adhoc - adhoc_2cfa2a56.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: 16000
max_speed_frac: 0.25
model: claude-opus-5-5
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: messages
wire_capture: true
seed: 0
max steps: 900
duration: 323.2 s
total steps: 257

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent notePen lies diagonally near the table centre, cap is left of it. Moving right arm above the pen estimate to check it in the wrist cam.

move_to

right_x0.3300right_y0.2500right_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]: [-0.0204, 0.7933, 0.6025, -0.3801, -0.02, -0.0113, 0.9995, -0.0185, 0.7914, 0.6102, -0.3756, -0.0223, -0.0147, 0.9992] state[eef_state]: left_x=0.2945 left_y=0.0011 left_z=0.1795 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2959 right_y=0.0021 right_z=0.1845 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.4991, -1.5385, 10.5094, 1.746, -0.0806, -0.0611, -0.0659, -0.7863, -1.265, 9.812, 1.7314, -0.0073, -0.0122, -0.1001] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.33, "right_y": 0.25, "right_z": 0.15}, "note": "Pen lies diagonally near the table centre, cap is left of it. Moving right arm above the pen estimate to check it in the wrist cam."})

tool

executing move_to over 21 steps (2.1s)

step 21

assistant

agent notePen visible in right wrist cam, diagonal, slightly ahead and right of the jaws. Advancing and yawing so the jaws close across the pen.

move_to

right_x0.3650right_y0.2350right_z0.1200right_yaw0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7994, 0.6037, -0.3809, -0.0196, -0.0109, 0.9995, 0.9211, 1.5558, 0.96, -0.2359, 0.7052, 0.5716, 0.9991] state[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1782 left_yaw=-0.0005 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9995 right_x=0.3245 right_y=0.2437 right_z=0.137 right_yaw=0.0362 right_pitch=-0.0414 right_roll=-0.0382 right_gripper=0.9991 state[joint_eff]: [-0.2393, -1.7162, 6.9675, 1.6972, -0.0415, -0.0073, -0.0171, 0.4444, -7.1316, 8.4855, 1.4286, 0.6471, 0.232, -0.022] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.365, "right_y": 0.235, "right_z": 0.12, "right_yaw": 0.6}, "note": "Pen visible in right wrist cam, diagonal, slightly ahead and right of the jaws. Advancing and yawing so the jaws close across the pen."})

tool

executing move_to over 4 steps (0.4s)

step 25

assistant

agent notePrevious move stopped short (y 0.198, yaw 0.33). Re-commanding the pose above the pen with the jaws yawed across it.

move_to

right_x0.3700right_y0.2350right_z0.1200right_yaw0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8009, 0.6037, -0.3817, -0.02, -0.0113, 0.9995, 0.5816, 1.5185, 0.7876, 0.0078, 0.2085, 0.1211, 0.9991] state[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1776 left_yaw=0.0 left_pitch=-0.0084 left_roll=0.0002 left_gripper=0.9995 right_x=0.3614 right_y=0.1982 right_z=0.0962 right_yaw=0.3301 right_pitch=-0.1479 right_roll=-0.0464 right_gripper=0.9991 state[joint_eff]: [-0.1846, -1.3333, 7.2137, 1.7167, -0.0659, -0.0366, -0.0122, 0.6085, -6.1197, 7.159, 2.1221, -0.0024, -0.0415, -0.0171] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.235, "right_z": 0.12, "right_yaw": 0.6}, "note": "Previous move stopped short (y 0.198, yaw 0.33). Re-commanding the pose above the pen with the jaws yawed across it."})

tool

executing move_to over 4 steps (0.4s)

step 29

assistant

agent notePen now nearly vertical in the right wrist view, slightly right of the jaw column and ahead. Small extra yaw and shift to centre the pen between the jaws.

move_to

right_x0.3800right_y0.2200right_z0.1000right_yaw0.8000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8024, 0.6037, -0.3809, -0.0196, -0.0109, 0.9995, 0.5831, 1.5227, 0.7773, 0.0746, 0.1307, 0.0429, 0.9991] state[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1773 left_yaw=-0.0005 left_pitch=-0.0092 left_roll=0.0003 left_gripper=0.9995 right_x=0.3615 right_y=0.2152 right_z=0.1013 right_yaw=0.4406 right_pitch=-0.1078 right_roll=-0.0478 right_gripper=0.9991 state[joint_eff]: [-0.0752, -1.1556, 7.3231, 1.7167, -0.0317, -0.0464, -0.0171, 0.1846, -6.5299, 6.2701, 1.6874, 0.1832, 0.2466, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.38, "right_y": 0.22, "right_z": 0.1, "right_yaw": 0.8}, "note": "Pen now nearly vertical in the right wrist view, slightly right of the jaw column and ahead. Small extra yaw and shift to centre the pen between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 32

assistant

agent notePen is roughly aligned with the jaw column in the right wrist view. Descending to table level to grasp it.

move_to

right_x0.3700right_y0.2050right_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8024, 0.6037, -0.3809, -0.0196, -0.0109, 0.9995, 0.5831, 1.5227, 0.7769, 0.0605, 0.1574, 0.0563, 0.9991] state[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1773 left_yaw=-0.0005 left_pitch=-0.0092 left_roll=0.0003 left_gripper=0.9995 right_x=0.3617 right_y=0.2097 right_z=0.0989 right_yaw=0.4105 right_pitch=-0.1192 right_roll=-0.0562 right_gripper=0.9991 state[joint_eff]: [-0.2667, -1.306, 7.0906, 1.7021, -0.0562, -0.0464, -0.0171, -0.0205, -6.4479, 6.3111, 1.7705, 0.0952, 0.0952, -0.0073] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.205, "right_z": 0.0}, "note": "Pen is roughly aligned with the jaw column in the right wrist view. Descending to table level to grasp it."})

tool

executing move_to over 7 steps (0.7s)

step 39

assistant

agent noteAt table level with the pen between the open jaws in the right wrist view. Closing to grasp the pen.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8066, 0.6033, -0.3824, -0.0196, -0.0109, 0.9995, 0.5587, 1.7969, 0.6418, 0.3786, 0.1295, 0.0677, 0.9985] state[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1757 left_yaw=-0.0005 left_pitch=-0.0153 left_roll=0.0004 left_gripper=0.9995 right_x=0.3562 right_y=0.2 right_z=-0.0023 right_yaw=0.4013 right_pitch=-0.212 right_roll=-0.0441 right_gripper=0.9985 state[joint_eff]: [-0.3487, -1.1419, 7.0769, 1.8242, -0.0366, -0.0415, -0.0171, -0.1846, -9.1829, 8.2667, -2.2051, 1.0037, -1.9463, -0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "At table level with the pen between the open jaws in the right wrist view. Closing to grasp the pen."})

tool

executing move_to over 10 steps (1.0s)

step 49

assistant

agent noteGripper closed at 0.047 with the pen apparently between the jaws. Lifting to confirm the grasp.

move_to

right_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]: [-0.02, 0.807, 0.6029, -0.3817, -0.0196, -0.0113, 0.9995, 0.5568, 1.8053, 0.6388, 0.424, 0.1204, 0.0666, 0.0474] state[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1756 left_yaw=-0.0003 left_pitch=-0.0153 left_roll=0.0001 left_gripper=0.9995 right_x=0.3606 right_y=0.2037 right_z=0.0013 right_yaw=0.4089 right_pitch=-0.1794 right_roll=-0.0333 right_gripper=0.0474 state[joint_eff]: [-0.3214, -1.3333, 7.2821, 1.7216, -0.0659, -0.0659, -0.0171, -0.1983, -8.294, 5.6, 1.1746, 0.105, 0.0269, 1.326] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.08}, "note": "Gripper closed at 0.047 with the pen apparently between the jaws. Lifting to confirm the grasp."})

tool

executing move_to over 6 steps (0.6s)

step 55

assistant

agent notePen is held by the right arm (it moved with the lift). Now moving the left arm above the estimated cap location to find it in the left wrist cam.

move_to

left_x0.3800left_y-0.1800left_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]: [-0.02, 0.807, 0.6029, -0.3817, -0.0196, -0.0113, 0.9994, 0.5564, 1.5959, 0.7425, 0.1051, 0.1188, 0.0635, 0.053] state[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1756 left_yaw=-0.0003 left_pitch=-0.0153 left_roll=0.0001 left_gripper=0.9994 right_x=0.3598 right_y=0.2033 right_z=0.0639 right_yaw=0.4113 right_pitch=-0.1853 right_roll=-0.0354 right_gripper=0.053 state[joint_eff]: [-0.1573, -1.1692, 7.2821, 1.7216, -0.0513, -0.0513, -0.0171, -0.335, -8.4718, 8.1436, 1.5849, 0.0562, -0.0464, 1.033] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.38, "left_y": -0.18, "left_z": 0.15}, "note": "Pen is held by the right arm (it moved with the lift). Now moving the left arm above the estimated cap location to find it in the left wrist cam."})

tool

executing move_to over 17 steps (1.7s)

step 72

assistant

agent noteCap visible in the left wrist cam, slightly left of and ahead of the jaws, lying diagonally. Advancing and yawing the left tool so the jaws close across the cap.

move_to

left_x0.4100left_y-0.1500left_z0.1000left_yaw-0.7000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6636, 1.496, 0.8856, -0.1642, -0.5217, -0.4049, 0.9994, 0.5564, 1.597, 0.7418, 0.0864, 0.112, 0.0635, 0.0585] state[eef_state]: left_x=0.3676 left_y=-0.1711 left_z=0.128 left_yaw=-0.0156 left_pitch=-0.0818 left_roll=0.0373 left_gripper=0.9994 right_x=0.3563 right_y=0.2026 right_z=0.0597 right_yaw=0.4167 right_pitch=-0.2063 right_roll=-0.0336 right_gripper=0.0585 state[joint_eff]: [-0.3761, -6.8581, 9.4017, 1.7558, -0.4176, -0.0415, -0.0073, -0.2393, -7.0085, 5.9966, 1.7118, 0.0562, -0.0757, 1.0379] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.41, "left_y": -0.15, "left_z": 0.1, "left_yaw": -0.7}, "note": "Cap visible in the left wrist cam, slightly left of and ahead of the jaws, lying diagonally. Advancing and yawing the left tool so the jaws close across the cap."})

tool

executing move_to over 5 steps (0.5s)

step 77

assistant

agent noteCap is now centred on the jaw column and nearly aligned, a few cm ahead. Advancing slightly and descending to table level.

move_to

left_x0.4300left_y-0.1200left_z0.0000left_yaw-0.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2451, 1.599, 0.8192, 0.0116, 0.1333, 0.1444, 0.9994, 0.5564, 1.597, 0.7418, 0.0814, 0.1116, 0.0635, 0.0585] state[eef_state]: left_x=0.4029 left_y=-0.1213 left_z=0.0761 left_yaw=-0.4416 left_pitch=-0.1893 left_roll=0.0104 left_gripper=0.9994 right_x=0.3556 right_y=0.2022 right_z=0.0588 right_yaw=0.4168 right_pitch=-0.2113 right_roll=-0.0341 right_gripper=0.0585 state[joint_eff]: [0.1846, -7.8291, 9.388, 1.7753, 0.105, 0.2662, -0.0122, -0.1846, -6.9402, 5.9829, 1.5653, 0.0366, -0.0513, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.43, "left_y": -0.12, "left_z": 0.0, "left_yaw": -0.45}, "note": "Cap is now centred on the jaw column and nearly aligned, a few cm ahead. Advancing slightly and descending to table level."})

tool

executing move_to over 5 steps (0.5s)

step 82

assistant

agent noteAt table level but the cap still sits just ahead of the jaw tips in the left wrist view. Sliding forward ~3 cm so the cap lies between the jaws.

move_to

left_x0.4500left_y-0.1250left_z-0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2218, 1.8709, 0.7975, 0.2649, 0.1631, 0.1818, 0.9994, 0.5564, 1.5978, 0.7418, 0.0792, 0.1104, 0.0635, 0.0633] state[eef_state]: left_x=0.4203 left_y=-0.1205 left_z=0.0009 left_yaw=-0.4661 left_pitch=-0.2244 left_roll=0.0076 left_gripper=0.9994 right_x=0.3551 right_y=0.2021 right_z=0.0581 right_yaw=0.4177 right_pitch=-0.2144 right_roll=-0.0337 right_gripper=0.0633 state[joint_eff]: [0.5675, -6.6256, 5.7641, 1.1648, 0.1294, -0.1197, -0.0122, -0.1983, -6.9675, 6.0239, 1.5067, -0.0073, -0.0415, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.45, "left_y": -0.125, "left_z": -0.005}, "note": "At table level but the cap still sits just ahead of the jaw tips in the left wrist view. Sliding forward ~3 cm so the cap lies between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 85

assistant

agent noteCap now sits between the left jaws. Closing to grasp it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2222, 1.9491, 0.8921, 0.2802, 0.1562, 0.1776, 0.9994, 0.5564, 1.5982, 0.7418, 0.0757, 0.1081, 0.0635, 0.0633] state[eef_state]: left_x=0.448 left_y=-0.1257 left_z=0.0021 left_yaw=-0.4567 left_pitch=-0.1948 left_roll=0.0171 left_gripper=0.9994 right_x=0.3544 right_y=0.2022 right_z=0.0573 right_yaw=0.4196 right_pitch=-0.2184 right_roll=-0.0326 right_gripper=0.0633 state[joint_eff]: [0.4308, -7.9795, 6.3521, 1.2625, 0.1392, 0.0757, -0.0122, -0.3487, -6.9128, 5.9145, 1.5067, 0.0073, -0.0122, 1.0379] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "Cap now sits between the left jaws. Closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 95

assistant

agent noteLeft gripper settled at 0.106 (~1 cm), so it likely holds the cap. Lifting to confirm.

move_to

left_z0.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2211, 1.9606, 0.8993, 0.3038, 0.1566, 0.1753, 0.1064, 0.5564, 1.5982, 0.7418, 0.0742, 0.1078, 0.0635, 0.0633] state[eef_state]: left_x=0.4533 left_y=-0.1264 left_z=0.0037 left_yaw=-0.4538 left_pitch=-0.1758 left_roll=0.0197 left_gripper=0.1064 right_x=0.3541 right_y=0.2021 right_z=0.0571 right_yaw=0.4199 right_pitch=-0.22 right_roll=-0.0326 right_gripper=0.0633 state[joint_eff]: [-0.2256, -10.4137, 4.6564, 1.2918, 0.0171, -0.0024, 0.6081, -0.1983, -6.9402, 5.9966, 1.5507, -0.022, -0.0269, 1.0379] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.15}, "note": "Left gripper settled at 0.106 (~1 cm), so it likely holds the cap. Lifting to confirm."})

tool

executing move_to over 10 steps (1.0s)

step 105

assistant

agent noteBoth parts are held (pen in right jaws, cap in left, each protruding forward). Moving the pen to the table centre line pointing straight forward, tip ahead.

move_to

right_x0.2200right_y0.3300right_z0.1500right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2211, 1.713, 1.1496, -0.2371, 0.1558, 0.173, 0.1087, 0.5564, 1.5982, 0.7418, 0.0601, 0.1078, 0.0635, 0.0633] state[eef_state]: left_x=0.4504 left_y=-0.1256 left_z=0.1178 left_yaw=-0.4539 left_pitch=-0.2178 left_roll=0.0084 left_gripper=0.1087 right_x=0.352 right_y=0.2008 right_z=0.0546 right_yaw=0.4194 right_pitch=-0.2339 right_roll=-0.0345 right_gripper=0.0633 state[joint_eff]: [0.0068, -11.4667, 9.9487, 1.6142, 0.0073, -0.0562, 0.2369, -0.1846, -6.9265, 5.9009, 1.663, 0.0171, -0.0366, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.22, "right_y": 0.33, "right_z": 0.15, "right_yaw": 0.0}, "note": "Both parts are held (pen in right jaws, cap in left, each protruding forward). Moving the pen to the table centre line pointing straight forward, tip ahead."})

tool

executing move_to over 11 steps (1.1s)

step 116

assistant

agent notePen is now held on the centre line pointing forward. Bringing the cap in line ahead of the pen tip, same heading, open end facing back toward the tip.

move_to

left_x0.4400left_y-0.3060left_z0.1750left_yaw0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2211, 1.7081, 1.1469, -0.2604, 0.1562, 0.173, 0.1097, 1.2587, 1.7683, 1.3884, -0.8238, 0.6811, 1.0012, 0.0656] state[eef_state]: left_x=0.4456 left_y=-0.1246 left_z=0.115 left_yaw=-0.4553 left_pitch=-0.2382 left_roll=0.0031 left_gripper=0.1097 right_x=0.224 right_y=0.3437 right_z=0.1424 right_yaw=0.1079 right_pitch=-0.2546 right_roll=-0.0167 right_gripper=0.0656 state[joint_eff]: [-0.3077, -7.8564, 7.1863, 1.6484, 0.0708, -0.0513, 0.0855, 0.1846, -8.8274, 7.2137, 0.4615, 0.7057, 0.2808, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.306, "left_z": 0.175, "left_yaw": 0.1}, "note": "Pen is now held on the centre line pointing forward. Bringing the cap in line ahead of the pen tip, same heading, open end facing back toward the tip."})

tool

executing move_to over 17 steps (1.7s)

step 133

assistant

agent noteCap is ahead of the pen on the same line but ~3 cm higher and yaw slightly off. Lowering the left arm to the pen's height and matching heading.

move_to

left_z0.1450left_yaw0.1600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7826, 2.133, 1.9644, -0.8429, -0.5236, -0.6777, 0.1108, 1.2629, 1.7817, 1.3865, -0.8295, 0.672, 1.005, 0.069] state[eef_state]: left_x=0.4411 left_y=-0.309 left_z=0.1645 left_yaw=0.044 left_pitch=-0.2539 left_roll=-0.0047 left_gripper=0.1108 right_x=0.2211 right_y=0.3442 right_z=0.1354 right_yaw=0.109 right_pitch=-0.2709 right_roll=-0.0303 right_gripper=0.069 state[joint_eff]: [-0.4171, -11.9863, 8.4991, 0.9206, -0.4371, -0.0562, 0.105, -0.3897, -9.5521, 6.3385, 0.9109, 0.4322, -0.0855, 1.033] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.145, "left_yaw": 0.16}, "note": "Cap is ahead of the pen on the same line but ~3 cm higher and yaw slightly off. Lowering the left arm to the pen's height and matching heading."})

tool

executing move_to over 2 steps (0.2s)

step 135

assistant

agent noteLeft arm still reads 2.5 cm higher than the pen. Commanding lower to bring the cap to the pen's height.

move_to

left_z0.1250

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7956, 2.1616, 2.001, -0.8982, -0.5621, -0.762, 0.111, 1.2629, 1.7817, 1.3853, -0.8314, 0.6682, 1.0054, 0.069] state[eef_state]: left_x=0.438 left_y=-0.3073 left_z=0.16 left_yaw=0.1129 left_pitch=-0.2592 left_roll=-0.0043 left_gripper=0.111 right_x=0.2205 right_y=0.3439 right_z=0.1345 right_yaw=0.1097 right_pitch=-0.2754 right_roll=-0.0314 right_gripper=0.069 state[joint_eff]: [-0.6632, -9.306, 6.8034, 1.3016, -0.4615, -0.0806, -0.0024, -0.3077, -8.8821, 6.6803, 0.9353, 0.4029, -0.0171, 1.033] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.125}, "note": "Left arm still reads 2.5 cm higher than the pen. Commanding lower to bring the cap to the pen's height."})

tool

executing move_to over 3 steps (0.3s)

step 138

assistant

agent noteCap and pen are roughly collinear at similar height. Advancing the pen forward toward the cap to bring its tip near the cap opening.

move_to

right_x0.2800right_z0.1400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7994, 2.1929, 1.9999, -0.8986, -0.5728, -0.8116, 0.111, 1.2514, 1.7817, 1.3811, -0.8387, 0.6567, 1.005, 0.0691] state[eef_state]: left_x=0.4383 left_y=-0.3082 left_z=0.1446 left_yaw=0.1506 left_pitch=-0.2713 left_roll=-0.0057 left_gripper=0.111 right_x=0.2222 right_y=0.3399 right_z=0.1315 right_yaw=0.1005 right_pitch=-0.2899 right_roll=-0.0379 right_gripper=0.0691 state[joint_eff]: [-0.5538, -11.7402, 6.8308, 1.1844, -0.4713, -0.0855, -0.0073, 0.7179, -8.6359, 6.5162, 0.9206, 0.3785, 0.0024, 1.033] 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": {"right_x": 0.28, "right_z": 0.14}, "note": "Cap and pen are roughly collinear at similar height. Advancing the pen forward toward the cap to bring its tip near the cap opening."})

tool

executing move_to over 5 steps (0.5s)

step 143

assistant

agent notePen tip is estimated ~3 cm short of the cap. Aligning the cap laterally and in height with the pen (readbacks show 1.3 cm y and 1.6 cm z offsets).

move_to

left_y-0.3210left_z0.1180

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7994, 2.1948, 1.9999, -0.8982, -0.5728, -0.8116, 0.1124, 1.1114, 1.8286, 1.4349, -0.8074, 0.5999, 0.8692, 0.0696] state[eef_state]: left_x=0.4384 left_y=-0.3083 left_z=0.1437 left_yaw=0.1509 left_pitch=-0.2721 left_roll=-0.0044 left_gripper=0.1124 right_x=0.27 right_y=0.3289 right_z=0.1275 right_yaw=0.0737 right_pitch=-0.3229 right_roll=-0.0693 right_gripper=0.0696 state[joint_eff]: [-0.253, -11.6718, 6.9265, 1.1844, -0.5153, -0.0611, 0.1343, -0.4581, -8.5538, 9.3607, 0.989, 0.3297, -0.0562, 1.033] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.321, "left_z": 0.118}, "note": "Pen tip is estimated ~3 cm short of the cap. Aligning the cap laterally and in height with the pen (readbacks show 1.3 cm y and 1.6 cm z offsets)."})

tool

executing move_to over 2 steps (0.2s)

step 145

assistant

agent noteLeft arm did not respond to the last small correction (possibly an IK hold). Trying a slightly different nearby target to lower the cap to pen height.

move_to

left_x0.4200left_y-0.3000left_z0.1300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7994, 2.1952, 1.9999, -0.8986, -0.5728, -0.8116, 0.1138, 1.1065, 1.8324, 1.438, -0.7937, 0.5896, 0.8444, 0.07] state[eef_state]: left_x=0.4383 left_y=-0.3083 left_z=0.1435 left_yaw=0.1511 left_pitch=-0.2726 left_roll=-0.0038 left_gripper=0.1138 right_x=0.272 right_y=0.3318 right_z=0.1272 right_yaw=0.0917 right_pitch=-0.3251 right_roll=-0.0691 right_gripper=0.07 state[joint_eff]: [-0.5402, -12.1094, 6.9402, 1.1697, -0.5348, -0.0611, 0.1392, 0.5812, -9.5248, 6.0513, 0.9744, 0.3687, 0.0904, 0.9792] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": -0.3, "left_z": 0.13}, "note": "Left arm did not respond to the last small correction (possibly an IK hold). Trying a slightly different nearby target to lower the cap to pen height."})

tool

executing move_to over 2 steps (0.2s)

step 147

assistant

agent noteLeft arm now at cap pose (0.43,-0.30,0.13). Shifting the pen laterally and up to line up with the cap opening.

move_to

right_y0.3500right_z0.1380

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8028, 2.1529, 1.8893, -0.8394, -0.5724, -0.815, 0.1145, 1.1069, 1.8324, 1.4368, -0.8021, 0.5858, 0.8509, 0.0726] state[eef_state]: left_x=0.4297 left_y=-0.3021 left_z=0.1317 left_yaw=0.1515 left_pitch=-0.2782 left_roll=0.0014 left_gripper=0.1145 right_x=0.2706 right_y=0.3305 right_z=0.1258 right_yaw=0.0878 right_pitch=-0.3329 right_roll=-0.0713 right_gripper=0.0726 state[joint_eff]: [-1.1145, -13.5043, 6.4615, 1.4481, -0.3101, -0.1197, 0.0513, -0.3487, -9.3607, 6.5026, 1.0037, 0.3687, -0.0757, 0.8523] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.35, "right_z": 0.138}, "note": "Left arm now at cap pose (0.43,-0.30,0.13). Shifting the pen laterally and up to line up with the cap opening."})

tool

executing move_to over 2 steps (0.2s)

step 149

assistant

agent noteThe left gripper holding the cap now appears at the top-right of the right wrist view, right of the pen's line. Shifting the pen right and a bit forward to line its tip up with the cap.

move_to

right_y0.3280right_x0.2850

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.812, 2.1487, 1.8389, -0.841, -0.5686, -0.8299, 0.1145, 1.1152, 1.8729, 1.5124, -0.8528, 0.5743, 0.8558, 0.076] state[eef_state]: left_x=0.4191 left_y=-0.2986 left_z=0.1158 left_yaw=0.1603 left_pitch=-0.308 left_roll=0.0302 left_gripper=0.1145 right_x=0.2701 right_y=0.3413 right_z=0.1293 right_yaw=0.0947 right_pitch=-0.3501 right_roll=-0.0762 right_gripper=0.076 state[joint_eff]: [0.8821, -11.3299, 9.7709, 1.0818, -0.315, 0.0904, 0.0024, 1.0325, -9.1966, 7.7607, 0.8034, 0.4518, 0.1441, 0.652] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.328, "right_x": 0.285}, "note": "The left gripper holding the cap now appears at the top-right of the right wrist view, right of the pen's line. Shifting the pen right and a bit forward to line its tip up with the cap."})

tool

executing move_to over 2 steps (0.2s)

step 151

assistant

agent noteThe arms are crossing over each other in the top view and motion is stalling, likely near contact. Re-planning: moving the cap arm back to its own side and turning it so the cap's open end will face the centre.

move_to

left_x0.3500left_y-0.1200left_z0.1800left_yaw1.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8059, 2.1487, 1.8492, -0.8448, -0.569, -0.8295, 0.1152, 1.1019, 1.8771, 1.5032, -0.8455, 0.561, 0.836, 0.0774] state[eef_state]: left_x=0.422 left_y=-0.297 left_z=0.119 left_yaw=0.1647 left_pitch=-0.3041 left_roll=0.025 left_gripper=0.1152 right_x=0.2727 right_y=0.3384 right_z=0.124 right_yaw=0.0977 right_pitch=-0.3646 right_roll=-0.0876 right_gripper=0.0774 state[joint_eff]: [-0.7863, -12.1641, 6.0786, 1.0476, -0.2808, -0.0122, 0.0611, -2.1675, -11.6308, 6.0376, 1.1209, 0.2466, -0.1538, 0.7399] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.35, "left_y": -0.12, "left_z": 0.18, "left_yaw": 1.3}, "note": "The arms are crossing over each other in the top view and motion is stalling, likely near contact. Re-planning: moving the cap arm back to its own side and turning it so the cap's open end will face the centre."})

tool

executing move_to over 16 steps (1.6s)

step 167

assistant

agent noteCap arm is now clear on the left side. Turning the pen so its tip points left (+y) toward the cap arm, held on the right half of the table.

move_to

right_x0.3500right_y0.2400right_z0.1500right_yaw1.5700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6071, 2.0899, 1.8153, -1.5311, -0.6491, -1.8763, 0.1159, 1.1133, 1.8771, 1.4921, -0.8303, 0.5312, 0.8055, 0.0779] state[eef_state]: left_x=0.3535 left_y=-0.1112 left_z=0.1278 left_yaw=1.2177 left_pitch=-0.317 left_roll=0.0453 left_gripper=0.1159 right_x=0.2655 right_y=0.3447 right_z=0.119 right_yaw=0.1442 right_pitch=-0.3868 right_roll=-0.0869 right_gripper=0.0779 state[joint_eff]: [1.5795, -13.7915, 5.2581, -0.4567, -0.5788, -0.0708, 0.0562, -1.265, -9.7709, 7.1179, 0.6667, 0.5739, 0.4176, 0.7595] 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": {"right_x": 0.35, "right_y": 0.24, "right_z": 0.15, "right_yaw": 1.57}, "note": "Cap arm is now clear on the left side. Turning the pen so its tip points left (+y) toward the cap arm, held on the right half of the table."})

tool

executing move_to over 10 steps (1.0s)

step 177

assistant

agent notePen now points left toward the cap arm. Bringing the cap in line with the pen, opening ~3 cm beyond the pen tip, at matching height.

move_to

left_x0.4000left_y-0.2600left_z0.1700left_yaw1.4000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6086, 2.0789, 1.7958, -1.5284, -0.643, -1.8908, 0.1159, 0.3908, 1.8267, 1.5459, -0.8654, -0.4408, -0.9085, 0.0773] state[eef_state]: left_x=0.3496 left_y=-0.1101 left_z=0.1267 left_yaw=1.2281 left_pitch=-0.3209 left_roll=0.0431 left_gripper=0.1159 right_x=0.3707 right_y=0.2381 right_z=0.1479 right_yaw=1.3224 right_pitch=-0.415 right_roll=-0.0969 right_gripper=0.0773 state[joint_eff]: [-0.0615, -9.5111, 6.8444, -0.1832, -0.3932, 0.1148, -0.0024, -0.1983, -9.1419, 6.5573, 0.3834, -0.4762, -0.1197, 0.5348] approver: 1 step(s) modified (delta_clamped). 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": 0.4, "left_y": -0.26, "left_z": 0.17, "left_yaw": 1.4}, "note": "Pen now points left toward the cap arm. Bringing the cap in line with the pen, opening ~3 cm beyond the pen tip, at matching height."})

tool

executing move_to over 14 steps (1.4s)

step 191

assistant

agent noteThe left gripper ended up directly over the pen (seen in the right wrist cam) and stalled low, so the arms are closer than I computed. Lifting the cap arm clear before re-aligning.

move_to

left_z0.2000left_y-0.1200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6418, 2.3154, 1.9835, -1.5604, -0.5831, -2.0869, 0.1159, 0.3859, 1.8538, 1.5421, -0.8936, -0.4263, -0.9237, 0.0806] state[eef_state]: left_x=0.3656 left_y=-0.1473 left_z=0.0769 left_yaw=1.3566 left_pitch=-0.3439 left_roll=0.0157 left_gripper=0.1159 right_x=0.3675 right_y=0.232 right_z=0.132 right_yaw=1.3395 right_pitch=-0.4611 right_roll=-0.0619 right_gripper=0.0806 state[joint_eff]: [-0.8821, -10.0991, 7.5692, -0.4127, -0.3004, -0.149, -0.0073, 0.1026, -11.7675, 6.7624, 1.1502, -0.4322, 0.1294, 0.6422] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.2, "left_y": -0.12}, "note": "The left gripper ended up directly over the pen (seen in the right wrist cam) and stalled low, so the arms are closer than I computed. Lifting the cap arm clear before re-aligning."})

tool

executing move_to over 8 steps (0.8s)

step 199

assistant

agent noteLeft arm won't lift; the two grippers look to be touching in the top view. Backing the pen arm away to the right to free them.

move_to

right_y0.1500right_z0.1600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6487, 2.3333, 2.0041, -1.56, -0.5682, -2.0865, 0.1159, 0.382, 1.8523, 1.5383, -0.91, -0.4194, -0.9249, 0.083] state[eef_state]: left_x=0.3662 left_y=-0.1538 left_z=0.0728 left_yaw=1.3554 left_pitch=-0.358 left_roll=0.0193 left_gripper=0.1159 right_x=0.3648 right_y=0.228 right_z=0.1295 right_yaw=1.3398 right_pitch=-0.4772 right_roll=-0.0496 right_gripper=0.083 state[joint_eff]: [-2.0855, -11.5761, 7.241, -0.4127, -0.3785, -0.0855, -0.0073, -0.0342, -9.4838, 6.5709, 1.033, -0.359, -0.0122, 0.5104] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.15, "right_z": 0.16}, "note": "Left arm won't lift; the two grippers look to be touching in the top view. Backing the pen arm away to the right to free them."})

tool

executing move_to over 7 steps (0.7s)

step 206

assistant

agent noteGrippers are now apart. The cap arm has been stuck at z≈0.07; trying a closer, modest target to get it tracking again.

move_to

left_x0.3300left_y-0.1500left_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6537, 2.3341, 2.0037, -1.5566, -0.5682, -2.0861, 0.116, 0.1875, 1.8278, 1.557, -1.079, -0.4515, -1.1088, 0.0852] state[eef_state]: left_x=0.3659 left_y=-0.156 left_z=0.0722 left_yaw=1.3494 left_pitch=-0.359 left_roll=0.0173 left_gripper=0.116 right_x=0.3674 right_y=0.1518 right_z=0.1363 right_yaw=1.3325 right_pitch=-0.5149 right_roll=-0.0113 right_gripper=0.0852 state[joint_eff]: [0.4308, -12.2325, 5.4359, -0.3687, -0.3687, -0.0415, -0.0073, -0.5402, -11.6308, 8.4444, 0.5446, -0.5104, -0.0855, 0.5592] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.33, "left_y": -0.15, "left_z": 0.12}, "note": "Grippers are now apart. The cap arm has been stuck at z\u22480.07; trying a closer, modest target to get it tracking again."})

tool

executing move_to over 4 steps (0.4s)

step 210

assistant

agent notePen tip (pointing left) is ~7 cm from the cap in the top view; the cap arm is tilted and low. Levelling the cap arm's pitch and bringing it up to pen height and in line with the pen's x.

move_to

left_x0.3950left_y-0.1500left_z0.1500left_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]: [-0.664, 2.2028, 1.8385, -1.5555, -0.5674, -2.0865, 0.116, 0.1837, 1.8244, 1.5612, -1.0882, -0.4458, -1.1252, 0.0876] state[eef_state]: left_x=0.3372 left_y=-0.1387 left_z=0.0882 left_yaw=1.3506 left_pitch=-0.3457 left_roll=0.0491 left_gripper=0.116 right_x=0.3671 right_y=0.1493 right_z=0.1379 right_yaw=1.3369 right_pitch=-0.5206 right_roll=-0.0213 right_gripper=0.0876 state[joint_eff]: [-0.5128, -14.188, 5.4222, -0.3297, -0.2271, -0.0708, -0.0122, -0.0479, -8.4855, 5.7641, 0.7839, -0.3297, 0.1441, 0.2418] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.395, "left_y": -0.15, "left_z": 0.15, "left_pitch": 0.0}, "note": "Pen tip (pointing left) is ~7 cm from the cap in the top view; the cap arm is tilted and low. Levelling the cap arm's pitch and bringing it up to pen height and in line with the pen's x."})

tool

executing move_to over 12 steps (1.2s)

step 222

assistant

agent noteThe cap arm tracks poorly in this pose, so I'll leave it and bring the pen (right arm tracks well) level and in line with the cap, tip ~2 cm short of the cap opening.

move_to

right_x0.3500right_y0.2400right_z0.1000right_pitch0.0000right_yaw1.3400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.569, 2.2959, 1.8374, -1.557, -0.8433, -2.0941, 0.116, 0.1837, 1.8278, 1.5497, -1.0889, -0.4454, -1.1191, 0.0904] state[eef_state]: left_x=0.3766 left_y=-0.08 left_z=0.0859 left_yaw=1.3406 left_pitch=-0.0741 left_roll=0.0343 left_gripper=0.116 right_x=0.3644 right_y=0.1488 right_z=0.1332 right_yaw=1.3413 right_pitch=-0.5273 right_roll=-0.0017 right_gripper=0.0904 state[joint_eff]: [0.5538, -11.1248, 5.3265, -0.5934, -0.7692, 0.0024, -0.0122, -0.0752, -9.2376, 7.0496, 0.6716, -0.315, -0.0806, 0.2808] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.35, "right_y": 0.24, "right_z": 0.1, "right_pitch": 0.0, "right_yaw": 1.34}, "note": "The cap arm tracks poorly in this pose, so I'll leave it and bring the pen (right arm tracks well) level and in line with the cap, tip ~2 cm short of the cap opening."})

tool

executing move_to over 18 steps (1.8s)

step 240

assistant

agent notePen is level and in line with the cap, tip a few cm short. Pushing the pen along its axis toward the cap opening.

move_to

right_x0.3570right_y0.2850right_z0.0950

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5755, 2.3142, 1.8408, -1.5555, -0.831, -2.0933, 0.116, 0.2691, 1.7737, 1.0107, -0.255, -0.7979, -0.8135, 0.092] state[eef_state]: left_x=0.3751 left_y=-0.0835 left_z=0.0787 left_yaw=1.3403 left_pitch=-0.08 left_roll=0.0512 left_gripper=0.116 right_x=0.3446 right_y=0.2299 right_z=0.0802 right_yaw=1.334 right_pitch=-0.0805 right_roll=0.0371 right_gripper=0.092 state[joint_eff]: [0.5402, -13.3538, 4.8068, -0.5055, -0.5788, -0.0611, -0.0122, 0.5265, -10.2769, 6.1607, 1.243, -0.6129, 0.1538, 0.1636] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.357, "right_y": 0.285, "right_z": 0.095}, "note": "Pen is level and in line with the cap, tip a few cm short. Pushing the pen along its axis toward the cap opening."})

tool

executing move_to over 5 steps (0.5s)

step 245

assistant

agent noteIn the right wrist view the pen tip now runs under the left gripper where the cap is held. Pushing 2 cm further along the pen axis to seat the cap, watching for the motion to stop on contact.

move_to

right_x0.3530right_y0.3050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5762, 2.3142, 1.8408, -1.5555, -0.8307, -2.0933, 0.116, 0.4023, 1.8275, 1.1088, -0.215, -0.7345, -0.6987, 0.0941] state[eef_state]: left_x=0.375 left_y=-0.0838 left_z=0.0787 left_yaw=1.3397 left_pitch=-0.0803 left_roll=0.0513 left_gripper=0.116 right_x=0.3485 right_y=0.2808 right_z=0.0896 right_yaw=1.3626 right_pitch=-0.0831 right_roll=0.03 right_gripper=0.0941 state[joint_eff]: [-0.1299, -11.9179, 4.9846, -0.5153, -0.4664, -0.0024, -0.0122, -0.1026, -8.2393, 8.0068, 1.2527, -0.3297, 0.1343, 0.1978] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.353, "right_y": 0.305}, "note": "In the right wrist view the pen tip now runs under the left gripper where the cap is held. Pushing 2 cm further along the pen axis to seat the cap, watching for the motion to stop on contact."})

tool

executing move_to over 3 steps (0.3s)

step 248

assistant

agent noteThe dark shape in the right wrist view is the left arm's cable, not the gripper; the pen tip is still bare. Pushing the pen another ~3 cm along its axis toward the cap.

move_to

right_x0.3600right_y0.3300right_z0.0900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5762, 2.3142, 1.8404, -1.5555, -0.8303, -2.0933, 0.116, 0.4427, 1.8561, 1.1309, -0.2016, -0.7067, -0.6582, 0.0954] state[eef_state]: left_x=0.3749 left_y=-0.0838 left_z=0.0786 left_yaw=1.3399 left_pitch=-0.0805 left_roll=0.0518 left_gripper=0.116 right_x=0.3471 right_y=0.2955 right_z=0.0844 right_yaw=1.3633 right_pitch=-0.0982 right_roll=0.0436 right_gripper=0.0954 state[joint_eff]: [-0.1846, -11.9316, 5.094, -0.5153, -0.4518, -0.0415, -0.0122, 0.5265, -8.3077, 8.4581, 1.5067, -0.2271, 0.1148, 0.1343] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_y": 0.33, "right_z": 0.09}, "note": "The dark shape in the right wrist view is the left arm's cable, not the gripper; the pen tip is still bare. Pushing the pen another ~3 cm along its axis toward the cap."})

tool

executing move_to over 3 steps (0.3s)

step 251

assistant

agent noteThe pen tip now disappears under the left gripper where the cap is held and the push stopped ~1 cm short, suggesting the cap may be seated. Releasing the cap so it can stay on the pen.

move_to

left_gripper0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.569, 2.3142, 1.8404, -1.5562, -0.8268, -2.0933, 0.116, 0.4873, 1.9198, 1.2125, -0.218, -0.6785, -0.6262, 0.0961] state[eef_state]: left_x=0.375 left_y=-0.0813 left_z=0.0782 left_yaw=1.3488 left_pitch=-0.0831 left_roll=0.0536 left_gripper=0.116 right_x=0.3532 right_y=0.3167 right_z=0.0808 right_yaw=1.3723 right_pitch=-0.116 right_roll=0.0537 right_gripper=0.0961 state[joint_eff]: [-1.0325, -11.8906, 5.094, -0.4615, -0.3492, -0.0171, -0.0073, 1.5932, -9.1282, 8.8, 1.4286, -0.3785, 0.1538, 0.0611] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.6}, "note": "The pen tip now disappears under the left gripper where the cap is held and the push stopped ~1 cm short, suggesting the cap may be seated. Releasing the cap so it can stay on the pen."})

tool

executing move_to over 5 steps (0.5s)

step 256

assistant

agent noteI picked up both parts, but I couldn't get the cap onto the pen. When the left gripper opened, the cap dropped onto the table, which shows the pen had never gone into it. I'm almost out of the call budget, so there's no room to pick the cap up again and re-align it.

give_up

hindsight- Both the pen and the cap grasped fine from straight above. Yaw the tool until the object runs vertically in the wrist image: positive yaw turns the wrist-camera scene clockwise. Advance about 3 cm past where the object first looks centred, descend to z≈0, and close. The pen read about 0.05 when closed and the cap about 0.11. Anything protruding forward of the jaws stays visible in that arm's wrist camera, contrary to the facts sheet. - The pitch bounds are ±0.6, so pitch is NOT pinned. The arms drift to about -0.3 to -0.5 pitch when reaching, which tilts held objects and adds sag. Command pitch 0 explicitly when you need things level. - Getting the two arms onto the same line was the failure point. In practice the base spacing did not act like 0.65 m: the pen and cap lined up at roughly right_y ≈ left_y + 0.48, though this is uncertain. Once you hold both parts, calibrate the spacing directly: bring the grippers near each other at a safe height and compare the readbacks with the top camera. Don't trust 0.65 blindly. - A left arm at yaw ≈ 1.3 reaching toward the centre tracked badly. It sagged 5–7 cm below commanded z, sometimes moved the wrong way in y, and stopped responding. Keep yaw near 0 on the arm that has to reach across. - Neither wrist camera can see mating alignment: they point down and past the fingertips, the partner gripper sits above the frame, and the arm cables look like dark objects in the view. The top camera gets blocked when the grippers meet. Consider mating at a height where the top camera can see the gap, or put the cap on the table upright/propped and push the pen into it. - Heading the arms at each other so they cross (both yaw 0, cap ahead of the pen) made them collide and stall. - Budget: the grasps took about 14 calls, which leaves only about 25 for alignment. Plan the mating geometry before you grasp anything.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5613, 2.3142, 1.8404, -1.5558, -0.823, -2.0941, 0.5946, 0.4885, 1.9266, 1.2182, -0.226, -0.6697, -0.6243, 0.0974] state[eef_state]: left_x=0.3752 left_y=-0.0787 left_z=0.0777 left_yaw=1.3586 left_pitch=-0.0865 left_roll=0.0538 left_gripper=0.5946 right_x=0.354 right_y=0.3164 right_z=0.078 right_yaw=1.3675 right_pitch=-0.1273 right_roll=0.0578 right_gripper=0.0974 state[joint_eff]: [-0.9368, -11.7538, 4.9026, -0.5104, -0.4176, -0.0269, -0.1294, -0.335, -10.5368, 5.6274, 1.3016, -0.4127, -0.0513, 0.1294] 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

give_up({"reason": "I picked up both parts, but I couldn't get the cap onto the pen. When the left gripper opened, the cap dropped onto the table, which shows the pen had never gone into it. I'm almost out of the call budget, so there's no room to pick the cap up again and re-align it.", "hindsight": "- Both the pen and the cap grasped fine from straight above. Yaw the tool until the object runs vertically in the wrist image: positive yaw turns the wrist-camera scene clockwise. Advance about 3 cm past where the object first looks centred, descend to z\u22480, and close. The pen read about 0.05 when closed and the cap about 0.11. Anything protruding forward of the jaws stays visible in that arm's wrist camera, contrary to the facts sheet.\n- The pitch bounds are \u00b10.6, so pitch is NOT pinned. The arms drift to about -0.3 to -0.5 pitch when reaching, which tilts held objects and adds sag. Command pitch 0 explicitly when you need things level.\n- Getting the two arms onto the same line was the failure point. In practice the base spacing did not act like 0.65 m: the pen and cap lined up at roughly right_y \u2248 left_y + 0.48, though this is uncertain. Once you hold both parts, calibrate the spacing directly: bring the grippers near each other at a safe height and compare the readbacks with the top camera. Don't trust 0.65 blindly.\n- A left arm at yaw \u2248 1.3 reaching toward the centre tracked badly. It sagged 5\u20137 cm below commanded z, sometimes moved the wrong way in y, and stopped responding. Keep yaw near 0 on the arm that has to reach across.\n- Neither wrist camera can see mating alignment: they point down and past the fingertips, the partner gripper sits above the frame, and the arm cables look like dark objects in the view. The top camera gets blocked when the grippers meet. Consider mating at a height where the top camera can see the gap, or put the cap on the table upright/propped and push the pen into it.\n- Heading the arms at each other so they cross (both yaw 0, cap ahead of the pen) made them collide and stall.\n- Budget: the grasps took about 14 calls, which leaves only about 25 for alignment. Plan the mating geometry before you grasp anything."})

tool

give_up: I picked up both parts, but I couldn't get the cap onto the pen. When the left gripper opened, the cap dropped onto the table, which shows the pen had never gone into it. I'm almost out of the call budget, so there's no room to pick the cap up again and re-align it.

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)

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"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.",
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call 0 attempt 0 · /messages · status 200 · 17.6 s

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6025, -0.3801, -0.02, -0.0113, 0.9995, -0.0185, 0.7914, 0.6102, -0.3756, -0.0223, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0011 left_z=0.1795 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2959 right_y=0.0021 right_z=0.1845 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4991, -1.5385, 10.5094, 1.746, -0.0806, -0.0611, -0.0659, -0.7863, -1.265, 9.812, 1.7314, -0.0073, -0.0122, -0.1001]",
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    {
      "text": "camera 'top_cam' (step 0):",
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    {
      "text": "camera 'left_cam' (step 0):",
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      "text": "camera 'right_cam' (step 0):",
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 11.43 s

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

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6025, -0.3801, -0.02, -0.0113, 0.9995, -0.0185, 0.7914, 0.6102, -0.3756, -0.0223, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0011 left_z=0.1795 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2959 right_y=0.0021 right_z=0.1845 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4991, -1.5385, 10.5094, 1.746, -0.0806, -0.0611, -0.0659, -0.7863, -1.265, 9.812, 1.7314, -0.0073, -0.0122, -0.1001]",
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    {
      "text": "camera 'top_cam' (step 0):",
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      "text": "camera 'left_cam' (step 0):",
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      "text": "camera 'right_cam' (step 0):",
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[blob elided: media budget]

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  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019RmEXL1N4sEZomKfMm1fy5",
      "input": {
        "note": "Pen lies diagonally near the table centre, cap is left of it. Moving right arm above the pen estimate to check it in the wrist cam.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.25,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_019RmEXL1N4sEZomKfMm1fy5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6037, -0.3809, -0.0196, -0.0109, 0.9995, 0.9211, 1.5558, 0.96, -0.2359, 0.7052, 0.5716, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1782 left_yaw=-0.0005 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9995 right_x=0.3245 right_y=0.2437 right_z=0.137 right_yaw=0.0362 right_pitch=-0.0414 right_roll=-0.0382 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.7162, 6.9675, 1.6972, -0.0415, -0.0073, -0.0171, 0.4444, -7.1316, 8.4855, 1.4286, 0.6471, 0.232, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5deecafe0de8f6ad783dec00370bac14d430bf3f489b038fbf50277d87c63925",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4236791f48d46c1e3c9ed5dbbc118c337b308e28c20970612e29865444c7372b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0ba4f143f48dfbaf91273a5bd018ee9dd1a3371c42ad1ac341eccbe4c113086",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 5.301 s

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

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6025, -0.3801, -0.02, -0.0113, 0.9995, -0.0185, 0.7914, 0.6102, -0.3756, -0.0223, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0011 left_z=0.1795 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2959 right_y=0.0021 right_z=0.1845 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4991, -1.5385, 10.5094, 1.746, -0.0806, -0.0611, -0.0659, -0.7863, -1.265, 9.812, 1.7314, -0.0073, -0.0122, -0.1001]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6037, -0.3809, -0.0196, -0.0109, 0.9995, 0.9211, 1.5558, 0.96, -0.2359, 0.7052, 0.5716, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1782 left_yaw=-0.0005 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9995 right_x=0.3245 right_y=0.2437 right_z=0.137 right_yaw=0.0362 right_pitch=-0.0414 right_roll=-0.0382 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.7162, 6.9675, 1.6972, -0.0415, -0.0073, -0.0171, 0.4444, -7.1316, 8.4855, 1.4286, 0.6471, 0.232, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5deecafe0de8f6ad783dec00370bac14d430bf3f489b038fbf50277d87c63925",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4236791f48d46c1e3c9ed5dbbc118c337b308e28c20970612e29865444c7372b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0ba4f143f48dfbaf91273a5bd018ee9dd1a3371c42ad1ac341eccbe4c113086",
        "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_01FNqMV37GWtD1NmYaqZaRag",
      "input": {
        "note": "Pen visible in right wrist cam, diagonal, slightly ahead and right of the jaws. Advancing and yawing so the jaws close across the pen.",
        "targets": {
          "right_x": 0.365,
          "right_y": 0.235,
          "right_yaw": 0.6,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01FNqMV37GWtD1NmYaqZaRag",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8009, 0.6037, -0.3817, -0.02, -0.0113, 0.9995, 0.5816, 1.5185, 0.7876, 0.0078, 0.2085, 0.1211, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1776 left_yaw=0.0 left_pitch=-0.0084 left_roll=0.0002 left_gripper=0.9995 right_x=0.3614 right_y=0.1982 right_z=0.0962 right_yaw=0.3301 right_pitch=-0.1479 right_roll=-0.0464 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.3333, 7.2137, 1.7167, -0.0659, -0.0366, -0.0122, 0.6085, -6.1197, 7.159, 2.1221, -0.0024, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a91d26b6c675f58a6a80f3cc23ce9af38e433268a73273d75356af9efb850bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f33e7ace82bb9750ceacab04c83913b125278c6e285e1d53d45eed43e4e02939",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f76b01babb631a2229dbd7cf90a8049a7bf4a19b4fec1f1e4db04dd9f4fbc5e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 6.949 s

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

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6025, -0.3801, -0.02, -0.0113, 0.9995, -0.0185, 0.7914, 0.6102, -0.3756, -0.0223, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0011 left_z=0.1795 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2959 right_y=0.0021 right_z=0.1845 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4991, -1.5385, 10.5094, 1.746, -0.0806, -0.0611, -0.0659, -0.7863, -1.265, 9.812, 1.7314, -0.0073, -0.0122, -0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6037, -0.3809, -0.0196, -0.0109, 0.9995, 0.9211, 1.5558, 0.96, -0.2359, 0.7052, 0.5716, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1782 left_yaw=-0.0005 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9995 right_x=0.3245 right_y=0.2437 right_z=0.137 right_yaw=0.0362 right_pitch=-0.0414 right_roll=-0.0382 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.7162, 6.9675, 1.6972, -0.0415, -0.0073, -0.0171, 0.4444, -7.1316, 8.4855, 1.4286, 0.6471, 0.232, -0.022]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8009, 0.6037, -0.3817, -0.02, -0.0113, 0.9995, 0.5816, 1.5185, 0.7876, 0.0078, 0.2085, 0.1211, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1776 left_yaw=0.0 left_pitch=-0.0084 left_roll=0.0002 left_gripper=0.9995 right_x=0.3614 right_y=0.1982 right_z=0.0962 right_yaw=0.3301 right_pitch=-0.1479 right_roll=-0.0464 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.3333, 7.2137, 1.7167, -0.0659, -0.0366, -0.0122, 0.6085, -6.1197, 7.159, 2.1221, -0.0024, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a91d26b6c675f58a6a80f3cc23ce9af38e433268a73273d75356af9efb850bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f33e7ace82bb9750ceacab04c83913b125278c6e285e1d53d45eed43e4e02939",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f76b01babb631a2229dbd7cf90a8049a7bf4a19b4fec1f1e4db04dd9f4fbc5e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSgQgKEAgSGAI4AUIIdGhpbmtpbmcSDPxx0xefXaT20WN2BBoMZteW9wqDj6jyncfIIjD/PCt5lNX9kpYXo9ehxYD8oA/+HhLuATwCNMqVhckVLZI7tTVHCJPt4WkOy84UsCAqngfgQLE8uva0BWxNlQWakqk8MQ61zq5mGGfBHsHIOCTQ7NADZ+KzWW2+kv2z6e5Lemcof/DqGbzlOBnUruREXZGVNnEXUiZ/vSvpYG55M6v1R2PgD/ZhbiRce3ucOkE7cWMIeJWFWwAb2maaeznYf9AbPZT1yChtCkAh8xa+g/znBbHSE7VnTmRnOkfLxeisFkwPqbsoaiX7jJdH2qJjAsZkdbkhyDRvW4zK1gKDwFfftSrFosX+FrUxBrX8uUde9Q6SCYSIHtU3qb/l1FPKlffskz+Mg4dWnSa1eb6IpoVRFuq1n+Aw5gWcMEOr2+Q9yqSb0UC+hmoQZ6Wplo6bKfhX/1kHa+tBAVm6NclHUFLpy02nhf6W/OGgAKP6uYGootaZoRDgvtogdGhvzw/ENVUM6p1l5b6fd5jUh4OmGmj2QRPe34/DpPXQSoJPvQW8DwCBWakCsSxc7pGrREGH9acQmmIfNZu/uya1lfFFtBjLYLI73xcieEDqqa2kIQ8EZ77atZ5Db+2CQs2n36cc5BnUJtkrRDVTlNjv/UVp+LdfV5vF9Kzqo5nZCH+yhCDRHcPcDd9tb7BUjJGXmujn0joczTScssP5S+ljhWDUO4ZqagmSUSHt9MRB8tsXY7VCz5U8JsXvyVzXZrkTRi0SFiXVHu+MzcFCuxmnlw+/cyGuu89vBEPLLe9XerDSIfQmZuF2uInd/pcQ9AW5Cir2pkOcYJL6QG4RVKqJLcGFNkEf7RzYrIPY0t/7MxwNZEnY7T71UXV/ax2IZioWMGlbkv0IYE26nFT82b3ahgL0TH1jDRB6SUonMSr2UpFflWwPJ+r96G9OLGvxnR0VYWqGPxJEH8QQhKf4iQcXw+uvtYytQEZRsvZgMDr1WHO6yNB+lXgmooPbs5MHx4eH/iOwhwtmZEPBR0y5bg2cZVlSNI1Q+9SC6y1svbkEQEPHWTooJ4RyQOG3ThSpH6JwEmZzNCMJig01kYbsYORIh5URewbzl7ye5AbmIl76p3+kWct8X2x29UJQ01eWsy8gGOgFJpfSVmNf6yhWJUf8Qk7588Wzofs9wTDlr9NTrUtUFKJqGG27s0ql2SfdnMYJX/gOzGP0FyQ6DP5fjCm6u+9B4D5a+djMILM/eZkhUvYJq2dN8S69/S0LEUx0ZvmJyPaN8zZ40rBqP35HtlYQ0VMKwFUfMFVGEuw7pYnytH6MKMfPSyFveDFV4SAE9ZC3mwZ7IBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QdnNh6Z7A64QKGK7Udz7ht",
      "input": {
        "note": "Previous move stopped short (y 0.198, yaw 0.33). Re-commanding the pose above the pen with the jaws yawed across it.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.235,
          "right_yaw": 0.6,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01QdnNh6Z7A64QKGK7Udz7ht",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8024, 0.6037, -0.3809, -0.0196, -0.0109, 0.9995, 0.5831, 1.5227, 0.7773, 0.0746, 0.1307, 0.0429, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1773 left_yaw=-0.0005 left_pitch=-0.0092 left_roll=0.0003 left_gripper=0.9995 right_x=0.3615 right_y=0.2152 right_z=0.1013 right_yaw=0.4406 right_pitch=-0.1078 right_roll=-0.0478 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.1556, 7.3231, 1.7167, -0.0317, -0.0464, -0.0171, 0.1846, -6.5299, 6.2701, 1.6874, 0.1832, 0.2466, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3efed625fac21281d4d5174cd78557496f0c057b9ea4608a06c099eabb768d5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83f3f2aaa2a935fce078e41fb019407871f22827a5b841960321eb26995d9047",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9f52118d50639701790907cccba63ebd634326dbcea06e4f74e0c33574eed44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 5.087 s

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

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6037, -0.3809, -0.0196, -0.0109, 0.9995, 0.9211, 1.5558, 0.96, -0.2359, 0.7052, 0.5716, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1782 left_yaw=-0.0005 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9995 right_x=0.3245 right_y=0.2437 right_z=0.137 right_yaw=0.0362 right_pitch=-0.0414 right_roll=-0.0382 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.7162, 6.9675, 1.6972, -0.0415, -0.0073, -0.0171, 0.4444, -7.1316, 8.4855, 1.4286, 0.6471, 0.232, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8009, 0.6037, -0.3817, -0.02, -0.0113, 0.9995, 0.5816, 1.5185, 0.7876, 0.0078, 0.2085, 0.1211, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1776 left_yaw=0.0 left_pitch=-0.0084 left_roll=0.0002 left_gripper=0.9995 right_x=0.3614 right_y=0.1982 right_z=0.0962 right_yaw=0.3301 right_pitch=-0.1479 right_roll=-0.0464 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.3333, 7.2137, 1.7167, -0.0659, -0.0366, -0.0122, 0.6085, -6.1197, 7.159, 2.1221, -0.0024, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8024, 0.6037, -0.3809, -0.0196, -0.0109, 0.9995, 0.5831, 1.5227, 0.7773, 0.0746, 0.1307, 0.0429, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1773 left_yaw=-0.0005 left_pitch=-0.0092 left_roll=0.0003 left_gripper=0.9995 right_x=0.3615 right_y=0.2152 right_z=0.1013 right_yaw=0.4406 right_pitch=-0.1078 right_roll=-0.0478 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.1556, 7.3231, 1.7167, -0.0317, -0.0464, -0.0171, 0.1846, -6.5299, 6.2701, 1.6874, 0.1832, 0.2466, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3efed625fac21281d4d5174cd78557496f0c057b9ea4608a06c099eabb768d5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83f3f2aaa2a935fce078e41fb019407871f22827a5b841960321eb26995d9047",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9f52118d50639701790907cccba63ebd634326dbcea06e4f74e0c33574eed44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQShwoKEAgSGAI4AUIIdGhpbmtpbmcSDLOiyxJgqaxR+avFNhoMnxeeNSMmaMT2jLQxIjANDJhx0CHKCS0ILDsvyrSkooZHZMHPDQjIYEbrR10aWmn8E9LL1GKaMhVdIMcZFSkqpAnTpE1rsaRa7belBUIdMQB9vEw7tgmqXv5iG9XNWTMmRbXU9IYgZo+n9K3QdujgWlwLyX81vH2+TKTDMAxirF98JK5FBsoPkSPUA+i5cFWraVM6LUWY10GhKaAHp/qn+HHiGc7/AiDBspHDjDrkzLfe6c6VzBBA5GW822j8rHbD/qVI3dV3YZSMA2a6L9uOFbbFcJnp4YVVXpdu1pG/O0hFHyzV+lrmOaVyPkpR0XIwQD4ciZd83ERcqb5DJpjXVqedkD2XoHEljda87pj0oplsSwS14AcLsbLK+w/M31D2kyxWyGzwg5Z4/JnMT2DVZW69j+r9sIOnInL0stYEi/zMbeCApgvPYOgnYcklyP8UYbYDCIVgSWSftfq/XIkj0K6alPRUVjZ/oLGQCjQoG+kj4WFsjhggxwqu49MFDZ039pZMp+UCepaJekZcO4Ub016hXOCYgqouvUOtKlmdsCNrOtEiarD9j6onf3gImkW4h8LflRjZ/fwVDQQ8Uhdyl11PvZn2o+VWFLIr56rGgucAwCipEvzc11nbAkFI3zFRPb4F2MuRbkhsTILyuvA+jc6p9+GZh3wMKXK7bxC+ta8DnhYJuNq3GXDCo84tFCrXmNUetedBxKDfSp+L87Vo5m4E/vffer0RIXH2lCOQ9qifjmpoBdZGmW99ctTNiywdKXVQLcV7LoomeyhjdAl7kmurXD9QbzfxPWYWgLsvK6q+4cBpNGLdJsR2a2iBfMNJgULx3ja0NxFZUoXtAPsjxezoXWdJTZD9kecc1rCEEydHKDRwjcahAeh5PYQOyHBlMKTq4ZpjbseJ4pedZe35+pytzrBKsj86PcITK6RdCLsYp9txMHm6Mw3QMxAFUsCwV3/V8x9BIlGVVoMkYG2Rp5Q+nKPyot5I+AzTwJLdsnteehk8MIRzDCUzAIQXudZB3e1H60VioC9CvrEQ0CN7cSr9gh3fS2PyFHAUanWbCmo0JmOsTw6vgr+zOgoz6PkhMEnSKvIB4D0Q5/6Jst7CEKhPCEl+OVZ2uTiZbeZLXs3E1Xl3+LP3uFVTfeRuHhkV2W4BtaEBzrCn2kTSTxRnnVu3pO3g2JbaJhPXOroyjN4PY3f9Yi4Xn6WOBF3pDsCb/b3MrUy+Q0Ivmg+6bkM6oSL8vJPzqK9iXMuRYC/L85PI5/Kb8nFj01Ws7IS/oDNPp6dozFxPdZtPlNIlXqs2JRk2iYSil/Pfbj0mex9uNqzAYeNlxZC1qs0dgJeK0lK2ixWlIKFDCsbH8oM7YJLepvVHwvQ3CV743Cx99J2QwVfMBfzy5+rs+2Z42jvvfG1yXglUsguy/kft/hprVCNrmiHiPxjWRqotJaKV0Sx1VgU/KlCnJ+j80Hckz+fnr20InP/F1GYxT6PshR13wPXrGqGlVdY+TcfA+ag4i4icYiZotHhgypkzjcD6DV/rvzWeuclKX1ufzIbg7Is2Oq+tB+5fahV0oRJBFffDkkfnhTAAvzIKFaE3TSN/t6ireUl1pryfVQFOZjDwUH/buVnz22v0NdVV6iKwqGZsbVm1V/b+aergH+Y/K6BOcg634CJkua3XngUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012LCrjvYinEiKtRqBEdPvj6",
      "input": {
        "note": "Pen now nearly vertical in the right wrist view, slightly right of the jaw column and ahead. Small extra yaw and shift to centre the pen between the jaws.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.22,
          "right_yaw": 0.8,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_012LCrjvYinEiKtRqBEdPvj6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8024, 0.6037, -0.3809, -0.0196, -0.0109, 0.9995, 0.5831, 1.5227, 0.7769, 0.0605, 0.1574, 0.0563, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1773 left_yaw=-0.0005 left_pitch=-0.0092 left_roll=0.0003 left_gripper=0.9995 right_x=0.3617 right_y=0.2097 right_z=0.0989 right_yaw=0.4105 right_pitch=-0.1192 right_roll=-0.0562 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.306, 7.0906, 1.7021, -0.0562, -0.0464, -0.0171, -0.0205, -6.4479, 6.3111, 1.7705, 0.0952, 0.0952, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9644681df6c9e134274baf2a5e990372377209043a6a429a0764e220276780b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48de732cc0b8a08860afed27266c82e0948062389bf10dfb76dcf7c25ee62d8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72143cc39f78c84eb9b50e55720e5573de657e6b62186f135763959d227547ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 3.987 s

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

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8009, 0.6037, -0.3817, -0.02, -0.0113, 0.9995, 0.5816, 1.5185, 0.7876, 0.0078, 0.2085, 0.1211, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1776 left_yaw=0.0 left_pitch=-0.0084 left_roll=0.0002 left_gripper=0.9995 right_x=0.3614 right_y=0.1982 right_z=0.0962 right_yaw=0.3301 right_pitch=-0.1479 right_roll=-0.0464 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.3333, 7.2137, 1.7167, -0.0659, -0.0366, -0.0122, 0.6085, -6.1197, 7.159, 2.1221, -0.0024, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8024, 0.6037, -0.3809, -0.0196, -0.0109, 0.9995, 0.5831, 1.5227, 0.7773, 0.0746, 0.1307, 0.0429, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1773 left_yaw=-0.0005 left_pitch=-0.0092 left_roll=0.0003 left_gripper=0.9995 right_x=0.3615 right_y=0.2152 right_z=0.1013 right_yaw=0.4406 right_pitch=-0.1078 right_roll=-0.0478 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.1556, 7.3231, 1.7167, -0.0317, -0.0464, -0.0171, 0.1846, -6.5299, 6.2701, 1.6874, 0.1832, 0.2466, -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 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8024, 0.6037, -0.3809, -0.0196, -0.0109, 0.9995, 0.5831, 1.5227, 0.7769, 0.0605, 0.1574, 0.0563, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1773 left_yaw=-0.0005 left_pitch=-0.0092 left_roll=0.0003 left_gripper=0.9995 right_x=0.3617 right_y=0.2097 right_z=0.0989 right_yaw=0.4105 right_pitch=-0.1192 right_roll=-0.0562 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.306, 7.0906, 1.7021, -0.0562, -0.0464, -0.0171, -0.0205, -6.4479, 6.3111, 1.7705, 0.0952, 0.0952, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9644681df6c9e134274baf2a5e990372377209043a6a429a0764e220276780b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48de732cc0b8a08860afed27266c82e0948062389bf10dfb76dcf7c25ee62d8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72143cc39f78c84eb9b50e55720e5573de657e6b62186f135763959d227547ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSowkKEAgSGAI4AUIIdGhpbmtpbmcSDAd7wm0UrRfckonbBRoM6YEZUNAhXZahC8abIjAinoaojF8iFJYskdZn+ojBf6GZI6p1OzWJSacG9u4ceTnZEa2NrGH8kZGi1qNXgNIqwAiMiZMVlrXhy+7PGrmrHmZozXxxVYdsxNRoPzSKLp9nbQgI4aMrnW9Mvac+Z1iQ4BekPn6fKHzHTbIoGVUJknZOJUIOE8eDTWcXeaBcC2hhWD9eEGll2VfI21Hx2CxiaNn07CHt6yDQrQG8LQmyTJ9PRvtJFkOtXGFQN2ogVeRuY28gpjbBtNVGUJg3BSI2xn3u76qX+NLUmUdYNU81ejK1Z4OIpu7PAepYZhnYEW4h0BYb306Dc7QLKwKF8hQ7OkkxVdpDeCIKuRanbtEB7xi/NGyEEgws5Vhdvt9K29CUPGrHzT9XUTKTx+SSSOihLaRZt6u4l1cFa+dLn+NXUisjOe3YiGtw3Ywgg64ySf/iPFLHLJMrpk0oVBBGcb31VkRx+XEMcHui/B3FUWa220j/6VXmIGij7SGSU9XEd6N+YWHJKdN1OaNAWSDYjDWJ8201/E5yfYyYvbYLXKQZRU1vrroHTdvwlq0xee6tl7e6vA+RcSfr0Nbmwb9szShl/QJNiuMg6UqekLBPR0N36irNaEdPZTtcYWv3nmbZrV5o/pKGWU5/VgM55qHTm7XelRKsF7piXaEuP/d2Ak4oi4hl+cOKgwF/nvMPC7CcydXHqxQSvKQtHc7ERKKGJonZKlb76nOtEeRzHWuY+d5l+eh3am1Uwd4oCS+ZU+q3xgcwGTH09O/1pRenMN71XG2uS0uf/zzdkDpm8LwxjBYwUaXjTctMBb8NByAn+nUZEJzh2VK7VPn0CFH6LmTtulSoeAzJ8RBhV+U+YkLG7Kp1t//HBilPItvF4H8h4fr58RyKw0+5S8hS5jovrZEKuoippsyHXgVKdYGZIZQC4dpHpx4RIOaSNM2pe3cXa/NEET/JUg5EHzRtRQWYowg6HqR0NrzBhLMh2ysrm7nkylCwtRslN+n/AMGlHq3kCRxjJHPpJtGuh3L7hlOb4zV7LAU/s8frb1UAtil+5VOFMhoRvIlbJgOUDEGCrPpItcsl1GoyAZxklqcMy7jgguZ/YYgumcx4A+m2t5dMNvUrqn8YXBATCoLUegJvLYGsiSbQ5/AeN28r8h9USIl+cQdtSkh1oWTMAZVprAMEMM0LfFw94JYKsKTwtp6K/Hlh/0enEfr9ZWpz1AKbxXqvyMyr7mdGcwsQ0bdtPRUtO5CPJVK+iiskxJQ52kaVacfrZq/myFSIfQpQf2YWylHisGlQ5dwGe+ywomXkg7NxsmQvQfsFwAoQh5we3TFNIZ0V59u466LYNwfYfq5cEQbLhObQ4HH6jZA50wCuSQIh8bLzot+3FZUkIfDLX80eC7+dGUTwCEnD/JCASgSGPjjBptijo7F6v0MPDHdyNq60BldpkClTjj40R0MENJ/yUq+78uFqSOCiUKH++bvePEqyMGvbo3joTa+wycxgZpvjmC8dAe43ZSEkoNx+q/oRvxBU2Yi85BQf0RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tw7VhTiaimtyNeA4rcRD5y",
      "input": {
        "note": "Pen is roughly aligned with the jaw column in the right wrist view. Descending to table level to grasp it.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.205,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Tw7VhTiaimtyNeA4rcRD5y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8066, 0.6033, -0.3824, -0.0196, -0.0109, 0.9995, 0.5587, 1.7969, 0.6418, 0.3786, 0.1295, 0.0677, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1757 left_yaw=-0.0005 left_pitch=-0.0153 left_roll=0.0004 left_gripper=0.9995 right_x=0.3562 right_y=0.2 right_z=-0.0023 right_yaw=0.4013 right_pitch=-0.212 right_roll=-0.0441 right_gripper=0.9985\nstate[joint_eff]: [-0.3487, -1.1419, 7.0769, 1.8242, -0.0366, -0.0415, -0.0171, -0.1846, -9.1829, 8.2667, -2.2051, 1.0037, -1.9463, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1cda82bbb56b53929da55f19d4aa95009d3700cc47cb204a96e0260b46fcd9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7198ba99acbe497fa2126c0b86140cce6e028422494da37bb6fe55945d142082",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e68108b9c3bc0ecfd503759abf7243fee4ab9ea1b967a32ef5c5a3cbc9b42d6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 4.467 s

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

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8024, 0.6037, -0.3809, -0.0196, -0.0109, 0.9995, 0.5831, 1.5227, 0.7773, 0.0746, 0.1307, 0.0429, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1773 left_yaw=-0.0005 left_pitch=-0.0092 left_roll=0.0003 left_gripper=0.9995 right_x=0.3615 right_y=0.2152 right_z=0.1013 right_yaw=0.4406 right_pitch=-0.1078 right_roll=-0.0478 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.1556, 7.3231, 1.7167, -0.0317, -0.0464, -0.0171, 0.1846, -6.5299, 6.2701, 1.6874, 0.1832, 0.2466, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8024, 0.6037, -0.3809, -0.0196, -0.0109, 0.9995, 0.5831, 1.5227, 0.7769, 0.0605, 0.1574, 0.0563, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1773 left_yaw=-0.0005 left_pitch=-0.0092 left_roll=0.0003 left_gripper=0.9995 right_x=0.3617 right_y=0.2097 right_z=0.0989 right_yaw=0.4105 right_pitch=-0.1192 right_roll=-0.0562 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.306, 7.0906, 1.7021, -0.0562, -0.0464, -0.0171, -0.0205, -6.4479, 6.3111, 1.7705, 0.0952, 0.0952, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8066, 0.6033, -0.3824, -0.0196, -0.0109, 0.9995, 0.5587, 1.7969, 0.6418, 0.3786, 0.1295, 0.0677, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1757 left_yaw=-0.0005 left_pitch=-0.0153 left_roll=0.0004 left_gripper=0.9995 right_x=0.3562 right_y=0.2 right_z=-0.0023 right_yaw=0.4013 right_pitch=-0.212 right_roll=-0.0441 right_gripper=0.9985\nstate[joint_eff]: [-0.3487, -1.1419, 7.0769, 1.8242, -0.0366, -0.0415, -0.0171, -0.1846, -9.1829, 8.2667, -2.2051, 1.0037, -1.9463, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1cda82bbb56b53929da55f19d4aa95009d3700cc47cb204a96e0260b46fcd9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7198ba99acbe497fa2126c0b86140cce6e028422494da37bb6fe55945d142082",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e68108b9c3bc0ecfd503759abf7243fee4ab9ea1b967a32ef5c5a3cbc9b42d6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrAcKEAgSGAI4AUIIdGhpbmtpbmcSDGepxHPOL9XnK880gxoMfI1KlrNVSdB8ih4JIjDFi+89+MMbGXpJy3G5zGtLFZFqstMECOaEAkOyCJq8cfcBYY4c/b7JdYCgXaFTQxkqyQYHa8pvMNjHEcOpBSFCTeERPSO3dbX64bv1MHCOVYqh0SCRcIehMPXvytwQw1RZag8ql1E8ehG5pXPCZx2CyPAHyJG7oAO51HNvI61o56deZyyvZqQhe7CQwIdeX72Cj8VFz/gDdJpd90ZejKr+lktooQ3VKHD3NmFNnjQEGiW2AkZrLRLC2KJNUM6NlN02WqedebluMgBfvg5a1b9bgkBv6Bwi8rYfSVSQV8zhJjSXX3vEwlsxBBqCUfmSQJszz6cDZMSKLX9QkegFUNEE479iXONDu7y4QESMxTT3WfWz1vzLr4E7B+NBwX/adNOaEnnfmxdO6t8HjAk8h/lzIH9gFxCRUdoxu9ECQAmxbNtnHGvNubFMCi9Tif+4JSsYXy+ZaSKEJ9+voVv01h0TBL3N0poKFb3w/Y4GKRMfObYx06xv14r0sGFUTJdpGJ/WYtVb3JOCMs9Gw/rlxrHX9apIm6idEEYDLw3yV9bVjXxIEolSQDV5FuQulnMy7EVt0gGBdG8sefPEljz0Zfk8+UzXVNHkGUVCDBNxnh2R1kDplL2z13COPHdPx2yrv4e4OaQX/JcmjOUnM3Ne19qhWMWfajn0BODtDYE2ccPitOevr0QBPL7NPSftCFuAiHHE8rC1D2IYyO91na6z5MpUiaellly1OVKrj51Dpp/obVM9fFoQ2GmLF6piwWDhM/t2Qo31SN66zFG3Yc6XRPoR/XuaBrd+ht2teFJ21sX8g2T4PDeDad6y7eVwrVwP9IHXdBPOMeX+cgJ8PRGn94T0Pt4/McB8iEJPeHf8mM5Htr2ZrHyJqUVvRNGYSadJ4ygSNHpaCId8TvTuMU0KMmjbpi/lp80LYaSEhy2KwYtGVWkMTKjluM8VYt1Oz2XwzCo8NXW2u8NhP/siaD6GsbhLys6++RTC7nef9fU48VYPbTIYNx02sAeVzRklc4Ytwws9+58ULpigKnmb5pKhPgmCfoalfZbsSOYBrYuP8vpUpjJZ5H2TWEojNvkZMbFkIEbh664nn3T7gy6aIME0clDzD6xXidws0L/tZrKq7AiuiO/eun9g68Xu7gVEgML/fb0Y4gjmHCv/Wwk8FrefNrF8N8tcUYMPL3HyvSqGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AHoaFZ791JTWC76m9yjWjJ",
      "input": {
        "note": "At table level with the pen between the open jaws in the right wrist view. Closing 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_01AHoaFZ791JTWC76m9yjWjJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3817, -0.0196, -0.0113, 0.9995, 0.5568, 1.8053, 0.6388, 0.424, 0.1204, 0.0666, 0.0474]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1756 left_yaw=-0.0003 left_pitch=-0.0153 left_roll=0.0001 left_gripper=0.9995 right_x=0.3606 right_y=0.2037 right_z=0.0013 right_yaw=0.4089 right_pitch=-0.1794 right_roll=-0.0333 right_gripper=0.0474\nstate[joint_eff]: [-0.3214, -1.3333, 7.2821, 1.7216, -0.0659, -0.0659, -0.0171, -0.1983, -8.294, 5.6, 1.1746, 0.105, 0.0269, 1.326]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db85df94afcedee64d75f6e898e701317df3f1c2fd5fd1afa669c0964668292f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f75659d8fafd1c296ed8c51ac1f6b0da64e42762bed025f8cde109f61525486e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34f2fb6a7da18b850f0b03cc3a33243788e703b30340ac56b043a2937dd99bf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 8.668 s

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

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8024, 0.6037, -0.3809, -0.0196, -0.0109, 0.9995, 0.5831, 1.5227, 0.7769, 0.0605, 0.1574, 0.0563, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1773 left_yaw=-0.0005 left_pitch=-0.0092 left_roll=0.0003 left_gripper=0.9995 right_x=0.3617 right_y=0.2097 right_z=0.0989 right_yaw=0.4105 right_pitch=-0.1192 right_roll=-0.0562 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.306, 7.0906, 1.7021, -0.0562, -0.0464, -0.0171, -0.0205, -6.4479, 6.3111, 1.7705, 0.0952, 0.0952, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8066, 0.6033, -0.3824, -0.0196, -0.0109, 0.9995, 0.5587, 1.7969, 0.6418, 0.3786, 0.1295, 0.0677, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1757 left_yaw=-0.0005 left_pitch=-0.0153 left_roll=0.0004 left_gripper=0.9995 right_x=0.3562 right_y=0.2 right_z=-0.0023 right_yaw=0.4013 right_pitch=-0.212 right_roll=-0.0441 right_gripper=0.9985\nstate[joint_eff]: [-0.3487, -1.1419, 7.0769, 1.8242, -0.0366, -0.0415, -0.0171, -0.1846, -9.1829, 8.2667, -2.2051, 1.0037, -1.9463, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3817, -0.0196, -0.0113, 0.9995, 0.5568, 1.8053, 0.6388, 0.424, 0.1204, 0.0666, 0.0474]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1756 left_yaw=-0.0003 left_pitch=-0.0153 left_roll=0.0001 left_gripper=0.9995 right_x=0.3606 right_y=0.2037 right_z=0.0013 right_yaw=0.4089 right_pitch=-0.1794 right_roll=-0.0333 right_gripper=0.0474\nstate[joint_eff]: [-0.3214, -1.3333, 7.2821, 1.7216, -0.0659, -0.0659, -0.0171, -0.1983, -8.294, 5.6, 1.1746, 0.105, 0.0269, 1.326]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db85df94afcedee64d75f6e898e701317df3f1c2fd5fd1afa669c0964668292f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f75659d8fafd1c296ed8c51ac1f6b0da64e42762bed025f8cde109f61525486e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34f2fb6a7da18b850f0b03cc3a33243788e703b30340ac56b043a2937dd99bf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS8QgKEAgSGAI4AUIIdGhpbmtpbmcSDChEBsSNF/zf3v91vBoMROUXaRGWueA2uMm0IjBVp4yOtLUlRFQnK+RTfCkv/6WSCCBPb//jGjCSr8gYXhIw6OmGmmGcPnxBylaVBdYqjgic8hY2AD62xuqQogfNRNODmQI+VX20miMJS++lDQb+4XYZURm67LSzIVeSWg389bvTRnj31AltJzbFlSu6OjtIjCT795IJb5t6/2X+yDI6rWuO4EaB9o/Om41Kc12lAkiuP8SKET97VNGeI2B38C9uujwfIPbM+y4WAIJwOJg+1m9urw5haanHLGJS2R7WO8yGKMQIIXYbgDLIwv6pYvHXoo04wQsTM03T37g9I1gJNGq0KTt+ucA8Q7qDx/qqI5giespP5z58zD7KIssd+DVslWfw88hkwWj5fJcpeIMVAw681FsfV6FopZV+S/mQscltQavOh6YoGFYUA4nIpJyj9QxbeOltVIjKDKv781Xk4rjgJq27PW+qByRZl8d0+FTHFUwtxwEd+CGnck+YcGt0vRvtJ/v92LC8C7vUUp9zFn1uxWcYqTliDhWEib5LX/xj7sQ+nQspck7DS7maDiktlFjtQTAMY82d9Qe2z45hHIjRN0MY5dwwDw6zlYuaoKzb2jlA38gYHWUwmpflqJWuuISCYjTushkxlfiHkROphyL4Z4Eu9VNKVlb2QPg62mmf6Eb4rcb2PhTbV7EJfv5f6QrOzBur3jJZZgHpI19Ym7RWa6NcsYRbsJsLzk7DwnyyPtmUi5l2m5wytDXlBzh6/QsQ6hv44MC0mWRXt6A/7Yk2Ia97vybzlb2MVG5os/jne1BsuR/yZNrAn5TJFl9zuW07+uWov+DFY19/s+X6UJ8nCxSSe/lB0ehpyL/4e1sZ4Isd4N4tpy+H43210R2Mel4HezbQNBXGWcjyovwEfWB5BYVYc08lOZY8cvhqON68xSEHZrPzpkGwWcDMYesgZ+qNw8hiGUatOFOrmTKXlADBZfcinDIJvJpFFV9WqKWeKQITJUPFdKo6E9K42gZknZdkCEhZBbFGJueIe8HsYwZaDsKaY7Co9Ja5eN+Yb01WR94j4Ru4KIFVTHdSKTWSwTwcU8/4M57Qwlg5V/i4bxzByZKga4PtWyLRT4hShLLrkDl4deuNAYNBLBPmNjjJJ1p4aC8woOu34BjwBoM4zwHoO1yroi0XkLPfb8hHvTs4/J6x8Vj/G9JTrKao5Cpi2pR0LROxrklWbep6u9uX1F1v5adbwaMl3c1IxI+4wcqEkanjwy06VXWTWq+Nn+nuM1HqddFw/dsHlhmoKHDjUk4KBkuRuchVR/GjDI7m1oD55Ye9LH04CHEsqCDlTL0SLZsHDdS1NIhsFu38oiBQojVFPxfml4is/8pb8vWdgEw6GnywY5TUyyD+ZqfsUDntXXTE+02mbQLBcnd587KiDI4VqECXmZYKxcY+LuYWk6aYHv3BzuwNzsClE3V7OFSimvC8tL1kZAtoiEWQkOMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Km6eYhXbbUWgEFxEpfioxp",
      "input": {
        "note": "Gripper closed at 0.047 with the pen apparently between the jaws. Lifting to confirm the grasp.",
        "targets": {
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Km6eYhXbbUWgEFxEpfioxp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3817, -0.0196, -0.0113, 0.9994, 0.5564, 1.5959, 0.7425, 0.1051, 0.1188, 0.0635, 0.053]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1756 left_yaw=-0.0003 left_pitch=-0.0153 left_roll=0.0001 left_gripper=0.9994 right_x=0.3598 right_y=0.2033 right_z=0.0639 right_yaw=0.4113 right_pitch=-0.1853 right_roll=-0.0354 right_gripper=0.053\nstate[joint_eff]: [-0.1573, -1.1692, 7.2821, 1.7216, -0.0513, -0.0513, -0.0171, -0.335, -8.4718, 8.1436, 1.5849, 0.0562, -0.0464, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9487a87326a62da9a7ad98ab0412171b1ad784ca3cae27e8e15fce60a5d296d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9efe57f0ff28bd7c65b8148b226c310c94e2c1b315a4ee0fe7da2de2af8b76b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a80faf9c22a3a87024bfc64eef02657e0b037b52842ea7cce07c754a3cb82954",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 9.884 s

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

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8066, 0.6033, -0.3824, -0.0196, -0.0109, 0.9995, 0.5587, 1.7969, 0.6418, 0.3786, 0.1295, 0.0677, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1757 left_yaw=-0.0005 left_pitch=-0.0153 left_roll=0.0004 left_gripper=0.9995 right_x=0.3562 right_y=0.2 right_z=-0.0023 right_yaw=0.4013 right_pitch=-0.212 right_roll=-0.0441 right_gripper=0.9985\nstate[joint_eff]: [-0.3487, -1.1419, 7.0769, 1.8242, -0.0366, -0.0415, -0.0171, -0.1846, -9.1829, 8.2667, -2.2051, 1.0037, -1.9463, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3817, -0.0196, -0.0113, 0.9995, 0.5568, 1.8053, 0.6388, 0.424, 0.1204, 0.0666, 0.0474]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1756 left_yaw=-0.0003 left_pitch=-0.0153 left_roll=0.0001 left_gripper=0.9995 right_x=0.3606 right_y=0.2037 right_z=0.0013 right_yaw=0.4089 right_pitch=-0.1794 right_roll=-0.0333 right_gripper=0.0474\nstate[joint_eff]: [-0.3214, -1.3333, 7.2821, 1.7216, -0.0659, -0.0659, -0.0171, -0.1983, -8.294, 5.6, 1.1746, 0.105, 0.0269, 1.326]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3817, -0.0196, -0.0113, 0.9994, 0.5564, 1.5959, 0.7425, 0.1051, 0.1188, 0.0635, 0.053]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1756 left_yaw=-0.0003 left_pitch=-0.0153 left_roll=0.0001 left_gripper=0.9994 right_x=0.3598 right_y=0.2033 right_z=0.0639 right_yaw=0.4113 right_pitch=-0.1853 right_roll=-0.0354 right_gripper=0.053\nstate[joint_eff]: [-0.1573, -1.1692, 7.2821, 1.7216, -0.0513, -0.0513, -0.0171, -0.335, -8.4718, 8.1436, 1.5849, 0.0562, -0.0464, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9487a87326a62da9a7ad98ab0412171b1ad784ca3cae27e8e15fce60a5d296d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9efe57f0ff28bd7c65b8148b226c310c94e2c1b315a4ee0fe7da2de2af8b76b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a80faf9c22a3a87024bfc64eef02657e0b037b52842ea7cce07c754a3cb82954",
        "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_01KNnKTocdEFmiaVLy2PpWwb",
      "input": {
        "note": "Pen is held by the right arm (it moved with the lift). Now moving the left arm above the estimated cap location to find it in the left wrist cam.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.18,
          "left_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_01KNnKTocdEFmiaVLy2PpWwb",
      "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]: [-0.6636, 1.496, 0.8856, -0.1642, -0.5217, -0.4049, 0.9994, 0.5564, 1.597, 0.7418, 0.0864, 0.112, 0.0635, 0.0585]\nstate[eef_state]: left_x=0.3676 left_y=-0.1711 left_z=0.128 left_yaw=-0.0156 left_pitch=-0.0818 left_roll=0.0373 left_gripper=0.9994 right_x=0.3563 right_y=0.2026 right_z=0.0597 right_yaw=0.4167 right_pitch=-0.2063 right_roll=-0.0336 right_gripper=0.0585\nstate[joint_eff]: [-0.3761, -6.8581, 9.4017, 1.7558, -0.4176, -0.0415, -0.0073, -0.2393, -7.0085, 5.9966, 1.7118, 0.0562, -0.0757, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:367e6aed77c79a10c87b0324cc34980ab57da7f27c16914a8862539172ca1c28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52c0c79d365234d633d277b1988ab927e0bd7cb72ea6618e719977b2f14679de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:32b2537ec90c6528980402dface23fba4ecf1519743c2374f28a43c2a1f91e48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 4.338 s

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

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3817, -0.0196, -0.0113, 0.9995, 0.5568, 1.8053, 0.6388, 0.424, 0.1204, 0.0666, 0.0474]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1756 left_yaw=-0.0003 left_pitch=-0.0153 left_roll=0.0001 left_gripper=0.9995 right_x=0.3606 right_y=0.2037 right_z=0.0013 right_yaw=0.4089 right_pitch=-0.1794 right_roll=-0.0333 right_gripper=0.0474\nstate[joint_eff]: [-0.3214, -1.3333, 7.2821, 1.7216, -0.0659, -0.0659, -0.0171, -0.1983, -8.294, 5.6, 1.1746, 0.105, 0.0269, 1.326]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3817, -0.0196, -0.0113, 0.9994, 0.5564, 1.5959, 0.7425, 0.1051, 0.1188, 0.0635, 0.053]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1756 left_yaw=-0.0003 left_pitch=-0.0153 left_roll=0.0001 left_gripper=0.9994 right_x=0.3598 right_y=0.2033 right_z=0.0639 right_yaw=0.4113 right_pitch=-0.1853 right_roll=-0.0354 right_gripper=0.053\nstate[joint_eff]: [-0.1573, -1.1692, 7.2821, 1.7216, -0.0513, -0.0513, -0.0171, -0.335, -8.4718, 8.1436, 1.5849, 0.0562, -0.0464, 1.033]",
      "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]: [-0.6636, 1.496, 0.8856, -0.1642, -0.5217, -0.4049, 0.9994, 0.5564, 1.597, 0.7418, 0.0864, 0.112, 0.0635, 0.0585]\nstate[eef_state]: left_x=0.3676 left_y=-0.1711 left_z=0.128 left_yaw=-0.0156 left_pitch=-0.0818 left_roll=0.0373 left_gripper=0.9994 right_x=0.3563 right_y=0.2026 right_z=0.0597 right_yaw=0.4167 right_pitch=-0.2063 right_roll=-0.0336 right_gripper=0.0585\nstate[joint_eff]: [-0.3761, -6.8581, 9.4017, 1.7558, -0.4176, -0.0415, -0.0073, -0.2393, -7.0085, 5.9966, 1.7118, 0.0562, -0.0757, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:367e6aed77c79a10c87b0324cc34980ab57da7f27c16914a8862539172ca1c28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52c0c79d365234d633d277b1988ab927e0bd7cb72ea6618e719977b2f14679de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32b2537ec90c6528980402dface23fba4ecf1519743c2374f28a43c2a1f91e48",
        "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_01LfqGyQdGuwRpTnuevdpbTd",
      "input": {
        "note": "Cap visible in the left wrist cam, slightly left of and ahead of the jaws, lying diagonally. Advancing and yawing the left tool so the jaws close across the cap.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.15,
          "left_yaw": -0.7,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LfqGyQdGuwRpTnuevdpbTd",
      "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]: [-0.2451, 1.599, 0.8192, 0.0116, 0.1333, 0.1444, 0.9994, 0.5564, 1.597, 0.7418, 0.0814, 0.1116, 0.0635, 0.0585]\nstate[eef_state]: left_x=0.4029 left_y=-0.1213 left_z=0.0761 left_yaw=-0.4416 left_pitch=-0.1893 left_roll=0.0104 left_gripper=0.9994 right_x=0.3556 right_y=0.2022 right_z=0.0588 right_yaw=0.4168 right_pitch=-0.2113 right_roll=-0.0341 right_gripper=0.0585\nstate[joint_eff]: [0.1846, -7.8291, 9.388, 1.7753, 0.105, 0.2662, -0.0122, -0.1846, -6.9402, 5.9829, 1.5653, 0.0366, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14f8ec9b9c60963ebb1721e46b90fef9113841785dca55b750898a4e07514e4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3ac3482a806b890547745c2f216bbc605f6e884e6ddc9968442a5e25be57dce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c1210d2d064c5a581886ba20c971085c82f35aab5f47b110f54ac999e885931",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 4.759 s

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

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3817, -0.0196, -0.0113, 0.9994, 0.5564, 1.5959, 0.7425, 0.1051, 0.1188, 0.0635, 0.053]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1756 left_yaw=-0.0003 left_pitch=-0.0153 left_roll=0.0001 left_gripper=0.9994 right_x=0.3598 right_y=0.2033 right_z=0.0639 right_yaw=0.4113 right_pitch=-0.1853 right_roll=-0.0354 right_gripper=0.053\nstate[joint_eff]: [-0.1573, -1.1692, 7.2821, 1.7216, -0.0513, -0.0513, -0.0171, -0.335, -8.4718, 8.1436, 1.5849, 0.0562, -0.0464, 1.033]",
      "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]: [-0.6636, 1.496, 0.8856, -0.1642, -0.5217, -0.4049, 0.9994, 0.5564, 1.597, 0.7418, 0.0864, 0.112, 0.0635, 0.0585]\nstate[eef_state]: left_x=0.3676 left_y=-0.1711 left_z=0.128 left_yaw=-0.0156 left_pitch=-0.0818 left_roll=0.0373 left_gripper=0.9994 right_x=0.3563 right_y=0.2026 right_z=0.0597 right_yaw=0.4167 right_pitch=-0.2063 right_roll=-0.0336 right_gripper=0.0585\nstate[joint_eff]: [-0.3761, -6.8581, 9.4017, 1.7558, -0.4176, -0.0415, -0.0073, -0.2393, -7.0085, 5.9966, 1.7118, 0.0562, -0.0757, 1.0379]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2451, 1.599, 0.8192, 0.0116, 0.1333, 0.1444, 0.9994, 0.5564, 1.597, 0.7418, 0.0814, 0.1116, 0.0635, 0.0585]\nstate[eef_state]: left_x=0.4029 left_y=-0.1213 left_z=0.0761 left_yaw=-0.4416 left_pitch=-0.1893 left_roll=0.0104 left_gripper=0.9994 right_x=0.3556 right_y=0.2022 right_z=0.0588 right_yaw=0.4168 right_pitch=-0.2113 right_roll=-0.0341 right_gripper=0.0585\nstate[joint_eff]: [0.1846, -7.8291, 9.388, 1.7753, 0.105, 0.2662, -0.0122, -0.1846, -6.9402, 5.9829, 1.5653, 0.0366, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14f8ec9b9c60963ebb1721e46b90fef9113841785dca55b750898a4e07514e4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3ac3482a806b890547745c2f216bbc605f6e884e6ddc9968442a5e25be57dce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c1210d2d064c5a581886ba20c971085c82f35aab5f47b110f54ac999e885931",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSmQgKEAgSGAI4AUIIdGhpbmtpbmcSDIi72vpQgx6U6jiotxoMoRDWthjoFjQwtQ1/IjD1Oh9nF13ljYYRfmbM2zcJpktpoZ5grZTbB7SI+wUtn6DScAh8kWg2uArJwW4oVIsqtgcV/zfF7CbvU0dSU+8ywh3z8BXPqSJB1y/sKsVEzWUU2g2xY5uBMkowTjAQFlqrjZUY97e8chCxqJGgO+xKEMRZiPRCjcRQQ2jyAkTBt9R6QWjj7HogrCuEuB8tLidtt0yu46FAgeAn3G9C3Km6dVMzI7GPYUMZtXJcoX+MfXjng2jbnBTEEsN3sinurLInS2iCc8sqlHh96aADFPtuJoW+Z69YXYqN6nlCQpcrItw5AGcr6DsP6LRJit4gjUe/Gbdmj/7XYs0I7xqaiKmlGPwbLDtK777k9men4T8zqBIsGqJX5NhIZYfmVAc1Wd9RtnozO+9MJluYbde+HRlw+71xmCjT8I5jujjaehDVbKUxal+KjLikWKb46RWmQxK6Z/AZZM6Gc21PPs6kbRfTzu1eCqQth1FWA+pBjFB7xy8afQm6eGWgJYH7QEIlsoAIpX2FEnv/X6Y5kgOVbk2CaPlYdC3nzDY6j8jpHlmg6m9upxi/k0EmLeaLfcrtOXaRH1rVjrzwWKthyeYIVK7FMSbHeW4jpPOO6RRSwtKDCMDS/7c8bbrkpPuuPy/t1HuayCk5AffHc9OdM5iu/p4wBc9/uKewYMMMcvmnh69kV9GHbXL3/EHeKShD1FQE792wdhiQ8jDxF9OdC7d/KGUGwKNxMYZZbKIM55IiizhxaxUypI3DY21qV1YyQ9yaM4pLm843CiTcch0exLClau+gY3dc1Q9IVLZHoQUJ8YBZf+gOKBpG6P3TDfK720LNeaThc9WW0md9WefS46Mds3o3v+1EoD3/cP2KvGLtxKnxpy9/4KaR1zn5V707jPxI7ImiBTVfJqzcb3dt9b130tIHjPeQ+u1DYw2cTw5KQ6xu5y+qzyrLwgH9ucn1hQNZXLR99zxQZf1PH33IaQKGF+Kxec4nmzOZqY/yscA0SendLgtX37aoc1rR5kV2mksz3tuLOWfNBPcxhQEIJzekO0LQ/yndBUs6aWOUjHdrOlWJcmgYYKD7AXv7IYYBShlVTV30qQDrJ0kiffP0en4XO2pFrfa41vwk/kpkLZtKAzeWQPk6fbfFkwalM3xNK23AxBwMZChTurw9s2qlyyJ/jSLAS4RHYz2YrN11eEg7WU0CcxCHJdYYQk8FxU5VAsadCStxvagN7YyqFV+hHkYLpoAOEaueFy2dPXF5C/9PVpiikEuXLdiKxTuX5Ayie0oQNpob1AFbzYe4gini2sNiW4ee0iON1lnRXpDkqVvhKUre3J6eNDunID3ozxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sjv5EHmeSFJd8E9xTx3sRM",
      "input": {
        "note": "Cap is now centred on the jaw column and nearly aligned, a few cm ahead. Advancing slightly and descending to table level.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.12,
          "left_yaw": -0.45,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Sjv5EHmeSFJd8E9xTx3sRM",
      "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]: [-0.2218, 1.8709, 0.7975, 0.2649, 0.1631, 0.1818, 0.9994, 0.5564, 1.5978, 0.7418, 0.0792, 0.1104, 0.0635, 0.0633]\nstate[eef_state]: left_x=0.4203 left_y=-0.1205 left_z=0.0009 left_yaw=-0.4661 left_pitch=-0.2244 left_roll=0.0076 left_gripper=0.9994 right_x=0.3551 right_y=0.2021 right_z=0.0581 right_yaw=0.4177 right_pitch=-0.2144 right_roll=-0.0337 right_gripper=0.0633\nstate[joint_eff]: [0.5675, -6.6256, 5.7641, 1.1648, 0.1294, -0.1197, -0.0122, -0.1983, -6.9675, 6.0239, 1.5067, -0.0073, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f4485cd48d7e96c0836abd3851046c0f83890434705ad6ec02111844d50628d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dc5ca450251e252f9f644c0b80399ee82b517c91cad4b446d171ca0419f15ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:86e63fdd14f81f7d25efb1f64fe9128753565d021527fe875de8ed38635c580a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 3.43 s

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

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6636, 1.496, 0.8856, -0.1642, -0.5217, -0.4049, 0.9994, 0.5564, 1.597, 0.7418, 0.0864, 0.112, 0.0635, 0.0585]\nstate[eef_state]: left_x=0.3676 left_y=-0.1711 left_z=0.128 left_yaw=-0.0156 left_pitch=-0.0818 left_roll=0.0373 left_gripper=0.9994 right_x=0.3563 right_y=0.2026 right_z=0.0597 right_yaw=0.4167 right_pitch=-0.2063 right_roll=-0.0336 right_gripper=0.0585\nstate[joint_eff]: [-0.3761, -6.8581, 9.4017, 1.7558, -0.4176, -0.0415, -0.0073, -0.2393, -7.0085, 5.9966, 1.7118, 0.0562, -0.0757, 1.0379]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2451, 1.599, 0.8192, 0.0116, 0.1333, 0.1444, 0.9994, 0.5564, 1.597, 0.7418, 0.0814, 0.1116, 0.0635, 0.0585]\nstate[eef_state]: left_x=0.4029 left_y=-0.1213 left_z=0.0761 left_yaw=-0.4416 left_pitch=-0.1893 left_roll=0.0104 left_gripper=0.9994 right_x=0.3556 right_y=0.2022 right_z=0.0588 right_yaw=0.4168 right_pitch=-0.2113 right_roll=-0.0341 right_gripper=0.0585\nstate[joint_eff]: [0.1846, -7.8291, 9.388, 1.7753, 0.105, 0.2662, -0.0122, -0.1846, -6.9402, 5.9829, 1.5653, 0.0366, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2218, 1.8709, 0.7975, 0.2649, 0.1631, 0.1818, 0.9994, 0.5564, 1.5978, 0.7418, 0.0792, 0.1104, 0.0635, 0.0633]\nstate[eef_state]: left_x=0.4203 left_y=-0.1205 left_z=0.0009 left_yaw=-0.4661 left_pitch=-0.2244 left_roll=0.0076 left_gripper=0.9994 right_x=0.3551 right_y=0.2021 right_z=0.0581 right_yaw=0.4177 right_pitch=-0.2144 right_roll=-0.0337 right_gripper=0.0633\nstate[joint_eff]: [0.5675, -6.6256, 5.7641, 1.1648, 0.1294, -0.1197, -0.0122, -0.1983, -6.9675, 6.0239, 1.5067, -0.0073, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f4485cd48d7e96c0836abd3851046c0f83890434705ad6ec02111844d50628d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dc5ca450251e252f9f644c0b80399ee82b517c91cad4b446d171ca0419f15ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86e63fdd14f81f7d25efb1f64fe9128753565d021527fe875de8ed38635c580a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSuggKEAgSGAI4AUIIdGhpbmtpbmcSDC753Knm3jDPkrG4vxoMUzXoT1OjHi/CJy/TIjDRBMhq5E7KpXS46WdqaCJtnYImkf5rXOWgwPWeuhxcSSSoUjpi2Qvwbq5SRdo3hZYq1wef9Eip3pRDUFEnPLSMZ8HtBy2CCdEtYoTble1PTI4MlKVJUb3mUPJmXJW6RL5ulH6Im1ZQTlfJe9BbjA+/KxXOPiDOa6L+42D7RurTw77UbtIi79/jWH77omxnsb+1GqBf/nLvlmoqztQ+9EbX3CSTHW1CIyPWRb0aw5NhkSugsKFG+QVllt1v0VwW++bY6iqiDsEcXq5rSYg/yfWFFz2d6RRxNFtc2SC0q+4oRvZ7jscvmLRKaZgX7nFMvTo0DkSEsTNKITE0ziEEZRV5/gtMrT+YiXPx+A6MqaEACDHi4LMspuXKv1EBXSYNlMaN1Q33APOrK78fAoTcKzRwQKTEi7jsxxeMy0qzZeXmpVDAln1vjET1foKXWkMLDBSd+QgoWgxhMU/AedWKYl1neQOLtfB8cOkTjXLSkcRFe+aLCYUsNnDP6EokBgCTycS+BF/NKsFRSlUUxWnst6FzLJNX5BbReuQiWSpig2QHz+h6lAWf0A2btyylSlYhHHKilsZF5XuxfuKJL8DL6IlWjvZ9BSeI9pE/TK2ZKtj9Doktx3kFN38vx3KKpFb0PpNnIzAIuIVikno8bZ6wkJPaObsUxomJU8O4+VzMouYGssf923fFIPXokU/oh+n6yZNgNxGb0MZjgk3runAckLJ/LzTunYiYQ7vUXhP/9ndQ+vpSlJeLqBP+QE1p0zMvaPcLz+ThppAMS7QcmfYlvpqN5+bw7eir5xKL+v5Ppj5iiCFttkYa5g67+9TN4hSggDO9TlJGE2OhZO06obBDvlv43jEsZMoUKYy3k5Em9tOLz3seg2n/Me+5C6E8T27mh+Rf1yGEuqlaHCr0d9DSUl0BLv4g3jOIh/u294CTgMAK+X04ND911NALLGmgzo4W4ZAxxvsMRfKlpxESfQU85T13y0UtKHn4EnheUF/hx4xt9C6qu2Cpg+Kew25IDNLBHWKbqIaYfTqyjC6DwlGGXnwtm1lgzH6wmUzOqbuppozhHghMxNa9nRfDEFCxX4P4BxbAK0Njf/QNu38wQnUHR13pecdDaBHqKwHzOZ1VxECSPzSnzAMFNF0vpF5NWEBktUu+mr7QRyWRMBOAzlOFb5tBJJE8LV3vAyukujq0JYAGeQ74aGMEAup4vblauZPiX4SGayXiRNOyrZ8KHgchW162iKBC+2dB8PBjbysmZpDjDkof6zU/TlchRiVXII0394QohopzDLM691zWJ/Q3HaARjsbxlHyHwipKpa5OsTywgstyNbB0im0DesE8M7dUK55ApYk9tC7Kk8Awkfr9KPgSxgnc90LMddcRIxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pg8VHH355x3wA2G5zeqpQK",
      "input": {
        "note": "At table level but the cap still sits just ahead of the jaw tips in the left wrist view. Sliding forward ~3 cm so the cap lies between the jaws.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.125,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Pg8VHH355x3wA2G5zeqpQK",
      "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]: [-0.2222, 1.9491, 0.8921, 0.2802, 0.1562, 0.1776, 0.9994, 0.5564, 1.5982, 0.7418, 0.0757, 0.1081, 0.0635, 0.0633]\nstate[eef_state]: left_x=0.448 left_y=-0.1257 left_z=0.0021 left_yaw=-0.4567 left_pitch=-0.1948 left_roll=0.0171 left_gripper=0.9994 right_x=0.3544 right_y=0.2022 right_z=0.0573 right_yaw=0.4196 right_pitch=-0.2184 right_roll=-0.0326 right_gripper=0.0633\nstate[joint_eff]: [0.4308, -7.9795, 6.3521, 1.2625, 0.1392, 0.0757, -0.0122, -0.3487, -6.9128, 5.9145, 1.5067, 0.0073, -0.0122, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:380dea6ad29ab06c0870d070862f6a790575dae0b9a664c997e0d70477302943",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:378c001c4f0dbbf80c069e1b11e7f8affd934aa54ce959e1da39218493dc9475",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:24ffae07fe96fe4ef8fa2ea558732652a7bf8af628a3cf9b1aae884ac23e8659",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 21.72 s

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

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2451, 1.599, 0.8192, 0.0116, 0.1333, 0.1444, 0.9994, 0.5564, 1.597, 0.7418, 0.0814, 0.1116, 0.0635, 0.0585]\nstate[eef_state]: left_x=0.4029 left_y=-0.1213 left_z=0.0761 left_yaw=-0.4416 left_pitch=-0.1893 left_roll=0.0104 left_gripper=0.9994 right_x=0.3556 right_y=0.2022 right_z=0.0588 right_yaw=0.4168 right_pitch=-0.2113 right_roll=-0.0341 right_gripper=0.0585\nstate[joint_eff]: [0.1846, -7.8291, 9.388, 1.7753, 0.105, 0.2662, -0.0122, -0.1846, -6.9402, 5.9829, 1.5653, 0.0366, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2218, 1.8709, 0.7975, 0.2649, 0.1631, 0.1818, 0.9994, 0.5564, 1.5978, 0.7418, 0.0792, 0.1104, 0.0635, 0.0633]\nstate[eef_state]: left_x=0.4203 left_y=-0.1205 left_z=0.0009 left_yaw=-0.4661 left_pitch=-0.2244 left_roll=0.0076 left_gripper=0.9994 right_x=0.3551 right_y=0.2021 right_z=0.0581 right_yaw=0.4177 right_pitch=-0.2144 right_roll=-0.0337 right_gripper=0.0633\nstate[joint_eff]: [0.5675, -6.6256, 5.7641, 1.1648, 0.1294, -0.1197, -0.0122, -0.1983, -6.9675, 6.0239, 1.5067, -0.0073, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2222, 1.9491, 0.8921, 0.2802, 0.1562, 0.1776, 0.9994, 0.5564, 1.5982, 0.7418, 0.0757, 0.1081, 0.0635, 0.0633]\nstate[eef_state]: left_x=0.448 left_y=-0.1257 left_z=0.0021 left_yaw=-0.4567 left_pitch=-0.1948 left_roll=0.0171 left_gripper=0.9994 right_x=0.3544 right_y=0.2022 right_z=0.0573 right_yaw=0.4196 right_pitch=-0.2184 right_roll=-0.0326 right_gripper=0.0633\nstate[joint_eff]: [0.4308, -7.9795, 6.3521, 1.2625, 0.1392, 0.0757, -0.0122, -0.3487, -6.9128, 5.9145, 1.5067, 0.0073, -0.0122, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:380dea6ad29ab06c0870d070862f6a790575dae0b9a664c997e0d70477302943",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:378c001c4f0dbbf80c069e1b11e7f8affd934aa54ce959e1da39218493dc9475",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24ffae07fe96fe4ef8fa2ea558732652a7bf8af628a3cf9b1aae884ac23e8659",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSnAcKEAgSGAI4AUIIdGhpbmtpbmcSDFrCH5IOoxSF4L7qphoMXlQ0X6UFoHbudG6IIjA42IBJALCZFcZ4nB93ZSYt9fMJNFGttmSNBhO7MW6qLk45zg47z5UPf+YG9LWVb9YquQb/4iCRyPL9gAMEStrrpwoSaaa0sowo00RHE/zWU82LOJRBjIXCW5237w6a4Vn3EHiUnjyh8FF3FKJ7u00Xq4AwQXw+NhQrPHuMZVDZZnjOnsMmmtb26s2byEyWKRUL/6Ftw0ErF2NdjIr6+0hNV1AXl+u3DIa2jfWLh2S7Hyc2FxBWM2NdWw0SM7wylWk6d3c0GHvfAduX21g3gk7h64AaAmmYCD47xfpwmQN1Q3mFi1P9ZpUqD05qQs4aAwbQX+FeOzLMOUzNvBq/bMQpyh8VzDF8a0VZ1lTMOchHhY0tVvPQO1ZC/xnruFfITLcnasztoJG1HoFiJybRMkK4da+HOcax/RHTlVVmwVopa8N4kBO6O9d9XiUsE9rYe/tHYqr7t7mxJrjS+nNuAIv6IMdJl4A/RTZ3ryJHk7QlvyLvL0t7E000lkhvck/0Sk3cSEkOCJAXLDY0kHICG+MNWtCMCZ50stxJZvINboJ13sNmjTzn5BW8mPbUYzWCCCEa9RLHX2mqkdhOFEQ4OSXi9GWrCV+06IWuohDn0+eFS/t2KzbQ/4c97TwPQRseSunaxd33OOvIeJjs2kp3vIIfBXf/uzncKXlIihTPDrsXyUBTwxV45fY+UgMW4KtGzuVVWOgt2uoFVVTSfA728nVRLOKzepxvTKEujgOPAHV4fP1xgTSnmUy0NxqnyiP70Wny13kJo0O5qjateLQDy82h5yH73dYvtQ3FFsM3aoLmpHiFoFJ57MeqNhCvuqeZf9r4F+mDRa0AAHdi/tQCoWFGEqEj3eIwY+MrXfQtJq/RtQNc53ewjGPuh+ewacIggHMjNcX6+hnNzkL8PNI6w3615RuzgK+M5hy3utM8eAuwqiz8OUXRvBzMHpMJ3QQPpoM+rk1tCWUy6lztJOpQBMnFSaLujrvFNLzkZ9JDYBFiwizX+9uphQCgATyGJAj0rWPibzzsWcYachlS5LSKilcu1z2EruAVE3iQSM+g/gh1Q4m6/15wdkr46ajQRVVskkWLgGPredyRVO+Jg28IBUTgI0iWckOoOxjtbZMEb5pfuj5en7KfXPEaiHbHuF8WWrzF/mF7HCpvuR8ftL8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F3cptmuHJRmewxzFqsgEd3",
      "input": {
        "note": "Cap now sits between the left jaws. Closing 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_01F3cptmuHJRmewxzFqsgEd3",
      "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]: [-0.2211, 1.9606, 0.8993, 0.3038, 0.1566, 0.1753, 0.1064, 0.5564, 1.5982, 0.7418, 0.0742, 0.1078, 0.0635, 0.0633]\nstate[eef_state]: left_x=0.4533 left_y=-0.1264 left_z=0.0037 left_yaw=-0.4538 left_pitch=-0.1758 left_roll=0.0197 left_gripper=0.1064 right_x=0.3541 right_y=0.2021 right_z=0.0571 right_yaw=0.4199 right_pitch=-0.22 right_roll=-0.0326 right_gripper=0.0633\nstate[joint_eff]: [-0.2256, -10.4137, 4.6564, 1.2918, 0.0171, -0.0024, 0.6081, -0.1983, -6.9402, 5.9966, 1.5507, -0.022, -0.0269, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b877393105a22f7d06cc9ae97a40677b6e06c7afa7f5a08ca965bcb5a21a2a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8d87bd6b9fddad137f50b17a3a79be4fc537863a1b3fdddca74399d9816ba01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:119f581fc995bca37464225041ad226820eb245459f38842b7182434d1bc3671",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 6.865 s

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

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2218, 1.8709, 0.7975, 0.2649, 0.1631, 0.1818, 0.9994, 0.5564, 1.5978, 0.7418, 0.0792, 0.1104, 0.0635, 0.0633]\nstate[eef_state]: left_x=0.4203 left_y=-0.1205 left_z=0.0009 left_yaw=-0.4661 left_pitch=-0.2244 left_roll=0.0076 left_gripper=0.9994 right_x=0.3551 right_y=0.2021 right_z=0.0581 right_yaw=0.4177 right_pitch=-0.2144 right_roll=-0.0337 right_gripper=0.0633\nstate[joint_eff]: [0.5675, -6.6256, 5.7641, 1.1648, 0.1294, -0.1197, -0.0122, -0.1983, -6.9675, 6.0239, 1.5067, -0.0073, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2222, 1.9491, 0.8921, 0.2802, 0.1562, 0.1776, 0.9994, 0.5564, 1.5982, 0.7418, 0.0757, 0.1081, 0.0635, 0.0633]\nstate[eef_state]: left_x=0.448 left_y=-0.1257 left_z=0.0021 left_yaw=-0.4567 left_pitch=-0.1948 left_roll=0.0171 left_gripper=0.9994 right_x=0.3544 right_y=0.2022 right_z=0.0573 right_yaw=0.4196 right_pitch=-0.2184 right_roll=-0.0326 right_gripper=0.0633\nstate[joint_eff]: [0.4308, -7.9795, 6.3521, 1.2625, 0.1392, 0.0757, -0.0122, -0.3487, -6.9128, 5.9145, 1.5067, 0.0073, -0.0122, 1.0379]",
      "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]: [-0.2211, 1.9606, 0.8993, 0.3038, 0.1566, 0.1753, 0.1064, 0.5564, 1.5982, 0.7418, 0.0742, 0.1078, 0.0635, 0.0633]\nstate[eef_state]: left_x=0.4533 left_y=-0.1264 left_z=0.0037 left_yaw=-0.4538 left_pitch=-0.1758 left_roll=0.0197 left_gripper=0.1064 right_x=0.3541 right_y=0.2021 right_z=0.0571 right_yaw=0.4199 right_pitch=-0.22 right_roll=-0.0326 right_gripper=0.0633\nstate[joint_eff]: [-0.2256, -10.4137, 4.6564, 1.2918, 0.0171, -0.0024, 0.6081, -0.1983, -6.9402, 5.9966, 1.5507, -0.022, -0.0269, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b877393105a22f7d06cc9ae97a40677b6e06c7afa7f5a08ca965bcb5a21a2a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8d87bd6b9fddad137f50b17a3a79be4fc537863a1b3fdddca74399d9816ba01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:119f581fc995bca37464225041ad226820eb245459f38842b7182434d1bc3671",
        "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_01VSt9cnKwsCKiZWJYM2CEGJ",
      "input": {
        "note": "Left gripper settled at 0.106 (~1 cm), so it likely holds the cap. Lifting to confirm.",
        "targets": {
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VSt9cnKwsCKiZWJYM2CEGJ",
      "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]: [-0.2211, 1.713, 1.1496, -0.2371, 0.1558, 0.173, 0.1087, 0.5564, 1.5982, 0.7418, 0.0601, 0.1078, 0.0635, 0.0633]\nstate[eef_state]: left_x=0.4504 left_y=-0.1256 left_z=0.1178 left_yaw=-0.4539 left_pitch=-0.2178 left_roll=0.0084 left_gripper=0.1087 right_x=0.352 right_y=0.2008 right_z=0.0546 right_yaw=0.4194 right_pitch=-0.2339 right_roll=-0.0345 right_gripper=0.0633\nstate[joint_eff]: [0.0068, -11.4667, 9.9487, 1.6142, 0.0073, -0.0562, 0.2369, -0.1846, -6.9265, 5.9009, 1.663, 0.0171, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e25daf41b308fe634b62a1d69a4f49db9c60395957c662761b67fd7617034204",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:471718d5f8cd0833f144ff38705ec4df0c78e3412b6c998a6ed45598c2703c3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:da1fcf31ed54a78d1258d9886001626979040e8c9a3c481313919682c764c49e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 5.607 s

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

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2222, 1.9491, 0.8921, 0.2802, 0.1562, 0.1776, 0.9994, 0.5564, 1.5982, 0.7418, 0.0757, 0.1081, 0.0635, 0.0633]\nstate[eef_state]: left_x=0.448 left_y=-0.1257 left_z=0.0021 left_yaw=-0.4567 left_pitch=-0.1948 left_roll=0.0171 left_gripper=0.9994 right_x=0.3544 right_y=0.2022 right_z=0.0573 right_yaw=0.4196 right_pitch=-0.2184 right_roll=-0.0326 right_gripper=0.0633\nstate[joint_eff]: [0.4308, -7.9795, 6.3521, 1.2625, 0.1392, 0.0757, -0.0122, -0.3487, -6.9128, 5.9145, 1.5067, 0.0073, -0.0122, 1.0379]",
      "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]: [-0.2211, 1.9606, 0.8993, 0.3038, 0.1566, 0.1753, 0.1064, 0.5564, 1.5982, 0.7418, 0.0742, 0.1078, 0.0635, 0.0633]\nstate[eef_state]: left_x=0.4533 left_y=-0.1264 left_z=0.0037 left_yaw=-0.4538 left_pitch=-0.1758 left_roll=0.0197 left_gripper=0.1064 right_x=0.3541 right_y=0.2021 right_z=0.0571 right_yaw=0.4199 right_pitch=-0.22 right_roll=-0.0326 right_gripper=0.0633\nstate[joint_eff]: [-0.2256, -10.4137, 4.6564, 1.2918, 0.0171, -0.0024, 0.6081, -0.1983, -6.9402, 5.9966, 1.5507, -0.022, -0.0269, 1.0379]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2211, 1.713, 1.1496, -0.2371, 0.1558, 0.173, 0.1087, 0.5564, 1.5982, 0.7418, 0.0601, 0.1078, 0.0635, 0.0633]\nstate[eef_state]: left_x=0.4504 left_y=-0.1256 left_z=0.1178 left_yaw=-0.4539 left_pitch=-0.2178 left_roll=0.0084 left_gripper=0.1087 right_x=0.352 right_y=0.2008 right_z=0.0546 right_yaw=0.4194 right_pitch=-0.2339 right_roll=-0.0345 right_gripper=0.0633\nstate[joint_eff]: [0.0068, -11.4667, 9.9487, 1.6142, 0.0073, -0.0562, 0.2369, -0.1846, -6.9265, 5.9009, 1.663, 0.0171, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e25daf41b308fe634b62a1d69a4f49db9c60395957c662761b67fd7617034204",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:471718d5f8cd0833f144ff38705ec4df0c78e3412b6c998a6ed45598c2703c3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da1fcf31ed54a78d1258d9886001626979040e8c9a3c481313919682c764c49e",
        "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_01CYdPmpvwWd5yGELpVmKZVZ",
      "input": {
        "note": "Both parts are held (pen in right jaws, cap in left, each protruding forward). Moving the pen to the table centre line pointing straight forward, tip ahead.",
        "targets": {
          "right_x": 0.22,
          "right_y": 0.33,
          "right_yaw": 0.0,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01CYdPmpvwWd5yGELpVmKZVZ",
      "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]: [-0.2211, 1.7081, 1.1469, -0.2604, 0.1562, 0.173, 0.1097, 1.2587, 1.7683, 1.3884, -0.8238, 0.6811, 1.0012, 0.0656]\nstate[eef_state]: left_x=0.4456 left_y=-0.1246 left_z=0.115 left_yaw=-0.4553 left_pitch=-0.2382 left_roll=0.0031 left_gripper=0.1097 right_x=0.224 right_y=0.3437 right_z=0.1424 right_yaw=0.1079 right_pitch=-0.2546 right_roll=-0.0167 right_gripper=0.0656\nstate[joint_eff]: [-0.3077, -7.8564, 7.1863, 1.6484, 0.0708, -0.0513, 0.0855, 0.1846, -8.8274, 7.2137, 0.4615, 0.7057, 0.2808, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec78886559b9f20ca797f709ffe9d78275c09da78f16764c1bae13b8ee9ef3fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89b10e2f4068fe98b7d870e9dc352e494c1468742e058eff5e33f3bee60c60bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:10ef7c3aa187cd53fbbbfa2b83eb7e938d98f52ed1918aded1b26776713bdd92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 6.239 s

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

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2211, 1.9606, 0.8993, 0.3038, 0.1566, 0.1753, 0.1064, 0.5564, 1.5982, 0.7418, 0.0742, 0.1078, 0.0635, 0.0633]\nstate[eef_state]: left_x=0.4533 left_y=-0.1264 left_z=0.0037 left_yaw=-0.4538 left_pitch=-0.1758 left_roll=0.0197 left_gripper=0.1064 right_x=0.3541 right_y=0.2021 right_z=0.0571 right_yaw=0.4199 right_pitch=-0.22 right_roll=-0.0326 right_gripper=0.0633\nstate[joint_eff]: [-0.2256, -10.4137, 4.6564, 1.2918, 0.0171, -0.0024, 0.6081, -0.1983, -6.9402, 5.9966, 1.5507, -0.022, -0.0269, 1.0379]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2211, 1.713, 1.1496, -0.2371, 0.1558, 0.173, 0.1087, 0.5564, 1.5982, 0.7418, 0.0601, 0.1078, 0.0635, 0.0633]\nstate[eef_state]: left_x=0.4504 left_y=-0.1256 left_z=0.1178 left_yaw=-0.4539 left_pitch=-0.2178 left_roll=0.0084 left_gripper=0.1087 right_x=0.352 right_y=0.2008 right_z=0.0546 right_yaw=0.4194 right_pitch=-0.2339 right_roll=-0.0345 right_gripper=0.0633\nstate[joint_eff]: [0.0068, -11.4667, 9.9487, 1.6142, 0.0073, -0.0562, 0.2369, -0.1846, -6.9265, 5.9009, 1.663, 0.0171, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2211, 1.7081, 1.1469, -0.2604, 0.1562, 0.173, 0.1097, 1.2587, 1.7683, 1.3884, -0.8238, 0.6811, 1.0012, 0.0656]\nstate[eef_state]: left_x=0.4456 left_y=-0.1246 left_z=0.115 left_yaw=-0.4553 left_pitch=-0.2382 left_roll=0.0031 left_gripper=0.1097 right_x=0.224 right_y=0.3437 right_z=0.1424 right_yaw=0.1079 right_pitch=-0.2546 right_roll=-0.0167 right_gripper=0.0656\nstate[joint_eff]: [-0.3077, -7.8564, 7.1863, 1.6484, 0.0708, -0.0513, 0.0855, 0.1846, -8.8274, 7.2137, 0.4615, 0.7057, 0.2808, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec78886559b9f20ca797f709ffe9d78275c09da78f16764c1bae13b8ee9ef3fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89b10e2f4068fe98b7d870e9dc352e494c1468742e058eff5e33f3bee60c60bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10ef7c3aa187cd53fbbbfa2b83eb7e938d98f52ed1918aded1b26776713bdd92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS4wkKEAgSGAI4AUIIdGhpbmtpbmcSDBZCjDf8BXaGu0gMaRoMJ7Rhggm73ATFNorpIjCLzA7j7JsgWEr/zOS5AftV+5xkwh7t6DSOOf+lpgtTkv9Si+gLrmPsBW1EZp+F3sEqgAm67puGIAKwGO5nHAzmp6mgRr/82uoLKTeYuf3KNaXaLabsM9Vv1Ap3Bledu5QNfem60gb+D+gY8bbdKRjZ2ckxXcdjxbHfecNDdGNz/iH7unjPVqRYuuspI2B35bM0/zqn+C93wEt8R5c72uViBb2w/uXSvVEOxNO+P25Zc/SoQVaNuFteRw8Ul9D68iWjeOhZe9B0++AhzlxWX7s9P2hFc7r1PHAzNLt2hJfjcvLDokcOW25aqeEoDVePxDhF6bgZFLWeUifCmdzPQlOfsVMTX+xrGjWVHaywJPxQ3qJrz3RBYl9Fx0S887gJ/E0zjm3FYwrkVQllmdIZp7QYWXjFXherpVTFhQotYUCTJGkfR/9bk7tujBbhAXOK8FHby88Js+7VhUv/xxJDerbtHnf38M7o5pXBxOPotk9O1lwduPATHc4zzCExcznB+mIaPXsRbJylH3csaOi2yLCnzJvFhe5O8gocKNzAwt6RaOHqZwPJVEh7pnVLQNOYZIuvQnhkR8rzaPhqHjpE04eGQglyorA4FIreIT4hLHKWsYvezdGbcxurvIm5YwU+CUfGgfoadGH62dNkULo5IBku8mCsR9jvW60qO5PxONbyofiyJohufVfhP4t8wLbw6fIWPPA0aL2Tyk6whsa6rzV3gdEwhy771EJK92QiKMFIiG+azujaHaAVyuJhJ6zJTBi6j6FFby8tIlFWSv4oT8zTrWlNKCQ2XhRAngZ0XWcCJx0sPDj1n3uxHmhyRKBchdjkX1PjWZ0FD7Qn1MX751/69GY/mNNcwo4CLsgRoztmGUcPGGxnWHvrpGeIwRUSExdEg6iJt/DjZznZnZw1eKnbqSnYizF1NN6vfljN/3w0X8bZaAM+D9RxDHWEwyhM+k9PkCDKoWS+lsDKmEkPNYrezAS8BQeHp7PFDpAmMCRQcxoJ7yDn9TCllmh9Mx4RwFhUSU/bV3LYwunRAnNEFdr6AxbiqohyZ8nBF+KvnJ2K3Qqk3L20wjI4CjrihldE3k+SzLtrb3bBDu5+qtyYQdHFjqCS11+7oD2guC9x0b+7CXKqxyGa+ilq63LrchZF7D1FXeuvX88zQm14KbrGOdxa7xUYHgUv7SdcR1SZ9MJAF4+NvW7aNqa2Xn0O3KSu+H31ffWzNLoLZfBmJUyJOR5vZKs8CEgVF7TDFENSR7SZZC4Ejq+IPqHOD+/0BjhkNrckoJxnZsVeok17n4YZ0fdHAli0deK7fHk0/2sVBghaSKVbg8VbfI53I6IQ7UBv0SRr9XHvM4kmD6ZE8drED5+rA2wzVrm8NBRIQK70/haC7GYNGvGn4MyA06Twz1tw3Afiqlf2WOXpvpg2LXG/NU+zM2jC534caQp+s3j1hc5RMo/Sz6bI8V1/C0acldPq+RbuNCGDjCpxJ3SvLbTNZC1WrIRgSfci+9tSn8SwP1wrU8g/pklxw7SRKnf8B8j75ufzHKnLhe8vnQ33PHvw2Samji9VixkO0vDwL2sUg2E8DsPwK/RC7OyCpbnQi2qfsdTiRm4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QG9c4zg3eVdz67Heij8kyE",
      "input": {
        "note": "Pen is now held on the centre line pointing forward. Bringing the cap in line ahead of the pen tip, same heading, open end facing back toward the tip.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.306,
          "left_yaw": 0.1,
          "left_z": 0.175
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01QG9c4zg3eVdz67Heij8kyE",
      "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]: [-0.7826, 2.133, 1.9644, -0.8429, -0.5236, -0.6777, 0.1108, 1.2629, 1.7817, 1.3865, -0.8295, 0.672, 1.005, 0.069]\nstate[eef_state]: left_x=0.4411 left_y=-0.309 left_z=0.1645 left_yaw=0.044 left_pitch=-0.2539 left_roll=-0.0047 left_gripper=0.1108 right_x=0.2211 right_y=0.3442 right_z=0.1354 right_yaw=0.109 right_pitch=-0.2709 right_roll=-0.0303 right_gripper=0.069\nstate[joint_eff]: [-0.4171, -11.9863, 8.4991, 0.9206, -0.4371, -0.0562, 0.105, -0.3897, -9.5521, 6.3385, 0.9109, 0.4322, -0.0855, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5a8ba7a2b1f219c2add766f30ea3c741f1ec8f4cd35ad8f485bdf77b1eb0220",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de2f2053c3fce161a214e9361a4d2a457c1904a37c7af6e23936ef7204bd3af7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6c5f1d049456503b09ac50c2a19423d59e0ca3c80e3b7f606780a767d458d9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 6.452 s

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

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2211, 1.713, 1.1496, -0.2371, 0.1558, 0.173, 0.1087, 0.5564, 1.5982, 0.7418, 0.0601, 0.1078, 0.0635, 0.0633]\nstate[eef_state]: left_x=0.4504 left_y=-0.1256 left_z=0.1178 left_yaw=-0.4539 left_pitch=-0.2178 left_roll=0.0084 left_gripper=0.1087 right_x=0.352 right_y=0.2008 right_z=0.0546 right_yaw=0.4194 right_pitch=-0.2339 right_roll=-0.0345 right_gripper=0.0633\nstate[joint_eff]: [0.0068, -11.4667, 9.9487, 1.6142, 0.0073, -0.0562, 0.2369, -0.1846, -6.9265, 5.9009, 1.663, 0.0171, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2211, 1.7081, 1.1469, -0.2604, 0.1562, 0.173, 0.1097, 1.2587, 1.7683, 1.3884, -0.8238, 0.6811, 1.0012, 0.0656]\nstate[eef_state]: left_x=0.4456 left_y=-0.1246 left_z=0.115 left_yaw=-0.4553 left_pitch=-0.2382 left_roll=0.0031 left_gripper=0.1097 right_x=0.224 right_y=0.3437 right_z=0.1424 right_yaw=0.1079 right_pitch=-0.2546 right_roll=-0.0167 right_gripper=0.0656\nstate[joint_eff]: [-0.3077, -7.8564, 7.1863, 1.6484, 0.0708, -0.0513, 0.0855, 0.1846, -8.8274, 7.2137, 0.4615, 0.7057, 0.2808, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.7826, 2.133, 1.9644, -0.8429, -0.5236, -0.6777, 0.1108, 1.2629, 1.7817, 1.3865, -0.8295, 0.672, 1.005, 0.069]\nstate[eef_state]: left_x=0.4411 left_y=-0.309 left_z=0.1645 left_yaw=0.044 left_pitch=-0.2539 left_roll=-0.0047 left_gripper=0.1108 right_x=0.2211 right_y=0.3442 right_z=0.1354 right_yaw=0.109 right_pitch=-0.2709 right_roll=-0.0303 right_gripper=0.069\nstate[joint_eff]: [-0.4171, -11.9863, 8.4991, 0.9206, -0.4371, -0.0562, 0.105, -0.3897, -9.5521, 6.3385, 0.9109, 0.4322, -0.0855, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5a8ba7a2b1f219c2add766f30ea3c741f1ec8f4cd35ad8f485bdf77b1eb0220",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de2f2053c3fce161a214e9361a4d2a457c1904a37c7af6e23936ef7204bd3af7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6c5f1d049456503b09ac50c2a19423d59e0ca3c80e3b7f606780a767d458d9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSlgsKEAgSGAI4AUIIdGhpbmtpbmcSDOt2KasCaSrhvczdahoMN+oeEVPP/BuRPPbVIjDrto+XuoorJzNXHOjMkqktxKVuCd3AJvc00q4xOG+3vWwOs1dPghmXu3nS4pidRfsqswpq/DKDbaOcZRCTrQ2IoAFGGYSXowSIY2rTP2hPKw4EKYyh+se9p3gtRV5z9uD0eiHFf9Kolg/qNz2oEtwP4ze+iNzgc0pzl6x4hCXvemn6OT/wmuBSH9YMPz4JZcLEkGQ96rlzrpZHYJY51ziBc/m2mqQh2Gqmh2Vcf2E6laGG9XkFf4O+kSmjR42C0ztZWSrTQ67YHxw5/JVo37twe+zu/VGk5Zwgw2sLrXMnB6BlQpagKk6LPU9+589iAdi/KcJf9X6fhBCNb9cAvLi4seWsX2HFiZt5YDGPTvm8V8kcligOsvZXTtypdAlBD3N7Ql6phvb+kUbj7ijtm+oxRifhV15mzVmhKJCzdjKUDZ6lOJt1e5Zjo24JmxeQln+TSkliGyw1NxnrJeiLjy2nwnx4E5e80HmNNBtWiQ1vzsl1Dd2eX65rMbyRd7BdQAJc4rV1/s1bqJO17FgOLUAh4+Rzyf452wio0MQbaWW/EBc4Pp6kw4wUcn6yD5h0TzwikGpw5LTVRKqlaKykmU2F8q0RXJrSSFnBGD84BVUkEwtDmJF04xXZIFePhaY7C5TxPs8fi27eSTocK4h5TLt9NP4un0byzORJG/8BYPCjRXVrl5t7/0BecH+5laX6Ln8bb52D+CeGyDF9kjgbFJaVWRsiSuiYWeC6uePfECbsEWzxhO/6/efb7Ifx5VC9LCp5rnJ/5L0pXpY6Z1+mJuopDhNNxzXCz16L6+CglTHYkH0GkvXoPxCdpPhhZJ0ZTyRXxA9tMsXnc3ATEFtdZGjxi5+LgANuX5c0Dt4X7gngX/HotA2OutR6dz4fnhR69OtXCUNSmywZF9bcxfIGkBYLb2w80okkh9CZ1qbbo1LCsVTF9wVS1kXM30/5DZEyewUMTYOnSZ+ODKLxutR6Co620PUXNlOwIJf1LqTh1fbcIfCiZAaa7xw2Ic4aNUrsEJseJ+zcIR5RMy7xdf6jnlTC1a6fmX6CE90UR8fSDt1JwfNNlY8foiXa7MYnxwkCpBwV0hTZ1ExGlLikJjxr0SKpqLzOAjkHAX/OGhXlJWZk94LDwIM+OR6jGKXEC9BC9jTHHt2gvvM2wXHSGApgWzn/D84ZxW/F4ZjW4dyjqKTjPtD7+cMvIA4M7QdxnMcMz+SvDKmnJUxntUfTidImhX9jGOK/aNa827N5lTxPDku/acp9jvRsCNq17r5e8AA/k7ALakvv5/ZRFoorCQAL7bp48TB2WT6Bk3lnzKDMZY/uV0uvRdPUANAQwGAiG5cxppcld+lmZFgt67KYgQpbKKj/sL45TxDXkmrxpMZ0OPejZW0CSa7CKW3N9f/vzgDN3Bi4p40U+H84LAneiKra1GTcbfVT7en8DHJPiRjIaWFVYXZS5e2RPeFgPs55ZH5mwhwnG2gkM9GPb7dKLNuaQ4kybL6FPou8btm2v5JMAGgokxvzPP7anA2/31dcF+9cP6gzwFOufcqYG/DmPPfyMHMsQBQ/b2WueSqhRavlz/zzCewxgQovGaDcpKYVDMZc1FElyaMK/v6Ie9wa6rTJhalUrUFZv3iN8Iae3OmQLTTwTF+Fw/9dCHbduqr/HjPdqUNtMZmzazugrX+wQpSvjp4S2m/+X0GnNHOuUabYiTJZES4+0IX9cPbLOB9EvAy3gR/Ajz1ciYWSn4Wf9ViUadjgUSCDRR0mVFb0nkCh9NET3KkoQ0h6e/s//LyeAOLmBgNsDzLq8J9ZRuSg3oSIXiKkGzsncBEjZh0CG7syM3on9T0qz4BSrxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dypw4goFXnFneD42EdRbLL",
      "input": {
        "note": "Cap is ahead of the pen on the same line but ~3 cm higher and yaw slightly off. Lowering the left arm to the pen's height and matching heading.",
        "targets": {
          "left_yaw": 0.16,
          "left_z": 0.145
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Dypw4goFXnFneD42EdRbLL",
      "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]: [-0.7956, 2.1616, 2.001, -0.8982, -0.5621, -0.762, 0.111, 1.2629, 1.7817, 1.3853, -0.8314, 0.6682, 1.0054, 0.069]\nstate[eef_state]: left_x=0.438 left_y=-0.3073 left_z=0.16 left_yaw=0.1129 left_pitch=-0.2592 left_roll=-0.0043 left_gripper=0.111 right_x=0.2205 right_y=0.3439 right_z=0.1345 right_yaw=0.1097 right_pitch=-0.2754 right_roll=-0.0314 right_gripper=0.069\nstate[joint_eff]: [-0.6632, -9.306, 6.8034, 1.3016, -0.4615, -0.0806, -0.0024, -0.3077, -8.8821, 6.6803, 0.9353, 0.4029, -0.0171, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd7f9dba5ce020d329c4539b469683efb7eb8668154566b0f00fdbb066da9b88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43fefb08cac0768f810fc1984b1cb99ee991f7c13393061b9f80708b231c92ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8a481404fc2fbb7ba4ea9e7189fec6f0df27db48a245ef6dc68657d1be826767",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 5.066 s

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

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2211, 1.7081, 1.1469, -0.2604, 0.1562, 0.173, 0.1097, 1.2587, 1.7683, 1.3884, -0.8238, 0.6811, 1.0012, 0.0656]\nstate[eef_state]: left_x=0.4456 left_y=-0.1246 left_z=0.115 left_yaw=-0.4553 left_pitch=-0.2382 left_roll=0.0031 left_gripper=0.1097 right_x=0.224 right_y=0.3437 right_z=0.1424 right_yaw=0.1079 right_pitch=-0.2546 right_roll=-0.0167 right_gripper=0.0656\nstate[joint_eff]: [-0.3077, -7.8564, 7.1863, 1.6484, 0.0708, -0.0513, 0.0855, 0.1846, -8.8274, 7.2137, 0.4615, 0.7057, 0.2808, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.7826, 2.133, 1.9644, -0.8429, -0.5236, -0.6777, 0.1108, 1.2629, 1.7817, 1.3865, -0.8295, 0.672, 1.005, 0.069]\nstate[eef_state]: left_x=0.4411 left_y=-0.309 left_z=0.1645 left_yaw=0.044 left_pitch=-0.2539 left_roll=-0.0047 left_gripper=0.1108 right_x=0.2211 right_y=0.3442 right_z=0.1354 right_yaw=0.109 right_pitch=-0.2709 right_roll=-0.0303 right_gripper=0.069\nstate[joint_eff]: [-0.4171, -11.9863, 8.4991, 0.9206, -0.4371, -0.0562, 0.105, -0.3897, -9.5521, 6.3385, 0.9109, 0.4322, -0.0855, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7956, 2.1616, 2.001, -0.8982, -0.5621, -0.762, 0.111, 1.2629, 1.7817, 1.3853, -0.8314, 0.6682, 1.0054, 0.069]\nstate[eef_state]: left_x=0.438 left_y=-0.3073 left_z=0.16 left_yaw=0.1129 left_pitch=-0.2592 left_roll=-0.0043 left_gripper=0.111 right_x=0.2205 right_y=0.3439 right_z=0.1345 right_yaw=0.1097 right_pitch=-0.2754 right_roll=-0.0314 right_gripper=0.069\nstate[joint_eff]: [-0.6632, -9.306, 6.8034, 1.3016, -0.4615, -0.0806, -0.0024, -0.3077, -8.8821, 6.6803, 0.9353, 0.4029, -0.0171, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd7f9dba5ce020d329c4539b469683efb7eb8668154566b0f00fdbb066da9b88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43fefb08cac0768f810fc1984b1cb99ee991f7c13393061b9f80708b231c92ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a481404fc2fbb7ba4ea9e7189fec6f0df27db48a245ef6dc68657d1be826767",
        "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_01VZq8MnSUwrnq6qkYY8Atsb",
      "input": {
        "note": "Left arm still reads 2.5 cm higher than the pen. Commanding lower to bring the cap to the pen's height.",
        "targets": {
          "left_z": 0.125
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VZq8MnSUwrnq6qkYY8Atsb",
      "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]: [-0.7994, 2.1929, 1.9999, -0.8986, -0.5728, -0.8116, 0.111, 1.2514, 1.7817, 1.3811, -0.8387, 0.6567, 1.005, 0.0691]\nstate[eef_state]: left_x=0.4383 left_y=-0.3082 left_z=0.1446 left_yaw=0.1506 left_pitch=-0.2713 left_roll=-0.0057 left_gripper=0.111 right_x=0.2222 right_y=0.3399 right_z=0.1315 right_yaw=0.1005 right_pitch=-0.2899 right_roll=-0.0379 right_gripper=0.0691\nstate[joint_eff]: [-0.5538, -11.7402, 6.8308, 1.1844, -0.4713, -0.0855, -0.0073, 0.7179, -8.6359, 6.5162, 0.9206, 0.3785, 0.0024, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90aa50f1efd3290578e6ad47a10e6a20085a20293e678a20d216c32ae6dec890",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84ff6213e709be40503845ccbae9f5659233e0da29be6fab5fb673c697c2008b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08822d228f64b4a2c3a476a01e8ea93d1b1a702f88fca7d807eda97b72b5a85e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 9.195 s

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

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7826, 2.133, 1.9644, -0.8429, -0.5236, -0.6777, 0.1108, 1.2629, 1.7817, 1.3865, -0.8295, 0.672, 1.005, 0.069]\nstate[eef_state]: left_x=0.4411 left_y=-0.309 left_z=0.1645 left_yaw=0.044 left_pitch=-0.2539 left_roll=-0.0047 left_gripper=0.1108 right_x=0.2211 right_y=0.3442 right_z=0.1354 right_yaw=0.109 right_pitch=-0.2709 right_roll=-0.0303 right_gripper=0.069\nstate[joint_eff]: [-0.4171, -11.9863, 8.4991, 0.9206, -0.4371, -0.0562, 0.105, -0.3897, -9.5521, 6.3385, 0.9109, 0.4322, -0.0855, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7956, 2.1616, 2.001, -0.8982, -0.5621, -0.762, 0.111, 1.2629, 1.7817, 1.3853, -0.8314, 0.6682, 1.0054, 0.069]\nstate[eef_state]: left_x=0.438 left_y=-0.3073 left_z=0.16 left_yaw=0.1129 left_pitch=-0.2592 left_roll=-0.0043 left_gripper=0.111 right_x=0.2205 right_y=0.3439 right_z=0.1345 right_yaw=0.1097 right_pitch=-0.2754 right_roll=-0.0314 right_gripper=0.069\nstate[joint_eff]: [-0.6632, -9.306, 6.8034, 1.3016, -0.4615, -0.0806, -0.0024, -0.3077, -8.8821, 6.6803, 0.9353, 0.4029, -0.0171, 1.033]",
      "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]: [-0.7994, 2.1929, 1.9999, -0.8986, -0.5728, -0.8116, 0.111, 1.2514, 1.7817, 1.3811, -0.8387, 0.6567, 1.005, 0.0691]\nstate[eef_state]: left_x=0.4383 left_y=-0.3082 left_z=0.1446 left_yaw=0.1506 left_pitch=-0.2713 left_roll=-0.0057 left_gripper=0.111 right_x=0.2222 right_y=0.3399 right_z=0.1315 right_yaw=0.1005 right_pitch=-0.2899 right_roll=-0.0379 right_gripper=0.0691\nstate[joint_eff]: [-0.5538, -11.7402, 6.8308, 1.1844, -0.4713, -0.0855, -0.0073, 0.7179, -8.6359, 6.5162, 0.9206, 0.3785, 0.0024, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90aa50f1efd3290578e6ad47a10e6a20085a20293e678a20d216c32ae6dec890",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84ff6213e709be40503845ccbae9f5659233e0da29be6fab5fb673c697c2008b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08822d228f64b4a2c3a476a01e8ea93d1b1a702f88fca7d807eda97b72b5a85e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSnwkKEAgSGAI4AUIIdGhpbmtpbmcSDJy8JlUW82Q+lRVbIBoMP8txuKy7ZkyrtiALIjBYbmlDDRt524MCOtPzMX8Ghclu6a42KCeFFedGb4afx8d4BfaOKEf3XY5FwFAtsMkqvAh3PjB2mqYNqba8s5f3PgKI5tJ0obfxOeTkLRkqDpThKv6YXJpftu+AXoutuoJKXVCW7nfLtQ5M7Iy9QBip4B/foPNEdZS03Av626H8GeNSJjDjXoKwVNVSCgFe5Q6mRDZnZd3G8RFYmoW4WY/Eb0Uq+8jKm//7Jf4u0UyuYdOJoLi2LhqquFz1cywpLnLCXx46AptsnNTqGD6tEDtDWPuKUpSmWJZ10+rkK6pkNK7yVRREehVooqVsRismZmm9peJNM3soSbm850odlQd0BUdNNGMb1QCjqEimc4lPRqfLPNJoPh62ZYXJbrsIc4jpbbBE26GZSiQd47iKRCe5sb9KkhBLuHzvgOyho5C0LPnamz3M9rsmuk5QG/a7ALnrY7Ed9F2g08jrn6k5Xn1G3MLnDtGE0CQo8nLBLId9NP14qFif5ClFdHWVyCTBNg9PXPsfuJVt72pZFk3sZcZnGo9FnFYw2CUva2S9KHfFUoIWpxs9N9pfGdTbzKQmdkrtdHr5707IRTvIwS2MW8jnm2goqav6+X3YzeR3g9YQ5oskMQzJbBlVIV2ULeK/oSfufCPQkHAw/4ZlzP1tiWawi8n0Wtc1079i9xBaUQUZx/RXhzbz8YmoMD/N0AKPrsMp+H5F/JppWpD3R0nI7cgDEhrwckUMBJkyyBxLsqLJLNbg7E3DGn1csISRVJzPv0BRG72apwJmTuBswRkgIP4SIGLLsZzJ5b8w7F5lTR4qMTUA6Eorm0NCFyisOczYPQklDrL0kxbhapMzXkK4RtSEC4PWB2Ss4SNck6ygq7yPbMbbuqN00TB2TSaQOdwT2WDESYJKQZPMQMuHeWazcJ4X9IoAzeDWfeforqAGeTkYJj9040wRtej/CeFsuFyEW25jsgKw67SJjYHGZtwYfOeeQttIwiJkKN9RK8Wv3NYhTnc2tZWc2eGkkwajXIF4q91eL1iqEx5789/KaiWFJeN8gPxkSvXq7krhWG9rGjvNTwVcoPU62F0ygvgnUGEZZq6pDOX+8dSZ58NwzDZM7E1oCkq2BVZiO6mwPz+Egaa8KhTJeYJDijPxFcECx4V5W/QAfg3fD8HRmNz25juIsCiRXZRITwgbAWSaeFsnECuQVsnVZ0QobqWXdoZoL5RE5Bot9kh1B3nbS9a05SYL9rrnZUtRT5EvTHcKOJ6SEM2R8Vy3NZvnmNY9TYBoCEwiljGAYgwbUQ84za3HMIa6MH3IY53VwHGjnKESCc1PDed1eZSv9A0iDqiol6+3TdR8hGMaBltaR7ll+Jg+oRe3XWUUcVwXU/IwoaH+hEfDyWMqxaXfJUCoEjydHCt8x3pVThVPcfIJTOpkZarOo6kwuRrJxHfqJJGNRNkt8p2Lyn6OiZTYe2TTpeRQe9FbEhnpDgbciq3phPmGSFxW1DSinM4Bvww7JZhWqVU8ZCm1y4/IGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E5bpEuR6zKaFh78FYfHenF",
      "input": {
        "note": "Cap and pen are roughly collinear at similar height. Advancing the pen forward toward the cap to bring its tip near the cap opening.",
        "targets": {
          "right_x": 0.28,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01E5bpEuR6zKaFh78FYfHenF",
      "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]: [-0.7994, 2.1948, 1.9999, -0.8982, -0.5728, -0.8116, 0.1124, 1.1114, 1.8286, 1.4349, -0.8074, 0.5999, 0.8692, 0.0696]\nstate[eef_state]: left_x=0.4384 left_y=-0.3083 left_z=0.1437 left_yaw=0.1509 left_pitch=-0.2721 left_roll=-0.0044 left_gripper=0.1124 right_x=0.27 right_y=0.3289 right_z=0.1275 right_yaw=0.0737 right_pitch=-0.3229 right_roll=-0.0693 right_gripper=0.0696\nstate[joint_eff]: [-0.253, -11.6718, 6.9265, 1.1844, -0.5153, -0.0611, 0.1343, -0.4581, -8.5538, 9.3607, 0.989, 0.3297, -0.0562, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:892e2381a657eb938e1131c3d5f9c1472851e08ad7c220837ff6d9662ad36110",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:819c991f51ffe02180912678f96bb8b7be9cb48fe70841bd9a418e7bfe81ec3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:520de93071945c36562a3f7268acdee3f3a8a60654c99546aef861ca6bda2cf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 7.038 s

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

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7956, 2.1616, 2.001, -0.8982, -0.5621, -0.762, 0.111, 1.2629, 1.7817, 1.3853, -0.8314, 0.6682, 1.0054, 0.069]\nstate[eef_state]: left_x=0.438 left_y=-0.3073 left_z=0.16 left_yaw=0.1129 left_pitch=-0.2592 left_roll=-0.0043 left_gripper=0.111 right_x=0.2205 right_y=0.3439 right_z=0.1345 right_yaw=0.1097 right_pitch=-0.2754 right_roll=-0.0314 right_gripper=0.069\nstate[joint_eff]: [-0.6632, -9.306, 6.8034, 1.3016, -0.4615, -0.0806, -0.0024, -0.3077, -8.8821, 6.6803, 0.9353, 0.4029, -0.0171, 1.033]",
      "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]: [-0.7994, 2.1929, 1.9999, -0.8986, -0.5728, -0.8116, 0.111, 1.2514, 1.7817, 1.3811, -0.8387, 0.6567, 1.005, 0.0691]\nstate[eef_state]: left_x=0.4383 left_y=-0.3082 left_z=0.1446 left_yaw=0.1506 left_pitch=-0.2713 left_roll=-0.0057 left_gripper=0.111 right_x=0.2222 right_y=0.3399 right_z=0.1315 right_yaw=0.1005 right_pitch=-0.2899 right_roll=-0.0379 right_gripper=0.0691\nstate[joint_eff]: [-0.5538, -11.7402, 6.8308, 1.1844, -0.4713, -0.0855, -0.0073, 0.7179, -8.6359, 6.5162, 0.9206, 0.3785, 0.0024, 1.033]",
      "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]: [-0.7994, 2.1948, 1.9999, -0.8982, -0.5728, -0.8116, 0.1124, 1.1114, 1.8286, 1.4349, -0.8074, 0.5999, 0.8692, 0.0696]\nstate[eef_state]: left_x=0.4384 left_y=-0.3083 left_z=0.1437 left_yaw=0.1509 left_pitch=-0.2721 left_roll=-0.0044 left_gripper=0.1124 right_x=0.27 right_y=0.3289 right_z=0.1275 right_yaw=0.0737 right_pitch=-0.3229 right_roll=-0.0693 right_gripper=0.0696\nstate[joint_eff]: [-0.253, -11.6718, 6.9265, 1.1844, -0.5153, -0.0611, 0.1343, -0.4581, -8.5538, 9.3607, 0.989, 0.3297, -0.0562, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:892e2381a657eb938e1131c3d5f9c1472851e08ad7c220837ff6d9662ad36110",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:819c991f51ffe02180912678f96bb8b7be9cb48fe70841bd9a418e7bfe81ec3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:520de93071945c36562a3f7268acdee3f3a8a60654c99546aef861ca6bda2cf5",
        "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_01HK5B5Z2dGUNUYMNQRX9D6D",
      "input": {
        "note": "Pen tip is estimated ~3 cm short of the cap. Aligning the cap laterally and in height with the pen (readbacks show 1.3 cm y and 1.6 cm z offsets).",
        "targets": {
          "left_y": -0.321,
          "left_z": 0.118
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01HK5B5Z2dGUNUYMNQRX9D6D",
      "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]: [-0.7994, 2.1952, 1.9999, -0.8986, -0.5728, -0.8116, 0.1138, 1.1065, 1.8324, 1.438, -0.7937, 0.5896, 0.8444, 0.07]\nstate[eef_state]: left_x=0.4383 left_y=-0.3083 left_z=0.1435 left_yaw=0.1511 left_pitch=-0.2726 left_roll=-0.0038 left_gripper=0.1138 right_x=0.272 right_y=0.3318 right_z=0.1272 right_yaw=0.0917 right_pitch=-0.3251 right_roll=-0.0691 right_gripper=0.07\nstate[joint_eff]: [-0.5402, -12.1094, 6.9402, 1.1697, -0.5348, -0.0611, 0.1392, 0.5812, -9.5248, 6.0513, 0.9744, 0.3687, 0.0904, 0.9792]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bb80d323ae0aec1b18f42299e59d0fba362c4eca6379e9fa34b99059ff79f91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31d1735ce9c4a9154e933851129c731e05ba3f947f1ac00b3f6268e8ce8780e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:59c01f1b0646067c2ed31009230fef83af9a58bec2cd882999de49137dbbc4c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 5.778 s

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

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7994, 2.1929, 1.9999, -0.8986, -0.5728, -0.8116, 0.111, 1.2514, 1.7817, 1.3811, -0.8387, 0.6567, 1.005, 0.0691]\nstate[eef_state]: left_x=0.4383 left_y=-0.3082 left_z=0.1446 left_yaw=0.1506 left_pitch=-0.2713 left_roll=-0.0057 left_gripper=0.111 right_x=0.2222 right_y=0.3399 right_z=0.1315 right_yaw=0.1005 right_pitch=-0.2899 right_roll=-0.0379 right_gripper=0.0691\nstate[joint_eff]: [-0.5538, -11.7402, 6.8308, 1.1844, -0.4713, -0.0855, -0.0073, 0.7179, -8.6359, 6.5162, 0.9206, 0.3785, 0.0024, 1.033]",
      "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]: [-0.7994, 2.1948, 1.9999, -0.8982, -0.5728, -0.8116, 0.1124, 1.1114, 1.8286, 1.4349, -0.8074, 0.5999, 0.8692, 0.0696]\nstate[eef_state]: left_x=0.4384 left_y=-0.3083 left_z=0.1437 left_yaw=0.1509 left_pitch=-0.2721 left_roll=-0.0044 left_gripper=0.1124 right_x=0.27 right_y=0.3289 right_z=0.1275 right_yaw=0.0737 right_pitch=-0.3229 right_roll=-0.0693 right_gripper=0.0696\nstate[joint_eff]: [-0.253, -11.6718, 6.9265, 1.1844, -0.5153, -0.0611, 0.1343, -0.4581, -8.5538, 9.3607, 0.989, 0.3297, -0.0562, 1.033]",
      "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]: [-0.7994, 2.1952, 1.9999, -0.8986, -0.5728, -0.8116, 0.1138, 1.1065, 1.8324, 1.438, -0.7937, 0.5896, 0.8444, 0.07]\nstate[eef_state]: left_x=0.4383 left_y=-0.3083 left_z=0.1435 left_yaw=0.1511 left_pitch=-0.2726 left_roll=-0.0038 left_gripper=0.1138 right_x=0.272 right_y=0.3318 right_z=0.1272 right_yaw=0.0917 right_pitch=-0.3251 right_roll=-0.0691 right_gripper=0.07\nstate[joint_eff]: [-0.5402, -12.1094, 6.9402, 1.1697, -0.5348, -0.0611, 0.1392, 0.5812, -9.5248, 6.0513, 0.9744, 0.3687, 0.0904, 0.9792]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bb80d323ae0aec1b18f42299e59d0fba362c4eca6379e9fa34b99059ff79f91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31d1735ce9c4a9154e933851129c731e05ba3f947f1ac00b3f6268e8ce8780e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59c01f1b0646067c2ed31009230fef83af9a58bec2cd882999de49137dbbc4c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSjgsKEAgSGAI4AUIIdGhpbmtpbmcSDKdPcGQ0Us8byqNXfBoMCrYFHBsiuYAut+KrIjDNYJ3HqX8w9+/ulPFevc3ZzKf9sQX6EfV9+RptTMhdZIpbBrbp0ncwMa61OZxqYWgqqwoFz/m3fJLcwCVIQbezWrcnKLajKihcxaeshAHSntFIEMYC7LkbrTGtzSQLq9X8gsl+7j516KlRSsMUPAHLvlP9rXpBXIOeztAkaFSwY8CZpDOsYR/vLdsjFTjIWIz5ODU/pLpB9sDN8A0GBwic5Gl9BJMreEibNEJkPhS3WLMyXeo+D4di8kfnl9hiIYvsqGIMcG6UemY/ZpRWnScRaOIfOIgSTsPb3wFLJc5Zs+SPqQ/XSnSO0odO6920moSLg9cK1jesgOMTFfILbyFHTgCnq1w8/0zQ2xJqB6wbGCzgT2LiIy3zNYkZD/1OKDTHSeNHjPJfzoFmoXIRhiM5qkHZJYvm9hEvlsEoBGS9+KnALlAs0mXEhpLXwgQEs9F32hk2XbqrHShSAxuo2MeUaFRBQTGPIyGnc7yu0GLoqgV8K5o6MibeYJR6Kuz7SZDyIxOFSKAWPCxoza7bARYZAw6QzRyZXauaNp0g2VcpVgae6tEm/9Q15Vwm6LKgpUatoisxd2pg6w7+T7o+ZsRj3xYlRIFrrMCCUM8lVLF8VGgeSvF0GZVfuyx5qIl4Aoz0fbYO7XqJyUGvR/FebNfWj0JpMPEnMTi+vzJkvEBVM657xc3TSSQ+zdLOprmvxJzuNQ78vMDfzrH/mkuWfGrvOyq/ENQnKc270JQoZfem/s1lBx2QuSa3S+Nix1oxBrC/IJWNYQf8j2bTv79vQJ1csYJgJOvKgpr5fOibkgoISlTkZbK+LWnoDPkhb/dPJyOjcyWzm6o7tgsbpECyyPGpQ2MX8gulzW0pxz5axGiTK603609f0dECmBwkkvXUaDXHF5blI3Dn9uCVqXYTw28Jj70zqCCnSXQs/cmc+gV8Zlh8PPSiHX78R5xPgUxtIE8C84B3M3lg6+tu2Zi5ajKcchzxtk3r/zLq60rnRXDmB63lwaFTxfkgE8P0o/Zrlly4v83F0yDuHIF9H0MLvCpGh7WYnOcJ5mZ4nL9+vnklOWMk1RP28k/BjpKLLBETV2coSZtW9u0lQ1m4XMwsJ3FuVh2Qru5MZgrLFyZEeaPl3zSIjHsG6blNhlk/eqV8nGn8MSu0ATuITgO+VrxXV/dXyfhQChhY7APlYvSmq9wtAtWzC90+3XYFOJmDsVKFNRuBfD7x7KAY8WFFb+sgBehflObvLrGhswrT6K8v6auRZBF7dIblNKTu+QUBXIYcbyF8MtystKO1+v6EOOaCOCYwHrg+Ty01c6ictyK/m21jMIlcg7WBOrm4OhoGtJH51eMwdVYV3/mB6MvI+hLHJx692b5YAyJcBjfPmJmvIyHz7aYZA3vINkpAaROuKSn+FyFGwjH6I9JO+HdvYHG6HJCrBUuBSFKvXjfb/BDtOW9FmodmysKp5w09okE4gw5uzz5ATL2i6zVEJdqx0IAmUkWXJ+wtu2daNxxugVNOlPC5ZChhf9ZQqRSh/Le8gJCri8i+fuZAWC7snX8Fh6J0BQXTWxzXo7oxxeziOtASGSNKtVl8ep97Q2lPdzUaI56jfOd7pAD/Ud7E/HszjQ4dGcVKU4uTDBuWk9MIEZMbbvwR4PWSjrX8yaw7USz7ZAseZimo7JAYGjsDvMc8Mk64rJ3GVGosJdPd9hZxyR2CMOMkilQEGXYW/qLvfCLsX5WHoXSFYoTSUfu/KEqCmVOBMbDEtLEfEUfh1XCSZZevGefy+y8MF075VUzSSAguQLhWKhNs2LJz1MiKM/fS8DG29Sg8VNXTQ000d/5yz54nynMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W4W62A51qsysLkGGHkJoic",
      "input": {
        "note": "Left arm did not respond to the last small correction (possibly an IK hold). Trying a slightly different nearby target to lower the cap to pen height.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.3,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01W4W62A51qsysLkGGHkJoic",
      "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]: [-0.8028, 2.1529, 1.8893, -0.8394, -0.5724, -0.815, 0.1145, 1.1069, 1.8324, 1.4368, -0.8021, 0.5858, 0.8509, 0.0726]\nstate[eef_state]: left_x=0.4297 left_y=-0.3021 left_z=0.1317 left_yaw=0.1515 left_pitch=-0.2782 left_roll=0.0014 left_gripper=0.1145 right_x=0.2706 right_y=0.3305 right_z=0.1258 right_yaw=0.0878 right_pitch=-0.3329 right_roll=-0.0713 right_gripper=0.0726\nstate[joint_eff]: [-1.1145, -13.5043, 6.4615, 1.4481, -0.3101, -0.1197, 0.0513, -0.3487, -9.3607, 6.5026, 1.0037, 0.3687, -0.0757, 0.8523]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:842f13493d7b4f1dcfbc5db5b513e52566f699afd0f2786cc734975ddfa94b18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:598307a98aa385e7f7915c018be23cd9034ae473d116e59c802f1833d9804f40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:52b5cfd9f36487f66dbf580683078890ecd6e6ac980cb04206a9da8683868d2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 12.56 s

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

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7994, 2.1948, 1.9999, -0.8982, -0.5728, -0.8116, 0.1124, 1.1114, 1.8286, 1.4349, -0.8074, 0.5999, 0.8692, 0.0696]\nstate[eef_state]: left_x=0.4384 left_y=-0.3083 left_z=0.1437 left_yaw=0.1509 left_pitch=-0.2721 left_roll=-0.0044 left_gripper=0.1124 right_x=0.27 right_y=0.3289 right_z=0.1275 right_yaw=0.0737 right_pitch=-0.3229 right_roll=-0.0693 right_gripper=0.0696\nstate[joint_eff]: [-0.253, -11.6718, 6.9265, 1.1844, -0.5153, -0.0611, 0.1343, -0.4581, -8.5538, 9.3607, 0.989, 0.3297, -0.0562, 1.033]",
      "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]: [-0.7994, 2.1952, 1.9999, -0.8986, -0.5728, -0.8116, 0.1138, 1.1065, 1.8324, 1.438, -0.7937, 0.5896, 0.8444, 0.07]\nstate[eef_state]: left_x=0.4383 left_y=-0.3083 left_z=0.1435 left_yaw=0.1511 left_pitch=-0.2726 left_roll=-0.0038 left_gripper=0.1138 right_x=0.272 right_y=0.3318 right_z=0.1272 right_yaw=0.0917 right_pitch=-0.3251 right_roll=-0.0691 right_gripper=0.07\nstate[joint_eff]: [-0.5402, -12.1094, 6.9402, 1.1697, -0.5348, -0.0611, 0.1392, 0.5812, -9.5248, 6.0513, 0.9744, 0.3687, 0.0904, 0.9792]",
      "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]: [-0.8028, 2.1529, 1.8893, -0.8394, -0.5724, -0.815, 0.1145, 1.1069, 1.8324, 1.4368, -0.8021, 0.5858, 0.8509, 0.0726]\nstate[eef_state]: left_x=0.4297 left_y=-0.3021 left_z=0.1317 left_yaw=0.1515 left_pitch=-0.2782 left_roll=0.0014 left_gripper=0.1145 right_x=0.2706 right_y=0.3305 right_z=0.1258 right_yaw=0.0878 right_pitch=-0.3329 right_roll=-0.0713 right_gripper=0.0726\nstate[joint_eff]: [-1.1145, -13.5043, 6.4615, 1.4481, -0.3101, -0.1197, 0.0513, -0.3487, -9.3607, 6.5026, 1.0037, 0.3687, -0.0757, 0.8523]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:842f13493d7b4f1dcfbc5db5b513e52566f699afd0f2786cc734975ddfa94b18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:598307a98aa385e7f7915c018be23cd9034ae473d116e59c802f1833d9804f40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52b5cfd9f36487f66dbf580683078890ecd6e6ac980cb04206a9da8683868d2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7QkKEAgSGAI4AUIIdGhpbmtpbmcSDAj2jiEtxoqT5SK0YhoMTALU6Jhau81KPa2FIjA/3M5Nj1fPkoUj672UEFgeSID5zsd+QbvOZ06XS5BjKU81fAFCdU8wQE0UUdy7AG0qiglzpuRzpTZwzmUnVEJfnGhiOUAw0968j8YGkNFCB3ExmwG+8OR449XUDVUCftSvVdhDXM7Zhxg/4k1chJtzt8FEIQUuLhb/hYTXCrozorqH1lIMV5Cegz52KpoINLLghBEHVIpojTvcqBCf3N6ppk4x4qJxgfPf65CW5rf53y/87yTgEHEIMnI0T4dK9I4Jh3+OAex/MJA+e5YMNL++R4cUEVVDM0QCRh/OepuBI90hQ6TmQbhaCJIxQdYqEVhWIS9c5EW9+diPsA0e7jVtfzK8fCk/fWBburViyFJ0g0SMXiUL0fhs/Ie9nmFgcvhYCma3pMmOjp/vGzV19PpBINqHMeoD5avtLQ9y/VXAqOSB0uO3GLn6ogiKVVopFANh+lpu/Ez7gVGrsJRL2O0OCR6a3pP1CmFwhQbZHmq5bWb1xNiVZeP7dVduPr2Yr+fTVv7iLEEwzGg/idC4/LZfXF6RuDYBZYVE0qSMSJ1Vs2PakHKp83e5ENgajuZTMU6VED6p3jGepGF80Rlxwk2QZYA3xjbdZgLbrvNotKCSwOnQhJQ0NUbLcXAG5a3BPGX8rvlXI43ZA6LJJnZPZ+MZoOqFBr++orcziEbUyJcXfICWTU/miKm3ElkwwPAm/7au7i7Pd4mr2hMELVJ6bONAcd+GAI+dxIFkD2cRbWpsUNCOTRuXIWmDtNZktmZzNySM1mp8n8DvrqjautbdH5FJC3UKWeUrpeZnWpaKoQxNGPI8KfQ3+2If3p19vUhrssrj1aLl6s9c0C2LLyKDOg7acQiPvXMTO1i7Yu8/fPAZckNWEJCMPxvaRiaUkxzFZ/VEpPLRUCZ9ySGsaVF+7vr8ez66kwyPB4nAI4nMlhEudfYUQZQ/7G9WTbtEGXOUcBty3tcLZM0tOyQlus/vucLbOXYhR5zYrQ0D1tnAmcxKUs3DqKzF/bmBxgwraqkZD+b2sCkzbFw6Zsd2yLT9xqsSYxy1puaAnFhgQ+kaeUG+fZHfsbDROCgs5xBAE8GxHimT4caNyKqUIVZvnhRG/e3XE4gX6qcvu8R+nOylrREtfB5yJhwERP68I9q+H8sFUelVKhVsnz1AhB7SJ3uLnP+eRQ8UWxTSlrstjU3b+13bc4/FvmqdEuVghuYHzowQY8oIrUkuEqvAfXlwaPZFbU8ACGLNqiT/uJ1HxdtvR8104SIT26DoeOFX30cXv2fFHJ5H1+PM2vZEfg4Xn2zMN6szRydb0Ym/cjzLFpEZCGOmCQAuvSzYbU/IFMN9FOufm6Iy2K95u5tv0lJ9LfCvO5z9vC12sJCWUmg+iKDLFGqvEVja7m56Q3j2ObDaPuTPnzmeo3VqkKbVsf+bN4GCwlQMiahM5WuqnTihRiuEZCXuakXmiGBb5WV3R15q2BjkPGWJpXiDqLfb4VaQS+d4cztMaPxNkM6kOpAb+d3DS7ZlC74hTCj4KkN+aDKaK8nORf+Gi838cM9Z9s1yCWa3cvpxcQ4koNLycuZbPqaYB5N73NRPqZHOi2xEv+7fi02v0AQJ2IB5YV300CUTuRypGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U58AvCgpeoaGTHitbTEyTT",
      "input": {
        "note": "Left arm now at cap pose (0.43,-0.30,0.13). Shifting the pen laterally and up to line up with the cap opening.",
        "targets": {
          "right_y": 0.35,
          "right_z": 0.138
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01U58AvCgpeoaGTHitbTEyTT",
      "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]: [-0.812, 2.1487, 1.8389, -0.841, -0.5686, -0.8299, 0.1145, 1.1152, 1.8729, 1.5124, -0.8528, 0.5743, 0.8558, 0.076]\nstate[eef_state]: left_x=0.4191 left_y=-0.2986 left_z=0.1158 left_yaw=0.1603 left_pitch=-0.308 left_roll=0.0302 left_gripper=0.1145 right_x=0.2701 right_y=0.3413 right_z=0.1293 right_yaw=0.0947 right_pitch=-0.3501 right_roll=-0.0762 right_gripper=0.076\nstate[joint_eff]: [0.8821, -11.3299, 9.7709, 1.0818, -0.315, 0.0904, 0.0024, 1.0325, -9.1966, 7.7607, 0.8034, 0.4518, 0.1441, 0.652]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc9f0f8ce0b709603e76a8e0cbb2a91db5352424fe6df5fea19e3d845126db6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7009acbd8838d5cb501e5eb2a714a6495ea43f9d52257aeaa85576282aa0b732",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf23f04c5345c579a0e07e656911f490e8ba402b504e7e4802ca92bef1dfaf91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 14.33 s

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

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7994, 2.1952, 1.9999, -0.8986, -0.5728, -0.8116, 0.1138, 1.1065, 1.8324, 1.438, -0.7937, 0.5896, 0.8444, 0.07]\nstate[eef_state]: left_x=0.4383 left_y=-0.3083 left_z=0.1435 left_yaw=0.1511 left_pitch=-0.2726 left_roll=-0.0038 left_gripper=0.1138 right_x=0.272 right_y=0.3318 right_z=0.1272 right_yaw=0.0917 right_pitch=-0.3251 right_roll=-0.0691 right_gripper=0.07\nstate[joint_eff]: [-0.5402, -12.1094, 6.9402, 1.1697, -0.5348, -0.0611, 0.1392, 0.5812, -9.5248, 6.0513, 0.9744, 0.3687, 0.0904, 0.9792]",
      "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]: [-0.8028, 2.1529, 1.8893, -0.8394, -0.5724, -0.815, 0.1145, 1.1069, 1.8324, 1.4368, -0.8021, 0.5858, 0.8509, 0.0726]\nstate[eef_state]: left_x=0.4297 left_y=-0.3021 left_z=0.1317 left_yaw=0.1515 left_pitch=-0.2782 left_roll=0.0014 left_gripper=0.1145 right_x=0.2706 right_y=0.3305 right_z=0.1258 right_yaw=0.0878 right_pitch=-0.3329 right_roll=-0.0713 right_gripper=0.0726\nstate[joint_eff]: [-1.1145, -13.5043, 6.4615, 1.4481, -0.3101, -0.1197, 0.0513, -0.3487, -9.3607, 6.5026, 1.0037, 0.3687, -0.0757, 0.8523]",
      "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]: [-0.812, 2.1487, 1.8389, -0.841, -0.5686, -0.8299, 0.1145, 1.1152, 1.8729, 1.5124, -0.8528, 0.5743, 0.8558, 0.076]\nstate[eef_state]: left_x=0.4191 left_y=-0.2986 left_z=0.1158 left_yaw=0.1603 left_pitch=-0.308 left_roll=0.0302 left_gripper=0.1145 right_x=0.2701 right_y=0.3413 right_z=0.1293 right_yaw=0.0947 right_pitch=-0.3501 right_roll=-0.0762 right_gripper=0.076\nstate[joint_eff]: [0.8821, -11.3299, 9.7709, 1.0818, -0.315, 0.0904, 0.0024, 1.0325, -9.1966, 7.7607, 0.8034, 0.4518, 0.1441, 0.652]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc9f0f8ce0b709603e76a8e0cbb2a91db5352424fe6df5fea19e3d845126db6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7009acbd8838d5cb501e5eb2a714a6495ea43f9d52257aeaa85576282aa0b732",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf23f04c5345c579a0e07e656911f490e8ba402b504e7e4802ca92bef1dfaf91",
        "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_01P4CE2rqk1AF6qxCJ5ZxgKq",
      "input": {
        "note": "The left gripper holding the cap now appears at the top-right of the right wrist view, right of the pen's line. Shifting the pen right and a bit forward to line its tip up with the cap.",
        "targets": {
          "right_x": 0.285,
          "right_y": 0.328
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01P4CE2rqk1AF6qxCJ5ZxgKq",
      "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]: [-0.8059, 2.1487, 1.8492, -0.8448, -0.569, -0.8295, 0.1152, 1.1019, 1.8771, 1.5032, -0.8455, 0.561, 0.836, 0.0774]\nstate[eef_state]: left_x=0.422 left_y=-0.297 left_z=0.119 left_yaw=0.1647 left_pitch=-0.3041 left_roll=0.025 left_gripper=0.1152 right_x=0.2727 right_y=0.3384 right_z=0.124 right_yaw=0.0977 right_pitch=-0.3646 right_roll=-0.0876 right_gripper=0.0774\nstate[joint_eff]: [-0.7863, -12.1641, 6.0786, 1.0476, -0.2808, -0.0122, 0.0611, -2.1675, -11.6308, 6.0376, 1.1209, 0.2466, -0.1538, 0.7399]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2811ac1e4d223bfcee3a4628c62983aab156bb13e5b5e974313881373bbd771d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4540c1b37e196d482a32f0c36719778c3b6ab0b5bf8c51ae87d89966419084d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dc9b916da6275219213d523536fa0ccf3e9e372a33bd0305df9df9de9e313db8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 4.848 s

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

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8028, 2.1529, 1.8893, -0.8394, -0.5724, -0.815, 0.1145, 1.1069, 1.8324, 1.4368, -0.8021, 0.5858, 0.8509, 0.0726]\nstate[eef_state]: left_x=0.4297 left_y=-0.3021 left_z=0.1317 left_yaw=0.1515 left_pitch=-0.2782 left_roll=0.0014 left_gripper=0.1145 right_x=0.2706 right_y=0.3305 right_z=0.1258 right_yaw=0.0878 right_pitch=-0.3329 right_roll=-0.0713 right_gripper=0.0726\nstate[joint_eff]: [-1.1145, -13.5043, 6.4615, 1.4481, -0.3101, -0.1197, 0.0513, -0.3487, -9.3607, 6.5026, 1.0037, 0.3687, -0.0757, 0.8523]",
      "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]: [-0.812, 2.1487, 1.8389, -0.841, -0.5686, -0.8299, 0.1145, 1.1152, 1.8729, 1.5124, -0.8528, 0.5743, 0.8558, 0.076]\nstate[eef_state]: left_x=0.4191 left_y=-0.2986 left_z=0.1158 left_yaw=0.1603 left_pitch=-0.308 left_roll=0.0302 left_gripper=0.1145 right_x=0.2701 right_y=0.3413 right_z=0.1293 right_yaw=0.0947 right_pitch=-0.3501 right_roll=-0.0762 right_gripper=0.076\nstate[joint_eff]: [0.8821, -11.3299, 9.7709, 1.0818, -0.315, 0.0904, 0.0024, 1.0325, -9.1966, 7.7607, 0.8034, 0.4518, 0.1441, 0.652]",
      "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]: [-0.8059, 2.1487, 1.8492, -0.8448, -0.569, -0.8295, 0.1152, 1.1019, 1.8771, 1.5032, -0.8455, 0.561, 0.836, 0.0774]\nstate[eef_state]: left_x=0.422 left_y=-0.297 left_z=0.119 left_yaw=0.1647 left_pitch=-0.3041 left_roll=0.025 left_gripper=0.1152 right_x=0.2727 right_y=0.3384 right_z=0.124 right_yaw=0.0977 right_pitch=-0.3646 right_roll=-0.0876 right_gripper=0.0774\nstate[joint_eff]: [-0.7863, -12.1641, 6.0786, 1.0476, -0.2808, -0.0122, 0.0611, -2.1675, -11.6308, 6.0376, 1.1209, 0.2466, -0.1538, 0.7399]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2811ac1e4d223bfcee3a4628c62983aab156bb13e5b5e974313881373bbd771d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4540c1b37e196d482a32f0c36719778c3b6ab0b5bf8c51ae87d89966419084d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc9b916da6275219213d523536fa0ccf3e9e372a33bd0305df9df9de9e313db8",
        "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_016NNWWsXhNfJ6ahAXi3gWC5",
      "input": {
        "note": "The arms are crossing over each other in the top view and motion is stalling, likely near contact. Re-planning: moving the cap arm back to its own side and turning it so the cap's open end will face the centre.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.12,
          "left_yaw": 1.3,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_016NNWWsXhNfJ6ahAXi3gWC5",
      "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]: [-0.6071, 2.0899, 1.8153, -1.5311, -0.6491, -1.8763, 0.1159, 1.1133, 1.8771, 1.4921, -0.8303, 0.5312, 0.8055, 0.0779]\nstate[eef_state]: left_x=0.3535 left_y=-0.1112 left_z=0.1278 left_yaw=1.2177 left_pitch=-0.317 left_roll=0.0453 left_gripper=0.1159 right_x=0.2655 right_y=0.3447 right_z=0.119 right_yaw=0.1442 right_pitch=-0.3868 right_roll=-0.0869 right_gripper=0.0779\nstate[joint_eff]: [1.5795, -13.7915, 5.2581, -0.4567, -0.5788, -0.0708, 0.0562, -1.265, -9.7709, 7.1179, 0.6667, 0.5739, 0.4176, 0.7595]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cdaf0295552093922b05da102fad5752a032dc1cb3008bc2390973778aed138",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cb6287e57fe14f0579344924c67babff65549ebcc4f626c763c7eea713b0681",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a2c36c24ae3896edd1b4a38704b3e24af55556da56a3b5249cec37bc7d6fab5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 12.31 s

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

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.812, 2.1487, 1.8389, -0.841, -0.5686, -0.8299, 0.1145, 1.1152, 1.8729, 1.5124, -0.8528, 0.5743, 0.8558, 0.076]\nstate[eef_state]: left_x=0.4191 left_y=-0.2986 left_z=0.1158 left_yaw=0.1603 left_pitch=-0.308 left_roll=0.0302 left_gripper=0.1145 right_x=0.2701 right_y=0.3413 right_z=0.1293 right_yaw=0.0947 right_pitch=-0.3501 right_roll=-0.0762 right_gripper=0.076\nstate[joint_eff]: [0.8821, -11.3299, 9.7709, 1.0818, -0.315, 0.0904, 0.0024, 1.0325, -9.1966, 7.7607, 0.8034, 0.4518, 0.1441, 0.652]",
      "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]: [-0.8059, 2.1487, 1.8492, -0.8448, -0.569, -0.8295, 0.1152, 1.1019, 1.8771, 1.5032, -0.8455, 0.561, 0.836, 0.0774]\nstate[eef_state]: left_x=0.422 left_y=-0.297 left_z=0.119 left_yaw=0.1647 left_pitch=-0.3041 left_roll=0.025 left_gripper=0.1152 right_x=0.2727 right_y=0.3384 right_z=0.124 right_yaw=0.0977 right_pitch=-0.3646 right_roll=-0.0876 right_gripper=0.0774\nstate[joint_eff]: [-0.7863, -12.1641, 6.0786, 1.0476, -0.2808, -0.0122, 0.0611, -2.1675, -11.6308, 6.0376, 1.1209, 0.2466, -0.1538, 0.7399]",
      "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]: [-0.6071, 2.0899, 1.8153, -1.5311, -0.6491, -1.8763, 0.1159, 1.1133, 1.8771, 1.4921, -0.8303, 0.5312, 0.8055, 0.0779]\nstate[eef_state]: left_x=0.3535 left_y=-0.1112 left_z=0.1278 left_yaw=1.2177 left_pitch=-0.317 left_roll=0.0453 left_gripper=0.1159 right_x=0.2655 right_y=0.3447 right_z=0.119 right_yaw=0.1442 right_pitch=-0.3868 right_roll=-0.0869 right_gripper=0.0779\nstate[joint_eff]: [1.5795, -13.7915, 5.2581, -0.4567, -0.5788, -0.0708, 0.0562, -1.265, -9.7709, 7.1179, 0.6667, 0.5739, 0.4176, 0.7595]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cdaf0295552093922b05da102fad5752a032dc1cb3008bc2390973778aed138",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cb6287e57fe14f0579344924c67babff65549ebcc4f626c763c7eea713b0681",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a2c36c24ae3896edd1b4a38704b3e24af55556da56a3b5249cec37bc7d6fab5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS3QgKEAgSGAI4AUIIdGhpbmtpbmcSDEZVwJuKygRj17NbXhoMOwN7ff9IMnZA7AmMIjD4MwgIxJrqIuT4Tn0Rp/tynn0u4rO5k+BRnZ0dEiqSogpfBhitz+/vMWoJuYT0ouIq+gclc6aXBytGodg8Jp4c3S83CruNZ4NMYB719k0A+p4tEceQF0JaeCjvIqlwqiqCUN//WlO3Xw/cd3QH5wbIO9FQxtG/FvDeClgid1kV7YnuLoxsi/52gOFgz2LMWJhabjvn2ulWUojvjgNh4I5RvddJWbrYAeF1PDyurBUDkst4U7edNQk4Z7T6Um9GxRA2zMltqxaCcSBMAO2D9dY6eJNb7sEr0MeWOD3DBCZsp0Nl1eha3E+h3qA/1wnhnsy+HRck0b451+ZGZGNX6nQoebDx21Vayig+pJfbU+i37QL22SDzuneQ6nXcwpar15+jcqgkKS9oe+M32iK95UsWP/0yi1hpqyk5FEV7ZsUyUrw+fo8ccZZAjwwoVYr/qlkOXzTi/zD0jmztjESMSNpwPHo8n7LqHq3u2vXNVQ/7dR2SkTy28oPDj4CaQ6Y2dSZ6z/pQlyY/ymaZ0jyR70Y/vGFvEso4raE5uIFEwMRIw1u+5xGHdUAwC4ZJSZIvlaEgXCKUoCZ4Xqkl7IisTwxQ2u9O5/qX5cgJ/8R5vFTXDvwCnOWilX+3rfdnMfdpOTvRvbqI0WSBHiE3O2RBg1ZhCpJHG5SBeIhQhXqCVk0cJlVhxCYbfwTMUHw4YYPNIC+qBSrvPjhEnuMQkQx9fMGq3Xivdqn5qIO0QXUl8k2C3oFfrxyySDrXZw1IH+LUVsj20mFusUuBrH9LaUshEX9f/YrRv9MaEKPO6x8q/fpy5zK1qHEa2z9w1MTq/kY2pd5IhwzYCBcAF1EPFqFTZLwXdaOTBWjvZFQ+fOIjm0s+9G+40F91Up1bIPlNxXkIwcf345Ma7efuPc4dj4rovR5xHVDPtRW0TVcoOrr7v7rdHG6E4TTjnsel/n7RmX0f/fKcK2P1ZZGUwyTKelRvEOOaxRIl917MjRsEysoKQcrf8C5Rki8yvdj4Wt65tae5ghTckrsT/DZUx34vvW2seCOsFrpcwo/Q9OLN3WHj4wohAdNykQPubuVXeGOkQMOzfFf4hQgNNvJH/WK8eKXSxEb+dHbuowYEsoMzBo2aB27HyCcfoB2c7jApVa7lCpJQmtmdQLUligKJF7ZPI1lyLDDN6ZwUtStwR1L5d/u3AujdIbYFr4hOB9C0PzpEJqxIvt7JcRvemFacBMOMZcrNdBuVTUdRJBTFb8ibX9iTJIgWxl93Iq5oti4pFhk5pwb32IW3+fYgtW1oPrXrd5L6PlyzZitsm9S9fVS+BW9KApVLzQm/dZF3vOP/ftR8ofwPY30tSSoo4jTx4dqXW02wU6n/CdVc9XsklvfUcsPlF5WCDa6+/ZW9Jqn30KUyJVEsAoKsP4fx9K0PuBcDLqWpGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012W6CgXWvZg7ap93c1ZW3ur",
      "input": {
        "note": "Cap arm is now clear on the left side. Turning the pen so its tip points left (+y) toward the cap arm, held on the right half of the table.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.24,
          "right_yaw": 1.57,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012W6CgXWvZg7ap93c1ZW3ur",
      "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]: [-0.6086, 2.0789, 1.7958, -1.5284, -0.643, -1.8908, 0.1159, 0.3908, 1.8267, 1.5459, -0.8654, -0.4408, -0.9085, 0.0773]\nstate[eef_state]: left_x=0.3496 left_y=-0.1101 left_z=0.1267 left_yaw=1.2281 left_pitch=-0.3209 left_roll=0.0431 left_gripper=0.1159 right_x=0.3707 right_y=0.2381 right_z=0.1479 right_yaw=1.3224 right_pitch=-0.415 right_roll=-0.0969 right_gripper=0.0773\nstate[joint_eff]: [-0.0615, -9.5111, 6.8444, -0.1832, -0.3932, 0.1148, -0.0024, -0.1983, -9.1419, 6.5573, 0.3834, -0.4762, -0.1197, 0.5348]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51acc6a9c573cd6ace8f487e7d75ede7b73e1f27286a2d3853c99e27a1305f6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70fe1f3b421bdf08ff443beb37b1a8d5099ff97f54626ad0fe81fa19c818db1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1623c5d5575585ebb2343d8c2822825f56b81e11228e4910d3ac03da50a75ce7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 7.791 s

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

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8059, 2.1487, 1.8492, -0.8448, -0.569, -0.8295, 0.1152, 1.1019, 1.8771, 1.5032, -0.8455, 0.561, 0.836, 0.0774]\nstate[eef_state]: left_x=0.422 left_y=-0.297 left_z=0.119 left_yaw=0.1647 left_pitch=-0.3041 left_roll=0.025 left_gripper=0.1152 right_x=0.2727 right_y=0.3384 right_z=0.124 right_yaw=0.0977 right_pitch=-0.3646 right_roll=-0.0876 right_gripper=0.0774\nstate[joint_eff]: [-0.7863, -12.1641, 6.0786, 1.0476, -0.2808, -0.0122, 0.0611, -2.1675, -11.6308, 6.0376, 1.1209, 0.2466, -0.1538, 0.7399]",
      "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]: [-0.6071, 2.0899, 1.8153, -1.5311, -0.6491, -1.8763, 0.1159, 1.1133, 1.8771, 1.4921, -0.8303, 0.5312, 0.8055, 0.0779]\nstate[eef_state]: left_x=0.3535 left_y=-0.1112 left_z=0.1278 left_yaw=1.2177 left_pitch=-0.317 left_roll=0.0453 left_gripper=0.1159 right_x=0.2655 right_y=0.3447 right_z=0.119 right_yaw=0.1442 right_pitch=-0.3868 right_roll=-0.0869 right_gripper=0.0779\nstate[joint_eff]: [1.5795, -13.7915, 5.2581, -0.4567, -0.5788, -0.0708, 0.0562, -1.265, -9.7709, 7.1179, 0.6667, 0.5739, 0.4176, 0.7595]",
      "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]: [-0.6086, 2.0789, 1.7958, -1.5284, -0.643, -1.8908, 0.1159, 0.3908, 1.8267, 1.5459, -0.8654, -0.4408, -0.9085, 0.0773]\nstate[eef_state]: left_x=0.3496 left_y=-0.1101 left_z=0.1267 left_yaw=1.2281 left_pitch=-0.3209 left_roll=0.0431 left_gripper=0.1159 right_x=0.3707 right_y=0.2381 right_z=0.1479 right_yaw=1.3224 right_pitch=-0.415 right_roll=-0.0969 right_gripper=0.0773\nstate[joint_eff]: [-0.0615, -9.5111, 6.8444, -0.1832, -0.3932, 0.1148, -0.0024, -0.1983, -9.1419, 6.5573, 0.3834, -0.4762, -0.1197, 0.5348]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51acc6a9c573cd6ace8f487e7d75ede7b73e1f27286a2d3853c99e27a1305f6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70fe1f3b421bdf08ff443beb37b1a8d5099ff97f54626ad0fe81fa19c818db1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1623c5d5575585ebb2343d8c2822825f56b81e11228e4910d3ac03da50a75ce7",
        "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_01TYN1rFyBR418K3YHSbRN4F",
      "input": {
        "note": "Pen now points left toward the cap arm. Bringing the cap in line with the pen, opening ~3 cm beyond the pen tip, at matching height.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.26,
          "left_yaw": 1.4,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01TYN1rFyBR418K3YHSbRN4F",
      "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]: [-0.6418, 2.3154, 1.9835, -1.5604, -0.5831, -2.0869, 0.1159, 0.3859, 1.8538, 1.5421, -0.8936, -0.4263, -0.9237, 0.0806]\nstate[eef_state]: left_x=0.3656 left_y=-0.1473 left_z=0.0769 left_yaw=1.3566 left_pitch=-0.3439 left_roll=0.0157 left_gripper=0.1159 right_x=0.3675 right_y=0.232 right_z=0.132 right_yaw=1.3395 right_pitch=-0.4611 right_roll=-0.0619 right_gripper=0.0806\nstate[joint_eff]: [-0.8821, -10.0991, 7.5692, -0.4127, -0.3004, -0.149, -0.0073, 0.1026, -11.7675, 6.7624, 1.1502, -0.4322, 0.1294, 0.6422]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b1110dc54a1ac1b527a3d945c3a569db8a5238f8a5ff0a9646a89b879f13d4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:606490b033ed6c1666f564c89ff9527bbf618cab59f08b1e1ec43bd83c34d646",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:149cfc882d9fd34b71b5a419b57da71f321467d2724ca50c01160f878a9d9503",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 5.43 s

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

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6071, 2.0899, 1.8153, -1.5311, -0.6491, -1.8763, 0.1159, 1.1133, 1.8771, 1.4921, -0.8303, 0.5312, 0.8055, 0.0779]\nstate[eef_state]: left_x=0.3535 left_y=-0.1112 left_z=0.1278 left_yaw=1.2177 left_pitch=-0.317 left_roll=0.0453 left_gripper=0.1159 right_x=0.2655 right_y=0.3447 right_z=0.119 right_yaw=0.1442 right_pitch=-0.3868 right_roll=-0.0869 right_gripper=0.0779\nstate[joint_eff]: [1.5795, -13.7915, 5.2581, -0.4567, -0.5788, -0.0708, 0.0562, -1.265, -9.7709, 7.1179, 0.6667, 0.5739, 0.4176, 0.7595]",
      "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]: [-0.6086, 2.0789, 1.7958, -1.5284, -0.643, -1.8908, 0.1159, 0.3908, 1.8267, 1.5459, -0.8654, -0.4408, -0.9085, 0.0773]\nstate[eef_state]: left_x=0.3496 left_y=-0.1101 left_z=0.1267 left_yaw=1.2281 left_pitch=-0.3209 left_roll=0.0431 left_gripper=0.1159 right_x=0.3707 right_y=0.2381 right_z=0.1479 right_yaw=1.3224 right_pitch=-0.415 right_roll=-0.0969 right_gripper=0.0773\nstate[joint_eff]: [-0.0615, -9.5111, 6.8444, -0.1832, -0.3932, 0.1148, -0.0024, -0.1983, -9.1419, 6.5573, 0.3834, -0.4762, -0.1197, 0.5348]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6418, 2.3154, 1.9835, -1.5604, -0.5831, -2.0869, 0.1159, 0.3859, 1.8538, 1.5421, -0.8936, -0.4263, -0.9237, 0.0806]\nstate[eef_state]: left_x=0.3656 left_y=-0.1473 left_z=0.0769 left_yaw=1.3566 left_pitch=-0.3439 left_roll=0.0157 left_gripper=0.1159 right_x=0.3675 right_y=0.232 right_z=0.132 right_yaw=1.3395 right_pitch=-0.4611 right_roll=-0.0619 right_gripper=0.0806\nstate[joint_eff]: [-0.8821, -10.0991, 7.5692, -0.4127, -0.3004, -0.149, -0.0073, 0.1026, -11.7675, 6.7624, 1.1502, -0.4322, 0.1294, 0.6422]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b1110dc54a1ac1b527a3d945c3a569db8a5238f8a5ff0a9646a89b879f13d4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:606490b033ed6c1666f564c89ff9527bbf618cab59f08b1e1ec43bd83c34d646",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:149cfc882d9fd34b71b5a419b57da71f321467d2724ca50c01160f878a9d9503",
        "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_01MfVLsuGYUYPghPzUwfAYh9",
      "input": {
        "note": "The left gripper ended up directly over the pen (seen in the right wrist cam) and stalled low, so the arms are closer than I computed. Lifting the cap arm clear before re-aligning.",
        "targets": {
          "left_y": -0.12,
          "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_01MfVLsuGYUYPghPzUwfAYh9",
      "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]: [-0.6487, 2.3333, 2.0041, -1.56, -0.5682, -2.0865, 0.1159, 0.382, 1.8523, 1.5383, -0.91, -0.4194, -0.9249, 0.083]\nstate[eef_state]: left_x=0.3662 left_y=-0.1538 left_z=0.0728 left_yaw=1.3554 left_pitch=-0.358 left_roll=0.0193 left_gripper=0.1159 right_x=0.3648 right_y=0.228 right_z=0.1295 right_yaw=1.3398 right_pitch=-0.4772 right_roll=-0.0496 right_gripper=0.083\nstate[joint_eff]: [-2.0855, -11.5761, 7.241, -0.4127, -0.3785, -0.0855, -0.0073, -0.0342, -9.4838, 6.5709, 1.033, -0.359, -0.0122, 0.5104]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3287837a24c7230ce621c060dc674bfbbe98c1a1af9f31472ad0cb1b70db0f79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d43ce32ef223b325e05e9bd9540b476f3e7cff2f9a2b93d2856a4851163b06d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1793cc0fe7c38279199ecec3c8d847dfe9f3011881a32ac9377aac6c0c008d43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 6.235 s

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

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6086, 2.0789, 1.7958, -1.5284, -0.643, -1.8908, 0.1159, 0.3908, 1.8267, 1.5459, -0.8654, -0.4408, -0.9085, 0.0773]\nstate[eef_state]: left_x=0.3496 left_y=-0.1101 left_z=0.1267 left_yaw=1.2281 left_pitch=-0.3209 left_roll=0.0431 left_gripper=0.1159 right_x=0.3707 right_y=0.2381 right_z=0.1479 right_yaw=1.3224 right_pitch=-0.415 right_roll=-0.0969 right_gripper=0.0773\nstate[joint_eff]: [-0.0615, -9.5111, 6.8444, -0.1832, -0.3932, 0.1148, -0.0024, -0.1983, -9.1419, 6.5573, 0.3834, -0.4762, -0.1197, 0.5348]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6418, 2.3154, 1.9835, -1.5604, -0.5831, -2.0869, 0.1159, 0.3859, 1.8538, 1.5421, -0.8936, -0.4263, -0.9237, 0.0806]\nstate[eef_state]: left_x=0.3656 left_y=-0.1473 left_z=0.0769 left_yaw=1.3566 left_pitch=-0.3439 left_roll=0.0157 left_gripper=0.1159 right_x=0.3675 right_y=0.232 right_z=0.132 right_yaw=1.3395 right_pitch=-0.4611 right_roll=-0.0619 right_gripper=0.0806\nstate[joint_eff]: [-0.8821, -10.0991, 7.5692, -0.4127, -0.3004, -0.149, -0.0073, 0.1026, -11.7675, 6.7624, 1.1502, -0.4322, 0.1294, 0.6422]",
      "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]: [-0.6487, 2.3333, 2.0041, -1.56, -0.5682, -2.0865, 0.1159, 0.382, 1.8523, 1.5383, -0.91, -0.4194, -0.9249, 0.083]\nstate[eef_state]: left_x=0.3662 left_y=-0.1538 left_z=0.0728 left_yaw=1.3554 left_pitch=-0.358 left_roll=0.0193 left_gripper=0.1159 right_x=0.3648 right_y=0.228 right_z=0.1295 right_yaw=1.3398 right_pitch=-0.4772 right_roll=-0.0496 right_gripper=0.083\nstate[joint_eff]: [-2.0855, -11.5761, 7.241, -0.4127, -0.3785, -0.0855, -0.0073, -0.0342, -9.4838, 6.5709, 1.033, -0.359, -0.0122, 0.5104]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3287837a24c7230ce621c060dc674bfbbe98c1a1af9f31472ad0cb1b70db0f79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d43ce32ef223b325e05e9bd9540b476f3e7cff2f9a2b93d2856a4851163b06d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1793cc0fe7c38279199ecec3c8d847dfe9f3011881a32ac9377aac6c0c008d43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSgAoKEAgSGAI4AUIIdGhpbmtpbmcSDGoKrEwNKuQVTpH9sxoMmKEgUcwpkoXHuyajIjBkovgL7wOXj9P6Ab72sWkLTQQdm1VTkhXf2u0E0fUJggc4HXwCTwXpvBFJmw49pG4qnQnf4yT8lYLlzFgaZLQCWRVu5y8lybIjfr1xLVngZO656HdBQ/edMkzas7MHxtOTzgljE6bXWhxz3gfNsBCAEfG4CLiSWhNhijnOnT/5C0fuwmSBqjh9qP5ZxJ6nqRMB0TFmDxJZV7XwiQE4MWdImtXAWKI8DW8dZi/4JIGPpjByDkinQbDTwK8xXt1mYYZRZP7hbaMLStSptKX/1FzeqGOp5921SLx4AnojVHbTtPZwO6fP7+XYYwApRgmUGV2Q+YjaQdXYgdzMP4GQ9wMO4ZSwkrrGpXKqAVOJjJzKe5oTfn8AsehmcH29eUPTYZHzEOiJD2HmYBMsxaxd45lA3VQnXgIhZSL3iWp4UfV2uru31vZluBZEnnC7is+bAhO3NNBBdClrbLsUv5ijvSOLss9mUB6zh2iDBSNUmCcfgR/MbeTg3WmYnYYtdfCeIt1JHg8hokr8Wk/4QiuxlIVgZ96dTU6wHdh7kWwb4X+qTEeN3rSqHTmt+gDSu4Lc3+0+dbs2DOyh5gibNfyUZIlPQMhglh6mvCw3jQ8ix/NY1GEu4EV1jeQrnua0QyhaWs94UJzpm08o5fst/BF+9ugrMMeQlu3XBJ1xmJumhLKCotMbjepcxTOjR9ltXub6MVGxbb5EOhgBaAcSfh/QAWGChz5nnIkfuwqTyC9dhlZpywwvorVr/ciuHD8ZZu33UDglPorfKCbTP7NsZldqjfuvAlcqTKMjmbDyu435spVvyUl5QGzPW+VRECIJV8VB220lNsvgedeomIsQKBy7H6WWqF/nxFiXBvGqFvd9kiTOs3Ln2dpMwZapqHENm4BVfOuk6TtcEMy/VaROKjKORZsSHJ29ZqEEamL2mM2XJ54LjmUkVxBou/fIh0Zzxc61C2nbv2ZDufJohy3NEihN62uxc9yGmYjheUZHJq4BT+CgcHkHZzFnHX+7qOiJl0FtYxH6WAMyI+9h82+FWgudTDGwdd8CkIWj6SJWU4Kvxk3ThW6E0wLAgtys/yqU6dI+iTGCw/J0tFQO51OsDkGp17K1XaG9FlCEDxnJ3qhbXHLhC2L14blanFuWEJrrDqaxUGuUMmuEnpyera8mWC0YMyDWRhbv5SDbkKfmeKMZBYCcrNi97ZrWycNuBDq8WnVBx8uqv0MjPdjum1MdoXiRPwFypGRs5eXdgN0Z6V7bSu+q+WJUaCLmdWL0IhOYKwv7AJ4uzUa4KiZTAteiifsM6QUkknizdcX/EzRPzOhdq9IhqoySIUf8tIk3SeAOO/xyu8ZIZkvb/hCfhrkDTRAiFOErl0dmN8LkceL5NrKTTVZco+TeZ7+ijqNPrYj7ec9Uj2GO0aXEXemnuaf/caZDXK0+ShJ0ycDI39vbgZwTLCD+OqwNJ3fr9ZsvzW5klSXSVuM/UeJ4WYQMmssJVoYjPZKefmb8GAlfTBekbDhaJQUlJLtcDDjgl8e1BEIAG/9c07iV4OSkW1YeU2zszuK9xWUYgjW350GFu5Jlm4h2N4c3OLE4yq7+lvXjiuiUGBdSIb5iXUHPusEo6aEBK3ncXkEIYG9Jj1ale2XIG9bdYF0jbBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W961xsqvmDMxPdRRGbrfT1",
      "input": {
        "note": "Left arm won't lift; the two grippers look to be touching in the top view. Backing the pen arm away to the right to free them.",
        "targets": {
          "right_y": 0.15,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01W961xsqvmDMxPdRRGbrfT1",
      "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]: [-0.6537, 2.3341, 2.0037, -1.5566, -0.5682, -2.0861, 0.116, 0.1875, 1.8278, 1.557, -1.079, -0.4515, -1.1088, 0.0852]\nstate[eef_state]: left_x=0.3659 left_y=-0.156 left_z=0.0722 left_yaw=1.3494 left_pitch=-0.359 left_roll=0.0173 left_gripper=0.116 right_x=0.3674 right_y=0.1518 right_z=0.1363 right_yaw=1.3325 right_pitch=-0.5149 right_roll=-0.0113 right_gripper=0.0852\nstate[joint_eff]: [0.4308, -12.2325, 5.4359, -0.3687, -0.3687, -0.0415, -0.0073, -0.5402, -11.6308, 8.4444, 0.5446, -0.5104, -0.0855, 0.5592]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30322e226c18585025cac2c6ef9f91e1b6bff2be39432bc905a4181202d55ea3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17a356cd3d3fc1c33609ec387c3c02fecc85f7cdd19c771bdae05a6156557b7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:23a7b59847c12d7fc43cb55162736c715f72284cbffe798166b3cbcaa7044952",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 12.34 s

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

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6418, 2.3154, 1.9835, -1.5604, -0.5831, -2.0869, 0.1159, 0.3859, 1.8538, 1.5421, -0.8936, -0.4263, -0.9237, 0.0806]\nstate[eef_state]: left_x=0.3656 left_y=-0.1473 left_z=0.0769 left_yaw=1.3566 left_pitch=-0.3439 left_roll=0.0157 left_gripper=0.1159 right_x=0.3675 right_y=0.232 right_z=0.132 right_yaw=1.3395 right_pitch=-0.4611 right_roll=-0.0619 right_gripper=0.0806\nstate[joint_eff]: [-0.8821, -10.0991, 7.5692, -0.4127, -0.3004, -0.149, -0.0073, 0.1026, -11.7675, 6.7624, 1.1502, -0.4322, 0.1294, 0.6422]",
      "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]: [-0.6487, 2.3333, 2.0041, -1.56, -0.5682, -2.0865, 0.1159, 0.382, 1.8523, 1.5383, -0.91, -0.4194, -0.9249, 0.083]\nstate[eef_state]: left_x=0.3662 left_y=-0.1538 left_z=0.0728 left_yaw=1.3554 left_pitch=-0.358 left_roll=0.0193 left_gripper=0.1159 right_x=0.3648 right_y=0.228 right_z=0.1295 right_yaw=1.3398 right_pitch=-0.4772 right_roll=-0.0496 right_gripper=0.083\nstate[joint_eff]: [-2.0855, -11.5761, 7.241, -0.4127, -0.3785, -0.0855, -0.0073, -0.0342, -9.4838, 6.5709, 1.033, -0.359, -0.0122, 0.5104]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6537, 2.3341, 2.0037, -1.5566, -0.5682, -2.0861, 0.116, 0.1875, 1.8278, 1.557, -1.079, -0.4515, -1.1088, 0.0852]\nstate[eef_state]: left_x=0.3659 left_y=-0.156 left_z=0.0722 left_yaw=1.3494 left_pitch=-0.359 left_roll=0.0173 left_gripper=0.116 right_x=0.3674 right_y=0.1518 right_z=0.1363 right_yaw=1.3325 right_pitch=-0.5149 right_roll=-0.0113 right_gripper=0.0852\nstate[joint_eff]: [0.4308, -12.2325, 5.4359, -0.3687, -0.3687, -0.0415, -0.0073, -0.5402, -11.6308, 8.4444, 0.5446, -0.5104, -0.0855, 0.5592]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30322e226c18585025cac2c6ef9f91e1b6bff2be39432bc905a4181202d55ea3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17a356cd3d3fc1c33609ec387c3c02fecc85f7cdd19c771bdae05a6156557b7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23a7b59847c12d7fc43cb55162736c715f72284cbffe798166b3cbcaa7044952",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS0AoKEAgSGAI4AUIIdGhpbmtpbmcSDIh4T2ckO+9dPNLSlxoM9XnPyhkm0jj94f8pIjBuQzA6mHg3lgo7H9xAvlxvtqPonVzlduDjo4a4vaOVaV2wlBqwP92zKMtH2twF6+Yq7Qnn0QsL6XkXhnFO4KG4/uwsiDcClR5ukOun16HFIfkq2QtRWPJVOYN6xg1p5GmGTf6rJPtk2mO8qWQ74znecZlvk3j7GcMefWMWM0LJ0/Epo5W93Fo+cAOYOE632IbC7Swtr1EfPLQr5/3Ju+vZdpFyZg8zsmixQ8Yw9lCUM3koh683xjstgAgZ/rlZz8MkJs67ixff6cinVLM5lfXYK7xUpOEJjc/1STUX7obUwb9CZGfJQ8DU1o7AtfcifC6vsPTCkBH5Lzil4KMKUb34mNUHaehoyjQ31xbJCSYF2cjFMzwUfh7x9qF90wNfX4Qp6K76MmM3GRMkeYivFGXSUO5mTuaX87+yM91hdRwhYCURPJP/NXty95hm7XTZlh9/080/LhAnlxBimTDTQA4QEH9ygTpLgPFrS/mqVGjLnZ8KHie2wB8H6KkRaimsx63P5XK76b3FwHpV+ggR8DXgK7ZYa5Ds21H9GVYmyzEmGVJLOcFXrFGygB7NXZTqlpZg2S4zApKCQBPbUDwTJeGXiarpMQJcAUE54dT7rE8cfAQjrmLj4xIW9z59/EjJHuHePmGtA6sCfE3saimNY7Vj3eCS+NZ1R7qE0N4Cm8o4WRkyjLyckS6dMrESQ2GTUewz/iXAUxwqFZR5ukF2GUhj4QhbGTWVoa3+DSeRNq9Nut3Mtgd8TvL7xX00nJfzIHCNzzUJWS3p3wpn9EoXBqkhQxROwdNMGj+TupPM42Z8nUuyVApC+Qa6/r4oSpKeXgKRmktgQWxAZYiAe79PX/QCtn2fxLPcBLRygoEmYS5BcpSUZRZ69mXhOM2uK1T9uc11Vfsue20LND9Wi8SE3CsxXxuvikRr1a+nIdH0gLeCvPvaOTRKD2rK0RvgFUiPu6lmzu4gFQ/Df7TVYePB7XR+ZpVHzOFI9AbaUFZakG5HEB6qATBqGtGAMh2Zqmf5/pE87puCaWCU4FQo5yJZPWon4v+Tttzf77fIgkDOOWx3aas90kc7xfiy9xqHw6LE1rt5byO3TGeFUqIkMhQrXTEOHC6cZbs3OwBw7jyTjVQrfx3ypcaqynJStTSr/lRJyzOv+Lh0zcE4OrnETEXHTbQpKY83y6jgcMUFumOKbY42PuADPOnGiqQyLETT/JKTI1vK4krI3BFLdEhVbrWHa/00z6YOOjavKgS2Fn75o7Ukvgb8A4pglEk8w+SKZPoqKIRpN5mPvrJu+E1lq9SDHS6+23nTMAnqOCNcBt+tALINuwBR2H7g1kO+WtOLJ1EicKGa0cy+0be5xxQIwzRg5MmDDxT/+3PhJNvYmR1Xc5gzgsYCTggFZ151lH9widZRj3+Ajw/cCHzyAXBVVHaG1rOk8ebC2RgAySeebcbGN0gK1ovm/g0OuhgY/CCQM0xd9jVW977i//3yFvvPiDt4mHzzeeFjxep7VwO+Lm6H8PmdaSKQAS/cjUCgg+CC5VpoQ8iORSk9skCwZ8IJ5XsS0C4SwOGHHY1QVky4Qpj8I7HVlODONhe8BVH3I5yHdO1nJtO2unm1SjoGEaj8kfihrC1OIrOiOylwQqxwO8gpliDLLxEnn5dXQQ5mCHMeoqkEK5DHA8JkR4mBWRQ1tf8Ydgvxhj8mhXvyfr1/hCH1D+ih3k9cAHFGYZbaVSkW8R8cf8M5e6H4+9k7STsSZbc8el3qGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XD2C99gpud4swyRXdevaLZ",
      "input": {
        "note": "Grippers are now apart. The cap arm has been stuck at z≈0.07; trying a closer, modest target to get it tracking again.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.15,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XD2C99gpud4swyRXdevaLZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.664, 2.2028, 1.8385, -1.5555, -0.5674, -2.0865, 0.116, 0.1837, 1.8244, 1.5612, -1.0882, -0.4458, -1.1252, 0.0876]\nstate[eef_state]: left_x=0.3372 left_y=-0.1387 left_z=0.0882 left_yaw=1.3506 left_pitch=-0.3457 left_roll=0.0491 left_gripper=0.116 right_x=0.3671 right_y=0.1493 right_z=0.1379 right_yaw=1.3369 right_pitch=-0.5206 right_roll=-0.0213 right_gripper=0.0876\nstate[joint_eff]: [-0.5128, -14.188, 5.4222, -0.3297, -0.2271, -0.0708, -0.0122, -0.0479, -8.4855, 5.7641, 0.7839, -0.3297, 0.1441, 0.2418]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11bc0357678177e7acff7ff60c483ff072ed60283b26f6ab57d8c9eafc8a67d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aac3ef3e069968092a6c3367268a20c740739e56d20383365c7987efd3d35107",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:150d9cb386cb7e3cb4d25128d46b9ebf9eebc683ae2856ef4ef0d3568400d539",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 11.29 s

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

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6487, 2.3333, 2.0041, -1.56, -0.5682, -2.0865, 0.1159, 0.382, 1.8523, 1.5383, -0.91, -0.4194, -0.9249, 0.083]\nstate[eef_state]: left_x=0.3662 left_y=-0.1538 left_z=0.0728 left_yaw=1.3554 left_pitch=-0.358 left_roll=0.0193 left_gripper=0.1159 right_x=0.3648 right_y=0.228 right_z=0.1295 right_yaw=1.3398 right_pitch=-0.4772 right_roll=-0.0496 right_gripper=0.083\nstate[joint_eff]: [-2.0855, -11.5761, 7.241, -0.4127, -0.3785, -0.0855, -0.0073, -0.0342, -9.4838, 6.5709, 1.033, -0.359, -0.0122, 0.5104]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.6537, 2.3341, 2.0037, -1.5566, -0.5682, -2.0861, 0.116, 0.1875, 1.8278, 1.557, -1.079, -0.4515, -1.1088, 0.0852]\nstate[eef_state]: left_x=0.3659 left_y=-0.156 left_z=0.0722 left_yaw=1.3494 left_pitch=-0.359 left_roll=0.0173 left_gripper=0.116 right_x=0.3674 right_y=0.1518 right_z=0.1363 right_yaw=1.3325 right_pitch=-0.5149 right_roll=-0.0113 right_gripper=0.0852\nstate[joint_eff]: [0.4308, -12.2325, 5.4359, -0.3687, -0.3687, -0.0415, -0.0073, -0.5402, -11.6308, 8.4444, 0.5446, -0.5104, -0.0855, 0.5592]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.664, 2.2028, 1.8385, -1.5555, -0.5674, -2.0865, 0.116, 0.1837, 1.8244, 1.5612, -1.0882, -0.4458, -1.1252, 0.0876]\nstate[eef_state]: left_x=0.3372 left_y=-0.1387 left_z=0.0882 left_yaw=1.3506 left_pitch=-0.3457 left_roll=0.0491 left_gripper=0.116 right_x=0.3671 right_y=0.1493 right_z=0.1379 right_yaw=1.3369 right_pitch=-0.5206 right_roll=-0.0213 right_gripper=0.0876\nstate[joint_eff]: [-0.5128, -14.188, 5.4222, -0.3297, -0.2271, -0.0708, -0.0122, -0.0479, -8.4855, 5.7641, 0.7839, -0.3297, 0.1441, 0.2418]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11bc0357678177e7acff7ff60c483ff072ed60283b26f6ab57d8c9eafc8a67d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aac3ef3e069968092a6c3367268a20c740739e56d20383365c7987efd3d35107",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:150d9cb386cb7e3cb4d25128d46b9ebf9eebc683ae2856ef4ef0d3568400d539",
        "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_01WqxdJoHegcnvTxhCZtLjs3",
      "input": {
        "note": "Pen tip (pointing left) is ~7 cm from the cap in the top view; the cap arm is tilted and low. Levelling the cap arm's pitch and bringing it up to pen height and in line with the pen's x.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.395,
          "left_y": -0.15,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01WqxdJoHegcnvTxhCZtLjs3",
      "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]: [-0.569, 2.2959, 1.8374, -1.557, -0.8433, -2.0941, 0.116, 0.1837, 1.8278, 1.5497, -1.0889, -0.4454, -1.1191, 0.0904]\nstate[eef_state]: left_x=0.3766 left_y=-0.08 left_z=0.0859 left_yaw=1.3406 left_pitch=-0.0741 left_roll=0.0343 left_gripper=0.116 right_x=0.3644 right_y=0.1488 right_z=0.1332 right_yaw=1.3413 right_pitch=-0.5273 right_roll=-0.0017 right_gripper=0.0904\nstate[joint_eff]: [0.5538, -11.1248, 5.3265, -0.5934, -0.7692, 0.0024, -0.0122, -0.0752, -9.2376, 7.0496, 0.6716, -0.315, -0.0806, 0.2808]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a5faaa8506d093f741a4c1ee73051b9e513f00b6686fef5fcec2758e855a7b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa57490171835ca62bc84907ec627fc15ddae494e5540f186dd8f8e918e6f2e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b62fc283440b310a9d6f4513bc0080fb1c816fbd0468cbe5985ab25e3e38272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 7.775 s

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

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6537, 2.3341, 2.0037, -1.5566, -0.5682, -2.0861, 0.116, 0.1875, 1.8278, 1.557, -1.079, -0.4515, -1.1088, 0.0852]\nstate[eef_state]: left_x=0.3659 left_y=-0.156 left_z=0.0722 left_yaw=1.3494 left_pitch=-0.359 left_roll=0.0173 left_gripper=0.116 right_x=0.3674 right_y=0.1518 right_z=0.1363 right_yaw=1.3325 right_pitch=-0.5149 right_roll=-0.0113 right_gripper=0.0852\nstate[joint_eff]: [0.4308, -12.2325, 5.4359, -0.3687, -0.3687, -0.0415, -0.0073, -0.5402, -11.6308, 8.4444, 0.5446, -0.5104, -0.0855, 0.5592]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.664, 2.2028, 1.8385, -1.5555, -0.5674, -2.0865, 0.116, 0.1837, 1.8244, 1.5612, -1.0882, -0.4458, -1.1252, 0.0876]\nstate[eef_state]: left_x=0.3372 left_y=-0.1387 left_z=0.0882 left_yaw=1.3506 left_pitch=-0.3457 left_roll=0.0491 left_gripper=0.116 right_x=0.3671 right_y=0.1493 right_z=0.1379 right_yaw=1.3369 right_pitch=-0.5206 right_roll=-0.0213 right_gripper=0.0876\nstate[joint_eff]: [-0.5128, -14.188, 5.4222, -0.3297, -0.2271, -0.0708, -0.0122, -0.0479, -8.4855, 5.7641, 0.7839, -0.3297, 0.1441, 0.2418]",
      "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]: [-0.569, 2.2959, 1.8374, -1.557, -0.8433, -2.0941, 0.116, 0.1837, 1.8278, 1.5497, -1.0889, -0.4454, -1.1191, 0.0904]\nstate[eef_state]: left_x=0.3766 left_y=-0.08 left_z=0.0859 left_yaw=1.3406 left_pitch=-0.0741 left_roll=0.0343 left_gripper=0.116 right_x=0.3644 right_y=0.1488 right_z=0.1332 right_yaw=1.3413 right_pitch=-0.5273 right_roll=-0.0017 right_gripper=0.0904\nstate[joint_eff]: [0.5538, -11.1248, 5.3265, -0.5934, -0.7692, 0.0024, -0.0122, -0.0752, -9.2376, 7.0496, 0.6716, -0.315, -0.0806, 0.2808]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a5faaa8506d093f741a4c1ee73051b9e513f00b6686fef5fcec2758e855a7b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa57490171835ca62bc84907ec627fc15ddae494e5540f186dd8f8e918e6f2e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b62fc283440b310a9d6f4513bc0080fb1c816fbd0468cbe5985ab25e3e38272",
        "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_01KATunPVoJRrbCfF19i6Q4h",
      "input": {
        "note": "The cap arm tracks poorly in this pose, so I'll leave it and bring the pen (right arm tracks well) level and in line with the cap, tip ~2 cm short of the cap opening.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.35,
          "right_y": 0.24,
          "right_yaw": 1.34,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01KATunPVoJRrbCfF19i6Q4h",
      "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]: [-0.5755, 2.3142, 1.8408, -1.5555, -0.831, -2.0933, 0.116, 0.2691, 1.7737, 1.0107, -0.255, -0.7979, -0.8135, 0.092]\nstate[eef_state]: left_x=0.3751 left_y=-0.0835 left_z=0.0787 left_yaw=1.3403 left_pitch=-0.08 left_roll=0.0512 left_gripper=0.116 right_x=0.3446 right_y=0.2299 right_z=0.0802 right_yaw=1.334 right_pitch=-0.0805 right_roll=0.0371 right_gripper=0.092\nstate[joint_eff]: [0.5402, -13.3538, 4.8068, -0.5055, -0.5788, -0.0611, -0.0122, 0.5265, -10.2769, 6.1607, 1.243, -0.6129, 0.1538, 0.1636]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:735dc510ffb395ac6445d9a55f6c6e1a70e3e65f0d10e47c65cf52e78adb778d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94c0af03f1f1c55985dbef6174fcfc99e586e2759154063b3f43575fd0ee31cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cfc4246a47fdbcb216fb6379a6c771cb51d6c7042fcd1259dcecc71bbfc231b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 7.043 s

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

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.664, 2.2028, 1.8385, -1.5555, -0.5674, -2.0865, 0.116, 0.1837, 1.8244, 1.5612, -1.0882, -0.4458, -1.1252, 0.0876]\nstate[eef_state]: left_x=0.3372 left_y=-0.1387 left_z=0.0882 left_yaw=1.3506 left_pitch=-0.3457 left_roll=0.0491 left_gripper=0.116 right_x=0.3671 right_y=0.1493 right_z=0.1379 right_yaw=1.3369 right_pitch=-0.5206 right_roll=-0.0213 right_gripper=0.0876\nstate[joint_eff]: [-0.5128, -14.188, 5.4222, -0.3297, -0.2271, -0.0708, -0.0122, -0.0479, -8.4855, 5.7641, 0.7839, -0.3297, 0.1441, 0.2418]",
      "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]: [-0.569, 2.2959, 1.8374, -1.557, -0.8433, -2.0941, 0.116, 0.1837, 1.8278, 1.5497, -1.0889, -0.4454, -1.1191, 0.0904]\nstate[eef_state]: left_x=0.3766 left_y=-0.08 left_z=0.0859 left_yaw=1.3406 left_pitch=-0.0741 left_roll=0.0343 left_gripper=0.116 right_x=0.3644 right_y=0.1488 right_z=0.1332 right_yaw=1.3413 right_pitch=-0.5273 right_roll=-0.0017 right_gripper=0.0904\nstate[joint_eff]: [0.5538, -11.1248, 5.3265, -0.5934, -0.7692, 0.0024, -0.0122, -0.0752, -9.2376, 7.0496, 0.6716, -0.315, -0.0806, 0.2808]",
      "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]: [-0.5755, 2.3142, 1.8408, -1.5555, -0.831, -2.0933, 0.116, 0.2691, 1.7737, 1.0107, -0.255, -0.7979, -0.8135, 0.092]\nstate[eef_state]: left_x=0.3751 left_y=-0.0835 left_z=0.0787 left_yaw=1.3403 left_pitch=-0.08 left_roll=0.0512 left_gripper=0.116 right_x=0.3446 right_y=0.2299 right_z=0.0802 right_yaw=1.334 right_pitch=-0.0805 right_roll=0.0371 right_gripper=0.092\nstate[joint_eff]: [0.5402, -13.3538, 4.8068, -0.5055, -0.5788, -0.0611, -0.0122, 0.5265, -10.2769, 6.1607, 1.243, -0.6129, 0.1538, 0.1636]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:735dc510ffb395ac6445d9a55f6c6e1a70e3e65f0d10e47c65cf52e78adb778d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94c0af03f1f1c55985dbef6174fcfc99e586e2759154063b3f43575fd0ee31cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfc4246a47fdbcb216fb6379a6c771cb51d6c7042fcd1259dcecc71bbfc231b8",
        "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_01QmkZWXqPKNmhYtQ77hn7Lw",
      "input": {
        "note": "Pen is level and in line with the cap, tip a few cm short. Pushing the pen along its axis toward the cap opening.",
        "targets": {
          "right_x": 0.357,
          "right_y": 0.285,
          "right_z": 0.095
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QmkZWXqPKNmhYtQ77hn7Lw",
      "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]: [-0.5762, 2.3142, 1.8408, -1.5555, -0.8307, -2.0933, 0.116, 0.4023, 1.8275, 1.1088, -0.215, -0.7345, -0.6987, 0.0941]\nstate[eef_state]: left_x=0.375 left_y=-0.0838 left_z=0.0787 left_yaw=1.3397 left_pitch=-0.0803 left_roll=0.0513 left_gripper=0.116 right_x=0.3485 right_y=0.2808 right_z=0.0896 right_yaw=1.3626 right_pitch=-0.0831 right_roll=0.03 right_gripper=0.0941\nstate[joint_eff]: [-0.1299, -11.9179, 4.9846, -0.5153, -0.4664, -0.0024, -0.0122, -0.1026, -8.2393, 8.0068, 1.2527, -0.3297, 0.1343, 0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ae2e82853d173205c2cad5a56e04be41d16fddc68c6adfdde273318867b0c63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd32cae7ff53c5ece5259ec7d39cfcf425ee7a3d6192d461669de669c3e42807",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9462de41c9ab74cc981ae37edd5ad796197aa822c68eb3677f62dff9d9b220a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 10.3 s

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

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.569, 2.2959, 1.8374, -1.557, -0.8433, -2.0941, 0.116, 0.1837, 1.8278, 1.5497, -1.0889, -0.4454, -1.1191, 0.0904]\nstate[eef_state]: left_x=0.3766 left_y=-0.08 left_z=0.0859 left_yaw=1.3406 left_pitch=-0.0741 left_roll=0.0343 left_gripper=0.116 right_x=0.3644 right_y=0.1488 right_z=0.1332 right_yaw=1.3413 right_pitch=-0.5273 right_roll=-0.0017 right_gripper=0.0904\nstate[joint_eff]: [0.5538, -11.1248, 5.3265, -0.5934, -0.7692, 0.0024, -0.0122, -0.0752, -9.2376, 7.0496, 0.6716, -0.315, -0.0806, 0.2808]",
      "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]: [-0.5755, 2.3142, 1.8408, -1.5555, -0.831, -2.0933, 0.116, 0.2691, 1.7737, 1.0107, -0.255, -0.7979, -0.8135, 0.092]\nstate[eef_state]: left_x=0.3751 left_y=-0.0835 left_z=0.0787 left_yaw=1.3403 left_pitch=-0.08 left_roll=0.0512 left_gripper=0.116 right_x=0.3446 right_y=0.2299 right_z=0.0802 right_yaw=1.334 right_pitch=-0.0805 right_roll=0.0371 right_gripper=0.092\nstate[joint_eff]: [0.5402, -13.3538, 4.8068, -0.5055, -0.5788, -0.0611, -0.0122, 0.5265, -10.2769, 6.1607, 1.243, -0.6129, 0.1538, 0.1636]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.5762, 2.3142, 1.8408, -1.5555, -0.8307, -2.0933, 0.116, 0.4023, 1.8275, 1.1088, -0.215, -0.7345, -0.6987, 0.0941]\nstate[eef_state]: left_x=0.375 left_y=-0.0838 left_z=0.0787 left_yaw=1.3397 left_pitch=-0.0803 left_roll=0.0513 left_gripper=0.116 right_x=0.3485 right_y=0.2808 right_z=0.0896 right_yaw=1.3626 right_pitch=-0.0831 right_roll=0.03 right_gripper=0.0941\nstate[joint_eff]: [-0.1299, -11.9179, 4.9846, -0.5153, -0.4664, -0.0024, -0.0122, -0.1026, -8.2393, 8.0068, 1.2527, -0.3297, 0.1343, 0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ae2e82853d173205c2cad5a56e04be41d16fddc68c6adfdde273318867b0c63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd32cae7ff53c5ece5259ec7d39cfcf425ee7a3d6192d461669de669c3e42807",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9462de41c9ab74cc981ae37edd5ad796197aa822c68eb3677f62dff9d9b220a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSxAsKEAgSGAI4AUIIdGhpbmtpbmcSDLssplmU5nSIWHBXzBoMCrcjp98455XotQumIjD5HG+4sM2q4UWAMALHr1oseRaYYp1HUJqjXcJpiv71K+P0tQMuciTIqQuNVb/AGooq4QpP6oTgdRNiEwrnHgs6atzvDfpzqinKVa3bLqnSisnEG6OXsIHqvxP/Gy5z9ATxAYsXTY7JI4HgdgRDeA5Of6YNW9tDq69zF0+1HGl+Ncir3ZobjGY46tYoJiip0RjucgdD5oJL/KQFRQ8X9ipwpPoSn4FyEtrRHL6gdNuTWIKWTgdzcxDZ2i/+hMxyNqphZ36Dkc/HibzLqyKLpaE7UAQgyYME0VEM7kxGKFLFs6MMPBdiMyb4AXu0ujMbRSeVuxQoJU793r3MIdJWyPiwMXnqx88vl0mdDJAejcJBNg8IbCwwNNR7MQV1hoVFF82g2+PuW65XUVPT7qKBWb6C8gKZYw1pPt1bou7uWw4RR3LEK6tVjFi1yN8AkcEbiIhXRoPQ1XhRgtPsxhTyj6NBr9SzZRH2WgB2ZHNV7jZJOKuRrVadG8SYeb9s7HKhOSVlDzhcMkRsx51RassyO6DSz84WtBZHJcfiG4/pKwfGJmyvRp1CVUCegrag1g1XXKyxgzmDUv8GiJUCrVKdgRgTmAcJ/C0FSPB98Kw1LUfoqTJchuQZRjJ5ZZ+MmLTL7wU8PEwNH+G433JUZvCEnhSYECMIorQ+8jbL1r09cmAGyArXSYI0S9+pPZUqzrVk/FRtPsQMH9FCuWO/QLz/nFODHSm8bFy0MCbmM3CB7TF0SvG0cruI7BU3y6NvmhxqYcWzQkZV6/Ij+Xe8riFBKLwNKlOO11r5RD89vCnNSqpxPp2vFfrBk8CAvWEeVNVihYr+GbdGyFYYfNDeetMaUMbErFYRw5Rr8O8EpVc80WHwueZ9gTkylrvG/MvUIwtvzAeMfjX+s2pSWNgy7tM1u1EkxsAONWGMaDsPTi2gLEO0ICx9v+kdgX0GLaygMA0C1eMlE9QkvurYsHaPMlcuDccGfcxwgtobahauz22hRK+iU2anXEvr9EMnyOjjOBoll1IpKVdOKm80wpI3TxJlbqMLn8ajpx57DoBnYuXPrv1cW/ITncUDQvsbmrGcD5s2JFxuGkpz4rmCOTBEQBw2mufmIGDbjV99JErTL/FaQu20pucmow2aITnJOmJGBNle2iVGLUGeXUMNmykte2cqelMghsg7vEbkh+PBJPsa3AzAehGlsRBxgo1BHJoIhU92CrxR+n3BUM3i/T4CyipNHtLo+DqnIP79ldrLzH/ruTCfUNSAoRadrCqAQ2eRy6fkC57Ug7ferVNLCw0nws7OOQE7KXBG0NPuq+LQMAXParfMSzScmwmkvxJEfheTG+9c2Y2zcvp1mc+Ro8sHPEtaDL4QKUoseib8+y9YNLcpKZoO7qwCssrSfPxAN9cnhCQ70L9SSeTovkXXXiwiH4wBsf+4NEWdXA64qVzHspPm2IGGV7gYEQhK1SFhuASzBSOFqqrE6+fM7Vs1osuETIWn1i/sCW/XbMEflcq1QWcn3OgzOUA6dyDy0p4Ay8iKYR8gPK2YSurXIx0S9iawk0CHuaH8MYwLzm2wIrxCUf/00f7p2pJnBrQZ66PpnZk48WxLRlmwn0ViSUSPUuPfk5SOfLz58tBqL33yxaaZX7tijQC9oLrvsHImuAmtzb5H/Q2TNljlf9u1QcgSAVArqSDi7S9iTYpaIzjtnt2jf1JeOmc8Nm5SWCDa3IeVuzWVQlNkJFqZ5cbn46SiXbbcHjvO2F4qRJ/mxPGx/3GSUrCy4TPb4OLru0oY0yhk4qCpira7RWKsJ9PChcGK+WkT2/2AwbUx7DFwfSOtA37wpBKEbtfoDZMNJMkG4u69DQOEU0m2ya5hACwPdMeEYQQl5f5HMvBuBdKYqzzE5fqx+vzE6cTqUksq04sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BRJX6cBB74aKLB57riM9dp",
      "input": {
        "note": "In the right wrist view the pen tip now runs under the left gripper where the cap is held. Pushing 2 cm further along the pen axis to seat the cap, watching for the motion to stop on contact.",
        "targets": {
          "right_x": 0.353,
          "right_y": 0.305
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01BRJX6cBB74aKLB57riM9dp",
      "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]: [-0.5762, 2.3142, 1.8404, -1.5555, -0.8303, -2.0933, 0.116, 0.4427, 1.8561, 1.1309, -0.2016, -0.7067, -0.6582, 0.0954]\nstate[eef_state]: left_x=0.3749 left_y=-0.0838 left_z=0.0786 left_yaw=1.3399 left_pitch=-0.0805 left_roll=0.0518 left_gripper=0.116 right_x=0.3471 right_y=0.2955 right_z=0.0844 right_yaw=1.3633 right_pitch=-0.0982 right_roll=0.0436 right_gripper=0.0954\nstate[joint_eff]: [-0.1846, -11.9316, 5.094, -0.5153, -0.4518, -0.0415, -0.0122, 0.5265, -8.3077, 8.4581, 1.5067, -0.2271, 0.1148, 0.1343]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3212a9cf11d058dd3f858e8ea5af95329da45f72c5059207358691905aa75c9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c5d944057475da19d5df8c1d659aefafae25436097bcabcc81ac67f9f48f76a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2a05f6876a6fa481a6089142026536f956c1789902a1e5a3300644795ea97d98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 8.439 s

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

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5755, 2.3142, 1.8408, -1.5555, -0.831, -2.0933, 0.116, 0.2691, 1.7737, 1.0107, -0.255, -0.7979, -0.8135, 0.092]\nstate[eef_state]: left_x=0.3751 left_y=-0.0835 left_z=0.0787 left_yaw=1.3403 left_pitch=-0.08 left_roll=0.0512 left_gripper=0.116 right_x=0.3446 right_y=0.2299 right_z=0.0802 right_yaw=1.334 right_pitch=-0.0805 right_roll=0.0371 right_gripper=0.092\nstate[joint_eff]: [0.5402, -13.3538, 4.8068, -0.5055, -0.5788, -0.0611, -0.0122, 0.5265, -10.2769, 6.1607, 1.243, -0.6129, 0.1538, 0.1636]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.5762, 2.3142, 1.8408, -1.5555, -0.8307, -2.0933, 0.116, 0.4023, 1.8275, 1.1088, -0.215, -0.7345, -0.6987, 0.0941]\nstate[eef_state]: left_x=0.375 left_y=-0.0838 left_z=0.0787 left_yaw=1.3397 left_pitch=-0.0803 left_roll=0.0513 left_gripper=0.116 right_x=0.3485 right_y=0.2808 right_z=0.0896 right_yaw=1.3626 right_pitch=-0.0831 right_roll=0.03 right_gripper=0.0941\nstate[joint_eff]: [-0.1299, -11.9179, 4.9846, -0.5153, -0.4664, -0.0024, -0.0122, -0.1026, -8.2393, 8.0068, 1.2527, -0.3297, 0.1343, 0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5762, 2.3142, 1.8404, -1.5555, -0.8303, -2.0933, 0.116, 0.4427, 1.8561, 1.1309, -0.2016, -0.7067, -0.6582, 0.0954]\nstate[eef_state]: left_x=0.3749 left_y=-0.0838 left_z=0.0786 left_yaw=1.3399 left_pitch=-0.0805 left_roll=0.0518 left_gripper=0.116 right_x=0.3471 right_y=0.2955 right_z=0.0844 right_yaw=1.3633 right_pitch=-0.0982 right_roll=0.0436 right_gripper=0.0954\nstate[joint_eff]: [-0.1846, -11.9316, 5.094, -0.5153, -0.4518, -0.0415, -0.0122, 0.5265, -8.3077, 8.4581, 1.5067, -0.2271, 0.1148, 0.1343]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3212a9cf11d058dd3f858e8ea5af95329da45f72c5059207358691905aa75c9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c5d944057475da19d5df8c1d659aefafae25436097bcabcc81ac67f9f48f76a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a05f6876a6fa481a6089142026536f956c1789902a1e5a3300644795ea97d98",
        "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_01V6Ag38k9rx4DFTzsH1Wrw8",
      "input": {
        "note": "The dark shape in the right wrist view is the left arm's cable, not the gripper; the pen tip is still bare. Pushing the pen another ~3 cm along its axis toward the cap.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.33,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01V6Ag38k9rx4DFTzsH1Wrw8",
      "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]: [-0.569, 2.3142, 1.8404, -1.5562, -0.8268, -2.0933, 0.116, 0.4873, 1.9198, 1.2125, -0.218, -0.6785, -0.6262, 0.0961]\nstate[eef_state]: left_x=0.375 left_y=-0.0813 left_z=0.0782 left_yaw=1.3488 left_pitch=-0.0831 left_roll=0.0536 left_gripper=0.116 right_x=0.3532 right_y=0.3167 right_z=0.0808 right_yaw=1.3723 right_pitch=-0.116 right_roll=0.0537 right_gripper=0.0961\nstate[joint_eff]: [-1.0325, -11.8906, 5.094, -0.4615, -0.3492, -0.0171, -0.0073, 1.5932, -9.1282, 8.8, 1.4286, -0.3785, 0.1538, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00621962550a24a08a83326e76d7a3b872927850a9e2bf499f52bca119300331",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:decc20b0e338ade0ab9ffdf093752534af622a7d6177f77cfd711f516402a588",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e82b8520f4ca1477f59df9240e2f78dfd2e76ad0ac9cffe8e1965ab52beeee18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 11.52 s

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

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5762, 2.3142, 1.8408, -1.5555, -0.8307, -2.0933, 0.116, 0.4023, 1.8275, 1.1088, -0.215, -0.7345, -0.6987, 0.0941]\nstate[eef_state]: left_x=0.375 left_y=-0.0838 left_z=0.0787 left_yaw=1.3397 left_pitch=-0.0803 left_roll=0.0513 left_gripper=0.116 right_x=0.3485 right_y=0.2808 right_z=0.0896 right_yaw=1.3626 right_pitch=-0.0831 right_roll=0.03 right_gripper=0.0941\nstate[joint_eff]: [-0.1299, -11.9179, 4.9846, -0.5153, -0.4664, -0.0024, -0.0122, -0.1026, -8.2393, 8.0068, 1.2527, -0.3297, 0.1343, 0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5762, 2.3142, 1.8404, -1.5555, -0.8303, -2.0933, 0.116, 0.4427, 1.8561, 1.1309, -0.2016, -0.7067, -0.6582, 0.0954]\nstate[eef_state]: left_x=0.3749 left_y=-0.0838 left_z=0.0786 left_yaw=1.3399 left_pitch=-0.0805 left_roll=0.0518 left_gripper=0.116 right_x=0.3471 right_y=0.2955 right_z=0.0844 right_yaw=1.3633 right_pitch=-0.0982 right_roll=0.0436 right_gripper=0.0954\nstate[joint_eff]: [-0.1846, -11.9316, 5.094, -0.5153, -0.4518, -0.0415, -0.0122, 0.5265, -8.3077, 8.4581, 1.5067, -0.2271, 0.1148, 0.1343]",
      "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]: [-0.569, 2.3142, 1.8404, -1.5562, -0.8268, -2.0933, 0.116, 0.4873, 1.9198, 1.2125, -0.218, -0.6785, -0.6262, 0.0961]\nstate[eef_state]: left_x=0.375 left_y=-0.0813 left_z=0.0782 left_yaw=1.3488 left_pitch=-0.0831 left_roll=0.0536 left_gripper=0.116 right_x=0.3532 right_y=0.3167 right_z=0.0808 right_yaw=1.3723 right_pitch=-0.116 right_roll=0.0537 right_gripper=0.0961\nstate[joint_eff]: [-1.0325, -11.8906, 5.094, -0.4615, -0.3492, -0.0171, -0.0073, 1.5932, -9.1282, 8.8, 1.4286, -0.3785, 0.1538, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00621962550a24a08a83326e76d7a3b872927850a9e2bf499f52bca119300331",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:decc20b0e338ade0ab9ffdf093752534af622a7d6177f77cfd711f516402a588",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e82b8520f4ca1477f59df9240e2f78dfd2e76ad0ac9cffe8e1965ab52beeee18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS8gkKEAgSGAI4AUIIdGhpbmtpbmcSDPIaoDMKkwd29NOLlhoMPaV2U8HEZr8wn+xeIjAU6AP6kuCneI8j4gCQK8KHXfwMuZb7yBauUPnztJiivOJt8AUaoaVcw9aUNU5hMxUqjwlxsaMM6uujvuLmi2178DYa/4Ff6KBcLJ6oLvyGTiwg8m2HvrW1hmza3OquqqmcicXhthIhPyFss36ICtJBse6zrVnrIhdxtHVsmMcz8aIA8+4boXpaDWsayXOFxHqW9LoWcBsOmZqifGc+vysvVk3laz8E588/JSjd5XHRWY1e5c0AgM17z1WAP31Pjdjaz40OBXSweA/gdMhC5PnOwLe2Lp9CB84oNOr77QsP4Gzjjwz89e61GM50s63ujL3RrwYc38e5TO77ULNrERZwdISzHtaFpx1Jw+qu8vgzIiUwgFrp/6318jGJA4YC5Y9xcgVVY+Dd5bC4iSakxepyqECEcf5pMxeNZqscBeugEVpTuEfAQJHCWV2RMItvAC9LD8oZyD4bucpC3kvQxigqKrMZafLShPmM1Z5d0tlNtNrBjgm+xXNBNKFUhr/bsoaAAc7ufa1kpMgZtXPyTdCxuSR4mzxrW53rOj8C9f0z+Xsjp9R+VPEqXUeP1H0mqfXgcDnBG5oVEy78TKWHDODiNnUrRUsmoXyiuYPt2tFNVK9cLfF4gcKdbrcDDeKXMRu5QWDbWz1e2Uwcfue8xpAuhu4kQlly5BX3GsUdvDIivIyHk5ppVK4MMceJZGRXi6Qble2/KVPizyIoTHOPpluqrhSnrPhzPv82tFEHDdXDmyMlR1Y9vWR6CPItobcBjBETzUrOBSC2tpSMjGk+kyqC5ZIK30w3bSoNbkD1WPnCnwRTCFxCjVNUKRfkj4UFwYfTosj/V+RmvrkMxj+gARciG6D2d5lbSal3odihFmGvx70NijXnt1BwU7bmzGbUg3dyQH3pTeCBzGXkFOYGcB9sHiztGIQIR4D6PJK145TwX7EK1+t3Q4LJC2XIXmntI11Aw9p6bT06RpFRQPgk1FT/ayHV/uwgKTXWZLwe2mMcvj//fSzOTAPZ3ewP8ck6AUQKsNNoRrk9AxDot2Ty34UkuHJfT+75/HmH26w/G0yoCDgVWI1Hx6+HeqLi87PmKYC1/3KpCwLmIdHpoWCqWH/6xxOGRsjPQTDU4Jsa7uPnauzIMpAE8PCSvVsgqReWXH5Mq1zih6HTlzJm2RVFryPlziEyzf2Utf46Hk/1xH/Ih9+4AUogh2S8gS+y7+IsTN707oyBqKvr5ZH6dCC1WPEWe8EhfEhx70jq9xi7qkou0Adu4hWFhlRvgfoEKWZFniKCsnRbl2AVepiXJJPuLX2l2JfRrre+7f1Ri9QDwBh65N9AW07jvrpIvXKXsrAmLUeejXNxJF4c9QgW2+euzqYT3bnLNWcbHqIO9Ll6ZWMXWz3hpeuMhfdFJm/yIKWRXbtjKferk6U0G3DpTwsrcvyMTgIz0qlwVAPnsReUYyy5pwGlglSdY0mB43S10Lk2i31QQW+TuK+I817Tt0J08CaLxD9PhnLbppRxCMvv9Md12sH57S9gSOQ0XheGNdJVa4QcVB+/3/r9nqfCdicj6GblYNrgalz58R623q6rQKDMvHg2Dh9V/mmQq9ycSWyaRuZUL2WpFvMLsU2FL48riPS1THsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019B8GWqNhLbc9G91V3bBbmj",
      "input": {
        "note": "The pen tip now disappears under the left gripper where the cap is held and the push stopped ~1 cm short, suggesting the cap may be seated. Releasing the cap so it can stay on the pen.",
        "targets": {
          "left_gripper": 0.6
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_019B8GWqNhLbc9G91V3bBbmj",
      "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]: [-0.5613, 2.3142, 1.8404, -1.5558, -0.823, -2.0941, 0.5946, 0.4885, 1.9266, 1.2182, -0.226, -0.6697, -0.6243, 0.0974]\nstate[eef_state]: left_x=0.3752 left_y=-0.0787 left_z=0.0777 left_yaw=1.3586 left_pitch=-0.0865 left_roll=0.0538 left_gripper=0.5946 right_x=0.354 right_y=0.3164 right_z=0.078 right_yaw=1.3675 right_pitch=-0.1273 right_roll=0.0578 right_gripper=0.0974\nstate[joint_eff]: [-0.9368, -11.7538, 4.9026, -0.5104, -0.4176, -0.0269, -0.1294, -0.335, -10.5368, 5.6274, 1.3016, -0.4127, -0.0513, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b31135e20acbd1330c09ae339145577e5e85f756b61e73349ddb7eec9fded3ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd259c4e91057fd87006c2072ec4a0488a09bf77a3997bab6e99044b0d814e55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:23216ec7ca3020f48e348b8de982f984dc32b5ed155d688ec231728162628a8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]