adhoc

completed
2026-09-22T19:54:57.014287+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (76 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
268.7 s
total steps
183
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: white bowl far left, blue bowl centre-right, dark fruit, lemon and pear in a row. The right wrist cam shows the pear just ahead of the jaws, so I'm moving the right arm forward and down over it.
move_to
right_x0.3400right_y0.0100right_z0.1000right_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]: [-0.0219, 0.8001, 0.6136, -0.3859, -0.0143, -0.0093, 0.9993, -0.0227, 0.8005, 0.6197, -0.387, -0.017, -0.0265, 0.9992] state[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1815 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2962 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.4171, -1.7573, 9.5658, 1.8144, -0.1343, -0.1001, -0.0855, -0.294, -1.7983, 9.0598, 1.8291, -0.0659, 0.0659, -0.1001] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.01, "right_z": 0.1, "right_gripper": 1.0}, "note": "Scene: white bowl far left, blue bowl centre-right, dark fruit, lemon and pear in a row. The right wrist cam shows the pear just ahead of the jaws, so I'm moving the right arm forward and down over it."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent notePear sits on the jaw column at the bottom of the right wrist view. Moving forward a little and down to about mid-pear height to grasp it.
move_to
right_x0.3550right_y0.0050right_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]: [-0.0219, 0.8032, 0.6132, -0.4007, -0.0139, -0.0086, 0.9993, 0.0338, 1.1481, 0.4099, 0.1314, 0.0216, -0.0147, 0.9992] state[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1774 left_yaw=-0.0007 left_pitch=-0.0183 left_roll=0.0008 left_gripper=0.9993 right_x=0.3359 right_y=0.0111 right_z=0.0918 right_yaw=0.0176 right_pitch=-0.0389 right_roll=-0.0114 right_gripper=0.9992 state[joint_eff]: [-0.3761, -1.5111, 7.0769, 1.8877, -0.0659, -0.0317, -0.0122, -0.2256, -3.9043, 6.2564, 2.0488, 0.0659, 0.1783, -0.1001] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.355, "right_y": 0.005, "right_z": 0.03}, "note": "Pear sits on the jaw column at the bottom of the right wrist view. Moving forward a little and down to about mid-pear height to grasp it."})
tool
executing move_to over 4 steps (0.4s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
Pear is between the jaws. Closing.
agent noteThe pear fills the space between the right jaws at mid-height; 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]: [-0.0219, 0.8078, 0.6132, -0.4084, -0.0139, -0.009, 0.9993, 0.0036, 1.5223, 0.3256, 0.5533, -0.0059, -0.038, 0.9991] state[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1746 left_yaw=-0.0005 left_pitch=-0.0305 left_roll=0.0008 left_gripper=0.9993 right_x=0.3501 right_y=0.0059 right_z=0.0217 right_yaw=0.0232 right_pitch=-0.0757 right_roll=-0.0141 right_gripper=0.9991 state[joint_eff]: [-0.0615, -1.6889, 7.0769, 1.79, -0.0562, -0.0464, -0.0122, -0.4581, -5.5726, 4.7248, 2.0293, -0.0464, -0.0317, -0.022] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
Pear is between the jaws. Closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "The pear fills the space between the right jaws at mid-height; closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteGripper settled at 0.74 (~7 cm), so it's holding the pear. Lifting it clear before moving to the blue bowl.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4168, -0.0139, -0.009, 0.9993, 0.0036, 1.5223, 0.3256, 0.5526, -0.0093, -0.0418, 0.7413] state[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1729 left_yaw=-0.0005 left_pitch=-0.0389 left_roll=0.0009 left_gripper=0.9993 right_x=0.35 right_y=0.0065 right_z=0.0216 right_yaw=0.0282 right_pitch=-0.0765 right_roll=-0.0151 right_gripper=0.7413 state[joint_eff]: [-0.335, -1.2923, 7.0085, 1.7949, -0.0366, -0.0757, -0.0122, -0.253, -4.9299, 4.9026, 1.6728, -0.0122, 0.022, 1.033] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Gripper settled at 0.74 (~7 cm), so it's holding the pear. Lifting it clear before moving to the blue bowl."})
tool
executing move_to over 12 steps (1.2s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent notePear is lifted; blue bowl appears ahead-left in the right wrist view. Moving over the bowl (estimated x≈0.43, y≈0.09).
move_to
right_x0.4300right_y0.0900right_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]: [-0.0219, 0.8078, 0.6132, -0.4236, -0.0139, -0.0086, 0.9993, 0.0044, 1.1172, 0.8349, -0.4179, -0.009, -0.046, 0.7457] state[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1715 left_yaw=-0.0007 left_pitch=-0.0458 left_roll=0.0014 left_gripper=0.9993 right_x=0.3451 right_y=0.0067 right_z=0.1798 right_yaw=0.031 right_pitch=-0.1326 right_roll=-0.0172 right_gripper=0.7457 state[joint_eff]: [-0.0479, -1.0462, 7.159, 1.7363, -0.0757, -0.0366, -0.0122, -0.1436, -4.8889, 9.4154, 1.79, -0.0269, 0.0171, 1.0281] 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({"targets": {"right_x": 0.43, "right_y": 0.09, "right_z": 0.18}, "note": "Pear is lifted; blue bowl appears ahead-left in the right wrist view. Moving over the bowl (estimated x\u22480.43, y\u22480.09)."})
tool
executing move_to over 7 steps (0.7s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe pear is above the blue bowl, which looks slightly to the left in both views. Shifting a bit left and lowering before releasing.
move_to
right_y0.1050right_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]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0139, -0.009, 0.9993, 0.2787, 1.5227, 1.1011, -0.3714, 0.1795, 0.1059, 0.7492] state[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0005 left_pitch=-0.0511 left_roll=0.0012 left_gripper=0.9993 right_x=0.4179 right_y=0.0905 right_z=0.1566 right_yaw=0.06 right_pitch=-0.2097 right_roll=-0.0415 right_gripper=0.7492 state[joint_eff]: [-0.3624, -1.7162, 7.2274, 1.6728, -0.0562, -0.0806, -0.0122, -0.4444, -7.6786, 9.3744, 1.8974, 0.2222, 0.2076, 1.033] 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({"targets": {"right_y": 0.105, "right_z": 0.11}, "note": "The pear is above the blue bowl, which looks slightly to the left in both views. Shifting a bit left and lowering before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent notePear is centred over the blue bowl at low height; opening to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0139, -0.009, 0.9993, 0.3199, 1.597, 0.9764, -0.2279, 0.1905, 0.1238, 0.7492] state[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.17 left_yaw=-0.0005 left_pitch=-0.0515 left_roll=0.0012 left_gripper=0.9993 right_x=0.4101 right_y=0.1044 right_z=0.0996 right_yaw=0.0788 right_pitch=-0.2617 right_roll=-0.0499 right_gripper=0.7492 state[joint_eff]: [-0.1846, -1.3197, 7.0359, 1.7216, -0.0659, -0.0317, -0.0171, 0.2256, -7.8291, 6.694, 1.8779, 0.2418, 0.0855, 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
move_to({"targets": {"right_gripper": 1.0}, "note": "Pear is centred over the blue bowl at low height; opening to drop it in."})
tool
executing move_to over 3 steps (0.3s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent notePear is in the blue bowl. Next the lemon, which sits ~12 cm left of where the pear was; moving the right arm above it.
move_to
right_x0.3300right_y0.1250right_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]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0139, -0.0086, 0.9993, 0.3199, 1.597, 0.9764, -0.2203, 0.1909, 0.1242, 0.9958] state[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0007 left_pitch=-0.0511 left_roll=0.0015 left_gripper=0.9993 right_x=0.4115 right_y=0.1048 right_z=0.1009 right_yaw=0.0788 right_pitch=-0.2542 right_roll=-0.048 right_gripper=0.9958 state[joint_eff]: [-0.1709, -1.3607, 7.241, 1.663, -0.0757, -0.022, -0.0122, 0.2803, -7.8564, 6.5709, 1.7705, 0.188, 0.1148, -0.2222] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.125, "right_z": 0.1}, "note": "Pear is in the blue bowl. Next the lemon, which sits ~12 cm left of where the pear was; moving the right arm above it."})
tool
executing move_to over 7 steps (0.7s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe last move didn't execute (arm still over the bowl). Lifting first to clear the pear before heading to the lemon.
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]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0139, -0.009, 0.9993, 0.3199, 1.597, 0.9764, -0.2203, 0.1905, 0.1238, 0.9969] state[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.17 left_yaw=-0.0005 left_pitch=-0.0515 left_roll=0.0012 left_gripper=0.9993 right_x=0.4115 right_y=0.1048 right_z=0.1009 right_yaw=0.0793 right_pitch=-0.2542 right_roll=-0.048 right_gripper=0.9969 state[joint_eff]: [-0.3077, -1.3333, 7.0496, 1.707, -0.0562, -0.0513, -0.0122, 0.2803, -7.8838, 6.735, 1.7753, 0.2369, 0.0855, 0.0952] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18}, "note": "The last move didn't execute (arm still over the bowl). Lifting first to clear the pear before heading to the lemon."})
tool
executing move_to over 6 steps (0.6s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteLemon shows at the bottom-left of the right wrist view, just nearer and left of the bowl. Moving over it.
move_to
right_x0.3500right_y0.1500right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.815, 0.6132, -0.4263, -0.0139, -0.009, 0.9993, 0.3233, 1.5375, 1.195, -0.4961, 0.1864, 0.1196, 0.9969] state[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.169 left_yaw=-0.0005 left_pitch=-0.0557 left_roll=0.0013 left_gripper=0.9993 right_x=0.4123 right_y=0.1074 right_z=0.169 right_yaw=0.0888 right_pitch=-0.2529 right_roll=-0.0473 right_gripper=0.9969 state[joint_eff]: [-0.2256, -1.347, 6.9949, 1.6825, -0.0415, -0.0757, -0.0122, -0.294, -7.788, 8.9641, 1.6386, 0.0708, 0.0122, -0.0024] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.15, "right_z": 0.1}, "note": "Lemon shows at the bottom-left of the right wrist view, just nearer and left of the bowl. Moving over it."})
tool
executing move_to over 5 steps (0.5s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteLemon is just left of the jaw column at the bottom of the wrist view; shifting ~3 cm left to centre it.
move_to
right_y0.1750right_x0.3450right_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]: [-0.0219, 0.815, 0.6132, -0.4305, -0.0139, -0.009, 0.9993, 0.5312, 1.4902, 0.868, -0.35, 0.2855, 0.2394, 0.997] state[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1682 left_yaw=-0.0005 left_pitch=-0.0599 left_roll=0.0014 left_gripper=0.9993 right_x=0.3405 right_y=0.1465 right_z=0.0833 right_yaw=0.1317 right_pitch=-0.3509 right_roll=-0.0876 right_gripper=0.997 state[joint_eff]: [-0.253, -1.3607, 6.9949, 1.6972, -0.0562, -0.0806, -0.0122, 0.2256, -8.4034, 6.9538, 1.7509, 0.3004, 0.1832, -0.0073] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.175, "right_x": 0.345, "right_z": 0.08}, "note": "Lemon is just left of the jaw column at the bottom of the wrist view; shifting ~3 cm left to centre it."})
tool
executing move_to over 3 steps (0.3s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteLemon still sits left of the jaw column; shifting another ~2.5 cm left before descending.
move_to
right_y0.1980right_z0.0750
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]: [-0.0219, 0.8154, 0.6132, -0.4316, -0.0135, -0.009, 0.9993, 0.5938, 1.5608, 0.907, -0.3401, 0.3176, 0.2817, 0.997] state[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1678 left_yaw=-0.0008 left_pitch=-0.0614 left_roll=0.0012 left_gripper=0.9993 right_x=0.3422 right_y=0.1688 right_z=0.0753 right_yaw=0.14 right_pitch=-0.3575 right_roll=-0.0957 right_gripper=0.997 state[joint_eff]: [-0.294, -1.1966, 6.9949, 1.6972, -0.0317, -0.0464, -0.0122, 0.212, -6.7487, 8.2393, 1.1209, 0.2125, 0.2076, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.198, "right_z": 0.075}, "note": "Lemon still sits left of the jaw column; shifting another ~2.5 cm left before descending."})
tool
executing move_to over 3 steps (0.3s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteLemon is now nearly centred between the jaws; descending to lemon mid-height.
move_to
right_y0.2050right_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]: [-0.0219, 0.8165, 0.6132, -0.432, -0.0139, -0.009, 0.9993, 0.6598, 1.6203, 0.9512, -0.3664, 0.3386, 0.3168, 0.997] state[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1674 left_yaw=-0.0005 left_pitch=-0.0629 left_roll=0.0015 left_gripper=0.9993 right_x=0.3365 right_y=0.1913 right_z=0.0673 right_yaw=0.1612 right_pitch=-0.3843 right_roll=-0.1109 right_gripper=0.997 state[joint_eff]: [0.0205, -1.4154, 6.9949, 1.6532, -0.0415, -0.0855, -0.0122, 0.2256, -6.9128, 8.3897, 1.1551, 0.3297, 0.2222, -0.0171] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.205, "right_z": 0.015}, "note": "Lemon is now nearly centred between the jaws; descending to lemon mid-height."})
tool
executing move_to over 4 steps (0.4s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe descent didn't happen (still at z≈0.065) and the lemon is still just ahead of the jaws. Trying the descent again with a slightly different target.
move_to
right_z0.0300right_x0.3400
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]: [-0.0219, 0.8173, 0.6132, -0.432, -0.0139, -0.009, 0.9993, 0.6769, 1.6318, 0.9573, -0.3714, 0.3447, 0.3336, 0.997] state[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1672 left_yaw=-0.0005 left_pitch=-0.0637 left_roll=0.0015 left_gripper=0.9993 right_x=0.334 right_y=0.1964 right_z=0.065 right_yaw=0.1617 right_pitch=-0.3897 right_roll=-0.1107 right_gripper=0.997 state[joint_eff]: [-0.294, -1.4291, 7.0085, 1.7216, -0.0464, -0.0806, -0.0122, -0.5128, -7.3778, 8.1846, 1.1941, 0.3297, 0.1197, -0.0171] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03, "right_x": 0.34}, "note": "The descent didn't happen (still at z\u22480.065) and the lemon is still just ahead of the jaws. Trying the descent again with a slightly different target."})
tool
executing move_to over 3 steps (0.3s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe descent is blocked—the right jaw is likely resting on the blue bowl's rim. Lifting and rotating the gripper ~90° so the jaws close front-to-back on the lemon, away from the bowl.
move_to
right_z0.0900right_yaw1.5000right_x0.3600right_y0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4427, -0.0139, -0.009, 0.9993, 0.6769, 1.6318, 0.9585, -0.374, 0.3443, 0.3336, 0.997] state[eef_state]: left_x=0.2887 left_y=-0.0003 left_z=0.1641 left_yaw=-0.0005 left_pitch=-0.0782 left_roll=0.0018 left_gripper=0.9993 right_x=0.3338 right_y=0.1963 right_z=0.0651 right_yaw=0.1617 right_pitch=-0.3912 right_roll=-0.1112 right_gripper=0.997 state[joint_eff]: [-0.1026, -1.4291, 6.9812, 1.7998, -0.0611, -0.0659, -0.0122, -0.335, -7.4051, 7.9795, 1.243, 0.3199, 0.1197, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.09, "right_yaw": 1.5, "right_x": 0.36, "right_y": 0.2}, "note": "The descent is blocked\u2014the right jaw is likely resting on the blue bowl's rim. Lifting and rotating the gripper ~90\u00b0 so the jaws close front-to-back on the lemon, away from the bowl."})
tool
executing move_to over 9 steps (0.9s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteRotation only got partway (yaw 0.88) and the grasp point drifted toward the bowl. The lemon is visible near-left of the gripper in the top view; re-centring over it with the jaws turned.
move_to
right_x0.3500right_y0.2050right_z0.0600right_yaw1.5000right_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]: [-0.0219, 0.8253, 0.6132, -0.4511, -0.0139, -0.0086, 0.9993, 0.2848, 1.8225, 1.3018, -0.6373, -0.3592, -0.4171, 0.997] state[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1613 left_yaw=-0.0006 left_pitch=-0.0908 left_roll=0.0024 left_gripper=0.9993 right_x=0.3871 right_y=0.1817 right_z=0.0823 right_yaw=0.8751 right_pitch=-0.474 right_roll=0.1589 right_gripper=0.997 state[joint_eff]: [-0.2256, -1.6342, 6.9812, 1.7363, -0.0415, -0.0366, -0.0122, -1.0051, -9.5111, 6.2974, 0.4615, -0.359, -0.0708, -0.0122] 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({"targets": {"right_x": 0.35, "right_y": 0.205, "right_z": 0.06, "right_yaw": 1.5, "right_pitch": 0.0}, "note": "Rotation only got partway (yaw 0.88) and the grasp point drifted toward the bowl. The lemon is visible near-left of the gripper in the top view; re-centring over it with the jaws turned."})
tool
executing move_to over 16 steps (1.6s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteGripper is now turned 90°, looking left along the table; the lemon sits right on the jaw column. Descending to grasp it across its width.
move_to
right_x0.3550right_y0.2050right_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]: [-0.0219, 0.8257, 0.6132, -0.4538, -0.0139, -0.0086, 0.9993, 0.1471, 1.9739, 1.2011, -0.5438, -0.9428, -1.1042, 0.997] state[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1607 left_yaw=-0.0006 left_pitch=-0.0938 left_roll=0.0024 left_gripper=0.9993 right_x=0.3588 right_y=0.2013 right_z=0.0586 right_yaw=1.4478 right_pitch=-0.0433 right_roll=0.1413 right_gripper=0.997 state[joint_eff]: [-0.3761, -1.4291, 7.1179, 1.7118, -0.0611, -0.0464, -0.0171, -0.4171, -8.5538, 6.3248, 0.315, -0.6178, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.355, "right_y": 0.205, "right_z": 0.015}, "note": "Gripper is now turned 90\u00b0, looking left along the table; the lemon sits right on the jaw column. Descending to grasp it across its width."})
tool
executing move_to over 3 steps (0.3s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteDescent stopped at z≈0.045; the forward jaw seems to hit the blue bowl rim, and the lemon sits toward the rear jaw. Shifting 2 cm back toward the base and descending again.
move_to
right_x0.3400right_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]: [-0.0219, 0.8295, 0.6132, -0.4683, -0.0139, -0.0086, 0.9993, 0.1524, 2.0087, 1.1538, -0.4118, -0.9802, -1.1309, 0.997] state[eef_state]: left_x=0.2852 left_y=-0.0002 left_z=0.1569 left_yaw=-0.0006 left_pitch=-0.1121 left_roll=0.0028 left_gripper=0.9993 right_x=0.361 right_y=0.2075 right_z=0.0451 right_yaw=1.477 right_pitch=0.0058 right_roll=0.0799 right_gripper=0.997 state[joint_eff]: [-0.3077, -1.4838, 6.9538, 1.8095, -0.0806, -0.0366, -0.0122, 0.5128, -6.2564, 3.0564, 0.1001, 0.0464, 0.3004, -0.0122] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_z": 0.015}, "note": "Descent stopped at z\u22480.045; the forward jaw seems to hit the blue bowl rim, and the lemon sits toward the rear jaw. Shifting 2 cm back toward the base and descending again."})
tool
executing move_to over 2 steps (0.2s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteArm is stuck against the bowl rim at z≈0.04 and won't slide back. Lifting and moving 3 cm toward the base so both jaws straddle the lemon clear of the bowl.
move_to
right_x0.3300right_y0.2150right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8303, 0.6132, -0.469, -0.0139, -0.009, 0.9993, 0.1551, 2.0132, 1.1137, -0.3065, -0.9977, -1.1194, 0.997] state[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1566 left_yaw=-0.0004 left_pitch=-0.1137 left_roll=0.0026 left_gripper=0.9993 right_x=0.3633 right_y=0.2107 right_z=0.0413 right_yaw=1.4804 right_pitch=0.0363 right_roll=0.0348 right_gripper=0.997 state[joint_eff]: [-0.0752, -0.9368, 6.9949, 1.6337, -0.0806, -0.0659, -0.0122, 0.0889, -9.6205, 3.6034, 0.359, -0.1197, 0.0464, -0.0122] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.215, "right_z": 0.09}, "note": "Arm is stuck against the bowl rim at z\u22480.04 and won't slide back. Lifting and moving 3 cm toward the base so both jaws straddle the lemon clear of the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe right arm is frozen (joints unchanged over two moves), probably an IK limit at this wrist pose. Trying a pure lift with less yaw to free it.
move_to
right_z0.1200right_yaw0.8000
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]: [-0.0219, 0.8314, 0.6132, -0.4755, -0.0139, -0.009, 0.9993, 0.1547, 2.0106, 1.1046, -0.2913, -1.0008, -1.1267, 0.997] state[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.155 left_yaw=-0.0004 left_pitch=-0.1213 left_roll=0.0027 left_gripper=0.9993 right_x=0.3629 right_y=0.2107 right_z=0.0412 right_yaw=1.4853 right_pitch=0.0413 right_roll=0.0207 right_gripper=0.997 state[joint_eff]: [-0.0615, -1.4838, 6.9538, 1.707, -0.0464, -0.0659, -0.0122, -0.1573, -9.7162, 3.4803, 0.4518, -0.2564, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12, "right_yaw": 0.8}, "note": "The right arm is frozen (joints unchanged over two moves), probably an IK limit at this wrist pose. Trying a pure lift with less yaw to free it."})
tool
executing move_to over 6 steps (0.6s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteRight arm hasn't responded to the last three commands; the top view shows it hovering right by the lemon and bowl. Sending a small escape move to the right arm, and re-parking the left arm to check whether the controller is responding at all.
move_to
right_z0.1000right_y0.1900right_x0.3400right_yaw1.2000left_x0.3000left_y0.0000left_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]: [-0.0219, 0.8322, 0.6132, -0.4759, -0.0139, -0.009, 0.9993, 0.1547, 2.0106, 1.1046, -0.2916, -1.0008, -1.1271, 0.997] state[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0004 left_pitch=-0.1224 left_roll=0.0027 left_gripper=0.9993 right_x=0.3628 right_y=0.2107 right_z=0.0412 right_yaw=1.4855 right_pitch=0.0412 right_roll=0.0208 right_gripper=0.997 state[joint_eff]: [-0.0205, -1.4974, 7.2547, 1.6825, -0.0513, -0.0562, -0.0122, -0.1709, -9.7436, 3.3573, 0.4664, -0.2857, 0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1, "right_y": 0.19, "right_x": 0.34, "right_yaw": 1.2, "left_x": 0.3, "left_y": 0.0, "left_z": 0.18}, "note": "Right arm hasn't responded to the last three commands; the top view shows it hovering right by the lemon and bowl. Sending a small escape move to the right arm, and re-parking the left arm to check whether the controller is responding at all."})
tool
executing move_to over 4 steps (0.4s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteArm is free again; the lemon got nudged and now stands upright a few cm further left and forward (top view ~130,95). Moving above it.
move_to
right_x0.3700right_y0.2500right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.9112, 0.6945, -0.5236, -0.0139, -0.009, 0.9993, 0.1501, 1.6554, 0.8337, -0.1299, -0.8951, -0.8463, 0.997] state[eef_state]: left_x=0.2927 left_y=-0.0004 left_z=0.1603 left_yaw=-0.0002 left_pitch=-0.1678 left_roll=0.0037 left_gripper=0.9993 right_x=0.3327 right_y=0.1934 right_z=0.0896 right_yaw=1.288 right_pitch=0.0334 right_roll=-0.0001 right_gripper=0.997 state[joint_eff]: [0.1573, -2.0855, 9.6205, 1.6825, -0.022, -0.0562, -0.0122, -0.1983, -6.694, 6.0513, 1.3358, -0.3492, 0.1099, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.25, "right_z": 0.09}, "note": "Arm is free again; the lemon got nudged and now stands upright a few cm further left and forward (top view ~130,95). Moving above it."})
tool
executing move_to over 5 steps (0.5s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteArm won't travel further left with the wrist twisted 1.2 rad—looks like a wrist limit. Reducing yaw to 0.5 (the lemon is now farther from the bowl) and moving above the lemon.
move_to
right_x0.3700right_y0.2500right_z0.1000right_yaw0.5000
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]: [-0.0219, 0.9173, 0.6975, -0.5354, -0.0139, -0.009, 0.9993, 0.1513, 1.6138, 0.8192, -0.0826, -0.8566, -0.7403, 0.997] state[eef_state]: left_x=0.2915 left_y=-0.0003 left_z=0.1578 left_yaw=-0.0002 left_pitch=-0.1827 left_roll=0.0041 left_gripper=0.9993 right_x=0.3398 right_y=0.1904 right_z=0.1002 right_yaw=1.2115 right_pitch=0.0399 right_roll=0.0112 right_gripper=0.997 state[joint_eff]: [-0.0752, -2.3043, 6.7077, 1.6532, -0.0611, -0.0562, -0.0171, -0.2393, -7.1726, 5.4359, 1.3846, -0.3932, 0.1587, -0.0122] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.25, "right_z": 0.1, "right_yaw": 0.5}, "note": "Arm won't travel further left with the wrist twisted 1.2 rad\u2014looks like a wrist limit. Reducing yaw to 0.5 (the lemon is now farther from the bowl) and moving above the lemon."})
tool
executing move_to over 5 steps (0.5s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteRight arm ignored the last command (IK likely holding). Trying a small step: same position, a bit higher, and yaw reduced from 1.2 to 0.9.
move_to
right_yaw0.9000right_x0.3400right_y0.1900right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.9173, 0.6975, -0.5358, -0.0135, -0.009, 0.9993, 0.1513, 1.6138, 0.8185, -0.0788, -0.8455, -0.7395, 0.997] state[eef_state]: left_x=0.2914 left_y=-0.0004 left_z=0.1577 left_yaw=-0.0005 left_pitch=-0.1831 left_roll=0.0038 left_gripper=0.9993 right_x=0.3413 right_y=0.1894 right_z=0.0993 right_yaw=1.2043 right_pitch=0.034 right_roll=0.0051 right_gripper=0.997 state[joint_eff]: [-0.0615, -1.9761, 7.0769, 1.536, -0.0415, -0.0708, -0.0122, -0.1299, -6.9675, 5.5043, 1.3553, -0.4811, 0.149, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 0.9, "right_x": 0.34, "right_y": 0.19, "right_z": 0.12}, "note": "Right arm ignored the last command (IK likely holding). Trying a small step: same position, a bit higher, and yaw reduced from 1.2 to 0.9."})
tool
executing move_to over 2 steps (0.2s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteYaw changes are being rate-clamped, so I'm holding the current yaw (1.17) and moving only position toward the upright lemon, which sits ahead-right in the wrist view.
move_to
right_x0.3700right_y0.2500right_z0.0900right_yaw1.1700
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]: [-0.0219, 0.9207, 0.6971, -0.5377, -0.0139, -0.009, 0.9993, 0.2321, 1.5188, 0.7197, 0.0109, -0.7456, -0.6502, 0.997] state[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1563 left_yaw=-0.0001 left_pitch=-0.1888 left_roll=0.0042 left_gripper=0.9993 right_x=0.323 right_y=0.2032 right_z=0.1003 right_yaw=1.1726 right_pitch=0.0193 right_roll=-0.0306 right_gripper=0.997 state[joint_eff]: [-0.1846, -2.2359, 6.8991, 1.5995, -0.0611, -0.022, -0.0122, 1.2239, -7.8017, 7.5145, 1.9072, -0.3053, 0.1245, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.25, "right_z": 0.09, "right_yaw": 1.17}, "note": "Yaw changes are being rate-clamped, so I'm holding the current yaw (1.17) and moving only position toward the upright lemon, which sits ahead-right in the wrist view."})
tool
executing move_to over 4 steps (0.4s)
step 137
top_cam
camera top_cam step 137
assistant
agent noteLemon is just right of the jaw column and slightly ahead in the wrist view; shifting ~2 cm forward/left and descending to grasp height.
move_to
right_x0.3800right_y0.2600right_z0.0300right_yaw1.1700
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]: [-0.0219, 0.9264, 0.6971, -0.5468, -0.0139, -0.009, 0.9993, 0.3229, 1.742, 0.8711, 0.1009, -0.6727, -0.5674, 0.997] state[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1531 left_yaw=-0.0001 left_pitch=-0.2037 left_roll=0.0045 left_gripper=0.9993 right_x=0.3606 right_y=0.2405 right_z=0.0786 right_yaw=1.1673 right_pitch=-0.0081 right_roll=-0.0069 right_gripper=0.997 state[joint_eff]: [-0.335, -2.4684, 7.0085, 1.6239, -0.0562, -0.0611, -0.0122, 0.4171, -8.1983, 7.2137, 1.453, -0.2662, 0.1294, -0.0122] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.26, "right_z": 0.03, "right_yaw": 1.17}, "note": "Lemon is just right of the jaw column and slightly ahead in the wrist view; shifting ~2 cm forward/left and descending to grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 141
assistant
agent noteDescents keep stalling; I suspect the gripper body (which trails toward the bowl at this yaw) is hitting the tall pear. Lifting and turning back toward yaw 0 so the body trails toward the base instead.
move_to
right_x0.3700right_y0.2700right_z0.1500right_yaw0.3000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.9268, 0.6971, -0.5468, -0.0135, -0.009, 0.9993, 0.3405, 1.7504, 0.8978, 0.1078, -0.6659, -0.5648, 0.997] state[eef_state]: left_x=0.2899 left_y=-0.0004 left_z=0.153 left_yaw=-0.0004 left_pitch=-0.2041 left_roll=0.0043 left_gripper=0.9993 right_x=0.3651 right_y=0.2489 right_z=0.0852 right_yaw=1.1784 right_pitch=0.0052 right_roll=-0.0265 right_gripper=0.997 state[joint_eff]: [-0.0752, -2.0444, 7.2684, 1.5311, -0.0269, -0.0708, -0.0122, -0.4444, -8.0615, 6.7624, 1.5897, -0.2808, 0.0659, -0.0122] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.27, "right_z": 0.15, "right_yaw": 0.3}, "note": "Descents keep stalling; I suspect the gripper body (which trails toward the bowl at this yaw) is hitting the tall pear. Lifting and turning back toward yaw 0 so the body trails toward the base instead."})
tool
executing move_to over 6 steps (0.6s)
step 147
assistant
agent noteBig yaw changes appear to freeze the arm entirely. Doing a pure lift with only a tiny yaw change to clear the pear.
move_to
right_z0.1500right_yaw1.1000
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]: [-0.0219, 0.9295, 0.6971, -0.5549, -0.0139, -0.009, 0.9993, 0.3405, 1.7504, 0.8978, 0.1081, -0.6659, -0.5644, 0.997] state[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1509 left_yaw=-0.0 left_pitch=-0.2147 left_roll=0.0048 left_gripper=0.9993 right_x=0.3652 right_y=0.2489 right_z=0.0853 right_yaw=1.1782 right_pitch=0.0055 right_roll=-0.0265 right_gripper=0.997 state[joint_eff]: [-0.1162, -2.2769, 7.0085, 1.5946, -0.0513, -0.0757, -0.0171, -0.1162, -8.0479, 6.7624, 1.5897, -0.2906, 0.0952, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15, "right_yaw": 1.1}, "note": "Big yaw changes appear to freeze the arm entirely. Doing a pure lift with only a tiny yaw change to clear the pear."})
tool
executing move_to over 5 steps (0.5s)
step 152
assistant
agent noteLemon lies right between the open jaws near the bottom of the wrist view. Descending straight down with a 1 cm forward nudge.
move_to
right_x0.3800right_z0.0200right_yaw1.1000
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]: [-0.0219, 0.9333, 0.6971, -0.5583, -0.0139, -0.0086, 0.9993, 0.3557, 1.6287, 0.9783, -0.0391, -0.5907, -0.4969, 0.997] state[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1493 left_yaw=-0.0002 left_pitch=-0.222 left_roll=0.0052 left_gripper=0.9993 right_x=0.3713 right_y=0.2467 right_z=0.1372 right_yaw=1.101 right_pitch=0.0104 right_roll=-0.0431 right_gripper=0.997 state[joint_eff]: [-0.1299, -2.1538, 7.0222, 1.5409, -0.0171, -0.0415, -0.0122, 0.6222, -9.5795, 8.1709, 1.4921, -0.1978, 0.0904, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_z": 0.02, "right_yaw": 1.1}, "note": "Lemon lies right between the open jaws near the bottom of the wrist view. Descending straight down with a 1 cm forward nudge."})
tool
executing move_to over 8 steps (0.8s)
step 160
assistant
agent noteThe gripper housing appears to be resting over the blue bowl/pear, blocking descent. Shifting 3 cm left so the housing clears the bowl, lemon still ahead of the jaws.
move_to
right_x0.3700right_y0.2800right_z0.1000right_yaw1.1000
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]: [-0.0219, 0.9333, 0.6971, -0.5583, -0.0139, -0.009, 0.9993, 0.3683, 1.6135, 0.9855, -0.1028, -0.5877, -0.4969, 0.997] state[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1493 left_yaw=0.0 left_pitch=-0.222 left_roll=0.0049 left_gripper=0.9993 right_x=0.3614 right_y=0.2483 right_z=0.1356 right_yaw=1.1115 right_pitch=-0.0213 right_roll=-0.0166 right_gripper=0.997 state[joint_eff]: [-0.1983, -2.0444, 6.9128, 1.5653, -0.0269, -0.0513, -0.0171, -0.1709, -8.9641, 7.8974, 1.5018, -0.2906, 0.0904, -0.0122] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.28, "right_z": 0.1, "right_yaw": 1.1}, "note": "The gripper housing appears to be resting over the blue bowl/pear, blocking descent. Shifting 3 cm left so the housing clears the bowl, lemon still ahead of the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 163
assistant
agent noteRight arm is still frozen over the blue bowl. Resending the shift-left move with the left arm re-parked too, which unstuck things last time.
move_to
right_x0.3700right_y0.2800right_z0.1000right_yaw1.1000left_x0.3000left_y0.0000left_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]: [-0.0219, 0.9333, 0.6971, -0.5587, -0.0139, -0.009, 0.9993, 0.3683, 1.6135, 0.9855, -0.1032, -0.5873, -0.4965, 0.997] state[eef_state]: left_x=0.288 left_y=-0.0003 left_z=0.1492 left_yaw=0.0 left_pitch=-0.2224 left_roll=0.005 left_gripper=0.9993 right_x=0.3614 right_y=0.2482 right_z=0.1356 right_yaw=1.111 right_pitch=-0.0217 right_roll=-0.0162 right_gripper=0.997 state[joint_eff]: [-0.0205, -2.0308, 7.0632, 1.4921, -0.0806, -0.0659, -0.0122, -0.212, -9.0735, 7.9248, 1.4823, -0.2662, 0.105, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.28, "right_z": 0.1, "right_yaw": 1.1, "left_x": 0.3, "left_y": 0.0, "left_z": 0.18}, "note": "Right arm is still frozen over the blue bowl. Resending the shift-left move with the left arm re-parked too, which unstuck things last time."})
tool
executing move_to over 3 steps (0.3s)
step 166
assistant
agent noteThat worked—commands that also include the left arm seem to go through. Lemon is at the bottom of the right wrist view just right of the jaw column; nudging 2 cm forward and descending to grasp it.
move_to
right_x0.3850right_y0.2750right_z0.0200right_yaw1.1200left_x0.3000left_y0.0000left_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]: [-0.0219, 0.9932, 0.7937, -0.6266, -0.0135, -0.0086, 0.9993, 0.4362, 1.7248, 0.9821, 0.0105, -0.5415, -0.4595, 0.997] state[eef_state]: left_x=0.2952 left_y=-0.0005 left_z=0.1622 left_yaw=-0.0004 left_pitch=-0.2536 left_roll=0.0056 left_gripper=0.9993 right_x=0.3646 right_y=0.2744 right_z=0.1035 right_yaw=1.1242 right_pitch=-0.0423 right_roll=-0.008 right_gripper=0.997 state[joint_eff]: [0.0342, -2.6188, 9.2513, 1.4188, -0.0122, 0.0073, -0.0122, 0.1573, -9.0325, 5.3265, 1.8242, -0.188, 0.1148, -0.0122] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_y": 0.275, "right_z": 0.02, "right_yaw": 1.12, "left_x": 0.3, "left_y": 0.0, "left_z": 0.18}, "note": "That worked\u2014commands that also include the left arm seem to go through. Lemon is at the bottom of the right wrist view just right of the jaw column; nudging 2 cm forward and descending to grasp it."})
tool
executing move_to over 6 steps (0.6s)
step 172
assistant
agent noteDescent stopped at z≈0.043 with the lemon at the bottom of the view between the jaws (toward the right jaw). Closing on it.
move_to
right_gripper0.0000left_x0.3000left_y0.0000left_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]: [-0.0219, 1.0183, 0.8391, -0.6777, -0.0135, -0.009, 0.9993, 0.4168, 1.9469, 0.9447, 0.3099, -0.5541, -0.4862, 0.997] state[eef_state]: left_x=0.2949 left_y=-0.0005 left_z=0.1657 left_yaw=0.0 left_pitch=-0.2845 left_roll=0.0061 left_gripper=0.9993 right_x=0.3899 right_y=0.2782 right_z=0.043 right_yaw=1.1281 right_pitch=-0.0069 right_roll=-0.0497 right_gripper=0.997 state[joint_eff]: [0.0615, -1.9761, 9.7299, 1.5116, -0.0073, -0.0171, -0.0171, -0.212, -6.8034, 4.5197, 0.5446, -0.2515, 0.2662, -0.0122] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0, "left_x": 0.3, "left_y": 0.0, "left_z": 0.18}, "note": "Descent stopped at z\u22480.043 with the lemon at the bottom of the view between the jaws (toward the right jaw). Closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 182
assistant
agent noteI ran out of call budget. Only the pear made it into the blue bowl. My grasp on the lemon closed empty (gripper read 0.01), so the lemon is still on the table just forward of the right jaws. The dark fruit (plum or avocado) was never touched, and the pour into the white bowl was never tried. With 6 calls left I can't also grasp the lemon, fetch the dark fruit and do a bowl pour. Much of the budget went into getting the right arm unstuck while it was frozen over the blue bowl.
give_up
hindsight- Where things were at the start (top cam): white bowl at about px(68,65), which is left of centre. Blue bowl at px(160,85), right-arm frame x≈0.41, y≈0.10. The fruits sat in a row at image y≈115: dark fruit px85, lemon px143 (right frame x≈0.35, y≈0.20), pear px183 (right frame x≈0.35, y≈0.0). The right arm grasp point at x=0.35, y=0 shows at about px(185,112) in the top cam. - Scale check: at mid-table, about 3.3 px/cm in top-cam x. - The pear grasp was clean: top-down at z=0.02, yaw 0, gripper settled at 0.74. It dropped into the blue bowl from z=0.10 at right-arm (0.41, 0.105). - The lemon sat just left of the blue bowl. At yaw 0 the right jaw came down on the bowl rim. At large yaw (~1.1–1.5) the gripper housing trails toward -y, over the bowl and the tall pear, and descents stall. - Better plan: grasp every fruit before putting any into the bowl, or move the bowl first. Or grab the lemon from its far side. - Controller quirk (most important): the right arm often ignored whole commands. Joints stayed exactly unchanged and the approver said "delta_clamped". It kept happening even after I lifted or reduced yaw. Adding the idle left arm's park target (left_x 0.3, left_y 0, left_z 0.18) to the same move_to call reliably got it moving again, so always include both arms in every command. - Large yaw changes in one call get rate-clamped. Change yaw in steps of ≤0.3 rad. - The dark fruit (right-frame y≈0.41) and the white bowl are both at or past the right arm's +y limit. They need the left arm, or a handoff near the centre line. - Budget: 40 calls is tight for three fruits plus a pour. Plan about 6 calls per fruit, and don't spend calls on retries.
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]: [-0.0219, 1.0435, 0.8722, -0.7223, -0.0135, -0.009, 0.9993, 0.416, 1.9579, 0.9447, 0.3202, -0.5541, -0.4965, 0.0115] state[eef_state]: left_x=0.2935 left_y=-0.0005 left_z=0.1654 left_yaw=0.0003 left_pitch=-0.3211 left_roll=0.0069 left_gripper=0.9993 right_x=0.3907 right_y=0.2782 right_z=0.0397 right_yaw=1.1329 right_pitch=-0.0078 right_roll=-0.0578 right_gripper=0.0115 state[joint_eff]: [0.0615, -2.2359, 10.0991, 1.4042, 0.0024, -0.0171, -0.0122, 0.0068, -10.2359, 5.4632, 1.5897, -0.1685, 0.0611, 1.0574] 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
give_up({"reason": "I ran out of call budget. Only the pear made it into the blue bowl. My grasp on the lemon closed empty (gripper read 0.01), so the lemon is still on the table just forward of the right jaws. The dark fruit (plum or avocado) was never touched, and the pour into the white bowl was never tried. With 6 calls left I can't also grasp the lemon, fetch the dark fruit and do a bowl pour. Much of the budget went into getting the right arm unstuck while it was frozen over the blue bowl.", "hindsight": "- Where things were at the start (top cam): white bowl at about px(68,65), which is left of centre. Blue bowl at px(160,85), right-arm frame x\u22480.41, y\u22480.10. The fruits sat in a row at image y\u2248115: dark fruit px85, lemon px143 (right frame x\u22480.35, y\u22480.20), pear px183 (right frame x\u22480.35, y\u22480.0). The right arm grasp point at x=0.35, y=0 shows at about px(185,112) in the top cam.\n- Scale check: at mid-table, about 3.3 px/cm in top-cam x.\n- The pear grasp was clean: top-down at z=0.02, yaw 0, gripper settled at 0.74. It dropped into the blue bowl from z=0.10 at right-arm (0.41, 0.105).\n- The lemon sat just left of the blue bowl. At yaw 0 the right jaw came down on the bowl rim. At large yaw (~1.1\u20131.5) the gripper housing trails toward -y, over the bowl and the tall pear, and descents stall.\n- Better plan: grasp every fruit before putting any into the bowl, or move the bowl first. Or grab the lemon from its far side.\n- Controller quirk (most important): the right arm often ignored whole commands. Joints stayed exactly unchanged and the approver said \"delta_clamped\". It kept happening even after I lifted or reduced yaw. Adding the idle left arm's park target (left_x 0.3, left_y 0, left_z 0.18) to the same move_to call reliably got it moving again, so always include both arms in every command.\n- Large yaw changes in one call get rate-clamped. Change yaw in steps of \u22640.3 rad.\n- The dark fruit (right-frame y\u22480.41) and the white bowl are both at or past the right arm's +y limit. They need the left arm, or a handoff near the centre line.\n- Budget: 40 calls is tight for three fruits plus a pour. Plan about 6 calls per fruit, and don't spend calls on retries."})
tool
give_up: I ran out of call budget. Only the pear made it into the blue bowl. My grasp on the lemon closed empty (gripper read 0.01), so the lemon is still on the table just forward of the right jaws. The dark fruit (plum or avocado) was never touched, and the pour into the white bowl was never tried. With 6 calls left I can't also grasp the lemon, fetch the dark fruit and do a bowl pour. Much of the budget went into getting the right arm unstuck while it was frozen over the blue 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 · 17.99 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]: [-0.0219, 0.8001, 0.6136, -0.3859, -0.0143, -0.0093, 0.9993, -0.0227, 0.8005, 0.6197, -0.387, -0.017, -0.0265, 0.9992]\nstate[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1815 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2962 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4171, -1.7573, 9.5658, 1.8144, -0.1343, -0.1001, -0.0855, -0.294, -1.7983, 9.0598, 1.8291, -0.0659, 0.0659, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f87ca3145b3beb331a23b75aa106a989eb229c5dd38afe04d99f441001a7f204",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:856174ea8dd868b13b300143055a4dea0351207a570d3a6c1db3006195fa0ca5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2acc8bda4b0734b8bababa277c4ccf8b42c198b6c9ca61070031b5a4978b1dfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 4.814 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]: [-0.0219, 0.8001, 0.6136, -0.3859, -0.0143, -0.0093, 0.9993, -0.0227, 0.8005, 0.6197, -0.387, -0.017, -0.0265, 0.9992]\nstate[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1815 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2962 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4171, -1.7573, 9.5658, 1.8144, -0.1343, -0.1001, -0.0855, -0.294, -1.7983, 9.0598, 1.8291, -0.0659, 0.0659, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f87ca3145b3beb331a23b75aa106a989eb229c5dd38afe04d99f441001a7f204",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:856174ea8dd868b13b300143055a4dea0351207a570d3a6c1db3006195fa0ca5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2acc8bda4b0734b8bababa277c4ccf8b42c198b6c9ca61070031b5a4978b1dfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Aimtg61bF7rR1AAWzfPmqF",
      "input": {
        "note": "Scene: white bowl far left, blue bowl centre-right, dark fruit, lemon and pear in a row. The right wrist cam shows the pear just ahead of the jaws, so I'm moving the right arm forward and down over it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.34,
          "right_y": 0.01,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Aimtg61bF7rR1AAWzfPmqF",
      "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]: [-0.0219, 0.8032, 0.6132, -0.4007, -0.0139, -0.0086, 0.9993, 0.0338, 1.1481, 0.4099, 0.1314, 0.0216, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1774 left_yaw=-0.0007 left_pitch=-0.0183 left_roll=0.0008 left_gripper=0.9993 right_x=0.3359 right_y=0.0111 right_z=0.0918 right_yaw=0.0176 right_pitch=-0.0389 right_roll=-0.0114 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -1.5111, 7.0769, 1.8877, -0.0659, -0.0317, -0.0122, -0.2256, -3.9043, 6.2564, 2.0488, 0.0659, 0.1783, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82b740b3201ff9dddeab522db46e51ca76c8fbac63bb4a6a9956cd88af699ddc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55a0a352a762cdb05c19adfda5023f0737a5070dbb92b877db26379d28594021",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f05f1e8f162f48fde78f189dd1e1eda5954383a29ce07cfbb1a355c78e26e795",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.048 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]: [-0.0219, 0.8001, 0.6136, -0.3859, -0.0143, -0.0093, 0.9993, -0.0227, 0.8005, 0.6197, -0.387, -0.017, -0.0265, 0.9992]\nstate[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1815 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2962 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4171, -1.7573, 9.5658, 1.8144, -0.1343, -0.1001, -0.0855, -0.294, -1.7983, 9.0598, 1.8291, -0.0659, 0.0659, -0.1001]",
      "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]: [-0.0219, 0.8032, 0.6132, -0.4007, -0.0139, -0.0086, 0.9993, 0.0338, 1.1481, 0.4099, 0.1314, 0.0216, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1774 left_yaw=-0.0007 left_pitch=-0.0183 left_roll=0.0008 left_gripper=0.9993 right_x=0.3359 right_y=0.0111 right_z=0.0918 right_yaw=0.0176 right_pitch=-0.0389 right_roll=-0.0114 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -1.5111, 7.0769, 1.8877, -0.0659, -0.0317, -0.0122, -0.2256, -3.9043, 6.2564, 2.0488, 0.0659, 0.1783, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82b740b3201ff9dddeab522db46e51ca76c8fbac63bb4a6a9956cd88af699ddc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55a0a352a762cdb05c19adfda5023f0737a5070dbb92b877db26379d28594021",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f05f1e8f162f48fde78f189dd1e1eda5954383a29ce07cfbb1a355c78e26e795",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyAcKEAgSGAI4AUIIdGhpbmtpbmcSDCCPStxSc+lB8pyn8RoMBXHVT6kKg36NyfJdIjCjNljBBjkFSt1CbKRpPWAPnMVYKzPqRWVV09Lay6phOm1t5Ihv2vygYr1/+SUzQbAq5QZMBgSU33ryKpEI6mv05ixphyOEHdm6GleIM0cNo+znhGNcS5rHIo0sIJu+nbV7azOT5r6X43ke5LsXTZVkpHhJMHAJu1FOUtX+7ROQDXQqT6TfnSAaBIRXw0zv3khi+n9iIHiDXWmeGNfeNWc/gtfmD3Zx116I0qLBCIcW95qWjIl64Cmb8L8SQ8A2yY4w5CHTsmWDD0sm6WBnEPPjCMUG2yrFHSMFK8QahYUVTRDDkMzbHU+Q2/0MibjBf67biE5A9CI0o9NgUhsGBmb0WrtpYVn/C/JdV4oKT2PPO5uTCIFEJr8y5ysoJD6ZJow84xdcRuIZ3J5RjFADEMyycRjCGYLcHIV56GZpIxNpHXH5drladyemhUpD7gkrVw9RLq4QD1oANvAae7iwc1kwKPxea/7XvG6WGRu4+35tu8H2gStrdlYlEPaW/gAQSp/7erfm5bU73v1XNBmYSbqohaNUDk+VpUdDNT1Sssw8skbtx+zw8ojuUdDEJN4P8BVM2AO5dtO4Wlv/WKbdT/MhCQsINYPIkJFqMDbI4X5JL0wAdx4CIWxF2Z7dbcQYn2B7PuShb+2EpDHnuj5H8g2btZLleO1UjUMMa3lmIKxg6BE5gKjYw/WOzM9gbAVSexwluG5KGoA/rxWSgL731yUJVDqEkjaerhJTiD5B8IkLI+QLV7xlyYNJbZFjV3mQz9ws11tmw8JLeUblYCIbBKFL4tUyB5geu/OqxkPwx4CzmC5021Kro0NTMzPhucrOL/pUszONtCoLwIxdy9f+zRWoGjTU3Oc5IOVwI0PJePFxHxuHyLi7oMVpukoeMUiLaY0c6up+0MJ3OBNnoGy4KnsrTTeOhe7g5tlV3/U9M/ymts8qy4Egbgu4IGq0B8ZIeQjNTQbphG+N2Q+BHHdhFT+fGn0EpPI27mgHLOqc2X9FKk5U+enl4DB4ImfL3LhiXY1cdn7EOZAdXqIRKeCVJ25pp2BaqQiQ+GJud8trmZnaRDJbBACsUcx6gdIT5yVHra5jDSBuPAit5MO/encUhiF2uxHLuBpSoXnxMeMYdTtxpJ9qgSOgiu7qbLSFgALRPRAhcd9/xtcwuONPTtpWD+CwnL4dz7XHRbzahwjb3ZFwX1BbqIIsUMewbD6ntmOuuuO3ye6EIjnrGxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015gjXsDqjK12fgRok52pdAb",
      "input": {
        "note": "Pear sits on the jaw column at the bottom of the right wrist view. Moving forward a little and down to about mid-pear height to grasp it.",
        "targets": {
          "right_x": 0.355,
          "right_y": 0.005,
          "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_015gjXsDqjK12fgRok52pdAb",
      "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]: [-0.0219, 0.8078, 0.6132, -0.4084, -0.0139, -0.009, 0.9993, 0.0036, 1.5223, 0.3256, 0.5533, -0.0059, -0.038, 0.9991]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1746 left_yaw=-0.0005 left_pitch=-0.0305 left_roll=0.0008 left_gripper=0.9993 right_x=0.3501 right_y=0.0059 right_z=0.0217 right_yaw=0.0232 right_pitch=-0.0757 right_roll=-0.0141 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.6889, 7.0769, 1.79, -0.0562, -0.0464, -0.0122, -0.4581, -5.5726, 4.7248, 2.0293, -0.0464, -0.0317, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:562c69cdd1f85ad24ea463d56fec38a9bebb3ba871dc539a76b16145ee2d1270",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9eadb2b628f515a0403cb7ae5c38891644c690246a79ac131d7d5ef7706142f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:527c2f770ad41acd46efabf799828574041371180dc1a2c55a8c6ff0ad673be0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 4.916 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]: [-0.0219, 0.8001, 0.6136, -0.3859, -0.0143, -0.0093, 0.9993, -0.0227, 0.8005, 0.6197, -0.387, -0.017, -0.0265, 0.9992]\nstate[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1815 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2962 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4171, -1.7573, 9.5658, 1.8144, -0.1343, -0.1001, -0.0855, -0.294, -1.7983, 9.0598, 1.8291, -0.0659, 0.0659, -0.1001]",
      "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]: [-0.0219, 0.8032, 0.6132, -0.4007, -0.0139, -0.0086, 0.9993, 0.0338, 1.1481, 0.4099, 0.1314, 0.0216, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1774 left_yaw=-0.0007 left_pitch=-0.0183 left_roll=0.0008 left_gripper=0.9993 right_x=0.3359 right_y=0.0111 right_z=0.0918 right_yaw=0.0176 right_pitch=-0.0389 right_roll=-0.0114 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -1.5111, 7.0769, 1.8877, -0.0659, -0.0317, -0.0122, -0.2256, -3.9043, 6.2564, 2.0488, 0.0659, 0.1783, -0.1001]",
      "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]: [-0.0219, 0.8078, 0.6132, -0.4084, -0.0139, -0.009, 0.9993, 0.0036, 1.5223, 0.3256, 0.5533, -0.0059, -0.038, 0.9991]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1746 left_yaw=-0.0005 left_pitch=-0.0305 left_roll=0.0008 left_gripper=0.9993 right_x=0.3501 right_y=0.0059 right_z=0.0217 right_yaw=0.0232 right_pitch=-0.0757 right_roll=-0.0141 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.6889, 7.0769, 1.79, -0.0562, -0.0464, -0.0122, -0.4581, -5.5726, 4.7248, 2.0293, -0.0464, -0.0317, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:562c69cdd1f85ad24ea463d56fec38a9bebb3ba871dc539a76b16145ee2d1270",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9eadb2b628f515a0403cb7ae5c38891644c690246a79ac131d7d5ef7706142f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:527c2f770ad41acd46efabf799828574041371180dc1a2c55a8c6ff0ad673be0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pear is between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AHJdG8jHSU965WJC5LXYfD",
      "input": {
        "note": "The pear fills the space between the right jaws at mid-height; closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AHJdG8jHSU965WJC5LXYfD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4168, -0.0139, -0.009, 0.9993, 0.0036, 1.5223, 0.3256, 0.5526, -0.0093, -0.0418, 0.7413]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1729 left_yaw=-0.0005 left_pitch=-0.0389 left_roll=0.0009 left_gripper=0.9993 right_x=0.35 right_y=0.0065 right_z=0.0216 right_yaw=0.0282 right_pitch=-0.0765 right_roll=-0.0151 right_gripper=0.7413\nstate[joint_eff]: [-0.335, -1.2923, 7.0085, 1.7949, -0.0366, -0.0757, -0.0122, -0.253, -4.9299, 4.9026, 1.6728, -0.0122, 0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d504e76d95034ec3bf681890f93dc05c49c7370fd9dc30918425d112d7d3f75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:603200d89625cbbff1d3d85020d61daab9d1dc15da7bc1d4f525d344afbaca6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2e7963c251fc02493a298f134e053c557bbe786e4d34625721296e52b31a08b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 3.508 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]: [-0.0219, 0.8032, 0.6132, -0.4007, -0.0139, -0.0086, 0.9993, 0.0338, 1.1481, 0.4099, 0.1314, 0.0216, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1774 left_yaw=-0.0007 left_pitch=-0.0183 left_roll=0.0008 left_gripper=0.9993 right_x=0.3359 right_y=0.0111 right_z=0.0918 right_yaw=0.0176 right_pitch=-0.0389 right_roll=-0.0114 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -1.5111, 7.0769, 1.8877, -0.0659, -0.0317, -0.0122, -0.2256, -3.9043, 6.2564, 2.0488, 0.0659, 0.1783, -0.1001]",
      "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]: [-0.0219, 0.8078, 0.6132, -0.4084, -0.0139, -0.009, 0.9993, 0.0036, 1.5223, 0.3256, 0.5533, -0.0059, -0.038, 0.9991]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1746 left_yaw=-0.0005 left_pitch=-0.0305 left_roll=0.0008 left_gripper=0.9993 right_x=0.3501 right_y=0.0059 right_z=0.0217 right_yaw=0.0232 right_pitch=-0.0757 right_roll=-0.0141 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.6889, 7.0769, 1.79, -0.0562, -0.0464, -0.0122, -0.4581, -5.5726, 4.7248, 2.0293, -0.0464, -0.0317, -0.022]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4168, -0.0139, -0.009, 0.9993, 0.0036, 1.5223, 0.3256, 0.5526, -0.0093, -0.0418, 0.7413]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1729 left_yaw=-0.0005 left_pitch=-0.0389 left_roll=0.0009 left_gripper=0.9993 right_x=0.35 right_y=0.0065 right_z=0.0216 right_yaw=0.0282 right_pitch=-0.0765 right_roll=-0.0151 right_gripper=0.7413\nstate[joint_eff]: [-0.335, -1.2923, 7.0085, 1.7949, -0.0366, -0.0757, -0.0122, -0.253, -4.9299, 4.9026, 1.6728, -0.0122, 0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d504e76d95034ec3bf681890f93dc05c49c7370fd9dc30918425d112d7d3f75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:603200d89625cbbff1d3d85020d61daab9d1dc15da7bc1d4f525d344afbaca6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2e7963c251fc02493a298f134e053c557bbe786e4d34625721296e52b31a08b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvAgKEAgSGAI4AUIIdGhpbmtpbmcSDJs0tmlK6JtMlVkI0hoMYDVPXRtkcNVEHJVPIjBsBmHyMkGraGfz4TNXyxZZR99GqiywDWwFo+jRFUSzNFeTbYIgUfqCGcyXEXXW7JMq2QcDBoIbFEfxKeUAVtJ5yh4mnTk4Q6pl90aOY3YGdBfGacF3mWr2bc8wsA+GmNuVyD4oY+KWnVtkFy0B7ZVnp11pyMV96rA4J9yXAzkHnB/lZxJ5UTjQv1IyPzESSRSWVJnRQyK//WOMqPSoFw8ujVJHK0vTWxHJfMhUVHv2J9aBcYUh6KifAyS5yRXKnqnUOrq7pskuI1N1PEyYHFrj1zzrqTmLDt+g7yFaDuff0/bARQlGKx5GKRjFOryAhbuR7fWiuU2Glk6evE+yv6J8p3qxPLlWmzUUmRdXxHR9NuPwUbT2FC6kSuNCUlnMte2C+jZEtGn/ABXVGlshJxG7X1XfAR9cyKEaRTlF/2nzg0vnDj7jPpx/3PQOkN1PBJgH6swTeTMzmFnOvtTXpZPALrNOCIsYVXShT5wHkBKW/ckYh/R/HWqmuGT+E27mdlC8ZRjvg55gxMoNfh6n8SP2umzJed8AkMYBvmKwwXPkk+aqGcPteVGigaYG+HYjQNYXBvndldCNeK2V6PZ7DnhgYzFtim00yNEIGRTtfbY7Oj/xVqglHtlbkATqCEF3fzIqKACIdcqFIYSELmxnYtENWNxGko2J7z7Yi9N0MMqdgYSNG6jqRg7X6kcCw839p8tuo/8Z3pXdYyt9ANUuqbmapSc7OuhJUS6vVa2JTu8jD6SfCa0vDxWzaI9X/t3ucJzq9EU+82hCt55IAix7fGoEm1hMl7qab3GTHmuwfuMg9USWp25SaJzizuIWjrrOnRHQOzZ1AlhktjqXhNePWZBHAk9AS/LSn9oImSI9+Amqg5iuHm9PWPwjmxLgBnigS72RyY7C7lTf3Zdci06v8kFLuWoQSoQqmhh9SQFt6w8aufVKWbTriehalOOw11pG+N348bkah6Lq/yMdIS/A9fLprrRq1mq9OBjPUDHpxOoeZhtwRNlT4N6YiWcvksLIrpYHMU5TBLJENng42JnOWhMwkG8X0czwhkJW02sE+c+ddNVRcb2+b+AzPgNcU3ygn44BEKwj0tjIIclLMIf/TkzxxntcgMN9k90MbFZuYa5STzMjr8YzXl0IDcLBpFbUXrvcU6aQZd+C5TG+0VNEQzrQ42ZyjSA4VIfrNh9k/Us6t9BMopzonWB7UNkm2s6F17v1n6C6T8bFje5D3K4tZdoluI9PbI3q6QLIiAABlK6Isu+fM6qiik84uuYKXxFXxbv973Ke0IgXGKjV0N9zJdrryEHYlfvU1gehPk6o1aZp4F+M9/GM4qiMwEmIHYSrmwAj55camUmG1PUfmN9F0Z7zn2vkVkfdMpFa7UVMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WxcBgpsGSpEK7kCLNma1er",
      "input": {
        "note": "Gripper settled at 0.74 (~7 cm), so it's holding the pear. Lifting it clear before moving to the blue bowl.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01WxcBgpsGSpEK7kCLNma1er",
      "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]: [-0.0219, 0.8078, 0.6132, -0.4236, -0.0139, -0.0086, 0.9993, 0.0044, 1.1172, 0.8349, -0.4179, -0.009, -0.046, 0.7457]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1715 left_yaw=-0.0007 left_pitch=-0.0458 left_roll=0.0014 left_gripper=0.9993 right_x=0.3451 right_y=0.0067 right_z=0.1798 right_yaw=0.031 right_pitch=-0.1326 right_roll=-0.0172 right_gripper=0.7457\nstate[joint_eff]: [-0.0479, -1.0462, 7.159, 1.7363, -0.0757, -0.0366, -0.0122, -0.1436, -4.8889, 9.4154, 1.79, -0.0269, 0.0171, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3b456bffc20b7be188e748b43e6c9486d2fd61e1e3e17bd1795236fc470f605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95e1b8aa6da1551fd9294346ec88248cd42b444e15ed595b9240e8f92a3a8f22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1afaf8f363c2caa7910952903b681867119c69b124f8955efa28717623d388e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 5.567 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]: [-0.0219, 0.8078, 0.6132, -0.4084, -0.0139, -0.009, 0.9993, 0.0036, 1.5223, 0.3256, 0.5533, -0.0059, -0.038, 0.9991]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1746 left_yaw=-0.0005 left_pitch=-0.0305 left_roll=0.0008 left_gripper=0.9993 right_x=0.3501 right_y=0.0059 right_z=0.0217 right_yaw=0.0232 right_pitch=-0.0757 right_roll=-0.0141 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.6889, 7.0769, 1.79, -0.0562, -0.0464, -0.0122, -0.4581, -5.5726, 4.7248, 2.0293, -0.0464, -0.0317, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4168, -0.0139, -0.009, 0.9993, 0.0036, 1.5223, 0.3256, 0.5526, -0.0093, -0.0418, 0.7413]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1729 left_yaw=-0.0005 left_pitch=-0.0389 left_roll=0.0009 left_gripper=0.9993 right_x=0.35 right_y=0.0065 right_z=0.0216 right_yaw=0.0282 right_pitch=-0.0765 right_roll=-0.0151 right_gripper=0.7413\nstate[joint_eff]: [-0.335, -1.2923, 7.0085, 1.7949, -0.0366, -0.0757, -0.0122, -0.253, -4.9299, 4.9026, 1.6728, -0.0122, 0.022, 1.033]",
      "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]: [-0.0219, 0.8078, 0.6132, -0.4236, -0.0139, -0.0086, 0.9993, 0.0044, 1.1172, 0.8349, -0.4179, -0.009, -0.046, 0.7457]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1715 left_yaw=-0.0007 left_pitch=-0.0458 left_roll=0.0014 left_gripper=0.9993 right_x=0.3451 right_y=0.0067 right_z=0.1798 right_yaw=0.031 right_pitch=-0.1326 right_roll=-0.0172 right_gripper=0.7457\nstate[joint_eff]: [-0.0479, -1.0462, 7.159, 1.7363, -0.0757, -0.0366, -0.0122, -0.1436, -4.8889, 9.4154, 1.79, -0.0269, 0.0171, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3b456bffc20b7be188e748b43e6c9486d2fd61e1e3e17bd1795236fc470f605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95e1b8aa6da1551fd9294346ec88248cd42b444e15ed595b9240e8f92a3a8f22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1afaf8f363c2caa7910952903b681867119c69b124f8955efa28717623d388e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VKWBNuVfuHMatGNs1RqQmp",
      "input": {
        "note": "Pear is lifted; blue bowl appears ahead-left in the right wrist view. Moving over the bowl (estimated x≈0.43, y≈0.09).",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.09,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01VKWBNuVfuHMatGNs1RqQmp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0139, -0.009, 0.9993, 0.2787, 1.5227, 1.1011, -0.3714, 0.1795, 0.1059, 0.7492]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0005 left_pitch=-0.0511 left_roll=0.0012 left_gripper=0.9993 right_x=0.4179 right_y=0.0905 right_z=0.1566 right_yaw=0.06 right_pitch=-0.2097 right_roll=-0.0415 right_gripper=0.7492\nstate[joint_eff]: [-0.3624, -1.7162, 7.2274, 1.6728, -0.0562, -0.0806, -0.0122, -0.4444, -7.6786, 9.3744, 1.8974, 0.2222, 0.2076, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:271010a8140e473a55bb18ba9e2f29495c0d96cda10880fa091a194d927dbde0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a91b04eb0e193f63b180c297777252aa292516ba78e27283c2ed402dae3c3b8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2de2432aa5da06d746b492881a8d0042c94b7ba69a474200e84bac496f7d0788",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 4.864 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]: [-0.0219, 0.8078, 0.6132, -0.4168, -0.0139, -0.009, 0.9993, 0.0036, 1.5223, 0.3256, 0.5526, -0.0093, -0.0418, 0.7413]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1729 left_yaw=-0.0005 left_pitch=-0.0389 left_roll=0.0009 left_gripper=0.9993 right_x=0.35 right_y=0.0065 right_z=0.0216 right_yaw=0.0282 right_pitch=-0.0765 right_roll=-0.0151 right_gripper=0.7413\nstate[joint_eff]: [-0.335, -1.2923, 7.0085, 1.7949, -0.0366, -0.0757, -0.0122, -0.253, -4.9299, 4.9026, 1.6728, -0.0122, 0.022, 1.033]",
      "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]: [-0.0219, 0.8078, 0.6132, -0.4236, -0.0139, -0.0086, 0.9993, 0.0044, 1.1172, 0.8349, -0.4179, -0.009, -0.046, 0.7457]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1715 left_yaw=-0.0007 left_pitch=-0.0458 left_roll=0.0014 left_gripper=0.9993 right_x=0.3451 right_y=0.0067 right_z=0.1798 right_yaw=0.031 right_pitch=-0.1326 right_roll=-0.0172 right_gripper=0.7457\nstate[joint_eff]: [-0.0479, -1.0462, 7.159, 1.7363, -0.0757, -0.0366, -0.0122, -0.1436, -4.8889, 9.4154, 1.79, -0.0269, 0.0171, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0139, -0.009, 0.9993, 0.2787, 1.5227, 1.1011, -0.3714, 0.1795, 0.1059, 0.7492]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0005 left_pitch=-0.0511 left_roll=0.0012 left_gripper=0.9993 right_x=0.4179 right_y=0.0905 right_z=0.1566 right_yaw=0.06 right_pitch=-0.2097 right_roll=-0.0415 right_gripper=0.7492\nstate[joint_eff]: [-0.3624, -1.7162, 7.2274, 1.6728, -0.0562, -0.0806, -0.0122, -0.4444, -7.6786, 9.3744, 1.8974, 0.2222, 0.2076, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:271010a8140e473a55bb18ba9e2f29495c0d96cda10880fa091a194d927dbde0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a91b04eb0e193f63b180c297777252aa292516ba78e27283c2ed402dae3c3b8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2de2432aa5da06d746b492881a8d0042c94b7ba69a474200e84bac496f7d0788",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5wcKEAgSGAI4AUIIdGhpbmtpbmcSDL9xKgOd19jF/LOQMBoMiYR+KH1u9vCOTc5xIjCFzzTvGwEsKs3hPEJTXJnN4cMTqhtqsvI09chpwCVntHhTxCeia4gv/teHsBFp1d8qhAfKJw1blflP77r9aAZEwT4aTy1qR9JNwq8hBLKJmQbHM8d9OF5tnsm6yoypVZWQ4omGvH+NjNxnKUB8BeFQUgDdNervFHtem1gQ+eYKLdZCNftKQumDSOMnYOLRIGRSeYC7W6YP3BAb4MbaicqJfuqTByEPmIeNPgyu3vvzbce4kfWZJjHrqHOhT0cquxUFZ+gDnOTDCpzkKbvF9X37c7Rsn1yqQm4kMVoAcsM/lyH5EZqUKGt/yr0fs6PR0qEkWP5zJtRiqtkf6jvWtMgJSF03Jt7sDvHVroI1Jjd5GBvzgDDMxtFd1Hytj/whp2qi6VwSywC4bu7tIAL4rXk19fXDpRusW/ft4lzP8169P6CMDBJWin9m0wvUB0VKdGuPa0STqgGRwKp+zocMs9Ea9a/OYeimAVOMeZgE0h5cQrke/xcnw0Yp35UcvSrlRdtlFyXG/VXn5W01QkDFaXq/4ZTm0SVA8NW7ZQxD50mxxdtHXBOcF4r3lNZJPbUPgh46bYxAAQm1iIQSX6ZgphhdiXQZivUdft8Si3GstN0EKQGxeHu6uyPg2ZaDYiwYwza7BjNRAV6BvoNJAO8srkF0fSX/8VjtTzyCzlfOyulNFrUqHIDPvcNdyxPK5ZNSF6AFXRt0tKxOKkaWMVt0I2TPEqLgbiLBeFeJGlTDdIZQScsBj/7ZyrycZz4zQwi1znFKy7k5X2cYGHy6T9XE+OCNiQwViuBz4/W92moVePSJcaVvWLIIsMT2/Bq9hxBxD9DCvAaruLMYXUGP+SPOe1yTZVQIwumqWG9GxcM+c+4H6u/6JOxVUmeQ+faJBurRd2ShDy+cg4KFd0xQQImbQEyFSK+l6W3QMkpkP57qR6F6BceukyvUltI1y3LHzCmeAO84OUy5YV3fW7M5PBrThnAu8prdh0zmznzCDyTVdMInEz9e2bd1hCv6TckZtFnLq10mdWdJ3q21anL/GYV32NA3XmPJ4d5nk6GWeqjSAY7igGl94b4zohFMCLfoHkA+RmZ1+FE8BsLXpzayJt8Crol2/7BMhLgnm6K+ESBO4KYh8IF1ggFGzSzd9C4kBBW77muRyUVRk6RYuRzNCbaWEA23QXDihIBBg/fLSSg+VfsZBGDCz4dOSB4UogRChq8uGbNoBfJnRpBFsAlT3xE42Mz5TWLDNCJvPCk2vx3dih2hxubm7FBC2/EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MZYMdKRmr6KLFHcb7jTFgx",
      "input": {
        "note": "The pear is above the blue bowl, which looks slightly to the left in both views. Shifting a bit left and lowering before releasing.",
        "targets": {
          "right_y": 0.105,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01MZYMdKRmr6KLFHcb7jTFgx",
      "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]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0139, -0.009, 0.9993, 0.3199, 1.597, 0.9764, -0.2279, 0.1905, 0.1238, 0.7492]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.17 left_yaw=-0.0005 left_pitch=-0.0515 left_roll=0.0012 left_gripper=0.9993 right_x=0.4101 right_y=0.1044 right_z=0.0996 right_yaw=0.0788 right_pitch=-0.2617 right_roll=-0.0499 right_gripper=0.7492\nstate[joint_eff]: [-0.1846, -1.3197, 7.0359, 1.7216, -0.0659, -0.0317, -0.0171, 0.2256, -7.8291, 6.694, 1.8779, 0.2418, 0.0855, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef1d15d21a842f95e8277c1d51ca8f134785b6e6aa52b21b8b47ab2d8fea0cbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bca8c3765255ca83cc41fdfd0e69628b3a44b9736ce80e53e8e859f1b68054d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:292036d91f556b97078bdd129213050118ac447b6fa2df28f5a095bc82ffcc96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 5.772 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]: [-0.0219, 0.8078, 0.6132, -0.4236, -0.0139, -0.0086, 0.9993, 0.0044, 1.1172, 0.8349, -0.4179, -0.009, -0.046, 0.7457]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1715 left_yaw=-0.0007 left_pitch=-0.0458 left_roll=0.0014 left_gripper=0.9993 right_x=0.3451 right_y=0.0067 right_z=0.1798 right_yaw=0.031 right_pitch=-0.1326 right_roll=-0.0172 right_gripper=0.7457\nstate[joint_eff]: [-0.0479, -1.0462, 7.159, 1.7363, -0.0757, -0.0366, -0.0122, -0.1436, -4.8889, 9.4154, 1.79, -0.0269, 0.0171, 1.0281]\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]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0139, -0.009, 0.9993, 0.2787, 1.5227, 1.1011, -0.3714, 0.1795, 0.1059, 0.7492]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0005 left_pitch=-0.0511 left_roll=0.0012 left_gripper=0.9993 right_x=0.4179 right_y=0.0905 right_z=0.1566 right_yaw=0.06 right_pitch=-0.2097 right_roll=-0.0415 right_gripper=0.7492\nstate[joint_eff]: [-0.3624, -1.7162, 7.2274, 1.6728, -0.0562, -0.0806, -0.0122, -0.4444, -7.6786, 9.3744, 1.8974, 0.2222, 0.2076, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0139, -0.009, 0.9993, 0.3199, 1.597, 0.9764, -0.2279, 0.1905, 0.1238, 0.7492]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.17 left_yaw=-0.0005 left_pitch=-0.0515 left_roll=0.0012 left_gripper=0.9993 right_x=0.4101 right_y=0.1044 right_z=0.0996 right_yaw=0.0788 right_pitch=-0.2617 right_roll=-0.0499 right_gripper=0.7492\nstate[joint_eff]: [-0.1846, -1.3197, 7.0359, 1.7216, -0.0659, -0.0317, -0.0171, 0.2256, -7.8291, 6.694, 1.8779, 0.2418, 0.0855, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef1d15d21a842f95e8277c1d51ca8f134785b6e6aa52b21b8b47ab2d8fea0cbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bca8c3765255ca83cc41fdfd0e69628b3a44b9736ce80e53e8e859f1b68054d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:292036d91f556b97078bdd129213050118ac447b6fa2df28f5a095bc82ffcc96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0wYKEAgSGAI4AUIIdGhpbmtpbmcSDOFCKdFa+Ca7tET67hoMdcEzXSoTuQG4KiIWIjCLIep3bLe1ZBGaG9dQVBhZONWu0KdU2rzlX0gPF6d/MFs6vn2lppfpNgqkS1sxv3Qq8AW4ZogzZJPWTnGydasxaPSl+JY9xEF/6EKKSkKzzJLMNj+URlZ+h/JDrGwZCa7/KJpG98lQsSXGJf7TXO5nH2W/9uio8GAEjsPINN8wlpeYVx/jF4wvAWXT3W1/g4eFsQHr17cl2O35NJJi86DGnmAa7dlXtoy5AwHKVxjpXnKD1qPvrXd0ctbvNslXOzm/vyV+EgnhtTfGvxh6gmlLaZD3SBWdmL7Bypda6pIh2adSpyKSteUTvLVCfZYndlNdAwd/2cuISKm+EYjpGZJFIruA7XQeGrroiMbKtRfisY+ZofF+CmQ1P3Td716HKJ3+mdtoK9tkImYjD87viaRBLPQOV90108541CNXxXVt4nGR2wxmN3onzbjxFcE5wFFG1GzRvuxiiMUaW+HXUMAtTUT2yLUmRrOqN6vQNA5pUqza9C+1htlqAm9k3L7S3yvY/P4RlHzOT6QEat1Gt3DK7sMbdhly0n0ioUU0C6R+jKmxWvkycPJJw/JanVePDyCHnM6fi/Flvvt9ncP5uFFcjBMb0FEjjOVaReB2ZesisnTImCnIWlXxPi2aorAC+GHULqnjXsrhMi+fW9NyUKmdiQxyoMLrrUhYmUEYPGhWOZaO38e8xXEYY8sJSynGdA9EhcBa6Ze7vfhIby9EuDagBRj9thuqKqdN2OrgayXH8RvY4kddK67j4Un03z1tQnWmOfUQa4EZA/W3CqIQOmOHqiB+BYD3QF3s3/I6PnCIz2UsUUHHcC+Z7kearLbrj609lmw81EGlXm2k4fYQLUZAS6ZHuz8ghBvY8tKhtOe9q3/8/TNsBK1OBvutCgqKEdryPVzGo1X2vJ/vGQW+140KQlZdVgY7/cX+LigU8kH0fhn8WXoVRoWJxy0X15oTdbE88Lznd/O8nb1vNnul+oaQtummqn/G3LQMUlp6hynKY5v8wiiNrkLt8b7qOYh23HH9bHUgj6qAiEmZRAHXqhn6/WscWrdH+TH7qFHZiFxx2GNiURgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017SFmCfzwd5NuLV8Zw7km5f",
      "input": {
        "note": "Pear is centred over the blue bowl at low height; opening to drop it in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_017SFmCfzwd5NuLV8Zw7km5f",
      "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]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0139, -0.0086, 0.9993, 0.3199, 1.597, 0.9764, -0.2203, 0.1909, 0.1242, 0.9958]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0007 left_pitch=-0.0511 left_roll=0.0015 left_gripper=0.9993 right_x=0.4115 right_y=0.1048 right_z=0.1009 right_yaw=0.0788 right_pitch=-0.2542 right_roll=-0.048 right_gripper=0.9958\nstate[joint_eff]: [-0.1709, -1.3607, 7.241, 1.663, -0.0757, -0.022, -0.0122, 0.2803, -7.8564, 6.5709, 1.7705, 0.188, 0.1148, -0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84962f86bf39485a3bbf8177ccad15fac7b7446613a8dce63b2a0f95fd5a38e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01828b496bc7e7db53053fafcd8ee50ebeb2ce3fa9ff28d280b10dd476f6d700",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5ebc1033f7125fd2be63336044302d6c840a0e00b8c43ed6eed85a185ff7a33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 4.315 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]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0139, -0.009, 0.9993, 0.2787, 1.5227, 1.1011, -0.3714, 0.1795, 0.1059, 0.7492]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0005 left_pitch=-0.0511 left_roll=0.0012 left_gripper=0.9993 right_x=0.4179 right_y=0.0905 right_z=0.1566 right_yaw=0.06 right_pitch=-0.2097 right_roll=-0.0415 right_gripper=0.7492\nstate[joint_eff]: [-0.3624, -1.7162, 7.2274, 1.6728, -0.0562, -0.0806, -0.0122, -0.4444, -7.6786, 9.3744, 1.8974, 0.2222, 0.2076, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0139, -0.009, 0.9993, 0.3199, 1.597, 0.9764, -0.2279, 0.1905, 0.1238, 0.7492]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.17 left_yaw=-0.0005 left_pitch=-0.0515 left_roll=0.0012 left_gripper=0.9993 right_x=0.4101 right_y=0.1044 right_z=0.0996 right_yaw=0.0788 right_pitch=-0.2617 right_roll=-0.0499 right_gripper=0.7492\nstate[joint_eff]: [-0.1846, -1.3197, 7.0359, 1.7216, -0.0659, -0.0317, -0.0171, 0.2256, -7.8291, 6.694, 1.8779, 0.2418, 0.0855, 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]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0139, -0.0086, 0.9993, 0.3199, 1.597, 0.9764, -0.2203, 0.1909, 0.1242, 0.9958]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0007 left_pitch=-0.0511 left_roll=0.0015 left_gripper=0.9993 right_x=0.4115 right_y=0.1048 right_z=0.1009 right_yaw=0.0788 right_pitch=-0.2542 right_roll=-0.048 right_gripper=0.9958\nstate[joint_eff]: [-0.1709, -1.3607, 7.241, 1.663, -0.0757, -0.022, -0.0122, 0.2803, -7.8564, 6.5709, 1.7705, 0.188, 0.1148, -0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84962f86bf39485a3bbf8177ccad15fac7b7446613a8dce63b2a0f95fd5a38e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01828b496bc7e7db53053fafcd8ee50ebeb2ce3fa9ff28d280b10dd476f6d700",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5ebc1033f7125fd2be63336044302d6c840a0e00b8c43ed6eed85a185ff7a33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzAkKEAgSGAI4AUIIdGhpbmtpbmcSDE3KQCSkc9IRiGkqvRoMDQi11Qscqaukq70nIjAvKLeRkoiraQa6Dq7R8uUkb4I/LFOkxmE69t+3IpqODTJ9qfbeHYjPT3wE2XVbUc8q6QhlCewk/Yfbx1qCkTAmiR8kRAg5CoaFb6VKg+7eDOl1AZ14Bu0oaXsUSNwpLZeXWSUQ+zbN0PNruFIQTQbrJjlBrf+ytJuZK9eDUuY9rPMSPcKN58NqpNDtgCqSr8sgByYhxUzMQw6Nu/Rcf3MaNruzQ+Yk0Sf+a6NNzhSR8AiTTVef+TDxtwtAjaQAqI6Zglh6bfm4O/XToo/JaF7lBmE3aaqbO9rKou5gbZ9DZL8y6lIyw2IJlsgXD3YBbGqpEf0iF4o7LSG20indOZe0fd0FUv4oqJ4kUy7xzE6NYldBKMiUyc5tEKElLHW+H4JT5+jsTSSVHXT2ebkM4t+ZyW4lOlCMuAN/GbNf8uYqu6bONKLXEo7eJkjdGzMrse40Uv2PVK7dHRuldcoSTmp4K2kD8b+xvJehuzLPu4k9VVYRIq6CHH19MRaUIU/P1oBe63ODbuWR6E3PkGvTVXDih5lG7hEvz4CMQ7PAAfdTR7TkbsyLsjwoCruJ9b7wwnvIe3ksQBdo0Q8d4MXp2Bx99sfn+oGtZNIfk/Up0I2WyCw+aQSR9oQFXDztq3q42mzR4W8VdksDThhckkdt0qXS+wDdpkEnvUg93SDCDAuwHzg3vE/gRgsJNT4dRT0xjPW4l23C2I80JUqGGxiE/myz+XoJhNOAyM1Y5Q5cvGFKxX3lYzpuRIeu0EKrvCjjbvn2J/Eo2EYW0BiwlwL53b3dj3fJqpjNDd3v8c0SPGwZ24WL/hVd7ky7hTcVXq9eudVmBRGJ7LhS78xY1KDtETXgiyO8RXiCLnCccj8bKf/tEjBtRrn+2CMxLs6CCumQ5halxY5dfu0KP8NYlVNUYiY+cux6m/cgqkh+wyOhxIL8WjM1OLTFLrk8+rPpXWAVKtu3tdn/7TdDK9Gmy0183DfwBbfHXt65s4uoyfPlBcu5z0E5pnyIBg90nxMz7OX+9xdlGp+LO1hMj3nKkTi62Scl1XpuWdUAiZCRCD6TRKuS4KrkSBKTVGWexdlGLqnrC89rmnAHf0ZXLdtTormlHWUJpLLHBUmgHMJ4Lj4U6VFNZvkpi1SwoZn/1KouuirTlQLs8Iz3h/HmcanZeBLPOdRHsvoihe2VrsviS2t1zzG8aYklKDS8FbLogAtw8wXj6v81Ljzw/raLzOoRukERya3MQZ2N914VAXF9dnxCxnbyH+ajSZIU9jXMm+w6js283QTXjBqToXAF15iQba65FGWUI4RH8myMy78XjYXh8gfNFm4yjKU7jpIPysrw2IwDx/CulCFo+PQZKYlcg3SkmWnukhf+2UIcGeSEp6Y1hSxH2CnRzgUQfpWvff0fG9i6GoV+xTNdtRqjLyTfoBMqL3hvZcZWZczwBLIDHANzUhWKDaMnuFuifnnG56IlpOR5CEGe63M2KctDjwzu/AK9oe+rYUgurAG7xGpdMGS3M7trRwu0YreiEfx/39ndYD6Tcl0QKdkN13EolHgB6ijdDy4lQOyzsKMDsT3NQsDqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y4MxXXKrGPbdPMRzja4Rmt",
      "input": {
        "note": "Pear is in the blue bowl. Next the lemon, which sits ~12 cm left of where the pear was; moving the right arm above it.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.125,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Y4MxXXKrGPbdPMRzja4Rmt",
      "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]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0139, -0.009, 0.9993, 0.3199, 1.597, 0.9764, -0.2203, 0.1905, 0.1238, 0.9969]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.17 left_yaw=-0.0005 left_pitch=-0.0515 left_roll=0.0012 left_gripper=0.9993 right_x=0.4115 right_y=0.1048 right_z=0.1009 right_yaw=0.0793 right_pitch=-0.2542 right_roll=-0.048 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -1.3333, 7.0496, 1.707, -0.0562, -0.0513, -0.0122, 0.2803, -7.8838, 6.735, 1.7753, 0.2369, 0.0855, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cb87cc5f52a210066f1b34a59b31392c50fd23d3fc5f8e8f8c026708392ae24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:879556563c3a7d15be534c2651601679994f369800d296baff2ae4a04fa46c52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e54d49e448081f079f2c35ade4bc17fdd7d7f4da8c55b31212d385700d52974d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 6.73 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]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0139, -0.009, 0.9993, 0.3199, 1.597, 0.9764, -0.2279, 0.1905, 0.1238, 0.7492]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.17 left_yaw=-0.0005 left_pitch=-0.0515 left_roll=0.0012 left_gripper=0.9993 right_x=0.4101 right_y=0.1044 right_z=0.0996 right_yaw=0.0788 right_pitch=-0.2617 right_roll=-0.0499 right_gripper=0.7492\nstate[joint_eff]: [-0.1846, -1.3197, 7.0359, 1.7216, -0.0659, -0.0317, -0.0171, 0.2256, -7.8291, 6.694, 1.8779, 0.2418, 0.0855, 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]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0139, -0.0086, 0.9993, 0.3199, 1.597, 0.9764, -0.2203, 0.1909, 0.1242, 0.9958]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0007 left_pitch=-0.0511 left_roll=0.0015 left_gripper=0.9993 right_x=0.4115 right_y=0.1048 right_z=0.1009 right_yaw=0.0788 right_pitch=-0.2542 right_roll=-0.048 right_gripper=0.9958\nstate[joint_eff]: [-0.1709, -1.3607, 7.241, 1.663, -0.0757, -0.022, -0.0122, 0.2803, -7.8564, 6.5709, 1.7705, 0.188, 0.1148, -0.2222]",
      "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]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0139, -0.009, 0.9993, 0.3199, 1.597, 0.9764, -0.2203, 0.1905, 0.1238, 0.9969]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.17 left_yaw=-0.0005 left_pitch=-0.0515 left_roll=0.0012 left_gripper=0.9993 right_x=0.4115 right_y=0.1048 right_z=0.1009 right_yaw=0.0793 right_pitch=-0.2542 right_roll=-0.048 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -1.3333, 7.0496, 1.707, -0.0562, -0.0513, -0.0122, 0.2803, -7.8838, 6.735, 1.7753, 0.2369, 0.0855, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cb87cc5f52a210066f1b34a59b31392c50fd23d3fc5f8e8f8c026708392ae24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:879556563c3a7d15be534c2651601679994f369800d296baff2ae4a04fa46c52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e54d49e448081f079f2c35ade4bc17fdd7d7f4da8c55b31212d385700d52974d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmgcKEAgSGAI4AUIIdGhpbmtpbmcSDM+UoqNYfaGu8rBJAxoM8MGb8k14Yg0t1R5AIjC8RV1FTN1kWr9qf6Dv1nkCop2+Za7WYWXxtynp9LaMG9Lu//HFw/Mzo07il4YSZsUqtwb3MfzDI2VyOZYRh3ufn8dLEF04+tKNcU5l4rvXUZHt8sdFGZK5MhMeattoaSijh4SJs2blqBigj2YYt3D4nc5n733jhCq+/tRSHSL0+1diEYox0h8jXc5496hcMuyytbID46K6oiOhYQh3QapNgz3Q3COsjjCcgN17D2f/qz2SlOYarqzV4yXDO65LD8Oa1wJo19JH5ZEy5jIU0RggG5alQ9q3u/Z/7BZfPbPZel/wPP2lUh6j7LfNioOyGS0vxp7HGo6lyoDwVYriVa2Z+QdHGsuawumWpG63xlsnxmFse+P7Tn0bbX/i22/mucGtvPXRdtCpWhBtUEMkTPtwmlEybSHlE8MKE+PIm0hsgTuYGhvMK4wvauICVgPseS2K6TKZ2Zf0ETOeP8IIj5F2Uf7OT9OlZB2c+lX+uW3P4pO580Xq0ZfrSwA3hjWP+yY6ectgwjNNe27tCmrfODDyctTz3W+UyxgpHZ+p+ZyLHqBRj1PcVscbtJN6as96Fjab+3jIdvonkPo//aGdaqmrsImzP7sslf1yEVLCAnyOb7I8/s8Wb09qA8+ZGwCpedFxAWv2BISnKKGLg3qWzaw7DXBYRM9o+m+0l4H9gi8PJwYM5lxuND6m9eDA7EgJGQ/+FUQzkJdOFWHJZpYJaKVafEJkxZqncIX47479NrJ+R6wTQshJN4b/En4chO2/WWZlmN7HauFjEIYI7nZboRXiPIRepPPKSLMlRYBT6Th2hWUlMMy46jPu4JQedhvlgYnGmtyJi5V/NqAPCO4uE2uXCtPKMD2keBJ9lEg1rxs/BcYQxfGdp5eLE4uIenKHfLSkeMeSS+FwNRUQk0X+6m1mjoWvUyr662ws3278ai4lC/3mI/sjHBDc46UnUa60ff1Hrp9MjDcfLbXzMPhGg7RKDZoQIrMgPCGUbMDpqnfbOsBKJn4SfRg6E3RRcvnFXfsnQAqt+Lnc/MtQIOFM+ny8/L4JaP260MURZWn06Zz17QEhzI8TYSn1QGW1t3nZfQi4iNLe2vzKo/8odeAoDo+RkuESVZ05kSZy48F7maJyPxA/mDRyyEsrz/yINjqtqKgpyPU0GGkfdY1jGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015NEz1aAtxHtDaWL8Uk1vwH",
      "input": {
        "note": "The last move didn't execute (arm still over the bowl). Lifting first to clear the pear before heading to the lemon.",
        "targets": {
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_015NEz1aAtxHtDaWL8Uk1vwH",
      "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]: [-0.0219, 0.815, 0.6132, -0.4263, -0.0139, -0.009, 0.9993, 0.3233, 1.5375, 1.195, -0.4961, 0.1864, 0.1196, 0.9969]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.169 left_yaw=-0.0005 left_pitch=-0.0557 left_roll=0.0013 left_gripper=0.9993 right_x=0.4123 right_y=0.1074 right_z=0.169 right_yaw=0.0888 right_pitch=-0.2529 right_roll=-0.0473 right_gripper=0.9969\nstate[joint_eff]: [-0.2256, -1.347, 6.9949, 1.6825, -0.0415, -0.0757, -0.0122, -0.294, -7.788, 8.9641, 1.6386, 0.0708, 0.0122, -0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84632888e9057b56444a8a65fe466c7124b82e45ab87d69dc40dafcac484c6ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85fc9040f28d71c1099c4f9b21cdf4093c7c3b5a7462cc1c86cb8512027eb1e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d2b80b17031f69135ddc7cf45c948b425765ab5e1171f0735e89d92dc979a9b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 4.789 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]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0139, -0.0086, 0.9993, 0.3199, 1.597, 0.9764, -0.2203, 0.1909, 0.1242, 0.9958]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0007 left_pitch=-0.0511 left_roll=0.0015 left_gripper=0.9993 right_x=0.4115 right_y=0.1048 right_z=0.1009 right_yaw=0.0788 right_pitch=-0.2542 right_roll=-0.048 right_gripper=0.9958\nstate[joint_eff]: [-0.1709, -1.3607, 7.241, 1.663, -0.0757, -0.022, -0.0122, 0.2803, -7.8564, 6.5709, 1.7705, 0.188, 0.1148, -0.2222]",
      "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]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0139, -0.009, 0.9993, 0.3199, 1.597, 0.9764, -0.2203, 0.1905, 0.1238, 0.9969]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.17 left_yaw=-0.0005 left_pitch=-0.0515 left_roll=0.0012 left_gripper=0.9993 right_x=0.4115 right_y=0.1048 right_z=0.1009 right_yaw=0.0793 right_pitch=-0.2542 right_roll=-0.048 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -1.3333, 7.0496, 1.707, -0.0562, -0.0513, -0.0122, 0.2803, -7.8838, 6.735, 1.7753, 0.2369, 0.0855, 0.0952]",
      "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]: [-0.0219, 0.815, 0.6132, -0.4263, -0.0139, -0.009, 0.9993, 0.3233, 1.5375, 1.195, -0.4961, 0.1864, 0.1196, 0.9969]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.169 left_yaw=-0.0005 left_pitch=-0.0557 left_roll=0.0013 left_gripper=0.9993 right_x=0.4123 right_y=0.1074 right_z=0.169 right_yaw=0.0888 right_pitch=-0.2529 right_roll=-0.0473 right_gripper=0.9969\nstate[joint_eff]: [-0.2256, -1.347, 6.9949, 1.6825, -0.0415, -0.0757, -0.0122, -0.294, -7.788, 8.9641, 1.6386, 0.0708, 0.0122, -0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84632888e9057b56444a8a65fe466c7124b82e45ab87d69dc40dafcac484c6ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85fc9040f28d71c1099c4f9b21cdf4093c7c3b5a7462cc1c86cb8512027eb1e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2b80b17031f69135ddc7cf45c948b425765ab5e1171f0735e89d92dc979a9b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkAkKEAgSGAI4AUIIdGhpbmtpbmcSDNgFpWijfsnmVk9bdhoMMegH6n81Taxp0JShIjA0sH/tRBdhO0f7dkPUWqrvG5gD1ERz9s1Y3lW0Logg/ioZbBTQNVOqrMqLtqff32sqrQj7yr+TqWVyMXR9Yg1wYbmpr/PDoOeZacDOEURFK9pGX+gAwhhm+iyaByfQ708Eaol8VmRn2DwRxJnwQtTodJnnm/hNTyPSDOs02FufZFbCC7uUGd3r1SkIVgm7Q+JTjBqh8L+sZpK+aUpn61wzCCqChb1qxIZy9Dcwin9erALn2ZyJOei+1r+HSPS21hk7GePDvA2kHr1xzUnGGWVK9f07/4RuNV0adSssPlOR0nLi3dyfogpeXlV/gfdDxBUvnPsyswPNaOWhosc+tGgzUv6Lrn6io/QlyzF63Hf3BmNeKGqEOkZZtsgYx68WgUjldF1YKm7yemiS/MyutCmtjnAdhash1aTCGVJHd4F73UluBlU7gjEg/VfPp2Eiy2muay3Lwnc+6OCdI/FSRuMtKeNWYyXk2yeOMuFVFFT9fDydYKISYcA6lRCDDlCT22IwM0KxLThkBTpZhB6wTUc7vnuWBd3bINij/VYTeerTD+CwrziW6zyvBqtdTfYND/sVIBivUphOL3ndmYMSEO1XYcDZBjCzXiXHHtc00jh1RKWta6I4tCGX+nmDdfjAGYUkjjOubJjBkMvMm5JJTtygjmI+7Drhvz6TMGTwHJ2UVOOUuVCvXHlPd2+3RMlJZmres9LlF/AX/Higc5VOBi3Ufa3fKPsclJvziKv3KAd/VQUVvd09trGOdWxQecV7JULRx/kWHoPY0EoaZgqonqAIBjdnr4rJm3lGXmF9c/Y0xpx0UJ4VY70O/45Xf9nYZp3LYGnqmu1p9DMjRJUal8zAqOkjMiEhtQBOg29ZPV11A8H2oZeWYGk34iKABjyOMWRr/sWFJz6bSE6IJYV/BYn1dcvFrptXjlz02Q/XJ96jJBA7pSyDE0A1Tb7Rl/4PaGdLKJcN//+ro9zHj3QLW/MXC71q20cDRiAVuS6mvMJwuQ7xFOiFUAznvwPXiHys6OLgo42iDy4+4yuRq6t+hULcfWAE1DszxvLyAekPEMvCxUOLmfow3nnzFphHNQZJBFAIv7799bMDWR1NsYIC0LS/7ThtLxRIKTb0AlP1qmzW/lxFnjCo9j3hW2xhagLE73rJuECKQQBqabKfRxs96R1UdJLlWxtOdSvbbe+34wTo074+HZMiJIX/aZmIRxPVn6PAPJP1qIk/xZZjfdXqPYNGj60iS7c0rDlYdWwykD+JpZo5hgW7eac9w+HTSw+fEiZZ2Jb0UPrZudDQLRkp+BCybTWYwycsxY+wEFoUGJ3Vh7x8nP7fhppUnxeZnNlUZC8ZyibUa0lWqO437aOKdxZIrPwveuejcgen66OtOuZwUNo6I8UL1lYcb5lDqk1FlOKnG9vQ5HucrncWvF0GCJdRU7HBkUCHFQN1oE0PeSI3f/Egv7sI4egCDrb0Zf/vah7qYJpdP6SR/q6SItynj47sGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PPGAyUUoNZCTCZAZwzFUTp",
      "input": {
        "note": "Lemon shows at the bottom-left of the right wrist view, just nearer and left of the bowl. Moving over it.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.15,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01PPGAyUUoNZCTCZAZwzFUTp",
      "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]: [-0.0219, 0.815, 0.6132, -0.4305, -0.0139, -0.009, 0.9993, 0.5312, 1.4902, 0.868, -0.35, 0.2855, 0.2394, 0.997]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1682 left_yaw=-0.0005 left_pitch=-0.0599 left_roll=0.0014 left_gripper=0.9993 right_x=0.3405 right_y=0.1465 right_z=0.0833 right_yaw=0.1317 right_pitch=-0.3509 right_roll=-0.0876 right_gripper=0.997\nstate[joint_eff]: [-0.253, -1.3607, 6.9949, 1.6972, -0.0562, -0.0806, -0.0122, 0.2256, -8.4034, 6.9538, 1.7509, 0.3004, 0.1832, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bec426edbff65e2c39a7bd6eb13bf8c9ea36c264dba684417cff7309fe8ba8cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c882da1d56e531ca46adc5167c74917e9920cf9c0343dffa44a2df58a5cc634",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8be3011f44c37027f9a311c18d62a7f874fad4913505b9f6be02eae6587d1f6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 4.32 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]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0139, -0.009, 0.9993, 0.3199, 1.597, 0.9764, -0.2203, 0.1905, 0.1238, 0.9969]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.17 left_yaw=-0.0005 left_pitch=-0.0515 left_roll=0.0012 left_gripper=0.9993 right_x=0.4115 right_y=0.1048 right_z=0.1009 right_yaw=0.0793 right_pitch=-0.2542 right_roll=-0.048 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -1.3333, 7.0496, 1.707, -0.0562, -0.0513, -0.0122, 0.2803, -7.8838, 6.735, 1.7753, 0.2369, 0.0855, 0.0952]",
      "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]: [-0.0219, 0.815, 0.6132, -0.4263, -0.0139, -0.009, 0.9993, 0.3233, 1.5375, 1.195, -0.4961, 0.1864, 0.1196, 0.9969]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.169 left_yaw=-0.0005 left_pitch=-0.0557 left_roll=0.0013 left_gripper=0.9993 right_x=0.4123 right_y=0.1074 right_z=0.169 right_yaw=0.0888 right_pitch=-0.2529 right_roll=-0.0473 right_gripper=0.9969\nstate[joint_eff]: [-0.2256, -1.347, 6.9949, 1.6825, -0.0415, -0.0757, -0.0122, -0.294, -7.788, 8.9641, 1.6386, 0.0708, 0.0122, -0.0024]\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 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]: [-0.0219, 0.815, 0.6132, -0.4305, -0.0139, -0.009, 0.9993, 0.5312, 1.4902, 0.868, -0.35, 0.2855, 0.2394, 0.997]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1682 left_yaw=-0.0005 left_pitch=-0.0599 left_roll=0.0014 left_gripper=0.9993 right_x=0.3405 right_y=0.1465 right_z=0.0833 right_yaw=0.1317 right_pitch=-0.3509 right_roll=-0.0876 right_gripper=0.997\nstate[joint_eff]: [-0.253, -1.3607, 6.9949, 1.6972, -0.0562, -0.0806, -0.0122, 0.2256, -8.4034, 6.9538, 1.7509, 0.3004, 0.1832, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bec426edbff65e2c39a7bd6eb13bf8c9ea36c264dba684417cff7309fe8ba8cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c882da1d56e531ca46adc5167c74917e9920cf9c0343dffa44a2df58a5cc634",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8be3011f44c37027f9a311c18d62a7f874fad4913505b9f6be02eae6587d1f6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AcKEAgSGAI4AUIIdGhpbmtpbmcSDATl2H8XNHuYe7sMNRoMKRYTps1UcexbxASoIjBoOCuqZ5BOzZxyFg8RIRMxqUudJifJPpiWBFoy549LRzqtLVR0oy3DgB4QbWxDGI8qhQcdspeCy/HHUTniKgRPg9n/STyRT7Nv/HovMCZGNyiZcZZl5CkCXwoy1A1OUTNxnlOZi4hBEITN8RyycBwkT7FBUHESWHbyFb4OXRE+6uXDd4lzkoCbn2uZ8fzyRq7YNhLVBVQYZIn+Bd1uWGYIOt3cyBPtEwUChNiqxBSBn7T1N+ikHewWsDq+eohU4SAYOVnt0V0ArNdDV7B04Gmui5t6Nh8TG4ay396Hxvq7E7EK0Cn9f7o0JPGqzoKzn5nNYh/3xRqAk+B13BU1yxuTpG1Dns8BS762hgcQQfuZ0gQPfk0/OXDyxIPSS4ySGvKkaRcu0tSq1ftCWwD2+RQnX5Y8/E06vpzEhogxeNiQzFwMGGGwhyWLmDYklaYL00hPgMPDirDsMU+H7KjEX0zT1Nhnfg8czwg24t0kmvtu3Oer7OW4C5gHOvQVxhlQ31i0UEa4YWvlZhpfnKXE51nkhP/amo2X+tECuTjgnY3vjCsEuXkSr/aM1Hf2nau3bMVJPQZgLWS59rDUAbInRdvwYcb5QXnQwHkeBql8RBM9fJ1dR4t8gaATVLp0I+UQP1n75dxaJZgtvyskQF8M21ZuLTd1FVGgN7i0HPMceXuswk9jGIjJNl1wGD2GaRWWmS7z9EIMjJE+kc8A/z0VFBArn4dh1rgl02lqYoKX0orrdxLeDMt2xF5xo656Cx8d0Xt1v9zAMH4X7DcR53y3UaKgZO6XLg7JwodG/ihVlfJ766EJB8QOw3C+2PiUU23hFfun3yMRaYaRv+UcE+ux3//byYidgUm4nyelpel3UaUHz5SqYr3ua6B/vUcUWJXgqVeJlNJz7HpM0FWZdwek1OuyPXXlU9tcHtJ4wKOKkanoAhNwDJdvzz1IGphx/oEbddlOHPZhy679emCqd3w/80JRVTomrB34YodVXIXeEX/wia+ApTHBEGCboP3ELMzkn+VgCMNzid9otid+f9DexmP7Vm4Uiliuzs1TJNAyxEdv1Z3WrUtK9y6RjhBAf4AD3FxJzQ4YMUcbyxTh7vU/exzAvavq6CbIzcinxmWcJ0doMkvZL8SwNF7E3gj5iplHNw6CtEvIG25mSxtXnkUMhmtjyL49qv/6psfPstqBrK5fcdStDHT7tOKLUEOOiA0/3aBVSuyYdjIri/OU9ZtwgtKiIeS94ootyqKjgaKgnFp7IYGo1ujQ0A/BGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Suyxop8N2mzhpmzvMwVqnN",
      "input": {
        "note": "Lemon is just left of the jaw column at the bottom of the wrist view; shifting ~3 cm left to centre it.",
        "targets": {
          "right_x": 0.345,
          "right_y": 0.175,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Suyxop8N2mzhpmzvMwVqnN",
      "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]: [-0.0219, 0.8154, 0.6132, -0.4316, -0.0135, -0.009, 0.9993, 0.5938, 1.5608, 0.907, -0.3401, 0.3176, 0.2817, 0.997]\nstate[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1678 left_yaw=-0.0008 left_pitch=-0.0614 left_roll=0.0012 left_gripper=0.9993 right_x=0.3422 right_y=0.1688 right_z=0.0753 right_yaw=0.14 right_pitch=-0.3575 right_roll=-0.0957 right_gripper=0.997\nstate[joint_eff]: [-0.294, -1.1966, 6.9949, 1.6972, -0.0317, -0.0464, -0.0122, 0.212, -6.7487, 8.2393, 1.1209, 0.2125, 0.2076, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07f0103f142daf623fa32d67a93f84b998a9e5f5693eabba00ded4b298549029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62af802012c153db437c3bf803a4097563caf9cf7102eb89e72af7ce43cc97c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d28001445f3af29a4d3cc725d593533c7ce63443314b425ad11789c81b91fc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.175 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]: [-0.0219, 0.815, 0.6132, -0.4263, -0.0139, -0.009, 0.9993, 0.3233, 1.5375, 1.195, -0.4961, 0.1864, 0.1196, 0.9969]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.169 left_yaw=-0.0005 left_pitch=-0.0557 left_roll=0.0013 left_gripper=0.9993 right_x=0.4123 right_y=0.1074 right_z=0.169 right_yaw=0.0888 right_pitch=-0.2529 right_roll=-0.0473 right_gripper=0.9969\nstate[joint_eff]: [-0.2256, -1.347, 6.9949, 1.6825, -0.0415, -0.0757, -0.0122, -0.294, -7.788, 8.9641, 1.6386, 0.0708, 0.0122, -0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0219, 0.815, 0.6132, -0.4305, -0.0139, -0.009, 0.9993, 0.5312, 1.4902, 0.868, -0.35, 0.2855, 0.2394, 0.997]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1682 left_yaw=-0.0005 left_pitch=-0.0599 left_roll=0.0014 left_gripper=0.9993 right_x=0.3405 right_y=0.1465 right_z=0.0833 right_yaw=0.1317 right_pitch=-0.3509 right_roll=-0.0876 right_gripper=0.997\nstate[joint_eff]: [-0.253, -1.3607, 6.9949, 1.6972, -0.0562, -0.0806, -0.0122, 0.2256, -8.4034, 6.9538, 1.7509, 0.3004, 0.1832, -0.0073]",
      "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]: [-0.0219, 0.8154, 0.6132, -0.4316, -0.0135, -0.009, 0.9993, 0.5938, 1.5608, 0.907, -0.3401, 0.3176, 0.2817, 0.997]\nstate[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1678 left_yaw=-0.0008 left_pitch=-0.0614 left_roll=0.0012 left_gripper=0.9993 right_x=0.3422 right_y=0.1688 right_z=0.0753 right_yaw=0.14 right_pitch=-0.3575 right_roll=-0.0957 right_gripper=0.997\nstate[joint_eff]: [-0.294, -1.1966, 6.9949, 1.6972, -0.0317, -0.0464, -0.0122, 0.212, -6.7487, 8.2393, 1.1209, 0.2125, 0.2076, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07f0103f142daf623fa32d67a93f84b998a9e5f5693eabba00ded4b298549029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62af802012c153db437c3bf803a4097563caf9cf7102eb89e72af7ce43cc97c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d28001445f3af29a4d3cc725d593533c7ce63443314b425ad11789c81b91fc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoAcKEAgSGAI4AUIIdGhpbmtpbmcSDNnWtQQyt4YktcAwuxoMRTwtPs+jqE0G7iK1IjA+TrgAsaCLXf24g6IbjU/fFu8CqI5iK4f2nBbhadXiSEZTIZpXl2oGCaBeA+SdyQ8qvQZkZ2QoaEb7/7iL/26fYrVEf56/hzmq4mMySA45qZ2z31MPb+nuGuMOnWkjxUaWvwmH8uHN5VFCKL0ueFKBaXBNh33Qw8Cc1vLFA40fj54Lyxszg8Qj6t8PhAkbgvg49TcXBMHi9GoYE3VkStxtO1Kab0cpuvDJCyn9xg9dn6w6kCC1t94tuV1aMFkR28Ib9hvn4KLOGZPTwXW2UBcMhR2ExyNIrAZ2g/R8N0sk+cC3B9aDojAVWwIx739jXUH9zBThQ7wTSJ1E+w08KQo/rGPunB6yTxNz0CwI66UtdR6bA2h7ySa1AzBVMGiLmaK+7WvwwU4K0Q/y4pDai3zvjbkQcfo/3pwN7wducTWbN383rTdvGz1LKy7QywMhYr182goHCuxxGQNhncq+thr6XVwPjBKv+lw21/ehwlO09wXDJjkvhdhQ0XgLgeE4kLej1gURS8iAent8YYdiKn1AHGr5h3/fvOMHAiIgjfOhl7OAGrnZud3lK0Ft39ic3zjVubanw4T84vk2pwFTUZtRK+jO+KL2fybYk8Ui6rOIy2uaquIm5K0CpG/Ep9R/WosIy4rQ32MGbgERjL2i9FDwFNNT07587mGNxF+2sP9ZzMro1Ml0dABn2WM8aDpB6jLzMI08DPEjyw/GycJCFwOZh2iN1Ru0d+V8xcX4P+KzuCNMc2iCPNgYmwf4fTUtFdGgmz5G5XAWz99RsoE9TVvXtvfnUl1Mvo2D7tWn9MqjxU4i1ftnM0Nw/MHUVS5xWBCx4vgtu/GEdcx3NQmf5nYqycf3kM0IDJfCNYVj9If6H0pwb3bNhxKL7HGpmw6Fq7MTMj5efSAgFQ0pmjepocbzgbvzWcv++PT6AOGF/DiKaCk01H9dH8vhNnC+BhmR3mL2dSAehs7lZCdN5DB5aesTduxXtcEbza1dNLMvKApAgUaPON05omWTQRwVa6nvT7Nq8MXc+8uot6Xgfg468XqtEsZ5tvA/lzf0ySqkWqMBggQj3J3Xk519GOsIwgbrKVMMeS0rXangzYsmJcLGNOgCSIF8xBgvbWFe33dGKFxd+XTyu6SirJeJxJioFMg8SwosdqtInI3SI3eV/L2iv/VBGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NskcNRaJST63dBefhnmZa8",
      "input": {
        "note": "Lemon still sits left of the jaw column; shifting another ~2.5 cm left before descending.",
        "targets": {
          "right_y": 0.198,
          "right_z": 0.075
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01NskcNRaJST63dBefhnmZa8",
      "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]: [-0.0219, 0.8165, 0.6132, -0.432, -0.0139, -0.009, 0.9993, 0.6598, 1.6203, 0.9512, -0.3664, 0.3386, 0.3168, 0.997]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1674 left_yaw=-0.0005 left_pitch=-0.0629 left_roll=0.0015 left_gripper=0.9993 right_x=0.3365 right_y=0.1913 right_z=0.0673 right_yaw=0.1612 right_pitch=-0.3843 right_roll=-0.1109 right_gripper=0.997\nstate[joint_eff]: [0.0205, -1.4154, 6.9949, 1.6532, -0.0415, -0.0855, -0.0122, 0.2256, -6.9128, 8.3897, 1.1551, 0.3297, 0.2222, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7827c1487f8e5b44215132fd032e44dd85d918ca51df782450fbadc3db8924f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a65cabfac6a649793db4511c39787f7d27c3a568ca4f6543a01acc8d983186d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf51f19e5ca9a614bb36859ca6b1110b14859760dd9270aec9c7619bde119e72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 5.789 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]: [-0.0219, 0.815, 0.6132, -0.4305, -0.0139, -0.009, 0.9993, 0.5312, 1.4902, 0.868, -0.35, 0.2855, 0.2394, 0.997]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1682 left_yaw=-0.0005 left_pitch=-0.0599 left_roll=0.0014 left_gripper=0.9993 right_x=0.3405 right_y=0.1465 right_z=0.0833 right_yaw=0.1317 right_pitch=-0.3509 right_roll=-0.0876 right_gripper=0.997\nstate[joint_eff]: [-0.253, -1.3607, 6.9949, 1.6972, -0.0562, -0.0806, -0.0122, 0.2256, -8.4034, 6.9538, 1.7509, 0.3004, 0.1832, -0.0073]",
      "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]: [-0.0219, 0.8154, 0.6132, -0.4316, -0.0135, -0.009, 0.9993, 0.5938, 1.5608, 0.907, -0.3401, 0.3176, 0.2817, 0.997]\nstate[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1678 left_yaw=-0.0008 left_pitch=-0.0614 left_roll=0.0012 left_gripper=0.9993 right_x=0.3422 right_y=0.1688 right_z=0.0753 right_yaw=0.14 right_pitch=-0.3575 right_roll=-0.0957 right_gripper=0.997\nstate[joint_eff]: [-0.294, -1.1966, 6.9949, 1.6972, -0.0317, -0.0464, -0.0122, 0.212, -6.7487, 8.2393, 1.1209, 0.2125, 0.2076, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0219, 0.8165, 0.6132, -0.432, -0.0139, -0.009, 0.9993, 0.6598, 1.6203, 0.9512, -0.3664, 0.3386, 0.3168, 0.997]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1674 left_yaw=-0.0005 left_pitch=-0.0629 left_roll=0.0015 left_gripper=0.9993 right_x=0.3365 right_y=0.1913 right_z=0.0673 right_yaw=0.1612 right_pitch=-0.3843 right_roll=-0.1109 right_gripper=0.997\nstate[joint_eff]: [0.0205, -1.4154, 6.9949, 1.6532, -0.0415, -0.0855, -0.0122, 0.2256, -6.9128, 8.3897, 1.1551, 0.3297, 0.2222, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7827c1487f8e5b44215132fd032e44dd85d918ca51df782450fbadc3db8924f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a65cabfac6a649793db4511c39787f7d27c3a568ca4f6543a01acc8d983186d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf51f19e5ca9a614bb36859ca6b1110b14859760dd9270aec9c7619bde119e72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0gcKEAgSGAI4AUIIdGhpbmtpbmcSDEmZzz4YBmHRxY2O5xoMAo25KjiiAXg/qzewIjD5GGI79dT4rRI5M3/JuDasRm1/lWvr3GBTRKhjUWJmTpL8GvovKO3eL3UByoV3hnAq7wZmp1ORMFuzHGQQbb3AaV5VL25vE9b4NBICcoEYJUEDHb7LP3TerJ/ATzHTHhUxnnhTkd/eBY3Y/kEWIW9MtrRDGM+6tH14vTjjxG3vcsSC32nzqvVAs2axHJAiXxv80nm2S2/Cynf5MhycKTCKVjeGue7JspD2vQ9CUseGtXTLck1WePIT4BkZnyzuclshPVL1CtpcOpf9lNxOWfqOnCf+niK1/e12MJ9rhWSqzVVH8upIqh0CMB5mK3Qbq9yZ8dQdVuD6Y2vpwqSXbCRLpMgWmsfPPhN1GyXV3N7MC7pJJooA8xfaIQdajZzP7SoKi/fE8xRgPExm1cN5ykKVVbzxgD+5ERWLCxGDbmPtLcbR/h/PAN6fZhpf0fOrW6AhuQjg4cB8e0bbGzKJytnjSt4t/KmmN/BbepDQ8RxAFCWTgmqSJnhEgNubmEw0jCtXXbDiO3uMNNAs/pEgbYOXiOEXvnmAX+viBGXEnDNPoaX288231zTqXmD54SeT0b1Jrtfn8FCCnnOo+ADjCN2zO7BNPY9jYjev+M2ArTi5QTQFLS1uU/GIxTMPxI12fdyFM9eK4tRWOBEqycjxYRaxlasHpR5nzv/mZgSn1I8r9bOKiPiS1H5DCn9wi1cgzoc14BBGnH709j6NtcVbOQVICAF+KriTDP924f0k0fGUVHj3yP214SnvqIiXElYQ7C2EA0AK0JG0G/EKgmx16CpJ1r1EPovPrRFnDqH28sinzHF7qFEucnIFcy9uWGngk//OW4uvzeLb/t47E+BAp/p4k0Pfa3a8dNO/tvAwpGh9mLyRY/wr8jesxZMUVmsyBoFzv3LDBbed9SZpzGqy0K25dEtWwBoWVixbZTXGEpaM+jYS1uBxYhMjdgYwfjk3mFp2Iyg5nU4AkAaUt/Cf+HsKTcw6U83U2rkCRRgXFFD/gOs76zA1yZZHvJtEdXlrk+5Nq+CaDv/rkCJ5TRRyA/rFBsr+YtyrVhgIvzA4KvjP+ISv5CjoLkdU1pIafoIpmbW0awH52jqgOgTcF+2b13u27vq9abnjSzQdGbHeNPXP4v69qVD4DOnuA8REMrTpGbyZTmmEhHXkMhm4CvkZbihh3Lhn+ndMmMylnKAd0tbLH9piKQ0zBpng+MUTadAy2S29clUodWDWTP9uAJWIvUukh68YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0114ierUtvdcF79oZywSYFto",
      "input": {
        "note": "Lemon is now nearly centred between the jaws; descending to lemon mid-height.",
        "targets": {
          "right_y": 0.205,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0114ierUtvdcF79oZywSYFto",
      "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]: [-0.0219, 0.8173, 0.6132, -0.432, -0.0139, -0.009, 0.9993, 0.6769, 1.6318, 0.9573, -0.3714, 0.3447, 0.3336, 0.997]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1672 left_yaw=-0.0005 left_pitch=-0.0637 left_roll=0.0015 left_gripper=0.9993 right_x=0.334 right_y=0.1964 right_z=0.065 right_yaw=0.1617 right_pitch=-0.3897 right_roll=-0.1107 right_gripper=0.997\nstate[joint_eff]: [-0.294, -1.4291, 7.0085, 1.7216, -0.0464, -0.0806, -0.0122, -0.5128, -7.3778, 8.1846, 1.1941, 0.3297, 0.1197, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc252ddcae623846c57ded8c322c0c0311fa97ef5d03d3adf4b02d04347b45a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:630f8806d7753bab285246e2ec2f030cb6d4f33d45d21f80af6a9681add2286e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f978d0c3c9e2fcb517d6111b291fb451399ca5ed46302b692bd0936b98214ce5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 11.6 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]: [-0.0219, 0.8154, 0.6132, -0.4316, -0.0135, -0.009, 0.9993, 0.5938, 1.5608, 0.907, -0.3401, 0.3176, 0.2817, 0.997]\nstate[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1678 left_yaw=-0.0008 left_pitch=-0.0614 left_roll=0.0012 left_gripper=0.9993 right_x=0.3422 right_y=0.1688 right_z=0.0753 right_yaw=0.14 right_pitch=-0.3575 right_roll=-0.0957 right_gripper=0.997\nstate[joint_eff]: [-0.294, -1.1966, 6.9949, 1.6972, -0.0317, -0.0464, -0.0122, 0.212, -6.7487, 8.2393, 1.1209, 0.2125, 0.2076, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8165, 0.6132, -0.432, -0.0139, -0.009, 0.9993, 0.6598, 1.6203, 0.9512, -0.3664, 0.3386, 0.3168, 0.997]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1674 left_yaw=-0.0005 left_pitch=-0.0629 left_roll=0.0015 left_gripper=0.9993 right_x=0.3365 right_y=0.1913 right_z=0.0673 right_yaw=0.1612 right_pitch=-0.3843 right_roll=-0.1109 right_gripper=0.997\nstate[joint_eff]: [0.0205, -1.4154, 6.9949, 1.6532, -0.0415, -0.0855, -0.0122, 0.2256, -6.9128, 8.3897, 1.1551, 0.3297, 0.2222, -0.0171]",
      "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]: [-0.0219, 0.8173, 0.6132, -0.432, -0.0139, -0.009, 0.9993, 0.6769, 1.6318, 0.9573, -0.3714, 0.3447, 0.3336, 0.997]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1672 left_yaw=-0.0005 left_pitch=-0.0637 left_roll=0.0015 left_gripper=0.9993 right_x=0.334 right_y=0.1964 right_z=0.065 right_yaw=0.1617 right_pitch=-0.3897 right_roll=-0.1107 right_gripper=0.997\nstate[joint_eff]: [-0.294, -1.4291, 7.0085, 1.7216, -0.0464, -0.0806, -0.0122, -0.5128, -7.3778, 8.1846, 1.1941, 0.3297, 0.1197, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc252ddcae623846c57ded8c322c0c0311fa97ef5d03d3adf4b02d04347b45a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:630f8806d7753bab285246e2ec2f030cb6d4f33d45d21f80af6a9681add2286e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f978d0c3c9e2fcb517d6111b291fb451399ca5ed46302b692bd0936b98214ce5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlggKEAgSGAI4AUIIdGhpbmtpbmcSDMSzQM8r72VfqH4k8RoMP5HdX1GfCFpMg9KZIjBDPxrAv0sZieOGS+ewroCGSF+Rh7X9NvQT2ToskCN/OHcl8N99FDZ4echwhFtfrbcqsweJeLBOIQo8KG0+LgN3w5Qkb6EixyobvRtWM0hUkywmbjgLOvNXW7wmalz+m25DsP/3nm5jAH7TKj4A5WG7Pr8+GM46UBW8aP8Z9JJJMxmpLWRPTUyWFxZhEQxsBDI5NNAPVpRxoMQM4jOCmrcthwK9vVH7O0U8RDOFTR3JJcDsbEcJfMGqmrFaLIR/CfdWwlwixCx4OFYdPRzIJhcROvA2XmiO8yHjChTLneqfWz0P21mU1oPAXBA7vC1GGaxwsaD43Et0YItK8iyp9gpAX1C/zt9tFMF654vtNjF2o5pAK297RH8kDOICHyw9omVsInGgA7QSPPaxEkerVYeI5NF6+e5nIFtaRjg2Wo30H/K2W60HYTupjtjn22thaRmTqQ2gCVlQPBtaL6UzgefXJNiv7/Z3vs8yoyk+nbzHOqFjtjNTuRH6uxPZpJBHX0tnHLRacy5wuVcKQhG/WdfjbknTyc/BjhSNEriIWhytOKf5JkkZusww10QD4Cf1hXNnmv09kskxj12tIJ1kLxy37CfR2vOZ04cUL2GNlJi/rS/YWN8pYqRcT3r97+K5bH1Rxxc6IvqQN9J7VhMOjhRxbshsqdqCfJO9Rj5xMPIVwMnr68eNv7Rbg/+jR7Q/RFhfWcdjIgAlS/izaZ8nERE4aJwx+SAK6tmQLa970e+e1muHlSdHHgE6GSGf8CGZxZYnRnJDtlDy1Gc79/WMyedrJ23bvCeSY4xdndgY9huTaOn3/PrlQkdVZ7WP7ez6ntNasphVean7QZsZQpiQOg+19fEHpRhHfDgm+33AEn3DBz5sS/cKXt+AYBQpoD7a94+RSwt6yAnRvqjUOtkadj/BGQ7Wlh49WhgLt90W0fdfBl87/yRvNwPzTyg+N5Chm4nnr17gIkFq0LOQ/57r8k/iHZXxgg0lRaAF9+h2xF4KtU08XvkYvCtVfKVAHirohOvD6+YrxHGdbPhTi8QbxJQ3iO5NlA8dFFZL8umxcVgdMrrdkbQkMZfenwB4mcoE2hFNaiHECQJmJiooHi2ogVJJ5jp5YyCYGi4/mAjTxuTzDPlwO5B4ji0yN5jDT+RXYNgp+1SdJbtCp0L3OtuZ4GQVbiSqhlBARIOQM3hbMF33GeecRU/RtP23s6KNaFYZ5UEdGp2uJGCEOVvvDjTs5reNOHQfziYU2qqT9xVqlKyKDmTj6ZNN0YiTKhwyOs3c8Adyn6zVJirnGTJFOLaTLd9SlG4wkUaA5Nc0PqcH68NZW+Xztm8RkhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WHaXKgWR2L8kNLsAj9B3XF",
      "input": {
        "note": "The descent didn't happen (still at z≈0.065) and the lemon is still just ahead of the jaws. Trying the descent again with a slightly different target.",
        "targets": {
          "right_x": 0.34,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WHaXKgWR2L8kNLsAj9B3XF",
      "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]: [-0.0219, 0.8211, 0.6132, -0.4427, -0.0139, -0.009, 0.9993, 0.6769, 1.6318, 0.9585, -0.374, 0.3443, 0.3336, 0.997]\nstate[eef_state]: left_x=0.2887 left_y=-0.0003 left_z=0.1641 left_yaw=-0.0005 left_pitch=-0.0782 left_roll=0.0018 left_gripper=0.9993 right_x=0.3338 right_y=0.1963 right_z=0.0651 right_yaw=0.1617 right_pitch=-0.3912 right_roll=-0.1112 right_gripper=0.997\nstate[joint_eff]: [-0.1026, -1.4291, 6.9812, 1.7998, -0.0611, -0.0659, -0.0122, -0.335, -7.4051, 7.9795, 1.243, 0.3199, 0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62880a41426e0d97ac8c5d015f7b7ea19bb0eebc1c207aafba46aa3f412edb85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1f7f7b60d2d7115f7626866642bd397b9b23d6b2745cacf3892a94d89666a68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19ac37774c284ad66b3c5636968395d02a52db685953635f069018ec615e1b73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 8.586 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]: [-0.0219, 0.8165, 0.6132, -0.432, -0.0139, -0.009, 0.9993, 0.6598, 1.6203, 0.9512, -0.3664, 0.3386, 0.3168, 0.997]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1674 left_yaw=-0.0005 left_pitch=-0.0629 left_roll=0.0015 left_gripper=0.9993 right_x=0.3365 right_y=0.1913 right_z=0.0673 right_yaw=0.1612 right_pitch=-0.3843 right_roll=-0.1109 right_gripper=0.997\nstate[joint_eff]: [0.0205, -1.4154, 6.9949, 1.6532, -0.0415, -0.0855, -0.0122, 0.2256, -6.9128, 8.3897, 1.1551, 0.3297, 0.2222, -0.0171]",
      "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]: [-0.0219, 0.8173, 0.6132, -0.432, -0.0139, -0.009, 0.9993, 0.6769, 1.6318, 0.9573, -0.3714, 0.3447, 0.3336, 0.997]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1672 left_yaw=-0.0005 left_pitch=-0.0637 left_roll=0.0015 left_gripper=0.9993 right_x=0.334 right_y=0.1964 right_z=0.065 right_yaw=0.1617 right_pitch=-0.3897 right_roll=-0.1107 right_gripper=0.997\nstate[joint_eff]: [-0.294, -1.4291, 7.0085, 1.7216, -0.0464, -0.0806, -0.0122, -0.5128, -7.3778, 8.1846, 1.1941, 0.3297, 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]: [-0.0219, 0.8211, 0.6132, -0.4427, -0.0139, -0.009, 0.9993, 0.6769, 1.6318, 0.9585, -0.374, 0.3443, 0.3336, 0.997]\nstate[eef_state]: left_x=0.2887 left_y=-0.0003 left_z=0.1641 left_yaw=-0.0005 left_pitch=-0.0782 left_roll=0.0018 left_gripper=0.9993 right_x=0.3338 right_y=0.1963 right_z=0.0651 right_yaw=0.1617 right_pitch=-0.3912 right_roll=-0.1112 right_gripper=0.997\nstate[joint_eff]: [-0.1026, -1.4291, 6.9812, 1.7998, -0.0611, -0.0659, -0.0122, -0.335, -7.4051, 7.9795, 1.243, 0.3199, 0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62880a41426e0d97ac8c5d015f7b7ea19bb0eebc1c207aafba46aa3f412edb85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1f7f7b60d2d7115f7626866642bd397b9b23d6b2745cacf3892a94d89666a68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19ac37774c284ad66b3c5636968395d02a52db685953635f069018ec615e1b73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ERrWCo1VmiDWKtUhpRGNEb",
      "input": {
        "note": "The descent is blocked—the right jaw is likely resting on the blue bowl's rim. Lifting and rotating the gripper ~90° so the jaws close front-to-back on the lemon, away from the bowl.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.2,
          "right_yaw": 1.5,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01ERrWCo1VmiDWKtUhpRGNEb",
      "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]: [-0.0219, 0.8253, 0.6132, -0.4511, -0.0139, -0.0086, 0.9993, 0.2848, 1.8225, 1.3018, -0.6373, -0.3592, -0.4171, 0.997]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1613 left_yaw=-0.0006 left_pitch=-0.0908 left_roll=0.0024 left_gripper=0.9993 right_x=0.3871 right_y=0.1817 right_z=0.0823 right_yaw=0.8751 right_pitch=-0.474 right_roll=0.1589 right_gripper=0.997\nstate[joint_eff]: [-0.2256, -1.6342, 6.9812, 1.7363, -0.0415, -0.0366, -0.0122, -1.0051, -9.5111, 6.2974, 0.4615, -0.359, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21b4794fbe2d830c5128c9271e362990556e55c43fb5a3f606d67b7da6d17d3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cb88b002b083f69efce4ea3f17e80f4debd0bdac86ad940674fa8af1e95ca32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d562e5ded4c18bb4e0c607c22bd31d1e30c238360d0eccac972284570997c2c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 5.813 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]: [-0.0219, 0.8173, 0.6132, -0.432, -0.0139, -0.009, 0.9993, 0.6769, 1.6318, 0.9573, -0.3714, 0.3447, 0.3336, 0.997]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1672 left_yaw=-0.0005 left_pitch=-0.0637 left_roll=0.0015 left_gripper=0.9993 right_x=0.334 right_y=0.1964 right_z=0.065 right_yaw=0.1617 right_pitch=-0.3897 right_roll=-0.1107 right_gripper=0.997\nstate[joint_eff]: [-0.294, -1.4291, 7.0085, 1.7216, -0.0464, -0.0806, -0.0122, -0.5128, -7.3778, 8.1846, 1.1941, 0.3297, 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]: [-0.0219, 0.8211, 0.6132, -0.4427, -0.0139, -0.009, 0.9993, 0.6769, 1.6318, 0.9585, -0.374, 0.3443, 0.3336, 0.997]\nstate[eef_state]: left_x=0.2887 left_y=-0.0003 left_z=0.1641 left_yaw=-0.0005 left_pitch=-0.0782 left_roll=0.0018 left_gripper=0.9993 right_x=0.3338 right_y=0.1963 right_z=0.0651 right_yaw=0.1617 right_pitch=-0.3912 right_roll=-0.1112 right_gripper=0.997\nstate[joint_eff]: [-0.1026, -1.4291, 6.9812, 1.7998, -0.0611, -0.0659, -0.0122, -0.335, -7.4051, 7.9795, 1.243, 0.3199, 0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0219, 0.8253, 0.6132, -0.4511, -0.0139, -0.0086, 0.9993, 0.2848, 1.8225, 1.3018, -0.6373, -0.3592, -0.4171, 0.997]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1613 left_yaw=-0.0006 left_pitch=-0.0908 left_roll=0.0024 left_gripper=0.9993 right_x=0.3871 right_y=0.1817 right_z=0.0823 right_yaw=0.8751 right_pitch=-0.474 right_roll=0.1589 right_gripper=0.997\nstate[joint_eff]: [-0.2256, -1.6342, 6.9812, 1.7363, -0.0415, -0.0366, -0.0122, -1.0051, -9.5111, 6.2974, 0.4615, -0.359, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21b4794fbe2d830c5128c9271e362990556e55c43fb5a3f606d67b7da6d17d3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cb88b002b083f69efce4ea3f17e80f4debd0bdac86ad940674fa8af1e95ca32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d562e5ded4c18bb4e0c607c22bd31d1e30c238360d0eccac972284570997c2c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012JaCmu25RRrcptaas7ytFz",
      "input": {
        "note": "Rotation only got partway (yaw 0.88) and the grasp point drifted toward the bowl. The lemon is visible near-left of the gripper in the top view; re-centring over it with the jaws turned.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.35,
          "right_y": 0.205,
          "right_yaw": 1.5,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_012JaCmu25RRrcptaas7ytFz",
      "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]: [-0.0219, 0.8257, 0.6132, -0.4538, -0.0139, -0.0086, 0.9993, 0.1471, 1.9739, 1.2011, -0.5438, -0.9428, -1.1042, 0.997]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1607 left_yaw=-0.0006 left_pitch=-0.0938 left_roll=0.0024 left_gripper=0.9993 right_x=0.3588 right_y=0.2013 right_z=0.0586 right_yaw=1.4478 right_pitch=-0.0433 right_roll=0.1413 right_gripper=0.997\nstate[joint_eff]: [-0.3761, -1.4291, 7.1179, 1.7118, -0.0611, -0.0464, -0.0171, -0.4171, -8.5538, 6.3248, 0.315, -0.6178, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bce2b3fc2da8eb16c153d8853bccde7dd639bba6859733afba117a7211be6a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:572ce84fdabfe7f17b70ab0bca8c08a815c2425867eec3c230a291e4721f796e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9d05f4e818e0a8f46f2aaece4c6e2efb1acb70c1bc072a1bb65d9f43d451dd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 6.259 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]: [-0.0219, 0.8211, 0.6132, -0.4427, -0.0139, -0.009, 0.9993, 0.6769, 1.6318, 0.9585, -0.374, 0.3443, 0.3336, 0.997]\nstate[eef_state]: left_x=0.2887 left_y=-0.0003 left_z=0.1641 left_yaw=-0.0005 left_pitch=-0.0782 left_roll=0.0018 left_gripper=0.9993 right_x=0.3338 right_y=0.1963 right_z=0.0651 right_yaw=0.1617 right_pitch=-0.3912 right_roll=-0.1112 right_gripper=0.997\nstate[joint_eff]: [-0.1026, -1.4291, 6.9812, 1.7998, -0.0611, -0.0659, -0.0122, -0.335, -7.4051, 7.9795, 1.243, 0.3199, 0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8253, 0.6132, -0.4511, -0.0139, -0.0086, 0.9993, 0.2848, 1.8225, 1.3018, -0.6373, -0.3592, -0.4171, 0.997]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1613 left_yaw=-0.0006 left_pitch=-0.0908 left_roll=0.0024 left_gripper=0.9993 right_x=0.3871 right_y=0.1817 right_z=0.0823 right_yaw=0.8751 right_pitch=-0.474 right_roll=0.1589 right_gripper=0.997\nstate[joint_eff]: [-0.2256, -1.6342, 6.9812, 1.7363, -0.0415, -0.0366, -0.0122, -1.0051, -9.5111, 6.2974, 0.4615, -0.359, -0.0708, -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 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]: [-0.0219, 0.8257, 0.6132, -0.4538, -0.0139, -0.0086, 0.9993, 0.1471, 1.9739, 1.2011, -0.5438, -0.9428, -1.1042, 0.997]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1607 left_yaw=-0.0006 left_pitch=-0.0938 left_roll=0.0024 left_gripper=0.9993 right_x=0.3588 right_y=0.2013 right_z=0.0586 right_yaw=1.4478 right_pitch=-0.0433 right_roll=0.1413 right_gripper=0.997\nstate[joint_eff]: [-0.3761, -1.4291, 7.1179, 1.7118, -0.0611, -0.0464, -0.0171, -0.4171, -8.5538, 6.3248, 0.315, -0.6178, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bce2b3fc2da8eb16c153d8853bccde7dd639bba6859733afba117a7211be6a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:572ce84fdabfe7f17b70ab0bca8c08a815c2425867eec3c230a291e4721f796e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9d05f4e818e0a8f46f2aaece4c6e2efb1acb70c1bc072a1bb65d9f43d451dd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlwoKEAgSGAI4AUIIdGhpbmtpbmcSDJVgXNgRUicFiDTUgBoMkzGsDUgjkLm37SroIjABV+d3vOYLNMt2sL4LyhyWBRRUt7ho43+ZaJWeKndnLKafPKTNt7pF5UmBCPjeur0qtAlLfX8MNZqP4Jl8RoQ7zwOD8ikHZC/9rtEsFssqnIvrYB81rHMbCED+/B2NOXbX2dlxufqHeCMg3kpGd8om/IXfA3xm76jp3Coamgg33OQoFtBr01+9dmPTZFNXAeoO6DkloO5O8syyZf2GKPMLgi1QSLQq2bE7pVIt6Wq1Q8EsPrwrf/SmExzvnKCBaT5UC1cFB1ajy+CSdBrOwLf7F/zpaQrkUr5uxtGQT6RUAwjgD7Tlz4Tp8zPg2T9rDpsrcU81zK0YxyF9Qc7xBU/3bgxQ3L9jWMknmIfh+Yw8YvXEhszJucXdyKiLK2s0TmEAXNhlMrKzfrR2I09qLc15TliYB0dXzkf4xH2/BUKV76UAp9VyWX/bD60vPduljPOk2ZIOAIJeX6TUbH8W5aDlrD3ZRNTEYdZ9gIUsC6is6b/IjEoNiT5j6yJHmtKV7lJ55VCtD+xsGkbxAj8GZUFjOytRlHGRbh16/lr21+mF3Ndb5IY7w1iYWGPi0TGq2UvvZJsn4ck36QlgWfxNshjprqeikdact1k63974TFr6SnarW9gaK6SW71woP6a3ap8zEmAbqcW6Pgg9ivGlpMWRnuhCvL+LMw743WS7zxj011BiROr8W7SpeiFREVoubihpYYtISTqOk+Gch5AxfiqqBX/HitmZqbM0xLNt0SrY4cPVbKxdJf5/6r3o7qut3vQJ7WjhjYVM+PfOvv2fMQ2E1MqnIqcbmXElg0vuP8DQawrRHBCGzOfcD1vdi/ikwRMK2/77Fq6FZ+76G3VAz97hd98FxdsdfyscPzFn6YhO15ZHXkp+mesCR0/PArP5QJdzpAUoMJ9jjFncC96QvGDBJ3z6wlPKRPUCQ5Xm3AM7sc6MCN33GRmviK7OxoLH/Hu+hAH2qWW2nJsVEgoQtBTfrgsRvwL0Gpa1mTi6/HTYp5wLB/KUX+9Q8xcVzsEsjjqyBwx4/ECCBDwHouGX1ND9/pGriOPdU2sIW8AGeNtvARMCQQHMiByhNKVijHNPAFizX0gdR1My0wzcStYfGhenri3VABRPaGKX2n5ioir/rgAwKuRQkWSuZE7q6iPe0D2cw/r8msCQKem9B32dHlqgcyzKdQ57sbZNp5OTS0qntJyHNVH8pJ7TMvZF7IN2Avt65wvaaI/iMxfNMZaKBTI6VqerXvbDUnqFh3bmi+epWTHo6tca719C0GECkVvkvbDhVImEgahYcUN5qbPiTISkTNR3FfhwnDCRwUN3HiQUT3J63z7+Jk/zVVXCkwTOdQEK7oKR5Ugv4P2cwrc22z38G6My5Nl+2Tgn1RN4koR9kWiqg11QIVjbPWOqr7l+PkV6/8wLZOOOCtq+FFerND025f2a9kbFWLVD4FUzLR5fA/BRnyYMJrQplij9bur6+obhdkBtidYlY+l95vcXfQ3pJvoiT1/sznSgQ8+GjksOTS5yS7biuWF/a9Vzv7XJNjL4+GZ9OdgpNhoVDdmdIqedmv7K3h1VDCTPjE70tUwbXoiRABjVcQr9wgvy9/fibZsY30nuhEM2EsW4V4VTQQGpT9GrZyHx/RVmDrz5MogMIVHvqohWpaTq5jk0iixbBavPrDJhFROEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EWb85rsRa8DMGA8KmE5ced",
      "input": {
        "note": "Gripper is now turned 90°, looking left along the table; the lemon sits right on the jaw column. Descending to grasp it across its width.",
        "targets": {
          "right_x": 0.355,
          "right_y": 0.205,
          "right_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_01EWb85rsRa8DMGA8KmE5ced",
      "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]: [-0.0219, 0.8295, 0.6132, -0.4683, -0.0139, -0.0086, 0.9993, 0.1524, 2.0087, 1.1538, -0.4118, -0.9802, -1.1309, 0.997]\nstate[eef_state]: left_x=0.2852 left_y=-0.0002 left_z=0.1569 left_yaw=-0.0006 left_pitch=-0.1121 left_roll=0.0028 left_gripper=0.9993 right_x=0.361 right_y=0.2075 right_z=0.0451 right_yaw=1.477 right_pitch=0.0058 right_roll=0.0799 right_gripper=0.997\nstate[joint_eff]: [-0.3077, -1.4838, 6.9538, 1.8095, -0.0806, -0.0366, -0.0122, 0.5128, -6.2564, 3.0564, 0.1001, 0.0464, 0.3004, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35f8c14a35e044901f8a048e9ef33f8b36a174278c78f86a6b48b9e9a1bc92c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58f8461bc6985b99330dae949923db0b55175bfceafedcbdc8e1667e89d91673",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:07dbfc76e7d979a905f00b48d7545f165e59eafc6280c3b737efd9d6666dd7e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 5.749 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]: [-0.0219, 0.8253, 0.6132, -0.4511, -0.0139, -0.0086, 0.9993, 0.2848, 1.8225, 1.3018, -0.6373, -0.3592, -0.4171, 0.997]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1613 left_yaw=-0.0006 left_pitch=-0.0908 left_roll=0.0024 left_gripper=0.9993 right_x=0.3871 right_y=0.1817 right_z=0.0823 right_yaw=0.8751 right_pitch=-0.474 right_roll=0.1589 right_gripper=0.997\nstate[joint_eff]: [-0.2256, -1.6342, 6.9812, 1.7363, -0.0415, -0.0366, -0.0122, -1.0051, -9.5111, 6.2974, 0.4615, -0.359, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4538, -0.0139, -0.0086, 0.9993, 0.1471, 1.9739, 1.2011, -0.5438, -0.9428, -1.1042, 0.997]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1607 left_yaw=-0.0006 left_pitch=-0.0938 left_roll=0.0024 left_gripper=0.9993 right_x=0.3588 right_y=0.2013 right_z=0.0586 right_yaw=1.4478 right_pitch=-0.0433 right_roll=0.1413 right_gripper=0.997\nstate[joint_eff]: [-0.3761, -1.4291, 7.1179, 1.7118, -0.0611, -0.0464, -0.0171, -0.4171, -8.5538, 6.3248, 0.315, -0.6178, -0.0415, -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]: [-0.0219, 0.8295, 0.6132, -0.4683, -0.0139, -0.0086, 0.9993, 0.1524, 2.0087, 1.1538, -0.4118, -0.9802, -1.1309, 0.997]\nstate[eef_state]: left_x=0.2852 left_y=-0.0002 left_z=0.1569 left_yaw=-0.0006 left_pitch=-0.1121 left_roll=0.0028 left_gripper=0.9993 right_x=0.361 right_y=0.2075 right_z=0.0451 right_yaw=1.477 right_pitch=0.0058 right_roll=0.0799 right_gripper=0.997\nstate[joint_eff]: [-0.3077, -1.4838, 6.9538, 1.8095, -0.0806, -0.0366, -0.0122, 0.5128, -6.2564, 3.0564, 0.1001, 0.0464, 0.3004, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35f8c14a35e044901f8a048e9ef33f8b36a174278c78f86a6b48b9e9a1bc92c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58f8461bc6985b99330dae949923db0b55175bfceafedcbdc8e1667e89d91673",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07dbfc76e7d979a905f00b48d7545f165e59eafc6280c3b737efd9d6666dd7e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/woKEAgSGAI4AUIIdGhpbmtpbmcSDP6quhCXU4Cf2fD1YBoMG+F9PxHUfUh1IMV4IjCz02TR2gWsvUwGS0DxiWjr/vh12XD+qk3NxRTm6aQvUsS9igl+MHm+HAZry48FX0wqnArWiczumyX79ccbrFYy8HDH8it2znXIKFLkchDSOfPT6bNe+A5l4+p44u7Fdi1FQJJDMMtGUi2ej6JHhG2ME2stKlWuHlx+b+0ouxzwFZYW6ZxErG2eh7H+nhMCyjXdegAUcL+gMByTIU/q8FLuh2anVuHFx2wRTEVKVwV/qGwJheQidt3oUuTxil3akAfj0LTGXi+6LpPVS2knb2FaEWMNqVnRWYehpOzjtDmCt2KGiDVLYXpsDtEsmRiHCexR+qmINba7O80VCcWqZcdTsE49NZG85fW/jKLHlGyX/67sBwbQQpJap5Y+k0a/kn6ls5XnnUbFO80IHQs7RxNZ6C337wx0TNkrjtualrHkVrjOLtKgL8dLvJ17lURroE1SX8rmFqQDE/1btsWnwHibkXxbY1eDYHiIs0eZfnwcLsWmAxukAHm7sZSfBanRqQdrKpZWkxCM10S7GoIWrJkJsJh2VOERv7QsjxvrhfTCad6HxoPve/RlN1DlJXZrM04Wr9EcrHPogH5ZmoLdO2fuVGU99zlCzGJW4gSdX9l6x11jZSn7wo5dsFN3xJlJbKD0DFUqbtnFj17I2hbiB2FB6/UDKo5qGRBmEGidwiK/NFODw6HGeONLsdR0cJMtCQKwssNWkjYLTbKR3Deik+e/Mqu9VBV3fYNMEdAX2Vf03hnasAHOExDW6ebjPycDCbBzMjGxdNSICB/qxn/pbCy1N99dXCmS09yipWaIW2NwMjYKWb0IvTH/cWFZxCH1tSBPDH64q8jnr4haqQxtdO4uApe2BPZWQ0UmZQ751DX4c3+xn3pPZS1v6wpzi9U8GUiIULuHGlYtLV5EKQyUUEITIIWVQVUfbrLmBjzzkCQRuiVZRLYTec01tZPSWUw3BAD0FW9YZ0s8+yqcPmo/BRePLLjpgAYD/0XZZ0sXojWJ3u6Jup0Yt4KW/m2ISAj0RRSvQmpRFUFnwKNm633W1B6/WXX8msgbTEgcE+FIR9n5Hhw2+pAtMb8MWKx6MBUe9r9Jxc2OzaJpmiC6t6XGZ0COCe5K2YLOsfiSm0IEe4re8HDc7Jnp96Vori5BzyenQ5ySJpcKGpqTJpzkKunsQlZAWY9r2iOZbDAYyhTWCCCAbq8ay253Jiu5ucG1w5s7tzxXWnR5/Hei28Ghbl+4g9gkmPx+qjVxJEnxy4/jdnu+CoQoYCW3cqmxOOSQotZNHY6/Ag50fDz1cFijA5yzGiKOdILOpD8R/z80ws8pnslG9iYHUIjwmgjbMyLh+hu71lqTq0CqNSHDlc0585pnziHv/WK+kJvHlFI0JOAYjW7lHjWbLptTGl6936HBhcnOloQbg0CpiTCVlBFh87VIVxe+3DdXSNOTw67zBolGL0c6k/CnXWY4rR8RxE0c9AMeYCDdB1WR2kjDPHJhd6jR0HEvCKAAKNomZgYvj6LRc1uLvFW/zRswIoEriLbr912KWgBt6wrAurBceAKLA5ngZ2To9Q7VQeUBESJbV7dj334tfZONpU5nFF1F50w3i17IjgJrzdgaS5TLlB1R8xLsxIuyeKvNY9IZ34bsO2ovkp24dFd1XO9n7dIkvX+j/jvzvGJJaFVJEk/fkS3sCRl/Qh4YredpMYTtB23OdLcLp5Y2DYqbAJHo41lDs8KR7hxipSGMHSy9HXIw38TpnbN86ET4I3ieO89y5B+A1xjPA6d4oem+cOB7abaEoqoZIEuZ1ffFMgyZnqUFG+t4Hc0jKkkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JmsJRjWmYYHs4gpb1rUY2c",
      "input": {
        "note": "Descent stopped at z≈0.045; the forward jaw seems to hit the blue bowl rim, and the lemon sits toward the rear jaw. Shifting 2 cm back toward the base and descending again.",
        "targets": {
          "right_x": 0.34,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01JmsJRjWmYYHs4gpb1rUY2c",
      "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]: [-0.0219, 0.8303, 0.6132, -0.469, -0.0139, -0.009, 0.9993, 0.1551, 2.0132, 1.1137, -0.3065, -0.9977, -1.1194, 0.997]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1566 left_yaw=-0.0004 left_pitch=-0.1137 left_roll=0.0026 left_gripper=0.9993 right_x=0.3633 right_y=0.2107 right_z=0.0413 right_yaw=1.4804 right_pitch=0.0363 right_roll=0.0348 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -0.9368, 6.9949, 1.6337, -0.0806, -0.0659, -0.0122, 0.0889, -9.6205, 3.6034, 0.359, -0.1197, 0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48d52f38570bc1b00aa7a85292825aa568a6a03002d583115f0638d5fccfa605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a04f4fce209103bfa2c4d4e79a447a90418e5b7aa021435015dd2679cc09f8a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:077db1b8196062a6c937700e5992475aa83f3f138f34eebd401c15e7d91d0296",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 4.862 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]: [-0.0219, 0.8257, 0.6132, -0.4538, -0.0139, -0.0086, 0.9993, 0.1471, 1.9739, 1.2011, -0.5438, -0.9428, -1.1042, 0.997]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1607 left_yaw=-0.0006 left_pitch=-0.0938 left_roll=0.0024 left_gripper=0.9993 right_x=0.3588 right_y=0.2013 right_z=0.0586 right_yaw=1.4478 right_pitch=-0.0433 right_roll=0.1413 right_gripper=0.997\nstate[joint_eff]: [-0.3761, -1.4291, 7.1179, 1.7118, -0.0611, -0.0464, -0.0171, -0.4171, -8.5538, 6.3248, 0.315, -0.6178, -0.0415, -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]: [-0.0219, 0.8295, 0.6132, -0.4683, -0.0139, -0.0086, 0.9993, 0.1524, 2.0087, 1.1538, -0.4118, -0.9802, -1.1309, 0.997]\nstate[eef_state]: left_x=0.2852 left_y=-0.0002 left_z=0.1569 left_yaw=-0.0006 left_pitch=-0.1121 left_roll=0.0028 left_gripper=0.9993 right_x=0.361 right_y=0.2075 right_z=0.0451 right_yaw=1.477 right_pitch=0.0058 right_roll=0.0799 right_gripper=0.997\nstate[joint_eff]: [-0.3077, -1.4838, 6.9538, 1.8095, -0.0806, -0.0366, -0.0122, 0.5128, -6.2564, 3.0564, 0.1001, 0.0464, 0.3004, -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]: [-0.0219, 0.8303, 0.6132, -0.469, -0.0139, -0.009, 0.9993, 0.1551, 2.0132, 1.1137, -0.3065, -0.9977, -1.1194, 0.997]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1566 left_yaw=-0.0004 left_pitch=-0.1137 left_roll=0.0026 left_gripper=0.9993 right_x=0.3633 right_y=0.2107 right_z=0.0413 right_yaw=1.4804 right_pitch=0.0363 right_roll=0.0348 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -0.9368, 6.9949, 1.6337, -0.0806, -0.0659, -0.0122, 0.0889, -9.6205, 3.6034, 0.359, -0.1197, 0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48d52f38570bc1b00aa7a85292825aa568a6a03002d583115f0638d5fccfa605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a04f4fce209103bfa2c4d4e79a447a90418e5b7aa021435015dd2679cc09f8a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:077db1b8196062a6c937700e5992475aa83f3f138f34eebd401c15e7d91d0296",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4gkKEAgSGAI4AUIIdGhpbmtpbmcSDNm4VAgSnu9smac3SBoMv1TpBrL9LoVgtvtdIjCMQrYiDvRfG2vYem4Y8dBaJzatcM7R27mTM0bHKUGtf7Sh08ZLUIEM9yPs7fsN21oq/wiQG0sm/QZ16ZU+eSVkMBkls19H4J5MorzZhrUCnTx95XH5RQthsb0uok1eWh3GXWoYmW/2svA7WltmOyX+S3bCI8z9R8S0dtoLm0KAh7QcExTcHaPIRfm1s9mV04hPefUmKIIr1oy8KiD7WPmuWLlPBWxz+/yHVPldpjN50I7MS4F+piW9Il0PZ+M7nbDmwNmOH5UTFgKct+nduXcUJCbdIn7/KQrHLBcbfl6e2jNPBTOl+rpl2AQ7Yc+ISZ4I9HdZLEhMezCfQQeIOtqrORp2O3Y+4THb1kLby86Gy9LdiSVQUMxiYAuJvtNuxkH32EE1MPx8PrVu/Q88ioXY3qufoz6O7VY7MJnBbgRITE+mjnHRinWjUmbddZsRCRPVsMEbFLxm+Ohe7E7mlQOwQYjTOnKIpsm69mEb2dzV+8Il1A/0PumDPz2HFdwjxN7Rn6Lh+nfeNUs8WayVBdKtbtkBkFf1BYfD69tFJ7maMyuVqfQftjA94XUZ+ReBzy7yaOIqznu8Wk7Ce8+vXQOaE0TNSH3wUdZs4B8ESPX9TniH4KV0Rmhr9qq/GiRtZgbROSmyCQcprn9oGLbN/gqXtgIIGhaCVCXhvgccFdG+ApkNhZCIv0FrOThtp3dP78euZpDcXJKJxFVGEG1ZGx24qDsgGYCH1xqm1izwglaeJPsMQTUS3Qx6DQhqHm+dJ8wcdLrpsWboFUtRp53/soe2oNpVrT+z4hxffo2mLflz6vmvwSzYTa2LFfJMvq7I2gxnkxX3yp7wBatn7hUxK5gMyuO+l3amFqQvkOlnNPI+EQ6DB8A0WBHpNOwqXkKd6P/I/9H4wzZ2A6T+tGM75mluXMFQy4pXVRb2Bxe4l4xGHYuMOk2GNrclY6If+6GgbhH736me0VbXQiXw2txYB0pxWwiWjLCIItnpZTEayr4fciYvOawqbZXtcYPdx19uoGHD11r3IGNSe4bX+2pUFgOmLlCqqyucTTHJ/DhdtP8xroqyVam/fnvu+w0eck1w3vgw7iQ5msqGgrcxv96RNm1lskgebpYbamdzL3fhziAiG/FcR9YsqybGo7pBrWlFQfTwLuu3ZOd3OUd74A4bc5sVTMLr7NUmWRQhTL81vngSwTWMaaI7EWKjkt2Jfe6VCDtRwXOOdOZRsl8UFqdZB8M2fX7kDebNdiSuk+1f/P5bUrXd6oS6WXoqXx3pQBI06o3iNK736kkQ8Z8vbCkvsKbbOzUBHM7FmwfTzG8PIiHF6imDfRZapAjIJKkEmKkgmDkC811aNOhB0DcoiJz3/LabYrj8IQRdC286Eq+ksyPwYTVOBNE/minLFcsnP+j9KChJyrOrR2uaElTP/OimmIxOroGkGI44K92WLvGMFe5vprTZico7Gosf7j5fMGjBj2HuSnRD4ZFGoJ6g6HDgD0bl+Ncd7g8u8H6sSDmOFgJTBonu6/ttdd3lo4oEZE/2zz3muO9im1n3usIrd/J4iqkLNwT1dCx2dLOD7EGUOOi09Odn6XWuCnMfK/avawvwEZs3EBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C1PNEvpyexcJq4a1vVSVyw",
      "input": {
        "note": "Arm is stuck against the bowl rim at z≈0.04 and won't slide back. Lifting and moving 3 cm toward the base so both jaws straddle the lemon clear of the bowl.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.215,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01C1PNEvpyexcJq4a1vVSVyw",
      "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]: [-0.0219, 0.8314, 0.6132, -0.4755, -0.0139, -0.009, 0.9993, 0.1547, 2.0106, 1.1046, -0.2913, -1.0008, -1.1267, 0.997]\nstate[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.155 left_yaw=-0.0004 left_pitch=-0.1213 left_roll=0.0027 left_gripper=0.9993 right_x=0.3629 right_y=0.2107 right_z=0.0412 right_yaw=1.4853 right_pitch=0.0413 right_roll=0.0207 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -1.4838, 6.9538, 1.707, -0.0464, -0.0659, -0.0122, -0.1573, -9.7162, 3.4803, 0.4518, -0.2564, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6de0c79dc26cf67d4a7873b3fb58a10958d2568a7de42275a127feda0e8e2082",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:913427318f7d046d1a23b17b45b0037c5f395b1e8108cb3274700b0a7fb43452",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee9aebbc74222d3f145e819690cb8a31c209f23233e74a7d1ba087088c691fbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 5.556 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]: [-0.0219, 0.8295, 0.6132, -0.4683, -0.0139, -0.0086, 0.9993, 0.1524, 2.0087, 1.1538, -0.4118, -0.9802, -1.1309, 0.997]\nstate[eef_state]: left_x=0.2852 left_y=-0.0002 left_z=0.1569 left_yaw=-0.0006 left_pitch=-0.1121 left_roll=0.0028 left_gripper=0.9993 right_x=0.361 right_y=0.2075 right_z=0.0451 right_yaw=1.477 right_pitch=0.0058 right_roll=0.0799 right_gripper=0.997\nstate[joint_eff]: [-0.3077, -1.4838, 6.9538, 1.8095, -0.0806, -0.0366, -0.0122, 0.5128, -6.2564, 3.0564, 0.1001, 0.0464, 0.3004, -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]: [-0.0219, 0.8303, 0.6132, -0.469, -0.0139, -0.009, 0.9993, 0.1551, 2.0132, 1.1137, -0.3065, -0.9977, -1.1194, 0.997]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1566 left_yaw=-0.0004 left_pitch=-0.1137 left_roll=0.0026 left_gripper=0.9993 right_x=0.3633 right_y=0.2107 right_z=0.0413 right_yaw=1.4804 right_pitch=0.0363 right_roll=0.0348 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -0.9368, 6.9949, 1.6337, -0.0806, -0.0659, -0.0122, 0.0889, -9.6205, 3.6034, 0.359, -0.1197, 0.0464, -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]: [-0.0219, 0.8314, 0.6132, -0.4755, -0.0139, -0.009, 0.9993, 0.1547, 2.0106, 1.1046, -0.2913, -1.0008, -1.1267, 0.997]\nstate[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.155 left_yaw=-0.0004 left_pitch=-0.1213 left_roll=0.0027 left_gripper=0.9993 right_x=0.3629 right_y=0.2107 right_z=0.0412 right_yaw=1.4853 right_pitch=0.0413 right_roll=0.0207 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -1.4838, 6.9538, 1.707, -0.0464, -0.0659, -0.0122, -0.1573, -9.7162, 3.4803, 0.4518, -0.2564, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6de0c79dc26cf67d4a7873b3fb58a10958d2568a7de42275a127feda0e8e2082",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:913427318f7d046d1a23b17b45b0037c5f395b1e8108cb3274700b0a7fb43452",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee9aebbc74222d3f145e819690cb8a31c209f23233e74a7d1ba087088c691fbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQgKEAgSGAI4AUIIdGhpbmtpbmcSDCdXM5apwiTdI8+YKhoMWBK5HqnMk97ZfXJsIjByKnWYBJ4rMdstMDV5whVEIGaqBk2TywYcWd1uYjDmBcH6rTzH1hTWUbCqDX0v0poqsgeP0zU3v5LK8afsHMRfmQXoWoaRbT+FL1eUti0n2q0Zn9m2J9i9C2dtNwGaM6wT3G3GymTR4AjHF5ZBltJ3Fcqv+RDtoXAe557xbOYde/eKZRtXIbQ6zsZ7/AkwjJFzXUj2Yc9VFleyqvMYimosiz94VyBhMP1tUSCoWpefCpihG/ekv+YsnKC6QwxHgrOZpixXA52EX19MJf4jlB3vgMIV699Ke48QC+Of9YI7lmlU9DVZx9G25/abcT1n9qanavOXqK0UVWYeRLb8iUR4x4qi6c8ZuH8heF0IhBqJ2zkHDEeqq/4nCMdfDj1ulyoVH62vLNM+bT1hjojypQ56mzd5aXpD/j+6zVFpy8nln12re3+eQachOlOGU6b50VhJnPShc0Ip38+FfCEdu8cwiwhPBqizlwlOBsv14QeplScrIVbTu+4cwzX/5ch2IYRE/w7tbSRSFXbocI21j+3jWS8qo+B3ABFc/0WkFK2yugSz0PADquLx5Yj9wqjnUDTVAk1RGGmXhqOtNAVo4VDe/poquZEgqzDc+mLmGG/OdW81qwuTfoz0IgBsCRryLMpeUMmrpAJYve+9a30v0nqJZFHeDPcE1pMir9c3R0jR9+pswNuEUvVifLrE2ApCk1T3z1Z02xCRm9t99cqfTZmW0X4DkYlcb8AlrPOqzu/a4laC1H+WOsSIGRRaRgj1MtRvwWtzobVzgZokLlnF4vnrF2WuQrQ0L5daJfnYVbnnqJgXfojk6W6ShiSS/3Hd4mYkgSKhUYIPLFtMvBMobz3JWLvtyLj8Vh1ji2TkPiQbngOSXsMeHLmrpJAjbpD0aLfMGI6BIjAwACVhs6t/Qv97VChh3uYWYld60vR2AkrVRVBhna6KUsB23UHB6dHIRycfXmkA0wLHyt6VSNbIUFGtGj1gWhaVnA6bp5WzmWeQxHgebTrZCdEDHN4AtHOyrjR5HV2JHvSfkk8xdIbs1kO6kb9fAMKbV56enrop5miuVjuYgcrdyueW9KpTNoghqsQD/c47oizjsqVpbqdHLGBcA2mO9HpxdtNfvaWWMCkVexwoC9mfVIhiiyu3cPY3D6sy+xAaaA1HIh+S5lD035IXGbdaMAfmedtgnWBxm/AdG+pidqel6dwhQkC7PhY3UA2obGH6anSNQLeuy3tbXYahWMV7QsBlh7WJ5TcmPAd2LkvqSAjM9gwVO7udL3cUnk0gyASZgKPeYEsWYTGKyt3Yp58rMAoRcncszwcRm6UVLWNFlc0pGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QtnyYNHPaWcjdtYfVi44A5",
      "input": {
        "note": "The right arm is frozen (joints unchanged over two moves), probably an IK limit at this wrist pose. Trying a pure lift with less yaw to free it.",
        "targets": {
          "right_yaw": 0.8,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QtnyYNHPaWcjdtYfVi44A5",
      "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]: [-0.0219, 0.8322, 0.6132, -0.4759, -0.0139, -0.009, 0.9993, 0.1547, 2.0106, 1.1046, -0.2916, -1.0008, -1.1271, 0.997]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0004 left_pitch=-0.1224 left_roll=0.0027 left_gripper=0.9993 right_x=0.3628 right_y=0.2107 right_z=0.0412 right_yaw=1.4855 right_pitch=0.0412 right_roll=0.0208 right_gripper=0.997\nstate[joint_eff]: [-0.0205, -1.4974, 7.2547, 1.6825, -0.0513, -0.0562, -0.0122, -0.1709, -9.7436, 3.3573, 0.4664, -0.2857, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a978e1bef16a2a294c1bb07bbf801679ce9d84fa746f8d5a804abe8463eb545",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec184f43978915e218030d842aa9ed79e272a285d8754a193a03e6ffccc0ab4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:165583a6f8013011829ed1a0e463928bc19d60e1adf8b9558f9cebaec302e841",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 8.394 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]: [-0.0219, 0.8303, 0.6132, -0.469, -0.0139, -0.009, 0.9993, 0.1551, 2.0132, 1.1137, -0.3065, -0.9977, -1.1194, 0.997]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1566 left_yaw=-0.0004 left_pitch=-0.1137 left_roll=0.0026 left_gripper=0.9993 right_x=0.3633 right_y=0.2107 right_z=0.0413 right_yaw=1.4804 right_pitch=0.0363 right_roll=0.0348 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -0.9368, 6.9949, 1.6337, -0.0806, -0.0659, -0.0122, 0.0889, -9.6205, 3.6034, 0.359, -0.1197, 0.0464, -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]: [-0.0219, 0.8314, 0.6132, -0.4755, -0.0139, -0.009, 0.9993, 0.1547, 2.0106, 1.1046, -0.2913, -1.0008, -1.1267, 0.997]\nstate[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.155 left_yaw=-0.0004 left_pitch=-0.1213 left_roll=0.0027 left_gripper=0.9993 right_x=0.3629 right_y=0.2107 right_z=0.0412 right_yaw=1.4853 right_pitch=0.0413 right_roll=0.0207 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -1.4838, 6.9538, 1.707, -0.0464, -0.0659, -0.0122, -0.1573, -9.7162, 3.4803, 0.4518, -0.2564, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0219, 0.8322, 0.6132, -0.4759, -0.0139, -0.009, 0.9993, 0.1547, 2.0106, 1.1046, -0.2916, -1.0008, -1.1271, 0.997]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0004 left_pitch=-0.1224 left_roll=0.0027 left_gripper=0.9993 right_x=0.3628 right_y=0.2107 right_z=0.0412 right_yaw=1.4855 right_pitch=0.0412 right_roll=0.0208 right_gripper=0.997\nstate[joint_eff]: [-0.0205, -1.4974, 7.2547, 1.6825, -0.0513, -0.0562, -0.0122, -0.1709, -9.7436, 3.3573, 0.4664, -0.2857, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a978e1bef16a2a294c1bb07bbf801679ce9d84fa746f8d5a804abe8463eb545",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec184f43978915e218030d842aa9ed79e272a285d8754a193a03e6ffccc0ab4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:165583a6f8013011829ed1a0e463928bc19d60e1adf8b9558f9cebaec302e841",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgAkKEAgSGAI4AUIIdGhpbmtpbmcSDG98bZ2XAWP2nm2u2BoM7obNVVLQYPZc5IKHIjBo1/3SMsX91fqyNnfqeCbqaMCf7PsipNrfr1+475xQP/iYrgdEE6o+Ood759CCQlcqnQgENXgpX1CfnQl7pUvLxxIvTr99YiWEtXkQKszKpXpebtn8+Jm8m2ai/x3ql4k5lcOZ/xBJwGmyX+luVIHfYF3pAYxq0poGI5WL/w/Jzy3B0OZEzdHa7COqvQPmyRoSEtAsIRamg6E8AM1PoFLbyd01If7cNhIK/NswxzJ8ke5e6t2PWNFzJsfkg8pBTmq0LSiCmzD7+Ixl9VwRwj9Kx6KuwYopz081xcUU7nB6rhkPtpqn+nfsVeub6PilKnru+tEbQIWCunzoK8WFQrk/M0HVUyrlmjq0CkOrUGpFEWwRPPCksxi5rZNHZ5qHsRxauctOebW+Z58yaCvaRxuilIU464SzFzAvX+WLOrJmN5sEU2BIOjIjI2qiTwTA2U2Vs8QZbe06Gz+pGVoZk1pACga4XQcQhLKm6ouA+/HcDcqIng0ocwS6C48ky9NabTkBAyOAuqp/hMJ2GAIwxBupqDAvMzSkRkKdl8VstJKjD7htK2LMLxn/11A6b6jqyq/+waw6DH6f7u6VOCD9rUTddgkV1T15r7SbLLOOvafQW+au3/kkJDkubqkrurT4W10WDGmdTTrvX86BmLbDkr5UhEVTOonABrNdnHuid5X4nHUg8gBXqOA6RqOOWvEINPZFjxuPnRRusFvkYhx2U6sGEznJtgPtipUmBDU4hNmKzuVFeCsTFPq9UifEkQFj3qAHCZRKWHc2AQVaO91lUxEzNVUlFgoq2OCScMxYKzvZeGYwxexHFl6hSC7JbH8TTuAxd2NbpXuVsmUQxOe25ev3GX8nZFH1DRSlrGgR85zBoeyju3C8BPCuwUD3XEiUxRaiyOYw29sEZ2kzgHD6DT3uQagfolwAiRrRZlE0vF+XEhG9nIAPXMGpD2DTuiCYrxm/P/G31JMyttldW3Fh4ygIws7VHLRMPYvazr0gJ6zjbVkq5R6mN7utDQQXczuJx0hD/YtM0dALmLquyM0BXpw0ycXHuPCQexqoeaw7dpDRe+b7JtyW37IpuCTpB54EPdid5+ZsfE/Hq2cUTmJwKeH3cXWBCdniLFKzNdH18g9zRolyVoa6mJR41bl/apnNqRPUIiOZ2EVMGGTKxRogaHUcZVez8b7xLuIQ9UuRMb8EgIWKdjhY3893tCoFhxL4o+Wl/fE90+Ov9JrDuTgSDgyaSi3d7wblJyjt8xKrrzEyKNUuRT1FF6VoMO5g29M2wQB6+d3WO8bbtGWn4XEYmeaviooQQYPDETPf6hRDi9tY5wdQUEIHFXmyYYMrDJyDKgJXOADqlD8WU7m8F6KxM6jvdfQ218midcOvPgkQ2EZP9OMTwMsKbiDdq4Hu7CzRYdXpuZLr32HjnuMa3bvncI1ZYzqwoQ6JOlQ2MN5f6cuxkLkqdL6HZ95QLYFsnZNrq/YYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FMCFeSM9TAheCFqDEdkmNC",
      "input": {
        "note": "Right arm hasn't responded to the last three commands; the top view shows it hovering right by the lemon and bowl. Sending a small escape move to the right arm, and re-parking the left arm to check whether the controller is responding at all.",
        "targets": {
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.18,
          "right_x": 0.34,
          "right_y": 0.19,
          "right_yaw": 1.2,
          "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_01FMCFeSM9TAheCFqDEdkmNC",
      "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]: [-0.0219, 0.9112, 0.6945, -0.5236, -0.0139, -0.009, 0.9993, 0.1501, 1.6554, 0.8337, -0.1299, -0.8951, -0.8463, 0.997]\nstate[eef_state]: left_x=0.2927 left_y=-0.0004 left_z=0.1603 left_yaw=-0.0002 left_pitch=-0.1678 left_roll=0.0037 left_gripper=0.9993 right_x=0.3327 right_y=0.1934 right_z=0.0896 right_yaw=1.288 right_pitch=0.0334 right_roll=-0.0001 right_gripper=0.997\nstate[joint_eff]: [0.1573, -2.0855, 9.6205, 1.6825, -0.022, -0.0562, -0.0122, -0.1983, -6.694, 6.0513, 1.3358, -0.3492, 0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:234c393b173f614a3b2c29f190fd8a86ecabb7a712f7a78841104037b65b2aa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1720c09c0e11ad1aed23e6c6da5d7a4228d47fd0ebf51cec2236ab8431d62d2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:33397abde550bf315645509ab003ebc0035204938d69b8e57b36351571ffed9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 9.503 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]: [-0.0219, 0.8314, 0.6132, -0.4755, -0.0139, -0.009, 0.9993, 0.1547, 2.0106, 1.1046, -0.2913, -1.0008, -1.1267, 0.997]\nstate[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.155 left_yaw=-0.0004 left_pitch=-0.1213 left_roll=0.0027 left_gripper=0.9993 right_x=0.3629 right_y=0.2107 right_z=0.0412 right_yaw=1.4853 right_pitch=0.0413 right_roll=0.0207 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -1.4838, 6.9538, 1.707, -0.0464, -0.0659, -0.0122, -0.1573, -9.7162, 3.4803, 0.4518, -0.2564, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4759, -0.0139, -0.009, 0.9993, 0.1547, 2.0106, 1.1046, -0.2916, -1.0008, -1.1271, 0.997]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0004 left_pitch=-0.1224 left_roll=0.0027 left_gripper=0.9993 right_x=0.3628 right_y=0.2107 right_z=0.0412 right_yaw=1.4855 right_pitch=0.0412 right_roll=0.0208 right_gripper=0.997\nstate[joint_eff]: [-0.0205, -1.4974, 7.2547, 1.6825, -0.0513, -0.0562, -0.0122, -0.1709, -9.7436, 3.3573, 0.4664, -0.2857, 0.0171, -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 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]: [-0.0219, 0.9112, 0.6945, -0.5236, -0.0139, -0.009, 0.9993, 0.1501, 1.6554, 0.8337, -0.1299, -0.8951, -0.8463, 0.997]\nstate[eef_state]: left_x=0.2927 left_y=-0.0004 left_z=0.1603 left_yaw=-0.0002 left_pitch=-0.1678 left_roll=0.0037 left_gripper=0.9993 right_x=0.3327 right_y=0.1934 right_z=0.0896 right_yaw=1.288 right_pitch=0.0334 right_roll=-0.0001 right_gripper=0.997\nstate[joint_eff]: [0.1573, -2.0855, 9.6205, 1.6825, -0.022, -0.0562, -0.0122, -0.1983, -6.694, 6.0513, 1.3358, -0.3492, 0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:234c393b173f614a3b2c29f190fd8a86ecabb7a712f7a78841104037b65b2aa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1720c09c0e11ad1aed23e6c6da5d7a4228d47fd0ebf51cec2236ab8431d62d2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33397abde550bf315645509ab003ebc0035204938d69b8e57b36351571ffed9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjQsKEAgSGAI4AUIIdGhpbmtpbmcSDDWa7KZZmm9EN3fi4xoMdivlD4Q0egZnL9ceIjAoixnNo3rnjnnl6BSc4qq6xn9WALwm82icvMe99JJaC0q+aLvtaA9URja+rlcaVagqqgrYePRMwc5phINdlO9RaMNn/cNIvNfjhaeoUHQYKDXpGcbQRd3MgAbKiIDOY2WD4+F3XwOkx6AF73249Yvefg/H+lQX714iR08V+geEEP1p63Tz4UV4zs/+n5xJO3ntMc2sSMGjl415iyWXjZx33Th1/Xz4JA5VS9ZoyL7Tr66HOzZFMhujL2gVJsquD6WaTEz5lChiGotqrAq/lxTzLddU9GALk9N1Fz5DORR8c2QTnnl/VKhK0EQVHwMFJuHA2vyDqdTU+HRtfdIecqKEfokW49wj/lMgGq8+n854zcA2JBygb39ADbkwkvP/IAt6+pI2RwvoGq4qjMK4Q//vhcldoPGvKRpMKPwc9weeULxN34lW29d+F7rGVBSVyBTlEEnqbNURhKJw66JNqBkuTPMyLIep7uULsM6XFKAh/R4rkOkQR8Hrgun1FsRDyDkdqyQ4EFf9cm5u1Iqf8AduFtu7Y+UnOs/1g6RGFhJzEEQ3xGdctw0lI6mPMS/Rdbf3pE8Ilo5R2p+xldz3HyzFcphdzMEP4By/FwgH0P3pADUW0QVfSQ6W9e5K1eXRtabMi069sRDpmpzyyrsSnaJX82zBI5JWxUDJO5mmbChCCHq9tri4zd9OHKu0zc48SBHU1h70notFo+vuSMqTp5ymingHA+fWFeLxXe7AJIy0BL27gW6DBLUNqgtWU8PBgT2sSZBsp79d/04Ij4p7d9bvTMM407nDC2wfgTrpiQsLn/f4g8Qb9MZgpVAwzfPWYALWmTt259wGY7P6er7SQBxO9XPWX9A3WUTt+e5IuOmLzoxkYezd/axw7QBx2xzJKpEmjMnY+PM8maeg3cV1/rvJMqB98xJunRfd5N38Ub4/nKLAgY5mP9LX8w5RDQpNeZE++mGgYOZ7FT5NZFFNsTI6W5YRllh+e0h3Ev6bQupBDEB2Vk9UzdXmAcvzGC92j3eOmzn5/0Rqh7xut9KuAqPYm/mQO1HOkW1f6nxQ0zJUQsFD+MLiUSBtZFJTVV3beOJ2s0PWpa6qaaWl7P0fMEtpeTMzeqUmWg2pbJsDzaxoc7ufbmR7rz//g5mKkFd4VgG2CY48HZOO5J/7EH3hRf1j0nYz3WuI3dj6gPQUkHLWjGCwyqq70bbCc5Zh/4qVSFCThB0yqpBgd0ERyUb6vAXnseHFn4mJWRiq260Ph1S4OytwtxnXGCO58YmdftEphgDSe7PxhUisXl+LGqstbCEkwYLbKv6v/tj86jvwO3shLdtQYCmyB45A/rDAbTJ6tk43EOnHHI8FFZ3+DfANjbdplnt0+52/O1Rmd/7aGT/7t7TrYzkH8L4FIGpgRZ2VqM/ZkyLgD3U2r4vOQfYI8CxAPJwdLpyOhagq4WRVtnu5tuCvd/LDWU9d/tJoHkhybzAu7c4g/a76HU5KFzreguFQMi+s3eSPudt+zAzNnSnzgD6Gj3PmGnn49hKYVgeXxMLdgHraV+H2r9gkufW3PgJDjj2Xm5j4u33b7mRm6IAkbNkJOgFFLX900GZUCmY3zs9p3iP6mHqoH4R1qT8YZ8jCjlhIJqIh5RCBDNc0t0+olW6P/8hzTmw5agSz6M8XH9P9gCWu9HHGz22VbaOmJc1j+Omm7Re0m7EwH2hsxfhiGbtr808vdmgertiUyr/ERBeGh3yqWckIW+jVsTbDCuDf3Y7FTK4UPCEy4OmgyoetTVxJenG49M5QPKvps9STNnoEZ8Iiq5LQrk8DiKG2oLyz5UCIr1oTtHE/I5Zu/BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X1uPz2VKYtkCf73ovHyNog",
      "input": {
        "note": "Arm is free again; the lemon got nudged and now stands upright a few cm further left and forward (top view ~130,95). Moving above it.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.25,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01X1uPz2VKYtkCf73ovHyNog",
      "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]: [-0.0219, 0.9173, 0.6975, -0.5354, -0.0139, -0.009, 0.9993, 0.1513, 1.6138, 0.8192, -0.0826, -0.8566, -0.7403, 0.997]\nstate[eef_state]: left_x=0.2915 left_y=-0.0003 left_z=0.1578 left_yaw=-0.0002 left_pitch=-0.1827 left_roll=0.0041 left_gripper=0.9993 right_x=0.3398 right_y=0.1904 right_z=0.1002 right_yaw=1.2115 right_pitch=0.0399 right_roll=0.0112 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -2.3043, 6.7077, 1.6532, -0.0611, -0.0562, -0.0171, -0.2393, -7.1726, 5.4359, 1.3846, -0.3932, 0.1587, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e12b1f1073adb1efb25e45f9062468a11d46f04b5e2a406ba96bc1b9cd79c0c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3eed8c078b837b5dfc9fad9e75fac15ed662dedcf93409aadc12228694f6c0c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:76d5ab9d3656b7edd743be8651249d98b653c32ea0ad0c0bde3c90e98630c49c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.824 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]: [-0.0219, 0.8322, 0.6132, -0.4759, -0.0139, -0.009, 0.9993, 0.1547, 2.0106, 1.1046, -0.2916, -1.0008, -1.1271, 0.997]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0004 left_pitch=-0.1224 left_roll=0.0027 left_gripper=0.9993 right_x=0.3628 right_y=0.2107 right_z=0.0412 right_yaw=1.4855 right_pitch=0.0412 right_roll=0.0208 right_gripper=0.997\nstate[joint_eff]: [-0.0205, -1.4974, 7.2547, 1.6825, -0.0513, -0.0562, -0.0122, -0.1709, -9.7436, 3.3573, 0.4664, -0.2857, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.9112, 0.6945, -0.5236, -0.0139, -0.009, 0.9993, 0.1501, 1.6554, 0.8337, -0.1299, -0.8951, -0.8463, 0.997]\nstate[eef_state]: left_x=0.2927 left_y=-0.0004 left_z=0.1603 left_yaw=-0.0002 left_pitch=-0.1678 left_roll=0.0037 left_gripper=0.9993 right_x=0.3327 right_y=0.1934 right_z=0.0896 right_yaw=1.288 right_pitch=0.0334 right_roll=-0.0001 right_gripper=0.997\nstate[joint_eff]: [0.1573, -2.0855, 9.6205, 1.6825, -0.022, -0.0562, -0.0122, -0.1983, -6.694, 6.0513, 1.3358, -0.3492, 0.1099, -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]: [-0.0219, 0.9173, 0.6975, -0.5354, -0.0139, -0.009, 0.9993, 0.1513, 1.6138, 0.8192, -0.0826, -0.8566, -0.7403, 0.997]\nstate[eef_state]: left_x=0.2915 left_y=-0.0003 left_z=0.1578 left_yaw=-0.0002 left_pitch=-0.1827 left_roll=0.0041 left_gripper=0.9993 right_x=0.3398 right_y=0.1904 right_z=0.1002 right_yaw=1.2115 right_pitch=0.0399 right_roll=0.0112 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -2.3043, 6.7077, 1.6532, -0.0611, -0.0562, -0.0171, -0.2393, -7.1726, 5.4359, 1.3846, -0.3932, 0.1587, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e12b1f1073adb1efb25e45f9062468a11d46f04b5e2a406ba96bc1b9cd79c0c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3eed8c078b837b5dfc9fad9e75fac15ed662dedcf93409aadc12228694f6c0c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76d5ab9d3656b7edd743be8651249d98b653c32ea0ad0c0bde3c90e98630c49c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016ETunZNVB4MmwpBRrMAJEk",
      "input": {
        "note": "Arm won't travel further left with the wrist twisted 1.2 rad—looks like a wrist limit. Reducing yaw to 0.5 (the lemon is now farther from the bowl) and moving above the lemon.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.25,
          "right_yaw": 0.5,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_016ETunZNVB4MmwpBRrMAJEk",
      "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]: [-0.0219, 0.9173, 0.6975, -0.5358, -0.0135, -0.009, 0.9993, 0.1513, 1.6138, 0.8185, -0.0788, -0.8455, -0.7395, 0.997]\nstate[eef_state]: left_x=0.2914 left_y=-0.0004 left_z=0.1577 left_yaw=-0.0005 left_pitch=-0.1831 left_roll=0.0038 left_gripper=0.9993 right_x=0.3413 right_y=0.1894 right_z=0.0993 right_yaw=1.2043 right_pitch=0.034 right_roll=0.0051 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -1.9761, 7.0769, 1.536, -0.0415, -0.0708, -0.0122, -0.1299, -6.9675, 5.5043, 1.3553, -0.4811, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d2cd3797b86230349d0dba60b425278a773c34fc386fd2b8ba105f6e7ead2df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:babf0f0b57d4b9057740179de28110edd7591d1a5276057745d2600170df6eb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eadd141b09d0d0a97b564346c439d34e799be054a578b4d8650ea293e3e7aa21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 6.926 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.9112, 0.6945, -0.5236, -0.0139, -0.009, 0.9993, 0.1501, 1.6554, 0.8337, -0.1299, -0.8951, -0.8463, 0.997]\nstate[eef_state]: left_x=0.2927 left_y=-0.0004 left_z=0.1603 left_yaw=-0.0002 left_pitch=-0.1678 left_roll=0.0037 left_gripper=0.9993 right_x=0.3327 right_y=0.1934 right_z=0.0896 right_yaw=1.288 right_pitch=0.0334 right_roll=-0.0001 right_gripper=0.997\nstate[joint_eff]: [0.1573, -2.0855, 9.6205, 1.6825, -0.022, -0.0562, -0.0122, -0.1983, -6.694, 6.0513, 1.3358, -0.3492, 0.1099, -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]: [-0.0219, 0.9173, 0.6975, -0.5354, -0.0139, -0.009, 0.9993, 0.1513, 1.6138, 0.8192, -0.0826, -0.8566, -0.7403, 0.997]\nstate[eef_state]: left_x=0.2915 left_y=-0.0003 left_z=0.1578 left_yaw=-0.0002 left_pitch=-0.1827 left_roll=0.0041 left_gripper=0.9993 right_x=0.3398 right_y=0.1904 right_z=0.1002 right_yaw=1.2115 right_pitch=0.0399 right_roll=0.0112 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -2.3043, 6.7077, 1.6532, -0.0611, -0.0562, -0.0171, -0.2393, -7.1726, 5.4359, 1.3846, -0.3932, 0.1587, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.9173, 0.6975, -0.5358, -0.0135, -0.009, 0.9993, 0.1513, 1.6138, 0.8185, -0.0788, -0.8455, -0.7395, 0.997]\nstate[eef_state]: left_x=0.2914 left_y=-0.0004 left_z=0.1577 left_yaw=-0.0005 left_pitch=-0.1831 left_roll=0.0038 left_gripper=0.9993 right_x=0.3413 right_y=0.1894 right_z=0.0993 right_yaw=1.2043 right_pitch=0.034 right_roll=0.0051 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -1.9761, 7.0769, 1.536, -0.0415, -0.0708, -0.0122, -0.1299, -6.9675, 5.5043, 1.3553, -0.4811, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d2cd3797b86230349d0dba60b425278a773c34fc386fd2b8ba105f6e7ead2df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:babf0f0b57d4b9057740179de28110edd7591d1a5276057745d2600170df6eb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eadd141b09d0d0a97b564346c439d34e799be054a578b4d8650ea293e3e7aa21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxggKEAgSGAI4AUIIdGhpbmtpbmcSDOO6m1WK8zZR19al4xoMPfnfq3hcQD9XX82lIjA61NJBjgcFpvU8CkfsrYmlqEOW+Ltg1txGeZM5250fw0icLTWJdA0etroHkpLp0fUq4weRjdDEwocVMQOhNH2oMI8+0NmmElEiuSY9caHD3fFMus+tGlq8Lt+JgB7edUn6GfUSyc379v1uIa7eQbvvucG1RXFCBBqHOgSQu08yTVvHlNzEjV4H29wiR3kXFC3SQPT9xNjSrNyDgpV/+1X5F5DrFRRv0MI6suZIeXDeVQSIW1qBtpsTjEW0OBrNHrFVDTwU8Miaj358+n7odmcYyzQ/ePr5Nyb0bHHU9x/HLonTl0zgvxq37smArTuNU3Wo17rRJprmIZa9fO0xl3HuAeeuZU5UAnw22uiKaqXtaNVItGRXeXbCpkJ2a1OlpwrtFBcn1Bpqjxcb/sO9yXt66XyqFxSrRXWO59hge/UnjpD/X0ZY8Qb74VpUmmdun29vGabSYt5A/ejUalDjjDKjvKZHX7xIbLKWihDn6YBHhGZ9bN+qeeKHL6hw4GayDL7Z8kvVkbHn3AMoAu5SaZtxK1nev5aSDbLXQs3omVM+6cJb70YqthErf9WxjtkhM9t6+iR1MI+AQ31DUPOxgCEbQGEMZRqiebxQy3skFHQYrO+BgA4HNoYP+ponOs13/MU9ZQ0GMdRjQATOot8IxOOxiNHYDgdAg0ZRzvN595c2Xe2Vq1FFC2Y6e1+cl+BRPuq8iYUi8BsJuFObpbZCA3zprS8hc9oDIkuK0xn+vqQ52NrMSRJrf3ZT9NipW+EGJsKFHsQr9MgTPsomb3jld0XDBzw46NeZwViIm8laTQWEAEUp2sbaYW1rQerQOLPw4mqXRn1E4s2VFX3uFDYstALrBWqV6O+TXad6/PYhi3uHjdU0qEwOYzMiqK4y8qa63qhYGABHn4DYRVmJKiUNPLs4yeoKOUKFzevMsP8XnSKic4oOoU92J8+MGzgi64/mTEcCoFwj4XMZKJPACCEzD2AxBjLQJkqnuIgM8l7Ew9ox9OGiouVAutrp6r2DBQTj2+rfO0u34vfOwZ8fKyWkyRvcxP9saGD4CON55jNN3TEm3066Jn2wMFF0pWSSKI/4HZBedzkuvCRvh1WWY9DLA/++yce+kfLzINR6G99F8MeHtrKfgVIWWiryWfzaFWmJV/nnyiCiuxvXp2xNDYiZXCT8dWhmoeJvIa3DB5WEfVQbCZWmrG1dsJF50hznsThUtc1dzYW/BK4F2f1+7rgRDPChhrl5YR8pmQMGJGSCj4W+4IQfqBdF0FaY/Faj4zVArZxBHdagpbltbPM2J2LOpNV4rrkJosvGFVpPb4sG8Qi3TvGJ7iReAyxJZL21S1hmZMCJfeq3SIR9tWrHDGpeWrQVqvdXGGTkaHyMx1HF3AOo9rBr5afZxhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QCMCGH7ngPuha9WZebCtEi",
      "input": {
        "note": "Right arm ignored the last command (IK likely holding). Trying a small step: same position, a bit higher, and yaw reduced from 1.2 to 0.9.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.19,
          "right_yaw": 0.9,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01QCMCGH7ngPuha9WZebCtEi",
      "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]: [-0.0219, 0.9207, 0.6971, -0.5377, -0.0139, -0.009, 0.9993, 0.2321, 1.5188, 0.7197, 0.0109, -0.7456, -0.6502, 0.997]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1563 left_yaw=-0.0001 left_pitch=-0.1888 left_roll=0.0042 left_gripper=0.9993 right_x=0.323 right_y=0.2032 right_z=0.1003 right_yaw=1.1726 right_pitch=0.0193 right_roll=-0.0306 right_gripper=0.997\nstate[joint_eff]: [-0.1846, -2.2359, 6.8991, 1.5995, -0.0611, -0.022, -0.0122, 1.2239, -7.8017, 7.5145, 1.9072, -0.3053, 0.1245, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fefada7ed7bafda440083c4165ff03b737a9228a403ad225d31a3ce923dd146",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a13b80513672c46fdea877d928f410002871057607aa1d6cd8c2a46423c3fd08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9828cdc49ef3c201d4c762b2465be9e4353a74e25ab382fbcfc9ded5790bcd1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 4.617 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]: [-0.0219, 0.9173, 0.6975, -0.5354, -0.0139, -0.009, 0.9993, 0.1513, 1.6138, 0.8192, -0.0826, -0.8566, -0.7403, 0.997]\nstate[eef_state]: left_x=0.2915 left_y=-0.0003 left_z=0.1578 left_yaw=-0.0002 left_pitch=-0.1827 left_roll=0.0041 left_gripper=0.9993 right_x=0.3398 right_y=0.1904 right_z=0.1002 right_yaw=1.2115 right_pitch=0.0399 right_roll=0.0112 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -2.3043, 6.7077, 1.6532, -0.0611, -0.0562, -0.0171, -0.2393, -7.1726, 5.4359, 1.3846, -0.3932, 0.1587, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.9173, 0.6975, -0.5358, -0.0135, -0.009, 0.9993, 0.1513, 1.6138, 0.8185, -0.0788, -0.8455, -0.7395, 0.997]\nstate[eef_state]: left_x=0.2914 left_y=-0.0004 left_z=0.1577 left_yaw=-0.0005 left_pitch=-0.1831 left_roll=0.0038 left_gripper=0.9993 right_x=0.3413 right_y=0.1894 right_z=0.0993 right_yaw=1.2043 right_pitch=0.034 right_roll=0.0051 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -1.9761, 7.0769, 1.536, -0.0415, -0.0708, -0.0122, -0.1299, -6.9675, 5.5043, 1.3553, -0.4811, 0.149, -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]: [-0.0219, 0.9207, 0.6971, -0.5377, -0.0139, -0.009, 0.9993, 0.2321, 1.5188, 0.7197, 0.0109, -0.7456, -0.6502, 0.997]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1563 left_yaw=-0.0001 left_pitch=-0.1888 left_roll=0.0042 left_gripper=0.9993 right_x=0.323 right_y=0.2032 right_z=0.1003 right_yaw=1.1726 right_pitch=0.0193 right_roll=-0.0306 right_gripper=0.997\nstate[joint_eff]: [-0.1846, -2.2359, 6.8991, 1.5995, -0.0611, -0.022, -0.0122, 1.2239, -7.8017, 7.5145, 1.9072, -0.3053, 0.1245, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fefada7ed7bafda440083c4165ff03b737a9228a403ad225d31a3ce923dd146",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a13b80513672c46fdea877d928f410002871057607aa1d6cd8c2a46423c3fd08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9828cdc49ef3c201d4c762b2465be9e4353a74e25ab382fbcfc9ded5790bcd1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQsKEAgSGAI4AUIIdGhpbmtpbmcSDJGDQL3Yyso5YHW9ThoMwGfReA+ZQfidiSpyIjCSrR7IOYwg+HbLWNzVafxl4TmNnaxE1nJW6URuW7kaylzOvos0A/OtqCp0IS6Oma4qsgrtwO8T6EyRHfTSyCd7A9WS9e8bqH4S85awFF0EqtPoa7Hb1Yc17SkMU/cgaxJiSgUtGT0Ob1DqIiHdpA2blwC5gqI4UC6w6cEW3/3BPKZqZe/Mvvh+HwEvmjwYCW0KuqtaJ2m5Ti0KM2ZZ8IKd83FcqmUvmD3XoheJNg4niGiKE9d4MptwHz0hIF0THCCWyuuau1l8YXPi6FrNC9ppO1VykeYIIbpH04oAvE3Lq9vb2zfMiNY0Up6c5++ilJkwsI+DJK30FvnbJWG/M+j7fl7n5ZNO3wG9HHdtxc7oFd8LJma0SVeFlZJKFVpTpqnc3Jbfp87NoAMn9y+AA40JGh403q4AM0s3u4k4q0S4+hOa58ZmAFXHFNsubjbmE2NHxLcfv4sYNgwGhp8Q75qdpJYPL81TqOcQphR9ZK6rwUmG7zzbjhfYqksKLKupl5WZXRIkdP8NT0CEG9m5Lz+MqYUP0o+TtHgViXOwjQytmr0PMnDQY2wSmCKE0xc6xgIpZd4ouDyE19BvKRhWb/2oriQCs8qLmJMz8kfxAfeavlQnEtCf+NfHkqvAq4OGk5pEdaAzpexrm/9irNB+NdnluaHlstl7OiflK/s+AUJjvHW590b547dQ3NCKyAlyEFVDzHe+sRGZi8q0Uao8PKfg7m0FF+Ate1O1N/0ibR0PvaihLoiKyqeeCMkbbFwpcTF5q+xrPvya671E8ObZMsxovsanuym9io2y89nY0n0JjPhNTm2SCoUBtdJxJy6Vk/uiPdfdf8gohe5oZqIStVgny95jrovXPmDivChv9yAqu9CDNgrURkzL/6w2P6MkPq1iuPn/vf/iGxopoxJ6fr+Z5VgLuPIdzauIRsrfhpglul1ewtQ01iR0EWxnhQi1hYDbSBUeM7oQxPIIBgYNTBxCFPm3ZHHZHJh5jgmTzlJeR/pV8y/dS98zee/q4Y1BNalvmOy2v0qXyG9a2Wzo/cj4C6L+26zkk1Yzb+saIVAOIr42mLTVxIM5MruZ8UUkVgZZcVF9zgS1u99EhXKWT/LYrploRhVxyS6y3WbAZ6Qswni+TXZhdUEENuThhO3DengG9lgl+vvOryntCAnA4rG7ws/1tv7Ho/1fFuspW2etuJZGbXGoUyOAhQrD4ELhi9T8SxgOzlDHRhFFo+BTf5zlf/Qdj1JPoia62tu6e0OPID7Gw20qBr5mJDHmPCkzEyIFxlcesY6TzOZcoDK3IYvYcEZ9q8lYi9/lcEoYQZT1ebUbXJvsa1Z3mnAnKA3NdjjLyDRSBA4wtlfIhj8HGdtqoU9Lm3Ezs+E3VoCLxvTTr3BG/2GfrlX/iXG+l+HzZZ/7lfIP+UMqSXXYRhMQfrr8xRXjLF8MPZzcwuDpkgTl7XDazA0qHwDTcGGxcJLZ4slC5muyXayOwzfV243ZpFHD4jwajV4WG4M9UUurkXL24fFMYSSmVDLpw1eFx9+crnHXzlV5U0uaeMO+cDsdQm7WcZOXdTuhXmfVVluqEoWjB6/4VdnxNYK460EoRn56wrTKZr/ogJesILbU4c60ho1c5SNm2kn14+kODd08j1XA7Spuil5xt509V4CHV9jl/NzemSLgkXT3pZLX9sngmjy+tm5KYAtMDz0Jv6H8VxU4gX21hl5l+KdBkuKyo8kolcz8QLlmtMPYobFzOrw9nCd4zk7f5SWhXPRXwzCVbe1Veh0hwA6OTBl5k5RAA+STqcCiRG3ordeAun5IpYqKd0YBJ394J3EeTAwk1qnljs4FqxXTZUgTGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Afq37Q7212qWGLcF94tfRi",
      "input": {
        "note": "Yaw changes are being rate-clamped, so I'm holding the current yaw (1.17) and moving only position toward the upright lemon, which sits ahead-right in the wrist view.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.25,
          "right_yaw": 1.17,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Afq37Q7212qWGLcF94tfRi",
      "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]: [-0.0219, 0.9264, 0.6971, -0.5468, -0.0139, -0.009, 0.9993, 0.3229, 1.742, 0.8711, 0.1009, -0.6727, -0.5674, 0.997]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1531 left_yaw=-0.0001 left_pitch=-0.2037 left_roll=0.0045 left_gripper=0.9993 right_x=0.3606 right_y=0.2405 right_z=0.0786 right_yaw=1.1673 right_pitch=-0.0081 right_roll=-0.0069 right_gripper=0.997\nstate[joint_eff]: [-0.335, -2.4684, 7.0085, 1.6239, -0.0562, -0.0611, -0.0122, 0.4171, -8.1983, 7.2137, 1.453, -0.2662, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32353081d25ccb9203f1a154114595b3a4a7574032a019d33fefc371779b92b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f8d9b96fe273a41a305e29707e1b66d46d7f6165c9b4c2d500c1ff7134ddc3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34e49272f6c6c9825a3ee04062d52eeb1cdd84ebb58bfcbab513cbfd83f18e67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 8.556 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]: [-0.0219, 0.9173, 0.6975, -0.5358, -0.0135, -0.009, 0.9993, 0.1513, 1.6138, 0.8185, -0.0788, -0.8455, -0.7395, 0.997]\nstate[eef_state]: left_x=0.2914 left_y=-0.0004 left_z=0.1577 left_yaw=-0.0005 left_pitch=-0.1831 left_roll=0.0038 left_gripper=0.9993 right_x=0.3413 right_y=0.1894 right_z=0.0993 right_yaw=1.2043 right_pitch=0.034 right_roll=0.0051 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -1.9761, 7.0769, 1.536, -0.0415, -0.0708, -0.0122, -0.1299, -6.9675, 5.5043, 1.3553, -0.4811, 0.149, -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]: [-0.0219, 0.9207, 0.6971, -0.5377, -0.0139, -0.009, 0.9993, 0.2321, 1.5188, 0.7197, 0.0109, -0.7456, -0.6502, 0.997]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1563 left_yaw=-0.0001 left_pitch=-0.1888 left_roll=0.0042 left_gripper=0.9993 right_x=0.323 right_y=0.2032 right_z=0.1003 right_yaw=1.1726 right_pitch=0.0193 right_roll=-0.0306 right_gripper=0.997\nstate[joint_eff]: [-0.1846, -2.2359, 6.8991, 1.5995, -0.0611, -0.022, -0.0122, 1.2239, -7.8017, 7.5145, 1.9072, -0.3053, 0.1245, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0219, 0.9264, 0.6971, -0.5468, -0.0139, -0.009, 0.9993, 0.3229, 1.742, 0.8711, 0.1009, -0.6727, -0.5674, 0.997]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1531 left_yaw=-0.0001 left_pitch=-0.2037 left_roll=0.0045 left_gripper=0.9993 right_x=0.3606 right_y=0.2405 right_z=0.0786 right_yaw=1.1673 right_pitch=-0.0081 right_roll=-0.0069 right_gripper=0.997\nstate[joint_eff]: [-0.335, -2.4684, 7.0085, 1.6239, -0.0562, -0.0611, -0.0122, 0.4171, -8.1983, 7.2137, 1.453, -0.2662, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32353081d25ccb9203f1a154114595b3a4a7574032a019d33fefc371779b92b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f8d9b96fe273a41a305e29707e1b66d46d7f6165c9b4c2d500c1ff7134ddc3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34e49272f6c6c9825a3ee04062d52eeb1cdd84ebb58bfcbab513cbfd83f18e67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9gcKEAgSGAI4AUIIdGhpbmtpbmcSDD1AIALW/Rag7MdkWRoMAPmX6Ik8gG6I12zSIjDuvQaB9esjSjP+dhNO+rdZjIsJ8z3JbMxUuC1NfEtFRCEJ1lY+JwfoxkEa6IvRcMQqkwdEeQJojVcY74WD8nP0m0GGr7L9Mu7NZ45oZeda7yD0i1Dh01aiujhJVtDcyfHS8/isFFphQcp30mue2HmpYErSJPcIB89zXjxdZ0PXwn2E5c4EBC9C0up3htBUw2p1CHsWtBLWBtNGe5A5aZFgpVSPH+DOZz6zo5OxSWJozQ/P/nOHu5/Yg1Enc9ElUhxRWrEhvIS2zX4FYuU5XkhfwIlzbhUKr2YHAkRfAWPvm3sxYz5WWr3OuftQ4qpSApbawsf2uE4SyUp2wcwOsi59juywucYsQ5uC/BqMt8gOji0q8EEmArNPm1e5ioBkqeOdC7569JzqmwgwQ9MPWlTJPUVQEDCZ4kdTHX7QOrkpEE/YhHZLS2majlAMNaGyfdqxBHbXexvCALm8q0SQUt+otzWFwsY8YAMDnhajDO4da7MKoZNHIn1f3YGEmTMe1ubUSKxCh2ljF7X3ntkfHEY9fkzGkSftpivncLWvMGY1MWIpUhz51e+wP1R9HWcw0YZWk6fZGCaRsWaY4eWsB/YCiyPzEpyjOuYWV78jn0y2zBYcQWtc0dZj5+8N1M859cLzZaj1ltA7jRamB92DxCheBToFV0z/H9lFJJ9FN/mBB7EkkD5l5XjNz3Aj+mfsxcczcbVJLic4vYzr48pJGs2qRlT55pNAcGXonJd8lTTnbEa22mylq8ihZfXSyqHNpvbU2Pu4rmGqH7zdN2Ejyez8+e9y4E/DoXJuaqGR7pJ+BTNjlRMsKP1YbMyXaip1mz7+tqkF52uJjDbESPZ4Bhc7LPfdcQH2iGrvmf9oDW/FNjOr8Tz4iaqPECSYj6pVb3jdyylcfA6HN3fBW6LQ8X+W0sNTClam0ngRHCMhVYmy/34wFzp/w3mXsuOhHOa2BNKsXOfPDqMr+6iTamPgKQW4pU11cue4tD0IlY2vFiDJoXP4mwGCJnJ+CfPbp9VyeyYALDAMySEBaRD13YjjRXw92GvPux3fPLVWHhv+DSmy/FiDHqYrF3L44PNV20oUauL7eOL/yT2xgu05YKi7dlp8YvcDUVcTT1YczD02qo06toWNi+YROs2C0hd7EL0i95pGAv93XtGyPRq4C5/nRZWENVausBVKYD67Lr4PZO1wykyUZO1p+5dPbVCdmNCCjvK8cvuwU+9NcYGxi++P5i4iGpeC4jDJFQ81iTrNnAIINf/EIGUSQLJKGMO6BwVsm7g55y9Z2BgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RwKM8mRT67pwRdnyiksV8F",
      "input": {
        "note": "Lemon is just right of the jaw column and slightly ahead in the wrist view; shifting ~2 cm forward/left and descending to grasp height.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.26,
          "right_yaw": 1.17,
          "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_01RwKM8mRT67pwRdnyiksV8F",
      "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]: [-0.0219, 0.9268, 0.6971, -0.5468, -0.0135, -0.009, 0.9993, 0.3405, 1.7504, 0.8978, 0.1078, -0.6659, -0.5648, 0.997]\nstate[eef_state]: left_x=0.2899 left_y=-0.0004 left_z=0.153 left_yaw=-0.0004 left_pitch=-0.2041 left_roll=0.0043 left_gripper=0.9993 right_x=0.3651 right_y=0.2489 right_z=0.0852 right_yaw=1.1784 right_pitch=0.0052 right_roll=-0.0265 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -2.0444, 7.2684, 1.5311, -0.0269, -0.0708, -0.0122, -0.4444, -8.0615, 6.7624, 1.5897, -0.2808, 0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c40bbc8042c71f893a8230fa4aae053431f3143d92461c75069f4e6c114de5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d524684f765330d59026c6d2b57a4da0441da5b16078790af0d0e1d1c9083d25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:67aba795014cd13f9c9c700209ca364415db1df85bbcccf5e8035b9b435bbc34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 4.575 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]: [-0.0219, 0.9207, 0.6971, -0.5377, -0.0139, -0.009, 0.9993, 0.2321, 1.5188, 0.7197, 0.0109, -0.7456, -0.6502, 0.997]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1563 left_yaw=-0.0001 left_pitch=-0.1888 left_roll=0.0042 left_gripper=0.9993 right_x=0.323 right_y=0.2032 right_z=0.1003 right_yaw=1.1726 right_pitch=0.0193 right_roll=-0.0306 right_gripper=0.997\nstate[joint_eff]: [-0.1846, -2.2359, 6.8991, 1.5995, -0.0611, -0.022, -0.0122, 1.2239, -7.8017, 7.5145, 1.9072, -0.3053, 0.1245, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.9264, 0.6971, -0.5468, -0.0139, -0.009, 0.9993, 0.3229, 1.742, 0.8711, 0.1009, -0.6727, -0.5674, 0.997]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1531 left_yaw=-0.0001 left_pitch=-0.2037 left_roll=0.0045 left_gripper=0.9993 right_x=0.3606 right_y=0.2405 right_z=0.0786 right_yaw=1.1673 right_pitch=-0.0081 right_roll=-0.0069 right_gripper=0.997\nstate[joint_eff]: [-0.335, -2.4684, 7.0085, 1.6239, -0.0562, -0.0611, -0.0122, 0.4171, -8.1983, 7.2137, 1.453, -0.2662, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.9268, 0.6971, -0.5468, -0.0135, -0.009, 0.9993, 0.3405, 1.7504, 0.8978, 0.1078, -0.6659, -0.5648, 0.997]\nstate[eef_state]: left_x=0.2899 left_y=-0.0004 left_z=0.153 left_yaw=-0.0004 left_pitch=-0.2041 left_roll=0.0043 left_gripper=0.9993 right_x=0.3651 right_y=0.2489 right_z=0.0852 right_yaw=1.1784 right_pitch=0.0052 right_roll=-0.0265 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -2.0444, 7.2684, 1.5311, -0.0269, -0.0708, -0.0122, -0.4444, -8.0615, 6.7624, 1.5897, -0.2808, 0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c40bbc8042c71f893a8230fa4aae053431f3143d92461c75069f4e6c114de5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d524684f765330d59026c6d2b57a4da0441da5b16078790af0d0e1d1c9083d25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67aba795014cd13f9c9c700209ca364415db1df85bbcccf5e8035b9b435bbc34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q1no2CDDaHiJyfdUKcKAFn",
      "input": {
        "note": "Descents keep stalling; I suspect the gripper body (which trails toward the bowl at this yaw) is hitting the tall pear. Lifting and turning back toward yaw 0 so the body trails toward the base instead.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.27,
          "right_yaw": 0.3,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Q1no2CDDaHiJyfdUKcKAFn",
      "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]: [-0.0219, 0.9295, 0.6971, -0.5549, -0.0139, -0.009, 0.9993, 0.3405, 1.7504, 0.8978, 0.1081, -0.6659, -0.5644, 0.997]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1509 left_yaw=-0.0 left_pitch=-0.2147 left_roll=0.0048 left_gripper=0.9993 right_x=0.3652 right_y=0.2489 right_z=0.0853 right_yaw=1.1782 right_pitch=0.0055 right_roll=-0.0265 right_gripper=0.997\nstate[joint_eff]: [-0.1162, -2.2769, 7.0085, 1.5946, -0.0513, -0.0757, -0.0171, -0.1162, -8.0479, 6.7624, 1.5897, -0.2906, 0.0952, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71e32633587b8d7b7b7ec0dc4564ad6bd756bcac4b8d36970ad47e1541e7797e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0926137fa99e4d5afacdc26ed35791ca63b21e12d329313686429275d10dc059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:052a349188965b04a1d4a51703419eadf9db1005053157ec164b460c5e9111c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 5.752 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]: [-0.0219, 0.9264, 0.6971, -0.5468, -0.0139, -0.009, 0.9993, 0.3229, 1.742, 0.8711, 0.1009, -0.6727, -0.5674, 0.997]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1531 left_yaw=-0.0001 left_pitch=-0.2037 left_roll=0.0045 left_gripper=0.9993 right_x=0.3606 right_y=0.2405 right_z=0.0786 right_yaw=1.1673 right_pitch=-0.0081 right_roll=-0.0069 right_gripper=0.997\nstate[joint_eff]: [-0.335, -2.4684, 7.0085, 1.6239, -0.0562, -0.0611, -0.0122, 0.4171, -8.1983, 7.2137, 1.453, -0.2662, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.9268, 0.6971, -0.5468, -0.0135, -0.009, 0.9993, 0.3405, 1.7504, 0.8978, 0.1078, -0.6659, -0.5648, 0.997]\nstate[eef_state]: left_x=0.2899 left_y=-0.0004 left_z=0.153 left_yaw=-0.0004 left_pitch=-0.2041 left_roll=0.0043 left_gripper=0.9993 right_x=0.3651 right_y=0.2489 right_z=0.0852 right_yaw=1.1784 right_pitch=0.0052 right_roll=-0.0265 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -2.0444, 7.2684, 1.5311, -0.0269, -0.0708, -0.0122, -0.4444, -8.0615, 6.7624, 1.5897, -0.2808, 0.0659, -0.0122]",
      "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]: [-0.0219, 0.9295, 0.6971, -0.5549, -0.0139, -0.009, 0.9993, 0.3405, 1.7504, 0.8978, 0.1081, -0.6659, -0.5644, 0.997]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1509 left_yaw=-0.0 left_pitch=-0.2147 left_roll=0.0048 left_gripper=0.9993 right_x=0.3652 right_y=0.2489 right_z=0.0853 right_yaw=1.1782 right_pitch=0.0055 right_roll=-0.0265 right_gripper=0.997\nstate[joint_eff]: [-0.1162, -2.2769, 7.0085, 1.5946, -0.0513, -0.0757, -0.0171, -0.1162, -8.0479, 6.7624, 1.5897, -0.2906, 0.0952, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71e32633587b8d7b7b7ec0dc4564ad6bd756bcac4b8d36970ad47e1541e7797e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0926137fa99e4d5afacdc26ed35791ca63b21e12d329313686429275d10dc059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:052a349188965b04a1d4a51703419eadf9db1005053157ec164b460c5e9111c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrAgKEAgSGAI4AUIIdGhpbmtpbmcSDM41jshns9p1jiX0BxoMQtkT/7EWQAU77hSdIjBIsgLfFhyrd3JoUMaQAhrmdNvvyGU/x6HWOdHeIKLLQTfD0D7391DlP0Djkff6DGgqyQeJoBhNZbyu0Gga4UHFKQ5ItixtWxZsI5nMr3HApZLxQerfIwUNNNxvpanQCeK06XUZ8aF93ZXuNBoH/gmeRnL9wfzFXLKs+qgsQa+tGt8Ir2r0LQn8TnNerADV/gUatrJkG3G+Bbr1E+GIXLmusv/AdXcFHxdMHG+Wh5ZlSj486l+Gw8YLmKjJizr2QYeodcTIC95Kvza+h5FRtq0cgfQnF+Ev+vR5Ys9+cPrWo9qx8Cq7VP1XSpC3h7qWU1D8aK6e5zgUmWtVBJAdrsoEyeGo5phsb6IKZB/LIbyUIPJVlgAUC0oQbc3OOk8Prt6gyJxnkPPAYuCPYEhRXDGU5pn/oUt7+FmHXxIuE26O8yuHTUeWX0kP/gejnqQNrmn0AgFygQVo5wmgVZkSoKaYB/lgkhvBn39BvrgGdgaB/Vy8LFdKlA6ZQov37+sEkEVoY03VfCf8LXiA6zmcoA4YcLspzd7u3WEv0G+QKZ/HbmXpMsKaQg2onzhzEvR6jFFaizzpvMx5SaZxeOne6UNxrQmRfT58jsJXAR1wTDmpN4eCMPOA/29oiSbIEi/UYbpjcrPyOJlrkQVwbNP3uYwRA/lXNK6nSUA2lffJ5cRG6mAjIMTLNNalz6aZ4WbFeXuValPyF33ksH57dmvrRJ7iQuPW9gXtoGWjumYw4vPIWejWMpj7gp9q3NUQnQLFVkUyx6M3fC3w/YMWoTLpdOZIRj1brsw6/H5EUtU82s63Gcbxtp+SAOH/Ab5LemUiU8p6XHEeX9K/781j4c8g8FVdgPTiwqnhZJ1ugU5Vk4Jy+JZ+SOmfcfKXPA79Ot1rtMhx5JnYl3Yc5QwSESpoHGjlvSSEagacrV1QeP+kGT1hrT52kthYtjhPa0FkeyT7s2wW95FYVjJX2hmbb6+6hjgcMh4W0ZppuArVUirRYiZ94oRhIpya3vCOxfx4p2ht7/fuPqStl0uAheiXQNK3OMYt/Sk8yHhTjTn3+EqS9vNcEQqlQNYM6bJCNBT9VbtEOdPoHqLBRmxdbc1OhOfiyYBcMdQ2vCh8LGzBMIyoy3wlFi4FN8WSmmjFmT2XXq2nLJyfCSPIuwmN8bqCJqVgPCPkogFmcq0IwjPJkaW/xUY07fiH7NYrLBSHPUO2UHgCiWfPlAtPv/EOQ+7f/esoWj/wHJspkHEMxWVfK/j61HW+y3xfffrcFxSAXx4pB0wXL/YWOcSKgaErVC5jf3JRUhSlKobbkzVURUr7b1RsGFazeBwQ8udiWOBJGKn1Ykunb8qNYh7hllG1PIkprgcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012go4jttyg1eTruDQnvqT4i",
      "input": {
        "note": "Big yaw changes appear to freeze the arm entirely. Doing a pure lift with only a tiny yaw change to clear the pear.",
        "targets": {
          "right_yaw": 1.1,
          "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_012go4jttyg1eTruDQnvqT4i",
      "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]: [-0.0219, 0.9333, 0.6971, -0.5583, -0.0139, -0.0086, 0.9993, 0.3557, 1.6287, 0.9783, -0.0391, -0.5907, -0.4969, 0.997]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1493 left_yaw=-0.0002 left_pitch=-0.222 left_roll=0.0052 left_gripper=0.9993 right_x=0.3713 right_y=0.2467 right_z=0.1372 right_yaw=1.101 right_pitch=0.0104 right_roll=-0.0431 right_gripper=0.997\nstate[joint_eff]: [-0.1299, -2.1538, 7.0222, 1.5409, -0.0171, -0.0415, -0.0122, 0.6222, -9.5795, 8.1709, 1.4921, -0.1978, 0.0904, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c04c4a72973686210ade6ebe619ef49c2bc6ca8303a2008abf89e4ab793ebaeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1d57ed03e899f86722900236b9ca62271e613afacdaeb70bce72d27a69777de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:96bd3fc60988aa8edf7504da5e47535825c3fb848bda6bcf9ebcff783815b7a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 6.889 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]: [-0.0219, 0.9268, 0.6971, -0.5468, -0.0135, -0.009, 0.9993, 0.3405, 1.7504, 0.8978, 0.1078, -0.6659, -0.5648, 0.997]\nstate[eef_state]: left_x=0.2899 left_y=-0.0004 left_z=0.153 left_yaw=-0.0004 left_pitch=-0.2041 left_roll=0.0043 left_gripper=0.9993 right_x=0.3651 right_y=0.2489 right_z=0.0852 right_yaw=1.1784 right_pitch=0.0052 right_roll=-0.0265 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -2.0444, 7.2684, 1.5311, -0.0269, -0.0708, -0.0122, -0.4444, -8.0615, 6.7624, 1.5897, -0.2808, 0.0659, -0.0122]",
      "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]: [-0.0219, 0.9295, 0.6971, -0.5549, -0.0139, -0.009, 0.9993, 0.3405, 1.7504, 0.8978, 0.1081, -0.6659, -0.5644, 0.997]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1509 left_yaw=-0.0 left_pitch=-0.2147 left_roll=0.0048 left_gripper=0.9993 right_x=0.3652 right_y=0.2489 right_z=0.0853 right_yaw=1.1782 right_pitch=0.0055 right_roll=-0.0265 right_gripper=0.997\nstate[joint_eff]: [-0.1162, -2.2769, 7.0085, 1.5946, -0.0513, -0.0757, -0.0171, -0.1162, -8.0479, 6.7624, 1.5897, -0.2906, 0.0952, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0219, 0.9333, 0.6971, -0.5583, -0.0139, -0.0086, 0.9993, 0.3557, 1.6287, 0.9783, -0.0391, -0.5907, -0.4969, 0.997]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1493 left_yaw=-0.0002 left_pitch=-0.222 left_roll=0.0052 left_gripper=0.9993 right_x=0.3713 right_y=0.2467 right_z=0.1372 right_yaw=1.101 right_pitch=0.0104 right_roll=-0.0431 right_gripper=0.997\nstate[joint_eff]: [-0.1299, -2.1538, 7.0222, 1.5409, -0.0171, -0.0415, -0.0122, 0.6222, -9.5795, 8.1709, 1.4921, -0.1978, 0.0904, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c04c4a72973686210ade6ebe619ef49c2bc6ca8303a2008abf89e4ab793ebaeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1d57ed03e899f86722900236b9ca62271e613afacdaeb70bce72d27a69777de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96bd3fc60988aa8edf7504da5e47535825c3fb848bda6bcf9ebcff783815b7a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywoKEAgSGAI4AUIIdGhpbmtpbmcSDGV2/kLS/AKgOyiYhBoMWiAvFPoGIdLzKC8IIjA7/xbrGZnYwtCh3mJTFLlAXGQOto3HxdGVOMnzvkqVrHIe3k1gEAJrR8g7e/ojnysq6Ak+v9C8LZ1wu+gNLqecrt3AtCBesujbqGo8CI/nG1BuXgyeBLHMNYEufPRs42MlDdfZrvStDeRUWwmNs5bROGfUGN+IAh+UMbDIyhsNssV6T7LNmtb8AcA+GEJblfK2U6CTDoMFoWvXR/re9fhmDmH1lF6VC7naBpWDk2Dzze9zTHDhXCLB1lIIM2TLDgqE6L3Nf06ffolAZCRD0XucOzLtMMEZrVD3DDIx/RB+YKW6IFELx8wOxfruyUEf7w9JBj6G6AhGLxAq2CCV/6tN3UnGf5RQBa3qO/QymsiArmQT5qWgBl5XTFFvqZoWgQtMWmRYGGZcn2gihTOPoQ2X/1VtNWkcAU2UaKXuKIOQE7jqFJRUAyVJe0gwFizhO1u1Avs/5vbYWNeqSdzPNk/Ej/MOjrQNCOoZZ7JeHQ+ElC1c0OHkFAb6o2H6vT414dt6DHdNqzakxVhB3PcPEfnZttiZq6uDc+jey7mMHwngrKGgrM4ermmyfAiHOWT3q/q4qj8Io0qfkD4xOpuZInGimPv/r9FVtXVmz6IzPLPPSGmMvr7/0dOkTBmIylFQ5nr/TDdMHnDVIDCixPKy4O8pFEJyfbz9uFeUvU7KmpoVt+nObH30ByVzIdE6SAy/LaD4CiaB4pzht1RFkOBzdWLm01ST4Gw1kuFcOgoQIsbWS3+jeDht2f+XkjHqFn5H7JsY/Ie9tx8I5a2xHhxnhRcN0sj5UNEBghHQHLlh8gnEOJUb1AIu0grgap1u8jtPBQC1ZSawk8vQl4oLnvW+4U4WwmT566Rt9chCVw/ZFssieqFNG8nD8pwlQ1LCMRfU+Pe/3ZtWawGCmhameXhQePTCRtRj6LvAyN3ShM474pZfPFToIuNxWQ8eJgsJtSOXC76xhwbzvm1HXCQOxnVDk1XQzwHDMTRkO9yPpLTLivlBmBlEyQNUEgOE4NnWYj7iAMaecqYPKSbDFozLT/bY7SGB7ZlZ8pxfHy+FJnWWUVschS8OSFkm6gJ69dAJnF5BAlpmDjvy0xQCWkODxquX8lQ68EGOLKbhIt7f0y1O/GzKSiPNGxdKHoUjssQTtwLAjuwZkvkeFqabwddDD8lkKlnmHw9sNxBmjzEwMKxWG7OT/rswk1oMZtp027C8+7URxyY+nAuvqlpzJo/rgNhwTWq0DWj867/US1hnmK5JLAQi1TBqXXWefmEJRB2mgUaLVlzC0FJUF5nAv+Lx4GtE5vf1WxqDzseF21nuKuWk9xvj+TwF+7X7cfqIHOltdDRJPFGenSgE7ActGwvj8hbmMA7yfEUd1GGlCAl9FXWdYNbw/pDFoHvdYIqcLvPb9jOftS4Lm0/bj1pJPQzZi2qbXcifgfaG7tp3hVyrVCAYiMpeOlRYkVKVBP9uah+6jUVrNgjya4ykrQuwrmLEbrDxZ8Y8xzh3JM5HevyCe1QeQEIZ0lOYvajzjr1rN4KFuLRobqq4Pj+CSdy3+ksNchFk6ZOTxrJ35Bdegno9zoXiAcsXuLlXxbtPzyfZnr5RdcWrKiaY4TWTKdypwutTrKpGiSd2kuLZlprwY3CxyXIXU8ZkYJSDTt8FuNIB8toaciFfy8KGgn8F0ry6M+0CUDLpIxrnv/kdO2CS5AgmyYunlSH09vNcF23aEffR22yGjI+DDy5HQ/XjD6uBACiw0BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015zG4S5WPXk3QkxL59ZCYrp",
      "input": {
        "note": "Lemon lies right between the open jaws near the bottom of the wrist view. Descending straight down with a 1 cm forward nudge.",
        "targets": {
          "right_x": 0.38,
          "right_yaw": 1.1,
          "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_015zG4S5WPXk3QkxL59ZCYrp",
      "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]: [-0.0219, 0.9333, 0.6971, -0.5583, -0.0139, -0.009, 0.9993, 0.3683, 1.6135, 0.9855, -0.1028, -0.5877, -0.4969, 0.997]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1493 left_yaw=0.0 left_pitch=-0.222 left_roll=0.0049 left_gripper=0.9993 right_x=0.3614 right_y=0.2483 right_z=0.1356 right_yaw=1.1115 right_pitch=-0.0213 right_roll=-0.0166 right_gripper=0.997\nstate[joint_eff]: [-0.1983, -2.0444, 6.9128, 1.5653, -0.0269, -0.0513, -0.0171, -0.1709, -8.9641, 7.8974, 1.5018, -0.2906, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7c3e391a3b38a0e8a1394c0f25d2ef765342746ba3a8c69c3ff589d1316f84e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:859a04ae4152c5f9779311431848f3dd7d9eb29eeb3760927a989361817a9f1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:26b0b14b8775ec3b0678bb4549b6635487caca1f9a79d01f2da41145504e8c45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 5.448 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]: [-0.0219, 0.9295, 0.6971, -0.5549, -0.0139, -0.009, 0.9993, 0.3405, 1.7504, 0.8978, 0.1081, -0.6659, -0.5644, 0.997]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1509 left_yaw=-0.0 left_pitch=-0.2147 left_roll=0.0048 left_gripper=0.9993 right_x=0.3652 right_y=0.2489 right_z=0.0853 right_yaw=1.1782 right_pitch=0.0055 right_roll=-0.0265 right_gripper=0.997\nstate[joint_eff]: [-0.1162, -2.2769, 7.0085, 1.5946, -0.0513, -0.0757, -0.0171, -0.1162, -8.0479, 6.7624, 1.5897, -0.2906, 0.0952, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0219, 0.9333, 0.6971, -0.5583, -0.0139, -0.0086, 0.9993, 0.3557, 1.6287, 0.9783, -0.0391, -0.5907, -0.4969, 0.997]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1493 left_yaw=-0.0002 left_pitch=-0.222 left_roll=0.0052 left_gripper=0.9993 right_x=0.3713 right_y=0.2467 right_z=0.1372 right_yaw=1.101 right_pitch=0.0104 right_roll=-0.0431 right_gripper=0.997\nstate[joint_eff]: [-0.1299, -2.1538, 7.0222, 1.5409, -0.0171, -0.0415, -0.0122, 0.6222, -9.5795, 8.1709, 1.4921, -0.1978, 0.0904, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0219, 0.9333, 0.6971, -0.5583, -0.0139, -0.009, 0.9993, 0.3683, 1.6135, 0.9855, -0.1028, -0.5877, -0.4969, 0.997]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1493 left_yaw=0.0 left_pitch=-0.222 left_roll=0.0049 left_gripper=0.9993 right_x=0.3614 right_y=0.2483 right_z=0.1356 right_yaw=1.1115 right_pitch=-0.0213 right_roll=-0.0166 right_gripper=0.997\nstate[joint_eff]: [-0.1983, -2.0444, 6.9128, 1.5653, -0.0269, -0.0513, -0.0171, -0.1709, -8.9641, 7.8974, 1.5018, -0.2906, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7c3e391a3b38a0e8a1394c0f25d2ef765342746ba3a8c69c3ff589d1316f84e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:859a04ae4152c5f9779311431848f3dd7d9eb29eeb3760927a989361817a9f1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26b0b14b8775ec3b0678bb4549b6635487caca1f9a79d01f2da41145504e8c45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CowiXrBfQd15e4y6c4eyZd",
      "input": {
        "note": "The gripper housing appears to be resting over the blue bowl/pear, blocking descent. Shifting 3 cm left so the housing clears the bowl, lemon still ahead of the jaws.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.28,
          "right_yaw": 1.1,
          "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_01CowiXrBfQd15e4y6c4eyZd",
      "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]: [-0.0219, 0.9333, 0.6971, -0.5587, -0.0139, -0.009, 0.9993, 0.3683, 1.6135, 0.9855, -0.1032, -0.5873, -0.4965, 0.997]\nstate[eef_state]: left_x=0.288 left_y=-0.0003 left_z=0.1492 left_yaw=0.0 left_pitch=-0.2224 left_roll=0.005 left_gripper=0.9993 right_x=0.3614 right_y=0.2482 right_z=0.1356 right_yaw=1.111 right_pitch=-0.0217 right_roll=-0.0162 right_gripper=0.997\nstate[joint_eff]: [-0.0205, -2.0308, 7.0632, 1.4921, -0.0806, -0.0659, -0.0122, -0.212, -9.0735, 7.9248, 1.4823, -0.2662, 0.105, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed300ce26f01d7e24769e0bf81bf4dc0efcc712c5146fb5ca5b474259c2c929e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60bb2a7c5589228421bcf0ce3695f404f36a80ff7189f2af06aae15cef103bb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0fa001100a07674d71bd8c3a86ffce92641323d12b62053cbdb5dcd6f751b879",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 10.47 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]: [-0.0219, 0.9333, 0.6971, -0.5583, -0.0139, -0.0086, 0.9993, 0.3557, 1.6287, 0.9783, -0.0391, -0.5907, -0.4969, 0.997]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1493 left_yaw=-0.0002 left_pitch=-0.222 left_roll=0.0052 left_gripper=0.9993 right_x=0.3713 right_y=0.2467 right_z=0.1372 right_yaw=1.101 right_pitch=0.0104 right_roll=-0.0431 right_gripper=0.997\nstate[joint_eff]: [-0.1299, -2.1538, 7.0222, 1.5409, -0.0171, -0.0415, -0.0122, 0.6222, -9.5795, 8.1709, 1.4921, -0.1978, 0.0904, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0219, 0.9333, 0.6971, -0.5583, -0.0139, -0.009, 0.9993, 0.3683, 1.6135, 0.9855, -0.1028, -0.5877, -0.4969, 0.997]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1493 left_yaw=0.0 left_pitch=-0.222 left_roll=0.0049 left_gripper=0.9993 right_x=0.3614 right_y=0.2483 right_z=0.1356 right_yaw=1.1115 right_pitch=-0.0213 right_roll=-0.0166 right_gripper=0.997\nstate[joint_eff]: [-0.1983, -2.0444, 6.9128, 1.5653, -0.0269, -0.0513, -0.0171, -0.1709, -8.9641, 7.8974, 1.5018, -0.2906, 0.0904, -0.0122]",
      "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]: [-0.0219, 0.9333, 0.6971, -0.5587, -0.0139, -0.009, 0.9993, 0.3683, 1.6135, 0.9855, -0.1032, -0.5873, -0.4965, 0.997]\nstate[eef_state]: left_x=0.288 left_y=-0.0003 left_z=0.1492 left_yaw=0.0 left_pitch=-0.2224 left_roll=0.005 left_gripper=0.9993 right_x=0.3614 right_y=0.2482 right_z=0.1356 right_yaw=1.111 right_pitch=-0.0217 right_roll=-0.0162 right_gripper=0.997\nstate[joint_eff]: [-0.0205, -2.0308, 7.0632, 1.4921, -0.0806, -0.0659, -0.0122, -0.212, -9.0735, 7.9248, 1.4823, -0.2662, 0.105, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed300ce26f01d7e24769e0bf81bf4dc0efcc712c5146fb5ca5b474259c2c929e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60bb2a7c5589228421bcf0ce3695f404f36a80ff7189f2af06aae15cef103bb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fa001100a07674d71bd8c3a86ffce92641323d12b62053cbdb5dcd6f751b879",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnAkKEAgSGAI4AUIIdGhpbmtpbmcSDMZ6UGf+YhElDwqBuxoMOvNvAu0Z90NGHLlLIjDb7263r1k29jv0pTSBSM+s47FIJXtGR/oESt4YfDS7lKlwadUquluKaboHhOXve2UquQirV1qEbq8JeFuGbArqOvc2/MUrd/ugsDyT8pYXj65J32pjM1NbwQdgqcegDwoZy3YwUN2nqj/ElI5Rr7lzn1ZpDMtDzoEIFcmWEPj6XqfOAQqESNDWfaVVexviOQIlfW91VMpK+sl3AjYfIA29sIa17LLmXq0NpTb+sPm6RFuNE8q2F5ErArYPXjOaFTkkF881wrInV1/3h0WABomjFRYswFPjVQD8vo1mnDiznIGV3RSrUiend6kERV/XIsK/a/uY2c4SUNkGWSjo9cR/1608XCVxOvJnWZK7AwqiGcVCCYJLazAFoyRL/RhruFdVjlPE4xiDF+vjIj+4hZtmlFurqdiUwiWhyMd8orJYjEkf7dNAdqSMYR9dKXsi3FMGh11G3frOacIcYvStEzjU6o1CVylh2/MKw10hvRxldu+oMv8cN3KNK/G64CyUE9zfvhTYBaKtK+yXKR5vb1Z73TSQEgAUvpzQrI2ABp3bYn9RXvHqZbKJqyB69SYDgsqajKISbtOeD8fVGaOowSHY9qqp5Pp5yJYB4L8qcIbhz1nps2F4j0ROrIP7O5dy6DjG45h7BmjBCdpZJod1GqOi53mwA0u4Sh/MxKOnEP41y2CuiCUk9XjlYSuiIG8PXfaMMdEVjqTU2UV7L218pwNlTYIJUoiv9LLZCf3dsde2vFrGbFb00lKMj+CiaGGay3BXWZWaRNlQfw0Fbq0zQuEUf940QhqU9C9tqicU4XNDp3gfSMA7HOchZYteqVUhYOklspzyUy4pjhISX8gXAqXbnrN2EvoP6vBnIPotwbMDhYfCBjOfMiwKM7XdFaFUobdChXKNlxkO1MGrU13SPGcCjaEaGHOpvp3/0CjXU7n2zoIE+2XFQhB4v82sgZfx86+6oT8d6af40ARHBmL2bezLk51nCpeacNJH3isuxsnLd+IXmDLZBMMk25tIFUiguD4Qj3fro4S6gIcUv889e0MbMyGNdjvwcrEjGdoG1zNFnYkEFh9swIBh4NKapT617NfyhH/oUKXigokTsIIBMtycLLWgTM8mH+j1mKGNcm5l7I3n/fcPMdeXtozHk40yqd45jsxGO/Njlp21IpZvbx6ljaSOfQCbt0BjXP0eQzHAT0hlENt2Nk8NPoEL5adxpjNuC9w6FKd8N0Yh3aBFYBC/yCslHO3PnElKdfasILSBayd5ocXoRmj/S1p5lRvPYFMfRBe3edrbmJ30NwGpgc7+iWHWvzQ/uH9Dag2WTw0F+EihEUGlr7sd6BVi6razjAOjubfDpKE4AXa6Rek0R2URuOvbjgLLWAtOEo68Bxh2qvSMCDlSK41tWrzCMXV27++PPNT45bjVNSW4pF+Dwoz2Uvi7SO84qbjv1L6lhmbgFFb2YPghu51ON1P4BGmMGkFl3PPsrZHwmg3p8BNaF8Zzh4qvDtPP9wppUhlBGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FnZiy54Cu1K8ckjpFX24Am",
      "input": {
        "note": "Right arm is still frozen over the blue bowl. Resending the shift-left move with the left arm re-parked too, which unstuck things last time.",
        "targets": {
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.18,
          "right_x": 0.37,
          "right_y": 0.28,
          "right_yaw": 1.1,
          "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_01FnZiy54Cu1K8ckjpFX24Am",
      "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]: [-0.0219, 0.9932, 0.7937, -0.6266, -0.0135, -0.0086, 0.9993, 0.4362, 1.7248, 0.9821, 0.0105, -0.5415, -0.4595, 0.997]\nstate[eef_state]: left_x=0.2952 left_y=-0.0005 left_z=0.1622 left_yaw=-0.0004 left_pitch=-0.2536 left_roll=0.0056 left_gripper=0.9993 right_x=0.3646 right_y=0.2744 right_z=0.1035 right_yaw=1.1242 right_pitch=-0.0423 right_roll=-0.008 right_gripper=0.997\nstate[joint_eff]: [0.0342, -2.6188, 9.2513, 1.4188, -0.0122, 0.0073, -0.0122, 0.1573, -9.0325, 5.3265, 1.8242, -0.188, 0.1148, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1314e9c4c696e8d411b7b443e852742e662bbc6cb4c29b31552c6ecbf03c0a9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3899d636c6dbbe6124c04cdee8e4ed6f88c81fccdfd9163234ff80ad915cf57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb0a3023bff31e8291a59842a4d4d97dd5f3ecf9f438c9a5d08319cfa5ee6e3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 4.921 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]: [-0.0219, 0.9333, 0.6971, -0.5583, -0.0139, -0.009, 0.9993, 0.3683, 1.6135, 0.9855, -0.1028, -0.5877, -0.4969, 0.997]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1493 left_yaw=0.0 left_pitch=-0.222 left_roll=0.0049 left_gripper=0.9993 right_x=0.3614 right_y=0.2483 right_z=0.1356 right_yaw=1.1115 right_pitch=-0.0213 right_roll=-0.0166 right_gripper=0.997\nstate[joint_eff]: [-0.1983, -2.0444, 6.9128, 1.5653, -0.0269, -0.0513, -0.0171, -0.1709, -8.9641, 7.8974, 1.5018, -0.2906, 0.0904, -0.0122]",
      "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]: [-0.0219, 0.9333, 0.6971, -0.5587, -0.0139, -0.009, 0.9993, 0.3683, 1.6135, 0.9855, -0.1032, -0.5873, -0.4965, 0.997]\nstate[eef_state]: left_x=0.288 left_y=-0.0003 left_z=0.1492 left_yaw=0.0 left_pitch=-0.2224 left_roll=0.005 left_gripper=0.9993 right_x=0.3614 right_y=0.2482 right_z=0.1356 right_yaw=1.111 right_pitch=-0.0217 right_roll=-0.0162 right_gripper=0.997\nstate[joint_eff]: [-0.0205, -2.0308, 7.0632, 1.4921, -0.0806, -0.0659, -0.0122, -0.212, -9.0735, 7.9248, 1.4823, -0.2662, 0.105, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0219, 0.9932, 0.7937, -0.6266, -0.0135, -0.0086, 0.9993, 0.4362, 1.7248, 0.9821, 0.0105, -0.5415, -0.4595, 0.997]\nstate[eef_state]: left_x=0.2952 left_y=-0.0005 left_z=0.1622 left_yaw=-0.0004 left_pitch=-0.2536 left_roll=0.0056 left_gripper=0.9993 right_x=0.3646 right_y=0.2744 right_z=0.1035 right_yaw=1.1242 right_pitch=-0.0423 right_roll=-0.008 right_gripper=0.997\nstate[joint_eff]: [0.0342, -2.6188, 9.2513, 1.4188, -0.0122, 0.0073, -0.0122, 0.1573, -9.0325, 5.3265, 1.8242, -0.188, 0.1148, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1314e9c4c696e8d411b7b443e852742e662bbc6cb4c29b31552c6ecbf03c0a9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3899d636c6dbbe6124c04cdee8e4ed6f88c81fccdfd9163234ff80ad915cf57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb0a3023bff31e8291a59842a4d4d97dd5f3ecf9f438c9a5d08319cfa5ee6e3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStgcKEAgSGAI4AUIIdGhpbmtpbmcSDDGBrCzcW8ES8+RPqBoMaxXU2OswWvRQxMhHIjBNE8lcyxlRrtxQ+nw36OUEzU+JCele9MskpCMnDW/fCJn5KtW4ipDJfYqzJjRv/wsq0waZ8mpfRSGn2FpQyANy0IzlpkSZ6pvjjBOgKais+pOJqQ8XE1/OqvXbOZf0epHvbdrv/0ZReR5wBt9QpckqsKoa56MuUVcSFrSBzeDb6nSrwqdptxkJQX7fqA0la1+vrogr1AGaUDxfIGpRWYG7sJcLx82QxQ7W9Lt5kSBLZFrWySGD7aXE4ZLm5dzcK4lewh16jV6u34PzxsUgSJKmqBFooG7cE7DjYD/Zepl0sWAzW+s/PwuhWANTc5D267xdlSVNLu1ohBGF+bm+mZCo13yCEzcLHCJqsDyAjU6IfMibmLBZMblBVKo0GZOhbm1ZG++2+gstp9eZj5jr+K1VsFtcaXSpmO4ksefJN7dQgTBAILJLEHvhLn7UzBEG4eIUEgmcB/fV9o0Kc0wKaUpdeAnmY2mU3cLeeY+Znfs5TxKNQh9AVHa5CZszZd1N7VLQR2KWrwc0LB69AjywTHVguNy8samKQnz60tt5COKuokHTvAw8AXgSyayU29fwIg57WxZ8oduVDhVbo65KAxSH113ZlBKLrc5szHrbvox3PB6aF+Je8G1EVkVUAgnYKIIbZ2Pr9cf1syd7+UjjYGsAX3RKE+j+H4NCxpadawtq4RwYrYfDVXPEQNV6NA/yuRejy4oQzHToDFYmPjWetumY3rwT8IkUPdeOa5x3f+41MCf+1jlSHW3yhT3U0tAfhDqx1FeC9v2fcqvKHBlSLRnQt4yZrkats5Jm8pDenLbTxuK8SKIGl952PTtYSodTnIxa6+sVKdPfBKVlYepdLnZMWkRtSb4oAOe0ZSvHe6F0/j9TejEcuM/Vv/sP7jDhajxvLAxpTJWUEwYpDWB7aF0xLhgUNHy04RKlLz+VpWv5j/bmchtQjUOYg1fdzXaDtEajn/EjppGkI6K5Zad+TRPSg+QsDjPTaFhwoqg/W4trKDvJ36gg2kx4n9VOxZmZ7eqg3E/j4IJKfwmt++H6QgL7HotCPy6U9RzILwN3P3zmWzdmNUEPsBUwggtG+tTAPLTWuMVbXaN25ftIDXoEiALX0yXigVq1N1MZABpmpWtjqLbGMej5NFg7EaZQBpaDHtxGyXy3BzjN9i8wYkqifhqQm1ZoEloeu9Xu8jyxs1hNhiUcmXmI5xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AUmMGv3dH5LFm72aspnwMP",
      "input": {
        "note": "That worked—commands that also include the left arm seem to go through. Lemon is at the bottom of the right wrist view just right of the jaw column; nudging 2 cm forward and descending to grasp it.",
        "targets": {
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.18,
          "right_x": 0.385,
          "right_y": 0.275,
          "right_yaw": 1.12,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01AUmMGv3dH5LFm72aspnwMP",
      "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]: [-0.0219, 1.0183, 0.8391, -0.6777, -0.0135, -0.009, 0.9993, 0.4168, 1.9469, 0.9447, 0.3099, -0.5541, -0.4862, 0.997]\nstate[eef_state]: left_x=0.2949 left_y=-0.0005 left_z=0.1657 left_yaw=0.0 left_pitch=-0.2845 left_roll=0.0061 left_gripper=0.9993 right_x=0.3899 right_y=0.2782 right_z=0.043 right_yaw=1.1281 right_pitch=-0.0069 right_roll=-0.0497 right_gripper=0.997\nstate[joint_eff]: [0.0615, -1.9761, 9.7299, 1.5116, -0.0073, -0.0171, -0.0171, -0.212, -6.8034, 4.5197, 0.5446, -0.2515, 0.2662, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a45e5e50209b0313b7963a5a23e9c73cff92f96cd56a8589d582e3bb2574a39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:322411ea18191216d99803025caea3a6866183f3aad80aef569e1d716b7fd1fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6367adfe4d9286eb67fbe6c22ff279652d0939d6f0baec2e86513b56460c119",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 12.55 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]: [-0.0219, 0.9333, 0.6971, -0.5587, -0.0139, -0.009, 0.9993, 0.3683, 1.6135, 0.9855, -0.1032, -0.5873, -0.4965, 0.997]\nstate[eef_state]: left_x=0.288 left_y=-0.0003 left_z=0.1492 left_yaw=0.0 left_pitch=-0.2224 left_roll=0.005 left_gripper=0.9993 right_x=0.3614 right_y=0.2482 right_z=0.1356 right_yaw=1.111 right_pitch=-0.0217 right_roll=-0.0162 right_gripper=0.997\nstate[joint_eff]: [-0.0205, -2.0308, 7.0632, 1.4921, -0.0806, -0.0659, -0.0122, -0.212, -9.0735, 7.9248, 1.4823, -0.2662, 0.105, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0219, 0.9932, 0.7937, -0.6266, -0.0135, -0.0086, 0.9993, 0.4362, 1.7248, 0.9821, 0.0105, -0.5415, -0.4595, 0.997]\nstate[eef_state]: left_x=0.2952 left_y=-0.0005 left_z=0.1622 left_yaw=-0.0004 left_pitch=-0.2536 left_roll=0.0056 left_gripper=0.9993 right_x=0.3646 right_y=0.2744 right_z=0.1035 right_yaw=1.1242 right_pitch=-0.0423 right_roll=-0.008 right_gripper=0.997\nstate[joint_eff]: [0.0342, -2.6188, 9.2513, 1.4188, -0.0122, 0.0073, -0.0122, 0.1573, -9.0325, 5.3265, 1.8242, -0.188, 0.1148, -0.0122]",
      "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]: [-0.0219, 1.0183, 0.8391, -0.6777, -0.0135, -0.009, 0.9993, 0.4168, 1.9469, 0.9447, 0.3099, -0.5541, -0.4862, 0.997]\nstate[eef_state]: left_x=0.2949 left_y=-0.0005 left_z=0.1657 left_yaw=0.0 left_pitch=-0.2845 left_roll=0.0061 left_gripper=0.9993 right_x=0.3899 right_y=0.2782 right_z=0.043 right_yaw=1.1281 right_pitch=-0.0069 right_roll=-0.0497 right_gripper=0.997\nstate[joint_eff]: [0.0615, -1.9761, 9.7299, 1.5116, -0.0073, -0.0171, -0.0171, -0.212, -6.8034, 4.5197, 0.5446, -0.2515, 0.2662, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a45e5e50209b0313b7963a5a23e9c73cff92f96cd56a8589d582e3bb2574a39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:322411ea18191216d99803025caea3a6866183f3aad80aef569e1d716b7fd1fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6367adfe4d9286eb67fbe6c22ff279652d0939d6f0baec2e86513b56460c119",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQgKEAgSGAI4AUIIdGhpbmtpbmcSDP8FVmQiW6fG70cpehoMAxSi/PyWTsae8UIuIjBu5XkvvKLItx3+k8gQ4gghi/RikP/WeBcy/7xdw53gVHh8gUneysgLdYAw3ys82KwqsgeQUvHJ68JSnj4QJLTN597N39b+3c+MhCXiYAFNFPuQGiSNXgcrKhcJPm59pux3xJYEdSIKIeiCeYNqfn8XpO9XDNgToznQFeXoEkOfFoMKQ8hDoIw/Iq7KD24l5zlu/fruaBu9rPid8bOuou40MWXE18hbsQEYdQPQ6jT5313BTBffTIaCBDKNwjdMdTc3IT9e584PSXPLy+cvR+CWm9R1vhCc+ZXZAs+36lq6zSc8QBuYli/zYlvH1GW2I12OYUa+cVezeYD4G7K5N6eHLeBbt+Xz/f6nzpRM4gZzfBbm+3KTsCieqQPrYeMMP+QmUzwKLa+cmcX9mdTYkdi3HY2VXUmbWoeV3tMEyo+TIBoouOFP2ntCkcMoV4nk1R2SQ/dl5uy4DdKk+sQJ0Veq6nwfA5ePRDt9hgQ733EwAEh7Or+8k04B+E9us8BVB+4ntJ3wLrPqfBisJoVzNL0pvBAMa0fSeLduTdjhIr3iHKnCNyzItSkecCcFSkOdwQsE22fsLO2M68Ct27QC9RK2VymtGeun9hQ6NRQKTZnswfxf5HZevxRXCdHO7AolLis5PEUiXznRp4Knw2Jb/4hZg8Hi0n09w5ybmTRL135f9FmQ059yc0fIFA55tmGaxqqI9TsvYIuWIoNvB3N1Pqy08LY80NlCAsFT7QgTuw+iECpHKOEsA5R+AAYno8wat5sUDPvlG/i0wYQudsR606cTnQg9nJ3NCUcxhoW8FaZo2qvhcr4DQ1wo7wO44POpvpkH6wut/SRdqPjDGCgXwMgQzimqrvrmd9dSCb8ecguGPxvPGKrChBqxYbvzpELNdcn9T1+rCpuoQ0e4Q42l37pf47jYOtJttlb4kCSYeAMm5un83lCzWDltjDf+HHjQiq2mAeXtiE3BjUSx8g4FzkKYbMt7EpADOWB9QPNRjZIrfapttYpdmKEv45oPwLnls1GvvFiC/TerCf1y+iqEM/6VqbxdfjDNlW1nsmWSDSgP4u6mFCZ943YMzDU6VIQfi/qNnICP4KWXiP3EaXKjIr+cbVXD+Jiub6HlK37JorEVCCNlkyAFplF9h4fYihbKke4oqZLaIWld5HBO2g8fjvEwknn9TB/bVXKsJqEAP5ifiTxSj53IXcAN0LxWm67MzVWhW7N/s95QxhvUF09E/qJe/4srTo5GS6F2YjH5lbxF8QYrWz7uhvBX2llSb600rH40aAw3HdS7cakXVfMpN26xUxy7t0Kjmck726AenV6vVg4Z4mbRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fov8CitYoHf3D7uXKM1A5e",
      "input": {
        "note": "Descent stopped at z≈0.043 with the lemon at the bottom of the view between the jaws (toward the right jaw). Closing on it.",
        "targets": {
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.18,
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Fov8CitYoHf3D7uXKM1A5e",
      "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]: [-0.0219, 1.0435, 0.8722, -0.7223, -0.0135, -0.009, 0.9993, 0.416, 1.9579, 0.9447, 0.3202, -0.5541, -0.4965, 0.0115]\nstate[eef_state]: left_x=0.2935 left_y=-0.0005 left_z=0.1654 left_yaw=0.0003 left_pitch=-0.3211 left_roll=0.0069 left_gripper=0.9993 right_x=0.3907 right_y=0.2782 right_z=0.0397 right_yaw=1.1329 right_pitch=-0.0078 right_roll=-0.0578 right_gripper=0.0115\nstate[joint_eff]: [0.0615, -2.2359, 10.0991, 1.4042, 0.0024, -0.0171, -0.0122, 0.0068, -10.2359, 5.4632, 1.5897, -0.1685, 0.0611, 1.0574]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d6e4c8b012a57c4a44abf2cecd52cd0338e46fb90dd5d3af0df89f94e74a768",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3493acd8bbadcadee1ab7fd34121614b05c2d4909188ea982bee37750468b0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9aa8bb36bb5bead5acca8058253378111a3e21b4add8833e134a31375133367f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]