9987 right_x=0.3798 right_y=0.1116 right_z=0.0796 right_yaw=0.124 right_pitch=-0.1782 right_roll=-0.1277 right_gripper=0.702\nstate[joint_eff]: [-0.212, -1.5111, 6.9812, 1.7411, -0.0562, -0.0464, -0.0171, -0.0752, -7.6923, 6.694, 1.8828, 0.2222, -0.0757, 0.3394]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16e8064b19dd0b0ea205b4a212adca8db67a11800840aaed66a9c726911d4ed0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a19e1b4181709178625006fb07298e39f420f64e0b4be7b242b8df053b98081d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69fe464727a0792fa30911254b7870aba265182e2f8c923e207d6c9e9e4a0ddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5AoKEAgSGAI4AUIIdGhpbmtpbmcSDPlPIIU+CSy2Ib+M5RoM344EEsu7gjeujd26IjA8ztVMpcStj/oqZE6uf5YRADg7zHao21n7Whkru72NupHo4PhuUCglWn29QI3Wkq0qgQpwto37AOMip6m/k92uGrM4ieRp2gBgq8fy9JcSAr3SQh2bDFrHPMTLNSbyWjMrzjVfwAwG6LxCIoOTXMojVmfEJ7R1O0Mh2MYTOXLWspWNrjQSgNqty+DogAQh45vP5S2RFb11rti2q/RhtLwOpTiuHxXWffH+h1iBDcI4JfjK2IL1SWuBsMUhvC2FP1dnJnu8zCZCPO8Vqcx+GLWj8wybXvOQHIbr1OpksSCJrnH8qY+heKx78p9/wRcrMKikwQN89vcZ9mYKdvgjYQ9fliNJ7J1t965RXjuVeZsEE2jdxylP372D/GpVg1xeIOPE9+pQTti75xUJBWglkOQbpdMXaVKgVj8QBPY8ZJWk2l76NosHI2eOvLU62ZCTl6P5o2/8DDedFtH1191WD5hF+F9qHMyh1tI+bKpQ3nK4b1B6xLNj96WpVJZHC5doMzfbywj0PFnVADn5HDpq/CrJYNvHUQk218PiyKTcFvVN1A32gu0msYZSmMGD6ZdqfB1eVIOEPP8O1udI/upJFCpm3ZNVpemmtGfDn5oeF4OmHeZH9v8oqDDK66y9WrqXbfVtfNVZM6IjjTP9S3Majqzmldzl/UlpCFAj3HjMqsVLRL+MgIvSYd89zLHITQyGgQMXHUVpCQUAtXtqA/qSTrz3TlEDLEKLa6j3jvbrcVKNsmlxn7+CWM/43Gqixvy8MUrcfwQIjmMPotC7Rk6ATbj0gnmY7hmAmSTlKy+Y/uO0WULV80ItSY+uk4/9/6j9T4cjLbcrZbgIbo/NSoIT47jHjmBJJ1UxRjfSq51BTnuFLzCVn1ygN2yA4lFOqL4r3NzseOj+Wl+NOMERX6ynqPoPzQjdfIbi41F+lrCNAP44NcpVoop1b4Y8EDep0cJ55e0+3+P+jk3Fai9HZ9uDsucfs7qbs9I7GCjorNrhW+fUYDD7cuQxOh0/t1L4JlFavfTLomyOpTRugvueCbJwld8v5wg5kCc2GRbELYQ/mB1UgBsRwHxQZLIT728d19MGsmS/PuVLICMCvnU3vo4cZHzSOQkJTNh6R0d46ZaP2G1OOqFm8vOhdYOJL8bNrNqwtqOj023xOGmGQcm8T5Ph7Hkp1XqTUEsK65jdKIy3L5VADNNoOruHCYVCTyjbToy/GZiBF4Vw9RW7IMMLg6Ntr8cNrdIdNzL/uWvtVZ74t4rE3lF3qfVWZXTCH/RdI1nVxdD5KOiB3hRQjYiWlq6Din3ekvwXCEmyRWQoF2gxsZwG0xML5ac7TqsImUbSPpYx6L60QQf4KwiSjnzRf1W97cGwzPJgDgWMAEQjtcb/Uj9ee0kMEmR3VD+gOu2JfGt1bflEjZQhKzaFuLAMWmfdqmII6MEMd25qofKk9oz7Os0ecjpxcHgFFDvnQnw9LZPOPuCV99LCPrWz88f7PQs0iupIgtDjUj8BjJyo8UFUO1wQvKEYqwqQjqmdZBiYMVwoXFS1E/eaeuBidB19GK3hdT4X4OldJOcsOdDXFLw4HWdAJOeV3LA9MOOxl76iuamJNRbblh94ypNOqFL0TkwU+witqLHy6Fm3RWZ60pCUvNK6B2khCG/iGEuCQC01qPnnU9BZxTIucAnjVctuY9J/uyFhPlPhrOrhI4FjPtXuSFVTxAj+UD4ebgKmojvXeNnR9VuQU8tG5Ntow//WLQ0lVMNcacfC6Oeyt/V1EMAQPeeUOxrmHBgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017GuYWkmBo45KM3aMHdsG22",
      "input": {
        "note": "The right arm has frozen for two moves. Backing it toward the pose it last tracked well, which is nearer the base and higher, to free it up.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.34,
          "right_y": 0.08,
          "right_yaw": 0.0,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_017GuYWkmBo45KM3aMHdsG22",
      "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]: [-0.0288, 0.8249, 0.6132, -0.4423, -0.0139, -0.0334, 0.9987, 0.3801, 1.1461, 0.659, -0.1417, 0.2848, 0.1696, 0.7023]\nstate[eef_state]: left_x=0.289 left_y=-0.0023 left_z=0.1631 left_yaw=0.0018 left_pitch=-0.0855 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3418 right_y=0.087 right_z=0.1501 right_yaw=0.046 right_pitch=-0.0304 right_roll=-0.029 right_gripper=0.7023\nstate[joint_eff]: [-0.1436, -1.3197, 6.9812, 1.8046, -0.0122, -0.0171, -0.0122, -0.5538, -3.9043, 6.7761, 2.1368, 0.2711, 0.1929, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:868769548aeb5f4f2838ecc204a63c1ccea5b09ac0de949f118fb7c1c20b24a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d475793253052e533a5f5a930bb9937842363a0d5da8cd66fc38fb60d280af94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92c2f9bca46b285a58c3872d354912138d59518d42dc0e22bb2ef569bcf8e251",
        "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 · 5.381 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8173, 0.6132, -0.4316, -0.0139, -0.0338, 0.9987, 0.3908, 1.5116, 0.7391, -0.0116, 0.2577, 0.078, 0.7022]\nstate[eef_state]: left_x=0.2901 left_y=-0.0023 left_z=0.1673 left_yaw=0.0019 left_pitch=-0.0672 left_roll=-0.0015 left_gripper=0.9987 right_x=0.3785 right_y=0.1112 right_z=0.0775 right_yaw=0.1239 right_pitch=-0.1875 right_roll=-0.13 right_gripper=0.7022\nstate[joint_eff]: [-0.0889, -1.6068, 6.9812, 1.7216, -0.0562, -0.0317, -0.0122, -0.1162, -7.8974, 6.7624, 1.9023, 0.2076, -0.0708, 0.735]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.0288, 0.8192, 0.6132, -0.4351, -0.0139, -0.0334, 0.9987, 0.3908, 1.5097, 0.7391, -0.004, 0.2581, 0.078, 0.702]\nstate[eef_state]: left_x=0.2897 left_y=-0.0023 left_z=0.1661 left_yaw=0.0018 left_pitch=-0.0725 left_roll=-0.001 left_gripper=0.9987 right_x=0.3798 right_y=0.1116 right_z=0.0796 right_yaw=0.124 right_pitch=-0.1782 right_roll=-0.1277 right_gripper=0.702\nstate[joint_eff]: [-0.212, -1.5111, 6.9812, 1.7411, -0.0562, -0.0464, -0.0171, -0.0752, -7.6923, 6.694, 1.8828, 0.2222, -0.0757, 0.3394]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8249, 0.6132, -0.4423, -0.0139, -0.0334, 0.9987, 0.3801, 1.1461, 0.659, -0.1417, 0.2848, 0.1696, 0.7023]\nstate[eef_state]: left_x=0.289 left_y=-0.0023 left_z=0.1631 left_yaw=0.0018 left_pitch=-0.0855 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3418 right_y=0.087 right_z=0.1501 right_yaw=0.046 right_pitch=-0.0304 right_roll=-0.029 right_gripper=0.7023\nstate[joint_eff]: [-0.1436, -1.3197, 6.9812, 1.8046, -0.0122, -0.0171, -0.0122, -0.5538, -3.9043, 6.7761, 2.1368, 0.2711, 0.1929, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:868769548aeb5f4f2838ecc204a63c1ccea5b09ac0de949f118fb7c1c20b24a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d475793253052e533a5f5a930bb9937842363a0d5da8cd66fc38fb60d280af94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92c2f9bca46b285a58c3872d354912138d59518d42dc0e22bb2ef569bcf8e251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSswkKEAgSGAI4AUIIdGhpbmtpbmcSDN8LrTqgGfWA9hXtABoM5icCQITbwFutuEngIjCHX0NVt0QS1ZvrIXjTKxI5XKKUgm72Hk92frW/afdCqLpdFTY9TkGMLz9/NC1l6k8q0AgMG5XL7mWgwYEY82Ok+qA21Em1EjM8T0Luk7yLSdHEPjGU4MCTT2jyhA96ofv9CMEkmUf171KFmIWn+oWObqPnGz7CEDEB1VS4zTtPJf5bRopOU8+6uR3yHVkQzg9YaBF76xGKb+/TOEMImeUuBjhYKbKMqFA6izXuya0CIr7EYnPgjKhPXtVrVILQzZoAM0ff8Pi1I2SEnM6ObWiW2RtfGT/1C/nuxilw4oOXzPA8u/drZ1VoBdCXEDsR60zwSxhO8UatePhumr3T1lLzer9DnF20v2+pl8gO0Ik0G3yIEIxydkqf288C0CHpGDsz/rSwM/O6fxEHz+ohSpWkf66bgyfz9jcN4/Mu9lLk9XCFCcCjNl9HBYKpxNoC8F+OCaHW4q4OVSyhHUTrG2Kw+tFJY1S3ffPUsva2zIP5vSxZeGCp+eTTE9+Uxwc9Xl5J15oaJZz9/8sAEiZCB41Fh1juG0FZLUZmnz7pP7uApewWzAervHGZxgzrqYeXovoeldigKOEaWqi6U4m3NTTkUhCjuc3iZEUM9EhkeGoO7nU0CcgdtvsPeVIGYbOthfCYL/keqdI1b0bjJGFRLvSZ67iLQixcv9svZEK4Q6rSpqCfkvTwU3pQG0cGFXQpR8IbxiRL7bk9MgciSfP5CSXlViKQ7JLzAxKiqyx/wsIuXjlHJwTWXFW8B8O7oIBfdmDmC6qgl8au+qvEpXruPwdJMqswuafoaG3jbXvSUt53mLSjOx+aIVwFh5zTXnzsvOw6WLUE56+gW9CpKmiXefqO1VoJ/B7p0uZSMSYilAiE4/XAmZlCl1fq0hDQs/Ta/E8Q+Z55GacbMExIATilpSid8MTGRjxrFHCk47K2fmczo6sIS9ygcfawOgseNDk18iM2oHDAORyL6RPmx+KjG1HrNI3cqWYgdD/FTBVbnVCA/erBj6oZUXXzZMjP6PoCRxnrVmY1OlkYygUZeayuib1rvQFcPr9/nW4jfCMMHK9Xks2UibQZSknGjzJJ1DRm8JPr1Zcy+gM+zBbAwt+xehVZRIJ0yoW1Ao9QC2fR0axOawMVpHO6s37PkO5SV7M1YbhTuRcQX2mm4Oub6Ylqn+WYxakjgR4Ke+dxt0q2NY/fbLPAgnTp1SOzp9v/AwNaei+oU4YB7D6yYjGMK/3/XhDGYbX6gMmWyZllLej0r3+PmIiMgB79Gh5O8/lNZ0bgRlJZHBIlQ+lrGFOr+6sTW00L2dLMSbdtazvxdPhQFOhpmoA9QqELt+SCAmCBC1eZl2PCXJs02jsxOk1npZKcf/ntsHRjuvaLJzN0cTQQTS3C5o+k4QrUYp1oF9vMh7a8dKBSl9QiVUAXMaw4+QAJwssqSWl1uVbwElGUxdprKCsS+IyB3LCYurTSUq1j3JQZtxmyl8MJv1WnwQ55RI9OuRm+mME9220dll5FKjxn6AVc8SaxMgmPlrEDvw+pI3JKVo8RpoIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C8YCAXNaafqcEEmxPtN9YG",
      "input": {
        "note": "The arm is free and still holding the pear. The blue bowl is just ahead and to the left of the gripper in the top view, so I'm moving over it at a safe height.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.13,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01C8YCAXNaafqcEEmxPtN9YG",
      "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]: [-0.0284, 0.8249, 0.6132, -0.4461, -0.0139, -0.0334, 0.9987, 0.3759, 1.1164, 0.6567, -0.1848, 0.292, 0.1951, 0.7042]\nstate[eef_state]: left_x=0.2884 left_y=-0.0021 left_z=0.1624 left_yaw=0.0022 left_pitch=-0.0893 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3352 right_y=0.0815 right_z=0.1507 right_yaw=0.0219 right_pitch=-0.0435 right_roll=-0.0173 right_gripper=0.7042\nstate[joint_eff]: [-0.0205, -1.1966, 7.2, 1.7411, -0.0806, -0.0171, -0.0171, -0.4171, -4.0137, 6.9949, 2.0635, 0.2027, 0.0952, 0.6569]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac2c9944fc2faed5f5c06f6e3d0bd43b1baf9090800531ef09f156bbb5c3dd56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f80eeefcc3aea5c17be98166e56b4841d94ebd8486b9f260d791ba9c9989e6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d94c631654af5850d42fba8ce50a90a3f177161b2fad9677a4b3494d71090ff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 4.887 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8192, 0.6132, -0.4351, -0.0139, -0.0334, 0.9987, 0.3908, 1.5097, 0.7391, -0.004, 0.2581, 0.078, 0.702]\nstate[eef_state]: left_x=0.2897 left_y=-0.0023 left_z=0.1661 left_yaw=0.0018 left_pitch=-0.0725 left_roll=-0.001 left_gripper=0.9987 right_x=0.3798 right_y=0.1116 right_z=0.0796 right_yaw=0.124 right_pitch=-0.1782 right_roll=-0.1277 right_gripper=0.702\nstate[joint_eff]: [-0.212, -1.5111, 6.9812, 1.7411, -0.0562, -0.0464, -0.0171, -0.0752, -7.6923, 6.694, 1.8828, 0.2222, -0.0757, 0.3394]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8249, 0.6132, -0.4423, -0.0139, -0.0334, 0.9987, 0.3801, 1.1461, 0.659, -0.1417, 0.2848, 0.1696, 0.7023]\nstate[eef_state]: left_x=0.289 left_y=-0.0023 left_z=0.1631 left_yaw=0.0018 left_pitch=-0.0855 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3418 right_y=0.087 right_z=0.1501 right_yaw=0.046 right_pitch=-0.0304 right_roll=-0.029 right_gripper=0.7023\nstate[joint_eff]: [-0.1436, -1.3197, 6.9812, 1.8046, -0.0122, -0.0171, -0.0122, -0.5538, -3.9043, 6.7761, 2.1368, 0.2711, 0.1929, 0.735]\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]: [-0.0284, 0.8249, 0.6132, -0.4461, -0.0139, -0.0334, 0.9987, 0.3759, 1.1164, 0.6567, -0.1848, 0.292, 0.1951, 0.7042]\nstate[eef_state]: left_x=0.2884 left_y=-0.0021 left_z=0.1624 left_yaw=0.0022 left_pitch=-0.0893 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3352 right_y=0.0815 right_z=0.1507 right_yaw=0.0219 right_pitch=-0.0435 right_roll=-0.0173 right_gripper=0.7042\nstate[joint_eff]: [-0.0205, -1.1966, 7.2, 1.7411, -0.0806, -0.0171, -0.0171, -0.4171, -4.0137, 6.9949, 2.0635, 0.2027, 0.0952, 0.6569]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac2c9944fc2faed5f5c06f6e3d0bd43b1baf9090800531ef09f156bbb5c3dd56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f80eeefcc3aea5c17be98166e56b4841d94ebd8486b9f260d791ba9c9989e6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d94c631654af5850d42fba8ce50a90a3f177161b2fad9677a4b3494d71090ff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQkKEAgSGAI4AUIIdGhpbmtpbmcSDKRbkGhjiSru4tZ5mBoMGrOQ77ox0rjGd/kcIjAGG5+SYfaUsYhVIctayR2ixRga4+nOsqBKIczjO32BCs063zVugu82cT5vEK+FtUkqxghxsEM6aCDZIKgpEJJ3NPyer0TAxvT9RgSECVLZn4kViVEeMAkAazVs58aMut8ebPLMBygjGo2ZsGPAfJG4SjJtCtzr93YAbHN1j0GVoPV1oWjK9xEn/rGtE1m2srGjzTtu0N40mpqFr0SL40gozrrGGcsvlv9IuGILwSy2/LMnA5gVRYcDM2hh5TJHyN11APYw4TVBKupky0etTp320OWulsxLaThCHKlouDga/Q6aez1XX4l8sKOTVqovUMUijB/OdxR/tDqZPTfn4I6PlbKWCh/YfU0zzetpJuoQcHuY8Sl7oDvDaQJBwtW3JHbdHNA+Fk/HbdKpZtmfHvZOfDRGQHYgYXrivHBw7c5JsAkYfzMx48JFFj22rbyT4V1Hvf6npjJZM0SihsWGRjcATsVtwJb0zON1PPiF+QMXRnzXrHTh15QjGSRQIi6WJ+DShn3n/05x/qhqZOeHs2NoO/ahBuWonbr1cXGQMWzwYYpNOwbQ2SMwzID6O5tPj0oB88WvfvEnZ6UhHm0OUZqTpKSVFCWHq9GwMz5wtHZJPgRyF3Pu8s5TBlNZdlKSYJ1oXxp8UP2oM5u/vCJQ5D9azynf+Uclb4UJ7HB3FseToPg99b4BazMxS/HvZCZwYpU+oQGrI8GHW/54h+fC1279G31W7v2d57HTc+ffZG+EblPMNZpYQ9bw8Xv8sK+R6hCcCP+JpRkwbYB1zpv4h6pYzte46b0KwWAxBuhGZtMAhYYO7+xAMwmsp+GESpStjVj1p8YIB5A0Xthrf8e2N52kIn7C9yKqJPoDg5K0gwrZjfWAxTbOiB0jtuBUkzIGEfSD6Y5GKrUEyiV4M2xMaCZbVoP2/P3rnT9qhwvcUrJVMUWnLWw62diNGBmnBAqWrC6OPNS1A6nMIcyVSfHMLLEn0fPHSUq0fSSP0pVw+HQDu3w/cTO8oYLkyYtgQ+GT3Pcv369JRxLhsPQh/D3S3CEwbl7C0DR/QNVO7DYmN+cUmum1YCu9cvFhAQvvarXC90bFsyIMAZV+xQg7/6fZcFb2ZJYvxAqP+LY1vtfQ0I2rEE6sPj3sXWWEKc6y162Kz4E0iPntP2+F1b8HVFSRKIwLW64eaxgEo5VXMhyLTX1WgpapypUVD6fVGC2JfUyqmIiOg88rnTgH9REumwB4Iacg+4vDssuLQV86k5RNwbSeZ7o6slo4nOOx3nY2V05ZVi86Y+8SOPtaTdQBMUSYtzvIi0j9z8OkqVa5G73di4bC4zD7Z9EssC4cZDNDAhQ8zX0azPhsOqsgSJCUl1/ODzPy1O97oS/y/KeB43IvLdxUS4Ph+i4VYAgRLxqGn9f5bUhWiCvJK4im+81vqC2gY95A3ltBRLwoY9TIRBF9qUPxRhY8e+kBOnGc4w9Zvmhnb2qAZOHeNsYFNN4biJfH+l/yQY1cRI53DmVgdz2RfcySaVZs9prgIeijBRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QJQNtiV3mVBpjAM8Y5sF6s",
      "input": {
        "note": "The last move didn't happen. Trying a smaller step toward the bowl to see if the IK will follow.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.1,
          "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_01QJQNtiV3mVBpjAM8Y5sF6s",
      "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]: [-0.0288, 0.8249, 0.6132, -0.4465, -0.0135, -0.0338, 0.9987, 0.3759, 1.1164, 0.6567, -0.1848, 0.2916, 0.1951, 0.7043]\nstate[eef_state]: left_x=0.2883 left_y=-0.0023 left_z=0.1623 left_yaw=0.0017 left_pitch=-0.0897 left_roll=-0.001 left_gripper=0.9987 right_x=0.3352 right_y=0.0816 right_z=0.1507 right_yaw=0.0222 right_pitch=-0.0436 right_roll=-0.0171 right_gripper=0.7043\nstate[joint_eff]: [-0.1846, -1.2239, 7.0085, 1.6728, -0.0464, -0.0611, -0.0122, -0.2393, -4.0821, 6.8171, 2.0391, 0.1978, 0.0952, 0.6813]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:164019793fae483b36c6d48ff7dbc60b3adf3f92b75ff4c3cea8629142b53e1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:164eb3fb21f421d0ae3e50be8547cf431c077e35e2ff509e5ba2886224fa1e9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:024967d6068549d5063013c021fe06d5904ce807b45f5e8a2ddc8c4e1f0a71c2",
        "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 · 5.903 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8249, 0.6132, -0.4423, -0.0139, -0.0334, 0.9987, 0.3801, 1.1461, 0.659, -0.1417, 0.2848, 0.1696, 0.7023]\nstate[eef_state]: left_x=0.289 left_y=-0.0023 left_z=0.1631 left_yaw=0.0018 left_pitch=-0.0855 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3418 right_y=0.087 right_z=0.1501 right_yaw=0.046 right_pitch=-0.0304 right_roll=-0.029 right_gripper=0.7023\nstate[joint_eff]: [-0.1436, -1.3197, 6.9812, 1.8046, -0.0122, -0.0171, -0.0122, -0.5538, -3.9043, 6.7761, 2.1368, 0.2711, 0.1929, 0.735]\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]: [-0.0284, 0.8249, 0.6132, -0.4461, -0.0139, -0.0334, 0.9987, 0.3759, 1.1164, 0.6567, -0.1848, 0.292, 0.1951, 0.7042]\nstate[eef_state]: left_x=0.2884 left_y=-0.0021 left_z=0.1624 left_yaw=0.0022 left_pitch=-0.0893 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3352 right_y=0.0815 right_z=0.1507 right_yaw=0.0219 right_pitch=-0.0435 right_roll=-0.0173 right_gripper=0.7042\nstate[joint_eff]: [-0.0205, -1.1966, 7.2, 1.7411, -0.0806, -0.0171, -0.0171, -0.4171, -4.0137, 6.9949, 2.0635, 0.2027, 0.0952, 0.6569]",
      "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]: [-0.0288, 0.8249, 0.6132, -0.4465, -0.0135, -0.0338, 0.9987, 0.3759, 1.1164, 0.6567, -0.1848, 0.2916, 0.1951, 0.7043]\nstate[eef_state]: left_x=0.2883 left_y=-0.0023 left_z=0.1623 left_yaw=0.0017 left_pitch=-0.0897 left_roll=-0.001 left_gripper=0.9987 right_x=0.3352 right_y=0.0816 right_z=0.1507 right_yaw=0.0222 right_pitch=-0.0436 right_roll=-0.0171 right_gripper=0.7043\nstate[joint_eff]: [-0.1846, -1.2239, 7.0085, 1.6728, -0.0464, -0.0611, -0.0122, -0.2393, -4.0821, 6.8171, 2.0391, 0.1978, 0.0952, 0.6813]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:164019793fae483b36c6d48ff7dbc60b3adf3f92b75ff4c3cea8629142b53e1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:164eb3fb21f421d0ae3e50be8547cf431c077e35e2ff509e5ba2886224fa1e9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:024967d6068549d5063013c021fe06d5904ce807b45f5e8a2ddc8c4e1f0a71c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/wgKEAgSGAI4AUIIdGhpbmtpbmcSDGlBD2y2vWc5gWY2lRoMi/G9Wam2pIqyXGw0IjDu3UHcVWaZAiPCKGvFsEH6IYWduKieG6/RoK74GCf1IO/xiRGEthqtz2mzDBCz8NIqnAjJOxJGiVuf3T4jtzUVx7+JgV4nRPA7KF5ZSSpXD9Q3/nbvkdmg2ToaxufWfa/iWTPVjiRxMj7sJJtEBX8ftpLzRmXMXb86LpEKkZy3M/R1R+4Cb5O0kxMtJvDEkozlBuAI19CvEM0kF4XlwBkaCIsTg5fVCzFRivbpJwtippcYtNqYVyYw6owTrLnxgTiDyYFmNtiVKsOxdmiNs549cu9bKWiUzhxFV77htttUGvYE8ERvGlnpwEpTooiPzuDk2uS0LnHLxszlMRpjAlco+/HJZlqr+fO0Mnr/Ir/+YYGIj5nLK9vhtzUNOOa3lAZyliWjxeyPgej6hi3VV7CZbCGq8Soi+SnP96I8lo9jlkvxgHnAhsQIOzg7u50wJFv9UBW5VkNejTj4RxhOgpf+LGZHFsWJzCegTW4eLzntDLNEtMuKH7dJUAHABjNz+sOVRIzFYDIX9HfaqveeBYeQBjwK3CpC2i0UdRO1hJj1EahGe4fQx0jnK/f5f/BpmQnvfnUdv01eezSN9Dz07IS9+9EjcVl6pzb7Sz8K+X3PYnSeKGRfXfVkkG8uJSxmluOsHV4gk+dVylb0zGzBtZDnxOwjqwHULnFzLITAqgSNYkIr98UUNZmJ7m+raC0iOdBVSdz2bDw+KZKYljFhB3ieKqcJRR8rXCwAzwN0zAeWXET2esmdzJuGJuDEw8PTR2n4D25EbwQGh5T8NHmUvSne//peosfFFDrtKj62QHSpXX3/MbtOuTLjUq5WbHxmJ141IfJvJTKnzOYGBVhJPQ4lPuhan9JLO4c9bkwk4dKyEkxMNlpHKe4gULyOLyq2OqG8EfQ3ru4Pzvmso1UA+jN6pjSvWwf8qW8uWbjsygH3BZ/J8jJFQFspqVKebgFZITmBbYRoyiJhpa5yXZVZPOPCxzrT4/zE8r2nRXJYDf0Bm602MGOHXsl7E9YpFZXlImbx0LR3Hha+64mEP+MAZtOHhYPOTXn/gm8aQrOB1ScEcFbrQIM1zo6RLa/XSBmjHM12kmr9HwE/Gz+Q8GCWTPgFQ184XKqwdTQ7khq7T7JmMzzGiO7W4u2hM4DcEgZfNntMbVOvrsbmBRYh2Zendc8LODC4fSW2LAhkLZFuNyWUWP+EWFGv+HN3Nwy7zarkwy9cwLZ0mRRd3cMYysbygzsct/g3iUFteTLzJKlkaY8bayBCI7l5SICQAcKeG8TDisvVwE6Ab535wsf9rZHaOsoYrhqfl7dBIVb/Mhi5X/ASx8nlZx0NnazWwoagXR05vtX1xRjPy0XucpEaGN4I8V5l8F6tW1xNHUlCP437cgf7muK3UaQ3QyIiLqJG8HLVRnsGWyx2aEZX74VnALsVVH2OgCLvn5FnRcdtWD9cXi+nUzQSo7Qqnd8TBnl9KDKe9BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011cDDDP7qynqJANkKSEg2oZ",
      "input": {
        "note": "The right arm still won't move toward the bowl. Testing a pure vertical move to see which directions it will follow.",
        "targets": {
          "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_011cDDDP7qynqJANkKSEg2oZ",
      "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]: [-0.0288, 0.8249, 0.6132, -0.448, -0.0139, -0.0334, 0.9987, 0.3759, 1.113, 0.7898, -0.3672, 0.284, 0.1913, 0.7036]\nstate[eef_state]: left_x=0.2881 left_y=-0.0022 left_z=0.162 left_yaw=0.0018 left_pitch=-0.0912 left_roll=-0.0004 left_gripper=0.9987 right_x=0.3327 right_y=0.082 right_z=0.1755 right_yaw=0.0295 right_pitch=-0.0882 right_roll=-0.0314 right_gripper=0.7036\nstate[joint_eff]: [-0.0205, -1.4017, 7.1453, 1.6923, -0.0122, -0.0415, -0.0122, -0.3214, -5.2171, 9.4974, 1.7998, 0.1978, -0.0024, 0.5055]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb2ea1d22256e310151369b8863ffcf3fdf8a0563db3875630ef74475a039251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac4f2618c815e5b7212a0766e4d889f5aaa00ebd693d15179984a554732ad4ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25c4d69f0caefceb791668185de45ad46e7f09bf845634947e80a00d26aa904e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 4.132 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0284, 0.8249, 0.6132, -0.4461, -0.0139, -0.0334, 0.9987, 0.3759, 1.1164, 0.6567, -0.1848, 0.292, 0.1951, 0.7042]\nstate[eef_state]: left_x=0.2884 left_y=-0.0021 left_z=0.1624 left_yaw=0.0022 left_pitch=-0.0893 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3352 right_y=0.0815 right_z=0.1507 right_yaw=0.0219 right_pitch=-0.0435 right_roll=-0.0173 right_gripper=0.7042\nstate[joint_eff]: [-0.0205, -1.1966, 7.2, 1.7411, -0.0806, -0.0171, -0.0171, -0.4171, -4.0137, 6.9949, 2.0635, 0.2027, 0.0952, 0.6569]",
      "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]: [-0.0288, 0.8249, 0.6132, -0.4465, -0.0135, -0.0338, 0.9987, 0.3759, 1.1164, 0.6567, -0.1848, 0.2916, 0.1951, 0.7043]\nstate[eef_state]: left_x=0.2883 left_y=-0.0023 left_z=0.1623 left_yaw=0.0017 left_pitch=-0.0897 left_roll=-0.001 left_gripper=0.9987 right_x=0.3352 right_y=0.0816 right_z=0.1507 right_yaw=0.0222 right_pitch=-0.0436 right_roll=-0.0171 right_gripper=0.7043\nstate[joint_eff]: [-0.1846, -1.2239, 7.0085, 1.6728, -0.0464, -0.0611, -0.0122, -0.2393, -4.0821, 6.8171, 2.0391, 0.1978, 0.0952, 0.6813]\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 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]: [-0.0288, 0.8249, 0.6132, -0.448, -0.0139, -0.0334, 0.9987, 0.3759, 1.113, 0.7898, -0.3672, 0.284, 0.1913, 0.7036]\nstate[eef_state]: left_x=0.2881 left_y=-0.0022 left_z=0.162 left_yaw=0.0018 left_pitch=-0.0912 left_roll=-0.0004 left_gripper=0.9987 right_x=0.3327 right_y=0.082 right_z=0.1755 right_yaw=0.0295 right_pitch=-0.0882 right_roll=-0.0314 right_gripper=0.7036\nstate[joint_eff]: [-0.0205, -1.4017, 7.1453, 1.6923, -0.0122, -0.0415, -0.0122, -0.3214, -5.2171, 9.4974, 1.7998, 0.1978, -0.0024, 0.5055]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb2ea1d22256e310151369b8863ffcf3fdf8a0563db3875630ef74475a039251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac4f2618c815e5b7212a0766e4d889f5aaa00ebd693d15179984a554732ad4ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25c4d69f0caefceb791668185de45ad46e7f09bf845634947e80a00d26aa904e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlwoKEAgSGAI4AUIIdGhpbmtpbmcSDMbxDSCDHCwUuIQ1+RoMfHZt9gBUqT+zUtqKIjCMP4m/gdZhZ0AMYHz8OyAd1VDTS8B6m+wE9OuzJSGU6YDp5CpvK61wHCDlAmQCgUoqtAmtP366cK8d/GlsH+ZLh7KjsaqjVQ/y3ohxBEOrd3CvkQrlx4aK9Z7j5MVfIVOQ67fI3asJeHr7ymjDByf4xLaJnSYz4WlOyMzJB4OtwrpxcgP7bxBSbn4Unj4Q3V3x0QDVr938m1rN+xJl/LdBpYEJGxoTjyWLsI/hZCtxTjJFZTlR/QOsZly4hShJO5buyY65Gh0OE7jJyMKQJF38kPDBU1/vVzJa2VMJcl2Ea43kPXQqYBwdidgSGu4YR1rchvsx6cWxwWNkWEnELgKHHTqxeiGRLLEhCgu1JmUXwT8ksEa+k7Gcg0TjsYj5uTIx+MQbD2wGYRfA34Kr2yHjICnuDybbfbjsEtjZe7cAu6KY4i5dv5twOm2ACDL3BFKa2UPaT5Kq7a0jvu8UGEylCZfFgbhVFdtqRNHX4eE33V8a9dS3k40u+jMGt+DBBxXFXhDK8zNxmdhnHJc1Ofjs+LbvKMnNwpb+NPb3QHWPt1i6mJ+XmDIBXSKPE3N8g/fii2WZxYGGBoIbyTj1/y+nG+g+RahVGCJt118kpy1LEpTlJsYAPlO9Wrpw72ah57H+XBID+1xWbMUDXIWnQomwQTy+hvz6RKG8bku/HCNHw27doLFAKBbMHQZ4v/QIkkxC+aV6r303Vq+/xJrYkyUNj1sNPxyyNaWDkcXrxjDyXmV3oFDgq681oLbqCBofZgGS2UPAIB4LCTQC1Q7og92MXMGw1ZlaugBOxydhQfftCCZVTOfTGdYTw2a5/P4FnsumUgJkEwbEIuZkw8Q9iI9mT+90hDzd+siZFIm4jO8Tk2CGQuyTUsA0LVVahUdTo4EDqZinCyJS0agfTLbJnFQIeLPNfZG2RJCCgP63eq3zCBNWwDwJejzmJiCdm6L37pqWFe2bovpZKXCPN6+geLL0g740DZcn0Mv/evZxcPTZ4Wf4qFUE/QNAkdNWatWfT/Mr6t53dcWTw7uNVY9AL9vFl9mDy3aw6z1TVF6ups0pGc/BdXEzinJZVk/2SLcjSi2w6bpFnYm6f3al8vWe4ji3EA+sfX6818B3tL8jl7udwgxSzBULLRmLoTTlRY8cnJ6OYYGWLxjrtEv1ZLSnnpeuCaRDP9IA6HnkwsdFF4QcnUfoMytI1b3dzsvWMhnCyWhwefrtE4Wy/XDTqW2zJ0TwUObSTY5ZpIrCdDIMlrY1C/sMFa0Ie9W/5RGStHZqEQ1RcNQOl0BfAkPxE9msgUeni20MAg1D9BQJpIE7aOi4N7PG8Whn/hjICsoXAPJ5HbSTbz3zuArskNFkl8oBw0W/+ovHRCsRNC/JvzZh7ULXT4mEQ1GzNBHTOO0dXMIgjGugDa6yTNvOpdoWW/YvGJ5P9s7ublnKKJFPtxQnrLb/pN+uHmWVa5fg+hMFSvOTN9BS0HWQVIgnX8MuqCVIsBmGo/YxVg2NUtKKrRUNYua+/EXyG+rcZ/h3g3OcmjDfG9Gagzx+QfDuyjcAvEHYqlsCbK30kGyM/24PcJDCDutlUg+0QfGh5jA0qt9viP8/LHGF7DEa2r2gt/sfeGMVj9CBPW7VwzxnVS7mWo004G1kf+ohc6yEvVOc5ioUUpDhzMSI2zTnfn+FGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JwR6g2U72quyqYrn7S7Sjd",
      "input": {
        "note": "The vertical move worked. The blue bowl is about 6–7 cm to the left of and ahead of the gripper in the top view, so I'm moving over it.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.14,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01JwR6g2U72quyqYrn7S7Sjd",
      "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]: [-0.0288, 0.8303, 0.6132, -0.4538, -0.0135, -0.0338, 0.9987, 0.4709, 1.4494, 1.0496, -0.3901, 0.3298, 0.2287, 0.7039]\nstate[eef_state]: left_x=0.2875 left_y=-0.0023 left_z=0.1595 left_yaw=0.0017 left_pitch=-0.1022 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3845 right_y=0.1356 right_z=0.1656 right_yaw=0.0618 right_pitch=-0.1686 right_roll=-0.0685 right_gripper=0.7039\nstate[joint_eff]: [-0.2256, -1.812, 7.1043, 1.7021, -0.0415, -0.0562, -0.0122, 0.3487, -7.0769, 8.8, 1.7363, 0.359, 0.2466, 0.6667]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6f266c4d3194dfc6303ffbd17fc812187dbe4f5dd0a1c7bbd639ea4adcbe41a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8640bdb3bbf9dffbcbe1b67a459c33ccea623d320b9980e570a4408dfafec903",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f5a689e263a0ce6aad13046e29d2fd8454eb4dd14fb80a82637836ef709e399",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 5.875 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8249, 0.6132, -0.4465, -0.0135, -0.0338, 0.9987, 0.3759, 1.1164, 0.6567, -0.1848, 0.2916, 0.1951, 0.7043]\nstate[eef_state]: left_x=0.2883 left_y=-0.0023 left_z=0.1623 left_yaw=0.0017 left_pitch=-0.0897 left_roll=-0.001 left_gripper=0.9987 right_x=0.3352 right_y=0.0816 right_z=0.1507 right_yaw=0.0222 right_pitch=-0.0436 right_roll=-0.0171 right_gripper=0.7043\nstate[joint_eff]: [-0.1846, -1.2239, 7.0085, 1.6728, -0.0464, -0.0611, -0.0122, -0.2393, -4.0821, 6.8171, 2.0391, 0.1978, 0.0952, 0.6813]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0288, 0.8249, 0.6132, -0.448, -0.0139, -0.0334, 0.9987, 0.3759, 1.113, 0.7898, -0.3672, 0.284, 0.1913, 0.7036]\nstate[eef_state]: left_x=0.2881 left_y=-0.0022 left_z=0.162 left_yaw=0.0018 left_pitch=-0.0912 left_roll=-0.0004 left_gripper=0.9987 right_x=0.3327 right_y=0.082 right_z=0.1755 right_yaw=0.0295 right_pitch=-0.0882 right_roll=-0.0314 right_gripper=0.7036\nstate[joint_eff]: [-0.0205, -1.4017, 7.1453, 1.6923, -0.0122, -0.0415, -0.0122, -0.3214, -5.2171, 9.4974, 1.7998, 0.1978, -0.0024, 0.5055]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0288, 0.8303, 0.6132, -0.4538, -0.0135, -0.0338, 0.9987, 0.4709, 1.4494, 1.0496, -0.3901, 0.3298, 0.2287, 0.7039]\nstate[eef_state]: left_x=0.2875 left_y=-0.0023 left_z=0.1595 left_yaw=0.0017 left_pitch=-0.1022 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3845 right_y=0.1356 right_z=0.1656 right_yaw=0.0618 right_pitch=-0.1686 right_roll=-0.0685 right_gripper=0.7039\nstate[joint_eff]: [-0.2256, -1.812, 7.1043, 1.7021, -0.0415, -0.0562, -0.0122, 0.3487, -7.0769, 8.8, 1.7363, 0.359, 0.2466, 0.6667]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6f266c4d3194dfc6303ffbd17fc812187dbe4f5dd0a1c7bbd639ea4adcbe41a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8640bdb3bbf9dffbcbe1b67a459c33ccea623d320b9980e570a4408dfafec903",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f5a689e263a0ce6aad13046e29d2fd8454eb4dd14fb80a82637836ef709e399",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyAcKEAgSGAI4AUIIdGhpbmtpbmcSDL8l6NhV2y4vNugdBxoMz4zTFi0nZGrJXrxoIjC/0fN6EG6AVW5ZzurjG3i7pBzRpTd7upvDSJQ/mm+vhgV8OrErry1LkofkhJWqMb8q5QZ+1VwjqlhP043mkQCqrHVw6V1ypFs2gV2iDO1qufqY+o+qotwcaw/5EUUz8EcAMnotleLUG/1sHfBlmMYujmc1hbdQ3Y7YAATMHb7KwaHCM/IzqBtovWLMlIvRMPirwnDyQ9W9FDqSJStOvZu32n7hz6Q/pXyHYzi5cK7KySMfUjYIbSJM0PMLgMdTXcS5lrDtpPChWWgq8TKOr9jdMtWJQ9AcEqa2I6oId3N8ngADz748K5wRxc1xJ6H9PTixuhQ93QZQKKX/zI+uEr82A9DT8Okt3+Zujod3AuT7zMyn7bd4GbBq5nNV9iIPGlVzTw+l5oxzfeNDLGsI2hctO3aqdGkybYYDwkvk95XVFHLJE50aLtnp6S0L0ENgFuPpF8IBsuUgiI76/qbDayYq5m0cTQJp4TsKU23rhZwlc1nFZJuILE6A/rmomedVY8L4I8FZXe0BkeSxeQn4dDuCiQj94AIaeE//P8OklbR/Is71MpFop4tg1ehQ9shLNESl8Qh9S/5bRsjCMv2kKZ4MD45u3wRj2JbAJa1JatcVOhmixmnUyOkwaVJVi/y32oA3bMTHWoqkHhbBzeggiqde4lW6yytage25Xomi+l6vo6xnW2rTMWEarrUFVp62hMwgCcCB/Y78ajlXDvz+XXUE/TnXFiOkfVsDcsKNpDwDYTaDhpxdBb7ipRuBx5zujW7SguKfq0vEaX8VRPQTKGHFzmN8TXhXI2Fa+6pf0GFqWpIhz2R1iuWD0Yf0Di3wX/1HBfkzcaEfn+qaWvheLjWwuL6Zwpz5HvND+lwUgXH5OoED7+U6OmbGpU5h1VLIInRi/kqojfKupcqNAQXmy/DdykxeI271xnFZa89cmyunuLRV5LsvU9FK6lk9P6o1Y3iUfrEck0VhV49EfOJhAHVv2NNLjzezOW6ncTueG4qo8w1f4I+z5U+OSf8MBMlZJM/7uxaOgxnq4YLWnwe+VEJppXQ0Gnf7mnPvf4lcNChOvtBwX6LnTjmLxoWoQWFdp1066ZDBNQMkueB2+ji/1FYXN/hEAa7WVhxk8CF8X3Lv7pSMT6jLVYOLOYv1vzcpT3qy7VJfaZwz2dvEHRSrgzwh27A8TlmfsW/+zP+1jtqtY0gmfbFB9B2Enare5cVXwUls8QMvArzyJBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FgHBDSmv9UCtag2op2YVUM",
      "input": {
        "note": "The gripper now covers the blue bowl in the top view and the bowl's rim shows just past the pear in the wrist view. Lowering before letting go.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01FgHBDSmv9UCtag2op2YVUM",
      "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]: [-0.0288, 0.8307, 0.6132, -0.458, -0.0135, -0.0338, 0.9987, 0.4744, 1.4853, 0.9215, -0.284, 0.329, 0.2276, 0.703]\nstate[eef_state]: left_x=0.2869 left_y=-0.0023 left_z=0.1586 left_yaw=0.0017 left_pitch=-0.1068 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3746 right_y=0.1322 right_z=0.1171 right_yaw=0.062 right_pitch=-0.222 right_roll=-0.0924 right_gripper=0.703\nstate[joint_eff]: [-0.1846, -1.0325, 7.241, 1.7265, -0.0269, -0.0415, -0.0122, -0.4171, -6.4752, 7.8701, 2.2344, 0.188, -0.022, 0.3297]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4562ee9ed1af642278dfa2bf78cb47e372f9475f8cac7777430bea98ac8adcb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d5ffa3507f10fdd74b814ba7277112676b74417868d9b21a393b8f3403b1c0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d35a3fe1434a096e3dfcab7711397018c57554ad31ae9415eb298de10469a2c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 4.978 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8249, 0.6132, -0.448, -0.0139, -0.0334, 0.9987, 0.3759, 1.113, 0.7898, -0.3672, 0.284, 0.1913, 0.7036]\nstate[eef_state]: left_x=0.2881 left_y=-0.0022 left_z=0.162 left_yaw=0.0018 left_pitch=-0.0912 left_roll=-0.0004 left_gripper=0.9987 right_x=0.3327 right_y=0.082 right_z=0.1755 right_yaw=0.0295 right_pitch=-0.0882 right_roll=-0.0314 right_gripper=0.7036\nstate[joint_eff]: [-0.0205, -1.4017, 7.1453, 1.6923, -0.0122, -0.0415, -0.0122, -0.3214, -5.2171, 9.4974, 1.7998, 0.1978, -0.0024, 0.5055]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0288, 0.8303, 0.6132, -0.4538, -0.0135, -0.0338, 0.9987, 0.4709, 1.4494, 1.0496, -0.3901, 0.3298, 0.2287, 0.7039]\nstate[eef_state]: left_x=0.2875 left_y=-0.0023 left_z=0.1595 left_yaw=0.0017 left_pitch=-0.1022 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3845 right_y=0.1356 right_z=0.1656 right_yaw=0.0618 right_pitch=-0.1686 right_roll=-0.0685 right_gripper=0.7039\nstate[joint_eff]: [-0.2256, -1.812, 7.1043, 1.7021, -0.0415, -0.0562, -0.0122, 0.3487, -7.0769, 8.8, 1.7363, 0.359, 0.2466, 0.6667]",
      "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]: [-0.0288, 0.8307, 0.6132, -0.458, -0.0135, -0.0338, 0.9987, 0.4744, 1.4853, 0.9215, -0.284, 0.329, 0.2276, 0.703]\nstate[eef_state]: left_x=0.2869 left_y=-0.0023 left_z=0.1586 left_yaw=0.0017 left_pitch=-0.1068 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3746 right_y=0.1322 right_z=0.1171 right_yaw=0.062 right_pitch=-0.222 right_roll=-0.0924 right_gripper=0.703\nstate[joint_eff]: [-0.1846, -1.0325, 7.241, 1.7265, -0.0269, -0.0415, -0.0122, -0.4171, -6.4752, 7.8701, 2.2344, 0.188, -0.022, 0.3297]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4562ee9ed1af642278dfa2bf78cb47e372f9475f8cac7777430bea98ac8adcb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d5ffa3507f10fdd74b814ba7277112676b74417868d9b21a393b8f3403b1c0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d35a3fe1434a096e3dfcab7711397018c57554ad31ae9415eb298de10469a2c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9wkKEAgSGAI4AUIIdGhpbmtpbmcSDIWtZWT5jo/ZEA0tEhoMLnzOCnhTK2XAlEw/IjBvqJGtH2iv8IbmALZeVAaAFzy0CLE6+/PiWp4xihlF74Yjfu4wAL7M4P9OF+raFdcqlAkHm+MWC+SpZfhbT0xahWUYgZzYkaeWmcn2DvGgV+HQGJ/qr1gWL1jdvN5gAG5ChS6XBeSJfXgzPv5wgwH8N3+dUDZDgTCOffFJbyvYso7YInT2J5QIJjbzCyOixsccbD1SfP8Mi71g3whfvLSdK4JLFsscp5z9BW3Pj2Rb1+5B18pdnzDfgRhzOsaiev/1YKmGEGf0LHjShs3PIMQS69rBC2vVQMKsApoUE+hQbeoX3NuaC87PV7AfC3NOtjt6XiM/WgY62Eyhm/8MG4NcMhtstd1pnzDCi/c4lNYne9rTXWLS9ky57cSuPGRXkNCy95sn/2HFwPT5bvuUISvyBc5njE+ftq0ts2CS0doKUdKTpfhHix4bdQ//yxy+eqh16GDvrk0I7O6pEO36XT6gt+ZPifF1XFZZzWFJRtihMkAsmu90TiO5RgMqW3eBv6iwaxY1zBKoS4UlUcNQApHZomkT5JCv/xV7Kj750EkICoLjgMlFexVAtaUseGYGI2+bNBR3yHOb8+TYV8hC/m7ndn0XaU2xNIv1dlsjerqUCnI5JiLMZAQERXrgp6j2yJhpmdx0KRrOdAv5VFlNPxnTrz8ssq4Q6BAbpHmN6Af+zgH5TRRu0lmA1MsTwTnfU0pAPjAb6gBje6ULREKAA4+kSQpwP/cErkmMI6kP2awP68JfFoYeyJfUQIJ5xvip7LI/8y0vD8dIMVrpZxriIbsDoqNiNYq2gGqvFqwetJxoFQCzseYK4GsxVY3LDpeThCtGFxwHjSqjvz6Fzzc5JKNwRZSpT5pIzk4Xi1PYDklesawFJ/OEVReO1JhLagmxvmuFzC3F6CjHwPtQT/JAhVwbM/2+GqkwyIZ+R2R8NbMhcXi716VgtAswe3WtjkhGOf3t5HZNcxVm7qgK/hDoAlfkQ5uwXAcwPOvyGGzSfkhLl8gHfiok9S2lB7tZ0uPxic+c3nad1bjwsA78+uztQwyNKcfGXC2rx9QpB5PfhXLMwqyibUp/MvQ9hxXzQyJmGE4HDSrmlGMmdwILSKJCzTwz5cl1EKwNrH9DrsjoSWB88F00k8P7l5JbfK5RythRRKLy4eMqGraptJazhut03/Oi4sbkZM/1Djm2LWXgKyTLfG7kn+cHprrYlYdPKv5ukZNa3WY9q7ZH5SRrJXoKGlN+Q66sKP95Y0MKNxG/e8Z58YzqsGDO9Gij0ny3zMLyEIcYqfzpkpX2g0Edg7oobQjwNq9S1lH/Z1TYt7S6h1O88ouSbr49kJDvJQRMtwGaFbQOKvAMUD3tg5RuosmuyDJdksDNit0nFlmyk+VEi5q6lnuorsEeGkg/RcdQzCBAJq0rFJkJFt/51oauhLiJLAzWTXQS1JfYr/P0wIch9IWHq9kIZ4115zvV5djl/Q1pzIGjlGJwXTPgWMLsBBrMXBFLOio6TAhYXqeuAC47e3WARByN/rhMwF0/xsF7qdpqU5HtgE8X0CInNrkjey661AmUs8V4RfqFjR1O7bHCgS1kd+I+UxPPBZQbgxmmWITKiCHOq6kTNRsShCwidk2TuX5iN44u//TFNxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JjLZJxVyw2fKtxNtiPREht",
      "input": {
        "note": "In the wrist view the bowl sits a little ahead of and to the right of the pear. Nudging forward and right so the pear is over the bowl's centre.",
        "targets": {
          "right_x": 0.395,
          "right_y": 0.125,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01JjLZJxVyw2fKtxNtiPREht",
      "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]: [-0.0288, 0.8307, 0.6132, -0.4683, -0.0135, -0.0338, 0.9987, 0.4599, 1.5173, 0.9001, -0.2638, 0.308, 0.215, 0.7045]\nstate[eef_state]: left_x=0.2852 left_y=-0.0022 left_z=0.1566 left_yaw=0.0018 left_pitch=-0.1171 left_roll=-0.0002 left_gripper=0.9987 right_x=0.3736 right_y=0.1293 right_z=0.099 right_yaw=0.0685 right_pitch=-0.2594 right_roll=-0.0996 right_gripper=0.7045\nstate[joint_eff]: [-0.3487, -1.388, 6.9675, 1.7753, -0.0122, -0.0366, -0.0122, -0.6359, -6.0513, 9.7299, 1.5556, 0.1538, -0.0611, 0.486]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c209f44f9166f2a2aeb438c95b37582a1aefbc6be15a676788820c8ea6acb6d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bec606ca298802c7399f755cd8a8cea425ff26602262c7f0f55435bf957a2798",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d81d6421c705803d426a47ec34d956e83dff450bdc3486b4b69fa06b53b54865",
        "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 · 6.319 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8303, 0.6132, -0.4538, -0.0135, -0.0338, 0.9987, 0.4709, 1.4494, 1.0496, -0.3901, 0.3298, 0.2287, 0.7039]\nstate[eef_state]: left_x=0.2875 left_y=-0.0023 left_z=0.1595 left_yaw=0.0017 left_pitch=-0.1022 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3845 right_y=0.1356 right_z=0.1656 right_yaw=0.0618 right_pitch=-0.1686 right_roll=-0.0685 right_gripper=0.7039\nstate[joint_eff]: [-0.2256, -1.812, 7.1043, 1.7021, -0.0415, -0.0562, -0.0122, 0.3487, -7.0769, 8.8, 1.7363, 0.359, 0.2466, 0.6667]",
      "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]: [-0.0288, 0.8307, 0.6132, -0.458, -0.0135, -0.0338, 0.9987, 0.4744, 1.4853, 0.9215, -0.284, 0.329, 0.2276, 0.703]\nstate[eef_state]: left_x=0.2869 left_y=-0.0023 left_z=0.1586 left_yaw=0.0017 left_pitch=-0.1068 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3746 right_y=0.1322 right_z=0.1171 right_yaw=0.062 right_pitch=-0.222 right_roll=-0.0924 right_gripper=0.703\nstate[joint_eff]: [-0.1846, -1.0325, 7.241, 1.7265, -0.0269, -0.0415, -0.0122, -0.4171, -6.4752, 7.8701, 2.2344, 0.188, -0.022, 0.3297]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8307, 0.6132, -0.4683, -0.0135, -0.0338, 0.9987, 0.4599, 1.5173, 0.9001, -0.2638, 0.308, 0.215, 0.7045]\nstate[eef_state]: left_x=0.2852 left_y=-0.0022 left_z=0.1566 left_yaw=0.0018 left_pitch=-0.1171 left_roll=-0.0002 left_gripper=0.9987 right_x=0.3736 right_y=0.1293 right_z=0.099 right_yaw=0.0685 right_pitch=-0.2594 right_roll=-0.0996 right_gripper=0.7045\nstate[joint_eff]: [-0.3487, -1.388, 6.9675, 1.7753, -0.0122, -0.0366, -0.0122, -0.6359, -6.0513, 9.7299, 1.5556, 0.1538, -0.0611, 0.486]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c209f44f9166f2a2aeb438c95b37582a1aefbc6be15a676788820c8ea6acb6d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bec606ca298802c7399f755cd8a8cea425ff26602262c7f0f55435bf957a2798",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d81d6421c705803d426a47ec34d956e83dff450bdc3486b4b69fa06b53b54865",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2wgKEAgSGAI4AUIIdGhpbmtpbmcSDFkmdwmgzOSZkROQ8RoMuRxlscXAje3+gVRdIjD8P3Z9bdz2PE+mdEMB90Kw1Y9xXZOELYQbqfnil/E2sWRZaOUBbnJxG89adgGFdZcq+Ac10xlkuUisw9KnXZ29k+nM2j+IT6f/SSJERvbH7jIkv3/7UhYCRQQjjrChCeB3OF8I7fd6eYLk3q1wf3fYn6u8FUDCCEuwLhhWE0O32Pk3QR76wTPfcXh3wFayqDSvznGgJOu18r1OgcV8rDBT/xMpJ4nkg7CShtAhHEGccy+kuhmBHOb5U5/pRpZxK6qSOY7F2+WQLPgr5HkTf/A1RAXrDCdZmiAB/VM4vgAId7gOundEMubL2hi9IMg2l4VTZreTjPM5OW6oKTUOr2BCR1hgfkFPYGwK3uMydsU91r+7UtqDuPcvffXPLrzx9qEwF3RlEceKB+SCV60+7g3rO+otVNGO2fN66+BgqrG3ACzPwqdXwtzxfGSt/lYwQHDx6iSotbq/1g0axI1xSTPHZ8RxZB9YjS8Qsok78an1bMx7gyVhnGLadUz9qXEpIClatr6plWgwXlosf+ybOt7I0vfsLKacLPXRmwETzdnaw9w8BSwqpDnm0dm6pBQ2wU3g+6z7zSo0YfRKBE/Enr/WeCHyhxjVMGKlOkS7KK7eF4EeohZGNi8hfoaJqg6/1eaqvUpzL3C58RtMnZpBSsH9bFQWUhS1ks9uuhlknTgRTnbW/gYkfrizlx0X29PMFfzk34H4UZwRKxRmRHpbsZ+AaFwE7CYXrHckKCZE7RJUX2YB6hjO7e2Jj2NkNAFKg8gmqtStKfp0u4d75L460QFDe90S+h8ZahIFZF20UxAJAx6wDjw4N1A6D2SeaCsRHT+SoSMd+V2VXdwTSuLDYyvQVCqyRcp/4tbGYJygYRnd+RtCxKgs5dlxGVt4B63cGev1VVWu6Hfu+wxffOdJt2mk9mcSzBfxPAtEGTEcmrSL53jdfRiYllasJYuEFuQ3nsjYAkwZWRiSB8QYZiA8/FZuerMavuZ26Yn9aUXF2RercU4ST3h4enh9WMkhvv0zJYFy2EsCgrfR7Ou2gfpTwWY/5xsH6REOBYZGG3B9t6c6SJKLWwQkysMlw/FZYgePJDFc8YWNOWYGEZUL+IDMsMyZfTe/Zc2uLQ6JAGYREWNgXYgdULBv46ztDKpdkaI1gxORml0EMt/AF+hjNsfRt+DVyHeT3lEQx/WX52TG2NqLH//VjGuuGLSJEIJWksR1i8K5Wj798rZ2GcJSoT/LPWRs8zfsOyt83dhbCfIYfX3WziLRp5p5aptWerbS90EYo12B14Th1pT8YiQKhitYMySoJKdmRCjqZitGmqMYI4yiWCdftAkVVPeyczAbCsfHEteEzEl6c6s+yk0plaijAg2B2IjbcF3pUvH+C8CzDN0hk0FrJALMSoGaOupYtR9SrocdtYeHjHv6o+RCVxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0146sPX7TyPqGJzqV3DZyXus",
      "input": {
        "note": "x stays stuck at 0.374, which probably means the pear is pressing on the bowl's near rim. Lifting and moving forward over the bowl's centre.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.125,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0146sPX7TyPqGJzqV3DZyXus",
      "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]: [-0.0288, 0.8341, 0.6132, -0.4694, -0.0139, -0.0338, 0.9987, 0.4469, 1.5185, 0.9001, -0.2817, 0.3054, 0.2016, 0.7043]\nstate[eef_state]: left_x=0.2852 left_y=-0.0022 left_z=0.1555 left_yaw=0.0021 left_pitch=-0.1217 left_roll=0.0002 left_gripper=0.9987 right_x=0.3721 right_y=0.1234 right_z=0.0958 right_yaw=0.0631 right_pitch=-0.2785 right_roll=-0.1144 right_gripper=0.7043\nstate[joint_eff]: [-0.0752, -1.5111, 6.9538, 1.6484, -0.0317, -0.0366, -0.0122, -0.1846, -6.6803, 9.2239, 1.5653, 0.1392, 0.0171, 0.6862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ce7291f4c16af1087e3bb61763d92f3290b2aeef048f5759c0c3dcafa50ccf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85626690995276e4553de4dad3dcaae15da4ff57f82b666aedd2ddea93656fe0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:74b7c328d59552f9404f9d50abc77529f8abd9e8d0daa7d0b401002dd3942d06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 3.644 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8307, 0.6132, -0.458, -0.0135, -0.0338, 0.9987, 0.4744, 1.4853, 0.9215, -0.284, 0.329, 0.2276, 0.703]\nstate[eef_state]: left_x=0.2869 left_y=-0.0023 left_z=0.1586 left_yaw=0.0017 left_pitch=-0.1068 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3746 right_y=0.1322 right_z=0.1171 right_yaw=0.062 right_pitch=-0.222 right_roll=-0.0924 right_gripper=0.703\nstate[joint_eff]: [-0.1846, -1.0325, 7.241, 1.7265, -0.0269, -0.0415, -0.0122, -0.4171, -6.4752, 7.8701, 2.2344, 0.188, -0.022, 0.3297]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8307, 0.6132, -0.4683, -0.0135, -0.0338, 0.9987, 0.4599, 1.5173, 0.9001, -0.2638, 0.308, 0.215, 0.7045]\nstate[eef_state]: left_x=0.2852 left_y=-0.0022 left_z=0.1566 left_yaw=0.0018 left_pitch=-0.1171 left_roll=-0.0002 left_gripper=0.9987 right_x=0.3736 right_y=0.1293 right_z=0.099 right_yaw=0.0685 right_pitch=-0.2594 right_roll=-0.0996 right_gripper=0.7045\nstate[joint_eff]: [-0.3487, -1.388, 6.9675, 1.7753, -0.0122, -0.0366, -0.0122, -0.6359, -6.0513, 9.7299, 1.5556, 0.1538, -0.0611, 0.486]",
      "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]: [-0.0288, 0.8341, 0.6132, -0.4694, -0.0139, -0.0338, 0.9987, 0.4469, 1.5185, 0.9001, -0.2817, 0.3054, 0.2016, 0.7043]\nstate[eef_state]: left_x=0.2852 left_y=-0.0022 left_z=0.1555 left_yaw=0.0021 left_pitch=-0.1217 left_roll=0.0002 left_gripper=0.9987 right_x=0.3721 right_y=0.1234 right_z=0.0958 right_yaw=0.0631 right_pitch=-0.2785 right_roll=-0.1144 right_gripper=0.7043\nstate[joint_eff]: [-0.0752, -1.5111, 6.9538, 1.6484, -0.0317, -0.0366, -0.0122, -0.1846, -6.6803, 9.2239, 1.5653, 0.1392, 0.0171, 0.6862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ce7291f4c16af1087e3bb61763d92f3290b2aeef048f5759c0c3dcafa50ccf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85626690995276e4553de4dad3dcaae15da4ff57f82b666aedd2ddea93656fe0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74b7c328d59552f9404f9d50abc77529f8abd9e8d0daa7d0b401002dd3942d06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgwoKEAgSGAI4AUIIdGhpbmtpbmcSDKpH+aAcEu9XeL/A6xoM0iNG/kRc3qS/JNp9IjBY9XI369oc7h7qfj5snqiEqdz5W/HnUi8SUDlMDeCHgNFIN1hCoZD/eEnyTbsh4aQqoAmpE/VWuCkdjfZDCgFGAzyF8FJV4525dh6gN5B0m7TdkoI1TlAS9Dc/SdWR3JbDix7ZDLuQaIaq/IcYcCiHhHuhus7cZLnaT1R+IDFE1VnPxMSpFxHn+TqclQmui3zMAw/tJdvJZjed1DkYwwayB/9IJtYnGuA9TR9MUQbvXWOF/ui3yauZcVtCTnRmqqQzFmhkUR5F+XC5+IiwCcPfFmE7MkfROgjfNS++wJZ+o8ZWu32zxE1yhuFQijA97YBImEjPVPgknYkdANYCEwvsFxN/oOFKk3ujo8wjVYjZqoWCrqArDL3KPOTLewN8I7NLuaLJxZn9LoY/DHC5kC9KmtYAPB6+NDgiBXpnAv0oM3SvxZc2olTXK/VUzUggyyJzmJJ/iQM55FKbWmaeWieQPShv3+P8TL/++5FGwhnsaAJik0LLHveRbbLEfhN54BDIUofCjf+eboqcIF+RyI9IiyKjKf3jTsGRO6GxdRzdgwIMRfB0u/jiTLNmhhblyh1ATY0pQJZAPxjvIhaJhMZ1uIDIvXpwTiDKGFV8zPPL2k3U1Uh4g6ulHhLzukblSr07C5B40D4gukRQ2v6pcrhbn5ksok8V5ajIJ+N/0KCcIsfT1deZOxYcdYlpL1AkAGkeKsPoJf4uK7+SgJ1mreEFuNNe0tcSuHmro8OCAeBNmCajvvvM/bOJLiNWu0bDJ7srkumHJ1eQBwVNEqbvGNCuV/CvHduEbXDPn3Ocze5UdKDUbB4bDz+AVbkhKl/A1cLJ0G1zZ2MbdryQmhc1rq/ovUs9R1B5I4uhGchz7Z4XdI0LqOGaTXDb+tf3cRFYVKELkCH8+10OEV6dODsa8typPPr6EPgQB295CTsHxqumCFIiTSRos6fuVaarOGj+Rs6Bz6WAqqgNwppKCfOGSeSmw7yYOd3orCBxFNt7gSm5J9YAA9D1y8iZWQoiB5MS27yHlmgvGjACL058Afk3KvdQbDw3bExOWLj0kyDnYKVrwhvYZM6RK2T6gC28CCWFiTe4Or3KRdn7kZsPxcNPaxlQPZXf/uofdBM4HdqRbYgO6fYyhrabk52dwYqEWXBVKO5sSMdQxjfCxMvhcSvAtgkq7+8S6ROudkF41IEjUIHONXDq92IQjxTj+FidgtZw1SCo2m9UVFmJv0bKFOj3B2NcbrD2nsjLGRmK/ksx3HmGqcDQLFV9LdaaQWv/fQ5/Fscx3R/JknONLBZKWkSW56/A5/NmBTq/mB1iW+YDH8X3WpGgbNU6aqb8xmT5gAPKJco4jbj8w7tIdeQvig9eErv7FxN0fO7IeZwTVhCjFF8zWSsCNPEXQkW0+vdyPPqXqU0GW+NEiB0WAXES+UyQwBccHnqbpWzySRtoO2QmzErotenaNPbM3frCVdBUxpEmAFK2roy8y6fqfp2hGZywAIO+23y3hqYAxi45dtsGF8PjR34mEOpiWnDljXYuF1bU2XvHF1wa+3ORrPIsmPsYkUaTidlRUrhSfAOe+ZupcqGmz8sfO2GqTFKDx581N0dl5gwun5qhwqU9AH8f+lXsDEGgsM4O31c5w+GPFbm6GZMvcTEVZxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015tHdVMfYGXJZnoJr3GbA26",
      "input": {
        "note": "The arm is still stalled, and the pitch has drifted to -0.28. Last time, commanding the orientation back to level freed it, so I'm doing that while moving over the bowl.",
        "targets": {
          "right_pitch": 0.1,
          "right_roll": 0.0,
          "right_x": 0.42,
          "right_y": 0.125,
          "right_yaw": 0.0,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_015tHdVMfYGXJZnoJr3GbA26",
      "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]: [-0.0288, 0.8341, 0.6132, -0.4759, -0.0139, -0.0334, 0.9987, 0.4385, 1.5036, 0.87, 0.0074, 0.3447, 0.1986, 0.7045]\nstate[eef_state]: left_x=0.2842 left_y=-0.0021 left_z=0.1542 left_yaw=0.0019 left_pitch=-0.1282 left_roll=0.0007 left_gripper=0.9987 right_x=0.4103 right_y=0.1304 right_z=0.1403 right_yaw=0.0396 right_pitch=-0.015 right_roll=-0.0368 right_gripper=0.7045\nstate[joint_eff]: [-0.1299, -1.388, 6.9402, 1.7167, -0.0562, -0.022, -0.0122, -0.9094, -9.347, 6.188, 2.2637, 0.3883, -0.0024, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ded73c960f69bdbeeb5f6effbac8ab417995e77f7a368aafaaac25813a861162",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bff8e98307401a2abf592ac74b40d9d19b8b2d3e6517430c9570a5cb781fe7f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:182bb496dada693c68405a1b251dc37978618b449e98afa702886c31a93b5caf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 5.909 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8307, 0.6132, -0.4683, -0.0135, -0.0338, 0.9987, 0.4599, 1.5173, 0.9001, -0.2638, 0.308, 0.215, 0.7045]\nstate[eef_state]: left_x=0.2852 left_y=-0.0022 left_z=0.1566 left_yaw=0.0018 left_pitch=-0.1171 left_roll=-0.0002 left_gripper=0.9987 right_x=0.3736 right_y=0.1293 right_z=0.099 right_yaw=0.0685 right_pitch=-0.2594 right_roll=-0.0996 right_gripper=0.7045\nstate[joint_eff]: [-0.3487, -1.388, 6.9675, 1.7753, -0.0122, -0.0366, -0.0122, -0.6359, -6.0513, 9.7299, 1.5556, 0.1538, -0.0611, 0.486]",
      "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]: [-0.0288, 0.8341, 0.6132, -0.4694, -0.0139, -0.0338, 0.9987, 0.4469, 1.5185, 0.9001, -0.2817, 0.3054, 0.2016, 0.7043]\nstate[eef_state]: left_x=0.2852 left_y=-0.0022 left_z=0.1555 left_yaw=0.0021 left_pitch=-0.1217 left_roll=0.0002 left_gripper=0.9987 right_x=0.3721 right_y=0.1234 right_z=0.0958 right_yaw=0.0631 right_pitch=-0.2785 right_roll=-0.1144 right_gripper=0.7043\nstate[joint_eff]: [-0.0752, -1.5111, 6.9538, 1.6484, -0.0317, -0.0366, -0.0122, -0.1846, -6.6803, 9.2239, 1.5653, 0.1392, 0.0171, 0.6862]",
      "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]: [-0.0288, 0.8341, 0.6132, -0.4759, -0.0139, -0.0334, 0.9987, 0.4385, 1.5036, 0.87, 0.0074, 0.3447, 0.1986, 0.7045]\nstate[eef_state]: left_x=0.2842 left_y=-0.0021 left_z=0.1542 left_yaw=0.0019 left_pitch=-0.1282 left_roll=0.0007 left_gripper=0.9987 right_x=0.4103 right_y=0.1304 right_z=0.1403 right_yaw=0.0396 right_pitch=-0.015 right_roll=-0.0368 right_gripper=0.7045\nstate[joint_eff]: [-0.1299, -1.388, 6.9402, 1.7167, -0.0562, -0.022, -0.0122, -0.9094, -9.347, 6.188, 2.2637, 0.3883, -0.0024, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ded73c960f69bdbeeb5f6effbac8ab417995e77f7a368aafaaac25813a861162",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bff8e98307401a2abf592ac74b40d9d19b8b2d3e6517430c9570a5cb781fe7f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:182bb496dada693c68405a1b251dc37978618b449e98afa702886c31a93b5caf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuwcKEAgSGAI4AUIIdGhpbmtpbmcSDJ+KON0OyeIs/Fo/VhoMEJbFvDGMHJ8XZvUHIjAGMtI6mtWztduE0KdX1rW2ORyeNgOCoBFqZeKmN9O9+E7C/HFGz6xoYVYinTanN8Uq2AbH7TpJb3W0/5zI+HlzpE1wJdqVzhA15wjW/GPOKZsYDlxC8bGja89YeNXd93McVmnEIyxWqQ/2BcknSuFXWb3ql1uWlCIUKfvG4rdOhht2Teg2GNOa5M6NqmHfSdaapypvCZX9MF3tS5T0uy557OzasbXTUlwa/utxXIVSDFBFepU6B/IcWMXaxtnweZvEaw2IutjBp75YFpQX1bq/wbi0rPnEOekgwtsATPRnMetEbagaT1SbDPPbv6NWUhDYuCkh0k6i87i8HQTtUFvMS9sFDJIuYbf2zqQakRH9YIuH0oUDH5wV/7iyWgcJ5UXIKdpdVceQY2rTd7j4lW1kwmJ1PAVe82Rh6R7oeeZ6opEieZSrRKxLLq3j5WkbtgDw6ADF1rASo9XpzbD6Yx+IU4IEopyTOYpwxPPsg6noj3/qYnhCUX+hIxC/cpKwu7IJsXKDCDiUOSUIqckHL1AxuFVK69h8AyNtqfWQ5dCe9J4DZ0JmwkJuTrsxkccryQfiTWOJGczKVB/dqDbcSMLD+MdPWASCPeh3A4DnvVxSdGYwwXtllDBbDaDkLOyEQrmUr8VDrQ98Rfa7OnNzQUaqxBpQjONLdHxb3dkNq/n0r77ZfiGxZPt3XVhjgv1Ve6WHb8JedI9/2GGqAVsPiGaEbFtOJ+ryCG7pdvtQ4RCY2ojhTGqmSC/TEOJ/nC2ggq0FqxLjeQVtuRX74uaptiJiUgI/fS2hqGTqdqDDTO8VdZvMokCniApEQbUspQ9SsWrw0m06fwPiHRgfE6uzY1BeINAW1B8ZY6hXzK4MnYx/hMDr9wqFp4/u3RnYxiH3O6e4zVeUNXJIq/ugX2RPbZCfZINPLJn/eGeOcpkMlM+aYF8Y4Sr4sCE9DFw5Giqf4twvWrzAt8I9n0huzzcxXqaEACNVEpUcLw8jfMN4WgSGZ1WYtjG5+pO73pfSQdeSHw6NebSf70DOOdg9pG79SFOjKyPHF3CQcN2S2XoASZWiHM3N6t/oTY5dj+vorGJ3CMz27bOsaWE5Ue10IZEPYUY0etXDZfUEnJx3g5TTs1rlsaHWpTuIgrWBkAOx+9CONHUjXtmYmtpqOEjfduE08WDrN9r/3ObfR8YROnbDjA3YQHFon2H4Lax81JBfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ab8cvynF7MnUUnsEYsGnVC",
      "input": {
        "note": "The blue bowl now sits right under the pear in the wrist view and the gripper covers it in the top view. Opening to drop the pear in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Ab8cvynF7MnUUnsEYsGnVC",
      "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]: [-0.0288, 0.8341, 0.6132, -0.4763, -0.0135, -0.0338, 0.9987, 0.4366, 1.5036, 0.8661, 0.0143, 0.3424, 0.1936, 0.9954]\nstate[eef_state]: left_x=0.2841 left_y=-0.0022 left_z=0.1542 left_yaw=0.0018 left_pitch=-0.1286 left_roll=0.0002 left_gripper=0.9987 right_x=0.4105 right_y=0.1301 right_z=0.14 right_yaw=0.0422 right_pitch=-0.0127 right_roll=-0.0385 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -1.4154, 7.0222, 1.5995, -0.0464, -0.0513, -0.0122, -0.1709, -6.7214, 6.9265, 1.6532, 0.0757, 0.0415, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a65308a9bd53101ad16321444f49e98d67a8d789e8adcf0065c591102483750d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35c028772f54c2ab1d928cf32f517aeff133086622e803ed0328fe2c3bbc99f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa40ff236fc0b70b8d88de3b9da8bbc27e961b5fc383f55e320a1d2961562a7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 5.897 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8341, 0.6132, -0.4694, -0.0139, -0.0338, 0.9987, 0.4469, 1.5185, 0.9001, -0.2817, 0.3054, 0.2016, 0.7043]\nstate[eef_state]: left_x=0.2852 left_y=-0.0022 left_z=0.1555 left_yaw=0.0021 left_pitch=-0.1217 left_roll=0.0002 left_gripper=0.9987 right_x=0.3721 right_y=0.1234 right_z=0.0958 right_yaw=0.0631 right_pitch=-0.2785 right_roll=-0.1144 right_gripper=0.7043\nstate[joint_eff]: [-0.0752, -1.5111, 6.9538, 1.6484, -0.0317, -0.0366, -0.0122, -0.1846, -6.6803, 9.2239, 1.5653, 0.1392, 0.0171, 0.6862]",
      "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]: [-0.0288, 0.8341, 0.6132, -0.4759, -0.0139, -0.0334, 0.9987, 0.4385, 1.5036, 0.87, 0.0074, 0.3447, 0.1986, 0.7045]\nstate[eef_state]: left_x=0.2842 left_y=-0.0021 left_z=0.1542 left_yaw=0.0019 left_pitch=-0.1282 left_roll=0.0007 left_gripper=0.9987 right_x=0.4103 right_y=0.1304 right_z=0.1403 right_yaw=0.0396 right_pitch=-0.015 right_roll=-0.0368 right_gripper=0.7045\nstate[joint_eff]: [-0.1299, -1.388, 6.9402, 1.7167, -0.0562, -0.022, -0.0122, -0.9094, -9.347, 6.188, 2.2637, 0.3883, -0.0024, 0.696]\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]: [-0.0288, 0.8341, 0.6132, -0.4763, -0.0135, -0.0338, 0.9987, 0.4366, 1.5036, 0.8661, 0.0143, 0.3424, 0.1936, 0.9954]\nstate[eef_state]: left_x=0.2841 left_y=-0.0022 left_z=0.1542 left_yaw=0.0018 left_pitch=-0.1286 left_roll=0.0002 left_gripper=0.9987 right_x=0.4105 right_y=0.1301 right_z=0.14 right_yaw=0.0422 right_pitch=-0.0127 right_roll=-0.0385 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -1.4154, 7.0222, 1.5995, -0.0464, -0.0513, -0.0122, -0.1709, -6.7214, 6.9265, 1.6532, 0.0757, 0.0415, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a65308a9bd53101ad16321444f49e98d67a8d789e8adcf0065c591102483750d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35c028772f54c2ab1d928cf32f517aeff133086622e803ed0328fe2c3bbc99f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa40ff236fc0b70b8d88de3b9da8bbc27e961b5fc383f55e320a1d2961562a7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnAkKEAgSGAI4AUIIdGhpbmtpbmcSDGtvE8yZ4HiTROgENhoM99u0j2ywzVEgBHoFIjD6zyBiaJOp5Zmephoj1Q3ZOkgHFz3gXecxZXasPX604IP02aQ9cdmJTxX5HpTusz8quQhIHaeanKmNchb7WycINbv9gQoAIdpnxjIkX8O7XTscpWVR56E6Dgu1BVhNNPTy9SHBQ6ouqvcG8v+IhkWBmzLwSlM5u3dRq3d10CfqQ3RdbjtUEdTF3AISqSGB9v9SF+hPL9WUXBnPYNWlh1jRO4NfX2nWHhisSGQ2tMUY7hEqkYL4svHEv8jNZEb4GkD9TIXG/ZRlLUC2mQvTYm88jGahqk0al1bi12YPameivf100ULaBZRWXyL59X5z4ucuchVcMnwnv8no9cokzj/yBeDp16hW3/ePLKumiOD88ZmRggHxTX9iG4PzBXc5AkPn+LhOO44+RX12xUpkTiol/YrzuiuhZXbJkVoj/M44fvI27LpAY6C6+o/pFWa89LN9cdl6fqLr11KTwfVl3kuukGHVb2YVWjj2NRkUXhrtCm3W7VIOIyNOCGNZRDADaC4jHDYBkQ79HYiICJvWh70FcGcIC54f/KxNOo+OquUNmN2lK6cpXAjSHvqCH4cCgvY20gJN/eFvXgvuYsbvMyPCsr20wLvvpLKl56lof/hrkDV5o6fm9yRZe6tb01BNYGOxbwb0k80m3bKNT0jpomfAN8+r7ZYJpVsUDnUHSsQIb2U6hHPAwtg8PHjiAg1LRJFrnreDx16hi/oD5hcyTSbDNQlqsu+GzlDEFpYO5cwd9t2bEyQI+0gXXmdwCRdmI4ExIThy4uFSfCv4xtksHGQmRlp9MaZ+QC9UCM0U/bFyrXRhF9BEbPMM3KE9i1wmBwMKHhlTHgjeLktrGRZEUB16dBii/RouHbh8kOc/w9Z37BPGaGBSNW462DfxV57OCEcDvk1Pd68yWWAcFbLUXxF7dZHIjekgGMvh4ARqsERiZ2jNbGrniPJu3KFY6KdyvYzWHopJ/SEaHrj0qmGttMza4UCHjJ4G2HitheVfM4cMCCLITzEebwI+y+SHydg0tZiN6ry9I6YhzvFrPXU3fF8dRO0cV5TxCEtANs8JtEn5uYfo8RQroLhbTJHVxjS9zbnQFnXzGcrZ3UrQU5kHgij9HffOP3Ln5yU52kaaedMj/NFPozUkBblmCfE3MUzotOLaQh1A9HJhc4acaZiKmCzhd/K5CXTdxNuQpR6fiDX6/p1cQxgLZZgTUrF1/GzBbOme7L93KemSXxuUb3oX1EzE1nBKM79fU7qdiF7SuYHeEJdt5ZDUrugxoKGlg3Q1iFJjFcAPFdC3UOR1f/5fBb2Bjz/G8j++R9U62nb958j0eEA4E8aD1dX3i8Eur3OUxCZPeciwAvaZpU+jGU9Czf3qzgFAcfoVLTLgebPgXxrNYALnxkUb0vba/UcAO7nBBFrodOrkDiDwKdjKDeqlkZXa18t6wuvad78sxTDQmg7Kw0BDyuyk1g+ccMj6HCk9aj30hR7FA6hIBsgJZPKn3CGahZz4Sie8Ma76UJ2DGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JXyDw8CKvQpHqUD4hcyA8s",
      "input": {
        "note": "The pear dropped into the blue bowl. The lemon is just left of the bowl and a little nearer, so I'm moving the open right gripper above it.",
        "targets": {
          "right_pitch": 0.1,
          "right_x": 0.37,
          "right_y": 0.2,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01JXyDw8CKvQpHqUD4hcyA8s",
      "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]: [-0.0288, 0.8341, 0.6132, -0.4759, -0.0139, -0.0338, 0.9987, 0.7113, 1.5036, 0.8307, 0.0536, 0.551, 0.2901, 0.9964]\nstate[eef_state]: left_x=0.2842 left_y=-0.0021 left_z=0.1542 left_yaw=0.0021 left_pitch=-0.1282 left_roll=0.0004 left_gripper=0.9987 right_x=0.3694 right_y=0.201 right_z=0.1417 right_yaw=0.0969 right_pitch=0.0514 right_roll=-0.0606 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.4427, 6.9675, 1.6581, -0.0415, -0.0269, -0.0122, 0.253, -6.5983, 6.1607, 1.9219, 0.3443, 0.2076, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4f21dc229f5d4618b5a84363417b2b8b2ea374c93b02354f7b29522eeeab9d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f6432dc0c2ff67e731b731cfdcc6fed313f65604c0d323d99285538b2d7fbfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a8df9aa51407d4812d47c2a459fa767844095ecfe6609db8060e51156dd4f61a",
        "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 · 5.391 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8341, 0.6132, -0.4759, -0.0139, -0.0334, 0.9987, 0.4385, 1.5036, 0.87, 0.0074, 0.3447, 0.1986, 0.7045]\nstate[eef_state]: left_x=0.2842 left_y=-0.0021 left_z=0.1542 left_yaw=0.0019 left_pitch=-0.1282 left_roll=0.0007 left_gripper=0.9987 right_x=0.4103 right_y=0.1304 right_z=0.1403 right_yaw=0.0396 right_pitch=-0.015 right_roll=-0.0368 right_gripper=0.7045\nstate[joint_eff]: [-0.1299, -1.388, 6.9402, 1.7167, -0.0562, -0.022, -0.0122, -0.9094, -9.347, 6.188, 2.2637, 0.3883, -0.0024, 0.696]\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]: [-0.0288, 0.8341, 0.6132, -0.4763, -0.0135, -0.0338, 0.9987, 0.4366, 1.5036, 0.8661, 0.0143, 0.3424, 0.1936, 0.9954]\nstate[eef_state]: left_x=0.2841 left_y=-0.0022 left_z=0.1542 left_yaw=0.0018 left_pitch=-0.1286 left_roll=0.0002 left_gripper=0.9987 right_x=0.4105 right_y=0.1301 right_z=0.14 right_yaw=0.0422 right_pitch=-0.0127 right_roll=-0.0385 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -1.4154, 7.0222, 1.5995, -0.0464, -0.0513, -0.0122, -0.1709, -6.7214, 6.9265, 1.6532, 0.0757, 0.0415, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0288, 0.8341, 0.6132, -0.4759, -0.0139, -0.0338, 0.9987, 0.7113, 1.5036, 0.8307, 0.0536, 0.551, 0.2901, 0.9964]\nstate[eef_state]: left_x=0.2842 left_y=-0.0021 left_z=0.1542 left_yaw=0.0021 left_pitch=-0.1282 left_roll=0.0004 left_gripper=0.9987 right_x=0.3694 right_y=0.201 right_z=0.1417 right_yaw=0.0969 right_pitch=0.0514 right_roll=-0.0606 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.4427, 6.9675, 1.6581, -0.0415, -0.0269, -0.0122, 0.253, -6.5983, 6.1607, 1.9219, 0.3443, 0.2076, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4f21dc229f5d4618b5a84363417b2b8b2ea374c93b02354f7b29522eeeab9d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f6432dc0c2ff67e731b731cfdcc6fed313f65604c0d323d99285538b2d7fbfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8df9aa51407d4812d47c2a459fa767844095ecfe6609db8060e51156dd4f61a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStwkKEAgSGAI4AUIIdGhpbmtpbmcSDDl459AxTeFkoU5IXBoMoW0ZfeVlNkWJ+IdyIjDMR0gdnx2JxQXegeUf7+mI8ynQc2k5dnuv2nXQwJNJHJvhe4qHQp/130yVEsm+pzsq1Ag9kqQUDsq17rj08KgaAZJpKBdiQdrTqqOMrTwb3/dNMvvcb3TWsRNYVsE/me1qFfJWTg1kZCHJW59LMsnI6MuZaoQYjHbNDp+lp4yHD5e2nGmpvyo4IRU6rbFr9myaA+/TzdShRcRrDXm8c8fwD1LkcQolOusZmYdKGZWYAZaCHXOvlSkwWfmGNqDjosqWAP/dHdwQ+RidyU99SwZ7DUNu5sWVsCse73JWPQoo6pIZKXcfJar/WVtxnIM1omrxN+4EcJYeaR0yXK/dHgu5pbFWnRHVXNScsvZwTKWEfxcL8lgEqcaCCAPI6TI4kKzV3XzItNbI2KYy8zFjm+WicQNPjn3xoxfFTs0d3YVxNVIZEbNOKVAEV7XZYYeKnAtVevoz6Qn0hBC3i5w64z3vZqBu3WyqzSfFKv6gDriYRXJ9CNpUZ91jc7xQYzhnrBTHs7li0lb0OwOD7x8i66iLCGae4nAh2TXbtSlbERHgtpj0QILduzRHBpyKt9H9ssp+Zc5ORQG0lMLLdtgnNeglSiB9qpREuTstxFZiTFvzLI7HIzHHd8mnGaHwsr+RaabbmHGOHdgI/Bx3Y9WzFuofS04DTQvKTDYJ/zEKr+mp2ypwu2db5d2ZwA5QbPkg9ZC+GFnyPDm9TwZ+IJVjxWncFcT4jt3GgjbiacOQpSn+zUMlnIyUVZLtEsKlxStMo0opmRDiya87/S0SbejjofhoBH0kuMluzmWrOJW7iuYjo7E67D6jeFJD8zi8kHxTIWZgCTYFA2FDLXICdP4bd8dLy3lwMut68Fzh3nanJ8e3SXusY6toyFbgLrsnsJI4AgYa1PrslQ3MSHdFEQTYlDt014e0BTdlOV1iZI58oTxK5s78oa8AFD0vENm3VjmAV86HSSxn1zkX1erTMvja6t0L6lweQSFr6yFz9kMJsQRc74o9mTBYXw9aTFiEBcuyYi5Q8JcrXKm5bnfjwpw7EVevRABDGfY8u/YIcX/a1XmJdlh9gma5tAUpdX94M8PfDSaDBg2vEQf+zjBTDI7JRDGsqIX7ulRp9fN+SS6Yl5DSnRRhqQG8M5Idges/AkC5yqVBk+uun8JOBHFqrjd8aJevEWVhd3SZuEZGtmcIrdTOjpls8tQR+cmVi9q4u/693ZsEJY0wths8bAQuDiLMyefNKi0UNr8KXFp0duBuZHfXO7uaiVdZJgVZA31brnX6+d0FSP1eE0wpeTfZMfADWOJSqa2Qnc82QWA6eOqNnIFu/EF4UifDSsJDsNLLTFJzXHfMWiq/MXnBw+L3ZdcVAM99CU3yiWCyzfWSpbs5QaFjDFVmsLD9tSG9V78Qa/QHCVTf4o59fcFEGgQlc9g1VwHpB2ro+LnLsBQ2c5JkOEem4UoXbJYG2JR3wqE0ZWT8tgEe+niwzL/3BO0wG/nwUartX7GkCa3T5gogDwYhnbM/XEHpQlZp01jA1xN0kegjur5lU0F+vb5MGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ew8JLvDvcporSBxq1sb6be",
      "input": {
        "note": "The lemon is still to the left of and slightly nearer than the gripper, in both the top and wrist views. Shifting left over it.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.26,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Ew8JLvDvcporSBxq1sb6be",
      "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]: [-0.0288, 0.8341, 0.6132, -0.4767, -0.0139, -0.0338, 0.9987, 0.8806, 1.6161, 0.9264, -0.0238, 0.6514, 0.3836, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.0021 left_z=0.1541 left_yaw=0.0021 left_pitch=-0.1289 left_roll=0.0004 left_gripper=0.9987 right_x=0.3462 right_y=0.2568 right_z=0.1285 right_yaw=0.1408 right_pitch=0.0202 right_roll=-0.0875 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.4154, 7.2, 1.5849, -0.0562, -0.0611, -0.0122, 0.1983, -7.0769, 8.5128, 1.6093, 0.4713, 0.1392, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7868c47ed10a69dd2c3752385aed1461835199a2f1e30d942d4aee85c8f45053",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2bc8f6e2384dfdacfa88b49b91224e5401e682e979b90192f953763fac337e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ebdedb8ef787277860167c89e4473e106718d44de60bda74dd34bc49e270ccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.158 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8341, 0.6132, -0.4763, -0.0135, -0.0338, 0.9987, 0.4366, 1.5036, 0.8661, 0.0143, 0.3424, 0.1936, 0.9954]\nstate[eef_state]: left_x=0.2841 left_y=-0.0022 left_z=0.1542 left_yaw=0.0018 left_pitch=-0.1286 left_roll=0.0002 left_gripper=0.9987 right_x=0.4105 right_y=0.1301 right_z=0.14 right_yaw=0.0422 right_pitch=-0.0127 right_roll=-0.0385 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -1.4154, 7.0222, 1.5995, -0.0464, -0.0513, -0.0122, -0.1709, -6.7214, 6.9265, 1.6532, 0.0757, 0.0415, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0288, 0.8341, 0.6132, -0.4759, -0.0139, -0.0338, 0.9987, 0.7113, 1.5036, 0.8307, 0.0536, 0.551, 0.2901, 0.9964]\nstate[eef_state]: left_x=0.2842 left_y=-0.0021 left_z=0.1542 left_yaw=0.0021 left_pitch=-0.1282 left_roll=0.0004 left_gripper=0.9987 right_x=0.3694 right_y=0.201 right_z=0.1417 right_yaw=0.0969 right_pitch=0.0514 right_roll=-0.0606 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.4427, 6.9675, 1.6581, -0.0415, -0.0269, -0.0122, 0.253, -6.5983, 6.1607, 1.9219, 0.3443, 0.2076, 0.0904]",
      "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]: [-0.0288, 0.8341, 0.6132, -0.4767, -0.0139, -0.0338, 0.9987, 0.8806, 1.6161, 0.9264, -0.0238, 0.6514, 0.3836, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.0021 left_z=0.1541 left_yaw=0.0021 left_pitch=-0.1289 left_roll=0.0004 left_gripper=0.9987 right_x=0.3462 right_y=0.2568 right_z=0.1285 right_yaw=0.1408 right_pitch=0.0202 right_roll=-0.0875 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.4154, 7.2, 1.5849, -0.0562, -0.0611, -0.0122, 0.1983, -7.0769, 8.5128, 1.6093, 0.4713, 0.1392, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7868c47ed10a69dd2c3752385aed1461835199a2f1e30d942d4aee85c8f45053",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2bc8f6e2384dfdacfa88b49b91224e5401e682e979b90192f953763fac337e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ebdedb8ef787277860167c89e4473e106718d44de60bda74dd34bc49e270ccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvAkKEAgSGAI4AUIIdGhpbmtpbmcSDGhKojVh5uOTkUsndBoMsJCfm2KDXK1Jvbl+IjDff7xkTXwqa6DHMfgwl9M+5iqrREM6CvMN3nCOnitkVGDQfsjjyxvh4E59jkNzwzQq2Qi6bmHRvMEdbksT6rbtlfp2DBReilnEh6U5TXPkR4jZCWn0Qa3sSpHIM89VvoDX2xy0cCHbeQJPI7IFimCXayW5yGrUggE78lrxi/BOCMUbzf/IATsM3Ly3bs6a3rPv3lylf9VIvQAGvGf8wykQS+ZKVOfKuSvAA8mkWULAEFwPRYpQMqQHfn8QFMZdRDPJnyIKfaDlMZjmJ7hhMftl8gmIMnaeDiZ8BOsYGS9YBBR3CERU0tHIzilKQ94Sf6XEhthkHFFxw0KzfvgwpCRwEXqK2Q8YYtScTasWBxkojQHZs4CgjVomQXvKESP0+fzmNRB6MjPX20yoN2o3it7lv2PRvG19WIgTm48T4ZRDuTUaDxWTmYc0TO2jqCqzJs/fZuWGt/Qb9oHgZtNlb1AGDDJXbd/s8DOURQGm+uxPUS+hnORY4GrdVr3p7GrCSL0GrNWt+CnAPBiUtaDLdWKuFI9cSGAyDjc21e625lVjkPtIqTeT16lL451zXlqyRx8UFCHAdqlrEAIDK+YCgexZdp8z1jBv/9T64MXUNtE8ueauT9HL5OEqgj/d7IJZopclrmItMq+AzJxQXFgGSNTg+gFkcNJiKZ2AOocJmW0kFiC41xzy56aGmNW3hHoQXy/vGH+zkUQBE+unWY4DQglAKTwTT+GwCM5fZqePP5K4cTagogqjFHbkG2TZUnNM9vJMCWRD0ekbeqXm+4RvE4YlblW2VwEZkGmknwQ2lIBIHqIfvXaiaPxH3NLeKCPwvMQM4t675pm8JalwOdEpTnS7H4DeWPdD6hvWSIEvGEz7+eIYc6hTIP4fNip1TuIsYsdyKY2CAXYdLseofglp/4regPvpxf4YDPOZbgWImd9Qe9705ER2MD0DcMx52AfjGu/Zd7FJfYQreJ9EiaFuTiXW57sNm0nmTto8q+gPxKGVnYc8aCBUDaZbnUYHqQqi1AY8J6u/2tJysQdrC+O5b5ua6vgboMcWIFHQ8zEoSy2EJrAZ9nRuAxvaFRzpU5aSIAIIUd0yDYO6F4GkFuva5Vac2S5eiU4zjSVY+vgy9/DxphDKuomCU99kSgp0f22lc6rXQkWG/ml9UX8rxamYfXWHKTUwRP1VFJneE6uexIwRPD3p4es6jEnaXuGNnbU8pFSWDiE37RSxCv1L6STg/T0CxyoudEgOUw04nfR+46j+V8OjmTYRIEgroBnACZikNnyLt2S1HMMKbEuodYRXsw+DPsPNX4BdnexH2nG8TIDjDgOXEVlqK0yBbMKOFVNQXRMvA7KPcI7K0J9YPSCyuWXp7kB+q0V7vXrk2hfIa+SgP8Jx0w0x2ZnGEfMvd8ffc4fSd2f9lYZxgjZXukOiEOyZnGVf6xZeE73wgTfIsFaADfUEagX0PcwOsI8Iggty5SmI7k1l/4mqPKXgCMWm2l+RBhHqKlTrQ+bjDSsaWS/vrEZWnNymNOND2yvnBCKrC5nNMvoLW2g6cWHy5CgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016mqVEU5bUYW4UG6Z8QnQPz",
      "input": {
        "note": "The lemon lies lengthwise just short of the fingertips and slightly left of the jaw line. Nudging forward and left, then lowering to grip it across its width.",
        "targets": {
          "right_x": 0.365,
          "right_y": 0.265,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_016mqVEU5bUYW4UG6Z8QnQPz",
      "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]: [-0.0284, 0.8341, 0.6132, -0.4763, -0.0139, -0.0338, 0.9987, 0.8928, 1.6253, 0.939, -0.0463, 0.6769, 0.4091, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1542 left_yaw=0.0025 left_pitch=-0.1285 left_roll=0.0004 left_gripper=0.9987 right_x=0.3446 right_y=0.2572 right_z=0.128 right_yaw=0.1206 right_pitch=0.019 right_roll=-0.0911 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -1.4564, 7.0222, 1.6386, -0.0757, -0.0611, -0.0122, -0.0342, -7.5966, 8.5128, 1.5751, 0.359, 0.1148, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e612634bb5deca42589cf02b5927eef7c9487c2fd7bb49d2ceb5916920268b04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9401963cd65730fd1d5ecfeacf300f72d7ba00b3ed6cd7472c0ca2f3983bb082",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57f650db765fba81101608b84e4d3db725dba22be3eefd78cdfdffb12e7bff2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 3.926 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8341, 0.6132, -0.4759, -0.0139, -0.0338, 0.9987, 0.7113, 1.5036, 0.8307, 0.0536, 0.551, 0.2901, 0.9964]\nstate[eef_state]: left_x=0.2842 left_y=-0.0021 left_z=0.1542 left_yaw=0.0021 left_pitch=-0.1282 left_roll=0.0004 left_gripper=0.9987 right_x=0.3694 right_y=0.201 right_z=0.1417 right_yaw=0.0969 right_pitch=0.0514 right_roll=-0.0606 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.4427, 6.9675, 1.6581, -0.0415, -0.0269, -0.0122, 0.253, -6.5983, 6.1607, 1.9219, 0.3443, 0.2076, 0.0904]",
      "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]: [-0.0288, 0.8341, 0.6132, -0.4767, -0.0139, -0.0338, 0.9987, 0.8806, 1.6161, 0.9264, -0.0238, 0.6514, 0.3836, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.0021 left_z=0.1541 left_yaw=0.0021 left_pitch=-0.1289 left_roll=0.0004 left_gripper=0.9987 right_x=0.3462 right_y=0.2568 right_z=0.1285 right_yaw=0.1408 right_pitch=0.0202 right_roll=-0.0875 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.4154, 7.2, 1.5849, -0.0562, -0.0611, -0.0122, 0.1983, -7.0769, 8.5128, 1.6093, 0.4713, 0.1392, -0.0073]",
      "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]: [-0.0284, 0.8341, 0.6132, -0.4763, -0.0139, -0.0338, 0.9987, 0.8928, 1.6253, 0.939, -0.0463, 0.6769, 0.4091, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1542 left_yaw=0.0025 left_pitch=-0.1285 left_roll=0.0004 left_gripper=0.9987 right_x=0.3446 right_y=0.2572 right_z=0.128 right_yaw=0.1206 right_pitch=0.019 right_roll=-0.0911 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -1.4564, 7.0222, 1.6386, -0.0757, -0.0611, -0.0122, -0.0342, -7.5966, 8.5128, 1.5751, 0.359, 0.1148, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e612634bb5deca42589cf02b5927eef7c9487c2fd7bb49d2ceb5916920268b04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9401963cd65730fd1d5ecfeacf300f72d7ba00b3ed6cd7472c0ca2f3983bb082",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57f650db765fba81101608b84e4d3db725dba22be3eefd78cdfdffb12e7bff2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwcKEAgSGAI4AUIIdGhpbmtpbmcSDLm6hJrhCwYKiI3OpRoMpXx+bqLHlQGsZlRfIjCjKDjCt2V26aLHZ++D592dOnd/B18PYfaFbUQ8p3BQVsESSXSQNUU7Xc6/wRMJYKYqpAYBmqA8pnL1t3b7hAIqnb3Hpj5zBqvfhNth+ScDmJwTIRziWrXN/21R5DOWpJ0XmmHvUwFt45Z0bk06QXK7nO0HDk3i3/pW54tQwySaKg/Dya1pKlONBwmSvj8h9FteZm5x+ayrbcaqgPYyDi0QyBFzHcBvSfiROftYfPmJwAAnvU3RXa03DqIAwZ7hpjrVtoaTIJnUZKVukfVcrudGpl8q/l2qzKZlaiOsmAsDrcYjzp9DEoDffmLaF/epbpvu6gK3cYh62rr3QK6zt2G3BaB56F98b2NZswZmbA6jSHGosyNFmut7rgSnSHsbSfcvu6P8nhuuJKn2knQ0hq26cjK0YWhMhIGsTfcNGJJojRazGW5VJempCDalns/J2LiiH2vt2YZVBwn1SwcrBZPsga2mkq2sCHbQv8IXBUNkawg258f0fm7+1ctBme2ZX1WUynqH9b+LqcUOdx9kG7/s44v5niuxPUPfcow5tPoq+k9rHtmez10KsITdWZ6TqF1Sb8qmEWZ0bZFyt4zi6rFc+ZhsWuHGQ0L/QhKcZ3IDa89e33ECBcS03MXNYJePuX6aDgqS3fh6UAUTzqPyhtsFfvG0y3UKJ9ylSobs5L/D03j9BbVvzQS0LyOxXXqoxOzFHp6H46c8IH5kKHeTGta2alVvoyNYCgHzNo31HiAZOgyfZ9R/zQmlP9SytE36lbgiwrVee+dDOdx6897tKF9ghTo1qaHe/bbtt9TR2ucT3g0dMcPgeqd9hIV421mMegN7rgGf4gvTSXNWVHBzHcPrEq/MxblJUAOGx4mADFbg+JsZEAaMMMxzkLqNoeDixuepniqY9Iont9euDpkoYDIhI+qs+yFFkSPuamEKxKz2MTHzMuVGO0YAr/7MfRaBjvP3j7T/ccw5k4V2XfHjNIMqJmMnvyPm2g3bGZJeIHkIBdxl1DcmPkcdI5XHZbQW3ZUcvZ35mZ+GEf2puE+/usRD/jJO3Xc2YBYzv6LvneyNmETU/HMunV5LbzACu1lR5OAbN0QOm0mmL84gVPreFPptXHcL84JvmsyJQ98spOS9IHwimjn7RvQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RJxRZfevNih5BLYpdnTW9D",
      "input": {
        "note": "The arm stalled again, with roll and yaw drifting. Commanding a level orientation along with the descent over the lemon.",
        "targets": {
          "right_pitch": 0.1,
          "right_roll": 0.0,
          "right_x": 0.365,
          "right_y": 0.265,
          "right_yaw": 0.0,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01RJxRZfevNih5BLYpdnTW9D",
      "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]: [-0.0288, 0.8398, 0.6132, -0.4919, -0.0139, -0.0338, 0.9987, 0.894, 1.8832, 0.8822, 0.2085, 0.7254, 0.4686, 0.9965]\nstate[eef_state]: left_x=0.2818 left_y=-0.0021 left_z=0.1497 left_yaw=0.0022 left_pitch=-0.1499 left_roll=0.0011 left_gripper=0.9987 right_x=0.3553 right_y=0.2609 right_z=0.0454 right_yaw=0.0555 right_pitch=0.0045 right_roll=-0.107 right_gripper=0.9965\nstate[joint_eff]: [0.0068, -1.7709, 7.0222, 1.8193, -0.0317, -0.0317, -0.0122, -0.1436, -13.0256, 4.9162, 1.7509, 0.6178, 0.1245, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:417249540ca23f0c89f6306bea2dabd235f8a1291eac8fffb9e19475c6f9e72b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71db74396571ae94add88179e203d496699b60d27a22ef3a2589f6169fdbad06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00f3549d21093c90d0766e7ae7da8458c7386fad9575573ada6751d6002af062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 3.764 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8341, 0.6132, -0.4767, -0.0139, -0.0338, 0.9987, 0.8806, 1.6161, 0.9264, -0.0238, 0.6514, 0.3836, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.0021 left_z=0.1541 left_yaw=0.0021 left_pitch=-0.1289 left_roll=0.0004 left_gripper=0.9987 right_x=0.3462 right_y=0.2568 right_z=0.1285 right_yaw=0.1408 right_pitch=0.0202 right_roll=-0.0875 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.4154, 7.2, 1.5849, -0.0562, -0.0611, -0.0122, 0.1983, -7.0769, 8.5128, 1.6093, 0.4713, 0.1392, -0.0073]",
      "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]: [-0.0284, 0.8341, 0.6132, -0.4763, -0.0139, -0.0338, 0.9987, 0.8928, 1.6253, 0.939, -0.0463, 0.6769, 0.4091, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1542 left_yaw=0.0025 left_pitch=-0.1285 left_roll=0.0004 left_gripper=0.9987 right_x=0.3446 right_y=0.2572 right_z=0.128 right_yaw=0.1206 right_pitch=0.019 right_roll=-0.0911 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -1.4564, 7.0222, 1.6386, -0.0757, -0.0611, -0.0122, -0.0342, -7.5966, 8.5128, 1.5751, 0.359, 0.1148, -0.0122]",
      "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]: [-0.0288, 0.8398, 0.6132, -0.4919, -0.0139, -0.0338, 0.9987, 0.894, 1.8832, 0.8822, 0.2085, 0.7254, 0.4686, 0.9965]\nstate[eef_state]: left_x=0.2818 left_y=-0.0021 left_z=0.1497 left_yaw=0.0022 left_pitch=-0.1499 left_roll=0.0011 left_gripper=0.9987 right_x=0.3553 right_y=0.2609 right_z=0.0454 right_yaw=0.0555 right_pitch=0.0045 right_roll=-0.107 right_gripper=0.9965\nstate[joint_eff]: [0.0068, -1.7709, 7.0222, 1.8193, -0.0317, -0.0317, -0.0122, -0.1436, -13.0256, 4.9162, 1.7509, 0.6178, 0.1245, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:417249540ca23f0c89f6306bea2dabd235f8a1291eac8fffb9e19475c6f9e72b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71db74396571ae94add88179e203d496699b60d27a22ef3a2589f6169fdbad06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00f3549d21093c90d0766e7ae7da8458c7386fad9575573ada6751d6002af062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgAcKEAgSGAI4AUIIdGhpbmtpbmcSDDnPg4OlHwb2t8SpWhoMGyeWw9M7tkJ05K0oIjBmUe7d1ITRHoaQLdbIa1Ii7wTO+DQM3VWn4vSDTFOHqvz4pf/Jkh9o5pnJILachSMqnQbeo/AAmmSFsi+oM01IPpqz1QOXo5Jjpa08Tzq9x9LdW+ksnFN8wE20lDZkWdUywd9d2yiy2WNPkc+onFfqzc3E61OlnVLqo/q8Nwtyp5opbfW4qXrbsSxQgxqXjkejQz4rlOyCVAIyjjxXjxZktjCfXeQpmFwVmoiBKG4TscQvgvFMyTghNIdGnljuUSOJ7k/FT1CfhR28MZWTpYVanX48IDrKeuhiUNK1lqpnvqeZO4CLVX9n1LTFEFlMNyn/njLJkX4vWRDnM3/baG2ObwQpkK+ydb/kSc47Aujp17yUNhTqzfY+Gm/oY8OtHqhGBN+ad4FKHlkX8HFAz2aAATE267C/6RLpYs3CRmvMfwqSlBzjzge9i/FHTQcl2WJN8WykK5epOwLZt8orunAzPGSxgRFxVvPS1/eAgbbqEwsoqO1tBSf01H/1OSEYTYEbvtTuDHEgkXnI5wXseb2zDzqxmQd/9oDv4yEDvZ8pIFvvoVqV0Vg34hj0nCfd9JNp7/XKGMJlkhJp9IIzJHfPK6wMq6/7OC0kaSBOXBEEDdmGZL+88vMmhnfgE8zvWZwi41D2Uz49wgdVF1irHnTgXsKhtVtFT+/WFJbbUYG+VbfTMuAs1vcrCdP7ZolUSkXB4jIq8fpaYQFyD0tKfu+31nyJAcpU1R8RRpvdgUZfzzVfw2f596wPhNdKzhqQCF2Br6XiKtoIZ5WnrsgVIX8bDOvo7y3fcnLsoxtQtY2nOAx7hIO/y4IdCVSnNe/+5eC/K8/RpzN92wUYnN9ddBjdejRZa4u8NSZvYCBQlnmAjNXpxph4BKjnw3RS4vajwbc8SseUT1zHG6Slwa7YTz481l5eomNrl2BYgAflF+UytEyF/3LlmuwTDl078O3d54+VEK0KkziKlgH9PhDR7h+Ma3AomInMHXpW8OaTVjSjaETs0fKtewtz8eUsr8zDRS33q46gMyRdIzPs1tzjGaEG0heFf3jFppVi6VKdHAqWUyADreNLg9n0ZV2r8jowV31qVBff+rue9QwKljPDuDazy6QbSc3lP6lySUDTh5yhYRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013UzLrrVyfU2pwrvTuyfC2R",
      "input": {
        "note": "The lemon is centred between the jaws. Lowering to its mid-height to grip it.",
        "targets": {
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_013UzLrrVyfU2pwrvTuyfC2R",
      "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]: [-0.0288, 0.8406, 0.6132, -0.4915, -0.0135, -0.0338, 0.9987, 0.894, 1.9549, 0.8391, 0.3397, 0.7315, 0.4824, 0.9965]\nstate[eef_state]: left_x=0.2819 left_y=-0.0021 left_z=0.1496 left_yaw=0.0019 left_pitch=-0.1503 left_roll=0.0009 left_gripper=0.9987 right_x=0.355 right_y=0.2592 right_z=0.022 right_yaw=0.0437 right_pitch=0.0193 right_roll=-0.0859 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.4838, 6.9402, 1.5751, -0.0611, -0.0562, -0.0171, -0.0205, -7.4188, 5.9692, 1.3651, 0.2564, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eccccf2df4fb4a6e2d4ff7c597cd221365a0b2807fdef67629c2d7ffe5e392f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54f299a181c3294fca5e6428aa820f786bc649dd29ea966e372d96d76d715df3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c947c582d24035564a0a5699435be8e932094746871999b4f59be86ab9fc3fe8",
        "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 · 4.664 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0284, 0.8341, 0.6132, -0.4763, -0.0139, -0.0338, 0.9987, 0.8928, 1.6253, 0.939, -0.0463, 0.6769, 0.4091, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1542 left_yaw=0.0025 left_pitch=-0.1285 left_roll=0.0004 left_gripper=0.9987 right_x=0.3446 right_y=0.2572 right_z=0.128 right_yaw=0.1206 right_pitch=0.019 right_roll=-0.0911 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -1.4564, 7.0222, 1.6386, -0.0757, -0.0611, -0.0122, -0.0342, -7.5966, 8.5128, 1.5751, 0.359, 0.1148, -0.0122]",
      "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]: [-0.0288, 0.8398, 0.6132, -0.4919, -0.0139, -0.0338, 0.9987, 0.894, 1.8832, 0.8822, 0.2085, 0.7254, 0.4686, 0.9965]\nstate[eef_state]: left_x=0.2818 left_y=-0.0021 left_z=0.1497 left_yaw=0.0022 left_pitch=-0.1499 left_roll=0.0011 left_gripper=0.9987 right_x=0.3553 right_y=0.2609 right_z=0.0454 right_yaw=0.0555 right_pitch=0.0045 right_roll=-0.107 right_gripper=0.9965\nstate[joint_eff]: [0.0068, -1.7709, 7.0222, 1.8193, -0.0317, -0.0317, -0.0122, -0.1436, -13.0256, 4.9162, 1.7509, 0.6178, 0.1245, -0.0073]\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 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]: [-0.0288, 0.8406, 0.6132, -0.4915, -0.0135, -0.0338, 0.9987, 0.894, 1.9549, 0.8391, 0.3397, 0.7315, 0.4824, 0.9965]\nstate[eef_state]: left_x=0.2819 left_y=-0.0021 left_z=0.1496 left_yaw=0.0019 left_pitch=-0.1503 left_roll=0.0009 left_gripper=0.9987 right_x=0.355 right_y=0.2592 right_z=0.022 right_yaw=0.0437 right_pitch=0.0193 right_roll=-0.0859 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.4838, 6.9402, 1.5751, -0.0611, -0.0562, -0.0171, -0.0205, -7.4188, 5.9692, 1.3651, 0.2564, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eccccf2df4fb4a6e2d4ff7c597cd221365a0b2807fdef67629c2d7ffe5e392f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54f299a181c3294fca5e6428aa820f786bc649dd29ea966e372d96d76d715df3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c947c582d24035564a0a5699435be8e932094746871999b4f59be86ab9fc3fe8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnwcKEAgSGAI4AUIIdGhpbmtpbmcSDPWNdQqt9i877lT8YhoMA4EFwfZDrBQrNlLCIjC+URUpazR4ZnKNxY0dO+XlYVAvW9e90bIK6XwH4h5VCT4vTGvx5RvELeGHXZB9BBgqvAY1OQviNTb5gRci7JaYjajzT5fCiNe3s00UVXekxCpPhbMSQ2abqBovr1YTHHs7auKjVq2TUFxvMxHeqt4WJnBvpm+UZOVN71Pl+gWdqGn2O+BdtBOIpIDp09kxG0O27bNdb/H96vUT/mq/N2FGmPh2vYjbuDKYtON0AtBWSODKfDSI0IsORUVUTLJPYi3owLCnQ4CQaA172EUoSlRQ6ZSNysCpplod7TfwA6cGKVO718+wSPPzZksjl4nqI7ANutf9JD/68W5kmtQ6x8X0HfYzVjWeSaPsIV3CMHY40mKacGrAGtj//Ba78qR0TOWVtkVk2dM/GCZjNc1tamdSsB+yupmWsfspck2NDAEvglphyOBuIs6pVGLns3U3/wjWgJvu5CB496CuysgAh5Dr4A0fIUc0PE+A5YCxoYae+esg2nQSWsQaSjUFz9yxbcjJix9gggjFW1uEiWMpwDFvW2VJZp145XtO/OG1DHyYWphpGbjkuuI5BAP7Wj5BbRSG7TWetqkX7VytUyeaxCcTSDP3HFk7kT0Ec8Rk9vRQhcE/CbYF7cVLfyTsE/m3JOXnZmYgXXqon8+hpDc1URdCWvMGPs5xUsNLsHGvHGRZKRJSmLKsfrSxn7IhU6ejZs8atsqwv6vph2Nt2bkgODp/xNILBa5JhVuFuOHrL2DGiCn0crUe+x74xt/6qZulsrWSO8uz8FSlkt3PTiEj1oJp/neuIdmdRxLva49ygUxbTAvP75cCWma+I5r5tBPmxGaWUtB71M9CJgkCOhEYfJEDoZknGs0RY43931YWoBlu3ajtaCRjEUM7erYJKnQM/ycIj1cHx82ZEtV3pG0jwDZNB32wyFJlez3bXbEaK9CEVaa4kfYclV7jfRrgnVyXVEANyJ+08ljWIk+jq9NajP+HRiKy98P3CEICjNQWSvMjiO895l469T3oS+g8UYEHrTRsRSeZ09LGvTVwwx0ycrud2710pGthnRzZ6jJE4Bc79s+rs1evP4N/0l2qGRWYMQ42pvtWd65482CdQvtlMMuWfYhFtjB7XtQoRG4fco5Rn8+W/5RHocPNgxiL0WxJzp0PLABsJtolrSC2xEHVSqYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S9gzerXM6Fcbqz8JGLzCtr",
      "input": {
        "note": "The lemon sits between the jaws at table level. Closing on it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01S9gzerXM6Fcbqz8JGLzCtr",
      "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]: [-0.0288, 0.8406, 0.6132, -0.4919, -0.0135, -0.0338, 0.9987, 0.894, 1.9728, 0.8387, 0.3294, 0.7246, 0.4717, 0.511]\nstate[eef_state]: left_x=0.2819 left_y=-0.0021 left_z=0.1495 left_yaw=0.0019 left_pitch=-0.1507 left_roll=0.0009 left_gripper=0.9987 right_x=0.3526 right_y=0.2576 right_z=0.0126 right_yaw=0.0544 right_pitch=-0.0039 right_roll=-0.1131 right_gripper=0.511\nstate[joint_eff]: [-0.1026, -1.4427, 6.9675, 1.6093, -0.0317, -0.0415, -0.0122, -0.1299, -10.3043, 4.7795, 1.5214, 0.3199, 0.0757, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4699384b8a4183e645dbe4aea51eda837b767f11b78d97f0b200bbe906721800",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec6299ff06f63ecadd2072076e29e372027e99a0e758d63839dcf6ad8424ce79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1b4a1b5639d6cf6e1091514c206e1dc6bc15900fb5d6da5e494f9efdad8fdc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 3.717 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8398, 0.6132, -0.4919, -0.0139, -0.0338, 0.9987, 0.894, 1.8832, 0.8822, 0.2085, 0.7254, 0.4686, 0.9965]\nstate[eef_state]: left_x=0.2818 left_y=-0.0021 left_z=0.1497 left_yaw=0.0022 left_pitch=-0.1499 left_roll=0.0011 left_gripper=0.9987 right_x=0.3553 right_y=0.2609 right_z=0.0454 right_yaw=0.0555 right_pitch=0.0045 right_roll=-0.107 right_gripper=0.9965\nstate[joint_eff]: [0.0068, -1.7709, 7.0222, 1.8193, -0.0317, -0.0317, -0.0122, -0.1436, -13.0256, 4.9162, 1.7509, 0.6178, 0.1245, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0288, 0.8406, 0.6132, -0.4915, -0.0135, -0.0338, 0.9987, 0.894, 1.9549, 0.8391, 0.3397, 0.7315, 0.4824, 0.9965]\nstate[eef_state]: left_x=0.2819 left_y=-0.0021 left_z=0.1496 left_yaw=0.0019 left_pitch=-0.1503 left_roll=0.0009 left_gripper=0.9987 right_x=0.355 right_y=0.2592 right_z=0.022 right_yaw=0.0437 right_pitch=0.0193 right_roll=-0.0859 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.4838, 6.9402, 1.5751, -0.0611, -0.0562, -0.0171, -0.0205, -7.4188, 5.9692, 1.3651, 0.2564, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0288, 0.8406, 0.6132, -0.4919, -0.0135, -0.0338, 0.9987, 0.894, 1.9728, 0.8387, 0.3294, 0.7246, 0.4717, 0.511]\nstate[eef_state]: left_x=0.2819 left_y=-0.0021 left_z=0.1495 left_yaw=0.0019 left_pitch=-0.1507 left_roll=0.0009 left_gripper=0.9987 right_x=0.3526 right_y=0.2576 right_z=0.0126 right_yaw=0.0544 right_pitch=-0.0039 right_roll=-0.1131 right_gripper=0.511\nstate[joint_eff]: [-0.1026, -1.4427, 6.9675, 1.6093, -0.0317, -0.0415, -0.0122, -0.1299, -10.3043, 4.7795, 1.5214, 0.3199, 0.0757, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4699384b8a4183e645dbe4aea51eda837b767f11b78d97f0b200bbe906721800",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec6299ff06f63ecadd2072076e29e372027e99a0e758d63839dcf6ad8424ce79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1b4a1b5639d6cf6e1091514c206e1dc6bc15900fb5d6da5e494f9efdad8fdc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnQgKEAgSGAI4AUIIdGhpbmtpbmcSDGs5Oqdw+N1p3LfMqhoMUcJilXsTT2+Q/zvDIjBf9J/0IHkJcGe1JlZGzycYp8Gnn7elkf4/pz6JsFLMVlEQwtzZoS2OJxbrfJekrXsqugeqisfd5AUSYdk51vBbGhcnHO2K7Lu3lZI4yrBNTapxTTaN232/G5v2sEhYOtpMWdiQMqvwcUHu+C5sWvsDqeaPhcX9WTcI0phiEpAF3xJKEzFpoUb0C67+B/yR04oonSlsms1QeXwx9EuReEXqCZCyhswBg0/FyxVjGJakFLMwB9YUAgqe3kYTqRdUDJwxEtzFh0hReCVFS6fAl9D84UwR7UrJSf7MsIlB1WORWx49Ly6ZvTLrwDl3sjly/IIYyY+nSfpAusBJnid8P5wNP1p//11nycHQNDIds/r+5Z0Q60D+fAB8GGYZRS4X/nOZHuj/EgDD6IGL2hmxBJpPbgSNktifXExtnrK7QQ+yUyl688n3EJQpzMuMZbbnZXr+g8QizZe6CpOMtP68NKLJdQUSLeskg/+uD69WlO6NrXcfNvHAmuYueI8bQT/nOOnh5FLJUCm60ZLiX6DGiQ3eIMCCgebM9zvqYuG2nzcG3E7i5p2y2iA6SEzWI1EMfm+mDBg0LX1w496rw+h/qXIenWzIaZCc0yudgux9V1dVQQXGrPEQx9bvjis4sSr8/XoYgzc92Ka+ibvjYZAzLd/C3mGC3eb46DOdlIUbNXNxJDhhXP8U1GqD2ZZrCKSI06wj5pUCtV6fF8uqn5TggMU6dy2AriK5m+JAOjNMV5EBFc2xnQlXRc2dY1LZdnf1b/Arm5nkzj+Lf1uqOl1SnALdUThx8vA4ja67T3QgxxZiYikJT1TXNObMaWgORwRnJJC/GA1j62JnO4s49d5sLNFev4plNAfAY4/rcYZKzQT3KsUoD8J/Xf8iEJlvEqtjdMxJ9WVdKNhe/7BCcvWU4d8jEIaYUnqK/Gk6+mEkYn4lcp07rEChSuCIl+4bP2Jg1gt18PzNsy5gGDMUc0PIBZ0BB+dUfO5qSe6ycjZg0L5GJ1tq3sNs3GiLd9GAGuvaDjOVC5taHsYn7gLvaf9vtDy/JfCbfgrGXXhEVITiRfW4O41KIOL/Q4hxjTo7WYSP+RJx0DeLpWLNIfjuImAirVUaYmBEb18UyFPYQVx0n+mckD/BC/yLtUwBjOIpRYYhCVVq8bhuRx1kvqD6U5c9OgjCza+hFr4ktuCuEoOboy8VmTZleWeJ8zWilP3P1HNlWyvI2lOd2mXyoLt2sej2W5yFeTwJU7JopaDFtEM2GKmbo/6rG0H2OZ3mVAeEQdD2HbCgKoW3pmFUl/B0ewLxSG8Zp3dwS62FzG2NlcTJgAVUZKIKEueTDjRDM/DAge0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P6zNtn9tn3Wx92DaQ8wVnT",
      "input": {
        "note": "The gripper stopped at 0.51 (about 4.9 cm), so it has the lemon. Lifting and carrying it to the same spot over the blue bowl where the pear dropped in.",
        "targets": {
          "right_pitch": 0.1,
          "right_roll": 0.0,
          "right_x": 0.41,
          "right_y": 0.14,
          "right_yaw": 0.0,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01P6zNtn9tn3Wx92DaQ8wVnT",
      "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]: [-0.0288, 0.8436, 0.6132, -0.4942, -0.0135, -0.0338, 0.9987, 0.5076, 1.4952, 0.8162, 0.0982, 0.4583, 0.2512, 0.5134]\nstate[eef_state]: left_x=0.2816 left_y=-0.0021 left_z=0.1483 left_yaw=0.0019 left_pitch=-0.156 left_roll=0.001 left_gripper=0.9987 right_x=0.4029 right_y=0.1388 right_z=0.1429 right_yaw=-0.0127 right_pitch=0.055 right_roll=-0.0296 right_gripper=0.5134\nstate[joint_eff]: [-0.2256, -1.7162, 6.9265, 1.5995, -0.0171, -0.0366, -0.0122, -0.2393, -7.8838, 9.5521, 1.9219, 0.1148, -0.0366, 0.735]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f5486398cf26b641568744b4ebe76313fef7e496747f371bb78609f98e42ec8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:939a5b592496d141bfa8466286e869c108796e5e3f9c9ab004200b05d970cf11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff51600bb92f80d879162b22122241ebcdc6ff875f6652e3d786e5ff41a446f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 6.541 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8406, 0.6132, -0.4915, -0.0135, -0.0338, 0.9987, 0.894, 1.9549, 0.8391, 0.3397, 0.7315, 0.4824, 0.9965]\nstate[eef_state]: left_x=0.2819 left_y=-0.0021 left_z=0.1496 left_yaw=0.0019 left_pitch=-0.1503 left_roll=0.0009 left_gripper=0.9987 right_x=0.355 right_y=0.2592 right_z=0.022 right_yaw=0.0437 right_pitch=0.0193 right_roll=-0.0859 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.4838, 6.9402, 1.5751, -0.0611, -0.0562, -0.0171, -0.0205, -7.4188, 5.9692, 1.3651, 0.2564, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0288, 0.8406, 0.6132, -0.4919, -0.0135, -0.0338, 0.9987, 0.894, 1.9728, 0.8387, 0.3294, 0.7246, 0.4717, 0.511]\nstate[eef_state]: left_x=0.2819 left_y=-0.0021 left_z=0.1495 left_yaw=0.0019 left_pitch=-0.1507 left_roll=0.0009 left_gripper=0.9987 right_x=0.3526 right_y=0.2576 right_z=0.0126 right_yaw=0.0544 right_pitch=-0.0039 right_roll=-0.1131 right_gripper=0.511\nstate[joint_eff]: [-0.1026, -1.4427, 6.9675, 1.6093, -0.0317, -0.0415, -0.0122, -0.1299, -10.3043, 4.7795, 1.5214, 0.3199, 0.0757, 1.0281]",
      "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]: [-0.0288, 0.8436, 0.6132, -0.4942, -0.0135, -0.0338, 0.9987, 0.5076, 1.4952, 0.8162, 0.0982, 0.4583, 0.2512, 0.5134]\nstate[eef_state]: left_x=0.2816 left_y=-0.0021 left_z=0.1483 left_yaw=0.0019 left_pitch=-0.156 left_roll=0.001 left_gripper=0.9987 right_x=0.4029 right_y=0.1388 right_z=0.1429 right_yaw=-0.0127 right_pitch=0.055 right_roll=-0.0296 right_gripper=0.5134\nstate[joint_eff]: [-0.2256, -1.7162, 6.9265, 1.5995, -0.0171, -0.0366, -0.0122, -0.2393, -7.8838, 9.5521, 1.9219, 0.1148, -0.0366, 0.735]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f5486398cf26b641568744b4ebe76313fef7e496747f371bb78609f98e42ec8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:939a5b592496d141bfa8466286e869c108796e5e3f9c9ab004200b05d970cf11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff51600bb92f80d879162b22122241ebcdc6ff875f6652e3d786e5ff41a446f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9QYKEAgSGAI4AUIIdGhpbmtpbmcSDOz21i2LZDXDewaaphoMedeKDAxYqaayzmh4IjDs52rPorBy6hU1MpdcAjGVJoTitYl+Xq2tEnNyXJxLWDR/JZ0EWdN4sjuQXFvWHIMqkgaf+o+rTY2LI+0Jr+H/Fw3V1AcPlgxikov7ipgwW/0LsOg12yKApVbCzDfz0KC/93J9T1uFJSeM/5fs90PNDvMsHoXmaeqwxlzAX4mwtdLM4qU1ScwEO5paCNzCMgItJ2aiUwF53MYL31C2pxbn9DCHXmzdH+edSm8aLkOJNDQPpTorpv2w9OkkyIAndcBfdt4H0OjdsB7AD1HKtTp4eG67AEFnGbS15C5eyWT2X5fXqnL0Aic7mRyygg+wT6l8jGkeHlQbcGWbKHcsnMFAri9GHwdZeDKDsU/NRJsKnDA1k/2xaLYM0VN1IvxbpvCuJOXAEvf7IQQP7NeJHb4U/sOrO2hWEQtakHh390E8UOLuU2Vr1FzSFiIeThYDCcBsWpd9E352VmmlOJASZWLEJQzoeoJKUjNsNfJe7BoQvnPeB8H/5aVod4rpfMhCmZI74GUhJRKXP5OdcMLr3Zt6NgiP+6r9qHnKI+1NXKfcvwbDYx1Wz1YNcWBd9cWteiqba2Sd2OXHdylOT9Fgmdk/fwfYtP6Me1/NgmcmYZfDZkLsXYti/vFW3wJvTxroxoy9T/flVxmEJL+l84S7BNWHyYakqP/6DS7L7DdiqKpfdDjs1zQQrRB0UdU9C9pblY9FA6yVCZIxj7EGbTagGPJJcbOwjaEA87IvfeRCdo9NKzTtHzG+VEB+rIsrsN7YnEvMprXW1sFHaiQhORj7JpiRd7h8G9BEtE3tlSD07I9n50Aj0Mzsf7KLeYkjfinVpTpjAtat63buVuR9dc2zUW8GpjCA99NoeM8K8qPUjyPmBZBny5rDtGldNmpeiX30mHKfa1rHCPC7xzJptFvInHGDVV3VYMmnORSdFovbPuby3lhDGLuhQBza0smhO7VCJJ72OxLvXEyabTSXtBZT7eIy36Wz3ZEJzIQHmV7s4sbkg+hMyLseYZUWh47oov5thsmfUQ6yaFuOYrlovnR8Ou9xJlWz4Jin5reQoOji4Qbpst+0SEYdA03mbRVJ6n4qHW6JNL2vbo8fSry+o5TUCXDz4FlSZ/gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VFS1x3eYXt9vpPggPQuWFy",
      "input": {
        "note": "The top view shows the lemon held over the blue bowl, at the same x/y where the pear dropped in cleanly. Releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01VFS1x3eYXt9vpPggPQuWFy",
      "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]: [-0.0288, 0.8459, 0.6132, -0.4953, -0.0135, -0.0334, 0.9987, 0.5064, 1.4944, 0.8192, 0.0788, 0.4408, 0.2428, 0.9954]\nstate[eef_state]: left_x=0.2815 left_y=-0.0021 left_z=0.1475 left_yaw=0.0017 left_pitch=-0.1594 left_roll=0.0014 left_gripper=0.9987 right_x=0.4011 right_y=0.1404 right_z=0.14 right_yaw=0.0052 right_pitch=0.0365 right_roll=-0.036 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -1.306, 7.0359, 1.6435, -0.0464, -0.0269, -0.0122, -0.294, -6.4889, 6.3248, 1.9658, 0.2711, 0.1001, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd0e5b5ad54ef53baf777f05653e5282fcc7df40d1d8ccb725e629ef2a0bd4f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c36b66142390e872fc5d2761074672653ff0025d39111286dbd937ca298c254d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:060a9ddc59347eb1f726f9f88e1206b93c70a5ea63796f62c49bed096eea3d8a",
        "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 · 13.35 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8406, 0.6132, -0.4919, -0.0135, -0.0338, 0.9987, 0.894, 1.9728, 0.8387, 0.3294, 0.7246, 0.4717, 0.511]\nstate[eef_state]: left_x=0.2819 left_y=-0.0021 left_z=0.1495 left_yaw=0.0019 left_pitch=-0.1507 left_roll=0.0009 left_gripper=0.9987 right_x=0.3526 right_y=0.2576 right_z=0.0126 right_yaw=0.0544 right_pitch=-0.0039 right_roll=-0.1131 right_gripper=0.511\nstate[joint_eff]: [-0.1026, -1.4427, 6.9675, 1.6093, -0.0317, -0.0415, -0.0122, -0.1299, -10.3043, 4.7795, 1.5214, 0.3199, 0.0757, 1.0281]",
      "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]: [-0.0288, 0.8436, 0.6132, -0.4942, -0.0135, -0.0338, 0.9987, 0.5076, 1.4952, 0.8162, 0.0982, 0.4583, 0.2512, 0.5134]\nstate[eef_state]: left_x=0.2816 left_y=-0.0021 left_z=0.1483 left_yaw=0.0019 left_pitch=-0.156 left_roll=0.001 left_gripper=0.9987 right_x=0.4029 right_y=0.1388 right_z=0.1429 right_yaw=-0.0127 right_pitch=0.055 right_roll=-0.0296 right_gripper=0.5134\nstate[joint_eff]: [-0.2256, -1.7162, 6.9265, 1.5995, -0.0171, -0.0366, -0.0122, -0.2393, -7.8838, 9.5521, 1.9219, 0.1148, -0.0366, 0.735]\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 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]: [-0.0288, 0.8459, 0.6132, -0.4953, -0.0135, -0.0334, 0.9987, 0.5064, 1.4944, 0.8192, 0.0788, 0.4408, 0.2428, 0.9954]\nstate[eef_state]: left_x=0.2815 left_y=-0.0021 left_z=0.1475 left_yaw=0.0017 left_pitch=-0.1594 left_roll=0.0014 left_gripper=0.9987 right_x=0.4011 right_y=0.1404 right_z=0.14 right_yaw=0.0052 right_pitch=0.0365 right_roll=-0.036 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -1.306, 7.0359, 1.6435, -0.0464, -0.0269, -0.0122, -0.294, -6.4889, 6.3248, 1.9658, 0.2711, 0.1001, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd0e5b5ad54ef53baf777f05653e5282fcc7df40d1d8ccb725e629ef2a0bd4f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c36b66142390e872fc5d2761074672653ff0025d39111286dbd937ca298c254d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:060a9ddc59347eb1f726f9f88e1206b93c70a5ea63796f62c49bed096eea3d8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrgoKEAgSGAI4AUIIdGhpbmtpbmcSDK3txJBBnDTuAZcg6xoMRkFJ81y4Eqek06GVIjDt6ILq2QdwJkJpOYM1Jlg7JI/sNgyyF4Xi5uxocKbiEsbFK+R75fwXOcnO2e9XTZQqywl0aikC7ey3h1fCL2avEespqRM9yC5JjZmAyhFK6jG+2xsmgwXPMC1QNdrTY30RywUM8hMe51MLAICWLKXKMuM5vhp9My/JdusnNdlVCm5VdS7k39KOdY7ouZ9tu78FbUVbCRaMDnIYpNwqMziS5JCt8wSk8eLzkNd/A+PNXV/KuYmjSxUjFTXG0dnI/cRSn2HjhSQuuEYtn+/xHWtbAiZAZJy4ZpcDAWrQqS0uo/dv+ajRu0TTa/RXW2asf2E0rpyoJBnpRxbQHfxDgc6TQ54NPzbPG8u9SBoAeAJvKB5CGnWGFMH02i1PxeiKEmtJ5YdgVplkHNB61mlfY5IEprKJEs3NqdzkHn0VBRgBX6ouMVBpqgZ7SbpDk9Idh6pYRr9mKROv+Ydm+hX9c1qiRMluqGd6cLD0UUNrSp44MjKogbGGuCNa71GNH0LSZNQ/cxOhkxpAPELQTnrk6JuMp2JD/L1Qlaht0VUfMisXklOtsY0Mgenf8gUa0785byoQYCWrPEj3gMCJYo4MH/7e+a4XW3I0TQkAIRa8t7XPT5fkS40Ri1AeJBdXPCvowPRI5NA89ue2i/QXbVi4BFf8vnexnog0hCH25ltwN3zGHciSRqQi8GP4c5kxk2Jmp9MXDTknNrzSm0hK9xLdLnjMOUrzb4BPl53JzpdcDYJ8f5aJsGJy4+7XhTaWgUMW+DVxNLA+sMogz5vLfTPtb7wzIy/yEN4NFtjjbepZqBwcbo8qqywBS3rQ8ElNi4I71sM5W1w6yOVaHP58NBtiu4K3HKvizGqm6PCGLjjTSd/2uZxMng74/g3Yt8i5AYNDS0aBP1CS7URvk3JuWWfTmj8VdzXHC5kzLXkiUtyVWZcT6nveb473DAue6ffpBGclfakkBcXhIFNX0ntrka9vb0tTosgM4JFfF54PgIvg61sTeozRQ3yLsmkJaSv6GTdmn3A8pSdSg24x0NddJ2yLk+PifDn2rKa2M5mEWRzLWpMd9wUtXFG6wfsZd4eiPc0wbRwC5jPcpX+ItDZPzZmqLoJwplz16bId96hrzKKiXyS0y0jhOtfSH6i6x7OXXG80G/RR1g7d3VGUknTFoQgTiqnAvdR7/aasMPLMEuUln1N4yVFInmuwHLIR1dsfQSBigdLtnJVYolOwPO+M3bRw+aoI5HcZ9gkOutt6dRNNelA+8AdRhcrh9kdpo5r9BD12FgLoBDKk9pYIjl+vCia5i5pEok6yaYjUc+/T4Nnie8XWnV4l/1JOzDIM3x/B9GDbolZfdhB6PvAs/89bUEcYNe9nUkze2lmIW7xQzHGePYNXD3c6rKlBAlBMayE02LHXnWE34zuuXh6a3Z5q/QIp8C2xkCgDxcAkrmpcPs3CHp3FW6Yiq2ssEGT/U72HAzVVl3pn7koOHJb0AbQOYjZp6JgZORNRvXNxz/xoYtA6I6WbfFTiuKm7tt8+yvdinu7QNwhMUzOQlAgjXZTdM5gtR175FwtcgIkDMhuJOWM27OUam31I4T6X/Y7+DoXjwXUA5Npe0tMQ4d4BMdp7JdWKWOlORBbOl6sC99BrO1zyUbwkOARwtRVEnUb5yBqMQmdOugF3+Mg+n97WDfYBu5eiC5BTCJAmfJuKvflJ64qois0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018tiQvoUzdYzsBPfWhKySbM",
      "input": {
        "note": "The wrist view shows the lemon missed the bowl and landed just beyond it, and the bowl looks tipped with the pear inside. Moving the right arm out of the way to check the scene from the top camera.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_018tiQvoUzdYzsBPfWhKySbM",
      "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]: [-0.0288, 0.8474, 0.6128, -0.4984, -0.0135, -0.0338, 0.9987, 0.0132, 0.8207, 0.6487, -0.3401, 0.0689, -0.0006, 0.9964]\nstate[eef_state]: left_x=0.281 left_y=-0.0021 left_z=0.1464 left_yaw=0.002 left_pitch=-0.1644 left_roll=0.0013 left_gripper=0.9987 right_x=0.3067 right_y=-0.0045 right_z=0.2018 right_yaw=-0.0487 right_pitch=0.0585 right_roll=-0.0365 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -1.4154, 6.9265, 1.6435, -0.0269, -0.0464, -0.0122, -0.1983, -1.3197, 7.5009, 1.8828, -0.0904, -0.0415, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f86bcbbe897222ed3f15f5e193499c224494d4a9ff72fc4d34e7977afd8bbf58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:729e3a23aad4712aa9b9b567d7f46a8865ca243fbe71ad938934a320a78da8eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9b0c423b42416da1ca6a72757bac56f8edb45ea6ed2a287636edd7588113177",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 4.447 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8436, 0.6132, -0.4942, -0.0135, -0.0338, 0.9987, 0.5076, 1.4952, 0.8162, 0.0982, 0.4583, 0.2512, 0.5134]\nstate[eef_state]: left_x=0.2816 left_y=-0.0021 left_z=0.1483 left_yaw=0.0019 left_pitch=-0.156 left_roll=0.001 left_gripper=0.9987 right_x=0.4029 right_y=0.1388 right_z=0.1429 right_yaw=-0.0127 right_pitch=0.055 right_roll=-0.0296 right_gripper=0.5134\nstate[joint_eff]: [-0.2256, -1.7162, 6.9265, 1.5995, -0.0171, -0.0366, -0.0122, -0.2393, -7.8838, 9.5521, 1.9219, 0.1148, -0.0366, 0.735]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.0288, 0.8459, 0.6132, -0.4953, -0.0135, -0.0334, 0.9987, 0.5064, 1.4944, 0.8192, 0.0788, 0.4408, 0.2428, 0.9954]\nstate[eef_state]: left_x=0.2815 left_y=-0.0021 left_z=0.1475 left_yaw=0.0017 left_pitch=-0.1594 left_roll=0.0014 left_gripper=0.9987 right_x=0.4011 right_y=0.1404 right_z=0.14 right_yaw=0.0052 right_pitch=0.0365 right_roll=-0.036 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -1.306, 7.0359, 1.6435, -0.0464, -0.0269, -0.0122, -0.294, -6.4889, 6.3248, 1.9658, 0.2711, 0.1001, 0.0659]",
      "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]: [-0.0288, 0.8474, 0.6128, -0.4984, -0.0135, -0.0338, 0.9987, 0.0132, 0.8207, 0.6487, -0.3401, 0.0689, -0.0006, 0.9964]\nstate[eef_state]: left_x=0.281 left_y=-0.0021 left_z=0.1464 left_yaw=0.002 left_pitch=-0.1644 left_roll=0.0013 left_gripper=0.9987 right_x=0.3067 right_y=-0.0045 right_z=0.2018 right_yaw=-0.0487 right_pitch=0.0585 right_roll=-0.0365 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -1.4154, 6.9265, 1.6435, -0.0269, -0.0464, -0.0122, -0.1983, -1.3197, 7.5009, 1.8828, -0.0904, -0.0415, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f86bcbbe897222ed3f15f5e193499c224494d4a9ff72fc4d34e7977afd8bbf58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:729e3a23aad4712aa9b9b567d7f46a8865ca243fbe71ad938934a320a78da8eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9b0c423b42416da1ca6a72757bac56f8edb45ea6ed2a287636edd7588113177",
        "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_01WKyekArM2DQDEbFAz6WhB8",
      "input": {
        "note": "The pear is in the blue bowl, but the lemon rolled away to the far back-right corner, probably out of reach. Next is the dark plum, which sits ahead and to the right of the left gripper, so I'm moving the left arm over it.",
        "targets": {
          "left_pitch": 0.1,
          "left_roll": 0.0,
          "left_x": 0.31,
          "left_y": -0.1,
          "left_yaw": 0.0,
          "left_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_01WKyekArM2DQDEbFAz6WhB8",
      "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]: [-0.5724, 1.055, 0.4, 0.0174, -0.4408, -0.2855, 0.9987, 0.0128, 0.8265, 0.6483, -0.371, 0.0521, -0.0227, 0.9965]\nstate[eef_state]: left_x=0.2995 left_y=-0.0991 left_z=0.1033 left_yaw=-0.0519 left_pitch=0.0 left_roll=0.0348 left_gripper=0.9987 right_x=0.3034 right_y=-0.0017 right_z=0.1933 right_yaw=-0.0229 right_pitch=0.0208 right_roll=-0.0489 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -3.1521, 6.147, 1.8828, -0.4518, -0.0757, -0.0122, -0.3214, -1.9214, 7.0632, 2.0928, 0.1587, 0.1441, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33f6bc971d60093cc421a340d05b150c1a57751bca14013180125494a8e6af47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b3b7f14c80f4df7248a555c864224f75d95d6eec3beb438e6a2d86ec52ddf9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3df5ef199d8b0be6403c9891068d386015deb69d8b07053a5aa4876c6f809e36",
        "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 · 5.7 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8459, 0.6132, -0.4953, -0.0135, -0.0334, 0.9987, 0.5064, 1.4944, 0.8192, 0.0788, 0.4408, 0.2428, 0.9954]\nstate[eef_state]: left_x=0.2815 left_y=-0.0021 left_z=0.1475 left_yaw=0.0017 left_pitch=-0.1594 left_roll=0.0014 left_gripper=0.9987 right_x=0.4011 right_y=0.1404 right_z=0.14 right_yaw=0.0052 right_pitch=0.0365 right_roll=-0.036 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -1.306, 7.0359, 1.6435, -0.0464, -0.0269, -0.0122, -0.294, -6.4889, 6.3248, 1.9658, 0.2711, 0.1001, 0.0659]",
      "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]: [-0.0288, 0.8474, 0.6128, -0.4984, -0.0135, -0.0338, 0.9987, 0.0132, 0.8207, 0.6487, -0.3401, 0.0689, -0.0006, 0.9964]\nstate[eef_state]: left_x=0.281 left_y=-0.0021 left_z=0.1464 left_yaw=0.002 left_pitch=-0.1644 left_roll=0.0013 left_gripper=0.9987 right_x=0.3067 right_y=-0.0045 right_z=0.2018 right_yaw=-0.0487 right_pitch=0.0585 right_roll=-0.0365 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -1.4154, 6.9265, 1.6435, -0.0269, -0.0464, -0.0122, -0.1983, -1.3197, 7.5009, 1.8828, -0.0904, -0.0415, 0.0904]",
      "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]: [-0.5724, 1.055, 0.4, 0.0174, -0.4408, -0.2855, 0.9987, 0.0128, 0.8265, 0.6483, -0.371, 0.0521, -0.0227, 0.9965]\nstate[eef_state]: left_x=0.2995 left_y=-0.0991 left_z=0.1033 left_yaw=-0.0519 left_pitch=0.0 left_roll=0.0348 left_gripper=0.9987 right_x=0.3034 right_y=-0.0017 right_z=0.1933 right_yaw=-0.0229 right_pitch=0.0208 right_roll=-0.0489 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -3.1521, 6.147, 1.8828, -0.4518, -0.0757, -0.0122, -0.3214, -1.9214, 7.0632, 2.0928, 0.1587, 0.1441, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33f6bc971d60093cc421a340d05b150c1a57751bca14013180125494a8e6af47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b3b7f14c80f4df7248a555c864224f75d95d6eec3beb438e6a2d86ec52ddf9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3df5ef199d8b0be6403c9891068d386015deb69d8b07053a5aa4876c6f809e36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AcKEAgSGAI4AUIIdGhpbmtpbmcSDCYQ+x1zJyXBM56MnxoM4lgGt7oEHGSi+0itIjCzQmYHS05MS6KxKX39Or5/rsPfiS6GUqr9ujHByff5BzAQkmR8w/qe+9kaHbyLKyQq9QYh6v9dhkjBhAgidhDrOG8ZtYgk5w7qqgr8uryd1711U0lTCzZ9KCz+WlakXzqQqSBky+oaCMZgiz4CuzU0K2NaEL1CXQwRFBpvmlGOHBN6gxIyVl30Aox1vZfJS91hJxQSXqTpxpawlhMrwW52WjkX8K8WlQaGniPFe5I38YwM1w4q4T4/tDbX2/X4YJ3v+lqCxbJbc05NLgeX4eTL9TDyc634hoDCuSEcSrl51L+wf+t5eA4sk7O4qzmTOfihQuW71yYLW/dbbfonWqjAVwpuI59l22ZDIaqMDae4L6r0kNR48kbVcP5WRssI6VyM6BvrktK7ZdwmLqXEkci+LIc1DvMOj6j9UjnMab+f/0uL4PIxn8B2nOFxoKAuTNcLaBmBcNQwsxVEum5uiu3Z88ECPfju6mc/+f5jFeb5VB5bvzvI02V3WjPGiX2AiBecKiY3JZW1Gd/hA4tprcXDotZCLGCsy9u6bF5rA0ukn9HLX93LTYzx8a/zoZ2AGwmim0D2HvaAQW2qgruDDUskJAipR2d02yOBXsIeCUgYWo2x/meqNNTKxvrqFiWHp64FH/iv7hrdSH57Z5ENagGzYe+ulE0VYx2LaT/14seafeqFxadE3gxo6MZRsxMFT+B0etLceEy6KbfLffXjJOm/ePHoYeSN9sZzdCBv0H811OUHk4sxKZqMoTUNyNO3RBmijyEHITXZuYS+JFVi9YfysVBcGeWdD0Q3cZZR4qu/+0KdDq0Bslpe/zEMTDnteuPI+cFfi9rLMpu9j76A8OJCOCDc2rX0ibyUvtzeyarJvpcbWoJxCUuUMeKkIl6evpIoFSX95JEuYcfStdYhm/ps6eYxANkKk4PH61XiDWet5S4OLQlb1hjplgUJf9EMslPJ7KkSqXJxcLkj10i6E3Mjn50MAs23RvgkkihWATb1eWSRfsvt+VQqCxJ+DPLANZYpgGFVjbfAjd9uAtuaMYlY7/SloWyEiWfYtgoUO7r5YDeAp/AcD5AbdGsQ0Pi+39XXJdCVd5zavnAnf+d1SHmmRaoV1+R16OMQ3MmO8V1euWCY1Z5l9r6rt+/DpEUL253h7hDK75dSt4Y0ATJQMEt+TPj//0W7RglxsIeRVHO7i/bzMmB+HVlmDHxpehD0rsQUxu4+kh+HzdO9IfurpdBvYyJitkRUG8wYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017p9k27ddd33BSehFq3mJt9",
      "input": {
        "note": "The plum is slightly right of and just ahead of the left jaws. Stepping 2–3 cm forward and right and lowering to grip it.",
        "targets": {
          "left_pitch": 0.1,
          "left_roll": 0.0,
          "left_x": 0.33,
          "left_y": -0.12,
          "left_yaw": 0.0,
          "left_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_017p9k27ddd33BSehFq3mJt9",
      "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]: [-0.6117, 1.6485, 0.2794, 0.672, -0.5117, -0.3187, 0.9983, 0.0132, 0.8303, 0.6483, -0.382, 0.0509, -0.0196, 0.9965]\nstate[eef_state]: left_x=0.3139 left_y=-0.1102 left_z=0.0035 left_yaw=-0.0166 left_pitch=-0.0265 left_roll=0.0758 left_gripper=0.9983 right_x=0.3022 right_y=-0.0014 right_z=0.1899 right_yaw=-0.0232 right_pitch=0.0059 right_roll=-0.0462 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -6.5846, 4.3282, 1.6923, -0.3443, -0.0171, -0.0708, -0.1709, -1.6479, 7.159, 1.8926, 0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7c71fa84a65e386084956b8687bce72c55c49501440effcffd3c5718a343640",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7389e27f22cccc8a523a1b49e145d75dacafd3a992cccf5546489a370750f671",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:faa19685ffc3030160b06062a266b08f4523b4a1c5cd27ed6f85a63eb802ffc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 4.47 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8474, 0.6128, -0.4984, -0.0135, -0.0338, 0.9987, 0.0132, 0.8207, 0.6487, -0.3401, 0.0689, -0.0006, 0.9964]\nstate[eef_state]: left_x=0.281 left_y=-0.0021 left_z=0.1464 left_yaw=0.002 left_pitch=-0.1644 left_roll=0.0013 left_gripper=0.9987 right_x=0.3067 right_y=-0.0045 right_z=0.2018 right_yaw=-0.0487 right_pitch=0.0585 right_roll=-0.0365 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -1.4154, 6.9265, 1.6435, -0.0269, -0.0464, -0.0122, -0.1983, -1.3197, 7.5009, 1.8828, -0.0904, -0.0415, 0.0904]",
      "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]: [-0.5724, 1.055, 0.4, 0.0174, -0.4408, -0.2855, 0.9987, 0.0128, 0.8265, 0.6483, -0.371, 0.0521, -0.0227, 0.9965]\nstate[eef_state]: left_x=0.2995 left_y=-0.0991 left_z=0.1033 left_yaw=-0.0519 left_pitch=0.0 left_roll=0.0348 left_gripper=0.9987 right_x=0.3034 right_y=-0.0017 right_z=0.1933 right_yaw=-0.0229 right_pitch=0.0208 right_roll=-0.0489 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -3.1521, 6.147, 1.8828, -0.4518, -0.0757, -0.0122, -0.3214, -1.9214, 7.0632, 2.0928, 0.1587, 0.1441, -0.0024]",
      "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]: [-0.6117, 1.6485, 0.2794, 0.672, -0.5117, -0.3187, 0.9983, 0.0132, 0.8303, 0.6483, -0.382, 0.0509, -0.0196, 0.9965]\nstate[eef_state]: left_x=0.3139 left_y=-0.1102 left_z=0.0035 left_yaw=-0.0166 left_pitch=-0.0265 left_roll=0.0758 left_gripper=0.9983 right_x=0.3022 right_y=-0.0014 right_z=0.1899 right_yaw=-0.0232 right_pitch=0.0059 right_roll=-0.0462 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -6.5846, 4.3282, 1.6923, -0.3443, -0.0171, -0.0708, -0.1709, -1.6479, 7.159, 1.8926, 0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7c71fa84a65e386084956b8687bce72c55c49501440effcffd3c5718a343640",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7389e27f22cccc8a523a1b49e145d75dacafd3a992cccf5546489a370750f671",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faa19685ffc3030160b06062a266b08f4523b4a1c5cd27ed6f85a63eb802ffc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrwcKEAgSGAI4AUIIdGhpbmtpbmcSDK/SErMGcERaKDyhmhoMKksZhwMEEbabYoKOIjAvAyKD/n/CVizUROqqoXGYs2dbvjuZ/f3rIyfargLWHXBB0LfBzIc4YEDUPWTMl58qzAbofa4FWkeZZhite+Qe68L6Dcbj3IXIuB4ycLAFRXmu9YHkahZCzbhFf+rmv0iIRDcfzlRR6/P4vBJcCWJSU5oTNAjcF8XzyTYe13YH6qLD0MkB8hSM1XDWycvLIYYX6ge/Bh9MBA5cY/xL9CJwjbu3qrzA/qcK0badf5KSKPK5wVKTKUve3SC7jqBasjE1r4EPmxzM/2twpYMZitZxPbOjygKawxAurNKAT3fNFamSK6DPZhe1umcXa0+BCywdSbgXxi4iH587shxI294BPPVKoHrgZDEQiRvpM+urzF3s8SGX7F7barFKLM+lSKGHQdALBB/4ih5DZqHnCadgHEMGh9jBjmHAomnECQQYycyv568Ntj6bydU3mP4C9g58gob89M6WZqP2b66XHpCtlYb1vKN8lr87KUJ0BCydeJtexdEODFxrLiBei6u2vcpGRkDJdyO+lw4Gdyc2meUqDRkGZq3ycVM7TGibtii0gOrm/EYQFgkUePdYpsdU5cBiEi3OIXIoVyJjp445FwNrdPRc6knfNoafGev6oyfEWP+SNJlQkaFpbE+MzXyBddgXugWRf3Up3ywnmn6EwokuoSQ1dWmvn9JH5nl6f5k8DUguq4ONLI+2KYf4+UAHo4FlYabjgbyzMN4RaXINhQYiS5CsVbPmDt14fs0zbHBxTvY8f72wz3ztOk0KMCi7rUDs6SAZ2sltq3rmmd68mKbSUpvjhjhuWG0BVLEUdqmWDwuGHZCMdvil/QVl9jQ+6VmCNZj/c/vNAEXBSXIJHgjLuv8QPuNODnNiRUf19e5y5mmVoUDb5WBKYgAlzxTpduplWW9hDfpmI0Wxub4WYaO6AU4rAlKeiKE7Jbv+Jhn+chvW5lH7Pc1m2Y+NwS376dGw6+yzvzXvB1qnNUFK8Hnf9bEWGQHHCZ0Wwr5YaIrFHDK7MxPgzqAWNc+pR3ICc5DYi8v6aaHDBStHghI+v3oefW0zKJua2tIGTmiOAKDjbWZvhBPsb6E56OP6eEzVN+fR8WEu74DV+HUJ1Rsp8vkCmT28F15YLBz+BRyW3/ht5QIemA6WoXeyTcbOtA/F/1gExBKUOgd4B+GRrA4Eo8vV2lVQkOmZuXzB7Ow8xI5vGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014e63kPF6uErTYJ18rijGuu",
      "input": {
        "note": "The plum is still just beyond the fingertips and a bit right of the jaw line. Nudging forward and right at grasp height.",
        "targets": {
          "left_x": 0.34,
          "left_y": -0.125,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_014e63kPF6uErTYJ18rijGuu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6044, 1.6775, 0.3721, 0.6357, -0.5167, -0.3218, 0.9981, 0.0132, 0.8307, 0.6483, -0.387, 0.0509, -0.0196, 0.9965]\nstate[eef_state]: left_x=0.3361 left_y=-0.1217 left_z=0.0151 left_yaw=-0.004 left_pitch=-0.002 left_roll=0.0604 left_gripper=0.9981 right_x=0.3016 right_y=-0.0014 right_z=0.1888 right_yaw=-0.0232 right_pitch=0.0006 right_roll=-0.0464 right_gripper=0.9965\nstate[joint_eff]: [0.5812, -7.6239, 5.7504, 1.6484, -0.1001, 0.0757, -0.0317, -0.0479, -1.4701, 7.0085, 1.7607, -0.0317, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10bf7823765c1f3456925be53a3b68737cab08141058093cf480d6834fe33dd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ab56187c969eeaabb64bb82df98d6803c71a68eddc2ee0ff8e49f7c7ad7322c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:039cb56ae8e62dba3d4c302e2168ec766fefcb797eb677507f9bbe2770cf65d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 5.029 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5724, 1.055, 0.4, 0.0174, -0.4408, -0.2855, 0.9987, 0.0128, 0.8265, 0.6483, -0.371, 0.0521, -0.0227, 0.9965]\nstate[eef_state]: left_x=0.2995 left_y=-0.0991 left_z=0.1033 left_yaw=-0.0519 left_pitch=0.0 left_roll=0.0348 left_gripper=0.9987 right_x=0.3034 right_y=-0.0017 right_z=0.1933 right_yaw=-0.0229 right_pitch=0.0208 right_roll=-0.0489 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -3.1521, 6.147, 1.8828, -0.4518, -0.0757, -0.0122, -0.3214, -1.9214, 7.0632, 2.0928, 0.1587, 0.1441, -0.0024]",
      "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]: [-0.6117, 1.6485, 0.2794, 0.672, -0.5117, -0.3187, 0.9983, 0.0132, 0.8303, 0.6483, -0.382, 0.0509, -0.0196, 0.9965]\nstate[eef_state]: left_x=0.3139 left_y=-0.1102 left_z=0.0035 left_yaw=-0.0166 left_pitch=-0.0265 left_roll=0.0758 left_gripper=0.9983 right_x=0.3022 right_y=-0.0014 right_z=0.1899 right_yaw=-0.0232 right_pitch=0.0059 right_roll=-0.0462 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -6.5846, 4.3282, 1.6923, -0.3443, -0.0171, -0.0708, -0.1709, -1.6479, 7.159, 1.8926, 0.0171, -0.0659, -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 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6044, 1.6775, 0.3721, 0.6357, -0.5167, -0.3218, 0.9981, 0.0132, 0.8307, 0.6483, -0.387, 0.0509, -0.0196, 0.9965]\nstate[eef_state]: left_x=0.3361 left_y=-0.1217 left_z=0.0151 left_yaw=-0.004 left_pitch=-0.002 left_roll=0.0604 left_gripper=0.9981 right_x=0.3016 right_y=-0.0014 right_z=0.1888 right_yaw=-0.0232 right_pitch=0.0006 right_roll=-0.0464 right_gripper=0.9965\nstate[joint_eff]: [0.5812, -7.6239, 5.7504, 1.6484, -0.1001, 0.0757, -0.0317, -0.0479, -1.4701, 7.0085, 1.7607, -0.0317, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10bf7823765c1f3456925be53a3b68737cab08141058093cf480d6834fe33dd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ab56187c969eeaabb64bb82df98d6803c71a68eddc2ee0ff8e49f7c7ad7322c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:039cb56ae8e62dba3d4c302e2168ec766fefcb797eb677507f9bbe2770cf65d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnwcKEAgSGAI4AUIIdGhpbmtpbmcSDImnG6dieiP2d4ly/hoM7lpyqjDH3td36ynUIjB83PZTwkjz3Y22lpjC6RTbpSOGNzG3UvAu94eOVegXQEMj+7/PQ3jT0hCCotZo8JMqvAbo0Eer3pobxfKnBemwKHTnYKZ1dsIPGGrGCValOcnmzutqTWhWH1xtOUU52/Iv1qebiVx2lyKpUJHWMQHwP4UlumaNVUtQ9PJXnwiF3qAL9xK9pisNCA2F6YljyM9KR9faNZ6SXw23mBS8jTYtclbK+wlIscQzC53iMIabW7C8TZpgimvSmY0dHXWz/XEukNrAONqRAma2fw6dzBs/N8UkJN66ExmvcloaSnVk2Ag5LkHFwhCog9HAZU/IivuqGuqJXeO2elscAKZWSagZaXSb2UMBAvYPOk0dnqXZ86Ju82LO0zYDxOFfxovXIxcP+s1yjsOr+0k4m+DM3y9aAjDKZICyOImBdj/VuH6IZhwVBbz4lcX/sJTYKWSKXCQAFvfKQxAxq5yJek2NSLaRvfo1IpxQ4laSsw2HZaU7umpX26xjLpIdeYlHdBwgvrmL/dgNxg9iS84PFP0MpHsqyCA3+UP/MEN8NrYtx5V/amqGVCGypApSBcObBhH+RAOgecwdY3wjx5Ih5gM30sDHCFlOlY5ZwELXtu1gyDwGy7Wvqtheb9CPmtuczK6kwGfDIamxlmWtRTqaE4LMwkUxG9zORKHPITqGQ0gTDlTwiL+Cj60QhGHjXCn8L5b5lGUC5Xi4vZtagnXawuiSFvYw0iMFZgZVT/vtOmp7wFlrgYJQNwGJZwdU7vVWuPaOW9capX+NVSNeDGmSJAIGpE1mH/tbjc9DjtD9LgAhJYZ2gP9dVauo4T9iQ1ksErBwhjURedhhgmsbgJzLcvJPTPDjg4HQepFV+vA8ruo2Fo7/ssCRaFMH1OXpRyio21vg41Szatz8kWgYTFZk3da62GzqKbJ+qGmUrszCVH+QIC8pPnUvTCWq7ejhggyDM3d3+4wKv4rVxaReaXwWBuj7HNA/ZC+ZKoSC5wFLdXwsKEisQ661bdSIm0VAiPFtz8ONpS3TwUUfzrqNCfd35j7Eqdsv34kiyasjWRaYHOaguoDlfTXVSCPK3r/YJi/jKjDd/5i600HCXZ7en4lhXHLkg4kqoNUTtXpklI8WDr0UXhLAdr7eO6YlNhcRgg0jNGgQ+yAj0WALdRN8TQ/pZU+LHWkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019zxkhnsq2Uka6Y5wutf24H",
      "input": {
        "note": "The plum is now between the left jaws at low height. Closing on it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019zxkhnsq2Uka6Y5wutf24H",
      "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]: [-0.6048, 1.668, 0.3756, 0.6159, -0.5087, -0.3218, 0.0091, 0.0132, 0.8326, 0.6483, -0.3874, 0.0509, -0.0193, 0.9965]\nstate[eef_state]: left_x=0.3353 left_y=-0.1228 left_z=0.0154 left_yaw=-0.0107 left_pitch=-0.0105 left_roll=0.0601 left_gripper=0.0091 right_x=0.3017 right_y=-0.0014 right_z=0.1882 right_yaw=-0.0234 right_pitch=-0.0017 right_roll=-0.0462 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -5.0667, 3.9453, 1.8046, -0.2271, -0.0122, 0.6667, -0.0889, -1.6479, 7.0222, 1.7314, -0.0317, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:312b390cc57d12e1c07c2b639b3bde87ce9731c247b09150fcf6c3faf9150680",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9eff0322f4f0ec3f13ac2c40828bc08b5781afc536a44c4bb60de4f3942c361",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63c0bd0769093223eca8a136098a2c18ea6bdd772bab5205ae17602cda779f91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 5.118 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6117, 1.6485, 0.2794, 0.672, -0.5117, -0.3187, 0.9983, 0.0132, 0.8303, 0.6483, -0.382, 0.0509, -0.0196, 0.9965]\nstate[eef_state]: left_x=0.3139 left_y=-0.1102 left_z=0.0035 left_yaw=-0.0166 left_pitch=-0.0265 left_roll=0.0758 left_gripper=0.9983 right_x=0.3022 right_y=-0.0014 right_z=0.1899 right_yaw=-0.0232 right_pitch=0.0059 right_roll=-0.0462 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -6.5846, 4.3282, 1.6923, -0.3443, -0.0171, -0.0708, -0.1709, -1.6479, 7.159, 1.8926, 0.0171, -0.0659, -0.0122]\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]: [-0.6044, 1.6775, 0.3721, 0.6357, -0.5167, -0.3218, 0.9981, 0.0132, 0.8307, 0.6483, -0.387, 0.0509, -0.0196, 0.9965]\nstate[eef_state]: left_x=0.3361 left_y=-0.1217 left_z=0.0151 left_yaw=-0.004 left_pitch=-0.002 left_roll=0.0604 left_gripper=0.9981 right_x=0.3016 right_y=-0.0014 right_z=0.1888 right_yaw=-0.0232 right_pitch=0.0006 right_roll=-0.0464 right_gripper=0.9965\nstate[joint_eff]: [0.5812, -7.6239, 5.7504, 1.6484, -0.1001, 0.0757, -0.0317, -0.0479, -1.4701, 7.0085, 1.7607, -0.0317, -0.0611, -0.0122]\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 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]: [-0.6048, 1.668, 0.3756, 0.6159, -0.5087, -0.3218, 0.0091, 0.0132, 0.8326, 0.6483, -0.3874, 0.0509, -0.0193, 0.9965]\nstate[eef_state]: left_x=0.3353 left_y=-0.1228 left_z=0.0154 left_yaw=-0.0107 left_pitch=-0.0105 left_roll=0.0601 left_gripper=0.0091 right_x=0.3017 right_y=-0.0014 right_z=0.1882 right_yaw=-0.0234 right_pitch=-0.0017 right_roll=-0.0462 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -5.0667, 3.9453, 1.8046, -0.2271, -0.0122, 0.6667, -0.0889, -1.6479, 7.0222, 1.7314, -0.0317, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:312b390cc57d12e1c07c2b639b3bde87ce9731c247b09150fcf6c3faf9150680",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9eff0322f4f0ec3f13ac2c40828bc08b5781afc536a44c4bb60de4f3942c361",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63c0bd0769093223eca8a136098a2c18ea6bdd772bab5205ae17602cda779f91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQgKEAgSGAI4AUIIdGhpbmtpbmcSDI2i74ycyv3cK3uwpxoMG7ax3BcyNePBl9ZSIjC+NQYKHQDsGnd3R8jsFAnnw/i/JQnQG2oEq0AlLvWeit3/QKxg92wUPaavKyJoyDgqvgdBzLRkTXXak9/UGwswM1j52qn2Z/TFvNpH+gpsJuOUuIfggInh2mrjb+KCM8IyGAYItnS/1aYTQWIqTcvL0ofaPmPl3Vh93Q7O/KBsZGYPBQ0MBf8FCOQn1fsrIgi8FciG2d57ICvuCcNyooMjX2NtcKeqitkLI3GzHuMra2rhmPRALieu4RJe34z6mqk6GYsd3SrsU+rxyyjTVwmPoqWXm62mDBZq/6Eu+ev0B3QNAJhokPgMdDNCOonbjOk8o/g5oKJAguu4ox1WvKisjOGOE6yf2r3htlBLywX1aP7+I9/QUrf2qxXc663kqmrV/OhnzR3tuYBaAR4FRb2MwPdyhM9VNflJj2TAkHwNdO4B2Wr6l75MHHvSasUMeNgb9H7L8juhvelSZKRsUrUsuP5k/dZXZF2qhL19LH/kEeD6cTrQiS6JrtoyFEBCO2HrJyO15Zo/kFeDqfVlU5QYc3SmlpD8ZEdQvOvea4ccpfUe02MrQcB2QY3STlckeVT9xi8m+9pqyuxpKnnl1KW9xLVhmhcdNoBlKxnZWa0vXLLblW+ZhjYfVuAw+FpaHV0zPCCSLRn6bWCN2F/xAavmBKFVoNtkZBKWMdlgJkZBmRpbJGVH0StytRghXvzHRW+cjLjZGZ///IFU18PvL1/LLVmUCc2KR3pH2hUN8QJz21sUbvrKWochOT9AK9z8jC2J/kX9SkzZeJtFP1NwVxd0R2M/4ZvXxLdHb3sm8zpn2kKhluTh+DB9qEHuzurTojC+zB87LWMMADf8dd61ZzpfRKZPPlsIdhGYkMMnuJE73TxxPr58OxhUataQtA1Wb0ToTIo/EAmmaXOO/dCOiSle/QCNA0TWb0q994RmjkchMf8ZV4Dg8NOWBMcVbR3mZbMtOlhoWwE8nqUxkBpRnx+thWp/B/8UyXYbeMo7hdnWViOqStjnUnJ4iMICFT9y6zfW8G8i8EDrsG6qQqFIg/5SqH8ii4iWnKLoybz0fKcAbddmzZG1WCb3kxbjwhi1anBiR7yhgbNsVejEmv2NYjBhB5FqLNDl+PCO32xzlO3oBJpJqXEJhMQajF5XgtmuHnAyC8N3Jyrush0MAiaBYo0y/QkPCDulUlUrOqlfB4W5vACeK4rUU4WJt9sMHkKDeeJNbYL6VWdbfu9z6SqRodBQkOVo4hGyc47TADzhcojnCTAWur49okD+TzwbPyoYpMd2w3gCuTxE4nhLj5JznI34TbA3hKbjWVnQZ2DlFdTIWykf3pjCW1We2FOsvOZodOsUGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017jH73DXrws2jHcoQcUGhet",
      "input": {
        "note": "That close came up empty: the plum sits centred just beyond the fingertips. Opening again and moving about 3 cm forward.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.365,
          "left_y": -0.12,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017jH73DXrws2jHcoQcUGhet",
      "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]: [-0.5335, 1.6852, 0.4492, 0.5648, -0.4644, -0.2871, 0.9949, 0.0132, 0.8326, 0.6483, -0.3897, 0.0509, -0.0196, 0.9965]\nstate[eef_state]: left_x=0.3572 left_y=-0.1149 left_z=0.0209 left_yaw=0.007 left_pitch=-0.0216 left_roll=0.0629 left_gripper=0.9949 right_x=0.3014 right_y=-0.0014 right_z=0.1877 right_yaw=-0.0232 right_pitch=-0.004 right_roll=-0.0466 right_gripper=0.9965\nstate[joint_eff]: [0.3214, -4.6838, 6.5436, 1.6532, -0.0513, 0.1245, -0.0513, -0.0342, -1.1419, 7.0222, 1.7656, 0.0024, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea8591da21b0ceb2bbccbbfdd4f8a1278cc4c01f83af536de0047b6d8e3d9efd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2df37ae03d13082d3ccd6b33a442070a2dc9e0772291a1c32dac029bc5193422",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:66f56ba9cad4e65d1561488cf3f9619378577d42cba68509a65e88412a4b298c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 7.438 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6044, 1.6775, 0.3721, 0.6357, -0.5167, -0.3218, 0.9981, 0.0132, 0.8307, 0.6483, -0.387, 0.0509, -0.0196, 0.9965]\nstate[eef_state]: left_x=0.3361 left_y=-0.1217 left_z=0.0151 left_yaw=-0.004 left_pitch=-0.002 left_roll=0.0604 left_gripper=0.9981 right_x=0.3016 right_y=-0.0014 right_z=0.1888 right_yaw=-0.0232 right_pitch=0.0006 right_roll=-0.0464 right_gripper=0.9965\nstate[joint_eff]: [0.5812, -7.6239, 5.7504, 1.6484, -0.1001, 0.0757, -0.0317, -0.0479, -1.4701, 7.0085, 1.7607, -0.0317, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "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]: [-0.6048, 1.668, 0.3756, 0.6159, -0.5087, -0.3218, 0.0091, 0.0132, 0.8326, 0.6483, -0.3874, 0.0509, -0.0193, 0.9965]\nstate[eef_state]: left_x=0.3353 left_y=-0.1228 left_z=0.0154 left_yaw=-0.0107 left_pitch=-0.0105 left_roll=0.0601 left_gripper=0.0091 right_x=0.3017 right_y=-0.0014 right_z=0.1882 right_yaw=-0.0234 right_pitch=-0.0017 right_roll=-0.0462 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -5.0667, 3.9453, 1.8046, -0.2271, -0.0122, 0.6667, -0.0889, -1.6479, 7.0222, 1.7314, -0.0317, -0.0464, -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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5335, 1.6852, 0.4492, 0.5648, -0.4644, -0.2871, 0.9949, 0.0132, 0.8326, 0.6483, -0.3897, 0.0509, -0.0196, 0.9965]\nstate[eef_state]: left_x=0.3572 left_y=-0.1149 left_z=0.0209 left_yaw=0.007 left_pitch=-0.0216 left_roll=0.0629 left_gripper=0.9949 right_x=0.3014 right_y=-0.0014 right_z=0.1877 right_yaw=-0.0232 right_pitch=-0.004 right_roll=-0.0466 right_gripper=0.9965\nstate[joint_eff]: [0.3214, -4.6838, 6.5436, 1.6532, -0.0513, 0.1245, -0.0513, -0.0342, -1.1419, 7.0222, 1.7656, 0.0024, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea8591da21b0ceb2bbccbbfdd4f8a1278cc4c01f83af536de0047b6d8e3d9efd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2df37ae03d13082d3ccd6b33a442070a2dc9e0772291a1c32dac029bc5193422",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66f56ba9cad4e65d1561488cf3f9619378577d42cba68509a65e88412a4b298c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuwgKEAgSGAI4AUIIdGhpbmtpbmcSDAudWIVsE2j0oB2IjxoMefGmW0tJ0ROSii0dIjAPUqeo4HsCMcr7iR95862oTYKy9FYMd8rUBDQQp2YaP/OwAltF2OGAjC12lt+IEjUq2AeKz7zJz1WprE80KLcJDitxs/0ZndjaI9/45TwF76BxBTfdAq9jK++qjXSxVQvORj6Fc6PXS2rKznKgLXzUOGysog7W5KtvUYP2T31Y7bQ5R967Ldvmm0AzD4qbyEG+nIpvpKBoJM36FjIddori56hB8Lv2My8A1NgrbJnz+8Hby2cDSIizSmLb99CVELrdW6Z12dILe6zLRNZJZ+mBWkWd1aGjGnP5CwhBTxM4wpUuJJub06bpp5GxO2ftd9mxDOzRbWxQGyoxdY3Li4iyEiFMt6Yr7q636faOriZNeHGJquarUq2tGg78nXv6xpI3rGs7O7ujZFXLI8qnqQ8QVBeiotguF8aIhqiK3tTfAkQLLQGh2VTy+FshORPdZ1T3oqrCxgcN4p3TvZbnbiT+AqJ4XLqKEv4Q0Ek3tw9RjsbqyXjNN2EWfI/aPfrPlkiXoa7LqZLEsvdDmlPjD9fi19RGT3rRzYJksW8rHaTZk29FrpT5pYkAaHKZVUT0J1VnMSp0GOi2157eJYKCveJDMFLYohBQj3nX5W2KrkBbpQdxEY3OLAmCtgcfbWdsB13KwnEOruO3jNDvZ0L7Sqnmgr7lKDyf3WTHw5SxGhoQmPPGRXrx1EQcGMvcPxnNYXN9xXMxJjnXB6prhfWsBGHqo02rJMidhYoVlM1v/s9+DLEgWl6cBEtOXYKF+Kw8CBhKk8oIKhY1MVGFdiG9GCobFgE43pnKy7QLBCT56FoYn68BV4NUuqo/bL/pGdNBFfD1DfVWyn63ipJLNoE23D/On3gGodjrSbYOdDOHMkXzi1yKFPq6ZyY56Dsfij6gkLD4gfOstA45a54XO64KaLO27pjXEvhhBm/GKy0wSZnkFPcLhzK+NoE2vmW/UwShxAC9s6ZghpWPUC7WCfMSE6UZQI6Lm3SYuRQV4wU4Bx51mIZQb0hvGTqZdDBax6QhOz+/8vA0BxlU934WoyFs8tjEu9xCZL5UMRNdSqnC55v30w2oCoLxaA8c9ja6gxtq1dqtjjbFmHTxfxOm6um4120bq0mC79pW0dMUR0jQoCD4CuLWnY/AmioQm+qMOswxMThgF0DRr0ELCA3OW4AG19nDXUI4T3JfH8HWaWhI+xNxb/M2n0NM7JZ8X8oHr3mok/pgRDuuQeBqHFHMblJS1IRGTGxkGpUmNWAGC4I+nyrsAY7Qw2oclfveNvgZLACZZwseRXYab80lko2JqMo2TKOs0TNgUk7cIX+CpbUHsiApywTiYK8pZjkec9EG3sDueqxdc+Pjxuiiv/bWlsJmrb0MAJODAojmBncF2+AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YXGpasqMvGbAPK16Sfjx4b",
      "input": {
        "note": "The plum is now framed between the open jaws, but the fingertips are probably still a little short, so I'm advancing about 2 cm more before closing.",
        "targets": {
          "left_x": 0.378,
          "left_y": -0.118,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01YXGpasqMvGbAPK16Sfjx4b",
      "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]: [-0.5186, 1.7294, 0.4866, 0.5594, -0.4549, -0.2848, 0.9958, 0.0132, 0.8322, 0.6483, -0.3912, 0.0509, -0.0196, 0.9965]\nstate[eef_state]: left_x=0.3659 left_y=-0.1153 left_z=0.0158 left_yaw=0.0132 left_pitch=-0.0352 left_roll=0.0659 left_gripper=0.9958 right_x=0.3011 right_y=-0.0014 right_z=0.1875 right_yaw=-0.0232 right_pitch=-0.0051 right_roll=-0.0466 right_gripper=0.9965\nstate[joint_eff]: [0.6085, -6.4889, 6.065, 1.6239, -0.0366, 0.188, 0.0562, -0.0615, -1.4427, 7.0085, 1.7167, 0.0073, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5e0975e3ff37321183656cafd9936141827b886483b276801af624d885cfdb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:300cf732760b10d1d51a1b7dfc31a561e52ecddf5905478608e9687bf5d8f14d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ca001acae76dae18ba7afba92ffc4441ec9df51a3fb1b4efaa7da3c13ee66077",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 16.46 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

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]: [-0.6048, 1.668, 0.3756, 0.6159, -0.5087, -0.3218, 0.0091, 0.0132, 0.8326, 0.6483, -0.3874, 0.0509, -0.0193, 0.9965]\nstate[eef_state]: left_x=0.3353 left_y=-0.1228 left_z=0.0154 left_yaw=-0.0107 left_pitch=-0.0105 left_roll=0.0601 left_gripper=0.0091 right_x=0.3017 right_y=-0.0014 right_z=0.1882 right_yaw=-0.0234 right_pitch=-0.0017 right_roll=-0.0462 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -5.0667, 3.9453, 1.8046, -0.2271, -0.0122, 0.6667, -0.0889, -1.6479, 7.0222, 1.7314, -0.0317, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5335, 1.6852, 0.4492, 0.5648, -0.4644, -0.2871, 0.9949, 0.0132, 0.8326, 0.6483, -0.3897, 0.0509, -0.0196, 0.9965]\nstate[eef_state]: left_x=0.3572 left_y=-0.1149 left_z=0.0209 left_yaw=0.007 left_pitch=-0.0216 left_roll=0.0629 left_gripper=0.9949 right_x=0.3014 right_y=-0.0014 right_z=0.1877 right_yaw=-0.0232 right_pitch=-0.004 right_roll=-0.0466 right_gripper=0.9965\nstate[joint_eff]: [0.3214, -4.6838, 6.5436, 1.6532, -0.0513, 0.1245, -0.0513, -0.0342, -1.1419, 7.0222, 1.7656, 0.0024, -0.0366, -0.0122]\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 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5186, 1.7294, 0.4866, 0.5594, -0.4549, -0.2848, 0.9958, 0.0132, 0.8322, 0.6483, -0.3912, 0.0509, -0.0196, 0.9965]\nstate[eef_state]: left_x=0.3659 left_y=-0.1153 left_z=0.0158 left_yaw=0.0132 left_pitch=-0.0352 left_roll=0.0659 left_gripper=0.9958 right_x=0.3011 right_y=-0.0014 right_z=0.1875 right_yaw=-0.0232 right_pitch=-0.0051 right_roll=-0.0466 right_gripper=0.9965\nstate[joint_eff]: [0.6085, -6.4889, 6.065, 1.6239, -0.0366, 0.188, 0.0562, -0.0615, -1.4427, 7.0085, 1.7167, 0.0073, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5e0975e3ff37321183656cafd9936141827b886483b276801af624d885cfdb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:300cf732760b10d1d51a1b7dfc31a561e52ecddf5905478608e9687bf5d8f14d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca001acae76dae18ba7afba92ffc4441ec9df51a3fb1b4efaa7da3c13ee66077",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RMvgprmum4SdgNza88wLPV",
      "input": {
        "note": "The plum fills the space between the jaws right down to the bottom of the wrist image. Closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RMvgprmum4SdgNza88wLPV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5156, 1.7519, 0.4896, 0.5549, -0.4549, -0.2882, 0.5287, 0.0132, 0.8352, 0.6483, -0.3943, 0.0505, -0.0196, 0.9965]\nstate[eef_state]: left_x=0.3646 left_y=-0.1133 left_z=0.0079 left_yaw=0.0187 left_pitch=-0.0558 left_roll=0.0753 left_gripper=0.5287 right_x=0.301 right_y=-0.0014 right_z=0.186 right_yaw=-0.0229 right_pitch=-0.0112 right_roll=-0.0466 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -8.5128, 4.1368, 1.5751, -0.232, -0.0024, 1.033, -0.1026, -1.7573, 7.0085, 1.7265, -0.0171, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eb3380ce93a38ab40e9cbe88ecd647dd1bd03fa380b606e3d0203dac8d5be56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d1fb08d97167523609247af38f9afa9f041a8289a78e7c98d48480c0b1513a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:544ac6d3a6011d26a1c0d592337cac9587b47ed04be18c3dfd1448f3f2c297e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]