adhoc

completed
2026-09-22T22:33:37.294646+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (77 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
428.7 s
total steps
214
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

overheat

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 noteI see a blue bowl with a yellow fruit and a green pear near it on the right side, and a white bowl with a dark fruit on the left. Moving the right arm forward to hover near the green pear to judge its position in the wrist view.
move_to
right_x0.3600right_y0.0000right_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, 0.7994, 0.6136, -0.382, -0.0143, -0.0296, 0.9987, -0.0227, 0.7986, 0.6186, -0.3866, -0.0174, -0.0261, 0.9994] state[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1825 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.296 right_y=-0.0001 right_z=0.184 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.5128, -1.5385, 9.5658, 1.7998, -0.1245, 0.1392, -0.1441, -0.3487, -1.6479, 9.1556, 1.8974, -0.1099, 0.0611, -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": 0.36, "right_y": 0.0, "right_z": 0.15, "right_gripper": 1}, "note": "I see a blue bowl with a yellow fruit and a green pear near it on the right side, and a white bowl with a dark fruit on the left. Moving the right arm forward to hover near the green pear to judge its position in the wrist view."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent noteThe green pear is centred on the jaw column in the right wrist view, just ahead of the fingertips. Descending to grasp height slightly forward of the current position.
move_to
right_x0.3750right_y0.0000right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8021, 0.6132, -0.387, -0.0139, -0.0307, 0.9987, -0.0151, 1.1465, 0.6094, -0.078, -0.017, -0.0341, 0.9994] state[eef_state]: left_x=0.2955 left_y=-0.0002 left_z=0.1805 left_yaw=-0.0008 left_pitch=-0.008 left_roll=-0.001 left_gripper=0.9987 right_x=0.3542 right_y=0.0012 right_z=0.1366 right_yaw=0.0116 right_pitch=-0.0485 right_roll=-0.0057 right_gripper=0.9994 state[joint_eff]: [-0.1299, -1.4974, 7.1863, 1.8046, -0.0611, -0.0464, -0.0171, 0.0752, -4.4923, 7.6103, 2.0537, -0.0122, 0.0366, -0.0708] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.0, "right_z": 0.05}, "note": "The green pear is centred on the jaw column in the right wrist view, just ahead of the fingertips. Descending to grasp height slightly forward of the current position."})
tool
executing move_to over 6 steps (0.6s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe pear is sitting between the open jaws in the right wrist view. Closing the gripper to grasp it.
move_to
right_gripper0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8043, 0.6132, -0.4004, -0.0139, -0.0307, 0.9987, -0.017, 1.5002, 0.4427, 0.4, -0.0242, -0.0376, 0.9994] state[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1771 left_yaw=-0.0008 left_pitch=-0.0237 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3694 right_y=0.0016 right_z=0.0408 right_yaw=0.0178 right_pitch=-0.0907 right_roll=-0.0028 right_gripper=0.9994 state[joint_eff]: [-0.0752, -1.4701, 7.0632, 1.8437, -0.0317, -0.0659, -0.0122, -0.5128, -5.7368, 5.2718, 2.0733, -0.0171, -0.0562, -0.0171] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.2}, "note": "The pear is sitting between the open jaws in the right wrist view. Closing the gripper to grasp it."})
tool
executing move_to over 8 steps (0.8s)
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 noteGrip reads 0.62, so the pear is held. Lifting and moving forward/left toward the blue bowl to check the bowl's position from above.
move_to
right_x0.4200right_y0.0300right_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]: [-0.0212, 0.8059, 0.6132, -0.4084, -0.0139, -0.0307, 0.9987, -0.017, 1.5002, 0.4427, 0.3962, -0.0288, -0.041, 0.6178] state[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.1751 left_yaw=-0.0008 left_pitch=-0.0332 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3688 right_y=0.0024 right_z=0.0401 right_yaw=0.0235 right_pitch=-0.0944 right_roll=-0.0026 right_gripper=0.6178 state[joint_eff]: [-0.0479, -1.4427, 7.0085, 1.8046, -0.0659, -0.0611, -0.0122, -0.294, -5.2034, 5.3128, 1.7021, 0.0122, 0.022, 1.033] 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": 0.42, "right_y": 0.03, "right_z": 0.22}, "note": "Grip reads 0.62, so the pear is held. Lifting and moving forward/left toward the blue bowl to check the bowl's position from above."})
tool
executing move_to over 12 steps (1.2s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe blue bowl is just left of and beyond the held pear in the wrist view; nudging forward-left to centre the gripper over the bowl.
move_to
right_x0.4500right_y0.0550right_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]: [-0.0212, 0.8085, 0.6132, -0.421, -0.0139, -0.0307, 0.9987, 0.0845, 1.401, 1.124, -0.4393, 0.0322, -0.0067, 0.621] state[eef_state]: left_x=0.2912 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0008 left_pitch=-0.0484 left_roll=-0.0002 left_gripper=0.9987 right_x=0.4123 right_y=0.0328 right_z=0.2011 right_yaw=0.0546 right_pitch=-0.1493 right_roll=-0.0147 right_gripper=0.621 state[joint_eff]: [-0.212, -1.5385, 7.0085, 1.7998, -0.0757, -0.0415, -0.0122, -0.0205, -6.4205, 9.5795, 1.7558, 0.1197, 0.2613, 0.6325] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.055, "right_z": 0.22}, "note": "The blue bowl is just left of and beyond the held pear in the wrist view; nudging forward-left to centre the gripper over the bowl."})
tool
executing move_to over 3 steps (0.3s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe bowl still sits left of the held pear in the wrist view and barely shifted, so my lateral scale was too large; moving 5 cm further left toward the bowl.
move_to
right_y0.1050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.424, -0.0139, -0.0307, 0.9987, 0.1459, 1.5608, 1.3064, -0.5438, 0.0593, 0.0116, 0.6224] state[eef_state]: left_x=0.291 left_y=-0.0001 left_z=0.1702 left_yaw=-0.0008 left_pitch=-0.0553 left_roll=-0.0 left_gripper=0.9987 right_x=0.4379 right_y=0.0574 right_z=0.1961 right_yaw=0.082 right_pitch=-0.2301 right_roll=-0.0239 right_gripper=0.6224 state[joint_eff]: [0.0342, -1.6068, 6.9949, 1.7411, -0.0513, -0.0415, -0.0122, -0.2393, -7.9932, 9.5111, 1.9805, 0.1441, 0.149, 0.7888] 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_y": 0.105}, "note": "The bowl still sits left of the held pear in the wrist view and barely shifted, so my lateral scale was too large; moving 5 cm further left toward the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteOvershot: the blue bowl now sits to the right of the pear, so centring back ~2.7 cm and pushing a bit further forward to hover over the bowl.
move_to
right_x0.4700right_y0.0780right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8127, 0.6132, -0.4248, -0.0139, -0.0307, 0.9987, 0.2916, 1.6009, 1.3186, -0.5896, 0.1417, 0.0948, 0.6229] state[eef_state]: left_x=0.2909 left_y=-0.0001 left_z=0.1699 left_yaw=-0.0008 left_pitch=-0.0565 left_roll=-0.0 left_gripper=0.9987 right_x=0.4253 right_y=0.1054 right_z=0.1779 right_yaw=0.1074 right_pitch=-0.2941 right_roll=-0.0379 right_gripper=0.6229 state[joint_eff]: [-0.0615, -1.2103, 7.1179, 1.6777, -0.0708, -0.0659, -0.0122, -0.3624, -7.2274, 9.4974, 1.7118, 0.1978, 0.1636, 0.7985] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.078, "right_z": 0.2}, "note": "Overshot: the blue bowl now sits to the right of the pear, so centring back ~2.7 cm and pushing a bit further forward to hover over the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe blue bowl rim is now directly behind/around the held pear in the wrist view, so the gripper is roughly over it; lowering to 10 cm before releasing.
move_to
right_x0.4800right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8154, 0.6132, -0.4316, -0.0135, -0.0307, 0.9987, 0.186, 1.7451, 1.5265, -0.7124, 0.0734, 0.0071, 0.6256] state[eef_state]: left_x=0.29 left_y=-0.0002 left_z=0.1678 left_yaw=-0.0011 left_pitch=-0.066 left_roll=-0.0001 left_gripper=0.9987 right_x=0.4587 right_y=0.0768 right_z=0.18 right_yaw=0.1093 right_pitch=-0.3619 right_roll=-0.048 right_gripper=0.6256 state[joint_eff]: [-0.1162, -1.5658, 7.0359, 1.7705, -0.022, -0.0366, -0.0122, -0.2393, -9.4154, 9.4154, 1.6728, -0.0024, 0.0317, 0.6032] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_z": 0.1}, "note": "The blue bowl rim is now directly behind/around the held pear in the wrist view, so the gripper is roughly over it; lowering to 10 cm before releasing."})
tool
executing move_to over 6 steps (0.6s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe pear is centred over the open blue bowl in the wrist view; releasing it into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8154, 0.6132, -0.4339, -0.0139, -0.0307, 0.9987, 0.1791, 1.8603, 1.356, -0.5129, 0.0731, 0.0059, 0.6266] state[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1674 left_yaw=-0.0008 left_pitch=-0.0683 left_roll=0.0002 left_gripper=0.9987 right_x=0.4625 right_y=0.0743 right_z=0.0898 right_yaw=0.1006 right_pitch=-0.4479 right_roll=-0.0556 right_gripper=0.6266 state[joint_eff]: [-0.0479, -1.347, 6.9949, 1.7167, -0.0366, -0.0366, -0.0122, -0.2667, -9.853, 6.6803, 1.7021, -0.0659, -0.1245, 0.6764] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The pear is centred over the open blue bowl in the wrist view; releasing it into the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe pear is now resting inside the blue bowl. Moving left toward the yellow lemon, which appears ~8 cm to the left of the bowl, to line up a grasp.
move_to
right_x0.4500right_y0.1500right_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, 0.82, 0.6132, -0.4427, -0.0139, -0.0307, 0.9987, 0.1791, 1.8713, 1.3457, -0.5072, 0.0734, -0.0074, 0.9957] state[eef_state]: left_x=0.2887 left_y=-0.0001 left_z=0.1644 left_yaw=-0.0008 left_pitch=-0.0816 left_roll=0.0005 left_gripper=0.9987 right_x=0.4605 right_y=0.0739 right_z=0.0818 right_yaw=0.1076 right_pitch=-0.4639 right_roll=-0.065 right_gripper=0.9957 state[joint_eff]: [-0.0615, -1.7436, 6.9949, 1.7363, -0.0366, -0.0513, -0.0122, -0.2803, -10.7692, 7.2137, 1.1551, -0.0317, 0.105, -0.0366] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.15, "right_z": 0.15}, "note": "The pear is now resting inside the blue bowl. Moving left toward the yellow lemon, which appears ~8 cm to the left of the bowl, to line up a grasp."})
tool
executing move_to over 7 steps (0.7s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe yellow lemon is nearly on the jaw column, just slightly left and a touch beyond the fingertips; descending to grasp height over it.
move_to
right_x0.4650right_y0.1600right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8238, 0.6132, -0.4496, -0.0139, -0.0307, 0.9987, 0.3702, 1.8767, 1.597, -0.7734, 0.1493, 0.1181, 0.9965] state[eef_state]: left_x=0.2878 left_y=-0.0 left_z=0.162 left_yaw=-0.0008 left_pitch=-0.0923 left_roll=0.0007 left_gripper=0.9987 right_x=0.4488 right_y=0.1499 right_z=0.1412 right_yaw=0.151 right_pitch=-0.4697 right_roll=-0.069 right_gripper=0.9965 state[joint_eff]: [-0.335, -1.7026, 6.9675, 1.7705, -0.0513, -0.0024, -0.0122, 0.1436, -9.0598, 8.3214, 1.1111, 0.2027, 0.3101, 0.0659] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.465, "right_y": 0.16, "right_z": 0.035}, "note": "The yellow lemon is nearly on the jaw column, just slightly left and a touch beyond the fingertips; descending to grasp height over it."})
tool
executing move_to over 7 steps (0.7s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe lemon fills the bottom of the wrist view centred on the jaw column; closing to grasp it.
move_to
right_gripper0.2500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8257, 0.6132, -0.4534, -0.0135, -0.0307, 0.9987, 0.3767, 2.0174, 1.4029, -0.4843, 0.1524, 0.123, 0.9965] state[eef_state]: left_x=0.2873 left_y=-0.0001 left_z=0.1608 left_yaw=-0.0011 left_pitch=-0.098 left_roll=0.0006 left_gripper=0.9987 right_x=0.4549 right_y=0.155 right_z=0.0401 right_yaw=0.1461 right_pitch=-0.5135 right_roll=-0.0808 right_gripper=0.9965 state[joint_eff]: [-0.212, -1.5248, 7.2137, 1.6679, -0.0464, -0.0024, -0.0122, 0.1983, -9.9897, 5.6821, 1.1941, 0.0366, -0.0366, -0.0073] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.25}, "note": "The lemon fills the bottom of the wrist view centred on the jaw column; closing to grasp it."})
tool
executing move_to over 8 steps (0.8s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteGrip reads 0.47 — the lemon is held. Lifting and moving right toward the blue bowl (which sits just right of the lemon in the wrist view).
move_to
right_x0.4750right_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, 0.8257, 0.6132, -0.4538, -0.0139, -0.0307, 0.9987, 0.3767, 2.0422, 1.3933, -0.4808, 0.1524, 0.1196, 0.4677] state[eef_state]: left_x=0.2873 left_y=-0.0 left_z=0.1607 left_yaw=-0.0008 left_pitch=-0.0984 left_roll=0.0008 left_gripper=0.9987 right_x=0.451 right_y=0.1534 right_z=0.0258 right_yaw=0.1441 right_pitch=-0.5438 right_roll=-0.0908 right_gripper=0.4677 state[joint_eff]: [-0.1299, -1.388, 6.9812, 1.6679, -0.0317, -0.0366, -0.0122, -0.1299, -12.9709, 6.7761, 1.0672, -0.0073, -0.0415, 1.033] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.475, "right_y": 0.08, "right_z": 0.15}, "note": "Grip reads 0.47 \u2014 the lemon is held. Lifting and moving right toward the blue bowl (which sits just right of the lemon in the wrist view)."})
tool
executing move_to over 9 steps (0.9s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteReturning to the exact pose from which the pear dropped cleanly into the blue bowl, to drop the lemon there too.
move_to
right_x0.4650right_y0.0720right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8303, 0.6132, -0.4679, -0.0135, -0.0307, 0.9987, 0.1986, 2.0052, 1.7252, -0.8951, 0.0658, -0.0383, 0.4708] state[eef_state]: left_x=0.2853 left_y=-0.0001 left_z=0.1568 left_yaw=-0.001 left_pitch=-0.1171 left_roll=0.001 left_gripper=0.9987 right_x=0.4702 right_y=0.0864 right_z=0.1143 right_yaw=0.1487 right_pitch=-0.6077 right_roll=-0.0834 right_gripper=0.4708 state[joint_eff]: [-0.0889, -1.7983, 6.9538, 1.7558, -0.0073, -0.0562, -0.0171, -0.5538, -14.4205, 8.8274, 1.2625, 0.0708, -0.0122, 0.779] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.465, "right_y": 0.072, "right_z": 0.1}, "note": "Returning to the exact pose from which the pear dropped cleanly into the blue bowl, to drop the lemon there too."})
tool
executing move_to over 2 steps (0.2s)
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 noteThe blue bowl's rim (with the pear inside) is to the right of the held lemon in the wrist view, so the gripper is left of the bowl; moving 5 cm right.
move_to
right_y0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8303, 0.6128, -0.469, -0.0135, -0.0307, 0.9987, 0.1776, 1.98, 1.6665, -0.8734, 0.0532, -0.0574, 0.4713] state[eef_state]: left_x=0.2851 left_y=-0.0001 left_z=0.1564 left_yaw=-0.001 left_pitch=-0.1186 left_roll=0.001 left_gripper=0.9987 right_x=0.4625 right_y=0.0771 right_z=0.1073 right_yaw=0.1529 right_pitch=-0.6208 right_roll=-0.0786 right_gripper=0.4713 state[joint_eff]: [-0.0068, -0.9641, 7.2821, 1.707, -0.0317, -0.0464, -0.0122, -0.9368, -11.3983, 6.0376, 1.3748, 0.0122, -0.1148, 0.7302] approver: 1 step(s) modified (delta_clamped). 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_y": 0.025}, "note": "The blue bowl's rim (with the pear inside) is to the right of the held lemon in the wrist view, so the gripper is left of the bowl; moving 5 cm right."})
tool
executing move_to over 5 steps (0.5s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe arm barely tracked the last lateral command — it is near its reach limit with the wrist pitched down. Pulling back and up to a healthier pose while shifting right toward the bowl.
move_to
right_x0.4200right_y0.0300right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8333, 0.6128, -0.4751, -0.0139, -0.0307, 0.9987, 0.1547, 1.9915, 1.6032, -0.857, 0.0391, -0.0799, 0.4722] state[eef_state]: left_x=0.2842 left_y=0.0 left_z=0.1544 left_yaw=-0.0007 left_pitch=-0.1278 left_roll=0.0014 left_gripper=0.9987 right_x=0.4511 right_y=0.067 right_z=0.0822 right_yaw=0.1597 right_pitch=-0.6802 right_roll=-0.0725 right_gripper=0.4722 state[joint_eff]: [-0.1162, -1.4154, 6.9128, 1.746, -0.0562, -0.0659, -0.0122, -0.4718, -13.5863, 7.8838, 1.1111, 0.0317, -0.0659, 0.4225] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.03, "right_z": 0.16}, "note": "The arm barely tracked the last lateral command \u2014 it is near its reach limit with the wrist pitched down. Pulling back and up to a healthier pose while shifting right toward the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe arm did not move on the last command — likely wedged against the bowl or stalled at a pitch limit. Trying a pure vertical lift to free it.
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]: [-0.0212, 0.8333, 0.6132, -0.4755, -0.0139, -0.0307, 0.9987, 0.1547, 1.9915, 1.6032, -0.857, 0.0353, -0.0799, 0.4725] state[eef_state]: left_x=0.2842 left_y=0.0 left_z=0.1545 left_yaw=-0.0007 left_pitch=-0.1278 left_roll=0.0014 left_gripper=0.9987 right_x=0.451 right_y=0.0677 right_z=0.0822 right_yaw=0.1638 right_pitch=-0.6802 right_roll=-0.0679 right_gripper=0.4725 state[joint_eff]: [-0.1846, -1.2786, 6.9128, 1.663, -0.0415, -0.0659, -0.0171, -0.5812, -13.559, 7.7607, 1.0818, 0.1001, -0.0806, 0.7595] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "The arm did not move on the last command \u2014 likely wedged against the bowl or stalled at a pitch limit. Trying a pure vertical lift to free it."})
tool
executing move_to over 9 steps (0.9s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe blue bowl with the pear inside is still off to the right in the wrist view; shifting 8 cm right to get above it before dropping the lemon.
move_to
right_y-0.0100right_x0.4400right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8352, 0.6132, -0.4763, -0.0135, -0.0307, 0.9987, 0.1547, 1.9709, 2.0506, -1.2491, 0.0242, -0.0887, 0.4724] state[eef_state]: left_x=0.2842 left_y=-0.0 left_z=0.1539 left_yaw=-0.001 left_pitch=-0.1304 left_roll=0.0012 left_gripper=0.9987 right_x=0.4532 right_y=0.07 right_z=0.2075 right_yaw=0.1804 right_pitch=-0.6044 right_roll=-0.0605 right_gripper=0.4724 state[joint_eff]: [-0.294, -1.5658, 6.9402, 1.6386, -0.0269, -0.022, -0.0171, -0.3897, -9.853, 7.6376, 1.0916, 0.0464, 0.0415, 0.7399] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": -0.01, "right_x": 0.44, "right_z": 0.2}, "note": "The blue bowl with the pear inside is still off to the right in the wrist view; shifting 8 cm right to get above it before dropping the lemon."})
tool
executing move_to over 7 steps (0.7s)
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 noteThe wrist view is proving unreliable for lateral judgement; returning to the exact pose from which the pear dropped successfully into the blue bowl.
move_to
right_x0.4620right_y0.0740right_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8349, 0.6132, -0.4759, -0.0139, -0.0307, 0.9987, -0.0368, 1.9305, 1.8862, -1.2263, -0.0498, -0.2516, 0.4714] state[eef_state]: left_x=0.2842 left_y=0.0 left_z=0.154 left_yaw=-0.0007 left_pitch=-0.1297 left_roll=0.0015 left_gripper=0.9987 right_x=0.4333 right_y=-0.0036 right_z=0.1729 right_yaw=0.187 right_pitch=-0.7006 right_roll=-0.0284 right_gripper=0.4714 state[joint_eff]: [-0.212, -1.4291, 6.9402, 1.6825, -0.0464, -0.0757, -0.0122, -0.7316, -14.1333, 6.5026, 1.3065, 0.0513, -0.1001, 0.4908] 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": 0.462, "right_y": 0.074, "right_z": 0.105}, "note": "The wrist view is proving unreliable for lateral judgement; returning to the exact pose from which the pear dropped successfully into the blue bowl."})
tool
executing move_to over 7 steps (0.7s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteReading the near-field wrist scale as ~16 px/cm, the bowl rim 60 px right of the lemon is only ~4 cm right; shifting right by that amount before releasing.
move_to
right_x0.4600right_y0.0350right_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]: [-0.0212, 0.836, 0.6132, -0.4801, -0.0135, -0.0307, 0.9987, 0.1448, 1.9411, 1.6253, -0.9005, -0.0227, -0.112, 0.4729] state[eef_state]: left_x=0.2836 left_y=-0.0 left_z=0.1529 left_yaw=-0.001 left_pitch=-0.135 left_roll=0.0013 left_gripper=0.9987 right_x=0.4468 right_y=0.0728 right_z=0.1078 right_yaw=0.2368 right_pitch=-0.6492 right_roll=-0.0139 right_gripper=0.4729 state[joint_eff]: [-0.1026, -1.4017, 6.9812, 1.6679, -0.0269, -0.0562, -0.0122, 0.2803, -9.5521, 5.8598, 1.2625, 0.1685, 0.0952, 0.4029] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.035, "right_z": 0.13}, "note": "Reading the near-field wrist scale as ~16 px/cm, the bowl rim 60 px right of the lemon is only ~4 cm right; shifting right by that amount before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe lemon is right beside the bowl rim; shifting 3 cm further right so it is over the bowl interior before releasing.
move_to
right_y0.0050right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8406, 0.6128, -0.4911, -0.0135, -0.0307, 0.9987, 0.0494, 1.9629, 1.6245, -0.923, -0.0612, -0.1764, 0.4743] state[eef_state]: left_x=0.2819 left_y=0.0 left_z=0.1495 left_yaw=-0.0009 left_pitch=-0.151 left_roll=0.0017 left_gripper=0.9987 right_x=0.4456 right_y=0.0364 right_z=0.0967 right_yaw=0.2315 right_pitch=-0.689 right_roll=0.0129 right_gripper=0.4743 state[joint_eff]: [-0.253, -1.7299, 6.9402, 1.6777, -0.0415, -0.0513, -0.0122, 0.4444, -12.9709, 10.6872, 1.1941, -0.0659, -0.0904, 0.4957] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.005, "right_z": 0.11}, "note": "The lemon is right beside the bowl rim; shifting 3 cm further right so it is over the bowl interior before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe arm refused the last lateral nudge at this low pose; lifting well clear and swinging right, then I will come back down over the bowl.
move_to
right_x0.4400right_y-0.0200right_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8417, 0.6128, -0.4915, -0.0135, -0.0307, 0.9987, 0.0437, 1.9629, 1.6524, -0.9428, -0.0689, -0.2028, 0.4742] state[eef_state]: left_x=0.2819 left_y=0.0 left_z=0.1491 left_yaw=-0.0009 left_pitch=-0.1526 left_roll=0.0017 left_gripper=0.9987 right_x=0.4482 right_y=0.0353 right_z=0.1044 right_yaw=0.2509 right_pitch=-0.6796 right_roll=0.0094 right_gripper=0.4742 state[joint_eff]: [-0.2256, -1.388, 6.9128, 1.6093, -0.0122, -0.0708, -0.0122, -0.3077, -13.0256, 8.6769, 1.0623, -0.0611, -0.0415, 0.7204] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": -0.02, "right_z": 0.25}, "note": "The arm refused the last lateral nudge at this low pose; lifting well clear and swinging right, then I will come back down over the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteBowl still sits right of the held lemon; continuing to step right (and pulling back slightly to stay within comfortable reach) to get over the bowl centre.
move_to
right_x0.4300right_y-0.0600right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8436, 0.6128, -0.4927, -0.0135, -0.0307, 0.9987, -0.0879, 2.0197, 1.9804, -1.1942, -0.1326, -0.3038, 0.474] state[eef_state]: left_x=0.2818 left_y=0.0 left_z=0.1484 left_yaw=-0.0009 left_pitch=-0.1556 left_roll=0.0018 left_gripper=0.9987 right_x=0.4634 right_y=-0.0138 right_z=0.169 right_yaw=0.2497 right_pitch=-0.6433 right_roll=0.0333 right_gripper=0.474 state[joint_eff]: [-0.2393, -1.1966, 6.8991, 1.5946, -0.0513, -0.0269, -0.0122, 0.5128, -12.1504, 7.159, 0.6129, -0.149, 0.0366, 0.7692] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": -0.06, "right_z": 0.18}, "note": "Bowl still sits right of the held lemon; continuing to step right (and pulling back slightly to stay within comfortable reach) to get over the bowl centre."})
tool
executing move_to over 4 steps (0.4s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteLateral wrist-view judgement keeps failing (base-yaw rotation dominates the image). Retracting the right arm high and back so the overhead camera can show me where the blue bowl actually is.
move_to
right_x0.3000right_y0.0000right_z0.3000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8463, 0.6128, -0.4942, -0.0135, -0.0307, 0.9987, -0.2108, 1.9369, 1.8061, -1.2079, -0.181, -0.3927, 0.4763] state[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1474 left_yaw=-0.0009 left_pitch=-0.1598 left_roll=0.0018 left_gripper=0.9987 right_x=0.4193 right_y=-0.0535 right_z=0.1489 right_yaw=0.2705 right_pitch=-0.7184 right_roll=0.1058 right_gripper=0.4763 state[joint_eff]: [-0.212, -1.5385, 6.9675, 1.6337, -0.0464, -0.022, -0.0122, -0.1299, -14.8034, 7.8427, 1.2576, -0.2369, -0.0611, 0.5153] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.3}, "note": "Lateral wrist-view judgement keeps failing (base-yaw rotation dominates the image). Retracting the right arm high and back so the overhead camera can show me where the blue bowl actually is."})
tool
executing move_to over 10 steps (1.0s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe right arm has frozen — identical state and images after two commands. Trying a single-axis lift to see whether it responds at all.
move_to
right_z0.2800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8471, 0.6128, -0.4942, -0.0135, -0.0307, 0.9987, -0.2245, 1.9259, 1.7958, -1.1782, -0.1925, -0.4278, 0.478] state[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1472 left_yaw=-0.0009 left_pitch=-0.1606 left_roll=0.0019 left_gripper=0.9987 right_x=0.4232 right_y=-0.0583 right_z=0.1523 right_yaw=0.2802 right_pitch=-0.6845 right_roll=0.0859 right_gripper=0.478 state[joint_eff]: [-0.1162, -1.5795, 6.8991, 1.5653, -0.0464, -0.0269, -0.0122, -0.4991, -14.0376, 7.3368, 1.0281, -0.1685, -0.0562, 0.6813] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.28}, "note": "The right arm has frozen \u2014 identical state and images after two commands. Trying a single-axis lift to see whether it responds at all."})
tool
executing move_to over 9 steps (0.9s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
assistant
agent noteTesting pure lateral motion at a safe height: commanding the arm to its right-hand y limit to see if it tracks and whether that brings it over the blue bowl.
move_to
right_y-0.0800
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]: [-0.0212, 0.852, 0.6128, -0.498, -0.0139, -0.0307, 0.9987, -0.2356, 2.0113, 2.3077, -1.5532, -0.2337, -0.4458, 0.4799] state[eef_state]: left_x=0.2812 left_y=0.0001 left_z=0.1452 left_yaw=-0.0006 left_pitch=-0.1693 left_roll=0.0023 left_gripper=0.9987 right_x=0.4227 right_y=-0.0557 right_z=0.2498 right_yaw=0.2996 right_pitch=-0.6194 right_roll=0.089 right_gripper=0.4799 state[joint_eff]: [-0.0342, -1.388, 6.8991, 1.663, -0.0415, -0.0415, -0.0122, -0.4718, -11.412, 7.3641, 0.9548, -0.2076, 0.0708, 0.4615] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": -0.08}, "note": "Testing pure lateral motion at a safe height: commanding the arm to its right-hand y limit to see if it tracks and whether that brings it over the blue bowl."})
tool
executing move_to over 3 steps (0.3s)
step 162
assistant
agent noteThe blue bowl sits at the right edge of the arm's y range; lowering the lemon toward the bowl rim at the arm's rightmost reach to see how close it really is.
move_to
right_z0.1200right_x0.4300
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, 0.852, 0.6128, -0.4984, -0.0139, -0.0307, 0.9987, -0.2848, 2.0186, 2.299, -1.5856, -0.2489, -0.4843, 0.4829] state[eef_state]: left_x=0.2812 left_y=0.0001 left_z=0.1452 left_yaw=-0.0006 left_pitch=-0.1697 left_roll=0.0023 left_gripper=0.9987 right_x=0.4128 right_y=-0.0718 right_z=0.2428 right_yaw=0.3085 right_pitch=-0.6504 right_roll=0.1192 right_gripper=0.4829 state[joint_eff]: [-0.1846, -1.4838, 6.8855, 1.6142, -0.0562, -0.0415, -0.0122, -0.4581, -9.1419, 8.0205, 1.0769, -0.2906, -0.022, 0.3394] 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_z": 0.12, "right_x": 0.43}, "note": "The blue bowl sits at the right edge of the arm's y range; lowering the lemon toward the bowl rim at the arm's rightmost reach to see how close it really is."})
tool
executing move_to over 8 steps (0.8s)
step 170
assistant
agent noteThe arm is refusing to descend or retract from this far-right corner pose; trying a small retracting step to break it out of the stuck configuration.
move_to
right_x0.3900right_y-0.0600right_z0.2400
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, 0.852, 0.6128, -0.4984, -0.0135, -0.0307, 0.9987, -0.3012, 2.035, 2.299, -1.5833, -0.2523, -0.5064, 0.485] state[eef_state]: left_x=0.2812 left_y=0.0 left_z=0.1452 left_yaw=-0.0009 left_pitch=-0.1697 left_roll=0.0021 left_gripper=0.9987 right_x=0.4142 right_y=-0.0787 right_z=0.2365 right_yaw=0.3161 right_pitch=-0.6587 right_roll=0.1231 right_gripper=0.485 state[joint_eff]: [-0.212, -1.4427, 7.1043, 1.5653, -0.0464, -0.0171, -0.0122, -0.3897, -10.7556, 7.4598, 1.0476, -0.3248, -0.0562, 0.2076] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": -0.06, "right_z": 0.24}, "note": "The arm is refusing to descend or retract from this far-right corner pose; trying a small retracting step to break it out of the stuck configuration."})
tool
executing move_to over 2 steps (0.2s)
step 172
assistant
agent noteRight arm appears jammed near the right fence; commanding a large straight-up lift to free it.
move_to
right_z0.4500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.852, 0.6128, -0.4984, -0.0135, -0.0307, 0.9987, -0.3012, 2.035, 2.299, -1.5833, -0.2523, -0.5068, 0.4872] state[eef_state]: left_x=0.2812 left_y=0.0 left_z=0.1452 left_yaw=-0.0009 left_pitch=-0.1697 left_roll=0.0021 left_gripper=0.9987 right_x=0.4142 right_y=-0.0787 right_z=0.2365 right_yaw=0.3163 right_pitch=-0.6587 right_roll=0.123 right_gripper=0.4872 state[joint_eff]: [-0.2667, -1.4974, 6.8991, 1.5946, -0.0464, -0.0415, -0.0122, -0.335, -10.7829, 7.4462, 1.0134, -0.3004, -0.0904, 0.2271] approver: 2 step(s) modified (delta_clamped ×2). 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_z": 0.45}, "note": "Right arm appears jammed near the right fence; commanding a large straight-up lift to free it."})
tool
executing move_to over 14 steps (1.4s)
step 186
assistant
agent noteArm is free again. Reaching forward-right to the corner of its box, where the blue bowl appears to sit just beyond the fingertips, to drop the lemon in.
move_to
right_x0.4700right_y-0.0800right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.852, 0.6128, -0.4984, -0.0139, -0.0307, 0.9987, -0.2447, 1.8652, 2.1975, -1.5944, -0.2668, -0.448, 0.4893] state[eef_state]: left_x=0.2812 left_y=0.0001 left_z=0.1452 left_yaw=-0.0006 left_pitch=-0.1697 left_roll=0.0023 left_gripper=0.9987 right_x=0.3824 right_y=-0.0438 right_z=0.2723 right_yaw=0.323 right_pitch=-0.6072 right_roll=0.1243 right_gripper=0.4893 state[joint_eff]: [-0.2667, -1.4154, 6.8855, 1.5849, -0.0464, -0.0073, -0.0122, 0.0615, -11.412, 4.9709, 1.0574, -0.1978, 0.1294, 0.2027] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": -0.08, "right_z": 0.16}, "note": "Arm is free again. Reaching forward-right to the corner of its box, where the blue bowl appears to sit just beyond the fingertips, to drop the lemon in."})
tool
executing move_to over 8 steps (0.8s)
step 194
assistant
agent noteThe pear dropped cleanly into the blue bowl from x=0.462, y=0.074, z=0.11, so that pose is over the bowl; returning there with the lemon.
move_to
right_x0.4620right_y0.0780right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8528, 0.6128, -0.4992, -0.0139, -0.0307, 0.9987, -0.2737, 2.1887, 2.3772, -1.5326, -0.2672, -0.4767, 0.4914] state[eef_state]: left_x=0.2811 left_y=0.0001 left_z=0.1448 left_yaw=-0.0005 left_pitch=-0.1713 left_roll=0.0023 left_gripper=0.9987 right_x=0.4529 right_y=-0.075 right_z=0.1979 right_yaw=0.3475 right_pitch=-0.6728 right_roll=0.1691 right_gripper=0.4914 state[joint_eff]: [-0.335, -1.1966, 6.9128, 1.5946, -0.0464, -0.0317, -0.0122, -0.6906, -12.5744, 6.7487, 0.9646, -0.3492, -0.0904, 0.2125] approver: 8 step(s) modified (delta_clamped ×8). 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": 0.462, "right_y": 0.078, "right_z": 0.11}, "note": "The pear dropped cleanly into the blue bowl from x=0.462, y=0.074, z=0.11, so that pose is over the bowl; returning there with the lemon."})
tool
executing move_to over 13 steps (1.3s)
step 207
assistant
agent noteBack at the pose that worked for the pear, with the bowl rim right beside the lemon; releasing so it drops into the blue bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8566, 0.6128, -0.5018, -0.0135, -0.0307, 0.9987, 0.0799, 2.0136, 1.6779, -0.9447, -0.2066, -0.1535, 0.4936] state[eef_state]: left_x=0.2807 left_y=0.0 left_z=0.1434 left_yaw=-0.0009 left_pitch=-0.1777 left_roll=0.0022 left_gripper=0.9987 right_x=0.449 right_y=0.0759 right_z=0.0938 right_yaw=0.4024 right_pitch=-0.674 right_roll=0.2016 right_gripper=0.4936 state[joint_eff]: [-0.1436, -1.8256, 7.0632, 1.6288, -0.0366, -0.0366, -0.0122, 0.253, -13.2991, 6.5846, 1.0134, -0.0513, 0.1929, 0.2125] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Back at the pose that worked for the pear, with the bowl rim right beside the lemon; releasing so it drops into the blue bowl."})
tool
executing move_to over 6 steps (0.6s)
step 213
assistant
agent noteThe lemon fell just short of the bowl and is lying on the table ~5 cm left of the jaws (top view). Descending onto it to re-grasp.
move_to
right_x0.4300right_y0.1200right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8585, 0.6128, -0.5133, -0.0139, -0.0307, 0.9987, 0.0692, 1.9846, 1.562, -0.844, -0.2188, -0.1589, 0.9958] state[eef_state]: left_x=0.2788 left_y=0.0001 left_z=0.1408 left_yaw=-0.0005 left_pitch=-0.1911 left_roll=0.0028 left_gripper=0.9987 right_x=0.4428 right_y=0.0727 right_z=0.0767 right_yaw=0.4041 right_pitch=-0.6567 right_roll=0.2077 right_gripper=0.9958 state[joint_eff]: [0.0889, -1.3333, 6.8855, 1.6874, -0.0366, -0.0317, -0.0122, 0.1573, -13.135, 6.7077, 1.0085, -0.3297, -0.0024, -0.1099] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.12, "right_z": 0.03}, "note": "The lemon fell just short of the bowl and is lying on the table ~5 cm left of the jaws (top view). Descending onto it to re-grasp."})
tool
executing move_to over 4 steps (0.4s)
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 · 16.28 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, 0.7994, 0.6136, -0.382, -0.0143, -0.0296, 0.9987, -0.0227, 0.7986, 0.6186, -0.3866, -0.0174, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1825 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.296 right_y=-0.0001 right_z=0.184 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.5385, 9.5658, 1.7998, -0.1245, 0.1392, -0.1441, -0.3487, -1.6479, 9.1556, 1.8974, -0.1099, 0.0611, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c0735150469dfb1af56f693ef5dbb35325ef52ee3412f6a64b072aaa1c1aa8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c98c2c02c42ea0a1203f724578a1c5810154141c3b32842ca8270489daf3aebe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ac1728690e2081cd639806d9e1e98d70ece13e0679ed59317f1e3264b187b69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 8.193 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, 0.7994, 0.6136, -0.382, -0.0143, -0.0296, 0.9987, -0.0227, 0.7986, 0.6186, -0.3866, -0.0174, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1825 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.296 right_y=-0.0001 right_z=0.184 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.5385, 9.5658, 1.7998, -0.1245, 0.1392, -0.1441, -0.3487, -1.6479, 9.1556, 1.8974, -0.1099, 0.0611, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c0735150469dfb1af56f693ef5dbb35325ef52ee3412f6a64b072aaa1c1aa8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c98c2c02c42ea0a1203f724578a1c5810154141c3b32842ca8270489daf3aebe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ac1728690e2081cd639806d9e1e98d70ece13e0679ed59317f1e3264b187b69",
        "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_01Tcrn7aKZtBNPkyssaYXK1T",
      "input": {
        "note": "I see a blue bowl with a yellow fruit and a green pear near it on the right side, and a white bowl with a dark fruit on the left. Moving the right arm forward to hover near the green pear to judge its position in the wrist view.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.36,
          "right_y": 0.0,
          "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_01Tcrn7aKZtBNPkyssaYXK1T",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8021, 0.6132, -0.387, -0.0139, -0.0307, 0.9987, -0.0151, 1.1465, 0.6094, -0.078, -0.017, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=-0.0002 left_z=0.1805 left_yaw=-0.0008 left_pitch=-0.008 left_roll=-0.001 left_gripper=0.9987 right_x=0.3542 right_y=0.0012 right_z=0.1366 right_yaw=0.0116 right_pitch=-0.0485 right_roll=-0.0057 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.4974, 7.1863, 1.8046, -0.0611, -0.0464, -0.0171, 0.0752, -4.4923, 7.6103, 2.0537, -0.0122, 0.0366, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eae54353364fb51ae6b43092ac208da8c4d8497b6802966e19b442b5e102b8ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b8e8763d39f8c005e120a31dc3522e57fc7f66f914eb9f615885a68500815f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f330d1f6a8d006050c04d9bf1eb3d328ba15948f71c04447aa6021a94d1fd805",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.72 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, 0.7994, 0.6136, -0.382, -0.0143, -0.0296, 0.9987, -0.0227, 0.7986, 0.6186, -0.3866, -0.0174, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1825 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.296 right_y=-0.0001 right_z=0.184 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.5385, 9.5658, 1.7998, -0.1245, 0.1392, -0.1441, -0.3487, -1.6479, 9.1556, 1.8974, -0.1099, 0.0611, -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, 0.8021, 0.6132, -0.387, -0.0139, -0.0307, 0.9987, -0.0151, 1.1465, 0.6094, -0.078, -0.017, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=-0.0002 left_z=0.1805 left_yaw=-0.0008 left_pitch=-0.008 left_roll=-0.001 left_gripper=0.9987 right_x=0.3542 right_y=0.0012 right_z=0.1366 right_yaw=0.0116 right_pitch=-0.0485 right_roll=-0.0057 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.4974, 7.1863, 1.8046, -0.0611, -0.0464, -0.0171, 0.0752, -4.4923, 7.6103, 2.0537, -0.0122, 0.0366, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eae54353364fb51ae6b43092ac208da8c4d8497b6802966e19b442b5e102b8ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b8e8763d39f8c005e120a31dc3522e57fc7f66f914eb9f615885a68500815f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f330d1f6a8d006050c04d9bf1eb3d328ba15948f71c04447aa6021a94d1fd805",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2gcKjgEIEhgCKkAEevsMk21IGWmCp0zWNJaqw40DME4O7qEoMeemFs/6rYr6Rw3v7YToIZbtYpWLsKdqATx82ehbWmfXKAneRl1SMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeuEzNUGEgytO6b02Rs//wf4aj0aDKV4iD4qGYe4QM/VryIw4BABeIkVU4WyLZY9vzkYuKZx3zgB+JT7zaogWc4ZJoDcRFF9LhPcwEt57+RejL0BKvgF15o/N4Zy7f0CTKrBlKesNsvxJh49l/cDlZVzri1lZjVW0nZd5t+CguQPmgt3pcpyHSTy3WCQZIQOz0uvS4Oh2/f1yeYuV2PQZYOrwAQnGRVDgd6ULOrhXUowOewc19y5xgONsoiBboBp+SRO/ijSBujfZkuxlLigiYnBjHf0D8XQsKl/x1I41pvCvaw13NbqMtit3xzO3kGxhbrD8PTEIPvHnNfr/802JWo2zfRgtgy9IDjazlUmOH3E4Y8+eL9qBhILx05YYQQBLSr7N1YdZIRGdstWuiGuHbEwF98EYDFvnBbHwVTOFN71btjtaqIrEwgU2rT9vXMDddZ8e3pFOiNrkz1FPEAPK0NNETObAu+aeYxUUnzZqQXLAyNhVimJXTcCDJwFQoM3yBbkkOyIZwFzdT07un4kgTCUPOjkFF9Gvf44mFswAA5KzumWwoAsnUbof3Y0Ez9vJCwsV3enkGkavJ63A+k6Q2ZIHY2LOsWaPLhbirSgPyWqQ4oFc2on4kG3FVe4FtIKDDTwBB37qeM5EncYI2dL3uaJIJ3GUSboSf4jlT1S+OgBXwbsBt1u9QAQ4bycj2jgh390A49IHqON8aJ3inegPGJ7iwSJ/FjqrZ9xyJ7UyE+xEE0Pf12rpLOn7PIOxt6RzIE6Xp43Bum8E8N4lpH3hpaujMYglsffNfPyPJAuwf0nv31rIXO3jQlRwik53ZrPmNBRvCfd2bYggrOFAFv+PO+P1BjrcGKCHXr8k5UWS2d0vG7U87AlAVPmzydyNngtpsCj12V+6gV5I+YO6wIMAmknbKuXirpRDrSrw+e/sL8aVE+QU8Yrblxf5onbEJ3ammaDxsVsM6pU5TORQaRAailHb6jOhVFLtMkU/yeLLYYhX3dtGgr66ULRjvjh0eFHQ3OlrBNm4w8K2zUeYD4LXoe/zmE9ji/3cKPxbthHI0iRijhcf1XBbe+YFnRnF97VQZbKu5h2GoUng4G9+6hnQJCupezrzIIjH/BqYr6iCRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MEEnoQk1txnm4SthThzeco",
      "input": {
        "note": "The green pear is centred on the jaw column in the right wrist view, just ahead of the fingertips. Descending to grasp height slightly forward of the current position.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.0,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01MEEnoQk1txnm4SthThzeco",
      "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, 0.8043, 0.6132, -0.4004, -0.0139, -0.0307, 0.9987, -0.017, 1.5002, 0.4427, 0.4, -0.0242, -0.0376, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1771 left_yaw=-0.0008 left_pitch=-0.0237 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3694 right_y=0.0016 right_z=0.0408 right_yaw=0.0178 right_pitch=-0.0907 right_roll=-0.0028 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.4701, 7.0632, 1.8437, -0.0317, -0.0659, -0.0122, -0.5128, -5.7368, 5.2718, 2.0733, -0.0171, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0de56ac06768d1aab18d55b6554da5881fa0b1c0240518a7c6651c43a6c7555",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44596edf3e620b2916dbec99e22a58cceb984fabc1b3158856311c49b9f32ad8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:999a7d1cb51227df412a59173b9c631d9828ae0a9f3bba17ea8e231a548f3e43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 22.66 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, 0.7994, 0.6136, -0.382, -0.0143, -0.0296, 0.9987, -0.0227, 0.7986, 0.6186, -0.3866, -0.0174, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1825 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.296 right_y=-0.0001 right_z=0.184 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.5385, 9.5658, 1.7998, -0.1245, 0.1392, -0.1441, -0.3487, -1.6479, 9.1556, 1.8974, -0.1099, 0.0611, -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, 0.8021, 0.6132, -0.387, -0.0139, -0.0307, 0.9987, -0.0151, 1.1465, 0.6094, -0.078, -0.017, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=-0.0002 left_z=0.1805 left_yaw=-0.0008 left_pitch=-0.008 left_roll=-0.001 left_gripper=0.9987 right_x=0.3542 right_y=0.0012 right_z=0.1366 right_yaw=0.0116 right_pitch=-0.0485 right_roll=-0.0057 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.4974, 7.1863, 1.8046, -0.0611, -0.0464, -0.0171, 0.0752, -4.4923, 7.6103, 2.0537, -0.0122, 0.0366, -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]: [-0.0212, 0.8043, 0.6132, -0.4004, -0.0139, -0.0307, 0.9987, -0.017, 1.5002, 0.4427, 0.4, -0.0242, -0.0376, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1771 left_yaw=-0.0008 left_pitch=-0.0237 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3694 right_y=0.0016 right_z=0.0408 right_yaw=0.0178 right_pitch=-0.0907 right_roll=-0.0028 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.4701, 7.0632, 1.8437, -0.0317, -0.0659, -0.0122, -0.5128, -5.7368, 5.2718, 2.0733, -0.0171, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0de56ac06768d1aab18d55b6554da5881fa0b1c0240518a7c6651c43a6c7555",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44596edf3e620b2916dbec99e22a58cceb984fabc1b3158856311c49b9f32ad8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:999a7d1cb51227df412a59173b9c631d9828ae0a9f3bba17ea8e231a548f3e43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7gQKjgEIEhgCKkC2KKsf9wW8ohk6iWDd2xLpIbtt2b99/8SGrtPENVsI0rxYCTVfKNzRBVNaOmbH1sYtqPxQhMbRkfkAN+DcNuG2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfaEzNUGEgy7BWq+VyVK+2n6m80aDIazYB37VN9GcQtwiyIwLf5ZU2PVE9QzmUMWyI65X7IaIMCPj1Ch28cVw4y3w2PDo9UQwcGXN1VMfCmHqY+KKowDuyNoQSos3dIC8gXDmFXN9h8Fk8GPcvD5TFLMnnlAJOqN6pFw3kr+h+CiPA7mwditr2mB8S+qXlsnWwLiw6thwlNTmh3M3hm3lB0CYx5HBeKLcx+O0vVA+PuiV0agxryvdj0B8qo5sufblCvAvfte0O7sf0d+lAk0hhL83ASCRx97EfjSrarKj+0zfGMyrkwyjvsEXNovvyP+FWYtGxknQYGN4EyqsPQgZAQuL6KWRsRJFMKXFNt3eytT2VmrbPZDp+F5Z0crL9v6cOXMlQAX6ShO5H2bgpE4fiEd/uywuZBsYBiUZHlLUcq5BCOzqfzUf8N75vYHE3WVP1G3fqtS7e8LcEo8Qg25c6cqONcyTkg+3qkmjS69lqsz6P8qZGtpnLyVKerHXDLZrt09Pb4ivHoE6UGTT6V1FgRAVz79/zkVyhMPCmE3HuHdgYoL+FBiYe2IgHZBDn56oNEt7Wf2NFl+UgMoG874bg9+ojudx/l2V+T3W50xMpZqL13EfDzak0KpjVnKmS98Ol3nGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L4qK7GcLcMLHpJ6RFpTzbU",
      "input": {
        "note": "The pear is sitting between the open jaws in the right wrist view. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01L4qK7GcLcMLHpJ6RFpTzbU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4084, -0.0139, -0.0307, 0.9987, -0.017, 1.5002, 0.4427, 0.3962, -0.0288, -0.041, 0.6178]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.1751 left_yaw=-0.0008 left_pitch=-0.0332 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3688 right_y=0.0024 right_z=0.0401 right_yaw=0.0235 right_pitch=-0.0944 right_roll=-0.0026 right_gripper=0.6178\nstate[joint_eff]: [-0.0479, -1.4427, 7.0085, 1.8046, -0.0659, -0.0611, -0.0122, -0.294, -5.2034, 5.3128, 1.7021, 0.0122, 0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e827573a4b6a7cf1ea292dbdefe384d4424e4d0d1df6b31a613df18544ca721",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cf21e60cb2e08432dbb014b24291230a85923757be5c7da4af3c67d17e9c80c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bdd11d0941943fc24ff1ba153243b30aac64363638f932da67d9e93b54da40b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 9.641 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, 0.8021, 0.6132, -0.387, -0.0139, -0.0307, 0.9987, -0.0151, 1.1465, 0.6094, -0.078, -0.017, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=-0.0002 left_z=0.1805 left_yaw=-0.0008 left_pitch=-0.008 left_roll=-0.001 left_gripper=0.9987 right_x=0.3542 right_y=0.0012 right_z=0.1366 right_yaw=0.0116 right_pitch=-0.0485 right_roll=-0.0057 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.4974, 7.1863, 1.8046, -0.0611, -0.0464, -0.0171, 0.0752, -4.4923, 7.6103, 2.0537, -0.0122, 0.0366, -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]: [-0.0212, 0.8043, 0.6132, -0.4004, -0.0139, -0.0307, 0.9987, -0.017, 1.5002, 0.4427, 0.4, -0.0242, -0.0376, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1771 left_yaw=-0.0008 left_pitch=-0.0237 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3694 right_y=0.0016 right_z=0.0408 right_yaw=0.0178 right_pitch=-0.0907 right_roll=-0.0028 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.4701, 7.0632, 1.8437, -0.0317, -0.0659, -0.0122, -0.5128, -5.7368, 5.2718, 2.0733, -0.0171, -0.0562, -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]: [-0.0212, 0.8059, 0.6132, -0.4084, -0.0139, -0.0307, 0.9987, -0.017, 1.5002, 0.4427, 0.3962, -0.0288, -0.041, 0.6178]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.1751 left_yaw=-0.0008 left_pitch=-0.0332 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3688 right_y=0.0024 right_z=0.0401 right_yaw=0.0235 right_pitch=-0.0944 right_roll=-0.0026 right_gripper=0.6178\nstate[joint_eff]: [-0.0479, -1.4427, 7.0085, 1.8046, -0.0659, -0.0611, -0.0122, -0.294, -5.2034, 5.3128, 1.7021, 0.0122, 0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e827573a4b6a7cf1ea292dbdefe384d4424e4d0d1df6b31a613df18544ca721",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cf21e60cb2e08432dbb014b24291230a85923757be5c7da4af3c67d17e9c80c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdd11d0941943fc24ff1ba153243b30aac64363638f932da67d9e93b54da40b0",
        "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_018eppno5J9zcvUrzycEimgd",
      "input": {
        "note": "Grip reads 0.62, so the pear is held. Lifting and moving forward/left toward the blue bowl to check the bowl's position from above.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.03,
          "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_018eppno5J9zcvUrzycEimgd",
      "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, 0.8085, 0.6132, -0.421, -0.0139, -0.0307, 0.9987, 0.0845, 1.401, 1.124, -0.4393, 0.0322, -0.0067, 0.621]\nstate[eef_state]: left_x=0.2912 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0008 left_pitch=-0.0484 left_roll=-0.0002 left_gripper=0.9987 right_x=0.4123 right_y=0.0328 right_z=0.2011 right_yaw=0.0546 right_pitch=-0.1493 right_roll=-0.0147 right_gripper=0.621\nstate[joint_eff]: [-0.212, -1.5385, 7.0085, 1.7998, -0.0757, -0.0415, -0.0122, -0.0205, -6.4205, 9.5795, 1.7558, 0.1197, 0.2613, 0.6325]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:152e7d9bd502331cb2f4731e0176b732e2b1e90084ebbf14e08f1097eaf35f76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3431f211250060400ca7ebde16a262d76d985afdeca2dc4c50bb3d6e235902d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cdf5f498a3ed30ac538fb987e98b1007129c7023d553628258303407b1632d66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 11.83 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8043, 0.6132, -0.4004, -0.0139, -0.0307, 0.9987, -0.017, 1.5002, 0.4427, 0.4, -0.0242, -0.0376, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1771 left_yaw=-0.0008 left_pitch=-0.0237 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3694 right_y=0.0016 right_z=0.0408 right_yaw=0.0178 right_pitch=-0.0907 right_roll=-0.0028 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.4701, 7.0632, 1.8437, -0.0317, -0.0659, -0.0122, -0.5128, -5.7368, 5.2718, 2.0733, -0.0171, -0.0562, -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]: [-0.0212, 0.8059, 0.6132, -0.4084, -0.0139, -0.0307, 0.9987, -0.017, 1.5002, 0.4427, 0.3962, -0.0288, -0.041, 0.6178]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.1751 left_yaw=-0.0008 left_pitch=-0.0332 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3688 right_y=0.0024 right_z=0.0401 right_yaw=0.0235 right_pitch=-0.0944 right_roll=-0.0026 right_gripper=0.6178\nstate[joint_eff]: [-0.0479, -1.4427, 7.0085, 1.8046, -0.0659, -0.0611, -0.0122, -0.294, -5.2034, 5.3128, 1.7021, 0.0122, 0.022, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8085, 0.6132, -0.421, -0.0139, -0.0307, 0.9987, 0.0845, 1.401, 1.124, -0.4393, 0.0322, -0.0067, 0.621]\nstate[eef_state]: left_x=0.2912 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0008 left_pitch=-0.0484 left_roll=-0.0002 left_gripper=0.9987 right_x=0.4123 right_y=0.0328 right_z=0.2011 right_yaw=0.0546 right_pitch=-0.1493 right_roll=-0.0147 right_gripper=0.621\nstate[joint_eff]: [-0.212, -1.5385, 7.0085, 1.7998, -0.0757, -0.0415, -0.0122, -0.0205, -6.4205, 9.5795, 1.7558, 0.1197, 0.2613, 0.6325]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:152e7d9bd502331cb2f4731e0176b732e2b1e90084ebbf14e08f1097eaf35f76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3431f211250060400ca7ebde16a262d76d985afdeca2dc4c50bb3d6e235902d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdf5f498a3ed30ac538fb987e98b1007129c7023d553628258303407b1632d66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwgkKjgEIEhgCKkD4KKbmHY1pC04Vw6yMbXfX2vY0zvz51lZfbeWSeris97fLf7c1iLTm2TQ6tCDxrsty/B1uTlcdMhZR9IJm1yriMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZqFzNUGEgzGfbT1V3uHH1IgUVkaDIl6HgOt3ay6JfffAyIwSqwGdckBWuphwaqNNAGyauinmykys3oReM4U+A/svTWtYPm/fS051ZKCLWA4a8WcKuAHN0auWpOR58fBV030lpaZj2cp/0qziv0nGh2WUZ9mpWtN2a6VYd8RGkeijVr1++U12iUlWa7fbdyFhqRsbsbOvNdJLviwLn//jmhBhH21D156S6CNkKD9ttJY6c98bDavUaBuTtlOIhqv/OOgU3lk3Ss5x87AtTOnM5xQ/emi+jNp4QC5jgqBAyROg7fww0ibbkivnD4ecyHEuPwbWpLdTFsu+1/6Ucv/Dr1Wul298oUT26LIfho68DP/hYPREBA5VT3wkIS+ab+up0FI2pzz1SfooT7Nx17vtJZcW3cbiJOCqL8d5g97OVPYQoBx+2AcmXptGDREKpjfGv8rzUnDnft6DU49TQs0ft01OMzTIQ1J5SzxPQspuIqc48l+1jSvLFkxRz1VR4d7oMtgskrhhgXNt50Wx+6PxSFKZS4mcWSlbdzK3zBAf2zskFVq1P/ovNYQduTNaoXdYBAYk+ZcPyEIwdG7uF/TE/+/san/ICpmiOeABufVKgjiRAFiEFIYLA7lXzKaxYim4qJLgvpooS8rh6R1g0+oGlS9fAKYQrwAC1oPWQNOJNpfFSqh+HXQewLIKOwGmMzd2+y8m86X7wnot/fU5CBDLjN1pv/ad+vY9xZuIE3vgpCqU17slqOXd1TkhDokCpdGe2FI9FSOFZgs+OGxu3f/jspK0DNkVLdhl9pjdkk5As1H2wxRQUKSQgC9uxTqClzpaGatnfXyko5ZfdUGEGaW79zw3KV/DNDyIracXVQB3ig4xdLzA94hg9EGaQpEWICGffq0cy9epeaBtrGRhtb33KvbZ+aZ7XSQWPoQ3WIkh9OQWyYyv86p22gab3qAvfLUxMlLa1PI76vY9ywL8elbE4Mg9Z7c9C/JgWJlfbkIvEbevg/gUjNQ8NAjTAHhm4uxWeehO8387af1U7tiBt59pjJoCGhg2MOkXctrqxhuYh9E077luMOIv3EklJZCl62VADOPdkrJC3eORZXEhqrCCw6nofax7hl/8ylphtI0yVXs25yjZKdosgBUTF7o6oxEoF7g46e9+3IWeB6ctP7N4ocjl/f+MCkeTWJnxKX+5mfC5yqEV5pVKJSMgQ0HSz5Xm7HoUCHDCbpAXNdiuThF0ai1ARpmRsPwTygbVDa6ZHHx97BajTFLAWyoyfY+hy5J5QfH535AXpIznz5Hd+MJ6ijf+jc7kpDagvyzGBTrC0shqahypqPQ2lyrGqfLCrKOinaa9VknQjILhS5oIXonKIRuD5Mhr9MnnrODG4JFydcjLCs/UPUoUFLMyoDRL2hKD1EnXXViRWyVJj2/aINxAfqQKLLy2ooYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bb2HcE38r2zphE8BDptzB2",
      "input": {
        "note": "The blue bowl is just left of and beyond the held pear in the wrist view; nudging forward-left to centre the gripper over the bowl.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.055,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Bb2HcE38r2zphE8BDptzB2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.424, -0.0139, -0.0307, 0.9987, 0.1459, 1.5608, 1.3064, -0.5438, 0.0593, 0.0116, 0.6224]\nstate[eef_state]: left_x=0.291 left_y=-0.0001 left_z=0.1702 left_yaw=-0.0008 left_pitch=-0.0553 left_roll=-0.0 left_gripper=0.9987 right_x=0.4379 right_y=0.0574 right_z=0.1961 right_yaw=0.082 right_pitch=-0.2301 right_roll=-0.0239 right_gripper=0.6224\nstate[joint_eff]: [0.0342, -1.6068, 6.9949, 1.7411, -0.0513, -0.0415, -0.0122, -0.2393, -7.9932, 9.5111, 1.9805, 0.1441, 0.149, 0.7888]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d364731a8abf7327548ea9beb4e47956ae7d8a9a7f3c1bd9a788111586e1e8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efbae4567a23a5dbeb72cdea2d1d0e8718cf8aa1a7e9db47a5243b0a5f52208e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4ed47d7a9bad58f33865d532f511b36596409d9ae556a977dd9dd95782349cfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 7 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4084, -0.0139, -0.0307, 0.9987, -0.017, 1.5002, 0.4427, 0.3962, -0.0288, -0.041, 0.6178]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.1751 left_yaw=-0.0008 left_pitch=-0.0332 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3688 right_y=0.0024 right_z=0.0401 right_yaw=0.0235 right_pitch=-0.0944 right_roll=-0.0026 right_gripper=0.6178\nstate[joint_eff]: [-0.0479, -1.4427, 7.0085, 1.8046, -0.0659, -0.0611, -0.0122, -0.294, -5.2034, 5.3128, 1.7021, 0.0122, 0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8085, 0.6132, -0.421, -0.0139, -0.0307, 0.9987, 0.0845, 1.401, 1.124, -0.4393, 0.0322, -0.0067, 0.621]\nstate[eef_state]: left_x=0.2912 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0008 left_pitch=-0.0484 left_roll=-0.0002 left_gripper=0.9987 right_x=0.4123 right_y=0.0328 right_z=0.2011 right_yaw=0.0546 right_pitch=-0.1493 right_roll=-0.0147 right_gripper=0.621\nstate[joint_eff]: [-0.212, -1.5385, 7.0085, 1.7998, -0.0757, -0.0415, -0.0122, -0.0205, -6.4205, 9.5795, 1.7558, 0.1197, 0.2613, 0.6325]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.424, -0.0139, -0.0307, 0.9987, 0.1459, 1.5608, 1.3064, -0.5438, 0.0593, 0.0116, 0.6224]\nstate[eef_state]: left_x=0.291 left_y=-0.0001 left_z=0.1702 left_yaw=-0.0008 left_pitch=-0.0553 left_roll=-0.0 left_gripper=0.9987 right_x=0.4379 right_y=0.0574 right_z=0.1961 right_yaw=0.082 right_pitch=-0.2301 right_roll=-0.0239 right_gripper=0.6224\nstate[joint_eff]: [0.0342, -1.6068, 6.9949, 1.7411, -0.0513, -0.0415, -0.0122, -0.2393, -7.9932, 9.5111, 1.9805, 0.1441, 0.149, 0.7888]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d364731a8abf7327548ea9beb4e47956ae7d8a9a7f3c1bd9a788111586e1e8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efbae4567a23a5dbeb72cdea2d1d0e8718cf8aa1a7e9db47a5243b0a5f52208e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ed47d7a9bad58f33865d532f511b36596409d9ae556a977dd9dd95782349cfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS7AwKjgEIEhgCKkAodOV7ZN6K1PuByhHqp6sF9KUe4S2DGGmLDND/fEBVgwr2iu0ZgrjmRqEdy6c73IeDc5gU1nZzkNDOpc6nKFwHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAamFzNUGEgyhwjacD3buoHNh49EaDBi8H00pLbABd5ebjiIwt7xHWnxWO8kP1f0+Cpmgh2+q6c/mgPDPOO6uE++eRf3UgC2Y9rvp3MmTVLjJuH3yKooLIBESiuDjGbJ6XFGN2i+ex4Max7ynn0szvUZeZJSYm6ZXGHVQFEMWGo33ddGuMnfbFWoCwYEQBE0BH+5lDxoJ/Q1avJg+4vHoSbQlkVhzV0SZ1x5ro2Mxf/4cF3cvou7LGNQc/KVJ7SOyjGqOSHXMZ+uAoStSJf8zk29s6VFKc9ITpyVHXka1FWwezzM1/51EjXP0ZSXRfSHZYGthQg1F7o2bOnutUgBCT09lYI241XNgQH2kPqBaVOTs29ngul7nCGzIl0YyKQcgmrej6Swf8nMk3v7n0Ljdb6Ewo1bufwrKLvogsBARqpeA8TpyVDiXhyF04gGUbjc2WORUSsq//aQuv8bxC5I2ZWE/SGnaCStt+8svir/nvwB0YxCeowjsyki6ADGs2b0MC3MuYreFPQmc4WHb/u77N+VN8osHh4O+fopCOnsHV1mWlAz3vXKBysS5EnMYnEddz6P41SGpvVGHI/N1sHOgdZ0LlSKQ9DM/H9XhNJEb39RtMNj+jw4wZM8qpluruVFb+XX731uCg971wUXGow6LXeeTCPXLKYdi2POnSfiAaia199HYJ8v5S3u4x23cZWmbPo/NvcVAxREZjYRlu9f9x2PS7/FLLuf05t/kITdKRvLkzasBGDzX5uscbiIqZYsowUht0N+buh3Bf9Nh92zXIT/bR1tVaI0uaEDOS4CeNuxVD2NMHPVLuoUno9pm3ReUxLBvBr7p+ldM9p2WnvigsqenVqATr4Zu8eDERG9bVZWSlMvqknraZAUKI1WeCdoiEYolDOs/PhAF9uO9gzvjaI0G2d0NSVKWGkWqy0bV1fH78ZAP9t4ZVcym+2XCNuN063FiWhk9d24B5G9gy0AhaYUgiS/2eVcIKz8dZYKH7lQfcqAmAiTanj3yKabzNjdONsr7PYwxrM+M/IH4AbkGGzylxlQrb5U65r3c126MQmycB3VlEvwQjdxE0PC/dVnE0wSZWDvMV9UsfRQM9BKA9uKeIxqSiXmtI9ZhNxXMqII6b18cVbun+mABXJSTqbk9sXJ9yyg7ipcl+LhuKS+ss0rb4nlt14eoMfVGp3Z+9HX+T3aM25dj+Wp929LORP7y+5WDYDgXEv+U+a/+kP/Jn3yRGKaWQt1YrjxNb45SxjhV5F84sp9vXtjKWZG4vCnCPliSc8rzn1smRnTHwXegEqdvoRYhn+iqmCThx6EfERnXwgZpt2s+8zYu5oHt8W9mLjOATp8BKSNUtM2OqECVJ60WVl1K8RvVN66PYr1yxiu8IrLX147DM3A+BvUcDgySThZUCHVvbdZcWjD9UW5fZKrFEEVRV+UPnBVLUqFatZQjK1efcIVIe+R/8JwtAotOELPS0JG5hadw7GxaZ/dqb66daHVdITwS8xMbFKUkHZYNUjJwQN0dOhrkOZCS0MbbPqSJsvLxFEIH1V+HhrJQHkyofFyQtOXscoS0xjZ45Sqx7n4PnNSKEzZls1bipHSbqBmrpYGFiS28NBEfhDzXPaK0V7WBpT4olWMbDGggFrLgtgVzHvl4XgTjamz9Iaf8r+EBaHxNI8C6EFhVtnxnJxqKI8I+h1jYfhNiBTO6lSLgdatrJYMYF84Lg3UvkeDokNmfxV8kCasxI9rjFELeWvCrOW+qccPKoMVJCIOR2+gJmPw+qeaGyF84Eqdiv4zXYjqQVe5Jg/8khn+29vSo52+4yLSpjdWhGbAn+qBgM6c3LwUjwh1oRO3tOA31FwI45kUllPjIOD955cEujd3iYbWhstGI1+Zh3M9rW8gq1Pd8MZH1U8w/j3vBTKweqKg7gjul+Sc729JzO82cvcKVri9vzp+tFWokiz4VslrFOVeLRjZwLeKyX106KsSAM/XSIPDCjTrEXkvU150ie6zBIjwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013CPK1mj4D6mBokoGKdzDka",
      "input": {
        "note": "The bowl still sits left of the held pear in the wrist view and barely shifted, so my lateral scale was too large; moving 5 cm further left toward the bowl.",
        "targets": {
          "right_y": 0.105
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_013CPK1mj4D6mBokoGKdzDka",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6132, -0.4248, -0.0139, -0.0307, 0.9987, 0.2916, 1.6009, 1.3186, -0.5896, 0.1417, 0.0948, 0.6229]\nstate[eef_state]: left_x=0.2909 left_y=-0.0001 left_z=0.1699 left_yaw=-0.0008 left_pitch=-0.0565 left_roll=-0.0 left_gripper=0.9987 right_x=0.4253 right_y=0.1054 right_z=0.1779 right_yaw=0.1074 right_pitch=-0.2941 right_roll=-0.0379 right_gripper=0.6229\nstate[joint_eff]: [-0.0615, -1.2103, 7.1179, 1.6777, -0.0708, -0.0659, -0.0122, -0.3624, -7.2274, 9.4974, 1.7118, 0.1978, 0.1636, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f77ea16773c4a7ecbc5ce60faa70786388826e704250011d19eacfa6c1687f0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39ab5462d71f2d8227b71191df4c41e02481bec1e7c7984e63f1e0bf23a8abf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:340bae3ba7620abe0d15afc9f6233eea2e133e382256d19817bbcff420a05a78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 9.745 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8085, 0.6132, -0.421, -0.0139, -0.0307, 0.9987, 0.0845, 1.401, 1.124, -0.4393, 0.0322, -0.0067, 0.621]\nstate[eef_state]: left_x=0.2912 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0008 left_pitch=-0.0484 left_roll=-0.0002 left_gripper=0.9987 right_x=0.4123 right_y=0.0328 right_z=0.2011 right_yaw=0.0546 right_pitch=-0.1493 right_roll=-0.0147 right_gripper=0.621\nstate[joint_eff]: [-0.212, -1.5385, 7.0085, 1.7998, -0.0757, -0.0415, -0.0122, -0.0205, -6.4205, 9.5795, 1.7558, 0.1197, 0.2613, 0.6325]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.424, -0.0139, -0.0307, 0.9987, 0.1459, 1.5608, 1.3064, -0.5438, 0.0593, 0.0116, 0.6224]\nstate[eef_state]: left_x=0.291 left_y=-0.0001 left_z=0.1702 left_yaw=-0.0008 left_pitch=-0.0553 left_roll=-0.0 left_gripper=0.9987 right_x=0.4379 right_y=0.0574 right_z=0.1961 right_yaw=0.082 right_pitch=-0.2301 right_roll=-0.0239 right_gripper=0.6224\nstate[joint_eff]: [0.0342, -1.6068, 6.9949, 1.7411, -0.0513, -0.0415, -0.0122, -0.2393, -7.9932, 9.5111, 1.9805, 0.1441, 0.149, 0.7888]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6132, -0.4248, -0.0139, -0.0307, 0.9987, 0.2916, 1.6009, 1.3186, -0.5896, 0.1417, 0.0948, 0.6229]\nstate[eef_state]: left_x=0.2909 left_y=-0.0001 left_z=0.1699 left_yaw=-0.0008 left_pitch=-0.0565 left_roll=-0.0 left_gripper=0.9987 right_x=0.4253 right_y=0.1054 right_z=0.1779 right_yaw=0.1074 right_pitch=-0.2941 right_roll=-0.0379 right_gripper=0.6229\nstate[joint_eff]: [-0.0615, -1.2103, 7.1179, 1.6777, -0.0708, -0.0659, -0.0122, -0.3624, -7.2274, 9.4974, 1.7118, 0.1978, 0.1636, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f77ea16773c4a7ecbc5ce60faa70786388826e704250011d19eacfa6c1687f0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39ab5462d71f2d8227b71191df4c41e02481bec1e7c7984e63f1e0bf23a8abf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:340bae3ba7620abe0d15afc9f6233eea2e133e382256d19817bbcff420a05a78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISqwUKjgEIEhgCKkBhqc3JHKy9eWMq8kd1ySWJqOjyJOJFaPX7Qm0FpEREaDWTJIyrjJvmov9Nc+6BtFha3udOHey8OAK617n7OCm+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbKFzNUGEgwEg4+Z0GAlM3i05FIaDPduSx/gFh2qm0IUjCIwNFxCoxzABjZSQYRgqaC2veYQnzSQLy1Zs0SHw8Q1slmL3quZjFERgWaffoTByVeYKskDQOPcXBSbK9TbSvw9JGDaKmFx90ZE3glAnVIb9Idj5qg4pFdUiY61A5HtIZO2v2uo5UBN60l9yYxxRj6VT4TyiO/lNHaqNNBEL0vcZhGb+DK3P1PXEwu2fLWzdmqgBbRJB9sKoD8T4pYh+IBD1EWveHwLDyNrNlIkR8ZOfDl3KudMnHRuRaE3oMRnVS2G/qT19qvoAeUCFFZUPoSzjkEXNlKnA5w/ufrgrhadZu1fBIYq7lRqGDroCI1/xhvkpg3E8wIgJuXZNMWedYSOizDf2+85tV/FFF7fvN4Rv/p45rMBcdg3HOOkmDbWmcrgC0S585QWK28xJRzTDR4gMkKJuX11/Qliik/639iv/Xiv+3NGHZ1CW3rczqqPGVb5vdum/LaMlODfpbWybqmV1urq8IKGl3o/aPxgaQ69vXCqOL4wr1x2bWVznmcRpIxGkGDSNXOodmeCLnYfdgssNXoi6noZSFJRq4pVm7M6XxkJxi7WSjs7TOIIOOwM9i/DtUIk8Ts71prnYYkueUONWZcfxku+K4io4OqOaHZmx3iPbjH78elf1shk2YAG1zptUxxnJOidgIBwqB5V6kLuCBd7TCH0ZvonB0MVYxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011ZhHYidQcD2RkZdv9B5gNd",
      "input": {
        "note": "Overshot: the blue bowl now sits to the right of the pear, so centring back ~2.7 cm and pushing a bit further forward to hover over the bowl.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.078,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011ZhHYidQcD2RkZdv9B5gNd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6132, -0.4316, -0.0135, -0.0307, 0.9987, 0.186, 1.7451, 1.5265, -0.7124, 0.0734, 0.0071, 0.6256]\nstate[eef_state]: left_x=0.29 left_y=-0.0002 left_z=0.1678 left_yaw=-0.0011 left_pitch=-0.066 left_roll=-0.0001 left_gripper=0.9987 right_x=0.4587 right_y=0.0768 right_z=0.18 right_yaw=0.1093 right_pitch=-0.3619 right_roll=-0.048 right_gripper=0.6256\nstate[joint_eff]: [-0.1162, -1.5658, 7.0359, 1.7705, -0.022, -0.0366, -0.0122, -0.2393, -9.4154, 9.4154, 1.6728, -0.0024, 0.0317, 0.6032]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d22aa83f8d390f8f32d16220f5dc790505897fb0c2c3e40afbc19cc688dfb292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f4f0ec6df393b8477529e7ffab3c3a5f5c564897e7aff2fb6b33802c278c06b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:886817f29998c07834b171098796bdd376494a334681abf65fb2198245643046",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 3.49 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.424, -0.0139, -0.0307, 0.9987, 0.1459, 1.5608, 1.3064, -0.5438, 0.0593, 0.0116, 0.6224]\nstate[eef_state]: left_x=0.291 left_y=-0.0001 left_z=0.1702 left_yaw=-0.0008 left_pitch=-0.0553 left_roll=-0.0 left_gripper=0.9987 right_x=0.4379 right_y=0.0574 right_z=0.1961 right_yaw=0.082 right_pitch=-0.2301 right_roll=-0.0239 right_gripper=0.6224\nstate[joint_eff]: [0.0342, -1.6068, 6.9949, 1.7411, -0.0513, -0.0415, -0.0122, -0.2393, -7.9932, 9.5111, 1.9805, 0.1441, 0.149, 0.7888]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6132, -0.4248, -0.0139, -0.0307, 0.9987, 0.2916, 1.6009, 1.3186, -0.5896, 0.1417, 0.0948, 0.6229]\nstate[eef_state]: left_x=0.2909 left_y=-0.0001 left_z=0.1699 left_yaw=-0.0008 left_pitch=-0.0565 left_roll=-0.0 left_gripper=0.9987 right_x=0.4253 right_y=0.1054 right_z=0.1779 right_yaw=0.1074 right_pitch=-0.2941 right_roll=-0.0379 right_gripper=0.6229\nstate[joint_eff]: [-0.0615, -1.2103, 7.1179, 1.6777, -0.0708, -0.0659, -0.0122, -0.3624, -7.2274, 9.4974, 1.7118, 0.1978, 0.1636, 0.7985]\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]: [-0.0212, 0.8154, 0.6132, -0.4316, -0.0135, -0.0307, 0.9987, 0.186, 1.7451, 1.5265, -0.7124, 0.0734, 0.0071, 0.6256]\nstate[eef_state]: left_x=0.29 left_y=-0.0002 left_z=0.1678 left_yaw=-0.0011 left_pitch=-0.066 left_roll=-0.0001 left_gripper=0.9987 right_x=0.4587 right_y=0.0768 right_z=0.18 right_yaw=0.1093 right_pitch=-0.3619 right_roll=-0.048 right_gripper=0.6256\nstate[joint_eff]: [-0.1162, -1.5658, 7.0359, 1.7705, -0.022, -0.0366, -0.0122, -0.2393, -9.4154, 9.4154, 1.6728, -0.0024, 0.0317, 0.6032]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d22aa83f8d390f8f32d16220f5dc790505897fb0c2c3e40afbc19cc688dfb292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f4f0ec6df393b8477529e7ffab3c3a5f5c564897e7aff2fb6b33802c278c06b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:886817f29998c07834b171098796bdd376494a334681abf65fb2198245643046",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS8QoKjgEIEhgCKkAEeFhAAMRtNAc2lFLlDJOmY5p8FM65gfNPqXRVqatzt7Kh5/ta0N7aS1qkgjL3f85DDe62PVaB5XtKTM1qwbJKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcCFzNUGEgwVvEvseYbQBixm74saDAb8Xo4yALtfVUaHwSIweb7P2Gt0gorV4II7eK91IDTdZcwSYeSf/Y1tPWItFzvcWBKaJbwdpjBDexQZZipCKo8JkjlS168jSFk5/BTBawNtPkuUQKS5+k/cD6xMrj+/XoYEqYSKCqz8sqpoGhU0LYuUtGoMaUyRAB1E80wys+gE5VyFFA7Zup0v9yPcncqdZFmILwz8Ac4n8q9NwgPU1ffYhULvisio0oaJEobxeZqeDP2dANClZ/cTwoX5CeQbrzEzkoYNuHaiNZWB4inYqA6V29mQngiYC38cnRu31u51Hy3dBXTirGtwVhjdR6oaYyrjYhcKQx+z3tFHLL+drUKypAqhfAoXz4C5kO0fagIQdNNsxCbNNglXOUCADam1DHhffxg1QLJH3G9n/Czoq7NU4XF59WUoqkApDVYyumyWW5FEFghlMNt7D8w5YH1/38dySe/hjnYhSMa1VFmUYpjUl+7USjKsx3Amjp8h8B9DriPId1kHmsa1ePhhaU1mJz2xiHVJf/psudVwAl/I5D3/WeWvPe+Ti8hKv7BsNJBRR7V1se0V4QawBosw4gKVTuLI1u2VNq+TcAloazViHnupbJgWD08I536Sxe7ZSqLoKqhd3cr1Rt/h6GgtDdVrYSl5yC/p2CvPgfsia6/THLvO3rDDgOBvCMG+QGcaALRcL/X8CtIHbtDnIHixfgef8ynxiXGH3RGDCNy22Zw47gDjFrm2WJJ8RzV/gBw+dL0ItkMBY2YTiLKee1TnLKGo2n3p7bgkRz0uCqZQT9Z/ryWsm8l3VXHLJT86SNkdcxJvp9LYhfEu8I0ziuUrPIbfIl1d4sSAeVwL44LGHMB4RD9VmuodeoKv8oSUHX5lNs/blpWsbmyf7pBhXbd8rGinXxYmOY5Q6uKYLMoReNB+GN9k8muoAsoamxv4OE3RJnb4swdY34079jCVfsQSMya+VamsJzEVhg9D+TjKyr9d1ScJqAdLR/tsxEgaaTUKBmizFzyJhB3VnJUcV87thXweyUt6EEpPR/kgTacQz1PoQpkPaFkBaJg3xh3nmJYHrRcYAe9SWN7M695dog4qBjuL2w1/CQBMo2irrn0Kf9J37oSyULomcHn0zDLo3/UeLErjvYj5O9DRMeo/FMklMmqSiMDigF7Fz8DrneuM47XkZmXq1mM0abrCWb8pMpHoWr1NoXUGgEplUnX5QlGHYidfq1lwWbZ1eBsnnPW4i4pPq0y04GvIrzRAiRa9WMvnd7uubHbe9/qvCP81moJEhZV461r66ROq98wnUSqgzmzVVySZqAOMZ7G+8+krVd6mGRNJcW9PlArGhmXb2P3C1266jzhy6ANcYV3q1ZDq3InY7vPDhUevm1DPvu1gC9DAnkJXrvXaDdOIO4ecQnaHL3c12pp/Aa/1nBcJ80h0Eye2ZQ+Te5LXLzVgXncfWsb7TkyjG/MsW5cBu/ukVuWCBhbBP/yHiyUoEbQf0qL0uVQmps71PLfNc0D3QDdzy4mOj1wDZlywB/8F6Y/wwzmiWHgdqmzAGAA1eWGeqTjRdrH33IkX70Dcq1Ek/2cC9Cli88yWIUmpnzx0VAr47mo02fkKTx+d3n6KpikFUy4JJknEoZyZu5cA/tdr86Aa0egPxdKBGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014q1PPbZYv5Uo5q5fB2B5n4",
      "input": {
        "note": "The blue bowl rim is now directly behind/around the held pear in the wrist view, so the gripper is roughly over it; lowering to 10 cm before releasing.",
        "targets": {
          "right_x": 0.48,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_014q1PPbZYv5Uo5q5fB2B5n4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6132, -0.4339, -0.0139, -0.0307, 0.9987, 0.1791, 1.8603, 1.356, -0.5129, 0.0731, 0.0059, 0.6266]\nstate[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1674 left_yaw=-0.0008 left_pitch=-0.0683 left_roll=0.0002 left_gripper=0.9987 right_x=0.4625 right_y=0.0743 right_z=0.0898 right_yaw=0.1006 right_pitch=-0.4479 right_roll=-0.0556 right_gripper=0.6266\nstate[joint_eff]: [-0.0479, -1.347, 6.9949, 1.7167, -0.0366, -0.0366, -0.0122, -0.2667, -9.853, 6.6803, 1.7021, -0.0659, -0.1245, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37a8641f0af59b33f24564e08a12ab421e7f63bc9295f4bed3bfd5745e840294",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0127a714545a2fdc0319fce0481356473a95323fd3833e3f3cbce2c3e9c97cce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:747b572884321382b91a418359e753b0d4cf0e7a16b5f38eef064cdf3f5014c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 7.307 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6132, -0.4248, -0.0139, -0.0307, 0.9987, 0.2916, 1.6009, 1.3186, -0.5896, 0.1417, 0.0948, 0.6229]\nstate[eef_state]: left_x=0.2909 left_y=-0.0001 left_z=0.1699 left_yaw=-0.0008 left_pitch=-0.0565 left_roll=-0.0 left_gripper=0.9987 right_x=0.4253 right_y=0.1054 right_z=0.1779 right_yaw=0.1074 right_pitch=-0.2941 right_roll=-0.0379 right_gripper=0.6229\nstate[joint_eff]: [-0.0615, -1.2103, 7.1179, 1.6777, -0.0708, -0.0659, -0.0122, -0.3624, -7.2274, 9.4974, 1.7118, 0.1978, 0.1636, 0.7985]\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]: [-0.0212, 0.8154, 0.6132, -0.4316, -0.0135, -0.0307, 0.9987, 0.186, 1.7451, 1.5265, -0.7124, 0.0734, 0.0071, 0.6256]\nstate[eef_state]: left_x=0.29 left_y=-0.0002 left_z=0.1678 left_yaw=-0.0011 left_pitch=-0.066 left_roll=-0.0001 left_gripper=0.9987 right_x=0.4587 right_y=0.0768 right_z=0.18 right_yaw=0.1093 right_pitch=-0.3619 right_roll=-0.048 right_gripper=0.6256\nstate[joint_eff]: [-0.1162, -1.5658, 7.0359, 1.7705, -0.022, -0.0366, -0.0122, -0.2393, -9.4154, 9.4154, 1.6728, -0.0024, 0.0317, 0.6032]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6132, -0.4339, -0.0139, -0.0307, 0.9987, 0.1791, 1.8603, 1.356, -0.5129, 0.0731, 0.0059, 0.6266]\nstate[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1674 left_yaw=-0.0008 left_pitch=-0.0683 left_roll=0.0002 left_gripper=0.9987 right_x=0.4625 right_y=0.0743 right_z=0.0898 right_yaw=0.1006 right_pitch=-0.4479 right_roll=-0.0556 right_gripper=0.6266\nstate[joint_eff]: [-0.0479, -1.347, 6.9949, 1.7167, -0.0366, -0.0366, -0.0122, -0.2667, -9.853, 6.6803, 1.7021, -0.0659, -0.1245, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37a8641f0af59b33f24564e08a12ab421e7f63bc9295f4bed3bfd5745e840294",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0127a714545a2fdc0319fce0481356473a95323fd3833e3f3cbce2c3e9c97cce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:747b572884321382b91a418359e753b0d4cf0e7a16b5f38eef064cdf3f5014c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2wMKjgEIEhgCKkBoCms3hqKz6UPtx3YCY7hUFeEvq7nAOsxn/weba1fx0aDQJT9ZzZzQKTKmiurc/YwDE//85Zc/PBxIXRSs9nSBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcSFzNUGEgx0xKxSiQ6gwbxZcL0aDJlWeLhOZBSR9QbvWiIwDqaCRvGUgb/gBb9HtlTgsETC6zZoqmMuwRQYrv1hqOEcdBfOkuHCdlN/sOX0ydPQKvkBwyld57uRpSMrNcwf4qnAHfzMskm1oUDRRVriRmbnfbRkuqjFEtqPoEwT6X665IrdtGS79jaMbr9KXOEMP7cZ97mYCderYON7YPoKKFGboIN1rQkQwsjDalkrLaD+1xIrohy6gd9dPyN0ZgRgIgPT/3h84oZZVwNKlhALZdpPvewBzQwtaKi3NZ1SfpSNaUfIwUfjjt6sRfYsTfqNAAT3KLY6FAHwTel+GOh2fSA8kIGMBKoF3TcyRd3TKhra8CqXIFmqx/rvvc2yBrZnleueqCikCQa7drb557cRJMviwC32HZylDSaQ1AnKg2FxbMMIfKw7X0OdAH7XGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KNFs8LNktUCZ2LsyQKpSeB",
      "input": {
        "note": "The pear is centred over the open blue bowl in the wrist view; releasing it into the bowl.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KNFs8LNktUCZ2LsyQKpSeB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.82, 0.6132, -0.4427, -0.0139, -0.0307, 0.9987, 0.1791, 1.8713, 1.3457, -0.5072, 0.0734, -0.0074, 0.9957]\nstate[eef_state]: left_x=0.2887 left_y=-0.0001 left_z=0.1644 left_yaw=-0.0008 left_pitch=-0.0816 left_roll=0.0005 left_gripper=0.9987 right_x=0.4605 right_y=0.0739 right_z=0.0818 right_yaw=0.1076 right_pitch=-0.4639 right_roll=-0.065 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -1.7436, 6.9949, 1.7363, -0.0366, -0.0513, -0.0122, -0.2803, -10.7692, 7.2137, 1.1551, -0.0317, 0.105, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6db5004d9fab92786bbad9e0621e3840ac898edf10ca40c9b4039530318bf70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3801b2c793fac255ee8eda2e1b92fe4b37eb5ad1bd4e77e5a70c1c309c6f51db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fc68816472a5f652316427a342ec4c9ffeb86114f146635b05d2588839076377",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 6.523 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6132, -0.4316, -0.0135, -0.0307, 0.9987, 0.186, 1.7451, 1.5265, -0.7124, 0.0734, 0.0071, 0.6256]\nstate[eef_state]: left_x=0.29 left_y=-0.0002 left_z=0.1678 left_yaw=-0.0011 left_pitch=-0.066 left_roll=-0.0001 left_gripper=0.9987 right_x=0.4587 right_y=0.0768 right_z=0.18 right_yaw=0.1093 right_pitch=-0.3619 right_roll=-0.048 right_gripper=0.6256\nstate[joint_eff]: [-0.1162, -1.5658, 7.0359, 1.7705, -0.022, -0.0366, -0.0122, -0.2393, -9.4154, 9.4154, 1.6728, -0.0024, 0.0317, 0.6032]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6132, -0.4339, -0.0139, -0.0307, 0.9987, 0.1791, 1.8603, 1.356, -0.5129, 0.0731, 0.0059, 0.6266]\nstate[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1674 left_yaw=-0.0008 left_pitch=-0.0683 left_roll=0.0002 left_gripper=0.9987 right_x=0.4625 right_y=0.0743 right_z=0.0898 right_yaw=0.1006 right_pitch=-0.4479 right_roll=-0.0556 right_gripper=0.6266\nstate[joint_eff]: [-0.0479, -1.347, 6.9949, 1.7167, -0.0366, -0.0366, -0.0122, -0.2667, -9.853, 6.6803, 1.7021, -0.0659, -0.1245, 0.6764]\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]: [-0.0212, 0.82, 0.6132, -0.4427, -0.0139, -0.0307, 0.9987, 0.1791, 1.8713, 1.3457, -0.5072, 0.0734, -0.0074, 0.9957]\nstate[eef_state]: left_x=0.2887 left_y=-0.0001 left_z=0.1644 left_yaw=-0.0008 left_pitch=-0.0816 left_roll=0.0005 left_gripper=0.9987 right_x=0.4605 right_y=0.0739 right_z=0.0818 right_yaw=0.1076 right_pitch=-0.4639 right_roll=-0.065 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -1.7436, 6.9949, 1.7363, -0.0366, -0.0513, -0.0122, -0.2803, -10.7692, 7.2137, 1.1551, -0.0317, 0.105, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6db5004d9fab92786bbad9e0621e3840ac898edf10ca40c9b4039530318bf70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3801b2c793fac255ee8eda2e1b92fe4b37eb5ad1bd4e77e5a70c1c309c6f51db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc68816472a5f652316427a342ec4c9ffeb86114f146635b05d2588839076377",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoAYKjgEIEhgCKkCcp+KsKWx8z1fOm3KLqyeXf5zIRapXW035Tgr3QzFCRT6QCU+42OV+Zz2w7yY3Mb91mg+gCu82czNOf8Bl/MbQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcuFzNUGEgzmsCuTcsLY8ujfVs0aDCr3Pg6sUE+gExR6bCIwYNEA6SJ1cEJj8Np8vnNb+6VD6MlRkkghad6LaDfgF2q59m5AAPf+vciey5mN4QX0Kr4E6qN8fxNCekVRbsJzAe9vgiE64rlgSPZ6xLOXic0zDiJ/H2D+yqxYCUKxhQejGyIrqbKR8vhbeGU/q6FhndgZReUIoFyPSdQ26jhMjRxFpLZGLhZcxWC7mawtmbsxMyADc3auRdo9r3pXBMVlordauIhRsZXFC0cOww4G8G4niRKyRaxbT3LYtzinX1BWQ+E+BeoDFI8Q+Hk2ZBr56Rpp/Ajxm2LgtZ+TSxSYJJ3ehFmHU0tUK2gqaZkldusmY29MIbau6ShThYoIMj9CgWx1504r8JtY5b/yx2uNEGYuB9IdHaICh4PwZrl5EPAnFeHEVCJ9HMKCt8hcd2PlKJcYs8hNdbz9epT1nJgnEedHysqxrQF3B4CpVHuBaU0liN+JlYpmcsRABJaYh7WghzK4W5wwB7X7QGRL6Ryg0LmTDrq4uTdVqV0MGZGp2HVaYxbyijqvXOVsCVBqTWb7IjsoIGiGrzt6ZVBzmoNfmNnhESd7Ghuyqzbyw60GfhYgCr5gz449JTvYhhOy0nR2oRvwmrzW+2e/hEOdCSr4Fq6qWA8pfXPnnw4o9MR/INSxy3ui9uB0QYTAdfl+SRe9Mhb7Hs9hBG2ZRtR3bl419nctnCvydTMTkAmCjddMo6d3CvgTwHBntdb5CzHaq9rtKfDFPyZUzGxoqiic7tpVM/Y0+juG1hm0WOexEIOsZjYXWDegrxDIbhqvGBcbwqv0CtgR5A/JMm6OMt7XjDHtyvThScFTdm3Vg9alYyT16Yg//xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EPUQrGVMkRZRQPzMopBqv9",
      "input": {
        "note": "The pear is now resting inside the blue bowl. Moving left toward the yellow lemon, which appears ~8 cm to the left of the bowl, to line up a grasp.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.15,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01EPUQrGVMkRZRQPzMopBqv9",
      "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, 0.8238, 0.6132, -0.4496, -0.0139, -0.0307, 0.9987, 0.3702, 1.8767, 1.597, -0.7734, 0.1493, 0.1181, 0.9965]\nstate[eef_state]: left_x=0.2878 left_y=-0.0 left_z=0.162 left_yaw=-0.0008 left_pitch=-0.0923 left_roll=0.0007 left_gripper=0.9987 right_x=0.4488 right_y=0.1499 right_z=0.1412 right_yaw=0.151 right_pitch=-0.4697 right_roll=-0.069 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -1.7026, 6.9675, 1.7705, -0.0513, -0.0024, -0.0122, 0.1436, -9.0598, 8.3214, 1.1111, 0.2027, 0.3101, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e797ff78cad4105f840ed790488ee65e24d52ef3a9e4553f7c7de70f8aa3843a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d4a229326212f6bfaebbebd67bc9e61f8b8cfe0f977c029f22789d4bd30bf00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a32f7b5c97e970625b8825b20f27e3b6f728b14da807ccba47667b750ed2d7c5",
        "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 · 3.831 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6132, -0.4339, -0.0139, -0.0307, 0.9987, 0.1791, 1.8603, 1.356, -0.5129, 0.0731, 0.0059, 0.6266]\nstate[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1674 left_yaw=-0.0008 left_pitch=-0.0683 left_roll=0.0002 left_gripper=0.9987 right_x=0.4625 right_y=0.0743 right_z=0.0898 right_yaw=0.1006 right_pitch=-0.4479 right_roll=-0.0556 right_gripper=0.6266\nstate[joint_eff]: [-0.0479, -1.347, 6.9949, 1.7167, -0.0366, -0.0366, -0.0122, -0.2667, -9.853, 6.6803, 1.7021, -0.0659, -0.1245, 0.6764]\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]: [-0.0212, 0.82, 0.6132, -0.4427, -0.0139, -0.0307, 0.9987, 0.1791, 1.8713, 1.3457, -0.5072, 0.0734, -0.0074, 0.9957]\nstate[eef_state]: left_x=0.2887 left_y=-0.0001 left_z=0.1644 left_yaw=-0.0008 left_pitch=-0.0816 left_roll=0.0005 left_gripper=0.9987 right_x=0.4605 right_y=0.0739 right_z=0.0818 right_yaw=0.1076 right_pitch=-0.4639 right_roll=-0.065 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -1.7436, 6.9949, 1.7363, -0.0366, -0.0513, -0.0122, -0.2803, -10.7692, 7.2137, 1.1551, -0.0317, 0.105, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8238, 0.6132, -0.4496, -0.0139, -0.0307, 0.9987, 0.3702, 1.8767, 1.597, -0.7734, 0.1493, 0.1181, 0.9965]\nstate[eef_state]: left_x=0.2878 left_y=-0.0 left_z=0.162 left_yaw=-0.0008 left_pitch=-0.0923 left_roll=0.0007 left_gripper=0.9987 right_x=0.4488 right_y=0.1499 right_z=0.1412 right_yaw=0.151 right_pitch=-0.4697 right_roll=-0.069 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -1.7026, 6.9675, 1.7705, -0.0513, -0.0024, -0.0122, 0.1436, -9.0598, 8.3214, 1.1111, 0.2027, 0.3101, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e797ff78cad4105f840ed790488ee65e24d52ef3a9e4553f7c7de70f8aa3843a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d4a229326212f6bfaebbebd67bc9e61f8b8cfe0f977c029f22789d4bd30bf00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a32f7b5c97e970625b8825b20f27e3b6f728b14da807ccba47667b750ed2d7c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrwYKjgEIEhgCKkBOHDbTu/19L/3boHkCJvb1yvshoHKvPFIhZnV92TGzlyDc+3JK5YcgaAREI+stBolCepo6HMyG8g3YD0laRRFkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdOFzNUGEgzjKMLJOt+8NCgjQFoaDJx2XkmJEugeGPFeSyIwXV4JwbIZNaHOVGwbHFU/kaQpZYTtS3W8ShNUJpJg4li4P+1HTqtDxJeC5nmyoDsbKs0EDMWVmogwz02j383KHQtVmMscAJvvFCJbR+rfpNWdQyAAvtBxHO2m/7JExft0r3fr1zNlN8u4iW/4IV59Ze4KUQfCJNX78zdgOfbraFzeF7Jld1iWEn85iL3Rg8/tS+3c5hgG/v9n30Pcrr5ESOipUA2cjYw54BnJpiX1HbPA6qLAIflLCIECjLS+rd3YFLzSrj+WZjjR96s/xjUPoSMdVo6UxiMthwErSWaAbQaW2AvLRqlBcT5PAfylzwGXhtOFXK8Cz6Yuu7MhdxSRgSjOs5+p995xWOAYzQSY2wrIQbFysORNYaoIIn38QD893DlOCqEJzzm8ybN+tgkzuU7FSm6w35CoGbJJsqZwOWM7EPJYgbNgkPTG/KGpgqOXLxQE+2G/9ZNpe+iId0dos+zpICp12Xwm8Nog/GPiK+gdSLykhe0uDZ/bJkWaOFfjUM95NhT2qU57/MREt0BDmUa8BFuN+ioRA0fOU6NkGFwOtg/0uTiPi1C5XsKxbi2H7iHCEIgGcy14E4qwQERMHvAqweeEALDlY/MnNsaEaCI6WcOmHOukQyrjDa2xIEBP4ff7e6lTjKwAjQOj00XTcJYlOBVDE1p1EykXUbXRXd393e9HBT3OpWxU4R7x0OYYmnALYsVnlbFeGIKhKZGCWR0MpLNdfFQm9znh9PHm/YxuWxn84MuJzkWqE3kzTmeG9N4bBmSDjUxrbZ6h4e+qmJgei0n+idKRJVQKGSzPz0q/eGEeTdBugTrrAP72/xJI9dg2u++EC2A3hDjsIo9WBBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L9Gn7iSJVu6JMSpDaPnRsG",
      "input": {
        "note": "The yellow lemon is nearly on the jaw column, just slightly left and a touch beyond the fingertips; descending to grasp height over it.",
        "targets": {
          "right_x": 0.465,
          "right_y": 0.16,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01L9Gn7iSJVu6JMSpDaPnRsG",
      "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, 0.8257, 0.6132, -0.4534, -0.0135, -0.0307, 0.9987, 0.3767, 2.0174, 1.4029, -0.4843, 0.1524, 0.123, 0.9965]\nstate[eef_state]: left_x=0.2873 left_y=-0.0001 left_z=0.1608 left_yaw=-0.0011 left_pitch=-0.098 left_roll=0.0006 left_gripper=0.9987 right_x=0.4549 right_y=0.155 right_z=0.0401 right_yaw=0.1461 right_pitch=-0.5135 right_roll=-0.0808 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.5248, 7.2137, 1.6679, -0.0464, -0.0024, -0.0122, 0.1983, -9.9897, 5.6821, 1.1941, 0.0366, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62bbe7dc61c98d44069037234e33f6fb1078c54d6a514b2e6f6ccebafca81c8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:699c515f1224d7c10f6b8785d1bce435a525e906e0b083ad0382b3e40db5e5c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9cee02834f2bc81122d2ea49a5f282a125d0a7ded62e6ecf1d867249f427104",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 3.654 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.82, 0.6132, -0.4427, -0.0139, -0.0307, 0.9987, 0.1791, 1.8713, 1.3457, -0.5072, 0.0734, -0.0074, 0.9957]\nstate[eef_state]: left_x=0.2887 left_y=-0.0001 left_z=0.1644 left_yaw=-0.0008 left_pitch=-0.0816 left_roll=0.0005 left_gripper=0.9987 right_x=0.4605 right_y=0.0739 right_z=0.0818 right_yaw=0.1076 right_pitch=-0.4639 right_roll=-0.065 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -1.7436, 6.9949, 1.7363, -0.0366, -0.0513, -0.0122, -0.2803, -10.7692, 7.2137, 1.1551, -0.0317, 0.105, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8238, 0.6132, -0.4496, -0.0139, -0.0307, 0.9987, 0.3702, 1.8767, 1.597, -0.7734, 0.1493, 0.1181, 0.9965]\nstate[eef_state]: left_x=0.2878 left_y=-0.0 left_z=0.162 left_yaw=-0.0008 left_pitch=-0.0923 left_roll=0.0007 left_gripper=0.9987 right_x=0.4488 right_y=0.1499 right_z=0.1412 right_yaw=0.151 right_pitch=-0.4697 right_roll=-0.069 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -1.7026, 6.9675, 1.7705, -0.0513, -0.0024, -0.0122, 0.1436, -9.0598, 8.3214, 1.1111, 0.2027, 0.3101, 0.0659]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8257, 0.6132, -0.4534, -0.0135, -0.0307, 0.9987, 0.3767, 2.0174, 1.4029, -0.4843, 0.1524, 0.123, 0.9965]\nstate[eef_state]: left_x=0.2873 left_y=-0.0001 left_z=0.1608 left_yaw=-0.0011 left_pitch=-0.098 left_roll=0.0006 left_gripper=0.9987 right_x=0.4549 right_y=0.155 right_z=0.0401 right_yaw=0.1461 right_pitch=-0.5135 right_roll=-0.0808 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.5248, 7.2137, 1.6679, -0.0464, -0.0024, -0.0122, 0.1983, -9.9897, 5.6821, 1.1941, 0.0366, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62bbe7dc61c98d44069037234e33f6fb1078c54d6a514b2e6f6ccebafca81c8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:699c515f1224d7c10f6b8785d1bce435a525e906e0b083ad0382b3e40db5e5c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9cee02834f2bc81122d2ea49a5f282a125d0a7ded62e6ecf1d867249f427104",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1AMKjgEIEhgCKkB2GfhIAopT+/bT7oZUK7iIs8diWMG9TvKa7+ZClNbd7TFBnpaiUBeeLBt6e9HjaeoSuCRUDtY9UzPkL1Yo4S7uMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdiFzNUGEgwQbySAQPK5L/XW8UwaDEUV5WiMBPsQ5B0LqCIwg30SdaGMAiFVNXwKcn+VCs0oJB7x4yl8OlQFYrm/dSWjhaQkEbSdwE1x+AWoPbcEKvIBZ/qKvbExPTIGeIa2548KDp4C88f1SdKvySsvPenk7fBlb6RKM8eTZhOxNcMvnYZhgbJmzpTUy4u8BG7pk14vp07320tZm4ZaRYp3OD+BCOLCNy0gSbiPocFjM5OfxouUqwDBK9UApr0zgN+h8TzQYgur8BmYsypNIiJ22uXNIrhBJOTtzsyUjNptFtFp2DI5UKt3ALXVLt7CeJ/0b2VdMoxiiLtVM6ZaXw76uLsPNUFVzEt8yWkj6/W6d2gfxELbK0hhcyQkbJFAO8+MXHEwSS/2ovntKw+wpE4+Dn7YZj6d25/AAtmtCBKVQBlv3V8NawAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ABosgqvvitfcCRpm7GLg1i",
      "input": {
        "note": "The lemon fills the bottom of the wrist view centred on the jaw column; closing to grasp it.",
        "targets": {
          "right_gripper": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01ABosgqvvitfcCRpm7GLg1i",
      "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, 0.8257, 0.6132, -0.4538, -0.0139, -0.0307, 0.9987, 0.3767, 2.0422, 1.3933, -0.4808, 0.1524, 0.1196, 0.4677]\nstate[eef_state]: left_x=0.2873 left_y=-0.0 left_z=0.1607 left_yaw=-0.0008 left_pitch=-0.0984 left_roll=0.0008 left_gripper=0.9987 right_x=0.451 right_y=0.1534 right_z=0.0258 right_yaw=0.1441 right_pitch=-0.5438 right_roll=-0.0908 right_gripper=0.4677\nstate[joint_eff]: [-0.1299, -1.388, 6.9812, 1.6679, -0.0317, -0.0366, -0.0122, -0.1299, -12.9709, 6.7761, 1.0672, -0.0073, -0.0415, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2902dbd75ee35d82ac1ef1b29978c1e3b6c4a932cc9885b944ed794e03d50406",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d820b4f8aec34859b0256e68c931513bab621a0617cd29e715fc98f68d746f8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:629fe239139a9eb0b04880619c6ecbc376056bf9240b9e387caab5cd4175e120",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 9.73 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8238, 0.6132, -0.4496, -0.0139, -0.0307, 0.9987, 0.3702, 1.8767, 1.597, -0.7734, 0.1493, 0.1181, 0.9965]\nstate[eef_state]: left_x=0.2878 left_y=-0.0 left_z=0.162 left_yaw=-0.0008 left_pitch=-0.0923 left_roll=0.0007 left_gripper=0.9987 right_x=0.4488 right_y=0.1499 right_z=0.1412 right_yaw=0.151 right_pitch=-0.4697 right_roll=-0.069 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -1.7026, 6.9675, 1.7705, -0.0513, -0.0024, -0.0122, 0.1436, -9.0598, 8.3214, 1.1111, 0.2027, 0.3101, 0.0659]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8257, 0.6132, -0.4534, -0.0135, -0.0307, 0.9987, 0.3767, 2.0174, 1.4029, -0.4843, 0.1524, 0.123, 0.9965]\nstate[eef_state]: left_x=0.2873 left_y=-0.0001 left_z=0.1608 left_yaw=-0.0011 left_pitch=-0.098 left_roll=0.0006 left_gripper=0.9987 right_x=0.4549 right_y=0.155 right_z=0.0401 right_yaw=0.1461 right_pitch=-0.5135 right_roll=-0.0808 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.5248, 7.2137, 1.6679, -0.0464, -0.0024, -0.0122, 0.1983, -9.9897, 5.6821, 1.1941, 0.0366, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8257, 0.6132, -0.4538, -0.0139, -0.0307, 0.9987, 0.3767, 2.0422, 1.3933, -0.4808, 0.1524, 0.1196, 0.4677]\nstate[eef_state]: left_x=0.2873 left_y=-0.0 left_z=0.1607 left_yaw=-0.0008 left_pitch=-0.0984 left_roll=0.0008 left_gripper=0.9987 right_x=0.451 right_y=0.1534 right_z=0.0258 right_yaw=0.1441 right_pitch=-0.5438 right_roll=-0.0908 right_gripper=0.4677\nstate[joint_eff]: [-0.1299, -1.388, 6.9812, 1.6679, -0.0317, -0.0366, -0.0122, -0.1299, -12.9709, 6.7761, 1.0672, -0.0073, -0.0415, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2902dbd75ee35d82ac1ef1b29978c1e3b6c4a932cc9885b944ed794e03d50406",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d820b4f8aec34859b0256e68c931513bab621a0617cd29e715fc98f68d746f8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:629fe239139a9eb0b04880619c6ecbc376056bf9240b9e387caab5cd4175e120",
        "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/QIKjgEIEhgCKkD8DtkxGdjigVOzESJGSDzD6ZSRJ7TjQntCYQfHgXcKCeeg3y/Lg+W7moCxG+8KpnUs+RGFa9n7AYg/Zw5NPMfKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdyFzNUGEgxupDga4oQZfL+KdkcaDNNAeZpFXQejwOicXyIw5rAowZCkG1RrvPFXEDiuTAjPg/j6Fw0Quf35gMocltP5gKkwK8ZxzJUlnthXr2csKpsBmc8n9UDzQ1pUz2mnjqCbxZXbAXWCKR+uoUugx74WSC5fsiejC5LcdDxEFxV7Rxq/h+3N30N0FRJPi/LDiu51hw1GAm6KgLOenSgveUMnFKm5Uj9HIz340Lsd+N1MZ0exnF30Y+4acq/tDvIxNRgXyQNi43+fpq/Du/sh07+EkWpmNuNJXkT/uqb1C7QSvvgawnN20ZSM/GBFDVIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NBYHDQG41x19ixQLskExjP",
      "input": {
        "note": "Grip reads 0.47 — the lemon is held. Lifting and moving right toward the blue bowl (which sits just right of the lemon in the wrist view).",
        "targets": {
          "right_x": 0.475,
          "right_y": 0.08,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01NBYHDQG41x19ixQLskExjP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8303, 0.6132, -0.4679, -0.0135, -0.0307, 0.9987, 0.1986, 2.0052, 1.7252, -0.8951, 0.0658, -0.0383, 0.4708]\nstate[eef_state]: left_x=0.2853 left_y=-0.0001 left_z=0.1568 left_yaw=-0.001 left_pitch=-0.1171 left_roll=0.001 left_gripper=0.9987 right_x=0.4702 right_y=0.0864 right_z=0.1143 right_yaw=0.1487 right_pitch=-0.6077 right_roll=-0.0834 right_gripper=0.4708\nstate[joint_eff]: [-0.0889, -1.7983, 6.9538, 1.7558, -0.0073, -0.0562, -0.0171, -0.5538, -14.4205, 8.8274, 1.2625, 0.0708, -0.0122, 0.779]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ff4e31d4c0f33849acbf74320c2874848a0c5c68a5d19b08d8cb19c901af97b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4613e5de89d01d8d48c94ddd7d58062a3e2335f7bcddf2a60cf05d57cf7a6622",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf1ec762cc73c21e767ff692591dc24512134abf7381e96d3bae01327a984c80",
        "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 · 8.6 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8257, 0.6132, -0.4534, -0.0135, -0.0307, 0.9987, 0.3767, 2.0174, 1.4029, -0.4843, 0.1524, 0.123, 0.9965]\nstate[eef_state]: left_x=0.2873 left_y=-0.0001 left_z=0.1608 left_yaw=-0.0011 left_pitch=-0.098 left_roll=0.0006 left_gripper=0.9987 right_x=0.4549 right_y=0.155 right_z=0.0401 right_yaw=0.1461 right_pitch=-0.5135 right_roll=-0.0808 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.5248, 7.2137, 1.6679, -0.0464, -0.0024, -0.0122, 0.1983, -9.9897, 5.6821, 1.1941, 0.0366, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8257, 0.6132, -0.4538, -0.0139, -0.0307, 0.9987, 0.3767, 2.0422, 1.3933, -0.4808, 0.1524, 0.1196, 0.4677]\nstate[eef_state]: left_x=0.2873 left_y=-0.0 left_z=0.1607 left_yaw=-0.0008 left_pitch=-0.0984 left_roll=0.0008 left_gripper=0.9987 right_x=0.451 right_y=0.1534 right_z=0.0258 right_yaw=0.1441 right_pitch=-0.5438 right_roll=-0.0908 right_gripper=0.4677\nstate[joint_eff]: [-0.1299, -1.388, 6.9812, 1.6679, -0.0317, -0.0366, -0.0122, -0.1299, -12.9709, 6.7761, 1.0672, -0.0073, -0.0415, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8303, 0.6132, -0.4679, -0.0135, -0.0307, 0.9987, 0.1986, 2.0052, 1.7252, -0.8951, 0.0658, -0.0383, 0.4708]\nstate[eef_state]: left_x=0.2853 left_y=-0.0001 left_z=0.1568 left_yaw=-0.001 left_pitch=-0.1171 left_roll=0.001 left_gripper=0.9987 right_x=0.4702 right_y=0.0864 right_z=0.1143 right_yaw=0.1487 right_pitch=-0.6077 right_roll=-0.0834 right_gripper=0.4708\nstate[joint_eff]: [-0.0889, -1.7983, 6.9538, 1.7558, -0.0073, -0.0562, -0.0171, -0.5538, -14.4205, 8.8274, 1.2625, 0.0708, -0.0122, 0.779]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ff4e31d4c0f33849acbf74320c2874848a0c5c68a5d19b08d8cb19c901af97b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4613e5de89d01d8d48c94ddd7d58062a3e2335f7bcddf2a60cf05d57cf7a6622",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf1ec762cc73c21e767ff692591dc24512134abf7381e96d3bae01327a984c80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsgsKjgEIEhgCKkDJkIAk3LLwCMX564as6oge/tU5MSONrtq2FWI0oW2BHi/UJMgC+OUFHLVr0KUWGlKTDtr1Mw7YZUEBlteH6N29Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeaFzNUGEgwvBBN0RGWPZnO8bVIaDBnyHv7X2M16cLILQyIwiHsLBqcABE78KmMHFNcGYCSrICqMNdOgN3Lb7SiC5DpA77lixhQt5Xa/h0edco/SKtAJKtmCX8LYST40E7+UcZ0ew1TzKbrjJqwjHf42eJrn4DlkJM0E6dvmWWbVYfZmBw4ooioFzHHovjKj4QVA7sZ02S/mmJswdMV38J7Om1j8TgUNPOSxshhqIWrmcJVIZWN40Jw0XWR8jY94FLBrmxaX8CSmxsnKFAuDu3WUAuAXSsFqGkB0CqlBp6IaLH7HEMiHo0L5U524RERO/olimhSOl8/FR28tlWfPQwBhe5efjgwHTpuEbC/VI1bw92cKeLVri53krXEsH/Znx0uUh9R5R7lRswP1cbiKaSdzmNljHZm4s2kxSp5FAi/2MxPt7TPVIykRFF7IOlGeO1MG4SlL413AwsOG2X+RBwFs3XKoEX5kNLQo/PgiAajW2MiGiMLEuLYP4nA5+XkxWs70cJUDBbE5/CSgHLLewxyqplKofqQGKfkgfis3r9fUAepeiy8+g7doNW2PNyh4Xo48nMqCMhqKUB0AFb4DbTuvmTS2Cai4oRopdJlOQecwOF1/QLrs5N6OBe6exrKbZ0XvEhG90LZVqluHbMxmjtuGdBKZws2MesSoNGr+kYTKb8IfF8TcFs+m15mRPVAJWvTiXju9n32FMEmSl380O0w4JLHQX/0UNwfqby25fq7+r7emk7SEhg4L1L8B9ODY18p7YMlIqhTe0x/8dq1YyQPhyRPN57bSu81bKl9AUuaHjpdXPZN7nuExYF2A80AW8+1murpDsPk3MhpJY5A3UcaCmJhba3tdUWuGMXaK/FM22McAIM+QamC+36yylciIESKJSrcE8Iv6QGwtg1/HmIxKzJuIa2eEaxPxwZIGLT7GRHFSm1simvdfv29FdIe7fSaXFUtM5fpUzD/oa4mUzapzvssQcJI8x8G1jXOSbx4uf6byRaBNhIp8AgQgHvyB9Kz50RlVdvsHFGaywPJmQacLosxE3wvLGgqBSMWoUvR0uyW44IsluKuKuHOQGKryDsBSYL9mXL6Ec7UoihI8SkKSW/JApVNxMhbirEpCcPBvcrEbPUUU02j9sjU0o86Ua37XIpYL2NA0cbMkEGvmKwIMDqFQrXieaBABvjXGW7RZQdo5VSnVNjBOY5uewzhMavZoxk1cMcc7HSpQdtLuew7kn/N4PSJndgH5SgoPIojZ+ZpeHuaY2LunnAk7VeX+pQw5dGUjEvJN0UcjbytGXRM4lc5XuCLFCmpNUEx/UITWWve2iB7s+wzUwVoDpVTil5be3q/ego8Xkz0nLzXgiQEERN4IDE3ot5j7xZVoqxhGz89e2GseqkVxTUya5NubW7AtubW+LDcHdTsW9rq+w399FYpYqAbYe+NPevWqy0g0zlHa6N+pL1qVsHEBaUmfrTZSqi0rnklEOYRmHGet4PWbRYrxTqaXQr3Dc/x7bWRV6TFsVgGWTZp17WfLcxkerTeqFzRbYkkx+3TTnpD9sxr938BhT/8fRpaP/mdqnPSr08IWZrkYSa8A8xjwCs/xe0Vhl9oFqNM1VwbJNOkByELVGkKGNaac3RtRMZHAeWtcZN3JYA5gbwmT+Iw+/J8OxB0W4mUwChNhBm7Symg6kEyAk1q+AgqsIXd5Hq1gndj6EGxmlCPOmk8mo3HjhHK/n3AaY2dBRCDDLgpUZLb95Np9z05ObAoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016cdbAYi2crQ8o5XxxnnZT7",
      "input": {
        "note": "Returning to the exact pose from which the pear dropped cleanly into the blue bowl, to drop the lemon there too.",
        "targets": {
          "right_x": 0.465,
          "right_y": 0.072,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_016cdbAYi2crQ8o5XxxnnZT7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8303, 0.6128, -0.469, -0.0135, -0.0307, 0.9987, 0.1776, 1.98, 1.6665, -0.8734, 0.0532, -0.0574, 0.4713]\nstate[eef_state]: left_x=0.2851 left_y=-0.0001 left_z=0.1564 left_yaw=-0.001 left_pitch=-0.1186 left_roll=0.001 left_gripper=0.9987 right_x=0.4625 right_y=0.0771 right_z=0.1073 right_yaw=0.1529 right_pitch=-0.6208 right_roll=-0.0786 right_gripper=0.4713\nstate[joint_eff]: [-0.0068, -0.9641, 7.2821, 1.707, -0.0317, -0.0464, -0.0122, -0.9368, -11.3983, 6.0376, 1.3748, 0.0122, -0.1148, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cae930c0d880341be042259183be09f4dc1af548d400288675442b60eac1b73c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:147a5a4be1e1f6c93813d1c65ca1e9b5cc7f898afcf8583e77390671e73cda3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee4597cbd92a15d0bbe609c6fcc0b4b18068fa20ea8cee36b6e1ac03b63fbbba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /messages · status 200 · 6.246 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8257, 0.6132, -0.4538, -0.0139, -0.0307, 0.9987, 0.3767, 2.0422, 1.3933, -0.4808, 0.1524, 0.1196, 0.4677]\nstate[eef_state]: left_x=0.2873 left_y=-0.0 left_z=0.1607 left_yaw=-0.0008 left_pitch=-0.0984 left_roll=0.0008 left_gripper=0.9987 right_x=0.451 right_y=0.1534 right_z=0.0258 right_yaw=0.1441 right_pitch=-0.5438 right_roll=-0.0908 right_gripper=0.4677\nstate[joint_eff]: [-0.1299, -1.388, 6.9812, 1.6679, -0.0317, -0.0366, -0.0122, -0.1299, -12.9709, 6.7761, 1.0672, -0.0073, -0.0415, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8303, 0.6132, -0.4679, -0.0135, -0.0307, 0.9987, 0.1986, 2.0052, 1.7252, -0.8951, 0.0658, -0.0383, 0.4708]\nstate[eef_state]: left_x=0.2853 left_y=-0.0001 left_z=0.1568 left_yaw=-0.001 left_pitch=-0.1171 left_roll=0.001 left_gripper=0.9987 right_x=0.4702 right_y=0.0864 right_z=0.1143 right_yaw=0.1487 right_pitch=-0.6077 right_roll=-0.0834 right_gripper=0.4708\nstate[joint_eff]: [-0.0889, -1.7983, 6.9538, 1.7558, -0.0073, -0.0562, -0.0171, -0.5538, -14.4205, 8.8274, 1.2625, 0.0708, -0.0122, 0.779]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8303, 0.6128, -0.469, -0.0135, -0.0307, 0.9987, 0.1776, 1.98, 1.6665, -0.8734, 0.0532, -0.0574, 0.4713]\nstate[eef_state]: left_x=0.2851 left_y=-0.0001 left_z=0.1564 left_yaw=-0.001 left_pitch=-0.1186 left_roll=0.001 left_gripper=0.9987 right_x=0.4625 right_y=0.0771 right_z=0.1073 right_yaw=0.1529 right_pitch=-0.6208 right_roll=-0.0786 right_gripper=0.4713\nstate[joint_eff]: [-0.0068, -0.9641, 7.2821, 1.707, -0.0317, -0.0464, -0.0122, -0.9368, -11.3983, 6.0376, 1.3748, 0.0122, -0.1148, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cae930c0d880341be042259183be09f4dc1af548d400288675442b60eac1b73c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:147a5a4be1e1f6c93813d1c65ca1e9b5cc7f898afcf8583e77390671e73cda3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee4597cbd92a15d0bbe609c6fcc0b4b18068fa20ea8cee36b6e1ac03b63fbbba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISugkKjgEIEhgCKkASV5UZF6mXpoE0NblF9S9W25AsGRguLEVnFMxLrPKQ3U7u9Q8w0ntMctuaNS+yssFpsGf2c/uXAoHBCjzZFtimMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe+FzNUGEgzgDfKSE88EGUWzzBIaDEWw0V6ZCDB5ExNwYCIwZfF1pzdbFya4UTlxDygmLmBOGkREjPdqcZCIRYhWaHwX537ssQd8ef7wH1J8gCpoKtgHhp2AbAahfFQzu/S7XAFXSWrtnvK4sCrQUK6vwfTh5zWEJutlW0keUVvSieqkBLqWKSxd46Cf9e5huJFulZZAqRp77/iAf1L6f6KhWYCgHJt5j4QPcSBUcOswXlPRb7eO45xwaYUIrX/bl5hHsO126MDI6sgyh+nsJDSqNyNkqXILwi4+BDdjxtk+5J5zPT5UEnqu334ODanpx7mrUZE9LuUScN2q6uNem75U/nGJgP4Elo2DGZs3xtLPZieNB9h0JTx8q+OmuRQ+cXaJfXm5gUzmyDa4ZCODwTcIWylsbPOj5GIiVXrP/4jGSaB7ZcxRjk/7UKBUvL/2g1ujCgKwZMDaMpmmekY6ZsAOLOq20pXDVhXnH3Ze4+Ay04ZhBt0gbjFIRn6p9h2rWhzXmFQAH3RmR7XouZIkU5j36MZ3aWXtUUfKuyWJgxaLuxyLQzOEtSF/ekBY7nMnHICUtaZcsPKk5qjg+RoxxfpYYmCm74yHxrCcnQc23JmS4tx5tUhtKluLgrKAImhYSDOLb1HVjyPVsZaxOthvwsIc+tC6PALhJdI9v3CuE9bhvPLwA3bzesdyk/vyXaERN5UI6m2hyGiINrUOL4zkUf46eVOzs3SQ62QVb1ML3lpQhCd5B/fYXkam9DjOXG3uOgt7u3RElGCj7bBug3KdvZrj/HdhLFnvuCcCJx63mP1xJkCAzcSrlJ8KWL9pequxHe6QgOSYrOsXI4zLFcT79nGIf/5d4CBEjhsDWvz6KtSRt+IjsFX3DpwfvVcP1SEMhIXKHR9FKJPPBEi6PNlmxHPhAzFhnrE73H94dArUIap2r8k605wWb6GXKzilKPo8YmbMBcN2eZEcrPiPjQUlIO3uOfq4jS39fsCbvX6NEt39y1xZ4dmh/374fhUaKEgOhPT6he2j+2DdX6UEX1uq6BRyPnuYDGnO0cFR8L4N+bpZ7JFJ+kKVjw3/lhW2V/v2LbawSO7ahyEH4yRHHaP3O9zEzCiHfmqwCaCpvp6bSGlt7Y6l29JiPXQkWnWndN93rjNOQB2JKnBf3HLrGUWFjOTxxHTusf0p+3gBaBOF29+rO+E8yhB7E4AmVEjuYLmJRQW6WTBddN33VjrXQ/WPXUBghBqbn8apPe5Yfg3m9NYyl8lfNiEgWKMzVUtUZ2K1lBykFShuE6YIJP6xhsjrziwLwbwc3KEUEgEirM2eDYZdqpOZVj3n/Fw9rTYXVBi/5Go6OOBttGK1dJd9C4KkR8Mla2DJTkbJbO9h9P5KUQguzN3WsblfqRwE6Rmi+iJ53ri+q6+cHHi5SQTAbrtjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QunX97YLaD9gJHkQh9TknX",
      "input": {
        "note": "The blue bowl's rim (with the pear inside) is to the right of the held lemon in the wrist view, so the gripper is left of the bowl; moving 5 cm right.",
        "targets": {
          "right_y": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QunX97YLaD9gJHkQh9TknX",
      "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, 0.8333, 0.6128, -0.4751, -0.0139, -0.0307, 0.9987, 0.1547, 1.9915, 1.6032, -0.857, 0.0391, -0.0799, 0.4722]\nstate[eef_state]: left_x=0.2842 left_y=0.0 left_z=0.1544 left_yaw=-0.0007 left_pitch=-0.1278 left_roll=0.0014 left_gripper=0.9987 right_x=0.4511 right_y=0.067 right_z=0.0822 right_yaw=0.1597 right_pitch=-0.6802 right_roll=-0.0725 right_gripper=0.4722\nstate[joint_eff]: [-0.1162, -1.4154, 6.9128, 1.746, -0.0562, -0.0659, -0.0122, -0.4718, -13.5863, 7.8838, 1.1111, 0.0317, -0.0659, 0.4225]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a495364f7812f65638ffb868d7e1383388067158069c06779a78ddf71447167",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1821430db2f3a464921b0e41bd031406b3f18e281890a9ee4207de2c65f0b8fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b04c0c4d6872697b9a658c21d5d6b0c9f8fb5a5e9f8073f4d474bd9ad05a3960",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 5.476 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8303, 0.6132, -0.4679, -0.0135, -0.0307, 0.9987, 0.1986, 2.0052, 1.7252, -0.8951, 0.0658, -0.0383, 0.4708]\nstate[eef_state]: left_x=0.2853 left_y=-0.0001 left_z=0.1568 left_yaw=-0.001 left_pitch=-0.1171 left_roll=0.001 left_gripper=0.9987 right_x=0.4702 right_y=0.0864 right_z=0.1143 right_yaw=0.1487 right_pitch=-0.6077 right_roll=-0.0834 right_gripper=0.4708\nstate[joint_eff]: [-0.0889, -1.7983, 6.9538, 1.7558, -0.0073, -0.0562, -0.0171, -0.5538, -14.4205, 8.8274, 1.2625, 0.0708, -0.0122, 0.779]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8303, 0.6128, -0.469, -0.0135, -0.0307, 0.9987, 0.1776, 1.98, 1.6665, -0.8734, 0.0532, -0.0574, 0.4713]\nstate[eef_state]: left_x=0.2851 left_y=-0.0001 left_z=0.1564 left_yaw=-0.001 left_pitch=-0.1186 left_roll=0.001 left_gripper=0.9987 right_x=0.4625 right_y=0.0771 right_z=0.1073 right_yaw=0.1529 right_pitch=-0.6208 right_roll=-0.0786 right_gripper=0.4713\nstate[joint_eff]: [-0.0068, -0.9641, 7.2821, 1.707, -0.0317, -0.0464, -0.0122, -0.9368, -11.3983, 6.0376, 1.3748, 0.0122, -0.1148, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8333, 0.6128, -0.4751, -0.0139, -0.0307, 0.9987, 0.1547, 1.9915, 1.6032, -0.857, 0.0391, -0.0799, 0.4722]\nstate[eef_state]: left_x=0.2842 left_y=0.0 left_z=0.1544 left_yaw=-0.0007 left_pitch=-0.1278 left_roll=0.0014 left_gripper=0.9987 right_x=0.4511 right_y=0.067 right_z=0.0822 right_yaw=0.1597 right_pitch=-0.6802 right_roll=-0.0725 right_gripper=0.4722\nstate[joint_eff]: [-0.1162, -1.4154, 6.9128, 1.746, -0.0562, -0.0659, -0.0122, -0.4718, -13.5863, 7.8838, 1.1111, 0.0317, -0.0659, 0.4225]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a495364f7812f65638ffb868d7e1383388067158069c06779a78ddf71447167",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1821430db2f3a464921b0e41bd031406b3f18e281890a9ee4207de2c65f0b8fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b04c0c4d6872697b9a658c21d5d6b0c9f8fb5a5e9f8073f4d474bd9ad05a3960",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqwUKjgEIEhgCKkAvkI34eS+4uBk/h13Q1ube8VwzdsphvkeJb0teInjtzHGRytaekV8sW1nYq82rvU4aH3h7y48TzX2Nz3HltA/lMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfWFzNUGEgz66qVUrs0uitlGZB8aDNWKSiSW+cJXNgQ0MCIwKg7PbT8tVdr1sPFI2uZFZ/3TrTFYSW1c/ShghEPBKmIPHFACVku1jpNGIK8zd49KKskD31Qee9SpWVUh03px72ikoS5b2BdOR7r2RZBxj/znQHEeyKbkC95QYYmdhjBfVyKZkR0V5Yhqrfd+FxyJzjRNPrciYLzrJeQFBRZc2R2pWotliPy1hl3qaGFYRIewIDuBtLyT6xhZLQsoCilhrg3l8WvUv/A9x0N6MrHEvtD9JdNC1O7j2/9PH9C6NcDuYdebPSEj5GWVpSLl30xxmjbDrhpbS6ygAyrkW1opH0DVu7PV0h0mq7w4ta8ZQQr1nUuS/EjJ/wCfyyDnfud8cshOKLAdrT+hFVANM+KaqJPO1dZIQcIhUn+fAYaXpZuVdwhfUgtuIz8Nr7gS4EQ8aVq3ivO43yUKLL8ppBMZKHXb5I2jKD6F6N/5CrWMbzYLVuav2iu1loGoIE1l2sRvUdD06wzshZxzUsJhrBCVvne/pMhHJTsXzvZjujPH2vRXY+1rLyM4Kzme98MwY5De1RySHwICAQxcp5PGdWKRwi37Qliyygk7uh26xpwbi49/2kvhdOZTTFtj0f2RXurzcMATVfMr0YODHq5+UlgASlZTYB+Hv/stV8jofKhoyc4JqKeElNHnqdmZxdw+clpQspv0ilbQ5KqVpWhbuhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Uqc9AbB1H7Yi6yTv89LQFs",
      "input": {
        "note": "The arm barely tracked the last lateral command — it is near its reach limit with the wrist pitched down. Pulling back and up to a healthier pose while shifting right toward the bowl.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.03,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Uqc9AbB1H7Yi6yTv89LQFs",
      "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, 0.8333, 0.6132, -0.4755, -0.0139, -0.0307, 0.9987, 0.1547, 1.9915, 1.6032, -0.857, 0.0353, -0.0799, 0.4725]\nstate[eef_state]: left_x=0.2842 left_y=0.0 left_z=0.1545 left_yaw=-0.0007 left_pitch=-0.1278 left_roll=0.0014 left_gripper=0.9987 right_x=0.451 right_y=0.0677 right_z=0.0822 right_yaw=0.1638 right_pitch=-0.6802 right_roll=-0.0679 right_gripper=0.4725\nstate[joint_eff]: [-0.1846, -1.2786, 6.9128, 1.663, -0.0415, -0.0659, -0.0171, -0.5812, -13.559, 7.7607, 1.0818, 0.1001, -0.0806, 0.7595]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:179356c2e75f1c36c2ca98f80efea30638521ad5c44dea60fe1da483d058ff24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f8d6a066f735c8f92b1d318474975b7be2ecca61682817dfe03a41c8cc4c7cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5565fc7e31a465b0dc96b9953c6839d53cab36e26504a231225b872805b08356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /messages · status 200 · 10.68 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8303, 0.6128, -0.469, -0.0135, -0.0307, 0.9987, 0.1776, 1.98, 1.6665, -0.8734, 0.0532, -0.0574, 0.4713]\nstate[eef_state]: left_x=0.2851 left_y=-0.0001 left_z=0.1564 left_yaw=-0.001 left_pitch=-0.1186 left_roll=0.001 left_gripper=0.9987 right_x=0.4625 right_y=0.0771 right_z=0.1073 right_yaw=0.1529 right_pitch=-0.6208 right_roll=-0.0786 right_gripper=0.4713\nstate[joint_eff]: [-0.0068, -0.9641, 7.2821, 1.707, -0.0317, -0.0464, -0.0122, -0.9368, -11.3983, 6.0376, 1.3748, 0.0122, -0.1148, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8333, 0.6128, -0.4751, -0.0139, -0.0307, 0.9987, 0.1547, 1.9915, 1.6032, -0.857, 0.0391, -0.0799, 0.4722]\nstate[eef_state]: left_x=0.2842 left_y=0.0 left_z=0.1544 left_yaw=-0.0007 left_pitch=-0.1278 left_roll=0.0014 left_gripper=0.9987 right_x=0.4511 right_y=0.067 right_z=0.0822 right_yaw=0.1597 right_pitch=-0.6802 right_roll=-0.0725 right_gripper=0.4722\nstate[joint_eff]: [-0.1162, -1.4154, 6.9128, 1.746, -0.0562, -0.0659, -0.0122, -0.4718, -13.5863, 7.8838, 1.1111, 0.0317, -0.0659, 0.4225]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8333, 0.6132, -0.4755, -0.0139, -0.0307, 0.9987, 0.1547, 1.9915, 1.6032, -0.857, 0.0353, -0.0799, 0.4725]\nstate[eef_state]: left_x=0.2842 left_y=0.0 left_z=0.1545 left_yaw=-0.0007 left_pitch=-0.1278 left_roll=0.0014 left_gripper=0.9987 right_x=0.451 right_y=0.0677 right_z=0.0822 right_yaw=0.1638 right_pitch=-0.6802 right_roll=-0.0679 right_gripper=0.4725\nstate[joint_eff]: [-0.1846, -1.2786, 6.9128, 1.663, -0.0415, -0.0659, -0.0171, -0.5812, -13.559, 7.7607, 1.0818, 0.1001, -0.0806, 0.7595]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:179356c2e75f1c36c2ca98f80efea30638521ad5c44dea60fe1da483d058ff24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f8d6a066f735c8f92b1d318474975b7be2ecca61682817dfe03a41c8cc4c7cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5565fc7e31a465b0dc96b9953c6839d53cab36e26504a231225b872805b08356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrQUKjgEIEhgCKkBjzZ9R40x6udOONryEMoSn/llxvI17BdzoOm9BRTds+EOIqq+tMcresW9d5s2P2Hj70ammcZkENsavHLIEkacqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfyFzNUGEgzJQjxqyUXaK/RBsmEaDCAJnehzqjEUNw5EGSIw3JbyQ8RS+56u8aTLwJWCNj54WFbCaJGmK7F5rU8yLjpsqxivtCzXBxWSelKQUPJQKssDZR7RR/VmdTJo7k+psrCcBvROrYV4sW42/s+T/aHOYxKsox1ExsWTCk3hx1bbYQrSqGDR1SFGlsRll2LfAFfSg+zR0BlBxFuHskZrcUldMvPoj7d/RdNeUYiyeteuZjHwcdLXpaMjo7Jnnbs+Zh0HAw3RK0pt00WGWc9U/Up7brGQnY2y/XpnAF+wUhMpXAG+Cb8JM3nkaKz8++Bllr2B7ZlrkeUS1Euft59a8ECXSq8xX7fg6AuWpWjZ7Wi4O54N44mv8GM1JfJgHEeDh+ux4q4z2W3jKWb1f9yzCZeIwxAYnR7JfiNEWvgijtIZxQoutvbwSJcazT8JKCqj/tOXzNNGvJ2dgKen49kX0l5rK10XYTKCwT1VzDuvwFXixAzilJRihX+X5t6hUSzwS7AnHNdr4n09p6fNdUxxhynRlui9gD2AlaPVlrmSsUN1mrFGKJUeuLQuSCZmr6tq1xmnGgSH0ti2CuIiobXQ35BpvU14S+ClSCSAcR/WyezjbXwJDq26ao+CP9Kj2WEkORxoAkLP3dXUjtmATjU0n66v8MNzOwT60sWAdMZ81//xYF/4pWion5Es70FLn3bEvTr09FmF/sxbPVDYRWgoGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UDgXH325vxLnec6tiWHyF3",
      "input": {
        "note": "The arm did not move on the last command — likely wedged against the bowl or stalled at a pitch limit. Trying a pure vertical lift to free it.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01UDgXH325vxLnec6tiWHyF3",
      "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, 0.8352, 0.6132, -0.4763, -0.0135, -0.0307, 0.9987, 0.1547, 1.9709, 2.0506, -1.2491, 0.0242, -0.0887, 0.4724]\nstate[eef_state]: left_x=0.2842 left_y=-0.0 left_z=0.1539 left_yaw=-0.001 left_pitch=-0.1304 left_roll=0.0012 left_gripper=0.9987 right_x=0.4532 right_y=0.07 right_z=0.2075 right_yaw=0.1804 right_pitch=-0.6044 right_roll=-0.0605 right_gripper=0.4724\nstate[joint_eff]: [-0.294, -1.5658, 6.9402, 1.6386, -0.0269, -0.022, -0.0171, -0.3897, -9.853, 7.6376, 1.0916, 0.0464, 0.0415, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86069d7c91e3c015d5011703cdc341bced74d478c017af44fb1ef04e02c5754c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:730d08a4ee627eaa7733fc24195c59ddc79e394c0c6f3ed91f027af67ccda17b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50aa6641eac2580073e98ce710a71d681115f3e235f86298cb1e8af8ee5f65e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 12.31 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8333, 0.6128, -0.4751, -0.0139, -0.0307, 0.9987, 0.1547, 1.9915, 1.6032, -0.857, 0.0391, -0.0799, 0.4722]\nstate[eef_state]: left_x=0.2842 left_y=0.0 left_z=0.1544 left_yaw=-0.0007 left_pitch=-0.1278 left_roll=0.0014 left_gripper=0.9987 right_x=0.4511 right_y=0.067 right_z=0.0822 right_yaw=0.1597 right_pitch=-0.6802 right_roll=-0.0725 right_gripper=0.4722\nstate[joint_eff]: [-0.1162, -1.4154, 6.9128, 1.746, -0.0562, -0.0659, -0.0122, -0.4718, -13.5863, 7.8838, 1.1111, 0.0317, -0.0659, 0.4225]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8333, 0.6132, -0.4755, -0.0139, -0.0307, 0.9987, 0.1547, 1.9915, 1.6032, -0.857, 0.0353, -0.0799, 0.4725]\nstate[eef_state]: left_x=0.2842 left_y=0.0 left_z=0.1545 left_yaw=-0.0007 left_pitch=-0.1278 left_roll=0.0014 left_gripper=0.9987 right_x=0.451 right_y=0.0677 right_z=0.0822 right_yaw=0.1638 right_pitch=-0.6802 right_roll=-0.0679 right_gripper=0.4725\nstate[joint_eff]: [-0.1846, -1.2786, 6.9128, 1.663, -0.0415, -0.0659, -0.0171, -0.5812, -13.559, 7.7607, 1.0818, 0.1001, -0.0806, 0.7595]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8352, 0.6132, -0.4763, -0.0135, -0.0307, 0.9987, 0.1547, 1.9709, 2.0506, -1.2491, 0.0242, -0.0887, 0.4724]\nstate[eef_state]: left_x=0.2842 left_y=-0.0 left_z=0.1539 left_yaw=-0.001 left_pitch=-0.1304 left_roll=0.0012 left_gripper=0.9987 right_x=0.4532 right_y=0.07 right_z=0.2075 right_yaw=0.1804 right_pitch=-0.6044 right_roll=-0.0605 right_gripper=0.4724\nstate[joint_eff]: [-0.294, -1.5658, 6.9402, 1.6386, -0.0269, -0.022, -0.0171, -0.3897, -9.853, 7.6376, 1.0916, 0.0464, 0.0415, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86069d7c91e3c015d5011703cdc341bced74d478c017af44fb1ef04e02c5754c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:730d08a4ee627eaa7733fc24195c59ddc79e394c0c6f3ed91f027af67ccda17b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50aa6641eac2580073e98ce710a71d681115f3e235f86298cb1e8af8ee5f65e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0114JJ2RQv88Nse8WpTu6dAV",
      "input": {
        "note": "The blue bowl with the pear inside is still off to the right in the wrist view; shifting 8 cm right to get above it before dropping the lemon.",
        "targets": {
          "right_x": 0.44,
          "right_y": -0.01,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_0114JJ2RQv88Nse8WpTu6dAV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8349, 0.6132, -0.4759, -0.0139, -0.0307, 0.9987, -0.0368, 1.9305, 1.8862, -1.2263, -0.0498, -0.2516, 0.4714]\nstate[eef_state]: left_x=0.2842 left_y=0.0 left_z=0.154 left_yaw=-0.0007 left_pitch=-0.1297 left_roll=0.0015 left_gripper=0.9987 right_x=0.4333 right_y=-0.0036 right_z=0.1729 right_yaw=0.187 right_pitch=-0.7006 right_roll=-0.0284 right_gripper=0.4714\nstate[joint_eff]: [-0.212, -1.4291, 6.9402, 1.6825, -0.0464, -0.0757, -0.0122, -0.7316, -14.1333, 6.5026, 1.3065, 0.0513, -0.1001, 0.4908]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7694ded9cb9b6824260b89bda40ea54f9e7dbef60df8c0e4781757b927d97551",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ab3ce55edffa1434080441f1b3e8b2bc904d4ff9fab44e5d8d695ed9586f0e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b0627edcda7d2fe6d28cc0bd75924c99a3b8d3cbb3079f223dc56355a4bad642",
        "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 · 23.31 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8333, 0.6132, -0.4755, -0.0139, -0.0307, 0.9987, 0.1547, 1.9915, 1.6032, -0.857, 0.0353, -0.0799, 0.4725]\nstate[eef_state]: left_x=0.2842 left_y=0.0 left_z=0.1545 left_yaw=-0.0007 left_pitch=-0.1278 left_roll=0.0014 left_gripper=0.9987 right_x=0.451 right_y=0.0677 right_z=0.0822 right_yaw=0.1638 right_pitch=-0.6802 right_roll=-0.0679 right_gripper=0.4725\nstate[joint_eff]: [-0.1846, -1.2786, 6.9128, 1.663, -0.0415, -0.0659, -0.0171, -0.5812, -13.559, 7.7607, 1.0818, 0.1001, -0.0806, 0.7595]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8352, 0.6132, -0.4763, -0.0135, -0.0307, 0.9987, 0.1547, 1.9709, 2.0506, -1.2491, 0.0242, -0.0887, 0.4724]\nstate[eef_state]: left_x=0.2842 left_y=-0.0 left_z=0.1539 left_yaw=-0.001 left_pitch=-0.1304 left_roll=0.0012 left_gripper=0.9987 right_x=0.4532 right_y=0.07 right_z=0.2075 right_yaw=0.1804 right_pitch=-0.6044 right_roll=-0.0605 right_gripper=0.4724\nstate[joint_eff]: [-0.294, -1.5658, 6.9402, 1.6386, -0.0269, -0.022, -0.0171, -0.3897, -9.853, 7.6376, 1.0916, 0.0464, 0.0415, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8349, 0.6132, -0.4759, -0.0139, -0.0307, 0.9987, -0.0368, 1.9305, 1.8862, -1.2263, -0.0498, -0.2516, 0.4714]\nstate[eef_state]: left_x=0.2842 left_y=0.0 left_z=0.154 left_yaw=-0.0007 left_pitch=-0.1297 left_roll=0.0015 left_gripper=0.9987 right_x=0.4333 right_y=-0.0036 right_z=0.1729 right_yaw=0.187 right_pitch=-0.7006 right_roll=-0.0284 right_gripper=0.4714\nstate[joint_eff]: [-0.212, -1.4291, 6.9402, 1.6825, -0.0464, -0.0757, -0.0122, -0.7316, -14.1333, 6.5026, 1.3065, 0.0513, -0.1001, 0.4908]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7694ded9cb9b6824260b89bda40ea54f9e7dbef60df8c0e4781757b927d97551",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ab3ce55edffa1434080441f1b3e8b2bc904d4ff9fab44e5d8d695ed9586f0e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0627edcda7d2fe6d28cc0bd75924c99a3b8d3cbb3079f223dc56355a4bad642",
        "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_01SDiLcvAxyv8kyhMc5g1rAN",
      "input": {
        "note": "The wrist view is proving unreliable for lateral judgement; returning to the exact pose from which the pear dropped successfully into the blue bowl.",
        "targets": {
          "right_x": 0.462,
          "right_y": 0.074,
          "right_z": 0.105
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01SDiLcvAxyv8kyhMc5g1rAN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.836, 0.6132, -0.4801, -0.0135, -0.0307, 0.9987, 0.1448, 1.9411, 1.6253, -0.9005, -0.0227, -0.112, 0.4729]\nstate[eef_state]: left_x=0.2836 left_y=-0.0 left_z=0.1529 left_yaw=-0.001 left_pitch=-0.135 left_roll=0.0013 left_gripper=0.9987 right_x=0.4468 right_y=0.0728 right_z=0.1078 right_yaw=0.2368 right_pitch=-0.6492 right_roll=-0.0139 right_gripper=0.4729\nstate[joint_eff]: [-0.1026, -1.4017, 6.9812, 1.6679, -0.0269, -0.0562, -0.0122, 0.2803, -9.5521, 5.8598, 1.2625, 0.1685, 0.0952, 0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e39d955bc374754f3acdc7be0c04be2d24f1be323a0b41f4a2e000de22e1cf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cb45dcab9773bfb018c3ea96df47e753d4048669f95eaa1c05dac4d4d47a47f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50a6754231c4ce60b19eb75df0be469f9aec2d15d4f5ece5fbd7052f55fc5de4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 6.492 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8352, 0.6132, -0.4763, -0.0135, -0.0307, 0.9987, 0.1547, 1.9709, 2.0506, -1.2491, 0.0242, -0.0887, 0.4724]\nstate[eef_state]: left_x=0.2842 left_y=-0.0 left_z=0.1539 left_yaw=-0.001 left_pitch=-0.1304 left_roll=0.0012 left_gripper=0.9987 right_x=0.4532 right_y=0.07 right_z=0.2075 right_yaw=0.1804 right_pitch=-0.6044 right_roll=-0.0605 right_gripper=0.4724\nstate[joint_eff]: [-0.294, -1.5658, 6.9402, 1.6386, -0.0269, -0.022, -0.0171, -0.3897, -9.853, 7.6376, 1.0916, 0.0464, 0.0415, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8349, 0.6132, -0.4759, -0.0139, -0.0307, 0.9987, -0.0368, 1.9305, 1.8862, -1.2263, -0.0498, -0.2516, 0.4714]\nstate[eef_state]: left_x=0.2842 left_y=0.0 left_z=0.154 left_yaw=-0.0007 left_pitch=-0.1297 left_roll=0.0015 left_gripper=0.9987 right_x=0.4333 right_y=-0.0036 right_z=0.1729 right_yaw=0.187 right_pitch=-0.7006 right_roll=-0.0284 right_gripper=0.4714\nstate[joint_eff]: [-0.212, -1.4291, 6.9402, 1.6825, -0.0464, -0.0757, -0.0122, -0.7316, -14.1333, 6.5026, 1.3065, 0.0513, -0.1001, 0.4908]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.836, 0.6132, -0.4801, -0.0135, -0.0307, 0.9987, 0.1448, 1.9411, 1.6253, -0.9005, -0.0227, -0.112, 0.4729]\nstate[eef_state]: left_x=0.2836 left_y=-0.0 left_z=0.1529 left_yaw=-0.001 left_pitch=-0.135 left_roll=0.0013 left_gripper=0.9987 right_x=0.4468 right_y=0.0728 right_z=0.1078 right_yaw=0.2368 right_pitch=-0.6492 right_roll=-0.0139 right_gripper=0.4729\nstate[joint_eff]: [-0.1026, -1.4017, 6.9812, 1.6679, -0.0269, -0.0562, -0.0122, 0.2803, -9.5521, 5.8598, 1.2625, 0.1685, 0.0952, 0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e39d955bc374754f3acdc7be0c04be2d24f1be323a0b41f4a2e000de22e1cf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cb45dcab9773bfb018c3ea96df47e753d4048669f95eaa1c05dac4d4d47a47f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50a6754231c4ce60b19eb75df0be469f9aec2d15d4f5ece5fbd7052f55fc5de4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D78jkXBkkPf5szy9AHuN2h",
      "input": {
        "note": "Reading the near-field wrist scale as ~16 px/cm, the bowl rim 60 px right of the lemon is only ~4 cm right; shifting right by that amount before releasing.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.035,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01D78jkXBkkPf5szy9AHuN2h",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8406, 0.6128, -0.4911, -0.0135, -0.0307, 0.9987, 0.0494, 1.9629, 1.6245, -0.923, -0.0612, -0.1764, 0.4743]\nstate[eef_state]: left_x=0.2819 left_y=0.0 left_z=0.1495 left_yaw=-0.0009 left_pitch=-0.151 left_roll=0.0017 left_gripper=0.9987 right_x=0.4456 right_y=0.0364 right_z=0.0967 right_yaw=0.2315 right_pitch=-0.689 right_roll=0.0129 right_gripper=0.4743\nstate[joint_eff]: [-0.253, -1.7299, 6.9402, 1.6777, -0.0415, -0.0513, -0.0122, 0.4444, -12.9709, 10.6872, 1.1941, -0.0659, -0.0904, 0.4957]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95a8132082b8a4c1e041f4964087a27c92f4e6faed22f28e8cff319db162ad28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4abaa1b21ccdf3f21b1ccef543bf50b6335f0a6e1fb546d290e6d79604387d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:36da372f08584a39f04350e13a1d5a13031197f4d4a2de9e63f2c735aa33ca2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 6.858 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8349, 0.6132, -0.4759, -0.0139, -0.0307, 0.9987, -0.0368, 1.9305, 1.8862, -1.2263, -0.0498, -0.2516, 0.4714]\nstate[eef_state]: left_x=0.2842 left_y=0.0 left_z=0.154 left_yaw=-0.0007 left_pitch=-0.1297 left_roll=0.0015 left_gripper=0.9987 right_x=0.4333 right_y=-0.0036 right_z=0.1729 right_yaw=0.187 right_pitch=-0.7006 right_roll=-0.0284 right_gripper=0.4714\nstate[joint_eff]: [-0.212, -1.4291, 6.9402, 1.6825, -0.0464, -0.0757, -0.0122, -0.7316, -14.1333, 6.5026, 1.3065, 0.0513, -0.1001, 0.4908]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.836, 0.6132, -0.4801, -0.0135, -0.0307, 0.9987, 0.1448, 1.9411, 1.6253, -0.9005, -0.0227, -0.112, 0.4729]\nstate[eef_state]: left_x=0.2836 left_y=-0.0 left_z=0.1529 left_yaw=-0.001 left_pitch=-0.135 left_roll=0.0013 left_gripper=0.9987 right_x=0.4468 right_y=0.0728 right_z=0.1078 right_yaw=0.2368 right_pitch=-0.6492 right_roll=-0.0139 right_gripper=0.4729\nstate[joint_eff]: [-0.1026, -1.4017, 6.9812, 1.6679, -0.0269, -0.0562, -0.0122, 0.2803, -9.5521, 5.8598, 1.2625, 0.1685, 0.0952, 0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8406, 0.6128, -0.4911, -0.0135, -0.0307, 0.9987, 0.0494, 1.9629, 1.6245, -0.923, -0.0612, -0.1764, 0.4743]\nstate[eef_state]: left_x=0.2819 left_y=0.0 left_z=0.1495 left_yaw=-0.0009 left_pitch=-0.151 left_roll=0.0017 left_gripper=0.9987 right_x=0.4456 right_y=0.0364 right_z=0.0967 right_yaw=0.2315 right_pitch=-0.689 right_roll=0.0129 right_gripper=0.4743\nstate[joint_eff]: [-0.253, -1.7299, 6.9402, 1.6777, -0.0415, -0.0513, -0.0122, 0.4444, -12.9709, 10.6872, 1.1941, -0.0659, -0.0904, 0.4957]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95a8132082b8a4c1e041f4964087a27c92f4e6faed22f28e8cff319db162ad28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4abaa1b21ccdf3f21b1ccef543bf50b6335f0a6e1fb546d290e6d79604387d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36da372f08584a39f04350e13a1d5a13031197f4d4a2de9e63f2c735aa33ca2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3AUKjgEIEhgCKkCZZPr2uM76shQkUSMvztbh8V3ev4B4ZGzQsvh6uE9fE4+Qu80Gsk5BzkWYoYq7kOfkCmHg8Kuxfvvu6jr/3mXsMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbOGzNUGEgx1weZGuNK3Dhns38saDKWD61RWhCj8pFCArSIwWrlU85yZgfbkR3E+wfo7qoIU/86czYRFTHnvsFEANhW2gD09LlIQWyEZC18smVpBKvoDdtpPnetw9wigwHhhhQzXxHZTUMiS9aI5Xx89gi9JI/83Lxq8i23UjGteW9Wobf6bQQu36vH3TXdQgmrBBzmS4JgWaEmopclLYS6j8ZkhnYbpeLoXvTAqN3j1btPWyRLIAXTqqsspwWj52GPZWig4iNg6q+t4OuooYHVRCygjnj1SZY96HzSLrX4l/m14QNb59diZaAIKYeclBXcFD1xdDwDOib/rZyhaPCRjUp1Zej5Cg+VYUuZrkeJa2XH27eE1Fz28J/N9+2aovU8Ik7LZ1eMRFUOmD3IOCnAWJ+VJE+/5/RJudUehuwNut9peWMhLQXzZj7vYFSgiv9lY5zVhoktkPw5eT14uLfo+xP1hmvcb5TZW5zucFu4Tu3A+cKagY8CULbrvcHOFgvQtCCbO86JF8+pWXhKYkameExMnXXbFcREvPSHrONKC493SL90RC8cjDyCKORGma5qqTxTsp7gZr8JRUh6QDWu9w0R6IVkDwivYy0R/oH2up4aCDMjnIZZ5RHPvgcSVS0Yob3eXvVRy+CymJ3ByZU+xxzJoyWHvEy+8tc971LPORmlhEHIu8qZoEA5KN9JfidHCBZbLYi2KXz+cZu5wCv0fKWAb4YS5Y+xBkhf5Govm/zIJJ+5gpSpaojOiKZL0JuUNDDcZObrR/Fqb8Q5jDyoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KbD5vNMPVynLmXAHkQ8QVS",
      "input": {
        "note": "The lemon is right beside the bowl rim; shifting 3 cm further right so it is over the bowl interior before releasing.",
        "targets": {
          "right_y": 0.005,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KbD5vNMPVynLmXAHkQ8QVS",
      "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, 0.8417, 0.6128, -0.4915, -0.0135, -0.0307, 0.9987, 0.0437, 1.9629, 1.6524, -0.9428, -0.0689, -0.2028, 0.4742]\nstate[eef_state]: left_x=0.2819 left_y=0.0 left_z=0.1491 left_yaw=-0.0009 left_pitch=-0.1526 left_roll=0.0017 left_gripper=0.9987 right_x=0.4482 right_y=0.0353 right_z=0.1044 right_yaw=0.2509 right_pitch=-0.6796 right_roll=0.0094 right_gripper=0.4742\nstate[joint_eff]: [-0.2256, -1.388, 6.9128, 1.6093, -0.0122, -0.0708, -0.0122, -0.3077, -13.0256, 8.6769, 1.0623, -0.0611, -0.0415, 0.7204]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89a34266651543308d686efa71602f46778c49b33fa227fc28736bd7cfbb308e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86324d8a6f15cea98e737d3ec449f4120b94596d14db2dd2fb11a2bae1e2b943",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:55719fe32d4175e5d106e7a45ed5d8452b64162ab4ec6f48f15fbeab1663145d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 8.939 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.836, 0.6132, -0.4801, -0.0135, -0.0307, 0.9987, 0.1448, 1.9411, 1.6253, -0.9005, -0.0227, -0.112, 0.4729]\nstate[eef_state]: left_x=0.2836 left_y=-0.0 left_z=0.1529 left_yaw=-0.001 left_pitch=-0.135 left_roll=0.0013 left_gripper=0.9987 right_x=0.4468 right_y=0.0728 right_z=0.1078 right_yaw=0.2368 right_pitch=-0.6492 right_roll=-0.0139 right_gripper=0.4729\nstate[joint_eff]: [-0.1026, -1.4017, 6.9812, 1.6679, -0.0269, -0.0562, -0.0122, 0.2803, -9.5521, 5.8598, 1.2625, 0.1685, 0.0952, 0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8406, 0.6128, -0.4911, -0.0135, -0.0307, 0.9987, 0.0494, 1.9629, 1.6245, -0.923, -0.0612, -0.1764, 0.4743]\nstate[eef_state]: left_x=0.2819 left_y=0.0 left_z=0.1495 left_yaw=-0.0009 left_pitch=-0.151 left_roll=0.0017 left_gripper=0.9987 right_x=0.4456 right_y=0.0364 right_z=0.0967 right_yaw=0.2315 right_pitch=-0.689 right_roll=0.0129 right_gripper=0.4743\nstate[joint_eff]: [-0.253, -1.7299, 6.9402, 1.6777, -0.0415, -0.0513, -0.0122, 0.4444, -12.9709, 10.6872, 1.1941, -0.0659, -0.0904, 0.4957]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8417, 0.6128, -0.4915, -0.0135, -0.0307, 0.9987, 0.0437, 1.9629, 1.6524, -0.9428, -0.0689, -0.2028, 0.4742]\nstate[eef_state]: left_x=0.2819 left_y=0.0 left_z=0.1491 left_yaw=-0.0009 left_pitch=-0.1526 left_roll=0.0017 left_gripper=0.9987 right_x=0.4482 right_y=0.0353 right_z=0.1044 right_yaw=0.2509 right_pitch=-0.6796 right_roll=0.0094 right_gripper=0.4742\nstate[joint_eff]: [-0.2256, -1.388, 6.9128, 1.6093, -0.0122, -0.0708, -0.0122, -0.3077, -13.0256, 8.6769, 1.0623, -0.0611, -0.0415, 0.7204]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89a34266651543308d686efa71602f46778c49b33fa227fc28736bd7cfbb308e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86324d8a6f15cea98e737d3ec449f4120b94596d14db2dd2fb11a2bae1e2b943",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55719fe32d4175e5d106e7a45ed5d8452b64162ab4ec6f48f15fbeab1663145d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9AUKjgEIEhgCKkDIHZXThWjNkhKFJcPF7C2g3tcL//rLmjlGeUedW2PFiyeSoNlmN2ZHrAgqqTIQIHZhgp2b6aUbyfeanP66piLOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbmGzNUGEgx2nH0X3mPylav55ecaDFfuJvsBUNFdv/w39yIwWGqeR+Kp2k7YmRpWtVsH2tq/Rm+ZBrRgKHzVc6kqsJ1E5K4ymZimCYGVFac0SIHhKpIEBa8VI1zB+yAqfgNEs2uxENm39GeQs2hdqX8/C9ZubptE9aocg0uvOWzZIcR3UJ5pDv1bpjM/t5vgGy37qbAIJUn4zQomv9D1fzEhUhDSMlaJGGC/bXvp4tLzNixiA5AZNqnykrbVfCrmpLkWbFugb+dEs1QCfb1e2qfvnSEVESXdTlIak95PKifFxcVoGfmcQWkX+Gho1bHpzU55U4gMk0vVzPnU8/fiXZizaRUA1DvjA8F7alM9ItxGYzqIUycxZC3c/g9YxssaHiBqMV4h6GPMzsCj08FL0g8te9eTUZ1Qq0N5jZ3hFUSC4jHak3/oOZYW1/babRQomqqF16noHC8Ujf2Hjm+MeRu6gNIhb3NQJZxC2R5DORlXE5O47x4I5nCyhaO9eqE6HnppeHFvf+w3rRzNuTMKPZDPEZyEegFWX2B+M/JNMpU0IkHc5vnUavYERBrhWF0DY1a0GXMEb3xyqj5rkApfuS8PhL3ihTZdi9dzJpk0a0+3IdNRVI7QzpF9pPiyOsbyyr0KFUsDNMqJzgVDgdD7kOBZFveICqB8iR109Yhg5FLgo5T2oyNGH6DhUnFHLyMFRVa0D0PcqJr80GS8OUm3777UXkY5KBak6s/QC58og5ADycgQqUuI1ndXBjQuDqGfJYc7YRH62xKDeqAL0NnYqbNt+yFvsZTUmwZrCHHb4zkaUPM+INb+3A0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C9a7zJwkn8QA1DMXKSYujK",
      "input": {
        "note": "The arm refused the last lateral nudge at this low pose; lifting well clear and swinging right, then I will come back down over the bowl.",
        "targets": {
          "right_x": 0.44,
          "right_y": -0.02,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01C9a7zJwkn8QA1DMXKSYujK",
      "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, 0.8436, 0.6128, -0.4927, -0.0135, -0.0307, 0.9987, -0.0879, 2.0197, 1.9804, -1.1942, -0.1326, -0.3038, 0.474]\nstate[eef_state]: left_x=0.2818 left_y=0.0 left_z=0.1484 left_yaw=-0.0009 left_pitch=-0.1556 left_roll=0.0018 left_gripper=0.9987 right_x=0.4634 right_y=-0.0138 right_z=0.169 right_yaw=0.2497 right_pitch=-0.6433 right_roll=0.0333 right_gripper=0.474\nstate[joint_eff]: [-0.2393, -1.1966, 6.8991, 1.5946, -0.0513, -0.0269, -0.0122, 0.5128, -12.1504, 7.159, 0.6129, -0.149, 0.0366, 0.7692]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2df13bcf14f61bd4aabea80666e30eed2479d85a0bce09b7f3c7f0b89478801",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a796a50b106a2775ab6642334cedb6639c5f5ea67e03b4bc581c2f13819396af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:def5c444fe7bf7b6bb3bc5303b6c4f8937f0b96263901fe26ef2b25c3b22cb2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 18.18 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8406, 0.6128, -0.4911, -0.0135, -0.0307, 0.9987, 0.0494, 1.9629, 1.6245, -0.923, -0.0612, -0.1764, 0.4743]\nstate[eef_state]: left_x=0.2819 left_y=0.0 left_z=0.1495 left_yaw=-0.0009 left_pitch=-0.151 left_roll=0.0017 left_gripper=0.9987 right_x=0.4456 right_y=0.0364 right_z=0.0967 right_yaw=0.2315 right_pitch=-0.689 right_roll=0.0129 right_gripper=0.4743\nstate[joint_eff]: [-0.253, -1.7299, 6.9402, 1.6777, -0.0415, -0.0513, -0.0122, 0.4444, -12.9709, 10.6872, 1.1941, -0.0659, -0.0904, 0.4957]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8417, 0.6128, -0.4915, -0.0135, -0.0307, 0.9987, 0.0437, 1.9629, 1.6524, -0.9428, -0.0689, -0.2028, 0.4742]\nstate[eef_state]: left_x=0.2819 left_y=0.0 left_z=0.1491 left_yaw=-0.0009 left_pitch=-0.1526 left_roll=0.0017 left_gripper=0.9987 right_x=0.4482 right_y=0.0353 right_z=0.1044 right_yaw=0.2509 right_pitch=-0.6796 right_roll=0.0094 right_gripper=0.4742\nstate[joint_eff]: [-0.2256, -1.388, 6.9128, 1.6093, -0.0122, -0.0708, -0.0122, -0.3077, -13.0256, 8.6769, 1.0623, -0.0611, -0.0415, 0.7204]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8436, 0.6128, -0.4927, -0.0135, -0.0307, 0.9987, -0.0879, 2.0197, 1.9804, -1.1942, -0.1326, -0.3038, 0.474]\nstate[eef_state]: left_x=0.2818 left_y=0.0 left_z=0.1484 left_yaw=-0.0009 left_pitch=-0.1556 left_roll=0.0018 left_gripper=0.9987 right_x=0.4634 right_y=-0.0138 right_z=0.169 right_yaw=0.2497 right_pitch=-0.6433 right_roll=0.0333 right_gripper=0.474\nstate[joint_eff]: [-0.2393, -1.1966, 6.8991, 1.5946, -0.0513, -0.0269, -0.0122, 0.5128, -12.1504, 7.159, 0.6129, -0.149, 0.0366, 0.7692]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2df13bcf14f61bd4aabea80666e30eed2479d85a0bce09b7f3c7f0b89478801",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a796a50b106a2775ab6642334cedb6639c5f5ea67e03b4bc581c2f13819396af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:def5c444fe7bf7b6bb3bc5303b6c4f8937f0b96263901fe26ef2b25c3b22cb2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6AgKjgEIEhgCKkBMwmyXbiQJJUHxCv9QCCzrISFdgIXusLfP46d9xrqUoQSZmHiR2WPw2k9sjWbTeYtvPubZJnD97PtF+f4AkYP/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcOGzNUGEgwYPdWq8LIb5y/9PL0aDNIyk8wMgL050WoX1yIw4XUfro0k7WXp7N+KQa5aAxqQbaPIZQdbZIVM9icHZmYKMvRYWnhQCBlVvfAGI529KoYHaYCIU0GCW2rsPpBVmMAh0AaNZiHmMIHwJqEzJzB/fbVofeDSIUxC8XY8O5y1I+G50xHwhErj7uFC/FUZFQYSoB7xgy1UOYoqAWesO3LphPTg0rJzgSdZ52et5dD/C0zSuwP07F+nDdib6lgQqDGnf5BC5HKZF7kH8lUe2YSEFPAjK7988V92zqFYG+CHmtcnq/kIcD0E8QVOAMSTzfiorAys6FVZI3vy1L4BOOvWKnZONMR+UPQIhnVOvHSKxqJgDp+JEjOXB4EHNFTGe3Clm3RDSXTnFBfnfVeEJ9e1uUCYcYy8Rhp7rUc6O9Ez2w7IaxR/AjxjZj8Plehl6hkGd+INcmwo4jpOQ7LFBz8Tavzk4awKOstuDjDQQCsS0gTN62ws4mVbqYxPNnEmGIijZS3PjLnoWh5roKIVLhFw5yY2udNZqiRGwqJbWiMRLjnfJlCaodZySM7ePLrSgXUXiRC3lpQvXLy5QOQMpfhCQfsCKHj0csmUJPtY+MwsBk5YqcGS41eV1y0+AIBiyFVAUjPwzR/+Zbx1pxM51d62ap4/4BeXsrg2XksEhr861xK6Xs0DmweiXWJ6UjFI+xJ5q8LeHaFKPQ1G0zXkFWHBzqOWW45fOGxTym6reqlbBE8XJZr7dZnKnZJ0oyTW9uVSdklGzS3vh6czHFjhn8DYI1HsAgaZ4fjo6hRNj3FN1ynl7dEJIOrf+C0lEu3bY7UKq/I9PQE51d/YOpCfDKivI1oW7cCwDu6qawCZR4zPRlb83DEjOD4keDIv8J6CpxPQyhhLb5WIbI5MkkBeJI5gyNbhxWwScu/fLJY8FT8A5m+woiGDTukMSCpNbkM17UtipaXHTaL2zaGaVz4z/IUyQU384p8cZsOBcvqv1KM442z7asXemtzEPyi/kxWVKaTyPraSUH+Hs8xj5emJCsGAF3uhBoLULNqHSiA9K5c9jHh3x/skDSqhnHIby8OKXrhAFsjOxtsD/1Sg8pUbGHlZyMasOXS5zmoOui0UIEwwLRjd3HTkRBt/MfS0b8RHQ1E3kGt0s11j3/qWrEGXJ8Xu4mXKwLF0c7/ymD687u5CfwvGKqnoZsrOg0Ip+p3Li6VdQq42qA/Jy4V3OTnwDl2MBx2TSvUzleplHHttAAP3KfIwwexZhS7rmpB1YxllS8Jt65Zh6FBcrLEiKn6G180a/5lYGw740a4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DvJejBkA2ueSJpcuaBzgkx",
      "input": {
        "note": "Bowl still sits right of the held lemon; continuing to step right (and pulling back slightly to stay within comfortable reach) to get over the bowl centre.",
        "targets": {
          "right_x": 0.43,
          "right_y": -0.06,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01DvJejBkA2ueSJpcuaBzgkx",
      "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, 0.8463, 0.6128, -0.4942, -0.0135, -0.0307, 0.9987, -0.2108, 1.9369, 1.8061, -1.2079, -0.181, -0.3927, 0.4763]\nstate[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1474 left_yaw=-0.0009 left_pitch=-0.1598 left_roll=0.0018 left_gripper=0.9987 right_x=0.4193 right_y=-0.0535 right_z=0.1489 right_yaw=0.2705 right_pitch=-0.7184 right_roll=0.1058 right_gripper=0.4763\nstate[joint_eff]: [-0.212, -1.5385, 6.9675, 1.6337, -0.0464, -0.022, -0.0122, -0.1299, -14.8034, 7.8427, 1.2576, -0.2369, -0.0611, 0.5153]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:130de9a74aa42a5f81679883585d45e76543950f98d40eefc9cdd12df6d874d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ae2b1f37d20df05115758ab70e13ad74630070dd32e8512edd9e30ce60126b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9fe61c058f2fe51738590d9d1b82d2d4a12a6076404c3f8ddba954299ab5cfa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 10.79 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8417, 0.6128, -0.4915, -0.0135, -0.0307, 0.9987, 0.0437, 1.9629, 1.6524, -0.9428, -0.0689, -0.2028, 0.4742]\nstate[eef_state]: left_x=0.2819 left_y=0.0 left_z=0.1491 left_yaw=-0.0009 left_pitch=-0.1526 left_roll=0.0017 left_gripper=0.9987 right_x=0.4482 right_y=0.0353 right_z=0.1044 right_yaw=0.2509 right_pitch=-0.6796 right_roll=0.0094 right_gripper=0.4742\nstate[joint_eff]: [-0.2256, -1.388, 6.9128, 1.6093, -0.0122, -0.0708, -0.0122, -0.3077, -13.0256, 8.6769, 1.0623, -0.0611, -0.0415, 0.7204]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8436, 0.6128, -0.4927, -0.0135, -0.0307, 0.9987, -0.0879, 2.0197, 1.9804, -1.1942, -0.1326, -0.3038, 0.474]\nstate[eef_state]: left_x=0.2818 left_y=0.0 left_z=0.1484 left_yaw=-0.0009 left_pitch=-0.1556 left_roll=0.0018 left_gripper=0.9987 right_x=0.4634 right_y=-0.0138 right_z=0.169 right_yaw=0.2497 right_pitch=-0.6433 right_roll=0.0333 right_gripper=0.474\nstate[joint_eff]: [-0.2393, -1.1966, 6.8991, 1.5946, -0.0513, -0.0269, -0.0122, 0.5128, -12.1504, 7.159, 0.6129, -0.149, 0.0366, 0.7692]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8463, 0.6128, -0.4942, -0.0135, -0.0307, 0.9987, -0.2108, 1.9369, 1.8061, -1.2079, -0.181, -0.3927, 0.4763]\nstate[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1474 left_yaw=-0.0009 left_pitch=-0.1598 left_roll=0.0018 left_gripper=0.9987 right_x=0.4193 right_y=-0.0535 right_z=0.1489 right_yaw=0.2705 right_pitch=-0.7184 right_roll=0.1058 right_gripper=0.4763\nstate[joint_eff]: [-0.212, -1.5385, 6.9675, 1.6337, -0.0464, -0.022, -0.0122, -0.1299, -14.8034, 7.8427, 1.2576, -0.2369, -0.0611, 0.5153]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:130de9a74aa42a5f81679883585d45e76543950f98d40eefc9cdd12df6d874d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ae2b1f37d20df05115758ab70e13ad74630070dd32e8512edd9e30ce60126b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fe61c058f2fe51738590d9d1b82d2d4a12a6076404c3f8ddba954299ab5cfa9",
        "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_01Dy7Fdrcyr2wupEo3RLvwMT",
      "input": {
        "note": "Lateral wrist-view judgement keeps failing (base-yaw rotation dominates the image). Retracting the right arm high and back so the overhead camera can show me where the blue bowl actually is.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Dy7Fdrcyr2wupEo3RLvwMT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6128, -0.4942, -0.0135, -0.0307, 0.9987, -0.2245, 1.9259, 1.7958, -1.1782, -0.1925, -0.4278, 0.478]\nstate[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1472 left_yaw=-0.0009 left_pitch=-0.1606 left_roll=0.0019 left_gripper=0.9987 right_x=0.4232 right_y=-0.0583 right_z=0.1523 right_yaw=0.2802 right_pitch=-0.6845 right_roll=0.0859 right_gripper=0.478\nstate[joint_eff]: [-0.1162, -1.5795, 6.8991, 1.5653, -0.0464, -0.0269, -0.0122, -0.4991, -14.0376, 7.3368, 1.0281, -0.1685, -0.0562, 0.6813]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fb63a916315a08ebdf23fa577cc340893633f2b9f78f9381dee44244d937421",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e3d13cc3f570ff09e33d31c768ac9b089e395e0bcb4277a2de6a52b46f34941",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d86e8682c2eb12a6f99d434c5e125c539abb2614a0d9e1ea6fce950bd534a5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 19.54 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8436, 0.6128, -0.4927, -0.0135, -0.0307, 0.9987, -0.0879, 2.0197, 1.9804, -1.1942, -0.1326, -0.3038, 0.474]\nstate[eef_state]: left_x=0.2818 left_y=0.0 left_z=0.1484 left_yaw=-0.0009 left_pitch=-0.1556 left_roll=0.0018 left_gripper=0.9987 right_x=0.4634 right_y=-0.0138 right_z=0.169 right_yaw=0.2497 right_pitch=-0.6433 right_roll=0.0333 right_gripper=0.474\nstate[joint_eff]: [-0.2393, -1.1966, 6.8991, 1.5946, -0.0513, -0.0269, -0.0122, 0.5128, -12.1504, 7.159, 0.6129, -0.149, 0.0366, 0.7692]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8463, 0.6128, -0.4942, -0.0135, -0.0307, 0.9987, -0.2108, 1.9369, 1.8061, -1.2079, -0.181, -0.3927, 0.4763]\nstate[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1474 left_yaw=-0.0009 left_pitch=-0.1598 left_roll=0.0018 left_gripper=0.9987 right_x=0.4193 right_y=-0.0535 right_z=0.1489 right_yaw=0.2705 right_pitch=-0.7184 right_roll=0.1058 right_gripper=0.4763\nstate[joint_eff]: [-0.212, -1.5385, 6.9675, 1.6337, -0.0464, -0.022, -0.0122, -0.1299, -14.8034, 7.8427, 1.2576, -0.2369, -0.0611, 0.5153]\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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6128, -0.4942, -0.0135, -0.0307, 0.9987, -0.2245, 1.9259, 1.7958, -1.1782, -0.1925, -0.4278, 0.478]\nstate[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1472 left_yaw=-0.0009 left_pitch=-0.1606 left_roll=0.0019 left_gripper=0.9987 right_x=0.4232 right_y=-0.0583 right_z=0.1523 right_yaw=0.2802 right_pitch=-0.6845 right_roll=0.0859 right_gripper=0.478\nstate[joint_eff]: [-0.1162, -1.5795, 6.8991, 1.5653, -0.0464, -0.0269, -0.0122, -0.4991, -14.0376, 7.3368, 1.0281, -0.1685, -0.0562, 0.6813]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fb63a916315a08ebdf23fa577cc340893633f2b9f78f9381dee44244d937421",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e3d13cc3f570ff09e33d31c768ac9b089e395e0bcb4277a2de6a52b46f34941",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d86e8682c2eb12a6f99d434c5e125c539abb2614a0d9e1ea6fce950bd534a5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RoocVzdJtHv1M2W6pATMQx",
      "input": {
        "note": "The right arm has frozen — identical state and images after two commands. Trying a single-axis lift to see whether it responds at all.",
        "targets": {
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01RoocVzdJtHv1M2W6pATMQx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6128, -0.498, -0.0139, -0.0307, 0.9987, -0.2356, 2.0113, 2.3077, -1.5532, -0.2337, -0.4458, 0.4799]\nstate[eef_state]: left_x=0.2812 left_y=0.0001 left_z=0.1452 left_yaw=-0.0006 left_pitch=-0.1693 left_roll=0.0023 left_gripper=0.9987 right_x=0.4227 right_y=-0.0557 right_z=0.2498 right_yaw=0.2996 right_pitch=-0.6194 right_roll=0.089 right_gripper=0.4799\nstate[joint_eff]: [-0.0342, -1.388, 6.8991, 1.663, -0.0415, -0.0415, -0.0122, -0.4718, -11.412, 7.3641, 0.9548, -0.2076, 0.0708, 0.4615]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f777b70e78d79982db6e03dfb329b77c4cd2376df8250c1ff4e739ef7d10c8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df86126d838991edf36e523f08358de43c0cfe68d38bf414628f1995175716a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c41d3d200408c2d9efe0847de86b2f0a1f0c5a8962504ac1ab21694388fd9a22",
        "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 · 30.92 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8463, 0.6128, -0.4942, -0.0135, -0.0307, 0.9987, -0.2108, 1.9369, 1.8061, -1.2079, -0.181, -0.3927, 0.4763]\nstate[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1474 left_yaw=-0.0009 left_pitch=-0.1598 left_roll=0.0018 left_gripper=0.9987 right_x=0.4193 right_y=-0.0535 right_z=0.1489 right_yaw=0.2705 right_pitch=-0.7184 right_roll=0.1058 right_gripper=0.4763\nstate[joint_eff]: [-0.212, -1.5385, 6.9675, 1.6337, -0.0464, -0.022, -0.0122, -0.1299, -14.8034, 7.8427, 1.2576, -0.2369, -0.0611, 0.5153]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6128, -0.4942, -0.0135, -0.0307, 0.9987, -0.2245, 1.9259, 1.7958, -1.1782, -0.1925, -0.4278, 0.478]\nstate[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1472 left_yaw=-0.0009 left_pitch=-0.1606 left_roll=0.0019 left_gripper=0.9987 right_x=0.4232 right_y=-0.0583 right_z=0.1523 right_yaw=0.2802 right_pitch=-0.6845 right_roll=0.0859 right_gripper=0.478\nstate[joint_eff]: [-0.1162, -1.5795, 6.8991, 1.5653, -0.0464, -0.0269, -0.0122, -0.4991, -14.0376, 7.3368, 1.0281, -0.1685, -0.0562, 0.6813]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6128, -0.498, -0.0139, -0.0307, 0.9987, -0.2356, 2.0113, 2.3077, -1.5532, -0.2337, -0.4458, 0.4799]\nstate[eef_state]: left_x=0.2812 left_y=0.0001 left_z=0.1452 left_yaw=-0.0006 left_pitch=-0.1693 left_roll=0.0023 left_gripper=0.9987 right_x=0.4227 right_y=-0.0557 right_z=0.2498 right_yaw=0.2996 right_pitch=-0.6194 right_roll=0.089 right_gripper=0.4799\nstate[joint_eff]: [-0.0342, -1.388, 6.8991, 1.663, -0.0415, -0.0415, -0.0122, -0.4718, -11.412, 7.3641, 0.9548, -0.2076, 0.0708, 0.4615]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f777b70e78d79982db6e03dfb329b77c4cd2376df8250c1ff4e739ef7d10c8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df86126d838991edf36e523f08358de43c0cfe68d38bf414628f1995175716a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c41d3d200408c2d9efe0847de86b2f0a1f0c5a8962504ac1ab21694388fd9a22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QdKpzMjs7SysFGhSzL8xKw",
      "input": {
        "note": "Testing pure lateral motion at a safe height: commanding the arm to its right-hand y limit to see if it tracks and whether that brings it over the blue bowl.",
        "targets": {
          "right_y": -0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01QdKpzMjs7SysFGhSzL8xKw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6128, -0.4984, -0.0139, -0.0307, 0.9987, -0.2848, 2.0186, 2.299, -1.5856, -0.2489, -0.4843, 0.4829]\nstate[eef_state]: left_x=0.2812 left_y=0.0001 left_z=0.1452 left_yaw=-0.0006 left_pitch=-0.1697 left_roll=0.0023 left_gripper=0.9987 right_x=0.4128 right_y=-0.0718 right_z=0.2428 right_yaw=0.3085 right_pitch=-0.6504 right_roll=0.1192 right_gripper=0.4829\nstate[joint_eff]: [-0.1846, -1.4838, 6.8855, 1.6142, -0.0562, -0.0415, -0.0122, -0.4581, -9.1419, 8.0205, 1.0769, -0.2906, -0.022, 0.3394]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79ee5a866687158c3b2eaf1402686d690a9ea236fdd6b68ded5e32def6450f45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c3ab19e8514f44ca3132c11a86df59fdf0c513ad04ee8cb76c7983af2f8e957",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2826c370da6b41c9315838404527a7be936267ac208f87e6b213758e79ca7a64",
        "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 · 6.762 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6128, -0.4942, -0.0135, -0.0307, 0.9987, -0.2245, 1.9259, 1.7958, -1.1782, -0.1925, -0.4278, 0.478]\nstate[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1472 left_yaw=-0.0009 left_pitch=-0.1606 left_roll=0.0019 left_gripper=0.9987 right_x=0.4232 right_y=-0.0583 right_z=0.1523 right_yaw=0.2802 right_pitch=-0.6845 right_roll=0.0859 right_gripper=0.478\nstate[joint_eff]: [-0.1162, -1.5795, 6.8991, 1.5653, -0.0464, -0.0269, -0.0122, -0.4991, -14.0376, 7.3368, 1.0281, -0.1685, -0.0562, 0.6813]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6128, -0.498, -0.0139, -0.0307, 0.9987, -0.2356, 2.0113, 2.3077, -1.5532, -0.2337, -0.4458, 0.4799]\nstate[eef_state]: left_x=0.2812 left_y=0.0001 left_z=0.1452 left_yaw=-0.0006 left_pitch=-0.1693 left_roll=0.0023 left_gripper=0.9987 right_x=0.4227 right_y=-0.0557 right_z=0.2498 right_yaw=0.2996 right_pitch=-0.6194 right_roll=0.089 right_gripper=0.4799\nstate[joint_eff]: [-0.0342, -1.388, 6.8991, 1.663, -0.0415, -0.0415, -0.0122, -0.4718, -11.412, 7.3641, 0.9548, -0.2076, 0.0708, 0.4615]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6128, -0.4984, -0.0139, -0.0307, 0.9987, -0.2848, 2.0186, 2.299, -1.5856, -0.2489, -0.4843, 0.4829]\nstate[eef_state]: left_x=0.2812 left_y=0.0001 left_z=0.1452 left_yaw=-0.0006 left_pitch=-0.1697 left_roll=0.0023 left_gripper=0.9987 right_x=0.4128 right_y=-0.0718 right_z=0.2428 right_yaw=0.3085 right_pitch=-0.6504 right_roll=0.1192 right_gripper=0.4829\nstate[joint_eff]: [-0.1846, -1.4838, 6.8855, 1.6142, -0.0562, -0.0415, -0.0122, -0.4581, -9.1419, 8.0205, 1.0769, -0.2906, -0.022, 0.3394]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79ee5a866687158c3b2eaf1402686d690a9ea236fdd6b68ded5e32def6450f45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c3ab19e8514f44ca3132c11a86df59fdf0c513ad04ee8cb76c7983af2f8e957",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2826c370da6b41c9315838404527a7be936267ac208f87e6b213758e79ca7a64",
        "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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Tr8Kb3SqRWCW3MwXO6RK0vCdlNQTKQP3arAaPqT5YmF4f+cAhC4oHUlfjSypZgbngoP3LMduziZsONP9mYXhBEAn6hGpRq5SWxifKhqn3QvjrQdogX+0QTYDN0Y1/4Bge+9fE7Jv7CdyIHCgsHZy+SfeLvUYkWGRnn1SLtnrg9OW/tSwpKwzFiESMkdBu7ZaRk0WD3vo/q6giMFscVbXKsrYZiby8ReyxI5QY2+jAXJjdWq+7tgVet01YIBkWKJszMgJJVbn7mykwZ0q6PxmmrPzOsTgZNbQQZaBNoLRnW5m8csLtzPAWJZbdGPEQBPGMUOw63qXt7HBuYFGKGsfNl8JJ2O3iUdeWIH5ZfvOPbc5qdNDwYiCC5rN4OPMxXjiqoirNobxILHTbRfFIdf/cRocqy97dsEDesCxToRl3UL6sYXQUJMlYhwN0vgyl9fvEcFFArrdxVA4NMObNsDbgTwbp14jOh6hHEIJ/vVa3FR1S0Y7UvZbkxxdrChvedTORGoWyY4l2qRDm9t6rrQzkU6bluErF2Lro2HSvmTnrttJfddbLYC4+5F0YTGH2ydnsXgD69yZ5flGrA4q+WiAcKaOr/YlqqgzB39N+DtkFoUKv7EJwKbJ7T7i85cPwKtGYd2WVl1RDYvUM5qpmki6bgPHjQWujES8bt/5U2zZlTKyvDWF/rF94qAA2mbT7RD6lwaWklaoONQ1LX+7cf1w550KAPPso1apsdGUX8oYC3uoFdwRS1RCxjbLQpZvrqG60rDfEYo36/C5NBGtKpOXgwZ6KqVX6yIHA5hjNcOd1lkJCpzItsx/B4Jsj4z3rZZORf5emDGNP9mhoZaoM9204mtZW9n2tOvzGaT+S7NwJK745LJ9IyMDyC9crZXTgA/jRakB6VhiP49jbq/DmN+7ghL8+AYHdfuLGLTJ2jQg2Z/eHRfi2sUk0Zaifjwyqz3ndy3wjq6Vyc7NeYmzS4fODO0akPOGnJyhamYbMgucil7QSLy/XH91BsukkQGF/gwBWMn00LeeeOXCQ3MSp9+MU3olCqTehzs3WIK5K9FPCJc71kDCeDTGoFXzNpuNQpQZyKGJjPsY/4VynqEkYK22hgdj2yhm2EBX8bjAgH+lpNiD6mQclqOc1ZI/D494MJbgoWgLolUS65LGeHlOHPz3HIY4mgGutDZ7dYpDFUfc3/sF3JnoaR4iEQUQ8Yr2Ls39qDFQZPOWsPiKTkg+aIgska9XIpmJqlxfxgAKm9eyFU005ukiHCWqzyzv1QvhooUyCxXnDI+qJPlGV4bpHvH7l4WRfyvTVG811YEFITHOY5aM9Xn9SZ6RttuMKtyx/9JH9FqBrmrnv3SHOsWrFOYnzoA27Ut6KoCQIhrgIfy+o83axWhFc2BFwb/yZjzYRAA2o4pTgKOSd5H3Cc1yZYb56jSk2wLo57sYZ+/K6EfKq61y3GS/uzDxi4oHfnZ8QLqLyWOGAbGGH/bsgMdpOXOQEY1O2KUU1NQarTInhYYtaPmB3wHZe7lIwzhyoVLnY+p8CMbzQcl38qdnKAlurGJ+6ArfMByOWfZ8jxrSPhccyK+hTDC81Bn6OphvGSv4anJ4RO1TYTgLCqC5TdYHKu0TmTP0g8odY7GG0iU1e0i0Kk2I3DcF0eDu5RGJsW7fZqU7qRIOvKsEWVYyF/3U5wxUqPYZcCT93+ggBEWtIEvUirdxg4hOsM5OLdzYTygy+0gxZuTptHzQXV9L/pV8bailuGNJm6uHYK5GZ32k4FU+7FlZ7g9qprE4H/LaE/dVjCNM5RJPuPbTEK+avCa9cRpzAYfxR1V9ycUVymILKxpX6LUaVcDyakxJY+bUq5O8kPMnzqWb7xiZ690lmb05igLBQ5Yh+DQBjkKLTuRJfG8Tll94B8kEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TirUrW1mEJmSEGL1xtguf6",
      "input": {
        "note": "The blue bowl sits at the right edge of the arm's y range; lowering the lemon toward the bowl rim at the arm's rightmost reach to see how close it really is.",
        "targets": {
          "right_x": 0.43,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01TirUrW1mEJmSEGL1xtguf6",
      "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, 0.852, 0.6128, -0.4984, -0.0135, -0.0307, 0.9987, -0.3012, 2.035, 2.299, -1.5833, -0.2523, -0.5064, 0.485]\nstate[eef_state]: left_x=0.2812 left_y=0.0 left_z=0.1452 left_yaw=-0.0009 left_pitch=-0.1697 left_roll=0.0021 left_gripper=0.9987 right_x=0.4142 right_y=-0.0787 right_z=0.2365 right_yaw=0.3161 right_pitch=-0.6587 right_roll=0.1231 right_gripper=0.485\nstate[joint_eff]: [-0.212, -1.4427, 7.1043, 1.5653, -0.0464, -0.0171, -0.0122, -0.3897, -10.7556, 7.4598, 1.0476, -0.3248, -0.0562, 0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e882b4ac7e29b9b031201fce1a979bc6baf34612c05dc58286bc5a0c942fbc23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca60db2bab20cbb1136096543eac6d5fea9c01aa66aff5b5dc4c00148b971cc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c479605c4a6b0aa8c3d8705b1875487f3edd795482f7ef255ad47633c8794f55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 10.47 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6128, -0.498, -0.0139, -0.0307, 0.9987, -0.2356, 2.0113, 2.3077, -1.5532, -0.2337, -0.4458, 0.4799]\nstate[eef_state]: left_x=0.2812 left_y=0.0001 left_z=0.1452 left_yaw=-0.0006 left_pitch=-0.1693 left_roll=0.0023 left_gripper=0.9987 right_x=0.4227 right_y=-0.0557 right_z=0.2498 right_yaw=0.2996 right_pitch=-0.6194 right_roll=0.089 right_gripper=0.4799\nstate[joint_eff]: [-0.0342, -1.388, 6.8991, 1.663, -0.0415, -0.0415, -0.0122, -0.4718, -11.412, 7.3641, 0.9548, -0.2076, 0.0708, 0.4615]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6128, -0.4984, -0.0139, -0.0307, 0.9987, -0.2848, 2.0186, 2.299, -1.5856, -0.2489, -0.4843, 0.4829]\nstate[eef_state]: left_x=0.2812 left_y=0.0001 left_z=0.1452 left_yaw=-0.0006 left_pitch=-0.1697 left_roll=0.0023 left_gripper=0.9987 right_x=0.4128 right_y=-0.0718 right_z=0.2428 right_yaw=0.3085 right_pitch=-0.6504 right_roll=0.1192 right_gripper=0.4829\nstate[joint_eff]: [-0.1846, -1.4838, 6.8855, 1.6142, -0.0562, -0.0415, -0.0122, -0.4581, -9.1419, 8.0205, 1.0769, -0.2906, -0.022, 0.3394]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6128, -0.4984, -0.0135, -0.0307, 0.9987, -0.3012, 2.035, 2.299, -1.5833, -0.2523, -0.5064, 0.485]\nstate[eef_state]: left_x=0.2812 left_y=0.0 left_z=0.1452 left_yaw=-0.0009 left_pitch=-0.1697 left_roll=0.0021 left_gripper=0.9987 right_x=0.4142 right_y=-0.0787 right_z=0.2365 right_yaw=0.3161 right_pitch=-0.6587 right_roll=0.1231 right_gripper=0.485\nstate[joint_eff]: [-0.212, -1.4427, 7.1043, 1.5653, -0.0464, -0.0171, -0.0122, -0.3897, -10.7556, 7.4598, 1.0476, -0.3248, -0.0562, 0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e882b4ac7e29b9b031201fce1a979bc6baf34612c05dc58286bc5a0c942fbc23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca60db2bab20cbb1136096543eac6d5fea9c01aa66aff5b5dc4c00148b971cc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c479605c4a6b0aa8c3d8705b1875487f3edd795482f7ef255ad47633c8794f55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2AUKjgEIEhgCKkAsEK7WxYZ8ZZBx1ilGTl4Gutz4iP+apM8UgwmSDiIcn0I3OWgRQPFk6JeH+S/vTD6/YqDIImXGgTC9RILmFqq+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ2HzNUGEgxPlCzJcDj3A7RUuZ8aDEx6BrWwcpAc7Vr/kyIw6R/jtLdCiqY589Q7u56qKYGrE8UT8kP/7awoEnino5S9/M/FWdBewdg73S+0BImJKvYDn1qBd0FLMXEc8gi6z6/wyJx5Qxnuh/xWI/ajY81dfIwrbqWYA49ou4L8IVItKP99SMYRBu6LGTVUhn3Xwlb710mzEbn0hAIbKtbRi8vH+4gDZ+w3Rm6aK5xc8L0I68+elq1yh8ugd1FEJfIEJwXlwzlkgU74E1M3g8Ty8xycouO+0AFX6eX5iYEkA5hNZhJAfBwdhA4ikmWEE46FKVSM0d+mixnQbiJI8hMw1YhPbQLg88i4xi15P//gQCCJfG5ROtlMxTNedrmLE8cQDq+A70VNJ3RFGW9bNje3mm8sT1Zs7HqZUtSWWZdq9xqoa6Tey4czDTBSGwDOIcLkAN5NF7cXKOfT69BgPEZJXKfSxcIgVZFMHwy94wzNO09UxPhgdyymVI/oM5g4J8SA76UJ2IkRhF6/804s9gzBbQCRIsndyCmPobhhdCK6/xEVWEM/5mB5DTEZQdUzo4m0ibeEp5GV27nJm9fE1mmf5BR+1B7Kf4N+rwXQXU53zI27KqRvKX/qXTCMuNOZhecitYgqc/Km6X5rJ1A6bA8C+R4AsdCHR0Mj7obsJahc1++Bsbq6KeaRZXpGYtdW9JjxnlAwUIUapR+9Z7C0MdjHmTil0dB0gRO+tn7Nv4Vra5MsU/3uaePjPhiZQamKUvVZNAJPpMYPZGOfaxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wc73iwqQLFkjHR5kUDJ2MT",
      "input": {
        "note": "The arm is refusing to descend or retract from this far-right corner pose; trying a small retracting step to break it out of the stuck configuration.",
        "targets": {
          "right_x": 0.39,
          "right_y": -0.06,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Wc73iwqQLFkjHR5kUDJ2MT",
      "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, 0.852, 0.6128, -0.4984, -0.0135, -0.0307, 0.9987, -0.3012, 2.035, 2.299, -1.5833, -0.2523, -0.5068, 0.4872]\nstate[eef_state]: left_x=0.2812 left_y=0.0 left_z=0.1452 left_yaw=-0.0009 left_pitch=-0.1697 left_roll=0.0021 left_gripper=0.9987 right_x=0.4142 right_y=-0.0787 right_z=0.2365 right_yaw=0.3163 right_pitch=-0.6587 right_roll=0.123 right_gripper=0.4872\nstate[joint_eff]: [-0.2667, -1.4974, 6.8991, 1.5946, -0.0464, -0.0415, -0.0122, -0.335, -10.7829, 7.4462, 1.0134, -0.3004, -0.0904, 0.2271]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6584d164351a9d0146868516c8f19b820a5cecc2256d1b1f90e979afb74bb1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a588e1073b7a0306b751743df729577b17151193c0f5b0ce598a37852247ae2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:420ac114db43f3bc0bfa194fcd8f1eab3865894df8d8cf401b1e2784759c4f15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 16.88 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6128, -0.4984, -0.0139, -0.0307, 0.9987, -0.2848, 2.0186, 2.299, -1.5856, -0.2489, -0.4843, 0.4829]\nstate[eef_state]: left_x=0.2812 left_y=0.0001 left_z=0.1452 left_yaw=-0.0006 left_pitch=-0.1697 left_roll=0.0023 left_gripper=0.9987 right_x=0.4128 right_y=-0.0718 right_z=0.2428 right_yaw=0.3085 right_pitch=-0.6504 right_roll=0.1192 right_gripper=0.4829\nstate[joint_eff]: [-0.1846, -1.4838, 6.8855, 1.6142, -0.0562, -0.0415, -0.0122, -0.4581, -9.1419, 8.0205, 1.0769, -0.2906, -0.022, 0.3394]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6128, -0.4984, -0.0135, -0.0307, 0.9987, -0.3012, 2.035, 2.299, -1.5833, -0.2523, -0.5064, 0.485]\nstate[eef_state]: left_x=0.2812 left_y=0.0 left_z=0.1452 left_yaw=-0.0009 left_pitch=-0.1697 left_roll=0.0021 left_gripper=0.9987 right_x=0.4142 right_y=-0.0787 right_z=0.2365 right_yaw=0.3161 right_pitch=-0.6587 right_roll=0.1231 right_gripper=0.485\nstate[joint_eff]: [-0.212, -1.4427, 7.1043, 1.5653, -0.0464, -0.0171, -0.0122, -0.3897, -10.7556, 7.4598, 1.0476, -0.3248, -0.0562, 0.2076]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6128, -0.4984, -0.0135, -0.0307, 0.9987, -0.3012, 2.035, 2.299, -1.5833, -0.2523, -0.5068, 0.4872]\nstate[eef_state]: left_x=0.2812 left_y=0.0 left_z=0.1452 left_yaw=-0.0009 left_pitch=-0.1697 left_roll=0.0021 left_gripper=0.9987 right_x=0.4142 right_y=-0.0787 right_z=0.2365 right_yaw=0.3163 right_pitch=-0.6587 right_roll=0.123 right_gripper=0.4872\nstate[joint_eff]: [-0.2667, -1.4974, 6.8991, 1.5946, -0.0464, -0.0415, -0.0122, -0.335, -10.7829, 7.4462, 1.0134, -0.3004, -0.0904, 0.2271]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6584d164351a9d0146868516c8f19b820a5cecc2256d1b1f90e979afb74bb1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a588e1073b7a0306b751743df729577b17151193c0f5b0ce598a37852247ae2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:420ac114db43f3bc0bfa194fcd8f1eab3865894df8d8cf401b1e2784759c4f15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XKEqpMPBkqmcroYq3ntg3X",
      "input": {
        "note": "Right arm appears jammed near the right fence; commanding a large straight-up lift to free it.",
        "targets": {
          "right_z": 0.45
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01XKEqpMPBkqmcroYq3ntg3X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6128, -0.4984, -0.0139, -0.0307, 0.9987, -0.2447, 1.8652, 2.1975, -1.5944, -0.2668, -0.448, 0.4893]\nstate[eef_state]: left_x=0.2812 left_y=0.0001 left_z=0.1452 left_yaw=-0.0006 left_pitch=-0.1697 left_roll=0.0023 left_gripper=0.9987 right_x=0.3824 right_y=-0.0438 right_z=0.2723 right_yaw=0.323 right_pitch=-0.6072 right_roll=0.1243 right_gripper=0.4893\nstate[joint_eff]: [-0.2667, -1.4154, 6.8855, 1.5849, -0.0464, -0.0073, -0.0122, 0.0615, -11.412, 4.9709, 1.0574, -0.1978, 0.1294, 0.2027]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2511c5f49b2005979b9dc607e59b539d36d8b828ac5cca7073c8cb0f1a0fe8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccaebbca7dec0a80aef58be4e463ab46b0e42caaddc112611d4aca34a4061247",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9653e141fda4eefd21b9c01c548611981a24050a114e5173a907a81c1be286e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /messages · status 200 · 18.38 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6128, -0.4984, -0.0135, -0.0307, 0.9987, -0.3012, 2.035, 2.299, -1.5833, -0.2523, -0.5064, 0.485]\nstate[eef_state]: left_x=0.2812 left_y=0.0 left_z=0.1452 left_yaw=-0.0009 left_pitch=-0.1697 left_roll=0.0021 left_gripper=0.9987 right_x=0.4142 right_y=-0.0787 right_z=0.2365 right_yaw=0.3161 right_pitch=-0.6587 right_roll=0.1231 right_gripper=0.485\nstate[joint_eff]: [-0.212, -1.4427, 7.1043, 1.5653, -0.0464, -0.0171, -0.0122, -0.3897, -10.7556, 7.4598, 1.0476, -0.3248, -0.0562, 0.2076]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6128, -0.4984, -0.0135, -0.0307, 0.9987, -0.3012, 2.035, 2.299, -1.5833, -0.2523, -0.5068, 0.4872]\nstate[eef_state]: left_x=0.2812 left_y=0.0 left_z=0.1452 left_yaw=-0.0009 left_pitch=-0.1697 left_roll=0.0021 left_gripper=0.9987 right_x=0.4142 right_y=-0.0787 right_z=0.2365 right_yaw=0.3163 right_pitch=-0.6587 right_roll=0.123 right_gripper=0.4872\nstate[joint_eff]: [-0.2667, -1.4974, 6.8991, 1.5946, -0.0464, -0.0415, -0.0122, -0.335, -10.7829, 7.4462, 1.0134, -0.3004, -0.0904, 0.2271]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6128, -0.4984, -0.0139, -0.0307, 0.9987, -0.2447, 1.8652, 2.1975, -1.5944, -0.2668, -0.448, 0.4893]\nstate[eef_state]: left_x=0.2812 left_y=0.0001 left_z=0.1452 left_yaw=-0.0006 left_pitch=-0.1697 left_roll=0.0023 left_gripper=0.9987 right_x=0.3824 right_y=-0.0438 right_z=0.2723 right_yaw=0.323 right_pitch=-0.6072 right_roll=0.1243 right_gripper=0.4893\nstate[joint_eff]: [-0.2667, -1.4154, 6.8855, 1.5849, -0.0464, -0.0073, -0.0122, 0.0615, -11.412, 4.9709, 1.0574, -0.1978, 0.1294, 0.2027]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2511c5f49b2005979b9dc607e59b539d36d8b828ac5cca7073c8cb0f1a0fe8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccaebbca7dec0a80aef58be4e463ab46b0e42caaddc112611d4aca34a4061247",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9653e141fda4eefd21b9c01c548611981a24050a114e5173a907a81c1be286e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3hMKjgEIEhgCKkB1d69ltyWEuGHdgnDN9WTbKNILPbsL8XkKX7ZZ44eQtPBGi5446/4GCQLk9kQm634Z/s+4DQjBzf9MnotyA202Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbmHzNUGEgyqRm4nfl7aKxKmUNUaDOIxZw6rLFrkL2Y1syIw36o0Bi+jIMRKENwRBGu/btAOaxL3cyHUW/0Qw7+2PLNZnTXJgmdDKOni5ZivZvQqKvwRH1+OL/ODQj8oHN2e/M4kFhWMQDl7e3eZDeggnbD8cI9tJgbzVYSRV4KUacdSPSeiP0v4Vq4U38wdCm2k4BVFYqKqRm2Ta+/bCBZUrQ65DVwPDkpGF0qVIz/irRirRYCzXj997SMLpL5/Rxo/hT9ijCOQIw70+3ovWHgTXFcITSh5bqqE76LXTL7BkbI/vJPvGdaRpIRaJHjciobRNQiWotByQVmopmZcN5+gEfozOPdPG6syhONJpfl1EG4pxa66V7W6Zyt5lGqJ9pgJE5dIUDq/X6sOD6t+8DQXufwOBfis61sRmxBEcw0YTB2IGC2doZXGx1Z5N3KX2lNji9iETmMvggn+oujsd8cXinjIj/3EKZTtW4weTeH+u5l3n0Li9H9/BzoWew18sHHqN78OSrNZ02N0h5ZPX1/fvMyzieLLMe8+nE7v0oKXZDa5VV26R9s1NkaeboX6ZR/JhbTz8hlQwxFvkwLgzD+9fIL2wJDy+x1gCOdQU6G+SOkzOBLOIX5Ztkhw6cDcsOFfOnKqyhq+2YavFTpZGKQRKrrcB9GLBr8PeMHO99oxNHHE8QeW9YAGRI2xPIYdqOD6nITw8UnSwCklChwgfE8yzyMzezehWY8B4O4gC3odpAHTDkeVit5EiOXrW0crUedjL5F3UydujZzYR5CV4p8b4GysLGM8VxQdCCLnFMo+vP9rOvQDxMy/cExNSXNkU1YkNfOD9SD08paq7F7fRF1yXWaeXru9jUKva00acqJIamk9ZuxZCkqQv/Qv37jThJAvG1YSGyX3JaPFWO+ka2kR1+acTRcAJ2Qjc7LfjhWpilhVi5sdImVbGEmWStyOMxgdzTftgiJmCgXohAFRmoO7L8QGOPAg2/t4Kt2xs17sM1wkYaPKNpY6h4izF92OXPobvjXJFMDx2Nf7b1YyPKN9LAuu9Kfz5EvQI2yGPmo5n6zhJwQT17tV62zP3r6uXsMpytXyRayWb51XeM7pu6TZD7F3ooKutXIwqPuoNuI1Argu+TiUepN0O875fq10oCC1zG06SirSHHld/9/3uxUq6cPw/YkG9yywMyh7/WMWpOHU1PjK5ABUoA2SzdX51cSyFdT4CgJdDUfl/lqNCPhiauFJlHz/GF3SkqrYVazlW4FvCppH+cJKG7Qhqd0Vm0iNX3urycZoZzJnONKU7GSXIRQM2IFjaY9UQSnKZOhzpGbkQNRJo007nMwauzkR9mM7q8gbihI6vCJtkXZJ6dE3rStKLY90XXm+QpZS6vn7GYLlJO55jXmUQU6p2NxM/AtiFqKm2BmJr7+rgTcl9vk7YVGjzgREyAhDrVQRz8pwXBAQEmBSMjBLyn4zdE2FcHPD/MuuTAGAhjFKD66+5lFqbSR6H8WXPFcJqwgJLz2Q+LvGvpRDg6MogheTfQYeHOx08+n8CvwOQNH3/792C7vqgXflFn/Bqdn28SIuibetzxhGQ2vJ4WCXBMR1kLR7+LYLKfOY5E1SvUg0vdm+IcbS8F+QUiU8PACxIh2v17x613l+WfcE/zQuYLLkv6f0u9hRvI+EK9iYOo5U+daMINX8s7xhDvkqfyvDe8i7O/buq0A6m5FRajJ+GFdoQ/pmQGhq7sIPxpUHx6HRSA8YXbD5gxrCP43/K+eBW/WbCyfSnZivzYxwzFsefxem2n5iTZ2K3IZeTjmNkSQqbA5C4cbba47n5KuG5v3A7cjIFfsUI9vAQjyFpxsdogRwYfeKZxLr2bYW7nBZ5O12cqvpjQN0X5zmQeNBKvExXbpQv3HpvmvSyhr3kFxdsi84Fl+BAFcBc+bsafFlDAwbSFZtiLmb5ABK1M1skYwTVQVyxtVAH7/Ir7SC0OALV7sB4t4cLbMQBZ5q9BbWjgwTfE4vfQRYx+G4Q57JUHbCX5YIC7ZBgu0frtFyBwJK9dPP3kj6K/ofF1n5EziIJsoKus/CTrjfgCvKq4SWnydE6+2NWHvXtMw59ohKwbGYuuqFC28PGdmbW45g1pFhoDMhdylVbPqNj9K55kP2r3s/WNNnB+zCUrTbrhoHeJvXMywB7C717g+a4Vrvj7KPjSHjgtQK6vpSHAgZpZIOnd70pMphpF9P87MeaGjUzp8zD6Mj/iShrHT9I34w0E744Y2MKQxsa6G810dvRjPjN3L+TW1qfc+zJVdHjpsrsKRjN8lmTpcSiX3XSX5xSJhf8zbSY0x8uMau8gKoWwYTZCsW2d3uXwv8SJziiOFBTheCaS1f78CguWAv0uIkHizVD2BtdwOQu2V5AMIMfdYVTCYkfoOih8Ww1qd5Ir6mNW6iNUawSoPyryh5SAtzxLV041jl5yqhfYYuqgg/wfIy+31M0BpzybPFvpnqIf8XRJmCg+mjtE1MUsLgCNRpTgG5FKUaUh7tqxhGQf0deUxsTA5GPDL8e4EJy6n++vblgj4B1PsBMQQ5sL5MSeoqrkQZC0H2WlF+Tmam6/FYDekVk60CDfpsr07CPLKk0tEryNJr0jOXvbKTBlPqikEEoj4qahwM38zkySvxOrMFj9DO9qWD2fKIG1SH4vBrJ720CaK2Q12iYA9/hRDRg/KAU/IouaEa8arbz0Q0dGHZIJe61agcUhsHIsGEggXjX8yr3zCN3v8Qx4Kp8RxkmQTK1F3QM0qz8lfIeUXOVKCa5o4Fd+RfYT2UDCBmN+9oqxwE7sIuSPbYqA/sxPZEq/2o2kHUbXXfYSQK0q5lstUgcqHwObs96A1iXSMh8v5xknMbaco1HN4A1Qjfl+PUZErc3QX/xVrwKzdicn34gvYOX3BYrM6XkJ2d1iRh1C0QhyCTWrTYlDTmA4Q8pTLB5JZ60quuybevOLP4SnCLN4kpdoirPrkZzke8W2GE/MTOOXdKflXSvWPW1X13t/b9Bf0AMa8Y3LYZ3zB7aEICDSVYq0PtELsZBBEShbv6vufVha78jSTZdk2t8xTD193j7+85ntPBnq3THvYC9ZFjdZwCpnMMub54yobxtZXhQoow5qpbSn/leqEFjoYlJqPksxXJj1uvmitctdrD5SPMPmoIG5Tce7XtLzygFned3BkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cd2yUDv4hx6pbphhsaiALr",
      "input": {
        "note": "Arm is free again. Reaching forward-right to the corner of its box, where the blue bowl appears to sit just beyond the fingertips, to drop the lemon in.",
        "targets": {
          "right_x": 0.47,
          "right_y": -0.08,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Cd2yUDv4hx6pbphhsaiALr",
      "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, 0.8528, 0.6128, -0.4992, -0.0139, -0.0307, 0.9987, -0.2737, 2.1887, 2.3772, -1.5326, -0.2672, -0.4767, 0.4914]\nstate[eef_state]: left_x=0.2811 left_y=0.0001 left_z=0.1448 left_yaw=-0.0005 left_pitch=-0.1713 left_roll=0.0023 left_gripper=0.9987 right_x=0.4529 right_y=-0.075 right_z=0.1979 right_yaw=0.3475 right_pitch=-0.6728 right_roll=0.1691 right_gripper=0.4914\nstate[joint_eff]: [-0.335, -1.1966, 6.9128, 1.5946, -0.0464, -0.0317, -0.0122, -0.6906, -12.5744, 6.7487, 0.9646, -0.3492, -0.0904, 0.2125]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:327ccc60d97856b9cf344c18d133466b0af11ff7134955629b0eb15c0e057e04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c075446aa5b0e02ba18305bb3631b9aab7dd7784e0a526a9fbde548a53bcd330",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ae4fe064dcf6571cf9192048a00f16dbc9ecb13dd07f1caf1c89fd44cd073189",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 9.367 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6128, -0.4984, -0.0135, -0.0307, 0.9987, -0.3012, 2.035, 2.299, -1.5833, -0.2523, -0.5068, 0.4872]\nstate[eef_state]: left_x=0.2812 left_y=0.0 left_z=0.1452 left_yaw=-0.0009 left_pitch=-0.1697 left_roll=0.0021 left_gripper=0.9987 right_x=0.4142 right_y=-0.0787 right_z=0.2365 right_yaw=0.3163 right_pitch=-0.6587 right_roll=0.123 right_gripper=0.4872\nstate[joint_eff]: [-0.2667, -1.4974, 6.8991, 1.5946, -0.0464, -0.0415, -0.0122, -0.335, -10.7829, 7.4462, 1.0134, -0.3004, -0.0904, 0.2271]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6128, -0.4984, -0.0139, -0.0307, 0.9987, -0.2447, 1.8652, 2.1975, -1.5944, -0.2668, -0.448, 0.4893]\nstate[eef_state]: left_x=0.2812 left_y=0.0001 left_z=0.1452 left_yaw=-0.0006 left_pitch=-0.1697 left_roll=0.0023 left_gripper=0.9987 right_x=0.3824 right_y=-0.0438 right_z=0.2723 right_yaw=0.323 right_pitch=-0.6072 right_roll=0.1243 right_gripper=0.4893\nstate[joint_eff]: [-0.2667, -1.4154, 6.8855, 1.5849, -0.0464, -0.0073, -0.0122, 0.0615, -11.412, 4.9709, 1.0574, -0.1978, 0.1294, 0.2027]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8528, 0.6128, -0.4992, -0.0139, -0.0307, 0.9987, -0.2737, 2.1887, 2.3772, -1.5326, -0.2672, -0.4767, 0.4914]\nstate[eef_state]: left_x=0.2811 left_y=0.0001 left_z=0.1448 left_yaw=-0.0005 left_pitch=-0.1713 left_roll=0.0023 left_gripper=0.9987 right_x=0.4529 right_y=-0.075 right_z=0.1979 right_yaw=0.3475 right_pitch=-0.6728 right_roll=0.1691 right_gripper=0.4914\nstate[joint_eff]: [-0.335, -1.1966, 6.9128, 1.5946, -0.0464, -0.0317, -0.0122, -0.6906, -12.5744, 6.7487, 0.9646, -0.3492, -0.0904, 0.2125]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:327ccc60d97856b9cf344c18d133466b0af11ff7134955629b0eb15c0e057e04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c075446aa5b0e02ba18305bb3631b9aab7dd7784e0a526a9fbde548a53bcd330",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae4fe064dcf6571cf9192048a00f16dbc9ecb13dd07f1caf1c89fd44cd073189",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISlxgKjgEIEhgCKkBG97zpLC9pgr+fPgwAQiLgYePaiEPfMZF54H6Nkof7bekucAFO3p+BJSa4BI2y8myVAySl+JIeYhU6K3sQPpoJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc2HzNUGEgw7CoavlnSGTRUvpwEaDGAtKUxmOdyqyiKw+CIwQs2yYAH3gh47NHcdwon/ji/0As5oZjTNsv6WO+MEVQSfp8QwhLx1F9AS9nT963uMKrUWp9uKhBKzc271anuj/xrz97Ym0dc6YJSDQ+VsDUF7z3ZDwMmAv4Vy1mNzkciIqMcZKp+nJMzNJldki1ocLKxrhdsoemWMhxPqNjCcbF4fwZqt76V4/QkbY4mzKLzXcojXknsMk/xBNrn2T2Y27Bpp9H97PEfFtsybRICg1qc1//zB+SD/ECQHRpAbGajaWWRdbEP7IEfK08pszZs6g2+uA91BBmwIffFTZ3J/NjBeGzBTqq7zqWgOb/hsslpstiaNYLL8PAGuWrec9JdPt388vFeX4rd09eUfUspL/SUCEzGu7xI2DjqjMDgxV/fliX7gigbmmkYmYNbw4ERnvzeqeUVz1F2RD4CUHbXX88PqWHvPrTi+XPKxrzRvprCecVeYwCUzjVwHjYCBSV3ASogiuUL1ahptvgVpstw+FLXFgS1APIQlPWnmGKIPCoO/KGslxn1zuON5ZuGrm8+dkCQOOFbIeca1EFY1IBgFWgEfK3CtlvxRcXKhHVty7/T0ZSNiLjYo8OPK+C7zejkIf9mCfzPEORc/Rj4SQd5tmIyKQRcSK34hllrE7mzp7xKdi0cdsJaqRsmStZzFKRq+TaPXtcVVYoWvjFIMpEgAJxVtLFOQdscCCjRXmFi4AIBlZpBI7LCnnA7otbYgDz2BTOLH7LJKamGB5UFIG9bMK5GnmK/t5GGQPLxNrvvm+/TueWC4i4c+sMg0zA9cVYUEwdvPJ2VySGIaCZ+VlKrJwc2YO5vontrP54kTp6f3NWbSd5FCo1O57Ux+nO8VNNWEnc5a/IsuN7uwiC/tQz4qFh6OcluQ6KqOoi/badnPp4M9iqyztNJZYFKZ5uDscthkL/XAUiDhvJ8mQ90BwkrVeP0xAPwmHpxesrxnVm6cOeiX/42ho8pQjtLVbNV3UuMdr9htuPc+jK/KxhziQOyfYuVfGDNWYGPGHdOsAh/6DaIxfAKIcfkJnn2OjH+2jeDYWAiMinG0nq2uB4nn3wuJfgWH5ahEOaPKbsrijFSNsf/pWnkmc3mjbYpH4A+97buaNafesO4XHKsg+rkGQu2UMR84rMm3WCuiyBTNzRCic6MVLuu1w64IfV8BllchQQhhpmBVAFun1f1JFu/TcyWzelPTW/bG7ALXoQIdxTEJNm+NAnOi2TBfip2q4SKPy/+xn7S/bAPckmNmtAuGE/PI4CxD/JIGvITRaji9ZCbj5GvQQNYB68PBfd9z5Jx8ptdSD/+NC0G5lbpRA/Bgg18SRdKUX5KgTy9wmsqKkFy65yHHH34wBu1iOF+aQ38TFga8moJjMZZlUmQDMFBWu1FE4vL4qYKXj11ZrIhIdwbQUU7meZC9tEnKeuyzFwEg5Y86GuWQhSzm3E0Uk4H+8wbTmcpB1EAaYZjqIFwqMq2GfDRyAWd6cLUYHsD1uhuTM2Aq6rQ3wBZscLb79AMdpg4Oj15QZqhefaHDMpDgVExqeNH3WeSacUyph8dzOdEzgHqOuQ7m0oHSWyzzum7LP28MniRM4SfvbT6FLspYotPlA6DmVr1y5WGti8w3pN9rZigdP3DUBPraFjSf4CFqnPmZi7jo209vbtLrCz4R6hYtrv4tnc3gp0YbFxKZMRCm9LR3+nyt3PJ7kxqzeZGhqs47GW0BFSSIWcGqniGpy6ri2HzJACgpuEwrWXysrFe2PgoGivAga33G49GF5YnjfskoIQNYD8n22AEGjXdcINDFF2a2HTzT6YdDomLBR0pybwBnAmdIRIzKYivnHdFunjxulhbCNRECa7iy1s2nuON27fnKYGkgKHqGKrOHnLMHf3AelIQm1mtGeFKoZcEXLU83D3EUhw9aNDfLX0lqLH96+AYKSykwBd60/vKf3zYEuHRV6PLOAkjNPSTXXF4AOY1ori6BjFwDQ0x+yE8MaIPOebz2phrWitGGwYTbMe1Ri5RVGavXziYOUTMLkR6HU/fR8wpqUAR82S/iJU0ujgmq7NqR/K8+afGQiH8ETWkhZ/5RsxHnPHKohHWkQISqQBiikNxvN4eXS4GxOWFkPqw8YxYr0AstO+tzbxYrk3SD/VZoo8Q4F8RJWSCddeMsBSol3d3XsOrN3JxZmvt721n3DVoBUxyNVCP33+r7zsF+bI2U53hzP37M8D/hyWHa+8wEII4XXvHs8QJNa3kWT+Vnpa50+p5Bcv6U70Q5fSTJuIcIGSA9YF/LQ9HBimEfrf2CwFY8YkeiK6J8veGvShn1vfmwUczR7t49k0gtx/JFa3SgMJN4jWdePMwSN+eCub1tXgOerzVvZt3fLJc9yCyAvG7rfIwOyA58xGEGu8/IVt6yelq+ZrEnP3Dkh/L1Q0BBP5T/87kKh6Uwub97PLCFqIfg6ILvACLpdUBJOO4mVBC/b6lJXX9Fh5mBzcIMe1IEaKk8Nf5NoZwkdeu0rwmUgRahc2AkWnQwGhfK4WD0VwRPaDdpYFyuSi9EDGlbqhggmCLEj48X86QgEIKdaYGXU6zq1ps8IYAPiRPiaSp7q83VJ0mra9s2XMrMNfoBSnJ6jaBSAQdAbftzzWmg5vv+m05YOpOSBVWnNaFnxn+Sg6iKwsWfsTvFnkup8MVEggy0/7uEZ7wBVuTfZNQqAeq6f/Sm3315CfgYxoutGXAhrQGLdrBSnKNcUJMVsBTt/1VZygUGxaNSAqyG3sFiUVP6wWvMnJeEHdpJlrDTiDw6+W5hzMLPUbuzkuvJoH/khguJtTXwm0rTOZfAHkuwkHb8J7wNuI2dKQPwiR5gkZcrmaqJd3FBaVPa5qDXZd2/uhjFWRrXa0NHBASY1hcrBvLP+Nq667OoOShI6WpD3isaCCe/RvZy6O9RUR1vVEPZpNB9BMmDRSXbvsLs75Kquv0UPgbQdw7mvgzRwGlM42s89tB3sHhFosoOWm0Ok5oOb4wpXvWWND/abtnGAXDrnk1Yi6p2Rym9Vs0fyIsJ6tLgMDrXOD3vhDRNvafMmCSwyyT0Maj3TNQI5r6AIrD2SnxwYxJaNFuWSMrwUnZJc59KnJSOkLA8SZatQpz86ZGjhulAPKotaVzQOREx8FGEl9W5GpvlY4do5a24ghQIJaW5VE9GyEWQqeZfz2OxG2kSjpm8U/5SeZcoQ0Iz+Wv6SIfM69qHR7xQETZ7ZvSTJyRcZ37EjRRaSV6uZbTMT1dxz1Rwl03dpkGpIQEGwkUjxpeVyzTtqHbQakMq0NhXcN8+wuxW4yHnm9+JwG8cJd85ba6542lrem8bN8rT6UwVYkGdNAPmuEm43mPcHyTalzwOik95cZ7upF/xQ46TsFrwWHxY+LC1r0RJ7Kzs5LHveWulKKlCV74FHewPEZ+FG0HnZDMgvgj2+1YzKW/7+MLtdma5gybR/V8kpOratmQz9x8EchipuOtPj2AUlLd9sna9VkIUeZKhcw2KWBiBO+08JGi8FayAbLM6ht5ij22nC0MgVuHigkoXhQXWvINPJ51eNsZsjmFS/mVQxjBQXq2V84H/4HID3oqt0HVJQjkCt0YXGVf5DhSNfOK46FuxthpVVRMHfRm/FZQPvm/F13tLQXqQbQKbopGQceTWdgwlbwERgx0vGTz+nSmruAflDfZCxv3eT3zHZXBNB7ovQyH+1Wub5yraEi2iJZ9Bg2BinjIRLPLF1yAe8U+bVS3fYpATICwecc/3T3N9XdFi8owmxy6qo5GfzJu1bsMTQBMlXrtxaXtahLcGWYUtC+8J6ndmGDNrUA5W/im++jtaNfoNruvnIearNB+CmAgi8n3Yk2HH6MnwHg2iY1AH6ST1rl66EOxTRFYc5HcC8AiekMKrB6/MArPxHFXjAF+W5xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MFvRnjrt3rZ5y3KfLAAyY8",
      "input": {
        "note": "The pear dropped cleanly into the blue bowl from x=0.462, y=0.074, z=0.11, so that pose is over the bowl; returning there with the lemon.",
        "targets": {
          "right_x": 0.462,
          "right_y": 0.078,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01MFvRnjrt3rZ5y3KfLAAyY8",
      "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, 0.8566, 0.6128, -0.5018, -0.0135, -0.0307, 0.9987, 0.0799, 2.0136, 1.6779, -0.9447, -0.2066, -0.1535, 0.4936]\nstate[eef_state]: left_x=0.2807 left_y=0.0 left_z=0.1434 left_yaw=-0.0009 left_pitch=-0.1777 left_roll=0.0022 left_gripper=0.9987 right_x=0.449 right_y=0.0759 right_z=0.0938 right_yaw=0.4024 right_pitch=-0.674 right_roll=0.2016 right_gripper=0.4936\nstate[joint_eff]: [-0.1436, -1.8256, 7.0632, 1.6288, -0.0366, -0.0366, -0.0122, 0.253, -13.2991, 6.5846, 1.0134, -0.0513, 0.1929, 0.2125]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:561b7fc98f87811dedee366ceb85424d0fa3d5fde1647bd3b0311687b61bc8c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa953105b7aea5dbcfffea0a474c8507cfd22d729000174bee9e199f6e083c5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:59ca17a1af05c99ce559ce2c3b6fadb3e24b0ac220e5939cff4c630f47337b43",
        "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 · 22.4 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6128, -0.4984, -0.0139, -0.0307, 0.9987, -0.2447, 1.8652, 2.1975, -1.5944, -0.2668, -0.448, 0.4893]\nstate[eef_state]: left_x=0.2812 left_y=0.0001 left_z=0.1452 left_yaw=-0.0006 left_pitch=-0.1697 left_roll=0.0023 left_gripper=0.9987 right_x=0.3824 right_y=-0.0438 right_z=0.2723 right_yaw=0.323 right_pitch=-0.6072 right_roll=0.1243 right_gripper=0.4893\nstate[joint_eff]: [-0.2667, -1.4154, 6.8855, 1.5849, -0.0464, -0.0073, -0.0122, 0.0615, -11.412, 4.9709, 1.0574, -0.1978, 0.1294, 0.2027]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8528, 0.6128, -0.4992, -0.0139, -0.0307, 0.9987, -0.2737, 2.1887, 2.3772, -1.5326, -0.2672, -0.4767, 0.4914]\nstate[eef_state]: left_x=0.2811 left_y=0.0001 left_z=0.1448 left_yaw=-0.0005 left_pitch=-0.1713 left_roll=0.0023 left_gripper=0.9987 right_x=0.4529 right_y=-0.075 right_z=0.1979 right_yaw=0.3475 right_pitch=-0.6728 right_roll=0.1691 right_gripper=0.4914\nstate[joint_eff]: [-0.335, -1.1966, 6.9128, 1.5946, -0.0464, -0.0317, -0.0122, -0.6906, -12.5744, 6.7487, 0.9646, -0.3492, -0.0904, 0.2125]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8566, 0.6128, -0.5018, -0.0135, -0.0307, 0.9987, 0.0799, 2.0136, 1.6779, -0.9447, -0.2066, -0.1535, 0.4936]\nstate[eef_state]: left_x=0.2807 left_y=0.0 left_z=0.1434 left_yaw=-0.0009 left_pitch=-0.1777 left_roll=0.0022 left_gripper=0.9987 right_x=0.449 right_y=0.0759 right_z=0.0938 right_yaw=0.4024 right_pitch=-0.674 right_roll=0.2016 right_gripper=0.4936\nstate[joint_eff]: [-0.1436, -1.8256, 7.0632, 1.6288, -0.0366, -0.0366, -0.0122, 0.253, -13.2991, 6.5846, 1.0134, -0.0513, 0.1929, 0.2125]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:561b7fc98f87811dedee366ceb85424d0fa3d5fde1647bd3b0311687b61bc8c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa953105b7aea5dbcfffea0a474c8507cfd22d729000174bee9e199f6e083c5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59ca17a1af05c99ce559ce2c3b6fadb3e24b0ac220e5939cff4c630f47337b43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmQoKjgEIEhgCKkDJFN1fcMp4stiomAydUfyiobz1RguMzvOV6Zra/TiqmXjh8qZn7+M8rvVKneNARw9IuAnzc/dWv/unCOAh3thuMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdeHzNUGEgx9BlVh+1Ou87aEOGsaDAHxBJtzvi8qcunubiIwX1ER7QRDLLJb+Ncn7KnjomwLYAY1frvP24zY3lyTCZCV+TjytQb6xlK6uHsUbGJLKrcIvm7MCSnr6ZpYkTPotoeNH1srovWAOi4z7sYiE6fSDLIb7mmxgl3RCWdyxwm3e2RznTwy7KUXgEHd/INwc9NYN24VhIVG3JWOjqzQalOHTlRhqPh34QtbQifLnE5YABmakjFvqQ7aWbBZcJ5nDSvMuqNtk07cEfSVCGifuIXx3z+H9nRo0Ak4h67CEaSHaW7bE91zfdHncCX48SXzi2xEnDfajA17zx1YLe/q5DeBW7znHRVHSNGGZpiUpi8oQgtXtAkDRPmGV0ELlCxpAVC5OqjxyXbCs3jwGVF2w/Y+ZV3whsoj8Wsq5KZA3I0CEBjEfp0/Q04XPelC+qbDCp/YBY2cwBIAkx3Z/VykEpvZKJjeXZiYOxMhvrNkXU6WQrJv8rSSFb9u0P9xifZcs0j6klAtzBev2ArcD1o3C88iAFAQaYO46WvhSxFnFLRuKS+k6d4mWATRi4tlaUQAR6i1Vatn+ZHSF9TVAEiI0lY0hofXiPIL6O08+Oe5BX9LxB7YR1jM6KAd6nbfc9bQ3wO1N0iLF1NBIVmlZansRYVEjyb+Ga1SHLQ7N4+ctNjT+PO+if4NlbxHTmAjvycEur8GAMq9k7HKm5mtyu3J5Dalop/chxKqgr5ze+VIiMsMdJa8mXQSOTIr1ZSmjWE1aggVQYpw+f6/Te1jzYwY80aTRYL2LEeyYTSkI4P1tAHrO/b5eAkmj3iPIid1yEDt272eR9ApJoEEvOcZxFrl5I9Iv4DPXKUbXvg8rmHyebUUGwyJxxTiF2WC+Vod3InhXRUd1MDsDSsTWqycN2aIS9hTcsYC/Jgf7WywcbGvxDD24QOKNjpp7UvxvkxeXcEx08FK9D5C5IWSe3877Zq8Y8pURaHWHgJDncXM36Dd2c1Fi+4zBgC6OixlWNLYZNqYHZu7xemPpau68jqWQ7h2xCU8GaGIIU5mCSv64l5W+BOH8Zo9DPhnAaTnHdYYwlFjGkUDNTLrG0ZYq+8YIaJuRyyBeqlvedc/R/eys7rEVeI4lBeY/hEO/PaYG0qLo3zT4mkZV8dhPfiCLJzXAl++Z4a3LHbm8G+6zaTy1d1mkrI0emv2drbKliaym2yQ+fI6P/+Z0v+GZa5RFJpyKphfXv/vrPrLcH4lOS11QoZODr2YDqJJtwlWWW6aoiG/V4UrZ2tYzY2IQUccQsZ6LqpgFZ6MpsxD6EYp4BiNgQBSJwuCvvd/M6KwVhLts/wBUBvqIxQlNDz2DVzQIDfPcgV2WJ/OnSu0n3/McwDahJ6ntf0Wqo3Wvnldw1FArp5eXX89suPxwARIFz0xswzaswCRYMccXpge13X+MJBXcn5z9/uqwzGkF03+a06wgO4ppHi6RBIC57n+WXvajThf1yms6Bj+dKXlBctuK8/w9bETX1/GaDe6YMvZSd+xsWBmXEerVhDmVtK6KjlD82cYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TZWAXbn1cetBv3vo7GWgiT",
      "input": {
        "note": "Back at the pose that worked for the pear, with the bowl rim right beside the lemon; releasing so it drops into the blue bowl.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TZWAXbn1cetBv3vo7GWgiT",
      "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, 0.8585, 0.6128, -0.5133, -0.0139, -0.0307, 0.9987, 0.0692, 1.9846, 1.562, -0.844, -0.2188, -0.1589, 0.9958]\nstate[eef_state]: left_x=0.2788 left_y=0.0001 left_z=0.1408 left_yaw=-0.0005 left_pitch=-0.1911 left_roll=0.0028 left_gripper=0.9987 right_x=0.4428 right_y=0.0727 right_z=0.0767 right_yaw=0.4041 right_pitch=-0.6567 right_roll=0.2077 right_gripper=0.9958\nstate[joint_eff]: [0.0889, -1.3333, 6.8855, 1.6874, -0.0366, -0.0317, -0.0122, 0.1573, -13.135, 6.7077, 1.0085, -0.3297, -0.0024, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7803791b2b1bf285a0fdc71aa4a0e8a280ef209b38bc7f8a52a253e19f2eca0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08ec9b289ca040d9a72fd0dd1f645b790be1476a18f2aab79291821aec42245c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:75e962976803370313f8dc245ce2b11bc9598971d3ea24ce5957bff1cefa5111",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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