adhoc

completed
2026-09-22T22:26:03.545066+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
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
373.7 s
total steps
371
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteBlue bowl sits ahead of the right arm with a yellow lemon and a green fruit closer to the base; I'll lower and advance the right gripper toward the green fruit to line it up in the wrist view.
move_to
right_x0.3300right_y-0.0200right_z0.1000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0204, 0.7994, 0.6136, -0.382, -0.0143, -0.0257, 0.999, -0.0227, 0.7998, 0.6186, -0.387, -0.0238, -0.0124, 0.9994] state[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.296 right_y=0.0011 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.6632, -1.4838, 9.5658, 1.7802, -0.149, 0.1245, -0.1099, -0.1983, -1.7436, 9.1419, 1.8486, -0.0122, -0.0757, -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": 0.33, "right_y": -0.02, "right_z": 0.1, "right_gripper": 1}, "note": "Blue bowl sits ahead of the right arm with a yellow lemon and a green fruit closer to the base; I'll lower and advance the right gripper toward the green fruit to line it up in the wrist view."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe green pear is centred on the jaw column in the right wrist view, just short of the fingertips; advancing 3 cm and descending to grasp height.
move_to
right_x0.3600right_y-0.0220right_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]: [-0.02, 0.8059, 0.6132, -0.3985, -0.0139, -0.0265, 0.999, -0.1329, 1.0966, 0.3817, 0.1017, -0.1143, -0.0727, 0.9994] state[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1771 left_yaw=0.0005 left_pitch=-0.0233 left_roll=-0.0004 left_gripper=0.999 right_x=0.325 right_y=-0.0195 right_z=0.0904 right_yaw=-0.0016 right_pitch=-0.0406 right_roll=0.0035 right_gripper=0.9994 state[joint_eff]: [-0.2667, -1.6615, 7.0906, 1.8779, -0.0464, -0.0415, -0.0171, -0.1573, -3.5214, 6.694, 1.9756, -0.1441, -0.0855, -0.0708] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": -0.022, "right_z": 0.03}, "note": "The green pear is centred on the jaw column in the right wrist view, just short of the fingertips; advancing 3 cm and descending to grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe pear fills the jaw gap in the right wrist view; closing the gripper on it.
move_to
right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8104, 0.6132, -0.408, -0.0139, -0.0265, 0.999, -0.1219, 1.5463, 0.3477, 0.5346, -0.1104, -0.0719, 0.9994] state[eef_state]: left_x=0.2932 left_y=0.0002 left_z=0.1739 left_yaw=0.0005 left_pitch=-0.0374 left_roll=-0.0001 left_gripper=0.999 right_x=0.3523 right_y=-0.0199 right_z=0.0183 right_yaw=0.0063 right_pitch=-0.0912 right_roll=0.0085 right_gripper=0.9994 state[joint_eff]: [-0.0752, -1.7162, 7.0085, 1.8193, -0.0415, -0.0659, -0.0122, -0.294, -5.6274, 4.9983, 2.044, -0.0659, 0.0122, -0.0171] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.15}, "note": "The pear fills the jaw gap in the right wrist view; closing the gripper on it."})
tool
executing move_to over 9 steps (0.9s)
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 noteGripper reads 0.75 (~7 cm), so the pear is held; lifting and moving forward toward the blue bowl, which sits further from the base along the same y.
move_to
right_x0.4400right_y-0.0250right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4091, -0.0139, -0.0265, 0.999, -0.1219, 1.5463, 0.3477, 0.5335, -0.1104, -0.0765, 0.7525] state[eef_state]: left_x=0.2931 left_y=0.0002 left_z=0.1732 left_yaw=0.0005 left_pitch=-0.0404 left_roll=-0.0 left_gripper=0.999 right_x=0.3521 right_y=-0.0199 right_z=0.0181 right_yaw=0.0088 right_pitch=-0.0923 right_roll=0.005 right_gripper=0.7525 state[joint_eff]: [-0.335, -1.3744, 7.159, 1.7558, -0.0562, -0.0269, -0.0122, -0.1709, -5.1897, 4.7248, 1.7167, -0.0806, -0.0024, 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": 0.44, "right_y": -0.025, "right_z": 0.2}, "note": "Gripper reads 0.75 (~7 cm), so the pear is held; lifting and moving forward toward the blue bowl, which sits further from the base along the same y."})
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 noteBlue bowl appears to the arm's left in the wrist view; sliding the held pear leftwards (+y) toward the bowl while staying high.
move_to
right_y0.0800right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8135, 0.6132, -0.4202, -0.0135, -0.0265, 0.999, -0.1047, 1.4815, 1.1141, -0.3454, -0.1062, -0.0795, 0.7561] state[eef_state]: left_x=0.2916 left_y=0.0001 left_z=0.1706 left_yaw=0.0002 left_pitch=-0.0526 left_roll=0.0 left_gripper=0.999 right_x=0.4326 right_y=-0.023 right_z=0.1824 right_yaw=0.0248 right_pitch=-0.14 right_roll=0.0062 right_gripper=0.7561 state[joint_eff]: [-0.1026, -1.2923, 7.0359, 1.8242, -0.0269, -0.0415, -0.0122, -0.2256, -7.1726, 9.5932, 1.7216, 0.0171, 0.1343, 1.0379] approver: 6 step(s) modified (delta_clamped ×6). 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_y": 0.08, "right_z": 0.22}, "note": "Blue bowl appears to the arm's left in the wrist view; sliding the held pear leftwards (+y) toward the bowl while staying high."})
tool
executing move_to over 9 steps (0.9s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteBlue bowl is now centred on the jaw column but sits above frame-centre, meaning it is still a few cm further out; advancing 4 cm before releasing the pear.
move_to
right_x0.4600right_y0.0850right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8173, 0.6132, -0.4244, -0.0139, -0.0265, 0.999, 0.2386, 1.5059, 1.2472, -0.5293, 0.1375, 0.1238, 0.7567] state[eef_state]: left_x=0.2912 left_y=0.0002 left_z=0.1688 left_yaw=0.0005 left_pitch=-0.0606 left_roll=0.0004 left_gripper=0.999 right_x=0.4207 right_y=0.0811 right_z=0.1972 right_yaw=0.0479 right_pitch=-0.2104 right_roll=-0.0128 right_gripper=0.7567 state[joint_eff]: [0.0752, -1.4838, 7.2547, 1.7021, -0.0464, -0.0513, -0.0122, -0.3487, -6.8718, 10.0718, 1.8486, 0.1197, 0.149, 1.033] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.085, "right_z": 0.22}, "note": "Blue bowl is now centred on the jaw column but sits above frame-centre, meaning it is still a few cm further out; advancing 4 cm before releasing the pear."})
tool
executing move_to over 4 steps (0.4s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteLowering the held pear toward the blue bowl to check alignment before release.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4244, -0.0139, -0.0265, 0.999, 0.226, 1.6638, 1.4574, -0.6559, 0.1257, 0.1047, 0.7567] state[eef_state]: left_x=0.2913 left_y=0.0002 left_z=0.1682 left_yaw=0.0005 left_pitch=-0.0626 left_roll=0.0004 left_gripper=0.999 right_x=0.4488 right_y=0.0842 right_z=0.1972 right_yaw=0.0527 right_pitch=-0.2853 right_roll=-0.0314 right_gripper=0.7567 state[joint_eff]: [-0.212, -1.4838, 6.9949, 1.6581, -0.0513, -0.0464, -0.0122, -0.4855, -8.9641, 9.3333, 1.7753, 0.0024, 0.0171, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Lowering the held pear toward the blue bowl to check alignment before release."})
tool
executing move_to over 5 steps (0.5s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe blue bowl's interior is now clearly visible but centred right of the jaw column, so I overshot in +y; shifting back toward the bowl centre.
move_to
right_y0.0350right_x0.4500right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4301, -0.0135, -0.0265, 0.999, 0.226, 1.6932, 1.1969, -0.4519, 0.1257, 0.1047, 0.7567] state[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1671 left_yaw=0.0002 left_pitch=-0.0683 left_roll=0.0003 left_gripper=0.999 right_x=0.4323 right_y=0.0804 right_z=0.111 right_yaw=0.0476 right_pitch=-0.3698 right_roll=-0.0472 right_gripper=0.7567 state[joint_eff]: [-0.253, -1.3607, 7.2821, 1.7216, -0.0611, -0.0806, -0.0122, -0.2256, -8.0205, 7.3915, 1.9072, 0.0073, -0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.035, "right_x": 0.45, "right_z": 0.14}, "note": "The blue bowl's interior is now clearly visible but centred right of the jaw column, so I overshot in +y; shifting back toward the bowl centre."})
tool
executing move_to over 4 steps (0.4s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteBowl interior now sits just left of and above the jaw column; advancing 3 cm forward and 1.5 cm left to centre the pear over the bowl.
move_to
right_x0.4750right_y0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4309, -0.0135, -0.0265, 0.999, 0.0959, 1.7103, 1.2839, -0.5484, 0.0647, 0.0143, 0.7567] state[eef_state]: left_x=0.2904 left_y=0.0002 left_z=0.1669 left_yaw=0.0002 left_pitch=-0.069 left_roll=0.0003 left_gripper=0.999 right_x=0.4416 right_y=0.0346 right_z=0.123 right_yaw=0.0239 right_pitch=-0.4046 right_roll=-0.0536 right_gripper=0.7567 state[joint_eff]: [-0.0889, -1.3744, 6.9949, 1.746, -0.0464, -0.0611, -0.0122, 0.5812, -8.4581, 8.9504, 1.5311, -0.1343, 0.0757, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.475, "right_y": 0.05}, "note": "Bowl interior now sits just left of and above the jaw column; advancing 3 cm forward and 1.5 cm left to centre the pear over the bowl."})
tool
executing move_to over 3 steps (0.3s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteLowering the pear the last few cm; if it is over the bowl interior the descent should stop against the bowl bottom or rim.
move_to
right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4351, -0.0139, -0.0265, 0.999, 0.1215, 1.8297, 1.3975, -0.5999, 0.0647, 0.0082, 0.7567] state[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1656 left_yaw=0.0005 left_pitch=-0.0751 left_roll=0.0007 left_gripper=0.999 right_x=0.4591 right_y=0.0482 right_z=0.1077 right_yaw=0.0511 right_pitch=-0.4619 right_roll=-0.0617 right_gripper=0.7567 state[joint_eff]: [-0.0889, -1.4838, 7.0769, 1.7265, -0.0464, -0.0464, -0.0073, 0.1846, -10.6188, 9.347, 1.3651, 0.105, 0.2759, 1.0281] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.06}, "note": "Lowering the pear the last few cm; if it is over the bowl interior the descent should stop against the bowl bottom or rim."})
tool
executing move_to over 4 steps (0.4s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe blue bowl's interior fills the wrist view just beyond the pear; nudging 3 cm forward over the bowl and opening the gripper to drop the pear in.
move_to
right_x0.4750right_z0.0750right_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, 0.8211, 0.6132, -0.4404, -0.0139, -0.0265, 0.999, 0.1272, 1.8732, 1.2739, -0.498, 0.07, 0.0143, 0.7567] state[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1645 left_yaw=0.0005 left_pitch=-0.0805 left_roll=0.0008 left_gripper=0.999 right_x=0.4445 right_y=0.048 right_z=0.0563 right_yaw=0.0454 right_pitch=-0.5264 right_roll=-0.0692 right_gripper=0.7567 state[joint_eff]: [-0.212, -1.3744, 6.9812, 1.7265, -0.0513, -0.0464, -0.0122, -0.6632, -9.2923, 6.6256, 1.4969, -0.0415, -0.0757, 1.0281] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.475, "right_z": 0.075, "right_gripper": 1.0}, "note": "The blue bowl's interior fills the wrist view just beyond the pear; nudging 3 cm forward over the bowl and opening the gripper to drop the pear in."})
tool
executing move_to over 3 steps (0.3s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent notePear released; retracting the right arm to clear the overhead view and confirm where the pear landed and where the remaining fruits are.
move_to
right_x0.3000right_y0.0000right_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]: [-0.02, 0.8238, 0.6132, -0.4442, -0.0135, -0.0265, 0.999, 0.1265, 1.9507, 1.4242, -0.572, 0.0662, -0.0048, 0.9958] state[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1631 left_yaw=0.0002 left_pitch=-0.087 left_roll=0.0007 left_gripper=0.999 right_x=0.4692 right_y=0.0515 right_z=0.0667 right_yaw=0.0601 right_pitch=-0.5284 right_roll=-0.0755 right_gripper=0.9958 state[joint_eff]: [-0.0205, -1.1145, 7.0906, 1.7167, -0.0317, -0.0611, -0.0122, -0.9368, -10.0581, 7.747, 0.862, -0.0171, 0.0904, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.25}, "note": "Pear released; retracting the right arm to clear the overhead view and confirm where the pear landed and where the remaining fruits are."})
tool
executing move_to over 14 steps (1.4s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe pear is now sitting in the blue bowl. Next target is the yellow lemon on the table, which lies to the arm's left of the bowl and closer to the base; moving above it.
move_to
right_x0.3300right_y0.1000right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8268, 0.6132, -0.4496, -0.0135, -0.0265, 0.999, -0.0036, 1.351, 1.462, -1.2034, 0.0208, -0.1139, 0.9965] state[eef_state]: left_x=0.288 left_y=0.0002 left_z=0.1612 left_yaw=0.0002 left_pitch=-0.0954 left_roll=0.0009 left_gripper=0.999 right_x=0.3128 right_y=-0.0012 right_z=0.2376 right_yaw=0.0421 right_pitch=-0.527 right_roll=-0.0866 right_gripper=0.9965 state[joint_eff]: [-0.253, -1.5248, 7.0359, 1.7216, -0.0317, -0.0317, -0.0122, -0.253, -5.4085, 8.0479, 1.1355, -0.2125, 0.0659, 0.0611] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.1, "right_z": 0.12}, "note": "The pear is now sitting in the blue bowl. Next target is the yellow lemon on the table, which lies to the arm's left of the bowl and closer to the base; moving above it."})
tool
executing move_to over 9 steps (0.9s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteLemon appears left of the jaw column and further out in the wrist view; shifting 5 cm left and 4 cm forward with the tool held vertical.
move_to
right_y0.1500right_x0.3600right_z0.1200right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8284, 0.6132, -0.4534, -0.0135, -0.0265, 0.999, 0.3702, 1.4502, 1.0889, -0.8242, 0.1669, 0.1814, 0.9965] state[eef_state]: left_x=0.2875 left_y=0.0002 left_z=0.1601 left_yaw=0.0003 left_pitch=-0.1007 left_roll=0.001 left_gripper=0.999 right_x=0.3173 right_y=0.0955 right_z=0.1174 right_yaw=0.0777 right_pitch=-0.5897 right_roll=-0.1059 right_gripper=0.9965 state[joint_eff]: [-0.0752, -1.5521, 6.9675, 1.7118, -0.0464, -0.0317, -0.0122, 0.1162, -6.3385, 6.7077, 1.199, 0.1978, 0.1636, -0.0024] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.15, "right_x": 0.36, "right_z": 0.12, "right_pitch": 0}, "note": "Lemon appears left of the jaw column and further out in the wrist view; shifting 5 cm left and 4 cm forward with the tool held vertical."})
tool
executing move_to over 20 steps (2.0s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteLemon is now centred on the jaw column near the bottom of the wrist view; advancing 1.5 cm and descending to table level to grasp it.
move_to
right_x0.3750right_y0.1550right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8333, 0.6132, -0.4686, -0.0135, -0.0265, 0.999, 0.5934, 1.4002, 0.704, -0.0219, 0.4484, 0.2176, 0.9965] state[eef_state]: left_x=0.2853 left_y=0.0003 left_z=0.1558 left_yaw=0.0003 left_pitch=-0.1209 left_roll=0.0014 left_gripper=0.999 right_x=0.3512 right_y=0.1488 right_z=0.1104 right_yaw=0.0985 right_pitch=-0.0707 right_roll=-0.1192 right_gripper=0.9965 state[joint_eff]: [-0.0068, -1.8256, 7.0769, 1.7949, -0.0269, -0.0317, -0.0122, 0.1573, -4.7248, 5.9966, 1.9365, 0.3248, -0.0611, -0.0073] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.155, "right_z": 0.015}, "note": "Lemon is now centred on the jaw column near the bottom of the wrist view; advancing 1.5 cm and descending to table level to grasp it."})
tool
executing move_to over 7 steps (0.7s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteLemon is right at the jaws at table level; closing to grasp it.
move_to
right_gripper0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8387, 0.6132, -0.4755, -0.0139, -0.0265, 0.999, 0.5682, 1.7702, 0.6086, 0.3759, 0.4221, 0.2008, 0.9965] state[eef_state]: left_x=0.2845 left_y=0.0004 left_z=0.1531 left_yaw=0.0007 left_pitch=-0.1331 left_roll=0.0019 left_gripper=0.999 right_x=0.3644 right_y=0.151 right_z=0.0065 right_yaw=0.1 right_pitch=-0.14 right_roll=-0.1478 right_gripper=0.9965 state[joint_eff]: [-0.1299, -1.8803, 7.2547, 1.7021, -0.0513, -0.0317, -0.0122, -0.4991, -7.7333, 4.3282, 1.6777, 0.1783, -0.1783, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.1}, "note": "Lemon is right at the jaws at table level; closing to grasp it."})
tool
executing move_to over 9 steps (0.9s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteGripper settled at 0.49 (~4.7 cm) so the lemon is held; lifting and carrying it over toward the blue bowl.
move_to
right_z0.2000right_x0.4500right_y0.0550
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, 0.8391, 0.6132, -0.4759, -0.0139, -0.0265, 0.999, 0.5667, 1.7828, 0.6044, 0.392, 0.4179, 0.1986, 0.4934] state[eef_state]: left_x=0.2844 left_y=0.0004 left_z=0.1529 left_yaw=0.0007 left_pitch=-0.1339 left_roll=0.0019 left_gripper=0.999 right_x=0.3642 right_y=0.151 right_z=0.0029 right_yaw=0.103 right_pitch=-0.1422 right_roll=-0.1472 right_gripper=0.4934 state[joint_eff]: [-0.0889, -1.4838, 7.0769, 1.6484, -0.0415, -0.0611, -0.0122, 0.0205, -8.1846, 4.9709, 1.3455, 0.1294, -0.0513, 0.9206] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.45, "right_y": 0.055}, "note": "Gripper settled at 0.49 (~4.7 cm) so the lemon is held; lifting and carrying it over toward the blue bowl."})
tool
executing move_to over 13 steps (1.3s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteCarrying the lemon to the same pose that successfully dropped the pear into the blue bowl.
move_to
right_x0.4700right_y0.0500right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8436, 0.6132, -0.4763, -0.0135, -0.0265, 0.999, 0.1707, 1.5536, 1.1999, -0.3576, 0.1368, -0.0742, 0.4943] state[eef_state]: left_x=0.2845 left_y=0.0003 left_z=0.1516 left_yaw=0.0003 left_pitch=-0.1388 left_roll=0.0018 left_gripper=0.999 right_x=0.4487 right_y=0.0566 right_z=0.1876 right_yaw=0.0904 right_pitch=-0.1422 right_roll=-0.1499 right_gripper=0.4943 state[joint_eff]: [-0.1709, -1.6752, 6.9402, 1.6532, -0.0464, -0.0269, -0.0171, -0.3487, -7.0632, 8.4444, 1.6239, -0.0464, -0.0904, 0.6227] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.05, "right_z": 0.08}, "note": "Carrying the lemon to the same pose that successfully dropped the pear into the blue bowl."})
tool
executing move_to over 7 steps (0.7s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe blue bowl with the pear is visible directly beneath the lemon; opening the gripper to drop the lemon in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8455, 0.6132, -0.4812, -0.0135, -0.0265, 0.999, 0.1474, 1.7412, 0.9894, -0.0208, 0.115, -0.0925, 0.4965] state[eef_state]: left_x=0.2838 left_y=0.0003 left_z=0.1502 left_yaw=0.0004 left_pitch=-0.1457 left_roll=0.0019 left_gripper=0.999 right_x=0.4581 right_y=0.0512 right_z=0.0774 right_yaw=0.0949 right_pitch=-0.2058 right_roll=-0.1529 right_gripper=0.4965 state[joint_eff]: [-0.1983, -1.6342, 6.9402, 1.6532, -0.022, -0.022, -0.0122, -0.8137, -8.0205, 6.0923, 1.6386, 0.0513, -0.0269, 0.5201] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The blue bowl with the pear is visible directly beneath the lemon; opening the gripper to drop the lemon in."})
tool
executing move_to over 6 steps (0.6s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteLemon and pear are both in the blue bowl. The remaining dark avocado sits near the table centre to the left arm's right; moving the left gripper above it.
move_to
left_x0.3300left_y-0.1900left_z0.1200left_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, 0.8455, 0.6132, -0.4847, -0.0139, -0.0265, 0.999, 0.1474, 1.7542, 0.9806, -0.0223, 0.1104, -0.0978, 0.9959] state[eef_state]: left_x=0.2832 left_y=0.0004 left_z=0.1496 left_yaw=0.0007 left_pitch=-0.1491 left_roll=0.0022 left_gripper=0.999 right_x=0.4546 right_y=0.0515 right_z=0.0679 right_yaw=0.1015 right_pitch=-0.2296 right_roll=-0.1546 right_gripper=0.9959 state[joint_eff]: [-0.1162, -1.4974, 7.1316, 1.6239, -0.0366, -0.0757, -0.0122, -0.294, -9.6205, 6.8718, 1.6337, 0.0562, 0.0708, 0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.19, "left_z": 0.12, "left_gripper": 1}, "note": "Lemon and pear are both in the blue bowl. The remaining dark avocado sits near the table centre to the left arm's right; moving the left gripper above it."})
tool
executing move_to over 17 steps (1.7s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe avocado sits just left of the jaw column and near the bottom of the left wrist view; shifting 3 cm left, 2 cm forward and descending to grasp height.
move_to
left_x0.3450left_y-0.1520left_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]: [-0.7673, 1.4494, 0.8413, -0.3286, -0.5243, -0.5701, 0.999, 0.1474, 1.7542, 0.9802, -0.028, 0.1104, -0.0982, 0.9965] state[eef_state]: left_x=0.3198 left_y=-0.1806 left_z=0.1038 left_yaw=-0.0148 left_pitch=-0.2043 left_roll=0.0331 left_gripper=0.999 right_x=0.4535 right_y=0.0513 right_z=0.0668 right_yaw=0.1017 right_pitch=-0.2358 right_roll=-0.1552 right_gripper=0.9965 state[joint_eff]: [-0.3897, -6.2291, 8.8, 1.5311, -0.5104, -0.0024, -0.1099, -0.3214, -8.5538, 6.2017, 1.5507, 0.0464, -0.0024, 0.0513] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.345, "left_y": -0.152, "left_z": 0.03}, "note": "The avocado sits just left of the jaw column and near the bottom of the left wrist view; shifting 3 cm left, 2 cm forward and descending to grasp height."})
tool
executing move_to over 5 steps (0.5s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteAvocado is centred on the jaw column but still above the jaws, so it is a few cm further out; advancing 3 cm at grasp height.
move_to
left_x0.3650left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6376, 1.6131, 0.664, -0.0257, -0.4572, -0.4808, 0.999, 0.1474, 1.7542, 0.9802, -0.028, 0.1101, -0.0986, 0.9965] state[eef_state]: left_x=0.3305 left_y=-0.1434 left_z=0.0225 left_yaw=0.0227 left_pitch=-0.2713 left_roll=0.0793 left_gripper=0.999 right_x=0.4535 right_y=0.0514 right_z=0.0668 right_yaw=0.1022 right_pitch=-0.2358 right_roll=-0.1551 right_gripper=0.9965 state[joint_eff]: [0.335, -7.0085, 5.2855, 1.5067, -0.1978, 0.105, -0.022, -0.2256, -8.4034, 6.147, 1.5067, -0.0122, -0.0415, -0.0122] 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": {"left_x": 0.365, "left_z": 0.025}, "note": "Avocado is centred on the jaw column but still above the jaws, so it is a few cm further out; advancing 3 cm at grasp height."})
tool
executing move_to over 3 steps (0.3s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe avocado is now between the jaws in the left wrist view; closing to grasp it.
move_to
left_gripper0.1000
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]: [-0.5777, 1.6966, 0.7395, 0.0025, -0.4297, -0.448, 0.999, 0.1474, 1.7542, 0.9802, -0.0315, 0.1104, -0.0982, 0.9965] state[eef_state]: left_x=0.3576 left_y=-0.141 left_z=0.0201 left_yaw=0.0403 left_pitch=-0.2698 left_roll=0.0707 left_gripper=0.999 right_x=0.4529 right_y=0.0512 right_z=0.0662 right_yaw=0.1016 right_pitch=-0.2392 right_roll=-0.1553 right_gripper=0.9965 state[joint_eff]: [0.1162, -7.4188, 7.0496, 1.0916, -0.1538, 0.2125, -0.0122, -0.3077, -8.5265, 6.2427, 1.5067, 0.0171, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.1}, "note": "The avocado is now between the jaws in the left wrist view; closing to grasp it."})
tool
executing move_to over 9 steps (0.9s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteAvocado grasped (gripper 0.54 ≈ 5 cm). The blue bowl is out of the left arm's y range, so I'm carrying the avocado toward the centre line to hand it off to the right arm.
move_to
left_z0.1500left_y-0.3000left_x0.3500
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]: [-0.5652, 1.7039, 0.7536, -0.0219, -0.4252, -0.4267, 0.5401, 0.1474, 1.7542, 0.9802, -0.0311, 0.1101, -0.0982, 0.9965] state[eef_state]: left_x=0.3589 left_y=-0.1371 left_z=0.0185 left_yaw=0.0404 left_pitch=-0.2872 left_roll=0.0928 left_gripper=0.5401 right_x=0.453 right_y=0.0513 right_z=0.0663 right_yaw=0.102 right_pitch=-0.2388 right_roll=-0.155 right_gripper=0.9965 state[joint_eff]: [-0.253, -7.241, 7.1316, 1.3065, -0.1392, 0.0611, 1.0232, -0.253, -8.3761, 6.188, 1.5067, 0.0073, -0.0464, -0.0122] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.15, "left_y": -0.3, "left_x": 0.35}, "note": "Avocado grasped (gripper 0.54 \u2248 5 cm). The blue bowl is out of the left arm's y range, so I'm carrying the avocado toward the centre line to hand it off to the right arm."})
tool
executing move_to over 15 steps (1.5s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteLowering the avocado to the table near the centre line so the right arm can pick it up and drop it in the blue bowl.
move_to
left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9226, 1.9079, 1.5734, -0.8078, -0.5732, -0.7856, 0.5409, 0.1474, 1.7542, 0.9802, -0.0391, 0.1104, -0.0986, 0.9965] state[eef_state]: left_x=0.3504 left_y=-0.2981 left_z=0.1388 left_yaw=0.0226 left_pitch=-0.3037 left_roll=0.0698 left_gripper=0.5409 right_x=0.4516 right_y=0.051 right_z=0.0649 right_yaw=0.1018 right_pitch=-0.2468 right_roll=-0.1559 right_gripper=0.9965 state[joint_eff]: [-0.7726, -9.6889, 8.4171, 0.7009, -0.6716, 0.022, 0.9304, -0.2393, -8.5402, 6.1607, 1.5849, 0.0415, -0.0366, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02}, "note": "Lowering the avocado to the table near the centre line so the right arm can pick it up and drop it in the blue bowl."})
tool
executing move_to over 8 steps (0.8s)
step 205
assistant
agent noteAvocado is down on the table near the centre line; opening the left gripper to release it for the hand-off.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9241, 2.0289, 1.2884, -0.4431, -0.5648, -0.7898, 0.5409, 0.1474, 1.7542, 0.9802, -0.0395, 0.1101, -0.0986, 0.9965] state[eef_state]: left_x=0.3439 left_y=-0.2927 left_z=0.0249 left_yaw=0.0297 left_pitch=-0.3338 left_roll=0.0976 left_gripper=0.5409 right_x=0.4515 right_y=0.0511 right_z=0.0648 right_yaw=0.1021 right_pitch=-0.2472 right_roll=-0.1557 right_gripper=0.9965 state[joint_eff]: [0.0752, -9.8393, 5.6957, 1.0867, -0.398, 0.0269, 0.9939, -0.2803, -8.3897, 6.3795, 1.4725, -0.0122, -0.0757, -0.0122] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Avocado is down on the table near the centre line; opening the left gripper to release it for the hand-off."})
tool
executing move_to over 5 steps (0.5s)
step 210
assistant
agent noteAvocado released on the table; parking the left arm at home to clear space for the right arm's pick-up.
move_to
left_x0.2900left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9245, 2.0434, 1.2778, -0.4374, -0.561, -0.7937, 0.9953, 0.1474, 1.7542, 0.9802, -0.046, 0.1101, -0.0986, 0.9965] state[eef_state]: left_x=0.3412 left_y=-0.2903 left_z=0.0157 left_yaw=0.0349 left_pitch=-0.3477 left_roll=0.1098 left_gripper=0.9953 right_x=0.4504 right_y=0.0509 right_z=0.0638 right_yaw=0.102 right_pitch=-0.2537 right_roll=-0.156 right_gripper=0.9965 state[joint_eff]: [-0.294, -11.5487, 6.4615, 0.8278, -0.3883, 0.0073, -0.1001, -0.2667, -8.5538, 6.3111, 1.619, 0.0171, -0.0464, -0.0073] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": 0.0, "left_z": 0.18}, "note": "Avocado released on the table; parking the left arm at home to clear space for the right arm's pick-up."})
tool
executing move_to over 26 steps (2.6s)
step 236
assistant
agent noteAvocado is now parked mid-table (visible in overhead view); moving the right arm above it for the pick-up.
move_to
right_x0.3400right_y0.3400right_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]: [-0.1177, 1.0794, 0.9115, -0.7925, -0.1783, -0.0929, 0.9961, 0.1474, 1.7542, 0.9802, -0.0502, 0.1104, -0.0986, 0.9965] state[eef_state]: left_x=0.289 left_y=0.001 left_z=0.1632 left_yaw=0.0915 left_pitch=-0.375 left_roll=0.1104 left_gripper=0.9961 right_x=0.4496 right_y=0.0507 right_z=0.0631 right_yaw=0.1016 right_pitch=-0.2579 right_roll=-0.1565 right_gripper=0.9965 state[joint_eff]: [0.1299, -4.0821, 9.5795, 1.2625, 0.0708, 0.2027, 0.0611, -0.3624, -8.5538, 6.1197, 1.5018, 0.0122, -0.0562, -0.0073] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.34, "right_z": 0.13}, "note": "Avocado is now parked mid-table (visible in overhead view); moving the right arm above it for the pick-up."})
tool
executing move_to over 25 steps (2.5s)
step 261
assistant
agent noteAvocado visible slightly left of the jaw column in the right wrist view; shifting 3 cm left, 2 cm forward and descending to grasp it.
move_to
right_x0.3600right_y0.3680right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1146, 1.0809, 0.9131, -0.8051, -0.1677, -0.0868, 0.9961, 0.9817, 1.9636, 1.5681, -0.693, 0.5838, 0.5888, 0.9966] state[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1614 left_yaw=0.0826 left_pitch=-0.3894 left_roll=0.1077 left_gripper=0.9961 right_x=0.3397 right_y=0.3396 right_z=0.1243 right_yaw=0.1424 right_pitch=-0.2725 right_roll=-0.1584 right_gripper=0.9966 state[joint_eff]: [-0.5675, -3.0701, 6.4615, 1.3797, -0.1978, -0.1099, -0.0122, 0.1983, -10.0034, 8.1162, 0.8913, 0.4908, 0.1929, -0.0122] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.368, "right_z": 0.025}, "note": "Avocado visible slightly left of the jaw column in the right wrist view; shifting 3 cm left, 2 cm forward and descending to grasp it."})
tool
executing move_to over 7 steps (0.7s)
step 268
assistant
agent noteAvocado sits between the jaws at the bottom of the wrist view; closing the right gripper on it.
move_to
right_gripper0.1000
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]: [-0.1146, 1.0809, 0.9131, -0.8078, -0.1669, -0.0864, 0.9961, 0.9798, 2.1857, 1.5257, -0.4625, 0.5713, 0.5907, 0.9965] state[eef_state]: left_x=0.2862 left_y=0.0002 left_z=0.161 left_yaw=0.0819 left_pitch=-0.3922 left_roll=0.1078 left_gripper=0.9961 right_x=0.3535 right_y=0.3618 right_z=0.0279 right_yaw=0.1398 right_pitch=-0.3033 right_roll=-0.1756 right_gripper=0.9965 state[joint_eff]: [-0.3624, -2.7692, 6.5846, 1.2772, -0.0708, -0.0415, -0.0122, -0.1162, -11.412, 6.1744, 1.116, 0.3394, -0.1001, -0.0171] camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.1}, "note": "Avocado sits between the jaws at the bottom of the wrist view; closing the right gripper on it."})
tool
executing move_to over 9 steps (0.9s)
step 277
assistant
agent noteAvocado grasped (gripper 0.51); lifting and carrying it back toward the blue bowl.
move_to
right_z0.2000right_y0.2000right_x0.4000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1146, 1.0809, 0.9131, -0.8078, -0.1673, -0.0864, 0.9961, 0.9798, 2.2089, 1.5257, -0.4541, 0.5678, 0.5865, 0.5142] state[eef_state]: left_x=0.2862 left_y=0.0003 left_z=0.1611 left_yaw=0.0822 left_pitch=-0.3921 left_roll=0.1082 left_gripper=0.9961 right_x=0.3529 right_y=0.3618 right_z=0.0173 right_yaw=0.1407 right_pitch=-0.316 right_roll=-0.1879 right_gripper=0.5142 state[joint_eff]: [-0.212, -2.9744, 6.5983, 1.3114, -0.1245, -0.0269, -0.0122, 0.0342, -14.0239, 5.9145, 0.906, 0.2906, -0.0366, 1.0232] camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_y": 0.2, "right_x": 0.4}, "note": "Avocado grasped (gripper 0.51); lifting and carrying it back toward the blue bowl."})
tool
executing move_to over 14 steps (1.4s)
step 291
assistant
agent noteThe blue bowl with pear and lemon is visible ahead-right in the wrist view; moving the avocado above it for release.
move_to
right_x0.4600right_y0.0500right_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]: [-0.1146, 1.0809, 0.9131, -0.8082, -0.1669, -0.0864, 0.9961, 0.6163, 1.7626, 1.515, -0.7845, 0.3882, 0.2436, 0.5155] state[eef_state]: left_x=0.2861 left_y=0.0002 left_z=0.161 left_yaw=0.0819 left_pitch=-0.3925 left_roll=0.1079 left_gripper=0.9961 right_x=0.3976 right_y=0.2041 right_z=0.1689 right_yaw=0.122 right_pitch=-0.3671 right_roll=-0.2107 right_gripper=0.5155 state[joint_eff]: [-0.2393, -2.9744, 6.5983, 1.3114, -0.1343, -0.0562, -0.0122, -0.294, -12.1915, 9.0188, 1.3114, 0.2466, -0.0122, 0.8278] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.05, "right_z": 0.11}, "note": "The blue bowl with pear and lemon is visible ahead-right in the wrist view; moving the avocado above it for release."})
tool
executing move_to over 13 steps (1.3s)
step 304
assistant
agent noteBowl centre sits a few cm left of the jaw column; centring over the bowl before releasing the avocado.
move_to
right_y0.0850right_x0.4650right_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]: [-0.1146, 1.0809, 0.9131, -0.8082, -0.1669, -0.0864, 0.9961, 0.1642, 1.7535, 1.2701, -0.4889, 0.1432, -0.1307, 0.5189] state[eef_state]: left_x=0.2861 left_y=0.0002 left_z=0.161 left_yaw=0.0819 left_pitch=-0.3925 left_roll=0.1079 left_gripper=0.9961 right_x=0.4483 right_y=0.0524 right_z=0.1087 right_yaw=0.1043 right_pitch=-0.4074 right_roll=-0.213 right_gripper=0.5189 state[joint_eff]: [-0.2256, -2.906, 6.5846, 1.2625, -0.1197, -0.0366, -0.0122, -0.3624, -7.706, 6.612, 1.663, -0.0073, 0.022, 0.6569] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.085, "right_x": 0.465, "right_z": 0.1}, "note": "Bowl centre sits a few cm left of the jaw column; centring over the bowl before releasing the avocado."})
tool
executing move_to over 3 steps (0.3s)
step 307
assistant
agent noteBowl still reads left of the jaws, so nudging 2 cm further left and slightly down before opening.
move_to
right_y0.1050right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1146, 1.0809, 0.9131, -0.8085, -0.1673, -0.0864, 0.9961, 0.2264, 1.8275, 1.3296, -0.4862, 0.1677, -0.1078, 0.5185] state[eef_state]: left_x=0.2861 left_y=0.0003 left_z=0.1609 left_yaw=0.0823 left_pitch=-0.3928 left_roll=0.1083 left_gripper=0.9961 right_x=0.4601 right_y=0.0794 right_z=0.0998 right_yaw=0.1305 right_pitch=-0.415 right_roll=-0.222 right_gripper=0.5185 state[joint_eff]: [-0.2393, -2.9744, 6.9128, 1.2625, -0.1392, -0.0415, -0.0073, 0.1162, -8.7043, 8.1026, 1.1453, 0.2173, 0.1685, 0.735] camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.105, "right_z": 0.09}, "note": "Bowl still reads left of the jaws, so nudging 2 cm further left and slightly down before opening."})
tool
executing move_to over 3 steps (0.3s)
step 310
assistant
agent noteThe bowl with pear and lemon is directly under the jaws; opening to drop the avocado in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1146, 1.0874, 0.9119, -0.8082, -0.1669, -0.0864, 0.9961, 0.2462, 1.8431, 1.3312, -0.4973, 0.1783, -0.0902, 0.5185] state[eef_state]: left_x=0.2862 left_y=0.0002 left_z=0.1588 left_yaw=0.0825 left_pitch=-0.4 left_roll=0.1095 left_gripper=0.9961 right_x=0.4567 right_y=0.0862 right_z=0.0922 right_yaw=0.1292 right_pitch=-0.4371 right_roll=-0.2241 right_gripper=0.5185 state[joint_eff]: [-0.1299, -3.3436, 6.7214, 1.3211, -0.1148, -0.0073, -0.0122, 0.1162, -10.0034, 6.4752, 1.3895, 0.0708, -0.0171, 0.7155] camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The bowl with pear and lemon is directly under the jaws; opening to drop the avocado in."})
tool
executing move_to over 5 steps (0.5s)
step 315
assistant
agent noteReleased the avocado; retracting the right arm to check from overhead whether all three fruits are in the blue bowl.
move_to
right_x0.3300right_y0.0000right_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]: [-0.1146, 1.0874, 0.9119, -0.8082, -0.1669, -0.0864, 0.9961, 0.247, 1.8431, 1.3312, -0.4938, 0.1787, -0.0971, 0.9957] state[eef_state]: left_x=0.2862 left_y=0.0002 left_z=0.1588 left_yaw=0.0825 left_pitch=-0.4 left_roll=0.1095 left_gripper=0.9961 right_x=0.4573 right_y=0.0866 right_z=0.0927 right_yaw=0.1337 right_pitch=-0.4344 right_roll=-0.2281 right_gripper=0.9957 state[joint_eff]: [-0.1026, -3.0291, 6.5709, 1.2723, -0.0952, -0.0659, -0.0122, -0.0615, -10.0308, 6.4615, 1.3651, 0.0757, 0.0415, -0.1636] camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.0, "right_z": 0.25}, "note": "Released the avocado; retracting the right arm to check from overhead whether all three fruits are in the blue bowl."})
tool
executing move_to over 11 steps (1.1s)
step 326
assistant
agent noteAll three fruits are in the blue bowl. Now I'll grip the bowl's near-right rim: moving above that rim point first.
move_to
right_x0.4650right_y0.0200right_z0.0900right_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]: [-0.1143, 1.092, 0.9123, -0.8082, -0.1669, -0.0864, 0.9961, 0.0277, 1.3731, 1.393, -1.026, 0.0761, -0.2649, 0.9965] state[eef_state]: left_x=0.2865 left_y=0.0003 left_z=0.1578 left_yaw=0.0833 left_pitch=-0.4041 left_roll=0.1104 left_gripper=0.9961 right_x=0.3438 right_y=-0.0003 right_z=0.2278 right_yaw=0.1084 right_pitch=-0.4561 right_roll=-0.2315 right_gripper=0.9965 state[joint_eff]: [-0.1436, -3.3026, 6.8855, 1.2576, -0.1392, -0.0464, -0.0122, -0.212, -7.5145, 9.2239, 1.2821, -0.0611, 0.0024, 0.0659] camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.465, "right_y": 0.02, "right_z": 0.09, "right_gripper": 1}, "note": "All three fruits are in the blue bowl. Now I'll grip the bowl's near-right rim: moving above that rim point first."})
tool
executing move_to over 10 steps (1.0s)
step 336
assistant
agent noteThe blue bowl's right rim sits up-and-left of the jaws; moving over that rim with the tool vertical so the jaws straddle the rim wall.
move_to
right_x0.4800right_y0.0500right_z0.0500right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1143, 1.0939, 0.9119, -0.8097, -0.1669, -0.0864, 0.9961, 0.0704, 1.8214, 1.3041, -0.5793, 0.083, -0.2588, 0.9987] state[eef_state]: left_x=0.2862 left_y=0.0003 left_z=0.1569 left_yaw=0.0836 left_pitch=-0.4079 left_roll=0.1112 left_gripper=0.9961 right_x=0.4401 right_y=0.0199 right_z=0.0799 right_yaw=0.1447 right_pitch=-0.546 right_roll=-0.2269 right_gripper=0.9987 state[joint_eff]: [-0.0068, -3.1795, 6.653, 1.2723, -0.1099, -0.0366, -0.0122, 0.1573, -9.306, 8.9231, 1.3895, 0.1343, 0.2222, -0.1538] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 336): [image omitted: streamed camera frame] camera 'left_cam' (step 336): [image omitted: streamed camera frame] camera 'right_cam' (step 336): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": 0.05, "right_z": 0.05, "right_pitch": 0}, "note": "The blue bowl's right rim sits up-and-left of the jaws; moving over that rim with the tool vertical so the jaws straddle the rim wall."})
tool
executing move_to over 19 steps (1.9s)
step 355
assistant
agent noteThe bowl rim is still ~6 cm to the arm's left of the jaw centre; shifting left so the jaws straddle the rim before closing.
move_to
right_y0.1000right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1139, 1.0996, 0.9112, -0.812, -0.1669, -0.0864, 0.9961, 0.131, 1.866, 0.8368, 0.4015, 0.1001, -0.2169, 0.9986] state[eef_state]: left_x=0.2859 left_y=0.0005 left_z=0.1548 left_yaw=0.0847 left_pitch=-0.4165 left_roll=0.1131 left_gripper=0.9961 right_x=0.4714 right_y=0.0479 right_z=0.0413 right_yaw=0.1581 right_pitch=-0.0733 right_roll=-0.2369 right_gripper=0.9986 state[joint_eff]: [-0.1573, -3.5624, 6.8581, 1.2381, -0.1197, -0.0415, -0.0122, 0.6085, -7.9795, 5.135, 2.0977, 0.1197, 0.1636, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 355): [image omitted: streamed camera frame] camera 'left_cam' (step 355): [image omitted: streamed camera frame] camera 'right_cam' (step 355): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.1, "right_z": 0.045}, "note": "The bowl rim is still ~6 cm to the arm's left of the jaw centre; shifting left so the jaws straddle the rim before closing."})
tool
executing move_to over 5 steps (0.5s)
step 360
assistant
agent noteNudging 2 cm further left onto the bowl rim and closing the jaws to pinch the rim wall.
move_to
right_y0.1200right_gripper0.0500
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]: [-0.1135, 1.0996, 0.9112, -0.812, -0.1669, -0.0864, 0.9961, 0.2745, 1.8801, 0.8665, 0.3599, 0.1883, -0.1596, 0.9986] state[eef_state]: left_x=0.2859 left_y=0.0006 left_z=0.1548 left_yaw=0.0851 left_pitch=-0.4165 left_roll=0.1131 left_gripper=0.9961 right_x=0.4646 right_y=0.1002 right_z=0.0393 right_yaw=0.1964 right_pitch=-0.0908 right_roll=-0.2447 right_gripper=0.9986 state[joint_eff]: [-0.0615, -3.0974, 6.735, 1.2332, -0.1294, -0.0611, -0.0122, -0.0889, -7.7744, 7.8974, 1.6532, 0.188, 0.1343, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 360): [image omitted: streamed camera frame] camera 'left_cam' (step 360): [image omitted: streamed camera frame] camera 'right_cam' (step 360): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.12, "right_gripper": 0.05}, "note": "Nudging 2 cm further left onto the bowl rim and closing the jaws to pinch the rim wall."})
tool
executing move_to over 10 steps (1.0s)
step 370
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]: [-0.1139, 1.0996, 0.9112, -0.812, -0.1669, -0.0864, 0.9961, 0.3256, 1.8835, 0.8722, 0.3386, 0.2138, -0.1379, 0.0543] state[eef_state]: left_x=0.2859 left_y=0.0005 left_z=0.1548 left_yaw=0.0847 left_pitch=-0.4165 left_roll=0.1131 left_gripper=0.9961 right_x=0.4581 right_y=0.1189 right_z=0.0363 right_yaw=0.2142 right_pitch=-0.1055 right_roll=-0.245 right_gripper=0.0543 state[joint_eff]: [-0.0205, -3.0838, 6.5846, 1.2381, -0.1343, -0.0611, -0.0122, 0.335, -7.4051, 7.8701, 1.7118, 0.2711, 0.1001, -0.0611] camera 'top_cam' (step 370): [image omitted: streamed camera frame] camera 'left_cam' (step 370): [image omitted: streamed camera frame] camera 'right_cam' (step 370): [image omitted: streamed camera frame]
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 · 24.6 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]: [-0.0204, 0.7994, 0.6136, -0.382, -0.0143, -0.0257, 0.999, -0.0227, 0.7998, 0.6186, -0.387, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.296 right_y=0.0011 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6632, -1.4838, 9.5658, 1.7802, -0.149, 0.1245, -0.1099, -0.1983, -1.7436, 9.1419, 1.8486, -0.0122, -0.0757, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3308612182fbaf2726aa92d980001c7e758fb979486f5cc71cd62371d218261",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69e67c3454c61c83ad04156f68c25c33a7179ebb02d74eaee6bab9934d31f48b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:df97c3ecb66a3af11394fbbb730101f2119592fffb4c1105a02d0ebf91fa850b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 5.298 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]: [-0.0204, 0.7994, 0.6136, -0.382, -0.0143, -0.0257, 0.999, -0.0227, 0.7998, 0.6186, -0.387, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.296 right_y=0.0011 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6632, -1.4838, 9.5658, 1.7802, -0.149, 0.1245, -0.1099, -0.1983, -1.7436, 9.1419, 1.8486, -0.0122, -0.0757, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3308612182fbaf2726aa92d980001c7e758fb979486f5cc71cd62371d218261",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69e67c3454c61c83ad04156f68c25c33a7179ebb02d74eaee6bab9934d31f48b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df97c3ecb66a3af11394fbbb730101f2119592fffb4c1105a02d0ebf91fa850b",
        "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_014pdPUKbkv4naEKFMGqwopq",
      "input": {
        "note": "Blue bowl sits ahead of the right arm with a yellow lemon and a green fruit closer to the base; I'll lower and advance the right gripper toward the green fruit to line it up in the wrist view.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.33,
          "right_y": -0.02,
          "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_014pdPUKbkv4naEKFMGqwopq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8059, 0.6132, -0.3985, -0.0139, -0.0265, 0.999, -0.1329, 1.0966, 0.3817, 0.1017, -0.1143, -0.0727, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1771 left_yaw=0.0005 left_pitch=-0.0233 left_roll=-0.0004 left_gripper=0.999 right_x=0.325 right_y=-0.0195 right_z=0.0904 right_yaw=-0.0016 right_pitch=-0.0406 right_roll=0.0035 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -1.6615, 7.0906, 1.8779, -0.0464, -0.0415, -0.0171, -0.1573, -3.5214, 6.694, 1.9756, -0.1441, -0.0855, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3911342f0daaf5f669c9ef7673835a19b93bdf4e7d9e82b019215cef1be4e65f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f5b5418890c19872fcf2703b9cd613906ce2b21d82837f1ecf22ec9969328b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7110eb47807cc324b377e4f626aeaa19f017c596d8caf3d4dbef0b8e5de8bb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 3.085 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]: [-0.0204, 0.7994, 0.6136, -0.382, -0.0143, -0.0257, 0.999, -0.0227, 0.7998, 0.6186, -0.387, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.296 right_y=0.0011 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6632, -1.4838, 9.5658, 1.7802, -0.149, 0.1245, -0.1099, -0.1983, -1.7436, 9.1419, 1.8486, -0.0122, -0.0757, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8059, 0.6132, -0.3985, -0.0139, -0.0265, 0.999, -0.1329, 1.0966, 0.3817, 0.1017, -0.1143, -0.0727, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1771 left_yaw=0.0005 left_pitch=-0.0233 left_roll=-0.0004 left_gripper=0.999 right_x=0.325 right_y=-0.0195 right_z=0.0904 right_yaw=-0.0016 right_pitch=-0.0406 right_roll=0.0035 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -1.6615, 7.0906, 1.8779, -0.0464, -0.0415, -0.0171, -0.1573, -3.5214, 6.694, 1.9756, -0.1441, -0.0855, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3911342f0daaf5f669c9ef7673835a19b93bdf4e7d9e82b019215cef1be4e65f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f5b5418890c19872fcf2703b9cd613906ce2b21d82837f1ecf22ec9969328b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7110eb47807cc324b377e4f626aeaa19f017c596d8caf3d4dbef0b8e5de8bb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0AQKjgEIEhgCKkDj2n4PgZzo+s9iy9kd5pNz2u5563ad+XgSJLh3IJ8OJ3qKoU9w9D4ZSKzO87xA1ymPWoTN6OTmJTSvifnUQ6ImMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaqBzNUGEgzLGHdL9FmNgUz4jvMaDGCEVNa42yIWfoG1CyIwADjL7wf8P+GWFEvMhXeUkKlyBgJ+suIDNA3JT3A9E5ydWtePhOg01Hj7X2irC/1sKu4CXhn2ykZNROEK6YKfcUjhzD3wYUvKXIxIx0TERodu98Icb+IF0N+DZ8gygSGs/z5idTZlJGcCzy4gAnYYqQR4gMsPPArjCY1NM1ZwJ2FHEKotBsJ6M9hA9nM5djeVg903s6zMeBpjSVASMNisSl5lR2XLuRfw6cRsco98UeiDTOORLKSpDz3i9cGAbQvqe123XaglSa7Uo6Jz/HJNaW3J/f8+LF9y3/TI8zh2lYz+3/1Sxtj3c3DgJcfaMIxkphF8N1j5kO5T6Kk4+c3Y6y2EqULi5ZEZM5AmgS3GgVv9BnUC9tKYD+5QElK4JBLyvHQwcAv9H12NFYiMZGTYMYnr8PyAC4gWZ33C70+N6fmgNP3Q9QErUcVNsz71GE9nlhmaP2MAJ6cNToFn13SZG8Qa22kCcIxRjHbtsnRhitHGS8jBZxd4jm2y4rSth8Pr7ys+05Aaa59thHN9sgkCXkvdmJAC6WOWBc1P4Gv1lwtjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xt8GSWQPcNtBTQ8RuSbH8Q",
      "input": {
        "note": "The green pear is centred on the jaw column in the right wrist view, just short of the fingertips; advancing 3 cm and descending to grasp height.",
        "targets": {
          "right_x": 0.36,
          "right_y": -0.022,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Xt8GSWQPcNtBTQ8RuSbH8Q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8104, 0.6132, -0.408, -0.0139, -0.0265, 0.999, -0.1219, 1.5463, 0.3477, 0.5346, -0.1104, -0.0719, 0.9994]\nstate[eef_state]: left_x=0.2932 left_y=0.0002 left_z=0.1739 left_yaw=0.0005 left_pitch=-0.0374 left_roll=-0.0001 left_gripper=0.999 right_x=0.3523 right_y=-0.0199 right_z=0.0183 right_yaw=0.0063 right_pitch=-0.0912 right_roll=0.0085 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.7162, 7.0085, 1.8193, -0.0415, -0.0659, -0.0122, -0.294, -5.6274, 4.9983, 2.044, -0.0659, 0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6acf44be74348c68e6ddc04dca6df9ed52a05f43b3821db058701db357a53324",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:978678f7ac8c681077956ed6ee23c6425a04339d3dff0c33cfe798930726b48f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:561df255983f10949ab51074f91bbb88b9c6e4f017cd34a96954ff16f43243a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 13.58 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]: [-0.0204, 0.7994, 0.6136, -0.382, -0.0143, -0.0257, 0.999, -0.0227, 0.7998, 0.6186, -0.387, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.296 right_y=0.0011 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6632, -1.4838, 9.5658, 1.7802, -0.149, 0.1245, -0.1099, -0.1983, -1.7436, 9.1419, 1.8486, -0.0122, -0.0757, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8059, 0.6132, -0.3985, -0.0139, -0.0265, 0.999, -0.1329, 1.0966, 0.3817, 0.1017, -0.1143, -0.0727, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1771 left_yaw=0.0005 left_pitch=-0.0233 left_roll=-0.0004 left_gripper=0.999 right_x=0.325 right_y=-0.0195 right_z=0.0904 right_yaw=-0.0016 right_pitch=-0.0406 right_roll=0.0035 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -1.6615, 7.0906, 1.8779, -0.0464, -0.0415, -0.0171, -0.1573, -3.5214, 6.694, 1.9756, -0.1441, -0.0855, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8104, 0.6132, -0.408, -0.0139, -0.0265, 0.999, -0.1219, 1.5463, 0.3477, 0.5346, -0.1104, -0.0719, 0.9994]\nstate[eef_state]: left_x=0.2932 left_y=0.0002 left_z=0.1739 left_yaw=0.0005 left_pitch=-0.0374 left_roll=-0.0001 left_gripper=0.999 right_x=0.3523 right_y=-0.0199 right_z=0.0183 right_yaw=0.0063 right_pitch=-0.0912 right_roll=0.0085 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.7162, 7.0085, 1.8193, -0.0415, -0.0659, -0.0122, -0.294, -5.6274, 4.9983, 2.044, -0.0659, 0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6acf44be74348c68e6ddc04dca6df9ed52a05f43b3821db058701db357a53324",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:978678f7ac8c681077956ed6ee23c6425a04339d3dff0c33cfe798930726b48f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:561df255983f10949ab51074f91bbb88b9c6e4f017cd34a96954ff16f43243a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS+gIKjgEIEhgCKkAu0nFEq+8nyP8d2bDZC0MF4b64U4anXBEAmUO8bRZAd2GxXusEOjPsztOY+fh5yJ9ae7R7YXtvWFptaRM2ahG6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbKBzNUGEgy5jq1zR1dTGGo2498aDLzE0nfIaFJZ11WDNSIwGru4wLf9sv7iBHbxohm3AK+Q4Uppd5PA/gWZYAjYScYO9Lhp8TZwgyUgWjUStfmSKpgB7YPL7b+zYsCTT19LHfq7y46K4BHj1akslJSVbTMZTaUEdTTX3fV1XfEituwmYZvNCpt45Dv/UjrfQFt0I2pFHzdYkRVIFAoKfFy0+FqznEbjnR4Qn8sav6SVEb4OfJ9ihaozZcpXoWk3fnaZhenYgnpi7QkjL3vd0VbL7DURxvxBMo1jSHktz+kbGplVfcK3sJTbT3D5m0EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XsP8VaUsT8QWmgouGAcqx4",
      "input": {
        "note": "The pear fills the jaw gap in the right wrist view; closing the gripper on it.",
        "targets": {
          "right_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01XsP8VaUsT8QWmgouGAcqx4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4091, -0.0139, -0.0265, 0.999, -0.1219, 1.5463, 0.3477, 0.5335, -0.1104, -0.0765, 0.7525]\nstate[eef_state]: left_x=0.2931 left_y=0.0002 left_z=0.1732 left_yaw=0.0005 left_pitch=-0.0404 left_roll=-0.0 left_gripper=0.999 right_x=0.3521 right_y=-0.0199 right_z=0.0181 right_yaw=0.0088 right_pitch=-0.0923 right_roll=0.005 right_gripper=0.7525\nstate[joint_eff]: [-0.335, -1.3744, 7.159, 1.7558, -0.0562, -0.0269, -0.0122, -0.1709, -5.1897, 4.7248, 1.7167, -0.0806, -0.0024, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efb5acab087e49a0cdd78d162bbe009c28f73f87a912805f3c9552ce54551fc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efaf735cea769f6c63832b46537921292133f0ea3cded577b66545eccf76ef10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2f038a4d9f919ffb0d1438a2f539876aa5a99ef86ba40b8a06c0eb2599e681b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 26.47 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]: [-0.02, 0.8059, 0.6132, -0.3985, -0.0139, -0.0265, 0.999, -0.1329, 1.0966, 0.3817, 0.1017, -0.1143, -0.0727, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1771 left_yaw=0.0005 left_pitch=-0.0233 left_roll=-0.0004 left_gripper=0.999 right_x=0.325 right_y=-0.0195 right_z=0.0904 right_yaw=-0.0016 right_pitch=-0.0406 right_roll=0.0035 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -1.6615, 7.0906, 1.8779, -0.0464, -0.0415, -0.0171, -0.1573, -3.5214, 6.694, 1.9756, -0.1441, -0.0855, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8104, 0.6132, -0.408, -0.0139, -0.0265, 0.999, -0.1219, 1.5463, 0.3477, 0.5346, -0.1104, -0.0719, 0.9994]\nstate[eef_state]: left_x=0.2932 left_y=0.0002 left_z=0.1739 left_yaw=0.0005 left_pitch=-0.0374 left_roll=-0.0001 left_gripper=0.999 right_x=0.3523 right_y=-0.0199 right_z=0.0183 right_yaw=0.0063 right_pitch=-0.0912 right_roll=0.0085 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.7162, 7.0085, 1.8193, -0.0415, -0.0659, -0.0122, -0.294, -5.6274, 4.9983, 2.044, -0.0659, 0.0122, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4091, -0.0139, -0.0265, 0.999, -0.1219, 1.5463, 0.3477, 0.5335, -0.1104, -0.0765, 0.7525]\nstate[eef_state]: left_x=0.2931 left_y=0.0002 left_z=0.1732 left_yaw=0.0005 left_pitch=-0.0404 left_roll=-0.0 left_gripper=0.999 right_x=0.3521 right_y=-0.0199 right_z=0.0181 right_yaw=0.0088 right_pitch=-0.0923 right_roll=0.005 right_gripper=0.7525\nstate[joint_eff]: [-0.335, -1.3744, 7.159, 1.7558, -0.0562, -0.0269, -0.0122, -0.1709, -5.1897, 4.7248, 1.7167, -0.0806, -0.0024, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efb5acab087e49a0cdd78d162bbe009c28f73f87a912805f3c9552ce54551fc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efaf735cea769f6c63832b46537921292133f0ea3cded577b66545eccf76ef10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2f038a4d9f919ffb0d1438a2f539876aa5a99ef86ba40b8a06c0eb2599e681b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS2g0KjgEIEhgCKkBKPHxtQ8Uyq+A98PDGn05YUaqzRTHrRfV48Jc9WtGfU1avnCF7eRowl/amULluzLdfujMR+7RytfwiwqeV/XwgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb+BzNUGEgz86uXu0Z6uRk7HLjAaDOaBy2jnJIdtjeak+iIwN5/xLAnm0L643uA03IPFxv5wPyMSzBnVQ0D+TxKMv0YJ+RjNWUE3qpVdXyKj5fW3KvgLOJuCir0KksZ/YrxrTtrHtA+LzeALvlaqTAVkFF7mBgxbeKPSJ42qHZ4OKj/eB3qotiQfAK06rjRArG2YFBB5qyRd8yIg79RKqhf3GjnmYKSOWL4HVD6xpxHjeo0TqXadIrD6oyB9yi2JD9p4kZn7XvosqovIPtetAKaXKlM7kmb6t3I/J0sJ4vk2Tea0P2hSjPo1Cqu01J/2GEYD31zownovA5m6KnTpngDdy+qsT6ifuf8LZJVoZwxlrjRP+lZxtWcpVz0CDWPLTiVaAMExueB2KrwLQQFVDylOjC0sze6dBI7VF14VM7HGf5S/wogWPAiypEZYbR3z94l9cPrF/pyzqTtzCfVURb2o4H8T+kkmZ3kgG0wJ/XuU44WpGWJcw9CWtAre3urWFk4UMhPFOIp3GZ7OSVTFY3ZgV0qQv9vZNGAsi7Yz3VNpBwBBmUsrbg1K+DRbOfD5rEuvLlmEKVfDBGhJSIUB/pdJx/IyiAzXjcLXNzDx0ASgoAoBYzcH8wqZNsdbZu9mz+I+cn4K/mtxMXFV4YVwUJfJB7Nl71CWlzy47lTJmlWyiheAx+pXlwTXlqwidhF4qZmBjovBG2FEw68IaTHdyiEeHJLp9MiH9JLn9phUGpwKrCZ+xjPUsjqYdVWLI6VV2l1wuqt7arWh+GBOfkGGNQIimJ2CS4cWqVuu3SNCJ1esji7GYl56tKrqa76ct9Ae9C6vpFMgU1uGORxqxGEA3xF5H5CF1mTo/YjQek2mPJHcQEklhM/lrj3wOU2B9xbZXu5NIHjhJ/Jp4j10wT/ZMgmuLGCEq+LooZhth53h1vhR/7UlOixni469CwDItYdjjDg0z8DGYEpKg+igtwi8jsmM446PqWe4InwKGb69vNGBMROV0Tn8luN7XcDQRmXyzDPdezg8ioi2UHPE+CXoSklGFgEg+1cpHmEgPVfD+qt8e4bHKBdKjoFzUZiZuduGRCFlKMF9nOwIc9t6tL3e9aGfZfW6B8TpwASPqWQ1jQqjbsuzzLfdBvaJRWyswYqXPFCObvderaNGE15pjUjdsb53da3FqCG0aBTu8xggMBtj5pBWIUewDH3JMsxTNV40Q+jlHkGFnkdbMRK7jNLQQUIRTatB0S9Ev5st6cbtBP+TZNf2pRtpMyGrYwQjj2GsOd2QgUWgvHyxs/1k95vrNNuAAe7SyNkgBlpAu8eYKgttk2idDeVm/W7nj6DtPcNxH3+del/I91tRTRlgGzWMbfpQyCa30oFzhUX48tYWgzs0mnJu5WFlJNk6SAEhdNCupo5vTbh+wUJeSASU2gZLRmPmgC9P0WWcf67GnpIbWmBqnhP2+WmEJdY4nWyp8zoLdzOhwOLN+8/n8eecJTRmVHPd7qoEiOMAT4zcSFm0OJvs2tcV7OWQ+iiPf1y46T6vKxfmdmlYT/gOfv75rf0j7ni/veF2s0/9RbkyyT9FTKFA7sm33/SIcyoFX8uaYCKDGmc3aHLg+c68yBhDZA/mFYrM/DhamqxKbebyrKSTtZo1bzelu/2bd9ilDap3QG+TMJ2tPKPi32W2Gc9Fap9vLM7o/Mvp2bRuSZFN3p+EnwSLppJc4vls5tY/2mYczT16xj7bF/mZOZ2MQxHPt97RZxFmJgKtdv1e0A/fvbYH6y0gi13v58PUCOl93Wbc9bVTDlAU8Vk/ylqLPyM2TXiXkES/ZDC03X3TvEIEwFN0I9MoQd13C2VuvTq4eWyi27iKgOTf3Tu1fs8YrX44obQ4f+D1rLzXW731Khi1B3nVsnVGM48H+5q1T6+Q4Vf7I6UdMKuvJOuSohxMb54x0lhJvLbPTLtPpMdm9G9lv9i21RLkuwY8RWVsbTFK/6wAkGxVzJDPr6rCkx3aH/rsInP7D5AoQQbpAA6vf+z6VfeypfKx098oht5DO1znlBA1s/BkofFRLKeBULjIzktksecXiym3FcO3Gw9OwIiZZMFGmQbaNTPvcpO4Mt0GB2iB5y5DVDnnGr3TtCRHexDQIbo4uDf6ZdSaet3wlT3cX0Yj0RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Lrs7h6K5yHYUB7g53PT83C",
      "input": {
        "note": "Gripper reads 0.75 (~7 cm), so the pear is held; lifting and moving forward toward the blue bowl, which sits further from the base along the same y.",
        "targets": {
          "right_x": 0.44,
          "right_y": -0.025,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Lrs7h6K5yHYUB7g53PT83C",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6132, -0.4202, -0.0135, -0.0265, 0.999, -0.1047, 1.4815, 1.1141, -0.3454, -0.1062, -0.0795, 0.7561]\nstate[eef_state]: left_x=0.2916 left_y=0.0001 left_z=0.1706 left_yaw=0.0002 left_pitch=-0.0526 left_roll=0.0 left_gripper=0.999 right_x=0.4326 right_y=-0.023 right_z=0.1824 right_yaw=0.0248 right_pitch=-0.14 right_roll=0.0062 right_gripper=0.7561\nstate[joint_eff]: [-0.1026, -1.2923, 7.0359, 1.8242, -0.0269, -0.0415, -0.0122, -0.2256, -7.1726, 9.5932, 1.7216, 0.0171, 0.1343, 1.0379]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f01295a8c6b0470882bbc092d5e73ec3db88620065af14c1820eaa68fc40980",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc4c2795e7badc5d5148220f287f97abaee992c23220d28363d2f3d8eccae673",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e482441e53f1e9b92b9d607bd3e8002d083a8d476471e55495488507c5f12eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 5.648 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8104, 0.6132, -0.408, -0.0139, -0.0265, 0.999, -0.1219, 1.5463, 0.3477, 0.5346, -0.1104, -0.0719, 0.9994]\nstate[eef_state]: left_x=0.2932 left_y=0.0002 left_z=0.1739 left_yaw=0.0005 left_pitch=-0.0374 left_roll=-0.0001 left_gripper=0.999 right_x=0.3523 right_y=-0.0199 right_z=0.0183 right_yaw=0.0063 right_pitch=-0.0912 right_roll=0.0085 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.7162, 7.0085, 1.8193, -0.0415, -0.0659, -0.0122, -0.294, -5.6274, 4.9983, 2.044, -0.0659, 0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4091, -0.0139, -0.0265, 0.999, -0.1219, 1.5463, 0.3477, 0.5335, -0.1104, -0.0765, 0.7525]\nstate[eef_state]: left_x=0.2931 left_y=0.0002 left_z=0.1732 left_yaw=0.0005 left_pitch=-0.0404 left_roll=-0.0 left_gripper=0.999 right_x=0.3521 right_y=-0.0199 right_z=0.0181 right_yaw=0.0088 right_pitch=-0.0923 right_roll=0.005 right_gripper=0.7525\nstate[joint_eff]: [-0.335, -1.3744, 7.159, 1.7558, -0.0562, -0.0269, -0.0122, -0.1709, -5.1897, 4.7248, 1.7167, -0.0806, -0.0024, 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]: [-0.02, 0.8135, 0.6132, -0.4202, -0.0135, -0.0265, 0.999, -0.1047, 1.4815, 1.1141, -0.3454, -0.1062, -0.0795, 0.7561]\nstate[eef_state]: left_x=0.2916 left_y=0.0001 left_z=0.1706 left_yaw=0.0002 left_pitch=-0.0526 left_roll=0.0 left_gripper=0.999 right_x=0.4326 right_y=-0.023 right_z=0.1824 right_yaw=0.0248 right_pitch=-0.14 right_roll=0.0062 right_gripper=0.7561\nstate[joint_eff]: [-0.1026, -1.2923, 7.0359, 1.8242, -0.0269, -0.0415, -0.0122, -0.2256, -7.1726, 9.5932, 1.7216, 0.0171, 0.1343, 1.0379]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f01295a8c6b0470882bbc092d5e73ec3db88620065af14c1820eaa68fc40980",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc4c2795e7badc5d5148220f287f97abaee992c23220d28363d2f3d8eccae673",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e482441e53f1e9b92b9d607bd3e8002d083a8d476471e55495488507c5f12eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS7B4KjgEIEhgCKkBmr/mIXCTOwX3XuUAjZkkd6N1AOsk04n5JQQDbF5J/+bIrKu91JPovL58DxahzQfPWe/X6ZQ6siS/Oqu9o6kV0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd2BzNUGEgxA2ORyNSbkCioOpAoaDFJS+hPi0xl9cC/gRSIwCyTdYIKSGUe3o2cSIkzou3vGCeeWQBkay0X9HHCOkD6R47dSSiIQe0U+Ddwn7sHvKoodNeyOjWi5/+oNWpoN3NeWVUIoLYGoDJvD9oLy+EJW6Ju1ABXJbrE/tXYx9baHVFq6S9UlN5KxK70/Ha8pVZRGAzX0K+YZ9yQ6xwXllh+eQWpbQ5vrgqkYZ57e2kWbwAI7mqKd8HfLVbwDuae1av3GHz87hBUJAK2ug06ZIu7QSI0QBZbrFnzqWrtbIFrSUQuQztnMLi4wZ82RVTvMGFwQ4ABTQSqd6F6wOU9z3xQAWm8J5IeBAPY7HnuCb0ZHCpm9BFRPFPVWmDUcWPepEO0HpRJ9BH+ok+9VRWmlK+4Er8g7mXou/0OG1GtfRZFwuSNgU0Q5WDWTOIOr2QpbYCiLkQMqsckw71UokZnWerTV5lM/0Zn/y9RnTTkAccWBHQJDYekeEb6AaGLjErtoCJUtHXP6902VrGe+daCMIk76JtVAUCVyvbp1F8jI6Wpo/QZJkna/9mKVWqCQx5qc8whzHAQ4QQU4aEgXpo5Ca/d/9CT/2spnFOVE8Ief3VIXLXhBg9y583f+HnHlDYuyoFeeOmIic5AL4Hfkx/ojVZJus6A7CkZCYls6qQ9g2kR9musGLsTxPPtbB97Zcqjewv8HIGAe4l4WGyC9Cnn0lkr6vFHA1gfwTRG47TJqUAF57sVzmXry2l5RKDEc3R8FCiUFaA1pbzguXNiCvSh57M7Gz/7oMaaRHeE/sgMouds8ZDuRf8mjjtAVITFWlFcIaIxmlgdyRkoSaCyfisEOWcZEGRqeOq2rT0/GT9mwVTYy3FBrfDxDyzOR7C35O6pm1FJDOPHLZpfNoJ1gcEDN+H8To+fRdCAsBArci+pehAroVJm5LygVX2UpNCGQiZaR/M0nlC1hK+ud1/9yTmPQMGQCg0LZ1wHRTyCNTQvAM4ebzl1p4MbADFIJm2ZWuS71ridQzq1kJqd3x6t4CUcQ33cGmnhWvJJ1ZNoy6czhfZkEala0iIg0LYlpsAh1Dl70mM6gDXsUbvYC0jcofl2Bk+GggSbTSsbM3Y9DWzo6k4E3mBmAhGkQQYUKkmYJRPdUZUVfaT0NN2IxJl7XGVb+W8qzKUiLUhrmbrOp72Qnm1tYt113Uh2UuzV4qdpp3TWjsB6ZCBfmTBopVAGTOXfr0fI/sk9DV2oB6eQhzz3lWumBTPF05W3m3dzCdsbLhatBNBgoYU77tzVTJshAkq16Um2qNm7DHGdRcYj7gEkUuD8S6+/MPlJIzUP1LY0QdnSdHcYPUdl/pHXlotTqqQ9H0rdirjcQHx36r9QiTx8mtaOBWWWNPdFkFYCRIOVGEK9iK8lKiBgTfT0EodFthvItaRJtYrrpyCOy14jXoreK/WlIuFqNX4zJqNBOJA6wCf6raoHrbZtyOuwZdORdt1rwK0Ky+WxrTRoEMPeQ6Yh15W5h1upcNYuO+L9t/6u9Ze4KdwZDwbg7Vbw7WaMdeFh3z+sUVT4Bqb3GKTwavrsIiElFbqbK7SxiEo304qPvDQnMvEITVIEEgOVg/WSaIYGu+wAQhv6p3Z9vj/pC+6FLqSM+Bt5UoWb5B8JPfL6FcbdyAEo5BhE9/ZjBpf46ibParNnM+DRq1WTH7p8eUru5uUE/4iVZUggKBV+zNO0v+cWs0+A+dEl2RBMSCI3sCqIbz0rCeCypcNytE/a0Krp58z/i7NvfRPfZimhCF7FiTNysgG4YW/D+aX1rkt54ScSVXFEtQ6kHXhsbVkgzc0clp1Zy9KKv9EnJy/FwjoEklmFLfuthJD6vbWRcMW1zx/KRtqi1NNYEDyA4HClaedENnTaOpOutqZJ1GDwl4hBrUvvcar9vLzgYfcqPvqjKSI51P01IgTKaeHXLt+x/GdGrDw5s0OFbbZP/9WgbQbRFiTIoI4TklL19RO9GKyMaNSlJYm4TwU3+TLnebqcWgtrLjAV9+zOazNzity/0UDfqpk1dznOsEVjqm87V0LVO1DUbW5laLk1CCAJrfDpS/K4fMBYUnWo0r3yXAvrrJ3C3Z7YXx2Y7O9pX5sLjjV8z1F+OlUO366IyuCrWXpb6OQh63vF6i6ZC8lRmGnAG+6kCeI5WiKdNnTXu5dPjew8mSgmgArBi3QsdXjQDg/f6jxR0ICne7xqgVdntjXfSjo+C95dpd+eVuPCHBJBJPbQ0Tm06xbB8q6FlmLh0M/rTDomryCTltl7s7F/sbbnjEXmUD6xh3Hm+BffbRk8Ig4aNOMxGvPd1lFepZ+9GT4UIygVxnSJ8FQmJS8En64gIVwck2cBJceADxCOH9wGwLGw7KpHfF9x7OUDTd94IseAwlaYMzMmdNTSv1+C1FhAw9wW4oCdwIBspszP7J5U0O+yuuO9Hc5m/GrPWNpR2vnQyYDa7vx4pY47go48LWEQp3RDDzuuIIDFhS6xyBgj2tjKKIpCSl4OoJANinVIMBipKXBqIF+JA3jYdzxqWAr0h3+N5LW5g+tzJ4C+71i2bUFhS+owk1LA+OsHJFaM2su2m91PZyQAfH9NXmdAiziXY9WkWO4zqq9etCaxE6+tTmKoA9WgzjUbJ2kj8QXAgADAxKuwSPuKYDhVEdcIvb1lTWDGTFTKX+mdDpvHRKkyOPo0ego/s+Ut8PDjUNYdJ1n0kuPlKCjTFZoZJZ27NaukI+bL1Ok9GgvvY2zq/zomRkhfa+HuIYJB/5rhG13GDsfo2esxZlpcRl16gjw+kNHHPAY2H9efWFDnYp0yWIJWqNmxcgg/aokNHxy8SU5VdgEqIczQMQ8Q5v3hy7jb/dOGFheKepFghrI3D6QFp3F7Eedo4UOerSld0kmXuBHeSxBfZeK1FH7IuhlS8/LobBpzo9fEjBRrAko7qmCvVSDMWK8zNcjvhCppAAFBG8c+FRHQwCJimDTC4IZMtS20A4AvLfc3m10oG7X+fEuyLt220AdADi0TwaW7bdJ46C/IOW8jxvCJZZq6hVxgEHFLhqv/Tnz++K+DQlfDqk3QIiKF5oY+kVSAN5dgVDF8ldsuQ46dlPshn/SUz0s29pfWN2JEW1FaFmew1UezKf9poinm7YDilntxvPxiAOZ0e5JB0khL7+WSik1BnkHkAiKbI24AClcVkoUDnsr1CfiM9kXTI5FmSOzwHb3eJ4aHwkU4WisNdRU2O6/nPa22iq5pisJIVHzKyY936DIf3FQSSBqlUT6Ff5rUrSdhDsfpVE9P0Iwr/TtvyUp2VsJ7KlbIr813ELZzz4+ro0UsPxDk7cqEpucJmoJWxxWOGBJXnL8wf9SsUqeflS7m30IcBkKxc0voW48/MlnWVQvbL/3BYy+hgjdE0XOuV1wUM4uS4zcMcdokYYrpplXXrSrwU6xEIZJnbju1SG12YEsv9qWs7wMvvNBOpfIchyQo6x9qwMWsngkGXx0X9YTlkuze+qWOYdkYoJV7OvgN3cQhyInp7U0SrtZvtZwCxKd1VE2CebRSX5mT+7vbpGBdT4+Ya5X0qmAEjBVoHmIybu7wAsvV2osK34Ph6fzy4siKZStF38520jIBlaLFU5HZfr42VO4hfmrZ7Wv4HLlZwSxyWEnB0g7tMPxyoTjqURb3T4skpOhwv70wh4ZND4SWJdousX+tVUzGylbIdQH1tSFUxwfrFz72tl+fJvH0DKKoH4P82iKJn7iZVvSR9kpKwgYif9icIOfMhJOaylUG0Z9O0Ku01M4GuAEjFPP8zhGlJtQZCWi8l3LM/jZCWsWOsZcViwxvD6MIhuSYr/SJMx6IsudOHt4HIb9CGcip8BITM7r2XRkdTNcGaDbafpItd74czGmvJuT6MDHz51DUZxLno5W7T/MV/+jiM/zflueXj2jolRitSahSrb4lM6Lt6izqtkz8Mdp5ApsFJtiHN1oW560xGhj6TDLL4qSa2sQ6TgH5172ye364ZntglbFhP62AdDS6Y9wYtylLJh9aNK5R4VARxtzqXf9w8TW0Y64A9wGkN9wVQmHN6k2gUXM/xcTnpEpCDj7fwbfnwnzTZ7wq7PWwdMa0OkjLy3W9gsZRhW+maL4frziXGPsGy9GWnndkuzpoRsR/YPbbhyjxmZjXvZFxXcI9z/iWYmJ7ttu54MVckUK7LbLXniY1/INcLUJPqSOtGwqyhkP7fjB6Fz2z4vtfUxUHXrT7hXYveB3MHZsQBob9lb2moDEfzJ6HPn15h/7pobQhQ/1s1Btcq+YNYCexb33hEa3u5tO0abAitavxNLKEFRv3goUzdjLSnuyyCQWOQrKQK1USXFP3j92hMZ9GF0u5We7EJMBYHOpqcpmYbrciEZXXHZuG7L6DLAuLtwG8Fw5LzZGwgw+h6Rrg9Ja4bwDs2CUn8JNm7dzGzcE5w5K+s2syso1pjE6fm3cVsE7f93wnj9Ld2VgIBDn35P5AyJMReaPRB67ykVmpJDKR9GmlH/5yVZbxH/T7+W41exEgWs8GWT+6WWXNa4vcY4yOwLZZ+8kBSpHZFKqyRTBAORJO60HgWa5FPPLLW9k96FYyd3ZJBWj4F6ksG6Og6lS35icgOxZD4SjzE36Drvu8avjwF8jv7R3kQ6mWUXoZ/yH4vdE3SQYnmopEgnn/8O6Oa3XiOnYxFZvoFi3jHgXJghJZrqwNIMOGu/8QvCQB5BwynLq7C9b2PFeidyJVyQkDBVYRc14jhzGoTAt3uISILbOMysTzuP4sKGe8olHhq43enFB+Ht5dmzfq22NPaa6q2YuKaFXkHUqC/MaUl4kn3Op8mguwn1lncAFXKHXjG1VOzacbMGaX67uEtlmIOboWDsZh1pFTG7/2X/ovctHu3+6rvae88F00fJ7qgWO5pqM67cJiHUMAx9Zpxd1jlTU1lgClNvgRGBvfh0klTP0wGwC/tvBbW9MeujB5zXg2ucAQK+5poYsyVB77ITOjlEMXEz6xIbHp7gAWi5goZs0hyEtloIxmP9chQtbfRCY69OGDMhHsVOePtTt5Ucff43kYx6X1/7mGFWh4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0115fkVeq5v8XiXvNHDiEDkF",
      "input": {
        "note": "Blue bowl appears to the arm's left in the wrist view; sliding the held pear leftwards (+y) toward the bowl while staying high.",
        "targets": {
          "right_y": 0.08,
          "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_0115fkVeq5v8XiXvNHDiEDkF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8173, 0.6132, -0.4244, -0.0139, -0.0265, 0.999, 0.2386, 1.5059, 1.2472, -0.5293, 0.1375, 0.1238, 0.7567]\nstate[eef_state]: left_x=0.2912 left_y=0.0002 left_z=0.1688 left_yaw=0.0005 left_pitch=-0.0606 left_roll=0.0004 left_gripper=0.999 right_x=0.4207 right_y=0.0811 right_z=0.1972 right_yaw=0.0479 right_pitch=-0.2104 right_roll=-0.0128 right_gripper=0.7567\nstate[joint_eff]: [0.0752, -1.4838, 7.2547, 1.7021, -0.0464, -0.0513, -0.0122, -0.3487, -6.8718, 10.0718, 1.8486, 0.1197, 0.149, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6820579397dcde4def20e2df890e0582f1fbf13bb32b8d4bf574dc6d82d01ed4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ffa3634eba3cdf2abf4edc510a123715dc55fb02406527cc4a586ede8052b80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cbbe57be8972b86071db68e631304fa3dbe2dc9c905637be7d29bb1cfbe09fc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 5.714 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4091, -0.0139, -0.0265, 0.999, -0.1219, 1.5463, 0.3477, 0.5335, -0.1104, -0.0765, 0.7525]\nstate[eef_state]: left_x=0.2931 left_y=0.0002 left_z=0.1732 left_yaw=0.0005 left_pitch=-0.0404 left_roll=-0.0 left_gripper=0.999 right_x=0.3521 right_y=-0.0199 right_z=0.0181 right_yaw=0.0088 right_pitch=-0.0923 right_roll=0.005 right_gripper=0.7525\nstate[joint_eff]: [-0.335, -1.3744, 7.159, 1.7558, -0.0562, -0.0269, -0.0122, -0.1709, -5.1897, 4.7248, 1.7167, -0.0806, -0.0024, 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]: [-0.02, 0.8135, 0.6132, -0.4202, -0.0135, -0.0265, 0.999, -0.1047, 1.4815, 1.1141, -0.3454, -0.1062, -0.0795, 0.7561]\nstate[eef_state]: left_x=0.2916 left_y=0.0001 left_z=0.1706 left_yaw=0.0002 left_pitch=-0.0526 left_roll=0.0 left_gripper=0.999 right_x=0.4326 right_y=-0.023 right_z=0.1824 right_yaw=0.0248 right_pitch=-0.14 right_roll=0.0062 right_gripper=0.7561\nstate[joint_eff]: [-0.1026, -1.2923, 7.0359, 1.8242, -0.0269, -0.0415, -0.0122, -0.2256, -7.1726, 9.5932, 1.7216, 0.0171, 0.1343, 1.0379]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8173, 0.6132, -0.4244, -0.0139, -0.0265, 0.999, 0.2386, 1.5059, 1.2472, -0.5293, 0.1375, 0.1238, 0.7567]\nstate[eef_state]: left_x=0.2912 left_y=0.0002 left_z=0.1688 left_yaw=0.0005 left_pitch=-0.0606 left_roll=0.0004 left_gripper=0.999 right_x=0.4207 right_y=0.0811 right_z=0.1972 right_yaw=0.0479 right_pitch=-0.2104 right_roll=-0.0128 right_gripper=0.7567\nstate[joint_eff]: [0.0752, -1.4838, 7.2547, 1.7021, -0.0464, -0.0513, -0.0122, -0.3487, -6.8718, 10.0718, 1.8486, 0.1197, 0.149, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6820579397dcde4def20e2df890e0582f1fbf13bb32b8d4bf574dc6d82d01ed4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ffa3634eba3cdf2abf4edc510a123715dc55fb02406527cc4a586ede8052b80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbbe57be8972b86071db68e631304fa3dbe2dc9c905637be7d29bb1cfbe09fc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpAUKjgEIEhgCKkCXNlyeo5S3K1v6Mwopy8ZJrE0Z9PIZyVOtCopI+Yc2fgMrgRDSrSb8BZTv/MkzKztCAEE4df4dY32Wyl1x8j3AMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAemBzNUGEgykaJNQOmEn4qSK2XYaDN/SKOtJBkoE+7YXJiIwqIXU/1KIiC16drj+NWn4Q4RDMnlTc4EgQ52G8DoB6CpwsZLOjlA96P13iTDvkDuMKsIDtSnkqhWDQFpLt5fJzPEzN1nSPntO+catTsWY6QSwbfYDxBueHq96TdfiEUvun3xyb8zfn1mEIhaEv36dy6JmpE35jwVqbKaHnZdH6vK2nANl62gVl+7bpLFTYro9f/9/ktIQheG6H8HReH8AArPf9TSG/dy7g31mB6oZY+OsXnnLOAkgcEEi+q2sYiZCSv7Rgx7cNHoaXNHJDLJLKrZhl6UC+YPQ2mxvh5+y4E9vh7DzjYuw2yzT3XRGSl+dejjDhnDnbI8D498iGl/HZXYgt9ByedigNPw9OhwRqNPEwnLSQ3OGu5RP2rNq3o6y9OrwDS0GEqNavGIfVuTvj8gzO8JtyycvU7TnsLPVAqvakI4q3VfEpvdnFdXy1QTTMYOXgwha/mfB4Wifd2iC3Ejth8Q3+W9Ggvd+1Al2kmlXj1nvRCjIOP4tifSetIXqEUQJ4dUA9rrZBcjNHqpM+CfVvHmVMAJduQwYJTUs1KwChGJESHiXYfc/OEgA2TNF8wGKtiNy2qcpwEQ///awQro2ytno9vesE2Fz8U3RpMBsJTk9jx0jf9nJyIoxGbX/RiudJ69K/h1NHNT9ITSqz8ZSoA1VGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BRPskYeQxBq9gY1eBsHnVo",
      "input": {
        "note": "Blue bowl is now centred on the jaw column but sits above frame-centre, meaning it is still a few cm further out; advancing 4 cm before releasing the pear.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.085,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01BRPskYeQxBq9gY1eBsHnVo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4244, -0.0139, -0.0265, 0.999, 0.226, 1.6638, 1.4574, -0.6559, 0.1257, 0.1047, 0.7567]\nstate[eef_state]: left_x=0.2913 left_y=0.0002 left_z=0.1682 left_yaw=0.0005 left_pitch=-0.0626 left_roll=0.0004 left_gripper=0.999 right_x=0.4488 right_y=0.0842 right_z=0.1972 right_yaw=0.0527 right_pitch=-0.2853 right_roll=-0.0314 right_gripper=0.7567\nstate[joint_eff]: [-0.212, -1.4838, 6.9949, 1.6581, -0.0513, -0.0464, -0.0122, -0.4855, -8.9641, 9.3333, 1.7753, 0.0024, 0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a51faf319221ee3cf7dded04a5334ce5553500c7d02904510cc1986b42b98e38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:639b268cedb2d1fb7973aa59e17530189f0ebe4bd1ffdf252960a3b97826ec3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bfa1dfd991460921f1fa3d51c8be5fef0611ba08b2e048a227ff69393cd60ed8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 6.671 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6132, -0.4202, -0.0135, -0.0265, 0.999, -0.1047, 1.4815, 1.1141, -0.3454, -0.1062, -0.0795, 0.7561]\nstate[eef_state]: left_x=0.2916 left_y=0.0001 left_z=0.1706 left_yaw=0.0002 left_pitch=-0.0526 left_roll=0.0 left_gripper=0.999 right_x=0.4326 right_y=-0.023 right_z=0.1824 right_yaw=0.0248 right_pitch=-0.14 right_roll=0.0062 right_gripper=0.7561\nstate[joint_eff]: [-0.1026, -1.2923, 7.0359, 1.8242, -0.0269, -0.0415, -0.0122, -0.2256, -7.1726, 9.5932, 1.7216, 0.0171, 0.1343, 1.0379]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8173, 0.6132, -0.4244, -0.0139, -0.0265, 0.999, 0.2386, 1.5059, 1.2472, -0.5293, 0.1375, 0.1238, 0.7567]\nstate[eef_state]: left_x=0.2912 left_y=0.0002 left_z=0.1688 left_yaw=0.0005 left_pitch=-0.0606 left_roll=0.0004 left_gripper=0.999 right_x=0.4207 right_y=0.0811 right_z=0.1972 right_yaw=0.0479 right_pitch=-0.2104 right_roll=-0.0128 right_gripper=0.7567\nstate[joint_eff]: [0.0752, -1.4838, 7.2547, 1.7021, -0.0464, -0.0513, -0.0122, -0.3487, -6.8718, 10.0718, 1.8486, 0.1197, 0.149, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4244, -0.0139, -0.0265, 0.999, 0.226, 1.6638, 1.4574, -0.6559, 0.1257, 0.1047, 0.7567]\nstate[eef_state]: left_x=0.2913 left_y=0.0002 left_z=0.1682 left_yaw=0.0005 left_pitch=-0.0626 left_roll=0.0004 left_gripper=0.999 right_x=0.4488 right_y=0.0842 right_z=0.1972 right_yaw=0.0527 right_pitch=-0.2853 right_roll=-0.0314 right_gripper=0.7567\nstate[joint_eff]: [-0.212, -1.4838, 6.9949, 1.6581, -0.0513, -0.0464, -0.0122, -0.4855, -8.9641, 9.3333, 1.7753, 0.0024, 0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a51faf319221ee3cf7dded04a5334ce5553500c7d02904510cc1986b42b98e38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:639b268cedb2d1fb7973aa59e17530189f0ebe4bd1ffdf252960a3b97826ec3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfa1dfd991460921f1fa3d51c8be5fef0611ba08b2e048a227ff69393cd60ed8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6AUKjgEIEhgCKkCuOiXyyhWNHetktbjztn4sGZZzLRb8W6Yl8aCfTQyZD40A9Ev48vZO9+UWUr148pLXgGv7mo/dhJMA99NnBI5XMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfSBzNUGEgwNVo5WOFZyy/7NHzkaDDCZpv3DYQNDsU+rvSIw9qPVm6hINmQk3bVuOW4Uws1z/hw44Sp5fzYJi/sr1bBQQvEJQPj8+8rRsxg1kKZMKoYEpGF2m+LUiRQIVWw4YkTJ/aWP1S9K15BxQfXrCVKQ3KKqmtMChVXOGdTMMd6P27iw8O7i9LfDk3sjqy5BwN7+7gTJOKy51Yf3NDNgwkfgq1j4bQIiv5190Fn5AkAHAV+ywHb3LDLw+ry7HeJVsQc+T6YNgVbVaidnNFKpLUQF82E928bLn5Vgr3zxekzXaDK28F5qBYcBBOixJcliayydJRRj0IEL/fI37ZOF82JVFPDYCtpeahqVv/rUW/0YZ/7l8DzqE0xMzH80hWqnwT56Kf9Cg6Oyxr40gYA3RMsC/3Vv7wc2VNTd4IS7pSk9SJVCLk/awDEMaeecQ6iNhNGj5T/HXdEVEMrT3C1OU1dyHBeDV1dzpstkWPgZtIvGNKi/6pYeVjc39wJ+VQqug+bE2Y0+9ONnptt6bUWAg5Q9BgXC7/4lICIH/GjsSZpmNU8nrRBci0Nc1j2S94oGnkW/ZWcsLf2DNeawru/E6o56TMLCKlA0xO81J3Q+VsoFW7mryW2yimhNqDTebSPDKHvDBcjZ+F2h3WxwmsHLkrEFT7NZIB2jOTDryB8lPaBG2fD3hJfrmWMqquWQIR5ksCeQ2cjOztuJD1p3rWjRa+IRywLgQYSi22BOa5GH5V4GOIQwMXlY0mDPio98mEiYSiURPQxUk0ucP2HnGv/0HzwEnDNHNsLkoK8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LwP8FR2cRrHdAU27f8HQWK",
      "input": {
        "note": "Lowering the held pear toward the blue bowl to check alignment before release.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LwP8FR2cRrHdAU27f8HQWK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4301, -0.0135, -0.0265, 0.999, 0.226, 1.6932, 1.1969, -0.4519, 0.1257, 0.1047, 0.7567]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1671 left_yaw=0.0002 left_pitch=-0.0683 left_roll=0.0003 left_gripper=0.999 right_x=0.4323 right_y=0.0804 right_z=0.111 right_yaw=0.0476 right_pitch=-0.3698 right_roll=-0.0472 right_gripper=0.7567\nstate[joint_eff]: [-0.253, -1.3607, 7.2821, 1.7216, -0.0611, -0.0806, -0.0122, -0.2256, -8.0205, 7.3915, 1.9072, 0.0073, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53aed0890315a34b03e6dfcc9daf72704ce802c3cc9a52d9f0255f84758384d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28761a752e0ddf89cc1349cf6633c914cb4c043a137fc2a8c8c12c8920770c62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db72ff81d6fd5a4995a835b56da07d76d6138565fab7b23d57f663266f27a18e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 6.203 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8173, 0.6132, -0.4244, -0.0139, -0.0265, 0.999, 0.2386, 1.5059, 1.2472, -0.5293, 0.1375, 0.1238, 0.7567]\nstate[eef_state]: left_x=0.2912 left_y=0.0002 left_z=0.1688 left_yaw=0.0005 left_pitch=-0.0606 left_roll=0.0004 left_gripper=0.999 right_x=0.4207 right_y=0.0811 right_z=0.1972 right_yaw=0.0479 right_pitch=-0.2104 right_roll=-0.0128 right_gripper=0.7567\nstate[joint_eff]: [0.0752, -1.4838, 7.2547, 1.7021, -0.0464, -0.0513, -0.0122, -0.3487, -6.8718, 10.0718, 1.8486, 0.1197, 0.149, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4244, -0.0139, -0.0265, 0.999, 0.226, 1.6638, 1.4574, -0.6559, 0.1257, 0.1047, 0.7567]\nstate[eef_state]: left_x=0.2913 left_y=0.0002 left_z=0.1682 left_yaw=0.0005 left_pitch=-0.0626 left_roll=0.0004 left_gripper=0.999 right_x=0.4488 right_y=0.0842 right_z=0.1972 right_yaw=0.0527 right_pitch=-0.2853 right_roll=-0.0314 right_gripper=0.7567\nstate[joint_eff]: [-0.212, -1.4838, 6.9949, 1.6581, -0.0513, -0.0464, -0.0122, -0.4855, -8.9641, 9.3333, 1.7753, 0.0024, 0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4301, -0.0135, -0.0265, 0.999, 0.226, 1.6932, 1.1969, -0.4519, 0.1257, 0.1047, 0.7567]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1671 left_yaw=0.0002 left_pitch=-0.0683 left_roll=0.0003 left_gripper=0.999 right_x=0.4323 right_y=0.0804 right_z=0.111 right_yaw=0.0476 right_pitch=-0.3698 right_roll=-0.0472 right_gripper=0.7567\nstate[joint_eff]: [-0.253, -1.3607, 7.2821, 1.7216, -0.0611, -0.0806, -0.0122, -0.2256, -8.0205, 7.3915, 1.9072, 0.0073, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53aed0890315a34b03e6dfcc9daf72704ce802c3cc9a52d9f0255f84758384d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28761a752e0ddf89cc1349cf6633c914cb4c043a137fc2a8c8c12c8920770c62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db72ff81d6fd5a4995a835b56da07d76d6138565fab7b23d57f663266f27a18e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3QUKjgEIEhgCKkBQoRTDohf9e6+yq5ZOI39GVBtNa0PMdbTaT2hzANEXMFJiwqmOoKSrTwUF0YFzhUfqAuNq6z7op6YdjexChyoaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfuBzNUGEgwyBiqrSzTynj7NLZAaDGnqSYBfhaKqiG9vxSIw7dqMHzmqjaGZ689l48jch3xS+JnrS/LwDZOi5WHt2xii8IXNfHdbmjiAAVidypCCKvsDVCCwj7rcZZv1qpFB2MGji3Cj3z0fik8MzIvmzqLuG4cRg2lypYjV/DEssmTmYt/a9pyn6Ks/56pqKd9XkDOgo6r0JB5sHw5kN0s8fvati4mX2G3GX7dIA/NR+5A0IbVElcecWxQ3M7QOpTG/rw7ZtjdyKaIUWYzntz0LxCVdZPR565cyJVM5/FiGUlQSurR/upp/h7BYy38GRBQOC/w+UcUB7qfUYMH2pMNgP1NphK1wsSB6DQ2rNKyGj4vD4ov4vvzs9h9xveuXygWy13Ho1Q1afJhcCA9HNZp+JpPvUbpDlsnW7rC5kN15werC/e3C7S2AKCSrEEhXzw+J6PO0Zjv0v8S0sGgbJZdwPOMWwIFtgHw2SRRoOulFVOhyu9MlUi8A4v/sFMiXLvub/iiXQsKPrUeTGHwcJmV826AQv25Cp19d5gu/Yss9mZtVytDeQtoaV9x+S65d7LVppT9bpvS5UVCmyFlvLe42C2RylC3RJY1TyxVQSy+2VNdnFkgmxuoOs082Y76/sam1zQMlpa3MscmsD+pRsqJOCm8VwUEyk6BQWPNWT2K5b4lqY9L+eKnsC+NEpjPF2Ffi1yEB+lkTHXhl0bnmEh17ywWBqvm8RWqKcriKT34PBMVpViCQuzwjfT3P6kxKaxHxlzyyvcheIlYCDb6Gbl2eGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014ptGkzoPtE55VPshQRcPE6",
      "input": {
        "note": "The blue bowl's interior is now clearly visible but centred right of the jaw column, so I overshot in +y; shifting back toward the bowl centre.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.035,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_014ptGkzoPtE55VPshQRcPE6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4309, -0.0135, -0.0265, 0.999, 0.0959, 1.7103, 1.2839, -0.5484, 0.0647, 0.0143, 0.7567]\nstate[eef_state]: left_x=0.2904 left_y=0.0002 left_z=0.1669 left_yaw=0.0002 left_pitch=-0.069 left_roll=0.0003 left_gripper=0.999 right_x=0.4416 right_y=0.0346 right_z=0.123 right_yaw=0.0239 right_pitch=-0.4046 right_roll=-0.0536 right_gripper=0.7567\nstate[joint_eff]: [-0.0889, -1.3744, 6.9949, 1.746, -0.0464, -0.0611, -0.0122, 0.5812, -8.4581, 8.9504, 1.5311, -0.1343, 0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:879916d44b2640b5468dff65e853d5b82bd2bcf93582d5ab851e999bf9cd4779",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e987a24518f791305d051284245311ad939e347e70772c0ca916c08e6267c1a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d6f86d7b3ee6bc454414a7096fc14ec6df99c2c5f3d25a101f296934b45c5826",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 6.614 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4244, -0.0139, -0.0265, 0.999, 0.226, 1.6638, 1.4574, -0.6559, 0.1257, 0.1047, 0.7567]\nstate[eef_state]: left_x=0.2913 left_y=0.0002 left_z=0.1682 left_yaw=0.0005 left_pitch=-0.0626 left_roll=0.0004 left_gripper=0.999 right_x=0.4488 right_y=0.0842 right_z=0.1972 right_yaw=0.0527 right_pitch=-0.2853 right_roll=-0.0314 right_gripper=0.7567\nstate[joint_eff]: [-0.212, -1.4838, 6.9949, 1.6581, -0.0513, -0.0464, -0.0122, -0.4855, -8.9641, 9.3333, 1.7753, 0.0024, 0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4301, -0.0135, -0.0265, 0.999, 0.226, 1.6932, 1.1969, -0.4519, 0.1257, 0.1047, 0.7567]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1671 left_yaw=0.0002 left_pitch=-0.0683 left_roll=0.0003 left_gripper=0.999 right_x=0.4323 right_y=0.0804 right_z=0.111 right_yaw=0.0476 right_pitch=-0.3698 right_roll=-0.0472 right_gripper=0.7567\nstate[joint_eff]: [-0.253, -1.3607, 7.2821, 1.7216, -0.0611, -0.0806, -0.0122, -0.2256, -8.0205, 7.3915, 1.9072, 0.0073, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4309, -0.0135, -0.0265, 0.999, 0.0959, 1.7103, 1.2839, -0.5484, 0.0647, 0.0143, 0.7567]\nstate[eef_state]: left_x=0.2904 left_y=0.0002 left_z=0.1669 left_yaw=0.0002 left_pitch=-0.069 left_roll=0.0003 left_gripper=0.999 right_x=0.4416 right_y=0.0346 right_z=0.123 right_yaw=0.0239 right_pitch=-0.4046 right_roll=-0.0536 right_gripper=0.7567\nstate[joint_eff]: [-0.0889, -1.3744, 6.9949, 1.746, -0.0464, -0.0611, -0.0122, 0.5812, -8.4581, 8.9504, 1.5311, -0.1343, 0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:879916d44b2640b5468dff65e853d5b82bd2bcf93582d5ab851e999bf9cd4779",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e987a24518f791305d051284245311ad939e347e70772c0ca916c08e6267c1a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6f86d7b3ee6bc454414a7096fc14ec6df99c2c5f3d25a101f296934b45c5826",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISngQKjgEIEhgCKkCaxz1MsaGwgRNT0fuVJjn1G1YJf0Ucyc+KqSY5SI37VnsHhNr0FZKHi8N9NRCnR5gT/+oIPmF8Z7KyT3GQFKG9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYKCzNUGEgxmQQ2CnqLhZWOCpDgaDA405bRPzC4iqcQ6RiIwpwCPY0WnZvAwvLDQg0BmiNitlTXOiZi22pRqBLo6RRoPOatlHS/dXWpdqzY1PooOKrwCawlKV5wpCKDS6y9Ep2rB3vKNzGiE4eTP2ZVYh0P2Df13XEVh6OfBEV2601wsbdaBhW694THZTd5YcPyAuSLVlCeJ1ucrKdsbURCm+UoOs3jvgz1Qkmok9tLUE4Q2GGQ3Tnurwum0xFjRVoxaiUqsUT86+8XGpPTuD0n64Wg8TVtFMcD4SqILPISosypZk/Eb1DNBHFGt7D742YW6I3QFHH6TSDH8LsgEJ52f+FcF62Han/YEuUKjoyu2bq/Kc2dYeVVz+bVBdAPDvBfdWCz/vW1FMFcPL1OC2FRYXIaXa0lLyJ3a99XeSR9ptj2ul7lOLg46Hodc8mhaod6OX4Bnk7ZxCDyPtOYI3zADnNq6z5cI1JIbLQVah+dnA5LUay2zzCC1tCji+2kfsx96dqEe0KJcyXKHp6X0pV555RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qkg6YiksFxfhAYdBEYqDbv",
      "input": {
        "note": "Bowl interior now sits just left of and above the jaw column; advancing 3 cm forward and 1.5 cm left to centre the pear over the bowl.",
        "targets": {
          "right_x": 0.475,
          "right_y": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Qkg6YiksFxfhAYdBEYqDbv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4351, -0.0139, -0.0265, 0.999, 0.1215, 1.8297, 1.3975, -0.5999, 0.0647, 0.0082, 0.7567]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1656 left_yaw=0.0005 left_pitch=-0.0751 left_roll=0.0007 left_gripper=0.999 right_x=0.4591 right_y=0.0482 right_z=0.1077 right_yaw=0.0511 right_pitch=-0.4619 right_roll=-0.0617 right_gripper=0.7567\nstate[joint_eff]: [-0.0889, -1.4838, 7.0769, 1.7265, -0.0464, -0.0464, -0.0073, 0.1846, -10.6188, 9.347, 1.3651, 0.105, 0.2759, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08f3253e322448fd110e21971044626251b57b6c6c0ae27c894feafb55084a4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cdd5a8608195e24701a7f446d0e0ec21a825cbedfb77fe7b50b7e09e2f97b8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6077b5d4cd9402dfcce5e888a32bf6d2bbc9009425c6b5efddb18956fd72bb90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 7.481 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4301, -0.0135, -0.0265, 0.999, 0.226, 1.6932, 1.1969, -0.4519, 0.1257, 0.1047, 0.7567]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1671 left_yaw=0.0002 left_pitch=-0.0683 left_roll=0.0003 left_gripper=0.999 right_x=0.4323 right_y=0.0804 right_z=0.111 right_yaw=0.0476 right_pitch=-0.3698 right_roll=-0.0472 right_gripper=0.7567\nstate[joint_eff]: [-0.253, -1.3607, 7.2821, 1.7216, -0.0611, -0.0806, -0.0122, -0.2256, -8.0205, 7.3915, 1.9072, 0.0073, -0.0513, 1.0281]\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]: [-0.02, 0.8192, 0.6132, -0.4309, -0.0135, -0.0265, 0.999, 0.0959, 1.7103, 1.2839, -0.5484, 0.0647, 0.0143, 0.7567]\nstate[eef_state]: left_x=0.2904 left_y=0.0002 left_z=0.1669 left_yaw=0.0002 left_pitch=-0.069 left_roll=0.0003 left_gripper=0.999 right_x=0.4416 right_y=0.0346 right_z=0.123 right_yaw=0.0239 right_pitch=-0.4046 right_roll=-0.0536 right_gripper=0.7567\nstate[joint_eff]: [-0.0889, -1.3744, 6.9949, 1.746, -0.0464, -0.0611, -0.0122, 0.5812, -8.4581, 8.9504, 1.5311, -0.1343, 0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4351, -0.0139, -0.0265, 0.999, 0.1215, 1.8297, 1.3975, -0.5999, 0.0647, 0.0082, 0.7567]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1656 left_yaw=0.0005 left_pitch=-0.0751 left_roll=0.0007 left_gripper=0.999 right_x=0.4591 right_y=0.0482 right_z=0.1077 right_yaw=0.0511 right_pitch=-0.4619 right_roll=-0.0617 right_gripper=0.7567\nstate[joint_eff]: [-0.0889, -1.4838, 7.0769, 1.7265, -0.0464, -0.0464, -0.0073, 0.1846, -10.6188, 9.347, 1.3651, 0.105, 0.2759, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08f3253e322448fd110e21971044626251b57b6c6c0ae27c894feafb55084a4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cdd5a8608195e24701a7f446d0e0ec21a825cbedfb77fe7b50b7e09e2f97b8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6077b5d4cd9402dfcce5e888a32bf6d2bbc9009425c6b5efddb18956fd72bb90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzQYKjgEIEhgCKkB62deItTM0XWUZBC0NQRiC/pHzHnOI3QBrvC2qYWJfgj+4sIikqo9oRUiYcmvMAQkZcmBzc27jgy2dsrFA+JD2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYmCzNUGEgyyBEGmXcbGxWtGXXIaDM2aUE5LlNcLChMP6iIwZV9yNYiq6XsndYQmzagD9EV/Md0mfESZ2Dt0hL5b3HK1xzJ+aobZxCVq56lYXFX0KusEbjVvzpwgQ8YpXUkOiPAjoMNYCGPdNxgC38DtpoxJTJWKJV4MvR0gmvZqpRx7q8JgckfuFcMfJD6ZmnCl6LbVZmPq3FlCFsCG6tKUg5vx3scTS/nomMrEH2t4+jOoLgTITkYbmXhovIgCI13ZAqt2vklR5RTqFluSr7ukX4Gk/64zMzZpVi+Z+lsvO00AuozfiTMNR6SHriTIkVSA6nGPpfAAjYpS+uy9t03ZJeRL9m6qNN0/cgsE5I/TRP2meMGXZppdKqxN9oo/B6LX3dc/EzyuH8NzjM+f8Tc1Yax/YA+vc1rG8gRy5nWH1KkNL8DSmcBDemx3C5EESxovPTuXsi0q+Kxeh3w4n5Qd7wcv4YPnfGda2JiHi09HhSaG5rdnaGsdcU51tdQR/tykwnmUzQA6YI05XbEgr/P41CBEWI0FESto4qU8f0zz0/YGGDIGXRNVYAKA/b+zXKRxDkJgDatuO1rQpMPe1LgTXm6CaQJm96y3kCsnTyFcacIDYy7t+p9ktlLcH5ad2/AGfjzXfavsi8y0XhXjG8oeNLS6C5v4+zwcNmFFDk38A8awmOkZTtU5GpXNHHx7QKLL4oqOoEpDbpXvxA0La5dl/Jer4YytAj8QVEOD/kDTVU54z5u8mkucoeVUOq+jrrk25IsNYaW2pws6KIAabzSG58+zvgGoC+/veuAbwb9CABNZg1L+eEVxSdWsKLm1YIIxNePzHLZQcaEq9ExcPkTQR517BfAzq8HpxQ9BkD23fukbE3K9L508bhWet2dj/pvr8PIFeeLAanpdKyJfuzGly2rVpJf0+hjD8z/+gtojiBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0187LiKY7BMaYVWakFbAtKez",
      "input": {
        "note": "Lowering the pear the last few cm; if it is over the bowl interior the descent should stop against the bowl bottom or rim.",
        "targets": {
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0187LiKY7BMaYVWakFbAtKez",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4404, -0.0139, -0.0265, 0.999, 0.1272, 1.8732, 1.2739, -0.498, 0.07, 0.0143, 0.7567]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1645 left_yaw=0.0005 left_pitch=-0.0805 left_roll=0.0008 left_gripper=0.999 right_x=0.4445 right_y=0.048 right_z=0.0563 right_yaw=0.0454 right_pitch=-0.5264 right_roll=-0.0692 right_gripper=0.7567\nstate[joint_eff]: [-0.212, -1.3744, 6.9812, 1.7265, -0.0513, -0.0464, -0.0122, -0.6632, -9.2923, 6.6256, 1.4969, -0.0415, -0.0757, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84bb8955d614445fc5d6aa98ee98fdcfea1783b5b7e23395dedc8e1a37376ac9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aee917e27f61fb9c9981d2e3e7b8103298b34a33ddd4c2c24078b72156f6e190",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2b6ee16881024dc02e3032937e389997a4ce52ad0e25c943c09029e802baab50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 5.25 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4309, -0.0135, -0.0265, 0.999, 0.0959, 1.7103, 1.2839, -0.5484, 0.0647, 0.0143, 0.7567]\nstate[eef_state]: left_x=0.2904 left_y=0.0002 left_z=0.1669 left_yaw=0.0002 left_pitch=-0.069 left_roll=0.0003 left_gripper=0.999 right_x=0.4416 right_y=0.0346 right_z=0.123 right_yaw=0.0239 right_pitch=-0.4046 right_roll=-0.0536 right_gripper=0.7567\nstate[joint_eff]: [-0.0889, -1.3744, 6.9949, 1.746, -0.0464, -0.0611, -0.0122, 0.5812, -8.4581, 8.9504, 1.5311, -0.1343, 0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4351, -0.0139, -0.0265, 0.999, 0.1215, 1.8297, 1.3975, -0.5999, 0.0647, 0.0082, 0.7567]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1656 left_yaw=0.0005 left_pitch=-0.0751 left_roll=0.0007 left_gripper=0.999 right_x=0.4591 right_y=0.0482 right_z=0.1077 right_yaw=0.0511 right_pitch=-0.4619 right_roll=-0.0617 right_gripper=0.7567\nstate[joint_eff]: [-0.0889, -1.4838, 7.0769, 1.7265, -0.0464, -0.0464, -0.0073, 0.1846, -10.6188, 9.347, 1.3651, 0.105, 0.2759, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4404, -0.0139, -0.0265, 0.999, 0.1272, 1.8732, 1.2739, -0.498, 0.07, 0.0143, 0.7567]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1645 left_yaw=0.0005 left_pitch=-0.0805 left_roll=0.0008 left_gripper=0.999 right_x=0.4445 right_y=0.048 right_z=0.0563 right_yaw=0.0454 right_pitch=-0.5264 right_roll=-0.0692 right_gripper=0.7567\nstate[joint_eff]: [-0.212, -1.3744, 6.9812, 1.7265, -0.0513, -0.0464, -0.0122, -0.6632, -9.2923, 6.6256, 1.4969, -0.0415, -0.0757, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84bb8955d614445fc5d6aa98ee98fdcfea1783b5b7e23395dedc8e1a37376ac9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aee917e27f61fb9c9981d2e3e7b8103298b34a33ddd4c2c24078b72156f6e190",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b6ee16881024dc02e3032937e389997a4ce52ad0e25c943c09029e802baab50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwggKjgEIEhgCKkD30HJbjG5V5eiBxSBYfJ0MPK1Kbtndv6Ty90MDoHSPeUCEU/mIWUKpjvQTvgg/3cd33xVs2lYf24XipL0dcZ0BMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZGCzNUGEgxwEj5zhnhQi5E4fowaDIvnfAs+tEWKwcFKRCIwLPVHNRQYCcpSEQ4NeVzL7rEExkPosyXU6JfIzSGQo2P7dp+OJ2pXgn3b6uDtOgYDKuAGbH3w79NtukR00wWk/Jf8QnjVebnuNijhimD3bFpRKbqNqrxs5iQGRULSzcy1nH8nrrFTAsTvUDW/P891tYH5LGIyPA/1CAmKeBFKB3NINji2QoBIqsabZyg0gkdt37WZSLJrd2zW/6+BLj8UlaSixzeIYik32MNoJzCq50l/ysi5eC0BlGEvXfkjMmvNImhNemMD0cjsK6VQaFTQjItfXeenGpgviWX5JBy9esxlhL01QuG6wG33Vg5UpZ8Zo1CDwHMdZSfd0cPi0J4dcGDF4R1Op6oUI5ZUOdJfbWngn8SMvTpOPNN2mUNNTUjYcoWMS1bR8fVI1JpVQcKqtgKiUeK7coykw8D07BXxQ6/4gxF6gqkRcHBX9aqSgFcTKbfRdGOsvvpZhkHAKTvED/s9pwsScwYGzniNRsfJFTnB/J+XsWpMpHQFfG3WXwhogU0PCvk3TRqsiF0PHlpuCUMpLpva0pfgW9HzJ2dN09rgSFVpnB5wzTOWmJydWs0tI5RqmC08Mrld4ViJ13fFGRUPNUVknsX8sC/PfqzrHrXaqkT9KzGI0e0ekPwk7aCaW/3eGQ1yolC5WBN5/cuQu6aN4KybGGeoLfdtISzuL/+rrNLihfw6rBG3GeJuPVA1WvV95bIawX5pN5dUxEQk+NMGjR82OJtXr09ZanHcYdHWbjsRuWZpaV6lJkuVzPwkclo2CBinvEoEjIoTc5hEefCoHxsgxuEcXqGV3YBBAyAJaBWiOGOuYh3fl97kjiIkltBNttVfUfwg1SktCEFoytieLYmV/2o+SG9ZP9a/X88QR0s3ubKA3G04X1BLpkHF+l+TJ2K50mE6a0iz9OmQGbhLuz/TTcYmQiKBl0hqi8j7Cx9mD7u4+lnRTH7FH0C/228rYLn0kCeDx9pV7XPqky/JAc5oJpm1+SYaCAH+T6ZLRWcIKC3S0IMEcRGOBV4LqNYwuGs38anY/EOys8BXM1KlhJEqLjVD9lENnBcmrXAJnYnSvYEyN4/6vN2BgfBuUdRHESjRXUFg8iN0POka1yaHscA31rQL/V52Pjko+P9gj9AEbaTIRSxwuRlQG1HASewkB2ZHmNN6bT6qxQQ9V4Ne1HuqPO5QL56lwc7MWq1QQLSkI2WB7Ws7kNnLU5OF1x0BGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FoWGFrj2PeJSX1qe85RcPA",
      "input": {
        "note": "The blue bowl's interior fills the wrist view just beyond the pear; nudging 3 cm forward over the bowl and opening the gripper to drop the pear in.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.475,
          "right_z": 0.075
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01FoWGFrj2PeJSX1qe85RcPA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8238, 0.6132, -0.4442, -0.0135, -0.0265, 0.999, 0.1265, 1.9507, 1.4242, -0.572, 0.0662, -0.0048, 0.9958]\nstate[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1631 left_yaw=0.0002 left_pitch=-0.087 left_roll=0.0007 left_gripper=0.999 right_x=0.4692 right_y=0.0515 right_z=0.0667 right_yaw=0.0601 right_pitch=-0.5284 right_roll=-0.0755 right_gripper=0.9958\nstate[joint_eff]: [-0.0205, -1.1145, 7.0906, 1.7167, -0.0317, -0.0611, -0.0122, -0.9368, -10.0581, 7.747, 0.862, -0.0171, 0.0904, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ae446bac43413af3e3bbf5168327efaa415a4d371294a379380c426dbd3bba9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dcd4477ffd81222ff82a0170eacda991c842d6051d9da95aa8520dbef710fc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b0659fe08cea6851c8405eae60f6e2e63e9ccb09c863b6b3a3911fc83ed3c6b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 10.85 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4351, -0.0139, -0.0265, 0.999, 0.1215, 1.8297, 1.3975, -0.5999, 0.0647, 0.0082, 0.7567]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1656 left_yaw=0.0005 left_pitch=-0.0751 left_roll=0.0007 left_gripper=0.999 right_x=0.4591 right_y=0.0482 right_z=0.1077 right_yaw=0.0511 right_pitch=-0.4619 right_roll=-0.0617 right_gripper=0.7567\nstate[joint_eff]: [-0.0889, -1.4838, 7.0769, 1.7265, -0.0464, -0.0464, -0.0073, 0.1846, -10.6188, 9.347, 1.3651, 0.105, 0.2759, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4404, -0.0139, -0.0265, 0.999, 0.1272, 1.8732, 1.2739, -0.498, 0.07, 0.0143, 0.7567]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1645 left_yaw=0.0005 left_pitch=-0.0805 left_roll=0.0008 left_gripper=0.999 right_x=0.4445 right_y=0.048 right_z=0.0563 right_yaw=0.0454 right_pitch=-0.5264 right_roll=-0.0692 right_gripper=0.7567\nstate[joint_eff]: [-0.212, -1.3744, 6.9812, 1.7265, -0.0513, -0.0464, -0.0122, -0.6632, -9.2923, 6.6256, 1.4969, -0.0415, -0.0757, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8238, 0.6132, -0.4442, -0.0135, -0.0265, 0.999, 0.1265, 1.9507, 1.4242, -0.572, 0.0662, -0.0048, 0.9958]\nstate[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1631 left_yaw=0.0002 left_pitch=-0.087 left_roll=0.0007 left_gripper=0.999 right_x=0.4692 right_y=0.0515 right_z=0.0667 right_yaw=0.0601 right_pitch=-0.5284 right_roll=-0.0755 right_gripper=0.9958\nstate[joint_eff]: [-0.0205, -1.1145, 7.0906, 1.7167, -0.0317, -0.0611, -0.0122, -0.9368, -10.0581, 7.747, 0.862, -0.0171, 0.0904, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ae446bac43413af3e3bbf5168327efaa415a4d371294a379380c426dbd3bba9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dcd4477ffd81222ff82a0170eacda991c842d6051d9da95aa8520dbef710fc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0659fe08cea6851c8405eae60f6e2e63e9ccb09c863b6b3a3911fc83ed3c6b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4wQKjgEIEhgCKkBeOCA7T7EIS/yGyVYBAoelddd33yNDs5EG+z+HDQlxD63qQ7v2uYMlkvljLxGgxsjQfs4FsUIlU0DfspUPBYVJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZaCzNUGEgw/ECbhNGiDcMKUrG4aDOKvtpah/uLDfBrT9SIwXA8yTJTnSGbJf9Zj73vAI4UFnca++3PlTfWDppVY+lOWzTAnT8hRfGCoa1Swo0V5KoEDBvKzFhP6pKdF++UGkM/fvnBTFu7p542rUleDuKjz4nIMD+TtpHEq7FD2VdfrSmjQufEgoT8hzYq9/P10zcfhahVR4PGqUP7vwjF6mblvMD+FvWUOpjSSdAy1jBTZgmd0DnBaGnX/EugXJHKnMEI0e8eIrLOlh3yBwSPG6QJw2RCWauM+9K+0zcGabNYd78HPK9PFoOBwSJ2tJDFWaOnqgotBXJLpRWvs0m89XgvVuPEqqm8VMqW8XDRme6d117JUWtXrTpS4qx0I8gA/Y5/yyH5uJE8x92EznQ40I634CRULgmAbGORqghbk+UCmeg1qG1yEuxA0G6wnRdn+XvtgHEgGxh1yniRl2cRQJsO8ukebW2BgeN48+P0TwRf3WrdcaT97Fp8KFvRSyOndd70ExPAAx7sMvxWPQaXai12VHttrf+mxfXM6pjtKlD9B0yJCWwcxzGtZR9eYx4EQLY2YQ04RtTrYZQSoRX0//rhVQz3Cb+7dQwlhxBOKeaoPhaeeMRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MjcnPTB32g2o23EZViTqCz",
      "input": {
        "note": "Pear released; retracting the right arm to clear the overhead view and confirm where the pear landed and where the remaining fruits are.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01MjcnPTB32g2o23EZViTqCz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8268, 0.6132, -0.4496, -0.0135, -0.0265, 0.999, -0.0036, 1.351, 1.462, -1.2034, 0.0208, -0.1139, 0.9965]\nstate[eef_state]: left_x=0.288 left_y=0.0002 left_z=0.1612 left_yaw=0.0002 left_pitch=-0.0954 left_roll=0.0009 left_gripper=0.999 right_x=0.3128 right_y=-0.0012 right_z=0.2376 right_yaw=0.0421 right_pitch=-0.527 right_roll=-0.0866 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.5248, 7.0359, 1.7216, -0.0317, -0.0317, -0.0122, -0.253, -5.4085, 8.0479, 1.1355, -0.2125, 0.0659, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c193fbf5ec44df1855c5f28c49a5bebf0c41c07936ddaefae97fb22b3363310e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec0caed38ad608ccb421367d29c2d20f73ca49a60a5162ee60badcd6743edc9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:454ae6ae0fcb31843dc5911c83e80c2ce0505ed1f1443495a50cb1cff532be9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 11.28 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4404, -0.0139, -0.0265, 0.999, 0.1272, 1.8732, 1.2739, -0.498, 0.07, 0.0143, 0.7567]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1645 left_yaw=0.0005 left_pitch=-0.0805 left_roll=0.0008 left_gripper=0.999 right_x=0.4445 right_y=0.048 right_z=0.0563 right_yaw=0.0454 right_pitch=-0.5264 right_roll=-0.0692 right_gripper=0.7567\nstate[joint_eff]: [-0.212, -1.3744, 6.9812, 1.7265, -0.0513, -0.0464, -0.0122, -0.6632, -9.2923, 6.6256, 1.4969, -0.0415, -0.0757, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8238, 0.6132, -0.4442, -0.0135, -0.0265, 0.999, 0.1265, 1.9507, 1.4242, -0.572, 0.0662, -0.0048, 0.9958]\nstate[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1631 left_yaw=0.0002 left_pitch=-0.087 left_roll=0.0007 left_gripper=0.999 right_x=0.4692 right_y=0.0515 right_z=0.0667 right_yaw=0.0601 right_pitch=-0.5284 right_roll=-0.0755 right_gripper=0.9958\nstate[joint_eff]: [-0.0205, -1.1145, 7.0906, 1.7167, -0.0317, -0.0611, -0.0122, -0.9368, -10.0581, 7.747, 0.862, -0.0171, 0.0904, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8268, 0.6132, -0.4496, -0.0135, -0.0265, 0.999, -0.0036, 1.351, 1.462, -1.2034, 0.0208, -0.1139, 0.9965]\nstate[eef_state]: left_x=0.288 left_y=0.0002 left_z=0.1612 left_yaw=0.0002 left_pitch=-0.0954 left_roll=0.0009 left_gripper=0.999 right_x=0.3128 right_y=-0.0012 right_z=0.2376 right_yaw=0.0421 right_pitch=-0.527 right_roll=-0.0866 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.5248, 7.0359, 1.7216, -0.0317, -0.0317, -0.0122, -0.253, -5.4085, 8.0479, 1.1355, -0.2125, 0.0659, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c193fbf5ec44df1855c5f28c49a5bebf0c41c07936ddaefae97fb22b3363310e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec0caed38ad608ccb421367d29c2d20f73ca49a60a5162ee60badcd6743edc9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:454ae6ae0fcb31843dc5911c83e80c2ce0505ed1f1443495a50cb1cff532be9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UcrnbX8bGmnHDBfJ7ht7tK",
      "input": {
        "note": "The pear is now sitting in the blue bowl. Next target is the yellow lemon on the table, which lies to the arm's left of the bowl and closer to the base; moving above it.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.1,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01UcrnbX8bGmnHDBfJ7ht7tK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8284, 0.6132, -0.4534, -0.0135, -0.0265, 0.999, 0.3702, 1.4502, 1.0889, -0.8242, 0.1669, 0.1814, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=0.0002 left_z=0.1601 left_yaw=0.0003 left_pitch=-0.1007 left_roll=0.001 left_gripper=0.999 right_x=0.3173 right_y=0.0955 right_z=0.1174 right_yaw=0.0777 right_pitch=-0.5897 right_roll=-0.1059 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.5521, 6.9675, 1.7118, -0.0464, -0.0317, -0.0122, 0.1162, -6.3385, 6.7077, 1.199, 0.1978, 0.1636, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d45aa4f05c43ae973658f5b1318af766d32c2d9db59d8bcbcd8065f2e8761b24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4b75a8d4abed77b65d9ca95e5660a68944cab72b2c0e3844b31b5ac81a8c90a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ef7bb6338dae2d41af7b6cd151fa5e76bc81f2aea7000921ca8f05b23cc1870b",
        "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 · 8.048 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8238, 0.6132, -0.4442, -0.0135, -0.0265, 0.999, 0.1265, 1.9507, 1.4242, -0.572, 0.0662, -0.0048, 0.9958]\nstate[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1631 left_yaw=0.0002 left_pitch=-0.087 left_roll=0.0007 left_gripper=0.999 right_x=0.4692 right_y=0.0515 right_z=0.0667 right_yaw=0.0601 right_pitch=-0.5284 right_roll=-0.0755 right_gripper=0.9958\nstate[joint_eff]: [-0.0205, -1.1145, 7.0906, 1.7167, -0.0317, -0.0611, -0.0122, -0.9368, -10.0581, 7.747, 0.862, -0.0171, 0.0904, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8268, 0.6132, -0.4496, -0.0135, -0.0265, 0.999, -0.0036, 1.351, 1.462, -1.2034, 0.0208, -0.1139, 0.9965]\nstate[eef_state]: left_x=0.288 left_y=0.0002 left_z=0.1612 left_yaw=0.0002 left_pitch=-0.0954 left_roll=0.0009 left_gripper=0.999 right_x=0.3128 right_y=-0.0012 right_z=0.2376 right_yaw=0.0421 right_pitch=-0.527 right_roll=-0.0866 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.5248, 7.0359, 1.7216, -0.0317, -0.0317, -0.0122, -0.253, -5.4085, 8.0479, 1.1355, -0.2125, 0.0659, 0.0611]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8284, 0.6132, -0.4534, -0.0135, -0.0265, 0.999, 0.3702, 1.4502, 1.0889, -0.8242, 0.1669, 0.1814, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=0.0002 left_z=0.1601 left_yaw=0.0003 left_pitch=-0.1007 left_roll=0.001 left_gripper=0.999 right_x=0.3173 right_y=0.0955 right_z=0.1174 right_yaw=0.0777 right_pitch=-0.5897 right_roll=-0.1059 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.5521, 6.9675, 1.7118, -0.0464, -0.0317, -0.0122, 0.1162, -6.3385, 6.7077, 1.199, 0.1978, 0.1636, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d45aa4f05c43ae973658f5b1318af766d32c2d9db59d8bcbcd8065f2e8761b24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4b75a8d4abed77b65d9ca95e5660a68944cab72b2c0e3844b31b5ac81a8c90a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef7bb6338dae2d41af7b6cd151fa5e76bc81f2aea7000921ca8f05b23cc1870b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqgsKjgEIEhgCKkDu2hotex10KqVrDb/SVAMM307iITG0mPEGYOjptm+aWetzQ1VMSySFngDOdtaOl3PnhZnxDYrQ4C3Dt0GBn0sgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa6CzNUGEgz9bbKVGIXXTbVzwHYaDEWm6e45p7ifEfOjvCIwBMgjGP4cdvi/COxvZELeYDWJo+l2tUA94xM5mpNJGRdol8rcPy7++mZ9QBi2lIL5KsgJsM8GhhsyUJl1OKxyxfYP8+Gm7iJd9NsWsdHZYW0hD0zsTgGagQ7h/oQlfojRd5Pdr/OokWlJqTYRaLQtvlPIDmsj8fnEfGlcPsZSVKv7iuv/QX9+JMn6HSucxLNNi/9K7cirKGJ3abCOa+5z/OnGQyyONPaGGPGgzvWUnjzdXNLGUjox5edo3lKeYH8uQiGQumkKBYbW76AstCxANk/TcWHfXwSlShbSvKhJNbpJQxx9kLyYJZJUIpMPzRnHc4SMJnvsvBqRG6eVei386ekEwUZ+rZPEgRJucF2Avb2PKbBEepSRM5ZqBuikl9bgWNi6iChd6Qs7Ahwn4R+4MEI+eUY9pxI/RcN8QFEYKICwRhiV6DjRyoOEZVyRMqAOMw2XbQfZTu4968EufEXGkgAJb+vfc1nqW/jnwXusLhGR7tD5wqkggACBJF9lWRaO2FyZD4ApCz61E/6ypsrdha+ZNh/KE0fD8nauGJvPBGNzVou8WKSAx2dkPcazrULCOf6hiI46zT4B97UcnHkuZyGyD0y46v8I/JTj8t5QFU9HkkUoO9RLKvQApNl3i3fNPjNJPU4bEFIc/IFjSzdPDBoDD3NrfeH2pV4kJ5p/FoUrps2iMugSbbfwlVSxf0coZXHOXWydpYZCUkHB3F8aaS/eW3XNSCENm5KukrCKhU3DXhc+HqG6ug/Km5yNjcn+dM64My2a95i2TLtN6hL5ZZnvi55awjxhuwjx9DZUUfPAQ642Bi+ih0d5FuVDZ4Efy63HaTKVNez5hSs2SOAjY7Zply4CTZ76pd+ewggaxQtFKoWMuIAMq3FOqjVBjXXpb9xedFq7wYkcD2cQ8TKY6yJY0VtLWTqdOSd9e5VjciNbZ+FyptOEvDRva/KHt45/E1rn8qBEWHVZfLWvgj8xxKGgNfpP229srHN8WoflRi1XRjR8LDxofjUUfx2sS8k4UEG59cWIXwydtOhd33AWcuVn2YqOa2VavFqr2zTBAbd3w+jzF7HhvkWnblfVKdanp+nSKTO4orjar/qYbNbKoVoH7wAro9/a9hWReRQBmde21mrAld0EmeDVNy10ZrHicf82jKWMbGlvvRMv5r35CGVxzPrzGGT6SqCWZLtCdWcVWasAM2w/H1plKeNfcurG7uHw0ISxXuIRdcAgtFuu/3mKyF5clYtKPPB9V1ec7wzcZ2iP2aa0NDmTWreZsWr0YR8r6EDMBw6+7oCzi9CUDptzXy1aqPsAmFGMpQsu/cdD2j5phS+TrzMtnAtU9jvcErwOswXKNEiYguB1NvCtc9ghlRBAbrJSERPPweqnOm9s9u9QSeD/suJs/4CieiaExowTBcsLssP40I1gVl5FXlLW+AUgMsseo0qd8WQmHmoMnE1pTFSDZ1POziSsOwgaI7lkY8ssMVO3VxqW7yDxpwWI2EbuQWlyrNhvZgFvdtTajb7OedCfa25gn+9x5yRoevEpQyilK3m1LsiBK7UPO1UtYOrn7LgniRyZsG9CkP94LurQVSUvxUWkAe3JL1SZF5jOif1D8nU0b6tbpUfG0UXC50rRCjYbwyOrLMiBl+ajq+vg6tO+B11grYmteGc2iBmTeY/MTYB9rNPtn2Hiek8p54ByWu4comD8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01An5HKrAWBBue2cSt8k3p16",
      "input": {
        "note": "Lemon appears left of the jaw column and further out in the wrist view; shifting 5 cm left and 4 cm forward with the tool held vertical.",
        "targets": {
          "right_pitch": 0,
          "right_x": 0.36,
          "right_y": 0.15,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01An5HKrAWBBue2cSt8k3p16",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8333, 0.6132, -0.4686, -0.0135, -0.0265, 0.999, 0.5934, 1.4002, 0.704, -0.0219, 0.4484, 0.2176, 0.9965]\nstate[eef_state]: left_x=0.2853 left_y=0.0003 left_z=0.1558 left_yaw=0.0003 left_pitch=-0.1209 left_roll=0.0014 left_gripper=0.999 right_x=0.3512 right_y=0.1488 right_z=0.1104 right_yaw=0.0985 right_pitch=-0.0707 right_roll=-0.1192 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.8256, 7.0769, 1.7949, -0.0269, -0.0317, -0.0122, 0.1573, -4.7248, 5.9966, 1.9365, 0.3248, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c6aa2934b99f19bd6536eb6d450fa4d63433ff3a61ebb1367aa9f7361e08c2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d23e0df124ae3d9e01907b2fafe1729cc3344745a81cb9bf5880a4eaad788c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:601d53c3fab920bb6a3138413295b13d84bc398510ae3f518c2037e8c000114e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 2.959 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8268, 0.6132, -0.4496, -0.0135, -0.0265, 0.999, -0.0036, 1.351, 1.462, -1.2034, 0.0208, -0.1139, 0.9965]\nstate[eef_state]: left_x=0.288 left_y=0.0002 left_z=0.1612 left_yaw=0.0002 left_pitch=-0.0954 left_roll=0.0009 left_gripper=0.999 right_x=0.3128 right_y=-0.0012 right_z=0.2376 right_yaw=0.0421 right_pitch=-0.527 right_roll=-0.0866 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.5248, 7.0359, 1.7216, -0.0317, -0.0317, -0.0122, -0.253, -5.4085, 8.0479, 1.1355, -0.2125, 0.0659, 0.0611]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8284, 0.6132, -0.4534, -0.0135, -0.0265, 0.999, 0.3702, 1.4502, 1.0889, -0.8242, 0.1669, 0.1814, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=0.0002 left_z=0.1601 left_yaw=0.0003 left_pitch=-0.1007 left_roll=0.001 left_gripper=0.999 right_x=0.3173 right_y=0.0955 right_z=0.1174 right_yaw=0.0777 right_pitch=-0.5897 right_roll=-0.1059 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.5521, 6.9675, 1.7118, -0.0464, -0.0317, -0.0122, 0.1162, -6.3385, 6.7077, 1.199, 0.1978, 0.1636, -0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8333, 0.6132, -0.4686, -0.0135, -0.0265, 0.999, 0.5934, 1.4002, 0.704, -0.0219, 0.4484, 0.2176, 0.9965]\nstate[eef_state]: left_x=0.2853 left_y=0.0003 left_z=0.1558 left_yaw=0.0003 left_pitch=-0.1209 left_roll=0.0014 left_gripper=0.999 right_x=0.3512 right_y=0.1488 right_z=0.1104 right_yaw=0.0985 right_pitch=-0.0707 right_roll=-0.1192 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.8256, 7.0769, 1.7949, -0.0269, -0.0317, -0.0122, 0.1573, -4.7248, 5.9966, 1.9365, 0.3248, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c6aa2934b99f19bd6536eb6d450fa4d63433ff3a61ebb1367aa9f7361e08c2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d23e0df124ae3d9e01907b2fafe1729cc3344745a81cb9bf5880a4eaad788c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:601d53c3fab920bb6a3138413295b13d84bc398510ae3f518c2037e8c000114e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6AgKjgEIEhgCKkCHdgo2t3xKhwitsZwY+A7hvPs5rIUPlB0s0FD9BQrLfKhpQLF2I3SHpGKKcR1b90QBzrE2yo8/W32jkFTp0zAJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbiCzNUGEgz2QRNj3YhGghYIqisaDL11lhLe1R1vI5uAPCIwUqtTaUNu/OXwNi4A7F6lIw8uObL6yGbFWDe9b7bUD9NFacz4SzDFY/gqGySv4Op9KoYHFBnO3kf4LjhPqyz9hz1dRGbHNwvoSEr/7YjZaH/PdRFZVHIGWO2HcjlzP/mxsF+0PlHnz/U30TMf5F4RtOgWtEWmEbmN381eh5CniEMoEok2SmV3aWU8rInToMisAGw8+aYkF+LGDaj0QIuzgPLcRr9g1g8lnwAccdFcLPIifZOGAiPnK+we+PY4YsY+YVBM1g8ioc9SSBY7ZhoR62cggLY90b4/ByuEAWkNVhfhPlCnFD4c8PdxS1g6GcnDzxVZ2bnbRYyimD7jgCwRU5hBN1Mx95PmRmXb+UX2CAzWJvrxeDXSRmz1tCAOUfW/rUfeBwdtRS7BJWWp7GFOz3XKuhU2v1kM5RD8JSz72r/LW0fbsKojKPC16XjaHETjWn45ApL2VubrJ+yW7jopLLSAXW5dSwu5hSCTC+veijPDw2yXr1MGSbBJtDd4pwWMDzpZ8mkeSTVoNX+GlpHdvRMwRkRba259pRwjfqbsmb2yaNFB2dla56CLU3gFTJojSfm8oxDBNNwitqlvyPX4NVvoK4ZW2HtdF+GdYO36DDvae5tkVlw+O4R2yRMeXs2rilAUt58v7NhH0z9N5bgeEOYxyFwaiwCrXojbFwKTHNp2m/Ss/RGu4PRSHkmRNueBsSrBhGVy/8Gl68DdMc+tgG/Z4wOMasyX0ZuHGefDmjtHLsuKghsko93dCBs3CA+WJ4BIXBa98m5za42cPa3WRVxPdqTsYvG5Jvjm9Bq6q3CByspzSnJRurIV9IIDvpsJtdhf7Jmv/F1D5w6Haiqi+dW37HtHo5me6L+vO1xeyEAoBknSEnE89NGLmBWoQs6Z2yNFhJqiBZii6oK1o6fZlguCv+G+MVal8j1df4RnypUhLSm7Dua4n7nfdavmuXpxqXWyu1rQsGOX1L7F8dHzBkjsVwgB9o+q8g+Xu8MU7doDut++wgNV4WgAjw4DX8AD/dPDlh457BAaONzK4nwnrKA2ctFKx3ZTnc0Yu+Kl3ASVj0kZ3cxE8DfMFpvu4zL0/WJA3tEDolKJqOIQ5FqY21GhVuUOiRnzn08TFiaBn8Gzd0lcMId+lYJSHgH9Fccqq82mpSiH7sfMx7Q1IIBG5CqKYy0BoCwFs4yRcX8lt/b/3cEKoQ5bvbNwc5wUJ0D22DjBkLucDnptlaIaOT5DkurLI/Wz4Umbh0DwNRf9PPyStuFvZGwp3p4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JHmn7FUTBQv6rZF8Fxgyx9",
      "input": {
        "note": "Lemon is now centred on the jaw column near the bottom of the wrist view; advancing 1.5 cm and descending to table level to grasp it.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.155,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01JHmn7FUTBQv6rZF8Fxgyx9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8387, 0.6132, -0.4755, -0.0139, -0.0265, 0.999, 0.5682, 1.7702, 0.6086, 0.3759, 0.4221, 0.2008, 0.9965]\nstate[eef_state]: left_x=0.2845 left_y=0.0004 left_z=0.1531 left_yaw=0.0007 left_pitch=-0.1331 left_roll=0.0019 left_gripper=0.999 right_x=0.3644 right_y=0.151 right_z=0.0065 right_yaw=0.1 right_pitch=-0.14 right_roll=-0.1478 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.8803, 7.2547, 1.7021, -0.0513, -0.0317, -0.0122, -0.4991, -7.7333, 4.3282, 1.6777, 0.1783, -0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9510591404d4e5f1200eb33f7c3611805a40777a55d6ffbaf271a4e431dd54d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40d12c5854f6f7c18a71647d3068a4f4e2b8d65d82743a960cac4b4375a89e43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c8ff0750f29f1c00f066a77c0d7e4c8a989ee93180024d68c9369c5a479aaf6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 4.731 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8284, 0.6132, -0.4534, -0.0135, -0.0265, 0.999, 0.3702, 1.4502, 1.0889, -0.8242, 0.1669, 0.1814, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=0.0002 left_z=0.1601 left_yaw=0.0003 left_pitch=-0.1007 left_roll=0.001 left_gripper=0.999 right_x=0.3173 right_y=0.0955 right_z=0.1174 right_yaw=0.0777 right_pitch=-0.5897 right_roll=-0.1059 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.5521, 6.9675, 1.7118, -0.0464, -0.0317, -0.0122, 0.1162, -6.3385, 6.7077, 1.199, 0.1978, 0.1636, -0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8333, 0.6132, -0.4686, -0.0135, -0.0265, 0.999, 0.5934, 1.4002, 0.704, -0.0219, 0.4484, 0.2176, 0.9965]\nstate[eef_state]: left_x=0.2853 left_y=0.0003 left_z=0.1558 left_yaw=0.0003 left_pitch=-0.1209 left_roll=0.0014 left_gripper=0.999 right_x=0.3512 right_y=0.1488 right_z=0.1104 right_yaw=0.0985 right_pitch=-0.0707 right_roll=-0.1192 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.8256, 7.0769, 1.7949, -0.0269, -0.0317, -0.0122, 0.1573, -4.7248, 5.9966, 1.9365, 0.3248, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8387, 0.6132, -0.4755, -0.0139, -0.0265, 0.999, 0.5682, 1.7702, 0.6086, 0.3759, 0.4221, 0.2008, 0.9965]\nstate[eef_state]: left_x=0.2845 left_y=0.0004 left_z=0.1531 left_yaw=0.0007 left_pitch=-0.1331 left_roll=0.0019 left_gripper=0.999 right_x=0.3644 right_y=0.151 right_z=0.0065 right_yaw=0.1 right_pitch=-0.14 right_roll=-0.1478 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.8803, 7.2547, 1.7021, -0.0513, -0.0317, -0.0122, -0.4991, -7.7333, 4.3282, 1.6777, 0.1783, -0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9510591404d4e5f1200eb33f7c3611805a40777a55d6ffbaf271a4e431dd54d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40d12c5854f6f7c18a71647d3068a4f4e2b8d65d82743a960cac4b4375a89e43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8ff0750f29f1c00f066a77c0d7e4c8a989ee93180024d68c9369c5a479aaf6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5gIKjgEIEhgCKkDYZ8eGG/HXJsTYnvb/MnZ7dv/1sGVQfa7RMZOB0K+gsPjz64Xx+aK8E7tE2FvlRKtneOU44lTmM4EdKTHTEaD9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbyCzNUGEgx4dEJqPss11gON+SkaDEoBKjjIdv2WoJntliIwa05X45J+09B5v5gXcNNWvJnW6POXyxt/N7r1YmGaWYrHvWcDyOly59T4G9vKBTqAKoQB5BE+xX+yN9wFflx3lTAR6JcOTjRDJmK2BtVKzq+JeUfG8tdqhWeFYV1u9CzTF8fhKorPCp4ru3LoO8R+MOzY5SL+/O06pZV6+r3XQHZ8vuxVjoctv9reFCWHTPyD4GwfvedquR0Z5+pD4OWaPCBt4LDje7IVpsmysrC0YwShW5x2ThqGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jb1erBACkCpWrUFx1mrJYy",
      "input": {
        "note": "Lemon is right at the jaws at table level; closing to grasp it.",
        "targets": {
          "right_gripper": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Jb1erBACkCpWrUFx1mrJYy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8391, 0.6132, -0.4759, -0.0139, -0.0265, 0.999, 0.5667, 1.7828, 0.6044, 0.392, 0.4179, 0.1986, 0.4934]\nstate[eef_state]: left_x=0.2844 left_y=0.0004 left_z=0.1529 left_yaw=0.0007 left_pitch=-0.1339 left_roll=0.0019 left_gripper=0.999 right_x=0.3642 right_y=0.151 right_z=0.0029 right_yaw=0.103 right_pitch=-0.1422 right_roll=-0.1472 right_gripper=0.4934\nstate[joint_eff]: [-0.0889, -1.4838, 7.0769, 1.6484, -0.0415, -0.0611, -0.0122, 0.0205, -8.1846, 4.9709, 1.3455, 0.1294, -0.0513, 0.9206]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cc64f9306ac1330d711c06e7e64373c3960805cf6d132c33739fc13a77b2aec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcbc9c7070f397ef44cbca29194768532869f87b9b724208e6eb052c8722e04c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25f1def5404bc693b578363688ef023dbf58fba452356a616cfaed169f3cb49c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 5.173 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8333, 0.6132, -0.4686, -0.0135, -0.0265, 0.999, 0.5934, 1.4002, 0.704, -0.0219, 0.4484, 0.2176, 0.9965]\nstate[eef_state]: left_x=0.2853 left_y=0.0003 left_z=0.1558 left_yaw=0.0003 left_pitch=-0.1209 left_roll=0.0014 left_gripper=0.999 right_x=0.3512 right_y=0.1488 right_z=0.1104 right_yaw=0.0985 right_pitch=-0.0707 right_roll=-0.1192 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.8256, 7.0769, 1.7949, -0.0269, -0.0317, -0.0122, 0.1573, -4.7248, 5.9966, 1.9365, 0.3248, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8387, 0.6132, -0.4755, -0.0139, -0.0265, 0.999, 0.5682, 1.7702, 0.6086, 0.3759, 0.4221, 0.2008, 0.9965]\nstate[eef_state]: left_x=0.2845 left_y=0.0004 left_z=0.1531 left_yaw=0.0007 left_pitch=-0.1331 left_roll=0.0019 left_gripper=0.999 right_x=0.3644 right_y=0.151 right_z=0.0065 right_yaw=0.1 right_pitch=-0.14 right_roll=-0.1478 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.8803, 7.2547, 1.7021, -0.0513, -0.0317, -0.0122, -0.4991, -7.7333, 4.3282, 1.6777, 0.1783, -0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8391, 0.6132, -0.4759, -0.0139, -0.0265, 0.999, 0.5667, 1.7828, 0.6044, 0.392, 0.4179, 0.1986, 0.4934]\nstate[eef_state]: left_x=0.2844 left_y=0.0004 left_z=0.1529 left_yaw=0.0007 left_pitch=-0.1339 left_roll=0.0019 left_gripper=0.999 right_x=0.3642 right_y=0.151 right_z=0.0029 right_yaw=0.103 right_pitch=-0.1422 right_roll=-0.1472 right_gripper=0.4934\nstate[joint_eff]: [-0.0889, -1.4838, 7.0769, 1.6484, -0.0415, -0.0611, -0.0122, 0.0205, -8.1846, 4.9709, 1.3455, 0.1294, -0.0513, 0.9206]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cc64f9306ac1330d711c06e7e64373c3960805cf6d132c33739fc13a77b2aec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcbc9c7070f397ef44cbca29194768532869f87b9b724208e6eb052c8722e04c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25f1def5404bc693b578363688ef023dbf58fba452356a616cfaed169f3cb49c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISyQQKjgEIEhgCKkDEXsSneGf1GjeVdvLiDv65NpVpeOgOsOqdgtI4z2rnmX5AkGIiYzo33gFIQZ8eVww81jHGb6dIVmNx/HsfSYYvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcKCzNUGEgx+O2yoliJoaNMsM4EaDKX1B22Aj9QRgxArNSIwtA6Tp9Ch+0R/aINYSE7nwV6pi+STRtk15auUsLZIEEAx2TyHWMqA5m9ts9ak2Lp9KucC8Ncp/Ct7O47fERrLWqHpAgb0a6679BFRX4V5Ljq4Z+xfq+gS42j3tvjUkLCUFXPNmmJ7YaF3/Ps0rI0pbonDa9VsIE9hW2mSz6on5YxTObKlnpBZ3UqXXaa3XOuxkdF1Qy6tczWmdzLMjji5/S/lFhfcsCotuDFqSHJwPV5O5iInKX2GrBQ5yVXU+0Xx4ZjLToHU77zptcx4aLyTpkBORbdbD6Fko3qJUj1N8UisBhIIUaWDallUagg/tsxrCbAx7oDmkGHdnjyJ6/ZaEIyjCZwi3eG/3QpKd8GZfB7FHDUk5wkCvcijK6Zo90Fm/V5NgLErj1KMAHPi8rY/0T2eqTti7hFMVlwtF/PFDUaWJ1AIK56ue/zM3XQIlAtzFQ6CG5173F4KKPrzq+LnLzAKUiTAh9eXHA5mI6TLrFHN2W02XffuuRkBKXqcJuUzZezDRqz1ab0KzUzVSrY0INPgB5hOt/iNU9QYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GDju5dzkEUZbc2FobnkWB1",
      "input": {
        "note": "Gripper settled at 0.49 (~4.7 cm) so the lemon is held; lifting and carrying it over toward the blue bowl.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.055,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01GDju5dzkEUZbc2FobnkWB1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8436, 0.6132, -0.4763, -0.0135, -0.0265, 0.999, 0.1707, 1.5536, 1.1999, -0.3576, 0.1368, -0.0742, 0.4943]\nstate[eef_state]: left_x=0.2845 left_y=0.0003 left_z=0.1516 left_yaw=0.0003 left_pitch=-0.1388 left_roll=0.0018 left_gripper=0.999 right_x=0.4487 right_y=0.0566 right_z=0.1876 right_yaw=0.0904 right_pitch=-0.1422 right_roll=-0.1499 right_gripper=0.4943\nstate[joint_eff]: [-0.1709, -1.6752, 6.9402, 1.6532, -0.0464, -0.0269, -0.0171, -0.3487, -7.0632, 8.4444, 1.6239, -0.0464, -0.0904, 0.6227]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a892bf3866c54cc5c2bd372aab99dc534da774f0ec6d6ab984f4ef555fefe76a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc4656bcebf43423777dcdd2441e72f339132f162173bc09424cd5e8fe411046",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61710b3e55427eb9c244cb73f3279ce8f2a50aaec97ff334d3a4d0c887273cda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 2.719 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8387, 0.6132, -0.4755, -0.0139, -0.0265, 0.999, 0.5682, 1.7702, 0.6086, 0.3759, 0.4221, 0.2008, 0.9965]\nstate[eef_state]: left_x=0.2845 left_y=0.0004 left_z=0.1531 left_yaw=0.0007 left_pitch=-0.1331 left_roll=0.0019 left_gripper=0.999 right_x=0.3644 right_y=0.151 right_z=0.0065 right_yaw=0.1 right_pitch=-0.14 right_roll=-0.1478 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.8803, 7.2547, 1.7021, -0.0513, -0.0317, -0.0122, -0.4991, -7.7333, 4.3282, 1.6777, 0.1783, -0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8391, 0.6132, -0.4759, -0.0139, -0.0265, 0.999, 0.5667, 1.7828, 0.6044, 0.392, 0.4179, 0.1986, 0.4934]\nstate[eef_state]: left_x=0.2844 left_y=0.0004 left_z=0.1529 left_yaw=0.0007 left_pitch=-0.1339 left_roll=0.0019 left_gripper=0.999 right_x=0.3642 right_y=0.151 right_z=0.0029 right_yaw=0.103 right_pitch=-0.1422 right_roll=-0.1472 right_gripper=0.4934\nstate[joint_eff]: [-0.0889, -1.4838, 7.0769, 1.6484, -0.0415, -0.0611, -0.0122, 0.0205, -8.1846, 4.9709, 1.3455, 0.1294, -0.0513, 0.9206]\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]: [-0.02, 0.8436, 0.6132, -0.4763, -0.0135, -0.0265, 0.999, 0.1707, 1.5536, 1.1999, -0.3576, 0.1368, -0.0742, 0.4943]\nstate[eef_state]: left_x=0.2845 left_y=0.0003 left_z=0.1516 left_yaw=0.0003 left_pitch=-0.1388 left_roll=0.0018 left_gripper=0.999 right_x=0.4487 right_y=0.0566 right_z=0.1876 right_yaw=0.0904 right_pitch=-0.1422 right_roll=-0.1499 right_gripper=0.4943\nstate[joint_eff]: [-0.1709, -1.6752, 6.9402, 1.6532, -0.0464, -0.0269, -0.0171, -0.3487, -7.0632, 8.4444, 1.6239, -0.0464, -0.0904, 0.6227]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a892bf3866c54cc5c2bd372aab99dc534da774f0ec6d6ab984f4ef555fefe76a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc4656bcebf43423777dcdd2441e72f339132f162173bc09424cd5e8fe411046",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61710b3e55427eb9c244cb73f3279ce8f2a50aaec97ff334d3a4d0c887273cda",
        "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/gQKjgEIEhgCKkAHLKPF+kbjDAqXO/s7IU0kxs7viKaplZZIkx2a4r/KfEI957Lhq6pp/zVuDKILC6+k2CD8YMaNj0ka2CLcsuGRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAciCzNUGEgzzRxZH338kEZygPPEaDHq+axnTTCHYeRRJCyIwZneykLyQKun8OtNELYYsauq9aHzkVo1tgBnLtGvOggw070564afQzK40Pi+wVeNrKpwDzN7HjpWDAncTe4+DgyMhlrKmi/jtctuBVnrt80OVw5jV7qGNT3c49cM7nR5A6eDFLNgfjTg9H1pENjSt0zNmDromMwnGn+cEr45JnHHABy4ZexI16ke5F0DBSioOWxQx1kGWD23fu+nIU4GPA2GNjpb7azL80CuOjrq82U3xfZ+i3Y1VqorkwrzOzAUSkC19aCjlt9am6VrurSRyrO93cT036l2WmLLHTIBxrxZOMr9Ue18YhJwhOK23vZpm8hJ+QA/z8Tt6lkjwcdNtyAgvzh8h4nANQ38ctlWm4/czDUplqcfEDEf/rLPj5aQ7bL/XaCIjh+BVk526qLG5DG7dY1INKFvrFM/umxkdBwNnjG6CY4lun0i7eqb0FjGtOf8LWJtSQTQJ1ZERcSHa6OFCbfm2pGJqM0SEZ4V7EOpJet2vhvub3/+qc883xGEjmfhI2qdmu5n2aBY+Cp6i50YElqU7m8m3xGSi+1YtVPsy5tW3gh/Mr57C9AAt3XLxsgF1ozlcIF0g6y7GE9bJ8xqQtZsN7K9Vj5SgIT5d7hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PRLyHzzCfNkUegNZCiUbKH",
      "input": {
        "note": "Carrying the lemon to the same pose that successfully dropped the pear into the blue bowl.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.05,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01PRLyHzzCfNkUegNZCiUbKH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8455, 0.6132, -0.4812, -0.0135, -0.0265, 0.999, 0.1474, 1.7412, 0.9894, -0.0208, 0.115, -0.0925, 0.4965]\nstate[eef_state]: left_x=0.2838 left_y=0.0003 left_z=0.1502 left_yaw=0.0004 left_pitch=-0.1457 left_roll=0.0019 left_gripper=0.999 right_x=0.4581 right_y=0.0512 right_z=0.0774 right_yaw=0.0949 right_pitch=-0.2058 right_roll=-0.1529 right_gripper=0.4965\nstate[joint_eff]: [-0.1983, -1.6342, 6.9402, 1.6532, -0.022, -0.022, -0.0122, -0.8137, -8.0205, 6.0923, 1.6386, 0.0513, -0.0269, 0.5201]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c8539088f5c7e3c4e300a932ad0f0e81a696469e8e5dac34f894a655497e3ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac7693c58b4f5942e33467e53156dbadc46cea67a9dbe7372f5ab5be6e2658bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:78ef79eb7e2e0724f7de2638b2c02cbae44bd1b1e8cfc76715cbc6f1f781004e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 10.49 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8391, 0.6132, -0.4759, -0.0139, -0.0265, 0.999, 0.5667, 1.7828, 0.6044, 0.392, 0.4179, 0.1986, 0.4934]\nstate[eef_state]: left_x=0.2844 left_y=0.0004 left_z=0.1529 left_yaw=0.0007 left_pitch=-0.1339 left_roll=0.0019 left_gripper=0.999 right_x=0.3642 right_y=0.151 right_z=0.0029 right_yaw=0.103 right_pitch=-0.1422 right_roll=-0.1472 right_gripper=0.4934\nstate[joint_eff]: [-0.0889, -1.4838, 7.0769, 1.6484, -0.0415, -0.0611, -0.0122, 0.0205, -8.1846, 4.9709, 1.3455, 0.1294, -0.0513, 0.9206]\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]: [-0.02, 0.8436, 0.6132, -0.4763, -0.0135, -0.0265, 0.999, 0.1707, 1.5536, 1.1999, -0.3576, 0.1368, -0.0742, 0.4943]\nstate[eef_state]: left_x=0.2845 left_y=0.0003 left_z=0.1516 left_yaw=0.0003 left_pitch=-0.1388 left_roll=0.0018 left_gripper=0.999 right_x=0.4487 right_y=0.0566 right_z=0.1876 right_yaw=0.0904 right_pitch=-0.1422 right_roll=-0.1499 right_gripper=0.4943\nstate[joint_eff]: [-0.1709, -1.6752, 6.9402, 1.6532, -0.0464, -0.0269, -0.0171, -0.3487, -7.0632, 8.4444, 1.6239, -0.0464, -0.0904, 0.6227]\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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8455, 0.6132, -0.4812, -0.0135, -0.0265, 0.999, 0.1474, 1.7412, 0.9894, -0.0208, 0.115, -0.0925, 0.4965]\nstate[eef_state]: left_x=0.2838 left_y=0.0003 left_z=0.1502 left_yaw=0.0004 left_pitch=-0.1457 left_roll=0.0019 left_gripper=0.999 right_x=0.4581 right_y=0.0512 right_z=0.0774 right_yaw=0.0949 right_pitch=-0.2058 right_roll=-0.1529 right_gripper=0.4965\nstate[joint_eff]: [-0.1983, -1.6342, 6.9402, 1.6532, -0.022, -0.022, -0.0122, -0.8137, -8.0205, 6.0923, 1.6386, 0.0513, -0.0269, 0.5201]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c8539088f5c7e3c4e300a932ad0f0e81a696469e8e5dac34f894a655497e3ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac7693c58b4f5942e33467e53156dbadc46cea67a9dbe7372f5ab5be6e2658bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78ef79eb7e2e0724f7de2638b2c02cbae44bd1b1e8cfc76715cbc6f1f781004e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1AIKjgEIEhgCKkA41QpTCZ8Dj0Y7EnrxJB1PFI/e2jTzp2iMV21ZzMpPHoZ6UBFrgqXAH4Uy86z543Y4Rnrc8CR3D50I+necl7aYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcyCzNUGEgyps6duRbIzy+C56Y4aDEJYyvBo4FDXJmOWCSIw6bT1SLVdFJq9T+nVDLzTiy0Wh55zhMBzJJJmpvTXJpe118pwTViHJgOS7IqYKNLjKnMVYOLe5zcJYQTMEdQ8DTR74JtEDLgmBPT/2y3uP2RXQVSn4LKvuqffxcSxIKZa2TG7PBBtRKU/bNdo2eQhb1f3Axpy4HuJSotstj5rzCdwfKSJ/FUl7fjnO6r+Vz8rLugJJkm2daQTz5/li/sY5nYaRCSDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YA5iPaFK52v8WeSbZQiarJ",
      "input": {
        "note": "The blue bowl with the pear is visible directly beneath the lemon; opening the gripper to drop the lemon in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01YA5iPaFK52v8WeSbZQiarJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8455, 0.6132, -0.4847, -0.0139, -0.0265, 0.999, 0.1474, 1.7542, 0.9806, -0.0223, 0.1104, -0.0978, 0.9959]\nstate[eef_state]: left_x=0.2832 left_y=0.0004 left_z=0.1496 left_yaw=0.0007 left_pitch=-0.1491 left_roll=0.0022 left_gripper=0.999 right_x=0.4546 right_y=0.0515 right_z=0.0679 right_yaw=0.1015 right_pitch=-0.2296 right_roll=-0.1546 right_gripper=0.9959\nstate[joint_eff]: [-0.1162, -1.4974, 7.1316, 1.6239, -0.0366, -0.0757, -0.0122, -0.294, -9.6205, 6.8718, 1.6337, 0.0562, 0.0708, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5b6c4d1428ad50e974bfb776cdcf422d15fb42d5864ab491cd025077a6b8599",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52c065e759e8690dea5c4cb2be0c812164c1cb4f0685eb2758ca776fc3edb2d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ff97aa03219ce76adcdaa081e4b1533eebddac362b1a61d5c4a28c6cb7e5741",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 7.408 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8436, 0.6132, -0.4763, -0.0135, -0.0265, 0.999, 0.1707, 1.5536, 1.1999, -0.3576, 0.1368, -0.0742, 0.4943]\nstate[eef_state]: left_x=0.2845 left_y=0.0003 left_z=0.1516 left_yaw=0.0003 left_pitch=-0.1388 left_roll=0.0018 left_gripper=0.999 right_x=0.4487 right_y=0.0566 right_z=0.1876 right_yaw=0.0904 right_pitch=-0.1422 right_roll=-0.1499 right_gripper=0.4943\nstate[joint_eff]: [-0.1709, -1.6752, 6.9402, 1.6532, -0.0464, -0.0269, -0.0171, -0.3487, -7.0632, 8.4444, 1.6239, -0.0464, -0.0904, 0.6227]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8455, 0.6132, -0.4812, -0.0135, -0.0265, 0.999, 0.1474, 1.7412, 0.9894, -0.0208, 0.115, -0.0925, 0.4965]\nstate[eef_state]: left_x=0.2838 left_y=0.0003 left_z=0.1502 left_yaw=0.0004 left_pitch=-0.1457 left_roll=0.0019 left_gripper=0.999 right_x=0.4581 right_y=0.0512 right_z=0.0774 right_yaw=0.0949 right_pitch=-0.2058 right_roll=-0.1529 right_gripper=0.4965\nstate[joint_eff]: [-0.1983, -1.6342, 6.9402, 1.6532, -0.022, -0.022, -0.0122, -0.8137, -8.0205, 6.0923, 1.6386, 0.0513, -0.0269, 0.5201]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8455, 0.6132, -0.4847, -0.0139, -0.0265, 0.999, 0.1474, 1.7542, 0.9806, -0.0223, 0.1104, -0.0978, 0.9959]\nstate[eef_state]: left_x=0.2832 left_y=0.0004 left_z=0.1496 left_yaw=0.0007 left_pitch=-0.1491 left_roll=0.0022 left_gripper=0.999 right_x=0.4546 right_y=0.0515 right_z=0.0679 right_yaw=0.1015 right_pitch=-0.2296 right_roll=-0.1546 right_gripper=0.9959\nstate[joint_eff]: [-0.1162, -1.4974, 7.1316, 1.6239, -0.0366, -0.0757, -0.0122, -0.294, -9.6205, 6.8718, 1.6337, 0.0562, 0.0708, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5b6c4d1428ad50e974bfb776cdcf422d15fb42d5864ab491cd025077a6b8599",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52c065e759e8690dea5c4cb2be0c812164c1cb4f0685eb2758ca776fc3edb2d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ff97aa03219ce76adcdaa081e4b1533eebddac362b1a61d5c4a28c6cb7e5741",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISswsKjgEIEhgCKkATCB/oCKSS46n9JqNHVsLbyGosXP7LMjDGnX0MHqB12YgHG34LwPjBb/AdI25puOnfXwWiKF3BmHGxYKLwZjJXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdaCzNUGEgxvPfQFI7t/vjjBbjsaDLhZolbXF1beRsJbPiIwFpRBrMXyrJ9wg2EqrJSyjI5t9HjNgqgabB1LzkecKvD9PRKqArG9z77iTlWUZCSJKtEJOYT1da4p5LIvFZJKn7OLWhP61FsNchqHn27gyIV8virKkStf0uQmBysPI2dOcgYqov1t6vlr4WETKP3CSxUnw1YVccO7FU1g1bkGWfAM6uUdMexGpsPhX0Y2mFrArZMMI/EtR2BLddkKlIFEYO0kzGXzCP3OZuNlRgox6bNzoemnwPGI9M55Io5bi/3G7g/vGbac1kV0jU/nq5uIMo6YS033RRbOyTEkEr4XQ8xdU5LkXWwHpTyauYM4Qzij42H10fezHQlDU7oVihhxZNoBrzlsiDT7mUM6vfoNN2ItCyhkjfco+qA50PqzGT8bY9dGjwOZGmJgK1pn4TyapoSRnVDOrltoAVsPi1dA4c5oDHbFLHeNROSwfEqCH/pDsYixWwg2ziOvodhaakh8Ou2o245eaPIj0NGNpwoP7dGbi7tLduMPnu4eM7TEh+63RscmhSOvh3v9qG6rg36pl2QH6fRzDJiUZ6a8+jhKliTElwSUnmCcSwYN9yVtCOnmVX4Oe9WA8hGelZ0NAkgXyDTcg5RZgZrKUrQ6TJ+rdTMDmfNng5Mqy8o/sClLC2ebOwz4yOLz/Sq/+EOXs49i73l4SJGjKFkXRDuQr9aJ1RCd6mhScpSDriwjnpZuD0vfYZXOdc+9jhI56iBWoyoInNrN6Z3h60m9qD3t69NjkoDzW1TmNTetr5Zj/QqBqIKO9cpjBCdmuO9k7ecevHyK/MTgbvpRMfgSAqO90QdzFggYKN4cKY8L29ud1vCO8/HAhFZwB8gp8ZQpcxSWQ9Vc+XbLyBDZM9rI0s4XGqc5pkTVMwiaJel5YaCFBZaUPF236SqqIXuUIUr/Shn4ipCOoloTx8ShTWZt/8J+DbahyvE80AfW48A8GDhnMrsAxOmukqVnW5XqQzuSu2McabB3pXLOThUZs+1VOnZv9Kf7K1rqY4+D7wMVCHQ8RvMZ0fZDRZ4sb7YcYVayshHQMm1VyRRSpM+xAv08oaZsW7bypPHLO8sniCRKUBr1JHAiyN8Ze4aUo8yzChiGUJkM6J/ASPfHCihaCV6hZBHh0VvE0XRqP569Qb2JbTLmHUSbCqS/Sprr2+KJnIGz6oBxBW2NilsuDX9A11ftD3fK4icb20ZcyVaiD4PObKQfgLJ2rUsJFqdhwHR3N1G7SzmjphQfjWkbZtgcVZ2SxnD7qcndZVTM8X+bLbkQgv3B75n2QUTVJs55JkSo4IATgRuzo32jQFgE+6gIb9Caa4G28ObaOynzUhHYtStLOIcSbrc/3km/9VaoiGh7wkStfqdco2eqhCGRbNFMhIDdyANf4d1svYGa7+8Jsaa4U9ezgM49ZsCp4W6JTmJ3rTkH2xDVl4rV7pg6mlAT9Kew1gIrEqsJY2qSTalcdFtwmb7AugkLOuq1rNELgZC6phD2TqlZI0Je6YsrOCcvnSdLYz2T54ZT+acItR1QZRQu5KZaCcOUBajmKN5wu7qciUsUuVlA95vXml8HcdUjSzySN3wQvkHFyPMiJGYnvtIVxz+Nh4mHPvzWm1D0nAPR54QVzTztYmJJdgRngFvSV0oeS2H3+Es5y3R/VrE2//u3GNvAFfGthRzaCB/re1cNlRl3NdrgpZdjkPw4kCCe6q2jHCnB33okkFITNK6EGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Rs1AVpgd7tJ7NX5wy8jdUo",
      "input": {
        "note": "Lemon and pear are both in the blue bowl. The remaining dark avocado sits near the table centre to the left arm's right; moving the left gripper above it.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.33,
          "left_y": -0.19,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01Rs1AVpgd7tJ7NX5wy8jdUo",
      "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]: [-0.7673, 1.4494, 0.8413, -0.3286, -0.5243, -0.5701, 0.999, 0.1474, 1.7542, 0.9802, -0.028, 0.1104, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3198 left_y=-0.1806 left_z=0.1038 left_yaw=-0.0148 left_pitch=-0.2043 left_roll=0.0331 left_gripper=0.999 right_x=0.4535 right_y=0.0513 right_z=0.0668 right_yaw=0.1017 right_pitch=-0.2358 right_roll=-0.1552 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -6.2291, 8.8, 1.5311, -0.5104, -0.0024, -0.1099, -0.3214, -8.5538, 6.2017, 1.5507, 0.0464, -0.0024, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5afb7eb2558fbf5ebde2a49d9d65700fab01e66a169b65381a9ff6decfd798c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2247ea2ebf72099760e243ecd37d74ff22336fec685188ca184d853265582da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:357ec5c88658fca5617e288f7d3ebf1e66ca5a8eea3ff4e0dd3188c6dc476b44",
        "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 · 4.522 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8455, 0.6132, -0.4812, -0.0135, -0.0265, 0.999, 0.1474, 1.7412, 0.9894, -0.0208, 0.115, -0.0925, 0.4965]\nstate[eef_state]: left_x=0.2838 left_y=0.0003 left_z=0.1502 left_yaw=0.0004 left_pitch=-0.1457 left_roll=0.0019 left_gripper=0.999 right_x=0.4581 right_y=0.0512 right_z=0.0774 right_yaw=0.0949 right_pitch=-0.2058 right_roll=-0.1529 right_gripper=0.4965\nstate[joint_eff]: [-0.1983, -1.6342, 6.9402, 1.6532, -0.022, -0.022, -0.0122, -0.8137, -8.0205, 6.0923, 1.6386, 0.0513, -0.0269, 0.5201]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8455, 0.6132, -0.4847, -0.0139, -0.0265, 0.999, 0.1474, 1.7542, 0.9806, -0.0223, 0.1104, -0.0978, 0.9959]\nstate[eef_state]: left_x=0.2832 left_y=0.0004 left_z=0.1496 left_yaw=0.0007 left_pitch=-0.1491 left_roll=0.0022 left_gripper=0.999 right_x=0.4546 right_y=0.0515 right_z=0.0679 right_yaw=0.1015 right_pitch=-0.2296 right_roll=-0.1546 right_gripper=0.9959\nstate[joint_eff]: [-0.1162, -1.4974, 7.1316, 1.6239, -0.0366, -0.0757, -0.0122, -0.294, -9.6205, 6.8718, 1.6337, 0.0562, 0.0708, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.7673, 1.4494, 0.8413, -0.3286, -0.5243, -0.5701, 0.999, 0.1474, 1.7542, 0.9802, -0.028, 0.1104, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3198 left_y=-0.1806 left_z=0.1038 left_yaw=-0.0148 left_pitch=-0.2043 left_roll=0.0331 left_gripper=0.999 right_x=0.4535 right_y=0.0513 right_z=0.0668 right_yaw=0.1017 right_pitch=-0.2358 right_roll=-0.1552 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -6.2291, 8.8, 1.5311, -0.5104, -0.0024, -0.1099, -0.3214, -8.5538, 6.2017, 1.5507, 0.0464, -0.0024, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5afb7eb2558fbf5ebde2a49d9d65700fab01e66a169b65381a9ff6decfd798c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2247ea2ebf72099760e243ecd37d74ff22336fec685188ca184d853265582da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:357ec5c88658fca5617e288f7d3ebf1e66ca5a8eea3ff4e0dd3188c6dc476b44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0AYKjgEIEhgCKkBM2yXq1irop2PDh64BGRfwEGcRJD3La2rFPxci+EcTpT8/ZahVLfOpRkNQi4/wFJqNtzKx2rnv/9lIOJSXJ3yaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd+CzNUGEgxEU+65kad8UXARD3IaDKUasGtD1HqJ5yamzCIw6HCZhmXwFWl+wU0rTVjROVZ3+Nkgldn/NYqU+ZfibEsTPWIBbtXWVcCy/CyY9+VzKu4EmLGMaKDduLOUHohXVTkoE4QBdV7H33tyUCTjP6q8Ow09C5SmRMbGyMODwS9SVSZRvoSLWVS2Q1sL3rVCHtfnbKki6CJhUYBpqJA71Kz9is8dcpQuBjjG1Bfa7xJ62FpKgCWfp5LOnUVZEGF70O7PnuntH2pqIwk4TcbEET0hK7lTM7idUWDo+NaHyZaFuWv21HlChuU++IhwV+mIoqLwl0iV5upTxxbhrcI7hBdG2Jv2u7eMbeV5AP1WsIRXuKih6+qiDTjI9i3nWC/Rzr8rW6qldJ0kiVJOfkWe0OnchGK7DBoLFH/7YPifluaGXWcuG+tIspeKqgM/xNDJ+ykNJHGyAyk8gzFGJWOf/MrMfd3rDNgzL+ept2fVcpjE+tMXDHlGK6hxMtqEz6Goslpnt/JFP0HvESsjsrLPqpvsL7slYrhnqv2lto4ltAU2Tdd5o9ZnocjGlHZ53/IQx7gT9CWErWl/jHYSJ2ChMTWe4iPeEfG2yfKbyEsw81R/kNARBhi3YKcrbgks7aspZk31gVK2ANCx6ywDFL+rsQYMhAxmULFZtOA17MCleScWACnzGn6Mwx+zJXNrk2WB7bQBASUBS1Q4kVQi0oCU8OK7DIhDKueGA61c0FkaqL0r6wNh4LTXquo4K7b9bZ4hI/W5Ucb37eHfFUwIaT532udXxItJUnCcvSaKUXvIOOgBSzhSkYXjSaWtXcWcq89Ddaxz5erdLCbVt/svqQB/BrONdqp4m8UulJ0X7RWht4AP1qurjelQ/btk4hS/gj3NTpwzjhNzSBdLTaj3Gl1UgDnpGqTHvNr3wSh5LwWqEeoudhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W4XtxK1oYyxpECn34KheTs",
      "input": {
        "note": "The avocado sits just left of the jaw column and near the bottom of the left wrist view; shifting 3 cm left, 2 cm forward and descending to grasp height.",
        "targets": {
          "left_x": 0.345,
          "left_y": -0.152,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01W4XtxK1oYyxpECn34KheTs",
      "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]: [-0.6376, 1.6131, 0.664, -0.0257, -0.4572, -0.4808, 0.999, 0.1474, 1.7542, 0.9802, -0.028, 0.1101, -0.0986, 0.9965]\nstate[eef_state]: left_x=0.3305 left_y=-0.1434 left_z=0.0225 left_yaw=0.0227 left_pitch=-0.2713 left_roll=0.0793 left_gripper=0.999 right_x=0.4535 right_y=0.0514 right_z=0.0668 right_yaw=0.1022 right_pitch=-0.2358 right_roll=-0.1551 right_gripper=0.9965\nstate[joint_eff]: [0.335, -7.0085, 5.2855, 1.5067, -0.1978, 0.105, -0.022, -0.2256, -8.4034, 6.147, 1.5067, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3a4f5abd7e468f7d83ea8c84e77e4c090b062e4a4b4477c2c4b4ff4189ba8be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29eef6c0160c77c2dab87ccbb8e4b9b39f3c30eb47ef58daf452ee500e4db12f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:487dd02e305def9840fb3b2726810af569a0476422c4f0279a9396d63b49acd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 3.173 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8455, 0.6132, -0.4847, -0.0139, -0.0265, 0.999, 0.1474, 1.7542, 0.9806, -0.0223, 0.1104, -0.0978, 0.9959]\nstate[eef_state]: left_x=0.2832 left_y=0.0004 left_z=0.1496 left_yaw=0.0007 left_pitch=-0.1491 left_roll=0.0022 left_gripper=0.999 right_x=0.4546 right_y=0.0515 right_z=0.0679 right_yaw=0.1015 right_pitch=-0.2296 right_roll=-0.1546 right_gripper=0.9959\nstate[joint_eff]: [-0.1162, -1.4974, 7.1316, 1.6239, -0.0366, -0.0757, -0.0122, -0.294, -9.6205, 6.8718, 1.6337, 0.0562, 0.0708, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7673, 1.4494, 0.8413, -0.3286, -0.5243, -0.5701, 0.999, 0.1474, 1.7542, 0.9802, -0.028, 0.1104, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3198 left_y=-0.1806 left_z=0.1038 left_yaw=-0.0148 left_pitch=-0.2043 left_roll=0.0331 left_gripper=0.999 right_x=0.4535 right_y=0.0513 right_z=0.0668 right_yaw=0.1017 right_pitch=-0.2358 right_roll=-0.1552 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -6.2291, 8.8, 1.5311, -0.5104, -0.0024, -0.1099, -0.3214, -8.5538, 6.2017, 1.5507, 0.0464, -0.0024, 0.0513]",
      "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]: [-0.6376, 1.6131, 0.664, -0.0257, -0.4572, -0.4808, 0.999, 0.1474, 1.7542, 0.9802, -0.028, 0.1101, -0.0986, 0.9965]\nstate[eef_state]: left_x=0.3305 left_y=-0.1434 left_z=0.0225 left_yaw=0.0227 left_pitch=-0.2713 left_roll=0.0793 left_gripper=0.999 right_x=0.4535 right_y=0.0514 right_z=0.0668 right_yaw=0.1022 right_pitch=-0.2358 right_roll=-0.1551 right_gripper=0.9965\nstate[joint_eff]: [0.335, -7.0085, 5.2855, 1.5067, -0.1978, 0.105, -0.022, -0.2256, -8.4034, 6.147, 1.5067, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3a4f5abd7e468f7d83ea8c84e77e4c090b062e4a4b4477c2c4b4ff4189ba8be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29eef6c0160c77c2dab87ccbb8e4b9b39f3c30eb47ef58daf452ee500e4db12f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:487dd02e305def9840fb3b2726810af569a0476422c4f0279a9396d63b49acd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwAQKjgEIEhgCKkANTzQhFVPYy9bneTBAbFV3GN175s3cB6FZoCFaqqrLM49Q+QNPyLQzYho7Kq811tibM76lQjb6jTNxHbjDqN+/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeSCzNUGEgxkYOn4JixpZvcBq0YaDPJZ044Xr4SgbVKfciIwrQRHgVqjCN4+eBQ5t/M6q4545eWvfXUiL7b3/sWQh9+VC9DmgSOZ58iwJBa9AMtYKt4CBo73yQpI3CkQvAVfMIUXkj70nmNH97qSKau57kQ6Lef/2j3sSV+sZjLpJ9ipZNwNeeLxQcy5bNKxaPhQWR1QLm3iaIl4RVYJp82VGztLHMB89TwuoGy4b0AA1oYzpLjBWZ1X70GvXykkj6XRPvsqnCoxGyZ5D6ULt13ECwPXhU+0yaEoEFxeBSGU3CKnueyOWtiTbpDdDGbed1FyrR/5OoI+lGoLE/iTuWHxCbp7ek7b+bJ79aSV9rho33EM/4LeDCOyg9eeOIEdU3ZQAuYVqINsC9JJKCtSnEBkXICRsdrGGMSO38mQjr23g1DjF7qxqnPBrB5X0A1m8K2eiPmy9W7ErYj9HYITUtum169/xJYx0rmri2/R/eVbAPtJggVwshgS3e+Q60BVG3Bv2rmyhj7t5ED/CiIXpZHA+7od4zuWIak2uHkdprzt/6HP7IoLCoCJCYZUFq33xGWLHncYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015A1i1ekP8PzZRPGc8ae9Qo",
      "input": {
        "note": "Avocado is centred on the jaw column but still above the jaws, so it is a few cm further out; advancing 3 cm at grasp height.",
        "targets": {
          "left_x": 0.365,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015A1i1ekP8PzZRPGc8ae9Qo",
      "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]: [-0.5777, 1.6966, 0.7395, 0.0025, -0.4297, -0.448, 0.999, 0.1474, 1.7542, 0.9802, -0.0315, 0.1104, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3576 left_y=-0.141 left_z=0.0201 left_yaw=0.0403 left_pitch=-0.2698 left_roll=0.0707 left_gripper=0.999 right_x=0.4529 right_y=0.0512 right_z=0.0662 right_yaw=0.1016 right_pitch=-0.2392 right_roll=-0.1553 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -7.4188, 7.0496, 1.0916, -0.1538, 0.2125, -0.0122, -0.3077, -8.5265, 6.2427, 1.5067, 0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ada83bbeeb806e4ada032ab561e44afa15cf7038b57aec8344bc430caf6597b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2c3fd0d1c514d0655419188191ddebacc7ed5b689827aff65f4f59a6aac0324",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d3b72a8916972409719f15dbb59be07ce022c13ea5fe93023c7885cdfb85bed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 9.399 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]: [-0.7673, 1.4494, 0.8413, -0.3286, -0.5243, -0.5701, 0.999, 0.1474, 1.7542, 0.9802, -0.028, 0.1104, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3198 left_y=-0.1806 left_z=0.1038 left_yaw=-0.0148 left_pitch=-0.2043 left_roll=0.0331 left_gripper=0.999 right_x=0.4535 right_y=0.0513 right_z=0.0668 right_yaw=0.1017 right_pitch=-0.2358 right_roll=-0.1552 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -6.2291, 8.8, 1.5311, -0.5104, -0.0024, -0.1099, -0.3214, -8.5538, 6.2017, 1.5507, 0.0464, -0.0024, 0.0513]",
      "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]: [-0.6376, 1.6131, 0.664, -0.0257, -0.4572, -0.4808, 0.999, 0.1474, 1.7542, 0.9802, -0.028, 0.1101, -0.0986, 0.9965]\nstate[eef_state]: left_x=0.3305 left_y=-0.1434 left_z=0.0225 left_yaw=0.0227 left_pitch=-0.2713 left_roll=0.0793 left_gripper=0.999 right_x=0.4535 right_y=0.0514 right_z=0.0668 right_yaw=0.1022 right_pitch=-0.2358 right_roll=-0.1551 right_gripper=0.9965\nstate[joint_eff]: [0.335, -7.0085, 5.2855, 1.5067, -0.1978, 0.105, -0.022, -0.2256, -8.4034, 6.147, 1.5067, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5777, 1.6966, 0.7395, 0.0025, -0.4297, -0.448, 0.999, 0.1474, 1.7542, 0.9802, -0.0315, 0.1104, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3576 left_y=-0.141 left_z=0.0201 left_yaw=0.0403 left_pitch=-0.2698 left_roll=0.0707 left_gripper=0.999 right_x=0.4529 right_y=0.0512 right_z=0.0662 right_yaw=0.1016 right_pitch=-0.2392 right_roll=-0.1553 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -7.4188, 7.0496, 1.0916, -0.1538, 0.2125, -0.0122, -0.3077, -8.5265, 6.2427, 1.5067, 0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ada83bbeeb806e4ada032ab561e44afa15cf7038b57aec8344bc430caf6597b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2c3fd0d1c514d0655419188191ddebacc7ed5b689827aff65f4f59a6aac0324",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d3b72a8916972409719f15dbb59be07ce022c13ea5fe93023c7885cdfb85bed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T2jb3c6pk8gf3FJpffhNUP",
      "input": {
        "note": "The avocado is now between the jaws in the left wrist view; closing to grasp it.",
        "targets": {
          "left_gripper": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01T2jb3c6pk8gf3FJpffhNUP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5652, 1.7039, 0.7536, -0.0219, -0.4252, -0.4267, 0.5401, 0.1474, 1.7542, 0.9802, -0.0311, 0.1101, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3589 left_y=-0.1371 left_z=0.0185 left_yaw=0.0404 left_pitch=-0.2872 left_roll=0.0928 left_gripper=0.5401 right_x=0.453 right_y=0.0513 right_z=0.0663 right_yaw=0.102 right_pitch=-0.2388 right_roll=-0.155 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -7.241, 7.1316, 1.3065, -0.1392, 0.0611, 1.0232, -0.253, -8.3761, 6.188, 1.5067, 0.0073, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1b34c240155b720d13e1d82ccc70e2f6a68c33c2145858734a5898e855ce8b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6593379d1097ddc99fecafe0eb16228551dc5c864cb2368f0477d27fe2d028c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2c36ba1741dff3cd1c2cf649b4003626b739ca0b0ebe33f825051e631297df15",
        "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 · 4.56 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]: [-0.6376, 1.6131, 0.664, -0.0257, -0.4572, -0.4808, 0.999, 0.1474, 1.7542, 0.9802, -0.028, 0.1101, -0.0986, 0.9965]\nstate[eef_state]: left_x=0.3305 left_y=-0.1434 left_z=0.0225 left_yaw=0.0227 left_pitch=-0.2713 left_roll=0.0793 left_gripper=0.999 right_x=0.4535 right_y=0.0514 right_z=0.0668 right_yaw=0.1022 right_pitch=-0.2358 right_roll=-0.1551 right_gripper=0.9965\nstate[joint_eff]: [0.335, -7.0085, 5.2855, 1.5067, -0.1978, 0.105, -0.022, -0.2256, -8.4034, 6.147, 1.5067, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5777, 1.6966, 0.7395, 0.0025, -0.4297, -0.448, 0.999, 0.1474, 1.7542, 0.9802, -0.0315, 0.1104, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3576 left_y=-0.141 left_z=0.0201 left_yaw=0.0403 left_pitch=-0.2698 left_roll=0.0707 left_gripper=0.999 right_x=0.4529 right_y=0.0512 right_z=0.0662 right_yaw=0.1016 right_pitch=-0.2392 right_roll=-0.1553 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -7.4188, 7.0496, 1.0916, -0.1538, 0.2125, -0.0122, -0.3077, -8.5265, 6.2427, 1.5067, 0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5652, 1.7039, 0.7536, -0.0219, -0.4252, -0.4267, 0.5401, 0.1474, 1.7542, 0.9802, -0.0311, 0.1101, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3589 left_y=-0.1371 left_z=0.0185 left_yaw=0.0404 left_pitch=-0.2872 left_roll=0.0928 left_gripper=0.5401 right_x=0.453 right_y=0.0513 right_z=0.0663 right_yaw=0.102 right_pitch=-0.2388 right_roll=-0.155 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -7.241, 7.1316, 1.3065, -0.1392, 0.0611, 1.0232, -0.253, -8.3761, 6.188, 1.5067, 0.0073, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1b34c240155b720d13e1d82ccc70e2f6a68c33c2145858734a5898e855ce8b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6593379d1097ddc99fecafe0eb16228551dc5c864cb2368f0477d27fe2d028c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c36ba1741dff3cd1c2cf649b4003626b739ca0b0ebe33f825051e631297df15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmwoKjgEIEhgCKkDY/hUbw9BfIxXKE5dQZHIiDIjcMrD6L96RgEp4JYeaP1W5ZwKmu2FcCo+RtDrylpWqFMDISF38glpwvGNd4uygMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfKCzNUGEgzckkoxcjk7ssERWdMaDIykfuWcTUyhmMA/niIwCyCUiqoG8toxo6v8C4q0IA1ArTUGGQPFapfE9FlQouchMvDWfJKTwImR86TSSTIBKrkIIUF0CfTgCMs9RHVE2rLRcEYQC9pXDkfrfCYVm6LcsH2Mvj4yRn5NpgmmySmHjVIeerkLMsuxZ22H2mT7VgvoXz4dVDbJNWteiJc8njOx5JmjIRUp+9YCQWz3z4jqnbEMrHzE92Lx3cEC1GXUwg6GQ9OyCSuG/Qjv+uE01wnoCyzzttBW6qzCR6ePYjJf/jMQMbyx78Jst+ETO043rPgyKBXDcD+tE6Xn22bTi1NKpkgVTb8HSF07mDoE8es/eHuf0nMvsReZOqD4aLlAW4yW6+ff1y/WWvRv7dxuAIiePfGixtqm0fiBiPgHHgeWiEbXFHyS7sF5joGtvkqolewOOqsKrkT82SQBj1eAfOdJ92xlE8PKeiaCk+XCPY/hBUWWnYB3398F9gzULs791udIvIogrIsLdPl36RvkX4ZPGbI+AvFOvMJnp0CEyR/3Os76o08hZk5EXw4lSMzl0uUWmULVI+A+O8LwF8qNgbq9uGgQxzcHmweTX+8Sfk5sCIlfY6rR+qAj9SrColpzoOzkMBX1Pv+BzCf+qnn/A6HrQnO07apCkAjXF9mf9l0AqUJ05nN4NjJp6ZEDJ0snyCn2OCNKJmWK9NyQCAqpl1YY0c62WlVlvSj0fsc4Sv79DcgPPh/ayl/pQwa3K+hQUeVPB4oxiTZNoVRsEZyX436BGIh3RuHU8oA4qnNw2KGYTMUIJnUxuefP41Tm29r68mCGa4dW/OLPx83RlefE6OH6pummYTX+XFU+whqwcfkYCCB1rkWzVsd/JmfnEhUolpVTulv/4iDxiGe9ZCmutjGRc3VYTd7IPipwWGu2/W3Ct0KACnZWpihWsiehRA0yN84+dSl7K5rhPIekW/U2cykz7I6XI7D7hX6l55b/i0kHfQfJlmsk0upsGGWdqPNPyHPmehly2U76mkfxwKe6wsDHuhkUuqldgZQmjyG0Ezp64nawsx9faf0fR15kVXzu58OxVQ7zblwRqIS5w0dutJhX/dci/6TR4EiAQMJ/GDeN+DvrJwutuWk6tbpC4scY/2LBLQH/Vf1QJ8Mp0T3UQZ9XDBK9wWCs+0IgqjCxVnn3a/kYRUmVXRBs9iMEocJjXGKKxVQF6JlgXHqrGHo/ubv7IDyn9v4J5ppTkt+3wMyHlauR++Suds0knRwaONe7ltLZfUI3k2euDeVHoKZhRwkZ9FReZTkf2YwK68CbXbEv3AP+4eBRPT1UDy9ntSFQQQHcWLAygTliXiCXHB7GygXOomhmaXJStS4RP6gx+NgLkea1Vku6c9UvYuiM8AgAIUA8urSGVW+4BR8an1oXpB287h1iZo3dEJ3OnJllt4AWqJEQULctppa3qB/MzvZQsJtYeV2quPvxnxddoQoJDaMXjTA7s8cvDoHRN4a8qif3l4LQBA/alAInRXNDj2X3URTOoQXX+XiH/flaeBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ENLq1RstwVrHaeDpvAbTdR",
      "input": {
        "note": "Avocado grasped (gripper 0.54 ≈ 5 cm). The blue bowl is out of the left arm's y range, so I'm carrying the avocado toward the centre line to hand it off to the right arm.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.3,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01ENLq1RstwVrHaeDpvAbTdR",
      "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]: [-0.9226, 1.9079, 1.5734, -0.8078, -0.5732, -0.7856, 0.5409, 0.1474, 1.7542, 0.9802, -0.0391, 0.1104, -0.0986, 0.9965]\nstate[eef_state]: left_x=0.3504 left_y=-0.2981 left_z=0.1388 left_yaw=0.0226 left_pitch=-0.3037 left_roll=0.0698 left_gripper=0.5409 right_x=0.4516 right_y=0.051 right_z=0.0649 right_yaw=0.1018 right_pitch=-0.2468 right_roll=-0.1559 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -9.6889, 8.4171, 0.7009, -0.6716, 0.022, 0.9304, -0.2393, -8.5402, 6.1607, 1.5849, 0.0415, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fd07a444b60d11ee11efe5c648931663dc85b7a64aadc796c4f1bbfdf06fd82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bc7a45b64539379c69842b3c599a17afe220819ad56c1f55683684fbad44414",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:20aadbe3f08674e082e02c29fe73d7e77c768abe34cc17aa80d73eff828d57a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 2.019 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]: [-0.5777, 1.6966, 0.7395, 0.0025, -0.4297, -0.448, 0.999, 0.1474, 1.7542, 0.9802, -0.0315, 0.1104, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3576 left_y=-0.141 left_z=0.0201 left_yaw=0.0403 left_pitch=-0.2698 left_roll=0.0707 left_gripper=0.999 right_x=0.4529 right_y=0.0512 right_z=0.0662 right_yaw=0.1016 right_pitch=-0.2392 right_roll=-0.1553 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -7.4188, 7.0496, 1.0916, -0.1538, 0.2125, -0.0122, -0.3077, -8.5265, 6.2427, 1.5067, 0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5652, 1.7039, 0.7536, -0.0219, -0.4252, -0.4267, 0.5401, 0.1474, 1.7542, 0.9802, -0.0311, 0.1101, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3589 left_y=-0.1371 left_z=0.0185 left_yaw=0.0404 left_pitch=-0.2872 left_roll=0.0928 left_gripper=0.5401 right_x=0.453 right_y=0.0513 right_z=0.0663 right_yaw=0.102 right_pitch=-0.2388 right_roll=-0.155 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -7.241, 7.1316, 1.3065, -0.1392, 0.0611, 1.0232, -0.253, -8.3761, 6.188, 1.5067, 0.0073, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9226, 1.9079, 1.5734, -0.8078, -0.5732, -0.7856, 0.5409, 0.1474, 1.7542, 0.9802, -0.0391, 0.1104, -0.0986, 0.9965]\nstate[eef_state]: left_x=0.3504 left_y=-0.2981 left_z=0.1388 left_yaw=0.0226 left_pitch=-0.3037 left_roll=0.0698 left_gripper=0.5409 right_x=0.4516 right_y=0.051 right_z=0.0649 right_yaw=0.1018 right_pitch=-0.2468 right_roll=-0.1559 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -9.6889, 8.4171, 0.7009, -0.6716, 0.022, 0.9304, -0.2393, -8.5402, 6.1607, 1.5849, 0.0415, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fd07a444b60d11ee11efe5c648931663dc85b7a64aadc796c4f1bbfdf06fd82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bc7a45b64539379c69842b3c599a17afe220819ad56c1f55683684fbad44414",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20aadbe3f08674e082e02c29fe73d7e77c768abe34cc17aa80d73eff828d57a3",
        "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+gQKjgEIEhgCKkCqYM7eDM840QzjbAVLl6Wj4mf4ndX/xZNu/AZhP1UBWTzDzU9O8ArKV8cGrJN47Poa0lVzK2TRJZ6Y3neZ3pstMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfiCzNUGEgz4/bwXQlbhmmOlOjIaDO6OzlgzQSGyOLxGdiIwSu1GRXBl6VC0LakHn4V135FES1anZWMna3rkiqcIWrKrHiefxovt1hWipdJ1I3QzKpgD3XYliOASc8EGI074ywXwTv2L7Yg+dl3C82kEzySXDLoJ0IzILXQz/JOvI+V44PrTKxdQ1zIgPhMmFKoATgaTC2y29k3uQr2Fyd43KWa7PZHAbdQB4T222EBtIDQJ5IjqDVUf8R8bVOPBvjIns9t8yFgsOLy1pOBY/twXhRBhNPUktkjj8vfppQ7fpqbtTic3JhC8VF42Gt6er9SMUFdqMln5oHuDm11WxgU7YT+Wdq2tK4t5FaN3hNg3mAeIKZPUqkLrFGWHbGBVaZYZF9QsHYvnC0cZtyO/2gW1mm8sl97SimsfHNRDxErjWLZcl5BN8r16/hFo9jTALBwIKH5qbeeQqb/nvOJXaLH8zswtI/Eyjbceq5vAuAC+o8nBd9e9Z41xerJqxoceosmmYiGoUPVgILDXzZl4QOtB9dTZAnLCulYO3sUuQH9iLoeFmiZICgmWJiVPoscdkgox0+hb5zYMGiWwqoEMbnQmqINSSzqWsQvktaiqj6uVcijYh1+c8EgTcnJtXr+3c0hfFKh0CoMdqOOxpqyDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JVcnxsGGrEe6aUorTZW9DL",
      "input": {
        "note": "Lowering the avocado to the table near the centre line so the right arm can pick it up and drop it in the blue bowl.",
        "targets": {
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01JVcnxsGGrEe6aUorTZW9DL",
      "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]: [-0.9241, 2.0289, 1.2884, -0.4431, -0.5648, -0.7898, 0.5409, 0.1474, 1.7542, 0.9802, -0.0395, 0.1101, -0.0986, 0.9965]\nstate[eef_state]: left_x=0.3439 left_y=-0.2927 left_z=0.0249 left_yaw=0.0297 left_pitch=-0.3338 left_roll=0.0976 left_gripper=0.5409 right_x=0.4515 right_y=0.0511 right_z=0.0648 right_yaw=0.1021 right_pitch=-0.2472 right_roll=-0.1557 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -9.8393, 5.6957, 1.0867, -0.398, 0.0269, 0.9939, -0.2803, -8.3897, 6.3795, 1.4725, -0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:665ce2ebe6c59357187af253992685026ec52d75871f0bd52a61170a6a2ffa74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2261ec7a54f1d59121706d09b4b63f2d355e7758edf37ee8af3ce33ec8ba1c0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d7b0cbfcfed53a01297d10d4cbeb95ca1f94a9c57bd757a41b53cb74f079bc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /messages · status 200 · 5.869 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]: [-0.5652, 1.7039, 0.7536, -0.0219, -0.4252, -0.4267, 0.5401, 0.1474, 1.7542, 0.9802, -0.0311, 0.1101, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3589 left_y=-0.1371 left_z=0.0185 left_yaw=0.0404 left_pitch=-0.2872 left_roll=0.0928 left_gripper=0.5401 right_x=0.453 right_y=0.0513 right_z=0.0663 right_yaw=0.102 right_pitch=-0.2388 right_roll=-0.155 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -7.241, 7.1316, 1.3065, -0.1392, 0.0611, 1.0232, -0.253, -8.3761, 6.188, 1.5067, 0.0073, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9226, 1.9079, 1.5734, -0.8078, -0.5732, -0.7856, 0.5409, 0.1474, 1.7542, 0.9802, -0.0391, 0.1104, -0.0986, 0.9965]\nstate[eef_state]: left_x=0.3504 left_y=-0.2981 left_z=0.1388 left_yaw=0.0226 left_pitch=-0.3037 left_roll=0.0698 left_gripper=0.5409 right_x=0.4516 right_y=0.051 right_z=0.0649 right_yaw=0.1018 right_pitch=-0.2468 right_roll=-0.1559 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -9.6889, 8.4171, 0.7009, -0.6716, 0.022, 0.9304, -0.2393, -8.5402, 6.1607, 1.5849, 0.0415, -0.0366, -0.0122]\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 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]: [-0.9241, 2.0289, 1.2884, -0.4431, -0.5648, -0.7898, 0.5409, 0.1474, 1.7542, 0.9802, -0.0395, 0.1101, -0.0986, 0.9965]\nstate[eef_state]: left_x=0.3439 left_y=-0.2927 left_z=0.0249 left_yaw=0.0297 left_pitch=-0.3338 left_roll=0.0976 left_gripper=0.5409 right_x=0.4515 right_y=0.0511 right_z=0.0648 right_yaw=0.1021 right_pitch=-0.2472 right_roll=-0.1557 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -9.8393, 5.6957, 1.0867, -0.398, 0.0269, 0.9939, -0.2803, -8.3897, 6.3795, 1.4725, -0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:665ce2ebe6c59357187af253992685026ec52d75871f0bd52a61170a6a2ffa74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2261ec7a54f1d59121706d09b4b63f2d355e7758edf37ee8af3ce33ec8ba1c0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d7b0cbfcfed53a01297d10d4cbeb95ca1f94a9c57bd757a41b53cb74f079bc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fdt88RY2mMZzQGHgznxEqT",
      "input": {
        "note": "Avocado is down on the table near the centre line; opening the left gripper to release it for the hand-off.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Fdt88RY2mMZzQGHgznxEqT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9245, 2.0434, 1.2778, -0.4374, -0.561, -0.7937, 0.9953, 0.1474, 1.7542, 0.9802, -0.046, 0.1101, -0.0986, 0.9965]\nstate[eef_state]: left_x=0.3412 left_y=-0.2903 left_z=0.0157 left_yaw=0.0349 left_pitch=-0.3477 left_roll=0.1098 left_gripper=0.9953 right_x=0.4504 right_y=0.0509 right_z=0.0638 right_yaw=0.102 right_pitch=-0.2537 right_roll=-0.156 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -11.5487, 6.4615, 0.8278, -0.3883, 0.0073, -0.1001, -0.2667, -8.5538, 6.3111, 1.619, 0.0171, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:273bbc525d8a3adf1354305f0eed27d8545cbd49efc85b10f8457d8e572c6161",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45306dfaaa1beea8557582120d905bd2447b765e006d3be0b70a15cff7c77ca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c185b93ec56c1a04ad7e42fd2ca09035b0f5a4d749976e6f630acc67732e9493",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 6.889 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]: [-0.9226, 1.9079, 1.5734, -0.8078, -0.5732, -0.7856, 0.5409, 0.1474, 1.7542, 0.9802, -0.0391, 0.1104, -0.0986, 0.9965]\nstate[eef_state]: left_x=0.3504 left_y=-0.2981 left_z=0.1388 left_yaw=0.0226 left_pitch=-0.3037 left_roll=0.0698 left_gripper=0.5409 right_x=0.4516 right_y=0.051 right_z=0.0649 right_yaw=0.1018 right_pitch=-0.2468 right_roll=-0.1559 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -9.6889, 8.4171, 0.7009, -0.6716, 0.022, 0.9304, -0.2393, -8.5402, 6.1607, 1.5849, 0.0415, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.9241, 2.0289, 1.2884, -0.4431, -0.5648, -0.7898, 0.5409, 0.1474, 1.7542, 0.9802, -0.0395, 0.1101, -0.0986, 0.9965]\nstate[eef_state]: left_x=0.3439 left_y=-0.2927 left_z=0.0249 left_yaw=0.0297 left_pitch=-0.3338 left_roll=0.0976 left_gripper=0.5409 right_x=0.4515 right_y=0.0511 right_z=0.0648 right_yaw=0.1021 right_pitch=-0.2472 right_roll=-0.1557 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -9.8393, 5.6957, 1.0867, -0.398, 0.0269, 0.9939, -0.2803, -8.3897, 6.3795, 1.4725, -0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9245, 2.0434, 1.2778, -0.4374, -0.561, -0.7937, 0.9953, 0.1474, 1.7542, 0.9802, -0.046, 0.1101, -0.0986, 0.9965]\nstate[eef_state]: left_x=0.3412 left_y=-0.2903 left_z=0.0157 left_yaw=0.0349 left_pitch=-0.3477 left_roll=0.1098 left_gripper=0.9953 right_x=0.4504 right_y=0.0509 right_z=0.0638 right_yaw=0.102 right_pitch=-0.2537 right_roll=-0.156 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -11.5487, 6.4615, 0.8278, -0.3883, 0.0073, -0.1001, -0.2667, -8.5538, 6.3111, 1.619, 0.0171, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:273bbc525d8a3adf1354305f0eed27d8545cbd49efc85b10f8457d8e572c6161",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45306dfaaa1beea8557582120d905bd2447b765e006d3be0b70a15cff7c77ca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c185b93ec56c1a04ad7e42fd2ca09035b0f5a4d749976e6f630acc67732e9493",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvQUKjgEIEhgCKkAaFp5bj0aJHkMrklKHDxOt4T12YCY2jWgb7n14Y2PETCbHgZ+y7AbQmkJzfuEysU4PLdMKUg40qDZPt21DdK0SMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYGDzNUGEgzq2kjtqeH7pjsDHkwaDAnXXrbpzG7fNqEasyIwraYrxM5UvWyq6luM7v9YMfy+d1CsrD7N5T8c9dIHGak6SPOC3PLqlibIEjN5iceqKtsDHxWkj9rcaqVcakNh1ZiHJ3FVziEFdABxQB4rDtg8r3uMjAJZMTb33vMRINZ+PDl2z8mSPSKhGyuZ0i+J1GZoCn273bjAUL1tloOqKqxtOCEbNPJj/4tDQswNBoEluOQ3R9SmZQ5xlpSAobFeHmz55yjLB3TFKxwZ3vCXsvalDdjHVz/E+J5W5EtPMEKPPNYLoL8+f37ltJMp22oWptfKNtMTtu9Zwuf4vfKBTupb6uRQprZ5udvNziEwgUMvSRECgsP+jLCKmoQmzkqkxgUzpQ+I/cOnqQui0hM7FsZlk9uykZyXszubmzaYyBZ5+xHzphbSlroAEhRO+2Agl6yELySRJlkL/cyJTGyXeyciv2Q4FSpMlMrTyXUPfJcEoCGCl8hSe/s6dnHjcF7MkJLth2roxvbPCJrhgCJqvcLqJek7Gii5UIZFGfl7PL/NsKTAkhVZqcvKROJClFQyHvF2KQ7MUizaS83wuoHqjSYDXpKAPL4Ng+z3Fq6yn/Sp8oOAcAn/gSkfT/b2kgLA56qfUl8d+/M797aNNThMrE+MAOc83P2yFuT+iD1bdKI2PjG5+uiHbZ+ZomYfEIw/lW2lujqtUyfSl/oSl3Ti5KYvsCkwP8ZviU70RuHfehgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KrtttbU1hsKLdtfu2ACwhb",
      "input": {
        "note": "Avocado released on the table; parking the left arm at home to clear space for the right arm's pick-up.",
        "targets": {
          "left_x": 0.29,
          "left_y": 0.0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01KrtttbU1hsKLdtfu2ACwhb",
      "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]: [-0.1177, 1.0794, 0.9115, -0.7925, -0.1783, -0.0929, 0.9961, 0.1474, 1.7542, 0.9802, -0.0502, 0.1104, -0.0986, 0.9965]\nstate[eef_state]: left_x=0.289 left_y=0.001 left_z=0.1632 left_yaw=0.0915 left_pitch=-0.375 left_roll=0.1104 left_gripper=0.9961 right_x=0.4496 right_y=0.0507 right_z=0.0631 right_yaw=0.1016 right_pitch=-0.2579 right_roll=-0.1565 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -4.0821, 9.5795, 1.2625, 0.0708, 0.2027, 0.0611, -0.3624, -8.5538, 6.1197, 1.5018, 0.0122, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a93a9e005e2e75fd78cbb9b0951a461ccc834e4e03a12215eec47bec6509c9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83e0952e213ba83e131d407d77544854aa70896ee30f664629d34e3699332ce0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8fc131a50bf6c23f75900dffe5f3593de115d791ed77c47f9a688c9b27304b9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 28 attempt 0 · /messages · status 200 · 4.823 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]: [-0.9241, 2.0289, 1.2884, -0.4431, -0.5648, -0.7898, 0.5409, 0.1474, 1.7542, 0.9802, -0.0395, 0.1101, -0.0986, 0.9965]\nstate[eef_state]: left_x=0.3439 left_y=-0.2927 left_z=0.0249 left_yaw=0.0297 left_pitch=-0.3338 left_roll=0.0976 left_gripper=0.5409 right_x=0.4515 right_y=0.0511 right_z=0.0648 right_yaw=0.1021 right_pitch=-0.2472 right_roll=-0.1557 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -9.8393, 5.6957, 1.0867, -0.398, 0.0269, 0.9939, -0.2803, -8.3897, 6.3795, 1.4725, -0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9245, 2.0434, 1.2778, -0.4374, -0.561, -0.7937, 0.9953, 0.1474, 1.7542, 0.9802, -0.046, 0.1101, -0.0986, 0.9965]\nstate[eef_state]: left_x=0.3412 left_y=-0.2903 left_z=0.0157 left_yaw=0.0349 left_pitch=-0.3477 left_roll=0.1098 left_gripper=0.9953 right_x=0.4504 right_y=0.0509 right_z=0.0638 right_yaw=0.102 right_pitch=-0.2537 right_roll=-0.156 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -11.5487, 6.4615, 0.8278, -0.3883, 0.0073, -0.1001, -0.2667, -8.5538, 6.3111, 1.619, 0.0171, -0.0464, -0.0073]",
      "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]: [-0.1177, 1.0794, 0.9115, -0.7925, -0.1783, -0.0929, 0.9961, 0.1474, 1.7542, 0.9802, -0.0502, 0.1104, -0.0986, 0.9965]\nstate[eef_state]: left_x=0.289 left_y=0.001 left_z=0.1632 left_yaw=0.0915 left_pitch=-0.375 left_roll=0.1104 left_gripper=0.9961 right_x=0.4496 right_y=0.0507 right_z=0.0631 right_yaw=0.1016 right_pitch=-0.2579 right_roll=-0.1565 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -4.0821, 9.5795, 1.2625, 0.0708, 0.2027, 0.0611, -0.3624, -8.5538, 6.1197, 1.5018, 0.0122, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a93a9e005e2e75fd78cbb9b0951a461ccc834e4e03a12215eec47bec6509c9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83e0952e213ba83e131d407d77544854aa70896ee30f664629d34e3699332ce0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fc131a50bf6c23f75900dffe5f3593de115d791ed77c47f9a688c9b27304b9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6AYKjgEIEhgCKkD5F5JQYS7codtBLU61XR3CC8iZ4mcRIsWs2cbESmnHDy0n1Y4wv3fU0IlJVo88K+zceHLlzlreJCnH0+LA6nrBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYqDzNUGEgxibqvyYlQjJdf4zvYaDCAQAo75iWddwCopWCIwHEQNEhL7HfJLLDzbx9/qA4GgX5j9nn98YfN+VjeCGoQw+4pyOubpCd4v4rTnSzVXKoYFujO/9sNYFgWMa98TwBVWs5yv7GPX9oK9wJ5vW00zYjcQHgCb6RWsquy8MZ0ZmpEyU/rBye2oEkgA74R+Sqx17fS+b/5VzHJLHXt0+58hHkGY+/pRH9O7oxEHwD+ef2HLH5AWJ8kqoTnwSpOtkkJzeBInGGSk9ynQ87XBqUdb7zFXLIQ2hJbBetwMH6qhmJKhTL4OTma7b4WMXFUHkkSOehgxzPjsyYmWbfnMAXSS2z+f2/JLg/ebRH7vJnIzLRAoJlywus8ITMqOy3pwJhTJ5J+YyabIoocxeoOmWWLe7Cc0Ne0JicsT66tkYWIUtkceR3s0yTwfL0xyuKrBBwGOX6kVDB4dG/qwygYY9B3bN4OPUgN6PLTApTRvF9Ts9OMcVHTJzmUmE4gpBWD8N/kaY5szUA7CDb150q40cDJaW59MInV9Bl1IbiUJTXu/BF0QqH/nx/jxyGC3CXmpaBDpmoBbkyYXY2pCMpxWlBF5BaXGqPC84gn3i692uQvOEWBG1wBBMbUBvXwFrFcvh2MNve3XNoVGoO3ylzu68IqAWjDBvnjzJmXGMTbd+FwLhgXEXOzSz1Oun4AdliafXDvolcj6YXl7nKEUmFLrsW0tFLGJiKoRjAPivyqOlmL338AtB1UJiOZRl89EQRTheD30QXeuuhtlp9a2whWXvTBS9O00qajpzfxTKPwZvVCITGzDybzYrYZAsfMHn7Z4f9Ksi0661/XtNbpJIOXZ5oAc6w9nBcNXSF+yQto3TE+BctJBhGw5WVxaI0nruFNsBuPSR8QpBYBKnGRY9SGa/g2Qr0Hy9PfFFdr+BtjCeFNV0S2zX/XvCVNSGXYh4c1sF2BAtA1XPYJFshgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018sBfE7qkk7izY5bSxGeX8m",
      "input": {
        "note": "Avocado is now parked mid-table (visible in overhead view); moving the right arm above it for the pick-up.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.34,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 25 steps (2.5s)",
      "tool_use_id": "toolu_018sBfE7qkk7izY5bSxGeX8m",
      "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]: [-0.1146, 1.0809, 0.9131, -0.8051, -0.1677, -0.0868, 0.9961, 0.9817, 1.9636, 1.5681, -0.693, 0.5838, 0.5888, 0.9966]\nstate[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1614 left_yaw=0.0826 left_pitch=-0.3894 left_roll=0.1077 left_gripper=0.9961 right_x=0.3397 right_y=0.3396 right_z=0.1243 right_yaw=0.1424 right_pitch=-0.2725 right_roll=-0.1584 right_gripper=0.9966\nstate[joint_eff]: [-0.5675, -3.0701, 6.4615, 1.3797, -0.1978, -0.1099, -0.0122, 0.1983, -10.0034, 8.1162, 0.8913, 0.4908, 0.1929, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:133f3ab8244a236002482614131100ee512f76a595d181ceb34190ce4da35685",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b48cced4775ce6662ec8a023f05428f6270ad07b875d493f454c24786d7729ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d632f761aa366677d2b68e57fae5a20c136176ef6f45d02c702bda5026e974bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /messages · status 200 · 3.421 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]: [-0.9245, 2.0434, 1.2778, -0.4374, -0.561, -0.7937, 0.9953, 0.1474, 1.7542, 0.9802, -0.046, 0.1101, -0.0986, 0.9965]\nstate[eef_state]: left_x=0.3412 left_y=-0.2903 left_z=0.0157 left_yaw=0.0349 left_pitch=-0.3477 left_roll=0.1098 left_gripper=0.9953 right_x=0.4504 right_y=0.0509 right_z=0.0638 right_yaw=0.102 right_pitch=-0.2537 right_roll=-0.156 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -11.5487, 6.4615, 0.8278, -0.3883, 0.0073, -0.1001, -0.2667, -8.5538, 6.3111, 1.619, 0.0171, -0.0464, -0.0073]",
      "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]: [-0.1177, 1.0794, 0.9115, -0.7925, -0.1783, -0.0929, 0.9961, 0.1474, 1.7542, 0.9802, -0.0502, 0.1104, -0.0986, 0.9965]\nstate[eef_state]: left_x=0.289 left_y=0.001 left_z=0.1632 left_yaw=0.0915 left_pitch=-0.375 left_roll=0.1104 left_gripper=0.9961 right_x=0.4496 right_y=0.0507 right_z=0.0631 right_yaw=0.1016 right_pitch=-0.2579 right_roll=-0.1565 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -4.0821, 9.5795, 1.2625, 0.0708, 0.2027, 0.0611, -0.3624, -8.5538, 6.1197, 1.5018, 0.0122, -0.0562, -0.0073]",
      "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]: [-0.1146, 1.0809, 0.9131, -0.8051, -0.1677, -0.0868, 0.9961, 0.9817, 1.9636, 1.5681, -0.693, 0.5838, 0.5888, 0.9966]\nstate[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1614 left_yaw=0.0826 left_pitch=-0.3894 left_roll=0.1077 left_gripper=0.9961 right_x=0.3397 right_y=0.3396 right_z=0.1243 right_yaw=0.1424 right_pitch=-0.2725 right_roll=-0.1584 right_gripper=0.9966\nstate[joint_eff]: [-0.5675, -3.0701, 6.4615, 1.3797, -0.1978, -0.1099, -0.0122, 0.1983, -10.0034, 8.1162, 0.8913, 0.4908, 0.1929, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:133f3ab8244a236002482614131100ee512f76a595d181ceb34190ce4da35685",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b48cced4775ce6662ec8a023f05428f6270ad07b875d493f454c24786d7729ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d632f761aa366677d2b68e57fae5a20c136176ef6f45d02c702bda5026e974bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpAQKjgEIEhgCKkDS0UVOex7guF1lR8upgSiWZGzPvhw318jyOC6MKzZtuJKLhLhaH05TgL+KWNZS0prLsXY6J7L0QLzLH90ssu2nMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZKDzNUGEgyh9wXbT0IDb0k/TTAaDB6P0lMBUO62RIy9siIwAqYbgY9nXBGlnm/potO2SDdlJg99wqHLCQ5Q+aaBmG7bENncywnHH8l4bUuHGEKxKsICokidZ2nYMNnYOsoAu3Z9wpNLIdskSgRqaicREFbpeyXOMYHX9zzLcZvHJuWfzSlxb1ZqlHqDSgrvpQwI8Is+QRhMKfCK1Cet4z04th0nGxF42gJvrFHpXAbSskjmPGGXppf8yJEJzHJozc8B8hRjeNDHIK3+Twn8fE7FQ8zu1DGGvKue1012tQU1U4TDjyAO0v+k8mqSZ150SqSoBcrHAVKaMLhLc/GbQYia6+ezAsWzl5as8IMYbO4phxbC9/MIlK8uEY3Mg9AL81NPGwzuYP826yIm+/Fxva/eRgCByG87SHDhg/p7qbQtiOULUD0rTYyTM5IsKj3sjzbJxIUAgzWTgR6jCGsC6+Dx19mZYZf0qc2L4kxRSJzi+rKiqoFH8LQ/Zmdh4ItXJRhhy7REdFqJbrE0H14pWbHc5XeBAfHg9RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WqxYaaZKjtuhdriaD3SAuS",
      "input": {
        "note": "Avocado visible slightly left of the jaw column in the right wrist view; shifting 3 cm left, 2 cm forward and descending to grasp it.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.368,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01WqxYaaZKjtuhdriaD3SAuS",
      "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]: [-0.1146, 1.0809, 0.9131, -0.8078, -0.1669, -0.0864, 0.9961, 0.9798, 2.1857, 1.5257, -0.4625, 0.5713, 0.5907, 0.9965]\nstate[eef_state]: left_x=0.2862 left_y=0.0002 left_z=0.161 left_yaw=0.0819 left_pitch=-0.3922 left_roll=0.1078 left_gripper=0.9961 right_x=0.3535 right_y=0.3618 right_z=0.0279 right_yaw=0.1398 right_pitch=-0.3033 right_roll=-0.1756 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -2.7692, 6.5846, 1.2772, -0.0708, -0.0415, -0.0122, -0.1162, -11.412, 6.1744, 1.116, 0.3394, -0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:617ae1d18f35ce5b15c9f0391826ba102cb02b6e1746f04e1c2419d3b7c9c06a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:291ce11589a9ed25b1a7100bbef0cc571e4fecd145ad6be3315448f653ecebd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e541c0f3f8b0f4b5e5d8916c4f2ad069aeeb2e8cb5d8dee2eaa0a923ab381c0d",
        "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 · 3.627 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]: [-0.1177, 1.0794, 0.9115, -0.7925, -0.1783, -0.0929, 0.9961, 0.1474, 1.7542, 0.9802, -0.0502, 0.1104, -0.0986, 0.9965]\nstate[eef_state]: left_x=0.289 left_y=0.001 left_z=0.1632 left_yaw=0.0915 left_pitch=-0.375 left_roll=0.1104 left_gripper=0.9961 right_x=0.4496 right_y=0.0507 right_z=0.0631 right_yaw=0.1016 right_pitch=-0.2579 right_roll=-0.1565 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -4.0821, 9.5795, 1.2625, 0.0708, 0.2027, 0.0611, -0.3624, -8.5538, 6.1197, 1.5018, 0.0122, -0.0562, -0.0073]",
      "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]: [-0.1146, 1.0809, 0.9131, -0.8051, -0.1677, -0.0868, 0.9961, 0.9817, 1.9636, 1.5681, -0.693, 0.5838, 0.5888, 0.9966]\nstate[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1614 left_yaw=0.0826 left_pitch=-0.3894 left_roll=0.1077 left_gripper=0.9961 right_x=0.3397 right_y=0.3396 right_z=0.1243 right_yaw=0.1424 right_pitch=-0.2725 right_roll=-0.1584 right_gripper=0.9966\nstate[joint_eff]: [-0.5675, -3.0701, 6.4615, 1.3797, -0.1978, -0.1099, -0.0122, 0.1983, -10.0034, 8.1162, 0.8913, 0.4908, 0.1929, -0.0122]",
      "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]: [-0.1146, 1.0809, 0.9131, -0.8078, -0.1669, -0.0864, 0.9961, 0.9798, 2.1857, 1.5257, -0.4625, 0.5713, 0.5907, 0.9965]\nstate[eef_state]: left_x=0.2862 left_y=0.0002 left_z=0.161 left_yaw=0.0819 left_pitch=-0.3922 left_roll=0.1078 left_gripper=0.9961 right_x=0.3535 right_y=0.3618 right_z=0.0279 right_yaw=0.1398 right_pitch=-0.3033 right_roll=-0.1756 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -2.7692, 6.5846, 1.2772, -0.0708, -0.0415, -0.0122, -0.1162, -11.412, 6.1744, 1.116, 0.3394, -0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:617ae1d18f35ce5b15c9f0391826ba102cb02b6e1746f04e1c2419d3b7c9c06a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:291ce11589a9ed25b1a7100bbef0cc571e4fecd145ad6be3315448f653ecebd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e541c0f3f8b0f4b5e5d8916c4f2ad069aeeb2e8cb5d8dee2eaa0a923ab381c0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpwMKjgEIEhgCKkAg+F8wlOAePyAVKXuu4X+6F4mYGUNDrLJoRfuBDxfs7s7v73RyUwdtLRCJwQxSWjHV8/h/ZUaQx4sTG/sc+vLfMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZaDzNUGEgztNEilMKgsgu0KY/0aDCbTf9ypv7QqhBdP+yIwAHpEQfGVVoENWQmi8ia5HGmI/Fut7nMT6+e66Z5LGRGIRptAH6JTUJRTH5PAR/2jKsUBTxqWs5XSknwrPK0aHNoDdEwDdJksq5vaDmdpdiMxZYeyBD4qpe2aNdekeZYf4PRFDXz05fNXQq9IFHJVfV1Qd4egFZJ98bAEFL6VSzGBKKUDIlw4nnjmUY6jy/+3RTexBZqI8y86B/7Aajuw/eGN6oryfcDBzbdHwfWkDOll0ULYKibDDJ/KDsD9sd4maNrwKf1/8slaLXD9bK1mw+vKWVAuenfepMRavyQswbhD6ljc80lsS3FUMhrfntGB8usLgIlDpasYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KX7e7UfrxLmgPiBQyNTQvB",
      "input": {
        "note": "Avocado sits between the jaws at the bottom of the wrist view; closing the right gripper on it.",
        "targets": {
          "right_gripper": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01KX7e7UfrxLmgPiBQyNTQvB",
      "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]: [-0.1146, 1.0809, 0.9131, -0.8078, -0.1673, -0.0864, 0.9961, 0.9798, 2.2089, 1.5257, -0.4541, 0.5678, 0.5865, 0.5142]\nstate[eef_state]: left_x=0.2862 left_y=0.0003 left_z=0.1611 left_yaw=0.0822 left_pitch=-0.3921 left_roll=0.1082 left_gripper=0.9961 right_x=0.3529 right_y=0.3618 right_z=0.0173 right_yaw=0.1407 right_pitch=-0.316 right_roll=-0.1879 right_gripper=0.5142\nstate[joint_eff]: [-0.212, -2.9744, 6.5983, 1.3114, -0.1245, -0.0269, -0.0122, 0.0342, -14.0239, 5.9145, 0.906, 0.2906, -0.0366, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21fc4c4b0c59eef895e054b39810e14d1b8c8982947ed42f3e8dcf9f30e217a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23888ac19702b8c40319eb8906ceba92337b6214ba83076fbd7776f6ea2bd976",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0dbc7fc6550207b46ab9bec0b1047ee139b50abcf41d2cbb3ece5c65303e7a84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 6.618 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]: [-0.1146, 1.0809, 0.9131, -0.8051, -0.1677, -0.0868, 0.9961, 0.9817, 1.9636, 1.5681, -0.693, 0.5838, 0.5888, 0.9966]\nstate[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1614 left_yaw=0.0826 left_pitch=-0.3894 left_roll=0.1077 left_gripper=0.9961 right_x=0.3397 right_y=0.3396 right_z=0.1243 right_yaw=0.1424 right_pitch=-0.2725 right_roll=-0.1584 right_gripper=0.9966\nstate[joint_eff]: [-0.5675, -3.0701, 6.4615, 1.3797, -0.1978, -0.1099, -0.0122, 0.1983, -10.0034, 8.1162, 0.8913, 0.4908, 0.1929, -0.0122]",
      "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]: [-0.1146, 1.0809, 0.9131, -0.8078, -0.1669, -0.0864, 0.9961, 0.9798, 2.1857, 1.5257, -0.4625, 0.5713, 0.5907, 0.9965]\nstate[eef_state]: left_x=0.2862 left_y=0.0002 left_z=0.161 left_yaw=0.0819 left_pitch=-0.3922 left_roll=0.1078 left_gripper=0.9961 right_x=0.3535 right_y=0.3618 right_z=0.0279 right_yaw=0.1398 right_pitch=-0.3033 right_roll=-0.1756 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -2.7692, 6.5846, 1.2772, -0.0708, -0.0415, -0.0122, -0.1162, -11.412, 6.1744, 1.116, 0.3394, -0.1001, -0.0171]",
      "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]: [-0.1146, 1.0809, 0.9131, -0.8078, -0.1673, -0.0864, 0.9961, 0.9798, 2.2089, 1.5257, -0.4541, 0.5678, 0.5865, 0.5142]\nstate[eef_state]: left_x=0.2862 left_y=0.0003 left_z=0.1611 left_yaw=0.0822 left_pitch=-0.3921 left_roll=0.1082 left_gripper=0.9961 right_x=0.3529 right_y=0.3618 right_z=0.0173 right_yaw=0.1407 right_pitch=-0.316 right_roll=-0.1879 right_gripper=0.5142\nstate[joint_eff]: [-0.212, -2.9744, 6.5983, 1.3114, -0.1245, -0.0269, -0.0122, 0.0342, -14.0239, 5.9145, 0.906, 0.2906, -0.0366, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21fc4c4b0c59eef895e054b39810e14d1b8c8982947ed42f3e8dcf9f30e217a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23888ac19702b8c40319eb8906ceba92337b6214ba83076fbd7776f6ea2bd976",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dbc7fc6550207b46ab9bec0b1047ee139b50abcf41d2cbb3ece5c65303e7a84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1QIKjgEIEhgCKkBhEloAcp+oBPrf6KTXu9T5svwk42nLuFELeiofbkoZWAJj6m0R0EfRGHDae8btco9QR+zjWDOstD09RU9D5w3TMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZqDzNUGEgw2025u5W68q11B03saDEukLbwW844C91T5+SIwaSVveYi5pintfN3X3A2Osa4dECv3jZinulfv+uV0WQTq3zCdUS3wBTDnXe42vwECKnQFXmhBYEr2yItWMl+9Fl+d1cg8mnKZ0l9z0X9VMVWHssjFAXY0rYXQmNljx8Pxtfz268FKuC9LLPGEdyOI0XfhLwnxNfcMqqLlpAScBj7h+GtIp0+K+P6Fbz4js88Y/e+bfOLsO7sPXhaV08tYJcd3turRJxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U1nwTaCASJkAtfyxMbCiM8",
      "input": {
        "note": "Avocado grasped (gripper 0.51); lifting and carrying it back toward the blue bowl.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.2,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01U1nwTaCASJkAtfyxMbCiM8",
      "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]: [-0.1146, 1.0809, 0.9131, -0.8082, -0.1669, -0.0864, 0.9961, 0.6163, 1.7626, 1.515, -0.7845, 0.3882, 0.2436, 0.5155]\nstate[eef_state]: left_x=0.2861 left_y=0.0002 left_z=0.161 left_yaw=0.0819 left_pitch=-0.3925 left_roll=0.1079 left_gripper=0.9961 right_x=0.3976 right_y=0.2041 right_z=0.1689 right_yaw=0.122 right_pitch=-0.3671 right_roll=-0.2107 right_gripper=0.5155\nstate[joint_eff]: [-0.2393, -2.9744, 6.5983, 1.3114, -0.1343, -0.0562, -0.0122, -0.294, -12.1915, 9.0188, 1.3114, 0.2466, -0.0122, 0.8278]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:736950addeda19e02bb926841b9c6a4ba8713eb2fc925d45e952fa781413f06e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c16b2c82c89a8f2658eaa2bbd3c4355b5db3d5f9cd23572a5853bf8bb1c09d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f293dbcb5062fd27fced85709825be44d82c366526923844ee63eed9e1d1af88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 6.923 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]: [-0.1146, 1.0809, 0.9131, -0.8078, -0.1669, -0.0864, 0.9961, 0.9798, 2.1857, 1.5257, -0.4625, 0.5713, 0.5907, 0.9965]\nstate[eef_state]: left_x=0.2862 left_y=0.0002 left_z=0.161 left_yaw=0.0819 left_pitch=-0.3922 left_roll=0.1078 left_gripper=0.9961 right_x=0.3535 right_y=0.3618 right_z=0.0279 right_yaw=0.1398 right_pitch=-0.3033 right_roll=-0.1756 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -2.7692, 6.5846, 1.2772, -0.0708, -0.0415, -0.0122, -0.1162, -11.412, 6.1744, 1.116, 0.3394, -0.1001, -0.0171]",
      "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]: [-0.1146, 1.0809, 0.9131, -0.8078, -0.1673, -0.0864, 0.9961, 0.9798, 2.2089, 1.5257, -0.4541, 0.5678, 0.5865, 0.5142]\nstate[eef_state]: left_x=0.2862 left_y=0.0003 left_z=0.1611 left_yaw=0.0822 left_pitch=-0.3921 left_roll=0.1082 left_gripper=0.9961 right_x=0.3529 right_y=0.3618 right_z=0.0173 right_yaw=0.1407 right_pitch=-0.316 right_roll=-0.1879 right_gripper=0.5142\nstate[joint_eff]: [-0.212, -2.9744, 6.5983, 1.3114, -0.1245, -0.0269, -0.0122, 0.0342, -14.0239, 5.9145, 0.906, 0.2906, -0.0366, 1.0232]",
      "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]: [-0.1146, 1.0809, 0.9131, -0.8082, -0.1669, -0.0864, 0.9961, 0.6163, 1.7626, 1.515, -0.7845, 0.3882, 0.2436, 0.5155]\nstate[eef_state]: left_x=0.2861 left_y=0.0002 left_z=0.161 left_yaw=0.0819 left_pitch=-0.3925 left_roll=0.1079 left_gripper=0.9961 right_x=0.3976 right_y=0.2041 right_z=0.1689 right_yaw=0.122 right_pitch=-0.3671 right_roll=-0.2107 right_gripper=0.5155\nstate[joint_eff]: [-0.2393, -2.9744, 6.5983, 1.3114, -0.1343, -0.0562, -0.0122, -0.294, -12.1915, 9.0188, 1.3114, 0.2466, -0.0122, 0.8278]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:736950addeda19e02bb926841b9c6a4ba8713eb2fc925d45e952fa781413f06e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c16b2c82c89a8f2658eaa2bbd3c4355b5db3d5f9cd23572a5853bf8bb1c09d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f293dbcb5062fd27fced85709825be44d82c366526923844ee63eed9e1d1af88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISiwcKjgEIEhgCKkA4fOEKKhzzNjgpyQoCRGvqBFQCyY3kQlaN/p1BHd2yliItJz2KZsJziBp4QsWRLKmSXnu3tvuH7yXJUC2YRPIjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaKDzNUGEgzVXSpnU2S8oF5A6uoaDL4LdxX86eyN3Fnk6CIwseIIWlx5Aqu+IkIHtFoPOSi0FePcA6ayIw0G+cD8jGrxqnRB7ZE2A5//jMY8TWphKqkFfhQFRi1KyjJ8ywG85vosx7+1SP8yNh4ewZKmkEQBSkqFonbc48cu+WeLWa21tbQPA460JL2XRR8M5WYSeButet0js/co5RXgr6T8RLBwi282uViJ+TZyzB6iTGPPqf9AG/ZAJHbZGjrbsYLzkR064fWWuuElsFgWje9XiyH+hLaK+oNQCEE3BMck9tHsQx8LRcG2MdjX7NJcQDwCr7n3nsoJ+7lNXPhy4ufyHjyjcFrbzbgOVRmtH3Te2jHpiRnpggro9uOyWjD0S0nEtyWSbVO62dRs2/AFf4V3go167iA3ye784/UBR5fh3OOub+5CxHGDLjvzbM5sUs4sLRVLNzlQ3iUwFFL9z9BfNypSpqqlt5uEOvXmKt3iTVnXEiw1Ovc72IVV77/YNmHnAFlgI4rWBhoo0gz4F65u1FvpT1m5il+UR40weaPZoSqfIvv3vWyicSVRyQoVX54Sr2MYakIDPIL8joFiaXP2NAHSDhn0RvIa8+ejSn+y5hJmkUxAIi9b0/VgSkMsZFeuOeSv76pOuM2bSdsXJaUKyLl8CBfJdVfgr5UqtIph4YOyZHAa5m+hMLRPckzNIm4Rd1LWgS515pTV5K6CHu/Fmhgoqepstfvf3HTCkNeIPvsuHcI9xxfgLtQ2AdB1+kNpgiNcffEKDuBsxMn9WXIkdOzA3Y9XZP4D88KyMjzJ8c1czvMgioHknppZBE7tJzE1v6OuHuyE7dIcu3nBSHZxCVgsq0XEQWD8BRKz6bxdRm9BUb2m293NIFy82zlCzGv3Ie1gNZHuJU5skJze3CX8GSnPJ1wpYr1PAoQOqMKeNoLGBXOhViaCyeEsLn1vVwVcsiKkIStuiwozAMs9yAz8R3XE41xl5BxInEVg0rTJaSFxy8/+TuWnjVFwogAgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GAHieE7TAiJf18TSyTBtNU",
      "input": {
        "note": "The blue bowl with pear and lemon is visible ahead-right in the wrist view; moving the avocado above it for release.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.05,
          "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_01GAHieE7TAiJf18TSyTBtNU",
      "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]: [-0.1146, 1.0809, 0.9131, -0.8082, -0.1669, -0.0864, 0.9961, 0.1642, 1.7535, 1.2701, -0.4889, 0.1432, -0.1307, 0.5189]\nstate[eef_state]: left_x=0.2861 left_y=0.0002 left_z=0.161 left_yaw=0.0819 left_pitch=-0.3925 left_roll=0.1079 left_gripper=0.9961 right_x=0.4483 right_y=0.0524 right_z=0.1087 right_yaw=0.1043 right_pitch=-0.4074 right_roll=-0.213 right_gripper=0.5189\nstate[joint_eff]: [-0.2256, -2.906, 6.5846, 1.2625, -0.1197, -0.0366, -0.0122, -0.3624, -7.706, 6.612, 1.663, -0.0073, 0.022, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5610c8c80e7de5773487b900bbf3222cb7abbe7ab1b2db342854177cfec30582",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23a55b3a65864812718f08f66088b13769132be41a182baa310c5db98dc8b497",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:68568547691b34596d28a068d3efd6eecf27ffc33febf638bbb6b3645b57e8a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 5.493 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1146, 1.0809, 0.9131, -0.8078, -0.1673, -0.0864, 0.9961, 0.9798, 2.2089, 1.5257, -0.4541, 0.5678, 0.5865, 0.5142]\nstate[eef_state]: left_x=0.2862 left_y=0.0003 left_z=0.1611 left_yaw=0.0822 left_pitch=-0.3921 left_roll=0.1082 left_gripper=0.9961 right_x=0.3529 right_y=0.3618 right_z=0.0173 right_yaw=0.1407 right_pitch=-0.316 right_roll=-0.1879 right_gripper=0.5142\nstate[joint_eff]: [-0.212, -2.9744, 6.5983, 1.3114, -0.1245, -0.0269, -0.0122, 0.0342, -14.0239, 5.9145, 0.906, 0.2906, -0.0366, 1.0232]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1146, 1.0809, 0.9131, -0.8082, -0.1669, -0.0864, 0.9961, 0.6163, 1.7626, 1.515, -0.7845, 0.3882, 0.2436, 0.5155]\nstate[eef_state]: left_x=0.2861 left_y=0.0002 left_z=0.161 left_yaw=0.0819 left_pitch=-0.3925 left_roll=0.1079 left_gripper=0.9961 right_x=0.3976 right_y=0.2041 right_z=0.1689 right_yaw=0.122 right_pitch=-0.3671 right_roll=-0.2107 right_gripper=0.5155\nstate[joint_eff]: [-0.2393, -2.9744, 6.5983, 1.3114, -0.1343, -0.0562, -0.0122, -0.294, -12.1915, 9.0188, 1.3114, 0.2466, -0.0122, 0.8278]\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 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1146, 1.0809, 0.9131, -0.8082, -0.1669, -0.0864, 0.9961, 0.1642, 1.7535, 1.2701, -0.4889, 0.1432, -0.1307, 0.5189]\nstate[eef_state]: left_x=0.2861 left_y=0.0002 left_z=0.161 left_yaw=0.0819 left_pitch=-0.3925 left_roll=0.1079 left_gripper=0.9961 right_x=0.4483 right_y=0.0524 right_z=0.1087 right_yaw=0.1043 right_pitch=-0.4074 right_roll=-0.213 right_gripper=0.5189\nstate[joint_eff]: [-0.2256, -2.906, 6.5846, 1.2625, -0.1197, -0.0366, -0.0122, -0.3624, -7.706, 6.612, 1.663, -0.0073, 0.022, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5610c8c80e7de5773487b900bbf3222cb7abbe7ab1b2db342854177cfec30582",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23a55b3a65864812718f08f66088b13769132be41a182baa310c5db98dc8b497",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68568547691b34596d28a068d3efd6eecf27ffc33febf638bbb6b3645b57e8a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISlwcKjgEIEhgCKkCrFubtuMNzhuniYSAPEZl1JyA88WA568/21aoOwF8B9Ekk9fB2nBaAijy8e4wNLFQTOzXe6vVLYWQIw+TztUL8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaqDzNUGEgyhejWSDu/HEiadLGUaDO6I0iqftpLLMU+ixSIwqcz0UGQ6+wuHOmtHwQH0E5MgznNZKx9hvjrWMhi5qUrUEGXtj8CXa/pYqZ9BztXZKrUF8dR5XPlvg6VIO7pNDYYXRlzDRhYFrBORkm1SarxdCa8cdLqv1mvxIezhH7G0lbGDwBrpxHxojByKjGpvEAgoWJLR43I9XMtLxZEt1fQJBMRrbNpgq+hlXIh5PZ9W+o9UehyO0BMmINdK6slar0E1IWtBzop+Xf9AlGLaJM3d+paUckHygT+EPz73buRMBNa1tE5ihB7UPMOjEUNJ/izeeNzuKEw6fb2hflyOiBEA0HL48AzWCAVqbWatdt06/4Ojvs3oxBEKnA6ei0kgcPvFWTLO7kfEfIR1ZoZa3hAhehljScEvJUKNBVkqXAwuSeo/EV+uf6VUAeJBSv85tvtNaqqsTZplmyCU918wSAj/fy3c5b8HauGuZH05XZGgiLwDCZJXWGsNt0jM2IUatv0vO/b+/8elC2ATlRXbPlYut9V96IsCEBdLHvRmfuVZZs2cqks8R8rBNmuRdlGSaO5pRfSoWEL3Pg4cvFFgNh2fN3y2Cig12GwfW05ni5kK5pWc7DNUYfeo6zETutMQJcVIbNMbDro+4078ctCBvYld1t8mTsk9UJ2aYUXLbuUHj4bnT7WEFGS+q9cDo7qh7EuJUfoIaTHza4NexBmgYl+LZkb566LuYIgeW46PkfnqrJC5aEg8tFYL36kZlyrjgl+e/0a11+/1Ngu/IZVu4h2fYCcGW2QM+NmZS/bzWL/JlvegOTH7qTZiDdIsSUHL1Mrgknl//hUm5IDPLphuUbLRIKNMaX33FwXCxewZTdNfboxz8rd/S1a0ktJ8pvnDuqKrjnzASjUAmXe9+GmXc1hPIyIqpuOSqRN/3ZldwoKbeg0guGIiq7MxD2r+luUM/m151Z/1I2GhJr4jg/uHF5LSOP1n9ML5HRwXyQjXa1VpKaQzuN/+2vJ8oQIYgzxU+6l7hIMXq5dHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0138KuDa9B3fTNv9PTT9KN1v",
      "input": {
        "note": "Bowl centre sits a few cm left of the jaw column; centring over the bowl before releasing the avocado.",
        "targets": {
          "right_x": 0.465,
          "right_y": 0.085,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0138KuDa9B3fTNv9PTT9KN1v",
      "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]: [-0.1146, 1.0809, 0.9131, -0.8085, -0.1673, -0.0864, 0.9961, 0.2264, 1.8275, 1.3296, -0.4862, 0.1677, -0.1078, 0.5185]\nstate[eef_state]: left_x=0.2861 left_y=0.0003 left_z=0.1609 left_yaw=0.0823 left_pitch=-0.3928 left_roll=0.1083 left_gripper=0.9961 right_x=0.4601 right_y=0.0794 right_z=0.0998 right_yaw=0.1305 right_pitch=-0.415 right_roll=-0.222 right_gripper=0.5185\nstate[joint_eff]: [-0.2393, -2.9744, 6.9128, 1.2625, -0.1392, -0.0415, -0.0073, 0.1162, -8.7043, 8.1026, 1.1453, 0.2173, 0.1685, 0.735]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:811a1199da3e4619c81fa2e9626c6d84604dc4fc9de1f2d181f21e8e3a20b217",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b84b49b869955702b3d640cba0669f7f282bd86b7e9223d3d5753583a0a99ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b1d2ecbf8a0779e2219a84a0819ba093fdd8f887c867dd01795607be436d3bb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 2.784 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1146, 1.0809, 0.9131, -0.8082, -0.1669, -0.0864, 0.9961, 0.6163, 1.7626, 1.515, -0.7845, 0.3882, 0.2436, 0.5155]\nstate[eef_state]: left_x=0.2861 left_y=0.0002 left_z=0.161 left_yaw=0.0819 left_pitch=-0.3925 left_roll=0.1079 left_gripper=0.9961 right_x=0.3976 right_y=0.2041 right_z=0.1689 right_yaw=0.122 right_pitch=-0.3671 right_roll=-0.2107 right_gripper=0.5155\nstate[joint_eff]: [-0.2393, -2.9744, 6.5983, 1.3114, -0.1343, -0.0562, -0.0122, -0.294, -12.1915, 9.0188, 1.3114, 0.2466, -0.0122, 0.8278]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1146, 1.0809, 0.9131, -0.8082, -0.1669, -0.0864, 0.9961, 0.1642, 1.7535, 1.2701, -0.4889, 0.1432, -0.1307, 0.5189]\nstate[eef_state]: left_x=0.2861 left_y=0.0002 left_z=0.161 left_yaw=0.0819 left_pitch=-0.3925 left_roll=0.1079 left_gripper=0.9961 right_x=0.4483 right_y=0.0524 right_z=0.1087 right_yaw=0.1043 right_pitch=-0.4074 right_roll=-0.213 right_gripper=0.5189\nstate[joint_eff]: [-0.2256, -2.906, 6.5846, 1.2625, -0.1197, -0.0366, -0.0122, -0.3624, -7.706, 6.612, 1.663, -0.0073, 0.022, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1146, 1.0809, 0.9131, -0.8085, -0.1673, -0.0864, 0.9961, 0.2264, 1.8275, 1.3296, -0.4862, 0.1677, -0.1078, 0.5185]\nstate[eef_state]: left_x=0.2861 left_y=0.0003 left_z=0.1609 left_yaw=0.0823 left_pitch=-0.3928 left_roll=0.1083 left_gripper=0.9961 right_x=0.4601 right_y=0.0794 right_z=0.0998 right_yaw=0.1305 right_pitch=-0.415 right_roll=-0.222 right_gripper=0.5185\nstate[joint_eff]: [-0.2393, -2.9744, 6.9128, 1.2625, -0.1392, -0.0415, -0.0073, 0.1162, -8.7043, 8.1026, 1.1453, 0.2173, 0.1685, 0.735]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:811a1199da3e4619c81fa2e9626c6d84604dc4fc9de1f2d181f21e8e3a20b217",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b84b49b869955702b3d640cba0669f7f282bd86b7e9223d3d5753583a0a99ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1d2ecbf8a0779e2219a84a0819ba093fdd8f887c867dd01795607be436d3bb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvQUKjgEIEhgCKkA+zUMsx74l8n449zdo8fULBwyViG3GsJ/sgeHvdb5Gt5yZgR6oETChB3ssdhXMQnO1aAqcw4HJtKv2lhiLa03WMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbCDzNUGEgwBM2Eq2IrmLe/WtfAaDKIIyIj1pwb5CIYuaCIwxj81MdnGMpCnk1D2jOHh44TDFuvcY1mcwO/ouFF9FsFCdNOTrWgJJ+UzD2cSq1CnKtsDDNm24KA/jMDeK6nbcpsaCvR5Q+q4AUnfSMLKbUNQMRm+waVR6iH/FOcII/k1DKI+gMEv5FGcwss7ZngTmgzQ7lum/Bh44M67IR65UwYf3YHjFN4y1whksqVv/rFgDr5+UZxBFsP75e5SKiXyrLF1Y86hxVcfKYPbn5b0WgD4GjRVoTz9HlKUDrNTPObxxLdsWYvIsp2vodWeE67CULqLW7FBXNM3Rd3SnQogquSqT/bT9QE7LkTw+FCJtWXgu9+1d4X/4qBp8+qQ7OCtterrzkadAXx9yyvceldC/B5QV/+vJZkG5j6+DHEaPgdbAvMVj/boNb+opebLhywGKlQtwb84jG0p4GX1nbkuHtpZfNWLb7V8cHzCZGihupr9otFJV5LyWcFJ1FeBvzGtqsckOMwMyVnF5c2rqzSOWk/eM3BdDSiVeZL9dt2wAYcZ1fOyhaQiS1nt+7BCLOgcS9iEtf1CY6aMZXVr8JgKy8Dp0sn2zbqdSfGEL9JlsXiloZJ8laVVLutL6V1uHXT/w/cRFjo6NZf/5HJ3Chn7HVVl0oMLgfQ7OcOcMcCB8NwfnoV04J67nq8ooc7KlMsHQUM7rJESvjJUj2dAxI1ps464rXILyPdWb9pMRDspShgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XZ9iMWu332B8xjgiNRLfCi",
      "input": {
        "note": "Bowl still reads left of the jaws, so nudging 2 cm further left and slightly down before opening.",
        "targets": {
          "right_y": 0.105,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01XZ9iMWu332B8xjgiNRLfCi",
      "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]: [-0.1146, 1.0874, 0.9119, -0.8082, -0.1669, -0.0864, 0.9961, 0.2462, 1.8431, 1.3312, -0.4973, 0.1783, -0.0902, 0.5185]\nstate[eef_state]: left_x=0.2862 left_y=0.0002 left_z=0.1588 left_yaw=0.0825 left_pitch=-0.4 left_roll=0.1095 left_gripper=0.9961 right_x=0.4567 right_y=0.0862 right_z=0.0922 right_yaw=0.1292 right_pitch=-0.4371 right_roll=-0.2241 right_gripper=0.5185\nstate[joint_eff]: [-0.1299, -3.3436, 6.7214, 1.3211, -0.1148, -0.0073, -0.0122, 0.1162, -10.0034, 6.4752, 1.3895, 0.0708, -0.0171, 0.7155]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4d064ef8c22b36f5e9d74b2d04f3a3c07e33f8287281eba443aae3cc3b39a99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce94ade2d141e568d586cec55b1f522f20bd0ba5e13950e3745cf2b20bbb281d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bef072274b67253a1c8c0de200d6c6665a4eebcd3e1a9971f8795ecb36b7c686",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 4.618 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1146, 1.0809, 0.9131, -0.8082, -0.1669, -0.0864, 0.9961, 0.1642, 1.7535, 1.2701, -0.4889, 0.1432, -0.1307, 0.5189]\nstate[eef_state]: left_x=0.2861 left_y=0.0002 left_z=0.161 left_yaw=0.0819 left_pitch=-0.3925 left_roll=0.1079 left_gripper=0.9961 right_x=0.4483 right_y=0.0524 right_z=0.1087 right_yaw=0.1043 right_pitch=-0.4074 right_roll=-0.213 right_gripper=0.5189\nstate[joint_eff]: [-0.2256, -2.906, 6.5846, 1.2625, -0.1197, -0.0366, -0.0122, -0.3624, -7.706, 6.612, 1.663, -0.0073, 0.022, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1146, 1.0809, 0.9131, -0.8085, -0.1673, -0.0864, 0.9961, 0.2264, 1.8275, 1.3296, -0.4862, 0.1677, -0.1078, 0.5185]\nstate[eef_state]: left_x=0.2861 left_y=0.0003 left_z=0.1609 left_yaw=0.0823 left_pitch=-0.3928 left_roll=0.1083 left_gripper=0.9961 right_x=0.4601 right_y=0.0794 right_z=0.0998 right_yaw=0.1305 right_pitch=-0.415 right_roll=-0.222 right_gripper=0.5185\nstate[joint_eff]: [-0.2393, -2.9744, 6.9128, 1.2625, -0.1392, -0.0415, -0.0073, 0.1162, -8.7043, 8.1026, 1.1453, 0.2173, 0.1685, 0.735]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1146, 1.0874, 0.9119, -0.8082, -0.1669, -0.0864, 0.9961, 0.2462, 1.8431, 1.3312, -0.4973, 0.1783, -0.0902, 0.5185]\nstate[eef_state]: left_x=0.2862 left_y=0.0002 left_z=0.1588 left_yaw=0.0825 left_pitch=-0.4 left_roll=0.1095 left_gripper=0.9961 right_x=0.4567 right_y=0.0862 right_z=0.0922 right_yaw=0.1292 right_pitch=-0.4371 right_roll=-0.2241 right_gripper=0.5185\nstate[joint_eff]: [-0.1299, -3.3436, 6.7214, 1.3211, -0.1148, -0.0073, -0.0122, 0.1162, -10.0034, 6.4752, 1.3895, 0.0708, -0.0171, 0.7155]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4d064ef8c22b36f5e9d74b2d04f3a3c07e33f8287281eba443aae3cc3b39a99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce94ade2d141e568d586cec55b1f522f20bd0ba5e13950e3745cf2b20bbb281d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bef072274b67253a1c8c0de200d6c6665a4eebcd3e1a9971f8795ecb36b7c686",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6QIKjgEIEhgCKkDOywc5EXdRJGUZ6N4JyyYxsGB1fDdsfnU5QHYBC6bN8aRStkFE/drNaHZu4vj/053ZUGyHVv2supSMm6F9gu7qMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbODzNUGEgwB/wE2SGJYT3rP/oIaDHY8+rGMvOdWj/svRCIwL2iOmNqazMD8Ctl16wFkF4MRDI5tqYC1eO+mos0uO8XWaavIY45EVeasrQgBZM1dKocBDSEaRWDhWSjjM6JZNihVr8XOjXYaOB7Xzs4qe+g7n/Wh4MGh2TxSzF75pd05gbbZDjtskM98Pamq9sQchFP/NOrMR7zfBYSWP/aYgKfkiiq2Mxt7BMjRFyRMlVrcGFBPMO0xVpNaJ4j2ELJ5kKeojx6vhWoFE/wXAbOpvmhhMEeCJQMid5azGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Eh2dMNjTBJ56upZ89GV5bs",
      "input": {
        "note": "The bowl with pear and lemon is directly under the jaws; opening to drop the avocado in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Eh2dMNjTBJ56upZ89GV5bs",
      "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]: [-0.1146, 1.0874, 0.9119, -0.8082, -0.1669, -0.0864, 0.9961, 0.247, 1.8431, 1.3312, -0.4938, 0.1787, -0.0971, 0.9957]\nstate[eef_state]: left_x=0.2862 left_y=0.0002 left_z=0.1588 left_yaw=0.0825 left_pitch=-0.4 left_roll=0.1095 left_gripper=0.9961 right_x=0.4573 right_y=0.0866 right_z=0.0927 right_yaw=0.1337 right_pitch=-0.4344 right_roll=-0.2281 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -3.0291, 6.5709, 1.2723, -0.0952, -0.0659, -0.0122, -0.0615, -10.0308, 6.4615, 1.3651, 0.0757, 0.0415, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abd3d88057abebc9831c4f6db36e54ec37e4f527acac818a18cfb763fc934db7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f818ee05252a1a6b374418c58e6f989dbed8916cb458600da15d71002bd4d97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ff8abcd4adb52d34a63937037d60163e34217145d242f90d268feac455cd751",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 30.2 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1146, 1.0809, 0.9131, -0.8085, -0.1673, -0.0864, 0.9961, 0.2264, 1.8275, 1.3296, -0.4862, 0.1677, -0.1078, 0.5185]\nstate[eef_state]: left_x=0.2861 left_y=0.0003 left_z=0.1609 left_yaw=0.0823 left_pitch=-0.3928 left_roll=0.1083 left_gripper=0.9961 right_x=0.4601 right_y=0.0794 right_z=0.0998 right_yaw=0.1305 right_pitch=-0.415 right_roll=-0.222 right_gripper=0.5185\nstate[joint_eff]: [-0.2393, -2.9744, 6.9128, 1.2625, -0.1392, -0.0415, -0.0073, 0.1162, -8.7043, 8.1026, 1.1453, 0.2173, 0.1685, 0.735]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1146, 1.0874, 0.9119, -0.8082, -0.1669, -0.0864, 0.9961, 0.2462, 1.8431, 1.3312, -0.4973, 0.1783, -0.0902, 0.5185]\nstate[eef_state]: left_x=0.2862 left_y=0.0002 left_z=0.1588 left_yaw=0.0825 left_pitch=-0.4 left_roll=0.1095 left_gripper=0.9961 right_x=0.4567 right_y=0.0862 right_z=0.0922 right_yaw=0.1292 right_pitch=-0.4371 right_roll=-0.2241 right_gripper=0.5185\nstate[joint_eff]: [-0.1299, -3.3436, 6.7214, 1.3211, -0.1148, -0.0073, -0.0122, 0.1162, -10.0034, 6.4752, 1.3895, 0.0708, -0.0171, 0.7155]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1146, 1.0874, 0.9119, -0.8082, -0.1669, -0.0864, 0.9961, 0.247, 1.8431, 1.3312, -0.4938, 0.1787, -0.0971, 0.9957]\nstate[eef_state]: left_x=0.2862 left_y=0.0002 left_z=0.1588 left_yaw=0.0825 left_pitch=-0.4 left_roll=0.1095 left_gripper=0.9961 right_x=0.4573 right_y=0.0866 right_z=0.0927 right_yaw=0.1337 right_pitch=-0.4344 right_roll=-0.2281 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -3.0291, 6.5709, 1.2723, -0.0952, -0.0659, -0.0122, -0.0615, -10.0308, 6.4615, 1.3651, 0.0757, 0.0415, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abd3d88057abebc9831c4f6db36e54ec37e4f527acac818a18cfb763fc934db7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f818ee05252a1a6b374418c58e6f989dbed8916cb458600da15d71002bd4d97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ff8abcd4adb52d34a63937037d60163e34217145d242f90d268feac455cd751",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrgQKjgEIEhgCKkBVE2UatNxzx6vpX8oRpQQsxv3BatpByKC+Vy/fByxI3j2VGE3t16k+FB0Mj9ScKNiNHlhIqswqURHvu5ZU9G5uMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbiDzNUGEgyokwIbG7FHROqYz7oaDAQ4KD+Z2BkYSZUlgSIwYmqREtYQmuyWQPoCAjOvCDlYmgujNvzjyb0FwT/PnNkKbDRLR66xKiZ8dhSAiizWKswCnSEJGssI6NJwk9Wi+ASWZC7pL7EySps6Dg1qidzlPj/rL7iKiDvrueYjdf5mbiJFNxUfRtAyRlr6xkSE6LyR+0vC9r/vKHLlBYh9K1pSE6/Cpfv8nLgVMorRdbOZAGdj/xyIiHUAjr/N5wox719BwVe0bsXHCWWIZnGNYEP4LCvl25qBVC6rnR2wz4UPNdmVrVt+dbvV0Rs5dD08eOQoWAWsDLQUNUc3aoJg/Vw40buj+aHmrkCkpFZPXMpDru43Qgh4hjTpNhoT+lRjKt9A7ko3pnSx4CJwCGYRqrcXVrMKOtu7clJdRCrUDCp7M5Rh7p9EEVuNTfAMYOtFGaafomxmidtB6PkD61YwIBb4NGhSFkltQqPyzQUpAEOkU+fYFI3qdANBcmTDNUXo8VOtALNfy3RQzbwevcOLPrsUlHZmq5O7Z3gpA5NLMRUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HEdhrFBMD7meXtQY8utwH7",
      "input": {
        "note": "Released the avocado; retracting the right arm to check from overhead whether all three fruits are in the blue bowl.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01HEdhrFBMD7meXtQY8utwH7",
      "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]: [-0.1143, 1.092, 0.9123, -0.8082, -0.1669, -0.0864, 0.9961, 0.0277, 1.3731, 1.393, -1.026, 0.0761, -0.2649, 0.9965]\nstate[eef_state]: left_x=0.2865 left_y=0.0003 left_z=0.1578 left_yaw=0.0833 left_pitch=-0.4041 left_roll=0.1104 left_gripper=0.9961 right_x=0.3438 right_y=-0.0003 right_z=0.2278 right_yaw=0.1084 right_pitch=-0.4561 right_roll=-0.2315 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -3.3026, 6.8855, 1.2576, -0.1392, -0.0464, -0.0122, -0.212, -7.5145, 9.2239, 1.2821, -0.0611, 0.0024, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c10e883272d1a8d51de06a4a6ae93bf85efc26bbc2a51b169d7a826e7a19338a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de34a652ff16492e5f6892bfc2aa8ce875960ee9fddc6cfa5615aee32105eebf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2df555c78dff4f7b7927e7acaf0319e8ec49e0b96a7e1922daf93f2c511678a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /messages · status 200 · 10.99 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1146, 1.0874, 0.9119, -0.8082, -0.1669, -0.0864, 0.9961, 0.2462, 1.8431, 1.3312, -0.4973, 0.1783, -0.0902, 0.5185]\nstate[eef_state]: left_x=0.2862 left_y=0.0002 left_z=0.1588 left_yaw=0.0825 left_pitch=-0.4 left_roll=0.1095 left_gripper=0.9961 right_x=0.4567 right_y=0.0862 right_z=0.0922 right_yaw=0.1292 right_pitch=-0.4371 right_roll=-0.2241 right_gripper=0.5185\nstate[joint_eff]: [-0.1299, -3.3436, 6.7214, 1.3211, -0.1148, -0.0073, -0.0122, 0.1162, -10.0034, 6.4752, 1.3895, 0.0708, -0.0171, 0.7155]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1146, 1.0874, 0.9119, -0.8082, -0.1669, -0.0864, 0.9961, 0.247, 1.8431, 1.3312, -0.4938, 0.1787, -0.0971, 0.9957]\nstate[eef_state]: left_x=0.2862 left_y=0.0002 left_z=0.1588 left_yaw=0.0825 left_pitch=-0.4 left_roll=0.1095 left_gripper=0.9961 right_x=0.4573 right_y=0.0866 right_z=0.0927 right_yaw=0.1337 right_pitch=-0.4344 right_roll=-0.2281 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -3.0291, 6.5709, 1.2723, -0.0952, -0.0659, -0.0122, -0.0615, -10.0308, 6.4615, 1.3651, 0.0757, 0.0415, -0.1636]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1143, 1.092, 0.9123, -0.8082, -0.1669, -0.0864, 0.9961, 0.0277, 1.3731, 1.393, -1.026, 0.0761, -0.2649, 0.9965]\nstate[eef_state]: left_x=0.2865 left_y=0.0003 left_z=0.1578 left_yaw=0.0833 left_pitch=-0.4041 left_roll=0.1104 left_gripper=0.9961 right_x=0.3438 right_y=-0.0003 right_z=0.2278 right_yaw=0.1084 right_pitch=-0.4561 right_roll=-0.2315 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -3.3026, 6.8855, 1.2576, -0.1392, -0.0464, -0.0122, -0.212, -7.5145, 9.2239, 1.2821, -0.0611, 0.0024, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c10e883272d1a8d51de06a4a6ae93bf85efc26bbc2a51b169d7a826e7a19338a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de34a652ff16492e5f6892bfc2aa8ce875960ee9fddc6cfa5615aee32105eebf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2df555c78dff4f7b7927e7acaf0319e8ec49e0b96a7e1922daf93f2c511678a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018C545D1MaxpvnRPGXDWBzx",
      "input": {
        "note": "All three fruits are in the blue bowl. Now I'll grip the bowl's near-right rim: moving above that rim point first.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.465,
          "right_y": 0.02,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018C545D1MaxpvnRPGXDWBzx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1143, 1.0939, 0.9119, -0.8097, -0.1669, -0.0864, 0.9961, 0.0704, 1.8214, 1.3041, -0.5793, 0.083, -0.2588, 0.9987]\nstate[eef_state]: left_x=0.2862 left_y=0.0003 left_z=0.1569 left_yaw=0.0836 left_pitch=-0.4079 left_roll=0.1112 left_gripper=0.9961 right_x=0.4401 right_y=0.0199 right_z=0.0799 right_yaw=0.1447 right_pitch=-0.546 right_roll=-0.2269 right_gripper=0.9987\nstate[joint_eff]: [-0.0068, -3.1795, 6.653, 1.2723, -0.1099, -0.0366, -0.0122, 0.1573, -9.306, 8.9231, 1.3895, 0.1343, 0.2222, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a5d129704d478531b07356aa635f2716c25dc0ff8fe3183d3238987bf52a7e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab240a56b3446f107fe957b3f110ba006a544603c84f2d329df35739ff9bba14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff8ac642771864588b13cfcbfd3c056f84476bb2b14a3730f6e9b8a2601ec49f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /messages · status 200 · 9.106 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1146, 1.0874, 0.9119, -0.8082, -0.1669, -0.0864, 0.9961, 0.247, 1.8431, 1.3312, -0.4938, 0.1787, -0.0971, 0.9957]\nstate[eef_state]: left_x=0.2862 left_y=0.0002 left_z=0.1588 left_yaw=0.0825 left_pitch=-0.4 left_roll=0.1095 left_gripper=0.9961 right_x=0.4573 right_y=0.0866 right_z=0.0927 right_yaw=0.1337 right_pitch=-0.4344 right_roll=-0.2281 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -3.0291, 6.5709, 1.2723, -0.0952, -0.0659, -0.0122, -0.0615, -10.0308, 6.4615, 1.3651, 0.0757, 0.0415, -0.1636]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1143, 1.092, 0.9123, -0.8082, -0.1669, -0.0864, 0.9961, 0.0277, 1.3731, 1.393, -1.026, 0.0761, -0.2649, 0.9965]\nstate[eef_state]: left_x=0.2865 left_y=0.0003 left_z=0.1578 left_yaw=0.0833 left_pitch=-0.4041 left_roll=0.1104 left_gripper=0.9961 right_x=0.3438 right_y=-0.0003 right_z=0.2278 right_yaw=0.1084 right_pitch=-0.4561 right_roll=-0.2315 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -3.3026, 6.8855, 1.2576, -0.1392, -0.0464, -0.0122, -0.212, -7.5145, 9.2239, 1.2821, -0.0611, 0.0024, 0.0659]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1143, 1.0939, 0.9119, -0.8097, -0.1669, -0.0864, 0.9961, 0.0704, 1.8214, 1.3041, -0.5793, 0.083, -0.2588, 0.9987]\nstate[eef_state]: left_x=0.2862 left_y=0.0003 left_z=0.1569 left_yaw=0.0836 left_pitch=-0.4079 left_roll=0.1112 left_gripper=0.9961 right_x=0.4401 right_y=0.0199 right_z=0.0799 right_yaw=0.1447 right_pitch=-0.546 right_roll=-0.2269 right_gripper=0.9987\nstate[joint_eff]: [-0.0068, -3.1795, 6.653, 1.2723, -0.1099, -0.0366, -0.0122, 0.1573, -9.306, 8.9231, 1.3895, 0.1343, 0.2222, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a5d129704d478531b07356aa635f2716c25dc0ff8fe3183d3238987bf52a7e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab240a56b3446f107fe957b3f110ba006a544603c84f2d329df35739ff9bba14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff8ac642771864588b13cfcbfd3c056f84476bb2b14a3730f6e9b8a2601ec49f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TigMU7yjHj9giQp5yrAKu2",
      "input": {
        "note": "The blue bowl's right rim sits up-and-left of the jaws; moving over that rim with the tool vertical so the jaws straddle the rim wall.",
        "targets": {
          "right_pitch": 0,
          "right_x": 0.48,
          "right_y": 0.05,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01TigMU7yjHj9giQp5yrAKu2",
      "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]: [-0.1139, 1.0996, 0.9112, -0.812, -0.1669, -0.0864, 0.9961, 0.131, 1.866, 0.8368, 0.4015, 0.1001, -0.2169, 0.9986]\nstate[eef_state]: left_x=0.2859 left_y=0.0005 left_z=0.1548 left_yaw=0.0847 left_pitch=-0.4165 left_roll=0.1131 left_gripper=0.9961 right_x=0.4714 right_y=0.0479 right_z=0.0413 right_yaw=0.1581 right_pitch=-0.0733 right_roll=-0.2369 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -3.5624, 6.8581, 1.2381, -0.1197, -0.0415, -0.0122, 0.6085, -7.9795, 5.135, 2.0977, 0.1197, 0.1636, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d33afc7ff43d59f1b6c80916a66812ad96e2447a7bf458abeb4657f89bfd735",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01abfab74b8cb82c4422cfe207b365772049661f48d9b67b105a062c0b43b55a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c3fa4a3164d9cb9bc940204b12ba7de8bf5a901e1a4eb215fb59d3b3a6fdabd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /messages · status 200 · 5.087 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1143, 1.092, 0.9123, -0.8082, -0.1669, -0.0864, 0.9961, 0.0277, 1.3731, 1.393, -1.026, 0.0761, -0.2649, 0.9965]\nstate[eef_state]: left_x=0.2865 left_y=0.0003 left_z=0.1578 left_yaw=0.0833 left_pitch=-0.4041 left_roll=0.1104 left_gripper=0.9961 right_x=0.3438 right_y=-0.0003 right_z=0.2278 right_yaw=0.1084 right_pitch=-0.4561 right_roll=-0.2315 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -3.3026, 6.8855, 1.2576, -0.1392, -0.0464, -0.0122, -0.212, -7.5145, 9.2239, 1.2821, -0.0611, 0.0024, 0.0659]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1143, 1.0939, 0.9119, -0.8097, -0.1669, -0.0864, 0.9961, 0.0704, 1.8214, 1.3041, -0.5793, 0.083, -0.2588, 0.9987]\nstate[eef_state]: left_x=0.2862 left_y=0.0003 left_z=0.1569 left_yaw=0.0836 left_pitch=-0.4079 left_roll=0.1112 left_gripper=0.9961 right_x=0.4401 right_y=0.0199 right_z=0.0799 right_yaw=0.1447 right_pitch=-0.546 right_roll=-0.2269 right_gripper=0.9987\nstate[joint_eff]: [-0.0068, -3.1795, 6.653, 1.2723, -0.1099, -0.0366, -0.0122, 0.1573, -9.306, 8.9231, 1.3895, 0.1343, 0.2222, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1139, 1.0996, 0.9112, -0.812, -0.1669, -0.0864, 0.9961, 0.131, 1.866, 0.8368, 0.4015, 0.1001, -0.2169, 0.9986]\nstate[eef_state]: left_x=0.2859 left_y=0.0005 left_z=0.1548 left_yaw=0.0847 left_pitch=-0.4165 left_roll=0.1131 left_gripper=0.9961 right_x=0.4714 right_y=0.0479 right_z=0.0413 right_yaw=0.1581 right_pitch=-0.0733 right_roll=-0.2369 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -3.5624, 6.8581, 1.2381, -0.1197, -0.0415, -0.0122, 0.6085, -7.9795, 5.135, 2.0977, 0.1197, 0.1636, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d33afc7ff43d59f1b6c80916a66812ad96e2447a7bf458abeb4657f89bfd735",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01abfab74b8cb82c4422cfe207b365772049661f48d9b67b105a062c0b43b55a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c3fa4a3164d9cb9bc940204b12ba7de8bf5a901e1a4eb215fb59d3b3a6fdabd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISrggKjgEIEhgCKkBELDB9j1+aK4P/G0EmRL2IJ+zt3ebgLEhTGo1BiXLb8UMZB0FdnTECaetaUAjIyrwu00T5O07+2meyyH1KpXigMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe6DzNUGEgyp0nzS69IMExu+EQsaDOzM42jkg2JNehCU0CIwG+XDAy5Xc2Wu4NUWLcVi6vs6Ko8AB+hPnFJU2q7CcFsQBhKgTmmYYAsQ30lN+B10KswGphKuz/I9mO1kclhd8RiSOaN6b6i1TzA4KbIfyAQU54hRHWKjPR+M2uQfk0AFZDZWgHtiuSjcTdaa041c5p2+Y/DOhj7iym/ep1tC4kFr7ezM0Z/vKyW4rTWykxW9xy2GUK7z6L+cjDUQErNpZFA+TPdMx/KT7U4go1z7CYodRejiM0ang4BbB9fulrKQvi8rZyfL4uoLaNYBUM2mureeoH42QB1Hynd5OePsHytg8s7mhhHfhJ7WoiCzlbyU2UJW3ufPKvShAd74Bjux83YXhoPxiy/UptltXSG4B5UT5L9l1YGQ/mQ2nxLk18H2GgPd6Az2ibXmYnIfsHVrGo77Ooic7cNiE8HBOXCMqjKyu5LDjW7Ub5/QBU8Q0IN/3v/s8YawyLOzXoj1n38pxHcvLhrjt67fsPrwgVl/3WVyyLjE1lx4cMvQAeqa/VDpQjFKA7XbaVCyHrRawTpYBdjE/5wwPz6yGA/+fSA4ACwTI/oerVTTEyakT/XK4qXkBmiQXbXTMDlmvxuSNM/hmXhWB4hUtOXQDkd1CkqrIcqCW3KuoPy6ddA4HSyQNnEOi2UPLLmLufpnKe4ik1ie+dgqKW+7l62R/EbEOG0hUJVQ3f5XOfZ7J+XXaxwqzko3oB3nXQmlf2DauZG6ScMpwP6CKbg0djeHXn0oxju7SKmkZ4UPMV6JEjZwsvXuj3TdGCF3KYFf7pQUkhLTHqIURKzrojKAy42tXrtE1WeIconzjyN/zjXTz+U5v3kyYVphK/8DUO41zJqP7TcSbxjLIrC61Rqh9OMZ6OT4T1BrjoNea9WMY4+KwF1RqloWVMx6AGt9o9PJWtkpXOm40geiCGkYi6WOBvEN/tvfBjbQgK/rFGVYyhCoAAP3yoSzAWGHZv2/wjO1OqOuiWfDStIQHA8dpfZA6qVIRLU6Db3meVGx+wb4SG7ALSgJHFDMYb2j+HmNboVc6jnwV3uUoyrh99QO4oCyZmh/w73VEhDHUM7E6jtY5lMS9BCCTUW0Og6nA0Fe+iy2wbkhB+eZVxC1A1c5x9r0Z6jbdnnd991pFHGzBnZW26PsAVYXZnMhrY/efn/Hvgr8fhmXtqKp6MwhLB1CrMHipWFRVnakKJrEmhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HN6MiVpcz1u8EUFLqgeQTS",
      "input": {
        "note": "The bowl rim is still ~6 cm to the arm's left of the jaw centre; shifting left so the jaws straddle the rim before closing.",
        "targets": {
          "right_y": 0.1,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01HN6MiVpcz1u8EUFLqgeQTS",
      "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]: [-0.1135, 1.0996, 0.9112, -0.812, -0.1669, -0.0864, 0.9961, 0.2745, 1.8801, 0.8665, 0.3599, 0.1883, -0.1596, 0.9986]\nstate[eef_state]: left_x=0.2859 left_y=0.0006 left_z=0.1548 left_yaw=0.0851 left_pitch=-0.4165 left_roll=0.1131 left_gripper=0.9961 right_x=0.4646 right_y=0.1002 right_z=0.0393 right_yaw=0.1964 right_pitch=-0.0908 right_roll=-0.2447 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -3.0974, 6.735, 1.2332, -0.1294, -0.0611, -0.0122, -0.0889, -7.7744, 7.8974, 1.6532, 0.188, 0.1343, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce2f1858d5e0101b3da9e22e983550d3df0ba5df156aacd51d9fc88eecf49df1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c258502b425de9b9dd75a1c96ab7e7247e4f7c5753f8a8ed76e6584244a23886",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a3fecd6e8850da65cc5c13a546e0aac023c4fa96cded954c7e000610649be0d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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