adhoc - adhoc_0278a4ba.json

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: 348.2 s
total steps: 216

operator

scenes

trials

errored

scene-0

completed

Pick up the pen and the pen cap, then put the cap on the pen.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

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: Pick up the pen and the pen cap, then put the cap on the pen.

Raw transcript

system

user

Goal: Pick up the pen and the pen cap, then put the cap on the pen.

step 0

assistant

agent notePen lies diagonally just right of centre, cap is a small piece left of centre. Hovering the right arm above the pen (yaw 45° so the jaws close across it) and the left arm above the cap.

move_to

right_x0.3500right_y0.2400right_z0.1400right_yaw0.7850left_x0.3700left_y-0.2400left_z0.1400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7921, 0.6018, -0.3798, -0.0231, -0.0113, 0.9995, -0.0181, 0.7906, 0.6102, -0.3759, -0.0261, -0.0147, 0.9991] state[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2958 right_y=0.0028 right_z=0.1846 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.3897, -1.4838, 10.5641, 1.7802, -0.0464, -0.0464, -0.0659, -0.6906, -1.1556, 9.6752, 1.7509, 0.0024, -0.022, -0.1148] 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": 0.24, "right_z": 0.14, "right_yaw": 0.785, "left_x": 0.37, "left_y": -0.24, "left_z": 0.14}, "note": "Pen lies diagonally just right of centre, cap is a small piece left of centre. Hovering the right arm above the pen (yaw 45\u00b0 so the jaws close across it) and the left arm above the cap."})

tool

executing move_to over 22 steps (2.2s)

step 22

assistant

agent noteWrist views show the cap just ahead and slightly left of the left jaws, and the pen running along the right jaws' axis but offset to image-right. Correcting both positions, rotating the left jaws to match the cap angle, and descending partway to verify.

move_to

right_x0.3620right_y0.2050right_z0.0700left_x0.4000left_y-0.2200left_z0.0700left_yaw-0.3500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.831, 1.6402, 0.9943, -0.1711, -0.6571, -0.5362, 0.9994, 0.4763, 1.4406, 0.7609, 0.0399, -0.2409, -0.1547, 0.999] state[eef_state]: left_x=0.3613 left_y=-0.2305 left_z=0.1229 left_yaw=-0.013 left_pitch=-0.0459 left_roll=0.03 left_gripper=0.9994 right_x=0.3416 right_y=0.2277 right_z=0.1223 right_yaw=0.7505 right_pitch=-0.0627 right_roll=0.0151 right_gripper=0.999 state[joint_eff]: [-0.2803, -7.747, 9.388, 1.5409, -0.5153, -0.0073, -0.0171, 0.3214, -5.9009, 8.7863, 1.9658, -0.1783, -0.022, -0.022] 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_x": 0.362, "right_y": 0.205, "right_z": 0.07, "left_x": 0.4, "left_y": -0.22, "left_z": 0.07, "left_yaw": -0.35}, "note": "Wrist views show the cap just ahead and slightly left of the left jaws, and the pen running along the right jaws' axis but offset to image-right. Correcting both positions, rotating the left jaws to match the cap angle, and descending partway to verify."})

tool

executing move_to over 4 steps (0.4s)

step 26

assistant

agent noteCap is now on the left jaw column slightly ahead; pen is still a bit to image-right of the right jaws. Nudging both and lowering to 4 cm to finish alignment before the grasp.

move_to

right_x0.3660right_y0.1900right_z0.0400left_x0.4100left_y-0.2000left_z0.0400left_yaw-0.3500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6083, 1.7252, 0.8177, 0.1421, -0.3653, -0.2512, 0.9994, 0.3779, 1.5932, 0.6804, 0.1886, -0.2974, -0.2001, 0.999] state[eef_state]: left_x=0.3896 left_y=-0.19 left_z=0.054 left_yaw=-0.169 left_pitch=-0.1355 left_roll=0.0574 left_gripper=0.9994 right_x=0.3535 right_y=0.1999 right_z=0.0606 right_yaw=0.7258 right_pitch=-0.1309 right_roll=0.0389 right_gripper=0.999 state[joint_eff]: [-1.0051, -8.1436, 6.5299, 2.0391, 0.1294, 0.2027, -0.0122, -0.1162, -7.3094, 6.2154, 1.9805, -0.4469, -0.188, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.366, "right_y": 0.19, "right_z": 0.04, "left_x": 0.41, "left_y": -0.2, "left_z": 0.04, "left_yaw": -0.35}, "note": "Cap is now on the left jaw column slightly ahead; pen is still a bit to image-right of the right jaws. Nudging both and lowering to 4 cm to finish alignment before the grasp."})

tool

executing move_to over 2 steps (0.2s)

step 28

assistant

agent noteCap sits just left of and ahead of the left jaws; pen still slightly to image-right of the right jaws. Applying the last small corrections and descending to table level for both grasps.

move_to

right_x0.3760right_y0.1800right_z0.0000left_x0.4120left_y-0.1930left_z0.0000left_yaw-0.3500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5877, 1.7565, 0.8021, 0.2508, -0.2596, -0.1528, 0.9994, 0.3508, 1.6485, 0.6712, 0.2649, -0.3279, -0.2237, 0.999] state[eef_state]: left_x=0.3958 left_y=-0.2049 left_z=0.0506 left_yaw=-0.2911 left_pitch=-0.1066 left_roll=0.0449 left_gripper=0.9994 right_x=0.3614 right_y=0.1966 right_z=0.0507 right_yaw=0.736 right_pitch=-0.112 right_roll=0.0349 right_gripper=0.999 state[joint_eff]: [0.7179, -6.9812, 5.6821, 1.6825, -0.2173, -0.0513, -0.0122, -1.0462, -5.6274, 6.1333, 1.5653, -0.2125, -0.1099, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.376, "right_y": 0.18, "right_z": 0.0, "left_x": 0.412, "left_y": -0.193, "left_z": 0.0, "left_yaw": -0.35}, "note": "Cap sits just left of and ahead of the left jaws; pen still slightly to image-right of the right jaws. Applying the last small corrections and descending to table level for both grasps."})

tool

executing move_to over 4 steps (0.4s)

step 32

assistant

agent noteRight jaws are down at table level straddling the pen, so closing on it. Left arm stalled at 4 cm above the cap; commanding it down again.

move_to

right_gripper0.0000left_x0.4100left_y-0.1950left_z-0.0100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5819, 1.771, 0.8001, 0.2504, -0.2802, -0.1551, 0.9994, 0.289, 1.832, 0.6498, 0.4427, -0.3649, -0.2642, 0.9989] state[eef_state]: left_x=0.397 left_y=-0.1984 left_z=0.0443 left_yaw=-0.2665 left_pitch=-0.1185 left_roll=0.0611 left_gripper=0.9994 right_x=0.3743 right_y=0.1808 right_z=0.0048 right_yaw=0.7274 right_pitch=-0.1258 right_roll=0.0367 right_gripper=0.9989 state[joint_eff]: [0.253, -8.1709, 5.7094, 1.663, -0.1587, -0.0317, -0.0122, -0.6496, -6.188, 4.6427, 1.2039, -0.2076, 0.0024, -0.0171] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0, "left_x": 0.41, "left_y": -0.195, "left_z": -0.01}, "note": "Right jaws are down at table level straddling the pen, so closing on it. Left arm stalled at 4 cm above the cap; commanding it down again."})

tool

executing move_to over 10 steps (1.0s)

step 42

assistant

agent noteLeft jaws are at table level with the cap centred between them in the wrist view; closing on the cap. Right gripper has closed on the pen (reading 0.045).

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5545, 1.9488, 0.7834, 0.4751, -0.2611, -0.1558, 0.999, 0.2836, 1.842, 0.6468, 0.4587, -0.3717, -0.2684, 0.0447] state[eef_state]: left_x=0.4127 left_y=-0.1977 left_z=0.0027 left_yaw=-0.2554 left_pitch=-0.0935 left_roll=0.0395 left_gripper=0.999 right_x=0.375 right_y=0.1799 right_z=0.003 right_yaw=0.7297 right_pitch=-0.1209 right_roll=0.0363 right_gripper=0.0447 state[joint_eff]: [0.4991, -6.694, 4.6291, 1.2332, -0.0757, 0.1636, -0.0562, 0.4034, -8.5265, 4.9573, 1.3895, -0.0904, 0.0317, 1.2283] 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": {"left_gripper": 0.0}, "note": "Left jaws are at table level with the cap centred between them in the wrist view; closing on the cap. Right gripper has closed on the pen (reading 0.045)."})

tool

executing move_to over 10 steps (1.0s)

step 52

assistant

agent noteBoth grippers closed at ~0.05 with the pen and cap visible protruding forward from the jaws. Lifting both to confirm the grasps.

move_to

left_z0.1200right_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5549, 1.961, 0.783, 0.5064, -0.2619, -0.1619, 0.0498, 0.2836, 1.8412, 0.6468, 0.4603, -0.3717, -0.2676, 0.0476] state[eef_state]: left_x=0.4154 left_y=-0.1995 left_z=0.0032 left_yaw=-0.2523 left_pitch=-0.0753 left_roll=0.0295 left_gripper=0.0498 right_x=0.3753 right_y=0.18 right_z=0.0035 right_yaw=0.7292 right_pitch=-0.1189 right_roll=0.0359 right_gripper=0.0476 state[joint_eff]: [-0.0615, -10.0034, 4.7932, 1.3651, -0.0366, 0.1099, 1.2625, -0.2256, -7.8017, 4.6701, 1.536, -0.1587, -0.0708, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.12, "right_z": 0.12}, "note": "Both grippers closed at ~0.05 with the pen and cap visible protruding forward from the jaws. Lifting both to confirm the grasps."})

tool

executing move_to over 8 steps (0.8s)

step 60

assistant

agent noteBoth pen and cap are lifted (table is clear, both visible protruding from the jaws). Moving both to the table centre line in a line along x: pen tip pointing forward in the right arm, cap in front of it held by the left arm, with a gap for alignment.

move_to

left_x0.4500left_y-0.3500left_z0.1500left_yaw0.0000right_x0.2600right_y0.3000right_z0.1500right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5549, 1.6867, 0.9272, 0.0608, -0.2607, -0.1707, 0.059, 0.2836, 1.5482, 0.8333, -0.0212, -0.371, -0.271, 0.0521] state[eef_state]: left_x=0.4117 left_y=-0.1974 left_z=0.0943 left_yaw=-0.2477 left_pitch=-0.1012 left_roll=0.03 left_gripper=0.059 right_x=0.377 right_y=0.1803 right_z=0.1032 right_yaw=0.7305 right_pitch=-0.1207 right_roll=0.0336 right_gripper=0.0521 state[joint_eff]: [-0.1983, -9.7436, 9.5658, 1.7363, -0.1294, 0.1294, 1.0281, -0.3624, -8.8137, 8.4308, 1.4286, -0.1783, -0.0073, 1.0281] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.45, "left_y": -0.35, "left_z": 0.15, "left_yaw": 0.0, "right_x": 0.26, "right_y": 0.3, "right_z": 0.15, "right_yaw": 0.0}, "note": "Both pen and cap are lifted (table is clear, both visible protruding from the jaws). Moving both to the table centre line in a line along x: pen tip pointing forward in the right arm, cap in front of it held by the left arm, with a gap for alignment."})

tool

executing move_to over 14 steps (1.4s)

step 74

assistant

agent notePen and cap are lined up along the centre line, cap ~19 cm ahead, but the right arm sagged 3 cm low and both tools are tilted back slightly. Raising the right arm and correcting pitch so the pen and cap are level with each other.

move_to

right_z0.1850right_pitch0.1000left_pitch0.0500left_z0.1550

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8234, 2.1616, 1.8671, -0.5793, -0.6167, -0.5835, 0.0646, 1.1324, 1.6474, 1.1213, -0.5869, 0.7204, 0.8799, 0.0541] state[eef_state]: left_x=0.4558 left_y=-0.3363 left_z=0.1535 left_yaw=-0.005 left_pitch=-0.106 left_roll=0.013 left_gripper=0.0646 right_x=0.2601 right_y=0.2887 right_z=0.1223 right_yaw=0.0426 right_pitch=-0.1836 right_roll=-0.0406 right_gripper=0.0541 state[joint_eff]: [-0.6359, -10.947, 7.3094, 0.906, -0.569, -0.0171, 1.0281, -0.0205, -8.9778, 8.4991, 0.9109, 0.7009, 0.1392, 1.0379] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.185, "right_pitch": 0.1, "left_pitch": 0.05, "left_z": 0.155}, "note": "Pen and cap are lined up along the centre line, cap ~19 cm ahead, but the right arm sagged 3 cm low and both tools are tilted back slightly. Raising the right arm and correcting pitch so the pen and cap are level with each other."})

tool

executing move_to over 10 steps (1.0s)

step 84

assistant

agent noteHeights now match (~14.5 cm). The right wrist view shows the left gripper up and to the right of the pen's line; the pen is yawed 0.09 rad left, so straightening its yaw and bringing the cap a bit closer.

move_to

right_yaw-0.0400right_roll0.0500left_x0.4200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8444, 2.1174, 1.6821, -0.3302, -0.6914, -0.5297, 0.0683, 1.2076, 1.6016, 1.0653, -0.5114, 0.8703, 0.7963, 0.0541] state[eef_state]: left_x=0.4545 left_y=-0.3365 left_z=0.1459 left_yaw=-0.0061 left_pitch=0.0068 left_roll=0.014 left_gripper=0.0683 right_x=0.2512 right_y=0.291 right_z=0.143 right_yaw=0.0912 right_pitch=-0.0386 right_roll=-0.1082 right_gripper=0.0541 state[joint_eff]: [-0.5538, -13.2991, 5.3675, 1.6435, -0.3394, 0.2125, 1.0232, 0.6085, -11.6171, 7.4325, 1.6581, 1.3504, -0.0513, 1.0281] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_yaw": -0.04, "right_roll": 0.05, "left_x": 0.42}, "note": "Heights now match (~14.5 cm). The right wrist view shows the left gripper up and to the right of the pen's line; the pen is yawed 0.09 rad left, so straightening its yaw and bringing the cap a bit closer."})

tool

executing move_to over 3 steps (0.3s)

step 87

assistant

agent noteHeights match (~13.3 cm) and the pen now points straight forward; the left gripper holding the cap still appears to the right of the pen's line in the right wrist view. Shifting the cap ~1.5 cm left and ~3.5 cm closer to the pen tip.

move_to

left_x0.3950left_y-0.3220

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8825, 2.08, 1.5909, -0.3141, -0.7105, -0.5613, 0.0683, 1.2133, 1.6211, 1.0584, -0.5301, 0.8604, 0.9173, 0.0555] state[eef_state]: left_x=0.4315 left_y=-0.3377 left_z=0.1337 left_yaw=-0.0137 left_pitch=-0.0074 left_roll=0.0246 left_gripper=0.0683 right_x=0.2473 right_y=0.2895 right_z=0.1314 right_yaw=0.036 right_pitch=-0.0614 right_roll=-0.0462 right_gripper=0.0555 state[joint_eff]: [-0.9915, -15.0632, 6.188, 1.2772, -0.5153, -0.188, 1.033, -0.4718, -6.9812, 9.3607, 0.9988, 0.6422, 0.2711, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.395, "left_y": -0.322}, "note": "Heights match (~13.3 cm) and the pen now points straight forward; the left gripper holding the cap still appears to the right of the pen's line in the right wrist view. Shifting the cap ~1.5 cm left and ~3.5 cm closer to the pen tip."})

tool

executing move_to over 3 steps (0.3s)

step 90

assistant

agent noteThe left arm barely moved last time and both arms are sagging to ~12.8 cm. Re-commanding the cap closer and further left, and raising both commands to hold height.

move_to

left_x0.3700left_y-0.3100left_z0.1600right_z0.1900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8993, 2.0762, 1.573, -0.3218, -0.7113, -0.5835, 0.0683, 1.2236, 1.6245, 1.063, -0.5411, 0.8368, 0.9344, 0.0555] state[eef_state]: left_x=0.4227 left_y=-0.3408 left_z=0.1278 left_yaw=-0.0178 left_pitch=-0.0205 left_roll=0.0232 left_gripper=0.0683 right_x=0.2419 right_y=0.2937 right_z=0.1279 right_yaw=0.0479 right_pitch=-0.0845 right_roll=-0.0333 right_gripper=0.0555 state[joint_eff]: [-0.6769, -14.9949, 6.0923, 1.2723, -0.569, -0.0757, 1.033, -1.1145, -7.3504, 5.8462, 1.116, 0.5739, -0.0317, 1.0281] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.37, "left_y": -0.31, "left_z": 0.16, "right_z": 0.19}, "note": "The left arm barely moved last time and both arms are sagging to ~12.8 cm. Re-commanding the cap closer and further left, and raising both commands to hold height."})

tool

executing move_to over 5 steps (0.5s)

step 95

assistant

agent noteThe left arm appears folded to its limit and won't come closer, so instead I'm bringing the pen forward toward the cap and nudging it right, where the left gripper appears in the right wrist view; holding the left arm where it is.

move_to

right_x0.2700right_y0.2800right_yaw-0.0500right_pitch0.1000right_z0.1900left_x0.4200left_y-0.3380left_z0.1600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.897, 2.0396, 1.57, -0.3244, -0.712, -0.5873, 0.0683, 1.2259, 1.6245, 1.1931, -0.762, 0.7471, 0.9318, 0.0555] state[eef_state]: left_x=0.4223 left_y=-0.3382 left_z=0.1449 left_yaw=-0.0131 left_pitch=-0.0004 left_roll=-0.0035 left_gripper=0.0683 right_x=0.2297 right_y=0.295 right_z=0.1422 right_yaw=0.0814 right_pitch=-0.1958 right_roll=-0.0864 right_gripper=0.0555 state[joint_eff]: [-0.7179, -11.2342, 6.9128, 1.3162, -0.5055, -0.0415, 1.033, -0.4855, -10.947, 11.5624, 1.1306, 1.4872, 0.0024, 1.0379] 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_x": 0.27, "right_y": 0.28, "right_yaw": -0.05, "right_pitch": 0.1, "right_z": 0.19, "left_x": 0.42, "left_y": -0.338, "left_z": 0.16}, "note": "The left arm appears folded to its limit and won't come closer, so instead I'm bringing the pen forward toward the cap and nudging it right, where the left gripper appears in the right wrist view; holding the left arm where it is."})

tool

executing move_to over 10 steps (1.0s)

step 105

assistant

agent noteBoth arms are stalled, likely touching each other with the left arm crossing over the right gripper, and I can't see the cap from the pen side. Separating the arms back to their own sides and turning both tools to point left (+y), so the pen tip will face the cap's open end across the centre.

move_to

right_x0.3000right_y0.1500right_z0.1800right_yaw1.2000left_x0.3800left_y-0.2000left_z0.1700left_yaw1.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8982, 2.0315, 1.597, -0.3588, -0.7258, -0.6029, 0.0683, 1.2232, 1.6348, 1.1683, -0.6914, 0.8795, 0.8921, 0.0555] state[eef_state]: left_x=0.4227 left_y=-0.3368 left_z=0.1558 left_yaw=0.0038 left_pitch=0.0078 left_roll=-0.0111 left_gripper=0.0683 right_x=0.2458 right_y=0.2895 right_z=0.1516 right_yaw=0.0466 right_pitch=-0.0715 right_roll=-0.1336 right_gripper=0.0555 state[joint_eff]: [-0.3761, -12.1915, 7.706, 1.2381, -0.1783, 0.105, 1.033, -2.5504, -8.5949, 7.6513, 1.5897, 1.5995, -0.0269, 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_x": 0.3, "right_y": 0.15, "right_z": 0.18, "right_yaw": 1.2, "left_x": 0.38, "left_y": -0.2, "left_z": 0.17, "left_yaw": 1.2}, "note": "Both arms are stalled, likely touching each other with the left arm crossing over the right gripper, and I can't see the cap from the pen side. Separating the arms back to their own sides and turning both tools to point left (+y), so the pen tip will face the cap's open end across the centre."})

tool

executing move_to over 13 steps (1.3s)

step 118

assistant

agent noteArms are separated with both tools turned mostly toward +y; the pen is visible in the top view pointing left toward the left gripper. Lining both up on the same x line at matching height, pen tip ~5 cm short of the cap's open end.

move_to

right_x0.3500right_y0.2000right_z0.1800right_yaw1.5700left_x0.3500left_y-0.3000left_z0.2000left_yaw1.5700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7017, 2.3234, 1.8942, -1.5352, -0.952, -1.9911, 0.0718, 0.1017, 1.2671, 0.9081, -0.5213, -0.6495, -0.786, 0.059] state[eef_state]: left_x=0.3867 left_y=-0.1338 left_z=0.0983 left_yaw=1.103 left_pitch=0.0038 left_roll=0.0402 left_gripper=0.0718 right_x=0.3129 right_y=0.1429 right_z=0.1717 right_yaw=1.0444 right_pitch=-0.1084 right_roll=-0.1249 right_gripper=0.059 state[joint_eff]: [-0.7863, -15.1726, 5.6821, -0.2711, -0.4469, -0.0904, 1.0379, -0.2803, -4.547, 7.8291, 0.9499, -0.525, -0.0904, 0.6667] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.35, "right_y": 0.2, "right_z": 0.18, "right_yaw": 1.57, "left_x": 0.35, "left_y": -0.3, "left_z": 0.2, "left_yaw": 1.57}, "note": "Arms are separated with both tools turned mostly toward +y; the pen is visible in the top view pointing left toward the left gripper. Lining both up on the same x line at matching height, pen tip ~5 cm short of the cap's open end."})

tool

executing move_to over 15 steps (1.5s)

step 133

assistant

agent noteThe left arm struggled to reach across with its tool turned 90° (it drifted to y=-0.03 and sagged to 8 cm), so I'm keeping the cap nearer the left arm's side and bringing the pen further across instead, lining both up on x=0.36.

move_to

left_x0.3600left_y-0.1200left_z0.2200left_yaw1.5700right_x0.3600right_y0.3200right_z0.1800right_yaw1.5700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4488, 2.3192, 1.8309, -1.5581, -0.8551, -2.0865, 0.0718, 0.1631, 1.7565, 1.4372, -0.9184, -0.8391, -1.2987, 0.0604] state[eef_state]: left_x=0.3825 left_y=-0.0323 left_z=0.0785 left_yaw=1.4509 left_pitch=-0.0547 left_roll=0.0644 left_gripper=0.0718 right_x=0.3546 right_y=0.1952 right_z=0.1739 right_yaw=1.5231 right_pitch=-0.1312 right_roll=-0.1303 right_gripper=0.0604 state[joint_eff]: [0.3761, -15.6376, 4.7521, -0.6178, -0.4029, -0.1294, 1.0281, 0.253, -7.9111, 7.8427, 0.442, -0.6911, -0.1148, 0.8864] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_y": -0.12, "left_z": 0.22, "left_yaw": 1.57, "right_x": 0.36, "right_y": 0.32, "right_z": 0.18, "right_yaw": 1.57}, "note": "The left arm struggled to reach across with its tool turned 90\u00b0 (it drifted to y=-0.03 and sagged to 8 cm), so I'm keeping the cap nearer the left arm's side and bringing the pen further across instead, lining both up on x=0.36."})

tool

executing move_to over 11 steps (1.1s)

step 144

assistant

agent noteTop view shows the pen tip pointing at the left gripper about 9 cm away, but the left arm is stuck ~7 cm lower (z 0.105) than the pen (z 0.174). Lowering the pen to the cap's height so I can see the cap end in the right wrist view.

move_to

right_z0.1250right_y0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3923, 2.1361, 1.6619, -1.5589, -0.8143, -2.0903, 0.0718, 0.4641, 1.8832, 1.5833, -0.7383, -0.7284, -1.005, 0.0621] state[eef_state]: left_x=0.3472 left_y=-0.0008 left_z=0.1055 left_yaw=1.5278 left_pitch=-0.0933 left_roll=0.0609 left_gripper=0.0718 right_x=0.353 right_y=0.3122 right_z=0.1744 right_yaw=1.5901 right_pitch=-0.1457 right_roll=-0.1259 right_gripper=0.0621 state[joint_eff]: [0.5675, -13.0667, 4.1641, -0.6667, -0.5739, -0.105, 1.0281, 0.2667, -9.306, 8.3214, 1.033, -0.3346, 0.1245, 0.8327] approver: 8 step(s) modified (delta_clamped ×8). 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": {"right_z": 0.125, "right_y": 0.3}, "note": "Top view shows the pen tip pointing at the left gripper about 9 cm away, but the left arm is stuck ~7 cm lower (z 0.105) than the pen (z 0.174). Lowering the pen to the cap's height so I can see the cap end in the right wrist view."})

tool

executing move_to over 4 steps (0.4s)

step 148

assistant

agent noteIn the top view the pen tip sits slightly behind (image-lower than) the left gripper's jaws and about 7 cm short of them. Moving the pen a bit forward and closer toward the cap's open end.

move_to

right_x0.3750right_y0.3300right_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4183, 2.1536, 1.6802, -1.5558, -0.799, -2.0937, 0.0718, 0.4408, 1.8938, 1.4151, -0.6312, -0.7185, -1.0225, 0.0647] state[eef_state]: left_x=0.3497 left_y=-0.013 left_z=0.1011 left_yaw=1.5106 left_pitch=-0.1074 left_roll=0.0593 left_gripper=0.0718 right_x=0.346 right_y=0.2958 right_z=0.121 right_yaw=1.5817 right_pitch=-0.1848 right_roll=-0.0771 right_gripper=0.0647 state[joint_eff]: [0.8274, -9.4154, 7.2274, -0.7302, -0.4371, -0.0562, 1.0281, -0.294, -9.2786, 6.8308, 1.4921, -0.6569, -0.0904, 0.7057] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.375, "right_y": 0.33, "right_z": 0.12}, "note": "In the top view the pen tip sits slightly behind (image-lower than) the left gripper's jaws and about 7 cm short of them. Moving the pen a bit forward and closer toward the cap's open end."})

tool

executing move_to over 3 steps (0.3s)

step 151

assistant

agent noteThe right wrist view shows the left gripper holding the cap just above and to image-right (forward, +x) of the pen tip's line. Shifting the pen ~1.5 cm forward, slightly lower, and advancing 3 cm toward the cap.

move_to

right_x0.3900right_y0.3550right_z0.1100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4046, 2.1616, 1.6833, -1.557, -0.7998, -2.0933, 0.0718, 0.4744, 2.0243, 1.5806, -0.6292, -0.6998, -1.0004, 0.0664] state[eef_state]: left_x=0.3503 left_y=-0.0083 left_z=0.0993 left_yaw=1.5244 left_pitch=-0.1046 left_roll=0.0652 left_gripper=0.0718 right_x=0.374 right_y=0.324 right_z=0.1182 right_yaw=1.5872 right_pitch=-0.183 right_roll=-0.1018 right_gripper=0.0664 state[joint_eff]: [-0.1573, -9.9761, 6.735, -0.7106, -0.5104, -0.0366, 1.0281, 0.294, -10.9197, 7.5692, 0.8083, -0.4518, 0.1392, 0.7497] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": 0.355, "right_z": 0.11}, "note": "The right wrist view shows the left gripper holding the cap just above and to image-right (forward, +x) of the pen tip's line. Shifting the pen ~1.5 cm forward, slightly lower, and advancing 3 cm toward the cap."})

tool

executing move_to over 3 steps (0.3s)

step 154

assistant

agent noteThe right arm has stopped at ~0.5 m radius (its reach limit), and the pen tip is still a few cm short of the cap. Pulling both arms back to x=0.28 so they have reach margin, and matching heights at ~14 cm.

move_to

right_x0.2800right_y0.3300right_z0.1500left_x0.2800left_y-0.0100left_z0.1600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4046, 2.1616, 1.684, -1.5566, -0.7994, -2.0933, 0.0718, 0.487, 2.0499, 1.5936, -0.6411, -0.6907, -0.9829, 0.066] state[eef_state]: left_x=0.3505 left_y=-0.0084 left_z=0.0994 left_yaw=1.5244 left_pitch=-0.1053 left_roll=0.0642 left_gripper=0.0718 right_x=0.3717 right_y=0.3282 right_z=0.1088 right_yaw=1.5897 right_pitch=-0.2006 right_roll=-0.0701 right_gripper=0.066 state[joint_eff]: [-0.2256, -10.0308, 6.735, -0.6764, -0.5201, -0.0415, 1.0281, -0.0752, -10.1402, 8.6496, 1.2332, -0.4078, -0.0073, 0.7546] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.28, "right_y": 0.33, "right_z": 0.15, "left_x": 0.28, "left_y": -0.01, "left_z": 0.16}, "note": "The right arm has stopped at ~0.5 m radius (its reach limit), and the pen tip is still a few cm short of the cap. Pulling both arms back to x=0.28 so they have reach margin, and matching heights at ~14 cm."})

tool

executing move_to over 8 steps (0.8s)

step 162

assistant

agent noteThe right arm is holding still and ignoring targets (likely at a joint/reach limit), while the left arm moved back to x=0.29. Backing the right arm off toward its own side with slightly less yaw to free it.

move_to

right_x0.3000right_y0.2500right_z0.1600right_yaw1.4000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4129, 1.8751, 1.4132, -1.5627, -0.7929, -2.0933, 0.0718, 0.487, 2.056, 1.5955, -0.6376, -0.6842, -0.9836, 0.0653] state[eef_state]: left_x=0.2899 left_y=0.0143 left_z=0.1343 left_yaw=1.5182 left_pitch=-0.1141 left_roll=0.0573 left_gripper=0.0718 right_x=0.3733 right_y=0.3281 right_z=0.1063 right_yaw=1.5867 right_pitch=-0.2061 right_roll=-0.0726 right_gripper=0.0653 state[joint_eff]: [-0.2393, -7.4872, 4.2598, -0.4176, -0.4176, -0.0317, 1.0281, 0.0889, -10.9744, 8.6359, 1.1893, -0.4322, -0.0122, 0.7204] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.3, "right_y": 0.25, "right_z": 0.16, "right_yaw": 1.4}, "note": "The right arm is holding still and ignoring targets (likely at a joint/reach limit), while the left arm moved back to x=0.29. Backing the right arm off toward its own side with slightly less yaw to free it."})

tool

executing move_to over 7 steps (0.7s)

step 169

assistant

agent noteRight arm is free again. Top view shows the left gripper (with cap) sitting further forward in the image than the pen tip despite similar x readbacks, so moving the cap back ~5 cm in x to put it on the pen's line.

move_to

left_x0.2400left_z0.1550left_y0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4129, 1.8679, 1.3968, -1.5555, -0.7921, -2.0933, 0.0718, 0.4244, 1.6009, 1.1847, -0.625, -0.6281, -0.8848, 0.0667] state[eef_state]: left_x=0.2874 left_y=0.0153 left_z=0.1327 left_yaw=1.5187 left_pitch=-0.1141 left_roll=0.0593 left_gripper=0.0718 right_x=0.3056 right_y=0.2559 right_z=0.148 right_yaw=1.428 right_pitch=-0.2178 right_roll=-0.0754 right_gripper=0.0667 state[joint_eff]: [-0.1983, -7.665, 6.2291, -0.5885, -0.4713, -0.0171, 1.0281, -0.6222, -8.7043, 7.0769, 1.1111, -0.3053, 0.2271, 0.7302] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.24, "left_z": 0.155, "left_y": 0.0}, "note": "Right arm is free again. Top view shows the left gripper (with cap) sitting further forward in the image than the pen tip despite similar x readbacks, so moving the cap back ~5 cm in x to put it on the pen's line."})

tool

executing move_to over 4 steps (0.4s)

step 173

assistant

agent noteThe left gripper is still slightly forward of the pen's line in the top view and the pen tip is ~10 cm from it. Moving the cap further back in x and advancing the pen 5 cm toward it.

move_to

left_x0.2000left_z0.1600right_y0.3000right_z0.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4183, 1.7435, 1.2724, -1.5578, -0.7841, -2.0933, 0.0718, 0.4183, 1.5608, 1.1694, -0.6426, -0.6239, -0.8703, 0.069] state[eef_state]: left_x=0.2571 left_y=0.0262 left_z=0.1396 left_yaw=1.5175 left_pitch=-0.12 left_roll=0.064 left_gripper=0.0718 right_x=0.3001 right_y=0.2503 right_z=0.1547 right_yaw=1.4102 right_pitch=-0.2165 right_roll=-0.073 right_gripper=0.069 state[joint_eff]: [-0.5538, -7.8974, 4.9846, -0.5299, -0.3932, -0.0611, 1.0281, -0.3897, -8.0889, 6.653, 1.2137, -0.3101, 0.1099, 0.525] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.2, "left_z": 0.16, "right_y": 0.3, "right_z": 0.15}, "note": "The left gripper is still slightly forward of the pen's line in the top view and the pen tip is ~10 cm from it. Moving the cap further back in x and advancing the pen 5 cm toward it."})

tool

executing move_to over 5 steps (0.5s)

step 178

assistant

agent noteThe right arm ignored the last target again while the left arm moved back. Re-sending the pen advance with explicit level pitch/roll in case the drifted tilt made the IK target infeasible.

move_to

right_y0.3000right_x0.2900right_z0.1600right_pitch0.0000right_roll0.0000right_yaw1.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4198, 1.5703, 1.1034, -1.5574, -0.7765, -2.0937, 0.0718, 0.4183, 1.5608, 1.1694, -0.643, -0.6239, -0.8703, 0.0721] state[eef_state]: left_x=0.2158 left_y=0.0432 left_z=0.1433 left_yaw=1.5193 left_pitch=-0.128 left_roll=0.0619 left_gripper=0.0718 right_x=0.3 right_y=0.2502 right_z=0.1547 right_yaw=1.4102 right_pitch=-0.2167 right_roll=-0.0727 right_gripper=0.0721 state[joint_eff]: [-0.4718, -6.3795, 5.053, -0.5543, -0.4518, -0.0415, 1.0281, -0.2393, -8.0752, 6.612, 1.1746, -0.3297, 0.0757, 0.3101] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.3, "right_x": 0.29, "right_z": 0.16, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 1.45}, "note": "The right arm ignored the last target again while the left arm moved back. Re-sending the pen advance with explicit level pitch/roll in case the drifted tilt made the IK target infeasible."})

tool

executing move_to over 8 steps (0.8s)

step 186

assistant

agent noteThe right wrist view now shows the cap-holding gripper at the top-left, i.e. slightly behind the pen's line, where before it was ahead. Moving the cap about 2.5 cm forward to the middle and advancing the pen tip 4 cm toward it.

move_to

left_x0.2400left_z0.1600right_y0.3300right_z0.1600right_pitch0.0000right_roll0.0000right_yaw1.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4194, 1.5642, 1.0855, -1.5555, -0.7765, -2.0933, 0.0718, 0.4847, 1.5764, 1.0653, -0.3782, -0.7368, -0.7017, 0.0742] state[eef_state]: left_x=0.2121 left_y=0.0449 left_z=0.1413 left_yaw=1.5206 left_pitch=-0.1245 left_roll=0.0715 left_gripper=0.0718 right_x=0.2891 right_y=0.2904 right_z=0.1526 right_yaw=1.4419 right_pitch=-0.0566 right_roll=-0.01 right_gripper=0.0742 state[joint_eff]: [-0.2393, -5.0393, 6.3521, -0.5397, -0.398, -0.0269, 1.0281, 0.4308, -6.4752, 6.4615, 1.453, -0.5397, 0.1587, 0.2125] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.24, "left_z": 0.16, "right_y": 0.33, "right_z": 0.16, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 1.5}, "note": "The right wrist view now shows the cap-holding gripper at the top-left, i.e. slightly behind the pen's line, where before it was ahead. Moving the cap about 2.5 cm forward to the middle and advancing the pen tip 4 cm toward it."})

tool

executing move_to over 4 steps (0.4s)

step 190

assistant

agent notePen tip is now a few cm from the left gripper in the top view, with the left gripper still slightly behind the pen line in the right wrist view. Nudging the cap 2 cm forward and advancing the pen another 3–4 cm toward the cap.

move_to

left_x0.2600left_z0.1600right_y0.3600right_z0.1600right_pitch0.0000right_roll0.0000right_yaw1.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3702, 1.6257, 1.1908, -1.5558, -0.7776, -2.0533, 0.0718, 0.5507, 1.6489, 1.1, -0.3275, -0.7536, -0.6605, 0.0765] state[eef_state]: left_x=0.2342 left_y=0.0459 left_z=0.1482 left_yaw=1.5421 left_pitch=-0.1403 left_roll=0.0609 left_gripper=0.0718 right_x=0.2828 right_y=0.3197 right_z=0.1458 right_yaw=1.4967 right_pitch=-0.0391 right_roll=0.0209 right_gripper=0.0765 state[joint_eff]: [0.3761, -5.3538, 7.0222, -0.6618, -0.6422, 0.1636, 1.0281, 0.335, -7.4462, 8.9094, 1.5604, -0.5055, 0.1978, 0.2222] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.26, "left_z": 0.16, "right_y": 0.36, "right_z": 0.16, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 1.5}, "note": "Pen tip is now a few cm from the left gripper in the top view, with the left gripper still slightly behind the pen line in the right wrist view. Nudging the cap 2 cm forward and advancing the pen another 3\u20134 cm toward the cap."})

tool

executing move_to over 4 steps (0.4s)

step 194

assistant

agent noteThe right arm stops at y≈0.325 and won't advance further, and the pen tip looks about 3–4 cm from the left gripper in the top view. Bringing the cap toward the pen tip with the left arm instead.

move_to

left_y0.0050left_x0.2650left_z0.1600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3378, 1.6928, 1.2831, -1.5558, -0.7769, -2.0293, 0.0718, 0.5579, 1.6585, 1.1118, -0.3058, -0.7536, -0.6571, 0.0778] state[eef_state]: left_x=0.2546 left_y=0.0456 left_z=0.1508 left_yaw=1.5583 left_pitch=-0.1501 left_roll=0.0554 left_gripper=0.0718 right_x=0.2858 right_y=0.3251 right_z=0.1493 right_yaw=1.5015 right_pitch=-0.0251 right_roll=0.0043 right_gripper=0.0778 state[joint_eff]: [0.3761, -6.4342, 7.2274, -0.5885, -0.5495, 0.1734, 1.0281, -0.0889, -7.8291, 8.335, 1.4042, -0.4811, 0.1978, 0.1245] camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": 0.005, "left_x": 0.265, "left_z": 0.16}, "note": "The right arm stops at y\u22480.325 and won't advance further, and the pen tip looks about 3\u20134 cm from the left gripper in the top view. Bringing the cap toward the pen tip with the left arm instead."})

tool

executing move_to over 4 steps (0.4s)

step 198

assistant

agent noteNeither arm moved last time. Re-commanding the left arm toward the pen with explicit level pitch/roll (its pitch had drifted to -0.15), which previously freed the right arm.

move_to

left_y-0.0300left_x0.2600left_z0.1700left_yaw1.5000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3321, 1.6978, 1.2942, -1.5566, -0.7769, -2.014, 0.0718, 0.5579, 1.6585, 1.1126, -0.3061, -0.7536, -0.6571, 0.0792] state[eef_state]: left_x=0.2567 left_y=0.0463 left_z=0.1518 left_yaw=1.555 left_pitch=-0.1523 left_roll=0.0619 left_gripper=0.0718 right_x=0.2859 right_y=0.3251 right_z=0.1495 right_yaw=1.5015 right_pitch=-0.0249 right_roll=0.0039 right_gripper=0.0792 state[joint_eff]: [0.0205, -6.4205, 6.8855, -0.5397, -0.6032, 0.1001, 1.0281, 0.1436, -7.9658, 8.294, 1.3895, -0.4762, 0.1832, 0.1392] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.03, "left_x": 0.26, "left_z": 0.17, "left_yaw": 1.5, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Neither arm moved last time. Re-commanding the left arm toward the pen with explicit level pitch/roll (its pitch had drifted to -0.15), which previously freed the right arm."})

tool

executing move_to over 7 steps (0.7s)

step 205

assistant

agent noteThe left arm is frozen, probably with a wrist joint at its limit (joint 4 ≈ -1.56). Easing its yaw to 1.3 rad to get off the limit while moving the cap toward the pen tip.

move_to

left_y0.0000left_x0.2600left_z0.1600left_yaw1.3000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3321, 1.6974, 1.2953, -1.5566, -0.7769, -2.0144, 0.0718, 0.5579, 1.6585, 1.1122, -0.3061, -0.7528, -0.6617, 0.0808] state[eef_state]: left_x=0.2569 left_y=0.0462 left_z=0.152 left_yaw=1.555 left_pitch=-0.1528 left_roll=0.0601 left_gripper=0.0718 right_x=0.2859 right_y=0.325 right_z=0.1493 right_yaw=1.5034 right_pitch=-0.0255 right_roll=0.0001 right_gripper=0.0808 state[joint_eff]: [0.0342, -6.7897, 6.7624, -0.5397, -0.5836, 0.105, 1.033, -0.0889, -7.9932, 6.5162, 1.3358, -0.3883, -0.0024, 0.1538] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": 0.0, "left_x": 0.26, "left_z": 0.16, "left_yaw": 1.3, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The left arm is frozen, probably with a wrist joint at its limit (joint 4 \u2248 -1.56). Easing its yaw to 1.3 rad to get off the limit while moving the cap toward the pen tip."})

tool

executing move_to over 6 steps (0.6s)

step 211

assistant

agent noteThe left arm moves again now that its wrist is off the limit; the cap-holding gripper is just a few cm from the pen tip in the top view. Advancing the cap 3.5 cm onto the pen tip, slightly forward.

move_to

left_y-0.0350left_x0.2700left_z0.1600left_yaw1.3000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5549, 1.7031, 1.2209, -1.5482, -0.8776, -2.0869, 0.0718, 0.5579, 1.6585, 1.1114, -0.3061, -0.7525, -0.6621, 0.0821] state[eef_state]: left_x=0.259 left_y=0.0036 left_z=0.1496 left_yaw=1.3338 left_pitch=-0.0407 left_roll=0.0425 left_gripper=0.0718 right_x=0.2858 right_y=0.3249 right_z=0.149 right_yaw=1.5034 right_pitch=-0.0262 right_roll=0.0002 right_gripper=0.0821 state[joint_eff]: [-0.3624, -8.5812, 4.7658, -0.4811, -0.6716, -0.1245, 1.0281, -0.335, -7.8017, 6.5299, 1.3504, -0.2906, -0.0269, 0.1245] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.035, "left_x": 0.27, "left_z": 0.16, "left_yaw": 1.3, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The left arm moves again now that its wrist is off the limit; the cap-holding gripper is just a few cm from the pen tip in the top view. Advancing the cap 3.5 cm onto the pen tip, slightly forward."})

tool

executing move_to over 4 steps (0.4s)

step 215

assistant

agent noteI picked up both the pen (right arm) and the cap (left arm), but I couldn't get the cap onto the pen. With both tools turned about 90° toward each other, each arm hit a wrist joint or reach limit before the pen tip reached the cap: the right arm stops at right_y≈0.325 and the left at left_y≈0.0, so the wrist-joint limit (≈-2.09) blocks it. From the cameras I also couldn't see the cap's open end well enough to line it up. I'm stopping with 4 calls left because every recent move stalled, so there's no clear way to finish in that budget. Both objects are still held in the air.

give_up

hindsight- Grasping worked well. Hover at z≈0.14, centre the object on wrist-image column ≈110, descend to z≈0 and close. A pen and a cap each read about 0.045–0.07 when closed and were held securely. Pen: right arm at right_x≈0.375, right_y≈0.18, yaw 0.73. Cap: left arm at left_x≈0.41, left_y≈-0.20. The objects sat close to the centre line. - Moves converge slowly. A single move call often covers only a fraction of the target, and readbacks lag. Several arms also froze completely: the target was ignored and the joints didn't change. Three causes I saw: (a) near-limit reach at about 0.5 m radius; (b) a wrist joint at its limit (joint 6 of an arm ≈ -2.09) when yaw is ≈±1.5; (c) pitch/roll that had drifted (≈-0.2). Explicitly commanding pitch=0 and roll=0, or reducing yaw by 0.2–0.3, freed the arm. - Base spacing / frames: the readbacks don't match the top-camera image. The same commanded x looked several cm different between the two arms, and the real gap between arms at the centre was much smaller than the 0.65 m spacing implies. Align using the wrist cameras, not frame arithmetic. - Yaw 0 for both with the cap in front of the pen along x: the left arm couldn't fold closer than about x=0.42 while crossing to y=-0.34, and the arms seemed to touch each other. - A better plan for putting the cap on: meet near the centre at low radius (x≈0.25–0.3) with each arm on its own side. Choose the grasps so the object's axis ends up perpendicular to the jaw axis with a modest yaw (under 1.3 rad), or grasp the pen so it points toward the other arm from the start. Before the final alignment, work out which end of the cap is open from the pickup images; I never confirmed it. In the right wrist camera the pen tip appears at row ≈50; the other gripper only showed up at the image corners, which was too little to align on.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.572, 1.6951, 1.2152, -1.533, -0.9092, -2.0937, 0.0718, 0.5579, 1.6585, 1.1114, -0.3061, -0.7528, -0.6621, 0.0828] state[eef_state]: left_x=0.2632 left_y=0.0006 left_z=0.1529 left_yaw=1.3058 left_pitch=-0.0189 left_roll=0.0114 left_gripper=0.0718 right_x=0.2858 right_y=0.3249 right_z=0.149 right_yaw=1.5036 right_pitch=-0.0259 right_roll=0.0004 right_gripper=0.0828 state[joint_eff]: [-0.0889, -8.3487, 4.6701, -0.5983, -0.6862, -0.0415, 1.0232, -0.3761, -7.9385, 6.4889, 1.3455, -0.3687, -0.0464, 0.0513] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]

assistant

give_up({"reason": "I picked up both the pen (right arm) and the cap (left arm), but I couldn't get the cap onto the pen. With both tools turned about 90\u00b0 toward each other, each arm hit a wrist joint or reach limit before the pen tip reached the cap: the right arm stops at right_y\u22480.325 and the left at left_y\u22480.0, so the wrist-joint limit (\u2248-2.09) blocks it. From the cameras I also couldn't see the cap's open end well enough to line it up. I'm stopping with 4 calls left because every recent move stalled, so there's no clear way to finish in that budget. Both objects are still held in the air.", "hindsight": "- Grasping worked well. Hover at z\u22480.14, centre the object on wrist-image column \u2248110, descend to z\u22480 and close. A pen and a cap each read about 0.045\u20130.07 when closed and were held securely. Pen: right arm at right_x\u22480.375, right_y\u22480.18, yaw 0.73. Cap: left arm at left_x\u22480.41, left_y\u2248-0.20. The objects sat close to the centre line.\n- Moves converge slowly. A single move call often covers only a fraction of the target, and readbacks lag. Several arms also froze completely: the target was ignored and the joints didn't change. Three causes I saw: (a) near-limit reach at about 0.5 m radius; (b) a wrist joint at its limit (joint 6 of an arm \u2248 -2.09) when yaw is \u2248\u00b11.5; (c) pitch/roll that had drifted (\u2248-0.2). Explicitly commanding pitch=0 and roll=0, or reducing yaw by 0.2\u20130.3, freed the arm.\n- Base spacing / frames: the readbacks don't match the top-camera image. The same commanded x looked several cm different between the two arms, and the real gap between arms at the centre was much smaller than the 0.65 m spacing implies. Align using the wrist cameras, not frame arithmetic.\n- Yaw 0 for both with the cap in front of the pen along x: the left arm couldn't fold closer than about x=0.42 while crossing to y=-0.34, and the arms seemed to touch each other.\n- A better plan for putting the cap on: meet near the centre at low radius (x\u22480.25\u20130.3) with each arm on its own side. Choose the grasps so the object's axis ends up perpendicular to the jaw axis with a modest yaw (under 1.3 rad), or grasp the pen so it points toward the other arm from the start. Before the final alignment, work out which end of the cap is open from the pickup images; I never confirmed it. In the right wrist camera the pen tip appears at row \u224850; the other gripper only showed up at the image corners, which was too little to align on."})

tool

give_up: I picked up both the pen (right arm) and the cap (left arm), but I couldn't get the cap onto the pen. With both tools turned about 90° toward each other, each arm hit a wrist joint or reach limit before the pen tip reached the cap: the right arm stops at right_y≈0.325 and the left at left_y≈0.0, so the wrist-joint limit (≈-2.09) blocks it. From the cameras I also couldn't see the cap's open end well enough to line it up. I'm stopping with 4 calls left because every recent move stalled, so there's no clear way to finish in that budget. Both objects are still held in the air.

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 · 23.96 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7921, 0.6018, -0.3798, -0.0231, -0.0113, 0.9995, -0.0181, 0.7906, 0.6102, -0.3759, -0.0261, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2958 right_y=0.0028 right_z=0.1846 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -1.4838, 10.5641, 1.7802, -0.0464, -0.0464, -0.0659, -0.6906, -1.1556, 9.6752, 1.7509, 0.0024, -0.022, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3a9ba942f0fe23fb15f408119c5a56d21e4cc14886f991b955b027b253f61d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:469f981d3c2049a04683bafc3ab9d318216a100c85b22759a8a01daef70fb1f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:165f7d4ca28797a141da0685e18d862785b73a5f28859508960846dd7be600c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 12.95 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7921, 0.6018, -0.3798, -0.0231, -0.0113, 0.9995, -0.0181, 0.7906, 0.6102, -0.3759, -0.0261, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2958 right_y=0.0028 right_z=0.1846 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -1.4838, 10.5641, 1.7802, -0.0464, -0.0464, -0.0659, -0.6906, -1.1556, 9.6752, 1.7509, 0.0024, -0.022, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3a9ba942f0fe23fb15f408119c5a56d21e4cc14886f991b955b027b253f61d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:469f981d3c2049a04683bafc3ab9d318216a100c85b22759a8a01daef70fb1f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:165f7d4ca28797a141da0685e18d862785b73a5f28859508960846dd7be600c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TtUbGfn4MT1Ab54Y5kCCbr",
      "input": {
        "note": "Pen lies diagonally just right of centre, cap is a small piece left of centre. Hovering the right arm above the pen (yaw 45° so the jaws close across it) and the left arm above the cap.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.24,
          "left_z": 0.14,
          "right_x": 0.35,
          "right_y": 0.24,
          "right_yaw": 0.785,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01TtUbGfn4MT1Ab54Y5kCCbr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.831, 1.6402, 0.9943, -0.1711, -0.6571, -0.5362, 0.9994, 0.4763, 1.4406, 0.7609, 0.0399, -0.2409, -0.1547, 0.999]\nstate[eef_state]: left_x=0.3613 left_y=-0.2305 left_z=0.1229 left_yaw=-0.013 left_pitch=-0.0459 left_roll=0.03 left_gripper=0.9994 right_x=0.3416 right_y=0.2277 right_z=0.1223 right_yaw=0.7505 right_pitch=-0.0627 right_roll=0.0151 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -7.747, 9.388, 1.5409, -0.5153, -0.0073, -0.0171, 0.3214, -5.9009, 8.7863, 1.9658, -0.1783, -0.022, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:691e5b0fcf0b3bdfec43e3c534ae107328f60125d881dd844ff025ac42c9fb4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e80404dee3e2a6c1d1f46c07cb50fd8ea3d4c2e9267e1904b03d5aae15a5a9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f312ebdbc382c3eb19abe57e3bc523f064cb8bbcdd9baa6871fd8990ec1d8da4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 6.808 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7921, 0.6018, -0.3798, -0.0231, -0.0113, 0.9995, -0.0181, 0.7906, 0.6102, -0.3759, -0.0261, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2958 right_y=0.0028 right_z=0.1846 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -1.4838, 10.5641, 1.7802, -0.0464, -0.0464, -0.0659, -0.6906, -1.1556, 9.6752, 1.7509, 0.0024, -0.022, -0.1148]",
      "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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.831, 1.6402, 0.9943, -0.1711, -0.6571, -0.5362, 0.9994, 0.4763, 1.4406, 0.7609, 0.0399, -0.2409, -0.1547, 0.999]\nstate[eef_state]: left_x=0.3613 left_y=-0.2305 left_z=0.1229 left_yaw=-0.013 left_pitch=-0.0459 left_roll=0.03 left_gripper=0.9994 right_x=0.3416 right_y=0.2277 right_z=0.1223 right_yaw=0.7505 right_pitch=-0.0627 right_roll=0.0151 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -7.747, 9.388, 1.5409, -0.5153, -0.0073, -0.0171, 0.3214, -5.9009, 8.7863, 1.9658, -0.1783, -0.022, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:691e5b0fcf0b3bdfec43e3c534ae107328f60125d881dd844ff025ac42c9fb4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e80404dee3e2a6c1d1f46c07cb50fd8ea3d4c2e9267e1904b03d5aae15a5a9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f312ebdbc382c3eb19abe57e3bc523f064cb8bbcdd9baa6871fd8990ec1d8da4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012uB3NkzSAVsbaQpsofKo6y",
      "input": {
        "note": "Wrist views show the cap just ahead and slightly left of the left jaws, and the pen running along the right jaws' axis but offset to image-right. Correcting both positions, rotating the left jaws to match the cap angle, and descending partway to verify.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.22,
          "left_yaw": -0.35,
          "left_z": 0.07,
          "right_x": 0.362,
          "right_y": 0.205,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_012uB3NkzSAVsbaQpsofKo6y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6083, 1.7252, 0.8177, 0.1421, -0.3653, -0.2512, 0.9994, 0.3779, 1.5932, 0.6804, 0.1886, -0.2974, -0.2001, 0.999]\nstate[eef_state]: left_x=0.3896 left_y=-0.19 left_z=0.054 left_yaw=-0.169 left_pitch=-0.1355 left_roll=0.0574 left_gripper=0.9994 right_x=0.3535 right_y=0.1999 right_z=0.0606 right_yaw=0.7258 right_pitch=-0.1309 right_roll=0.0389 right_gripper=0.999\nstate[joint_eff]: [-1.0051, -8.1436, 6.5299, 2.0391, 0.1294, 0.2027, -0.0122, -0.1162, -7.3094, 6.2154, 1.9805, -0.4469, -0.188, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db210fcfb4b26ea5ad8a848eb66eda869ab2d790f4f2a510f2ae4279cc036b5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bb40bac86817a3d77530c5dcad4e3f01efc4e4cff852db8eda06053ee7bdcf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b1ad4d36f9770ae53bb49551670c303b34ceea7a4e6ce1f660b52e30b7819ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 6.693 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7921, 0.6018, -0.3798, -0.0231, -0.0113, 0.9995, -0.0181, 0.7906, 0.6102, -0.3759, -0.0261, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2958 right_y=0.0028 right_z=0.1846 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -1.4838, 10.5641, 1.7802, -0.0464, -0.0464, -0.0659, -0.6906, -1.1556, 9.6752, 1.7509, 0.0024, -0.022, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.831, 1.6402, 0.9943, -0.1711, -0.6571, -0.5362, 0.9994, 0.4763, 1.4406, 0.7609, 0.0399, -0.2409, -0.1547, 0.999]\nstate[eef_state]: left_x=0.3613 left_y=-0.2305 left_z=0.1229 left_yaw=-0.013 left_pitch=-0.0459 left_roll=0.03 left_gripper=0.9994 right_x=0.3416 right_y=0.2277 right_z=0.1223 right_yaw=0.7505 right_pitch=-0.0627 right_roll=0.0151 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -7.747, 9.388, 1.5409, -0.5153, -0.0073, -0.0171, 0.3214, -5.9009, 8.7863, 1.9658, -0.1783, -0.022, -0.022]",
      "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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6083, 1.7252, 0.8177, 0.1421, -0.3653, -0.2512, 0.9994, 0.3779, 1.5932, 0.6804, 0.1886, -0.2974, -0.2001, 0.999]\nstate[eef_state]: left_x=0.3896 left_y=-0.19 left_z=0.054 left_yaw=-0.169 left_pitch=-0.1355 left_roll=0.0574 left_gripper=0.9994 right_x=0.3535 right_y=0.1999 right_z=0.0606 right_yaw=0.7258 right_pitch=-0.1309 right_roll=0.0389 right_gripper=0.999\nstate[joint_eff]: [-1.0051, -8.1436, 6.5299, 2.0391, 0.1294, 0.2027, -0.0122, -0.1162, -7.3094, 6.2154, 1.9805, -0.4469, -0.188, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db210fcfb4b26ea5ad8a848eb66eda869ab2d790f4f2a510f2ae4279cc036b5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bb40bac86817a3d77530c5dcad4e3f01efc4e4cff852db8eda06053ee7bdcf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b1ad4d36f9770ae53bb49551670c303b34ceea7a4e6ce1f660b52e30b7819ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSyAoKEAgSGAI4AUIIdGhpbmtpbmcSDDAvmRPMhJ2zYxKDURoMsdpCjSDFdafxAs7sIjCXDgwItaKFgmpO6E/e4OQXZSuKFmYKIu+Qebv7IjpAVFqT/ysYTF8nt0sfjhOhq1wq5QkQSVPUGoGDsHwkzGgAkjn9LGBTNzq8YUnWvq8OUHpSP9Mjq3TMzPmzhJb8NTMiW4mxA8eiFT5aSlNE3fHu6BYjgJOf6nrog+x1OMSSf0x0B4PHbcmsDUXHXbsTP6WmDxV+JPwpM3vL3G+Eo3s/qJudbJd/H50G18nlcnNpcfltpG/lLMWD33xSa/NmidUtEUEV0JNUH5jGadWlah+GXWJDSknyh8YSBxvEIkMkrxkZMKNQt4W3EsGE7b6GL5d6WGfYftY5das4d+AIRSOOU4IGxN6vIkJ6nVNLRMOKoxp8wt3Bk/Q6GlHghmCqXhxIBqtx1VvOygJgI15IqgVFrt7LFIIQo27s1DA5KuhMUfMMkPyT0hpi/vGcd7bfKU1//Uj8z+R7euIl/4YMTsjikGKKHgdyT0eGvilvZGlJNMHsCdp1NtxwwqbIWNAWjitSgrSXUhZhJeruELZE+ruKzf/4tFMa9xP37AV1kC1ONi0Ba/+460uBhISaap5POW8Bd/l4XUyE8gkjshNbSXMVKOFJUvGJXJR8/CAG7N/hOB5Tn1krEiUnCxn0R5PylkqLv1APut9UskT8nd6qWqSRA1KhwkUVFPqlliM+of8a/t/R+mIlLFD4ZiKMLdtx0HRwXrPJFh2l+hM/xKH0EaUS4NolEAlEqti6LkVIxFgvD1DrpOnChl7OOpFSowQy5p30nIhLqFLFAd9C15frZtyly6SZiWa1L9ApU0zEwZX58cCAE8A1lQNIZsVc3kAPw0NR0rChkMpx087bF29W3B6386VBAejtcwaVnMhMoylMZB65nIG9MCkozr07weZxIOZFuq9lzp+sgxhKCtZBJtJzE/kCxjYx6tBp1g10HCtmqbO1zelutM9BraWVrHbP3T5mUPVYARw95Rq6GdkNFQ8TeCQMxSACKb/rNIORxq+DEU2Gd/3dND0JzZuyLvkZx4QyBUe+xavmhQ9jec/Ru60uB7QfbLTXk3xf7uqCKjQzcBQsEnJBUa6a/jJfqZ7iWtYMtBrrLSJuKW5+NBrUJokx2XnyvlBqPvWu5oS5XhFwaxpovVe7TBo8ghU/b54ggsM7SPfqccGnOTOCeIoRL6IVx5UfM0XV7zOYZVWl3yt37YdLvougo/WBg5KbGzSroO4q0puqbgbmJMvvmOo1LWZs2NOqa1pEzDK4Ovv77IuloFuVHnpqAO5YVX1QyTE8+U1PI0dAwcNR6MxAJJZzQTRbOVVzVXKI/4UEbxKEN8FlyEkjACsQADVMUjppS+0JvE4h6b/mwJOj3IcblCEDA6LbkOUD2gzO+K3LuU5omikOXljsWe+rhyqimslv/uo2uxUxQrgrkgN0i5IkSLRTFOGhwV3lGniEXC9KnsE+T8HFu1qDr0P/XSugFiTtJnAwAowx46J5bGXR/GXSkrD4o3Gp37jTDeIivavQJms887F5yfNqpAquQY9UfihhxbHa05jvLNwtQcshhua8qvtAvyZdRdo0NT3Z1cfdk/qoXqPI/cumTjwPi1pGQAnGStIrrSJ81gpn9fxTC8SctWbvU3NWcZUSf1tI8W5c38bDpl9JnQHqFJ+45zr1/3UfyZUd58KKuggmKyk7iBXzJPmFlqh1taR4pCNngvIEWc3JUXL9HsR79FNIujPODKsAbKSk5OaQRmRZiWHKqxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NaTbLziwJg6sdmnynxM5HA",
      "input": {
        "note": "Cap is now on the left jaw column slightly ahead; pen is still a bit to image-right of the right jaws. Nudging both and lowering to 4 cm to finish alignment before the grasp.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.2,
          "left_yaw": -0.35,
          "left_z": 0.04,
          "right_x": 0.366,
          "right_y": 0.19,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01NaTbLziwJg6sdmnynxM5HA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5877, 1.7565, 0.8021, 0.2508, -0.2596, -0.1528, 0.9994, 0.3508, 1.6485, 0.6712, 0.2649, -0.3279, -0.2237, 0.999]\nstate[eef_state]: left_x=0.3958 left_y=-0.2049 left_z=0.0506 left_yaw=-0.2911 left_pitch=-0.1066 left_roll=0.0449 left_gripper=0.9994 right_x=0.3614 right_y=0.1966 right_z=0.0507 right_yaw=0.736 right_pitch=-0.112 right_roll=0.0349 right_gripper=0.999\nstate[joint_eff]: [0.7179, -6.9812, 5.6821, 1.6825, -0.2173, -0.0513, -0.0122, -1.0462, -5.6274, 6.1333, 1.5653, -0.2125, -0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35dc02bd0f6d6c0d508e49a9f0799874d54a8e046d836d2e307bac031089a7cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a551768024612ba91e6f4a2a3801ba8a3b5c45167fcd89669ec7ded3261fe97e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9000795852b6fdbd3a2c48c8c8aaea40084ec2b5c94967352a71a522e1e4e5b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 4.767 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.831, 1.6402, 0.9943, -0.1711, -0.6571, -0.5362, 0.9994, 0.4763, 1.4406, 0.7609, 0.0399, -0.2409, -0.1547, 0.999]\nstate[eef_state]: left_x=0.3613 left_y=-0.2305 left_z=0.1229 left_yaw=-0.013 left_pitch=-0.0459 left_roll=0.03 left_gripper=0.9994 right_x=0.3416 right_y=0.2277 right_z=0.1223 right_yaw=0.7505 right_pitch=-0.0627 right_roll=0.0151 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -7.747, 9.388, 1.5409, -0.5153, -0.0073, -0.0171, 0.3214, -5.9009, 8.7863, 1.9658, -0.1783, -0.022, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6083, 1.7252, 0.8177, 0.1421, -0.3653, -0.2512, 0.9994, 0.3779, 1.5932, 0.6804, 0.1886, -0.2974, -0.2001, 0.999]\nstate[eef_state]: left_x=0.3896 left_y=-0.19 left_z=0.054 left_yaw=-0.169 left_pitch=-0.1355 left_roll=0.0574 left_gripper=0.9994 right_x=0.3535 right_y=0.1999 right_z=0.0606 right_yaw=0.7258 right_pitch=-0.1309 right_roll=0.0389 right_gripper=0.999\nstate[joint_eff]: [-1.0051, -8.1436, 6.5299, 2.0391, 0.1294, 0.2027, -0.0122, -0.1162, -7.3094, 6.2154, 1.9805, -0.4469, -0.188, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5877, 1.7565, 0.8021, 0.2508, -0.2596, -0.1528, 0.9994, 0.3508, 1.6485, 0.6712, 0.2649, -0.3279, -0.2237, 0.999]\nstate[eef_state]: left_x=0.3958 left_y=-0.2049 left_z=0.0506 left_yaw=-0.2911 left_pitch=-0.1066 left_roll=0.0449 left_gripper=0.9994 right_x=0.3614 right_y=0.1966 right_z=0.0507 right_yaw=0.736 right_pitch=-0.112 right_roll=0.0349 right_gripper=0.999\nstate[joint_eff]: [0.7179, -6.9812, 5.6821, 1.6825, -0.2173, -0.0513, -0.0122, -1.0462, -5.6274, 6.1333, 1.5653, -0.2125, -0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35dc02bd0f6d6c0d508e49a9f0799874d54a8e046d836d2e307bac031089a7cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a551768024612ba91e6f4a2a3801ba8a3b5c45167fcd89669ec7ded3261fe97e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9000795852b6fdbd3a2c48c8c8aaea40084ec2b5c94967352a71a522e1e4e5b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSqAoKEAgSGAI4AUIIdGhpbmtpbmcSDJX373b7Rx7gfVoT7hoMTNnUn3UMCt3TPkArIjD75QDoq7iivCukasvkhkHdGYX0Y37EvOo6qJditqY9koyWp8uQIJpVLrHAS2mwaHAqxQmqwJN04r6Wy0epuiBJXMuzOP/B3X0SUL0ulsjjxnNpHEmG/leQdDne+IFs59aldUZemr+mje2zJ1zK7R4QAvsD0Ed2n5d7ooSfI+BV7ku0kM/x2y1CvkeLlWmmm4idnPU4O0DIbRch1tIhPzyaLAOahMaY6FMDYIQXAQ7CI3ZOWqhsSSVWMAWcdPH9tUDuPoL8OmiAyGhXNqXZFdHSWvGI4jD5ZTnHiV2oszBKvhWxVZSZMyMFMGIMI2K2lMLt8X4QXBhAI7o+L9U7AlKQ2eMcsyze2aHPg8gkxqGbRgzrSucA+BqOPdPJIRrR/sWsEln+z0L7qE8G6ALNouuNrVTe6jyUwbQP8MrtZuyPQWsoFpYAYWiao8T67aUh2OO4K6UI/SZLb3nyqdpPFEvNP051PvGUvZ1OKCjz/7c0/HtIndTl/CJsHAvnoUOlJ7huODVWIQM4CDSHGEm4/8rLdNGqDEfOl/sWnFEQe2M2bvDCEla+B4B3tdwh32C00vOVqe47B/cS+pky2xSdQWXG9IccQDPSPexu4/eEQnoQWzIao47iFcNCbO8KnZs/pl/E/MHYgUjyPgLO9mslzSGaJY5qOvnT4KCPM11uSFZgyETy0MlpBJf1XxPq7TmPy6fbZIommdt7lExYJpIhRez8dqM14N146zpZNNf8hp0cp0KBGAzEPOjKcscQqGJ3UM9h4FTJe29z+UBtqQCUehkniRDr/VGkxorCjlUHQpHm9eQJmm2UIxSyU/XBlWw7dAp4khjH5rwT0Y3V9Jo0rVNV6zlvpx54k3oewJfJpFil6uVjzlaJg/Pv691bBULAof/kLtV3HEksjSlg/wp4M+jf0H4wSCDHVxNWB1Omi1qdv6ra70oxSPvPCrue3l7nUVtzR+hanapbltnUbWRNw/sHacQKQtaEQPKxZtNNXjVAXau4H9sgtCd0JTI3PJ5L2PQ9B6yrpVzXxmmQT3C5OIKH9thYyPKm3a8mpPL2a34ZSmQSH3CXf1Iwzge/xqYBC6bB5NQWYprNU6xMpfx+dHcK124zb+L5vM5jtbNzdbg+wV6z16CkUHWv+cFcb/Og3/3RJO64noOZs/vYMwcqrYij4Z/PV+q5ys326JCVFx7RgKdvzhYrhC/M1z02j1q56pULsXFH1G4WPIHdAwb90xIoRaSAx125pueh7l9EtUIiGQP3Si6yNRVQzXJO9lEKM83tlTgrmj9+OSCRbBLKSDs+fhD7Wdhn2EU8u6usbFbthg9dXJm+Np9uZj24a5qqUYw4nwYL+ET3E7MPCSlmC/ZaWhxa44bfNJvukRvQVPnEVBwY7AtLU1Cn0k8Sv1o/plYE+j/DqXttIP5ExQEQLeJGIeAEOrzZXH1igE+U5VTeMC724a5Cd+bQWbNiYDa1nTqoMuXjqeEOjGdOc093cotiuZimFEI6kg+/QM1H+1tYKHJZrrrSUJOTrIYsZo5K+iqDt71sUdQVQYbx4wjSsNuhJMnQz1eF+qsZoV/Ce6e+t4bfEjvFSac8c2tjQyZBlQf/vUn1oCkR9mh0fWCnwq9Szht5imUohVa0dNt3eG8MrniHCZD8pNhB2JjM9paJDfa5oOed+jsNEfeyUu6sSdUwqMvdvY3XgsMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JdECpvEirr3U2uK8HwTKa5",
      "input": {
        "note": "Cap sits just left of and ahead of the left jaws; pen still slightly to image-right of the right jaws. Applying the last small corrections and descending to table level for both grasps.",
        "targets": {
          "left_x": 0.412,
          "left_y": -0.193,
          "left_yaw": -0.35,
          "left_z": 0.0,
          "right_x": 0.376,
          "right_y": 0.18,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01JdECpvEirr3U2uK8HwTKa5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5819, 1.771, 0.8001, 0.2504, -0.2802, -0.1551, 0.9994, 0.289, 1.832, 0.6498, 0.4427, -0.3649, -0.2642, 0.9989]\nstate[eef_state]: left_x=0.397 left_y=-0.1984 left_z=0.0443 left_yaw=-0.2665 left_pitch=-0.1185 left_roll=0.0611 left_gripper=0.9994 right_x=0.3743 right_y=0.1808 right_z=0.0048 right_yaw=0.7274 right_pitch=-0.1258 right_roll=0.0367 right_gripper=0.9989\nstate[joint_eff]: [0.253, -8.1709, 5.7094, 1.663, -0.1587, -0.0317, -0.0122, -0.6496, -6.188, 4.6427, 1.2039, -0.2076, 0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2b637e3492760c18c25fdf00a751023444f4f7718046826c69573333a848d85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5513fe40b90b513048cadcbb17edde02f4f5fe8020ba0e6caf77320ceec0ffbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:68f901567bb4b726c5adecaea32ed595ff1bf438dbe0eb5e8d702780548ee085",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 5.594 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6083, 1.7252, 0.8177, 0.1421, -0.3653, -0.2512, 0.9994, 0.3779, 1.5932, 0.6804, 0.1886, -0.2974, -0.2001, 0.999]\nstate[eef_state]: left_x=0.3896 left_y=-0.19 left_z=0.054 left_yaw=-0.169 left_pitch=-0.1355 left_roll=0.0574 left_gripper=0.9994 right_x=0.3535 right_y=0.1999 right_z=0.0606 right_yaw=0.7258 right_pitch=-0.1309 right_roll=0.0389 right_gripper=0.999\nstate[joint_eff]: [-1.0051, -8.1436, 6.5299, 2.0391, 0.1294, 0.2027, -0.0122, -0.1162, -7.3094, 6.2154, 1.9805, -0.4469, -0.188, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5877, 1.7565, 0.8021, 0.2508, -0.2596, -0.1528, 0.9994, 0.3508, 1.6485, 0.6712, 0.2649, -0.3279, -0.2237, 0.999]\nstate[eef_state]: left_x=0.3958 left_y=-0.2049 left_z=0.0506 left_yaw=-0.2911 left_pitch=-0.1066 left_roll=0.0449 left_gripper=0.9994 right_x=0.3614 right_y=0.1966 right_z=0.0507 right_yaw=0.736 right_pitch=-0.112 right_roll=0.0349 right_gripper=0.999\nstate[joint_eff]: [0.7179, -6.9812, 5.6821, 1.6825, -0.2173, -0.0513, -0.0122, -1.0462, -5.6274, 6.1333, 1.5653, -0.2125, -0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5819, 1.771, 0.8001, 0.2504, -0.2802, -0.1551, 0.9994, 0.289, 1.832, 0.6498, 0.4427, -0.3649, -0.2642, 0.9989]\nstate[eef_state]: left_x=0.397 left_y=-0.1984 left_z=0.0443 left_yaw=-0.2665 left_pitch=-0.1185 left_roll=0.0611 left_gripper=0.9994 right_x=0.3743 right_y=0.1808 right_z=0.0048 right_yaw=0.7274 right_pitch=-0.1258 right_roll=0.0367 right_gripper=0.9989\nstate[joint_eff]: [0.253, -8.1709, 5.7094, 1.663, -0.1587, -0.0317, -0.0122, -0.6496, -6.188, 4.6427, 1.2039, -0.2076, 0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2b637e3492760c18c25fdf00a751023444f4f7718046826c69573333a848d85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5513fe40b90b513048cadcbb17edde02f4f5fe8020ba0e6caf77320ceec0ffbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68f901567bb4b726c5adecaea32ed595ff1bf438dbe0eb5e8d702780548ee085",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrwgKEAgSGAI4AUIIdGhpbmtpbmcSDINltsRCbkl1tcoiHRoMruiB84CPIzNHTgJlIjBtRjWwRaz7jrR5QWskOMFpPKg14CjhuODZBAbLYn6z480c5eYU3VELw1KJS2fw6r0qzAfE0J80cDdAp8uqOQ6atETqmnzis8Y+0QNEuIPJ5QNNW6grJB6MkMr0LXZunNLdd45YpfjIV54O8KCM9iFsOMgOalrsDstE06k/qqivPmfA9MOqT64jnRQuS9k6FXkXsJjYX/o4g1Kc8CIdMJtWKXdwt61NBXk22lH3mSo/riyQLpkO8z7gcdnpOOStrjydeluWxWoIGw9YQjvGQ39MZX/S2n/MiWjflgFnnlBzuqj2cUcrx03EC6W2BvO5ZAvnQDhDCuf+8N8K7FBP+jHmjYkjF/NFiwo6PLcdN7OUmZJuBDt+Ypv4aHUZYxv1+M5luMiHwgpDlolLkI5SZqJrveyFBukNodA3/9el09XFAAaPwHyHpZRqShDxVT1Q7PBnM8z2wQHyCPHnYUK2o01s2XoLuVmnpsrXpgtCo9+YWgmgKaUVdq0plqPCQn2zAHdYvnhNx78pRg4p8jzFGFWQOqLbxbsjNDdRTr4AHDiOPekbIlK9xHvHOfsmXyPMRk65ZnyASe10aDV2yNBviicLwj/4SRP4qaMja2uQWDDejQN3gYuLW7Cy6KMGb5wlWtG4HELlASyEDktm9LR3f0qqdCaIH03wQDmKz9uHtyaOjapqFYvwgZZ6vEjkchTKW9VoDz5iUEBNd4Pi0Knk4UZgAV0L2Nn1/ZSCeiCq4yW9G1LePfor3LBi8muRpTCO3m9lRaTzwpabLxepWWAcs+Wl0H3TYLR/JvquULJfgmAEAHz/6+UhMBc2d9l5QBBSezFZGNsABukTj4r2w1VWChhMyjtbMO127ameZv8gCgY6ZX+CWV6G6/Wa4sE9rgUkaX11PbJoQS0IysdmGc0WK0N9c9o0C1BsisP/IxJNoyz5lu4jKblA9eu6bLVf+z4TggctZxhaodaiXBL6NFVeu3b3IDzTyXq0TtrNU3syhLnsctG+q/OVcu6DqZRcCCMBwF74K2NQ3ycrKUC+DRE8Xk6alEW2rsvWzHS1tPghVnr6Hbtd8ecyueXYdNE3FPwvfr0G1c0nxmeF9DmI05WACNWEn+dubTQUcTu6gMN+PNQ6GJpbnbC0U3eyHR6z2GpnRBosIiLa8+tl70lmEfAHiCbVfkHsYPQo6ZH4ZaZcKiDyl8igadnA8q1zUcgNCEXfwtTabtwARQ39AfGv2IndPuv799JXJmLn5VIuqwJ/MUIgW71qK/nVE4pdZxSDwSbj2czbeoCQOoQ4vvV6Ta/ElcvjDUFDHJyPXqQb2DKBklc9z4W4MIMrDNG7YGG41QRMduZbuyTeYG0z25QzXa5Z+nEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E2LAwbA8NTwi7gfb8zMPf6",
      "input": {
        "note": "Right jaws are down at table level straddling the pen, so closing on it. Left arm stalled at 4 cm above the cap; commanding it down again.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.195,
          "left_z": -0.01,
          "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_01E2LAwbA8NTwi7gfb8zMPf6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5545, 1.9488, 0.7834, 0.4751, -0.2611, -0.1558, 0.999, 0.2836, 1.842, 0.6468, 0.4587, -0.3717, -0.2684, 0.0447]\nstate[eef_state]: left_x=0.4127 left_y=-0.1977 left_z=0.0027 left_yaw=-0.2554 left_pitch=-0.0935 left_roll=0.0395 left_gripper=0.999 right_x=0.375 right_y=0.1799 right_z=0.003 right_yaw=0.7297 right_pitch=-0.1209 right_roll=0.0363 right_gripper=0.0447\nstate[joint_eff]: [0.4991, -6.694, 4.6291, 1.2332, -0.0757, 0.1636, -0.0562, 0.4034, -8.5265, 4.9573, 1.3895, -0.0904, 0.0317, 1.2283]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aed4c1e13052aaa7e2cd9709df03e69c82ae0f7d2b2fe74b75b308f3ea2c8f0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f823543282e10dc63e4ea59dcbd2cc4886c1fff8faa31a6e416f62b0c252df0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:22d8f0ab9a7082b62539e9ee46e95709b54b37c604b10f8f60a25dcc789a4280",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 4.948 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5877, 1.7565, 0.8021, 0.2508, -0.2596, -0.1528, 0.9994, 0.3508, 1.6485, 0.6712, 0.2649, -0.3279, -0.2237, 0.999]\nstate[eef_state]: left_x=0.3958 left_y=-0.2049 left_z=0.0506 left_yaw=-0.2911 left_pitch=-0.1066 left_roll=0.0449 left_gripper=0.9994 right_x=0.3614 right_y=0.1966 right_z=0.0507 right_yaw=0.736 right_pitch=-0.112 right_roll=0.0349 right_gripper=0.999\nstate[joint_eff]: [0.7179, -6.9812, 5.6821, 1.6825, -0.2173, -0.0513, -0.0122, -1.0462, -5.6274, 6.1333, 1.5653, -0.2125, -0.1099, -0.0122]\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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5819, 1.771, 0.8001, 0.2504, -0.2802, -0.1551, 0.9994, 0.289, 1.832, 0.6498, 0.4427, -0.3649, -0.2642, 0.9989]\nstate[eef_state]: left_x=0.397 left_y=-0.1984 left_z=0.0443 left_yaw=-0.2665 left_pitch=-0.1185 left_roll=0.0611 left_gripper=0.9994 right_x=0.3743 right_y=0.1808 right_z=0.0048 right_yaw=0.7274 right_pitch=-0.1258 right_roll=0.0367 right_gripper=0.9989\nstate[joint_eff]: [0.253, -8.1709, 5.7094, 1.663, -0.1587, -0.0317, -0.0122, -0.6496, -6.188, 4.6427, 1.2039, -0.2076, 0.0024, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5545, 1.9488, 0.7834, 0.4751, -0.2611, -0.1558, 0.999, 0.2836, 1.842, 0.6468, 0.4587, -0.3717, -0.2684, 0.0447]\nstate[eef_state]: left_x=0.4127 left_y=-0.1977 left_z=0.0027 left_yaw=-0.2554 left_pitch=-0.0935 left_roll=0.0395 left_gripper=0.999 right_x=0.375 right_y=0.1799 right_z=0.003 right_yaw=0.7297 right_pitch=-0.1209 right_roll=0.0363 right_gripper=0.0447\nstate[joint_eff]: [0.4991, -6.694, 4.6291, 1.2332, -0.0757, 0.1636, -0.0562, 0.4034, -8.5265, 4.9573, 1.3895, -0.0904, 0.0317, 1.2283]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aed4c1e13052aaa7e2cd9709df03e69c82ae0f7d2b2fe74b75b308f3ea2c8f0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f823543282e10dc63e4ea59dcbd2cc4886c1fff8faa31a6e416f62b0c252df0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22d8f0ab9a7082b62539e9ee46e95709b54b37c604b10f8f60a25dcc789a4280",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSlQkKEAgSGAI4AUIIdGhpbmtpbmcSDBgpX4FBapNeoYiTIBoMZpeArkhoit1UUVOmIjDiI5zVNnJ77N7cfIIOHpg5VBiLeupBYD3/qPMNoOs828kVYg3kKMWpvTIXlScBEQUqsggB3DEiCaAjVCaNLYBXAEhV427w2hESk7dofrLCMjJ8vnxVOOIZEZ6Wwemibfhc/47E8CqyL7ILejpG9zu/bVp1Jc1Qa0jzDO5ksQMJo5vcwf7XrsOUWqyqmn6vI3rXRPtBQ+xjDZeJCMp01M+f4PUhI76Z6iCprYnmk7jXqGLA3/ZpSN2XXLL0McdlFsHmNVX18P5/jaOJ4stwcgDr1XnaYjjlHFuGKszaqKp1aNOJ4g4jfYS7CMR8ct20/p16UGKsdwnLttUO0YzQExLBNmL4/Ub4VCrSpDlrREKesNHqe7zegNtOzP17lPVlmAKw25cigHg0HlsCWp3M23ROzJf92ogAi1gN1kKTsKRO4c/ov+lqp+2S5SWwvoAcDUcuiGAvepDSihcQA3HM+x7V2Jx8fdvzHGmAFnmz51XsszEmf7n3I3NIeD/jX0Gg2ajQxYyYJwvtaV0Hb1ObJt21Tn/7kOK0tWFL+s8uP3VKjSsxNUJfUeF/Puuv/mq5tDgxHqJUhGgZvka/XMLE2FzQcBNsd42FLC671GpRLjormmgayM5hO2IjCpD5lC0LGu1GprRcFTaT6lgNLpN4Ti0ytnmnNnZQi2dYiR5VbBx1njoEPCE6jh1SNbiVt8hobL9wHltIad28yUj/FGaTfNkc7vPBoKf4F+DO5/umzc2baUAAOb0gxi7/xiZTYY6LjnjCwwq+TPpQPB5qdaB6TtnskQ1h6Zab6YdQAONAg6JWk7tUEU3GUcR3bGXCUpGERsb1yERBdJLx8pVs8AUgYXCHIa0dYJ+fZiNmtGF0JcqsXR1ETygmbo0WST8Wlx+C8dzLmgXvTLaKToqbg59xFtxHjuhY+8iu+RgfXyWYSyuQw5lum8kSbQ1EcmfkWaL0QFnZPmQmqtU/aOz7WGYB4F9YoWWbPuq+bIB1eOQzW/F7t3CVUv6d+typcAJ0m6f0vS5yw8sP9/+J8bLKjctVSjQRDsCjDhfGMJ3FjHfYMRrH5XA40tEm+WCTSCBMLH12GBVcyDWTluraoEgr/vxpP3RIxBAK3EuiLxKG4i/ATZQj6Gybino3kBb/Jsno6PqFmr7J9D/CW+eN6qaoJ/Gd9nUdNbZqkydurUhNy8kpbgpnBmUKtphhLBUKbKJrSRRnMxkT9TwqSSsV3tqs6n62eZsO3KPG+/s+qNuvAINShOqozG1hIABO7rFeDjlmmfYY+5fqkBZfa4ulo3eWUEIGr/2HwLTKfJ2TtpqGUQHEKpxj18cudWaujgRGQTifUQhv9XKKiSUrgCDoMgwPjk+WAmkMyxRqEmhpKvJq/Mwdxdsg9h6BLNbU16vY+tay17BgwHG764elpYlLF01B5/8HnlDaEsQZwhuNlTbQAxNR8oBlUEfsLtVWTdcCEUBwtaagN4dddLJab+b0X7L+ef8rG51QIEeuFGwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QazY9pnVuHzvvvkWQikbYM",
      "input": {
        "note": "Left jaws are at table level with the cap centred between them in the wrist view; closing on the cap. Right gripper has closed on the pen (reading 0.045).",
        "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_01QazY9pnVuHzvvvkWQikbYM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5549, 1.961, 0.783, 0.5064, -0.2619, -0.1619, 0.0498, 0.2836, 1.8412, 0.6468, 0.4603, -0.3717, -0.2676, 0.0476]\nstate[eef_state]: left_x=0.4154 left_y=-0.1995 left_z=0.0032 left_yaw=-0.2523 left_pitch=-0.0753 left_roll=0.0295 left_gripper=0.0498 right_x=0.3753 right_y=0.18 right_z=0.0035 right_yaw=0.7292 right_pitch=-0.1189 right_roll=0.0359 right_gripper=0.0476\nstate[joint_eff]: [-0.0615, -10.0034, 4.7932, 1.3651, -0.0366, 0.1099, 1.2625, -0.2256, -7.8017, 4.6701, 1.536, -0.1587, -0.0708, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0add7a713c03f0fa3e904abb4f5594c616cc7dcffe53b1a8306881963eae381e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4621b6da1c61c88ab754890847dbf0b181298045c95862d3f631fc8467ef6546",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb66a7220e87c3887576535f42644cdc9b0f47096568d846251514e69aebdfb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 19.75 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5819, 1.771, 0.8001, 0.2504, -0.2802, -0.1551, 0.9994, 0.289, 1.832, 0.6498, 0.4427, -0.3649, -0.2642, 0.9989]\nstate[eef_state]: left_x=0.397 left_y=-0.1984 left_z=0.0443 left_yaw=-0.2665 left_pitch=-0.1185 left_roll=0.0611 left_gripper=0.9994 right_x=0.3743 right_y=0.1808 right_z=0.0048 right_yaw=0.7274 right_pitch=-0.1258 right_roll=0.0367 right_gripper=0.9989\nstate[joint_eff]: [0.253, -8.1709, 5.7094, 1.663, -0.1587, -0.0317, -0.0122, -0.6496, -6.188, 4.6427, 1.2039, -0.2076, 0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5545, 1.9488, 0.7834, 0.4751, -0.2611, -0.1558, 0.999, 0.2836, 1.842, 0.6468, 0.4587, -0.3717, -0.2684, 0.0447]\nstate[eef_state]: left_x=0.4127 left_y=-0.1977 left_z=0.0027 left_yaw=-0.2554 left_pitch=-0.0935 left_roll=0.0395 left_gripper=0.999 right_x=0.375 right_y=0.1799 right_z=0.003 right_yaw=0.7297 right_pitch=-0.1209 right_roll=0.0363 right_gripper=0.0447\nstate[joint_eff]: [0.4991, -6.694, 4.6291, 1.2332, -0.0757, 0.1636, -0.0562, 0.4034, -8.5265, 4.9573, 1.3895, -0.0904, 0.0317, 1.2283]\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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5549, 1.961, 0.783, 0.5064, -0.2619, -0.1619, 0.0498, 0.2836, 1.8412, 0.6468, 0.4603, -0.3717, -0.2676, 0.0476]\nstate[eef_state]: left_x=0.4154 left_y=-0.1995 left_z=0.0032 left_yaw=-0.2523 left_pitch=-0.0753 left_roll=0.0295 left_gripper=0.0498 right_x=0.3753 right_y=0.18 right_z=0.0035 right_yaw=0.7292 right_pitch=-0.1189 right_roll=0.0359 right_gripper=0.0476\nstate[joint_eff]: [-0.0615, -10.0034, 4.7932, 1.3651, -0.0366, 0.1099, 1.2625, -0.2256, -7.8017, 4.6701, 1.536, -0.1587, -0.0708, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0add7a713c03f0fa3e904abb4f5594c616cc7dcffe53b1a8306881963eae381e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4621b6da1c61c88ab754890847dbf0b181298045c95862d3f631fc8467ef6546",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb66a7220e87c3887576535f42644cdc9b0f47096568d846251514e69aebdfb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSjQkKEAgSGAI4AUIIdGhpbmtpbmcSDNs1EcxAt8kuk8GL3xoMlGapCYivBaP/La28IjAi8QSDsX6FWhsYgcmB4O80078tYGeKx81wRxduRasI6k3FXicwQV1IRtJSMninYdQqqghHwAw8/8Q+8fnnDsEj5TE6Qkq+YfY1/vtWdkiHRx7pA8mbXGUEQ/NKJwM7doUirEgN6wcwBoKIDdp3qvec56LGVxM2RCHy40pmNsInTvpd5fDSB4oPd064sH2uYpX2mJhx+WdsQdv7t4Bp5bKI600ufUa4Ew5REsaZbrPA3rllYEz/3pZPLYty+ryFQFP37dsiLnfvaOeMGrp0wV0w9eiQnK/FjAbwNGB7318f3WoSxBvQzdVYl1XFYYMp/81iNPoddI1zhjKRD3YGqN0NMYapJWjtdR+DdDHwOdWkf3FW0M8iqs5pCPyQKD7lCA/F6C4U0eWLYnyMgwhP0GY/2nINMh7Ox/rGl/BIBWAN970Vokxzl5k4n1fmPCArBhi72yOCqkvXF+yHjOAjgwLCNnf90c+4IOKjYqFCVNKVICFyJr10S/q66X/Pgo991l0Djog935jf1Z5qoDaetxUvPk2Q5/HhnxOFn2mi0Zf8AOIQH0SioijDwcMD2CosxVeIZIEFPsx9zVRM1EM7UUU5eiXO2bqmyYeTcSj5hv+H7yvjiKAdNRfu9CrfY9rJAT7OwMBwMw01A3SRKYvnRwsEmUYg+55ytsjV7vQahbIOzzlMvfVIn2pNFD0RzakI39vLXSv1870n5JX3i2+5Bn/Bq6mmYEKadRFhBTTqLBSue1ebIsX/pyqhzP+rYK0wSMJ0GJ5e3yPQnXou+U/OGTfFNL5Vrf7JiWeI4czRqju2rsshQ1LC74TIAd88y/YOyQMjGxLdGTl15fvttkjAiwkmjH5GFNHDfHvBBU8PfEHv707v5IaxjcGA6xB2ZsdEg+lbd5LOQlMmtqa64hI9FEgZnxs9N4pSBws8JX0WwVYmap5ck7xpk5IVbAAiHLXKEPI688ixsyZmB4o90P3+4RkCNJx1eyVQ/iKPB9gIN1duXQ+LHi6Z2Cxiz87ti7rnJmYczrH094VUieu/63goeJmYvmsNvgr3l0v3pJMi1hn3TVtqdcYGTQ3t8DG3IiGlky/Q2JS4GAyLGLRfMDaqX48GhbYvKLGlgs2F6LHOSzr1a3bzLEWi2Q2IY4uOVQ0/p+VdYJv+EfM++cMXiXeYnEFTS0t2oHOWtszhIkYUxjK1rw/qeRJfDXf7FJHxUOuWQEoOm+Vuoz5SeTys1PvcdWufeh6FtY1gb6i0PF/4L3tL9W2X4cXBTAfJ86YXyaBNF+zyZXHt38wGJ7TfhrK7f4DE1zKDxiizji/IWVX83p2DEMA9RbMfKZjC7aDDvpuLVUSaqlFvbcaaLT/5B7l0LIoWKs0hRMaPVd2Ixu54aGSe5IQQVv4wW0f+XuEE7SIe2dmikgw5t3ZRX0fUwgLQtmRY5kzswEq+yQ87K3PYSo+gbGAYS4SYYGcllklfwlh6mXREv1skRj7n2kmH+gLNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EQ7MNtVihk8iudZwmLC13C",
      "input": {
        "note": "Both grippers closed at ~0.05 with the pen and cap visible protruding forward from the jaws. Lifting both to confirm the grasps.",
        "targets": {
          "left_z": 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_01EQ7MNtVihk8iudZwmLC13C",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5549, 1.6867, 0.9272, 0.0608, -0.2607, -0.1707, 0.059, 0.2836, 1.5482, 0.8333, -0.0212, -0.371, -0.271, 0.0521]\nstate[eef_state]: left_x=0.4117 left_y=-0.1974 left_z=0.0943 left_yaw=-0.2477 left_pitch=-0.1012 left_roll=0.03 left_gripper=0.059 right_x=0.377 right_y=0.1803 right_z=0.1032 right_yaw=0.7305 right_pitch=-0.1207 right_roll=0.0336 right_gripper=0.0521\nstate[joint_eff]: [-0.1983, -9.7436, 9.5658, 1.7363, -0.1294, 0.1294, 1.0281, -0.3624, -8.8137, 8.4308, 1.4286, -0.1783, -0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39d2a91e5be51a2ba8d7e9bb7a7d4a37fa801281b0bc00e4d29840664f316280",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a22048d16108874dd52f319ba22aa5b57af3057201ffb12c9b5221ee7a16724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c3b25c55efeda717b6eaed0559e81464b4547c68788153adfc66f8941f3efc81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 9.116 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5545, 1.9488, 0.7834, 0.4751, -0.2611, -0.1558, 0.999, 0.2836, 1.842, 0.6468, 0.4587, -0.3717, -0.2684, 0.0447]\nstate[eef_state]: left_x=0.4127 left_y=-0.1977 left_z=0.0027 left_yaw=-0.2554 left_pitch=-0.0935 left_roll=0.0395 left_gripper=0.999 right_x=0.375 right_y=0.1799 right_z=0.003 right_yaw=0.7297 right_pitch=-0.1209 right_roll=0.0363 right_gripper=0.0447\nstate[joint_eff]: [0.4991, -6.694, 4.6291, 1.2332, -0.0757, 0.1636, -0.0562, 0.4034, -8.5265, 4.9573, 1.3895, -0.0904, 0.0317, 1.2283]\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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5549, 1.961, 0.783, 0.5064, -0.2619, -0.1619, 0.0498, 0.2836, 1.8412, 0.6468, 0.4603, -0.3717, -0.2676, 0.0476]\nstate[eef_state]: left_x=0.4154 left_y=-0.1995 left_z=0.0032 left_yaw=-0.2523 left_pitch=-0.0753 left_roll=0.0295 left_gripper=0.0498 right_x=0.3753 right_y=0.18 right_z=0.0035 right_yaw=0.7292 right_pitch=-0.1189 right_roll=0.0359 right_gripper=0.0476\nstate[joint_eff]: [-0.0615, -10.0034, 4.7932, 1.3651, -0.0366, 0.1099, 1.2625, -0.2256, -7.8017, 4.6701, 1.536, -0.1587, -0.0708, 1.033]\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 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5549, 1.6867, 0.9272, 0.0608, -0.2607, -0.1707, 0.059, 0.2836, 1.5482, 0.8333, -0.0212, -0.371, -0.271, 0.0521]\nstate[eef_state]: left_x=0.4117 left_y=-0.1974 left_z=0.0943 left_yaw=-0.2477 left_pitch=-0.1012 left_roll=0.03 left_gripper=0.059 right_x=0.377 right_y=0.1803 right_z=0.1032 right_yaw=0.7305 right_pitch=-0.1207 right_roll=0.0336 right_gripper=0.0521\nstate[joint_eff]: [-0.1983, -9.7436, 9.5658, 1.7363, -0.1294, 0.1294, 1.0281, -0.3624, -8.8137, 8.4308, 1.4286, -0.1783, -0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39d2a91e5be51a2ba8d7e9bb7a7d4a37fa801281b0bc00e4d29840664f316280",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a22048d16108874dd52f319ba22aa5b57af3057201ffb12c9b5221ee7a16724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3b25c55efeda717b6eaed0559e81464b4547c68788153adfc66f8941f3efc81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JnGo2L6nGDDRXCSPtTtLmn",
      "input": {
        "note": "Both pen and cap are lifted (table is clear, both visible protruding from the jaws). Moving both to the table centre line in a line along x: pen tip pointing forward in the right arm, cap in front of it held by the left arm, with a gap for alignment.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.35,
          "left_yaw": 0.0,
          "left_z": 0.15,
          "right_x": 0.26,
          "right_y": 0.3,
          "right_yaw": 0.0,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01JnGo2L6nGDDRXCSPtTtLmn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8234, 2.1616, 1.8671, -0.5793, -0.6167, -0.5835, 0.0646, 1.1324, 1.6474, 1.1213, -0.5869, 0.7204, 0.8799, 0.0541]\nstate[eef_state]: left_x=0.4558 left_y=-0.3363 left_z=0.1535 left_yaw=-0.005 left_pitch=-0.106 left_roll=0.013 left_gripper=0.0646 right_x=0.2601 right_y=0.2887 right_z=0.1223 right_yaw=0.0426 right_pitch=-0.1836 right_roll=-0.0406 right_gripper=0.0541\nstate[joint_eff]: [-0.6359, -10.947, 7.3094, 0.906, -0.569, -0.0171, 1.0281, -0.0205, -8.9778, 8.4991, 0.9109, 0.7009, 0.1392, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d81f8427a732dae4231bb8826ed3418f79d453cbdfbe88e9c2e6bc3536eff13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7087d78c57d5a688285728be83598f6a968372cb9124656ff10527df0c34affa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8af5a30b4183d8920bdb24d1cb50f744214543e6c7d79b0641dba202f267369b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 12.13 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5549, 1.961, 0.783, 0.5064, -0.2619, -0.1619, 0.0498, 0.2836, 1.8412, 0.6468, 0.4603, -0.3717, -0.2676, 0.0476]\nstate[eef_state]: left_x=0.4154 left_y=-0.1995 left_z=0.0032 left_yaw=-0.2523 left_pitch=-0.0753 left_roll=0.0295 left_gripper=0.0498 right_x=0.3753 right_y=0.18 right_z=0.0035 right_yaw=0.7292 right_pitch=-0.1189 right_roll=0.0359 right_gripper=0.0476\nstate[joint_eff]: [-0.0615, -10.0034, 4.7932, 1.3651, -0.0366, 0.1099, 1.2625, -0.2256, -7.8017, 4.6701, 1.536, -0.1587, -0.0708, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5549, 1.6867, 0.9272, 0.0608, -0.2607, -0.1707, 0.059, 0.2836, 1.5482, 0.8333, -0.0212, -0.371, -0.271, 0.0521]\nstate[eef_state]: left_x=0.4117 left_y=-0.1974 left_z=0.0943 left_yaw=-0.2477 left_pitch=-0.1012 left_roll=0.03 left_gripper=0.059 right_x=0.377 right_y=0.1803 right_z=0.1032 right_yaw=0.7305 right_pitch=-0.1207 right_roll=0.0336 right_gripper=0.0521\nstate[joint_eff]: [-0.1983, -9.7436, 9.5658, 1.7363, -0.1294, 0.1294, 1.0281, -0.3624, -8.8137, 8.4308, 1.4286, -0.1783, -0.0073, 1.0281]",
      "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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8234, 2.1616, 1.8671, -0.5793, -0.6167, -0.5835, 0.0646, 1.1324, 1.6474, 1.1213, -0.5869, 0.7204, 0.8799, 0.0541]\nstate[eef_state]: left_x=0.4558 left_y=-0.3363 left_z=0.1535 left_yaw=-0.005 left_pitch=-0.106 left_roll=0.013 left_gripper=0.0646 right_x=0.2601 right_y=0.2887 right_z=0.1223 right_yaw=0.0426 right_pitch=-0.1836 right_roll=-0.0406 right_gripper=0.0541\nstate[joint_eff]: [-0.6359, -10.947, 7.3094, 0.906, -0.569, -0.0171, 1.0281, -0.0205, -8.9778, 8.4991, 0.9109, 0.7009, 0.1392, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d81f8427a732dae4231bb8826ed3418f79d453cbdfbe88e9c2e6bc3536eff13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7087d78c57d5a688285728be83598f6a968372cb9124656ff10527df0c34affa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8af5a30b4183d8920bdb24d1cb50f744214543e6c7d79b0641dba202f267369b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TfRQkycdiK9zE3WD9gtHga",
      "input": {
        "note": "Pen and cap are lined up along the centre line, cap ~19 cm ahead, but the right arm sagged 3 cm low and both tools are tilted back slightly. Raising the right arm and correcting pitch so the pen and cap are level with each other.",
        "targets": {
          "left_pitch": 0.05,
          "left_z": 0.155,
          "right_pitch": 0.1,
          "right_z": 0.185
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TfRQkycdiK9zE3WD9gtHga",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8444, 2.1174, 1.6821, -0.3302, -0.6914, -0.5297, 0.0683, 1.2076, 1.6016, 1.0653, -0.5114, 0.8703, 0.7963, 0.0541]\nstate[eef_state]: left_x=0.4545 left_y=-0.3365 left_z=0.1459 left_yaw=-0.0061 left_pitch=0.0068 left_roll=0.014 left_gripper=0.0683 right_x=0.2512 right_y=0.291 right_z=0.143 right_yaw=0.0912 right_pitch=-0.0386 right_roll=-0.1082 right_gripper=0.0541\nstate[joint_eff]: [-0.5538, -13.2991, 5.3675, 1.6435, -0.3394, 0.2125, 1.0232, 0.6085, -11.6171, 7.4325, 1.6581, 1.3504, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:575c0d93fa794f9295b1b2d7605649d5756456a35d83388375cef95f681d7d65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4ead55afa9888a86cc8fbd57e86ad8cbf8c6edd045a2380d2c46c5873db66d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1d14adc89256d02fb19e94992774be8541c0788197de213f62c7215214e56ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 10.32 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5549, 1.6867, 0.9272, 0.0608, -0.2607, -0.1707, 0.059, 0.2836, 1.5482, 0.8333, -0.0212, -0.371, -0.271, 0.0521]\nstate[eef_state]: left_x=0.4117 left_y=-0.1974 left_z=0.0943 left_yaw=-0.2477 left_pitch=-0.1012 left_roll=0.03 left_gripper=0.059 right_x=0.377 right_y=0.1803 right_z=0.1032 right_yaw=0.7305 right_pitch=-0.1207 right_roll=0.0336 right_gripper=0.0521\nstate[joint_eff]: [-0.1983, -9.7436, 9.5658, 1.7363, -0.1294, 0.1294, 1.0281, -0.3624, -8.8137, 8.4308, 1.4286, -0.1783, -0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8234, 2.1616, 1.8671, -0.5793, -0.6167, -0.5835, 0.0646, 1.1324, 1.6474, 1.1213, -0.5869, 0.7204, 0.8799, 0.0541]\nstate[eef_state]: left_x=0.4558 left_y=-0.3363 left_z=0.1535 left_yaw=-0.005 left_pitch=-0.106 left_roll=0.013 left_gripper=0.0646 right_x=0.2601 right_y=0.2887 right_z=0.1223 right_yaw=0.0426 right_pitch=-0.1836 right_roll=-0.0406 right_gripper=0.0541\nstate[joint_eff]: [-0.6359, -10.947, 7.3094, 0.906, -0.569, -0.0171, 1.0281, -0.0205, -8.9778, 8.4991, 0.9109, 0.7009, 0.1392, 1.0379]",
      "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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8444, 2.1174, 1.6821, -0.3302, -0.6914, -0.5297, 0.0683, 1.2076, 1.6016, 1.0653, -0.5114, 0.8703, 0.7963, 0.0541]\nstate[eef_state]: left_x=0.4545 left_y=-0.3365 left_z=0.1459 left_yaw=-0.0061 left_pitch=0.0068 left_roll=0.014 left_gripper=0.0683 right_x=0.2512 right_y=0.291 right_z=0.143 right_yaw=0.0912 right_pitch=-0.0386 right_roll=-0.1082 right_gripper=0.0541\nstate[joint_eff]: [-0.5538, -13.2991, 5.3675, 1.6435, -0.3394, 0.2125, 1.0232, 0.6085, -11.6171, 7.4325, 1.6581, 1.3504, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:575c0d93fa794f9295b1b2d7605649d5756456a35d83388375cef95f681d7d65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4ead55afa9888a86cc8fbd57e86ad8cbf8c6edd045a2380d2c46c5873db66d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1d14adc89256d02fb19e94992774be8541c0788197de213f62c7215214e56ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S9JHQ8zWg9NesecLzpMrmx",
      "input": {
        "note": "Heights now match (~14.5 cm). The right wrist view shows the left gripper up and to the right of the pen's line; the pen is yawed 0.09 rad left, so straightening its yaw and bringing the cap a bit closer.",
        "targets": {
          "left_x": 0.42,
          "right_roll": 0.05,
          "right_yaw": -0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01S9JHQ8zWg9NesecLzpMrmx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8825, 2.08, 1.5909, -0.3141, -0.7105, -0.5613, 0.0683, 1.2133, 1.6211, 1.0584, -0.5301, 0.8604, 0.9173, 0.0555]\nstate[eef_state]: left_x=0.4315 left_y=-0.3377 left_z=0.1337 left_yaw=-0.0137 left_pitch=-0.0074 left_roll=0.0246 left_gripper=0.0683 right_x=0.2473 right_y=0.2895 right_z=0.1314 right_yaw=0.036 right_pitch=-0.0614 right_roll=-0.0462 right_gripper=0.0555\nstate[joint_eff]: [-0.9915, -15.0632, 6.188, 1.2772, -0.5153, -0.188, 1.033, -0.4718, -6.9812, 9.3607, 0.9988, 0.6422, 0.2711, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3655985ac554bb7d6ae42d92a799dde677f74f0550dd1b1b3c06e48bc8fbdf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0b8381c8f4c2ca6bab07bb60eda4291edffeb8242ec6e075d49cedf51c287e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:36d486f79ed4908cdba5378ed8c32b317c6636631c3941ad349180f083fc19a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 6.369 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8234, 2.1616, 1.8671, -0.5793, -0.6167, -0.5835, 0.0646, 1.1324, 1.6474, 1.1213, -0.5869, 0.7204, 0.8799, 0.0541]\nstate[eef_state]: left_x=0.4558 left_y=-0.3363 left_z=0.1535 left_yaw=-0.005 left_pitch=-0.106 left_roll=0.013 left_gripper=0.0646 right_x=0.2601 right_y=0.2887 right_z=0.1223 right_yaw=0.0426 right_pitch=-0.1836 right_roll=-0.0406 right_gripper=0.0541\nstate[joint_eff]: [-0.6359, -10.947, 7.3094, 0.906, -0.569, -0.0171, 1.0281, -0.0205, -8.9778, 8.4991, 0.9109, 0.7009, 0.1392, 1.0379]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8444, 2.1174, 1.6821, -0.3302, -0.6914, -0.5297, 0.0683, 1.2076, 1.6016, 1.0653, -0.5114, 0.8703, 0.7963, 0.0541]\nstate[eef_state]: left_x=0.4545 left_y=-0.3365 left_z=0.1459 left_yaw=-0.0061 left_pitch=0.0068 left_roll=0.014 left_gripper=0.0683 right_x=0.2512 right_y=0.291 right_z=0.143 right_yaw=0.0912 right_pitch=-0.0386 right_roll=-0.1082 right_gripper=0.0541\nstate[joint_eff]: [-0.5538, -13.2991, 5.3675, 1.6435, -0.3394, 0.2125, 1.0232, 0.6085, -11.6171, 7.4325, 1.6581, 1.3504, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8825, 2.08, 1.5909, -0.3141, -0.7105, -0.5613, 0.0683, 1.2133, 1.6211, 1.0584, -0.5301, 0.8604, 0.9173, 0.0555]\nstate[eef_state]: left_x=0.4315 left_y=-0.3377 left_z=0.1337 left_yaw=-0.0137 left_pitch=-0.0074 left_roll=0.0246 left_gripper=0.0683 right_x=0.2473 right_y=0.2895 right_z=0.1314 right_yaw=0.036 right_pitch=-0.0614 right_roll=-0.0462 right_gripper=0.0555\nstate[joint_eff]: [-0.9915, -15.0632, 6.188, 1.2772, -0.5153, -0.188, 1.033, -0.4718, -6.9812, 9.3607, 0.9988, 0.6422, 0.2711, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3655985ac554bb7d6ae42d92a799dde677f74f0550dd1b1b3c06e48bc8fbdf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0b8381c8f4c2ca6bab07bb60eda4291edffeb8242ec6e075d49cedf51c287e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36d486f79ed4908cdba5378ed8c32b317c6636631c3941ad349180f083fc19a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015ovUUUaBRP8jYDFSYeiK6M",
      "input": {
        "note": "Heights match (~13.3 cm) and the pen now points straight forward; the left gripper holding the cap still appears to the right of the pen's line in the right wrist view. Shifting the cap ~1.5 cm left and ~3.5 cm closer to the pen tip.",
        "targets": {
          "left_x": 0.395,
          "left_y": -0.322
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015ovUUUaBRP8jYDFSYeiK6M",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8993, 2.0762, 1.573, -0.3218, -0.7113, -0.5835, 0.0683, 1.2236, 1.6245, 1.063, -0.5411, 0.8368, 0.9344, 0.0555]\nstate[eef_state]: left_x=0.4227 left_y=-0.3408 left_z=0.1278 left_yaw=-0.0178 left_pitch=-0.0205 left_roll=0.0232 left_gripper=0.0683 right_x=0.2419 right_y=0.2937 right_z=0.1279 right_yaw=0.0479 right_pitch=-0.0845 right_roll=-0.0333 right_gripper=0.0555\nstate[joint_eff]: [-0.6769, -14.9949, 6.0923, 1.2723, -0.569, -0.0757, 1.033, -1.1145, -7.3504, 5.8462, 1.116, 0.5739, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6e4e98db126700c1d115e658f91ab4a1e1210ee27c7994075cc8958e7000455",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33ec83db0f252491500afffdc4ba1fa84932f01a5da136135eaf6562f32f9f4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:523766fbb3a3fb762f45e11e77694853c951b76d0ce794d2392027bf4f88476f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 13.61 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8444, 2.1174, 1.6821, -0.3302, -0.6914, -0.5297, 0.0683, 1.2076, 1.6016, 1.0653, -0.5114, 0.8703, 0.7963, 0.0541]\nstate[eef_state]: left_x=0.4545 left_y=-0.3365 left_z=0.1459 left_yaw=-0.0061 left_pitch=0.0068 left_roll=0.014 left_gripper=0.0683 right_x=0.2512 right_y=0.291 right_z=0.143 right_yaw=0.0912 right_pitch=-0.0386 right_roll=-0.1082 right_gripper=0.0541\nstate[joint_eff]: [-0.5538, -13.2991, 5.3675, 1.6435, -0.3394, 0.2125, 1.0232, 0.6085, -11.6171, 7.4325, 1.6581, 1.3504, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8825, 2.08, 1.5909, -0.3141, -0.7105, -0.5613, 0.0683, 1.2133, 1.6211, 1.0584, -0.5301, 0.8604, 0.9173, 0.0555]\nstate[eef_state]: left_x=0.4315 left_y=-0.3377 left_z=0.1337 left_yaw=-0.0137 left_pitch=-0.0074 left_roll=0.0246 left_gripper=0.0683 right_x=0.2473 right_y=0.2895 right_z=0.1314 right_yaw=0.036 right_pitch=-0.0614 right_roll=-0.0462 right_gripper=0.0555\nstate[joint_eff]: [-0.9915, -15.0632, 6.188, 1.2772, -0.5153, -0.188, 1.033, -0.4718, -6.9812, 9.3607, 0.9988, 0.6422, 0.2711, 1.0281]\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 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8993, 2.0762, 1.573, -0.3218, -0.7113, -0.5835, 0.0683, 1.2236, 1.6245, 1.063, -0.5411, 0.8368, 0.9344, 0.0555]\nstate[eef_state]: left_x=0.4227 left_y=-0.3408 left_z=0.1278 left_yaw=-0.0178 left_pitch=-0.0205 left_roll=0.0232 left_gripper=0.0683 right_x=0.2419 right_y=0.2937 right_z=0.1279 right_yaw=0.0479 right_pitch=-0.0845 right_roll=-0.0333 right_gripper=0.0555\nstate[joint_eff]: [-0.6769, -14.9949, 6.0923, 1.2723, -0.569, -0.0757, 1.033, -1.1145, -7.3504, 5.8462, 1.116, 0.5739, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6e4e98db126700c1d115e658f91ab4a1e1210ee27c7994075cc8958e7000455",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33ec83db0f252491500afffdc4ba1fa84932f01a5da136135eaf6562f32f9f4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:523766fbb3a3fb762f45e11e77694853c951b76d0ce794d2392027bf4f88476f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkwoKEAgSGAI4AUIIdGhpbmtpbmcSDI5Q33D9888JRAKaiRoMaBdVMtnfSq6gustvIjDTp7YrmX3YQfvZfL7yyGzM0tN4tHXTyFexx8WLdTWBPFcTEz6u/rsMLzK/i9r7L44qsAlg5evQ3ZFMyTPK/+ZVk3RW10YMaJj3UVQEviuO25/dJEW9aKJTnYCj8AFcl56kGu9KQ4NnIxzLB8X7syTpUnY7P6rxJX/0RuoFbByqo3KcPInCEMMqJW3mC6xlA75pnH+R6l6vY6Jl0fHbG5AyS80rUvicL9dSw9iLHd2j15hWE07lC15eO36YUUSwLrJ6ldyQ5HZdxOFEHDPfVm/B4/DLP8DbUsNvlWOhoruUu8Od9fEGUWFniJGbjcFrul2iTp2+mJcl+0/mKbc0yBWxMEbhA7PGwuqnhzmboEVbgbi57NKsHF65eXuKdyXu9jIQBgBillAtXLzFZLHEJgMiQRylvgQZRAB0W9f1jURRBS5wWN2g6kkjEFCOIbJp7kNcw893joRG9GeUwyVH3PugJGp0KuBCCiWywdUY3Ro0L+EE4hRXKcGpxLNCLWCOKQ+7tWBP4G47xh6TTbFEzWdFbTx9jPheyDfnLqtfQH7y0kbNkn4U2bC6IhY5wN+YB0L5my6m4M6JgeqsDVC79YOw28MxbUrZk8tDw7sxBtki3pV9dcq2wGD2OV2I5U5+o5u+pnwY/fd5x7wWoqz56jhMIPnU7yYYkxYgOtaWVHP/LQh2XYBc72cXbobv5HpVNvoANKJYTYo8E7Y2sa57CIol2pOCusdjne6IPSXE1jkOZT8xLIzHLfDgra/G8NqxR6rcdVQtXiR2UlhKJPRenn4U2aYa9RbpjHfbZlu2D9vQxuVlVokz1zoBdvzjLconwtNb57XVosekfHLezVSmeRKMcWSsX2CSf7ECWd/DzF/5WbjNuxXeGPaQEf9Pvm2L4qIHIHSVcTS20Vw0TIBOE5qvaET2Tv2y8jQmMNhFE1HbL/deZb5uq10E/TmScEZcE24HFqXYAjENVUGtGqg1Kr3+0W5DrtNbSTn51OUcO6NzEFGORmryYi+zwVf/xVtA+SjPmvzorDR/po/F3YfF/Y7wGKeHD/ZNbi6Mgabuizr26KUxcZmf0LfSzNAorM18CccWFixQ62rMej4qgg+d+2yQaw0kW2cmW4clyAqnoZELMdFiVFHJiPxEfTuuTWptrdX+O6H+maMEMQpkn5zUdy9OBlwA0z1h3k4MLgtgPF47grVpBlgTeRkaS3Y/V1jRxlRHdIOkskAGuQyrQ+IA7cQrabHW6zwQS6qCANHFROuwQ3yk+xsE0UxCfOWOYt3wMQYoogQ70mHeIL9W4QTmy9hQBAaofqU1NPhbhnxjy3pU3bDGNGFWain7VFMxVQ4pcDqzXBICHu83KnvJ8KY8g+8bFIGSxm56kEtYFsCCCpU8ZpKQFEir//z6goWd7rYJxhTdwqbGl2AvGhM/No13SGJXoQRX73tzZzb93oy0kEAAH3+yw5/ptxxZAZbO4Yx0vyiaLIBRzpOW16u9q3MPFq/uISY2o104MQ7I/KEwnboaqrUhD5bbBu9KdPPK0c6LVDdZEMMR8diV2gJaT9GHrgCRGjkHEK2GOkCyhVquLMS5WZTapCx8pF3F2T/3c5udNqFVU5MvDqdRHRtlerbuTSMkukb7MoAA+/f4fMPBB4X2RSNOKi1zPTtFccbFSSsfzskbHQsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KsJzRkNqZq5es1NyhgvYT8",
      "input": {
        "note": "The left arm barely moved last time and both arms are sagging to ~12.8 cm. Re-commanding the cap closer and further left, and raising both commands to hold height.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.31,
          "left_z": 0.16,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01KsJzRkNqZq5es1NyhgvYT8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.897, 2.0396, 1.57, -0.3244, -0.712, -0.5873, 0.0683, 1.2259, 1.6245, 1.1931, -0.762, 0.7471, 0.9318, 0.0555]\nstate[eef_state]: left_x=0.4223 left_y=-0.3382 left_z=0.1449 left_yaw=-0.0131 left_pitch=-0.0004 left_roll=-0.0035 left_gripper=0.0683 right_x=0.2297 right_y=0.295 right_z=0.1422 right_yaw=0.0814 right_pitch=-0.1958 right_roll=-0.0864 right_gripper=0.0555\nstate[joint_eff]: [-0.7179, -11.2342, 6.9128, 1.3162, -0.5055, -0.0415, 1.033, -0.4855, -10.947, 11.5624, 1.1306, 1.4872, 0.0024, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec15ccd35b1f23a129715a0d570450f027a93b4ecc1769864b420b526a271dbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83f55322d53fb537f1b55fec1f6a6272a422489723a628bd0142004772d91def",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f9824a853fbb12aa67293b49b186663679d4cf2a55531e79cd746c00a820ec1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 23.12 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8825, 2.08, 1.5909, -0.3141, -0.7105, -0.5613, 0.0683, 1.2133, 1.6211, 1.0584, -0.5301, 0.8604, 0.9173, 0.0555]\nstate[eef_state]: left_x=0.4315 left_y=-0.3377 left_z=0.1337 left_yaw=-0.0137 left_pitch=-0.0074 left_roll=0.0246 left_gripper=0.0683 right_x=0.2473 right_y=0.2895 right_z=0.1314 right_yaw=0.036 right_pitch=-0.0614 right_roll=-0.0462 right_gripper=0.0555\nstate[joint_eff]: [-0.9915, -15.0632, 6.188, 1.2772, -0.5153, -0.188, 1.033, -0.4718, -6.9812, 9.3607, 0.9988, 0.6422, 0.2711, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8993, 2.0762, 1.573, -0.3218, -0.7113, -0.5835, 0.0683, 1.2236, 1.6245, 1.063, -0.5411, 0.8368, 0.9344, 0.0555]\nstate[eef_state]: left_x=0.4227 left_y=-0.3408 left_z=0.1278 left_yaw=-0.0178 left_pitch=-0.0205 left_roll=0.0232 left_gripper=0.0683 right_x=0.2419 right_y=0.2937 right_z=0.1279 right_yaw=0.0479 right_pitch=-0.0845 right_roll=-0.0333 right_gripper=0.0555\nstate[joint_eff]: [-0.6769, -14.9949, 6.0923, 1.2723, -0.569, -0.0757, 1.033, -1.1145, -7.3504, 5.8462, 1.116, 0.5739, -0.0317, 1.0281]",
      "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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.897, 2.0396, 1.57, -0.3244, -0.712, -0.5873, 0.0683, 1.2259, 1.6245, 1.1931, -0.762, 0.7471, 0.9318, 0.0555]\nstate[eef_state]: left_x=0.4223 left_y=-0.3382 left_z=0.1449 left_yaw=-0.0131 left_pitch=-0.0004 left_roll=-0.0035 left_gripper=0.0683 right_x=0.2297 right_y=0.295 right_z=0.1422 right_yaw=0.0814 right_pitch=-0.1958 right_roll=-0.0864 right_gripper=0.0555\nstate[joint_eff]: [-0.7179, -11.2342, 6.9128, 1.3162, -0.5055, -0.0415, 1.033, -0.4855, -10.947, 11.5624, 1.1306, 1.4872, 0.0024, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec15ccd35b1f23a129715a0d570450f027a93b4ecc1769864b420b526a271dbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83f55322d53fb537f1b55fec1f6a6272a422489723a628bd0142004772d91def",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f9824a853fbb12aa67293b49b186663679d4cf2a55531e79cd746c00a820ec1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013vJ5Lmm8LUbsh2SDECmwr7",
      "input": {
        "note": "The left arm appears folded to its limit and won't come closer, so instead I'm bringing the pen forward toward the cap and nudging it right, where the left gripper appears in the right wrist view; holding the left arm where it is.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.338,
          "left_z": 0.16,
          "right_pitch": 0.1,
          "right_x": 0.27,
          "right_y": 0.28,
          "right_yaw": -0.05,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013vJ5Lmm8LUbsh2SDECmwr7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8982, 2.0315, 1.597, -0.3588, -0.7258, -0.6029, 0.0683, 1.2232, 1.6348, 1.1683, -0.6914, 0.8795, 0.8921, 0.0555]\nstate[eef_state]: left_x=0.4227 left_y=-0.3368 left_z=0.1558 left_yaw=0.0038 left_pitch=0.0078 left_roll=-0.0111 left_gripper=0.0683 right_x=0.2458 right_y=0.2895 right_z=0.1516 right_yaw=0.0466 right_pitch=-0.0715 right_roll=-0.1336 right_gripper=0.0555\nstate[joint_eff]: [-0.3761, -12.1915, 7.706, 1.2381, -0.1783, 0.105, 1.033, -2.5504, -8.5949, 7.6513, 1.5897, 1.5995, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97b0995da5cde70a453ebaa5a945e2292d04fb66474fa579a46a7aef57c14da1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80d53704cc4638926b4d9f83f7fc5dc3407fe5be3361cf553bb1201890e4d7d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0fe4a3ceb6ca81135f910983e9885c3e429ee68888fab73324a13f390ff9e11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 8.55 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8993, 2.0762, 1.573, -0.3218, -0.7113, -0.5835, 0.0683, 1.2236, 1.6245, 1.063, -0.5411, 0.8368, 0.9344, 0.0555]\nstate[eef_state]: left_x=0.4227 left_y=-0.3408 left_z=0.1278 left_yaw=-0.0178 left_pitch=-0.0205 left_roll=0.0232 left_gripper=0.0683 right_x=0.2419 right_y=0.2937 right_z=0.1279 right_yaw=0.0479 right_pitch=-0.0845 right_roll=-0.0333 right_gripper=0.0555\nstate[joint_eff]: [-0.6769, -14.9949, 6.0923, 1.2723, -0.569, -0.0757, 1.033, -1.1145, -7.3504, 5.8462, 1.116, 0.5739, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.897, 2.0396, 1.57, -0.3244, -0.712, -0.5873, 0.0683, 1.2259, 1.6245, 1.1931, -0.762, 0.7471, 0.9318, 0.0555]\nstate[eef_state]: left_x=0.4223 left_y=-0.3382 left_z=0.1449 left_yaw=-0.0131 left_pitch=-0.0004 left_roll=-0.0035 left_gripper=0.0683 right_x=0.2297 right_y=0.295 right_z=0.1422 right_yaw=0.0814 right_pitch=-0.1958 right_roll=-0.0864 right_gripper=0.0555\nstate[joint_eff]: [-0.7179, -11.2342, 6.9128, 1.3162, -0.5055, -0.0415, 1.033, -0.4855, -10.947, 11.5624, 1.1306, 1.4872, 0.0024, 1.0379]",
      "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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8982, 2.0315, 1.597, -0.3588, -0.7258, -0.6029, 0.0683, 1.2232, 1.6348, 1.1683, -0.6914, 0.8795, 0.8921, 0.0555]\nstate[eef_state]: left_x=0.4227 left_y=-0.3368 left_z=0.1558 left_yaw=0.0038 left_pitch=0.0078 left_roll=-0.0111 left_gripper=0.0683 right_x=0.2458 right_y=0.2895 right_z=0.1516 right_yaw=0.0466 right_pitch=-0.0715 right_roll=-0.1336 right_gripper=0.0555\nstate[joint_eff]: [-0.3761, -12.1915, 7.706, 1.2381, -0.1783, 0.105, 1.033, -2.5504, -8.5949, 7.6513, 1.5897, 1.5995, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97b0995da5cde70a453ebaa5a945e2292d04fb66474fa579a46a7aef57c14da1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80d53704cc4638926b4d9f83f7fc5dc3407fe5be3361cf553bb1201890e4d7d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0fe4a3ceb6ca81135f910983e9885c3e429ee68888fab73324a13f390ff9e11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SFdRrTX8zSRAb7XN6wrPo9",
      "input": {
        "note": "Both arms are stalled, likely touching each other with the left arm crossing over the right gripper, and I can't see the cap from the pen side. Separating the arms back to their own sides and turning both tools to point left (+y), so the pen tip will face the cap's open end across the centre.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.2,
          "left_yaw": 1.2,
          "left_z": 0.17,
          "right_x": 0.3,
          "right_y": 0.15,
          "right_yaw": 1.2,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01SFdRrTX8zSRAb7XN6wrPo9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7017, 2.3234, 1.8942, -1.5352, -0.952, -1.9911, 0.0718, 0.1017, 1.2671, 0.9081, -0.5213, -0.6495, -0.786, 0.059]\nstate[eef_state]: left_x=0.3867 left_y=-0.1338 left_z=0.0983 left_yaw=1.103 left_pitch=0.0038 left_roll=0.0402 left_gripper=0.0718 right_x=0.3129 right_y=0.1429 right_z=0.1717 right_yaw=1.0444 right_pitch=-0.1084 right_roll=-0.1249 right_gripper=0.059\nstate[joint_eff]: [-0.7863, -15.1726, 5.6821, -0.2711, -0.4469, -0.0904, 1.0379, -0.2803, -4.547, 7.8291, 0.9499, -0.525, -0.0904, 0.6667]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd0af90498a03824ccceff8fb4295c001fb7622a1f2fc269f7b6c7450486cf41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ef1f66ce45da34d2780def15de6b4783eec43c4f3135d196d25ae38edb71abf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c13341080a18b002b274a718da6b5cbfb17c83cc544309c24363e61af7ca5e0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 14.29 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.897, 2.0396, 1.57, -0.3244, -0.712, -0.5873, 0.0683, 1.2259, 1.6245, 1.1931, -0.762, 0.7471, 0.9318, 0.0555]\nstate[eef_state]: left_x=0.4223 left_y=-0.3382 left_z=0.1449 left_yaw=-0.0131 left_pitch=-0.0004 left_roll=-0.0035 left_gripper=0.0683 right_x=0.2297 right_y=0.295 right_z=0.1422 right_yaw=0.0814 right_pitch=-0.1958 right_roll=-0.0864 right_gripper=0.0555\nstate[joint_eff]: [-0.7179, -11.2342, 6.9128, 1.3162, -0.5055, -0.0415, 1.033, -0.4855, -10.947, 11.5624, 1.1306, 1.4872, 0.0024, 1.0379]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8982, 2.0315, 1.597, -0.3588, -0.7258, -0.6029, 0.0683, 1.2232, 1.6348, 1.1683, -0.6914, 0.8795, 0.8921, 0.0555]\nstate[eef_state]: left_x=0.4227 left_y=-0.3368 left_z=0.1558 left_yaw=0.0038 left_pitch=0.0078 left_roll=-0.0111 left_gripper=0.0683 right_x=0.2458 right_y=0.2895 right_z=0.1516 right_yaw=0.0466 right_pitch=-0.0715 right_roll=-0.1336 right_gripper=0.0555\nstate[joint_eff]: [-0.3761, -12.1915, 7.706, 1.2381, -0.1783, 0.105, 1.033, -2.5504, -8.5949, 7.6513, 1.5897, 1.5995, -0.0269, 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 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7017, 2.3234, 1.8942, -1.5352, -0.952, -1.9911, 0.0718, 0.1017, 1.2671, 0.9081, -0.5213, -0.6495, -0.786, 0.059]\nstate[eef_state]: left_x=0.3867 left_y=-0.1338 left_z=0.0983 left_yaw=1.103 left_pitch=0.0038 left_roll=0.0402 left_gripper=0.0718 right_x=0.3129 right_y=0.1429 right_z=0.1717 right_yaw=1.0444 right_pitch=-0.1084 right_roll=-0.1249 right_gripper=0.059\nstate[joint_eff]: [-0.7863, -15.1726, 5.6821, -0.2711, -0.4469, -0.0904, 1.0379, -0.2803, -4.547, 7.8291, 0.9499, -0.525, -0.0904, 0.6667]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd0af90498a03824ccceff8fb4295c001fb7622a1f2fc269f7b6c7450486cf41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ef1f66ce45da34d2780def15de6b4783eec43c4f3135d196d25ae38edb71abf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c13341080a18b002b274a718da6b5cbfb17c83cc544309c24363e61af7ca5e0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HsCE5AQdeMZsuCnvhBzwAS",
      "input": {
        "note": "Arms are separated with both tools turned mostly toward +y; the pen is visible in the top view pointing left toward the left gripper. Lining both up on the same x line at matching height, pen tip ~5 cm short of the cap's open end.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.3,
          "left_yaw": 1.57,
          "left_z": 0.2,
          "right_x": 0.35,
          "right_y": 0.2,
          "right_yaw": 1.57,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01HsCE5AQdeMZsuCnvhBzwAS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4488, 2.3192, 1.8309, -1.5581, -0.8551, -2.0865, 0.0718, 0.1631, 1.7565, 1.4372, -0.9184, -0.8391, -1.2987, 0.0604]\nstate[eef_state]: left_x=0.3825 left_y=-0.0323 left_z=0.0785 left_yaw=1.4509 left_pitch=-0.0547 left_roll=0.0644 left_gripper=0.0718 right_x=0.3546 right_y=0.1952 right_z=0.1739 right_yaw=1.5231 right_pitch=-0.1312 right_roll=-0.1303 right_gripper=0.0604\nstate[joint_eff]: [0.3761, -15.6376, 4.7521, -0.6178, -0.4029, -0.1294, 1.0281, 0.253, -7.9111, 7.8427, 0.442, -0.6911, -0.1148, 0.8864]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae50bb13c910f9ad9e00413993f29e4927b39e4fa6d157ff5faa31ee0972d543",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a95ed0a03a2ce39f5013574c20c1a69af96c88c364f6d78d0372700d35c075a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f92f452056f2a8b5b54907aa2c54f9eb9e90b13b692a6f627eca27a2b57eb6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 10.93 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8982, 2.0315, 1.597, -0.3588, -0.7258, -0.6029, 0.0683, 1.2232, 1.6348, 1.1683, -0.6914, 0.8795, 0.8921, 0.0555]\nstate[eef_state]: left_x=0.4227 left_y=-0.3368 left_z=0.1558 left_yaw=0.0038 left_pitch=0.0078 left_roll=-0.0111 left_gripper=0.0683 right_x=0.2458 right_y=0.2895 right_z=0.1516 right_yaw=0.0466 right_pitch=-0.0715 right_roll=-0.1336 right_gripper=0.0555\nstate[joint_eff]: [-0.3761, -12.1915, 7.706, 1.2381, -0.1783, 0.105, 1.033, -2.5504, -8.5949, 7.6513, 1.5897, 1.5995, -0.0269, 1.033]\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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7017, 2.3234, 1.8942, -1.5352, -0.952, -1.9911, 0.0718, 0.1017, 1.2671, 0.9081, -0.5213, -0.6495, -0.786, 0.059]\nstate[eef_state]: left_x=0.3867 left_y=-0.1338 left_z=0.0983 left_yaw=1.103 left_pitch=0.0038 left_roll=0.0402 left_gripper=0.0718 right_x=0.3129 right_y=0.1429 right_z=0.1717 right_yaw=1.0444 right_pitch=-0.1084 right_roll=-0.1249 right_gripper=0.059\nstate[joint_eff]: [-0.7863, -15.1726, 5.6821, -0.2711, -0.4469, -0.0904, 1.0379, -0.2803, -4.547, 7.8291, 0.9499, -0.525, -0.0904, 0.6667]\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 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4488, 2.3192, 1.8309, -1.5581, -0.8551, -2.0865, 0.0718, 0.1631, 1.7565, 1.4372, -0.9184, -0.8391, -1.2987, 0.0604]\nstate[eef_state]: left_x=0.3825 left_y=-0.0323 left_z=0.0785 left_yaw=1.4509 left_pitch=-0.0547 left_roll=0.0644 left_gripper=0.0718 right_x=0.3546 right_y=0.1952 right_z=0.1739 right_yaw=1.5231 right_pitch=-0.1312 right_roll=-0.1303 right_gripper=0.0604\nstate[joint_eff]: [0.3761, -15.6376, 4.7521, -0.6178, -0.4029, -0.1294, 1.0281, 0.253, -7.9111, 7.8427, 0.442, -0.6911, -0.1148, 0.8864]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae50bb13c910f9ad9e00413993f29e4927b39e4fa6d157ff5faa31ee0972d543",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a95ed0a03a2ce39f5013574c20c1a69af96c88c364f6d78d0372700d35c075a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f92f452056f2a8b5b54907aa2c54f9eb9e90b13b692a6f627eca27a2b57eb6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JfGGjkkMhev5qW2E5Fdj7v",
      "input": {
        "note": "The left arm struggled to reach across with its tool turned 90° (it drifted to y=-0.03 and sagged to 8 cm), so I'm keeping the cap nearer the left arm's side and bringing the pen further across instead, lining both up on x=0.36.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.12,
          "left_yaw": 1.57,
          "left_z": 0.22,
          "right_x": 0.36,
          "right_y": 0.32,
          "right_yaw": 1.57,
          "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_01JfGGjkkMhev5qW2E5Fdj7v",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3923, 2.1361, 1.6619, -1.5589, -0.8143, -2.0903, 0.0718, 0.4641, 1.8832, 1.5833, -0.7383, -0.7284, -1.005, 0.0621]\nstate[eef_state]: left_x=0.3472 left_y=-0.0008 left_z=0.1055 left_yaw=1.5278 left_pitch=-0.0933 left_roll=0.0609 left_gripper=0.0718 right_x=0.353 right_y=0.3122 right_z=0.1744 right_yaw=1.5901 right_pitch=-0.1457 right_roll=-0.1259 right_gripper=0.0621\nstate[joint_eff]: [0.5675, -13.0667, 4.1641, -0.6667, -0.5739, -0.105, 1.0281, 0.2667, -9.306, 8.3214, 1.033, -0.3346, 0.1245, 0.8327]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0835cf1d75445502a38ac10cc02509edda32864cdc15173ca060ea53930e71a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ee84ecfab0263d78a05fb4252b8e6a8cf34b4d18f5e84448eb5249db8889127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5bacf9dc73278f118e45b20fa0abe7831134b47fc6897cd8ff5c94d2a2406b8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 9.491 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7017, 2.3234, 1.8942, -1.5352, -0.952, -1.9911, 0.0718, 0.1017, 1.2671, 0.9081, -0.5213, -0.6495, -0.786, 0.059]\nstate[eef_state]: left_x=0.3867 left_y=-0.1338 left_z=0.0983 left_yaw=1.103 left_pitch=0.0038 left_roll=0.0402 left_gripper=0.0718 right_x=0.3129 right_y=0.1429 right_z=0.1717 right_yaw=1.0444 right_pitch=-0.1084 right_roll=-0.1249 right_gripper=0.059\nstate[joint_eff]: [-0.7863, -15.1726, 5.6821, -0.2711, -0.4469, -0.0904, 1.0379, -0.2803, -4.547, 7.8291, 0.9499, -0.525, -0.0904, 0.6667]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4488, 2.3192, 1.8309, -1.5581, -0.8551, -2.0865, 0.0718, 0.1631, 1.7565, 1.4372, -0.9184, -0.8391, -1.2987, 0.0604]\nstate[eef_state]: left_x=0.3825 left_y=-0.0323 left_z=0.0785 left_yaw=1.4509 left_pitch=-0.0547 left_roll=0.0644 left_gripper=0.0718 right_x=0.3546 right_y=0.1952 right_z=0.1739 right_yaw=1.5231 right_pitch=-0.1312 right_roll=-0.1303 right_gripper=0.0604\nstate[joint_eff]: [0.3761, -15.6376, 4.7521, -0.6178, -0.4029, -0.1294, 1.0281, 0.253, -7.9111, 7.8427, 0.442, -0.6911, -0.1148, 0.8864]\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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3923, 2.1361, 1.6619, -1.5589, -0.8143, -2.0903, 0.0718, 0.4641, 1.8832, 1.5833, -0.7383, -0.7284, -1.005, 0.0621]\nstate[eef_state]: left_x=0.3472 left_y=-0.0008 left_z=0.1055 left_yaw=1.5278 left_pitch=-0.0933 left_roll=0.0609 left_gripper=0.0718 right_x=0.353 right_y=0.3122 right_z=0.1744 right_yaw=1.5901 right_pitch=-0.1457 right_roll=-0.1259 right_gripper=0.0621\nstate[joint_eff]: [0.5675, -13.0667, 4.1641, -0.6667, -0.5739, -0.105, 1.0281, 0.2667, -9.306, 8.3214, 1.033, -0.3346, 0.1245, 0.8327]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0835cf1d75445502a38ac10cc02509edda32864cdc15173ca060ea53930e71a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ee84ecfab0263d78a05fb4252b8e6a8cf34b4d18f5e84448eb5249db8889127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bacf9dc73278f118e45b20fa0abe7831134b47fc6897cd8ff5c94d2a2406b8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EP6anLGs1Gg7zoVJZ1SoGn",
      "input": {
        "note": "Top view shows the pen tip pointing at the left gripper about 9 cm away, but the left arm is stuck ~7 cm lower (z 0.105) than the pen (z 0.174). Lowering the pen to the cap's height so I can see the cap end in the right wrist view.",
        "targets": {
          "right_y": 0.3,
          "right_z": 0.125
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EP6anLGs1Gg7zoVJZ1SoGn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4183, 2.1536, 1.6802, -1.5558, -0.799, -2.0937, 0.0718, 0.4408, 1.8938, 1.4151, -0.6312, -0.7185, -1.0225, 0.0647]\nstate[eef_state]: left_x=0.3497 left_y=-0.013 left_z=0.1011 left_yaw=1.5106 left_pitch=-0.1074 left_roll=0.0593 left_gripper=0.0718 right_x=0.346 right_y=0.2958 right_z=0.121 right_yaw=1.5817 right_pitch=-0.1848 right_roll=-0.0771 right_gripper=0.0647\nstate[joint_eff]: [0.8274, -9.4154, 7.2274, -0.7302, -0.4371, -0.0562, 1.0281, -0.294, -9.2786, 6.8308, 1.4921, -0.6569, -0.0904, 0.7057]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bcca5e5eef9281acbdce6a66d945b7d2471a113399d647cf3056b6544fb74ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b19671f646d591ba6601d511a79a8b1e63d05e7747ef5265c47642c950e6c5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f5217a8c668ffcdb1c8455e8b12751e5025dd9c7a5cd257e6c33249163bedf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 8.564 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4488, 2.3192, 1.8309, -1.5581, -0.8551, -2.0865, 0.0718, 0.1631, 1.7565, 1.4372, -0.9184, -0.8391, -1.2987, 0.0604]\nstate[eef_state]: left_x=0.3825 left_y=-0.0323 left_z=0.0785 left_yaw=1.4509 left_pitch=-0.0547 left_roll=0.0644 left_gripper=0.0718 right_x=0.3546 right_y=0.1952 right_z=0.1739 right_yaw=1.5231 right_pitch=-0.1312 right_roll=-0.1303 right_gripper=0.0604\nstate[joint_eff]: [0.3761, -15.6376, 4.7521, -0.6178, -0.4029, -0.1294, 1.0281, 0.253, -7.9111, 7.8427, 0.442, -0.6911, -0.1148, 0.8864]\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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3923, 2.1361, 1.6619, -1.5589, -0.8143, -2.0903, 0.0718, 0.4641, 1.8832, 1.5833, -0.7383, -0.7284, -1.005, 0.0621]\nstate[eef_state]: left_x=0.3472 left_y=-0.0008 left_z=0.1055 left_yaw=1.5278 left_pitch=-0.0933 left_roll=0.0609 left_gripper=0.0718 right_x=0.353 right_y=0.3122 right_z=0.1744 right_yaw=1.5901 right_pitch=-0.1457 right_roll=-0.1259 right_gripper=0.0621\nstate[joint_eff]: [0.5675, -13.0667, 4.1641, -0.6667, -0.5739, -0.105, 1.0281, 0.2667, -9.306, 8.3214, 1.033, -0.3346, 0.1245, 0.8327]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4183, 2.1536, 1.6802, -1.5558, -0.799, -2.0937, 0.0718, 0.4408, 1.8938, 1.4151, -0.6312, -0.7185, -1.0225, 0.0647]\nstate[eef_state]: left_x=0.3497 left_y=-0.013 left_z=0.1011 left_yaw=1.5106 left_pitch=-0.1074 left_roll=0.0593 left_gripper=0.0718 right_x=0.346 right_y=0.2958 right_z=0.121 right_yaw=1.5817 right_pitch=-0.1848 right_roll=-0.0771 right_gripper=0.0647\nstate[joint_eff]: [0.8274, -9.4154, 7.2274, -0.7302, -0.4371, -0.0562, 1.0281, -0.294, -9.2786, 6.8308, 1.4921, -0.6569, -0.0904, 0.7057]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bcca5e5eef9281acbdce6a66d945b7d2471a113399d647cf3056b6544fb74ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b19671f646d591ba6601d511a79a8b1e63d05e7747ef5265c47642c950e6c5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f5217a8c668ffcdb1c8455e8b12751e5025dd9c7a5cd257e6c33249163bedf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EFpG8qKFa6oU3EmYn9EoCa",
      "input": {
        "note": "In the top view the pen tip sits slightly behind (image-lower than) the left gripper's jaws and about 7 cm short of them. Moving the pen a bit forward and closer toward the cap's open end.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.33,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01EFpG8qKFa6oU3EmYn9EoCa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4046, 2.1616, 1.6833, -1.557, -0.7998, -2.0933, 0.0718, 0.4744, 2.0243, 1.5806, -0.6292, -0.6998, -1.0004, 0.0664]\nstate[eef_state]: left_x=0.3503 left_y=-0.0083 left_z=0.0993 left_yaw=1.5244 left_pitch=-0.1046 left_roll=0.0652 left_gripper=0.0718 right_x=0.374 right_y=0.324 right_z=0.1182 right_yaw=1.5872 right_pitch=-0.183 right_roll=-0.1018 right_gripper=0.0664\nstate[joint_eff]: [-0.1573, -9.9761, 6.735, -0.7106, -0.5104, -0.0366, 1.0281, 0.294, -10.9197, 7.5692, 0.8083, -0.4518, 0.1392, 0.7497]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f72b641ab018504dbb594940c2b5ae5234baf3d2a22f83b42236ce6bccee55bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0755ac9d633211bd7a86ae0d2737afcb4385d0037cf365fc38477334ae733b72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1baee7d4488b8840db0de80e7bb106cc7003017956bcd38f10a402606ee9cfce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 15.73 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3923, 2.1361, 1.6619, -1.5589, -0.8143, -2.0903, 0.0718, 0.4641, 1.8832, 1.5833, -0.7383, -0.7284, -1.005, 0.0621]\nstate[eef_state]: left_x=0.3472 left_y=-0.0008 left_z=0.1055 left_yaw=1.5278 left_pitch=-0.0933 left_roll=0.0609 left_gripper=0.0718 right_x=0.353 right_y=0.3122 right_z=0.1744 right_yaw=1.5901 right_pitch=-0.1457 right_roll=-0.1259 right_gripper=0.0621\nstate[joint_eff]: [0.5675, -13.0667, 4.1641, -0.6667, -0.5739, -0.105, 1.0281, 0.2667, -9.306, 8.3214, 1.033, -0.3346, 0.1245, 0.8327]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4183, 2.1536, 1.6802, -1.5558, -0.799, -2.0937, 0.0718, 0.4408, 1.8938, 1.4151, -0.6312, -0.7185, -1.0225, 0.0647]\nstate[eef_state]: left_x=0.3497 left_y=-0.013 left_z=0.1011 left_yaw=1.5106 left_pitch=-0.1074 left_roll=0.0593 left_gripper=0.0718 right_x=0.346 right_y=0.2958 right_z=0.121 right_yaw=1.5817 right_pitch=-0.1848 right_roll=-0.0771 right_gripper=0.0647\nstate[joint_eff]: [0.8274, -9.4154, 7.2274, -0.7302, -0.4371, -0.0562, 1.0281, -0.294, -9.2786, 6.8308, 1.4921, -0.6569, -0.0904, 0.7057]\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 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4046, 2.1616, 1.6833, -1.557, -0.7998, -2.0933, 0.0718, 0.4744, 2.0243, 1.5806, -0.6292, -0.6998, -1.0004, 0.0664]\nstate[eef_state]: left_x=0.3503 left_y=-0.0083 left_z=0.0993 left_yaw=1.5244 left_pitch=-0.1046 left_roll=0.0652 left_gripper=0.0718 right_x=0.374 right_y=0.324 right_z=0.1182 right_yaw=1.5872 right_pitch=-0.183 right_roll=-0.1018 right_gripper=0.0664\nstate[joint_eff]: [-0.1573, -9.9761, 6.735, -0.7106, -0.5104, -0.0366, 1.0281, 0.294, -10.9197, 7.5692, 0.8083, -0.4518, 0.1392, 0.7497]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f72b641ab018504dbb594940c2b5ae5234baf3d2a22f83b42236ce6bccee55bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0755ac9d633211bd7a86ae0d2737afcb4385d0037cf365fc38477334ae733b72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1baee7d4488b8840db0de80e7bb106cc7003017956bcd38f10a402606ee9cfce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014owbQbJe1BJ493SuMAx5RK",
      "input": {
        "note": "The right wrist view shows the left gripper holding the cap just above and to image-right (forward, +x) of the pen tip's line. Shifting the pen ~1.5 cm forward, slightly lower, and advancing 3 cm toward the cap.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.355,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_014owbQbJe1BJ493SuMAx5RK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4046, 2.1616, 1.684, -1.5566, -0.7994, -2.0933, 0.0718, 0.487, 2.0499, 1.5936, -0.6411, -0.6907, -0.9829, 0.066]\nstate[eef_state]: left_x=0.3505 left_y=-0.0084 left_z=0.0994 left_yaw=1.5244 left_pitch=-0.1053 left_roll=0.0642 left_gripper=0.0718 right_x=0.3717 right_y=0.3282 right_z=0.1088 right_yaw=1.5897 right_pitch=-0.2006 right_roll=-0.0701 right_gripper=0.066\nstate[joint_eff]: [-0.2256, -10.0308, 6.735, -0.6764, -0.5201, -0.0415, 1.0281, -0.0752, -10.1402, 8.6496, 1.2332, -0.4078, -0.0073, 0.7546]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8830b8435d1e1a6b65c7224ba94e2c89484858776519441c9cddba786e60633a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:511ba6226a62b6f8507128269c648a0ea765ba698ef1bd188152975d07425621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:388d131f90d4f04ad7a51614aab26a0f653952f71ebf5a2dde11033887c98255",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 7.276 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4183, 2.1536, 1.6802, -1.5558, -0.799, -2.0937, 0.0718, 0.4408, 1.8938, 1.4151, -0.6312, -0.7185, -1.0225, 0.0647]\nstate[eef_state]: left_x=0.3497 left_y=-0.013 left_z=0.1011 left_yaw=1.5106 left_pitch=-0.1074 left_roll=0.0593 left_gripper=0.0718 right_x=0.346 right_y=0.2958 right_z=0.121 right_yaw=1.5817 right_pitch=-0.1848 right_roll=-0.0771 right_gripper=0.0647\nstate[joint_eff]: [0.8274, -9.4154, 7.2274, -0.7302, -0.4371, -0.0562, 1.0281, -0.294, -9.2786, 6.8308, 1.4921, -0.6569, -0.0904, 0.7057]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4046, 2.1616, 1.6833, -1.557, -0.7998, -2.0933, 0.0718, 0.4744, 2.0243, 1.5806, -0.6292, -0.6998, -1.0004, 0.0664]\nstate[eef_state]: left_x=0.3503 left_y=-0.0083 left_z=0.0993 left_yaw=1.5244 left_pitch=-0.1046 left_roll=0.0652 left_gripper=0.0718 right_x=0.374 right_y=0.324 right_z=0.1182 right_yaw=1.5872 right_pitch=-0.183 right_roll=-0.1018 right_gripper=0.0664\nstate[joint_eff]: [-0.1573, -9.9761, 6.735, -0.7106, -0.5104, -0.0366, 1.0281, 0.294, -10.9197, 7.5692, 0.8083, -0.4518, 0.1392, 0.7497]",
      "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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4046, 2.1616, 1.684, -1.5566, -0.7994, -2.0933, 0.0718, 0.487, 2.0499, 1.5936, -0.6411, -0.6907, -0.9829, 0.066]\nstate[eef_state]: left_x=0.3505 left_y=-0.0084 left_z=0.0994 left_yaw=1.5244 left_pitch=-0.1053 left_roll=0.0642 left_gripper=0.0718 right_x=0.3717 right_y=0.3282 right_z=0.1088 right_yaw=1.5897 right_pitch=-0.2006 right_roll=-0.0701 right_gripper=0.066\nstate[joint_eff]: [-0.2256, -10.0308, 6.735, -0.6764, -0.5201, -0.0415, 1.0281, -0.0752, -10.1402, 8.6496, 1.2332, -0.4078, -0.0073, 0.7546]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8830b8435d1e1a6b65c7224ba94e2c89484858776519441c9cddba786e60633a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:511ba6226a62b6f8507128269c648a0ea765ba698ef1bd188152975d07425621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:388d131f90d4f04ad7a51614aab26a0f653952f71ebf5a2dde11033887c98255",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SRMNwsh8N6gZHLYa5uzRT8",
      "input": {
        "note": "The right arm has stopped at ~0.5 m radius (its reach limit), and the pen tip is still a few cm short of the cap. Pulling both arms back to x=0.28 so they have reach margin, and matching heights at ~14 cm.",
        "targets": {
          "left_x": 0.28,
          "left_y": -0.01,
          "left_z": 0.16,
          "right_x": 0.28,
          "right_y": 0.33,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01SRMNwsh8N6gZHLYa5uzRT8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4129, 1.8751, 1.4132, -1.5627, -0.7929, -2.0933, 0.0718, 0.487, 2.056, 1.5955, -0.6376, -0.6842, -0.9836, 0.0653]\nstate[eef_state]: left_x=0.2899 left_y=0.0143 left_z=0.1343 left_yaw=1.5182 left_pitch=-0.1141 left_roll=0.0573 left_gripper=0.0718 right_x=0.3733 right_y=0.3281 right_z=0.1063 right_yaw=1.5867 right_pitch=-0.2061 right_roll=-0.0726 right_gripper=0.0653\nstate[joint_eff]: [-0.2393, -7.4872, 4.2598, -0.4176, -0.4176, -0.0317, 1.0281, 0.0889, -10.9744, 8.6359, 1.1893, -0.4322, -0.0122, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:942f4ba82db325dcbee97ff1031e13b5e04ebfa773e54e9a2806228140733459",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aa512144a6b4061cfee861fefd37a6249ea2c48e555e00cb32801b94bc1331b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:616cacb36c215b29e6abcd3bcbb1ec0db53217901a168cfcd2ff74477dc1ea48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 8.025 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4046, 2.1616, 1.6833, -1.557, -0.7998, -2.0933, 0.0718, 0.4744, 2.0243, 1.5806, -0.6292, -0.6998, -1.0004, 0.0664]\nstate[eef_state]: left_x=0.3503 left_y=-0.0083 left_z=0.0993 left_yaw=1.5244 left_pitch=-0.1046 left_roll=0.0652 left_gripper=0.0718 right_x=0.374 right_y=0.324 right_z=0.1182 right_yaw=1.5872 right_pitch=-0.183 right_roll=-0.1018 right_gripper=0.0664\nstate[joint_eff]: [-0.1573, -9.9761, 6.735, -0.7106, -0.5104, -0.0366, 1.0281, 0.294, -10.9197, 7.5692, 0.8083, -0.4518, 0.1392, 0.7497]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4046, 2.1616, 1.684, -1.5566, -0.7994, -2.0933, 0.0718, 0.487, 2.0499, 1.5936, -0.6411, -0.6907, -0.9829, 0.066]\nstate[eef_state]: left_x=0.3505 left_y=-0.0084 left_z=0.0994 left_yaw=1.5244 left_pitch=-0.1053 left_roll=0.0642 left_gripper=0.0718 right_x=0.3717 right_y=0.3282 right_z=0.1088 right_yaw=1.5897 right_pitch=-0.2006 right_roll=-0.0701 right_gripper=0.066\nstate[joint_eff]: [-0.2256, -10.0308, 6.735, -0.6764, -0.5201, -0.0415, 1.0281, -0.0752, -10.1402, 8.6496, 1.2332, -0.4078, -0.0073, 0.7546]",
      "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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4129, 1.8751, 1.4132, -1.5627, -0.7929, -2.0933, 0.0718, 0.487, 2.056, 1.5955, -0.6376, -0.6842, -0.9836, 0.0653]\nstate[eef_state]: left_x=0.2899 left_y=0.0143 left_z=0.1343 left_yaw=1.5182 left_pitch=-0.1141 left_roll=0.0573 left_gripper=0.0718 right_x=0.3733 right_y=0.3281 right_z=0.1063 right_yaw=1.5867 right_pitch=-0.2061 right_roll=-0.0726 right_gripper=0.0653\nstate[joint_eff]: [-0.2393, -7.4872, 4.2598, -0.4176, -0.4176, -0.0317, 1.0281, 0.0889, -10.9744, 8.6359, 1.1893, -0.4322, -0.0122, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:942f4ba82db325dcbee97ff1031e13b5e04ebfa773e54e9a2806228140733459",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aa512144a6b4061cfee861fefd37a6249ea2c48e555e00cb32801b94bc1331b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:616cacb36c215b29e6abcd3bcbb1ec0db53217901a168cfcd2ff74477dc1ea48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSyQkKEAgSGAI4AUIIdGhpbmtpbmcSDNkHrVptphYoToqZvhoM1pmZyseR0gilF4PEIjCpPSECx1sArnWov9/O8fpC8kcAYpMYk/5yvdQNuUnNCRkhKzShM3LJx0LuhSrPP2cq5ggNnDdbg6C9yM3EaOwQGQ4jco59ZLORkSqStOKcENpmbF4d3E985OcYs6kK/OSvEEwp1T9YJ3xw17w7HIXH8vx3syXHE2jJzrJdjKFHKcuL5oNNzhqV+6AOBTUn3NxZNQl5nvB8fWNUer9gJ7orYi6ckCx1ZzW6EMWvGarVYKcoQexDmzv1lUMNE7PA95PhNR0IXJus3t6Ke1jCL7OJEa/DV5NE1/JGkDTU4Wm6zqNcY4+PgIVkhm2ZGIjofOQa7cXheoNRNm6HKli+1v+g5yRz5PcIfF/iFz1gu7t7/bYpMW/D2qVYVduR5V40pZiZb3Ii7EckjvcmKwnf5Sbn3q1k8qSQDxvVTtxSMx43RsSQ3TOTP9+rjf4SGsvREs/uwsxjqhdxTcPlc3A3Ncx+HQXqw0jOwp66c3mFxiuzYbQjKTE0QIiCUZeYEMoJxfq2/mXtRTiTvHDbxIjbHM3vWW8qyk/DBJJcEVxxCQJzcsAH+Iqcbt1L7Rg9RJgbISnvJ3BkPgIZt6MIGUn9qu10PQFUx+e17Y5ipldhDOqKQQUFq92Q7WEEyUr5VDCU424A2gPoqbXuxksLdaTMVhroTlK/oWccL4+eACfeX/a6SyxETCtZ52j1l68yNuRnkozm6UksGEvAszIGQEeM5G5c7wt52EmhYTF3b36BX0knz4950o8BTeQMI24bd9wq6YB3cGjOncMALq7kupZpyO75QmD9WH6ObxXFc2lgEl4zRZRPvXS2YXAtHDbnHI9gncZIbgwMKtiejIzDKNs3T/CJWqQVLXsszSiO9uNerTKtdQOtR5F92fpqBKEG/u4vgYZTSw6klQD0iROZD16dLG7RQOL4mZSqiyK6+D3H9vT0Z03FVsf7uG3HwkqAIIJ3O1Pv5HQbpadKNAyovgRqaAdZc2Z1n7UfIPhs38UoFGGAtLhBSgA36RGeuSy54C6JalS33huL53IuNA4Vb2TXRjg0ESZFwjPP2XXUL4WoAO/RSRxiqkrdZSrgc5B/CLIQ6Z4+yU/+o7y1G532lXQikncT+t4NlLHnY1a5wIWJpBaQ9mub+2bMhVvNnO7U02zFci41KRJpyvpGoaVsi/A/dXWvQlAeVzLo1O86FRkXfvcqocSl67nAq6qvpvqWwS4tcxM4V9zjA/Ht6/SBH2iDbe09MMSgnRZ85IQJY5PiF1Uldm4E32EJyrRwRX1c9umTHGIToMnDaIdzVN270kfhBNIiOkFwDYuTIJHRpNsZ5JFtFhAFnpQql3ZKGsgYBsPkgbv1SNZ3MY02g1Ed7OXVUsb2r+NltI/Kojt/5VwaUcgUMN8PMvOqeU49/2p4tvBN1ztfPbmmKqyksdMHdocFT6jek6uYRHNrjEMVz79Oz0Mei5Qbe+OT7qMlRYEAfPoc/xyopXX+kdbANdiAMnyqnuKuj8v5oLn/GxY0iT9HRUC+Q4Hv9sCret6AgVs5wtpQYaHxF1QnondHLR63Qt3XM0rSbd/90f2MnhMPGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EdKEsqSVotKBoVCtsBVPbn",
      "input": {
        "note": "The right arm is holding still and ignoring targets (likely at a joint/reach limit), while the left arm moved back to x=0.29. Backing the right arm off toward its own side with slightly less yaw to free it.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.25,
          "right_yaw": 1.4,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01EdKEsqSVotKBoVCtsBVPbn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4129, 1.8679, 1.3968, -1.5555, -0.7921, -2.0933, 0.0718, 0.4244, 1.6009, 1.1847, -0.625, -0.6281, -0.8848, 0.0667]\nstate[eef_state]: left_x=0.2874 left_y=0.0153 left_z=0.1327 left_yaw=1.5187 left_pitch=-0.1141 left_roll=0.0593 left_gripper=0.0718 right_x=0.3056 right_y=0.2559 right_z=0.148 right_yaw=1.428 right_pitch=-0.2178 right_roll=-0.0754 right_gripper=0.0667\nstate[joint_eff]: [-0.1983, -7.665, 6.2291, -0.5885, -0.4713, -0.0171, 1.0281, -0.6222, -8.7043, 7.0769, 1.1111, -0.3053, 0.2271, 0.7302]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82205069bedb6bd8b209a42f966ec269fee4ac532b267e69bb5205b32c5507ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d28f1c3536a21d6f966b6ae8d20df23ee65256729329f0e3f2b9076e31018d95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aea0ab413a90ced30f16156e2ccddebc51a9737c8cea0f11be49de7366938679",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 6.499 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4046, 2.1616, 1.684, -1.5566, -0.7994, -2.0933, 0.0718, 0.487, 2.0499, 1.5936, -0.6411, -0.6907, -0.9829, 0.066]\nstate[eef_state]: left_x=0.3505 left_y=-0.0084 left_z=0.0994 left_yaw=1.5244 left_pitch=-0.1053 left_roll=0.0642 left_gripper=0.0718 right_x=0.3717 right_y=0.3282 right_z=0.1088 right_yaw=1.5897 right_pitch=-0.2006 right_roll=-0.0701 right_gripper=0.066\nstate[joint_eff]: [-0.2256, -10.0308, 6.735, -0.6764, -0.5201, -0.0415, 1.0281, -0.0752, -10.1402, 8.6496, 1.2332, -0.4078, -0.0073, 0.7546]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4129, 1.8751, 1.4132, -1.5627, -0.7929, -2.0933, 0.0718, 0.487, 2.056, 1.5955, -0.6376, -0.6842, -0.9836, 0.0653]\nstate[eef_state]: left_x=0.2899 left_y=0.0143 left_z=0.1343 left_yaw=1.5182 left_pitch=-0.1141 left_roll=0.0573 left_gripper=0.0718 right_x=0.3733 right_y=0.3281 right_z=0.1063 right_yaw=1.5867 right_pitch=-0.2061 right_roll=-0.0726 right_gripper=0.0653\nstate[joint_eff]: [-0.2393, -7.4872, 4.2598, -0.4176, -0.4176, -0.0317, 1.0281, 0.0889, -10.9744, 8.6359, 1.1893, -0.4322, -0.0122, 0.7204]\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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4129, 1.8679, 1.3968, -1.5555, -0.7921, -2.0933, 0.0718, 0.4244, 1.6009, 1.1847, -0.625, -0.6281, -0.8848, 0.0667]\nstate[eef_state]: left_x=0.2874 left_y=0.0153 left_z=0.1327 left_yaw=1.5187 left_pitch=-0.1141 left_roll=0.0593 left_gripper=0.0718 right_x=0.3056 right_y=0.2559 right_z=0.148 right_yaw=1.428 right_pitch=-0.2178 right_roll=-0.0754 right_gripper=0.0667\nstate[joint_eff]: [-0.1983, -7.665, 6.2291, -0.5885, -0.4713, -0.0171, 1.0281, -0.6222, -8.7043, 7.0769, 1.1111, -0.3053, 0.2271, 0.7302]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82205069bedb6bd8b209a42f966ec269fee4ac532b267e69bb5205b32c5507ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d28f1c3536a21d6f966b6ae8d20df23ee65256729329f0e3f2b9076e31018d95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aea0ab413a90ced30f16156e2ccddebc51a9737c8cea0f11be49de7366938679",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jj8voc2MGmonMFwX2YcmXy",
      "input": {
        "note": "Right arm is free again. Top view shows the left gripper (with cap) sitting further forward in the image than the pen tip despite similar x readbacks, so moving the cap back ~5 cm in x to put it on the pen's line.",
        "targets": {
          "left_x": 0.24,
          "left_y": 0.0,
          "left_z": 0.155
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Jj8voc2MGmonMFwX2YcmXy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4183, 1.7435, 1.2724, -1.5578, -0.7841, -2.0933, 0.0718, 0.4183, 1.5608, 1.1694, -0.6426, -0.6239, -0.8703, 0.069]\nstate[eef_state]: left_x=0.2571 left_y=0.0262 left_z=0.1396 left_yaw=1.5175 left_pitch=-0.12 left_roll=0.064 left_gripper=0.0718 right_x=0.3001 right_y=0.2503 right_z=0.1547 right_yaw=1.4102 right_pitch=-0.2165 right_roll=-0.073 right_gripper=0.069\nstate[joint_eff]: [-0.5538, -7.8974, 4.9846, -0.5299, -0.3932, -0.0611, 1.0281, -0.3897, -8.0889, 6.653, 1.2137, -0.3101, 0.1099, 0.525]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21d91e4bc18678a99b39edf7c9b0e70712cd3aca04dd5eb3c44b9620f0846abf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9000ae8eb957e2cb410e4346db9d13fab079bdedfbdd90581a91ae8f8467f1e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:20eb7f3a81ae2d7e294eca213ac4730e57350584abb67aaf4b13cc2f6ee81e21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 6.556 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4129, 1.8751, 1.4132, -1.5627, -0.7929, -2.0933, 0.0718, 0.487, 2.056, 1.5955, -0.6376, -0.6842, -0.9836, 0.0653]\nstate[eef_state]: left_x=0.2899 left_y=0.0143 left_z=0.1343 left_yaw=1.5182 left_pitch=-0.1141 left_roll=0.0573 left_gripper=0.0718 right_x=0.3733 right_y=0.3281 right_z=0.1063 right_yaw=1.5867 right_pitch=-0.2061 right_roll=-0.0726 right_gripper=0.0653\nstate[joint_eff]: [-0.2393, -7.4872, 4.2598, -0.4176, -0.4176, -0.0317, 1.0281, 0.0889, -10.9744, 8.6359, 1.1893, -0.4322, -0.0122, 0.7204]\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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4129, 1.8679, 1.3968, -1.5555, -0.7921, -2.0933, 0.0718, 0.4244, 1.6009, 1.1847, -0.625, -0.6281, -0.8848, 0.0667]\nstate[eef_state]: left_x=0.2874 left_y=0.0153 left_z=0.1327 left_yaw=1.5187 left_pitch=-0.1141 left_roll=0.0593 left_gripper=0.0718 right_x=0.3056 right_y=0.2559 right_z=0.148 right_yaw=1.428 right_pitch=-0.2178 right_roll=-0.0754 right_gripper=0.0667\nstate[joint_eff]: [-0.1983, -7.665, 6.2291, -0.5885, -0.4713, -0.0171, 1.0281, -0.6222, -8.7043, 7.0769, 1.1111, -0.3053, 0.2271, 0.7302]\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 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4183, 1.7435, 1.2724, -1.5578, -0.7841, -2.0933, 0.0718, 0.4183, 1.5608, 1.1694, -0.6426, -0.6239, -0.8703, 0.069]\nstate[eef_state]: left_x=0.2571 left_y=0.0262 left_z=0.1396 left_yaw=1.5175 left_pitch=-0.12 left_roll=0.064 left_gripper=0.0718 right_x=0.3001 right_y=0.2503 right_z=0.1547 right_yaw=1.4102 right_pitch=-0.2165 right_roll=-0.073 right_gripper=0.069\nstate[joint_eff]: [-0.5538, -7.8974, 4.9846, -0.5299, -0.3932, -0.0611, 1.0281, -0.3897, -8.0889, 6.653, 1.2137, -0.3101, 0.1099, 0.525]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21d91e4bc18678a99b39edf7c9b0e70712cd3aca04dd5eb3c44b9620f0846abf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9000ae8eb957e2cb410e4346db9d13fab079bdedfbdd90581a91ae8f8467f1e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20eb7f3a81ae2d7e294eca213ac4730e57350584abb67aaf4b13cc2f6ee81e21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSlAoKEAgSGAI4AUIIdGhpbmtpbmcSDFwo1fhoRVMwaEsPVhoM7+nCmmt8gmjVNf8oIjA8I77fEaqHDKPcWKBd7rSIUMPyPuSP3Zbm36C1K8E2LxM4J9ZU2mTqTOjB9vOlU7EqsQnOh6YZqzu8ZlDJDa2D4m8tzWhaMXyP36ccv+8ZatCbp0ihYuxjswwCXDMMUJfnN0bUyxSe6Ptr94dh46Sz4+Sj7fAjuRyW2f0oDkA0djF1azaZWzgkzcBCzGTOGJkVJaZkj2VX7wVKoEQkCa7laYLCYaQdGSXbOf3vRJOj/jDjF+qkjnnL12sqHzQ1BHvHxXVSXE1C8CB1uz2sthLiaO06+PmQ6nbXPoTN74fYcpwICrJWlgLjCyoNmyjE0y2d4TxJBETSX9dcHw6KAeBjuFWgNSkZ7eUM9SyNEavdPkRr9P1wCVi/AFlf4plftSkTpVFkzr5/81z0lsGMjbiDKMMHqGPh0pBxZ4yMsudcd9HWWBJgXIl+8hwhkKpSYOzWxXB52KbznegGo6bnI+8czvVs8RUFNJkEm2FwN8qlVdyZ37dj4DfC6cizoreXXXdp0GV2gFa2o3tK1IZwOu+t6+zEeCnk7E91KCL+HTEReM6WA3MiR/779aMTvE1Mo7u7RWNLgeL2UzTb7KC8HDXkQfWckqU1Ki8nAt4WXPphO/aIpX3s9v1tpttJgxWYQksmyi3oGqB2+EQ+26E2e1ONjWNp/WRdON+KOPVigYZ/dikvUUqYUTDVdOAlqGDg/Tbn/1IlpIOwdngf7lzlm5zlgkR8t5RowfQ6PHWsYm/dpBizQT+pVPl+D1EBqozPRdOV9msZvxlfsAU6/CRcXpaH8ZUmkMBOOTVcBXZqK3gHyo3FroL7QMDWlcLiCX4qOuYgqzldCgn0fwgJYAoowYG0ehog/m6AWZxTKexa2QxY1wKZGguYDv/+aayI5fqwmBSYaqCtgWz40rY/Ow+1R4s+wOywjOjMeseOWwSSWUIZX7UYvVx7ku84uOZc4sqk8q/R5aesfB9B67a2lNJqyUVl7KD78aNfR7njCNgxm/fr085vdS1YPTPARSgzXTmFduZK7V5rVv4LKLaoCvmv94UTm1ONHA/LqMXjRC/bzJnyddbRbXXDGdq1h1/8/qgEi4P8bPWfBsvpw/gV/+DGvhw7CjmOJ8PooF8kDmOHwxW1w513zhzwc0GQDx4kIkca+M1B4WivKj/+pedQP9WcQwvpq7ip5I54fpZ2Df4EUgri9tRPe5RelKDeEdW2UBTTZ467Lv19Y1MtIYE1w3H1YZmE3t0j3XB2EzDc3WU868xGenxNs96X05Egq/7nTztOBrGCuKNjt7hEENJoA27sSmj5J0FSvy08kA1INCvDFlsfjvfoSaUtgoymL2PRNb2/8wKma7zAxbw9kMTITGpC1MsOxk5FHaHfkHLXIdtzVKIobYdZwuhsz9JOs/mjOc6LpGs8ZLh2mq3O75KZi6iPodVPO8aYaAj/mFsI8nH68wEU/TB/Xw31xRcmvMKiJ6bnn9/SOrKazYLvuOj1CgiQoQpbdnLrtBG4dfB/JLy44rqXFXCxH00DjkirpZ9ed4574v5SiWlnVe1uunG0TM4JgWfjx6vnumDHe3UlMOB0qP0RszJCSeF1VjfWuOdx9SQweCTYyoHzz8hZj0RncPYONmLmbIFH9m62Bv+O6T5MuCO9Fa6knIf7vI+/3rxALt5eHHFFt1oYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M4wFpvPUrHPTRyFhzZZ84Q",
      "input": {
        "note": "The left gripper is still slightly forward of the pen's line in the top view and the pen tip is ~10 cm from it. Moving the cap further back in x and advancing the pen 5 cm toward it.",
        "targets": {
          "left_x": 0.2,
          "left_z": 0.16,
          "right_y": 0.3,
          "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_01M4wFpvPUrHPTRyFhzZZ84Q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4198, 1.5703, 1.1034, -1.5574, -0.7765, -2.0937, 0.0718, 0.4183, 1.5608, 1.1694, -0.643, -0.6239, -0.8703, 0.0721]\nstate[eef_state]: left_x=0.2158 left_y=0.0432 left_z=0.1433 left_yaw=1.5193 left_pitch=-0.128 left_roll=0.0619 left_gripper=0.0718 right_x=0.3 right_y=0.2502 right_z=0.1547 right_yaw=1.4102 right_pitch=-0.2167 right_roll=-0.0727 right_gripper=0.0721\nstate[joint_eff]: [-0.4718, -6.3795, 5.053, -0.5543, -0.4518, -0.0415, 1.0281, -0.2393, -8.0752, 6.612, 1.1746, -0.3297, 0.0757, 0.3101]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:309a4d8a9b47b07d7e4cb21c07d490a98e9c76c3eb4b9a96717be8d21aaeb834",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7eaeeca823f636cc3ddbe7fdb35929de7d9ea89f0179fbaaa16240e9267e9c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08469eea02bb49015ee25f8602f63db121a9061696894fc323ea93b284d8c852",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 10.31 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4129, 1.8679, 1.3968, -1.5555, -0.7921, -2.0933, 0.0718, 0.4244, 1.6009, 1.1847, -0.625, -0.6281, -0.8848, 0.0667]\nstate[eef_state]: left_x=0.2874 left_y=0.0153 left_z=0.1327 left_yaw=1.5187 left_pitch=-0.1141 left_roll=0.0593 left_gripper=0.0718 right_x=0.3056 right_y=0.2559 right_z=0.148 right_yaw=1.428 right_pitch=-0.2178 right_roll=-0.0754 right_gripper=0.0667\nstate[joint_eff]: [-0.1983, -7.665, 6.2291, -0.5885, -0.4713, -0.0171, 1.0281, -0.6222, -8.7043, 7.0769, 1.1111, -0.3053, 0.2271, 0.7302]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4183, 1.7435, 1.2724, -1.5578, -0.7841, -2.0933, 0.0718, 0.4183, 1.5608, 1.1694, -0.6426, -0.6239, -0.8703, 0.069]\nstate[eef_state]: left_x=0.2571 left_y=0.0262 left_z=0.1396 left_yaw=1.5175 left_pitch=-0.12 left_roll=0.064 left_gripper=0.0718 right_x=0.3001 right_y=0.2503 right_z=0.1547 right_yaw=1.4102 right_pitch=-0.2165 right_roll=-0.073 right_gripper=0.069\nstate[joint_eff]: [-0.5538, -7.8974, 4.9846, -0.5299, -0.3932, -0.0611, 1.0281, -0.3897, -8.0889, 6.653, 1.2137, -0.3101, 0.1099, 0.525]",
      "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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4198, 1.5703, 1.1034, -1.5574, -0.7765, -2.0937, 0.0718, 0.4183, 1.5608, 1.1694, -0.643, -0.6239, -0.8703, 0.0721]\nstate[eef_state]: left_x=0.2158 left_y=0.0432 left_z=0.1433 left_yaw=1.5193 left_pitch=-0.128 left_roll=0.0619 left_gripper=0.0718 right_x=0.3 right_y=0.2502 right_z=0.1547 right_yaw=1.4102 right_pitch=-0.2167 right_roll=-0.0727 right_gripper=0.0721\nstate[joint_eff]: [-0.4718, -6.3795, 5.053, -0.5543, -0.4518, -0.0415, 1.0281, -0.2393, -8.0752, 6.612, 1.1746, -0.3297, 0.0757, 0.3101]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:309a4d8a9b47b07d7e4cb21c07d490a98e9c76c3eb4b9a96717be8d21aaeb834",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7eaeeca823f636cc3ddbe7fdb35929de7d9ea89f0179fbaaa16240e9267e9c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08469eea02bb49015ee25f8602f63db121a9061696894fc323ea93b284d8c852",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSgwoKEAgSGAI4AUIIdGhpbmtpbmcSDMeKmsRnUH8+i4R2MRoMLjoEDaywDHm4CpGcIjAJTijN2XhEo7Yz4la/Y6YqReiI46QULbUFMtnkzF4lYukAdcTiPkPxOvn5zDnpqfIqoAlQb2Uq+lJclvRjnbzVcxNg8DQtQS0K//I6vWYAvpQbYItmSvuTOic3E/JZdSa8Biq+PkJ+AIRLLBeIMg/DQE+glInbSeBbUCNnd555MvEx0ZmGwR7NdML1RuJh5HwbbZiBi0UYds5uT7yamPIS/QGzV608WHjSAx2iZaYDsz/09Kw1Npn9vEnS1M8kcSX4bO3mHfMkmBowjyEK0pDbreKhvuNu40SciinuvIQSQHDLcNKFTiHv/ovbE981ApOCuhsfaFe1p1EwIVHL+Tp5wzXmoWltJa2RgMHr4qLmcAyVlyJVN528xngv/Zm1DYTTadKE/tStgxZsLQ2le/LT7zcQ7bcJcvCHHD+CLiduJlodbgwQKfF03eaKN/KxDoa+RVjIabItKDv46WO18dRbcNAkO7AmLhDQGYYmz+7sNjyCwr8WmoermYqKxyg3bzyZ3ljFliRmJmRz8jk3Fi+uLx85loasi/GF2MdVk4ssNZwxDxla4heldiraPHx7/5rDp4xjHfyZWUeK2Qaw3xiy1NYH8yqYtfXxpnRLiEqQx1NzlogJFJuzRQYIhZ83MlU98YWDl4w2yUHbV1dk4aF8tgkAn9ksG0itz2Elum181xY3wuCnSBb2AWUHyyxkMOjEq/STyh94/C2G4cUP3gJ3G6gjweyauW07WtVAN5YF+DgQ3OTIHUErTlQ/ECeFoSyh4jdKg0QDMRFThZjuKwMe4qhQW2zd2ru6limjaYK5d581n+JtFbXJgUwGlvPVMlT0bBK60L9Pa86S9XPhpGX1+iXgBBt279OYugvl6ZXesAbNQJA4V8M6mIOce6wPYVmWdCN1hjFrVAtxUygk78RCMSSlzccLQiS2LsvqXLc2MnSOTjYUFqgImaMFL+tI3b0H6E2+GeMPJbOoOxFR9iHf58IyYM/hlyIL6tpJYPyx5IrpHzjJNVk0erFPwT5nyGf8Dt43pLs29qRnteyCjcHzaCdeekM1qNTGcpLHtqy11KoXUj3thRD5nlUENIOboq1X9dwLbFwAt0KLN1+EAEzaVdvZ/VrLEdd+gHtiqr4NpugAi+98f8ayQ/YwO1+IYqYbDQEriJWyTK15J76e23L8CYmlUckF5e1UQ/gPcL83Q6Ytuk7A/+7EFlSxHpujrbhDKBP18BRlg41/xdY7zFgHMuCXH1Pvttx7hkM0CS6LMeRRWtiHvJkYLBfS82zZrDx9aAq7C9BnEMZJgZ4DVRhKKGM4vO5gPtbeUbWvrUIWG0Ni+ufgvumprI8UOY97Un6KN2Np4hArGNy2EmFKHX/JKNWJOjkg10R6AZdXsV/e1tU+c9z7dg8ZykssJ5a0hwFgUnacrTCbwQo05Agh1u9YfV0X6mLWP3KqwHHGqCkEEu4+woIKbDJWGxDDDgmc8CCy69+5GP0gTwJgrWW8Lu3eZd4kbZnv7DRif0+UnqKTiz6K0XiOgJYMupdQez8sn0XvJut4pxuFpN4PdXre1KM9uT9y0fpLBKEQ5aVfCiTjJoZS4+sb1oMUM+yEvG6v96SWKQNfdsLs9ufZz5tm0wZp2PvEzQZdStXpt3U4Z0dsQV90NxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QBTRjN557XnLe9QrYo6GFo",
      "input": {
        "note": "The right arm ignored the last target again while the left arm moved back. Re-sending the pen advance with explicit level pitch/roll in case the drifted tilt made the IK target infeasible.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.29,
          "right_y": 0.3,
          "right_yaw": 1.45,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01QBTRjN557XnLe9QrYo6GFo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4194, 1.5642, 1.0855, -1.5555, -0.7765, -2.0933, 0.0718, 0.4847, 1.5764, 1.0653, -0.3782, -0.7368, -0.7017, 0.0742]\nstate[eef_state]: left_x=0.2121 left_y=0.0449 left_z=0.1413 left_yaw=1.5206 left_pitch=-0.1245 left_roll=0.0715 left_gripper=0.0718 right_x=0.2891 right_y=0.2904 right_z=0.1526 right_yaw=1.4419 right_pitch=-0.0566 right_roll=-0.01 right_gripper=0.0742\nstate[joint_eff]: [-0.2393, -5.0393, 6.3521, -0.5397, -0.398, -0.0269, 1.0281, 0.4308, -6.4752, 6.4615, 1.453, -0.5397, 0.1587, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:524b3719c9b42a34b2ec6bac25f897c21a2fce88a24fb254ba8476825e39392b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4712c6ddc775030a8b1e9272cd63f6d5dcc4251df2d21b04ffa1466e9e2b30a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9591969683db0617fb8fcf1a706caa143b550619af7302f318bfde5b01c0fb54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 7.421 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4183, 1.7435, 1.2724, -1.5578, -0.7841, -2.0933, 0.0718, 0.4183, 1.5608, 1.1694, -0.6426, -0.6239, -0.8703, 0.069]\nstate[eef_state]: left_x=0.2571 left_y=0.0262 left_z=0.1396 left_yaw=1.5175 left_pitch=-0.12 left_roll=0.064 left_gripper=0.0718 right_x=0.3001 right_y=0.2503 right_z=0.1547 right_yaw=1.4102 right_pitch=-0.2165 right_roll=-0.073 right_gripper=0.069\nstate[joint_eff]: [-0.5538, -7.8974, 4.9846, -0.5299, -0.3932, -0.0611, 1.0281, -0.3897, -8.0889, 6.653, 1.2137, -0.3101, 0.1099, 0.525]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4198, 1.5703, 1.1034, -1.5574, -0.7765, -2.0937, 0.0718, 0.4183, 1.5608, 1.1694, -0.643, -0.6239, -0.8703, 0.0721]\nstate[eef_state]: left_x=0.2158 left_y=0.0432 left_z=0.1433 left_yaw=1.5193 left_pitch=-0.128 left_roll=0.0619 left_gripper=0.0718 right_x=0.3 right_y=0.2502 right_z=0.1547 right_yaw=1.4102 right_pitch=-0.2167 right_roll=-0.0727 right_gripper=0.0721\nstate[joint_eff]: [-0.4718, -6.3795, 5.053, -0.5543, -0.4518, -0.0415, 1.0281, -0.2393, -8.0752, 6.612, 1.1746, -0.3297, 0.0757, 0.3101]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4194, 1.5642, 1.0855, -1.5555, -0.7765, -2.0933, 0.0718, 0.4847, 1.5764, 1.0653, -0.3782, -0.7368, -0.7017, 0.0742]\nstate[eef_state]: left_x=0.2121 left_y=0.0449 left_z=0.1413 left_yaw=1.5206 left_pitch=-0.1245 left_roll=0.0715 left_gripper=0.0718 right_x=0.2891 right_y=0.2904 right_z=0.1526 right_yaw=1.4419 right_pitch=-0.0566 right_roll=-0.01 right_gripper=0.0742\nstate[joint_eff]: [-0.2393, -5.0393, 6.3521, -0.5397, -0.398, -0.0269, 1.0281, 0.4308, -6.4752, 6.4615, 1.453, -0.5397, 0.1587, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:524b3719c9b42a34b2ec6bac25f897c21a2fce88a24fb254ba8476825e39392b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4712c6ddc775030a8b1e9272cd63f6d5dcc4251df2d21b04ffa1466e9e2b30a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9591969683db0617fb8fcf1a706caa143b550619af7302f318bfde5b01c0fb54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M9wHTxkJv8GouRZLg4Wa7L",
      "input": {
        "note": "The right wrist view now shows the cap-holding gripper at the top-left, i.e. slightly behind the pen's line, where before it was ahead. Moving the cap about 2.5 cm forward to the middle and advancing the pen tip 4 cm toward it.",
        "targets": {
          "left_x": 0.24,
          "left_z": 0.16,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_y": 0.33,
          "right_yaw": 1.5,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01M9wHTxkJv8GouRZLg4Wa7L",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3702, 1.6257, 1.1908, -1.5558, -0.7776, -2.0533, 0.0718, 0.5507, 1.6489, 1.1, -0.3275, -0.7536, -0.6605, 0.0765]\nstate[eef_state]: left_x=0.2342 left_y=0.0459 left_z=0.1482 left_yaw=1.5421 left_pitch=-0.1403 left_roll=0.0609 left_gripper=0.0718 right_x=0.2828 right_y=0.3197 right_z=0.1458 right_yaw=1.4967 right_pitch=-0.0391 right_roll=0.0209 right_gripper=0.0765\nstate[joint_eff]: [0.3761, -5.3538, 7.0222, -0.6618, -0.6422, 0.1636, 1.0281, 0.335, -7.4462, 8.9094, 1.5604, -0.5055, 0.1978, 0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7768011be90012a30580741dc2819310468f055372cbba23ab69afd0ffa208f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7344e907c7603b6f023649bf3c92cb37fc518fd1ba85a1a63c899fef9c369892",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7526180d63cfc2db30e26cdf30dacfbd8a1ff434ebde639047e775d98638c7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 8.137 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4198, 1.5703, 1.1034, -1.5574, -0.7765, -2.0937, 0.0718, 0.4183, 1.5608, 1.1694, -0.643, -0.6239, -0.8703, 0.0721]\nstate[eef_state]: left_x=0.2158 left_y=0.0432 left_z=0.1433 left_yaw=1.5193 left_pitch=-0.128 left_roll=0.0619 left_gripper=0.0718 right_x=0.3 right_y=0.2502 right_z=0.1547 right_yaw=1.4102 right_pitch=-0.2167 right_roll=-0.0727 right_gripper=0.0721\nstate[joint_eff]: [-0.4718, -6.3795, 5.053, -0.5543, -0.4518, -0.0415, 1.0281, -0.2393, -8.0752, 6.612, 1.1746, -0.3297, 0.0757, 0.3101]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4194, 1.5642, 1.0855, -1.5555, -0.7765, -2.0933, 0.0718, 0.4847, 1.5764, 1.0653, -0.3782, -0.7368, -0.7017, 0.0742]\nstate[eef_state]: left_x=0.2121 left_y=0.0449 left_z=0.1413 left_yaw=1.5206 left_pitch=-0.1245 left_roll=0.0715 left_gripper=0.0718 right_x=0.2891 right_y=0.2904 right_z=0.1526 right_yaw=1.4419 right_pitch=-0.0566 right_roll=-0.01 right_gripper=0.0742\nstate[joint_eff]: [-0.2393, -5.0393, 6.3521, -0.5397, -0.398, -0.0269, 1.0281, 0.4308, -6.4752, 6.4615, 1.453, -0.5397, 0.1587, 0.2125]\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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3702, 1.6257, 1.1908, -1.5558, -0.7776, -2.0533, 0.0718, 0.5507, 1.6489, 1.1, -0.3275, -0.7536, -0.6605, 0.0765]\nstate[eef_state]: left_x=0.2342 left_y=0.0459 left_z=0.1482 left_yaw=1.5421 left_pitch=-0.1403 left_roll=0.0609 left_gripper=0.0718 right_x=0.2828 right_y=0.3197 right_z=0.1458 right_yaw=1.4967 right_pitch=-0.0391 right_roll=0.0209 right_gripper=0.0765\nstate[joint_eff]: [0.3761, -5.3538, 7.0222, -0.6618, -0.6422, 0.1636, 1.0281, 0.335, -7.4462, 8.9094, 1.5604, -0.5055, 0.1978, 0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7768011be90012a30580741dc2819310468f055372cbba23ab69afd0ffa208f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7344e907c7603b6f023649bf3c92cb37fc518fd1ba85a1a63c899fef9c369892",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7526180d63cfc2db30e26cdf30dacfbd8a1ff434ebde639047e775d98638c7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RffpQ1FgtCqQVbBxDCkTh5",
      "input": {
        "note": "Pen tip is now a few cm from the left gripper in the top view, with the left gripper still slightly behind the pen line in the right wrist view. Nudging the cap 2 cm forward and advancing the pen another 3–4 cm toward the cap.",
        "targets": {
          "left_x": 0.26,
          "left_z": 0.16,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_y": 0.36,
          "right_yaw": 1.5,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RffpQ1FgtCqQVbBxDCkTh5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3378, 1.6928, 1.2831, -1.5558, -0.7769, -2.0293, 0.0718, 0.5579, 1.6585, 1.1118, -0.3058, -0.7536, -0.6571, 0.0778]\nstate[eef_state]: left_x=0.2546 left_y=0.0456 left_z=0.1508 left_yaw=1.5583 left_pitch=-0.1501 left_roll=0.0554 left_gripper=0.0718 right_x=0.2858 right_y=0.3251 right_z=0.1493 right_yaw=1.5015 right_pitch=-0.0251 right_roll=0.0043 right_gripper=0.0778\nstate[joint_eff]: [0.3761, -6.4342, 7.2274, -0.5885, -0.5495, 0.1734, 1.0281, -0.0889, -7.8291, 8.335, 1.4042, -0.4811, 0.1978, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28dcc958fa5db579a0c4bbe264ce1dad29a51180833fad98ede115e9e46a0bdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:950d53a08ece4cc919abf6529720ba0cec0d99dc3ef760d063688c5cd27ca9fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5dcaf7a99164834896f5a662f3a75d5106d4ba7aa3cfdab87e9d6a52291c0ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 10.89 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4194, 1.5642, 1.0855, -1.5555, -0.7765, -2.0933, 0.0718, 0.4847, 1.5764, 1.0653, -0.3782, -0.7368, -0.7017, 0.0742]\nstate[eef_state]: left_x=0.2121 left_y=0.0449 left_z=0.1413 left_yaw=1.5206 left_pitch=-0.1245 left_roll=0.0715 left_gripper=0.0718 right_x=0.2891 right_y=0.2904 right_z=0.1526 right_yaw=1.4419 right_pitch=-0.0566 right_roll=-0.01 right_gripper=0.0742\nstate[joint_eff]: [-0.2393, -5.0393, 6.3521, -0.5397, -0.398, -0.0269, 1.0281, 0.4308, -6.4752, 6.4615, 1.453, -0.5397, 0.1587, 0.2125]\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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3702, 1.6257, 1.1908, -1.5558, -0.7776, -2.0533, 0.0718, 0.5507, 1.6489, 1.1, -0.3275, -0.7536, -0.6605, 0.0765]\nstate[eef_state]: left_x=0.2342 left_y=0.0459 left_z=0.1482 left_yaw=1.5421 left_pitch=-0.1403 left_roll=0.0609 left_gripper=0.0718 right_x=0.2828 right_y=0.3197 right_z=0.1458 right_yaw=1.4967 right_pitch=-0.0391 right_roll=0.0209 right_gripper=0.0765\nstate[joint_eff]: [0.3761, -5.3538, 7.0222, -0.6618, -0.6422, 0.1636, 1.0281, 0.335, -7.4462, 8.9094, 1.5604, -0.5055, 0.1978, 0.2222]",
      "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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3378, 1.6928, 1.2831, -1.5558, -0.7769, -2.0293, 0.0718, 0.5579, 1.6585, 1.1118, -0.3058, -0.7536, -0.6571, 0.0778]\nstate[eef_state]: left_x=0.2546 left_y=0.0456 left_z=0.1508 left_yaw=1.5583 left_pitch=-0.1501 left_roll=0.0554 left_gripper=0.0718 right_x=0.2858 right_y=0.3251 right_z=0.1493 right_yaw=1.5015 right_pitch=-0.0251 right_roll=0.0043 right_gripper=0.0778\nstate[joint_eff]: [0.3761, -6.4342, 7.2274, -0.5885, -0.5495, 0.1734, 1.0281, -0.0889, -7.8291, 8.335, 1.4042, -0.4811, 0.1978, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28dcc958fa5db579a0c4bbe264ce1dad29a51180833fad98ede115e9e46a0bdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:950d53a08ece4cc919abf6529720ba0cec0d99dc3ef760d063688c5cd27ca9fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5dcaf7a99164834896f5a662f3a75d5106d4ba7aa3cfdab87e9d6a52291c0ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSowwKEAgSGAI4AUIIdGhpbmtpbmcSDITraJ6XyB2dRPZX8xoMfqc3DR2g+5sddItTIjB6b6+TOmeeZ4kSiGl7Qyq8dE6e4wPV8FOf0+CYrBxvTJH2brjJA7tpeSemezuzlokqwAvaGLxjI4CuWCRKRQVG/53RbPecXt2ydHLiYZ+NqbJgDNiY8lbkdflV3OrpXivHlu64tiY4PO/T1Mcg/l52srLsXo12FfKBIRKSkpjFm7NMsZ7e7O/aj5GzaUOnuQVW/GuWEhm1tlP4dxOz1gFo9R3fSv9+Hn5CO64YLhkIZUfe2VPpjfdv2f/xQFfrFXInO8/oDzSulV0zvaX2Q6F1kPjYi0wbkwgaKhWo7t0Qk+yoG1JXMILHluFzU+9JNx40pBCKWXIDAEOQcmCo+NbCYGuUx61OTUfdiYC8Sj0J1aIQgkYwEhhiyeeDWOeOjKNxltq3eg0DA18hGnu4Xd3Iryti0jy/SfWBvZQ5STgWRNcbHgHNyVTB7LBSGx/i+vcmLd4hUjsv5BYfTJQwLKXtsfoTLrQI2w2Z5ei00R9cZ2t/yT68GB+wAW0n+/KBG1ZNgHWt3gG2mu4z8aq0jF6IEZf3ivnzn7aF/3ZBMYEXikizGT1K7/DGy6N4m9ld8cWzJXwhNrZN5af1162qF5pbplJIIKWBwrVpZswt77sklw0HjxIOGdFOXmNJopy/bk/6/5rzZ9QyUYg7soaFFaYycwo1GR/ST9aqJjnMRJ3JBqzDdlVFtfoQc5xE0mR6HNGLphLPZhM+F5WHJm2hA7EU630zQntKHo9x6qiLTfvzjdbvHNV0x1LM0PEXaztV6mMyzMTClL/iSOFIb7qg9BBgL9Yfe1otaqrnmte1JIGssW/4wzkX6oU9yoLqzj1+wiJ+Ds5OG/rQe/BVCnvslwmdGS4piSE69iYpd3Hn7AgZNIOdnb6WAdjCxcLhoW8Kmou3rEdAW7oTnK0IUE8qKCIla6Gl7j8fQvEYiH+s2JVf9+UJvQcul7hdr+lS/nv2zw04SxfOorTFBjcen7IF6vBEwqwArxyjmQgVHLisGhQ4O7l0xvrJ3egA1HlnO5+uWW6WJ+X6h46igl3wm08ZSdCSRy91SDyGCBrzq5oTZge+YTrLmAC7Z3Y1iguy2yDrlKsBpIiqGekskSZ3IfYTBA86z/zJR1DLGltdeoX0b07HgFRicTOpDNeCQvFaL5BD+RZ0ECKN5O1j8lYiqYfDzbScJMiSA8xh97b1s+5Uqr9j6SzxzGspMX+z8BtmPy8wN9xxYhnm2fFzCP2VwWyadxExJFMGggEijuRVrpVgmbunsO43dIZ2dkR00CQ8hGnLZeeVqWuhxuFbdF4gQrmbw0oOO9EQ+XlPMyix2YrwtvU/So8hjUoy0GHah72QdK02tVty8iOXVvkwUiqQWeZnk22+w1QFSMUbfZFBaODgIftzY6lyAIdtTHoXVU/THcR2+kwhudUKNUO3Y2MpMuU6RNKtjXZNMvvjVU7GABZ0J2q4mzRFTtWDEo/ludSdobq/g6MjRY6W2juPOA7xVbhQF8wqQ9S/oxgheC6GdlIyNas0BKOqxHj39NcRPvTS5nfGKxN660g4Bs7rLXk1baXHybpu5uvQ+I25VCiknkJytsva/UQafB9N9I6V7bzmSBpFSJHLVtl6bp8Dv2NZhXuMYVBgKRSpFFSIfhEvAjbAoM2mlZCPy7iZyd2l7dAMJ60kcvPwtVtU6EGVwcvt3UyaUnBu+HOpxrwsujLsQVEK18kgrlJ/zmtVBMCjJ6Pwi04GFiIWIW2c7aYLaXi5Z65yXIC1GTQIMBL4qomnUT3NpPFjokmrfzzaynX5fWE/J9WmHhIuS6cp//hBn4ocvkoZCVs2jAk1LOUOzC47/lsmeRHdsysGSYCQ+A23ymHQ1PemRIDjQrt23xtiMN8AmIbt6KCiHAhBskcNqL7yxSDrLGIju0RiQMEQI8xShgpqHnJHlK9GtrywjH9mBW2pG6CWb1z8faQPWgQmLbxww71DVCqslLDOilRPEEBeRL/Yl2JqdE2TM7OLGUngz2StSjs5N/ON3VXnWpMSYqPlczsOI5a26GggexgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YS44H1YYdneAWHY7t7GJqE",
      "input": {
        "note": "The right arm stops at y≈0.325 and won't advance further, and the pen tip looks about 3–4 cm from the left gripper in the top view. Bringing the cap toward the pen tip with the left arm instead.",
        "targets": {
          "left_x": 0.265,
          "left_y": 0.005,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01YS44H1YYdneAWHY7t7GJqE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3321, 1.6978, 1.2942, -1.5566, -0.7769, -2.014, 0.0718, 0.5579, 1.6585, 1.1126, -0.3061, -0.7536, -0.6571, 0.0792]\nstate[eef_state]: left_x=0.2567 left_y=0.0463 left_z=0.1518 left_yaw=1.555 left_pitch=-0.1523 left_roll=0.0619 left_gripper=0.0718 right_x=0.2859 right_y=0.3251 right_z=0.1495 right_yaw=1.5015 right_pitch=-0.0249 right_roll=0.0039 right_gripper=0.0792\nstate[joint_eff]: [0.0205, -6.4205, 6.8855, -0.5397, -0.6032, 0.1001, 1.0281, 0.1436, -7.9658, 8.294, 1.3895, -0.4762, 0.1832, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:725882e6d23e3992ccaa55f07ef8e81b1f435701604b8542c3d0db8865ea9db7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9954fe47cc74bf1fff6b1094f80bdcaaa9147707ac5b4cd52d2eb7983cdc668b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e91a1c8dc793ed998e5f2edb9a0c71f2fa88d58f7996256be080441bab5914f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 5.993 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3702, 1.6257, 1.1908, -1.5558, -0.7776, -2.0533, 0.0718, 0.5507, 1.6489, 1.1, -0.3275, -0.7536, -0.6605, 0.0765]\nstate[eef_state]: left_x=0.2342 left_y=0.0459 left_z=0.1482 left_yaw=1.5421 left_pitch=-0.1403 left_roll=0.0609 left_gripper=0.0718 right_x=0.2828 right_y=0.3197 right_z=0.1458 right_yaw=1.4967 right_pitch=-0.0391 right_roll=0.0209 right_gripper=0.0765\nstate[joint_eff]: [0.3761, -5.3538, 7.0222, -0.6618, -0.6422, 0.1636, 1.0281, 0.335, -7.4462, 8.9094, 1.5604, -0.5055, 0.1978, 0.2222]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3378, 1.6928, 1.2831, -1.5558, -0.7769, -2.0293, 0.0718, 0.5579, 1.6585, 1.1118, -0.3058, -0.7536, -0.6571, 0.0778]\nstate[eef_state]: left_x=0.2546 left_y=0.0456 left_z=0.1508 left_yaw=1.5583 left_pitch=-0.1501 left_roll=0.0554 left_gripper=0.0718 right_x=0.2858 right_y=0.3251 right_z=0.1493 right_yaw=1.5015 right_pitch=-0.0251 right_roll=0.0043 right_gripper=0.0778\nstate[joint_eff]: [0.3761, -6.4342, 7.2274, -0.5885, -0.5495, 0.1734, 1.0281, -0.0889, -7.8291, 8.335, 1.4042, -0.4811, 0.1978, 0.1245]",
      "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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3321, 1.6978, 1.2942, -1.5566, -0.7769, -2.014, 0.0718, 0.5579, 1.6585, 1.1126, -0.3061, -0.7536, -0.6571, 0.0792]\nstate[eef_state]: left_x=0.2567 left_y=0.0463 left_z=0.1518 left_yaw=1.555 left_pitch=-0.1523 left_roll=0.0619 left_gripper=0.0718 right_x=0.2859 right_y=0.3251 right_z=0.1495 right_yaw=1.5015 right_pitch=-0.0249 right_roll=0.0039 right_gripper=0.0792\nstate[joint_eff]: [0.0205, -6.4205, 6.8855, -0.5397, -0.6032, 0.1001, 1.0281, 0.1436, -7.9658, 8.294, 1.3895, -0.4762, 0.1832, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:725882e6d23e3992ccaa55f07ef8e81b1f435701604b8542c3d0db8865ea9db7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9954fe47cc74bf1fff6b1094f80bdcaaa9147707ac5b4cd52d2eb7983cdc668b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e91a1c8dc793ed998e5f2edb9a0c71f2fa88d58f7996256be080441bab5914f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NWquGWFLFbJkewmuACPjY9",
      "input": {
        "note": "Neither arm moved last time. Re-commanding the left arm toward the pen with explicit level pitch/roll (its pitch had drifted to -0.15), which previously freed the right arm.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.26,
          "left_y": -0.03,
          "left_yaw": 1.5,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01NWquGWFLFbJkewmuACPjY9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3321, 1.6974, 1.2953, -1.5566, -0.7769, -2.0144, 0.0718, 0.5579, 1.6585, 1.1122, -0.3061, -0.7528, -0.6617, 0.0808]\nstate[eef_state]: left_x=0.2569 left_y=0.0462 left_z=0.152 left_yaw=1.555 left_pitch=-0.1528 left_roll=0.0601 left_gripper=0.0718 right_x=0.2859 right_y=0.325 right_z=0.1493 right_yaw=1.5034 right_pitch=-0.0255 right_roll=0.0001 right_gripper=0.0808\nstate[joint_eff]: [0.0342, -6.7897, 6.7624, -0.5397, -0.5836, 0.105, 1.033, -0.0889, -7.9932, 6.5162, 1.3358, -0.3883, -0.0024, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1751bf181d75472a37ae5924ad21e3c9fc4ca6a32ad853f6759002abcf926d85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:896359241a8ee420b928b818b33871e1af05b87963984cd8423980b8b2f53dae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5f9e0eea6779c1725973b63e13bb89d578ddff46bf39868a8a6533f0065e128b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 8.177 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3378, 1.6928, 1.2831, -1.5558, -0.7769, -2.0293, 0.0718, 0.5579, 1.6585, 1.1118, -0.3058, -0.7536, -0.6571, 0.0778]\nstate[eef_state]: left_x=0.2546 left_y=0.0456 left_z=0.1508 left_yaw=1.5583 left_pitch=-0.1501 left_roll=0.0554 left_gripper=0.0718 right_x=0.2858 right_y=0.3251 right_z=0.1493 right_yaw=1.5015 right_pitch=-0.0251 right_roll=0.0043 right_gripper=0.0778\nstate[joint_eff]: [0.3761, -6.4342, 7.2274, -0.5885, -0.5495, 0.1734, 1.0281, -0.0889, -7.8291, 8.335, 1.4042, -0.4811, 0.1978, 0.1245]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3321, 1.6978, 1.2942, -1.5566, -0.7769, -2.014, 0.0718, 0.5579, 1.6585, 1.1126, -0.3061, -0.7536, -0.6571, 0.0792]\nstate[eef_state]: left_x=0.2567 left_y=0.0463 left_z=0.1518 left_yaw=1.555 left_pitch=-0.1523 left_roll=0.0619 left_gripper=0.0718 right_x=0.2859 right_y=0.3251 right_z=0.1495 right_yaw=1.5015 right_pitch=-0.0249 right_roll=0.0039 right_gripper=0.0792\nstate[joint_eff]: [0.0205, -6.4205, 6.8855, -0.5397, -0.6032, 0.1001, 1.0281, 0.1436, -7.9658, 8.294, 1.3895, -0.4762, 0.1832, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3321, 1.6974, 1.2953, -1.5566, -0.7769, -2.0144, 0.0718, 0.5579, 1.6585, 1.1122, -0.3061, -0.7528, -0.6617, 0.0808]\nstate[eef_state]: left_x=0.2569 left_y=0.0462 left_z=0.152 left_yaw=1.555 left_pitch=-0.1528 left_roll=0.0601 left_gripper=0.0718 right_x=0.2859 right_y=0.325 right_z=0.1493 right_yaw=1.5034 right_pitch=-0.0255 right_roll=0.0001 right_gripper=0.0808\nstate[joint_eff]: [0.0342, -6.7897, 6.7624, -0.5397, -0.5836, 0.105, 1.033, -0.0889, -7.9932, 6.5162, 1.3358, -0.3883, -0.0024, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1751bf181d75472a37ae5924ad21e3c9fc4ca6a32ad853f6759002abcf926d85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:896359241a8ee420b928b818b33871e1af05b87963984cd8423980b8b2f53dae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f9e0eea6779c1725973b63e13bb89d578ddff46bf39868a8a6533f0065e128b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrwkKEAgSGAI4AUIIdGhpbmtpbmcSDMFNVJSr1l593ENzGxoMQ4lAvDOXy5VW4NZaIjDDXW6juWPF/l7e+hmRYea/d9CTzPeERttUTiey9+zlNSYpXak2/9FT9AKzq3oYiOgqzAiybjrf1mH19XtwErPNXSbQjjYqU1nVkID1Nmq2iGWGLhS5atuhW8veOsfU3jzOCDjenx2DrnYfFbn97KyOiGeaK3HXRkDBWjMI1Mt/t80cDTUhU5InbAbOR72IYr84Njylf4tib4KCFYPZB33gsRtiv/WFPYmAGsD6z/W+jYEmnSsJGuvC9rOMBptAJJvvwTctnjeiMCxvG5UpGOH+RkfqxLJ27aoMp48pdZsCdrYs/ZB2C2s4jl6dMRufCeLajZ25X6brhCK6GJyxzSrWS4hTKedIB2sJ2WhOm3oOQ8lpUSZQHIncUs3Jh53tcijrjWDNtDhB485BsSVxVpVEYsxUkZwWaKO3b4eeHcwsgDI7acDhBqIo7GsC9/zWM3ZEa5i5TwUIwWh6N8AMJOJGKbxJQLRG3walOD1jpI8fPH2z6qvFSAxZyhH1TNbvXYAEZddv9rRuyC/fsFAL8gZm8fafbbeIrvngUoxSCJZknHYMDsnbEcWNgtObzoHXdFP/VCmI0l1D7IjDNQVY+a9sH50ujG/1EdH12/JpzucPqCukj0N7jMihW6+tNkalxTa5vwzFcQR6v+zwc5QDrPeRGpd7LIaqA0L+H83/cgS34y9FcQk/sovxwBces1zpdDD4kpaAhFKHD752wjl8Ed84LTI8BFkZxwkBkK9L5hh33z++EuvH7/034Jw8OzfzzNDz6Qv7PHu0zFvkXYgZuKjdvumJOEaqdbgqO3OEVrVdcKyBRqBXPBPvMJjv1Km1NhwE9AMbBwH0IKX9vm2f6AgrLTuz/N1wXT/P6mzjn927+BitsFtuGaridzTsfNIpeZ8Yx6EfF/2XDWK/vMB1IKzHA5fJzhl8aEjhhPI2dvLgJvIpGR5nc3VXYqU211b6ZeggJM0fTCpt/D7m15ROfS8eEDljWlDlsZZzUaXa51hyQWl+tvRH2LRp5TujKam+3FTzMuExlPFGqPPxAs2at8KxeiMQDRTqbPXgSEKswX7KkwaLUXbeyd9AtdIDJAkyjCPcI6lwYIAbJJFREJ98Ga9u9F4F2P3+cxoP+c/yEdL8031xby9bdsfSF4nOlYp7v+Emq3I4XBHaevD9n7EIclsW/RnP0UiBH9uPJl0LJLRnkVB4QqElTdFSnEK6yXUqYXTiNCE0FJ8oGmyp+zCqGHeSBk7H+o/IakUsou5fgcdvh5L4YJLSynx1b0gKtBu4rqa8zBhBSJuSfDL66Y+mAbp9ahzmLMIMGN3uph+DMGpF5f0mWmFl0iQv4m5akg+C5gJ8/QD8UVH9tWzHO/gQTwz2OjXtRmYuogUQjElxvS/aZu4SmB4f1XNqJBD8BcTEX/rKvjXPvXtnp7ckQLesp03CIAE7d6BQrrBpG29Y75t/gi6zkdTSIPqceaumF9CNYgRb0V4sP6RI/7FcxYi9VQQiJxAJeFjBnTwzw/08tIvdH6ADB29cY83ioMKBQ5YSUBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QCSck89ZY6MmV1fVXTopYA",
      "input": {
        "note": "The left arm is frozen, probably with a wrist joint at its limit (joint 4 ≈ -1.56). Easing its yaw to 1.3 rad to get off the limit while moving the cap toward the pen tip.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.26,
          "left_y": 0.0,
          "left_yaw": 1.3,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QCSck89ZY6MmV1fVXTopYA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5549, 1.7031, 1.2209, -1.5482, -0.8776, -2.0869, 0.0718, 0.5579, 1.6585, 1.1114, -0.3061, -0.7525, -0.6621, 0.0821]\nstate[eef_state]: left_x=0.259 left_y=0.0036 left_z=0.1496 left_yaw=1.3338 left_pitch=-0.0407 left_roll=0.0425 left_gripper=0.0718 right_x=0.2858 right_y=0.3249 right_z=0.149 right_yaw=1.5034 right_pitch=-0.0262 right_roll=0.0002 right_gripper=0.0821\nstate[joint_eff]: [-0.3624, -8.5812, 4.7658, -0.4811, -0.6716, -0.1245, 1.0281, -0.335, -7.8017, 6.5299, 1.3504, -0.2906, -0.0269, 0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6e2478a8f6500afccddba25654e11be541492be9e12c51bab48717d5683443f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:766be13c46669a7305690344477f5625af6fbf5aeaef3e3e477e62157d023bc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:410ca4667ec55bd71dc1f35e4c239aac886770e961d7b0aa9ddcdfc3bdb26068",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 13.9 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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3321, 1.6978, 1.2942, -1.5566, -0.7769, -2.014, 0.0718, 0.5579, 1.6585, 1.1126, -0.3061, -0.7536, -0.6571, 0.0792]\nstate[eef_state]: left_x=0.2567 left_y=0.0463 left_z=0.1518 left_yaw=1.555 left_pitch=-0.1523 left_roll=0.0619 left_gripper=0.0718 right_x=0.2859 right_y=0.3251 right_z=0.1495 right_yaw=1.5015 right_pitch=-0.0249 right_roll=0.0039 right_gripper=0.0792\nstate[joint_eff]: [0.0205, -6.4205, 6.8855, -0.5397, -0.6032, 0.1001, 1.0281, 0.1436, -7.9658, 8.294, 1.3895, -0.4762, 0.1832, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3321, 1.6974, 1.2953, -1.5566, -0.7769, -2.0144, 0.0718, 0.5579, 1.6585, 1.1122, -0.3061, -0.7528, -0.6617, 0.0808]\nstate[eef_state]: left_x=0.2569 left_y=0.0462 left_z=0.152 left_yaw=1.555 left_pitch=-0.1528 left_roll=0.0601 left_gripper=0.0718 right_x=0.2859 right_y=0.325 right_z=0.1493 right_yaw=1.5034 right_pitch=-0.0255 right_roll=0.0001 right_gripper=0.0808\nstate[joint_eff]: [0.0342, -6.7897, 6.7624, -0.5397, -0.5836, 0.105, 1.033, -0.0889, -7.9932, 6.5162, 1.3358, -0.3883, -0.0024, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5549, 1.7031, 1.2209, -1.5482, -0.8776, -2.0869, 0.0718, 0.5579, 1.6585, 1.1114, -0.3061, -0.7525, -0.6621, 0.0821]\nstate[eef_state]: left_x=0.259 left_y=0.0036 left_z=0.1496 left_yaw=1.3338 left_pitch=-0.0407 left_roll=0.0425 left_gripper=0.0718 right_x=0.2858 right_y=0.3249 right_z=0.149 right_yaw=1.5034 right_pitch=-0.0262 right_roll=0.0002 right_gripper=0.0821\nstate[joint_eff]: [-0.3624, -8.5812, 4.7658, -0.4811, -0.6716, -0.1245, 1.0281, -0.335, -7.8017, 6.5299, 1.3504, -0.2906, -0.0269, 0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6e2478a8f6500afccddba25654e11be541492be9e12c51bab48717d5683443f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:766be13c46669a7305690344477f5625af6fbf5aeaef3e3e477e62157d023bc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:410ca4667ec55bd71dc1f35e4c239aac886770e961d7b0aa9ddcdfc3bdb26068",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P7dWzSvAcn8Ggw3PzWWrWe",
      "input": {
        "note": "The left arm moves again now that its wrist is off the limit; the cap-holding gripper is just a few cm from the pen tip in the top view. Advancing the cap 3.5 cm onto the pen tip, slightly forward.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.27,
          "left_y": -0.035,
          "left_yaw": 1.3,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01P7dWzSvAcn8Ggw3PzWWrWe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.572, 1.6951, 1.2152, -1.533, -0.9092, -2.0937, 0.0718, 0.5579, 1.6585, 1.1114, -0.3061, -0.7528, -0.6621, 0.0828]\nstate[eef_state]: left_x=0.2632 left_y=0.0006 left_z=0.1529 left_yaw=1.3058 left_pitch=-0.0189 left_roll=0.0114 left_gripper=0.0718 right_x=0.2858 right_y=0.3249 right_z=0.149 right_yaw=1.5036 right_pitch=-0.0259 right_roll=0.0004 right_gripper=0.0828\nstate[joint_eff]: [-0.0889, -8.3487, 4.6701, -0.5983, -0.6862, -0.0415, 1.0232, -0.3761, -7.9385, 6.4889, 1.3455, -0.3687, -0.0464, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3575dc5d48489c82081049ded131fb5632dd07e10f0e35c4d9de4dbf089a0e4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:def19f05e36e863ab92779507b0294b5b5ed37f9871ec182a2b9eac5c603258f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ef4396d9bd9b6aa4830b95f7f1a25575ba473501571cd7cbec15381d3b9a61b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]