adhoc - adhoc_088677f8.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: 352.7 s
total steps: 310

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 centre-right of the table, cap is left of centre. Moving the right arm above the pen, yawed 45° so the jaws close across the pen.

move_to

right_x0.3500right_y0.2200right_z0.1200right_yaw0.7850right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7929, 0.6022, -0.3801, -0.02, -0.025, 0.9993, -0.0185, 0.7914, 0.6106, -0.3759, -0.0204, -0.0154, 0.9991] state[eef_state]: left_x=0.2945 left_y=0.0012 left_z=0.1794 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0017 right_z=0.1846 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.3624, -1.5385, 10.5231, 1.7753, -0.0757, 0.0952, -0.0855, -0.7043, -1.1692, 9.6615, 1.7167, -0.0562, 0.0024, -0.105] 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": 0.22, "right_z": 0.12, "right_yaw": 0.785, "right_gripper": 1}, "note": "Pen lies diagonally centre-right of the table, cap is left of centre. Moving the right arm above the pen, yawed 45\u00b0 so the jaws close across the pen."})

tool

executing move_to over 19 steps (1.9s)

step 19

assistant

agent noteRight wrist view shows the pen running straight down the image under the jaws, slightly right of centre. Nudging a centimetre right and descending to the table to grasp.

move_to

right_x0.3470right_y0.1990right_z-0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3813, -0.02, -0.0254, 0.9993, 0.4122, 1.4387, 0.6781, 0.1078, -0.2802, -0.1848, 0.9991] state[eef_state]: left_x=0.2948 left_y=0.0012 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3406 right_y=0.2062 right_z=0.1027 right_yaw=0.7399 right_pitch=-0.0674 right_roll=0.021 right_gripper=0.9991 state[joint_eff]: [-0.2803, -1.5658, 6.9949, 1.7118, -0.0757, -0.022, -0.0171, 0.3214, -5.6137, 8.4308, 1.8584, -0.2222, -0.0269, -0.105] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.347, "right_y": 0.199, "right_z": -0.005}, "note": "Right wrist view shows the pen running straight down the image under the jaws, slightly right of centre. Nudging a centimetre right and descending to the table to grasp."})

tool

executing move_to over 7 steps (0.7s)

step 26

assistant

Pen sits between jaws. Close.

agent noteRight gripper is at table level with the pen running between the jaws. Closing to grasp the pen.

move_to

right_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]: [-0.02, 0.8047, 0.6029, -0.3813, -0.02, -0.0254, 0.9992, 0.3836, 1.8042, 0.527, 0.5991, -0.3027, -0.2134, 0.9991] state[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1763 left_yaw=0.0002 left_pitch=-0.0122 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3456 right_y=0.2001 right_z=0.0021 right_yaw=0.7458 right_pitch=-0.086 right_roll=0.0196 right_gripper=0.9991 state[joint_eff]: [-0.3214, -1.7026, 7.0359, 1.707, -0.0415, -0.0562, -0.0171, -0.7316, -5.3128, 3.0017, 0.9011, -0.1392, 0.1685, -0.022] 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

Pen sits between jaws. Close.

move_to({"targets": {"right_gripper": 0}, "note": "Right gripper is at table level with the pen running between the jaws. Closing to grasp the pen."})

tool

executing move_to over 10 steps (1.0s)

step 36

assistant

agent noteGripper settled at 0.05 (about 5 mm), consistent with holding the pen. Lifting to confirm the grasp.

move_to

right_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]: [-0.02, 0.807, 0.6029, -0.3809, -0.02, -0.0254, 0.9992, 0.3813, 1.8164, 0.5217, 0.6281, -0.3088, -0.2157, 0.0513] state[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0002 left_pitch=-0.0141 left_roll=-0.0 left_gripper=0.9992 right_x=0.3464 right_y=0.2006 right_z=0.0015 right_yaw=0.7494 right_pitch=-0.0739 right_roll=0.0172 right_gripper=0.0513 state[joint_eff]: [-0.2393, -1.4838, 7.241, 1.7265, -0.0855, -0.0513, -0.0073, -0.0615, -8.1709, 5.0803, 1.3114, -0.0122, -0.0073, 1.2088] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.12}, "note": "Gripper settled at 0.05 (about 5 mm), consistent with holding the pen. Lifting to confirm the grasp."})

tool

executing move_to over 8 steps (0.8s)

step 44

assistant

agent noteThe pen is held in the right gripper (it rose with the jaws). Now moving the left arm above the cap, left of centre, yawed so the jaws close across it.

move_to

left_x0.3600left_y-0.2300left_z0.1200left_yaw-0.7000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8078, 0.6029, -0.3809, -0.02, -0.0254, 0.9992, 0.3809, 1.4525, 0.7055, 0.0868, -0.3115, -0.218, 0.0584] state[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1755 left_yaw=0.0002 left_pitch=-0.0149 left_roll=-0.0 left_gripper=0.9992 right_x=0.3477 right_y=0.2014 right_z=0.1058 right_yaw=0.7523 right_pitch=-0.0672 right_roll=0.0145 right_gripper=0.0584 state[joint_eff]: [-0.1299, -1.3333, 7.3368, 1.746, -0.0415, 0.0073, -0.0073, -0.3487, -7.4051, 8.7043, 1.6728, -0.105, 0.0073, 1.0281] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_y": -0.23, "left_z": 0.12, "left_yaw": -0.7, "left_gripper": 1}, "note": "The pen is held in the right gripper (it rose with the jaws). Now moving the left arm above the cap, left of centre, yawed so the jaws close across it."})

tool

executing move_to over 21 steps (2.1s)

step 65

assistant

agent noteLeft wrist view shows the cap lying across the jaw line, a bit to the tool's left and near the fingertips. Shifting ~2 cm left and descending to table level.

move_to

left_x0.3600left_y-0.1970left_z-0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5079, 1.4895, 0.7235, 0.0757, 0.1139, 0.0547, 0.9993, 0.3809, 1.4513, 0.7036, 0.0605, -0.3115, -0.218, 0.0633] state[eef_state]: left_x=0.3469 left_y=-0.212 left_z=0.0923 left_yaw=-0.6445 left_pitch=-0.1143 left_roll=-0.0212 left_gripper=0.9993 right_x=0.3436 right_y=0.1998 right_z=0.1005 right_yaw=0.7531 right_pitch=-0.0924 right_roll=0.0244 right_gripper=0.0633 state[joint_eff]: [-0.5538, -6.6803, 9.4291, 2.1514, 0.3687, 0.2857, -0.0904, -0.335, -5.8735, 6.4889, 1.8046, -0.1392, -0.0513, 1.0281] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_y": -0.197, "left_z": -0.005}, "note": "Left wrist view shows the cap lying across the jaw line, a bit to the tool's left and near the fingertips. Shifting ~2 cm left and descending to table level."})

tool

executing move_to over 7 steps (0.7s)

step 72

assistant

agent noteAt table level the cap is visible ahead of the fingertips and left of the jaw column. Moving ~3 cm forward and ~2 cm to the tool's left to centre it between the jaws.

move_to

left_x0.3950left_y-0.1950left_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.445, 1.8008, 0.5922, 0.4915, 0.1398, 0.0887, 0.9992, 0.3809, 1.4513, 0.7036, 0.0589, -0.3115, -0.218, 0.0634] state[eef_state]: left_x=0.3591 left_y=-0.1946 left_z=0.0004 left_yaw=-0.6224 left_pitch=-0.1378 left_roll=-0.0159 left_gripper=0.9992 right_x=0.3434 right_y=0.1997 right_z=0.1003 right_yaw=0.7532 right_pitch=-0.0939 right_roll=0.0249 right_gripper=0.0634 state[joint_eff]: [0.4581, -5.7504, 3.6171, 1.033, 0.2955, -0.0513, -0.022, -0.2393, -5.8872, 6.3248, 1.6239, -0.1343, -0.0269, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.395, "left_y": -0.195, "left_z": 0.0}, "note": "At table level the cap is visible ahead of the fingertips and left of the jaw column. Moving ~3 cm forward and ~2 cm to the tool's left to centre it between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 75

assistant

agent noteCap is now just ahead of the jaws but still left of centre. Nudging ~1.5 cm left and 1 cm forward, pressing to table level.

move_to

left_x0.4060left_y-0.1870left_z-0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4072, 1.8759, 0.6918, 0.4877, 0.1501, 0.0986, 0.9992, 0.3809, 1.4513, 0.7029, 0.0586, -0.3119, -0.218, 0.0676] state[eef_state]: left_x=0.3905 left_y=-0.1933 left_z=0.0027 left_yaw=-0.5983 left_pitch=-0.1163 left_roll=-0.0111 left_gripper=0.9992 right_x=0.3431 right_y=0.1996 right_z=0.0999 right_yaw=0.7535 right_pitch=-0.0948 right_roll=0.0256 right_gripper=0.0676 state[joint_eff]: [0.3077, -7.4188, 6.4752, 1.4237, 0.2955, 0.149, -0.0122, -0.0752, -5.9145, 6.3658, 1.58, -0.1685, -0.0513, 1.0281] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.406, "left_y": -0.187, "left_z": -0.005}, "note": "Cap is now just ahead of the jaws but still left of centre. Nudging ~1.5 cm left and 1 cm forward, pressing to table level."})

tool

executing move_to over 2 steps (0.2s)

step 77

assistant

agent noteThe cap now sits between the left jaws at table level. Closing to grasp it.

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]: [-0.3931, 1.8877, 0.7136, 0.4702, 0.1505, 0.1081, 0.9992, 0.3809, 1.4513, 0.7029, 0.0589, -0.3115, -0.218, 0.0676] state[eef_state]: left_x=0.3967 left_y=-0.1893 left_z=0.0018 left_yaw=-0.5898 left_pitch=-0.1237 left_roll=-0.0054 left_gripper=0.9992 right_x=0.3432 right_y=0.1996 right_z=0.1 right_yaw=0.7532 right_pitch=-0.0946 right_roll=0.0252 right_gripper=0.0676 state[joint_eff]: [-0.3897, -7.7607, 6.3111, 1.2821, 0.2418, 0.1538, -0.0122, -0.3487, -5.9145, 6.3385, 1.5702, -0.1538, -0.0269, 1.0281] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0}, "note": "The cap now sits between the left jaws at table level. Closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 87

assistant

agent noteClose was empty: the cap got nudged forward and now lies roughly along the y-axis ahead and right of the jaws. Lifting, reopening, and rotating the jaws ~90° to straddle it from above.

move_to

left_x0.4250left_y-0.2350left_z0.0600left_yaw-1.5000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3931, 1.8877, 0.7151, 0.4599, 0.1539, 0.1097, 0.0076, 0.3809, 1.4513, 0.7029, 0.0589, -0.3115, -0.218, 0.0676] state[eef_state]: left_x=0.3954 left_y=-0.1894 left_z=0.0004 left_yaw=-0.5938 left_pitch=-0.1319 left_roll=-0.0082 left_gripper=0.0076 right_x=0.3432 right_y=0.1996 right_z=0.1 right_yaw=0.7532 right_pitch=-0.0946 right_roll=0.0252 right_gripper=0.0676 state[joint_eff]: [-0.1026, -8.212, 4.9299, 1.7216, 0.0806, -0.0171, 0.569, -0.212, -5.9282, 6.3385, 1.5946, -0.1245, -0.0464, 1.0281] 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": 0.425, "left_y": -0.235, "left_z": 0.06, "left_yaw": -1.5, "left_gripper": 1}, "note": "Close was empty: the cap got nudged forward and now lies roughly along the y-axis ahead and right of the jaws. Lifting, reopening, and rotating the jaws ~90\u00b0 to straddle it from above."})

tool

executing move_to over 10 steps (1.0s)

step 97

assistant

agent noteThe cap is now just under/ahead of the open left jaws but lies nearly parallel to the jaw line. Rotating the wrist ~65° further clockwise so the jaws straddle it across its width.

move_to

left_yaw-2.5000left_z0.0600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2466, 2.1475, 1.4883, -0.4541, 0.7383, 0.9257, 0.9951, 0.3809, 1.4525, 0.7021, 0.0559, -0.3119, -0.218, 0.0676] state[eef_state]: left_x=0.4402 left_y=-0.2297 left_z=0.0507 left_yaw=-1.3686 left_pitch=-0.1548 left_roll=-0.0017 left_gripper=0.9951 right_x=0.3425 right_y=0.1994 right_z=0.0987 right_yaw=0.7537 right_pitch=-0.0991 right_roll=0.0273 right_gripper=0.0676 state[joint_eff]: [0.0615, -11.8222, 7.2137, 0.735, 0.525, 0.105, -0.1343, -0.3761, -5.9966, 6.3795, 1.5946, -0.1538, -0.0464, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_yaw": -2.5, "left_z": 0.06}, "note": "The cap is now just under/ahead of the open left jaws but lies nearly parallel to the jaw line. Rotating the wrist ~65\u00b0 further clockwise so the jaws straddle it across its width."})

tool

executing move_to over 8 steps (0.8s)

step 105

assistant

agent noteThe wrist stopped rotating at yaw -1.76, but the cap now lies diagonally across the jaw line, slightly ahead and to the right. Shifting ~1.5 cm toward it and descending to table level.

move_to

left_x0.4280left_y-0.2390left_z-0.0050left_yaw-1.7600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2165, 2.5069, 2.0319, -1.0634, 0.82, 1.5066, 0.9959, 0.3809, 1.4563, 0.6991, 0.0551, -0.3119, -0.218, 0.0676] state[eef_state]: left_x=0.4456 left_y=-0.2266 left_z=0.0196 left_yaw=-1.7566 left_pitch=-0.1796 left_roll=-0.0063 left_gripper=0.9959 right_x=0.3416 right_y=0.199 right_z=0.0959 right_yaw=0.754 right_pitch=-0.1062 right_roll=0.0301 right_gripper=0.0676 state[joint_eff]: [-0.4034, -15.2, 7.6923, 0.1978, 0.6716, 0.2125, 0.0659, -0.1709, -6.0923, 6.5983, 1.6142, -0.1245, -0.022, 1.033] 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": {"left_x": 0.428, "left_y": -0.239, "left_z": -0.005, "left_yaw": -1.76}, "note": "The wrist stopped rotating at yaw -1.76, but the cap now lies diagonally across the jaw line, slightly ahead and to the right. Shifting ~1.5 cm toward it and descending to table level."})

tool

executing move_to over 2 steps (0.2s)

step 107

assistant

agent noteThe left arm is stuck in an awkward wrist configuration and did not move. Raising and unwinding the yaw to regain mobility before re-approaching the cap.

move_to

left_x0.4000left_y-0.2200left_z0.1000left_yaw-0.8000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2165, 2.5069, 2.0319, -1.0634, 0.82, 1.5127, 0.996, 0.3809, 1.4563, 0.6991, 0.0555, -0.3119, -0.218, 0.0676] state[eef_state]: left_x=0.4456 left_y=-0.2266 left_z=0.0196 left_yaw=-1.76 left_pitch=-0.1796 left_roll=-0.0018 left_gripper=0.996 right_x=0.3416 right_y=0.1991 right_z=0.096 right_yaw=0.7539 right_pitch=-0.1059 right_roll=0.0299 right_gripper=0.0676 state[joint_eff]: [-0.3487, -15.3641, 7.8838, 0.232, 0.6227, 0.1197, -0.0073, -0.3761, -5.9419, 6.3248, 1.5946, -0.149, -0.0317, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.22, "left_z": 0.1, "left_yaw": -0.8}, "note": "The left arm is stuck in an awkward wrist configuration and did not move. Raising and unwinding the yaw to regain mobility before re-approaching the cap."})

tool

executing move_to over 7 steps (0.7s)

step 114

assistant

agent noteLeft arm is only partly unwound (yaw -1.5, tilted). Continuing up and back toward a comfortable yaw before re-approaching the cap, which is visible just ahead of the jaws.

move_to

left_x0.3900left_y-0.2200left_z0.1300left_yaw-0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3897, 2.0129, 1.5162, -0.6907, 0.4549, 1.1385, 0.996, 0.3809, 1.4609, 0.6971, 0.0563, -0.3122, -0.218, 0.0676] state[eef_state]: left_x=0.3996 left_y=-0.2442 left_z=0.0746 left_yaw=-1.5012 left_pitch=-0.4315 left_roll=0.1925 left_gripper=0.996 right_x=0.3411 right_y=0.1989 right_z=0.0937 right_yaw=0.7545 right_pitch=-0.1111 right_roll=0.0322 right_gripper=0.0676 state[joint_eff]: [1.7436, -11.5077, 7.8427, 1.8095, -0.2369, -0.1245, -0.0073, -0.0205, -5.8735, 6.8718, 1.6239, -0.1343, -0.0611, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.39, "left_y": -0.22, "left_z": 0.13, "left_yaw": -0.6}, "note": "Left arm is only partly unwound (yaw -1.5, tilted). Continuing up and back toward a comfortable yaw before re-approaching the cap, which is visible just ahead of the jaws."})

tool

executing move_to over 6 steps (0.6s)

step 120

assistant

agent noteCap is ahead of the left jaws, lying parallel to the jaw line at yaw -0.8. Rotating to yaw +0.75 (jaws perpendicular to the cap), levelling the wrist, and moving over the cap.

move_to

left_x0.4100left_y-0.2600left_z0.1000left_yaw0.7500left_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]: [-0.5449, 1.7718, 1.3067, -0.5602, 0.0414, 0.3714, 0.996, 0.3809, 1.4609, 0.696, 0.0528, -0.3122, -0.218, 0.0711] state[eef_state]: left_x=0.3799 left_y=-0.2346 left_z=0.1038 left_yaw=-0.8177 left_pitch=-0.4692 left_roll=0.18 left_gripper=0.996 right_x=0.3403 right_y=0.1986 right_z=0.0926 right_yaw=0.7547 right_pitch=-0.1154 right_roll=0.0339 right_gripper=0.0711 state[joint_eff]: [0.0615, -10.8923, 9.306, 1.0476, -0.2662, -0.0806, -0.0073, -0.3487, -5.9282, 6.3795, 1.6337, -0.1441, -0.0171, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.41, "left_y": -0.26, "left_z": 0.1, "left_yaw": 0.75, "left_pitch": 0, "left_roll": 0}, "note": "Cap is ahead of the left jaws, lying parallel to the jaw line at yaw -0.8. Rotating to yaw +0.75 (jaws perpendicular to the cap), levelling the wrist, and moving over the cap."})

tool

executing move_to over 16 steps (1.6s)

step 136

assistant

agent noteThe left arm's elbow swung toward the right arm and nudged it down. Moving the right arm (holding the pen) further right and up to give clearance.

move_to

right_x0.3300right_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]: [-0.8581, 2.4077, 2.0888, -1.1271, -0.7914, -0.5766, 0.996, 0.366, 1.4815, 0.6514, -0.0479, -0.2794, -0.2104, 0.0717] state[eef_state]: left_x=0.4192 left_y=-0.2874 left_z=0.0764 left_yaw=0.1509 left_pitch=-0.3342 left_roll=0.5937 left_gripper=0.996 right_x=0.3168 right_y=0.1774 right_z=0.0502 right_yaw=0.7201 right_pitch=-0.279 right_roll=0.0774 right_gripper=0.0717 state[joint_eff]: [-2.441, -12.3556, 5.559, -0.3297, -0.652, -0.0562, -0.0171, 1.0735, -7.2821, 9.6342, 2.2589, -0.3736, -0.1294, 1.033] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.33, "right_y": 0.3, "right_z": 0.15}, "note": "The left arm's elbow swung toward the right arm and nudged it down. Moving the right arm (holding the pen) further right and up to give clearance."})

tool

executing move_to over 11 steps (1.1s)

step 147

assistant

agent noteThe two arms are pressed against each other in the middle (high efforts, right arm not tracking). Pulling the left arm back toward its own side and levelling its wrist.

move_to

left_x0.3300left_y-0.1200left_z0.1500left_yaw0.0000left_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]: [-0.7589, 2.3451, 1.9533, -1.0607, -0.836, -0.6003, 0.996, 0.5919, 1.6154, 1.066, -0.6514, 0.0254, 0.1612, 0.0717] state[eef_state]: left_x=0.4381 left_y=-0.2299 left_z=0.0756 left_yaw=0.2758 left_pitch=-0.2925 left_roll=0.6073 left_gripper=0.996 right_x=0.3003 right_y=0.2008 right_z=0.0692 right_yaw=0.4493 right_pitch=-0.645 right_roll=0.0402 right_gripper=0.0717 state[joint_eff]: [-9.5521, -10.8376, 7.8017, 0.9548, -0.779, 0.1099, -0.0122, 9.0462, -7.2957, 15.9111, 3.7192, -1.0574, -1.5507, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.33, "left_y": -0.12, "left_z": 0.15, "left_yaw": 0, "left_pitch": 0, "left_roll": 0}, "note": "The two arms are pressed against each other in the middle (high efforts, right arm not tracking). Pulling the left arm back toward its own side and levelling its wrist."})

tool

executing move_to over 10 steps (1.0s)

step 157

assistant

agent noteArms are separated; the cap sits on the table between them (top view ~(98,100)) and the pen is still in the right gripper. Moving the left arm above the cap with a level wrist, and lifting/levelling the right arm out of the way.

move_to

left_x0.4000left_y-0.2700left_z0.1200left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.3000right_y0.2500right_z0.1500right_pitch0.0000right_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]: [-0.622, 1.2285, 0.8616, -0.2195, -0.5747, -0.4084, 0.996, 0.601, 1.5856, 0.9966, -0.5896, 0.0372, 0.1673, 0.0717] state[eef_state]: left_x=0.3536 left_y=-0.1309 left_z=0.2081 left_yaw=0.062 left_pitch=0.0872 left_roll=-0.0438 left_gripper=0.996 right_x=0.2946 right_y=0.1984 right_z=0.062 right_yaw=0.4445 right_pitch=-0.6217 right_roll=0.0337 right_gripper=0.0717 state[joint_eff]: [0.1436, -0.9641, 8.8684, 2.2735, 0.0611, 0.2027, -0.0122, -0.8137, -7.0632, 8.0752, 0.906, -0.0415, -0.0611, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.27, "left_z": 0.12, "left_yaw": 0, "left_pitch": 0, "left_roll": 0, "right_x": 0.3, "right_y": 0.25, "right_z": 0.15, "right_pitch": 0, "right_roll": 0}, "note": "Arms are separated; the cap sits on the table between them (top view ~(98,100)) and the pen is still in the right gripper. Moving the left arm above the cap with a level wrist, and lifting/levelling the right arm out of the way."})

tool

executing move_to over 21 steps (2.1s)

step 178

assistant

agent noteLeft wrist view shows the cap centred on the jaw column and lying across the jaws. Descending the left arm onto it, while moving the right arm (holding the pen) back to its own side to stop the arms touching.

move_to

right_y0.0500right_x0.3000right_z0.1500left_x0.4050left_y-0.2550left_z-0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8146, 1.8099, 1.1278, -0.1219, -0.6636, -0.5533, 0.996, 0.7956, 1.3407, 0.7177, -0.1051, 0.3161, 0.2138, 0.0717] state[eef_state]: left_x=0.3945 left_y=-0.2545 left_z=0.1101 left_yaw=0.0116 left_pitch=-0.0327 left_roll=0.0226 left_gripper=0.996 right_x=0.2967 right_y=0.2294 right_z=0.1166 right_yaw=0.4053 right_pitch=-0.1288 right_roll=-0.0427 right_gripper=0.0717 state[joint_eff]: [-1.7026, -7.6103, 9.5795, 1.6337, -0.3541, 0.0073, -0.0122, 2.441, -7.6103, 7.9521, 2.3028, -0.1343, -0.1441, 1.0281] 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": 0.05, "right_x": 0.3, "right_z": 0.15, "left_x": 0.405, "left_y": -0.255, "left_z": -0.005}, "note": "Left wrist view shows the cap centred on the jaw column and lying across the jaws. Descending the left arm onto it, while moving the right arm (holding the pen) back to its own side to stop the arms touching."})

tool

executing move_to over 15 steps (1.5s)

step 193

assistant

agent noteAt table level the cap is centred between the jaws but a couple of centimetres ahead of the fingertips. Sliding 2.5 cm forward to put it between the jaws.

move_to

left_x0.4300left_z-0.0080

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8005, 2.0857, 1.0039, 0.289, -0.6518, -0.5495, 0.996, -0.001, 0.9771, 0.6132, -0.384, -0.2459, -0.2668, 0.0717] state[eef_state]: left_x=0.4039 left_y=-0.2573 left_z=0.0038 left_yaw=0.015 left_pitch=-0.0314 left_roll=0.0119 left_gripper=0.996 right_x=0.2998 right_y=0.0463 right_z=0.1357 right_yaw=0.3453 right_pitch=-0.1642 right_roll=-0.033 right_gripper=0.0717 state[joint_eff]: [0.3077, -8.0889, 4.6291, 1.4139, -0.2857, 0.0659, -0.0122, -0.4718, -3.3983, 9.388, 1.6972, -0.2711, -0.0904, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.43, "left_z": -0.008}, "note": "At table level the cap is centred between the jaws but a couple of centimetres ahead of the fingertips. Sliding 2.5 cm forward to put it between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 196

assistant

agent noteThe cap now sits between the left fingertips, centred. Closing to grasp it.

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]: [-0.765, 2.1395, 1.0569, 0.334, -0.6556, -0.5297, 0.996, -0.0025, 0.9771, 0.6132, -0.4114, -0.2649, -0.2924, 0.0717] state[eef_state]: left_x=0.4263 left_y=-0.255 left_z=0.0033 left_yaw=0.042 left_pitch=0.0008 left_roll=-0.0019 left_gripper=0.996 right_x=0.2946 right_y=0.0491 right_z=0.1315 right_yaw=0.3752 right_pitch=-0.1856 right_roll=-0.0299 right_gripper=0.0717 state[joint_eff]: [0.4444, -8.8547, 6.3385, 1.2234, 0.1001, 0.0659, -0.0122, 0.1709, -2.3863, 6.8444, 1.7705, 0.0024, 0.232, 1.0281] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0}, "note": "The cap now sits between the left fingertips, centred. Closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 206

assistant

agent noteLeft gripper settled at 0.05, so it seems to be holding the cap. Lifting to confirm.

move_to

left_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]: [-0.7628, 2.1464, 1.0645, 0.3531, -0.6704, -0.5331, 0.0514, -0.0025, 0.9771, 0.6132, -0.4122, -0.2634, -0.2897, 0.0717] state[eef_state]: left_x=0.4306 left_y=-0.2548 left_z=0.0066 left_yaw=0.0573 left_pitch=0.0218 left_roll=-0.0123 left_gripper=0.0514 right_x=0.2946 right_y=0.0489 right_z=0.1313 right_yaw=0.3725 right_pitch=-0.1866 right_roll=-0.0287 right_gripper=0.0717 state[joint_eff]: [-0.1299, -11.3026, 4.4513, 1.3162, -0.1001, 0.0757, 1.1648, -0.1299, -2.1949, 6.9675, 1.5018, -0.1832, -0.0317, 1.0281] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.15}, "note": "Left gripper settled at 0.05, so it seems to be holding the cap. Lifting to confirm."})

tool

executing move_to over 10 steps (1.0s)

step 216

assistant

agent noteBoth objects appear held: pen in the right gripper (tip pointing forward of the tool), cap in the left. Rotating the right wrist so the pen tip points toward the table centre (+y) at a common height of 20 cm.

move_to

right_x0.3500right_y0.0000right_z0.2000right_yaw1.4500right_pitch0.0000right_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]: [-0.7624, 1.8904, 1.2457, -0.1207, -0.6735, -0.5419, 0.0573, -0.0025, 0.9771, 0.6128, -0.4129, -0.2638, -0.2897, 0.0717] state[eef_state]: left_x=0.4293 left_y=-0.2527 left_z=0.1193 left_yaw=0.0643 left_pitch=-0.0016 left_roll=0.0085 left_gripper=0.0573 right_x=0.2943 right_y=0.0489 right_z=0.131 right_yaw=0.3729 right_pitch=-0.1876 right_roll=-0.028 right_gripper=0.0717 state[joint_eff]: [-0.2256, -12.9436, 9.265, 1.4432, -0.2955, 0.0757, 1.033, -0.2256, -2.3453, 7.0632, 1.4921, -0.1685, -0.0464, 1.0281] camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.35, "right_y": 0.0, "right_z": 0.2, "right_yaw": 1.45, "right_pitch": 0, "right_roll": 0}, "note": "Both objects appear held: pen in the right gripper (tip pointing forward of the tool), cap in the left. Rotating the right wrist so the pen tip points toward the table centre (+y) at a common height of 20 cm."})

tool

executing move_to over 7 steps (0.7s)

step 223

assistant

agent noteRight wrist reached yaw 1.1 (pen pointing forward-left). Turning the pen fully toward the centre (+y) and rotating the left wrist so the cap points toward the pen (-y), both at the same x and height.

move_to

right_x0.3700right_y0.0000right_z0.1800right_yaw1.5700left_x0.3700left_y-0.3000left_z0.1800left_yaw-1.5000left_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]: [-0.7624, 1.8961, 1.2419, -0.1383, -0.6735, -0.5415, 0.0603, -0.3996, 1.935, 1.5887, -1.2533, -0.9112, -1.4467, 0.0718] state[eef_state]: left_x=0.4268 left_y=-0.2503 left_z=0.1126 left_yaw=0.0643 left_pitch=-0.02 left_roll=0.0288 left_gripper=0.0603 right_x=0.3869 right_y=-0.008 right_z=0.1539 right_yaw=1.1012 right_pitch=-0.1094 right_roll=0.1291 right_gripper=0.0718 state[joint_eff]: [-0.1573, -10.4821, 6.6803, 1.5556, -0.3346, -0.022, 1.033, 2.3726, -11.2205, 6.4205, -0.7204, -0.8034, -0.1783, 1.0232] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.0, "right_z": 0.18, "right_yaw": 1.57, "left_x": 0.37, "left_y": -0.3, "left_z": 0.18, "left_yaw": -1.5, "left_pitch": 0, "left_roll": 0}, "note": "Right wrist reached yaw 1.1 (pen pointing forward-left). Turning the pen fully toward the centre (+y) and rotating the left wrist so the cap points toward the pen (-y), both at the same x and height."})

tool

executing move_to over 10 steps (1.0s)

step 233

assistant

agent noteRight wrist saturates near yaw 1.16, so the pen points forward-left. Shifting the right arm toward the centre and rotating the left wrist further so the cap points back-right, opposite the pen tip, at the same height.

move_to

right_x0.3500right_y0.1500right_z0.1900right_yaw1.5700left_x0.4200left_y-0.3000left_z0.1900left_yaw-2.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4137, 1.8439, 1.4303, -0.4057, 0.6643, 0.572, 0.0622, -0.424, 1.9736, 1.6176, -1.3804, -0.9401, -1.5818, 0.0718] state[eef_state]: left_x=0.3995 left_y=-0.2904 left_z=0.17 left_yaw=-1.2717 left_pitch=-0.0421 left_roll=0.0006 left_gripper=0.0622 right_x=0.3747 right_y=-0.0087 right_z=0.1541 right_yaw=1.1575 right_pitch=-0.0736 right_roll=0.1588 right_gripper=0.0718 state[joint_eff]: [0.0889, -10.2632, 7.5145, 0.9597, 0.4127, 0.2662, 1.0281, -0.1983, -12.0957, 6.612, -0.0611, -0.6813, 0.0806, 1.0037] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.35, "right_y": 0.15, "right_z": 0.19, "right_yaw": 1.57, "left_x": 0.42, "left_y": -0.3, "left_z": 0.19, "left_yaw": -2.0}, "note": "Right wrist saturates near yaw 1.16, so the pen points forward-left. Shifting the right arm toward the centre and rotating the left wrist further so the cap points back-right, opposite the pen tip, at the same height."})

tool

executing move_to over 14 steps (1.4s)

step 247

assistant

agent noteThe pen now points straight toward the left arm (+y) at ~18 cm height, tip roughly at the table centre. Lining the cap up on the same axis a few centimetres short of the pen tip, compensating for the left arm's sag.

move_to

left_x0.3500left_y-0.3400left_z0.2150left_yaw-1.5700left_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]: [-0.374, 2.4969, 2.4649, -1.5394, 0.9245, 1.507, 0.0631, -0.004, 1.9667, 1.7325, -1.4639, -0.9325, -1.5593, 0.0754] state[eef_state]: left_x=0.3943 left_y=-0.3024 left_z=0.1465 left_yaw=-1.9207 left_pitch=-0.076 left_roll=-0.0423 left_gripper=0.0631 right_x=0.3521 right_y=0.144 right_z=0.1834 right_yaw=1.5639 right_pitch=-0.0832 right_roll=0.1388 right_gripper=0.0754 state[joint_eff]: [-0.6496, -16.5265, 5.9556, 0.3004, 0.7839, 0.2271, 1.0037, 0.2393, -8.9094, 7.5829, -0.2418, -0.6081, 0.0513, 0.6862] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.35, "left_y": -0.34, "left_z": 0.215, "left_yaw": -1.57, "left_pitch": 0, "left_roll": 0}, "note": "The pen now points straight toward the left arm (+y) at ~18 cm height, tip roughly at the table centre. Lining the cap up on the same axis a few centimetres short of the pen tip, compensating for the left arm's sag."})

tool

executing move_to over 5 steps (0.5s)

step 252

assistant

agent noteThe pen tip is visible just ahead of the left jaws, slightly forward (+x) of the cap's line. Shifting the left arm ~2 cm forward and a bit closer so the cap mouth sits right at the pen tip.

move_to

left_x0.3700left_y-0.3650left_z0.2000left_yaw-1.5700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4984, 1.9301, 1.7023, -0.8829, 0.8509, 0.9344, 0.0637, -0.0002, 1.9667, 1.7332, -1.4559, -0.918, -1.56, 0.078] state[eef_state]: left_x=0.3316 left_y=-0.3276 left_z=0.1953 left_yaw=-1.6792 left_pitch=-0.0615 left_roll=-0.0337 left_gripper=0.0637 right_x=0.3529 right_y=0.1438 right_z=0.1814 right_yaw=1.5691 right_pitch=-0.0975 right_roll=0.1293 right_gripper=0.078 state[joint_eff]: [-0.0342, -9.8393, 6.6803, 1.4042, 0.398, -0.1245, 1.033, -0.253, -9.812, 5.4906, -0.0757, -0.6471, -0.022, 0.696] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.37, "left_y": -0.365, "left_z": 0.2, "left_yaw": -1.57}, "note": "The pen tip is visible just ahead of the left jaws, slightly forward (+x) of the cap's line. Shifting the left arm ~2 cm forward and a bit closer so the cap mouth sits right at the pen tip."})

tool

executing move_to over 4 steps (0.4s)

step 256

assistant

agent noteBoth wrist cameras show the pen and the left jaws on a common axis at equal height, with the pen tip just at the left fingertips. Pushing the cap straight onto the pen tip along -y.

move_to

left_y-0.3950left_x0.3700left_z0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5392, 2.0472, 1.8191, -0.8009, 0.7807, 0.762, 0.0638, 0.0006, 1.9667, 1.7321, -1.4559, -0.9161, -1.56, 0.0802] state[eef_state]: left_x=0.362 left_y=-0.3573 left_z=0.1822 left_yaw=-1.5855 left_pitch=-0.0851 left_roll=-0.0713 left_gripper=0.0638 right_x=0.3525 right_y=0.1439 right_z=0.1808 right_yaw=1.5702 right_pitch=-0.0994 right_roll=0.1305 right_gripper=0.0802 state[joint_eff]: [-0.4308, -11.9863, 9.935, 1.2137, 0.3883, -0.0464, 1.033, -0.4034, -9.812, 5.6137, 0.0415, -0.4811, -0.0269, 0.7546] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.395, "left_x": 0.37, "left_z": 0.2}, "note": "Both wrist cameras show the pen and the left jaws on a common axis at equal height, with the pen tip just at the left fingertips. Pushing the cap straight onto the pen tip along -y."})

tool

executing move_to over 4 steps (0.4s)

step 260

assistant

agent noteThe left arm stalled at its reach, with the pen tip right at the cap mouth, very slightly behind the cap's axis. Pushing the pen into the cap with the right arm instead (+y) and nudging it 5 mm forward.

move_to

right_y0.1750right_x0.3570right_z0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5449, 2.0636, 1.842, -0.8017, 0.762, 0.7338, 0.0638, 0.0013, 1.9667, 1.7321, -1.4551, -0.9127, -1.5597, 0.0812] state[eef_state]: left_x=0.3663 left_y=-0.3604 left_z=0.1804 left_yaw=-1.5651 left_pitch=-0.097 left_roll=-0.0805 left_gripper=0.0638 right_x=0.3525 right_y=0.1438 right_z=0.1803 right_yaw=1.571 right_pitch=-0.1028 right_roll=0.13 right_gripper=0.0812 state[joint_eff]: [-0.294, -12.2735, 9.4154, 1.1941, 0.4176, -0.0171, 1.0281, -0.3214, -9.7983, 5.7504, 0.1099, -0.4762, -0.0317, 0.7985] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.175, "right_x": 0.357, "right_z": 0.2}, "note": "The left arm stalled at its reach, with the pen tip right at the cap mouth, very slightly behind the cap's axis. Pushing the pen into the cap with the right arm instead (+y) and nudging it 5 mm forward."})

tool

executing move_to over 3 steps (0.3s)

step 263

assistant

agent noteThe pen tip has reached the left fingertips but sits a few mm behind and ~8 mm above the cap's axis. Correcting x and height and pushing the pen another 2 cm into the cap.

move_to

right_y0.1900right_x0.3610right_z0.1920

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5449, 2.0636, 1.8431, -0.8017, 0.7616, 0.7334, 0.0638, 0.0666, 1.9667, 1.7744, -1.4361, -0.9066, -1.4815, 0.0831] state[eef_state]: left_x=0.3665 left_y=-0.3605 left_z=0.1808 left_yaw=-1.5646 left_pitch=-0.0967 left_roll=-0.0797 left_gripper=0.0638 right_x=0.353 right_y=0.1665 right_z=0.1892 right_yaw=1.589 right_pitch=-0.1131 right_roll=0.1301 right_gripper=0.0831 state[joint_eff]: [-0.4855, -12.3009, 9.3197, 1.1893, 0.3736, -0.0269, 1.0183, 0.294, -10.0855, 7.3094, 0.0855, -0.5543, 0.1343, 0.6569] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.19, "right_x": 0.361, "right_z": 0.192}, "note": "The pen tip has reached the left fingertips but sits a few mm behind and ~8 mm above the cap's axis. Correcting x and height and pushing the pen another 2 cm into the cap."})

tool

executing move_to over 2 steps (0.2s)

step 265

assistant

agent noteThe pen tip has entered the left jaws on-axis and the right arm stopped short with rising effort, suggesting it's in the cap. Pushing a little harder to seat the cap.

move_to

right_y0.2000right_x0.3600right_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]: [-0.5449, 2.0636, 1.8431, -0.8013, 0.7605, 0.7338, 0.0638, 0.1036, 1.9701, 1.7935, -1.4086, -0.9031, -1.4208, 0.0829] state[eef_state]: left_x=0.3667 left_y=-0.3605 left_z=0.1807 left_yaw=-1.5641 left_pitch=-0.0973 left_roll=-0.0785 left_gripper=0.0638 right_x=0.3549 right_y=0.18 right_z=0.192 right_yaw=1.5892 right_pitch=-0.1182 right_roll=0.1344 right_gripper=0.0829 state[joint_eff]: [-0.3624, -12.4786, 9.1145, 1.2381, 0.4322, 0.0024, 1.0183, 1.3197, -8.2803, 8.0615, 0.3004, -0.5739, 0.1734, 0.6716] camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.2, "right_x": 0.36, "right_z": 0.19}, "note": "The pen tip has entered the left jaws on-axis and the right arm stopped short with rising effort, suggesting it's in the cap. Pushing a little harder to seat the cap."})

tool

executing move_to over 2 steps (0.2s)

step 267

assistant

agent noteThe pen has slid about 3 cm further along the cap axis into the left jaws, so the cap looks seated. Opening the left gripper to hand the cap over on the pen.

move_to

left_gripper0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5449, 2.0636, 1.8431, -0.8009, 0.7582, 0.7338, 0.0638, 0.1307, 1.9835, 1.7935, -1.3796, -0.8948, -1.3949, 0.0836] state[eef_state]: left_x=0.367 left_y=-0.3603 left_z=0.1805 left_yaw=-1.5628 left_pitch=-0.0987 left_roll=-0.0772 left_gripper=0.0638 right_x=0.3562 right_y=0.1894 right_z=0.1861 right_yaw=1.6006 right_pitch=-0.1271 right_roll=0.1383 right_gripper=0.0836 state[joint_eff]: [-0.4991, -12.4786, 9.1419, 1.1941, 0.4274, -0.022, 1.0134, -0.6496, -9.6479, 7.5966, 0.2418, -0.6325, 0.0611, 0.6813] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.6}, "note": "The pen has slid about 3 cm further along the cap axis into the left jaws, so the cap looks seated. Opening the left gripper to hand the cap over on the pen."})

tool

executing move_to over 6 steps (0.6s)

step 273

assistant

agent noteWhen the left jaws opened, the cap dropped onto the table (small dark object below the arms in the top view), so it wasn't seated. Moving the pen arm back and bringing the left gripper over the fallen cap to re-grasp.

move_to

left_x0.4000left_y-0.3000left_z0.1000left_yaw0.0000left_gripper1.0000right_y0.0300right_z0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5369, 2.0636, 1.8427, -0.7883, 0.72, 0.73, 0.5951, 0.1307, 1.9835, 1.7931, -1.4132, -0.8936, -1.3945, 0.086] state[eef_state]: left_x=0.3763 left_y=-0.3554 left_z=0.1779 left_yaw=-1.5296 left_pitch=-0.1197 left_roll=-0.0523 left_gripper=0.5951 right_x=0.3501 right_y=0.1885 right_z=0.1859 right_yaw=1.6048 right_pitch=-0.1316 right_roll=0.1725 right_gripper=0.086 state[joint_eff]: [-0.4034, -11.494, 6.5436, 1.0281, 0.6618, -0.0317, -0.1832, -0.5812, -9.6068, 7.7607, 0.5201, -0.6129, 0.0952, 0.5788] camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.3, "left_z": 0.1, "left_yaw": 0, "left_gripper": 1, "right_y": 0.03, "right_z": 0.2}, "note": "When the left jaws opened, the cap dropped onto the table (small dark object below the arms in the top view), so it wasn't seated. Moving the pen arm back and bringing the left gripper over the fallen cap to re-grasp."})

tool

executing move_to over 14 steps (1.4s)

step 287

assistant

agent noteLeft wrist view shows the cap on the table just ahead of the jaws, lying parallel to the jaw line and slightly left. Rotating the wrist ~80° and shifting over it so the jaws can close across the cap.

move_to

left_x0.4050left_y-0.2970left_z0.0500left_yaw-1.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8433, 1.9282, 1.2858, -0.2104, -0.4774, -0.5446, 0.9979, -0.1661, 1.9915, 1.6516, -1.562, -0.8364, -1.8004, 0.0882] state[eef_state]: left_x=0.3917 left_y=-0.3124 left_z=0.0898 left_yaw=-0.1543 left_pitch=-0.1623 left_roll=-0.0369 left_gripper=0.9979 right_x=0.3352 right_y=0.0804 right_z=0.1499 right_yaw=1.5745 right_pitch=-0.1399 right_roll=0.1603 right_gripper=0.0882 state[joint_eff]: [-0.3214, -10.4547, 9.2103, 1.1306, -0.398, -0.0659, -0.1001, -0.6906, -8.759, 5.094, -0.3297, -0.4176, -0.1441, 0.2125] camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.405, "left_y": -0.297, "left_z": 0.05, "left_yaw": -1.5}, "note": "Left wrist view shows the cap on the table just ahead of the jaws, lying parallel to the jaw line and slightly left. Rotating the wrist ~80\u00b0 and shifting over it so the jaws can close across the cap."})

tool

executing move_to over 9 steps (0.9s)

step 296

assistant

agent noteIn the right wrist camera the cap sits between the left gripper's open fingers, lying across them. Descending the left gripper straight down to table level.

move_to

left_z-0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4118, 2.1471, 1.4532, -0.3332, 0.5827, 0.6399, 0.9979, -0.168, 1.9915, 1.6463, -1.5608, -0.8299, -1.8107, 0.0897] state[eef_state]: left_x=0.4236 left_y=-0.2872 left_z=0.0367 left_yaw=-1.2731 left_pitch=-0.2265 left_roll=-0.0629 left_gripper=0.9979 right_x=0.334 right_y=0.0792 right_z=0.148 right_yaw=1.5809 right_pitch=-0.1443 right_roll=0.1576 right_gripper=0.0897 state[joint_eff]: [-0.2393, -12.6838, 7.5692, 0.9158, 0.5739, 0.2222, -0.0073, -0.0752, -9.5521, 5.6274, -0.2759, -0.5201, 0.0269, 0.1441] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 296): [image omitted: streamed camera frame] camera 'left_cam' (step 296): [image omitted: streamed camera frame] camera 'right_cam' (step 296): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": -0.005}, "note": "In the right wrist camera the cap sits between the left gripper's open fingers, lying across them. Descending the left gripper straight down to table level."})

tool

executing move_to over 3 steps (0.3s)

step 299

assistant

Cap between fingers in right cam. Close.

agent noteLeft gripper is at table level with the cap between its fingers (seen from the right wrist camera). Closing to grasp it.

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]: [-0.4084, 2.1998, 1.4113, -0.2829, 0.6338, 0.7128, 0.9979, -0.168, 1.9915, 1.6463, -1.56, -0.8299, -1.8107, 0.0917] state[eef_state]: left_x=0.4117 left_y=-0.2882 left_z=0.0077 left_yaw=-1.3494 left_pitch=-0.2167 left_roll=-0.0742 left_gripper=0.9979 right_x=0.3342 right_y=0.0792 right_z=0.148 right_yaw=1.5808 right_pitch=-0.1444 right_roll=0.1568 right_gripper=0.0917 state[joint_eff]: [-0.6085, -9.5521, 5.1214, 0.5739, -0.3541, -0.1441, -0.0122, -0.3214, -9.6615, 5.2034, -0.3492, -0.4713, -0.0073, 0.2027] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]

assistant

Cap between fingers in right cam. Close.

move_to({"targets": {"left_gripper": 0}, "note": "Left gripper is at table level with the cap between its fingers (seen from the right wrist camera). Closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 309

assistant

agent noteI didn't get the cap onto the pen. The right arm picked up the pen and the left arm picked up the cap, and I lined them up tip-to-mouth in mid-air. The left arm stalled at the edge of its reach (y ≈ -0.36), so I pushed the pen in with the right arm instead. When I opened the left gripper, the cap fell to the table: it had not seated on the pen. My second try at grabbing the cap from the table closed on nothing (0.008). The cap is no longer visible in either wrist camera, and I don't have enough LLM calls left to find it, grab it and try the cap again.

give_up

hindsight- The pen was easy with the right arm: yaw ≈ +0.75 to close across the diagonal pen, go down to z ≈ 0, close, and it read 0.05. The cap is small and slippery. My closes knocked it forward and turned it, so line the jaws up across it, fingertips just past its centre, before closing. Seen from the right wrist camera, the left gripper's fingers make a good check that the cap is between the jaws. - Wrist twist limits: the right arm tops out at about tool yaw +1.57 when right_y ≥ 0.1, and around 1.16 near y = 0. The left arm reaches about -1.6 to -1.9, but at yaw -1.76 near x 0.44 it jammed and swung its elbow into the other arm. Yaw +0.75 on the left also produced a strange pose with the elbow crossing over. Keep the left arm's yaw between -1.6 and 0. - The +y direction points to the centre for the right arm and away from it for the left. To move the right arm back to its own side, decrease right_y. I got this backwards once and ran the arms into each other. - A layout that worked for mid-air alignment: pen in the right arm at yaw ≈ 1.57, x 0.35, y 0.15–0.19, z 0.18, so the pen points +y. Cap in the left arm at yaw -1.57, x ≈ 0.37 (commanded, reads back ~0.366), y ≈ -0.36, z commanded 0.20 (reads 0.18). The left arm stalls near y -0.36 at that height, so do the insertion push with the right arm. Both wrist cameras confirm alignment well: the pen runs along the left jaw column, and the left jaws are centred on the pen tip in the right camera. - The left arm sags about 2 cm more than the right; command it about 2 cm higher so the heights match. - Opening the gripper doesn't prove the cap is seated. Test first, e.g. pull the left arm back slightly while still holding and check the pen's gripper reading and effort, or push harder. A cap that isn't seated falls off. - This task needs a lot of LLM calls. Don't waste any on re-grasps; line up carefully the first time.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4065, 2.2055, 1.409, -0.2543, 0.635, 0.7078, 0.0078, -0.168, 1.9915, 1.6463, -1.56, -0.8299, -1.8111, 0.093] state[eef_state]: left_x=0.4158 left_y=-0.2891 left_z=0.0073 left_yaw=-1.3419 left_pitch=-0.2039 left_roll=-0.0614 left_gripper=0.0078 right_x=0.3342 right_y=0.0792 right_z=0.148 right_yaw=1.581 right_pitch=-0.1444 right_roll=0.1565 right_gripper=0.093 state[joint_eff]: [-0.4855, -12.3556, 6.3521, 0.8425, 0.4078, 0.0513, 0.5153, -0.3214, -9.6752, 5.2171, -0.3443, -0.4713, -0.0611, 0.1245] camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]

assistant

give_up({"reason": "I didn't get the cap onto the pen. The right arm picked up the pen and the left arm picked up the cap, and I lined them up tip-to-mouth in mid-air. The left arm stalled at the edge of its reach (y \u2248 -0.36), so I pushed the pen in with the right arm instead. When I opened the left gripper, the cap fell to the table: it had not seated on the pen. My second try at grabbing the cap from the table closed on nothing (0.008). The cap is no longer visible in either wrist camera, and I don't have enough LLM calls left to find it, grab it and try the cap again.", "hindsight": "- The pen was easy with the right arm: yaw \u2248 +0.75 to close across the diagonal pen, go down to z \u2248 0, close, and it read 0.05. The cap is small and slippery. My closes knocked it forward and turned it, so line the jaws up across it, fingertips just past its centre, before closing. Seen from the right wrist camera, the left gripper's fingers make a good check that the cap is between the jaws.\n- Wrist twist limits: the right arm tops out at about tool yaw +1.57 when right_y \u2265 0.1, and around 1.16 near y = 0. The left arm reaches about -1.6 to -1.9, but at yaw -1.76 near x 0.44 it jammed and swung its elbow into the other arm. Yaw +0.75 on the left also produced a strange pose with the elbow crossing over. Keep the left arm's yaw between -1.6 and 0.\n- The +y direction points to the centre for the right arm and away from it for the left. To move the right arm back to its own side, decrease right_y. I got this backwards once and ran the arms into each other.\n- A layout that worked for mid-air alignment: pen in the right arm at yaw \u2248 1.57, x 0.35, y 0.15\u20130.19, z 0.18, so the pen points +y. Cap in the left arm at yaw -1.57, x \u2248 0.37 (commanded, reads back ~0.366), y \u2248 -0.36, z commanded 0.20 (reads 0.18). The left arm stalls near y -0.36 at that height, so do the insertion push with the right arm. Both wrist cameras confirm alignment well: the pen runs along the left jaw column, and the left jaws are centred on the pen tip in the right camera.\n- The left arm sags about 2 cm more than the right; command it about 2 cm higher so the heights match.\n- Opening the gripper doesn't prove the cap is seated. Test first, e.g. pull the left arm back slightly while still holding and check the pen's gripper reading and effort, or push harder. A cap that isn't seated falls off.\n- This task needs a lot of LLM calls. Don't waste any on re-grasps; line up carefully the first time."})

tool

give_up: I didn't get the cap onto the pen. The right arm picked up the pen and the left arm picked up the cap, and I lined them up tip-to-mouth in mid-air. The left arm stalled at the edge of its reach (y ≈ -0.36), so I pushed the pen in with the right arm instead. When I opened the left gripper, the cap fell to the table: it had not seated on the pen. My second try at grabbing the cap from the table closed on nothing (0.008). The cap is no longer visible in either wrist camera, and I don't have enough LLM calls left to find it, grab it and try the cap again.

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 · 18.1 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]: [-0.02, 0.7929, 0.6022, -0.3801, -0.02, -0.025, 0.9993, -0.0185, 0.7914, 0.6106, -0.3759, -0.0204, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0012 left_z=0.1794 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0017 right_z=0.1846 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5385, 10.5231, 1.7753, -0.0757, 0.0952, -0.0855, -0.7043, -1.1692, 9.6615, 1.7167, -0.0562, 0.0024, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c426e422ba27e3c0305a74406af28fecdd664a425b3f52f164f89b2dbb1785e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43e2dd98ca49906f923bc460bb052b7349f373cf2e014c168b44d9dcc9018cc7",
        "media_type": "image/png",
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
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    }
  ],
  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 5.921 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]: [-0.02, 0.7929, 0.6022, -0.3801, -0.02, -0.025, 0.9993, -0.0185, 0.7914, 0.6106, -0.3759, -0.0204, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0012 left_z=0.1794 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0017 right_z=0.1846 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5385, 10.5231, 1.7753, -0.0757, 0.0952, -0.0855, -0.7043, -1.1692, 9.6615, 1.7167, -0.0562, 0.0024, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c426e422ba27e3c0305a74406af28fecdd664a425b3f52f164f89b2dbb1785e",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43e2dd98ca49906f923bc460bb052b7349f373cf2e014c168b44d9dcc9018cc7",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
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[blob elided: media budget]

{
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    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TauYqPXHksBJQkwJSHBSHU",
      "input": {
        "note": "Pen lies diagonally centre-right of the table, cap is left of centre. Moving the right arm above the pen, yawed 45° so the jaws close across the pen.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.35,
          "right_y": 0.22,
          "right_yaw": 0.785,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01TauYqPXHksBJQkwJSHBSHU",
      "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]: [-0.02, 0.7994, 0.6029, -0.3813, -0.02, -0.0254, 0.9993, 0.4122, 1.4387, 0.6781, 0.1078, -0.2802, -0.1848, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0012 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3406 right_y=0.2062 right_z=0.1027 right_yaw=0.7399 right_pitch=-0.0674 right_roll=0.021 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.5658, 6.9949, 1.7118, -0.0757, -0.022, -0.0171, 0.3214, -5.6137, 8.4308, 1.8584, -0.2222, -0.0269, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b4b509feb326254c5360e91a1cfb05663eeb12c4eed0ced6db3c37c8ff33bfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f3b0681278116aa1a7c21aa4a1b9c28dac1271cc62f70ec728833a2ad9eb3c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b95f3468c206f37a297b63047cd5065bcdbf1cd3158a5941d868ab5e6a3cedd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 2.667 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]: [-0.02, 0.7929, 0.6022, -0.3801, -0.02, -0.025, 0.9993, -0.0185, 0.7914, 0.6106, -0.3759, -0.0204, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0012 left_z=0.1794 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0017 right_z=0.1846 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5385, 10.5231, 1.7753, -0.0757, 0.0952, -0.0855, -0.7043, -1.1692, 9.6615, 1.7167, -0.0562, 0.0024, -0.105]",
      "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]: [-0.02, 0.7994, 0.6029, -0.3813, -0.02, -0.0254, 0.9993, 0.4122, 1.4387, 0.6781, 0.1078, -0.2802, -0.1848, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0012 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3406 right_y=0.2062 right_z=0.1027 right_yaw=0.7399 right_pitch=-0.0674 right_roll=0.021 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.5658, 6.9949, 1.7118, -0.0757, -0.022, -0.0171, 0.3214, -5.6137, 8.4308, 1.8584, -0.2222, -0.0269, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b4b509feb326254c5360e91a1cfb05663eeb12c4eed0ced6db3c37c8ff33bfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f3b0681278116aa1a7c21aa4a1b9c28dac1271cc62f70ec728833a2ad9eb3c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b95f3468c206f37a297b63047cd5065bcdbf1cd3158a5941d868ab5e6a3cedd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSyAsKEAgSGAI4AUIIdGhpbmtpbmcSDPyHZh8GeXNLYbVmvBoMNgQARBeXH+b0bTjSIjCStgtUtuVjY1ov+kZO3TattW+oRynVmTKq2O/caTlfUyeMXlcVi2++NSLdDkeVjQQq5Qo4xpvcPYCcBkdp4YBRyGIwvnUgaDGgcEiajRu+1+j5nnqlP/sWKGoAPyXvad7NGJ42ZYsiOVtxwttLeqzEj1Qu+VIOruPSGZu7pUfoDQY1/Z+N8Z9kEUyDanNSy08CP/loQfrn4dTvBxdngKCoIUhAOeLhWvcV8hnlbOWim9WLy1Y4gjn+LI9U5su4brtks5W76hZlOCjh7nAgBstdenwc6znqK9CH7lQCcX32+TiCEOpFZdJ1QvveIy21IUVqWylEvsunC5mKjV2Ox0hDrWSRwT9MyAcML3Us27NlvQPIz9RXe3l6K4m8bWtAb9ChI+mAh2P4JLrVcUkaBfn8EWW0smjH4TsQSBSpqub2QVGP12JfNY6XFoiwvl9b81Nzkxw9x0BFpbYiqRB/W8DLenAVjKJjibGob44lyJVCMti5rye/rHYgwCjLnlUPTL1BChCbnfVdFlYvxFj0dIvXGIlRwhMEsTTtu4V31xknuFLdUFuN/CFXx8lHIzhR1bDauj0L0crhfVEjjYK+VJR1QYiFML5UqPQ1dg+ULJdxW6hfoL8RRAt7BROW5zFyMKPnQ1EkOQaiZ5meaMwXjNVgYAtAic6kAXvoy5sVochqnh9P+R2VSthjCptyELC8OJJJ2WR8nvNVLrs20WlHFAvDPJMWPNTXbuyPLK/LbXIrVkhjfFYOpkXRUEscrA40u+B1JX5+hgJIyGFE+Pxq81FJJrKL4cUIajiwpz5Ge4vrTlqpJfE6IzR9bwIupwzf4bL+mJpVYeF9UtDaH5Pj1tG6jM4wrCJtBXwcaDbakdG92B3a3aSvrc4qQU5knqCfEwN4wBYDE0EpfHRtolZ9p1xb9JZ4wCXkJLevohMTiYcr7IMkUfH03ChxQFsuXjAsX4WHKCAZPb1uQIdyEuXaVkZCVs1EST4i6cjvjiH2bwsvhpseDI7WkZLNwI8JiqbDDKvLNKT/HGB2zOeDqEAobHfc7eycmc13SlDIFzkG7gMmEXZdrNkYOecr8anyilk5GFya4IYHgqnIDOI5nlcJtZBXnXUpKywOOnk5933yyZGKh/9BTAsb7brolFE8e9MKwz7g6lD+27/qJsaIWDV/pxvYMzMdEYq7bO9DFwqk0qTm7Y2KVY8K8S89jqCGvPhDYDGiAbRil4K3g72u6rOWeTK1ehvujykQaIaEFPm7SYeh/5mbQVaTiMF69pnywQvW2p4vcw+K70DRSZtQsfcfdKX06tGnX/QAdM7RcESZM/XfRanpYcfoNmRu3d2LGR0P6NZ4JEbVfPHzMI+fgBkMUB6PyH3NfCcAWpsMbyCuST/Vi2AiIlsztbPWZr//yczyRS0Nuz9V5ZP+otu/mX/msR8/8wXr60GKaMXH4+TDvMn590qqQw0OJntjUJYIDyuVLTWq0vhopvy+lfv+a4GNep8U3fR6rujIZZ0f51+RWkFVqepUym4V9EUhHk9pVLkX+IlAiP5MdmytdUndHBMGilSsNdV86B+7XEHsnjjiOyX+hwPwmXiJ7A58YMWaroWC/lwRkYN8HE7plVYL9WtTusT8ZJL+1ND7vctVMWE5MJK6pLVtecxgZPHCtAvZdeT+bNfopSAZrwGIESwbMuYbtCPVOOUkEsH5sjn7YQhmQ+iN5OqhBGdaKcIF6SuskbogmIIBZCx674WxzPQczk7jNvhbuWUzj6k7U9BFAfvfejSKPmqv0aeNicFmfyMelDjEDHd4PGhIvBIIxifBAiyhJyf8Wvdq6K1+NPQHoj5jWNob5EYGlc6MRrr3ODJzgLkArOCzDE2eiGLjjkBkdugQ7RIkwPqOR15Zv6gms+sOdrjTBbyXBu56kwOfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KhPfFWN2YTY7zpo2RbFYjm",
      "input": {
        "note": "Right wrist view shows the pen running straight down the image under the jaws, slightly right of centre. Nudging a centimetre right and descending to the table to grasp.",
        "targets": {
          "right_x": 0.347,
          "right_y": 0.199,
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01KhPfFWN2YTY7zpo2RbFYjm",
      "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]: [-0.02, 0.8047, 0.6029, -0.3813, -0.02, -0.0254, 0.9992, 0.3836, 1.8042, 0.527, 0.5991, -0.3027, -0.2134, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1763 left_yaw=0.0002 left_pitch=-0.0122 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3456 right_y=0.2001 right_z=0.0021 right_yaw=0.7458 right_pitch=-0.086 right_roll=0.0196 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.7026, 7.0359, 1.707, -0.0415, -0.0562, -0.0171, -0.7316, -5.3128, 3.0017, 0.9011, -0.1392, 0.1685, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45642601666b4d0c62e52c59447a6023afdb04dcdbc1efddd20dc9ddc70f494e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6c8d6bef7ab483a55948d825532d383723dfb13e0b3e46c50fa39ac7a0018df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c3b379b01b4fd7f3b3bbaedda3911286a7e640bc0116061a179587c805c8c4e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 3.566 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]: [-0.02, 0.7929, 0.6022, -0.3801, -0.02, -0.025, 0.9993, -0.0185, 0.7914, 0.6106, -0.3759, -0.0204, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0012 left_z=0.1794 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0017 right_z=0.1846 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5385, 10.5231, 1.7753, -0.0757, 0.0952, -0.0855, -0.7043, -1.1692, 9.6615, 1.7167, -0.0562, 0.0024, -0.105]",
      "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]: [-0.02, 0.7994, 0.6029, -0.3813, -0.02, -0.0254, 0.9993, 0.4122, 1.4387, 0.6781, 0.1078, -0.2802, -0.1848, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0012 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3406 right_y=0.2062 right_z=0.1027 right_yaw=0.7399 right_pitch=-0.0674 right_roll=0.021 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.5658, 6.9949, 1.7118, -0.0757, -0.022, -0.0171, 0.3214, -5.6137, 8.4308, 1.8584, -0.2222, -0.0269, -0.105]",
      "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]: [-0.02, 0.8047, 0.6029, -0.3813, -0.02, -0.0254, 0.9992, 0.3836, 1.8042, 0.527, 0.5991, -0.3027, -0.2134, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1763 left_yaw=0.0002 left_pitch=-0.0122 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3456 right_y=0.2001 right_z=0.0021 right_yaw=0.7458 right_pitch=-0.086 right_roll=0.0196 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.7026, 7.0359, 1.707, -0.0415, -0.0562, -0.0171, -0.7316, -5.3128, 3.0017, 0.9011, -0.1392, 0.1685, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45642601666b4d0c62e52c59447a6023afdb04dcdbc1efddd20dc9ddc70f494e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6c8d6bef7ab483a55948d825532d383723dfb13e0b3e46c50fa39ac7a0018df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3b379b01b4fd7f3b3bbaedda3911286a7e640bc0116061a179587c805c8c4e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Pen sits between jaws. Close.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E348JZS7B77bmZvcFLshUK",
      "input": {
        "note": "Right gripper is at table level with the pen running between the jaws. Closing to grasp the pen.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01E348JZS7B77bmZvcFLshUK",
      "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]: [-0.02, 0.807, 0.6029, -0.3809, -0.02, -0.0254, 0.9992, 0.3813, 1.8164, 0.5217, 0.6281, -0.3088, -0.2157, 0.0513]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0002 left_pitch=-0.0141 left_roll=-0.0 left_gripper=0.9992 right_x=0.3464 right_y=0.2006 right_z=0.0015 right_yaw=0.7494 right_pitch=-0.0739 right_roll=0.0172 right_gripper=0.0513\nstate[joint_eff]: [-0.2393, -1.4838, 7.241, 1.7265, -0.0855, -0.0513, -0.0073, -0.0615, -8.1709, 5.0803, 1.3114, -0.0122, -0.0073, 1.2088]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:199309448be30826d35fa2b5ac121afcf9afca70b6cbb761f56193e1df1daa02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdd35fe528e2c58400a6244cd3d973bf171aa30bef37198b509c41f4ee08b0e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c23a802f7b1e61823f265077b5c41d280d952ee77d541805a1c07a35f4013962",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 9.521 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]: [-0.02, 0.7994, 0.6029, -0.3813, -0.02, -0.0254, 0.9993, 0.4122, 1.4387, 0.6781, 0.1078, -0.2802, -0.1848, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0012 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3406 right_y=0.2062 right_z=0.1027 right_yaw=0.7399 right_pitch=-0.0674 right_roll=0.021 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.5658, 6.9949, 1.7118, -0.0757, -0.022, -0.0171, 0.3214, -5.6137, 8.4308, 1.8584, -0.2222, -0.0269, -0.105]",
      "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]: [-0.02, 0.8047, 0.6029, -0.3813, -0.02, -0.0254, 0.9992, 0.3836, 1.8042, 0.527, 0.5991, -0.3027, -0.2134, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1763 left_yaw=0.0002 left_pitch=-0.0122 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3456 right_y=0.2001 right_z=0.0021 right_yaw=0.7458 right_pitch=-0.086 right_roll=0.0196 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.7026, 7.0359, 1.707, -0.0415, -0.0562, -0.0171, -0.7316, -5.3128, 3.0017, 0.9011, -0.1392, 0.1685, -0.022]\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]: [-0.02, 0.807, 0.6029, -0.3809, -0.02, -0.0254, 0.9992, 0.3813, 1.8164, 0.5217, 0.6281, -0.3088, -0.2157, 0.0513]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0002 left_pitch=-0.0141 left_roll=-0.0 left_gripper=0.9992 right_x=0.3464 right_y=0.2006 right_z=0.0015 right_yaw=0.7494 right_pitch=-0.0739 right_roll=0.0172 right_gripper=0.0513\nstate[joint_eff]: [-0.2393, -1.4838, 7.241, 1.7265, -0.0855, -0.0513, -0.0073, -0.0615, -8.1709, 5.0803, 1.3114, -0.0122, -0.0073, 1.2088]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:199309448be30826d35fa2b5ac121afcf9afca70b6cbb761f56193e1df1daa02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdd35fe528e2c58400a6244cd3d973bf171aa30bef37198b509c41f4ee08b0e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c23a802f7b1e61823f265077b5c41d280d952ee77d541805a1c07a35f4013962",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSwQYKEAgSGAI4AUIIdGhpbmtpbmcSDEscx+wBloFCSxnQABoMBZHuGS4Deoe1AH36IjAI+bTk0xiFT4s5NI1tpkMVITKquHIcjw5WArsA7Acsq+NEn0ozzw5cXhR0TcXmlMcq3gUN1pZLKo57Dxk9WgLgSJHQpvAjbItp+PBLEyDkg8+oKXkBZvvnlhmfNtgjBSvJ1kdeK6sMizYKLN4BC5/qaNqqK1DIPa+PWpm0re4oZWODs1fVYnLwNdgdKUP4lecDWESaY9sLSfqJKoxg31dNM/JUV0RmcstfOwS7lDJKSuO8raANcW1rU81PnPDO5NAQT9CLn9GjD2NEK4GJFmW3xnrBjSf0Uw1U/VCESH3t9/bOfosHjTmeEiLlveynYNjYPUoh8SRAsNSYiFAA0VIOwxxA4Ppm7WsuKmQoNic1w45ZJneBb5OZoR2RJXRT9fyZd6EC2+YgvcdaK6J5UPXFvCZeoePsQzQI29Mo4aFVK/19QT6QA67cWj95fxeXCP7wSpWNi4k1Ab7WjsxUbBvPWxx3H2RtUNWxXRBHC4SLfphVquc86VexfGjz4jumhU8kgxR+mSSRttZjVvjYWMdNCthzV3ORWu95dLBNUvUzntoCXZzT7mXXZMKf676Y3V4os3t0Oo0m8B4H/wbJsW2hJaWqO4qFs2HBxgA0jKfCTOuxsxWFuyrrIUXjooYGVqV0UotSXhKNhEpKf1Bq88YBEVYoFXOLQ2gxWV2FzHjAKmQHTN4kEqycZVKGrNSUkwxeTxaa3vMe7XqLq4oUaSLZQunO09XTksp39BYHKYfzRhbmY9y1SFtPM3VP9FXCGcCaxpTYFdWWoxmZYUoqvwUkl/HNuGsI5+gBYawMKUAZwAiHGOBXHezFLyG7DeGGWltb3y8nV858vQ4WRvbT90Z8+LYTrPvSd3KeAJBVyqEkYoFCDWbVfwCfkemBeX2Ui8KDvub0bbdLzkj3k70ImSX2TEsLZwlycXNWu9lszIetCaMbhhw+PuGmljJdapoXyk0Abyk5YsNVHxeDxGALI660/8jTUOcfVGOQepQKCHZ6KRJfH7heHtthVgUgg981gwOanEj6ptZouwkq7wGY0np0cBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NfGcMef2sczfgXYj1qweDh",
      "input": {
        "note": "Gripper settled at 0.05 (about 5 mm), consistent with holding the pen. Lifting to confirm the grasp.",
        "targets": {
          "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_01NfGcMef2sczfgXYj1qweDh",
      "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]: [-0.02, 0.8078, 0.6029, -0.3809, -0.02, -0.0254, 0.9992, 0.3809, 1.4525, 0.7055, 0.0868, -0.3115, -0.218, 0.0584]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1755 left_yaw=0.0002 left_pitch=-0.0149 left_roll=-0.0 left_gripper=0.9992 right_x=0.3477 right_y=0.2014 right_z=0.1058 right_yaw=0.7523 right_pitch=-0.0672 right_roll=0.0145 right_gripper=0.0584\nstate[joint_eff]: [-0.1299, -1.3333, 7.3368, 1.746, -0.0415, 0.0073, -0.0073, -0.3487, -7.4051, 8.7043, 1.6728, -0.105, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6c4ccdb3eba72a20798924672c098b39b382b61ae3a0595870aa30d01b9bc51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf6f95a5ab3aab85fdd4d96441e55aa7aa57825e5fc0731a08ec0633b4ba67b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:794e07ff031bc9cee5a0b89142dfe407138fa21a2bfcf28fdb164be7da75ca8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 4.967 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]: [-0.02, 0.8047, 0.6029, -0.3813, -0.02, -0.0254, 0.9992, 0.3836, 1.8042, 0.527, 0.5991, -0.3027, -0.2134, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1763 left_yaw=0.0002 left_pitch=-0.0122 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3456 right_y=0.2001 right_z=0.0021 right_yaw=0.7458 right_pitch=-0.086 right_roll=0.0196 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.7026, 7.0359, 1.707, -0.0415, -0.0562, -0.0171, -0.7316, -5.3128, 3.0017, 0.9011, -0.1392, 0.1685, -0.022]\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]: [-0.02, 0.807, 0.6029, -0.3809, -0.02, -0.0254, 0.9992, 0.3813, 1.8164, 0.5217, 0.6281, -0.3088, -0.2157, 0.0513]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0002 left_pitch=-0.0141 left_roll=-0.0 left_gripper=0.9992 right_x=0.3464 right_y=0.2006 right_z=0.0015 right_yaw=0.7494 right_pitch=-0.0739 right_roll=0.0172 right_gripper=0.0513\nstate[joint_eff]: [-0.2393, -1.4838, 7.241, 1.7265, -0.0855, -0.0513, -0.0073, -0.0615, -8.1709, 5.0803, 1.3114, -0.0122, -0.0073, 1.2088]",
      "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]: [-0.02, 0.8078, 0.6029, -0.3809, -0.02, -0.0254, 0.9992, 0.3809, 1.4525, 0.7055, 0.0868, -0.3115, -0.218, 0.0584]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1755 left_yaw=0.0002 left_pitch=-0.0149 left_roll=-0.0 left_gripper=0.9992 right_x=0.3477 right_y=0.2014 right_z=0.1058 right_yaw=0.7523 right_pitch=-0.0672 right_roll=0.0145 right_gripper=0.0584\nstate[joint_eff]: [-0.1299, -1.3333, 7.3368, 1.746, -0.0415, 0.0073, -0.0073, -0.3487, -7.4051, 8.7043, 1.6728, -0.105, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6c4ccdb3eba72a20798924672c098b39b382b61ae3a0595870aa30d01b9bc51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf6f95a5ab3aab85fdd4d96441e55aa7aa57825e5fc0731a08ec0633b4ba67b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:794e07ff031bc9cee5a0b89142dfe407138fa21a2bfcf28fdb164be7da75ca8b",
        "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_01A3qP6EcXU8UVuNj4JDreKZ",
      "input": {
        "note": "The pen is held in the right gripper (it rose with the jaws). Now moving the left arm above the cap, left of centre, yawed so the jaws close across it.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.36,
          "left_y": -0.23,
          "left_yaw": -0.7,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01A3qP6EcXU8UVuNj4JDreKZ",
      "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]: [-0.5079, 1.4895, 0.7235, 0.0757, 0.1139, 0.0547, 0.9993, 0.3809, 1.4513, 0.7036, 0.0605, -0.3115, -0.218, 0.0633]\nstate[eef_state]: left_x=0.3469 left_y=-0.212 left_z=0.0923 left_yaw=-0.6445 left_pitch=-0.1143 left_roll=-0.0212 left_gripper=0.9993 right_x=0.3436 right_y=0.1998 right_z=0.1005 right_yaw=0.7531 right_pitch=-0.0924 right_roll=0.0244 right_gripper=0.0633\nstate[joint_eff]: [-0.5538, -6.6803, 9.4291, 2.1514, 0.3687, 0.2857, -0.0904, -0.335, -5.8735, 6.4889, 1.8046, -0.1392, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4409efbe3b5cb4c65582f9e368315f722a8c7f90515f2e456c63d82f4fb4929",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a564b7018372d19390a845168384e3b8a6bae133a75a7ac82b8299ea1f7b6f95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4df656dbba7d9019ad681e943d6643d50345a4fa18b6838f6294c248d16f185b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 5.753 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]: [-0.02, 0.807, 0.6029, -0.3809, -0.02, -0.0254, 0.9992, 0.3813, 1.8164, 0.5217, 0.6281, -0.3088, -0.2157, 0.0513]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0002 left_pitch=-0.0141 left_roll=-0.0 left_gripper=0.9992 right_x=0.3464 right_y=0.2006 right_z=0.0015 right_yaw=0.7494 right_pitch=-0.0739 right_roll=0.0172 right_gripper=0.0513\nstate[joint_eff]: [-0.2393, -1.4838, 7.241, 1.7265, -0.0855, -0.0513, -0.0073, -0.0615, -8.1709, 5.0803, 1.3114, -0.0122, -0.0073, 1.2088]",
      "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]: [-0.02, 0.8078, 0.6029, -0.3809, -0.02, -0.0254, 0.9992, 0.3809, 1.4525, 0.7055, 0.0868, -0.3115, -0.218, 0.0584]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1755 left_yaw=0.0002 left_pitch=-0.0149 left_roll=-0.0 left_gripper=0.9992 right_x=0.3477 right_y=0.2014 right_z=0.1058 right_yaw=0.7523 right_pitch=-0.0672 right_roll=0.0145 right_gripper=0.0584\nstate[joint_eff]: [-0.1299, -1.3333, 7.3368, 1.746, -0.0415, 0.0073, -0.0073, -0.3487, -7.4051, 8.7043, 1.6728, -0.105, 0.0073, 1.0281]",
      "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]: [-0.5079, 1.4895, 0.7235, 0.0757, 0.1139, 0.0547, 0.9993, 0.3809, 1.4513, 0.7036, 0.0605, -0.3115, -0.218, 0.0633]\nstate[eef_state]: left_x=0.3469 left_y=-0.212 left_z=0.0923 left_yaw=-0.6445 left_pitch=-0.1143 left_roll=-0.0212 left_gripper=0.9993 right_x=0.3436 right_y=0.1998 right_z=0.1005 right_yaw=0.7531 right_pitch=-0.0924 right_roll=0.0244 right_gripper=0.0633\nstate[joint_eff]: [-0.5538, -6.6803, 9.4291, 2.1514, 0.3687, 0.2857, -0.0904, -0.335, -5.8735, 6.4889, 1.8046, -0.1392, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4409efbe3b5cb4c65582f9e368315f722a8c7f90515f2e456c63d82f4fb4929",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a564b7018372d19390a845168384e3b8a6bae133a75a7ac82b8299ea1f7b6f95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4df656dbba7d9019ad681e943d6643d50345a4fa18b6838f6294c248d16f185b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSxwkKEAgSGAI4AUIIdGhpbmtpbmcSDGNvZExho0VaHTlmvhoMshxYAOqgpc4qJeDSIjAet0VDfONc6RnrzsAn8ysT5AxmeJPUb8FM39ag+hNKy7hakGFVs2PZ63xX5G6YJvMq5AhcHSHMsei/5+7iXgQ8VbloGla+7POBIhaNTctFnSHMelGQO2SM86B2lm6HYBim5xdM6KmF8bbyzl5CPdsZ5r0ORcEhxvgGZYrTts127Wqcny8rn5vZZcRVkIV+djKmoTKbpO+wQRRai1bo+gD3psLFmunKuO+EGIGOG2H1sNgeZN4mTlD4fUubN+tJiQUdHx2PQb+zsU/Yx3TDkjHVFRB+RQX5s9ojnTDdwzzirhtAUvFy3zljEhpyhR3n1nE74+WWfLDf3oYYNxCW1WCtiD0k4gJeEBL5XnsEyy0vK9bzlckpgpUNXN2RUrX/Q9YFon2WHsRoQoDbasTFVhDB7JyuBLiB5aG4s8vv1lYP3rVmae5LGsdP2W3iCIKJM8v04WHmEFtXGB5kZdZXgVe8ckT7DNlCIgf8Kn6EP9YweXlGlNBozNZPODuitD+/ZZKHmMDTMigXpBcT38ge50QtnZyQJw11kzyGpejukjgHvvycJFEzExdj+OHOPoiKlIPqo/JmEdOO76hqzIcyHGjz/9iU1SNw1/aHYWSxtidFrCAsyDCWnUu5EWPe56PdJu3fXTEKGiNnspqg8nmvfzYX0Xba66BxxqAiDN3PR+Ki4fbOwE4ItsH0ROUV7TotADMnlmEwAGcpqYNDqkDzjJlK5VZacrRHF3Ms7cVHhAWkvHPi6mlQ3LooUPBQlv7tCNb2Nm08ZgGqrp8x+uknQ6bS1Ha6oO2sdEWDzPbTpru3nJbmYedHu8PsXWwVxl4/oSeVM4zD/+W5N/8Q2Mx0dMFbVIru8N+pyhE/XkZ9osyY/bhrFBRBT0clH/lAAToiw2xBnuN98KaLyzPmkEPorxF1BrIkepejWH2axcwgwxfZ1Vtu8ROA66ggjbJDP7VjgQmvN/G5Tkbjd4aEHuJgiib3ZaYhzRAbqbwqrolVKsY9BLu22IXu1ct9KfCL0q9M5C0tb+X/445ECjk65a1bUvJqOx+b12LFFjZTyoo4YUYng+DuG9Grw9yGE5B2tAggjUZ8+hcbh2Vrbyd8V9ACyRC4yzCp2+PM28/XZGKPmVAGP3rx4M0nF+PbJSOQUkdpkuF61jVSRj8K5eU42ZPRtRFVlF3io9uPC4DTg1gZlIHFL+vddXvHhrPogq6lFfPYK5dWiT/Yw8fxZIbwyV3rt1+vJ/eN7IqnJwaMN/A3WgvS6yCe0wNcB3hsFxR1ZBu0OjGaHOMsGLNs8mwNCDGqX7J49KXVRy32mwAwYqzGXMhivV5WeEHD6OKTeZ/ALrQbkgz4OtZlrpdRP20ah056G8fJCPHHgqxEO63J3UHVRLZNCN5IsCAONHvQys8fC6QsOev0LWvFRjhPLTi+U9lueyYXXyEiapqWNpHYRiX5QW9jGXh+u11Xey2eCYG2un4uSAtnax0u8FEXmPAbiZQFfMl1O8+wc6bIy5FMjQ33J51dJQPcqOO98ntl7k+hCmDSORxo3qTh77UTCKlQXoLjhHENzaFQxQogyhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JWsf567pT1vRQVJdaFdZVJ",
      "input": {
        "note": "Left wrist view shows the cap lying across the jaw line, a bit to the tool's left and near the fingertips. Shifting ~2 cm left and descending to table level.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.197,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01JWsf567pT1vRQVJdaFdZVJ",
      "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]: [-0.445, 1.8008, 0.5922, 0.4915, 0.1398, 0.0887, 0.9992, 0.3809, 1.4513, 0.7036, 0.0589, -0.3115, -0.218, 0.0634]\nstate[eef_state]: left_x=0.3591 left_y=-0.1946 left_z=0.0004 left_yaw=-0.6224 left_pitch=-0.1378 left_roll=-0.0159 left_gripper=0.9992 right_x=0.3434 right_y=0.1997 right_z=0.1003 right_yaw=0.7532 right_pitch=-0.0939 right_roll=0.0249 right_gripper=0.0634\nstate[joint_eff]: [0.4581, -5.7504, 3.6171, 1.033, 0.2955, -0.0513, -0.022, -0.2393, -5.8872, 6.3248, 1.6239, -0.1343, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8798121fbe8738fcbbb16f54f9ad4ca046fe85c4d46695f316833c29dc2c6009",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b69f4d1d2f19e41db276077a2fef3fd81e67f35df7420f6ea3c3a1331b90c297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0a169592245689111de11bff6232e540ae751fd42682c009aa3b693ac09e0f05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 4.662 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]: [-0.02, 0.8078, 0.6029, -0.3809, -0.02, -0.0254, 0.9992, 0.3809, 1.4525, 0.7055, 0.0868, -0.3115, -0.218, 0.0584]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1755 left_yaw=0.0002 left_pitch=-0.0149 left_roll=-0.0 left_gripper=0.9992 right_x=0.3477 right_y=0.2014 right_z=0.1058 right_yaw=0.7523 right_pitch=-0.0672 right_roll=0.0145 right_gripper=0.0584\nstate[joint_eff]: [-0.1299, -1.3333, 7.3368, 1.746, -0.0415, 0.0073, -0.0073, -0.3487, -7.4051, 8.7043, 1.6728, -0.105, 0.0073, 1.0281]",
      "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]: [-0.5079, 1.4895, 0.7235, 0.0757, 0.1139, 0.0547, 0.9993, 0.3809, 1.4513, 0.7036, 0.0605, -0.3115, -0.218, 0.0633]\nstate[eef_state]: left_x=0.3469 left_y=-0.212 left_z=0.0923 left_yaw=-0.6445 left_pitch=-0.1143 left_roll=-0.0212 left_gripper=0.9993 right_x=0.3436 right_y=0.1998 right_z=0.1005 right_yaw=0.7531 right_pitch=-0.0924 right_roll=0.0244 right_gripper=0.0633\nstate[joint_eff]: [-0.5538, -6.6803, 9.4291, 2.1514, 0.3687, 0.2857, -0.0904, -0.335, -5.8735, 6.4889, 1.8046, -0.1392, -0.0513, 1.0281]",
      "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]: [-0.445, 1.8008, 0.5922, 0.4915, 0.1398, 0.0887, 0.9992, 0.3809, 1.4513, 0.7036, 0.0589, -0.3115, -0.218, 0.0634]\nstate[eef_state]: left_x=0.3591 left_y=-0.1946 left_z=0.0004 left_yaw=-0.6224 left_pitch=-0.1378 left_roll=-0.0159 left_gripper=0.9992 right_x=0.3434 right_y=0.1997 right_z=0.1003 right_yaw=0.7532 right_pitch=-0.0939 right_roll=0.0249 right_gripper=0.0634\nstate[joint_eff]: [0.4581, -5.7504, 3.6171, 1.033, 0.2955, -0.0513, -0.022, -0.2393, -5.8872, 6.3248, 1.6239, -0.1343, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8798121fbe8738fcbbb16f54f9ad4ca046fe85c4d46695f316833c29dc2c6009",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b69f4d1d2f19e41db276077a2fef3fd81e67f35df7420f6ea3c3a1331b90c297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a169592245689111de11bff6232e540ae751fd42682c009aa3b693ac09e0f05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSyQoKEAgSGAI4AUIIdGhpbmtpbmcSDHTsoxaNCfE54x3cSxoMd4OCQ6/OZWdd+zVHIjAj7jCV0M3oA+9SC5TxlKrvWUuqzhHSwb6x8dXf1v4auXUjjg7/IIiSO3w3Kaw7okMq5gn+B8VN8TTN5Dx1rhZaclKb6oIzKDFjQ+0wlqB7MA/m1BL7LNeDJH63Z3NnzMorikCHz73b/o55qclaHB4TAlU671wLofE1Q1fAMavCryic2IWjFtEh8iigL377R82QGzQUhJ8Ai4v8pvYn+ycK4I4Id2E1oGBQzq1lnMIYQzcBEBLQCGjz0fU9s0pE0F5VAEfJj9BS4Da/uyS3It1Jdn15lcu1+6gqcSV7kYdlcJLtXHorjDSdeu1RYdazMj+W74Z+S4j9rzSf/q7JCeSm1nOMnfaAfAMvUWxW9O5ZzkOkPhVfzzq6XUEJGpa1ntGisWZzfma2g53n6BBHm0FTKW2ANXCbaxwXQUNBA8yMc8Bhb8T0y6XxCRwvCN2NdduCDMpxA9rmpTlpVETrLKMhP+nhQ8oiwDdiYCVF0ixBBUP7onkm/G3e/jk1wKgs0um/c+OAUfmeXHM1eJRJnHJHsZADfHoPRJ9RCIaGE3Q2JjVoegRtIqKM/3kKM+KZKQKb0446W/7p9XTuYgYhWHFeCpKoFCOEZkmYck/ypwp2CSGGTpdZwLe4bxadFXQeNs82pWoGN9FGYwTipGq7LH+4UZtEO8Db13+9eb7x04PB4aCey6g9Kln0qKkdEaIKEYl4oFfG1YkqiqOrEgmtGz27kCayK/MpT59bU/kGn5lMuCsdlvWRXv7SKsn7Ksj+hbUCJYh7y1qqOM+DT1j4383f8lzQiWxcdgDrorPavA8zLaZaF2wibWFH4p7nrXxbmu1p7L1WUcxA6Il4YvE00tP/PnYQa2JGatWIqoClZ32CD/h6xzi8VTRpIAEDHThzMe35N3L3YYAxRD40AVn1FaL3g4kbQp8y/fJMa25ubLQmr74ym7pCizwtee1CBb6JdCoplIZn4KquGfvhEfw9nSNAserCoYrY3dUDC2PchCQxnUtF5gSQFPP3X+9JYzDua9knAG7OofFjWqhjBNhAjGsnUQZdBRWKnhdtAFubC84/C5y27diIc8iUy6oiKNsR2H5c7g+d3BcjByuzRxfKXxvdKWsw59YaQRr7ikMftAbJkn84V8blym/vBPo0oi4cq2a4dPuJqseXOrcUbi8yBiGE3HQyAB/R9YlV4Cglf3g7mPaEAvynTxM6mRTDh6r+bLtpLmPzrpo2Ie7DGnmRg7zbSVDJety1eAphpSDyBfELUpk05SPYnu6QVwbe1fKrBgpjZHW4YI2LWvJyI20bt2lz54i5uHspERuUFee/ScNILkGk2UIQvYTqUGcrhu9jHanD2Oj7mfx9ouHbBRTO4aGR/5Qr66ee7N/+RdDin16b9ui7dDH5bHknY2aDpVkhtLnsd1V+7RgbmKoB3lKTDIJ5cY2TOXEAdw6Gxvm6SJgwx4imDqoPucbQux5+9GzS5jud6qyCLEb6aNtKh2l1EADmNKHzAHJ4Hvty5BsLmgNI1Wr7KqjmWxXKK+kOKkDO9SRP9+Gi5nuqTE/t1vPi/1fQqy2wro6VPLjnkg4FEQNZK2TVF4VeQzhPu3z8a2ejCQ0OZKVKXsoCBX9V4D4xJMT1yEaVluYUBzmpqVTtxalURZnPEeQ8Q6La9INgov1LUkl4KHnensdebqUEhDgyOjwa7gOgWPw0QS0qXNySgBTtlint5cNCgD/JoSya62vF7l5QJGANKkGPmBMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013f18g6Bxs5KwSHJDvr8qiE",
      "input": {
        "note": "At table level the cap is visible ahead of the fingertips and left of the jaw column. Moving ~3 cm forward and ~2 cm to the tool's left to centre it between the jaws.",
        "targets": {
          "left_x": 0.395,
          "left_y": -0.195,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_013f18g6Bxs5KwSHJDvr8qiE",
      "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]: [-0.4072, 1.8759, 0.6918, 0.4877, 0.1501, 0.0986, 0.9992, 0.3809, 1.4513, 0.7029, 0.0586, -0.3119, -0.218, 0.0676]\nstate[eef_state]: left_x=0.3905 left_y=-0.1933 left_z=0.0027 left_yaw=-0.5983 left_pitch=-0.1163 left_roll=-0.0111 left_gripper=0.9992 right_x=0.3431 right_y=0.1996 right_z=0.0999 right_yaw=0.7535 right_pitch=-0.0948 right_roll=0.0256 right_gripper=0.0676\nstate[joint_eff]: [0.3077, -7.4188, 6.4752, 1.4237, 0.2955, 0.149, -0.0122, -0.0752, -5.9145, 6.3658, 1.58, -0.1685, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65877974f1830080e4730b57d20f498a6d15af93e69e6164c12bf2425afaec80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19c53a16692d1cfdcb264a0f30aa521ee5c1f03160f047f623aad3cf28868eac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a66bb43948053a9b80b5a13e27b84184aeb38975331b21ba8fb47e960bba7d19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 2.804 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]: [-0.5079, 1.4895, 0.7235, 0.0757, 0.1139, 0.0547, 0.9993, 0.3809, 1.4513, 0.7036, 0.0605, -0.3115, -0.218, 0.0633]\nstate[eef_state]: left_x=0.3469 left_y=-0.212 left_z=0.0923 left_yaw=-0.6445 left_pitch=-0.1143 left_roll=-0.0212 left_gripper=0.9993 right_x=0.3436 right_y=0.1998 right_z=0.1005 right_yaw=0.7531 right_pitch=-0.0924 right_roll=0.0244 right_gripper=0.0633\nstate[joint_eff]: [-0.5538, -6.6803, 9.4291, 2.1514, 0.3687, 0.2857, -0.0904, -0.335, -5.8735, 6.4889, 1.8046, -0.1392, -0.0513, 1.0281]",
      "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]: [-0.445, 1.8008, 0.5922, 0.4915, 0.1398, 0.0887, 0.9992, 0.3809, 1.4513, 0.7036, 0.0589, -0.3115, -0.218, 0.0634]\nstate[eef_state]: left_x=0.3591 left_y=-0.1946 left_z=0.0004 left_yaw=-0.6224 left_pitch=-0.1378 left_roll=-0.0159 left_gripper=0.9992 right_x=0.3434 right_y=0.1997 right_z=0.1003 right_yaw=0.7532 right_pitch=-0.0939 right_roll=0.0249 right_gripper=0.0634\nstate[joint_eff]: [0.4581, -5.7504, 3.6171, 1.033, 0.2955, -0.0513, -0.022, -0.2393, -5.8872, 6.3248, 1.6239, -0.1343, -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 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]: [-0.4072, 1.8759, 0.6918, 0.4877, 0.1501, 0.0986, 0.9992, 0.3809, 1.4513, 0.7029, 0.0586, -0.3119, -0.218, 0.0676]\nstate[eef_state]: left_x=0.3905 left_y=-0.1933 left_z=0.0027 left_yaw=-0.5983 left_pitch=-0.1163 left_roll=-0.0111 left_gripper=0.9992 right_x=0.3431 right_y=0.1996 right_z=0.0999 right_yaw=0.7535 right_pitch=-0.0948 right_roll=0.0256 right_gripper=0.0676\nstate[joint_eff]: [0.3077, -7.4188, 6.4752, 1.4237, 0.2955, 0.149, -0.0122, -0.0752, -5.9145, 6.3658, 1.58, -0.1685, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65877974f1830080e4730b57d20f498a6d15af93e69e6164c12bf2425afaec80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19c53a16692d1cfdcb264a0f30aa521ee5c1f03160f047f623aad3cf28868eac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a66bb43948053a9b80b5a13e27b84184aeb38975331b21ba8fb47e960bba7d19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS1ggKEAgSGAI4AUIIdGhpbmtpbmcSDB5uLpLHgCNpZCKZvxoMF7KFSNWZ+4/2ttmUIjBg8XGV6eVhyPCnXQlGXlgPcKUdQ5WZGbMiodOSKicnr77+W0GPkm0eo9CdC6r8KxIq8wcxyOObDMBuYn+6O7c23lcHSzTJNqSWzYV54dIYHHq7sTD5bIepLMaUbT2fW48fzrzQdFr3Oy9e8dCR7hVCz1Gh9AoYWAfmtnBpnAWPhjVwIdCC8CHcaXeLbRV/YvGmP6DdV2MIxKagYJo6Bf5bJI/RGWOX1b0aPXko+hNyy22O0B33l+ruUNwU0g0dcEb05U/bxQYlIgubO6P7w/nU6ajsXwXG5/P09BxN7n/LD2W2MjFxebMZt8HnMR1lmEJv/p8960MNc6LoSuBAyCVl5CnjlnxapocHuWQ5DRr/9rjDyN07au6ecvVw2gvuD+7rmV2FWwbGIk+urEllHLg/GSRd4NTd5ogTIMldI5a19XAyS/8Qr4gGHyLa/hWPThmDf/pB42Fq586j/n0s/oFDFsMXrFoDqER86x78oxOkhGxlAKZPt7QC54nX78i+1TGIB1RU4vbEuZp35OxXSZZLNk12CQDo6SKQZXQpSPDqKq/9XMCD3vwUbFbptHRdiHuC44Wawrv9KRNbICEt5pKQmpkz0OD8rM7E3Of4nC85NvvL0PPzh7rb3WzToClWbs4EMaVrJHRo9VKB1/xRl4NULGx5ewjolKFXAXvouy2oSXvvF4YfmTT3rBWbxSIRUp1HcSUnbt6lEWYzP7unX/k5Z5/vxVhAjJATGd8NjjBuDhXcS2YO3TR0WhTasvSN6hooM2Uvh4BmBJzQpIPjK5L1FAvhEVgxE0UcExJc2SdIVPfZl6b1LyVA9qXpbf2cfNO44TZ81atgprdQQCS/T+Q0fKukU61ch0VCwhGBaRqVhc0D0ZTOU/fUWaW4lleJZlRLIkPtuvSOm4VzjGSM9TnjmMqsinQDHbVbz1nLXjW+8+BHgjHYspqDWYbN7hXh6JrAKDBm1BNszPH7T+Pza0lNmcmayeTlntoLToBLX9m6o7Lgk5UbWb5ZkO2Ori0h0VyPHZD6NlujcbNwp4JHCKP4R+sJGjtumKrZMzohVe+qs8DtJUEq6k2lsFWdLKi6Ju1lWY77P77/GTpZq356h+5YMD6lTLnz8Ook6RzFoCch33Byfy1quDvNj5ZE3YDgSNtqFEQbHhavdAuHnYrHK2cFqmfa7NpTqtALLeNSw3IqYW8QaqV1U3qpPWUqi7kz/bos6ZRRuLoFWVy5uQvvNRIjix5zCVlXD7R1grV5FcG4Y9o5DZq3y6QVmfFqDUEHZHXZPCezmfndIijGnI+wRb2NivnBHXRSUF+x/KLBCkVuAKX5ZC6drGJO8s9382Tq4PD7rHFuMWyC5MXASNE0nXhylnLqloJSEBevP4W3zkEGdnQ4fk+eTIpKVHrukY6vlbN9ZMTWk7MYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019q6UJ1vYdAUJAqqAv1Bh9f",
      "input": {
        "note": "Cap is now just ahead of the jaws but still left of centre. Nudging ~1.5 cm left and 1 cm forward, pressing to table level.",
        "targets": {
          "left_x": 0.406,
          "left_y": -0.187,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_019q6UJ1vYdAUJAqqAv1Bh9f",
      "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]: [-0.3931, 1.8877, 0.7136, 0.4702, 0.1505, 0.1081, 0.9992, 0.3809, 1.4513, 0.7029, 0.0589, -0.3115, -0.218, 0.0676]\nstate[eef_state]: left_x=0.3967 left_y=-0.1893 left_z=0.0018 left_yaw=-0.5898 left_pitch=-0.1237 left_roll=-0.0054 left_gripper=0.9992 right_x=0.3432 right_y=0.1996 right_z=0.1 right_yaw=0.7532 right_pitch=-0.0946 right_roll=0.0252 right_gripper=0.0676\nstate[joint_eff]: [-0.3897, -7.7607, 6.3111, 1.2821, 0.2418, 0.1538, -0.0122, -0.3487, -5.9145, 6.3385, 1.5702, -0.1538, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9e58f10dc36ec3ee7731ea91658754f76396ec0d2ae269baad9a6c9d71a9e9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fec9dee0753ec32958d239a38481bdeafa8f3727b929d92db90c3be9d87e12a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:39126bd8c79c05c733312568377c691652388a63690b6846487d671ab53bac29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 13.41 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]: [-0.445, 1.8008, 0.5922, 0.4915, 0.1398, 0.0887, 0.9992, 0.3809, 1.4513, 0.7036, 0.0589, -0.3115, -0.218, 0.0634]\nstate[eef_state]: left_x=0.3591 left_y=-0.1946 left_z=0.0004 left_yaw=-0.6224 left_pitch=-0.1378 left_roll=-0.0159 left_gripper=0.9992 right_x=0.3434 right_y=0.1997 right_z=0.1003 right_yaw=0.7532 right_pitch=-0.0939 right_roll=0.0249 right_gripper=0.0634\nstate[joint_eff]: [0.4581, -5.7504, 3.6171, 1.033, 0.2955, -0.0513, -0.022, -0.2393, -5.8872, 6.3248, 1.6239, -0.1343, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4072, 1.8759, 0.6918, 0.4877, 0.1501, 0.0986, 0.9992, 0.3809, 1.4513, 0.7029, 0.0586, -0.3119, -0.218, 0.0676]\nstate[eef_state]: left_x=0.3905 left_y=-0.1933 left_z=0.0027 left_yaw=-0.5983 left_pitch=-0.1163 left_roll=-0.0111 left_gripper=0.9992 right_x=0.3431 right_y=0.1996 right_z=0.0999 right_yaw=0.7535 right_pitch=-0.0948 right_roll=0.0256 right_gripper=0.0676\nstate[joint_eff]: [0.3077, -7.4188, 6.4752, 1.4237, 0.2955, 0.149, -0.0122, -0.0752, -5.9145, 6.3658, 1.58, -0.1685, -0.0513, 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]: [-0.3931, 1.8877, 0.7136, 0.4702, 0.1505, 0.1081, 0.9992, 0.3809, 1.4513, 0.7029, 0.0589, -0.3115, -0.218, 0.0676]\nstate[eef_state]: left_x=0.3967 left_y=-0.1893 left_z=0.0018 left_yaw=-0.5898 left_pitch=-0.1237 left_roll=-0.0054 left_gripper=0.9992 right_x=0.3432 right_y=0.1996 right_z=0.1 right_yaw=0.7532 right_pitch=-0.0946 right_roll=0.0252 right_gripper=0.0676\nstate[joint_eff]: [-0.3897, -7.7607, 6.3111, 1.2821, 0.2418, 0.1538, -0.0122, -0.3487, -5.9145, 6.3385, 1.5702, -0.1538, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9e58f10dc36ec3ee7731ea91658754f76396ec0d2ae269baad9a6c9d71a9e9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fec9dee0753ec32958d239a38481bdeafa8f3727b929d92db90c3be9d87e12a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39126bd8c79c05c733312568377c691652388a63690b6846487d671ab53bac29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS/QYKEAgSGAI4AUIIdGhpbmtpbmcSDABr1uS6d8uDIyhGhhoMymAPpCq1SUkSKqB/IjDJN1LX35gG7Dffp045E4ylo2D09EkFMelvf0xebF6dZI5vMk1kxYrwXK1F70ijJYMqmgZxHojXYTYGnAcz4h8cgOzhUZa9J7nyYYB1PbPUxfuvdrIXz4TZ17OgH0b26gCSVjBWTKlByIBav5BRQpHAdjl2USiheHkQhTunIpcs2MKNFp+ZfkALPZjaCYfARlZK14XgrZdicVc5wnd9lsD0ewALwrwscukSvwsNL27UTDVX1LX68/pc1USOnAKQXmiuTJCMTP2iNOPWpbMDAqL+27uOKmOzHiZ1xjIjIM4y1jDRd1hdHO0otUPiWCLcXdUbVNC+5ivevKdVyRYe2LoZGP14mLKfZ5z0r3BQKa9YMiyRzayc9+54FHG049DzSrMqrr8TAMdXlUeWlM4pfzLEF/lGM9mLph44C9Q27/pQ8kZPgWJaGivBLxrDE7POfKkCNY0vycKUuru7AcYTq5vpPtNgPpaO7smqcdkLn0IbrCYHsyKY7iScM31HIq5PSCGmzK9tLru4U2n6i3hTaKUbbSTIAC1fFsrjkjbxo9pCzGA0muxuaXCxkfli89z2Tw/Wi73TEHh4qaAjV5Y/l06y6uH9lg4rtu+rub/fRWEcjdmviM1NMGu8GCcH7RofodU5cTTBAOq84usRUSGPsURplUVmNvwsbmYgGiRCM0+wqT9+MR5uwN6PsHCDYVfr3k0axVJmy52jEX+WvpVebw7b7gvXQN/7V1CXnVvm8lVGZZMr7QreKB9+gyZ/x7FbEEFoFZFCxV0uM2vz27NjCBOeli1/NGyV9G4mbUF2E0M4f9GVQ5PFxTpttyCwzu9onjfgtBwNZN5jVZsAgyJLiAu/Hcb2fDH+RkDTpXxBJ6LS5afwPr9+aF0FBAEq0uL50SOq00U7I6YT/rebuxOMyni4cDaDgQABRRfhkiMl09A3C0Pw6Nl4aWfnt+/yv4f/cgilkOHix2rJOhHCxjCXzXsNiBFDK2/PcensPPJ47bBKcBNKqk2lxqAS2QOXzA2wvyTcUL3sxKwivJI2EMddoLDXfflEeQNHz2Q+kgYqvzPlIkuNnrExGa4RYrkN2IN8wPpiUd1ayTHM++nMWN2SwEVZxgZ0AZC6HY+FBZczNRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017aCjHq3zT4YGpoMw5RST9x",
      "input": {
        "note": "The cap now sits between the left jaws at table level. Closing to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017aCjHq3zT4YGpoMw5RST9x",
      "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]: [-0.3931, 1.8877, 0.7151, 0.4599, 0.1539, 0.1097, 0.0076, 0.3809, 1.4513, 0.7029, 0.0589, -0.3115, -0.218, 0.0676]\nstate[eef_state]: left_x=0.3954 left_y=-0.1894 left_z=0.0004 left_yaw=-0.5938 left_pitch=-0.1319 left_roll=-0.0082 left_gripper=0.0076 right_x=0.3432 right_y=0.1996 right_z=0.1 right_yaw=0.7532 right_pitch=-0.0946 right_roll=0.0252 right_gripper=0.0676\nstate[joint_eff]: [-0.1026, -8.212, 4.9299, 1.7216, 0.0806, -0.0171, 0.569, -0.212, -5.9282, 6.3385, 1.5946, -0.1245, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7ea6ec4ae1482fcf6a2eb648288639446b2dbb40da9d659020198a09ce8bc75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b55c928caf0919f2aff72a72f2f5e3363f8b53fa48b20884af363d8d82bb1b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:62a9e4c5930f19aec246e7b8744aeb3cebbb24960b8d0830e062abfcdccc6da7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 17.28 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]: [-0.4072, 1.8759, 0.6918, 0.4877, 0.1501, 0.0986, 0.9992, 0.3809, 1.4513, 0.7029, 0.0586, -0.3119, -0.218, 0.0676]\nstate[eef_state]: left_x=0.3905 left_y=-0.1933 left_z=0.0027 left_yaw=-0.5983 left_pitch=-0.1163 left_roll=-0.0111 left_gripper=0.9992 right_x=0.3431 right_y=0.1996 right_z=0.0999 right_yaw=0.7535 right_pitch=-0.0948 right_roll=0.0256 right_gripper=0.0676\nstate[joint_eff]: [0.3077, -7.4188, 6.4752, 1.4237, 0.2955, 0.149, -0.0122, -0.0752, -5.9145, 6.3658, 1.58, -0.1685, -0.0513, 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]: [-0.3931, 1.8877, 0.7136, 0.4702, 0.1505, 0.1081, 0.9992, 0.3809, 1.4513, 0.7029, 0.0589, -0.3115, -0.218, 0.0676]\nstate[eef_state]: left_x=0.3967 left_y=-0.1893 left_z=0.0018 left_yaw=-0.5898 left_pitch=-0.1237 left_roll=-0.0054 left_gripper=0.9992 right_x=0.3432 right_y=0.1996 right_z=0.1 right_yaw=0.7532 right_pitch=-0.0946 right_roll=0.0252 right_gripper=0.0676\nstate[joint_eff]: [-0.3897, -7.7607, 6.3111, 1.2821, 0.2418, 0.1538, -0.0122, -0.3487, -5.9145, 6.3385, 1.5702, -0.1538, -0.0269, 1.0281]",
      "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]: [-0.3931, 1.8877, 0.7151, 0.4599, 0.1539, 0.1097, 0.0076, 0.3809, 1.4513, 0.7029, 0.0589, -0.3115, -0.218, 0.0676]\nstate[eef_state]: left_x=0.3954 left_y=-0.1894 left_z=0.0004 left_yaw=-0.5938 left_pitch=-0.1319 left_roll=-0.0082 left_gripper=0.0076 right_x=0.3432 right_y=0.1996 right_z=0.1 right_yaw=0.7532 right_pitch=-0.0946 right_roll=0.0252 right_gripper=0.0676\nstate[joint_eff]: [-0.1026, -8.212, 4.9299, 1.7216, 0.0806, -0.0171, 0.569, -0.212, -5.9282, 6.3385, 1.5946, -0.1245, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7ea6ec4ae1482fcf6a2eb648288639446b2dbb40da9d659020198a09ce8bc75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b55c928caf0919f2aff72a72f2f5e3363f8b53fa48b20884af363d8d82bb1b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62a9e4c5930f19aec246e7b8744aeb3cebbb24960b8d0830e062abfcdccc6da7",
        "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_01CgCap8oqWLrfrx6UhFoXT3",
      "input": {
        "note": "Close was empty: the cap got nudged forward and now lies roughly along the y-axis ahead and right of the jaws. Lifting, reopening, and rotating the jaws ~90° to straddle it from above.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.425,
          "left_y": -0.235,
          "left_yaw": -1.5,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CgCap8oqWLrfrx6UhFoXT3",
      "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]: [-0.2466, 2.1475, 1.4883, -0.4541, 0.7383, 0.9257, 0.9951, 0.3809, 1.4525, 0.7021, 0.0559, -0.3119, -0.218, 0.0676]\nstate[eef_state]: left_x=0.4402 left_y=-0.2297 left_z=0.0507 left_yaw=-1.3686 left_pitch=-0.1548 left_roll=-0.0017 left_gripper=0.9951 right_x=0.3425 right_y=0.1994 right_z=0.0987 right_yaw=0.7537 right_pitch=-0.0991 right_roll=0.0273 right_gripper=0.0676\nstate[joint_eff]: [0.0615, -11.8222, 7.2137, 0.735, 0.525, 0.105, -0.1343, -0.3761, -5.9966, 6.3795, 1.5946, -0.1538, -0.0464, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b338eb4a099b1611ffcfcc1059e87025e076a889f27856a6c8ce6bad2e79ab71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fa8259cdf7bd3f8cb93b98dfd36d39dc4d179382aaa47e8cf760d4654fcdb0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3133bef286e2929a418a758c56fde0157aa8d8d23a4b40c052ccd916402e94ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 6.588 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]: [-0.3931, 1.8877, 0.7136, 0.4702, 0.1505, 0.1081, 0.9992, 0.3809, 1.4513, 0.7029, 0.0589, -0.3115, -0.218, 0.0676]\nstate[eef_state]: left_x=0.3967 left_y=-0.1893 left_z=0.0018 left_yaw=-0.5898 left_pitch=-0.1237 left_roll=-0.0054 left_gripper=0.9992 right_x=0.3432 right_y=0.1996 right_z=0.1 right_yaw=0.7532 right_pitch=-0.0946 right_roll=0.0252 right_gripper=0.0676\nstate[joint_eff]: [-0.3897, -7.7607, 6.3111, 1.2821, 0.2418, 0.1538, -0.0122, -0.3487, -5.9145, 6.3385, 1.5702, -0.1538, -0.0269, 1.0281]",
      "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]: [-0.3931, 1.8877, 0.7151, 0.4599, 0.1539, 0.1097, 0.0076, 0.3809, 1.4513, 0.7029, 0.0589, -0.3115, -0.218, 0.0676]\nstate[eef_state]: left_x=0.3954 left_y=-0.1894 left_z=0.0004 left_yaw=-0.5938 left_pitch=-0.1319 left_roll=-0.0082 left_gripper=0.0076 right_x=0.3432 right_y=0.1996 right_z=0.1 right_yaw=0.7532 right_pitch=-0.0946 right_roll=0.0252 right_gripper=0.0676\nstate[joint_eff]: [-0.1026, -8.212, 4.9299, 1.7216, 0.0806, -0.0171, 0.569, -0.212, -5.9282, 6.3385, 1.5946, -0.1245, -0.0464, 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]: [-0.2466, 2.1475, 1.4883, -0.4541, 0.7383, 0.9257, 0.9951, 0.3809, 1.4525, 0.7021, 0.0559, -0.3119, -0.218, 0.0676]\nstate[eef_state]: left_x=0.4402 left_y=-0.2297 left_z=0.0507 left_yaw=-1.3686 left_pitch=-0.1548 left_roll=-0.0017 left_gripper=0.9951 right_x=0.3425 right_y=0.1994 right_z=0.0987 right_yaw=0.7537 right_pitch=-0.0991 right_roll=0.0273 right_gripper=0.0676\nstate[joint_eff]: [0.0615, -11.8222, 7.2137, 0.735, 0.525, 0.105, -0.1343, -0.3761, -5.9966, 6.3795, 1.5946, -0.1538, -0.0464, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b338eb4a099b1611ffcfcc1059e87025e076a889f27856a6c8ce6bad2e79ab71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fa8259cdf7bd3f8cb93b98dfd36d39dc4d179382aaa47e8cf760d4654fcdb0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3133bef286e2929a418a758c56fde0157aa8d8d23a4b40c052ccd916402e94ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSiB4KEAgSGAI4AUIIdGhpbmtpbmcSDJNuDUPsE7BInsPS1BoMJhG0f7CkHNxsR6MQIjA7i1N2jIwHDl4G5AM/42sSoyElFQ8sCvU4Ok9tXaB0MFwgNyPchrYTa0Nm6eyIrucqpR1k3wXEmFlb9zVG+RI/MshdsvyF0FnG+j0Xg3ZI2YN066IHEqVyfzvS/LvUPeQ+u/r6Q6p8dv34b4gQdONJ0wpUQMZvREcd008dRC5jr7ASjLDTjCt5a+lgxg/bXKuwpmyvwEBe3jRiksBRAMadopJD4nq3ISiTMk+MppOMG4Scfkp8JWlCyNa23P8zocjlfpehshV9dq47+37NLbPEWxfSUekSSH3jhfGpnSygziCeeXlxKb0HGOJQJl00HZihuOovSoOx79m1JCiM6tMFnPiioa/iEEBcvCIj/Geazf9nFa58ua2EbeiQV5C3Qxtm7YobqjSWPK3cvH4X8qOHD0UW5G4HZZdXUo9RIPdAfOySzEC71izmIU7jUfPbUfNAWe6znMrvkR6XQc7KYaBuIZsLGuDbwPkH/GC6ooe9txXpVVebUA6o7GiFwdOu/ak2I5EyyIusAw9knLSZydp+kX8UqXzA2tqWQJKkN9bURr0DZxWb8yZUGfCUrLpVURKcbDe1RTc1XC5OrVuAf/jVUnAGGTEF1ugIbp4lM2UAMSmHWtkHJKfqhiHwlOURgHJiieOrMNwiVzl5I33WGUMdpCQ8VmRTObQN81qsVAvGBMl72pHo9TLe/z/HaKcvdNPX04vUYkVExMLdx4nxSGRoOjLZnilSMkY1cCVQ0UMyCLrYEfpPHsZ/a5R4gBhWNvxqJpVM1fHT9h2T+l6oDRtlnstsen+D093RkzFAKkHE2MnvBqdVot67TlYDDp84sDiQO44TYG2aemscjJmb+dJe9yy/ixzpQTL8YeUxZW0EfdQeBntGCKAA7A9LwplzMNSZ+VK/6G5odvprT0PbO/c+GQ0kSTmuxAiRojHE06RbzxZhSKFZ+WsvagmBxe4lDmDu9JHGU9/zmPYxAoZTg3ekGSKgcU3BSie4dvcM3c3YMv6+CUpOo2eJ1tUC14QUMH5gj2LPjQwFJ/3QGkaY8VIgcJYMTPGnmc/1YWLH84nPWvIBuiAujxDrssvT4tMe6FTfyZsaeHjJlmDqGzLvfvV+q8q/Du7epB3bOf1dk3nyy0Q+AJtGvqJJp7yf26jPqsAs13BAC3+XFfpql0CK9Uev4quob7acCM94oIZ8ASBb428zgsgrRMdaItnChC4eDiV+TCak2Bb/GtwlL2LXyr3pQ8MxR6DkhzlIYP62Ok+1nhddjT02XcPLdbC0nnp7DMUVVcO6rjISKKuBFU7FK+R5CtrkSQS85CJtnosNuP2BWsmwjEggYs3SM0JCmbcdd0nF8CV3Av8/OY4OQAR/dzO4eQneLH4B6KJiREQAhOsHrLdipJCQxKPVdhapUrI7u3JQaH+EEQ+5qCeRZOWvLanbTKRgst8KVc/L9gcfN26Ik0KrdgnJPZsa0/KQbmedGafIkuP12k3KOOMqp4XFfrk1ZbtOUK9obuOVpyRAnQNMe/FtIjOXBfCC6MdEFqT5hjQlpqlTQ/rECXv/tZKQ0q1oQOjYTBuH+g62lQFKVlzRTeBjgFWYlEOgwB1B0QtF+1/uH/Vf5F6425vH5zEVFrczVjS49adnbSfRv1FcMHThYxLUY0A+ZIRrLl8l99d4l9nhbfjLkIBFWILRYxc/CQSxadYSKMQ7A1AjtIYhICZqkxijt5MbD/0V/vdgPnq9dx4vwMGlUlyqanXWeuBX6UX0FHKiYHI32kOTpscKcmqCcZAdnNMrR5XnjwgC2/j6LzAikX4woJyHUpYk7MiB80EZPjmMeZsWeuBDTq32if2rJcHP6BTigRL9c2sFBXdL3SUVxNw4SjECHXrQcFDkFQtUVXINFtzhpmRyjKXqHFruSMBkLsr4hlTIRT0Z18QL9i2zFUZRVOoB1E3eqLklFvq51SCmthOQ7yPrLTf3Hq/MxwOgihX+ZFJhFYPw+7YASHOhwndB0g8hLlcJXawpPJI5pphclpQWFT9YwGLs2iSA5QboEdgzFNURCaklcTz/o9nsk7+VEpifyagN6nFai8f7mUqLwrsWEWubDmdOrVMwWW84PNV8EHHi6V92A6uIIPoDjDyoJGhfgWlTBXoEPkRCziXxGwUjUkJsJkLWmtkQ6XgMFrj/QmFTJIcHV2RhKqSabYY4rENEaQOp1kFraQgxX3cA+RzUsTDtvjEdcgsSQrS9AcagHJaAZAJ0LRzp+bPwTqeIvwmBRtyY2HBpqiEL365yKzTWfiFXSahr3g1qpW4sWp2AVJshfSkL07dBsrXqL1/3gmuRuqdZmZ133EgyIVNJMehdZbEwlXK+JvODofnX0G1SWX8Ai9usobtXPFHcf8yAaZF2WtNe6fy0YnlJ7M6CFbQ7UpR6cd1oQP6y49PC0U3rs/RtDEj2FatIsnkLdTv/ynn6jrl70c0ZG1BWxNUvT9Ll2buh/gk8GolwMdrE9BzKfCw9e8iEjbwyPHa4Qg+OU53o+lTWVrZhoB1tnLm5ndKt0d0YhxIYCvYQi6IQ3H/7b+K4fuTdcKsbfflTlqf0N8M2LnGPdP7NgxGTgw9aOUy0uTIle2jwASNhi8qx5l+J+wVBa10A1GSXwZe3VV9juoF/hEpImmKEgfXGU6Vq+bFqL+Vj186N5WX6SvPL8qgzBtJIY519RgT5nMTre1AkNXjLV272IanXkic9I3vdPUnfFtqa821mq4qSQpi+mHRYFOpoybJFrVrAQ21xnRm5gTuOyIWxuCbtMg4wTMAZ3J5z7x0ziTCzup82nrw6A1AmahVoMd5N407XmvxWHRUheMlT8EKyd0A8csOEr1ddcc4d73y1PbEVhzWZiGx+oxV0IwES14Xqf5Whe+B8rIDZzaN7eKRMAZQgHrQGFkTIQiJ2WKU5lEMinzfUZIFmPjf0msRnIN2aSSdSlzwkMynkLLlMMSTFe1K7k5S3lt9RcLw/yeLpaMpnEdqiflWQwWcQ/Ug7SJIUsRC3NbB1s0uaTIJsOvlLEfM7KDqXiPDPUK1w/4NjT7Gy8mZKkgzVq9Rv5ETGLvMfeDNjil/czqilPakckAU2tY28XR/pOVEzIam3UIODnP8v9F4TId+7HB/rNh2ae54Dd4wI2JRi19MwUlJ2rIj4vCuSClw0DGm9WTysMnVuFxcyiL5Zl89OLVNm0wfYNpLLFg8FsQL9HIv+Eg1wGRE4c2gJkN3TxyVPC8ayi2PCjbugv+CP/Bp38MjTd6XvZRISwWltgM+V22NyAyqACPM55C8a2gYiupHsI55iE+aIY/Qplo5n0hyNNSFudCIRGfheINJh5f5D61zWRKwlYXNuc3kSyiOGGqfCJ8sZfH8ZFaAtMTSyVMhwGdRrg3AWcC83ZFoT2JdBHzwmM87ScIoIVOF/EnViIrsRC7a3TugAM8oktjJGmH8Cbnuw4rcWty2/KaL07/xMw4FVTAJ8VbPBt2ZvMHmvyY+CDWi1x5qUk9PgdtHRP7PyCbwZxm3y3hmz+feHIHbfwbLmGXKdJ8wsjAuzWozvuDCYv1jrScejpEk8vTGA3XgcUszDUndcOY8q4MBF780Cj3wSqzjBaLil30e3NUETTvtlo5LzdfxsX5U0eqItEoNgXPvWbjJ/zuGv1chdjmNrZR7LJzWG19DGfCBMl63m13VscFWW40YAiAZGR6NDJH8LPvfK/BtfJNdrHSQ4Q83NReBJy7LjyjK6rXPHppsXB9es7Rx3t0GHwLhSkMBxgzvt1gsdZNM5kgT2qytMBJxBY6sC5QAbXFl0L8CGwjYqrcakFmnYMnMQSxV7LV0MbFVC9307b0So74pQA7Mc23e7hs4w5uFrirgzAFgkPhVwJZGj8rk/U2q2TALSNZgwVRR5h3Jb2E3sY8qR2ygZOsXe0z7dbIiJgzB5Gbu6ERKiHx+xzmkYlmwA+EImL44yBlLoilqOWULPSDdyJQZ9j4IvXYqmWBuuhlBEFaPW6tAQfhHqhDT0FoxXOM8tH3PL87Boog/L/IJ5Lg6/3qnprk7V6aE9dkSd3UQGKgMCVHXOMsS9D1lOYhrCR05f/J+eRGeN7QjvERVRfWf+YtQ30wjIeMC8SQFGjRD/tqhzebfJBAPST08koZ34KjddgRhkK5QyQAqOjPdzzzCmNsum1DQFMUOY/FSuJZJHJ6L+DWvtEJ1sNgfazY+tiqS/+5QaJGiLsmSWcRyXBhgHASNnOvadiBGLpmv98HDrzU6oQQlx3MWuy4/PBsT18hMw/58EJ1f7zafPvcRcFiRKs6cKkLQgaPTwN9/sPm3wLZDwqBTqc7MbVOqG0ycpiXNTEKTlQ+YQ8PVbo9H9nHXI0KEYxkVUSFcVQKMseU+QPakEpz7M2Sqb1LxSBvsvOMCBoJugqvzLseXoA/OcdPv2CNxkpJ/MqUkOybQt3yn9gnQnjyTEAkqFnGhzoc4Ue/X87X0QuSS3iNQp/5fZNr/z0zHorAg/8XcDQycrL8qEjdK18arBWke3WQlX9rBPDop/RCNXM8+UqdYgSXnbcXYRI+gtLfthAckojPht8mlGp6i5tlnfGRS91cHMNHjxBperbJwv66xGla1ZIqYAVtkDr5/r8a67z0RqUNvxVhXTLLS5Tp2Ofn0yWyRkNnn9wkuIJ3G77UXYfyFmW6zQxjWUy3Dovwi9kV9a/LRzBczgkJpB+2MIqprA+AbFzS6bwkbi5AXtW9CSeBy9xYrNk4j40e2SMgq6222EF36VhlvMTf3GAMVSC/QYJzdgzu19vkRY1TtrG7Ii67fy+3YJpY1KKiDIcwq7yV0nJ0B+68vjuwfen/PZrG92PlMT04m8qP7VCIWJzkGZxX23S9wm+L9xgFKKNF37CYj4tAZXA58aMraRA4h6naZWKVmtkaTECGjxSNAQVjvhLBwdmYi8euL9HeymdCWLLBZmHRXv9rehFXgp0FIT/nGpjHUn4t0Q9xFLpw9/FWUXXv8PYO8V3PqMpnoTsmOSljH1P45hGBOZubcU6ZaxaWxvecBwceGbQcKrsWbaUVNff+HBvBkFQvL8iHB4zM0W387ExhPdxhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RyEWEH6AqoKJb1woA9af8E",
      "input": {
        "note": "The cap is now just under/ahead of the open left jaws but lies nearly parallel to the jaw line. Rotating the wrist ~65° further clockwise so the jaws straddle it across its width.",
        "targets": {
          "left_yaw": -2.5,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01RyEWEH6AqoKJb1woA9af8E",
      "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]: [-0.2165, 2.5069, 2.0319, -1.0634, 0.82, 1.5066, 0.9959, 0.3809, 1.4563, 0.6991, 0.0551, -0.3119, -0.218, 0.0676]\nstate[eef_state]: left_x=0.4456 left_y=-0.2266 left_z=0.0196 left_yaw=-1.7566 left_pitch=-0.1796 left_roll=-0.0063 left_gripper=0.9959 right_x=0.3416 right_y=0.199 right_z=0.0959 right_yaw=0.754 right_pitch=-0.1062 right_roll=0.0301 right_gripper=0.0676\nstate[joint_eff]: [-0.4034, -15.2, 7.6923, 0.1978, 0.6716, 0.2125, 0.0659, -0.1709, -6.0923, 6.5983, 1.6142, -0.1245, -0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f00e39baa29e1d0fb15a21bf3cdc6979245f7af6de15af3fed0206ca9888b67d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:597ea134c847563abbe2a722cac3fc1a5d76ed3b16606fb7b6c41ed2a7640169",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83e4ec5ede3483ad2141c34cb07e37fcdc9f0e87b99bf27bf22be60532d601f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 6.212 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]: [-0.3931, 1.8877, 0.7151, 0.4599, 0.1539, 0.1097, 0.0076, 0.3809, 1.4513, 0.7029, 0.0589, -0.3115, -0.218, 0.0676]\nstate[eef_state]: left_x=0.3954 left_y=-0.1894 left_z=0.0004 left_yaw=-0.5938 left_pitch=-0.1319 left_roll=-0.0082 left_gripper=0.0076 right_x=0.3432 right_y=0.1996 right_z=0.1 right_yaw=0.7532 right_pitch=-0.0946 right_roll=0.0252 right_gripper=0.0676\nstate[joint_eff]: [-0.1026, -8.212, 4.9299, 1.7216, 0.0806, -0.0171, 0.569, -0.212, -5.9282, 6.3385, 1.5946, -0.1245, -0.0464, 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]: [-0.2466, 2.1475, 1.4883, -0.4541, 0.7383, 0.9257, 0.9951, 0.3809, 1.4525, 0.7021, 0.0559, -0.3119, -0.218, 0.0676]\nstate[eef_state]: left_x=0.4402 left_y=-0.2297 left_z=0.0507 left_yaw=-1.3686 left_pitch=-0.1548 left_roll=-0.0017 left_gripper=0.9951 right_x=0.3425 right_y=0.1994 right_z=0.0987 right_yaw=0.7537 right_pitch=-0.0991 right_roll=0.0273 right_gripper=0.0676\nstate[joint_eff]: [0.0615, -11.8222, 7.2137, 0.735, 0.525, 0.105, -0.1343, -0.3761, -5.9966, 6.3795, 1.5946, -0.1538, -0.0464, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2165, 2.5069, 2.0319, -1.0634, 0.82, 1.5066, 0.9959, 0.3809, 1.4563, 0.6991, 0.0551, -0.3119, -0.218, 0.0676]\nstate[eef_state]: left_x=0.4456 left_y=-0.2266 left_z=0.0196 left_yaw=-1.7566 left_pitch=-0.1796 left_roll=-0.0063 left_gripper=0.9959 right_x=0.3416 right_y=0.199 right_z=0.0959 right_yaw=0.754 right_pitch=-0.1062 right_roll=0.0301 right_gripper=0.0676\nstate[joint_eff]: [-0.4034, -15.2, 7.6923, 0.1978, 0.6716, 0.2125, 0.0659, -0.1709, -6.0923, 6.5983, 1.6142, -0.1245, -0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f00e39baa29e1d0fb15a21bf3cdc6979245f7af6de15af3fed0206ca9888b67d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:597ea134c847563abbe2a722cac3fc1a5d76ed3b16606fb7b6c41ed2a7640169",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83e4ec5ede3483ad2141c34cb07e37fcdc9f0e87b99bf27bf22be60532d601f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS4woKEAgSGAI4AUIIdGhpbmtpbmcSDGAPEE6Od7f1xdQASRoMAheQmvheZeZN1XPXIjC1N/J1PJK/nY/nSSIdT2NUL+ivLAb7wUBn4CEyERrDx8NfD6DjWJqdFnBdgs3TXTIqgArZQgnXe0DTLxuBIK1XXloy9o6LTcylXez6TlHaMabBes33iK8oyZwO9dBqafsvHdS5xDg6Jh9JpmYneGOwmnJpH9Ij2L2hC5ZvUhD+hsjvwd/LDaQx7XpgT7AdBtpIS66yRqb0rKw8OyqS8LF+jOd980fm1DJtlkUPEIWZVTG/vcNKxPikAG+vXdttYVTTGI9uyREJKGVyS0xNo6OhzpX/2WL2Q0LZx+tbPXtW1nZ9RzambvElfQxQrXqbz8KACSj4tMm+zk0DdSCHSMQY7zk333zCoh65TeCOoteaPAmcaw6z+d+UuflNp5bwlmPSwSSTUZ5Vla7aU8nkXAD4+bSRUBZNsaHLwNTifgV2UrWx76ReRqMZhKrYePf8J/kX8W/4tpQik+7nqZNzhFAaMgCxlsGVd2PcwQZIiOAxUdTksZwzzuFlgdm0KJKhUBbinCFm5c6PnKb5p4qAUIYsu6Jq3ts9ziqsY2WLQTghGP0eDDkZNmyT+1KRNbeNw5iSxW52FyPApCtq2n5Nda5QH9VVZ4N70gBGkmxkKgNUKhN7ND5SMNMRATv+5ZhPSDrs+/lhrMj4RC/dUFshgJWOpME4YOuWzsGPlbXa2YxS3NNx8Cf2CGP5w0UXe+UXx8YGSSBmeOvy5o4EkptgODLCoB2z3HcYpCoQQvFmYQXLGT71Cs3GJNlMurjFBFTlXvCpaC1ddKF/LHIalq0se10HS+7qgmypyFo5Vgjv4lg6N9z27N4KQD9XWNY7uarxk/jcfdA9lTmSjXPIGNx0ngC6eQqUtU47nVfExAfVjQphUrpOENd5hy+y+s7WOLKzl9YbxUPZ8Qasrq+lpTg/Q8BaREqw4qmFiaz9IsLix29DZ7JpBvVWWtSNtRNSaQxDXalh0TQaCStZyrRO+yyI+7tukULYqhqaUd2uPXFkmNukGHIAKkSBQNQ7hZRCbhaCLLd2cYBtImUSQLhzWgY08vzo8K6KdRrjNuCjb8erFyKtM0GCDKNV8AzhgLR8AtPgGdJ0udmP/fjul00Q9dVR4dmOReAPArThsXlI++x1pF21/Ajg7aDjLINjp92U4zbtKCn6t3Q9JaqPfQXp6piVLbgihKDLMKHYNzf+bL/VFYzFZly8sNa7WOdEU89Q6T13mFokGcSY9/RqVVRpC5gQIuArp1Cetw2dJYxpGVneWVgEGopcdELxuWFn3O1+NAS7WoKztYVSdn/hgO7sp9xm0CW6RA2MdrdmXObrE0oy1wRv+Zaw79ONOiza9N1isab9tZsA4UDdLmfHqPJscKDlcZ48pC+PhHjqAYFeSGsoEt62DLYj1zQx4JRj0X6d57PCPOHluOjS2RNSKny/8R0PUHlFCRCZknzUztllFgNxzCVqn1GAC7iquXxeMi/XFxzPPzpMsa88rb2riYNKdcK4FKWFIPu8tqnK6rwICTMXTe78ExNVsmLrxUw1YTzXdvhDXy4j/U3l9qE2UCasMsrFRo71SK9NcCQcnBsAC2uxf8RjVAueMKP+5b1I/pvEbmsEMSIlUsy/EjTrWTa32JjvoMPNvbSCPPd43qcKsE8JqzhGjqxBWszKAVXyfvu1+YxrEHp3dBYfhOI7QT+S+aF7UqgEn7FwCPK9oV+wrLj0KssFXHb9awjCymtL9jFRXTWdan+Ba65EYL6kNpxKwzKL0kus4DaTm1X9FBJgunO0leeNfY2syRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K6nksUdXCq8aFmsBUABVeq",
      "input": {
        "note": "The wrist stopped rotating at yaw -1.76, but the cap now lies diagonally across the jaw line, slightly ahead and to the right. Shifting ~1.5 cm toward it and descending to table level.",
        "targets": {
          "left_x": 0.428,
          "left_y": -0.239,
          "left_yaw": -1.76,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01K6nksUdXCq8aFmsBUABVeq",
      "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]: [-0.2165, 2.5069, 2.0319, -1.0634, 0.82, 1.5127, 0.996, 0.3809, 1.4563, 0.6991, 0.0555, -0.3119, -0.218, 0.0676]\nstate[eef_state]: left_x=0.4456 left_y=-0.2266 left_z=0.0196 left_yaw=-1.76 left_pitch=-0.1796 left_roll=-0.0018 left_gripper=0.996 right_x=0.3416 right_y=0.1991 right_z=0.096 right_yaw=0.7539 right_pitch=-0.1059 right_roll=0.0299 right_gripper=0.0676\nstate[joint_eff]: [-0.3487, -15.3641, 7.8838, 0.232, 0.6227, 0.1197, -0.0073, -0.3761, -5.9419, 6.3248, 1.5946, -0.149, -0.0317, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8344194c20b9ddf7802e4094a11bc098f29a2f8d8af181e63858474de8de183",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb2a0dad4eb8c0f5d936605845f9ebbcbd580697d4d99b60c06b8ebaebcd3d37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7215a3b6503164f115baec21694a94a493425408e0916f75014dece2e87276b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 4.249 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]: [-0.2466, 2.1475, 1.4883, -0.4541, 0.7383, 0.9257, 0.9951, 0.3809, 1.4525, 0.7021, 0.0559, -0.3119, -0.218, 0.0676]\nstate[eef_state]: left_x=0.4402 left_y=-0.2297 left_z=0.0507 left_yaw=-1.3686 left_pitch=-0.1548 left_roll=-0.0017 left_gripper=0.9951 right_x=0.3425 right_y=0.1994 right_z=0.0987 right_yaw=0.7537 right_pitch=-0.0991 right_roll=0.0273 right_gripper=0.0676\nstate[joint_eff]: [0.0615, -11.8222, 7.2137, 0.735, 0.525, 0.105, -0.1343, -0.3761, -5.9966, 6.3795, 1.5946, -0.1538, -0.0464, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.2165, 2.5069, 2.0319, -1.0634, 0.82, 1.5066, 0.9959, 0.3809, 1.4563, 0.6991, 0.0551, -0.3119, -0.218, 0.0676]\nstate[eef_state]: left_x=0.4456 left_y=-0.2266 left_z=0.0196 left_yaw=-1.7566 left_pitch=-0.1796 left_roll=-0.0063 left_gripper=0.9959 right_x=0.3416 right_y=0.199 right_z=0.0959 right_yaw=0.754 right_pitch=-0.1062 right_roll=0.0301 right_gripper=0.0676\nstate[joint_eff]: [-0.4034, -15.2, 7.6923, 0.1978, 0.6716, 0.2125, 0.0659, -0.1709, -6.0923, 6.5983, 1.6142, -0.1245, -0.022, 1.033]",
      "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]: [-0.2165, 2.5069, 2.0319, -1.0634, 0.82, 1.5127, 0.996, 0.3809, 1.4563, 0.6991, 0.0555, -0.3119, -0.218, 0.0676]\nstate[eef_state]: left_x=0.4456 left_y=-0.2266 left_z=0.0196 left_yaw=-1.76 left_pitch=-0.1796 left_roll=-0.0018 left_gripper=0.996 right_x=0.3416 right_y=0.1991 right_z=0.096 right_yaw=0.7539 right_pitch=-0.1059 right_roll=0.0299 right_gripper=0.0676\nstate[joint_eff]: [-0.3487, -15.3641, 7.8838, 0.232, 0.6227, 0.1197, -0.0073, -0.3761, -5.9419, 6.3248, 1.5946, -0.149, -0.0317, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8344194c20b9ddf7802e4094a11bc098f29a2f8d8af181e63858474de8de183",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb2a0dad4eb8c0f5d936605845f9ebbcbd580697d4d99b60c06b8ebaebcd3d37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7215a3b6503164f115baec21694a94a493425408e0916f75014dece2e87276b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSpgoKEAgSGAI4AUIIdGhpbmtpbmcSDLBAmRCKpjBle4Ge4RoMOtkQ/UH4tvla2n+xIjAo7gf40Knjrw84u40AlrPIpGIxzOvhJObp9Il/51Dt/cCWCKVJmDqsCxP0+sCYO7MqwwkBnf7XF0S0Yt39g2cqlb91eaSaDby4n2QJqxOK2+N/hNS2WDfYFzKmOZjrvWN7NsSzb4UqGswZ8WunMvPx3we22H9ilCPjwL1RaH3fyx9/6qAE7zKAI9EJNc2hyk/q8VgGZo+xhwgmwoUO/Pm0Uqs7Dj/sH3SWqKHAWaZmKilKajZlb6CTPpBVK/JM8W6s+6KwTC4joL3w6cO8WOYs2Ypf0RfOQaiElylpXBRmbZKxdWPqjh/hKbP7rghHU4vd0Z+ge+HWHdE+BDZ90huDzFsg92dw0n6gmYLhx0PQysCeJLbJB0prr/P0sV0Iy0mdgfQlKlexUHcuu0VX9M0thg7C/VI07Z8NOgXtzQGkbugl+QLh4UnJuMhl21A5LzZsmilTASVHis035sK+QRpFR/tBFvm47Uu1JW3TF9fUVDQzSNFe0aughE/Dif19efoqTEl0W1uVh1XVnTE55Clj+v/AJN4UwBOefRfd+HfSw+yXj/N7ElL5KJvDNWVogapnMvxFLCIUk84/rj5nQ2E+akza8Q1oKkhhw3gPuFON0ILlEShGyRFuRLA+sMJslCS08gK7X3uudcrDz1ND7/K0svc2QMRl+5iT2FLfflV+U5rUHcrY9tGdgg+/Bk4ve9sXnB00w5DU9EuYcTTFJNBgaXUzQhyEfTsGSfXCNI2IMhzf9GRPa/UrbREDgsNme7k82NrRVxEM8/XiM6ETS+pilfTAaPTX5ybVfHRtFbCbTwyX56NcN/1Rkq7aWM9OzXapme3D63je4PuNYpUsiOfsqJSPGxjp0v+pksJwJvgbzl6DyLwTqMvUOQrMGdG2kgRdHhzVn2l4GRLwPb28URy8JpiNUQfxnFb3TBABfDMUAqM4HwcPewOu03Pa33laSP+6/Ku/q2HLSXdp+QjNtScnIY1y9D7YvM4Z9+NuTUZEzLsEAYb00tmHH1j44lLsueOpzrwrI2Kfr2/NVhoI9fNbrQIHuBbuyce2OUixASo/J41NiMBqJZZNO6QSVJH5+U/yVP5t8HcXuWMYVbVDMiAJh36Y0LJ+eS8zLuEqG0ZlZKO2UWgtK11jxbqPIUH4idHdfAOTdXmx3yqm6z04PJHdykXLmv9m4Nt1ASEIO2NccGzoqOwsy48Fui5iKxsGVP+kgsdAlGN0gewNVyQk+85T8cyVMQ4PgRQ1bJ7XI+Cyj6uZhKZQtUcAjuL4/PZ8kW1T1ViTPN7Ss6x0oNV2ev16APgJK6y0JZnywwAIxfKnwlALShbTqiyxHO3kGPDn3OGvtV6fl7KyqXpUg1mLnGNXNeaC3UTMI1cT7+0mJdZMIoTWoMTJxZAKoWL5DsKKuCwxdMesV4vzULBVBFtCMlZVeBC9ZtqoJjzljmTSKfOdfG5PDgCM9G2/trx7wknJk2gUEuAUg6AVXUuVBgejm9yCKRRft75ncMkNgydWTUmgzIyX1I9SjHZfm5IwLAka3LlDShq5XlpK/zny6xh9MrQsTqim0kX6198OlmGvYrlTwMoODPsYTmPWk7CRSSv9iFfKNUcYGAs7nl7SEkxc6WjnAYvO1oAAAkKU7J7dvFT04z5mQ3X8thu1SvsPMrCK2+yY1MIY+hA4Hy7Ojc4kAlHlTX1PstcLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HebZWhW8KGxrMQ9bfy2MUj",
      "input": {
        "note": "The left arm is stuck in an awkward wrist configuration and did not move. Raising and unwinding the yaw to regain mobility before re-approaching the cap.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.22,
          "left_yaw": -0.8,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01HebZWhW8KGxrMQ9bfy2MUj",
      "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]: [-0.3897, 2.0129, 1.5162, -0.6907, 0.4549, 1.1385, 0.996, 0.3809, 1.4609, 0.6971, 0.0563, -0.3122, -0.218, 0.0676]\nstate[eef_state]: left_x=0.3996 left_y=-0.2442 left_z=0.0746 left_yaw=-1.5012 left_pitch=-0.4315 left_roll=0.1925 left_gripper=0.996 right_x=0.3411 right_y=0.1989 right_z=0.0937 right_yaw=0.7545 right_pitch=-0.1111 right_roll=0.0322 right_gripper=0.0676\nstate[joint_eff]: [1.7436, -11.5077, 7.8427, 1.8095, -0.2369, -0.1245, -0.0073, -0.0205, -5.8735, 6.8718, 1.6239, -0.1343, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:912552c8e254f327e003f7b46cf9123b7881d51ea08eee001aab6b48ab6650e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:648c27ffbde759b5bc0b728392f750eb18301be7c39718bb3972725c8d631469",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:efbc8294e7eba1bc2bde45aa6f5f8ea285cd707d5107546e8634f3a88a70299e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 8.834 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]: [-0.2165, 2.5069, 2.0319, -1.0634, 0.82, 1.5066, 0.9959, 0.3809, 1.4563, 0.6991, 0.0551, -0.3119, -0.218, 0.0676]\nstate[eef_state]: left_x=0.4456 left_y=-0.2266 left_z=0.0196 left_yaw=-1.7566 left_pitch=-0.1796 left_roll=-0.0063 left_gripper=0.9959 right_x=0.3416 right_y=0.199 right_z=0.0959 right_yaw=0.754 right_pitch=-0.1062 right_roll=0.0301 right_gripper=0.0676\nstate[joint_eff]: [-0.4034, -15.2, 7.6923, 0.1978, 0.6716, 0.2125, 0.0659, -0.1709, -6.0923, 6.5983, 1.6142, -0.1245, -0.022, 1.033]",
      "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]: [-0.2165, 2.5069, 2.0319, -1.0634, 0.82, 1.5127, 0.996, 0.3809, 1.4563, 0.6991, 0.0555, -0.3119, -0.218, 0.0676]\nstate[eef_state]: left_x=0.4456 left_y=-0.2266 left_z=0.0196 left_yaw=-1.76 left_pitch=-0.1796 left_roll=-0.0018 left_gripper=0.996 right_x=0.3416 right_y=0.1991 right_z=0.096 right_yaw=0.7539 right_pitch=-0.1059 right_roll=0.0299 right_gripper=0.0676\nstate[joint_eff]: [-0.3487, -15.3641, 7.8838, 0.232, 0.6227, 0.1197, -0.0073, -0.3761, -5.9419, 6.3248, 1.5946, -0.149, -0.0317, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3897, 2.0129, 1.5162, -0.6907, 0.4549, 1.1385, 0.996, 0.3809, 1.4609, 0.6971, 0.0563, -0.3122, -0.218, 0.0676]\nstate[eef_state]: left_x=0.3996 left_y=-0.2442 left_z=0.0746 left_yaw=-1.5012 left_pitch=-0.4315 left_roll=0.1925 left_gripper=0.996 right_x=0.3411 right_y=0.1989 right_z=0.0937 right_yaw=0.7545 right_pitch=-0.1111 right_roll=0.0322 right_gripper=0.0676\nstate[joint_eff]: [1.7436, -11.5077, 7.8427, 1.8095, -0.2369, -0.1245, -0.0073, -0.0205, -5.8735, 6.8718, 1.6239, -0.1343, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:912552c8e254f327e003f7b46cf9123b7881d51ea08eee001aab6b48ab6650e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:648c27ffbde759b5bc0b728392f750eb18301be7c39718bb3972725c8d631469",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efbc8294e7eba1bc2bde45aa6f5f8ea285cd707d5107546e8634f3a88a70299e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS8QcKEAgSGAI4AUIIdGhpbmtpbmcSDDyZf87epstaAMj6cxoMkDz3iCBYE8qPr1h7IjAffMvh/W2tWNLcw2BHD/mnAr6INncCGmgfICXoyo7Kg1S3NQ+Pz4ykqDGkixicXMoqjgex/4QOt3je9Mxn0I8mkozTCcUk02m5uCSzVA8HZQfNQrdDqEP6phAldwfIk2lCGMM6ABd+JYoB8QdTQXXGJvSuBiDWXWrBgV9Fm0HhryjNJ3ZnWWOciFyhSzupIuogaWEN5GU+WGDTGmA6x8vFgIpyRRuiv3Ph63yIR0zu0oBR/Od8K2tY16tLqPZef6H/H2Hl7C/7nnIw7tGiN0kZPQ2FHl8HgeWYLeI0anUke3g3VXgEX8lEf4Tq++uF3DEv8tFe2nQU/M+wE9Zd1vVuj1aXSKumOun1c7NHnUyP5lOkBPoiCeM8xwZn7jGNM9Mq7A1zNl8HEBI82NlXWR/0//+hpkPj21iSNGebmkLODQKpNAsgMzj2HQrEQR7wD2bkP5b0MeP+CdiaYrCOpNKZy8DzIxgAazJ+bH+n/mrpCaF0f7yFzEmAAxGU5Uj+21XAJmHFZRzYiWdUBARHfR5+A9XamgEVDVANuWqv72kExqHrsRUbfL1k+OgUCFNSla0TGYBZWM/MJS1BP7arDsoGgL/uRox8zd79zdkX+2Z5mIFTSJZD3b5X9tbGKtLy7jCkMCt6eeLy5IVNmePQIVjiOHFR/g9uRKjqGbxg3FUumIUOO/uinIEaM1som0Y4XVKj8ITICtqL75kDJzE+zOL5CdUzk/ONIVGbELH+c/f8bRNZu8tIfUmfgXrMtW/FiolhQeyesVam4i1t06U0GBGl+RlznxifnK8HOZX/AinJ+qqIdO6NhrBejq5QXGfSXmp4Foatom76p1JtXpBVggiV+og4Jf1Fh5SWDLym3TtEDqdhkiCvUZJ1nwOnGUbP1laPyowMOM5rLjoQqsSFSdiJU7IvWcYp5wzJgc24qmF5MRxm529R0Bo0VSIeOJPsDg2dME8YXSzdcz2R4okbcUnNyDkUaWTJ/nWXOX7ZbwZvotuZJnYrcAP5TPzWHZUtZFgcF2VH+uxhoyg6Gn+bJkHs1T52LymkUJ0j0zrx3utgodxqps642TR3S9X69tn8x+4MUHmobELlWo3qcSBJkJup6hhqCbSxVN8HJ2KymwlsOAUjUeVtQD12oWVljOxo4mVNqs43zYYTdQslcr8HGu6Q4wLbyUiYGkYmg/7aGE5CIXlGbRzjYP8/SRXKZS83MjJk8JkAZ1fH7yS7IJBKjugcYwQDP+Ayvqu8esvuFPP+cKe5sr7MhrjU9NpImIUvZdjxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UjskmNUCi3xVUMaNQjkcjm",
      "input": {
        "note": "Left arm is only partly unwound (yaw -1.5, tilted). Continuing up and back toward a comfortable yaw before re-approaching the cap, which is visible just ahead of the jaws.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.22,
          "left_yaw": -0.6,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01UjskmNUCi3xVUMaNQjkcjm",
      "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]: [-0.5449, 1.7718, 1.3067, -0.5602, 0.0414, 0.3714, 0.996, 0.3809, 1.4609, 0.696, 0.0528, -0.3122, -0.218, 0.0711]\nstate[eef_state]: left_x=0.3799 left_y=-0.2346 left_z=0.1038 left_yaw=-0.8177 left_pitch=-0.4692 left_roll=0.18 left_gripper=0.996 right_x=0.3403 right_y=0.1986 right_z=0.0926 right_yaw=0.7547 right_pitch=-0.1154 right_roll=0.0339 right_gripper=0.0711\nstate[joint_eff]: [0.0615, -10.8923, 9.306, 1.0476, -0.2662, -0.0806, -0.0073, -0.3487, -5.9282, 6.3795, 1.6337, -0.1441, -0.0171, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bad6e71758ac65b433e9f97b15bd09308291910ed85c5eafc720e052ef6b794",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98de6c954cd98cd7a655bb581545a927025ec8c536d238acff51426711e6bc0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b35b384dc20176ca26deacd025edb470ef5246b4310db5cad0e128cdf385e33d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 6.801 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]: [-0.2165, 2.5069, 2.0319, -1.0634, 0.82, 1.5127, 0.996, 0.3809, 1.4563, 0.6991, 0.0555, -0.3119, -0.218, 0.0676]\nstate[eef_state]: left_x=0.4456 left_y=-0.2266 left_z=0.0196 left_yaw=-1.76 left_pitch=-0.1796 left_roll=-0.0018 left_gripper=0.996 right_x=0.3416 right_y=0.1991 right_z=0.096 right_yaw=0.7539 right_pitch=-0.1059 right_roll=0.0299 right_gripper=0.0676\nstate[joint_eff]: [-0.3487, -15.3641, 7.8838, 0.232, 0.6227, 0.1197, -0.0073, -0.3761, -5.9419, 6.3248, 1.5946, -0.149, -0.0317, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3897, 2.0129, 1.5162, -0.6907, 0.4549, 1.1385, 0.996, 0.3809, 1.4609, 0.6971, 0.0563, -0.3122, -0.218, 0.0676]\nstate[eef_state]: left_x=0.3996 left_y=-0.2442 left_z=0.0746 left_yaw=-1.5012 left_pitch=-0.4315 left_roll=0.1925 left_gripper=0.996 right_x=0.3411 right_y=0.1989 right_z=0.0937 right_yaw=0.7545 right_pitch=-0.1111 right_roll=0.0322 right_gripper=0.0676\nstate[joint_eff]: [1.7436, -11.5077, 7.8427, 1.8095, -0.2369, -0.1245, -0.0073, -0.0205, -5.8735, 6.8718, 1.6239, -0.1343, -0.0611, 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]: [-0.5449, 1.7718, 1.3067, -0.5602, 0.0414, 0.3714, 0.996, 0.3809, 1.4609, 0.696, 0.0528, -0.3122, -0.218, 0.0711]\nstate[eef_state]: left_x=0.3799 left_y=-0.2346 left_z=0.1038 left_yaw=-0.8177 left_pitch=-0.4692 left_roll=0.18 left_gripper=0.996 right_x=0.3403 right_y=0.1986 right_z=0.0926 right_yaw=0.7547 right_pitch=-0.1154 right_roll=0.0339 right_gripper=0.0711\nstate[joint_eff]: [0.0615, -10.8923, 9.306, 1.0476, -0.2662, -0.0806, -0.0073, -0.3487, -5.9282, 6.3795, 1.6337, -0.1441, -0.0171, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bad6e71758ac65b433e9f97b15bd09308291910ed85c5eafc720e052ef6b794",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98de6c954cd98cd7a655bb581545a927025ec8c536d238acff51426711e6bc0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b35b384dc20176ca26deacd025edb470ef5246b4310db5cad0e128cdf385e33d",
        "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_01XZZh9kDTYQwrZVj4io7RsL",
      "input": {
        "note": "Cap is ahead of the left jaws, lying parallel to the jaw line at yaw -0.8. Rotating to yaw +0.75 (jaws perpendicular to the cap), levelling the wrist, and moving over the cap.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.41,
          "left_y": -0.26,
          "left_yaw": 0.75,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01XZZh9kDTYQwrZVj4io7RsL",
      "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]: [-0.8581, 2.4077, 2.0888, -1.1271, -0.7914, -0.5766, 0.996, 0.366, 1.4815, 0.6514, -0.0479, -0.2794, -0.2104, 0.0717]\nstate[eef_state]: left_x=0.4192 left_y=-0.2874 left_z=0.0764 left_yaw=0.1509 left_pitch=-0.3342 left_roll=0.5937 left_gripper=0.996 right_x=0.3168 right_y=0.1774 right_z=0.0502 right_yaw=0.7201 right_pitch=-0.279 right_roll=0.0774 right_gripper=0.0717\nstate[joint_eff]: [-2.441, -12.3556, 5.559, -0.3297, -0.652, -0.0562, -0.0171, 1.0735, -7.2821, 9.6342, 2.2589, -0.3736, -0.1294, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abefba27e0c1f897ced25719b7a441a1af420527b7cca05c8f1a06d3dbd93c67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c78e22bbc919a96d182c2b09207b10a2713d6d8045470330ce27951e73be11a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d89cd3ca62277b5a5f05f74f1be78f87c726d3a97579775123680e75096bf921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 5.088 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]: [-0.3897, 2.0129, 1.5162, -0.6907, 0.4549, 1.1385, 0.996, 0.3809, 1.4609, 0.6971, 0.0563, -0.3122, -0.218, 0.0676]\nstate[eef_state]: left_x=0.3996 left_y=-0.2442 left_z=0.0746 left_yaw=-1.5012 left_pitch=-0.4315 left_roll=0.1925 left_gripper=0.996 right_x=0.3411 right_y=0.1989 right_z=0.0937 right_yaw=0.7545 right_pitch=-0.1111 right_roll=0.0322 right_gripper=0.0676\nstate[joint_eff]: [1.7436, -11.5077, 7.8427, 1.8095, -0.2369, -0.1245, -0.0073, -0.0205, -5.8735, 6.8718, 1.6239, -0.1343, -0.0611, 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]: [-0.5449, 1.7718, 1.3067, -0.5602, 0.0414, 0.3714, 0.996, 0.3809, 1.4609, 0.696, 0.0528, -0.3122, -0.218, 0.0711]\nstate[eef_state]: left_x=0.3799 left_y=-0.2346 left_z=0.1038 left_yaw=-0.8177 left_pitch=-0.4692 left_roll=0.18 left_gripper=0.996 right_x=0.3403 right_y=0.1986 right_z=0.0926 right_yaw=0.7547 right_pitch=-0.1154 right_roll=0.0339 right_gripper=0.0711\nstate[joint_eff]: [0.0615, -10.8923, 9.306, 1.0476, -0.2662, -0.0806, -0.0073, -0.3487, -5.9282, 6.3795, 1.6337, -0.1441, -0.0171, 1.0281]\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 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]: [-0.8581, 2.4077, 2.0888, -1.1271, -0.7914, -0.5766, 0.996, 0.366, 1.4815, 0.6514, -0.0479, -0.2794, -0.2104, 0.0717]\nstate[eef_state]: left_x=0.4192 left_y=-0.2874 left_z=0.0764 left_yaw=0.1509 left_pitch=-0.3342 left_roll=0.5937 left_gripper=0.996 right_x=0.3168 right_y=0.1774 right_z=0.0502 right_yaw=0.7201 right_pitch=-0.279 right_roll=0.0774 right_gripper=0.0717\nstate[joint_eff]: [-2.441, -12.3556, 5.559, -0.3297, -0.652, -0.0562, -0.0171, 1.0735, -7.2821, 9.6342, 2.2589, -0.3736, -0.1294, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abefba27e0c1f897ced25719b7a441a1af420527b7cca05c8f1a06d3dbd93c67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c78e22bbc919a96d182c2b09207b10a2713d6d8045470330ce27951e73be11a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d89cd3ca62277b5a5f05f74f1be78f87c726d3a97579775123680e75096bf921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQStwsKEAgSGAI4AUIIdGhpbmtpbmcSDK9oXlsNc8B1wrY2VRoM79cS6IaG9w7v6YtuIjAqC8zLkzaFUuh/xchQGm5ZmA++Gjg7iAVilaqI+3HRfnUJ/QDXDM/dPnpb9dwqaegq1AohsVFC30ipz6lckzbY+VowfAa6Ef8bJU7KeUuMFwzvlMY1o72gYXFpBLCK6UeefJAZLiifYBUI17yRERbxx8QGNJbqDK5RAIxKOuIazarWVrLafToBkJyTgh+CB+53SsS6KlZuXsQpwN0YH1Jk+dT6+rBnM2RdL02gL1nLWfi7CF6NoJtwk3RyXwD6GUZ9tXwmzQ5AtGK+jhWj81q/Q+bB+NAXC5ZDK4VobWko8Ijw7nwlaUSm/1K2hhFUxZTNJgbNWWL8w6mSOe1TqQDtNlAIw1ghImdCFyAErynOhIkNKtsHMS5SY4uz4iNatJcs2l6qkkRs55ZXfN6aFfZRf1p20r1r9Of/o6QZDrlRzo3BUcy/S3udGet+aNm81dMKr3fl5NHVe9N19yaW3yKvXIyHUDDZB60lM+Bg7pq8TYrqjrvKXar0tnikUzU8hmgvKZxDDVQTIMYGSDB14ELMAABcSyaTN+GYRi/SRTMtoIaZeb5xZOULSzkyJWEDlBKxJ8eplgJ90deCMjZWOIO0j9OivmsRSKxIQ2QBpZ/o3jNnaFMGVWmyubWgxO7BHakLyl53pPLINSMZaeHPl6RziWAXrewY14qtm3itix2dw5wIJqIDduew26EQjXnoimrwttT9V0OpqdXlomHGpZC1IGwoN4jJ5CxjjdfVCCzMhrcZ0ihlME+Buu7IZ+uS99FYvJH4bNg1s6zhus7ohQlpDgrOW7nYWVzlAer+NTJcYSfMDsYR5yzYirUXf39S1IElTr7IRi5etG3n+40Sqd5zyxJRpxNo0g4OKXPA9FjwC6Zjo+ZJGOng+CrMi4friV/L7+hzEOUan/a8L5S5ieVRpirR3B92FepKg9Y6CtpJpAShJeqLdqiRu7FrUf0sZ84wzG819OqmNjNX1yrZo95wxbZ9WdcP0N8Dfg7YhfNR+xrOMqbPRRRIaq03b/RofxGYhAp++nVcEUbEwV+rKMje4lYvupV984kDsHsOl+ZL7MVDlZaJC2F4h2LigFoeuU+8STfY0q75dQsGOT02Nb/6lhnqRW8qXNhw4HJafeJPh8tkuiFuaqT+U8vER9vZjfWtGCnB87tpljnVpJhx5tzeY5ePF1KOVCTwpDFOpiRoBy53q6hZFf2F+GP64t7pHHszFyis8APkh/bJ9Dq3L8Pb4qKn2mo752iCjzTFLfEcXwVPxi5s8jkiSLRWjGVlLi3AKTILz9mDzcftfUIiv4axqnIocDaiOjK7b1DVwHATV2g8ekjjy/IgQrxYrkMgXEPMoSuoEO4eSt0D6zvDzVH84s0QNS8XcCPKylG7h2/6/BMI8fbwxtukr7csj61pAMJNrF1IELVZ9dRnkDW9VYdwYZ7/UNCtxtiVzCgK7mX+X/rHzT2jr9KqBf1mYbCzffOuYzAOLKFTOexOSKrwG0ML5Qm8E0TChQzxjjE04L9EB2pYnvJ8aWvHM1WL74BovhbFMUP9U1xi/sbPloLFPFoMvnWvoL1tlFzizlLyPl2cn6xeGOIXp5rM9mgbmos7wYsupO89owbvBJDhotWoOTW6Rw/tih7B4EhkRyjHMZ4kLdYv0bDCoLk/5eyCj0Yw8nVSbyjoRRUy3lmH3oQyWw5E0VQTydfOBUWnCj+iyDnfyaKmFhhnzi4fup4gZ1g7UxGSr2YNG6Bw0GzQofIGhmsoOPb5E04jM/ttitbPJd59W8ajuxbm/IWSqDfqUQkg22C8w8O/eqlyjqB8ZGew58T8vwOYOIcpuuBb9q/yI4aAdhMESvVjRZI6aT1fwU9Zzb3ybmXMmqqhPyUtB9J+n43bTHm2Mzg26hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QYNGmQKtm2ro363H63kQTU",
      "input": {
        "note": "The left arm's elbow swung toward the right arm and nudged it down. Moving the right arm (holding the pen) further right and up to give clearance.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.3,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01QYNGmQKtm2ro363H63kQTU",
      "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]: [-0.7589, 2.3451, 1.9533, -1.0607, -0.836, -0.6003, 0.996, 0.5919, 1.6154, 1.066, -0.6514, 0.0254, 0.1612, 0.0717]\nstate[eef_state]: left_x=0.4381 left_y=-0.2299 left_z=0.0756 left_yaw=0.2758 left_pitch=-0.2925 left_roll=0.6073 left_gripper=0.996 right_x=0.3003 right_y=0.2008 right_z=0.0692 right_yaw=0.4493 right_pitch=-0.645 right_roll=0.0402 right_gripper=0.0717\nstate[joint_eff]: [-9.5521, -10.8376, 7.8017, 0.9548, -0.779, 0.1099, -0.0122, 9.0462, -7.2957, 15.9111, 3.7192, -1.0574, -1.5507, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d62a3fce207363e9f46ef526c296f4b529779d22b0f478aee4b0346cc97b9e23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc7497bdfa7b15cafd1b23f1ba3e2d687656a11cbb9b3ed368cdc8801d7de055",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bbfadfd8691bad35707e235005234f7de234c844b36b239c4c46429902f25b2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 15.14 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]: [-0.5449, 1.7718, 1.3067, -0.5602, 0.0414, 0.3714, 0.996, 0.3809, 1.4609, 0.696, 0.0528, -0.3122, -0.218, 0.0711]\nstate[eef_state]: left_x=0.3799 left_y=-0.2346 left_z=0.1038 left_yaw=-0.8177 left_pitch=-0.4692 left_roll=0.18 left_gripper=0.996 right_x=0.3403 right_y=0.1986 right_z=0.0926 right_yaw=0.7547 right_pitch=-0.1154 right_roll=0.0339 right_gripper=0.0711\nstate[joint_eff]: [0.0615, -10.8923, 9.306, 1.0476, -0.2662, -0.0806, -0.0073, -0.3487, -5.9282, 6.3795, 1.6337, -0.1441, -0.0171, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.8581, 2.4077, 2.0888, -1.1271, -0.7914, -0.5766, 0.996, 0.366, 1.4815, 0.6514, -0.0479, -0.2794, -0.2104, 0.0717]\nstate[eef_state]: left_x=0.4192 left_y=-0.2874 left_z=0.0764 left_yaw=0.1509 left_pitch=-0.3342 left_roll=0.5937 left_gripper=0.996 right_x=0.3168 right_y=0.1774 right_z=0.0502 right_yaw=0.7201 right_pitch=-0.279 right_roll=0.0774 right_gripper=0.0717\nstate[joint_eff]: [-2.441, -12.3556, 5.559, -0.3297, -0.652, -0.0562, -0.0171, 1.0735, -7.2821, 9.6342, 2.2589, -0.3736, -0.1294, 1.033]",
      "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]: [-0.7589, 2.3451, 1.9533, -1.0607, -0.836, -0.6003, 0.996, 0.5919, 1.6154, 1.066, -0.6514, 0.0254, 0.1612, 0.0717]\nstate[eef_state]: left_x=0.4381 left_y=-0.2299 left_z=0.0756 left_yaw=0.2758 left_pitch=-0.2925 left_roll=0.6073 left_gripper=0.996 right_x=0.3003 right_y=0.2008 right_z=0.0692 right_yaw=0.4493 right_pitch=-0.645 right_roll=0.0402 right_gripper=0.0717\nstate[joint_eff]: [-9.5521, -10.8376, 7.8017, 0.9548, -0.779, 0.1099, -0.0122, 9.0462, -7.2957, 15.9111, 3.7192, -1.0574, -1.5507, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d62a3fce207363e9f46ef526c296f4b529779d22b0f478aee4b0346cc97b9e23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc7497bdfa7b15cafd1b23f1ba3e2d687656a11cbb9b3ed368cdc8801d7de055",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbfadfd8691bad35707e235005234f7de234c844b36b239c4c46429902f25b2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS1AcKEAgSGAI4AUIIdGhpbmtpbmcSDIsTju0689meIqurZRoMxwDOpXVl7IYGymDhIjA/GCe9wy2Qw2b9S2PioFu0cVFwf1xsuozN+KGam6x2fxnM1NJosjd64ASoBYGmyJwq8QYewL7Ooxr9Vu3aubldNnOBYIShX6TTSeo96UMJspqmO6LHdHXSRAVeuCa9X8MdFWXW++owTK80GTAmg3bxpsAKiXN5BpEUaAiqzzGwDTRPP/LQic6f2A3yIpBNYdig0xIAOuyWlj8+ZDFfPIuCi3VT6ADxHjAHnR9K/Ujhp6wEb9rECC6CZpLzBlb093bHIEFB5KLjE4dUJHmoQL0+IZQN3TMax2MpyDRrgHX7ebEvI7GyU+iXwyAlAuldiBkgUJf48UmIyyYurJpdRZHi4PIyTpqdHM2ZSybf5JYhQe2HBV0Twi+B+HVZL81x96v4M22NLDFdsRCjD8Viq0wsiPFlTEQFCxIwL3z9JNWC2jGlOmHq0O6J1YJEsY0FxYAk9jFQR0XpK0El6qJXKvNX3H4XsC8abRZZ0gS4Zl3C9x1qncdVPrxe9dTweMTVEVbN1i+gp67VTkPjMehgJcSQEm22rWqCadCSGvoZOq6tjVh2wO7vne0Fqb/Cx3afjtt4hg87g0KoEfDMUYzB7G7/UVdyoemU6mf9hbH9bi786fWmrpp2Z9exs4Ug9aF79B4kdfnsDogzBC7qbqW8GQD421qXqJTDudMMfJZQjgIt45E4WEvE/o6Buz0vk8O05fRn7NwnrGJQye8+BRPoP1I1KKa3r0L9TUtX4KS9Y7/qSZy5AyVWCSQdPbSh5o6fFSfKb3+SiXt00B9gFVMoOY+8E/SNxDaidWTQ9Cx4PvHdd+oAebxEYEKWE8cshU9kMZSxxIsWo98sTsycv2cdP5EkhSR44vMiX01KxW0z+/y1+12Qt6QSu/NNINqMqgvs85tR0yyKnRBhWcjzxHwZwKmoB5CKCeCLYDwac1N2THP5cfgSiv3uRuiR0Ueuq5B8pOPpsefAN/VUoNUFEyehMs09T7PdcCGKvmkpSiEoA8wlL5vVLkNz8nj0q8gwuEGaQAzvtu8BGNhSv49yLZdLW9e0f2gFF6QRsSEtp9RG9APxT8Z+Gp8mpKb3eI3ZtJAHsSw3Lvjv4uLm4xLTAUGLkmUL5PwbnNYycxgtJ85+QAgC0sUm3aO4JP+5pP5aMazpZyRRYGo8t2IcikBQ1YCDdjLTrErhMQ9Mit31y6y9yyhMflNlnS9801c38taRX8qdEu421nLZEy/zS8DZr/tZ3V9g0qJGahgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016aKbqribfCPwV6yibfngCP",
      "input": {
        "note": "The two arms are pressed against each other in the middle (high efforts, right arm not tracking). Pulling the left arm back toward its own side and levelling its wrist.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.33,
          "left_y": -0.12,
          "left_yaw": 0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016aKbqribfCPwV6yibfngCP",
      "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]: [-0.622, 1.2285, 0.8616, -0.2195, -0.5747, -0.4084, 0.996, 0.601, 1.5856, 0.9966, -0.5896, 0.0372, 0.1673, 0.0717]\nstate[eef_state]: left_x=0.3536 left_y=-0.1309 left_z=0.2081 left_yaw=0.062 left_pitch=0.0872 left_roll=-0.0438 left_gripper=0.996 right_x=0.2946 right_y=0.1984 right_z=0.062 right_yaw=0.4445 right_pitch=-0.6217 right_roll=0.0337 right_gripper=0.0717\nstate[joint_eff]: [0.1436, -0.9641, 8.8684, 2.2735, 0.0611, 0.2027, -0.0122, -0.8137, -7.0632, 8.0752, 0.906, -0.0415, -0.0611, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2d5a6618fe9c10174439ab965edf69cadbe466d0d6d30df0a97900b307b3909",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf08b7ac1d92612f7e94df716baddeca10fdf784c0abc5fadc3c0ae901b2dea3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bff24b5f7d41f4d0ae7237ddc1b47f65d73216ca47affcde030e10b3bb46778d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 8.013 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]: [-0.8581, 2.4077, 2.0888, -1.1271, -0.7914, -0.5766, 0.996, 0.366, 1.4815, 0.6514, -0.0479, -0.2794, -0.2104, 0.0717]\nstate[eef_state]: left_x=0.4192 left_y=-0.2874 left_z=0.0764 left_yaw=0.1509 left_pitch=-0.3342 left_roll=0.5937 left_gripper=0.996 right_x=0.3168 right_y=0.1774 right_z=0.0502 right_yaw=0.7201 right_pitch=-0.279 right_roll=0.0774 right_gripper=0.0717\nstate[joint_eff]: [-2.441, -12.3556, 5.559, -0.3297, -0.652, -0.0562, -0.0171, 1.0735, -7.2821, 9.6342, 2.2589, -0.3736, -0.1294, 1.033]",
      "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]: [-0.7589, 2.3451, 1.9533, -1.0607, -0.836, -0.6003, 0.996, 0.5919, 1.6154, 1.066, -0.6514, 0.0254, 0.1612, 0.0717]\nstate[eef_state]: left_x=0.4381 left_y=-0.2299 left_z=0.0756 left_yaw=0.2758 left_pitch=-0.2925 left_roll=0.6073 left_gripper=0.996 right_x=0.3003 right_y=0.2008 right_z=0.0692 right_yaw=0.4493 right_pitch=-0.645 right_roll=0.0402 right_gripper=0.0717\nstate[joint_eff]: [-9.5521, -10.8376, 7.8017, 0.9548, -0.779, 0.1099, -0.0122, 9.0462, -7.2957, 15.9111, 3.7192, -1.0574, -1.5507, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.622, 1.2285, 0.8616, -0.2195, -0.5747, -0.4084, 0.996, 0.601, 1.5856, 0.9966, -0.5896, 0.0372, 0.1673, 0.0717]\nstate[eef_state]: left_x=0.3536 left_y=-0.1309 left_z=0.2081 left_yaw=0.062 left_pitch=0.0872 left_roll=-0.0438 left_gripper=0.996 right_x=0.2946 right_y=0.1984 right_z=0.062 right_yaw=0.4445 right_pitch=-0.6217 right_roll=0.0337 right_gripper=0.0717\nstate[joint_eff]: [0.1436, -0.9641, 8.8684, 2.2735, 0.0611, 0.2027, -0.0122, -0.8137, -7.0632, 8.0752, 0.906, -0.0415, -0.0611, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2d5a6618fe9c10174439ab965edf69cadbe466d0d6d30df0a97900b307b3909",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf08b7ac1d92612f7e94df716baddeca10fdf784c0abc5fadc3c0ae901b2dea3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bff24b5f7d41f4d0ae7237ddc1b47f65d73216ca47affcde030e10b3bb46778d",
        "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_01LhrfXMSh9VvBXiTYYA6DG3",
      "input": {
        "note": "Arms are separated; the cap sits on the table between them (top view ~(98,100)) and the pen is still in the right gripper. Moving the left arm above the cap with a level wrist, and lifting/levelling the right arm out of the way.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.4,
          "left_y": -0.27,
          "left_yaw": 0,
          "left_z": 0.12,
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.3,
          "right_y": 0.25,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01LhrfXMSh9VvBXiTYYA6DG3",
      "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]: [-0.8146, 1.8099, 1.1278, -0.1219, -0.6636, -0.5533, 0.996, 0.7956, 1.3407, 0.7177, -0.1051, 0.3161, 0.2138, 0.0717]\nstate[eef_state]: left_x=0.3945 left_y=-0.2545 left_z=0.1101 left_yaw=0.0116 left_pitch=-0.0327 left_roll=0.0226 left_gripper=0.996 right_x=0.2967 right_y=0.2294 right_z=0.1166 right_yaw=0.4053 right_pitch=-0.1288 right_roll=-0.0427 right_gripper=0.0717\nstate[joint_eff]: [-1.7026, -7.6103, 9.5795, 1.6337, -0.3541, 0.0073, -0.0122, 2.441, -7.6103, 7.9521, 2.3028, -0.1343, -0.1441, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0beb20a6293ad9e7cc9f51f7da30fc2dbc449188f1fc5db8357be15f64bda14e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b64581574770dcdd0d343f6e7984e8876bb31087a5b0a83e2792dbcac421d98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c736fc46ffa09df2fe99972da6fccff5a82ae033dc774c44c7ccc53e31a463c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 4.742 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]: [-0.7589, 2.3451, 1.9533, -1.0607, -0.836, -0.6003, 0.996, 0.5919, 1.6154, 1.066, -0.6514, 0.0254, 0.1612, 0.0717]\nstate[eef_state]: left_x=0.4381 left_y=-0.2299 left_z=0.0756 left_yaw=0.2758 left_pitch=-0.2925 left_roll=0.6073 left_gripper=0.996 right_x=0.3003 right_y=0.2008 right_z=0.0692 right_yaw=0.4493 right_pitch=-0.645 right_roll=0.0402 right_gripper=0.0717\nstate[joint_eff]: [-9.5521, -10.8376, 7.8017, 0.9548, -0.779, 0.1099, -0.0122, 9.0462, -7.2957, 15.9111, 3.7192, -1.0574, -1.5507, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.622, 1.2285, 0.8616, -0.2195, -0.5747, -0.4084, 0.996, 0.601, 1.5856, 0.9966, -0.5896, 0.0372, 0.1673, 0.0717]\nstate[eef_state]: left_x=0.3536 left_y=-0.1309 left_z=0.2081 left_yaw=0.062 left_pitch=0.0872 left_roll=-0.0438 left_gripper=0.996 right_x=0.2946 right_y=0.1984 right_z=0.062 right_yaw=0.4445 right_pitch=-0.6217 right_roll=0.0337 right_gripper=0.0717\nstate[joint_eff]: [0.1436, -0.9641, 8.8684, 2.2735, 0.0611, 0.2027, -0.0122, -0.8137, -7.0632, 8.0752, 0.906, -0.0415, -0.0611, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.8146, 1.8099, 1.1278, -0.1219, -0.6636, -0.5533, 0.996, 0.7956, 1.3407, 0.7177, -0.1051, 0.3161, 0.2138, 0.0717]\nstate[eef_state]: left_x=0.3945 left_y=-0.2545 left_z=0.1101 left_yaw=0.0116 left_pitch=-0.0327 left_roll=0.0226 left_gripper=0.996 right_x=0.2967 right_y=0.2294 right_z=0.1166 right_yaw=0.4053 right_pitch=-0.1288 right_roll=-0.0427 right_gripper=0.0717\nstate[joint_eff]: [-1.7026, -7.6103, 9.5795, 1.6337, -0.3541, 0.0073, -0.0122, 2.441, -7.6103, 7.9521, 2.3028, -0.1343, -0.1441, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0beb20a6293ad9e7cc9f51f7da30fc2dbc449188f1fc5db8357be15f64bda14e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b64581574770dcdd0d343f6e7984e8876bb31087a5b0a83e2792dbcac421d98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c736fc46ffa09df2fe99972da6fccff5a82ae033dc774c44c7ccc53e31a463c9",
        "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_012uV542MUcpzNytJQQ7gA9z",
      "input": {
        "note": "Left wrist view shows the cap centred on the jaw column and lying across the jaws. Descending the left arm onto it, while moving the right arm (holding the pen) back to its own side to stop the arms touching.",
        "targets": {
          "left_x": 0.405,
          "left_y": -0.255,
          "left_z": -0.005,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_012uV542MUcpzNytJQQ7gA9z",
      "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]: [-0.8005, 2.0857, 1.0039, 0.289, -0.6518, -0.5495, 0.996, -0.001, 0.9771, 0.6132, -0.384, -0.2459, -0.2668, 0.0717]\nstate[eef_state]: left_x=0.4039 left_y=-0.2573 left_z=0.0038 left_yaw=0.015 left_pitch=-0.0314 left_roll=0.0119 left_gripper=0.996 right_x=0.2998 right_y=0.0463 right_z=0.1357 right_yaw=0.3453 right_pitch=-0.1642 right_roll=-0.033 right_gripper=0.0717\nstate[joint_eff]: [0.3077, -8.0889, 4.6291, 1.4139, -0.2857, 0.0659, -0.0122, -0.4718, -3.3983, 9.388, 1.6972, -0.2711, -0.0904, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:338e9716e0580b2ac0b8125b5472c243ae3733672a9378216679bcc1db306fd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a462892c8d70afc6a606b290bccd13af9e3b0b82a6e839383abd0f92b501d1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f7b54c6dc010109fa4f60cd4b3a41e4847a95a46882d2354a0ba79583b7c8d64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 3.286 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]: [-0.622, 1.2285, 0.8616, -0.2195, -0.5747, -0.4084, 0.996, 0.601, 1.5856, 0.9966, -0.5896, 0.0372, 0.1673, 0.0717]\nstate[eef_state]: left_x=0.3536 left_y=-0.1309 left_z=0.2081 left_yaw=0.062 left_pitch=0.0872 left_roll=-0.0438 left_gripper=0.996 right_x=0.2946 right_y=0.1984 right_z=0.062 right_yaw=0.4445 right_pitch=-0.6217 right_roll=0.0337 right_gripper=0.0717\nstate[joint_eff]: [0.1436, -0.9641, 8.8684, 2.2735, 0.0611, 0.2027, -0.0122, -0.8137, -7.0632, 8.0752, 0.906, -0.0415, -0.0611, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.8146, 1.8099, 1.1278, -0.1219, -0.6636, -0.5533, 0.996, 0.7956, 1.3407, 0.7177, -0.1051, 0.3161, 0.2138, 0.0717]\nstate[eef_state]: left_x=0.3945 left_y=-0.2545 left_z=0.1101 left_yaw=0.0116 left_pitch=-0.0327 left_roll=0.0226 left_gripper=0.996 right_x=0.2967 right_y=0.2294 right_z=0.1166 right_yaw=0.4053 right_pitch=-0.1288 right_roll=-0.0427 right_gripper=0.0717\nstate[joint_eff]: [-1.7026, -7.6103, 9.5795, 1.6337, -0.3541, 0.0073, -0.0122, 2.441, -7.6103, 7.9521, 2.3028, -0.1343, -0.1441, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.8005, 2.0857, 1.0039, 0.289, -0.6518, -0.5495, 0.996, -0.001, 0.9771, 0.6132, -0.384, -0.2459, -0.2668, 0.0717]\nstate[eef_state]: left_x=0.4039 left_y=-0.2573 left_z=0.0038 left_yaw=0.015 left_pitch=-0.0314 left_roll=0.0119 left_gripper=0.996 right_x=0.2998 right_y=0.0463 right_z=0.1357 right_yaw=0.3453 right_pitch=-0.1642 right_roll=-0.033 right_gripper=0.0717\nstate[joint_eff]: [0.3077, -8.0889, 4.6291, 1.4139, -0.2857, 0.0659, -0.0122, -0.4718, -3.3983, 9.388, 1.6972, -0.2711, -0.0904, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:338e9716e0580b2ac0b8125b5472c243ae3733672a9378216679bcc1db306fd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a462892c8d70afc6a606b290bccd13af9e3b0b82a6e839383abd0f92b501d1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7b54c6dc010109fa4f60cd4b3a41e4847a95a46882d2354a0ba79583b7c8d64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQShwgKEAgSGAI4AUIIdGhpbmtpbmcSDMMRUjcFn/dz11q/ZhoMfgIVrWHtdnOTIIf8IjA+AL8Ir7C6Y+/PY8gt5Gtkv9u017ou/cTIDigDgwVwpkLa0OAj3a+vncKThJQU12sqpAf9gAeEkKzmWzruxu8R4KHOGgaXQF5UPkmPLm8e/lAcrXfwnWTL5UedktwAAbhLVDlNqIpHqy3G1UvaYaXgdeFdv+4tION8ULSRYwnvDA7IG1gF1FeLvN+PVpSE1YcrwIVgeaSA9Y8l9e63KUjP9XZujQVUAFHdEw/hJRfG97tBW/Io2trdiNjKyF7Rgu/EWyr5D8lJDR39lMr/bb4ha4pKEphoq3YZhBfjGtIHhSrFDZDx2WYcKB6TqT44EW8RLM2uQopwN9Z2j3QgRvctWFKQriN/SaUlrvUk2ReITNxFW2eVE67FIGMBU7KKom6yjixWAJLE9tR//OLdf3+8gMVNvhGZ1tbmKYjfgLsA+rehghyumKCnHXfnA+xI6J0cHCQe6ksSIfS7M+QlWUKZEbwZ3H4prV1RdPTtM6jw+82rPDDAHe/MMncMuIrVQlKt+fXYDS6AdpSkrA0CfEfiqZrxVIvfk1Z3sQAy1cJy5KPRUdAGYl5VNQwMjfp+WDxGxOjtkfILQiv5oFKcyMDfuUPJ4XKVKm4qT48xpBjKTmzhCtgC7GQtaY9yKG1VoVoDZbvmw8EWkCdvJVe+16cFJg+TgA2dq3KCjwTvFn/wAWeM4Qml/NE4Eae0nfqb26y6/uFd6NthCYLwEfb3m9DrmXxsc3/CMEaNerXR9u0eMi8+iv3OzYqwF9K7SMetI+lfxm0o/gN2I37FMrFYvQpz55vqS+FwMjNSCae/oAi1a6xMiLQRptGsAu2AUtt9X8ej++yUTRICctBQVkSOtSj4PEqmu9kX6TDBOg+6iGuag1PWcnCuAJy6IprCpVGR/yia+tjHl+T1tlWDdTjgraVvXtsOUMEA78WM5Fuw5J665U8VSZJqwTP1hLph3ooay5/YWQUcbTfXeMt0lcYSufSEU0yPnMAkfOsEKsqYrNWv/E29+J+8WzIuxgR2M0LpUZRBCrN8Iq6zFX6m4irpdqfju5Ot2I2AIW5jysacaSjTSTh50kLlxOqHnD1/Qi6cK0kE8gKIGI/X3f7DPlxnPzLFn89gY+mcBt0JbJh7j9Zlcy1jgodrkNeddG0F01cl1b1M1NUE0NkdK+q0dTErlT2Agi7sbr2/dH/E5lyrDx9/TOAbM1xQpqeZAYI/sBY6zk1AlpwFCgHD0eRnQsCaZ5SquM/jvGJO6zfdWpPMrkvVzRjerxEmwxN8LJzgKzoTMLANKayPyyTLDHIFPCVJr7qeSGWFB4nk2BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015ergfq44r2P4t6jSuKwyWV",
      "input": {
        "note": "At table level the cap is centred between the jaws but a couple of centimetres ahead of the fingertips. Sliding 2.5 cm forward to put it between the jaws.",
        "targets": {
          "left_x": 0.43,
          "left_z": -0.008
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015ergfq44r2P4t6jSuKwyWV",
      "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]: [-0.765, 2.1395, 1.0569, 0.334, -0.6556, -0.5297, 0.996, -0.0025, 0.9771, 0.6132, -0.4114, -0.2649, -0.2924, 0.0717]\nstate[eef_state]: left_x=0.4263 left_y=-0.255 left_z=0.0033 left_yaw=0.042 left_pitch=0.0008 left_roll=-0.0019 left_gripper=0.996 right_x=0.2946 right_y=0.0491 right_z=0.1315 right_yaw=0.3752 right_pitch=-0.1856 right_roll=-0.0299 right_gripper=0.0717\nstate[joint_eff]: [0.4444, -8.8547, 6.3385, 1.2234, 0.1001, 0.0659, -0.0122, 0.1709, -2.3863, 6.8444, 1.7705, 0.0024, 0.232, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5679a37c4f3a067087d079338afe9b37fb2eb25e4c13a1c3aad1517f60f63efd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80029e7ea0308c6aac41f9bf3c769a9a751f727135ca789b45be432827be2a66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:37fec7ea4f728b6318a08a5b4b457ed7ef60deebc009dadc4467c838b9b901d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 13.57 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]: [-0.8146, 1.8099, 1.1278, -0.1219, -0.6636, -0.5533, 0.996, 0.7956, 1.3407, 0.7177, -0.1051, 0.3161, 0.2138, 0.0717]\nstate[eef_state]: left_x=0.3945 left_y=-0.2545 left_z=0.1101 left_yaw=0.0116 left_pitch=-0.0327 left_roll=0.0226 left_gripper=0.996 right_x=0.2967 right_y=0.2294 right_z=0.1166 right_yaw=0.4053 right_pitch=-0.1288 right_roll=-0.0427 right_gripper=0.0717\nstate[joint_eff]: [-1.7026, -7.6103, 9.5795, 1.6337, -0.3541, 0.0073, -0.0122, 2.441, -7.6103, 7.9521, 2.3028, -0.1343, -0.1441, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8005, 2.0857, 1.0039, 0.289, -0.6518, -0.5495, 0.996, -0.001, 0.9771, 0.6132, -0.384, -0.2459, -0.2668, 0.0717]\nstate[eef_state]: left_x=0.4039 left_y=-0.2573 left_z=0.0038 left_yaw=0.015 left_pitch=-0.0314 left_roll=0.0119 left_gripper=0.996 right_x=0.2998 right_y=0.0463 right_z=0.1357 right_yaw=0.3453 right_pitch=-0.1642 right_roll=-0.033 right_gripper=0.0717\nstate[joint_eff]: [0.3077, -8.0889, 4.6291, 1.4139, -0.2857, 0.0659, -0.0122, -0.4718, -3.3983, 9.388, 1.6972, -0.2711, -0.0904, 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 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]: [-0.765, 2.1395, 1.0569, 0.334, -0.6556, -0.5297, 0.996, -0.0025, 0.9771, 0.6132, -0.4114, -0.2649, -0.2924, 0.0717]\nstate[eef_state]: left_x=0.4263 left_y=-0.255 left_z=0.0033 left_yaw=0.042 left_pitch=0.0008 left_roll=-0.0019 left_gripper=0.996 right_x=0.2946 right_y=0.0491 right_z=0.1315 right_yaw=0.3752 right_pitch=-0.1856 right_roll=-0.0299 right_gripper=0.0717\nstate[joint_eff]: [0.4444, -8.8547, 6.3385, 1.2234, 0.1001, 0.0659, -0.0122, 0.1709, -2.3863, 6.8444, 1.7705, 0.0024, 0.232, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5679a37c4f3a067087d079338afe9b37fb2eb25e4c13a1c3aad1517f60f63efd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80029e7ea0308c6aac41f9bf3c769a9a751f727135ca789b45be432827be2a66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37fec7ea4f728b6318a08a5b4b457ed7ef60deebc009dadc4467c838b9b901d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS+gYKEAgSGAI4AUIIdGhpbmtpbmcSDHyssqw36ZamMFtYPhoM8nlwiNI+aof46hp3IjBeBUkVxe/MU7JzJRBLjuBn77A2zE5XoDO0TJ3sancmowjQ173tUvETfPYADjwZo14qlwY5p3MijlYYYm2bmYGWqpaLkUpClJfALR3PZdGKLvzDdxzyGEEEhWl/WmEuzG/DOIybIkN13AkYGjsMeK+4lCE6eOqRPuVSnJ+w7vRDwLgLPq2T11ulwNu9ilmpL6XYrirxUxC6J3EanaB7olwPgi9auK1MtU0dDZ6h359wYSjjnnjAhjeMCHKoZZAvLyG2IiFneTJOLsHFhzpLzFNHgD42oImkQGqayA9lHaUuPMluRVkMtTcuDpEp4JSVkLoQlZ3IZ4JhCTr0SD9HMaMSVJDM70u4rKH6hni9dbNLPBbIRkyohFilSmUMqLig/x7ihoI1ybeNZ/eYM/8/1dre69E6q4YcC4CN7A09oamCuNP90801/UswTctuXFU0EdT9IyNW6bXyCdsEf1UcvZl539YUIfx82bcoxgLvkpOskwclrhc/ouPANCzTYZjT77faeFJrkjgKmdg4fGngVSVewc4onA+acLTGmK3MzUIDb9YsE1kvisGhCp6J+1ReSJNdBL90P20d8rWq1d9z8ksJZL99pamYeZ+9emb1h7igZ9ACnf/l4sSJTc1eodP1cBVPiuexNVj+f6W9nXF09ENEV7XLNP5BLIfp71awXa0a3surIy6c3IxCuQWBHYREd1oWjIklmHNXhh6s4ftcGFw+cxuuOYbHgg3GdMK6nNlY3HCNBbsONohhfSqTESuOsFIOhvdF7a/pKl/MEJowefkj+eZLTfW7bzd0uVjskWuIdp72qky1SN3qLh3J8p6xR/tJvrTj+0XvOkmtzE95wfOSP/tDRHARyDdAGkiz+v6BbsV3qrje4krtBKcTo07gpEvd++GzxT+sj2U3Tr0z6ncfAsE6utR6WaZt57ywAiL8eUFL3op1UkBapWEZ4TmoOgjYIp0JWZuDIkZvw8PdjFF0H4UJDWiHxY0bLABf00hewBHGNzVLdo/YwpjbGfc/Hv2mIRdBQdpSPoGqxUHDgBXqQjH5qhj4zggoqmirlJTmBVVXLOXAOxA06UEucKEipVbk1RnqWjmxyLvPlEoMQg4FwU0Wn1CFp0TXBxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nmz56ScsWk7cof1vADEfJb",
      "input": {
        "note": "The cap now sits between the left fingertips, centred. Closing to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Nmz56ScsWk7cof1vADEfJb",
      "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]: [-0.7628, 2.1464, 1.0645, 0.3531, -0.6704, -0.5331, 0.0514, -0.0025, 0.9771, 0.6132, -0.4122, -0.2634, -0.2897, 0.0717]\nstate[eef_state]: left_x=0.4306 left_y=-0.2548 left_z=0.0066 left_yaw=0.0573 left_pitch=0.0218 left_roll=-0.0123 left_gripper=0.0514 right_x=0.2946 right_y=0.0489 right_z=0.1313 right_yaw=0.3725 right_pitch=-0.1866 right_roll=-0.0287 right_gripper=0.0717\nstate[joint_eff]: [-0.1299, -11.3026, 4.4513, 1.3162, -0.1001, 0.0757, 1.1648, -0.1299, -2.1949, 6.9675, 1.5018, -0.1832, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fca520e140c87bb4ce368d7a3762a8becee2cc0253d88eb82eb2b481a61a811",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffcfc9fc4ed5be1e71214acd8086016dc3af92b5d6301c0f6a1a5e69e796243d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cec93e64e81f4c6e3b53002a1d460edbe11318d7c60faae093cf1bdfa97f1b9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 7.945 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]: [-0.8005, 2.0857, 1.0039, 0.289, -0.6518, -0.5495, 0.996, -0.001, 0.9771, 0.6132, -0.384, -0.2459, -0.2668, 0.0717]\nstate[eef_state]: left_x=0.4039 left_y=-0.2573 left_z=0.0038 left_yaw=0.015 left_pitch=-0.0314 left_roll=0.0119 left_gripper=0.996 right_x=0.2998 right_y=0.0463 right_z=0.1357 right_yaw=0.3453 right_pitch=-0.1642 right_roll=-0.033 right_gripper=0.0717\nstate[joint_eff]: [0.3077, -8.0889, 4.6291, 1.4139, -0.2857, 0.0659, -0.0122, -0.4718, -3.3983, 9.388, 1.6972, -0.2711, -0.0904, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.765, 2.1395, 1.0569, 0.334, -0.6556, -0.5297, 0.996, -0.0025, 0.9771, 0.6132, -0.4114, -0.2649, -0.2924, 0.0717]\nstate[eef_state]: left_x=0.4263 left_y=-0.255 left_z=0.0033 left_yaw=0.042 left_pitch=0.0008 left_roll=-0.0019 left_gripper=0.996 right_x=0.2946 right_y=0.0491 right_z=0.1315 right_yaw=0.3752 right_pitch=-0.1856 right_roll=-0.0299 right_gripper=0.0717\nstate[joint_eff]: [0.4444, -8.8547, 6.3385, 1.2234, 0.1001, 0.0659, -0.0122, 0.1709, -2.3863, 6.8444, 1.7705, 0.0024, 0.232, 1.0281]",
      "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]: [-0.7628, 2.1464, 1.0645, 0.3531, -0.6704, -0.5331, 0.0514, -0.0025, 0.9771, 0.6132, -0.4122, -0.2634, -0.2897, 0.0717]\nstate[eef_state]: left_x=0.4306 left_y=-0.2548 left_z=0.0066 left_yaw=0.0573 left_pitch=0.0218 left_roll=-0.0123 left_gripper=0.0514 right_x=0.2946 right_y=0.0489 right_z=0.1313 right_yaw=0.3725 right_pitch=-0.1866 right_roll=-0.0287 right_gripper=0.0717\nstate[joint_eff]: [-0.1299, -11.3026, 4.4513, 1.3162, -0.1001, 0.0757, 1.1648, -0.1299, -2.1949, 6.9675, 1.5018, -0.1832, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fca520e140c87bb4ce368d7a3762a8becee2cc0253d88eb82eb2b481a61a811",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffcfc9fc4ed5be1e71214acd8086016dc3af92b5d6301c0f6a1a5e69e796243d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cec93e64e81f4c6e3b53002a1d460edbe11318d7c60faae093cf1bdfa97f1b9e",
        "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_01JMKnvtgr9K8Mync3PPHDsU",
      "input": {
        "note": "Left gripper settled at 0.05, so it seems to be holding the cap. Lifting to confirm.",
        "targets": {
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JMKnvtgr9K8Mync3PPHDsU",
      "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]: [-0.7624, 1.8904, 1.2457, -0.1207, -0.6735, -0.5419, 0.0573, -0.0025, 0.9771, 0.6128, -0.4129, -0.2638, -0.2897, 0.0717]\nstate[eef_state]: left_x=0.4293 left_y=-0.2527 left_z=0.1193 left_yaw=0.0643 left_pitch=-0.0016 left_roll=0.0085 left_gripper=0.0573 right_x=0.2943 right_y=0.0489 right_z=0.131 right_yaw=0.3729 right_pitch=-0.1876 right_roll=-0.028 right_gripper=0.0717\nstate[joint_eff]: [-0.2256, -12.9436, 9.265, 1.4432, -0.2955, 0.0757, 1.033, -0.2256, -2.3453, 7.0632, 1.4921, -0.1685, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a50bfcd21171771538cb3fa873dc54c60751feb0cd4bd0b1b56683b32397f57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9fe570970610b68599a87e71c689a71d76e92dc678801f5d70f699f7588e29a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:df6f662297c34989a3d6caa5e343537684199fc25747f997dad4ec5d08ad7891",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 8.499 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]: [-0.765, 2.1395, 1.0569, 0.334, -0.6556, -0.5297, 0.996, -0.0025, 0.9771, 0.6132, -0.4114, -0.2649, -0.2924, 0.0717]\nstate[eef_state]: left_x=0.4263 left_y=-0.255 left_z=0.0033 left_yaw=0.042 left_pitch=0.0008 left_roll=-0.0019 left_gripper=0.996 right_x=0.2946 right_y=0.0491 right_z=0.1315 right_yaw=0.3752 right_pitch=-0.1856 right_roll=-0.0299 right_gripper=0.0717\nstate[joint_eff]: [0.4444, -8.8547, 6.3385, 1.2234, 0.1001, 0.0659, -0.0122, 0.1709, -2.3863, 6.8444, 1.7705, 0.0024, 0.232, 1.0281]",
      "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]: [-0.7628, 2.1464, 1.0645, 0.3531, -0.6704, -0.5331, 0.0514, -0.0025, 0.9771, 0.6132, -0.4122, -0.2634, -0.2897, 0.0717]\nstate[eef_state]: left_x=0.4306 left_y=-0.2548 left_z=0.0066 left_yaw=0.0573 left_pitch=0.0218 left_roll=-0.0123 left_gripper=0.0514 right_x=0.2946 right_y=0.0489 right_z=0.1313 right_yaw=0.3725 right_pitch=-0.1866 right_roll=-0.0287 right_gripper=0.0717\nstate[joint_eff]: [-0.1299, -11.3026, 4.4513, 1.3162, -0.1001, 0.0757, 1.1648, -0.1299, -2.1949, 6.9675, 1.5018, -0.1832, -0.0317, 1.0281]",
      "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]: [-0.7624, 1.8904, 1.2457, -0.1207, -0.6735, -0.5419, 0.0573, -0.0025, 0.9771, 0.6128, -0.4129, -0.2638, -0.2897, 0.0717]\nstate[eef_state]: left_x=0.4293 left_y=-0.2527 left_z=0.1193 left_yaw=0.0643 left_pitch=-0.0016 left_roll=0.0085 left_gripper=0.0573 right_x=0.2943 right_y=0.0489 right_z=0.131 right_yaw=0.3729 right_pitch=-0.1876 right_roll=-0.028 right_gripper=0.0717\nstate[joint_eff]: [-0.2256, -12.9436, 9.265, 1.4432, -0.2955, 0.0757, 1.033, -0.2256, -2.3453, 7.0632, 1.4921, -0.1685, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a50bfcd21171771538cb3fa873dc54c60751feb0cd4bd0b1b56683b32397f57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9fe570970610b68599a87e71c689a71d76e92dc678801f5d70f699f7588e29a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df6f662297c34989a3d6caa5e343537684199fc25747f997dad4ec5d08ad7891",
        "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_01KyidQtDCGZ89o3GoiULGV2",
      "input": {
        "note": "Both objects appear held: pen in the right gripper (tip pointing forward of the tool), cap in the left. Rotating the right wrist so the pen tip points toward the table centre (+y) at a common height of 20 cm.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.35,
          "right_y": 0.0,
          "right_yaw": 1.45,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01KyidQtDCGZ89o3GoiULGV2",
      "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]: [-0.7624, 1.8961, 1.2419, -0.1383, -0.6735, -0.5415, 0.0603, -0.3996, 1.935, 1.5887, -1.2533, -0.9112, -1.4467, 0.0718]\nstate[eef_state]: left_x=0.4268 left_y=-0.2503 left_z=0.1126 left_yaw=0.0643 left_pitch=-0.02 left_roll=0.0288 left_gripper=0.0603 right_x=0.3869 right_y=-0.008 right_z=0.1539 right_yaw=1.1012 right_pitch=-0.1094 right_roll=0.1291 right_gripper=0.0718\nstate[joint_eff]: [-0.1573, -10.4821, 6.6803, 1.5556, -0.3346, -0.022, 1.033, 2.3726, -11.2205, 6.4205, -0.7204, -0.8034, -0.1783, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e304af541cc080c79f14db562429dda6a4e75e706ebc28efe8f7c84cf54f29c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:097ff170ed3c1917e050f71784d5df2b9f843b37d3bb73bb33075ce56b39ea63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db0447940f4f8feeab485c8713472f79ea6e2ba70d209ab96793bb2def0f56a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 25.66 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]: [-0.7628, 2.1464, 1.0645, 0.3531, -0.6704, -0.5331, 0.0514, -0.0025, 0.9771, 0.6132, -0.4122, -0.2634, -0.2897, 0.0717]\nstate[eef_state]: left_x=0.4306 left_y=-0.2548 left_z=0.0066 left_yaw=0.0573 left_pitch=0.0218 left_roll=-0.0123 left_gripper=0.0514 right_x=0.2946 right_y=0.0489 right_z=0.1313 right_yaw=0.3725 right_pitch=-0.1866 right_roll=-0.0287 right_gripper=0.0717\nstate[joint_eff]: [-0.1299, -11.3026, 4.4513, 1.3162, -0.1001, 0.0757, 1.1648, -0.1299, -2.1949, 6.9675, 1.5018, -0.1832, -0.0317, 1.0281]",
      "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]: [-0.7624, 1.8904, 1.2457, -0.1207, -0.6735, -0.5419, 0.0573, -0.0025, 0.9771, 0.6128, -0.4129, -0.2638, -0.2897, 0.0717]\nstate[eef_state]: left_x=0.4293 left_y=-0.2527 left_z=0.1193 left_yaw=0.0643 left_pitch=-0.0016 left_roll=0.0085 left_gripper=0.0573 right_x=0.2943 right_y=0.0489 right_z=0.131 right_yaw=0.3729 right_pitch=-0.1876 right_roll=-0.028 right_gripper=0.0717\nstate[joint_eff]: [-0.2256, -12.9436, 9.265, 1.4432, -0.2955, 0.0757, 1.033, -0.2256, -2.3453, 7.0632, 1.4921, -0.1685, -0.0464, 1.0281]",
      "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]: [-0.7624, 1.8961, 1.2419, -0.1383, -0.6735, -0.5415, 0.0603, -0.3996, 1.935, 1.5887, -1.2533, -0.9112, -1.4467, 0.0718]\nstate[eef_state]: left_x=0.4268 left_y=-0.2503 left_z=0.1126 left_yaw=0.0643 left_pitch=-0.02 left_roll=0.0288 left_gripper=0.0603 right_x=0.3869 right_y=-0.008 right_z=0.1539 right_yaw=1.1012 right_pitch=-0.1094 right_roll=0.1291 right_gripper=0.0718\nstate[joint_eff]: [-0.1573, -10.4821, 6.6803, 1.5556, -0.3346, -0.022, 1.033, 2.3726, -11.2205, 6.4205, -0.7204, -0.8034, -0.1783, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e304af541cc080c79f14db562429dda6a4e75e706ebc28efe8f7c84cf54f29c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:097ff170ed3c1917e050f71784d5df2b9f843b37d3bb73bb33075ce56b39ea63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db0447940f4f8feeab485c8713472f79ea6e2ba70d209ab96793bb2def0f56a6",
        "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_017xwrsynHDoDfweMhhqw1zW",
      "input": {
        "note": "Right wrist reached yaw 1.1 (pen pointing forward-left). Turning the pen fully toward the centre (+y) and rotating the left wrist so the cap points toward the pen (-y), both at the same x and height.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.37,
          "left_y": -0.3,
          "left_yaw": -1.5,
          "left_z": 0.18,
          "right_x": 0.37,
          "right_y": 0.0,
          "right_yaw": 1.57,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017xwrsynHDoDfweMhhqw1zW",
      "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]: [-0.4137, 1.8439, 1.4303, -0.4057, 0.6643, 0.572, 0.0622, -0.424, 1.9736, 1.6176, -1.3804, -0.9401, -1.5818, 0.0718]\nstate[eef_state]: left_x=0.3995 left_y=-0.2904 left_z=0.17 left_yaw=-1.2717 left_pitch=-0.0421 left_roll=0.0006 left_gripper=0.0622 right_x=0.3747 right_y=-0.0087 right_z=0.1541 right_yaw=1.1575 right_pitch=-0.0736 right_roll=0.1588 right_gripper=0.0718\nstate[joint_eff]: [0.0889, -10.2632, 7.5145, 0.9597, 0.4127, 0.2662, 1.0281, -0.1983, -12.0957, 6.612, -0.0611, -0.6813, 0.0806, 1.0037]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75cef5e82ef7e6355f123e6ede371242a8b013690bfca78be377a208a3e61ea5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5671108100f5faa2ce76b7825736f2cd229d537e047aea0932f89a6f3ab12c7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4a93dfe5e5579b884885d8fded7b93532513ff6a2047c7916e1b9ad5855904ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 12.42 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]: [-0.7624, 1.8904, 1.2457, -0.1207, -0.6735, -0.5419, 0.0573, -0.0025, 0.9771, 0.6128, -0.4129, -0.2638, -0.2897, 0.0717]\nstate[eef_state]: left_x=0.4293 left_y=-0.2527 left_z=0.1193 left_yaw=0.0643 left_pitch=-0.0016 left_roll=0.0085 left_gripper=0.0573 right_x=0.2943 right_y=0.0489 right_z=0.131 right_yaw=0.3729 right_pitch=-0.1876 right_roll=-0.028 right_gripper=0.0717\nstate[joint_eff]: [-0.2256, -12.9436, 9.265, 1.4432, -0.2955, 0.0757, 1.033, -0.2256, -2.3453, 7.0632, 1.4921, -0.1685, -0.0464, 1.0281]",
      "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]: [-0.7624, 1.8961, 1.2419, -0.1383, -0.6735, -0.5415, 0.0603, -0.3996, 1.935, 1.5887, -1.2533, -0.9112, -1.4467, 0.0718]\nstate[eef_state]: left_x=0.4268 left_y=-0.2503 left_z=0.1126 left_yaw=0.0643 left_pitch=-0.02 left_roll=0.0288 left_gripper=0.0603 right_x=0.3869 right_y=-0.008 right_z=0.1539 right_yaw=1.1012 right_pitch=-0.1094 right_roll=0.1291 right_gripper=0.0718\nstate[joint_eff]: [-0.1573, -10.4821, 6.6803, 1.5556, -0.3346, -0.022, 1.033, 2.3726, -11.2205, 6.4205, -0.7204, -0.8034, -0.1783, 1.0232]",
      "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]: [-0.4137, 1.8439, 1.4303, -0.4057, 0.6643, 0.572, 0.0622, -0.424, 1.9736, 1.6176, -1.3804, -0.9401, -1.5818, 0.0718]\nstate[eef_state]: left_x=0.3995 left_y=-0.2904 left_z=0.17 left_yaw=-1.2717 left_pitch=-0.0421 left_roll=0.0006 left_gripper=0.0622 right_x=0.3747 right_y=-0.0087 right_z=0.1541 right_yaw=1.1575 right_pitch=-0.0736 right_roll=0.1588 right_gripper=0.0718\nstate[joint_eff]: [0.0889, -10.2632, 7.5145, 0.9597, 0.4127, 0.2662, 1.0281, -0.1983, -12.0957, 6.612, -0.0611, -0.6813, 0.0806, 1.0037]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75cef5e82ef7e6355f123e6ede371242a8b013690bfca78be377a208a3e61ea5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5671108100f5faa2ce76b7825736f2cd229d537e047aea0932f89a6f3ab12c7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a93dfe5e5579b884885d8fded7b93532513ff6a2047c7916e1b9ad5855904ca",
        "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_01KNdmRHjzncpUwGCTvcQbnE",
      "input": {
        "note": "Right wrist saturates near yaw 1.16, so the pen points forward-left. Shifting the right arm toward the centre and rotating the left wrist further so the cap points back-right, opposite the pen tip, at the same height.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.3,
          "left_yaw": -2.0,
          "left_z": 0.19,
          "right_x": 0.35,
          "right_y": 0.15,
          "right_yaw": 1.57,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01KNdmRHjzncpUwGCTvcQbnE",
      "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]: [-0.374, 2.4969, 2.4649, -1.5394, 0.9245, 1.507, 0.0631, -0.004, 1.9667, 1.7325, -1.4639, -0.9325, -1.5593, 0.0754]\nstate[eef_state]: left_x=0.3943 left_y=-0.3024 left_z=0.1465 left_yaw=-1.9207 left_pitch=-0.076 left_roll=-0.0423 left_gripper=0.0631 right_x=0.3521 right_y=0.144 right_z=0.1834 right_yaw=1.5639 right_pitch=-0.0832 right_roll=0.1388 right_gripper=0.0754\nstate[joint_eff]: [-0.6496, -16.5265, 5.9556, 0.3004, 0.7839, 0.2271, 1.0037, 0.2393, -8.9094, 7.5829, -0.2418, -0.6081, 0.0513, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:670e8db03359ef8f14eb08086a67765169256f4012bc50d59035cbbafee92537",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24860136d01c6566ba03353f0e4064dc9cc434daaac559f6718852d374db541a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d0f0a02ab3bccf332c147f7f3eda52fd6246407dda55421349d7b9f04bfeccae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 9.794 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]: [-0.7624, 1.8961, 1.2419, -0.1383, -0.6735, -0.5415, 0.0603, -0.3996, 1.935, 1.5887, -1.2533, -0.9112, -1.4467, 0.0718]\nstate[eef_state]: left_x=0.4268 left_y=-0.2503 left_z=0.1126 left_yaw=0.0643 left_pitch=-0.02 left_roll=0.0288 left_gripper=0.0603 right_x=0.3869 right_y=-0.008 right_z=0.1539 right_yaw=1.1012 right_pitch=-0.1094 right_roll=0.1291 right_gripper=0.0718\nstate[joint_eff]: [-0.1573, -10.4821, 6.6803, 1.5556, -0.3346, -0.022, 1.033, 2.3726, -11.2205, 6.4205, -0.7204, -0.8034, -0.1783, 1.0232]",
      "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]: [-0.4137, 1.8439, 1.4303, -0.4057, 0.6643, 0.572, 0.0622, -0.424, 1.9736, 1.6176, -1.3804, -0.9401, -1.5818, 0.0718]\nstate[eef_state]: left_x=0.3995 left_y=-0.2904 left_z=0.17 left_yaw=-1.2717 left_pitch=-0.0421 left_roll=0.0006 left_gripper=0.0622 right_x=0.3747 right_y=-0.0087 right_z=0.1541 right_yaw=1.1575 right_pitch=-0.0736 right_roll=0.1588 right_gripper=0.0718\nstate[joint_eff]: [0.0889, -10.2632, 7.5145, 0.9597, 0.4127, 0.2662, 1.0281, -0.1983, -12.0957, 6.612, -0.0611, -0.6813, 0.0806, 1.0037]\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]: [-0.374, 2.4969, 2.4649, -1.5394, 0.9245, 1.507, 0.0631, -0.004, 1.9667, 1.7325, -1.4639, -0.9325, -1.5593, 0.0754]\nstate[eef_state]: left_x=0.3943 left_y=-0.3024 left_z=0.1465 left_yaw=-1.9207 left_pitch=-0.076 left_roll=-0.0423 left_gripper=0.0631 right_x=0.3521 right_y=0.144 right_z=0.1834 right_yaw=1.5639 right_pitch=-0.0832 right_roll=0.1388 right_gripper=0.0754\nstate[joint_eff]: [-0.6496, -16.5265, 5.9556, 0.3004, 0.7839, 0.2271, 1.0037, 0.2393, -8.9094, 7.5829, -0.2418, -0.6081, 0.0513, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:670e8db03359ef8f14eb08086a67765169256f4012bc50d59035cbbafee92537",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24860136d01c6566ba03353f0e4064dc9cc434daaac559f6718852d374db541a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0f0a02ab3bccf332c147f7f3eda52fd6246407dda55421349d7b9f04bfeccae",
        "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_01CbCEWtPBAzFm193vWxE7VZ",
      "input": {
        "note": "The pen now points straight toward the left arm (+y) at ~18 cm height, tip roughly at the table centre. Lining the cap up on the same axis a few centimetres short of the pen tip, compensating for the left arm's sag.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.35,
          "left_y": -0.34,
          "left_yaw": -1.57,
          "left_z": 0.215
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01CbCEWtPBAzFm193vWxE7VZ",
      "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]: [-0.4984, 1.9301, 1.7023, -0.8829, 0.8509, 0.9344, 0.0637, -0.0002, 1.9667, 1.7332, -1.4559, -0.918, -1.56, 0.078]\nstate[eef_state]: left_x=0.3316 left_y=-0.3276 left_z=0.1953 left_yaw=-1.6792 left_pitch=-0.0615 left_roll=-0.0337 left_gripper=0.0637 right_x=0.3529 right_y=0.1438 right_z=0.1814 right_yaw=1.5691 right_pitch=-0.0975 right_roll=0.1293 right_gripper=0.078\nstate[joint_eff]: [-0.0342, -9.8393, 6.6803, 1.4042, 0.398, -0.1245, 1.033, -0.253, -9.812, 5.4906, -0.0757, -0.6471, -0.022, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f28f6f18fd3d38aece135942ee83e41ac0b19ed9ccf078936c0f77e41afa5877",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:003ec77980d539fd916cae42f1ab118a693865ec395b7e862d9ba7a06d6a0189",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0942dccadc9e92dd87b09e6add55abf2e3744902c82d59680527818af2353983",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 5.311 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]: [-0.4137, 1.8439, 1.4303, -0.4057, 0.6643, 0.572, 0.0622, -0.424, 1.9736, 1.6176, -1.3804, -0.9401, -1.5818, 0.0718]\nstate[eef_state]: left_x=0.3995 left_y=-0.2904 left_z=0.17 left_yaw=-1.2717 left_pitch=-0.0421 left_roll=0.0006 left_gripper=0.0622 right_x=0.3747 right_y=-0.0087 right_z=0.1541 right_yaw=1.1575 right_pitch=-0.0736 right_roll=0.1588 right_gripper=0.0718\nstate[joint_eff]: [0.0889, -10.2632, 7.5145, 0.9597, 0.4127, 0.2662, 1.0281, -0.1983, -12.0957, 6.612, -0.0611, -0.6813, 0.0806, 1.0037]\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]: [-0.374, 2.4969, 2.4649, -1.5394, 0.9245, 1.507, 0.0631, -0.004, 1.9667, 1.7325, -1.4639, -0.9325, -1.5593, 0.0754]\nstate[eef_state]: left_x=0.3943 left_y=-0.3024 left_z=0.1465 left_yaw=-1.9207 left_pitch=-0.076 left_roll=-0.0423 left_gripper=0.0631 right_x=0.3521 right_y=0.144 right_z=0.1834 right_yaw=1.5639 right_pitch=-0.0832 right_roll=0.1388 right_gripper=0.0754\nstate[joint_eff]: [-0.6496, -16.5265, 5.9556, 0.3004, 0.7839, 0.2271, 1.0037, 0.2393, -8.9094, 7.5829, -0.2418, -0.6081, 0.0513, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4984, 1.9301, 1.7023, -0.8829, 0.8509, 0.9344, 0.0637, -0.0002, 1.9667, 1.7332, -1.4559, -0.918, -1.56, 0.078]\nstate[eef_state]: left_x=0.3316 left_y=-0.3276 left_z=0.1953 left_yaw=-1.6792 left_pitch=-0.0615 left_roll=-0.0337 left_gripper=0.0637 right_x=0.3529 right_y=0.1438 right_z=0.1814 right_yaw=1.5691 right_pitch=-0.0975 right_roll=0.1293 right_gripper=0.078\nstate[joint_eff]: [-0.0342, -9.8393, 6.6803, 1.4042, 0.398, -0.1245, 1.033, -0.253, -9.812, 5.4906, -0.0757, -0.6471, -0.022, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f28f6f18fd3d38aece135942ee83e41ac0b19ed9ccf078936c0f77e41afa5877",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:003ec77980d539fd916cae42f1ab118a693865ec395b7e862d9ba7a06d6a0189",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0942dccadc9e92dd87b09e6add55abf2e3744902c82d59680527818af2353983",
        "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_018dDiGs6tY9mrGWdrxJNDDL",
      "input": {
        "note": "The pen tip is visible just ahead of the left jaws, slightly forward (+x) of the cap's line. Shifting the left arm ~2 cm forward and a bit closer so the cap mouth sits right at the pen tip.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.365,
          "left_yaw": -1.57,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018dDiGs6tY9mrGWdrxJNDDL",
      "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]: [-0.5392, 2.0472, 1.8191, -0.8009, 0.7807, 0.762, 0.0638, 0.0006, 1.9667, 1.7321, -1.4559, -0.9161, -1.56, 0.0802]\nstate[eef_state]: left_x=0.362 left_y=-0.3573 left_z=0.1822 left_yaw=-1.5855 left_pitch=-0.0851 left_roll=-0.0713 left_gripper=0.0638 right_x=0.3525 right_y=0.1439 right_z=0.1808 right_yaw=1.5702 right_pitch=-0.0994 right_roll=0.1305 right_gripper=0.0802\nstate[joint_eff]: [-0.4308, -11.9863, 9.935, 1.2137, 0.3883, -0.0464, 1.033, -0.4034, -9.812, 5.6137, 0.0415, -0.4811, -0.0269, 0.7546]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bbe755f68623b9a07d7b61209ed7d9f29ae53602f2681a3a670518dc4b73e22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a28b0392539ffb8c387e6a6a25f63aae2671e292be1fdde6ea4911131e701dce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:03263f61eaffe045dc16a00ea766b8f135de60f26bf262cc7e5dd9e2cdf97357",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 9.188 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]: [-0.374, 2.4969, 2.4649, -1.5394, 0.9245, 1.507, 0.0631, -0.004, 1.9667, 1.7325, -1.4639, -0.9325, -1.5593, 0.0754]\nstate[eef_state]: left_x=0.3943 left_y=-0.3024 left_z=0.1465 left_yaw=-1.9207 left_pitch=-0.076 left_roll=-0.0423 left_gripper=0.0631 right_x=0.3521 right_y=0.144 right_z=0.1834 right_yaw=1.5639 right_pitch=-0.0832 right_roll=0.1388 right_gripper=0.0754\nstate[joint_eff]: [-0.6496, -16.5265, 5.9556, 0.3004, 0.7839, 0.2271, 1.0037, 0.2393, -8.9094, 7.5829, -0.2418, -0.6081, 0.0513, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4984, 1.9301, 1.7023, -0.8829, 0.8509, 0.9344, 0.0637, -0.0002, 1.9667, 1.7332, -1.4559, -0.918, -1.56, 0.078]\nstate[eef_state]: left_x=0.3316 left_y=-0.3276 left_z=0.1953 left_yaw=-1.6792 left_pitch=-0.0615 left_roll=-0.0337 left_gripper=0.0637 right_x=0.3529 right_y=0.1438 right_z=0.1814 right_yaw=1.5691 right_pitch=-0.0975 right_roll=0.1293 right_gripper=0.078\nstate[joint_eff]: [-0.0342, -9.8393, 6.6803, 1.4042, 0.398, -0.1245, 1.033, -0.253, -9.812, 5.4906, -0.0757, -0.6471, -0.022, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5392, 2.0472, 1.8191, -0.8009, 0.7807, 0.762, 0.0638, 0.0006, 1.9667, 1.7321, -1.4559, -0.9161, -1.56, 0.0802]\nstate[eef_state]: left_x=0.362 left_y=-0.3573 left_z=0.1822 left_yaw=-1.5855 left_pitch=-0.0851 left_roll=-0.0713 left_gripper=0.0638 right_x=0.3525 right_y=0.1439 right_z=0.1808 right_yaw=1.5702 right_pitch=-0.0994 right_roll=0.1305 right_gripper=0.0802\nstate[joint_eff]: [-0.4308, -11.9863, 9.935, 1.2137, 0.3883, -0.0464, 1.033, -0.4034, -9.812, 5.6137, 0.0415, -0.4811, -0.0269, 0.7546]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bbe755f68623b9a07d7b61209ed7d9f29ae53602f2681a3a670518dc4b73e22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a28b0392539ffb8c387e6a6a25f63aae2671e292be1fdde6ea4911131e701dce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03263f61eaffe045dc16a00ea766b8f135de60f26bf262cc7e5dd9e2cdf97357",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSwwkKEAgSGAI4AUIIdGhpbmtpbmcSDP/wB4K16+9cEpVlvhoMJr6j+1T2SGyexb9XIjAfVN1r7/tswfOZrovk8YdKxv/KG7xDYCEvcSscoDj/ZpuP5eREy269ifLeugpLK6Qq4Ahea8/zoel0BO+dK1ijgymRJuPVB1bZ9lGaWfzCUlFpD9ptNCdguJkhJPR20vgiASGXuEMU3/OZovf4jaekFZSae7dw9LsiNsC4VxjcXMhpQ9kfr1Ip5JXpBauPcNFIh1ThRNAorPw8dAO5gySP6nzTAHyW40DVhjOO//JYJ8D2pMY3GV9JFCTUdyJg+iFmjjhLYKvZm0Eqcb7HBIOzCE+2TEN4UPyTe0paTd5yHIlCJ+bnMjiZC8AKJxvANXO+ivIgTyzN5bAkTmR21jYamVuuYSPEFZXBhPNakNkaL9DaecUOxCmPQfDqgjya/AM5jZpKl1Q5SdiDvGKvL4OnPoeDaxcle42TOBYkb9tq1mIlVvTmEyRpkxDQCyo+Xn0/5sGKKg8cgyVYHMXE2/euBkIFOxsM/S26GUvXJYrWY1Q+cCVLiI6z8R/kt17bBshu3T46D4yHoPYemKIVr+krwGGM6o4emxQhIJxT88vVs64FCJWVejAdDQgZ9gcIZj169nsIr/4Z9vjAfX5Glc9uCNoC6gPNft5W7K2LE/VdCiRKNv9TwcAOkCL/AbFjVoT/BViGJMcGxoC6M+dwHBfEkIipCHJ+UlRSCaaZU4JdS4BInK0cQLf8PJbpZl46utZubUGfJo0jf44tJVP3vzJIIqyESL5inCE9gsQNapBv/09PCfnWZ3jtRu56xyxTPCYZeIWvl9YYTa6t0GyMdvxq2JcbEwvDqlheKyu+BmJfXQ4xhFQLQEXaAO57NsikmgSsnpe/dCEQKyzKqAJF0sYOfRibBsODbM1z32/DTasDK0GBeiic3qAPehJcZ4hahM4fagtYXbE/UQviUuCyMJ+Jbbwa4aJ0jpuHOSieBitbMd5sbghMPkaOxxl4g/aLTRliL6ANJeND1ttHhl8K2FkD89KqfYDDsRz1Zu3mMw9qhtOCfU6WYezoAzU+awwvutj/GbL5fP33iSEl8R8I1ZR+JO47iy5q9cinv5gzTlqe+s8X4mKUiH15eteZ23lh+6bpmf+wVxqB+5F1NFe8qeFQA8l7V/fIoMrWcLp3lhnYsYRg5lq66nnGu7g8/Gq/pEm6xCxjzd5xExuh9xL5mNlVtiC5ceU+qSuFiUCGaaXQ7y1dWLkk5HxJckga70qwGGnUKMfZgWR6mUdpvjgNZBTRwecpRE819/56II8zkFPbTmxLN4d+s32aClIZQySOj/GB1iflk8eHPMT+S9CzrKxJXzDvxjNKEd0UPmL3mxmHfUtT+20jzBrhr6TyNeKKCMDYsIYk0UfRAy90xtyOy/iH8DiO9kgtRxYhaaaIgQKrE2S5dClA4EIjD2aXESFsjpVweqCNV8MczL6z4HxqG8iCHplOgyvIQ2eyFMJJ6Ty1JqeNSyCQVJNfnHx52VDLoiMWGvPY485xL8AecO/rnbXet9wkl7CvFKoDJsKWnf4FfThJN/4ZFqysCoOTtPsBPkvJf3hxFa3qG61CgGUd0BlmjZv/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C4ayLfgF9oLnNPr8LgKPGc",
      "input": {
        "note": "Both wrist cameras show the pen and the left jaws on a common axis at equal height, with the pen tip just at the left fingertips. Pushing the cap straight onto the pen tip along -y.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.395,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01C4ayLfgF9oLnNPr8LgKPGc",
      "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]: [-0.5449, 2.0636, 1.842, -0.8017, 0.762, 0.7338, 0.0638, 0.0013, 1.9667, 1.7321, -1.4551, -0.9127, -1.5597, 0.0812]\nstate[eef_state]: left_x=0.3663 left_y=-0.3604 left_z=0.1804 left_yaw=-1.5651 left_pitch=-0.097 left_roll=-0.0805 left_gripper=0.0638 right_x=0.3525 right_y=0.1438 right_z=0.1803 right_yaw=1.571 right_pitch=-0.1028 right_roll=0.13 right_gripper=0.0812\nstate[joint_eff]: [-0.294, -12.2735, 9.4154, 1.1941, 0.4176, -0.0171, 1.0281, -0.3214, -9.7983, 5.7504, 0.1099, -0.4762, -0.0317, 0.7985]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f84fe3fe53b7471283a31b45c94c92416822783f683b3a4ed593142c6cdb6ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dea841a5491d0800ccb37272108532144f02a08cf45213b3333f9f3270536824",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:674bb47cc5a8bc7f747873fe6e37f31abe70a861424a71c5d81a891072708aae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 9.007 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]: [-0.4984, 1.9301, 1.7023, -0.8829, 0.8509, 0.9344, 0.0637, -0.0002, 1.9667, 1.7332, -1.4559, -0.918, -1.56, 0.078]\nstate[eef_state]: left_x=0.3316 left_y=-0.3276 left_z=0.1953 left_yaw=-1.6792 left_pitch=-0.0615 left_roll=-0.0337 left_gripper=0.0637 right_x=0.3529 right_y=0.1438 right_z=0.1814 right_yaw=1.5691 right_pitch=-0.0975 right_roll=0.1293 right_gripper=0.078\nstate[joint_eff]: [-0.0342, -9.8393, 6.6803, 1.4042, 0.398, -0.1245, 1.033, -0.253, -9.812, 5.4906, -0.0757, -0.6471, -0.022, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5392, 2.0472, 1.8191, -0.8009, 0.7807, 0.762, 0.0638, 0.0006, 1.9667, 1.7321, -1.4559, -0.9161, -1.56, 0.0802]\nstate[eef_state]: left_x=0.362 left_y=-0.3573 left_z=0.1822 left_yaw=-1.5855 left_pitch=-0.0851 left_roll=-0.0713 left_gripper=0.0638 right_x=0.3525 right_y=0.1439 right_z=0.1808 right_yaw=1.5702 right_pitch=-0.0994 right_roll=0.1305 right_gripper=0.0802\nstate[joint_eff]: [-0.4308, -11.9863, 9.935, 1.2137, 0.3883, -0.0464, 1.033, -0.4034, -9.812, 5.6137, 0.0415, -0.4811, -0.0269, 0.7546]\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]: [-0.5449, 2.0636, 1.842, -0.8017, 0.762, 0.7338, 0.0638, 0.0013, 1.9667, 1.7321, -1.4551, -0.9127, -1.5597, 0.0812]\nstate[eef_state]: left_x=0.3663 left_y=-0.3604 left_z=0.1804 left_yaw=-1.5651 left_pitch=-0.097 left_roll=-0.0805 left_gripper=0.0638 right_x=0.3525 right_y=0.1438 right_z=0.1803 right_yaw=1.571 right_pitch=-0.1028 right_roll=0.13 right_gripper=0.0812\nstate[joint_eff]: [-0.294, -12.2735, 9.4154, 1.1941, 0.4176, -0.0171, 1.0281, -0.3214, -9.7983, 5.7504, 0.1099, -0.4762, -0.0317, 0.7985]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f84fe3fe53b7471283a31b45c94c92416822783f683b3a4ed593142c6cdb6ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dea841a5491d0800ccb37272108532144f02a08cf45213b3333f9f3270536824",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:674bb47cc5a8bc7f747873fe6e37f31abe70a861424a71c5d81a891072708aae",
        "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_01MjmYBoGpsas8RGRuQowK6a",
      "input": {
        "note": "The left arm stalled at its reach, with the pen tip right at the cap mouth, very slightly behind the cap's axis. Pushing the pen into the cap with the right arm instead (+y) and nudging it 5 mm forward.",
        "targets": {
          "right_x": 0.357,
          "right_y": 0.175,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01MjmYBoGpsas8RGRuQowK6a",
      "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]: [-0.5449, 2.0636, 1.8431, -0.8017, 0.7616, 0.7334, 0.0638, 0.0666, 1.9667, 1.7744, -1.4361, -0.9066, -1.4815, 0.0831]\nstate[eef_state]: left_x=0.3665 left_y=-0.3605 left_z=0.1808 left_yaw=-1.5646 left_pitch=-0.0967 left_roll=-0.0797 left_gripper=0.0638 right_x=0.353 right_y=0.1665 right_z=0.1892 right_yaw=1.589 right_pitch=-0.1131 right_roll=0.1301 right_gripper=0.0831\nstate[joint_eff]: [-0.4855, -12.3009, 9.3197, 1.1893, 0.3736, -0.0269, 1.0183, 0.294, -10.0855, 7.3094, 0.0855, -0.5543, 0.1343, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfb08b7193c9377e946c765df634d652365d52b0eb4d6714ebefa1e06745571a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b3b4b0d9704cea4cef08707ffe3bfb284205ca54234c84e21e9b318dbd9dd6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ef33dd3aa98d57a0dba715d7a561215627c8987a66924322c1d42f33f35b2071",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 8.428 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]: [-0.5392, 2.0472, 1.8191, -0.8009, 0.7807, 0.762, 0.0638, 0.0006, 1.9667, 1.7321, -1.4559, -0.9161, -1.56, 0.0802]\nstate[eef_state]: left_x=0.362 left_y=-0.3573 left_z=0.1822 left_yaw=-1.5855 left_pitch=-0.0851 left_roll=-0.0713 left_gripper=0.0638 right_x=0.3525 right_y=0.1439 right_z=0.1808 right_yaw=1.5702 right_pitch=-0.0994 right_roll=0.1305 right_gripper=0.0802\nstate[joint_eff]: [-0.4308, -11.9863, 9.935, 1.2137, 0.3883, -0.0464, 1.033, -0.4034, -9.812, 5.6137, 0.0415, -0.4811, -0.0269, 0.7546]\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]: [-0.5449, 2.0636, 1.842, -0.8017, 0.762, 0.7338, 0.0638, 0.0013, 1.9667, 1.7321, -1.4551, -0.9127, -1.5597, 0.0812]\nstate[eef_state]: left_x=0.3663 left_y=-0.3604 left_z=0.1804 left_yaw=-1.5651 left_pitch=-0.097 left_roll=-0.0805 left_gripper=0.0638 right_x=0.3525 right_y=0.1438 right_z=0.1803 right_yaw=1.571 right_pitch=-0.1028 right_roll=0.13 right_gripper=0.0812\nstate[joint_eff]: [-0.294, -12.2735, 9.4154, 1.1941, 0.4176, -0.0171, 1.0281, -0.3214, -9.7983, 5.7504, 0.1099, -0.4762, -0.0317, 0.7985]",
      "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]: [-0.5449, 2.0636, 1.8431, -0.8017, 0.7616, 0.7334, 0.0638, 0.0666, 1.9667, 1.7744, -1.4361, -0.9066, -1.4815, 0.0831]\nstate[eef_state]: left_x=0.3665 left_y=-0.3605 left_z=0.1808 left_yaw=-1.5646 left_pitch=-0.0967 left_roll=-0.0797 left_gripper=0.0638 right_x=0.353 right_y=0.1665 right_z=0.1892 right_yaw=1.589 right_pitch=-0.1131 right_roll=0.1301 right_gripper=0.0831\nstate[joint_eff]: [-0.4855, -12.3009, 9.3197, 1.1893, 0.3736, -0.0269, 1.0183, 0.294, -10.0855, 7.3094, 0.0855, -0.5543, 0.1343, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfb08b7193c9377e946c765df634d652365d52b0eb4d6714ebefa1e06745571a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b3b4b0d9704cea4cef08707ffe3bfb284205ca54234c84e21e9b318dbd9dd6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef33dd3aa98d57a0dba715d7a561215627c8987a66924322c1d42f33f35b2071",
        "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_0158ZrdBjXWtR2psq4FPQBMy",
      "input": {
        "note": "The pen tip has reached the left fingertips but sits a few mm behind and ~8 mm above the cap's axis. Correcting x and height and pushing the pen another 2 cm into the cap.",
        "targets": {
          "right_x": 0.361,
          "right_y": 0.19,
          "right_z": 0.192
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_0158ZrdBjXWtR2psq4FPQBMy",
      "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]: [-0.5449, 2.0636, 1.8431, -0.8013, 0.7605, 0.7338, 0.0638, 0.1036, 1.9701, 1.7935, -1.4086, -0.9031, -1.4208, 0.0829]\nstate[eef_state]: left_x=0.3667 left_y=-0.3605 left_z=0.1807 left_yaw=-1.5641 left_pitch=-0.0973 left_roll=-0.0785 left_gripper=0.0638 right_x=0.3549 right_y=0.18 right_z=0.192 right_yaw=1.5892 right_pitch=-0.1182 right_roll=0.1344 right_gripper=0.0829\nstate[joint_eff]: [-0.3624, -12.4786, 9.1145, 1.2381, 0.4322, 0.0024, 1.0183, 1.3197, -8.2803, 8.0615, 0.3004, -0.5739, 0.1734, 0.6716]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c7e8cb0bee070358d0f7d78ceaef05843add56a46f4fbebf29a3c9c99f4bea5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8acde0ed8a2bb9602ef32af2914447cec7431d331c49a48935764a924cc70242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff56ccbdc3b5b15c1db3882aff899a11448b2e400a494ccd275304452c469ee1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 5.947 s

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

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5449, 2.0636, 1.842, -0.8017, 0.762, 0.7338, 0.0638, 0.0013, 1.9667, 1.7321, -1.4551, -0.9127, -1.5597, 0.0812]\nstate[eef_state]: left_x=0.3663 left_y=-0.3604 left_z=0.1804 left_yaw=-1.5651 left_pitch=-0.097 left_roll=-0.0805 left_gripper=0.0638 right_x=0.3525 right_y=0.1438 right_z=0.1803 right_yaw=1.571 right_pitch=-0.1028 right_roll=0.13 right_gripper=0.0812\nstate[joint_eff]: [-0.294, -12.2735, 9.4154, 1.1941, 0.4176, -0.0171, 1.0281, -0.3214, -9.7983, 5.7504, 0.1099, -0.4762, -0.0317, 0.7985]",
      "type": "text"
    },
    {
      "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]: [-0.5449, 2.0636, 1.8431, -0.8017, 0.7616, 0.7334, 0.0638, 0.0666, 1.9667, 1.7744, -1.4361, -0.9066, -1.4815, 0.0831]\nstate[eef_state]: left_x=0.3665 left_y=-0.3605 left_z=0.1808 left_yaw=-1.5646 left_pitch=-0.0967 left_roll=-0.0797 left_gripper=0.0638 right_x=0.353 right_y=0.1665 right_z=0.1892 right_yaw=1.589 right_pitch=-0.1131 right_roll=0.1301 right_gripper=0.0831\nstate[joint_eff]: [-0.4855, -12.3009, 9.3197, 1.1893, 0.3736, -0.0269, 1.0183, 0.294, -10.0855, 7.3094, 0.0855, -0.5543, 0.1343, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 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]: [-0.5449, 2.0636, 1.8431, -0.8013, 0.7605, 0.7338, 0.0638, 0.1036, 1.9701, 1.7935, -1.4086, -0.9031, -1.4208, 0.0829]\nstate[eef_state]: left_x=0.3667 left_y=-0.3605 left_z=0.1807 left_yaw=-1.5641 left_pitch=-0.0973 left_roll=-0.0785 left_gripper=0.0638 right_x=0.3549 right_y=0.18 right_z=0.192 right_yaw=1.5892 right_pitch=-0.1182 right_roll=0.1344 right_gripper=0.0829\nstate[joint_eff]: [-0.3624, -12.4786, 9.1145, 1.2381, 0.4322, 0.0024, 1.0183, 1.3197, -8.2803, 8.0615, 0.3004, -0.5739, 0.1734, 0.6716]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c7e8cb0bee070358d0f7d78ceaef05843add56a46f4fbebf29a3c9c99f4bea5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8acde0ed8a2bb9602ef32af2914447cec7431d331c49a48935764a924cc70242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff56ccbdc3b5b15c1db3882aff899a11448b2e400a494ccd275304452c469ee1",
        "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_01PK5zvfPXzoqHxHMaZ7Dcgc",
      "input": {
        "note": "The pen tip has entered the left jaws on-axis and the right arm stopped short with rising effort, suggesting it's in the cap. Pushing a little harder to seat the cap.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.2,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01PK5zvfPXzoqHxHMaZ7Dcgc",
      "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]: [-0.5449, 2.0636, 1.8431, -0.8009, 0.7582, 0.7338, 0.0638, 0.1307, 1.9835, 1.7935, -1.3796, -0.8948, -1.3949, 0.0836]\nstate[eef_state]: left_x=0.367 left_y=-0.3603 left_z=0.1805 left_yaw=-1.5628 left_pitch=-0.0987 left_roll=-0.0772 left_gripper=0.0638 right_x=0.3562 right_y=0.1894 right_z=0.1861 right_yaw=1.6006 right_pitch=-0.1271 right_roll=0.1383 right_gripper=0.0836\nstate[joint_eff]: [-0.4991, -12.4786, 9.1419, 1.1941, 0.4274, -0.022, 1.0134, -0.6496, -9.6479, 7.5966, 0.2418, -0.6325, 0.0611, 0.6813]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88ce6fb96068a2e3370672e3c51ac3c99017fca27f5e47d716ed57144e0031bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73ee60e3d9765acf8ab9c9f645a73cd2c5911d1097a585ea6ee592ef898a2abc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a797503e3f2b4d9e15f759e66006d7257b81f29dd567fda00a2bf7cda2078bcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 9.674 s

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

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5449, 2.0636, 1.8431, -0.8017, 0.7616, 0.7334, 0.0638, 0.0666, 1.9667, 1.7744, -1.4361, -0.9066, -1.4815, 0.0831]\nstate[eef_state]: left_x=0.3665 left_y=-0.3605 left_z=0.1808 left_yaw=-1.5646 left_pitch=-0.0967 left_roll=-0.0797 left_gripper=0.0638 right_x=0.353 right_y=0.1665 right_z=0.1892 right_yaw=1.589 right_pitch=-0.1131 right_roll=0.1301 right_gripper=0.0831\nstate[joint_eff]: [-0.4855, -12.3009, 9.3197, 1.1893, 0.3736, -0.0269, 1.0183, 0.294, -10.0855, 7.3094, 0.0855, -0.5543, 0.1343, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 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]: [-0.5449, 2.0636, 1.8431, -0.8013, 0.7605, 0.7338, 0.0638, 0.1036, 1.9701, 1.7935, -1.4086, -0.9031, -1.4208, 0.0829]\nstate[eef_state]: left_x=0.3667 left_y=-0.3605 left_z=0.1807 left_yaw=-1.5641 left_pitch=-0.0973 left_roll=-0.0785 left_gripper=0.0638 right_x=0.3549 right_y=0.18 right_z=0.192 right_yaw=1.5892 right_pitch=-0.1182 right_roll=0.1344 right_gripper=0.0829\nstate[joint_eff]: [-0.3624, -12.4786, 9.1145, 1.2381, 0.4322, 0.0024, 1.0183, 1.3197, -8.2803, 8.0615, 0.3004, -0.5739, 0.1734, 0.6716]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5449, 2.0636, 1.8431, -0.8009, 0.7582, 0.7338, 0.0638, 0.1307, 1.9835, 1.7935, -1.3796, -0.8948, -1.3949, 0.0836]\nstate[eef_state]: left_x=0.367 left_y=-0.3603 left_z=0.1805 left_yaw=-1.5628 left_pitch=-0.0987 left_roll=-0.0772 left_gripper=0.0638 right_x=0.3562 right_y=0.1894 right_z=0.1861 right_yaw=1.6006 right_pitch=-0.1271 right_roll=0.1383 right_gripper=0.0836\nstate[joint_eff]: [-0.4991, -12.4786, 9.1419, 1.1941, 0.4274, -0.022, 1.0134, -0.6496, -9.6479, 7.5966, 0.2418, -0.6325, 0.0611, 0.6813]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88ce6fb96068a2e3370672e3c51ac3c99017fca27f5e47d716ed57144e0031bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73ee60e3d9765acf8ab9c9f645a73cd2c5911d1097a585ea6ee592ef898a2abc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a797503e3f2b4d9e15f759e66006d7257b81f29dd567fda00a2bf7cda2078bcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSxAkKEAgSGAI4AUIIdGhpbmtpbmcSDIobpLe+ymzm/r3XShoMCKiSa5NSkmIZOIgbIjDqsL0+GirRa4wMBGkfecCuVMF9UWgdXvgTeBKrto2pkl2JbuRCXNID5aXwm41iVZIq4QjpGNl9wpCE8MhANqLhUKpZhnUsa29E6FOHrtcVyyQo5v7HmOAqULMggGFn9kq3MvT/QNNR+HFjCYstfbiYwaFe+xC8eZBrnBGPlkuoX9eNdGyy0yzez73Zj1DW6+cBsTPDj24uI9acTSg1ObnoaBgnOCd5HvCzT8EnVMRUluxCbKDvkvCzB6JMLFpxm0xKZ22eXn2stCyzDy+UoEWSUA243pat559z54OnnEET09cgNGV2KQdP0d+xAYc2tKzsF3L6pQX2cvBWpjkZWWpQgIXQ2sqeuEQrokjqBJC3JkMQ7sk2KxbryclhMZoyX3vxHsTUV2M/m+69N4cKIAGfuVrW+WXOMy7POD1GwiHATz478WlPSBPkdUWoxMljDx/M2S2lR2mjh/D4LORZ7Ugp8rHOpRpDRq8Xem4ZpcoGu/zamV5+i7EXa0D9EsC3tcHXbSV1Qz00/6faeQfMdrBlAaFzXP3sGr99x8X7amplO/rSR2N/t4QM6UC1dkZugOlNk5sNIuYVt7HcdlLvSD8EsTk2kOzKhInRoN5tmcprTHz1f5k+BgA0gEeyUfqxGOIKR6yKlAnaz9K3x5A2B8lUldFK1KO4oh7NP5+iFAnuSNE6xxMpiRDZmzsrSxt0oUHhmRqlywNxjA8LSLm53G1Cs7kx8h5YfZdLDMqFfLwXW+Sy53AgigH5w0TJCTfqRbXhgHa8oM4oDiSsWYR4tiisaEyyX9Goy2ApmoqqBFPBu58Gm3AVrvbYizwT/Q7u+kfKG0uhRPm7srI8Inf1PEOMkhDCa2Lyy+dJmdPq88sTfH66l1+1sFL0CznJFl8GbWDq4dDdMI0iVIsDZ9o/+CqrFXJTxWP/ldvV8a5sXaPOH0laNAt8aOeRywGRQ7uaUgnft6hkO3q3E8V9X5oNAXXM2iuhtwPzW98CUTf++XEy4n3Pz7G8qGBR4Baoj8IylBFowHUZ5tq1lGKcruvX0X/igEkpQMn62VlWb6dwWs/LbmmWQICvBYpLYNXgD/KUngzLprjIrS8jSln1roHZ587LsFSF4ZfkSARcXMd1WC0PI1y/eC2HK6laZiPiuvfWOnuhksnGAuVXFIUn/7dd9w/evB05sLF0m6E+3BZSHL2EmN3DAYy/xmsPsPZDAkrfZahohq1g1nGquOQy2+DuLHLtlaioAhoT7cNWIXmDOenUVjWj9h8C355pQVLsa1J+rfeSsycV6TbhMRmgAVrtPfHcXjPz5R+OOh3jOCeQJTca8ZAL1JmMUClTtiShNVtotS1jOCXlCEjEtZjg8ALGnJBZASLzd+maMKlgxOiDgq8odjCfC/opVbZOIjGb7gX3M51VoitmFxgEaYoRpF1vJK82S0rWHkyBITZBKxAGV/edA03Biy7WPCCusk0PeSYht9U15/hEz935NdrLUR8tINs9wAxhYNsA8PL8QZ2zgO3yliSsxbCD9q33h8R1FYLLl2MQpD1lJUaei7W8KIqbxN2SQ2kh9xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L2foUcJFoktDnmNMzEvpWQ",
      "input": {
        "note": "The pen has slid about 3 cm further along the cap axis into the left jaws, so the cap looks seated. Opening the left gripper to hand the cap over on the pen.",
        "targets": {
          "left_gripper": 0.6
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01L2foUcJFoktDnmNMzEvpWQ",
      "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]: [-0.5369, 2.0636, 1.8427, -0.7883, 0.72, 0.73, 0.5951, 0.1307, 1.9835, 1.7931, -1.4132, -0.8936, -1.3945, 0.086]\nstate[eef_state]: left_x=0.3763 left_y=-0.3554 left_z=0.1779 left_yaw=-1.5296 left_pitch=-0.1197 left_roll=-0.0523 left_gripper=0.5951 right_x=0.3501 right_y=0.1885 right_z=0.1859 right_yaw=1.6048 right_pitch=-0.1316 right_roll=0.1725 right_gripper=0.086\nstate[joint_eff]: [-0.4034, -11.494, 6.5436, 1.0281, 0.6618, -0.0317, -0.1832, -0.5812, -9.6068, 7.7607, 0.5201, -0.6129, 0.0952, 0.5788]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0abdb4a48ce335b2702227a446a11321417eee608f0edce71ffc066e0db5fbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f33edf3f7b66592c4029daed90eadd962cbbcb54c3623c242bafca9a74120211",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d04aeacae1637ab3af71a31f31c1d02325209fe9ef7f15cde17a607bf27cfb38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 9.219 s

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

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5449, 2.0636, 1.8431, -0.8013, 0.7605, 0.7338, 0.0638, 0.1036, 1.9701, 1.7935, -1.4086, -0.9031, -1.4208, 0.0829]\nstate[eef_state]: left_x=0.3667 left_y=-0.3605 left_z=0.1807 left_yaw=-1.5641 left_pitch=-0.0973 left_roll=-0.0785 left_gripper=0.0638 right_x=0.3549 right_y=0.18 right_z=0.192 right_yaw=1.5892 right_pitch=-0.1182 right_roll=0.1344 right_gripper=0.0829\nstate[joint_eff]: [-0.3624, -12.4786, 9.1145, 1.2381, 0.4322, 0.0024, 1.0183, 1.3197, -8.2803, 8.0615, 0.3004, -0.5739, 0.1734, 0.6716]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 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]: [-0.5449, 2.0636, 1.8431, -0.8009, 0.7582, 0.7338, 0.0638, 0.1307, 1.9835, 1.7935, -1.3796, -0.8948, -1.3949, 0.0836]\nstate[eef_state]: left_x=0.367 left_y=-0.3603 left_z=0.1805 left_yaw=-1.5628 left_pitch=-0.0987 left_roll=-0.0772 left_gripper=0.0638 right_x=0.3562 right_y=0.1894 right_z=0.1861 right_yaw=1.6006 right_pitch=-0.1271 right_roll=0.1383 right_gripper=0.0836\nstate[joint_eff]: [-0.4991, -12.4786, 9.1419, 1.1941, 0.4274, -0.022, 1.0134, -0.6496, -9.6479, 7.5966, 0.2418, -0.6325, 0.0611, 0.6813]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5369, 2.0636, 1.8427, -0.7883, 0.72, 0.73, 0.5951, 0.1307, 1.9835, 1.7931, -1.4132, -0.8936, -1.3945, 0.086]\nstate[eef_state]: left_x=0.3763 left_y=-0.3554 left_z=0.1779 left_yaw=-1.5296 left_pitch=-0.1197 left_roll=-0.0523 left_gripper=0.5951 right_x=0.3501 right_y=0.1885 right_z=0.1859 right_yaw=1.6048 right_pitch=-0.1316 right_roll=0.1725 right_gripper=0.086\nstate[joint_eff]: [-0.4034, -11.494, 6.5436, 1.0281, 0.6618, -0.0317, -0.1832, -0.5812, -9.6068, 7.7607, 0.5201, -0.6129, 0.0952, 0.5788]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0abdb4a48ce335b2702227a446a11321417eee608f0edce71ffc066e0db5fbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f33edf3f7b66592c4029daed90eadd962cbbcb54c3623c242bafca9a74120211",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d04aeacae1637ab3af71a31f31c1d02325209fe9ef7f15cde17a607bf27cfb38",
        "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_019KAtqWhX38uvbBQJt7dq7r",
      "input": {
        "note": "When the left jaws opened, the cap dropped onto the table (small dark object below the arms in the top view), so it wasn't seated. Moving the pen arm back and bringing the left gripper over the fallen cap to re-grasp.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.4,
          "left_y": -0.3,
          "left_yaw": 0,
          "left_z": 0.1,
          "right_y": 0.03,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_019KAtqWhX38uvbBQJt7dq7r",
      "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]: [-0.8433, 1.9282, 1.2858, -0.2104, -0.4774, -0.5446, 0.9979, -0.1661, 1.9915, 1.6516, -1.562, -0.8364, -1.8004, 0.0882]\nstate[eef_state]: left_x=0.3917 left_y=-0.3124 left_z=0.0898 left_yaw=-0.1543 left_pitch=-0.1623 left_roll=-0.0369 left_gripper=0.9979 right_x=0.3352 right_y=0.0804 right_z=0.1499 right_yaw=1.5745 right_pitch=-0.1399 right_roll=0.1603 right_gripper=0.0882\nstate[joint_eff]: [-0.3214, -10.4547, 9.2103, 1.1306, -0.398, -0.0659, -0.1001, -0.6906, -8.759, 5.094, -0.3297, -0.4176, -0.1441, 0.2125]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb6a4f699650a2cfedeb2ec75d85c82e32bb98bb73d438a06df1f3668bdf5d9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddbcc407296a09de01fc147d59f9f620fac24d2dd16314ea0c9cabd4fc6bbccb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd6df17136c7d5e3cd11abd080b6bc3abd12e7c9429ae90931f19f8502f05c72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 6 s

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

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5449, 2.0636, 1.8431, -0.8009, 0.7582, 0.7338, 0.0638, 0.1307, 1.9835, 1.7935, -1.3796, -0.8948, -1.3949, 0.0836]\nstate[eef_state]: left_x=0.367 left_y=-0.3603 left_z=0.1805 left_yaw=-1.5628 left_pitch=-0.0987 left_roll=-0.0772 left_gripper=0.0638 right_x=0.3562 right_y=0.1894 right_z=0.1861 right_yaw=1.6006 right_pitch=-0.1271 right_roll=0.1383 right_gripper=0.0836\nstate[joint_eff]: [-0.4991, -12.4786, 9.1419, 1.1941, 0.4274, -0.022, 1.0134, -0.6496, -9.6479, 7.5966, 0.2418, -0.6325, 0.0611, 0.6813]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 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]: [-0.5369, 2.0636, 1.8427, -0.7883, 0.72, 0.73, 0.5951, 0.1307, 1.9835, 1.7931, -1.4132, -0.8936, -1.3945, 0.086]\nstate[eef_state]: left_x=0.3763 left_y=-0.3554 left_z=0.1779 left_yaw=-1.5296 left_pitch=-0.1197 left_roll=-0.0523 left_gripper=0.5951 right_x=0.3501 right_y=0.1885 right_z=0.1859 right_yaw=1.6048 right_pitch=-0.1316 right_roll=0.1725 right_gripper=0.086\nstate[joint_eff]: [-0.4034, -11.494, 6.5436, 1.0281, 0.6618, -0.0317, -0.1832, -0.5812, -9.6068, 7.7607, 0.5201, -0.6129, 0.0952, 0.5788]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8433, 1.9282, 1.2858, -0.2104, -0.4774, -0.5446, 0.9979, -0.1661, 1.9915, 1.6516, -1.562, -0.8364, -1.8004, 0.0882]\nstate[eef_state]: left_x=0.3917 left_y=-0.3124 left_z=0.0898 left_yaw=-0.1543 left_pitch=-0.1623 left_roll=-0.0369 left_gripper=0.9979 right_x=0.3352 right_y=0.0804 right_z=0.1499 right_yaw=1.5745 right_pitch=-0.1399 right_roll=0.1603 right_gripper=0.0882\nstate[joint_eff]: [-0.3214, -10.4547, 9.2103, 1.1306, -0.398, -0.0659, -0.1001, -0.6906, -8.759, 5.094, -0.3297, -0.4176, -0.1441, 0.2125]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb6a4f699650a2cfedeb2ec75d85c82e32bb98bb73d438a06df1f3668bdf5d9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddbcc407296a09de01fc147d59f9f620fac24d2dd16314ea0c9cabd4fc6bbccb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd6df17136c7d5e3cd11abd080b6bc3abd12e7c9429ae90931f19f8502f05c72",
        "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_01MUVmxwiDtzuQu9irk2jYPf",
      "input": {
        "note": "Left wrist view shows the cap on the table just ahead of the jaws, lying parallel to the jaw line and slightly left. Rotating the wrist ~80° and shifting over it so the jaws can close across the cap.",
        "targets": {
          "left_x": 0.405,
          "left_y": -0.297,
          "left_yaw": -1.5,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01MUVmxwiDtzuQu9irk2jYPf",
      "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]: [-0.4118, 2.1471, 1.4532, -0.3332, 0.5827, 0.6399, 0.9979, -0.168, 1.9915, 1.6463, -1.5608, -0.8299, -1.8107, 0.0897]\nstate[eef_state]: left_x=0.4236 left_y=-0.2872 left_z=0.0367 left_yaw=-1.2731 left_pitch=-0.2265 left_roll=-0.0629 left_gripper=0.9979 right_x=0.334 right_y=0.0792 right_z=0.148 right_yaw=1.5809 right_pitch=-0.1443 right_roll=0.1576 right_gripper=0.0897\nstate[joint_eff]: [-0.2393, -12.6838, 7.5692, 0.9158, 0.5739, 0.2222, -0.0073, -0.0752, -9.5521, 5.6274, -0.2759, -0.5201, 0.0269, 0.1441]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4da15976c1ee1cbec209e2ed81aa56740c1cd32097fb2731bd1bb7d05aa58671",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a11951a80c506df55e4058ac70136e02e49cf63b3f6c72ef6c1bdf3e9f8a728b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:507c307cfac7d3143d063c134fd01f731e071ad34bf035825fc5050711edfbf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 3.38 s

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

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5369, 2.0636, 1.8427, -0.7883, 0.72, 0.73, 0.5951, 0.1307, 1.9835, 1.7931, -1.4132, -0.8936, -1.3945, 0.086]\nstate[eef_state]: left_x=0.3763 left_y=-0.3554 left_z=0.1779 left_yaw=-1.5296 left_pitch=-0.1197 left_roll=-0.0523 left_gripper=0.5951 right_x=0.3501 right_y=0.1885 right_z=0.1859 right_yaw=1.6048 right_pitch=-0.1316 right_roll=0.1725 right_gripper=0.086\nstate[joint_eff]: [-0.4034, -11.494, 6.5436, 1.0281, 0.6618, -0.0317, -0.1832, -0.5812, -9.6068, 7.7607, 0.5201, -0.6129, 0.0952, 0.5788]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 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]: [-0.8433, 1.9282, 1.2858, -0.2104, -0.4774, -0.5446, 0.9979, -0.1661, 1.9915, 1.6516, -1.562, -0.8364, -1.8004, 0.0882]\nstate[eef_state]: left_x=0.3917 left_y=-0.3124 left_z=0.0898 left_yaw=-0.1543 left_pitch=-0.1623 left_roll=-0.0369 left_gripper=0.9979 right_x=0.3352 right_y=0.0804 right_z=0.1499 right_yaw=1.5745 right_pitch=-0.1399 right_roll=0.1603 right_gripper=0.0882\nstate[joint_eff]: [-0.3214, -10.4547, 9.2103, 1.1306, -0.398, -0.0659, -0.1001, -0.6906, -8.759, 5.094, -0.3297, -0.4176, -0.1441, 0.2125]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4118, 2.1471, 1.4532, -0.3332, 0.5827, 0.6399, 0.9979, -0.168, 1.9915, 1.6463, -1.5608, -0.8299, -1.8107, 0.0897]\nstate[eef_state]: left_x=0.4236 left_y=-0.2872 left_z=0.0367 left_yaw=-1.2731 left_pitch=-0.2265 left_roll=-0.0629 left_gripper=0.9979 right_x=0.334 right_y=0.0792 right_z=0.148 right_yaw=1.5809 right_pitch=-0.1443 right_roll=0.1576 right_gripper=0.0897\nstate[joint_eff]: [-0.2393, -12.6838, 7.5692, 0.9158, 0.5739, 0.2222, -0.0073, -0.0752, -9.5521, 5.6274, -0.2759, -0.5201, 0.0269, 0.1441]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4da15976c1ee1cbec209e2ed81aa56740c1cd32097fb2731bd1bb7d05aa58671",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a11951a80c506df55e4058ac70136e02e49cf63b3f6c72ef6c1bdf3e9f8a728b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:507c307cfac7d3143d063c134fd01f731e071ad34bf035825fc5050711edfbf9",
        "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_012CLUfNEi2Z4xWag7ZR5NEf",
      "input": {
        "note": "In the right wrist camera the cap sits between the left gripper's open fingers, lying across them. Descending the left gripper straight down to table level.",
        "targets": {
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_012CLUfNEi2Z4xWag7ZR5NEf",
      "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]: [-0.4084, 2.1998, 1.4113, -0.2829, 0.6338, 0.7128, 0.9979, -0.168, 1.9915, 1.6463, -1.56, -0.8299, -1.8107, 0.0917]\nstate[eef_state]: left_x=0.4117 left_y=-0.2882 left_z=0.0077 left_yaw=-1.3494 left_pitch=-0.2167 left_roll=-0.0742 left_gripper=0.9979 right_x=0.3342 right_y=0.0792 right_z=0.148 right_yaw=1.5808 right_pitch=-0.1444 right_roll=0.1568 right_gripper=0.0917\nstate[joint_eff]: [-0.6085, -9.5521, 5.1214, 0.5739, -0.3541, -0.1441, -0.0122, -0.3214, -9.6615, 5.2034, -0.3492, -0.4713, -0.0073, 0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21f597b47411f45ace7b887a856422730706c11299e9c26166700770bee1222d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:906a424f0b96ebfdccc2d0e57624c7188e156813fd70423c95aa25b5219aba1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f62b213237dda8f07bdd8600c3b48bd6737346e28a670fe33233163703bdddce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /messages · status 200 · 14.72 s

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

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8433, 1.9282, 1.2858, -0.2104, -0.4774, -0.5446, 0.9979, -0.1661, 1.9915, 1.6516, -1.562, -0.8364, -1.8004, 0.0882]\nstate[eef_state]: left_x=0.3917 left_y=-0.3124 left_z=0.0898 left_yaw=-0.1543 left_pitch=-0.1623 left_roll=-0.0369 left_gripper=0.9979 right_x=0.3352 right_y=0.0804 right_z=0.1499 right_yaw=1.5745 right_pitch=-0.1399 right_roll=0.1603 right_gripper=0.0882\nstate[joint_eff]: [-0.3214, -10.4547, 9.2103, 1.1306, -0.398, -0.0659, -0.1001, -0.6906, -8.759, 5.094, -0.3297, -0.4176, -0.1441, 0.2125]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 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]: [-0.4118, 2.1471, 1.4532, -0.3332, 0.5827, 0.6399, 0.9979, -0.168, 1.9915, 1.6463, -1.5608, -0.8299, -1.8107, 0.0897]\nstate[eef_state]: left_x=0.4236 left_y=-0.2872 left_z=0.0367 left_yaw=-1.2731 left_pitch=-0.2265 left_roll=-0.0629 left_gripper=0.9979 right_x=0.334 right_y=0.0792 right_z=0.148 right_yaw=1.5809 right_pitch=-0.1443 right_roll=0.1576 right_gripper=0.0897\nstate[joint_eff]: [-0.2393, -12.6838, 7.5692, 0.9158, 0.5739, 0.2222, -0.0073, -0.0752, -9.5521, 5.6274, -0.2759, -0.5201, 0.0269, 0.1441]\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 106 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]: [-0.4084, 2.1998, 1.4113, -0.2829, 0.6338, 0.7128, 0.9979, -0.168, 1.9915, 1.6463, -1.56, -0.8299, -1.8107, 0.0917]\nstate[eef_state]: left_x=0.4117 left_y=-0.2882 left_z=0.0077 left_yaw=-1.3494 left_pitch=-0.2167 left_roll=-0.0742 left_gripper=0.9979 right_x=0.3342 right_y=0.0792 right_z=0.148 right_yaw=1.5808 right_pitch=-0.1444 right_roll=0.1568 right_gripper=0.0917\nstate[joint_eff]: [-0.6085, -9.5521, 5.1214, 0.5739, -0.3541, -0.1441, -0.0122, -0.3214, -9.6615, 5.2034, -0.3492, -0.4713, -0.0073, 0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21f597b47411f45ace7b887a856422730706c11299e9c26166700770bee1222d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:906a424f0b96ebfdccc2d0e57624c7188e156813fd70423c95aa25b5219aba1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f62b213237dda8f07bdd8600c3b48bd6737346e28a670fe33233163703bdddce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Cap between fingers in right cam. Close.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q8eiQGQrJCwT4JRB3Vqibu",
      "input": {
        "note": "Left gripper is at table level with the cap between its fingers (seen from the right wrist camera). Closing to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Q8eiQGQrJCwT4JRB3Vqibu",
      "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]: [-0.4065, 2.2055, 1.409, -0.2543, 0.635, 0.7078, 0.0078, -0.168, 1.9915, 1.6463, -1.56, -0.8299, -1.8111, 0.093]\nstate[eef_state]: left_x=0.4158 left_y=-0.2891 left_z=0.0073 left_yaw=-1.3419 left_pitch=-0.2039 left_roll=-0.0614 left_gripper=0.0078 right_x=0.3342 right_y=0.0792 right_z=0.148 right_yaw=1.581 right_pitch=-0.1444 right_roll=0.1565 right_gripper=0.093\nstate[joint_eff]: [-0.4855, -12.3556, 6.3521, 0.8425, 0.4078, 0.0513, 0.5153, -0.3214, -9.6752, 5.2171, -0.3443, -0.4713, -0.0611, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b789757f5916b69580bd4c986df68edd23add3f02ba48d95a26685824e23c4b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1a04771958c5fa5aa65f153cbe1584c40efac00111395241ef69b84d2fd0e39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9bb0ea4a6e9117b98bcb3b2a28ced3d9d517a07f127fee9a0c714584e4bb5bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]