adhoc

completed
2026-09-22T18:18:24.551593+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-5-5
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
328.4 s
total steps
256
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 noteCap lies left of centre, pen diagonally right of centre. Moving left arm above the cap and right arm above the pen, yawing so the jaws close across each object.
move_to
left_x0.3800left_y-0.2350left_z0.1500left_yaw-0.7850right_x0.3800right_y0.2100right_z0.1500right_yaw0.7850
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.017, 0.7925, 0.6022, -0.3798, -0.0196, -0.0246, 0.9998, -0.0185, 0.7906, 0.6094, -0.3756, -0.0204, -0.0128, 0.9991] state[eef_state]: left_x=0.2945 left_y=0.0021 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0017 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.7453, -1.4701, 10.5231, 1.7656, -0.0513, 0.1148, -0.0415, -0.7453, -1.2103, 9.7436, 1.746, -0.0659, -0.022, -0.1148] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.235, "left_z": 0.15, "left_yaw": -0.785, "right_x": 0.38, "right_y": 0.21, "right_z": 0.15, "right_yaw": 0.785}, "note": "Cap lies left of centre, pen diagonally right of centre. Moving left arm above the cap and right arm above the pen, yawing so the jaws close across each object."})
tool
executing move_to over 22 steps (2.2s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteWrist views show the cap left of the left jaws and the pen right of the right jaws, both aligned perpendicular to the jaws. Shifting to centre and descending to 5 cm to check alignment.
move_to
left_x0.4050left_y-0.2100left_z0.0500right_x0.4000right_y0.1850right_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]: [-0.4503, 1.523, 0.8738, -0.0315, 0.2276, 0.1268, 0.9998, 0.3428, 1.4818, 0.8448, -0.0208, -0.3405, -0.2222, 0.999] state[eef_state]: left_x=0.3688 left_y=-0.2186 left_z=0.1231 left_yaw=-0.7236 left_pitch=-0.0902 left_roll=-0.0338 left_gripper=0.9998 right_x=0.3713 right_y=0.1989 right_z=0.133 right_yaw=0.7421 right_pitch=-0.0579 right_roll=0.0245 right_gripper=0.999 state[joint_eff]: [-0.335, -6.9265, 9.7026, 2.1612, 0.3101, 0.2759, -0.0171, 0.3487, -5.8325, 9.4427, 1.8242, -0.2613, -0.1441, -0.0171] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.405, "left_y": -0.21, "left_z": 0.05, "right_x": 0.4, "right_y": 0.185, "right_z": 0.05}, "note": "Wrist views show the cap left of the left jaws and the pen right of the right jaws, both aligned perpendicular to the jaws. Shifting to centre and descending to 5 cm to check alignment."})
tool
executing move_to over 6 steps (0.6s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteBoth objects are still ~30 px off the jaw column (cap left, pen right); shifting another ~3 cm across the jaw axis and lowering. The pen's metal tip points forward-left.
move_to
left_x0.4200left_y-0.1830left_z0.0300right_x0.4150right_y0.1600right_z0.0300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3836, 1.7802, 0.8387, 0.1825, 0.2516, 0.1467, 0.9997, 0.2802, 1.7416, 0.7631, 0.239, -0.382, -0.2558, 0.999] state[eef_state]: left_x=0.3954 left_y=-0.2031 left_z=0.0417 left_yaw=-0.6905 left_pitch=-0.1602 left_roll=-0.0563 left_gripper=0.9997 right_x=0.3886 right_y=0.1841 right_z=0.0448 right_yaw=0.7344 right_pitch=-0.1203 right_roll=0.056 right_gripper=0.999 state[joint_eff]: [0.5128, -7.9932, 5.7231, 1.9609, 0.315, 0.188, -0.0171, -0.9641, -7.0632, 5.5453, 1.7118, -0.315, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.183, "left_z": 0.03, "right_x": 0.415, "right_y": 0.16, "right_z": 0.03}, "note": "Both objects are still ~30 px off the jaw column (cap left, pen right); shifting another ~3 cm across the jaw axis and lowering. The pen's metal tip points forward-left."})
tool
executing move_to over 3 steps (0.3s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteCap and pen are nearly on the jaw columns now; small final correction and descending to table level for the grasp.
move_to
left_x0.4300left_y-0.1860left_z-0.0100right_x0.4200right_y0.1570right_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]: [-0.3161, 1.8534, 0.8608, 0.2008, 0.2821, 0.1715, 0.9997, 0.2039, 1.8301, 0.8055, 0.2653, -0.4282, -0.3, 0.999] state[eef_state]: left_x=0.41 left_y=-0.182 left_z=0.0227 left_yaw=-0.6637 left_pitch=-0.1837 left_roll=-0.0689 left_gripper=0.9997 right_x=0.4091 right_y=0.1632 right_z=0.0302 right_yaw=0.7199 right_pitch=-0.1216 right_roll=0.0586 right_gripper=0.999 state[joint_eff]: [0.1436, -8.5538, 8.3761, 1.4139, 0.3785, 0.3053, -0.0122, -0.2256, -8.335, 7.0906, 1.4921, -0.3736, -0.1197, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.186, "left_z": -0.01, "right_x": 0.42, "right_y": 0.157, "right_z": -0.01}, "note": "Cap and pen are nearly on the jaw columns now; small final correction and descending to table level for the grasp."})
tool
executing move_to over 3 steps (0.3s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteCap and pen are centred between the jaws at table level; closing both grippers.
move_to
left_gripper0.0000right_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]: [-0.2977, 1.8694, 0.8707, 0.1829, 0.2935, 0.186, 0.9997, 0.1829, 1.9484, 0.8143, 0.3904, -0.4519, -0.3309, 0.9989] state[eef_state]: left_x=0.4112 left_y=-0.1759 left_z=0.0168 left_yaw=-0.6644 left_pitch=-0.2029 left_roll=-0.0747 left_gripper=0.9997 right_x=0.4219 right_y=0.1601 right_z=0.0059 right_yaw=0.7332 right_pitch=-0.099 right_roll=0.0402 right_gripper=0.9989 state[joint_eff]: [-0.2256, -9.0735, 7.5692, 1.5214, 0.2662, 0.1734, -0.0073, -0.6632, -6.5846, 4.6974, 0.8327, -0.1538, 0.0757, -0.0171] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0, "right_gripper": 0.0}, "note": "Cap and pen are centred between the jaws at table level; closing both grippers."})
tool
executing move_to over 10 steps (1.0s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteRight gripper settled at 0.05 (likely holding the pen); left reads 0.01 which may be empty or a grip on the thin cap. Lifting both to check.
move_to
left_z0.0800right_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2977, 1.8694, 0.8703, 0.1768, 0.2916, 0.1837, 0.009, 0.1829, 1.9644, 0.8154, 0.4191, -0.4538, -0.3359, 0.0518] state[eef_state]: left_x=0.4102 left_y=-0.1753 left_z=0.0156 left_yaw=-0.6621 left_pitch=-0.2095 left_roll=-0.0774 left_gripper=0.009 right_x=0.4247 right_y=0.161 right_z=0.0044 right_yaw=0.7367 right_pitch=-0.0865 right_roll=0.03 right_gripper=0.0518 state[joint_eff]: [-0.253, -8.7043, 5.4359, 1.6044, 0.149, 0.0122, 0.7497, -0.2393, -10.3863, 4.7932, 1.2674, -0.1197, 0.0513, 1.1648] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.08, "right_z": 0.08}, "note": "Right gripper settled at 0.05 (likely holding the pen); left reads 0.01 which may be empty or a grip on the thin cap. Lifting both to check."})
tool
executing move_to over 5 steps (0.5s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteBoth objects appear held (pen in right jaws with tip forward, cap in left jaws). Raising and starting to rotate so the pen tip will point toward the left arm and the cap toward the right arm.
move_to
left_z0.1500left_x0.3500left_yaw0.4000right_z0.1500right_x0.3500right_yaw-0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2977, 1.7523, 0.9432, -0.0437, 0.2882, 0.1814, 0.0114, 0.1837, 1.7901, 0.8894, 0.1658, -0.453, -0.3389, 0.0577] state[eef_state]: left_x=0.4048 left_y=-0.173 left_z=0.0556 left_yaw=-0.6604 left_pitch=-0.239 left_roll=-0.0877 left_gripper=0.0114 right_x=0.4242 right_y=0.1611 right_z=0.0616 right_yaw=0.7387 right_pitch=-0.091 right_roll=0.0298 right_gripper=0.0577 state[joint_eff]: [-0.2667, -9.9487, 8.9915, 1.409, 0.1343, -0.0415, 0.2369, -0.4444, -10.4821, 7.5556, 1.5263, -0.2466, 0.0122, 1.0281] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.15, "left_x": 0.35, "left_yaw": 0.4, "right_z": 0.15, "right_x": 0.35, "right_yaw": -0.4}, "note": "Both objects appear held (pen in right jaws with tip forward, cap in left jaws). Raising and starting to rotate so the pen tip will point toward the left arm and the cap toward the right arm."})
tool
executing move_to over 8 steps (0.8s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe pen is held in the right gripper, but the cap slipped out of the left jaws and is back on the table just ahead of the left gripper. Repositioning the left arm above the cap to regrasp it.
move_to
left_x0.4150left_y-0.1900left_z0.1000left_yaw-0.5000right_z0.1600right_yaw-0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7334, 1.623, 1.2064, -0.5972, -0.5297, -0.8585, 0.0138, 0.7368, 1.5681, 1.0534, -0.3702, 0.6231, 0.6788, 0.0625] state[eef_state]: left_x=0.3591 left_y=-0.1986 left_z=0.1426 left_yaw=0.1882 left_pitch=-0.2564 left_roll=-0.1175 left_gripper=0.0138 right_x=0.3612 right_y=0.1933 right_z=0.1425 right_yaw=-0.1488 right_pitch=-0.1238 right_roll=0.046 right_gripper=0.0625 state[joint_eff]: [-0.1299, -7.0632, 7.7607, 0.8425, -0.4713, -0.0952, 0.2418, 0.253, -6.5026, 7.1316, 1.0623, 0.4957, 0.2027, 1.0281] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.415, "left_y": -0.19, "left_z": 0.1, "left_yaw": -0.5, "right_z": 0.16, "right_yaw": -0.15}, "note": "The pen is held in the right gripper, but the cap slipped out of the left jaws and is back on the table just ahead of the left gripper. Repositioning the left arm above the cap to regrasp it."})
tool
executing move_to over 5 steps (0.5s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteLeft arm fell short of the last target (speed clamp). Continuing toward the cap, opening the gripper, and lowering a bit.
move_to
left_x0.4150left_y-0.1900left_z0.0800left_yaw-0.5000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5953, 1.6142, 1.0756, -0.4343, -0.3141, -0.7292, 0.0151, 0.7193, 1.57, 1.0389, -0.4061, 0.6144, 0.7418, 0.0625] state[eef_state]: left_x=0.3692 left_y=-0.1798 left_z=0.1049 left_yaw=0.0872 left_pitch=-0.3482 left_roll=-0.1923 left_gripper=0.0151 right_x=0.3569 right_y=0.182 right_z=0.131 right_yaw=-0.1998 right_pitch=-0.1637 right_roll=0.0575 right_gripper=0.0625 state[joint_eff]: [-0.0615, -8.5402, 7.5692, 1.5897, -0.2418, 0.3785, 0.1245, -0.3077, -9.4154, 6.9538, 1.6239, 0.3101, -0.1832, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.415, "left_y": -0.19, "left_z": 0.08, "left_yaw": -0.5, "left_gripper": 1.0}, "note": "Left arm fell short of the last target (speed clamp). Continuing toward the cap, opening the gripper, and lowering a bit."})
tool
executing move_to over 10 steps (1.0s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteCap visible ahead and slightly right in the left wrist view; the left wrist has drifted into pitch/roll tilt, so commanding level orientation, yaw aligned with the cap, and moving over it.
move_to
left_x0.4300left_y-0.1750left_z0.0500left_yaw-0.6000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3813, 1.7771, 1.1233, -0.3237, -0.0757, -0.482, 0.9947, 0.7193, 1.573, 1.0386, -0.4114, 0.6003, 0.7284, 0.0625] state[eef_state]: left_x=0.4172 left_y=-0.149 left_z=0.065 left_yaw=-0.0441 left_pitch=-0.423 left_roll=-0.221 left_gripper=0.9947 right_x=0.3555 right_y=0.1834 right_z=0.1279 right_yaw=-0.1844 right_pitch=-0.1776 right_roll=0.0475 right_gripper=0.0625 state[joint_eff]: [-3.5077, -10.9607, 9.265, 1.3162, 0.6911, 0.4713, 0.1294, -0.1026, -7.3231, 6.5026, 1.326, 0.3443, 0.105, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.175, "left_z": 0.05, "left_yaw": -0.6, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Cap visible ahead and slightly right in the left wrist view; the left wrist has drifted into pitch/roll tilt, so commanding level orientation, yaw aligned with the cap, and moving over it."})
tool
executing move_to over 15 steps (1.5s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteCap is now aligned perpendicular to the jaws, just right of centre. Small sideways correction and descending firmly to table level for a lower grasp this time.
move_to
left_x0.4300left_y-0.1820left_z-0.0200left_yaw-0.5300left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3069, 1.8194, 0.783, 0.3656, 0.1894, 0.0887, 0.9963, 0.7193, 1.5738, 1.0386, -0.411, 0.593, 0.7277, 0.0626] state[eef_state]: left_x=0.4222 left_y=-0.1649 left_z=0.0363 left_yaw=-0.5275 left_pitch=-0.087 left_roll=-0.0384 left_gripper=0.9963 right_x=0.3551 right_y=0.1846 right_z=0.1271 right_yaw=-0.1791 right_pitch=-0.1825 right_roll=0.0503 right_gripper=0.0626 state[joint_eff]: [0.5265, -7.6923, 5.6821, 2.1123, 0.2173, 0.1636, 0.1441, -0.0889, -7.2274, 6.5436, 1.2283, 0.2808, -0.0024, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.182, "left_z": -0.02, "left_yaw": -0.53, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Cap is now aligned perpendicular to the jaws, just right of centre. Small sideways correction and descending firmly to table level for a lower grasp this time."})
tool
executing move_to over 4 steps (0.4s)
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 noteCap sits between the open jaws at table level, perpendicular to them; closing the left gripper.
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]: [-0.3489, 2.038, 0.7456, 0.7391, 0.149, 0.1043, 0.9964, 0.7193, 1.5742, 1.0374, -0.4107, 0.5884, 0.7273, 0.0659] state[eef_state]: left_x=0.4361 left_y=-0.1827 left_z=0.0002 left_yaw=-0.5433 left_pitch=0.0232 left_roll=0.0214 left_gripper=0.9964 right_x=0.3547 right_y=0.1851 right_z=0.1262 right_yaw=-0.176 right_pitch=-0.1861 right_roll=0.0515 right_gripper=0.0659 state[joint_eff]: [-0.4855, -6.6256, 3.2615, 0.5495, 0.2369, -0.2369, 0.0073, -0.1026, -7.1863, 6.8581, 1.199, 0.2418, -0.0366, 1.0281] approver: 1 step(s) modified (delta_clamped). 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": {"left_gripper": 0.0}, "note": "Cap sits between the open jaws at table level, perpendicular to them; closing the left gripper."})
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 noteLeft gripper settled at 0.04, possibly holding the thin cap. Lifting to verify.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3523, 2.046, 0.741, 0.8005, 0.1402, 0.0952, 0.0402, 0.7193, 1.5742, 1.0363, -0.4114, 0.5812, 0.7273, 0.0659] state[eef_state]: left_x=0.4411 left_y=-0.1846 left_z=0.0079 left_yaw=-0.5348 left_pitch=0.0705 left_roll=0.027 left_gripper=0.0402 right_x=0.354 right_y=0.1859 right_z=0.1251 right_yaw=-0.1713 right_pitch=-0.1918 right_roll=0.0537 right_gripper=0.0659 state[joint_eff]: [0.0479, -9.0735, 5.2171, 1.116, 0.1832, 0.1783, 0.3736, -0.0615, -7.159, 6.7077, 1.2332, 0.2613, -0.0708, 1.0281] 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": {"left_z": 0.08}, "note": "Left gripper settled at 0.04, possibly holding the thin cap. Lifting to verify."})
tool
executing move_to over 5 steps (0.5s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe cap squirted forward out of the jaws and now lies further out near the table centre line. Moving the left arm over its new spot with the jaws re-aligned, gripper open.
move_to
left_x0.4900left_y-0.2500left_z0.0800left_yaw0.2000left_pitch0.0000left_roll0.0000left_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]: [-0.3523, 1.832, 0.767, 0.5484, 0.1345, 0.0875, 0.0398, 0.7193, 1.5742, 1.0336, -0.411, 0.5732, 0.7273, 0.0659] state[eef_state]: left_x=0.4367 left_y=-0.182 left_z=0.0609 left_yaw=-0.5257 left_pitch=0.0581 left_roll=0.0209 left_gripper=0.0398 right_x=0.3531 right_y=0.1867 right_z=0.1236 right_yaw=-0.1662 right_pitch=-0.1983 right_roll=0.0561 right_gripper=0.0659 state[joint_eff]: [-0.1846, -10.0171, 8.3487, 1.7705, 0.0464, -0.0024, -0.0611, -0.0479, -7.1453, 6.735, 1.2576, 0.2857, -0.0708, 1.0281] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.49, "left_y": -0.25, "left_z": 0.08, "left_yaw": 0.2, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The cap squirted forward out of the jaws and now lies further out near the table centre line. Moving the left arm over its new spot with the jaws re-aligned, gripper open."})
tool
executing move_to over 10 steps (1.0s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteCap is visible ahead of the left jaws, aligned perpendicular to them and slightly right. Advancing ~3 cm and 1 cm right while descending close to the table.
move_to
left_x0.5200left_y-0.2700left_z0.0200left_yaw0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6827, 2.1399, 1.4136, -0.0055, -0.6334, -0.5182, 0.9952, 0.7193, 1.5742, 1.029, -0.4122, 0.5652, 0.725, 0.0659] state[eef_state]: left_x=0.4899 left_y=-0.2589 left_z=0.0747 left_yaw=0.0994 left_pitch=0.0012 left_roll=-0.0148 left_gripper=0.9952 right_x=0.3517 right_y=0.187 right_z=0.1211 right_yaw=-0.1604 right_pitch=-0.207 right_roll=0.0541 right_gripper=0.0659 state[joint_eff]: [-0.3487, -12.2872, 7.8291, 1.2674, -0.3834, 0.1197, -0.0366, -0.0615, -7.1453, 6.8034, 1.199, 0.2564, -0.0317, 1.0281] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.52, "left_y": -0.27, "left_z": 0.02, "left_yaw": 0.1}, "note": "Cap is visible ahead of the left jaws, aligned perpendicular to them and slightly right. Advancing ~3 cm and 1 cm right while descending close to the table."})
tool
executing move_to over 4 steps (0.4s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteCap now runs through the jaw gap, ~1.4 cm right of centre. Shifting right to centre it and pressing down to table level.
move_to
left_x0.5100left_y-0.2710left_z-0.0200left_yaw0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.664, 2.3344, 1.4799, 0.065, -0.6506, -0.5484, 0.9964, 0.7193, 1.5742, 1.0275, -0.4114, 0.5625, 0.725, 0.0659] state[eef_state]: left_x=0.5069 left_y=-0.2562 left_z=0.0079 left_yaw=0.1475 left_pitch=-0.0305 left_roll=0.0096 left_gripper=0.9964 right_x=0.3513 right_y=0.1872 right_z=0.1205 right_yaw=-0.1587 right_pitch=-0.2091 right_roll=0.0549 right_gripper=0.0659 state[joint_eff]: [0.253, -13.7094, 8.8821, 0.2076, 0.4274, 0.7057, 0.1099, -0.0752, -6.9402, 6.5299, 1.1795, 0.2515, -0.0269, 1.0281] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.51, "left_y": -0.271, "left_z": -0.02, "left_yaw": 0.15}, "note": "Cap now runs through the jaw gap, ~1.4 cm right of centre. Shifting right to centre it and pressing down to table level."})
tool
executing move_to over 2 steps (0.2s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe left arm is at its reach limit and stalls 1 cm above the table, just over the cap. Tipping the tool forward to gain reach so the fingertips can get down around the cap.
move_to
left_x0.5100left_y-0.2720left_z-0.0200left_pitch0.3500left_yaw0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6594, 2.3444, 1.4971, 0.0868, -0.6357, -0.5297, 0.9964, 0.7193, 1.5742, 1.0241, -0.411, 0.5556, 0.7246, 0.0659] state[eef_state]: left_x=0.5134 left_y=-0.2607 left_z=0.0108 left_yaw=0.1307 left_pitch=-0.0179 left_roll=-0.003 left_gripper=0.9964 right_x=0.3503 right_y=0.1877 right_z=0.1187 right_yaw=-0.1543 right_pitch=-0.2154 right_roll=0.0559 right_gripper=0.0659 state[joint_eff]: [-0.1573, -12.9026, 7.9658, 1.58, -0.1245, 0.2125, -0.0024, -0.1573, -7.0359, 6.8991, 1.2479, 0.3199, -0.0659, 1.0281] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.51, "left_y": -0.272, "left_z": -0.02, "left_pitch": 0.35, "left_yaw": 0.15}, "note": "The left arm is at its reach limit and stalls 1 cm above the table, just over the cap. Tipping the tool forward to gain reach so the fingertips can get down around the cap."})
tool
executing move_to over 13 steps (1.3s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteCap is now centred in the jaw gap and perpendicular to the jaws; closing the left gripper.
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]: [-0.7261, 2.5164, 1.3998, 0.7757, -0.8864, -0.3073, 0.9965, 0.7193, 1.5753, 1.0214, -0.4118, 0.5442, 0.725, 0.0659] state[eef_state]: left_x=0.5172 left_y=-0.2715 left_z=0.0121 left_yaw=0.1979 left_pitch=0.357 left_roll=-0.0259 left_gripper=0.9965 right_x=0.349 right_y=0.1888 right_z=0.1164 right_yaw=-0.1474 right_pitch=-0.2255 right_roll=0.0589 right_gripper=0.0659 state[joint_eff]: [-0.212, -8.1162, 3.0427, 1.0281, 0.4274, -0.5055, -0.0073, -0.3214, -6.7214, 6.694, 1.3993, 0.3053, -0.0122, 1.0281] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Cap is now centred in the jaw gap and perpendicular to the jaws; closing the left gripper."})
tool
executing move_to over 10 steps (1.0s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteLeft gripper closed to 0.01, probably empty again. Lifting and pulling back to see where the cap is.
move_to
left_z0.1000left_x0.4500left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7273, 2.5214, 1.3964, 0.8249, -0.8989, -0.3042, 0.0093, 0.7193, 1.5757, 1.0164, -0.4118, 0.5373, 0.725, 0.0659] state[eef_state]: left_x=0.5177 left_y=-0.2709 left_z=0.0173 left_yaw=0.2188 left_pitch=0.3845 left_roll=-0.0554 left_gripper=0.0093 right_x=0.3476 right_y=0.189 right_z=0.1139 right_yaw=-0.1436 right_pitch=-0.2333 right_roll=0.0584 right_gripper=0.0659 state[joint_eff]: [0.0342, -13.641, 5.2855, 1.1697, -0.0611, 0.0122, 0.7253, -0.0342, -6.9675, 7.0222, 1.2869, 0.2222, -0.0317, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.1, "left_x": 0.45, "left_pitch": 0.0}, "note": "Left gripper closed to 0.01, probably empty again. Lifting and pulling back to see where the cap is."})
tool
executing move_to over 13 steps (1.3s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe two grippers are crowding each other at the centre and the left arm is straining; moving the pen-holding right arm away to the right to give the left arm room.
move_to
right_x0.3000right_y0.2600right_z0.1600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7742, 2.1574, 1.3823, -0.1577, -0.7856, -0.7136, 0.0115, 0.7193, 1.5753, 1.0134, -0.3725, 0.5419, 0.7361, 0.0659] state[eef_state]: left_x=0.4468 left_y=-0.2572 left_z=0.0468 left_yaw=0.2207 left_pitch=-0.0351 left_roll=0.0495 left_gripper=0.0115 right_x=0.3526 right_y=0.1925 right_z=0.1183 right_yaw=-0.1465 right_pitch=-0.2072 right_roll=0.0926 right_gripper=0.0659 state[joint_eff]: [-1.2376, -17.7709, 10.7829, 1.4676, -0.4176, -0.0659, 0.2125, -0.1709, -6.9538, 6.694, 0.823, 0.1587, -0.2173, 1.0281] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.26, "right_z": 0.16}, "note": "The two grippers are crowding each other at the centre and the left arm is straining; moving the pen-holding right arm away to the right to give the left arm room."})
tool
executing move_to over 6 steps (0.6s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe grippers appear to be touching (right arm shows sideways effort and its wrist camera sees the left gripper). Moving the left arm back toward its own side to separate them.
move_to
left_x0.4000left_y-0.1400left_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]: [-0.7582, 2.1498, 1.3724, -0.178, -0.778, -0.7315, 0.0137, 0.9054, 1.6241, 1.2087, -0.7254, 0.7128, 0.9722, 0.0694] state[eef_state]: left_x=0.4466 left_y=-0.2472 left_z=0.044 left_yaw=0.2426 left_pitch=-0.0519 left_roll=0.0504 left_gripper=0.0137 right_x=0.3148 right_y=0.2199 right_z=0.1466 right_yaw=-0.2287 right_pitch=-0.2017 right_roll=0.0086 right_gripper=0.0694 state[joint_eff]: [-1.4154, -11.0564, 6.7624, 1.37, -0.4176, 0.1587, 0.2222, 6.2291, -6.2974, 10.5778, 1.79, -0.315, -0.1978, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.14, "left_z": 0.12}, "note": "The grippers appear to be touching (right arm shows sideways effort and its wrist camera sees the left gripper). Moving the left arm back toward its own side to separate them."})
tool
executing move_to over 10 steps (1.0s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteArms are separated; the cap lies forward near the table centre (seen right in the left wrist view). Returning the left arm above it with the gripper open for another attempt.
move_to
left_x0.4900left_y-0.2600left_z0.0800left_yaw0.2500left_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]: [-0.6209, 1.6875, 1.0115, -0.1951, -0.6979, -0.6102, 0.015, 0.9051, 1.6302, 1.2018, -0.7254, 0.6987, 0.9764, 0.0701] state[eef_state]: left_x=0.403 left_y=-0.1443 left_z=0.1107 left_yaw=0.2597 left_pitch=-0.0572 left_roll=0.0433 left_gripper=0.015 right_x=0.313 right_y=0.2203 right_z=0.1407 right_yaw=-0.2269 right_pitch=-0.2189 right_roll=0.0052 right_gripper=0.0701 state[joint_eff]: [0.2667, -9.1282, 6.3248, 1.4432, -0.232, 0.0806, 0.1294, -0.1983, -7.4735, 6.8855, 1.0965, 0.3932, -0.0513, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.49, "left_y": -0.26, "left_z": 0.08, "left_yaw": 0.25, "left_gripper": 1.0}, "note": "Arms are separated; the cap lies forward near the table centre (seen right in the left wrist view). Returning the left arm above it with the gripper open for another attempt."})
tool
executing move_to over 11 steps (1.1s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteLeft arm stalled sideways, likely brushing the right arm again. Pulling the pen-holding right arm back and further right to clear the centre.
move_to
right_x0.2500right_y0.3000right_z0.1600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6983, 2.2108, 1.6028, -0.3481, -0.7334, -0.7059, 0.9953, 0.8894, 1.6302, 1.2015, -0.7483, 0.7055, 0.989, 0.0701] state[eef_state]: left_x=0.4836 left_y=-0.2469 left_z=0.0687 left_yaw=0.2616 left_pitch=-0.0835 left_roll=0.0513 left_gripper=0.9953 right_x=0.3141 right_y=0.2112 right_z=0.1395 right_yaw=-0.2574 right_pitch=-0.223 right_roll=-0.01 right_gripper=0.0701 state[joint_eff]: [-1.4974, -12.3282, 9.1556, 1.2186, -0.5201, 0.0757, -0.105, 0.9094, -7.4735, 6.4889, 1.2723, 0.1538, -0.1832, 1.033] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.3, "right_z": 0.16}, "note": "Left arm stalled sideways, likely brushing the right arm again. Pulling the pen-holding right arm back and further right to clear the centre."})
tool
executing move_to over 8 steps (0.8s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteRight +y points toward the centre, so my last move pushed the arms together. Moving the right arm outward (lower y) to clear the left arm.
move_to
right_x0.3000right_y0.0500right_z0.1600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6659, 2.2299, 1.5936, -0.3561, -0.7254, -0.7063, 0.9964, 1.1328, 1.8286, 1.5219, -1.1641, 0.791, 1.4017, 0.0701] state[eef_state]: left_x=0.4874 left_y=-0.2293 left_z=0.0541 left_yaw=0.2923 left_pitch=-0.1097 left_roll=0.077 left_gripper=0.9964 right_x=0.2624 right_y=0.2727 right_z=0.1574 right_yaw=-0.3297 right_pitch=-0.2183 right_roll=-0.0223 right_gripper=0.0701 state[joint_eff]: [-2.4547, -14.0376, 6.9265, 1.3211, -0.4078, -0.0708, 0.105, 4.547, -6.8991, 9.1419, 1.1551, 0.3492, -0.9255, 1.0281] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.05, "right_z": 0.16}, "note": "Right +y points toward the centre, so my last move pushed the arms together. Moving the right arm outward (lower y) to clear the left arm."})
tool
executing move_to over 19 steps (1.9s)
step 212
top_cam
camera top_cam step 212
assistant
agent noteArms are clear now. The cap is near the right jaw, pointed end forward; shifting ~4 cm right, aligning yaw, and descending to grip the cap's thicker open end.
move_to
left_x0.5050left_y-0.2650left_z-0.0200left_yaw0.1000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6662, 2.2303, 1.5936, -0.3573, -0.725, -0.7094, 0.9965, 0.4759, 1.169, 0.8593, -0.7094, 0.556, 0.6533, 0.0701] state[eef_state]: left_x=0.4872 left_y=-0.2294 left_z=0.0538 left_yaw=0.2935 left_pitch=-0.1107 left_roll=0.0757 left_gripper=0.9965 right_x=0.2933 right_y=0.0503 right_z=0.1501 right_yaw=-0.3696 right_pitch=-0.2524 right_roll=-0.041 right_gripper=0.0701 state[joint_eff]: [-0.1983, -12.588, 6.188, 1.1844, -0.3785, -0.0024, -0.0024, -0.4171, -4.6974, 7.0085, 1.5751, 0.3394, -0.0806, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.505, "left_y": -0.265, "left_z": -0.02, "left_yaw": 0.1, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Arms are clear now. The cap is near the right jaw, pointed end forward; shifting ~4 cm right, aligning yaw, and descending to grip the cap's thicker open end."})
tool
executing move_to over 5 steps (0.5s)
step 217
assistant
agent noteThe right finger nudged the cap, which now lies diagonally ahead-right of the jaw centre. Lifting slightly, rotating the jaws perpendicular to it, and shifting over it.
move_to
left_x0.5200left_y-0.2750left_z0.0400left_yaw0.9000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6708, 2.3455, 1.4509, 0.1287, -0.7036, -0.5735, 0.9965, 0.4736, 1.1683, 0.8532, -0.7033, 0.5301, 0.6392, 0.0701] state[eef_state]: left_x=0.506 left_y=-0.2511 left_z=0.0053 left_yaw=0.1921 left_pitch=0.0132 left_roll=-0.0042 left_gripper=0.9965 right_x=0.2926 right_y=0.0536 right_z=0.1468 right_yaw=-0.3465 right_pitch=-0.2684 right_roll=-0.0351 right_gripper=0.0701 state[joint_eff]: [-0.6085, -9.3197, 4.0, 0.9646, 0.7057, 0.0464, -0.0073, 0.0752, -3.5214, 7.1863, 1.0818, 0.4518, 0.1197, 1.0281] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.52, "left_y": -0.275, "left_z": 0.04, "left_yaw": 0.9}, "note": "The right finger nudged the cap, which now lies diagonally ahead-right of the jaw centre. Lifting slightly, rotating the jaws perpendicular to it, and shifting over it."})
tool
executing move_to over 5 steps (0.5s)
step 222
assistant
agent noteOvershot: the cap's tip now shows at the bottom of the jaw column, just behind the fingertips. Backing up ~3 cm along the tool axis, levelling the wrist, and descending onto the cap.
move_to
left_x0.5300left_y-0.3150left_z-0.0200left_yaw0.7500left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.746, 2.8464, 2.4008, -0.4728, -1.0946, -1.1893, 0.9965, 0.4732, 1.1694, 0.8501, -0.7044, 0.5194, 0.6392, 0.0701] state[eef_state]: left_x=0.5579 left_y=-0.2969 left_z=0.0175 left_yaw=0.6865 left_pitch=0.1737 left_roll=-0.2975 left_gripper=0.9965 right_x=0.2916 right_y=0.0548 right_z=0.1444 right_yaw=-0.3406 right_pitch=-0.2787 right_roll=-0.0326 right_gripper=0.0701 state[joint_eff]: [0.8957, -7.5966, 2.6051, 0.7155, 0.9011, -1.2039, -0.0171, 0.0068, -3.6581, 6.8034, 1.1062, 0.359, -0.0366, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.53, "left_y": -0.315, "left_z": -0.02, "left_yaw": 0.75, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Overshot: the cap's tip now shows at the bottom of the jaw column, just behind the fingertips. Backing up ~3 cm along the tool axis, levelling the wrist, and descending onto the cap."})
tool
executing move_to over 6 steps (0.6s)
step 228
assistant
agent noteThe cap is no longer visible ahead of the jaws, so it should be between them under the camera; closing the left gripper.
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]: [-0.7666, 3.0474, 2.8941, -1.1736, -1.0855, -1.4258, 0.9965, 0.4732, 1.1706, 0.8486, -0.7029, 0.5148, 0.6392, 0.0701] state[eef_state]: left_x=0.522 left_y=-0.2808 left_z=0.0109 left_yaw=0.7346 left_pitch=0.0976 left_roll=-0.1043 left_gripper=0.9965 right_x=0.2915 right_y=0.0555 right_z=0.1434 right_yaw=-0.3377 right_pitch=-0.2823 right_roll=-0.0307 right_gripper=0.0701 state[joint_eff]: [-0.5538, -13.0667, 6.9265, 0.3394, 0.2613, -0.2173, -0.0073, -0.0342, -3.6444, 6.694, 1.1258, 0.2515, -0.0317, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The cap is no longer visible ahead of the jaws, so it should be between them under the camera; closing the left gripper."})
tool
executing move_to over 10 steps (1.0s)
step 238
assistant
agent noteEmpty close again; the cap is visible just right of the right jaw. Opening and shifting ~3 cm to the tool's right at table level to straddle it.
move_to
left_gripper1.0000left_x0.5250left_y-0.3000left_z0.0000left_yaw0.7500left_pitch0.1000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7666, 3.0474, 2.9013, -1.2957, -1.0683, -1.4776, 0.0096, 0.4732, 1.1706, 0.8486, -0.7025, 0.514, 0.6388, 0.0701] state[eef_state]: left_x=0.5087 left_y=-0.27 left_z=0.0068 left_yaw=0.7499 left_pitch=0.0719 left_roll=-0.0364 left_gripper=0.0096 right_x=0.2915 right_y=0.0557 right_z=0.1434 right_yaw=-0.3369 right_pitch=-0.2826 right_roll=-0.0302 right_gripper=0.0701 state[joint_eff]: [-0.4581, -12.8205, 5.8598, 0.525, 0.149, -0.0415, 0.6764, -0.0752, -3.1932, 6.5573, 1.1746, 0.188, -0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.525, "left_y": -0.3, "left_z": 0.0, "left_yaw": 0.75, "left_pitch": 0.1, "left_roll": 0.0}, "note": "Empty close again; the cap is visible just right of the right jaw. Opening and shifting ~3 cm to the tool's right at table level to straddle it."})
tool
executing move_to over 10 steps (1.0s)
step 248
assistant
agent noteThe left arm is at the limit of its reach and can't get over the cap, which sits against the outside of the right finger. Sweeping back low to try to drag the cap closer to the base.
move_to
left_x0.4300left_y-0.2900left_z0.0050left_yaw0.7500left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7692, 3.0203, 2.8227, -1.2484, -1.1191, -1.4864, 0.9945, 0.4736, 1.1706, 0.8486, -0.7025, 0.511, 0.6388, 0.0701] state[eef_state]: left_x=0.5098 left_y=-0.2674 left_z=0.0088 left_yaw=0.7577 left_pitch=0.1218 left_roll=-0.0375 left_gripper=0.9945 right_x=0.2914 right_y=0.0563 right_z=0.1431 right_yaw=-0.3344 right_pitch=-0.2845 right_roll=-0.0283 right_gripper=0.0701 state[joint_eff]: [-0.6496, -13.5726, 7.5419, 0.3101, -0.2857, 0.0659, 0.1294, -0.0205, -3.5624, 6.612, 1.1746, 0.2369, -0.0366, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.29, "left_z": 0.005, "left_yaw": 0.75, "left_pitch": 0.0}, "note": "The left arm is at the limit of its reach and can't get over the cap, which sits against the outside of the right finger. Sweeping back low to try to drag the cap closer to the base."})
tool
executing move_to over 7 steps (0.7s)
step 255
assistant
agent noteThe pen is held in the right gripper, but I couldn't pick up the cap. It slipped out of the left jaws on the first close, then squirted forward to about x≈0.53 near the table centre line. At that distance the left arm is at its reach limit: it stalls about 1 cm above the table and won't move sideways. Three more closes came up empty, and trying to drag the cap back didn't move it. With about 8 LLM calls left, there aren't enough to grasp the cap and then put it on the pen.
give_up
hindsight- In this setup, the cap started at about left (0.41, −0.19) and the pen at about right (0.41, 0.16). The pen's metal tip points forward-left, and a yaw of +0.74 on the right arm grasped it on the first try (reading 0.05). - The cap is small, tapered and only ~1 cm thick. A full close on it slipped once and pushed it out forward once. Next time, press down to z≈0 (check the readback actually reached it), grip the thick open end rather than the taper, and close only partway (~0.05). - Right-arm +y points toward the table centre, so increasing right_y pushes the right arm into the left arm. To clear the centre, decrease right_y (and increase left_y). The grippers touched each other when left_y was around −0.25 and right_y around 0.19–0.22 at similar x. Their spacing looked smaller than the 0.65 m in the rig facts. - Beyond x≈0.50, the left arm can't get lower than z≈0.01. Commands there overshoot or stall, and the wrist drifts in pitch/roll. Keep grasps at x ≤ 0.47. If an object ends up farther out, go after it with the other arm early. - If you send a large yaw change together with a translation, it can get speed-clamped and the arm falls short. Send pitch=0 and roll=0 explicitly to stop wrist drift. - For capping: plan to have both arms holding their objects by about call 12, since joining the two pieces needs several calls.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8791, 2.7644, 2.326, -1.2018, -1.0679, -1.6859, 0.995, 0.4736, 1.1706, 0.8486, -0.7025, 0.5102, 0.6388, 0.0701] state[eef_state]: left_x=0.442 left_y=-0.2854 left_z=0.005 left_yaw=0.7364 left_pitch=0.0685 left_roll=-0.0207 left_gripper=0.995 right_x=0.2914 right_y=0.0564 right_z=0.1431 right_yaw=-0.3339 right_pitch=-0.2849 right_roll=-0.0279 right_gripper=0.0701 state[joint_eff]: [-0.7726, -16.6496, 4.9026, 0.149, -0.0073, 0.0024, 0.0317, -0.0479, -3.6171, 6.7214, 1.199, 0.188, -0.0659, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
give_up({"reason": "The pen is held in the right gripper, but I couldn't pick up the cap. It slipped out of the left jaws on the first close, then squirted forward to about x\u22480.53 near the table centre line. At that distance the left arm is at its reach limit: it stalls about 1 cm above the table and won't move sideways. Three more closes came up empty, and trying to drag the cap back didn't move it. With about 8 LLM calls left, there aren't enough to grasp the cap and then put it on the pen.", "hindsight": "- In this setup, the cap started at about left (0.41, \u22120.19) and the pen at about right (0.41, 0.16). The pen's metal tip points forward-left, and a yaw of +0.74 on the right arm grasped it on the first try (reading 0.05).\n- The cap is small, tapered and only ~1 cm thick. A full close on it slipped once and pushed it out forward once. Next time, press down to z\u22480 (check the readback actually reached it), grip the thick open end rather than the taper, and close only partway (~0.05).\n- Right-arm +y points toward the table centre, so increasing right_y pushes the right arm into the left arm. To clear the centre, decrease right_y (and increase left_y). The grippers touched each other when left_y was around \u22120.25 and right_y around 0.19\u20130.22 at similar x. Their spacing looked smaller than the 0.65 m in the rig facts.\n- Beyond x\u22480.50, the left arm can't get lower than z\u22480.01. Commands there overshoot or stall, and the wrist drifts in pitch/roll. Keep grasps at x \u2264 0.47. If an object ends up farther out, go after it with the other arm early.\n- If you send a large yaw change together with a translation, it can get speed-clamped and the arm falls short. Send pitch=0 and roll=0 explicitly to stop wrist drift.\n- For capping: plan to have both arms holding their objects by about call 12, since joining the two pieces needs several calls."})
tool
give_up: The pen is held in the right gripper, but I couldn't pick up the cap. It slipped out of the left jaws on the first close, then squirted forward to about x≈0.53 near the table centre line. At that distance the left arm is at its reach limit: it stalls about 1 cm above the table and won't move sideways. Three more closes came up empty, and trying to drag the cap back didn't move it. With about 8 LLM calls left, there aren't enough to grasp the cap and then put it on the pen.
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 · 20.13 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.017, 0.7925, 0.6022, -0.3798, -0.0196, -0.0246, 0.9998, -0.0185, 0.7906, 0.6094, -0.3756, -0.0204, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0021 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0017 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.7453, -1.4701, 10.5231, 1.7656, -0.0513, 0.1148, -0.0415, -0.7453, -1.2103, 9.7436, 1.746, -0.0659, -0.022, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f505f7ba052ea8eb37500b71d04da9595173a62d85b4638d683be33097fe0448",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10d90aacd290dee084965ff6066f7bb207e08a76448d080b2e5357336f871ae3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0a1f3f3eedab7a34ba31144f0cff187dac5d3defb038d30106dca08bf1f5254",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 11.92 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.017, 0.7925, 0.6022, -0.3798, -0.0196, -0.0246, 0.9998, -0.0185, 0.7906, 0.6094, -0.3756, -0.0204, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0021 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0017 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.7453, -1.4701, 10.5231, 1.7656, -0.0513, 0.1148, -0.0415, -0.7453, -1.2103, 9.7436, 1.746, -0.0659, -0.022, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f505f7ba052ea8eb37500b71d04da9595173a62d85b4638d683be33097fe0448",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10d90aacd290dee084965ff6066f7bb207e08a76448d080b2e5357336f871ae3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0a1f3f3eedab7a34ba31144f0cff187dac5d3defb038d30106dca08bf1f5254",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FtbJJrevMeuRYzzeLFsntf",
      "input": {
        "note": "Cap lies left of centre, pen diagonally right of centre. Moving left arm above the cap and right arm above the pen, yawing so the jaws close across each object.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.235,
          "left_yaw": -0.785,
          "left_z": 0.15,
          "right_x": 0.38,
          "right_y": 0.21,
          "right_yaw": 0.785,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01FtbJJrevMeuRYzzeLFsntf",
      "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]: [-0.4503, 1.523, 0.8738, -0.0315, 0.2276, 0.1268, 0.9998, 0.3428, 1.4818, 0.8448, -0.0208, -0.3405, -0.2222, 0.999]\nstate[eef_state]: left_x=0.3688 left_y=-0.2186 left_z=0.1231 left_yaw=-0.7236 left_pitch=-0.0902 left_roll=-0.0338 left_gripper=0.9998 right_x=0.3713 right_y=0.1989 right_z=0.133 right_yaw=0.7421 right_pitch=-0.0579 right_roll=0.0245 right_gripper=0.999\nstate[joint_eff]: [-0.335, -6.9265, 9.7026, 2.1612, 0.3101, 0.2759, -0.0171, 0.3487, -5.8325, 9.4427, 1.8242, -0.2613, -0.1441, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccad0bff40f0a124a77918b68bc2803dc0162be1ce422cd8ff0e704088b2a08f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb717b0f2b5e4ab3526ba92bd5b12d5c10ccf2efc86819284cdb92d8cc2271c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c7871dc54751dc084a6cbabf7d30bd3101d27f078a84e761bcefad51ed25865",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 7.459 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.017, 0.7925, 0.6022, -0.3798, -0.0196, -0.0246, 0.9998, -0.0185, 0.7906, 0.6094, -0.3756, -0.0204, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0021 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0017 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.7453, -1.4701, 10.5231, 1.7656, -0.0513, 0.1148, -0.0415, -0.7453, -1.2103, 9.7436, 1.746, -0.0659, -0.022, -0.1148]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4503, 1.523, 0.8738, -0.0315, 0.2276, 0.1268, 0.9998, 0.3428, 1.4818, 0.8448, -0.0208, -0.3405, -0.2222, 0.999]\nstate[eef_state]: left_x=0.3688 left_y=-0.2186 left_z=0.1231 left_yaw=-0.7236 left_pitch=-0.0902 left_roll=-0.0338 left_gripper=0.9998 right_x=0.3713 right_y=0.1989 right_z=0.133 right_yaw=0.7421 right_pitch=-0.0579 right_roll=0.0245 right_gripper=0.999\nstate[joint_eff]: [-0.335, -6.9265, 9.7026, 2.1612, 0.3101, 0.2759, -0.0171, 0.3487, -5.8325, 9.4427, 1.8242, -0.2613, -0.1441, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccad0bff40f0a124a77918b68bc2803dc0162be1ce422cd8ff0e704088b2a08f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb717b0f2b5e4ab3526ba92bd5b12d5c10ccf2efc86819284cdb92d8cc2271c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c7871dc54751dc084a6cbabf7d30bd3101d27f078a84e761bcefad51ed25865",
        "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_011hQkdnrCiiYdL5USKXTMTH",
      "input": {
        "note": "Wrist views show the cap left of the left jaws and the pen right of the right jaws, both aligned perpendicular to the jaws. Shifting to centre and descending to 5 cm to check alignment.",
        "targets": {
          "left_x": 0.405,
          "left_y": -0.21,
          "left_z": 0.05,
          "right_x": 0.4,
          "right_y": 0.185,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_011hQkdnrCiiYdL5USKXTMTH",
      "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]: [-0.3836, 1.7802, 0.8387, 0.1825, 0.2516, 0.1467, 0.9997, 0.2802, 1.7416, 0.7631, 0.239, -0.382, -0.2558, 0.999]\nstate[eef_state]: left_x=0.3954 left_y=-0.2031 left_z=0.0417 left_yaw=-0.6905 left_pitch=-0.1602 left_roll=-0.0563 left_gripper=0.9997 right_x=0.3886 right_y=0.1841 right_z=0.0448 right_yaw=0.7344 right_pitch=-0.1203 right_roll=0.056 right_gripper=0.999\nstate[joint_eff]: [0.5128, -7.9932, 5.7231, 1.9609, 0.315, 0.188, -0.0171, -0.9641, -7.0632, 5.5453, 1.7118, -0.315, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c457ffd548e4b4660993afefaa5244a9086ced75655b4d28a23dd06d145c46ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73e22a6853c8334ede8e44dbcf794429675c20a52ea6e7af57858a912e58f72c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b36ee23d4f5a6c8998df4c5f70c841a4d075910ce5b57b12cf4ede5ae115fca4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 6.826 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.017, 0.7925, 0.6022, -0.3798, -0.0196, -0.0246, 0.9998, -0.0185, 0.7906, 0.6094, -0.3756, -0.0204, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0021 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0017 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.7453, -1.4701, 10.5231, 1.7656, -0.0513, 0.1148, -0.0415, -0.7453, -1.2103, 9.7436, 1.746, -0.0659, -0.022, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4503, 1.523, 0.8738, -0.0315, 0.2276, 0.1268, 0.9998, 0.3428, 1.4818, 0.8448, -0.0208, -0.3405, -0.2222, 0.999]\nstate[eef_state]: left_x=0.3688 left_y=-0.2186 left_z=0.1231 left_yaw=-0.7236 left_pitch=-0.0902 left_roll=-0.0338 left_gripper=0.9998 right_x=0.3713 right_y=0.1989 right_z=0.133 right_yaw=0.7421 right_pitch=-0.0579 right_roll=0.0245 right_gripper=0.999\nstate[joint_eff]: [-0.335, -6.9265, 9.7026, 2.1612, 0.3101, 0.2759, -0.0171, 0.3487, -5.8325, 9.4427, 1.8242, -0.2613, -0.1441, -0.0171]",
      "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]: [-0.3836, 1.7802, 0.8387, 0.1825, 0.2516, 0.1467, 0.9997, 0.2802, 1.7416, 0.7631, 0.239, -0.382, -0.2558, 0.999]\nstate[eef_state]: left_x=0.3954 left_y=-0.2031 left_z=0.0417 left_yaw=-0.6905 left_pitch=-0.1602 left_roll=-0.0563 left_gripper=0.9997 right_x=0.3886 right_y=0.1841 right_z=0.0448 right_yaw=0.7344 right_pitch=-0.1203 right_roll=0.056 right_gripper=0.999\nstate[joint_eff]: [0.5128, -7.9932, 5.7231, 1.9609, 0.315, 0.188, -0.0171, -0.9641, -7.0632, 5.5453, 1.7118, -0.315, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c457ffd548e4b4660993afefaa5244a9086ced75655b4d28a23dd06d145c46ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73e22a6853c8334ede8e44dbcf794429675c20a52ea6e7af57858a912e58f72c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b36ee23d4f5a6c8998df4c5f70c841a4d075910ce5b57b12cf4ede5ae115fca4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyQsKEAgSGAI4AUIIdGhpbmtpbmcSDJUC1IyMXeHE6a26yBoMndia9rgP7+sK6NArIjAPiQ7JZSxAN8ZwRWkx6tx8zzgtG9K1rHFaxst35SWYawXSxpfGudem4SI3H9Ct7bEq5gpnd8k0z3kjWJb4Sol1SyU22Cxdp0rvL2quEK74zvqmttzM8WHhvQS2eV0fh8Etoa2tPS0Z2gmilYB2l5sPFLMRmqsZ6uXU+TP6mwYIIz07fWWmU6LLPRDENSjgIxoAiUVKCBUdmI88+kwakSJLOSPzp1TKBLWPOoGFGUaAmbYoWsE3z5hghItlF9nAdTGnsOfxVEb9cpaVPM7xT7fGNf+cRGiZKzm9qEmQm8yNcBZiO9VZ1fI5c4UNc0d9E82a1k23mJK68vE8Qs7f4UeERpMysgmgLjxAM92aJGto6y6MIn5gCt+fxH6Vp9X5TaAIAs1kcReEYYkwWML9GjJhoH2VZEtLUiP09nUVsoa/DXqIV4vtsql2pvyDD2txlyOG8XvEiVqg2N6/NFW4LNuKuA4wu/cB0NyNREzw7WkQk/loYl9d1YdZwZWuINmRwvKz2on1PbUak1F1Z/CE+EvuLhdViSHvzdXYB8XXjU+lfiY7FaSKh6fDlulN86AAqDQo0/Z9ttQbxJW8wpFiMHIXEJQV6X3lZjWiVJv3cRnKmxp3jGxHTJs0fu2X+8k07B+0MVkhA53fbrN6antX1GWL9KQJ7bpR0lOoF4kOfjo9BlAVcwMBe05FgzXtIfY9zACMrPPQQdIXnkk2r/YMijROdeAUTej1b9Ymf6wRfYf8aqN1CP5572InnjeiTYqr+gzlBNHDxETWwHN16R61zrowvjn9/RcI6JOUDUL5Px9JcxDoQD6yNEh/rfV7iFbDnN1KhVFXChPXDaWRWM5tIhNpSrvPRulfwn9WlNGuAnRlkwf5j6cA02VsxcjoQnCxrw/uwASiTdgUjEQl//w5pWGmJ+tNdZB9ouZwAHsShQ1n1AwuSZV8eyQryQ0+OlYUL+d/txOE4r7S7Qe47coYt4wNbiwnr/FIbXeLS89OMu1YuS/Y3ILkBNcH3kpKL0j5aqhPZLv4Y1Yefdn99Xarj9HnXM16caCvwgDR1J2hL43mbRvAFgr32SAzNJBN2HXOr9rSwQa6r/wZUIvtJ7Y4hPxl//3L6m6FTI4ZUlpEDiKd143tVkVZpX+btZjciI07dsTiJHl8hz/OKBfzdTIVX+c0J0GULDOXHVWm60kKMgQDJFDKvDGjLw7JhrczSDb96hAzD3/fxijeCgxaOWvptT8huyxVRqGtSH52Dl4c/WoJXBpU5tpKR2cn8eZjM5M8lbwgrocs0KdTqAAtQ0s2Ft5o+GyZYZUrZRtiOCM7Is0NctjQHFe04CM/okhS9nlpok/J0+H8InXVPlaxVtgqmoUHtN9Q3pDHSQggp9sbhUVKdSxaQD4GqpJbwy7HsQTtUXyYI6mZQ2ZaxFzUIdYQTgQt4SPY94ftodwW04ynmEjP/nneN+obhWvuC4GBpRlbcZEwP+RvIL5w4mGidGF654wTOeEZY9nNYw1XRjrd46+0I5nSrY9708GOEQ/4nUpEYYGBaq0loNpBAm6bFKaXjTNoTWmNHO9NPFbwvMCWugwDjR7KEL8TaKMIp3ncASsr2ffEOP3sqKfL/F8fxeZuazmeGzna/79Cntbw9Sec2tmb25V0FLxjpgwMv/lF1kL0E5JezDnGK/S29Eoiz671IJD+0KxJ3YUR38j8YQ48Z7umubjVvjn5IiF7/U9ZvN8pkLifn4UlKAdC5NMG4DKRT9IUnPVJFOOcWpONxJg83lrkkIMzE9NGnQBJk4/OeZPo2albZOQ2PwX+fYxcxrDeISaQKZUWwa/LdShpvlc78djNOyXAwVESM3k7pxjvOi7t8KFxuPDBDxghLhP4ivegd0YyDGIqkubGD8wAYe8yftArYX08AzZx+ZMudRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018mskheN1tV4MhJoUJCGwGv",
      "input": {
        "note": "Both objects are still ~30 px off the jaw column (cap left, pen right); shifting another ~3 cm across the jaw axis and lowering. The pen's metal tip points forward-left.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.183,
          "left_z": 0.03,
          "right_x": 0.415,
          "right_y": 0.16,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_018mskheN1tV4MhJoUJCGwGv",
      "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]: [-0.3161, 1.8534, 0.8608, 0.2008, 0.2821, 0.1715, 0.9997, 0.2039, 1.8301, 0.8055, 0.2653, -0.4282, -0.3, 0.999]\nstate[eef_state]: left_x=0.41 left_y=-0.182 left_z=0.0227 left_yaw=-0.6637 left_pitch=-0.1837 left_roll=-0.0689 left_gripper=0.9997 right_x=0.4091 right_y=0.1632 right_z=0.0302 right_yaw=0.7199 right_pitch=-0.1216 right_roll=0.0586 right_gripper=0.999\nstate[joint_eff]: [0.1436, -8.5538, 8.3761, 1.4139, 0.3785, 0.3053, -0.0122, -0.2256, -8.335, 7.0906, 1.4921, -0.3736, -0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dafa5529b94763d38f4180a2c0918f4de93058a9ab429f2da13069c8d63ee489",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b626f469af973aeab5ce4fa72df743b690fb5ac1e4a455c3ea551c36ebe8ac83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:88cb32ea7fbffae076649deb7f976b6e3e30beb9aed440d06d387a692429e15d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /messages · status 200 · 4.543 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4503, 1.523, 0.8738, -0.0315, 0.2276, 0.1268, 0.9998, 0.3428, 1.4818, 0.8448, -0.0208, -0.3405, -0.2222, 0.999]\nstate[eef_state]: left_x=0.3688 left_y=-0.2186 left_z=0.1231 left_yaw=-0.7236 left_pitch=-0.0902 left_roll=-0.0338 left_gripper=0.9998 right_x=0.3713 right_y=0.1989 right_z=0.133 right_yaw=0.7421 right_pitch=-0.0579 right_roll=0.0245 right_gripper=0.999\nstate[joint_eff]: [-0.335, -6.9265, 9.7026, 2.1612, 0.3101, 0.2759, -0.0171, 0.3487, -5.8325, 9.4427, 1.8242, -0.2613, -0.1441, -0.0171]",
      "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]: [-0.3836, 1.7802, 0.8387, 0.1825, 0.2516, 0.1467, 0.9997, 0.2802, 1.7416, 0.7631, 0.239, -0.382, -0.2558, 0.999]\nstate[eef_state]: left_x=0.3954 left_y=-0.2031 left_z=0.0417 left_yaw=-0.6905 left_pitch=-0.1602 left_roll=-0.0563 left_gripper=0.9997 right_x=0.3886 right_y=0.1841 right_z=0.0448 right_yaw=0.7344 right_pitch=-0.1203 right_roll=0.056 right_gripper=0.999\nstate[joint_eff]: [0.5128, -7.9932, 5.7231, 1.9609, 0.315, 0.188, -0.0171, -0.9641, -7.0632, 5.5453, 1.7118, -0.315, -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 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]: [-0.3161, 1.8534, 0.8608, 0.2008, 0.2821, 0.1715, 0.9997, 0.2039, 1.8301, 0.8055, 0.2653, -0.4282, -0.3, 0.999]\nstate[eef_state]: left_x=0.41 left_y=-0.182 left_z=0.0227 left_yaw=-0.6637 left_pitch=-0.1837 left_roll=-0.0689 left_gripper=0.9997 right_x=0.4091 right_y=0.1632 right_z=0.0302 right_yaw=0.7199 right_pitch=-0.1216 right_roll=0.0586 right_gripper=0.999\nstate[joint_eff]: [0.1436, -8.5538, 8.3761, 1.4139, 0.3785, 0.3053, -0.0122, -0.2256, -8.335, 7.0906, 1.4921, -0.3736, -0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dafa5529b94763d38f4180a2c0918f4de93058a9ab429f2da13069c8d63ee489",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b626f469af973aeab5ce4fa72df743b690fb5ac1e4a455c3ea551c36ebe8ac83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88cb32ea7fbffae076649deb7f976b6e3e30beb9aed440d06d387a692429e15d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrwsKEAgSGAI4AUIIdGhpbmtpbmcSDJHCOxDmqy+diDP/rxoMt3hpNz4/KawgaQtIIjCvn7z7d3zRSIVl7slOFA51KCLVLasQ8kYuCkc+dXemhAxIB31n7dmB9zuTJazfVqsqzAosZGNmRnH7TzU/kaqAmRsYBI+suDwHGSJU1wtdNTy4kRT6UL/l/wauTP41aHbHnj4kAV1mndFCaNEnvd3mvby9yA67SImeR0wTP53Rvx6yXQV0gU1nQ4Wid7peBgRdGN7Pp6d035ch1ZaKM6TIjvcCxx3OolvlgwmgPsZNJD33GTB9dfhku1pFjel0MgjY+nuYGXk5SlEIuhCTtSgTu2TmOOhuuBgh2LzLT5EmvhyLufrAHs0/XGRfZv4DXR1bthJ4j4wxBwf0pEREvaNRWAgdz15pubmt9nqHIjaDFHvAqmH6yygldJdhsgwpnhLBqx6q46NH2CIVFgHX4EOPOXSlKRiArkgxMJHdqYaa6WgUq/clZg+npsXLJSIQRMexoZBwgGUMNcjfRg3Wy5Z6wtVuSxgRkhmhe3MfIhT3G3rM7hByrjVjkitgZuUhwnhHbHG/lh/0ysTzNXTlKq5kmLCKFsMwVy+oCHqafgesx3P4p781gE8rM5wMxoaP4TryGbbS/qvoM2z1KIugDo01sz09eZx8ZX6tz/P2nrmBSgvZ2f6j9U00QF+dzu1pOE0/tUr/O94G9Asg8wwOKQFBTXA7pGnNE6pq1+J5NsEHBN62qSsmAjs7clmqyIKDLwH+9JI82Pql9GNIZ8Maf7IvZQcTAXcGdecVVtCHeRPw8mcyjlL7PEkDqt5hZ0dJzOWmNUhU9IV0Vxk0we6ywFhNtSo/Yz4dgaJek6cXGMpD7pjlOvOXq1whdy5Z1L8vgDYl8C8T99IWcy6Hfcp8St0qvTZ8WpN0XYXGHY/POieaX5B46jg7O6dYrTlPpQ0fDzn6373L1RdDtyknCQgdb8XmcU7JY512EDjOs4PaL+ywKhHhoUFlAsUJE+TotGRFI3FiXBIwYKY0vSGOWhxKPc15ZYw5te63vMP5VuvFwo0kyZXd9B2M1PgBHqwr7K2dVgGm5oXXo6RGNsqLTjr1KDM6JyqdsjW4wUmiQMal7iy6Zaqs8tXOy+owJUt8gnn0a56Y23NKW3V1n6U7E1z9LpyL7jp7m6urqx6LfdaixbVN0p0QcK0gS8cKzznn420CgueDOXMcO1tnxBSKT79OhiOaDSZuGiDeg/6tjSpK6NZQ0FyRIcYl7Rt+gWiCIw69KOt3/0SIz9MwCoqLS6DmBWvVybidDWvipySXaDThecb9+XcLuRUxJ7e2FYdBVPl0mEYCj+FVl2mnqQFOtDdjK4i/aVxNagshk4/zdfNQxXULsYQNzZuKIOqCm8z565U64lcFe84iBAlCeafGw8C9tpbplpo9wXD/Y/b2wxLiMwdq0dvCBew1hrgG2ECABGwdL8ZvqNl/pAzVGDta5GNPwhK3EutH/nR2V9AetK6mIs1AdQ/n9pxexieGhENVrmZeo+ACuHWykbMC6fgTnreW0rYO/8IILHcZNt2jIMMKgVyCPWttAk2lEKF3j9R9ge/2RIYS8mesakNinqA7sze22t5J7WyxLkxHp6Cr2dMxKFzRhTsaWIKbFmKuCyO12KE9ePFTyV3VyqMuIjQ+01ocOlyljaRQJMi4H+dKEXwPc4igqXF1eRQ90uQ3JWGiZaPINcK0rS5pz6pr53x1BRtUq5x891aRA1w+TFR6nS51uGDUtP34CYBFueGO5jqyWKCCyHTVHAfw4JCmUHsa93ebGyu0LqC76X3B1gk8vDbUOhGBRRY4ykeojc+TYMKLeMTXa3R/ihQKcGeMcJzO21lnUD6PmK5Nuz4JX0MOrNLPvt2AyJe+b2DJW1hAo9B0BkPsN7b0XT+RCY6Kb3yeYDsvqDsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FNsG2VqXFThepoZNxx99xy",
      "input": {
        "note": "Cap and pen are nearly on the jaw columns now; small final correction and descending to table level for the grasp.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.186,
          "left_z": -0.01,
          "right_x": 0.42,
          "right_y": 0.157,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01FNsG2VqXFThepoZNxx99xy",
      "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]: [-0.2977, 1.8694, 0.8707, 0.1829, 0.2935, 0.186, 0.9997, 0.1829, 1.9484, 0.8143, 0.3904, -0.4519, -0.3309, 0.9989]\nstate[eef_state]: left_x=0.4112 left_y=-0.1759 left_z=0.0168 left_yaw=-0.6644 left_pitch=-0.2029 left_roll=-0.0747 left_gripper=0.9997 right_x=0.4219 right_y=0.1601 right_z=0.0059 right_yaw=0.7332 right_pitch=-0.099 right_roll=0.0402 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -9.0735, 7.5692, 1.5214, 0.2662, 0.1734, -0.0073, -0.6632, -6.5846, 4.6974, 0.8327, -0.1538, 0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30f3e54f59e3256bc9db1feac517f31bdb36a0c5c3f4573473270e82db0b5dec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70c045c21332534938017350aa02111a557cf49640187ed96ed6a596ccbfb5d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f634f1c8df93c8ede6f75e62bc04f48f625dcb569ca74f929f2ea1d9ed60b012",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /messages · status 200 · 5.862 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3836, 1.7802, 0.8387, 0.1825, 0.2516, 0.1467, 0.9997, 0.2802, 1.7416, 0.7631, 0.239, -0.382, -0.2558, 0.999]\nstate[eef_state]: left_x=0.3954 left_y=-0.2031 left_z=0.0417 left_yaw=-0.6905 left_pitch=-0.1602 left_roll=-0.0563 left_gripper=0.9997 right_x=0.3886 right_y=0.1841 right_z=0.0448 right_yaw=0.7344 right_pitch=-0.1203 right_roll=0.056 right_gripper=0.999\nstate[joint_eff]: [0.5128, -7.9932, 5.7231, 1.9609, 0.315, 0.188, -0.0171, -0.9641, -7.0632, 5.5453, 1.7118, -0.315, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3161, 1.8534, 0.8608, 0.2008, 0.2821, 0.1715, 0.9997, 0.2039, 1.8301, 0.8055, 0.2653, -0.4282, -0.3, 0.999]\nstate[eef_state]: left_x=0.41 left_y=-0.182 left_z=0.0227 left_yaw=-0.6637 left_pitch=-0.1837 left_roll=-0.0689 left_gripper=0.9997 right_x=0.4091 right_y=0.1632 right_z=0.0302 right_yaw=0.7199 right_pitch=-0.1216 right_roll=0.0586 right_gripper=0.999\nstate[joint_eff]: [0.1436, -8.5538, 8.3761, 1.4139, 0.3785, 0.3053, -0.0122, -0.2256, -8.335, 7.0906, 1.4921, -0.3736, -0.1197, -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]: [-0.2977, 1.8694, 0.8707, 0.1829, 0.2935, 0.186, 0.9997, 0.1829, 1.9484, 0.8143, 0.3904, -0.4519, -0.3309, 0.9989]\nstate[eef_state]: left_x=0.4112 left_y=-0.1759 left_z=0.0168 left_yaw=-0.6644 left_pitch=-0.2029 left_roll=-0.0747 left_gripper=0.9997 right_x=0.4219 right_y=0.1601 right_z=0.0059 right_yaw=0.7332 right_pitch=-0.099 right_roll=0.0402 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -9.0735, 7.5692, 1.5214, 0.2662, 0.1734, -0.0073, -0.6632, -6.5846, 4.6974, 0.8327, -0.1538, 0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30f3e54f59e3256bc9db1feac517f31bdb36a0c5c3f4573473270e82db0b5dec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70c045c21332534938017350aa02111a557cf49640187ed96ed6a596ccbfb5d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f634f1c8df93c8ede6f75e62bc04f48f625dcb569ca74f929f2ea1d9ed60b012",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrQgKEAgSGAI4AUIIdGhpbmtpbmcSDFiR1zFBXaHJjw7yuRoMca3cmK5Q6CFTNdcwIjDd9sKsFp0obH7cey4WuMAWFwAH4lFJ2iYOfJj3+xULUDGlF1ROk/DZDT88URPomSQqygdJsw7VU0aG0WaxbXHx99KfVju77bWkm5q7BX5QrEiC++5KqSCQF7+a41LOYm/XZHXkodjPkErEuHAZwbofCwLrXmtMZZ6jfuGi3chCu2iU0RoO5g3BDSMCCbc14++j54+5mpJwVKbTK3If5GW9S5E80erxeWKmdsfM0pCsay7Qst9lZz0LjnDPwstyeYqMg7je4ukmVHBsZBy5kRhXFXfaHCKPhwJoXmRZ/NVIiHyrWSpXXCNo2o2uvJq/z1ECGoVghwvHqWU852ibQweO9bUAyoxaflH453HgFMHh0JfuSaNVZD4taNNuoNQhktOAb/tRWH0DUrKjFc0pGh6CwQkz/bmNLd3qkYSaokoX4TuZjIyTnYPFpzwhR70wBmIzqHgjlupSNGI2lMPZzRN/klOqBwAWDq+izF1gzKYFgpgEf6Lrd2qiz1+tFq+sY+2PfcTqxUA/3GJb/VjPM1vzmCu9FOnetAp13cVyiRd1WKOxB4eimy5lAuRnr8vEbM9RsNGGnvNM2M0BAuGU5nYpOFlbJ24N+nLg7CzdgtBRMgJZtfaUJvsDMVpeCiMYKazSoEpxtlHI3rDuvSs7H80xpzvbgMKIiAwvx9yJMtYCbTxjd+fKicU7AzGMFXcMH/NjgprHrlaagYCPcVM5xB6gpdRu+9fByro4mNHaogNF4N5hSASJEXQxoDlwWmmi0znQZl+sWvmzJ/dGeukjmmndlsO+h+XsZsQsPF/xpZBuC2q+qtsgi/PMy8Kjrrakh7Ft1crlJIz7QtCFK90pdNQpPxHPyBO/A+84JL7tWXY4Wdai3thl7CSgA645Xu0bRfmkod1EAUhSzs3e+uZjUEV7iXQ3xqw2r4TtQXA/u3EwI6jEGGVN9w3rG11zTQ0so79WYfdIXHEh4Z2OtSs1Flj0iq761F89SskNEc6NAsEJyHLkTGVAfnN3il4TYdDxfaNh/aoFxOMWAdh1EWEhHr+mclhO8wSycfGAuVD/QGHzcEuuwcBRDI0sNu2KBEOZgI08kcA1hWnLIFJLLvPUUR6WtZhyvV/+37j+EVLatDGa2sUBSLnyVx2CNtN7S2gFHYO9Dt7+2wxo6cPUzvq5OX0IsH4p+p7LMmKGaK1UjW6BAfC1OEJn6jtdzfoK33fhkhGK9gbVjgAIRehuOncVK/RMQQpmhU1aKj3h9/QdvNM2UA3W8uXaCxhw0vHmB/BNnZEiObnLuK2vjG6ZUlpdWlVpDD+FZVjh3VladsyV4s14SF7wnmMVG7V+lMhzZS/MAS4+qRnktv25mc7bTs1dGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B8NV7Pg5KG9usPouzgHMJG",
      "input": {
        "note": "Cap and pen are centred between the jaws at table level; closing both grippers.",
        "targets": {
          "left_gripper": 0.0,
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01B8NV7Pg5KG9usPouzgHMJG",
      "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]: [-0.2977, 1.8694, 0.8703, 0.1768, 0.2916, 0.1837, 0.009, 0.1829, 1.9644, 0.8154, 0.4191, -0.4538, -0.3359, 0.0518]\nstate[eef_state]: left_x=0.4102 left_y=-0.1753 left_z=0.0156 left_yaw=-0.6621 left_pitch=-0.2095 left_roll=-0.0774 left_gripper=0.009 right_x=0.4247 right_y=0.161 right_z=0.0044 right_yaw=0.7367 right_pitch=-0.0865 right_roll=0.03 right_gripper=0.0518\nstate[joint_eff]: [-0.253, -8.7043, 5.4359, 1.6044, 0.149, 0.0122, 0.7497, -0.2393, -10.3863, 4.7932, 1.2674, -0.1197, 0.0513, 1.1648]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86412f51f13b6e8423defcf0371cf3a5d275f359ffa049b15dbb4c8d59497663",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d82d5603d1840b2ec5ee48aacba111426e2387d2b95a2efeb8bb5bd749b54e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aafbc4cba5fa6977686d5f0b0beb83d562269bf113b5c86b5f552ae733f0cad8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 20.61 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3161, 1.8534, 0.8608, 0.2008, 0.2821, 0.1715, 0.9997, 0.2039, 1.8301, 0.8055, 0.2653, -0.4282, -0.3, 0.999]\nstate[eef_state]: left_x=0.41 left_y=-0.182 left_z=0.0227 left_yaw=-0.6637 left_pitch=-0.1837 left_roll=-0.0689 left_gripper=0.9997 right_x=0.4091 right_y=0.1632 right_z=0.0302 right_yaw=0.7199 right_pitch=-0.1216 right_roll=0.0586 right_gripper=0.999\nstate[joint_eff]: [0.1436, -8.5538, 8.3761, 1.4139, 0.3785, 0.3053, -0.0122, -0.2256, -8.335, 7.0906, 1.4921, -0.3736, -0.1197, -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]: [-0.2977, 1.8694, 0.8707, 0.1829, 0.2935, 0.186, 0.9997, 0.1829, 1.9484, 0.8143, 0.3904, -0.4519, -0.3309, 0.9989]\nstate[eef_state]: left_x=0.4112 left_y=-0.1759 left_z=0.0168 left_yaw=-0.6644 left_pitch=-0.2029 left_roll=-0.0747 left_gripper=0.9997 right_x=0.4219 right_y=0.1601 right_z=0.0059 right_yaw=0.7332 right_pitch=-0.099 right_roll=0.0402 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -9.0735, 7.5692, 1.5214, 0.2662, 0.1734, -0.0073, -0.6632, -6.5846, 4.6974, 0.8327, -0.1538, 0.0757, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2977, 1.8694, 0.8703, 0.1768, 0.2916, 0.1837, 0.009, 0.1829, 1.9644, 0.8154, 0.4191, -0.4538, -0.3359, 0.0518]\nstate[eef_state]: left_x=0.4102 left_y=-0.1753 left_z=0.0156 left_yaw=-0.6621 left_pitch=-0.2095 left_roll=-0.0774 left_gripper=0.009 right_x=0.4247 right_y=0.161 right_z=0.0044 right_yaw=0.7367 right_pitch=-0.0865 right_roll=0.03 right_gripper=0.0518\nstate[joint_eff]: [-0.253, -8.7043, 5.4359, 1.6044, 0.149, 0.0122, 0.7497, -0.2393, -10.3863, 4.7932, 1.2674, -0.1197, 0.0513, 1.1648]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86412f51f13b6e8423defcf0371cf3a5d275f359ffa049b15dbb4c8d59497663",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d82d5603d1840b2ec5ee48aacba111426e2387d2b95a2efeb8bb5bd749b54e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aafbc4cba5fa6977686d5f0b0beb83d562269bf113b5c86b5f552ae733f0cad8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQStwgKEAgSGAI4AUIIdGhpbmtpbmcSDKnsgGSmFW36+ZuFsBoMOkWI9a/7vea5NyKqIjC2Bk0VWppSHXUAWO1G+INbffTOhnKrmR6hzWdDTR5VDo3MK9QUpsWdsNm5B2ekeC8q1AcTkbtA3AfrVCD2TVXHaQGjQA/xXWL9dT1wr1bilCc9mCGOQgBMmg4ukTl9k4II7v5KpAbWbYp6fuaAql/EAS728vk5hmwe4IX3lTTv38DnuYOz506OCZcfUSAtjdwTjuDNg4OURMCpisJl52B2pJwNUkH1045q5446qxpnGFsNbTq5bEqGboviNQw7IFxj60s3hYJvUc/Ww7vnFgb9xi+1X2vt3IeONbPkOIjNVnGVZaCS9E/PkAnoQf5jBT7JSGyjaVkqCG9K+RjaKraySx4y1CMcemQNnJg5VKi4YziU9wI2sdZFqKgMLIRWYeqvVpCJym0Ga8q6ndIKYi/RsHpBEao8VvT4+3fgMZjeJCjUpVdEq5sGxDlAn29ADqL5mn1qRNwxMtRCJBJgsUtANjDHLhoF/NtMmFyNXMpKlN/BYZP0/V+gW9zVY2h5Uoutt3FI1YxUmGAW0/GjxhYfsAYXk1dMh7Gr44FjTkGx/bgOwOEdiU/HBeJtkvYE5u0RPv8MUjtym51btOvVS1iVKQcCmi4zw2F39HQZVNrba5iGc8CXNsufEVCQ1xo7LKPTet+RI6mYC5bFfGEwCQI3QKfhGaBd7bGwm6HV0Cl/As5nja9rP7kETdK+GOILzAxsGJ3AG9XSFKwqlrzMXolYECQrVVap7/hif+M/Ao7wU0hk/ihFbVz4siXBHKg6GEH8Q1zNe/uSHYTPJL/Cq32Qw9/+kusqeBsOtYXM8g4HBhm+YqgEgP8zFKha0JRuq79KSAKn6YP4Bz/HbJ+wuXHATaEkpI9AT70XVhYfxQKwA/xNPeVSpgJMJjebcCjjXKXk2uJJqNznIGo+PMbl7MCH3TAtrsoEy5r/j94Bxg6ZOj/it9oScjDGkZ6Hf4oWa7bjJkM449YK0bc71K/Hr9qVIOQvhl1hLVc70zNByj7E+gOJlSGI2SxrU5IciBnD5NnsQxLAMjg/IMn7iKxOq0UMFXx4lXZwWiyTTsGoEqCaI1znTMYHIOOOimRWRoqNWMNzDI7ryuBpUs56M29xZOotXUkUI4ucQqoyoiu7YW3r8L/CKfRv7iwi7o1MbvCYC1jkmwQnJiOlK7Mt2nTt46A0SkWoCMFkEvO5DL2zUdftD0pdXCY4dVCDGMiCk12hzZV8naycxtm9F0tmQvBOvlTJmq3oxFQWPMOd4OYOsQgVSqwSIlscHgbhkXJI1W2iSEO43MrFpAp5zdS/E2ZhxsSPtn3FHH3bzkaWa/UQkJ1KMkgCcU+kL0zwYms8bVNb4e/kRlboTuty8KHVaRjqhddmETVxF8Fq1xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MoJMAv4QQPmB6Gzd7K8Dyy",
      "input": {
        "note": "Right gripper settled at 0.05 (likely holding the pen); left reads 0.01 which may be empty or a grip on the thin cap. Lifting both to check.",
        "targets": {
          "left_z": 0.08,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01MoJMAv4QQPmB6Gzd7K8Dyy",
      "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]: [-0.2977, 1.7523, 0.9432, -0.0437, 0.2882, 0.1814, 0.0114, 0.1837, 1.7901, 0.8894, 0.1658, -0.453, -0.3389, 0.0577]\nstate[eef_state]: left_x=0.4048 left_y=-0.173 left_z=0.0556 left_yaw=-0.6604 left_pitch=-0.239 left_roll=-0.0877 left_gripper=0.0114 right_x=0.4242 right_y=0.1611 right_z=0.0616 right_yaw=0.7387 right_pitch=-0.091 right_roll=0.0298 right_gripper=0.0577\nstate[joint_eff]: [-0.2667, -9.9487, 8.9915, 1.409, 0.1343, -0.0415, 0.2369, -0.4444, -10.4821, 7.5556, 1.5263, -0.2466, 0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc0142fe534bc5b06a5cbb050688ed2232a6903878137aba8a1174b42094dbd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:badf371f9ca2a77987914cb2841ee9176a4718d305a1fd846da3c603370a14ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f62852417a821b67a3233e55e87ef5d983be12ce39ca40967a8142ab3c1ecbbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 12.83 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2977, 1.8694, 0.8707, 0.1829, 0.2935, 0.186, 0.9997, 0.1829, 1.9484, 0.8143, 0.3904, -0.4519, -0.3309, 0.9989]\nstate[eef_state]: left_x=0.4112 left_y=-0.1759 left_z=0.0168 left_yaw=-0.6644 left_pitch=-0.2029 left_roll=-0.0747 left_gripper=0.9997 right_x=0.4219 right_y=0.1601 right_z=0.0059 right_yaw=0.7332 right_pitch=-0.099 right_roll=0.0402 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -9.0735, 7.5692, 1.5214, 0.2662, 0.1734, -0.0073, -0.6632, -6.5846, 4.6974, 0.8327, -0.1538, 0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2977, 1.8694, 0.8703, 0.1768, 0.2916, 0.1837, 0.009, 0.1829, 1.9644, 0.8154, 0.4191, -0.4538, -0.3359, 0.0518]\nstate[eef_state]: left_x=0.4102 left_y=-0.1753 left_z=0.0156 left_yaw=-0.6621 left_pitch=-0.2095 left_roll=-0.0774 left_gripper=0.009 right_x=0.4247 right_y=0.161 right_z=0.0044 right_yaw=0.7367 right_pitch=-0.0865 right_roll=0.03 right_gripper=0.0518\nstate[joint_eff]: [-0.253, -8.7043, 5.4359, 1.6044, 0.149, 0.0122, 0.7497, -0.2393, -10.3863, 4.7932, 1.2674, -0.1197, 0.0513, 1.1648]",
      "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]: [-0.2977, 1.7523, 0.9432, -0.0437, 0.2882, 0.1814, 0.0114, 0.1837, 1.7901, 0.8894, 0.1658, -0.453, -0.3389, 0.0577]\nstate[eef_state]: left_x=0.4048 left_y=-0.173 left_z=0.0556 left_yaw=-0.6604 left_pitch=-0.239 left_roll=-0.0877 left_gripper=0.0114 right_x=0.4242 right_y=0.1611 right_z=0.0616 right_yaw=0.7387 right_pitch=-0.091 right_roll=0.0298 right_gripper=0.0577\nstate[joint_eff]: [-0.2667, -9.9487, 8.9915, 1.409, 0.1343, -0.0415, 0.2369, -0.4444, -10.4821, 7.5556, 1.5263, -0.2466, 0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc0142fe534bc5b06a5cbb050688ed2232a6903878137aba8a1174b42094dbd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:badf371f9ca2a77987914cb2841ee9176a4718d305a1fd846da3c603370a14ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f62852417a821b67a3233e55e87ef5d983be12ce39ca40967a8142ab3c1ecbbb",
        "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_01REJB45twgpb4gNxpasXhLp",
      "input": {
        "note": "Both objects appear held (pen in right jaws with tip forward, cap in left jaws). Raising and starting to rotate so the pen tip will point toward the left arm and the cap toward the right arm.",
        "targets": {
          "left_x": 0.35,
          "left_yaw": 0.4,
          "left_z": 0.15,
          "right_x": 0.35,
          "right_yaw": -0.4,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01REJB45twgpb4gNxpasXhLp",
      "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]: [-0.7334, 1.623, 1.2064, -0.5972, -0.5297, -0.8585, 0.0138, 0.7368, 1.5681, 1.0534, -0.3702, 0.6231, 0.6788, 0.0625]\nstate[eef_state]: left_x=0.3591 left_y=-0.1986 left_z=0.1426 left_yaw=0.1882 left_pitch=-0.2564 left_roll=-0.1175 left_gripper=0.0138 right_x=0.3612 right_y=0.1933 right_z=0.1425 right_yaw=-0.1488 right_pitch=-0.1238 right_roll=0.046 right_gripper=0.0625\nstate[joint_eff]: [-0.1299, -7.0632, 7.7607, 0.8425, -0.4713, -0.0952, 0.2418, 0.253, -6.5026, 7.1316, 1.0623, 0.4957, 0.2027, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afe16b1acf6805c0fc4a5a49ba236f69d267fc4e0e1726a3d98f2d65d18adaf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13db706765fa95afca5d0766436b4158e3ce06c3ab9612e800cbbbd5c9c549ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8e3a7172c435167c716a0a9be965964a23094350594be45b8f4c7c1b5302899b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 5.182 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2977, 1.8694, 0.8703, 0.1768, 0.2916, 0.1837, 0.009, 0.1829, 1.9644, 0.8154, 0.4191, -0.4538, -0.3359, 0.0518]\nstate[eef_state]: left_x=0.4102 left_y=-0.1753 left_z=0.0156 left_yaw=-0.6621 left_pitch=-0.2095 left_roll=-0.0774 left_gripper=0.009 right_x=0.4247 right_y=0.161 right_z=0.0044 right_yaw=0.7367 right_pitch=-0.0865 right_roll=0.03 right_gripper=0.0518\nstate[joint_eff]: [-0.253, -8.7043, 5.4359, 1.6044, 0.149, 0.0122, 0.7497, -0.2393, -10.3863, 4.7932, 1.2674, -0.1197, 0.0513, 1.1648]",
      "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]: [-0.2977, 1.7523, 0.9432, -0.0437, 0.2882, 0.1814, 0.0114, 0.1837, 1.7901, 0.8894, 0.1658, -0.453, -0.3389, 0.0577]\nstate[eef_state]: left_x=0.4048 left_y=-0.173 left_z=0.0556 left_yaw=-0.6604 left_pitch=-0.239 left_roll=-0.0877 left_gripper=0.0114 right_x=0.4242 right_y=0.1611 right_z=0.0616 right_yaw=0.7387 right_pitch=-0.091 right_roll=0.0298 right_gripper=0.0577\nstate[joint_eff]: [-0.2667, -9.9487, 8.9915, 1.409, 0.1343, -0.0415, 0.2369, -0.4444, -10.4821, 7.5556, 1.5263, -0.2466, 0.0122, 1.0281]",
      "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]: [-0.7334, 1.623, 1.2064, -0.5972, -0.5297, -0.8585, 0.0138, 0.7368, 1.5681, 1.0534, -0.3702, 0.6231, 0.6788, 0.0625]\nstate[eef_state]: left_x=0.3591 left_y=-0.1986 left_z=0.1426 left_yaw=0.1882 left_pitch=-0.2564 left_roll=-0.1175 left_gripper=0.0138 right_x=0.3612 right_y=0.1933 right_z=0.1425 right_yaw=-0.1488 right_pitch=-0.1238 right_roll=0.046 right_gripper=0.0625\nstate[joint_eff]: [-0.1299, -7.0632, 7.7607, 0.8425, -0.4713, -0.0952, 0.2418, 0.253, -6.5026, 7.1316, 1.0623, 0.4957, 0.2027, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afe16b1acf6805c0fc4a5a49ba236f69d267fc4e0e1726a3d98f2d65d18adaf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13db706765fa95afca5d0766436b4158e3ce06c3ab9612e800cbbbd5c9c549ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e3a7172c435167c716a0a9be965964a23094350594be45b8f4c7c1b5302899b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014mQAXzT423gSo5dWrgfgMF",
      "input": {
        "note": "The pen is held in the right gripper, but the cap slipped out of the left jaws and is back on the table just ahead of the left gripper. Repositioning the left arm above the cap to regrasp it.",
        "targets": {
          "left_x": 0.415,
          "left_y": -0.19,
          "left_yaw": -0.5,
          "left_z": 0.1,
          "right_yaw": -0.15,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014mQAXzT423gSo5dWrgfgMF",
      "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]: [-0.5953, 1.6142, 1.0756, -0.4343, -0.3141, -0.7292, 0.0151, 0.7193, 1.57, 1.0389, -0.4061, 0.6144, 0.7418, 0.0625]\nstate[eef_state]: left_x=0.3692 left_y=-0.1798 left_z=0.1049 left_yaw=0.0872 left_pitch=-0.3482 left_roll=-0.1923 left_gripper=0.0151 right_x=0.3569 right_y=0.182 right_z=0.131 right_yaw=-0.1998 right_pitch=-0.1637 right_roll=0.0575 right_gripper=0.0625\nstate[joint_eff]: [-0.0615, -8.5402, 7.5692, 1.5897, -0.2418, 0.3785, 0.1245, -0.3077, -9.4154, 6.9538, 1.6239, 0.3101, -0.1832, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e971bac12432c513b5f3c2f642005bc7d68fd03972e188526f33774c094fa344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41b813c5f1f6b0b7aa6ca5ce1c0017a89dd7ea039a992eca4651570718b794ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:667a9333242aeafb5c62f885935c13eba3e835326ef5bf13ef89678a472bfd32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 10.27 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2977, 1.7523, 0.9432, -0.0437, 0.2882, 0.1814, 0.0114, 0.1837, 1.7901, 0.8894, 0.1658, -0.453, -0.3389, 0.0577]\nstate[eef_state]: left_x=0.4048 left_y=-0.173 left_z=0.0556 left_yaw=-0.6604 left_pitch=-0.239 left_roll=-0.0877 left_gripper=0.0114 right_x=0.4242 right_y=0.1611 right_z=0.0616 right_yaw=0.7387 right_pitch=-0.091 right_roll=0.0298 right_gripper=0.0577\nstate[joint_eff]: [-0.2667, -9.9487, 8.9915, 1.409, 0.1343, -0.0415, 0.2369, -0.4444, -10.4821, 7.5556, 1.5263, -0.2466, 0.0122, 1.0281]",
      "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]: [-0.7334, 1.623, 1.2064, -0.5972, -0.5297, -0.8585, 0.0138, 0.7368, 1.5681, 1.0534, -0.3702, 0.6231, 0.6788, 0.0625]\nstate[eef_state]: left_x=0.3591 left_y=-0.1986 left_z=0.1426 left_yaw=0.1882 left_pitch=-0.2564 left_roll=-0.1175 left_gripper=0.0138 right_x=0.3612 right_y=0.1933 right_z=0.1425 right_yaw=-0.1488 right_pitch=-0.1238 right_roll=0.046 right_gripper=0.0625\nstate[joint_eff]: [-0.1299, -7.0632, 7.7607, 0.8425, -0.4713, -0.0952, 0.2418, 0.253, -6.5026, 7.1316, 1.0623, 0.4957, 0.2027, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5953, 1.6142, 1.0756, -0.4343, -0.3141, -0.7292, 0.0151, 0.7193, 1.57, 1.0389, -0.4061, 0.6144, 0.7418, 0.0625]\nstate[eef_state]: left_x=0.3692 left_y=-0.1798 left_z=0.1049 left_yaw=0.0872 left_pitch=-0.3482 left_roll=-0.1923 left_gripper=0.0151 right_x=0.3569 right_y=0.182 right_z=0.131 right_yaw=-0.1998 right_pitch=-0.1637 right_roll=0.0575 right_gripper=0.0625\nstate[joint_eff]: [-0.0615, -8.5402, 7.5692, 1.5897, -0.2418, 0.3785, 0.1245, -0.3077, -9.4154, 6.9538, 1.6239, 0.3101, -0.1832, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e971bac12432c513b5f3c2f642005bc7d68fd03972e188526f33774c094fa344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41b813c5f1f6b0b7aa6ca5ce1c0017a89dd7ea039a992eca4651570718b794ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:667a9333242aeafb5c62f885935c13eba3e835326ef5bf13ef89678a472bfd32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkAkKEAgSGAI4AUIIdGhpbmtpbmcSDIpShF+K4eqD9+ABPxoM2rpIaVreInm/O9noIjCp8wUXNZMCDvEeRvhzQ/Jg88g7PbJbhKU395X/nLZW04ANrqTEj8sAYzBgNo9GUXoqrQizsWwgvYMrWXIJZSu4DRVmlwBg9V9QmC4VQ/VQRIGryIabWbRyswhiE+3MMQJP6egjaY3uttNNixArulCm/72saLeXSP1Xh4js9+AddJVre16vFtmSqeScdjF/Lk3zUGs3giyYAKghO4cM6H3fx96aKgJ40IwaXmDsTu0qpFI3YHmRzRYY3HnFnKQP9Es1PDpOOZ1YtokhJKreLHvnCscj4gT3WXf97Z6r+xLLqOOF4A6FFsqcADtPO7giQYrq7hHP+Uk8j+HdO/QcE53PaKE+Hry6FLy2IiZXyvuSsWDKSut34zEXjuvRXFEywkkPZngtVpQ74NPGd/1yMcDiBPkoD5hbfQECZ6KEaycM/c9JoEhBH0WvN2efEGhG55Ztv0ZeyDkE1bw3VC6a/lLYy10Ydqwpg0N0Xn//MLGw2gBcXvN/B2ldZhJBaLfTw8K54EHrv8SXWURYqY7u6iW7rMaaHueVblf9+C0Nzi3GEdfGNEZsRjtoTiueLs9FRtfIRuhxHshwIAQ/cAoRrQcEORTns+V7NOSbdY+elN9zZQoOnxeLzzG40fhC9Vy+20a0MwjVIIRqnwSN67cpU4SNpQuXM6TgexNZRplKfQAt+i+0Y4DNezY0u3VdkZaBaoaXKQlIgDmXYUuIqQlLBnYAzG2F1rKnqPBQgCzq8ifoBw3zq9ZLxyLT8CylLsCTjINSG1IsRRhGtqIheg8mHiD5IUajWb+wtZEBmf+OVTEHnBbXrYgjutr7NHObdQUhQb+AWwCWwursy73eE/FZsCbU9W4lhVfef3cu2msMiaRYz58vtLuWyAdFjhXpNUkGhc7QgS47dkF/OJLds+rrJ/32iTGaescsyPsTnMjBGW/UDuKeVmuBjXG7WKPB+4SVqTcogGj9xNldHwemSYeegT/jCR+MPU/CEbZVcdLi3cDsWcOFomieyHihFPyiVL5wR5OomiS+Gkwjos75+A9RlLeghEyPS5p3qRWOjQlrIxEy8azKfHAuQA6722CtN0k9i33G2/16wq219o9EAoJY6ePyYoZzeDZXh5xCSfyxiHdQVDqOPXqYi8xJRg2L5ztJZdclkGOOMl+eD7iogyg4sSsg5/KtoCjGL2kHoQGflrA6UXGK7j31MS93mIs8H25Dt6e1+HShnqcL8s6KvIHpHKje3mlqF2f6vq0ECzUBlGxtfwMeuE1FcD6ES+dhjzsvAspgwb01yfk9oPw17XiQe7i8lsytj+laI3Gu4ejjkW+KAhc8oOX+SV1eLUCPfXNF0mS1FHzlV/DxrSLb+vo+rw3CabS/iR2+mgMJWpi/9d8V1sBsIW9T1kTRAV2a28X9ACZGSPc04tofPLF7BeG/FldHbbv3cAlcqv3r4botZ2xvjVwdgIpyBahgEi5CfXt+EE2aoEg94kE2e6kjJXYizX40GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014JFxL9NHEQ19u284pEciuc",
      "input": {
        "note": "Left arm fell short of the last target (speed clamp). Continuing toward the cap, opening the gripper, and lowering a bit.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.415,
          "left_y": -0.19,
          "left_yaw": -0.5,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014JFxL9NHEQ19u284pEciuc",
      "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]: [-0.3813, 1.7771, 1.1233, -0.3237, -0.0757, -0.482, 0.9947, 0.7193, 1.573, 1.0386, -0.4114, 0.6003, 0.7284, 0.0625]\nstate[eef_state]: left_x=0.4172 left_y=-0.149 left_z=0.065 left_yaw=-0.0441 left_pitch=-0.423 left_roll=-0.221 left_gripper=0.9947 right_x=0.3555 right_y=0.1834 right_z=0.1279 right_yaw=-0.1844 right_pitch=-0.1776 right_roll=0.0475 right_gripper=0.0625\nstate[joint_eff]: [-3.5077, -10.9607, 9.265, 1.3162, 0.6911, 0.4713, 0.1294, -0.1026, -7.3231, 6.5026, 1.326, 0.3443, 0.105, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0e4a776966d8726388f86a827e4cc0ca45a07979092c19b8c8d92fba9135a93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:facac42e2c090f9882cdb2b620a817eab23b6f772282ad76ae3cd53e1dca10ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0a54971fd30146bc36d094faee67ba5a5741fbc677abf5ad16a0685410f835ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 6.964 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.623, 1.2064, -0.5972, -0.5297, -0.8585, 0.0138, 0.7368, 1.5681, 1.0534, -0.3702, 0.6231, 0.6788, 0.0625]\nstate[eef_state]: left_x=0.3591 left_y=-0.1986 left_z=0.1426 left_yaw=0.1882 left_pitch=-0.2564 left_roll=-0.1175 left_gripper=0.0138 right_x=0.3612 right_y=0.1933 right_z=0.1425 right_yaw=-0.1488 right_pitch=-0.1238 right_roll=0.046 right_gripper=0.0625\nstate[joint_eff]: [-0.1299, -7.0632, 7.7607, 0.8425, -0.4713, -0.0952, 0.2418, 0.253, -6.5026, 7.1316, 1.0623, 0.4957, 0.2027, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5953, 1.6142, 1.0756, -0.4343, -0.3141, -0.7292, 0.0151, 0.7193, 1.57, 1.0389, -0.4061, 0.6144, 0.7418, 0.0625]\nstate[eef_state]: left_x=0.3692 left_y=-0.1798 left_z=0.1049 left_yaw=0.0872 left_pitch=-0.3482 left_roll=-0.1923 left_gripper=0.0151 right_x=0.3569 right_y=0.182 right_z=0.131 right_yaw=-0.1998 right_pitch=-0.1637 right_roll=0.0575 right_gripper=0.0625\nstate[joint_eff]: [-0.0615, -8.5402, 7.5692, 1.5897, -0.2418, 0.3785, 0.1245, -0.3077, -9.4154, 6.9538, 1.6239, 0.3101, -0.1832, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3813, 1.7771, 1.1233, -0.3237, -0.0757, -0.482, 0.9947, 0.7193, 1.573, 1.0386, -0.4114, 0.6003, 0.7284, 0.0625]\nstate[eef_state]: left_x=0.4172 left_y=-0.149 left_z=0.065 left_yaw=-0.0441 left_pitch=-0.423 left_roll=-0.221 left_gripper=0.9947 right_x=0.3555 right_y=0.1834 right_z=0.1279 right_yaw=-0.1844 right_pitch=-0.1776 right_roll=0.0475 right_gripper=0.0625\nstate[joint_eff]: [-3.5077, -10.9607, 9.265, 1.3162, 0.6911, 0.4713, 0.1294, -0.1026, -7.3231, 6.5026, 1.326, 0.3443, 0.105, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0e4a776966d8726388f86a827e4cc0ca45a07979092c19b8c8d92fba9135a93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:facac42e2c090f9882cdb2b620a817eab23b6f772282ad76ae3cd53e1dca10ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a54971fd30146bc36d094faee67ba5a5741fbc677abf5ad16a0685410f835ce",
        "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_01JFk3mamvTvtEakoRXaL9Mp",
      "input": {
        "note": "Cap visible ahead and slightly right in the left wrist view; the left wrist has drifted into pitch/roll tilt, so commanding level orientation, yaw aligned with the cap, and moving over it.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.43,
          "left_y": -0.175,
          "left_yaw": -0.6,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01JFk3mamvTvtEakoRXaL9Mp",
      "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]: [-0.3069, 1.8194, 0.783, 0.3656, 0.1894, 0.0887, 0.9963, 0.7193, 1.5738, 1.0386, -0.411, 0.593, 0.7277, 0.0626]\nstate[eef_state]: left_x=0.4222 left_y=-0.1649 left_z=0.0363 left_yaw=-0.5275 left_pitch=-0.087 left_roll=-0.0384 left_gripper=0.9963 right_x=0.3551 right_y=0.1846 right_z=0.1271 right_yaw=-0.1791 right_pitch=-0.1825 right_roll=0.0503 right_gripper=0.0626\nstate[joint_eff]: [0.5265, -7.6923, 5.6821, 2.1123, 0.2173, 0.1636, 0.1441, -0.0889, -7.2274, 6.5436, 1.2283, 0.2808, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1ddf603f682f29473992df725448f06a232077fd11b1ff8e03e0d9baad8582c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4877ea17a40e8d8eab7e95c7cfe87a9efaba9d771882b2ec5d03fefff248b8d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:88cd5214dda9929a2e3980272466d7ee1c2e78189d1428c7ac6550fdabdce1c0",
        "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 · 5.03 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5953, 1.6142, 1.0756, -0.4343, -0.3141, -0.7292, 0.0151, 0.7193, 1.57, 1.0389, -0.4061, 0.6144, 0.7418, 0.0625]\nstate[eef_state]: left_x=0.3692 left_y=-0.1798 left_z=0.1049 left_yaw=0.0872 left_pitch=-0.3482 left_roll=-0.1923 left_gripper=0.0151 right_x=0.3569 right_y=0.182 right_z=0.131 right_yaw=-0.1998 right_pitch=-0.1637 right_roll=0.0575 right_gripper=0.0625\nstate[joint_eff]: [-0.0615, -8.5402, 7.5692, 1.5897, -0.2418, 0.3785, 0.1245, -0.3077, -9.4154, 6.9538, 1.6239, 0.3101, -0.1832, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3813, 1.7771, 1.1233, -0.3237, -0.0757, -0.482, 0.9947, 0.7193, 1.573, 1.0386, -0.4114, 0.6003, 0.7284, 0.0625]\nstate[eef_state]: left_x=0.4172 left_y=-0.149 left_z=0.065 left_yaw=-0.0441 left_pitch=-0.423 left_roll=-0.221 left_gripper=0.9947 right_x=0.3555 right_y=0.1834 right_z=0.1279 right_yaw=-0.1844 right_pitch=-0.1776 right_roll=0.0475 right_gripper=0.0625\nstate[joint_eff]: [-3.5077, -10.9607, 9.265, 1.3162, 0.6911, 0.4713, 0.1294, -0.1026, -7.3231, 6.5026, 1.326, 0.3443, 0.105, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3069, 1.8194, 0.783, 0.3656, 0.1894, 0.0887, 0.9963, 0.7193, 1.5738, 1.0386, -0.411, 0.593, 0.7277, 0.0626]\nstate[eef_state]: left_x=0.4222 left_y=-0.1649 left_z=0.0363 left_yaw=-0.5275 left_pitch=-0.087 left_roll=-0.0384 left_gripper=0.9963 right_x=0.3551 right_y=0.1846 right_z=0.1271 right_yaw=-0.1791 right_pitch=-0.1825 right_roll=0.0503 right_gripper=0.0626\nstate[joint_eff]: [0.5265, -7.6923, 5.6821, 2.1123, 0.2173, 0.1636, 0.1441, -0.0889, -7.2274, 6.5436, 1.2283, 0.2808, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1ddf603f682f29473992df725448f06a232077fd11b1ff8e03e0d9baad8582c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4877ea17a40e8d8eab7e95c7cfe87a9efaba9d771882b2ec5d03fefff248b8d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88cd5214dda9929a2e3980272466d7ee1c2e78189d1428c7ac6550fdabdce1c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsQsKEAgSGAI4AUIIdGhpbmtpbmcSDCsYMh68IHnSzN1dfBoMLHV2JvwhFOyeDUguIjBhvt4qwiIvdR1fLOppZPz/4KPAeaqbk5kziOWbda6pJF74KBceVXC1bjd4arkSQqQqzgpbUKijfrb3rPWHqIBJvLQiKrE2jQtHkT70icM270HCVFOhkf40H3tblswoP/PLdB8gHOx63TaSLJuZhaR7MJPLU+aMk7okqElnWngq66NiEkusCeKYLlb7Q3azjnD7YEKUQHx622vvd4ydf0mybnTbu6zUzS+GqSJZPYY2DtdT302+cSgVdMcziEpxZ6npuhiLAugOPNLfW/j5IoHQNPVJKrUO4i/qndujLEtGRu+R8ynymVdQaXcCas4AQ+uazaPOTT1ceixTX8OSl5PxD6R9JTbDcoDgNjHY+LLEMxDRYRFPKOw4bqudAceYKVSlZCSV8vJVLLzyDZ1YFpZLeRQGgWy2xucikYJhXhcayUfpKQ/6sA8Km05JA1pBKRRd4T0/PAkrih7SR/WFz+BqWywYs01ntObWrf/YEw8cI5yNXHit9YCPIJ8l7WWLpGKr0iAX1Z6pk9K9419hs3s+pJVBmJr3j3U7kMTp821k2Hx0EYzv+Ns57YZKXu81W/hQNes6x0akk+EGT0btX3deGVlLhJdO8qijXPqOP0HVS/3MAJogGKi8Vxy4wMzT+HAy72ik2BVHG3sqrS51X901Glmb2Yqy1HAkLUMQC8f/1OWiPne/gv0aAlfaaTZ7Jy8HqF9C0HojHrHWRCVy4cTWltSafUgMzRl0SVkJKLJs2wk52+Km6zASDWPsKq3HP6UQAEQnFGOoQ64+1JMmuobj3x+3p8Kvvh+W7lqMADqopKqbQR4AU8Wz9xo54z6nszGQiaBs3fk80aRREulKxcFDaD4VTKjkOVvr0LCzx+g5kxv82tzXutQLmIVPTYkWhtXZdaIlU2P0YxWh3iqnZxLf+obS4lJ8R7FLfJf6F640kxqr6dXya3hc1nWSUAEcc+b/l6xXBNuUXehu4lOk5DF0FaGRRKqTUY4tcPWVXI4dHxgweFekoLhJLzmKJbezCE0BuHqHGKH8xSMol+IwsPfjf6QYbzBmR8y1857TmJmdUYm48+Dk3q4nyfnVD2o6M7gH34SiADgY5ZPIshL8rhoZBAbzLiJ/auVyDUGR5QrWSDRfDVt9DW15YIFO8JmXmvjTYaJBE9aVeQOmax1uS89nJShXhrKgh+fGGLYgrIfhwkQSr2DIO7ItqTaIgs3JEfPUo3eBIUAL3KtjUD2nx108GBFCp7ccMeM3879hoR2VsDpbfH1ptoQohlslQb+uzEVUlomhxmohtjIAD0j2EHsf0uj71Oc3W2K46diAwO0QhnRhsdXIC8sCWJ28Wd7qrQYLaZlDQNFOivqtn5crTDN/jS99NpaNpFWMUU7+m7QIrYyaf7dQ26G+D6VkhmBcvn35d9DoMhT5vHHdeh4IadJRlgrL5/Bzgudcp/++NKDJPZxTQglKUYPR2BKnKBE3XlTkfBsP5P4QAyz+NzHcylZfGwuiQKANyC3p0dcXMSqPjf+IxUnFFKKwRecPqj0kG2ZaCkUOzBgF69xwW3Q7iXP3u0iMDShovXhmWSwMSBPGdFmrnz24YZ0oPgmjNfiIGFGl75Ibc7HkF88MLGlk9wUq/DcBFeGdoJoEa7ASMR47LGLN7gRQ1ww98HByI6gyzNjDCszx8syMWelUG4GbXKAyMhiZj6hvnkkeZ5Yep4ToR+c0x5GvxqXif1KRRZ1j6w5N48KpCJfp2jjV7IpyNVaL/+rR1nZDdIXck4CwNI2a5QuiLaTFXbWJMlJTEBj3HdkiSnyzY6hfeSacCdPsVQqcYUUd5OQFtkstTpyj4jQe+1hNjD1SIxmGbOJk9b/GHI6Y1mox2WSwJYIyoOAh3I9/hhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JJvKY4WGpJHENgJcUWZ6PR",
      "input": {
        "note": "Cap is now aligned perpendicular to the jaws, just right of centre. Small sideways correction and descending firmly to table level for a lower grasp this time.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.43,
          "left_y": -0.182,
          "left_yaw": -0.53,
          "left_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01JJvKY4WGpJHENgJcUWZ6PR",
      "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]: [-0.3489, 2.038, 0.7456, 0.7391, 0.149, 0.1043, 0.9964, 0.7193, 1.5742, 1.0374, -0.4107, 0.5884, 0.7273, 0.0659]\nstate[eef_state]: left_x=0.4361 left_y=-0.1827 left_z=0.0002 left_yaw=-0.5433 left_pitch=0.0232 left_roll=0.0214 left_gripper=0.9964 right_x=0.3547 right_y=0.1851 right_z=0.1262 right_yaw=-0.176 right_pitch=-0.1861 right_roll=0.0515 right_gripper=0.0659\nstate[joint_eff]: [-0.4855, -6.6256, 3.2615, 0.5495, 0.2369, -0.2369, 0.0073, -0.1026, -7.1863, 6.8581, 1.199, 0.2418, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77c7213b607ec73a1d8cac377f1f326a850121617d5abff5e02ba58268ab6274",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f08e8fa3fa7d16ac23644d6df679bc9f11212ada0e8dcbb33120a17144c06820",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f685652075762da273b70ac2db6c696a6be0fb30b61877f712eb5e913cb23b99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 3.934 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3813, 1.7771, 1.1233, -0.3237, -0.0757, -0.482, 0.9947, 0.7193, 1.573, 1.0386, -0.4114, 0.6003, 0.7284, 0.0625]\nstate[eef_state]: left_x=0.4172 left_y=-0.149 left_z=0.065 left_yaw=-0.0441 left_pitch=-0.423 left_roll=-0.221 left_gripper=0.9947 right_x=0.3555 right_y=0.1834 right_z=0.1279 right_yaw=-0.1844 right_pitch=-0.1776 right_roll=0.0475 right_gripper=0.0625\nstate[joint_eff]: [-3.5077, -10.9607, 9.265, 1.3162, 0.6911, 0.4713, 0.1294, -0.1026, -7.3231, 6.5026, 1.326, 0.3443, 0.105, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3069, 1.8194, 0.783, 0.3656, 0.1894, 0.0887, 0.9963, 0.7193, 1.5738, 1.0386, -0.411, 0.593, 0.7277, 0.0626]\nstate[eef_state]: left_x=0.4222 left_y=-0.1649 left_z=0.0363 left_yaw=-0.5275 left_pitch=-0.087 left_roll=-0.0384 left_gripper=0.9963 right_x=0.3551 right_y=0.1846 right_z=0.1271 right_yaw=-0.1791 right_pitch=-0.1825 right_roll=0.0503 right_gripper=0.0626\nstate[joint_eff]: [0.5265, -7.6923, 5.6821, 2.1123, 0.2173, 0.1636, 0.1441, -0.0889, -7.2274, 6.5436, 1.2283, 0.2808, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3489, 2.038, 0.7456, 0.7391, 0.149, 0.1043, 0.9964, 0.7193, 1.5742, 1.0374, -0.4107, 0.5884, 0.7273, 0.0659]\nstate[eef_state]: left_x=0.4361 left_y=-0.1827 left_z=0.0002 left_yaw=-0.5433 left_pitch=0.0232 left_roll=0.0214 left_gripper=0.9964 right_x=0.3547 right_y=0.1851 right_z=0.1262 right_yaw=-0.176 right_pitch=-0.1861 right_roll=0.0515 right_gripper=0.0659\nstate[joint_eff]: [-0.4855, -6.6256, 3.2615, 0.5495, 0.2369, -0.2369, 0.0073, -0.1026, -7.1863, 6.8581, 1.199, 0.2418, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77c7213b607ec73a1d8cac377f1f326a850121617d5abff5e02ba58268ab6274",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f08e8fa3fa7d16ac23644d6df679bc9f11212ada0e8dcbb33120a17144c06820",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f685652075762da273b70ac2db6c696a6be0fb30b61877f712eb5e913cb23b99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiwkKEAgSGAI4AUIIdGhpbmtpbmcSDDairY9y9jrFzcRulBoMjY3Zq2WnWTw2FnUSIjA6cBxSXO7cQyf65QTp6NJ+z/iJ6obDT2pGJ296XnKYbagRALdrefa1D5vrYrw4GPEqqAghnip8WxxPDnvAWhcmA7FVV5idcy1Ykm2UCUV1T4FvhP0F4mmFf9jLiPw8Ngpc9/wwWzw109qAz/323N+8sHrAy+K1p3ZHiL9HFnhoL2VeUIF7WezaVuswg5tWZgOdmkO5gRIpptSBiVeKrX1+vXlqvUWWtu5fpqPlh7uw1N1iHCYuriZKPccG6IG2TY+21SwBGwvmIBJD4TTJfx/SaoLNp+j9u0adgU08m6ZogbqxJVeutX0muZ8zYcOuNweeAneWEpMPncwpITodlwEdratHuHYUpC5S2Z+SjkF5kD1ybHK2h0gLmMDSQ3lZ+B/jSXwV7+HJo5YwQABWvsvcPIm1dFdsmoUBiDdu5bxvdu2u7E4xXqZf1oxcGoM3h3TcQkH2/2HpZAgaxUNvRTKTEvnWahErUvTSRBCR7JKHK0tvDr07864qq3O7EKr3cnm4UzwkdeDgbFLJYcYNYAL8vTr3Bug4sx0z7otMHmq9UqLXJjCRW6REiKkud5K0tt3NI3Yh4R6FUPw33I1tP0sphjBKfqOjDK4R/yECCp10Sruyui/62JPl+o2eoktZBtXmUcJ1D8vepD6Vcjx8BznPDB3ovUTKkdoM4qlMCF4hfamv5yK1vgDWUKGBYP1rz7vbujNDahGuAh/WdjkLIfxvLnxNS/gUQ8w82hqaDRTqCKqCQaU+u1xhq+MbDyLo8vmwLVZFo/fn2n0LLW6AZmAaFOXRbfs6vMKkDI1tRa7BJh2RXXtXYAcasN6dLOau5L0JEvKoRcwq17A4kmYcH9WZQvIzrbSjDMYeurqXDGgM4IZGqD5l2o1N45BjnqGFsFyRL3Z+2VvySLikZnQRSpaXvvt/QGvcCzQhXgat0SO3z9JHGfNiAcMLbM6nMOWW4yMpxglVWb1N8ED1FObPVbvTBeCm7XnKsBIqUq0bBteqYWy6kCe10bvlRvGgsFRvi8sC56j+wuyo0oqRaXk1MkyjSsHva7lFerSroZpUxJjd7XW5o4T3jD9uKHPDJ8LUMBAHVyAzdW80MbpS9p4uc6rFODztF9adyhFvdfFClpKyl67T5MXCsZwHJ+7nMpB6C0b3rUlQsgJd/m+7uQ9Z1MqVD3Jx27G8I+bPUI/RKrxX+ZWO0vBDsErspFKNAi+DcSxJL6BP9BUOao70Xp4VV98SsJ+HHb9ZE2s64a7aOolMNtzW/8pYtBN8/U15gddRF8Fs0vtRNWRvgQmOOdFq6Kq01vJGlx84ha3gYfOKKykwDoMeXjRKmoAAlarydrVwXIDN4zl/ZXAR0HQxZoxU3Ti0uU0A4YjSXKbstLmOsZ0jnOzwp0XDq9AAS2S1VkdbXW+XxP64sCDUrvxbUCK2MyN41p88+LZaSy1CF9oxRlS7nF0RPhe1K9cALJHuZ5UIgbf91cEJ7aiCuRk0GxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ya42gwknNzryFqF8Xm6a1P",
      "input": {
        "note": "Cap sits between the open jaws at table level, perpendicular to them; closing the left gripper.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ya42gwknNzryFqF8Xm6a1P",
      "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]: [-0.3523, 2.046, 0.741, 0.8005, 0.1402, 0.0952, 0.0402, 0.7193, 1.5742, 1.0363, -0.4114, 0.5812, 0.7273, 0.0659]\nstate[eef_state]: left_x=0.4411 left_y=-0.1846 left_z=0.0079 left_yaw=-0.5348 left_pitch=0.0705 left_roll=0.027 left_gripper=0.0402 right_x=0.354 right_y=0.1859 right_z=0.1251 right_yaw=-0.1713 right_pitch=-0.1918 right_roll=0.0537 right_gripper=0.0659\nstate[joint_eff]: [0.0479, -9.0735, 5.2171, 1.116, 0.1832, 0.1783, 0.3736, -0.0615, -7.159, 6.7077, 1.2332, 0.2613, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ff31fa27c9b4fc3334cdc0f50552ea3f2d75ddaad8ce1aa850135f6e96b7383",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1f7942ca74e026ff778b7ee265adea874feea3d1191db72ab4533f0ec58729b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50b772f7825795a3e510c2a23792bf2c9bf71af3fcc4ea44f4a952e3e12b2f14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 15.88 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3069, 1.8194, 0.783, 0.3656, 0.1894, 0.0887, 0.9963, 0.7193, 1.5738, 1.0386, -0.411, 0.593, 0.7277, 0.0626]\nstate[eef_state]: left_x=0.4222 left_y=-0.1649 left_z=0.0363 left_yaw=-0.5275 left_pitch=-0.087 left_roll=-0.0384 left_gripper=0.9963 right_x=0.3551 right_y=0.1846 right_z=0.1271 right_yaw=-0.1791 right_pitch=-0.1825 right_roll=0.0503 right_gripper=0.0626\nstate[joint_eff]: [0.5265, -7.6923, 5.6821, 2.1123, 0.2173, 0.1636, 0.1441, -0.0889, -7.2274, 6.5436, 1.2283, 0.2808, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3489, 2.038, 0.7456, 0.7391, 0.149, 0.1043, 0.9964, 0.7193, 1.5742, 1.0374, -0.4107, 0.5884, 0.7273, 0.0659]\nstate[eef_state]: left_x=0.4361 left_y=-0.1827 left_z=0.0002 left_yaw=-0.5433 left_pitch=0.0232 left_roll=0.0214 left_gripper=0.9964 right_x=0.3547 right_y=0.1851 right_z=0.1262 right_yaw=-0.176 right_pitch=-0.1861 right_roll=0.0515 right_gripper=0.0659\nstate[joint_eff]: [-0.4855, -6.6256, 3.2615, 0.5495, 0.2369, -0.2369, 0.0073, -0.1026, -7.1863, 6.8581, 1.199, 0.2418, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3523, 2.046, 0.741, 0.8005, 0.1402, 0.0952, 0.0402, 0.7193, 1.5742, 1.0363, -0.4114, 0.5812, 0.7273, 0.0659]\nstate[eef_state]: left_x=0.4411 left_y=-0.1846 left_z=0.0079 left_yaw=-0.5348 left_pitch=0.0705 left_roll=0.027 left_gripper=0.0402 right_x=0.354 right_y=0.1859 right_z=0.1251 right_yaw=-0.1713 right_pitch=-0.1918 right_roll=0.0537 right_gripper=0.0659\nstate[joint_eff]: [0.0479, -9.0735, 5.2171, 1.116, 0.1832, 0.1783, 0.3736, -0.0615, -7.159, 6.7077, 1.2332, 0.2613, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ff31fa27c9b4fc3334cdc0f50552ea3f2d75ddaad8ce1aa850135f6e96b7383",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1f7942ca74e026ff778b7ee265adea874feea3d1191db72ab4533f0ec58729b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50b772f7825795a3e510c2a23792bf2c9bf71af3fcc4ea44f4a952e3e12b2f14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlAcKEAgSGAI4AUIIdGhpbmtpbmcSDDBG1VWuB/LhaomMDRoM5eWOuPTj87Xi1ZfUIjDOHETFOXB6Noi5LB227KGJEnrj0tmksav+JbyimnmePqo1KmS/uFjAVghSuUjX2igqsQYZ5ZGFk8mcImYcOwqjYVp+UxAqlhJX6YHmBSZlLLcLDddGGxornPP5rii/sDw/x9vw70qnGYXMlTWQXrsrav2bgt0VBGX+FhgmDQD5+uSkj8xiV4L2iB0ihKdH+JTsSWu8gzZpCPZKcBcbDXpIRWk7VG9yvEbn7BvoDZUEI8nGkg/iSaQa5g7QuQPCs4++GH3JvGQMTjSaisT+3Ivg+fkEzDjg+TTd4o5TxXmZFPVfOVwWMDoH0c/AcFSDVnu5u9eyPwGGKsPBflnWNk0FJQLglfk/+nK8h1aYrMetJRYLSTzOgqcScc3SRPqrMbRb1e6oPYXNpOa+ddxI87dd2QOOGkK9JciJynxNBUKL//CT5fYb8ogv8QOHmt9RgwpqlrtBPYDxD/Z0OHpmdYnpSzHeI3adXnk4+JF4/6Ue8o8HTrIhdITio3nYf+nF4tVhPq/01728AD3lZn1SpVMEgsWzFxNRjlOD2md7HD0YS6LmHwUX2uboLi8ICex8AzTHLhWgjtLzfq8jrnO+GVcAnkZXxd90MuIWevjtbKDLt4o/x01SXn70aPIqvSXTdRgmFJM9Oq94PVS/4zdO9EyRhqgv+m0VK+8ARxKue4vK3DNCkkloWCOBTahZ4pat90RTjXHWsFSM2j/PEaR7mqyIA74IwmOyNwjPPg1suhs39PmvOtUIS7mwS+TRGPrgFWcLOHIvhJXHy4iVSuaFg/RQKFifp7yRAkiK7clnTY/Co4rcsJXpDmRaZZ6WmSpLIuFDsU/i3BPsyHCm+jYfH59LM3cbLShOvJsJec0W8dXcK0yZXsFJOY+yupBI18vP+7468g+29D/gIayUdNNIC+XXBM6i1quoMJtxQaxIUBRdwefZQ240B8Irdtv8dRBHeTc3OxmKrqlf4uYmjOWoCxM+16DGiSYpBQkzKO8VVqoFO+nDACXyzJdrdw4pkLe9bbxKt+o1yqUiGFa72xP7/ze92b0vzHjSmC+r1gbk3CLPszp6Z+LEU1IIIUa/mY6mDZEtjO98LhBw+O2GWMD86hWT/ipHYsyyXwwSUENPAZL/tFqevDsvDGx3OgCzJmPMryzNdThYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011DWULom8JrQhJoj3xDAceT",
      "input": {
        "note": "Left gripper settled at 0.04, possibly holding the thin cap. Lifting to verify.",
        "targets": {
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_011DWULom8JrQhJoj3xDAceT",
      "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]: [-0.3523, 1.832, 0.767, 0.5484, 0.1345, 0.0875, 0.0398, 0.7193, 1.5742, 1.0336, -0.411, 0.5732, 0.7273, 0.0659]\nstate[eef_state]: left_x=0.4367 left_y=-0.182 left_z=0.0609 left_yaw=-0.5257 left_pitch=0.0581 left_roll=0.0209 left_gripper=0.0398 right_x=0.3531 right_y=0.1867 right_z=0.1236 right_yaw=-0.1662 right_pitch=-0.1983 right_roll=0.0561 right_gripper=0.0659\nstate[joint_eff]: [-0.1846, -10.0171, 8.3487, 1.7705, 0.0464, -0.0024, -0.0611, -0.0479, -7.1453, 6.735, 1.2576, 0.2857, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82426190aea9c505b9e2af4c0810b4e949b14d386bded83063401d7bba810509",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cf8800a60cd8a6150cdf5857316842be26b9c17dd91ec7f2e0fa464c337924e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:307eb11e0a118b1253539c48176e0f08afe96d047d13f0482fd02bf22a329e01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 6.244 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3489, 2.038, 0.7456, 0.7391, 0.149, 0.1043, 0.9964, 0.7193, 1.5742, 1.0374, -0.4107, 0.5884, 0.7273, 0.0659]\nstate[eef_state]: left_x=0.4361 left_y=-0.1827 left_z=0.0002 left_yaw=-0.5433 left_pitch=0.0232 left_roll=0.0214 left_gripper=0.9964 right_x=0.3547 right_y=0.1851 right_z=0.1262 right_yaw=-0.176 right_pitch=-0.1861 right_roll=0.0515 right_gripper=0.0659\nstate[joint_eff]: [-0.4855, -6.6256, 3.2615, 0.5495, 0.2369, -0.2369, 0.0073, -0.1026, -7.1863, 6.8581, 1.199, 0.2418, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3523, 2.046, 0.741, 0.8005, 0.1402, 0.0952, 0.0402, 0.7193, 1.5742, 1.0363, -0.4114, 0.5812, 0.7273, 0.0659]\nstate[eef_state]: left_x=0.4411 left_y=-0.1846 left_z=0.0079 left_yaw=-0.5348 left_pitch=0.0705 left_roll=0.027 left_gripper=0.0402 right_x=0.354 right_y=0.1859 right_z=0.1251 right_yaw=-0.1713 right_pitch=-0.1918 right_roll=0.0537 right_gripper=0.0659\nstate[joint_eff]: [0.0479, -9.0735, 5.2171, 1.116, 0.1832, 0.1783, 0.3736, -0.0615, -7.159, 6.7077, 1.2332, 0.2613, -0.0708, 1.0281]",
      "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]: [-0.3523, 1.832, 0.767, 0.5484, 0.1345, 0.0875, 0.0398, 0.7193, 1.5742, 1.0336, -0.411, 0.5732, 0.7273, 0.0659]\nstate[eef_state]: left_x=0.4367 left_y=-0.182 left_z=0.0609 left_yaw=-0.5257 left_pitch=0.0581 left_roll=0.0209 left_gripper=0.0398 right_x=0.3531 right_y=0.1867 right_z=0.1236 right_yaw=-0.1662 right_pitch=-0.1983 right_roll=0.0561 right_gripper=0.0659\nstate[joint_eff]: [-0.1846, -10.0171, 8.3487, 1.7705, 0.0464, -0.0024, -0.0611, -0.0479, -7.1453, 6.735, 1.2576, 0.2857, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82426190aea9c505b9e2af4c0810b4e949b14d386bded83063401d7bba810509",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cf8800a60cd8a6150cdf5857316842be26b9c17dd91ec7f2e0fa464c337924e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:307eb11e0a118b1253539c48176e0f08afe96d047d13f0482fd02bf22a329e01",
        "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_01CZ3QUx6PHrbZmvgmz7Kzsw",
      "input": {
        "note": "The cap squirted forward out of the jaws and now lies further out near the table centre line. Moving the left arm over its new spot with the jaws re-aligned, gripper open.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.49,
          "left_y": -0.25,
          "left_yaw": 0.2,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CZ3QUx6PHrbZmvgmz7Kzsw",
      "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]: [-0.6827, 2.1399, 1.4136, -0.0055, -0.6334, -0.5182, 0.9952, 0.7193, 1.5742, 1.029, -0.4122, 0.5652, 0.725, 0.0659]\nstate[eef_state]: left_x=0.4899 left_y=-0.2589 left_z=0.0747 left_yaw=0.0994 left_pitch=0.0012 left_roll=-0.0148 left_gripper=0.9952 right_x=0.3517 right_y=0.187 right_z=0.1211 right_yaw=-0.1604 right_pitch=-0.207 right_roll=0.0541 right_gripper=0.0659\nstate[joint_eff]: [-0.3487, -12.2872, 7.8291, 1.2674, -0.3834, 0.1197, -0.0366, -0.0615, -7.1453, 6.8034, 1.199, 0.2564, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8715d04ddead3913db14a50dc01df6b05e1bdbc3bc68861773caeeacb59c2c69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac134edcae3bafe9fe7299020345a2478fe04c346edc19e5910f99f601599a81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:449f28a155f1d5565d1d1ed6df2d2475e5ac18669bf5d2dfb8afece3b02165ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 6.236 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3523, 2.046, 0.741, 0.8005, 0.1402, 0.0952, 0.0402, 0.7193, 1.5742, 1.0363, -0.4114, 0.5812, 0.7273, 0.0659]\nstate[eef_state]: left_x=0.4411 left_y=-0.1846 left_z=0.0079 left_yaw=-0.5348 left_pitch=0.0705 left_roll=0.027 left_gripper=0.0402 right_x=0.354 right_y=0.1859 right_z=0.1251 right_yaw=-0.1713 right_pitch=-0.1918 right_roll=0.0537 right_gripper=0.0659\nstate[joint_eff]: [0.0479, -9.0735, 5.2171, 1.116, 0.1832, 0.1783, 0.3736, -0.0615, -7.159, 6.7077, 1.2332, 0.2613, -0.0708, 1.0281]",
      "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]: [-0.3523, 1.832, 0.767, 0.5484, 0.1345, 0.0875, 0.0398, 0.7193, 1.5742, 1.0336, -0.411, 0.5732, 0.7273, 0.0659]\nstate[eef_state]: left_x=0.4367 left_y=-0.182 left_z=0.0609 left_yaw=-0.5257 left_pitch=0.0581 left_roll=0.0209 left_gripper=0.0398 right_x=0.3531 right_y=0.1867 right_z=0.1236 right_yaw=-0.1662 right_pitch=-0.1983 right_roll=0.0561 right_gripper=0.0659\nstate[joint_eff]: [-0.1846, -10.0171, 8.3487, 1.7705, 0.0464, -0.0024, -0.0611, -0.0479, -7.1453, 6.735, 1.2576, 0.2857, -0.0708, 1.0281]",
      "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]: [-0.6827, 2.1399, 1.4136, -0.0055, -0.6334, -0.5182, 0.9952, 0.7193, 1.5742, 1.029, -0.4122, 0.5652, 0.725, 0.0659]\nstate[eef_state]: left_x=0.4899 left_y=-0.2589 left_z=0.0747 left_yaw=0.0994 left_pitch=0.0012 left_roll=-0.0148 left_gripper=0.9952 right_x=0.3517 right_y=0.187 right_z=0.1211 right_yaw=-0.1604 right_pitch=-0.207 right_roll=0.0541 right_gripper=0.0659\nstate[joint_eff]: [-0.3487, -12.2872, 7.8291, 1.2674, -0.3834, 0.1197, -0.0366, -0.0615, -7.1453, 6.8034, 1.199, 0.2564, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8715d04ddead3913db14a50dc01df6b05e1bdbc3bc68861773caeeacb59c2c69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac134edcae3bafe9fe7299020345a2478fe04c346edc19e5910f99f601599a81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:449f28a155f1d5565d1d1ed6df2d2475e5ac18669bf5d2dfb8afece3b02165ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0wkKEAgSGAI4AUIIdGhpbmtpbmcSDP5fK4L5fETfygoR0RoMfkEnYIKXcdnmIi0dIjCz+puyzscQbUgN1VGnosg/40A4ozdAIpFNL+2UVLfktYHnrw/nz9DO7mrKxvk6CY4q8AjyQ1qU+EJ+oSy+Cmc77jlh2LPnBVn7+nQCQCBGAUiUXhdqCHIsKB5BUCvqsYyCC4rvo2tWLgDjxP8ZHg4xHVdypHmchEdR1yEhrgjAygFgrFUt2GZNO5v6qeCLnzZJcMPSVWv17klc/n7Tm6HUCPaJlmg4fCC2t5QRx8epMby9uttjbkQgd5CJ9Q4Z+W4No4kVsbqnVsneidQXqgODUgzSRyLnBD+IhTbwh3DH7WyonjymHt51Yb/9coRvGG0VAkKyaMh3r1RTBrT+7FFqoLINfz/7TNRP6MsL5PuxxjbVpNRMiVHGS22h2F0cs6f7FtP6dLUwVuBqcuCCYfEjA6BzgvCdyqUs4HLusHkXwBuj8cE4GooOc7/YKOPmU9Ab8UZr4GEeKIUU+cCX/3jif9S13DuKVLbSIVs/cGsL9CYfNXdOEUfqOm3h6sdNX11cbOnVCCe/NdCxyAhTeYV5ewZ72w4n0MAyT5yclg+s7Abzi+WvPbIaV96qklteYU8K7yS8hLO7BNpvDp0FDlrP74i3sJkqUj2ksn11CMm0Rcf7poLUUhJyP0CjKcIm+mnPsuM6tAx8EizlOMrRpFSGuTI2utk90x22Pb7eMmvuzMt9M9Nohra2n9/cIC+vTs4oOoF3H/eRjPLVHYu86nI09JXNEULYRhbC6ojMkip/B/jcgr6QW8xCWndMGZsnYAqfVcEhJVMjvaRPSnmK6e8qixSR1PXhuW/5rNh99sryIXPu+HmAKviZWYuJZ25Ev+0fLTGfBptt+01t5lpvxTaV+QRKG6e3+xeo2aScjS/xnYP+ec+r/E1YTvYJUIb0uqVmoGkrjoPLZW3Oj7igVyfO/+JsVoXFKemjMRYm7PENPcQZrYK52OGxTu7abyYyqCqLdVpBpUdkd+7NB8Mb1ny/oyoKF3hnsZwl6jRjxNn3kD8rjBfeACvb7SecxZSEela//c+HL1KS6NT4g4wbQMtBolTlwh6lm+M92gqHefwPIOuB6b71uFSQpeoWgfbufnMPsvdwoSH+Am5tpbkf/QenxcPg8GS8ADxNYpQwm5QvdwCTCJ1urSQEB44GPCZVb4WhbhOeQ4qZiBeFreQrwF+5KfmUY8FYTa+Tg/oeZJzprwDZRQdq06ns1eG1u427ofE7NyJSVFbf21gC6lNgx6J9h76491CXX4YTgc3aVQURjsyAY0OZcgPdMbeymYZPKEFISBLMEPAn/F4L/g/Z5SL8SWfCec41VeWR8V0UmwzfcdlOysQ3y5sd+ub/JOmIV7iMC75OLkR10Qx5yWDQxKFjGPyeR15sEaXfTfb0XKbNCcB9mNPjrrHbJ4kNPxrJiUqeqPHH0M/S285NWgqPMW1qj0uoRTyBHasrgF7kths6IxjjNKv9rSwq6VXzyzRo0pSJ0YRr/gR7GvoHPYHPaaf27l1TCGvNgN9mj24tko0HpEbhN4mWSIqE4CuWHkSjhvkN1vxP1tQeeh6FnsrdhhFSalj4hktcUIEdlsQ54W51QTQrxBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015mGaYvF8mk6eSo7eoX43B1",
      "input": {
        "note": "Cap is visible ahead of the left jaws, aligned perpendicular to them and slightly right. Advancing ~3 cm and 1 cm right while descending close to the table.",
        "targets": {
          "left_x": 0.52,
          "left_y": -0.27,
          "left_yaw": 0.1,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_015mGaYvF8mk6eSo7eoX43B1",
      "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]: [-0.664, 2.3344, 1.4799, 0.065, -0.6506, -0.5484, 0.9964, 0.7193, 1.5742, 1.0275, -0.4114, 0.5625, 0.725, 0.0659]\nstate[eef_state]: left_x=0.5069 left_y=-0.2562 left_z=0.0079 left_yaw=0.1475 left_pitch=-0.0305 left_roll=0.0096 left_gripper=0.9964 right_x=0.3513 right_y=0.1872 right_z=0.1205 right_yaw=-0.1587 right_pitch=-0.2091 right_roll=0.0549 right_gripper=0.0659\nstate[joint_eff]: [0.253, -13.7094, 8.8821, 0.2076, 0.4274, 0.7057, 0.1099, -0.0752, -6.9402, 6.5299, 1.1795, 0.2515, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ba8ae7638535dc0edca21d6072bb62e72edcc4526ef9a1411000ae36ab9c847",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2f1ee4c3f37dad157461a23d1b680eedf9a940e19318c2b7135b47cb3d6b4a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:807cb975d41365669227b0700cb32b12ce2e04c22436343b61ee7e2dabed677c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 7.457 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3523, 1.832, 0.767, 0.5484, 0.1345, 0.0875, 0.0398, 0.7193, 1.5742, 1.0336, -0.411, 0.5732, 0.7273, 0.0659]\nstate[eef_state]: left_x=0.4367 left_y=-0.182 left_z=0.0609 left_yaw=-0.5257 left_pitch=0.0581 left_roll=0.0209 left_gripper=0.0398 right_x=0.3531 right_y=0.1867 right_z=0.1236 right_yaw=-0.1662 right_pitch=-0.1983 right_roll=0.0561 right_gripper=0.0659\nstate[joint_eff]: [-0.1846, -10.0171, 8.3487, 1.7705, 0.0464, -0.0024, -0.0611, -0.0479, -7.1453, 6.735, 1.2576, 0.2857, -0.0708, 1.0281]",
      "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]: [-0.6827, 2.1399, 1.4136, -0.0055, -0.6334, -0.5182, 0.9952, 0.7193, 1.5742, 1.029, -0.4122, 0.5652, 0.725, 0.0659]\nstate[eef_state]: left_x=0.4899 left_y=-0.2589 left_z=0.0747 left_yaw=0.0994 left_pitch=0.0012 left_roll=-0.0148 left_gripper=0.9952 right_x=0.3517 right_y=0.187 right_z=0.1211 right_yaw=-0.1604 right_pitch=-0.207 right_roll=0.0541 right_gripper=0.0659\nstate[joint_eff]: [-0.3487, -12.2872, 7.8291, 1.2674, -0.3834, 0.1197, -0.0366, -0.0615, -7.1453, 6.8034, 1.199, 0.2564, -0.0317, 1.0281]",
      "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]: [-0.664, 2.3344, 1.4799, 0.065, -0.6506, -0.5484, 0.9964, 0.7193, 1.5742, 1.0275, -0.4114, 0.5625, 0.725, 0.0659]\nstate[eef_state]: left_x=0.5069 left_y=-0.2562 left_z=0.0079 left_yaw=0.1475 left_pitch=-0.0305 left_roll=0.0096 left_gripper=0.9964 right_x=0.3513 right_y=0.1872 right_z=0.1205 right_yaw=-0.1587 right_pitch=-0.2091 right_roll=0.0549 right_gripper=0.0659\nstate[joint_eff]: [0.253, -13.7094, 8.8821, 0.2076, 0.4274, 0.7057, 0.1099, -0.0752, -6.9402, 6.5299, 1.1795, 0.2515, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ba8ae7638535dc0edca21d6072bb62e72edcc4526ef9a1411000ae36ab9c847",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2f1ee4c3f37dad157461a23d1b680eedf9a940e19318c2b7135b47cb3d6b4a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:807cb975d41365669227b0700cb32b12ce2e04c22436343b61ee7e2dabed677c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSngkKEAgSGAI4AUIIdGhpbmtpbmcSDAwNLe2ypZpQXJLDMxoMhcT74RT1NFwWBFrdIjCgpmir3gN8Css5tz6J2q61sUXu7rZeizgwg5V5PkpW6mNXPz5Reyc76O4l0mIcobcquwi766Kl+zxM7ivYN1yDS5rw8w7lIXpLM3XcATJ2pDk8usJBMi5aKBPcoRJvD6vR9m8x2JI6Ad+JuIqhEm0jJtHglRzuce5JoMb/4FccWP1ZcAgzy4r4kIb0xzAWEWpRKVSH11NOC6Ys1NmlfNrnZFNSP/wGcrOxuK5ZHJm/O7BAL0DgShmLXGSXx6Zd2kcfc4GAPwqX4mGInvDASTzrXIY3OGH3EwnlKdOQOmpgloj6P0f2VjpUwuTHRlWjjFA13BMHHbUIaqK6AmK4wby4xjUwOTF1vBz3QpehRIPO8GfLVMs2nkJCsAPJr/kY8tqoUpQNJ2lqECKruZ96O0Wzb5bFgXshGl7W1xV7nuL0FEfLnQ8w49mJGv8F3GOo8Zr5H1KbAvjMjVV72hwJ0H4COoelnflsdwSKSf7AGcSkaDjO8mhIEMZ49Rwlpz9B+Ww7XYi2O+HsKHRoWixVb1OVVfFx7NDRKkdT9Ta0r3pko1AnTSjmIVcoKPFKLC1aFB3uLzOyVFwBvACqbEQP2QYoibcf0yfw4CPrd7ZK0zivQiOIlbW+1L/0mynncSo4l46xmSL4YHjvufGxYP2oPGWX/Mkdd7grFeg4vHk6Om8vsEBoBsUjS1uyRVVJoOrpGOuk2jDfT2G+0bEOqkN0a1Cb038qBw7XwP97W6HITqktUSuZtSznzO9DL5ZG5qH79ZO1bALhcQ/EPOCoObN4OP3x9j/Hr7iUqnsbI30np9Va3VGV79PJzNi/19JiuUsoHba76Z66FdCApVXi7UNztNtmD6T+UmVWHDlnsKBlglqxVZIcPU8QSFuojOm+1zrdlA2cOF+kqmQ6b7w65rvkJ8D1+UjMs2DJSX3tgVSyWnHWILEBs7wn0fqtexE7sBEeFGioKa1R1jUPv12DHxEw/sjFJDsg+XgwwyJLE1n4fsjs/aC+T9npYklGqeWDpW2Mr+dbiDkl/6wHXxU4mfwzKNBBajG1k0Eg7dXfYy99MooMG8miWocy3s20D6ybL3qVLXZh2HnYGWjoveh3K87yPdYhDmKVGGxKC8mkkoNZUHD7668kJokqrb3pXcpuWrOjDakVKHr/Zl60N9jRvfSqd4Lpg5cPmo7Tq22HypBNydEH/AtmkE6KIS3CoKlO4HTJT8FSUcqbJ83uwUwAgcm0K82+4d/D4wJ9Yr1AzzTQeKaPIFBsncVpNm39DDUHION63aNtT7kof4CmcNHW7FHoNuOWxnXTyxDanTd5Q/qWnJKmRL3BLHvLko9hDhZwHnmDsLDPMynHYZj5aZVQ7Aq6pCRFnXGcZQfGzfRsrKDTXYmlRKHWkj6gZPQUF1wro3BjWkbLMXgRLhSXxsgdgMVKxWQbq6VJLbWsIZWw8OYJAc5eh63Cc3Ur3IaG4PX5z6OiGO0ZXIGNiTV1P/7v+VO4SNY3kMlHJwb+JKMxm2+CB/EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UUtGJVnWG1zAYJL3f4Fx1X",
      "input": {
        "note": "Cap now runs through the jaw gap, ~1.4 cm right of centre. Shifting right to centre it and pressing down to table level.",
        "targets": {
          "left_x": 0.51,
          "left_y": -0.271,
          "left_yaw": 0.15,
          "left_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01UUtGJVnWG1zAYJL3f4Fx1X",
      "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]: [-0.6594, 2.3444, 1.4971, 0.0868, -0.6357, -0.5297, 0.9964, 0.7193, 1.5742, 1.0241, -0.411, 0.5556, 0.7246, 0.0659]\nstate[eef_state]: left_x=0.5134 left_y=-0.2607 left_z=0.0108 left_yaw=0.1307 left_pitch=-0.0179 left_roll=-0.003 left_gripper=0.9964 right_x=0.3503 right_y=0.1877 right_z=0.1187 right_yaw=-0.1543 right_pitch=-0.2154 right_roll=0.0559 right_gripper=0.0659\nstate[joint_eff]: [-0.1573, -12.9026, 7.9658, 1.58, -0.1245, 0.2125, -0.0024, -0.1573, -7.0359, 6.8991, 1.2479, 0.3199, -0.0659, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95ccd70d38b6c5e0a70c5a07fb208dabebcf6c33cade1833ddb6840693c0d9ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db36aa06d0f95a60e9d9f04dbce4728d85c364f5eca936e64f0ae8cee464390f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:667faa7330d2d9c9b325ff3ec0f4b0d35eff6e441d793f51012c16f66be1d2ee",
        "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 · 9.717 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6827, 2.1399, 1.4136, -0.0055, -0.6334, -0.5182, 0.9952, 0.7193, 1.5742, 1.029, -0.4122, 0.5652, 0.725, 0.0659]\nstate[eef_state]: left_x=0.4899 left_y=-0.2589 left_z=0.0747 left_yaw=0.0994 left_pitch=0.0012 left_roll=-0.0148 left_gripper=0.9952 right_x=0.3517 right_y=0.187 right_z=0.1211 right_yaw=-0.1604 right_pitch=-0.207 right_roll=0.0541 right_gripper=0.0659\nstate[joint_eff]: [-0.3487, -12.2872, 7.8291, 1.2674, -0.3834, 0.1197, -0.0366, -0.0615, -7.1453, 6.8034, 1.199, 0.2564, -0.0317, 1.0281]",
      "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]: [-0.664, 2.3344, 1.4799, 0.065, -0.6506, -0.5484, 0.9964, 0.7193, 1.5742, 1.0275, -0.4114, 0.5625, 0.725, 0.0659]\nstate[eef_state]: left_x=0.5069 left_y=-0.2562 left_z=0.0079 left_yaw=0.1475 left_pitch=-0.0305 left_roll=0.0096 left_gripper=0.9964 right_x=0.3513 right_y=0.1872 right_z=0.1205 right_yaw=-0.1587 right_pitch=-0.2091 right_roll=0.0549 right_gripper=0.0659\nstate[joint_eff]: [0.253, -13.7094, 8.8821, 0.2076, 0.4274, 0.7057, 0.1099, -0.0752, -6.9402, 6.5299, 1.1795, 0.2515, -0.0269, 1.0281]",
      "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]: [-0.6594, 2.3444, 1.4971, 0.0868, -0.6357, -0.5297, 0.9964, 0.7193, 1.5742, 1.0241, -0.411, 0.5556, 0.7246, 0.0659]\nstate[eef_state]: left_x=0.5134 left_y=-0.2607 left_z=0.0108 left_yaw=0.1307 left_pitch=-0.0179 left_roll=-0.003 left_gripper=0.9964 right_x=0.3503 right_y=0.1877 right_z=0.1187 right_yaw=-0.1543 right_pitch=-0.2154 right_roll=0.0559 right_gripper=0.0659\nstate[joint_eff]: [-0.1573, -12.9026, 7.9658, 1.58, -0.1245, 0.2125, -0.0024, -0.1573, -7.0359, 6.8991, 1.2479, 0.3199, -0.0659, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95ccd70d38b6c5e0a70c5a07fb208dabebcf6c33cade1833ddb6840693c0d9ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db36aa06d0f95a60e9d9f04dbce4728d85c364f5eca936e64f0ae8cee464390f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:667faa7330d2d9c9b325ff3ec0f4b0d35eff6e441d793f51012c16f66be1d2ee",
        "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_01EPu32pJDkMZPLU2u8ajKdN",
      "input": {
        "note": "The left arm is at its reach limit and stalls 1 cm above the table, just over the cap. Tipping the tool forward to gain reach so the fingertips can get down around the cap.",
        "targets": {
          "left_pitch": 0.35,
          "left_x": 0.51,
          "left_y": -0.272,
          "left_yaw": 0.15,
          "left_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01EPu32pJDkMZPLU2u8ajKdN",
      "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]: [-0.7261, 2.5164, 1.3998, 0.7757, -0.8864, -0.3073, 0.9965, 0.7193, 1.5753, 1.0214, -0.4118, 0.5442, 0.725, 0.0659]\nstate[eef_state]: left_x=0.5172 left_y=-0.2715 left_z=0.0121 left_yaw=0.1979 left_pitch=0.357 left_roll=-0.0259 left_gripper=0.9965 right_x=0.349 right_y=0.1888 right_z=0.1164 right_yaw=-0.1474 right_pitch=-0.2255 right_roll=0.0589 right_gripper=0.0659\nstate[joint_eff]: [-0.212, -8.1162, 3.0427, 1.0281, 0.4274, -0.5055, -0.0073, -0.3214, -6.7214, 6.694, 1.3993, 0.3053, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:519a502fe8b631ee3d0028933ed402b4658c1b4a8d765155f295f13cb13086e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e79be52549a22325b4fc77b9149f63b92022acf39017acbd17c3596096a1ecc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09deba2c4ba2105572d5460d63116b0cfb683de8b0c2c473920eb2b7887bd892",
        "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 · 9.82 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.664, 2.3344, 1.4799, 0.065, -0.6506, -0.5484, 0.9964, 0.7193, 1.5742, 1.0275, -0.4114, 0.5625, 0.725, 0.0659]\nstate[eef_state]: left_x=0.5069 left_y=-0.2562 left_z=0.0079 left_yaw=0.1475 left_pitch=-0.0305 left_roll=0.0096 left_gripper=0.9964 right_x=0.3513 right_y=0.1872 right_z=0.1205 right_yaw=-0.1587 right_pitch=-0.2091 right_roll=0.0549 right_gripper=0.0659\nstate[joint_eff]: [0.253, -13.7094, 8.8821, 0.2076, 0.4274, 0.7057, 0.1099, -0.0752, -6.9402, 6.5299, 1.1795, 0.2515, -0.0269, 1.0281]",
      "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]: [-0.6594, 2.3444, 1.4971, 0.0868, -0.6357, -0.5297, 0.9964, 0.7193, 1.5742, 1.0241, -0.411, 0.5556, 0.7246, 0.0659]\nstate[eef_state]: left_x=0.5134 left_y=-0.2607 left_z=0.0108 left_yaw=0.1307 left_pitch=-0.0179 left_roll=-0.003 left_gripper=0.9964 right_x=0.3503 right_y=0.1877 right_z=0.1187 right_yaw=-0.1543 right_pitch=-0.2154 right_roll=0.0559 right_gripper=0.0659\nstate[joint_eff]: [-0.1573, -12.9026, 7.9658, 1.58, -0.1245, 0.2125, -0.0024, -0.1573, -7.0359, 6.8991, 1.2479, 0.3199, -0.0659, 1.0281]",
      "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]: [-0.7261, 2.5164, 1.3998, 0.7757, -0.8864, -0.3073, 0.9965, 0.7193, 1.5753, 1.0214, -0.4118, 0.5442, 0.725, 0.0659]\nstate[eef_state]: left_x=0.5172 left_y=-0.2715 left_z=0.0121 left_yaw=0.1979 left_pitch=0.357 left_roll=-0.0259 left_gripper=0.9965 right_x=0.349 right_y=0.1888 right_z=0.1164 right_yaw=-0.1474 right_pitch=-0.2255 right_roll=0.0589 right_gripper=0.0659\nstate[joint_eff]: [-0.212, -8.1162, 3.0427, 1.0281, 0.4274, -0.5055, -0.0073, -0.3214, -6.7214, 6.694, 1.3993, 0.3053, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:519a502fe8b631ee3d0028933ed402b4658c1b4a8d765155f295f13cb13086e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e79be52549a22325b4fc77b9149f63b92022acf39017acbd17c3596096a1ecc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09deba2c4ba2105572d5460d63116b0cfb683de8b0c2c473920eb2b7887bd892",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SPdn2B6RbBA24TWLFj2jMh",
      "input": {
        "note": "Cap is now centred in the jaw gap and perpendicular to the jaws; closing the left gripper.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SPdn2B6RbBA24TWLFj2jMh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7273, 2.5214, 1.3964, 0.8249, -0.8989, -0.3042, 0.0093, 0.7193, 1.5757, 1.0164, -0.4118, 0.5373, 0.725, 0.0659]\nstate[eef_state]: left_x=0.5177 left_y=-0.2709 left_z=0.0173 left_yaw=0.2188 left_pitch=0.3845 left_roll=-0.0554 left_gripper=0.0093 right_x=0.3476 right_y=0.189 right_z=0.1139 right_yaw=-0.1436 right_pitch=-0.2333 right_roll=0.0584 right_gripper=0.0659\nstate[joint_eff]: [0.0342, -13.641, 5.2855, 1.1697, -0.0611, 0.0122, 0.7253, -0.0342, -6.9675, 7.0222, 1.2869, 0.2222, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6afa11e4f7fee2d3a6a5ee7190cc48bc215e460e1008d26f22e136a9c52d52d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddef4b5e4d226d2aed7c5b6e6b537cd5a1a2df0b53e104cd2e31964917b831b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9fa0d9891414da0ed7240c96288fd4a997b2657f13daccd37b641a123e28d78b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 7.366 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6594, 2.3444, 1.4971, 0.0868, -0.6357, -0.5297, 0.9964, 0.7193, 1.5742, 1.0241, -0.411, 0.5556, 0.7246, 0.0659]\nstate[eef_state]: left_x=0.5134 left_y=-0.2607 left_z=0.0108 left_yaw=0.1307 left_pitch=-0.0179 left_roll=-0.003 left_gripper=0.9964 right_x=0.3503 right_y=0.1877 right_z=0.1187 right_yaw=-0.1543 right_pitch=-0.2154 right_roll=0.0559 right_gripper=0.0659\nstate[joint_eff]: [-0.1573, -12.9026, 7.9658, 1.58, -0.1245, 0.2125, -0.0024, -0.1573, -7.0359, 6.8991, 1.2479, 0.3199, -0.0659, 1.0281]",
      "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]: [-0.7261, 2.5164, 1.3998, 0.7757, -0.8864, -0.3073, 0.9965, 0.7193, 1.5753, 1.0214, -0.4118, 0.5442, 0.725, 0.0659]\nstate[eef_state]: left_x=0.5172 left_y=-0.2715 left_z=0.0121 left_yaw=0.1979 left_pitch=0.357 left_roll=-0.0259 left_gripper=0.9965 right_x=0.349 right_y=0.1888 right_z=0.1164 right_yaw=-0.1474 right_pitch=-0.2255 right_roll=0.0589 right_gripper=0.0659\nstate[joint_eff]: [-0.212, -8.1162, 3.0427, 1.0281, 0.4274, -0.5055, -0.0073, -0.3214, -6.7214, 6.694, 1.3993, 0.3053, -0.0122, 1.0281]",
      "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]: [-0.7273, 2.5214, 1.3964, 0.8249, -0.8989, -0.3042, 0.0093, 0.7193, 1.5757, 1.0164, -0.4118, 0.5373, 0.725, 0.0659]\nstate[eef_state]: left_x=0.5177 left_y=-0.2709 left_z=0.0173 left_yaw=0.2188 left_pitch=0.3845 left_roll=-0.0554 left_gripper=0.0093 right_x=0.3476 right_y=0.189 right_z=0.1139 right_yaw=-0.1436 right_pitch=-0.2333 right_roll=0.0584 right_gripper=0.0659\nstate[joint_eff]: [0.0342, -13.641, 5.2855, 1.1697, -0.0611, 0.0122, 0.7253, -0.0342, -6.9675, 7.0222, 1.2869, 0.2222, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6afa11e4f7fee2d3a6a5ee7190cc48bc215e460e1008d26f22e136a9c52d52d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddef4b5e4d226d2aed7c5b6e6b537cd5a1a2df0b53e104cd2e31964917b831b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fa0d9891414da0ed7240c96288fd4a997b2657f13daccd37b641a123e28d78b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012GfHx7cdexRz4CZ722yQCW",
      "input": {
        "note": "Left gripper closed to 0.01, probably empty again. Lifting and pulling back to see where the cap is.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.45,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_012GfHx7cdexRz4CZ722yQCW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7742, 2.1574, 1.3823, -0.1577, -0.7856, -0.7136, 0.0115, 0.7193, 1.5753, 1.0134, -0.3725, 0.5419, 0.7361, 0.0659]\nstate[eef_state]: left_x=0.4468 left_y=-0.2572 left_z=0.0468 left_yaw=0.2207 left_pitch=-0.0351 left_roll=0.0495 left_gripper=0.0115 right_x=0.3526 right_y=0.1925 right_z=0.1183 right_yaw=-0.1465 right_pitch=-0.2072 right_roll=0.0926 right_gripper=0.0659\nstate[joint_eff]: [-1.2376, -17.7709, 10.7829, 1.4676, -0.4176, -0.0659, 0.2125, -0.1709, -6.9538, 6.694, 0.823, 0.1587, -0.2173, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bf1d9d9eeef85399c149079e65870523db0c4c9c573c162168c47f21147c64d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef661b124e528c28ffbdd4ebefe8269d84d4f7204198926c153abdf88215e9c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:41211d90b11ef891e1b6d1d556a3abf0e3f3a7fed8ffaf784ec0d946b0f7b51d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 9.513 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7261, 2.5164, 1.3998, 0.7757, -0.8864, -0.3073, 0.9965, 0.7193, 1.5753, 1.0214, -0.4118, 0.5442, 0.725, 0.0659]\nstate[eef_state]: left_x=0.5172 left_y=-0.2715 left_z=0.0121 left_yaw=0.1979 left_pitch=0.357 left_roll=-0.0259 left_gripper=0.9965 right_x=0.349 right_y=0.1888 right_z=0.1164 right_yaw=-0.1474 right_pitch=-0.2255 right_roll=0.0589 right_gripper=0.0659\nstate[joint_eff]: [-0.212, -8.1162, 3.0427, 1.0281, 0.4274, -0.5055, -0.0073, -0.3214, -6.7214, 6.694, 1.3993, 0.3053, -0.0122, 1.0281]",
      "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]: [-0.7273, 2.5214, 1.3964, 0.8249, -0.8989, -0.3042, 0.0093, 0.7193, 1.5757, 1.0164, -0.4118, 0.5373, 0.725, 0.0659]\nstate[eef_state]: left_x=0.5177 left_y=-0.2709 left_z=0.0173 left_yaw=0.2188 left_pitch=0.3845 left_roll=-0.0554 left_gripper=0.0093 right_x=0.3476 right_y=0.189 right_z=0.1139 right_yaw=-0.1436 right_pitch=-0.2333 right_roll=0.0584 right_gripper=0.0659\nstate[joint_eff]: [0.0342, -13.641, 5.2855, 1.1697, -0.0611, 0.0122, 0.7253, -0.0342, -6.9675, 7.0222, 1.2869, 0.2222, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7742, 2.1574, 1.3823, -0.1577, -0.7856, -0.7136, 0.0115, 0.7193, 1.5753, 1.0134, -0.3725, 0.5419, 0.7361, 0.0659]\nstate[eef_state]: left_x=0.4468 left_y=-0.2572 left_z=0.0468 left_yaw=0.2207 left_pitch=-0.0351 left_roll=0.0495 left_gripper=0.0115 right_x=0.3526 right_y=0.1925 right_z=0.1183 right_yaw=-0.1465 right_pitch=-0.2072 right_roll=0.0926 right_gripper=0.0659\nstate[joint_eff]: [-1.2376, -17.7709, 10.7829, 1.4676, -0.4176, -0.0659, 0.2125, -0.1709, -6.9538, 6.694, 0.823, 0.1587, -0.2173, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bf1d9d9eeef85399c149079e65870523db0c4c9c573c162168c47f21147c64d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef661b124e528c28ffbdd4ebefe8269d84d4f7204198926c153abdf88215e9c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41211d90b11ef891e1b6d1d556a3abf0e3f3a7fed8ffaf784ec0d946b0f7b51d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V7rcWmCLuRUDnZtc4vMqK5",
      "input": {
        "note": "The two grippers are crowding each other at the centre and the left arm is straining; moving the pen-holding right arm away to the right to give the left arm room.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.26,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01V7rcWmCLuRUDnZtc4vMqK5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7582, 2.1498, 1.3724, -0.178, -0.778, -0.7315, 0.0137, 0.9054, 1.6241, 1.2087, -0.7254, 0.7128, 0.9722, 0.0694]\nstate[eef_state]: left_x=0.4466 left_y=-0.2472 left_z=0.044 left_yaw=0.2426 left_pitch=-0.0519 left_roll=0.0504 left_gripper=0.0137 right_x=0.3148 right_y=0.2199 right_z=0.1466 right_yaw=-0.2287 right_pitch=-0.2017 right_roll=0.0086 right_gripper=0.0694\nstate[joint_eff]: [-1.4154, -11.0564, 6.7624, 1.37, -0.4176, 0.1587, 0.2222, 6.2291, -6.2974, 10.5778, 1.79, -0.315, -0.1978, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:025470d6f47a4860b608f4690c32bd81fd867bb54d5b7b9018f0fed6838ccf8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:448db3b2e9d97efe9793c20655cab032dd1fdc0335a9c3d104cdb345cf6fdaee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b3fc300e2ca1660d411c968093fe367c8a4cc17543bfe1c36a3baf404ad31d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 17.42 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7273, 2.5214, 1.3964, 0.8249, -0.8989, -0.3042, 0.0093, 0.7193, 1.5757, 1.0164, -0.4118, 0.5373, 0.725, 0.0659]\nstate[eef_state]: left_x=0.5177 left_y=-0.2709 left_z=0.0173 left_yaw=0.2188 left_pitch=0.3845 left_roll=-0.0554 left_gripper=0.0093 right_x=0.3476 right_y=0.189 right_z=0.1139 right_yaw=-0.1436 right_pitch=-0.2333 right_roll=0.0584 right_gripper=0.0659\nstate[joint_eff]: [0.0342, -13.641, 5.2855, 1.1697, -0.0611, 0.0122, 0.7253, -0.0342, -6.9675, 7.0222, 1.2869, 0.2222, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7742, 2.1574, 1.3823, -0.1577, -0.7856, -0.7136, 0.0115, 0.7193, 1.5753, 1.0134, -0.3725, 0.5419, 0.7361, 0.0659]\nstate[eef_state]: left_x=0.4468 left_y=-0.2572 left_z=0.0468 left_yaw=0.2207 left_pitch=-0.0351 left_roll=0.0495 left_gripper=0.0115 right_x=0.3526 right_y=0.1925 right_z=0.1183 right_yaw=-0.1465 right_pitch=-0.2072 right_roll=0.0926 right_gripper=0.0659\nstate[joint_eff]: [-1.2376, -17.7709, 10.7829, 1.4676, -0.4176, -0.0659, 0.2125, -0.1709, -6.9538, 6.694, 0.823, 0.1587, -0.2173, 1.0281]",
      "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]: [-0.7582, 2.1498, 1.3724, -0.178, -0.778, -0.7315, 0.0137, 0.9054, 1.6241, 1.2087, -0.7254, 0.7128, 0.9722, 0.0694]\nstate[eef_state]: left_x=0.4466 left_y=-0.2472 left_z=0.044 left_yaw=0.2426 left_pitch=-0.0519 left_roll=0.0504 left_gripper=0.0137 right_x=0.3148 right_y=0.2199 right_z=0.1466 right_yaw=-0.2287 right_pitch=-0.2017 right_roll=0.0086 right_gripper=0.0694\nstate[joint_eff]: [-1.4154, -11.0564, 6.7624, 1.37, -0.4176, 0.1587, 0.2222, 6.2291, -6.2974, 10.5778, 1.79, -0.315, -0.1978, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:025470d6f47a4860b608f4690c32bd81fd867bb54d5b7b9018f0fed6838ccf8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:448db3b2e9d97efe9793c20655cab032dd1fdc0335a9c3d104cdb345cf6fdaee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b3fc300e2ca1660d411c968093fe367c8a4cc17543bfe1c36a3baf404ad31d9",
        "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_01JUAYXPDZtkxk3mCVxWBQoo",
      "input": {
        "note": "The grippers appear to be touching (right arm shows sideways effort and its wrist camera sees the left gripper). Moving the left arm back toward its own side to separate them.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.14,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JUAYXPDZtkxk3mCVxWBQoo",
      "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]: [-0.6209, 1.6875, 1.0115, -0.1951, -0.6979, -0.6102, 0.015, 0.9051, 1.6302, 1.2018, -0.7254, 0.6987, 0.9764, 0.0701]\nstate[eef_state]: left_x=0.403 left_y=-0.1443 left_z=0.1107 left_yaw=0.2597 left_pitch=-0.0572 left_roll=0.0433 left_gripper=0.015 right_x=0.313 right_y=0.2203 right_z=0.1407 right_yaw=-0.2269 right_pitch=-0.2189 right_roll=0.0052 right_gripper=0.0701\nstate[joint_eff]: [0.2667, -9.1282, 6.3248, 1.4432, -0.232, 0.0806, 0.1294, -0.1983, -7.4735, 6.8855, 1.0965, 0.3932, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d9280b28e01904baec971493710250ca0d2a83c1e72c68ea1024f148314a966",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dfb245b1d2aeac80e620a058b2b4625a4c1032774601855114fe04055c5ae5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2c550374cbb567dd0273236f3929fe5b306d9f6d043267adf28690b873c4e545",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 6.216 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7742, 2.1574, 1.3823, -0.1577, -0.7856, -0.7136, 0.0115, 0.7193, 1.5753, 1.0134, -0.3725, 0.5419, 0.7361, 0.0659]\nstate[eef_state]: left_x=0.4468 left_y=-0.2572 left_z=0.0468 left_yaw=0.2207 left_pitch=-0.0351 left_roll=0.0495 left_gripper=0.0115 right_x=0.3526 right_y=0.1925 right_z=0.1183 right_yaw=-0.1465 right_pitch=-0.2072 right_roll=0.0926 right_gripper=0.0659\nstate[joint_eff]: [-1.2376, -17.7709, 10.7829, 1.4676, -0.4176, -0.0659, 0.2125, -0.1709, -6.9538, 6.694, 0.823, 0.1587, -0.2173, 1.0281]",
      "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]: [-0.7582, 2.1498, 1.3724, -0.178, -0.778, -0.7315, 0.0137, 0.9054, 1.6241, 1.2087, -0.7254, 0.7128, 0.9722, 0.0694]\nstate[eef_state]: left_x=0.4466 left_y=-0.2472 left_z=0.044 left_yaw=0.2426 left_pitch=-0.0519 left_roll=0.0504 left_gripper=0.0137 right_x=0.3148 right_y=0.2199 right_z=0.1466 right_yaw=-0.2287 right_pitch=-0.2017 right_roll=0.0086 right_gripper=0.0694\nstate[joint_eff]: [-1.4154, -11.0564, 6.7624, 1.37, -0.4176, 0.1587, 0.2222, 6.2291, -6.2974, 10.5778, 1.79, -0.315, -0.1978, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6209, 1.6875, 1.0115, -0.1951, -0.6979, -0.6102, 0.015, 0.9051, 1.6302, 1.2018, -0.7254, 0.6987, 0.9764, 0.0701]\nstate[eef_state]: left_x=0.403 left_y=-0.1443 left_z=0.1107 left_yaw=0.2597 left_pitch=-0.0572 left_roll=0.0433 left_gripper=0.015 right_x=0.313 right_y=0.2203 right_z=0.1407 right_yaw=-0.2269 right_pitch=-0.2189 right_roll=0.0052 right_gripper=0.0701\nstate[joint_eff]: [0.2667, -9.1282, 6.3248, 1.4432, -0.232, 0.0806, 0.1294, -0.1983, -7.4735, 6.8855, 1.0965, 0.3932, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d9280b28e01904baec971493710250ca0d2a83c1e72c68ea1024f148314a966",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dfb245b1d2aeac80e620a058b2b4625a4c1032774601855114fe04055c5ae5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c550374cbb567dd0273236f3929fe5b306d9f6d043267adf28690b873c4e545",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X4HEq86x34DxUMw7ehgwtk",
      "input": {
        "note": "Arms are separated; the cap lies forward near the table centre (seen right in the left wrist view). Returning the left arm above it with the gripper open for another attempt.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.49,
          "left_y": -0.26,
          "left_yaw": 0.25,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01X4HEq86x34DxUMw7ehgwtk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6983, 2.2108, 1.6028, -0.3481, -0.7334, -0.7059, 0.9953, 0.8894, 1.6302, 1.2015, -0.7483, 0.7055, 0.989, 0.0701]\nstate[eef_state]: left_x=0.4836 left_y=-0.2469 left_z=0.0687 left_yaw=0.2616 left_pitch=-0.0835 left_roll=0.0513 left_gripper=0.9953 right_x=0.3141 right_y=0.2112 right_z=0.1395 right_yaw=-0.2574 right_pitch=-0.223 right_roll=-0.01 right_gripper=0.0701\nstate[joint_eff]: [-1.4974, -12.3282, 9.1556, 1.2186, -0.5201, 0.0757, -0.105, 0.9094, -7.4735, 6.4889, 1.2723, 0.1538, -0.1832, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5ecfbcd56bf5a223627dc776622cc51a92669dcb535e50cc384203ccd108ae8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6f1ba6041c17c3a9a5533f904f94a32ffa3afa0e16c385d2928aab9ba180c90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b91267d6cdaa66c3239a788864141fab86d9058ee036445d02ccc7dff95385b5",
        "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 · 8.745 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7582, 2.1498, 1.3724, -0.178, -0.778, -0.7315, 0.0137, 0.9054, 1.6241, 1.2087, -0.7254, 0.7128, 0.9722, 0.0694]\nstate[eef_state]: left_x=0.4466 left_y=-0.2472 left_z=0.044 left_yaw=0.2426 left_pitch=-0.0519 left_roll=0.0504 left_gripper=0.0137 right_x=0.3148 right_y=0.2199 right_z=0.1466 right_yaw=-0.2287 right_pitch=-0.2017 right_roll=0.0086 right_gripper=0.0694\nstate[joint_eff]: [-1.4154, -11.0564, 6.7624, 1.37, -0.4176, 0.1587, 0.2222, 6.2291, -6.2974, 10.5778, 1.79, -0.315, -0.1978, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6209, 1.6875, 1.0115, -0.1951, -0.6979, -0.6102, 0.015, 0.9051, 1.6302, 1.2018, -0.7254, 0.6987, 0.9764, 0.0701]\nstate[eef_state]: left_x=0.403 left_y=-0.1443 left_z=0.1107 left_yaw=0.2597 left_pitch=-0.0572 left_roll=0.0433 left_gripper=0.015 right_x=0.313 right_y=0.2203 right_z=0.1407 right_yaw=-0.2269 right_pitch=-0.2189 right_roll=0.0052 right_gripper=0.0701\nstate[joint_eff]: [0.2667, -9.1282, 6.3248, 1.4432, -0.232, 0.0806, 0.1294, -0.1983, -7.4735, 6.8855, 1.0965, 0.3932, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6983, 2.2108, 1.6028, -0.3481, -0.7334, -0.7059, 0.9953, 0.8894, 1.6302, 1.2015, -0.7483, 0.7055, 0.989, 0.0701]\nstate[eef_state]: left_x=0.4836 left_y=-0.2469 left_z=0.0687 left_yaw=0.2616 left_pitch=-0.0835 left_roll=0.0513 left_gripper=0.9953 right_x=0.3141 right_y=0.2112 right_z=0.1395 right_yaw=-0.2574 right_pitch=-0.223 right_roll=-0.01 right_gripper=0.0701\nstate[joint_eff]: [-1.4974, -12.3282, 9.1556, 1.2186, -0.5201, 0.0757, -0.105, 0.9094, -7.4735, 6.4889, 1.2723, 0.1538, -0.1832, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5ecfbcd56bf5a223627dc776622cc51a92669dcb535e50cc384203ccd108ae8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6f1ba6041c17c3a9a5533f904f94a32ffa3afa0e16c385d2928aab9ba180c90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b91267d6cdaa66c3239a788864141fab86d9058ee036445d02ccc7dff95385b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AoKEAgSGAI4AUIIdGhpbmtpbmcSDEP5ANpK8c55NNgkJBoM0siAXsovcsghLuQQIjASEJAH/eXwmKCqyITwLTZun7oFVAJB9NJMCc+5vR0VATDluT3PYKLmKni7/F15Z3sqhQpfcuMOlm5BjCJPFZdqWC58LHcQI8ifWNQ+QzetQg4OumGLDYbnZFXcGJHvFGnLZUHribztAVSOM8e02ukTZKzQY02vJfxvuO7z0Veas6gH7Oqryhn5kTOi7k5FvWGRjybaACRDTVa7UBmO/EKFuadX97K8wrOC6NBVZxtJPG4XreMWd5oAYKMqibyzufi8AZGHc1+tD76Z+PXnCzMlk011GRfYACbxaOSOzUsyXAGBxiOlu9QrX/jQvoc0kkHS6PDxPTIjiWcWlI3qaZGx0tOXB2zlKGLJfV1xyvaPH1MDL4nXA6hcgsi1qujhiItgCRn9Qx+msnadg/l3JdxLG2bFIRl2EWRdN2QbNjkDBY+B3W/7S5YyUTo1l7/05XNM7LB537ioLDbsXVCyWAE2ISliHS5QPas/FJNtwWGJgCmCjcXENCCkMJPb+Qk2HzSTxhLmKFJixvX0kXcLLoZ1eMku3qJXpN0j6olCQ81hY9kxGfFBgMI0Uy2RsfcixWHm6t9oH7kRsM4FZhhTq0RcVyzW1JzBm3tj16aJlE5cBCDx3R4/+XvbIiCnugizdBaCej74cdLGxH+Nreu1Nus4gAhErQ+GgmUoxyBybqf81Lk8zOaot8oVADFUcyrwGoyIwWbvnNS7wQZVItHD0ZwQSWJeN18ZafpNj9YE7IZFXSGQNcwus6QgqKhZFoiNsKdAiltbXYZ1u13ZvC/bjNITGwR8pf4kYLWEsiCn2ide/n+BvtfRMDB7V20YLJ8yO0rZr7lCiWm/Cppv6y4f+Mx9FXps37C8kmrDWWSUBEg8wmhuq9Qk+hwyzSPFfrtEMT3/LGZPHii/8CP5DVaFDxiJjFKNYqlfIW4o6ARZ6EmZplwclGcoFn1XAsrvOqykyf2To3DJGYKj/7RV3on13khBNJ6QS6vIgBn4Hk2GNVoJvEJGtzQbgxw92AxJmXBev535WCvbCncNCXoDOA/Wxz4WfspYP+DBtzk/regFY4VNOCoub/CNNb3O22n8bQrWRvs6P9xa9mRHdbFh/DNCmHr4Zki8eNbxcEQd1qLkcxBPleMEjz43/dwe/y/dw5W8n4StKyPS66eVbrcXBSF1VUuanHr70vucJGPaIFnWpdogTeDC9OcoCNJ6Ag0N+lt2LUSzEvBzF2SI8j7kIXiMfGTEP6FDzNpC+OtIWhVITq7Wiyh3JSoFIduixWuDhZcSelnfu/Z4XrNnZB8DlWMWuxjDFl9Z2LShhh8aSso6HKcWUbQy0Dc1lPVFSkdjSNit/hQ0zzGZD1ieSCkgfWllIySkky3wA3v75GKLeQJoIdWNk5s1VHlEIrr7b8a0vYzaImVBbNSb7VkWuLwN/PU4uvrSAal355bde0rquWSAdoQwmxlpDtMJMKVP7Ko+BeVqGYEZNRjylsrSRlfOdENAX3rZfiXP1YI/UbyQi5T6IvrEvRKYoYTKpFrcOeoe2gVuf4Mk0OxKd8u1tb86TunNy6jExN69rUN2dPBsU88X84vKf+H/tPpHBRFPmm/vFkW2oQeYfQkpV1T1JvCy5mygtcy75Bed5yJsQPFohqBYyrwg/TSrjvplehevLarR6zPzCfIwiBqDRlUoNabChrMKBUIUQl2vuzT+stASGgQNGvlVqdRwo/WMtkxSxbGPg0zNFIIC9bLZL1BdB889fwAy8/rHdr70mdVmvV45qx6X9FeSizHmzQaZeHgiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EndnbSKZnZdhfS16SWhZ9t",
      "input": {
        "note": "Left arm stalled sideways, likely brushing the right arm again. Pulling the pen-holding right arm back and further right to clear the centre.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.3,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01EndnbSKZnZdhfS16SWhZ9t",
      "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]: [-0.6659, 2.2299, 1.5936, -0.3561, -0.7254, -0.7063, 0.9964, 1.1328, 1.8286, 1.5219, -1.1641, 0.791, 1.4017, 0.0701]\nstate[eef_state]: left_x=0.4874 left_y=-0.2293 left_z=0.0541 left_yaw=0.2923 left_pitch=-0.1097 left_roll=0.077 left_gripper=0.9964 right_x=0.2624 right_y=0.2727 right_z=0.1574 right_yaw=-0.3297 right_pitch=-0.2183 right_roll=-0.0223 right_gripper=0.0701\nstate[joint_eff]: [-2.4547, -14.0376, 6.9265, 1.3211, -0.4078, -0.0708, 0.105, 4.547, -6.8991, 9.1419, 1.1551, 0.3492, -0.9255, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35000a68fc0f371eba3c8cd637fdbb1ca80fb297c3890af6f68a6c1265d9f0cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0a6f367ed12f4ff22a08e13ac269a95d2d81cfb84610b865061859aa6fd4fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d81999580ef463c8a345a02db510b845df7deeb8ea6797292b8127a3b7da99a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 8.71 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6209, 1.6875, 1.0115, -0.1951, -0.6979, -0.6102, 0.015, 0.9051, 1.6302, 1.2018, -0.7254, 0.6987, 0.9764, 0.0701]\nstate[eef_state]: left_x=0.403 left_y=-0.1443 left_z=0.1107 left_yaw=0.2597 left_pitch=-0.0572 left_roll=0.0433 left_gripper=0.015 right_x=0.313 right_y=0.2203 right_z=0.1407 right_yaw=-0.2269 right_pitch=-0.2189 right_roll=0.0052 right_gripper=0.0701\nstate[joint_eff]: [0.2667, -9.1282, 6.3248, 1.4432, -0.232, 0.0806, 0.1294, -0.1983, -7.4735, 6.8855, 1.0965, 0.3932, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6983, 2.2108, 1.6028, -0.3481, -0.7334, -0.7059, 0.9953, 0.8894, 1.6302, 1.2015, -0.7483, 0.7055, 0.989, 0.0701]\nstate[eef_state]: left_x=0.4836 left_y=-0.2469 left_z=0.0687 left_yaw=0.2616 left_pitch=-0.0835 left_roll=0.0513 left_gripper=0.9953 right_x=0.3141 right_y=0.2112 right_z=0.1395 right_yaw=-0.2574 right_pitch=-0.223 right_roll=-0.01 right_gripper=0.0701\nstate[joint_eff]: [-1.4974, -12.3282, 9.1556, 1.2186, -0.5201, 0.0757, -0.105, 0.9094, -7.4735, 6.4889, 1.2723, 0.1538, -0.1832, 1.033]",
      "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]: [-0.6659, 2.2299, 1.5936, -0.3561, -0.7254, -0.7063, 0.9964, 1.1328, 1.8286, 1.5219, -1.1641, 0.791, 1.4017, 0.0701]\nstate[eef_state]: left_x=0.4874 left_y=-0.2293 left_z=0.0541 left_yaw=0.2923 left_pitch=-0.1097 left_roll=0.077 left_gripper=0.9964 right_x=0.2624 right_y=0.2727 right_z=0.1574 right_yaw=-0.3297 right_pitch=-0.2183 right_roll=-0.0223 right_gripper=0.0701\nstate[joint_eff]: [-2.4547, -14.0376, 6.9265, 1.3211, -0.4078, -0.0708, 0.105, 4.547, -6.8991, 9.1419, 1.1551, 0.3492, -0.9255, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35000a68fc0f371eba3c8cd637fdbb1ca80fb297c3890af6f68a6c1265d9f0cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0a6f367ed12f4ff22a08e13ac269a95d2d81cfb84610b865061859aa6fd4fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d81999580ef463c8a345a02db510b845df7deeb8ea6797292b8127a3b7da99a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011jFd3Uv7vL5G1w4y2ogzBT",
      "input": {
        "note": "Right +y points toward the centre, so my last move pushed the arms together. Moving the right arm outward (lower y) to clear the left arm.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_011jFd3Uv7vL5G1w4y2ogzBT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6662, 2.2303, 1.5936, -0.3573, -0.725, -0.7094, 0.9965, 0.4759, 1.169, 0.8593, -0.7094, 0.556, 0.6533, 0.0701]\nstate[eef_state]: left_x=0.4872 left_y=-0.2294 left_z=0.0538 left_yaw=0.2935 left_pitch=-0.1107 left_roll=0.0757 left_gripper=0.9965 right_x=0.2933 right_y=0.0503 right_z=0.1501 right_yaw=-0.3696 right_pitch=-0.2524 right_roll=-0.041 right_gripper=0.0701\nstate[joint_eff]: [-0.1983, -12.588, 6.188, 1.1844, -0.3785, -0.0024, -0.0024, -0.4171, -4.6974, 7.0085, 1.5751, 0.3394, -0.0806, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e9e91be8833451bce7788904c2707a71730c2b1efcd5a48bc93cabd181eb55c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44a5c1cc14ac53f01526011a4e03a45e00ef060c8374bbf5ddbab474b284e162",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a790455d86d2e8e19ab615518f4f2ca8aa690eaeb765ca065e221817c756602f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 8.536 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6983, 2.2108, 1.6028, -0.3481, -0.7334, -0.7059, 0.9953, 0.8894, 1.6302, 1.2015, -0.7483, 0.7055, 0.989, 0.0701]\nstate[eef_state]: left_x=0.4836 left_y=-0.2469 left_z=0.0687 left_yaw=0.2616 left_pitch=-0.0835 left_roll=0.0513 left_gripper=0.9953 right_x=0.3141 right_y=0.2112 right_z=0.1395 right_yaw=-0.2574 right_pitch=-0.223 right_roll=-0.01 right_gripper=0.0701\nstate[joint_eff]: [-1.4974, -12.3282, 9.1556, 1.2186, -0.5201, 0.0757, -0.105, 0.9094, -7.4735, 6.4889, 1.2723, 0.1538, -0.1832, 1.033]",
      "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]: [-0.6659, 2.2299, 1.5936, -0.3561, -0.7254, -0.7063, 0.9964, 1.1328, 1.8286, 1.5219, -1.1641, 0.791, 1.4017, 0.0701]\nstate[eef_state]: left_x=0.4874 left_y=-0.2293 left_z=0.0541 left_yaw=0.2923 left_pitch=-0.1097 left_roll=0.077 left_gripper=0.9964 right_x=0.2624 right_y=0.2727 right_z=0.1574 right_yaw=-0.3297 right_pitch=-0.2183 right_roll=-0.0223 right_gripper=0.0701\nstate[joint_eff]: [-2.4547, -14.0376, 6.9265, 1.3211, -0.4078, -0.0708, 0.105, 4.547, -6.8991, 9.1419, 1.1551, 0.3492, -0.9255, 1.0281]",
      "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]: [-0.6662, 2.2303, 1.5936, -0.3573, -0.725, -0.7094, 0.9965, 0.4759, 1.169, 0.8593, -0.7094, 0.556, 0.6533, 0.0701]\nstate[eef_state]: left_x=0.4872 left_y=-0.2294 left_z=0.0538 left_yaw=0.2935 left_pitch=-0.1107 left_roll=0.0757 left_gripper=0.9965 right_x=0.2933 right_y=0.0503 right_z=0.1501 right_yaw=-0.3696 right_pitch=-0.2524 right_roll=-0.041 right_gripper=0.0701\nstate[joint_eff]: [-0.1983, -12.588, 6.188, 1.1844, -0.3785, -0.0024, -0.0024, -0.4171, -4.6974, 7.0085, 1.5751, 0.3394, -0.0806, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e9e91be8833451bce7788904c2707a71730c2b1efcd5a48bc93cabd181eb55c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44a5c1cc14ac53f01526011a4e03a45e00ef060c8374bbf5ddbab474b284e162",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a790455d86d2e8e19ab615518f4f2ca8aa690eaeb765ca065e221817c756602f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018otHztHou5ngqjJBfyVg4u",
      "input": {
        "note": "Arms are clear now. The cap is near the right jaw, pointed end forward; shifting ~4 cm right, aligning yaw, and descending to grip the cap's thicker open end.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.505,
          "left_y": -0.265,
          "left_yaw": 0.1,
          "left_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_018otHztHou5ngqjJBfyVg4u",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6708, 2.3455, 1.4509, 0.1287, -0.7036, -0.5735, 0.9965, 0.4736, 1.1683, 0.8532, -0.7033, 0.5301, 0.6392, 0.0701]\nstate[eef_state]: left_x=0.506 left_y=-0.2511 left_z=0.0053 left_yaw=0.1921 left_pitch=0.0132 left_roll=-0.0042 left_gripper=0.9965 right_x=0.2926 right_y=0.0536 right_z=0.1468 right_yaw=-0.3465 right_pitch=-0.2684 right_roll=-0.0351 right_gripper=0.0701\nstate[joint_eff]: [-0.6085, -9.3197, 4.0, 0.9646, 0.7057, 0.0464, -0.0073, 0.0752, -3.5214, 7.1863, 1.0818, 0.4518, 0.1197, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:124e42876dfeb1e7d45ac5f6b0ee18643d1515aa5bb97a99546e4c8921a9f67c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7f07091f518448bf9eb44ec42c5a7e57c38d9b43b454cafb3babea683f693c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:07c46e6cf58beaef04f3665e0a6ce657743774f8ebf87deae160f42d8d40476a",
        "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 · 7.2 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6659, 2.2299, 1.5936, -0.3561, -0.7254, -0.7063, 0.9964, 1.1328, 1.8286, 1.5219, -1.1641, 0.791, 1.4017, 0.0701]\nstate[eef_state]: left_x=0.4874 left_y=-0.2293 left_z=0.0541 left_yaw=0.2923 left_pitch=-0.1097 left_roll=0.077 left_gripper=0.9964 right_x=0.2624 right_y=0.2727 right_z=0.1574 right_yaw=-0.3297 right_pitch=-0.2183 right_roll=-0.0223 right_gripper=0.0701\nstate[joint_eff]: [-2.4547, -14.0376, 6.9265, 1.3211, -0.4078, -0.0708, 0.105, 4.547, -6.8991, 9.1419, 1.1551, 0.3492, -0.9255, 1.0281]",
      "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]: [-0.6662, 2.2303, 1.5936, -0.3573, -0.725, -0.7094, 0.9965, 0.4759, 1.169, 0.8593, -0.7094, 0.556, 0.6533, 0.0701]\nstate[eef_state]: left_x=0.4872 left_y=-0.2294 left_z=0.0538 left_yaw=0.2935 left_pitch=-0.1107 left_roll=0.0757 left_gripper=0.9965 right_x=0.2933 right_y=0.0503 right_z=0.1501 right_yaw=-0.3696 right_pitch=-0.2524 right_roll=-0.041 right_gripper=0.0701\nstate[joint_eff]: [-0.1983, -12.588, 6.188, 1.1844, -0.3785, -0.0024, -0.0024, -0.4171, -4.6974, 7.0085, 1.5751, 0.3394, -0.0806, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6708, 2.3455, 1.4509, 0.1287, -0.7036, -0.5735, 0.9965, 0.4736, 1.1683, 0.8532, -0.7033, 0.5301, 0.6392, 0.0701]\nstate[eef_state]: left_x=0.506 left_y=-0.2511 left_z=0.0053 left_yaw=0.1921 left_pitch=0.0132 left_roll=-0.0042 left_gripper=0.9965 right_x=0.2926 right_y=0.0536 right_z=0.1468 right_yaw=-0.3465 right_pitch=-0.2684 right_roll=-0.0351 right_gripper=0.0701\nstate[joint_eff]: [-0.6085, -9.3197, 4.0, 0.9646, 0.7057, 0.0464, -0.0073, 0.0752, -3.5214, 7.1863, 1.0818, 0.4518, 0.1197, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:124e42876dfeb1e7d45ac5f6b0ee18643d1515aa5bb97a99546e4c8921a9f67c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7f07091f518448bf9eb44ec42c5a7e57c38d9b43b454cafb3babea683f693c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07c46e6cf58beaef04f3665e0a6ce657743774f8ebf87deae160f42d8d40476a",
        "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_01Suc7x8U1rRC6ZWyDTj2Ysb",
      "input": {
        "note": "The right finger nudged the cap, which now lies diagonally ahead-right of the jaw centre. Lifting slightly, rotating the jaws perpendicular to it, and shifting over it.",
        "targets": {
          "left_x": 0.52,
          "left_y": -0.275,
          "left_yaw": 0.9,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Suc7x8U1rRC6ZWyDTj2Ysb",
      "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]: [-0.746, 2.8464, 2.4008, -0.4728, -1.0946, -1.1893, 0.9965, 0.4732, 1.1694, 0.8501, -0.7044, 0.5194, 0.6392, 0.0701]\nstate[eef_state]: left_x=0.5579 left_y=-0.2969 left_z=0.0175 left_yaw=0.6865 left_pitch=0.1737 left_roll=-0.2975 left_gripper=0.9965 right_x=0.2916 right_y=0.0548 right_z=0.1444 right_yaw=-0.3406 right_pitch=-0.2787 right_roll=-0.0326 right_gripper=0.0701\nstate[joint_eff]: [0.8957, -7.5966, 2.6051, 0.7155, 0.9011, -1.2039, -0.0171, 0.0068, -3.6581, 6.8034, 1.1062, 0.359, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cbd443a9ce6beb361348f10da47832dca6505b70c0ca9337ef2c5e6e71613ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49ecd65b34baa21497b1e6d352590506f9376eaa06810399bcc3315fc845020d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71cced7bccd31dcfa95f738c1584c6f086c7cd195cf534468fa85a5e612ebe51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 4.847 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6662, 2.2303, 1.5936, -0.3573, -0.725, -0.7094, 0.9965, 0.4759, 1.169, 0.8593, -0.7094, 0.556, 0.6533, 0.0701]\nstate[eef_state]: left_x=0.4872 left_y=-0.2294 left_z=0.0538 left_yaw=0.2935 left_pitch=-0.1107 left_roll=0.0757 left_gripper=0.9965 right_x=0.2933 right_y=0.0503 right_z=0.1501 right_yaw=-0.3696 right_pitch=-0.2524 right_roll=-0.041 right_gripper=0.0701\nstate[joint_eff]: [-0.1983, -12.588, 6.188, 1.1844, -0.3785, -0.0024, -0.0024, -0.4171, -4.6974, 7.0085, 1.5751, 0.3394, -0.0806, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.6708, 2.3455, 1.4509, 0.1287, -0.7036, -0.5735, 0.9965, 0.4736, 1.1683, 0.8532, -0.7033, 0.5301, 0.6392, 0.0701]\nstate[eef_state]: left_x=0.506 left_y=-0.2511 left_z=0.0053 left_yaw=0.1921 left_pitch=0.0132 left_roll=-0.0042 left_gripper=0.9965 right_x=0.2926 right_y=0.0536 right_z=0.1468 right_yaw=-0.3465 right_pitch=-0.2684 right_roll=-0.0351 right_gripper=0.0701\nstate[joint_eff]: [-0.6085, -9.3197, 4.0, 0.9646, 0.7057, 0.0464, -0.0073, 0.0752, -3.5214, 7.1863, 1.0818, 0.4518, 0.1197, 1.0281]",
      "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]: [-0.746, 2.8464, 2.4008, -0.4728, -1.0946, -1.1893, 0.9965, 0.4732, 1.1694, 0.8501, -0.7044, 0.5194, 0.6392, 0.0701]\nstate[eef_state]: left_x=0.5579 left_y=-0.2969 left_z=0.0175 left_yaw=0.6865 left_pitch=0.1737 left_roll=-0.2975 left_gripper=0.9965 right_x=0.2916 right_y=0.0548 right_z=0.1444 right_yaw=-0.3406 right_pitch=-0.2787 right_roll=-0.0326 right_gripper=0.0701\nstate[joint_eff]: [0.8957, -7.5966, 2.6051, 0.7155, 0.9011, -1.2039, -0.0171, 0.0068, -3.6581, 6.8034, 1.1062, 0.359, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cbd443a9ce6beb361348f10da47832dca6505b70c0ca9337ef2c5e6e71613ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49ecd65b34baa21497b1e6d352590506f9376eaa06810399bcc3315fc845020d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71cced7bccd31dcfa95f738c1584c6f086c7cd195cf534468fa85a5e612ebe51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9goKEAgSGAI4AUIIdGhpbmtpbmcSDLQJyBOSwGdcLNDqoxoMCHo2Hl272EqxMvmqIjAS5XvhzQo+UuK4WVWo3MJd3PAFQnjs+OH9ULyVwbhpKkwd+PZAN/f51lZwdWmESmwqkwopCf465ZYVdN7bUVQ3B8RP+JL67iqJ7cBGW5C4zl/ftsUbxrhN1JSGWnvSKzS0ADJlCZWsRt8EwPSLyfFl3GgfIW4aDVbl7Q271lR/Q0+mZaopvuiapUoVrSq/yiYJrQgUPejihdZJcvUa9CYFtp2zKCvkMsAclS96m96LPPl5jmdp9rga9yl5igUZBcuXGcpBqfSJm24l6j41YjEWj7zv/5l+FocU253Sui5LHS6/bmI4zKIK+LXwBAo3gFAgh15SKOLcdLjaNuILbS14DSWczVj3pTY/QxducsvT2oV9xE2eemRex6D3NpWCFCxb394MbsNidpG83a33EIbZU+MQxxsbb1MVtvK8qClXu2S6glVB4hszdY+g5UQfLkOMEht9wGEiP2nOK1DoABChFtPtfBNRuqRS15QRmJB2Y+MuUqoSR/mqYAzZ/uH+ioisT4IhGPj2ILWPw/8J2zCqw/QpbZY8Xc7RiVjXhMpRlHgAYBzNSWV0dR46lnE5PEytwOnyZByekInPLgMTIHnCryi7hydWN0+1JNnko0dVTBCnk90UNds6F2X8GR3kWTGj5VtAuufljHTS+Ck0dMwy2jTYbkIIo5Cs2V7eyLz1yzi8XcDwQmYNmBjonhlbnvvQQ2aNForrz298srUbQHT3vreBpAkItbsCl55Sp6C2tqZ6PHqZAg+kFcRDcMOxutq/UG2FfhKKz/rl0VxiF5WQPDfWILFjUhR4WW0cgzfIN6ufI4J+E5JZB7cgPCNU+OIeCwiUqwUWBAP3fxFwjqAG6KMLYvR5caCdJzEOHuqZMXOQJKNBIvSa3kDo0ZfjNUFFybYrkOi9RA5getwJtiJWVfLBU6rFFCosGaPofSNcQcpwiyYCXtgWKgkUXz+44U0V/IHWYCHpQO0wChF+9bqyABmQhLbWCHIjYL2bTwydnVqQYUUSt2KEl6lMEP1lSLpPCXK5qCxNjfkVRstSY83Nal7OviicXsuE5Tz5BxmLk4fbAIS+T3QOICdwz2tMNBaZASSX92RJV+p/NGuyQiuVYz8VrDX2FdBxhqzhAFEHNZWwF21BJpmq4XzBr5Q7GUNidnjc50gJ6aJT2RU6n8eNY3O2Bi4F4QxrTV/wVafOpXuU9+DthzPZEi90Z9xuPmHIzJ9N9rQ/Hj8bn2U3n+Cr7FFtjYk62zfhqcV2VmtHE3uoJQ2PPO6xfBz8xK6ZMn9awl3/fYXMG8mMc1LcT/59cJlPJP/Ziz41crHqUowzWzWV4H7GA6cxIk2Q2LnsfvxW6GRy6FDMgqzC0A8cbpu+OUg53rXoRtswF8TgKKLFoyKky9IY952+CbF+Zs689DunXeJzQSYqS1gQIaaTULQIk9tkvVDf5QgHH5w3Tj27Munk44ftG9Z9vYl0iepUYskJLrGzC2FJMAxo3VN93tSU/yrpUGkR02jxaudCDv6/HwM0TmFdSXO1yVkF8kjsQlaSwxeZuP8jc1R44CMi3wfVu2XyJFpbdESdj79Bki7PWlD9IbwZGmhccnhUQj7hsZlEmliO4drHe5ZhPe782CLpuRYf0OXj9pgCnUO2Df61gxWKNa6cjk8Y5KjVgzaxjK2SCWcpk7VUmUxDYNZKHvZFFEd2rzcYPuw9Lbs+Deuvpzi72KrJ4GadJ8OPoD5GUlBx4ETk8nNw6txQMtvh07OPnbXV53AaoHp+9qDXr9JuiTftgn4+5OyvE1VyEzggkVUfsVGGS5gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012ntbtHy5MAtXeSxggrxzrJ",
      "input": {
        "note": "Overshot: the cap's tip now shows at the bottom of the jaw column, just behind the fingertips. Backing up ~3 cm along the tool axis, levelling the wrist, and descending onto the cap.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.53,
          "left_y": -0.315,
          "left_yaw": 0.75,
          "left_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_012ntbtHy5MAtXeSxggrxzrJ",
      "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]: [-0.7666, 3.0474, 2.8941, -1.1736, -1.0855, -1.4258, 0.9965, 0.4732, 1.1706, 0.8486, -0.7029, 0.5148, 0.6392, 0.0701]\nstate[eef_state]: left_x=0.522 left_y=-0.2808 left_z=0.0109 left_yaw=0.7346 left_pitch=0.0976 left_roll=-0.1043 left_gripper=0.9965 right_x=0.2915 right_y=0.0555 right_z=0.1434 right_yaw=-0.3377 right_pitch=-0.2823 right_roll=-0.0307 right_gripper=0.0701\nstate[joint_eff]: [-0.5538, -13.0667, 6.9265, 0.3394, 0.2613, -0.2173, -0.0073, -0.0342, -3.6444, 6.694, 1.1258, 0.2515, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:467215a8a95d3a06a64e307cc6dda86cd9a722ad008a3579505b7f5ca7bd4956",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ac89ec45fd73393f1df577261692ffb42975bbff8d483d8df8163888e18b4e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0db6c7a11223ce543ed86e3214b9858a27e42345db352dc7af3af79a854a0f80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 21.17 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6708, 2.3455, 1.4509, 0.1287, -0.7036, -0.5735, 0.9965, 0.4736, 1.1683, 0.8532, -0.7033, 0.5301, 0.6392, 0.0701]\nstate[eef_state]: left_x=0.506 left_y=-0.2511 left_z=0.0053 left_yaw=0.1921 left_pitch=0.0132 left_roll=-0.0042 left_gripper=0.9965 right_x=0.2926 right_y=0.0536 right_z=0.1468 right_yaw=-0.3465 right_pitch=-0.2684 right_roll=-0.0351 right_gripper=0.0701\nstate[joint_eff]: [-0.6085, -9.3197, 4.0, 0.9646, 0.7057, 0.0464, -0.0073, 0.0752, -3.5214, 7.1863, 1.0818, 0.4518, 0.1197, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.746, 2.8464, 2.4008, -0.4728, -1.0946, -1.1893, 0.9965, 0.4732, 1.1694, 0.8501, -0.7044, 0.5194, 0.6392, 0.0701]\nstate[eef_state]: left_x=0.5579 left_y=-0.2969 left_z=0.0175 left_yaw=0.6865 left_pitch=0.1737 left_roll=-0.2975 left_gripper=0.9965 right_x=0.2916 right_y=0.0548 right_z=0.1444 right_yaw=-0.3406 right_pitch=-0.2787 right_roll=-0.0326 right_gripper=0.0701\nstate[joint_eff]: [0.8957, -7.5966, 2.6051, 0.7155, 0.9011, -1.2039, -0.0171, 0.0068, -3.6581, 6.8034, 1.1062, 0.359, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7666, 3.0474, 2.8941, -1.1736, -1.0855, -1.4258, 0.9965, 0.4732, 1.1706, 0.8486, -0.7029, 0.5148, 0.6392, 0.0701]\nstate[eef_state]: left_x=0.522 left_y=-0.2808 left_z=0.0109 left_yaw=0.7346 left_pitch=0.0976 left_roll=-0.1043 left_gripper=0.9965 right_x=0.2915 right_y=0.0555 right_z=0.1434 right_yaw=-0.3377 right_pitch=-0.2823 right_roll=-0.0307 right_gripper=0.0701\nstate[joint_eff]: [-0.5538, -13.0667, 6.9265, 0.3394, 0.2613, -0.2173, -0.0073, -0.0342, -3.6444, 6.694, 1.1258, 0.2515, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:467215a8a95d3a06a64e307cc6dda86cd9a722ad008a3579505b7f5ca7bd4956",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ac89ec45fd73393f1df577261692ffb42975bbff8d483d8df8163888e18b4e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0db6c7a11223ce543ed86e3214b9858a27e42345db352dc7af3af79a854a0f80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStgcKEAgSGAI4AUIIdGhpbmtpbmcSDBh19kqyTHA5pI79pBoM1FuTx5arA/9u3pFbIjBj/zAK5clcwJEGMh40wO6ZWoQjsXOzzMG258rMgW50t7xi5vhbA9FHpXYHbBf373kq0wbe3SGsnXhmD22eGKQpYWCIiUsPUHUrtXrKDyt6Vyq3ORTdsjPbr9gUiRkz517HNFwahYK7VbbKYEzrsPpmjIY1PKwnJNakBjLDq5o3mLmJ4LtHsyjPHQz5rx6I0k0ZEoz68HtiEDuQjMhvvZHcs6n2aOVRyLvuspMqC4ejuHwmSaP1L4ti7XibmvxE7UnYeVetChwZfTV74f7L7dw5oYYs83q/Ps/Gu1XiXn9QIgO4fwVPP+CBNIWmx44OrbpON6T9axzYilweskWkp1bPcNnJIPccAZbzgS5nu/Js+/XJyFC0dRsEWdUqj9u6TkMoBSMKQGNJUQFUzaDUtHVQaahrV66xis7niWwyLJL4aZqX8EfghHCTh43OgXPGaECyEvnblAiM7beFQCLUHtkEbE0hv2zakiOa1H3V+Q151XN5kNVJ66siA2cT+IgXgTXKZXC9LjSx/WQMAm4RC77Op9DVHSJyvgFJtjuO1XweYEDSNLDswdcpXyYz6IXeSZgzNz9TC1vmUCrpiPaZJXWv+5sVtnwYwWKHjDRDnInemBa7GIyHEUV+Ei5ibfZsBgpYvYdoA4unDzfL4GPRdmL4+lRDmZ8XRbiJQfhKgh+0VaIUZE61nulFwUlt9yZAuE0P/V520TFnazT/5l++0DQ3GHkipEvJC3IyaH/WeLwTowQ4JDhterGv703U4GfYqMDMsoaBSW9Igo6l2iR1bVMXxzsD9zpGYCFo6Cq5KumC9JQzQITv8OamgVVxB4kjaoTeDTlnDN/Z08KMhFTkx+PfLmdjKCYS1XeyCgMIOqk8i/b9OOrl1uOrTiXpW8bLbIF0YoBIsoZIBRyurkRR40CfKL8nm8HHfMvLvip0DYeCfyS4NSRO+3TKnp5Fd2ntwbo2YJH8qKm3wpb7SG1id5XiBlUDynHsMz4m9Uhp5QYk12Sah9L9y7xFwsvaacrIB1uId/24lacRa5C7lVw3slZUKeqeUkShHjNCprCEoFStNh3woGC/leNdTUjImomdtoT1QKGNQnPqMOOsLjJ2Ir7aeZhqifCfJ0sg8Q1a6oel2Y3e2JRK4E33QqXUKWQzmWpDfXOyid8bk9HxzG9TWFtEj19NQD6N0TDce09Ju2ynKTMViNSMXRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DFLG4urAQuWA5wX5DkcGut",
      "input": {
        "note": "The cap is no longer visible ahead of the jaws, so it should be between them under the camera; closing the left gripper.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DFLG4urAQuWA5wX5DkcGut",
      "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]: [-0.7666, 3.0474, 2.9013, -1.2957, -1.0683, -1.4776, 0.0096, 0.4732, 1.1706, 0.8486, -0.7025, 0.514, 0.6388, 0.0701]\nstate[eef_state]: left_x=0.5087 left_y=-0.27 left_z=0.0068 left_yaw=0.7499 left_pitch=0.0719 left_roll=-0.0364 left_gripper=0.0096 right_x=0.2915 right_y=0.0557 right_z=0.1434 right_yaw=-0.3369 right_pitch=-0.2826 right_roll=-0.0302 right_gripper=0.0701\nstate[joint_eff]: [-0.4581, -12.8205, 5.8598, 0.525, 0.149, -0.0415, 0.6764, -0.0752, -3.1932, 6.5573, 1.1746, 0.188, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b689735e593681e771f6684b9feca36ddd36d515890f095045d5a8f9818447b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd86a581e0a65b92b9cac9bf1ff6a714785af0ec46de5a1d330e27489f0333ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:804e5db6ba0c06e5d5dd8b85c70bdc714e95a2c4474eeafec14c772ed6473193",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 9.274 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.746, 2.8464, 2.4008, -0.4728, -1.0946, -1.1893, 0.9965, 0.4732, 1.1694, 0.8501, -0.7044, 0.5194, 0.6392, 0.0701]\nstate[eef_state]: left_x=0.5579 left_y=-0.2969 left_z=0.0175 left_yaw=0.6865 left_pitch=0.1737 left_roll=-0.2975 left_gripper=0.9965 right_x=0.2916 right_y=0.0548 right_z=0.1444 right_yaw=-0.3406 right_pitch=-0.2787 right_roll=-0.0326 right_gripper=0.0701\nstate[joint_eff]: [0.8957, -7.5966, 2.6051, 0.7155, 0.9011, -1.2039, -0.0171, 0.0068, -3.6581, 6.8034, 1.1062, 0.359, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7666, 3.0474, 2.8941, -1.1736, -1.0855, -1.4258, 0.9965, 0.4732, 1.1706, 0.8486, -0.7029, 0.5148, 0.6392, 0.0701]\nstate[eef_state]: left_x=0.522 left_y=-0.2808 left_z=0.0109 left_yaw=0.7346 left_pitch=0.0976 left_roll=-0.1043 left_gripper=0.9965 right_x=0.2915 right_y=0.0555 right_z=0.1434 right_yaw=-0.3377 right_pitch=-0.2823 right_roll=-0.0307 right_gripper=0.0701\nstate[joint_eff]: [-0.5538, -13.0667, 6.9265, 0.3394, 0.2613, -0.2173, -0.0073, -0.0342, -3.6444, 6.694, 1.1258, 0.2515, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7666, 3.0474, 2.9013, -1.2957, -1.0683, -1.4776, 0.0096, 0.4732, 1.1706, 0.8486, -0.7025, 0.514, 0.6388, 0.0701]\nstate[eef_state]: left_x=0.5087 left_y=-0.27 left_z=0.0068 left_yaw=0.7499 left_pitch=0.0719 left_roll=-0.0364 left_gripper=0.0096 right_x=0.2915 right_y=0.0557 right_z=0.1434 right_yaw=-0.3369 right_pitch=-0.2826 right_roll=-0.0302 right_gripper=0.0701\nstate[joint_eff]: [-0.4581, -12.8205, 5.8598, 0.525, 0.149, -0.0415, 0.6764, -0.0752, -3.1932, 6.5573, 1.1746, 0.188, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b689735e593681e771f6684b9feca36ddd36d515890f095045d5a8f9818447b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd86a581e0a65b92b9cac9bf1ff6a714785af0ec46de5a1d330e27489f0333ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:804e5db6ba0c06e5d5dd8b85c70bdc714e95a2c4474eeafec14c772ed6473193",
        "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_01S9Kbf1RNURZzFyNQ75pZXd",
      "input": {
        "note": "Empty close again; the cap is visible just right of the right jaw. Opening and shifting ~3 cm to the tool's right at table level to straddle it.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.1,
          "left_roll": 0.0,
          "left_x": 0.525,
          "left_y": -0.3,
          "left_yaw": 0.75,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01S9Kbf1RNURZzFyNQ75pZXd",
      "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]: [-0.7692, 3.0203, 2.8227, -1.2484, -1.1191, -1.4864, 0.9945, 0.4736, 1.1706, 0.8486, -0.7025, 0.511, 0.6388, 0.0701]\nstate[eef_state]: left_x=0.5098 left_y=-0.2674 left_z=0.0088 left_yaw=0.7577 left_pitch=0.1218 left_roll=-0.0375 left_gripper=0.9945 right_x=0.2914 right_y=0.0563 right_z=0.1431 right_yaw=-0.3344 right_pitch=-0.2845 right_roll=-0.0283 right_gripper=0.0701\nstate[joint_eff]: [-0.6496, -13.5726, 7.5419, 0.3101, -0.2857, 0.0659, 0.1294, -0.0205, -3.5624, 6.612, 1.1746, 0.2369, -0.0366, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa8d327c46cc4ce495cc390b27dbbe8a8a04f0e4f6b47fa5929ade6973c44bbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:849c8ddbff6026de837da10f734f37ed75c3eca3addb541533ccfd175a92973c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e79ba24c6b867e8e84575bed17fb643a244c07a3d26a3735add4ca07efeffce3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 11.1 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7666, 3.0474, 2.8941, -1.1736, -1.0855, -1.4258, 0.9965, 0.4732, 1.1706, 0.8486, -0.7029, 0.5148, 0.6392, 0.0701]\nstate[eef_state]: left_x=0.522 left_y=-0.2808 left_z=0.0109 left_yaw=0.7346 left_pitch=0.0976 left_roll=-0.1043 left_gripper=0.9965 right_x=0.2915 right_y=0.0555 right_z=0.1434 right_yaw=-0.3377 right_pitch=-0.2823 right_roll=-0.0307 right_gripper=0.0701\nstate[joint_eff]: [-0.5538, -13.0667, 6.9265, 0.3394, 0.2613, -0.2173, -0.0073, -0.0342, -3.6444, 6.694, 1.1258, 0.2515, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7666, 3.0474, 2.9013, -1.2957, -1.0683, -1.4776, 0.0096, 0.4732, 1.1706, 0.8486, -0.7025, 0.514, 0.6388, 0.0701]\nstate[eef_state]: left_x=0.5087 left_y=-0.27 left_z=0.0068 left_yaw=0.7499 left_pitch=0.0719 left_roll=-0.0364 left_gripper=0.0096 right_x=0.2915 right_y=0.0557 right_z=0.1434 right_yaw=-0.3369 right_pitch=-0.2826 right_roll=-0.0302 right_gripper=0.0701\nstate[joint_eff]: [-0.4581, -12.8205, 5.8598, 0.525, 0.149, -0.0415, 0.6764, -0.0752, -3.1932, 6.5573, 1.1746, 0.188, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7692, 3.0203, 2.8227, -1.2484, -1.1191, -1.4864, 0.9945, 0.4736, 1.1706, 0.8486, -0.7025, 0.511, 0.6388, 0.0701]\nstate[eef_state]: left_x=0.5098 left_y=-0.2674 left_z=0.0088 left_yaw=0.7577 left_pitch=0.1218 left_roll=-0.0375 left_gripper=0.9945 right_x=0.2914 right_y=0.0563 right_z=0.1431 right_yaw=-0.3344 right_pitch=-0.2845 right_roll=-0.0283 right_gripper=0.0701\nstate[joint_eff]: [-0.6496, -13.5726, 7.5419, 0.3101, -0.2857, 0.0659, 0.1294, -0.0205, -3.5624, 6.612, 1.1746, 0.2369, -0.0366, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa8d327c46cc4ce495cc390b27dbbe8a8a04f0e4f6b47fa5929ade6973c44bbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:849c8ddbff6026de837da10f734f37ed75c3eca3addb541533ccfd175a92973c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e79ba24c6b867e8e84575bed17fb643a244c07a3d26a3735add4ca07efeffce3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS7Q8KEAgSGAI4AUIIdGhpbmtpbmcSDKraDxB57D+m9MxVQRoMnQ/GIXpOCAMBRXA3IjAOU8uuCI8RsB+v1/BuK7gS9qwEmcxza9PLVuAtOisxw5opPq5li2FH2AsMv9eXQZsqig9eqJifGaMfXnH+SwdD1yfR6j8RVqGm6nUVLzohYqC9v9ym8uABz6lX03JBmt9+8PbNfGhRHXUM0pZt9XhFVyz/MmyfAupzqAL056bbHLf4+8Kr3TbqYJCLxyRiMHlnS+awNkLjKDG5zzmV/XM7kwp2PcaYJxUgm9ZuR28dtu/Sl1lPiDO46CboKMY63rYVbrROmM6UvVy3d2uvouDk9E+YOENgBPOlTS5B9By6Bzgk5VB3bICoDzgd35Z3jZO/A9Yp/zMeu5vgU+L68M/sNU3QoK09p8j22PSPC5+a7wD8tXufi2elZB4xPidyppbkG9rY60bbbmbeg7pzvIiUdSWd5wNsQSWvQXwltNKJFuFQ92Whapk2YfN3b+oaUjCwa/yd8AuiA9EA/1GwzBEWyeM5nG93PXlEScHVpA6SGKJ5HAZja+8LO+Gk5RQUxD/z7H/RlW+iVg9SRheUR1/3xo/c2kkqxNstNugSniAZfD86R3XK8TOzod4MISa175YgK39Eti/aG5WqeXl0V/pCwxcD139mgfo2FvMzfpcLHc1YpM62E0CRXHFcJTsJridq26GHf6kFLX2GrhJN1TiCilMqmXl1b2LAmEdHDqT28PfukYgdusSlYHDjFPKlyI1kt4OJsh+goFUtUXRRdGs93rWDEzKV9uwsNFtG2YMRameWDlTIj9aktVOepN1vkT99C9yjd6IiG2lZ3EbpcdUIfxBoKrdQ+dU8H15Nb5kkGBoAV7fbEBS0gleujWczKG0QOnxOVXWHm+XBLLI8ExDPAwt44RDlQaEE7lAQmCY4uaVK8Z9He/aq6/CAJjYAVYUhTmDv63pSp+v66KAD8R6vDwimJdepEcLrZiOqQHE6RqNDwZQkveo/QHxaRTAbVhdTxV1TwS3GH/DkKT3WncRhCOKb0mKaa5oGpQeTyMVJPz5eK9gSrnEQtsxUCwJiHy9t5lr712TDFX0hJ7shGq+tC8sMih8b3EH9KVspUBtM84rnNjHCXDOf8TqFU8u8ya0CrzNFYELKvPPjTPd3qd/jzb/Yw5q9lLIO83cQg7PJs9xESrFFa/V4UcZfkbk1x1f4EaBtjfbM4n4jCmK5gF3eGsA4bJG3wwdPCxFgmLK71UMBSrCYv/Si4acpktbbr09vQyh9FWHZBsViX72znMOhIbSNCD8BQEtpoT+olKBGKfT4fJMILVtaVcEIp7ep9U73M3XsT8ds+XCzsR6MOBlZdAk9AqeMmFwGkn9grez41c3XO7ceOdkYiRVRoyrC3tfRm4BPhZtg0UrSaW89WIKtLsraVQertFxkjF0V+/RsrviZvKSkzjVf2J1S/SMI6VQs3OKauk1IqiQGqmORAk8B7h8YBMlx6Wql1uXxsPjUwiKurtZnpzhyp0711VE25bWI27s4C3oJYuCPmEwbWcXyCII1XkSKRwSt5cEsG1L16Xe0L47msWoyiQTRq5rd+Vu8i4AVhyt6StvqK1EI7GahJRdEywxLy7AmGCB038qPoCkmmwj8MohNcEDYPTs7RbkqnTMnQbDWpHWLNJd9Yv7RnQBU5revDYUOmkXWqVYh/MeEjXPva4LvgSdU1wj774g9WHwo+LEPazYB1C6/k+P7HRH48fYb1wBySSpZPGWewU1R4NFc5EvpnacUs+lZlErjDqbXNncq8WlOfeeJUe+0Tbtty6uyHpWZZMEErCOU82ZJOXqrD8E3X+iU+o9+MBzL5Vho7fqK0p8uRmvQ9zZonxC5x6cVsG2Vn1MGN3YK2EUjEoCFNaXE9A2hkSY9Mqsk4h5NLsDvqX04aBpIBZ1a+Q/wdUdmHVf4tEFRhOdOccr4kDs6cNR3jTbQDSa3/7CYfzIBH7/vdO4+14IcSKSEXqNF17q9zSJiNP9t1eiLuxnpxxJm2nWnxh8M0/SWH2ALMn+5V5ypXTY4O88CI5RXj696Wudwi2vPBai44pe/GzmCvaV3aoRu8k9BxO/XlFdofBehEVugzietwBKbsjPdsJQp9tZC5zmKJV6dSpEZ7v/vx2ClwMMhUdI5gll8uvXjO7GDbIj7iH2JOLJ2OWW1Y5DNxdxu+4L5uo9IUI8achXFYVoP2os0X7QPI7T3HDHNuw3aZFvvrrugWo8xx5tKZyA6Ge6KOkzbNHRvcFLOGttd7XLJ3v6BmWcGwZESWpBsyzACq1RR5x6dtNdJZYyjfwyd45NFeXU0MVDu+T50UXBnMHF6cHmrk4vsI8qLZjJvKr42K+85MgqwnTkpaMIF9yteql10QgoEmPEd5ZWdaPozntBkhNZjrq5DbVn4jCQEOPGYmXrNbw9cER+FVL8f+D3/fn+lsQtp/B/nJtHmpLK0pdC4/EeJBANSOcIxknLbGpha3KLOPzwLAyu/g4ABP9ER/LCjapzI2mCUWGK8VrihI4EFZJVJ8N51e/bjisAn0JjtZTD4EWj8b0+/KOT2HnEvdFY2akRGf5/78N6AZ8OgiefqpQr9szu5MnGl0OtyQla5aPvF/zb5ae781EloKDC2uXKkBAb7PAcrtEZrjXXGbT8/V86rN1myxGAZi7LL1vYGYTQBO+xVkOdNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YVKkXg1hTd4qtMkiv2aDQ5",
      "input": {
        "note": "The left arm is at the limit of its reach and can't get over the cap, which sits against the outside of the right finger. Sweeping back low to try to drag the cap closer to the base.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.43,
          "left_y": -0.29,
          "left_yaw": 0.75,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01YVKkXg1hTd4qtMkiv2aDQ5",
      "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]: [-0.8791, 2.7644, 2.326, -1.2018, -1.0679, -1.6859, 0.995, 0.4736, 1.1706, 0.8486, -0.7025, 0.5102, 0.6388, 0.0701]\nstate[eef_state]: left_x=0.442 left_y=-0.2854 left_z=0.005 left_yaw=0.7364 left_pitch=0.0685 left_roll=-0.0207 left_gripper=0.995 right_x=0.2914 right_y=0.0564 right_z=0.1431 right_yaw=-0.3339 right_pitch=-0.2849 right_roll=-0.0279 right_gripper=0.0701\nstate[joint_eff]: [-0.7726, -16.6496, 4.9026, 0.149, -0.0073, 0.0024, 0.0317, -0.0479, -3.6171, 6.7214, 1.199, 0.188, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57b5787efb0f4abc4ee02d16eb639ea66209be102fff19e669f22fce2a7f8577",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0d313bc49c7319fb7f5f06105288736320652c4cabef530231f0bf963c6a01b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d95d9b8e8285674dbf018575e43042448585f636a846b20f182a1383f6d0c827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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