adhoc - adhoc_254802b3.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: 16000
max_speed_frac: 0.25
model: claude-opus-5
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: 516.1 s
total steps: 287

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteTop view shows a small pen cap on the left half (~14 cm left of centre) and a longer pen on the right half. Moving the left arm to hover 15 cm above the estimated cap position to inspect it in the wrist camera.

move_to

left_x0.3600left_y-0.1800left_z0.1500left_gripper1.0000

agent noteSimultaneously moving the right arm to hover above the estimated pen position on the right half of the table to inspect it.

move_to

right_x0.3600right_y0.2500right_z0.1500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7933, 0.6025, -0.3801, -0.0219, -0.0246, 0.9998, -0.0196, 0.7906, 0.6094, -0.3767, -0.0208, -0.0158, 0.999] state[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1795 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0015 right_z=0.1841 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.999 state[joint_eff]: [-0.335, -1.5248, 10.4684, 1.7656, -0.0073, 0.0952, -0.0366, -0.5949, -1.1829, 9.7983, 1.7705, -0.0464, 0.0024, -0.1197] 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": 0.36, "left_y": -0.18, "left_z": 0.15, "left_gripper": 1}, "note": "Top view shows a small pen cap on the left half (~14 cm left of centre) and a longer pen on the right half. Moving the left arm to hover 15 cm above the estimated cap position to inspect it in the wrist camera."})

move_to({"targets": {"right_x": 0.36, "right_y": 0.25, "right_z": 0.15, "right_gripper": 1}, "note": "Simultaneously moving the right arm to hover above the estimated pen position on the right half of the table to inspect it."})

tool

executing move_to over 17 steps (1.7s)

tool

ignored: one tool call per turn

step 17

assistant

agent noteLeft wrist camera shows the pen cap slightly left of and above the jaw column, meaning it is a few cm farther out and to the arm's left. Nudging out (+x) and toward +y to centre it.

move_to

left_x0.4000left_y-0.1500left_z0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7113, 1.433, 0.8227, -0.1665, -0.564, -0.4473, 0.9998, -0.02, 0.7979, 0.6132, -0.3901, -0.0208, -0.0158, 0.9989] state[eef_state]: left_x=0.3484 left_y=-0.1708 left_z=0.1286 left_yaw=-0.0168 left_pitch=-0.0641 left_roll=0.0377 left_gripper=0.9998 right_x=0.2948 right_y=0.0014 right_z=0.1811 right_yaw=-0.0004 right_pitch=-0.0168 right_roll=0.0003 right_gripper=0.9989 state[joint_eff]: [-0.4171, -6.2701, 9.5521, 1.7705, -0.3785, -0.0269, -0.0366, -0.0889, -1.6205, 6.7624, 1.8486, -0.0464, -0.0513, -0.0171] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.15, "left_z": 0.1}, "note": "Left wrist camera shows the pen cap slightly left of and above the jaw column, meaning it is a few cm farther out and to the arm's left. Nudging out (+x) and toward +y to centre it."})

tool

executing move_to over 4 steps (0.4s)

step 21

assistant

agent noteCap is now near the jaw column but still above the jaw row in the left wrist view, so it is still a couple of cm farther out. Advancing radially and slightly left again.

move_to

left_x0.4200left_y-0.1300left_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]: [-0.5545, 1.589, 0.8291, -0.0364, -0.4847, -0.3733, 0.9998, -0.02, 0.7998, 0.6128, -0.3931, -0.0204, -0.0158, 0.9989] state[eef_state]: left_x=0.3871 left_y=-0.1387 left_z=0.089 left_yaw=0.0408 left_pitch=-0.1158 left_roll=0.063 left_gripper=0.9998 right_x=0.2945 right_y=0.0013 right_z=0.1797 right_yaw=-0.0007 right_pitch=-0.0221 right_roll=0.0002 right_gripper=0.9989 state[joint_eff]: [-0.3077, -7.6376, 6.8991, 1.8388, -0.0464, 0.1978, -0.0171, -0.1846, -1.4291, 7.159, 1.79, -0.0366, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": -0.13, "left_z": 0.08}, "note": "Cap is now near the jaw column but still above the jaw row in the left wrist view, so it is still a couple of cm farther out. Advancing radially and slightly left again."})

tool

executing move_to over 3 steps (0.3s)

step 24

assistant

agent noteThe left wrist view shows a short tapered object (the pen cap) just left of the jaw column; the pen itself is the long thin object seen in the right wrist camera. Shifting 2.5 cm toward the arm's left and descending to 3 cm to line up on the cap.

move_to

left_x0.4000left_y-0.1100left_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]: [-0.5301, 1.6222, 0.8291, -0.0044, -0.4599, -0.35, 0.9997, -0.02, 0.7998, 0.6128, -0.3939, -0.0208, -0.0154, 0.9989] state[eef_state]: left_x=0.3933 left_y=-0.1355 left_z=0.0799 left_yaw=0.0335 left_pitch=-0.1274 left_roll=0.0667 left_gripper=0.9997 right_x=0.2944 right_y=0.0014 right_z=0.1796 right_yaw=-0.0006 right_pitch=-0.0229 right_roll=0.0008 right_gripper=0.9989 state[joint_eff]: [0.4171, -6.8308, 7.747, 1.5507, -0.2759, -0.0415, -0.0171, -0.3214, -1.1829, 7.4051, 1.7802, -0.0513, -0.0464, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.11, "left_z": 0.03}, "note": "The left wrist view shows a short tapered object (the pen cap) just left of the jaw column; the pen itself is the long thin object seen in the right wrist camera. Shifting 2.5 cm toward the arm's left and descending to 3 cm to line up on the cap."})

tool

executing move_to over 4 steps (0.4s)

step 28

assistant

agent noteThe left arm has stopped tracking (position unchanged over the last two commands), suggesting contact or a stalled pose. Lifting back up to 13 cm and levelling the wrist to free it.

move_to

left_x0.3900left_y-0.1100left_z0.1300left_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]: [-0.5304, 1.6241, 0.8291, -0.0147, -0.4633, -0.35, 0.9998, -0.02, 0.8017, 0.6128, -0.3962, -0.0204, -0.0154, 0.9989] state[eef_state]: left_x=0.3919 left_y=-0.1341 left_z=0.0777 left_yaw=0.0367 left_pitch=-0.1364 left_roll=0.0754 left_gripper=0.9998 right_x=0.2942 right_y=0.0013 right_z=0.1786 right_yaw=-0.0009 right_pitch=-0.0271 right_roll=0.0006 right_gripper=0.9989 state[joint_eff]: [0.1026, -7.2547, 7.8701, 1.5067, -0.2613, -0.0562, -0.0073, -0.0479, -1.4564, 7.0359, 1.7656, -0.0171, -0.022, -0.0122] 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": 0.39, "left_y": -0.11, "left_z": 0.13, "left_pitch": 0.0}, "note": "The left arm has stopped tracking (position unchanged over the last two commands), suggesting contact or a stalled pose. Lifting back up to 13 cm and levelling the wrist to free it."})

tool

executing move_to over 5 steps (0.5s)

step 33

assistant

agent noteLeft arm is frozen at the same pose despite commands; attempting a large retract toward home to see whether it will move at all.

move_to

left_x0.3000left_y-0.0500left_z0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5304, 1.6241, 0.8291, -0.0151, -0.4629, -0.35, 0.9997, -0.02, 0.8017, 0.6128, -0.3965, -0.0208, -0.0158, 0.9989] state[eef_state]: left_x=0.3918 left_y=-0.1342 left_z=0.0776 left_yaw=0.0364 left_pitch=-0.1368 left_roll=0.0754 left_gripper=0.9997 right_x=0.2941 right_y=0.0014 right_z=0.1785 right_yaw=-0.0004 right_pitch=-0.0275 right_roll=0.0005 right_gripper=0.9989 state[joint_eff]: [0.1299, -7.2547, 7.8427, 1.4676, -0.2564, -0.0464, -0.0171, -0.1983, -1.306, 7.1179, 1.7607, -0.0122, -0.0659, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.2}, "note": "Left arm is frozen at the same pose despite commands; attempting a large retract toward home to see whether it will move at all."})

tool

executing move_to over 8 steps (0.8s)

step 41

assistant

agent noteThe arm moved freely once retracted, so the earlier freeze was a pose/reach limit. Top view now clearly shows the cap at the left and the pen at centre-right. Approaching a hover point above the cap at 15 cm.

move_to

left_x0.3700left_y-0.1200left_z0.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3943, 1.0313, 0.8215, -0.5434, -0.3828, -0.2707, 0.9997, -0.02, 0.8051, 0.6128, -0.4114, -0.0208, -0.0154, 0.9989] state[eef_state]: left_x=0.3104 left_y=-0.0538 left_z=0.1863 left_yaw=0.0627 left_pitch=-0.1182 left_roll=0.059 left_gripper=0.9997 right_x=0.2923 right_y=0.0014 right_z=0.1745 right_yaw=-0.0006 right_pitch=-0.0458 right_roll=0.0012 right_gripper=0.9989 state[joint_eff]: [0.2393, -2.8376, 9.9761, 1.6044, 0.022, 0.1197, -0.0122, -0.0615, -1.5932, 6.9949, 1.9072, -0.0415, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.37, "left_y": -0.12, "left_z": 0.15}, "note": "The arm moved freely once retracted, so the earlier freeze was a pose/reach limit. Top view now clearly shows the cap at the left and the pen at centre-right. Approaching a hover point above the cap at 15 cm."})

tool

executing move_to over 6 steps (0.6s)

step 47

assistant

agent noteCap is nearly on the jaw column in the left wrist view but higher in the frame, so it is farther out. Descending straight down to near table height to re-judge the remaining radial offset at grasp height.

move_to

left_x0.3500left_y-0.1100left_z0.0200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5274, 1.3872, 0.8783, -0.3916, -0.4557, -0.3653, 0.9997, -0.02, 0.807, 0.6128, -0.4137, -0.0208, -0.0158, 0.9989] state[eef_state]: left_x=0.3495 left_y=-0.1095 left_z=0.1255 left_yaw=0.0509 left_pitch=-0.215 left_roll=0.1091 left_gripper=0.9997 right_x=0.2921 right_y=0.0014 right_z=0.1735 right_yaw=-0.0004 right_pitch=-0.05 right_roll=0.001 right_gripper=0.9989 state[joint_eff]: [-0.4581, -6.188, 9.6479, 1.6532, -0.2906, 0.0024, -0.0122, -0.335, -1.4427, 6.9949, 1.7314, -0.0659, -0.0562, -0.0122] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.35, "left_y": -0.11, "left_z": 0.02}, "note": "Cap is nearly on the jaw column in the left wrist view but higher in the frame, so it is farther out. Descending straight down to near table height to re-judge the remaining radial offset at grasp height."})

tool

executing move_to over 7 steps (0.7s)

step 54

assistant

agent noteThe object in the left wrist view turns out to be the pen itself seen past the fingertips; I have lost track of the cap. Retracting the left arm toward home to clear the overhead view and locate the cap.

move_to

left_x0.2000left_y0.0000left_z0.1200left_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]: [-0.5308, 1.6096, 0.6285, 0.0113, -0.4564, -0.3798, 0.9997, -0.02, 0.8074, 0.6128, -0.4133, -0.0208, -0.0158, 0.9989] state[eef_state]: left_x=0.3393 left_y=-0.1047 left_z=0.0171 left_yaw=0.0656 left_pitch=-0.2714 left_roll=0.139 left_gripper=0.9997 right_x=0.2922 right_y=0.0014 right_z=0.1735 right_yaw=-0.0004 right_pitch=-0.05 right_roll=0.001 right_gripper=0.9989 state[joint_eff]: [-0.0615, -6.3111, 5.2991, 1.4676, -0.2125, 0.1148, -0.0122, -0.335, -1.3197, 7.1179, 1.6972, -0.0317, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.2, "left_y": 0.0, "left_z": 0.12, "left_pitch": 0.0}, "note": "The object in the left wrist view turns out to be the pen itself seen past the fingertips; I have lost track of the cap. Retracting the left arm toward home to clear the overhead view and locate the cap."})

tool

executing move_to over 11 steps (1.1s)

step 65

assistant

agent noteWith both arms clear, the overhead view shows the small cap at left (~col 72) and the thin pen at centre-right. Moving the left arm to hover 10 cm above my refined cap estimate (x≈0.36, y≈−0.17).

move_to

left_x0.3600left_y-0.1700left_z0.1000left_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]: [-0.495, 0.2958, 0.3092, -0.6216, -0.5247, -0.2653, 0.9997, -0.02, 0.8112, 0.6125, -0.4126, -0.0208, -0.0158, 0.9989] state[eef_state]: left_x=0.2151 left_y=-0.0115 left_z=0.125 left_yaw=0.07 left_pitch=0.0515 left_roll=0.0706 left_gripper=0.9997 right_x=0.2925 right_y=0.0014 right_z=0.1725 right_yaw=-0.0004 right_pitch=-0.0534 right_roll=0.0011 right_gripper=0.9989 state[joint_eff]: [0.4171, 2.4274, 8.7726, 1.8681, -0.2369, 0.2173, -0.0122, -0.1983, -1.3607, 7.2, 1.6777, -0.022, -0.0806, -0.0122] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_y": -0.17, "left_z": 0.1, "left_pitch": 0.0}, "note": "With both arms clear, the overhead view shows the small cap at left (~col 72) and the thin pen at centre-right. Moving the left arm to hover 10 cm above my refined cap estimate (x\u22480.36, y\u2248\u22120.17)."})

tool

executing move_to over 15 steps (1.5s)

step 80

assistant

agent noteThe left wrist camera now clearly shows the pen cap slightly left of the jaw column and above it, so it is a bit farther out and to the arm's left. Nudging +1.5 cm out, 3 cm left and descending to 5 cm.

move_to

left_x0.3750left_y-0.1900left_z0.0500left_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]: [-0.7338, 1.5455, 0.7246, -0.0093, -0.6815, -0.4808, 0.9997, -0.02, 0.8162, 0.6125, -0.4152, -0.0208, -0.0158, 0.9989] state[eef_state]: left_x=0.3473 left_y=-0.1585 left_z=0.0847 left_yaw=0.0658 left_pitch=-0.0443 left_roll=0.1088 left_gripper=0.9997 right_x=0.2924 right_y=0.0014 right_z=0.1706 right_yaw=-0.0003 right_pitch=-0.061 right_roll=0.0012 right_gripper=0.9989 state[joint_eff]: [-0.4308, -6.8444, 8.1299, 1.5702, -0.3834, 0.0122, -0.0122, -0.3624, -1.7026, 6.9949, 1.7021, -0.0366, -0.0611, -0.0122] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.375, "left_y": -0.19, "left_z": 0.05, "left_pitch": 0.0}, "note": "The left wrist camera now clearly shows the pen cap slightly left of the jaw column and above it, so it is a bit farther out and to the arm's left. Nudging +1.5 cm out, 3 cm left and descending to 5 cm."})

tool

executing move_to over 3 steps (0.3s)

step 83

assistant

agent noteCap sits left of and well above the jaw column at 3.8 cm height, so I need to advance radially. Probing +3 cm in x to measure how far the cap shifts down the wrist image.

move_to

left_x0.3900left_y-0.1850left_z0.0350left_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]: [-0.754, 1.7687, 0.7628, 0.1226, -0.7036, -0.4889, 0.9997, -0.02, 0.8192, 0.6125, -0.416, -0.0208, -0.0158, 0.9989] state[eef_state]: left_x=0.3604 left_y=-0.1768 left_z=0.0379 left_yaw=0.0671 left_pitch=-0.0681 left_roll=0.1523 left_gripper=0.9997 right_x=0.2924 right_y=0.0014 right_z=0.1696 right_yaw=-0.0003 right_pitch=-0.0648 right_roll=0.0013 right_gripper=0.9989 state[joint_eff]: [-0.294, -9.8803, 7.9932, 1.5751, -0.5201, 0.1099, -0.0122, -0.1573, -1.4017, 7.1043, 1.6874, -0.0855, -0.0611, -0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.39, "left_y": -0.185, "left_z": 0.035, "left_pitch": 0.0}, "note": "Cap sits left of and well above the jaw column at 3.8 cm height, so I need to advance radially. Probing +3 cm in x to measure how far the cap shifts down the wrist image."})

tool

executing move_to over 3 steps (0.3s)

step 86

assistant

agent noteThe arm has hit a shoulder limit at x≈0.363 with the tool vertical, so it cannot reach the cap. Pitching the wrist forward should extend the fingertips further out; commanding pitch 0.45 with x=0.41.

move_to

left_x0.4100left_y-0.1850left_z0.0400left_pitch0.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7601, 1.8168, 0.7639, 0.1764, -0.7105, -0.4892, 0.9997, -0.02, 0.8196, 0.6125, -0.4168, -0.0204, -0.0158, 0.9989] state[eef_state]: left_x=0.3633 left_y=-0.1814 left_z=0.0283 left_yaw=0.0655 left_pitch=-0.0595 left_roll=0.1506 left_gripper=0.9997 right_x=0.2924 right_y=0.0013 right_z=0.1693 right_yaw=-0.0007 right_pitch=-0.066 right_roll=0.0011 right_gripper=0.9989 state[joint_eff]: [0.0068, -9.6342, 7.2684, 1.5849, -0.4127, 0.1099, -0.0122, -0.1162, -1.4154, 7.1863, 1.6874, -0.0366, -0.0513, -0.0122] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.41, "left_y": -0.185, "left_z": 0.04, "left_pitch": 0.45}, "note": "The arm has hit a shoulder limit at x\u22480.363 with the tool vertical, so it cannot reach the cap. Pitching the wrist forward should extend the fingertips further out; commanding pitch 0.45 with x=0.41."})

tool

executing move_to over 17 steps (1.7s)

step 103

assistant

agent notePitching forward freed the reach: the cap now appears near the bottom-left of the wrist view, just left of the jaws. Shifting ~3.5 cm toward the arm's left and pulling back 1 cm to centre it between the jaws.

move_to

left_x0.3950left_y-0.1450left_z0.0300left_pitch0.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7464, 2.2333, 0.6693, 1.2633, -0.8837, -0.0711, 0.9986, -0.02, 0.823, 0.6125, -0.4191, -0.0208, -0.0158, 0.9989] state[eef_state]: left_x=0.4022 left_y=-0.1811 left_z=0.0218 left_yaw=0.0527 left_pitch=0.3719 left_roll=0.1866 left_gripper=0.9986 right_x=0.2922 right_y=0.0014 right_z=0.1679 right_yaw=-0.0003 right_pitch=-0.0717 right_roll=0.0014 right_gripper=0.9989 state[joint_eff]: [0.5949, -8.5675, 4.6564, 2.044, -0.1978, 0.1685, -0.1245, -0.212, -1.6615, 7.0906, 1.7167, -0.0611, -0.0757, -0.0122] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.395, "left_y": -0.145, "left_z": 0.03, "left_pitch": 0.45}, "note": "Pitching forward freed the reach: the cap now appears near the bottom-left of the wrist view, just left of the jaws. Shifting ~3.5 cm toward the arm's left and pulling back 1 cm to centre it between the jaws."})

tool

executing move_to over 4 steps (0.4s)

step 107

assistant

agent noteCap is now just left of and slightly below the jaw convergence point; the last move gave a scale of ~9 px/cm. Shifting 2 cm further left, pulling back ~1.7 cm and dropping to table height for the grasp.

move_to

left_x0.3780left_y-0.1250left_z0.0100left_pitch0.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6823, 2.2581, 0.5594, 1.478, -0.8509, 0.0021, 0.9985, -0.02, 0.823, 0.6125, -0.4194, -0.0204, -0.0158, 0.9989] state[eef_state]: left_x=0.3949 left_y=-0.1451 left_z=0.0248 left_yaw=0.0689 left_pitch=0.4154 left_roll=0.1971 left_gripper=0.9985 right_x=0.2922 right_y=0.0013 right_z=0.1679 right_yaw=-0.0007 right_pitch=-0.0721 right_roll=0.0012 right_gripper=0.9989 state[joint_eff]: [0.0479, -7.0632, 2.0855, 1.8144, 0.0757, 0.105, -0.022, -0.0068, -1.2923, 7.2, 1.6825, -0.0464, -0.0659, -0.0122] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.378, "left_y": -0.125, "left_z": 0.01, "left_pitch": 0.45}, "note": "Cap is now just left of and slightly below the jaw convergence point; the last move gave a scale of ~9 px/cm. Shifting 2 cm further left, pulling back ~1.7 cm and dropping to table height for the grasp."})

tool

executing move_to over 2 steps (0.2s)

step 109

assistant

agent noteThe arm stalled again without reaching the commanded x/y at 3 cm height, suggesting the tilted gripper is touching the table. Lifting to 8 cm at the same target to see whether it tracks freely there.

move_to

left_x0.3780left_y-0.1250left_z0.0800left_pitch0.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6743, 2.2734, 0.5468, 1.5539, -0.8371, 0.0208, 0.9985, -0.02, 0.823, 0.6125, -0.4194, -0.0208, -0.0158, 0.9989] state[eef_state]: left_x=0.3948 left_y=-0.143 left_z=0.03 left_yaw=0.0685 left_pitch=0.4468 left_roll=0.1793 left_gripper=0.9985 right_x=0.2922 right_y=0.0014 right_z=0.1679 right_yaw=-0.0003 right_pitch=-0.0721 right_roll=0.0014 right_gripper=0.9989 state[joint_eff]: [-0.1162, -8.1573, 1.9624, 1.8242, -0.0171, 0.1148, -0.0122, -0.2393, -1.2786, 6.9949, 1.6532, -0.0171, -0.0513, -0.0122] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.378, "left_y": -0.125, "left_z": 0.08, "left_pitch": 0.45}, "note": "The arm stalled again without reaching the commanded x/y at 3 cm height, suggesting the tilted gripper is touching the table. Lifting to 8 cm at the same target to see whether it tracks freely there."})

tool

executing move_to over 4 steps (0.4s)

step 113

assistant

agent noteThe arm is frozen in pose but the cap appears to lie right between the open jaws at table level; trying a close here to see if it captures the cap.

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]: [-0.6743, 2.2734, 0.5468, 1.5562, -0.8375, 0.0208, 0.9985, -0.02, 0.8234, 0.6125, -0.4194, -0.0204, -0.0154, 0.9989] state[eef_state]: left_x=0.3949 left_y=-0.143 left_z=0.0305 left_yaw=0.0696 left_pitch=0.4486 left_roll=0.1776 left_gripper=0.9985 right_x=0.2922 right_y=0.0013 right_z=0.1677 right_yaw=-0.0009 right_pitch=-0.0725 right_roll=0.0015 right_gripper=0.9989 state[joint_eff]: [-0.2256, -7.9658, 1.9897, 1.7607, -0.0122, 0.0513, -0.0122, -0.3487, -1.3197, 7.0496, 1.6777, -0.0171, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The arm is frozen in pose but the cap appears to lie right between the open jaws at table level; trying a close here to see if it captures the cap."})

tool

executing move_to over 10 steps (1.0s)

step 123

assistant

agent noteThe close came back empty (0.009) and the cap is still on the table just beyond the jaws; the arm also freezes for small commands in this stretched pose. Retracting well back to reset the arm before a fresh, larger approach.

move_to

left_x0.2800left_y-0.0800left_z0.2200left_pitch0.0000left_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]: [-0.6743, 2.2734, 0.5468, 1.5558, -0.8383, 0.0242, 0.0086, -0.02, 0.8234, 0.6125, -0.4198, -0.0208, -0.0154, 0.9989] state[eef_state]: left_x=0.3948 left_y=-0.1428 left_z=0.0304 left_yaw=0.0681 left_pitch=0.448 left_roll=0.1818 left_gripper=0.0086 right_x=0.2921 right_y=0.0014 right_z=0.1677 right_yaw=-0.0005 right_pitch=-0.0728 right_roll=0.0017 right_gripper=0.9989 state[joint_eff]: [-0.3214, -8.6496, 2.0034, 1.6581, -0.0317, -0.0464, 0.6813, -0.2256, -1.3744, 7.0222, 1.7021, -0.0317, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.28, "left_y": -0.08, "left_z": 0.22, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The close came back empty (0.009) and the cap is still on the table just beyond the jaws; the arm also freezes for small commands in this stretched pose. Retracting well back to reset the arm before a fresh, larger approach."})

tool

executing move_to over 15 steps (1.5s)

step 138

assistant

agent noteArm is reset and free; from the overhead and wrist views the cap sits at roughly x≈0.42, y≈−0.115 in the left frame. Making one large approach move to hover just above it with the wrist pitched forward (the pose that gives the needed reach).

move_to

left_x0.4100left_y-0.1150left_z0.0700left_pitch0.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.701, 0.9905, 0.8066, -0.5285, -0.7387, -0.3618, 0.9967, -0.02, 0.8295, 0.6125, -0.4282, -0.0208, -0.0158, 0.9989] state[eef_state]: left_x=0.2923 left_y=-0.0863 left_z=0.2159 left_yaw=0.0763 left_pitch=0.0582 left_roll=0.154 left_gripper=0.9967 right_x=0.2912 right_y=0.0014 right_z=0.1644 right_yaw=-0.0003 right_pitch=-0.0873 right_roll=0.0017 right_gripper=0.9989 state[joint_eff]: [-0.4581, -3.1795, 9.306, 1.3553, -0.2125, 0.0317, -0.022, -0.1709, -1.894, 7.0496, 1.7998, -0.0659, -0.0611, -0.0122] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.41, "left_y": -0.115, "left_z": 0.07, "left_pitch": 0.45}, "note": "Arm is reset and free; from the overhead and wrist views the cap sits at roughly x\u22480.42, y\u2248\u22120.115 in the left frame. Making one large approach move to hover just above it with the wrist pitched forward (the pose that gives the needed reach)."})

tool

executing move_to over 14 steps (1.4s)

step 152

assistant

agent noteThe cap now sits just right of the jaw gap and low in the wrist frame, so it is about 2 cm to the arm's right and essentially under the fingertips. Shifting right and dropping to table level for the grasp.

move_to

left_x0.4050left_y-0.1280left_z0.0050left_pitch0.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5652, 2.0304, 0.4755, 1.2297, -0.7246, -0.0143, 0.9978, -0.02, 0.8349, 0.6125, -0.4393, -0.0208, -0.0158, 0.9989] state[eef_state]: left_x=0.3965 left_y=-0.1085 left_z=0.0402 left_yaw=0.0583 left_pitch=0.315 left_roll=0.2227 left_gripper=0.9978 right_x=0.2898 right_y=0.0015 right_z=0.1607 right_yaw=-0.0003 right_pitch=-0.1037 right_roll=0.002 right_gripper=0.9989 state[joint_eff]: [0.3761, -8.9778, 4.3966, 2.2784, -0.1294, 0.1734, 0.1001, -0.0752, -1.7983, 7.0769, 1.7314, -0.0562, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.405, "left_y": -0.128, "left_z": 0.005, "left_pitch": 0.45}, "note": "The cap now sits just right of the jaw gap and low in the wrist frame, so it is about 2 cm to the arm's right and essentially under the fingertips. Shifting right and dropping to table level for the grasp."})

tool

executing move_to over 5 steps (0.5s)

step 157

assistant

agent noteThe cap now sits centred between the open jaws at table level in the wrist view. Closing the gripper to grasp it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6147, 2.3249, 0.59, 1.5764, -0.7921, 0.0204, 0.9979, -0.02, 0.8371, 0.6125, -0.44, -0.0204, -0.0158, 0.9989] state[eef_state]: left_x=0.4111 left_y=-0.1319 left_z=0.0225 left_yaw=0.091 left_pitch=0.4525 left_roll=0.1623 left_gripper=0.9979 right_x=0.2898 right_y=0.0014 right_z=0.16 right_yaw=-0.0006 right_pitch=-0.1068 right_roll=0.0019 right_gripper=0.9989 state[joint_eff]: [-0.4581, -7.5009, 2.441, 1.5214, -0.0952, 0.2955, -0.0073, -0.0068, -1.6479, 6.9949, 1.6239, -0.0122, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The cap now sits centred between the open jaws at table level in the wrist view. Closing the gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 167

assistant

agent noteThe close was empty again and the cap has vanished from the wrist view, meaning it is now nearer than the fingertips (hidden below the frame). Reopening and pulling back 2 cm while pressing down to table level to get the jaws around it.

move_to

left_gripper1.0000left_x0.3920left_z-0.0050left_pitch0.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6228, 2.3425, 0.6106, 1.5764, -0.8078, 0.0628, 0.0094, -0.02, 0.8375, 0.6125, -0.4397, -0.0204, -0.0158, 0.9989] state[eef_state]: left_x=0.4129 left_y=-0.1349 left_z=0.0203 left_yaw=0.0735 left_pitch=0.452 left_roll=0.2087 left_gripper=0.0094 right_x=0.2899 right_y=0.0014 right_z=0.1599 right_yaw=-0.0006 right_pitch=-0.1068 right_roll=0.0019 right_gripper=0.9989 state[joint_eff]: [-0.2256, -8.4444, 2.3726, 1.6386, -0.0366, 0.0366, 0.6716, -0.3624, -1.3197, 6.9812, 1.6484, -0.0562, -0.0611, -0.0122] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0, "left_x": 0.392, "left_z": -0.005, "left_pitch": 0.45}, "note": "The close was empty again and the cap has vanished from the wrist view, meaning it is now nearer than the fingertips (hidden below the frame). Reopening and pulling back 2 cm while pressing down to table level to get the jaws around it."})

tool

executing move_to over 10 steps (1.0s)

step 177

assistant

agent noteZ stopped at 0.023 = table contact for this pitched pose. The cap is visible again, ~3 cm to the arm's left and just short of the jaws; moving left and 1 cm forward to straddle it.

move_to

left_x0.4150left_y-0.1220left_z0.0150left_pitch0.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6724, 2.3444, 0.617, 1.5848, -0.865, 0.0185, 0.9945, -0.02, 0.8383, 0.6125, -0.4423, -0.0204, -0.0158, 0.9989] state[eef_state]: left_x=0.4056 left_y=-0.1465 left_z=0.0236 left_yaw=0.108 left_pitch=0.4719 left_roll=0.1571 left_gripper=0.9945 right_x=0.2895 right_y=0.0014 right_z=0.1592 right_yaw=-0.0006 right_pitch=-0.1102 right_roll=0.0019 right_gripper=0.9989 state[joint_eff]: [-0.8137, -6.8581, 2.2222, 1.5604, -0.1197, 0.1392, 0.1734, -0.1162, -1.4974, 7.0632, 1.6484, -0.0317, -0.0855, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.415, "left_y": -0.122, "left_z": 0.015, "left_pitch": 0.45}, "note": "Z stopped at 0.023 = table contact for this pitched pose. The cap is visible again, ~3 cm to the arm's left and just short of the jaws; moving left and 1 cm forward to straddle it."})

tool

executing move_to over 3 steps (0.3s)

step 180

assistant

agent noteThe cap is now centred at the bottom of the wrist view, right in the jaw gap. Closing to grasp.

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]: [-0.6056, 2.344, 0.6144, 1.5848, -0.8177, 0.0021, 0.9955, -0.02, 0.8383, 0.6125, -0.4427, -0.0204, -0.0158, 0.9989] state[eef_state]: left_x=0.4158 left_y=-0.1268 left_z=0.0223 left_yaw=0.1394 left_pitch=0.4669 left_roll=0.1351 left_gripper=0.9955 right_x=0.2895 right_y=0.0014 right_z=0.1591 right_yaw=-0.0006 right_pitch=-0.1106 right_roll=0.0019 right_gripper=0.9989 state[joint_eff]: [0.2667, -9.4291, 1.2923, 1.5604, 0.0708, 0.1636, 0.0904, -0.1709, -1.4291, 6.9812, 1.6484, -0.0171, -0.0415, -0.0122] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The cap is now centred at the bottom of the wrist view, right in the jaw gap. Closing to grasp."})

tool

executing move_to over 10 steps (1.0s)

step 190

assistant

agent noteThird empty close: the pitched fingertips are probably skimming over the low cap. Reopening and tilting the wrist further forward (pitch 0.6) so the fingers lie flatter and can pinch the cap close to the table.

move_to

left_gripper1.0000left_pitch0.6000left_x0.4180left_y-0.1280left_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6094, 2.3444, 0.6136, 1.5814, -0.815, 0.0006, 0.009, -0.02, 0.8383, 0.6125, -0.4423, -0.0208, -0.0158, 0.9989] state[eef_state]: left_x=0.4151 left_y=-0.1286 left_z=0.0212 left_yaw=0.1324 left_pitch=0.4634 left_roll=0.1366 left_gripper=0.009 right_x=0.2895 right_y=0.0015 right_z=0.1592 right_yaw=-0.0003 right_pitch=-0.1102 right_roll=0.0022 right_gripper=0.9989 state[joint_eff]: [0.1436, -9.7026, 2.6735, 1.5507, -0.0708, -0.0415, 0.6618, -0.0068, -1.4838, 7.2, 1.663, -0.0415, -0.0757, -0.0122] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0, "left_pitch": 0.6, "left_x": 0.418, "left_y": -0.128, "left_z": 0.005}, "note": "Third empty close: the pitched fingertips are probably skimming over the low cap. Reopening and tilting the wrist further forward (pitch 0.6) so the fingers lie flatter and can pinch the cap close to the table."})

tool

executing move_to over 10 steps (1.0s)

step 200

assistant

agent noteThe cap grasp keeps failing, so I am switching to the pen with the right arm, which sees it clearly. Moving the right arm to hover above the pen at roughly x=0.37, y=0.25.

move_to

right_x0.3700right_y0.2500right_z0.1200right_pitch0.3000right_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]: [-0.609, 2.3749, 0.7887, 1.56, -0.8383, 0.0711, 0.9944, -0.02, 0.8436, 0.6125, -0.4606, -0.0204, -0.0158, 0.9989] state[eef_state]: left_x=0.4502 left_y=-0.1495 left_z=0.0446 left_yaw=0.1588 left_pitch=0.5493 left_roll=0.1221 left_gripper=0.9944 right_x=0.2869 right_y=0.0014 right_z=0.1543 right_yaw=-0.0005 right_pitch=-0.1339 right_roll=0.0024 right_gripper=0.9989 state[joint_eff]: [0.253, -8.9504, 4.4923, 1.707, 0.1392, 0.1978, 0.2027, -0.0205, -1.7846, 7.0496, 1.7998, -0.0171, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.25, "right_z": 0.12, "right_pitch": 0.3, "right_gripper": 1.0}, "note": "The cap grasp keeps failing, so I am switching to the pen with the right arm, which sees it clearly. Moving the right arm to hover above the pen at roughly x=0.37, y=0.25."})

tool

executing move_to over 21 steps (2.1s)

step 221

assistant

agent noteThe right wrist view shows the pen just below and right of the jaw point. Moving 3 cm to the arm's right, 1 cm back and descending to 4 cm to line up on the pen's middle.

move_to

right_x0.3500right_y0.2150right_z0.0400right_pitch0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.9949, 0.8738, 1.7649, 0.7261, 0.5503, 0.7933, 0.3031, 0.999] state[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.9949 right_x=0.3624 right_y=0.2423 right_z=0.0995 right_yaw=0.044 right_pitch=0.2218 right_roll=-0.0532 right_gripper=0.999 state[joint_eff]: [-0.1709, -10.1949, 3.0427, 1.7314, -0.0757, -0.0708, 0.0415, 0.6632, -7.9932, 7.0222, 1.9609, 0.5201, -0.0366, -0.1197] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.35, "right_y": 0.215, "right_z": 0.04, "right_pitch": 0.3}, "note": "The right wrist view shows the pen just below and right of the jaw point. Moving 3 cm to the arm's right, 1 cm back and descending to 4 cm to line up on the pen's middle."})

tool

executing move_to over 4 steps (0.4s)

step 225

assistant

agent noteOverhead view shows the right gripper just short of the pen (same column, ~7 cm nearer the base); the wrist view shows the pen's far tip on the jaw column with the body running down-right. Advancing ~5 cm and 2 cm to the arm's right to straddle the pen's middle.

move_to

right_x0.3950right_y0.1900right_z0.0200right_pitch0.3500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.995, 0.8577, 1.9953, 0.5301, 0.936, 0.799, 0.2455, 0.9989] state[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.995 right_x=0.3424 right_y=0.2079 right_z=0.0178 right_yaw=0.0606 right_pitch=0.193 right_roll=-0.1407 right_gripper=0.9989 state[joint_eff]: [-0.1436, -10.0991, 2.865, 1.7021, -0.0757, -0.0122, -0.0073, -0.294, -8.9094, 4.2598, 2.3858, 0.2076, -0.1245, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.395, "right_y": 0.19, "right_z": 0.02, "right_pitch": 0.35}, "note": "Overhead view shows the right gripper just short of the pen (same column, ~7 cm nearer the base); the wrist view shows the pen's far tip on the jaw column with the body running down-right. Advancing ~5 cm and 2 cm to the arm's right to straddle the pen's middle."})

tool

executing move_to over 6 steps (0.6s)

step 231

assistant

agent noteThe pen lies ~4 cm to the arm's right of the jaw gap and runs roughly forward-right; shifting right and yawing the tool -0.3 rad so the jaws close perpendicular to the pen's axis.

move_to

right_x0.3850right_y0.1620right_z0.0120right_yaw-0.3000right_pitch0.3500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.995, 0.7158, 2.1979, 0.5812, 1.2907, 0.7067, 0.0769, 0.9989] state[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.995 right_x=0.3879 right_y=0.1901 right_z=0.013 right_yaw=0.0528 right_pitch=0.3074 right_roll=-0.1372 right_gripper=0.9989 state[joint_eff]: [-0.1299, -10.0991, 2.9197, 1.6972, -0.0611, -0.0366, -0.0171, -0.4581, -7.6513, 3.3573, 1.6581, 0.2076, -0.1245, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.385, "right_y": 0.162, "right_z": 0.012, "right_yaw": -0.3, "right_pitch": 0.35}, "note": "The pen lies ~4 cm to the arm's right of the jaw gap and runs roughly forward-right; shifting right and yawing the tool -0.3 rad so the jaws close perpendicular to the pen's axis."})

tool

executing move_to over 3 steps (0.3s)

step 234

assistant

agent noteThe pen now crosses the jaw gap at table level in the right wrist view. Closing the gripper to grasp the pen.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.995, 0.7658, 2.215, 0.6827, 1.1648, 0.9348, 0.1799, 0.9989] state[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.995 right_x=0.3926 right_y=0.1853 right_z=0.0179 right_yaw=-0.1409 right_pitch=0.3395 right_roll=-0.1202 right_gripper=0.9989 state[joint_eff]: [-0.2256, -10.0991, 2.7282, 1.6679, -0.0562, -0.0415, -0.0122, 0.0342, -7.6103, 3.3573, 1.6874, 0.4274, 0.1832, -0.0122] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "The pen now crosses the jaw gap at table level in the right wrist view. Closing the gripper to grasp the pen."})

tool

executing move_to over 10 steps (1.0s)

step 244

assistant

agent noteEmpty close: the pen now lies just to the arm's left of the jaws (the arm drifted right during the close). Reopening and shifting ~3 cm back toward the pen.

move_to

right_gripper1.0000right_y0.1980right_x0.3830right_z0.0120

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5558, -0.8383, 0.0769, 0.995, 0.7803, 2.2154, 0.7048, 1.0451, 1.0809, 0.2806, 0.0117] state[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.152 left_pitch=0.544 left_roll=0.1343 left_gripper=0.995 right_x=0.3845 right_y=0.1664 right_z=0.0135 right_yaw=-0.2759 right_pitch=0.3407 right_roll=-0.1371 right_gripper=0.0117 state[joint_eff]: [-0.0342, -10.0855, 2.7419, 1.6484, -0.0415, -0.0562, -0.0122, -0.4171, -8.0615, 3.6034, 1.6288, 0.4518, 0.0122, 1.0037] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1.0, "right_y": 0.198, "right_x": 0.383, "right_z": 0.012}, "note": "Empty close: the pen now lies just to the arm's left of the jaws (the arm drifted right during the close). Reopening and shifting ~3 cm back toward the pen."})

tool

executing move_to over 10 steps (1.0s)

step 254

assistant

agent noteThe pen crosses the jaw region slightly to one side; nudging 1.5 cm further left so the pen sits in the jaw gap at the fingertip row before closing.

move_to

right_y0.2120right_z0.0100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5558, -0.8383, 0.0769, 0.995, 0.841, 2.2192, 0.7944, 0.9123, 1.1145, 0.3367, 0.9949] state[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.152 left_pitch=0.544 left_roll=0.1343 left_gripper=0.995 right_x=0.3846 right_y=0.1974 right_z=0.0164 right_yaw=-0.259 right_pitch=0.3361 right_roll=-0.1309 right_gripper=0.9949 state[joint_eff]: [-0.2667, -10.0991, 2.7282, 1.6874, -0.0659, -0.0415, -0.0122, 0.6906, -7.5829, 4.7932, 1.4872, 0.4518, 0.1245, -0.2125] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.212, "right_z": 0.01}, "note": "The pen crosses the jaw region slightly to one side; nudging 1.5 cm further left so the pen sits in the jaw gap at the fingertip row before closing."})

tool

executing move_to over 2 steps (0.2s)

step 256

assistant

agent notePen is running through the jaw gap at table level; closing to grasp it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0772, 0.995, 0.8532, 2.2326, 0.8249, 0.8879, 1.1255, 0.3569, 0.9959] state[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1519 left_pitch=0.5442 left_roll=0.1345 left_gripper=0.995 right_x=0.3859 right_y=0.2051 right_z=0.0159 right_yaw=-0.2645 right_pitch=0.339 right_roll=-0.1195 right_gripper=0.9959 state[joint_eff]: [-0.2393, -10.0991, 2.7282, 1.7021, -0.0806, -0.0171, -0.0122, 0.9915, -8.1162, 4.6427, 1.2186, 0.3492, 0.0904, 0.0904] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "Pen is running through the jaw gap at table level; closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 266

assistant

agent noteEmpty close again, and the wrist view now clearly shows the pen lying beyond the closed jaws, so the fingertips are ~4 cm short. Reopening and advancing radially with more forward pitch to reach over the pen.

move_to

right_gripper1.0000right_x0.4230right_y0.2150right_z0.0120right_pitch0.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5558, -0.8383, 0.0769, 0.995, 0.8661, 2.244, 0.841, 0.8688, 1.1259, 0.3672, 0.0119] state[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.152 left_pitch=0.544 left_roll=0.1343 left_gripper=0.995 right_x=0.3847 right_y=0.2118 right_z=0.0126 right_yaw=-0.253 right_pitch=0.3335 right_roll=-0.1227 right_gripper=0.0119 state[joint_eff]: [-0.253, -10.1265, 2.7009, 1.6972, -0.0366, -0.0464, -0.0171, 0.0615, -8.6632, 4.8889, 1.4237, 0.3834, -0.0073, 1.0379] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1.0, "right_x": 0.423, "right_y": 0.215, "right_z": 0.012, "right_pitch": 0.45}, "note": "Empty close again, and the wrist view now clearly shows the pen lying beyond the closed jaws, so the fingertips are ~4 cm short. Reopening and advancing radially with more forward pitch to reach over the pen."})

tool

executing move_to over 10 steps (1.0s)

step 276

assistant

agent noteThe pen is now right at the bottom between the jaws after advancing 3.5 cm. Closing to grasp it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5558, -0.8383, 0.0769, 0.995, 0.8135, 2.3989, 0.9451, 1.2224, 1.1122, 0.1394, 0.9954] state[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.152 left_pitch=0.544 left_roll=0.1343 left_gripper=0.995 right_x=0.4197 right_y=0.2187 right_z=0.0204 right_yaw=-0.2759 right_pitch=0.4552 right_roll=-0.0706 right_gripper=0.9954 state[joint_eff]: [-0.1436, -10.1128, 2.7829, 1.6777, -0.0708, -0.0464, -0.0122, -1.2103, -8.5402, 4.041, 1.3797, 0.0806, -0.2808, -0.188] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "The pen is now right at the bottom between the jaws after advancing 3.5 cm. Closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 286

assistant

agent noteNeither object could be grasped within the call budget: every close read ~0.01 (empty). The left arm repeatedly froze at a shoulder limit while reaching for the cap, and the right arm's fingertips kept landing a few centimetres short of / beside the pen despite the wrist view looking aligned. No pick-up was achieved, so capping the pen was never reachable.

give_up

hindsightKey things I wish I had known: (1) With the tool vertical (pitch 0) this rig's arms stall at only x≈0.36 near table height — the shoulder joint saturates (joint_pos[1]≈1.8–2.4) and the arm then FREEZES, ignoring even retract-in-z commands. Commanding wrist pitch forward (0.3–0.6) restores reach out to x≈0.45; use pitch ≈0.45 for anything beyond x=0.36. If the arm freezes, only a large retract command (≥10 cm toward the base) un-sticks it; small deltas are ignored. (2) With pitch ≈0.45 the tilted gripper contacts the table when the grasp-point reading is z≈0.02, so you cannot get the grasp point down to a 1 cm object's centre in that pose — that is probably why every close on the pen/cap came back empty. Consider yawing/rolling or using near-zero pitch (and a closer object) for table-level grasps. (3) Both objects sat at x≈0.40–0.45, right at the edge of the usable envelope; ask the operator to move them nearer the bases. (4) Useful measured scales: top_cam ≈3.6 px/cm in the lateral direction and ≈2 px/cm in the radial direction in the far half; wrist cam ≈9–10 px/cm near the bottom edge, and +y (arm's left) shifts objects RIGHT in the wrist image. (5) The "jaws converge at row ~150–200" guidance was the weakest link: an object sitting on the jaw column at row 150–190 was still several cm beyond the fingertips. Verify with a deliberate empty close and watch which side the object stays on.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.995, 0.8131, 2.4081, 0.9478, 1.24, 1.1046, 0.1444, 0.0114] state[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.995 right_x=0.4205 right_y=0.2201 right_z=0.0194 right_yaw=-0.277 right_pitch=0.4589 right_roll=-0.0533 right_gripper=0.0114 state[joint_eff]: [-0.1573, -10.0034, 2.8786, 1.663, -0.0464, -0.0708, -0.0122, -0.0752, -11.4256, 3.0701, 1.3797, 0.1978, -0.0952, 0.9451] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]

assistant

give_up({"reason": "Neither object could be grasped within the call budget: every close read ~0.01 (empty). The left arm repeatedly froze at a shoulder limit while reaching for the cap, and the right arm's fingertips kept landing a few centimetres short of / beside the pen despite the wrist view looking aligned. No pick-up was achieved, so capping the pen was never reachable.", "hindsight": "Key things I wish I had known: (1) With the tool vertical (pitch 0) this rig's arms stall at only x\u22480.36 near table height \u2014 the shoulder joint saturates (joint_pos[1]\u22481.8\u20132.4) and the arm then FREEZES, ignoring even retract-in-z commands. Commanding wrist pitch forward (0.3\u20130.6) restores reach out to x\u22480.45; use pitch \u22480.45 for anything beyond x=0.36. If the arm freezes, only a large retract command (\u226510 cm toward the base) un-sticks it; small deltas are ignored. (2) With pitch \u22480.45 the tilted gripper contacts the table when the grasp-point reading is z\u22480.02, so you cannot get the grasp point down to a 1 cm object's centre in that pose \u2014 that is probably why every close on the pen/cap came back empty. Consider yawing/rolling or using near-zero pitch (and a closer object) for table-level grasps. (3) Both objects sat at x\u22480.40\u20130.45, right at the edge of the usable envelope; ask the operator to move them nearer the bases. (4) Useful measured scales: top_cam \u22483.6 px/cm in the lateral direction and \u22482 px/cm in the radial direction in the far half; wrist cam \u22489\u201310 px/cm near the bottom edge, and +y (arm's left) shifts objects RIGHT in the wrist image. (5) The \"jaws converge at row ~150\u2013200\" guidance was the weakest link: an object sitting on the jaw column at row 150\u2013190 was still several cm beyond the fingertips. Verify with a deliberate empty close and watch which side the object stays on."})

tool

give_up: Neither object could be grasped within the call budget: every close read ~0.01 (empty). The left arm repeatedly froze at a shoulder limit while reaching for the cap, and the right arm's fingertips kept landing a few centimetres short of / beside the pen despite the wrist view looking aligned. No pick-up was achieved, so capping the pen was never reachable.

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 · 33.18 s

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6025, -0.3801, -0.0219, -0.0246, 0.9998, -0.0196, 0.7906, 0.6094, -0.3767, -0.0208, -0.0158, 0.999]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1795 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0015 right_z=0.1841 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.5248, 10.4684, 1.7656, -0.0073, 0.0952, -0.0366, -0.5949, -1.1829, 9.7983, 1.7705, -0.0464, 0.0024, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b945feeffbce72e12b0385a79617183339362f74307a293fdcd29ab2f208c7a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c5402f1d47d82a99e0e03fdfdad94378499c377ee0792d7d2002c7bba8bf323",
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
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      "type": "image"
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  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 11.76 s

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

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6025, -0.3801, -0.0219, -0.0246, 0.9998, -0.0196, 0.7906, 0.6094, -0.3767, -0.0208, -0.0158, 0.999]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1795 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0015 right_z=0.1841 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.5248, 10.4684, 1.7656, -0.0073, 0.0952, -0.0366, -0.5949, -1.1829, 9.7983, 1.7705, -0.0464, 0.0024, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b945feeffbce72e12b0385a79617183339362f74307a293fdcd29ab2f208c7a3",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c5402f1d47d82a99e0e03fdfdad94378499c377ee0792d7d2002c7bba8bf323",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
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{
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    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CAQyPxPhhg3VZANeNfSPiY",
      "input": {
        "note": "Top view shows a small pen cap on the left half (~14 cm left of centre) and a longer pen on the right half. Moving the left arm to hover 15 cm above the estimated cap position to inspect it in the wrist camera.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.36,
          "left_y": -0.18,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012S6fo5Kx99JwEfro8QvWKc",
      "input": {
        "note": "Simultaneously moving the right arm to hover above the estimated pen position on the right half of the table to inspect it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.36,
          "right_y": 0.25,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01CAQyPxPhhg3VZANeNfSPiY",
      "type": "tool_result"
    },
    {
      "content": "ignored: one tool call per turn",
      "tool_use_id": "toolu_012S6fo5Kx99JwEfro8QvWKc",
      "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]: [-0.7113, 1.433, 0.8227, -0.1665, -0.564, -0.4473, 0.9998, -0.02, 0.7979, 0.6132, -0.3901, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3484 left_y=-0.1708 left_z=0.1286 left_yaw=-0.0168 left_pitch=-0.0641 left_roll=0.0377 left_gripper=0.9998 right_x=0.2948 right_y=0.0014 right_z=0.1811 right_yaw=-0.0004 right_pitch=-0.0168 right_roll=0.0003 right_gripper=0.9989\nstate[joint_eff]: [-0.4171, -6.2701, 9.5521, 1.7705, -0.3785, -0.0269, -0.0366, -0.0889, -1.6205, 6.7624, 1.8486, -0.0464, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d3c71ecce002a738d15e66b0a9e980695535c5275fd76786d12956bcd3ec48b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d26cc7af72ac241ced6daa017fd83d60c4bda43671ff4d1e50cf1cd264339e8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:625c0add456b3afca4b671e3b96aaa7632744a20e9c3f4c7899a9d7d649ea949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 5.145 s

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

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6025, -0.3801, -0.0219, -0.0246, 0.9998, -0.0196, 0.7906, 0.6094, -0.3767, -0.0208, -0.0158, 0.999]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1795 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0015 right_z=0.1841 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.5248, 10.4684, 1.7656, -0.0073, 0.0952, -0.0366, -0.5949, -1.1829, 9.7983, 1.7705, -0.0464, 0.0024, -0.1197]",
      "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]: [-0.7113, 1.433, 0.8227, -0.1665, -0.564, -0.4473, 0.9998, -0.02, 0.7979, 0.6132, -0.3901, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3484 left_y=-0.1708 left_z=0.1286 left_yaw=-0.0168 left_pitch=-0.0641 left_roll=0.0377 left_gripper=0.9998 right_x=0.2948 right_y=0.0014 right_z=0.1811 right_yaw=-0.0004 right_pitch=-0.0168 right_roll=0.0003 right_gripper=0.9989\nstate[joint_eff]: [-0.4171, -6.2701, 9.5521, 1.7705, -0.3785, -0.0269, -0.0366, -0.0889, -1.6205, 6.7624, 1.8486, -0.0464, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d3c71ecce002a738d15e66b0a9e980695535c5275fd76786d12956bcd3ec48b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d26cc7af72ac241ced6daa017fd83d60c4bda43671ff4d1e50cf1cd264339e8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:625c0add456b3afca4b671e3b96aaa7632744a20e9c3f4c7899a9d7d649ea949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016dmE3Ba1iELvw1kUB97oxE",
      "input": {
        "note": "Left wrist camera shows the pen cap slightly left of and above the jaw column, meaning it is a few cm farther out and to the arm's left. Nudging out (+x) and toward +y to centre it.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.15,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_016dmE3Ba1iELvw1kUB97oxE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5545, 1.589, 0.8291, -0.0364, -0.4847, -0.3733, 0.9998, -0.02, 0.7998, 0.6128, -0.3931, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3871 left_y=-0.1387 left_z=0.089 left_yaw=0.0408 left_pitch=-0.1158 left_roll=0.063 left_gripper=0.9998 right_x=0.2945 right_y=0.0013 right_z=0.1797 right_yaw=-0.0007 right_pitch=-0.0221 right_roll=0.0002 right_gripper=0.9989\nstate[joint_eff]: [-0.3077, -7.6376, 6.8991, 1.8388, -0.0464, 0.1978, -0.0171, -0.1846, -1.4291, 7.159, 1.79, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ac02b5776a1f9cde2903ba50d54813f8f7915b745eae95edb5ad375b12339c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a01812eb348990a23c90d993ad22207966b4f8e80de821bf1ce178787badd0c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b5621cbe2ee88c7cc34ef2b232e0fae84805af9fed549f90827ed3b9d9eaf26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 24.45 s

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

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6025, -0.3801, -0.0219, -0.0246, 0.9998, -0.0196, 0.7906, 0.6094, -0.3767, -0.0208, -0.0158, 0.999]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1795 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0015 right_z=0.1841 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.5248, 10.4684, 1.7656, -0.0073, 0.0952, -0.0366, -0.5949, -1.1829, 9.7983, 1.7705, -0.0464, 0.0024, -0.1197]",
      "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]: [-0.7113, 1.433, 0.8227, -0.1665, -0.564, -0.4473, 0.9998, -0.02, 0.7979, 0.6132, -0.3901, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3484 left_y=-0.1708 left_z=0.1286 left_yaw=-0.0168 left_pitch=-0.0641 left_roll=0.0377 left_gripper=0.9998 right_x=0.2948 right_y=0.0014 right_z=0.1811 right_yaw=-0.0004 right_pitch=-0.0168 right_roll=0.0003 right_gripper=0.9989\nstate[joint_eff]: [-0.4171, -6.2701, 9.5521, 1.7705, -0.3785, -0.0269, -0.0366, -0.0889, -1.6205, 6.7624, 1.8486, -0.0464, -0.0513, -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]: [-0.5545, 1.589, 0.8291, -0.0364, -0.4847, -0.3733, 0.9998, -0.02, 0.7998, 0.6128, -0.3931, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3871 left_y=-0.1387 left_z=0.089 left_yaw=0.0408 left_pitch=-0.1158 left_roll=0.063 left_gripper=0.9998 right_x=0.2945 right_y=0.0013 right_z=0.1797 right_yaw=-0.0007 right_pitch=-0.0221 right_roll=0.0002 right_gripper=0.9989\nstate[joint_eff]: [-0.3077, -7.6376, 6.8991, 1.8388, -0.0464, 0.1978, -0.0171, -0.1846, -1.4291, 7.159, 1.79, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ac02b5776a1f9cde2903ba50d54813f8f7915b745eae95edb5ad375b12339c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a01812eb348990a23c90d993ad22207966b4f8e80de821bf1ce178787badd0c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b5621cbe2ee88c7cc34ef2b232e0fae84805af9fed549f90827ed3b9d9eaf26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISpwQKjgEIEhgCKkCe4MW3lMA5v6y0dxz3ns+Z8oVydIjTBI1lfI+GMYc8vVz3rQF/cpyTTrL4WWPASJjvFNpbVgSF1V0GJ1bUZBlaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdmOzNUGEgxU7ugAdyXy3xVCzd8aDFaNcqdAvuM/nbaBNCIwvFhZWvzSv18M3/SAFSNstF2T9MrTGZeEaWUygDY8q7mmisjXw+GdeTjZkovNYmmbKsUC+8k0E4mVsuTE+SuaKgSIukUlrpDowl5+pA4bzXFfb8BvGIUtqqw6ZGQbeUsyBujQEOCZlh2TWw/YlrurQGUhdFFKHVNxCyGrUiek2dQeIJBajAG0bollu4EyOuAMQLVg1kYvI5731AycoPZrisMjhkqKINHYJQwZ9/DqFtjsgyYu2eLyByki+jfamslEKIjQtdpjuGjYmSXudMFjv92SUotBwQ1iwxjb/dnp+wk8sZiikZgF+bzgiwfze4eSI5Mn+aVu9WmjQQJ80BsWp7cUbTl+FVr2jAXcIV+D9+nAKbSKhFWqKSF2QBEN10Cqj07v6WX3PJFPRLrcRNHkdb5wGmGg5vrualo3jHnzwfhebIIHVr3t79WiB+OOCoE9ywkVAwhXlTAXBsKEk0TcUqOycPjD/V6oYcR5M679u69oeLBLwfzcExgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CCnSRQDEkFTJViByPAKDpa",
      "input": {
        "note": "Cap is now near the jaw column but still above the jaw row in the left wrist view, so it is still a couple of cm farther out. Advancing radially and slightly left again.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.13,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01CCnSRQDEkFTJViByPAKDpa",
      "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]: [-0.5301, 1.6222, 0.8291, -0.0044, -0.4599, -0.35, 0.9997, -0.02, 0.7998, 0.6128, -0.3939, -0.0208, -0.0154, 0.9989]\nstate[eef_state]: left_x=0.3933 left_y=-0.1355 left_z=0.0799 left_yaw=0.0335 left_pitch=-0.1274 left_roll=0.0667 left_gripper=0.9997 right_x=0.2944 right_y=0.0014 right_z=0.1796 right_yaw=-0.0006 right_pitch=-0.0229 right_roll=0.0008 right_gripper=0.9989\nstate[joint_eff]: [0.4171, -6.8308, 7.747, 1.5507, -0.2759, -0.0415, -0.0171, -0.3214, -1.1829, 7.4051, 1.7802, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5274366716a413351535629ce81f726e26f7f0be88461d964195cf473ceb7590",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e26ad5bd313f72eaf0d14411bd07411ad3764078570fccd9db32d886d46127a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5f84fd75a73c459734c8862a1037d1ca1868974954d54568ce8d3e9840ac2a5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 14.86 s

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

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7113, 1.433, 0.8227, -0.1665, -0.564, -0.4473, 0.9998, -0.02, 0.7979, 0.6132, -0.3901, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3484 left_y=-0.1708 left_z=0.1286 left_yaw=-0.0168 left_pitch=-0.0641 left_roll=0.0377 left_gripper=0.9998 right_x=0.2948 right_y=0.0014 right_z=0.1811 right_yaw=-0.0004 right_pitch=-0.0168 right_roll=0.0003 right_gripper=0.9989\nstate[joint_eff]: [-0.4171, -6.2701, 9.5521, 1.7705, -0.3785, -0.0269, -0.0366, -0.0889, -1.6205, 6.7624, 1.8486, -0.0464, -0.0513, -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]: [-0.5545, 1.589, 0.8291, -0.0364, -0.4847, -0.3733, 0.9998, -0.02, 0.7998, 0.6128, -0.3931, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3871 left_y=-0.1387 left_z=0.089 left_yaw=0.0408 left_pitch=-0.1158 left_roll=0.063 left_gripper=0.9998 right_x=0.2945 right_y=0.0013 right_z=0.1797 right_yaw=-0.0007 right_pitch=-0.0221 right_roll=0.0002 right_gripper=0.9989\nstate[joint_eff]: [-0.3077, -7.6376, 6.8991, 1.8388, -0.0464, 0.1978, -0.0171, -0.1846, -1.4291, 7.159, 1.79, -0.0366, -0.0317, -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]: [-0.5301, 1.6222, 0.8291, -0.0044, -0.4599, -0.35, 0.9997, -0.02, 0.7998, 0.6128, -0.3939, -0.0208, -0.0154, 0.9989]\nstate[eef_state]: left_x=0.3933 left_y=-0.1355 left_z=0.0799 left_yaw=0.0335 left_pitch=-0.1274 left_roll=0.0667 left_gripper=0.9997 right_x=0.2944 right_y=0.0014 right_z=0.1796 right_yaw=-0.0006 right_pitch=-0.0229 right_roll=0.0008 right_gripper=0.9989\nstate[joint_eff]: [0.4171, -6.8308, 7.747, 1.5507, -0.2759, -0.0415, -0.0171, -0.3214, -1.1829, 7.4051, 1.7802, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5274366716a413351535629ce81f726e26f7f0be88461d964195cf473ceb7590",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e26ad5bd313f72eaf0d14411bd07411ad3764078570fccd9db32d886d46127a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f84fd75a73c459734c8862a1037d1ca1868974954d54568ce8d3e9840ac2a5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E81Ro7mGyMuzAvqQBTbmoR",
      "input": {
        "note": "The left wrist view shows a short tapered object (the pen cap) just left of the jaw column; the pen itself is the long thin object seen in the right wrist camera. Shifting 2.5 cm toward the arm's left and descending to 3 cm to line up on the cap.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.11,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01E81Ro7mGyMuzAvqQBTbmoR",
      "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]: [-0.5304, 1.6241, 0.8291, -0.0147, -0.4633, -0.35, 0.9998, -0.02, 0.8017, 0.6128, -0.3962, -0.0204, -0.0154, 0.9989]\nstate[eef_state]: left_x=0.3919 left_y=-0.1341 left_z=0.0777 left_yaw=0.0367 left_pitch=-0.1364 left_roll=0.0754 left_gripper=0.9998 right_x=0.2942 right_y=0.0013 right_z=0.1786 right_yaw=-0.0009 right_pitch=-0.0271 right_roll=0.0006 right_gripper=0.9989\nstate[joint_eff]: [0.1026, -7.2547, 7.8701, 1.5067, -0.2613, -0.0562, -0.0073, -0.0479, -1.4564, 7.0359, 1.7656, -0.0171, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7017d896a6bba114930253dd623c035aaba9a7dd0fc26977c348f3f0d2d8d73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cd7dd7b36185604aa20ffef0a7f7b54146c8c418b1968691af9747059ff921f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:12c1c604fc1b87a220ee9d79ddb16e2748cb6a602570bb124dbc2c6d1d95cbc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 6.574 s

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

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5545, 1.589, 0.8291, -0.0364, -0.4847, -0.3733, 0.9998, -0.02, 0.7998, 0.6128, -0.3931, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3871 left_y=-0.1387 left_z=0.089 left_yaw=0.0408 left_pitch=-0.1158 left_roll=0.063 left_gripper=0.9998 right_x=0.2945 right_y=0.0013 right_z=0.1797 right_yaw=-0.0007 right_pitch=-0.0221 right_roll=0.0002 right_gripper=0.9989\nstate[joint_eff]: [-0.3077, -7.6376, 6.8991, 1.8388, -0.0464, 0.1978, -0.0171, -0.1846, -1.4291, 7.159, 1.79, -0.0366, -0.0317, -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]: [-0.5301, 1.6222, 0.8291, -0.0044, -0.4599, -0.35, 0.9997, -0.02, 0.7998, 0.6128, -0.3939, -0.0208, -0.0154, 0.9989]\nstate[eef_state]: left_x=0.3933 left_y=-0.1355 left_z=0.0799 left_yaw=0.0335 left_pitch=-0.1274 left_roll=0.0667 left_gripper=0.9997 right_x=0.2944 right_y=0.0014 right_z=0.1796 right_yaw=-0.0006 right_pitch=-0.0229 right_roll=0.0008 right_gripper=0.9989\nstate[joint_eff]: [0.4171, -6.8308, 7.747, 1.5507, -0.2759, -0.0415, -0.0171, -0.3214, -1.1829, 7.4051, 1.7802, -0.0513, -0.0464, -0.0122]",
      "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]: [-0.5304, 1.6241, 0.8291, -0.0147, -0.4633, -0.35, 0.9998, -0.02, 0.8017, 0.6128, -0.3962, -0.0204, -0.0154, 0.9989]\nstate[eef_state]: left_x=0.3919 left_y=-0.1341 left_z=0.0777 left_yaw=0.0367 left_pitch=-0.1364 left_roll=0.0754 left_gripper=0.9998 right_x=0.2942 right_y=0.0013 right_z=0.1786 right_yaw=-0.0009 right_pitch=-0.0271 right_roll=0.0006 right_gripper=0.9989\nstate[joint_eff]: [0.1026, -7.2547, 7.8701, 1.5067, -0.2613, -0.0562, -0.0073, -0.0479, -1.4564, 7.0359, 1.7656, -0.0171, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7017d896a6bba114930253dd623c035aaba9a7dd0fc26977c348f3f0d2d8d73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cd7dd7b36185604aa20ffef0a7f7b54146c8c418b1968691af9747059ff921f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12c1c604fc1b87a220ee9d79ddb16e2748cb6a602570bb124dbc2c6d1d95cbc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NXSJBj43wEzbVHFxGmpv54",
      "input": {
        "note": "The left arm has stopped tracking (position unchanged over the last two commands), suggesting contact or a stalled pose. Lifting back up to 13 cm and levelling the wrist to free it.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.39,
          "left_y": -0.11,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01NXSJBj43wEzbVHFxGmpv54",
      "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]: [-0.5304, 1.6241, 0.8291, -0.0151, -0.4629, -0.35, 0.9997, -0.02, 0.8017, 0.6128, -0.3965, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3918 left_y=-0.1342 left_z=0.0776 left_yaw=0.0364 left_pitch=-0.1368 left_roll=0.0754 left_gripper=0.9997 right_x=0.2941 right_y=0.0014 right_z=0.1785 right_yaw=-0.0004 right_pitch=-0.0275 right_roll=0.0005 right_gripper=0.9989\nstate[joint_eff]: [0.1299, -7.2547, 7.8427, 1.4676, -0.2564, -0.0464, -0.0171, -0.1983, -1.306, 7.1179, 1.7607, -0.0122, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a3a7189bc17ec7e9fc58bfcc9bc646d66d3853be7e43fb9eadfbb2bc5c39f05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87fa939d70468b43124410ebcb7841861e02106fb914f93d476fa9740ef7052b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f445282963b5cb4e7148a75978e9d852c8a8ea818ce8b971c928eca15777c908",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 13.8 s

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

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5301, 1.6222, 0.8291, -0.0044, -0.4599, -0.35, 0.9997, -0.02, 0.7998, 0.6128, -0.3939, -0.0208, -0.0154, 0.9989]\nstate[eef_state]: left_x=0.3933 left_y=-0.1355 left_z=0.0799 left_yaw=0.0335 left_pitch=-0.1274 left_roll=0.0667 left_gripper=0.9997 right_x=0.2944 right_y=0.0014 right_z=0.1796 right_yaw=-0.0006 right_pitch=-0.0229 right_roll=0.0008 right_gripper=0.9989\nstate[joint_eff]: [0.4171, -6.8308, 7.747, 1.5507, -0.2759, -0.0415, -0.0171, -0.3214, -1.1829, 7.4051, 1.7802, -0.0513, -0.0464, -0.0122]",
      "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]: [-0.5304, 1.6241, 0.8291, -0.0147, -0.4633, -0.35, 0.9998, -0.02, 0.8017, 0.6128, -0.3962, -0.0204, -0.0154, 0.9989]\nstate[eef_state]: left_x=0.3919 left_y=-0.1341 left_z=0.0777 left_yaw=0.0367 left_pitch=-0.1364 left_roll=0.0754 left_gripper=0.9998 right_x=0.2942 right_y=0.0013 right_z=0.1786 right_yaw=-0.0009 right_pitch=-0.0271 right_roll=0.0006 right_gripper=0.9989\nstate[joint_eff]: [0.1026, -7.2547, 7.8701, 1.5067, -0.2613, -0.0562, -0.0073, -0.0479, -1.4564, 7.0359, 1.7656, -0.0171, -0.022, -0.0122]",
      "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]: [-0.5304, 1.6241, 0.8291, -0.0151, -0.4629, -0.35, 0.9997, -0.02, 0.8017, 0.6128, -0.3965, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3918 left_y=-0.1342 left_z=0.0776 left_yaw=0.0364 left_pitch=-0.1368 left_roll=0.0754 left_gripper=0.9997 right_x=0.2941 right_y=0.0014 right_z=0.1785 right_yaw=-0.0004 right_pitch=-0.0275 right_roll=0.0005 right_gripper=0.9989\nstate[joint_eff]: [0.1299, -7.2547, 7.8427, 1.4676, -0.2564, -0.0464, -0.0171, -0.1983, -1.306, 7.1179, 1.7607, -0.0122, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a3a7189bc17ec7e9fc58bfcc9bc646d66d3853be7e43fb9eadfbb2bc5c39f05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87fa939d70468b43124410ebcb7841861e02106fb914f93d476fa9740ef7052b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f445282963b5cb4e7148a75978e9d852c8a8ea818ce8b971c928eca15777c908",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISuQcKjgEIEhgCKkCSxGaHYfpSQISu2odIrWeed5oeSS0V9PdBPMrVLt2sVWseIDbeVvj3w/yQDUHNpUw+iZNMUQYmWNyWbF2++/gRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYiPzNUGEgxHBbTvdTmC/9slNpYaDK7FQJxIu7xnjSsVgyIwM6HLqiiqoCf/YuIE05begdea5UUMCdM5Cf0friubnlh6DIqSdkqS2sljZZeGsKNpKtcFyQMMWtvjKBRUL+lZSv0OL2pTh5zj9Xqod82dos+XLZS66ed4mKicr88zRM0mNP/splfc7eJyZaE5cPrI5sN7BcTE6nXE5Kiw8ahSFSH+ud0Ss8j5EJqJdiy7ucVTaGReqLIPj6OjETo6Lfb+lfY1VEyD8Qry/Ytjp7YgiFzHEgdLLIOQraC03th1XancyYeqkheDy22NJxu33LE7vKL52BfQUf3bi92aYBgAorgejRzN9v7Hyq1fptLJwZParZjj4mrgNWA3ujzv9Bcn8Pb9siJ8sKbtqQRwdexS92JMO7VUM/YZRP33M+UO7i/MBz+jiH8fs4BoEv+R5ENo1kE5smM4b0Cl2zG7As2jgMMGNE6+DUpBx6/DfCh/ND9D41uQ1aADbKARR6UdawHUa4q7edU/ndiq/PHMWabyvr99koSBBaW6UvY3j4LYXBtifOyqz7K43lGnLjBcicFaaCeXCHCZPUx0ypbPa8J/zIkokXp66wDwe/xgLLbek7zH36cnqQNXxJ0qqwg3gYmmgdxluzCjHyCQh+psRs/mfnDEgGbwn8nQIV5gX8mspoeTKhz8tPajkKThorX3hwYw0dggLS16CbfWcFEM+xRELMtijKYDtSw1IJbfWPfzJ3Z7dSO4ycZ4WsOHrl4wCeuPZHgoE6dTfy4ITspyGUrOtqb6VdIA5BL8BCjwnfrFUxyM45WBuQUlRiGjVpFPOdWCUocs/+JT6GLRBxBh+ElnZP5BEBnE48CTSdLqR5QBsHSFbRUVhgGHgBjWSjKfjOqvsnvqNZqDs24sP8JsjJvfKd5vpGLeVq94GgGeiZajBZAktqvLASD7t21iMNTCAROC4MQW7QHuNY1PSj/7QkXuo67b4KDJV1ZQd0E/2Dn0WonPfm3ZDztajktH/8Q+l4oaMt/n1iabfcJ9j/YfcgWKXusI7Op6xqlQ60X3ntmZRPWGkOhACKGsXbjUaxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SGCbaUD616mbeTkDvxdFnD",
      "input": {
        "note": "Left arm is frozen at the same pose despite commands; attempting a large retract toward home to see whether it will move at all.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.05,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01SGCbaUD616mbeTkDvxdFnD",
      "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]: [-0.3943, 1.0313, 0.8215, -0.5434, -0.3828, -0.2707, 0.9997, -0.02, 0.8051, 0.6128, -0.4114, -0.0208, -0.0154, 0.9989]\nstate[eef_state]: left_x=0.3104 left_y=-0.0538 left_z=0.1863 left_yaw=0.0627 left_pitch=-0.1182 left_roll=0.059 left_gripper=0.9997 right_x=0.2923 right_y=0.0014 right_z=0.1745 right_yaw=-0.0006 right_pitch=-0.0458 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [0.2393, -2.8376, 9.9761, 1.6044, 0.022, 0.1197, -0.0122, -0.0615, -1.5932, 6.9949, 1.9072, -0.0415, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1a81391acb4dc5e356bc1ae21e707dfe251a329bf38de405875362167c905b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b5936b304d6c964e46fd9b8de3902d5d90f7222de603b81ea18e331abc57f1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b0407b2e3364aeb85a57c3bcaf73f1f335cc5c00f0c0573817b1ac3e37598bc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 11.73 s

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

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 1.6241, 0.8291, -0.0147, -0.4633, -0.35, 0.9998, -0.02, 0.8017, 0.6128, -0.3962, -0.0204, -0.0154, 0.9989]\nstate[eef_state]: left_x=0.3919 left_y=-0.1341 left_z=0.0777 left_yaw=0.0367 left_pitch=-0.1364 left_roll=0.0754 left_gripper=0.9998 right_x=0.2942 right_y=0.0013 right_z=0.1786 right_yaw=-0.0009 right_pitch=-0.0271 right_roll=0.0006 right_gripper=0.9989\nstate[joint_eff]: [0.1026, -7.2547, 7.8701, 1.5067, -0.2613, -0.0562, -0.0073, -0.0479, -1.4564, 7.0359, 1.7656, -0.0171, -0.022, -0.0122]",
      "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]: [-0.5304, 1.6241, 0.8291, -0.0151, -0.4629, -0.35, 0.9997, -0.02, 0.8017, 0.6128, -0.3965, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3918 left_y=-0.1342 left_z=0.0776 left_yaw=0.0364 left_pitch=-0.1368 left_roll=0.0754 left_gripper=0.9997 right_x=0.2941 right_y=0.0014 right_z=0.1785 right_yaw=-0.0004 right_pitch=-0.0275 right_roll=0.0005 right_gripper=0.9989\nstate[joint_eff]: [0.1299, -7.2547, 7.8427, 1.4676, -0.2564, -0.0464, -0.0171, -0.1983, -1.306, 7.1179, 1.7607, -0.0122, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.3943, 1.0313, 0.8215, -0.5434, -0.3828, -0.2707, 0.9997, -0.02, 0.8051, 0.6128, -0.4114, -0.0208, -0.0154, 0.9989]\nstate[eef_state]: left_x=0.3104 left_y=-0.0538 left_z=0.1863 left_yaw=0.0627 left_pitch=-0.1182 left_roll=0.059 left_gripper=0.9997 right_x=0.2923 right_y=0.0014 right_z=0.1745 right_yaw=-0.0006 right_pitch=-0.0458 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [0.2393, -2.8376, 9.9761, 1.6044, 0.022, 0.1197, -0.0122, -0.0615, -1.5932, 6.9949, 1.9072, -0.0415, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1a81391acb4dc5e356bc1ae21e707dfe251a329bf38de405875362167c905b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b5936b304d6c964e46fd9b8de3902d5d90f7222de603b81ea18e331abc57f1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0407b2e3364aeb85a57c3bcaf73f1f335cc5c00f0c0573817b1ac3e37598bc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015LEFM8UpdMXSKxzLSzHUAW",
      "input": {
        "note": "The arm moved freely once retracted, so the earlier freeze was a pose/reach limit. Top view now clearly shows the cap at the left and the pen at centre-right. Approaching a hover point above the cap at 15 cm.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.12,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_015LEFM8UpdMXSKxzLSzHUAW",
      "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]: [-0.5274, 1.3872, 0.8783, -0.3916, -0.4557, -0.3653, 0.9997, -0.02, 0.807, 0.6128, -0.4137, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3495 left_y=-0.1095 left_z=0.1255 left_yaw=0.0509 left_pitch=-0.215 left_roll=0.1091 left_gripper=0.9997 right_x=0.2921 right_y=0.0014 right_z=0.1735 right_yaw=-0.0004 right_pitch=-0.05 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -6.188, 9.6479, 1.6532, -0.2906, 0.0024, -0.0122, -0.335, -1.4427, 6.9949, 1.7314, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb84c813ea972f04e661d53a02a73e9966ec055338e27f9c773f6ad1526190ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ecb3ae789e8fe8ce1239dcaa5981a00d40b0455db4ea542b91723d7b5d44ae0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e62f5a531a5f6b1e2bc2c54b3d923cd45fd127381734a99810560f392f88194c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 18.01 s

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

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 1.6241, 0.8291, -0.0151, -0.4629, -0.35, 0.9997, -0.02, 0.8017, 0.6128, -0.3965, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3918 left_y=-0.1342 left_z=0.0776 left_yaw=0.0364 left_pitch=-0.1368 left_roll=0.0754 left_gripper=0.9997 right_x=0.2941 right_y=0.0014 right_z=0.1785 right_yaw=-0.0004 right_pitch=-0.0275 right_roll=0.0005 right_gripper=0.9989\nstate[joint_eff]: [0.1299, -7.2547, 7.8427, 1.4676, -0.2564, -0.0464, -0.0171, -0.1983, -1.306, 7.1179, 1.7607, -0.0122, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.3943, 1.0313, 0.8215, -0.5434, -0.3828, -0.2707, 0.9997, -0.02, 0.8051, 0.6128, -0.4114, -0.0208, -0.0154, 0.9989]\nstate[eef_state]: left_x=0.3104 left_y=-0.0538 left_z=0.1863 left_yaw=0.0627 left_pitch=-0.1182 left_roll=0.059 left_gripper=0.9997 right_x=0.2923 right_y=0.0014 right_z=0.1745 right_yaw=-0.0006 right_pitch=-0.0458 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [0.2393, -2.8376, 9.9761, 1.6044, 0.022, 0.1197, -0.0122, -0.0615, -1.5932, 6.9949, 1.9072, -0.0415, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.5274, 1.3872, 0.8783, -0.3916, -0.4557, -0.3653, 0.9997, -0.02, 0.807, 0.6128, -0.4137, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3495 left_y=-0.1095 left_z=0.1255 left_yaw=0.0509 left_pitch=-0.215 left_roll=0.1091 left_gripper=0.9997 right_x=0.2921 right_y=0.0014 right_z=0.1735 right_yaw=-0.0004 right_pitch=-0.05 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -6.188, 9.6479, 1.6532, -0.2906, 0.0024, -0.0122, -0.335, -1.4427, 6.9949, 1.7314, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb84c813ea972f04e661d53a02a73e9966ec055338e27f9c773f6ad1526190ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ecb3ae789e8fe8ce1239dcaa5981a00d40b0455db4ea542b91723d7b5d44ae0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e62f5a531a5f6b1e2bc2c54b3d923cd45fd127381734a99810560f392f88194c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FAdJWMyJsKDRzfSsaxbfRY",
      "input": {
        "note": "Cap is nearly on the jaw column in the left wrist view but higher in the frame, so it is farther out. Descending straight down to near table height to re-judge the remaining radial offset at grasp height.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.11,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01FAdJWMyJsKDRzfSsaxbfRY",
      "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]: [-0.5308, 1.6096, 0.6285, 0.0113, -0.4564, -0.3798, 0.9997, -0.02, 0.8074, 0.6128, -0.4133, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3393 left_y=-0.1047 left_z=0.0171 left_yaw=0.0656 left_pitch=-0.2714 left_roll=0.139 left_gripper=0.9997 right_x=0.2922 right_y=0.0014 right_z=0.1735 right_yaw=-0.0004 right_pitch=-0.05 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -6.3111, 5.2991, 1.4676, -0.2125, 0.1148, -0.0122, -0.335, -1.3197, 7.1179, 1.6972, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac090dc880953cafabc582b73cbc405136211ce8c3daf08754adaa21685497b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:315625b541ac29118100ae277309d929aa8d252a9be9644606465907363ffe2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:589a1cd79a85e65c4c1a8ba90b0473179a214e8249a1b7677c397b4c808f7c7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 25.28 s

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

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3943, 1.0313, 0.8215, -0.5434, -0.3828, -0.2707, 0.9997, -0.02, 0.8051, 0.6128, -0.4114, -0.0208, -0.0154, 0.9989]\nstate[eef_state]: left_x=0.3104 left_y=-0.0538 left_z=0.1863 left_yaw=0.0627 left_pitch=-0.1182 left_roll=0.059 left_gripper=0.9997 right_x=0.2923 right_y=0.0014 right_z=0.1745 right_yaw=-0.0006 right_pitch=-0.0458 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [0.2393, -2.8376, 9.9761, 1.6044, 0.022, 0.1197, -0.0122, -0.0615, -1.5932, 6.9949, 1.9072, -0.0415, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.5274, 1.3872, 0.8783, -0.3916, -0.4557, -0.3653, 0.9997, -0.02, 0.807, 0.6128, -0.4137, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3495 left_y=-0.1095 left_z=0.1255 left_yaw=0.0509 left_pitch=-0.215 left_roll=0.1091 left_gripper=0.9997 right_x=0.2921 right_y=0.0014 right_z=0.1735 right_yaw=-0.0004 right_pitch=-0.05 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -6.188, 9.6479, 1.6532, -0.2906, 0.0024, -0.0122, -0.335, -1.4427, 6.9949, 1.7314, -0.0659, -0.0562, -0.0122]",
      "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]: [-0.5308, 1.6096, 0.6285, 0.0113, -0.4564, -0.3798, 0.9997, -0.02, 0.8074, 0.6128, -0.4133, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3393 left_y=-0.1047 left_z=0.0171 left_yaw=0.0656 left_pitch=-0.2714 left_roll=0.139 left_gripper=0.9997 right_x=0.2922 right_y=0.0014 right_z=0.1735 right_yaw=-0.0004 right_pitch=-0.05 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -6.3111, 5.2991, 1.4676, -0.2125, 0.1148, -0.0122, -0.335, -1.3197, 7.1179, 1.6972, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac090dc880953cafabc582b73cbc405136211ce8c3daf08754adaa21685497b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:315625b541ac29118100ae277309d929aa8d252a9be9644606465907363ffe2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:589a1cd79a85e65c4c1a8ba90b0473179a214e8249a1b7677c397b4c808f7c7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS6hUKjgEIEhgCKkBvYfJ4nExv8/QjMKTG7WF8GhC4qTBEiR/VEZJEzAkbnXy08M0uu4kIrCeWnFkz2BxhFCgCNoYYUTzLNw8yQMrqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbWPzNUGEgzMdASNlVFN6VCzihwaDLWWUoJcCH7pBRncpSIwsbATjy+M+Wo+airHZwsbQ0Pwvcr1x8H4NekihnLZCmwzPHSsZjP21QucRy4gWZnpKogUNBQz8Xr425P+wcfx8EjbQyPakb8HSvJrUUMqWPIgRpmq1vcczTbBrMnkX32lqYtvUBHWgDxtyZez9Dz33tolrW/U/qxepaQiDjV+NgqbpPRieTcpNgzbhIeUm+lM/wyOCU5OfbyF4ebTzBJ5PCIhgjS7iT/aDOepib5vx3hOkVqR4rI0F0qlNCQR8D832fKAJhFcUt9dCZcfclgjbGervpBsTGTap16rOyPedujLsZ5gW1id5hYiJOmbcM3JCdX8td4CO2D9rBUGy+2VJLxu/BEBoJf3UhDGwqZNQWj/C44z0fwRzykqCpaCZeBRqpCLHtVzbtcFPR9R/3fx4C9INJDKQmhUQSANNxALRPhYM/vP0vaHmQr2/G7SJEnW6BHNM7F46Kr6vvid91Bao/vxM44rVUv9egRgICa5L54GxGDHFHNsLNfG+3qoUyi4yN9pmL+40709YDrZWCSX2EAhKclz+O06AaSETaMrvkkiw8dAx0fos2y0tO5lrhLhtoFrkpjTdrXT+pQE1El/AvDHHyOKYy0nRO2QIQyGzpHmstukC8I1cWVnsPwv8xV1+emr23lTqQFzR1VTDfnvO66LeCwhJQev5Hg8shfreQ4owarbNC8jBbWxZaxPsR5E0/8tr7YBYwiHO7xWjvRhHMCeD0Yz0k01oqIhLDLOUqMeHJjKSt/rO2ZxwP7OJlByAQeYu3fQK1A06Q5b/q0eX2+1+5+qAHXwRIP40NLYOnCuW28KOKCLw94CGpD+TXzTgpdNkieEtbOGdBQh30P9lV/yuXUSY9J/dNvnE+4SGRwnKFP2+aOGBFpOOh9738uOZcqVUe5kDnB7vbRu1+Inqzhw3+kiesfUmjNWW0VSm/RzmqsebUX69NIybhKbZgB+tE04H9G20Bo1W+yHlwQiOzgijqoxst0im++9jO7MgADShIKWewlJJ751wyW8VLPQFvGFKq3TtEV/eh3EKtCssxhaeCKgxMicyik7G4guQrXw02BFdZAoKJ878ZZgyUlKP97IjSPtsTz76aGWucJecVUf/qEGGctHrRmyWPN9fS5RCQArKVV0RIlTjhmEgYunOtmjNXliA+v/MwMEU2D4CZmLhiEQScbPwZ9CrZ+/iZt9VOLwyv3saX7WmW88tbC7pPZUNmg3P9FfZPfko5gGBA5mwKp4Sc4iYlV3yVZhVroWNpyjlsHVEJDwrO1fMP+DVwG7hL3DMZ2bzDE6aFZIi6teAV8G3njwEPSRYiz/am0Dm+E0lVcKaF59IYdKqwKfTr7VIzzdG2e1c/9nBGcUiX/Ym4g+CHsU8Y4S5KjF2qrm36a3pau9itCPiYu8TwlnhjRknbw+75KntpoLnSHnDBkMMoHqaoynMVKlg7S0s5bIM/jqcXW26VHgncsPInG5MQEOZ3oD861opRyG4MZ+40pcntpjZmlyjSnMh3yJeiy8Xe+U6kUz/wx8mbuRt0nmQRUESeMDHmaAdIrItvQeMNfqxraC75iuY9DTmYMV9edoBnoA2lmy/xiKwbBP7fp9+nK2VIDXI1MqC6hvlT8dkpMhnfwentb9APt46ej0gTEqEiLz3qQrrUmY5usqiPK0IuvI+OWY4g3/XT6ZDnIVxcIMjsaF31RwX3p+EPfJHo4K8iWseO9bOCnz0XQkuJchyyJvlUqg7u+4F2bbjezK12M5hLX6R6nGmWnsrEQ1BHCeRETxvx7sYrah60fUElx96Rl5sk44Ar1mLVEck1eiUatpzluN/VO4BPNx1LHJcAo/lhXsjuV0p4uoQgFpLM/LDaq167ruHg91XjngglPLEos/co4qhE0KnCG4ITEgN0dLyD6fx+BkMDUZOA7ezu4fgCNpb+VTLCdeOA7Vr7h+pBxhOzl122R2mQXfmE14gOu3GvgfGya14un6mNaIONgxcxwwOoxzXjcZ58UBZhS2t4MCc2tcDoePeQGtsD67VNcTEucKM8flbYVMtRhDVyuoVKsqF97kNHkDAcPM9XsXHypU/UL49RFBjOTun+OGSnnmRzMmBLp28WU/9VM6IvRMcyWZfRKPRGVjdmYJmEJrE0Ctapj98ppvyWPJvpWoQ5ADc+RL/sQGp6W8/nJXvoKbg/3KSroE0QS9QUp8apFOPSTfE89n9PF8fmlhwcZ3dYmn2f+2U9u2Tmsw8RSrD9f3F5t4Q4HUj/i6hAY0ce9wT7p3PW3BeYDaUYWo3QYcofu18WAaJHunLN/B6WLSpXc2CwiMzzjYI+t4b7FtZahwmn1404STgkN1u52rBU89XKG01jrmHbNswynmxwMNo/WDAGTh7fC4JK/0TmbumB3eudlMtDvbZ3fQdRozqjvKHZeg7Cup0z96BafjPRLEM+cgaOn9SeAjMBLTYSThNmPPSnFigzHg5xZcIjZE+7ffQsJPFlFZJaFIXAcul4/HTEtLCGT075szNyNtuYo3vrafA6MtNGnoh4tH62i0nWnVBLbpu7K60GgeBra5wNPUQ3GZaPsV4JPVp9GX464S3c3NvoPZCUDibN+fgBOt1PGbkLprgwPYBNzLxoj6RpqY9dA0rNxIULd7xPKEGJw0zrQiuOm/HbMeSbfA11YLci3wG4PsF2+QTTrezZdB7D2m3WKafSFl9XctzE0nCqKTBC1gSdDhJXyd29JS5RG6xbDZa/uej6DLzuwrUbo9cnKmB8jIJDMryX2MSYAs6V2NvTdiJTnMDUTNFpP06M2qBcp8kMMb9YaiqODzckd/IBiIlr5vCg6v59Y07KdZb8pQAeQ9m+GKBbpbAey8jnKCUHpdwi65skP7HHqiqkE6BRUJG3qpOr2uDkOX6J4rCk/jsjsDOhiUOtB/GGr263YztDPpFJrhp0ZINYq3N6KRqzhZOl7o+xJLt3Nf9awYs81kZzuOQDIunjjxXWcPn+7opxmW7KbVtJW1pynmmO7ukC8itTYLiQFATXjTx0UrzVELtc+7d7XbYqmHFSBHE0kIhbwhvCBuVtu9KCcQCz5Kq/gP00nAAVL7H5NEJ2YszVlCiitIBw9Z5AkpM7sQol6i459/BfbeLZbIOdQuWom08uDWGKGx7pbV74VT+4dVrg61jqusIQx7PS7jN1wzLrzwzYCwF0pN+U0zhUFOBSwSMNtz3pT9IagCyrCKS2/g2rPrFZUbUluw/LjIt5ZW5gdQVd4SK8M4aYQWxlPHjNNs11vP947ye5Yx25V3yM1Scx+6vNfHFQ0o91MrjTDsMvQUHnLKr4fcwXchub068coxZ457PbPIOGFnVaNZ5QXbZSJoMkzFbSN4DoaFR5IionkSwMqbo4qxJsOxmRX4KcpyOMMAq+he1RdPdvPK7R00qlDv0c32JVRlCaNZTFKC4XzhUmy8fwFl751hLj5oH2hh/Gk6QYin6Gqj8IqRQDZWQJnYxXgzjmle+LLsr/o1r+5yGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FFLKhdj2CPygfR8Wo55UBL",
      "input": {
        "note": "The object in the left wrist view turns out to be the pen itself seen past the fingertips; I have lost track of the cap. Retracting the left arm toward home to clear the overhead view and locate the cap.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.2,
          "left_y": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01FFLKhdj2CPygfR8Wo55UBL",
      "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]: [-0.495, 0.2958, 0.3092, -0.6216, -0.5247, -0.2653, 0.9997, -0.02, 0.8112, 0.6125, -0.4126, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.2151 left_y=-0.0115 left_z=0.125 left_yaw=0.07 left_pitch=0.0515 left_roll=0.0706 left_gripper=0.9997 right_x=0.2925 right_y=0.0014 right_z=0.1725 right_yaw=-0.0004 right_pitch=-0.0534 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [0.4171, 2.4274, 8.7726, 1.8681, -0.2369, 0.2173, -0.0122, -0.1983, -1.3607, 7.2, 1.6777, -0.022, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1261f45b51d5ea25f57126ab439598c64814b1c02345e0d8dde7b5696ab023f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00c26b24eb8ac01356940ac12eb198d6c48bafbbc90eb4b4d867475963a81c94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0df2d47e4152bf09ce3e47b48d0804120d3b8577e89bbaf4e74bb940210d1ff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 9.506 s

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

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5274, 1.3872, 0.8783, -0.3916, -0.4557, -0.3653, 0.9997, -0.02, 0.807, 0.6128, -0.4137, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3495 left_y=-0.1095 left_z=0.1255 left_yaw=0.0509 left_pitch=-0.215 left_roll=0.1091 left_gripper=0.9997 right_x=0.2921 right_y=0.0014 right_z=0.1735 right_yaw=-0.0004 right_pitch=-0.05 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -6.188, 9.6479, 1.6532, -0.2906, 0.0024, -0.0122, -0.335, -1.4427, 6.9949, 1.7314, -0.0659, -0.0562, -0.0122]",
      "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]: [-0.5308, 1.6096, 0.6285, 0.0113, -0.4564, -0.3798, 0.9997, -0.02, 0.8074, 0.6128, -0.4133, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3393 left_y=-0.1047 left_z=0.0171 left_yaw=0.0656 left_pitch=-0.2714 left_roll=0.139 left_gripper=0.9997 right_x=0.2922 right_y=0.0014 right_z=0.1735 right_yaw=-0.0004 right_pitch=-0.05 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -6.3111, 5.2991, 1.4676, -0.2125, 0.1148, -0.0122, -0.335, -1.3197, 7.1179, 1.6972, -0.0317, -0.0562, -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 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]: [-0.495, 0.2958, 0.3092, -0.6216, -0.5247, -0.2653, 0.9997, -0.02, 0.8112, 0.6125, -0.4126, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.2151 left_y=-0.0115 left_z=0.125 left_yaw=0.07 left_pitch=0.0515 left_roll=0.0706 left_gripper=0.9997 right_x=0.2925 right_y=0.0014 right_z=0.1725 right_yaw=-0.0004 right_pitch=-0.0534 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [0.4171, 2.4274, 8.7726, 1.8681, -0.2369, 0.2173, -0.0122, -0.1983, -1.3607, 7.2, 1.6777, -0.022, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1261f45b51d5ea25f57126ab439598c64814b1c02345e0d8dde7b5696ab023f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00c26b24eb8ac01356940ac12eb198d6c48bafbbc90eb4b4d867475963a81c94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0df2d47e4152bf09ce3e47b48d0804120d3b8577e89bbaf4e74bb940210d1ff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011ZgRt4XJ5ytrmawXxAYV2K",
      "input": {
        "note": "With both arms clear, the overhead view shows the small cap at left (~col 72) and the thin pen at centre-right. Moving the left arm to hover 10 cm above my refined cap estimate (x≈0.36, y≈−0.17).",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.36,
          "left_y": -0.17,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_011ZgRt4XJ5ytrmawXxAYV2K",
      "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]: [-0.7338, 1.5455, 0.7246, -0.0093, -0.6815, -0.4808, 0.9997, -0.02, 0.8162, 0.6125, -0.4152, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3473 left_y=-0.1585 left_z=0.0847 left_yaw=0.0658 left_pitch=-0.0443 left_roll=0.1088 left_gripper=0.9997 right_x=0.2924 right_y=0.0014 right_z=0.1706 right_yaw=-0.0003 right_pitch=-0.061 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -6.8444, 8.1299, 1.5702, -0.3834, 0.0122, -0.0122, -0.3624, -1.7026, 6.9949, 1.7021, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34dc37e0eafe09a6f9dc4a8f4e55e150f1fed2941c963dd7aa21d23254658692",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f7fa818c0dcf368704ec075d3bd883f188b149a2e4ef7b5ce5dc7e67a2de41d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:52cab916569aff04be3137fde3d06acb4d6ff8358de84a582abba38a0bfec85c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 9.35 s

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

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5308, 1.6096, 0.6285, 0.0113, -0.4564, -0.3798, 0.9997, -0.02, 0.8074, 0.6128, -0.4133, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3393 left_y=-0.1047 left_z=0.0171 left_yaw=0.0656 left_pitch=-0.2714 left_roll=0.139 left_gripper=0.9997 right_x=0.2922 right_y=0.0014 right_z=0.1735 right_yaw=-0.0004 right_pitch=-0.05 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -6.3111, 5.2991, 1.4676, -0.2125, 0.1148, -0.0122, -0.335, -1.3197, 7.1179, 1.6972, -0.0317, -0.0562, -0.0122]\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]: [-0.495, 0.2958, 0.3092, -0.6216, -0.5247, -0.2653, 0.9997, -0.02, 0.8112, 0.6125, -0.4126, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.2151 left_y=-0.0115 left_z=0.125 left_yaw=0.07 left_pitch=0.0515 left_roll=0.0706 left_gripper=0.9997 right_x=0.2925 right_y=0.0014 right_z=0.1725 right_yaw=-0.0004 right_pitch=-0.0534 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [0.4171, 2.4274, 8.7726, 1.8681, -0.2369, 0.2173, -0.0122, -0.1983, -1.3607, 7.2, 1.6777, -0.022, -0.0806, -0.0122]",
      "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]: [-0.7338, 1.5455, 0.7246, -0.0093, -0.6815, -0.4808, 0.9997, -0.02, 0.8162, 0.6125, -0.4152, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3473 left_y=-0.1585 left_z=0.0847 left_yaw=0.0658 left_pitch=-0.0443 left_roll=0.1088 left_gripper=0.9997 right_x=0.2924 right_y=0.0014 right_z=0.1706 right_yaw=-0.0003 right_pitch=-0.061 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -6.8444, 8.1299, 1.5702, -0.3834, 0.0122, -0.0122, -0.3624, -1.7026, 6.9949, 1.7021, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34dc37e0eafe09a6f9dc4a8f4e55e150f1fed2941c963dd7aa21d23254658692",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f7fa818c0dcf368704ec075d3bd883f188b149a2e4ef7b5ce5dc7e67a2de41d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52cab916569aff04be3137fde3d06acb4d6ff8358de84a582abba38a0bfec85c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISrQgKjgEIEhgCKkBuChJyuTKPRwmiaFSiPWWNRPLODjIM0b6NFmbW8OZAf7d5iH6/iBk4DfHSlz9qUup4e2pbYQOG+JCvtSBRxWUPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdqPzNUGEgwVWlMUbNHLWnadQBIaDASlxjEM4IoYCx531SIwbCbbrRMuQ9Vaer8sBm39I4Gzr4WBp/eX0XRtQAy6UECTbnSsFb/60PT3WE/OL9LAKssGXe19J6fLk4c5oO2dShbNpiT5YnNlgki01MUc2yrF5a5KYlK1MVbrPkAofQWYXghih6rykva/h3tLaO/MTYTTT6ujCsUNzkuYfClj5UFUW72L9LXyJYRlU+7CjB9LkJKD7BOAk/TeV1qdv4ldG80YPt9MVGv72PZDAgty4wsmL/XtyOvHwC0VevbeXXgJdzKDvdhiA0gnTru28JO1OnNx0k0e9ZfvPVW29IJpArzOm4aWprxEBPjPBXwrD20cZFvvjozr3xSV4P3PVmlrkAjqC6vKtjDrkxKEtdEpSJLHY2wBnywRHVv2UJoiJ55G+0SQ+nct9E/cndxyrdqQ3SkDyyWhSkJdf5qSs2nk+rL+8kIkaq0L8/Y2/mfCNdYOfIO5PPvEml0UT9z8GW8gSQUOpGLjCyGt+UqnepK8ZNKgabl/fd+7glY+e0kzClX0vtFREAxvGrwPy4mqm4XwPEtB5SZyDgXy2LcaQM4BJnRdlVWDnGw9WtFJl6/aG39TsZi6n7KSikIiPUaZg84rO+NFmkFOMcYJS0u0WZ+OGWNpaehotGMUm0M8iQO5N35oeSIFokcmE2+osYtjyFV0R4/QaV19Ng7/a/XvvFepn64N+Ddc2/mXo8qWHPqstQh8pk6FyuKYFXfuAqltM8Lvwc1VKytNr0wOP6fhlAXIUYDtLMosu2fVjuQo/iOQBh/afcVuHamp/6lWz68oK5qiO4rPKXkmTQiSQ0I/qEAKltDQ76lgWLpAmWUCeNoJ/6eycGa2oGGy7/cKWyAjwImNArE0g5QUTUekx6219+oVOT3zJyuC8b78JmNml2chw4S0nRsqcqNfUIMb2yFImFrXtWeT8rP+dlPrW8TATjSxRhUffjik+0ThnYT/GFYpVgneUhZ9eUNlvIMCZBWZ1TxYjfVAKo3hzLLeAv+4Tr9fgdO5PGJ4cIENYLTYV+mhTM3dRi5o5wCvS+5MQHV5CpYFNyKFsaVmPnePpKZMq+bVPBiVs9kKzVGZHoZ1BhMBrv3La9PWxEVpVxVKVlaT23ZmcAu+zwnC1j2G8Hgj6cxJ2lajtV4iHa/8Vf0xPUU9NOXmmNot3dUxZkSO136/MkndJDiL9nHX8p9w5FvkfC69GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013TNZeJ7qU86SpuV2ZSPWni",
      "input": {
        "note": "The left wrist camera now clearly shows the pen cap slightly left of the jaw column and above it, so it is a bit farther out and to the arm's left. Nudging +1.5 cm out, 3 cm left and descending to 5 cm.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.375,
          "left_y": -0.19,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_013TNZeJ7qU86SpuV2ZSPWni",
      "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]: [-0.754, 1.7687, 0.7628, 0.1226, -0.7036, -0.4889, 0.9997, -0.02, 0.8192, 0.6125, -0.416, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3604 left_y=-0.1768 left_z=0.0379 left_yaw=0.0671 left_pitch=-0.0681 left_roll=0.1523 left_gripper=0.9997 right_x=0.2924 right_y=0.0014 right_z=0.1696 right_yaw=-0.0003 right_pitch=-0.0648 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -9.8803, 7.9932, 1.5751, -0.5201, 0.1099, -0.0122, -0.1573, -1.4017, 7.1043, 1.6874, -0.0855, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cddaaa83209b7805a26f034bae3f56a730fcbda5db124bf12e90303ab74b608",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6802027f6ea6188b693a293b6f927aacd970482d168773c41dbbd85a86505915",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46b5b6fd1f09ac9ac5c56c82e77f25a49e518a7a25191929c544bb104a64e1ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 14.38 s

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

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.495, 0.2958, 0.3092, -0.6216, -0.5247, -0.2653, 0.9997, -0.02, 0.8112, 0.6125, -0.4126, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.2151 left_y=-0.0115 left_z=0.125 left_yaw=0.07 left_pitch=0.0515 left_roll=0.0706 left_gripper=0.9997 right_x=0.2925 right_y=0.0014 right_z=0.1725 right_yaw=-0.0004 right_pitch=-0.0534 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [0.4171, 2.4274, 8.7726, 1.8681, -0.2369, 0.2173, -0.0122, -0.1983, -1.3607, 7.2, 1.6777, -0.022, -0.0806, -0.0122]",
      "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]: [-0.7338, 1.5455, 0.7246, -0.0093, -0.6815, -0.4808, 0.9997, -0.02, 0.8162, 0.6125, -0.4152, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3473 left_y=-0.1585 left_z=0.0847 left_yaw=0.0658 left_pitch=-0.0443 left_roll=0.1088 left_gripper=0.9997 right_x=0.2924 right_y=0.0014 right_z=0.1706 right_yaw=-0.0003 right_pitch=-0.061 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -6.8444, 8.1299, 1.5702, -0.3834, 0.0122, -0.0122, -0.3624, -1.7026, 6.9949, 1.7021, -0.0366, -0.0611, -0.0122]",
      "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]: [-0.754, 1.7687, 0.7628, 0.1226, -0.7036, -0.4889, 0.9997, -0.02, 0.8192, 0.6125, -0.416, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3604 left_y=-0.1768 left_z=0.0379 left_yaw=0.0671 left_pitch=-0.0681 left_roll=0.1523 left_gripper=0.9997 right_x=0.2924 right_y=0.0014 right_z=0.1696 right_yaw=-0.0003 right_pitch=-0.0648 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -9.8803, 7.9932, 1.5751, -0.5201, 0.1099, -0.0122, -0.1573, -1.4017, 7.1043, 1.6874, -0.0855, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cddaaa83209b7805a26f034bae3f56a730fcbda5db124bf12e90303ab74b608",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6802027f6ea6188b693a293b6f927aacd970482d168773c41dbbd85a86505915",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46b5b6fd1f09ac9ac5c56c82e77f25a49e518a7a25191929c544bb104a64e1ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS6ggKjgEIEhgCKkBHUvVExFpK2bXm8QRSofKfQwD1xG/Cac3mwS1FZQQMI+A5jNyJTUy84ncFdWNU4fM3ZUDoTdt1bCZ+MLS49OphMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeSPzNUGEgxxlNVwYZfnz4FSp8IaDI2SkcZWOzyHXCsoGCIwkBvtW/teywAeJ/7WklKC1E7ea8UYHIqe5IPKAABCmhsUz42qqao3g36IG8hfzJlRKogHBukiHAd2LAWgmZpSV+T7W6TkYn4dTNq7/ortAEjgNAduAKjsnsmo2z1gYs2vcO6lv7sU2+IZp6Dlq9Gdxq9f4Ey2gZqqCd2qb8tILjvmGdPCMBtKa6wDufaRvStn3XQ8bCZ3PaO+xemepq/tDyBtZXE76bj6KK/tqg/bnJNjSYK6JpdSm/VzE+72qWX/6IUr5QGiqBa52coEjkwuw0CuSgFQXdEhMKUvn1t4OORLIyYE/xM/AxRKWTsTsZh8Lzpxi8yXtVRMZPTg2IMEI7l2nq7YHcVzKkhttRTFtn+MnwysZHDotIc12xJqvhoyQ5IEr8b8PUzgQie2yP3aRV9aTjnh7stapesMn8B3QsUECE3qr8YzfnqsdZdw1lwAXegIEAokxBg6Wvlkwr2BxqrhcnvDEKrfPvy5pGsdNtEcpaRPdtjf6Bijm9XBFil52C+gA7P7cPUTFcBjPdcxL5qEPquCKrPk13QxdkENZpXW7WqJoJor06TNXJHdlWMbGsRtvRPCmrz7RLQykBXyqSaPwxnM84e1yHcJ3gFxbTYa8LPMeRKGOtpsObchH9m66JvthDVJBOcOKA6knwevuI6KHclT0V6XdSlUa+DJxEp7Om6z6KQpqP/X4x3qJgXPGuoe3XUo8HyP8JqAbkLf7cCtkdMDWy8bMlglSU359Oa+uDsE1KM8iPGcQL8ZKtczEYrbgKZMJr35PN8peIcnWJTaznp5n2yXozYC36UBY7sRSnNOIcIeAQVWHzcOERtJU4HQ5eTSoHuCis+6TU5XWEeRU2bsyYLgroiz8tmaHwYWBwyVDWj7CrFgMTJNhk0K9fdFEF3ju1Y9ImqQ6Iz7v2rx4AANeGOVQqNDrtsaS18ZnMpmHXC306aIQfL92GBxaCjXMaXsP18gJ48gTdn4+92APld8abhBLb9UbS7azYBsUk8z0DOBKgVh1xpXQ6zYnQ9x7EwlOdghle9YJ1lVRegoQuiR2ZbCXeUuI07yluz8Q6/VRtzRjHVEntwI46gh2Okjht4thdbzr2Bvlvld+CJlOSO3SyLf2xOfA1/+RhJ2nw4wD3mmXjR51R2ikUX0lArcmxGx63Ho9IPv3z3p04Pv/TaP6G6fmUFq5k2NON9ySioL/yF+EAgl2b898IPgshQVDm9ZYp+pN3+C8FfvByjTRtD9VDKySQKTHKvJF7TncKsqOJ+8E1WrJxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VzBGLHoz5gdgE9cGtZDVAu",
      "input": {
        "note": "Cap sits left of and well above the jaw column at 3.8 cm height, so I need to advance radially. Probing +3 cm in x to measure how far the cap shifts down the wrist image.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.39,
          "left_y": -0.185,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VzBGLHoz5gdgE9cGtZDVAu",
      "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]: [-0.7601, 1.8168, 0.7639, 0.1764, -0.7105, -0.4892, 0.9997, -0.02, 0.8196, 0.6125, -0.4168, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3633 left_y=-0.1814 left_z=0.0283 left_yaw=0.0655 left_pitch=-0.0595 left_roll=0.1506 left_gripper=0.9997 right_x=0.2924 right_y=0.0013 right_z=0.1693 right_yaw=-0.0007 right_pitch=-0.066 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -9.6342, 7.2684, 1.5849, -0.4127, 0.1099, -0.0122, -0.1162, -1.4154, 7.1863, 1.6874, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3481c084f423b3c196602eb1a941cd7be4d82be1f19a1d040a56e89fa2e2f55c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc30001a215518018cf71e1d0485fda1d8305656443027f483323507c4a8779b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ada52636f6f54fada4a6283f4fd273354dfa2c5bebb46799fec467ba4ba790eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 12.78 s

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

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7338, 1.5455, 0.7246, -0.0093, -0.6815, -0.4808, 0.9997, -0.02, 0.8162, 0.6125, -0.4152, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3473 left_y=-0.1585 left_z=0.0847 left_yaw=0.0658 left_pitch=-0.0443 left_roll=0.1088 left_gripper=0.9997 right_x=0.2924 right_y=0.0014 right_z=0.1706 right_yaw=-0.0003 right_pitch=-0.061 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -6.8444, 8.1299, 1.5702, -0.3834, 0.0122, -0.0122, -0.3624, -1.7026, 6.9949, 1.7021, -0.0366, -0.0611, -0.0122]",
      "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]: [-0.754, 1.7687, 0.7628, 0.1226, -0.7036, -0.4889, 0.9997, -0.02, 0.8192, 0.6125, -0.416, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3604 left_y=-0.1768 left_z=0.0379 left_yaw=0.0671 left_pitch=-0.0681 left_roll=0.1523 left_gripper=0.9997 right_x=0.2924 right_y=0.0014 right_z=0.1696 right_yaw=-0.0003 right_pitch=-0.0648 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -9.8803, 7.9932, 1.5751, -0.5201, 0.1099, -0.0122, -0.1573, -1.4017, 7.1043, 1.6874, -0.0855, -0.0611, -0.0122]",
      "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]: [-0.7601, 1.8168, 0.7639, 0.1764, -0.7105, -0.4892, 0.9997, -0.02, 0.8196, 0.6125, -0.4168, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3633 left_y=-0.1814 left_z=0.0283 left_yaw=0.0655 left_pitch=-0.0595 left_roll=0.1506 left_gripper=0.9997 right_x=0.2924 right_y=0.0013 right_z=0.1693 right_yaw=-0.0007 right_pitch=-0.066 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -9.6342, 7.2684, 1.5849, -0.4127, 0.1099, -0.0122, -0.1162, -1.4154, 7.1863, 1.6874, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3481c084f423b3c196602eb1a941cd7be4d82be1f19a1d040a56e89fa2e2f55c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc30001a215518018cf71e1d0485fda1d8305656443027f483323507c4a8779b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ada52636f6f54fada4a6283f4fd273354dfa2c5bebb46799fec467ba4ba790eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS5Q4KjgEIEhgCKkBLkOkOUKzw6ELuW/NuBFGYWafEoin33OHGbFNAK0E6/UlH9UNlGNZcvoilQRTMFv5ILelc7fHirbkMs4Z4gPUbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfKPzNUGEgxYMXkRT9emvhotfOEaDNp8Cvzlf8fPqWm5YyIw6meZYCgOjEgyJEfInKfioxntMQf97WO7YbAaUkYdwyXRp2eALaM0vJeXhGeZh8ACKoMN+luselXW+mSCWRkxzYx0rV9GDgJqNRpllFM8CywhQnzBOt4WMY0AQP86kIDGEiu6rRpxe/svNZnnlgZmavCr7RrCVYFVmiKQO7AkoNnpN7d0QoaTgy8IBoiO9z67BcDEki8gRSH6xC6+AqWnTjiGOOWRk352qMe52OQN9iEHgVQcopmwBimvHMTO2UHr0BBqN27Q7KzxvsMPl2w1ETH9AkTP3Us8r5XW9vcOgSDOw7acw+npTcUYSRBb6QVq+sa2PUhcPsd2bKGb4rJoo5UvP/6A+uKAeD1Kk5v/d8Ziri3JvZe84BqF4GypFfZSW3NndNNt6ea3x+2aiDT6LQ4qQ8DauovULOsohIF/1vR0L4jOTIDUpGSWgCPqsQ/JsNlp8AFzWcIKnNoMGg8nD9SIbZlyALn5c7w2StzaL5cKukmc/5sSn3gmGJJ7Zw/dpLe58wN0LkOOjjyMJDQX28objNSF+dZHP9PrQAoECFD+x4ylgU1ABQLNqHm1zXvayD+MGLk4WKphRDP93S8sluEF9lGgZit8QaYnulxu88FFAKNpw3sI4EFGV2YEMq7ehEgrcB9WTMu4ZFYNzkAoX4zyqYea2zqs/9SkE0vnPv/E8l3LduMDFy9gjhOGdmJ5YoeDqhub1e32yiMES1B0F15EuolL1EEjn+1u4X7UrMmJd40IYUTXoaD99Rb5IYIOvsnY5UusmcuPoyX/AjIguM8HRRlCxJj7fhm/twnWGkn5fLpmtu5mwQD8/+YNxkZx1FmVHMDwUXNw53PMVLOzm8oAoSOVWnhFd7/jHT+hy8P5GJ60OdV2V8sCihSLoprRp+uVQOvoOuVVrvDFOcO4KLorynazhMyTTQfmL4R+kaPRzW5o5ZJLzF4Dn/mTRgWvDXohxEHFrz1ATXIeMjpxafL2P4cOto7V/b9sO9j324ySwhCrNsGDPrTDLUWhzAvVwpGvoolVGPS/mhGzKmF+xD30uKsY893bhSYmU2ecX5SuxudnDnerHMQ1ZOMd1ZoynYe2b8/aRYH5N/tsGxO9XfNoNrPI4umMcKf7HW+u+4G98gI7t8vOZDPsRZApEZOE9JnzmUYRTKBLSjBRh3lL1Tfal+Nb/Ap1JJPj33QqUa5UWTX9+LFrJJ7gDwMKAfSjD6LhyKzaRL1CrkmtbQpEJ2U7yNwVbmggbPilipBQ3KN4EZ4LLVOIyG3S9NebjT/i0fyf1N8dWQ/T+iVR0ML3gW/58P2DycHAFuGoXcUBMPyE5BHcI23U/4TcDVnQJDYjhdW18DhRNfPOxgH8aGRG+KQzD5+WtR2bkb6RZ4Ghx9y0xnr/lsm5LTbh3jbT4hOeiLZrwX5Q/VR5qb7HLWs2Al3bWhZwfRvtH2KlYy7zVYpfD5bq7SWEA016DE7Gz49Lrp1w6BP46BL590uvPhKfnEs4QJypESWB5obEigXdJ8AHXRVTI6qqrhVsaMnSh2mdR9zcm9FqwAcgreeYmLSpVpfLItmPic6t7tQgqBl8KPBK8AlVbBc5A5fBkj7WJL/47kAXofaLljT/tdKwjAjreKRw+t4suTZLdygTe4q04gFX8TcutBtxNm/2VFGbp9bCLedLPm3p4TfEDut8wVkC8TsBU3pApYN3IPw/JXG+TvDHFvHAKT0u/XB6OQ8mGGTT9Snt7Dz41/LfmUvwPWue448200omO/hWGMQyEipX3+620o4Y+dtC3/rOSeKv9x9oLtI7YdV2fo7VbYSrsgiEMVV4IKlsMtChaxd2p8sVS0G0tNkGEmI+M4vFHA0dESFl+SZS/SnGwU9yTcCI89kyriz1SZRtJtyPGEB/VmwCqGi0zg31h3me5Uo8xV27wF/VvWztIPoYzcfSYXdD+00IyEIIobDNIbhldAP+MVtrHNZzzW1e5dRk/kxVsCu7C8k5KzuyZ+IQWVnEH3As2dBInBMH4l9fYw11gv5N0BaiVgmtpmWltzLxqC7RPu4XxSjb1Uvi+fPotQnO28IQBethdwyIRvjiZsoK8EwpjbhV4uzdRkRMB8PGCLS0eKc3rd4XnzBCXDt5Yw4yFACXS6KPDaPe2odgbe1dK9ukt6LM07+LFNoq27mjIeHYdygbNctMdaMW+hbBQCcHXuDpBy6q9NUZkQz08ifEp+nCO7BD1eZ2rNE5+8E/TwrC4dajKJ0gayaD9ESCghSsnp62nX1q46JhHnkRfnpHtBRTr5p1uj3aP7sTa+IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RTkRyGAFpt35eQBU5sCFoc",
      "input": {
        "note": "The arm has hit a shoulder limit at x≈0.363 with the tool vertical, so it cannot reach the cap. Pitching the wrist forward should extend the fingertips further out; commanding pitch 0.45 with x=0.41.",
        "targets": {
          "left_pitch": 0.45,
          "left_x": 0.41,
          "left_y": -0.185,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01RTkRyGAFpt35eQBU5sCFoc",
      "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]: [-0.7464, 2.2333, 0.6693, 1.2633, -0.8837, -0.0711, 0.9986, -0.02, 0.823, 0.6125, -0.4191, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4022 left_y=-0.1811 left_z=0.0218 left_yaw=0.0527 left_pitch=0.3719 left_roll=0.1866 left_gripper=0.9986 right_x=0.2922 right_y=0.0014 right_z=0.1679 right_yaw=-0.0003 right_pitch=-0.0717 right_roll=0.0014 right_gripper=0.9989\nstate[joint_eff]: [0.5949, -8.5675, 4.6564, 2.044, -0.1978, 0.1685, -0.1245, -0.212, -1.6615, 7.0906, 1.7167, -0.0611, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbd603115066d736af707bf0a90e5f5e8a953b8cc251a03f8e178932e9402eea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00f10904019d0c8b86ebeb587e0f552bd74ce60639ad917ac278d4e43ad6eb02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7107e65906b3acabe1fbc7b0a0764fcacbea01a52a9217fa9636fe85037ac1b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 13.51 s

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

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.754, 1.7687, 0.7628, 0.1226, -0.7036, -0.4889, 0.9997, -0.02, 0.8192, 0.6125, -0.416, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3604 left_y=-0.1768 left_z=0.0379 left_yaw=0.0671 left_pitch=-0.0681 left_roll=0.1523 left_gripper=0.9997 right_x=0.2924 right_y=0.0014 right_z=0.1696 right_yaw=-0.0003 right_pitch=-0.0648 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -9.8803, 7.9932, 1.5751, -0.5201, 0.1099, -0.0122, -0.1573, -1.4017, 7.1043, 1.6874, -0.0855, -0.0611, -0.0122]",
      "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]: [-0.7601, 1.8168, 0.7639, 0.1764, -0.7105, -0.4892, 0.9997, -0.02, 0.8196, 0.6125, -0.4168, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3633 left_y=-0.1814 left_z=0.0283 left_yaw=0.0655 left_pitch=-0.0595 left_roll=0.1506 left_gripper=0.9997 right_x=0.2924 right_y=0.0013 right_z=0.1693 right_yaw=-0.0007 right_pitch=-0.066 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -9.6342, 7.2684, 1.5849, -0.4127, 0.1099, -0.0122, -0.1162, -1.4154, 7.1863, 1.6874, -0.0366, -0.0513, -0.0122]",
      "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]: [-0.7464, 2.2333, 0.6693, 1.2633, -0.8837, -0.0711, 0.9986, -0.02, 0.823, 0.6125, -0.4191, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4022 left_y=-0.1811 left_z=0.0218 left_yaw=0.0527 left_pitch=0.3719 left_roll=0.1866 left_gripper=0.9986 right_x=0.2922 right_y=0.0014 right_z=0.1679 right_yaw=-0.0003 right_pitch=-0.0717 right_roll=0.0014 right_gripper=0.9989\nstate[joint_eff]: [0.5949, -8.5675, 4.6564, 2.044, -0.1978, 0.1685, -0.1245, -0.212, -1.6615, 7.0906, 1.7167, -0.0611, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbd603115066d736af707bf0a90e5f5e8a953b8cc251a03f8e178932e9402eea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00f10904019d0c8b86ebeb587e0f552bd74ce60639ad917ac278d4e43ad6eb02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7107e65906b3acabe1fbc7b0a0764fcacbea01a52a9217fa9636fe85037ac1b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EWFW9hFawoe6VQx7gUQCWY",
      "input": {
        "note": "Pitching forward freed the reach: the cap now appears near the bottom-left of the wrist view, just left of the jaws. Shifting ~3.5 cm toward the arm's left and pulling back 1 cm to centre it between the jaws.",
        "targets": {
          "left_pitch": 0.45,
          "left_x": 0.395,
          "left_y": -0.145,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EWFW9hFawoe6VQx7gUQCWY",
      "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]: [-0.6823, 2.2581, 0.5594, 1.478, -0.8509, 0.0021, 0.9985, -0.02, 0.823, 0.6125, -0.4194, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3949 left_y=-0.1451 left_z=0.0248 left_yaw=0.0689 left_pitch=0.4154 left_roll=0.1971 left_gripper=0.9985 right_x=0.2922 right_y=0.0013 right_z=0.1679 right_yaw=-0.0007 right_pitch=-0.0721 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [0.0479, -7.0632, 2.0855, 1.8144, 0.0757, 0.105, -0.022, -0.0068, -1.2923, 7.2, 1.6825, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02a0ad84a6d27229b6d70b91cd0ddd97df82a266480b02068458e8beb52cdffc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de488732ec6160a9f9c86ae99e1e24b295c610398da78c508d2844a40fe57839",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:80ecab944336633086c836b25aced15b803bb423a8a358d7257c2c86a3527119",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 12.58 s

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

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.8168, 0.7639, 0.1764, -0.7105, -0.4892, 0.9997, -0.02, 0.8196, 0.6125, -0.4168, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3633 left_y=-0.1814 left_z=0.0283 left_yaw=0.0655 left_pitch=-0.0595 left_roll=0.1506 left_gripper=0.9997 right_x=0.2924 right_y=0.0013 right_z=0.1693 right_yaw=-0.0007 right_pitch=-0.066 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -9.6342, 7.2684, 1.5849, -0.4127, 0.1099, -0.0122, -0.1162, -1.4154, 7.1863, 1.6874, -0.0366, -0.0513, -0.0122]",
      "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]: [-0.7464, 2.2333, 0.6693, 1.2633, -0.8837, -0.0711, 0.9986, -0.02, 0.823, 0.6125, -0.4191, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4022 left_y=-0.1811 left_z=0.0218 left_yaw=0.0527 left_pitch=0.3719 left_roll=0.1866 left_gripper=0.9986 right_x=0.2922 right_y=0.0014 right_z=0.1679 right_yaw=-0.0003 right_pitch=-0.0717 right_roll=0.0014 right_gripper=0.9989\nstate[joint_eff]: [0.5949, -8.5675, 4.6564, 2.044, -0.1978, 0.1685, -0.1245, -0.212, -1.6615, 7.0906, 1.7167, -0.0611, -0.0757, -0.0122]",
      "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]: [-0.6823, 2.2581, 0.5594, 1.478, -0.8509, 0.0021, 0.9985, -0.02, 0.823, 0.6125, -0.4194, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3949 left_y=-0.1451 left_z=0.0248 left_yaw=0.0689 left_pitch=0.4154 left_roll=0.1971 left_gripper=0.9985 right_x=0.2922 right_y=0.0013 right_z=0.1679 right_yaw=-0.0007 right_pitch=-0.0721 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [0.0479, -7.0632, 2.0855, 1.8144, 0.0757, 0.105, -0.022, -0.0068, -1.2923, 7.2, 1.6825, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02a0ad84a6d27229b6d70b91cd0ddd97df82a266480b02068458e8beb52cdffc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de488732ec6160a9f9c86ae99e1e24b295c610398da78c508d2844a40fe57839",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80ecab944336633086c836b25aced15b803bb423a8a358d7257c2c86a3527119",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XumXzdHEdogc7EKUYbUbwe",
      "input": {
        "note": "Cap is now just left of and slightly below the jaw convergence point; the last move gave a scale of ~9 px/cm. Shifting 2 cm further left, pulling back ~1.7 cm and dropping to table height for the grasp.",
        "targets": {
          "left_pitch": 0.45,
          "left_x": 0.378,
          "left_y": -0.125,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01XumXzdHEdogc7EKUYbUbwe",
      "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]: [-0.6743, 2.2734, 0.5468, 1.5539, -0.8371, 0.0208, 0.9985, -0.02, 0.823, 0.6125, -0.4194, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3948 left_y=-0.143 left_z=0.03 left_yaw=0.0685 left_pitch=0.4468 left_roll=0.1793 left_gripper=0.9985 right_x=0.2922 right_y=0.0014 right_z=0.1679 right_yaw=-0.0003 right_pitch=-0.0721 right_roll=0.0014 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -8.1573, 1.9624, 1.8242, -0.0171, 0.1148, -0.0122, -0.2393, -1.2786, 6.9949, 1.6532, -0.0171, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8dd87059e67b4b3b214eb7a8046bb483481863e273900b756c6e76858cf5c0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:198fd7d85abc9b90117ac7323e660cf4319490924fc387c490df5f00de7d7d8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7679f94c7b5cd173acbb251241e8915bbacc3d0cb97d37637b8e82b03920413",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 8.916 s

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

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7464, 2.2333, 0.6693, 1.2633, -0.8837, -0.0711, 0.9986, -0.02, 0.823, 0.6125, -0.4191, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4022 left_y=-0.1811 left_z=0.0218 left_yaw=0.0527 left_pitch=0.3719 left_roll=0.1866 left_gripper=0.9986 right_x=0.2922 right_y=0.0014 right_z=0.1679 right_yaw=-0.0003 right_pitch=-0.0717 right_roll=0.0014 right_gripper=0.9989\nstate[joint_eff]: [0.5949, -8.5675, 4.6564, 2.044, -0.1978, 0.1685, -0.1245, -0.212, -1.6615, 7.0906, 1.7167, -0.0611, -0.0757, -0.0122]",
      "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]: [-0.6823, 2.2581, 0.5594, 1.478, -0.8509, 0.0021, 0.9985, -0.02, 0.823, 0.6125, -0.4194, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3949 left_y=-0.1451 left_z=0.0248 left_yaw=0.0689 left_pitch=0.4154 left_roll=0.1971 left_gripper=0.9985 right_x=0.2922 right_y=0.0013 right_z=0.1679 right_yaw=-0.0007 right_pitch=-0.0721 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [0.0479, -7.0632, 2.0855, 1.8144, 0.0757, 0.105, -0.022, -0.0068, -1.2923, 7.2, 1.6825, -0.0464, -0.0659, -0.0122]",
      "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]: [-0.6743, 2.2734, 0.5468, 1.5539, -0.8371, 0.0208, 0.9985, -0.02, 0.823, 0.6125, -0.4194, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3948 left_y=-0.143 left_z=0.03 left_yaw=0.0685 left_pitch=0.4468 left_roll=0.1793 left_gripper=0.9985 right_x=0.2922 right_y=0.0014 right_z=0.1679 right_yaw=-0.0003 right_pitch=-0.0721 right_roll=0.0014 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -8.1573, 1.9624, 1.8242, -0.0171, 0.1148, -0.0122, -0.2393, -1.2786, 6.9949, 1.6532, -0.0171, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8dd87059e67b4b3b214eb7a8046bb483481863e273900b756c6e76858cf5c0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:198fd7d85abc9b90117ac7323e660cf4319490924fc387c490df5f00de7d7d8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7679f94c7b5cd173acbb251241e8915bbacc3d0cb97d37637b8e82b03920413",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HGrMRtue7cVoacc9pgLTSE",
      "input": {
        "note": "The arm stalled again without reaching the commanded x/y at 3 cm height, suggesting the tilted gripper is touching the table. Lifting to 8 cm at the same target to see whether it tracks freely there.",
        "targets": {
          "left_pitch": 0.45,
          "left_x": 0.378,
          "left_y": -0.125,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HGrMRtue7cVoacc9pgLTSE",
      "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]: [-0.6743, 2.2734, 0.5468, 1.5562, -0.8375, 0.0208, 0.9985, -0.02, 0.8234, 0.6125, -0.4194, -0.0204, -0.0154, 0.9989]\nstate[eef_state]: left_x=0.3949 left_y=-0.143 left_z=0.0305 left_yaw=0.0696 left_pitch=0.4486 left_roll=0.1776 left_gripper=0.9985 right_x=0.2922 right_y=0.0013 right_z=0.1677 right_yaw=-0.0009 right_pitch=-0.0725 right_roll=0.0015 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -7.9658, 1.9897, 1.7607, -0.0122, 0.0513, -0.0122, -0.3487, -1.3197, 7.0496, 1.6777, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3513bc801c4f30feae1ad0f20fd59bb33aff235e84e0e5557e925a867e0a5706",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5a74e71be4904e9f8d6067a5e18539f97cff1db0bc613bfa5b421e9f60f33f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b767a93c9dbb8848d66e62080feb694abbb141ac1fe691fc3933ef94551e6dab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 22.54 s

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

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6823, 2.2581, 0.5594, 1.478, -0.8509, 0.0021, 0.9985, -0.02, 0.823, 0.6125, -0.4194, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3949 left_y=-0.1451 left_z=0.0248 left_yaw=0.0689 left_pitch=0.4154 left_roll=0.1971 left_gripper=0.9985 right_x=0.2922 right_y=0.0013 right_z=0.1679 right_yaw=-0.0007 right_pitch=-0.0721 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [0.0479, -7.0632, 2.0855, 1.8144, 0.0757, 0.105, -0.022, -0.0068, -1.2923, 7.2, 1.6825, -0.0464, -0.0659, -0.0122]",
      "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]: [-0.6743, 2.2734, 0.5468, 1.5539, -0.8371, 0.0208, 0.9985, -0.02, 0.823, 0.6125, -0.4194, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3948 left_y=-0.143 left_z=0.03 left_yaw=0.0685 left_pitch=0.4468 left_roll=0.1793 left_gripper=0.9985 right_x=0.2922 right_y=0.0014 right_z=0.1679 right_yaw=-0.0003 right_pitch=-0.0721 right_roll=0.0014 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -8.1573, 1.9624, 1.8242, -0.0171, 0.1148, -0.0122, -0.2393, -1.2786, 6.9949, 1.6532, -0.0171, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6743, 2.2734, 0.5468, 1.5562, -0.8375, 0.0208, 0.9985, -0.02, 0.8234, 0.6125, -0.4194, -0.0204, -0.0154, 0.9989]\nstate[eef_state]: left_x=0.3949 left_y=-0.143 left_z=0.0305 left_yaw=0.0696 left_pitch=0.4486 left_roll=0.1776 left_gripper=0.9985 right_x=0.2922 right_y=0.0013 right_z=0.1677 right_yaw=-0.0009 right_pitch=-0.0725 right_roll=0.0015 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -7.9658, 1.9897, 1.7607, -0.0122, 0.0513, -0.0122, -0.3487, -1.3197, 7.0496, 1.6777, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3513bc801c4f30feae1ad0f20fd59bb33aff235e84e0e5557e925a867e0a5706",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5a74e71be4904e9f8d6067a5e18539f97cff1db0bc613bfa5b421e9f60f33f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b767a93c9dbb8848d66e62080feb694abbb141ac1fe691fc3933ef94551e6dab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISgggKjgEIEhgCKkAqCIh/MdG1ThRAez/o4uYqkBQ4Iijm1MalQKJ7asqLMnxprPlZyFe+fohqafO4lGUySfx+++Yfx9v2JtHOhBGIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaWQzNUGEgwZG3jshikbaz4WcwQaDG+WYjuYovlSOEFh/yIwCNfA05tUATMolcBNJ/LsLzzCcSdpr175r4QqTlDherCnTD4i/IFVHP+/yA/h+ua5KqAGnkTcaPi57i7uUZk6bBPB3rIdQlgu84kR+gp9eh2odo3evV2cRf5szrpd9SVCp2XA+uTH4knZQTmUyiUsGFg7XTZBndFO1wRtkd7gPRcIPWiVZZkCJIxC4lerpLMkqcy/j0wcER3er4EMQDJ66p6WfGcp5g0iVE+B5v/0eeG1kbZ7c37atqUaSyulz8aTgpjkoVq4A1dQBoawqPkfwapBBHGFOSve2UwotSnV8FtPA4K1oiB/tURFxXucmBcDbuuAaoCWRt5rn/9GCKWZxLYG9Lzru7/wbbuhInLuoTAAFDzaHorjy0EYpV3gHNjFmMSz6GaF1S5AeeZvG2bijZXwubIkphxPddGCUqQshLT2YtTeaRL1TG3dpXn+shkkNaFRnVCUfrnJWe5kkTaA2YZ3N94PwvoQDETMsM53TIf/x6ZEdVFiyYXBqWNLwMhlikgVBRFBlFasnLCCWNRaY1ckVAmeRZPYkU/CEVOyMDcR7Kl0tOhkn6NqRom1P1siXUVCuPUq21jvtLgeBMqLC/saT8HUYxu5xzn4/uaQl71GAeehTRd2VqPfKWZY6yL/a4o8Oqkbr25/SzcvAjFztRZMm1cIt0xvZfRSNCLpbbuNs3WBkZgbzW43hfpFgKSbdtbADmJWrFUwzbiKwCSRjSntR0oSpBg/DxmZ1yHKr8OBmRxedX2dUL+lHLqyezfdiLaDE67hnvtyoeYEDPl3gSmroqUYGLJcywyolGgbgzpecJHjX8ffVyLDI8kS3t0Bmf7RcMSlzXB1N4LFiH8wibwWZ3SvTtw5dMMdj73FFX+Catm2ENrSt5/gDFu9ovSbjnfUOe2cvu92d1oPdC+AS72su4q9U52O6DfxdF+agqvTVsVzey1OgiKEVBdnkz+6dFDAk2JCx3ETZLokhjkMm7Mz4PMR6Uiqv+rhkKh9vSmvtS6U0kk91M9bFN91BpyGmiZT9Py6NNnalRC8dNz1QT//kAhEtMzDIVAOi5FG66Td+4hZ1LaxxiaFzNFPrXsexqk49xWwi7LwCsUX5AeMVurQaczyJrsQqqjshphW+HYp52wYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ELNo4H6FazTs7udvdu2eqx",
      "input": {
        "note": "The arm is frozen in pose but the cap appears to lie right between the open jaws at table level; trying a close here to see if it captures the cap.",
        "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_01ELNo4H6FazTs7udvdu2eqx",
      "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]: [-0.6743, 2.2734, 0.5468, 1.5558, -0.8383, 0.0242, 0.0086, -0.02, 0.8234, 0.6125, -0.4198, -0.0208, -0.0154, 0.9989]\nstate[eef_state]: left_x=0.3948 left_y=-0.1428 left_z=0.0304 left_yaw=0.0681 left_pitch=0.448 left_roll=0.1818 left_gripper=0.0086 right_x=0.2921 right_y=0.0014 right_z=0.1677 right_yaw=-0.0005 right_pitch=-0.0728 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -8.6496, 2.0034, 1.6581, -0.0317, -0.0464, 0.6813, -0.2256, -1.3744, 7.0222, 1.7021, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39393f1f61b0100f8d436f431888f3519596af795bd420a93dac6be0466e19cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd2404cba6494be66d397e3a4e038fa6f52a3bf58c315b4a6c82a978bfe741fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8c51c836075e0881408ab81a751f2195469151f7800760744e61725ac326840",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 8.453 s

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

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6743, 2.2734, 0.5468, 1.5539, -0.8371, 0.0208, 0.9985, -0.02, 0.823, 0.6125, -0.4194, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3948 left_y=-0.143 left_z=0.03 left_yaw=0.0685 left_pitch=0.4468 left_roll=0.1793 left_gripper=0.9985 right_x=0.2922 right_y=0.0014 right_z=0.1679 right_yaw=-0.0003 right_pitch=-0.0721 right_roll=0.0014 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -8.1573, 1.9624, 1.8242, -0.0171, 0.1148, -0.0122, -0.2393, -1.2786, 6.9949, 1.6532, -0.0171, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6743, 2.2734, 0.5468, 1.5562, -0.8375, 0.0208, 0.9985, -0.02, 0.8234, 0.6125, -0.4194, -0.0204, -0.0154, 0.9989]\nstate[eef_state]: left_x=0.3949 left_y=-0.143 left_z=0.0305 left_yaw=0.0696 left_pitch=0.4486 left_roll=0.1776 left_gripper=0.9985 right_x=0.2922 right_y=0.0013 right_z=0.1677 right_yaw=-0.0009 right_pitch=-0.0725 right_roll=0.0015 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -7.9658, 1.9897, 1.7607, -0.0122, 0.0513, -0.0122, -0.3487, -1.3197, 7.0496, 1.6777, -0.0171, -0.0269, -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 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]: [-0.6743, 2.2734, 0.5468, 1.5558, -0.8383, 0.0242, 0.0086, -0.02, 0.8234, 0.6125, -0.4198, -0.0208, -0.0154, 0.9989]\nstate[eef_state]: left_x=0.3948 left_y=-0.1428 left_z=0.0304 left_yaw=0.0681 left_pitch=0.448 left_roll=0.1818 left_gripper=0.0086 right_x=0.2921 right_y=0.0014 right_z=0.1677 right_yaw=-0.0005 right_pitch=-0.0728 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -8.6496, 2.0034, 1.6581, -0.0317, -0.0464, 0.6813, -0.2256, -1.3744, 7.0222, 1.7021, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39393f1f61b0100f8d436f431888f3519596af795bd420a93dac6be0466e19cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd2404cba6494be66d397e3a4e038fa6f52a3bf58c315b4a6c82a978bfe741fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8c51c836075e0881408ab81a751f2195469151f7800760744e61725ac326840",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SovxUtCAeAZM4CbCUUogC1",
      "input": {
        "note": "The close came back empty (0.009) and the cap is still on the table just beyond the jaws; the arm also freezes for small commands in this stretched pose. Retracting well back to reset the arm before a fresh, larger approach.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.28,
          "left_y": -0.08,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01SovxUtCAeAZM4CbCUUogC1",
      "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]: [-0.701, 0.9905, 0.8066, -0.5285, -0.7387, -0.3618, 0.9967, -0.02, 0.8295, 0.6125, -0.4282, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.2923 left_y=-0.0863 left_z=0.2159 left_yaw=0.0763 left_pitch=0.0582 left_roll=0.154 left_gripper=0.9967 right_x=0.2912 right_y=0.0014 right_z=0.1644 right_yaw=-0.0003 right_pitch=-0.0873 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -3.1795, 9.306, 1.3553, -0.2125, 0.0317, -0.022, -0.1709, -1.894, 7.0496, 1.7998, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc33760e71f0b011d192c73c6eb0c2a13c4ab837873e94f054ef43d795cf76ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59b614f3930af8d5c26aa7982868256d3f2e768fe16557b593ae7281b3df6218",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe156e9cce497bb0cf85b6b3e41ff7142215027ebea3b39c8d398d86d6c2d015",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 10.41 s

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

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6743, 2.2734, 0.5468, 1.5562, -0.8375, 0.0208, 0.9985, -0.02, 0.8234, 0.6125, -0.4194, -0.0204, -0.0154, 0.9989]\nstate[eef_state]: left_x=0.3949 left_y=-0.143 left_z=0.0305 left_yaw=0.0696 left_pitch=0.4486 left_roll=0.1776 left_gripper=0.9985 right_x=0.2922 right_y=0.0013 right_z=0.1677 right_yaw=-0.0009 right_pitch=-0.0725 right_roll=0.0015 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -7.9658, 1.9897, 1.7607, -0.0122, 0.0513, -0.0122, -0.3487, -1.3197, 7.0496, 1.6777, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6743, 2.2734, 0.5468, 1.5558, -0.8383, 0.0242, 0.0086, -0.02, 0.8234, 0.6125, -0.4198, -0.0208, -0.0154, 0.9989]\nstate[eef_state]: left_x=0.3948 left_y=-0.1428 left_z=0.0304 left_yaw=0.0681 left_pitch=0.448 left_roll=0.1818 left_gripper=0.0086 right_x=0.2921 right_y=0.0014 right_z=0.1677 right_yaw=-0.0005 right_pitch=-0.0728 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -8.6496, 2.0034, 1.6581, -0.0317, -0.0464, 0.6813, -0.2256, -1.3744, 7.0222, 1.7021, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.701, 0.9905, 0.8066, -0.5285, -0.7387, -0.3618, 0.9967, -0.02, 0.8295, 0.6125, -0.4282, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.2923 left_y=-0.0863 left_z=0.2159 left_yaw=0.0763 left_pitch=0.0582 left_roll=0.154 left_gripper=0.9967 right_x=0.2912 right_y=0.0014 right_z=0.1644 right_yaw=-0.0003 right_pitch=-0.0873 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -3.1795, 9.306, 1.3553, -0.2125, 0.0317, -0.022, -0.1709, -1.894, 7.0496, 1.7998, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc33760e71f0b011d192c73c6eb0c2a13c4ab837873e94f054ef43d795cf76ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59b614f3930af8d5c26aa7982868256d3f2e768fe16557b593ae7281b3df6218",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe156e9cce497bb0cf85b6b3e41ff7142215027ebea3b39c8d398d86d6c2d015",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISgggKjgEIEhgCKkAZ0FqGEwpxIVUMU/oeKXQP9PUbVtLJOecudR0QWknRwepsBeBcs1aBNc108I+5ZbhXVFJpc40Xh5yxJPJ/Uwz/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcWQzNUGEgxeBX7zgKmGQ7/ceDcaDFU0E9zGKCMuotD+XiIw6hcNq1gFZyKsSdUYIzI5MDjJj9C0sEwAGmwocLJvTWzERAINuTIYao/cjlg4cr9GKqAG4KkfDiDrJqD9wHFljT1OBUegdUTdIAdQg1QsgRj+mKi1Xf5VNQlXH79wjJqkMmbONIJQlyLd9BGZavyKDVFkH6HZdiYdAFOGxTVoAaZ3NOXuq+lirR/f3CQ65Kst7us5wOS3GMjPGAD6/qmURPZYAeUHxvjzpllRrdKZl4iG60/wu3tN26KL4TXEkSOmso574w/9dkjO27cWZGoxKT2W9jxcLy7ct2GqnGCublZGTbJtCNQ150FuL4SANyGWZ5t5XJHHF/lXzEj0bFDs15rMsgjZ3Q1b7yu7OoSka2gFq5F3DXZa6ZlLYSUYkAufIQD6R+Qw2lbY+WC6xlF8oprExKzlhPUq49nCKx3V/DZU8pyHKSRqFrCnsfSwYbItfRuHVAE+8htpPzJmdytrQtT9ZW9M6JKClg097mRyhwltrKGMaY0MT2hwIVtoerNpMA2HHESiM5ct0ubJZbmCyfzeGRmRhXhWM2SpW7U9z+mgNI33KjwFBbt0SrERp4s8+eOucrilogTHfQXmeP8FGWBajf9XaGmEVoFtYeNigO1e5dzO3lFas/Hjrv3tKs83tOLMIbvZyfSzlK8WQOypZ2OR1+5wcqKxasq6R8j2h6fGb9HoM5ervQDh/LcHOvGn7tMqqL6yWpBOCZkbVc+yFtg6QZIasUeRNFQxT5S02d5UOPP0JSPRfcO/teO7tFNoax1tnsMkP6GLSwh4JV66HccCIf6FEtyleDGfhidhkzcI+t4NiL3vvT335K7tp+UisjgOLdfQE/p521DnIlwdAcVFdSFm63BnHevT29c6J/5++NS7VylgQh+KYa6kfTvMyOLtgPsER3XzQ3yNQUdvm5q310V39OQq8efEFzl6U0iZxrm2FWG+aTHLPqjQgfpjL9FFxPB8zI0aPPxTx6GWX3S2pq0lNGmJJBfL1+gCBut/xfwimSYtDAEJDiQ18N4s1k2fR3PrATF849f1ltwMfGLhqmXJRk8jBbSLjUmpMmgHf5gz4AXNJhIFwXn79IWXwGhOX/mh+0uyktzxdgOhMcbBjFWcGnFhd41Q1SWLe9QcA/MYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QgnDqoMoqeHkCZxFBXkbMQ",
      "input": {
        "note": "Arm is reset and free; from the overhead and wrist views the cap sits at roughly x≈0.42, y≈−0.115 in the left frame. Making one large approach move to hover just above it with the wrist pitched forward (the pose that gives the needed reach).",
        "targets": {
          "left_pitch": 0.45,
          "left_x": 0.41,
          "left_y": -0.115,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01QgnDqoMoqeHkCZxFBXkbMQ",
      "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]: [-0.5652, 2.0304, 0.4755, 1.2297, -0.7246, -0.0143, 0.9978, -0.02, 0.8349, 0.6125, -0.4393, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3965 left_y=-0.1085 left_z=0.0402 left_yaw=0.0583 left_pitch=0.315 left_roll=0.2227 left_gripper=0.9978 right_x=0.2898 right_y=0.0015 right_z=0.1607 right_yaw=-0.0003 right_pitch=-0.1037 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [0.3761, -8.9778, 4.3966, 2.2784, -0.1294, 0.1734, 0.1001, -0.0752, -1.7983, 7.0769, 1.7314, -0.0562, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf363d80ec3aafe2129a54f70b66d0364bf8305101c407c3ecd725523288188a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b2799d4fd77755479b4e58634c56ee902b38e9398fba2ddeafb9975b0b221de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6bb1949daa1424d00325b61e48ffa93f636a4431bc1708b5deabcb1a82b80597",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 4.496 s

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

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6743, 2.2734, 0.5468, 1.5558, -0.8383, 0.0242, 0.0086, -0.02, 0.8234, 0.6125, -0.4198, -0.0208, -0.0154, 0.9989]\nstate[eef_state]: left_x=0.3948 left_y=-0.1428 left_z=0.0304 left_yaw=0.0681 left_pitch=0.448 left_roll=0.1818 left_gripper=0.0086 right_x=0.2921 right_y=0.0014 right_z=0.1677 right_yaw=-0.0005 right_pitch=-0.0728 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -8.6496, 2.0034, 1.6581, -0.0317, -0.0464, 0.6813, -0.2256, -1.3744, 7.0222, 1.7021, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.701, 0.9905, 0.8066, -0.5285, -0.7387, -0.3618, 0.9967, -0.02, 0.8295, 0.6125, -0.4282, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.2923 left_y=-0.0863 left_z=0.2159 left_yaw=0.0763 left_pitch=0.0582 left_roll=0.154 left_gripper=0.9967 right_x=0.2912 right_y=0.0014 right_z=0.1644 right_yaw=-0.0003 right_pitch=-0.0873 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -3.1795, 9.306, 1.3553, -0.2125, 0.0317, -0.022, -0.1709, -1.894, 7.0496, 1.7998, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5652, 2.0304, 0.4755, 1.2297, -0.7246, -0.0143, 0.9978, -0.02, 0.8349, 0.6125, -0.4393, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3965 left_y=-0.1085 left_z=0.0402 left_yaw=0.0583 left_pitch=0.315 left_roll=0.2227 left_gripper=0.9978 right_x=0.2898 right_y=0.0015 right_z=0.1607 right_yaw=-0.0003 right_pitch=-0.1037 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [0.3761, -8.9778, 4.3966, 2.2784, -0.1294, 0.1734, 0.1001, -0.0752, -1.7983, 7.0769, 1.7314, -0.0562, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf363d80ec3aafe2129a54f70b66d0364bf8305101c407c3ecd725523288188a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b2799d4fd77755479b4e58634c56ee902b38e9398fba2ddeafb9975b0b221de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bb1949daa1424d00325b61e48ffa93f636a4431bc1708b5deabcb1a82b80597",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISsQkKjgEIEhgCKkADz/8Ntw0PZi46RwutIIaIOMurxkpkkFlSydSIeJ9raGlN/HGjPEAiBxucwoVHclc58BNcGYAuSlpSj5oCBb1rMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdGQzNUGEgwflaEZLj1BfuilvdYaDBZLPU2X0I36xJI9vCIwmbkiCUXzbmo0kQQgbOG0f3QS/OJTEYX7YlbnZ7e79TKI2yblem/BNQtGb5HEftcjKs8HPhOZ+AlAwIsUeLcSEQ2bOpQq3vtO1pc35VCQnxxbi9uZtpReBZFkMI/J2sH/h09zO2A5gwnyjyb0oOlGIVGw/7Har0vTNtZGA4vv6UbbPMSzFXESz84zo4gxuHq0XdqAEFdqPpTWTm3DBoqssSca7FeaX9WeTaF6hVa/XC0nKpI/MlmkaVOGVZJ6AQoG7gKXV0elEsDC0oEN/QGrtVs/hwONRaHiEc+NWDUGAIcXgjAwj0r+I0Rty+tqDoHHA/xsjTeeCfaA/NH90dibY2wK6p1pq9T/xDw9G8ADq6bv2d1RRaEjVUTWM5MJs+z6ug4SKykaj94f32IEWcu6ntzZADMDuFNbEciahbaAXrUkUx0tKjUx3HN3fMcfXpbU505tKdr5BlnXZV7GvvoFGaam0mrPQAawyCaJJA27lsh9zIIfabAlNkcemBt7UstWgj51XxiEH++dJQ8/3AFutD66orOWn1WS/FhK4QRC+MRTd/xNl6E7p6mWZfwQ0YN7gCCxy61c5OnGGnd6zyavzIZFB6SnwP29g+yrNjAltfK48fKLLErNM7WciX+RDNJlKjLAjohckv/jlqsu4cL36svShqv8SweszsxqOpdyQ9Z92OtfHe3rwnrgJRClzCKCiONpO5C2e9T6+eKMlCx994ToP38nLEtivtK1rprcA+p45nED9EviiYzO821xF+DfFfh15tqjDeXxyKzLfcpCtr7x1UluQEPboebSH3d3jnCoJlCPhZ6GhJEyR5PsNAkVy/1KW5uhN+w4EZHNlIUvj50MYZ1TZbOsFv+8rYVzr1zrygb7v7hC8P4E8JuOGHxT11rlU3VhaDXeDvUcuD6LTWZKxgrosGTawHm1gGv2C7kSGQNw4kWWNQZ73y6tXv2Vea8+g1mV5HPVsPo7DA2K1YdhDHFGYw8j1KN6CSxklEcoaQr2QiCzGYHVxw6an77vrtilUctsVyXjF12zspIFi50B7UvCfA+pgkY63wRkAMhwOhyCLPTM5roDbXDJak4dRUbQt+QazfNfQ6Gdti3ID//1N7B0PI7ykQfAAFih5zIMnyTqY68DMZtsue5BMdVQi28EbsXvWSfgtlkSK6aypbONzi6y/e337f4h5E4w4IeBD0OwKm3sqTDEPsP4hNo++KRQSfJvMOXuOPuFChxXac/cxicIwUEW0E1L1H0xhCakpZYkE6+cFaH4Gqj9384fqvn8UTUei0mZcVSP6OZLtMXkNd1Q6H/vYY8hMzNO3+qBW+eyavDnMYFOltRHLW/sKXCvkEBFeaWz+aQm0r39mEUMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018NWAgz1XynGmwHDENpMy12",
      "input": {
        "note": "The cap now sits just right of the jaw gap and low in the wrist frame, so it is about 2 cm to the arm's right and essentially under the fingertips. Shifting right and dropping to table level for the grasp.",
        "targets": {
          "left_pitch": 0.45,
          "left_x": 0.405,
          "left_y": -0.128,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_018NWAgz1XynGmwHDENpMy12",
      "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]: [-0.6147, 2.3249, 0.59, 1.5764, -0.7921, 0.0204, 0.9979, -0.02, 0.8371, 0.6125, -0.44, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4111 left_y=-0.1319 left_z=0.0225 left_yaw=0.091 left_pitch=0.4525 left_roll=0.1623 left_gripper=0.9979 right_x=0.2898 right_y=0.0014 right_z=0.16 right_yaw=-0.0006 right_pitch=-0.1068 right_roll=0.0019 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -7.5009, 2.441, 1.5214, -0.0952, 0.2955, -0.0073, -0.0068, -1.6479, 6.9949, 1.6239, -0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e203bb0f3ef9fc2a52c5373fb752087db4345ba41b816c793159c66684a49bfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbaa6cf56fefb5ab72184e3640d250e8ba9199c49ee14c8c40146eddc90a6f02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:89410a9b2344f51f729d2c411b89b435a56f1e652257b9797e0c2a0f517c89db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 14.83 s

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

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.701, 0.9905, 0.8066, -0.5285, -0.7387, -0.3618, 0.9967, -0.02, 0.8295, 0.6125, -0.4282, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.2923 left_y=-0.0863 left_z=0.2159 left_yaw=0.0763 left_pitch=0.0582 left_roll=0.154 left_gripper=0.9967 right_x=0.2912 right_y=0.0014 right_z=0.1644 right_yaw=-0.0003 right_pitch=-0.0873 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -3.1795, 9.306, 1.3553, -0.2125, 0.0317, -0.022, -0.1709, -1.894, 7.0496, 1.7998, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5652, 2.0304, 0.4755, 1.2297, -0.7246, -0.0143, 0.9978, -0.02, 0.8349, 0.6125, -0.4393, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3965 left_y=-0.1085 left_z=0.0402 left_yaw=0.0583 left_pitch=0.315 left_roll=0.2227 left_gripper=0.9978 right_x=0.2898 right_y=0.0015 right_z=0.1607 right_yaw=-0.0003 right_pitch=-0.1037 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [0.3761, -8.9778, 4.3966, 2.2784, -0.1294, 0.1734, 0.1001, -0.0752, -1.7983, 7.0769, 1.7314, -0.0562, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6147, 2.3249, 0.59, 1.5764, -0.7921, 0.0204, 0.9979, -0.02, 0.8371, 0.6125, -0.44, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4111 left_y=-0.1319 left_z=0.0225 left_yaw=0.091 left_pitch=0.4525 left_roll=0.1623 left_gripper=0.9979 right_x=0.2898 right_y=0.0014 right_z=0.16 right_yaw=-0.0006 right_pitch=-0.1068 right_roll=0.0019 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -7.5009, 2.441, 1.5214, -0.0952, 0.2955, -0.0073, -0.0068, -1.6479, 6.9949, 1.6239, -0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e203bb0f3ef9fc2a52c5373fb752087db4345ba41b816c793159c66684a49bfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbaa6cf56fefb5ab72184e3640d250e8ba9199c49ee14c8c40146eddc90a6f02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89410a9b2344f51f729d2c411b89b435a56f1e652257b9797e0c2a0f517c89db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS2AMKjgEIEhgCKkDwQ9QoQvd2QsAMASIz/DmsAK9sxKOnWjYXGN3YtfAzToLnPv+xMpVnwRv0gMGmeUPAwy4kGiBPlW0Iz4Vd7YKTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdeQzNUGEgwuYAyg5uZ0jyRHJXUaDKXKuykeH7OgRaWq/iIwX9Bm3sqPCE4dvwsdGX/+qZGf3+0CeQLZO2vYudlC/o2aNzp7/ORlJCvVeBgIQMtcKvYBLJpH9hLaEkwnAI/0UFpGkTQ7UraT1jv7wx70LdtH1XhCRDw7gCBPL0RWIxZ5A9w1ZvzWwVS+AODpwOsHhIaBRG192GHTuGtbl/V0w489Nh5ISmWMVnIoTTZ7coTv8U1KK3AsLVX8c9AzW9IanDP5Yi/XwjtrxXoyilAsVg9yXAnSAfieeTgBMBgf0mQ9JJJwtokNUYh3B0y60fIvhCpKYqgQ0tLoHnf2gYFd8nx4Z76FUIm0KrOzJHI+Gn2PpEPk+am+ue/tzww676r4f1UgQvmFn3tEEF4hVH10btr+FuO41TD/iC1Fs3bEjWbCBMcQut7nQ1ezGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016eVEYrfRMaLELN4YrHUHrN",
      "input": {
        "note": "The cap now sits centred between the open jaws at table level in the wrist view. Closing the gripper to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016eVEYrfRMaLELN4YrHUHrN",
      "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]: [-0.6228, 2.3425, 0.6106, 1.5764, -0.8078, 0.0628, 0.0094, -0.02, 0.8375, 0.6125, -0.4397, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4129 left_y=-0.1349 left_z=0.0203 left_yaw=0.0735 left_pitch=0.452 left_roll=0.2087 left_gripper=0.0094 right_x=0.2899 right_y=0.0014 right_z=0.1599 right_yaw=-0.0006 right_pitch=-0.1068 right_roll=0.0019 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -8.4444, 2.3726, 1.6386, -0.0366, 0.0366, 0.6716, -0.3624, -1.3197, 6.9812, 1.6484, -0.0562, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79af5bef709bd0dbfcc55cf2cc98e3e6942b80e635266891ee21942b4ac758ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a6fe023d6217e8d0353a6bd195b48952543b4c47326f70f53a66e2c24ccd774",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:372299d2dd0caec054102034bba619d84716dcc4b4e75af4fca9aaf3356768b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 13.42 s

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

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5652, 2.0304, 0.4755, 1.2297, -0.7246, -0.0143, 0.9978, -0.02, 0.8349, 0.6125, -0.4393, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3965 left_y=-0.1085 left_z=0.0402 left_yaw=0.0583 left_pitch=0.315 left_roll=0.2227 left_gripper=0.9978 right_x=0.2898 right_y=0.0015 right_z=0.1607 right_yaw=-0.0003 right_pitch=-0.1037 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [0.3761, -8.9778, 4.3966, 2.2784, -0.1294, 0.1734, 0.1001, -0.0752, -1.7983, 7.0769, 1.7314, -0.0562, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6147, 2.3249, 0.59, 1.5764, -0.7921, 0.0204, 0.9979, -0.02, 0.8371, 0.6125, -0.44, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4111 left_y=-0.1319 left_z=0.0225 left_yaw=0.091 left_pitch=0.4525 left_roll=0.1623 left_gripper=0.9979 right_x=0.2898 right_y=0.0014 right_z=0.16 right_yaw=-0.0006 right_pitch=-0.1068 right_roll=0.0019 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -7.5009, 2.441, 1.5214, -0.0952, 0.2955, -0.0073, -0.0068, -1.6479, 6.9949, 1.6239, -0.0122, -0.0611, -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 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]: [-0.6228, 2.3425, 0.6106, 1.5764, -0.8078, 0.0628, 0.0094, -0.02, 0.8375, 0.6125, -0.4397, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4129 left_y=-0.1349 left_z=0.0203 left_yaw=0.0735 left_pitch=0.452 left_roll=0.2087 left_gripper=0.0094 right_x=0.2899 right_y=0.0014 right_z=0.1599 right_yaw=-0.0006 right_pitch=-0.1068 right_roll=0.0019 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -8.4444, 2.3726, 1.6386, -0.0366, 0.0366, 0.6716, -0.3624, -1.3197, 6.9812, 1.6484, -0.0562, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79af5bef709bd0dbfcc55cf2cc98e3e6942b80e635266891ee21942b4ac758ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a6fe023d6217e8d0353a6bd195b48952543b4c47326f70f53a66e2c24ccd774",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:372299d2dd0caec054102034bba619d84716dcc4b4e75af4fca9aaf3356768b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P4JF7cYKXPhwejqPvA4XmK",
      "input": {
        "note": "The close was empty again and the cap has vanished from the wrist view, meaning it is now nearer than the fingertips (hidden below the frame). Reopening and pulling back 2 cm while pressing down to table level to get the jaws around it.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.45,
          "left_x": 0.392,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01P4JF7cYKXPhwejqPvA4XmK",
      "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]: [-0.6724, 2.3444, 0.617, 1.5848, -0.865, 0.0185, 0.9945, -0.02, 0.8383, 0.6125, -0.4423, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4056 left_y=-0.1465 left_z=0.0236 left_yaw=0.108 left_pitch=0.4719 left_roll=0.1571 left_gripper=0.9945 right_x=0.2895 right_y=0.0014 right_z=0.1592 right_yaw=-0.0006 right_pitch=-0.1102 right_roll=0.0019 right_gripper=0.9989\nstate[joint_eff]: [-0.8137, -6.8581, 2.2222, 1.5604, -0.1197, 0.1392, 0.1734, -0.1162, -1.4974, 7.0632, 1.6484, -0.0317, -0.0855, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d5aa9e2e65b5f6b3e5dc043cf5a1dbf8dade40c9091a58b0f9e0a3bedb2804e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6a11712348e6bce3f92be4a8081dfef60aa3689de45de3e41e4946ed8a96f13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3786459483b62a13e0875155f656bce0911b3d8827db576a9a3f09c1c33b22ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 4.525 s

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

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6147, 2.3249, 0.59, 1.5764, -0.7921, 0.0204, 0.9979, -0.02, 0.8371, 0.6125, -0.44, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4111 left_y=-0.1319 left_z=0.0225 left_yaw=0.091 left_pitch=0.4525 left_roll=0.1623 left_gripper=0.9979 right_x=0.2898 right_y=0.0014 right_z=0.16 right_yaw=-0.0006 right_pitch=-0.1068 right_roll=0.0019 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -7.5009, 2.441, 1.5214, -0.0952, 0.2955, -0.0073, -0.0068, -1.6479, 6.9949, 1.6239, -0.0122, -0.0611, -0.0122]\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]: [-0.6228, 2.3425, 0.6106, 1.5764, -0.8078, 0.0628, 0.0094, -0.02, 0.8375, 0.6125, -0.4397, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4129 left_y=-0.1349 left_z=0.0203 left_yaw=0.0735 left_pitch=0.452 left_roll=0.2087 left_gripper=0.0094 right_x=0.2899 right_y=0.0014 right_z=0.1599 right_yaw=-0.0006 right_pitch=-0.1068 right_roll=0.0019 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -8.4444, 2.3726, 1.6386, -0.0366, 0.0366, 0.6716, -0.3624, -1.3197, 6.9812, 1.6484, -0.0562, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6724, 2.3444, 0.617, 1.5848, -0.865, 0.0185, 0.9945, -0.02, 0.8383, 0.6125, -0.4423, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4056 left_y=-0.1465 left_z=0.0236 left_yaw=0.108 left_pitch=0.4719 left_roll=0.1571 left_gripper=0.9945 right_x=0.2895 right_y=0.0014 right_z=0.1592 right_yaw=-0.0006 right_pitch=-0.1102 right_roll=0.0019 right_gripper=0.9989\nstate[joint_eff]: [-0.8137, -6.8581, 2.2222, 1.5604, -0.1197, 0.1392, 0.1734, -0.1162, -1.4974, 7.0632, 1.6484, -0.0317, -0.0855, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d5aa9e2e65b5f6b3e5dc043cf5a1dbf8dade40c9091a58b0f9e0a3bedb2804e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6a11712348e6bce3f92be4a8081dfef60aa3689de45de3e41e4946ed8a96f13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3786459483b62a13e0875155f656bce0911b3d8827db576a9a3f09c1c33b22ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RPkx6nZYFrc7TAEcL8TKfG",
      "input": {
        "note": "Z stopped at 0.023 = table contact for this pitched pose. The cap is visible again, ~3 cm to the arm's left and just short of the jaws; moving left and 1 cm forward to straddle it.",
        "targets": {
          "left_pitch": 0.45,
          "left_x": 0.415,
          "left_y": -0.122,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01RPkx6nZYFrc7TAEcL8TKfG",
      "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]: [-0.6056, 2.344, 0.6144, 1.5848, -0.8177, 0.0021, 0.9955, -0.02, 0.8383, 0.6125, -0.4427, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4158 left_y=-0.1268 left_z=0.0223 left_yaw=0.1394 left_pitch=0.4669 left_roll=0.1351 left_gripper=0.9955 right_x=0.2895 right_y=0.0014 right_z=0.1591 right_yaw=-0.0006 right_pitch=-0.1106 right_roll=0.0019 right_gripper=0.9989\nstate[joint_eff]: [0.2667, -9.4291, 1.2923, 1.5604, 0.0708, 0.1636, 0.0904, -0.1709, -1.4291, 6.9812, 1.6484, -0.0171, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9cd26af1c00359117c5d676c45c3c38647221c78a27cc0a0afcb121655b2110",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:358e4b7fd28a47702050e3d50d16749a41482e7e9347ecfabac3398f572332b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d536d485a3314ab0e5540304b2277ebf883bc1eba2d695b381e1a74a3d0c449",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 12.66 s

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

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6228, 2.3425, 0.6106, 1.5764, -0.8078, 0.0628, 0.0094, -0.02, 0.8375, 0.6125, -0.4397, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4129 left_y=-0.1349 left_z=0.0203 left_yaw=0.0735 left_pitch=0.452 left_roll=0.2087 left_gripper=0.0094 right_x=0.2899 right_y=0.0014 right_z=0.1599 right_yaw=-0.0006 right_pitch=-0.1068 right_roll=0.0019 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -8.4444, 2.3726, 1.6386, -0.0366, 0.0366, 0.6716, -0.3624, -1.3197, 6.9812, 1.6484, -0.0562, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6724, 2.3444, 0.617, 1.5848, -0.865, 0.0185, 0.9945, -0.02, 0.8383, 0.6125, -0.4423, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4056 left_y=-0.1465 left_z=0.0236 left_yaw=0.108 left_pitch=0.4719 left_roll=0.1571 left_gripper=0.9945 right_x=0.2895 right_y=0.0014 right_z=0.1592 right_yaw=-0.0006 right_pitch=-0.1102 right_roll=0.0019 right_gripper=0.9989\nstate[joint_eff]: [-0.8137, -6.8581, 2.2222, 1.5604, -0.1197, 0.1392, 0.1734, -0.1162, -1.4974, 7.0632, 1.6484, -0.0317, -0.0855, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6056, 2.344, 0.6144, 1.5848, -0.8177, 0.0021, 0.9955, -0.02, 0.8383, 0.6125, -0.4427, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4158 left_y=-0.1268 left_z=0.0223 left_yaw=0.1394 left_pitch=0.4669 left_roll=0.1351 left_gripper=0.9955 right_x=0.2895 right_y=0.0014 right_z=0.1591 right_yaw=-0.0006 right_pitch=-0.1106 right_roll=0.0019 right_gripper=0.9989\nstate[joint_eff]: [0.2667, -9.4291, 1.2923, 1.5604, 0.0708, 0.1636, 0.0904, -0.1709, -1.4291, 6.9812, 1.6484, -0.0171, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9cd26af1c00359117c5d676c45c3c38647221c78a27cc0a0afcb121655b2110",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:358e4b7fd28a47702050e3d50d16749a41482e7e9347ecfabac3398f572332b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d536d485a3314ab0e5540304b2277ebf883bc1eba2d695b381e1a74a3d0c449",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS5QMKjgEIEhgCKkD5NjGYx0y3W3faJgQV7uMCJdqKMPxdKGaf0K/PO4FpMmg6S5BcjjUk8885pdDiBrIsCU07hAKilzf1A4Jl4GC8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfqQzNUGEgwx8BoAfpmtQyi28ZgaDPeF/hb4pk6YABqcoSIwmbdJLuMqlNV1BzPK87bHrX2AeT9DWcfF17kk9Am07dFrFCWgNPsRA2Sgg23KZu4+KoMCsHovr3rlB+plQc/pim7rllBzy39zdTZjVovizewKtMMrq05VRGHz2Hb8S+Otmo4D1h/k32dXfzVx4HqmDUK0VtnC7CGs/CrAXnow/dc53mIhDou01AthKEbjnFaFiUvM4GfQeWEz3vm0YtQkX2Fe+jV6K51cD2GSNc2siyJP2zDcOSoBOy/g9F2IBKRDCqSmyA4gWySH7NPZd3HFftHokn+s9uiEUuKwEStKk6+7REx0HEUWlD5xCurTpyaeviVf1hueWT1icOGAH1HU4/YSICSHo+v/FFMW7EVxJrOc9gj/JshJsGGGxqo6erXfxK5VKou7rTiOV7EjQcqQZ6C2/Z0aFxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PKWWtYtzkRJ1NVFveasMeD",
      "input": {
        "note": "The cap is now centred at the bottom of the wrist view, right in the jaw gap. Closing to grasp.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PKWWtYtzkRJ1NVFveasMeD",
      "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]: [-0.6094, 2.3444, 0.6136, 1.5814, -0.815, 0.0006, 0.009, -0.02, 0.8383, 0.6125, -0.4423, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4151 left_y=-0.1286 left_z=0.0212 left_yaw=0.1324 left_pitch=0.4634 left_roll=0.1366 left_gripper=0.009 right_x=0.2895 right_y=0.0015 right_z=0.1592 right_yaw=-0.0003 right_pitch=-0.1102 right_roll=0.0022 right_gripper=0.9989\nstate[joint_eff]: [0.1436, -9.7026, 2.6735, 1.5507, -0.0708, -0.0415, 0.6618, -0.0068, -1.4838, 7.2, 1.663, -0.0415, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fe4792d71e6b05abac3c828e0f68509b2b09f00aab9809697e901ad56d2b447",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6354e76bdd3a657bf9931376fd0ae07754f7c87af8d86b38bde311729a8bb751",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea400c63279e6a675c5d897edeb44b128d34fd2ae2f4c86ef7d7cd7b9c3ff6b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 27.25 s

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

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6724, 2.3444, 0.617, 1.5848, -0.865, 0.0185, 0.9945, -0.02, 0.8383, 0.6125, -0.4423, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4056 left_y=-0.1465 left_z=0.0236 left_yaw=0.108 left_pitch=0.4719 left_roll=0.1571 left_gripper=0.9945 right_x=0.2895 right_y=0.0014 right_z=0.1592 right_yaw=-0.0006 right_pitch=-0.1102 right_roll=0.0019 right_gripper=0.9989\nstate[joint_eff]: [-0.8137, -6.8581, 2.2222, 1.5604, -0.1197, 0.1392, 0.1734, -0.1162, -1.4974, 7.0632, 1.6484, -0.0317, -0.0855, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.6056, 2.344, 0.6144, 1.5848, -0.8177, 0.0021, 0.9955, -0.02, 0.8383, 0.6125, -0.4427, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4158 left_y=-0.1268 left_z=0.0223 left_yaw=0.1394 left_pitch=0.4669 left_roll=0.1351 left_gripper=0.9955 right_x=0.2895 right_y=0.0014 right_z=0.1591 right_yaw=-0.0006 right_pitch=-0.1106 right_roll=0.0019 right_gripper=0.9989\nstate[joint_eff]: [0.2667, -9.4291, 1.2923, 1.5604, 0.0708, 0.1636, 0.0904, -0.1709, -1.4291, 6.9812, 1.6484, -0.0171, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6094, 2.3444, 0.6136, 1.5814, -0.815, 0.0006, 0.009, -0.02, 0.8383, 0.6125, -0.4423, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4151 left_y=-0.1286 left_z=0.0212 left_yaw=0.1324 left_pitch=0.4634 left_roll=0.1366 left_gripper=0.009 right_x=0.2895 right_y=0.0015 right_z=0.1592 right_yaw=-0.0003 right_pitch=-0.1102 right_roll=0.0022 right_gripper=0.9989\nstate[joint_eff]: [0.1436, -9.7026, 2.6735, 1.5507, -0.0708, -0.0415, 0.6618, -0.0068, -1.4838, 7.2, 1.663, -0.0415, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fe4792d71e6b05abac3c828e0f68509b2b09f00aab9809697e901ad56d2b447",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6354e76bdd3a657bf9931376fd0ae07754f7c87af8d86b38bde311729a8bb751",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea400c63279e6a675c5d897edeb44b128d34fd2ae2f4c86ef7d7cd7b9c3ff6b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tdj8pc2Zc2WSVaZFG8neC5",
      "input": {
        "note": "Third empty close: the pitched fingertips are probably skimming over the low cap. Reopening and tilting the wrist further forward (pitch 0.6) so the fingers lie flatter and can pinch the cap close to the table.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.6,
          "left_x": 0.418,
          "left_y": -0.128,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Tdj8pc2Zc2WSVaZFG8neC5",
      "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]: [-0.609, 2.3749, 0.7887, 1.56, -0.8383, 0.0711, 0.9944, -0.02, 0.8436, 0.6125, -0.4606, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4502 left_y=-0.1495 left_z=0.0446 left_yaw=0.1588 left_pitch=0.5493 left_roll=0.1221 left_gripper=0.9944 right_x=0.2869 right_y=0.0014 right_z=0.1543 right_yaw=-0.0005 right_pitch=-0.1339 right_roll=0.0024 right_gripper=0.9989\nstate[joint_eff]: [0.253, -8.9504, 4.4923, 1.707, 0.1392, 0.1978, 0.2027, -0.0205, -1.7846, 7.0496, 1.7998, -0.0171, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8002bc749ffad509e1c265c25f8393b695bec0ad469304b4e7a2134585acf7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0a95ceabd67120211b2ab9e4e28beff74ee89ef650d07cb454b8bc81b8a4531",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb7d8bf4e32f78947149f8cffb33b1c245f357a7398a0c776fafe4eefa6440a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 10.39 s

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

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6056, 2.344, 0.6144, 1.5848, -0.8177, 0.0021, 0.9955, -0.02, 0.8383, 0.6125, -0.4427, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4158 left_y=-0.1268 left_z=0.0223 left_yaw=0.1394 left_pitch=0.4669 left_roll=0.1351 left_gripper=0.9955 right_x=0.2895 right_y=0.0014 right_z=0.1591 right_yaw=-0.0006 right_pitch=-0.1106 right_roll=0.0019 right_gripper=0.9989\nstate[joint_eff]: [0.2667, -9.4291, 1.2923, 1.5604, 0.0708, 0.1636, 0.0904, -0.1709, -1.4291, 6.9812, 1.6484, -0.0171, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6094, 2.3444, 0.6136, 1.5814, -0.815, 0.0006, 0.009, -0.02, 0.8383, 0.6125, -0.4423, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4151 left_y=-0.1286 left_z=0.0212 left_yaw=0.1324 left_pitch=0.4634 left_roll=0.1366 left_gripper=0.009 right_x=0.2895 right_y=0.0015 right_z=0.1592 right_yaw=-0.0003 right_pitch=-0.1102 right_roll=0.0022 right_gripper=0.9989\nstate[joint_eff]: [0.1436, -9.7026, 2.6735, 1.5507, -0.0708, -0.0415, 0.6618, -0.0068, -1.4838, 7.2, 1.663, -0.0415, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.609, 2.3749, 0.7887, 1.56, -0.8383, 0.0711, 0.9944, -0.02, 0.8436, 0.6125, -0.4606, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4502 left_y=-0.1495 left_z=0.0446 left_yaw=0.1588 left_pitch=0.5493 left_roll=0.1221 left_gripper=0.9944 right_x=0.2869 right_y=0.0014 right_z=0.1543 right_yaw=-0.0005 right_pitch=-0.1339 right_roll=0.0024 right_gripper=0.9989\nstate[joint_eff]: [0.253, -8.9504, 4.4923, 1.707, 0.1392, 0.1978, 0.2027, -0.0205, -1.7846, 7.0496, 1.7998, -0.0171, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8002bc749ffad509e1c265c25f8393b695bec0ad469304b4e7a2134585acf7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0a95ceabd67120211b2ab9e4e28beff74ee89ef650d07cb454b8bc81b8a4531",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb7d8bf4e32f78947149f8cffb33b1c245f357a7398a0c776fafe4eefa6440a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WehHS2xrmKq4LP3T2pVsPT",
      "input": {
        "note": "The cap grasp keeps failing, so I am switching to the pen with the right arm, which sees it clearly. Moving the right arm to hover above the pen at roughly x=0.37, y=0.25.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_x": 0.37,
          "right_y": 0.25,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01WehHS2xrmKq4LP3T2pVsPT",
      "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]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.9949, 0.8738, 1.7649, 0.7261, 0.5503, 0.7933, 0.3031, 0.999]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.9949 right_x=0.3624 right_y=0.2423 right_z=0.0995 right_yaw=0.044 right_pitch=0.2218 right_roll=-0.0532 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -10.1949, 3.0427, 1.7314, -0.0757, -0.0708, 0.0415, 0.6632, -7.9932, 7.0222, 1.9609, 0.5201, -0.0366, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aafcb2daa04230b8198da0f1f8959a7705f896a6bd19c23041ba9a150cbcffa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b493cdca4ecd149400910c06d622d1bb4baac13db3a3275840bb6c7cafbf2c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a68cf5453c7db4566ffd7d097a7e312289888c5851365ba16a2dadccae6bedd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 18.47 s

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

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6094, 2.3444, 0.6136, 1.5814, -0.815, 0.0006, 0.009, -0.02, 0.8383, 0.6125, -0.4423, -0.0208, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4151 left_y=-0.1286 left_z=0.0212 left_yaw=0.1324 left_pitch=0.4634 left_roll=0.1366 left_gripper=0.009 right_x=0.2895 right_y=0.0015 right_z=0.1592 right_yaw=-0.0003 right_pitch=-0.1102 right_roll=0.0022 right_gripper=0.9989\nstate[joint_eff]: [0.1436, -9.7026, 2.6735, 1.5507, -0.0708, -0.0415, 0.6618, -0.0068, -1.4838, 7.2, 1.663, -0.0415, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.609, 2.3749, 0.7887, 1.56, -0.8383, 0.0711, 0.9944, -0.02, 0.8436, 0.6125, -0.4606, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4502 left_y=-0.1495 left_z=0.0446 left_yaw=0.1588 left_pitch=0.5493 left_roll=0.1221 left_gripper=0.9944 right_x=0.2869 right_y=0.0014 right_z=0.1543 right_yaw=-0.0005 right_pitch=-0.1339 right_roll=0.0024 right_gripper=0.9989\nstate[joint_eff]: [0.253, -8.9504, 4.4923, 1.707, 0.1392, 0.1978, 0.2027, -0.0205, -1.7846, 7.0496, 1.7998, -0.0171, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.9949, 0.8738, 1.7649, 0.7261, 0.5503, 0.7933, 0.3031, 0.999]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.9949 right_x=0.3624 right_y=0.2423 right_z=0.0995 right_yaw=0.044 right_pitch=0.2218 right_roll=-0.0532 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -10.1949, 3.0427, 1.7314, -0.0757, -0.0708, 0.0415, 0.6632, -7.9932, 7.0222, 1.9609, 0.5201, -0.0366, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aafcb2daa04230b8198da0f1f8959a7705f896a6bd19c23041ba9a150cbcffa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b493cdca4ecd149400910c06d622d1bb4baac13db3a3275840bb6c7cafbf2c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a68cf5453c7db4566ffd7d097a7e312289888c5851365ba16a2dadccae6bedd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISzgoKjgEIEhgCKkBA+g64u668rslybdaDmWLvh0Au+GU4eZmF7pluk76s1QaS8RsbXDeXA+pThkaB2cOglxWS5mMmnVVWxyM/cYo9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa+RzNUGEgx/cUp9xpoCnVoRfIAaDLoxwA32kbo8NF7H7SIwyt0j0g01OKqppHfFp7o3Et2XrXWCQw/gude6zqivo0hqwb+MRe/jDDGFaUQcG7EvKuwIicg2BT3M7KQG73EbWd4FjFl/gx8o2UvfgqyoOcZqonLzU/WZbz3WWpO5VMFu0up5+5MUhp0Z3qmA/upBuY9BetdGQJ9VpIJWJhrK4KIMxBsRAmIoGxVHVvX3+bGYE2PYOVILOQLYrI1HTg5Bt4Bn8Mh1gWxAAmvLsJnz6m5N9TwAEjIHO7l/FJT+nJulmi1qD622jTLiegY5OjKKLO2FbwyIgLUSqzzdIlBTlzCi41TjpBctnWd4pH9+dD7PuG5NfXyCGnytW4cF/fulFV6lmVsuudRLyWzdP72egcYAB7+M/U4tKyR8hR6tmMaCVmVYrmwve/NsiZmJs6n5rlEfdir4DXSagfhav5BKziinXILaX/F28YcQuouk6K5h6Dt6ADwmLVoR6bU8CaU7DtrEvAdrnGII7pVTUDGnoRpQlTWq1zFBuxVZp6EuNE26SZll/XpBqi5oRT8zqkmwlG9pds3Pnhoe51zbSYpANls+1kP8iZ5CSuWtMcARKaFSr4oErZ5oMiWVIkoEiKIYSlMQY93b7o4nTSmzObpFCW3ld+qkChF3JXUJeFJLMblQ9d4fnWA6qMfRRpuCm3cOTMzuvThcY3GuNp/1egK6aVtMyS7Y3aEa+ZrpjVO25ULnctuLZXikyVf8QI/cYfoC0vBEQj4jiLr48ANJL0XuYbfO+laDYPvQOBRI8bpbQHubs/jmVEk7DMIPp+xAPFtIYHB/h9dY8gpJcq7gSK3bSmR92aNLd6cE9Z1KExL0UNu22/5lC8DoCGllCYad1hSx/zAEvxB2XXfDl1yfc6VAD5EPfdYdnjbndoaOFggXuPEH5tg/JClzuCb5jitfIviC0EWBDNxFNkLANxptX8RIcExrr7NWtll/ox2A+lR2Ex1+7JZK/GZ7Pd4oxA6bGwiKz/Juji3HwOJGpktOuzlrYOCxPXqMQANtg55fIdzYVA3tkN0q/lhPNDsjEOE0EJmMnux/KNSfMeDsiV9T+RJ8qXyE0WcKkW1++5Vep7dGK0WoC4DIgFPLBpevIJBBTaPV4wE7PjWw/mIRS91E3gxaE+pA8jVxRmKMz9AlgiN4hfN1K8n8pS+NaY4vu6ki3dwpfaP4XdoD5s0BuEnYFI3qeCz28YzWC+8I5TPOYUXiA7wfMlCiYG3NmDRcosNEQ2K8rOSRcxvr2NJDnV5OcCBVAbZDnknR0bJNEZoyrLQxriqA0cu+tdYZbn+I4pwfQONnrlG/ZJURIOI0Igi5/erYAdSirEqkouXkTTl8+YVNSJ0Q0LsR7Cp2AOuW+cAUiSMCfQx/FPRB9YEZTW+OHGbyokJIhm/59Oeo3DEL5oEhDTJu+gQbilFIisDR1ksREM6ji5PGGrsTwWjbJ+58zedrm+wFXStGls0yZOdIFJT6iw33091V0SeoT1VLBtUZdXBs1hCAXV+qlhRP3EBcdYhqmwLlxyrjflvdwEnj/Dm22KcGvoqQO98KWyIp8Ju+rXkYhpsMY2V0y0L0tsPB2zDXlRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JWs1Q6TD4ugpuV6RwjV6Ls",
      "input": {
        "note": "The right wrist view shows the pen just below and right of the jaw point. Moving 3 cm to the arm's right, 1 cm back and descending to 4 cm to line up on the pen's middle.",
        "targets": {
          "right_pitch": 0.3,
          "right_x": 0.35,
          "right_y": 0.215,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01JWs1Q6TD4ugpuV6RwjV6Ls",
      "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]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.995, 0.8577, 1.9953, 0.5301, 0.936, 0.799, 0.2455, 0.9989]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.995 right_x=0.3424 right_y=0.2079 right_z=0.0178 right_yaw=0.0606 right_pitch=0.193 right_roll=-0.1407 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -10.0991, 2.865, 1.7021, -0.0757, -0.0122, -0.0073, -0.294, -8.9094, 4.2598, 2.3858, 0.2076, -0.1245, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c9945f078d128e57e68b9d020b7a30cf4bf2ac7a7d55381e662961a75fc26f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2239cfa418182d2ac64ba3e91c72f560b176d652d35921e7386f969583107970",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7ecb4c655b2cb669a72bfeebbcca615f54de7d11b76cbd6ef278841421898bca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 19.24 s

model: claude-opus-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]: [-0.609, 2.3749, 0.7887, 1.56, -0.8383, 0.0711, 0.9944, -0.02, 0.8436, 0.6125, -0.4606, -0.0204, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.4502 left_y=-0.1495 left_z=0.0446 left_yaw=0.1588 left_pitch=0.5493 left_roll=0.1221 left_gripper=0.9944 right_x=0.2869 right_y=0.0014 right_z=0.1543 right_yaw=-0.0005 right_pitch=-0.1339 right_roll=0.0024 right_gripper=0.9989\nstate[joint_eff]: [0.253, -8.9504, 4.4923, 1.707, 0.1392, 0.1978, 0.2027, -0.0205, -1.7846, 7.0496, 1.7998, -0.0171, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.9949, 0.8738, 1.7649, 0.7261, 0.5503, 0.7933, 0.3031, 0.999]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.9949 right_x=0.3624 right_y=0.2423 right_z=0.0995 right_yaw=0.044 right_pitch=0.2218 right_roll=-0.0532 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -10.1949, 3.0427, 1.7314, -0.0757, -0.0708, 0.0415, 0.6632, -7.9932, 7.0222, 1.9609, 0.5201, -0.0366, -0.1197]\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]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.995, 0.8577, 1.9953, 0.5301, 0.936, 0.799, 0.2455, 0.9989]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.995 right_x=0.3424 right_y=0.2079 right_z=0.0178 right_yaw=0.0606 right_pitch=0.193 right_roll=-0.1407 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -10.0991, 2.865, 1.7021, -0.0757, -0.0122, -0.0073, -0.294, -8.9094, 4.2598, 2.3858, 0.2076, -0.1245, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c9945f078d128e57e68b9d020b7a30cf4bf2ac7a7d55381e662961a75fc26f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2239cfa418182d2ac64ba3e91c72f560b176d652d35921e7386f969583107970",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ecb4c655b2cb669a72bfeebbcca615f54de7d11b76cbd6ef278841421898bca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SEAEFj45RtKXpEjmdSWkVu",
      "input": {
        "note": "Overhead view shows the right gripper just short of the pen (same column, ~7 cm nearer the base); the wrist view shows the pen's far tip on the jaw column with the body running down-right. Advancing ~5 cm and 2 cm to the arm's right to straddle the pen's middle.",
        "targets": {
          "right_pitch": 0.35,
          "right_x": 0.395,
          "right_y": 0.19,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01SEAEFj45RtKXpEjmdSWkVu",
      "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]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.995, 0.7158, 2.1979, 0.5812, 1.2907, 0.7067, 0.0769, 0.9989]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.995 right_x=0.3879 right_y=0.1901 right_z=0.013 right_yaw=0.0528 right_pitch=0.3074 right_roll=-0.1372 right_gripper=0.9989\nstate[joint_eff]: [-0.1299, -10.0991, 2.9197, 1.6972, -0.0611, -0.0366, -0.0171, -0.4581, -7.6513, 3.3573, 1.6581, 0.2076, -0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b7955af8afc6aa3ef20042029355591ef9e562b53cc50f0efcb7344569236a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5d17f96e808b78708a9a9fc91f3302c0cbc02228a40a4595deff11458ae4353",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fadcdaebf706c0e4609f95048df4455954f70461b779b9685028156a608c001b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 6.239 s

model: claude-opus-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]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.9949, 0.8738, 1.7649, 0.7261, 0.5503, 0.7933, 0.3031, 0.999]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.9949 right_x=0.3624 right_y=0.2423 right_z=0.0995 right_yaw=0.044 right_pitch=0.2218 right_roll=-0.0532 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -10.1949, 3.0427, 1.7314, -0.0757, -0.0708, 0.0415, 0.6632, -7.9932, 7.0222, 1.9609, 0.5201, -0.0366, -0.1197]\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]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.995, 0.8577, 1.9953, 0.5301, 0.936, 0.799, 0.2455, 0.9989]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.995 right_x=0.3424 right_y=0.2079 right_z=0.0178 right_yaw=0.0606 right_pitch=0.193 right_roll=-0.1407 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -10.0991, 2.865, 1.7021, -0.0757, -0.0122, -0.0073, -0.294, -8.9094, 4.2598, 2.3858, 0.2076, -0.1245, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.995, 0.7158, 2.1979, 0.5812, 1.2907, 0.7067, 0.0769, 0.9989]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.995 right_x=0.3879 right_y=0.1901 right_z=0.013 right_yaw=0.0528 right_pitch=0.3074 right_roll=-0.1372 right_gripper=0.9989\nstate[joint_eff]: [-0.1299, -10.0991, 2.9197, 1.6972, -0.0611, -0.0366, -0.0171, -0.4581, -7.6513, 3.3573, 1.6581, 0.2076, -0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b7955af8afc6aa3ef20042029355591ef9e562b53cc50f0efcb7344569236a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5d17f96e808b78708a9a9fc91f3302c0cbc02228a40a4595deff11458ae4353",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fadcdaebf706c0e4609f95048df4455954f70461b779b9685028156a608c001b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JRN1dttZB8kgX4sBADvKSU",
      "input": {
        "note": "The pen lies ~4 cm to the arm's right of the jaw gap and runs roughly forward-right; shifting right and yawing the tool -0.3 rad so the jaws close perpendicular to the pen's axis.",
        "targets": {
          "right_pitch": 0.35,
          "right_x": 0.385,
          "right_y": 0.162,
          "right_yaw": -0.3,
          "right_z": 0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01JRN1dttZB8kgX4sBADvKSU",
      "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]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.995, 0.7658, 2.215, 0.6827, 1.1648, 0.9348, 0.1799, 0.9989]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.995 right_x=0.3926 right_y=0.1853 right_z=0.0179 right_yaw=-0.1409 right_pitch=0.3395 right_roll=-0.1202 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -10.0991, 2.7282, 1.6679, -0.0562, -0.0415, -0.0122, 0.0342, -7.6103, 3.3573, 1.6874, 0.4274, 0.1832, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33efa4baf5c3e26423ddaf2e579a5c0443e9d45b351a98475512dfb725bdaaa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3328099574324be44e5a1abbb7b07921d205ab696b9e33e690e468076c686dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:62e9f610d2e3b4e265a5d8c228425c3af79cc6214455e29775cc5267a97bc1e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 8.388 s

model: claude-opus-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]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.995, 0.8577, 1.9953, 0.5301, 0.936, 0.799, 0.2455, 0.9989]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.995 right_x=0.3424 right_y=0.2079 right_z=0.0178 right_yaw=0.0606 right_pitch=0.193 right_roll=-0.1407 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -10.0991, 2.865, 1.7021, -0.0757, -0.0122, -0.0073, -0.294, -8.9094, 4.2598, 2.3858, 0.2076, -0.1245, -0.022]\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]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.995, 0.7158, 2.1979, 0.5812, 1.2907, 0.7067, 0.0769, 0.9989]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.995 right_x=0.3879 right_y=0.1901 right_z=0.013 right_yaw=0.0528 right_pitch=0.3074 right_roll=-0.1372 right_gripper=0.9989\nstate[joint_eff]: [-0.1299, -10.0991, 2.9197, 1.6972, -0.0611, -0.0366, -0.0171, -0.4581, -7.6513, 3.3573, 1.6581, 0.2076, -0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.995, 0.7658, 2.215, 0.6827, 1.1648, 0.9348, 0.1799, 0.9989]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.995 right_x=0.3926 right_y=0.1853 right_z=0.0179 right_yaw=-0.1409 right_pitch=0.3395 right_roll=-0.1202 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -10.0991, 2.7282, 1.6679, -0.0562, -0.0415, -0.0122, 0.0342, -7.6103, 3.3573, 1.6874, 0.4274, 0.1832, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33efa4baf5c3e26423ddaf2e579a5c0443e9d45b351a98475512dfb725bdaaa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3328099574324be44e5a1abbb7b07921d205ab696b9e33e690e468076c686dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62e9f610d2e3b4e265a5d8c228425c3af79cc6214455e29775cc5267a97bc1e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS+wUKjgEIEhgCKkBbpvCjdwPwgQRsGcCeDyW38RgQtiP2hxIKUPPmHdak52wKaySrJMPKYBRVYEavKlRcJRgDybDjtG8rOFiNeI/XMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd2RzNUGEgzOWmjUI9QAEC0VXJEaDJd0VmahcaG1XJuNbiIwf090GAnYaU76EHhwlzjMIFVXGouCagDtdfcPg/4poq/7Qr46/I3/8i8t1wWe7Uu1KpkE20meoTUASAJP/VvPOhyOR7kgVXeDzArJluZlG5yfFI6mmmKj1kqLR/M9HIQvKyMdNZ3KcKMScPQOzJAQOiMPlL+TR3qbbBuT5kLXG/aTaDI11KfEqLMbsuuvUsVw6rmOhZc1xEogQ9dnZaAglzm99LWO6wiYDFG7UgkHPKidiDhPV1O6sIXOB5SOQ7uf3NDHFBP5pPnk/Fec4ICnIHV+LNPNZOMrraifxCwNjIOThG+y/eTWceksu00Xf3lZb89TLX4Im7omWUY0IdTPOD5UQWrLiVaTQEZ2LCFHcEiDSU8j6jBiIpZhE/9ooGf8TnUljjv2KW/GOlmQiX84J5TQpY2C/06aPZz3lHPYrYW8QyxXHkRtZSsjRuwUmyCJU5JgEWPvAbxIzL11oaYybAZX3g5Y72DHYRHw4yiM9281VSTWJ784+zGZ6o5MHUdHdKehDRUe+ulxpWf+42l3GdNI9kaamx0AVdoh8UOelzUJSkMXJAMYFfYf5gszgHQbQV8jJ5tirFNG74KPSkVxig7IlVLikDtBmQcNMlwXBG/lf1OIHi8aa+nlCRpygmBhn1Yz3BWv0cqYfmZG1ad8BTv5jgEgvZBd6+QkB1LYqYVEe6ygr+qsQ/4JcKYdDG4mAAul7n1liMY/41mnckZZ5xcSiRTQQIcAhcMi7Hl90vw+Kc9/6mqy7KtrWPRiFn3eK1XRjDBxotNSTAgwGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q2UmtdLHYkZJyqjSZ7LKtR",
      "input": {
        "note": "The pen now crosses the jaw gap at table level in the right wrist view. Closing the gripper to grasp the pen.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Q2UmtdLHYkZJyqjSZ7LKtR",
      "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]: [-0.6094, 2.376, 0.7872, 1.5558, -0.8383, 0.0769, 0.995, 0.7803, 2.2154, 0.7048, 1.0451, 1.0809, 0.2806, 0.0117]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.152 left_pitch=0.544 left_roll=0.1343 left_gripper=0.995 right_x=0.3845 right_y=0.1664 right_z=0.0135 right_yaw=-0.2759 right_pitch=0.3407 right_roll=-0.1371 right_gripper=0.0117\nstate[joint_eff]: [-0.0342, -10.0855, 2.7419, 1.6484, -0.0415, -0.0562, -0.0122, -0.4171, -8.0615, 3.6034, 1.6288, 0.4518, 0.0122, 1.0037]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b45f4be4ed1585e78c5cccf1f5a7f568e742e8a1cbc4e858a27c05d5c384ad0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30f548f319be6bb827b8e17ac92e8df8499a865aedd078be98561c1e8dd0a61a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c574c4284fce690520d15619cbb39acd6eff46d951e4f589b0d92bd424114bb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 18.21 s

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

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.995, 0.7158, 2.1979, 0.5812, 1.2907, 0.7067, 0.0769, 0.9989]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.995 right_x=0.3879 right_y=0.1901 right_z=0.013 right_yaw=0.0528 right_pitch=0.3074 right_roll=-0.1372 right_gripper=0.9989\nstate[joint_eff]: [-0.1299, -10.0991, 2.9197, 1.6972, -0.0611, -0.0366, -0.0171, -0.4581, -7.6513, 3.3573, 1.6581, 0.2076, -0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.995, 0.7658, 2.215, 0.6827, 1.1648, 0.9348, 0.1799, 0.9989]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.995 right_x=0.3926 right_y=0.1853 right_z=0.0179 right_yaw=-0.1409 right_pitch=0.3395 right_roll=-0.1202 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -10.0991, 2.7282, 1.6679, -0.0562, -0.0415, -0.0122, 0.0342, -7.6103, 3.3573, 1.6874, 0.4274, 0.1832, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5558, -0.8383, 0.0769, 0.995, 0.7803, 2.2154, 0.7048, 1.0451, 1.0809, 0.2806, 0.0117]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.152 left_pitch=0.544 left_roll=0.1343 left_gripper=0.995 right_x=0.3845 right_y=0.1664 right_z=0.0135 right_yaw=-0.2759 right_pitch=0.3407 right_roll=-0.1371 right_gripper=0.0117\nstate[joint_eff]: [-0.0342, -10.0855, 2.7419, 1.6484, -0.0415, -0.0562, -0.0122, -0.4171, -8.0615, 3.6034, 1.6288, 0.4518, 0.0122, 1.0037]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b45f4be4ed1585e78c5cccf1f5a7f568e742e8a1cbc4e858a27c05d5c384ad0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30f548f319be6bb827b8e17ac92e8df8499a865aedd078be98561c1e8dd0a61a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c574c4284fce690520d15619cbb39acd6eff46d951e4f589b0d92bd424114bb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS8gYKjgEIEhgCKkDzVDA3TrWJq60NQcnEbobNJTTLRh38ftBGu9SXOC21LUgxnmse3Jkzn4j/ykRWsetpjIKPadGKCvJCvGJEulxuMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeaRzNUGEgzdAyBFrGHy/gWx/isaDNBEjrglYkkSGnkMACIw5ztoHi6l4g5Ix52lVAcrYfgm+sQtSNRF5wzHGWk2o2yg1KBuZFvcsl4eqtqFn6lVKpAFpPx7789NNgHjfQx8x0QjPumsWy7dxslVCQB8uIw4I/kUeM4TsABKWrGOXOkZVXOly97IEdZX9mGxCeYp8V6Gn5xpIVb35Ys3f0kVAzjAW9msNbMnMzWmmhM6YmTYOBH1TiMnX23YJJlcNDvQS15dO1yCG2ukYPMbb6PHgPCT1UBkdgq+I34B1Kyv5OyyvDf46jpXMyPaoz1gRkHuTzlj7V8XNzgKGbrx7lfwQt+/T62FlyMfJivLjyQkvVmDZVPx0l56Ru+KidXprdjK6jIkXwN7Es+RtUmNUdT94giZf8bRZ4B/KmXNusGWNJELdsKBCFY86rKPklOM7u03lsZ/AO9i0xp+urPhwnR9cIDFR5BT0iFOiKjk388vm20cz8xUoKJpH9jKc39IBNJr3qt6JK/cYVTZ/AoetclFo+5ybsVwNYsybH1RosXrw/lGf25XEHafucuxHsZDlTComcv6m7bkMqEmZSPSIjlADvG9lWI/6NsfzAG+j8k25cmtBqhPj9/LRhrIopMP/DqfdWgZWt+XvBLprAqYCpxuh3XZs6yW09UuiwHw0cYhJ+Zu2hNirf08/dj/j+2NQJ+0XtNhq1HNbOvY0ea9MigZP9+bDaF5W7h59M1KO3uUX7Eqhqi1UZ8PKxdbwhH8ve5CBOzjfPdSRyC5hKjq0Xk/StNG9ITF5s2pBKdhdq+Jg5Ma6rKaGzkEbRaqj/xOU7lRBroqFBUO4dPM01MB8GOtm6z+nhuew7s9B7BJ0NaigU6414LslRfcV1nA3PsTLtEkw8xhjaDxOOueaQLdFfqr2cWc0M+CHy0FqR+YWWOcNjGmrKt9hXkT5CSucpda3eUfzN3rZPpr06gxypduBAIP6d+y0/UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VdvLq99c8J2zv9soqQwGDy",
      "input": {
        "note": "Empty close: the pen now lies just to the arm's left of the jaws (the arm drifted right during the close). Reopening and shifting ~3 cm back toward the pen.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.383,
          "right_y": 0.198,
          "right_z": 0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VdvLq99c8J2zv9soqQwGDy",
      "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]: [-0.6094, 2.376, 0.7872, 1.5558, -0.8383, 0.0769, 0.995, 0.841, 2.2192, 0.7944, 0.9123, 1.1145, 0.3367, 0.9949]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.152 left_pitch=0.544 left_roll=0.1343 left_gripper=0.995 right_x=0.3846 right_y=0.1974 right_z=0.0164 right_yaw=-0.259 right_pitch=0.3361 right_roll=-0.1309 right_gripper=0.9949\nstate[joint_eff]: [-0.2667, -10.0991, 2.7282, 1.6874, -0.0659, -0.0415, -0.0122, 0.6906, -7.5829, 4.7932, 1.4872, 0.4518, 0.1245, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68fbacb2545c3085e6e5656e3a0050dcb0863bbe07debf11ed0163097abe5f30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:367fbcc0b31793cd3e91bb69730575a141c35ff92bfcac47b4812b84d3568b23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc3ca1ba947ea6996ebb8850232015f361b2d40e13779c21634fdaf94f41e28c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 6.48 s

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

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.995, 0.7658, 2.215, 0.6827, 1.1648, 0.9348, 0.1799, 0.9989]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.995 right_x=0.3926 right_y=0.1853 right_z=0.0179 right_yaw=-0.1409 right_pitch=0.3395 right_roll=-0.1202 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -10.0991, 2.7282, 1.6679, -0.0562, -0.0415, -0.0122, 0.0342, -7.6103, 3.3573, 1.6874, 0.4274, 0.1832, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5558, -0.8383, 0.0769, 0.995, 0.7803, 2.2154, 0.7048, 1.0451, 1.0809, 0.2806, 0.0117]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.152 left_pitch=0.544 left_roll=0.1343 left_gripper=0.995 right_x=0.3845 right_y=0.1664 right_z=0.0135 right_yaw=-0.2759 right_pitch=0.3407 right_roll=-0.1371 right_gripper=0.0117\nstate[joint_eff]: [-0.0342, -10.0855, 2.7419, 1.6484, -0.0415, -0.0562, -0.0122, -0.4171, -8.0615, 3.6034, 1.6288, 0.4518, 0.0122, 1.0037]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5558, -0.8383, 0.0769, 0.995, 0.841, 2.2192, 0.7944, 0.9123, 1.1145, 0.3367, 0.9949]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.152 left_pitch=0.544 left_roll=0.1343 left_gripper=0.995 right_x=0.3846 right_y=0.1974 right_z=0.0164 right_yaw=-0.259 right_pitch=0.3361 right_roll=-0.1309 right_gripper=0.9949\nstate[joint_eff]: [-0.2667, -10.0991, 2.7282, 1.6874, -0.0659, -0.0415, -0.0122, 0.6906, -7.5829, 4.7932, 1.4872, 0.4518, 0.1245, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68fbacb2545c3085e6e5656e3a0050dcb0863bbe07debf11ed0163097abe5f30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:367fbcc0b31793cd3e91bb69730575a141c35ff92bfcac47b4812b84d3568b23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc3ca1ba947ea6996ebb8850232015f361b2d40e13779c21634fdaf94f41e28c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SsTSWN3c6TL6pSPZrBQeZm",
      "input": {
        "note": "The pen crosses the jaw region slightly to one side; nudging 1.5 cm further left so the pen sits in the jaw gap at the fingertip row before closing.",
        "targets": {
          "right_y": 0.212,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01SsTSWN3c6TL6pSPZrBQeZm",
      "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]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0772, 0.995, 0.8532, 2.2326, 0.8249, 0.8879, 1.1255, 0.3569, 0.9959]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1519 left_pitch=0.5442 left_roll=0.1345 left_gripper=0.995 right_x=0.3859 right_y=0.2051 right_z=0.0159 right_yaw=-0.2645 right_pitch=0.339 right_roll=-0.1195 right_gripper=0.9959\nstate[joint_eff]: [-0.2393, -10.0991, 2.7282, 1.7021, -0.0806, -0.0171, -0.0122, 0.9915, -8.1162, 4.6427, 1.2186, 0.3492, 0.0904, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72762abfc40a80389c9b6f354ae35256100a6b434e4af26ba2504465cb155d39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7182d22512b193bf0f8130ea213fb1250708157cd4ff0805f0071b96a2d90b2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1cd9e10f4cf32ef63fcb03e48a398cfe73026220622154de6b240db53709653b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 10.04 s

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

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5558, -0.8383, 0.0769, 0.995, 0.7803, 2.2154, 0.7048, 1.0451, 1.0809, 0.2806, 0.0117]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.152 left_pitch=0.544 left_roll=0.1343 left_gripper=0.995 right_x=0.3845 right_y=0.1664 right_z=0.0135 right_yaw=-0.2759 right_pitch=0.3407 right_roll=-0.1371 right_gripper=0.0117\nstate[joint_eff]: [-0.0342, -10.0855, 2.7419, 1.6484, -0.0415, -0.0562, -0.0122, -0.4171, -8.0615, 3.6034, 1.6288, 0.4518, 0.0122, 1.0037]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5558, -0.8383, 0.0769, 0.995, 0.841, 2.2192, 0.7944, 0.9123, 1.1145, 0.3367, 0.9949]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.152 left_pitch=0.544 left_roll=0.1343 left_gripper=0.995 right_x=0.3846 right_y=0.1974 right_z=0.0164 right_yaw=-0.259 right_pitch=0.3361 right_roll=-0.1309 right_gripper=0.9949\nstate[joint_eff]: [-0.2667, -10.0991, 2.7282, 1.6874, -0.0659, -0.0415, -0.0122, 0.6906, -7.5829, 4.7932, 1.4872, 0.4518, 0.1245, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0772, 0.995, 0.8532, 2.2326, 0.8249, 0.8879, 1.1255, 0.3569, 0.9959]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1519 left_pitch=0.5442 left_roll=0.1345 left_gripper=0.995 right_x=0.3859 right_y=0.2051 right_z=0.0159 right_yaw=-0.2645 right_pitch=0.339 right_roll=-0.1195 right_gripper=0.9959\nstate[joint_eff]: [-0.2393, -10.0991, 2.7282, 1.7021, -0.0806, -0.0171, -0.0122, 0.9915, -8.1162, 4.6427, 1.2186, 0.3492, 0.0904, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72762abfc40a80389c9b6f354ae35256100a6b434e4af26ba2504465cb155d39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7182d22512b193bf0f8130ea213fb1250708157cd4ff0805f0071b96a2d90b2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cd9e10f4cf32ef63fcb03e48a398cfe73026220622154de6b240db53709653b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISlQUKjgEIEhgCKkCOSAAOtZQE/NXbpjExA03GjyA3CFqlfSja8EJdh9vYdBjRdCtavgANMRf/rpYwpAuaCZzTBHqoMM1ceokKoULBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYCSzNUGEgySZPLcmhjKez5rhw0aDLkYZVjWpXyFZgKUAiIwqfrKdf3YuAUTyueAuPs1vE2as9IK2JY3mkNVMgVelo3HziA/sDD78ISresM8yCj0KrMDo6OBAYGG32D6/t2iL9m3MMFbNgzHfz+xQpam01hBxlBW4q/B9Ea4AqLhCUjylYiLxTJDLSFSmpiCj47Qdv/Z7cPIL6kSeDbam1HI1CXKaroxbi9eZtw4PY3lc3Og+jcIVlQtbnKaVkd2sa9BtB+ghuDZ0E/HQWop7Www0yJTgtMerWnFyxm+eeWprD68zvKlVJ0pDPxEpVEprizv+6IT+WBWVSxwwkqvRevkrMFiFdbKQVsDNqaAGujk+kfKk+kZGB6nyZzpGqf0Tcufw1FKtECBltUKZ9Qwq9aHILPMdk1D9eUQxpJaLR9rzkzVcI5G+JrIko2S/QtbOutlRuTkROygvTRAekFmtBV9mxpZNwFTD25SO4pitMy1t6sBRvrwEPv+QKWu0tZ2vfsjx0gz4w0oGjxuiIsdWM7ErgJ3SjtkY9n99AenWjapVcMRhRTLECsx8jBZjcIPu8kHnKfGqu4b8i4zrT31NAscvYZuoEYB/USTFHjqLcGabrNkOnEziK2iHiqDSJQMsbX4/T11lz7R/LIs1cNfBu9VvOKGk2BWU+mMCHJ9hXlZQs4C2z6dc46YGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UkCgQtp7Lfjd3koAEMKoWb",
      "input": {
        "note": "Pen is running through the jaw gap at table level; closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UkCgQtp7Lfjd3koAEMKoWb",
      "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]: [-0.6094, 2.376, 0.7872, 1.5558, -0.8383, 0.0769, 0.995, 0.8661, 2.244, 0.841, 0.8688, 1.1259, 0.3672, 0.0119]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.152 left_pitch=0.544 left_roll=0.1343 left_gripper=0.995 right_x=0.3847 right_y=0.2118 right_z=0.0126 right_yaw=-0.253 right_pitch=0.3335 right_roll=-0.1227 right_gripper=0.0119\nstate[joint_eff]: [-0.253, -10.1265, 2.7009, 1.6972, -0.0366, -0.0464, -0.0171, 0.0615, -8.6632, 4.8889, 1.4237, 0.3834, -0.0073, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f9441506cec7b3b3cb5d1fbb3da90442fec43ca9912f8292f2814d09f8fe970",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcff6132e44c7396ca16064f4ee7c40c2fc19a502715c23b4dc1cd15a5759a52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d85790b0895135c0f0197bea0371cffbf19dbbb0e3d33cbaa7622b375af0cb5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 5.373 s

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

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5558, -0.8383, 0.0769, 0.995, 0.841, 2.2192, 0.7944, 0.9123, 1.1145, 0.3367, 0.9949]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.152 left_pitch=0.544 left_roll=0.1343 left_gripper=0.995 right_x=0.3846 right_y=0.1974 right_z=0.0164 right_yaw=-0.259 right_pitch=0.3361 right_roll=-0.1309 right_gripper=0.9949\nstate[joint_eff]: [-0.2667, -10.0991, 2.7282, 1.6874, -0.0659, -0.0415, -0.0122, 0.6906, -7.5829, 4.7932, 1.4872, 0.4518, 0.1245, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0772, 0.995, 0.8532, 2.2326, 0.8249, 0.8879, 1.1255, 0.3569, 0.9959]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1519 left_pitch=0.5442 left_roll=0.1345 left_gripper=0.995 right_x=0.3859 right_y=0.2051 right_z=0.0159 right_yaw=-0.2645 right_pitch=0.339 right_roll=-0.1195 right_gripper=0.9959\nstate[joint_eff]: [-0.2393, -10.0991, 2.7282, 1.7021, -0.0806, -0.0171, -0.0122, 0.9915, -8.1162, 4.6427, 1.2186, 0.3492, 0.0904, 0.0904]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5558, -0.8383, 0.0769, 0.995, 0.8661, 2.244, 0.841, 0.8688, 1.1259, 0.3672, 0.0119]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.152 left_pitch=0.544 left_roll=0.1343 left_gripper=0.995 right_x=0.3847 right_y=0.2118 right_z=0.0126 right_yaw=-0.253 right_pitch=0.3335 right_roll=-0.1227 right_gripper=0.0119\nstate[joint_eff]: [-0.253, -10.1265, 2.7009, 1.6972, -0.0366, -0.0464, -0.0171, 0.0615, -8.6632, 4.8889, 1.4237, 0.3834, -0.0073, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f9441506cec7b3b3cb5d1fbb3da90442fec43ca9912f8292f2814d09f8fe970",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcff6132e44c7396ca16064f4ee7c40c2fc19a502715c23b4dc1cd15a5759a52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d85790b0895135c0f0197bea0371cffbf19dbbb0e3d33cbaa7622b375af0cb5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS8QkKjgEIEhgCKkCwp4IwtjzkvtdQiOKnwqo+K2Z0OroE1Cx6eHRZkPFcSPH4zXmWlmLMDGSOP6YPJ4HGYB9GGVbPNDezNDMXg3qFMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYuSzNUGEgzUlKFsg6+EBdxQwNMaDGqlhCoTHhactQWqpCIwkgZ2cu8VI2Mc3VZBU14Q5I1xdcNtknlMsrJW6+vc52+jp9Ppo+OUevcxnGTgL8a/Ko8I48Y3wQsMsS1pCoCnd4pOJ8n4qv2+DJHXoxvwJRvgI3WqaQqJf0k2lp4bpkXyX9lanonAcMDGf3JLtjRaRURayGaLQ7AXLuoPGqiufz69kpcxw8vbvhieBdCuOCpGeDc6exo3tlqCs2M6TsSIfee81nyPXll6rUMtVD3MOqxWEAW5fa9pk5rmX7B9ZtRw0VYst2B9Ml643uZ3J39w9dkl6NAAVKrW1FyB63OcPg4jSDkGxCXxZWXiU89JZdrvnYBUnUoZAdY615JWJynY2wLmn7FiBFAwBvpSQB9kR0WYNrE8XpdIsUCDXfDvZoxeCaUqcL1x9sqiomBuv0rqy9ti0pUT0xFafIuWrhxHNFQMe6wkvFANZncR2A/L0IwM6xu8u6xCB2OnXtnKCwES8bOUZv+pYqmmjv3R6bJIrNNMpXY4su2UPsumene/G9qpN8eUD5v3ymoDbfo1Iahl4a6r2vP+f3d9bHKiiqEpiW+lmkVqnDZqSf6vEw3keO6nbxozx9XNffpxXIARLAwKuAGeJzEMupxSqwfD8W0bliBzUSvuxTADTXHQgphJGb61u+RfualA5YoUIATvnHmqQq8hrIHm06yS5YF5XCf1jN40/eNwLBFAjzSZUokDueJoDxFMWq8/LSWZNjHq4dy0ED2d1EqACL6s/57j995GmlezsBPjsEVee3lz/jfSHS9KqMdyGKzXoWSZFIpYIJuk4CKtC8oPJHMs6317qHqfzWY0cKKKs784eTx87hNkDAPQoEfQmNd4BDFJAhu1J8ZX7jp8AF02MM+HSlKDCg8XAZBvTwLYijc9UUqkMgg3rNB+FvPyK9CQNnwQKDBrVPq7q2uuqM/CoNhNfgA0fRq02le5ExLWOq6U6cKipPoLgZPby09UWhJXBjVEmo7XbhsyAb1TrgWqSVvPvykxaKc9Xo3cIVOobtZ6sZqxwMXwZwq5ca9OqWzfgaIRAYfstNh/pDPUhX+1XbWJz5ziz02hiHtfqfWp8f5LLHeGnJfrrg/ot4vIgbOcn5G8QtZciqiPQIJiZQYRQ8A9iaXqxQC8/oabAHwQgUz9LlUelizaoM+muR1+2RXg4DqyvjMmyvsfbGpDRwbazCDPXtC7JdQhdGTsID2zARGIYb5/9FP39Z4iQsN+IGuBviPStGygGr+j3LeLmY6g04jtmi/yBJ37eavWPBIB4LlEwhAwvLSwZfJJrkKTtpi0xcT6tvDj5GDjiADHxkTCSETsn3PCrmXmsbrtGHveacP6IOyC8at4+I+m7lPT4jCZLVAf/2hXb+9YG8MxZkDuIBVxj0auOIw4UrcLsIZ9bDNVEHBZYBgp8H73ntUHxwZgOeMGWAOOHRWGasg5XOX3ovle2Ez7ba1RAtBYBxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014v4cCSsAp9BGQK2npv1YZi",
      "input": {
        "note": "Empty close again, and the wrist view now clearly shows the pen lying beyond the closed jaws, so the fingertips are ~4 cm short. Reopening and advancing radially with more forward pitch to reach over the pen.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.45,
          "right_x": 0.423,
          "right_y": 0.215,
          "right_z": 0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014v4cCSsAp9BGQK2npv1YZi",
      "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]: [-0.6094, 2.376, 0.7872, 1.5558, -0.8383, 0.0769, 0.995, 0.8135, 2.3989, 0.9451, 1.2224, 1.1122, 0.1394, 0.9954]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.152 left_pitch=0.544 left_roll=0.1343 left_gripper=0.995 right_x=0.4197 right_y=0.2187 right_z=0.0204 right_yaw=-0.2759 right_pitch=0.4552 right_roll=-0.0706 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -10.1128, 2.7829, 1.6777, -0.0708, -0.0464, -0.0122, -1.2103, -8.5402, 4.041, 1.3797, 0.0806, -0.2808, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8371664ed66273f36c143fd7df6b2d9b03189d9534625544fb959c1c1de5b0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b6fe01130012e4a41179f7ee0638c7a367c3b0f7e0a559b0042440832ccbe09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f887cf99f744ed13d01b79f2fca4fcfbe2b0a80a4eba54c9b0b187812a44930c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 14.88 s

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

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0772, 0.995, 0.8532, 2.2326, 0.8249, 0.8879, 1.1255, 0.3569, 0.9959]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1519 left_pitch=0.5442 left_roll=0.1345 left_gripper=0.995 right_x=0.3859 right_y=0.2051 right_z=0.0159 right_yaw=-0.2645 right_pitch=0.339 right_roll=-0.1195 right_gripper=0.9959\nstate[joint_eff]: [-0.2393, -10.0991, 2.7282, 1.7021, -0.0806, -0.0171, -0.0122, 0.9915, -8.1162, 4.6427, 1.2186, 0.3492, 0.0904, 0.0904]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5558, -0.8383, 0.0769, 0.995, 0.8661, 2.244, 0.841, 0.8688, 1.1259, 0.3672, 0.0119]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.152 left_pitch=0.544 left_roll=0.1343 left_gripper=0.995 right_x=0.3847 right_y=0.2118 right_z=0.0126 right_yaw=-0.253 right_pitch=0.3335 right_roll=-0.1227 right_gripper=0.0119\nstate[joint_eff]: [-0.253, -10.1265, 2.7009, 1.6972, -0.0366, -0.0464, -0.0171, 0.0615, -8.6632, 4.8889, 1.4237, 0.3834, -0.0073, 1.0379]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6094, 2.376, 0.7872, 1.5558, -0.8383, 0.0769, 0.995, 0.8135, 2.3989, 0.9451, 1.2224, 1.1122, 0.1394, 0.9954]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.152 left_pitch=0.544 left_roll=0.1343 left_gripper=0.995 right_x=0.4197 right_y=0.2187 right_z=0.0204 right_yaw=-0.2759 right_pitch=0.4552 right_roll=-0.0706 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -10.1128, 2.7829, 1.6777, -0.0708, -0.0464, -0.0122, -1.2103, -8.5402, 4.041, 1.3797, 0.0806, -0.2808, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8371664ed66273f36c143fd7df6b2d9b03189d9534625544fb959c1c1de5b0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b6fe01130012e4a41179f7ee0638c7a367c3b0f7e0a559b0042440832ccbe09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f887cf99f744ed13d01b79f2fca4fcfbe2b0a80a4eba54c9b0b187812a44930c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS6QMKjgEIEhgCKkCGcCp2OZaEAE31EqTnDSJ4qlYTJ8G33BZlQ0zD7zLgajZy7ZpiE4wrEpVp3HNKeGR6GgcTHhRvfArpqhxlt2NiMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZKSzNUGEgwEAzOFbkmgubRHJckaDHSWHouvaUjX916uTSIw6wIaWSMDoe8YtGv8ixAvB7/D4xvlhL8Om4FDJqgzqF2mYOPpeACNAE7pbFvZByHjKocC6E2s4ITVaMCyUXc6lXtCCGWdgpKNAryEQHuia1WlTdE5AojVx0XtW7VpWSIgkKd9IxdmxMqN2qQl13kN/U/Txkos2645bv+pSSo0D6rcBP4OpVYyfzfWmY3A0irdo4FBABR/gYW5b6CKcN7bAniCvWyKol3d0uIxy9kQJCT54HSpAp8+uFJtZFx/Ur4iRrrZ3XcPg2dFayqXm8TWCJ5oLkBMuILqn5JMGtmKs2cFoKf9m+KfLF3ZZp8WLVcOr6GUwVO2pugp7ov1+AU4SKSmY6diGX5nMpLF6ssQ+n1jxRtQYQtgFDHROce9Z7lY9bjjXH3VA4DEXvJnNDmRvqi/j/p6DjvhJ+UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MV2dwnbR38rbeJYNBEMw9m",
      "input": {
        "note": "The pen is now right at the bottom between the jaws after advancing 3.5 cm. Closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MV2dwnbR38rbeJYNBEMw9m",
      "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]: [-0.6094, 2.376, 0.7872, 1.5562, -0.8383, 0.0769, 0.995, 0.8131, 2.4081, 0.9478, 1.24, 1.1046, 0.1444, 0.0114]\nstate[eef_state]: left_x=0.4498 left_y=-0.1494 left_z=0.043 left_yaw=0.1521 left_pitch=0.5442 left_roll=0.134 left_gripper=0.995 right_x=0.4205 right_y=0.2201 right_z=0.0194 right_yaw=-0.277 right_pitch=0.4589 right_roll=-0.0533 right_gripper=0.0114\nstate[joint_eff]: [-0.1573, -10.0034, 2.8786, 1.663, -0.0464, -0.0708, -0.0122, -0.0752, -11.4256, 3.0701, 1.3797, 0.1978, -0.0952, 0.9451]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8518b9927875221a4761f99187cf171b977fbe7fb2d9f858e1b9e89e7baa526a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fbf0bbca7d46d5c34d5368fd209bb497e462146bc3e732e696679aedd4098c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2751f596c7222a11355a0884589f0382ef17707f9a56f60e332dbef1cf3e07b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]