adhoc - adhoc_bb2e2b47.json

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: 284.6 s
total steps: 341

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a

Trial 0 transcript

Run video

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

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

assistant

agent noteScene: large white bowl on the left, blue bowl centre-right, with a lemon and a pear near it and a dark round fruit near the left arm. First I'm moving the right arm over the pear, which sits just ahead of its jaws in the wrist view.

move_to

right_x0.3600right_y0.0100right_z0.1500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0185, 0.8005, 0.6136, -0.3824, -0.0143, -0.0296, 0.9988, -0.0227, 0.7994, 0.6186, -0.3874, -0.0216, -0.012, 0.9994] state[eef_state]: left_x=0.2961 left_y=0.0006 left_z=0.1821 left_yaw=-0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2959 right_y=0.0007 right_z=0.1837 right_yaw=0.0001 right_pitch=0.0 right_roll=0.0005 right_gripper=0.9994 state[joint_eff]: [-0.4718, -1.7983, 9.5658, 1.7802, -0.1148, 0.1538, -0.1343, -0.2803, -1.7162, 9.306, 1.873, -0.0269, -0.0415, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"note": "Scene: large white bowl on the left, blue bowl centre-right, with a lemon and a pear near it and a dark round fruit near the left arm. First I'm moving the right arm over the pear, which sits just ahead of its jaws in the wrist view.", "targets": {"right_x": 0.36, "right_y": 0.01, "right_z": 0.15, "right_gripper": 1}})

tool

executing move_to over 5 steps (0.5s)

step 5

assistant

agent noteThe pear sits on the jaw column at the bottom of the right wrist view, so it is nearly under the fingertips. Moving 2 cm forward and down to pear mid-height to grasp it.

move_to

right_x0.3750right_y0.0100right_z0.0350

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8062, 0.6132, -0.4004, -0.0139, -0.0311, 0.9987, 0.0284, 1.1481, 0.6094, -0.0795, 0.0059, -0.0078, 0.9994] state[eef_state]: left_x=0.294 left_y=0.0002 left_z=0.1766 left_yaw=-0.0014 left_pitch=-0.024 left_roll=-0.001 left_gripper=0.9987 right_x=0.3538 right_y=0.0126 right_z=0.1358 right_yaw=0.0258 right_pitch=-0.0501 right_roll=-0.0108 right_gripper=0.9994 state[joint_eff]: [0.0205, -1.4701, 7.0769, 1.9365, -0.0513, -0.0415, -0.022, -0.0479, -4.0547, 7.8974, 2.0, 0.1294, 0.2271, -0.0708] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]

assistant

move_to({"note": "The pear sits on the jaw column at the bottom of the right wrist view, so it is nearly under the fingertips. Moving 2 cm forward and down to pear mid-height to grasp it.", "targets": {"right_x": 0.375, "right_y": 0.01, "right_z": 0.035}})

tool

executing move_to over 7 steps (0.7s)

step 12

assistant

Pear fills the jaws. Closing.

agent noteThe pear is right between the right jaws. Closing the gripper to grasp it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.812, 0.6132, -0.4129, -0.0139, -0.033, 0.9987, 0.0166, 1.5673, 0.4194, 0.4957, -0.0055, -0.0124, 0.9994] state[eef_state]: left_x=0.2925 left_y=0.0002 left_z=0.1725 left_yaw=-0.0004 left_pitch=-0.0423 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3704 right_y=0.0107 right_z=0.0276 right_yaw=0.0261 right_pitch=-0.0841 right_roll=-0.0076 right_gripper=0.9994 state[joint_eff]: [-0.294, -1.7709, 7.0085, 1.7753, -0.0464, 0.0073, -0.0122, -0.4991, -6.0103, 5.1624, 1.8339, -0.0269, -0.1099, -0.0122] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]

assistant

Pear fills the jaws. Closing.

move_to({"note": "The pear is right between the right jaws. Closing the gripper to grasp it.", "targets": {"right_gripper": 0}})

tool

executing move_to over 10 steps (1.0s)

step 22

assistant

agent noteGripper settled at 0.75 (~7 cm), so the pear is held. Lifting it clear of the table and the bowl rim.

move_to

right_z0.1800

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4202, -0.0139, -0.0334, 0.9987, 0.0166, 1.5673, 0.4194, 0.5007, -0.0063, -0.0158, 0.7522] state[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1708 left_yaw=-0.0001 left_pitch=-0.0504 left_roll=-0.0024 left_gripper=0.9987 right_x=0.3712 right_y=0.0109 right_z=0.0286 right_yaw=0.0286 right_pitch=-0.0791 right_roll=-0.0099 right_gripper=0.7522 state[joint_eff]: [-0.1709, -1.388, 7.0085, 1.7411, -0.0659, -0.0513, -0.0122, -0.2803, -5.3675, 4.9573, 1.5946, -0.0366, 0.0024, 1.0281] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]

assistant

move_to({"note": "Gripper settled at 0.75 (~7 cm), so the pear is held. Lifting it clear of the table and the bowl rim.", "targets": {"right_z": 0.18}})

tool

executing move_to over 10 steps (1.0s)

step 32

assistant

agent notePear is lifted; the blue bowl appears ahead and to the left in the right wrist view. Carrying the pear over the bowl centre.

move_to

right_x0.4500right_y0.0800right_z0.1800

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8127, 0.6132, -0.424, -0.0139, -0.0334, 0.9987, 0.017, 1.2152, 0.8089, -0.3183, -0.009, -0.0196, 0.7522] state[eef_state]: left_x=0.291 left_y=0.0002 left_z=0.1701 left_yaw=-0.0001 left_pitch=-0.0542 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3615 right_y=0.0113 right_z=0.1544 right_yaw=0.0335 right_pitch=-0.1565 right_roll=-0.0101 right_gripper=0.7522 state[joint_eff]: [-0.1709, -1.3197, 6.9949, 1.8193, -0.0171, -0.0464, -0.0122, -0.2667, -5.6821, 9.6205, 1.9267, -0.0024, -0.0366, 1.033] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]

assistant

move_to({"note": "Pear is lifted; the blue bowl appears ahead and to the left in the right wrist view. Carrying the pear over the bowl centre.", "targets": {"right_x": 0.45, "right_y": 0.08, "right_z": 0.18}})

tool

executing move_to over 7 steps (0.7s)

step 39

assistant

agent noteThe blue bowl is just ahead of the held pear in the wrist view, on the jaw column. Moving slightly forward and down to lower the pear into the bowl.

move_to

right_x0.4700right_y0.0800right_z0.1000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4305, -0.0139, -0.0334, 0.9987, 0.2264, 1.5955, 1.1885, -0.3985, 0.1265, 0.0975, 0.7522] state[eef_state]: left_x=0.2902 left_y=0.0002 left_z=0.1684 left_yaw=-0.0001 left_pitch=-0.0622 left_roll=-0.0022 left_gripper=0.9987 right_x=0.4381 right_y=0.0817 right_z=0.1573 right_yaw=0.0613 right_pitch=-0.2293 right_roll=-0.0251 right_gripper=0.7522 state[joint_eff]: [-0.1299, -1.4701, 7.159, 1.7265, -0.0708, -0.022, -0.0171, -0.3487, -8.1846, 9.3333, 1.8046, 0.1978, 0.2076, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"note": "The blue bowl is just ahead of the held pear in the wrist view, on the jaw column. Moving slightly forward and down to lower the pear into the bowl.", "targets": {"right_x": 0.47, "right_y": 0.08, "right_z": 0.1}})

tool

executing move_to over 4 steps (0.4s)

step 43

assistant

Pear is over the bowl interior. Releasing.

agent noteThe pear is inside the blue bowl rim in the wrist view. Opening the gripper to drop it in.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4316, -0.0139, -0.0334, 0.9987, 0.2054, 1.7763, 1.1458, -0.2306, 0.1001, 0.07, 0.7522] state[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1681 left_yaw=-0.0001 left_pitch=-0.0633 left_roll=-0.0022 left_gripper=0.9987 right_x=0.4604 right_y=0.0816 right_z=0.0881 right_yaw=0.0763 right_pitch=-0.2876 right_roll=-0.0329 right_gripper=0.7522 state[joint_eff]: [-0.1983, -1.2239, 6.9949, 1.7167, -0.0464, -0.0659, -0.0171, -0.5538, -9.4838, 6.4342, 1.9414, 0.1148, 0.0464, 1.0281] 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

Pear is over the bowl interior. Releasing.

move_to({"note": "The pear is inside the blue bowl rim in the wrist view. Opening the gripper to drop it in.", "targets": {"right_gripper": 1}})

tool

executing move_to over 3 steps (0.3s)

step 46

assistant

agent notePear is now in the blue bowl. Lifting and moving the right arm over the lemon, which lies about 10 cm left of the bowl.

move_to

right_x0.4200right_y0.1800right_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]: [-0.02, 0.8146, 0.6132, -0.4316, -0.0139, -0.0334, 0.9987, 0.2058, 1.7763, 1.1458, -0.2367, 0.0998, 0.0631, 0.9958] state[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.168 left_yaw=-0.0001 left_pitch=-0.0637 left_roll=-0.0022 left_gripper=0.9987 right_x=0.4593 right_y=0.0816 right_z=0.0871 right_yaw=0.0806 right_pitch=-0.2938 right_roll=-0.038 right_gripper=0.9958 state[joint_eff]: [-0.212, -1.1282, 7.1179, 1.6581, -0.0611, -0.0464, -0.0122, -0.3761, -8.8137, 6.5846, 1.4481, -0.0171, 0.0464, -0.1343] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]

assistant

move_to({"note": "Pear is now in the blue bowl. Lifting and moving the right arm over the lemon, which lies about 10 cm left of the bowl.", "targets": {"right_x": 0.42, "right_y": 0.18, "right_z": 0.15}})

tool

executing move_to over 9 steps (0.9s)

step 55

assistant

agent noteThe lemon is just ahead and slightly left of the jaw column, lying lengthwise toward the camera so the jaws can close across it. Nudging left and forward and descending to lemon mid-height.

move_to

right_x0.4350right_y0.1900right_z0.0200

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4423, -0.0139, -0.0334, 0.9987, 0.4965, 1.7454, 1.3094, -0.5037, 0.2569, 0.255, 0.9965] state[eef_state]: left_x=0.2885 left_y=0.0003 left_z=0.1657 left_yaw=-0.0001 left_pitch=-0.0751 left_roll=-0.0019 left_gripper=0.9987 right_x=0.4201 right_y=0.1806 right_z=0.1285 right_yaw=0.1209 right_pitch=-0.3291 right_roll=-0.0541 right_gripper=0.9965 state[joint_eff]: [0.0889, -1.1829, 6.9949, 1.7509, -0.0611, -0.0659, -0.0122, 0.1983, -11.0564, 8.7043, 1.2576, 0.2173, 0.105, 0.0611] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]

assistant

move_to({"note": "The lemon is just ahead and slightly left of the jaw column, lying lengthwise toward the camera so the jaws can close across it. Nudging left and forward and descending to lemon mid-height.", "targets": {"right_x": 0.435, "right_y": 0.19, "right_z": 0.02}})

tool

executing move_to over 8 steps (0.8s)

step 63

assistant

agent noteThe lemon sits centred between the right jaws. Closing to grasp it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4469, -0.0139, -0.0334, 0.9987, 0.4992, 1.9465, 1.145, -0.1787, 0.2577, 0.2577, 0.9965] state[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1648 left_yaw=-0.0001 left_pitch=-0.0797 left_roll=-0.0018 left_gripper=0.9987 right_x=0.4277 right_y=0.186 right_z=0.0234 right_yaw=0.1159 right_pitch=-0.3663 right_roll=-0.0689 right_gripper=0.9965 state[joint_eff]: [-0.0615, -1.3333, 7.1453, 1.6777, -0.0366, -0.0562, -0.0122, -0.0205, -8.9504, 5.2308, 1.5018, 0.0855, -0.0073, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]

assistant

move_to({"note": "The lemon sits centred between the right jaws. Closing to grasp it.", "targets": {"right_gripper": 0}})

tool

executing move_to over 10 steps (1.0s)

step 73

assistant

agent noteGripper settled at 0.52 (~5 cm), so the lemon is held. Lifting it and carrying it over the blue bowl, which is just to the right.

move_to

right_x0.4500right_y0.1000right_z0.1700

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8154, 0.6132, -0.45, -0.0139, -0.0334, 0.9987, 0.4992, 1.9598, 1.1397, -0.1673, 0.2646, 0.2462, 0.5176] state[eef_state]: left_x=0.2873 left_y=0.0003 left_z=0.1642 left_yaw=-0.0001 left_pitch=-0.0828 left_roll=-0.0018 left_gripper=0.9987 right_x=0.4275 right_y=0.1845 right_z=0.0174 right_yaw=0.1156 right_pitch=-0.3714 right_roll=-0.0848 right_gripper=0.5176 state[joint_eff]: [-0.253, -1.3333, 7.2684, 1.6728, -0.0513, -0.0317, -0.0122, -0.0342, -11.1248, 6.3385, 1.1209, 0.0171, 0.0415, 1.0037] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]

assistant

move_to({"note": "Gripper settled at 0.52 (~5 cm), so the lemon is held. Lifting it and carrying it over the blue bowl, which is just to the right.", "targets": {"right_x": 0.45, "right_y": 0.1, "right_z": 0.17}})

tool

executing move_to over 10 steps (1.0s)

step 83

assistant

agent noteThe lemon is carried over the blue bowl area (the arm hides the bowl in the top view). Lowering toward the bowl to release it.

move_to

right_x0.4600right_y0.0900right_z0.1000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4538, -0.0139, -0.0334, 0.9987, 0.2699, 1.7874, 1.4414, -0.6662, 0.1284, 0.0647, 0.5194] state[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1635 left_yaw=-0.0001 left_pitch=-0.0866 left_roll=-0.0017 left_gripper=0.9987 right_x=0.4461 right_y=0.1037 right_z=0.1353 right_yaw=0.1103 right_pitch=-0.434 right_roll=-0.0835 right_gripper=0.5194 state[joint_eff]: [-0.0889, -0.9641, 6.9675, 1.6923, -0.0513, -0.0562, -0.0171, -0.2393, -12.6701, 9.0598, 1.5311, 0.1343, 0.0171, 0.6618] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]

assistant

move_to({"note": "The lemon is carried over the blue bowl area (the arm hides the bowl in the top view). Lowering toward the bowl to release it.", "targets": {"right_x": 0.46, "right_y": 0.09, "right_z": 0.1}})

tool

executing move_to over 3 steps (0.3s)

step 86

assistant

agent noteThe right arm is at nearly the same spot where the pear dropped into the blue bowl, about 10 cm above it. Opening to release the lemon into the bowl.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4683, -0.0135, -0.0334, 0.9987, 0.2359, 1.8297, 1.3876, -0.6109, 0.102, 0.0395, 0.5217] state[eef_state]: left_x=0.2846 left_y=0.0003 left_z=0.1606 left_yaw=-0.0004 left_pitch=-0.1011 left_roll=-0.0016 left_gripper=0.9987 right_x=0.4471 right_y=0.0927 right_z=0.1031 right_yaw=0.1131 right_pitch=-0.4787 right_roll=-0.0796 right_gripper=0.5217 state[joint_eff]: [-0.3214, -1.2923, 6.9675, 1.7705, -0.0269, -0.0757, -0.0122, -0.4581, -9.5795, 6.9265, 1.5165, 0.1148, -0.1685, 0.4518] approver: 1 step(s) modified (delta_clamped). 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({"note": "The right arm is at nearly the same spot where the pear dropped into the blue bowl, about 10 cm above it. Opening to release the lemon into the bowl.", "targets": {"right_gripper": 1}})

tool

executing move_to over 5 steps (0.5s)

step 91

assistant

agent noteThe lemon bounced out and rolled onto the table left of the blue bowl (top view ~(124,110)); the pear is in the bowl, which sits to the right of where I released. Moving the right arm over the lemon again.

move_to

right_x0.3700right_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]: [-0.02, 0.8154, 0.6132, -0.4721, -0.0139, -0.0334, 0.9987, 0.226, 1.8702, 1.3617, -0.5652, 0.099, 0.0162, 0.9955] state[eef_state]: left_x=0.284 left_y=0.0004 left_z=0.1599 left_yaw=-0.0001 left_pitch=-0.1049 left_roll=-0.0013 left_gripper=0.9987 right_x=0.4498 right_y=0.0892 right_z=0.0814 right_yaw=0.1189 right_pitch=-0.5005 right_roll=-0.0922 right_gripper=0.9955 state[joint_eff]: [-0.2667, -1.3197, 6.9675, 1.7411, -0.0611, -0.0464, -0.0122, -0.4444, -11.6991, 7.5145, 1.4335, 0.0464, 0.1197, 0.0171] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]

assistant

move_to({"note": "The lemon bounced out and rolled onto the table left of the blue bowl (top view ~(124,110)); the pear is in the bowl, which sits to the right of where I released. Moving the right arm over the lemon again.", "targets": {"right_x": 0.37, "right_y": 0.26, "right_z": 0.14}})

tool

executing move_to over 15 steps (1.5s)

step 106

assistant

agent noteThe lemon rolled far toward the front-left, near the left arm base (top view ~(63,200)); the pear is in the blue bowl at the upper right. Parking the right arm and sending the left arm over the dark round fruit right of it.

move_to

right_x0.3000right_y0.0000right_z0.1800right_pitch0.0000left_x0.3200left_y-0.1700left_z0.1500left_gripper1.0000left_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]: [-0.02, 0.8173, 0.6132, -0.4759, -0.0139, -0.0334, 0.9987, 0.72, 1.8828, 1.6165, -0.8879, 0.2939, 0.4252, 0.9964] state[eef_state]: left_x=0.2835 left_y=0.0004 left_z=0.1587 left_yaw=-0.0001 left_pitch=-0.1106 left_roll=-0.0012 left_gripper=0.9987 right_x=0.3696 right_y=0.2609 right_z=0.1381 right_yaw=0.1703 right_pitch=-0.5012 right_roll=-0.0869 right_gripper=0.9964 state[joint_eff]: [-0.335, -1.4701, 6.9538, 1.6777, -0.0611, -0.022, -0.0122, -0.2256, -8.6496, 7.9658, 0.862, 0.3004, 0.1832, 0.0806] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]

assistant

move_to({"note": "The lemon rolled far toward the front-left, near the left arm base (top view ~(63,200)); the pear is in the blue bowl at the upper right. Parking the right arm and sending the left arm over the dark round fruit right of it.", "targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.18, "right_pitch": 0, "left_x": 0.32, "left_y": -0.17, "left_z": 0.15, "left_gripper": 1, "left_pitch": 0}})

tool

executing move_to over 22 steps (2.2s)

step 128

assistant

agent noteThe dark plum-like fruit is centred on the left jaw column just ahead of the fingertips. Moving 2 cm forward and descending to grasp it.

move_to

left_x0.3350left_y-0.1650left_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]: [-0.7845, 1.2827, 0.7246, -0.2379, -0.6102, -0.5121, 0.9988, -0.1062, 0.8482, 0.6247, -0.4, -0.1349, -0.1947, 0.9965] state[eef_state]: left_x=0.3111 left_y=-0.1625 left_z=0.1329 left_yaw=-0.0187 left_pitch=-0.0566 left_roll=0.0307 left_gripper=0.9988 right_x=0.298 right_y=-0.0043 right_z=0.1713 right_yaw=0.1105 right_pitch=-0.0509 right_roll=-0.0813 right_gripper=0.9965 state[joint_eff]: [-0.4581, -4.4239, 9.1556, 1.707, -0.4567, -0.0317, -0.1392, -0.253, -2.0444, 6.9538, 2.0733, -0.1685, -0.0073, -0.0024] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]

assistant

move_to({"note": "The dark plum-like fruit is centred on the left jaw column just ahead of the fingertips. Moving 2 cm forward and descending to grasp it.", "targets": {"left_x": 0.335, "left_y": -0.165, "left_z": 0.02}})

tool

executing move_to over 8 steps (0.8s)

step 136

assistant

agent noteThe plum is just ahead of the jaw tips at table level, not yet between them. Advancing 3 cm forward at low height.

move_to

left_x0.3600left_y-0.1600left_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]: [-0.7322, 1.6718, 0.5339, 0.2901, -0.5793, -0.4774, 0.9987, -0.1066, 0.8528, 0.6174, -0.4091, -0.1501, -0.2169, 0.9965] state[eef_state]: left_x=0.3259 left_y=-0.1581 left_z=0.0142 left_yaw=-0.0046 left_pitch=-0.111 left_roll=0.0771 left_gripper=0.9987 right_x=0.2958 right_y=-0.0015 right_z=0.1652 right_yaw=0.1351 right_pitch=-0.0702 right_roll=-0.0856 right_gripper=0.9965 state[joint_eff]: [0.6906, -7.2137, 4.3282, 1.6288, -0.2173, 0.0952, -0.022, 0.0068, -1.9077, 7.6103, 1.746, 0.0611, 0.2222, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]

assistant

move_to({"note": "The plum is just ahead of the jaw tips at table level, not yet between them. Advancing 3 cm forward at low height.", "targets": {"left_x": 0.36, "left_y": -0.16, "left_z": 0.015}})

tool

executing move_to over 3 steps (0.3s)

step 139

assistant

Now between the jaws. Closing.

agent noteThe plum now fills the space between the left jaws. Closing to grasp 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]: [-0.6666, 1.7458, 0.6025, 0.3244, -0.5518, -0.4477, 0.9987, -0.1066, 0.8547, 0.6174, -0.4152, -0.144, -0.2184, 0.9965] state[eef_state]: left_x=0.3525 left_y=-0.1549 left_z=0.013 left_yaw=0.0227 left_pitch=-0.1034 left_roll=0.0659 left_gripper=0.9987 right_x=0.2951 right_y=-0.0025 right_z=0.1633 right_yaw=0.1309 right_pitch=-0.079 right_roll=-0.0886 right_gripper=0.9965 state[joint_eff]: [-0.0342, -6.6803, 6.3521, 1.2625, -0.0464, 0.2076, -0.0122, -0.1709, -1.6889, 6.9812, 1.7558, -0.1832, -0.0366, -0.0122] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]

assistant

Now between the jaws. Closing.

move_to({"note": "The plum now fills the space between the left jaws. Closing to grasp it.", "targets": {"left_gripper": 0}})

tool

executing move_to over 10 steps (1.0s)

step 149

assistant

agent notePlum grasped (gripper settled at 0.54). The blue bowl is out of the left arm's reach, so I'm lifting the plum and holding it near the centre while the right arm brings the bowl closer.

move_to

left_z0.1500left_x0.3000left_y-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]: [-0.6632, 1.7561, 0.6056, 0.3176, -0.5426, -0.4461, 0.539, -0.1066, 0.8547, 0.6174, -0.4164, -0.1467, -0.2184, 0.9965] state[eef_state]: left_x=0.3518 left_y=-0.1545 left_z=0.0086 left_yaw=0.0195 left_pitch=-0.1186 left_roll=0.0709 left_gripper=0.539 right_x=0.2949 right_y=-0.002 right_z=0.1632 right_yaw=0.1332 right_pitch=-0.0797 right_roll=-0.0867 right_gripper=0.9965 state[joint_eff]: [-0.4444, -7.9658, 4.4376, 1.4774, -0.3834, -0.0562, 1.0281, -0.0342, -1.5385, 6.9949, 1.7021, -0.0611, -0.0806, -0.0122] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]

assistant

move_to({"note": "Plum grasped (gripper settled at 0.54). The blue bowl is out of the left arm's reach, so I'm lifting the plum and holding it near the centre while the right arm brings the bowl closer.", "targets": {"left_z": 0.15, "left_x": 0.3, "left_y": -0.1}})

tool

executing move_to over 10 steps (1.0s)

step 159

assistant

agent noteThe blue bowl (with the pear) is straight ahead of the right arm, about 0.47 m out. Moving the right gripper above the bowl's right-hand rim so it can clamp the wall and drag the bowl toward the centre.

move_to

right_x0.4700right_y-0.0150right_z0.1200right_yaw0.0000right_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]: [-0.6144, 1.1233, 0.6731, -0.3492, -0.5068, -0.4248, 0.542, -0.1066, 0.8593, 0.6174, -0.4236, -0.1471, -0.2211, 0.9965] state[eef_state]: left_x=0.304 left_y=-0.1052 left_z=0.1366 left_yaw=0.0275 left_pitch=-0.1088 left_roll=0.046 left_gripper=0.542 right_x=0.294 right_y=-0.0018 right_z=0.1605 right_yaw=0.1352 right_pitch=-0.0912 right_roll=-0.0858 right_gripper=0.9965 state[joint_eff]: [0.6496, -3.8769, 9.6615, 1.5214, -0.149, 0.1929, 0.652, -0.0615, -1.5795, 6.9812, 1.7216, -0.0904, -0.0415, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]

assistant

move_to({"note": "The blue bowl (with the pear) is straight ahead of the right arm, about 0.47 m out. Moving the right gripper above the bowl's right-hand rim so it can clamp the wall and drag the bowl toward the centre.", "targets": {"right_x": 0.47, "right_y": -0.015, "right_z": 0.12, "right_yaw": 0, "right_pitch": 0}})

tool

executing move_to over 14 steps (1.4s)

step 173

assistant

agent noteThe bowl's right-hand rim is just right of the jaw centre and a little ahead, with the pear inside. Descending so the left jaw goes inside the bowl and the right jaw outside the wall.

move_to

right_x0.4700right_y-0.0200right_z0.0300

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6136, 1.1275, 0.6727, -0.3706, -0.5041, -0.4194, 0.5449, -0.036, 1.6375, 0.8692, 0.1169, -0.0139, -0.123, 0.9965] state[eef_state]: left_x=0.3012 left_y=-0.1033 left_z=0.1318 left_yaw=0.0252 left_pitch=-0.131 left_roll=0.0642 left_gripper=0.5449 right_x=0.4517 right_y=-0.0102 right_z=0.0989 right_yaw=0.0402 right_pitch=-0.0858 right_roll=-0.0908 right_gripper=0.9965 state[joint_eff]: [0.1299, -3.6991, 6.9128, 1.6142, -0.2662, -0.0708, 0.7448, 0.1436, -7.6923, 7.9932, 2.0635, 0.1343, 0.1538, -0.0122] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]

assistant

move_to({"note": "The bowl's right-hand rim is just right of the jaw centre and a little ahead, with the pear inside. Descending so the left jaw goes inside the bowl and the right jaw outside the wall.", "targets": {"right_x": 0.47, "right_y": -0.02, "right_z": 0.03}})

tool

executing move_to over 5 steps (0.5s)

step 178

assistant

agent noteThe right arm stopped at z≈0.08 on its way down, probably just rate-limited; the bowl rim is between the jaws next to the pear. Continuing down to clamp the bowl wall.

move_to

right_x0.4700right_y-0.0200right_z0.0300

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6136, 1.1275, 0.6712, -0.3714, -0.5034, -0.4191, 0.5483, -0.0433, 1.7226, 0.8539, 0.2317, -0.0307, -0.1234, 0.9965] state[eef_state]: left_x=0.3007 left_y=-0.1032 left_z=0.131 left_yaw=0.0246 left_pitch=-0.1331 left_roll=0.0655 left_gripper=0.5483 right_x=0.4623 right_y=-0.011 right_z=0.0782 right_yaw=0.0473 right_pitch=-0.0705 right_roll=-0.0822 right_gripper=0.9965 state[joint_eff]: [-0.1026, -3.4256, 6.8034, 1.4335, -0.2369, -0.0317, 0.5983, -0.5675, -7.665, 5.2855, 1.6874, 0.0171, -0.1001, -0.0122] approver: 1 step(s) modified (delta_clamped). 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({"note": "The right arm stopped at z\u22480.08 on its way down, probably just rate-limited; the bowl rim is between the jaws next to the pear. Continuing down to clamp the bowl wall.", "targets": {"right_x": 0.47, "right_y": -0.02, "right_z": 0.03}})

tool

executing move_to over 4 steps (0.4s)

step 182

assistant

agent noteThe descent is blocked because the left jaw is resting on the pear inside the bowl. Shifting the gripper right so the left jaw sits just inside the bowl wall, clear of the pear.

move_to

right_x0.4650right_y-0.0500right_z0.1000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6136, 1.1275, 0.6712, -0.3714, -0.5037, -0.4194, 0.5477, -0.0433, 1.7229, 0.8524, 0.231, -0.0307, -0.1238, 0.9965] state[eef_state]: left_x=0.3008 left_y=-0.1031 left_z=0.131 left_yaw=0.0251 left_pitch=-0.133 left_roll=0.0654 left_gripper=0.5477 right_x=0.4618 right_y=-0.011 right_z=0.0772 right_yaw=0.0475 right_pitch=-0.0732 right_roll=-0.0823 right_gripper=0.9965 state[joint_eff]: [-0.1846, -3.1521, 6.8444, 1.453, -0.2808, -0.0708, 0.5397, -0.6632, -7.6513, 5.2308, 1.7265, -0.0073, -0.1392, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]

assistant

move_to({"note": "The descent is blocked because the left jaw is resting on the pear inside the bowl. Shifting the gripper right so the left jaw sits just inside the bowl wall, clear of the pear.", "targets": {"right_x": 0.465, "right_y": -0.05, "right_z": 0.1}})

tool

executing move_to over 4 steps (0.4s)

step 186

assistant

agent noteThe right arm didn't respond to the last move; its readback is unchanged. Sending a simple straight lift to free it from the pear.

move_to

right_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]: [-0.6136, 1.1275, 0.6712, -0.3717, -0.5034, -0.4194, 0.5507, -0.0433, 1.7229, 0.8524, 0.231, -0.0307, -0.1238, 0.9965] state[eef_state]: left_x=0.3007 left_y=-0.1032 left_z=0.1309 left_yaw=0.0249 left_pitch=-0.1334 left_roll=0.0654 left_gripper=0.5507 right_x=0.4618 right_y=-0.011 right_z=0.0772 right_yaw=0.0475 right_pitch=-0.0732 right_roll=-0.0823 right_gripper=0.9965 state[joint_eff]: [-0.1162, -3.0974, 6.6667, 1.3944, -0.2076, -0.0513, 0.6325, -0.6632, -7.4872, 5.2308, 1.6874, 0.0073, -0.1148, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]

assistant

move_to({"note": "The right arm didn't respond to the last move; its readback is unchanged. Sending a simple straight lift to free it from the pear.", "targets": {"right_z": 0.15}})

tool

executing move_to over 5 steps (0.5s)

step 191

assistant

agent noteLifted clear: the blue bowl with the pear now sits just under the right jaws, and its right-hand wall is a couple of cm right of the jaw centre. Shifting right and descending to straddle that wall.

move_to

right_x0.4600right_y-0.0350right_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]: [-0.6136, 1.1275, 0.6712, -0.3717, -0.5034, -0.4191, 0.5521, -0.0414, 1.618, 0.9913, -0.0292, -0.0383, -0.1318, 0.9965] state[eef_state]: left_x=0.3007 left_y=-0.1032 left_z=0.1309 left_yaw=0.0246 left_pitch=-0.1334 left_roll=0.0657 left_gripper=0.5521 right_x=0.4617 right_y=-0.0088 right_z=0.1304 right_yaw=0.0603 right_pitch=-0.0894 right_roll=-0.0825 right_gripper=0.9965 state[joint_eff]: [-0.1983, -3.4256, 6.694, 1.4042, -0.2515, -0.0757, 0.4615, -0.5265, -9.4154, 8.335, 1.7363, 0.0122, 0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]

assistant

move_to({"note": "Lifted clear: the blue bowl with the pear now sits just under the right jaws, and its right-hand wall is a couple of cm right of the jaw centre. Shifting right and descending to straddle that wall.", "targets": {"right_x": 0.46, "right_y": -0.035, "right_z": 0.03}})

tool

executing move_to over 7 steps (0.7s)

step 198

assistant

agent noteThe right jaws straddle the bowl's right wall at z≈0.04, with the pear just inside. Closing to clamp the bowl wall.

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]: [-0.6136, 1.1275, 0.6689, -0.3794, -0.5034, -0.4194, 0.5546, -0.115, 1.8301, 0.8162, 0.3359, -0.1055, -0.1684, 0.9965] state[eef_state]: left_x=0.2992 left_y=-0.1021 left_z=0.1289 left_yaw=0.0257 left_pitch=-0.1414 left_roll=0.0714 left_gripper=0.5546 right_x=0.4591 right_y=-0.0307 right_z=0.0369 right_yaw=0.0636 right_pitch=-0.1069 right_roll=-0.067 right_gripper=0.9965 state[joint_eff]: [-0.1573, -3.3983, 6.8718, 1.4481, -0.2759, -0.0464, 0.2466, -0.5538, -7.6923, 4.5744, 1.6777, 0.022, -0.2418, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]

assistant

move_to({"note": "The right jaws straddle the bowl's right wall at z\u22480.04, with the pear just inside. Closing to clamp the bowl wall.", "targets": {"right_gripper": 0}})

tool

executing move_to over 10 steps (1.0s)

step 208

assistant

agent noteGripper settled at 0.82: it has clamped the bowl wall along with the pear. Lifting slightly and carrying the blue bowl left toward the table centre, where the left arm can reach it.

move_to

right_x0.4200right_y0.2800right_z0.0800

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6136, 1.1275, 0.6689, -0.3809, -0.503, -0.4194, 0.5568, -0.1085, 1.816, 0.8192, 0.3855, -0.139, -0.1581, 0.8204] state[eef_state]: left_x=0.299 left_y=-0.1021 left_z=0.1286 left_yaw=0.0255 left_pitch=-0.1428 left_roll=0.0721 left_gripper=0.5568 right_x=0.4686 right_y=-0.0228 right_z=0.0545 right_yaw=0.0919 right_pitch=-0.0372 right_roll=-0.0515 right_gripper=0.8204 state[joint_eff]: [-0.0342, -3.3573, 6.7077, 1.4432, -0.2418, -0.0757, 0.2076, -0.8547, -7.3778, 5.5453, 1.2332, 0.2369, -0.1294, 1.033] 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({"note": "Gripper settled at 0.82: it has clamped the bowl wall along with the pear. Lifting slightly and carrying the blue bowl left toward the table centre, where the left arm can reach it.", "targets": {"right_x": 0.42, "right_y": 0.28, "right_z": 0.08}})

tool

executing move_to over 26 steps (2.6s)

step 234

assistant

agent noteThe blue bowl with the pear is now near the table centre (top view ~(120,95)). Setting it down and letting go of the wall.

move_to

right_z0.0400right_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]: [-0.6136, 1.1275, 0.6689, -0.3817, -0.503, -0.4191, 0.5583, 0.7589, 1.9411, 1.137, 0.0555, 0.5266, 0.3531, 0.8235] state[eef_state]: left_x=0.2989 left_y=-0.102 left_z=0.1285 left_yaw=0.0254 left_pitch=-0.1434 left_roll=0.0728 left_gripper=0.5583 right_x=0.4156 right_y=0.2768 right_z=0.0718 right_yaw=0.1314 right_pitch=-0.0624 right_roll=-0.0689 right_gripper=0.8235 state[joint_eff]: [-0.0752, -3.412, 6.9265, 1.4432, -0.2222, -0.0659, 0.1441, 0.2393, -9.7436, 8.0068, 1.5067, 0.4176, 0.2076, 0.315] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]

assistant

move_to({"note": "The blue bowl with the pear is now near the table centre (top view ~(120,95)). Setting it down and letting go of the wall.", "targets": {"right_z": 0.04, "right_gripper": 1}})

tool

executing move_to over 3 steps (0.3s)

step 237

assistant

agent noteThe blue bowl is on the table near the centre with the right gripper open. Parking the right arm at home and swinging the left arm, still holding the plum, over the blue bowl.

move_to

right_x0.3000right_y0.0000right_z0.1800left_x0.4000left_y-0.3500left_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]: [-0.6136, 1.1275, 0.6689, -0.3817, -0.503, -0.4194, 0.5604, 0.7616, 1.9896, 1.1069, 0.12, 0.5194, 0.3584, 0.9971] state[eef_state]: left_x=0.2989 left_y=-0.102 left_z=0.1285 left_yaw=0.0256 left_pitch=-0.1434 left_roll=0.0725 left_gripper=0.5604 right_x=0.4133 right_y=0.2779 right_z=0.0478 right_yaw=0.1362 right_pitch=-0.0766 right_roll=-0.0689 right_gripper=0.9971 state[joint_eff]: [-0.1709, -3.3573, 6.8718, 1.3797, -0.2759, -0.0708, 0.2027, -0.5402, -9.4154, 5.2718, 1.6093, 0.2564, -0.0415, -0.0366] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]

assistant

move_to({"note": "The blue bowl is on the table near the centre with the right gripper open. Parking the right arm at home and swinging the left arm, still holding the plum, over the blue bowl.", "targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.18, "left_x": 0.4, "left_y": -0.35, "left_z": 0.15}})

tool

executing move_to over 24 steps (2.4s)

step 261

assistant

agent noteThe blue bowl with the pear shows at the lower right of the left wrist view, just under and right of the held plum. Shifting slightly right and back, then lowering toward the bowl.

move_to

left_x0.3900left_y-0.3700left_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]: [-0.9325, 2.1151, 1.7912, -0.7082, -0.6743, -0.7383, 0.5618, -0.078, 0.8978, 0.6506, -0.4271, -0.0902, -0.1577, 0.9978] state[eef_state]: left_x=0.3982 left_y=-0.3456 left_z=0.1383 left_yaw=0.02 left_pitch=-0.1672 left_roll=0.0673 left_gripper=0.5618 right_x=0.3006 right_y=-0.0039 right_z=0.1632 right_yaw=0.0819 right_pitch=-0.1044 right_roll=-0.0687 right_gripper=0.9978 state[joint_eff]: [-0.8684, -12.2462, 8.6359, 0.823, -0.6178, 0.0464, 0.1294, -0.1983, -2.5915, 10.2769, 1.8828, -0.1783, 0.0317, 0.0659] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]

assistant

move_to({"note": "The blue bowl with the pear shows at the lower right of the left wrist view, just under and right of the held plum. Shifting slightly right and back, then lowering toward the bowl.", "targets": {"left_x": 0.39, "left_y": -0.37, "left_z": 0.11}})

tool

executing move_to over 3 steps (0.3s)

step 264

assistant

agent noteThe plum is hanging over the blue bowl; the bowl rim and pear show just below it in the wrist view, and the arm is at its reach limit to the right. Releasing the plum into the bowl.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9577, 2.1738, 1.8118, -0.704, -0.6777, -0.7685, 0.5625, -0.0769, 0.9005, 0.6567, -0.4599, -0.1123, -0.1764, 0.998] state[eef_state]: left_x=0.393 left_y=-0.3599 left_z=0.1171 left_yaw=0.0182 left_pitch=-0.183 left_roll=0.0748 left_gripper=0.5625 right_x=0.2965 right_y=0.0006 right_z=0.1592 right_yaw=0.1124 right_pitch=-0.1315 right_roll=-0.0642 right_gripper=0.998 state[joint_eff]: [-1.1282, -11.0564, 6.9265, 1.2137, -0.5348, -0.1685, 0.0611, -0.0615, -1.5658, 6.4479, 1.9512, 0.0806, 0.0806, -0.0024] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]

assistant

move_to({"note": "The plum is hanging over the blue bowl; the bowl rim and pear show just below it in the wrist view, and the arm is at its reach limit to the right. Releasing the plum into the bowl.", "targets": {"left_gripper": 1}})

tool

executing move_to over 5 steps (0.5s)

step 269

assistant

agent noteThe plum dropped into the blue bowl next to the pear. Next the left arm grips the bowl's left wall for pouring: shifting left and slightly back so that wall sits between the jaws, then descending.

move_to

left_x0.3750left_y-0.3450left_z0.0350

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9775, 2.2066, 1.8118, -0.6842, -0.6964, -0.7948, 0.9953, -0.0765, 0.9005, 0.6567, -0.4622, -0.1062, -0.1764, 0.998] state[eef_state]: left_x=0.3893 left_y=-0.3683 left_z=0.1045 left_yaw=0.0253 left_pitch=-0.1753 left_roll=0.0754 left_gripper=0.9953 right_x=0.2962 right_y=-0.0003 right_z=0.1587 right_yaw=0.1077 right_pitch=-0.1345 right_roll=-0.0677 right_gripper=0.998 state[joint_eff]: [-0.3897, -13.0803, 6.9128, 1.1453, -0.3492, -0.0171, 0.0513, -0.212, -1.894, 6.9265, 1.6777, -0.0952, -0.0269, -0.0171] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]

assistant

move_to({"note": "The plum dropped into the blue bowl next to the pear. Next the left arm grips the bowl's left wall for pouring: shifting left and slightly back so that wall sits between the jaws, then descending.", "targets": {"left_x": 0.375, "left_y": -0.345, "left_z": 0.035}})

tool

executing move_to over 5 steps (0.5s)

step 274

assistant

agent noteThe left arm didn't move; it seems stuck in an awkward pose at its right-hand reach limit. Lifting and pulling it back toward a more comfortable pose before trying the bowl grasp again.

move_to

left_x0.3300left_y-0.3000left_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]: [-0.9775, 2.2066, 1.8118, -0.6842, -0.696, -0.7944, 0.9964, -0.0769, 0.9005, 0.6567, -0.4625, -0.1093, -0.1764, 0.998] state[eef_state]: left_x=0.3893 left_y=-0.3684 left_z=0.1044 left_yaw=0.0249 left_pitch=-0.1756 left_roll=0.0755 left_gripper=0.9964 right_x=0.2961 right_y=0.0001 right_z=0.1587 right_yaw=0.1099 right_pitch=-0.1345 right_roll=-0.0656 right_gripper=0.998 state[joint_eff]: [-0.2393, -13.1487, 7.1043, 1.0525, -0.3687, 0.0073, 0.1001, -0.1846, -1.7573, 7.1043, 1.6044, -0.0757, -0.0269, -0.0122] camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]

assistant

move_to({"note": "The left arm didn't move; it seems stuck in an awkward pose at its right-hand reach limit. Lifting and pulling it back toward a more comfortable pose before trying the bowl grasp again.", "targets": {"left_x": 0.33, "left_y": -0.3, "left_z": 0.16}})

tool

executing move_to over 7 steps (0.7s)

step 281

assistant

agent noteThe left arm is free again. The blue bowl (pear and plum inside) is ahead and to the right, with its left wall just right of the jaw centre. Moving forward and down so the jaws straddle that wall.

move_to

left_x0.3650left_y-0.3150left_z0.0350

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9997, 1.8736, 1.4998, -0.7303, -0.6994, -0.8177, 0.9965, -0.0769, 0.9012, 0.6567, -0.4732, -0.1093, -0.1768, 0.998] state[eef_state]: left_x=0.3371 left_y=-0.3076 left_z=0.1472 left_yaw=0.0212 left_pitch=-0.1854 left_roll=0.0815 left_gripper=0.9965 right_x=0.2944 right_y=0.0002 right_z=0.1565 right_yaw=0.1104 right_pitch=-0.1457 right_roll=-0.0638 right_gripper=0.998 state[joint_eff]: [-0.7179, -11.5214, 6.4205, 1.1746, -0.5006, -0.1441, 0.0024, -0.2256, -1.6615, 7.0769, 1.7558, -0.1001, -0.0659, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]

assistant

move_to({"note": "The left arm is free again. The blue bowl (pear and plum inside) is ahead and to the right, with its left wall just right of the jaw centre. Moving forward and down so the jaws straddle that wall.", "targets": {"left_x": 0.365, "left_y": -0.315, "left_z": 0.035}})

tool

executing move_to over 8 steps (0.8s)

step 289

assistant

agent noteThe blue bowl's left wall runs between the jaws: left jaw outside, right jaw inside near the pear. Closing to grip the wall.

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]: [-0.9573, 2.0586, 1.3388, -0.3813, -0.6807, -0.7826, 0.9965, -0.0769, 0.9012, 0.6567, -0.4767, -0.1093, -0.1768, 0.998] state[eef_state]: left_x=0.3594 left_y=-0.3111 left_z=0.044 left_yaw=0.0337 left_pitch=-0.1995 left_roll=0.0957 left_gripper=0.9965 right_x=0.2939 right_y=0.0003 right_z=0.1558 right_yaw=0.1105 right_pitch=-0.1491 right_roll=-0.0631 right_gripper=0.998 state[joint_eff]: [0.6222, -9.8803, 4.9983, 1.2039, -0.2222, 0.1392, -0.0171, -0.3487, -1.9077, 6.9812, 1.6777, -0.1001, -0.0415, -0.0122] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]

assistant

move_to({"note": "The blue bowl's left wall runs between the jaws: left jaw outside, right jaw inside near the pear. Closing to grip the wall.", "targets": {"left_gripper": 0}})

tool

executing move_to over 10 steps (1.0s)

step 299

assistant

agent noteThe gripper closed to 0.04, which could be the thin bowl wall or nothing; with few calls left I'm lifting and carrying toward the white bowl, and the top view will show whether the blue bowl comes along.

move_to

left_x0.4400left_y-0.0700left_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]: [-0.9558, 2.0663, 1.3369, -0.35, -0.6838, -0.8021, 0.0403, -0.0765, 0.9012, 0.6567, -0.477, -0.1093, -0.1768, 0.998] state[eef_state]: left_x=0.3628 left_y=-0.314 left_z=0.0433 left_yaw=0.044 left_pitch=-0.1846 left_roll=0.0643 left_gripper=0.0403 right_x=0.2938 right_y=0.0004 right_z=0.1558 right_yaw=0.1109 right_pitch=-0.1495 right_roll=-0.0631 right_gripper=0.998 state[joint_eff]: [-0.335, -10.7556, 6.2427, 0.4957, -0.3199, 0.3248, 1.0085, -0.1983, -1.8803, 6.9812, 1.58, -0.0659, -0.0464, -0.0122] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]

assistant

move_to({"note": "The gripper closed to 0.04, which could be the thin bowl wall or nothing; with few calls left I'm lifting and carrying toward the white bowl, and the top view will show whether the blue bowl comes along.", "targets": {"left_x": 0.44, "left_y": -0.07, "left_z": 0.2}})

tool

executing move_to over 22 steps (2.2s)

step 321

assistant

agent noteThe left arm is holding the blue bowl, with the pear inside, over the large white bowl; the plum fell out on the way and is on the table. Rolling the wrist to tip the blue bowl and pour the pear into the white bowl.

move_to

left_roll-1.4000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.2832, 1.6104, 1.2594, -0.5282, -0.2913, -0.2302, 0.0433, -0.0765, 0.9012, 0.6567, -0.477, -0.1093, -0.1764, 0.998] state[eef_state]: left_x=0.4317 left_y=-0.0691 left_z=0.1637 left_yaw=0.0882 left_pitch=-0.2632 left_roll=0.0869 left_gripper=0.0433 right_x=0.2938 right_y=0.0004 right_z=0.1558 right_yaw=0.1107 right_pitch=-0.1495 right_roll=-0.0628 right_gripper=0.998 state[joint_eff]: [0.2667, -10.6325, 10.4684, 1.7411, 0.0024, 0.2222, 0.7643, 0.1573, -1.8667, 6.9128, 1.5751, -0.1001, -0.0269, -0.0122] camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]

assistant

move_to({"note": "The left arm is holding the blue bowl, with the pear inside, over the large white bowl; the plum fell out on the way and is on the table. Rolling the wrist to tip the blue bowl and pour the pear into the white bowl.", "targets": {"left_roll": -1.4}})

tool

executing move_to over 19 steps (1.9s)

step 340

assistant

agent noteI only partly finished this task, and I ran out of calls before I could check the pour. - **Pear:** made it into the blue bowl. At the end I tilted the blue bowl over the large white bowl, but the last images don't show whether the pear actually fell in. It may still be in the blue bowl. - **Plum:** made it into the blue bowl, but it fell back out onto the middle of the table while the bowl was being carried. - **Lemon:** never made it into the blue bowl. My first drop hit the rim, and the lemon rolled to the front-left corner of the table near the left arm's base. I didn't have enough calls left to go back for it. What happened: the blue bowl started out of the left arm's reach, so the right arm dragged it to the middle of the table. The left arm then dropped the plum in, gripped the bowl's wall, carried it over the white bowl and rolled the wrist to about -1.3 rad to pour. The left arm is still holding the tilted blue bowl over the white bowl.

done

hindsight- Where things were: the large white bowl sits at about left arm (0.45, -0.10) and the blue bowl started at about right arm (0.47, 0.05). The white bowl is out of the right arm's reach, so the left arm has to do the pour. Bring the blue bowl to the centre first (right arm y ≈ 0.28, i.e. left arm y ≈ -0.37) and then drop each fruit into it. - The blue bowl is small (~12 cm across), and one pear nearly fills it. Drop fruits low (z ≈ 0.06) and to one side of it, or they bounce out. The lemon hit the rim and rolled about 30 cm to the front-left edge. - Gripping a bowl wall works (jaws close along y, so grip a side wall), even though an empty-looking reading near 0.04 comes back. But a small, overfilled bowl loses fruit while being carried, so move it slowly and keep it low. - The left arm hits its reach limit and stalls around left_y ≈ -0.36 when z ≈ 0.1. Lifting and pulling back to (0.33, -0.30, 0.16) freed it. The right arm also stalled once when a jaw rested on the pear; a straight z-only lift freed it. - Pitch drifts to about -0.3 to -0.5 at long reach unless you command pitch 0. - Budget: 40 calls isn't much for 3 fruits plus a pour. Combine moves (lower and open in one call, move both arms in one call) and plan the sequence up front: move the bowl first, then load the fruit with the arm that can reach.

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]: [0.0238, 1.5238, 0.7261, 0.2794, 0.461, -1.2991, 0.0455, -0.0765, 0.9012, 0.6567, -0.477, -0.1093, -0.1768, 0.998] state[eef_state]: left_x=0.4218 left_y=-0.065 left_z=0.1294 left_yaw=0.118 left_pitch=-0.3614 left_roll=-1.2757 left_gripper=0.0455 right_x=0.2938 right_y=0.0004 right_z=0.1558 right_yaw=0.1109 right_pitch=-0.1495 right_roll=-0.0631 right_gripper=0.998 state[joint_eff]: [0.4308, -7.4325, 6.8718, 2.4542, 0.2711, -0.1978, 0.5592, -0.0479, -1.7436, 6.9949, 1.5849, -0.0611, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]

assistant

done({"summary": "I only partly finished this task, and I ran out of calls before I could check the pour.\n\n- **Pear:** made it into the blue bowl. At the end I tilted the blue bowl over the large white bowl, but the last images don't show whether the pear actually fell in. It may still be in the blue bowl.\n- **Plum:** made it into the blue bowl, but it fell back out onto the middle of the table while the bowl was being carried.\n- **Lemon:** never made it into the blue bowl. My first drop hit the rim, and the lemon rolled to the front-left corner of the table near the left arm's base. I didn't have enough calls left to go back for it.\n\nWhat happened: the blue bowl started out of the left arm's reach, so the right arm dragged it to the middle of the table. The left arm then dropped the plum in, gripped the bowl's wall, carried it over the white bowl and rolled the wrist to about -1.3 rad to pour. The left arm is still holding the tilted blue bowl over the white bowl.", "hindsight": "- Where things were: the large white bowl sits at about left arm (0.45, -0.10) and the blue bowl started at about right arm (0.47, 0.05). The white bowl is out of the right arm's reach, so the left arm has to do the pour. Bring the blue bowl to the centre first (right arm y \u2248 0.28, i.e. left arm y \u2248 -0.37) and then drop each fruit into it.\n- The blue bowl is small (~12 cm across), and one pear nearly fills it. Drop fruits low (z \u2248 0.06) and to one side of it, or they bounce out. The lemon hit the rim and rolled about 30 cm to the front-left edge.\n- Gripping a bowl wall works (jaws close along y, so grip a side wall), even though an empty-looking reading near 0.04 comes back. But a small, overfilled bowl loses fruit while being carried, so move it slowly and keep it low.\n- The left arm hits its reach limit and stalls around left_y \u2248 -0.36 when z \u2248 0.1. Lifting and pulling back to (0.33, -0.30, 0.16) freed it. The right arm also stalled once when a jaw rested on the pear; a straight z-only lift freed it.\n- Pitch drifts to about -0.3 to -0.5 at long reach unless you command pitch 0.\n- Budget: 40 calls isn't much for 3 fruits plus a pour. Combine moves (lower and open in one call, move both arms in one call) and plan the sequence up front: move the bowl first, then load the fruit with the arm that can reach."})

tool

done: I only partly finished this task, and I ran out of calls before I could check the pour. - **Pear:** made it into the blue bowl. At the end I tilted the blue bowl over the large white bowl, but the last images don't show whether the pear actually fell in. It may still be in the blue bowl. - **Plum:** made it into the blue bowl, but it fell back out onto the middle of the table while the bowl was being carried. - **Lemon:** never made it into the blue bowl. My first drop hit the rim, and the lemon rolled to the front-left corner of the table near the left arm's base. I didn't have enough calls left to go back for it. What happened: the blue bowl started out of the left arm's reach, so the right arm dragged it to the middle of the table. The left arm then dropped the plum in, gripped the bowl's wall, carried it over the white bowl and rolled the wrist to about -1.3 rad to pour. The left arm is still holding the tilted blue bowl over the white bowl.

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 · 13.95 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]: [-0.0185, 0.8005, 0.6136, -0.3824, -0.0143, -0.0296, 0.9988, -0.0227, 0.7994, 0.6186, -0.3874, -0.0216, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0006 left_z=0.1821 left_yaw=-0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2959 right_y=0.0007 right_z=0.1837 right_yaw=0.0001 right_pitch=0.0 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -1.7983, 9.5658, 1.7802, -0.1148, 0.1538, -0.1343, -0.2803, -1.7162, 9.306, 1.873, -0.0269, -0.0415, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01d7ef8634c48d2fa94d30c72587b8aa6d81c8e1c383cfc70bd08b9239c96efc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dba119b6814bd428b406f07be4ee216615c15f157eb844fd8d9da0c2c9fde19f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:59415f13772b5ff9c65af629b61423859ee27fac6f6a47688b89fe90f6fa3e89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 4.284 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]: [-0.0185, 0.8005, 0.6136, -0.3824, -0.0143, -0.0296, 0.9988, -0.0227, 0.7994, 0.6186, -0.3874, -0.0216, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0006 left_z=0.1821 left_yaw=-0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2959 right_y=0.0007 right_z=0.1837 right_yaw=0.0001 right_pitch=0.0 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -1.7983, 9.5658, 1.7802, -0.1148, 0.1538, -0.1343, -0.2803, -1.7162, 9.306, 1.873, -0.0269, -0.0415, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01d7ef8634c48d2fa94d30c72587b8aa6d81c8e1c383cfc70bd08b9239c96efc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dba119b6814bd428b406f07be4ee216615c15f157eb844fd8d9da0c2c9fde19f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59415f13772b5ff9c65af629b61423859ee27fac6f6a47688b89fe90f6fa3e89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014Fz1vjVwDemf7veXHo9iau",
      "input": {
        "note": "Scene: large white bowl on the left, blue bowl centre-right, with a lemon and a pear near it and a dark round fruit near the left arm. First I'm moving the right arm over the pear, which sits just ahead of its jaws in the wrist view.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.36,
          "right_y": 0.01,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014Fz1vjVwDemf7veXHo9iau",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8062, 0.6132, -0.4004, -0.0139, -0.0311, 0.9987, 0.0284, 1.1481, 0.6094, -0.0795, 0.0059, -0.0078, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=0.0002 left_z=0.1766 left_yaw=-0.0014 left_pitch=-0.024 left_roll=-0.001 left_gripper=0.9987 right_x=0.3538 right_y=0.0126 right_z=0.1358 right_yaw=0.0258 right_pitch=-0.0501 right_roll=-0.0108 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -1.4701, 7.0769, 1.9365, -0.0513, -0.0415, -0.022, -0.0479, -4.0547, 7.8974, 2.0, 0.1294, 0.2271, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4928ad29391dc3e0aaae7f286dc8253d4b0fd36632f1155484c846f8e5f9a369",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b7ef081c6fdf7aeb178b64d6c3aacecdac9678f342dc0ae459079cbdc0e2d7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:15583070986eefa4ddad4dad998fd89d7333f6412d321d7ee0a759f8638f9cdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 2.711 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]: [-0.0185, 0.8005, 0.6136, -0.3824, -0.0143, -0.0296, 0.9988, -0.0227, 0.7994, 0.6186, -0.3874, -0.0216, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0006 left_z=0.1821 left_yaw=-0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2959 right_y=0.0007 right_z=0.1837 right_yaw=0.0001 right_pitch=0.0 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -1.7983, 9.5658, 1.7802, -0.1148, 0.1538, -0.1343, -0.2803, -1.7162, 9.306, 1.873, -0.0269, -0.0415, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8062, 0.6132, -0.4004, -0.0139, -0.0311, 0.9987, 0.0284, 1.1481, 0.6094, -0.0795, 0.0059, -0.0078, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=0.0002 left_z=0.1766 left_yaw=-0.0014 left_pitch=-0.024 left_roll=-0.001 left_gripper=0.9987 right_x=0.3538 right_y=0.0126 right_z=0.1358 right_yaw=0.0258 right_pitch=-0.0501 right_roll=-0.0108 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -1.4701, 7.0769, 1.9365, -0.0513, -0.0415, -0.022, -0.0479, -4.0547, 7.8974, 2.0, 0.1294, 0.2271, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4928ad29391dc3e0aaae7f286dc8253d4b0fd36632f1155484c846f8e5f9a369",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b7ef081c6fdf7aeb178b64d6c3aacecdac9678f342dc0ae459079cbdc0e2d7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15583070986eefa4ddad4dad998fd89d7333f6412d321d7ee0a759f8638f9cdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkwcKEAgSGAI4AUIIdGhpbmtpbmcSDGLKtY5VKKfAoIc5phoM9ew3T8vQuSYHv7QMIjAPb4mgGJQFBoH2twlqCwsj0888c8VflvsUJksN/u0mSBqvExbm8auWDHQYH1RLav4qsAZF8GJoZfqflgbaxDLy3H5NsmBF4kOp9zC/wAcKk92aHOOBafjK/4O0w3GTqYVplXkO8PYdWyHPMaFMFOtICgEKtTqfoZnzPmraN8oRgmCJgAemnxsNBQmm6okLOoZaWTm2F2rbmdVrPkzzqg+OTksM5h8OKMMxqD9gQ4hJMTT7R1/APdhePunBr3qo+Vkv3fr6ZH8G2/jGtAjnHNcZxegY+U6VJwcfMe5vGzfTIONn09eRel3VVVc8moK0aTuFU9Fj6WM36c2YpRERUTFoIwy2WBMK5bRRPlxsOe9MgeXjrG82GQa438Q4iN0nKnw/u3it/EnblsNq9Xkn47+ARZYBF8WvSCnr/42WKpXMHTfx40TUXodp3LQl8gg2jRtDkbGc/TOncYeswpoTya99IsfEeLLSmdN6K7K/mLmCzej2RFzqHSJaf/ajbi2keZzL6MaoCPpmlspwGICiK0TcwCW6QiSMi4+tJv9kFDSrTFQaErPJowRoq45hgHdtSqsS4AS0LfJpx6TnDfkyi/3GZAnznO2Z836bc/LAIJT4Ak73OMyTqIZubYNCU/CYARV7e9386jfsLsYIPfzA1HOxxNl77DnjLZjvajj/9p8KCyIbe2D4AJ5SuUsHZhZ/FAfqhyu8h6FpXcoqV3ti77FIcNJhjkdsQ4fF8AAPNdq/ICJ7RHuOEzV2XgxyBFTNOGVZcUPsRw4fpabb58osuJuVBmIij3Ecnn4DjG3WVYRXMrI9A5RlEDDCHhtzWyY3Gsp5BQ7yMrillJZYzQcv2bKvKtul3X9fgqNILHDPW6K6KRGYbBpCAIvbRZ6Z6umCP1L7rxq9++DHENu83gMPlR+wKU4t+VWqCRJCUsEsHQDgTjcS8LMgmu8JWo60L1EwdFw2ffe8E3WlXDIlV1KO53bKqIsoo/bW+Su/pvxXHoavMhOAb5W0vFYxK04Ox7qqOA3r0je2fTyLo+MHMiC047MEpauhPq+LL1bk4TKQFL7kkXU3stm5Fe7me61qo3FG+WJiJIFo46g1ve6qAVNQ/CaaC17Gs1b8RVxZpgm2Z8v1mXGdCw95/t1Pg4i8gUoUHhZI9f4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019PkKUJYAbHpPfAGpxjuxaM",
      "input": {
        "note": "The pear sits on the jaw column at the bottom of the right wrist view, so it is nearly under the fingertips. Moving 2 cm forward and down to pear mid-height to grasp it.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.01,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_019PkKUJYAbHpPfAGpxjuxaM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.812, 0.6132, -0.4129, -0.0139, -0.033, 0.9987, 0.0166, 1.5673, 0.4194, 0.4957, -0.0055, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2925 left_y=0.0002 left_z=0.1725 left_yaw=-0.0004 left_pitch=-0.0423 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3704 right_y=0.0107 right_z=0.0276 right_yaw=0.0261 right_pitch=-0.0841 right_roll=-0.0076 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.7709, 7.0085, 1.7753, -0.0464, 0.0073, -0.0122, -0.4991, -6.0103, 5.1624, 1.8339, -0.0269, -0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64451fd22cb5fe965cfa0bec1d5206f1b2dbe02a8227e9fe44c83c572b0ad298",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c1cf43f8b7cf96d081efe55241b363ecf06ee2c7e64031a78454c387ee5183f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40abebecccdc296ca632e9f42bb19eb8322dcc061d21a2dfd45ea29fb66ceb58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 4.05 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]: [-0.0185, 0.8005, 0.6136, -0.3824, -0.0143, -0.0296, 0.9988, -0.0227, 0.7994, 0.6186, -0.3874, -0.0216, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0006 left_z=0.1821 left_yaw=-0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2959 right_y=0.0007 right_z=0.1837 right_yaw=0.0001 right_pitch=0.0 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -1.7983, 9.5658, 1.7802, -0.1148, 0.1538, -0.1343, -0.2803, -1.7162, 9.306, 1.873, -0.0269, -0.0415, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8062, 0.6132, -0.4004, -0.0139, -0.0311, 0.9987, 0.0284, 1.1481, 0.6094, -0.0795, 0.0059, -0.0078, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=0.0002 left_z=0.1766 left_yaw=-0.0014 left_pitch=-0.024 left_roll=-0.001 left_gripper=0.9987 right_x=0.3538 right_y=0.0126 right_z=0.1358 right_yaw=0.0258 right_pitch=-0.0501 right_roll=-0.0108 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -1.4701, 7.0769, 1.9365, -0.0513, -0.0415, -0.022, -0.0479, -4.0547, 7.8974, 2.0, 0.1294, 0.2271, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.812, 0.6132, -0.4129, -0.0139, -0.033, 0.9987, 0.0166, 1.5673, 0.4194, 0.4957, -0.0055, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2925 left_y=0.0002 left_z=0.1725 left_yaw=-0.0004 left_pitch=-0.0423 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3704 right_y=0.0107 right_z=0.0276 right_yaw=0.0261 right_pitch=-0.0841 right_roll=-0.0076 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.7709, 7.0085, 1.7753, -0.0464, 0.0073, -0.0122, -0.4991, -6.0103, 5.1624, 1.8339, -0.0269, -0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64451fd22cb5fe965cfa0bec1d5206f1b2dbe02a8227e9fe44c83c572b0ad298",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c1cf43f8b7cf96d081efe55241b363ecf06ee2c7e64031a78454c387ee5183f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40abebecccdc296ca632e9f42bb19eb8322dcc061d21a2dfd45ea29fb66ceb58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Pear fills the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UQEtcv3TArjHLFAnjrqSfc",
      "input": {
        "note": "The pear is right between the right jaws. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UQEtcv3TArjHLFAnjrqSfc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4202, -0.0139, -0.0334, 0.9987, 0.0166, 1.5673, 0.4194, 0.5007, -0.0063, -0.0158, 0.7522]\nstate[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1708 left_yaw=-0.0001 left_pitch=-0.0504 left_roll=-0.0024 left_gripper=0.9987 right_x=0.3712 right_y=0.0109 right_z=0.0286 right_yaw=0.0286 right_pitch=-0.0791 right_roll=-0.0099 right_gripper=0.7522\nstate[joint_eff]: [-0.1709, -1.388, 7.0085, 1.7411, -0.0659, -0.0513, -0.0122, -0.2803, -5.3675, 4.9573, 1.5946, -0.0366, 0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c69d47865783a9ba049073162996f266f777c46794e8e9225bd1ee4177c09ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:924384cf0d650927f1b3efc858eaed8a2f82e6eb484d926f4407d5a33a10003d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:516591e5d4d48a9c543d66bf807ff6d94cd71982736f1e008cd0439fa87f50db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 4.573 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8062, 0.6132, -0.4004, -0.0139, -0.0311, 0.9987, 0.0284, 1.1481, 0.6094, -0.0795, 0.0059, -0.0078, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=0.0002 left_z=0.1766 left_yaw=-0.0014 left_pitch=-0.024 left_roll=-0.001 left_gripper=0.9987 right_x=0.3538 right_y=0.0126 right_z=0.1358 right_yaw=0.0258 right_pitch=-0.0501 right_roll=-0.0108 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -1.4701, 7.0769, 1.9365, -0.0513, -0.0415, -0.022, -0.0479, -4.0547, 7.8974, 2.0, 0.1294, 0.2271, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.812, 0.6132, -0.4129, -0.0139, -0.033, 0.9987, 0.0166, 1.5673, 0.4194, 0.4957, -0.0055, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2925 left_y=0.0002 left_z=0.1725 left_yaw=-0.0004 left_pitch=-0.0423 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3704 right_y=0.0107 right_z=0.0276 right_yaw=0.0261 right_pitch=-0.0841 right_roll=-0.0076 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.7709, 7.0085, 1.7753, -0.0464, 0.0073, -0.0122, -0.4991, -6.0103, 5.1624, 1.8339, -0.0269, -0.1099, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4202, -0.0139, -0.0334, 0.9987, 0.0166, 1.5673, 0.4194, 0.5007, -0.0063, -0.0158, 0.7522]\nstate[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1708 left_yaw=-0.0001 left_pitch=-0.0504 left_roll=-0.0024 left_gripper=0.9987 right_x=0.3712 right_y=0.0109 right_z=0.0286 right_yaw=0.0286 right_pitch=-0.0791 right_roll=-0.0099 right_gripper=0.7522\nstate[joint_eff]: [-0.1709, -1.388, 7.0085, 1.7411, -0.0659, -0.0513, -0.0122, -0.2803, -5.3675, 4.9573, 1.5946, -0.0366, 0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c69d47865783a9ba049073162996f266f777c46794e8e9225bd1ee4177c09ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:924384cf0d650927f1b3efc858eaed8a2f82e6eb484d926f4407d5a33a10003d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:516591e5d4d48a9c543d66bf807ff6d94cd71982736f1e008cd0439fa87f50db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS+wcKEAgSGAI4AUIIdGhpbmtpbmcSDJu1DRTnGMnkGWBJ9BoM9RddklrQqxy9RRp5IjCvDwGSjckwa3KIjGRIwKdn7w+CN+Duf9My9ip/LWRjLfJ5N1+fF9UOOFok/Wpw2tgqmAcjp9qMTYln6LoyunJdITssL6FItorhe/9demQwQqJ9k45kimDOlzvyJxHNZ2dauXbUomdtWVBMnrWaEFzjYSP27I1Q6jWfdbcQZsvnKSnrFLsdBXyTqd7DsgnjPSaJ9Iyx0DfxBKg2MV7H/aZAu4ZrYqJyKl61SF1ouP3BBAjN10rqlKU/phbS/rm2nBXmyMxDlf1MiQmMnyBiaTOv2SZVfoszxz+cqjCJlQFuTfsf4aHWNwl/pdVkbGTI54vE5y20AKbBcd9UgNcAPMRFQP0fs8fwMQkwE6RqbD9ju63ZFUqBE+6JGc/2+n9f869YiLaqoQi2m3ikP/jYji22rH0Oe/cpiIt/E7/lsyN97PVkOo7/DsA+FSu0Ob7TmuKsFeFbxyt1IXPLkdLsGmmpxoJ4GNAg4H+WAvNQohiKSOpBGMWAdi1LDr1K5wWFY4wpSn03LlWD027bKwFFTkoTocg8oVHVXLE9ZMs7agYJW5KE3sJLNcd8AgXpEgXQS4ETaEfRfjNN8BpOvc4oSPoNgbt4rk7x0g7/OMVB3DRU/6AZnfDsBEh0XA6DwPPQ/B4IPLyuuTQyipy65la18q0igDbsDSwZT5x+AdIBKpJZW4QsHvmh54lDA80vV36j0F6Ykwoq/X1WRIAC+PGiZyRkK5QPVDJeM0IE14oic8MhH5rlM6P8AyZDPxPt8EYsa3k5Fx61X90Uzine8N2GAqlDWBffxvvfzd/rsp0crImGQ+c37a7Kbl2N1V0/MvHveyNy4qbAYTXhgYjf5r70MhDjyp+GzBJiPOoCn6XTMV1Sm2HER1Q95eWBPRih6cLUW72UuJ2IO4PUG+3j2/Vd979s9QXLsuxuXuSsallD8pJbNDqTlh72rOWSUgn8ZsIDhtbD0dgtEuDr8Z0P2fRUIPjtDyAXPOTqjcvHb6uFm2IWWbjqVAsPJcOnCPkYyG9DDhajiX4Pq1GIIlT58Xq/J7lcIAmKYZ73bOe9Wh4DtDGzX21d+iB1J0zhLLQFjwDgF1NoEOeZd3RiIKgK6nUlBkrKsxVgoIEZw6P+G3QS+GdOilEOIqG8gAG1UDK4uroutgFYHD/bKun8LPwxk8SC6KGqRxZFwktt+qLSfHW3d7R2s/DVrw3ttfdS5MRY/8fR53PM3VV3DJTg3hYODUwM+U0SWvEYoaKNN+/MFfv7uCdpop+ciDs0Zq7GyAl5MC7LGaAgyZQeet03vl13fxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TK97Z6nrpWYz4uMNbJgKEq",
      "input": {
        "note": "Gripper settled at 0.75 (~7 cm), so the pear is held. Lifting it clear of the table and the bowl rim.",
        "targets": {
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TK97Z6nrpWYz4uMNbJgKEq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.424, -0.0139, -0.0334, 0.9987, 0.017, 1.2152, 0.8089, -0.3183, -0.009, -0.0196, 0.7522]\nstate[eef_state]: left_x=0.291 left_y=0.0002 left_z=0.1701 left_yaw=-0.0001 left_pitch=-0.0542 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3615 right_y=0.0113 right_z=0.1544 right_yaw=0.0335 right_pitch=-0.1565 right_roll=-0.0101 right_gripper=0.7522\nstate[joint_eff]: [-0.1709, -1.3197, 6.9949, 1.8193, -0.0171, -0.0464, -0.0122, -0.2667, -5.6821, 9.6205, 1.9267, -0.0024, -0.0366, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27250f51c8abe0f41e5918e51dabdfdd82e47d159db0952fd0839e0093c2b3e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:958e075b0fb7d184d99495c5cbccf66c565c393aff86c4bd819e64dc5fb035db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b215a9ca311051ebb58a03256750bdab25fc5ac05c4ef6f441258631c67dbb3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 4.677 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.812, 0.6132, -0.4129, -0.0139, -0.033, 0.9987, 0.0166, 1.5673, 0.4194, 0.4957, -0.0055, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2925 left_y=0.0002 left_z=0.1725 left_yaw=-0.0004 left_pitch=-0.0423 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3704 right_y=0.0107 right_z=0.0276 right_yaw=0.0261 right_pitch=-0.0841 right_roll=-0.0076 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.7709, 7.0085, 1.7753, -0.0464, 0.0073, -0.0122, -0.4991, -6.0103, 5.1624, 1.8339, -0.0269, -0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4202, -0.0139, -0.0334, 0.9987, 0.0166, 1.5673, 0.4194, 0.5007, -0.0063, -0.0158, 0.7522]\nstate[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1708 left_yaw=-0.0001 left_pitch=-0.0504 left_roll=-0.0024 left_gripper=0.9987 right_x=0.3712 right_y=0.0109 right_z=0.0286 right_yaw=0.0286 right_pitch=-0.0791 right_roll=-0.0099 right_gripper=0.7522\nstate[joint_eff]: [-0.1709, -1.388, 7.0085, 1.7411, -0.0659, -0.0513, -0.0122, -0.2803, -5.3675, 4.9573, 1.5946, -0.0366, 0.0024, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.424, -0.0139, -0.0334, 0.9987, 0.017, 1.2152, 0.8089, -0.3183, -0.009, -0.0196, 0.7522]\nstate[eef_state]: left_x=0.291 left_y=0.0002 left_z=0.1701 left_yaw=-0.0001 left_pitch=-0.0542 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3615 right_y=0.0113 right_z=0.1544 right_yaw=0.0335 right_pitch=-0.1565 right_roll=-0.0101 right_gripper=0.7522\nstate[joint_eff]: [-0.1709, -1.3197, 6.9949, 1.8193, -0.0171, -0.0464, -0.0122, -0.2667, -5.6821, 9.6205, 1.9267, -0.0024, -0.0366, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27250f51c8abe0f41e5918e51dabdfdd82e47d159db0952fd0839e0093c2b3e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:958e075b0fb7d184d99495c5cbccf66c565c393aff86c4bd819e64dc5fb035db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b215a9ca311051ebb58a03256750bdab25fc5ac05c4ef6f441258631c67dbb3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS6QgKEAgSGAI4AUIIdGhpbmtpbmcSDFbrRFnzbOX63MTxQBoMpX4zf5e0Y7tUHEW/IjAXk7QkLOhj49s7anPVJICFPUVNw61u+1UWZcQx32XE23UfdZvgsAyWea758rEP/F8qhgjm88Q1j5YTpprPGKlUv0YoL2OMyv5zAZsgLk6c92H45nju4jJ6qVjAMaV4fmro9GPGrERfQVjr1BoCOzCTntl0HBIUYS8496Fd9NM05yQeXm0kZOo0L2VTW71/3XEX6gZ0MkQFm0fxzW941sCM5Bg3BwWQHtucRZfHbZCNO0eAvfxydoMPbrez6t5zdZzorEfU0jDbMvArdveNcOhLc+U6p95scZSgcFuziStNI18SvQCdebgg1zpFPtANPa+Ac5GVDGkzuF06vkb+QNQ5BppxN6S5p0La5y2VxK8kCOc5idmc5C1c/MNqnGK4FWPnbyrPrJuxpUry1JfiLgfa6lgjrKXcnVwtddN5qRj7QMPUX5kn2dpQst1FsMlGFXO/i9z3fNlrbEl/RUoEDepig+OzWbjuFLONKd63B3ZuKedLvI2ydRPYrNHV3MJYTrHzhEPN4ickilYjVGxnCJ3tMZE6AV/GWbm78UNBD0ZNCMcpjDpVOzwOZUIValf+jrGCYlo8k+1RclR5szUPH55w1qMRZ77H3BEMCocJxInAwMcHAjyEUX8ashRnuwawmmq+EnU38twYjAXnb0HZgorsX15sFMFor9n5oFNgTaxh3NQG2WLokWnZO49HMt6G+LhjICq9JJWJghqf+8dQm3HQVDc+Ksn4/quRTa39qvb5bzIKewVu+YCrOoAZmQVqGpvKwAeRsDUlOkk0rJmYyRRP1YgRJ6v5CIDFMU51WhUY/3s7cqx7Mv0/RLwFLmHwQPDsVySBHYA/m4k8q1CmOqonicqdVGTxckhYsjDYPN1n/VOtHXAnhw7k/B9ERvhcJk/QsM/RXcw3FOiIVR7b0knDngFWvm+OJUrXuBgjfbSiP2iB8Krx9BBr/gAFqusRc7zmVRmrMfkmDtGuFRpk2dT5N5t9yPXi+I0eeRU1usqkLSGfc265slq9UrNR6/DQX/FrFOjOqbTMpD/bPf8WrP8EC2OtemKVA2K6C/GYFOdnWyfK06nbwGQj4EYUfd1bIx9/YEJdyv0F/FANZpZGU905jCBKzQS7uRUhFAKs2SZYWTDbLD4Ii/rXFEa6gv5iaV/m7Mtv71Iz3CNaAsHLT/hZ/YIUp01aQxb6Kk7lrpYCZuZZBzqMi7ztS3wTaLx3bggyki2N/+yFvHYe1EL7ITUPfVxhfRtPjEbWYmraj7N/9nH6Gb9V5Ne8G1dHknKOIGLOFuUFjsz3+G9H2YsYvdsqrQXrVsd57WTBjTUjX9s/OvUiqofPb3AZfjGOub674c6vgtChJ5VHnc9PBe4O0BP9wmGl+9x2qTEgatrakO0dk0O09fKT3O17etYTupHZcKTqLjYdk3kwavWPA/w50YsicSOho7ejoL3lGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TdN6bLiMRS6jzf5MWUwBPo",
      "input": {
        "note": "Pear is lifted; the blue bowl appears ahead and to the left in the right wrist view. Carrying the pear over the bowl centre.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.08,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01TdN6bLiMRS6jzf5MWUwBPo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4305, -0.0139, -0.0334, 0.9987, 0.2264, 1.5955, 1.1885, -0.3985, 0.1265, 0.0975, 0.7522]\nstate[eef_state]: left_x=0.2902 left_y=0.0002 left_z=0.1684 left_yaw=-0.0001 left_pitch=-0.0622 left_roll=-0.0022 left_gripper=0.9987 right_x=0.4381 right_y=0.0817 right_z=0.1573 right_yaw=0.0613 right_pitch=-0.2293 right_roll=-0.0251 right_gripper=0.7522\nstate[joint_eff]: [-0.1299, -1.4701, 7.159, 1.7265, -0.0708, -0.022, -0.0171, -0.3487, -8.1846, 9.3333, 1.8046, 0.1978, 0.2076, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c02ab3611d26201cb8999b3899eb3558d72b482b6a8a4dc50d3cfdc5391c1d01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a4e2508c05128e483ecf901bbb846890c6feda43da9b943e89f9318148d5c71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4227d98745125ec440971045d4122e266d9c002f2eadfbc764ca39187cd0c3ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 2.703 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.4202, -0.0139, -0.0334, 0.9987, 0.0166, 1.5673, 0.4194, 0.5007, -0.0063, -0.0158, 0.7522]\nstate[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1708 left_yaw=-0.0001 left_pitch=-0.0504 left_roll=-0.0024 left_gripper=0.9987 right_x=0.3712 right_y=0.0109 right_z=0.0286 right_yaw=0.0286 right_pitch=-0.0791 right_roll=-0.0099 right_gripper=0.7522\nstate[joint_eff]: [-0.1709, -1.388, 7.0085, 1.7411, -0.0659, -0.0513, -0.0122, -0.2803, -5.3675, 4.9573, 1.5946, -0.0366, 0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.424, -0.0139, -0.0334, 0.9987, 0.017, 1.2152, 0.8089, -0.3183, -0.009, -0.0196, 0.7522]\nstate[eef_state]: left_x=0.291 left_y=0.0002 left_z=0.1701 left_yaw=-0.0001 left_pitch=-0.0542 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3615 right_y=0.0113 right_z=0.1544 right_yaw=0.0335 right_pitch=-0.1565 right_roll=-0.0101 right_gripper=0.7522\nstate[joint_eff]: [-0.1709, -1.3197, 6.9949, 1.8193, -0.0171, -0.0464, -0.0122, -0.2667, -5.6821, 9.6205, 1.9267, -0.0024, -0.0366, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4305, -0.0139, -0.0334, 0.9987, 0.2264, 1.5955, 1.1885, -0.3985, 0.1265, 0.0975, 0.7522]\nstate[eef_state]: left_x=0.2902 left_y=0.0002 left_z=0.1684 left_yaw=-0.0001 left_pitch=-0.0622 left_roll=-0.0022 left_gripper=0.9987 right_x=0.4381 right_y=0.0817 right_z=0.1573 right_yaw=0.0613 right_pitch=-0.2293 right_roll=-0.0251 right_gripper=0.7522\nstate[joint_eff]: [-0.1299, -1.4701, 7.159, 1.7265, -0.0708, -0.022, -0.0171, -0.3487, -8.1846, 9.3333, 1.8046, 0.1978, 0.2076, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c02ab3611d26201cb8999b3899eb3558d72b482b6a8a4dc50d3cfdc5391c1d01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a4e2508c05128e483ecf901bbb846890c6feda43da9b943e89f9318148d5c71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4227d98745125ec440971045d4122e266d9c002f2eadfbc764ca39187cd0c3ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQStQgKEAgSGAI4AUIIdGhpbmtpbmcSDHdXAz1fA772Imea3hoMBulxRQTqznDq/yeWIjA6FN/0KV6jAy9BPKuVqv7qJ6ph6wNHN50Nq1nF2pP72NZsf8eXJR2JggtMlITQbxcq0gcY6Wp44ygN+2Kpkb7zRNHk0bfJHj32pIojrKZ/3cfYGpmssQErT8zvanIAwABr2fX2PUunyL3+beuMNgQ1oWsx1a9jlaM4wt9p2AzXibY2ecjUUrvmgfRkp9k29qY+q1G2FunjGHG6AOd23e+DTS0wrFqpwUKd94Wq3J/wSpNL7HZhLNuxtBBUwi6bPlbRMKmeqQV0wKa72lBxbBrhuF9BW2Sv+eA/MOs3UuKdzMk959ANGa+FaseDAo3uSdLG7uq5DSnC1YSw2A7pTZFnhLpoWwaKIeb3kK9cuSsLXrUlNJvHYVYnZtxRg4oz7qVl7GCQkzsHO9m380+Rkn+sfDfMe0IizNogH7ifOJ7/vJQaYqe3NHQ7wmzAldags7QF7Zs/nNLfoLfH+KtBv31f/Srj/XD4XrCXlQ4V2/tttxsT+Q5z1XhOfH6yM/Y5/77e8gHxS+TMkySZWXNVElUt8lCSTC40uE42XnNCV1W+i94TCd9m00xpnsomYShEUtAT9hqHaD6KJ9zEkwqnxav48fDhwa/YqHjKqZ6uRmzrKw4xPq3J6rsaXkrNmgR8FJOWnmU++pU6iyNvaAcpBle5YnqbRNrANHMbN+I0oKRwJ0JIMYYU6OWAc7Gd977KCh49IBvaqRDauRqnc0ICL2S188/pUuUnN+YCAWbjdUf2drQ2st+2pAuooSLPhq2fkWKJVPK1zojXpM6Rg1sZxRAayGa6X0QYHuALj1NTDAK1Lzxg8T6DEYdjlg4kU29NBwR+0Tb0XGsHsWeu+x5Z2YzKGsAK7pld/5bYlyIxlizM3FwO1uYBKFovxGXmyhVoT2abWDk+1rsyLukV4ZEGPstVExlc8IJzYKHZxs5p53gHiCewpRhGOk5Dq9zrPfwXahNAsc/LeccLnKLwJacckHdY+pEvZu17gJHAVkR8AT0qAwC4pa3uSFo/aOXeDcVNoWrgk7mhNulr0L/oJy4JmX8Chl4SjvzVYCh5yVvydEbKQ0R79tKl8eYj+sgX1M4RSv6WxAjjbkigQj1ZPW+o9z6ubS838p7JyMbHJdH/O6U37MFR1GQZxJy0cISgVMUUWkwF1daEckRy+0WYh4kp1am/WvJH+JXeIi4hzW1BOOk5jnJznBNay8gQrXDTU697N3ZPFbPZwOpx1kaHVf4mIR434ZeULzYd+8pC+SDZnWw2dVjO2f9/BjOSdVS2Q/3vQOegqYyYwfHMGMEQLB1joXNXtx6gBi4MfNcOyhYCxVcRuhmPzemJcMZpstB1F49EEq1oii4SNk44iMzyZctECGziCeF8OrAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G2ZNVPRVAqzELnsR9Ngavr",
      "input": {
        "note": "The blue bowl is just ahead of the held pear in the wrist view, on the jaw column. Moving slightly forward and down to lower the pear into the bowl.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.08,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01G2ZNVPRVAqzELnsR9Ngavr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4316, -0.0139, -0.0334, 0.9987, 0.2054, 1.7763, 1.1458, -0.2306, 0.1001, 0.07, 0.7522]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1681 left_yaw=-0.0001 left_pitch=-0.0633 left_roll=-0.0022 left_gripper=0.9987 right_x=0.4604 right_y=0.0816 right_z=0.0881 right_yaw=0.0763 right_pitch=-0.2876 right_roll=-0.0329 right_gripper=0.7522\nstate[joint_eff]: [-0.1983, -1.2239, 6.9949, 1.7167, -0.0464, -0.0659, -0.0171, -0.5538, -9.4838, 6.4342, 1.9414, 0.1148, 0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47ccce71819e55d3d3ed80c9cfa014dcbfb9715057e2289e8d8b94c381e66274",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:591db499c96a08cdf1d96d31a9918a3988bf122f0600b1c3e07ee9f5e4b17fbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0ec33fe605957aa7569ebcfd9ffd02f94469bb17f57a7bb46587363d4c87ba95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 4.956 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8127, 0.6132, -0.424, -0.0139, -0.0334, 0.9987, 0.017, 1.2152, 0.8089, -0.3183, -0.009, -0.0196, 0.7522]\nstate[eef_state]: left_x=0.291 left_y=0.0002 left_z=0.1701 left_yaw=-0.0001 left_pitch=-0.0542 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3615 right_y=0.0113 right_z=0.1544 right_yaw=0.0335 right_pitch=-0.1565 right_roll=-0.0101 right_gripper=0.7522\nstate[joint_eff]: [-0.1709, -1.3197, 6.9949, 1.8193, -0.0171, -0.0464, -0.0122, -0.2667, -5.6821, 9.6205, 1.9267, -0.0024, -0.0366, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4305, -0.0139, -0.0334, 0.9987, 0.2264, 1.5955, 1.1885, -0.3985, 0.1265, 0.0975, 0.7522]\nstate[eef_state]: left_x=0.2902 left_y=0.0002 left_z=0.1684 left_yaw=-0.0001 left_pitch=-0.0622 left_roll=-0.0022 left_gripper=0.9987 right_x=0.4381 right_y=0.0817 right_z=0.1573 right_yaw=0.0613 right_pitch=-0.2293 right_roll=-0.0251 right_gripper=0.7522\nstate[joint_eff]: [-0.1299, -1.4701, 7.159, 1.7265, -0.0708, -0.022, -0.0171, -0.3487, -8.1846, 9.3333, 1.8046, 0.1978, 0.2076, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4316, -0.0139, -0.0334, 0.9987, 0.2054, 1.7763, 1.1458, -0.2306, 0.1001, 0.07, 0.7522]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1681 left_yaw=-0.0001 left_pitch=-0.0633 left_roll=-0.0022 left_gripper=0.9987 right_x=0.4604 right_y=0.0816 right_z=0.0881 right_yaw=0.0763 right_pitch=-0.2876 right_roll=-0.0329 right_gripper=0.7522\nstate[joint_eff]: [-0.1983, -1.2239, 6.9949, 1.7167, -0.0464, -0.0659, -0.0171, -0.5538, -9.4838, 6.4342, 1.9414, 0.1148, 0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47ccce71819e55d3d3ed80c9cfa014dcbfb9715057e2289e8d8b94c381e66274",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:591db499c96a08cdf1d96d31a9918a3988bf122f0600b1c3e07ee9f5e4b17fbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ec33fe605957aa7569ebcfd9ffd02f94469bb17f57a7bb46587363d4c87ba95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Pear is over the bowl interior. Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y16PiK8ZbMATrRJKcvUxiK",
      "input": {
        "note": "The pear is inside the blue bowl rim in the wrist view. Opening the gripper to drop it in.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Y16PiK8ZbMATrRJKcvUxiK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8146, 0.6132, -0.4316, -0.0139, -0.0334, 0.9987, 0.2058, 1.7763, 1.1458, -0.2367, 0.0998, 0.0631, 0.9958]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.168 left_yaw=-0.0001 left_pitch=-0.0637 left_roll=-0.0022 left_gripper=0.9987 right_x=0.4593 right_y=0.0816 right_z=0.0871 right_yaw=0.0806 right_pitch=-0.2938 right_roll=-0.038 right_gripper=0.9958\nstate[joint_eff]: [-0.212, -1.1282, 7.1179, 1.6581, -0.0611, -0.0464, -0.0122, -0.3761, -8.8137, 6.5846, 1.4481, -0.0171, 0.0464, -0.1343]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02b79afb6340d72d8ccaf27573d72d84d1154b088b4033ffe337767a5d8aa63e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2f36f42335ef2ec0cbb4c6d0618ca39440e9e6b422a6f75f1e59588286bc312",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:23a0c9a3382b6e2586f1f27d60c4b03d91e54058230b329175feae59aab6fa44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 3.883 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4305, -0.0139, -0.0334, 0.9987, 0.2264, 1.5955, 1.1885, -0.3985, 0.1265, 0.0975, 0.7522]\nstate[eef_state]: left_x=0.2902 left_y=0.0002 left_z=0.1684 left_yaw=-0.0001 left_pitch=-0.0622 left_roll=-0.0022 left_gripper=0.9987 right_x=0.4381 right_y=0.0817 right_z=0.1573 right_yaw=0.0613 right_pitch=-0.2293 right_roll=-0.0251 right_gripper=0.7522\nstate[joint_eff]: [-0.1299, -1.4701, 7.159, 1.7265, -0.0708, -0.022, -0.0171, -0.3487, -8.1846, 9.3333, 1.8046, 0.1978, 0.2076, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4316, -0.0139, -0.0334, 0.9987, 0.2054, 1.7763, 1.1458, -0.2306, 0.1001, 0.07, 0.7522]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1681 left_yaw=-0.0001 left_pitch=-0.0633 left_roll=-0.0022 left_gripper=0.9987 right_x=0.4604 right_y=0.0816 right_z=0.0881 right_yaw=0.0763 right_pitch=-0.2876 right_roll=-0.0329 right_gripper=0.7522\nstate[joint_eff]: [-0.1983, -1.2239, 6.9949, 1.7167, -0.0464, -0.0659, -0.0171, -0.5538, -9.4838, 6.4342, 1.9414, 0.1148, 0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8146, 0.6132, -0.4316, -0.0139, -0.0334, 0.9987, 0.2058, 1.7763, 1.1458, -0.2367, 0.0998, 0.0631, 0.9958]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.168 left_yaw=-0.0001 left_pitch=-0.0637 left_roll=-0.0022 left_gripper=0.9987 right_x=0.4593 right_y=0.0816 right_z=0.0871 right_yaw=0.0806 right_pitch=-0.2938 right_roll=-0.038 right_gripper=0.9958\nstate[joint_eff]: [-0.212, -1.1282, 7.1179, 1.6581, -0.0611, -0.0464, -0.0122, -0.3761, -8.8137, 6.5846, 1.4481, -0.0171, 0.0464, -0.1343]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02b79afb6340d72d8ccaf27573d72d84d1154b088b4033ffe337767a5d8aa63e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2f36f42335ef2ec0cbb4c6d0618ca39440e9e6b422a6f75f1e59588286bc312",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23a0c9a3382b6e2586f1f27d60c4b03d91e54058230b329175feae59aab6fa44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrgoKEAgSGAI4AUIIdGhpbmtpbmcSDCohtzeiAz1eXvY5dBoMVaAJwpq6EdO9WK11IjBkjBuwVZqOZuwiue2TG3zOV0LjoZsM7c9ZQkjU5UiGN03RJxDmQDYlVEfwZTH9sBsqywng/7A/DTSjM08c8IWu0HfgA9g8l1ikfsDA4+SNXSOgcHF0l0TXFeBkgJZU5r3v5OPNOIjstNKxBM2SM3ZhdNu0CVkXo9FCiNEN5SS0tP5k6u+RsAFGcpzLTYr93ocjhvgb1uKJmRmh9wAnrBOpki75u+5DKi3DC04hJOAA6ObS43wSX3INxuPAoj05GJcl10eKW6AB5qtU/4ag2+Kq59faXNaaJGBRK/aAjXQzOn5Xh8eXQr9uzwzSYXyWzFc4E9cL8D6O5B8dL3sFV98d5InPyKpeoUmDMhBP8qY395jGrhe+TfwqA41Txp9DC800SUOScakPGY5uHiP0UnrU9TpA+oPs93tzmKhnyCCxT1uvs+2c7ByDPOPs4u5btRYn/Lqk4I04LsmnaKC11g9VcDrKXej/w1pt8VrHLiKdu5gqraDOZPv9EDvxsR01rlOsqeKRFFHFYl9oHztG98h3Zox47QYSUKV45TxLKRNyTyiCDCsoQxRPirMnexXe5GY5/7ps8SK0T3gvefErfHwLM+6y1wPDueZdk+zMo00WIuTfCSoKYtM4YEPTo3Tjg+8TgFKsKrNFHf8WntJr2uapMpYYHbcRtDFsJnmjMleNtsxarCMLNqvchPZ/p7MeCTNQJuWvwFwVYa9eO04sCr+7cVK8/UhwkllTf9ihmmjn64ZyIHh7kgy9Y2MCLZUVgzVVeQs/UiEBd/g5f+MyAuduba5NRTEzNW+M2j4e1sYbWKappsej+I7dWMehtPSpwvTgIz3NP3DcPGhbLXoORXiJ41uk8wrP+0c1u5kPt9xmmqUXJiTF0N7gja/e8OWixijSpLjEAkD4TD9T9unOt1fP8PemQUTtlEiIe8PPkH/pGESPMcbsKByh7v7RQpJV7pm8sUXK3SbNsdEkVrwxCLNn0as+8W/6uc4NVH0L5WjTzgabYklxfQlpW9cKck35NTRXSC0j6GCugYc+U8Kboq7v+TA2hu4NNxAuKpx/rOHEr9A/NJVG/3UXMrseueXWk1H+dG+WwyvqE8sYjm2nA7sulY2AmJ9Y1PV0MN2AB1p+zl/5cmNoe9o17++sTU0Bijwpj8Q9XWMbMkt4813K4PcN94zDriyhpisAiYnPtofRhQjkk6qS8Qy0ciVZ3dpUgjpa/K++0ZXTjp81YMPI9ddcsnbLf32lfECJ3Ie0B6+vM8iNQLJ/bAdsImQQ+BzAK7/73lMkc7igNOUyWxL1ccFjw/PmyeOYPjT9ewLkG5ffxm9wPQODJmRbBlf5BuRww/X93JeimRRrQnWecuuYe9G+Vij3j9UlDcY2qolQQOmTjVK4Ilc39Bk2TgpbjQVgdtkH7wdyVOcerkgPBbyLmvdIfEJziH3dndIvQIFIRxKQ48w7iS0N02zhpn4OZxFmwatdF5z98RHOAnOiBDIuefA7dPASBfmYwGSyEp5VPsjArjWV6mnl2bniDVBgaBWfE23BFtZvwvaf7Ir6bfca73MgNRlj9ctlXVfP+SfaFVeTgcXhlhZImSJwHL4oZaUo+6DwS/1AZDHOXbMplFzWoyXwvmTUvmrAt6xdKX0Dd7WL0s2meY5zQe3vNRqv/pmkZiAOfGF/bUM9x1K+XJwfex720cg7XDdHloS1zgEkfm8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q2EecbichH9iV8Xi713fCV",
      "input": {
        "note": "Pear is now in the blue bowl. Lifting and moving the right arm over the lemon, which lies about 10 cm left of the bowl.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.18,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Q2EecbichH9iV8Xi713fCV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4423, -0.0139, -0.0334, 0.9987, 0.4965, 1.7454, 1.3094, -0.5037, 0.2569, 0.255, 0.9965]\nstate[eef_state]: left_x=0.2885 left_y=0.0003 left_z=0.1657 left_yaw=-0.0001 left_pitch=-0.0751 left_roll=-0.0019 left_gripper=0.9987 right_x=0.4201 right_y=0.1806 right_z=0.1285 right_yaw=0.1209 right_pitch=-0.3291 right_roll=-0.0541 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -1.1829, 6.9949, 1.7509, -0.0611, -0.0659, -0.0122, 0.1983, -11.0564, 8.7043, 1.2576, 0.2173, 0.105, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15999503ca0f2dd0b1b1e50fa379233059361839da58fbe3a941449d60941e66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73cd7f2962c7dda4ecd23853cdb6bbc434adffa85f32b90a76273407a8a6710e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a14faccc75dba6bf5e418e1c6208ce591af693867b3c22722ee5a71404ed70a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 2.974 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4316, -0.0139, -0.0334, 0.9987, 0.2054, 1.7763, 1.1458, -0.2306, 0.1001, 0.07, 0.7522]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1681 left_yaw=-0.0001 left_pitch=-0.0633 left_roll=-0.0022 left_gripper=0.9987 right_x=0.4604 right_y=0.0816 right_z=0.0881 right_yaw=0.0763 right_pitch=-0.2876 right_roll=-0.0329 right_gripper=0.7522\nstate[joint_eff]: [-0.1983, -1.2239, 6.9949, 1.7167, -0.0464, -0.0659, -0.0171, -0.5538, -9.4838, 6.4342, 1.9414, 0.1148, 0.0464, 1.0281]\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]: [-0.02, 0.8146, 0.6132, -0.4316, -0.0139, -0.0334, 0.9987, 0.2058, 1.7763, 1.1458, -0.2367, 0.0998, 0.0631, 0.9958]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.168 left_yaw=-0.0001 left_pitch=-0.0637 left_roll=-0.0022 left_gripper=0.9987 right_x=0.4593 right_y=0.0816 right_z=0.0871 right_yaw=0.0806 right_pitch=-0.2938 right_roll=-0.038 right_gripper=0.9958\nstate[joint_eff]: [-0.212, -1.1282, 7.1179, 1.6581, -0.0611, -0.0464, -0.0122, -0.3761, -8.8137, 6.5846, 1.4481, -0.0171, 0.0464, -0.1343]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4423, -0.0139, -0.0334, 0.9987, 0.4965, 1.7454, 1.3094, -0.5037, 0.2569, 0.255, 0.9965]\nstate[eef_state]: left_x=0.2885 left_y=0.0003 left_z=0.1657 left_yaw=-0.0001 left_pitch=-0.0751 left_roll=-0.0019 left_gripper=0.9987 right_x=0.4201 right_y=0.1806 right_z=0.1285 right_yaw=0.1209 right_pitch=-0.3291 right_roll=-0.0541 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -1.1829, 6.9949, 1.7509, -0.0611, -0.0659, -0.0122, 0.1983, -11.0564, 8.7043, 1.2576, 0.2173, 0.105, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15999503ca0f2dd0b1b1e50fa379233059361839da58fbe3a941449d60941e66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73cd7f2962c7dda4ecd23853cdb6bbc434adffa85f32b90a76273407a8a6710e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a14faccc75dba6bf5e418e1c6208ce591af693867b3c22722ee5a71404ed70a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS8AcKEAgSGAI4AUIIdGhpbmtpbmcSDGxraggIlM+XHJyp1RoMLN0gozjyvfnNsFSwIjDoLdURlHXIYdQi70yewh5vzg0gjWynEkk1uDf+qhpXqbCr2TF5H3OXyx6HIFsFss4qjQc09I26FVXdfy28rCXlbOs0ppKNefKKZmfUCbDxw9BKdqfefOllvtCGpVuelMdnTmKq5sLnUHKcC9YlyAGTCje0AS8b+iGYbDWxgI2SqelPM4EazoB3tndIt8zJd02r1W/t4Vy/ks33PAtw8xb7xCMq5x2ROqao6d0YyOMu1rzK4pkdYKVu3bvD0scnW0iH2ujEZsrAEOmLA3TORdOuyU02I/ixV3+mtr7HSsCuOxDid+/Gt/jKVNL89R9u4qvC9Nkam1mOyIhRnn9J5ISdWnw1XXQQP3gOqU8VWyI4UvtfBzWKKUIQ7l7h1k9h3B42Fvctf/JV1i8oj9Dc52sB5vkuoHhoRBaQLYRPWR7D7dUBcLTED5d3nbp8NaHyAzLyKEibHVUmA1/xSK+OtxRI686VYXy77gayqofH1mpFwqJoqYI4VX+Jp7xmEd/DkvsKlRFA0p02PdPwHP8+J/NWSuSepbGuggmYDa7iIHKhCdV74h+nhEZ78xDZg3UJdhZnay9zHH9psoyrPWt5NObT1f4x6TmayL9M8psW84ElhXP9v5Ir8Hz30QrfG7PwBVNSBXqpg4WZcnqIQWA9FDu2FtzopAIEW9uUElNbDua5dooWCK5MmH9Ps8zcMhanZ3/8bUspR3+0PtWQGBohq2xbbrqTY0/LTWlIn0D0/5t6/r7Dw16ahTm/Am7LoWmBY5pa4iIXdlw8PXDiydaXHvjguGk8yFz+2yMqkCVIWx+6aZtzIvEDylaS3HjInO6DD5C9OIgR4FgwVSlcYRR/D2V1kpp4GgMLgS48/cLGftmyxK5wo04nW6Dg1j+PX1AeX16rS3SvlQDH+hqwGRXAh+OEpeurLi+XpnnaslwSw4V07bO8id02G4bB+k1hCHJ1ACH2gHo6MdOnUGkPjnXpYUnVsfGMHn1UxG/9TvPvaHLf62/MGB6h1r7/Iiz0CwdgTGFvr6vRidyuBHdlmBHV7De4xVhWTaeUvfR2weAMGTmaVjjI3+wPxWWATFmd1HfnMKGBSGZa+eZaHE7+MwDaOpw3f8Vd9XwzYD1/Oi/vw12ck8kVA6L39glrhVLRpZ3HP7T/VWgUrZw1WWBx1q1P9Ub0fVZrmq+uTj8HE/5Uklm5+xbM5BqILwfZ/FwJ0oA5NZoh+YDKEIdfkkmOA45u/aLDK2wdKrkxLdrEmFU4Hc11cQA9ZHpBJlsxps96HGav6JcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014Cnrg5Eg2MuwMcNWpVUpy4",
      "input": {
        "note": "The lemon is just ahead and slightly left of the jaw column, lying lengthwise toward the camera so the jaws can close across it. Nudging left and forward and descending to lemon mid-height.",
        "targets": {
          "right_x": 0.435,
          "right_y": 0.19,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_014Cnrg5Eg2MuwMcNWpVUpy4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4469, -0.0139, -0.0334, 0.9987, 0.4992, 1.9465, 1.145, -0.1787, 0.2577, 0.2577, 0.9965]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1648 left_yaw=-0.0001 left_pitch=-0.0797 left_roll=-0.0018 left_gripper=0.9987 right_x=0.4277 right_y=0.186 right_z=0.0234 right_yaw=0.1159 right_pitch=-0.3663 right_roll=-0.0689 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.3333, 7.1453, 1.6777, -0.0366, -0.0562, -0.0122, -0.0205, -8.9504, 5.2308, 1.5018, 0.0855, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c194eb5f53bbe2edd43e358db491b4e8db37c71a0f860d76b4a2aed010816f03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac8371c47e7dad71f562b43392c87d1fed0c342390c133d493bd9a0191f0bcf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3803d62b331945e3a57aaf0b60dac50f747e819f7858855f56879daf1604d64e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 3.613 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8146, 0.6132, -0.4316, -0.0139, -0.0334, 0.9987, 0.2058, 1.7763, 1.1458, -0.2367, 0.0998, 0.0631, 0.9958]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.168 left_yaw=-0.0001 left_pitch=-0.0637 left_roll=-0.0022 left_gripper=0.9987 right_x=0.4593 right_y=0.0816 right_z=0.0871 right_yaw=0.0806 right_pitch=-0.2938 right_roll=-0.038 right_gripper=0.9958\nstate[joint_eff]: [-0.212, -1.1282, 7.1179, 1.6581, -0.0611, -0.0464, -0.0122, -0.3761, -8.8137, 6.5846, 1.4481, -0.0171, 0.0464, -0.1343]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4423, -0.0139, -0.0334, 0.9987, 0.4965, 1.7454, 1.3094, -0.5037, 0.2569, 0.255, 0.9965]\nstate[eef_state]: left_x=0.2885 left_y=0.0003 left_z=0.1657 left_yaw=-0.0001 left_pitch=-0.0751 left_roll=-0.0019 left_gripper=0.9987 right_x=0.4201 right_y=0.1806 right_z=0.1285 right_yaw=0.1209 right_pitch=-0.3291 right_roll=-0.0541 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -1.1829, 6.9949, 1.7509, -0.0611, -0.0659, -0.0122, 0.1983, -11.0564, 8.7043, 1.2576, 0.2173, 0.105, 0.0611]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4469, -0.0139, -0.0334, 0.9987, 0.4992, 1.9465, 1.145, -0.1787, 0.2577, 0.2577, 0.9965]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1648 left_yaw=-0.0001 left_pitch=-0.0797 left_roll=-0.0018 left_gripper=0.9987 right_x=0.4277 right_y=0.186 right_z=0.0234 right_yaw=0.1159 right_pitch=-0.3663 right_roll=-0.0689 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.3333, 7.1453, 1.6777, -0.0366, -0.0562, -0.0122, -0.0205, -8.9504, 5.2308, 1.5018, 0.0855, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c194eb5f53bbe2edd43e358db491b4e8db37c71a0f860d76b4a2aed010816f03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac8371c47e7dad71f562b43392c87d1fed0c342390c133d493bd9a0191f0bcf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3803d62b331945e3a57aaf0b60dac50f747e819f7858855f56879daf1604d64e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS5AYKEAgSGAI4AUIIdGhpbmtpbmcSDCXo27ZekpX7hqn3HBoM+ow6IOLaAncbs3H+IjDHRE0ObNgTrJ8njwmm7Rm38Y1F2vwFmc10KhggB4V6KcgZlO9acg5TQlyZAOMNCv8qgQbapX7CrP4j9I2zgLfjI4qDuDQ5A3VtXf0Wbm92pvxZy5q3HHtELAdCeNHr7SU6Yz4hoGZaNHvQ2NpgQuOwhu6aPcH400NZmblEZtAYIws5CbK7hX3aJ4jdYlP9h/SEzM6iGAmgEXfcu6Sy1jkxrKaLsNyD73QVj5FraH4trBmCaCdABCj+TZLuqcLYGy0ribaWL2muQej1YVROF5uiclB/TdKb/JwMn4KJylUWAfeeHTg9olHa/2ztc2hATO4d1ZetCds0dwRhlEimU58h8zfdUrScqflsCStuzW2KD+ABvOIrqO9l/FiE19KGgaMkx5BjzMj4gfJHnVjAOlWnuVqjfxJnSYtHvbUaaxnPNH1tln9ZImaopV3NNZoJPO51i8uXULGuePlV3NOsnfYfQ8SR9Ba1V0idmOEmDBbF8hzN82mQ8BiJneEByR6Y8FaUTIthPJzNNMcClVQMQx0t36V6KO0TlrZbRLdvNF4zVPCw3yEsO0imNTBOAvhI7FULQrjsV9xwdaf8egPUC99jtLcwAKflN7h1lSAL/XViZ16CZYL+IkkePHPszW2FcHboeIReA7af1WiLF+nxWVXz7cSEXMhmqwPNRuKvKNidC5IcuVFzC7QDtRz7GrzTz/Dha6Yh7153ti6wPxa3jwF2Rqjxsg4/VIAp6AXimh04EcOTHDy4BDqj9rRrJuOlSIYlKjvHRvtAnifFcO/iDmZ+F3WJWL0U6AdzvZaCDDrzIKonFGw6p2eX84groNbTTxCEWb/zoEnFpzjJvzS1Xb5ULyt/X5tl/ffc+2gAIeElyvvuf2O6xMSgS+BNHB1ebtZhJQfdgAh/7wlmv2Yen+yeqcS5428AcQLPtU1jfXpXPbz4DlkrS+DRVoyQ5iFAjE5qvXlvSLXKKhoP60YuazLKHLZHzetKUSWtbm8VPyziDFWoBVbh5kdprrMKd3ZU88csrMj6qwfWlQ78fQPNwMzwoAaoZNKpXLDDOs7XMA2I3vC/OWzyriuB1oUfgaoBln1r4akcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GGwkDc1bbbKaGjuwSZALXz",
      "input": {
        "note": "The lemon sits centred between the right jaws. Closing to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GGwkDc1bbbKaGjuwSZALXz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.45, -0.0139, -0.0334, 0.9987, 0.4992, 1.9598, 1.1397, -0.1673, 0.2646, 0.2462, 0.5176]\nstate[eef_state]: left_x=0.2873 left_y=0.0003 left_z=0.1642 left_yaw=-0.0001 left_pitch=-0.0828 left_roll=-0.0018 left_gripper=0.9987 right_x=0.4275 right_y=0.1845 right_z=0.0174 right_yaw=0.1156 right_pitch=-0.3714 right_roll=-0.0848 right_gripper=0.5176\nstate[joint_eff]: [-0.253, -1.3333, 7.2684, 1.6728, -0.0513, -0.0317, -0.0122, -0.0342, -11.1248, 6.3385, 1.1209, 0.0171, 0.0415, 1.0037]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a0daea057f561b4190f109e18789a8c600f0df1c28ef97c74d45dcb321e2050",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ae51a0c74ca528521450a287c55950bed309f41921c428b8dfd44b46ee549a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b1fee729217e95457869de55571878cdf4bce99d75674d3326ee541740f604f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 5.55 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4423, -0.0139, -0.0334, 0.9987, 0.4965, 1.7454, 1.3094, -0.5037, 0.2569, 0.255, 0.9965]\nstate[eef_state]: left_x=0.2885 left_y=0.0003 left_z=0.1657 left_yaw=-0.0001 left_pitch=-0.0751 left_roll=-0.0019 left_gripper=0.9987 right_x=0.4201 right_y=0.1806 right_z=0.1285 right_yaw=0.1209 right_pitch=-0.3291 right_roll=-0.0541 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -1.1829, 6.9949, 1.7509, -0.0611, -0.0659, -0.0122, 0.1983, -11.0564, 8.7043, 1.2576, 0.2173, 0.105, 0.0611]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4469, -0.0139, -0.0334, 0.9987, 0.4992, 1.9465, 1.145, -0.1787, 0.2577, 0.2577, 0.9965]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1648 left_yaw=-0.0001 left_pitch=-0.0797 left_roll=-0.0018 left_gripper=0.9987 right_x=0.4277 right_y=0.186 right_z=0.0234 right_yaw=0.1159 right_pitch=-0.3663 right_roll=-0.0689 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.3333, 7.1453, 1.6777, -0.0366, -0.0562, -0.0122, -0.0205, -8.9504, 5.2308, 1.5018, 0.0855, -0.0073, -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 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.45, -0.0139, -0.0334, 0.9987, 0.4992, 1.9598, 1.1397, -0.1673, 0.2646, 0.2462, 0.5176]\nstate[eef_state]: left_x=0.2873 left_y=0.0003 left_z=0.1642 left_yaw=-0.0001 left_pitch=-0.0828 left_roll=-0.0018 left_gripper=0.9987 right_x=0.4275 right_y=0.1845 right_z=0.0174 right_yaw=0.1156 right_pitch=-0.3714 right_roll=-0.0848 right_gripper=0.5176\nstate[joint_eff]: [-0.253, -1.3333, 7.2684, 1.6728, -0.0513, -0.0317, -0.0122, -0.0342, -11.1248, 6.3385, 1.1209, 0.0171, 0.0415, 1.0037]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a0daea057f561b4190f109e18789a8c600f0df1c28ef97c74d45dcb321e2050",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ae51a0c74ca528521450a287c55950bed309f41921c428b8dfd44b46ee549a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b1fee729217e95457869de55571878cdf4bce99d75674d3326ee541740f604f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS1QcKEAgSGAI4AUIIdGhpbmtpbmcSDIyKZES/qD4E7bWZ5BoMpgh3k/dwG8gyx24fIjDmMaz49+6nas/N6klgJ+Qb7bBFT1X4qzLg5eUmn8/luNE5OATtd9Zwq/PiIP8b1mAq8gYf4prKsRYY2/SBrQMs6+xwX5IU9NFMfbAB/L7ZrMjSwSfuIs1i3i+NklEhZ+Hhc/uIJ36hd5w/Pl3ZO/Q2U72Pq0iJpIzAmWA8qpaglawFyC/PkpzitRwQSdVNN0+yInXrdaUx1ugAQ9lzQfwReChhBfBTXWWb4eU6FALYGDPM3aggF2LKAkM10l6qXfw5c9c6Z11vGMqvQx60rArMnL4pAXmw+7OrD6LvZwbhR+g2Jl3DnQZXsXsO+cV0pdb4IYbae0PE9wFNClz7S5LEaOzrem11uFPakVuqmTfdgyp4MJdTntS643IqqdGG7+6LCGcgTYQoVtXEUcOH2ptC5d4Z5x9++NRg+Qs8Nco1WzNvPhrkoM0bNIOML8odYCJkw3SOMVeGoSqWrND5WTL3GVCqxW3TWjMaLX88lbje8UYhA7T7eKflPDBdjB/7EmRPkysu2iDD2H3Fna10JsLpkviEpuabnMN0TziPVAN/R0gHcycqdApJ1Yze5Yp7uS7Ts4GeTdhzD/P1hVBZ16i4ErtyT/31qY9AYOYaFWe+RbaqwZKaTcFGXJ8yyL2IeGS1MtDnx62F5fFCst+bJfWLaMv+8BRFh/B9XjyGQeWweS9YGHenntxJCeeZxwNEX0x/vldVx3UFQEobsisIfdj+K9NeVwzdsoqdw4z+TPWUi+0qH2uhU5f72HAfE/KoGjCMWtJIBHulpbYjydvzLBcPkG+7WYqfFKMgREmXmAmyHxmls7lacrg4TPkQVyIlUE2wnol5hvAg0F9o8C8OlCpFdsLoURxAshjPyxvSzvmLPPdvdMGD2gm1KUajGN+DYbx6co0a2QuE30m5UlbGf3NX46sM396V/QrXj7GJiOdAXVkmJwr9Uwd3+7KyCU5h3sOJlzB9KjijKzgnwJbl/oskzZlmmSKfK8J5yP5X9OJDR7ooBHeozyO7sLfe7pvPH6r7rJZgZlm65sgySa1xrbC1wcTaG03Ygl3iIyU2YRvTEerRk9bp3MtwHzIqsYHy+PzbG1tAqmknLkpMbkVtRDgM5HDPkmEDuWkfVhDFR5wJiZ8N19pXu5H0NB0gr20ve10kOGgixqx9kz7tvhVOw6JWdLXLovvqJdCGNfQ/lWzkmp6JuNr6+dpG4Ksf1vaxTrJb8e2EBUA3cIW0x5AxqEXVCutVkKUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RCVE5KkEyBDsM4W46YRQbS",
      "input": {
        "note": "Gripper settled at 0.52 (~5 cm), so the lemon is held. Lifting it and carrying it over the blue bowl, which is just to the right.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.1,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RCVE5KkEyBDsM4W46YRQbS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4538, -0.0139, -0.0334, 0.9987, 0.2699, 1.7874, 1.4414, -0.6662, 0.1284, 0.0647, 0.5194]\nstate[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1635 left_yaw=-0.0001 left_pitch=-0.0866 left_roll=-0.0017 left_gripper=0.9987 right_x=0.4461 right_y=0.1037 right_z=0.1353 right_yaw=0.1103 right_pitch=-0.434 right_roll=-0.0835 right_gripper=0.5194\nstate[joint_eff]: [-0.0889, -0.9641, 6.9675, 1.6923, -0.0513, -0.0562, -0.0171, -0.2393, -12.6701, 9.0598, 1.5311, 0.1343, 0.0171, 0.6618]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4fa1c90a149dccdb639ed2c73d0128404d092ec0b84ef667a7ec4eb156b51aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59d07997c2c53d9a1fe7f93249793b974791a7f1678f38e47306c8fc04b25da3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08ce02cc38f596eaefa4863e0e4325d8ac244f1dc48527abe525e6a1ccfaa206",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 5.431 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4469, -0.0139, -0.0334, 0.9987, 0.4992, 1.9465, 1.145, -0.1787, 0.2577, 0.2577, 0.9965]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1648 left_yaw=-0.0001 left_pitch=-0.0797 left_roll=-0.0018 left_gripper=0.9987 right_x=0.4277 right_y=0.186 right_z=0.0234 right_yaw=0.1159 right_pitch=-0.3663 right_roll=-0.0689 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.3333, 7.1453, 1.6777, -0.0366, -0.0562, -0.0122, -0.0205, -8.9504, 5.2308, 1.5018, 0.0855, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.45, -0.0139, -0.0334, 0.9987, 0.4992, 1.9598, 1.1397, -0.1673, 0.2646, 0.2462, 0.5176]\nstate[eef_state]: left_x=0.2873 left_y=0.0003 left_z=0.1642 left_yaw=-0.0001 left_pitch=-0.0828 left_roll=-0.0018 left_gripper=0.9987 right_x=0.4275 right_y=0.1845 right_z=0.0174 right_yaw=0.1156 right_pitch=-0.3714 right_roll=-0.0848 right_gripper=0.5176\nstate[joint_eff]: [-0.253, -1.3333, 7.2684, 1.6728, -0.0513, -0.0317, -0.0122, -0.0342, -11.1248, 6.3385, 1.1209, 0.0171, 0.0415, 1.0037]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4538, -0.0139, -0.0334, 0.9987, 0.2699, 1.7874, 1.4414, -0.6662, 0.1284, 0.0647, 0.5194]\nstate[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1635 left_yaw=-0.0001 left_pitch=-0.0866 left_roll=-0.0017 left_gripper=0.9987 right_x=0.4461 right_y=0.1037 right_z=0.1353 right_yaw=0.1103 right_pitch=-0.434 right_roll=-0.0835 right_gripper=0.5194\nstate[joint_eff]: [-0.0889, -0.9641, 6.9675, 1.6923, -0.0513, -0.0562, -0.0171, -0.2393, -12.6701, 9.0598, 1.5311, 0.1343, 0.0171, 0.6618]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4fa1c90a149dccdb639ed2c73d0128404d092ec0b84ef667a7ec4eb156b51aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59d07997c2c53d9a1fe7f93249793b974791a7f1678f38e47306c8fc04b25da3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08ce02cc38f596eaefa4863e0e4325d8ac244f1dc48527abe525e6a1ccfaa206",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSpAsKEAgSGAI4AUIIdGhpbmtpbmcSDFbB3Ig/OzYHWwUL2xoMezkL3f0kSdTSh9nwIjBKTLSyzQ7gPp1w8AA+Opzwcn2A8PdXA4YFRWLXlfxPWLXNSlL+tjbcHV0ggNhiTSIqwQorBv577UQ3V6WbhtjM3Do4FJfQ2sxGMkq4fnrQ9TmK4rBQkkV9DXM7EFsAK2FMR7vtiLw32L0T4QA8p2TwBvq3NmxVrmD7cASmJEwp5/UjDJt81V+XYZgA5iIfzEXNAecoLfNsKG8VSaDa9IbkG9WjkC1I5J90S3Nirocnbf00Jl5kbrWNqXZWFIO20wJnvgytm96quEoQJ0fiYJC3SzIJvRmmd8HUGBhjzgUnvcRZQfYjw5H4lQu+UnT2jNz2wWb5FpQzbC9qOUUde+m+OKm2AmjCWrDQu1RNpwEE9N0vUdB3w3vKAZFUKLuSCGQKdaN//avD+v2Elc/e2dUXI/uIyKbANMgajF608TURAJqdw6OiCoFYt2e0QFV9UIrebET/bNZI3v8BcqZav02Wn30m4UaYUM7P4YhEkVQOoO+zQNUH5w5rLHzak7shk69NB4tWdxY/7tu+BeeqL3AvA//YiMym3Ixh0PADrFNyeOk+KGsrzmSC50x+6DEPgq30vRJRygwOyGTKLvpDVHU4y+aTOxQW5QcaGvPqg5BNuOStMzxOwsPWGQYvlWwHKqY0nnhGMzQDwIw+HCk7Jgxg90LHXGmpBFplCcDyppBDN4vdc1EDjz5ryb8ASD+mZn+xLw5XT6wSQuawga1hxP63fG6og6W5tpkOg89qTap4iLL2HBFb0XxGWuNe4JJEpykaBj+e/Xurp1gwS/O3nB+3sHZOq79IdtIpKvaf0XRmK4MRbPayC8YC5KpATRRZLooAjKcbkYjyyifoYk0YcvHiVhM3cPL2Oc99NAf7E+gmj93hJZri0gZ/tqrR0iBxaoiDg18C41oilLgIfBh/NH61/Bc1CJL/GPib2HpAw6sBRty2aYgdeqn1qRBQ+PaK8/e7H/kX3bUFMWBSAFJv5o/qolOSd+pZroI8Lyx4f6+iSP9kyd5V3wKW3C7FkEeNSH66oCTZiZaqCzDqbjlCnrHmS0lYJ20/AKr9HAtyTrpGZ65niAhlWAkbV2w+5nFnbSORM/bcpcQ+4jNhDV0AjGMBxQTzXUKx9Ak2H2cEq8Iess25OduZSif2Xfj+rpA68d7oCIUrJyUzZnYS6xAxMf6eEJerVie6WVpNVDWGRxDBjhgm4N3Qzbe0ZBb3WaNKp9q82s4MGAwwopzhfDvqwVnQKbFUnMlS0G2sRGwjJb8hWLe6+qEUdSAeQe7O4WJjw4ROaJ7H+6eMLXLn0Vn8ailVD2Fd9eh7Bb6LaquTNXl0nNtp3rW2jgUsce3mTO640Aq9lFBzaAvU9QqH0LfLHDIzLE2OsYPl0fjyJ7IbAGehnIviGPwwrPCgdInmpyyA0IaAC5TZBzWXIL7mWVoy3DdXzhIEEtq3uA9rM2Xgp8kBCmF4A2Nc5hKE56ABhCgvM/QVouw4qYYncCG4AHbA2LEaOGYtr4ZONEDqJ4e9dofEn+mBkcSXchOF8gmADFRwwnvOJVPfItC3ONiegcnmtd2DKR3Jkr2VTtwyvQARfowU/3oukmnjJOLJX/de3AdU92SZBW41xqELvZkC7vnGqD1yYm0PC6qJJGwaYTVD4Qc/EUINhoPbN8tz1+DZdzP5XdQptVSLjLbxHLfvyzzmMx08di0FWC0gnPeB81a1X5U2tIfoeF5Z9AGNfOSZzIh/Zudo+BQg7iMITHKrflYOamn5oktItc4ujvV9leLBLh4SLm8uTp7P29yGfViJ5tCpA7Mo0gsVhLfzxCKxOKMVlkE2dLzgfIZNaqQOhn8BCBhDyTPOh33FePqJbe4UswphWs4gj5sKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016QdqE6txq5quQ76GtJyn9V",
      "input": {
        "note": "The lemon is carried over the blue bowl area (the arm hides the bowl in the top view). Lowering toward the bowl to release it.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.09,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_016QdqE6txq5quQ76GtJyn9V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4683, -0.0135, -0.0334, 0.9987, 0.2359, 1.8297, 1.3876, -0.6109, 0.102, 0.0395, 0.5217]\nstate[eef_state]: left_x=0.2846 left_y=0.0003 left_z=0.1606 left_yaw=-0.0004 left_pitch=-0.1011 left_roll=-0.0016 left_gripper=0.9987 right_x=0.4471 right_y=0.0927 right_z=0.1031 right_yaw=0.1131 right_pitch=-0.4787 right_roll=-0.0796 right_gripper=0.5217\nstate[joint_eff]: [-0.3214, -1.2923, 6.9675, 1.7705, -0.0269, -0.0757, -0.0122, -0.4581, -9.5795, 6.9265, 1.5165, 0.1148, -0.1685, 0.4518]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcd27092f743481ec4f0adf0cdf99ecb6b2b15d947bafc273b1558c397498d73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a87494d8fb89b504b56654e0a134710a35724da91e1b0ef610a54e12e5432e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:923c1f608bec0214fd582c07c81c6f686e98e8ea449b1c0bde7720708f17131d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 10.45 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.45, -0.0139, -0.0334, 0.9987, 0.4992, 1.9598, 1.1397, -0.1673, 0.2646, 0.2462, 0.5176]\nstate[eef_state]: left_x=0.2873 left_y=0.0003 left_z=0.1642 left_yaw=-0.0001 left_pitch=-0.0828 left_roll=-0.0018 left_gripper=0.9987 right_x=0.4275 right_y=0.1845 right_z=0.0174 right_yaw=0.1156 right_pitch=-0.3714 right_roll=-0.0848 right_gripper=0.5176\nstate[joint_eff]: [-0.253, -1.3333, 7.2684, 1.6728, -0.0513, -0.0317, -0.0122, -0.0342, -11.1248, 6.3385, 1.1209, 0.0171, 0.0415, 1.0037]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4538, -0.0139, -0.0334, 0.9987, 0.2699, 1.7874, 1.4414, -0.6662, 0.1284, 0.0647, 0.5194]\nstate[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1635 left_yaw=-0.0001 left_pitch=-0.0866 left_roll=-0.0017 left_gripper=0.9987 right_x=0.4461 right_y=0.1037 right_z=0.1353 right_yaw=0.1103 right_pitch=-0.434 right_roll=-0.0835 right_gripper=0.5194\nstate[joint_eff]: [-0.0889, -0.9641, 6.9675, 1.6923, -0.0513, -0.0562, -0.0171, -0.2393, -12.6701, 9.0598, 1.5311, 0.1343, 0.0171, 0.6618]\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 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4683, -0.0135, -0.0334, 0.9987, 0.2359, 1.8297, 1.3876, -0.6109, 0.102, 0.0395, 0.5217]\nstate[eef_state]: left_x=0.2846 left_y=0.0003 left_z=0.1606 left_yaw=-0.0004 left_pitch=-0.1011 left_roll=-0.0016 left_gripper=0.9987 right_x=0.4471 right_y=0.0927 right_z=0.1031 right_yaw=0.1131 right_pitch=-0.4787 right_roll=-0.0796 right_gripper=0.5217\nstate[joint_eff]: [-0.3214, -1.2923, 6.9675, 1.7705, -0.0269, -0.0757, -0.0122, -0.4581, -9.5795, 6.9265, 1.5165, 0.1148, -0.1685, 0.4518]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcd27092f743481ec4f0adf0cdf99ecb6b2b15d947bafc273b1558c397498d73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a87494d8fb89b504b56654e0a134710a35724da91e1b0ef610a54e12e5432e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:923c1f608bec0214fd582c07c81c6f686e98e8ea449b1c0bde7720708f17131d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSzgsKEAgSGAI4AUIIdGhpbmtpbmcSDBPPhU2AO7qCJvSqgxoMkgCA7iCi4litHD5rIjCoNA1C4P7KiMy2G2DLx/Q3WklqPQKtkJDchBux1zE7mUs23yPoNOAFxIIXNCWe4kAq6wrj0lrU3UioOrHXxi9rcra6kcwxIhil/hUu6gWz9/m0H8ZFqY/x2XggHsn0R7JeB1wHj8WmgKaI/k6Z8+o+DUZxywI1NXLywOVm1zEvsv6Gmh7SAe7lPJPlvuto6mijX8q3fZPixoZOHtJORmiJSupktBO0bIefmrbXcHY4OZVgzZy8BbPP57FGgMd3Yw9JA043Qh4kDk3ypGcAQVJZxtrnwQrjI/66AFYfyu1wuuWoyglvr/jHeeEhyOsx4VqpgpiP1P+Jtora3YZpCFZQsFtdPOgSksCGds+gKZ/obev7Owj2EfLCbnPH7Yvtv+zOXcVdMynvFSK3Xq36pycXH8tFpdVOX6Igg2RwU9iQtYb7BublXI3zaer6MGQ5Ctnzjn7Ckko7dR1OL3SHilfhLLxMZ693rKKKxXM+Gk3/OFKl6QlG75LcjSk+bZKXy3/3R3o5/9aJq1DXHllsqznItL9xM4flb3iWRI45Cyn5zZOeasPHahruUjd3PPP9ZoZPlT359rmAGfgUMW8tFJ8xI07943YTxGlGvJbhpQFnJ2IgwTaLZcWcBYjbi1+zWYEMOLcziEYtyOhQvufhVhvx9h7x/LBP/TbBhpxSjW8BCm/u3P1/b4DgbVGe1rQNYM8m+am7E9trirc4nHxvVj9jB4KzuIBl3KqDh8WTs7aJkt9EY1i41XSnK2+qtriJFoWVCeRLmAK80UfJnWsosVzS/simnSMXvp2mk7CPjrcQVGLWkn9oUJ2fcyFmJpqVx0q9gxuQu7IoaxJ+HT6arBZMHCixM9JXmezyLa3uuaauU2AzkB1+ClLpdlCWkdwleyqOUiE819pzKvIE+p5ALS8hbfINSU3aT0M2VZEXCHWkmIxCjj4O6olvRzZnxAqc817rtHaI3jBOQ+fa387DskN6YKSb0A/z5lnHmwvYH+b91toMFeo26EVqOSjbqbGKLBFMtgJLuKjmD62CT6x8+9FnxWK/B08Om/aXoeyGYbzMl7icFVK/6xGu4oHzhJtbeXATk2dssXob2NmLe51byfm+zhJigLSCSpjMRFGba6nWcuRx7qcvY7Ypo4/6EG3qo8tcnvNIu6edyhCucGIGGmAH3Zt1QXvNLLaZ7dG5Ad8XFxEGe+Gvhp/ucZRSigLYGxhS2RX0TUDNYR58UL1LcSt8H/uSVCPh1jjX6pRFaeSQOEtuG5auLtWreYWEXwfmcUZQ57nvT+E0mpMNuejjHNIfc+xCbm1xhwY2SCW0FB3jL8Z+TOS4G94q86klEKEF/UOOlX0bnBOZDn58WRhrfR5B9fC2qRwHNZ2OWY4XkMO440vwoXkeQvgqmJDbqtRPwcEHOURqO3LGQZZCjYk5+ZW/+SUD2Qhm/5LHJLTrI1o3eIq6dOiMzM8YwgRH6Kkbbksw9r5H1IoFfH9y/3FNp2JbG2mnhwFPNhYbi+AXfm0qW4djZejb1NPkccXYcwtHcVknZ1FdxcCCJRL9PmRCYhK8xW4BfVuIqOwqDlkiJeqGGbcAs2K2SFJWjjgNKeBBg923Jgig7pdRneaZ2UZdl0sCCCU4w+o81S5Sh0kgnMOZAmtfHUppDWAsNrsOdkjgZOO/80SVKpq6UHpJ8XuqKgxpx7/5mKaUBTPOaKzO/zvsdaSns52alVisvK/vqs0O40cz//OCNh+7sxE4jdDBHrjfFE/i3U5Nn1M0s4I/xzvTWMkzGq9lYDQna+JreR6O9m4FqQas8kyHlzfzlvkQYcqVVoTGF3UB+DpTk0BiT7pM3mMdpc06jnUPX056Hs3LfOGY2AL9NtLEqWsb4NFdtyBSg0mxoVnEOxOKONSv3QvRM0NoRWY12te45PoJxDUNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SsWXg8PPg3MJ2K561bb1CX",
      "input": {
        "note": "The right arm is at nearly the same spot where the pear dropped into the blue bowl, about 10 cm above it. Opening to release the lemon into the bowl.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01SsWXg8PPg3MJ2K561bb1CX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4721, -0.0139, -0.0334, 0.9987, 0.226, 1.8702, 1.3617, -0.5652, 0.099, 0.0162, 0.9955]\nstate[eef_state]: left_x=0.284 left_y=0.0004 left_z=0.1599 left_yaw=-0.0001 left_pitch=-0.1049 left_roll=-0.0013 left_gripper=0.9987 right_x=0.4498 right_y=0.0892 right_z=0.0814 right_yaw=0.1189 right_pitch=-0.5005 right_roll=-0.0922 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.3197, 6.9675, 1.7411, -0.0611, -0.0464, -0.0122, -0.4444, -11.6991, 7.5145, 1.4335, 0.0464, 0.1197, 0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1b089b3514aadd274075ab1b9374e490313292d288fa35e6663c93cc61ea91f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77ab6dec4985488bab917c7774a6ff5ff92e5b94829012a20f0ba362c5b84661",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6b50077dd889d8a1fe4f0f9984e4673e51ee8a8393b191ad89969c1537a68643",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 10.83 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4538, -0.0139, -0.0334, 0.9987, 0.2699, 1.7874, 1.4414, -0.6662, 0.1284, 0.0647, 0.5194]\nstate[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1635 left_yaw=-0.0001 left_pitch=-0.0866 left_roll=-0.0017 left_gripper=0.9987 right_x=0.4461 right_y=0.1037 right_z=0.1353 right_yaw=0.1103 right_pitch=-0.434 right_roll=-0.0835 right_gripper=0.5194\nstate[joint_eff]: [-0.0889, -0.9641, 6.9675, 1.6923, -0.0513, -0.0562, -0.0171, -0.2393, -12.6701, 9.0598, 1.5311, 0.1343, 0.0171, 0.6618]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4683, -0.0135, -0.0334, 0.9987, 0.2359, 1.8297, 1.3876, -0.6109, 0.102, 0.0395, 0.5217]\nstate[eef_state]: left_x=0.2846 left_y=0.0003 left_z=0.1606 left_yaw=-0.0004 left_pitch=-0.1011 left_roll=-0.0016 left_gripper=0.9987 right_x=0.4471 right_y=0.0927 right_z=0.1031 right_yaw=0.1131 right_pitch=-0.4787 right_roll=-0.0796 right_gripper=0.5217\nstate[joint_eff]: [-0.3214, -1.2923, 6.9675, 1.7705, -0.0269, -0.0757, -0.0122, -0.4581, -9.5795, 6.9265, 1.5165, 0.1148, -0.1685, 0.4518]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4721, -0.0139, -0.0334, 0.9987, 0.226, 1.8702, 1.3617, -0.5652, 0.099, 0.0162, 0.9955]\nstate[eef_state]: left_x=0.284 left_y=0.0004 left_z=0.1599 left_yaw=-0.0001 left_pitch=-0.1049 left_roll=-0.0013 left_gripper=0.9987 right_x=0.4498 right_y=0.0892 right_z=0.0814 right_yaw=0.1189 right_pitch=-0.5005 right_roll=-0.0922 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.3197, 6.9675, 1.7411, -0.0611, -0.0464, -0.0122, -0.4444, -11.6991, 7.5145, 1.4335, 0.0464, 0.1197, 0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1b089b3514aadd274075ab1b9374e490313292d288fa35e6663c93cc61ea91f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77ab6dec4985488bab917c7774a6ff5ff92e5b94829012a20f0ba362c5b84661",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b50077dd889d8a1fe4f0f9984e4673e51ee8a8393b191ad89969c1537a68643",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E7ePnoYsDha4JmX9jv57Eo",
      "input": {
        "note": "The lemon bounced out and rolled onto the table left of the blue bowl (top view ~(124,110)); the pear is in the bowl, which sits to the right of where I released. Moving the right arm over the lemon again.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.26,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01E7ePnoYsDha4JmX9jv57Eo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8173, 0.6132, -0.4759, -0.0139, -0.0334, 0.9987, 0.72, 1.8828, 1.6165, -0.8879, 0.2939, 0.4252, 0.9964]\nstate[eef_state]: left_x=0.2835 left_y=0.0004 left_z=0.1587 left_yaw=-0.0001 left_pitch=-0.1106 left_roll=-0.0012 left_gripper=0.9987 right_x=0.3696 right_y=0.2609 right_z=0.1381 right_yaw=0.1703 right_pitch=-0.5012 right_roll=-0.0869 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -1.4701, 6.9538, 1.6777, -0.0611, -0.022, -0.0122, -0.2256, -8.6496, 7.9658, 0.862, 0.3004, 0.1832, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a24d5929e5affa7b97874a6f7903d8b84395495b4643f91b4378d66f797b8d50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2a9d72989e70eff20dea406fda0dd7ce76a010b897e17bbe5c4437dfb1c33c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bdaf84019c7853c92f0da43d45c2a2058d01cf22fd395740bff2bca5e39550f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 3.602 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4683, -0.0135, -0.0334, 0.9987, 0.2359, 1.8297, 1.3876, -0.6109, 0.102, 0.0395, 0.5217]\nstate[eef_state]: left_x=0.2846 left_y=0.0003 left_z=0.1606 left_yaw=-0.0004 left_pitch=-0.1011 left_roll=-0.0016 left_gripper=0.9987 right_x=0.4471 right_y=0.0927 right_z=0.1031 right_yaw=0.1131 right_pitch=-0.4787 right_roll=-0.0796 right_gripper=0.5217\nstate[joint_eff]: [-0.3214, -1.2923, 6.9675, 1.7705, -0.0269, -0.0757, -0.0122, -0.4581, -9.5795, 6.9265, 1.5165, 0.1148, -0.1685, 0.4518]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4721, -0.0139, -0.0334, 0.9987, 0.226, 1.8702, 1.3617, -0.5652, 0.099, 0.0162, 0.9955]\nstate[eef_state]: left_x=0.284 left_y=0.0004 left_z=0.1599 left_yaw=-0.0001 left_pitch=-0.1049 left_roll=-0.0013 left_gripper=0.9987 right_x=0.4498 right_y=0.0892 right_z=0.0814 right_yaw=0.1189 right_pitch=-0.5005 right_roll=-0.0922 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.3197, 6.9675, 1.7411, -0.0611, -0.0464, -0.0122, -0.4444, -11.6991, 7.5145, 1.4335, 0.0464, 0.1197, 0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8173, 0.6132, -0.4759, -0.0139, -0.0334, 0.9987, 0.72, 1.8828, 1.6165, -0.8879, 0.2939, 0.4252, 0.9964]\nstate[eef_state]: left_x=0.2835 left_y=0.0004 left_z=0.1587 left_yaw=-0.0001 left_pitch=-0.1106 left_roll=-0.0012 left_gripper=0.9987 right_x=0.3696 right_y=0.2609 right_z=0.1381 right_yaw=0.1703 right_pitch=-0.5012 right_roll=-0.0869 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -1.4701, 6.9538, 1.6777, -0.0611, -0.022, -0.0122, -0.2256, -8.6496, 7.9658, 0.862, 0.3004, 0.1832, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a24d5929e5affa7b97874a6f7903d8b84395495b4643f91b4378d66f797b8d50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2a9d72989e70eff20dea406fda0dd7ce76a010b897e17bbe5c4437dfb1c33c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdaf84019c7853c92f0da43d45c2a2058d01cf22fd395740bff2bca5e39550f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQStRIKEAgSGAI4AUIIdGhpbmtpbmcSDGighwjkDK0O7vMOkhoMN2AF6cGc13UjYH2iIjDgOGWihh8eG0pnoJHITkRszIzxZYfKIdrDnjUzkoEkZZpic1uXlnxMMhKuXfJ6BEwq0hG9j6FZyf8pl7z1jHvAfjKEVNG/AmVPqFXM22pp5wUtPJuPg0Qh/8U38Q7QrKUlJeVFMapCj2Sp2ru+AxZduRXj6MlOphnqIngnJyh1kPREPqgPTQ6UeKFxZnoeO1/Wt8Ty1lwptq3Lkpudp+XmGFaDS61rbb4nfdZVjeolXuc/dzo0LllhI0GaeQGumlWSoo9sabwqPLW0rCoT544u61TUFN/FrWfW7SdKrMi6yziDiDyufXSM1wecUBeDpEXStR+/N/2c44eBa7GX7fXHwag01C2wNjrxukyAXam44/Y9P1HpxbF8RQ1JBrTqeodSpJ86CxRkIKWgRNgQRm34wHwUmH1LBrtaZsUu4zz4JZ3yBW+0f4kqQEFJCaL5SQSGt5DM3ToxjhW5qKs0295P/SxQfPc4u5rOxGK/UYQWClEQyqj4dWw+xQEtZAsA2y76Z59k5eCkpiHUqKjh6GUOGg+JUCHv0hgJ9CPSSWZnuGd4IulEfkZHkkN7XT6fHjB/N/5l0dMNc6VX7hzq2U1UQeCkDKcNmLywtQoTImnldpZEndmQ6T011yMxtW+s7nPmfbqD0eO+SOX8nLtfxGtad8hRrFD1t/mvOj2iDD2f21BnwymWif9CpYbj4t3VXs4u6NDXSYBX4BWde3ej662Vx4VR9VfRhtS8e4081OKBTIfuguiryN304UXCrL7lPtWL2Hq1QK5zr/QBW/cXhRapMig2GZZc3rpnUFHw4zOHSOpThQjC9ZyK9/Hr2l7WCvc3oFEHlbTPswkixxOmRVyhXDqNHNMIlHIxcwHJ/xjQPaRasPSdsQCZwxONn1RQLF3p9zZ8JQjcgQP4heBvrut7H9qZW34o0vOk1Y8Ja1hMKatVxFVP2ZWmXMo7Hdo6t/BS8Dy63eEzed8TaKB6fJjAjMBEops+xTEnbRc4jnl3LTQOBIaZDx18jbEV2mLhFN2RUVZpiexxpRQwMyOj+RXxlOQHWZ23PKO2DrJVme/sc/Mmw85+O/XkER0OEefKVzMGtFd5GsJpNqC6w+bXWcOEdcA8+Ig3ekkktanc+zstPvW4Fs/ysa/A3rlf2Zl9C2CMpIp0Bl76WMpEb/TjNgN5y1mASg06eo/BLCTUwTLOnEDC8Z+7Gx5VuwfA3MuPuldvyWVYv4mIM05q1qhGTA1TNmRic6KdMiyScxnsmAjnK+9PjQLTZ8I5nOsX3DAwn+O57qjQsFG72yELYCMKx0u159x6KrrF2NNwsf//7zYhconhYC6pD8k+RSi7J8ncZXwTgh4T1biP4j15iRwuFZn6oBrapp64fr9AQ+rVPYyA9Vvyr0/Ty99y+q7nfqAbttP3HcRgQznUXIlHiYgs+XyYLqtypQDpp8U/TyXkUDE1MFtM8r+HAJZ6nYk0mNdGcTdYI2GD2UXcqlxRUqxuk23chNeBA5MnPD9b+z+NJobC/1jE677K50WCTTkDQX8FI0oXfw68OiUu7q3ZqwWVoWCTfH1k86XHuTnHWoICBi7gSU114zxQySh5Php13yjvhcgHjsz93JwxHM+r7O4jFuW/LantDwf1sQw0Is17b/+H5rRJp6WDXZTjWv/LvBBUpU/fcCnBVEa9hxmSHeUH0r2kZn3lZU2esbd21yBadGvkClTxku8Q2pPLtJpet5Pv1RbfLi3em0WGDEBLLiMuZMwKWKJaFSKhH6OU7+OkV5JQWU9f7eeGoDLXp4241Cmt2R0gNocwyK4RBr15Yp6jnRQfxVcbU4/u8bp62VzZrSOoACrXGoLhpKObs1x9OICGWYcWpgLeLSjlsWwVAWrMeJXPYOPMgS0jdP5I3czk7urqfHfbRwvZvNGAyR5nzY2AUaLLZEiX+tKlim68X+K400KYkAz7TdQsjfU8+R9A3DdugrdO+zfZA5UMi4tlVb6K9zYkkuUSOIqlQEBGpqcG5qm0vA8WhQJrdyyEcGIkCiWZohPreCvv+vpbG/Mfrs4xELFVwLmZkh9/nydxg/2Z23cse9LEEI6LKwWc6aeXEuv55oWgZMaMsVU30Qayp1ZTve0IE8ZJdniRabaKCON7mocfB2OlrDdrd02XMwhwgeNdlh2/CdFwT17OTJD4V3+oa+TchPmoy/jwrRqQFdJPBP0/Evz9rKrUSdoC5FxTwHqC9FrK5vxg2w7LT1xcFGT/hPQyYFkffunVcWery07JtXM8hW/qWg7LpnxoaNVlAoRLGVjersLiQBpDRJB1g2WnOZwKf4UOFgxfP8e+rh7zwrGhr4219Uzl8+CWrK/IRjCadZ1Q3cga4Uk2wvHheLR49SaxjVcjqr+UhStRA6XwwgI/1Y+bLmwBe/2D/mqcxXm59HPEPFqums+xuQHJSu9giFrwvS3hgmcqGyeGTfX4Y/1iPWx4822HJDgAE62M3Nc/+W6V0hvppBdIQcOdqKaR2TwOFmCJSuA6tsUvuLZqtUd4XTKnPksKC2RG5O9YKeqNVzuOT2Y7LxXAZBiq7W8leBKh6xq21ty/nYClGgKzkNWCjoSW71drGiShoNvRX3DYJfSOO9cLexnWoI64GpRC9gMTHM2qrZzimApvf7h+V/x3vgXfA9nNYEsc+khp7sDiiJAb+5xckhM7W8QPHFAtlicO+R1FC8qviVGCZygop5fJDJeu1kxu8lpo1R8z0CZEtTrvBPj072i5bHlhqrWu1A/okf3X/9WrVzpe+UA09KOYdaEVHfwNZB2AOeOCdY8HYP60eu5KZN8w9swr/5acxVpxF0LxlK8GgfP2lqQVpbBOECFAHPCnNr4BfiwQX38FkrdpD1uH1c5SjLxMj7qdrILcUpJQ3OdLXgfgXQ0sh5GnTYrFfWkP6oaSMYqTSLqdwS1cLcW0+PYp+kBYasGeLMf+vDejOW3ru7A3DvJaDBo0sKqdDum+JSo68Q4dq2sZZsfw3H+hqywLj3hj3fy4UT3wuYyQeDV9R1Gnpe1I+njO0BdS+qdZpDs7C0Vlngl7hVDHOlQ9sCESwqsxXYixg7SVE+y4JxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QLLHnc4j3rKSD5rSaKYSrU",
      "input": {
        "note": "The lemon rolled far toward the front-left, near the left arm base (top view ~(63,200)); the pear is in the blue bowl at the upper right. Parking the right arm and sending the left arm over the dark round fruit right of it.",
        "targets": {
          "left_gripper": 1,
          "left_pitch": 0,
          "left_x": 0.32,
          "left_y": -0.17,
          "left_z": 0.15,
          "right_pitch": 0,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01QLLHnc4j3rKSD5rSaKYSrU",
      "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]: [-0.7845, 1.2827, 0.7246, -0.2379, -0.6102, -0.5121, 0.9988, -0.1062, 0.8482, 0.6247, -0.4, -0.1349, -0.1947, 0.9965]\nstate[eef_state]: left_x=0.3111 left_y=-0.1625 left_z=0.1329 left_yaw=-0.0187 left_pitch=-0.0566 left_roll=0.0307 left_gripper=0.9988 right_x=0.298 right_y=-0.0043 right_z=0.1713 right_yaw=0.1105 right_pitch=-0.0509 right_roll=-0.0813 right_gripper=0.9965\nstate[joint_eff]: [-0.4581, -4.4239, 9.1556, 1.707, -0.4567, -0.0317, -0.1392, -0.253, -2.0444, 6.9538, 2.0733, -0.1685, -0.0073, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34ecb54028e419c79f6d9241020d6c0b8c4bfb4844f4003a8c099374316e9304",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca830e9b1cc3d9c9f1e4e7f8ffc862ddaba2a591800b2f861e11410136cfc7a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7817a88cd738eaf3863c0be4d91989c45b2c732b1274df79a6e9dc493dbd2394",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 3.457 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4721, -0.0139, -0.0334, 0.9987, 0.226, 1.8702, 1.3617, -0.5652, 0.099, 0.0162, 0.9955]\nstate[eef_state]: left_x=0.284 left_y=0.0004 left_z=0.1599 left_yaw=-0.0001 left_pitch=-0.1049 left_roll=-0.0013 left_gripper=0.9987 right_x=0.4498 right_y=0.0892 right_z=0.0814 right_yaw=0.1189 right_pitch=-0.5005 right_roll=-0.0922 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.3197, 6.9675, 1.7411, -0.0611, -0.0464, -0.0122, -0.4444, -11.6991, 7.5145, 1.4335, 0.0464, 0.1197, 0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8173, 0.6132, -0.4759, -0.0139, -0.0334, 0.9987, 0.72, 1.8828, 1.6165, -0.8879, 0.2939, 0.4252, 0.9964]\nstate[eef_state]: left_x=0.2835 left_y=0.0004 left_z=0.1587 left_yaw=-0.0001 left_pitch=-0.1106 left_roll=-0.0012 left_gripper=0.9987 right_x=0.3696 right_y=0.2609 right_z=0.1381 right_yaw=0.1703 right_pitch=-0.5012 right_roll=-0.0869 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -1.4701, 6.9538, 1.6777, -0.0611, -0.022, -0.0122, -0.2256, -8.6496, 7.9658, 0.862, 0.3004, 0.1832, 0.0806]",
      "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]: [-0.7845, 1.2827, 0.7246, -0.2379, -0.6102, -0.5121, 0.9988, -0.1062, 0.8482, 0.6247, -0.4, -0.1349, -0.1947, 0.9965]\nstate[eef_state]: left_x=0.3111 left_y=-0.1625 left_z=0.1329 left_yaw=-0.0187 left_pitch=-0.0566 left_roll=0.0307 left_gripper=0.9988 right_x=0.298 right_y=-0.0043 right_z=0.1713 right_yaw=0.1105 right_pitch=-0.0509 right_roll=-0.0813 right_gripper=0.9965\nstate[joint_eff]: [-0.4581, -4.4239, 9.1556, 1.707, -0.4567, -0.0317, -0.1392, -0.253, -2.0444, 6.9538, 2.0733, -0.1685, -0.0073, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34ecb54028e419c79f6d9241020d6c0b8c4bfb4844f4003a8c099374316e9304",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca830e9b1cc3d9c9f1e4e7f8ffc862ddaba2a591800b2f861e11410136cfc7a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7817a88cd738eaf3863c0be4d91989c45b2c732b1274df79a6e9dc493dbd2394",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSmQcKEAgSGAI4AUIIdGhpbmtpbmcSDKgJdVWRdXOdH9lO/BoMLu4Oc3BGrdwybzeVIjCLAgXa19uH8t/LwsOPiyRXxsbR7tAi2HlXJ7AmvGvK1wNTq3/RJlqehI+SJd46MM4qtgYj1EbGZbixTjuezUwXzYHtqpl++VgyyAUUn2fegOxVZDq4EqXbNwpH+3yKe3Ct2UGOdkpmNXikQ+UEj8vFueUWFepjCAdeIVq02vTmrYRGDarNIR6B0wASVuzuBj2l4wK6tZ9A4578UxvT7lhHb20Kj15VxQFIYAMwJ794mXXRoKgbDHO0Y3s8bwObggvkKOxX4Iv3R7pnFM26wlRkRZMlnh8kR4IBH1xMotHwBNaP5+URgWCb5rNzXOUrp95TEIPqHRLSoKQlcCV7ijy7vbr2TICLugLdmUaXabgqk+JpxvcX9RIdUODUKTeOaidMn9PqEevMBQHsur9L/xdCNZybkL7QMp742/SVEaU4fkV5Lu5K931Tm3DXXvAPLb04URhTUYNhF7K9Qbrrypam79p9yGUoVqp30U25vO3wlOCakg09bbH8ZlfpgekNn7lk7xInwI3nj1YbIPlwGqp8xV3mztBbfhWV37lRRX2ppEbKao5pjKC4mUMJBhnUfE6qxBC6MbGZ1/DlO8kvCrug4E3g7DlEfTvUNdMJ0M5xAmVMGMUP9cun3rEzs5XL4Hxhp0BbKXn3NOuHjyuzt8i99VkLvw2SVb/WTVW8WGlsicNtOvnTyRYGft6AQ5s/cswwLFUa1MHmEdGlWri2i0DsNU7JoicrR/t9t8TXobPNxlVxkFDxaoK4nWnDFLdDHm+CTZm3rNQ7GZd/vUdMaqBRoRK4hXJ4GeW4nyUaNcKIBpkFvxcRH29rfcIt3oJ1KIBHl6dGfOEHF4LBXXM9CPPCjexWcuziZFMS36QR8ZjJwsMKr/UbDNz9DG2zbqZGTd0HBNBLFRJI9Yqw6ot4v0A25FRqqeB7onK7aj686OHH1rI1q1N/krm7xOczJuOjy6uzeKjDL5dN8XNrKEI0G+lu/xPiz5pXbNcrHxfWDyvM1XXaZdLwvln4VoT4CiKRJ9XS13F1K0NbceKsPtujvsvWKcL7LHiDFpuckYhgoRpc7rwKsKiOAlT31Ada2foSrf1bq8D/3ibN2J0tvJKZ0+A0yqO7SD+bQtEYpEOtfaeBHOHBbGnD00NWQ/FKweN41VrEH16ihv9NBgoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BS3n6tiRmJWJNBNBPtPhsD",
      "input": {
        "note": "The dark plum-like fruit is centred on the left jaw column just ahead of the fingertips. Moving 2 cm forward and descending to grasp it.",
        "targets": {
          "left_x": 0.335,
          "left_y": -0.165,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01BS3n6tiRmJWJNBNBPtPhsD",
      "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]: [-0.7322, 1.6718, 0.5339, 0.2901, -0.5793, -0.4774, 0.9987, -0.1066, 0.8528, 0.6174, -0.4091, -0.1501, -0.2169, 0.9965]\nstate[eef_state]: left_x=0.3259 left_y=-0.1581 left_z=0.0142 left_yaw=-0.0046 left_pitch=-0.111 left_roll=0.0771 left_gripper=0.9987 right_x=0.2958 right_y=-0.0015 right_z=0.1652 right_yaw=0.1351 right_pitch=-0.0702 right_roll=-0.0856 right_gripper=0.9965\nstate[joint_eff]: [0.6906, -7.2137, 4.3282, 1.6288, -0.2173, 0.0952, -0.022, 0.0068, -1.9077, 7.6103, 1.746, 0.0611, 0.2222, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a698c70883a52bd04fba1fe59f3f0c342810e253d9b94d560a290c2fda9acff7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc7f492311b19ccbbd374d6635d8c686a643abeafefbb70ed75874b9c631380a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49d6f5532a8868c28c98730d702621710d2b748e9f5ecd96ed002f758075bfe8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 2.775 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8173, 0.6132, -0.4759, -0.0139, -0.0334, 0.9987, 0.72, 1.8828, 1.6165, -0.8879, 0.2939, 0.4252, 0.9964]\nstate[eef_state]: left_x=0.2835 left_y=0.0004 left_z=0.1587 left_yaw=-0.0001 left_pitch=-0.1106 left_roll=-0.0012 left_gripper=0.9987 right_x=0.3696 right_y=0.2609 right_z=0.1381 right_yaw=0.1703 right_pitch=-0.5012 right_roll=-0.0869 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -1.4701, 6.9538, 1.6777, -0.0611, -0.022, -0.0122, -0.2256, -8.6496, 7.9658, 0.862, 0.3004, 0.1832, 0.0806]",
      "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]: [-0.7845, 1.2827, 0.7246, -0.2379, -0.6102, -0.5121, 0.9988, -0.1062, 0.8482, 0.6247, -0.4, -0.1349, -0.1947, 0.9965]\nstate[eef_state]: left_x=0.3111 left_y=-0.1625 left_z=0.1329 left_yaw=-0.0187 left_pitch=-0.0566 left_roll=0.0307 left_gripper=0.9988 right_x=0.298 right_y=-0.0043 right_z=0.1713 right_yaw=0.1105 right_pitch=-0.0509 right_roll=-0.0813 right_gripper=0.9965\nstate[joint_eff]: [-0.4581, -4.4239, 9.1556, 1.707, -0.4567, -0.0317, -0.1392, -0.253, -2.0444, 6.9538, 2.0733, -0.1685, -0.0073, -0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7322, 1.6718, 0.5339, 0.2901, -0.5793, -0.4774, 0.9987, -0.1066, 0.8528, 0.6174, -0.4091, -0.1501, -0.2169, 0.9965]\nstate[eef_state]: left_x=0.3259 left_y=-0.1581 left_z=0.0142 left_yaw=-0.0046 left_pitch=-0.111 left_roll=0.0771 left_gripper=0.9987 right_x=0.2958 right_y=-0.0015 right_z=0.1652 right_yaw=0.1351 right_pitch=-0.0702 right_roll=-0.0856 right_gripper=0.9965\nstate[joint_eff]: [0.6906, -7.2137, 4.3282, 1.6288, -0.2173, 0.0952, -0.022, 0.0068, -1.9077, 7.6103, 1.746, 0.0611, 0.2222, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a698c70883a52bd04fba1fe59f3f0c342810e253d9b94d560a290c2fda9acff7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc7f492311b19ccbbd374d6635d8c686a643abeafefbb70ed75874b9c631380a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49d6f5532a8868c28c98730d702621710d2b748e9f5ecd96ed002f758075bfe8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkAcKEAgSGAI4AUIIdGhpbmtpbmcSDBYe2ap9B7WUJIE+LhoMoqoG6XNBGXX46XARIjBtzM7Msha3gWAbm0su54807vWKWg80f7dBVNiPqDVtiOqFYnDAuHDhBwp50LqZqgYqrQYIyGod4rZhb7n752TqEY6E+Ah0A94rP90Lt0eFoTikUF06v7vam6HGxpq2/4OH40oFDcLGAT40mJVUyHLnKDqus9u2VMxI7yGGHq472/i84C/T9SE5+LvvyXObEGoRJTXYpyf4jWAJ52xSWXjfHbcJxA/4FyoHl1Vyvb6AGOLBHHbnFmmEpjUu71MDrjXOs9f0QLUJqVACwGl8HeUP2iZxILrJV8mlyuGIwfkKaAj+m13PcUxkR336ViPmMvTTNFE7mgxFljDf6+gnaoFAuEyLuHIyh4HQx9pcUGkMYa2z8m78SyIVK8dfO2qLASW22YhizZ9hQQRaoGsMSaNhzlw9+6jl2IoJ/ZCltoWE6zz83RZPUafKYzEtUvSw/NslZtGZdyFIMtS2royyMgegJJSeB3RS0/HCiY5jVFaGMdddTXF/zI7HdhzjU+EosHTxEvPujHy8W2GhA7ZUskUE4IscovfjC/nQoFr8OBCOyE19WfOTaM9e3CNGRGdjIvoOaE/awb0VTeLQDKtn3MpfYad/EuIfS834mbhQDYEovMnw5uMVl7Iyjqcv3QfpqKl7kuuq6OoS91LuBU4dRKKP41xWnDGCexTLQ1RQ8RoE4epCBXOwaQoLpApEpMCGIwePqifrtAwg0cLKlZkIzxoLx4WCqlxfXUi8OkkMw5RSNs19IzLUC7YyV1naEqYdLEK4VsgMKyjLAGMsxE5CtbYc+4dKugBIcxRsktJeveVEsrHzmjySfOBantmSQt0vtZaEznle4RjdllnELFmx08hJYjg/1nol20f8PMnmerECImS1YaYlMhVSyomt2iixl7SjkDGU6p5aIzuGMID5lOI4o7r3VFyMN62Yhb8IU0zngGh43Q9AHcZCfqNy0t9ClhiuINpuBGtQvXpSxgZUA72hE6fCCUYHMb9v1OB7f0Gfz8YJzFzsWUdxABJk5AaUoplyzi4snj9VDTlkZOHm7p1OaodxkLHMM9ggtu2OZsRxmKQvhhjjJsiD5203E7Jq0qPMeu0Pu6QtFrQKfCzVOLdsmTr6De1BAI4MfptbNHbezf1FL26DETcsyagQuSjXm88YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017FBpiTp1ScYMa5xUkRwUtG",
      "input": {
        "note": "The plum is just ahead of the jaw tips at table level, not yet between them. Advancing 3 cm forward at low height.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.16,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_017FBpiTp1ScYMa5xUkRwUtG",
      "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]: [-0.6666, 1.7458, 0.6025, 0.3244, -0.5518, -0.4477, 0.9987, -0.1066, 0.8547, 0.6174, -0.4152, -0.144, -0.2184, 0.9965]\nstate[eef_state]: left_x=0.3525 left_y=-0.1549 left_z=0.013 left_yaw=0.0227 left_pitch=-0.1034 left_roll=0.0659 left_gripper=0.9987 right_x=0.2951 right_y=-0.0025 right_z=0.1633 right_yaw=0.1309 right_pitch=-0.079 right_roll=-0.0886 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -6.6803, 6.3521, 1.2625, -0.0464, 0.2076, -0.0122, -0.1709, -1.6889, 6.9812, 1.7558, -0.1832, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70924e20a0c7081295c1f8ce1ff1d50ac75703d9d2fe589f6e97ccbe8181de0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23b85c31e11a91fde4981b6124e91db0b101e5a485b96c3c87b3fe4296552c35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fae58d3c7ce46293271eb17158e9219c9f9184499505ed5729abc02f1d2c943f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 15.25 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]: [-0.7845, 1.2827, 0.7246, -0.2379, -0.6102, -0.5121, 0.9988, -0.1062, 0.8482, 0.6247, -0.4, -0.1349, -0.1947, 0.9965]\nstate[eef_state]: left_x=0.3111 left_y=-0.1625 left_z=0.1329 left_yaw=-0.0187 left_pitch=-0.0566 left_roll=0.0307 left_gripper=0.9988 right_x=0.298 right_y=-0.0043 right_z=0.1713 right_yaw=0.1105 right_pitch=-0.0509 right_roll=-0.0813 right_gripper=0.9965\nstate[joint_eff]: [-0.4581, -4.4239, 9.1556, 1.707, -0.4567, -0.0317, -0.1392, -0.253, -2.0444, 6.9538, 2.0733, -0.1685, -0.0073, -0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7322, 1.6718, 0.5339, 0.2901, -0.5793, -0.4774, 0.9987, -0.1066, 0.8528, 0.6174, -0.4091, -0.1501, -0.2169, 0.9965]\nstate[eef_state]: left_x=0.3259 left_y=-0.1581 left_z=0.0142 left_yaw=-0.0046 left_pitch=-0.111 left_roll=0.0771 left_gripper=0.9987 right_x=0.2958 right_y=-0.0015 right_z=0.1652 right_yaw=0.1351 right_pitch=-0.0702 right_roll=-0.0856 right_gripper=0.9965\nstate[joint_eff]: [0.6906, -7.2137, 4.3282, 1.6288, -0.2173, 0.0952, -0.022, 0.0068, -1.9077, 7.6103, 1.746, 0.0611, 0.2222, -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 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]: [-0.6666, 1.7458, 0.6025, 0.3244, -0.5518, -0.4477, 0.9987, -0.1066, 0.8547, 0.6174, -0.4152, -0.144, -0.2184, 0.9965]\nstate[eef_state]: left_x=0.3525 left_y=-0.1549 left_z=0.013 left_yaw=0.0227 left_pitch=-0.1034 left_roll=0.0659 left_gripper=0.9987 right_x=0.2951 right_y=-0.0025 right_z=0.1633 right_yaw=0.1309 right_pitch=-0.079 right_roll=-0.0886 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -6.6803, 6.3521, 1.2625, -0.0464, 0.2076, -0.0122, -0.1709, -1.6889, 6.9812, 1.7558, -0.1832, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70924e20a0c7081295c1f8ce1ff1d50ac75703d9d2fe589f6e97ccbe8181de0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23b85c31e11a91fde4981b6124e91db0b101e5a485b96c3c87b3fe4296552c35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fae58d3c7ce46293271eb17158e9219c9f9184499505ed5729abc02f1d2c943f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Now between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HubKntsrLn1vDyjkH3tti5",
      "input": {
        "note": "The plum now fills the space between the left jaws. Closing to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HubKntsrLn1vDyjkH3tti5",
      "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]: [-0.6632, 1.7561, 0.6056, 0.3176, -0.5426, -0.4461, 0.539, -0.1066, 0.8547, 0.6174, -0.4164, -0.1467, -0.2184, 0.9965]\nstate[eef_state]: left_x=0.3518 left_y=-0.1545 left_z=0.0086 left_yaw=0.0195 left_pitch=-0.1186 left_roll=0.0709 left_gripper=0.539 right_x=0.2949 right_y=-0.002 right_z=0.1632 right_yaw=0.1332 right_pitch=-0.0797 right_roll=-0.0867 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -7.9658, 4.4376, 1.4774, -0.3834, -0.0562, 1.0281, -0.0342, -1.5385, 6.9949, 1.7021, -0.0611, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ae2c5f512c195bc983c1a19b4c2b05fe61e51f6ab905687a89043807634cd41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:953891bf701bc72f6f60d5bb2b8411a878005b1dbeadecdab6b7bfc3cccef6e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7bb18a28031ea3b49e98b973d363f891fdd113cbd99da2855b11d470502321eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 7.582 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]: [-0.7322, 1.6718, 0.5339, 0.2901, -0.5793, -0.4774, 0.9987, -0.1066, 0.8528, 0.6174, -0.4091, -0.1501, -0.2169, 0.9965]\nstate[eef_state]: left_x=0.3259 left_y=-0.1581 left_z=0.0142 left_yaw=-0.0046 left_pitch=-0.111 left_roll=0.0771 left_gripper=0.9987 right_x=0.2958 right_y=-0.0015 right_z=0.1652 right_yaw=0.1351 right_pitch=-0.0702 right_roll=-0.0856 right_gripper=0.9965\nstate[joint_eff]: [0.6906, -7.2137, 4.3282, 1.6288, -0.2173, 0.0952, -0.022, 0.0068, -1.9077, 7.6103, 1.746, 0.0611, 0.2222, -0.0122]\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]: [-0.6666, 1.7458, 0.6025, 0.3244, -0.5518, -0.4477, 0.9987, -0.1066, 0.8547, 0.6174, -0.4152, -0.144, -0.2184, 0.9965]\nstate[eef_state]: left_x=0.3525 left_y=-0.1549 left_z=0.013 left_yaw=0.0227 left_pitch=-0.1034 left_roll=0.0659 left_gripper=0.9987 right_x=0.2951 right_y=-0.0025 right_z=0.1633 right_yaw=0.1309 right_pitch=-0.079 right_roll=-0.0886 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -6.6803, 6.3521, 1.2625, -0.0464, 0.2076, -0.0122, -0.1709, -1.6889, 6.9812, 1.7558, -0.1832, -0.0366, -0.0122]",
      "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]: [-0.6632, 1.7561, 0.6056, 0.3176, -0.5426, -0.4461, 0.539, -0.1066, 0.8547, 0.6174, -0.4164, -0.1467, -0.2184, 0.9965]\nstate[eef_state]: left_x=0.3518 left_y=-0.1545 left_z=0.0086 left_yaw=0.0195 left_pitch=-0.1186 left_roll=0.0709 left_gripper=0.539 right_x=0.2949 right_y=-0.002 right_z=0.1632 right_yaw=0.1332 right_pitch=-0.0797 right_roll=-0.0867 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -7.9658, 4.4376, 1.4774, -0.3834, -0.0562, 1.0281, -0.0342, -1.5385, 6.9949, 1.7021, -0.0611, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ae2c5f512c195bc983c1a19b4c2b05fe61e51f6ab905687a89043807634cd41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:953891bf701bc72f6f60d5bb2b8411a878005b1dbeadecdab6b7bfc3cccef6e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bb18a28031ea3b49e98b973d363f891fdd113cbd99da2855b11d470502321eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AYoma94yowKgYB7gV2suCh",
      "input": {
        "note": "Plum grasped (gripper settled at 0.54). The blue bowl is out of the left arm's reach, so I'm lifting the plum and holding it near the centre while the right arm brings the bowl closer.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.1,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AYoma94yowKgYB7gV2suCh",
      "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]: [-0.6144, 1.1233, 0.6731, -0.3492, -0.5068, -0.4248, 0.542, -0.1066, 0.8593, 0.6174, -0.4236, -0.1471, -0.2211, 0.9965]\nstate[eef_state]: left_x=0.304 left_y=-0.1052 left_z=0.1366 left_yaw=0.0275 left_pitch=-0.1088 left_roll=0.046 left_gripper=0.542 right_x=0.294 right_y=-0.0018 right_z=0.1605 right_yaw=0.1352 right_pitch=-0.0912 right_roll=-0.0858 right_gripper=0.9965\nstate[joint_eff]: [0.6496, -3.8769, 9.6615, 1.5214, -0.149, 0.1929, 0.652, -0.0615, -1.5795, 6.9812, 1.7216, -0.0904, -0.0415, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18c03643c6f9a95b6d63e121ab23f7e265b70fc5ee34ca407e01a141fdb645d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6577f7125b4de03486a9c446e26c26f66a1b58f950d126af695bf29fab979b60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5f976cf1fd6ebc947ab02afba36b5b0132a68ea058ca7ee9b259c9681c502dae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 7.113 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]: [-0.6666, 1.7458, 0.6025, 0.3244, -0.5518, -0.4477, 0.9987, -0.1066, 0.8547, 0.6174, -0.4152, -0.144, -0.2184, 0.9965]\nstate[eef_state]: left_x=0.3525 left_y=-0.1549 left_z=0.013 left_yaw=0.0227 left_pitch=-0.1034 left_roll=0.0659 left_gripper=0.9987 right_x=0.2951 right_y=-0.0025 right_z=0.1633 right_yaw=0.1309 right_pitch=-0.079 right_roll=-0.0886 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -6.6803, 6.3521, 1.2625, -0.0464, 0.2076, -0.0122, -0.1709, -1.6889, 6.9812, 1.7558, -0.1832, -0.0366, -0.0122]",
      "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]: [-0.6632, 1.7561, 0.6056, 0.3176, -0.5426, -0.4461, 0.539, -0.1066, 0.8547, 0.6174, -0.4164, -0.1467, -0.2184, 0.9965]\nstate[eef_state]: left_x=0.3518 left_y=-0.1545 left_z=0.0086 left_yaw=0.0195 left_pitch=-0.1186 left_roll=0.0709 left_gripper=0.539 right_x=0.2949 right_y=-0.002 right_z=0.1632 right_yaw=0.1332 right_pitch=-0.0797 right_roll=-0.0867 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -7.9658, 4.4376, 1.4774, -0.3834, -0.0562, 1.0281, -0.0342, -1.5385, 6.9949, 1.7021, -0.0611, -0.0806, -0.0122]",
      "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]: [-0.6144, 1.1233, 0.6731, -0.3492, -0.5068, -0.4248, 0.542, -0.1066, 0.8593, 0.6174, -0.4236, -0.1471, -0.2211, 0.9965]\nstate[eef_state]: left_x=0.304 left_y=-0.1052 left_z=0.1366 left_yaw=0.0275 left_pitch=-0.1088 left_roll=0.046 left_gripper=0.542 right_x=0.294 right_y=-0.0018 right_z=0.1605 right_yaw=0.1352 right_pitch=-0.0912 right_roll=-0.0858 right_gripper=0.9965\nstate[joint_eff]: [0.6496, -3.8769, 9.6615, 1.5214, -0.149, 0.1929, 0.652, -0.0615, -1.5795, 6.9812, 1.7216, -0.0904, -0.0415, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18c03643c6f9a95b6d63e121ab23f7e265b70fc5ee34ca407e01a141fdb645d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6577f7125b4de03486a9c446e26c26f66a1b58f950d126af695bf29fab979b60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f976cf1fd6ebc947ab02afba36b5b0132a68ea058ca7ee9b259c9681c502dae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EcsxhXhrYWZHn9gpQkzcWR",
      "input": {
        "note": "The blue bowl (with the pear) is straight ahead of the right arm, about 0.47 m out. Moving the right gripper above the bowl's right-hand rim so it can clamp the wall and drag the bowl toward the centre.",
        "targets": {
          "right_pitch": 0,
          "right_x": 0.47,
          "right_y": -0.015,
          "right_yaw": 0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01EcsxhXhrYWZHn9gpQkzcWR",
      "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]: [-0.6136, 1.1275, 0.6727, -0.3706, -0.5041, -0.4194, 0.5449, -0.036, 1.6375, 0.8692, 0.1169, -0.0139, -0.123, 0.9965]\nstate[eef_state]: left_x=0.3012 left_y=-0.1033 left_z=0.1318 left_yaw=0.0252 left_pitch=-0.131 left_roll=0.0642 left_gripper=0.5449 right_x=0.4517 right_y=-0.0102 right_z=0.0989 right_yaw=0.0402 right_pitch=-0.0858 right_roll=-0.0908 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -3.6991, 6.9128, 1.6142, -0.2662, -0.0708, 0.7448, 0.1436, -7.6923, 7.9932, 2.0635, 0.1343, 0.1538, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d03d8be746bd55efaecde142e8962112b474fe2aff9d573862502a9e117f92b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fec030b28e4c0f53e1a994095bdd271baa30060620dc89cb0b7f80c9baedab4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6cacc36e679cb7cbaae52f97b2c3f0588ff41d4ba0473ad8c1ff221a10b883e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 3.966 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]: [-0.6632, 1.7561, 0.6056, 0.3176, -0.5426, -0.4461, 0.539, -0.1066, 0.8547, 0.6174, -0.4164, -0.1467, -0.2184, 0.9965]\nstate[eef_state]: left_x=0.3518 left_y=-0.1545 left_z=0.0086 left_yaw=0.0195 left_pitch=-0.1186 left_roll=0.0709 left_gripper=0.539 right_x=0.2949 right_y=-0.002 right_z=0.1632 right_yaw=0.1332 right_pitch=-0.0797 right_roll=-0.0867 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -7.9658, 4.4376, 1.4774, -0.3834, -0.0562, 1.0281, -0.0342, -1.5385, 6.9949, 1.7021, -0.0611, -0.0806, -0.0122]",
      "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]: [-0.6144, 1.1233, 0.6731, -0.3492, -0.5068, -0.4248, 0.542, -0.1066, 0.8593, 0.6174, -0.4236, -0.1471, -0.2211, 0.9965]\nstate[eef_state]: left_x=0.304 left_y=-0.1052 left_z=0.1366 left_yaw=0.0275 left_pitch=-0.1088 left_roll=0.046 left_gripper=0.542 right_x=0.294 right_y=-0.0018 right_z=0.1605 right_yaw=0.1352 right_pitch=-0.0912 right_roll=-0.0858 right_gripper=0.9965\nstate[joint_eff]: [0.6496, -3.8769, 9.6615, 1.5214, -0.149, 0.1929, 0.652, -0.0615, -1.5795, 6.9812, 1.7216, -0.0904, -0.0415, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6136, 1.1275, 0.6727, -0.3706, -0.5041, -0.4194, 0.5449, -0.036, 1.6375, 0.8692, 0.1169, -0.0139, -0.123, 0.9965]\nstate[eef_state]: left_x=0.3012 left_y=-0.1033 left_z=0.1318 left_yaw=0.0252 left_pitch=-0.131 left_roll=0.0642 left_gripper=0.5449 right_x=0.4517 right_y=-0.0102 right_z=0.0989 right_yaw=0.0402 right_pitch=-0.0858 right_roll=-0.0908 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -3.6991, 6.9128, 1.6142, -0.2662, -0.0708, 0.7448, 0.1436, -7.6923, 7.9932, 2.0635, 0.1343, 0.1538, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d03d8be746bd55efaecde142e8962112b474fe2aff9d573862502a9e117f92b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fec030b28e4c0f53e1a994095bdd271baa30060620dc89cb0b7f80c9baedab4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cacc36e679cb7cbaae52f97b2c3f0588ff41d4ba0473ad8c1ff221a10b883e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSzgoKEAgSGAI4AUIIdGhpbmtpbmcSDKl/lavMqJuW8vIPfxoM0fACbzTyprRLEjEwIjDFtUpUcNXwMxPz7Gq+SqYP1r/ew3q7Jg+CrJXZPg5R/KWrLh1Jrr1RdmOn9+vcZhYq6wmBwAqBRocKNjt1LFFcpe4kUmiFHCtmNplO4+VJG278pn3TAmVe30tvooAL5R0adoLfx14W2TRnBOrEgVSoMYKf3vlyU5Xom9dSY2gEX3Qo/wmYQ4ftcL6MDyTdlbCknoLW7SxFietozagdXW08pj4Ojy+Gc65sDNUuBeVzPF5mYwqDQaUpq7KinQ+hjVDsnqLgZI+V1U+0e2/YvefhIYk0lHaqNpAqqTLSCDAea7qosm33xFN5eDp+dU1fzV2PRPoqTeVtvPi41DSAkJxI8brWNeN+P1OPNtTGuAPyIeUWDjDlc8JbfxMlnp92FZf5Mv087WTA1QyWZULq5kmtKS2amMZYn2TyJCMECDPCApn91FIUrV5aIrcW6FyZSirEgLEdB4r+LO/mbXJYU042OEH2Yvr3qADB3d2s/46ogZRCIeTfidv0vvFvwfOxoDvC49Y10wK/U552GyMu4lqHqhUuntj69DQzHWFITH869ylFDxRuWc0KyG55u0/Vwitph+9dpY0V5Wkbddhxm+TDtMK0RUG4Re0hvGR+9pqNYFjFp4XqnrkfNcFeBRrbhNrEXuP62M66WQcVweLyQqT5BFKQxKB2O0PQnSRtV18Gw3lVB6qPcHjolzcesxDYBEq/fVjKczVt9JXEZ8iOeXRZHsysusoAf1y13nRKiM8zGG/BTwU5cBPkaxY/DrkALQJlSbxTZR9eIo1zAmSID7hTVhJUeu6OcjSor2YEtN2ox212ur56/p4Vg1vLAF6uROhyY85+dL0XNI1yg4oYDSlgEpsPa9weFNZK5/Vvf8ZVnrx+QDJRpGhQ3KVjuLENqLxV3pocVXgLy97qMiEliN70AW7GxgES+4je/97vWpjk4MHVRcK4HxOICk+YRpfM/vAP3+Jh5XsNxnK53QfGSlsbU75GVHN1YHQg2opGh6/gkx73h8Wx/AiaF2+T/x3Evg2fiV/zoM0133drgIZRnDsgSvsIYJOJNh3r5ti9IEyE8dEX052ULTKWYzZwNf8NEGkhldtxiBJNmIQwCivoSYxuRLk6yXlM4/MnIVEw+roavhP3YfbYcGUc634KeEoZfMueh4EqLdsIOjbVh41p4mLs6ezVMu6l5zL41sz+VFhQNQYm3YvpShKQN6XqbCzuJgP0urh1mAi1l6hYHnEJOpE24F9TLkLssKg7j2tOqfadKxLiHNciy1q9YQKKFfoRBskVPOVL0WN8pQBoDjYB8bgrMmI7A28vL9Qp+grFxP2frxhwx/Du5JtQTsvgI6GvVW6diEH5c+VLd2/s4tWX1yPUrvXtMf8DzfuYtqcsT4gROVmIl2+OlMKI6ssH37zZTNzpFsSDnn/KvE5/G8/3ZD1cfA94abmeEN23X49VK6yxR+Nh2hzPreEOib8TaXPNGoWagNuuiLBsyQjkotlO0QjqVYYuE1kozj2grbvIMYm8x0ydUqo4N4YP3bADScPWD48cXc/lAHZajt1EoBGdIQRZmn5SJSQ9mxoa76HU2+M4Hp17zpklOAbBUnLqWVdWCiIkFiFeGUhnJrIdRyJ6cr3o/381g4zFOOg1Y84EFaIdF5tDmb/Ny3wHane/Ft/Ggjcuq+R1Z7Fa5mX/Tl2Fw+6abvQPRMsfdxxrfwV1tDCh5xplwM88jPqpul+U6elK9DhCJPyOHL0ZHXckmJRayBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DTu9pNzaKmdbyhN1BAdXYu",
      "input": {
        "note": "The bowl's right-hand rim is just right of the jaw centre and a little ahead, with the pear inside. Descending so the left jaw goes inside the bowl and the right jaw outside the wall.",
        "targets": {
          "right_x": 0.47,
          "right_y": -0.02,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01DTu9pNzaKmdbyhN1BAdXYu",
      "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]: [-0.6136, 1.1275, 0.6712, -0.3714, -0.5034, -0.4191, 0.5483, -0.0433, 1.7226, 0.8539, 0.2317, -0.0307, -0.1234, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1032 left_z=0.131 left_yaw=0.0246 left_pitch=-0.1331 left_roll=0.0655 left_gripper=0.5483 right_x=0.4623 right_y=-0.011 right_z=0.0782 right_yaw=0.0473 right_pitch=-0.0705 right_roll=-0.0822 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -3.4256, 6.8034, 1.4335, -0.2369, -0.0317, 0.5983, -0.5675, -7.665, 5.2855, 1.6874, 0.0171, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3539c7ed73ed7139c6b31d1b3365fe9a5f3601a0c0189d78a0920b909f9b1ae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7991349900e64007a10f6d588d011cb7e73e15c7bde782f29346c7b7b1b5e794",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b153c575ea4bba4336e764edab6fae0f3d19a1c384cedec5b1cbf4b83f59bb75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 5.533 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]: [-0.6144, 1.1233, 0.6731, -0.3492, -0.5068, -0.4248, 0.542, -0.1066, 0.8593, 0.6174, -0.4236, -0.1471, -0.2211, 0.9965]\nstate[eef_state]: left_x=0.304 left_y=-0.1052 left_z=0.1366 left_yaw=0.0275 left_pitch=-0.1088 left_roll=0.046 left_gripper=0.542 right_x=0.294 right_y=-0.0018 right_z=0.1605 right_yaw=0.1352 right_pitch=-0.0912 right_roll=-0.0858 right_gripper=0.9965\nstate[joint_eff]: [0.6496, -3.8769, 9.6615, 1.5214, -0.149, 0.1929, 0.652, -0.0615, -1.5795, 6.9812, 1.7216, -0.0904, -0.0415, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.6136, 1.1275, 0.6727, -0.3706, -0.5041, -0.4194, 0.5449, -0.036, 1.6375, 0.8692, 0.1169, -0.0139, -0.123, 0.9965]\nstate[eef_state]: left_x=0.3012 left_y=-0.1033 left_z=0.1318 left_yaw=0.0252 left_pitch=-0.131 left_roll=0.0642 left_gripper=0.5449 right_x=0.4517 right_y=-0.0102 right_z=0.0989 right_yaw=0.0402 right_pitch=-0.0858 right_roll=-0.0908 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -3.6991, 6.9128, 1.6142, -0.2662, -0.0708, 0.7448, 0.1436, -7.6923, 7.9932, 2.0635, 0.1343, 0.1538, -0.0122]",
      "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]: [-0.6136, 1.1275, 0.6712, -0.3714, -0.5034, -0.4191, 0.5483, -0.0433, 1.7226, 0.8539, 0.2317, -0.0307, -0.1234, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1032 left_z=0.131 left_yaw=0.0246 left_pitch=-0.1331 left_roll=0.0655 left_gripper=0.5483 right_x=0.4623 right_y=-0.011 right_z=0.0782 right_yaw=0.0473 right_pitch=-0.0705 right_roll=-0.0822 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -3.4256, 6.8034, 1.4335, -0.2369, -0.0317, 0.5983, -0.5675, -7.665, 5.2855, 1.6874, 0.0171, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3539c7ed73ed7139c6b31d1b3365fe9a5f3601a0c0189d78a0920b909f9b1ae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7991349900e64007a10f6d588d011cb7e73e15c7bde782f29346c7b7b1b5e794",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b153c575ea4bba4336e764edab6fae0f3d19a1c384cedec5b1cbf4b83f59bb75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS3wcKEAgSGAI4AUIIdGhpbmtpbmcSDOoK6IaKJOOBrgccWxoMXDqn+gMcHi9i5/6xIjCFnenRgix+uPdIbQVluAXzO45gAhmE6JFIZOGQwpJakC5c2URTd5LLNJwg3/KRIY8q/AZdpmHYgjuVa7tOWZkNrmXsa0UN5Mk9pvlZPvsxtnT2uc85VyzmeTRAd7ZtjDHfd3wuzF4+eMhbO90CPFbaM5owqUn53m8dY0DGHVSpB/24ugwoHinB+7Y9uY3VTK1VKJ+OQm5RyaZrjBVVAJmxeh1VYFnc29IFSr34DiI4trQq3CS2ViMgZP5h33TDJpBMlNNWzmwLMPYcbex2vqK2wH5MP0gP/tHzPPmn8C9C1bl6yWxYix7YdJyG/ce3MZpl3L/nyRcFaegJ+CqjR9qUCyz1tr1sUWH5AJlhoqPSauDJvJ43SiGrhj4cbux34c8rHlWMgdVmdFFzqrUp4tdMGP+yK6zb0yZ4MeS8hGB3atqI6FLZ5jwP2A9Wsn2j74Xb7eas3jKnaFO8rbf17iTAjkNXGIICVveb1/te5oQlxtLAP7Y0FGHLu55VAiIMHMhFfP1oEa8JqPRVPXpTiuz0ggsV81D43BislJAVMfALQxfBsbzX/poSHGpIJbF0VHqL69LjYhrEdNPs4WC9WmB12hNcFUyHt1FPE+1lGlbKDw2i8A1WpZn7k84KWLDY6kh4ahrjhea5SBkqFtkxaXvNVKr9i7xkBP6MRoWmk3fuNEorr8mbf4IkS7ujfZk74FcAXTtEQ5zmjjSm6qpCcfG4w8GtQxsVTR4nGYx61ow+7o3jPcV0BXkUBzzq/STfMzs/fvbp0/7PV1pltjUTgfd2Ecy+1PYuPcUsByFb0gTknxGuTtWCbgv9wdtuHh32EY7Zf7MZlycZBzkbA5mnVFR/KTVkpTdr33m5Z6D7+66CJvglkTdsS1yvjJfolQTBgy/S7hTC3KEngQwEB0+3Gfk5esSFe7CXZmX/triOQI9LyyCY1vFCfioPpLTkmBhFSuk7Y7y/G4AtjcuaxRxBAvYXPbOSd1BzC2QSa7KpeHqUmAyZQc7YoE7PuDvDU46+1klpiHbYEd2m5TmIj3MUPQY+paT2GQqreySluKqxxyw/XJdjkq6KXoNwLixtUvpZ+pEZWmp1yPgS4KaEq1kGzyvQaudhhDXfttpXVycBPuEftESTM0qzzn+HFO/RjOB7IK1nqfjDpmOJnwDNCniM3aRav5HVIFLpFDsQyJ4es+kDJx3lfdId1DM/5JpXyWe2+Y+IZluCvjw0tHKdymxCODyLY6KSaSt6fQ2Cb1/aeiwfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014rK84jYNQ2ryyc6MnQwoXH",
      "input": {
        "note": "The right arm stopped at z≈0.08 on its way down, probably just rate-limited; the bowl rim is between the jaws next to the pear. Continuing down to clamp the bowl wall.",
        "targets": {
          "right_x": 0.47,
          "right_y": -0.02,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_014rK84jYNQ2ryyc6MnQwoXH",
      "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]: [-0.6136, 1.1275, 0.6712, -0.3714, -0.5037, -0.4194, 0.5477, -0.0433, 1.7229, 0.8524, 0.231, -0.0307, -0.1238, 0.9965]\nstate[eef_state]: left_x=0.3008 left_y=-0.1031 left_z=0.131 left_yaw=0.0251 left_pitch=-0.133 left_roll=0.0654 left_gripper=0.5477 right_x=0.4618 right_y=-0.011 right_z=0.0772 right_yaw=0.0475 right_pitch=-0.0732 right_roll=-0.0823 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -3.1521, 6.8444, 1.453, -0.2808, -0.0708, 0.5397, -0.6632, -7.6513, 5.2308, 1.7265, -0.0073, -0.1392, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7a21cbc17a72dbd78fb88708dec6ffab332433507848b0cc7f786d96b71e7ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de9faa34a941c5e572280d604dedda2d999997d83313397b2064ee23d8ff3236",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4125ad3b3bc4742198cbb3c47d6300ed897113cab1f3595d95687e8e6177cc45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 3.301 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]: [-0.6136, 1.1275, 0.6727, -0.3706, -0.5041, -0.4194, 0.5449, -0.036, 1.6375, 0.8692, 0.1169, -0.0139, -0.123, 0.9965]\nstate[eef_state]: left_x=0.3012 left_y=-0.1033 left_z=0.1318 left_yaw=0.0252 left_pitch=-0.131 left_roll=0.0642 left_gripper=0.5449 right_x=0.4517 right_y=-0.0102 right_z=0.0989 right_yaw=0.0402 right_pitch=-0.0858 right_roll=-0.0908 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -3.6991, 6.9128, 1.6142, -0.2662, -0.0708, 0.7448, 0.1436, -7.6923, 7.9932, 2.0635, 0.1343, 0.1538, -0.0122]",
      "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]: [-0.6136, 1.1275, 0.6712, -0.3714, -0.5034, -0.4191, 0.5483, -0.0433, 1.7226, 0.8539, 0.2317, -0.0307, -0.1234, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1032 left_z=0.131 left_yaw=0.0246 left_pitch=-0.1331 left_roll=0.0655 left_gripper=0.5483 right_x=0.4623 right_y=-0.011 right_z=0.0782 right_yaw=0.0473 right_pitch=-0.0705 right_roll=-0.0822 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -3.4256, 6.8034, 1.4335, -0.2369, -0.0317, 0.5983, -0.5675, -7.665, 5.2855, 1.6874, 0.0171, -0.1001, -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 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]: [-0.6136, 1.1275, 0.6712, -0.3714, -0.5037, -0.4194, 0.5477, -0.0433, 1.7229, 0.8524, 0.231, -0.0307, -0.1238, 0.9965]\nstate[eef_state]: left_x=0.3008 left_y=-0.1031 left_z=0.131 left_yaw=0.0251 left_pitch=-0.133 left_roll=0.0654 left_gripper=0.5477 right_x=0.4618 right_y=-0.011 right_z=0.0772 right_yaw=0.0475 right_pitch=-0.0732 right_roll=-0.0823 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -3.1521, 6.8444, 1.453, -0.2808, -0.0708, 0.5397, -0.6632, -7.6513, 5.2308, 1.7265, -0.0073, -0.1392, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7a21cbc17a72dbd78fb88708dec6ffab332433507848b0cc7f786d96b71e7ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de9faa34a941c5e572280d604dedda2d999997d83313397b2064ee23d8ff3236",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4125ad3b3bc4742198cbb3c47d6300ed897113cab1f3595d95687e8e6177cc45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSlAoKEAgSGAI4AUIIdGhpbmtpbmcSDK5ifWivwYeXMP7XoRoMqIOuzZtTSLEFpz4HIjDFnoBCN/v2vSzCK/E6bycZ0Mm+FUTZX1fEWlp8a6UpG+uC8aUvw8IDs4jQqPDqVSUqsQkfiUJXEC2XLaypuHAdViLJVwvvWgM1B6NWbyODN56WCJgaXhenycoZVZbdbvknUDH6d2RJPsBL3D+DYgmIGfO72+bkX+MdJ8MXMsnl3UYDDSC4xI1eXaOnsishfA9mcHrJUOtTo2qYeo8kCNBSjNkGrL+dpmRRDYlS2q65yD9BbC8N+tiQrks4UMVn/05nIag2i3CXHw9st4B8gmCRL6qCUanWO7ONAfEzfsFK89eoYXvRRJXOR8aZQT0YdWjAfpwQAxZK0u52GTdg14xXwNe1Hxs9CzTOSrfAP/I0VNYZOmvHMVzaowyx7HFDm3qmCHi9N7HdaFnWAcwPQk+Fc9KExbpy9LC1PNn3ndROY2f/1K7IU4E6WBhdCX/GoYjUPfN6WahJOYGeFK7Dkw4w4yb0rP2lIULJodNErgjSgoYqQfdvLK3qdyXTGqRgOtYXxtdZZgl2ZXM0PrT3Sz+2i/D80fOOX5y9njaCZ8PkOQryDubSkxdjAhlNGYgvIZ6ijIsS7cWn3bk/Fv6Nrn9oUhbO7ttrRJV0rd8G3A4y/zFu1ZHYmPWDumiPIXUk8ppEi4b/O9RIH6Sk0ZQXYqckbsdETXv28ouhk4f5g95WXx8GR5yHJhLizXeX0YfeI1Q60Tge3GQqksjXfQtdOH7AmztqdGO8kxQAKvDFrARKBjmDcgG3x8uDcfxXZBntJ0KXCjYKl4cDpfqu2EE7A1bweLta46NWW3Tpiljf6L3arvTmtuOQuhGYIq1MLbZMu1d/lltWbqdB19xhCuzobZPV54WGqL6AyVQBD/zehdrvQ4jBopJ+Vcm7LeNZCSYnuShZssXuQX0ht8I42RAXVKkR5aGqbvzcXaNv/O1v6lR6a7aleGb/EYt2q8d/X4cqNtMdXv2SAq+CUZ4WxrkvFWMqmm11OruUdQbp1//cxMydDg1jnLC7oqYYV+oY65mkcy86eqmzyHNXPe26IjIOMYAZjA/rAYSbgQkvxZ0i37rI6254QKOVZDoMxwgh6ZahO238LB6IAmEaJFHFVJOU2mTJAeHhYUPRFjsOQlGfiEYiXysLEtSZeR4ViY/jPl1yx2+KyAMf6IKRPrx9RttnmpORj2+dpUgUGJj3Tu6nFLgLrZK/tnkrVyx9hQkgboR3I0ZNlaunxnDJ8EJb1CTC6djSQXu7mxGxPolCIvhy3GqrNsDI6SX7bLQyFKj2SghXu0S2Ny7RLMuc02igxXXLHBtGujXtFQuCn3UjoBZU84oRRcgYXSQ+q4sbI5JGK0TTk8FY6tZOGjB5rRc/ZT3UYz2Xx/DkKIZYs9DINAS5diJiNIspTO0qC4vI/GK8lXbeBEr4YfaE5cOwVuIGZLkaVzPNOI/s5gEmSkCypZZkYCvgzTblXT5l/pf7Qr6n6XHrcHG/Rgc0hizjI9fXMKXfAZvALobVvQdGLyqKU2ptFdhub4jstCk7/1V8u6GfnriAQouzmWxFqQY7+9o/lJEoMpLAq68zmaNdrusBv3XF8v/AOjTigPRWHKMnzMb9robLaAKjEUhKY5znJTK7g5xJST8l8c6wFwdMj5zpr00HhAt7LXZ2Yzl3y44ZdYCu4WH6c9CK2hnjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VnkghFWsXyDJxudepojkJP",
      "input": {
        "note": "The descent is blocked because the left jaw is resting on the pear inside the bowl. Shifting the gripper right so the left jaw sits just inside the bowl wall, clear of the pear.",
        "targets": {
          "right_x": 0.465,
          "right_y": -0.05,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01VnkghFWsXyDJxudepojkJP",
      "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]: [-0.6136, 1.1275, 0.6712, -0.3717, -0.5034, -0.4194, 0.5507, -0.0433, 1.7229, 0.8524, 0.231, -0.0307, -0.1238, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1032 left_z=0.1309 left_yaw=0.0249 left_pitch=-0.1334 left_roll=0.0654 left_gripper=0.5507 right_x=0.4618 right_y=-0.011 right_z=0.0772 right_yaw=0.0475 right_pitch=-0.0732 right_roll=-0.0823 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -3.0974, 6.6667, 1.3944, -0.2076, -0.0513, 0.6325, -0.6632, -7.4872, 5.2308, 1.6874, 0.0073, -0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b67ff52632b9dda40025bccc2ff19fb2d04ef66b9bb0cd5bccb6a2de1cb4a1fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31cfa7288fa780d776745254376a031d4d00f29008c8b00e7077e6486000918f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:96ca82f9ec06a0b8dac8861272c5619bd2b76754cddaff3c1d80c5576df42f92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 8.28 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]: [-0.6136, 1.1275, 0.6712, -0.3714, -0.5034, -0.4191, 0.5483, -0.0433, 1.7226, 0.8539, 0.2317, -0.0307, -0.1234, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1032 left_z=0.131 left_yaw=0.0246 left_pitch=-0.1331 left_roll=0.0655 left_gripper=0.5483 right_x=0.4623 right_y=-0.011 right_z=0.0782 right_yaw=0.0473 right_pitch=-0.0705 right_roll=-0.0822 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -3.4256, 6.8034, 1.4335, -0.2369, -0.0317, 0.5983, -0.5675, -7.665, 5.2855, 1.6874, 0.0171, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6136, 1.1275, 0.6712, -0.3714, -0.5037, -0.4194, 0.5477, -0.0433, 1.7229, 0.8524, 0.231, -0.0307, -0.1238, 0.9965]\nstate[eef_state]: left_x=0.3008 left_y=-0.1031 left_z=0.131 left_yaw=0.0251 left_pitch=-0.133 left_roll=0.0654 left_gripper=0.5477 right_x=0.4618 right_y=-0.011 right_z=0.0772 right_yaw=0.0475 right_pitch=-0.0732 right_roll=-0.0823 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -3.1521, 6.8444, 1.453, -0.2808, -0.0708, 0.5397, -0.6632, -7.6513, 5.2308, 1.7265, -0.0073, -0.1392, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6136, 1.1275, 0.6712, -0.3717, -0.5034, -0.4194, 0.5507, -0.0433, 1.7229, 0.8524, 0.231, -0.0307, -0.1238, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1032 left_z=0.1309 left_yaw=0.0249 left_pitch=-0.1334 left_roll=0.0654 left_gripper=0.5507 right_x=0.4618 right_y=-0.011 right_z=0.0772 right_yaw=0.0475 right_pitch=-0.0732 right_roll=-0.0823 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -3.0974, 6.6667, 1.3944, -0.2076, -0.0513, 0.6325, -0.6632, -7.4872, 5.2308, 1.6874, 0.0073, -0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b67ff52632b9dda40025bccc2ff19fb2d04ef66b9bb0cd5bccb6a2de1cb4a1fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31cfa7288fa780d776745254376a031d4d00f29008c8b00e7077e6486000918f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96ca82f9ec06a0b8dac8861272c5619bd2b76754cddaff3c1d80c5576df42f92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSnQcKEAgSGAI4AUIIdGhpbmtpbmcSDFd4E8sE9GHbZnLgLRoMi4xu+7knDrzKMWOzIjCiSy+Kn1nGDUuI73hIwwLTqOoSC+z3qcN9DkJ79oUhxw746QAAmrAEnlddCIzhiUQqugapuR/xO90dP27PeNJWgbx4WamufmMQ81ssrkt3T706eEeDxSos6IHYgDbDd+all5EV3iefJ8TRiZERgF+GOW/TcKBzCVCA2D0wBYq032kDG972m6ipF/38s79VCinizwjbBPbeRXy4sj9eFM4VUR+Dxi6Nlr2H5cpV7ZyWM55Ll45MefxXJc07U1zH2NVTm6nZyJBnVICr+6WAjnRYiubM8Z+qIkAmOsJbwxrY8HSfsqC3Fm0BX+P/ZJYkRo4d6b9kB3XkFB8IFUYFPPlplIH4vV2n6mN/gP6E4nmfrpMS5Ksn7uq4SFsiyS8AVlSQBg5Xsl3Xgz9roBWz+uJAAoArNG1D0P69JFC4Q8A8wz7tk7EJcg5WGDQnYFshUBFD3YQxu5+nWf93C9t7h3pUxV4W6/wu9aEFpC4YXuMa0DIA8nDY0Gf2wZHzKO/6WWc+S5leNopPcD7TqDlVTjnH7EWdJ1ygTEs0Mdjg48auhq0lo4xfGWXXArusqpxGQQA3Bcu564jUWzdd2yOFHxhQzNWw34xP+TvJ7fVhQu2mvck1WL3RIN0e0sjbpUDzh0wCnOGzqnlHCKHwgCsLBdIFw50S3tnfa2kBVIYRhCy85oSRkzSSuYT9/HOh0t2izPcer2woMckZ+e++PF36BrUZ4zZu8rFDsQTDmd85tcC6JITnzyNrabIx1CKZZ9eUfZpjcCRNafOU3UQLXSSH5Bfp75U8r38B9ITroN06DEBxGx55fu4OvXpZKmphAAbfZhipNOuC+FjRsLmXcHxaqyrPMvgiNHAMthVIL+AP4eBBJIcpXX/HCjoeCl8Tz5FANFjsMk+e9PU3y/f+3FttNjpWGXCsgPh9MiV26dTgHoPwCORgneoPE5NPp1pvnvpqawXzJALedfhKL7EAH3I6y15YdNlFp209bSSuV9/d7cWK0Yy4qRBkMxcBBFeB5YS0vcV7krmS8EGMn1f4bjK02s64R5WtJtpgtNA7++vwEDa4ocVUvJ8pML3tL1/9KyILlk0zrTpnBQG/Q0hp9jqGdvPLvhE7+LLLBrbsbHqbNNHoLlqzMhd9Rwqt//ykp6e2zcAnbVIUdq4+V+u0CezAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CC8V3VVkPwF8qSHjrGK56z",
      "input": {
        "note": "The right arm didn't respond to the last move; its readback is unchanged. Sending a simple straight lift to free it from the pear.",
        "targets": {
          "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_01CC8V3VVkPwF8qSHjrGK56z",
      "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]: [-0.6136, 1.1275, 0.6712, -0.3717, -0.5034, -0.4191, 0.5521, -0.0414, 1.618, 0.9913, -0.0292, -0.0383, -0.1318, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1032 left_z=0.1309 left_yaw=0.0246 left_pitch=-0.1334 left_roll=0.0657 left_gripper=0.5521 right_x=0.4617 right_y=-0.0088 right_z=0.1304 right_yaw=0.0603 right_pitch=-0.0894 right_roll=-0.0825 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -3.4256, 6.694, 1.4042, -0.2515, -0.0757, 0.4615, -0.5265, -9.4154, 8.335, 1.7363, 0.0122, 0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b87aee4e4133fdd78aa2b9ba9624fe438effc19d17af99538d60cb77bb4c31a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e49998a3cddc9b1215e74205bc786423f9dcd0c2677dec4259000b3461cbcf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a785b7dd2c5b1840b688bd23c8dacd586b5dc32f81d356d18da115271086a8c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 3.854 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]: [-0.6136, 1.1275, 0.6712, -0.3714, -0.5037, -0.4194, 0.5477, -0.0433, 1.7229, 0.8524, 0.231, -0.0307, -0.1238, 0.9965]\nstate[eef_state]: left_x=0.3008 left_y=-0.1031 left_z=0.131 left_yaw=0.0251 left_pitch=-0.133 left_roll=0.0654 left_gripper=0.5477 right_x=0.4618 right_y=-0.011 right_z=0.0772 right_yaw=0.0475 right_pitch=-0.0732 right_roll=-0.0823 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -3.1521, 6.8444, 1.453, -0.2808, -0.0708, 0.5397, -0.6632, -7.6513, 5.2308, 1.7265, -0.0073, -0.1392, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6136, 1.1275, 0.6712, -0.3717, -0.5034, -0.4194, 0.5507, -0.0433, 1.7229, 0.8524, 0.231, -0.0307, -0.1238, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1032 left_z=0.1309 left_yaw=0.0249 left_pitch=-0.1334 left_roll=0.0654 left_gripper=0.5507 right_x=0.4618 right_y=-0.011 right_z=0.0772 right_yaw=0.0475 right_pitch=-0.0732 right_roll=-0.0823 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -3.0974, 6.6667, 1.3944, -0.2076, -0.0513, 0.6325, -0.6632, -7.4872, 5.2308, 1.6874, 0.0073, -0.1148, -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 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]: [-0.6136, 1.1275, 0.6712, -0.3717, -0.5034, -0.4191, 0.5521, -0.0414, 1.618, 0.9913, -0.0292, -0.0383, -0.1318, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1032 left_z=0.1309 left_yaw=0.0246 left_pitch=-0.1334 left_roll=0.0657 left_gripper=0.5521 right_x=0.4617 right_y=-0.0088 right_z=0.1304 right_yaw=0.0603 right_pitch=-0.0894 right_roll=-0.0825 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -3.4256, 6.694, 1.4042, -0.2515, -0.0757, 0.4615, -0.5265, -9.4154, 8.335, 1.7363, 0.0122, 0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b87aee4e4133fdd78aa2b9ba9624fe438effc19d17af99538d60cb77bb4c31a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e49998a3cddc9b1215e74205bc786423f9dcd0c2677dec4259000b3461cbcf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a785b7dd2c5b1840b688bd23c8dacd586b5dc32f81d356d18da115271086a8c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AbPnbuk88hC8aQ8BWkMntE",
      "input": {
        "note": "Lifted clear: the blue bowl with the pear now sits just under the right jaws, and its right-hand wall is a couple of cm right of the jaw centre. Shifting right and descending to straddle that wall.",
        "targets": {
          "right_x": 0.46,
          "right_y": -0.035,
          "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_01AbPnbuk88hC8aQ8BWkMntE",
      "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]: [-0.6136, 1.1275, 0.6689, -0.3794, -0.5034, -0.4194, 0.5546, -0.115, 1.8301, 0.8162, 0.3359, -0.1055, -0.1684, 0.9965]\nstate[eef_state]: left_x=0.2992 left_y=-0.1021 left_z=0.1289 left_yaw=0.0257 left_pitch=-0.1414 left_roll=0.0714 left_gripper=0.5546 right_x=0.4591 right_y=-0.0307 right_z=0.0369 right_yaw=0.0636 right_pitch=-0.1069 right_roll=-0.067 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -3.3983, 6.8718, 1.4481, -0.2759, -0.0464, 0.2466, -0.5538, -7.6923, 4.5744, 1.6777, 0.022, -0.2418, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ee313b87362d8a8c87182b7ebeebf2115dd72246cc80e67440afab9a8d7d120",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:108a39dd2b4effbbf5586a7d4f3b7733bbc4486f5f55df9fc6474968d67e2a77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dade2d792696ab89448c95cbdc54f5fb62128faeefad51a1c2b99f90fad336e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 5.331 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]: [-0.6136, 1.1275, 0.6712, -0.3717, -0.5034, -0.4194, 0.5507, -0.0433, 1.7229, 0.8524, 0.231, -0.0307, -0.1238, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1032 left_z=0.1309 left_yaw=0.0249 left_pitch=-0.1334 left_roll=0.0654 left_gripper=0.5507 right_x=0.4618 right_y=-0.011 right_z=0.0772 right_yaw=0.0475 right_pitch=-0.0732 right_roll=-0.0823 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -3.0974, 6.6667, 1.3944, -0.2076, -0.0513, 0.6325, -0.6632, -7.4872, 5.2308, 1.6874, 0.0073, -0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6136, 1.1275, 0.6712, -0.3717, -0.5034, -0.4191, 0.5521, -0.0414, 1.618, 0.9913, -0.0292, -0.0383, -0.1318, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1032 left_z=0.1309 left_yaw=0.0246 left_pitch=-0.1334 left_roll=0.0657 left_gripper=0.5521 right_x=0.4617 right_y=-0.0088 right_z=0.1304 right_yaw=0.0603 right_pitch=-0.0894 right_roll=-0.0825 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -3.4256, 6.694, 1.4042, -0.2515, -0.0757, 0.4615, -0.5265, -9.4154, 8.335, 1.7363, 0.0122, 0.0269, -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 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]: [-0.6136, 1.1275, 0.6689, -0.3794, -0.5034, -0.4194, 0.5546, -0.115, 1.8301, 0.8162, 0.3359, -0.1055, -0.1684, 0.9965]\nstate[eef_state]: left_x=0.2992 left_y=-0.1021 left_z=0.1289 left_yaw=0.0257 left_pitch=-0.1414 left_roll=0.0714 left_gripper=0.5546 right_x=0.4591 right_y=-0.0307 right_z=0.0369 right_yaw=0.0636 right_pitch=-0.1069 right_roll=-0.067 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -3.3983, 6.8718, 1.4481, -0.2759, -0.0464, 0.2466, -0.5538, -7.6923, 4.5744, 1.6777, 0.022, -0.2418, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ee313b87362d8a8c87182b7ebeebf2115dd72246cc80e67440afab9a8d7d120",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:108a39dd2b4effbbf5586a7d4f3b7733bbc4486f5f55df9fc6474968d67e2a77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dade2d792696ab89448c95cbdc54f5fb62128faeefad51a1c2b99f90fad336e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS2wgKEAgSGAI4AUIIdGhpbmtpbmcSDNeWu9u6p9Os/TqO3hoMdu1GhZTirvzXd+BOIjA/OawYnSOt3Wgth6noI9S/5GnTUtQ8fyDHVTIur1gEemm7EvSyNg7Ap4OJ8zF5MeMq+AcAdGkR0g/iyd/ZB9ucGshpN6gv+bmRhuLVRu49Vn0diiP0OUbDtibDkLsXNUNUkZK6sh4AWVbOu3/oCS018Ox9WZLQtIz4BqvwuuKPLz7ceKFMeqZDHqkmL67j9DXG11/IO+Y1o2SKqGCoxWNf+Nr3ejTDDYUTgG1u6TZTAg9ze4EaBimZx3u0ScWJUjYSjtFmNlmwGhUYp7dGgPHApZ+9ImRDL8UPk4HMUCD1S8Cg/D0GO8w2Yakic7c1vhHGQCNQSD+XopxsRO8+CcHQAeGGDQjQx/rqTs8PiRjRONIhQuaBg0w+6TrqwIw1XmDyN9Pbu4oNFVd0PJS8pkp9BDOfJsfIrGYBHJbExdpMmYXCUjntmcZ50MaBJeMB7gMlQuxG9yzaFTtw0vAVQflearNZxcqmC+JKXwmlsNkLCDSb6c2MMhW3xhCQBernZuw5jlpQdhxLc8e7GvM+PulVctxkuqghnrO2q98YvmvTbe3fjofYZZgeMW+ISGSy5asOy/8i8k9TUe4u1XJYvx89kH6r5Z7L4fZ5OTlOOHBFfO+n3Xkd5j542/DHibGLYf2LXZ24UOKLMf2D7IE9dQZFGnsXCjcYeclEW0bmJtiDFISUKuYbyOUsXSqA8ajZiVkrohDXCskvrWLO+R3QEcIhVOw9mpKSYEoyawEMiuCY+OK+FBMfU44Qf2AACGg/ME1rmYSmvRQES+HC2EkxkJOtPqK9YV4Rt0BOrRoMtHM6glLM0wLilMiddhhh84z+0gDD/S7Lh/9wDvqZc5eiyfpVahSisn/HHGVQxLItGNJKt78B88T5VxAa48Qlwai779ChxAGgt16mcTfxyZPaZVH90458skuYCt9nxryt2qKao6ViemQ9rNzeelX57zQQBkXLVuV/ahNC9JQSQWxLvUTwHNPEq4JZcSaJ2kuQ5kwUngrERG07hXlvgjRUyaeJsYdrWm69243MX3Sg3T7/KEVCl01rLN6MfiiqnCibAa2gUM955mLlJ8gyZrxx28cQ9pymqAzWoEfQBxS/10Yjmh5540W7IpSBhMg/A3BBdRN8gWkTRy8GVeRjfZ4/a+3WX8YZSSYDqH9w3ciHv0hFC5e4YAsRJL6KVjZWPMI4WHMtdflU/kl3RZiAgbY1Eg4tS2VZN3BR/bNQ8pnt4AnL4FKHp3o8Wk1Qgmr244wsYTY5nBmZKSB+0fM6XSBRfZFih14h55mdhyBBr/UQ5Z0HyCF68O1pz263EGiU//Oo3oIMY8qCBhlRNc0QSCtAIfvTpfZY4PcflftDM2DJMyA0cPJuwYZr/jNEDw7eUDKWoCMFqmh3wgdp2J7peNeYfCqqX+7dI98gtLnp1mKMYRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T5Ds3HEW5KCG8xBJNDm5cr",
      "input": {
        "note": "The right jaws straddle the bowl's right wall at z≈0.04, with the pear just inside. Closing to clamp the bowl wall.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01T5Ds3HEW5KCG8xBJNDm5cr",
      "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]: [-0.6136, 1.1275, 0.6689, -0.3809, -0.503, -0.4194, 0.5568, -0.1085, 1.816, 0.8192, 0.3855, -0.139, -0.1581, 0.8204]\nstate[eef_state]: left_x=0.299 left_y=-0.1021 left_z=0.1286 left_yaw=0.0255 left_pitch=-0.1428 left_roll=0.0721 left_gripper=0.5568 right_x=0.4686 right_y=-0.0228 right_z=0.0545 right_yaw=0.0919 right_pitch=-0.0372 right_roll=-0.0515 right_gripper=0.8204\nstate[joint_eff]: [-0.0342, -3.3573, 6.7077, 1.4432, -0.2418, -0.0757, 0.2076, -0.8547, -7.3778, 5.5453, 1.2332, 0.2369, -0.1294, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3946b2c6b7617cc5e78aed3961de221cc1e76ab7b35c5b53a27799d0591196b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:870c883e4abe47ad85fef95d866d0467108f5ba023a51485fc0f2398ca8ba41e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:41cd302611b920a23deaafca3d1d70466cff9c62fd92bc848f1e9a3268378937",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 5.129 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]: [-0.6136, 1.1275, 0.6712, -0.3717, -0.5034, -0.4191, 0.5521, -0.0414, 1.618, 0.9913, -0.0292, -0.0383, -0.1318, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1032 left_z=0.1309 left_yaw=0.0246 left_pitch=-0.1334 left_roll=0.0657 left_gripper=0.5521 right_x=0.4617 right_y=-0.0088 right_z=0.1304 right_yaw=0.0603 right_pitch=-0.0894 right_roll=-0.0825 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -3.4256, 6.694, 1.4042, -0.2515, -0.0757, 0.4615, -0.5265, -9.4154, 8.335, 1.7363, 0.0122, 0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6136, 1.1275, 0.6689, -0.3794, -0.5034, -0.4194, 0.5546, -0.115, 1.8301, 0.8162, 0.3359, -0.1055, -0.1684, 0.9965]\nstate[eef_state]: left_x=0.2992 left_y=-0.1021 left_z=0.1289 left_yaw=0.0257 left_pitch=-0.1414 left_roll=0.0714 left_gripper=0.5546 right_x=0.4591 right_y=-0.0307 right_z=0.0369 right_yaw=0.0636 right_pitch=-0.1069 right_roll=-0.067 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -3.3983, 6.8718, 1.4481, -0.2759, -0.0464, 0.2466, -0.5538, -7.6923, 4.5744, 1.6777, 0.022, -0.2418, -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 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]: [-0.6136, 1.1275, 0.6689, -0.3809, -0.503, -0.4194, 0.5568, -0.1085, 1.816, 0.8192, 0.3855, -0.139, -0.1581, 0.8204]\nstate[eef_state]: left_x=0.299 left_y=-0.1021 left_z=0.1286 left_yaw=0.0255 left_pitch=-0.1428 left_roll=0.0721 left_gripper=0.5568 right_x=0.4686 right_y=-0.0228 right_z=0.0545 right_yaw=0.0919 right_pitch=-0.0372 right_roll=-0.0515 right_gripper=0.8204\nstate[joint_eff]: [-0.0342, -3.3573, 6.7077, 1.4432, -0.2418, -0.0757, 0.2076, -0.8547, -7.3778, 5.5453, 1.2332, 0.2369, -0.1294, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3946b2c6b7617cc5e78aed3961de221cc1e76ab7b35c5b53a27799d0591196b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:870c883e4abe47ad85fef95d866d0467108f5ba023a51485fc0f2398ca8ba41e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41cd302611b920a23deaafca3d1d70466cff9c62fd92bc848f1e9a3268378937",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS4QkKEAgSGAI4AUIIdGhpbmtpbmcSDHMyzltImaTWn80WYxoM7uGEyWGTV5iaxU5GIjCOCQoZJTd32NYSwq0EuFDMAe+j7GqVJXPLVW0tZZy8PfIU+Pt9e0ixDMKfyVsO9gAq/ghUjOtl0YIL63xQxYooskqYmYtNYBSAZN9b7olgJNKEbrnDYXJk2kH7/McESF3GlJtYS+ckrQmijHVsgkh6LSkkaxMho/n5I30zPx3cQKVf5PUQ8m3zSjfrIrHAu3Qk0pBz93dpMw5QLErhYii+xhvS8uxvnoDxDpk14tiN98k9LnzVZrfv8p3L+0zCzUf3n5s5RIsRu7Z60/ZwXW1LmfvfuDY1aDRq/vbLggxE1WQ7K48b8uCkf69owVMtaKmHG+afuuzw8AlIaBA+MGba6ZIv52pDmfrCFiG/0AnzOYjfeHb4r4s93hdZLomdW4WWR4vSBWUbOmaz0x7f8KGeJ2TCNi+fznY6A7PdmazhflMYcGOn4Ma3S3bHXdUpSTqranZ5kt+w++aJLdm1NEFV7B6nX/g+bRYHDp3B4UmOw+6VeMIpmEroij4qLc1bNxdyzhe9dEOVKU7RjjKo7QQ+5kH52Dmyszjp/qqlJik7m7GzjUxF30J4G6DoPL47YcM7aJbKC5Je7PYRYb7waFghXrhTECoLfPP/b04G43ebrIFMYTxpg7xDt3Ic9WmoF/9eUTFgpjxSoT+aAVpDBQEkbM9h4Uyz1mUpzDiTki9zhJ4zJXTMtZ4d5DnWUMx8usSyzEN1OW2LfxtYFCQDB3zyBgdxgomSqxDu0jZGU+GSkBvleK8N8V+03ZkBF+aSdZiABA9ahP2m2X9IXu7RhgWt3KthcRBTB2/YW/hpqaao96H3UzNwqgdmyRZY79gW0a90jC6r3w8JOl9RZ2ywHuPiJyjpVIlGEfkbPlCGF7awS6DzhvShPqiwswoCwSnUBQ2P/Xa8iAu6pfZofZH3sGTW9kRm/oZ4ge5CfclgO1RZXtH1Qqc0g1p3NfupL+W1VmkL1zcB5fWicsgIlM6gxDODUvyTLBQHs32eh+ZK19DSElLtqJKEI9FsyIeOfvqK0tGeq4dvAqMGCo6uFn8X2dwDcmJkPfLeRanIe8V4vnbj6FRyaCkVpDW6u/e2BtIBQasjOtjyxhv9sul/wX0BJBP3Tx4ybhfKyxUABn9J8UZRE7DG8wnFFSQjoLw2xHnrYJhiI82etHTgbazs6W+g5bcsDNjQuI4rzvFioAqHitDS87dXUPtlcEkZMJ2VzYzWbjgUOSvcS0juTwWXu/fECg7MnMdi9ezg3DK8fAHt6ASyfSIv1Bmo4rq/8rTe/40RUNFTKg+TTHSHKOZvq1LlUjGcafaJ4kBV+M/Rtd7sd8C2SCLrQl213NApFeAD8YB/t2IoPrlYN6GnlkmTX4XCH6OcuTDfrcv34lpLHLssYoxGyoVUfu1MrdS9I2tMyjJMVmM7EtoIL753O3fcI4QoaAxSC+7dNp3Bal76jO0zOmKe+BcL1QvkQC8TmtdXrqM9sVWiPgOJOL4xucouSpJQTiptcWLHhoBcRCb+2tR5r62N0lC5wFE+e75I3fk02h8YRyHQ9owVRogHOjgvW0/u14/I0QCfFEAvV9LlviyMuc7wMcAPgTTOHwl1nXqD7OGDrv5hGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01En8hoRE5MSQ23tNKNWpku8",
      "input": {
        "note": "Gripper settled at 0.82: it has clamped the bowl wall along with the pear. Lifting slightly and carrying the blue bowl left toward the table centre, where the left arm can reach it.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.28,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01En8hoRE5MSQ23tNKNWpku8",
      "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]: [-0.6136, 1.1275, 0.6689, -0.3817, -0.503, -0.4191, 0.5583, 0.7589, 1.9411, 1.137, 0.0555, 0.5266, 0.3531, 0.8235]\nstate[eef_state]: left_x=0.2989 left_y=-0.102 left_z=0.1285 left_yaw=0.0254 left_pitch=-0.1434 left_roll=0.0728 left_gripper=0.5583 right_x=0.4156 right_y=0.2768 right_z=0.0718 right_yaw=0.1314 right_pitch=-0.0624 right_roll=-0.0689 right_gripper=0.8235\nstate[joint_eff]: [-0.0752, -3.412, 6.9265, 1.4432, -0.2222, -0.0659, 0.1441, 0.2393, -9.7436, 8.0068, 1.5067, 0.4176, 0.2076, 0.315]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ec18ea5bb91206d54a3ccd164f9e2e45fccb39e75457a6787f7174747c163cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe2c4f5f6dff0d8adab36ab9a8c248026bb8db7d804b57709ac984d61158c40b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2cb958488449586baad3a57750d05adf619f8ce642618665a95c47e8ccf00e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 4.463 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]: [-0.6136, 1.1275, 0.6689, -0.3794, -0.5034, -0.4194, 0.5546, -0.115, 1.8301, 0.8162, 0.3359, -0.1055, -0.1684, 0.9965]\nstate[eef_state]: left_x=0.2992 left_y=-0.1021 left_z=0.1289 left_yaw=0.0257 left_pitch=-0.1414 left_roll=0.0714 left_gripper=0.5546 right_x=0.4591 right_y=-0.0307 right_z=0.0369 right_yaw=0.0636 right_pitch=-0.1069 right_roll=-0.067 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -3.3983, 6.8718, 1.4481, -0.2759, -0.0464, 0.2466, -0.5538, -7.6923, 4.5744, 1.6777, 0.022, -0.2418, -0.0122]\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]: [-0.6136, 1.1275, 0.6689, -0.3809, -0.503, -0.4194, 0.5568, -0.1085, 1.816, 0.8192, 0.3855, -0.139, -0.1581, 0.8204]\nstate[eef_state]: left_x=0.299 left_y=-0.1021 left_z=0.1286 left_yaw=0.0255 left_pitch=-0.1428 left_roll=0.0721 left_gripper=0.5568 right_x=0.4686 right_y=-0.0228 right_z=0.0545 right_yaw=0.0919 right_pitch=-0.0372 right_roll=-0.0515 right_gripper=0.8204\nstate[joint_eff]: [-0.0342, -3.3573, 6.7077, 1.4432, -0.2418, -0.0757, 0.2076, -0.8547, -7.3778, 5.5453, 1.2332, 0.2369, -0.1294, 1.033]",
      "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]: [-0.6136, 1.1275, 0.6689, -0.3817, -0.503, -0.4191, 0.5583, 0.7589, 1.9411, 1.137, 0.0555, 0.5266, 0.3531, 0.8235]\nstate[eef_state]: left_x=0.2989 left_y=-0.102 left_z=0.1285 left_yaw=0.0254 left_pitch=-0.1434 left_roll=0.0728 left_gripper=0.5583 right_x=0.4156 right_y=0.2768 right_z=0.0718 right_yaw=0.1314 right_pitch=-0.0624 right_roll=-0.0689 right_gripper=0.8235\nstate[joint_eff]: [-0.0752, -3.412, 6.9265, 1.4432, -0.2222, -0.0659, 0.1441, 0.2393, -9.7436, 8.0068, 1.5067, 0.4176, 0.2076, 0.315]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ec18ea5bb91206d54a3ccd164f9e2e45fccb39e75457a6787f7174747c163cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe2c4f5f6dff0d8adab36ab9a8c248026bb8db7d804b57709ac984d61158c40b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2cb958488449586baad3a57750d05adf619f8ce642618665a95c47e8ccf00e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSpAoKEAgSGAI4AUIIdGhpbmtpbmcSDN73XvIVEiszCHw8dxoM9QeOafp4KAaiBxT1IjCZxeX+OyNuixPbhj6JzuXpzlJFhFEzkrN+G1xkLvO5ZPx4YTpfey9xceYv29IcoVUqwQktPAJueqbCDhc5ofU5l7pEI/uX2HoLAqMmMqcTXAuKB9YQ9jrowRXLpQUQT37rHIkIJ52bzYgqDTAJbSHukHBPmABX6x8fAkPywQFmig/xI5z0fn5ijIf1uplbANMdK12llJs0iH/Qx6SudeVUEmpfMpC5djUJSW6Rx9o6CwoEa0AywqqgIQha6Gxplj0Crl66DFLPZ2W7aPMa5yZ0ngAjLIkb0cPw4ek0tv2GbkVhZ4Na4two+Equ7ovBp4Q29wDHloLtjsf6VgOXjI23fhAwQEiARLxyRSgqmcpcCAJDU4ZJ0P5od9XC1BSZOBj1Jfb4tek3CCW/AxyhgFsN9AEfqql5Mdb9mOEEEgb6kZ1BeJW5/8s6r2IVX8JtYtxm2PojVUqc5/eSx6ZunAVQ4U1dok57fBK+rmbhYrjPQxAyIH9hrbv4yetC/9gLmmlzpKancnyZ/sQNZ006LHpAp+cBmwYmZXElWoHJBuhOZ6gE7GDpB19/Q7lPIOrmG5Wi7H6OUoenH6c+Hqw5YQ125feYGstm+ZTfdGag6iXt+Wos/gjQzGKM1CzOLW5z2lbGE6ss1wNLLon5q2UUzVLpFcoWbPHWiVRawBOeSzp0ujAWLSL64xNUVN3cWtDByzKtrFyof0BfZLHFs9Lj077GMONcuu3U2y2etVARbfY6WwOLZ4c4hJj80KCI4p0Sf3aBumpV0RCGrO4yoPA+OTapn+rZ1ZNp7omdsguE1EgyAs3Y/0PiXRcODNfRaxyZpTpNuafqo3FNQdZipDKWxJRZ3tvwoVhZR3+ro0VvVx1HmitrdNWjsWsxoXXjcOBOR7zjq44uiNNWHIWY69rKVyeCrWhGtBbAfCO/+ZycseCCw6wNjo0pXH97BkfngdszIAgtMyR3Pr9wTbU1wjVVKC/0EXJuXgGDx4VTT+ChMxx9zKd8WBf0HnSKJ3Xx7hSFym4BD82/75y8epX0eYBnBix2EndemAQPVvBmEuf40r8IfFTR04ZwKHTkj6TGb/PRLMscF0AG7yXIO6/9knjz7iNIje+lNUzBLnmH6WnhHm0OJKC3se2UKfZX725DVOAssGwNZuk8k8FCMNrverd2/faOZzFA3KZuYvmG/T1s+cJWMfSDPDI8FVVlNexBO+LgoPHvPvh14k+dfxKaSqM7wmocbfd8iClsXN3mq7jRQcfKWb5kGRldc1QMj+gOCbaTKOZUGdb+L3RWPzJ7dLJYbX2NhOpK+KGKy1nWcaHek+PkkwokJ4XEfa2hK03vj1dMQbeXFb00BP7QrbqfIUR2D2ufPFpzZZRlTdfrNhZUY9xk2L5wj/aKoTCMz3FyD+Mn81+Pg7ZZWMQs1zAUp5Bg/PsxK1pwfxNiUt2rum9tgG6B/r80f0M9WrSiLNuNnXZNsMLi8Y3HXVwivQVTjYbtYKd4EbN0c6M2mhvu5xFz5Or41WgoK3ZMG/mTJ8atmwm6w5XNY/UIbV2ImF0Aet2sqjQrBYeFL0tVi7mDORvv7uXXyzZ6qsSfANbtrlm2xe9nfqNg1ikFepKyP7VPslqwbsG7vN782j0dftH2PHKg4WOH+2bP406PIgHm8+gopamquvKMIAW3eSveeyCcck22YuVAZdRvOxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013Ce1esz3KHGaSrYqHnnDEB",
      "input": {
        "note": "The blue bowl with the pear is now near the table centre (top view ~(120,95)). Setting it down and letting go of the wall.",
        "targets": {
          "right_gripper": 1,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_013Ce1esz3KHGaSrYqHnnDEB",
      "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]: [-0.6136, 1.1275, 0.6689, -0.3817, -0.503, -0.4194, 0.5604, 0.7616, 1.9896, 1.1069, 0.12, 0.5194, 0.3584, 0.9971]\nstate[eef_state]: left_x=0.2989 left_y=-0.102 left_z=0.1285 left_yaw=0.0256 left_pitch=-0.1434 left_roll=0.0725 left_gripper=0.5604 right_x=0.4133 right_y=0.2779 right_z=0.0478 right_yaw=0.1362 right_pitch=-0.0766 right_roll=-0.0689 right_gripper=0.9971\nstate[joint_eff]: [-0.1709, -3.3573, 6.8718, 1.3797, -0.2759, -0.0708, 0.2027, -0.5402, -9.4154, 5.2718, 1.6093, 0.2564, -0.0415, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:631267c5c3a4d53f869daf0f494c5123f44ba3d7150ba48add337f736e8c33f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ebf7bd4f079768a7d91bf02f299ac23c7b83f1cdeaa6bb93dcd403898c10072",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9ade2a77eb655fe33cb2b14b277a680f3583d54f80bbb4ffbb52de91d1d4640f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 4.595 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]: [-0.6136, 1.1275, 0.6689, -0.3809, -0.503, -0.4194, 0.5568, -0.1085, 1.816, 0.8192, 0.3855, -0.139, -0.1581, 0.8204]\nstate[eef_state]: left_x=0.299 left_y=-0.1021 left_z=0.1286 left_yaw=0.0255 left_pitch=-0.1428 left_roll=0.0721 left_gripper=0.5568 right_x=0.4686 right_y=-0.0228 right_z=0.0545 right_yaw=0.0919 right_pitch=-0.0372 right_roll=-0.0515 right_gripper=0.8204\nstate[joint_eff]: [-0.0342, -3.3573, 6.7077, 1.4432, -0.2418, -0.0757, 0.2076, -0.8547, -7.3778, 5.5453, 1.2332, 0.2369, -0.1294, 1.033]",
      "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]: [-0.6136, 1.1275, 0.6689, -0.3817, -0.503, -0.4191, 0.5583, 0.7589, 1.9411, 1.137, 0.0555, 0.5266, 0.3531, 0.8235]\nstate[eef_state]: left_x=0.2989 left_y=-0.102 left_z=0.1285 left_yaw=0.0254 left_pitch=-0.1434 left_roll=0.0728 left_gripper=0.5583 right_x=0.4156 right_y=0.2768 right_z=0.0718 right_yaw=0.1314 right_pitch=-0.0624 right_roll=-0.0689 right_gripper=0.8235\nstate[joint_eff]: [-0.0752, -3.412, 6.9265, 1.4432, -0.2222, -0.0659, 0.1441, 0.2393, -9.7436, 8.0068, 1.5067, 0.4176, 0.2076, 0.315]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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]: [-0.6136, 1.1275, 0.6689, -0.3817, -0.503, -0.4194, 0.5604, 0.7616, 1.9896, 1.1069, 0.12, 0.5194, 0.3584, 0.9971]\nstate[eef_state]: left_x=0.2989 left_y=-0.102 left_z=0.1285 left_yaw=0.0256 left_pitch=-0.1434 left_roll=0.0725 left_gripper=0.5604 right_x=0.4133 right_y=0.2779 right_z=0.0478 right_yaw=0.1362 right_pitch=-0.0766 right_roll=-0.0689 right_gripper=0.9971\nstate[joint_eff]: [-0.1709, -3.3573, 6.8718, 1.3797, -0.2759, -0.0708, 0.2027, -0.5402, -9.4154, 5.2718, 1.6093, 0.2564, -0.0415, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:631267c5c3a4d53f869daf0f494c5123f44ba3d7150ba48add337f736e8c33f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ebf7bd4f079768a7d91bf02f299ac23c7b83f1cdeaa6bb93dcd403898c10072",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ade2a77eb655fe33cb2b14b277a680f3583d54f80bbb4ffbb52de91d1d4640f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrQgKEAgSGAI4AUIIdGhpbmtpbmcSDLbef7q87PE+T0QXChoM8kb+/9/jp8awIi8vIjAn9amRdeiQ6eanS4k842gm/y909zXXEJBqp268nuRuz1ASqLDTU2Ey94+FyBQvNbEqygfaW464NRD68QBZ7eaSEjcJSRGT8ArQkLJd2e7ocxpKvDjJgNmIGTv9wGfsz1J1ZE7eKFqywbEU/l//wOepSCkmxqhWGImpn9dtTdo2A3/8hcWLqUp5DTxtRcCexIpeCRQFeLVLhrw0Ckp/cFwUprbb8D8zxEi2ZRyaydrVl2PqWuMLcI5VGRbipli0e2sys1WJx7L2tXEGRYgTExu0bt3qlGgOam2gfBypjtejwXVS/gqQtoLnSb9H7R5hat2FqVA/YUEzRmenHRwpaRor7oelNRy5qIqON6KRWZZi44MMNfDA+UoV+MYu033Sg+KKJlTdjklpFhLyPx5Ii38ocvzBrE34DPEye/t6B1iLXdLxAg/IiXdQv9Xp3fgy6fOArQVUs5kC4nQHBK3QJwr9dQGGFDDUw30MR4hKyqA375h74S9CZbRJP3fEHgVwPb49o08OCBtM7A6sP7X4qqUImwPhPEXSpP9quIBmGmL4m2VEzRkQxPEGWVaRvX5ss/mLMMYPUOiNVVE/ILdSsmP0Sxy81Suh6HxzGHjKFEshKmPzBcUZ33gUwcZSnNUBrNBVGrRB/jE382B/83+2+mRlSJ12cy79HOYL8X8gvWh4fVRDe4XiBPxuvrEswL3fLSAZtkhNdaJVp+WDKe0ct4BKeTyglIHpinGLm6KAedo6lAQ9bNo9Ys9tJGjdGIVITCEgfEGdNQWNTxGZkHShRQMxJLAHWxcvRAdcc+gvW8wWeJ+aSOfTbZOrXQvzaknzdXXT2OpNXytNli+4YXFi6Vq1XI8k1oV/mNX0Nbq7HOtkqxWGkKuvL3+MN9kdeOnX1mf19Y+URUHrYHnCzfYybF1+Z+r0CAZNy8BWMVrkoMQi2D9HP6RUn1BQZbAzN9D6ah3yr7T7vAE2pEq2wWZEwvd/l+H75/b1mMe2SsZiTSavOvj/rgZF6HYWdi66VaRM16fRkll2icxVLT7WRNsfnNF12J9Ka9FeOkIKjeewz+d8TfwxmKdUFjnCQ6vlLyjsnoJRa3UQGheJ1a/tdCEu2N+CZSW6syZRaE3I1ywM4MfftRbWA4liZYevhvZGFUk5J7gl0hSg1Z4bQJVA1M90cFSwsB5rkn7l5lgcaMclhaMnXik/fS4EVB3eH6X1DH7cjdRRKZzvEdPxkJ0pXHgJwdhifQGERiNhOyhfPsU8srQyesBNDWp2OX7q00QOnsBILrW0VA3CeGw5YraaRuNka9RtD6pjORh+nj8OowuH5Arme4NJPSOSMdnKu+jjLE5fNUTI715aoQgmRjJNCqlIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q7vL9pBSyQHkbNg9v7vMFP",
      "input": {
        "note": "The blue bowl is on the table near the centre with the right gripper open. Parking the right arm at home and swinging the left arm, still holding the plum, over the blue bowl.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.35,
          "left_z": 0.15,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_01Q7vL9pBSyQHkbNg9v7vMFP",
      "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]: [-0.9325, 2.1151, 1.7912, -0.7082, -0.6743, -0.7383, 0.5618, -0.078, 0.8978, 0.6506, -0.4271, -0.0902, -0.1577, 0.9978]\nstate[eef_state]: left_x=0.3982 left_y=-0.3456 left_z=0.1383 left_yaw=0.02 left_pitch=-0.1672 left_roll=0.0673 left_gripper=0.5618 right_x=0.3006 right_y=-0.0039 right_z=0.1632 right_yaw=0.0819 right_pitch=-0.1044 right_roll=-0.0687 right_gripper=0.9978\nstate[joint_eff]: [-0.8684, -12.2462, 8.6359, 0.823, -0.6178, 0.0464, 0.1294, -0.1983, -2.5915, 10.2769, 1.8828, -0.1783, 0.0317, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ec866f43e60bbdee5bf56b644f750bd902907f6541a5f45ea55ab0fec5b97d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b92602bc3c23770668bb8b6862143e00f3d3bb396f056462ce7d7d1eaf06ed0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b33f5125733142fb87e6c663ba6bb28c22b3a77df14878772644e832f50e4a9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 4.622 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]: [-0.6136, 1.1275, 0.6689, -0.3817, -0.503, -0.4191, 0.5583, 0.7589, 1.9411, 1.137, 0.0555, 0.5266, 0.3531, 0.8235]\nstate[eef_state]: left_x=0.2989 left_y=-0.102 left_z=0.1285 left_yaw=0.0254 left_pitch=-0.1434 left_roll=0.0728 left_gripper=0.5583 right_x=0.4156 right_y=0.2768 right_z=0.0718 right_yaw=0.1314 right_pitch=-0.0624 right_roll=-0.0689 right_gripper=0.8235\nstate[joint_eff]: [-0.0752, -3.412, 6.9265, 1.4432, -0.2222, -0.0659, 0.1441, 0.2393, -9.7436, 8.0068, 1.5067, 0.4176, 0.2076, 0.315]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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]: [-0.6136, 1.1275, 0.6689, -0.3817, -0.503, -0.4194, 0.5604, 0.7616, 1.9896, 1.1069, 0.12, 0.5194, 0.3584, 0.9971]\nstate[eef_state]: left_x=0.2989 left_y=-0.102 left_z=0.1285 left_yaw=0.0256 left_pitch=-0.1434 left_roll=0.0725 left_gripper=0.5604 right_x=0.4133 right_y=0.2779 right_z=0.0478 right_yaw=0.1362 right_pitch=-0.0766 right_roll=-0.0689 right_gripper=0.9971\nstate[joint_eff]: [-0.1709, -3.3573, 6.8718, 1.3797, -0.2759, -0.0708, 0.2027, -0.5402, -9.4154, 5.2718, 1.6093, 0.2564, -0.0415, -0.0366]",
      "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]: [-0.9325, 2.1151, 1.7912, -0.7082, -0.6743, -0.7383, 0.5618, -0.078, 0.8978, 0.6506, -0.4271, -0.0902, -0.1577, 0.9978]\nstate[eef_state]: left_x=0.3982 left_y=-0.3456 left_z=0.1383 left_yaw=0.02 left_pitch=-0.1672 left_roll=0.0673 left_gripper=0.5618 right_x=0.3006 right_y=-0.0039 right_z=0.1632 right_yaw=0.0819 right_pitch=-0.1044 right_roll=-0.0687 right_gripper=0.9978\nstate[joint_eff]: [-0.8684, -12.2462, 8.6359, 0.823, -0.6178, 0.0464, 0.1294, -0.1983, -2.5915, 10.2769, 1.8828, -0.1783, 0.0317, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ec866f43e60bbdee5bf56b644f750bd902907f6541a5f45ea55ab0fec5b97d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b92602bc3c23770668bb8b6862143e00f3d3bb396f056462ce7d7d1eaf06ed0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b33f5125733142fb87e6c663ba6bb28c22b3a77df14878772644e832f50e4a9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS4AgKEAgSGAI4AUIIdGhpbmtpbmcSDECgbR/zinrgPcxlJxoMt0G5Xg3j+Y8DBOMuIjCg/8UXNSJKYqR+GGI95L1FlIdPEF508xnD13g1fSqN16CLw2rJ2FujdnXjVgDTGhoq/QfdY2A2K/rLkiAITeI/b2OSdKReXx73DjbRMF1zNf4Muo6X2KMZIu82igURHEIj4iO+Snp/tHAq3oxn1G2hL7I3KuVoeIkSqCBxZi5OjKdkCknXrM9xnW4AY9BPnYefdTZgjjEPOrvJRlnxeI/j3MmKfGdchIYnCiAQaoj2Y8CYAs+9+8p/njdSzuG+9UxYgWH58MULk5UQSHGya9BrQhfi+12TndIPGM7PggHephTXLOCycn7y+Rw05S8oFVJqd94cTkOUam1O/vsUWtkJe4YGBNiSzKfGmJiHvaVBJ/jz662sREHX10tVjx6h1+KGi5N6V07OyyzZchWnSnWb17ntp0HGDgz/w8xOaD3GhjC3YKCt7x3qUvI4xQFK7NTtVRe6kV240rWQZH+2bZTIPbm2OZ9dIL2+S0R3Ag5Kp6VhacXFbp5GRAMwnqjeOSOms9ieiBvKWAqkZDvUMUsbtKuR+z+/bZsFvz2PJYsvqT3ViSVf4IShcaCQw7K8NuudBWwq51VlqUP+vu0OVpci0cehpheCpPL8KIctrI2/hxZtD6UGxLO1AidX9l1m61jU6Vq6QSS+0kJ69aRFBIlsiE4VqFVfImQMyjdZIlaYo3XRmqBHBcsV/5r4lHFp3ByjhiuirSYcvrFPtopXdWwz9nnMvVjI4q3T2C9s4BaPBqSbDKbkDqG8DtDN71IP9BY3LtWgMEUwBgmCwWs4YOyZN4QHSvjFSeNB2aJH9I4eyguvy76bL++Ua0F1cdJlR3lfCxg4XdXB2PIKylAF4hF/XazaPDUZZvLlEE4R6yZizoOLnYGZLbNLfpbS6tujhgOxRzAvBl04EPhnoV0VQyL0mzotWtNCsWclRGSHpgh3ndw2SAk+PD+qtN7eCYmrzN/nNsBerlyg3Gl5UGrh5UlNCnZGCM25sIPH8V+PcElG36ZgBczM8mDayBXk1QQM9cbmIqn0xD1B/x8g4umQfRncAt3PuMsCxFU5nINHaWawjaNV8/tjQ4eaJaf/TFqvsCOxc8nNaKENCeqnHy0rhtHGycdhQl3Qkly/5BL7OBAlcplfhykWCUz7rJA3ugSDyYr2EtMvj1bfYo0j0j8d14AMrS3HVz7/kq1R5Q2y14ClByIQ7nNEVnM2xIEIAutTMhkWvsr9sVFXeXzjp2emtKOaNfdFrOhzHZIQ74TvwiI1C84GgrvZtrfQOUy03V/6TU59SR0KfbcSfr+jrDZZL2/8BJiqRSj+y5izYzbi851lOUX/VnV3KLgrzprboTOE4mQIThyl9TVv3pb8SiZxS6PRms1F3dpWkIxKRPL+p3oFTzqs8GIkM4qge9f6f0I8ODS0l1/8xkr4uq0LUV+x02TmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SqaxTSCex7u85CmmWrffYM",
      "input": {
        "note": "The blue bowl with the pear shows at the lower right of the left wrist view, just under and right of the held plum. Shifting slightly right and back, then lowering toward the bowl.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.37,
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01SqaxTSCex7u85CmmWrffYM",
      "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]: [-0.9577, 2.1738, 1.8118, -0.704, -0.6777, -0.7685, 0.5625, -0.0769, 0.9005, 0.6567, -0.4599, -0.1123, -0.1764, 0.998]\nstate[eef_state]: left_x=0.393 left_y=-0.3599 left_z=0.1171 left_yaw=0.0182 left_pitch=-0.183 left_roll=0.0748 left_gripper=0.5625 right_x=0.2965 right_y=0.0006 right_z=0.1592 right_yaw=0.1124 right_pitch=-0.1315 right_roll=-0.0642 right_gripper=0.998\nstate[joint_eff]: [-1.1282, -11.0564, 6.9265, 1.2137, -0.5348, -0.1685, 0.0611, -0.0615, -1.5658, 6.4479, 1.9512, 0.0806, 0.0806, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc81a9363cb4ac4c67fe6f1efcdbaa9a03d341180dd3edf534dcf86ff4923c0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06378358379e5c4a7a4c4b62eeed617b8daa9ba36f83d994a02c4c84c2377623",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:371d6d58dd802c92d8c50fad32e421e3f07232bff436c148bce6881bda9db9cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 13.09 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]: [-0.6136, 1.1275, 0.6689, -0.3817, -0.503, -0.4194, 0.5604, 0.7616, 1.9896, 1.1069, 0.12, 0.5194, 0.3584, 0.9971]\nstate[eef_state]: left_x=0.2989 left_y=-0.102 left_z=0.1285 left_yaw=0.0256 left_pitch=-0.1434 left_roll=0.0725 left_gripper=0.5604 right_x=0.4133 right_y=0.2779 right_z=0.0478 right_yaw=0.1362 right_pitch=-0.0766 right_roll=-0.0689 right_gripper=0.9971\nstate[joint_eff]: [-0.1709, -3.3573, 6.8718, 1.3797, -0.2759, -0.0708, 0.2027, -0.5402, -9.4154, 5.2718, 1.6093, 0.2564, -0.0415, -0.0366]",
      "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]: [-0.9325, 2.1151, 1.7912, -0.7082, -0.6743, -0.7383, 0.5618, -0.078, 0.8978, 0.6506, -0.4271, -0.0902, -0.1577, 0.9978]\nstate[eef_state]: left_x=0.3982 left_y=-0.3456 left_z=0.1383 left_yaw=0.02 left_pitch=-0.1672 left_roll=0.0673 left_gripper=0.5618 right_x=0.3006 right_y=-0.0039 right_z=0.1632 right_yaw=0.0819 right_pitch=-0.1044 right_roll=-0.0687 right_gripper=0.9978\nstate[joint_eff]: [-0.8684, -12.2462, 8.6359, 0.823, -0.6178, 0.0464, 0.1294, -0.1983, -2.5915, 10.2769, 1.8828, -0.1783, 0.0317, 0.0659]",
      "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]: [-0.9577, 2.1738, 1.8118, -0.704, -0.6777, -0.7685, 0.5625, -0.0769, 0.9005, 0.6567, -0.4599, -0.1123, -0.1764, 0.998]\nstate[eef_state]: left_x=0.393 left_y=-0.3599 left_z=0.1171 left_yaw=0.0182 left_pitch=-0.183 left_roll=0.0748 left_gripper=0.5625 right_x=0.2965 right_y=0.0006 right_z=0.1592 right_yaw=0.1124 right_pitch=-0.1315 right_roll=-0.0642 right_gripper=0.998\nstate[joint_eff]: [-1.1282, -11.0564, 6.9265, 1.2137, -0.5348, -0.1685, 0.0611, -0.0615, -1.5658, 6.4479, 1.9512, 0.0806, 0.0806, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc81a9363cb4ac4c67fe6f1efcdbaa9a03d341180dd3edf534dcf86ff4923c0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06378358379e5c4a7a4c4b62eeed617b8daa9ba36f83d994a02c4c84c2377623",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:371d6d58dd802c92d8c50fad32e421e3f07232bff436c148bce6881bda9db9cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS8AgKEAgSGAI4AUIIdGhpbmtpbmcSDElHVjC0jf1KGUq3IxoMEt4QL0IRrGqvS74jIjDFzKZMqUHxVItQYjLlvDeNGvnkhf57Ir71IjsRIQ+Mrzsg3TvF3LCC5yVlPfzHwt4qjQiYSJfpaoPwMiQXSF2kkcbaLmqNaBwMT26gyf5bcMNO95EkhBefDoa1ka9kqZCbBbanzGfdoAGRVlT8V1jGz09tcTKqkxXwSzdX57Ow3Spu9yaSUxBhJ66+h+yOQUORFVi/Wj597/8+maeAqq4ABl8bw0fya2iRB2+rl0O6i7hQYWk7l8s6RdqBXKFmyOYuVSPBoyPGQJFVI6FAN0HO6CWIPWTTt3ffYRHooKeVPPCD60AahoCXiIonKK26rKcUv1jRjo+6yqg1dzFomQSc/lVG6e/RsKwW2nGyXHGqSpNXW4uapV2vrELxhCDz9vRp2eMhzP3MogNq3gRBWdvxMIqZ83w9xJbdJ5kIB5fRE/W/w4Mx9PTQ/BotHedrh2fOYkFwVyG7yMkTQSpc0ptdEXUE5J4jAORUjkGx9/uzjH+wO+rYjrLoGltqgXZtlOGnLTCpNBHuWDFHCu9WrUdY4XuS3IhRFueepPohepOTEq5ovU0z0UScFDQI+/uktmeteQOlmAC2FtxioZvRRdMeo/Uuja5q5Ux5OjgdDalDndqVYJgoOSlHGhR9QAqSDZM4OGnEMfma8kBAZ+W5G27cbiASJnuMQk1XHe8Q4yjIxbR4Q679TjC0ZBfmPhqbWOVDutM2gPqIjGney6m5ryeJLGzer3x8yNc7svHX6C9xtyy/xlwL2vHs8wrgdYFcgxEuPvN9kmayZr2HBPxg49Wkx8/ZFq3fl8X8h2JOWEbLgcXyJDad5hJDYmuK/wfHXJxmq5s9mbGYJNLXeZDVkwlifJlfG+Qx0zmib33hSwfmid63EFIYeG1soC1rPki3T8C0T29a3FezhXskHtjPdFTxbPR+WyG/XdMsbpRlnbLeedNEclcGgFg+xinpO6lrAWKUR8EQzm8f9Dy/lEezul8cd5Z2c6ZTvUYpuNSThHotpefUPDFCnCG23S9FRUmkhFvxtPdDaTOYCdY19x3p5/CP7aAJDaClw6dmKF5l1SNJfO4/yw677TQOI1XlJFqFtOVT4BmCccoqkWq0yKz+pqqtVAvbPZzV5x8f0lEyuoSV0w+UbY5oHDXccPgOGI2IKc4caNr3glQw0Jzqfrrx8YRV6X2YEfeO6yW2U3zewmwx+qmIEq72BNrKIDMIyS2+0R5MUy+uMtfIQJ4CeBhap1du8lMJSPe//Yih2LUx9VsFhXPzjUSvol0jK+2Y6wIqKd8LMXxP+poIWGru894phq+BhpCNmg80Ba7fybMRRmDwAUcCF74eRLgwWZAk36GYb/rW7TsLSMs4l+rcsgpT3T1hvSMOjYo5i4ScY1kVPVkSQjEqH8vUcWAiYfsxub2a2iPcwJ/y62fdfu0SKEvfhdhjTevgZzBC30ly6zhleCq15RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V82ueNYbNNKfdozk85wToA",
      "input": {
        "note": "The plum is hanging over the blue bowl; the bowl rim and pear show just below it in the wrist view, and the arm is at its reach limit to the right. Releasing the plum into the bowl.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01V82ueNYbNNKfdozk85wToA",
      "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]: [-0.9775, 2.2066, 1.8118, -0.6842, -0.6964, -0.7948, 0.9953, -0.0765, 0.9005, 0.6567, -0.4622, -0.1062, -0.1764, 0.998]\nstate[eef_state]: left_x=0.3893 left_y=-0.3683 left_z=0.1045 left_yaw=0.0253 left_pitch=-0.1753 left_roll=0.0754 left_gripper=0.9953 right_x=0.2962 right_y=-0.0003 right_z=0.1587 right_yaw=0.1077 right_pitch=-0.1345 right_roll=-0.0677 right_gripper=0.998\nstate[joint_eff]: [-0.3897, -13.0803, 6.9128, 1.1453, -0.3492, -0.0171, 0.0513, -0.212, -1.894, 6.9265, 1.6777, -0.0952, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43286f3b31ef0a03bd84bbbe6ad3e7c8dc4ce5cdd89c5dac5cf15529791fe8d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e46f9059f4f15fbef609a6e0b81c2d7d7be929e6a4b67687c83621abc497b89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:acd05ba8acee518ad94f4ec830d203c2f094c6f976e4824623a47032770666da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 4.624 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]: [-0.9325, 2.1151, 1.7912, -0.7082, -0.6743, -0.7383, 0.5618, -0.078, 0.8978, 0.6506, -0.4271, -0.0902, -0.1577, 0.9978]\nstate[eef_state]: left_x=0.3982 left_y=-0.3456 left_z=0.1383 left_yaw=0.02 left_pitch=-0.1672 left_roll=0.0673 left_gripper=0.5618 right_x=0.3006 right_y=-0.0039 right_z=0.1632 right_yaw=0.0819 right_pitch=-0.1044 right_roll=-0.0687 right_gripper=0.9978\nstate[joint_eff]: [-0.8684, -12.2462, 8.6359, 0.823, -0.6178, 0.0464, 0.1294, -0.1983, -2.5915, 10.2769, 1.8828, -0.1783, 0.0317, 0.0659]",
      "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]: [-0.9577, 2.1738, 1.8118, -0.704, -0.6777, -0.7685, 0.5625, -0.0769, 0.9005, 0.6567, -0.4599, -0.1123, -0.1764, 0.998]\nstate[eef_state]: left_x=0.393 left_y=-0.3599 left_z=0.1171 left_yaw=0.0182 left_pitch=-0.183 left_roll=0.0748 left_gripper=0.5625 right_x=0.2965 right_y=0.0006 right_z=0.1592 right_yaw=0.1124 right_pitch=-0.1315 right_roll=-0.0642 right_gripper=0.998\nstate[joint_eff]: [-1.1282, -11.0564, 6.9265, 1.2137, -0.5348, -0.1685, 0.0611, -0.0615, -1.5658, 6.4479, 1.9512, 0.0806, 0.0806, -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]: [-0.9775, 2.2066, 1.8118, -0.6842, -0.6964, -0.7948, 0.9953, -0.0765, 0.9005, 0.6567, -0.4622, -0.1062, -0.1764, 0.998]\nstate[eef_state]: left_x=0.3893 left_y=-0.3683 left_z=0.1045 left_yaw=0.0253 left_pitch=-0.1753 left_roll=0.0754 left_gripper=0.9953 right_x=0.2962 right_y=-0.0003 right_z=0.1587 right_yaw=0.1077 right_pitch=-0.1345 right_roll=-0.0677 right_gripper=0.998\nstate[joint_eff]: [-0.3897, -13.0803, 6.9128, 1.1453, -0.3492, -0.0171, 0.0513, -0.212, -1.894, 6.9265, 1.6777, -0.0952, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43286f3b31ef0a03bd84bbbe6ad3e7c8dc4ce5cdd89c5dac5cf15529791fe8d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e46f9059f4f15fbef609a6e0b81c2d7d7be929e6a4b67687c83621abc497b89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acd05ba8acee518ad94f4ec830d203c2f094c6f976e4824623a47032770666da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SbzUNzbf74AsJ2wGXmgZBp",
      "input": {
        "note": "The plum dropped into the blue bowl next to the pear. Next the left arm grips the bowl's left wall for pouring: shifting left and slightly back so that wall sits between the jaws, then descending.",
        "targets": {
          "left_x": 0.375,
          "left_y": -0.345,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01SbzUNzbf74AsJ2wGXmgZBp",
      "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]: [-0.9775, 2.2066, 1.8118, -0.6842, -0.696, -0.7944, 0.9964, -0.0769, 0.9005, 0.6567, -0.4625, -0.1093, -0.1764, 0.998]\nstate[eef_state]: left_x=0.3893 left_y=-0.3684 left_z=0.1044 left_yaw=0.0249 left_pitch=-0.1756 left_roll=0.0755 left_gripper=0.9964 right_x=0.2961 right_y=0.0001 right_z=0.1587 right_yaw=0.1099 right_pitch=-0.1345 right_roll=-0.0656 right_gripper=0.998\nstate[joint_eff]: [-0.2393, -13.1487, 7.1043, 1.0525, -0.3687, 0.0073, 0.1001, -0.1846, -1.7573, 7.1043, 1.6044, -0.0757, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff723eb8a4f9c550acad6bb6ead282f37fcf7e1472a9ba559885e993f9351c42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a774f94a8b8e8d5ecf2b4b40493a5c2bc197910c8f24ced88eadec55dd416c14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f96ffd6b3f17fdc6f574ba16ef973ab0b42573cc99b50703de5a1d5d57d27ff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 5.417 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]: [-0.9577, 2.1738, 1.8118, -0.704, -0.6777, -0.7685, 0.5625, -0.0769, 0.9005, 0.6567, -0.4599, -0.1123, -0.1764, 0.998]\nstate[eef_state]: left_x=0.393 left_y=-0.3599 left_z=0.1171 left_yaw=0.0182 left_pitch=-0.183 left_roll=0.0748 left_gripper=0.5625 right_x=0.2965 right_y=0.0006 right_z=0.1592 right_yaw=0.1124 right_pitch=-0.1315 right_roll=-0.0642 right_gripper=0.998\nstate[joint_eff]: [-1.1282, -11.0564, 6.9265, 1.2137, -0.5348, -0.1685, 0.0611, -0.0615, -1.5658, 6.4479, 1.9512, 0.0806, 0.0806, -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]: [-0.9775, 2.2066, 1.8118, -0.6842, -0.6964, -0.7948, 0.9953, -0.0765, 0.9005, 0.6567, -0.4622, -0.1062, -0.1764, 0.998]\nstate[eef_state]: left_x=0.3893 left_y=-0.3683 left_z=0.1045 left_yaw=0.0253 left_pitch=-0.1753 left_roll=0.0754 left_gripper=0.9953 right_x=0.2962 right_y=-0.0003 right_z=0.1587 right_yaw=0.1077 right_pitch=-0.1345 right_roll=-0.0677 right_gripper=0.998\nstate[joint_eff]: [-0.3897, -13.0803, 6.9128, 1.1453, -0.3492, -0.0171, 0.0513, -0.212, -1.894, 6.9265, 1.6777, -0.0952, -0.0269, -0.0171]",
      "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]: [-0.9775, 2.2066, 1.8118, -0.6842, -0.696, -0.7944, 0.9964, -0.0769, 0.9005, 0.6567, -0.4625, -0.1093, -0.1764, 0.998]\nstate[eef_state]: left_x=0.3893 left_y=-0.3684 left_z=0.1044 left_yaw=0.0249 left_pitch=-0.1756 left_roll=0.0755 left_gripper=0.9964 right_x=0.2961 right_y=0.0001 right_z=0.1587 right_yaw=0.1099 right_pitch=-0.1345 right_roll=-0.0656 right_gripper=0.998\nstate[joint_eff]: [-0.2393, -13.1487, 7.1043, 1.0525, -0.3687, 0.0073, 0.1001, -0.1846, -1.7573, 7.1043, 1.6044, -0.0757, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff723eb8a4f9c550acad6bb6ead282f37fcf7e1472a9ba559885e993f9351c42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a774f94a8b8e8d5ecf2b4b40493a5c2bc197910c8f24ced88eadec55dd416c14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f96ffd6b3f17fdc6f574ba16ef973ab0b42573cc99b50703de5a1d5d57d27ff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSyQgKEAgSGAI4AUIIdGhpbmtpbmcSDHQDhcqmuKSukO1PJRoMSdgci1++5K6MqmOGIjBesHiapZ134govAsinVdUJIsFxSUygwz4OMfC9v8d0lxhVB9fp9J65Ov+9SxuEcDkq5geLFwgOfcpocUV83YdNbbB405BxoEMrcBkPBomZ9z2R8bmLXk8tPCernJi39NzVwKmEnGq4FS++unsQo7hVyg27zoD8SGkKXa3v36XNzZgWSkAEU6hYAVyx2OE2V+7BzXfm0YKI+kUClwYbj3RXrDvSvSLuKgh3sLHQ7BL+L6OpFKKnb31YHbGOw/0nWntC+sHd/jIhQu0ROwhAbqcE5v2uxOlQa+V0mFrSvZeFvW6tlZxdPHWMFPh6FT/VyxUJsqC8ONfLv8eI8J0TessN01EK8OhAOlQ7ZzzHBUhvtV/RKd2Bzd1GmiuHCgmbjAsDSOXKQZH4NSVzCftqNlQnNoRKIhJiNGqfGPeRzuXGJsPVfXbl73HbceARgGGg/AXguEq/oV0Qz6+3kxEwlrFuV/D1tP+EzHh+qxRk/jCE00A8jsbX/KpTtYeGVVZlqLU/HbEJhXbYdu2jZScgFnUAb8iAt80vqcczkSYXzycU6CJXoFexxWzywEzIAJnHSMcgZLQLY5ziuSvWjiBW/fV5d6yWCHE4y8UFSmqzvZZNPLwQ34ktdjtj3cGG3wZzYKn9i6tF5dFloysi7dlJ2vCNrxjkNag0TCaF77OeFIau8/o9q3gdeSOgWjcFFUgQtQscvWPtR0PJhZtT+vFEaEXkHw/D+KzZguv+nKdN46Bd7bcmdhYM5+ydWMSgR2koObuRo03e/WTT9tVBFKTk292wUOVLxk2IfRGkI26DvZpfaCRPc1FXSfmQNxFYCvjkdRaBqQiDAj8M0Woe044cfhAjk0uzhnn9afLWTVukVZM2+DjgxBAueFjgaF5zMRnPlOFchnzq4UiefF35HIBRSFe4mfw6c5z9d99zG8eo/FKRWeG5OTmKBceZGavsko2f/tDykuwvsmNfKgOD8XE3eb33aUqEOLQ66sHBD02E069yMrm0oMaBEEWp8fE6i1lLBlyyflGISiIspwDYRuW0GHRGubSKb+Pjf6v4gR1/9sojjz6TUgw6L7kowzYBtVC7rd5GPfabqJRzdJJqxMtMHvoPUcL/jTq7+DnUwlrrkT1wRbA54XErwmoR9VRMgGs3Xr+zhVjLhtvgT0Q0XZZBosVrXYhJ2lLJlY3NPGEHnEN8g9ev9ZPVjBSA2niaGV7SJzgZjOo6xWkCerLvfMehs6XoLN3rvciX8FTDsTPdXR5X8soIYcEr/TtM6cU/beyT5nyIe1IqnCWRieHkD7LGhpqdPBfdUQvJcoJXD01BXbczY1am0XohxQr7UjTB7sEFt6aOUkBBYtssl88bSCiX5vHu1Rn1Eh7ITfYtswTOS/B24cEQ0nL6w0gllBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HN8WhMVbsKsJBUbCyGh2P9",
      "input": {
        "note": "The left arm didn't move; it seems stuck in an awkward pose at its right-hand reach limit. Lifting and pulling it back toward a more comfortable pose before trying the bowl grasp again.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.3,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01HN8WhMVbsKsJBUbCyGh2P9",
      "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]: [-0.9997, 1.8736, 1.4998, -0.7303, -0.6994, -0.8177, 0.9965, -0.0769, 0.9012, 0.6567, -0.4732, -0.1093, -0.1768, 0.998]\nstate[eef_state]: left_x=0.3371 left_y=-0.3076 left_z=0.1472 left_yaw=0.0212 left_pitch=-0.1854 left_roll=0.0815 left_gripper=0.9965 right_x=0.2944 right_y=0.0002 right_z=0.1565 right_yaw=0.1104 right_pitch=-0.1457 right_roll=-0.0638 right_gripper=0.998\nstate[joint_eff]: [-0.7179, -11.5214, 6.4205, 1.1746, -0.5006, -0.1441, 0.0024, -0.2256, -1.6615, 7.0769, 1.7558, -0.1001, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3d8a5e40defee82cf8543bf18ef5c5caa751a2cbd5e5f5ec26685f4301a05e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87eadd7a4b3302d4f3bd7026310486789db3777e7061136baec21d5ba07f2939",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d2573846928f6ae313c405f1253236cfd19e7e24485ce0ee0d19c4edca3e6d5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 4.477 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]: [-0.9775, 2.2066, 1.8118, -0.6842, -0.6964, -0.7948, 0.9953, -0.0765, 0.9005, 0.6567, -0.4622, -0.1062, -0.1764, 0.998]\nstate[eef_state]: left_x=0.3893 left_y=-0.3683 left_z=0.1045 left_yaw=0.0253 left_pitch=-0.1753 left_roll=0.0754 left_gripper=0.9953 right_x=0.2962 right_y=-0.0003 right_z=0.1587 right_yaw=0.1077 right_pitch=-0.1345 right_roll=-0.0677 right_gripper=0.998\nstate[joint_eff]: [-0.3897, -13.0803, 6.9128, 1.1453, -0.3492, -0.0171, 0.0513, -0.212, -1.894, 6.9265, 1.6777, -0.0952, -0.0269, -0.0171]",
      "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]: [-0.9775, 2.2066, 1.8118, -0.6842, -0.696, -0.7944, 0.9964, -0.0769, 0.9005, 0.6567, -0.4625, -0.1093, -0.1764, 0.998]\nstate[eef_state]: left_x=0.3893 left_y=-0.3684 left_z=0.1044 left_yaw=0.0249 left_pitch=-0.1756 left_roll=0.0755 left_gripper=0.9964 right_x=0.2961 right_y=0.0001 right_z=0.1587 right_yaw=0.1099 right_pitch=-0.1345 right_roll=-0.0656 right_gripper=0.998\nstate[joint_eff]: [-0.2393, -13.1487, 7.1043, 1.0525, -0.3687, 0.0073, 0.1001, -0.1846, -1.7573, 7.1043, 1.6044, -0.0757, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9997, 1.8736, 1.4998, -0.7303, -0.6994, -0.8177, 0.9965, -0.0769, 0.9012, 0.6567, -0.4732, -0.1093, -0.1768, 0.998]\nstate[eef_state]: left_x=0.3371 left_y=-0.3076 left_z=0.1472 left_yaw=0.0212 left_pitch=-0.1854 left_roll=0.0815 left_gripper=0.9965 right_x=0.2944 right_y=0.0002 right_z=0.1565 right_yaw=0.1104 right_pitch=-0.1457 right_roll=-0.0638 right_gripper=0.998\nstate[joint_eff]: [-0.7179, -11.5214, 6.4205, 1.1746, -0.5006, -0.1441, 0.0024, -0.2256, -1.6615, 7.0769, 1.7558, -0.1001, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3d8a5e40defee82cf8543bf18ef5c5caa751a2cbd5e5f5ec26685f4301a05e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87eadd7a4b3302d4f3bd7026310486789db3777e7061136baec21d5ba07f2939",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2573846928f6ae313c405f1253236cfd19e7e24485ce0ee0d19c4edca3e6d5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS1QoKEAgSGAI4AUIIdGhpbmtpbmcSDGDp7y1PsZhO+jqB+RoM39rh3u5p+hdUcHt3IjD4snGzvhYGy6SNfofF9oEMk4f5OEcyiohcqy9MqFicHKKHM1KdcHRdNclyhrUGvUoq8gktSuIMEOAGAwTQo3J5oXmm5+buismBkNnoEHmh2NxsykYmPQOSUwsUjbyXDQoYwMCG9Ae+l0qefQPT8DGPkwVvv23u+0KoJNZiwA9teCFxeAPGWaoqnT0Px6v9CUalGpa4zgAa5tA2YFbYQ8LRfljGjGppBziK4c7N7ZMejlEs5s/WUdj+KxP8GQUjOjGicr5QTGNx9omPqxJ5bMDopzzyFlmo1FbZu3L9uxjBv9/5+xDgt40u4yzQA8OjgpTArHFf9ZirmTD1SkfbhXk6p+T+SiTpNjKpDHh2RRboEgDOA0nwgUIlwsD5FiiOVDE7SeVoie5r9VUhYAiNVPgO00C8oh03iQ10zSZJ6yEzJatt23HAALnKeBQIlzsALR/D29IfiQQrWLsPc8yVqDQJwnXYkAr5Q/5La8JsQTdz6GmSeFBbCyANKaT09UJsbGLYxzPLbPyvWbjmk2U5ri2cuEaxWYyaWB6O6Ay2lTOP/0JatmVlDBjuc2u5vrCAcWYtPxXVENVP51ZCIdEgg314dCNULViBvk9GKan2CmK8LloY0dWS1Xc5TnoJQS7bqaMOtVRjM9hOJgd8iTqK1kxSTriGX6MZGL9l8zbWyBokr/59fcQMu5uROrp4BuAKc8g3nVk+Ue+kBrNSpNvjwctMdTsRWFqbWV75QBFZ6po1Ug65QY+33x44Kt9NuMEnlvYCOIUpTjB2uf2wexn+FeC9+dqQIKeneqEBW3ypGGr8cB7TBiZrbDJF6UZ9t7HS5l3PZ4EpFgI/PXjOt8YYFpU8zf2ufLKKthHvuPr9ibyf3wFsiriK69YJT5pyM0H9bTTQ/mQBCggaDtz1d4kKIFadI548WYtg/sAAa4paICPVMb0AKtVWTsiJDJVgacN0hBTjeNaL0YfKuqI00NPhLTCnnD7WQrMo8g/pse+OA6jWxIdmLP3kyiJ9SSe8Yl1K4y+qWouz1iMjC94yP+eEYDwJGY8Vk68d7xwX9jd4/1542Hkz7iZ9dpMV9OdAKQWuBqv53fk9AHddmj5QLYwSVTaqUC7akFP1IaTWqVYo3hcnuGxFyWo9FUSSMhJ7i00nn2Er7HhvbyixwhUM7sFdGMjGE0yk7ECJR/qP/hapPG/Qqv4+0rgU9Q3gfROL2CxZ1eD+B+DziwzNl/UkVnVDveAzUL2+nbvrCZ7oXtUm+S4TNPx7QSR7vSIMYT1hQlodhjnYFxSJqav7jWQIPv2VLiJBO4LIBpqE8WIQtOc4dhSZbLr1Kn59BVVERwZNhlVWMlQQy4zkO2fWJSMg5ykk9YDfiguC3Rue1NlH4hK02G6IHVyDlKAb1lx/kN2yP3hYl7nf7atFQ/Dfk/wv0FFq3EYfgqdl2WJ0Lr61H4dKQm42j0QfIIpSJdmwqaVaqEpNzaTOHwVKdn9QfajV8t4QapBjlBB8EH0HlzjYFX1z1DSHSepZdG/DZejR8kb6LfSI552nCWSEqRBzwFaN/6yFQ16n6n0t7hudIr9n4u67HPIJI/xmYhbmsQVqa4F4rYGr0gAYD3CY5R4rvqZLMI46ZDBVGBnI8lokhoCdxiQPlFb9Jiy7cwSEhW/jSvpIBtvT18b6Q2TMtjtB50e3BdrZ9G7NRbLz7GPUIN+TyNIGeE9EKJT4e07cQ3eHSl0Ujzl3KqMHCngYCNgxzcsG0fA+b+mPjyd/Z04YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FSpa5kATEke4Ko4KgGfUnn",
      "input": {
        "note": "The left arm is free again. The blue bowl (pear and plum inside) is ahead and to the right, with its left wall just right of the jaw centre. Moving forward and down so the jaws straddle that wall.",
        "targets": {
          "left_x": 0.365,
          "left_y": -0.315,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01FSpa5kATEke4Ko4KgGfUnn",
      "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]: [-0.9573, 2.0586, 1.3388, -0.3813, -0.6807, -0.7826, 0.9965, -0.0769, 0.9012, 0.6567, -0.4767, -0.1093, -0.1768, 0.998]\nstate[eef_state]: left_x=0.3594 left_y=-0.3111 left_z=0.044 left_yaw=0.0337 left_pitch=-0.1995 left_roll=0.0957 left_gripper=0.9965 right_x=0.2939 right_y=0.0003 right_z=0.1558 right_yaw=0.1105 right_pitch=-0.1491 right_roll=-0.0631 right_gripper=0.998\nstate[joint_eff]: [0.6222, -9.8803, 4.9983, 1.2039, -0.2222, 0.1392, -0.0171, -0.3487, -1.9077, 6.9812, 1.6777, -0.1001, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3277518f1d75657d3855d9f608a30175e0c94c1b5d41e8ca0b379eb17a69c1c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f487af151d6400ef28dd0671655e1d5cf5a42c5789a628e2b0096b33105f7009",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db5af8632f863820710b204951e103143a4c48d38dc7934b9286876b87371ebc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 6.406 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]: [-0.9775, 2.2066, 1.8118, -0.6842, -0.696, -0.7944, 0.9964, -0.0769, 0.9005, 0.6567, -0.4625, -0.1093, -0.1764, 0.998]\nstate[eef_state]: left_x=0.3893 left_y=-0.3684 left_z=0.1044 left_yaw=0.0249 left_pitch=-0.1756 left_roll=0.0755 left_gripper=0.9964 right_x=0.2961 right_y=0.0001 right_z=0.1587 right_yaw=0.1099 right_pitch=-0.1345 right_roll=-0.0656 right_gripper=0.998\nstate[joint_eff]: [-0.2393, -13.1487, 7.1043, 1.0525, -0.3687, 0.0073, 0.1001, -0.1846, -1.7573, 7.1043, 1.6044, -0.0757, -0.0269, -0.0122]",
      "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]: [-0.9997, 1.8736, 1.4998, -0.7303, -0.6994, -0.8177, 0.9965, -0.0769, 0.9012, 0.6567, -0.4732, -0.1093, -0.1768, 0.998]\nstate[eef_state]: left_x=0.3371 left_y=-0.3076 left_z=0.1472 left_yaw=0.0212 left_pitch=-0.1854 left_roll=0.0815 left_gripper=0.9965 right_x=0.2944 right_y=0.0002 right_z=0.1565 right_yaw=0.1104 right_pitch=-0.1457 right_roll=-0.0638 right_gripper=0.998\nstate[joint_eff]: [-0.7179, -11.5214, 6.4205, 1.1746, -0.5006, -0.1441, 0.0024, -0.2256, -1.6615, 7.0769, 1.7558, -0.1001, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.9573, 2.0586, 1.3388, -0.3813, -0.6807, -0.7826, 0.9965, -0.0769, 0.9012, 0.6567, -0.4767, -0.1093, -0.1768, 0.998]\nstate[eef_state]: left_x=0.3594 left_y=-0.3111 left_z=0.044 left_yaw=0.0337 left_pitch=-0.1995 left_roll=0.0957 left_gripper=0.9965 right_x=0.2939 right_y=0.0003 right_z=0.1558 right_yaw=0.1105 right_pitch=-0.1491 right_roll=-0.0631 right_gripper=0.998\nstate[joint_eff]: [0.6222, -9.8803, 4.9983, 1.2039, -0.2222, 0.1392, -0.0171, -0.3487, -1.9077, 6.9812, 1.6777, -0.1001, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3277518f1d75657d3855d9f608a30175e0c94c1b5d41e8ca0b379eb17a69c1c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f487af151d6400ef28dd0671655e1d5cf5a42c5789a628e2b0096b33105f7009",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db5af8632f863820710b204951e103143a4c48d38dc7934b9286876b87371ebc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkwkKEAgSGAI4AUIIdGhpbmtpbmcSDElssiBzv+LxxgJSdxoM98LFS8sfXrlgzAblIjC+nPfta5pK+jiuOwL++5qho/mg/2fKopLg+6NC+ykT3xg+vb4L7yV2ol/4ERWrZLEqsAinJjlgQSd/9MEycHbrrh8rCUOSHzqXyW4YSz2MhP+aRWc3AXMtUTcA+ijM1nr6YqQafiVuUddqPgk7QuL6yWWesmj1I3QLhO7IhBaoNHUkZhlSsc14I4YP+wBQmhB2BRjjK35o8Em8AplpZqbgG38b9b5tMKml+sl84fohpasRu+GXJ2v6JNZnodhTbUuf22SIUHn1rRNz7OPUZSFVkNnGeOhTMqtW0fkzEGc4t1tokdHYEf1lbHZynzh0UfoXERqZ9AeqdYtMge/MNM3n5Z47IDSQIYG6PtdYKDnE2k7o2f26ErWI+GzSAnkvK/lL4/X3vtIwaPlf8Ae4EHqXiZN5WiQCsxTUPsCnB4aqaZXw/mxnU7HvSx+GJBlx7cEvcZcJvOyalAn+NWFgPylfHzyhDqd4oNnuxjSjd0m4/9TMpgzlCEH/3y4ZqIQXLD5EM03opdRvUeGKfGSi+5/E9qBlDpTT+syEAW/Fp7idSpuCVaGeRr/eah0LslvAOli+VlaNc/5VJ8J3IgopvhAk51QDVK2c43XLcQar93HbTMWGA6KSm8I02avETyluz04dG0PUeeCV+9mvvODijnrDU/OK27fI8nC1hn7WfFcf7kdH4Bm8HyFLXUbyiKLUmuVREZW88KcgOWYWYfS77jHVMtvmmb11u2w+aXI4WQEU1pUNMa20sCA36flmBMb0x/P1v95L/suR0yrLHsT1miMZ3sj4o5yndEF4YVh3DfFwmY3uwBuf6ZIY/AmSaCIr3Q3kVcymlaEpZZTKKhHKCIEp42wMmCS5Sh4JBnlKBhBpu1gezZmkHb8ytWoNMS9S/kr4NRqKvj4sLvU9uXX1DNkXeNrgK3brMmLfn8rv9DQgZlEMHwjkiVASzdGsoXGgQOVh/E6iYmYzh3SSB3LHbfRwOXmvwjwc+egN6By8RoOSixDW0PK6uEJ8BdQ44y781DK0X0oMixqPr+Ad0gb/J5MEuuh/2dGSsNGeGlqhgnxVSQxEGav7Fordcy0I3ATn1YI32WxgkAPnVMV2ksFveiVfVoG6ucco8qiOKVsYdun95ViV+KzozGvdmCIVHnR8/xekTCK7hsg6CS3JtOKSJPjabdE8GphnB9LlQKwkWO/n1o7fHGJAC+gx18DzzJMpXwkr5ITQfFUyBFSr8+gtqTSJopOVUNFoxCphpNPHThfoMF0QfpmBj7uIT4OL+Gdb+mIMCBsHbolAa6vfrdU2NDODghMhGSjhh2diEKW2TDE5MBnrOWWWu58iLrEx7waQhYMrObjnNzEuTwM3pV2zwG42oM6pP63EwctLgoDpxBpikmON3QlVpL8vF1bYqBeM3ZCrL3nd00JhTlcdCnX1BBCKJTK3mPv4suzgWcUNzqeyEZ0gTLTjgT219Thxr7WbdHfWqr46qpSkLqsEUCM7uRB1CRUSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SqtgpQFU9vCrybcUw7FuUZ",
      "input": {
        "note": "The blue bowl's left wall runs between the jaws: left jaw outside, right jaw inside near the pear. Closing to grip the wall.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SqtgpQFU9vCrybcUw7FuUZ",
      "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]: [-0.9558, 2.0663, 1.3369, -0.35, -0.6838, -0.8021, 0.0403, -0.0765, 0.9012, 0.6567, -0.477, -0.1093, -0.1768, 0.998]\nstate[eef_state]: left_x=0.3628 left_y=-0.314 left_z=0.0433 left_yaw=0.044 left_pitch=-0.1846 left_roll=0.0643 left_gripper=0.0403 right_x=0.2938 right_y=0.0004 right_z=0.1558 right_yaw=0.1109 right_pitch=-0.1495 right_roll=-0.0631 right_gripper=0.998\nstate[joint_eff]: [-0.335, -10.7556, 6.2427, 0.4957, -0.3199, 0.3248, 1.0085, -0.1983, -1.8803, 6.9812, 1.58, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06f93c05bd228d0282c3493039bc5df002d391d8c0a62841470d875fcc05bd36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78f2affbd3da72e97d30f4286727d295358d189d139fd5b422ea0218865719e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34059696063749aef1f3faf34afe8c6e729518e41f512d53c463ae32451e577b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /messages · status 200 · 4.421 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]: [-0.9997, 1.8736, 1.4998, -0.7303, -0.6994, -0.8177, 0.9965, -0.0769, 0.9012, 0.6567, -0.4732, -0.1093, -0.1768, 0.998]\nstate[eef_state]: left_x=0.3371 left_y=-0.3076 left_z=0.1472 left_yaw=0.0212 left_pitch=-0.1854 left_roll=0.0815 left_gripper=0.9965 right_x=0.2944 right_y=0.0002 right_z=0.1565 right_yaw=0.1104 right_pitch=-0.1457 right_roll=-0.0638 right_gripper=0.998\nstate[joint_eff]: [-0.7179, -11.5214, 6.4205, 1.1746, -0.5006, -0.1441, 0.0024, -0.2256, -1.6615, 7.0769, 1.7558, -0.1001, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.9573, 2.0586, 1.3388, -0.3813, -0.6807, -0.7826, 0.9965, -0.0769, 0.9012, 0.6567, -0.4767, -0.1093, -0.1768, 0.998]\nstate[eef_state]: left_x=0.3594 left_y=-0.3111 left_z=0.044 left_yaw=0.0337 left_pitch=-0.1995 left_roll=0.0957 left_gripper=0.9965 right_x=0.2939 right_y=0.0003 right_z=0.1558 right_yaw=0.1105 right_pitch=-0.1491 right_roll=-0.0631 right_gripper=0.998\nstate[joint_eff]: [0.6222, -9.8803, 4.9983, 1.2039, -0.2222, 0.1392, -0.0171, -0.3487, -1.9077, 6.9812, 1.6777, -0.1001, -0.0415, -0.0122]",
      "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]: [-0.9558, 2.0663, 1.3369, -0.35, -0.6838, -0.8021, 0.0403, -0.0765, 0.9012, 0.6567, -0.477, -0.1093, -0.1768, 0.998]\nstate[eef_state]: left_x=0.3628 left_y=-0.314 left_z=0.0433 left_yaw=0.044 left_pitch=-0.1846 left_roll=0.0643 left_gripper=0.0403 right_x=0.2938 right_y=0.0004 right_z=0.1558 right_yaw=0.1109 right_pitch=-0.1495 right_roll=-0.0631 right_gripper=0.998\nstate[joint_eff]: [-0.335, -10.7556, 6.2427, 0.4957, -0.3199, 0.3248, 1.0085, -0.1983, -1.8803, 6.9812, 1.58, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06f93c05bd228d0282c3493039bc5df002d391d8c0a62841470d875fcc05bd36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78f2affbd3da72e97d30f4286727d295358d189d139fd5b422ea0218865719e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34059696063749aef1f3faf34afe8c6e729518e41f512d53c463ae32451e577b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7AoKEAgSGAI4AUIIdGhpbmtpbmcSDDKdj179XUvPcGMjlxoM5FQ8Q61zMN4G78a/IjANTRGj6iDKHtVPuhtPU5Lab2tBhERq3SrWwiXQWmWbOBdwZO5Dl/1EDnAXrfzUCT4qiQptRc3+YIjqhX/ieqxPQf2Y0NAzuopHuuEtzoreSV6ZbxTzzHObcLRdp+r/Z+3vNbNSasc97vfcp1xievIuCkhYdMc+EZkB9cENAQPNXtGbV1Xhys1PYDp8gyhiqNP2XwPBaOk7DP2Q7Y8ykqIWI6SMWgvWDgcUVpiOfRHudCexhr+ZOZ59Vc7Swn91taaLb88qfuhxUVPlqlSD67twW/68EuIQdWhJlm8yBBtMlIm+0+dMocXpIuGKbLguv8uI1KNBh/+aWokbvmBo7+P1BZxszwzTZ8vzRcoQb1P65d50UdBF2AlS/sYfnqUpbq9jCVk22XcQhJXu31e82uBPp0kfpLhrdpTP7iPX7G1RU3CoUaykaEkBx4P/zXnmHLhwGrZMc9o6MDzOwSSUWLC+E/SCxO63AfbF0/xs/mz2tvBExbBW5Uk+A+f5/Smm3NTUi/sZthmwxPnTegIhNcXAAZFb18CVmKPYXrv2jPrVWTT9d+Q/4YFbmojUpngj7H4T7713hkVpN9+LwmxP+pYMaHnyYV0o52ZOSBapN8gIzu3a0aZBa5c5I5XPRBA3GsljIH1gPWx+AdTi2ZkOpdaZprQ23IGUXdcMA3iAn6ez+4moOgRxG1RFgvRni/TsYyulVMyG3SY/KMLR+mY95Vw4sdlHr2U9hmSZQSoKuKFGSFvfTg+fM83CejkWtXh+tLyuDWDeDQXcpnFzi+KA3UGgJWynw3T8Yvdm8WoGMSPHg/N42PSfUK1Fv98hNiQMWtOqvQBqnrCeaeMDRgaKNJz6TMaxeC7/9vAzxlskR6yVewpQRogdSoF6fagGIDhh6nUcvIPDEApV1y7mDtN1cfzd7vmSpOIAnavAOCG9AJgwekMeX7a62BoGjbL0OhNFiFWd+yxhp7jEHWPYqzSRP+JFprUtOcsws0Cicg8oVgqiy3IzJUy1I6i2d40bG/mtrP0V6ZMjTyHGBuNxAPjtOVa9kydNYS8jrbpcNxizrg6ck+fFZnH1NmtsmH7UmQPOGRBFOoMBz0vYrUBBYCJyO0B98llnDUtWvM544IyUohvDbjtELgY3ETjm8FPIoKfHWgFBBkeSkInnNkVMz8O5enUulVkruAEqB9ySeGnQg7HFkYuHk0s+HNfzZSXE+OcTwEYVsVoJsq3CZWceKsxgKyyxB8q9AqIa8rtnGuNnr1QcY4pcZHEqNjMmhm5G3dH2lWU2khE9HpEwlW1kN2vC/qgYqTHluWGHd8tvZAPECNLMMq4GIVnQL/KJTC4ma4HSisnobFcsWzsPtPQ71csBFOs2hq3evkSuCF/DC05dNaIW+9RTa4NwOn5L7GqkRgId7N0akBOztcnUIeLKUoZiz/eX0SowTC5zLNjlG5p5SbBgx6hBZqEJk68FxOgzIN7fCElHqTAe0pPcatyL3j9XCJWMsi2uqjW5RmTuCHbs+w+5eqMjfKLYpMWIYHG6wHbISZm0fwIafLa1OxONKtj5O+VXXnX90NsN/9jfr+ipWKrF05MURVSGRksp3tkO9I87cnnyxcAaYge1aQbb6E6WJSQux9ALnYd0bi9rus2WWnrDMB09SJb7ujkSqKwd4Hf7wn2CZCIloVmHwgg9w2iNJ9cVTcHsbepXvyWFvY+Uf5c0gLDTREYFX73/dOQC4khNQm+Hbljk4C6ncj3L5LDvDysnGYITWNyuOOsoUgBiCxwtQW/bikIjqE41fZ2T0xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G6jm8cCLQcGLPNcgFbNwQB",
      "input": {
        "note": "The gripper closed to 0.04, which could be the thin bowl wall or nothing; with few calls left I'm lifting and carrying toward the white bowl, and the top view will show whether the blue bowl comes along.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.07,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01G6jm8cCLQcGLPNcgFbNwQB",
      "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]: [-0.2832, 1.6104, 1.2594, -0.5282, -0.2913, -0.2302, 0.0433, -0.0765, 0.9012, 0.6567, -0.477, -0.1093, -0.1764, 0.998]\nstate[eef_state]: left_x=0.4317 left_y=-0.0691 left_z=0.1637 left_yaw=0.0882 left_pitch=-0.2632 left_roll=0.0869 left_gripper=0.0433 right_x=0.2938 right_y=0.0004 right_z=0.1558 right_yaw=0.1107 right_pitch=-0.1495 right_roll=-0.0628 right_gripper=0.998\nstate[joint_eff]: [0.2667, -10.6325, 10.4684, 1.7411, 0.0024, 0.2222, 0.7643, 0.1573, -1.8667, 6.9128, 1.5751, -0.1001, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee55cc77ab568e8442cbb1cb6d2ae4c898c8e52c36905f3804e135aff6451275",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4eab38fb2e2a31ca22cacf5cc7092fbb530e366a41fc407b1ec6000bfaf1b768",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd5c5788a09b6ff1a0d5184cbb97f8124646f78a2f713ebe1f57ea7f14cd2f23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /messages · status 200 · 11.03 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

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]: [-0.9573, 2.0586, 1.3388, -0.3813, -0.6807, -0.7826, 0.9965, -0.0769, 0.9012, 0.6567, -0.4767, -0.1093, -0.1768, 0.998]\nstate[eef_state]: left_x=0.3594 left_y=-0.3111 left_z=0.044 left_yaw=0.0337 left_pitch=-0.1995 left_roll=0.0957 left_gripper=0.9965 right_x=0.2939 right_y=0.0003 right_z=0.1558 right_yaw=0.1105 right_pitch=-0.1491 right_roll=-0.0631 right_gripper=0.998\nstate[joint_eff]: [0.6222, -9.8803, 4.9983, 1.2039, -0.2222, 0.1392, -0.0171, -0.3487, -1.9077, 6.9812, 1.6777, -0.1001, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "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]: [-0.9558, 2.0663, 1.3369, -0.35, -0.6838, -0.8021, 0.0403, -0.0765, 0.9012, 0.6567, -0.477, -0.1093, -0.1768, 0.998]\nstate[eef_state]: left_x=0.3628 left_y=-0.314 left_z=0.0433 left_yaw=0.044 left_pitch=-0.1846 left_roll=0.0643 left_gripper=0.0403 right_x=0.2938 right_y=0.0004 right_z=0.1558 right_yaw=0.1109 right_pitch=-0.1495 right_roll=-0.0631 right_gripper=0.998\nstate[joint_eff]: [-0.335, -10.7556, 6.2427, 0.4957, -0.3199, 0.3248, 1.0085, -0.1983, -1.8803, 6.9812, 1.58, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2832, 1.6104, 1.2594, -0.5282, -0.2913, -0.2302, 0.0433, -0.0765, 0.9012, 0.6567, -0.477, -0.1093, -0.1764, 0.998]\nstate[eef_state]: left_x=0.4317 left_y=-0.0691 left_z=0.1637 left_yaw=0.0882 left_pitch=-0.2632 left_roll=0.0869 left_gripper=0.0433 right_x=0.2938 right_y=0.0004 right_z=0.1558 right_yaw=0.1107 right_pitch=-0.1495 right_roll=-0.0628 right_gripper=0.998\nstate[joint_eff]: [0.2667, -10.6325, 10.4684, 1.7411, 0.0024, 0.2222, 0.7643, 0.1573, -1.8667, 6.9128, 1.5751, -0.1001, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee55cc77ab568e8442cbb1cb6d2ae4c898c8e52c36905f3804e135aff6451275",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4eab38fb2e2a31ca22cacf5cc7092fbb530e366a41fc407b1ec6000bfaf1b768",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd5c5788a09b6ff1a0d5184cbb97f8124646f78a2f713ebe1f57ea7f14cd2f23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSnQgKEAgSGAI4AUIIdGhpbmtpbmcSDPZrUiB4cJOBh3UDxhoM0YAlNC+qtnZ/XmYfIjBP5zYsXitBz1kijquW4CU5i73Lh4O4UksnSOmnEqBeYOMW6eCWwgN5Q1SW8wBprToquge7Dmorc3qQhfRsXF99zYWYaC3dGglwPbdYqFJjjFiWYqnnr3EsBZsKDemXMq0pW2xdW2sk85XCeZZzu8gOCpxBFUGRPmssJ8caZC312ru1LDlxolAa/lsvbepSgNqSj6O9kc/WRnc0p0ZmFBVO1mygw/K1U2sEPYWKnyEysSom/NtaaBNj8Ip4AGUgvxuLmSAobKMWvl4U1/aPS4+fvYV9BYE6dwmJ+x0Fxu8nT2Evl9qmds7dQLXhdFKDWRAgKrHaBN7/QTiPydM+J6pPxjJy2Xm0RPXtQ82Xs7sCvp9q7XE18j8DubkggB8iLdZJ30Ojwp7kCoL7AS2oYzGP7zzkaLLAd73SDc1u1lao0vgsXHl/YBqxEdR4iazO/Ui+XFHNbFzchPX3kv0o6G1rZBj+3rhTix3/f6ieJm+86OmMuygAlnalSlueQjVTWZfAHmSZZ6Kv2icf3JVZaObJPQyoQxEZmolhsSfw1AHRNk/gfLr55UGdZ+bPXAN6sjWtzJo1+joonhQkv5N4jvVyutZxnVMiXkylcc6kYYWnURO8TPToEf7cWs5aeAsu0cWRIDtvf7b/1zNKWCN5Qk8XcYrvBNs413AMtVH0OQXy/iFJFBWjw7RVvPgcQQvs86d8DnYPYa7Kco8b3tGmcMynMr2TRGEmBPECkf97I659C4DKhOu2pqTuOsaP17Up3RZw4Y4B/yGf3zi4t5vhnRuqQXbC+wEbltiDpEkg/MFi4IbkHx8sjhh7Bd+hJmKmDA5tqhihu0y1Rcrb+YL5mrBhErbm3X+oynzf+l0YAgrLksQoTE2n43e7ny1r+NjFEuBiyNuKr/X6JFQO0SAP+PodTWCxn73KLtIfNBcRtatR9CCNMX+9D9W9hKbfHzbybiNsY34hH8RviM7qxr5aILOC/aWR11B6kGZbwYAiYmC/bc53Qzs+0PjryDt46XhAu4r1EUNIjGGZA6lq3lBdwe4QAqclAmJyvJq6xPQwqZu2XV/pzaZvNl1/i5U9hGn9wWK2EOuYB5PS9aa6uOjLrNSE0vonUKg97Vl7yxH6+jewH3jEJPGFQ1n7kVmCaEQgXzKMHXIamoMDreTZUPgqHqQbivhcVjP8TxNoo5Xe7izy1hK4tKDry8hGX4UE/4HREaRXFVPbsEXvtHnM978Fh8L8mYOKa6ggnLmv7jaPXPNfJPzoMNarZFeDyAi30tPR6eOoJPx3OHZKtJY7AGaWwUWAB74qEDg9hk2thNpfe0SXYiBJatyxhkwoOMqmzoYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FLbz5bCDnrbPm2zhqNSVTn",
      "input": {
        "note": "The left arm is holding the blue bowl, with the pear inside, over the large white bowl; the plum fell out on the way and is on the table. Rolling the wrist to tip the blue bowl and pour the pear into the white bowl.",
        "targets": {
          "left_roll": -1.4
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01FLbz5bCDnrbPm2zhqNSVTn",
      "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]: [0.0238, 1.5238, 0.7261, 0.2794, 0.461, -1.2991, 0.0455, -0.0765, 0.9012, 0.6567, -0.477, -0.1093, -0.1768, 0.998]\nstate[eef_state]: left_x=0.4218 left_y=-0.065 left_z=0.1294 left_yaw=0.118 left_pitch=-0.3614 left_roll=-1.2757 left_gripper=0.0455 right_x=0.2938 right_y=0.0004 right_z=0.1558 right_yaw=0.1109 right_pitch=-0.1495 right_roll=-0.0631 right_gripper=0.998\nstate[joint_eff]: [0.4308, -7.4325, 6.8718, 2.4542, 0.2711, -0.1978, 0.5592, -0.0479, -1.7436, 6.9949, 1.5849, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf40ae75de87ef85bbb21870e03de514e7168d29930d734371b3f6753d5198e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e69b633392c81bcf33f9704a858c585d3ac93a2d388d34d4f01108a03dfa8712",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c4905eea95c9069f42b6fad2c56903aab03de6cc32e26375c4ccf7a3963db6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]