adhoc

completed
2026-09-22T19:00:29.294884+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-5-5
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
281.7 s
total steps
298
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: white bowl at back-left, blue bowl center-right, lemon and pear on the right, a dark fruit at front-left. Moving right arm above the pear, which sits nearly straight ahead of its gripper.
move_to
right_x0.3500right_y0.0000right_z0.1400right_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, 0.8005, 0.6132, -0.3828, -0.0139, -0.0299, 0.9988, -0.0227, 0.7994, 0.6186, -0.387, -0.017, -0.0124, 0.9994] state[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1818 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.296 right_y=-0.0001 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.4034, -1.7846, 9.6342, 1.7802, -0.1197, 0.149, -0.1343, -0.4444, -1.7162, 9.1556, 1.8339, -0.0952, -0.0562, -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": 0.35, "right_y": 0.0, "right_z": 0.14, "right_gripper": 1}, "note": "Scene: white bowl at back-left, blue bowl center-right, lemon and pear on the right, a dark fruit at front-left. Moving right arm above the pear, which sits nearly straight ahead of its gripper."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent notePear is now at the bottom of the right wrist view, just about under the jaws. Descending around it to grasp at mid-height.
move_to
right_x0.3600right_y0.0100right_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, 0.804, 0.6132, -0.3943, -0.0139, -0.0311, 0.9988, -0.017, 1.111, 0.5625, -0.0563, -0.0166, -0.012, 0.9994] state[eef_state]: left_x=0.2946 left_y=0.0001 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0007 left_gripper=0.9988 right_x=0.3463 right_y=0.0006 right_z=0.1319 right_yaw=0.0052 right_pitch=-0.037 right_roll=0.0009 right_gripper=0.9994 state[joint_eff]: [-0.335, -1.5658, 7.2547, 1.8535, -0.0659, -0.0659, -0.022, -0.2803, -3.9316, 6.7624, 2.0293, -0.0073, -0.0024, -0.0708] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.01, "right_z": 0.03}, "note": "Pear is now at the bottom of the right wrist view, just about under the jaws. Descending around it to grasp at mid-height."})
tool
executing move_to over 7 steps (0.7s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
Pear between jaws. Close.
agent notePear fills the view between the jaws; closing the gripper.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.807, 0.6132, -0.4053, -0.0135, -0.0307, 0.9988, 0.028, 1.5414, 0.345, 0.5571, 0.0059, -0.0082, 0.9994] state[eef_state]: left_x=0.2933 left_y=0.0001 left_z=0.1754 left_yaw=0.0001 left_pitch=-0.029 left_roll=-0.0003 left_gripper=0.9988 right_x=0.3556 right_y=0.0125 right_z=0.0228 right_yaw=0.0292 right_pitch=-0.0715 right_roll=-0.0087 right_gripper=0.9994 state[joint_eff]: [-0.1573, -1.5521, 7.159, 1.8437, -0.0366, -0.0171, -0.0122, -0.3761, -5.2991, 4.6291, 1.9658, 0.0904, 0.1441, -0.0171] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
Pear between jaws. Close.
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear fills the view between the jaws; closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteGripper settled at 0.74 (≈7 cm) so the pear is held. Lifting it clear before carrying to the blue bowl.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.807, 0.6132, -0.4088, -0.0139, -0.0307, 0.9988, 0.028, 1.5414, 0.345, 0.5556, 0.0029, -0.0093, 0.7402] state[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.1747 left_yaw=0.0004 left_pitch=-0.0324 left_roll=0.0 left_gripper=0.9988 right_x=0.3554 right_y=0.013 right_z=0.0225 right_yaw=0.0324 right_pitch=-0.073 right_roll=-0.0078 right_gripper=0.7402 state[joint_eff]: [-0.1846, -1.306, 7.0359, 1.79, -0.0464, -0.0122, -0.0171, -0.0615, -4.6701, 4.9573, 1.663, 0.0073, -0.0415, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18}, "note": "Gripper settled at 0.74 (\u22487 cm) so the pear is held. Lifting it clear before carrying to the blue bowl."})
tool
executing move_to over 11 steps (1.1s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent notePear is lifted with the jaws. Carrying it over the blue bowl, which is ahead-left of the right arm.
move_to
right_x0.4400right_y0.1200right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4232, -0.0135, -0.0311, 0.9988, 0.0292, 1.1442, 0.7654, -0.326, 0.0021, -0.0124, 0.7451] state[eef_state]: left_x=0.2911 left_y=0.0002 left_z=0.1703 left_yaw=0.0003 left_pitch=-0.0523 left_roll=-0.0001 left_gripper=0.9988 right_x=0.3484 right_y=0.0134 right_z=0.1578 right_yaw=0.0359 right_pitch=-0.1371 right_roll=-0.0093 right_gripper=0.7451 state[joint_eff]: [-0.2803, -1.7709, 7.1043, 1.8144, -0.0513, -0.0366, -0.0171, -0.3761, -5.1624, 9.5248, 1.873, -0.0317, -0.0415, 1.033] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.12, "right_z": 0.18}, "note": "Pear is lifted with the jaws. Carrying it over the blue bowl, which is ahead-left of the right arm."})
tool
executing move_to over 9 steps (0.9s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent notePear is over the blue bowl (bowl directly ahead in the wrist view, overlapping in the top view). Lowering it into the bowl before releasing.
move_to
right_x0.4300right_y0.1200right_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]: [-0.02, 0.8135, 0.6132, -0.4263, -0.0135, -0.0311, 0.9988, 0.3416, 1.57, 1.1519, -0.3988, 0.2188, 0.1692, 0.7494] state[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1694 left_yaw=0.0003 left_pitch=-0.0565 left_roll=-0.0 left_gripper=0.9988 right_x=0.4207 right_y=0.1127 right_z=0.1547 right_yaw=0.0613 right_pitch=-0.2249 right_roll=-0.0401 right_gripper=0.7494 state[joint_eff]: [-0.2393, -1.4291, 6.9949, 1.707, -0.0415, -0.0708, -0.0171, 0.7863, -6.9402, 9.8393, 1.8926, 0.2759, 0.1929, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.12, "right_z": 0.09}, "note": "Pear is over the blue bowl (bowl directly ahead in the wrist view, overlapping in the top view). Lowering it into the bowl before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteWrist view shows the bowl just beyond the pear, so the pear is over the near rim. Advancing a few cm so it hangs over the bowl centre.
move_to
right_x0.4700right_y0.1150right_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]: [-0.02, 0.8135, 0.6132, -0.4313, -0.0139, -0.0315, 0.9988, 0.3496, 1.6897, 1.0153, -0.2398, 0.2237, 0.173, 0.7494] state[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1684 left_yaw=0.0009 left_pitch=-0.0614 left_roll=-0.0 left_gripper=0.9988 right_x=0.4144 right_y=0.1132 right_z=0.0762 right_yaw=0.0553 right_pitch=-0.317 right_roll=-0.0698 right_gripper=0.7494 state[joint_eff]: [-0.1299, -1.3333, 7.3368, 1.7265, -0.0611, -0.0415, -0.0122, 0.1299, -8.7043, 6.4068, 1.9316, 0.1001, 0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.115, "right_z": 0.09}, "note": "Wrist view shows the bowl just beyond the pear, so the pear is over the near rim. Advancing a few cm so it hangs over the bowl centre."})
tool
executing move_to over 5 steps (0.5s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
Pear appears over bowl now. Release.
agent notePear is now over the blue bowl interior. Opening to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.815, 0.6132, -0.4347, -0.0139, -0.0311, 0.9988, 0.3096, 1.8549, 1.2308, -0.3367, 0.1963, 0.1375, 0.7494] state[eef_state]: left_x=0.2896 left_y=0.0002 left_z=0.1673 left_yaw=0.0007 left_pitch=-0.0664 left_roll=0.0004 left_gripper=0.9988 right_x=0.4545 right_y=0.113 right_z=0.0716 right_yaw=0.0548 right_pitch=-0.3693 right_roll=-0.0837 right_gripper=0.7494 state[joint_eff]: [-0.1573, -1.4701, 6.9949, 1.6825, -0.0317, -0.022, -0.0122, -0.6085, -10.0991, 8.5812, 1.4237, 0.105, -0.0659, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
Pear appears over bowl now. Release.
move_to({"targets": {"right_gripper": 1.0}, "note": "Pear is now over the blue bowl interior. Opening to drop it in."})
tool
executing move_to over 3 steps (0.3s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent notePear dropped into the blue bowl. Now moving the right arm above the lemon, which lies left of and nearer than the bowl.
move_to
right_x0.3700right_y0.1800right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4397, -0.0135, -0.0334, 0.9988, 0.3077, 1.8629, 1.2385, -0.3492, 0.1864, 0.131, 0.9959] state[eef_state]: left_x=0.2889 left_y=0.0002 left_z=0.1662 left_yaw=0.0016 left_pitch=-0.0717 left_roll=-0.0015 left_gripper=0.9988 right_x=0.4538 right_y=0.1136 right_z=0.0689 right_yaw=0.0641 right_pitch=-0.3842 right_roll=-0.0827 right_gripper=0.9959 state[joint_eff]: [-0.212, -1.2103, 7.1453, 1.707, -0.0366, -0.0171, -0.0122, 0.0205, -10.1402, 5.7778, 1.3846, 0.1148, 0.0269, -0.105] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.18, "right_z": 0.14}, "note": "Pear dropped into the blue bowl. Now moving the right arm above the lemon, which lies left of and nearer than the bowl."})
tool
executing move_to over 7 steps (0.7s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteLemon visible in the right wrist view slightly left of the jaw column and a bit ahead. Shifting left/forward a few cm and lowering.
move_to
right_x0.4000right_y0.2050right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8173, 0.6132, -0.4427, -0.0139, -0.0334, 0.9988, 0.5652, 1.6699, 1.2346, -0.6113, 0.3004, 0.3157, 0.9966] state[eef_state]: left_x=0.2885 left_y=0.0003 left_z=0.1651 left_yaw=0.0019 left_pitch=-0.0767 left_roll=-0.0012 left_gripper=0.9988 right_x=0.3749 right_y=0.1801 right_z=0.1192 right_yaw=0.1048 right_pitch=-0.4101 right_roll=-0.0942 right_gripper=0.9966 state[joint_eff]: [-0.0615, -1.5111, 6.9812, 1.746, -0.0513, -0.0659, -0.0122, 0.3624, -10.1265, 9.4427, 1.2576, 0.3492, 0.1392, 0.0513] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.205, "right_z": 0.1}, "note": "Lemon visible in the right wrist view slightly left of the jaw column and a bit ahead. Shifting left/forward a few cm and lowering."})
tool
executing move_to over 3 steps (0.3s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteLemon still slightly left of the jaw column and just ahead of the fingertips. Nudging left/forward and descending to table level to grasp it.
move_to
right_x0.4100right_y0.2150right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4488, -0.0139, -0.0334, 0.9988, 0.5835, 1.7962, 1.3037, -0.6109, 0.3088, 0.3363, 0.9966] state[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1629 left_yaw=0.0019 left_pitch=-0.0866 left_roll=-0.001 left_gripper=0.9988 right_x=0.387 right_y=0.1954 right_z=0.0937 right_yaw=0.0919 right_pitch=-0.4561 right_roll=-0.1178 right_gripper=0.9966 state[joint_eff]: [-0.2393, -1.265, 7.0085, 1.7558, -0.0464, -0.0317, -0.0171, 0.1299, -10.2632, 8.335, 1.0672, 0.1294, -0.0317, -0.0073] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.215, "right_z": 0.02}, "note": "Lemon still slightly left of the jaw column and just ahead of the fingertips. Nudging left/forward and descending to table level to grasp it."})
tool
executing move_to over 5 steps (0.5s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteDescent stalled at z≈0.08 – the right jaw is likely resting on the blue bowl's rim (bowl edge touches the right finger in the wrist view). Shifting left away from the bowl toward the lemon before descending.
move_to
right_x0.3900right_y0.2350right_z0.0850
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, -0.45, -0.0139, -0.0338, 0.9988, 0.5861, 1.8309, 1.306, -0.5922, 0.3058, 0.3294, 0.9966] state[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1627 left_yaw=0.0021 left_pitch=-0.0877 left_roll=-0.0013 left_gripper=0.9988 right_x=0.3894 right_y=0.199 right_z=0.082 right_yaw=0.098 right_pitch=-0.47 right_roll=-0.1263 right_gripper=0.9966 state[joint_eff]: [-0.1846, -1.3607, 6.9812, 1.6777, -0.0317, -0.0757, -0.0122, -0.0068, -10.5915, 8.212, 1.3407, 0.1783, -0.0073, -0.0073] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.235, "right_z": 0.085}, "note": "Descent stalled at z\u22480.08 \u2013 the right jaw is likely resting on the blue bowl's rim (bowl edge touches the right finger in the wrist view). Shifting left away from the bowl toward the lemon before descending."})
tool
executing move_to over 3 steps (0.3s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteRight arm stopped responding at this pose (joints unchanged). Backing up and raising to get out of the stuck configuration.
move_to
right_x0.3600right_y0.2000right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4538, -0.0139, -0.0338, 0.9988, 0.5861, 1.8309, 1.306, -0.5922, 0.3058, 0.3294, 0.9966] state[eef_state]: left_x=0.287 left_y=0.0003 left_z=0.1619 left_yaw=0.0022 left_pitch=-0.0915 left_roll=-0.0012 left_gripper=0.9988 right_x=0.3894 right_y=0.199 right_z=0.082 right_yaw=0.098 right_pitch=-0.47 right_roll=-0.1263 right_gripper=0.9966 state[joint_eff]: [-0.1983, -1.347, 6.9949, 1.746, -0.0513, -0.0757, -0.0122, -0.3624, -10.5915, 8.1436, 1.3114, 0.1343, -0.022, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.2, "right_z": 0.15}, "note": "Right arm stopped responding at this pose (joints unchanged). Backing up and raising to get out of the stuck configuration."})
tool
executing move_to over 5 steps (0.5s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteArm moves again. Pitch had drifted to -0.48, which may be why the descent jammed; commanding pitch 0 explicitly while descending onto the lemon (it lies just ahead-left of the jaws).
move_to
right_x0.4000right_y0.2150right_z0.0300right_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, 0.8211, 0.6132, -0.461, -0.0139, -0.0334, 0.9988, 0.6273, 1.7607, 1.3903, -0.7681, 0.3107, 0.3515, 0.9966] state[eef_state]: left_x=0.2859 left_y=0.0003 left_z=0.1605 left_yaw=0.002 left_pitch=-0.0988 left_roll=-0.0007 left_gripper=0.9988 right_x=0.3694 right_y=0.2055 right_z=0.1223 right_yaw=0.1165 right_pitch=-0.485 right_roll=-0.1297 right_gripper=0.9966 state[joint_eff]: [-0.1026, -0.9094, 7.0906, 1.7363, -0.0855, -0.0659, -0.0171, 0.212, -10.6462, 8.0752, 1.0232, 0.3687, 0.1538, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.215, "right_z": 0.03, "right_pitch": 0.0}, "note": "Arm moves again. Pitch had drifted to -0.48, which may be why the descent jammed; commanding pitch 0 explicitly while descending onto the lemon (it lies just ahead-left of the jaws)."})
tool
executing move_to over 17 steps (1.7s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteDescent worked; lemon is centred between the jaws at table level. Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8238, 0.6132, -0.4686, -0.0135, -0.0338, 0.9988, 0.6838, 1.8996, 0.8192, 0.3225, 0.5144, 0.2497, 0.9966] state[eef_state]: left_x=0.2849 left_y=0.0003 left_z=0.1583 left_yaw=0.0019 left_pitch=-0.1091 left_roll=-0.001 left_gripper=0.9988 right_x=0.3908 right_y=0.211 right_z=0.0203 right_yaw=0.1242 right_pitch=-0.0814 right_roll=-0.1478 right_gripper=0.9966 state[joint_eff]: [-0.3624, -1.6068, 6.9675, 1.6825, -0.0317, -0.0659, -0.0122, 0.1299, -8.2803, 4.9162, 1.7998, 0.3492, -0.1197, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Descent worked; lemon is centred between the jaws at table level. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteGripper settled at 0.52 (≈5 cm), lemon grasped. Lifting it straight up to clear the bowl rim.
move_to
right_z0.1900right_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, 0.8257, 0.6132, -0.4759, -0.0139, -0.0334, 0.9988, 0.6846, 1.9152, 0.8066, 0.3386, 0.519, 0.2432, 0.5218] state[eef_state]: left_x=0.2838 left_y=0.0004 left_z=0.1565 left_yaw=0.002 left_pitch=-0.1182 left_roll=-0.0003 left_gripper=0.9988 right_x=0.3883 right_y=0.2084 right_z=0.0125 right_yaw=0.1243 right_pitch=-0.0907 right_roll=-0.1622 right_gripper=0.5218 state[joint_eff]: [-0.0479, -1.0735, 7.1043, 1.7363, -0.0562, -0.0611, -0.0171, -0.1299, -10.0171, 5.9692, 1.326, 0.1148, -0.0073, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.19, "right_pitch": 0.0}, "note": "Gripper settled at 0.52 (\u22485 cm), lemon grasped. Lifting it straight up to clear the bowl rim."})
tool
executing move_to over 12 steps (1.2s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
Move over the bowl, where the pear was released (0.455, 0.113).
agent noteLemon lifted; blue bowl with the pear is ahead-right in the wrist view. Carrying the lemon over the bowl centre where the pear was dropped.
move_to
right_x0.4700right_y0.1200right_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, -0.4763, -0.0135, -0.0338, 0.9988, 0.6971, 1.5738, 1.0702, -0.2089, 0.5373, 0.2153, 0.5219] state[eef_state]: left_x=0.2839 left_y=0.0003 left_z=0.1557 left_yaw=0.0019 left_pitch=-0.1213 left_roll=-0.0008 left_gripper=0.9988 right_x=0.3872 right_y=0.211 right_z=0.1655 right_yaw=0.1395 right_pitch=-0.0378 right_roll=-0.1646 right_gripper=0.5219 state[joint_eff]: [-0.335, -1.5932, 6.9949, 1.6532, -0.0171, -0.0415, -0.0171, 0.1846, -9.306, 8.8957, 1.5897, 0.3199, -0.0513, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
Move over the bowl, where the pear was released (0.455, 0.113).
move_to({"targets": {"right_x": 0.47, "right_y": 0.12, "right_z": 0.12, "right_pitch": 0.0}, "note": "Lemon lifted; blue bowl with the pear is ahead-right in the wrist view. Carrying the lemon over the bowl centre where the pear was dropped."})
tool
executing move_to over 8 steps (0.8s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteGripper is over the blue bowl (top view shows jaws above it). Releasing the lemon into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8303, 0.6132, -0.4847, -0.0139, -0.0338, 0.9988, 0.3511, 1.7111, 0.9867, 0.0799, 0.2867, -0.0097, 0.5219] state[eef_state]: left_x=0.2826 left_y=0.0004 left_z=0.1536 left_yaw=0.0023 left_pitch=-0.1316 left_roll=-0.0003 left_gripper=0.9988 right_x=0.4589 right_y=0.1187 right_z=0.1122 right_yaw=0.1169 right_pitch=-0.0573 right_roll=-0.1775 right_gripper=0.5219 state[joint_eff]: [-0.1436, -1.5521, 7.1316, 1.663, -0.0415, -0.0757, -0.0122, -0.1709, -7.9385, 6.1744, 1.9951, -0.0562, 0.0513, 1.0134] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Gripper is over the blue bowl (top view shows jaws above it). Releasing the lemon into the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteLemon and pear are both in the blue bowl. Parking the right arm and moving the left arm over the dark plum, which is to its front-right.
move_to
left_x0.3200left_y-0.1500left_z0.1200left_pitch0.0000left_gripper1.0000right_x0.3000right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8303, 0.6132, -0.4881, -0.0135, -0.0334, 0.9988, 0.3515, 1.729, 0.9848, 0.0769, 0.2756, -0.0189, 0.9956] state[eef_state]: left_x=0.2821 left_y=0.0003 left_z=0.1529 left_yaw=0.0017 left_pitch=-0.135 left_roll=-0.0002 left_gripper=0.9988 right_x=0.4576 right_y=0.1205 right_z=0.1024 right_yaw=0.131 right_pitch=-0.082 right_roll=-0.1834 right_gripper=0.9956 state[joint_eff]: [-0.3214, -1.4017, 6.9675, 1.6337, -0.0317, -0.0562, -0.0122, -0.0615, -9.9897, 6.5026, 1.6435, 0.1441, 0.0806, 0.0024] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.15, "left_z": 0.12, "left_pitch": 0.0, "left_gripper": 1.0, "right_x": 0.3, "right_y": 0.0, "right_z": 0.18}, "note": "Lemon and pear are both in the blue bowl. Parking the right arm and moving the left arm over the dark plum, which is to its front-right."})
tool
executing move_to over 14 steps (1.4s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent notePlum is nearly on the left jaw column, a few cm ahead. Advancing slightly and descending to grasp it at table level.
move_to
left_x0.3450left_y-0.1330left_z0.0200left_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]: [-0.7208, 1.2709, 0.5785, -0.1047, -0.5488, -0.4519, 0.9988, -0.0113, 0.8928, 0.683, -0.3916, 0.02, -0.2184, 0.9965] state[eef_state]: left_x=0.306 left_y=-0.1414 left_z=0.0962 left_yaw=-0.0308 left_pitch=-0.087 left_roll=0.0477 left_gripper=0.9988 right_x=0.3101 right_y=-0.0034 right_z=0.1859 right_yaw=0.0903 right_pitch=-0.0458 right_roll=-0.1897 right_gripper=0.9965 state[joint_eff]: [-0.2667, -4.8342, 9.2923, 1.707, -0.6178, -0.022, -0.1392, -0.1846, -1.5932, 7.0769, 1.7753, -0.1538, -0.0415, 0.0855] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.345, "left_y": -0.133, "left_z": 0.02, "left_pitch": 0.0}, "note": "Plum is nearly on the left jaw column, a few cm ahead. Advancing slightly and descending to grasp it at table level."})
tool
executing move_to over 5 steps (0.5s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent notePlum is centred between the left jaws at table level. Closing to grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.622, 1.6524, 0.4263, 0.4274, -0.519, -0.3668, 0.9982, -0.0113, 0.8993, 0.6827, -0.4179, 0.0063, -0.2432, 0.9966] state[eef_state]: left_x=0.3268 left_y=-0.1221 left_z=0.0049 left_yaw=-0.0003 left_pitch=-0.1043 left_roll=0.0989 left_gripper=0.9982 right_x=0.3068 right_y=-0.001 right_z=0.1785 right_yaw=0.1153 right_pitch=-0.0804 right_roll=-0.198 right_gripper=0.9966 state[joint_eff]: [0.6085, -5.4906, 3.959, 1.0623, -0.1245, 0.2564, -0.0904, -0.2803, -2.4137, 7.0085, 1.9756, 0.0952, 0.2027, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Plum is centred between the left jaws at table level. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent notePlum grasped (reading 0.43 ≈ 4 cm). Carrying it as far right as the left arm allows, toward the blue bowl, to see whether it can reach the bowl directly.
move_to
left_x0.4500left_y-0.4000left_z0.1600left_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]: [-0.6205, 1.668, 0.4232, 0.4511, -0.5167, -0.3668, 0.4284, -0.0113, 0.9051, 0.6827, -0.4324, 0.0063, -0.247, 0.9966] state[eef_state]: left_x=0.3277 left_y=-0.1225 left_z=0.0026 left_yaw=-0.0008 left_pitch=-0.1012 left_roll=0.0947 left_gripper=0.4284 right_x=0.305 right_y=-0.001 right_z=0.174 right_yaw=0.1176 right_pitch=-0.1009 right_roll=-0.1985 right_gripper=0.9966 state[joint_eff]: [-0.335, -7.0359, 4.7521, 1.2137, -0.2857, -0.0317, 1.0281, -0.1709, -2.3863, 6.9538, 1.7998, -0.0122, 0.0317, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.4, "left_z": 0.16, "left_pitch": 0.0}, "note": "Plum grasped (reading 0.43 \u2248 4 cm). Carrying it as far right as the left arm allows, toward the blue bowl, to see whether it can reach the bowl directly."})
tool
executing move_to over 25 steps (2.5s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteLeft arm is at its rightward limit with the plum hanging over only the blue bowl's left rim. Bringing the right arm down to the bowl's right side to nudge the bowl ~6 cm left, under the plum.
move_to
right_x0.4600right_y-0.0100right_z0.0300right_pitch0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9321, 2.3604, 2.1113, -0.6094, -0.7689, -0.6113, 0.4304, -0.0113, 0.9112, 0.6827, -0.4408, 0.0059, -0.2474, 0.9966] state[eef_state]: left_x=0.4523 left_y=-0.3972 left_z=0.1466 left_yaw=0.0008 left_pitch=-0.0066 left_roll=0.0735 left_gripper=0.4304 right_x=0.3041 right_y=-0.0009 right_z=0.1706 right_yaw=0.1183 right_pitch=-0.1153 right_roll=-0.1967 right_gripper=0.9966 state[joint_eff]: [-0.9231, -14.8444, 8.335, 0.8034, -0.5201, 0.0024, 1.033, -0.1573, -2.4137, 7.1726, 1.7509, -0.0269, -0.0464, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": -0.01, "right_z": 0.03, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "Left arm is at its rightward limit with the plum hanging over only the blue bowl's left rim. Bringing the right arm down to the bowl's right side to nudge the bowl ~6 cm left, under the plum."})
tool
executing move_to over 12 steps (1.2s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteRight gripper is low beside the bowl's right side (bowl at the left edge of its wrist view). Sweeping left to push the bowl under the plum.
move_to
right_x0.4500right_y0.0800right_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]: [-0.9318, 2.3768, 2.1109, -0.6243, -0.7666, -0.6113, 0.4335, -0.036, 1.8599, 0.6762, 0.5095, -0.0288, -0.2623, 0.0113] state[eef_state]: left_x=0.4512 left_y=-0.3958 left_z=0.1351 left_yaw=0.0001 left_pitch=-0.0269 left_roll=0.0979 left_gripper=0.4335 right_x=0.4361 right_y=-0.0071 right_z=0.007 right_yaw=0.1312 right_pitch=-0.1186 right_roll=-0.186 right_gripper=0.0113 state[joint_eff]: [-0.1573, -15.241, 6.8308, 1.409, -0.4127, -0.0611, 0.8278, -0.3761, -9.1829, 6.147, 1.9853, 0.0269, 0.105, 1.0183] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.08, "right_z": 0.02}, "note": "Right gripper is low beside the bowl's right side (bowl at the left edge of its wrist view). Sweeping left to push the bowl under the plum."})
tool
executing move_to over 8 steps (0.8s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteBowl moved left a few cm; in the left wrist view it now sits just right of the plum. Pushing another ~6 cm so the bowl centre comes under the plum.
move_to
right_x0.4500right_y0.1400right_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]: [-0.9318, 2.3768, 2.1109, -0.6247, -0.7662, -0.6113, 0.4353, 0.2276, 1.8828, 0.7677, 0.4057, 0.1493, -0.1287, 0.0125] state[eef_state]: left_x=0.4512 left_y=-0.3958 left_z=0.135 left_yaw=-0.0001 left_pitch=-0.0273 left_roll=0.098 left_gripper=0.4353 right_x=0.4421 right_y=0.0791 right_z=0.0104 right_yaw=0.1714 right_pitch=-0.1459 right_roll=-0.1953 right_gripper=0.0125 state[joint_eff]: [-0.3214, -13.9282, 6.653, 1.3114, -0.3736, -0.0513, 0.8913, 0.1436, -8.5128, 6.735, 1.7607, 0.2173, 0.2955, 0.4615] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.14, "right_z": 0.02}, "note": "Bowl moved left a few cm; in the left wrist view it now sits just right of the plum. Pushing another ~6 cm so the bowl centre comes under the plum."})
tool
executing move_to over 6 steps (0.6s)
step 210
assistant
agent noteBowl is now pushed close under the plum's right side. Lowering the plum just above the bowl, at the left arm's rightmost reach, before releasing.
move_to
left_x0.4500left_y-0.4000left_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]: [-0.9119, 2.3768, 2.1109, -0.6521, -0.7753, -0.6155, 0.4385, 0.3634, 1.9148, 0.8669, 0.3023, 0.2436, -0.0513, 0.0134] state[eef_state]: left_x=0.4568 left_y=-0.3822 left_z=0.1326 left_yaw=0.0285 left_pitch=-0.0376 left_roll=0.121 left_gripper=0.4385 right_x=0.4447 right_y=0.1273 right_z=0.0145 right_yaw=0.1851 right_pitch=-0.1662 right_roll=-0.2037 right_gripper=0.0134 state[joint_eff]: [-1.6205, -13.9966, 6.6256, 1.58, -0.1832, -0.0024, 0.5885, 2.0034, -7.5829, 7.9932, 1.6093, 0.2515, 0.1734, 0.8669] 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": 0.45, "left_y": -0.4, "left_z": 0.1}, "note": "Bowl is now pushed close under the plum's right side. Lowering the plum just above the bowl, at the left arm's rightmost reach, before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 213
assistant
agent notePlum is resting at the bowl's edge next to the pear and lemon (descent stopped on contact). Releasing it so it drops into the bowl.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9176, 2.4107, 2.1094, -0.6159, -0.7967, -0.6388, 0.4403, 0.3599, 1.9152, 0.868, 0.2687, 0.2504, -0.0517, 0.0147] state[eef_state]: left_x=0.4593 left_y=-0.3865 left_z=0.1193 left_yaw=0.0485 left_pitch=-0.0219 left_roll=0.111 left_gripper=0.4403 right_x=0.4404 right_y=0.1228 right_z=0.0091 right_yaw=0.1749 right_pitch=-0.1976 right_roll=-0.2148 right_gripper=0.0147 state[joint_eff]: [-2.0855, -11.7128, 7.1316, 1.0085, -0.3199, -0.0659, 0.7888, 0.6222, -9.1556, 5.6, 2.1612, 0.0073, 0.0904, 0.7497] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Plum is resting at the bowl's edge next to the pear and lemon (descent stopped on contact). Releasing it so it drops into the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 219
assistant
agent noteThe plum bounced off the rim and now lies on the table just left of the blue bowl (visible at left of the left wrist view). Moving the open left gripper down onto it.
move_to
left_x0.4700left_y-0.2700left_z0.0200left_pitch0.0000left_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]: [-0.9123, 2.4226, 2.109, -0.6125, -0.8265, -0.6552, 0.9948, 0.3454, 1.919, 0.857, 0.2523, 0.2687, -0.0517, 0.0169] state[eef_state]: left_x=0.4631 left_y=-0.3804 left_z=0.1159 left_yaw=0.0809 left_pitch=-0.0062 left_roll=0.1178 left_gripper=0.9948 right_x=0.4359 right_y=0.1108 right_z=0.0015 right_yaw=0.1435 right_pitch=-0.2258 right_roll=-0.234 right_gripper=0.0169 state[joint_eff]: [-0.7043, -15.2, 6.6393, 1.199, -0.0708, 0.1343, -0.1392, 0.8684, -9.2239, 6.1333, 1.6435, -0.1148, -0.022, 0.5446] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.27, "left_z": 0.02, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The plum bounced off the rim and now lies on the table just left of the blue bowl (visible at left of the left wrist view). Moving the open left gripper down onto it."})
tool
executing move_to over 10 steps (1.0s)
step 229
assistant
agent notePlum is ahead-left of the jaws in the left wrist view. Shifting ~5 cm forward and left to bring it between the jaws.
move_to
left_x0.5200left_y-0.2200left_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]: [-0.7593, 2.273, 1.3914, 0.0372, -0.7399, -0.5091, 0.9981, 0.3439, 1.919, 0.857, 0.2493, 0.2756, -0.0666, 0.0164] state[eef_state]: left_x=0.4659 left_y=-0.2731 left_z=0.0128 left_yaw=0.0992 left_pitch=-0.0202 left_roll=0.1342 left_gripper=0.9981 right_x=0.4358 right_y=0.1088 right_z=0.0012 right_yaw=0.144 right_pitch=-0.2298 right_roll=-0.2504 right_gripper=0.0164 state[joint_eff]: [0.5402, -13.9145, 4.8479, 0.906, -0.1587, 0.1929, -0.2125, 0.0068, -9.0598, 5.135, 1.4921, 0.0024, 0.1148, 0.569] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.52, "left_y": -0.22, "left_z": 0.03}, "note": "Plum is ahead-left of the jaws in the left wrist view. Shifting ~5 cm forward and left to bring it between the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 234
assistant
agent notePlum is now between the left jaws, right next to the white bowl. Closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6075, 2.2715, 1.3991, 0.0887, -0.6491, -0.4042, 0.9979, 0.3439, 1.919, 0.857, 0.2493, 0.276, -0.0677, 0.0165] state[eef_state]: left_x=0.5089 left_y=-0.2194 left_z=0.0161 left_yaw=0.1301 left_pitch=-0.0324 left_roll=0.1315 left_gripper=0.9979 right_x=0.4358 right_y=0.1087 right_z=0.0012 right_yaw=0.1443 right_pitch=-0.2299 right_roll=-0.2515 right_gripper=0.0165 state[joint_eff]: [0.5949, -13.1761, 8.5538, 1.4335, -0.232, 0.2613, -0.022, -0.0615, -9.0188, 5.2581, 1.4774, 0.0855, -0.0366, 0.7888] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Plum is now between the left jaws, right next to the white bowl. Closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 244
assistant
agent notePlum slipped out ahead of the left jaws beyond table reach; with limited budget I'll prioritise pouring. Retracting the left arm and raising/opening the right gripper above the blue bowl's right rim to grasp it.
move_to
left_x0.3000left_y-0.1000left_z0.1500right_x0.4500right_y0.1250right_z0.1200right_gripper1.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6064, 2.2715, 1.4021, 0.0864, -0.6388, -0.4114, 0.0093, 0.3439, 1.919, 0.857, 0.2493, 0.276, -0.0677, 0.0158] state[eef_state]: left_x=0.5094 left_y=-0.2208 left_z=0.016 left_yaw=0.1276 left_pitch=-0.0362 left_roll=0.1197 left_gripper=0.0093 right_x=0.4358 right_y=0.1087 right_z=0.0012 right_yaw=0.1443 right_pitch=-0.2299 right_roll=-0.2515 right_gripper=0.0158 state[joint_eff]: [-0.1162, -12.3556, 5.6, 1.4383, -0.3053, 0.0513, 0.6862, -0.1299, -9.0188, 5.1897, 1.453, 0.0464, -0.0024, 0.7985] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.1, "left_z": 0.15, "right_x": 0.45, "right_y": 0.125, "right_z": 0.12, "right_gripper": 1.0, "right_pitch": 0.0}, "note": "Plum slipped out ahead of the left jaws beyond table reach; with limited budget I'll prioritise pouring. Retracting the left arm and raising/opening the right gripper above the blue bowl's right rim to grasp it."})
tool
executing move_to over 17 steps (1.7s)
step 261
assistant
agent noteRight wrist view shows the bowl's right rim between the open jaws but the left jaw is over the pear. Shifting ~3.5 cm right and ~3 cm forward so the rim wall sits between the jaws, and descending to grab it.
move_to
right_x0.4700right_y0.0900right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6975, 1.177, 0.709, -0.3214, -0.6842, -0.4915, 0.0118, 0.3893, 1.7084, 0.8875, 0.1593, 0.3222, -0.0872, 0.9973] state[eef_state]: left_x=0.3118 left_y=-0.111 left_z=0.152 left_yaw=0.1123 left_pitch=-0.0144 left_roll=0.0809 left_gripper=0.0118 right_x=0.4406 right_y=0.1242 right_z=0.0892 right_yaw=0.1658 right_pitch=-0.0784 right_roll=-0.265 right_gripper=0.9973 state[joint_eff]: [-0.5812, -3.8359, 6.2838, 1.3993, -0.4615, -0.0317, 0.2564, 0.2256, -10.7419, 9.1282, 1.7265, 0.3248, 0.0366, 0.022] 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": 0.47, "right_y": 0.09, "right_z": 0.035}, "note": "Right wrist view shows the bowl's right rim between the open jaws but the left jaw is over the pear. Shifting ~3.5 cm right and ~3 cm forward so the rim wall sits between the jaws, and descending to grab it."})
tool
executing move_to over 4 steps (0.4s)
step 265
assistant
agent noteThe bowl's right wall now sits between the jaws (left jaw inside, right jaw outside). Closing to pinch the rim.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6987, 1.1805, 0.7036, -0.3489, -0.6834, -0.4988, 0.0133, 0.2729, 1.8877, 0.873, 0.3298, 0.2443, -0.1452, 0.9979] state[eef_state]: left_x=0.3078 left_y=-0.1082 left_z=0.1449 left_yaw=0.1152 left_pitch=-0.0394 left_roll=0.1008 left_gripper=0.0133 right_x=0.4629 right_y=0.0889 right_z=0.0338 right_yaw=0.1449 right_pitch=-0.1181 right_roll=-0.267 right_gripper=0.9979 state[joint_eff]: [0.0342, -4.041, 7.0769, 1.6679, -0.2613, 0.0122, 0.1441, -0.1162, -9.1966, 5.0393, 1.9121, -0.0562, -0.1538, 0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The bowl's right wall now sits between the jaws (left jaw inside, right jaw outside). Closing to pinch the rim."})
tool
executing move_to over 10 steps (1.0s)
step 275
assistant
agent noteGripper is closed on the thin bowl wall (low reading is expected for a ~2 mm rim). Lifting the bowl, carrying it toward the white bowl and rolling left to tip the fruit out.
move_to
right_x0.4500right_y0.3500right_z0.2000right_roll1.3000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6987, 1.1805, 0.7036, -0.3527, -0.6834, -0.4988, 0.0146, 0.2729, 1.9072, 0.8703, 0.3386, 0.2306, -0.1497, 0.0117] state[eef_state]: left_x=0.3073 left_y=-0.1078 left_z=0.1444 left_yaw=0.1153 left_pitch=-0.042 left_roll=0.1036 left_gripper=0.0146 right_x=0.4615 right_y=0.091 right_z=0.0254 right_yaw=0.1587 right_pitch=-0.1331 right_roll=-0.2634 right_gripper=0.0117 state[joint_eff]: [-0.1026, -3.3026, 6.7761, 1.4237, -0.3443, -0.0415, 0.1245, -0.1846, -10.4957, 5.5726, 1.5897, 0.2466, 0.0122, 1.0379] camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.35, "right_z": 0.2, "right_roll": 1.3}, "note": "Gripper is closed on the thin bowl wall (low reading is expected for a ~2 mm rim). Lifting the bowl, carrying it toward the white bowl and rolling left to tip the fruit out."})
tool
executing move_to over 22 steps (2.2s)
step 297
assistant
agent noteI ran out of call budget before finishing. The pear and lemon are in the blue bowl. The plum bounced off the bowl's rim and ended up on the table by the white bowl, too far out for the left arm to grasp at table height. My one try at pinching the blue bowl's rim came up empty: the bowl stayed on the table while the gripper rolled over, so nothing was poured into the white bowl.
give_up
hindsight- Where things were at the start, in the right arm's frame: pear about (0.355, 0.01), lemon about (0.39, 0.21), blue bowl centre about (0.46, 0.18). Once I had pushed the bowl, its centre was around (0.45, 0.18). The white bowl is at about left-frame (0.47, -0.11), which is roughly right-frame y 0.54, past the right arm's +0.40 limit. The blue bowl in right-frame y 0.12–0.18 is past the left arm's -0.40 limit. So neither arm can reach both bowls. Before loading any fruit, plan to put the blue bowl near the centre line (right y about 0.3, left y about -0.35). That way both arms can drop fruit into it and the pour toward the white bowl is short. - Top camera: the bases are about 185 px apart at the gripper row, so about 2.85 px/cm there. Mapping fruit this way was accurate to about 2 cm. - Descents near x 0.39 and y 0.2 with the right arm jammed at z 0.08, and pitch drifted to -0.47. Sending pitch 0 explicitly fixed it. Always include pitch 0 in move targets. - Dropping a round fruit from about 12 cm over a bowl rim makes it bounce away. Only release when the fruit is clearly over the bowl's interior. - The left gripper can't reach an object at table level beyond about x 0.51. If a fruit sits beyond that, use the other arm or push it back first. - Pinching the rim of a thin bowl wall read 0.012, the same as an empty close. It did not hold. Verify with a short 5 cm lift before rolling. It's probably better to grip the wall lower down, or pinch deeper across the wall (a few cm down from the rim) with the jaws square to it. - Budget: 40 calls is tight for 3 fruits plus a pour. Combine moves (move above and descend in one call, lift and transport in one call).
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]: [-0.6991, 1.1805, 0.7036, -0.3553, -0.683, -0.4988, 0.0154, 0.6186, 1.8629, 1.1946, 0.3126, -0.1158, 1.2873, 0.0139] state[eef_state]: left_x=0.3069 left_y=-0.1077 left_z=0.144 left_yaw=0.1148 left_pitch=-0.044 left_roll=0.1053 left_gripper=0.0154 right_x=0.439 right_y=0.3419 right_z=0.1748 right_yaw=0.184 right_pitch=-0.1707 right_roll=1.1823 right_gripper=0.0139 state[joint_eff]: [-0.0479, -3.6171, 6.7897, 1.3993, -0.3541, -0.0317, 0.0757, 0.1709, -8.8821, 9.3197, 2.2295, 0.1343, 0.2271, 0.7497] camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I ran out of call budget before finishing. The pear and lemon are in the blue bowl. The plum bounced off the bowl's rim and ended up on the table by the white bowl, too far out for the left arm to grasp at table height. My one try at pinching the blue bowl's rim came up empty: the bowl stayed on the table while the gripper rolled over, so nothing was poured into the white bowl.", "hindsight": "- Where things were at the start, in the right arm's frame: pear about (0.355, 0.01), lemon about (0.39, 0.21), blue bowl centre about (0.46, 0.18). Once I had pushed the bowl, its centre was around (0.45, 0.18). The white bowl is at about left-frame (0.47, -0.11), which is roughly right-frame y 0.54, past the right arm's +0.40 limit. The blue bowl in right-frame y 0.12\u20130.18 is past the left arm's -0.40 limit. So neither arm can reach both bowls. Before loading any fruit, plan to put the blue bowl near the centre line (right y about 0.3, left y about -0.35). That way both arms can drop fruit into it and the pour toward the white bowl is short.\n- Top camera: the bases are about 185 px apart at the gripper row, so about 2.85 px/cm there. Mapping fruit this way was accurate to about 2 cm.\n- Descents near x 0.39 and y 0.2 with the right arm jammed at z 0.08, and pitch drifted to -0.47. Sending pitch 0 explicitly fixed it. Always include pitch 0 in move targets.\n- Dropping a round fruit from about 12 cm over a bowl rim makes it bounce away. Only release when the fruit is clearly over the bowl's interior.\n- The left gripper can't reach an object at table level beyond about x 0.51. If a fruit sits beyond that, use the other arm or push it back first.\n- Pinching the rim of a thin bowl wall read 0.012, the same as an empty close. It did not hold. Verify with a short 5 cm lift before rolling. It's probably better to grip the wall lower down, or pinch deeper across the wall (a few cm down from the rim) with the jaws square to it.\n- Budget: 40 calls is tight for 3 fruits plus a pour. Combine moves (move above and descend in one call, lift and transport in one call)."})
tool
give_up: I ran out of call budget before finishing. The pear and lemon are in the blue bowl. The plum bounced off the bowl's rim and ended up on the table by the white bowl, too far out for the left arm to grasp at table height. My one try at pinching the blue bowl's rim came up empty: the bowl stayed on the table while the gripper rolled over, so nothing was poured into the white bowl.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 17.14 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0139, -0.0299, 0.9988, -0.0227, 0.7994, 0.6186, -0.387, -0.017, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1818 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.296 right_y=-0.0001 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -1.7846, 9.6342, 1.7802, -0.1197, 0.149, -0.1343, -0.4444, -1.7162, 9.1556, 1.8339, -0.0952, -0.0562, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c529b2776d838af472b4af13c66d24802b15cc0cce64576cc567b93cb277810",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b8fd01b9fdee59f8d0468c0feac4cb3352aeedc9c9e83c799501bd56115d938",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:460371080f0795baf8655e50d2e69fdeb046331f39a50ee2229bc6e6156445fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 3.75 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0139, -0.0299, 0.9988, -0.0227, 0.7994, 0.6186, -0.387, -0.017, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1818 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.296 right_y=-0.0001 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -1.7846, 9.6342, 1.7802, -0.1197, 0.149, -0.1343, -0.4444, -1.7162, 9.1556, 1.8339, -0.0952, -0.0562, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c529b2776d838af472b4af13c66d24802b15cc0cce64576cc567b93cb277810",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b8fd01b9fdee59f8d0468c0feac4cb3352aeedc9c9e83c799501bd56115d938",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:460371080f0795baf8655e50d2e69fdeb046331f39a50ee2229bc6e6156445fe",
        "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_01QPbW99U65CEJjs4LZML4GA",
      "input": {
        "note": "Scene: white bowl at back-left, blue bowl center-right, lemon and pear on the right, a dark fruit at front-left. Moving right arm above the pear, which sits nearly straight ahead of its gripper.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.35,
          "right_y": 0.0,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QPbW99U65CEJjs4LZML4GA",
      "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, 0.804, 0.6132, -0.3943, -0.0139, -0.0311, 0.9988, -0.017, 1.111, 0.5625, -0.0563, -0.0166, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=0.0001 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0007 left_gripper=0.9988 right_x=0.3463 right_y=0.0006 right_z=0.1319 right_yaw=0.0052 right_pitch=-0.037 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.5658, 7.2547, 1.8535, -0.0659, -0.0659, -0.022, -0.2803, -3.9316, 6.7624, 2.0293, -0.0073, -0.0024, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6763b788b096415242a560a11173ab7e9fdeae2656f677d682429475c5f5180",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca5eeb066a6026a4243a1e9a6f46b6f6cf339c9f5241c3e37a848477c41cbb53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:59434680554a37c9a3affb189c7c2295e097bd36b11d3ef8a3f4ec062da7159f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 3.756 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0139, -0.0299, 0.9988, -0.0227, 0.7994, 0.6186, -0.387, -0.017, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1818 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.296 right_y=-0.0001 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -1.7846, 9.6342, 1.7802, -0.1197, 0.149, -0.1343, -0.4444, -1.7162, 9.1556, 1.8339, -0.0952, -0.0562, -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, 0.804, 0.6132, -0.3943, -0.0139, -0.0311, 0.9988, -0.017, 1.111, 0.5625, -0.0563, -0.0166, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=0.0001 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0007 left_gripper=0.9988 right_x=0.3463 right_y=0.0006 right_z=0.1319 right_yaw=0.0052 right_pitch=-0.037 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.5658, 7.2547, 1.8535, -0.0659, -0.0659, -0.022, -0.2803, -3.9316, 6.7624, 2.0293, -0.0073, -0.0024, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6763b788b096415242a560a11173ab7e9fdeae2656f677d682429475c5f5180",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca5eeb066a6026a4243a1e9a6f46b6f6cf339c9f5241c3e37a848477c41cbb53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59434680554a37c9a3affb189c7c2295e097bd36b11d3ef8a3f4ec062da7159f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjAcKEAgSGAI4AUIIdGhpbmtpbmcSDOS7T1xS1KRcXMy/MxoMcsIJFc9sSFznZ/iLIjC4nyE0mZthiec+t+5TVJVs9tgTvMBykdjlddIHnfvh9tZMNEFJe+gXvv0tKzQ7CRYqqQb35C9kmhHJeQBUKj4xgcwPcKmtNK+oWAhr7E7a1SjOrmaHbbmjJSlNY8tDk7rXT5EacOxNY+YZzmerLt5TiA8Fx/0mwC4fbGIOxUs5jnt1WhOjSxRbVuxClxV/vmaYYbdmER1caQ7mU4fw59GdaxwvV1hPfeOfcXYHjZQBqm8X2cHdMHp3D0DMmnr77uOFvwY2dcyQTgoYlDrb17upfB2nxw1hUv+ni/VR+QkEscBTdYx0qqlmXEiFmhVjrL0rGA26jYyMr6K/tlhgOmaro/bH5Wyxa2+73BzroEzuSEh/SRITm7D02WRDU3uKm+g+e7JeRS2DUhJma7hUkOupyCIHVucGMSPrgQPeY2e9XXtePq3JOrEdmQnb0EoIQNybIBsKe4LzUHCGtw+4qXzbq85KrVAX21iOTgQwP0FlhjMnJ4Fp8RVAfTZRC1bag1r9QNkOI53SndONwTp4/CXuE15P/xlHBBWg3qKc2AmvOG3uLWRL5yedhZRckYDsE6QQOdGAc1+y6G7t5gfad3QM+dAFy78WOFy9byL/9OS4C1OJ3jUo7CwAI+Csl8JICidthVJqGjiqlOwbZYO3xDRXtfqSu7f9caUACqQxHdx2Rgw0H9kQFW0Ao2UAeb+3BicNBpRn0h1XCx2KerCaLhPVYVcpYn70vnLe31TBT77xwJVziMn1ld9kzMNq4uKgikQnp5XnWBYaZNFz/fg2jAlQ2wOjvS9lCsh/Obgq4bTQVm8vk2uUeBtzyrOtEmn4i9orkfw39w4YY6HhT89OnfSIWuofKCLSkeosD4mM6xfylzchE+MAGVWBdy6FgZ2eHFIktiK6Igv0lvifGuf0zSoqCJsxffFkFZtidhS4N/JKlmJVqVex61zEqHmjZoTtFQhA3BefZtfTz3WBAShaBtaSHAz3USO7OQf4lgTwpIUaplO9lhquiGhTTfo4VIrdcjXrY7zEeuxQjNLmJAo8xyPiDh0ewUMWmm6FK/5TyjQs3Rwm8FpXYkfxGaPtxWy9SfnS4AwkLm0P7wgpbSLNxD5nPFlyot6QwZNfGTh89HktQwsto+MLUdWm1y3pQBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VJBz2EHjd1xwYshJ2DExpz",
      "input": {
        "note": "Pear is now at the bottom of the right wrist view, just about under the jaws. Descending around it to grasp at mid-height.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.01,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01VJBz2EHjd1xwYshJ2DExpz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.807, 0.6132, -0.4053, -0.0135, -0.0307, 0.9988, 0.028, 1.5414, 0.345, 0.5571, 0.0059, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.2933 left_y=0.0001 left_z=0.1754 left_yaw=0.0001 left_pitch=-0.029 left_roll=-0.0003 left_gripper=0.9988 right_x=0.3556 right_y=0.0125 right_z=0.0228 right_yaw=0.0292 right_pitch=-0.0715 right_roll=-0.0087 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.5521, 7.159, 1.8437, -0.0366, -0.0171, -0.0122, -0.3761, -5.2991, 4.6291, 1.9658, 0.0904, 0.1441, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b0c5e1a49cc394ee48415e73425145e8a9cf000e44f50fdae8293fed771448c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6fcf8a802d37d9a41fbb5a9201986f7f9c40b471c7fb4491c8803716f870436",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db43db886e70430de2359555fef8d3bea11ec898cb9c83be8d87c34eff4629a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 4.494 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0139, -0.0299, 0.9988, -0.0227, 0.7994, 0.6186, -0.387, -0.017, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1818 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.296 right_y=-0.0001 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -1.7846, 9.6342, 1.7802, -0.1197, 0.149, -0.1343, -0.4444, -1.7162, 9.1556, 1.8339, -0.0952, -0.0562, -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, 0.804, 0.6132, -0.3943, -0.0139, -0.0311, 0.9988, -0.017, 1.111, 0.5625, -0.0563, -0.0166, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=0.0001 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0007 left_gripper=0.9988 right_x=0.3463 right_y=0.0006 right_z=0.1319 right_yaw=0.0052 right_pitch=-0.037 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.5658, 7.2547, 1.8535, -0.0659, -0.0659, -0.022, -0.2803, -3.9316, 6.7624, 2.0293, -0.0073, -0.0024, -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, 0.807, 0.6132, -0.4053, -0.0135, -0.0307, 0.9988, 0.028, 1.5414, 0.345, 0.5571, 0.0059, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.2933 left_y=0.0001 left_z=0.1754 left_yaw=0.0001 left_pitch=-0.029 left_roll=-0.0003 left_gripper=0.9988 right_x=0.3556 right_y=0.0125 right_z=0.0228 right_yaw=0.0292 right_pitch=-0.0715 right_roll=-0.0087 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.5521, 7.159, 1.8437, -0.0366, -0.0171, -0.0122, -0.3761, -5.2991, 4.6291, 1.9658, 0.0904, 0.1441, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b0c5e1a49cc394ee48415e73425145e8a9cf000e44f50fdae8293fed771448c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6fcf8a802d37d9a41fbb5a9201986f7f9c40b471c7fb4491c8803716f870436",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db43db886e70430de2359555fef8d3bea11ec898cb9c83be8d87c34eff4629a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pear between jaws. Close.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FjXShwHsAo9KgTHbHbkEox",
      "input": {
        "note": "Pear fills the view between the jaws; closing the gripper.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FjXShwHsAo9KgTHbHbkEox",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.807, 0.6132, -0.4088, -0.0139, -0.0307, 0.9988, 0.028, 1.5414, 0.345, 0.5556, 0.0029, -0.0093, 0.7402]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.1747 left_yaw=0.0004 left_pitch=-0.0324 left_roll=0.0 left_gripper=0.9988 right_x=0.3554 right_y=0.013 right_z=0.0225 right_yaw=0.0324 right_pitch=-0.073 right_roll=-0.0078 right_gripper=0.7402\nstate[joint_eff]: [-0.1846, -1.306, 7.0359, 1.79, -0.0464, -0.0122, -0.0171, -0.0615, -4.6701, 4.9573, 1.663, 0.0073, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f26f870183f5e92647dac1abcf92d4b853b33e598c3ef4ab80e1e83d0f2289a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7096506af1713f27503fcbf77cee464ba5934064d26db2baf00e1049a2d56559",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9fc55af1a4eda60064b73f133911fa2a29af6f0bec105cd8a01e47e30ac0454b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 4.52 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.804, 0.6132, -0.3943, -0.0139, -0.0311, 0.9988, -0.017, 1.111, 0.5625, -0.0563, -0.0166, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=0.0001 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0007 left_gripper=0.9988 right_x=0.3463 right_y=0.0006 right_z=0.1319 right_yaw=0.0052 right_pitch=-0.037 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.5658, 7.2547, 1.8535, -0.0659, -0.0659, -0.022, -0.2803, -3.9316, 6.7624, 2.0293, -0.0073, -0.0024, -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, 0.807, 0.6132, -0.4053, -0.0135, -0.0307, 0.9988, 0.028, 1.5414, 0.345, 0.5571, 0.0059, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.2933 left_y=0.0001 left_z=0.1754 left_yaw=0.0001 left_pitch=-0.029 left_roll=-0.0003 left_gripper=0.9988 right_x=0.3556 right_y=0.0125 right_z=0.0228 right_yaw=0.0292 right_pitch=-0.0715 right_roll=-0.0087 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.5521, 7.159, 1.8437, -0.0366, -0.0171, -0.0122, -0.3761, -5.2991, 4.6291, 1.9658, 0.0904, 0.1441, -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, 0.807, 0.6132, -0.4088, -0.0139, -0.0307, 0.9988, 0.028, 1.5414, 0.345, 0.5556, 0.0029, -0.0093, 0.7402]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.1747 left_yaw=0.0004 left_pitch=-0.0324 left_roll=0.0 left_gripper=0.9988 right_x=0.3554 right_y=0.013 right_z=0.0225 right_yaw=0.0324 right_pitch=-0.073 right_roll=-0.0078 right_gripper=0.7402\nstate[joint_eff]: [-0.1846, -1.306, 7.0359, 1.79, -0.0464, -0.0122, -0.0171, -0.0615, -4.6701, 4.9573, 1.663, 0.0073, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f26f870183f5e92647dac1abcf92d4b853b33e598c3ef4ab80e1e83d0f2289a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7096506af1713f27503fcbf77cee464ba5934064d26db2baf00e1049a2d56559",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fc55af1a4eda60064b73f133911fa2a29af6f0bec105cd8a01e47e30ac0454b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqAgKEAgSGAI4AUIIdGhpbmtpbmcSDLBfVFh6aO3A3kTjmxoM4C2VWZSu9Rx8d2seIjCWqvsmQrso98l01puOEau0nfB+D8RjVN108Kb2QkMviJINDukqUw/bBN5qSJ4f/j0qxQc7N5BTkLT8muxGMPBtVOEN2IPPT2sQ05pSo8aXY3H5SkKZLNktkTRfj0nPn3Or9NSEQ2FetaRI8Stk2rHwp2OuDrGqVJtqjL5cIepbHLDviNgxVHABm4Nm5aJ3Cah7dv1TLiSZQ0SN9c9qTagPsH5UfxvaytyW62WM+thL2MP/aeqVNMoraqFxC5Oe4Vue83uXk4TRWcxnS+K50zthWqKi54TLacX9U5Xymeak8p46j4Mph1JQJjcFOiLibEFEhHZcbDSZtkM+ML+jMkJQrSgwCiaU5YPUQHDd34Cw1D7uE9QBXAndV0GbTwENF3W8TA9GFgu9+GeKf3IiPl3ZUyDz4MPfpPYECi3w0VHIqeXP8aZFCUcyUViFya4mkAX8KRr0VdgonaLiUKyzn+HPrcfiFcTK8+IL18T9wXQwOXrcxb7ZBh3ZFg40JOc96zxfDuJASqfJKOTCnVFWMqQlNsZ+hwHBOJRxGyPcjpk2bktFS6pqI0Dj97fJyTiPBzF/nbsFk/VzT8Z6nFsXlZ+tLxRU9lOr6JZZqFfVKPTpbQ3qrfixnOPaM7qFYcMRF8yCNINv3SDM689Scu5+96m/HbhHRQsgVYYd3uKQkrsBVExXqcHhKYwCESgtkz57DGD/LIGFoPsxKGsgD/luak09Nw+a23dAA67civUlJYjXnvAjK34LXXCUOItYlUcYsqruuHm1BFMXCBnesgaDrvak0WCckP3IGrf8DRrFfaCgNvdshid6BHHTiQNxRIXJr+fFOFC3aCy+H8UmEI72xVowMq8sfesP179WNOGmhtUG7dm/2NjIHwgDxVWO8ztqWuzA90fAU6BbechTGopW6IQI5lr32M79333BVjqW3BI94p+mciR56EkBzmG9BpdpidKB0k2WoXHInW8pN/bMdCPdS8JtYxoWHUZKsI2M4MJjiqlCqZLKHeL2S/pSSetCljwjktJarryrwhAHX3BwbaAiuG8Olj6S6ZKaBZOjfbojtvGcaAyCovV1Gzzj45K5W9lckNUPr0XodztvleyCQNONdrhaE/EvvvsuWwxYnbHqKyN0JeDa1ZnHOWJFoFWuyuMja6oa8TSBppStRLEzlAIbuZjx8jmsVHqPAGnZ1s1xuNXKVthUapeh4RXnTcvdCD309K8N4oLXkINqLFWqkuUm7RR4RdpWJ2YekYS1lhHRX/sfCo74hId5MtRfMOg6h+LMNHw0wERJ9d7//hoKXzjuiAzmdJLWOcTa4P61YNwbTKt7Q67dK6l0Kr0YheDrKEPQaxAYFKSeKxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012BZoGeXjeQ9LtuT43NeN18",
      "input": {
        "note": "Gripper settled at 0.74 (≈7 cm) so the pear is held. Lifting it clear before carrying to the blue bowl.",
        "targets": {
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_012BZoGeXjeQ9LtuT43NeN18",
      "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, -0.4232, -0.0135, -0.0311, 0.9988, 0.0292, 1.1442, 0.7654, -0.326, 0.0021, -0.0124, 0.7451]\nstate[eef_state]: left_x=0.2911 left_y=0.0002 left_z=0.1703 left_yaw=0.0003 left_pitch=-0.0523 left_roll=-0.0001 left_gripper=0.9988 right_x=0.3484 right_y=0.0134 right_z=0.1578 right_yaw=0.0359 right_pitch=-0.1371 right_roll=-0.0093 right_gripper=0.7451\nstate[joint_eff]: [-0.2803, -1.7709, 7.1043, 1.8144, -0.0513, -0.0366, -0.0171, -0.3761, -5.1624, 9.5248, 1.873, -0.0317, -0.0415, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f9873419bb6c50eb11be7c58e72ab58af96c14688ae5df5e1379002d3ba6a7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5d01ffa8adf9e3db727ea35767ac0bd0472089d53955b7ba1657441e63152d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:492926458fec212872147a27cd628d6c7f960c668a36c182ee54894a9238e938",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 4.734 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.807, 0.6132, -0.4053, -0.0135, -0.0307, 0.9988, 0.028, 1.5414, 0.345, 0.5571, 0.0059, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.2933 left_y=0.0001 left_z=0.1754 left_yaw=0.0001 left_pitch=-0.029 left_roll=-0.0003 left_gripper=0.9988 right_x=0.3556 right_y=0.0125 right_z=0.0228 right_yaw=0.0292 right_pitch=-0.0715 right_roll=-0.0087 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.5521, 7.159, 1.8437, -0.0366, -0.0171, -0.0122, -0.3761, -5.2991, 4.6291, 1.9658, 0.0904, 0.1441, -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, 0.807, 0.6132, -0.4088, -0.0139, -0.0307, 0.9988, 0.028, 1.5414, 0.345, 0.5556, 0.0029, -0.0093, 0.7402]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.1747 left_yaw=0.0004 left_pitch=-0.0324 left_roll=0.0 left_gripper=0.9988 right_x=0.3554 right_y=0.013 right_z=0.0225 right_yaw=0.0324 right_pitch=-0.073 right_roll=-0.0078 right_gripper=0.7402\nstate[joint_eff]: [-0.1846, -1.306, 7.0359, 1.79, -0.0464, -0.0122, -0.0171, -0.0615, -4.6701, 4.9573, 1.663, 0.0073, -0.0415, 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 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, 0.8124, 0.6132, -0.4232, -0.0135, -0.0311, 0.9988, 0.0292, 1.1442, 0.7654, -0.326, 0.0021, -0.0124, 0.7451]\nstate[eef_state]: left_x=0.2911 left_y=0.0002 left_z=0.1703 left_yaw=0.0003 left_pitch=-0.0523 left_roll=-0.0001 left_gripper=0.9988 right_x=0.3484 right_y=0.0134 right_z=0.1578 right_yaw=0.0359 right_pitch=-0.1371 right_roll=-0.0093 right_gripper=0.7451\nstate[joint_eff]: [-0.2803, -1.7709, 7.1043, 1.8144, -0.0513, -0.0366, -0.0171, -0.3761, -5.1624, 9.5248, 1.873, -0.0317, -0.0415, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f9873419bb6c50eb11be7c58e72ab58af96c14688ae5df5e1379002d3ba6a7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5d01ffa8adf9e3db727ea35767ac0bd0472089d53955b7ba1657441e63152d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:492926458fec212872147a27cd628d6c7f960c668a36c182ee54894a9238e938",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6wcKEAgSGAI4AUIIdGhpbmtpbmcSDHXESQWI4K+NUCwTUBoMwJRQKBQbhRJGmGxmIjANmkYLrJ9Ayp4tOOEz5xewbM4NQ2gK4KVTR5SHJsts4/pLutLUwe3OwtY5x9XEuDQqiAfvuRUEwnCqwVeeBPK9QDgLcpxRLyubDDSIgg3ZBbBMjUU6bXexCSKpGfbhAyLMh6Yh+0c5jLVBK3qFog4OS10Na3sgplXJ/KeYBeIPVLuiZwYxVg1NmsdYq4T1a8XW6aaXexH6UvDG/Ll27gNZUlgg0MieAVKDnmlnV+wj4mdjEAaXfycx/3Xjr0B0OBVFR0I8DFldOpi1tgLV5gT6wbfjA5TxqV8jkV2IZ9eAGDvPNCcKeAb0ret/rH0C4uK81QOnLnVZsoFcZzlPRkEbG3Lp9ZGe2qjUqzxx4hQgKSCM7lGxOB5uKTwPIMabnGuaFsfK9YGXyfrJ7rhpOH3109woPsulTHosyfx+d0BhwhRHrt0lomUHbJEZb+PojAVliFt9F7sNu+387dFFXw0D8kirOXEwuy7jCQzHBXgZ8EyMkXUIftszJtC0Bdty6czuWJSCBHq2WxN7VGmSz8gWtxNiLgPxp9ZzNzOjdCRGEqsgQx1gg/sdsZ/NcRG/vZh9USqMPac7VtekQf2Y2ZMYGJWBrxVPTe3sEcm/Zab1KsZMzRUf02AJCsV722Tb/ZojkFtvnFd5lYsl/PNFLRHIwZ3MS4f/oXsgOEOK6A8SaV8zVALR31Qdp/PcTN1gcYXA/36J59L/DHLgVK+V8rKB3OAImNYDRHV3/w2wfp3nYSQqpMUZXDx5RtO3V3GmkGlSRMkBFf6yWlcWj9dHvUEkFrhbR0/zRy1LrH6nUXJxGB5aDxpLbYstxHmiQDz20E782n2lazgDVaqTcae5u3J1j7w18zLAxC4rptdh4EAUPsVr4QLNlwFDzDhnHtM8uT3JTOEmtwokFhydls0McBL1JEXssD5qVx+VJX7zKlCjd96X6JFmQgcH21EO/qPfGsLnK5KTTIv7X4qYmxtzP89d0L3XMAuwnsKgq0insOxCtrqnZOkBir1ncFY97WzmhKL52gqkjDf5aFKdtB9euGxhcBieJZpWPLGF6Gfo+Yv2l/qQvMEkssOUItoxTZjLxd8MeWNZQXrCvTSQodXxW3J2jw7mDRT0Ll7sfaM63Iqc0sLVI5bQJNLGNvTkLOgL8eC0mJqYTfd4+GaIEkTQj1liZtEJjyqpmdfd84dygOy0ZA01n8RNIT3WMTnKKu5PFgwSAFVlWpVXXRD7Og3qkubssUYwwv7sjhTutXGb/aGzP6zeFWZmOtCtJX3PGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NENatDS6PwF8XHheUWkmVx",
      "input": {
        "note": "Pear is lifted with the jaws. Carrying it over the blue bowl, which is ahead-left of the right arm.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.12,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01NENatDS6PwF8XHheUWkmVx",
      "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, -0.4263, -0.0135, -0.0311, 0.9988, 0.3416, 1.57, 1.1519, -0.3988, 0.2188, 0.1692, 0.7494]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1694 left_yaw=0.0003 left_pitch=-0.0565 left_roll=-0.0 left_gripper=0.9988 right_x=0.4207 right_y=0.1127 right_z=0.1547 right_yaw=0.0613 right_pitch=-0.2249 right_roll=-0.0401 right_gripper=0.7494\nstate[joint_eff]: [-0.2393, -1.4291, 6.9949, 1.707, -0.0415, -0.0708, -0.0171, 0.7863, -6.9402, 9.8393, 1.8926, 0.2759, 0.1929, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c3951e61bd06cae95dd78438a1688d0b582de5a3cb3399b26e018dd8178a1ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07568b50b081005beef83cb5bd6b53fc7728a2dc085a6ce8cc816526dbf3c1f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:638890047f8316a68a59da79a117e6013f6f9cd51a73aad760869a02ed9eb300",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 4.229 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.807, 0.6132, -0.4088, -0.0139, -0.0307, 0.9988, 0.028, 1.5414, 0.345, 0.5556, 0.0029, -0.0093, 0.7402]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.1747 left_yaw=0.0004 left_pitch=-0.0324 left_roll=0.0 left_gripper=0.9988 right_x=0.3554 right_y=0.013 right_z=0.0225 right_yaw=0.0324 right_pitch=-0.073 right_roll=-0.0078 right_gripper=0.7402\nstate[joint_eff]: [-0.1846, -1.306, 7.0359, 1.79, -0.0464, -0.0122, -0.0171, -0.0615, -4.6701, 4.9573, 1.663, 0.0073, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8124, 0.6132, -0.4232, -0.0135, -0.0311, 0.9988, 0.0292, 1.1442, 0.7654, -0.326, 0.0021, -0.0124, 0.7451]\nstate[eef_state]: left_x=0.2911 left_y=0.0002 left_z=0.1703 left_yaw=0.0003 left_pitch=-0.0523 left_roll=-0.0001 left_gripper=0.9988 right_x=0.3484 right_y=0.0134 right_z=0.1578 right_yaw=0.0359 right_pitch=-0.1371 right_roll=-0.0093 right_gripper=0.7451\nstate[joint_eff]: [-0.2803, -1.7709, 7.1043, 1.8144, -0.0513, -0.0366, -0.0171, -0.3761, -5.1624, 9.5248, 1.873, -0.0317, -0.0415, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6132, -0.4263, -0.0135, -0.0311, 0.9988, 0.3416, 1.57, 1.1519, -0.3988, 0.2188, 0.1692, 0.7494]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1694 left_yaw=0.0003 left_pitch=-0.0565 left_roll=-0.0 left_gripper=0.9988 right_x=0.4207 right_y=0.1127 right_z=0.1547 right_yaw=0.0613 right_pitch=-0.2249 right_roll=-0.0401 right_gripper=0.7494\nstate[joint_eff]: [-0.2393, -1.4291, 6.9949, 1.707, -0.0415, -0.0708, -0.0171, 0.7863, -6.9402, 9.8393, 1.8926, 0.2759, 0.1929, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c3951e61bd06cae95dd78438a1688d0b582de5a3cb3399b26e018dd8178a1ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07568b50b081005beef83cb5bd6b53fc7728a2dc085a6ce8cc816526dbf3c1f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:638890047f8316a68a59da79a117e6013f6f9cd51a73aad760869a02ed9eb300",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2ggKEAgSGAI4AUIIdGhpbmtpbmcSDEx5XO40PMnnW7firRoMkR5lT3mnK3fhAt3+IjAACgfnwRx4cP7bmOAnA27mOJs5UGQ3sCXBtvFnlcK67h6J0HXbAvu2cu026H70nhMq9wcQsCsDnDfjnORckhsXdy7yoZwOyn6/vtPFKFHM1CgN6fbFr3xmTXwKqyfNU7N5r9P1okXRhTnth/1nOOVM8vQQOd1rvG1aROmw5lRidgXlcEG80nNwUqLdyEQa3vRiszLNlCKXf/l8j9VsAIgJWX8nbzjUmOUQKX9eijqmbfN/2Xp75jWVoraY8FwZxvXoIPIAt0P5wWmVrcdsH5y9tpcvOb/IDG/A5KSB30DioFAoWs96VM/hHdlDW6SiR9RJGVr+DubhmupT0AuuybHLrvKLlv+uB70Zf+DhNQnL6ngm7rGFcnnkPgcgnpO/sfUgz4JFGFayUBTej4PTw0gaNVD1/xeNtgTUMoRfcwn491KnAuaiPwmou21BSMuANyKAECpdyMAKMnhp6zZcrHv2eo9c9nq9YWsL9+gt+VlKXa8l2a8BOZvdYllWMC9Nu0tJ/tOOUlHIlftXXbzmQx66mQ/8z0TcqjEccR4oEEAKW/0a2F4A8M/YLNf7rhPzijpO742LZT6ZRa0fc1b2D1Wk7WLveCEObyxnzSmiOlWZvhigokWg8Gd1KVihEeeWAZhrDCqon8wyhHF1DVQracgSXkTcgUE26sK3+Gwu50BSgFTC9wAoMKIiTZMruzHBx1RLD8NopE9RnPBcoOTQM9STz8H2dRARXR63QLl9hFsFAi1t0fWKLiDDaj/Yr5mAdouJWlOUCkPhYPNOt6Jvk2A2DCClRX1Bb2yIRt69WfF3sSQ3Uv6YFdrBLDo9OZLxtO0u1pMFmBwvHeOviRLQRnQedXPKTMd8fvAZvafjlgaXQPwlwd78klmsR8wiuv+PcHAwwcNzc/XldqDUW2yhLooskuChXBAP8D0L/RJWzdFkdHQ7ahYeI55KTilioBWmoDm59XJxD5PGY/oPMoNzZ/t0PlT2LHmLOFVtjyK2oq2mYipJHOpREdrPNri0z1it2l+A/GFiBrrrYZ0LKtdAYKoL6ctd2Po/eC3+xgc5Jb2b+Ji//61Q6EMa/IfgkrKmDT735/DMIh2P9R4MdBaEytaq2urNF2aRIj+07AGhzW7rBAwoz2G7qe+7SNenwMFzzKF5graEX0D9gudPkmE6fVxuZUeArlvc+XL1z/xoLpFYoGUfRd92gR37SRNfdvoYBctLTjUCs6z6h1LmMtIyylk8vpxrjopLIcpqJy2uplyslfxaeVf/W1jzGUiWKmI5HipwpKvAH4aegASU+ypqLJp5pKc5U0dDmGNhdF56zptxeBsGxQfcfUIoxqZI1w45eh5Iv6XiVu4VOsSWlYj0372KBmHc4IMDkdKwsFWUnm1s2PGjZLk5yYgc99pvuVorMe1OavWR/aw3BjB8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01343sJ17i4cMQtMYRPKxTjj",
      "input": {
        "note": "Pear is over the blue bowl (bowl directly ahead in the wrist view, overlapping in the top view). Lowering it into the bowl before releasing.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.12,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01343sJ17i4cMQtMYRPKxTjj",
      "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, -0.4313, -0.0139, -0.0315, 0.9988, 0.3496, 1.6897, 1.0153, -0.2398, 0.2237, 0.173, 0.7494]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1684 left_yaw=0.0009 left_pitch=-0.0614 left_roll=-0.0 left_gripper=0.9988 right_x=0.4144 right_y=0.1132 right_z=0.0762 right_yaw=0.0553 right_pitch=-0.317 right_roll=-0.0698 right_gripper=0.7494\nstate[joint_eff]: [-0.1299, -1.3333, 7.3368, 1.7265, -0.0611, -0.0415, -0.0122, 0.1299, -8.7043, 6.4068, 1.9316, 0.1001, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4328126c4026a6433f1f05a43c7dd5fc8afdb537b48047424329836681071151",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0cee3432ab26f8b3c7d5b8c9daa47120742449031c7583ed1123c448bcc51a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d364782d685ab6898304e24150db0aaedb96ef9a7b04cf390dec7882951cf05a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 3.279 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4232, -0.0135, -0.0311, 0.9988, 0.0292, 1.1442, 0.7654, -0.326, 0.0021, -0.0124, 0.7451]\nstate[eef_state]: left_x=0.2911 left_y=0.0002 left_z=0.1703 left_yaw=0.0003 left_pitch=-0.0523 left_roll=-0.0001 left_gripper=0.9988 right_x=0.3484 right_y=0.0134 right_z=0.1578 right_yaw=0.0359 right_pitch=-0.1371 right_roll=-0.0093 right_gripper=0.7451\nstate[joint_eff]: [-0.2803, -1.7709, 7.1043, 1.8144, -0.0513, -0.0366, -0.0171, -0.3761, -5.1624, 9.5248, 1.873, -0.0317, -0.0415, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6132, -0.4263, -0.0135, -0.0311, 0.9988, 0.3416, 1.57, 1.1519, -0.3988, 0.2188, 0.1692, 0.7494]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1694 left_yaw=0.0003 left_pitch=-0.0565 left_roll=-0.0 left_gripper=0.9988 right_x=0.4207 right_y=0.1127 right_z=0.1547 right_yaw=0.0613 right_pitch=-0.2249 right_roll=-0.0401 right_gripper=0.7494\nstate[joint_eff]: [-0.2393, -1.4291, 6.9949, 1.707, -0.0415, -0.0708, -0.0171, 0.7863, -6.9402, 9.8393, 1.8926, 0.2759, 0.1929, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6132, -0.4313, -0.0139, -0.0315, 0.9988, 0.3496, 1.6897, 1.0153, -0.2398, 0.2237, 0.173, 0.7494]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1684 left_yaw=0.0009 left_pitch=-0.0614 left_roll=-0.0 left_gripper=0.9988 right_x=0.4144 right_y=0.1132 right_z=0.0762 right_yaw=0.0553 right_pitch=-0.317 right_roll=-0.0698 right_gripper=0.7494\nstate[joint_eff]: [-0.1299, -1.3333, 7.3368, 1.7265, -0.0611, -0.0415, -0.0122, 0.1299, -8.7043, 6.4068, 1.9316, 0.1001, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4328126c4026a6433f1f05a43c7dd5fc8afdb537b48047424329836681071151",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0cee3432ab26f8b3c7d5b8c9daa47120742449031c7583ed1123c448bcc51a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d364782d685ab6898304e24150db0aaedb96ef9a7b04cf390dec7882951cf05a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSswcKEAgSGAI4AUIIdGhpbmtpbmcSDAGJsY/yyH+6ieSKhRoM9XdqAzAJ7zPd+BWFIjDpf9lDZEEyyitU/wH7XUSzjTpwnSILLKwiumAmfmUcYWm7nrkINt1T/t/elhH7/swq0AaSNRMR6OT7Md87QNv84PO06n7JqOrVMy2f6x5To8rQmO8cOa6RljbyxYuiWbxfRyzoSSqszLMrWOa7Qm5JiqFmuZs80zXD++QPM3YryWRSN3jhItJoaewQysqNYkvOv81zApjw78l75JgJm+n89FXsfrPs7B1RgGBpa2xbQxN/PDoxKtgoDiz58oJMngkKSyEICJQPZG5EJRdFq60J8dUstd+tsMldum2gwmCASvyqJTuvyZqQF7jcxKKLkyYo8U5MSy9YKt3RaK3IcfdxhNh9eOIEJ81CaMo9HOEZvyjXS/nVKCihld7SM5e59C/i2XTM8Ha6cSgZ0/JkR9PAMVLj5vGL5YAnl4fKvA/Hgb0XkLi9TpIjJ1lTrtOHPYp9AQ3PAjaurYCt9kVvpGkGnb2YBWN+VZiglIyn8KKEQ/+KVjDPhC+1ZT291QRKeZbzsRQgfP1XbSTlhcAoSSld0To+2WTMcnLj2ykzFE7ucjD4A/E49xG80D8bUt4dRvDlhbgOFUzPp1sRY4CEYBECEm1H9sZLYq9agLfSshnbbdnrHIF/y83ryVQ4R5yrVNnJuNF6bywS1ba/hCp5iqcLrVNkcFKRcNwCvOoX3n5IBpUSnucNAO5KhIVMF16i8Ii6vxey3VLTK1IJKTBxO7mw6QwfnvfZ45U/YHS4U/B1irQsaq0YRlrtfD/rd0Ls2aCcE1PmHuIPi8FDPVm8GkUt/hAKPw1PGv7VOM9dgnsnUufrXAIg7SnLVxj40uu3zjj8Fk6WgpUuwPkfqmw6ofSXPc5jT6bh4hvEiZha598rc7pvdAT+wdgC1si+hsRcAtmMVgDNxVwBd2ESYbS+qxL77U71ydsl37KR6+D8n7awZDM+w6lQRBskAMe6p/1mgLwbfmplrKsZOTb9HwzdoET6cU6EODCDMVyvB1c0BLSOjy/9MmJog9vHYKAGTQ1ENRPpTgM0EUENuv6ggMO7DS0BXIZK0c5c+c/+sOFhRwJvXdW3uOy/yZoj5ifc43yChDLitEsL6zzNbbqjxptwBzg6nrdwgqtdixjKA+nrIf6yIPbDCVnv2rjkeNeJzYf4PLOeZyiBiTUvgsOHhnK2DwkFtuFBr8Qy8tr0v4ardtr7BueUNxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013QFeQi2nqSL7JJojumhAob",
      "input": {
        "note": "Wrist view shows the bowl just beyond the pear, so the pear is over the near rim. Advancing a few cm so it hangs over the bowl centre.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.115,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_013QFeQi2nqSL7JJojumhAob",
      "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, 0.815, 0.6132, -0.4347, -0.0139, -0.0311, 0.9988, 0.3096, 1.8549, 1.2308, -0.3367, 0.1963, 0.1375, 0.7494]\nstate[eef_state]: left_x=0.2896 left_y=0.0002 left_z=0.1673 left_yaw=0.0007 left_pitch=-0.0664 left_roll=0.0004 left_gripper=0.9988 right_x=0.4545 right_y=0.113 right_z=0.0716 right_yaw=0.0548 right_pitch=-0.3693 right_roll=-0.0837 right_gripper=0.7494\nstate[joint_eff]: [-0.1573, -1.4701, 6.9949, 1.6825, -0.0317, -0.022, -0.0122, -0.6085, -10.0991, 8.5812, 1.4237, 0.105, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a809beb1bc90785a3a4c8a78ad79080b4bbcd12c7202d30d3aab8a52b312ca9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10bf970e55f5adf75f158581ad2a551de467ada785229e1e6dbfa7360d287dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dd8c9c344a2b70c326f6cb86a6b755966bb833c046cc17ecefba7285bf4af88e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 6.099 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6132, -0.4263, -0.0135, -0.0311, 0.9988, 0.3416, 1.57, 1.1519, -0.3988, 0.2188, 0.1692, 0.7494]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1694 left_yaw=0.0003 left_pitch=-0.0565 left_roll=-0.0 left_gripper=0.9988 right_x=0.4207 right_y=0.1127 right_z=0.1547 right_yaw=0.0613 right_pitch=-0.2249 right_roll=-0.0401 right_gripper=0.7494\nstate[joint_eff]: [-0.2393, -1.4291, 6.9949, 1.707, -0.0415, -0.0708, -0.0171, 0.7863, -6.9402, 9.8393, 1.8926, 0.2759, 0.1929, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6132, -0.4313, -0.0139, -0.0315, 0.9988, 0.3496, 1.6897, 1.0153, -0.2398, 0.2237, 0.173, 0.7494]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1684 left_yaw=0.0009 left_pitch=-0.0614 left_roll=-0.0 left_gripper=0.9988 right_x=0.4144 right_y=0.1132 right_z=0.0762 right_yaw=0.0553 right_pitch=-0.317 right_roll=-0.0698 right_gripper=0.7494\nstate[joint_eff]: [-0.1299, -1.3333, 7.3368, 1.7265, -0.0611, -0.0415, -0.0122, 0.1299, -8.7043, 6.4068, 1.9316, 0.1001, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.815, 0.6132, -0.4347, -0.0139, -0.0311, 0.9988, 0.3096, 1.8549, 1.2308, -0.3367, 0.1963, 0.1375, 0.7494]\nstate[eef_state]: left_x=0.2896 left_y=0.0002 left_z=0.1673 left_yaw=0.0007 left_pitch=-0.0664 left_roll=0.0004 left_gripper=0.9988 right_x=0.4545 right_y=0.113 right_z=0.0716 right_yaw=0.0548 right_pitch=-0.3693 right_roll=-0.0837 right_gripper=0.7494\nstate[joint_eff]: [-0.1573, -1.4701, 6.9949, 1.6825, -0.0317, -0.022, -0.0122, -0.6085, -10.0991, 8.5812, 1.4237, 0.105, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a809beb1bc90785a3a4c8a78ad79080b4bbcd12c7202d30d3aab8a52b312ca9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10bf970e55f5adf75f158581ad2a551de467ada785229e1e6dbfa7360d287dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd8c9c344a2b70c326f6cb86a6b755966bb833c046cc17ecefba7285bf4af88e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pear appears over bowl now. Release.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LNnsVF71jFtegJaZaV5hVD",
      "input": {
        "note": "Pear is now over the blue bowl interior. Opening to drop it in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01LNnsVF71jFtegJaZaV5hVD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4397, -0.0135, -0.0334, 0.9988, 0.3077, 1.8629, 1.2385, -0.3492, 0.1864, 0.131, 0.9959]\nstate[eef_state]: left_x=0.2889 left_y=0.0002 left_z=0.1662 left_yaw=0.0016 left_pitch=-0.0717 left_roll=-0.0015 left_gripper=0.9988 right_x=0.4538 right_y=0.1136 right_z=0.0689 right_yaw=0.0641 right_pitch=-0.3842 right_roll=-0.0827 right_gripper=0.9959\nstate[joint_eff]: [-0.212, -1.2103, 7.1453, 1.707, -0.0366, -0.0171, -0.0122, 0.0205, -10.1402, 5.7778, 1.3846, 0.1148, 0.0269, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc105f716ba96994c6c297054116494ba3f13cf60cd715fad9bcbc8ac6275639",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c40d93e1afeff860d831d9bc698186cd102b77e779102fad97564941822ff37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d00ea3295eb4403e1815d2f6ec92def627366f850c9f69127b1a65f354136d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 5.3 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6132, -0.4313, -0.0139, -0.0315, 0.9988, 0.3496, 1.6897, 1.0153, -0.2398, 0.2237, 0.173, 0.7494]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1684 left_yaw=0.0009 left_pitch=-0.0614 left_roll=-0.0 left_gripper=0.9988 right_x=0.4144 right_y=0.1132 right_z=0.0762 right_yaw=0.0553 right_pitch=-0.317 right_roll=-0.0698 right_gripper=0.7494\nstate[joint_eff]: [-0.1299, -1.3333, 7.3368, 1.7265, -0.0611, -0.0415, -0.0122, 0.1299, -8.7043, 6.4068, 1.9316, 0.1001, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.815, 0.6132, -0.4347, -0.0139, -0.0311, 0.9988, 0.3096, 1.8549, 1.2308, -0.3367, 0.1963, 0.1375, 0.7494]\nstate[eef_state]: left_x=0.2896 left_y=0.0002 left_z=0.1673 left_yaw=0.0007 left_pitch=-0.0664 left_roll=0.0004 left_gripper=0.9988 right_x=0.4545 right_y=0.113 right_z=0.0716 right_yaw=0.0548 right_pitch=-0.3693 right_roll=-0.0837 right_gripper=0.7494\nstate[joint_eff]: [-0.1573, -1.4701, 6.9949, 1.6825, -0.0317, -0.022, -0.0122, -0.6085, -10.0991, 8.5812, 1.4237, 0.105, -0.0659, 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, 0.8154, 0.6132, -0.4397, -0.0135, -0.0334, 0.9988, 0.3077, 1.8629, 1.2385, -0.3492, 0.1864, 0.131, 0.9959]\nstate[eef_state]: left_x=0.2889 left_y=0.0002 left_z=0.1662 left_yaw=0.0016 left_pitch=-0.0717 left_roll=-0.0015 left_gripper=0.9988 right_x=0.4538 right_y=0.1136 right_z=0.0689 right_yaw=0.0641 right_pitch=-0.3842 right_roll=-0.0827 right_gripper=0.9959\nstate[joint_eff]: [-0.212, -1.2103, 7.1453, 1.707, -0.0366, -0.0171, -0.0122, 0.0205, -10.1402, 5.7778, 1.3846, 0.1148, 0.0269, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc105f716ba96994c6c297054116494ba3f13cf60cd715fad9bcbc8ac6275639",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c40d93e1afeff860d831d9bc698186cd102b77e779102fad97564941822ff37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d00ea3295eb4403e1815d2f6ec92def627366f850c9f69127b1a65f354136d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsAkKEAgSGAI4AUIIdGhpbmtpbmcSDMurkNRSPjmftHWQFxoMlPoJURkaghVLI/MlIjDg4ITtrUUbaAL3cIu1s99x8CcSlfZgu1vKOQ6cxeT778I4kPn/6KG8Kh2BzrKuIvkqzQgGf5k1NMUxTX1OR3niXz/5U0ai3hkX4j6AzodlFCRW9/k5c1Pca+PIsqCNuk+PFty1pDk00Mz3N8ubfbNpnf9tL2vhc2TLfs09GgI2ugyQT9hoRa8ZpLQqVhvXcXXRTLqrnrxQC04VvUr3XaoL850QWEe2WMBFr8rwO8DwRLPEt//Fw2EuUT+z/4xvGR1ccmrYo1V4i33hJCr/Aa0WlKxPQ+51pmHynyNLFRIZhoRzOX5hucZ+wqZ2m75UyaS4WgQDf5bfkp7XqPjXr8/BGLaq8JxTjFcCViQbS61z83nJzfTg9epv3LbyZk5+M2RDm5lxmvgf/LpLprD2kZjhu/Qs2BAp58wFHt+JNHUJF+41CZ8rHwlTHohtFzN6rr+8awSDS5Hb1aONZcsYuf17A7xOuKxkBGLIEkVpwnVWn19xnYzVdsrv+RZegNnBwbu7l7WaFedXfBaFmmCGtmdheSJT1WlI0TdfyPMrUxyHg6QJ0HYAm/5bnEw51eiYRtd7D7/b+R5qB7vCi7KW6y1/5WwFJxckHBPTvegPQqUeVL+e2R/bt30pKRobz6/dNPHeKq8x04GinCECFV8Z+m1HilLlcZw3SH0A6wYGRKPNAcLsVkw0dDFps4t0+40EhIl20iYkAwfg8DHUz3gQAzc0HkIdxR/UYVoBp7SMMrxlx23EK2e6E0VFhSWoZNQhDJvGp5av/MrgOwfldziYn8hgyCTuE25tQgbw4xw4r0wk0CQLVb7J+QfQhjsyIV3am04INB+FaLCtCN0t7vZC8Ir+fIxMYwvrTqJsckFawUJWDpMlyPEW3vQbB8hkYtaExz4Ht3WVg14T4HZhkyla/GKKBLTlJ30NDvn9YrPyBH7sK2P05N0+GthGNlg8VCQf9Edl7RBC7wJq0K/V5aFWVwnFpYtEwWSnekdDCyvCyqAhD7B6hK27VmDfVzk8Il1Vm0uhaqcXOyL8CzryJ385eAFmoqjTR6KDyUia14lmWAWHBz9RyE0atyJSF5xoDDdCoheukZe6fxa9dxJ0arZI+mIHtdrEtX4h4iviwp2MUFJ4gRVDUyd7YgbNrs9EbppBfuOIeyjSk9sgbLU4HOLddGJyEKfY5P2YhPBteIK8Tsnr91ANtUEeZUM1fUe9b0FF7cOpU+D1LemhqoQFHATkCS5Pl1V+cv+YlYrjtWUDDBhoR6wPrkXxYm4QF3rGMNwucOjQA+fLQETs2m8BjDVhdz8FiWlBX4EAOTMuKoSBtF37T2SPHJaquJ2+Abx02a/ntLtYXeCzKO/CAHPRIpWuOznJ9LaVxgQsvX04VuCc/aDQNAl80XtA9giFIWP/tFrmmNK8ETuPQr0atAOHqbWrwRELHMk1sjt41tpUuQnjFXtWb9fuftRiGMiJY16M5dVerJYc1xAVbmmQVW62BW2FoA3KR9ps5k25vSDsTm1yRvGzEMWvUaxsLrRkdldA8u/c7GAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0135NiSbnGMMFN2CxfVaYuN8",
      "input": {
        "note": "Pear dropped into the blue bowl. Now moving the right arm above the lemon, which lies left of and nearer than the bowl.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.18,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_0135NiSbnGMMFN2CxfVaYuN8",
      "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, -0.4427, -0.0139, -0.0334, 0.9988, 0.5652, 1.6699, 1.2346, -0.6113, 0.3004, 0.3157, 0.9966]\nstate[eef_state]: left_x=0.2885 left_y=0.0003 left_z=0.1651 left_yaw=0.0019 left_pitch=-0.0767 left_roll=-0.0012 left_gripper=0.9988 right_x=0.3749 right_y=0.1801 right_z=0.1192 right_yaw=0.1048 right_pitch=-0.4101 right_roll=-0.0942 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.5111, 6.9812, 1.746, -0.0513, -0.0659, -0.0122, 0.3624, -10.1265, 9.4427, 1.2576, 0.3492, 0.1392, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aebe254e1d5d7b661964f7d7026b6239595f38e9f9cef83f186a9691800c3d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdae889941d387a4ef272e9554a5a2a129461b45cceb97649b1953c1e39f72f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d2e79d898f5fb679db65e27642b5e9e3efd34f025a1d5b7711f7a6678722e377",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 4.37 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.815, 0.6132, -0.4347, -0.0139, -0.0311, 0.9988, 0.3096, 1.8549, 1.2308, -0.3367, 0.1963, 0.1375, 0.7494]\nstate[eef_state]: left_x=0.2896 left_y=0.0002 left_z=0.1673 left_yaw=0.0007 left_pitch=-0.0664 left_roll=0.0004 left_gripper=0.9988 right_x=0.4545 right_y=0.113 right_z=0.0716 right_yaw=0.0548 right_pitch=-0.3693 right_roll=-0.0837 right_gripper=0.7494\nstate[joint_eff]: [-0.1573, -1.4701, 6.9949, 1.6825, -0.0317, -0.022, -0.0122, -0.6085, -10.0991, 8.5812, 1.4237, 0.105, -0.0659, 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, 0.8154, 0.6132, -0.4397, -0.0135, -0.0334, 0.9988, 0.3077, 1.8629, 1.2385, -0.3492, 0.1864, 0.131, 0.9959]\nstate[eef_state]: left_x=0.2889 left_y=0.0002 left_z=0.1662 left_yaw=0.0016 left_pitch=-0.0717 left_roll=-0.0015 left_gripper=0.9988 right_x=0.4538 right_y=0.1136 right_z=0.0689 right_yaw=0.0641 right_pitch=-0.3842 right_roll=-0.0827 right_gripper=0.9959\nstate[joint_eff]: [-0.212, -1.2103, 7.1453, 1.707, -0.0366, -0.0171, -0.0122, 0.0205, -10.1402, 5.7778, 1.3846, 0.1148, 0.0269, -0.105]",
      "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, 0.8173, 0.6132, -0.4427, -0.0139, -0.0334, 0.9988, 0.5652, 1.6699, 1.2346, -0.6113, 0.3004, 0.3157, 0.9966]\nstate[eef_state]: left_x=0.2885 left_y=0.0003 left_z=0.1651 left_yaw=0.0019 left_pitch=-0.0767 left_roll=-0.0012 left_gripper=0.9988 right_x=0.3749 right_y=0.1801 right_z=0.1192 right_yaw=0.1048 right_pitch=-0.4101 right_roll=-0.0942 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.5111, 6.9812, 1.746, -0.0513, -0.0659, -0.0122, 0.3624, -10.1265, 9.4427, 1.2576, 0.3492, 0.1392, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aebe254e1d5d7b661964f7d7026b6239595f38e9f9cef83f186a9691800c3d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdae889941d387a4ef272e9554a5a2a129461b45cceb97649b1953c1e39f72f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2e79d898f5fb679db65e27642b5e9e3efd34f025a1d5b7711f7a6678722e377",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0ggKEAgSGAI4AUIIdGhpbmtpbmcSDHpa3ztJDIJIBAjWOhoMJ4QXkp30NyyIg9ioIjB6d9q2wct+7LhvlmKv0AEYgBUVY2+zNc41Mplk5b3Ypp7BNyjy1dJ23oy5z3E7/pAq7wd7pAEk3vnPNxQpocSpMU40iyJzzbwoC15pgGA3MgEcmdBGbyw0S00CsB2nen0q2eXCHOU2ccsbJ8AckwpbLapQAXJLoYDPQmft6BzAFd0aOmn4YxtIxmIzIkhP8IBP4PyrsoVeotJOlqnFXsQFkZgQNrJcjmuYeF+Hs6wQXxiMzJmBZIQoK1Rm9q1H/VYBZE48xq9tiiiPfpRu5NzMOETL3apeHw1/O6xiFK8dy3B5zlImDtZBLLZRtpYfajF7iZwuXRnjjlbzjWlpusTa0nVxcbm2TIkws0Z2IVm2Lzc4NFJ5GR3NGt31Cjq3WuOUHfsREnua33aLv+r8oVYLtmfOmYHgA4sAW5tU70lCpX9Z6dRrH0X2Lp+OcZLUBrcaZcxZzxzET9dNJpL3JNQZ62OpVhGa4MxzPNonMn20Vm5nveFmYsxj8XgXvqaVs2DsSs4siXFxTAB4RbPX4FWMigzjQXPA0VWx00k6b+dZLPTxQs+uAKVgEfqSy/51BK2dSadqRY0G4Hse5VyXFtJtuwLG4+RouO9tBYd/7EAup5xUnXTo2gLfCLIRvzrDfryaajh4qA2Fdq18b9KGl8HI57bX2i1fcrSBQKail0JVhggyS/DTa1UazmjZ/chRD/BmcxMgjwuE673hTS+w3MesAbCvJD6RMRE+hEiVXwbk4XrLvmb0oZyr1V9O9i/YO/roHz3cilczlWfXjouDF9Suxt6wu3YFgW2b9mDqmAcMT/4jRc33jbIdEXQLQ6RSP55ojBQewWL0MYONduBa5dr6IJW3vqJXGdr8VBLCD9TCuL+gwe8jl+ad4AOnRculDamv+NgRWfg5QlSLxZv1htbgLy+Mb7OIXJptclaqn/46YeiRAswfjkrR8Wt1arqzVenUPcTj1C+0Il8bGF5YSjn1j31ENam56AHpMdANpE6Helgc4wamjgvn/af62T3rqqOY/fB+Jb6Zl3WaN6f9beyL/CF5uBH9QOdN8i1tUxatFIO/XnscFVQvLjZEPuIEdqktFhUuMvVcodRxScb2nuYpB3BziCu/C1Rb/69hyFrHb+uvboTf2y8zsMO3he+ViEE5HFkkUPqYS2CPqtowq6IDXTEQSGfzmW58TFh2Bog7aVY0EELyhlBnagry2jWXijkSio8IRbJDYt7WP/89j3QHtFcSsOWxVuqsz37YF6r1fIIUx9BS9UciDuWsutV61Ozmc9iBfoaE0YBo+rP0cZdWzQFzg/OSvNAenTyqcVA5dnPtO5t1QnSwaQTIogMjyZ1FUoo7WVnyerFwJCJFWA9g3Aq6eA3M2vDhj7NksCuhyQW9FxEqGIS6eBMMvpRUR4yQ1hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016MsL6hB6dsZJZTCNCrfsRq",
      "input": {
        "note": "Lemon visible in the right wrist view slightly left of the jaw column and a bit ahead. Shifting left/forward a few cm and lowering.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.205,
          "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_016MsL6hB6dsZJZTCNCrfsRq",
      "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, -0.4488, -0.0139, -0.0334, 0.9988, 0.5835, 1.7962, 1.3037, -0.6109, 0.3088, 0.3363, 0.9966]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1629 left_yaw=0.0019 left_pitch=-0.0866 left_roll=-0.001 left_gripper=0.9988 right_x=0.387 right_y=0.1954 right_z=0.0937 right_yaw=0.0919 right_pitch=-0.4561 right_roll=-0.1178 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -1.265, 7.0085, 1.7558, -0.0464, -0.0317, -0.0171, 0.1299, -10.2632, 8.335, 1.0672, 0.1294, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22aedd4255f2ac9093351d883449727593aed0fb05567814791986a65d994de7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b23aebf4619689aa87445cf9674f24c9487ff65d1c937b9d5bd0e9d3354c1fbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2bc1e5bfba8cecaa853524e9c63869262def0f6c0012d2f90a7efa79758c301b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 5.342 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6132, -0.4397, -0.0135, -0.0334, 0.9988, 0.3077, 1.8629, 1.2385, -0.3492, 0.1864, 0.131, 0.9959]\nstate[eef_state]: left_x=0.2889 left_y=0.0002 left_z=0.1662 left_yaw=0.0016 left_pitch=-0.0717 left_roll=-0.0015 left_gripper=0.9988 right_x=0.4538 right_y=0.1136 right_z=0.0689 right_yaw=0.0641 right_pitch=-0.3842 right_roll=-0.0827 right_gripper=0.9959\nstate[joint_eff]: [-0.212, -1.2103, 7.1453, 1.707, -0.0366, -0.0171, -0.0122, 0.0205, -10.1402, 5.7778, 1.3846, 0.1148, 0.0269, -0.105]",
      "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, 0.8173, 0.6132, -0.4427, -0.0139, -0.0334, 0.9988, 0.5652, 1.6699, 1.2346, -0.6113, 0.3004, 0.3157, 0.9966]\nstate[eef_state]: left_x=0.2885 left_y=0.0003 left_z=0.1651 left_yaw=0.0019 left_pitch=-0.0767 left_roll=-0.0012 left_gripper=0.9988 right_x=0.3749 right_y=0.1801 right_z=0.1192 right_yaw=0.1048 right_pitch=-0.4101 right_roll=-0.0942 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.5111, 6.9812, 1.746, -0.0513, -0.0659, -0.0122, 0.3624, -10.1265, 9.4427, 1.2576, 0.3492, 0.1392, 0.0513]",
      "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, -0.4488, -0.0139, -0.0334, 0.9988, 0.5835, 1.7962, 1.3037, -0.6109, 0.3088, 0.3363, 0.9966]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1629 left_yaw=0.0019 left_pitch=-0.0866 left_roll=-0.001 left_gripper=0.9988 right_x=0.387 right_y=0.1954 right_z=0.0937 right_yaw=0.0919 right_pitch=-0.4561 right_roll=-0.1178 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -1.265, 7.0085, 1.7558, -0.0464, -0.0317, -0.0171, 0.1299, -10.2632, 8.335, 1.0672, 0.1294, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22aedd4255f2ac9093351d883449727593aed0fb05567814791986a65d994de7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b23aebf4619689aa87445cf9674f24c9487ff65d1c937b9d5bd0e9d3354c1fbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bc1e5bfba8cecaa853524e9c63869262def0f6c0012d2f90a7efa79758c301b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QcKEAgSGAI4AUIIdGhpbmtpbmcSDDn1NESl8d1tLGoXnBoMrvaqraZS6vd+icQJIjDCtWmFFUpeHWVo+dxbkL3DYW3Bluql6siRR+kdmodNwHLHq3yZMtGFc3VVLejRdZEqjgctu0f8Od0jKIzW1a2T8uPiSxf3sGnNXhnB1YIfbmv7TG7818Y9ESzDAImgoVgLFBJ2a972q6COQsmzFPIHEBS9kmYxrpxoqlI/ev+hyPnuLNzJcGuPk0xEkTszPKMZGX+7StZ2SHHnJgclmnCQj3Ont0PtQ9CtMqhucEVNH3IiA4gTANGoUQkLWbg60EDGdTjh/dtDXvDay//JJF+cX8xVeSqkT3sPPzgE6Jgm4E53ggvrEHEZMY5sR/QPgCH8B4SjyNlXEQY9wnVqZEw2xyxJyP7lOw6iNmPh8xsiXGzu1loRQarmncbnuQ/uXPZ7vjRUaFbXKTC+5yS+JYMuqnTfl3nMWHsmnbXMFXSeyry4f4FQyQFUfRg1EvJmo1GH/8qvwk4G4WyMvNP9RAXkXnBej63VcIXX9bqs0qsENxjqECBQtgkKi/teXJFlg0NpG/9hzjp+AnezjZSLvgMXzXtsxNDGdVZqivAk8ds4Fbbot3w40jWJLcHJgbiLKJrL5hTiQqwo3UxrbzR+I8LTahqdSlMkeVjWpQOhEvwvC9fnCeVNXNtw+ppOqG8hfj6uAD8fl2n2wJpVZknb9OkhJ0XLFsO+mEdHVxK685Y9x+bF6iqy9h/5/H5RVthUbmMkc7J1S62uQX5KhSOBgML0GCwVpubeY5q4Vzvij/vr56JHLRsEADQE19txN71Px3C6Gp6XJgXCTHALK0WiZ4ScIYnfJBgE7tLVsPxuFzcdpSiFeBSBGHZ2y8feDcUKRqIXrY9WkVTFF3FC1rAVIrWkZQl8Kyt5/mPY0UBphWAOZGog2Uz8bSRaoCzzUXsyeC+jtOE38yEwTBOqsjVrqEfAysakqYmPwdyzALhhYfZxAuNPc1eW+Yf4SG3HuhOc/R5vxZvShylEjvyXUVJxc78+YXNGd5FMmuunDsUcdngtDYwP6nQLPUphiUdnTAyIK51/t6saIYgPMN3ph72zqtZfn2XmmZs6/kAZwbJeHE0CFfurqdd174u7mPJjkmr2nrEo4/lASctLVKZ4Wx0Y9y4OuUtIZbZLFTtYuWQgSOxxdjhs84tlf/iz9fu5JNEpEGWECOWPFVkrJ9Er6sW3Jt9QqoS9ued2G9zQ0HVTaPPZsbfg7pFNQeuntfGBGt+NTeb8bgNaizNoKDIDKJP2p2Oh6DoEAQHyHsEN0Ih0KcSqZh38PUsxrFlA3iZJ9aad65gxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PsY1HsZzxeRypDc4ZeCN2U",
      "input": {
        "note": "Lemon still slightly left of the jaw column and just ahead of the fingertips. Nudging left/forward and descending to table level to grasp it.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.215,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01PsY1HsZzxeRypDc4ZeCN2U",
      "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, -0.45, -0.0139, -0.0338, 0.9988, 0.5861, 1.8309, 1.306, -0.5922, 0.3058, 0.3294, 0.9966]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1627 left_yaw=0.0021 left_pitch=-0.0877 left_roll=-0.0013 left_gripper=0.9988 right_x=0.3894 right_y=0.199 right_z=0.082 right_yaw=0.098 right_pitch=-0.47 right_roll=-0.1263 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.3607, 6.9812, 1.6777, -0.0317, -0.0757, -0.0122, -0.0068, -10.5915, 8.212, 1.3407, 0.1783, -0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:919e85fa86c574c9d2e740cc7c1ca4b0de629e561afbf9707e7bbc0459c36cfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90a04d2f9f8ee381a071c242df2e5cef46b7ea905674ac14d8189c4e5ee0f0a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7611356144539e29a30e677dc5021a39f0f93762a4bd8841eef14b2377ef4daa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.692 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8173, 0.6132, -0.4427, -0.0139, -0.0334, 0.9988, 0.5652, 1.6699, 1.2346, -0.6113, 0.3004, 0.3157, 0.9966]\nstate[eef_state]: left_x=0.2885 left_y=0.0003 left_z=0.1651 left_yaw=0.0019 left_pitch=-0.0767 left_roll=-0.0012 left_gripper=0.9988 right_x=0.3749 right_y=0.1801 right_z=0.1192 right_yaw=0.1048 right_pitch=-0.4101 right_roll=-0.0942 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.5111, 6.9812, 1.746, -0.0513, -0.0659, -0.0122, 0.3624, -10.1265, 9.4427, 1.2576, 0.3492, 0.1392, 0.0513]",
      "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, -0.4488, -0.0139, -0.0334, 0.9988, 0.5835, 1.7962, 1.3037, -0.6109, 0.3088, 0.3363, 0.9966]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1629 left_yaw=0.0019 left_pitch=-0.0866 left_roll=-0.001 left_gripper=0.9988 right_x=0.387 right_y=0.1954 right_z=0.0937 right_yaw=0.0919 right_pitch=-0.4561 right_roll=-0.1178 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -1.265, 7.0085, 1.7558, -0.0464, -0.0317, -0.0171, 0.1299, -10.2632, 8.335, 1.0672, 0.1294, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.45, -0.0139, -0.0338, 0.9988, 0.5861, 1.8309, 1.306, -0.5922, 0.3058, 0.3294, 0.9966]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1627 left_yaw=0.0021 left_pitch=-0.0877 left_roll=-0.0013 left_gripper=0.9988 right_x=0.3894 right_y=0.199 right_z=0.082 right_yaw=0.098 right_pitch=-0.47 right_roll=-0.1263 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.3607, 6.9812, 1.6777, -0.0317, -0.0757, -0.0122, -0.0068, -10.5915, 8.212, 1.3407, 0.1783, -0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:919e85fa86c574c9d2e740cc7c1ca4b0de629e561afbf9707e7bbc0459c36cfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90a04d2f9f8ee381a071c242df2e5cef46b7ea905674ac14d8189c4e5ee0f0a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7611356144539e29a30e677dc5021a39f0f93762a4bd8841eef14b2377ef4daa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8gkKEAgSGAI4AUIIdGhpbmtpbmcSDPuYLgiYf3zMO/i0xBoMHYcw1n/5OTyS6GyTIjCV9N9NAPZC6ZGzdzObl/iwHFUR/UmgvWzvzSwqbKXZt8t9uCUPLmRI4KRWMjqBzb0qjwnU3E6LHoqWmhTdXRzA4Ju6KCQFRkkrA9jxPVfd1ffYVDXQpyogt2Rzs0QJeRedMNyYeS/9WisWGikC6bIk1FEgkBJjPoDCmQULLOPCZetg63bs7jzvM8uICvCV7snk+GzF+XK/nPluRTw0BOeWadk1p6D6hrekAxkHIubmMN+pGXCQIzNdK4uL9m1Z5qN1XkY8BiJMLRzxF3CTBriqPBf/v4MlTNsY7uctdAKXjNgYdsUX85Pbj0AlztaUrUGXgvdRr84t4LGCQ5a61mX62dAsbBCCeayaneh4GknuCWvpPCIhOQlwd0MeOzvRHts2xLZK/FguoocvfSejsnkH+xxrDPyxG1nLZxtAe8gtLv+x0Zy1RqYge8qCeAHsx3mqiLNz5Dk7wbPAU+QglsJj9/BwJ73fwok9nqP4bE0n2XACERRpi8Pvt/Y9f6M5C+ypYLZSYc8XDQgFe9zl2EQbh39HCyn7tFahmpm/yGvMGVaVebSycPV55t70VPmF6j+Upk3woAcf6T26Nbumkx3i8eAqbtuRfs9abMc1v6DuIOrqwWcxe1gYCRWszh5zpOX9yTBBl+cZUFErk23I7osdEM5qZvCrZwQ6A3N2tVB2xtTohbUeGEBr5tU0HZUE5VlaNrIrRNmmPwJFH9N90z58FjyHQWPAPGwW27RVdG0NoMvYVDb48ApldVTVnEmafcWUlsIpsJzdx9TtMHD9EHmQ4G1xXzkXdLd0OhmUbHCAhrYGuazDZOueX2fNIRc5pnIg/+UZJXxNeDYqjlNimsnvY0RPz82+ygFF9ZAVQpX8I+ORIZjw94CLHs2hzF5cqme42D3BGIWp4btdz8T73F5yvng9LvmrkkzHbYI/3sf6qL+RinhMoq3QIPPLDm4uFpkKP+bcxJbj6K7QnUVo7dkZSigAotOyZq4azXsAfnULWXyo6gbyMuGDRbgMJmH7LqLw7M01+CeJ3HpEBlCsWHYiNu0n+Hi5lxXYMVYu838q0EAMYw+04AfyksNdGKESMcVPWfHAVQNz5mdzPUWN1SwOvfGt94am6OHOpkl3QSD+P27uVAJSnBxxFVYzf5fXMF66At4YMaEHrtFAMIxVN195rVs7qk7B/qBkckD/hdw8NmeFGmSJ6+LC1UYHnKMmrC34Gwxw+nV2VmEWGG23G2JCrC3u0EStRd89C5UoCrMXgdwrePg/nPza/8oao9M6owoa62CFE7SSCEAJiGrSDsuMAOG67BudJ3dedE4S2NQPOZbNFLQ2KG2iOpUh96YNAPuC0Mup9md4sFlGieG3vFdNCcaW3IW9hwBfOA56i5YHPW63NBEzHT2a/4ACeFFMPC1edOFZfRpGxFiO6aTdLuHB6jVPeQA56i79vNGDE4Vs+0ytVKzJsY4sbZTImAaSBh7+TRRmu4PkB40bmDFNoi89PnMLqIgcuzAlTUtQUDvtRFM0SUa9oan1fRgB3hP73JZuphM9RFIQcV5qugdhgWGXsr+T/Wc7D1e3S9DQ1ImE0LFpXldTdz8ysKQwENAtxad5esDm7gCinQZdG8yO6fudQtkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FDc7nKn8VpbkzV2dGqBKrE",
      "input": {
        "note": "Descent stalled at z≈0.08 – the right jaw is likely resting on the blue bowl's rim (bowl edge touches the right finger in the wrist view). Shifting left away from the bowl toward the lemon before descending.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.235,
          "right_z": 0.085
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01FDc7nKn8VpbkzV2dGqBKrE",
      "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, -0.4538, -0.0139, -0.0338, 0.9988, 0.5861, 1.8309, 1.306, -0.5922, 0.3058, 0.3294, 0.9966]\nstate[eef_state]: left_x=0.287 left_y=0.0003 left_z=0.1619 left_yaw=0.0022 left_pitch=-0.0915 left_roll=-0.0012 left_gripper=0.9988 right_x=0.3894 right_y=0.199 right_z=0.082 right_yaw=0.098 right_pitch=-0.47 right_roll=-0.1263 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.347, 6.9949, 1.746, -0.0513, -0.0757, -0.0122, -0.3624, -10.5915, 8.1436, 1.3114, 0.1343, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c95666abf7dd1196f9fbe9bcfbe4b6e21079fbbfa45c15f564eb113701467615",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:672c177e5be4b937d5571ca5a7869571e179a8b2dfdb855b7a6e1d2f1c488203",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc653d9083871a1c6b65aa650376a4cdaeb5b1d4906711871254646b52cf45ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 6.389 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4488, -0.0139, -0.0334, 0.9988, 0.5835, 1.7962, 1.3037, -0.6109, 0.3088, 0.3363, 0.9966]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1629 left_yaw=0.0019 left_pitch=-0.0866 left_roll=-0.001 left_gripper=0.9988 right_x=0.387 right_y=0.1954 right_z=0.0937 right_yaw=0.0919 right_pitch=-0.4561 right_roll=-0.1178 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -1.265, 7.0085, 1.7558, -0.0464, -0.0317, -0.0171, 0.1299, -10.2632, 8.335, 1.0672, 0.1294, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.45, -0.0139, -0.0338, 0.9988, 0.5861, 1.8309, 1.306, -0.5922, 0.3058, 0.3294, 0.9966]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1627 left_yaw=0.0021 left_pitch=-0.0877 left_roll=-0.0013 left_gripper=0.9988 right_x=0.3894 right_y=0.199 right_z=0.082 right_yaw=0.098 right_pitch=-0.47 right_roll=-0.1263 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.3607, 6.9812, 1.6777, -0.0317, -0.0757, -0.0122, -0.0068, -10.5915, 8.212, 1.3407, 0.1783, -0.0073, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4538, -0.0139, -0.0338, 0.9988, 0.5861, 1.8309, 1.306, -0.5922, 0.3058, 0.3294, 0.9966]\nstate[eef_state]: left_x=0.287 left_y=0.0003 left_z=0.1619 left_yaw=0.0022 left_pitch=-0.0915 left_roll=-0.0012 left_gripper=0.9988 right_x=0.3894 right_y=0.199 right_z=0.082 right_yaw=0.098 right_pitch=-0.47 right_roll=-0.1263 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.347, 6.9949, 1.746, -0.0513, -0.0757, -0.0122, -0.3624, -10.5915, 8.1436, 1.3114, 0.1343, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c95666abf7dd1196f9fbe9bcfbe4b6e21079fbbfa45c15f564eb113701467615",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:672c177e5be4b937d5571ca5a7869571e179a8b2dfdb855b7a6e1d2f1c488203",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc653d9083871a1c6b65aa650376a4cdaeb5b1d4906711871254646b52cf45ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoggKEAgSGAI4AUIIdGhpbmtpbmcSDFjNfvARykgeixB1UxoMaUEcr7+EWbVHjYEDIjClFjv+nDp0KsGeLMY7KTseVJuVIzk8Yu6asot1MywnDeKRiEcnL7S+vU5OwSG7FD4qvwfpO8DzDIX6oWzb0sSXth6TZBuc4zX2a6Q5z2ySgLtpb4KsWfyuHCl0E9Qkb48Khb4xhNg+dvjLfDsJwG4VO96ANK2l6ll7EPKJ16FuK2NpwenC1C2MWgk8qoV6CKo+Ra4Pbpio2d4EzE7Cex6e2v2y7HLi7UlMXap1C0qhbdBVXzvfrYJXksur56b0ZFegE1KepEFM96ldvL0HyNq9ntbmQ+NDYhygm1sz8/cc9H2a+vOt0lxinyr9eu3/sTJJ7gwA/RwjLe4Hc1CA1HcTyH6E9zF7FxHY00uUohMHK/14gBx+DBQdH4Cml16+VB9TEAs32yBjGob3KCUkB9v+ncp+T5b3IWWUryhM+/GqGPZbK9xzWQM5yWf22Nh3cKtkG7ZC8fh02r5voudHITHPh5yIdF/wTnXOXu1QcOVOYLWOMU2So5IHiVjO4ELZLJuq6wDRDxkTO+hkcJHaDzR8E8WZrrDC84eYZZ6XhyzaxbKoU1l2/05/4v46D/RiI4DRfppc/sTilGp5xTZdpqEYD2JnQe9NC0HosE1JcpUa/Q8Q0nUfwCpGLgRPIjRCgGRfsSdBqmNsh7kU1FVo96eh0pj12L/VCSHraL9rzGpx+flCd6sfjMsGiKb4LLeWdaJ/F9W2bcNqnVzJyyPHIgtQWsQpqSCsv+8sJhRLLDIHBrcq4mMsZBjfP3XrTXMU7uuk63VRvm36sruK+PXQJS74X7c7TAfh/zLy5W1LEGkZ0LClp4uJqsNACaXQV10sqgf96wDn7U85/6Se1Q3Q/H6y/k0+jpok58btv0t3UrRXoDBowo/VDl52eUBq/yPKaooYTruPXoNwaWlNj1bSdKe+yfcZBmgbm7uR43ipW0LU9LJapxy6vRDM88TxeK19DBf4czOSbhlSuprdoarZAjRQbHdBZLPOQeb/O4kM4NpPyWYLLTaP8dH2XaASe0+ap/wsBoOmKnsRrZ6CSisGWbvS4Ab1RkqIzK5utsGSFBHqixXJ2X/J/sTVOGYpWr6aE6HKVEG6zatFGKVeSCSzajs1Cfj2gWnvKHkITTFO1t7mOc8VbcXzreWqlUe2ysWStLEM8jq7cEtOUdEvYaQSfkfGb7q0J2YuRnHg7lL4yhprRqeODDHLE6NVbExmGimfkKITbBrbGX1i32hDLjhx6uYIsimh4VNpgJYc1e1dG4JLeO82pRaQOahpafQlf8g7sr9PMB+m7waCzMFNxLF+Q2sc+t9/sxLoQ+0rvcL7bSiTSQWyaSEwIgJwuj6Rkt/Hd+PjhxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dd3EKfyTqyzz48XBf6oFHY",
      "input": {
        "note": "Right arm stopped responding at this pose (joints unchanged). Backing up and raising to get out of the stuck configuration.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.2,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Dd3EKfyTqyzz48XBf6oFHY",
      "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, -0.461, -0.0139, -0.0334, 0.9988, 0.6273, 1.7607, 1.3903, -0.7681, 0.3107, 0.3515, 0.9966]\nstate[eef_state]: left_x=0.2859 left_y=0.0003 left_z=0.1605 left_yaw=0.002 left_pitch=-0.0988 left_roll=-0.0007 left_gripper=0.9988 right_x=0.3694 right_y=0.2055 right_z=0.1223 right_yaw=0.1165 right_pitch=-0.485 right_roll=-0.1297 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -0.9094, 7.0906, 1.7363, -0.0855, -0.0659, -0.0171, 0.212, -10.6462, 8.0752, 1.0232, 0.3687, 0.1538, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f98eeb4ae1d2e0569c076d5db75d2b811dbb5ebc3fd3f9d6e256a67f08abd2dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c59c9330e3fb71173bc108043131b4da994eef8560e711ec3e6d60af8acd5d39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:938241d62e3f5005034149c03a4d923d1a93e33453aaac5deb6c9c35bbef15da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 4.436 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.45, -0.0139, -0.0338, 0.9988, 0.5861, 1.8309, 1.306, -0.5922, 0.3058, 0.3294, 0.9966]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1627 left_yaw=0.0021 left_pitch=-0.0877 left_roll=-0.0013 left_gripper=0.9988 right_x=0.3894 right_y=0.199 right_z=0.082 right_yaw=0.098 right_pitch=-0.47 right_roll=-0.1263 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.3607, 6.9812, 1.6777, -0.0317, -0.0757, -0.0122, -0.0068, -10.5915, 8.212, 1.3407, 0.1783, -0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4538, -0.0139, -0.0338, 0.9988, 0.5861, 1.8309, 1.306, -0.5922, 0.3058, 0.3294, 0.9966]\nstate[eef_state]: left_x=0.287 left_y=0.0003 left_z=0.1619 left_yaw=0.0022 left_pitch=-0.0915 left_roll=-0.0012 left_gripper=0.9988 right_x=0.3894 right_y=0.199 right_z=0.082 right_yaw=0.098 right_pitch=-0.47 right_roll=-0.1263 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.347, 6.9949, 1.746, -0.0513, -0.0757, -0.0122, -0.3624, -10.5915, 8.1436, 1.3114, 0.1343, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8211, 0.6132, -0.461, -0.0139, -0.0334, 0.9988, 0.6273, 1.7607, 1.3903, -0.7681, 0.3107, 0.3515, 0.9966]\nstate[eef_state]: left_x=0.2859 left_y=0.0003 left_z=0.1605 left_yaw=0.002 left_pitch=-0.0988 left_roll=-0.0007 left_gripper=0.9988 right_x=0.3694 right_y=0.2055 right_z=0.1223 right_yaw=0.1165 right_pitch=-0.485 right_roll=-0.1297 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -0.9094, 7.0906, 1.7363, -0.0855, -0.0659, -0.0171, 0.212, -10.6462, 8.0752, 1.0232, 0.3687, 0.1538, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f98eeb4ae1d2e0569c076d5db75d2b811dbb5ebc3fd3f9d6e256a67f08abd2dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c59c9330e3fb71173bc108043131b4da994eef8560e711ec3e6d60af8acd5d39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:938241d62e3f5005034149c03a4d923d1a93e33453aaac5deb6c9c35bbef15da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2QoKEAgSGAI4AUIIdGhpbmtpbmcSDJfkxoo82q4qfWcQfxoMX+vDQBiHAFZPSI9BIjD6ja+BaD3+mwLr/JzNxiT6e1N7Firmox0yHZGaUWsdYXDQLGCp79U+oWLG4RaBAKEq9glhSub42DCwLzUz742g0tB8ys0PXkv/OYMp7QRd4pT3GzJn5BBW4JIILVJ7VhfTxyFhWC2sVN2W6JHDz3BFEYwzxPTMKyCPt3RXcj8LInTCUgEpnv5BETCw+xJl/DpXBWz6Xnsvgrp9UtKH7qR7ieuYcJ+z7QMlPwnd/JD1XZ1Wlc0wUyUigYOeCwMMkH1mheOdE5r+jJhnNEKZ6NpTTultcnZWLO7RrtKWQOrAeQZWHEIQNv3a8ZjhcWmit2PghZuWNAB1SM1G1ToKKW68/yCWGuOjM09/lMx7BQpnYxOkBJlpYrJaZrYIAW8KK7FJKYxu0BNkkqP8NXs6WIPbaCoQMjjew7USFelJ1nqFfMtLG3fdicHBH1pkX0VSdgNo6j4JLOh+ranMnPu5BYdYE+c03p1wScl7jUDHnkTFuSpsftX3fXzctOhv5/v33jFrJ3Kp43bXvMW3UZX8J3KKTKLKCcPoFq75522TWPyPvI3rjzRKX+YQsQb/vsK1swCyTZ4JMxQ9Mu7tNa7UhB4tVimprJSu4URLfA2dFIY+IzQK1cc7xPtIMjOfTLlKPjfbwQbeyfCgejHnYDU6SNdp/z5WHh8TewXxergNyS8exp04s2ugEYAwg+h3O7fDIzvXU/CKnWcYzGlImE0+xgOK+lL3WRvN5MnlgZ6sPrNurcFTnIPTuDaUqE/+6oeNstpy7QkZQAc2Kxag3N/kZa0QSYI8sL6PWQnHXmAnL9T/lIls3acOEmU41uMq0kP1AUgcQvPd9dFP6gDdYro9/Z1plIPkAVCeFleUomWIoeiybENAJumtt7B75foAKmISSSSh0UeEhkY1Dax+XOCdOI2Yzf7Aqktc6c1QUyssWCGcqtQ2CbC6vudJMU0J3gE9NM2EZGPPhHY9skAkQNribLJwoD4nB6WIJChNLS89SYms+6ukW8G5Shpl6D7VAzhiARWMqfGNCX/JD/pEQTpTUbKVbrxLoqhXs4M1TZeSQp2jX2VGChad7/Cjxtx5KQkn8tSnkess3sMcGZpDsLLOt7m1x8wI+AIfYr5NOS01XGsailuDJwckhA0AuDduZuNrjs9Sa+ZIsDSdZm8Wf3GoZAYM5FiMEQJ1c1n68nUq2x+89rBSvE0RS8/v2iOtdf8hPkIAR1F83LFIOz03jc+NhOu0Q/tRoK7aIBtNXTbQUSXx7YDXTgf9CyGvC8fxp/hGD9KlOumeQ03rEDT5T35tCO2ogQ7vI1xpy7P26r/WZchsOdrGbRN78snQ45bhJ9+l0CPKvf3VBZ1q8ysGDmGaWo5OM+BljiW8Egu86r3/Z9OTqKCpcOD/Af5sc+HeVglmVwCTejTAGgsNVm1bURaGnQrZg09H67fbJQ/GvVlOpPA7+5JPm8xJXVzn+NgnK/5jLlBc94mvLEAnv0G+YcQwJA2f41Zs3ClyMfn/3NGErW442SvD+/sd76IunAnp+zfTvlU+kDqiT3EXK67/4dfMD21ww1gfxvLsCe86xuT3ZDBpGKmCq/f2QcoypRR1Xzkb8SiS6GfvnhUnRgm6WWGQonLzYBXyxn6Ul+xnTbYfhBmAynz8DXEOVwoa8do8VeQWKBHS+FzI9SlU/nsRI0rXhnNXo7Q4jueNdNJrB4cMHDzJZIHXH81e9liDFx3TI3f4Ix6JqRm3MC6+7hpOn+7mWbDFw8SSYV11jdWYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qf9Ve3gqUEJxnmJAboTkcv",
      "input": {
        "note": "Arm moves again. Pitch had drifted to -0.48, which may be why the descent jammed; commanding pitch 0 explicitly while descending onto the lemon (it lies just ahead-left of the jaws).",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.4,
          "right_y": 0.215,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01Qf9Ve3gqUEJxnmJAboTkcv",
      "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, -0.4686, -0.0135, -0.0338, 0.9988, 0.6838, 1.8996, 0.8192, 0.3225, 0.5144, 0.2497, 0.9966]\nstate[eef_state]: left_x=0.2849 left_y=0.0003 left_z=0.1583 left_yaw=0.0019 left_pitch=-0.1091 left_roll=-0.001 left_gripper=0.9988 right_x=0.3908 right_y=0.211 right_z=0.0203 right_yaw=0.1242 right_pitch=-0.0814 right_roll=-0.1478 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -1.6068, 6.9675, 1.6825, -0.0317, -0.0659, -0.0122, 0.1299, -8.2803, 4.9162, 1.7998, 0.3492, -0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7bdd21a9778dd1f48fd7083af61b425801046252ef1c825da597e6776b27afe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90641eafa7a5a6be5157b790290fb4af33d3c2022b9ecb37e8dfaf672ec4f359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3bc0ecfb6f0e8dbe7ae4f33a10389fc83443895dad31414b0593b696af241e5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 4.473 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4538, -0.0139, -0.0338, 0.9988, 0.5861, 1.8309, 1.306, -0.5922, 0.3058, 0.3294, 0.9966]\nstate[eef_state]: left_x=0.287 left_y=0.0003 left_z=0.1619 left_yaw=0.0022 left_pitch=-0.0915 left_roll=-0.0012 left_gripper=0.9988 right_x=0.3894 right_y=0.199 right_z=0.082 right_yaw=0.098 right_pitch=-0.47 right_roll=-0.1263 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.347, 6.9949, 1.746, -0.0513, -0.0757, -0.0122, -0.3624, -10.5915, 8.1436, 1.3114, 0.1343, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8211, 0.6132, -0.461, -0.0139, -0.0334, 0.9988, 0.6273, 1.7607, 1.3903, -0.7681, 0.3107, 0.3515, 0.9966]\nstate[eef_state]: left_x=0.2859 left_y=0.0003 left_z=0.1605 left_yaw=0.002 left_pitch=-0.0988 left_roll=-0.0007 left_gripper=0.9988 right_x=0.3694 right_y=0.2055 right_z=0.1223 right_yaw=0.1165 right_pitch=-0.485 right_roll=-0.1297 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -0.9094, 7.0906, 1.7363, -0.0855, -0.0659, -0.0171, 0.212, -10.6462, 8.0752, 1.0232, 0.3687, 0.1538, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8238, 0.6132, -0.4686, -0.0135, -0.0338, 0.9988, 0.6838, 1.8996, 0.8192, 0.3225, 0.5144, 0.2497, 0.9966]\nstate[eef_state]: left_x=0.2849 left_y=0.0003 left_z=0.1583 left_yaw=0.0019 left_pitch=-0.1091 left_roll=-0.001 left_gripper=0.9988 right_x=0.3908 right_y=0.211 right_z=0.0203 right_yaw=0.1242 right_pitch=-0.0814 right_roll=-0.1478 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -1.6068, 6.9675, 1.6825, -0.0317, -0.0659, -0.0122, 0.1299, -8.2803, 4.9162, 1.7998, 0.3492, -0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7bdd21a9778dd1f48fd7083af61b425801046252ef1c825da597e6776b27afe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90641eafa7a5a6be5157b790290fb4af33d3c2022b9ecb37e8dfaf672ec4f359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bc0ecfb6f0e8dbe7ae4f33a10389fc83443895dad31414b0593b696af241e5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgQkKEAgSGAI4AUIIdGhpbmtpbmcSDJkNiIs6GAJrmT3R+RoM8qmPbzeaQPxT+34aIjCQt5SCll6PMR+lnEcZqiXWeMPimsTcySCve6Fnc0SnQOEat623Ad4XI88qMNWXdrIqnghBsZuOQFI2lzO/prHvrV/kT1RHbXM8lRAT6lySDuRDDA7PGnnPDH4qiob1qP4cEtIVACmPsWvj7ITFTxWsD0Lr/xKqsrdvfq0OHi+Wap6ZNlSu0JBdlCtc/VQOq4kYPb9/Blu0wpNmW667/2QoHRTH6hr+kvIIEhZn29Jd060PvgHBNk+Dy/uaabAva0OXuxdxjvfb6Phaat6VrOEs79O5nwF2Gwv0lgI6NS/APYJH1IurdIN7DfvudZM2JKPRelOlNVBxdZEqxn3HRRh+P54gunqZiTUP4xfr8f951Eyl9ifaFi0cy159WLX5U89hkqAQIPQNnBAjNvuNkeR450T9QtvccVJBRr6B61YRX2Mkxfg+mE4lOVS1hmA1hdPKXi4AL6dwvP/qbtxY6uttXHG/n8BVWyJkHQv7XLTjG/lHTqCauELwJ0cF2cNsgIGFrzhSgue7YTeRUH7l+Ht4HBeOzV7l6h35nwEKZTKXS23AFKamlffl+Hq/feC5qyQgBK7zQDP6iDvnkBriJVo30/x1FEI45CS+WIZ2YBujgkPrp+681filcxW+oOlubiSwCVCFGmlnTwNy5DkKVuGsfdhwdIhQrwsMWCA5mwseEyaAK69v7PynWTV3G5TbG0Ipfk/Fwh8mPmTu5g1jPM5o06u24LELiXTCCfHdS6K6QjBwQ25lFv9lknIoQ52Xm7j7N1Z2eQDCLyzJFJtqNIVsmSCD2vvZm1DU6DUSRNtrNa20OMwSeQRYbm9NrcqLEItysREmzObqKk4N4f7n8I9Gg7r4Epmy8OWLzUa3VrihYP7cQ+Y22sPVK8ZtsllQC4c6RP/WYzggy8ZWJjI8Hr0dZNIv0ASNnZzp81XFHf9ARzfqigPICjosQRLy8SYNhwJN9uEfEAmMsf3REQoGNk6ibicLcnicc1sQqr1XArTJWvaQSOYiiv9dGAHZ0lCf+7emAvUfr88aDTMUr7ZTMYnDl6+1D9y0dJQptGxuUp+xTjrdTlTxMH0NS0UXjbV1Nkyez+YK6vTXcRSD9S/4hjzdSNrYtUFRU8KbtmSQ12fBtGFvDcLbZ+s1RmVCJw33sZBnzFrZf8ckXdt0F1+VSfHYFd9gtuL37H0lWon1AZbsbgoRaEHrX3blszN77hrMUCvIgqCWJzIx5719MngcW0MhMHmlB8Tz28HYxvXMZ6QIDs3dT1TsXNZKWrEu2ncjAz9x0TwDxNwHu3GOOYxnerG4p4cEdBfIRYMJsIySXRdXnUJEc5AWSYhC/wwuCBO5tQ6FGOnVFeme3Gqul2g4nNNK3o8P1cO6ws345HS/8CGMvQrp5Wx7oXiyuHibamKGFOLZc4kr75CNFuvzBk0gXGKzw08nUcMQyqLa1HIYkhw90Mx/KkIUb5C1XmAFyFwk3Et0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DKPDGLgKFEzss2oLMA3Kzb",
      "input": {
        "note": "Descent worked; lemon is centred between the jaws at table level. Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DKPDGLgKFEzss2oLMA3Kzb",
      "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, 0.8257, 0.6132, -0.4759, -0.0139, -0.0334, 0.9988, 0.6846, 1.9152, 0.8066, 0.3386, 0.519, 0.2432, 0.5218]\nstate[eef_state]: left_x=0.2838 left_y=0.0004 left_z=0.1565 left_yaw=0.002 left_pitch=-0.1182 left_roll=-0.0003 left_gripper=0.9988 right_x=0.3883 right_y=0.2084 right_z=0.0125 right_yaw=0.1243 right_pitch=-0.0907 right_roll=-0.1622 right_gripper=0.5218\nstate[joint_eff]: [-0.0479, -1.0735, 7.1043, 1.7363, -0.0562, -0.0611, -0.0171, -0.1299, -10.0171, 5.9692, 1.326, 0.1148, -0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:331fdd815b6a1112b59b0595d730d6e0aa47fe36897ee32eedddfe5a739fe2ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:915cf1c9af66c3ec82a3cdd29987452333d55308a02381bf219588fb5ee36ea9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:add620a5ac188bfa0745eaf5cdc8e301cb9b1ffcc3d05e100cac3080e6b97f46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 3.703 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.461, -0.0139, -0.0334, 0.9988, 0.6273, 1.7607, 1.3903, -0.7681, 0.3107, 0.3515, 0.9966]\nstate[eef_state]: left_x=0.2859 left_y=0.0003 left_z=0.1605 left_yaw=0.002 left_pitch=-0.0988 left_roll=-0.0007 left_gripper=0.9988 right_x=0.3694 right_y=0.2055 right_z=0.1223 right_yaw=0.1165 right_pitch=-0.485 right_roll=-0.1297 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -0.9094, 7.0906, 1.7363, -0.0855, -0.0659, -0.0171, 0.212, -10.6462, 8.0752, 1.0232, 0.3687, 0.1538, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8238, 0.6132, -0.4686, -0.0135, -0.0338, 0.9988, 0.6838, 1.8996, 0.8192, 0.3225, 0.5144, 0.2497, 0.9966]\nstate[eef_state]: left_x=0.2849 left_y=0.0003 left_z=0.1583 left_yaw=0.0019 left_pitch=-0.1091 left_roll=-0.001 left_gripper=0.9988 right_x=0.3908 right_y=0.211 right_z=0.0203 right_yaw=0.1242 right_pitch=-0.0814 right_roll=-0.1478 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -1.6068, 6.9675, 1.6825, -0.0317, -0.0659, -0.0122, 0.1299, -8.2803, 4.9162, 1.7998, 0.3492, -0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8257, 0.6132, -0.4759, -0.0139, -0.0334, 0.9988, 0.6846, 1.9152, 0.8066, 0.3386, 0.519, 0.2432, 0.5218]\nstate[eef_state]: left_x=0.2838 left_y=0.0004 left_z=0.1565 left_yaw=0.002 left_pitch=-0.1182 left_roll=-0.0003 left_gripper=0.9988 right_x=0.3883 right_y=0.2084 right_z=0.0125 right_yaw=0.1243 right_pitch=-0.0907 right_roll=-0.1622 right_gripper=0.5218\nstate[joint_eff]: [-0.0479, -1.0735, 7.1043, 1.7363, -0.0562, -0.0611, -0.0171, -0.1299, -10.0171, 5.9692, 1.326, 0.1148, -0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:331fdd815b6a1112b59b0595d730d6e0aa47fe36897ee32eedddfe5a739fe2ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:915cf1c9af66c3ec82a3cdd29987452333d55308a02381bf219588fb5ee36ea9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:add620a5ac188bfa0745eaf5cdc8e301cb9b1ffcc3d05e100cac3080e6b97f46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwgKEAgSGAI4AUIIdGhpbmtpbmcSDPDEfaAsscT9sOBkEhoMwCQhz7r+/Mctmo1IIjAKuSlTVkur/D9rhXXugnLKOIkUAoT0iadLM7HVdymyOr8IpMzzDxsHGPY1cYeNyNAqpAd9x6nnLgRq6O0GXbuQ3F3PSRfZWmH7vy+GCjjPAQOsNr3aUnB0WUmbRl0ApUy7pEg+ldaoTtp15i2cdv5ox5d5NsNgIc6YNjVrTguzhlezhLcy2vMPqk1zobwEbdV3CXlcXp1+kLZy+Pi3OL61EQCT6q3aGbPCKJ9qe2zAB+R8mL7OD8pW5f9L04BbOZFGZAjbkwBPJrl6jIUWKR+p/P8BoPB1TB5PDlXYfXJj4QVWjL6f4PzjdrXCu7n6J5o2iLP0iQu2QshDOdT9/NjziFq/ei5Lx9nVAe2LZPQUhLkOoQJXKQ3hj2l1O7AyvG9f9Dwo7ln1qPmv4WfabywvEWMktsa3w5ldNb9bnbHiNiZ6wEOXFznY+Ep2ToxDXULZZ09iliKAJqcooUdXZF0yHG1sl2CSS8wnjUj52Esi8Afuu5JRK2jQvdKF48DGdAmgH/li0Mv8Qv7g6Fq7MdC7s6SpIKeb3kHRsukA3mnjq8emyOqDML7cs8KBsh8hZXjjj/jjbnOjJVKQUStl8HLw7aLkm/Dqj547eC8kAESA8fkxru5xO8vy3FMF8BoabaHurt+wYzajJz8pZ9Kl1bIGMbOPAAwrP+px1Yn+XzG2uWdE7mgwLuAL86774jT0oGVBoiDDTHHxD5YAIQ7ZLn3eLJTXrIoUxtK56fO4zAEk74B5994o3EsL31jIZlazSDMgdmPY8sCHeRpo4K02TA2atF8Ax/zbASxy2yA2kVc70L/PWqNG/ZFLAyxillOlAtV672/xvCgW2kLJJZNBboEZekVjulKje57V9PbCv6Pr5laQlq0azkrkg7lze054va3ffHflXSt3Zr/2PJH5rdtSL1tD5xSmqFdB/njNuyUQqDWeUfn3zvHc2kkdB8FoLsBeZ0AyjQXelrAMOX+czrLvJZF0iSMvymOggUTwdaT+YTYHOBvCY8/ywkrZqhXvNyneyUFRtJuuSyQaL4MGbqRw0v7UUgQ8ntFkmswP+FdTOKSCdcK8ar2RoabMMORZo/9h1nzzee+w/Tr0OsmQ8ipjQB3KPBIThqJqnhFGk0/Y9yIjQiijHZ5fs5X+M1JBD8Rn1sv93dgI6gWtIkAeFqKDGtCTbjZV+4dxEkyeiL/Qoemtu7nNfvjKEejD7czJnJKmm3FiQwgJgLsQrw2V/oXPmgKZiEyUsELaXBksBbuoP/hVw1hegxoh4eyFXaSPLuCwuVRrSnanV+wBoZ1eKxwVzo2eX43R0RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XLtc1uzdDmt815NN1nJ2nt",
      "input": {
        "note": "Gripper settled at 0.52 (≈5 cm), lemon grasped. Lifting it straight up to clear the bowl rim.",
        "targets": {
          "right_pitch": 0.0,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01XLtc1uzdDmt815NN1nJ2nt",
      "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, -0.4763, -0.0135, -0.0338, 0.9988, 0.6971, 1.5738, 1.0702, -0.2089, 0.5373, 0.2153, 0.5219]\nstate[eef_state]: left_x=0.2839 left_y=0.0003 left_z=0.1557 left_yaw=0.0019 left_pitch=-0.1213 left_roll=-0.0008 left_gripper=0.9988 right_x=0.3872 right_y=0.211 right_z=0.1655 right_yaw=0.1395 right_pitch=-0.0378 right_roll=-0.1646 right_gripper=0.5219\nstate[joint_eff]: [-0.335, -1.5932, 6.9949, 1.6532, -0.0171, -0.0415, -0.0171, 0.1846, -9.306, 8.8957, 1.5897, 0.3199, -0.0513, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b68a90409ea6194ecf19fb0d59ba12c26f16a3eb93b4265a24d96e97babf91a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd91bc3b3b7c64728670d778585be62da838bba4c896d9ddceb1896378dc79d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:20485771f3e92ef5cb415055698a524598b1cb897a17952f33fc184a02f79432",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 4.236 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8238, 0.6132, -0.4686, -0.0135, -0.0338, 0.9988, 0.6838, 1.8996, 0.8192, 0.3225, 0.5144, 0.2497, 0.9966]\nstate[eef_state]: left_x=0.2849 left_y=0.0003 left_z=0.1583 left_yaw=0.0019 left_pitch=-0.1091 left_roll=-0.001 left_gripper=0.9988 right_x=0.3908 right_y=0.211 right_z=0.0203 right_yaw=0.1242 right_pitch=-0.0814 right_roll=-0.1478 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -1.6068, 6.9675, 1.6825, -0.0317, -0.0659, -0.0122, 0.1299, -8.2803, 4.9162, 1.7998, 0.3492, -0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8257, 0.6132, -0.4759, -0.0139, -0.0334, 0.9988, 0.6846, 1.9152, 0.8066, 0.3386, 0.519, 0.2432, 0.5218]\nstate[eef_state]: left_x=0.2838 left_y=0.0004 left_z=0.1565 left_yaw=0.002 left_pitch=-0.1182 left_roll=-0.0003 left_gripper=0.9988 right_x=0.3883 right_y=0.2084 right_z=0.0125 right_yaw=0.1243 right_pitch=-0.0907 right_roll=-0.1622 right_gripper=0.5218\nstate[joint_eff]: [-0.0479, -1.0735, 7.1043, 1.7363, -0.0562, -0.0611, -0.0171, -0.1299, -10.0171, 5.9692, 1.326, 0.1148, -0.0073, 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 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, 0.8284, 0.6132, -0.4763, -0.0135, -0.0338, 0.9988, 0.6971, 1.5738, 1.0702, -0.2089, 0.5373, 0.2153, 0.5219]\nstate[eef_state]: left_x=0.2839 left_y=0.0003 left_z=0.1557 left_yaw=0.0019 left_pitch=-0.1213 left_roll=-0.0008 left_gripper=0.9988 right_x=0.3872 right_y=0.211 right_z=0.1655 right_yaw=0.1395 right_pitch=-0.0378 right_roll=-0.1646 right_gripper=0.5219\nstate[joint_eff]: [-0.335, -1.5932, 6.9949, 1.6532, -0.0171, -0.0415, -0.0171, 0.1846, -9.306, 8.8957, 1.5897, 0.3199, -0.0513, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b68a90409ea6194ecf19fb0d59ba12c26f16a3eb93b4265a24d96e97babf91a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd91bc3b3b7c64728670d778585be62da838bba4c896d9ddceb1896378dc79d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20485771f3e92ef5cb415055698a524598b1cb897a17952f33fc184a02f79432",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Move over the bowl, where the pear was released (0.455, 0.113).",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GVz752mqxNQf4kmn2zmUN6",
      "input": {
        "note": "Lemon lifted; blue bowl with the pear is ahead-right in the wrist view. Carrying the lemon over the bowl centre where the pear was dropped.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.47,
          "right_y": 0.12,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01GVz752mqxNQf4kmn2zmUN6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8303, 0.6132, -0.4847, -0.0139, -0.0338, 0.9988, 0.3511, 1.7111, 0.9867, 0.0799, 0.2867, -0.0097, 0.5219]\nstate[eef_state]: left_x=0.2826 left_y=0.0004 left_z=0.1536 left_yaw=0.0023 left_pitch=-0.1316 left_roll=-0.0003 left_gripper=0.9988 right_x=0.4589 right_y=0.1187 right_z=0.1122 right_yaw=0.1169 right_pitch=-0.0573 right_roll=-0.1775 right_gripper=0.5219\nstate[joint_eff]: [-0.1436, -1.5521, 7.1316, 1.663, -0.0415, -0.0757, -0.0122, -0.1709, -7.9385, 6.1744, 1.9951, -0.0562, 0.0513, 1.0134]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ca64d092340c3926338d0968ec69627ab118481995cc9ced3e9625b71ff49a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e77eaaa514e348a4a46ab88f2b37d70d35ec18007bd56e75b497e18545492a08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c51dc5b5455363fcf29012698f6fb3343f8f4035b2d0ea9b383ac6628a93314e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 5.988 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8257, 0.6132, -0.4759, -0.0139, -0.0334, 0.9988, 0.6846, 1.9152, 0.8066, 0.3386, 0.519, 0.2432, 0.5218]\nstate[eef_state]: left_x=0.2838 left_y=0.0004 left_z=0.1565 left_yaw=0.002 left_pitch=-0.1182 left_roll=-0.0003 left_gripper=0.9988 right_x=0.3883 right_y=0.2084 right_z=0.0125 right_yaw=0.1243 right_pitch=-0.0907 right_roll=-0.1622 right_gripper=0.5218\nstate[joint_eff]: [-0.0479, -1.0735, 7.1043, 1.7363, -0.0562, -0.0611, -0.0171, -0.1299, -10.0171, 5.9692, 1.326, 0.1148, -0.0073, 1.033]\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, 0.8284, 0.6132, -0.4763, -0.0135, -0.0338, 0.9988, 0.6971, 1.5738, 1.0702, -0.2089, 0.5373, 0.2153, 0.5219]\nstate[eef_state]: left_x=0.2839 left_y=0.0003 left_z=0.1557 left_yaw=0.0019 left_pitch=-0.1213 left_roll=-0.0008 left_gripper=0.9988 right_x=0.3872 right_y=0.211 right_z=0.1655 right_yaw=0.1395 right_pitch=-0.0378 right_roll=-0.1646 right_gripper=0.5219\nstate[joint_eff]: [-0.335, -1.5932, 6.9949, 1.6532, -0.0171, -0.0415, -0.0171, 0.1846, -9.306, 8.8957, 1.5897, 0.3199, -0.0513, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8303, 0.6132, -0.4847, -0.0139, -0.0338, 0.9988, 0.3511, 1.7111, 0.9867, 0.0799, 0.2867, -0.0097, 0.5219]\nstate[eef_state]: left_x=0.2826 left_y=0.0004 left_z=0.1536 left_yaw=0.0023 left_pitch=-0.1316 left_roll=-0.0003 left_gripper=0.9988 right_x=0.4589 right_y=0.1187 right_z=0.1122 right_yaw=0.1169 right_pitch=-0.0573 right_roll=-0.1775 right_gripper=0.5219\nstate[joint_eff]: [-0.1436, -1.5521, 7.1316, 1.663, -0.0415, -0.0757, -0.0122, -0.1709, -7.9385, 6.1744, 1.9951, -0.0562, 0.0513, 1.0134]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ca64d092340c3926338d0968ec69627ab118481995cc9ced3e9625b71ff49a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e77eaaa514e348a4a46ab88f2b37d70d35ec18007bd56e75b497e18545492a08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c51dc5b5455363fcf29012698f6fb3343f8f4035b2d0ea9b383ac6628a93314e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AMu7wanmwBPfnDH73pb1fW",
      "input": {
        "note": "Gripper is over the blue bowl (top view shows jaws above it). Releasing the lemon into the bowl.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01AMu7wanmwBPfnDH73pb1fW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8303, 0.6132, -0.4881, -0.0135, -0.0334, 0.9988, 0.3515, 1.729, 0.9848, 0.0769, 0.2756, -0.0189, 0.9956]\nstate[eef_state]: left_x=0.2821 left_y=0.0003 left_z=0.1529 left_yaw=0.0017 left_pitch=-0.135 left_roll=-0.0002 left_gripper=0.9988 right_x=0.4576 right_y=0.1205 right_z=0.1024 right_yaw=0.131 right_pitch=-0.082 right_roll=-0.1834 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.4017, 6.9675, 1.6337, -0.0317, -0.0562, -0.0122, -0.0615, -9.9897, 6.5026, 1.6435, 0.1441, 0.0806, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed2bc11ba14b0d736ebf53434637827bed293b021db13ee4f66bb71a68981a2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a998ed4704d081bd77ec54d52b2dd557fc7fd3a9e846789021609c8a50696230",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:03b5eb108368d9cf9a413a33fe46d57da8df63f8ded9343b4feebff08aa4f859",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 4.449 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8284, 0.6132, -0.4763, -0.0135, -0.0338, 0.9988, 0.6971, 1.5738, 1.0702, -0.2089, 0.5373, 0.2153, 0.5219]\nstate[eef_state]: left_x=0.2839 left_y=0.0003 left_z=0.1557 left_yaw=0.0019 left_pitch=-0.1213 left_roll=-0.0008 left_gripper=0.9988 right_x=0.3872 right_y=0.211 right_z=0.1655 right_yaw=0.1395 right_pitch=-0.0378 right_roll=-0.1646 right_gripper=0.5219\nstate[joint_eff]: [-0.335, -1.5932, 6.9949, 1.6532, -0.0171, -0.0415, -0.0171, 0.1846, -9.306, 8.8957, 1.5897, 0.3199, -0.0513, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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, 0.8303, 0.6132, -0.4847, -0.0139, -0.0338, 0.9988, 0.3511, 1.7111, 0.9867, 0.0799, 0.2867, -0.0097, 0.5219]\nstate[eef_state]: left_x=0.2826 left_y=0.0004 left_z=0.1536 left_yaw=0.0023 left_pitch=-0.1316 left_roll=-0.0003 left_gripper=0.9988 right_x=0.4589 right_y=0.1187 right_z=0.1122 right_yaw=0.1169 right_pitch=-0.0573 right_roll=-0.1775 right_gripper=0.5219\nstate[joint_eff]: [-0.1436, -1.5521, 7.1316, 1.663, -0.0415, -0.0757, -0.0122, -0.1709, -7.9385, 6.1744, 1.9951, -0.0562, 0.0513, 1.0134]",
      "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, 0.8303, 0.6132, -0.4881, -0.0135, -0.0334, 0.9988, 0.3515, 1.729, 0.9848, 0.0769, 0.2756, -0.0189, 0.9956]\nstate[eef_state]: left_x=0.2821 left_y=0.0003 left_z=0.1529 left_yaw=0.0017 left_pitch=-0.135 left_roll=-0.0002 left_gripper=0.9988 right_x=0.4576 right_y=0.1205 right_z=0.1024 right_yaw=0.131 right_pitch=-0.082 right_roll=-0.1834 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.4017, 6.9675, 1.6337, -0.0317, -0.0562, -0.0122, -0.0615, -9.9897, 6.5026, 1.6435, 0.1441, 0.0806, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed2bc11ba14b0d736ebf53434637827bed293b021db13ee4f66bb71a68981a2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a998ed4704d081bd77ec54d52b2dd557fc7fd3a9e846789021609c8a50696230",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03b5eb108368d9cf9a413a33fe46d57da8df63f8ded9343b4feebff08aa4f859",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSuAoKEAgSGAI4AUIIdGhpbmtpbmcSDGHbvcjQX6nRA17ZHRoMsgiZ/hJkR0gzBgOAIjBSjAou8tb0KrM9VonoItdqPKVczo74fV9VeQ8z1gQojTCmkpgttnjPMcbH3+kFkecq1QnuDwjjhNZpYVEWjsZDXlCqOQm10ZcY6MwwKVhhmVT4ooBTjn8JwFcxV4Yli0p2KxROCvncXSFqB02ReUz9mMYhzXMonrPFflDOh0PU7kACacqbY9wqPG9oEhsXX5psgpifaxHUaSQoqGDXHwiKrM5tP2LV1W1kLCCdKZyLn+FOk8uBWqwFX+I+ve2ANwf2vh9SyXepAQQe6RXEwrZY7H3RGlOyR0pAV3XDtgIsUiM2a+Cj87dydnPUv4TMtsA3xDKyTuAHQy1C66eME76ydNoIbov6D9HrErTaHBLelkkuoIitz1uOG/5bSy+2IRyIr4zQjgl6XueqXBebuejcHxotyQmSSORiMZvG3K00vtGL+irH/8k+2YEcEUOEe3k/R4zE0oAkZW+2aPqzeaPcRZmm3QmZlbctgYt7NTeoYnrU6KEquR/da2+6OyMwv4411qVLwta3Skq4Dmgz9oP6zo2NA5H+j3Y+zBVRignWhEf/57ZE6uSw+cH8vs0PNSY8sgVpvdHPBFxl3x9L+ZPFdcJD+tgH+6mKXEy6J6PdbRauodbeczowpbrvwCjkNT3nfVRex8BY6MRBrOuWSATiTq0cImD5knLa90nJ6nbOwRG4vXVYENr8QqFiwrIyfbwcgeNFQZCSdYfQXGJfVJ4+2pDl7HPizsTIhws0J910bS+Jf07ySEuBp+bpYlyrLh3yxrjFQPu8ZGXswcUjX/WhKaC0dC3jfSE29EuafanKmJxZdO+LIuIMeQPxlP5ZON/r83Kl6xfBzdesWc9UACcVOsc4DILtiXgbrjCZOI9YgcC0jF8NYKY2SzyBT9L93tFxBY2NzWvao2qIEnKfK8c6zulx/Yn/LwdtpxKe4Dj7fZHmFAJWjTMIjRCwgvUsz01FOhl2tcDe62jpUWobZk4Sgow79zBtg1ifN+cNoU/gzC3Pm1+xD16bqxR3EYUnl66jMUEhjkx1eUxPdIvcsoXD4G7RqkL2leblcaOZap2LOXoNmBWz1QYU19oV6fSOYG8QjNSFMhtwYKp73MNYeCUrqhvx/XJorbml5uL/GGn/lqxu0Grqxz6T5bVRs8OEnBEi92QUPpOaqEHiXFE0qDri0LX5WAiQ95Pn6MkNGCY2KNAnXvKfOlnPJYpVjDi97NRGbEeR7TfNIzL6OfhoPcG7typsbO5I0V+8lcHlr5YjknW7TrSL4b9FpkLTZHrsl3ah629ExVI1E12zFZyCYJufffgXxAFVK7QI36ricVzb1qGM2AeGnYahZoGYgLDWztEc1b6jyhW/gB8XKW8U0aUqTPtdIOOPGP+Vsj3nlTes3W2d25ZVXmwRkiWLprYKQy6Knciob9OYgpJ7NeFPav0XnKPl4nZabkRdz43Wjl/6oAYWxcmMBCaQ7pkWHjJIrISDidghHtbxRGzB8MQvgN2FZOoOt69mYpO2406KhRZTLYKedNm0/sU0R56BntEOcLEL9jD7JZcWSb0kXV1fgF21EkOJqnyprrOf6ZraAwa5Dc+455UgwgGM8pHWkalmRHvApHiT9U/m2L5F3ZkFn5zFRwLd2QZK2NfV4ClJEEd32fnUDDasUhTsz7qU1M6RhhLmnVt9wrzHMJzKvFpq//93h+AT59snP4UTclPuVXAumrduwN/ukYisGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ExQiXGu6AvChnU6hD4sAiL",
      "input": {
        "note": "Lemon and pear are both in the blue bowl. Parking the right arm and moving the left arm over the dark plum, which is to its front-right.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.32,
          "left_y": -0.15,
          "left_z": 0.12,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01ExQiXGu6AvChnU6hD4sAiL",
      "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]: [-0.7208, 1.2709, 0.5785, -0.1047, -0.5488, -0.4519, 0.9988, -0.0113, 0.8928, 0.683, -0.3916, 0.02, -0.2184, 0.9965]\nstate[eef_state]: left_x=0.306 left_y=-0.1414 left_z=0.0962 left_yaw=-0.0308 left_pitch=-0.087 left_roll=0.0477 left_gripper=0.9988 right_x=0.3101 right_y=-0.0034 right_z=0.1859 right_yaw=0.0903 right_pitch=-0.0458 right_roll=-0.1897 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -4.8342, 9.2923, 1.707, -0.6178, -0.022, -0.1392, -0.1846, -1.5932, 7.0769, 1.7753, -0.1538, -0.0415, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54ab437692b6dcca4b930d533e4882366cd1e2002702c0dc174bc96e2882ff69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b5d77963e2f9fdf53a69275d9ba2dedafa1c316d128aa3ffe708f8e4bca53b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e97d26540d692116747f60d333e7ac6f1551a3537c6fb8846f52684cdab52e30",
        "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 · 3.791 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8303, 0.6132, -0.4847, -0.0139, -0.0338, 0.9988, 0.3511, 1.7111, 0.9867, 0.0799, 0.2867, -0.0097, 0.5219]\nstate[eef_state]: left_x=0.2826 left_y=0.0004 left_z=0.1536 left_yaw=0.0023 left_pitch=-0.1316 left_roll=-0.0003 left_gripper=0.9988 right_x=0.4589 right_y=0.1187 right_z=0.1122 right_yaw=0.1169 right_pitch=-0.0573 right_roll=-0.1775 right_gripper=0.5219\nstate[joint_eff]: [-0.1436, -1.5521, 7.1316, 1.663, -0.0415, -0.0757, -0.0122, -0.1709, -7.9385, 6.1744, 1.9951, -0.0562, 0.0513, 1.0134]",
      "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, 0.8303, 0.6132, -0.4881, -0.0135, -0.0334, 0.9988, 0.3515, 1.729, 0.9848, 0.0769, 0.2756, -0.0189, 0.9956]\nstate[eef_state]: left_x=0.2821 left_y=0.0003 left_z=0.1529 left_yaw=0.0017 left_pitch=-0.135 left_roll=-0.0002 left_gripper=0.9988 right_x=0.4576 right_y=0.1205 right_z=0.1024 right_yaw=0.131 right_pitch=-0.082 right_roll=-0.1834 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.4017, 6.9675, 1.6337, -0.0317, -0.0562, -0.0122, -0.0615, -9.9897, 6.5026, 1.6435, 0.1441, 0.0806, 0.0024]",
      "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]: [-0.7208, 1.2709, 0.5785, -0.1047, -0.5488, -0.4519, 0.9988, -0.0113, 0.8928, 0.683, -0.3916, 0.02, -0.2184, 0.9965]\nstate[eef_state]: left_x=0.306 left_y=-0.1414 left_z=0.0962 left_yaw=-0.0308 left_pitch=-0.087 left_roll=0.0477 left_gripper=0.9988 right_x=0.3101 right_y=-0.0034 right_z=0.1859 right_yaw=0.0903 right_pitch=-0.0458 right_roll=-0.1897 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -4.8342, 9.2923, 1.707, -0.6178, -0.022, -0.1392, -0.1846, -1.5932, 7.0769, 1.7753, -0.1538, -0.0415, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54ab437692b6dcca4b930d533e4882366cd1e2002702c0dc174bc96e2882ff69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b5d77963e2f9fdf53a69275d9ba2dedafa1c316d128aa3ffe708f8e4bca53b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e97d26540d692116747f60d333e7ac6f1551a3537c6fb8846f52684cdab52e30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsQcKEAgSGAI4AUIIdGhpbmtpbmcSDIqFcjKghhLkJcsK5hoMm6noTg19qs8igOt5IjB+qI1Rs1REGtc5kvBk0g3YYnSJJmYIdk/MslOJt3zmGWX+jgfXME/8wwQfOb4iZQcqzgaoc0TQVhxggD5NjXtmpO4TLVYJ1YqdfZ0eo3e98OdoP5wOi2Cqqr1SNf0KUZlFX0c8gU/67fKOtAL3oiTKk0KvjrzAkAJ1YlyMZJ4pjPV9QUEhhyINs0JZLdotSFtHoxlK4o7wivqB2hwk4pqX1D07HB5HfzsphS0gaX1PhBq7dUlY+TAfOWZpKvcC/Zy3sOs7ZmBT9WgXrzszH88fPa4KES1OaHvKbKvuWmkGOov3J0JYb8nvDgRe19Ym37v5FqXVbEhjNc+hMIhCLRek8JhWCdDRW9a+vT+hk9hw34Se1Ylb+u+X1jmvQc/q8aYyNsDBi9InO6OkEUD76IUVM8IPnpELHGlKS8XfDU794Sa2FBA0N6pk5moZ0iDO1Aoc8/Pwkg0vG4aTWZc5VaFMPzZg3pCTD1DK0rOD1he+VMCs8NfdrSryxZikWKzeWiDyPpNqRV2IIX+TGMeJaidLVbebzwMdYLKs3uIJGs7/gTZe9Oc0Zt9tKSsoOmUdODvu7XHezPKp3DicvDiFlStRwZcCnWpHfUeV7WTG/66hauG9J7l5DPQeICQ8aAtptwLmeI1khxb/nNUPTbpt6h/E0mZhBuyws7zPrE7cirkkvTKPcThaomM7UOcGtTYR/j9+O6T8C3Pv5xISZXdJvvL5COUyWsPZ5l5uoy69Xelh9Fv1irhjcenTl7pYuTcddrYHr6jg19ueiqtA1nZJP5V04cf94Tf0mCjPjswpx8tOiqWM6Q5r2AXH3covrkb82DNVXPvM3TxPvMGYimVi1hLij68PYp83fnsrZ2V8hJXWqqgSLhGMzh/PonN2rx3oqs+QADD9AiUFSSH8wYxjlorTGARmCTZUKcHF3lGcz385ahJPkyPW4St0YnIoisRGupN12x/IfUfOy6njAn8gpoYylzTzY+w24x0Ji8CyEsKPtFq0wJGiXaOFyTHZDIeSsuQi6Mr4+9OjDIzQ7OiJ/AWg05NyFFRpujFDfX4IfQfQ5s4CgGt1uMZ0coHkNN7irCt+6iHaIKlrdZ0JDmn6BxeG4BZl5fBevcTOMpTw/yD3yKjlY/Bzv6MO+JR7BX147gBxEE76KLjXudML92c0yw2S+HHngOlufNGxBKnS1J6RGGsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LtW2dwrd4vTK4ynzRSMhsv",
      "input": {
        "note": "Plum is nearly on the left jaw column, a few cm ahead. Advancing slightly and descending to grasp it at table level.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.345,
          "left_y": -0.133,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LtW2dwrd4vTK4ynzRSMhsv",
      "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]: [-0.622, 1.6524, 0.4263, 0.4274, -0.519, -0.3668, 0.9982, -0.0113, 0.8993, 0.6827, -0.4179, 0.0063, -0.2432, 0.9966]\nstate[eef_state]: left_x=0.3268 left_y=-0.1221 left_z=0.0049 left_yaw=-0.0003 left_pitch=-0.1043 left_roll=0.0989 left_gripper=0.9982 right_x=0.3068 right_y=-0.001 right_z=0.1785 right_yaw=0.1153 right_pitch=-0.0804 right_roll=-0.198 right_gripper=0.9966\nstate[joint_eff]: [0.6085, -5.4906, 3.959, 1.0623, -0.1245, 0.2564, -0.0904, -0.2803, -2.4137, 7.0085, 1.9756, 0.0952, 0.2027, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be91ab489e233afd1760b170a75469e4f8b13a2a59a07db730b7f7f510a033be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09a9d3e0836b93234da5a1ad180dcb51452802c6089e957ac4252da5130dc8e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:044ce89571a8e55951f19a97e50f0620c2a857b3fbfc09a3bb30739b0e5d96fb",
        "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 · 14.46 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8303, 0.6132, -0.4881, -0.0135, -0.0334, 0.9988, 0.3515, 1.729, 0.9848, 0.0769, 0.2756, -0.0189, 0.9956]\nstate[eef_state]: left_x=0.2821 left_y=0.0003 left_z=0.1529 left_yaw=0.0017 left_pitch=-0.135 left_roll=-0.0002 left_gripper=0.9988 right_x=0.4576 right_y=0.1205 right_z=0.1024 right_yaw=0.131 right_pitch=-0.082 right_roll=-0.1834 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.4017, 6.9675, 1.6337, -0.0317, -0.0562, -0.0122, -0.0615, -9.9897, 6.5026, 1.6435, 0.1441, 0.0806, 0.0024]",
      "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]: [-0.7208, 1.2709, 0.5785, -0.1047, -0.5488, -0.4519, 0.9988, -0.0113, 0.8928, 0.683, -0.3916, 0.02, -0.2184, 0.9965]\nstate[eef_state]: left_x=0.306 left_y=-0.1414 left_z=0.0962 left_yaw=-0.0308 left_pitch=-0.087 left_roll=0.0477 left_gripper=0.9988 right_x=0.3101 right_y=-0.0034 right_z=0.1859 right_yaw=0.0903 right_pitch=-0.0458 right_roll=-0.1897 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -4.8342, 9.2923, 1.707, -0.6178, -0.022, -0.1392, -0.1846, -1.5932, 7.0769, 1.7753, -0.1538, -0.0415, 0.0855]",
      "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]: [-0.622, 1.6524, 0.4263, 0.4274, -0.519, -0.3668, 0.9982, -0.0113, 0.8993, 0.6827, -0.4179, 0.0063, -0.2432, 0.9966]\nstate[eef_state]: left_x=0.3268 left_y=-0.1221 left_z=0.0049 left_yaw=-0.0003 left_pitch=-0.1043 left_roll=0.0989 left_gripper=0.9982 right_x=0.3068 right_y=-0.001 right_z=0.1785 right_yaw=0.1153 right_pitch=-0.0804 right_roll=-0.198 right_gripper=0.9966\nstate[joint_eff]: [0.6085, -5.4906, 3.959, 1.0623, -0.1245, 0.2564, -0.0904, -0.2803, -2.4137, 7.0085, 1.9756, 0.0952, 0.2027, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be91ab489e233afd1760b170a75469e4f8b13a2a59a07db730b7f7f510a033be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09a9d3e0836b93234da5a1ad180dcb51452802c6089e957ac4252da5130dc8e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:044ce89571a8e55951f19a97e50f0620c2a857b3fbfc09a3bb30739b0e5d96fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSnAcKEAgSGAI4AUIIdGhpbmtpbmcSDOVDPf46yqrbvfEtPRoMNey3VR+tWu5+ZSzFIjCkwo3iIGa1ltS/bDXEoA5v6oQJu3WX6b+1ydSJVOQuGcevch89z0TQ2MAZftWN4BkquQaExZ/dZOkndH5AmzngMjcwNgVmyQ1TjcrM6YEWh1oNQESiGAQBbN0n+H9Pf4UxjjfhECkgxHhi/8ckn685u8j5JUbRD+4jmKf7LtkOFeIPtHB3rOnDj/esO6mnmWgZyEchA/QWbyNJqlz2PC0ii3X92l7PZTBPadKMithZBlbWlI8rRUNGo9nEEQ42onJpQpY9Ot7IqCJwUUWFv6lf3ZcbzNpWHvirzjaU5KIg4nPAw122KQTRYdW+JqOO6fuNuYXHh33y4hcP2ZklvVZx+lGxgMoAvymZ8Gr9a6LYMd+LjZiwtq4xhmFPrADhnYCDB+CD9EWOUIbcKcxrBwLi6d/GcAi+I+wDZZKdzjuEKL8DrUUonk8IoX9dpHqjjvyFTqL82UnfUe3Lw73GIc52WSkwy9TSt9acgh2R/jwkOEa8uguLhrdZA5TAwcxov+bHugaen3+Uf75i3YxwFtJWrYKEyLN8n9H0w5oRAWChpJYkkWlgh8iNVEWXqkb4xmDvgn8shABgjpjW5i7r/2FS7Rgt7eoJ25jIC8v3WfW35T2VLo+xADRone+t5+qYzRDjD2VLJHa935ScG7n0N1aywYnNz3YUIeSeDQ3COYd4FYZgMDqW7+V3lC38JE7OAD5aiDnxUz80sHaSfgfeIk2nGX47bw9vIpl3l03OBLTf8nL2OdWfaqCzrvY6d2ODzVqYWuzpQGhdHzVt82vEMAyKxilcHQcJxWg2+1rtKGq3HqYzyM34ryXCcC5Ve02Es2A/sHKHC396A+SlGQFxMO09HgRtzikdEDT9Ki7iXJQS98MzDAy1m9JGc7BropwMyiNMsFRdWwo2hQAzKJsC9CROR4nzeULow4za8wDwKOSEgsslqW4Ypv20VPGPzjuFOjVpMOaDQxpoxDPVxcBvKxq2IOAjUDtS0IIq5Qtnfn9ZuXF8dCFa78LdJZRndg1yVGtLvIldUq2hfbXVJOzI/0dHNsa7XUFMnwSeKg1JSmFFRVAaH5d4+FNNPi2rOr2tpKuIHA8b+UAyVOFaBo0+KYPFs/OWqCK3GeO6TtSgG2ZSza9wzg0UJHOdC0p5P2PKUkgwykfAyToGeL4KE3oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KW9XhMjYNZNaycwujNmiPU",
      "input": {
        "note": "Plum is centred between the left jaws at table level. Closing to grasp.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KW9XhMjYNZNaycwujNmiPU",
      "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]: [-0.6205, 1.668, 0.4232, 0.4511, -0.5167, -0.3668, 0.4284, -0.0113, 0.9051, 0.6827, -0.4324, 0.0063, -0.247, 0.9966]\nstate[eef_state]: left_x=0.3277 left_y=-0.1225 left_z=0.0026 left_yaw=-0.0008 left_pitch=-0.1012 left_roll=0.0947 left_gripper=0.4284 right_x=0.305 right_y=-0.001 right_z=0.174 right_yaw=0.1176 right_pitch=-0.1009 right_roll=-0.1985 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -7.0359, 4.7521, 1.2137, -0.2857, -0.0317, 1.0281, -0.1709, -2.3863, 6.9538, 1.7998, -0.0122, 0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:118dae70640e976735f9c525d86dcf7a143fdde3855708c08495218a68a78d21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f3f3a768a26ee7d37f95945df6d0cbe3e007224edcc7d69526b6f671a8469a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f3f61892fbc39a644a5d4573cf89f3de4b62d9219b3cf8a5ea792d7cce27ed88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 16.96 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7208, 1.2709, 0.5785, -0.1047, -0.5488, -0.4519, 0.9988, -0.0113, 0.8928, 0.683, -0.3916, 0.02, -0.2184, 0.9965]\nstate[eef_state]: left_x=0.306 left_y=-0.1414 left_z=0.0962 left_yaw=-0.0308 left_pitch=-0.087 left_roll=0.0477 left_gripper=0.9988 right_x=0.3101 right_y=-0.0034 right_z=0.1859 right_yaw=0.0903 right_pitch=-0.0458 right_roll=-0.1897 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -4.8342, 9.2923, 1.707, -0.6178, -0.022, -0.1392, -0.1846, -1.5932, 7.0769, 1.7753, -0.1538, -0.0415, 0.0855]",
      "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]: [-0.622, 1.6524, 0.4263, 0.4274, -0.519, -0.3668, 0.9982, -0.0113, 0.8993, 0.6827, -0.4179, 0.0063, -0.2432, 0.9966]\nstate[eef_state]: left_x=0.3268 left_y=-0.1221 left_z=0.0049 left_yaw=-0.0003 left_pitch=-0.1043 left_roll=0.0989 left_gripper=0.9982 right_x=0.3068 right_y=-0.001 right_z=0.1785 right_yaw=0.1153 right_pitch=-0.0804 right_roll=-0.198 right_gripper=0.9966\nstate[joint_eff]: [0.6085, -5.4906, 3.959, 1.0623, -0.1245, 0.2564, -0.0904, -0.2803, -2.4137, 7.0085, 1.9756, 0.0952, 0.2027, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6205, 1.668, 0.4232, 0.4511, -0.5167, -0.3668, 0.4284, -0.0113, 0.9051, 0.6827, -0.4324, 0.0063, -0.247, 0.9966]\nstate[eef_state]: left_x=0.3277 left_y=-0.1225 left_z=0.0026 left_yaw=-0.0008 left_pitch=-0.1012 left_roll=0.0947 left_gripper=0.4284 right_x=0.305 right_y=-0.001 right_z=0.174 right_yaw=0.1176 right_pitch=-0.1009 right_roll=-0.1985 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -7.0359, 4.7521, 1.2137, -0.2857, -0.0317, 1.0281, -0.1709, -2.3863, 6.9538, 1.7998, -0.0122, 0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:118dae70640e976735f9c525d86dcf7a143fdde3855708c08495218a68a78d21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f3f3a768a26ee7d37f95945df6d0cbe3e007224edcc7d69526b6f671a8469a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3f61892fbc39a644a5d4573cf89f3de4b62d9219b3cf8a5ea792d7cce27ed88",
        "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_01PDEMnHHamecvtkd5qMBQey",
      "input": {
        "note": "Plum grasped (reading 0.43 ≈ 4 cm). Carrying it as far right as the left arm allows, toward the blue bowl, to see whether it can reach the bowl directly.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.45,
          "left_y": -0.4,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 25 steps (2.5s)",
      "tool_use_id": "toolu_01PDEMnHHamecvtkd5qMBQey",
      "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]: [-0.9321, 2.3604, 2.1113, -0.6094, -0.7689, -0.6113, 0.4304, -0.0113, 0.9112, 0.6827, -0.4408, 0.0059, -0.2474, 0.9966]\nstate[eef_state]: left_x=0.4523 left_y=-0.3972 left_z=0.1466 left_yaw=0.0008 left_pitch=-0.0066 left_roll=0.0735 left_gripper=0.4304 right_x=0.3041 right_y=-0.0009 right_z=0.1706 right_yaw=0.1183 right_pitch=-0.1153 right_roll=-0.1967 right_gripper=0.9966\nstate[joint_eff]: [-0.9231, -14.8444, 8.335, 0.8034, -0.5201, 0.0024, 1.033, -0.1573, -2.4137, 7.1726, 1.7509, -0.0269, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d53218339cdb6c982550730c079ae1d2104404804de12ae83de072f43ec9f49c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:318b0455bd08102f80a4d9ede13faf6b0188bbe96a60d316553a61ea3fa28cc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1dfe351b6c498e8fbc5f1dbb39739a210d6a025ad2609f2fdf32bc1f4d5e207d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 3.977 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.622, 1.6524, 0.4263, 0.4274, -0.519, -0.3668, 0.9982, -0.0113, 0.8993, 0.6827, -0.4179, 0.0063, -0.2432, 0.9966]\nstate[eef_state]: left_x=0.3268 left_y=-0.1221 left_z=0.0049 left_yaw=-0.0003 left_pitch=-0.1043 left_roll=0.0989 left_gripper=0.9982 right_x=0.3068 right_y=-0.001 right_z=0.1785 right_yaw=0.1153 right_pitch=-0.0804 right_roll=-0.198 right_gripper=0.9966\nstate[joint_eff]: [0.6085, -5.4906, 3.959, 1.0623, -0.1245, 0.2564, -0.0904, -0.2803, -2.4137, 7.0085, 1.9756, 0.0952, 0.2027, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6205, 1.668, 0.4232, 0.4511, -0.5167, -0.3668, 0.4284, -0.0113, 0.9051, 0.6827, -0.4324, 0.0063, -0.247, 0.9966]\nstate[eef_state]: left_x=0.3277 left_y=-0.1225 left_z=0.0026 left_yaw=-0.0008 left_pitch=-0.1012 left_roll=0.0947 left_gripper=0.4284 right_x=0.305 right_y=-0.001 right_z=0.174 right_yaw=0.1176 right_pitch=-0.1009 right_roll=-0.1985 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -7.0359, 4.7521, 1.2137, -0.2857, -0.0317, 1.0281, -0.1709, -2.3863, 6.9538, 1.7998, -0.0122, 0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9321, 2.3604, 2.1113, -0.6094, -0.7689, -0.6113, 0.4304, -0.0113, 0.9112, 0.6827, -0.4408, 0.0059, -0.2474, 0.9966]\nstate[eef_state]: left_x=0.4523 left_y=-0.3972 left_z=0.1466 left_yaw=0.0008 left_pitch=-0.0066 left_roll=0.0735 left_gripper=0.4304 right_x=0.3041 right_y=-0.0009 right_z=0.1706 right_yaw=0.1183 right_pitch=-0.1153 right_roll=-0.1967 right_gripper=0.9966\nstate[joint_eff]: [-0.9231, -14.8444, 8.335, 0.8034, -0.5201, 0.0024, 1.033, -0.1573, -2.4137, 7.1726, 1.7509, -0.0269, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d53218339cdb6c982550730c079ae1d2104404804de12ae83de072f43ec9f49c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:318b0455bd08102f80a4d9ede13faf6b0188bbe96a60d316553a61ea3fa28cc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dfe351b6c498e8fbc5f1dbb39739a210d6a025ad2609f2fdf32bc1f4d5e207d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013bFyfrKBmQpBsyfGyCSBcP",
      "input": {
        "note": "Left arm is at its rightward limit with the plum hanging over only the blue bowl's left rim. Bringing the right arm down to the bowl's right side to nudge the bowl ~6 cm left, under the plum.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.46,
          "right_y": -0.01,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_013bFyfrKBmQpBsyfGyCSBcP",
      "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]: [-0.9318, 2.3768, 2.1109, -0.6243, -0.7666, -0.6113, 0.4335, -0.036, 1.8599, 0.6762, 0.5095, -0.0288, -0.2623, 0.0113]\nstate[eef_state]: left_x=0.4512 left_y=-0.3958 left_z=0.1351 left_yaw=0.0001 left_pitch=-0.0269 left_roll=0.0979 left_gripper=0.4335 right_x=0.4361 right_y=-0.0071 right_z=0.007 right_yaw=0.1312 right_pitch=-0.1186 right_roll=-0.186 right_gripper=0.0113\nstate[joint_eff]: [-0.1573, -15.241, 6.8308, 1.409, -0.4127, -0.0611, 0.8278, -0.3761, -9.1829, 6.147, 1.9853, 0.0269, 0.105, 1.0183]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b612e1b484f129c0171297623a19b02ef4c6e3709f5e3a2291b7ca750ca01246",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84949bd48ad8f5d153c369702b9de1d03c946b130f118d84aa7c385619b9dbfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5ad49f5609bbac7311b1f7ed5d0515461323a6d0e005121113aafb783520e56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 5.612 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6205, 1.668, 0.4232, 0.4511, -0.5167, -0.3668, 0.4284, -0.0113, 0.9051, 0.6827, -0.4324, 0.0063, -0.247, 0.9966]\nstate[eef_state]: left_x=0.3277 left_y=-0.1225 left_z=0.0026 left_yaw=-0.0008 left_pitch=-0.1012 left_roll=0.0947 left_gripper=0.4284 right_x=0.305 right_y=-0.001 right_z=0.174 right_yaw=0.1176 right_pitch=-0.1009 right_roll=-0.1985 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -7.0359, 4.7521, 1.2137, -0.2857, -0.0317, 1.0281, -0.1709, -2.3863, 6.9538, 1.7998, -0.0122, 0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.9321, 2.3604, 2.1113, -0.6094, -0.7689, -0.6113, 0.4304, -0.0113, 0.9112, 0.6827, -0.4408, 0.0059, -0.2474, 0.9966]\nstate[eef_state]: left_x=0.4523 left_y=-0.3972 left_z=0.1466 left_yaw=0.0008 left_pitch=-0.0066 left_roll=0.0735 left_gripper=0.4304 right_x=0.3041 right_y=-0.0009 right_z=0.1706 right_yaw=0.1183 right_pitch=-0.1153 right_roll=-0.1967 right_gripper=0.9966\nstate[joint_eff]: [-0.9231, -14.8444, 8.335, 0.8034, -0.5201, 0.0024, 1.033, -0.1573, -2.4137, 7.1726, 1.7509, -0.0269, -0.0464, -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 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]: [-0.9318, 2.3768, 2.1109, -0.6243, -0.7666, -0.6113, 0.4335, -0.036, 1.8599, 0.6762, 0.5095, -0.0288, -0.2623, 0.0113]\nstate[eef_state]: left_x=0.4512 left_y=-0.3958 left_z=0.1351 left_yaw=0.0001 left_pitch=-0.0269 left_roll=0.0979 left_gripper=0.4335 right_x=0.4361 right_y=-0.0071 right_z=0.007 right_yaw=0.1312 right_pitch=-0.1186 right_roll=-0.186 right_gripper=0.0113\nstate[joint_eff]: [-0.1573, -15.241, 6.8308, 1.409, -0.4127, -0.0611, 0.8278, -0.3761, -9.1829, 6.147, 1.9853, 0.0269, 0.105, 1.0183]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b612e1b484f129c0171297623a19b02ef4c6e3709f5e3a2291b7ca750ca01246",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84949bd48ad8f5d153c369702b9de1d03c946b130f118d84aa7c385619b9dbfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5ad49f5609bbac7311b1f7ed5d0515461323a6d0e005121113aafb783520e56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3AYKEAgSGAI4AUIIdGhpbmtpbmcSDOsLA5EhQdfmmPqotxoMrFBmn4r+o8+utJx4IjDiPWBFOVHssWgAzEm3S4U+4aECZZ3OLCKLGQzb205R5H6uzmeIsBjR3jD/33ojaZUq+QVnl+3z4Bju3F1nW0CR4ulOF+cVheVqYkDPyy51dVMjrRy/KuQwUHR/Rlcpvv3hkP9/Cnuh0AswBMlDAGAG4MDjaRMBj3j7Cda+o5ssqHIdOTADCDY0TZGJYH0CKsFzbgGm1aUNGCnNcwVwsSU+7+nBHwc4xNQgidsXPDcxsluFkAEDDR/hNnbAeGLzt/BnTdh9OTaaB4APJ0BM8MZCWSUV990PVIALbfRvtIDCh1USJCr8Hi76B685lHuN99KiV7gLG923a+nG/FSsUEtLxPBfVWh7rhdaBvI9oLPYo4cjTYrfZremv9BLbN3xyIAIQjWqQgaR5Imf2MZtuKrmTy+V2EL96fCRn5xiRTq9Qw7mRDQVTfvN1svOKwQTwRtH0xQx61P3exUP+xmKB0o3N7nMkWUgOCvUZGQ3Kinc2zvQi2IoLc7HQ5P0Yel37fAXJvGvf8762DhAWJJ3FDZOvAJ/Y29qwLqZZxg7LDdg69wpnV9ZsFkW0QsLDdadlK2FBDRYnqtnLsVlFB3TMsMc5p1OsIndqKufvxmdAY0dSt+DAh8mCmimryJy6rHUBN41enAMGRtjAbH8Y+fMwoDJtzoNd7o+Ov5L2C7yF3rjkCbKxQTRjggnnHQb9jGI6croZe4F1XQmIF/VEkOJ5BEgq4NheL+cb0jnwEUxjnLyWAybjGwWaINhji7CTtXriI/Wi+3xbnaOJEWbnaZ0Ms3FcalWJGlC2aOByWTcpCrzXhs91V099HxZOPgbcfXppopKVhvmcKRqCOxCtKxfdgSvmxFlaLKUnReepVpUmQ+Hl067JoMozKhR5eeVQHe0MrTt9jpp8vo0OXc6rLCj6sMS8SiTWu83JmfyfzQ7rGu54f3tXFb0CERD3crdmMJHWnBAPuOnm4q6WBWAgYY7+S1NA8KaCaSVaDoJ/1wVrJKfJYlvUgcLR4HGy/3VEAMEJ2Oq3YQXMZx3w8Z8uEigFhU1z11MTw3FVF07fCKZb+pVUGJqu56trOmKevH/ihgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dd1nzpHR3izPTH4jgNAZeD",
      "input": {
        "note": "Right gripper is low beside the bowl's right side (bowl at the left edge of its wrist view). Sweeping left to push the bowl under the plum.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.08,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Dd1nzpHR3izPTH4jgNAZeD",
      "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]: [-0.9318, 2.3768, 2.1109, -0.6247, -0.7662, -0.6113, 0.4353, 0.2276, 1.8828, 0.7677, 0.4057, 0.1493, -0.1287, 0.0125]\nstate[eef_state]: left_x=0.4512 left_y=-0.3958 left_z=0.135 left_yaw=-0.0001 left_pitch=-0.0273 left_roll=0.098 left_gripper=0.4353 right_x=0.4421 right_y=0.0791 right_z=0.0104 right_yaw=0.1714 right_pitch=-0.1459 right_roll=-0.1953 right_gripper=0.0125\nstate[joint_eff]: [-0.3214, -13.9282, 6.653, 1.3114, -0.3736, -0.0513, 0.8913, 0.1436, -8.5128, 6.735, 1.7607, 0.2173, 0.2955, 0.4615]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6869ffa83645d1ba7bf727ee04bc94d98dc242a5c5d224e7a8f7bdbab589b653",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86cf0fb147f3f3d286252cf4f6336d17d2868a13b06a9cd7afbdfc388a2897e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf02575a00c6445d70981f6a27034baad31c2683cfa02e93300546ee76177a60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 6.082 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9321, 2.3604, 2.1113, -0.6094, -0.7689, -0.6113, 0.4304, -0.0113, 0.9112, 0.6827, -0.4408, 0.0059, -0.2474, 0.9966]\nstate[eef_state]: left_x=0.4523 left_y=-0.3972 left_z=0.1466 left_yaw=0.0008 left_pitch=-0.0066 left_roll=0.0735 left_gripper=0.4304 right_x=0.3041 right_y=-0.0009 right_z=0.1706 right_yaw=0.1183 right_pitch=-0.1153 right_roll=-0.1967 right_gripper=0.9966\nstate[joint_eff]: [-0.9231, -14.8444, 8.335, 0.8034, -0.5201, 0.0024, 1.033, -0.1573, -2.4137, 7.1726, 1.7509, -0.0269, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.9318, 2.3768, 2.1109, -0.6243, -0.7666, -0.6113, 0.4335, -0.036, 1.8599, 0.6762, 0.5095, -0.0288, -0.2623, 0.0113]\nstate[eef_state]: left_x=0.4512 left_y=-0.3958 left_z=0.1351 left_yaw=0.0001 left_pitch=-0.0269 left_roll=0.0979 left_gripper=0.4335 right_x=0.4361 right_y=-0.0071 right_z=0.007 right_yaw=0.1312 right_pitch=-0.1186 right_roll=-0.186 right_gripper=0.0113\nstate[joint_eff]: [-0.1573, -15.241, 6.8308, 1.409, -0.4127, -0.0611, 0.8278, -0.3761, -9.1829, 6.147, 1.9853, 0.0269, 0.105, 1.0183]",
      "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]: [-0.9318, 2.3768, 2.1109, -0.6247, -0.7662, -0.6113, 0.4353, 0.2276, 1.8828, 0.7677, 0.4057, 0.1493, -0.1287, 0.0125]\nstate[eef_state]: left_x=0.4512 left_y=-0.3958 left_z=0.135 left_yaw=-0.0001 left_pitch=-0.0273 left_roll=0.098 left_gripper=0.4353 right_x=0.4421 right_y=0.0791 right_z=0.0104 right_yaw=0.1714 right_pitch=-0.1459 right_roll=-0.1953 right_gripper=0.0125\nstate[joint_eff]: [-0.3214, -13.9282, 6.653, 1.3114, -0.3736, -0.0513, 0.8913, 0.1436, -8.5128, 6.735, 1.7607, 0.2173, 0.2955, 0.4615]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6869ffa83645d1ba7bf727ee04bc94d98dc242a5c5d224e7a8f7bdbab589b653",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86cf0fb147f3f3d286252cf4f6336d17d2868a13b06a9cd7afbdfc388a2897e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf02575a00c6445d70981f6a27034baad31c2683cfa02e93300546ee76177a60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStwcKEAgSGAI4AUIIdGhpbmtpbmcSDFVFg/5xkOAiu4+dbBoMiG2EIHQxM6BqcLSxIjD6ohsJjR3nhBBN0w/sCZYjS8szrZxpNlHs2DhY8TSdTHEameJxxYMcxKgBunqlTvwq1Abv+91BVZ/J/xjZp2Z0bd0zEjeJ66dDGv+eC0p3rJ9SZyUDPo4egj/aqj+N7IXRV9Y+TYk1ILztCy+6IKjJXhyaIR8HbDJPM6R5ugL2M8qOC2jnmwqftjZSNUkRwfg0YRrJS/hqkAldCdjgZajqCtgE+g7+RCKE7+mIR3IMdV5E0Ga2TmIyEEC+uvgn0OiVORFSkcW42l19j9P4Y+UwCiOgyw4ODIgiU4RJlfBw7FWuq8CEocICV9rSjZM6voDUaec7jzrJFo86gUF865ZSGvfr2vUYgOLXvuEIROKiY1EwrLl9iKFV2/FvEXS2uZKQ0UVmVIvyGo/xkPzOWSR7LjyjwNbhmQ/zIGkSQlsH2FjASdEovjRw80CXp+BpeqEyTRI//jVmHK3NU58wKM/SsFsP5p/vYBKgq3TU+QfvXY4mbcpky9REeVF3i0kHPfSK/0B3uAxAlyeCjbK/7WIorpfLyxn6XlObCaeU+qy09Z6Si0yEdveUYuRJswYb/+qLMiAjt0PFua5F6AtoZ2oobn6NFtO+l1jpytTYaYph/90+vTigkfJ/PHh+S3uq9DXUOrLjuYjZxph48Mu8SeNhxZLavtbEdlBYdpF2qVYjAeug8nbWc++QiIjpzCyAw4GDMTFpJXtkGu//ipu2HloQthy/juDZduSr+5H3dO9c7jDaqiCFEdz5lP6NFUClu8jnjAt1ZMzCj3qYIwy935Gcj7Y0QLlecc0CDxRYdJKL6Rrdc/0gmll0eQiSDeCR2AVGxQk4+62JN30WUvbdZq0pYbe4ufkGde+oBlc9wE2A7Wi9uv/io9VCu9D9YwA2Zn7tXxgRowonkPNXtEm5SiTRlHxO4Z0tDsUvbn+cwdmNEfGLEgOKmXyKlhZCOD4mguiML69KmbKv6sCdzAj9+rBVrcGLsb5KtOwQL1FTFWN8Vraa97YynHGOm12xy0dqw3ZGuHU024uxVGMngSIaY9FQht+QXado+H4W/lvnalylIgFbGrJSjd+Oq038CaDFI6NIgCJo63Se2cKxo32RH/0HnjLq/kcKy29M7gjnL6/RuUtfA8mTr7f6OxdBm9oNyK4fapQys5hI9iHJwA/KdTjeCu1MTTPV2MUpMPzPSIhT83hu6oFgLdsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LJt66hK4fnNYHcv1EMfSCE",
      "input": {
        "note": "Bowl moved left a few cm; in the left wrist view it now sits just right of the plum. Pushing another ~6 cm so the bowl centre comes under the plum.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.14,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01LJt66hK4fnNYHcv1EMfSCE",
      "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]: [-0.9119, 2.3768, 2.1109, -0.6521, -0.7753, -0.6155, 0.4385, 0.3634, 1.9148, 0.8669, 0.3023, 0.2436, -0.0513, 0.0134]\nstate[eef_state]: left_x=0.4568 left_y=-0.3822 left_z=0.1326 left_yaw=0.0285 left_pitch=-0.0376 left_roll=0.121 left_gripper=0.4385 right_x=0.4447 right_y=0.1273 right_z=0.0145 right_yaw=0.1851 right_pitch=-0.1662 right_roll=-0.2037 right_gripper=0.0134\nstate[joint_eff]: [-1.6205, -13.9966, 6.6256, 1.58, -0.1832, -0.0024, 0.5885, 2.0034, -7.5829, 7.9932, 1.6093, 0.2515, 0.1734, 0.8669]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6499fa37fece2839c062a57380370e617f9803e46c6079a82e62c144749a2536",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31b965603bd632392fb28088e830fe9d3e289b8dd4d7c9d82af7fc54aabb1830",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:afe822bb0334beb84399e79731e88c0276dfb72523abd58e5fcc24d2b4512066",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 3.709 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9318, 2.3768, 2.1109, -0.6243, -0.7666, -0.6113, 0.4335, -0.036, 1.8599, 0.6762, 0.5095, -0.0288, -0.2623, 0.0113]\nstate[eef_state]: left_x=0.4512 left_y=-0.3958 left_z=0.1351 left_yaw=0.0001 left_pitch=-0.0269 left_roll=0.0979 left_gripper=0.4335 right_x=0.4361 right_y=-0.0071 right_z=0.007 right_yaw=0.1312 right_pitch=-0.1186 right_roll=-0.186 right_gripper=0.0113\nstate[joint_eff]: [-0.1573, -15.241, 6.8308, 1.409, -0.4127, -0.0611, 0.8278, -0.3761, -9.1829, 6.147, 1.9853, 0.0269, 0.105, 1.0183]",
      "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]: [-0.9318, 2.3768, 2.1109, -0.6247, -0.7662, -0.6113, 0.4353, 0.2276, 1.8828, 0.7677, 0.4057, 0.1493, -0.1287, 0.0125]\nstate[eef_state]: left_x=0.4512 left_y=-0.3958 left_z=0.135 left_yaw=-0.0001 left_pitch=-0.0273 left_roll=0.098 left_gripper=0.4353 right_x=0.4421 right_y=0.0791 right_z=0.0104 right_yaw=0.1714 right_pitch=-0.1459 right_roll=-0.1953 right_gripper=0.0125\nstate[joint_eff]: [-0.3214, -13.9282, 6.653, 1.3114, -0.3736, -0.0513, 0.8913, 0.1436, -8.5128, 6.735, 1.7607, 0.2173, 0.2955, 0.4615]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9119, 2.3768, 2.1109, -0.6521, -0.7753, -0.6155, 0.4385, 0.3634, 1.9148, 0.8669, 0.3023, 0.2436, -0.0513, 0.0134]\nstate[eef_state]: left_x=0.4568 left_y=-0.3822 left_z=0.1326 left_yaw=0.0285 left_pitch=-0.0376 left_roll=0.121 left_gripper=0.4385 right_x=0.4447 right_y=0.1273 right_z=0.0145 right_yaw=0.1851 right_pitch=-0.1662 right_roll=-0.2037 right_gripper=0.0134\nstate[joint_eff]: [-1.6205, -13.9966, 6.6256, 1.58, -0.1832, -0.0024, 0.5885, 2.0034, -7.5829, 7.9932, 1.6093, 0.2515, 0.1734, 0.8669]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6499fa37fece2839c062a57380370e617f9803e46c6079a82e62c144749a2536",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31b965603bd632392fb28088e830fe9d3e289b8dd4d7c9d82af7fc54aabb1830",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afe822bb0334beb84399e79731e88c0276dfb72523abd58e5fcc24d2b4512066",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSpQsKEAgSGAI4AUIIdGhpbmtpbmcSDMSMy872s1SXLh6MMhoMzM9a/jvKf9QhsNuuIjBkdyX5o0IVlzXfIVz+tIBJYBaQAZ3N/t/l+LNzU4fwWe5+ibyA4rSzufhMRJMtNp4qwgqUEEoy2bGYSLs5iDM0n9qgCWruVK8eiL8RSj8gmvVcBFvP62Omtboi4IZF2eZvA6xp6dqQSj2y0tWtjrgB/GlWrkocq8HEJK0Rify66ERxT8sRosWCkKARS2NMj9hv5MchcMbq+kdY4qKPqAJircFPTse/uaHHaUHSzwQbHQ8C22Ujtz5/dULbBdrSvDOpZehZuVhtGjK4gt+xc9SpeRlzHhsBMGBFQDq2I7rTCAWPSRqult2v7E35VP0sJ9iBw8vlaY+g49j+8PwlbojMJnd+umcqdGJUl312uvTOfmdUT1JxYXb16Z6Bxlnd+f6RrPDHk+OfySwIrphhMDZ9ZkL/GhWHUUQAXpqKXGVXzm/JttO6kIkDy+kUQfIZNaRs6yqPPNCp1qzyXjydoux/OAfgxvfnqWN9H3WfH8VnDotdSgOjSiwZ4cc+Ju1irEzgt0ruNSPUaRa2oeFxdyzvheibR4HEmoED4zlEyJEDIeeu2C1EpflUBpfhdW267zgj9GLr01mD7teb4VMb/FbmQDBmiUNPoHs8kxTk1ZlIrkafY6u+OTl7cD/ZxG7mXPGrjpgGoL6BsUh3h0CHhU7b37DAYJQXeM87HJh225T7ir/KZpANjdvqBQZ4Nt0aO09XPuHv1SpWXabz/9RCb6tMMBLgGyCr/tLLJRKpJBAZqlQFhw+dzjnTSLC8rgAtzBqcEtIS4sPR+GEWmrGA7gnhrfl8f2E9j3IOASte8BIbkP6TjR6r2OcztJLNnk18YY8+yLhuveSCPUSfPTkh2BoHRa5rWPD6+WtsZtlYqXxri+ynwVt0BSPO16jzTGumNpDnZY1MVFp/rDIgyqnc2sM72H2RGWnNSKrYjBGbSKqW3eK+UDv8trgRa3aJGzq8bluLldr0pyuvKJ2FWAYbd/xa1Em5Q7lHn+KdV5O5p3AgXCdMxF8AV1irX6hcGFeAFaGKdPKMZ6laDgsXozSYAN15pfnu/cneEzSksUt9fT0t0ZladG8iZDhFwBHLJ6vIBm+9TGbp2s9smo5K+bvFRcflu1BuPEARKZ8LlNVBlj8w7/jVD6sdLLZJBO9VYhmI/uTiuOPV1FXksmrPLATyISD68ZWbtyPaQQEh/U9JH838FnnK1Kxh16DuYOfWyzCFA38Eu9JCpcLXMwLIAgHj7W2IeveJnJ7E3bdz/PO8za3SByZwXxeICNDzgOhkjpEPviyJ2aaXtkmBMTfD0Mi1iaZTThNxjF6eK0gfbg1JAh0zV1bC1iyE7JPqlSImcnk7oJDD0VpKFVtCHHdD7byfFVqPjdNe6xT4+4z8iaR7PKT4e1pQyjumr3o2sVWuWxAWZQ2kSc6FyowsgxKkRyH3mFgUw0kInUAlGpHvhaLliluRzpniNX1KCkla8CGM2xuOKdfifFtaQ98en+KCE/wNelCklBCVsmOpo/tcbiBM5lbvOCL9mYe0Cvoc7Z5+k5meyBemchWJ0fRQ2RDQ8B6FSkM9Rm10IvKTzQyo1xS2dacH/CIDRDfhUjKJi+QMCKPOpHyQdLuR023WjifKZFcCMgDRfwW2RNhEI5E/Ys/2D4M0ahQuWpB3nhEaOGqd+kE3PfgU/7MDSwsu1Mn7UWppv2oC2r5FyBQcWlXCyVXFBrhJXkA5pwpZFYVlUrjDavFV9H3KpIu80jvr1HALCugms/JYVfxGI02HZfz6qyg+4+zOUCEoTinfD4KODcNW2ty2mjh+icCUQVHVT+UMDVsgaoz8lhlR6zxiOSBqGdEOLdFJjbxyD8uDcoJgsQFlZITOJYkT+nYBRBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DHZj7mq2oxRmApBcFx2pwf",
      "input": {
        "note": "Bowl is now pushed close under the plum's right side. Lowering the plum just above the bowl, at the left arm's rightmost reach, before releasing.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.4,
          "left_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_01DHZj7mq2oxRmApBcFx2pwf",
      "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]: [-0.9176, 2.4107, 2.1094, -0.6159, -0.7967, -0.6388, 0.4403, 0.3599, 1.9152, 0.868, 0.2687, 0.2504, -0.0517, 0.0147]\nstate[eef_state]: left_x=0.4593 left_y=-0.3865 left_z=0.1193 left_yaw=0.0485 left_pitch=-0.0219 left_roll=0.111 left_gripper=0.4403 right_x=0.4404 right_y=0.1228 right_z=0.0091 right_yaw=0.1749 right_pitch=-0.1976 right_roll=-0.2148 right_gripper=0.0147\nstate[joint_eff]: [-2.0855, -11.7128, 7.1316, 1.0085, -0.3199, -0.0659, 0.7888, 0.6222, -9.1556, 5.6, 2.1612, 0.0073, 0.0904, 0.7497]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:648c5e147f69b77b1b8064037ac7c8335a9b68a349eedf1819d74da701d7d4e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:356cf94f43ee2db40c700e29bcfe40fd53d31b567ed1295e3dfc09df2a84b5d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb805214ec8a79d7345ab37a2dc8b269e6d47f3090b6e9fae2d151efb1a8e490",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 16.01 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9318, 2.3768, 2.1109, -0.6247, -0.7662, -0.6113, 0.4353, 0.2276, 1.8828, 0.7677, 0.4057, 0.1493, -0.1287, 0.0125]\nstate[eef_state]: left_x=0.4512 left_y=-0.3958 left_z=0.135 left_yaw=-0.0001 left_pitch=-0.0273 left_roll=0.098 left_gripper=0.4353 right_x=0.4421 right_y=0.0791 right_z=0.0104 right_yaw=0.1714 right_pitch=-0.1459 right_roll=-0.1953 right_gripper=0.0125\nstate[joint_eff]: [-0.3214, -13.9282, 6.653, 1.3114, -0.3736, -0.0513, 0.8913, 0.1436, -8.5128, 6.735, 1.7607, 0.2173, 0.2955, 0.4615]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9119, 2.3768, 2.1109, -0.6521, -0.7753, -0.6155, 0.4385, 0.3634, 1.9148, 0.8669, 0.3023, 0.2436, -0.0513, 0.0134]\nstate[eef_state]: left_x=0.4568 left_y=-0.3822 left_z=0.1326 left_yaw=0.0285 left_pitch=-0.0376 left_roll=0.121 left_gripper=0.4385 right_x=0.4447 right_y=0.1273 right_z=0.0145 right_yaw=0.1851 right_pitch=-0.1662 right_roll=-0.2037 right_gripper=0.0134\nstate[joint_eff]: [-1.6205, -13.9966, 6.6256, 1.58, -0.1832, -0.0024, 0.5885, 2.0034, -7.5829, 7.9932, 1.6093, 0.2515, 0.1734, 0.8669]",
      "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]: [-0.9176, 2.4107, 2.1094, -0.6159, -0.7967, -0.6388, 0.4403, 0.3599, 1.9152, 0.868, 0.2687, 0.2504, -0.0517, 0.0147]\nstate[eef_state]: left_x=0.4593 left_y=-0.3865 left_z=0.1193 left_yaw=0.0485 left_pitch=-0.0219 left_roll=0.111 left_gripper=0.4403 right_x=0.4404 right_y=0.1228 right_z=0.0091 right_yaw=0.1749 right_pitch=-0.1976 right_roll=-0.2148 right_gripper=0.0147\nstate[joint_eff]: [-2.0855, -11.7128, 7.1316, 1.0085, -0.3199, -0.0659, 0.7888, 0.6222, -9.1556, 5.6, 2.1612, 0.0073, 0.0904, 0.7497]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:648c5e147f69b77b1b8064037ac7c8335a9b68a349eedf1819d74da701d7d4e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:356cf94f43ee2db40c700e29bcfe40fd53d31b567ed1295e3dfc09df2a84b5d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb805214ec8a79d7345ab37a2dc8b269e6d47f3090b6e9fae2d151efb1a8e490",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSswcKEAgSGAI4AUIIdGhpbmtpbmcSDNfMABHFDxffNlfxUxoMRqemYRnYEyh5xS/kIjAwynH5YMfEwW/CBbugfzJ1aCeH3DztPLCcpMq3q1aSoIQhQ5Dy/OBoAkc52L9WZNcq0AYh0nbcLecSuRuBPp4drUcT7ZfXg+jNR5Mgua7ufbwCPsuCWaw3PQ+Uxxde9lvvyROPBMi772hBrEvecEyqWTpOorhtd42Iy9OwS+kvoKxBRDPJrJ50jJ4To+prM04PDwKxBtr2akDdrOj6Th1otGnNNEyOg+Ov1EgPR4yHfoyHzhRkfqC6gaRAM0ujd6gYhqux79AXCK78rvcsSrKP/xYafus3V3Fj75WD3ciNqxGaJRA3gWSrC/HvtXAUh5QVDnVo0i40RnjrH8YTTHfszbadktvcrTeGE1ur6jk0KddOYDVef1VDCNSz4olChLURKQDmg88kEQU1UKK4aax3WR+fmErwtdViDCl6SbqaiKgOA/SKJT7oYloXNCO1hkfH6MS8LBFz0pRl7GR8Z7m7K0LT4VxSE+M6Fcd42seD8ofr9MeGbi2mRP5buS9+hYJ9IZVNnhOfE8mp7tiwY23JCC/d2942ku1kVQfk73emizvvrzNnFn7+uy7q6Oj6Ljou4t2PpAKl/ArbrNW8sUsXrElYxXF4L8WlvQ5h73uiYqPV5Lz18p0LEN8g0SAvnfi0TyZCiLb2VQqXalYxEvpxp0SNgGYeZRlPDxfIig6r4RnAiSz7DX/jvWgTwzvJBVnV4jEF5fFxVKyTehjS5+MGT4gvmoGogehk+LBhwWIu672XeIoFUbYLSEm3PtHsrh669XkIu1+TJudq6CxmBQ9s2ZcoyQoNQSfmIblf5ekmEUiPW5jY5srPFhkcbDTAOKDwkV0SVOhu0y+mY3v0fviYotoVfQ4SjIRQNotlH/HwXCgNHxjV/RISU3y/c3zYKBXRmQHhOp+EFqsbAOyDOoxXHcoK2DinEcQxPmKloy1eb4xxUmcospWj4gCKXaffy+T1I360yBSnkUywMYSffTIRbthLmQfQo8IQdctb02HBDu6TVEEZ5oPLEpf7uwwBNK09LmweZKbmywuSF5s9KDPCgLCSkrVv7kClsh2HGPqU6sgaKi0fOoSvfxoP5pRyaeNYHwe7l3I0XxzW77BVFdKag1j9nrrlNPBkDI6XapzEbK/SSwN0loPJ7J6MdMa3deUSgEorVo8I8k6XStKxIjDAlBvrYdJo7rzvcCLY8g6UlhPtlxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M6wHrEHaogAuUHSvpHPySk",
      "input": {
        "note": "Plum is resting at the bowl's edge next to the pear and lemon (descent stopped on contact). Releasing it so it drops into the bowl.",
        "targets": {
          "left_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_01M6wHrEHaogAuUHSvpHPySk",
      "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]: [-0.9123, 2.4226, 2.109, -0.6125, -0.8265, -0.6552, 0.9948, 0.3454, 1.919, 0.857, 0.2523, 0.2687, -0.0517, 0.0169]\nstate[eef_state]: left_x=0.4631 left_y=-0.3804 left_z=0.1159 left_yaw=0.0809 left_pitch=-0.0062 left_roll=0.1178 left_gripper=0.9948 right_x=0.4359 right_y=0.1108 right_z=0.0015 right_yaw=0.1435 right_pitch=-0.2258 right_roll=-0.234 right_gripper=0.0169\nstate[joint_eff]: [-0.7043, -15.2, 6.6393, 1.199, -0.0708, 0.1343, -0.1392, 0.8684, -9.2239, 6.1333, 1.6435, -0.1148, -0.022, 0.5446]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c17035a9b1c9703d70e037d24f02fcfd357432a728989655dd46a798344dea0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:807c760dcfc1824975d3cd8786b477a5ca32d3c3b9b9437b88365594f6c32d9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c799c37243a2a58c0849b813cbd7a44bd2da62de35ca771fa7b1194c637cdb38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 4.521 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9119, 2.3768, 2.1109, -0.6521, -0.7753, -0.6155, 0.4385, 0.3634, 1.9148, 0.8669, 0.3023, 0.2436, -0.0513, 0.0134]\nstate[eef_state]: left_x=0.4568 left_y=-0.3822 left_z=0.1326 left_yaw=0.0285 left_pitch=-0.0376 left_roll=0.121 left_gripper=0.4385 right_x=0.4447 right_y=0.1273 right_z=0.0145 right_yaw=0.1851 right_pitch=-0.1662 right_roll=-0.2037 right_gripper=0.0134\nstate[joint_eff]: [-1.6205, -13.9966, 6.6256, 1.58, -0.1832, -0.0024, 0.5885, 2.0034, -7.5829, 7.9932, 1.6093, 0.2515, 0.1734, 0.8669]",
      "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]: [-0.9176, 2.4107, 2.1094, -0.6159, -0.7967, -0.6388, 0.4403, 0.3599, 1.9152, 0.868, 0.2687, 0.2504, -0.0517, 0.0147]\nstate[eef_state]: left_x=0.4593 left_y=-0.3865 left_z=0.1193 left_yaw=0.0485 left_pitch=-0.0219 left_roll=0.111 left_gripper=0.4403 right_x=0.4404 right_y=0.1228 right_z=0.0091 right_yaw=0.1749 right_pitch=-0.1976 right_roll=-0.2148 right_gripper=0.0147\nstate[joint_eff]: [-2.0855, -11.7128, 7.1316, 1.0085, -0.3199, -0.0659, 0.7888, 0.6222, -9.1556, 5.6, 2.1612, 0.0073, 0.0904, 0.7497]",
      "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]: [-0.9123, 2.4226, 2.109, -0.6125, -0.8265, -0.6552, 0.9948, 0.3454, 1.919, 0.857, 0.2523, 0.2687, -0.0517, 0.0169]\nstate[eef_state]: left_x=0.4631 left_y=-0.3804 left_z=0.1159 left_yaw=0.0809 left_pitch=-0.0062 left_roll=0.1178 left_gripper=0.9948 right_x=0.4359 right_y=0.1108 right_z=0.0015 right_yaw=0.1435 right_pitch=-0.2258 right_roll=-0.234 right_gripper=0.0169\nstate[joint_eff]: [-0.7043, -15.2, 6.6393, 1.199, -0.0708, 0.1343, -0.1392, 0.8684, -9.2239, 6.1333, 1.6435, -0.1148, -0.022, 0.5446]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c17035a9b1c9703d70e037d24f02fcfd357432a728989655dd46a798344dea0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:807c760dcfc1824975d3cd8786b477a5ca32d3c3b9b9437b88365594f6c32d9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c799c37243a2a58c0849b813cbd7a44bd2da62de35ca771fa7b1194c637cdb38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SrgejRs5MFEb2bbghechqN",
      "input": {
        "note": "The plum bounced off the rim and now lies on the table just left of the blue bowl (visible at left of the left wrist view). Moving the open left gripper down onto it.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.47,
          "left_y": -0.27,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SrgejRs5MFEb2bbghechqN",
      "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]: [-0.7593, 2.273, 1.3914, 0.0372, -0.7399, -0.5091, 0.9981, 0.3439, 1.919, 0.857, 0.2493, 0.2756, -0.0666, 0.0164]\nstate[eef_state]: left_x=0.4659 left_y=-0.2731 left_z=0.0128 left_yaw=0.0992 left_pitch=-0.0202 left_roll=0.1342 left_gripper=0.9981 right_x=0.4358 right_y=0.1088 right_z=0.0012 right_yaw=0.144 right_pitch=-0.2298 right_roll=-0.2504 right_gripper=0.0164\nstate[joint_eff]: [0.5402, -13.9145, 4.8479, 0.906, -0.1587, 0.1929, -0.2125, 0.0068, -9.0598, 5.135, 1.4921, 0.0024, 0.1148, 0.569]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:879b1236a95477519210a0036599dcdb10464e930cab01d65d995d48f26acfff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1a34dd6e559e5529f0f98db8791f8643768daaf5ee30a046c3f8bd2a0e674ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b27c579fe8f8c6d0753684b9f5d3092b2d5c6cd2e8d36467367f1ad7e48166f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 3.339 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9176, 2.4107, 2.1094, -0.6159, -0.7967, -0.6388, 0.4403, 0.3599, 1.9152, 0.868, 0.2687, 0.2504, -0.0517, 0.0147]\nstate[eef_state]: left_x=0.4593 left_y=-0.3865 left_z=0.1193 left_yaw=0.0485 left_pitch=-0.0219 left_roll=0.111 left_gripper=0.4403 right_x=0.4404 right_y=0.1228 right_z=0.0091 right_yaw=0.1749 right_pitch=-0.1976 right_roll=-0.2148 right_gripper=0.0147\nstate[joint_eff]: [-2.0855, -11.7128, 7.1316, 1.0085, -0.3199, -0.0659, 0.7888, 0.6222, -9.1556, 5.6, 2.1612, 0.0073, 0.0904, 0.7497]",
      "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]: [-0.9123, 2.4226, 2.109, -0.6125, -0.8265, -0.6552, 0.9948, 0.3454, 1.919, 0.857, 0.2523, 0.2687, -0.0517, 0.0169]\nstate[eef_state]: left_x=0.4631 left_y=-0.3804 left_z=0.1159 left_yaw=0.0809 left_pitch=-0.0062 left_roll=0.1178 left_gripper=0.9948 right_x=0.4359 right_y=0.1108 right_z=0.0015 right_yaw=0.1435 right_pitch=-0.2258 right_roll=-0.234 right_gripper=0.0169\nstate[joint_eff]: [-0.7043, -15.2, 6.6393, 1.199, -0.0708, 0.1343, -0.1392, 0.8684, -9.2239, 6.1333, 1.6435, -0.1148, -0.022, 0.5446]",
      "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]: [-0.7593, 2.273, 1.3914, 0.0372, -0.7399, -0.5091, 0.9981, 0.3439, 1.919, 0.857, 0.2493, 0.2756, -0.0666, 0.0164]\nstate[eef_state]: left_x=0.4659 left_y=-0.2731 left_z=0.0128 left_yaw=0.0992 left_pitch=-0.0202 left_roll=0.1342 left_gripper=0.9981 right_x=0.4358 right_y=0.1088 right_z=0.0012 right_yaw=0.144 right_pitch=-0.2298 right_roll=-0.2504 right_gripper=0.0164\nstate[joint_eff]: [0.5402, -13.9145, 4.8479, 0.906, -0.1587, 0.1929, -0.2125, 0.0068, -9.0598, 5.135, 1.4921, 0.0024, 0.1148, 0.569]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:879b1236a95477519210a0036599dcdb10464e930cab01d65d995d48f26acfff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1a34dd6e559e5529f0f98db8791f8643768daaf5ee30a046c3f8bd2a0e674ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b27c579fe8f8c6d0753684b9f5d3092b2d5c6cd2e8d36467367f1ad7e48166f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStwgKEAgSGAI4AUIIdGhpbmtpbmcSDDpvHf+bp+SeBTO1jxoM3t6GZ9C28F5vYL0UIjDpBPzNZAsdQtkbV/veLDOu58g94c6squV3pyyLeKDuPDMqSFtI6oMbsoBYhqea3Moq1Afk2hlAZVy23QPoGv1Oh9jt/9wYmkRRKOlygOL55B8ESVX0MnH9I8zgrWJ+J26UausYkgD+fz//vdTgbBS691gt8AWbz/q//BYJc02NPWYi49N6JPbMxSaM1fDm1DcSCBvP8Z0U9mkoXuPOpE9OiFumNTlwqxQ/e2fp31FIeJDWveZ2QYR0Jv2vo0VLHIemvfwrZBNPhukH5hhPx2zzJoSMuMMoBXK1v9K9gPg1JC6AtrILJCTTPrzu7bf/Ije5D71YCnkl4bcgLS15vkGGupEgSQHdCmEGCAtlneeQMNGNpuF6fev1Vo7jHCuYKjbDF7EkbFyREregbxR8lUpi3fCZb/zas898QlGuuxzt2zW1XU0aNnSbYvU1lfzfJCqmI64GYN+YWy/VeY8Xt7j7nw1ycquFUSMFdF4yWb9jRdYyS2MGS8Pt/VlDMqI271Mc2oZxy2udcJ8qucBS2xHo3J2DpXqm9dj8zkPwIqUiNiFj3ACxXIO5yek0JkDBUKJWCPxqA5JzQCHBgsAGOpcHEqN7sFsPxptxSbdxK1t4ZxC7kFo0Du/F/yIRXhy6QcTtCGe9ED2Qp4wpsr7CYW43RzX15RxbQ1Re6N4N+6XWk797SKPCNxM2hKR6sEIi/vfN4R5s1s70w4SAmUI/KKo7knIP+RoKoQPf3d3uxUy8feqaTm4TpCRM8J0729XDy2mVfI0hylOO24Qqc1fEfUNRqv9RAIbdxDMcsLaUIfZBHULfsf8P8Pdwc6WaYMZHTaCldh9yAmVNgNvE2m9k5QqFd3u6CGGq9ojoVuXKPQakPh9iP4WaJ9zH6r7QTmpaIyGK/10DdbXr8CCMbnLCzNBD+vuOgEmGwWrd5VokNYM15RfXPav4xxSkCU5rUW+Fjfuxu0U/kUwGplFbrwPODmpaHjsHGpfPqsLRtRc3k7iJ7sHiVTq9RY4wLJKr+Md51R0gCatRbeaF6oEQVJAFhTtkaY+2VMcnTerUzFqcjNVuwd4hVmHR4dhPoA5mGATQLBSvtd4tpLQ7ANishaE8OKr0SEH34ZOdVDn+sYApMTI/e1G+t/W8tHYYSZc312jwfPQtb/xUFxMfabuPzlldajgYoRCyJqIkuLM6Q3T2ULZ7Ksck+awU5KVKJCtIAbCiVB24iWuOFwYlqcESYulWd1Cljh/qPihAGmEH4MjiJl0UVF+ujRfmJOmU5LFSIQj8oA8jBFAOHOYoT8zyk8ellzcQAr/QpL7obRXV8YgTh1KzwY2qrBppJWu8DevMriTBtnRqT3UYJzekOZmZXJ1kFAsWbnKufHqOFRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B4KeqPuvy9Lpn1TuK2nCge",
      "input": {
        "note": "Plum is ahead-left of the jaws in the left wrist view. Shifting ~5 cm forward and left to bring it between the jaws.",
        "targets": {
          "left_x": 0.52,
          "left_y": -0.22,
          "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_01B4KeqPuvy9Lpn1TuK2nCge",
      "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]: [-0.6075, 2.2715, 1.3991, 0.0887, -0.6491, -0.4042, 0.9979, 0.3439, 1.919, 0.857, 0.2493, 0.276, -0.0677, 0.0165]\nstate[eef_state]: left_x=0.5089 left_y=-0.2194 left_z=0.0161 left_yaw=0.1301 left_pitch=-0.0324 left_roll=0.1315 left_gripper=0.9979 right_x=0.4358 right_y=0.1087 right_z=0.0012 right_yaw=0.1443 right_pitch=-0.2299 right_roll=-0.2515 right_gripper=0.0165\nstate[joint_eff]: [0.5949, -13.1761, 8.5538, 1.4335, -0.232, 0.2613, -0.022, -0.0615, -9.0188, 5.2581, 1.4774, 0.0855, -0.0366, 0.7888]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:560bdf893be5a8d96c8d426259cec0d7e4ed6bb6a588bfdcbc6c5a5a76efcf8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c74d184f88c766dac43495ec2304f559de9c09c7f1fbb4ca315da8768db3fe26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:21a67de69dc8f4d29c97a066c29745d605956f2f5b6edc31bdd0385b2ed005e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 12.48 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9123, 2.4226, 2.109, -0.6125, -0.8265, -0.6552, 0.9948, 0.3454, 1.919, 0.857, 0.2523, 0.2687, -0.0517, 0.0169]\nstate[eef_state]: left_x=0.4631 left_y=-0.3804 left_z=0.1159 left_yaw=0.0809 left_pitch=-0.0062 left_roll=0.1178 left_gripper=0.9948 right_x=0.4359 right_y=0.1108 right_z=0.0015 right_yaw=0.1435 right_pitch=-0.2258 right_roll=-0.234 right_gripper=0.0169\nstate[joint_eff]: [-0.7043, -15.2, 6.6393, 1.199, -0.0708, 0.1343, -0.1392, 0.8684, -9.2239, 6.1333, 1.6435, -0.1148, -0.022, 0.5446]",
      "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]: [-0.7593, 2.273, 1.3914, 0.0372, -0.7399, -0.5091, 0.9981, 0.3439, 1.919, 0.857, 0.2493, 0.2756, -0.0666, 0.0164]\nstate[eef_state]: left_x=0.4659 left_y=-0.2731 left_z=0.0128 left_yaw=0.0992 left_pitch=-0.0202 left_roll=0.1342 left_gripper=0.9981 right_x=0.4358 right_y=0.1088 right_z=0.0012 right_yaw=0.144 right_pitch=-0.2298 right_roll=-0.2504 right_gripper=0.0164\nstate[joint_eff]: [0.5402, -13.9145, 4.8479, 0.906, -0.1587, 0.1929, -0.2125, 0.0068, -9.0598, 5.135, 1.4921, 0.0024, 0.1148, 0.569]",
      "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]: [-0.6075, 2.2715, 1.3991, 0.0887, -0.6491, -0.4042, 0.9979, 0.3439, 1.919, 0.857, 0.2493, 0.276, -0.0677, 0.0165]\nstate[eef_state]: left_x=0.5089 left_y=-0.2194 left_z=0.0161 left_yaw=0.1301 left_pitch=-0.0324 left_roll=0.1315 left_gripper=0.9979 right_x=0.4358 right_y=0.1087 right_z=0.0012 right_yaw=0.1443 right_pitch=-0.2299 right_roll=-0.2515 right_gripper=0.0165\nstate[joint_eff]: [0.5949, -13.1761, 8.5538, 1.4335, -0.232, 0.2613, -0.022, -0.0615, -9.0188, 5.2581, 1.4774, 0.0855, -0.0366, 0.7888]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:560bdf893be5a8d96c8d426259cec0d7e4ed6bb6a588bfdcbc6c5a5a76efcf8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c74d184f88c766dac43495ec2304f559de9c09c7f1fbb4ca315da8768db3fe26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21a67de69dc8f4d29c97a066c29745d605956f2f5b6edc31bdd0385b2ed005e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8AYKEAgSGAI4AUIIdGhpbmtpbmcSDCzazcV222xPWmsP1BoMq8AVd92VSJxZ0AOqIjBGH2YRVUi0hVzc8MF59EoJXqMC2K/OoAygL1yL8Q1/RcSTL57cNRi3iHvLh9S8byIqjQay3T8P7/osLB5a1brQOTFey6kX08g6CU4sK7XOG6ms0yvoiPm7g4d8KFg1nebgOhavr77GFJkbzgQQbogTvXC8yfaShjDgOxDtQw29TW0gXavJ947W4f0RHQ79NJIAxSVT2K64x2aGsjRCdm+0v1gjpF5SOrfn0lcseGcdW7jVvi80sc71d7BoUyBtjCe+kxSHiM+yrtcopEqzOHDx0dVWshCnjkslpFu3OT4WfHSsmwVHGAC5odWpwVC1cDm/+U1cOKogFsuEp9S4Nt2hQNDYTtHgv4fqPqnrqaALt1xVlW5LG7SJd5ItMiigLmBmRun5M9BKXQ1OQeo2kOyHf7bDhN1Zf45lcOyFhLojhEeYs/Fv1dG/leuU1eWMmJmp0HckYn4gVhYfCHZw0WPhlQ6Qnv2YrJ+J4cuG+RDDvIDZdI0JArLbIZaMaEal6FbO7Fm1zXYXOMMRRYDxaf0wTS2euN5dlV17uA8Sl0NwigT2TvNpr9tzgfLJVGYdeYIpjYTsheVqsDup0VPfeqYt3BiHZIKNLd3HilYE+r2jMW1EUwejsquJM4kRRajG4qTHExHXB8FKVB9lQXK7j81tGZO0+gYmPsAh2mCKPASSGTaQSjBHx95UAJPgHM6oQ0Hitkaj1Zh159RTku7kOgXZS+PuwTF5v8WVNYCt2uxl/lsc9tsESTOr9qwcPzedWDeFrWD0jP+ScmgjpHzijQBRtvZFo2E1IMWxdkqNlybpMW1UTA2fQ9jq3GtLsO5LFtNc79PpsuNN7nWKYOPRHdNIL5RWuKNFu8hJde1IDY8sEuYmyoEhETKXGSwbe7sdwvJSOtr4/Us7Ysqsqz/ba27vX7Plbp2AYwY2P6LIuOVir9dlFfBBlhloSDaZ/ptiOz07JSXQtd65TtFD0noRQrjkpQYKnN6O+JRCq9pGIewjmcDvKJw4s+2ktsu+WAbtD1XGbEF/EtVBhlXHvAMLoN+iuh/KMHW95z6dNc85x2TFbgYF8rgKSS7Yt59BC/fUllJ1IhskknLviaE14SlCQQmlGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JTqJ3GPvYh5BdCCmrqpLQn",
      "input": {
        "note": "Plum is now between the left jaws, right next to the white bowl. Closing to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JTqJ3GPvYh5BdCCmrqpLQn",
      "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]: [-0.6064, 2.2715, 1.4021, 0.0864, -0.6388, -0.4114, 0.0093, 0.3439, 1.919, 0.857, 0.2493, 0.276, -0.0677, 0.0158]\nstate[eef_state]: left_x=0.5094 left_y=-0.2208 left_z=0.016 left_yaw=0.1276 left_pitch=-0.0362 left_roll=0.1197 left_gripper=0.0093 right_x=0.4358 right_y=0.1087 right_z=0.0012 right_yaw=0.1443 right_pitch=-0.2299 right_roll=-0.2515 right_gripper=0.0158\nstate[joint_eff]: [-0.1162, -12.3556, 5.6, 1.4383, -0.3053, 0.0513, 0.6862, -0.1299, -9.0188, 5.1897, 1.453, 0.0464, -0.0024, 0.7985]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55ebf72e9e08e87b5592712efc257b08644b9e1321b9dbc842f64469b3807ffa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14910d383a5082c7a7ffc1e5c5f25fb8db2b9b9e1fccb75d69db4fede1a1347c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b27145cb2a6dcce0228993cc335d4a11d599c9e9b15911bf36799735ee68e3c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 31 attempt 0 · /messages · status 200 · 10.03 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7593, 2.273, 1.3914, 0.0372, -0.7399, -0.5091, 0.9981, 0.3439, 1.919, 0.857, 0.2493, 0.2756, -0.0666, 0.0164]\nstate[eef_state]: left_x=0.4659 left_y=-0.2731 left_z=0.0128 left_yaw=0.0992 left_pitch=-0.0202 left_roll=0.1342 left_gripper=0.9981 right_x=0.4358 right_y=0.1088 right_z=0.0012 right_yaw=0.144 right_pitch=-0.2298 right_roll=-0.2504 right_gripper=0.0164\nstate[joint_eff]: [0.5402, -13.9145, 4.8479, 0.906, -0.1587, 0.1929, -0.2125, 0.0068, -9.0598, 5.135, 1.4921, 0.0024, 0.1148, 0.569]",
      "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]: [-0.6075, 2.2715, 1.3991, 0.0887, -0.6491, -0.4042, 0.9979, 0.3439, 1.919, 0.857, 0.2493, 0.276, -0.0677, 0.0165]\nstate[eef_state]: left_x=0.5089 left_y=-0.2194 left_z=0.0161 left_yaw=0.1301 left_pitch=-0.0324 left_roll=0.1315 left_gripper=0.9979 right_x=0.4358 right_y=0.1087 right_z=0.0012 right_yaw=0.1443 right_pitch=-0.2299 right_roll=-0.2515 right_gripper=0.0165\nstate[joint_eff]: [0.5949, -13.1761, 8.5538, 1.4335, -0.232, 0.2613, -0.022, -0.0615, -9.0188, 5.2581, 1.4774, 0.0855, -0.0366, 0.7888]",
      "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]: [-0.6064, 2.2715, 1.4021, 0.0864, -0.6388, -0.4114, 0.0093, 0.3439, 1.919, 0.857, 0.2493, 0.276, -0.0677, 0.0158]\nstate[eef_state]: left_x=0.5094 left_y=-0.2208 left_z=0.016 left_yaw=0.1276 left_pitch=-0.0362 left_roll=0.1197 left_gripper=0.0093 right_x=0.4358 right_y=0.1087 right_z=0.0012 right_yaw=0.1443 right_pitch=-0.2299 right_roll=-0.2515 right_gripper=0.0158\nstate[joint_eff]: [-0.1162, -12.3556, 5.6, 1.4383, -0.3053, 0.0513, 0.6862, -0.1299, -9.0188, 5.1897, 1.453, 0.0464, -0.0024, 0.7985]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55ebf72e9e08e87b5592712efc257b08644b9e1321b9dbc842f64469b3807ffa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14910d383a5082c7a7ffc1e5c5f25fb8db2b9b9e1fccb75d69db4fede1a1347c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b27145cb2a6dcce0228993cc335d4a11d599c9e9b15911bf36799735ee68e3c7",
        "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_019SP84rfEj3sQJDANuHVrZe",
      "input": {
        "note": "Plum slipped out ahead of the left jaws beyond table reach; with limited budget I'll prioritise pouring. Retracting the left arm and raising/opening the right gripper above the blue bowl's right rim to grasp it.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.1,
          "left_z": 0.15,
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.45,
          "right_y": 0.125,
          "right_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_019SP84rfEj3sQJDANuHVrZe",
      "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]: [-0.6975, 1.177, 0.709, -0.3214, -0.6842, -0.4915, 0.0118, 0.3893, 1.7084, 0.8875, 0.1593, 0.3222, -0.0872, 0.9973]\nstate[eef_state]: left_x=0.3118 left_y=-0.111 left_z=0.152 left_yaw=0.1123 left_pitch=-0.0144 left_roll=0.0809 left_gripper=0.0118 right_x=0.4406 right_y=0.1242 right_z=0.0892 right_yaw=0.1658 right_pitch=-0.0784 right_roll=-0.265 right_gripper=0.9973\nstate[joint_eff]: [-0.5812, -3.8359, 6.2838, 1.3993, -0.4615, -0.0317, 0.2564, 0.2256, -10.7419, 9.1282, 1.7265, 0.3248, 0.0366, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e78cf4fd31b9192b53cae2f1229303a69216cf94f4294a53e1bb12ae066bf732",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62c53685b6c6eac6e16785f6c9e203b26bf2f56bcf4597d6568836967e03cf24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1dbe7070036c15a81707f45090038cb6a5f6c6d2f76f3dee21941d52295e98a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 3.652 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6075, 2.2715, 1.3991, 0.0887, -0.6491, -0.4042, 0.9979, 0.3439, 1.919, 0.857, 0.2493, 0.276, -0.0677, 0.0165]\nstate[eef_state]: left_x=0.5089 left_y=-0.2194 left_z=0.0161 left_yaw=0.1301 left_pitch=-0.0324 left_roll=0.1315 left_gripper=0.9979 right_x=0.4358 right_y=0.1087 right_z=0.0012 right_yaw=0.1443 right_pitch=-0.2299 right_roll=-0.2515 right_gripper=0.0165\nstate[joint_eff]: [0.5949, -13.1761, 8.5538, 1.4335, -0.232, 0.2613, -0.022, -0.0615, -9.0188, 5.2581, 1.4774, 0.0855, -0.0366, 0.7888]",
      "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]: [-0.6064, 2.2715, 1.4021, 0.0864, -0.6388, -0.4114, 0.0093, 0.3439, 1.919, 0.857, 0.2493, 0.276, -0.0677, 0.0158]\nstate[eef_state]: left_x=0.5094 left_y=-0.2208 left_z=0.016 left_yaw=0.1276 left_pitch=-0.0362 left_roll=0.1197 left_gripper=0.0093 right_x=0.4358 right_y=0.1087 right_z=0.0012 right_yaw=0.1443 right_pitch=-0.2299 right_roll=-0.2515 right_gripper=0.0158\nstate[joint_eff]: [-0.1162, -12.3556, 5.6, 1.4383, -0.3053, 0.0513, 0.6862, -0.1299, -9.0188, 5.1897, 1.453, 0.0464, -0.0024, 0.7985]",
      "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]: [-0.6975, 1.177, 0.709, -0.3214, -0.6842, -0.4915, 0.0118, 0.3893, 1.7084, 0.8875, 0.1593, 0.3222, -0.0872, 0.9973]\nstate[eef_state]: left_x=0.3118 left_y=-0.111 left_z=0.152 left_yaw=0.1123 left_pitch=-0.0144 left_roll=0.0809 left_gripper=0.0118 right_x=0.4406 right_y=0.1242 right_z=0.0892 right_yaw=0.1658 right_pitch=-0.0784 right_roll=-0.265 right_gripper=0.9973\nstate[joint_eff]: [-0.5812, -3.8359, 6.2838, 1.3993, -0.4615, -0.0317, 0.2564, 0.2256, -10.7419, 9.1282, 1.7265, 0.3248, 0.0366, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e78cf4fd31b9192b53cae2f1229303a69216cf94f4294a53e1bb12ae066bf732",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62c53685b6c6eac6e16785f6c9e203b26bf2f56bcf4597d6568836967e03cf24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dbe7070036c15a81707f45090038cb6a5f6c6d2f76f3dee21941d52295e98a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017ikQv9KmzWZUYhQUMzsAYv",
      "input": {
        "note": "Right wrist view shows the bowl's right rim between the open jaws but the left jaw is over the pear. Shifting ~3.5 cm right and ~3 cm forward so the rim wall sits between the jaws, and descending to grab it.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.09,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_017ikQv9KmzWZUYhQUMzsAYv",
      "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]: [-0.6987, 1.1805, 0.7036, -0.3489, -0.6834, -0.4988, 0.0133, 0.2729, 1.8877, 0.873, 0.3298, 0.2443, -0.1452, 0.9979]\nstate[eef_state]: left_x=0.3078 left_y=-0.1082 left_z=0.1449 left_yaw=0.1152 left_pitch=-0.0394 left_roll=0.1008 left_gripper=0.0133 right_x=0.4629 right_y=0.0889 right_z=0.0338 right_yaw=0.1449 right_pitch=-0.1181 right_roll=-0.267 right_gripper=0.9979\nstate[joint_eff]: [0.0342, -4.041, 7.0769, 1.6679, -0.2613, 0.0122, 0.1441, -0.1162, -9.1966, 5.0393, 1.9121, -0.0562, -0.1538, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c73f671fba4bf5d7ae87c4b6c83fef74f7891c4b64c2c510f0665ee9f8129b7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8df70529824b32190fb6db5ecd4bb16f97d440985f7847a891fe53c8df99bb48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e80835f556968934ed27efe7c260cd649a3ec20d335d8319fc13a92ffbd4a79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 4.843 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6064, 2.2715, 1.4021, 0.0864, -0.6388, -0.4114, 0.0093, 0.3439, 1.919, 0.857, 0.2493, 0.276, -0.0677, 0.0158]\nstate[eef_state]: left_x=0.5094 left_y=-0.2208 left_z=0.016 left_yaw=0.1276 left_pitch=-0.0362 left_roll=0.1197 left_gripper=0.0093 right_x=0.4358 right_y=0.1087 right_z=0.0012 right_yaw=0.1443 right_pitch=-0.2299 right_roll=-0.2515 right_gripper=0.0158\nstate[joint_eff]: [-0.1162, -12.3556, 5.6, 1.4383, -0.3053, 0.0513, 0.6862, -0.1299, -9.0188, 5.1897, 1.453, 0.0464, -0.0024, 0.7985]",
      "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]: [-0.6975, 1.177, 0.709, -0.3214, -0.6842, -0.4915, 0.0118, 0.3893, 1.7084, 0.8875, 0.1593, 0.3222, -0.0872, 0.9973]\nstate[eef_state]: left_x=0.3118 left_y=-0.111 left_z=0.152 left_yaw=0.1123 left_pitch=-0.0144 left_roll=0.0809 left_gripper=0.0118 right_x=0.4406 right_y=0.1242 right_z=0.0892 right_yaw=0.1658 right_pitch=-0.0784 right_roll=-0.265 right_gripper=0.9973\nstate[joint_eff]: [-0.5812, -3.8359, 6.2838, 1.3993, -0.4615, -0.0317, 0.2564, 0.2256, -10.7419, 9.1282, 1.7265, 0.3248, 0.0366, 0.022]",
      "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]: [-0.6987, 1.1805, 0.7036, -0.3489, -0.6834, -0.4988, 0.0133, 0.2729, 1.8877, 0.873, 0.3298, 0.2443, -0.1452, 0.9979]\nstate[eef_state]: left_x=0.3078 left_y=-0.1082 left_z=0.1449 left_yaw=0.1152 left_pitch=-0.0394 left_roll=0.1008 left_gripper=0.0133 right_x=0.4629 right_y=0.0889 right_z=0.0338 right_yaw=0.1449 right_pitch=-0.1181 right_roll=-0.267 right_gripper=0.9979\nstate[joint_eff]: [0.0342, -4.041, 7.0769, 1.6679, -0.2613, 0.0122, 0.1441, -0.1162, -9.1966, 5.0393, 1.9121, -0.0562, -0.1538, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c73f671fba4bf5d7ae87c4b6c83fef74f7891c4b64c2c510f0665ee9f8129b7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8df70529824b32190fb6db5ecd4bb16f97d440985f7847a891fe53c8df99bb48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e80835f556968934ed27efe7c260cd649a3ec20d335d8319fc13a92ffbd4a79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/wYKEAgSGAI4AUIIdGhpbmtpbmcSDGQNSOsCGi7cYZUc/RoM4mDqjsJCYL4k/Ox7IjDLkzGTFaTXxO13eHLPXetZz2rF7nvrLxF2/zRg2QkR1EIccTuHCTqlNXlUP9b+uXAqnAaCa/jmOODZCSsG2sxVpSZb0X03U+4jQZHlm0s94FMDqNoBAWJ9W+l0+Jwd4oUjbbJWR//wjyAscz0834eIXK4my+2kdQF6OOvg+i3hPubO+GwNQWmS+0D7ax9gblmQSfAOOZduRDa50lacVy/BXp6tZFnIIEX/kNVur/WB1Kq/QuRsdqlaIMCxjD7aq4PjBmtShHCNGxgkVCg1hnfy2hlXR8wvAuorWyZVl0v8hKm1kMndC7j8whddxPIyG+36vXd1lFz6S2/TzMZ27YqxozAPKg4+MbNSOH8bvaTf1I0DrnM+Ni7hc4V04K/kNlUwihvxu1M8WcelWoo2R4M6xG98NOETM4IR/sFGmYHr8HJDU3vOjn+IY8gaA3BfIpCLbmHCRrfSsmKo/8t6LUuZFGn2aNUGl0rILtdCaLNc2AaKRbe5WbqWSVM/QzgodR0ivSBCugqeXA5dqsw1SqUeGQFuh9lMLudUBn4SrwRqjDlJ3+kXg7NrShPLBPWmLwkqg+aPl/dq6ymmiE9rYhqIJ5aZjnrT5/lG8SPxS2dhFgFwi2GUrslxDe2e7v31RQuHxnO9tkTmDssoGW/eXNGGlFbwPCe0yS2O4i/5K8udN+K0+aCg5OoVXfAYr5BiEE35VW3Pt6VbjAjCG0n8n4yjP308qeT0XJ8UGmdMwICY4htmg/XkfOmuIk47Pl9561+7Ta7KkRe4Gwv27wCS56hSMAWVnSx5HoE8vFrig33tBIM5Hfj2Zs8SBGbK6B5fWfkbmwkI62IHVgJQPJVPgYMd+JCw1tq0zhiR0FdYoRc3C7A1EJxEgd7MPt9pK+KkiU+8rcu9WAYQLu1r7ECfIMHqCnNx5x0S8n5p7Di55w22nrZrH4NO8XCBHHHziYngr+cIQ8HEJZ68bbs++ELeUPCJMm7a3k/gGUp/rpntHDhvz8i7pDbZNC8KrsnCy5wkkDyiHzP/KKVb/sxSFLXGV+W0EkPvUikBtcYoCUeMakLzj6yrbvo+7BFcAXIiOcfEXX+tJu3fRS0iGgLB46h1CFgLQRx2mp5RY5NcQlfzoyX7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016AG36tqBVwKD9XmGVLdHDj",
      "input": {
        "note": "The bowl's right wall now sits between the jaws (left jaw inside, right jaw outside). Closing to pinch the rim.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016AG36tqBVwKD9XmGVLdHDj",
      "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]: [-0.6987, 1.1805, 0.7036, -0.3527, -0.6834, -0.4988, 0.0146, 0.2729, 1.9072, 0.8703, 0.3386, 0.2306, -0.1497, 0.0117]\nstate[eef_state]: left_x=0.3073 left_y=-0.1078 left_z=0.1444 left_yaw=0.1153 left_pitch=-0.042 left_roll=0.1036 left_gripper=0.0146 right_x=0.4615 right_y=0.091 right_z=0.0254 right_yaw=0.1587 right_pitch=-0.1331 right_roll=-0.2634 right_gripper=0.0117\nstate[joint_eff]: [-0.1026, -3.3026, 6.7761, 1.4237, -0.3443, -0.0415, 0.1245, -0.1846, -10.4957, 5.5726, 1.5897, 0.2466, 0.0122, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9a8331fb8a52e0655b881fff3242126e9b325da3498680a79e23bb781791618",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a1a2bdad66dec48b1eeb2a30d0e367e0ed2cb51bfab7846971c6bfe86a702ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25a57d2d01b6b81602f9a44e0aaee07dc6d3956a0cf22d2481784942fed2e205",
        "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 · 11.49 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6975, 1.177, 0.709, -0.3214, -0.6842, -0.4915, 0.0118, 0.3893, 1.7084, 0.8875, 0.1593, 0.3222, -0.0872, 0.9973]\nstate[eef_state]: left_x=0.3118 left_y=-0.111 left_z=0.152 left_yaw=0.1123 left_pitch=-0.0144 left_roll=0.0809 left_gripper=0.0118 right_x=0.4406 right_y=0.1242 right_z=0.0892 right_yaw=0.1658 right_pitch=-0.0784 right_roll=-0.265 right_gripper=0.9973\nstate[joint_eff]: [-0.5812, -3.8359, 6.2838, 1.3993, -0.4615, -0.0317, 0.2564, 0.2256, -10.7419, 9.1282, 1.7265, 0.3248, 0.0366, 0.022]",
      "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]: [-0.6987, 1.1805, 0.7036, -0.3489, -0.6834, -0.4988, 0.0133, 0.2729, 1.8877, 0.873, 0.3298, 0.2443, -0.1452, 0.9979]\nstate[eef_state]: left_x=0.3078 left_y=-0.1082 left_z=0.1449 left_yaw=0.1152 left_pitch=-0.0394 left_roll=0.1008 left_gripper=0.0133 right_x=0.4629 right_y=0.0889 right_z=0.0338 right_yaw=0.1449 right_pitch=-0.1181 right_roll=-0.267 right_gripper=0.9979\nstate[joint_eff]: [0.0342, -4.041, 7.0769, 1.6679, -0.2613, 0.0122, 0.1441, -0.1162, -9.1966, 5.0393, 1.9121, -0.0562, -0.1538, 0.0513]\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]: [-0.6987, 1.1805, 0.7036, -0.3527, -0.6834, -0.4988, 0.0146, 0.2729, 1.9072, 0.8703, 0.3386, 0.2306, -0.1497, 0.0117]\nstate[eef_state]: left_x=0.3073 left_y=-0.1078 left_z=0.1444 left_yaw=0.1153 left_pitch=-0.042 left_roll=0.1036 left_gripper=0.0146 right_x=0.4615 right_y=0.091 right_z=0.0254 right_yaw=0.1587 right_pitch=-0.1331 right_roll=-0.2634 right_gripper=0.0117\nstate[joint_eff]: [-0.1026, -3.3026, 6.7761, 1.4237, -0.3443, -0.0415, 0.1245, -0.1846, -10.4957, 5.5726, 1.5897, 0.2466, 0.0122, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9a8331fb8a52e0655b881fff3242126e9b325da3498680a79e23bb781791618",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a1a2bdad66dec48b1eeb2a30d0e367e0ed2cb51bfab7846971c6bfe86a702ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25a57d2d01b6b81602f9a44e0aaee07dc6d3956a0cf22d2481784942fed2e205",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9AcKEAgSGAI4AUIIdGhpbmtpbmcSDODrAdGvOx1fSmRH3hoMlX0J5XM8yIkix/BFIjCULLx+i33W8iriy62Y3h0BwS1Bhc2rzXB4YFYzanOko6IbDuVb2zqdn/GgzvTyJK4qkQeH4zuI4Aa/HHRIZ0UhZt3aQRRS4eT0XGLoH2ibiXfm0QwFpoFCBDR60Iw21bagpg3rrpB4ZxLyWpGIWp87aGZ/PPGqkUS2l8Mlml2e0ws1I1HuP6PsVHk7AVBBMnwLCwTFV+K2hGRAJURL2XVPER63YuoLp50X1s/uBBXiL5ZoaF+ZODICdCD2vPOFWcp4yQj8D6thFTOFGD4BQc4RuF9KkDqU3W+X4RcqmV7ytwZuh/PJqqvHrsoYvg93wFhAmtgYsy4bZFuF5X35g4ChUVg9gtFGHBMPPXuXKtCtj+xMTAij/AR+SVjhgFqD9NYbQvPCGwyqZfrrG9sjnf+7EtNwpgcaQeug9eil8vNpfg4KbIaW9jkO9o/VGj9rQyt6OYgMapRtNaG3WUPVAdFlaVV7b/XqoNvFOvJ1SVHEp0M78CG1f5lodnAZhYyGO9PXaOZWqqO31xFDxoo6vTI8igrLYh2N2cJw/FVmXBTl2lv6QJ586kj7fnd6wCXFIALIxM44mQA0wk39sKV/oYhbtS+WGFVsIDkdwyYmm4UbYM0R9PQkBUIa0Y3Gd73Ua6O77XAR+z5hkRfttkqIBwhfeF9cdtHcaosLPFN+KDhzHCZqnFZshc9C+D8SW+iIXHX/CMc2N6VuvkSeZt8x5Tl+TK8AMgxSmBA51AcavhwRvyfEmEoihCrAdBT+rBdgiTbfrsyVAf0/74kG8nJtheEJTx8n5VBTn/rgY8xTDm418H/Ww1xBWG+j1GiB3L4gO6BAQ/28Y4qRW6dpWe2faT6YaIUVRsmPrsgzzB/P7MxZUPjoR8terUpL9zBGRqOV0nhCVfQ6DGflVz2YFBHmN/TMm1jI2COHVo4zVjXt+gi4RN4Ms2FixKowV/uRJL9/rhuHlbnr5S4R1oefCUHnwQTUg+wYV94QouEVA9QGBWHAuJ7I3AoHAJVVNzs+sgSd5LYHnZebmxL6vlY7IwNsZ20O6FCSWUHaOKMQReWXNfVAvr+YNz0fXUX7NOvQ95BQXt59P+2DZ0QxEsPMU9+TDn3U4TE82Wp9MQC4Qj+BsLY8ZERYJlzG8Xz2z97DgJeZaus2G8IBubOio2zgXgWxe7NcZFsMmW77MUqBDtQS2kRP01pnxb9cPTNDrNIwjdTeECZZbxoCgScx+Af5V1uKNSv3c/ijOq41Eh0u8SjVOeuCISk+ZQ4rUYo3Ee0TeVddIFRQttFeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01322hALBvP7wstPtKZGhfcV",
      "input": {
        "note": "Gripper is closed on the thin bowl wall (low reading is expected for a ~2 mm rim). Lifting the bowl, carrying it toward the white bowl and rolling left to tip the fruit out.",
        "targets": {
          "right_roll": 1.3,
          "right_x": 0.45,
          "right_y": 0.35,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01322hALBvP7wstPtKZGhfcV",
      "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]: [-0.6991, 1.1805, 0.7036, -0.3553, -0.683, -0.4988, 0.0154, 0.6186, 1.8629, 1.1946, 0.3126, -0.1158, 1.2873, 0.0139]\nstate[eef_state]: left_x=0.3069 left_y=-0.1077 left_z=0.144 left_yaw=0.1148 left_pitch=-0.044 left_roll=0.1053 left_gripper=0.0154 right_x=0.439 right_y=0.3419 right_z=0.1748 right_yaw=0.184 right_pitch=-0.1707 right_roll=1.1823 right_gripper=0.0139\nstate[joint_eff]: [-0.0479, -3.6171, 6.7897, 1.3993, -0.3541, -0.0317, 0.0757, 0.1709, -8.8821, 9.3197, 2.2295, 0.1343, 0.2271, 0.7497]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c34f6b790783c368ce5387bb2ae65f18a674b40ee65e708f6cfded2955595a66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec00642e45c34977eb6769741a823a15bb627bc76cdd54be1c25a6e82062b237",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:854c28e3b8a4f46e34b049a92da2bfdff8e9fde0324d7db474cbf8c57b3450da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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