adhoc

completed
2026-09-22T23:22:09.880662+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
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
340.9 s
total steps
276
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteBlue bowl sits front-right of centre with two yellow fruits beside it; I am moving the right gripper to hover ~15 cm above the nearer fruit to check alignment in the wrist camera.
move_to
right_x0.3000right_y0.1100right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8001, 0.6136, -0.3859, -0.0139, -0.0299, 0.999, -0.0227, 0.7994, 0.6186, -0.387, -0.02, -0.033, 0.9995] state[eef_state]: left_x=0.2956 left_y=0.0001 left_z=0.1815 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.296 right_y=0.0004 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995 state[joint_eff]: [-0.335, -1.7846, 9.5932, 1.8242, -0.1001, 0.1441, -0.1148, -0.1436, -1.5932, 9.1419, 1.8388, -0.0513, 0.1734, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.11, "right_z": 0.15, "right_gripper": 1.0}, "note": "Blue bowl sits front-right of centre with two yellow fruits beside it; I am moving the right gripper to hover ~15 cm above the nearer fruit to check alignment in the wrist camera."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteWrist view shows the green pear to the right of the jaw column and further out, the lemon to the left of it; stepping forward and slightly right to line up over the pear.
move_to
right_x0.3500right_y0.0800right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8005, 0.6132, -0.3981, -0.0139, -0.0307, 0.999, 0.6117, 1.037, 0.5819, -0.2432, 0.4736, 0.3145, 0.9994] state[eef_state]: left_x=0.2939 left_y=-0.0002 left_z=0.1787 left_yaw=-0.0007 left_pitch=-0.013 left_roll=-0.0004 left_gripper=0.999 right_x=0.295 right_y=0.1129 right_z=0.1395 right_yaw=0.0376 right_pitch=-0.0416 right_roll=-0.0254 right_gripper=0.9994 state[joint_eff]: [-0.253, -1.1282, 7.0769, 1.9072, -0.0611, -0.0464, -0.022, 0.0479, -2.7692, 7.3641, 1.8437, 0.3639, 0.1001, -0.0708] 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
move_to({"targets": {"right_x": 0.35, "right_y": 0.08, "right_z": 0.15}, "note": "Wrist view shows the green pear to the right of the jaw column and further out, the lemon to the left of it; stepping forward and slightly right to line up over the pear."})
tool
executing move_to over 5 steps (0.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe pear now sits right of the jaw column in the wrist view; shifting the gripper ~4.5 cm right and 3 cm forward to centre it before descending.
move_to
right_x0.3700right_y0.0300right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8032, 0.6132, -0.4084, -0.0139, -0.0307, 0.999, 0.3412, 1.1767, 0.6537, -0.1699, 0.268, 0.1402, 0.9994] state[eef_state]: left_x=0.2926 left_y=0.0002 left_z=0.1758 left_yaw=0.0004 left_pitch=-0.0259 left_roll=-0.0001 left_gripper=0.999 right_x=0.3404 right_y=0.0751 right_z=0.1319 right_yaw=0.0276 right_pitch=-0.0966 right_roll=-0.0444 right_gripper=0.9994 state[joint_eff]: [-0.294, -1.5111, 6.9949, 1.8242, -0.0806, -0.0659, -0.0122, 0.1299, -3.8085, 9.2239, 1.9023, 0.1001, -0.0952, -0.0171] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.03, "right_z": 0.15}, "note": "The pear now sits right of the jaw column in the wrist view; shifting the gripper ~4.5 cm right and 3 cm forward to centre it before descending."})
tool
executing move_to over 4 steps (0.4s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe pear is now nearly centred on the jaw column in the wrist view; descending to pear mid-height to prepare the grasp.
move_to
right_x0.3750right_y0.0250right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8062, 0.6132, -0.4202, -0.0135, -0.0307, 0.999, 0.1226, 1.2308, 0.7265, -0.2054, 0.1108, 0.009, 0.9994] state[eef_state]: left_x=0.2912 left_y=0.0001 left_z=0.1726 left_yaw=0.0001 left_pitch=-0.0408 left_roll=-0.0 left_gripper=0.999 right_x=0.3611 right_y=0.0284 right_z=0.1351 right_yaw=0.0115 right_pitch=-0.1376 right_roll=-0.0505 right_gripper=0.9994 state[joint_eff]: [-0.1709, -0.9504, 7.0359, 1.8291, -0.0073, -0.0708, -0.0122, -0.1709, -3.9316, 9.3333, 1.7802, 0.0073, 0.0171, -0.0171] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.025, "right_z": 0.06}, "note": "The pear is now nearly centred on the jaw column in the wrist view; descending to pear mid-height to prepare the grasp."})
tool
executing move_to over 5 steps (0.5s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe previous descent did not register (z unchanged at 0.134); commanding a pure vertical drop to 5 cm over the pear.
move_to
right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.807, 0.6132, -0.424, -0.0139, -0.0307, 0.999, 0.1146, 1.2377, 0.7292, -0.2058, 0.0948, -0.0048, 0.9994] state[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1716 left_yaw=0.0004 left_pitch=-0.0454 left_roll=0.0003 left_gripper=0.999 right_x=0.3619 right_y=0.0285 right_z=0.1337 right_yaw=0.0245 right_pitch=-0.1436 right_roll=-0.051 right_gripper=0.9994 state[joint_eff]: [-0.1299, -1.3607, 6.9949, 1.7118, -0.0855, -0.0708, -0.0122, -0.1573, -4.6974, 9.0325, 1.7802, -0.0317, -0.0122, -0.0171] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.05}, "note": "The previous descent did not register (z unchanged at 0.134); commanding a pure vertical drop to 5 cm over the pear."})
tool
executing move_to over 6 steps (0.6s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteArm has been stuck at z=0.134 for two commands; testing mobility with a combined small retreat and descent.
move_to
right_x0.3400right_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]: [-0.02, 0.8085, 0.6132, -0.4244, -0.0139, -0.0307, 0.999, 0.1146, 1.2381, 0.73, -0.2062, 0.0948, -0.0051, 0.9994] state[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1711 left_yaw=0.0004 left_pitch=-0.0473 left_roll=0.0003 left_gripper=0.999 right_x=0.362 right_y=0.0285 right_z=0.1338 right_yaw=0.0247 right_pitch=-0.1436 right_roll=-0.0513 right_gripper=0.9994 state[joint_eff]: [-0.0205, -1.4427, 6.9949, 1.7411, -0.0513, -0.0562, -0.0122, -0.0752, -4.7521, 8.8821, 1.7607, -0.0513, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_z": 0.08}, "note": "Arm has been stuck at z=0.134 for two commands; testing mobility with a combined small retreat and descent."})
tool
executing move_to over 4 steps (0.4s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteArm is moving again; pear fills the wrist view slightly right of the jaw column, so nudging right and forward while descending to grasp height.
move_to
right_x0.3550right_y0.0050right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8108, 0.6132, -0.4252, -0.0139, -0.0307, 0.999, 0.1253, 1.24, 0.4953, -0.0071, 0.0956, -0.0086, 0.9994] state[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1704 left_yaw=0.0004 left_pitch=-0.0503 left_roll=0.0004 left_gripper=0.999 right_x=0.3338 right_y=0.0287 right_z=0.072 right_yaw=0.036 right_pitch=-0.1809 right_roll=-0.0578 right_gripper=0.9994 state[joint_eff]: [-0.2256, -1.4291, 7.1043, 1.6777, -0.0366, -0.0464, -0.0122, -0.0615, -4.1641, 6.612, 1.8828, 0.0855, 0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.355, "right_y": 0.005, "right_z": 0.045}, "note": "Arm is moving again; pear fills the wrist view slightly right of the jaw column, so nudging right and forward while descending to grasp height."})
tool
executing move_to over 2 steps (0.2s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent notePear is centred on the jaw column just above the jaws; advancing 1.5 cm and closing the gripper to grasp it.
move_to
right_x0.3650right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8135, 0.6132, -0.4305, -0.0135, -0.0307, 0.999, 0.0101, 1.425, 0.4843, 0.152, 0.02, -0.0868, 0.9994] state[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1686 left_yaw=0.0001 left_pitch=-0.0584 left_roll=0.0003 left_gripper=0.999 right_x=0.3484 right_y=0.0036 right_z=0.0357 right_yaw=0.0284 right_pitch=-0.2222 right_roll=-0.0629 right_gripper=0.9994 state[joint_eff]: [0.0479, -1.5521, 7.2, 1.7802, -0.0562, -0.0659, -0.0171, -0.4034, -5.5043, 5.9145, 1.7558, -0.1441, 0.0904, -0.0171] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.365, "right_gripper": 0.0}, "note": "Pear is centred on the jaw column just above the jaws; advancing 1.5 cm and closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
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 noteThe close came up empty (gripper 0.01) — the pear is a few cm further out than the fingertips. Opening and lifting to re-approach from above.
move_to
right_gripper1.0000right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4313, -0.0139, -0.0307, 0.999, 0.0101, 1.4246, 0.4839, 0.1604, 0.0093, -0.0948, 0.0116] state[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1682 left_yaw=0.0004 left_pitch=-0.0599 left_roll=0.0006 left_gripper=0.999 right_x=0.3498 right_y=0.0055 right_z=0.0372 right_yaw=0.042 right_pitch=-0.2139 right_roll=-0.0612 right_gripper=0.0116 state[joint_eff]: [-0.1573, -1.347, 7.2, 1.6679, -0.0806, -0.0611, -0.0171, -0.1573, -5.7504, 5.9009, 1.7705, -0.0073, 0.0659, 1.0476] approver: 1 step(s) modified (delta_clamped). 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_gripper": 1.0, "right_z": 0.13}, "note": "The close came up empty (gripper 0.01) \u2014 the pear is a few cm further out than the fingertips. Opening and lifting to re-approach from above."})
tool
executing move_to over 10 steps (1.0s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteFrom 11 cm up the pear sits on the jaw column but well above the jaws, meaning it is further out than the fingertips; advancing 5.5 cm.
move_to
right_x0.4000right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4423, -0.0139, -0.0307, 0.999, 0.0101, 1.2381, 0.7227, -0.3038, 0.0055, -0.1059, 0.9986] state[eef_state]: left_x=0.2885 left_y=0.0003 left_z=0.1657 left_yaw=0.0005 left_pitch=-0.0721 left_roll=0.0008 left_gripper=0.999 right_x=0.345 right_y=0.0061 right_z=0.1129 right_yaw=0.0517 right_pitch=-0.253 right_roll=-0.0648 right_gripper=0.9986 state[joint_eff]: [-0.1983, -1.4291, 6.9812, 1.8193, -0.0513, -0.0366, -0.0171, -0.1162, -5.6547, 9.1419, 1.5556, -0.0024, 0.0415, -0.149] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_z": 0.11}, "note": "From 11 cm up the pear sits on the jaw column but well above the jaws, meaning it is further out than the fingertips; advancing 5.5 cm."})
tool
executing move_to over 5 steps (0.5s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent notePear is now directly under the jaws in the wrist view; descending to grasp height.
move_to
right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8173, 0.6132, -0.4492, -0.0139, -0.0307, 0.999, 0.0101, 1.4719, 0.865, -0.2668, 0.0021, -0.1173, 0.9986] state[eef_state]: left_x=0.2875 left_y=0.0003 left_z=0.1638 left_yaw=0.0005 left_pitch=-0.0809 left_roll=0.001 left_gripper=0.999 right_x=0.3878 right_y=0.0071 right_z=0.0952 right_yaw=0.0619 right_pitch=-0.3078 right_roll=-0.0674 right_gripper=0.9986 state[joint_eff]: [-0.1162, -1.5111, 6.9812, 1.8095, -0.0611, -0.0806, -0.0122, -0.2256, -5.8462, 8.5538, 1.7558, -0.022, 0.0415, -0.0073] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.04}, "note": "Pear is now directly under the jaws in the wrist view; descending to grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent notePear fills the wrist view centred between the jaws at grasp height; closing the gripper.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.82, 0.6132, -0.4541, -0.0135, -0.0307, 0.999, 0.0109, 1.5898, 0.7277, -0.0418, 0.0021, -0.1177, 0.9986] state[eef_state]: left_x=0.2869 left_y=0.0002 left_z=0.1622 left_yaw=0.0002 left_pitch=-0.0885 left_roll=0.0009 left_gripper=0.999 right_x=0.3826 right_y=0.0074 right_z=0.0353 right_yaw=0.0634 right_pitch=-0.3379 right_roll=-0.066 right_gripper=0.9986 state[joint_eff]: [-0.1436, -1.5795, 6.9675, 1.7265, -0.0317, -0.0317, -0.0171, -0.212, -6.7487, 5.8598, 1.7021, -0.0562, -0.0562, -0.0122] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear fills the wrist view centred between the jaws at grasp height; closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteClose read empty again (0.012), so the pear is still beyond the fingertips; opening and advancing 3.5 cm at the same height.
move_to
right_gripper1.0000right_x0.4150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4683, -0.0135, -0.0311, 0.999, 0.0109, 1.5898, 0.7277, -0.0498, 0.0021, -0.1219, 0.0116] state[eef_state]: left_x=0.2848 left_y=0.0003 left_z=0.1591 left_yaw=0.0004 left_pitch=-0.1037 left_roll=0.0009 left_gripper=0.999 right_x=0.381 right_y=0.0074 right_z=0.034 right_yaw=0.0659 right_pitch=-0.346 right_roll=-0.0682 right_gripper=0.0116 state[joint_eff]: [-0.1299, -0.9231, 6.9675, 1.7949, -0.0317, -0.0806, -0.0122, -0.0615, -6.6803, 5.7915, 1.453, -0.0513, 0.0171, 0.9744] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.415}, "note": "Close read empty again (0.012), so the pear is still beyond the fingertips; opening and advancing 3.5 cm at the same height."})
tool
executing move_to over 10 steps (1.0s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent notePear now sits right between the open jaws; closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8219, 0.6132, -0.4755, -0.0139, -0.0307, 0.999, 0.0109, 1.7008, 0.8341, -0.0795, -0.0017, -0.1375, 0.9958] state[eef_state]: left_x=0.2837 left_y=0.0004 left_z=0.1575 left_yaw=0.0005 left_pitch=-0.1118 left_roll=0.0017 left_gripper=0.999 right_x=0.4028 right_y=0.0083 right_z=0.0259 right_yaw=0.0791 right_pitch=-0.3807 right_roll=-0.0727 right_gripper=0.9958 state[joint_eff]: [-0.0068, -1.4291, 7.4598, 1.6923, -0.0513, -0.0317, -0.0122, -0.4308, -6.7897, 8.0205, 1.409, -0.0269, 0.1099, -0.1832] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear now sits right between the open jaws; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThird empty close — the tool had drifted to a forward pitch of -0.4 rad, so the jaws were not where I thought. Opening, lifting to 16 cm and commanding pitch and yaw back to zero for a clean top-down view of the pear.
move_to
right_gripper1.0000right_z0.1600right_pitch0.0000right_yaw0.0000right_x0.3800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8238, 0.6132, -0.4763, -0.0135, -0.0307, 0.999, 0.0109, 1.7092, 0.8383, -0.094, -0.0051, -0.1432, 0.0115] state[eef_state]: left_x=0.2837 left_y=0.0003 left_z=0.1569 left_yaw=0.0002 left_pitch=-0.1144 left_roll=0.0015 left_gripper=0.999 right_x=0.4006 right_y=0.0089 right_z=0.022 right_yaw=0.0861 right_pitch=-0.3994 right_roll=-0.0718 right_gripper=0.0115 state[joint_eff]: [-0.1162, -1.3197, 7.0632, 1.6484, -0.0415, -0.0415, -0.0122, -0.0342, -8.3897, 5.3402, 1.5165, -0.0024, 0.0317, 1.0623] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.16, "right_pitch": 0.0, "right_yaw": 0.0, "right_x": 0.38}, "note": "Third empty close \u2014 the tool had drifted to a forward pitch of -0.4 rad, so the jaws were not where I thought. Opening, lifting to 16 cm and commanding pitch and yaw back to zero for a clean top-down view of the pear."})
tool
executing move_to over 14 steps (1.4s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteWith the tool vertical the pear sits just left of the jaw column and short of the jaws; advancing 3 cm, shifting 1.3 cm left and dropping to 12 cm.
move_to
right_x0.4100right_y0.0250right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8276, 0.6132, -0.4881, -0.0139, -0.0307, 0.999, 0.0498, 1.2446, 0.7185, -0.0795, 0.0593, -0.078, 0.9967] state[eef_state]: left_x=0.282 left_y=0.0004 left_z=0.1536 left_yaw=0.0006 left_pitch=-0.1301 left_roll=0.002 left_gripper=0.999 right_x=0.38 right_y=0.012 right_z=0.1508 right_yaw=0.0297 right_pitch=-0.0388 right_roll=-0.0814 right_gripper=0.9967 state[joint_eff]: [-0.0615, -1.6889, 6.9402, 1.7314, -0.0464, -0.0611, -0.0122, 0.1162, -5.4222, 6.065, 1.8877, 0.1929, 0.2027, -0.0855] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.025, "right_z": 0.12}, "note": "With the tool vertical the pear sits just left of the jaw column and short of the jaws; advancing 3 cm, shifting 1.3 cm left and dropping to 12 cm."})
tool
executing move_to over 3 steps (0.3s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent notePear is slightly right of the jaw column and above the jaws; nudging 1 cm right, 2 cm forward and descending to 6 cm.
move_to
right_x0.4250right_y0.0180right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8303, 0.6132, -0.4915, -0.0139, -0.0307, 0.999, 0.0917, 1.4384, 0.7132, 0.0631, 0.0776, -0.0677, 0.9973] state[eef_state]: left_x=0.2815 left_y=0.0004 left_z=0.1523 left_yaw=0.0006 left_pitch=-0.1362 left_roll=0.0022 left_gripper=0.999 right_x=0.4018 right_y=0.0268 right_z=0.1049 right_yaw=0.0506 right_pitch=-0.0944 right_roll=-0.0856 right_gripper=0.9973 state[joint_eff]: [-0.0068, -1.347, 7.2957, 1.6142, -0.0562, -0.0464, -0.0171, -0.2667, -6.3385, 7.4325, 2.0, 0.149, 0.1099, 0.0464] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.425, "right_y": 0.018, "right_z": 0.06}, "note": "Pear is slightly right of the jaw column and above the jaws; nudging 1 cm right, 2 cm forward and descending to 6 cm."})
tool
executing move_to over 3 steps (0.3s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe arm did not execute the last command (state unchanged); re-sending the same descent to the pear.
move_to
right_x0.4250right_y0.0180right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8322, 0.6132, -0.4942, -0.0139, -0.0307, 0.999, 0.0917, 1.4384, 0.7132, 0.0639, 0.0776, -0.0677, 0.9973] state[eef_state]: left_x=0.2812 left_y=0.0004 left_z=0.1513 left_yaw=0.0006 left_pitch=-0.1407 left_roll=0.0023 left_gripper=0.999 right_x=0.4019 right_y=0.0268 right_z=0.105 right_yaw=0.0506 right_pitch=-0.0936 right_roll=-0.0856 right_gripper=0.9973 state[joint_eff]: [-0.0752, -1.388, 7.1179, 1.6239, -0.0513, -0.0513, -0.0122, -0.1846, -6.5162, 7.3641, 2.0098, 0.1343, 0.1001, -0.0122] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.425, "right_y": 0.018, "right_z": 0.06}, "note": "The arm did not execute the last command (state unchanged); re-sending the same descent to the pear."})
tool
executing move_to over 3 steps (0.3s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe arm is refusing the previous target (unchanged state), as happened once before; retreating slightly while descending to unstick the IK.
move_to
right_x0.3900right_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8322, 0.6132, -0.4942, -0.0135, -0.0307, 0.999, 0.0917, 1.4384, 0.7132, 0.0635, 0.0772, -0.0677, 0.9973] state[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1513 left_yaw=0.0003 left_pitch=-0.1407 left_roll=0.002 left_gripper=0.999 right_x=0.4019 right_y=0.0269 right_z=0.105 right_yaw=0.0509 right_pitch=-0.094 right_roll=-0.0854 right_gripper=0.9973 state[joint_eff]: [-0.1436, -1.2786, 6.9265, 1.5849, -0.0513, -0.022, -0.0122, -0.2256, -6.4615, 7.3641, 1.9805, 0.1294, 0.0708, -0.0122] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_z": 0.07}, "note": "The arm is refusing the previous target (unchanged state), as happened once before; retreating slightly while descending to unstick the IK."})
tool
executing move_to over 3 steps (0.3s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteRight arm appears frozen in place; commanding a large retreat up and back to see whether it responds at all.
move_to
right_x0.3000right_z0.2200right_y0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8326, 0.6132, -0.4946, -0.0135, -0.0307, 0.999, 0.0917, 1.4384, 0.7132, 0.0643, 0.0772, -0.0677, 0.9973] state[eef_state]: left_x=0.2811 left_y=0.0003 left_z=0.1511 left_yaw=0.0003 left_pitch=-0.1415 left_roll=0.002 left_gripper=0.999 right_x=0.402 right_y=0.0269 right_z=0.1051 right_yaw=0.0509 right_pitch=-0.0933 right_roll=-0.0854 right_gripper=0.9973 state[joint_eff]: [-0.0889, -1.4291, 7.0496, 1.619, -0.0122, -0.0708, -0.0122, -0.2803, -6.3111, 7.3778, 2.0, 0.1197, 0.0904, -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": 0.3, "right_z": 0.22, "right_y": 0.05}, "note": "Right arm appears frozen in place; commanding a large retreat up and back to see whether it responds at all."})
tool
executing move_to over 8 steps (0.8s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteArm responds again. Moving to hover 13 cm above where the pear should be (x≈0.44, y≈0.02) with the tool vertical.
move_to
right_x0.4400right_y0.0180right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8368, 0.6132, -0.4976, -0.0135, -0.0307, 0.999, 0.2737, 0.9752, 0.8406, -0.5282, 0.1921, 0.0185, 0.9973] state[eef_state]: left_x=0.2808 left_y=0.0004 left_z=0.1495 left_yaw=0.0003 left_pitch=-0.1488 left_roll=0.0022 left_gripper=0.999 right_x=0.3112 right_y=0.0561 right_z=0.2074 right_yaw=0.0896 right_pitch=-0.0833 right_roll=-0.0874 right_gripper=0.9973 state[joint_eff]: [-0.1709, -1.3197, 6.9402, 1.707, -0.0415, -0.022, -0.0122, 0.212, -3.3026, 9.6205, 1.8046, 0.2369, 0.0952, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.018, "right_z": 0.13}, "note": "Arm responds again. Moving to hover 13 cm above where the pear should be (x\u22480.44, y\u22480.02) with the tool vertical."})
tool
executing move_to over 10 steps (1.0s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe pear is centred on the jaw column just above the jaws; descending to grasp height.
move_to
right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.841, 0.6132, -0.5102, -0.0139, -0.0307, 0.999, 0.0429, 1.5181, 0.8627, -0.1017, 0.0128, -0.1246, 0.9973] state[eef_state]: left_x=0.2789 left_y=0.0005 left_z=0.1461 left_yaw=0.0007 left_pitch=-0.1655 left_roll=0.0028 left_gripper=0.999 right_x=0.4159 right_y=0.0192 right_z=0.1046 right_yaw=0.0879 right_pitch=-0.1919 right_roll=-0.0863 right_gripper=0.9973 state[joint_eff]: [-0.212, -1.6205, 7.2274, 1.8046, -0.022, -0.0366, -0.0122, -0.5675, -7.0632, 8.9504, 1.8046, -0.0171, -0.0513, -0.0122] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.045}, "note": "The pear is centred on the jaw column just above the jaws; descending to grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent notePear centred between the jaws at 3.7 cm height; closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8417, 0.6132, -0.514, -0.0139, -0.0307, 0.999, 0.0391, 1.6489, 0.7364, 0.0853, 0.0029, -0.1322, 0.9973] state[eef_state]: left_x=0.2783 left_y=0.0005 left_z=0.1452 left_yaw=0.0007 left_pitch=-0.1701 left_roll=0.0029 left_gripper=0.999 right_x=0.4046 right_y=0.0189 right_z=0.0366 right_yaw=0.0977 right_pitch=-0.2619 right_roll=-0.0808 right_gripper=0.9973 state[joint_eff]: [-0.1026, -1.4974, 7.0906, 1.5995, -0.0562, -0.0366, -0.0171, -0.0342, -8.1983, 6.2154, 1.9707, 0.0562, 0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear centred between the jaws at 3.7 cm height; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteEmpty again — each low approach just nudges the pear forward, so it stays ~5 cm beyond the fingertips. Lifting to 17 cm and moving out past the pear so I can descend straight down onto it.
move_to
right_z0.1700right_x0.4650
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8463, 0.6132, -0.5201, -0.0139, -0.0307, 0.999, 0.0437, 1.6699, 0.7204, 0.1566, 0.0059, -0.1322, 0.0112] state[eef_state]: left_x=0.2774 left_y=0.0005 left_z=0.1429 left_yaw=0.0008 left_pitch=-0.1808 left_roll=0.0031 left_gripper=0.999 right_x=0.4102 right_y=0.0205 right_z=0.0348 right_yaw=0.0992 right_pitch=-0.2278 right_roll=-0.0851 right_gripper=0.0112 state[joint_eff]: [-0.1709, -1.8256, 7.0085, 1.6825, -0.0757, -0.0073, -0.0122, -0.1573, -8.3624, 6.0103, 1.7167, 0.0659, 0.0562, 1.0623] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17, "right_x": 0.465}, "note": "Empty again \u2014 each low approach just nudges the pear forward, so it stays ~5 cm beyond the fingertips. Lifting to 17 cm and moving out past the pear so I can descend straight down onto it."})
tool
executing move_to over 9 steps (0.9s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteThe pear now sits just under the jaws in the wrist view; opening the gripper and dropping straight down onto it.
move_to
right_gripper1.0000right_y0.0320right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8471, 0.6132, -0.5213, -0.0139, -0.0307, 0.999, 0.0425, 1.6497, 1.2461, -0.3859, 0.0017, -0.144, 0.0139] state[eef_state]: left_x=0.2772 left_y=0.0005 left_z=0.1425 left_yaw=0.0008 left_pitch=-0.1827 left_roll=0.0031 left_gripper=0.999 right_x=0.463 right_y=0.023 right_z=0.1591 right_yaw=0.1081 right_pitch=-0.2247 right_roll=-0.0908 right_gripper=0.0139 state[joint_eff]: [-0.0752, -1.5385, 6.8991, 1.5263, -0.0317, -0.0415, -0.0171, -0.841, -7.4188, 8.5538, 1.536, -0.0269, 0.0659, 0.5446] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_y": 0.032, "right_z": 0.05}, "note": "The pear now sits just under the jaws in the wrist view; opening the gripper and dropping straight down onto it."})
tool
executing move_to over 10 steps (1.0s)
step 172
top_cam
camera top_cam step 172
assistant
agent notePear lies between the open jaws at 5 cm height; closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8471, 0.6132, -0.5205, -0.0139, -0.0307, 0.999, 0.0635, 1.7966, 0.9787, -0.017, 0.0063, -0.1398, 0.9953] state[eef_state]: left_x=0.2773 left_y=0.0005 left_z=0.1426 left_yaw=0.0008 left_pitch=-0.1819 left_roll=0.0031 left_gripper=0.999 right_x=0.455 right_y=0.0314 right_z=0.0488 right_yaw=0.1235 right_pitch=-0.27 right_roll=-0.0883 right_gripper=0.9953 state[joint_eff]: [-0.1846, -1.4701, 6.8991, 1.6142, -0.0708, -0.0757, -0.0122, 0.1299, -8.0205, 5.8325, 1.7314, 0.1441, 0.1245, 0.0855] approver: 1 step(s) modified (delta_clamped). 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}, "note": "Pear lies between the open jaws at 5 cm height; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 182
assistant
agent noteGripper settled at 0.61 — the pear is grasped. Lifting it clear before moving over the blue bowl.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8513, 0.6132, -0.5323, -0.0135, -0.0307, 0.999, 0.0654, 1.8141, 0.9691, -0.004, 0.0051, -0.1436, 0.6093] state[eef_state]: left_x=0.2754 left_y=0.0005 left_z=0.1394 left_yaw=0.0005 left_pitch=-0.198 left_roll=0.0032 left_gripper=0.999 right_x=0.453 right_y=0.0324 right_z=0.0397 right_yaw=0.1288 right_pitch=-0.2843 right_roll=-0.0892 right_gripper=0.6093 state[joint_eff]: [-0.0479, -1.7573, 6.9128, 1.6288, -0.0415, -0.0171, -0.0171, -0.5128, -10.2769, 6.6667, 1.3602, -0.0171, -0.0122, 0.9548] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "Gripper settled at 0.61 \u2014 the pear is grasped. Lifting it clear before moving over the blue bowl."})
tool
executing move_to over 12 steps (1.2s)
step 194
assistant
agent noteHolding the pear at 19 cm; the blue bowl is up and to the left in the wrist view, so moving left ~9 cm and slightly forward to hover over it.
move_to
right_x0.4700right_y0.1200right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.852, 0.6132, -0.5358, -0.0139, -0.0307, 0.999, 0.0654, 1.6825, 1.4715, -0.6937, 0.0021, -0.1513, 0.6101] state[eef_state]: left_x=0.2749 left_y=0.0005 left_z=0.1386 left_yaw=0.0008 left_pitch=-0.2021 left_roll=0.0035 left_gripper=0.999 right_x=0.4529 right_y=0.0329 right_z=0.1879 right_yaw=0.137 right_pitch=-0.34 right_roll=-0.0879 right_gripper=0.6101 state[joint_eff]: [-0.0479, -1.4154, 7.0769, 1.5604, -0.0611, -0.0757, -0.0122, -0.3761, -11.0701, 9.6068, 1.58, -0.0171, 0.0513, 0.7985] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.12, "right_z": 0.22}, "note": "Holding the pear at 19 cm; the blue bowl is up and to the left in the wrist view, so moving left ~9 cm and slightly forward to hover over it."})
tool
executing move_to over 8 steps (0.8s)
step 202
assistant
agent noteThe blue bowl is centred but still beyond the jaws in the wrist view; advancing 3 cm so the pear hangs over the bowl mouth.
move_to
right_x0.4900right_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]: [-0.02, 0.8581, 0.6132, -0.5396, -0.0135, -0.0307, 0.999, 0.2848, 1.8217, 1.734, -0.8734, 0.1127, -0.0185, 0.6103] state[eef_state]: left_x=0.2744 left_y=0.0005 left_z=0.1364 left_yaw=0.0006 left_pitch=-0.2121 left_roll=0.0035 left_gripper=0.999 right_x=0.4609 right_y=0.118 right_z=0.2048 right_yaw=0.18 right_pitch=-0.3885 right_roll=-0.0992 right_gripper=0.6103 state[joint_eff]: [-0.0889, -1.9897, 6.8718, 1.5458, -0.0317, -0.0269, -0.0171, 0.1846, -9.3744, 9.0051, 1.4725, 0.2564, 0.1685, 0.4371] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.49, "right_z": 0.2}, "note": "The blue bowl is centred but still beyond the jaws in the wrist view; advancing 3 cm so the pear hangs over the bowl mouth."})
tool
executing move_to over 3 steps (0.3s)
step 205
assistant
agent noteBowl still reads slightly beyond the pear; creeping 3 cm further out and lowering to 15 cm before releasing.
move_to
right_x0.5050right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0204, 0.8585, 0.6132, -0.54, -0.0135, -0.0307, 0.999, 0.2726, 1.9179, 1.8244, -0.9146, 0.1059, -0.0299, 0.6123] state[eef_state]: left_x=0.2743 left_y=0.0004 left_z=0.1362 left_yaw=0.0002 left_pitch=-0.2128 left_roll=0.0035 left_gripper=0.999 right_x=0.4764 right_y=0.1175 right_z=0.1894 right_yaw=0.1787 right_pitch=-0.4364 right_roll=-0.105 right_gripper=0.6123 state[joint_eff]: [-0.3214, -1.5111, 6.8718, 1.5067, -0.0562, -0.0562, -0.0171, -0.4308, -10.5231, 9.1282, 1.3602, -0.0122, 0.0317, 0.4908] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.505, "right_z": 0.15}, "note": "Bowl still reads slightly beyond the pear; creeping 3 cm further out and lowering to 15 cm before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 208
assistant
agent noteReach in x is limiting at this height; lowering to 12 cm (which allows more forward reach) and pushing out toward the bowl mouth.
move_to
right_x0.5300right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8585, 0.6132, -0.54, -0.0139, -0.0307, 0.999, 0.2646, 1.956, 1.8317, -0.9173, 0.0998, -0.0376, 0.6149] state[eef_state]: left_x=0.2743 left_y=0.0006 left_z=0.1362 left_yaw=0.0009 left_pitch=-0.2128 left_roll=0.0038 left_gripper=0.999 right_x=0.4803 right_y=0.1156 right_z=0.1737 right_yaw=0.1795 right_pitch=-0.4707 right_roll=-0.107 right_gripper=0.6149 state[joint_eff]: [-0.0479, -1.4017, 6.8855, 1.4969, -0.0513, -0.0317, -0.0122, -0.2256, -12.2051, 9.1419, 1.453, 0.0122, -0.0513, 0.735] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.53, "right_z": 0.12}, "note": "Reach in x is limiting at this height; lowering to 12 cm (which allows more forward reach) and pushing out toward the bowl mouth."})
tool
executing move_to over 4 steps (0.4s)
step 212
assistant
agent noteForward reach is exhausted (shoulder effort high, x stuck at 0.48). Lowering the pear toward the bowl mouth so I can release it with minimal drop.
move_to
right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.865, 0.6128, -0.5503, -0.0135, -0.0307, 0.999, 0.2646, 1.956, 1.8355, -0.918, 0.0994, -0.0376, 0.6175] state[eef_state]: left_x=0.2726 left_y=0.0005 left_z=0.1326 left_yaw=0.0006 left_pitch=-0.23 left_roll=0.0039 left_gripper=0.999 right_x=0.4808 right_y=0.1158 right_z=0.175 right_yaw=0.18 right_pitch=-0.4677 right_roll=-0.1064 right_gripper=0.6175 state[joint_eff]: [-0.0615, -2.0444, 6.8855, 1.5995, -0.0366, -0.0415, -0.0122, -0.1846, -12.3966, 8.7726, 1.4872, 0.0464, -0.0171, 0.7155] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.06}, "note": "Forward reach is exhausted (shoulder effort high, x stuck at 0.48). Lowering the pear toward the bowl mouth so I can release it with minimal drop."})
tool
executing move_to over 8 steps (0.8s)
step 220
assistant
agent noteThe wrist view is filled by the blue bowl, so the pear is right at its mouth; opening the gripper to release the pear into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8661, 0.6128, -0.5514, -0.0139, -0.0307, 0.999, 0.2646, 2.0048, 1.4513, -0.5884, 0.099, -0.0418, 0.6182] state[eef_state]: left_x=0.2724 left_y=0.0006 left_z=0.1322 left_yaw=0.001 left_pitch=-0.2323 left_roll=0.0042 left_gripper=0.999 right_x=0.4603 right_y=0.1103 right_z=0.0503 right_yaw=0.1779 right_pitch=-0.571 right_roll=-0.1184 right_gripper=0.6182 state[joint_eff]: [-0.1709, -1.5111, 6.8308, 1.5018, -0.0366, -0.0366, -0.0122, -0.294, -10.988, 5.2444, 1.3797, 0.0806, 0.0171, 0.6129] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The wrist view is filled by the blue bowl, so the pear is right at its mouth; opening the gripper to release the pear into the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 224
assistant
agent notePear released at the blue bowl; retracting the right arm so the overhead camera can show whether it landed inside.
move_to
right_x0.3000right_z0.2500right_y0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8661, 0.6128, -0.5545, -0.0135, -0.0307, 0.999, 0.2646, 2.0068, 1.4414, -0.5781, 0.0998, -0.0456, 0.9954] state[eef_state]: left_x=0.2718 left_y=0.0005 left_z=0.1316 left_yaw=0.0007 left_pitch=-0.2353 left_roll=0.004 left_gripper=0.999 right_x=0.4596 right_y=0.11 right_z=0.0471 right_yaw=0.1794 right_pitch=-0.5727 right_roll=-0.1213 right_gripper=0.9954 state[joint_eff]: [-0.0752, -1.4017, 6.8308, 1.5311, -0.0415, -0.0366, -0.0122, -0.1573, -10.9744, 7.1863, 0.9744, 0.022, 0.0366, 0.0952] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_z": 0.25, "right_y": 0.05}, "note": "Pear released at the blue bowl; retracting the right arm so the overhead camera can show whether it landed inside."})
tool
executing move_to over 14 steps (1.4s)
step 238
assistant
agent noteThe pear is confirmed inside the blue bowl. Now moving to hover over the yellow lemon, which lies to the left of the bowl.
move_to
right_x0.4500right_y0.1800right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8669, 0.6128, -0.5579, -0.0135, -0.0307, 0.999, 0.1986, 1.4078, 1.5204, -1.2434, 0.0837, -0.1032, 0.9965] state[eef_state]: left_x=0.2712 left_y=0.0005 left_z=0.1309 left_yaw=0.0007 left_pitch=-0.2395 left_roll=0.0041 left_gripper=0.999 right_x=0.3146 right_y=0.0519 right_z=0.2371 right_yaw=0.1664 right_pitch=-0.5648 right_roll=-0.1321 right_gripper=0.9965 state[joint_eff]: [-0.0615, -1.4564, 6.8308, 1.5702, -0.0513, -0.0366, -0.0122, -0.4308, -6.2564, 7.6103, 1.072, -0.0855, -0.0415, 0.0952] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.18, "right_z": 0.15}, "note": "The pear is confirmed inside the blue bowl. Now moving to hover over the yellow lemon, which lies to the left of the bowl."})
tool
executing move_to over 11 steps (1.1s)
step 249
assistant
agent noteThe lemon sits left of the jaw column in the wrist view; shifting 3.5 cm left and descending to grasp height.
move_to
right_y0.2100right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8696, 0.6128, -0.5587, -0.0139, -0.0307, 0.999, 0.4358, 2.0022, 1.8313, -1.0496, 0.1642, 0.0803, 0.9966] state[eef_state]: left_x=0.2712 left_y=0.0006 left_z=0.1301 left_yaw=0.001 left_pitch=-0.243 left_roll=0.0044 left_gripper=0.999 right_x=0.4329 right_y=0.1737 right_z=0.1399 right_yaw=0.1957 right_pitch=-0.6302 right_roll=-0.1478 right_gripper=0.9966 state[joint_eff]: [-0.1162, -1.7846, 6.8034, 1.4921, -0.0562, -0.0317, -0.0171, 0.1162, -11.0154, 8.2256, 0.9353, 0.2027, 0.1587, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.21, "right_z": 0.06}, "note": "The lemon sits left of the jaw column in the wrist view; shifting 3.5 cm left and descending to grasp height."})
tool
executing move_to over 6 steps (0.6s)
step 255
assistant
agent noteLemon is just left of the jaw centre; nudging 1.8 cm left and closing the jaws on it.
move_to
right_y0.2250right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8696, 0.6128, -0.5587, -0.0135, -0.0307, 0.999, 0.5133, 2.0518, 1.623, -0.8028, 0.1837, 0.1265, 0.9966] state[eef_state]: left_x=0.2712 left_y=0.0005 left_z=0.1301 left_yaw=0.0007 left_pitch=-0.243 left_roll=0.0041 left_gripper=0.999 right_x=0.4243 right_y=0.2063 right_z=0.069 right_yaw=0.2212 right_pitch=-0.6324 right_roll=-0.1523 right_gripper=0.9966 state[joint_eff]: [-0.0342, -1.4701, 6.8034, 1.4969, -0.0122, -0.0757, -0.0122, 0.1573, -9.7162, 5.6137, 1.0134, 0.2418, 0.1978, -0.0122] camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.225, "right_gripper": 0.0}, "note": "Lemon is just left of the jaw centre; nudging 1.8 cm left and closing the jaws on it."})
tool
executing move_to over 10 steps (1.0s)
step 265
assistant
agent noteClose was empty; the lemon sits just left of and slightly behind the jaws, so opening and repositioning 2.4 cm left, 1.6 cm back and lower before the next close.
move_to
right_gripper1.0000right_y0.2450right_x0.4000right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8696, 0.6128, -0.5587, -0.0139, -0.0307, 0.999, 0.551, 2.0708, 1.6058, -0.7788, 0.1894, 0.1501, 0.0113] state[eef_state]: left_x=0.2712 left_y=0.0006 left_z=0.1301 left_yaw=0.001 left_pitch=-0.243 left_roll=0.0044 left_gripper=0.999 right_x=0.4165 right_y=0.2211 right_z=0.0569 right_yaw=0.2349 right_pitch=-0.6405 right_roll=-0.1526 right_gripper=0.0113 state[joint_eff]: [-0.1573, -1.4017, 6.8034, 1.5165, -0.0806, -0.0366, -0.0122, 0.4308, -11.5487, 8.6632, 0.9011, 0.2564, 0.1001, 1.0525] camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_y": 0.245, "right_x": 0.4, "right_z": 0.045}, "note": "Close was empty; the lemon sits just left of and slightly behind the jaws, so opening and repositioning 2.4 cm left, 1.6 cm back and lower before the next close."})
tool
executing move_to over 10 steps (1.0s)
step 275
assistant
agent notePartial: I grasped the pear and placed it inside the blue bowl (confirmed in the wrist view). I then tried to pick the yellow lemon but ran out of call budget before securing it, so the lemon and the small dark fruit remain on the table and the pour into the white bowl was not attempted.
done
hindsightKey lessons on this rig: (1) Uncommanded pitch drifts strongly forward (up to the -0.6 bound) as the arm extends, which silently moves the fingertips — command right_pitch=0 explicitly for grasps. (2) Approaching a round fruit horizontally at low z just pushes it away repeatedly (I burned ~6 calls on three empty closes); instead go to ~17 cm above, position so the fruit appears just *under* the jaws in the wrist view (bottom edge, row ~160-200), then descend straight down and close — that worked first try. (3) Wrist-cam lateral scale at 10-15 cm range is ~15-17 px/cm, much finer than expected. (4) The right arm's forward reach saturates near x≈0.48 (shoulder effort hits -11 N·m and motion silently stops); some targets are simply refused with zero motion, and combining a retreat in x with the descent unsticks it. (5) The blue bowl in this scene sat near x≈0.50, y≈0.11 in the right-arm frame — at the reach edge; releasing an object low over its rim works. Budget at least 6-8 calls per fruit.
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8696, 0.6128, -0.5587, -0.0135, -0.0307, 0.999, 0.6205, 2.0651, 1.5288, -0.7033, 0.2131, 0.1997, 0.9953] state[eef_state]: left_x=0.2712 left_y=0.0005 left_z=0.1301 left_yaw=0.0007 left_pitch=-0.243 left_roll=0.0041 left_gripper=0.999 right_x=0.3982 right_y=0.2431 right_z=0.0414 right_yaw=0.2496 right_pitch=-0.625 right_roll=-0.1545 right_gripper=0.9953 state[joint_eff]: [-0.2803, -1.5521, 7.0359, 1.536, -0.0464, -0.0464, -0.0122, 0.4991, -11.8085, 5.6547, 0.989, 0.2271, 0.1441, 0.1148] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
done({"summary": "Partial: I grasped the pear and placed it inside the blue bowl (confirmed in the wrist view). I then tried to pick the yellow lemon but ran out of call budget before securing it, so the lemon and the small dark fruit remain on the table and the pour into the white bowl was not attempted.", "hindsight": "Key lessons on this rig: (1) Uncommanded pitch drifts strongly forward (up to the -0.6 bound) as the arm extends, which silently moves the fingertips \u2014 command right_pitch=0 explicitly for grasps. (2) Approaching a round fruit horizontally at low z just pushes it away repeatedly (I burned ~6 calls on three empty closes); instead go to ~17 cm above, position so the fruit appears just *under* the jaws in the wrist view (bottom edge, row ~160-200), then descend straight down and close \u2014 that worked first try. (3) Wrist-cam lateral scale at 10-15 cm range is ~15-17 px/cm, much finer than expected. (4) The right arm's forward reach saturates near x\u22480.48 (shoulder effort hits -11 N\u00b7m and motion silently stops); some targets are simply refused with zero motion, and combining a retreat in x with the descent unsticks it. (5) The blue bowl in this scene sat near x\u22480.50, y\u22480.11 in the right-arm frame \u2014 at the reach edge; releasing an object low over its rim works. Budget at least 6-8 calls per fruit."})
tool
done: Partial: I grasped the pear and placed it inside the blue bowl (confirmed in the wrist view). I then tried to pick the yellow lemon but ran out of call budget before securing it, so the lemon and the small dark fruit remain on the table and the pour into the white bowl was not attempted.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 19.96 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.3859, -0.0139, -0.0299, 0.999, -0.0227, 0.7994, 0.6186, -0.387, -0.02, -0.033, 0.9995]\nstate[eef_state]: left_x=0.2956 left_y=0.0001 left_z=0.1815 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.296 right_y=0.0004 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.335, -1.7846, 9.5932, 1.8242, -0.1001, 0.1441, -0.1148, -0.1436, -1.5932, 9.1419, 1.8388, -0.0513, 0.1734, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44b0f2085c1aa7adc120569122ce12168676332b11604112d17c6396720fc7c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1556e4892bfc3fda870999fe491920485f22cf0428620173930399705eaa01cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b86f8de17a81bd8544dc74996ddf8be1a0d882b8d4532e4f9c72afb02f247db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 17.86 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.3859, -0.0139, -0.0299, 0.999, -0.0227, 0.7994, 0.6186, -0.387, -0.02, -0.033, 0.9995]\nstate[eef_state]: left_x=0.2956 left_y=0.0001 left_z=0.1815 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.296 right_y=0.0004 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.335, -1.7846, 9.5932, 1.8242, -0.1001, 0.1441, -0.1148, -0.1436, -1.5932, 9.1419, 1.8388, -0.0513, 0.1734, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44b0f2085c1aa7adc120569122ce12168676332b11604112d17c6396720fc7c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1556e4892bfc3fda870999fe491920485f22cf0428620173930399705eaa01cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b86f8de17a81bd8544dc74996ddf8be1a0d882b8d4532e4f9c72afb02f247db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K9moktGoxVEbw33qGeHXwe",
      "input": {
        "note": "Blue bowl sits front-right of centre with two yellow fruits beside it; I am moving the right gripper to hover ~15 cm above the nearer fruit to check alignment in the wrist camera.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.3,
          "right_y": 0.11,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01K9moktGoxVEbw33qGeHXwe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6132, -0.3981, -0.0139, -0.0307, 0.999, 0.6117, 1.037, 0.5819, -0.2432, 0.4736, 0.3145, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=-0.0002 left_z=0.1787 left_yaw=-0.0007 left_pitch=-0.013 left_roll=-0.0004 left_gripper=0.999 right_x=0.295 right_y=0.1129 right_z=0.1395 right_yaw=0.0376 right_pitch=-0.0416 right_roll=-0.0254 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -1.1282, 7.0769, 1.9072, -0.0611, -0.0464, -0.022, 0.0479, -2.7692, 7.3641, 1.8437, 0.3639, 0.1001, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:668f81c174875362a20ab90cf35f11ebb57eed9528404bcd863613913f6f51da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c0a2d7a6cda0ed91e23196f2e69ec52444039f2363c7e04d7a8ef0e5e1248ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7fb2a4636c710d50aabaeafd7da34f3c5567ce50b90ca66df96ba7a8f719894c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 11.28 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.3859, -0.0139, -0.0299, 0.999, -0.0227, 0.7994, 0.6186, -0.387, -0.02, -0.033, 0.9995]\nstate[eef_state]: left_x=0.2956 left_y=0.0001 left_z=0.1815 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.296 right_y=0.0004 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.335, -1.7846, 9.5932, 1.8242, -0.1001, 0.1441, -0.1148, -0.1436, -1.5932, 9.1419, 1.8388, -0.0513, 0.1734, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6132, -0.3981, -0.0139, -0.0307, 0.999, 0.6117, 1.037, 0.5819, -0.2432, 0.4736, 0.3145, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=-0.0002 left_z=0.1787 left_yaw=-0.0007 left_pitch=-0.013 left_roll=-0.0004 left_gripper=0.999 right_x=0.295 right_y=0.1129 right_z=0.1395 right_yaw=0.0376 right_pitch=-0.0416 right_roll=-0.0254 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -1.1282, 7.0769, 1.9072, -0.0611, -0.0464, -0.022, 0.0479, -2.7692, 7.3641, 1.8437, 0.3639, 0.1001, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:668f81c174875362a20ab90cf35f11ebb57eed9528404bcd863613913f6f51da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c0a2d7a6cda0ed91e23196f2e69ec52444039f2363c7e04d7a8ef0e5e1248ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fb2a4636c710d50aabaeafd7da34f3c5567ce50b90ca66df96ba7a8f719894c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0128oHGB8R84N73DuFdE2tJX",
      "input": {
        "note": "Wrist view shows the green pear to the right of the jaw column and further out, the lemon to the left of it; stepping forward and slightly right to line up over the pear.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.08,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0128oHGB8R84N73DuFdE2tJX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8032, 0.6132, -0.4084, -0.0139, -0.0307, 0.999, 0.3412, 1.1767, 0.6537, -0.1699, 0.268, 0.1402, 0.9994]\nstate[eef_state]: left_x=0.2926 left_y=0.0002 left_z=0.1758 left_yaw=0.0004 left_pitch=-0.0259 left_roll=-0.0001 left_gripper=0.999 right_x=0.3404 right_y=0.0751 right_z=0.1319 right_yaw=0.0276 right_pitch=-0.0966 right_roll=-0.0444 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.5111, 6.9949, 1.8242, -0.0806, -0.0659, -0.0122, 0.1299, -3.8085, 9.2239, 1.9023, 0.1001, -0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e74af1847c91525c980ae2ad8956d763e85c5b395dce75713b3424f3c95c7eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2594c9a708dbb37130c48a6ce1b60942e02116408b71cc871bc6b34b40576a1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9593aee806a327b20af0cec0b59281ae41e38976a03d98dfc8e63a83e32918b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 3 attempt 0 · /messages · status 200 · 8.102 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.3859, -0.0139, -0.0299, 0.999, -0.0227, 0.7994, 0.6186, -0.387, -0.02, -0.033, 0.9995]\nstate[eef_state]: left_x=0.2956 left_y=0.0001 left_z=0.1815 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.296 right_y=0.0004 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.335, -1.7846, 9.5932, 1.8242, -0.1001, 0.1441, -0.1148, -0.1436, -1.5932, 9.1419, 1.8388, -0.0513, 0.1734, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6132, -0.3981, -0.0139, -0.0307, 0.999, 0.6117, 1.037, 0.5819, -0.2432, 0.4736, 0.3145, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=-0.0002 left_z=0.1787 left_yaw=-0.0007 left_pitch=-0.013 left_roll=-0.0004 left_gripper=0.999 right_x=0.295 right_y=0.1129 right_z=0.1395 right_yaw=0.0376 right_pitch=-0.0416 right_roll=-0.0254 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -1.1282, 7.0769, 1.9072, -0.0611, -0.0464, -0.022, 0.0479, -2.7692, 7.3641, 1.8437, 0.3639, 0.1001, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8032, 0.6132, -0.4084, -0.0139, -0.0307, 0.999, 0.3412, 1.1767, 0.6537, -0.1699, 0.268, 0.1402, 0.9994]\nstate[eef_state]: left_x=0.2926 left_y=0.0002 left_z=0.1758 left_yaw=0.0004 left_pitch=-0.0259 left_roll=-0.0001 left_gripper=0.999 right_x=0.3404 right_y=0.0751 right_z=0.1319 right_yaw=0.0276 right_pitch=-0.0966 right_roll=-0.0444 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.5111, 6.9949, 1.8242, -0.0806, -0.0659, -0.0122, 0.1299, -3.8085, 9.2239, 1.9023, 0.1001, -0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e74af1847c91525c980ae2ad8956d763e85c5b395dce75713b3424f3c95c7eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2594c9a708dbb37130c48a6ce1b60942e02116408b71cc871bc6b34b40576a1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9593aee806a327b20af0cec0b59281ae41e38976a03d98dfc8e63a83e32918b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JBs58MhPvXKvs2ySXg1CJL",
      "input": {
        "note": "The pear now sits right of the jaw column in the wrist view; shifting the gripper ~4.5 cm right and 3 cm forward to centre it before descending.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.03,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01JBs58MhPvXKvs2ySXg1CJL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8062, 0.6132, -0.4202, -0.0135, -0.0307, 0.999, 0.1226, 1.2308, 0.7265, -0.2054, 0.1108, 0.009, 0.9994]\nstate[eef_state]: left_x=0.2912 left_y=0.0001 left_z=0.1726 left_yaw=0.0001 left_pitch=-0.0408 left_roll=-0.0 left_gripper=0.999 right_x=0.3611 right_y=0.0284 right_z=0.1351 right_yaw=0.0115 right_pitch=-0.1376 right_roll=-0.0505 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -0.9504, 7.0359, 1.8291, -0.0073, -0.0708, -0.0122, -0.1709, -3.9316, 9.3333, 1.7802, 0.0073, 0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a869c271198a09692adc3be7167c544cdef198b459c7011a5ced452c8914edb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d5e59c24fac091f3d78886c23167ad9e25bc0f598110e8502a30ceb78ff1745",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:44c6383b1209f54b3abb6eb7099461b4ebb080147c82166110892c903f47edd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 3.867 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6132, -0.3981, -0.0139, -0.0307, 0.999, 0.6117, 1.037, 0.5819, -0.2432, 0.4736, 0.3145, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=-0.0002 left_z=0.1787 left_yaw=-0.0007 left_pitch=-0.013 left_roll=-0.0004 left_gripper=0.999 right_x=0.295 right_y=0.1129 right_z=0.1395 right_yaw=0.0376 right_pitch=-0.0416 right_roll=-0.0254 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -1.1282, 7.0769, 1.9072, -0.0611, -0.0464, -0.022, 0.0479, -2.7692, 7.3641, 1.8437, 0.3639, 0.1001, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8032, 0.6132, -0.4084, -0.0139, -0.0307, 0.999, 0.3412, 1.1767, 0.6537, -0.1699, 0.268, 0.1402, 0.9994]\nstate[eef_state]: left_x=0.2926 left_y=0.0002 left_z=0.1758 left_yaw=0.0004 left_pitch=-0.0259 left_roll=-0.0001 left_gripper=0.999 right_x=0.3404 right_y=0.0751 right_z=0.1319 right_yaw=0.0276 right_pitch=-0.0966 right_roll=-0.0444 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.5111, 6.9949, 1.8242, -0.0806, -0.0659, -0.0122, 0.1299, -3.8085, 9.2239, 1.9023, 0.1001, -0.0952, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8062, 0.6132, -0.4202, -0.0135, -0.0307, 0.999, 0.1226, 1.2308, 0.7265, -0.2054, 0.1108, 0.009, 0.9994]\nstate[eef_state]: left_x=0.2912 left_y=0.0001 left_z=0.1726 left_yaw=0.0001 left_pitch=-0.0408 left_roll=-0.0 left_gripper=0.999 right_x=0.3611 right_y=0.0284 right_z=0.1351 right_yaw=0.0115 right_pitch=-0.1376 right_roll=-0.0505 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -0.9504, 7.0359, 1.8291, -0.0073, -0.0708, -0.0122, -0.1709, -3.9316, 9.3333, 1.7802, 0.0073, 0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a869c271198a09692adc3be7167c544cdef198b459c7011a5ced452c8914edb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d5e59c24fac091f3d78886c23167ad9e25bc0f598110e8502a30ceb78ff1745",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44c6383b1209f54b3abb6eb7099461b4ebb080147c82166110892c903f47edd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuwQKjgEIEhgCKkCPynIEewUzTvNsNAILDHGcxpsm8U7TCW03SFSUep0N2HLkvB/U7QqPWHFVIaLmbud/wNU4EeI6Olzu7M2PmtzgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe2bzNUGEgwCCaIJUqlmMXdu6ZIaDEyxX13dcg6Bgh7f9CIwoqTJ3umXBzLBwK4Ig4iQVg+GiS2DehYPJBfepVP4zBET8w/J8lqjpzHzdEmMJVmcKtkC4FKpO+EHEu0S/LjJGdPNTuhAR2JCEmFs1sRwUfP9E/dZePftTA4Es8tosBelL1v+DOkcTfq/w3InrbM24yyWFZSXI6dwZJ8cbYrx4wgd5VAWqAkdHMirwIN3iiZR+4Rp8SFRocPTx7DKqwy32u1t5rSJqgjHbVVGQAYHlx6bFdit/otalzr+wVPpuskADDXFNav+5gg41BMcdRP1XBts66XSsl2mg+7+wcCbu4eN9P8JKD8CWg06x3ic9wYAoWrDyjC1O1ksaCCpger9Vy3TpWw3elb9InEF37GrmeY9WpurxVRtbWlNe5h0FVpmdA9mYFDrsTYIpjCElD3zI6g+R0tuEltUV4Kid6fOse+o3nMHqJD5cWm6WSXHOFKHuQ/Juar5lFEctqqrWs6pVrYQZZR1ikUQJVZfRESIkAm5bdJOPzguOUwwQ3TtrtdjDwCu3z7u21hgVV/wGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JqNAcfJ2eAQg64NTNvn6Rm",
      "input": {
        "note": "The pear is now nearly centred on the jaw column in the wrist view; descending to pear mid-height to prepare the grasp.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.025,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01JqNAcfJ2eAQg64NTNvn6Rm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.807, 0.6132, -0.424, -0.0139, -0.0307, 0.999, 0.1146, 1.2377, 0.7292, -0.2058, 0.0948, -0.0048, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1716 left_yaw=0.0004 left_pitch=-0.0454 left_roll=0.0003 left_gripper=0.999 right_x=0.3619 right_y=0.0285 right_z=0.1337 right_yaw=0.0245 right_pitch=-0.1436 right_roll=-0.051 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.3607, 6.9949, 1.7118, -0.0855, -0.0708, -0.0122, -0.1573, -4.6974, 9.0325, 1.7802, -0.0317, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2be8a6510d917df0bbbcb41b8695db0ed5bec9a4cd6aafeffe606da8c1f55ca6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3dbd397d61ebd5341b181a5f76583bcbd57a80388b3dc23c50127fe5f8b62c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:625802d069dddef538c695e95c790c7d27cb73b7c45a0ac5fe85166c5db3708f",
        "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 · 6.574 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8032, 0.6132, -0.4084, -0.0139, -0.0307, 0.999, 0.3412, 1.1767, 0.6537, -0.1699, 0.268, 0.1402, 0.9994]\nstate[eef_state]: left_x=0.2926 left_y=0.0002 left_z=0.1758 left_yaw=0.0004 left_pitch=-0.0259 left_roll=-0.0001 left_gripper=0.999 right_x=0.3404 right_y=0.0751 right_z=0.1319 right_yaw=0.0276 right_pitch=-0.0966 right_roll=-0.0444 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.5111, 6.9949, 1.8242, -0.0806, -0.0659, -0.0122, 0.1299, -3.8085, 9.2239, 1.9023, 0.1001, -0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8062, 0.6132, -0.4202, -0.0135, -0.0307, 0.999, 0.1226, 1.2308, 0.7265, -0.2054, 0.1108, 0.009, 0.9994]\nstate[eef_state]: left_x=0.2912 left_y=0.0001 left_z=0.1726 left_yaw=0.0001 left_pitch=-0.0408 left_roll=-0.0 left_gripper=0.999 right_x=0.3611 right_y=0.0284 right_z=0.1351 right_yaw=0.0115 right_pitch=-0.1376 right_roll=-0.0505 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -0.9504, 7.0359, 1.8291, -0.0073, -0.0708, -0.0122, -0.1709, -3.9316, 9.3333, 1.7802, 0.0073, 0.0171, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.807, 0.6132, -0.424, -0.0139, -0.0307, 0.999, 0.1146, 1.2377, 0.7292, -0.2058, 0.0948, -0.0048, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1716 left_yaw=0.0004 left_pitch=-0.0454 left_roll=0.0003 left_gripper=0.999 right_x=0.3619 right_y=0.0285 right_z=0.1337 right_yaw=0.0245 right_pitch=-0.1436 right_roll=-0.051 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.3607, 6.9949, 1.7118, -0.0855, -0.0708, -0.0122, -0.1573, -4.6974, 9.0325, 1.7802, -0.0317, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2be8a6510d917df0bbbcb41b8695db0ed5bec9a4cd6aafeffe606da8c1f55ca6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3dbd397d61ebd5341b181a5f76583bcbd57a80388b3dc23c50127fe5f8b62c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:625802d069dddef538c695e95c790c7d27cb73b7c45a0ac5fe85166c5db3708f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsAQKjgEIEhgCKkBmsbRN2Xs98G5o3O4MaX/sm9WKUdRnRwfhFjbYJOP96uQAVQM8uTUae9lpA5SG+3ZzhURi5UPlWOHq8zwXbqjjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfGbzNUGEgz7dICLL1bswSpJ62gaDGTXkon1iMUJHtB48SIwlsWM0kM2JCJndXaPAPoXnv2W3WlDhYRNU8vsAaEIlE1GzR36SgoKrnhwWM833EZ/Ks4CJWAf51dNjiJrPvJwwjx6QSKvUQoM9b7MEQKmT52dU/L0jz2tEo8A2HtTws1Q6lI5+qBQ0ezU8DkrQrlqRGb83ValtK1KF9+oaV3gjJHjIcP/YSGgB+quhV4bFCKajp3iLoulhAJ/Tw0p1cILtua6dORUyuEi7StAPfHOxp0VNpvY79913YyoDPo2kWjHp00DcxYpYOmzF50gwq7mMn5yaxAPTl1yMzDbytDl5o2hzxNbaI0XWjUOdAQzOGzZcyvWxVcvcb5ZSK1OY8LPhSEaYmuC/1ZCPpVrBBnY3aePvg2HrfiVi0WCL6jksVa9Y4/nJjs9lb25liVkAa3x5Eve9ft2wsVCjXP3f0xNkLJx9hPsxv6GhGH59Gqu15ZleoH4THxhbO1BNhSOk1TQxHi9TXUKvMy6IA2PrtmlEU/Uwki0ouexC9S61WYBhSC/NxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WMK1bMg3vxmi4T9eW8JTkU",
      "input": {
        "note": "The previous descent did not register (z unchanged at 0.134); commanding a pure vertical drop to 5 cm over the pear.",
        "targets": {
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01WMK1bMg3vxmi4T9eW8JTkU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8085, 0.6132, -0.4244, -0.0139, -0.0307, 0.999, 0.1146, 1.2381, 0.73, -0.2062, 0.0948, -0.0051, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1711 left_yaw=0.0004 left_pitch=-0.0473 left_roll=0.0003 left_gripper=0.999 right_x=0.362 right_y=0.0285 right_z=0.1338 right_yaw=0.0247 right_pitch=-0.1436 right_roll=-0.0513 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.4427, 6.9949, 1.7411, -0.0513, -0.0562, -0.0122, -0.0752, -4.7521, 8.8821, 1.7607, -0.0513, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a36292cdb6f954e0b38e60e4e6bc6a0b036295a384d5089e243d6aaa30cc6ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36acb22a5bede3963f144be9c62211625e679cd30972b4e0f186e1f3c5ca9b3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be02d4d66d3989b22e04835121f911928cf40a3b627f7356992e76c483bb6eba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 4.819 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8062, 0.6132, -0.4202, -0.0135, -0.0307, 0.999, 0.1226, 1.2308, 0.7265, -0.2054, 0.1108, 0.009, 0.9994]\nstate[eef_state]: left_x=0.2912 left_y=0.0001 left_z=0.1726 left_yaw=0.0001 left_pitch=-0.0408 left_roll=-0.0 left_gripper=0.999 right_x=0.3611 right_y=0.0284 right_z=0.1351 right_yaw=0.0115 right_pitch=-0.1376 right_roll=-0.0505 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -0.9504, 7.0359, 1.8291, -0.0073, -0.0708, -0.0122, -0.1709, -3.9316, 9.3333, 1.7802, 0.0073, 0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.807, 0.6132, -0.424, -0.0139, -0.0307, 0.999, 0.1146, 1.2377, 0.7292, -0.2058, 0.0948, -0.0048, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1716 left_yaw=0.0004 left_pitch=-0.0454 left_roll=0.0003 left_gripper=0.999 right_x=0.3619 right_y=0.0285 right_z=0.1337 right_yaw=0.0245 right_pitch=-0.1436 right_roll=-0.051 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.3607, 6.9949, 1.7118, -0.0855, -0.0708, -0.0122, -0.1573, -4.6974, 9.0325, 1.7802, -0.0317, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8085, 0.6132, -0.4244, -0.0139, -0.0307, 0.999, 0.1146, 1.2381, 0.73, -0.2062, 0.0948, -0.0051, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1711 left_yaw=0.0004 left_pitch=-0.0473 left_roll=0.0003 left_gripper=0.999 right_x=0.362 right_y=0.0285 right_z=0.1338 right_yaw=0.0247 right_pitch=-0.1436 right_roll=-0.0513 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.4427, 6.9949, 1.7411, -0.0513, -0.0562, -0.0122, -0.0752, -4.7521, 8.8821, 1.7607, -0.0513, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a36292cdb6f954e0b38e60e4e6bc6a0b036295a384d5089e243d6aaa30cc6ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36acb22a5bede3963f144be9c62211625e679cd30972b4e0f186e1f3c5ca9b3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be02d4d66d3989b22e04835121f911928cf40a3b627f7356992e76c483bb6eba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0AcKjgEIEhgCKkBpYtYyyD4gAUaBGLQVrPsV2gsl+9wPDvAcSF+8zQNEezC2CZwJIRA3eHXgDX2Fvcef4HO3mJfot9VF/MfR/pn2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfibzNUGEgz2mCMw8fV2wiD8UqgaDGrF8PFnfRNnMIrK5CIwl9sHTim2h4g3Nv4hes8ntLEZrgIILGu8XuZapAXVrRGXHYYa5NAC4Zw93mT8a18uKu4FgWmstRbviQNlfwTJCOTROL05vXA8QCmJpk7lxcW78eASFzhh8BTNyN3mL6X4rehuQq/spCjl38HEQKNIOWXXJMmwjlSErxzh4PqgsX8OxKYQZg6nPB0HYX0ScN5Xe37kdqKmWkTRw+7MiUhRBBcbdfbD5/z2HWO2hdCcZUm7Ie4RQPn3bD0yoI9KFSSV9QuBAjO/7qtAlZhsLM7COVkmAElER1p2FEXoiq7lAlwlunDMAv/DTKxYf1HRrb1ASUNC3dWPX44pxplqBNm/nDxL3RkiLSXvlcmdlNcsmUGo4Azt4L3ES4uQLFfGSMCne8UmUNVyIms4hyoDYIsbUo0s4ZAnLCtnLMxJwgi1+svK2dFaznXXG3sQb3qOv/3Miev61fG5I9nXn2ooMG0xiZqHpXaIwjV9ShNdUXHS4NAFY/Wat9k8S8ZPu8aISSQJImk5opDM29Zwq6I5Qo/3Y0jXPDqrV7FNknvCfkQZB9yDqvUFBf8peym5QXArYnVJMR31pK1cLyVhPy7DMWhlVFhUtNwTH9yCQ5/jhFQJIwvekvf10QaZcOxqbUzvdEbA8+VH2mIM/5rn5jWpRzz2HNU2PmS69tfi+qNBnipX6dmJMp2l+L1rO/s4KmA37Zj03DVX38MujvRsH3Yx9gL61gpHUwaEy4pJl6cW2xsS4Qpnr7XRrRXLHhJ/6Xii0uqzqXyIYtWpSOt9ScNldvsQKcIDffm80YfuYkd5hLNXx1feRN9gWoE9GwzSOq+Np0WkJOvtUitgWI+uESsZHY2VMM0fJXeSOu12nGQIzcymS/Y65UVgdeEFN5hM/MVF1K9XzYCQhXuLaWUTjtWXsOXj7RI7HG+plntsEhLxR8ONByhEgZf/ekaWT9gZ2VKp4kHsJw3V0EqnrhGG8SKX/A5/H5hul+3wZuQthAJ2Txorbg0iym1Oc5uLIxfgrgXrPQV7CigG344EIz4HUtFI9ztAVSonYjCK87Vo5r5Oj0zo6A1cGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bz2HVwGQwrQVZ56CW6uhre",
      "input": {
        "note": "Arm has been stuck at z=0.134 for two commands; testing mobility with a combined small retreat and descent.",
        "targets": {
          "right_x": 0.34,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Bz2HVwGQwrQVZ56CW6uhre",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8108, 0.6132, -0.4252, -0.0139, -0.0307, 0.999, 0.1253, 1.24, 0.4953, -0.0071, 0.0956, -0.0086, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1704 left_yaw=0.0004 left_pitch=-0.0503 left_roll=0.0004 left_gripper=0.999 right_x=0.3338 right_y=0.0287 right_z=0.072 right_yaw=0.036 right_pitch=-0.1809 right_roll=-0.0578 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4291, 7.1043, 1.6777, -0.0366, -0.0464, -0.0122, -0.0615, -4.1641, 6.612, 1.8828, 0.0855, 0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f44d26a6a51cce7da2416ab69d60c8897c48b216f2c48f5add0e8e313dc44b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30dfd3303e31e3e864196f0f9f39e7f6549819db68c70931abeac4a7e217ace5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6a6915686981a05f380e196e8ea07fb95a7fe771c603261e566e311d669dc98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 4.916 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.807, 0.6132, -0.424, -0.0139, -0.0307, 0.999, 0.1146, 1.2377, 0.7292, -0.2058, 0.0948, -0.0048, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1716 left_yaw=0.0004 left_pitch=-0.0454 left_roll=0.0003 left_gripper=0.999 right_x=0.3619 right_y=0.0285 right_z=0.1337 right_yaw=0.0245 right_pitch=-0.1436 right_roll=-0.051 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.3607, 6.9949, 1.7118, -0.0855, -0.0708, -0.0122, -0.1573, -4.6974, 9.0325, 1.7802, -0.0317, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8085, 0.6132, -0.4244, -0.0139, -0.0307, 0.999, 0.1146, 1.2381, 0.73, -0.2062, 0.0948, -0.0051, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1711 left_yaw=0.0004 left_pitch=-0.0473 left_roll=0.0003 left_gripper=0.999 right_x=0.362 right_y=0.0285 right_z=0.1338 right_yaw=0.0247 right_pitch=-0.1436 right_roll=-0.0513 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.4427, 6.9949, 1.7411, -0.0513, -0.0562, -0.0122, -0.0752, -4.7521, 8.8821, 1.7607, -0.0513, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8108, 0.6132, -0.4252, -0.0139, -0.0307, 0.999, 0.1253, 1.24, 0.4953, -0.0071, 0.0956, -0.0086, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1704 left_yaw=0.0004 left_pitch=-0.0503 left_roll=0.0004 left_gripper=0.999 right_x=0.3338 right_y=0.0287 right_z=0.072 right_yaw=0.036 right_pitch=-0.1809 right_roll=-0.0578 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4291, 7.1043, 1.6777, -0.0366, -0.0464, -0.0122, -0.0615, -4.1641, 6.612, 1.8828, 0.0855, 0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f44d26a6a51cce7da2416ab69d60c8897c48b216f2c48f5add0e8e313dc44b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30dfd3303e31e3e864196f0f9f39e7f6549819db68c70931abeac4a7e217ace5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6a6915686981a05f380e196e8ea07fb95a7fe771c603261e566e311d669dc98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/gQKjgEIEhgCKkBPxAdQfyHGC2Rto4NnMcMDcNXZEMUm8plYwykJ8QqHqUYz+SEthLgNNX2ehqNeGEokIjqbM9Ew5Mi7pFQ18w5yMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf+bzNUGEgwrdwyzF5NTANm0g4AaDMTPCkNPsKMFoxbuCSIwpEKwYmlL7KUmYkSTpZQQBHnSwsRBIrMZGJGYTJDRhhRFcWSwTR+TKKtRR1B5enfYKpwD658//e/cf67+V48Q01SE5ULA1QvAWtcywrWyzlun/Te5m2v72MF85we6XaHbFwE9P41dk4O2dptRA2+WBwNqfWnTCEkkGIG/JhW2BrA6BW2aKdbwqgIXGMj2ytwpqyoq5lea2oWNtzkmivI9kA2iFfjK+hnJBgGhjLEpQ6r7AIlfu1T4FDftfFJGTQzrfB63k8joI4OQFug81sFt+/PqFnzzCeMhJEc21xjbd/TMW85dUabhgftIg1f++Ibh7ixfU8W8lUz7DxHrB32gTK+5Z47jphseKipoSmxcDhHwbDjkzUZlcrwfLS7AjowypkyGQNGN/wTDO36fpC4CcPjs7zk6a/oxIE92zXf+hQZiNfsvoZszTmxjxiUw+CgLeX/kd5rE116YohvAQah+cv9YC04iCRy8W6OV+HFQ17EZWnEnFTo5TYNBys2n+xtdEDFF/RcZ8RyGZ4TbI8YrwdxpuvRuRT/S97NZxfZlcmcOONiUqTMS6BaWpZw3f8squ6c7TtTMT0DDYSmtooPApMd+7X8N+rIrUIZ7eahfehgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J713xjF6mk6rD5vB3oQU5s",
      "input": {
        "note": "Arm is moving again; pear fills the wrist view slightly right of the jaw column, so nudging right and forward while descending to grasp height.",
        "targets": {
          "right_x": 0.355,
          "right_y": 0.005,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01J713xjF6mk6rD5vB3oQU5s",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6132, -0.4305, -0.0135, -0.0307, 0.999, 0.0101, 1.425, 0.4843, 0.152, 0.02, -0.0868, 0.9994]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1686 left_yaw=0.0001 left_pitch=-0.0584 left_roll=0.0003 left_gripper=0.999 right_x=0.3484 right_y=0.0036 right_z=0.0357 right_yaw=0.0284 right_pitch=-0.2222 right_roll=-0.0629 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -1.5521, 7.2, 1.7802, -0.0562, -0.0659, -0.0171, -0.4034, -5.5043, 5.9145, 1.7558, -0.1441, 0.0904, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0d2f6fd86d9e3f9b4e66673c8806ee1cd91db7df606817e5f75f9198996685f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86c8c7b2c0b8515b521019d2db750ea762c071117429a7f5a3db84c16be0263d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7981d9dbcff81588aed5ec2980bf384aaa831c3b80d2eb8be4207fe6a010155c",
        "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 · 5.79 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8085, 0.6132, -0.4244, -0.0139, -0.0307, 0.999, 0.1146, 1.2381, 0.73, -0.2062, 0.0948, -0.0051, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1711 left_yaw=0.0004 left_pitch=-0.0473 left_roll=0.0003 left_gripper=0.999 right_x=0.362 right_y=0.0285 right_z=0.1338 right_yaw=0.0247 right_pitch=-0.1436 right_roll=-0.0513 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.4427, 6.9949, 1.7411, -0.0513, -0.0562, -0.0122, -0.0752, -4.7521, 8.8821, 1.7607, -0.0513, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8108, 0.6132, -0.4252, -0.0139, -0.0307, 0.999, 0.1253, 1.24, 0.4953, -0.0071, 0.0956, -0.0086, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1704 left_yaw=0.0004 left_pitch=-0.0503 left_roll=0.0004 left_gripper=0.999 right_x=0.3338 right_y=0.0287 right_z=0.072 right_yaw=0.036 right_pitch=-0.1809 right_roll=-0.0578 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4291, 7.1043, 1.6777, -0.0366, -0.0464, -0.0122, -0.0615, -4.1641, 6.612, 1.8828, 0.0855, 0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6132, -0.4305, -0.0135, -0.0307, 0.999, 0.0101, 1.425, 0.4843, 0.152, 0.02, -0.0868, 0.9994]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1686 left_yaw=0.0001 left_pitch=-0.0584 left_roll=0.0003 left_gripper=0.999 right_x=0.3484 right_y=0.0036 right_z=0.0357 right_yaw=0.0284 right_pitch=-0.2222 right_roll=-0.0629 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -1.5521, 7.2, 1.7802, -0.0562, -0.0659, -0.0171, -0.4034, -5.5043, 5.9145, 1.7558, -0.1441, 0.0904, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0d2f6fd86d9e3f9b4e66673c8806ee1cd91db7df606817e5f75f9198996685f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86c8c7b2c0b8515b521019d2db750ea762c071117429a7f5a3db84c16be0263d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7981d9dbcff81588aed5ec2980bf384aaa831c3b80d2eb8be4207fe6a010155c",
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        "type": "base64"
      },
      "type": "image"
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  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzQUKjgEIEhgCKkCnqkUDa8Bp0jZCx3waEZBN4FzUF2RwJfFv1hhMuSLLnHosAuWJLGiiec9txLU+Pib2yJm4/knenMz2WPvKOKarMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYSczNUGEgwyH/OfG12HsiPWtf0aDLP84vVuOqpNVILWwiIwNMuUIwnZp8Bi8qR86jr5aLXHDQmUpsYnVuwhNPmhbPh4FoBOCeuo4ZuiyP7XiGHKKusD2XhI6Xq0H7Pj5rM/bN7tPq61W9ROb7Umx03mgKO7bzmPidxP6tDMJGXWS5Y96quAxDtqm7fcsIz9mF8xMPqiIOzFeJ9h8qAFZ3GvfMBvnmU0s6n7Ea6vU4nPvLygYhkHH39MH0qHvsSYj9DXLtN7qpDj63outa15y1/duPVTCToXxgxxTbnFdhzknKezUVoxselcW3ny0lAP5yyiwWvkaKeQMturU48Bs8khmjED00Vki7Fpf1bk3sHdyGxxjf2CkopE/IbgduZm6zn5DghO4Dyo9hTZ+xL+Od2u9l+F18KgU6SXTl21UVnodtMQXo2hkXhvcWL8mXsbOGYQzslSrQmNh09ZzILdg6bWQL+U8duZvQn2QQOT3ZYDzvjCwrmyRPm+xW/ccSX+YbTxJFVqU6Os/jLmcwBGbtHnKA0Y576PMm2q5Z/VEMxM9Dsuz3Ctr4io9//OqBClVXEEb678hAIo7wfSASbOuwW2S89/SKjO5PZijfjH64bJU7N1Pkr/AuDKzTgXNa2A6AnigGOZl55cICCOQhQzjUQ2Ub0w/PCr1PscBym04oNceIMhQ3CkA6t/SwNQ25BuUz3KAWSG1klKG+2hE5gUDRiM4tR8YoQBk0DCStCpj3gla5o6JUk7yBDW2L6IQ8ewHk4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XRVdgcjbf4djWuGn8J7DXQ",
      "input": {
        "note": "Pear is centred on the jaw column just above the jaws; advancing 1.5 cm and closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.365
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XRVdgcjbf4djWuGn8J7DXQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4313, -0.0139, -0.0307, 0.999, 0.0101, 1.4246, 0.4839, 0.1604, 0.0093, -0.0948, 0.0116]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1682 left_yaw=0.0004 left_pitch=-0.0599 left_roll=0.0006 left_gripper=0.999 right_x=0.3498 right_y=0.0055 right_z=0.0372 right_yaw=0.042 right_pitch=-0.2139 right_roll=-0.0612 right_gripper=0.0116\nstate[joint_eff]: [-0.1573, -1.347, 7.2, 1.6679, -0.0806, -0.0611, -0.0171, -0.1573, -5.7504, 5.9009, 1.7705, -0.0073, 0.0659, 1.0476]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50177be44a66df7b28a92c719430000524294e0a81c27bfb84a26caa6f6fd070",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76b4f77bb5849df5396a2a0b73db2de142c5b39ae66e9fd9001d671698d2c679",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6e76aa9a819d913ccddb9d12e3bc3f5d495ab43182a59d10ee63f75af6cf4f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 9 attempt 0 · /messages · status 200 · 4.319 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8108, 0.6132, -0.4252, -0.0139, -0.0307, 0.999, 0.1253, 1.24, 0.4953, -0.0071, 0.0956, -0.0086, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1704 left_yaw=0.0004 left_pitch=-0.0503 left_roll=0.0004 left_gripper=0.999 right_x=0.3338 right_y=0.0287 right_z=0.072 right_yaw=0.036 right_pitch=-0.1809 right_roll=-0.0578 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4291, 7.1043, 1.6777, -0.0366, -0.0464, -0.0122, -0.0615, -4.1641, 6.612, 1.8828, 0.0855, 0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6132, -0.4305, -0.0135, -0.0307, 0.999, 0.0101, 1.425, 0.4843, 0.152, 0.02, -0.0868, 0.9994]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1686 left_yaw=0.0001 left_pitch=-0.0584 left_roll=0.0003 left_gripper=0.999 right_x=0.3484 right_y=0.0036 right_z=0.0357 right_yaw=0.0284 right_pitch=-0.2222 right_roll=-0.0629 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -1.5521, 7.2, 1.7802, -0.0562, -0.0659, -0.0171, -0.4034, -5.5043, 5.9145, 1.7558, -0.1441, 0.0904, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4313, -0.0139, -0.0307, 0.999, 0.0101, 1.4246, 0.4839, 0.1604, 0.0093, -0.0948, 0.0116]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1682 left_yaw=0.0004 left_pitch=-0.0599 left_roll=0.0006 left_gripper=0.999 right_x=0.3498 right_y=0.0055 right_z=0.0372 right_yaw=0.042 right_pitch=-0.2139 right_roll=-0.0612 right_gripper=0.0116\nstate[joint_eff]: [-0.1573, -1.347, 7.2, 1.6679, -0.0806, -0.0611, -0.0171, -0.1573, -5.7504, 5.9009, 1.7705, -0.0073, 0.0659, 1.0476]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50177be44a66df7b28a92c719430000524294e0a81c27bfb84a26caa6f6fd070",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76b4f77bb5849df5396a2a0b73db2de142c5b39ae66e9fd9001d671698d2c679",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6e76aa9a819d913ccddb9d12e3bc3f5d495ab43182a59d10ee63f75af6cf4f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISsAYKjgEIEhgCKkDiQPi9uZ3LJNLkSW92rfR6OMvarAIBqQbL73qHJFvS+xW+zInONbF8tNnL2vaV/UOUQ5liVBSxSFunK8TickXKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYuczNUGEgyTMY6PV+EtCQybBP4aDLsj6j8kA002lrhsJiIwXV345IpfB1K2XcrLUjg5KTAOvGbFQRzfInph53j+o4tAKHJA5teCU+9ktlYSDuz+Ks4Ev+91FPPqq+yqL3eecZAce7LbpyB2B7h1yLZJR9uPT89OFpdV7K6dJy+qs+EeNroRIJWB4pNec2+nJVJIgpD37Ypmi1JSlHj6QQVHEQs/ayk2sZK7IGaSoJFEp4owJm0byaA3RXIdaClO48EKF5zI2mAeTXpDfGMrBasnxB5WtI2boMqYKFflWuUJcdT7o2bH+HfjqZ/ikk4vZrKKj1bTUcjRLHg5uH5IvH/OLO32YZUwmoR/2+YtbyQ3NRKqvK6XL8AwrxoIiLNns5H34gLDm3tOs27RobO4LHV1H7CZY2FQIAPJjFLpZiblpL/6w2W8kTlfcTo2ZENa/OwBS+D6cVxJovIzGwp+1/8MrhMQ8JOEmL0bMh9muoC9sF/7vuXqQxEqyscxx30NOP4UhIWUpBpXmSkIzHWF+4+/GG9q4OjDMb7J2xeoR/hvKEpRo+BA9yuGo2aamiXPfdY8F/sM3et9jPdrLIRPt4+iTM6KbFCJlNd1Adnc4WpGfbWdrGJKgwP7dz5QhI90gWo2dZhTskYHM+qCDd9i+k6NUQP9IIaP/j+N0D2qQ2YtUad23KsYlF4cQZCu/7FYXEXgAor/wz04QLQ9OA6DMebNIqS0axo6QswoDgbpklirFxm/2bu8jfk9DmcSmOn/MZW8WukYca9oawRMj9qTDNgy81PuzHRpPl0BhsevyTr0YlGqdLjvOqhd0FdH8q302Uh+82smh57K3VxKc1GgdI1xfu27/jSJBFioCNrGqZ5TnH8rRfMo/Ru0lN7mYM4D3GI4NqwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01THgfBzE1gBTTnzCxx7WLpv",
      "input": {
        "note": "The close came up empty (gripper 0.01) — the pear is a few cm further out than the fingertips. Opening and lifting to re-approach from above.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01THgfBzE1gBTTnzCxx7WLpv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4423, -0.0139, -0.0307, 0.999, 0.0101, 1.2381, 0.7227, -0.3038, 0.0055, -0.1059, 0.9986]\nstate[eef_state]: left_x=0.2885 left_y=0.0003 left_z=0.1657 left_yaw=0.0005 left_pitch=-0.0721 left_roll=0.0008 left_gripper=0.999 right_x=0.345 right_y=0.0061 right_z=0.1129 right_yaw=0.0517 right_pitch=-0.253 right_roll=-0.0648 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.4291, 6.9812, 1.8193, -0.0513, -0.0366, -0.0171, -0.1162, -5.6547, 9.1419, 1.5556, -0.0024, 0.0415, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:498b9407eece6b2e093004b47ed02ccc8ea2ce1d5f300b781d6fbf618b275341",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:034c473853ab654c485582c5cc6f1c23051e7d0328f84923d5ee66f424c26d7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27acec0ca49be91587bbcce0beedadea4469b9f01cf70a91a7c55e251114c97d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 3.051 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6132, -0.4305, -0.0135, -0.0307, 0.999, 0.0101, 1.425, 0.4843, 0.152, 0.02, -0.0868, 0.9994]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1686 left_yaw=0.0001 left_pitch=-0.0584 left_roll=0.0003 left_gripper=0.999 right_x=0.3484 right_y=0.0036 right_z=0.0357 right_yaw=0.0284 right_pitch=-0.2222 right_roll=-0.0629 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -1.5521, 7.2, 1.7802, -0.0562, -0.0659, -0.0171, -0.4034, -5.5043, 5.9145, 1.7558, -0.1441, 0.0904, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4313, -0.0139, -0.0307, 0.999, 0.0101, 1.4246, 0.4839, 0.1604, 0.0093, -0.0948, 0.0116]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1682 left_yaw=0.0004 left_pitch=-0.0599 left_roll=0.0006 left_gripper=0.999 right_x=0.3498 right_y=0.0055 right_z=0.0372 right_yaw=0.042 right_pitch=-0.2139 right_roll=-0.0612 right_gripper=0.0116\nstate[joint_eff]: [-0.1573, -1.347, 7.2, 1.6679, -0.0806, -0.0611, -0.0171, -0.1573, -5.7504, 5.9009, 1.7705, -0.0073, 0.0659, 1.0476]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4423, -0.0139, -0.0307, 0.999, 0.0101, 1.2381, 0.7227, -0.3038, 0.0055, -0.1059, 0.9986]\nstate[eef_state]: left_x=0.2885 left_y=0.0003 left_z=0.1657 left_yaw=0.0005 left_pitch=-0.0721 left_roll=0.0008 left_gripper=0.999 right_x=0.345 right_y=0.0061 right_z=0.1129 right_yaw=0.0517 right_pitch=-0.253 right_roll=-0.0648 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.4291, 6.9812, 1.8193, -0.0513, -0.0366, -0.0171, -0.1162, -5.6547, 9.1419, 1.5556, -0.0024, 0.0415, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:498b9407eece6b2e093004b47ed02ccc8ea2ce1d5f300b781d6fbf618b275341",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:034c473853ab654c485582c5cc6f1c23051e7d0328f84923d5ee66f424c26d7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27acec0ca49be91587bbcce0beedadea4469b9f01cf70a91a7c55e251114c97d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS2AQKjgEIEhgCKkAOnPXu0hdRUM9v6OswvS5tIOx2wP+aOwNj04qVbe7MCCCAiAT6AyiwMz2BTUleDJVRbQ+1jo6r332AwsKnpwflMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZGczNUGEgxq61msatvT1bZOBfgaDOS/+SYy5CqIJ3XGVSIwQP4Yl1AsSjmDkAe14y8yxo9ZMmc3lpFl30y3ky90nAtj95+qIYaasmTqyJTBCsYMKvYC5/J2y2EZMHfB2vOIAkpUDx1REf2rGkU3VLQ2awt8S6NnfOU2Vv/LqE3uQXybzocJq0cNd5nia2hzhawvqzxgi7z6tvGTMbes1mmpt4JAf8BPZtNRatXSvOpOj7g8IiMYN0cTQyJ6SFKgpSV1mxzpNExdytZ79xVwoDibm7Vw4PVdkMBjSVr08gq95ZyBDW8JnPPFZqjrDlejrpsOHzdEvnsnktWOD7kYdvwq/vFdiR9mtsaEh9k/Ow03ncV7yLiTZZWpNAN7aq7KwUSDj1uP/Ocb7zPH424ILebmLVmypeCCMMrJQa3FfRyJ31eWyC0k3pVOj2wMkorm2CkrOtta2stTgNf/KNjxcyNgVQC8L8E7M7jDiKUXl9oslEvxzcm1JPHzB5SWg/cdc1akjc9aS6Vdj+UzucIKQ62OmW80LddJMEtS8As8m+fruvEV085PHuoCt50lMnsVI0UHzucRCA8jyTk84i4xk7yHDrPbTJmNY9EB5yYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0144w8id6CsoJC8q34zJcnCE",
      "input": {
        "note": "From 11 cm up the pear sits on the jaw column but well above the jaws, meaning it is further out than the fingertips; advancing 5.5 cm.",
        "targets": {
          "right_x": 0.4,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0144w8id6CsoJC8q34zJcnCE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8173, 0.6132, -0.4492, -0.0139, -0.0307, 0.999, 0.0101, 1.4719, 0.865, -0.2668, 0.0021, -0.1173, 0.9986]\nstate[eef_state]: left_x=0.2875 left_y=0.0003 left_z=0.1638 left_yaw=0.0005 left_pitch=-0.0809 left_roll=0.001 left_gripper=0.999 right_x=0.3878 right_y=0.0071 right_z=0.0952 right_yaw=0.0619 right_pitch=-0.3078 right_roll=-0.0674 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.5111, 6.9812, 1.8095, -0.0611, -0.0806, -0.0122, -0.2256, -5.8462, 8.5538, 1.7558, -0.022, 0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f817eb99c879e61e3ed7cee276f60c6e5d8f7a0a329815369776a2e912684579",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:916d0bad2eefedf02475de7ee0a3befc2d6ddfcdd8cfa07848f1a6d666f192b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb3024d691eacc6a9e5784231d59c1c1f5c2f7d7bdbc08f601700d5951e5fd99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 5.078 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4313, -0.0139, -0.0307, 0.999, 0.0101, 1.4246, 0.4839, 0.1604, 0.0093, -0.0948, 0.0116]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1682 left_yaw=0.0004 left_pitch=-0.0599 left_roll=0.0006 left_gripper=0.999 right_x=0.3498 right_y=0.0055 right_z=0.0372 right_yaw=0.042 right_pitch=-0.2139 right_roll=-0.0612 right_gripper=0.0116\nstate[joint_eff]: [-0.1573, -1.347, 7.2, 1.6679, -0.0806, -0.0611, -0.0171, -0.1573, -5.7504, 5.9009, 1.7705, -0.0073, 0.0659, 1.0476]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4423, -0.0139, -0.0307, 0.999, 0.0101, 1.2381, 0.7227, -0.3038, 0.0055, -0.1059, 0.9986]\nstate[eef_state]: left_x=0.2885 left_y=0.0003 left_z=0.1657 left_yaw=0.0005 left_pitch=-0.0721 left_roll=0.0008 left_gripper=0.999 right_x=0.345 right_y=0.0061 right_z=0.1129 right_yaw=0.0517 right_pitch=-0.253 right_roll=-0.0648 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.4291, 6.9812, 1.8193, -0.0513, -0.0366, -0.0171, -0.1162, -5.6547, 9.1419, 1.5556, -0.0024, 0.0415, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8173, 0.6132, -0.4492, -0.0139, -0.0307, 0.999, 0.0101, 1.4719, 0.865, -0.2668, 0.0021, -0.1173, 0.9986]\nstate[eef_state]: left_x=0.2875 left_y=0.0003 left_z=0.1638 left_yaw=0.0005 left_pitch=-0.0809 left_roll=0.001 left_gripper=0.999 right_x=0.3878 right_y=0.0071 right_z=0.0952 right_yaw=0.0619 right_pitch=-0.3078 right_roll=-0.0674 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.5111, 6.9812, 1.8095, -0.0611, -0.0806, -0.0122, -0.2256, -5.8462, 8.5538, 1.7558, -0.022, 0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f817eb99c879e61e3ed7cee276f60c6e5d8f7a0a329815369776a2e912684579",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:916d0bad2eefedf02475de7ee0a3befc2d6ddfcdd8cfa07848f1a6d666f192b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb3024d691eacc6a9e5784231d59c1c1f5c2f7d7bdbc08f601700d5951e5fd99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqQMKjgEIEhgCKkAXdu15/g2ZoultTCrHA2IRrUSTbEBZRSrZooIzZ/GsvjmHYOouHyVONv8mlUAN3Kta+xCL4MGumkmKK1jr+ZMWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZiczNUGEgxm8Zo01la2joEjuL0aDDRBTbeOLzxyNbw27CIwzP/aGVHv6SUrCHs3kM7InzJK0lRU+LYDF0h/D802alHLaPRTxZgl7wZNTNvV+s8QKscB/uQ1ZF3TrTNB64ChgWpRPNfsEcgI9EQH4mHrSTzNnQ40i1UXePnwYhjK9oRZNwKMSRKq3pwyAnMCMiBx/3cILTekUQjQ8dCM+lhkuJxgLF7OHHm6kIMj3s0gjaKtW8YzaLR0xDUEIhzMxTQ08k7fIYjuP6cy2KD9TLD7pn78IjkRbQKc12bnYQeS2h1KfIZIPtLKwVXRELQaaLyT+3gp0Lnx27EarFnrmRDs9u4B0hhSX2wlxSr9a0Plxn/4ECp+hQ87ZyvjyRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X1xKD4cKcpXoSFB3R8UceJ",
      "input": {
        "note": "Pear is now directly under the jaws in the wrist view; descending to grasp height.",
        "targets": {
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01X1xKD4cKcpXoSFB3R8UceJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.82, 0.6132, -0.4541, -0.0135, -0.0307, 0.999, 0.0109, 1.5898, 0.7277, -0.0418, 0.0021, -0.1177, 0.9986]\nstate[eef_state]: left_x=0.2869 left_y=0.0002 left_z=0.1622 left_yaw=0.0002 left_pitch=-0.0885 left_roll=0.0009 left_gripper=0.999 right_x=0.3826 right_y=0.0074 right_z=0.0353 right_yaw=0.0634 right_pitch=-0.3379 right_roll=-0.066 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.5795, 6.9675, 1.7265, -0.0317, -0.0317, -0.0171, -0.212, -6.7487, 5.8598, 1.7021, -0.0562, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:010d8dac64d9b74cf6a20b27b2181a4e227e3a194ce31e96683740308e6a8fcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f9c89897b743e63d4f1c8f36678dea099e765254a049a681a05572aa7461154",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c46fd0be1d03a61056e4ea93b4cc38dd5784b1a9a06e2d25273103eb612b1c0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 12 attempt 0 · /messages · status 200 · 8.155 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4423, -0.0139, -0.0307, 0.999, 0.0101, 1.2381, 0.7227, -0.3038, 0.0055, -0.1059, 0.9986]\nstate[eef_state]: left_x=0.2885 left_y=0.0003 left_z=0.1657 left_yaw=0.0005 left_pitch=-0.0721 left_roll=0.0008 left_gripper=0.999 right_x=0.345 right_y=0.0061 right_z=0.1129 right_yaw=0.0517 right_pitch=-0.253 right_roll=-0.0648 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.4291, 6.9812, 1.8193, -0.0513, -0.0366, -0.0171, -0.1162, -5.6547, 9.1419, 1.5556, -0.0024, 0.0415, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8173, 0.6132, -0.4492, -0.0139, -0.0307, 0.999, 0.0101, 1.4719, 0.865, -0.2668, 0.0021, -0.1173, 0.9986]\nstate[eef_state]: left_x=0.2875 left_y=0.0003 left_z=0.1638 left_yaw=0.0005 left_pitch=-0.0809 left_roll=0.001 left_gripper=0.999 right_x=0.3878 right_y=0.0071 right_z=0.0952 right_yaw=0.0619 right_pitch=-0.3078 right_roll=-0.0674 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.5111, 6.9812, 1.8095, -0.0611, -0.0806, -0.0122, -0.2256, -5.8462, 8.5538, 1.7558, -0.022, 0.0415, -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]: [-0.02, 0.82, 0.6132, -0.4541, -0.0135, -0.0307, 0.999, 0.0109, 1.5898, 0.7277, -0.0418, 0.0021, -0.1177, 0.9986]\nstate[eef_state]: left_x=0.2869 left_y=0.0002 left_z=0.1622 left_yaw=0.0002 left_pitch=-0.0885 left_roll=0.0009 left_gripper=0.999 right_x=0.3826 right_y=0.0074 right_z=0.0353 right_yaw=0.0634 right_pitch=-0.3379 right_roll=-0.066 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.5795, 6.9675, 1.7265, -0.0317, -0.0317, -0.0171, -0.212, -6.7487, 5.8598, 1.7021, -0.0562, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:010d8dac64d9b74cf6a20b27b2181a4e227e3a194ce31e96683740308e6a8fcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f9c89897b743e63d4f1c8f36678dea099e765254a049a681a05572aa7461154",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c46fd0be1d03a61056e4ea93b4cc38dd5784b1a9a06e2d25273103eb612b1c0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyQIKjgEIEhgCKkAlcDGyuasE0sq3fK2DjgtKHpn/dpu5oYd3xS/LnfNahkmfOzQS2twVGdoajcmDYlkua5ap/8BbOXCUC9a4UCzbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ+czNUGEgwby7hVWrLjhR0tcTwaDIcWKSODaqWuiquBmyIw9wBkQuaTkTKFReCZDTWyyi6aQ4RHz/sHUlVd8/XU7YQ655HNVnR4g8/zlBugZzPfKmjrznG1Egdi33Yg8haWQpSCPRPD42UJvPBMNsDu1Rln9CzQnFulhQxeR/+HS5VNmG61mT+kuLA6YZtyvbe6EyDZz3kNa1u7++mjmh5ofiPiT+6heupQCLysRfeK5kG50rCXoegM0SRf7BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GyEWZ9ByDXu1uKQmqAZd9X",
      "input": {
        "note": "Pear fills the wrist view centred between the jaws at grasp height; closing the gripper.",
        "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_01GyEWZ9ByDXu1uKQmqAZd9X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4683, -0.0135, -0.0311, 0.999, 0.0109, 1.5898, 0.7277, -0.0498, 0.0021, -0.1219, 0.0116]\nstate[eef_state]: left_x=0.2848 left_y=0.0003 left_z=0.1591 left_yaw=0.0004 left_pitch=-0.1037 left_roll=0.0009 left_gripper=0.999 right_x=0.381 right_y=0.0074 right_z=0.034 right_yaw=0.0659 right_pitch=-0.346 right_roll=-0.0682 right_gripper=0.0116\nstate[joint_eff]: [-0.1299, -0.9231, 6.9675, 1.7949, -0.0317, -0.0806, -0.0122, -0.0615, -6.6803, 5.7915, 1.453, -0.0513, 0.0171, 0.9744]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7352a338b9a2a5dbcbd904fcedfddd37e27de9fe204d46532b9232d2f136d56b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e50f862e8abdf67f2a135439ab4fc979ae07ef7f179c1f9d0e34b5ff10110a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e70a6cf5eeaa031fb4e6b3d30124f07eb3727a84d7dd4049684e33258ffec4d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 2.193 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8173, 0.6132, -0.4492, -0.0139, -0.0307, 0.999, 0.0101, 1.4719, 0.865, -0.2668, 0.0021, -0.1173, 0.9986]\nstate[eef_state]: left_x=0.2875 left_y=0.0003 left_z=0.1638 left_yaw=0.0005 left_pitch=-0.0809 left_roll=0.001 left_gripper=0.999 right_x=0.3878 right_y=0.0071 right_z=0.0952 right_yaw=0.0619 right_pitch=-0.3078 right_roll=-0.0674 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.5111, 6.9812, 1.8095, -0.0611, -0.0806, -0.0122, -0.2256, -5.8462, 8.5538, 1.7558, -0.022, 0.0415, -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]: [-0.02, 0.82, 0.6132, -0.4541, -0.0135, -0.0307, 0.999, 0.0109, 1.5898, 0.7277, -0.0418, 0.0021, -0.1177, 0.9986]\nstate[eef_state]: left_x=0.2869 left_y=0.0002 left_z=0.1622 left_yaw=0.0002 left_pitch=-0.0885 left_roll=0.0009 left_gripper=0.999 right_x=0.3826 right_y=0.0074 right_z=0.0353 right_yaw=0.0634 right_pitch=-0.3379 right_roll=-0.066 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.5795, 6.9675, 1.7265, -0.0317, -0.0317, -0.0171, -0.212, -6.7487, 5.8598, 1.7021, -0.0562, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4683, -0.0135, -0.0311, 0.999, 0.0109, 1.5898, 0.7277, -0.0498, 0.0021, -0.1219, 0.0116]\nstate[eef_state]: left_x=0.2848 left_y=0.0003 left_z=0.1591 left_yaw=0.0004 left_pitch=-0.1037 left_roll=0.0009 left_gripper=0.999 right_x=0.381 right_y=0.0074 right_z=0.034 right_yaw=0.0659 right_pitch=-0.346 right_roll=-0.0682 right_gripper=0.0116\nstate[joint_eff]: [-0.1299, -0.9231, 6.9675, 1.7949, -0.0317, -0.0806, -0.0122, -0.0615, -6.6803, 5.7915, 1.453, -0.0513, 0.0171, 0.9744]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7352a338b9a2a5dbcbd904fcedfddd37e27de9fe204d46532b9232d2f136d56b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e50f862e8abdf67f2a135439ab4fc979ae07ef7f179c1f9d0e34b5ff10110a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e70a6cf5eeaa031fb4e6b3d30124f07eb3727a84d7dd4049684e33258ffec4d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpQkKjgEIEhgCKkBPa6qFF71Rlxb6U9HJ6aA+mTJ92d20qH4CPeed0NTS6KwnZjFU9ixTW8dwOWOXLOjWNx/VAtwmOr4SM9DN2PIyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaiczNUGEgwMfLKZzjo+lRGqB4waDIJTJWdlCGK36cEMYiIwoFacgWFwgYyyX43X/g8xl3m+oMfFpi045M9jTrLFZrjObJs/WQkNu1rU2kJF56/mKsMHVdBdsRdgEJFv3VJhePP9wicDmIkLuYifDXg1P8rOhroDCiTskOiWZXu4QCIJaLSM8XpT7eSnmPyafvvTb650nMDl+wfPRSYCr3UocfCh/icoujAEVyoodmfjdVSeGkjeuV64PSJp2KHnq2PhsiwFG4AXUibgrQW4aC6R3mnXc+spKgqxec+nmz/NO1m+bIv+5sQWNUMHWpnKJcGq01KiqPtk3BLxmjCOMRSTJcAe5d79I8a172wV1gIHid5IkndWvgKqoItWrUe2msnmz7EzUdwzoG7LIrhX5Fb/t2wSY71XmxBfcizcegNGMOaOXEFbnqxkhHzFQanFJd15ohS+pJ2hPuuCCCoNkzygwQDfL2LAmVM+2cvKMwHjZyRZFsI9VAljaBEq5BX+yUNL5P+QmTP7TIsAbUkvq4IaiGlLeoaEpqf7hmmSSj3Xdrvy4xyzSjw89MeZo3HDcwrKbL/kZuFGiFqYkdLkq0xEvjQ4A37/LNzlLRKg6IKtwxWlQ6E6c+bzMXwrSA9gZtgfo44FBN6tbqkl8z/imaAlfzChHWVWqQl9IbD3mkCO2pFClOmGyUgx005gZni6GJYbf8oV+W9BmcbuVaoteBgiKOjta+bvAkstSy76NC5yI5E0jJPDCsnuZYlwyhUu09HsewHwfs/IqJrf/v0JjiPfaYlJv1Zc+SSu2bxuNE2PAmWnRwC8gy/ejVm6kQ7uh92VCItfW4dOU3u/aawacXkqMSUsJLyrzygGsd6jJcC5wyxUOmmxtOINgJgbmA4NM+MGk2OE8UM4GMyvAeQ0edeXGQK+sVYhxcbik0YnRbceLczpW98c6zpVXklNuBI9Z7i/lORndK0djk+LSjbrvCFODVyPzcINUhwGgRFpC7EQNa6X0TFHJck1zB5akuQ1+mh2/rYT2qsDYwfUknP31L3RPpft0G3BGD03R296tXbgOqAOBNDit08lB0IL5yFHNP8j/9YvrxjOXMTV9ALT++/nsJndoZMXa2cwJZvcivii+othrbBdsDwcYhy1wOk98EmNRhi9sotONI9t+210fb7vziQ5NZ4Q3PAt8Gg8lV3Oqb2GtvhUTbSfwMLgudD46psLl8gAq06FI3iPqaWb1P1oXwmD9tPN8R5SJROmrPQt0Hk1WbQLWzaZwTzkQroZjWjaeGB9JlMGTvQRTiWaMNsnJwb8+Q2jFBpo4PhgI+RgDhYsmuA6nMFiZTkK4SrxcrTkko40V9pMHJgV4/Bn/rzZHtm4gKYyrbldXSXrudYpEnjgWYoFDJ7CGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RUtCKbLyaJ4eE2eeXSMHyC",
      "input": {
        "note": "Close read empty again (0.012), so the pear is still beyond the fingertips; opening and advancing 3.5 cm at the same height.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.415
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RUtCKbLyaJ4eE2eeXSMHyC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8219, 0.6132, -0.4755, -0.0139, -0.0307, 0.999, 0.0109, 1.7008, 0.8341, -0.0795, -0.0017, -0.1375, 0.9958]\nstate[eef_state]: left_x=0.2837 left_y=0.0004 left_z=0.1575 left_yaw=0.0005 left_pitch=-0.1118 left_roll=0.0017 left_gripper=0.999 right_x=0.4028 right_y=0.0083 right_z=0.0259 right_yaw=0.0791 right_pitch=-0.3807 right_roll=-0.0727 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -1.4291, 7.4598, 1.6923, -0.0513, -0.0317, -0.0122, -0.4308, -6.7897, 8.0205, 1.409, -0.0269, 0.1099, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecf690fbd1a89044f7c45e0b91fc68bde8084c91d9ae2decbe2bb01400d275fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d21c3c8eac5247d4564a2efbfc0606f4f4bb668778160ef98aa8ee4d886fc726",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25b5bf805bbd71607f7c094fb4b21aa53f07be9e945f1443bdb73bd1370e7756",
        "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 · 22.45 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.82, 0.6132, -0.4541, -0.0135, -0.0307, 0.999, 0.0109, 1.5898, 0.7277, -0.0418, 0.0021, -0.1177, 0.9986]\nstate[eef_state]: left_x=0.2869 left_y=0.0002 left_z=0.1622 left_yaw=0.0002 left_pitch=-0.0885 left_roll=0.0009 left_gripper=0.999 right_x=0.3826 right_y=0.0074 right_z=0.0353 right_yaw=0.0634 right_pitch=-0.3379 right_roll=-0.066 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.5795, 6.9675, 1.7265, -0.0317, -0.0317, -0.0171, -0.212, -6.7487, 5.8598, 1.7021, -0.0562, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4683, -0.0135, -0.0311, 0.999, 0.0109, 1.5898, 0.7277, -0.0498, 0.0021, -0.1219, 0.0116]\nstate[eef_state]: left_x=0.2848 left_y=0.0003 left_z=0.1591 left_yaw=0.0004 left_pitch=-0.1037 left_roll=0.0009 left_gripper=0.999 right_x=0.381 right_y=0.0074 right_z=0.034 right_yaw=0.0659 right_pitch=-0.346 right_roll=-0.0682 right_gripper=0.0116\nstate[joint_eff]: [-0.1299, -0.9231, 6.9675, 1.7949, -0.0317, -0.0806, -0.0122, -0.0615, -6.6803, 5.7915, 1.453, -0.0513, 0.0171, 0.9744]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8219, 0.6132, -0.4755, -0.0139, -0.0307, 0.999, 0.0109, 1.7008, 0.8341, -0.0795, -0.0017, -0.1375, 0.9958]\nstate[eef_state]: left_x=0.2837 left_y=0.0004 left_z=0.1575 left_yaw=0.0005 left_pitch=-0.1118 left_roll=0.0017 left_gripper=0.999 right_x=0.4028 right_y=0.0083 right_z=0.0259 right_yaw=0.0791 right_pitch=-0.3807 right_roll=-0.0727 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -1.4291, 7.4598, 1.6923, -0.0513, -0.0317, -0.0122, -0.4308, -6.7897, 8.0205, 1.409, -0.0269, 0.1099, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecf690fbd1a89044f7c45e0b91fc68bde8084c91d9ae2decbe2bb01400d275fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d21c3c8eac5247d4564a2efbfc0606f4f4bb668778160ef98aa8ee4d886fc726",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25b5bf805bbd71607f7c094fb4b21aa53f07be9e945f1443bdb73bd1370e7756",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6wIKjgEIEhgCKkDyj8sSafAe49eEmdETk8+1Mro4I4sMmVwEBMty9xYchzOmvcyw/GLJjZwNlTu8Hg2Sx1NpSF+cOQrtYCnqH34NMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa2czNUGEgzoJbWIFeXYlqCkKR4aDK5USuJR/aK4T0OODyIwhtq47W/CLcJgtJSSfOuHvaE7jAbqG2tgjckQj5fL/EzBQvHR+sYZXNAT13cWxfiHKokBvUlfVpzbR0q9tmsKA4pGgXI9XMcPXQzkuSejcNqzfdjMv0YL7KltSWW+DGnR/jhpZoE0ofDRj3/d1s7S/ZlO3lA5ucNx42Qttsz+aEd5rg38hbQOKpCyhQJLJa7YJgMi7Cw6VrC8NIkgDG/lxACUKV3jV7XeOYFI6dukHHuB8TsT+YeBCUm1eKoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012midBW27mGX1PkLZpenVtm",
      "input": {
        "note": "Pear now sits right between the open jaws; closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012midBW27mGX1PkLZpenVtm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8238, 0.6132, -0.4763, -0.0135, -0.0307, 0.999, 0.0109, 1.7092, 0.8383, -0.094, -0.0051, -0.1432, 0.0115]\nstate[eef_state]: left_x=0.2837 left_y=0.0003 left_z=0.1569 left_yaw=0.0002 left_pitch=-0.1144 left_roll=0.0015 left_gripper=0.999 right_x=0.4006 right_y=0.0089 right_z=0.022 right_yaw=0.0861 right_pitch=-0.3994 right_roll=-0.0718 right_gripper=0.0115\nstate[joint_eff]: [-0.1162, -1.3197, 7.0632, 1.6484, -0.0415, -0.0415, -0.0122, -0.0342, -8.3897, 5.3402, 1.5165, -0.0024, 0.0317, 1.0623]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff812bb783e13d99990e31ba0a5e862067f09fc9f53385a4b756b0f45058769a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b44ff9c14b6da7deb114c0f7ec1103b3f58e21e59ad421f1fc03b3ef8e8045ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9fde5360ed6dbdcf713400272733998eac104e5e8b3b2dd0cd645be0cdcf440d",
        "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 · 6.744 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4683, -0.0135, -0.0311, 0.999, 0.0109, 1.5898, 0.7277, -0.0498, 0.0021, -0.1219, 0.0116]\nstate[eef_state]: left_x=0.2848 left_y=0.0003 left_z=0.1591 left_yaw=0.0004 left_pitch=-0.1037 left_roll=0.0009 left_gripper=0.999 right_x=0.381 right_y=0.0074 right_z=0.034 right_yaw=0.0659 right_pitch=-0.346 right_roll=-0.0682 right_gripper=0.0116\nstate[joint_eff]: [-0.1299, -0.9231, 6.9675, 1.7949, -0.0317, -0.0806, -0.0122, -0.0615, -6.6803, 5.7915, 1.453, -0.0513, 0.0171, 0.9744]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8219, 0.6132, -0.4755, -0.0139, -0.0307, 0.999, 0.0109, 1.7008, 0.8341, -0.0795, -0.0017, -0.1375, 0.9958]\nstate[eef_state]: left_x=0.2837 left_y=0.0004 left_z=0.1575 left_yaw=0.0005 left_pitch=-0.1118 left_roll=0.0017 left_gripper=0.999 right_x=0.4028 right_y=0.0083 right_z=0.0259 right_yaw=0.0791 right_pitch=-0.3807 right_roll=-0.0727 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -1.4291, 7.4598, 1.6923, -0.0513, -0.0317, -0.0122, -0.4308, -6.7897, 8.0205, 1.409, -0.0269, 0.1099, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8238, 0.6132, -0.4763, -0.0135, -0.0307, 0.999, 0.0109, 1.7092, 0.8383, -0.094, -0.0051, -0.1432, 0.0115]\nstate[eef_state]: left_x=0.2837 left_y=0.0003 left_z=0.1569 left_yaw=0.0002 left_pitch=-0.1144 left_roll=0.0015 left_gripper=0.999 right_x=0.4006 right_y=0.0089 right_z=0.022 right_yaw=0.0861 right_pitch=-0.3994 right_roll=-0.0718 right_gripper=0.0115\nstate[joint_eff]: [-0.1162, -1.3197, 7.0632, 1.6484, -0.0415, -0.0415, -0.0122, -0.0342, -8.3897, 5.3402, 1.5165, -0.0024, 0.0317, 1.0623]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff812bb783e13d99990e31ba0a5e862067f09fc9f53385a4b756b0f45058769a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b44ff9c14b6da7deb114c0f7ec1103b3f58e21e59ad421f1fc03b3ef8e8045ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fde5360ed6dbdcf713400272733998eac104e5e8b3b2dd0cd645be0cdcf440d",
        "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_01JCjDu3wvZP6EoNnKzprEs6",
      "input": {
        "note": "Third empty close — the tool had drifted to a forward pitch of -0.4 rad, so the jaws were not where I thought. Opening, lifting to 16 cm and commanding pitch and yaw back to zero for a clean top-down view of the pear.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.38,
          "right_yaw": 0.0,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01JCjDu3wvZP6EoNnKzprEs6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8276, 0.6132, -0.4881, -0.0139, -0.0307, 0.999, 0.0498, 1.2446, 0.7185, -0.0795, 0.0593, -0.078, 0.9967]\nstate[eef_state]: left_x=0.282 left_y=0.0004 left_z=0.1536 left_yaw=0.0006 left_pitch=-0.1301 left_roll=0.002 left_gripper=0.999 right_x=0.38 right_y=0.012 right_z=0.1508 right_yaw=0.0297 right_pitch=-0.0388 right_roll=-0.0814 right_gripper=0.9967\nstate[joint_eff]: [-0.0615, -1.6889, 6.9402, 1.7314, -0.0464, -0.0611, -0.0122, 0.1162, -5.4222, 6.065, 1.8877, 0.1929, 0.2027, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:184493c6fa46aee8646ad7c6d4cb58456fc8a584855c945f0663ee8955d9ac02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ac613290cb6ae8d25deba7e5dbbd057a3894f9c5e5f5ff0f5835f5ebe9265e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b213e426a38bfec9f3848544f18ab1d3e199e28c47558d913fb473236ba4802f",
        "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 · 6.628 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8219, 0.6132, -0.4755, -0.0139, -0.0307, 0.999, 0.0109, 1.7008, 0.8341, -0.0795, -0.0017, -0.1375, 0.9958]\nstate[eef_state]: left_x=0.2837 left_y=0.0004 left_z=0.1575 left_yaw=0.0005 left_pitch=-0.1118 left_roll=0.0017 left_gripper=0.999 right_x=0.4028 right_y=0.0083 right_z=0.0259 right_yaw=0.0791 right_pitch=-0.3807 right_roll=-0.0727 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -1.4291, 7.4598, 1.6923, -0.0513, -0.0317, -0.0122, -0.4308, -6.7897, 8.0205, 1.409, -0.0269, 0.1099, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8238, 0.6132, -0.4763, -0.0135, -0.0307, 0.999, 0.0109, 1.7092, 0.8383, -0.094, -0.0051, -0.1432, 0.0115]\nstate[eef_state]: left_x=0.2837 left_y=0.0003 left_z=0.1569 left_yaw=0.0002 left_pitch=-0.1144 left_roll=0.0015 left_gripper=0.999 right_x=0.4006 right_y=0.0089 right_z=0.022 right_yaw=0.0861 right_pitch=-0.3994 right_roll=-0.0718 right_gripper=0.0115\nstate[joint_eff]: [-0.1162, -1.3197, 7.0632, 1.6484, -0.0415, -0.0415, -0.0122, -0.0342, -8.3897, 5.3402, 1.5165, -0.0024, 0.0317, 1.0623]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8276, 0.6132, -0.4881, -0.0139, -0.0307, 0.999, 0.0498, 1.2446, 0.7185, -0.0795, 0.0593, -0.078, 0.9967]\nstate[eef_state]: left_x=0.282 left_y=0.0004 left_z=0.1536 left_yaw=0.0006 left_pitch=-0.1301 left_roll=0.002 left_gripper=0.999 right_x=0.38 right_y=0.012 right_z=0.1508 right_yaw=0.0297 right_pitch=-0.0388 right_roll=-0.0814 right_gripper=0.9967\nstate[joint_eff]: [-0.0615, -1.6889, 6.9402, 1.7314, -0.0464, -0.0611, -0.0122, 0.1162, -5.4222, 6.065, 1.8877, 0.1929, 0.2027, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:184493c6fa46aee8646ad7c6d4cb58456fc8a584855c945f0663ee8955d9ac02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ac613290cb6ae8d25deba7e5dbbd057a3894f9c5e5f5ff0f5835f5ebe9265e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b213e426a38bfec9f3848544f18ab1d3e199e28c47558d913fb473236ba4802f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvQcKjgEIEhgCKkBO3xiFho8eolp9Yn7uoHZQpeognWXbxlR81W7kg41a1iawdiChocOMARwg/PeYUfWBmWuC3Vmt0vv/NOvVA+t4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc2czNUGEgzyIgU2Aq7AT9jHPkMaDL8sB0ahG4JJnRFERyIwlIQ3Q/fXPfVrEl0hrVOkSHVk0r3StT+ZY+ON85hDi+tIqQS8ZuKRvPlsPGtmcwVtKtsFTqRIEdFiyF40qfDN5F6dy9PKXDPfmC8oHBfcaUvg4UR4FTwh1qmcT+GUKpOdd5IEXP/56iDgb0gG75LZkP2ioZiVe9Nf86z1EDPLZU3xCmHfAmBvrOsQ7QtBKavYt1ksKWyjLskUop4RpIsLue6udJYtRo1DcxBQtKZM8NbRkmIAXJDpAGMnxl1HL5KlD+mmT0uVYZ/Ku7UQqD6bEEP32JelAdPvI9QZqE+Z2QM2e4GemFvHUAT8v7XVmuVJBPmOD6TIcN6X+KUYEi0FrMfY5SNiKFDHKUp+9XEfCHKy//mH2TjQ/VG4EEdxN0oBeOewNGnmFr8lGWp70n9El5+zubi5yeDV6pmLXUJDh1AGqrLnZMvq+Lkm+vAe4OqLf7plvEAD3dpSF0TdSOBNcAbXZH3liLrDo6ywxtTryUVb1VQPBWYyyjAPAmPMcDZXI0JgVxBvYiiZDTUOtr/NJoMkoCPB8qWcat9KAVnNF+ZBdjW1X1tZt+5okdYn6DaMqyJgWjc40sePi4Mbs7rSHij7/LZFTSMLGuAo6TNmJUk5Q7EcXzHkRuUZ02xuVYwg3euxbBdfzvFmTNHQoIAbgKN+mUdj1/fv7u70k9nYx+XUelB1lp2d1EsSRh97qjklmimrIwsjwrvafzdshpOQFaSDMHlpsIwnALVyfMl1SlYfiBCWJBVINai/WNDYRVtjelcH6vE7BsZYO9KFggbG9JEdhM0hfo01gC/xyvdwaVqbckdqM7eeHDAtSdE1wAEijsZmmr5Jd9HOoCnbUEIbP5lZFlTv7ZYiNbwZs6HR+BKNUCUN1yC7Hq52Oo6LikqQrLNbhNap1kcTTu1F2bx/lcf9oduWzaBs59cx8nhOQaWUQrG03IbzAOBkEmqDOs6e6+RFroc2ld40VZpHkudkxquLvFcWxmepPSO2rJ7rVTPykuhwciVxfNZhu+J63hPppxhPZSHEfBnjdPeFib0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DAPSw9an3ZECzs2omd8CdJ",
      "input": {
        "note": "With the tool vertical the pear sits just left of the jaw column and short of the jaws; advancing 3 cm, shifting 1.3 cm left and dropping to 12 cm.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.025,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DAPSw9an3ZECzs2omd8CdJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8303, 0.6132, -0.4915, -0.0139, -0.0307, 0.999, 0.0917, 1.4384, 0.7132, 0.0631, 0.0776, -0.0677, 0.9973]\nstate[eef_state]: left_x=0.2815 left_y=0.0004 left_z=0.1523 left_yaw=0.0006 left_pitch=-0.1362 left_roll=0.0022 left_gripper=0.999 right_x=0.4018 right_y=0.0268 right_z=0.1049 right_yaw=0.0506 right_pitch=-0.0944 right_roll=-0.0856 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -1.347, 7.2957, 1.6142, -0.0562, -0.0464, -0.0171, -0.2667, -6.3385, 7.4325, 2.0, 0.149, 0.1099, 0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27759fed74ddb6fc53ab1a2c956178aea7a2d15fd0124471efa7397692741412",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a28f6307189af98fde740249e516e6a1aa67cc13785cec6499b019bb85a7ca4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4564684c88a2fd6f71047f1d107b5e4c400880f7a1fb031d78d58008ee44e15d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 5.737 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8238, 0.6132, -0.4763, -0.0135, -0.0307, 0.999, 0.0109, 1.7092, 0.8383, -0.094, -0.0051, -0.1432, 0.0115]\nstate[eef_state]: left_x=0.2837 left_y=0.0003 left_z=0.1569 left_yaw=0.0002 left_pitch=-0.1144 left_roll=0.0015 left_gripper=0.999 right_x=0.4006 right_y=0.0089 right_z=0.022 right_yaw=0.0861 right_pitch=-0.3994 right_roll=-0.0718 right_gripper=0.0115\nstate[joint_eff]: [-0.1162, -1.3197, 7.0632, 1.6484, -0.0415, -0.0415, -0.0122, -0.0342, -8.3897, 5.3402, 1.5165, -0.0024, 0.0317, 1.0623]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8276, 0.6132, -0.4881, -0.0139, -0.0307, 0.999, 0.0498, 1.2446, 0.7185, -0.0795, 0.0593, -0.078, 0.9967]\nstate[eef_state]: left_x=0.282 left_y=0.0004 left_z=0.1536 left_yaw=0.0006 left_pitch=-0.1301 left_roll=0.002 left_gripper=0.999 right_x=0.38 right_y=0.012 right_z=0.1508 right_yaw=0.0297 right_pitch=-0.0388 right_roll=-0.0814 right_gripper=0.9967\nstate[joint_eff]: [-0.0615, -1.6889, 6.9402, 1.7314, -0.0464, -0.0611, -0.0122, 0.1162, -5.4222, 6.065, 1.8877, 0.1929, 0.2027, -0.0855]",
      "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]: [-0.02, 0.8303, 0.6132, -0.4915, -0.0139, -0.0307, 0.999, 0.0917, 1.4384, 0.7132, 0.0631, 0.0776, -0.0677, 0.9973]\nstate[eef_state]: left_x=0.2815 left_y=0.0004 left_z=0.1523 left_yaw=0.0006 left_pitch=-0.1362 left_roll=0.0022 left_gripper=0.999 right_x=0.4018 right_y=0.0268 right_z=0.1049 right_yaw=0.0506 right_pitch=-0.0944 right_roll=-0.0856 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -1.347, 7.2957, 1.6142, -0.0562, -0.0464, -0.0171, -0.2667, -6.3385, 7.4325, 2.0, 0.149, 0.1099, 0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27759fed74ddb6fc53ab1a2c956178aea7a2d15fd0124471efa7397692741412",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a28f6307189af98fde740249e516e6a1aa67cc13785cec6499b019bb85a7ca4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4564684c88a2fd6f71047f1d107b5e4c400880f7a1fb031d78d58008ee44e15d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9QYKjgEIEhgCKkCX/mvYH+BYxw+kveFktx8NkgoySABEGmeuAcK7FHdZ++9n7TryncYBnXdxPI2m8YRyPOTMNiknQcZxboNxmoVfMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdaczNUGEgx98dm0TCPrbBsuasgaDMtvYYAb480Fg1yi1SIwr6Gha8lWtlnC2Q/mUnXksEB5D8vWgSuM5AHXIAI+njWT3QexjBE9rHIBSTnFwFoyKpMFJL5Be/5t5BrWmpdZPOyDCN1BscyWY0hnC8YZRTq6I/gLkLvrsPdDGmO1l1Twr5jF5Wj+z2JO1T4mI0x5nzH/2CPWu9YzQxijRVlFe6WY0jssARkfsFs3+2Pp+G7LKFJfojMrb7YEpGhKDhU2ZXPfAdm8WlSFVtJsHbJ+s2eLOBPPNcoBJ0one5iRYxk3EyiHzjF00fJYUwSlVa1JTxdTfdSlo/QXXVh/wZrT1Zs26J9+a4puMfRsOKUivZr1lX8YXxY/JRkkJVPGux85o5fTHu1GBU5cC3dA865PI124oyrOTb8El+4XaSnrDz2tj6q6QN2887Cycr93CXngaFY5rAXsXtXmkL7wnffoLQkpxwQz9jSyx2V/jNuAe7VKVknbPYmoXT+t1ngE8qq38UxSpqgdzqhfzsLus79PYXOF65y6GN8saMlJ225ITytz1FwI4jDGgIBy8+vNBQYFblkMj1yD+pQreBgthE0QZokqxsexkmTBeKG4AoGP4R79WQzPjY3dkQe5lMpJWev3dwZC92QELIm7Sh3XDM0b3IFyPvczdKeuS8Tyn3W1GA0sRXFiX/aO4OLHwwZKv4ZE0uJWd8uO0RPeFA2SwweIihb8yZbCZiIyPuqvdg80hpp1+4XHn+lm+KozzUOq/yCruW8oIBg/NiuTLp/bgLJeLUQ9BcKJeOIWe4Hf7KO5N6YEA5L6BSb9DdKj9HGWU6dsQSzpUYjbt6T+UzdRLB7w6tC+Sr77d5MAKMAFL1tx9OeYOoUMSrQkIlxrZmTqEcYW6zc2IsENxBy1zw2aJeffjz+vkrzpSJuKVSqEJnNsIWpnDAKd+XW3WWPHX+/OD7gP2V/ZI38+D654GS+U5h1ZSASqefCtssAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vxi3kFnZFis5Jo2QBLp3E4",
      "input": {
        "note": "Pear is slightly right of the jaw column and above the jaws; nudging 1 cm right, 2 cm forward and descending to 6 cm.",
        "targets": {
          "right_x": 0.425,
          "right_y": 0.018,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Vxi3kFnZFis5Jo2QBLp3E4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8322, 0.6132, -0.4942, -0.0139, -0.0307, 0.999, 0.0917, 1.4384, 0.7132, 0.0639, 0.0776, -0.0677, 0.9973]\nstate[eef_state]: left_x=0.2812 left_y=0.0004 left_z=0.1513 left_yaw=0.0006 left_pitch=-0.1407 left_roll=0.0023 left_gripper=0.999 right_x=0.4019 right_y=0.0268 right_z=0.105 right_yaw=0.0506 right_pitch=-0.0936 right_roll=-0.0856 right_gripper=0.9973\nstate[joint_eff]: [-0.0752, -1.388, 7.1179, 1.6239, -0.0513, -0.0513, -0.0122, -0.1846, -6.5162, 7.3641, 2.0098, 0.1343, 0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03c09d0761ddf5c0855126c4964636d133fc17b943696d22ce1ade55038c2987",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3efe16b031553fbec37158188e6951f8ec746c75ab6f3f9bff23f23e7284247",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8db9b327b64ac741e5009d50ab55d88f7ba200ca8f357a34b5fb28dfa2c684be",
        "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 · 7.369 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8276, 0.6132, -0.4881, -0.0139, -0.0307, 0.999, 0.0498, 1.2446, 0.7185, -0.0795, 0.0593, -0.078, 0.9967]\nstate[eef_state]: left_x=0.282 left_y=0.0004 left_z=0.1536 left_yaw=0.0006 left_pitch=-0.1301 left_roll=0.002 left_gripper=0.999 right_x=0.38 right_y=0.012 right_z=0.1508 right_yaw=0.0297 right_pitch=-0.0388 right_roll=-0.0814 right_gripper=0.9967\nstate[joint_eff]: [-0.0615, -1.6889, 6.9402, 1.7314, -0.0464, -0.0611, -0.0122, 0.1162, -5.4222, 6.065, 1.8877, 0.1929, 0.2027, -0.0855]",
      "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]: [-0.02, 0.8303, 0.6132, -0.4915, -0.0139, -0.0307, 0.999, 0.0917, 1.4384, 0.7132, 0.0631, 0.0776, -0.0677, 0.9973]\nstate[eef_state]: left_x=0.2815 left_y=0.0004 left_z=0.1523 left_yaw=0.0006 left_pitch=-0.1362 left_roll=0.0022 left_gripper=0.999 right_x=0.4018 right_y=0.0268 right_z=0.1049 right_yaw=0.0506 right_pitch=-0.0944 right_roll=-0.0856 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -1.347, 7.2957, 1.6142, -0.0562, -0.0464, -0.0171, -0.2667, -6.3385, 7.4325, 2.0, 0.149, 0.1099, 0.0464]",
      "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]: [-0.02, 0.8322, 0.6132, -0.4942, -0.0139, -0.0307, 0.999, 0.0917, 1.4384, 0.7132, 0.0639, 0.0776, -0.0677, 0.9973]\nstate[eef_state]: left_x=0.2812 left_y=0.0004 left_z=0.1513 left_yaw=0.0006 left_pitch=-0.1407 left_roll=0.0023 left_gripper=0.999 right_x=0.4019 right_y=0.0268 right_z=0.105 right_yaw=0.0506 right_pitch=-0.0936 right_roll=-0.0856 right_gripper=0.9973\nstate[joint_eff]: [-0.0752, -1.388, 7.1179, 1.6239, -0.0513, -0.0513, -0.0122, -0.1846, -6.5162, 7.3641, 2.0098, 0.1343, 0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03c09d0761ddf5c0855126c4964636d133fc17b943696d22ce1ade55038c2987",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3efe16b031553fbec37158188e6951f8ec746c75ab6f3f9bff23f23e7284247",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8db9b327b64ac741e5009d50ab55d88f7ba200ca8f357a34b5fb28dfa2c684be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8gYKjgEIEhgCKkCiTO9gTcx+UgRwwU6sbPP2egkFcAEwr2TtPd2OqMGOhAHfFsbDxwNYLj604Q2cRADV6DO8EIifC7uwLUG+8oKXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd+czNUGEgz6UiN3H1VwTvJjNg4aDA50Y9dLtP4+uJRN3CIwLe7ayArgkVQr/BfXt9I+mVyWd1yw2HwTTPHUKVPliyuWdsvyui9rKepFoN3SaNaAKpAF5RttiJ/7HL1obrbZtxdjRNjpsqIWVQABGt6W39KP66TTHKTTLH69wXHI11MsVutpKXFXjaFknH3jZgSBkcQVg/4IHBpu8WBN0fm+9Zx8kpxjE2zhuGGkEPDRLHT/iMVDAuJSlvar2uCYdH8Lm1v56oiS7PjPD79dRgXKgSxlDQpu+eJ4io1EFphiJ894KCcxQrv4VFBwqlANMLy0bjU6VCW05z4Pt5ZpwUjLgjtfFCeUXd9Obde/HHSYm0yoVQkcsGl6lWyu2QAkSDtqJBphaiHmVVnwDIuJkDI+aQp+QXG+FpQ42Akjmy4GHtoOfQg3gTXM419Ld1f3GaVmT9ND1QEpWtf7hMx+XTeNm6ZhEohEjwQRyQhJLqSlpD2Vegdago07pGh2GClH3iwZN07QU2jfnbe2B1nM41+v7OFFAlJ3118UTzc0MVdOp3C4BvHtAETJjx45HCVRciuXQv3xxC6gOP/oVqXCHwrwlETkwOZV/PmlWALK5MZxQJZqSGWRVV3KB3+yxeTO3UhAx/9jvhbQ33GpqUqZFLChM1gdNCXVZcNs8lKGoEAGc9weYMBUFytwtrHyJMDGXGnAy40fJG86FUDivo3AwJmdXMlIxb+H2PrqwjJdmGwii6qEeusJMD+hXYdU3jg7gChsI2sEO3xI3oZNZyWOzJ4QHC9984D8jjOHFdHdULxNH+Nssb69/tsMicRSHOWkr+vpEJlA0Eq8T8P/gALB2wruyuTgInMQWj4jIhjfpzTTsmmj6uksWuLqPYso6tG9A/tbsB2a1N+fRwsEuMRykw8F0AK+EHU1ywJEVepYoBg4sBH6qU+sMXz8vfy9cDIGyJRDpV8AObGvMLrnLSYO6QbUztQrFVwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016Z74PAhNaJkmrkjPFJxfyM",
      "input": {
        "note": "The arm did not execute the last command (state unchanged); re-sending the same descent to the pear.",
        "targets": {
          "right_x": 0.425,
          "right_y": 0.018,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_016Z74PAhNaJkmrkjPFJxfyM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8322, 0.6132, -0.4942, -0.0135, -0.0307, 0.999, 0.0917, 1.4384, 0.7132, 0.0635, 0.0772, -0.0677, 0.9973]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1513 left_yaw=0.0003 left_pitch=-0.1407 left_roll=0.002 left_gripper=0.999 right_x=0.4019 right_y=0.0269 right_z=0.105 right_yaw=0.0509 right_pitch=-0.094 right_roll=-0.0854 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -1.2786, 6.9265, 1.5849, -0.0513, -0.022, -0.0122, -0.2256, -6.4615, 7.3641, 1.9805, 0.1294, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:471c5e6716f431400ccd3cba365ae3789ad034cc9518fd04162ae5f114174a97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:690605f8abf377988dcf10c94cd61e65c73f230f563e6da663b7f9b18fdca082",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:23043c837049bbfefa5f518d1ce6cf4b91201b30f72cee79c9ab7be25d25ecf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 4.844 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8303, 0.6132, -0.4915, -0.0139, -0.0307, 0.999, 0.0917, 1.4384, 0.7132, 0.0631, 0.0776, -0.0677, 0.9973]\nstate[eef_state]: left_x=0.2815 left_y=0.0004 left_z=0.1523 left_yaw=0.0006 left_pitch=-0.1362 left_roll=0.0022 left_gripper=0.999 right_x=0.4018 right_y=0.0268 right_z=0.1049 right_yaw=0.0506 right_pitch=-0.0944 right_roll=-0.0856 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -1.347, 7.2957, 1.6142, -0.0562, -0.0464, -0.0171, -0.2667, -6.3385, 7.4325, 2.0, 0.149, 0.1099, 0.0464]",
      "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]: [-0.02, 0.8322, 0.6132, -0.4942, -0.0139, -0.0307, 0.999, 0.0917, 1.4384, 0.7132, 0.0639, 0.0776, -0.0677, 0.9973]\nstate[eef_state]: left_x=0.2812 left_y=0.0004 left_z=0.1513 left_yaw=0.0006 left_pitch=-0.1407 left_roll=0.0023 left_gripper=0.999 right_x=0.4019 right_y=0.0268 right_z=0.105 right_yaw=0.0506 right_pitch=-0.0936 right_roll=-0.0856 right_gripper=0.9973\nstate[joint_eff]: [-0.0752, -1.388, 7.1179, 1.6239, -0.0513, -0.0513, -0.0122, -0.1846, -6.5162, 7.3641, 2.0098, 0.1343, 0.1001, -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]: [-0.02, 0.8322, 0.6132, -0.4942, -0.0135, -0.0307, 0.999, 0.0917, 1.4384, 0.7132, 0.0635, 0.0772, -0.0677, 0.9973]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1513 left_yaw=0.0003 left_pitch=-0.1407 left_roll=0.002 left_gripper=0.999 right_x=0.4019 right_y=0.0269 right_z=0.105 right_yaw=0.0509 right_pitch=-0.094 right_roll=-0.0854 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -1.2786, 6.9265, 1.5849, -0.0513, -0.022, -0.0122, -0.2256, -6.4615, 7.3641, 1.9805, 0.1294, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:471c5e6716f431400ccd3cba365ae3789ad034cc9518fd04162ae5f114174a97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:690605f8abf377988dcf10c94cd61e65c73f230f563e6da663b7f9b18fdca082",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23043c837049bbfefa5f518d1ce6cf4b91201b30f72cee79c9ab7be25d25ecf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwAcKjgEIEhgCKkCHYng6UxUMaL+cFcJE/C4fSYdGsQ+PsnMoyu5Nd/jRRSdA2Q5LyKMIGyE49KpgRyr2Dw3iPgDZenJ/IyjCaSvgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAemczNUGEgx7ojxrFdLX4HreTlIaDICKIw1f8iHhMHXzFSIwfTJ3qujkY9B4lChcCxHQyMqcQuxOLjQz26UmJoEKrcXnOkWnL2TCD26wZ+lUC68OKt4Fc6Zn+Htazc+ns+T0kS0H0oUz88jggiZC5v1SKOOXE9ME0+nFv2imNPHVoe6LLJjIqPyrgrd0ZNWbEWnStxSKaJDGzXi4C4kTKr9U93qgHXE+ni7kEoAgwCTgMHEJFeJXwsIxia/DaswpJJlATrwqgHNrj8DsSEJ5NxBiuiRaCbc9prNc3VeX+GCdkUHSi1rRPCUaH9A0WC+KjTi307FXu18cF3jg30P9fs6hvFoh+YNo4Y9bTHsO+tKMiyIe1EPq5BKkbJyA7T6PW03EMH+KjHhEKZQXJUmnCLrnilpPrZc+XuCtXolswKYxJXCZg5+7mgNjWKZCT2aLyu30zzkNtSfKn+g+o0Dp82rKNZS2Iu/b9cQkUs4sXY4oaJGOXXpd5JTfJxXMNDXhYKO6mHtcnCIsmmJgThJxl5LomEd3XEJwWuWya+pVbqCNNUMqRM30gOH8rz4x8zFZQfOOXX7Mb3V7FsV6QmG8E0LCJb/iZ1bYAF3VrIdw8V2jH1+gfw8MGMKm3WDhBtl5HeyU1/Y43D3crXfdRKXudU7q/ED0sMri06PFqxdPigOX1SO/1U7ILj2Y3jiCCYb17NfvWluWq739Qabpbi5LDTXWRRFEyEqLJgPihIYQt1Au2FKVU7FCkCjVs68RRpIW+AUL9DrgHZCT9q5j+EryoSd4GxsP4oENGDgoF07QOmy81g66n3vwBOlThCDn5GAv7m1FNQIazlOUZqA+SJQpujGTyFvhSm3+LtIjX1PObZsWNtnJ6JW96UFwHoIW03Clvf98oVIr1il3fiCSaBHfc8jdsZrPD7M/6f2q+vH0NTaw3eE5rzhLAGUb72WGBH+Jm7zZ9DVMzpCcCIPI+BEL/zV66puZo2zAnzZwsXaFUZQ7dpmYs6KIrnO2csC3pPtCc5dmtkNNlXeMov7J9a5MUT0q8UoSLprbbPRRa2/RTD5BiXNJj662jeOteiCDg/SlF05IlocYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K2J6EL6chkxbfVf2UnPHU6",
      "input": {
        "note": "The arm is refusing the previous target (unchanged state), as happened once before; retreating slightly while descending to unstick the IK.",
        "targets": {
          "right_x": 0.39,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01K2J6EL6chkxbfVf2UnPHU6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8326, 0.6132, -0.4946, -0.0135, -0.0307, 0.999, 0.0917, 1.4384, 0.7132, 0.0643, 0.0772, -0.0677, 0.9973]\nstate[eef_state]: left_x=0.2811 left_y=0.0003 left_z=0.1511 left_yaw=0.0003 left_pitch=-0.1415 left_roll=0.002 left_gripper=0.999 right_x=0.402 right_y=0.0269 right_z=0.1051 right_yaw=0.0509 right_pitch=-0.0933 right_roll=-0.0854 right_gripper=0.9973\nstate[joint_eff]: [-0.0889, -1.4291, 7.0496, 1.619, -0.0122, -0.0708, -0.0122, -0.2803, -6.3111, 7.3778, 2.0, 0.1197, 0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdd43e6f59c63fac7092ed713f65dbc7f244fafa8c399a01f8ab2278265827cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6dbfb2db9b366d41f4a25e07640329800c0e73fadb92002a2713d5c6f11461b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8cfc23b2f972d3a3edd99c281a3c9752b271414047d54ab12051a9691e178cbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 10.83 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8322, 0.6132, -0.4942, -0.0139, -0.0307, 0.999, 0.0917, 1.4384, 0.7132, 0.0639, 0.0776, -0.0677, 0.9973]\nstate[eef_state]: left_x=0.2812 left_y=0.0004 left_z=0.1513 left_yaw=0.0006 left_pitch=-0.1407 left_roll=0.0023 left_gripper=0.999 right_x=0.4019 right_y=0.0268 right_z=0.105 right_yaw=0.0506 right_pitch=-0.0936 right_roll=-0.0856 right_gripper=0.9973\nstate[joint_eff]: [-0.0752, -1.388, 7.1179, 1.6239, -0.0513, -0.0513, -0.0122, -0.1846, -6.5162, 7.3641, 2.0098, 0.1343, 0.1001, -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]: [-0.02, 0.8322, 0.6132, -0.4942, -0.0135, -0.0307, 0.999, 0.0917, 1.4384, 0.7132, 0.0635, 0.0772, -0.0677, 0.9973]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1513 left_yaw=0.0003 left_pitch=-0.1407 left_roll=0.002 left_gripper=0.999 right_x=0.4019 right_y=0.0269 right_z=0.105 right_yaw=0.0509 right_pitch=-0.094 right_roll=-0.0854 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -1.2786, 6.9265, 1.5849, -0.0513, -0.022, -0.0122, -0.2256, -6.4615, 7.3641, 1.9805, 0.1294, 0.0708, -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]: [-0.02, 0.8326, 0.6132, -0.4946, -0.0135, -0.0307, 0.999, 0.0917, 1.4384, 0.7132, 0.0643, 0.0772, -0.0677, 0.9973]\nstate[eef_state]: left_x=0.2811 left_y=0.0003 left_z=0.1511 left_yaw=0.0003 left_pitch=-0.1415 left_roll=0.002 left_gripper=0.999 right_x=0.402 right_y=0.0269 right_z=0.1051 right_yaw=0.0509 right_pitch=-0.0933 right_roll=-0.0854 right_gripper=0.9973\nstate[joint_eff]: [-0.0889, -1.4291, 7.0496, 1.619, -0.0122, -0.0708, -0.0122, -0.2803, -6.3111, 7.3778, 2.0, 0.1197, 0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdd43e6f59c63fac7092ed713f65dbc7f244fafa8c399a01f8ab2278265827cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6dbfb2db9b366d41f4a25e07640329800c0e73fadb92002a2713d5c6f11461b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cfc23b2f972d3a3edd99c281a3c9752b271414047d54ab12051a9691e178cbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9AQKjgEIEhgCKkBDvmVXHzLGfx697cmwcXrB5Ta5SWS+fjJPueI14f/l7Y8GILVzKZHyYgog6SC+1jW48cBpuvQ9u7Wwo666fgkcMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfGczNUGEgyZLg+PaSPUbA/9lVoaDCZlInzosY9DfFazbiIwc7v2dYdL8bYUnXlIAQRTn7qCjkw+U6nCCqbp0UM9ZnSdpZP6WyZOyM+BfgCzL4fwKpIDhV1Gh0AWHaif50XbqpFDeAp4YzM5wqJvxcw9HCcDG9hJ9DbC1Qcytwa2LStGSoVbVqQZch3YQc+l/WfT2R3FxMqImEhcGhQ6UhP6rYuysns1Hasw86ffrIqrU7Le6xICpYGZnUVE6l7Kcq8vUhO8TNgAUXUt3DOrbwpphOw1yXAQyZVYZmkp1ghx+bPyQ/JznDnpHsYJx0f7odDxKtcgOjR/1Y21/SynS+8H37W5raB7zVXzzUDpLfqRI+1An5f0RZKGv90uc8RMtbfjDvPWXxKA5/4sb3+r8xWo8+tETXqR716Mx8IcgcmKDhboRD0ANH63UDVWewCpZGVUWI5uLojnhkl0QHPPNByN4cR/53DOmuzneq82aWqVexKv6iqBYJzAqkMRlKTeNC6Crm0jdAkY7vJe01XpMaqTIhwIB39VMmxfRZieNpOeQOmNuWiRyFqdshTOdyWseS5AmlcoKNPy+qYKb4Y1ZBHxjw/kzEIjCrd18SQgIHpmj9UlAHgot4k5Z72MVnX170qD5PrNt8TVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QMi6AuWdt25LLfYu3pb2BH",
      "input": {
        "note": "Right arm appears frozen in place; commanding a large retreat up and back to see whether it responds at all.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01QMi6AuWdt25LLfYu3pb2BH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8368, 0.6132, -0.4976, -0.0135, -0.0307, 0.999, 0.2737, 0.9752, 0.8406, -0.5282, 0.1921, 0.0185, 0.9973]\nstate[eef_state]: left_x=0.2808 left_y=0.0004 left_z=0.1495 left_yaw=0.0003 left_pitch=-0.1488 left_roll=0.0022 left_gripper=0.999 right_x=0.3112 right_y=0.0561 right_z=0.2074 right_yaw=0.0896 right_pitch=-0.0833 right_roll=-0.0874 right_gripper=0.9973\nstate[joint_eff]: [-0.1709, -1.3197, 6.9402, 1.707, -0.0415, -0.022, -0.0122, 0.212, -3.3026, 9.6205, 1.8046, 0.2369, 0.0952, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd167150c88897b22b01fac4a07b970b8f008152819d22aee6536739bf2b57cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6693069a05b7a8fb8a4f60582595f9e23d9e4176ec8052c9518b1434d89d2b56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a564e50dbda7c1c7ee8212b56a9f8cbbcb3cbad350db9df6e5aeadb3797cc859",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 3.245 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8322, 0.6132, -0.4942, -0.0135, -0.0307, 0.999, 0.0917, 1.4384, 0.7132, 0.0635, 0.0772, -0.0677, 0.9973]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1513 left_yaw=0.0003 left_pitch=-0.1407 left_roll=0.002 left_gripper=0.999 right_x=0.4019 right_y=0.0269 right_z=0.105 right_yaw=0.0509 right_pitch=-0.094 right_roll=-0.0854 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -1.2786, 6.9265, 1.5849, -0.0513, -0.022, -0.0122, -0.2256, -6.4615, 7.3641, 1.9805, 0.1294, 0.0708, -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]: [-0.02, 0.8326, 0.6132, -0.4946, -0.0135, -0.0307, 0.999, 0.0917, 1.4384, 0.7132, 0.0643, 0.0772, -0.0677, 0.9973]\nstate[eef_state]: left_x=0.2811 left_y=0.0003 left_z=0.1511 left_yaw=0.0003 left_pitch=-0.1415 left_roll=0.002 left_gripper=0.999 right_x=0.402 right_y=0.0269 right_z=0.1051 right_yaw=0.0509 right_pitch=-0.0933 right_roll=-0.0854 right_gripper=0.9973\nstate[joint_eff]: [-0.0889, -1.4291, 7.0496, 1.619, -0.0122, -0.0708, -0.0122, -0.2803, -6.3111, 7.3778, 2.0, 0.1197, 0.0904, -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]: [-0.02, 0.8368, 0.6132, -0.4976, -0.0135, -0.0307, 0.999, 0.2737, 0.9752, 0.8406, -0.5282, 0.1921, 0.0185, 0.9973]\nstate[eef_state]: left_x=0.2808 left_y=0.0004 left_z=0.1495 left_yaw=0.0003 left_pitch=-0.1488 left_roll=0.0022 left_gripper=0.999 right_x=0.3112 right_y=0.0561 right_z=0.2074 right_yaw=0.0896 right_pitch=-0.0833 right_roll=-0.0874 right_gripper=0.9973\nstate[joint_eff]: [-0.1709, -1.3197, 6.9402, 1.707, -0.0415, -0.022, -0.0122, 0.212, -3.3026, 9.6205, 1.8046, 0.2369, 0.0952, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd167150c88897b22b01fac4a07b970b8f008152819d22aee6536739bf2b57cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6693069a05b7a8fb8a4f60582595f9e23d9e4176ec8052c9518b1434d89d2b56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a564e50dbda7c1c7ee8212b56a9f8cbbcb3cbad350db9df6e5aeadb3797cc859",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4A0KjgEIEhgCKkASef+gsRHisLywZnaHYoOTKQlZnqVIH3orFb34h3iE6BOP8w/QdZSnO9Ysz9x2783CQr6go4pRyZg+SCbioxKEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfyczNUGEgzDLray0y/cUMs6sHAaDNdKs8iajeE2qvMo0SIworEvzGFZnvRy9ETKcXYGyv0sEAR6/J6pyNlTWXYWggPlIhODSOY4J7BRg3KqnuTUKv4L4u3GGZfx5Vb+K/utNYnGdeZdnXRGyPmY24E25n7WlaUcWU86vroCuo5T/BNOqdQiuFiObgqCGmxFmMIsHHp1VSyyw0RpwkVU8LqNGJ9RdsRmDLLc9F5CPLfnX1itEkSTQOnd/jcN5+K16cSFQq5WMv9bSuNjiKbNYvd5prL3g/B+Z5//yM3CMEgK7OPWuWvbXc8Y98e3aMlanF+Ug9M8qOgdhrsOqc8Ytq2EfvDxf6FkpGPmNVtDvCHtBuIG1Amo/GqPkeN/CgGovHaGUrB5lDdQJOeHBGUr4F6fr75wEtZxdXz17MRPmYnHBxuxy4qoegVcynLz9LrpHnhCA5eDs8r4SxVW4fktGNGubZZWfNHwc1hAxr6yeFempvadpI6iqpvjyZxAcgb5rqKYnDzMVZp3iES4PcEpdrmcxExIAeEgxZNfN/e/7YXs0bW+GDsgVnnlcvmkXVpj9k22m5M5gE06IimgBWtzJyDb7X9T18yRn4uLfpBWMb1VoKbptuQGUCffb74VQw1HC11Xl0jWWq0jPEr1daktsX99wi42XwY+wxZqkihPL1cXwzi5xEYlsE/4onL0P2JYc2KEKoARqCJxpT9AgR3ZlMwZnYF4n/Tas6Iyd5ZzJuaLlgzgI3PNq7A2w95tRrcPAOUui73ls84PnS7uC4sT16E60ChDXVmPbT2HuHfhuck5hqkMVhDR4DB5ph2kfnX9PwUSuw8jzKPNrHh1fPIhK+IsIlh9U1+xcn4KHYF0n2i9UYvYH8Parp7meRu6vYubozqxCmQOZtuGXFisaJ5T2gIr3H/ZPgF3EWu77mTyppsh2TZ+2h+FAFnnTtlvtvCbYKDsk5GzVUwFLshWcMzuK0bybXjyNTtDQCduoV1V9G7N2+u0vVbqGel1y8mFDkOyjkc7tSJeUmnJYNjNeOaB87YLnlN4JyUNrDUze3ClR+SQtAoiQ1d9KR0JYtYrM2X1gdkTf8u9uqJ0M5qOX/IvaKTRnk+P04QM8ZlWPevbkOPgMGqQg2fyuvp+z8wfnNsaEWCV5pgt4YR1hey2EBUiicLfldNMMGAXAODUysP+b5X1to+kOgVuDoMBUl80hjOa3G/x07ZF3/tLYP7jh7hZFp+e1JVLPx5HoCFlvJjj6eIGOPKVXuP3hZTtl06rWRkqKuk4uQ2y3EDsn9l5NIQv9riB7q4rGuU4u3lf7CX84rH2/9QqfMMVxqc1bmDQ1AMtQfVA0Jshr7SU+/8mI6dLRjPRXAceqG4RNnmfvEw6gC3uXu9W+VfbwrfIk8E8q3luUyKu5W9mQcZ8m5wtMGTTReqHNe+sTXOYkDLhuD+EeUngzXjevnY2lc2XR1papwb0yyFK0xxs4NIfVQZnkPUWSVgcNBMTYl06vpYIWWx2HBtS9sL2Ui5rNRdEJODH2JBkvOQqeX9X+ujVgLO5x5T+FOhXZ733U8/gy9XsuEzFFCqPxP4RJQaviC+jy2mzCvj7NeSiFQ3LxQYrg0WtlEw1Ob9ySuYw6e+N/FIU+Lu9n0tSAa7biJAe5gc8ygWWgL5MByiQ7gi+9BWSKWb23NEc3micdSiPmoEavakbFDGV3ZT15eKIzR24ZBxT86sXCfqo/0Yq+HF6ur3D4kfqVwskS0hK3F2iQsBdMMhmB4HtRQz4BU/2zP6ybHB2Si5XZQTuoSHrWWJf/sjCOlgOjsajjpi8ZeSxJ679Xwsy395TEEoA4SMOYXApDF+4ySyq5FBAQ3QKb2qdfJ2k7QWM/diCPfQepidcs03LYcM2TtYvzphfcVsJn0hEcvaRZs88HL4HuZeOa14+nQi0DBOcq/ItwLOq1T7N0ayVwE+6vsHAamqIH+RSDCVmzzMx+avR0Ns0L1R9nEiLUusohZzz1bXCEwGFsBeQ+e24EzIRefRAW/J2Fwb/idVCKcNjY4z+XPd1jDLEfsrZVrSNPXrfe5BT+VeHa1ktSBgck9d+/Hgj80OYKxtlIUTqrPLXx+MbkvP2ieIFmPEJBgmpRwMYyMT1HRDZdtdUVa1fgZgRU6vnhMZcEbGvVxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ea9Br3Cotk1aumpA4bpKhT",
      "input": {
        "note": "Arm responds again. Moving to hover 13 cm above where the pear should be (x≈0.44, y≈0.02) with the tool vertical.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.018,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ea9Br3Cotk1aumpA4bpKhT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.841, 0.6132, -0.5102, -0.0139, -0.0307, 0.999, 0.0429, 1.5181, 0.8627, -0.1017, 0.0128, -0.1246, 0.9973]\nstate[eef_state]: left_x=0.2789 left_y=0.0005 left_z=0.1461 left_yaw=0.0007 left_pitch=-0.1655 left_roll=0.0028 left_gripper=0.999 right_x=0.4159 right_y=0.0192 right_z=0.1046 right_yaw=0.0879 right_pitch=-0.1919 right_roll=-0.0863 right_gripper=0.9973\nstate[joint_eff]: [-0.212, -1.6205, 7.2274, 1.8046, -0.022, -0.0366, -0.0122, -0.5675, -7.0632, 8.9504, 1.8046, -0.0171, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d2ece44c4a4ceef8b077a561713de595a8653834f0f1c6c9fbe535ff63abb79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7652f849ec4bb11752984c532558f567a4981b4e7a4301bde757d48d65e1c36c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8eb3b252c3fdee894893416e68c3f1ac7bbf49f2795572b6c0477f4309d32893",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /messages · status 200 · 3.824 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8326, 0.6132, -0.4946, -0.0135, -0.0307, 0.999, 0.0917, 1.4384, 0.7132, 0.0643, 0.0772, -0.0677, 0.9973]\nstate[eef_state]: left_x=0.2811 left_y=0.0003 left_z=0.1511 left_yaw=0.0003 left_pitch=-0.1415 left_roll=0.002 left_gripper=0.999 right_x=0.402 right_y=0.0269 right_z=0.1051 right_yaw=0.0509 right_pitch=-0.0933 right_roll=-0.0854 right_gripper=0.9973\nstate[joint_eff]: [-0.0889, -1.4291, 7.0496, 1.619, -0.0122, -0.0708, -0.0122, -0.2803, -6.3111, 7.3778, 2.0, 0.1197, 0.0904, -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]: [-0.02, 0.8368, 0.6132, -0.4976, -0.0135, -0.0307, 0.999, 0.2737, 0.9752, 0.8406, -0.5282, 0.1921, 0.0185, 0.9973]\nstate[eef_state]: left_x=0.2808 left_y=0.0004 left_z=0.1495 left_yaw=0.0003 left_pitch=-0.1488 left_roll=0.0022 left_gripper=0.999 right_x=0.3112 right_y=0.0561 right_z=0.2074 right_yaw=0.0896 right_pitch=-0.0833 right_roll=-0.0874 right_gripper=0.9973\nstate[joint_eff]: [-0.1709, -1.3197, 6.9402, 1.707, -0.0415, -0.022, -0.0122, 0.212, -3.3026, 9.6205, 1.8046, 0.2369, 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 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]: [-0.02, 0.841, 0.6132, -0.5102, -0.0139, -0.0307, 0.999, 0.0429, 1.5181, 0.8627, -0.1017, 0.0128, -0.1246, 0.9973]\nstate[eef_state]: left_x=0.2789 left_y=0.0005 left_z=0.1461 left_yaw=0.0007 left_pitch=-0.1655 left_roll=0.0028 left_gripper=0.999 right_x=0.4159 right_y=0.0192 right_z=0.1046 right_yaw=0.0879 right_pitch=-0.1919 right_roll=-0.0863 right_gripper=0.9973\nstate[joint_eff]: [-0.212, -1.6205, 7.2274, 1.8046, -0.022, -0.0366, -0.0122, -0.5675, -7.0632, 8.9504, 1.8046, -0.0171, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d2ece44c4a4ceef8b077a561713de595a8653834f0f1c6c9fbe535ff63abb79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7652f849ec4bb11752984c532558f567a4981b4e7a4301bde757d48d65e1c36c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eb3b252c3fdee894893416e68c3f1ac7bbf49f2795572b6c0477f4309d32893",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlwQKjgEIEhgCKkDD1QyS3dEi/t+EAviHIrw2/PZ++FMWur26PN/pLw10ak+2DqzcQmuLct69QN4AySIsUEVnbnW2YXKjS3A9xHVTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYGdzNUGEgwJaNIDIlVxvrXIM4gaDJl4cUaXrLDDUj8VGyIwNi4ME7TcRfb1RfjFS6zSkUgs9u+RDxSadVyP2Bw+xKUNoSFmupuzEpYsO9uzvcqlKrUCQ+mM8Uf+gmaqObaoN6J6fOfKVCge0Bl+byjaorK7C6NEH0oABl9c9v0V6J9YMWqlBsVSqLd9hQ12INsznm/VubJxjqiJLyZFVU5B/IrI9CdCUNNL8PH/R8J1QEoWgIX3v84VEu2gglNRS0LY9VASdRitSpXpAFBoaGTDtfEzN93hUbYjlNtVxKBFptLyzRW/Ll2cBVIRrKZzBjHpJGYa3vTqR9dT0eXiutqmYGXxT/pE+AdK3yeZeJrd24NTCFablaPfLyQiWytCldXl7fwsvC4w2gzYLe659y8JbfPU3ChJRV6L9Gl9EDOFO+Rui48ejnLut1micuR8Fq0zqVJmTaDO+2ZM5PguRnPYVAZcXqPh190hfUwiVc+xeSa+3iQFuNX+6VmLdlaebhupFBfDxlOb19lyGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0156GeLyJPvAMVbumtoexszw",
      "input": {
        "note": "The pear is centred on the jaw column just above the jaws; descending to grasp height.",
        "targets": {
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0156GeLyJPvAMVbumtoexszw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8417, 0.6132, -0.514, -0.0139, -0.0307, 0.999, 0.0391, 1.6489, 0.7364, 0.0853, 0.0029, -0.1322, 0.9973]\nstate[eef_state]: left_x=0.2783 left_y=0.0005 left_z=0.1452 left_yaw=0.0007 left_pitch=-0.1701 left_roll=0.0029 left_gripper=0.999 right_x=0.4046 right_y=0.0189 right_z=0.0366 right_yaw=0.0977 right_pitch=-0.2619 right_roll=-0.0808 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -1.4974, 7.0906, 1.5995, -0.0562, -0.0366, -0.0171, -0.0342, -8.1983, 6.2154, 1.9707, 0.0562, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:662b8e8d6081c29b8ff777bb422c535dc1259d90bb6700dd8ec7cb992e8ce1b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d34f866f50699a49838aae0a343624e35704f9d673f0d80070a263a6906559d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cce9361671f574ba23f6adf6339660961be61f4504d98739e64e60007ce5801d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 9.617 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8368, 0.6132, -0.4976, -0.0135, -0.0307, 0.999, 0.2737, 0.9752, 0.8406, -0.5282, 0.1921, 0.0185, 0.9973]\nstate[eef_state]: left_x=0.2808 left_y=0.0004 left_z=0.1495 left_yaw=0.0003 left_pitch=-0.1488 left_roll=0.0022 left_gripper=0.999 right_x=0.3112 right_y=0.0561 right_z=0.2074 right_yaw=0.0896 right_pitch=-0.0833 right_roll=-0.0874 right_gripper=0.9973\nstate[joint_eff]: [-0.1709, -1.3197, 6.9402, 1.707, -0.0415, -0.022, -0.0122, 0.212, -3.3026, 9.6205, 1.8046, 0.2369, 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 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]: [-0.02, 0.841, 0.6132, -0.5102, -0.0139, -0.0307, 0.999, 0.0429, 1.5181, 0.8627, -0.1017, 0.0128, -0.1246, 0.9973]\nstate[eef_state]: left_x=0.2789 left_y=0.0005 left_z=0.1461 left_yaw=0.0007 left_pitch=-0.1655 left_roll=0.0028 left_gripper=0.999 right_x=0.4159 right_y=0.0192 right_z=0.1046 right_yaw=0.0879 right_pitch=-0.1919 right_roll=-0.0863 right_gripper=0.9973\nstate[joint_eff]: [-0.212, -1.6205, 7.2274, 1.8046, -0.022, -0.0366, -0.0122, -0.5675, -7.0632, 8.9504, 1.8046, -0.0171, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8417, 0.6132, -0.514, -0.0139, -0.0307, 0.999, 0.0391, 1.6489, 0.7364, 0.0853, 0.0029, -0.1322, 0.9973]\nstate[eef_state]: left_x=0.2783 left_y=0.0005 left_z=0.1452 left_yaw=0.0007 left_pitch=-0.1701 left_roll=0.0029 left_gripper=0.999 right_x=0.4046 right_y=0.0189 right_z=0.0366 right_yaw=0.0977 right_pitch=-0.2619 right_roll=-0.0808 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -1.4974, 7.0906, 1.5995, -0.0562, -0.0366, -0.0171, -0.0342, -8.1983, 6.2154, 1.9707, 0.0562, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:662b8e8d6081c29b8ff777bb422c535dc1259d90bb6700dd8ec7cb992e8ce1b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d34f866f50699a49838aae0a343624e35704f9d673f0d80070a263a6906559d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cce9361671f574ba23f6adf6339660961be61f4504d98739e64e60007ce5801d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3AMKjgEIEhgCKkBbofI+FYBkSSGTI6/ZqkBg7AFgrmEcvNN6RNenxJ9/cbeQFl8BbfANTANrceRIIBjIFJlMinzoZ7BRcfQKL94JMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYWdzNUGEgzgFjFYlUf+uzJJVNoaDJILgnBb0NSuXiOLoyIw+S9e9ap9kMoFrU0rtLBZT6CV8BCtiNJm9UyYs0/AkRlHqS+1nz40NoTMNDWENqjlKvoB7l6gZtkYc8rDWeIs0JAhnTL+zi0eZLDRGY3VHzLdoanEN/oieCnRhQ0l15mOwVzDh4tXVr8j4MS6W5MKPI4/c2LYRuLxqAszmRuHkn4Q0hZwamM6gqUnoeud7jrULOvhq/9JKo0Z2AWDjjX72ts6c7Y9QMsVxzFsIuYx4PB3aagyiYbPJmeOUOOe1LDeR3iruIc8KHM6KRXFkMMVF2jlFULgNydXMtzCdNUKhMek2QmN6mZUBqOrhNZFE0RUDAMIlsk7KAnSmIkacCWHhGkcg2oUr8XGdGZyjRXCR+UFue76YcxFldFTZentDBGP6usbTQir9buMeLihaRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SmcUvaxhVFXqrPwnBqXWAY",
      "input": {
        "note": "Pear centred between the jaws at 3.7 cm height; closing 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_01SmcUvaxhVFXqrPwnBqXWAY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8463, 0.6132, -0.5201, -0.0139, -0.0307, 0.999, 0.0437, 1.6699, 0.7204, 0.1566, 0.0059, -0.1322, 0.0112]\nstate[eef_state]: left_x=0.2774 left_y=0.0005 left_z=0.1429 left_yaw=0.0008 left_pitch=-0.1808 left_roll=0.0031 left_gripper=0.999 right_x=0.4102 right_y=0.0205 right_z=0.0348 right_yaw=0.0992 right_pitch=-0.2278 right_roll=-0.0851 right_gripper=0.0112\nstate[joint_eff]: [-0.1709, -1.8256, 7.0085, 1.6825, -0.0757, -0.0073, -0.0122, -0.1573, -8.3624, 6.0103, 1.7167, 0.0659, 0.0562, 1.0623]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8a371dbfe6c19f9c7ef385f0fc3d9f40aacd07670c4c1e9f74dadcc143aaa2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:383b0711d88e1a13caaa83894f8d0921391f32cb5c6abe3bd5aba1b4775a2e84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29c608cacd51539a89cda20d45f871e15a3e07a77b2d0b9d8b9a988c8310d720",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 3.929 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.841, 0.6132, -0.5102, -0.0139, -0.0307, 0.999, 0.0429, 1.5181, 0.8627, -0.1017, 0.0128, -0.1246, 0.9973]\nstate[eef_state]: left_x=0.2789 left_y=0.0005 left_z=0.1461 left_yaw=0.0007 left_pitch=-0.1655 left_roll=0.0028 left_gripper=0.999 right_x=0.4159 right_y=0.0192 right_z=0.1046 right_yaw=0.0879 right_pitch=-0.1919 right_roll=-0.0863 right_gripper=0.9973\nstate[joint_eff]: [-0.212, -1.6205, 7.2274, 1.8046, -0.022, -0.0366, -0.0122, -0.5675, -7.0632, 8.9504, 1.8046, -0.0171, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8417, 0.6132, -0.514, -0.0139, -0.0307, 0.999, 0.0391, 1.6489, 0.7364, 0.0853, 0.0029, -0.1322, 0.9973]\nstate[eef_state]: left_x=0.2783 left_y=0.0005 left_z=0.1452 left_yaw=0.0007 left_pitch=-0.1701 left_roll=0.0029 left_gripper=0.999 right_x=0.4046 right_y=0.0189 right_z=0.0366 right_yaw=0.0977 right_pitch=-0.2619 right_roll=-0.0808 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -1.4974, 7.0906, 1.5995, -0.0562, -0.0366, -0.0171, -0.0342, -8.1983, 6.2154, 1.9707, 0.0562, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.02, 0.8463, 0.6132, -0.5201, -0.0139, -0.0307, 0.999, 0.0437, 1.6699, 0.7204, 0.1566, 0.0059, -0.1322, 0.0112]\nstate[eef_state]: left_x=0.2774 left_y=0.0005 left_z=0.1429 left_yaw=0.0008 left_pitch=-0.1808 left_roll=0.0031 left_gripper=0.999 right_x=0.4102 right_y=0.0205 right_z=0.0348 right_yaw=0.0992 right_pitch=-0.2278 right_roll=-0.0851 right_gripper=0.0112\nstate[joint_eff]: [-0.1709, -1.8256, 7.0085, 1.6825, -0.0757, -0.0073, -0.0122, -0.1573, -8.3624, 6.0103, 1.7167, 0.0659, 0.0562, 1.0623]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8a371dbfe6c19f9c7ef385f0fc3d9f40aacd07670c4c1e9f74dadcc143aaa2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:383b0711d88e1a13caaa83894f8d0921391f32cb5c6abe3bd5aba1b4775a2e84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29c608cacd51539a89cda20d45f871e15a3e07a77b2d0b9d8b9a988c8310d720",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E4G2hti9R39nWcRK3HKGYZ",
      "input": {
        "note": "Empty again — each low approach just nudges the pear forward, so it stays ~5 cm beyond the fingertips. Lifting to 17 cm and moving out past the pear so I can descend straight down onto it.",
        "targets": {
          "right_x": 0.465,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01E4G2hti9R39nWcRK3HKGYZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6132, -0.5213, -0.0139, -0.0307, 0.999, 0.0425, 1.6497, 1.2461, -0.3859, 0.0017, -0.144, 0.0139]\nstate[eef_state]: left_x=0.2772 left_y=0.0005 left_z=0.1425 left_yaw=0.0008 left_pitch=-0.1827 left_roll=0.0031 left_gripper=0.999 right_x=0.463 right_y=0.023 right_z=0.1591 right_yaw=0.1081 right_pitch=-0.2247 right_roll=-0.0908 right_gripper=0.0139\nstate[joint_eff]: [-0.0752, -1.5385, 6.8991, 1.5263, -0.0317, -0.0415, -0.0171, -0.841, -7.4188, 8.5538, 1.536, -0.0269, 0.0659, 0.5446]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e92a2f210b597f0402a7fdedcb9802047625901b06ab99f1ea82b2d3c07ec0de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6ceeb4e0d3a27ef239da8c69a4bc49fc3a66c671bf94f24a4a346c77eb190cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2c43d9cfbbe789f8b95f18a423ab0d9eb9de989e5ba9ba5ff7988f5607e16b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /messages · status 200 · 3.181 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8417, 0.6132, -0.514, -0.0139, -0.0307, 0.999, 0.0391, 1.6489, 0.7364, 0.0853, 0.0029, -0.1322, 0.9973]\nstate[eef_state]: left_x=0.2783 left_y=0.0005 left_z=0.1452 left_yaw=0.0007 left_pitch=-0.1701 left_roll=0.0029 left_gripper=0.999 right_x=0.4046 right_y=0.0189 right_z=0.0366 right_yaw=0.0977 right_pitch=-0.2619 right_roll=-0.0808 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -1.4974, 7.0906, 1.5995, -0.0562, -0.0366, -0.0171, -0.0342, -8.1983, 6.2154, 1.9707, 0.0562, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8463, 0.6132, -0.5201, -0.0139, -0.0307, 0.999, 0.0437, 1.6699, 0.7204, 0.1566, 0.0059, -0.1322, 0.0112]\nstate[eef_state]: left_x=0.2774 left_y=0.0005 left_z=0.1429 left_yaw=0.0008 left_pitch=-0.1808 left_roll=0.0031 left_gripper=0.999 right_x=0.4102 right_y=0.0205 right_z=0.0348 right_yaw=0.0992 right_pitch=-0.2278 right_roll=-0.0851 right_gripper=0.0112\nstate[joint_eff]: [-0.1709, -1.8256, 7.0085, 1.6825, -0.0757, -0.0073, -0.0122, -0.1573, -8.3624, 6.0103, 1.7167, 0.0659, 0.0562, 1.0623]\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]: [-0.02, 0.8471, 0.6132, -0.5213, -0.0139, -0.0307, 0.999, 0.0425, 1.6497, 1.2461, -0.3859, 0.0017, -0.144, 0.0139]\nstate[eef_state]: left_x=0.2772 left_y=0.0005 left_z=0.1425 left_yaw=0.0008 left_pitch=-0.1827 left_roll=0.0031 left_gripper=0.999 right_x=0.463 right_y=0.023 right_z=0.1591 right_yaw=0.1081 right_pitch=-0.2247 right_roll=-0.0908 right_gripper=0.0139\nstate[joint_eff]: [-0.0752, -1.5385, 6.8991, 1.5263, -0.0317, -0.0415, -0.0171, -0.841, -7.4188, 8.5538, 1.536, -0.0269, 0.0659, 0.5446]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e92a2f210b597f0402a7fdedcb9802047625901b06ab99f1ea82b2d3c07ec0de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6ceeb4e0d3a27ef239da8c69a4bc49fc3a66c671bf94f24a4a346c77eb190cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2c43d9cfbbe789f8b95f18a423ab0d9eb9de989e5ba9ba5ff7988f5607e16b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1QQKjgEIEhgCKkASx+qRKHxpo7pArXyb+bvlODFRaSa6YGcXw/Qyo7exWMmDcjqXwhdtuLb2ILIsKm5nRdJRZQy61eC9xDx4RghRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZSdzNUGEgxSacHYV0sQ/JRuN/waDLgG8poUOeTrvPmMUyIwwmddHjxoai5gcF/p8/SHksX5pIZPP9BTPsd+NrgNU8L2yxbwUXQRST30Kh/JVj/YKvMCgKArxfwEtkMcLXZrr1SVugUtAPY4cxYVeuaPcxKwabUszEAqrQiR1LN23vEltpOurVEYrdtZOONmQKXq6O93hI3SUxxcp3qdNHW/tz3+4jlJh2dlDGz2t365XaHSYLUCi7X7aTe6C5bTxAJokX41xfK9yE3ajzoSF2TFjoZX75w8GOcKL4CY63Iugair81rkmrQMUwoxAzdhiQMPwNpMJDl92mkvfHxOIs95L5uVGJVxJLZx0cUUh1ELUSZq9qk1FI9jqmbA8VDt9Aiow5HVrSb8bxQpAuqbvcbRSuPwLi+pBOYVzjJ56o+qSNhb1rliLJ87JmOwprHhjSm6b03XyQ7eDyZMeH13JO280gItygp3GlmblS3M42GqYYxM9kJh2tafTdwucZHwu4FjQoVmDXzYLqZNS3xYVaJvApI/RnX3IKZ5J4ApRLEssIrblV9H47yqvibh9wgL1C8bOcOW8wVP0akoW+2r8QBJLdsEVPcF8zMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QumSAiYfH492pBHhFUJ1KK",
      "input": {
        "note": "The pear now sits just under the jaws in the wrist view; opening the gripper and dropping straight down onto it.",
        "targets": {
          "right_gripper": 1.0,
          "right_y": 0.032,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QumSAiYfH492pBHhFUJ1KK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6132, -0.5205, -0.0139, -0.0307, 0.999, 0.0635, 1.7966, 0.9787, -0.017, 0.0063, -0.1398, 0.9953]\nstate[eef_state]: left_x=0.2773 left_y=0.0005 left_z=0.1426 left_yaw=0.0008 left_pitch=-0.1819 left_roll=0.0031 left_gripper=0.999 right_x=0.455 right_y=0.0314 right_z=0.0488 right_yaw=0.1235 right_pitch=-0.27 right_roll=-0.0883 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.4701, 6.8991, 1.6142, -0.0708, -0.0757, -0.0122, 0.1299, -8.0205, 5.8325, 1.7314, 0.1441, 0.1245, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24f2039d65254dae43eadaf5365112e79552f30a2cf247b46142ff5a831fe1ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e74011ce4468568734044c4515430b66802c30c415e7ddd5617021d48543ca89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ddbcb90cd1cc2d8194b4df11d4d81db5828f66884cc106acc334eb8169d99fc",
        "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 · 6.779 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8463, 0.6132, -0.5201, -0.0139, -0.0307, 0.999, 0.0437, 1.6699, 0.7204, 0.1566, 0.0059, -0.1322, 0.0112]\nstate[eef_state]: left_x=0.2774 left_y=0.0005 left_z=0.1429 left_yaw=0.0008 left_pitch=-0.1808 left_roll=0.0031 left_gripper=0.999 right_x=0.4102 right_y=0.0205 right_z=0.0348 right_yaw=0.0992 right_pitch=-0.2278 right_roll=-0.0851 right_gripper=0.0112\nstate[joint_eff]: [-0.1709, -1.8256, 7.0085, 1.6825, -0.0757, -0.0073, -0.0122, -0.1573, -8.3624, 6.0103, 1.7167, 0.0659, 0.0562, 1.0623]\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]: [-0.02, 0.8471, 0.6132, -0.5213, -0.0139, -0.0307, 0.999, 0.0425, 1.6497, 1.2461, -0.3859, 0.0017, -0.144, 0.0139]\nstate[eef_state]: left_x=0.2772 left_y=0.0005 left_z=0.1425 left_yaw=0.0008 left_pitch=-0.1827 left_roll=0.0031 left_gripper=0.999 right_x=0.463 right_y=0.023 right_z=0.1591 right_yaw=0.1081 right_pitch=-0.2247 right_roll=-0.0908 right_gripper=0.0139\nstate[joint_eff]: [-0.0752, -1.5385, 6.8991, 1.5263, -0.0317, -0.0415, -0.0171, -0.841, -7.4188, 8.5538, 1.536, -0.0269, 0.0659, 0.5446]",
      "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]: [-0.02, 0.8471, 0.6132, -0.5205, -0.0139, -0.0307, 0.999, 0.0635, 1.7966, 0.9787, -0.017, 0.0063, -0.1398, 0.9953]\nstate[eef_state]: left_x=0.2773 left_y=0.0005 left_z=0.1426 left_yaw=0.0008 left_pitch=-0.1819 left_roll=0.0031 left_gripper=0.999 right_x=0.455 right_y=0.0314 right_z=0.0488 right_yaw=0.1235 right_pitch=-0.27 right_roll=-0.0883 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.4701, 6.8991, 1.6142, -0.0708, -0.0757, -0.0122, 0.1299, -8.0205, 5.8325, 1.7314, 0.1441, 0.1245, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24f2039d65254dae43eadaf5365112e79552f30a2cf247b46142ff5a831fe1ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e74011ce4468568734044c4515430b66802c30c415e7ddd5617021d48543ca89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ddbcb90cd1cc2d8194b4df11d4d81db5828f66884cc106acc334eb8169d99fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2wMKjgEIEhgCKkDxaRZpPRGnD2CjRSjNBG1LGIWoNC7YZeWoFaFyuDLZjtxFRHLfochD/USVfuEgcbPzBAZHdv5IskTYcXB9egNLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZidzNUGEgyiNu0ag27j7HlCkVAaDOvLbkV+JjnuCi/BDCIwZFS1heUPIH2I2Q1a2tpEJguzVnThjWM13YqVHntTxnihTWr9+YetAzc0tY5lba+RKvkBzPfDTuOrHpRwamhCrVyHdnC42+PIRRZ0JoNp4mVHk/BOiN45zrtCNmQuXgSCUtK8iZ6ttt85rsBZZjytimmpYHp9lV52Ok6RYror3ji1RoMr+ixQ7sjDAODG0Ep1UYGWgHnSX+MhSdwKDFxxCqcE8/YiN2Rp4t8QYdCaTcSjoNXIdmkGhY1kAiPefygk8T/4Cgg07phfPGub39RLBX6DDM2hRxxlQ5BoHmNfO+vrTZSIy4vD2IXahV53JHfLzibaUKkxbzx0nNyNdM36BH+zU2jXboWMh4HbuPbjIi/cy50nuMDWzsz1GDcQ7hW2+b9LGtzKkmZzxsp7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L55Vi6g6FmPS1StiLctseL",
      "input": {
        "note": "Pear lies between the open jaws at 5 cm height; closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01L55Vi6g6FmPS1StiLctseL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8513, 0.6132, -0.5323, -0.0135, -0.0307, 0.999, 0.0654, 1.8141, 0.9691, -0.004, 0.0051, -0.1436, 0.6093]\nstate[eef_state]: left_x=0.2754 left_y=0.0005 left_z=0.1394 left_yaw=0.0005 left_pitch=-0.198 left_roll=0.0032 left_gripper=0.999 right_x=0.453 right_y=0.0324 right_z=0.0397 right_yaw=0.1288 right_pitch=-0.2843 right_roll=-0.0892 right_gripper=0.6093\nstate[joint_eff]: [-0.0479, -1.7573, 6.9128, 1.6288, -0.0415, -0.0171, -0.0171, -0.5128, -10.2769, 6.6667, 1.3602, -0.0171, -0.0122, 0.9548]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73dee6e7d07b9afb9858e5ca4438e8c77bdbd27a7a1bc9d30460345b4cd0f478",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61511faa28d2e0b0c0cbd14636f7655832f0001aa8edf72964719a81df82394e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4170429fc7d4e50e5d1b5ec58aa699db61969e2fedba7fe457a2804a23f9a878",
        "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 · 7.368 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6132, -0.5213, -0.0139, -0.0307, 0.999, 0.0425, 1.6497, 1.2461, -0.3859, 0.0017, -0.144, 0.0139]\nstate[eef_state]: left_x=0.2772 left_y=0.0005 left_z=0.1425 left_yaw=0.0008 left_pitch=-0.1827 left_roll=0.0031 left_gripper=0.999 right_x=0.463 right_y=0.023 right_z=0.1591 right_yaw=0.1081 right_pitch=-0.2247 right_roll=-0.0908 right_gripper=0.0139\nstate[joint_eff]: [-0.0752, -1.5385, 6.8991, 1.5263, -0.0317, -0.0415, -0.0171, -0.841, -7.4188, 8.5538, 1.536, -0.0269, 0.0659, 0.5446]",
      "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]: [-0.02, 0.8471, 0.6132, -0.5205, -0.0139, -0.0307, 0.999, 0.0635, 1.7966, 0.9787, -0.017, 0.0063, -0.1398, 0.9953]\nstate[eef_state]: left_x=0.2773 left_y=0.0005 left_z=0.1426 left_yaw=0.0008 left_pitch=-0.1819 left_roll=0.0031 left_gripper=0.999 right_x=0.455 right_y=0.0314 right_z=0.0488 right_yaw=0.1235 right_pitch=-0.27 right_roll=-0.0883 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.4701, 6.8991, 1.6142, -0.0708, -0.0757, -0.0122, 0.1299, -8.0205, 5.8325, 1.7314, 0.1441, 0.1245, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8513, 0.6132, -0.5323, -0.0135, -0.0307, 0.999, 0.0654, 1.8141, 0.9691, -0.004, 0.0051, -0.1436, 0.6093]\nstate[eef_state]: left_x=0.2754 left_y=0.0005 left_z=0.1394 left_yaw=0.0005 left_pitch=-0.198 left_roll=0.0032 left_gripper=0.999 right_x=0.453 right_y=0.0324 right_z=0.0397 right_yaw=0.1288 right_pitch=-0.2843 right_roll=-0.0892 right_gripper=0.6093\nstate[joint_eff]: [-0.0479, -1.7573, 6.9128, 1.6288, -0.0415, -0.0171, -0.0171, -0.5128, -10.2769, 6.6667, 1.3602, -0.0171, -0.0122, 0.9548]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73dee6e7d07b9afb9858e5ca4438e8c77bdbd27a7a1bc9d30460345b4cd0f478",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61511faa28d2e0b0c0cbd14636f7655832f0001aa8edf72964719a81df82394e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4170429fc7d4e50e5d1b5ec58aa699db61969e2fedba7fe457a2804a23f9a878",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7AcKjgEIEhgCKkCP5d5wvyhyA6E28eFCIA9f4EGJbfT1ys+b28JAT6woRCMPIHqw/wiWay6he6AWMzd4wrHSJRgQuXR81nSMh2R5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaCdzNUGEgxDUGPsftp+ATjaodQaDJ7quZobr3mDF475HSIwOAO+BBB986u8zCS150T9VGWlcpSoPaNqBywfaEH9lOimfFHHPJy4G73HcPV/x838KooGwC1beAhMDicd1XtSybd9YvezHtrWTBqyjYwPOEK0YaYGeOU5FzlnBsTPKKWJzd26Ged9X0ag4SXDjggSgC0li4XGpC4orOwuC2GJWEPBJqyq98kcp2UoP2XtXJQGe6IUHC4xYoAfnyKE1Bu1kE/i160FBah3UuV5Kr7cn7PsXhj0jtilH0v1eywnXXQtXmhhg6w1f0i9+q1WUGrD1CvxZ3hSXqEc45v1Mw1LW/W8lh9NeVwHjDTNBNWhhaWHAcNJJpp/s09EJ2XwQBhGZwXhB/oTrSrXLMzvqYGxYyQB7ohRJ6gX1iEqS2ucg/18myxHeS3rNULVTtYDngNO38WVVSJLtVOqG5gsnD1qVE6NF35QHaJ7HWpyU9G8azTsHVnN8L+ItKDeisAgFgh1/Hm7QuCNOOrypiAYL9hPy/+2tohwUe37KWquy/Pxh37arf9Msu4X6Ggbf/Tr+q67TbnVCx5KZ4KveY/l4hyVGLhAbC5ZBSnBNGM88r0JNaosx/JWhzBmxyF9UR7Vt/buEUC43qw/uI4AH0ooZ2AdGSv6DAnP1wO0Dq6k0lB1br2vGRPAi9rCWmqyXadQCoG5fMvjzw1Zi24z4Gy5vwCTfMw9CFZffOag+9NozEQthcbLmu2uffP3w1POBYOLMzyqef5kq6eOEO/SEVqTggVzTGczky34ddrvIbXW5nWhgHXcTzQMyW7QUv5Vo2vmjTsBqho392GG/iLDNRKUaT0NTwHQbuWUchnenKL2O+mvICVawL5PU4PsYJEjCjrh4uklNX/q86DwhmTPV4R71mZQApVubeQRKlumgzvzUbCbB7E/lMgm6w39+eqhIKSty2wJZWGz+lsFHe8hhEHGXO4fGZm1cC/WYc1PrhMIkMRxKwtFwVS7Je0P8hq6BXt4k4kGtP4hIbqAnZn9RvTCbHmyeW+WbFZ4iEsksp8yaGBSIyaHjUnxqu+iaTDoFdYjwpMCekGSQ9M7XWcvgecK/gAzCXN9MFytibprko3y5fQ49+f9gTjklr9JT6mJMHf3ShgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016spgRZ9rn7ZyK5NeFJzdjD",
      "input": {
        "note": "Gripper settled at 0.61 — the pear is grasped. Lifting it clear before moving over the blue bowl.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_016spgRZ9rn7ZyK5NeFJzdjD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.852, 0.6132, -0.5358, -0.0139, -0.0307, 0.999, 0.0654, 1.6825, 1.4715, -0.6937, 0.0021, -0.1513, 0.6101]\nstate[eef_state]: left_x=0.2749 left_y=0.0005 left_z=0.1386 left_yaw=0.0008 left_pitch=-0.2021 left_roll=0.0035 left_gripper=0.999 right_x=0.4529 right_y=0.0329 right_z=0.1879 right_yaw=0.137 right_pitch=-0.34 right_roll=-0.0879 right_gripper=0.6101\nstate[joint_eff]: [-0.0479, -1.4154, 7.0769, 1.5604, -0.0611, -0.0757, -0.0122, -0.3761, -11.0701, 9.6068, 1.58, -0.0171, 0.0513, 0.7985]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8de4689474bc2af7627d3c3f52e17eed403b120e264124c3c974ed1e919a6597",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:194f9fa6b440d4d06982f195e1e8d45c6df4186040152988d88a35eb2500868f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:952a89b40981e342308d4ff4e359d6083e2a27af1f8a15d1bb548e065a5458d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /messages · status 200 · 6.002 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6132, -0.5205, -0.0139, -0.0307, 0.999, 0.0635, 1.7966, 0.9787, -0.017, 0.0063, -0.1398, 0.9953]\nstate[eef_state]: left_x=0.2773 left_y=0.0005 left_z=0.1426 left_yaw=0.0008 left_pitch=-0.1819 left_roll=0.0031 left_gripper=0.999 right_x=0.455 right_y=0.0314 right_z=0.0488 right_yaw=0.1235 right_pitch=-0.27 right_roll=-0.0883 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.4701, 6.8991, 1.6142, -0.0708, -0.0757, -0.0122, 0.1299, -8.0205, 5.8325, 1.7314, 0.1441, 0.1245, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8513, 0.6132, -0.5323, -0.0135, -0.0307, 0.999, 0.0654, 1.8141, 0.9691, -0.004, 0.0051, -0.1436, 0.6093]\nstate[eef_state]: left_x=0.2754 left_y=0.0005 left_z=0.1394 left_yaw=0.0005 left_pitch=-0.198 left_roll=0.0032 left_gripper=0.999 right_x=0.453 right_y=0.0324 right_z=0.0397 right_yaw=0.1288 right_pitch=-0.2843 right_roll=-0.0892 right_gripper=0.6093\nstate[joint_eff]: [-0.0479, -1.7573, 6.9128, 1.6288, -0.0415, -0.0171, -0.0171, -0.5128, -10.2769, 6.6667, 1.3602, -0.0171, -0.0122, 0.9548]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.02, 0.852, 0.6132, -0.5358, -0.0139, -0.0307, 0.999, 0.0654, 1.6825, 1.4715, -0.6937, 0.0021, -0.1513, 0.6101]\nstate[eef_state]: left_x=0.2749 left_y=0.0005 left_z=0.1386 left_yaw=0.0008 left_pitch=-0.2021 left_roll=0.0035 left_gripper=0.999 right_x=0.4529 right_y=0.0329 right_z=0.1879 right_yaw=0.137 right_pitch=-0.34 right_roll=-0.0879 right_gripper=0.6101\nstate[joint_eff]: [-0.0479, -1.4154, 7.0769, 1.5604, -0.0611, -0.0757, -0.0122, -0.3761, -11.0701, 9.6068, 1.58, -0.0171, 0.0513, 0.7985]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8de4689474bc2af7627d3c3f52e17eed403b120e264124c3c974ed1e919a6597",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:194f9fa6b440d4d06982f195e1e8d45c6df4186040152988d88a35eb2500868f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:952a89b40981e342308d4ff4e359d6083e2a27af1f8a15d1bb548e065a5458d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/gcKjgEIEhgCKkC1THsPmIwHnuqQw7TUkCCkYWG7m4BFkyDHJ4TPH/7XveOXA31x2OPJq7w7y0c6aiXeluCxHBnvLEPaF6ApBApBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaidzNUGEgyX51+s5VXFb3Qbnj0aDKvdDHLp08irGhfzmiIw6Jdq/9QGl9dOoSoNkbWhbX8bSsBwU5N0xAadxSwutxlbGly1kl/X4VZVjzO8940YKpwGTFkqjGlVNxFcoFzRcOWqm10FyTpj88miyHMf+eQMGXZ2+NTJtsoGnC6Ieofu5lbiInvK16vJ9saZof23Qaj+YkI7bFQGRFW9uNIxnrBYMc9wLqGVm+51wC+VunVySCi36/eJFCkquU6gJP3TKhDPunWFJRFjI90/owNh4ZJOlfc9x607MI7zvB+8y5KttxgymTcHNdRjEq1D28iAf2YTmeLVZmlGvJehr8p5zRA98dTzGl5uIA2oQKXciQGyJUyH8+JPgmV68/iRU09p+kEN7ARBvMi6mEVi+clXqjQppigxLUNlcfilfy7JOI11C/Gdj0hvp+ByWFzDjZUOKXrIxrLyVw/EcHS/FQiTBAhNNDLjnselwfHiG9ttcPp66pvHx4xJDPH1nh5wkFGxLDJdyYL7j471bIPGlXCHdoppnFPrqjBg4GXIEfVeW4dZz6PAeqKWMysKpnjQXQx/YStCMMGUtywAW3Ts1A3pucBtRqvNWtrWlLNPpVNLM7tHNB3m9y3nDrgHggEb40Jg+c01iQSh7VuDW/9folnMpKu7qsuFPECJ3K7qU1Zlhpg9NcJKvf1KFruxIYpAlnLxia7P2jfIepQIgeyd/+/kltiXJiWu4haW0ptH1sXQXuqVsXV5OA60kJm+8gERNm64APfrDn85Wk48j98C1CBnyJuGTuk67NWeOjAKy+J7wT6ZDEcmygQAtr59tYs+SQXNBFLUJfJsIaoBjKmjx/vsntTAfv5aBSFgrA8wWmKhHD0cHiqddAWhTashStnnP0noJE+7BFDBgPemUgm65EjSmQLwlYqOt2MCB5wP4OkdKI3upa+KWmA3FNtIqCRtU4/eUdhr4W6WCtJESDWdIV1BlQJfBan4YPmHlu3574P+o+8mkmQh63Sd+P9Eu/jiWKOJZiEb12yZU/XTID2mqlepFoo4bXh4hv+YRnDmuBi0jAXFuEVimxXTtlRbz2H18FRhQTi/F/AQN0el/4pDrw3DVfaFv9ctaTBsWJNkz9ZgWhDmZEKx/xZN6go/JtbDlsO4uOvQiXbGF2c5lbXH+cefJhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cduvwf9ioDPpp2ei9ibKqY",
      "input": {
        "note": "Holding the pear at 19 cm; the blue bowl is up and to the left in the wrist view, so moving left ~9 cm and slightly forward to hover over it.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.12,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Cduvwf9ioDPpp2ei9ibKqY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8581, 0.6132, -0.5396, -0.0135, -0.0307, 0.999, 0.2848, 1.8217, 1.734, -0.8734, 0.1127, -0.0185, 0.6103]\nstate[eef_state]: left_x=0.2744 left_y=0.0005 left_z=0.1364 left_yaw=0.0006 left_pitch=-0.2121 left_roll=0.0035 left_gripper=0.999 right_x=0.4609 right_y=0.118 right_z=0.2048 right_yaw=0.18 right_pitch=-0.3885 right_roll=-0.0992 right_gripper=0.6103\nstate[joint_eff]: [-0.0889, -1.9897, 6.8718, 1.5458, -0.0317, -0.0269, -0.0171, 0.1846, -9.3744, 9.0051, 1.4725, 0.2564, 0.1685, 0.4371]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e60240cc4cbd9b8eb2ff8d2c5eef697dc59ce27e46c8cd69d9566d41ad4bcbd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:200f86b58d057aa83007fff5e6b18fc78ff35fb9a03091378ed6ece48866268e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:340633afb0d579a83e9e2fe62e06fa5048f3604ddd1cd34da90fc3644eae5518",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 5.021 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8513, 0.6132, -0.5323, -0.0135, -0.0307, 0.999, 0.0654, 1.8141, 0.9691, -0.004, 0.0051, -0.1436, 0.6093]\nstate[eef_state]: left_x=0.2754 left_y=0.0005 left_z=0.1394 left_yaw=0.0005 left_pitch=-0.198 left_roll=0.0032 left_gripper=0.999 right_x=0.453 right_y=0.0324 right_z=0.0397 right_yaw=0.1288 right_pitch=-0.2843 right_roll=-0.0892 right_gripper=0.6093\nstate[joint_eff]: [-0.0479, -1.7573, 6.9128, 1.6288, -0.0415, -0.0171, -0.0171, -0.5128, -10.2769, 6.6667, 1.3602, -0.0171, -0.0122, 0.9548]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.02, 0.852, 0.6132, -0.5358, -0.0139, -0.0307, 0.999, 0.0654, 1.6825, 1.4715, -0.6937, 0.0021, -0.1513, 0.6101]\nstate[eef_state]: left_x=0.2749 left_y=0.0005 left_z=0.1386 left_yaw=0.0008 left_pitch=-0.2021 left_roll=0.0035 left_gripper=0.999 right_x=0.4529 right_y=0.0329 right_z=0.1879 right_yaw=0.137 right_pitch=-0.34 right_roll=-0.0879 right_gripper=0.6101\nstate[joint_eff]: [-0.0479, -1.4154, 7.0769, 1.5604, -0.0611, -0.0757, -0.0122, -0.3761, -11.0701, 9.6068, 1.58, -0.0171, 0.0513, 0.7985]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.02, 0.8581, 0.6132, -0.5396, -0.0135, -0.0307, 0.999, 0.2848, 1.8217, 1.734, -0.8734, 0.1127, -0.0185, 0.6103]\nstate[eef_state]: left_x=0.2744 left_y=0.0005 left_z=0.1364 left_yaw=0.0006 left_pitch=-0.2121 left_roll=0.0035 left_gripper=0.999 right_x=0.4609 right_y=0.118 right_z=0.2048 right_yaw=0.18 right_pitch=-0.3885 right_roll=-0.0992 right_gripper=0.6103\nstate[joint_eff]: [-0.0889, -1.9897, 6.8718, 1.5458, -0.0317, -0.0269, -0.0171, 0.1846, -9.3744, 9.0051, 1.4725, 0.2564, 0.1685, 0.4371]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e60240cc4cbd9b8eb2ff8d2c5eef697dc59ce27e46c8cd69d9566d41ad4bcbd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:200f86b58d057aa83007fff5e6b18fc78ff35fb9a03091378ed6ece48866268e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:340633afb0d579a83e9e2fe62e06fa5048f3604ddd1cd34da90fc3644eae5518",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS8wUKjgEIEhgCKkBgC+DpGyaTuULFjHkmfncDCCiku+sXdjxas7vCgPb2uUp6Z6fo8clmlqPZYCutMs4KvpHbPxVsOt2jKKqbHav3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa+dzNUGEgwK3lmLomIb8wk6IFUaDKtlRd2aTeXLMpuq4iIw5n5UefCUmyteUVWiwaXU5WTe7AtlresSC7lSBKJh6/X7YMZ3JxUu6kmxAfkwBn/7KpEEWyWvs90NrA10WAyYDwaPQvDEE6samNr9vH3t09xjngssi64JdxOt5GSmpF3JjTR/kJ5sHI8Z5k8PdsTHU2583IDNtmQEGeRPgZlDcnm2FBlCNBv0XjTWfYOGRhnghFbOzq7uIOZ7oHyKk0SCZte6FTNd5d2K3lY0ksj5fdEa2F+N8C21bCrOUuSFTnBwXnuAYKmIZZFDSc9Wfa7ee/9sUJBvVLiYhkwd4bsF4R1QzAsvxKfF9Yuz5nyPypAaPAYL4I7lCgP6F3b6Hns0tKXDDZOCeddJf3L+fhyAriYpOFEjNwBAjn/D8EXWnzp61VtD8YgftYXoI7R17p/5odL5rEhePBq/ElYzjO7sOJuPi8aKOrlajAtNFCcaN79EGzqrY8KQvaj2izXQrFzKHzNwrWLRVzCa9GeoWGvunpqLGcnpbdXNQpiYpmhc5UZXUJa0fZVa32F9Lbyu60llfySP5HdH81kaHayb+95U9mpUNh82Xry7rzFIv8EJOgmiMddBIzDK90eA0EKlnsn3CTBELhSpGKsbQExDtdGcZCjwbNhLXb/08V+HLuc2pFxgE55GB99MO7oWSEENXAou3A79ccS/Z8Ev/c4FIcPgqsfb5fWMuh+b7D+6ZSqKtV27xrzEr7wGzbZhKQqzMHCas60SHCmx7NNs6ygvjbe+2o6eq7pUpxjEB0jW4Tweylx8H0abeRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KWh3hFwGLWnQixGHQCDATf",
      "input": {
        "note": "The blue bowl is centred but still beyond the jaws in the wrist view; advancing 3 cm so the pear hangs over the bowl mouth.",
        "targets": {
          "right_x": 0.49,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KWh3hFwGLWnQixGHQCDATf",
      "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]: [-0.0204, 0.8585, 0.6132, -0.54, -0.0135, -0.0307, 0.999, 0.2726, 1.9179, 1.8244, -0.9146, 0.1059, -0.0299, 0.6123]\nstate[eef_state]: left_x=0.2743 left_y=0.0004 left_z=0.1362 left_yaw=0.0002 left_pitch=-0.2128 left_roll=0.0035 left_gripper=0.999 right_x=0.4764 right_y=0.1175 right_z=0.1894 right_yaw=0.1787 right_pitch=-0.4364 right_roll=-0.105 right_gripper=0.6123\nstate[joint_eff]: [-0.3214, -1.5111, 6.8718, 1.5067, -0.0562, -0.0562, -0.0171, -0.4308, -10.5231, 9.1282, 1.3602, -0.0122, 0.0317, 0.4908]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8cdfbf9e869f3127718fa6dcb67b8e5ad091eb480d47a1c264e80b391853931",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:194d897dbe57b7b0bc3600458f2aae2330b60a14cd79841821c6c1ceb0b042f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0707eebd4fd3a17cd270039406f58dff1e404ed77ba54209046bc497d9f17b87",
        "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 · 10.22 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.852, 0.6132, -0.5358, -0.0139, -0.0307, 0.999, 0.0654, 1.6825, 1.4715, -0.6937, 0.0021, -0.1513, 0.6101]\nstate[eef_state]: left_x=0.2749 left_y=0.0005 left_z=0.1386 left_yaw=0.0008 left_pitch=-0.2021 left_roll=0.0035 left_gripper=0.999 right_x=0.4529 right_y=0.0329 right_z=0.1879 right_yaw=0.137 right_pitch=-0.34 right_roll=-0.0879 right_gripper=0.6101\nstate[joint_eff]: [-0.0479, -1.4154, 7.0769, 1.5604, -0.0611, -0.0757, -0.0122, -0.3761, -11.0701, 9.6068, 1.58, -0.0171, 0.0513, 0.7985]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.02, 0.8581, 0.6132, -0.5396, -0.0135, -0.0307, 0.999, 0.2848, 1.8217, 1.734, -0.8734, 0.1127, -0.0185, 0.6103]\nstate[eef_state]: left_x=0.2744 left_y=0.0005 left_z=0.1364 left_yaw=0.0006 left_pitch=-0.2121 left_roll=0.0035 left_gripper=0.999 right_x=0.4609 right_y=0.118 right_z=0.2048 right_yaw=0.18 right_pitch=-0.3885 right_roll=-0.0992 right_gripper=0.6103\nstate[joint_eff]: [-0.0889, -1.9897, 6.8718, 1.5458, -0.0317, -0.0269, -0.0171, 0.1846, -9.3744, 9.0051, 1.4725, 0.2564, 0.1685, 0.4371]",
      "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]: [-0.0204, 0.8585, 0.6132, -0.54, -0.0135, -0.0307, 0.999, 0.2726, 1.9179, 1.8244, -0.9146, 0.1059, -0.0299, 0.6123]\nstate[eef_state]: left_x=0.2743 left_y=0.0004 left_z=0.1362 left_yaw=0.0002 left_pitch=-0.2128 left_roll=0.0035 left_gripper=0.999 right_x=0.4764 right_y=0.1175 right_z=0.1894 right_yaw=0.1787 right_pitch=-0.4364 right_roll=-0.105 right_gripper=0.6123\nstate[joint_eff]: [-0.3214, -1.5111, 6.8718, 1.5067, -0.0562, -0.0562, -0.0171, -0.4308, -10.5231, 9.1282, 1.3602, -0.0122, 0.0317, 0.4908]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8cdfbf9e869f3127718fa6dcb67b8e5ad091eb480d47a1c264e80b391853931",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:194d897dbe57b7b0bc3600458f2aae2330b60a14cd79841821c6c1ceb0b042f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0707eebd4fd3a17cd270039406f58dff1e404ed77ba54209046bc497d9f17b87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqAYKjgEIEhgCKkBPkn5+/L0RUPmhQqzbfDGTxCuysdWLtXM+gBWaNZfbswzhyuQ59TJ7yFmOMLylORMCsRbPbnKVRxAghz3sZ7j6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbSdzNUGEgyPPnQtl9poytUyFmAaDNNws/EHKFQU1S92EiIwSgM/A+vxt+azyK1+1ouRMDiUbGT/Fm2J59EuQXYKo23qcQnqlzMhNzgqccTHiNdpKsYElxQra/k29za1xsIysshXyr7Nfkrh2QLjPpAY5TOvGY8IRelkJt2q4q/0tjE2s3WqhiyW/LWmIfWO5pzRxfYiZV776EFwqpptiCWWVHKILobAqp92UfD0CwwcVDrVEFV0lAmAoSAJo/0dI42bRglvYY8S3OzJt0Xtl35YXhovoc3kfb/jzBEFkjTB4U12ylqRQgvwTK5KRq885N6wFI0dqQ++8MX54Jr0d+vul5m8ci/3PRKq/qfc4b0MxWxny0dm4sy3tkhCxzHzUNGaHKpYa/TSeGX4NlBxDYgyRW5Xc5IbguEh1USvv1kZQ9jpZLX5AGrF0Il9ibOEu5uaz5xJADOeypT3Xv7jeXU8HbIhoJJ0r3ztyqzGNAA/XUv17vQ0Iae3+YhvduQY7IF2fCPzbGxAPocT0KXrLkqKudDTKN1JwShG9VDFbJCje8UOsBol0zsYS/hs7VDbkcbYPP0qvSWVHf0Bl66YCTQrad4GuInJt8RCJOjefCUiKz+02xVuNqkIFSLhfQ0J7WuMY48VjNPuC88OYZ2fjq8dQfRsBDS4KVcXc86daZAR34Zn9I4v14gDMwLMrya2+HIyrwl88/Hsh+ONVSnDsVJgjC5OkEQEb9UGmgXjSiUlqN2KBJaX6geyvb2umKYqumxYBAqjxoC7VPsOITId+sCdqQqPvIwKc0Eub2ExQjjxhANxK/1RwGKR3lSQx99GssZf79CtGWb5pChRZELoimbcfw95j/lUavGGbs90RFIK9c2zdBIO65nJB5WWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WgkHbZB5oo6undiWYu7ZcY",
      "input": {
        "note": "Bowl still reads slightly beyond the pear; creeping 3 cm further out and lowering to 15 cm before releasing.",
        "targets": {
          "right_x": 0.505,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WgkHbZB5oo6undiWYu7ZcY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8585, 0.6132, -0.54, -0.0139, -0.0307, 0.999, 0.2646, 1.956, 1.8317, -0.9173, 0.0998, -0.0376, 0.6149]\nstate[eef_state]: left_x=0.2743 left_y=0.0006 left_z=0.1362 left_yaw=0.0009 left_pitch=-0.2128 left_roll=0.0038 left_gripper=0.999 right_x=0.4803 right_y=0.1156 right_z=0.1737 right_yaw=0.1795 right_pitch=-0.4707 right_roll=-0.107 right_gripper=0.6149\nstate[joint_eff]: [-0.0479, -1.4017, 6.8855, 1.4969, -0.0513, -0.0317, -0.0122, -0.2256, -12.2051, 9.1419, 1.453, 0.0122, -0.0513, 0.735]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d31f1abdf5daa09657dd550bf970002e9454d62b62e8070589e6ad234d01a292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fa2dbeacd918245c052c5a56ad55ef7c89defd622e895b97c127f9b545bd097",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c1cabc1b55ebaa9f3bb839c44e900b99830ac94335ebecf6e2d211cf5089868",
        "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 · 8.606 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8581, 0.6132, -0.5396, -0.0135, -0.0307, 0.999, 0.2848, 1.8217, 1.734, -0.8734, 0.1127, -0.0185, 0.6103]\nstate[eef_state]: left_x=0.2744 left_y=0.0005 left_z=0.1364 left_yaw=0.0006 left_pitch=-0.2121 left_roll=0.0035 left_gripper=0.999 right_x=0.4609 right_y=0.118 right_z=0.2048 right_yaw=0.18 right_pitch=-0.3885 right_roll=-0.0992 right_gripper=0.6103\nstate[joint_eff]: [-0.0889, -1.9897, 6.8718, 1.5458, -0.0317, -0.0269, -0.0171, 0.1846, -9.3744, 9.0051, 1.4725, 0.2564, 0.1685, 0.4371]",
      "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]: [-0.0204, 0.8585, 0.6132, -0.54, -0.0135, -0.0307, 0.999, 0.2726, 1.9179, 1.8244, -0.9146, 0.1059, -0.0299, 0.6123]\nstate[eef_state]: left_x=0.2743 left_y=0.0004 left_z=0.1362 left_yaw=0.0002 left_pitch=-0.2128 left_roll=0.0035 left_gripper=0.999 right_x=0.4764 right_y=0.1175 right_z=0.1894 right_yaw=0.1787 right_pitch=-0.4364 right_roll=-0.105 right_gripper=0.6123\nstate[joint_eff]: [-0.3214, -1.5111, 6.8718, 1.5067, -0.0562, -0.0562, -0.0171, -0.4308, -10.5231, 9.1282, 1.3602, -0.0122, 0.0317, 0.4908]",
      "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]: [-0.02, 0.8585, 0.6132, -0.54, -0.0139, -0.0307, 0.999, 0.2646, 1.956, 1.8317, -0.9173, 0.0998, -0.0376, 0.6149]\nstate[eef_state]: left_x=0.2743 left_y=0.0006 left_z=0.1362 left_yaw=0.0009 left_pitch=-0.2128 left_roll=0.0038 left_gripper=0.999 right_x=0.4803 right_y=0.1156 right_z=0.1737 right_yaw=0.1795 right_pitch=-0.4707 right_roll=-0.107 right_gripper=0.6149\nstate[joint_eff]: [-0.0479, -1.4017, 6.8855, 1.4969, -0.0513, -0.0317, -0.0122, -0.2256, -12.2051, 9.1419, 1.453, 0.0122, -0.0513, 0.735]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d31f1abdf5daa09657dd550bf970002e9454d62b62e8070589e6ad234d01a292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fa2dbeacd918245c052c5a56ad55ef7c89defd622e895b97c127f9b545bd097",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c1cabc1b55ebaa9f3bb839c44e900b99830ac94335ebecf6e2d211cf5089868",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A75tg2ZPpFTCbRifJrAc9P",
      "input": {
        "note": "Reach in x is limiting at this height; lowering to 12 cm (which allows more forward reach) and pushing out toward the bowl mouth.",
        "targets": {
          "right_x": 0.53,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01A75tg2ZPpFTCbRifJrAc9P",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.865, 0.6128, -0.5503, -0.0135, -0.0307, 0.999, 0.2646, 1.956, 1.8355, -0.918, 0.0994, -0.0376, 0.6175]\nstate[eef_state]: left_x=0.2726 left_y=0.0005 left_z=0.1326 left_yaw=0.0006 left_pitch=-0.23 left_roll=0.0039 left_gripper=0.999 right_x=0.4808 right_y=0.1158 right_z=0.175 right_yaw=0.18 right_pitch=-0.4677 right_roll=-0.1064 right_gripper=0.6175\nstate[joint_eff]: [-0.0615, -2.0444, 6.8855, 1.5995, -0.0366, -0.0415, -0.0122, -0.1846, -12.3966, 8.7726, 1.4872, 0.0464, -0.0171, 0.7155]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df3fa5b83e390fe20b0d0a4cd734905fc0b4a8d8aa40139d774eddf43e619891",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4071f12a3cee984fab55278cebe3fe4e9c0ce1a608ecf6b7cb4835649d1d6b85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6475cc90220fad056ab488301b652b779855a186fb36d9d8940fcdec42cb315",
        "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 · 4.367 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8585, 0.6132, -0.54, -0.0135, -0.0307, 0.999, 0.2726, 1.9179, 1.8244, -0.9146, 0.1059, -0.0299, 0.6123]\nstate[eef_state]: left_x=0.2743 left_y=0.0004 left_z=0.1362 left_yaw=0.0002 left_pitch=-0.2128 left_roll=0.0035 left_gripper=0.999 right_x=0.4764 right_y=0.1175 right_z=0.1894 right_yaw=0.1787 right_pitch=-0.4364 right_roll=-0.105 right_gripper=0.6123\nstate[joint_eff]: [-0.3214, -1.5111, 6.8718, 1.5067, -0.0562, -0.0562, -0.0171, -0.4308, -10.5231, 9.1282, 1.3602, -0.0122, 0.0317, 0.4908]",
      "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]: [-0.02, 0.8585, 0.6132, -0.54, -0.0139, -0.0307, 0.999, 0.2646, 1.956, 1.8317, -0.9173, 0.0998, -0.0376, 0.6149]\nstate[eef_state]: left_x=0.2743 left_y=0.0006 left_z=0.1362 left_yaw=0.0009 left_pitch=-0.2128 left_roll=0.0038 left_gripper=0.999 right_x=0.4803 right_y=0.1156 right_z=0.1737 right_yaw=0.1795 right_pitch=-0.4707 right_roll=-0.107 right_gripper=0.6149\nstate[joint_eff]: [-0.0479, -1.4017, 6.8855, 1.4969, -0.0513, -0.0317, -0.0122, -0.2256, -12.2051, 9.1419, 1.453, 0.0122, -0.0513, 0.735]",
      "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]: [-0.02, 0.865, 0.6128, -0.5503, -0.0135, -0.0307, 0.999, 0.2646, 1.956, 1.8355, -0.918, 0.0994, -0.0376, 0.6175]\nstate[eef_state]: left_x=0.2726 left_y=0.0005 left_z=0.1326 left_yaw=0.0006 left_pitch=-0.23 left_roll=0.0039 left_gripper=0.999 right_x=0.4808 right_y=0.1158 right_z=0.175 right_yaw=0.18 right_pitch=-0.4677 right_roll=-0.1064 right_gripper=0.6175\nstate[joint_eff]: [-0.0615, -2.0444, 6.8855, 1.5995, -0.0366, -0.0415, -0.0122, -0.1846, -12.3966, 8.7726, 1.4872, 0.0464, -0.0171, 0.7155]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df3fa5b83e390fe20b0d0a4cd734905fc0b4a8d8aa40139d774eddf43e619891",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4071f12a3cee984fab55278cebe3fe4e9c0ce1a608ecf6b7cb4835649d1d6b85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6475cc90220fad056ab488301b652b779855a186fb36d9d8940fcdec42cb315",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E7id7KbZ4dfFDqHSnQkWJc",
      "input": {
        "note": "Forward reach is exhausted (shoulder effort high, x stuck at 0.48). Lowering the pear toward the bowl mouth so I can release it with minimal drop.",
        "targets": {
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01E7id7KbZ4dfFDqHSnQkWJc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8661, 0.6128, -0.5514, -0.0139, -0.0307, 0.999, 0.2646, 2.0048, 1.4513, -0.5884, 0.099, -0.0418, 0.6182]\nstate[eef_state]: left_x=0.2724 left_y=0.0006 left_z=0.1322 left_yaw=0.001 left_pitch=-0.2323 left_roll=0.0042 left_gripper=0.999 right_x=0.4603 right_y=0.1103 right_z=0.0503 right_yaw=0.1779 right_pitch=-0.571 right_roll=-0.1184 right_gripper=0.6182\nstate[joint_eff]: [-0.1709, -1.5111, 6.8308, 1.5018, -0.0366, -0.0366, -0.0122, -0.294, -10.988, 5.2444, 1.3797, 0.0806, 0.0171, 0.6129]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd3847cff5be8be97b1bc592d37ccd5051a9cfcddadb0b1401102cff0941393c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e098a3ac03fb614c3e8557142a7b56a19f33b9e1471e99dcac7d2a104b93ae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c61fbdb5ef4b24dbb165cea7fd0dd1b93185d741979ae919ff065b9a9ebd09e0",
        "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 · 6.487 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8585, 0.6132, -0.54, -0.0139, -0.0307, 0.999, 0.2646, 1.956, 1.8317, -0.9173, 0.0998, -0.0376, 0.6149]\nstate[eef_state]: left_x=0.2743 left_y=0.0006 left_z=0.1362 left_yaw=0.0009 left_pitch=-0.2128 left_roll=0.0038 left_gripper=0.999 right_x=0.4803 right_y=0.1156 right_z=0.1737 right_yaw=0.1795 right_pitch=-0.4707 right_roll=-0.107 right_gripper=0.6149\nstate[joint_eff]: [-0.0479, -1.4017, 6.8855, 1.4969, -0.0513, -0.0317, -0.0122, -0.2256, -12.2051, 9.1419, 1.453, 0.0122, -0.0513, 0.735]",
      "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]: [-0.02, 0.865, 0.6128, -0.5503, -0.0135, -0.0307, 0.999, 0.2646, 1.956, 1.8355, -0.918, 0.0994, -0.0376, 0.6175]\nstate[eef_state]: left_x=0.2726 left_y=0.0005 left_z=0.1326 left_yaw=0.0006 left_pitch=-0.23 left_roll=0.0039 left_gripper=0.999 right_x=0.4808 right_y=0.1158 right_z=0.175 right_yaw=0.18 right_pitch=-0.4677 right_roll=-0.1064 right_gripper=0.6175\nstate[joint_eff]: [-0.0615, -2.0444, 6.8855, 1.5995, -0.0366, -0.0415, -0.0122, -0.1846, -12.3966, 8.7726, 1.4872, 0.0464, -0.0171, 0.7155]",
      "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]: [-0.02, 0.8661, 0.6128, -0.5514, -0.0139, -0.0307, 0.999, 0.2646, 2.0048, 1.4513, -0.5884, 0.099, -0.0418, 0.6182]\nstate[eef_state]: left_x=0.2724 left_y=0.0006 left_z=0.1322 left_yaw=0.001 left_pitch=-0.2323 left_roll=0.0042 left_gripper=0.999 right_x=0.4603 right_y=0.1103 right_z=0.0503 right_yaw=0.1779 right_pitch=-0.571 right_roll=-0.1184 right_gripper=0.6182\nstate[joint_eff]: [-0.1709, -1.5111, 6.8308, 1.5018, -0.0366, -0.0366, -0.0122, -0.294, -10.988, 5.2444, 1.3797, 0.0806, 0.0171, 0.6129]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd3847cff5be8be97b1bc592d37ccd5051a9cfcddadb0b1401102cff0941393c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e098a3ac03fb614c3e8557142a7b56a19f33b9e1471e99dcac7d2a104b93ae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c61fbdb5ef4b24dbb165cea7fd0dd1b93185d741979ae919ff065b9a9ebd09e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0QQKjgEIEhgCKkAkJ7Gw4YQzTe6568L9fn7HffXiaXGGp7dSXT9QJeOpK7LgArL3fWivWXi1jYYmNkF16l9MKtb19wr4fBuTQsXtMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc2dzNUGEgyBrdQHYJEflUgI18EaDAyHfWto1TgrfWmgnCIwsAVPndGdoLYIFm/GN5jZiVnQwI31+nQtIKXYgGxGTdXTPO8lJB2wtA4XybKIO7w2Ku8CM1gnAVvhHnDEG0C4OYa4D4G84PkivCwLGh93jFWKPHiu+XwIRNundC11Xt4Sth6nP1SKGSEiakH3+oXBlXeZ1Ha3YeutMZ3DsG5khYxuV2j+i1BZmjhgQTPbQ9famw77+Z8y3KWB3nfMMunlxSiuafaeMb9o6ycsJcZxWaLI4yotwCmrvIpeaPUWPgX1UrhV8nvIGMIfYuUErAmvt73JUxfNawpsI2BBj+UuUyBh2TH0eJ045V58SrLtBsVA7vombJ1tYx199Dsgq4SIxTWVpALsLvkS3a4Kttj+woLyhTRyEUQEGL5QW6R2CLZpSV0uo9YHveRdsHU160NAAsyS0ZseT2Mf977Jgc0SFMwebrqPluzwvnZX8hMkMQloLUWheCP0SxvenZtuhzIC/5sLzbm69MY98j9sby2mS1T0AYO0IlabDrcbId0S29HPakZ309UKHqBpT8GrRCayLV+K19dRRfMdyTeRuL2Uc4rLWhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sw13sRf73xbDScY7RARDQR",
      "input": {
        "note": "The wrist view is filled by the blue bowl, so the pear is right at its mouth; opening the gripper to release the pear into the bowl.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Sw13sRf73xbDScY7RARDQR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8661, 0.6128, -0.5545, -0.0135, -0.0307, 0.999, 0.2646, 2.0068, 1.4414, -0.5781, 0.0998, -0.0456, 0.9954]\nstate[eef_state]: left_x=0.2718 left_y=0.0005 left_z=0.1316 left_yaw=0.0007 left_pitch=-0.2353 left_roll=0.004 left_gripper=0.999 right_x=0.4596 right_y=0.11 right_z=0.0471 right_yaw=0.1794 right_pitch=-0.5727 right_roll=-0.1213 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.4017, 6.8308, 1.5311, -0.0415, -0.0366, -0.0122, -0.1573, -10.9744, 7.1863, 0.9744, 0.022, 0.0366, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c1d707e7b1ccec308f826eae48d31aad014e50b4d6f295c09ed4c88b24c9240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b2f8b076cbfdc872829068c735ffd40cd9c489e3ba391137f279ebaf1690fde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:41a825b86764edef7ffaeff0889b131392d1de5db0166244e5b2fa9f06c51fa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /messages · status 200 · 8.369 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.865, 0.6128, -0.5503, -0.0135, -0.0307, 0.999, 0.2646, 1.956, 1.8355, -0.918, 0.0994, -0.0376, 0.6175]\nstate[eef_state]: left_x=0.2726 left_y=0.0005 left_z=0.1326 left_yaw=0.0006 left_pitch=-0.23 left_roll=0.0039 left_gripper=0.999 right_x=0.4808 right_y=0.1158 right_z=0.175 right_yaw=0.18 right_pitch=-0.4677 right_roll=-0.1064 right_gripper=0.6175\nstate[joint_eff]: [-0.0615, -2.0444, 6.8855, 1.5995, -0.0366, -0.0415, -0.0122, -0.1846, -12.3966, 8.7726, 1.4872, 0.0464, -0.0171, 0.7155]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8661, 0.6128, -0.5514, -0.0139, -0.0307, 0.999, 0.2646, 2.0048, 1.4513, -0.5884, 0.099, -0.0418, 0.6182]\nstate[eef_state]: left_x=0.2724 left_y=0.0006 left_z=0.1322 left_yaw=0.001 left_pitch=-0.2323 left_roll=0.0042 left_gripper=0.999 right_x=0.4603 right_y=0.1103 right_z=0.0503 right_yaw=0.1779 right_pitch=-0.571 right_roll=-0.1184 right_gripper=0.6182\nstate[joint_eff]: [-0.1709, -1.5111, 6.8308, 1.5018, -0.0366, -0.0366, -0.0122, -0.294, -10.988, 5.2444, 1.3797, 0.0806, 0.0171, 0.6129]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8661, 0.6128, -0.5545, -0.0135, -0.0307, 0.999, 0.2646, 2.0068, 1.4414, -0.5781, 0.0998, -0.0456, 0.9954]\nstate[eef_state]: left_x=0.2718 left_y=0.0005 left_z=0.1316 left_yaw=0.0007 left_pitch=-0.2353 left_roll=0.004 left_gripper=0.999 right_x=0.4596 right_y=0.11 right_z=0.0471 right_yaw=0.1794 right_pitch=-0.5727 right_roll=-0.1213 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.4017, 6.8308, 1.5311, -0.0415, -0.0366, -0.0122, -0.1573, -10.9744, 7.1863, 0.9744, 0.022, 0.0366, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c1d707e7b1ccec308f826eae48d31aad014e50b4d6f295c09ed4c88b24c9240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b2f8b076cbfdc872829068c735ffd40cd9c489e3ba391137f279ebaf1690fde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41a825b86764edef7ffaeff0889b131392d1de5db0166244e5b2fa9f06c51fa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4wUKjgEIEhgCKkD/wK8fuNiTcGWgbWzhTsQDMAxj7IGEj8w28gdfX0aALxoCDkt98am7a9t+m7GC1aZoo9Yxg1zyuR3wmWmqYipgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdOdzNUGEgyNuIb5r3LG6kbhdaEaDEqpHzNxyZX2HCfkeiIwSdK7gRUcSN7eb5sGmgpw3WcqGicACIJtzX2Xx+IkhKAvySYhHSYF7agHWgCVFx6DKoEExSVb+KRaLj1rxE4+niDe1fRaKUz8jj+zK24tF+n92ERzzaajSSy5k7Gcylsp/94rPSmRWDqGz8mUHXTZvAvk7H0xSI8yq17XTn3av7kQlloP2AxA1luxqwMJ5bcmJJk9LiR9ACPzdBw4aovHRv/h8sxHGK8tlg47vRYJzIXHUldN4CcSbS2zVgm0ZEdIthNcXVwZWIRi24IGdv4rbKZbr9rfKMPyXsuTvEl+LquZNb2vD3ZbzWooSAOxWpYlyGl6vGUhjDwiRggMLaUoPTaj61t5Aadz6h+q2Nb9FRGoNP4hxMZ/o4+FqX5BF7SqEjSAP4dDnIiiYzRZttAgemRcmnF7bQrvlIWldDcVORqFSLWQmAZkdemvnmUac71dbvROKMZZGoFm3XJFnuw6U5zO2o315Ov1D3DHSPigYnBRqFAdn2ykkL+gmw/IUoImgfwXDgFejp93Lwzdfk+kd6Tjb24++PCf5aIqIyrz7AXQH3VgiGqKtluIlFbGxP3C+jxm63YWdLrfW3BdiCPErUiP4gKDTDMkIr/EGAt+X9R/TvG1e2L4DQm9M9qfW7GYDexaav4My1VlwRoHsiFUigAq1tY4zyJ1HXaYte9SqHEOBQcDgqg/kNOsyrYYhdasm47vRpsqC+4BSabfMNNzKoNe0YH0+wmKnH7OvLQIgvkEm6u6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LfbSoJbpyH7zzP99oDqygS",
      "input": {
        "note": "Pear released at the blue bowl; retracting the right arm so the overhead camera can show whether it landed inside.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01LfbSoJbpyH7zzP99oDqygS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8669, 0.6128, -0.5579, -0.0135, -0.0307, 0.999, 0.1986, 1.4078, 1.5204, -1.2434, 0.0837, -0.1032, 0.9965]\nstate[eef_state]: left_x=0.2712 left_y=0.0005 left_z=0.1309 left_yaw=0.0007 left_pitch=-0.2395 left_roll=0.0041 left_gripper=0.999 right_x=0.3146 right_y=0.0519 right_z=0.2371 right_yaw=0.1664 right_pitch=-0.5648 right_roll=-0.1321 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.4564, 6.8308, 1.5702, -0.0513, -0.0366, -0.0122, -0.4308, -6.2564, 7.6103, 1.072, -0.0855, -0.0415, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67a2be05ab0b8a3efbb2313c578db56c06984645a43ae8ec9101aa5f9d770380",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:651312506ed5b13a87d2f00ee5f61596d643f5c562f292c9049de5f981adc467",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e100590e9e7c6a0630f04ee3e26be900fc8873382e28a9648e484ab5d662ed88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 5.597 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8661, 0.6128, -0.5514, -0.0139, -0.0307, 0.999, 0.2646, 2.0048, 1.4513, -0.5884, 0.099, -0.0418, 0.6182]\nstate[eef_state]: left_x=0.2724 left_y=0.0006 left_z=0.1322 left_yaw=0.001 left_pitch=-0.2323 left_roll=0.0042 left_gripper=0.999 right_x=0.4603 right_y=0.1103 right_z=0.0503 right_yaw=0.1779 right_pitch=-0.571 right_roll=-0.1184 right_gripper=0.6182\nstate[joint_eff]: [-0.1709, -1.5111, 6.8308, 1.5018, -0.0366, -0.0366, -0.0122, -0.294, -10.988, 5.2444, 1.3797, 0.0806, 0.0171, 0.6129]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8661, 0.6128, -0.5545, -0.0135, -0.0307, 0.999, 0.2646, 2.0068, 1.4414, -0.5781, 0.0998, -0.0456, 0.9954]\nstate[eef_state]: left_x=0.2718 left_y=0.0005 left_z=0.1316 left_yaw=0.0007 left_pitch=-0.2353 left_roll=0.004 left_gripper=0.999 right_x=0.4596 right_y=0.11 right_z=0.0471 right_yaw=0.1794 right_pitch=-0.5727 right_roll=-0.1213 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.4017, 6.8308, 1.5311, -0.0415, -0.0366, -0.0122, -0.1573, -10.9744, 7.1863, 0.9744, 0.022, 0.0366, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8669, 0.6128, -0.5579, -0.0135, -0.0307, 0.999, 0.1986, 1.4078, 1.5204, -1.2434, 0.0837, -0.1032, 0.9965]\nstate[eef_state]: left_x=0.2712 left_y=0.0005 left_z=0.1309 left_yaw=0.0007 left_pitch=-0.2395 left_roll=0.0041 left_gripper=0.999 right_x=0.3146 right_y=0.0519 right_z=0.2371 right_yaw=0.1664 right_pitch=-0.5648 right_roll=-0.1321 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.4564, 6.8308, 1.5702, -0.0513, -0.0366, -0.0122, -0.4308, -6.2564, 7.6103, 1.072, -0.0855, -0.0415, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67a2be05ab0b8a3efbb2313c578db56c06984645a43ae8ec9101aa5f9d770380",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:651312506ed5b13a87d2f00ee5f61596d643f5c562f292c9049de5f981adc467",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e100590e9e7c6a0630f04ee3e26be900fc8873382e28a9648e484ab5d662ed88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS1QcKjgEIEhgCKkCwTo2Z6hIdf7dRNmoSuz7BHkS1kd2iDAIaKkkmDy751nvV7tP2zwP7ZFE812RnubH2dy5RV4QkD2Lj56TH+mMjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd2dzNUGEgyjdqcOFJcNusk3H5oaDAjhazPXBBnIrjRxliIwqh7MeDK3L6RYDehJTjkzhATCdIXdkMvzfWSVB+9sJQhvrK5O2kt4HKwnnlkizORoKvMFrYRJslyY3rc7a+L3xGywsc9tPgtYy6uLfD9dJgy0W/Nso8+d0l3zkIeqh1Ygd+puOvPXA3KSpLQKjlsWQ0TyiSMIM1jkC1JKGC3a5n+QPXYeSSwDt148LZC5MCd41f9/Wx+r/0gY6xe6YwLrkNhOxxensSdqJGu6DDMgCs4Jx/Gd+ppmrzfX3OXZ9n+GqHveV8txAsF04aOIBVOXOZcphND2IgpBaO6SCxPy8oK3q6hO9lsgWpd3Pz7FXluyNtANtMfmQmQ5zO7P2QW4/6OdTLfFV4a8ORAPHoTqXyZfrzndT3hBYKe0VaRYU+c53cFKlVCcHRmQN4hF3mNDAZw6ZQ70rtdP+8Q8snnurgNT6UeyxJQeCp+V3DxxVbd1m+YYGLUozTSpgn+CQjLIxWR0kqrkowPTOONOQVC37xND/0kyQXeLPdQyx3Cf7JdGNDxD73C7/gOddVqgslKNoY0eHVth1iwpUHOv37IxlWemvPvqqGMjXyaipSDDh5UMXrniNcK/FhVMIpiwhAuc4tQM3cD6svOxrqKdg696Y3XEy2y5nywBAgjCx42Dcm5odAwRNLjisUabbc4ccd7XqbAbrUP7WmSYSN4NWNqUp+j9ssB8jr+/JRECvzPsVNVh5WS4bkZzijhYcQQjm1FJzi/E90QNCpwv2s+ScjaT+irfDJzuzc58igNvPnom5LLoZMgOT1iq0j9KtyVCYsbBog9tieUKjSEBl7R0TSYugKhJrpUwlKy3tx7L03/1ekKS33mt1LOZ8sKhpv+QMhBLH36Jqm4+g0ggns3LmfHp3EKfYYDPEYgqBn1kYYAo9INSwZYi8lQamyCf5IysCxQtMGoCtfGnwu2fN+9IoZVKpdaiKHz/D7tBW3lNX8z6NDW1dIj7uomo2110E2Gno+6qAyxay3pl5Tm1/8kDl/wCmVw4KPhj7bnGJDmu4oHMS/xAt7tOVEPGpl9wJaggL3oKJOKV/5+88ebfLXsTdtqmMNXU2nXF+e8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wu4yiGpvjy6e39Y7m7C4GC",
      "input": {
        "note": "The pear is confirmed inside the blue bowl. Now moving to hover over the yellow lemon, which lies to the left of the bowl.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.18,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Wu4yiGpvjy6e39Y7m7C4GC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8696, 0.6128, -0.5587, -0.0139, -0.0307, 0.999, 0.4358, 2.0022, 1.8313, -1.0496, 0.1642, 0.0803, 0.9966]\nstate[eef_state]: left_x=0.2712 left_y=0.0006 left_z=0.1301 left_yaw=0.001 left_pitch=-0.243 left_roll=0.0044 left_gripper=0.999 right_x=0.4329 right_y=0.1737 right_z=0.1399 right_yaw=0.1957 right_pitch=-0.6302 right_roll=-0.1478 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.7846, 6.8034, 1.4921, -0.0562, -0.0317, -0.0171, 0.1162, -11.0154, 8.2256, 0.9353, 0.2027, 0.1587, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:306b7726f4721108a5d26b85d130e0e8ddd2dae195a717dafe138e82c1b626e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8539e890340c28432ad91e44bb773f0ac71d79ecb369969d34393a40885fddc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ed9c98ccb2f42b42ea0be516166539626bf18ed810760a7c2f27328db4aa9565",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 4.14 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8661, 0.6128, -0.5545, -0.0135, -0.0307, 0.999, 0.2646, 2.0068, 1.4414, -0.5781, 0.0998, -0.0456, 0.9954]\nstate[eef_state]: left_x=0.2718 left_y=0.0005 left_z=0.1316 left_yaw=0.0007 left_pitch=-0.2353 left_roll=0.004 left_gripper=0.999 right_x=0.4596 right_y=0.11 right_z=0.0471 right_yaw=0.1794 right_pitch=-0.5727 right_roll=-0.1213 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.4017, 6.8308, 1.5311, -0.0415, -0.0366, -0.0122, -0.1573, -10.9744, 7.1863, 0.9744, 0.022, 0.0366, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8669, 0.6128, -0.5579, -0.0135, -0.0307, 0.999, 0.1986, 1.4078, 1.5204, -1.2434, 0.0837, -0.1032, 0.9965]\nstate[eef_state]: left_x=0.2712 left_y=0.0005 left_z=0.1309 left_yaw=0.0007 left_pitch=-0.2395 left_roll=0.0041 left_gripper=0.999 right_x=0.3146 right_y=0.0519 right_z=0.2371 right_yaw=0.1664 right_pitch=-0.5648 right_roll=-0.1321 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.4564, 6.8308, 1.5702, -0.0513, -0.0366, -0.0122, -0.4308, -6.2564, 7.6103, 1.072, -0.0855, -0.0415, 0.0952]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8696, 0.6128, -0.5587, -0.0139, -0.0307, 0.999, 0.4358, 2.0022, 1.8313, -1.0496, 0.1642, 0.0803, 0.9966]\nstate[eef_state]: left_x=0.2712 left_y=0.0006 left_z=0.1301 left_yaw=0.001 left_pitch=-0.243 left_roll=0.0044 left_gripper=0.999 right_x=0.4329 right_y=0.1737 right_z=0.1399 right_yaw=0.1957 right_pitch=-0.6302 right_roll=-0.1478 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.7846, 6.8034, 1.4921, -0.0562, -0.0317, -0.0171, 0.1162, -11.0154, 8.2256, 0.9353, 0.2027, 0.1587, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:306b7726f4721108a5d26b85d130e0e8ddd2dae195a717dafe138e82c1b626e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8539e890340c28432ad91e44bb773f0ac71d79ecb369969d34393a40885fddc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed9c98ccb2f42b42ea0be516166539626bf18ed810760a7c2f27328db4aa9565",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0QYKjgEIEhgCKkBpbtY4vLP00jf35VWRqk3PZHT/3v4dL0ZqQ6g+thm2+G51kkFS34qJtKuI5wlwS1hu9FvWkszPTGZ5/mgze9C4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeSdzNUGEgzfsOwJNpUmn01AqfMaDI4il+8JpQ9tRrEvaSIwUIW2bIIant2u0VAQxYo2QTt4CsS9B5QB50BQGh3R2AeSWSJkiVcpBTBL2+NuU6YZKu8E0AvtPFjFRbDGM6dw+yudD8hACRNRAK3408WhtaMv4NF6G+i+qVcDL0RY3ytH3mwT3jKMb6vD2Q+B5+MZp1WTx+56l0d/qMmbCQG4bp5Vh/+2Lh8saI5IsdWVGYuhMRrsltonkXxzSg10+gs0KLg8kpkUKzTaoPo6lXSOPD2iBeY7jBBgh31lFAAE1a5OOZFPLxSfS2XiL7ak80wljUoT7aWkUM7vMHMqYhpWw0FGuKKo8Xk9V8Y0EJ+jz3/BNaovKGlvbPUSeSpWRHc/Sr4E6i2QE/BxxYnq4pNL4412VOGFtAs0Vfr710pXQ8CKf2VV7OFDysF2pZSto+5HltRzgHTcqUhBJBJnkHr6Cf42ZTQ6WjalxPL8pb+ncE4vnu91DF0bWVSQD9Z848WXIXUk9JmHcqe+VIJalh45vI1s27kULOGXVhMK/t2ZVmzhH6rG+XeUo6YjZj8uI7a2FNDXca5zNOavGslIoYAEPmB1nD7CcOvWehHXQLuTcP3o4y3reAxtlrNO+QhmInSJHl6PS+IjEcR0f4/Tc6y+4SEQHOYIp6sjh5Rti8HCvnmuVfOHNNtUWRXWzoLO4MDudDj841DMvfmssQ319DWdmJGYwjtMfBrE2Ow/92q9NAQuJdHHuImKbQT6ZQMdfXa23CInxhg1LLlbNRjc6TlW1iGBhi+r3K0cARlXv+PaPlK0eZOl8zqaVhhp6Yq6Sx2E3sQCDBtEEMt1rLmCYm8MQvRyDl82yvpSjDbFqs2gDPwliaZ+lLPb4PuvJJ7twwc9DmRCzDvZTAn8ExBhOLXAisZ0t94Hq/y+j22ZJ/CvcmEyaBwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018RwyrKSZvZzK4yH2uNWDnF",
      "input": {
        "note": "The lemon sits left of the jaw column in the wrist view; shifting 3.5 cm left and descending to grasp height.",
        "targets": {
          "right_y": 0.21,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_018RwyrKSZvZzK4yH2uNWDnF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8696, 0.6128, -0.5587, -0.0135, -0.0307, 0.999, 0.5133, 2.0518, 1.623, -0.8028, 0.1837, 0.1265, 0.9966]\nstate[eef_state]: left_x=0.2712 left_y=0.0005 left_z=0.1301 left_yaw=0.0007 left_pitch=-0.243 left_roll=0.0041 left_gripper=0.999 right_x=0.4243 right_y=0.2063 right_z=0.069 right_yaw=0.2212 right_pitch=-0.6324 right_roll=-0.1523 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.4701, 6.8034, 1.4969, -0.0122, -0.0757, -0.0122, 0.1573, -9.7162, 5.6137, 1.0134, 0.2418, 0.1978, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d775e4d6f07696997863f49f6c3199713d77af3677ccb804137715ab9ba101ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:900992ae1bd7b9ccabf5e38fc90c278b5c3247ced9a2a17ba7aabf796b6f2d18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e8a68d1ef463f61b648114736600f87d301b7205134b755627e87d989bbbd873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 4.624 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8669, 0.6128, -0.5579, -0.0135, -0.0307, 0.999, 0.1986, 1.4078, 1.5204, -1.2434, 0.0837, -0.1032, 0.9965]\nstate[eef_state]: left_x=0.2712 left_y=0.0005 left_z=0.1309 left_yaw=0.0007 left_pitch=-0.2395 left_roll=0.0041 left_gripper=0.999 right_x=0.3146 right_y=0.0519 right_z=0.2371 right_yaw=0.1664 right_pitch=-0.5648 right_roll=-0.1321 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.4564, 6.8308, 1.5702, -0.0513, -0.0366, -0.0122, -0.4308, -6.2564, 7.6103, 1.072, -0.0855, -0.0415, 0.0952]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8696, 0.6128, -0.5587, -0.0139, -0.0307, 0.999, 0.4358, 2.0022, 1.8313, -1.0496, 0.1642, 0.0803, 0.9966]\nstate[eef_state]: left_x=0.2712 left_y=0.0006 left_z=0.1301 left_yaw=0.001 left_pitch=-0.243 left_roll=0.0044 left_gripper=0.999 right_x=0.4329 right_y=0.1737 right_z=0.1399 right_yaw=0.1957 right_pitch=-0.6302 right_roll=-0.1478 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.7846, 6.8034, 1.4921, -0.0562, -0.0317, -0.0171, 0.1162, -11.0154, 8.2256, 0.9353, 0.2027, 0.1587, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8696, 0.6128, -0.5587, -0.0135, -0.0307, 0.999, 0.5133, 2.0518, 1.623, -0.8028, 0.1837, 0.1265, 0.9966]\nstate[eef_state]: left_x=0.2712 left_y=0.0005 left_z=0.1301 left_yaw=0.0007 left_pitch=-0.243 left_roll=0.0041 left_gripper=0.999 right_x=0.4243 right_y=0.2063 right_z=0.069 right_yaw=0.2212 right_pitch=-0.6324 right_roll=-0.1523 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.4701, 6.8034, 1.4969, -0.0122, -0.0757, -0.0122, 0.1573, -9.7162, 5.6137, 1.0134, 0.2418, 0.1978, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d775e4d6f07696997863f49f6c3199713d77af3677ccb804137715ab9ba101ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:900992ae1bd7b9ccabf5e38fc90c278b5c3247ced9a2a17ba7aabf796b6f2d18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8a68d1ef463f61b648114736600f87d301b7205134b755627e87d989bbbd873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIStgQKjgEIEhgCKkCT8sTjE8+uA7BOjCG9tcTF0XLIvxCPwJMkI3ZEMD4u/TwO6GJizLy04RQsKwQbJia9jhQwl4WBAwB9l7xQVOt5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeidzNUGEgycG0zZzop4cPkcobUaDEYEd2U8DVpOgdzWTiIwHL6IITtUG7djXANRvcFRqiYLmiTNRmIM68Oqu3ChUDfcykH86ZmRoDktv5y2h935KtQCNjiLvvS22oASAAusWyvjexzmcdptJFNmezBsMb+VFJDn8OrO8A3J+Zt5ZajfoWqo4DKmZ19f0nkejO0KK538U7ij2AhCNq5zNNlxKTQS4klRmXn968ZXzN+ig44SdMbdVhiDAMLbxQDkf9osJ7hdU6ryBHeMZwEi8Dk06Hafcg8CWW6BVDe8AGNesOdPMw3mYE0Ce5NtixoOE9CuTFkVpXbSgixyLESHd7tbyJYiLOkZVUuDR5fucagW3v7gbEu7uzAlAYfekpjW9hI7oj1gPpKemcE3QtQZtiAUYAThdHEjAGarR+H4mpYBI1j/IYrpLGM8enUN0gGLR2P5HHgeIFozv02KQ11ojCNYA90IoFah7kdkdXFr1sQXL7tT+fdtxCNqtiZOOfi0D3Jt8a9zCXUwa/2O4e8Zez0BiWeDC5QLprRKoKVVciRO7eHu9KsNSm7DPhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011MwaLwmSWmBBdKUFRsHxHP",
      "input": {
        "note": "Lemon is just left of the jaw centre; nudging 1.8 cm left and closing the jaws on it.",
        "targets": {
          "right_gripper": 0.0,
          "right_y": 0.225
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011MwaLwmSWmBBdKUFRsHxHP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8696, 0.6128, -0.5587, -0.0139, -0.0307, 0.999, 0.551, 2.0708, 1.6058, -0.7788, 0.1894, 0.1501, 0.0113]\nstate[eef_state]: left_x=0.2712 left_y=0.0006 left_z=0.1301 left_yaw=0.001 left_pitch=-0.243 left_roll=0.0044 left_gripper=0.999 right_x=0.4165 right_y=0.2211 right_z=0.0569 right_yaw=0.2349 right_pitch=-0.6405 right_roll=-0.1526 right_gripper=0.0113\nstate[joint_eff]: [-0.1573, -1.4017, 6.8034, 1.5165, -0.0806, -0.0366, -0.0122, 0.4308, -11.5487, 8.6632, 0.9011, 0.2564, 0.1001, 1.0525]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa78042aa06622c3154263597bd91f45f04f995e84641bad3e7ee063880a84f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27842888e49a605cbbb0067ed49c514c189dd0f147baf178a356ebf0a54f1db4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dbb060aa8ba3c01365472acd6d0388bca770894c482de6aad1945842d41518d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /messages · status 200 · 11.47 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8696, 0.6128, -0.5587, -0.0139, -0.0307, 0.999, 0.4358, 2.0022, 1.8313, -1.0496, 0.1642, 0.0803, 0.9966]\nstate[eef_state]: left_x=0.2712 left_y=0.0006 left_z=0.1301 left_yaw=0.001 left_pitch=-0.243 left_roll=0.0044 left_gripper=0.999 right_x=0.4329 right_y=0.1737 right_z=0.1399 right_yaw=0.1957 right_pitch=-0.6302 right_roll=-0.1478 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.7846, 6.8034, 1.4921, -0.0562, -0.0317, -0.0171, 0.1162, -11.0154, 8.2256, 0.9353, 0.2027, 0.1587, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8696, 0.6128, -0.5587, -0.0135, -0.0307, 0.999, 0.5133, 2.0518, 1.623, -0.8028, 0.1837, 0.1265, 0.9966]\nstate[eef_state]: left_x=0.2712 left_y=0.0005 left_z=0.1301 left_yaw=0.0007 left_pitch=-0.243 left_roll=0.0041 left_gripper=0.999 right_x=0.4243 right_y=0.2063 right_z=0.069 right_yaw=0.2212 right_pitch=-0.6324 right_roll=-0.1523 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.4701, 6.8034, 1.4969, -0.0122, -0.0757, -0.0122, 0.1573, -9.7162, 5.6137, 1.0134, 0.2418, 0.1978, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8696, 0.6128, -0.5587, -0.0139, -0.0307, 0.999, 0.551, 2.0708, 1.6058, -0.7788, 0.1894, 0.1501, 0.0113]\nstate[eef_state]: left_x=0.2712 left_y=0.0006 left_z=0.1301 left_yaw=0.001 left_pitch=-0.243 left_roll=0.0044 left_gripper=0.999 right_x=0.4165 right_y=0.2211 right_z=0.0569 right_yaw=0.2349 right_pitch=-0.6405 right_roll=-0.1526 right_gripper=0.0113\nstate[joint_eff]: [-0.1573, -1.4017, 6.8034, 1.5165, -0.0806, -0.0366, -0.0122, 0.4308, -11.5487, 8.6632, 0.9011, 0.2564, 0.1001, 1.0525]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa78042aa06622c3154263597bd91f45f04f995e84641bad3e7ee063880a84f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27842888e49a605cbbb0067ed49c514c189dd0f147baf178a356ebf0a54f1db4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbb060aa8ba3c01365472acd6d0388bca770894c482de6aad1945842d41518d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISywQKjgEIEhgCKkD/jv09avGsuUwKdXrvBA4ppn04eM7nplCFPIpPWnEaos7cY6pVz1dZSpUa17daRle+i3Jc1eCN/gk1d56dPLADMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe2dzNUGEgxsoDlhwgtuhdxG0U4aDF9i7Q22ZSLGLxUc8yIwUyRONwe4aa5AAdVyFi+6GzvvzB0T95RZmhH4AF0lWvgJFrpwN6c8I7DgcQZA+oajKukC+vf3FpBoeAXVVyK7+A+Gc6cjgT5KTdtlNUNEPtPfA+cOVzlod5wDX+/ky16o09LxrnkTNQu/y8maqt534jRmMKfi2yB/uyP0rFPCl0mAdYb6oO/Fa5eRBzNMtMW3FhebBnPhULJGp184OT8M85i14/Gn2YpmrVVwvi/hqWo+ned1SPNZzKMoYF/0NQia9eO/eeBNXI3nwZ1cwiEwVafCju2WxmTrVckd0w178lkuyGKFu5+aQQ4xjW01Ayfc0BD+JB+3+s886rpgjTey3Giy5FIH2PP+5Wpu9M4dnK5KoToHNx+XkfI96loEVE4gKwz/eViBpJYysRgqJqpScHSqTWC2cmuT3ZEnqPCcSCRE+uz1AOMgdttga7FnRaV4rS5TwKSajfZ0Zi27LkIjmM7d9pZ2JedaD0nqIp+5MBmfMeD1fo4Y97qO4W9KSYhDrfaJDdVNUxJBw/fs4zNnyj1aNkMRwJ8cLJV3bBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HcBdrmWnPbYVE1F3UZtteD",
      "input": {
        "note": "Close was empty; the lemon sits just left of and slightly behind the jaws, so opening and repositioning 2.4 cm left, 1.6 cm back and lower before the next close.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.245,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HcBdrmWnPbYVE1F3UZtteD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8696, 0.6128, -0.5587, -0.0135, -0.0307, 0.999, 0.6205, 2.0651, 1.5288, -0.7033, 0.2131, 0.1997, 0.9953]\nstate[eef_state]: left_x=0.2712 left_y=0.0005 left_z=0.1301 left_yaw=0.0007 left_pitch=-0.243 left_roll=0.0041 left_gripper=0.999 right_x=0.3982 right_y=0.2431 right_z=0.0414 right_yaw=0.2496 right_pitch=-0.625 right_roll=-0.1545 right_gripper=0.9953\nstate[joint_eff]: [-0.2803, -1.5521, 7.0359, 1.536, -0.0464, -0.0464, -0.0122, 0.4991, -11.8085, 5.6547, 0.989, 0.2271, 0.1441, 0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff8be3b076b143e9087c9d5ae3e9de542136b5860460834aab95e70a94cd714c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80b2944d722b3d823042ee84637715c11d9dd956251640695ba6702dfdd1e564",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e0a9ccdc1e497b277fad4b4961cb3bb4f30d55b751430a5e711c888815751713",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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