adhoc

completed
2026-09-22T22:27:13.201169+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
427.1 s
total steps
224
operator
0
scenes
1
trials
1
errored
0

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
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteTop view shows a long thin pen right of centre and a shorter cap left of centre. Moving the right arm to hover ~15 cm above my estimate of the pen to check alignment in its wrist camera.
move_to
right_x0.3500right_y0.2450right_z0.1500right_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, 0.7925, 0.6025, -0.3798, -0.0196, -0.0113, 0.9998, -0.0185, 0.791, 0.6102, -0.3759, -0.0223, -0.0147, 0.9991] state[eef_state]: left_x=0.2945 left_y=0.0012 left_z=0.1798 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0021 right_z=0.1845 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.3897, -1.388, 10.4684, 1.79, -0.0269, -0.0464, -0.0366, -0.7726, -1.1556, 9.8256, 1.7216, -0.0562, -0.0269, -0.1148] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.245, "right_z": 0.15, "right_gripper": 1}, "note": "Top view shows a long thin pen right of centre and a shorter cap left of centre. Moving the right arm to hover ~15 cm above my estimate of the pen to check alignment in its wrist camera."})
tool
executing move_to over 21 steps (2.1s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe right wrist camera shows the pen lying diagonally to the right of the jaw column. Shifting the gripper ~4 cm to its right, yawing to align the jaws across the pen axis, and descending to 6 cm for a closer look.
move_to
right_x0.3450right_y0.2000right_z0.0600right_yaw0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3813, -0.0196, -0.0113, 0.9998, 0.8608, 1.5829, 0.9798, -0.2008, 0.6628, 0.5186, 0.9991] state[eef_state]: left_x=0.2948 left_y=0.0012 left_z=0.1777 left_yaw=0.0 left_pitch=-0.008 left_roll=0.0002 left_gripper=0.9998 right_x=0.3433 right_y=0.2381 right_z=0.1358 right_yaw=0.0347 right_pitch=-0.0472 right_roll=-0.0407 right_gripper=0.9991 state[joint_eff]: [-0.1983, -1.7846, 7.0222, 1.7167, -0.0415, -0.0366, -0.0122, 0.6085, -7.2957, 8.5812, 1.4921, 0.6325, 0.2515, -0.1099] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.345, "right_y": 0.2, "right_z": 0.06, "right_yaw": 0.4}, "note": "The right wrist camera shows the pen lying diagonally to the right of the jaw column. Shifting the gripper ~4 cm to its right, yawing to align the jaws across the pen axis, and descending to 6 cm for a closer look."})
tool
executing move_to over 5 steps (0.5s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent notePen now fills the right wrist view but still sits ~4-5 cm to the right of the jaw column. Shifting the gripper further right (lower y) to centre the pen between the jaws.
move_to
right_x0.3350right_y0.1400right_z0.0500right_yaw0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.02, -0.0113, 0.9997, 0.6155, 1.5467, 0.5644, 0.2317, 0.3004, 0.1795, 0.999] state[eef_state]: left_x=0.2949 left_y=0.0012 left_z=0.1774 left_yaw=0.0003 left_pitch=-0.0091 left_roll=0.0004 left_gripper=0.9997 right_x=0.3337 right_y=0.1764 right_z=0.0427 right_yaw=0.2545 right_pitch=-0.154 right_roll=-0.0695 right_gripper=0.999 state[joint_eff]: [-0.335, -1.1282, 7.0906, 1.7167, -0.0806, -0.0513, -0.0171, -0.4034, -4.7521, 6.3658, 1.9072, 0.0611, -0.0757, -0.022] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.335, "right_y": 0.14, "right_z": 0.05, "right_yaw": 0.4}, "note": "Pen now fills the right wrist view but still sits ~4-5 cm to the right of the jaw column. Shifting the gripper further right (lower y) to centre the pen between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe previous command only partially executed (y drifted back to 0.197). Re-sending the same target to actually bring the jaws over the pen.
move_to
right_x0.3350right_y0.1400right_z0.0500right_yaw0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3809, -0.0196, -0.0113, 0.9997, 0.5911, 1.5551, 0.5465, 0.374, 0.1745, 0.0734, 0.999] state[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1775 left_yaw=0.0 left_pitch=-0.0088 left_roll=0.0002 left_gripper=0.9997 right_x=0.3421 right_y=0.197 right_z=0.0561 right_yaw=0.3958 right_pitch=-0.0671 right_roll=-0.0436 right_gripper=0.999 state[joint_eff]: [-0.1436, -1.0872, 7.0496, 1.7314, -0.0464, -0.0513, -0.0073, 0.0615, -5.7915, 5.7915, 1.9072, 0.022, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.335, "right_y": 0.14, "right_z": 0.05, "right_yaw": 0.4}, "note": "The previous command only partially executed (y drifted back to 0.197). Re-sending the same target to actually bring the jaws over the pen."})
tool
executing move_to over 5 steps (0.5s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe arm has stopped tracking (stuck at y=0.197), so I am lifting slightly and asking for a smaller 2.5 cm sideways step toward the pen.
move_to
right_x0.3350right_y0.1720right_z0.0700
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, 0.8005, 0.6029, -0.3809, -0.02, -0.0113, 0.9997, 0.5911, 1.5551, 0.5465, 0.374, 0.1749, 0.0738, 0.999] state[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1775 left_yaw=0.0003 left_pitch=-0.0088 left_roll=0.0004 left_gripper=0.9997 right_x=0.3422 right_y=0.1969 right_z=0.0561 right_yaw=0.3952 right_pitch=-0.0671 right_roll=-0.0435 right_gripper=0.999 state[joint_eff]: [-0.0752, -1.265, 7.0632, 1.7363, -0.0757, -0.0757, -0.0122, 0.1162, -5.8051, 6.0239, 1.9023, 0.0073, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.335, "right_y": 0.172, "right_z": 0.07}, "note": "The arm has stopped tracking (stuck at y=0.197), so I am lifting slightly and asking for a smaller 2.5 cm sideways step toward the pen."})
tool
executing move_to over 3 steps (0.3s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteI can't reliably judge the pen's position from the wrist view; pulling the right arm up and back to clear the overhead camera so I can locate the pen and cap properly.
move_to
right_x0.2500right_y0.0500right_z0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8043, 0.6029, -0.3809, -0.02, -0.0109, 0.9997, 0.5472, 1.4841, 0.5125, 0.3344, 0.1425, 0.0544, 0.999] state[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1764 left_yaw=0.0001 left_pitch=-0.0126 left_roll=0.0008 left_gripper=0.9997 right_x=0.3373 right_y=0.1803 right_z=0.0609 right_yaw=0.3891 right_pitch=-0.0734 right_roll=-0.0407 right_gripper=0.999 state[joint_eff]: [-0.1709, -1.0872, 7.0222, 1.79, -0.0659, -0.0611, -0.0122, -0.3214, -6.5846, 6.5846, 1.7656, -0.0659, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.05, "right_z": 0.3}, "note": "I can't reliably judge the pen's position from the wrist view; pulling the right arm up and back to clear the overhead camera so I can locate the pen and cap properly."})
tool
executing move_to over 16 steps (1.6s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteClean overhead view: the pen lies almost radially (image-vertical) right of centre, the cap is a small blob left of centre. Hovering the right arm over the pen with zero yaw so the wrist view isn't rotated.
move_to
right_x0.3600right_y0.2100right_z0.1200right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.807, 0.6022, -0.382, -0.02, -0.0113, 0.9997, -0.0212, 0.8642, 1.1416, -0.9199, -0.2691, -0.2607, 0.999] state[eef_state]: left_x=0.2951 left_y=0.0012 left_z=0.1751 left_yaw=0.0003 left_pitch=-0.0172 left_roll=0.0006 left_gripper=0.9997 right_x=0.2614 right_y=0.045 right_z=0.2937 right_yaw=0.3364 right_pitch=-0.0598 right_roll=-0.0524 right_gripper=0.999 state[joint_eff]: [-0.212, -1.5248, 7.1179, 1.707, -0.0708, -0.0464, -0.0122, -0.3077, -0.3897, 7.7197, 1.4335, -0.2418, -0.0464, -0.0122] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.21, "right_z": 0.12, "right_yaw": 0.0}, "note": "Clean overhead view: the pen lies almost radially (image-vertical) right of centre, the cap is a small blob left of centre. Hovering the right arm over the pen with zero yaw so the wrist view isn't rotated."})
tool
executing move_to over 14 steps (1.4s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteWrist view shows the pen just above and slightly right of the jaw column. Descending close to the table with a small rightward correction to see the grasp geometry up close.
move_to
right_x0.3600right_y0.1900right_z0.0200
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, 0.812, 0.6018, -0.382, -0.0196, -0.0109, 0.9997, 0.7559, 1.5646, 0.8814, -0.1936, 0.5587, 0.4076, 0.9989] state[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1736 left_yaw=-0.0002 left_pitch=-0.0225 left_roll=0.0008 left_gripper=0.9997 right_x=0.3433 right_y=0.1999 right_z=0.099 right_yaw=0.0589 right_pitch=-0.1575 right_roll=-0.123 right_gripper=0.9989 state[joint_eff]: [-0.1162, -1.5795, 7.3368, 1.6874, -0.0073, -0.0317, -0.0122, 0.4171, -7.665, 8.6222, 1.6581, 0.6325, 0.1441, -0.0171] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.19, "right_z": 0.02}, "note": "Wrist view shows the pen just above and slightly right of the jaw column. Descending close to the table with a small rightward correction to see the grasp geometry up close."})
tool
executing move_to over 6 steps (0.6s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe pen runs right along the right-hand jaw, so the gripper is about 4-5 cm too far left. Lifting slightly to avoid knocking it and shifting 4 cm to the arm's right.
move_to
right_x0.3600right_y0.1460right_z0.0500
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, 0.8135, 0.6018, -0.3817, -0.02, -0.0113, 0.9997, 0.7013, 1.7649, 0.7471, 0.1051, 0.519, 0.3664, 0.9989] state[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1732 left_yaw=0.0003 left_pitch=-0.0236 left_roll=0.0007 left_gripper=0.9997 right_x=0.3502 right_y=0.1858 right_z=0.0174 right_yaw=0.0514 right_pitch=-0.2076 right_roll=-0.1521 right_gripper=0.9989 state[joint_eff]: [-0.335, -1.2103, 7.2547, 1.707, -0.0415, -0.0611, -0.0122, -0.8274, -7.3641, 4.8889, 1.5214, 0.232, -0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.146, "right_z": 0.05}, "note": "The pen runs right along the right-hand jaw, so the gripper is about 4-5 cm too far left. Lifting slightly to avoid knocking it and shifting 4 cm to the arm's right."})
tool
executing move_to over 4 steps (0.4s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe 3.7 cm shift moved the pen 38 px in the wrist view (≈10 px/cm); the pen is still 2.7 cm right of the jaw column. Applying that correction and descending to table level for the grasp.
move_to
right_x0.3600right_y0.1220right_z0.0050
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, 0.8135, 0.6018, -0.3817, -0.02, -0.0109, 0.9997, 0.5808, 1.6424, 0.725, 0.054, 0.4534, 0.2802, 0.999] state[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1732 left_yaw=0.0001 left_pitch=-0.0236 left_roll=0.001 left_gripper=0.9997 right_x=0.3617 right_y=0.1491 right_z=0.0434 right_yaw=0.0329 right_pitch=-0.2018 right_roll=-0.1447 right_gripper=0.999 state[joint_eff]: [-0.0205, -1.3607, 7.0359, 1.6972, -0.0708, -0.0366, -0.0122, -0.212, -8.0889, 5.5316, 1.3407, 0.1587, -0.0073, -0.0073] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.122, "right_z": 0.005}, "note": "The 3.7 cm shift moved the pen 38 px in the wrist view (\u224810 px/cm); the pen is still 2.7 cm right of the jaw column. Applying that correction and descending to table level for the grasp."})
tool
executing move_to over 3 steps (0.3s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe pen is now centred on the jaw column at table level; closing the gripper to grasp it.
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, 0.8135, 0.6018, -0.3813, -0.0196, -0.0109, 0.9997, 0.5133, 1.6989, 0.6075, 0.2131, 0.4068, 0.2424, 0.9989] state[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1733 left_yaw=-0.0002 left_pitch=-0.0233 left_roll=0.0008 left_gripper=0.9997 right_x=0.3534 right_y=0.1231 right_z=0.0055 right_yaw=0.0209 right_pitch=-0.2351 right_roll=-0.1483 right_gripper=0.9989 state[joint_eff]: [-0.2667, -1.265, 7.0359, 1.7118, -0.0611, -0.0317, -0.0122, -0.3077, -6.2427, 6.8991, 0.5446, 0.2808, -0.9646, -0.022] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The pen is now centred on the jaw column at table level; closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe gripper closed empty (reading 0.01) even though the pen looked centred — the jaws were probably slightly above the thin pen. Reopening and pressing down to the table before retrying.
move_to
right_gripper1.0000right_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8135, 0.6018, -0.3813, -0.0196, -0.0113, 0.9997, 0.4995, 1.7088, 0.5934, 0.2848, 0.3912, 0.2085, 0.01] state[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1733 left_yaw=0.0 left_pitch=-0.0233 left_roll=0.0005 left_gripper=0.9997 right_x=0.3601 right_y=0.1239 right_z=0.0077 right_yaw=0.0428 right_pitch=-0.2004 right_roll=-0.1401 right_gripper=0.01 state[joint_eff]: [-0.3624, -1.3607, 7.3915, 1.7216, -0.0513, -0.0562, -0.0122, -0.3761, -6.0923, 4.7658, 1.4725, 0.2906, -0.0317, 0.8474] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": -0.01}, "note": "The gripper closed empty (reading 0.01) even though the pen looked centred \u2014 the jaws were probably slightly above the thin pen. Reopening and pressing down to the table before retrying."})
tool
executing move_to over 10 steps (1.0s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteJaws are now pressed to the table with the pen still centred on the jaw column; closing again to attempt the grasp.
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, 0.8158, 0.601, -0.3817, -0.0196, -0.0109, 0.9997, 0.4995, 1.7576, 0.5808, 0.395, 0.3882, 0.205, 0.9946] state[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1723 left_yaw=-0.0002 left_pitch=-0.0267 left_roll=0.0009 left_gripper=0.9997 right_x=0.3677 right_y=0.1286 right_z=0.0038 right_yaw=0.0509 right_pitch=-0.1577 right_roll=-0.119 right_gripper=0.9946 state[joint_eff]: [-0.1709, -1.5795, 7.0769, 1.6972, -0.0806, -0.0366, -0.0122, -0.1846, -5.0256, 4.0684, 1.1306, 0.1832, 0.0122, -0.0904] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Jaws are now pressed to the table with the pen still centred on the jaw column; closing again to attempt the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteGripper settled at 0.031 which is ambiguous; lifting 11 cm to see in the overhead view whether the pen came with the jaws.
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, 0.8162, 0.601, -0.3813, -0.02, -0.0113, 0.9997, 0.4995, 1.7569, 0.5831, 0.4129, 0.3912, 0.1997, 0.031] state[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1722 left_yaw=0.0003 left_pitch=-0.0267 left_roll=0.0007 left_gripper=0.9997 right_x=0.3711 right_y=0.1299 right_z=0.0079 right_yaw=0.0526 right_pitch=-0.1381 right_roll=-0.1158 right_gripper=0.031 state[joint_eff]: [-0.0615, -1.306, 7.0496, 1.746, -0.0513, -0.0659, -0.0073, 0.1026, -6.8034, 4.0137, 1.3162, 0.2027, -0.0611, 0.105] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Gripper settled at 0.031 which is ambiguous; lifting 11 cm to see in the overhead view whether the pen came with the jaws."})
tool
executing move_to over 8 steps (0.8s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe pen is grasped and lifted (visible sticking out of the right jaws). Now bringing the left arm over the pen cap, which sits left of centre in the overhead view.
move_to
left_x0.3700left_y-0.2340left_z0.1200left_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, 0.82, 0.5991, -0.3817, -0.0196, -0.0113, 0.9997, 0.4995, 1.4719, 0.7765, -0.0723, 0.3832, 0.1967, 0.0306] state[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1702 left_yaw=0.0 left_pitch=-0.0328 left_roll=0.0007 left_gripper=0.9997 right_x=0.3713 right_y=0.1315 right_z=0.1015 right_yaw=0.0603 right_pitch=-0.1469 right_roll=-0.1161 right_gripper=0.0306 state[joint_eff]: [-0.3214, -1.5248, 7.2, 1.746, -0.0464, -0.0806, -0.0122, -0.3624, -7.9932, 8.7179, 1.536, 0.2125, -0.0122, -0.0464] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.234, "left_z": 0.12, "left_gripper": 1}, "note": "The pen is grasped and lifted (visible sticking out of the right jaws). Now bringing the left arm over the pen cap, which sits left of centre in the overhead view."})
tool
executing move_to over 21 steps (2.1s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteLeft wrist view shows the cap below-left of the jaw column, lying roughly sideways. Shifting the left gripper ~4 cm toward it and descending.
move_to
left_y-0.1840left_z0.0700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8104, 1.6569, 0.9527, -0.1406, -0.622, -0.5385, 0.9998, 0.4995, 1.4677, 0.7765, -0.0967, 0.3801, 0.1967, 0.0306] state[eef_state]: left_x=0.3599 left_y=-0.2238 left_z=0.1025 left_yaw=-0.0122 left_pitch=-0.0841 left_roll=0.0324 left_gripper=0.9998 right_x=0.3677 right_y=0.1301 right_z=0.0988 right_yaw=0.0615 right_pitch=-0.1661 right_roll=-0.1229 right_gripper=0.0306 state[joint_eff]: [-0.4444, -7.9248, 8.9915, 1.5702, -0.5397, 0.0513, -0.0415, -0.3761, -5.4906, 6.3521, 1.707, 0.1392, -0.0073, -0.0122] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.184, "left_z": 0.07}, "note": "Left wrist view shows the cap below-left of the jaw column, lying roughly sideways. Shifting the left gripper ~4 cm toward it and descending."})
tool
executing move_to over 4 steps (0.4s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe cap is now centred on the jaw column but sits above the jaw row, so it is still a couple of cm beyond the fingertips; advancing 2 cm and descending to table level.
move_to
left_x0.3720left_z0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7197, 1.6501, 0.77, -0.0067, -0.5774, -0.4885, 0.9997, 0.4995, 1.4677, 0.7765, -0.0986, 0.3798, 0.1967, 0.0306] state[eef_state]: left_x=0.3525 left_y=-0.176 left_z=0.0557 left_yaw=0.0231 left_pitch=-0.1395 left_roll=0.0763 left_gripper=0.9997 right_x=0.3674 right_y=0.13 right_z=0.0985 right_yaw=0.0616 right_pitch=-0.168 right_roll=-0.1234 right_gripper=0.0306 state[joint_eff]: [-0.4991, -9.1009, 6.6256, 1.8437, -0.2662, 0.0659, -0.0171, -0.2803, -6.106, 6.3248, 1.5311, 0.1392, -0.0366, -0.0122] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.372, "left_z": 0.005}, "note": "The cap is now centred on the jaw column but sits above the jaw row, so it is still a couple of cm beyond the fingertips; advancing 2 cm and descending to table level."})
tool
executing move_to over 4 steps (0.4s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe last step only partly executed (x still 0.352); re-commanding a slightly larger forward+down move so the fingertips reach the cap.
move_to
left_x0.3850left_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]: [-0.7128, 1.7027, 0.7517, 0.0429, -0.5694, -0.4728, 0.9997, 0.4995, 1.4677, 0.7765, -0.0986, 0.3798, 0.1967, 0.0306] state[eef_state]: left_x=0.3525 left_y=-0.1741 left_z=0.0367 left_yaw=0.018 left_pitch=-0.1603 left_roll=0.0981 left_gripper=0.9997 right_x=0.3674 right_y=0.13 right_z=0.0985 right_yaw=0.0616 right_pitch=-0.168 right_roll=-0.1234 right_gripper=0.0306 state[joint_eff]: [0.2256, -7.7333, 6.1333, 1.4725, -0.3297, -0.0855, -0.0122, -0.3487, -5.9556, 6.3932, 1.4969, 0.1343, -0.0269, -0.0122] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.385, "left_z": 0.0}, "note": "The last step only partly executed (x still 0.352); re-commanding a slightly larger forward+down move so the fingertips reach the cap."})
tool
executing move_to over 3 steps (0.3s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteLeft arm has stalled twice on the combined forward+down target; trying a smaller move, mostly a descent, to unstick it.
move_to
left_z-0.0050left_x0.3600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7128, 1.7027, 0.7517, 0.0422, -0.5686, -0.4732, 0.9997, 0.4995, 1.4677, 0.7765, -0.0986, 0.3794, 0.1967, 0.0306] state[eef_state]: left_x=0.3524 left_y=-0.1741 left_z=0.0366 left_yaw=0.0177 left_pitch=-0.1613 left_roll=0.0978 left_gripper=0.9997 right_x=0.3674 right_y=0.13 right_z=0.0985 right_yaw=0.062 right_pitch=-0.1681 right_roll=-0.1232 right_gripper=0.0306 state[joint_eff]: [-0.0342, -7.5692, 6.0103, 1.453, -0.2711, -0.0904, -0.0122, -0.2667, -6.147, 6.3385, 1.4969, 0.0806, -0.0073, -0.0122] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": -0.005, "left_x": 0.36}, "note": "Left arm has stalled twice on the combined forward+down target; trying a smaller move, mostly a descent, to unstick it."})
tool
executing move_to over 3 steps (0.3s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteLeft arm is frozen; per the rig notes I'm raising it and pulling it back to escape the stalled configuration before re-approaching the cap.
move_to
left_z0.1500left_x0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7128, 1.7027, 0.7513, 0.0422, -0.569, -0.4732, 0.9997, 0.4995, 1.4677, 0.7765, -0.0986, 0.3794, 0.1967, 0.0306] state[eef_state]: left_x=0.3523 left_y=-0.174 left_z=0.0365 left_yaw=0.0181 left_pitch=-0.1613 left_roll=0.0983 left_gripper=0.9997 right_x=0.3674 right_y=0.13 right_z=0.0985 right_yaw=0.062 right_pitch=-0.1681 right_roll=-0.1232 right_gripper=0.0306 state[joint_eff]: [0.1846, -7.5966, 6.1333, 1.4872, -0.3297, -0.0806, -0.0122, -0.335, -6.106, 6.5573, 1.5018, 0.0904, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.15, "left_x": 0.3}, "note": "Left arm is frozen; per the rig notes I'm raising it and pulling it back to escape the stalled configuration before re-approaching the cap."})
tool
executing move_to over 8 steps (0.8s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteLeft arm is free again with the cap centred in its wrist view. Re-approaching the cap and yawing the wrist ~80° so the jaws will close across the cap's axis rather than along it.
move_to
left_x0.3550left_z0.0700left_yaw1.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8394, 1.393, 0.8909, -0.4767, -0.6228, -0.5869, 0.9997, 0.4995, 1.4677, 0.7765, -0.099, 0.3794, 0.1963, 0.0306] state[eef_state]: left_x=0.3039 left_y=-0.179 left_z=0.1295 left_yaw=-0.0016 left_pitch=-0.1735 left_roll=0.0939 left_gripper=0.9997 right_x=0.3673 right_y=0.13 right_z=0.0984 right_yaw=0.0621 right_pitch=-0.1684 right_roll=-0.1236 right_gripper=0.0306 state[joint_eff]: [-0.3487, -6.8581, 9.5111, 1.3504, -0.5299, -0.0366, -0.0122, -0.294, -5.8051, 6.5573, 1.5458, 0.1001, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.355, "left_z": 0.07, "left_yaw": 1.4}, "note": "Left arm is free again with the cap centred in its wrist view. Re-approaching the cap and yawing the wrist ~80\u00b0 so the jaws will close across the cap's axis rather than along it."})
tool
executing move_to over 9 steps (0.9s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteWith the wrist yawed, the cap sits down-right of the jaw column; correcting position (the arm also drifted 2 cm in y during the yaw) to bring the jaws over the cap.
move_to
left_x0.3750left_y-0.1880left_z0.0400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.693, 2.389, 1.9152, -1.4944, -0.7113, -1.9865, 0.9997, 0.4931, 1.4681, 0.7753, -0.1207, 0.3801, 0.1967, 0.0306] state[eef_state]: left_x=0.3674 left_y=-0.1505 left_z=0.0463 left_yaw=1.2118 left_pitch=-0.2087 left_roll=0.112 left_gripper=0.9997 right_x=0.3647 right_y=0.1256 right_z=0.0943 right_yaw=0.053 right_pitch=-0.1892 right_roll=-0.1339 right_gripper=0.0306 state[joint_eff]: [2.1949, -12.8068, 7.3641, -1.0281, -0.4029, -0.2076, -0.0171, 0.253, -6.1333, 6.3932, 1.6484, 0.0952, -0.0269, -0.0122] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.375, "left_y": -0.188, "left_z": 0.04}, "note": "With the wrist yawed, the cap sits down-right of the jaw column; correcting position (the arm also drifted 2 cm in y during the yaw) to bring the jaws over the cap."})
tool
executing move_to over 4 steps (0.4s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe 3.5 cm y-move shifted the cap only 15 px, showing the yawed tool axes; applying a 2 cm move along the tool's right direction plus a descent to table level, which should bring the cap onto the jaw column.
move_to
left_x0.3840left_y-0.1940left_z0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7567, 2.4889, 2.0609, -1.5593, -0.6895, -2.048, 0.9997, 0.4927, 1.4681, 0.7753, -0.1234, 0.3794, 0.1963, 0.0306] state[eef_state]: left_x=0.3659 left_y=-0.186 left_z=0.0368 left_yaw=1.1957 left_pitch=-0.2172 left_roll=0.0929 left_gripper=0.9997 right_x=0.3643 right_y=0.1254 right_z=0.0939 right_yaw=0.0533 right_pitch=-0.1919 right_roll=-0.1348 right_gripper=0.0306 state[joint_eff]: [2.4, -11.4256, 6.7761, -0.5739, -0.4469, 0.1099, -0.0171, -0.1573, -6.065, 6.2974, 1.453, 0.1392, -0.0659, -0.0171] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.384, "left_y": -0.194, "left_z": 0.005}, "note": "The 3.5 cm y-move shifted the cap only 15 px, showing the yawed tool axes; applying a 2 cm move along the tool's right direction plus a descent to table level, which should bring the cap onto the jaw column."})
tool
executing move_to over 3 steps (0.3s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe cap still sits beyond the fingertips in the wrist view; moving ~4.5 cm along the tool's forward (image-up) direction so the jaws straddle it.
move_to
left_x0.3900left_y-0.1620left_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]: [-0.7406, 2.5816, 2.1452, -1.5486, -0.6804, -2.0403, 0.9997, 0.4927, 1.4681, 0.7753, -0.1238, 0.3798, 0.1967, 0.0306] state[eef_state]: left_x=0.378 left_y=-0.1902 left_z=0.0135 left_yaw=1.2115 left_pitch=-0.2263 left_roll=0.0994 left_gripper=0.9997 right_x=0.3642 right_y=0.1253 right_z=0.0938 right_yaw=0.0527 right_pitch=-0.1921 right_roll=-0.135 right_gripper=0.0306 state[joint_eff]: [-0.3624, -12.6017, 6.3521, -0.5348, -0.5348, 0.0317, -0.0122, -0.0479, -5.8735, 6.5983, 1.4383, 0.1197, -0.0611, -0.0122] 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": {"left_x": 0.39, "left_y": -0.162, "left_z": 0.0}, "note": "The cap still sits beyond the fingertips in the wrist view; moving ~4.5 cm along the tool's forward (image-up) direction so the jaws straddle it."})
tool
executing move_to over 3 steps (0.3s)
step 181
top_cam
camera top_cam step 181
assistant
agent noteThe cap now lies in the gap between the jaws at table level; closing the left gripper 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]: [-0.7025, 2.55, 2.0388, -1.4704, -0.7261, -2.009, 0.9994, 0.4927, 1.4681, 0.7753, -0.1242, 0.379, 0.1967, 0.0306] state[eef_state]: left_x=0.3843 left_y=-0.1669 left_z=0.0067 left_yaw=1.2103 left_pitch=-0.19 left_roll=0.1037 left_gripper=0.9994 right_x=0.3641 right_y=0.1254 right_z=0.0937 right_yaw=0.0533 right_pitch=-0.1927 right_roll=-0.1346 right_gripper=0.0306 state[joint_eff]: [0.9094, -13.7504, 3.8085, -0.0513, 0.022, 0.2906, -0.0464, -0.1846, -6.0376, 6.2974, 1.4579, 0.0904, -0.0806, -0.0122] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The cap now lies in the gap between the jaws at table level; closing the left gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 191
assistant
agent noteBoth objects now appear gripped (pen in the right jaws, cap in the left). Yawing each wrist 90° so the pen points toward the left arm and the cap points toward the right arm, ready to mate them along a common axis.
move_to
left_yaw-1.5710right_yaw1.5710left_z0.1200right_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7067, 2.5462, 2.0243, -1.4624, -0.7265, -2.0117, 0.0416, 0.4927, 1.4681, 0.7757, -0.1238, 0.3794, 0.1967, 0.0306] state[eef_state]: left_x=0.3822 left_y=-0.1673 left_z=0.0052 left_yaw=1.2079 left_pitch=-0.1887 left_roll=0.1042 left_gripper=0.0416 right_x=0.3643 right_y=0.1254 right_z=0.0939 right_yaw=0.0531 right_pitch=-0.1919 right_roll=-0.1345 right_gripper=0.0306 state[joint_eff]: [0.2393, -12.9846, 6.2974, -0.5104, -0.3785, 0.0122, 1.16, -0.3487, -6.106, 6.2974, 1.4286, 0.1294, -0.0562, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_yaw": -1.571, "right_yaw": 1.571, "left_z": 0.12, "right_z": 0.12}, "note": "Both objects now appear gripped (pen in the right jaws, cap in the left). Yawing each wrist 90\u00b0 so the pen points toward the left arm and the cap points toward the right arm, ready to mate them along a common axis."})
tool
executing move_to over 18 steps (1.8s)
step 209
assistant
agent noteThe pen slipped out of the right jaws during the yaw and is lying on the table; retracting the right arm up and back so I can see the pen and bring the cap (still held in the left gripper) to it.
move_to
right_x0.2000right_z0.3000right_y0.0500right_yaw0.0000right_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]: [-0.1207, 1.8965, 1.4052, -0.691, 0.6846, 1.1328, 0.0421, -0.0151, 1.858, 1.3834, -0.8959, -0.7776, -1.4952, 0.0306] state[eef_state]: left_x=0.411 left_y=-0.1588 left_z=0.1081 left_yaw=-1.3352 left_pitch=-0.2337 left_roll=0.0958 left_gripper=0.0421 right_x=0.3809 right_y=0.1218 right_z=0.1147 right_yaw=1.4591 right_pitch=-0.2234 right_roll=-0.152 right_gripper=0.0306 state[joint_eff]: [0.253, -10.441, 7.2274, 0.6081, 0.5983, 0.1538, 1.0281, -0.841, -8.5402, 7.0906, 0.232, -0.8327, -0.1001, -0.0122] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.2, "right_z": 0.3, "right_y": 0.05, "right_yaw": 0.0, "right_gripper": 1}, "note": "The pen slipped out of the right jaws during the yaw and is lying on the table; retracting the right arm up and back so I can see the pen and bring the cap (still held in the left gripper) to it."})
tool
executing move_to over 14 steps (1.4s)
step 223
assistant
agent noteThe pen slipped out of the right gripper during the 90° wrist yaw, and the pen now lies at y ≈ -0.44 in the left arm's frame — outside the left arm's y bound — while the left arm is the one holding the cap. With ~2 calls of budget left there is no way to re-grasp the pen and mate the two parts.
give_up
hindsightConcrete lessons from this rig/task: (1) A thin pen grasped at table level reads only ~0.03 on the gripper, right at the "empty" threshold, and that grip is weak — a 90° wrist yaw was enough to drop it. Grip the pen barrel firmly (close fully, re-check by lifting) and avoid large yaw changes while carrying; do any needed yaw BEFORE grasping. (2) Plan the mating geometry before grasping: choose grasp yaws so that after pick-up the pen axis and cap axis are already collinear (e.g. both along the y axis between the arms), because re-orienting a held pen is what loses it. (3) Wrist-camera alignment: once the wrist is yawed, image-right = (sinθ, -cosθ) and image-up = (cosθ, sinθ) in the arm's base frame; a pure y move then produces only cosθ... /sinθ-scaled image motion, which cost me several calls. Calibrate with yaw = 0 whenever possible (a 3.7 cm y move at yaw 0, z≈0.05 shifted the wrist image ~38 px, i.e. ≈10 px/cm near the bottom of the frame). (4) Overhead scale that worked: the two bases span ~190 px, i.e. ≈2.9 px/cm at mid-table depth; image-x ≈ 105 is the centre line (left_y = -0.32 / right_y = +0.33). (5) The arms sometimes stall completely on combined forward+down targets; raising z and reducing x unsticks them, and partially-executed moves (3-5 step commands) are common — always re-check the readback.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1184, 1.9244, 1.4021, -0.7059, 0.6765, 1.1336, 0.0424, 0.6151, 0.902, 1.3018, -1.24, 0.3279, 0.1455, 0.9962] state[eef_state]: left_x=0.4078 left_y=-0.1563 left_z=0.0939 left_yaw=-1.3406 left_pitch=-0.2566 left_roll=0.0547 left_gripper=0.0424 right_x=0.208 right_y=0.0817 right_z=0.2931 right_yaw=0.2432 right_pitch=-0.2324 right_roll=-0.1462 right_gripper=0.9962 state[joint_eff]: [-0.1846, -12.2188, 6.3111, 0.9597, 0.4274, -0.0464, 1.0281, 0.0479, 0.2803, 6.6667, 1.2576, 0.2125, 0.2808, 0.0073] approver: 1 step(s) modified (delta_clamped). 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
give_up({"reason": "The pen slipped out of the right gripper during the 90\u00b0 wrist yaw, and the pen now lies at y \u2248 -0.44 in the left arm's frame \u2014 outside the left arm's y bound \u2014 while the left arm is the one holding the cap. With ~2 calls of budget left there is no way to re-grasp the pen and mate the two parts.", "hindsight": "Concrete lessons from this rig/task: (1) A thin pen grasped at table level reads only ~0.03 on the gripper, right at the \"empty\" threshold, and that grip is weak \u2014 a 90\u00b0 wrist yaw was enough to drop it. Grip the pen barrel firmly (close fully, re-check by lifting) and avoid large yaw changes while carrying; do any needed yaw BEFORE grasping. (2) Plan the mating geometry before grasping: choose grasp yaws so that after pick-up the pen axis and cap axis are already collinear (e.g. both along the y axis between the arms), because re-orienting a held pen is what loses it. (3) Wrist-camera alignment: once the wrist is yawed, image-right = (sin\u03b8, -cos\u03b8) and image-up = (cos\u03b8, sin\u03b8) in the arm's base frame; a pure y move then produces only cos\u03b8... /sin\u03b8-scaled image motion, which cost me several calls. Calibrate with yaw = 0 whenever possible (a 3.7 cm y move at yaw 0, z\u22480.05 shifted the wrist image ~38 px, i.e. \u224810 px/cm near the bottom of the frame). (4) Overhead scale that worked: the two bases span ~190 px, i.e. \u22482.9 px/cm at mid-table depth; image-x \u2248 105 is the centre line (left_y = -0.32 / right_y = +0.33). (5) The arms sometimes stall completely on combined forward+down targets; raising z and reducing x unsticks them, and partially-executed moves (3-5 step commands) are common \u2014 always re-check the readback."})
tool
give_up: The pen slipped out of the right gripper during the 90° wrist yaw, and the pen now lies at y ≈ -0.44 in the left arm's frame — outside the left arm's y bound — while the left arm is the one holding the cap. With ~2 calls of budget left there is no way to re-grasp the pen and mate the two parts.
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 · 19.78 s
model
claude-opus-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, 0.7925, 0.6025, -0.3798, -0.0196, -0.0113, 0.9998, -0.0185, 0.791, 0.6102, -0.3759, -0.0223, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0012 left_z=0.1798 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0021 right_z=0.1845 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -1.388, 10.4684, 1.79, -0.0269, -0.0464, -0.0366, -0.7726, -1.1556, 9.8256, 1.7216, -0.0562, -0.0269, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5916e98aad00cec2ce377b28178eb9d8b2d59a3e38741cff0eb5470575d23b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68a33824cd05314823695fba719902a5e6b58660f37312af3286c686d70b17c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:439cad02e7d2b1f808c5e1d5a4ebf0907584ad7898830ceeb27c8025faa22dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 26.77 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7925, 0.6025, -0.3798, -0.0196, -0.0113, 0.9998, -0.0185, 0.791, 0.6102, -0.3759, -0.0223, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0012 left_z=0.1798 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0021 right_z=0.1845 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -1.388, 10.4684, 1.79, -0.0269, -0.0464, -0.0366, -0.7726, -1.1556, 9.8256, 1.7216, -0.0562, -0.0269, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5916e98aad00cec2ce377b28178eb9d8b2d59a3e38741cff0eb5470575d23b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68a33824cd05314823695fba719902a5e6b58660f37312af3286c686d70b17c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:439cad02e7d2b1f808c5e1d5a4ebf0907584ad7898830ceeb27c8025faa22dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015iTwhdRzuFYuoAJHBMmpTW",
      "input": {
        "note": "Top view shows a long thin pen right of centre and a shorter cap left of centre. Moving the right arm to hover ~15 cm above my estimate of the pen to check alignment in its wrist camera.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.35,
          "right_y": 0.245,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_015iTwhdRzuFYuoAJHBMmpTW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3813, -0.0196, -0.0113, 0.9998, 0.8608, 1.5829, 0.9798, -0.2008, 0.6628, 0.5186, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0012 left_z=0.1777 left_yaw=0.0 left_pitch=-0.008 left_roll=0.0002 left_gripper=0.9998 right_x=0.3433 right_y=0.2381 right_z=0.1358 right_yaw=0.0347 right_pitch=-0.0472 right_roll=-0.0407 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.7846, 7.0222, 1.7167, -0.0415, -0.0366, -0.0122, 0.6085, -7.2957, 8.5812, 1.4921, 0.6325, 0.2515, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcf761b0453a75d7fe68fe55d0a8bb9e0f519d0209eafa73c183306588b5c4fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12d6fc9203795b7d92cd8ced328d3cdef2f9691b2f03235bc77cc7c01faaf8c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad7c1920fd68a1d67643213458d56ac78613d65f0fd556d2579b62b4a6a981c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 12.92 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7925, 0.6025, -0.3798, -0.0196, -0.0113, 0.9998, -0.0185, 0.791, 0.6102, -0.3759, -0.0223, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0012 left_z=0.1798 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0021 right_z=0.1845 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -1.388, 10.4684, 1.79, -0.0269, -0.0464, -0.0366, -0.7726, -1.1556, 9.8256, 1.7216, -0.0562, -0.0269, -0.1148]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3813, -0.0196, -0.0113, 0.9998, 0.8608, 1.5829, 0.9798, -0.2008, 0.6628, 0.5186, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0012 left_z=0.1777 left_yaw=0.0 left_pitch=-0.008 left_roll=0.0002 left_gripper=0.9998 right_x=0.3433 right_y=0.2381 right_z=0.1358 right_yaw=0.0347 right_pitch=-0.0472 right_roll=-0.0407 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.7846, 7.0222, 1.7167, -0.0415, -0.0366, -0.0122, 0.6085, -7.2957, 8.5812, 1.4921, 0.6325, 0.2515, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcf761b0453a75d7fe68fe55d0a8bb9e0f519d0209eafa73c183306588b5c4fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12d6fc9203795b7d92cd8ced328d3cdef2f9691b2f03235bc77cc7c01faaf8c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad7c1920fd68a1d67643213458d56ac78613d65f0fd556d2579b62b4a6a981c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X5EXpZ7Q52H7gD3gcithGs",
      "input": {
        "note": "The right wrist camera shows the pen lying diagonally to the right of the jaw column. Shifting the gripper ~4 cm to its right, yawing to align the jaws across the pen axis, and descending to 6 cm for a closer look.",
        "targets": {
          "right_x": 0.345,
          "right_y": 0.2,
          "right_yaw": 0.4,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01X5EXpZ7Q52H7gD3gcithGs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.02, -0.0113, 0.9997, 0.6155, 1.5467, 0.5644, 0.2317, 0.3004, 0.1795, 0.999]\nstate[eef_state]: left_x=0.2949 left_y=0.0012 left_z=0.1774 left_yaw=0.0003 left_pitch=-0.0091 left_roll=0.0004 left_gripper=0.9997 right_x=0.3337 right_y=0.1764 right_z=0.0427 right_yaw=0.2545 right_pitch=-0.154 right_roll=-0.0695 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.1282, 7.0906, 1.7167, -0.0806, -0.0513, -0.0171, -0.4034, -4.7521, 6.3658, 1.9072, 0.0611, -0.0757, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6e3013a79f00b884b973aecab33082890da1ab7341a8a6a09179ccaeac04872",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dd607b2ff8ac44a55d38d0fd12b8e778867790ce937c8069511fc83309a982d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:daa24bacaa946bb5dc93df8ee42e618849372861d48e16a8684db57f757609e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 11.18 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7925, 0.6025, -0.3798, -0.0196, -0.0113, 0.9998, -0.0185, 0.791, 0.6102, -0.3759, -0.0223, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0012 left_z=0.1798 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0021 right_z=0.1845 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -1.388, 10.4684, 1.79, -0.0269, -0.0464, -0.0366, -0.7726, -1.1556, 9.8256, 1.7216, -0.0562, -0.0269, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3813, -0.0196, -0.0113, 0.9998, 0.8608, 1.5829, 0.9798, -0.2008, 0.6628, 0.5186, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0012 left_z=0.1777 left_yaw=0.0 left_pitch=-0.008 left_roll=0.0002 left_gripper=0.9998 right_x=0.3433 right_y=0.2381 right_z=0.1358 right_yaw=0.0347 right_pitch=-0.0472 right_roll=-0.0407 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.7846, 7.0222, 1.7167, -0.0415, -0.0366, -0.0122, 0.6085, -7.2957, 8.5812, 1.4921, 0.6325, 0.2515, -0.1099]",
      "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, 0.8005, 0.6029, -0.3813, -0.02, -0.0113, 0.9997, 0.6155, 1.5467, 0.5644, 0.2317, 0.3004, 0.1795, 0.999]\nstate[eef_state]: left_x=0.2949 left_y=0.0012 left_z=0.1774 left_yaw=0.0003 left_pitch=-0.0091 left_roll=0.0004 left_gripper=0.9997 right_x=0.3337 right_y=0.1764 right_z=0.0427 right_yaw=0.2545 right_pitch=-0.154 right_roll=-0.0695 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.1282, 7.0906, 1.7167, -0.0806, -0.0513, -0.0171, -0.4034, -4.7521, 6.3658, 1.9072, 0.0611, -0.0757, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6e3013a79f00b884b973aecab33082890da1ab7341a8a6a09179ccaeac04872",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dd607b2ff8ac44a55d38d0fd12b8e778867790ce937c8069511fc83309a982d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daa24bacaa946bb5dc93df8ee42e618849372861d48e16a8684db57f757609e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EKksVrMqt98Njm8t7gKJCt",
      "input": {
        "note": "Pen now fills the right wrist view but still sits ~4-5 cm to the right of the jaw column. Shifting the gripper further right (lower y) to centre the pen between the jaws.",
        "targets": {
          "right_x": 0.335,
          "right_y": 0.14,
          "right_yaw": 0.4,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EKksVrMqt98Njm8t7gKJCt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3809, -0.0196, -0.0113, 0.9997, 0.5911, 1.5551, 0.5465, 0.374, 0.1745, 0.0734, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1775 left_yaw=0.0 left_pitch=-0.0088 left_roll=0.0002 left_gripper=0.9997 right_x=0.3421 right_y=0.197 right_z=0.0561 right_yaw=0.3958 right_pitch=-0.0671 right_roll=-0.0436 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.0872, 7.0496, 1.7314, -0.0464, -0.0513, -0.0073, 0.0615, -5.7915, 5.7915, 1.9072, 0.022, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6b89e59925058d6655ccf15f81b2dee9ef42aeb3405d9b109ccd86444c2d538",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58ee68b8dfacd8586f16298988c93c84393e14e5626218b9e057739b6ef33c6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b4da4be317b495e3427558c594e33a77796ec49968155c1186962c0267b009d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 12.93 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, -0.0196, -0.0113, 0.9998, 0.8608, 1.5829, 0.9798, -0.2008, 0.6628, 0.5186, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0012 left_z=0.1777 left_yaw=0.0 left_pitch=-0.008 left_roll=0.0002 left_gripper=0.9998 right_x=0.3433 right_y=0.2381 right_z=0.1358 right_yaw=0.0347 right_pitch=-0.0472 right_roll=-0.0407 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.7846, 7.0222, 1.7167, -0.0415, -0.0366, -0.0122, 0.6085, -7.2957, 8.5812, 1.4921, 0.6325, 0.2515, -0.1099]",
      "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, 0.8005, 0.6029, -0.3813, -0.02, -0.0113, 0.9997, 0.6155, 1.5467, 0.5644, 0.2317, 0.3004, 0.1795, 0.999]\nstate[eef_state]: left_x=0.2949 left_y=0.0012 left_z=0.1774 left_yaw=0.0003 left_pitch=-0.0091 left_roll=0.0004 left_gripper=0.9997 right_x=0.3337 right_y=0.1764 right_z=0.0427 right_yaw=0.2545 right_pitch=-0.154 right_roll=-0.0695 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.1282, 7.0906, 1.7167, -0.0806, -0.0513, -0.0171, -0.4034, -4.7521, 6.3658, 1.9072, 0.0611, -0.0757, -0.022]",
      "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, 0.8005, 0.6029, -0.3809, -0.0196, -0.0113, 0.9997, 0.5911, 1.5551, 0.5465, 0.374, 0.1745, 0.0734, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1775 left_yaw=0.0 left_pitch=-0.0088 left_roll=0.0002 left_gripper=0.9997 right_x=0.3421 right_y=0.197 right_z=0.0561 right_yaw=0.3958 right_pitch=-0.0671 right_roll=-0.0436 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.0872, 7.0496, 1.7314, -0.0464, -0.0513, -0.0073, 0.0615, -5.7915, 5.7915, 1.9072, 0.022, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6b89e59925058d6655ccf15f81b2dee9ef42aeb3405d9b109ccd86444c2d538",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58ee68b8dfacd8586f16298988c93c84393e14e5626218b9e057739b6ef33c6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b4da4be317b495e3427558c594e33a77796ec49968155c1186962c0267b009d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuAYKjgEIEhgCKkB8SZ7ijKm7SEyIkBra4aJF4GbNA1aI3lJwv9QviU4e1NkHxFh+dVuIOZ6TckrnZICqdAvOuQ4aWgjCiSKNo9qOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZaCzNUGEgxRK3RtGM0DKkJL4ecaDFD50TDpZD9kYKDwjCIwCAUCDJx2uPVek/v1t6FWHovpnX0cYUyyqlmyeQTWbtWpP9qtTZuzDkVT6HiZ2sKuKtYE4ifQ98IOuPtL0zr6+73zr/rANQdca8Kd/YyvpzpWwdaxHMV19B+oxQomC2KMIKPEbFgPkwF31keDkqq1hyu5isHlJfK5poailnbNAgJ+GKZxKEFizPHufvzKwOcRX90qEcOdhgB7aCxSCfTt2wEkgy1iVMTrHVVSo+5DAfGzmzg80bKCFVCCXd8g5qga5LmMMepZVak+JtQRfe6aYtGPDKazZcft1lLXVKJ+NhAoLZzZwLP473/LipusaESnnLR2aM8OxDwhsC8zlXAdWh3xlaWBLXK73zJcmgCoHzJzaEszradXHA9ZAd/eF9OVqofgWE1sDFO1r7kf/QoReWyy3l6yf+htP3Q1cUogAKcZ05VQkhBWNxWOZ7hJgsoLtsL7cioJD49IMRguwMUBU0kxcae4FD2cgIK6PtyhHwFnYDr4U4iw7ewXD0opseXanubuZVrZfJ90OsO+6/uAs+j78p+DDwC5LlLAhqeMtgTDHfoaP0DzKeYpqcMCBgEp959EAOgkW93sd4acAZ635Y5+rFtwXx4LG7iNmb3B8S/IDtFMu+Eda+7v98Icd/Of5/XZisYif4TQ2Big07xf07Bg4i+Zg7w7vMVgEnM4p9MhWh8TMHVZFy+AZ2TjtZ9WhtGQJJE4J7KJspt9ZBc9kt3Bo/PbC+rc3ZwHqcGyh/KLSvNLCkxKgOfGEFrz17o7mj7A4Ig4tZrHqB7IEqZ1l8ZwZhCRtJVl2WUC4B/HwrovvNcyoNA0BQjXf6xqXt2Xv8B6yvLjygEj8BElMnVPjNz71KsbjUkmkBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AB2xbEaNGfTSz8SihGenVP",
      "input": {
        "note": "The previous command only partially executed (y drifted back to 0.197). Re-sending the same target to actually bring the jaws over the pen.",
        "targets": {
          "right_x": 0.335,
          "right_y": 0.14,
          "right_yaw": 0.4,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01AB2xbEaNGfTSz8SihGenVP",
      "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, 0.8005, 0.6029, -0.3809, -0.02, -0.0113, 0.9997, 0.5911, 1.5551, 0.5465, 0.374, 0.1749, 0.0738, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1775 left_yaw=0.0003 left_pitch=-0.0088 left_roll=0.0004 left_gripper=0.9997 right_x=0.3422 right_y=0.1969 right_z=0.0561 right_yaw=0.3952 right_pitch=-0.0671 right_roll=-0.0435 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.265, 7.0632, 1.7363, -0.0757, -0.0757, -0.0122, 0.1162, -5.8051, 6.0239, 1.9023, 0.0073, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d8bc8b658a1b0516d6ae1756719eb779dfc9d27f29ff5a04540c52472c5ab3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6f461498995d56c2a5334db11611ac86998d0582ad9285265c2b552cf6bd6b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:327cce7779f470346323de1d6321decedce53f65b0096a3eecfe5121a059290c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 10.38 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.02, -0.0113, 0.9997, 0.6155, 1.5467, 0.5644, 0.2317, 0.3004, 0.1795, 0.999]\nstate[eef_state]: left_x=0.2949 left_y=0.0012 left_z=0.1774 left_yaw=0.0003 left_pitch=-0.0091 left_roll=0.0004 left_gripper=0.9997 right_x=0.3337 right_y=0.1764 right_z=0.0427 right_yaw=0.2545 right_pitch=-0.154 right_roll=-0.0695 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.1282, 7.0906, 1.7167, -0.0806, -0.0513, -0.0171, -0.4034, -4.7521, 6.3658, 1.9072, 0.0611, -0.0757, -0.022]",
      "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, 0.8005, 0.6029, -0.3809, -0.0196, -0.0113, 0.9997, 0.5911, 1.5551, 0.5465, 0.374, 0.1745, 0.0734, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1775 left_yaw=0.0 left_pitch=-0.0088 left_roll=0.0002 left_gripper=0.9997 right_x=0.3421 right_y=0.197 right_z=0.0561 right_yaw=0.3958 right_pitch=-0.0671 right_roll=-0.0436 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.0872, 7.0496, 1.7314, -0.0464, -0.0513, -0.0073, 0.0615, -5.7915, 5.7915, 1.9072, 0.022, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3809, -0.02, -0.0113, 0.9997, 0.5911, 1.5551, 0.5465, 0.374, 0.1749, 0.0738, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1775 left_yaw=0.0003 left_pitch=-0.0088 left_roll=0.0004 left_gripper=0.9997 right_x=0.3422 right_y=0.1969 right_z=0.0561 right_yaw=0.3952 right_pitch=-0.0671 right_roll=-0.0435 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.265, 7.0632, 1.7363, -0.0757, -0.0757, -0.0122, 0.1162, -5.8051, 6.0239, 1.9023, 0.0073, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d8bc8b658a1b0516d6ae1756719eb779dfc9d27f29ff5a04540c52472c5ab3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6f461498995d56c2a5334db11611ac86998d0582ad9285265c2b552cf6bd6b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:327cce7779f470346323de1d6321decedce53f65b0096a3eecfe5121a059290c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5AkKjgEIEhgCKkDaTGKGFjYVD9NtGaOb6kXr8lZi+kSTpc1wx3YhGdggXgVrXu02ebF3Sbfoyn4CDBjg1IENa1xwCvI5rIgwe91JMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaOCzNUGEgzPmt9tsCs/ZnGq7W4aDNusZ30UXg+ObSScnyIwv/12HpAY1kDYjaQBcF5F2N7QGyJlkxR4UG4cUF27Ljvs5YxAqVwnTAgCHiFixH2LKoIIPgiETMZGYLBIH7lRBAMtPh+2iS0OnYeUtfmmyCMrjxl8+fsRoICeBY8H97vxoZl55EaC2znertilTOqlMdt63F8VIT59IbRKob7He4HsWzBx6D3WVzhzbFsiMsr4c60uxNQpWSGEQaIl7e1ZDwyhEE0GlNrrUSPe9nmlwflOVV72sSZiIhluxVTeROZZR9HJdsjSSZu5RcIn5f/GwY30jwb7FQC/xzHrSKYHlIl2/0GcDYLi/ZOH9mGPZHZx/ZKWu3wzC6VVrJ2Eo3eDfHQH8As66J9OHreHfe0eFXksDDUqvX0fyLDamv0UgfwgpE1KjhFCkZA+nIzmQvRYZcHQ4iq0g4sPia4Pl1/Cs1sg1aWnt9qwfty+Q0+ci8UH4cuGfvCuqHICk5CuJY+tHM+zm0xutjmqqkTbccAncvZyBpjmiQ6XqPqsvyfCnTQsfMKtNyKzybhbxRdOBJ+AIU9SvJa8sSXNivdfpllx1IO1otZMjfe1kuh50HiNdmAB1KqPgnjONzrHJh4qwzDVXytb1xBovWRazKxMHqPWPtpgR5jT1gri6vibLleN/ZG5yZVI+xMk2DU2lxM9ju/nLUuLM3+SQvWikE9lkbCdUTf/vDAry8VpjZeUeanXXELsv+VgM4XelaWJpiTxuGy1NSUr8v/JX80QygRvkrwwOoIrQ7/QEH/k2VftrujYaVVpwEx4hW7IR1Q3/IaHvZ7fW6iu5PuR/DlA0o/C/Y1a6qzPBwpMLobSoWodcAZK/9+fSq9/Qnu45cwH0S8nxrza4pK9sOv277/0T/7frmr3NIEZNJ292UB+YbmWtzLe/vImGRQp0CwxbgEU4eQlqU46/fgMK5LEOdqB6KgNlnyjV0N/v9lIMHnbd+9WuxepYV0o56ldy8BKYfWj5qQ96RK/VCeDbwOTBa9fNN5QQCQ0zz0gdZVSeUcpOP7Z9TPVjnwDKlxxbVtLOb8G5ynGqyV4AcXKEtIZEUvuJXmMokG5LtrfWN/7t/TaaTEA97lZrJvCzLO7varXV+uPGAmCoayRRZgGbGPbApJaJHZ6NR4cnAR9z1RwlrVs9ycT8VAS0Iqp5Dby2lQ0NoGUz8cMONRgHPbzHvZVuLMNcGO1++BYJ/YI6MQTqPMdiB2+oeYqpPGLkz/xkyWavUShqEPHUfQNVntgskzgdR3OGOFedQouIkbJeVGhBao8zWIpmHDA5hTrSll++W6ommMrAAYKO81zaGPhZDz51enDVtrQ5aN7AcOwJyECtL8WPJRxKPeiMlK7+OOST+KzUxVjg7N1DQNInhnWb5G8hjBtpG/F7uWNX7gaHms8gRnL3/nos2yAeQCu0UNygPe007V8QNG4H+vktDMo7mO4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HaqmmVAgWQqSbfA4yqkVYU",
      "input": {
        "note": "The arm has stopped tracking (stuck at y=0.197), so I am lifting slightly and asking for a smaller 2.5 cm sideways step toward the pen.",
        "targets": {
          "right_x": 0.335,
          "right_y": 0.172,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01HaqmmVAgWQqSbfA4yqkVYU",
      "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, 0.8043, 0.6029, -0.3809, -0.02, -0.0109, 0.9997, 0.5472, 1.4841, 0.5125, 0.3344, 0.1425, 0.0544, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1764 left_yaw=0.0001 left_pitch=-0.0126 left_roll=0.0008 left_gripper=0.9997 right_x=0.3373 right_y=0.1803 right_z=0.0609 right_yaw=0.3891 right_pitch=-0.0734 right_roll=-0.0407 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.0872, 7.0222, 1.79, -0.0659, -0.0611, -0.0122, -0.3214, -6.5846, 6.5846, 1.7656, -0.0659, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2db359aef52b40b6e0a179dc81767439f6e4ee9b3474df1f0a3eac62681eff0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d87092312292f1cdb3d7cee56778fe4e5f44df95e60a2a96a019fbdeb7b012e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e68347e499e57c8d845f045927a900585f7cf1de253fbdcfd1f6624dd12f5b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 21.67 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3809, -0.0196, -0.0113, 0.9997, 0.5911, 1.5551, 0.5465, 0.374, 0.1745, 0.0734, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1775 left_yaw=0.0 left_pitch=-0.0088 left_roll=0.0002 left_gripper=0.9997 right_x=0.3421 right_y=0.197 right_z=0.0561 right_yaw=0.3958 right_pitch=-0.0671 right_roll=-0.0436 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.0872, 7.0496, 1.7314, -0.0464, -0.0513, -0.0073, 0.0615, -5.7915, 5.7915, 1.9072, 0.022, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3809, -0.02, -0.0113, 0.9997, 0.5911, 1.5551, 0.5465, 0.374, 0.1749, 0.0738, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1775 left_yaw=0.0003 left_pitch=-0.0088 left_roll=0.0004 left_gripper=0.9997 right_x=0.3422 right_y=0.1969 right_z=0.0561 right_yaw=0.3952 right_pitch=-0.0671 right_roll=-0.0435 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.265, 7.0632, 1.7363, -0.0757, -0.0757, -0.0122, 0.1162, -5.8051, 6.0239, 1.9023, 0.0073, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.8043, 0.6029, -0.3809, -0.02, -0.0109, 0.9997, 0.5472, 1.4841, 0.5125, 0.3344, 0.1425, 0.0544, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1764 left_yaw=0.0001 left_pitch=-0.0126 left_roll=0.0008 left_gripper=0.9997 right_x=0.3373 right_y=0.1803 right_z=0.0609 right_yaw=0.3891 right_pitch=-0.0734 right_roll=-0.0407 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.0872, 7.0222, 1.79, -0.0659, -0.0611, -0.0122, -0.3214, -6.5846, 6.5846, 1.7656, -0.0659, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2db359aef52b40b6e0a179dc81767439f6e4ee9b3474df1f0a3eac62681eff0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d87092312292f1cdb3d7cee56778fe4e5f44df95e60a2a96a019fbdeb7b012e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e68347e499e57c8d845f045927a900585f7cf1de253fbdcfd1f6624dd12f5b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019mMbR2XApFA2oYYLE2qmk4",
      "input": {
        "note": "I can't reliably judge the pen's position from the wrist view; pulling the right arm up and back to clear the overhead camera so I can locate the pen and cap properly.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.05,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_019mMbR2XApFA2oYYLE2qmk4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6022, -0.382, -0.02, -0.0113, 0.9997, -0.0212, 0.8642, 1.1416, -0.9199, -0.2691, -0.2607, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0012 left_z=0.1751 left_yaw=0.0003 left_pitch=-0.0172 left_roll=0.0006 left_gripper=0.9997 right_x=0.2614 right_y=0.045 right_z=0.2937 right_yaw=0.3364 right_pitch=-0.0598 right_roll=-0.0524 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.5248, 7.1179, 1.707, -0.0708, -0.0464, -0.0122, -0.3077, -0.3897, 7.7197, 1.4335, -0.2418, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49b4213a216c380eb8c4e03f27643cd8fa5fdb8fb98c81b136107ae296fd5e47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:148dca854002f74102302acb91d3a05378c5f2fc21f7c2ae3cdd729635679b47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8294545e8b97ac4e886da80c4b7696386b110c5f73f8f132322b594d766cc93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 13.21 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3809, -0.02, -0.0113, 0.9997, 0.5911, 1.5551, 0.5465, 0.374, 0.1749, 0.0738, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1775 left_yaw=0.0003 left_pitch=-0.0088 left_roll=0.0004 left_gripper=0.9997 right_x=0.3422 right_y=0.1969 right_z=0.0561 right_yaw=0.3952 right_pitch=-0.0671 right_roll=-0.0435 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.265, 7.0632, 1.7363, -0.0757, -0.0757, -0.0122, 0.1162, -5.8051, 6.0239, 1.9023, 0.0073, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.8043, 0.6029, -0.3809, -0.02, -0.0109, 0.9997, 0.5472, 1.4841, 0.5125, 0.3344, 0.1425, 0.0544, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1764 left_yaw=0.0001 left_pitch=-0.0126 left_roll=0.0008 left_gripper=0.9997 right_x=0.3373 right_y=0.1803 right_z=0.0609 right_yaw=0.3891 right_pitch=-0.0734 right_roll=-0.0407 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.0872, 7.0222, 1.79, -0.0659, -0.0611, -0.0122, -0.3214, -6.5846, 6.5846, 1.7656, -0.0659, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.02, 0.807, 0.6022, -0.382, -0.02, -0.0113, 0.9997, -0.0212, 0.8642, 1.1416, -0.9199, -0.2691, -0.2607, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0012 left_z=0.1751 left_yaw=0.0003 left_pitch=-0.0172 left_roll=0.0006 left_gripper=0.9997 right_x=0.2614 right_y=0.045 right_z=0.2937 right_yaw=0.3364 right_pitch=-0.0598 right_roll=-0.0524 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.5248, 7.1179, 1.707, -0.0708, -0.0464, -0.0122, -0.3077, -0.3897, 7.7197, 1.4335, -0.2418, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49b4213a216c380eb8c4e03f27643cd8fa5fdb8fb98c81b136107ae296fd5e47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:148dca854002f74102302acb91d3a05378c5f2fc21f7c2ae3cdd729635679b47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8294545e8b97ac4e886da80c4b7696386b110c5f73f8f132322b594d766cc93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GwK5f4rM6C7oPff5X5ktJZ",
      "input": {
        "note": "Clean overhead view: the pen lies almost radially (image-vertical) right of centre, the cap is a small blob left of centre. Hovering the right arm over the pen with zero yaw so the wrist view isn't rotated.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.21,
          "right_yaw": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01GwK5f4rM6C7oPff5X5ktJZ",
      "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, 0.812, 0.6018, -0.382, -0.0196, -0.0109, 0.9997, 0.7559, 1.5646, 0.8814, -0.1936, 0.5587, 0.4076, 0.9989]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1736 left_yaw=-0.0002 left_pitch=-0.0225 left_roll=0.0008 left_gripper=0.9997 right_x=0.3433 right_y=0.1999 right_z=0.099 right_yaw=0.0589 right_pitch=-0.1575 right_roll=-0.123 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -1.5795, 7.3368, 1.6874, -0.0073, -0.0317, -0.0122, 0.4171, -7.665, 8.6222, 1.6581, 0.6325, 0.1441, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef0f8e77873e002860eb139740e6c3f73d5a1fe9eddb415cf5837536e9cd7152",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c433b50150a9201a6ed6829a9ea252a6cc738bf159424d27351152cd45392f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a01a68b1db4f2cea2af25d779b94fbe55588912ed2c273e86beb251e67832c03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 10.14 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8043, 0.6029, -0.3809, -0.02, -0.0109, 0.9997, 0.5472, 1.4841, 0.5125, 0.3344, 0.1425, 0.0544, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1764 left_yaw=0.0001 left_pitch=-0.0126 left_roll=0.0008 left_gripper=0.9997 right_x=0.3373 right_y=0.1803 right_z=0.0609 right_yaw=0.3891 right_pitch=-0.0734 right_roll=-0.0407 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.0872, 7.0222, 1.79, -0.0659, -0.0611, -0.0122, -0.3214, -6.5846, 6.5846, 1.7656, -0.0659, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6022, -0.382, -0.02, -0.0113, 0.9997, -0.0212, 0.8642, 1.1416, -0.9199, -0.2691, -0.2607, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0012 left_z=0.1751 left_yaw=0.0003 left_pitch=-0.0172 left_roll=0.0006 left_gripper=0.9997 right_x=0.2614 right_y=0.045 right_z=0.2937 right_yaw=0.3364 right_pitch=-0.0598 right_roll=-0.0524 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.5248, 7.1179, 1.707, -0.0708, -0.0464, -0.0122, -0.3077, -0.3897, 7.7197, 1.4335, -0.2418, -0.0464, -0.0122]",
      "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]: [-0.02, 0.812, 0.6018, -0.382, -0.0196, -0.0109, 0.9997, 0.7559, 1.5646, 0.8814, -0.1936, 0.5587, 0.4076, 0.9989]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1736 left_yaw=-0.0002 left_pitch=-0.0225 left_roll=0.0008 left_gripper=0.9997 right_x=0.3433 right_y=0.1999 right_z=0.099 right_yaw=0.0589 right_pitch=-0.1575 right_roll=-0.123 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -1.5795, 7.3368, 1.6874, -0.0073, -0.0317, -0.0122, 0.4171, -7.665, 8.6222, 1.6581, 0.6325, 0.1441, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef0f8e77873e002860eb139740e6c3f73d5a1fe9eddb415cf5837536e9cd7152",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c433b50150a9201a6ed6829a9ea252a6cc738bf159424d27351152cd45392f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a01a68b1db4f2cea2af25d779b94fbe55588912ed2c273e86beb251e67832c03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015ykveu1mApfaiNc7w5sCHd",
      "input": {
        "note": "Wrist view shows the pen just above and slightly right of the jaw column. Descending close to the table with a small rightward correction to see the grasp geometry up close.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.19,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_015ykveu1mApfaiNc7w5sCHd",
      "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, 0.8135, 0.6018, -0.3817, -0.02, -0.0113, 0.9997, 0.7013, 1.7649, 0.7471, 0.1051, 0.519, 0.3664, 0.9989]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1732 left_yaw=0.0003 left_pitch=-0.0236 left_roll=0.0007 left_gripper=0.9997 right_x=0.3502 right_y=0.1858 right_z=0.0174 right_yaw=0.0514 right_pitch=-0.2076 right_roll=-0.1521 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -1.2103, 7.2547, 1.707, -0.0415, -0.0611, -0.0122, -0.8274, -7.3641, 4.8889, 1.5214, 0.232, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b35a95d58bfa9de1562e9fc45a197e3e55ee02a358245119ef9e66376bc85c3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95eb14eae30a686b98dd0f49143798885c36104ff15d8139256507aef11acc12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fcd648ae677caa8184d577f33035a4ca6c3b7538efbd87d1d1323b5ea58e7859",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 9.861 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6022, -0.382, -0.02, -0.0113, 0.9997, -0.0212, 0.8642, 1.1416, -0.9199, -0.2691, -0.2607, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0012 left_z=0.1751 left_yaw=0.0003 left_pitch=-0.0172 left_roll=0.0006 left_gripper=0.9997 right_x=0.2614 right_y=0.045 right_z=0.2937 right_yaw=0.3364 right_pitch=-0.0598 right_roll=-0.0524 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.5248, 7.1179, 1.707, -0.0708, -0.0464, -0.0122, -0.3077, -0.3897, 7.7197, 1.4335, -0.2418, -0.0464, -0.0122]",
      "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]: [-0.02, 0.812, 0.6018, -0.382, -0.0196, -0.0109, 0.9997, 0.7559, 1.5646, 0.8814, -0.1936, 0.5587, 0.4076, 0.9989]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1736 left_yaw=-0.0002 left_pitch=-0.0225 left_roll=0.0008 left_gripper=0.9997 right_x=0.3433 right_y=0.1999 right_z=0.099 right_yaw=0.0589 right_pitch=-0.1575 right_roll=-0.123 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -1.5795, 7.3368, 1.6874, -0.0073, -0.0317, -0.0122, 0.4171, -7.665, 8.6222, 1.6581, 0.6325, 0.1441, -0.0171]",
      "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]: [-0.02, 0.8135, 0.6018, -0.3817, -0.02, -0.0113, 0.9997, 0.7013, 1.7649, 0.7471, 0.1051, 0.519, 0.3664, 0.9989]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1732 left_yaw=0.0003 left_pitch=-0.0236 left_roll=0.0007 left_gripper=0.9997 right_x=0.3502 right_y=0.1858 right_z=0.0174 right_yaw=0.0514 right_pitch=-0.2076 right_roll=-0.1521 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -1.2103, 7.2547, 1.707, -0.0415, -0.0611, -0.0122, -0.8274, -7.3641, 4.8889, 1.5214, 0.232, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b35a95d58bfa9de1562e9fc45a197e3e55ee02a358245119ef9e66376bc85c3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95eb14eae30a686b98dd0f49143798885c36104ff15d8139256507aef11acc12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcd648ae677caa8184d577f33035a4ca6c3b7538efbd87d1d1323b5ea58e7859",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7goKjgEIEhgCKkD8NGw/nPDZaTvXyGUaBnu4NtJidHG7n0ZW011lcxnE6BZ+mTnbnK0b+rwK35xlEz2lbRckBbsp04yOrz/LQhg/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd6CzNUGEgy5h3O5aangZt+IzvgaDC6MmQScl/V4O/eBMiIwbIn8t8nj/IPkvqBs9L7ortuFvXAHgXRggTpNUVGNsEcbEKVhvB86M437uDY+xPDbKowJv79+tMKxMr11B+uGQPWD8TNETnOOSNG6vPRDmJ2x8+2eyfEQX7HKNTt0xO0pbID65f9vjwa7yfOpQDNpuNXdWaCHvazlPgvIKU9bA+4Zu3vzg6Ya+k+zaCRzRiiEi3kkmOtbvacTrrxU13QFWV8Dpl1Ki64zOgi6YfhiqlRpqTykEC+Q0fsGye9L0j+utKIW1Lj7my/Z5zOhEGq8Ajyoxl1gyZN8GZ11g+0/z5qAcCcKV2z4rLm4pzLwERz4OfsMJxJXQw9QN149qIUkn+isrZ+ZV0jur2U9VgWJM0htsuLnzmrSXHmcVZW8fueL3v4BNWaT/f3d+85cxIyL6D4EfZyWV7ubPs8vVvD1Z2Jz+FjJIGSSZZSacL9Kh9VXz7Tf+3iX7aXBjsOd5XUE9WptG112et9d6l4pi6hfdOFozhwOBPiW/vPqhTVSSVpf2VLpsmvWMYokmx/6kktF7ZmKaNdMLxUSgYHbO0bGzxeyallefTA5aJhcinZs1mC3Oridc9dkJfWUFvq536qq2cCh+7egJ7/mhvCaXpqqvTjaUWpe11mMLZLYOZO8ujkAQg68KXTLfKJfPtqC2wMmdCkuXHTTqO3+NDM4al4O2g7NXbOQp46a+a7s/RlpNkbY4/AHSqTjYFM6RYdW3C0QxD5GSwpYwJ9TWA7SzgWfrER0/2vZmhrA25WeIqV/cGn1nke2TJ9gH1NFlNpbpsla6wG8y8h6GnO2cUOGwwidbxEzUr4BQ2XmD+FHhREtrzkNqmoWup3PjUOK2p2Kzz00u5a694rWpo7cXBP99FLexo0oBBvsorOx+EpAVbQJINKErLuTWlRDh8a79pTHONuZ9kZlHdAuzllxK1z4XxAEsam10TffWnoPY5ywZDCGpxtKcOH7S6yTx0A/Nh2pl0d3Z0ryd95w0BDTLTKP3DN7/sT+PBOVVSBhn+zcYtUWNO17QUR6mmrL8bzW5CIabE2O7kmI5+hyczWOb6P9kRdmGDEgKXkeJkELS04ywK7xCb0suYPCwOFfEsPN1Aa4XLwgfnUV1tqo98kMHH7H3ZzZNEa2jP/pd18L6w0xZn43yJmdgNNsOmAElCseFAkrUUEUJeSbjGsIVsqGeqfP9uUywLJ1FYa5GxWcxrUxuPCMS1vwqQ1SBgv8ckO48rJHCB5zH8QFUmqcFEYmLpX621s027TRWqhPLiNKYO6Igy/I2eUyUHYyOsdi6XFH96tkT8XJ6IHix5mP12viJzd+HmRWUomnK23UomRSP296KNr4nFBhEmURVWT8lLhvQkZHA6qzd+x+InuwjnDIjRJaQ6vo8zMIp0f5Zbr0RwYYc7MmlJC6+cEnFSORDuw2bDsAh9rRqpYFI+KQUxFIs4TCDZxvP/AnVCItz1yQmpH/wo9bZRhGl6VXl1vCuLTeXPIfeTsHoEs3SLrJlACjbr1TXvdanOhEOcILQ+zlMsBNxnN7pIotmbui0QDHXDQQ/GWU3MB5jmPbA+8esZgTKYgjPlBhewwlgjOTkyC0v1v+beMW8WNu1fBjBizMl+uohUOgGkWVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015u6HsVoBSrcJUVkhoZN9V1",
      "input": {
        "note": "The pen runs right along the right-hand jaw, so the gripper is about 4-5 cm too far left. Lifting slightly to avoid knocking it and shifting 4 cm to the arm's right.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.146,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_015u6HsVoBSrcJUVkhoZN9V1",
      "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, 0.8135, 0.6018, -0.3817, -0.02, -0.0109, 0.9997, 0.5808, 1.6424, 0.725, 0.054, 0.4534, 0.2802, 0.999]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1732 left_yaw=0.0001 left_pitch=-0.0236 left_roll=0.001 left_gripper=0.9997 right_x=0.3617 right_y=0.1491 right_z=0.0434 right_yaw=0.0329 right_pitch=-0.2018 right_roll=-0.1447 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.3607, 7.0359, 1.6972, -0.0708, -0.0366, -0.0122, -0.212, -8.0889, 5.5316, 1.3407, 0.1587, -0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20420a809bc62ea7d616186550841dbb1177c969e3204618daf2700d940498de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c1ae492ae56f60cec3053b445fb508d8bff7944d1fad46ccb04b076282d9470",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:142762bc64f362f3c50ffe8264628724a8abf33682b63f5850600936fe28cbd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 4.022 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.812, 0.6018, -0.382, -0.0196, -0.0109, 0.9997, 0.7559, 1.5646, 0.8814, -0.1936, 0.5587, 0.4076, 0.9989]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1736 left_yaw=-0.0002 left_pitch=-0.0225 left_roll=0.0008 left_gripper=0.9997 right_x=0.3433 right_y=0.1999 right_z=0.099 right_yaw=0.0589 right_pitch=-0.1575 right_roll=-0.123 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -1.5795, 7.3368, 1.6874, -0.0073, -0.0317, -0.0122, 0.4171, -7.665, 8.6222, 1.6581, 0.6325, 0.1441, -0.0171]",
      "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]: [-0.02, 0.8135, 0.6018, -0.3817, -0.02, -0.0113, 0.9997, 0.7013, 1.7649, 0.7471, 0.1051, 0.519, 0.3664, 0.9989]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1732 left_yaw=0.0003 left_pitch=-0.0236 left_roll=0.0007 left_gripper=0.9997 right_x=0.3502 right_y=0.1858 right_z=0.0174 right_yaw=0.0514 right_pitch=-0.2076 right_roll=-0.1521 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -1.2103, 7.2547, 1.707, -0.0415, -0.0611, -0.0122, -0.8274, -7.3641, 4.8889, 1.5214, 0.232, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.02, 0.8135, 0.6018, -0.3817, -0.02, -0.0109, 0.9997, 0.5808, 1.6424, 0.725, 0.054, 0.4534, 0.2802, 0.999]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1732 left_yaw=0.0001 left_pitch=-0.0236 left_roll=0.001 left_gripper=0.9997 right_x=0.3617 right_y=0.1491 right_z=0.0434 right_yaw=0.0329 right_pitch=-0.2018 right_roll=-0.1447 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.3607, 7.0359, 1.6972, -0.0708, -0.0366, -0.0122, -0.212, -8.0889, 5.5316, 1.3407, 0.1587, -0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20420a809bc62ea7d616186550841dbb1177c969e3204618daf2700d940498de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c1ae492ae56f60cec3053b445fb508d8bff7944d1fad46ccb04b076282d9470",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:142762bc64f362f3c50ffe8264628724a8abf33682b63f5850600936fe28cbd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISswoKjgEIEhgCKkAz9B0OAlzwLayM8OnZ6chiw7Ym5V18TjSG0NdkcX6361HJjT7XVLUzCtfJMTAm1NUyE3sgzLjbqG1sQFaiEChvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeiCzNUGEgyNbjQrjS1vfsNTnScaDFHzdaHesZZAKuGJjCIwEaxo407RZePGwOsBj7TKGnlGxwVIqnO5fdQrFKHNK9ftuxNGgZP0I/O6cSXAUeuqKtEIIgydw69k4Ktbd8e+EZGg66Lg5QIaEJOm2EvXcqPKe+cwIPS4D+nvFPOk9xxSmsdeb5xEe55rp9QvAeoQ7O5Dkz+BDOWOTez69Yd2TdaGiiLO6rq2fMqCPwTjd/TIsgrAAR9z+xtRLa32nX0UVzhE8zG6APc5n6ZRJ9b6UebSVPEkbO/qVzJztvD/S1UOivmhK+ipQDo+yejx9PwcLHS9baV70+lsmnwJDsdrqdVftF5mHNedBTgTreNOYuSJj7h1SrUzgV2FPe1/OfqTwZFGsoyHwXim7qKQW3keLPRO/CeND2TFkXPSziUYYzJ3O1wxpr3+EO7aOOdHw2HIfLrxQRkzAvnGpPvsRMTmg60ZIDnItzibiWa/2GCv+Q1jjO8dcyX7uGQQMQLAiPpAS+YL3k87E1ygat/GDQTGqykPAYZiLvekFzytPitaz5dr48yKfjTIGRsVfSJdXNTZ+rdxSvTrpVxfZQsCSL//aEjmqCbmkRA48xcef9nkTH2HPsWI3Q6kRPeRMcCfZO6HG/9ywm2lOdOec2ITEZocKx0CH4ArhmYdfnPc39VrCbwpNHr8THZ6QCgWHkEibP8dqIUB5FtuZbkTiD2QEpK2R13aYkF+pTXRtER+xbrITokKIxqciUj3ipXl03MEFgqq28sfgrE/HPW85/lxYMys2s1KdPvHcGgpITsnaynXkS2pZRO4rCexgWocfMsqoZDPLX1MqR7oVLPNzGN1G4vV8JT1ifPdbpLyFYArtkpCifA8dHsWUd5Drjhm0yaHCzOqLjcmZ9wMCHdC9j/qeSj9tIv9EBFFKZLH6pYHiQiuIbE4n5++pI3f86UfJDBxvoeP9vcq2mH1I4SNX6LKxXRO7nzLGn2yLu0ngU9XBE/V0jLrabhyBk/XCKDhQ9nlwVWK8j15FwsQx7CGGhgdTJUKOMqQjtcmmViefhTwaGVDELfA2rVc1A/JSNZP567Vg3+0+YsaVfbcHzThsMEKYiJEAx1OFpGNykgsYnlZpUY2qBXBaHfWG7QjPKD75AglK6AexT+G82EfkVqvAVSvTl5Bw6Pou+EBc5Dh4KuBDXEiWyGo47hq5phzq25wmxbI1uf49kAxMSXvcyAvoW+4gee2svbdxerHHUKG0m6gLlxtmaTb6T7qjxo/K07jgkHZuJ2vIRWvzr871/nWp/7Y8haDFcQwxkNxO7s/x/dJT3B4yVzzTC1jn4vtFSD+ntYb6Mdvt+3QCA6MJlC2bA4NXwAYoRYjfX/uYK+12HMFUAsiAx02ZbN6E59W0a29Hk+wFwwBJc9lTHmHCtWXxxoVnys2LYlwZ+04kd8iapVgN+BvfZ+TZOeuapG/SLpqzRPXMh/tesE4pzoU/3kZ+QkKirk8NubuQ4lJvYBd+iuUAs53h98nBGUoPQGKj43JODGbf/cj3VqVxsmnIuXoL+TasmikQG94xMAvvmweOyEbJlYkLvMIr5a9OxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bi4pYGxoBBSC1CKGwRuHw8",
      "input": {
        "note": "The 3.7 cm shift moved the pen 38 px in the wrist view (≈10 px/cm); the pen is still 2.7 cm right of the jaw column. Applying that correction and descending to table level for the grasp.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.122,
          "right_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_01Bi4pYGxoBBSC1CKGwRuHw8",
      "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, 0.8135, 0.6018, -0.3813, -0.0196, -0.0109, 0.9997, 0.5133, 1.6989, 0.6075, 0.2131, 0.4068, 0.2424, 0.9989]\nstate[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1733 left_yaw=-0.0002 left_pitch=-0.0233 left_roll=0.0008 left_gripper=0.9997 right_x=0.3534 right_y=0.1231 right_z=0.0055 right_yaw=0.0209 right_pitch=-0.2351 right_roll=-0.1483 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -1.265, 7.0359, 1.7118, -0.0611, -0.0317, -0.0122, -0.3077, -6.2427, 6.8991, 0.5446, 0.2808, -0.9646, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a740794cf99b60a16871a5d6722217156fe157c7fe02830e303742a7c806968",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd75828540c25bee89e5d0b402b0877afe6a43b81b1bc32e7e700fd7a343cd33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b7ba00ceaf53de6f74597efb0b6042924825410bf9924390d28d6ecdc233bc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 13.86 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8135, 0.6018, -0.3817, -0.02, -0.0113, 0.9997, 0.7013, 1.7649, 0.7471, 0.1051, 0.519, 0.3664, 0.9989]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1732 left_yaw=0.0003 left_pitch=-0.0236 left_roll=0.0007 left_gripper=0.9997 right_x=0.3502 right_y=0.1858 right_z=0.0174 right_yaw=0.0514 right_pitch=-0.2076 right_roll=-0.1521 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -1.2103, 7.2547, 1.707, -0.0415, -0.0611, -0.0122, -0.8274, -7.3641, 4.8889, 1.5214, 0.232, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8135, 0.6018, -0.3817, -0.02, -0.0109, 0.9997, 0.5808, 1.6424, 0.725, 0.054, 0.4534, 0.2802, 0.999]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1732 left_yaw=0.0001 left_pitch=-0.0236 left_roll=0.001 left_gripper=0.9997 right_x=0.3617 right_y=0.1491 right_z=0.0434 right_yaw=0.0329 right_pitch=-0.2018 right_roll=-0.1447 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.3607, 7.0359, 1.6972, -0.0708, -0.0366, -0.0122, -0.212, -8.0889, 5.5316, 1.3407, 0.1587, -0.0073, -0.0073]",
      "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]: [-0.02, 0.8135, 0.6018, -0.3813, -0.0196, -0.0109, 0.9997, 0.5133, 1.6989, 0.6075, 0.2131, 0.4068, 0.2424, 0.9989]\nstate[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1733 left_yaw=-0.0002 left_pitch=-0.0233 left_roll=0.0008 left_gripper=0.9997 right_x=0.3534 right_y=0.1231 right_z=0.0055 right_yaw=0.0209 right_pitch=-0.2351 right_roll=-0.1483 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -1.265, 7.0359, 1.7118, -0.0611, -0.0317, -0.0122, -0.3077, -6.2427, 6.8991, 0.5446, 0.2808, -0.9646, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a740794cf99b60a16871a5d6722217156fe157c7fe02830e303742a7c806968",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd75828540c25bee89e5d0b402b0877afe6a43b81b1bc32e7e700fd7a343cd33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b7ba00ceaf53de6f74597efb0b6042924825410bf9924390d28d6ecdc233bc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISowMKjgEIEhgCKkCnOJCin91NnVbj6Tq0LwUjs6VbeGbou9BO0qalPQJi943uIctF7mhx8skqU26stGXGw/KLChlUn5r+U5TZ+tdRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe2CzNUGEgxvk99d5LjjQb3g4TcaDF+p9BWicD3NLKuyhCIwflBBjD+XGYmEf1eaE0LLzLTjB0hXlehrxy/R1iEtdRpcalRWJiZAk8D5u4bcnbs+KsEBF0QAStD56v73GCLf1Kk0kQe4Dhh82f4j0Pn8kzLmSV0uSnNnlZ2fi5wVYlD4uABPZy/N9HVXq9WE0o1d4bOL510PsFC0CxqhDW8pfjMksDL5p0ZYK/kgAlgC0Wz6aRQGnSsMSArEz+91TzqVR5NHDaYFV3hAk0zNHtFWpfgiTMb+iDxULKHLOvkuAxRj0IJOo+Z03ABTzZol5gEjWnijAK65vFinFq73jx+7DR0lQAGsi3VX4k9d5htXpAcYGTJSVxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FVNoVPtrESjKE4abxbfFdE",
      "input": {
        "note": "The pen is now centred on the jaw column at table level; closing the gripper to grasp it.",
        "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_01FVNoVPtrESjKE4abxbfFdE",
      "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, 0.8135, 0.6018, -0.3813, -0.0196, -0.0113, 0.9997, 0.4995, 1.7088, 0.5934, 0.2848, 0.3912, 0.2085, 0.01]\nstate[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1733 left_yaw=0.0 left_pitch=-0.0233 left_roll=0.0005 left_gripper=0.9997 right_x=0.3601 right_y=0.1239 right_z=0.0077 right_yaw=0.0428 right_pitch=-0.2004 right_roll=-0.1401 right_gripper=0.01\nstate[joint_eff]: [-0.3624, -1.3607, 7.3915, 1.7216, -0.0513, -0.0562, -0.0122, -0.3761, -6.0923, 4.7658, 1.4725, 0.2906, -0.0317, 0.8474]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4898ff1bd0085d77aabc6b2846dc1d9f1bac31e4cd80632a049eab3f2b94785e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:266fed756b39d8a259ba26fe49607339ef8cac26ecadbb40abd823f54d787356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a9db834d4f390c621a8e8bec64560c5fe09f4838bca9197fe7aab4b3cef0b61e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 11.26 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8135, 0.6018, -0.3817, -0.02, -0.0109, 0.9997, 0.5808, 1.6424, 0.725, 0.054, 0.4534, 0.2802, 0.999]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1732 left_yaw=0.0001 left_pitch=-0.0236 left_roll=0.001 left_gripper=0.9997 right_x=0.3617 right_y=0.1491 right_z=0.0434 right_yaw=0.0329 right_pitch=-0.2018 right_roll=-0.1447 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.3607, 7.0359, 1.6972, -0.0708, -0.0366, -0.0122, -0.212, -8.0889, 5.5316, 1.3407, 0.1587, -0.0073, -0.0073]",
      "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]: [-0.02, 0.8135, 0.6018, -0.3813, -0.0196, -0.0109, 0.9997, 0.5133, 1.6989, 0.6075, 0.2131, 0.4068, 0.2424, 0.9989]\nstate[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1733 left_yaw=-0.0002 left_pitch=-0.0233 left_roll=0.0008 left_gripper=0.9997 right_x=0.3534 right_y=0.1231 right_z=0.0055 right_yaw=0.0209 right_pitch=-0.2351 right_roll=-0.1483 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -1.265, 7.0359, 1.7118, -0.0611, -0.0317, -0.0122, -0.3077, -6.2427, 6.8991, 0.5446, 0.2808, -0.9646, -0.022]",
      "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]: [-0.02, 0.8135, 0.6018, -0.3813, -0.0196, -0.0113, 0.9997, 0.4995, 1.7088, 0.5934, 0.2848, 0.3912, 0.2085, 0.01]\nstate[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1733 left_yaw=0.0 left_pitch=-0.0233 left_roll=0.0005 left_gripper=0.9997 right_x=0.3601 right_y=0.1239 right_z=0.0077 right_yaw=0.0428 right_pitch=-0.2004 right_roll=-0.1401 right_gripper=0.01\nstate[joint_eff]: [-0.3624, -1.3607, 7.3915, 1.7216, -0.0513, -0.0562, -0.0122, -0.3761, -6.0923, 4.7658, 1.4725, 0.2906, -0.0317, 0.8474]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4898ff1bd0085d77aabc6b2846dc1d9f1bac31e4cd80632a049eab3f2b94785e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:266fed756b39d8a259ba26fe49607339ef8cac26ecadbb40abd823f54d787356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9db834d4f390c621a8e8bec64560c5fe09f4838bca9197fe7aab4b3cef0b61e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISkhAKjgEIEhgCKkBqlm9wTdBpAo2we5dRtHeB6ekJPu5a6vd0AkRP4niFMIomTtSRYM0jEBcb05T2m/6oASP1dmLOAa1G+iBPe7XmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfuCzNUGEgxXmgu/PWuNWLAt+x4aDOorTBB4/WAiKcgMvSIwIE64oElt1VgYTvgTxzB9LGjD5eFqZ3UR2LimNZJm6vIGAeLtjfVDAOcpbAvnTviJKrAO2evRjORF45L6GJwoGfTNcPl/zw4BvzqDE170ibQ8JWc1d5Os9cAjdojRbO9IFnTX0nbFS4tp5Q3XQr4mxncHwYi9qRXISo9Je8OGCIB52Js5xtugqbU8A7utoCVKBzgRPKqfPTy619U5p0IglI0uUHKUWq90ryPQZO2xmmyqKMg6IriaKkn6vxXwwBPjAQlBEGT6nmJBjcJpMxY4znm0YNgMVm4X2BBp/dubMh9TaV88WzJo7UbT4iJh2M2hwcSmm8TO3Wn+pcVmRB1Fco4S69W6FI0Pd2zkrXtgs5Sp18kSIgFump+CUzl0pUtKszvTBg7SycjDBn8q17B0xMNk2SbjYulb4JYpUKxmltBtLzk3+SzDC1/0jtvx//9JII8T4bogHQK2gN46WIg+ij+3YxBPuakO1voID+yeK+KlejOhfdA3ib1MY4R3tPvSrwSFyatnWOEZRbApxyhu8fjT/9ODoM3JL0rkerfX8yKe0nuLCaV/dgzieDrDMWPil/2H1dDDfa25bWNRd1cxpH6fH54dkW7q+jswBhNOSQzVRXgPitW8Dj+stPDmvgbWyCcFac4dTcx1qhuUsyLPTZd6ezt89vWBA9VZhOKUKz7IW3cfbWpsA/MKy3JWggzw6dbdDgx+5GBIXu+ebAEJ+ddglZJWJxpcVZ0aIFwiRvryKOgDDGPq+nSSxXZ0J5UaWkym1+sK6Zj3t8dJt+3+azj6+GdR6aUzKQRj8it1oOYeQqVsNrhkn49bt4pn1uuG2lGopeFMzx7T7OFw+i2S3cWuQdNWMQjKJruqLmj+1B/rsTn6aos1hbjsiL1mhH3o+r4Ejue4GHOGbBPl8Vl0+NXGm4nJm9xPlLTVD0jBrn0ysg41d2dRQ/eutNdIIGHv19lTalrNSnJtatQCevrdRH6ig2DhMzFxnJISfOHYzx+aAfVUrtJ8WIYVXKqW+9PjKn7G7DarGqn3SDwyy8Efd1k6INhbZ+wYS6DR72BvgR4wFJde2Sn21a0vIV5BBvpkxRxqmGWG5pks47qbOQbfoUxI65ed1yZqM7A87m+CqN0F4kJr58wq66JX95HQQIHRRRUhAklhk3Uyj96Yhw69eLmTz/RS3dAK1KdP6/GjANE3BVu69TD/xfTzPkSFtRH6eIfpIDFU24SGm49UNHPCIXIXwnv6xfBuahD/dmCWqIW3eur15Fj3C6JNuJV3KY+vQyg+ukdBSwOjkWl2niOzpw6nTFI4IbwPqQkfFkpv7o/wq2tmtG0VRUMDe0+SRDrsskN619SrjPfyFGMHJaoetwylPtYO553TN3B7J0rPPI2hi1oJeuFqaIozYIug1mjYG2NeTW3FtkpfFSz3W8m0w1jfoALf5cTOGHIxMGrkfVHVvueqzlB1FPokj0mfbgYZf8ac5ofr0h2sAkB3kelcF2p8ZZ+ILSh2Ys+NYFgXZb2ay7ZKZ/WUHDZf7RjqbcqOnnXqt+GFr5eag0MNrJmmKfJgj51Sjl0RSs48rAq4Wn41Hb7Z4bVLDa1TkM1DTX40U/bDIJn5Sn5yC6VmmlDA0n/fesDtRsVtOxplvo5jRvfMtmsYgnVoH4v55HAXUDDsFUzy8X2cvteC4rNbev5rkG9wpZSm8Tn9oubPbKNMY++qZSaA2xxEij4fPFxzlF3uqO61jx384mJdsJNnOmHt6eQK3WVW8oF4N0c1QYVQWe/MsB3hIyqL7QxsyeHr6bbaV14iEuC/cvRAj1klDHoyxYr5eL7hjjurVYMKXsc2NkkmAv/aL7ZpoUkK6B12L+A3mTTteCzVW8q11erRO4Y+Pnl5gcKuSZzy4D+bOUTavf3YWV+KIWzyNe0xHSU1cuFR9mn7HhPeFo3VeVKfr4iVZ0Swcz2SOukVd2v10gvP9hvXQWI5Sz7HsUWetEMIyPeTZuBGmYHGnUNWxOoSIf0MkpSpd/fSb6Lr9E0RmZDDurf+rGyX3I6XRHFqzZNqdaY8Aob7hRouxzix6bEDYw2epXqXy/XnCfOCgu2/p7IN1SHbXN2oF/tfqDcPJWAHD4bMNXeai6ZA/7hxjtLa5KSEU6HhVteq0ZnOqrKY4jlb1d4/uO3GPHMI96TXWFiXqRKxQeDxJ4JoCrWIfBhSv8eHWE9vFbHHcxW5whZxPv576tsJQvGEkcA4WIfUb6ElUZYEF8WfL2Y125i7ZryfcfJ1OqF0g9hZsTfobM0Ry8R3oKYRrv0Uivk46WA5loLT6EnMmGWbz6EgXrurt1ex/ImKfi6oJUvh/9CDQTeiO3xUAOp9vnJFmRILR1NCEkwMdWxzIYowM3b2Gf6mtk8zyZe/i4X/3etKAXnfoTbl4gk6p5LlXKsT9J09PJHfAmDFk0I4zTNbQ5PR8Nnn+ZX+yHzwcGwFs7Dn8JhPHRjgLWItW49A2uqt+NONcv6W0NuVW8waiGrKh/8Re/I9BAtSmlbz5vPzzRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ERWxMWeVmMooxKRfikneSj",
      "input": {
        "note": "The gripper closed empty (reading 0.01) even though the pen looked centred — the jaws were probably slightly above the thin pen. Reopening and pressing down to the table before retrying.",
        "targets": {
          "right_gripper": 1,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01ERWxMWeVmMooxKRfikneSj",
      "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, 0.8158, 0.601, -0.3817, -0.0196, -0.0109, 0.9997, 0.4995, 1.7576, 0.5808, 0.395, 0.3882, 0.205, 0.9946]\nstate[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1723 left_yaw=-0.0002 left_pitch=-0.0267 left_roll=0.0009 left_gripper=0.9997 right_x=0.3677 right_y=0.1286 right_z=0.0038 right_yaw=0.0509 right_pitch=-0.1577 right_roll=-0.119 right_gripper=0.9946\nstate[joint_eff]: [-0.1709, -1.5795, 7.0769, 1.6972, -0.0806, -0.0366, -0.0122, -0.1846, -5.0256, 4.0684, 1.1306, 0.1832, 0.0122, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f24a701b7c79dca35bb29bea72a86d62ab7d80d98770392b28cc328fdb737442",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa67554ae91470c1bc5633d78b57571e05bf8d866c82d2e39e20ef3a8a231f28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fc0cde85a357be567213ca81302fed2dea69b18b5891d4d1350dcef7adaa714c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 5.262 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8135, 0.6018, -0.3813, -0.0196, -0.0109, 0.9997, 0.5133, 1.6989, 0.6075, 0.2131, 0.4068, 0.2424, 0.9989]\nstate[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1733 left_yaw=-0.0002 left_pitch=-0.0233 left_roll=0.0008 left_gripper=0.9997 right_x=0.3534 right_y=0.1231 right_z=0.0055 right_yaw=0.0209 right_pitch=-0.2351 right_roll=-0.1483 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -1.265, 7.0359, 1.7118, -0.0611, -0.0317, -0.0122, -0.3077, -6.2427, 6.8991, 0.5446, 0.2808, -0.9646, -0.022]",
      "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]: [-0.02, 0.8135, 0.6018, -0.3813, -0.0196, -0.0113, 0.9997, 0.4995, 1.7088, 0.5934, 0.2848, 0.3912, 0.2085, 0.01]\nstate[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1733 left_yaw=0.0 left_pitch=-0.0233 left_roll=0.0005 left_gripper=0.9997 right_x=0.3601 right_y=0.1239 right_z=0.0077 right_yaw=0.0428 right_pitch=-0.2004 right_roll=-0.1401 right_gripper=0.01\nstate[joint_eff]: [-0.3624, -1.3607, 7.3915, 1.7216, -0.0513, -0.0562, -0.0122, -0.3761, -6.0923, 4.7658, 1.4725, 0.2906, -0.0317, 0.8474]",
      "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]: [-0.02, 0.8158, 0.601, -0.3817, -0.0196, -0.0109, 0.9997, 0.4995, 1.7576, 0.5808, 0.395, 0.3882, 0.205, 0.9946]\nstate[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1723 left_yaw=-0.0002 left_pitch=-0.0267 left_roll=0.0009 left_gripper=0.9997 right_x=0.3677 right_y=0.1286 right_z=0.0038 right_yaw=0.0509 right_pitch=-0.1577 right_roll=-0.119 right_gripper=0.9946\nstate[joint_eff]: [-0.1709, -1.5795, 7.0769, 1.6972, -0.0806, -0.0366, -0.0122, -0.1846, -5.0256, 4.0684, 1.1306, 0.1832, 0.0122, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f24a701b7c79dca35bb29bea72a86d62ab7d80d98770392b28cc328fdb737442",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa67554ae91470c1bc5633d78b57571e05bf8d866c82d2e39e20ef3a8a231f28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc0cde85a357be567213ca81302fed2dea69b18b5891d4d1350dcef7adaa714c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3gwKjgEIEhgCKkBkwAlDlige9gitQ+KAcNQASnbkFxikZdAz1qvbcl335O0o54YW1SsZh16j6jBv0SbeUu+aaMFlZ7wjZi3Pyx3VMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYiDzNUGEgyHx17ihWmBgf6bc+AaDEB8TOkgEBmrYXgTGCIwelDrU8+uap/AKb17lWd5TybW5S+0k5R/pYxo+Vco9CoQUeo5DPmHoYac4kPbwClBKvwKLb02TnvOGOM7iX+tCg/RiSPWrFT8wdooKjslLiUndqESlqAwqAuvqUvuzMitJEq4P7UQ2ZOm6gmCU8PBhBjjd8shhblf021NCrtQy7ACHcSTfDE1SMnYDbZYsrmtTCCHBh3a8nIEDk6KyKoTeTqADeeWF2gFFlku6ZZQBbo1TsxGOaxdR85kuS+/J6zTyGCJNsLjKoIxu1vk4zcl/kO40U2x9updZ4F8VLjLU6OAjzLF5AzMHZA9FPPYrnAWcqoAKLUHKOsurVWjoOLR4t+/HZNRC9QtUu7xHYRJNiue7TJTJVknZN+/UO6P8HGUiu9Gpt2vp0iNhkKdlXMGLEnVorFm3aO2GLywmDQnNCc+TL7J8x45zBVXEblS935qYW+KVlYi7MaC4W5IPpACaifWFBVnvdKUJ/F2Tmma/Fo0eIxHz6trJhnwQMgZLyJr3Ei/qVO3sXauVpDYbMYynH4hxMGprgwZprD6QzKCwbf9m+mNbvRu7T257Az/J4QeRQKTO2IYbA4Lq6gOYKjOV+Ga54D9lBasf07wo5Z5Jggx2L9lQuY1y0dN4f54HGwyeBe8FnuWWx7VUryrO9YaR46fEQv+li6pIPH03U68wVhLcTJbqo7KydsqeOqVDG3kI+fteHUEh6NYd9mA8/3sfZibaCWLMtLPm8KU29VUIOfp7rINWKIL6fYLTGvU2n8zil2wrmtJH5wqRZ7zqG/F4SHvDi5zstaRmtI625B8ZRhX+j9PMWBZGcfIfqMaCqneKvUXhnnSGj78+JHKVeCUeI7BXbltHG8WTbkpZ2gQGfxmQV4AcnIsAIKMsyJPqy6fMLsjrc6PqRXc20ubfRvnJS/t8azdj8q4yAYDtsH8PJLr2MRbh0GoiMaPnloQi+uYc+4R37YwKSCRNhz0nzb1oRKfMjzdaQJ1RqVomb4RuNmX8q2YY70FXeN1JMO+Eb3MNLdJLRTacKBLcqIcdrKnuqFLHxuWPfst45LVBdpx35H6JXv/5orAc12chvbS6iWKf9JhxINaJt/ot2EqouZnHarg1D04swJdDr9JAREcSg5YCBBHrwvIHwThhm95nL+aTr2D65NOFQXiP/HaqkhhzmwbRBItL4vRtBry5yiCuSzPek/uRJmebt+GueQGSJ8yneSxrA0+TYpkG7Df5iTYvSBkYpPJXOgmu69hU9C5Bk02SBwEvSlLmTzPDfhH5eSFKvS/B86dGnnsCism2z4JADhVwMtpiZNtwvcRqYZMNC4eVwx+kV4UoffZoUtVjVqrtwq5CFDgZkUEIEUgTzXcGxRPVH/9kWvKSlTplNFZ1Gcpdrsa8FBrJ6Y451OCxDFkxlUcA8FlnQExwHIzKf01vZ/KlnRxJDrDHGoUPKAepbdoJSO6BWx6caj/9nDZA1bE8JrKp1+yEzE6gy51BZBm23HWCrOoFw8ieGZQg64bsaryv7k6dU0sWoFvfYElr8Utk3XusWuY12bhcg6G4qfg9Dsq1SxQi0Ulz8wAYiN5pNICtG0yur+f6ex9lTR1Bd0twLakMDcGi0nrljboVgzY0JshQrLkaYE86RAudBGkRpR6JWxtn5yTcLkmduwn3W4fjfgckla66+1IO24NCEiOJpwngxseUFw9zTZCmLbqObUqe+soYF6jk0YXL7+CrCjRtzRhACXbkkf8VtyJm/DwZ7TphNAEv5L8edZbtJCskDJj9wlF+OpHl+iaqNBTv6R8GJAz7m5xFMQHpRY9UmRTCffa4uXGN8z1X37YSB/xZS3U6KqDfI4gEO+uoPPf4sbzl1d3B4GMX7t31DD/wCsGz+1K6IsXb5rtG4j9m9heDmK/yBETVqZcpwep/ZLuF8l89uxa3JTcDKc873NdCrrZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T1TTcmZ7KTenpT9Wd7jKoc",
      "input": {
        "note": "Jaws are now pressed to the table with the pen still centred on the jaw column; closing again to attempt the grasp.",
        "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_01T1TTcmZ7KTenpT9Wd7jKoc",
      "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, 0.8162, 0.601, -0.3813, -0.02, -0.0113, 0.9997, 0.4995, 1.7569, 0.5831, 0.4129, 0.3912, 0.1997, 0.031]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1722 left_yaw=0.0003 left_pitch=-0.0267 left_roll=0.0007 left_gripper=0.9997 right_x=0.3711 right_y=0.1299 right_z=0.0079 right_yaw=0.0526 right_pitch=-0.1381 right_roll=-0.1158 right_gripper=0.031\nstate[joint_eff]: [-0.0615, -1.306, 7.0496, 1.746, -0.0513, -0.0659, -0.0073, 0.1026, -6.8034, 4.0137, 1.3162, 0.2027, -0.0611, 0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad3afa8813c15d170bdb70b40b0525f6b9303a51e9459a01964714119072978d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e31695f5bda790a2692e19135b18b392f4a8b6329fdcc65e89af10fcc38042e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:804dacf002a5c4f68adc4771c33ddb1c966f3173c3554852a59bade7e0b4772e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 26.9 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8135, 0.6018, -0.3813, -0.0196, -0.0113, 0.9997, 0.4995, 1.7088, 0.5934, 0.2848, 0.3912, 0.2085, 0.01]\nstate[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1733 left_yaw=0.0 left_pitch=-0.0233 left_roll=0.0005 left_gripper=0.9997 right_x=0.3601 right_y=0.1239 right_z=0.0077 right_yaw=0.0428 right_pitch=-0.2004 right_roll=-0.1401 right_gripper=0.01\nstate[joint_eff]: [-0.3624, -1.3607, 7.3915, 1.7216, -0.0513, -0.0562, -0.0122, -0.3761, -6.0923, 4.7658, 1.4725, 0.2906, -0.0317, 0.8474]",
      "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]: [-0.02, 0.8158, 0.601, -0.3817, -0.0196, -0.0109, 0.9997, 0.4995, 1.7576, 0.5808, 0.395, 0.3882, 0.205, 0.9946]\nstate[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1723 left_yaw=-0.0002 left_pitch=-0.0267 left_roll=0.0009 left_gripper=0.9997 right_x=0.3677 right_y=0.1286 right_z=0.0038 right_yaw=0.0509 right_pitch=-0.1577 right_roll=-0.119 right_gripper=0.9946\nstate[joint_eff]: [-0.1709, -1.5795, 7.0769, 1.6972, -0.0806, -0.0366, -0.0122, -0.1846, -5.0256, 4.0684, 1.1306, 0.1832, 0.0122, -0.0904]\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 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]: [-0.02, 0.8162, 0.601, -0.3813, -0.02, -0.0113, 0.9997, 0.4995, 1.7569, 0.5831, 0.4129, 0.3912, 0.1997, 0.031]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1722 left_yaw=0.0003 left_pitch=-0.0267 left_roll=0.0007 left_gripper=0.9997 right_x=0.3711 right_y=0.1299 right_z=0.0079 right_yaw=0.0526 right_pitch=-0.1381 right_roll=-0.1158 right_gripper=0.031\nstate[joint_eff]: [-0.0615, -1.306, 7.0496, 1.746, -0.0513, -0.0659, -0.0073, 0.1026, -6.8034, 4.0137, 1.3162, 0.2027, -0.0611, 0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad3afa8813c15d170bdb70b40b0525f6b9303a51e9459a01964714119072978d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e31695f5bda790a2692e19135b18b392f4a8b6329fdcc65e89af10fcc38042e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:804dacf002a5c4f68adc4771c33ddb1c966f3173c3554852a59bade7e0b4772e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISyAUKjgEIEhgCKkACm/YzPtAiZT6ld49CVqPerXpREVjUfuXLzaB/a0m6Z6fjsxxl834yvuq+ffUuixgm3lR0etZTI1lsr7/SQMUcMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY6DzNUGEgxOs2hkC2ayzxUpR9AaDJzOIrTU4TgaNiNQCyIwZQBrDLj3OXsoZvgRjexj/gIu4r0Q5RHyo283USEVm141CSeKnZHGwwV+rZGnzvatKuYDt/2iBKjo6xUsOsLjaysy1LQ3YN1yEGFFojF/1jiXn+dZaJU2c/lxR2Neo3KqGx6iytajKGUoP08ITGMp6LiiF3KkykiFd2KuC0zZhCHZppiCLLpyIui6tvbLs34+dYHlhAs3DywbAmCSbhrenaMzp3IptEwdB26w0LIPIQFjFg9I/y10W+IawDcsKfyCzW4kXxKHfPdtiBIxVZvKpPWsObTk32Fk5md3fPV29i10qb70XO64t0yD4G/qcjbtRrX61GBJ8NJU3fHpUtbdLQN8L2cHLs6WCiv2Y9ZajRAmrC1Bx5UTHGOe6j+j1kDSuXb/utWmWxEsoXBEMpmp/68+zwyck4THAiBnrrZyXw4efOzb27aqhNkjeKR40fQxTkDPhTDMmNjBagiKCmHENWlaJdKKeqauMKNTqf0I7Ka2VzyWXNJQ6AMmkLT2INMgtQpPkg9GEy0oLGAaRjmwqEbRwcL79/qUYTft82fK+6vnYoy0gZMyxjdOyJ1wfc5DrKpDJrot1TQwVwVqPGjXNcbbD5fJcg13nPZynsiH3R+Vl/m5Y2+5dbvwHFROhtnVrFf40j+6V8wf3YH1UQbMc5QJIeU0r0FPk1n8SFe1xT4+RPDbXjFcQaiWUYrk8hYxK64KoLGDb2PIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qx7oPUA5b734KHvD142viu",
      "input": {
        "note": "Gripper settled at 0.031 which is ambiguous; lifting 11 cm to see in the overhead view whether the pen came with the jaws.",
        "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_01Qx7oPUA5b734KHvD142viu",
      "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, 0.82, 0.5991, -0.3817, -0.0196, -0.0113, 0.9997, 0.4995, 1.4719, 0.7765, -0.0723, 0.3832, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1702 left_yaw=0.0 left_pitch=-0.0328 left_roll=0.0007 left_gripper=0.9997 right_x=0.3713 right_y=0.1315 right_z=0.1015 right_yaw=0.0603 right_pitch=-0.1469 right_roll=-0.1161 right_gripper=0.0306\nstate[joint_eff]: [-0.3214, -1.5248, 7.2, 1.746, -0.0464, -0.0806, -0.0122, -0.3624, -7.9932, 8.7179, 1.536, 0.2125, -0.0122, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c90089fc22b063723a95f3d0e8a4ff175aa197422498fc43abfc1ba0d2c8131",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2313fd4bfea7df2d79f3570e35fcf5419358512e4c3fb9f8fad4fb73f6cff059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:664680b2e812c848fae6abeb60bce71c9a07abc419622bc298dc85847e97b5bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 15.43 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8158, 0.601, -0.3817, -0.0196, -0.0109, 0.9997, 0.4995, 1.7576, 0.5808, 0.395, 0.3882, 0.205, 0.9946]\nstate[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1723 left_yaw=-0.0002 left_pitch=-0.0267 left_roll=0.0009 left_gripper=0.9997 right_x=0.3677 right_y=0.1286 right_z=0.0038 right_yaw=0.0509 right_pitch=-0.1577 right_roll=-0.119 right_gripper=0.9946\nstate[joint_eff]: [-0.1709, -1.5795, 7.0769, 1.6972, -0.0806, -0.0366, -0.0122, -0.1846, -5.0256, 4.0684, 1.1306, 0.1832, 0.0122, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.02, 0.8162, 0.601, -0.3813, -0.02, -0.0113, 0.9997, 0.4995, 1.7569, 0.5831, 0.4129, 0.3912, 0.1997, 0.031]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1722 left_yaw=0.0003 left_pitch=-0.0267 left_roll=0.0007 left_gripper=0.9997 right_x=0.3711 right_y=0.1299 right_z=0.0079 right_yaw=0.0526 right_pitch=-0.1381 right_roll=-0.1158 right_gripper=0.031\nstate[joint_eff]: [-0.0615, -1.306, 7.0496, 1.746, -0.0513, -0.0659, -0.0073, 0.1026, -6.8034, 4.0137, 1.3162, 0.2027, -0.0611, 0.105]\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 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]: [-0.02, 0.82, 0.5991, -0.3817, -0.0196, -0.0113, 0.9997, 0.4995, 1.4719, 0.7765, -0.0723, 0.3832, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1702 left_yaw=0.0 left_pitch=-0.0328 left_roll=0.0007 left_gripper=0.9997 right_x=0.3713 right_y=0.1315 right_z=0.1015 right_yaw=0.0603 right_pitch=-0.1469 right_roll=-0.1161 right_gripper=0.0306\nstate[joint_eff]: [-0.3214, -1.5248, 7.2, 1.746, -0.0464, -0.0806, -0.0122, -0.3624, -7.9932, 8.7179, 1.536, 0.2125, -0.0122, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c90089fc22b063723a95f3d0e8a4ff175aa197422498fc43abfc1ba0d2c8131",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2313fd4bfea7df2d79f3570e35fcf5419358512e4c3fb9f8fad4fb73f6cff059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:664680b2e812c848fae6abeb60bce71c9a07abc419622bc298dc85847e97b5bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TneYLstjbvZYQ4TEusWkBu",
      "input": {
        "note": "The pen is grasped and lifted (visible sticking out of the right jaws). Now bringing the left arm over the pen cap, which sits left of centre in the overhead view.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.37,
          "left_y": -0.234,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01TneYLstjbvZYQ4TEusWkBu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8104, 1.6569, 0.9527, -0.1406, -0.622, -0.5385, 0.9998, 0.4995, 1.4677, 0.7765, -0.0967, 0.3801, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3599 left_y=-0.2238 left_z=0.1025 left_yaw=-0.0122 left_pitch=-0.0841 left_roll=0.0324 left_gripper=0.9998 right_x=0.3677 right_y=0.1301 right_z=0.0988 right_yaw=0.0615 right_pitch=-0.1661 right_roll=-0.1229 right_gripper=0.0306\nstate[joint_eff]: [-0.4444, -7.9248, 8.9915, 1.5702, -0.5397, 0.0513, -0.0415, -0.3761, -5.4906, 6.3521, 1.707, 0.1392, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19161cfdd277ce82eb74a400c5592deda76116b3e4b14b16a006c04c3c0bb934",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fdb8bd32de74cbf28abd8a784196fec54a164494e8a2a98fbcbd28467c2b4f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a597566f26f420df89be52a95af452079400c865adf875505741296388dac2c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 5.377 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8162, 0.601, -0.3813, -0.02, -0.0113, 0.9997, 0.4995, 1.7569, 0.5831, 0.4129, 0.3912, 0.1997, 0.031]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1722 left_yaw=0.0003 left_pitch=-0.0267 left_roll=0.0007 left_gripper=0.9997 right_x=0.3711 right_y=0.1299 right_z=0.0079 right_yaw=0.0526 right_pitch=-0.1381 right_roll=-0.1158 right_gripper=0.031\nstate[joint_eff]: [-0.0615, -1.306, 7.0496, 1.746, -0.0513, -0.0659, -0.0073, 0.1026, -6.8034, 4.0137, 1.3162, 0.2027, -0.0611, 0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.02, 0.82, 0.5991, -0.3817, -0.0196, -0.0113, 0.9997, 0.4995, 1.4719, 0.7765, -0.0723, 0.3832, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1702 left_yaw=0.0 left_pitch=-0.0328 left_roll=0.0007 left_gripper=0.9997 right_x=0.3713 right_y=0.1315 right_z=0.1015 right_yaw=0.0603 right_pitch=-0.1469 right_roll=-0.1161 right_gripper=0.0306\nstate[joint_eff]: [-0.3214, -1.5248, 7.2, 1.746, -0.0464, -0.0806, -0.0122, -0.3624, -7.9932, 8.7179, 1.536, 0.2125, -0.0122, -0.0464]",
      "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]: [-0.8104, 1.6569, 0.9527, -0.1406, -0.622, -0.5385, 0.9998, 0.4995, 1.4677, 0.7765, -0.0967, 0.3801, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3599 left_y=-0.2238 left_z=0.1025 left_yaw=-0.0122 left_pitch=-0.0841 left_roll=0.0324 left_gripper=0.9998 right_x=0.3677 right_y=0.1301 right_z=0.0988 right_yaw=0.0615 right_pitch=-0.1661 right_roll=-0.1229 right_gripper=0.0306\nstate[joint_eff]: [-0.4444, -7.9248, 8.9915, 1.5702, -0.5397, 0.0513, -0.0415, -0.3761, -5.4906, 6.3521, 1.707, 0.1392, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19161cfdd277ce82eb74a400c5592deda76116b3e4b14b16a006c04c3c0bb934",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fdb8bd32de74cbf28abd8a784196fec54a164494e8a2a98fbcbd28467c2b4f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a597566f26f420df89be52a95af452079400c865adf875505741296388dac2c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TWU63oaWtbK1jRMZZxtnkL",
      "input": {
        "note": "Left wrist view shows the cap below-left of the jaw column, lying roughly sideways. Shifting the left gripper ~4 cm toward it and descending.",
        "targets": {
          "left_y": -0.184,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01TWU63oaWtbK1jRMZZxtnkL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7197, 1.6501, 0.77, -0.0067, -0.5774, -0.4885, 0.9997, 0.4995, 1.4677, 0.7765, -0.0986, 0.3798, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3525 left_y=-0.176 left_z=0.0557 left_yaw=0.0231 left_pitch=-0.1395 left_roll=0.0763 left_gripper=0.9997 right_x=0.3674 right_y=0.13 right_z=0.0985 right_yaw=0.0616 right_pitch=-0.168 right_roll=-0.1234 right_gripper=0.0306\nstate[joint_eff]: [-0.4991, -9.1009, 6.6256, 1.8437, -0.2662, 0.0659, -0.0171, -0.2803, -6.106, 6.3248, 1.5311, 0.1392, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d5ba28469bafcc1111f684f5a5d25a0ad97c02ecb84b71a334de1b84b7c87a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:552d36ab24b1307fe91ef12258c95089ea42a65e373bcff06a1e4fcf36fd5427",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6878be6d1fb65de3b866d0c0390efa5303a01a4454f58cecf676bee332370f2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 5.203 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.82, 0.5991, -0.3817, -0.0196, -0.0113, 0.9997, 0.4995, 1.4719, 0.7765, -0.0723, 0.3832, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1702 left_yaw=0.0 left_pitch=-0.0328 left_roll=0.0007 left_gripper=0.9997 right_x=0.3713 right_y=0.1315 right_z=0.1015 right_yaw=0.0603 right_pitch=-0.1469 right_roll=-0.1161 right_gripper=0.0306\nstate[joint_eff]: [-0.3214, -1.5248, 7.2, 1.746, -0.0464, -0.0806, -0.0122, -0.3624, -7.9932, 8.7179, 1.536, 0.2125, -0.0122, -0.0464]",
      "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]: [-0.8104, 1.6569, 0.9527, -0.1406, -0.622, -0.5385, 0.9998, 0.4995, 1.4677, 0.7765, -0.0967, 0.3801, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3599 left_y=-0.2238 left_z=0.1025 left_yaw=-0.0122 left_pitch=-0.0841 left_roll=0.0324 left_gripper=0.9998 right_x=0.3677 right_y=0.1301 right_z=0.0988 right_yaw=0.0615 right_pitch=-0.1661 right_roll=-0.1229 right_gripper=0.0306\nstate[joint_eff]: [-0.4444, -7.9248, 8.9915, 1.5702, -0.5397, 0.0513, -0.0415, -0.3761, -5.4906, 6.3521, 1.707, 0.1392, -0.0073, -0.0122]",
      "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]: [-0.7197, 1.6501, 0.77, -0.0067, -0.5774, -0.4885, 0.9997, 0.4995, 1.4677, 0.7765, -0.0986, 0.3798, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3525 left_y=-0.176 left_z=0.0557 left_yaw=0.0231 left_pitch=-0.1395 left_roll=0.0763 left_gripper=0.9997 right_x=0.3674 right_y=0.13 right_z=0.0985 right_yaw=0.0616 right_pitch=-0.168 right_roll=-0.1234 right_gripper=0.0306\nstate[joint_eff]: [-0.4991, -9.1009, 6.6256, 1.8437, -0.2662, 0.0659, -0.0171, -0.2803, -6.106, 6.3248, 1.5311, 0.1392, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d5ba28469bafcc1111f684f5a5d25a0ad97c02ecb84b71a334de1b84b7c87a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:552d36ab24b1307fe91ef12258c95089ea42a65e373bcff06a1e4fcf36fd5427",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6878be6d1fb65de3b866d0c0390efa5303a01a4454f58cecf676bee332370f2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8gMKjgEIEhgCKkBM9rR1SjKD4v1g2VVl6nfGFqZ8KBra27YvMa0jqQfelHuoglU+o7YmuaLcUBQ68JjrmFYe8hy2RKFN0Xn0+12NMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcGDzNUGEgyUeAQr60qN0/sGrJAaDPD4JUqto21zOseR6SIwnC7B92GDgqjAU4Wk2m6OxyAf/6z9he4MOWwB5pforID9nzlB84G2pdiyHkcj0MhbKpAC8SIsDdhc+XdQNGzwsxDa0jKoTKHs2K6IYOhg0NEB4pp1wRRYcFBi4PmukS52LDY9Kb3sntdZws6NLa9dVQg6rdSH6matM+F8rT+cxWd5AfBqwvBKvLmjRuKuXE1w5eRP7OloJvwCo3bM0dNjonjua5KXx70AH4M8xZ/RdugPr046QgS3Yjb/ClFFmAon946/Kvkt+ABZJxyNtxf0QV/FA0FHZLRWwm8Iac7spyF94uyo3AQ7fa4b2cj4dn7FLNEzh0EZOJ/CBdbgeiWooaFh4L0QqmmqizMVwvk7RsVZG3Ohus8I+Vuq93yofvE13907UUAT2AOY3axKHHoAchhid7157bWOBeGO6lCfKstBA4gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GyQ2C5fnpwCtjxVjTHj7ct",
      "input": {
        "note": "The cap is now centred on the jaw column but sits above the jaw row, so it is still a couple of cm beyond the fingertips; advancing 2 cm and descending to table level.",
        "targets": {
          "left_x": 0.372,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GyQ2C5fnpwCtjxVjTHj7ct",
      "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]: [-0.7128, 1.7027, 0.7517, 0.0429, -0.5694, -0.4728, 0.9997, 0.4995, 1.4677, 0.7765, -0.0986, 0.3798, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3525 left_y=-0.1741 left_z=0.0367 left_yaw=0.018 left_pitch=-0.1603 left_roll=0.0981 left_gripper=0.9997 right_x=0.3674 right_y=0.13 right_z=0.0985 right_yaw=0.0616 right_pitch=-0.168 right_roll=-0.1234 right_gripper=0.0306\nstate[joint_eff]: [0.2256, -7.7333, 6.1333, 1.4725, -0.3297, -0.0855, -0.0122, -0.3487, -5.9556, 6.3932, 1.4969, 0.1343, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7f4c7bcd872e4ed1bb4251667552ad7376c27a554643d5db0d513a82cee0b1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d085d318761b1518f9124197afeb1a444728d37d0c707d79bfc88a7f56f2a43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b26a7638fbb37b40e04cfdb3e02ae02c0d71cb01bd494ab4d4ad648855957b43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 10.44 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8104, 1.6569, 0.9527, -0.1406, -0.622, -0.5385, 0.9998, 0.4995, 1.4677, 0.7765, -0.0967, 0.3801, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3599 left_y=-0.2238 left_z=0.1025 left_yaw=-0.0122 left_pitch=-0.0841 left_roll=0.0324 left_gripper=0.9998 right_x=0.3677 right_y=0.1301 right_z=0.0988 right_yaw=0.0615 right_pitch=-0.1661 right_roll=-0.1229 right_gripper=0.0306\nstate[joint_eff]: [-0.4444, -7.9248, 8.9915, 1.5702, -0.5397, 0.0513, -0.0415, -0.3761, -5.4906, 6.3521, 1.707, 0.1392, -0.0073, -0.0122]",
      "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]: [-0.7197, 1.6501, 0.77, -0.0067, -0.5774, -0.4885, 0.9997, 0.4995, 1.4677, 0.7765, -0.0986, 0.3798, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3525 left_y=-0.176 left_z=0.0557 left_yaw=0.0231 left_pitch=-0.1395 left_roll=0.0763 left_gripper=0.9997 right_x=0.3674 right_y=0.13 right_z=0.0985 right_yaw=0.0616 right_pitch=-0.168 right_roll=-0.1234 right_gripper=0.0306\nstate[joint_eff]: [-0.4991, -9.1009, 6.6256, 1.8437, -0.2662, 0.0659, -0.0171, -0.2803, -6.106, 6.3248, 1.5311, 0.1392, -0.0366, -0.0122]",
      "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]: [-0.7128, 1.7027, 0.7517, 0.0429, -0.5694, -0.4728, 0.9997, 0.4995, 1.4677, 0.7765, -0.0986, 0.3798, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3525 left_y=-0.1741 left_z=0.0367 left_yaw=0.018 left_pitch=-0.1603 left_roll=0.0981 left_gripper=0.9997 right_x=0.3674 right_y=0.13 right_z=0.0985 right_yaw=0.0616 right_pitch=-0.168 right_roll=-0.1234 right_gripper=0.0306\nstate[joint_eff]: [0.2256, -7.7333, 6.1333, 1.4725, -0.3297, -0.0855, -0.0122, -0.3487, -5.9556, 6.3932, 1.4969, 0.1343, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7f4c7bcd872e4ed1bb4251667552ad7376c27a554643d5db0d513a82cee0b1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d085d318761b1518f9124197afeb1a444728d37d0c707d79bfc88a7f56f2a43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b26a7638fbb37b40e04cfdb3e02ae02c0d71cb01bd494ab4d4ad648855957b43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1wQKjgEIEhgCKkBgpLbDXcWMTDydlBnVbVDsKCCXeMk/wZ3Ez03JLLONjy4WpVxxHAPp4h6O8IsfrjAK8nZ7DKeaB1orWPZwooqjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcaDzNUGEgw4I0K/3UETv3TiRgwaDNOom1a8EgbLGYlFqSIwmrXtttxWJ1Ka4CV5BvskmVFSbYfXYCMDZ3xAnGnsGfTj3vY8v4sa+KBKUhLzaI4YKvUC+6t+4LsxkQK+kKXcm1yKNlxlFRiwCI48a2EsCiNGH7Ti8SdZIs06aE0R86DEP5yoPNS9szbkUQQ/QdhLr4p9+invRvG6autixHmuY/0wFaZkoIl/hTYQYBqZpAF8ESPFqYn80tUwY93+WEe8zJ5ZMOrUrWKaQmx9cUAq0hOAdMgb1NKf+KRQAFGntDsaoqfwgSnFLKlQpAkhdOWN4BqRjV6nfYf/7oNNMP2YIDc1La6/50S2VR6QKsckIAKWGlAiNRtKCLTb8Lud6vBRfnBZ/eJUTchpJakPhZ1qRiMYCPi+/n7edmZUPZuxFWrUFMm+Xm5I2oZEm171BQfkQjUcmwbAOzvfNuWZVrXtmiKAk2V6maCVmUj5tHWG+zD/nAG75YbfisU1aCZ3oIV/APR3w8oNk1yCUR0YqhWXJXTusOHepyqpib/ClZ70gHzKcmzOUlaqKfpiXKE7EePdxwtJZ4Z5J5d/mWX5xgTcN/BABYoEorBnzhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KJSmBEWQHrDCVgkxc2mPTb",
      "input": {
        "note": "The last step only partly executed (x still 0.352); re-commanding a slightly larger forward+down move so the fingertips reach the cap.",
        "targets": {
          "left_x": 0.385,
          "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_01KJSmBEWQHrDCVgkxc2mPTb",
      "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]: [-0.7128, 1.7027, 0.7517, 0.0422, -0.5686, -0.4732, 0.9997, 0.4995, 1.4677, 0.7765, -0.0986, 0.3794, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3524 left_y=-0.1741 left_z=0.0366 left_yaw=0.0177 left_pitch=-0.1613 left_roll=0.0978 left_gripper=0.9997 right_x=0.3674 right_y=0.13 right_z=0.0985 right_yaw=0.062 right_pitch=-0.1681 right_roll=-0.1232 right_gripper=0.0306\nstate[joint_eff]: [-0.0342, -7.5692, 6.0103, 1.453, -0.2711, -0.0904, -0.0122, -0.2667, -6.147, 6.3385, 1.4969, 0.0806, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c99f088f6d85012d5244c44588d0cf3e6af810ce6876dcf55e00f023343608f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdc8417ae6f77c3bd2a5494524a2d1167ce3f3719ed93601b4352dd301d5239e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd4af5c7a885ce435dffabd284fc886c73b1469b759a63687426991423029666",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 8.06 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7197, 1.6501, 0.77, -0.0067, -0.5774, -0.4885, 0.9997, 0.4995, 1.4677, 0.7765, -0.0986, 0.3798, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3525 left_y=-0.176 left_z=0.0557 left_yaw=0.0231 left_pitch=-0.1395 left_roll=0.0763 left_gripper=0.9997 right_x=0.3674 right_y=0.13 right_z=0.0985 right_yaw=0.0616 right_pitch=-0.168 right_roll=-0.1234 right_gripper=0.0306\nstate[joint_eff]: [-0.4991, -9.1009, 6.6256, 1.8437, -0.2662, 0.0659, -0.0171, -0.2803, -6.106, 6.3248, 1.5311, 0.1392, -0.0366, -0.0122]",
      "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]: [-0.7128, 1.7027, 0.7517, 0.0429, -0.5694, -0.4728, 0.9997, 0.4995, 1.4677, 0.7765, -0.0986, 0.3798, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3525 left_y=-0.1741 left_z=0.0367 left_yaw=0.018 left_pitch=-0.1603 left_roll=0.0981 left_gripper=0.9997 right_x=0.3674 right_y=0.13 right_z=0.0985 right_yaw=0.0616 right_pitch=-0.168 right_roll=-0.1234 right_gripper=0.0306\nstate[joint_eff]: [0.2256, -7.7333, 6.1333, 1.4725, -0.3297, -0.0855, -0.0122, -0.3487, -5.9556, 6.3932, 1.4969, 0.1343, -0.0269, -0.0122]",
      "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]: [-0.7128, 1.7027, 0.7517, 0.0422, -0.5686, -0.4732, 0.9997, 0.4995, 1.4677, 0.7765, -0.0986, 0.3794, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3524 left_y=-0.1741 left_z=0.0366 left_yaw=0.0177 left_pitch=-0.1613 left_roll=0.0978 left_gripper=0.9997 right_x=0.3674 right_y=0.13 right_z=0.0985 right_yaw=0.062 right_pitch=-0.1681 right_roll=-0.1232 right_gripper=0.0306\nstate[joint_eff]: [-0.0342, -7.5692, 6.0103, 1.453, -0.2711, -0.0904, -0.0122, -0.2667, -6.147, 6.3385, 1.4969, 0.0806, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c99f088f6d85012d5244c44588d0cf3e6af810ce6876dcf55e00f023343608f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdc8417ae6f77c3bd2a5494524a2d1167ce3f3719ed93601b4352dd301d5239e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd4af5c7a885ce435dffabd284fc886c73b1469b759a63687426991423029666",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISuwsKjgEIEhgCKkBIjQAECYW/K8SdZVcxH1fGM/x2jb6WY9FNbJczAnUT9YR/d2Wo5DuSR/ugOyHB9RInZsheTq4NNA8LkcIrRjoyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdGDzNUGEgwGqx/7SJhR9ik9yk4aDLK5mtXgY+HOj2iA1CIw8yZZaOU262eWCExqvqK1EtZN65CtANuu4Nxacs7F07z965P+dD/IdtDkPrF5ETKxKtkJHOE5q8qs7GqRxFDVwCzE7MImCkFV0aP8StLDiKx3LxTeaKY/cP2GdNTBdHhsAeX6APTMtErxb2d0+p+6uePuJ/8vZrA49xGRld9xdcZCG7UsVMXYbedAFp+sp2sITMU5RPjwyoIYrfZ4yHS538ZIolE5h9ZbNWrUrQ+yr9UXHTlkaTjGD3xo6MLsISft19oSVehhodldU6kvi75o2XS9BNYV5oGwh9uf6IuISR3/hgq5sC/2rrhQT4Mu5vK1MBZG+qU0mkYIwOIk2qdZu/27wDPBuNuhnYydiQIK5n06Ie0SvwqE3QipVywuzqJKB46Hqjr1W+nnwDe5o42329qlU1IeEqVt0qJCkoJU7pQXpnyNrA2LHw7q8f2XBSuFr8cSC67VTKBSt9+nOVd+WdSyliiOLror7xC9sSU6ihD39NGAL9f0BG/Sh1YuHFHOACgM+EC2sm2RnxOSY2WgXIb0bLem53HaiY2G5xto94OFdgfkUl6gaxlu+LGJd/CZcgEA0lZ8x6GleLnyxM8RjZBfYWRbnU8eHrArRT/tJQ+I8aeF2A5z8/fuPBGLsUiSu3EsDDOjXW2/CzQtvsNwott8kc8/1MA23UBknugaQpVSYIRIr+PTtA5owKQEMxG+Puaw8ye0tB/r7H33R1olR7sInMKfgpApVXNyZUO0l2GxQNaX2ROF5PCySMfbulGB2DH1r9O3GAk6376WZ+uZxPQ9V3ZBbDO8+vOQVHIRPb2PALaXuLLgjAEn1XqYapr34peblH+ak9eKBYrWW1tSC3cwmdatNchVd+7x6s+uSWOD/eFRDlJyvfeqDBVYS4AQ8HuUnZzGu0OfHily+jxBmqdlyYV+xJtCvPWrHdEIe9316Me0xQYDLwZaDbrG+Z80cDs8MXM6zRPjIwyKBGNxwJdfZUlL4j3BcLG+wJKUTh+XBD6RnYxAQzzM13ZhBDoGkmxwlo/c+314j8BTNRLVgrs8wid4iRwIZPebmHK9wooOsQT9z7Ky6vna73jXEc9GqdqijnOzbMvqhNblbubR0i5Usiy7VTsaaRoBUo1yMpt0ae1mPwSuI4TsZUVmBGMaGSQ1iu2ZsZxpeSOIvV8x4TsEsn0DnZ5LE1qLrPaOmELU8J+FOVrbMpKCbwgIvx5uYBTno+RaqA0EFJQltgGqqyC8YBSqnUcvZvSh9+ApPEw3Kjnn9cVcb0luau9OY5u7vsWD1XuYZIOXPFAiZak1kSHa5NMRtz0Khbt58SYca38WtSLYCjeZN/vp1MrVv/2o9xDiImLFdImEpAbdASipciaDVb1H6CxJhSiRmLvuoWt7ecHyFKGyNKDhlO0nMQkuwfQwjkuumoQG7Cb9giIQLNxzF7ry7PwVz+kdf/sQ8TpfgMFYqcLmSlx+yoUDpwGMipTjN8mTiWE/0GO9K9CyCjqPZxNNF4Tcc/W6BPmEKD2Ft7Gw8vOko8bsUsl9v791bqwUq5Xp0BYU5eKUDfWhZtiUKpAa5oDRQkLufTTR2WGYyfUJ+0jYRqc3cEkE5jlOEky63Z3eO6eeueKj2v8OxUOpEchRhR/Dfr2ZjVUaUgrSwWlKITw/C3OvdmWbNRvJbx21jhaMNw92OR6iUNhoU8FiTAoy6efLM06DbvpgqTo37up6Z7S9d3VWmVEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013UsodTJmP24e9gVRbT7QHN",
      "input": {
        "note": "Left arm has stalled twice on the combined forward+down target; trying a smaller move, mostly a descent, to unstick it.",
        "targets": {
          "left_x": 0.36,
          "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_013UsodTJmP24e9gVRbT7QHN",
      "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]: [-0.7128, 1.7027, 0.7513, 0.0422, -0.569, -0.4732, 0.9997, 0.4995, 1.4677, 0.7765, -0.0986, 0.3794, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3523 left_y=-0.174 left_z=0.0365 left_yaw=0.0181 left_pitch=-0.1613 left_roll=0.0983 left_gripper=0.9997 right_x=0.3674 right_y=0.13 right_z=0.0985 right_yaw=0.062 right_pitch=-0.1681 right_roll=-0.1232 right_gripper=0.0306\nstate[joint_eff]: [0.1846, -7.5966, 6.1333, 1.4872, -0.3297, -0.0806, -0.0122, -0.335, -6.106, 6.5573, 1.5018, 0.0904, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f808f93e060eb1d809adcb0603984e4eb663d8b0fabadf6ef409c1f448f4986",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3081836a8d553db9f5d5b6ac865fbe6f9bc71d97d8c0ffa499968364ced71a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f5017773118da6eb96f431115b85f546836248d766bb92faf4bc5987f570dd7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /messages · status 200 · 9.905 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7128, 1.7027, 0.7517, 0.0429, -0.5694, -0.4728, 0.9997, 0.4995, 1.4677, 0.7765, -0.0986, 0.3798, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3525 left_y=-0.1741 left_z=0.0367 left_yaw=0.018 left_pitch=-0.1603 left_roll=0.0981 left_gripper=0.9997 right_x=0.3674 right_y=0.13 right_z=0.0985 right_yaw=0.0616 right_pitch=-0.168 right_roll=-0.1234 right_gripper=0.0306\nstate[joint_eff]: [0.2256, -7.7333, 6.1333, 1.4725, -0.3297, -0.0855, -0.0122, -0.3487, -5.9556, 6.3932, 1.4969, 0.1343, -0.0269, -0.0122]",
      "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]: [-0.7128, 1.7027, 0.7517, 0.0422, -0.5686, -0.4732, 0.9997, 0.4995, 1.4677, 0.7765, -0.0986, 0.3794, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3524 left_y=-0.1741 left_z=0.0366 left_yaw=0.0177 left_pitch=-0.1613 left_roll=0.0978 left_gripper=0.9997 right_x=0.3674 right_y=0.13 right_z=0.0985 right_yaw=0.062 right_pitch=-0.1681 right_roll=-0.1232 right_gripper=0.0306\nstate[joint_eff]: [-0.0342, -7.5692, 6.0103, 1.453, -0.2711, -0.0904, -0.0122, -0.2667, -6.147, 6.3385, 1.4969, 0.0806, -0.0073, -0.0122]",
      "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]: [-0.7128, 1.7027, 0.7513, 0.0422, -0.569, -0.4732, 0.9997, 0.4995, 1.4677, 0.7765, -0.0986, 0.3794, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3523 left_y=-0.174 left_z=0.0365 left_yaw=0.0181 left_pitch=-0.1613 left_roll=0.0983 left_gripper=0.9997 right_x=0.3674 right_y=0.13 right_z=0.0985 right_yaw=0.062 right_pitch=-0.1681 right_roll=-0.1232 right_gripper=0.0306\nstate[joint_eff]: [0.1846, -7.5966, 6.1333, 1.4872, -0.3297, -0.0806, -0.0122, -0.335, -6.106, 6.5573, 1.5018, 0.0904, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f808f93e060eb1d809adcb0603984e4eb663d8b0fabadf6ef409c1f448f4986",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3081836a8d553db9f5d5b6ac865fbe6f9bc71d97d8c0ffa499968364ced71a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5017773118da6eb96f431115b85f546836248d766bb92faf4bc5987f570dd7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlwYKjgEIEhgCKkDpo4niDYBTSz6MaySWzXMxAznc6drh6HnWoFFU1U9cDT+fLf54LvbJE2gsPqetA2KmzO+xv2+MNx9zFHCSj8grMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdmDzNUGEgzRAKuVGx+af11OMlMaDASYU/eWraMKxCFIkCIwplrcmFd1Skvwk7HSYcgkccqyiRtVgjCeOsDOOYNlf93KuvSVMOc/yw5n7IKpu4tCKrUEAgq9vfshfoGZAi5VKlYZhZKCNWRwEALg0Sk5irAN12c4ZPLLrKQjndTfnUH7TKeDHyf1BbMnFluHVhJXSqO6Tb1Sj+6jyGdJVO40sqOrL8Ro8XmO7U5vadiWF/bLmjNMhvLD6H5Jf1J1b4UMTr7rggQXw4/FMk+yZFBd2mYJ5ZEbPpKLV8Qi4boyh1PdQNCYY1z6Rb7ZiShyeYFclCRsa37rkTap1GQB4Yxj6evHnBrYss27WmWdJifm2ukhqruLqKzNWLnbU3I/rjk70wFpiWKhTsry7Yg8PyKvONH0t32pKNs0Tr+aNdMyHi3XeJNgYzMcs/x8vecl5KlPUf4RWzOCxxhc9AaVb/2EqeEFD8yoNc0DGIO4U5xSxItL32dpZ+/l+NQlIFOY8EQzyyvT4RUR7cP0cdmWNDWY7lxiUEl9W+NILDgn74nHFAmyR3FsCfoNy8iVT5LBxA5PHBzLDlzMuvOkfxybu2zDQnf/pelYSZOWG/asNeJ4E6otKi/v99wMcu3nQeaYOKCJF99lAdHLGMWbt3QJYIs+wDx/H5rr0w7yaUUOG32iBQGxc/maDkGo/m3Lfgxnce0lWXDZ43UIuhkf+BEPd+cIioc8fzE5b4UHY91tn0o4wq2jRPDNRZLk+pkcGV2DYuWpKh+JsFN9AHGZFwG2AqQ1D5SaSAwNKSc021eSvMunCBlfgANsmYz3+4Ad2X1FXaQIQASqUpMStr8FoWBWm65M3dCcJuxSOWibAxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HSNMNuN8vkgowghBAC62KN",
      "input": {
        "note": "Left arm is frozen; per the rig notes I'm raising it and pulling it back to escape the stalled configuration before re-approaching the cap.",
        "targets": {
          "left_x": 0.3,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01HSNMNuN8vkgowghBAC62KN",
      "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]: [-0.8394, 1.393, 0.8909, -0.4767, -0.6228, -0.5869, 0.9997, 0.4995, 1.4677, 0.7765, -0.099, 0.3794, 0.1963, 0.0306]\nstate[eef_state]: left_x=0.3039 left_y=-0.179 left_z=0.1295 left_yaw=-0.0016 left_pitch=-0.1735 left_roll=0.0939 left_gripper=0.9997 right_x=0.3673 right_y=0.13 right_z=0.0984 right_yaw=0.0621 right_pitch=-0.1684 right_roll=-0.1236 right_gripper=0.0306\nstate[joint_eff]: [-0.3487, -6.8581, 9.5111, 1.3504, -0.5299, -0.0366, -0.0122, -0.294, -5.8051, 6.5573, 1.5458, 0.1001, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:997b5215f06b41c2e42e485ee5481c4cc29156943c8b0a5e6572d8d73195c24a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:135cdf95c6cf9f0b11dca497bb95c6bbd4dc961e8a30290c963f366f1bdaec18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aeb3449b8c80e31d230353a833be3566444729ce3a8734a9bb76b48ef23f41bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 14.43 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7128, 1.7027, 0.7517, 0.0422, -0.5686, -0.4732, 0.9997, 0.4995, 1.4677, 0.7765, -0.0986, 0.3794, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3524 left_y=-0.1741 left_z=0.0366 left_yaw=0.0177 left_pitch=-0.1613 left_roll=0.0978 left_gripper=0.9997 right_x=0.3674 right_y=0.13 right_z=0.0985 right_yaw=0.062 right_pitch=-0.1681 right_roll=-0.1232 right_gripper=0.0306\nstate[joint_eff]: [-0.0342, -7.5692, 6.0103, 1.453, -0.2711, -0.0904, -0.0122, -0.2667, -6.147, 6.3385, 1.4969, 0.0806, -0.0073, -0.0122]",
      "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]: [-0.7128, 1.7027, 0.7513, 0.0422, -0.569, -0.4732, 0.9997, 0.4995, 1.4677, 0.7765, -0.0986, 0.3794, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3523 left_y=-0.174 left_z=0.0365 left_yaw=0.0181 left_pitch=-0.1613 left_roll=0.0983 left_gripper=0.9997 right_x=0.3674 right_y=0.13 right_z=0.0985 right_yaw=0.062 right_pitch=-0.1681 right_roll=-0.1232 right_gripper=0.0306\nstate[joint_eff]: [0.1846, -7.5966, 6.1333, 1.4872, -0.3297, -0.0806, -0.0122, -0.335, -6.106, 6.5573, 1.5018, 0.0904, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8394, 1.393, 0.8909, -0.4767, -0.6228, -0.5869, 0.9997, 0.4995, 1.4677, 0.7765, -0.099, 0.3794, 0.1963, 0.0306]\nstate[eef_state]: left_x=0.3039 left_y=-0.179 left_z=0.1295 left_yaw=-0.0016 left_pitch=-0.1735 left_roll=0.0939 left_gripper=0.9997 right_x=0.3673 right_y=0.13 right_z=0.0984 right_yaw=0.0621 right_pitch=-0.1684 right_roll=-0.1236 right_gripper=0.0306\nstate[joint_eff]: [-0.3487, -6.8581, 9.5111, 1.3504, -0.5299, -0.0366, -0.0122, -0.294, -5.8051, 6.5573, 1.5458, 0.1001, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:997b5215f06b41c2e42e485ee5481c4cc29156943c8b0a5e6572d8d73195c24a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:135cdf95c6cf9f0b11dca497bb95c6bbd4dc961e8a30290c963f366f1bdaec18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aeb3449b8c80e31d230353a833be3566444729ce3a8734a9bb76b48ef23f41bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9AkKjgEIEhgCKkDubH/1qr4Up92fpUhTyNjgF90KbVl0sDeFwJ77MP/26GqOZI9XmZ58//zZhmAAA/x2/P8zvxO1UCFZ+7YPZVZMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeSDzNUGEgz+J66NsE5+8r+jwuAaDDMX2Keo6GEE2Gd3yyIwdNPVnjiIytW0HUeSBvlNBZvaQyTX9J0L8o2fygDXk5pOquHXResm+B/GKO1GnCryKpIIK8NeMcWwHq0yrfYqGxJyNT3LCqzHLvcTodpF5vrsJu6bNxcODWDFeGOJfFOCIDONcTAd+No/DH1ClScl3l8lBMSrM8nP7HhyiWcaySNTbk7GuovSIiVNzWNR4tvgvudxQ+E0wjeTuSToe0+iJ9c2+fcNdt9TtdvRZI6cxsCT2yB8QGp0kQzvO6pyO91tp5M1pHlP6MltXF0bVOtQOLuu0zo5ChsKP3Yfsq3fSWvzuetc1ZI1e9Y2yZ9JIJmi1lcpPmPvdOw7Ru49hi+dDdwV8MtI5K1AWNsm4LoTRnkn7xMXQw+KX0n19LHawcJwekbBFoZ3hnIPypC6C5dYCFLln8YdYoA0ZkFx2vaiIPRAtlEa9B5Mkp3hadg+0WhX89Vh/aN6+9XNHpnROve4KpKRQRDt88nA1QKvyJYazwc+/lPCdTf9h3FCwz/Q5JJUQgyJBNTXvXj8bwCpkm2nv3TyezRCFQ3wM34dJiBS37ljMW5T/bjuY66pMInptact1MSgaxirt+lm3WEPsv3DUn84IGnTyB6Frhp7rPWol9tUcOJ1wR4/e55dEaoNS/ys4/6e8EVPY1FJszi89MPNmehbdzJqz3eS/aOS40rHp8aP9nEWnSNyM8tt5zJkJS+5f2PtF2tOCBZ8Nev7ykmuvGK15kGXOJl3LNLdr+zaXwKc+iLd3V6NpKrEBxirrgcYXVd14z+lxTuSUvUUw++Zr4N9PVUjX+fQazDiRyGUjSrLhaiFb0fzA2ciWJDsO5y9f6kx/lWt0d75gqPGE1NP0td3VCbEfiDB+Q5ARye5DG6MBe4FWv4DErzODOko2xTr2BHNKV1PnwAm+YC1qAD6ryRCtCqY3lzWIFgtHs4/CK6tFZrw349ZELOuFSxwzdMLOvSAO440awk8eW7W/U0sJWc+yP+0uvdF+WMCfzvWCuqNyJ8B1twL/80SKnfB60q+6LXw/w1iDEH2eFSKw8suYX/mdn6GunwKt6k+fO2yCTCLEuKWrr9hkNYUnNjuALy8lbIhVcBbxTKLwzbOVJhlhNLtQCLasxAeOylRoFn5WTFkb/mnVcMzFt0fuRmLrPFuyOnZdAzBpOSeqI2keopHhC75uwiNFAJzGRSBJDgiAhcSFrXovL76isyz7uRui9auXWm1HoAfWfEHVnURtMj+mzXt49ZZBJOMrNIAbQ0vWr9+kv0tiAeqSSPV98Bkg6aqiBn+murTEDxJAtjYWwBuH4xmFZrzmr+sy9Y38GcK4VvJuRt6AhRpEBwCMtauXsmmaoFEHE1qfGEZIp7Fo+HXpq54GzOU4QgvnSFGyMdgDbUodq5MbzxItlfyLNYzzdlUHCm6VR9/kVk3FXdJWoMmvahXIXJ+1F4/Z70G2eiSGoZutAZJRhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012nChDsRMW62mjv1etgfDiW",
      "input": {
        "note": "Left arm is free again with the cap centred in its wrist view. Re-approaching the cap and yawing the wrist ~80° so the jaws will close across the cap's axis rather than along it.",
        "targets": {
          "left_x": 0.355,
          "left_yaw": 1.4,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_012nChDsRMW62mjv1etgfDiW",
      "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]: [-0.693, 2.389, 1.9152, -1.4944, -0.7113, -1.9865, 0.9997, 0.4931, 1.4681, 0.7753, -0.1207, 0.3801, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3674 left_y=-0.1505 left_z=0.0463 left_yaw=1.2118 left_pitch=-0.2087 left_roll=0.112 left_gripper=0.9997 right_x=0.3647 right_y=0.1256 right_z=0.0943 right_yaw=0.053 right_pitch=-0.1892 right_roll=-0.1339 right_gripper=0.0306\nstate[joint_eff]: [2.1949, -12.8068, 7.3641, -1.0281, -0.4029, -0.2076, -0.0171, 0.253, -6.1333, 6.3932, 1.6484, 0.0952, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77acd96a936aa4ad1ff743fe8efefa34bff570f18b7c4fef06f32208f931e40c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b189be8e96924b64b97b65511e24f7699545c98ee65955db8535040130fa101",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f83a009b27989aa5d52f78775dac6606f42ae605b31f7be7ffe434e5c056532a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 19.73 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7128, 1.7027, 0.7513, 0.0422, -0.569, -0.4732, 0.9997, 0.4995, 1.4677, 0.7765, -0.0986, 0.3794, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3523 left_y=-0.174 left_z=0.0365 left_yaw=0.0181 left_pitch=-0.1613 left_roll=0.0983 left_gripper=0.9997 right_x=0.3674 right_y=0.13 right_z=0.0985 right_yaw=0.062 right_pitch=-0.1681 right_roll=-0.1232 right_gripper=0.0306\nstate[joint_eff]: [0.1846, -7.5966, 6.1333, 1.4872, -0.3297, -0.0806, -0.0122, -0.335, -6.106, 6.5573, 1.5018, 0.0904, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8394, 1.393, 0.8909, -0.4767, -0.6228, -0.5869, 0.9997, 0.4995, 1.4677, 0.7765, -0.099, 0.3794, 0.1963, 0.0306]\nstate[eef_state]: left_x=0.3039 left_y=-0.179 left_z=0.1295 left_yaw=-0.0016 left_pitch=-0.1735 left_roll=0.0939 left_gripper=0.9997 right_x=0.3673 right_y=0.13 right_z=0.0984 right_yaw=0.0621 right_pitch=-0.1684 right_roll=-0.1236 right_gripper=0.0306\nstate[joint_eff]: [-0.3487, -6.8581, 9.5111, 1.3504, -0.5299, -0.0366, -0.0122, -0.294, -5.8051, 6.5573, 1.5458, 0.1001, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.693, 2.389, 1.9152, -1.4944, -0.7113, -1.9865, 0.9997, 0.4931, 1.4681, 0.7753, -0.1207, 0.3801, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3674 left_y=-0.1505 left_z=0.0463 left_yaw=1.2118 left_pitch=-0.2087 left_roll=0.112 left_gripper=0.9997 right_x=0.3647 right_y=0.1256 right_z=0.0943 right_yaw=0.053 right_pitch=-0.1892 right_roll=-0.1339 right_gripper=0.0306\nstate[joint_eff]: [2.1949, -12.8068, 7.3641, -1.0281, -0.4029, -0.2076, -0.0171, 0.253, -6.1333, 6.3932, 1.6484, 0.0952, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77acd96a936aa4ad1ff743fe8efefa34bff570f18b7c4fef06f32208f931e40c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b189be8e96924b64b97b65511e24f7699545c98ee65955db8535040130fa101",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f83a009b27989aa5d52f78775dac6606f42ae605b31f7be7ffe434e5c056532a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qa7CtYxzwh1DTgiSXUFFDQ",
      "input": {
        "note": "With the wrist yawed, the cap sits down-right of the jaw column; correcting position (the arm also drifted 2 cm in y during the yaw) to bring the jaws over the cap.",
        "targets": {
          "left_x": 0.375,
          "left_y": -0.188,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Qa7CtYxzwh1DTgiSXUFFDQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7567, 2.4889, 2.0609, -1.5593, -0.6895, -2.048, 0.9997, 0.4927, 1.4681, 0.7753, -0.1234, 0.3794, 0.1963, 0.0306]\nstate[eef_state]: left_x=0.3659 left_y=-0.186 left_z=0.0368 left_yaw=1.1957 left_pitch=-0.2172 left_roll=0.0929 left_gripper=0.9997 right_x=0.3643 right_y=0.1254 right_z=0.0939 right_yaw=0.0533 right_pitch=-0.1919 right_roll=-0.1348 right_gripper=0.0306\nstate[joint_eff]: [2.4, -11.4256, 6.7761, -0.5739, -0.4469, 0.1099, -0.0171, -0.1573, -6.065, 6.2974, 1.453, 0.1392, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1099717c65fe236f21a764fe433289460e7b1adf80f7030290116b31ce88ce6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cf4cbb063525c95d4339c7cee81769e420622a27d7071b0d30e579cac934ca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d4186851f0749dc9e90cc1abc35855c2704815b5a2739b544cc7dde48a710cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 12.96 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8394, 1.393, 0.8909, -0.4767, -0.6228, -0.5869, 0.9997, 0.4995, 1.4677, 0.7765, -0.099, 0.3794, 0.1963, 0.0306]\nstate[eef_state]: left_x=0.3039 left_y=-0.179 left_z=0.1295 left_yaw=-0.0016 left_pitch=-0.1735 left_roll=0.0939 left_gripper=0.9997 right_x=0.3673 right_y=0.13 right_z=0.0984 right_yaw=0.0621 right_pitch=-0.1684 right_roll=-0.1236 right_gripper=0.0306\nstate[joint_eff]: [-0.3487, -6.8581, 9.5111, 1.3504, -0.5299, -0.0366, -0.0122, -0.294, -5.8051, 6.5573, 1.5458, 0.1001, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.693, 2.389, 1.9152, -1.4944, -0.7113, -1.9865, 0.9997, 0.4931, 1.4681, 0.7753, -0.1207, 0.3801, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3674 left_y=-0.1505 left_z=0.0463 left_yaw=1.2118 left_pitch=-0.2087 left_roll=0.112 left_gripper=0.9997 right_x=0.3647 right_y=0.1256 right_z=0.0943 right_yaw=0.053 right_pitch=-0.1892 right_roll=-0.1339 right_gripper=0.0306\nstate[joint_eff]: [2.1949, -12.8068, 7.3641, -1.0281, -0.4029, -0.2076, -0.0171, 0.253, -6.1333, 6.3932, 1.6484, 0.0952, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7567, 2.4889, 2.0609, -1.5593, -0.6895, -2.048, 0.9997, 0.4927, 1.4681, 0.7753, -0.1234, 0.3794, 0.1963, 0.0306]\nstate[eef_state]: left_x=0.3659 left_y=-0.186 left_z=0.0368 left_yaw=1.1957 left_pitch=-0.2172 left_roll=0.0929 left_gripper=0.9997 right_x=0.3643 right_y=0.1254 right_z=0.0939 right_yaw=0.0533 right_pitch=-0.1919 right_roll=-0.1348 right_gripper=0.0306\nstate[joint_eff]: [2.4, -11.4256, 6.7761, -0.5739, -0.4469, 0.1099, -0.0171, -0.1573, -6.065, 6.2974, 1.453, 0.1392, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1099717c65fe236f21a764fe433289460e7b1adf80f7030290116b31ce88ce6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cf4cbb063525c95d4339c7cee81769e420622a27d7071b0d30e579cac934ca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d4186851f0749dc9e90cc1abc35855c2704815b5a2739b544cc7dde48a710cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U6MQ1GM39YpVdrVKbsN5WD",
      "input": {
        "note": "The 3.5 cm y-move shifted the cap only 15 px, showing the yawed tool axes; applying a 2 cm move along the tool's right direction plus a descent to table level, which should bring the cap onto the jaw column.",
        "targets": {
          "left_x": 0.384,
          "left_y": -0.194,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01U6MQ1GM39YpVdrVKbsN5WD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7406, 2.5816, 2.1452, -1.5486, -0.6804, -2.0403, 0.9997, 0.4927, 1.4681, 0.7753, -0.1238, 0.3798, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.378 left_y=-0.1902 left_z=0.0135 left_yaw=1.2115 left_pitch=-0.2263 left_roll=0.0994 left_gripper=0.9997 right_x=0.3642 right_y=0.1253 right_z=0.0938 right_yaw=0.0527 right_pitch=-0.1921 right_roll=-0.135 right_gripper=0.0306\nstate[joint_eff]: [-0.3624, -12.6017, 6.3521, -0.5348, -0.5348, 0.0317, -0.0122, -0.0479, -5.8735, 6.5983, 1.4383, 0.1197, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1f6dd8fbbcf940623ca347b1e01feac535e34740fb92316c6f32c2bccd1f255",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23bc43d986394ca3c35d8e2bc0e6a0e880269de786522f437431c5e977f41782",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:406cc5ba3711c678cf8efe84dd86a623aa9791d93e6218132f0d78e010eee371",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 10.88 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.693, 2.389, 1.9152, -1.4944, -0.7113, -1.9865, 0.9997, 0.4931, 1.4681, 0.7753, -0.1207, 0.3801, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3674 left_y=-0.1505 left_z=0.0463 left_yaw=1.2118 left_pitch=-0.2087 left_roll=0.112 left_gripper=0.9997 right_x=0.3647 right_y=0.1256 right_z=0.0943 right_yaw=0.053 right_pitch=-0.1892 right_roll=-0.1339 right_gripper=0.0306\nstate[joint_eff]: [2.1949, -12.8068, 7.3641, -1.0281, -0.4029, -0.2076, -0.0171, 0.253, -6.1333, 6.3932, 1.6484, 0.0952, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7567, 2.4889, 2.0609, -1.5593, -0.6895, -2.048, 0.9997, 0.4927, 1.4681, 0.7753, -0.1234, 0.3794, 0.1963, 0.0306]\nstate[eef_state]: left_x=0.3659 left_y=-0.186 left_z=0.0368 left_yaw=1.1957 left_pitch=-0.2172 left_roll=0.0929 left_gripper=0.9997 right_x=0.3643 right_y=0.1254 right_z=0.0939 right_yaw=0.0533 right_pitch=-0.1919 right_roll=-0.1348 right_gripper=0.0306\nstate[joint_eff]: [2.4, -11.4256, 6.7761, -0.5739, -0.4469, 0.1099, -0.0171, -0.1573, -6.065, 6.2974, 1.453, 0.1392, -0.0659, -0.0171]",
      "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]: [-0.7406, 2.5816, 2.1452, -1.5486, -0.6804, -2.0403, 0.9997, 0.4927, 1.4681, 0.7753, -0.1238, 0.3798, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.378 left_y=-0.1902 left_z=0.0135 left_yaw=1.2115 left_pitch=-0.2263 left_roll=0.0994 left_gripper=0.9997 right_x=0.3642 right_y=0.1253 right_z=0.0938 right_yaw=0.0527 right_pitch=-0.1921 right_roll=-0.135 right_gripper=0.0306\nstate[joint_eff]: [-0.3624, -12.6017, 6.3521, -0.5348, -0.5348, 0.0317, -0.0122, -0.0479, -5.8735, 6.5983, 1.4383, 0.1197, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1f6dd8fbbcf940623ca347b1e01feac535e34740fb92316c6f32c2bccd1f255",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23bc43d986394ca3c35d8e2bc0e6a0e880269de786522f437431c5e977f41782",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:406cc5ba3711c678cf8efe84dd86a623aa9791d93e6218132f0d78e010eee371",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012uYEA2pyVaxj8CiSRgnh2J",
      "input": {
        "note": "The cap still sits beyond the fingertips in the wrist view; moving ~4.5 cm along the tool's forward (image-up) direction so the jaws straddle it.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.162,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_012uYEA2pyVaxj8CiSRgnh2J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7025, 2.55, 2.0388, -1.4704, -0.7261, -2.009, 0.9994, 0.4927, 1.4681, 0.7753, -0.1242, 0.379, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3843 left_y=-0.1669 left_z=0.0067 left_yaw=1.2103 left_pitch=-0.19 left_roll=0.1037 left_gripper=0.9994 right_x=0.3641 right_y=0.1254 right_z=0.0937 right_yaw=0.0533 right_pitch=-0.1927 right_roll=-0.1346 right_gripper=0.0306\nstate[joint_eff]: [0.9094, -13.7504, 3.8085, -0.0513, 0.022, 0.2906, -0.0464, -0.1846, -6.0376, 6.2974, 1.4579, 0.0904, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42001f25bea9ee597684e0d11ee753b183de917786d457d583b7a59c6f9f0e9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:296d8c97df75b2662b3aff8a1d09d99eb4a32232898b2cf9ec74cb79bb8f47b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b9e1e8c56716c03cb049f1107f060843c5859d9da4e9e1c532dad4ab66c4bd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 34.68 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7567, 2.4889, 2.0609, -1.5593, -0.6895, -2.048, 0.9997, 0.4927, 1.4681, 0.7753, -0.1234, 0.3794, 0.1963, 0.0306]\nstate[eef_state]: left_x=0.3659 left_y=-0.186 left_z=0.0368 left_yaw=1.1957 left_pitch=-0.2172 left_roll=0.0929 left_gripper=0.9997 right_x=0.3643 right_y=0.1254 right_z=0.0939 right_yaw=0.0533 right_pitch=-0.1919 right_roll=-0.1348 right_gripper=0.0306\nstate[joint_eff]: [2.4, -11.4256, 6.7761, -0.5739, -0.4469, 0.1099, -0.0171, -0.1573, -6.065, 6.2974, 1.453, 0.1392, -0.0659, -0.0171]",
      "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]: [-0.7406, 2.5816, 2.1452, -1.5486, -0.6804, -2.0403, 0.9997, 0.4927, 1.4681, 0.7753, -0.1238, 0.3798, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.378 left_y=-0.1902 left_z=0.0135 left_yaw=1.2115 left_pitch=-0.2263 left_roll=0.0994 left_gripper=0.9997 right_x=0.3642 right_y=0.1253 right_z=0.0938 right_yaw=0.0527 right_pitch=-0.1921 right_roll=-0.135 right_gripper=0.0306\nstate[joint_eff]: [-0.3624, -12.6017, 6.3521, -0.5348, -0.5348, 0.0317, -0.0122, -0.0479, -5.8735, 6.5983, 1.4383, 0.1197, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7025, 2.55, 2.0388, -1.4704, -0.7261, -2.009, 0.9994, 0.4927, 1.4681, 0.7753, -0.1242, 0.379, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3843 left_y=-0.1669 left_z=0.0067 left_yaw=1.2103 left_pitch=-0.19 left_roll=0.1037 left_gripper=0.9994 right_x=0.3641 right_y=0.1254 right_z=0.0937 right_yaw=0.0533 right_pitch=-0.1927 right_roll=-0.1346 right_gripper=0.0306\nstate[joint_eff]: [0.9094, -13.7504, 3.8085, -0.0513, 0.022, 0.2906, -0.0464, -0.1846, -6.0376, 6.2974, 1.4579, 0.0904, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42001f25bea9ee597684e0d11ee753b183de917786d457d583b7a59c6f9f0e9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:296d8c97df75b2662b3aff8a1d09d99eb4a32232898b2cf9ec74cb79bb8f47b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b9e1e8c56716c03cb049f1107f060843c5859d9da4e9e1c532dad4ab66c4bd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyQYKjgEIEhgCKkDVijtwZyQCROZLUIJjRD7V+AGhAvYZZh8QSkjMw4yvMdL9DgWMjzHe+/0KDpLtI/kyBzhVzEHcmhzn4KmFQa36Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaCEzNUGEgz2O8KvSVN4rUCx+UAaDLTTbrUGR8J8m9+RmSIwjCWfLEuZP0wkLh7lIpoYd2HcPS3507P7732lBidKLTVqLaN64zmgFTqqNYf0dwqyKucEupxkKENRIPpmMVZfe1VyW7dFYuZ83TT2HrQIonYYUdaxn+3pt8u4TwVD1uYY4yPkP+cuax9cadWM0qdO93H9neOZpvozIVeOYHY8qqUyaApz21Lc9QebDBrdt1VrVA4xcHE7vlEUd8YtZJnqhoFkgJMS4eMl7A5foh8DOO6Xd9yXRkfFts8DJ6ocJZFymm6nMfqK57w/o7KnogwwU2B9TMA6R9RVp6I1z28Iwyz1tFagxE51eR8UULX4vVcu9NEBXAwaWB1pNj9hhb84Fa8cztrl8Mb8tRakm2oCcq34TX+rCaY6PtjCDwzLLuKQc7Lnz47BFpsvhAUdHhMhppJR7tu5GsvpNCmjc2mVocsh5ybIXtMBNjZAf3ZmWAlV93nbF1loS6r4gh7VzPN17/Jwfl1JgiycP88mO3Ab+ZPWn16fNGnsukk1agda4CFfEynBFI5hc7UlzzXps+OE2YQ7vPa6+/KBXKPi3J15qyLIVcTj068lBit684JRhxU+jdzKpFPU0FTq0HhePHWT+ri9MNPTe4OcilG42xaNn4uJWZSSgAOAzWVBFbjJtSGT/hLUUjo4uL8vLMK71kZFzaT7F7PtPAui9a+iGSQXwuhCmTyfq7R5SmEmMNpDh8G/dG+lUwj3nwn8MN3G5uyMXQIWr5n4aKvCGRpzS11bOb1lqScP7Y8CVEvfuA92BuwNXZ5U12uppN6EQxzrMUFqXsFL3iX3r4fzf88EJIxsRdRkNUwTzRVd+2EWyIDXlyEvD9ANstHLgKLU+WFpX+5MhOR/3NNjcu6BkRMavG67Bsizrelx//BU/84MGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BSfw9pzXq5DXJDcUnTNjYa",
      "input": {
        "note": "The cap now lies in the gap between the jaws at table level; closing the left gripper 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_01BSfw9pzXq5DXJDcUnTNjYa",
      "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]: [-0.7067, 2.5462, 2.0243, -1.4624, -0.7265, -2.0117, 0.0416, 0.4927, 1.4681, 0.7757, -0.1238, 0.3794, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3822 left_y=-0.1673 left_z=0.0052 left_yaw=1.2079 left_pitch=-0.1887 left_roll=0.1042 left_gripper=0.0416 right_x=0.3643 right_y=0.1254 right_z=0.0939 right_yaw=0.0531 right_pitch=-0.1919 right_roll=-0.1345 right_gripper=0.0306\nstate[joint_eff]: [0.2393, -12.9846, 6.2974, -0.5104, -0.3785, 0.0122, 1.16, -0.3487, -6.106, 6.2974, 1.4286, 0.1294, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c8f24da71e8b67e6c073707b7f68097b20ad9ce540dee2999a5d63302a84491",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b67b120fa0cf2492414e0a0ca3616b9d59f978e92d5b8d384af91a6b579071eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:da7f17fdc223e2820fed40eae224be9fc8172d9a621a5f68e14363511f062168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 16.18 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7406, 2.5816, 2.1452, -1.5486, -0.6804, -2.0403, 0.9997, 0.4927, 1.4681, 0.7753, -0.1238, 0.3798, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.378 left_y=-0.1902 left_z=0.0135 left_yaw=1.2115 left_pitch=-0.2263 left_roll=0.0994 left_gripper=0.9997 right_x=0.3642 right_y=0.1253 right_z=0.0938 right_yaw=0.0527 right_pitch=-0.1921 right_roll=-0.135 right_gripper=0.0306\nstate[joint_eff]: [-0.3624, -12.6017, 6.3521, -0.5348, -0.5348, 0.0317, -0.0122, -0.0479, -5.8735, 6.5983, 1.4383, 0.1197, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7025, 2.55, 2.0388, -1.4704, -0.7261, -2.009, 0.9994, 0.4927, 1.4681, 0.7753, -0.1242, 0.379, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3843 left_y=-0.1669 left_z=0.0067 left_yaw=1.2103 left_pitch=-0.19 left_roll=0.1037 left_gripper=0.9994 right_x=0.3641 right_y=0.1254 right_z=0.0937 right_yaw=0.0533 right_pitch=-0.1927 right_roll=-0.1346 right_gripper=0.0306\nstate[joint_eff]: [0.9094, -13.7504, 3.8085, -0.0513, 0.022, 0.2906, -0.0464, -0.1846, -6.0376, 6.2974, 1.4579, 0.0904, -0.0806, -0.0122]",
      "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]: [-0.7067, 2.5462, 2.0243, -1.4624, -0.7265, -2.0117, 0.0416, 0.4927, 1.4681, 0.7757, -0.1238, 0.3794, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3822 left_y=-0.1673 left_z=0.0052 left_yaw=1.2079 left_pitch=-0.1887 left_roll=0.1042 left_gripper=0.0416 right_x=0.3643 right_y=0.1254 right_z=0.0939 right_yaw=0.0531 right_pitch=-0.1919 right_roll=-0.1345 right_gripper=0.0306\nstate[joint_eff]: [0.2393, -12.9846, 6.2974, -0.5104, -0.3785, 0.0122, 1.16, -0.3487, -6.106, 6.2974, 1.4286, 0.1294, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c8f24da71e8b67e6c073707b7f68097b20ad9ce540dee2999a5d63302a84491",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b67b120fa0cf2492414e0a0ca3616b9d59f978e92d5b8d384af91a6b579071eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da7f17fdc223e2820fed40eae224be9fc8172d9a621a5f68e14363511f062168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Lja2HVyBAubFgU1fuKbBNU",
      "input": {
        "note": "Both objects now appear gripped (pen in the right jaws, cap in the left). Yawing each wrist 90° so the pen points toward the left arm and the cap points toward the right arm, ready to mate them along a common axis.",
        "targets": {
          "left_yaw": -1.571,
          "left_z": 0.12,
          "right_yaw": 1.571,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01Lja2HVyBAubFgU1fuKbBNU",
      "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]: [-0.1207, 1.8965, 1.4052, -0.691, 0.6846, 1.1328, 0.0421, -0.0151, 1.858, 1.3834, -0.8959, -0.7776, -1.4952, 0.0306]\nstate[eef_state]: left_x=0.411 left_y=-0.1588 left_z=0.1081 left_yaw=-1.3352 left_pitch=-0.2337 left_roll=0.0958 left_gripper=0.0421 right_x=0.3809 right_y=0.1218 right_z=0.1147 right_yaw=1.4591 right_pitch=-0.2234 right_roll=-0.152 right_gripper=0.0306\nstate[joint_eff]: [0.253, -10.441, 7.2274, 0.6081, 0.5983, 0.1538, 1.0281, -0.841, -8.5402, 7.0906, 0.232, -0.8327, -0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa4d753a67c1ece33668b72cc4af929b6612021d5fc7f1b7089d4ccc7421dc58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc87d6765253dbe0db9b592f0274cdd6c025adacb5207256f77d8ee411899fd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cfb50018039689f94cf46374a0ab3f4786f07a4a69ace9d620506cc504b132eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 25.47 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7025, 2.55, 2.0388, -1.4704, -0.7261, -2.009, 0.9994, 0.4927, 1.4681, 0.7753, -0.1242, 0.379, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3843 left_y=-0.1669 left_z=0.0067 left_yaw=1.2103 left_pitch=-0.19 left_roll=0.1037 left_gripper=0.9994 right_x=0.3641 right_y=0.1254 right_z=0.0937 right_yaw=0.0533 right_pitch=-0.1927 right_roll=-0.1346 right_gripper=0.0306\nstate[joint_eff]: [0.9094, -13.7504, 3.8085, -0.0513, 0.022, 0.2906, -0.0464, -0.1846, -6.0376, 6.2974, 1.4579, 0.0904, -0.0806, -0.0122]",
      "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]: [-0.7067, 2.5462, 2.0243, -1.4624, -0.7265, -2.0117, 0.0416, 0.4927, 1.4681, 0.7757, -0.1238, 0.3794, 0.1967, 0.0306]\nstate[eef_state]: left_x=0.3822 left_y=-0.1673 left_z=0.0052 left_yaw=1.2079 left_pitch=-0.1887 left_roll=0.1042 left_gripper=0.0416 right_x=0.3643 right_y=0.1254 right_z=0.0939 right_yaw=0.0531 right_pitch=-0.1919 right_roll=-0.1345 right_gripper=0.0306\nstate[joint_eff]: [0.2393, -12.9846, 6.2974, -0.5104, -0.3785, 0.0122, 1.16, -0.3487, -6.106, 6.2974, 1.4286, 0.1294, -0.0562, -0.0122]\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 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]: [-0.1207, 1.8965, 1.4052, -0.691, 0.6846, 1.1328, 0.0421, -0.0151, 1.858, 1.3834, -0.8959, -0.7776, -1.4952, 0.0306]\nstate[eef_state]: left_x=0.411 left_y=-0.1588 left_z=0.1081 left_yaw=-1.3352 left_pitch=-0.2337 left_roll=0.0958 left_gripper=0.0421 right_x=0.3809 right_y=0.1218 right_z=0.1147 right_yaw=1.4591 right_pitch=-0.2234 right_roll=-0.152 right_gripper=0.0306\nstate[joint_eff]: [0.253, -10.441, 7.2274, 0.6081, 0.5983, 0.1538, 1.0281, -0.841, -8.5402, 7.0906, 0.232, -0.8327, -0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa4d753a67c1ece33668b72cc4af929b6612021d5fc7f1b7089d4ccc7421dc58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc87d6765253dbe0db9b592f0274cdd6c025adacb5207256f77d8ee411899fd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfb50018039689f94cf46374a0ab3f4786f07a4a69ace9d620506cc504b132eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016gnMWVgJAwL2WajgWgbKkm",
      "input": {
        "note": "The pen slipped out of the right jaws during the yaw and is lying on the table; retracting the right arm up and back so I can see the pen and bring the cap (still held in the left gripper) to it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.2,
          "right_y": 0.05,
          "right_yaw": 0.0,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_016gnMWVgJAwL2WajgWgbKkm",
      "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]: [-0.1184, 1.9244, 1.4021, -0.7059, 0.6765, 1.1336, 0.0424, 0.6151, 0.902, 1.3018, -1.24, 0.3279, 0.1455, 0.9962]\nstate[eef_state]: left_x=0.4078 left_y=-0.1563 left_z=0.0939 left_yaw=-1.3406 left_pitch=-0.2566 left_roll=0.0547 left_gripper=0.0424 right_x=0.208 right_y=0.0817 right_z=0.2931 right_yaw=0.2432 right_pitch=-0.2324 right_roll=-0.1462 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -12.2188, 6.3111, 0.9597, 0.4274, -0.0464, 1.0281, 0.0479, 0.2803, 6.6667, 1.2576, 0.2125, 0.2808, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fca263495d9c5dff6e6718d3ffdc123704ec7f3c66616712f6031981f505071d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eda9cada3099648a5e24fb1e3b2c1e895b52e70ae24696491e5f43d778ca495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:361a46a1df1aa81681684450f0a6a1adcc0913aad5133c1a4779a8688eac5295",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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