adhoc - adhoc_2db99b64.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: 305.3 s
total steps: 245

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 left of the right arm, cap lies right of the left arm. Moving the right arm above the pen with yaw so the jaws close across it.

move_to

right_x0.3800right_y0.1900right_z0.1500right_yaw0.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7937, 0.6025, -0.379, -0.0219, -0.0246, 0.9998, -0.0185, 0.7918, 0.6102, -0.3752, -0.02, -0.0093, 0.9992] state[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1796 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.296 right_y=0.0016 right_z=0.1844 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9992 state[joint_eff]: [-0.4308, -1.5795, 10.4, 1.7998, -0.0611, 0.105, -0.0366, -0.759, -1.347, 9.8256, 1.6972, -0.0659, -0.1001, -0.0952] 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": 0.38, "right_y": 0.19, "right_z": 0.15, "right_yaw": 0.5}, "note": "Pen lies diagonally left of the right arm, cap lies right of the left arm. Moving the right arm above the pen with yaw so the jaws close across it."})

tool

executing move_to over 16 steps (1.6s)

step 16

assistant

agent notePen now runs along the jaw column in the right wrist view, slightly right of centre. Shifting a bit right and descending to refine alignment.

move_to

right_y0.1650right_z0.0600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0212, 0.799, 0.6037, -0.3813, -0.0216, -0.0254, 0.9998, 0.4202, 1.4097, 0.7704, 0.0074, -0.0509, -0.0238, 0.9992] state[eef_state]: left_x=0.2949 left_y=0.0012 left_z=0.1782 left_yaw=-0.0007 left_pitch=-0.0065 left_roll=-0.0007 left_gripper=0.9998 right_x=0.3684 right_y=0.1784 right_z=0.1291 right_yaw=0.4724 right_pitch=-0.0744 right_roll=0.0077 right_gripper=0.9992 state[joint_eff]: [-0.2393, -1.6889, 6.9812, 1.6874, -0.0269, -0.0611, -0.0171, 0.3487, -5.9966, 9.1556, 1.8681, -0.0708, -0.0855, -0.0122] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.165, "right_z": 0.06}, "note": "Pen now runs along the jaw column in the right wrist view, slightly right of centre. Shifting a bit right and descending to refine alignment."})

tool

executing move_to over 5 steps (0.5s)

step 21

assistant

agent notePen visible ahead of the jaws, tilted and slightly right. Advancing ~3 cm, yawing to align with the pen, and lowering to grasp near its thicker near end.

move_to

right_x0.3900right_y0.1600right_z0.0300right_yaw0.7500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0212, 0.8001, 0.6033, -0.3809, -0.0219, -0.025, 0.9997, 0.3794, 1.552, 0.5941, 0.2401, -0.0776, -0.036, 0.9992] state[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1778 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9997 right_x=0.3564 right_y=0.1607 right_z=0.0483 right_yaw=0.4616 right_pitch=-0.1588 right_roll=0.0207 right_gripper=0.9992 state[joint_eff]: [-0.2393, -1.3607, 7.0496, 1.7216, -0.0317, -0.0415, -0.0171, -0.5812, -6.0786, 6.0376, 2.0391, -0.0806, -0.2173, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": 0.16, "right_z": 0.03, "right_yaw": 0.75}, "note": "Pen visible ahead of the jaws, tilted and slightly right. Advancing ~3 cm, yawing to align with the pen, and lowering to grasp near its thicker near end."})

tool

executing move_to over 3 steps (0.3s)

step 24

assistant

agent notePen now runs between the jaws, slightly right of centre. Nudging right and descending to table level to grasp.

move_to

right_x0.3950right_y0.1450right_z-0.0080right_yaw0.7500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0212, 0.8032, 0.6033, -0.382, -0.0219, -0.025, 0.9997, 0.2382, 1.7401, 0.717, 0.2558, -0.2817, -0.2249, 0.9992] state[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1767 left_yaw=-0.0006 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9997 right_x=0.3918 right_y=0.1494 right_z=0.028 right_yaw=0.5968 right_pitch=-0.1737 right_roll=0.0246 right_gripper=0.9992 state[joint_eff]: [-0.1709, -1.1419, 7.0769, 1.7509, -0.0513, -0.0366, -0.0073, -0.0752, -8.5402, 6.5709, 1.4676, -0.4518, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.395, "right_y": 0.145, "right_z": -0.008, "right_yaw": 0.75}, "note": "Pen now runs between the jaws, slightly right of centre. Nudging right and descending to table level to grasp."})

tool

executing move_to over 3 steps (0.3s)

step 27

assistant

agent notePen centred between the jaws; still ~1.5 cm up. Pressing down to table level before closing.

move_to

right_x0.3920right_y0.1450right_z-0.0150

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0212, 0.8051, 0.6033, -0.3809, -0.0219, -0.0254, 0.9997, 0.2111, 1.7782, 0.7193, 0.2474, -0.3592, -0.3134, 0.9992] state[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.1764 left_yaw=-0.0003 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9997 right_x=0.386 right_y=0.1499 right_z=0.0155 right_yaw=0.6844 right_pitch=-0.1903 right_roll=0.0273 right_gripper=0.9992 state[joint_eff]: [-0.1983, -1.4974, 7.0359, 1.6972, -0.0317, -0.0562, -0.0122, -0.1573, -6.3658, 5.2444, 1.9023, -0.0855, 0.1734, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.392, "right_y": 0.145, "right_z": -0.015}, "note": "Pen centred between the jaws; still ~1.5 cm up. Pressing down to table level before closing."})

tool

executing move_to over 2 steps (0.2s)

step 29

assistant

agent noteDescent stopped at ~1.6 cm, probably fingertip contact with the table. Closing the right gripper on 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]: [-0.0212, 0.807, 0.6033, -0.3809, -0.0219, -0.0254, 0.9997, 0.2115, 1.7821, 0.7174, 0.2665, -0.3481, -0.3, 0.9992] state[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1759 left_yaw=-0.0003 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9997 right_x=0.3889 right_y=0.1488 right_z=0.016 right_yaw=0.6675 right_pitch=-0.1822 right_roll=0.024 right_gripper=0.9992 state[joint_eff]: [-0.2803, -1.4564, 7.0359, 1.6923, -0.0855, -0.0513, -0.0122, 0.0479, -7.1179, 5.2308, 1.7167, -0.0659, 0.1001, -0.0171] 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_gripper": 0.0}, "note": "Descent stopped at ~1.6 cm, probably fingertip contact with the table. Closing the right gripper on the pen."})

tool

executing move_to over 10 steps (1.0s)

step 39

assistant

agent noteEmpty close (0.011): the pen sits right of the jaw column. Opening and lifting slightly before repositioning.

move_to

right_gripper1.0000right_z0.0400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0212, 0.807, 0.6033, -0.3809, -0.0219, -0.025, 0.9997, 0.2115, 1.7821, 0.7174, 0.2642, -0.3424, -0.3004, 0.0113] state[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1759 left_yaw=-0.0006 left_pitch=-0.0145 left_roll=-0.0 left_gripper=0.9997 right_x=0.389 right_y=0.1479 right_z=0.0153 right_yaw=0.6632 right_pitch=-0.1861 right_roll=0.021 right_gripper=0.0113 state[joint_eff]: [-0.212, -1.3333, 7.0769, 1.7705, -0.0562, -0.0415, -0.0073, -0.0615, -7.788, 5.1077, 1.536, -0.1978, -0.0073, 0.9597] 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": 1.0, "right_z": 0.04}, "note": "Empty close (0.011): the pen sits right of the jaw column. Opening and lifting slightly before repositioning."})

tool

executing move_to over 10 steps (1.0s)

step 49

assistant

agent notePen's near end sits by the right jaw, ~2.5 cm right of centre and angled. Shifting right, a bit forward, and yawing to align before descending again.

move_to

right_x0.4060right_y0.1350right_z0.0300right_yaw0.8500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0212, 0.8089, 0.6033, -0.3801, -0.0219, -0.0254, 0.9997, 0.2115, 1.7344, 0.7322, 0.1612, -0.3412, -0.3042, 0.9949] state[eef_state]: left_x=0.2957 left_y=0.0012 left_z=0.1755 left_yaw=-0.0003 left_pitch=-0.0156 left_roll=-0.0003 left_gripper=0.9997 right_x=0.3811 right_y=0.146 right_z=0.0222 right_yaw=0.668 right_pitch=-0.2227 right_roll=0.0355 right_gripper=0.9949 state[joint_eff]: [-0.1436, -1.1009, 7.0632, 1.7509, -0.0855, -0.0757, -0.0122, -0.1162, -10.0034, 7.4598, 1.3162, -0.2369, -0.0024, -0.1636] approver: 10 step(s) modified (delta_clamped ×10). 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_x": 0.406, "right_y": 0.135, "right_z": 0.03, "right_yaw": 0.85}, "note": "Pen's near end sits by the right jaw, ~2.5 cm right of centre and angled. Shifting right, a bit forward, and yawing to align before descending again."})

tool

executing move_to over 2 steps (0.2s)

step 51

assistant

agent noteArm still lagging the last target; pen remains right of centre and tilted. Continuing the right/forward shift and yaw.

move_to

right_x0.4100right_y0.1300right_z0.0300right_yaw0.9500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0212, 0.807, 0.6029, -0.3817, -0.0219, -0.0254, 0.9997, 0.1604, 1.7985, 0.8444, 0.0395, -0.4263, -0.4129, 0.9961] state[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.1756 left_yaw=-0.0003 left_pitch=-0.0156 left_roll=-0.0003 left_gripper=0.9997 right_x=0.3936 right_y=0.1413 right_z=0.0212 right_yaw=0.7529 right_pitch=-0.2506 right_roll=0.0532 right_gripper=0.9961 state[joint_eff]: [-0.0889, -0.9231, 7.2274, 1.6825, -0.0366, -0.0659, -0.0122, -1.6342, -8.6906, 6.5299, 1.3114, -0.3834, -0.0562, 0.1099] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.41, "right_y": 0.13, "right_z": 0.03, "right_yaw": 0.95}, "note": "Arm still lagging the last target; pen remains right of centre and tilted. Continuing the right/forward shift and yaw."})

tool

executing move_to over 2 steps (0.2s)

step 53

assistant

agent notePen now aligned along the jaw column, just right of centre. Nudging right and descending to the table to grasp.

move_to

right_x0.4120right_y0.1270right_z-0.0200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0212, 0.8108, 0.6029, -0.3809, -0.0219, -0.0254, 0.9997, 0.0875, 1.869, 0.9852, -0.1219, -0.5388, -0.6041, 0.9962] state[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1747 left_yaw=-0.0003 left_pitch=-0.0187 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4082 right_y=0.1304 right_z=0.0259 right_yaw=0.8824 right_pitch=-0.2555 right_roll=0.0505 right_gripper=0.9962 state[joint_eff]: [-0.3487, -1.5658, 7.0632, 1.7021, -0.0855, -0.0513, -0.0073, -0.9915, -8.4581, 7.1316, 1.1844, -0.5495, -0.0855, -0.0024] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.412, "right_y": 0.127, "right_z": -0.02}, "note": "Pen now aligned along the jaw column, just right of centre. Nudging right and descending to the table to grasp."})

tool

executing move_to over 3 steps (0.3s)

step 56

assistant

agent notePen centred between the jaws; the arm has not descended yet. Commanding the descent to the table again.

move_to

right_z-0.0200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0212, 0.8108, 0.6029, -0.3809, -0.0219, -0.025, 0.9997, 0.0677, 1.8874, 1.0248, -0.1963, -0.5739, -0.6712, 0.9962] state[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1747 left_yaw=-0.0006 left_pitch=-0.0187 left_roll=0.0001 left_gripper=0.9997 right_x=0.4064 right_y=0.1273 right_z=0.0256 right_yaw=0.9331 right_pitch=-0.2667 right_roll=0.0645 right_gripper=0.9962 state[joint_eff]: [-0.0479, -1.3607, 7.0085, 1.6923, -0.0708, -0.0562, -0.0122, -0.2256, -8.8684, 6.8034, 1.0867, -0.442, -0.2027, -0.0073] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": -0.02}, "note": "Pen centred between the jaws; the arm has not descended yet. Commanding the descent to the table again."})

tool

executing move_to over 3 steps (0.3s)

step 59

assistant

agent noteDescent stalls at 2.5 cm with the tool pitched back -0.27; commanding the pitch back toward vertical so the fingertips can reach the pen at table level.

move_to

right_z-0.0200right_pitch0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0212, 0.8146, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.0677, 1.8877, 1.0271, -0.2035, -0.5743, -0.6857, 0.9962] state[eef_state]: left_x=0.2958 left_y=0.0012 left_z=0.1735 left_yaw=-0.0003 left_pitch=-0.0229 left_roll=-0.0002 left_gripper=0.9997 right_x=0.4058 right_y=0.1273 right_z=0.0254 right_yaw=0.9424 right_pitch=-0.2694 right_roll=0.0588 right_gripper=0.9962 state[joint_eff]: [-0.0615, -1.6752, 7.0359, 1.6874, -0.0708, -0.0562, -0.0073, -0.1846, -8.8957, 6.6256, 1.116, -0.4762, -0.0806, -0.0073] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": -0.02, "right_pitch": 0.1}, "note": "Descent stalls at 2.5 cm with the tool pitched back -0.27; commanding the pitch back toward vertical so the fingertips can reach the pen at table level."})

tool

executing move_to over 13 steps (1.3s)

step 72

assistant

Now at z≈0 with the pen centred between the jaws. Closing.

agent noteGrasp point is at table level with the pen centred between the jaws. Closing the right gripper.

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]: [-0.0212, 0.8192, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, -0.0204, 2.0903, 0.7757, 0.6247, -0.8619, -0.5896, 0.9962] state[eef_state]: left_x=0.2961 left_y=0.0012 left_z=0.1723 left_yaw=-0.0003 left_pitch=-0.0275 left_roll=-0.0001 left_gripper=0.9997 right_x=0.4168 right_y=0.1292 right_z=0.0017 right_yaw=0.9782 right_pitch=0.1293 right_roll=-0.0299 right_gripper=0.9962 state[joint_eff]: [-0.335, -1.7299, 7.1726, 1.6874, -0.0415, -0.0513, -0.0073, -0.4991, -6.0239, 2.4137, 0.7253, -0.0415, 0.442, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]

assistant

Now at z≈0 with the pen centred between the jaws. Closing.

move_to({"targets": {"right_gripper": 0.0}, "note": "Grasp point is at table level with the pen centred between the jaws. Closing the right gripper."})

tool

executing move_to over 10 steps (1.0s)

step 82

assistant

agent noteGripper settled at 0.056 (~5 mm), consistent with holding the pen; its tip sticks out forward. Lifting to confirm the grasp.

move_to

right_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0212, 0.82, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, -0.02, 2.1048, 0.7719, 0.6632, -0.8734, -0.5903, 0.0557] state[eef_state]: left_x=0.2961 left_y=0.0012 left_z=0.1721 left_yaw=-0.0003 left_pitch=-0.0282 left_roll=-0.0001 left_gripper=0.9997 right_x=0.4171 right_y=0.1307 right_z=0.0015 right_yaw=0.9897 right_pitch=0.1463 right_roll=-0.0439 right_gripper=0.0557 state[joint_eff]: [-0.1162, -1.4701, 7.2137, 1.707, -0.0855, -0.0659, -0.0122, -0.253, -10.2496, 4.3556, 1.1258, -0.1685, 0.0171, 1.3748] 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": {"right_z": 0.12}, "note": "Gripper settled at 0.056 (~5 mm), consistent with holding the pen; its tip sticks out forward. Lifting to confirm the grasp."})

tool

executing move_to over 8 steps (0.8s)

step 90

assistant

agent noteRight arm is holding the pen in the air (tip pointing forward-left). Now moving the left arm above the cap, which lies right of it.

move_to

left_x0.3900left_y-0.1700left_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]: [-0.0212, 0.8238, 0.6029, -0.3805, -0.0219, -0.0254, 0.9997, -0.0193, 1.7664, 0.8612, 0.2302, -0.8688, -0.5919, 0.0675] state[eef_state]: left_x=0.2965 left_y=0.0012 left_z=0.1712 left_yaw=-0.0003 left_pitch=-0.0313 left_roll=0.0 left_gripper=0.9997 right_x=0.4163 right_y=0.1305 right_z=0.1004 right_yaw=0.9873 right_pitch=0.141 right_roll=-0.0423 right_gripper=0.0675 state[joint_eff]: [-0.3761, -1.7709, 7.0085, 1.7411, -0.0708, -0.0659, -0.0073, -0.3624, -10.3453, 8.2256, 1.3309, -0.398, -0.0122, 1.0281] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.39, "left_y": -0.17, "left_z": 0.12}, "note": "Right arm is holding the pen in the air (tip pointing forward-left). Now moving the left arm above the cap, which lies right of it."})

tool

executing move_to over 16 steps (1.6s)

step 106

assistant

agent noteCap is on the jaw column in the left wrist view, tilted ~30°. Advancing ~3 cm, yawing to align the jaws across it, and descending.

move_to

left_x0.4050left_y-0.1600left_z0.0300left_yaw-0.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6125, 1.5482, 0.8219, -0.0505, -0.482, -0.3916, 0.9997, -0.0193, 1.7618, 0.8577, 0.2169, -0.8658, -0.5919, 0.0675] state[eef_state]: left_x=0.3754 left_y=-0.1593 left_z=0.0994 left_yaw=-0.0104 left_pitch=-0.101 left_roll=0.0361 left_gripper=0.9997 right_x=0.4141 right_y=0.1302 right_z=0.0988 right_yaw=0.9836 right_pitch=0.1328 right_roll=-0.0329 right_gripper=0.0675 state[joint_eff]: [-0.4718, -7.0906, 9.1829, 1.7314, -0.2759, 0.0122, -0.0122, -0.3214, -7.665, 5.9966, 1.5507, -0.3736, -0.0708, 1.033] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.405, "left_y": -0.16, "left_z": 0.03, "left_yaw": -0.5}, "note": "Cap is on the jaw column in the left wrist view, tilted ~30\u00b0. Advancing ~3 cm, yawing to align the jaws across it, and descending."})

tool

executing move_to over 5 steps (0.5s)

step 111

assistant

agent noteCap still ahead of the fingertips and tilted in the left wrist view. Advancing ~4 cm, yawing further, and leveling pitch before the final descent.

move_to

left_x0.4350left_y-0.1600left_z0.0300left_yaw-0.7000left_pitch0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3634, 1.7615, 0.6914, 0.2813, -0.057, -0.02, 0.9997, -0.0193, 1.7618, 0.8551, 0.2157, -0.8658, -0.5915, 0.073] state[eef_state]: left_x=0.3919 left_y=-0.1344 left_z=0.0104 left_yaw=-0.3147 left_pitch=-0.2177 left_roll=0.0333 left_gripper=0.9997 right_x=0.4133 right_y=0.1302 right_z=0.0978 right_yaw=0.983 right_pitch=0.1308 right_roll=-0.0293 right_gripper=0.073 state[joint_eff]: [0.3077, -8.3624, 6.0376, 2.0195, 0.2027, 0.188, -0.0122, -0.335, -8.212, 5.9009, 1.4139, -0.3248, -0.0464, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.435, "left_y": -0.16, "left_z": 0.03, "left_yaw": -0.7, "left_pitch": 0.1}, "note": "Cap still ahead of the fingertips and tilted in the left wrist view. Advancing ~4 cm, yawing further, and leveling pitch before the final descent."})

tool

executing move_to over 11 steps (1.1s)

step 122

assistant

agent noteLeft arm lagged behind the previous target; cap is still ahead and slightly left of the jaw column. Re-commanding the advance.

move_to

left_x0.4350left_y-0.1550left_z0.0300left_yaw-0.7500left_pitch0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3428, 1.7866, 0.6907, 0.3637, 0.0837, 0.0895, 0.9997, -0.0193, 1.7622, 0.8539, 0.2161, -0.8654, -0.5915, 0.0766] state[eef_state]: left_x=0.3965 left_y=-0.1534 left_z=0.015 left_yaw=-0.4745 left_pitch=-0.1594 left_roll=0.0179 left_gripper=0.9997 right_x=0.413 right_y=0.1301 right_z=0.0972 right_yaw=0.9826 right_pitch=0.1299 right_roll=-0.0285 right_gripper=0.0766 state[joint_eff]: [-0.335, -8.5265, 6.0786, 1.9365, 0.1441, 0.1734, -0.0122, -0.3624, -8.1846, 6.0239, 1.4383, -0.3443, -0.0513, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.435, "left_y": -0.155, "left_z": 0.03, "left_yaw": -0.75, "left_pitch": 0.1}, "note": "Left arm lagged behind the previous target; cap is still ahead and slightly left of the jaw column. Re-commanding the advance."})

tool

executing move_to over 9 steps (0.9s)

step 131

assistant

agent noteCap now aligned vertically on the jaw column, its near end at the fingertips. Advancing ~2 cm to centre it and descending to table level.

move_to

left_x0.4380left_y-0.1560left_z-0.0150left_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]: [-0.1734, 1.9514, 0.709, 0.6094, 0.4225, 0.2543, 0.9996, -0.0193, 1.7622, 0.8536, 0.2165, -0.8658, -0.5915, 0.0772] state[eef_state]: left_x=0.4219 left_y=-0.1438 left_z=0.0079 left_yaw=-0.6729 left_pitch=-0.0 left_roll=-0.0231 left_gripper=0.9996 right_x=0.4129 right_y=0.1302 right_z=0.0972 right_yaw=0.9829 right_pitch=0.1301 right_roll=-0.0283 right_gripper=0.0772 state[joint_eff]: [0.2803, -8.0752, 7.0359, 1.9805, 0.2759, 0.1441, -0.0171, -0.3624, -8.1299, 5.7094, 1.4579, -0.3492, -0.0513, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.438, "left_y": -0.156, "left_z": -0.015, "left_yaw": -0.7}, "note": "Cap now aligned vertically on the jaw column, its near end at the fingertips. Advancing ~2 cm to centre it and descending to table level."})

tool

executing move_to over 2 steps (0.2s)

step 133

assistant

Cap is centred between the jaws at table level. Closing.

agent noteCap sits centred between the left jaws at table level. Closing the left gripper.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1772, 2.0327, 0.7563, 0.6758, 0.4603, 0.2718, 0.9997, -0.0193, 1.7622, 0.8505, 0.2169, -0.8658, -0.5915, 0.0772] state[eef_state]: left_x=0.4344 left_y=-0.1538 left_z=0.0024 left_yaw=-0.7169 left_pitch=0.039 left_roll=-0.011 left_gripper=0.9997 right_x=0.4122 right_y=0.1302 right_z=0.0962 right_yaw=0.9826 right_pitch=0.1287 right_roll=-0.0261 right_gripper=0.0772 state[joint_eff]: [-0.6359, -8.3214, 5.9419, 0.1978, -0.0708, -0.5104, -0.0122, -0.2256, -8.1573, 5.9419, 1.3993, -0.3297, -0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). 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

Cap is centred between the jaws at table level. Closing.

move_to({"targets": {"left_gripper": 0.0}, "note": "Cap sits centred between the left jaws at table level. Closing the left gripper."})

tool

executing move_to over 10 steps (1.0s)

step 143

assistant

agent noteLeft gripper settled at 0.052 (~5 mm), so the cap appears grasped. Lifting it 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]: [-0.1905, 2.0655, 0.7864, 0.7078, 0.4301, 0.26, 0.0522, -0.0193, 1.7626, 0.8494, 0.2165, -0.8654, -0.5915, 0.0772] state[eef_state]: left_x=0.4457 left_y=-0.1573 left_z=0.0024 left_yaw=-0.7002 left_pitch=0.0562 left_roll=0.0079 left_gripper=0.0522 right_x=0.4118 right_y=0.1302 right_z=0.0956 right_yaw=0.9821 right_pitch=0.1275 right_roll=-0.0246 right_gripper=0.0772 state[joint_eff]: [-0.294, -7.5966, 4.5197, 1.2723, 0.1343, 0.0562, 1.3944, -0.1983, -8.1709, 5.9556, 1.453, -0.3541, -0.022, 1.0281] 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_z": 0.15}, "note": "Left gripper settled at 0.052 (~5 mm), so the cap appears grasped. Lifting it to confirm."})

tool

executing move_to over 10 steps (1.0s)

step 153

assistant

agent noteCap is lifted in the left gripper (gone from the table). Starting to rotate the left tool toward yaw +90° so the cap's open end faces the pen.

move_to

left_x0.4000left_y-0.2500left_z0.1500left_yaw0.4000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1905, 1.6928, 0.9546, 0.1383, 0.4225, 0.2604, 0.0607, -0.0193, 1.7626, 0.8486, 0.2165, -0.8654, -0.5915, 0.0772] state[eef_state]: left_x=0.4433 left_y=-0.1556 left_z=0.1232 left_yaw=-0.6936 left_pitch=0.0291 left_roll=-0.002 left_gripper=0.0607 right_x=0.4116 right_y=0.1302 right_z=0.0953 right_yaw=0.982 right_pitch=0.1271 right_roll=-0.0239 right_gripper=0.0772 state[joint_eff]: [-0.2667, -10.3043, 9.6205, 1.7021, 0.1392, -0.0513, 1.0281, -0.3761, -8.1299, 5.9966, 1.4335, -0.3346, -0.0611, 1.0427] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.25, "left_z": 0.15, "left_yaw": 0.4}, "note": "Cap is lifted in the left gripper (gone from the table). Starting to rotate the left tool toward yaw +90\u00b0 so the cap's open end faces the pen."})

tool

executing move_to over 9 steps (0.9s)

step 162

assistant

agent noteLeft arm mid-rotation holding the cap. Finishing the yaw to +90° so the cap lies along the y axis with its open end toward the right arm.

move_to

left_x0.4000left_y-0.3000left_z0.1500left_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]: [-0.8635, 1.9556, 1.4639, -0.4023, -0.8185, -0.8066, 0.0607, -0.0193, 1.7626, 0.8444, 0.2142, -0.8658, -0.5915, 0.0772] state[eef_state]: left_x=0.4146 left_y=-0.2809 left_z=0.1453 left_yaw=0.203 left_pitch=0.0076 left_roll=-0.0494 left_gripper=0.0607 right_x=0.4101 right_y=0.1302 right_z=0.0936 right_yaw=0.9816 right_pitch=0.1238 right_roll=-0.0183 right_gripper=0.0772 state[joint_eff]: [-0.212, -11.8222, 7.2, 0.6911, -0.6374, -0.1245, 1.0379, -0.3624, -8.0889, 6.065, 1.4188, -0.3541, -0.0562, 1.0379] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.3, "left_z": 0.15, "left_yaw": 1.57}, "note": "Left arm mid-rotation holding the cap. Finishing the yaw to +90\u00b0 so the cap lies along the y axis with its open end toward the right arm."})

tool

executing move_to over 9 steps (0.9s)

step 171

assistant

agent noteThe left arm couldn't reach +90° yaw and sagged near the right arm (right arm got nudged). Backing the left arm away and settling on yaw 0.6, which is reachable; I will align the pen to that angle instead.

move_to

left_x0.4300left_y-0.2400left_z0.1700left_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]: [-0.9115, 2.4039, 2.0106, -0.9543, -0.9886, -1.4132, 0.0607, -0.0303, 1.7908, 0.8188, 0.1635, -0.8051, -0.6151, 0.0772] state[eef_state]: left_x=0.4267 left_y=-0.3039 left_z=0.0882 left_yaw=0.5613 left_pitch=0.0023 left_roll=-0.082 left_gripper=0.0607 right_x=0.4021 right_y=0.1188 right_z=0.062 right_yaw=0.9339 right_pitch=0.0313 right_roll=0.0246 right_gripper=0.0772 state[joint_eff]: [-1.0872, -12.0684, 5.5453, -0.0659, -0.7497, -0.1197, 1.0281, 0.5949, -10.1265, 7.4598, 1.8486, -0.9744, 0.1685, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.43, "left_y": -0.24, "left_z": 0.17, "left_yaw": 0.6}, "note": "The left arm couldn't reach +90\u00b0 yaw and sagged near the right arm (right arm got nudged). Backing the left arm away and settling on yaw 0.6, which is reachable; I will align the pen to that angle instead."})

tool

executing move_to over 6 steps (0.6s)

step 177

assistant

agent noteThe arms appear to be touching (left arm stuck with high shoulder effort). Moving the right arm, still holding the pen, away to its own side to free them.

move_to

right_x0.3500right_y0.0200right_z0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8845, 2.3543, 1.9396, -1.0027, -0.9661, -1.3777, 0.0607, -0.0277, 1.7893, 0.815, 0.1642, -0.8043, -0.6174, 0.0772] state[eef_state]: left_x=0.4198 left_y=-0.2774 left_z=0.0869 left_yaw=0.5658 left_pitch=-0.0268 left_roll=0.0146 left_gripper=0.0607 right_x=0.4008 right_y=0.1198 right_z=0.0614 right_yaw=0.9373 right_pitch=0.03 right_roll=0.0236 right_gripper=0.0772 state[joint_eff]: [3.535, -20.1231, 7.9521, 0.9402, -0.8767, 0.1538, 1.0281, -0.253, -7.9795, 5.8872, 1.3846, -0.3346, -0.0464, 1.033] approver: 3 step(s) modified (delta_clamped ×3). 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": {"right_x": 0.35, "right_y": 0.02, "right_z": 0.1}, "note": "The arms appear to be touching (left arm stuck with high shoulder effort). Moving the right arm, still holding the pen, away to its own side to free them."})

tool

executing move_to over 9 steps (0.9s)

step 186

assistant

agent noteArms are now separated but the left arm is sagging in an awkward pose. Bringing it closer and higher with a milder yaw.

move_to

left_x0.3500left_y-0.2000left_z0.1500left_yaw0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8822, 2.3699, 1.9331, -1.0058, -0.9539, -1.3712, 0.0607, -0.3733, 1.6604, 0.8577, -0.3656, -0.9588, -1.0378, 0.0772] state[eef_state]: left_x=0.4181 left_y=-0.2756 left_z=0.0761 left_yaw=0.5637 left_pitch=-0.042 left_roll=0.0435 left_gripper=0.0607 right_x=0.3559 right_y=0.0198 right_z=0.0827 right_yaw=0.8973 right_pitch=-0.0011 right_roll=0.0424 right_gripper=0.0772 state[joint_eff]: [-0.3761, -14.4889, 6.3248, 0.5104, -0.6178, -0.0904, 1.033, -0.3487, -8.9778, 7.8838, 0.823, -0.7595, -0.0904, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.35, "left_y": -0.2, "left_z": 0.15, "left_yaw": 0.3}, "note": "Arms are now separated but the left arm is sagging in an awkward pose. Bringing it closer and higher with a milder yaw."})

tool

executing move_to over 7 steps (0.7s)

step 193

assistant

agent noteBoth objects held (pen in right, cap in left). Positioning the pen at yaw 0.6 so its tip points forward-left, where the left arm will bring the cap in along the same line.

move_to

right_x0.2800right_y0.2100right_z0.1700right_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]: [-0.8764, 1.7348, 1.2297, -0.6601, -0.8814, -1.0229, 0.0607, -0.3733, 1.6623, 0.8577, -0.3767, -0.9539, -1.0542, 0.0772] state[eef_state]: left_x=0.3497 left_y=-0.2013 left_z=0.1389 left_yaw=0.3469 left_pitch=-0.0551 left_roll=0.0408 left_gripper=0.0607 right_x=0.3542 right_y=0.0199 right_z=0.0808 right_yaw=0.9041 right_pitch=-0.0088 right_roll=0.0396 right_gripper=0.0772 state[joint_eff]: [0.6632, -8.8957, 6.7761, 1.3797, -0.4908, 0.1587, 1.0281, -0.1026, -7.0496, 5.6957, 0.9841, -0.4908, 0.1148, 1.033] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.28, "right_y": 0.21, "right_z": 0.17, "right_yaw": 0.6}, "note": "Both objects held (pen in right, cap in left). Positioning the pen at yaw 0.6 so its tip points forward-left, where the left arm will bring the cap in along the same line."})

tool

executing move_to over 16 steps (1.6s)

step 209

assistant

agent notePen is held pointing forward-left with its tip visible in the right wrist view. Bringing the cap in the left gripper to a point on the pen's axis a few cm beyond the tip, with matching yaw.

move_to

left_x0.4150left_y-0.3150left_z0.1650left_yaw0.7000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8757, 1.7363, 1.206, -0.6617, -0.86, -1.0203, 0.0607, 0.6071, 1.0733, 0.6209, -0.1528, -0.0978, -0.0216, 0.0772] state[eef_state]: left_x=0.3449 left_y=-0.1989 left_z=0.1282 left_yaw=0.3393 left_pitch=-0.0829 left_roll=0.0613 left_gripper=0.0607 right_x=0.2698 right_y=0.2128 right_z=0.1511 right_yaw=0.6979 right_pitch=-0.0459 right_roll=0.0349 right_gripper=0.0772 state[joint_eff]: [-0.1436, -8.4718, 7.9795, 0.8767, -0.6667, -0.0806, 1.0281, 0.212, -3.1932, 10.0171, 1.6532, 0.0904, 0.1587, 1.033] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.415, "left_y": -0.315, "left_z": 0.165, "left_yaw": 0.7}, "note": "Pen is held pointing forward-left with its tip visible in the right wrist view. Bringing the cap in the left gripper to a point on the pen's axis a few cm beyond the tip, with matching yaw."})

tool

executing move_to over 11 steps (1.1s)

step 220

assistant

agent noteThe grippers bumped side-by-side again (both arms stalled). Moving the left arm forward and up, with a smaller yaw, so the cap can approach the pen more from the front.

move_to

left_x0.4400left_y-0.2400left_z0.1800left_yaw0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8825, 2.4779, 2.4302, -1.5387, -0.8894, -1.5532, 0.0607, 0.5957, 1.0801, 0.6075, -0.2291, -0.0692, 0.0025, 0.0772] state[eef_state]: left_x=0.4089 left_y=-0.2755 left_z=0.1418 left_yaw=0.669 left_pitch=-0.112 left_roll=0.037 left_gripper=0.0607 right_x=0.2637 right_y=0.1978 right_z=0.1279 right_yaw=0.6499 right_pitch=-0.144 right_roll=0.0437 right_gripper=0.0772 state[joint_eff]: [-0.5675, -11.1795, 6.9675, 0.1441, -0.8474, -0.0806, 1.0281, 0.9641, -3.6444, 8.1026, 2.3712, -0.2564, -0.232, 1.033] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.24, "left_z": 0.18, "left_yaw": 0.3}, "note": "The grippers bumped side-by-side again (both arms stalled). Moving the left arm forward and up, with a smaller yaw, so the cap can approach the pen more from the front."})

tool

executing move_to over 4 steps (0.4s)

step 224

assistant

agent noteArms separated again. Moving the pen back and toward the centre with yaw 0.3 so its tip points mostly forward, where the cap can approach from in front.

move_to

right_x0.2200right_y0.2500right_z0.1800right_yaw0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7765, 2.0731, 1.9358, -1.0985, -0.7902, -1.0756, 0.0607, 0.5968, 1.0809, 0.6033, -0.2337, -0.0795, -0.0109, 0.0772] state[eef_state]: left_x=0.4199 left_y=-0.2316 left_z=0.1858 left_yaw=0.4464 left_pitch=-0.1577 left_roll=0.0371 left_gripper=0.0607 right_x=0.261 right_y=0.1987 right_z=0.1251 right_yaw=0.6671 right_pitch=-0.1527 right_roll=0.0407 right_gripper=0.0772 state[joint_eff]: [0.0889, -9.2239, 6.3795, 1.6337, -0.232, 0.2906, 1.0281, -0.1709, -2.7009, 7.159, 1.6972, 0.0171, 0.0659, 1.0379] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.22, "right_y": 0.25, "right_z": 0.18, "right_yaw": 0.3}, "note": "Arms separated again. Moving the pen back and toward the centre with yaw 0.3 so its tip points mostly forward, where the cap can approach from in front."})

tool

executing move_to over 5 steps (0.5s)

step 229

assistant

agent notePen points forward-left from the right gripper at similar height and yaw to the cap. Bringing the cap onto the pen's axis just beyond its tip, open end facing the pen.

move_to

left_x0.3680left_y-0.3110left_z0.1800left_yaw0.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7795, 2.0785, 1.9091, -1.0794, -0.7628, -1.0576, 0.0607, 1.0904, 1.2037, 0.8867, -0.5034, 0.4175, 0.4686, 0.0772] state[eef_state]: left_x=0.4172 left_y=-0.2357 left_z=0.1731 left_yaw=0.4252 left_pitch=-0.1871 left_roll=0.0536 left_gripper=0.0607 right_x=0.215 right_y=0.2654 right_z=0.1698 right_yaw=0.4786 right_pitch=-0.1765 right_roll=0.0406 right_gripper=0.0772 state[joint_eff]: [0.294, -11.8496, 8.5265, 0.6813, -0.6911, -0.1148, 1.0232, 0.1436, -4.6838, 7.8701, 1.1551, 0.3492, 0.2271, 1.033] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.368, "left_y": -0.311, "left_z": 0.18, "left_yaw": 0.45}, "note": "Pen points forward-left from the right gripper at similar height and yaw to the cap. Bringing the cap onto the pen's axis just beyond its tip, open end facing the pen."})

tool

executing move_to over 7 steps (0.7s)

step 236

assistant

agent noteRight wrist view shows the left gripper up and to the right of the pen tip, so the cap sits slightly right of the pen's axis. Shifting the cap left onto the axis and a bit closer to the tip.

move_to

left_x0.3550left_y-0.3020left_z0.1720left_yaw0.4700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9672, 2.3058, 2.299, -1.412, -0.7773, -1.327, 0.067, 1.0943, 1.2194, 0.8867, -0.5301, 0.4137, 0.4744, 0.0772] state[eef_state]: left_x=0.3728 left_y=-0.3162 left_z=0.1726 left_yaw=0.4234 left_pitch=-0.2124 left_roll=0.0274 left_gripper=0.067 right_x=0.2118 right_y=0.2633 right_z=0.1606 right_yaw=0.4775 right_pitch=-0.2128 right_roll=0.0224 right_gripper=0.0772 state[joint_eff]: [-0.4581, -12.1094, 7.6376, 0.149, -0.7692, 0.0904, 1.0281, -0.5675, -5.5043, 6.735, 1.663, 0.1441, -0.0708, 1.0379] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.355, "left_y": -0.302, "left_z": 0.172, "left_yaw": 0.47}, "note": "Right wrist view shows the left gripper up and to the right of the pen tip, so the cap sits slightly right of the pen's axis. Shifting the cap left onto the axis and a bit closer to the tip."})

tool

executing move_to over 2 steps (0.2s)

step 238

assistant

agent noteThe left gripper still sits to the right of the pen's axis in the right wrist view. Shifting the cap further left onto the axis and moving it toward the pen tip.

move_to

left_x0.3330left_y-0.2960left_z0.1650left_yaw0.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9802, 2.2818, 2.2257, -1.4357, -0.7799, -1.3846, 0.067, 1.0973, 1.2201, 0.8818, -0.5312, 0.392, 0.4583, 0.0772] state[eef_state]: left_x=0.3598 left_y=-0.3072 left_z=0.1633 left_yaw=0.4584 left_pitch=-0.2195 left_roll=0.0599 left_gripper=0.067 right_x=0.2078 right_y=0.2654 right_z=0.1571 right_yaw=0.5055 right_pitch=-0.2276 right_roll=0.0206 right_gripper=0.0772 state[joint_eff]: [-0.5812, -14.9675, 5.6274, 0.4908, -0.5299, -0.0073, 1.033, -0.7179, -4.3692, 7.159, 1.663, 0.7204, 0.1099, 1.0379] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.333, "left_y": -0.296, "left_z": 0.165, "left_yaw": 0.5}, "note": "The left gripper still sits to the right of the pen's axis in the right wrist view. Shifting the cap further left onto the axis and moving it toward the pen tip."})

tool

executing move_to over 3 steps (0.3s)

step 241

assistant

agent noteThe left arm has stalled near the pen tip, with the cap still a little right of the pen's axis. Moving the pen tip right and forward toward the cap's open end instead.

move_to

right_x0.2300right_y0.2570right_z0.1600right_yaw0.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9825, 2.273, 2.1857, -1.422, -0.7769, -1.4132, 0.067, 1.1019, 1.227, 0.8803, -0.5457, 0.3794, 0.4549, 0.0772] state[eef_state]: left_x=0.3567 left_y=-0.305 left_z=0.1564 left_yaw=0.4755 left_pitch=-0.2236 left_roll=0.0567 left_gripper=0.067 right_x=0.2037 right_y=0.2654 right_z=0.1515 right_yaw=0.5188 right_pitch=-0.252 right_roll=0.0134 right_gripper=0.0772 state[joint_eff]: [-1.1556, -13.6274, 5.8598, 0.1001, -0.486, -0.0806, 1.033, -0.6906, -4.6564, 6.8444, 1.5116, 0.2369, -0.0269, 1.033] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.23, "right_y": 0.257, "right_z": 0.16, "right_yaw": 0.5}, "note": "The left arm has stalled near the pen tip, with the cap still a little right of the pen's axis. Moving the pen tip right and forward toward the cap's open end instead."})

tool

executing move_to over 3 steps (0.3s)

step 244

assistant

agent noteI picked up both parts: the pen is in the right gripper (reading 0.077) and the cap is in the left (0.067). I couldn't get the cap onto the pen. When I brought the two grippers together, the arms bumped each other twice and both stopped short of their targets. The cap never lined up with the pen's axis, and I'm nearly out of calls. The arms are still close together and holding both parts, so they may need to be moved apart before the next trial.

give_up

hindsight- Moves often fall short of the target, especially small ones. The arm lags, and the approver clamps each step. Re-send the target, or aim a bit past it, and always check the readback. - Pitch drifts to about -0.2 at low z. That stops descents 1.5–2.5 cm above the table (a thin pen was missed at z=0.016). Sending pitch +0.1 with the descent reached z≈0. - Pen (~8 mm diameter) grasp: yaw the tool until the pen runs straight up the wrist-image jaw column, then close at z≈0. The gripper settles at ~0.055–0.075 when holding the pen or the cap. - The left arm could not reach yaw +1.57 near y=-0.3. It stalled around yaw 0.56 and sagged into the right arm. - Do not bring the two grippers side by side. Their bodies and wrist cameras are wide (~10+ cm) and collide long before the pen tip meets the cap; you can see it when both arms stop tracking and shoulder effort goes above ~12 N·m. - A better capping plan: hold the pen more toward its middle, so more of it sticks out. Better still, pick the cap up by its closed end, or stand the pen upright (with roll or pitch) and lower the cap from above, rather than joining them end to end in the horizontal plane. - Budget roughly 15 calls for the two grasps and 20 or more for the mating.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9733, 2.2734, 2.1857, -1.4029, -0.7769, -1.4178, 0.067, 1.0481, 1.2362, 0.8875, -0.5468, 0.3096, 0.3786, 0.0772] state[eef_state]: left_x=0.3616 left_y=-0.3049 left_z=0.1565 left_yaw=0.483 left_pitch=-0.2214 left_roll=0.0344 left_gripper=0.067 right_x=0.2098 right_y=0.2635 right_z=0.1482 right_yaw=0.5629 right_pitch=-0.2816 right_roll=0.0066 right_gripper=0.0772 state[joint_eff]: [-1.6889, -13.8188, 5.9419, -0.188, -0.4957, -0.0611, 1.0379, -3.9453, -3.2615, 9.5932, 1.4188, 0.5201, 0.4029, 1.033] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]

assistant

give_up({"reason": "I picked up both parts: the pen is in the right gripper (reading 0.077) and the cap is in the left (0.067). I couldn't get the cap onto the pen. When I brought the two grippers together, the arms bumped each other twice and both stopped short of their targets. The cap never lined up with the pen's axis, and I'm nearly out of calls. The arms are still close together and holding both parts, so they may need to be moved apart before the next trial.", "hindsight": "- Moves often fall short of the target, especially small ones. The arm lags, and the approver clamps each step. Re-send the target, or aim a bit past it, and always check the readback.\n- Pitch drifts to about -0.2 at low z. That stops descents 1.5\u20132.5 cm above the table (a thin pen was missed at z=0.016). Sending pitch +0.1 with the descent reached z\u22480.\n- Pen (~8 mm diameter) grasp: yaw the tool until the pen runs straight up the wrist-image jaw column, then close at z\u22480. The gripper settles at ~0.055\u20130.075 when holding the pen or the cap.\n- The left arm could not reach yaw +1.57 near y=-0.3. It stalled around yaw 0.56 and sagged into the right arm.\n- Do not bring the two grippers side by side. Their bodies and wrist cameras are wide (~10+ cm) and collide long before the pen tip meets the cap; you can see it when both arms stop tracking and shoulder effort goes above ~12 N\u00b7m.\n- A better capping plan: hold the pen more toward its middle, so more of it sticks out. Better still, pick the cap up by its closed end, or stand the pen upright (with roll or pitch) and lower the cap from above, rather than joining them end to end in the horizontal plane.\n- Budget roughly 15 calls for the two grasps and 20 or more for the mating."})

tool

give_up: I picked up both parts: the pen is in the right gripper (reading 0.077) and the cap is in the left (0.067). I couldn't get the cap onto the pen. When I brought the two grippers together, the arms bumped each other twice and both stopped short of their targets. The cap never lined up with the pen's axis, and I'm nearly out of calls. The arms are still close together and holding both parts, so they may need to be moved apart before the next trial.

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 · 20.94 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, 0.7937, 0.6025, -0.379, -0.0219, -0.0246, 0.9998, -0.0185, 0.7918, 0.6102, -0.3752, -0.02, -0.0093, 0.9992]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1796 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.296 right_y=0.0016 right_z=0.1844 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -1.5795, 10.4, 1.7998, -0.0611, 0.105, -0.0366, -0.759, -1.347, 9.8256, 1.6972, -0.0659, -0.1001, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:357e06a86f51bf6c7beb2584ff3c40f0d0677ccc361ce5c74e7118f5219b5fc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81f64fb77c09172cd0b648c39c5171db064d4763f7af1cfe473e8149259f4457",
        "media_type": "image/png",
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
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        "data": "$blob:f635a15ecab23a638366622e212104afaa6dc91e6eeb4d4b6823694172019938",
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      "type": "image"
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  ],
  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 5.97 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, 0.7937, 0.6025, -0.379, -0.0219, -0.0246, 0.9998, -0.0185, 0.7918, 0.6102, -0.3752, -0.02, -0.0093, 0.9992]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1796 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.296 right_y=0.0016 right_z=0.1844 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -1.5795, 10.4, 1.7998, -0.0611, 0.105, -0.0366, -0.759, -1.347, 9.8256, 1.6972, -0.0659, -0.1001, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:357e06a86f51bf6c7beb2584ff3c40f0d0677ccc361ce5c74e7118f5219b5fc1",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81f64fb77c09172cd0b648c39c5171db064d4763f7af1cfe473e8149259f4457",
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
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        "data": "$blob:f635a15ecab23a638366622e212104afaa6dc91e6eeb4d4b6823694172019938",
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    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XvoKy4XJbFh5PZzYSudSwj",
      "input": {
        "note": "Pen lies diagonally left of the right arm, cap lies right of the left arm. Moving the right arm above the pen with yaw so the jaws close across it.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.19,
          "right_yaw": 0.5,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01XvoKy4XJbFh5PZzYSudSwj",
      "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]: [-0.0212, 0.799, 0.6037, -0.3813, -0.0216, -0.0254, 0.9998, 0.4202, 1.4097, 0.7704, 0.0074, -0.0509, -0.0238, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0012 left_z=0.1782 left_yaw=-0.0007 left_pitch=-0.0065 left_roll=-0.0007 left_gripper=0.9998 right_x=0.3684 right_y=0.1784 right_z=0.1291 right_yaw=0.4724 right_pitch=-0.0744 right_roll=0.0077 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.6889, 6.9812, 1.6874, -0.0269, -0.0611, -0.0171, 0.3487, -5.9966, 9.1556, 1.8681, -0.0708, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53172510090eb76eccc196c5abb3d33e88aa52cdfbd2d79bfb04547f731e9585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fff80ee7c551b90113719c393a9c1f97257ae5a6ffd2bb41f7e15fa8c052dca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cfe3185f96b87954b8c41a9614cd6ec29ccf5c4c414232948dba049dab80cc17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 11.28 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, 0.7937, 0.6025, -0.379, -0.0219, -0.0246, 0.9998, -0.0185, 0.7918, 0.6102, -0.3752, -0.02, -0.0093, 0.9992]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1796 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.296 right_y=0.0016 right_z=0.1844 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -1.5795, 10.4, 1.7998, -0.0611, 0.105, -0.0366, -0.759, -1.347, 9.8256, 1.6972, -0.0659, -0.1001, -0.0952]",
      "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]: [-0.0212, 0.799, 0.6037, -0.3813, -0.0216, -0.0254, 0.9998, 0.4202, 1.4097, 0.7704, 0.0074, -0.0509, -0.0238, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0012 left_z=0.1782 left_yaw=-0.0007 left_pitch=-0.0065 left_roll=-0.0007 left_gripper=0.9998 right_x=0.3684 right_y=0.1784 right_z=0.1291 right_yaw=0.4724 right_pitch=-0.0744 right_roll=0.0077 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.6889, 6.9812, 1.6874, -0.0269, -0.0611, -0.0171, 0.3487, -5.9966, 9.1556, 1.8681, -0.0708, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53172510090eb76eccc196c5abb3d33e88aa52cdfbd2d79bfb04547f731e9585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fff80ee7c551b90113719c393a9c1f97257ae5a6ffd2bb41f7e15fa8c052dca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfe3185f96b87954b8c41a9614cd6ec29ccf5c4c414232948dba049dab80cc17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSlgoKEAgSGAI4AUIIdGhpbmtpbmcSDJ4PL94GBHfLtSTLlhoMBJRD6kW527bw7xqiIjBRRqk1bVxx7PXT08hNAjMAe+hxoMWI6D0ybP3GYv8X3Zx47Tj5X/OWrmNxOFkRQY4qswnkHKt6C74L/AXpjDB0qKTxhmf6GxbjCbJa4ATinrVGtnACy2zE64+q8WTqAJYmuL7jf5H+GQfGp3Ufh/2l6MCJ8uC/wZWHvNLjtQnlTirLUvqxCS7SOLp8fegzYSB410wei6l1UiAplkROptaVD3yKvJnWSHvE8xaHDT3Z/qWb2Ei9kVVgbKOiXHNYi0S3g0O4j9X4Zfk+xf8aqAi8BBACQ6n+vEePbl5bUiwqvcUD9AmI7a+xMZykr1pIqyyeYHuicMFFlHrgEDUgZ3tRp1V+Ke99IUzxROJepI7KyVOGPmc3DqtFaKnWsMSCsR3l4yQqT2hYFGO4d57JxLHMvr52IxEk+3GnJ55zVTCy566HtEfXpTZdxPTqgqJylUWq8RtlWfWAzjLyh7Nbza5a0IwHYjr4xrneMyrZM/ILW+f0Py/QmP4OLhjn30fbLJQ4qCHYXUR1dMz0YYxdZKWNkcyR6jLq9S7uMrpSmNJMarn7igVJIuOKa/gHrKdt9Y3LVBS6MIvnDQq0xXcwOeOzetwKPJjZblSK+0L03NksKR1jPSW7edOb5pyrmVisS0R5CRmG5NXdDC3ui9xICpfwZ3FekU9lGz7GtOcqlBbUeUniiLSOihuv3bMnG+Wn+4D78ZHSYhSMq7tRPmtp+Y2Sc59w2KnGj+5Q7ociwT82+MmqTeSK0NB5kzgqAVuzz576WcWifQXgo5faQiJz7xBwcKDIbDyeFlgwV9l780tWo1yovaSSb/J3MuC4jOzFzu7p6joKjaWWcI9MhvGuoB2tqO+w6EBkhs1y8S8wx2UWvsCVHK5NBQLsYHNsQqHl3AJZ0bPYvD/fQhlxP/7XGAYUf2hL5YPBlY6fexw3jPm/NpDXey9bVODy4DUQVmMxVQQcd185mzYm/FiKHOyWct+rj4rZEB13L8Gi/zgxB8djc96lxMp/Ur4HUxOz/TOus7L/dkVt2cE4mp/GM+YC+0C2C72J32TycizFPlGIyVkxQEITOI8eb48c5ghOiubDYnuv9Kos40Y9xNve7US+gFngyuzjV9/bNshHwt1xLWxVrOk8TxhRbggBhzyrDyKWJrC3nfmVnvY2JFiR7uiDVPGttbnZiv2FW9Mq4J5gCTB07saIfemSlmIuziYYsBphxmUKGg+Pwwq8zmBuhsclg262rZZ5dOgIiNFN4maZqNpgYFasvDpy5K9PMOH5VrZzMlwqlbEc5TtTk4+D55KZI+Z36WVsIANL6TLQf4U/tvAlgNh8ON7hROJFU/PPIHXUOOT89oZ/qty1PqWgYyTTGcQbbMFXAPgST3oI4t/7m63I4XFSLX5y2Clu1A/0ppIPFnp0dYerECk9+2//fZvjec43sScC+/icTpXHygHo5Uu2eS+mB9GswuHYjLzglbGgbKibrS9JzIkThaV7DSpNEtQxTR5G2+0zpRINpbSbuhwi3hbTPJgvP7MW+ddrWmVV6GP867iEV5bV922xNw7lsnHIQoQgRREBWyQ02KAa7HrQhZxqnf6O5ZcRfK7/zgRBX0kdo7+oEnH1nwOLEaprHmPV2EZF80U1KFQg6n8cIwGZ1smbZp/2jOlZ6siNGhi/DvQX61i4BQ0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BZV3xsyGw2nZMj1vTMdFjB",
      "input": {
        "note": "Pen now runs along the jaw column in the right wrist view, slightly right of centre. Shifting a bit right and descending to refine alignment.",
        "targets": {
          "right_y": 0.165,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01BZV3xsyGw2nZMj1vTMdFjB",
      "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]: [-0.0212, 0.8001, 0.6033, -0.3809, -0.0219, -0.025, 0.9997, 0.3794, 1.552, 0.5941, 0.2401, -0.0776, -0.036, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1778 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9997 right_x=0.3564 right_y=0.1607 right_z=0.0483 right_yaw=0.4616 right_pitch=-0.1588 right_roll=0.0207 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.3607, 7.0496, 1.7216, -0.0317, -0.0415, -0.0171, -0.5812, -6.0786, 6.0376, 2.0391, -0.0806, -0.2173, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1bd81d890c6a94a22f319e235543e72bcea7cbe43d10677b3896d8de15540b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d81715b3c2b07a62209471eb113703b28d0ee9e8be71b65098fe8016bcd4d8bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9013f52bb9c7f8fe7561fcd81f6860004596b921326583989080cce5022b0277",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 12.41 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, 0.7937, 0.6025, -0.379, -0.0219, -0.0246, 0.9998, -0.0185, 0.7918, 0.6102, -0.3752, -0.02, -0.0093, 0.9992]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1796 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.296 right_y=0.0016 right_z=0.1844 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -1.5795, 10.4, 1.7998, -0.0611, 0.105, -0.0366, -0.759, -1.347, 9.8256, 1.6972, -0.0659, -0.1001, -0.0952]",
      "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]: [-0.0212, 0.799, 0.6037, -0.3813, -0.0216, -0.0254, 0.9998, 0.4202, 1.4097, 0.7704, 0.0074, -0.0509, -0.0238, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0012 left_z=0.1782 left_yaw=-0.0007 left_pitch=-0.0065 left_roll=-0.0007 left_gripper=0.9998 right_x=0.3684 right_y=0.1784 right_z=0.1291 right_yaw=0.4724 right_pitch=-0.0744 right_roll=0.0077 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.6889, 6.9812, 1.6874, -0.0269, -0.0611, -0.0171, 0.3487, -5.9966, 9.1556, 1.8681, -0.0708, -0.0855, -0.0122]",
      "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]: [-0.0212, 0.8001, 0.6033, -0.3809, -0.0219, -0.025, 0.9997, 0.3794, 1.552, 0.5941, 0.2401, -0.0776, -0.036, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1778 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9997 right_x=0.3564 right_y=0.1607 right_z=0.0483 right_yaw=0.4616 right_pitch=-0.1588 right_roll=0.0207 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.3607, 7.0496, 1.7216, -0.0317, -0.0415, -0.0171, -0.5812, -6.0786, 6.0376, 2.0391, -0.0806, -0.2173, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1bd81d890c6a94a22f319e235543e72bcea7cbe43d10677b3896d8de15540b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d81715b3c2b07a62209471eb113703b28d0ee9e8be71b65098fe8016bcd4d8bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9013f52bb9c7f8fe7561fcd81f6860004596b921326583989080cce5022b0277",
        "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_01EU7cAuG2AuU8m2MWfwBroR",
      "input": {
        "note": "Pen visible ahead of the jaws, tilted and slightly right. Advancing ~3 cm, yawing to align with the pen, and lowering to grasp near its thicker near end.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.16,
          "right_yaw": 0.75,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01EU7cAuG2AuU8m2MWfwBroR",
      "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]: [-0.0212, 0.8032, 0.6033, -0.382, -0.0219, -0.025, 0.9997, 0.2382, 1.7401, 0.717, 0.2558, -0.2817, -0.2249, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1767 left_yaw=-0.0006 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9997 right_x=0.3918 right_y=0.1494 right_z=0.028 right_yaw=0.5968 right_pitch=-0.1737 right_roll=0.0246 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -1.1419, 7.0769, 1.7509, -0.0513, -0.0366, -0.0073, -0.0752, -8.5402, 6.5709, 1.4676, -0.4518, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cc1696acb5be2b7acd02b21bea950643dddeca7f094d0bb9a8f7082d539fc4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f806a46a6104a8a7162a7e054db063f2cb9681d024b1211f97cb4d67e798831",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e507c491d80cb25e5f2f0378bd65c96e1734670244d175e89b347ad50457b697",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 3.496 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]: [-0.0212, 0.799, 0.6037, -0.3813, -0.0216, -0.0254, 0.9998, 0.4202, 1.4097, 0.7704, 0.0074, -0.0509, -0.0238, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0012 left_z=0.1782 left_yaw=-0.0007 left_pitch=-0.0065 left_roll=-0.0007 left_gripper=0.9998 right_x=0.3684 right_y=0.1784 right_z=0.1291 right_yaw=0.4724 right_pitch=-0.0744 right_roll=0.0077 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.6889, 6.9812, 1.6874, -0.0269, -0.0611, -0.0171, 0.3487, -5.9966, 9.1556, 1.8681, -0.0708, -0.0855, -0.0122]",
      "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]: [-0.0212, 0.8001, 0.6033, -0.3809, -0.0219, -0.025, 0.9997, 0.3794, 1.552, 0.5941, 0.2401, -0.0776, -0.036, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1778 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9997 right_x=0.3564 right_y=0.1607 right_z=0.0483 right_yaw=0.4616 right_pitch=-0.1588 right_roll=0.0207 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.3607, 7.0496, 1.7216, -0.0317, -0.0415, -0.0171, -0.5812, -6.0786, 6.0376, 2.0391, -0.0806, -0.2173, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0212, 0.8032, 0.6033, -0.382, -0.0219, -0.025, 0.9997, 0.2382, 1.7401, 0.717, 0.2558, -0.2817, -0.2249, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1767 left_yaw=-0.0006 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9997 right_x=0.3918 right_y=0.1494 right_z=0.028 right_yaw=0.5968 right_pitch=-0.1737 right_roll=0.0246 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -1.1419, 7.0769, 1.7509, -0.0513, -0.0366, -0.0073, -0.0752, -8.5402, 6.5709, 1.4676, -0.4518, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cc1696acb5be2b7acd02b21bea950643dddeca7f094d0bb9a8f7082d539fc4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f806a46a6104a8a7162a7e054db063f2cb9681d024b1211f97cb4d67e798831",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e507c491d80cb25e5f2f0378bd65c96e1734670244d175e89b347ad50457b697",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS3wgKEAgSGAI4AUIIdGhpbmtpbmcSDNudPyyVzFoFpStDVxoMKg926bICBq0sGWbwIjByxOaJ1/eOCNaSjTF/H54c8Q4cDwsOJrJb/Xf0LM+Hz/Vuwl1VORcacgCCTTKEFGkq/Aew5aQku47Mt4PqtBHHNvu3WrQk30UfQMEVdK+ZhzJB6347cQMWE33k9exAlO7/Ff9QeqRYsCcsHqi41Amx3Xb91ksENOrg85X80LwVuIXLtT2HG9REpEULnGTuvAe8UvpgQpCwq4HL5GMIbESoybQGabB9N91u0UmCVad2OpMYaPPsJosxOLJrVUp+RkCkDyCe5P1yl5A+PadQUwegw1ecFN2zn53uigb0OcQrjcQjP7vIus9JALqNbF6V/GMqIjTsil/hDZznO7tPtV+bkOXTtcq91eTZDGZLJrmjEgLSo2kWG5ZCY5HQuCSnP9BP9H4t/1ggBIZlQ1J5Wz5RSmncWxEzgjhEUsT/w64VmevWDgFv3BAtdN4TpsO383jpbH7LDYWXEXKaxWdeUwd2idHBpzBPCqosFO03QbwmFvnYG6UbmxpMckisZwntYajsFpT0VRFNv2Ujno/zpQkGVqnAgtyBQ0+e6vX8uKwRbYYHBNz/G0eExP6K7P6lA0JXwR6oIN/TYZBA7XpRcL+FHBQGXcMrCcn2TU8yieWkZVhF9AccmaUjSXgbiwfu6gDeR3l9MxPnX2iIoHrNe0IDgW/E3eORGhwpK+QmyLJIWSjofF70J3V26Kh3uqbcUEZpD9mYnlKXPGb2/zqPOib0z+wzSF8i90W0H6ha4Xnc/E1rDngif2/zQrE07xyWSSAHvLxkFEANvcfeUoLkjfAQJbatjWtu4C9zwuCYcRhKBwu/KaGesUfDURHG0x1v+X9i7Z38kEIBr1YFHgHNq2vjC/uS+3dLKjmIcXtQXjUnh43xnYRIHkeDBOhFjyglNTZCQtO/okx+h2ih0jWCK++nIc2K18Ks+2OMxeosylPT19AZEuyE8dlYyyHDqfLUPfZ3t1GamY9ZGfmUW2EdjNx+ZUnQF+jS7RfbzZUGGB3JRlKRKMdPoQaK6nrLSLbqlzDZnSp5luLi68DX4Ji3jzrCPz6zqxo+uq96BDNDG4YaCfv+OwtuxQbct43BArNpGEhe3bSdqbveQnWKlgg8ZYA2y9TG/+1at3S6nW+kljm3ftSb921eCKJLb5VrtD5bBI122CSRX+uOQ/ibh02KEvMmxcP6GsBtj8MrARFrK0gzhQLEZwWyl4dcsYX1yB5ARlIVOgS5X5+OL2YpZXymcQWCXZZbdRJXDqop8UXJL5iHBFQO3aqXyJRXfQ52uioSzcqUB7CmZfa4tVmYUtKhsOIgIzpcU3/KfTA7vaE5rBw7aznbG9BImRNhS8oIh0ytByyG4jOm+vj7LRHBhJnaHAlbCNTEpA2pjQcX13a8Kl1qwmu4lKvc+nrQG6n5q6ACnSgZw1FMG0Uvh1DGrtmf73MYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014mvTpuF7RdtnLi8kYKxPtp",
      "input": {
        "note": "Pen now runs between the jaws, slightly right of centre. Nudging right and descending to table level to grasp.",
        "targets": {
          "right_x": 0.395,
          "right_y": 0.145,
          "right_yaw": 0.75,
          "right_z": -0.008
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_014mvTpuF7RdtnLi8kYKxPtp",
      "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]: [-0.0212, 0.8051, 0.6033, -0.3809, -0.0219, -0.0254, 0.9997, 0.2111, 1.7782, 0.7193, 0.2474, -0.3592, -0.3134, 0.9992]\nstate[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.1764 left_yaw=-0.0003 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9997 right_x=0.386 right_y=0.1499 right_z=0.0155 right_yaw=0.6844 right_pitch=-0.1903 right_roll=0.0273 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.4974, 7.0359, 1.6972, -0.0317, -0.0562, -0.0122, -0.1573, -6.3658, 5.2444, 1.9023, -0.0855, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eaace7382726af497f6aeb0bcdaad3bfb421b4a5ec076540104a9cadad378070",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d8fcf7407bbcbb6922bfac8caa76a6c782067eec5ea899dfeb3c97f75f3536d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13716fb12290d2eb889e078c8a629658b8fad4e2ba4b0b2915c20ff6adb2b6b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 4.172 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]: [-0.0212, 0.8001, 0.6033, -0.3809, -0.0219, -0.025, 0.9997, 0.3794, 1.552, 0.5941, 0.2401, -0.0776, -0.036, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1778 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9997 right_x=0.3564 right_y=0.1607 right_z=0.0483 right_yaw=0.4616 right_pitch=-0.1588 right_roll=0.0207 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.3607, 7.0496, 1.7216, -0.0317, -0.0415, -0.0171, -0.5812, -6.0786, 6.0376, 2.0391, -0.0806, -0.2173, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0212, 0.8032, 0.6033, -0.382, -0.0219, -0.025, 0.9997, 0.2382, 1.7401, 0.717, 0.2558, -0.2817, -0.2249, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1767 left_yaw=-0.0006 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9997 right_x=0.3918 right_y=0.1494 right_z=0.028 right_yaw=0.5968 right_pitch=-0.1737 right_roll=0.0246 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -1.1419, 7.0769, 1.7509, -0.0513, -0.0366, -0.0073, -0.0752, -8.5402, 6.5709, 1.4676, -0.4518, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0212, 0.8051, 0.6033, -0.3809, -0.0219, -0.0254, 0.9997, 0.2111, 1.7782, 0.7193, 0.2474, -0.3592, -0.3134, 0.9992]\nstate[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.1764 left_yaw=-0.0003 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9997 right_x=0.386 right_y=0.1499 right_z=0.0155 right_yaw=0.6844 right_pitch=-0.1903 right_roll=0.0273 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.4974, 7.0359, 1.6972, -0.0317, -0.0562, -0.0122, -0.1573, -6.3658, 5.2444, 1.9023, -0.0855, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eaace7382726af497f6aeb0bcdaad3bfb421b4a5ec076540104a9cadad378070",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d8fcf7407bbcbb6922bfac8caa76a6c782067eec5ea899dfeb3c97f75f3536d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13716fb12290d2eb889e078c8a629658b8fad4e2ba4b0b2915c20ff6adb2b6b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS6wYKEAgSGAI4AUIIdGhpbmtpbmcSDBbHrEczogD/aAJZ3hoMbr74oMHQoHXjvseUIjBJHOQWu78ePunZmqzudGqKCvasVMN/dcLEMIiekPRTuUrUkpE3dkVPCvBzdrFKgtYqiAbiDDddy2qBnT6u+qwv3EfaDY/FrEHu5m2uifZ5pjtYUFhefGu7WaQ7heCpiRNZ3ucmZmQH82FweSY7HgUE7Gm/QdqYQrUvQoggC/9tVF7AEfno+7274aKDpNKosqjPuc4065+KDC4W59k7pVGjUZE8i4/MwUv28X871BYDLWzQASenAabkXkNdySYMG0EyL8stAbTObeXWL8c2lULsWjHuwfn++Gp6PRvbR0r07AJTesTi6tGotP5SxC4+fZgUNYl5ONeoUvynhnjn4gPDTUkuKdmIsfLiaVxIEooRGJPABle8ydvrW+GVE5cEcJR13XkkxxphXPgz+Bni2qZl+05p+PpYn8FsVCenXGrDDFs9UTmo/0zqRHGZU0MMt0Q6jOcz/skTFcMAUs/FZRYgiIBTUpDIwctTTD1rPEp4tctk++myfiiEGLe5mznrmKMlqwZ2JhVAe9wtO1I9h1B4VxTd07J5Ue0Nbf/bZmh9899m7WOoGejVotpyQMh1hnFF7iD7bV5uWEbdjCAvg0j0RYXLzr0Ei0HE8tZf1AeSoh5vewZyIXHELQWAERyChMltvv7kpJfA1zbIJUJ1AucmkAcfpFqCTVKNF0vLNegkV6cBW7AsFNzRu1hfK+ldR0Dpmq24VGSddsZ1nM/8+rIB+Cfh9R6a4kCOZrMOhOjicsdskomkh3mF3bIuI5ODh8X+0gjTgsaoxRsmW6XRAZxkJ/Kb/7yhzvWMXAWZkQTNkj9QpLQoVWZMC9ouTCsNfITGmnGtv0G6leooKHSWzdHHQO5+wUms34fql+sZPAQapcXO94wVfFnc7L796dWbosB53PD8KGwHlRH8lY2dwvDUCoZ812Inmey6mUffJ5ERAetGlSWRz0bWI8k2Ls0h38MrhzlRVopYMqcBY/Ol52eIwoet5eZL3/jfLo1nFB6WeugTzP60fJd47H394s8Hq+pLAyzjlYqxO6Cf2I56k5BxlqLak6rNTCxdWS+1HUoPfGQusFamdAx9v7qKoXA6uAGIh4+F/JsM93I9UxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tetc1mFRdt9HbSLjsA3Mgu",
      "input": {
        "note": "Pen centred between the jaws; still ~1.5 cm up. Pressing down to table level before closing.",
        "targets": {
          "right_x": 0.392,
          "right_y": 0.145,
          "right_z": -0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Tetc1mFRdt9HbSLjsA3Mgu",
      "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]: [-0.0212, 0.807, 0.6033, -0.3809, -0.0219, -0.0254, 0.9997, 0.2115, 1.7821, 0.7174, 0.2665, -0.3481, -0.3, 0.9992]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1759 left_yaw=-0.0003 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9997 right_x=0.3889 right_y=0.1488 right_z=0.016 right_yaw=0.6675 right_pitch=-0.1822 right_roll=0.024 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -1.4564, 7.0359, 1.6923, -0.0855, -0.0513, -0.0122, 0.0479, -7.1179, 5.2308, 1.7167, -0.0659, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4d4eabf5b19e7bd84a2650f666ea9b6aa04c682270bddcd5a1e6e3b070964e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f933db51152d719a42b9bc325c66cf0bae84dffbf4810b74fa7cfddb2efd9059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:31d269fbb6eaaf83775ce3b02352201ec442905101e8a463d5a17e5263a3aff0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 5.524 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]: [-0.0212, 0.8032, 0.6033, -0.382, -0.0219, -0.025, 0.9997, 0.2382, 1.7401, 0.717, 0.2558, -0.2817, -0.2249, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1767 left_yaw=-0.0006 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9997 right_x=0.3918 right_y=0.1494 right_z=0.028 right_yaw=0.5968 right_pitch=-0.1737 right_roll=0.0246 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -1.1419, 7.0769, 1.7509, -0.0513, -0.0366, -0.0073, -0.0752, -8.5402, 6.5709, 1.4676, -0.4518, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0212, 0.8051, 0.6033, -0.3809, -0.0219, -0.0254, 0.9997, 0.2111, 1.7782, 0.7193, 0.2474, -0.3592, -0.3134, 0.9992]\nstate[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.1764 left_yaw=-0.0003 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9997 right_x=0.386 right_y=0.1499 right_z=0.0155 right_yaw=0.6844 right_pitch=-0.1903 right_roll=0.0273 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.4974, 7.0359, 1.6972, -0.0317, -0.0562, -0.0122, -0.1573, -6.3658, 5.2444, 1.9023, -0.0855, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0212, 0.807, 0.6033, -0.3809, -0.0219, -0.0254, 0.9997, 0.2115, 1.7821, 0.7174, 0.2665, -0.3481, -0.3, 0.9992]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1759 left_yaw=-0.0003 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9997 right_x=0.3889 right_y=0.1488 right_z=0.016 right_yaw=0.6675 right_pitch=-0.1822 right_roll=0.024 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -1.4564, 7.0359, 1.6923, -0.0855, -0.0513, -0.0122, 0.0479, -7.1179, 5.2308, 1.7167, -0.0659, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4d4eabf5b19e7bd84a2650f666ea9b6aa04c682270bddcd5a1e6e3b070964e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f933db51152d719a42b9bc325c66cf0bae84dffbf4810b74fa7cfddb2efd9059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31d269fbb6eaaf83775ce3b02352201ec442905101e8a463d5a17e5263a3aff0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSlAgKEAgSGAI4AUIIdGhpbmtpbmcSDBfBS8DIKyCHfogYEhoM1Ii5KOAlKZ3aXCIZIjBBOeBwF2dSPvJpitusnoXgvsdcNFHL9xDQODAZdI8fTEZVkNj0Bu/jKGLuDd+FeXcqsQcjtNF6Ama6oANJXq7IH9/61QZHBJPVSThBJZcH9hlPGMD3txFrd8r1C1crsaa1Sy0IboAuZ+ypyiwmj88UyV2CPOHE/ro0dSTOXSESD4e/Vp1i6QSshO/+F5KK1uJDIGeDlG9KQqLqKHtmx7oj/Sdki5UIuEo0+paA9foRwGRzDbk0NEKauIabmCLBek86m2WtprB1JqhsXbLBWLNnMGzVjFASC41NNwn8xnoMwj6WBPnPINoiwwhUnz+2r+BZRuycyE5H/NE3Xx4yCRjaT56H8bEHjeG3kReMx5CNS5zHm/wC4xjhUnvp+HfCFHNlpd/qBgt2lPJdoxcblJa6nbS0uJD4r/KG6dRQruqnKKu0lJ/jvjKDyqGxi3nDCBLFZ062Vtp+5hVDNtMx0PR8haj7BC3ceSKbzjNg/EJD2G2HOL083YRiEsY+02mZuJuAsVzptBkPqK/BUkN+yDs+C3hFAAySnv+w2XDJNJZF+TFq5kUAPXu8pwQp9QOniPOcNaugipMOZC1ryVHqzCnKhBALBbzfw2RsqTWUDnmaDMHzLs1cD9o+Uri5/wWij2dr6+OJ3kvd3030RPLCbgzDw2jeo4zHLGWRdy/JyGMnypr836h7x0g8PmoRkiqNUZBpAblFeGRBdHuxhLfBofuxy40did6NJ9P/QuYnDkve9pe/56II4lCVMkqcmZzvGUsJ6axSTLRxtkgRK/oKJCszFcbmnyc9ji8mtn/iSCIVxzmJXqt/d0AMb30iUBadmYTezaT6ddz8Gy5pwvQns9mmDndHNAJTd71XZpJEOOTanSo2RHgsdz45Ub7+TaFjWYAnNoijLDyQ5uN6mZ397o9I5MTTJr8vQiQ12EOOAwV/ggr02GxQ+D2H+15nbjwomtFahEj3KA85LgW7BwOzakdWw1EMC/SY+/v15wR8ddibn5Nd++FfhFImcJ2ZqPPuTePtAPdVE7SSJxn1qV/dvo0xFGULBBExxEVUpjXBGgyr3tjAo2FMNPxMo72/icnO7kYKw30eGoHbYBv5ekybSMocKP2V5nMHSqh5f8pEbfkhn/f/E7DQ4/qzi5w68J/riHOqR4QrH3sL1A7koXoK+3g6fksAHhNqUAnCslf6VeTTu/Z9UBIXABGM41yjUNRXpLWCjEs/iLO+KZAMqk4PQ8ySlqhh+lj4JsWmmDPNhBTVjvQrCNb6/PTBPjqu/TbSBvT3D5P5VGpyiC/CNK9I4nN3C0zs1bKdETZjcRYbE5g85hMo6vcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N1MSV3oUtYk71WmtucyM4C",
      "input": {
        "note": "Descent stopped at ~1.6 cm, probably fingertip contact with the table. Closing the right gripper on 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_01N1MSV3oUtYk71WmtucyM4C",
      "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]: [-0.0212, 0.807, 0.6033, -0.3809, -0.0219, -0.025, 0.9997, 0.2115, 1.7821, 0.7174, 0.2642, -0.3424, -0.3004, 0.0113]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1759 left_yaw=-0.0006 left_pitch=-0.0145 left_roll=-0.0 left_gripper=0.9997 right_x=0.389 right_y=0.1479 right_z=0.0153 right_yaw=0.6632 right_pitch=-0.1861 right_roll=0.021 right_gripper=0.0113\nstate[joint_eff]: [-0.212, -1.3333, 7.0769, 1.7705, -0.0562, -0.0415, -0.0073, -0.0615, -7.788, 5.1077, 1.536, -0.1978, -0.0073, 0.9597]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:197d628a23840053822e5a0dcc77dc908a19fc639745b813443bef7b5a03dbbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:823a91622edcb52414704d1366f72ccaba490494b5fb4d5bd02114920063aad5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8e5e5055968df8c1b95cf6b76891c32c77873b85ab7d54ee191dc8da7d178221",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 7.779 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]: [-0.0212, 0.8051, 0.6033, -0.3809, -0.0219, -0.0254, 0.9997, 0.2111, 1.7782, 0.7193, 0.2474, -0.3592, -0.3134, 0.9992]\nstate[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.1764 left_yaw=-0.0003 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9997 right_x=0.386 right_y=0.1499 right_z=0.0155 right_yaw=0.6844 right_pitch=-0.1903 right_roll=0.0273 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.4974, 7.0359, 1.6972, -0.0317, -0.0562, -0.0122, -0.1573, -6.3658, 5.2444, 1.9023, -0.0855, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0212, 0.807, 0.6033, -0.3809, -0.0219, -0.0254, 0.9997, 0.2115, 1.7821, 0.7174, 0.2665, -0.3481, -0.3, 0.9992]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1759 left_yaw=-0.0003 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9997 right_x=0.3889 right_y=0.1488 right_z=0.016 right_yaw=0.6675 right_pitch=-0.1822 right_roll=0.024 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -1.4564, 7.0359, 1.6923, -0.0855, -0.0513, -0.0122, 0.0479, -7.1179, 5.2308, 1.7167, -0.0659, 0.1001, -0.0171]",
      "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]: [-0.0212, 0.807, 0.6033, -0.3809, -0.0219, -0.025, 0.9997, 0.2115, 1.7821, 0.7174, 0.2642, -0.3424, -0.3004, 0.0113]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1759 left_yaw=-0.0006 left_pitch=-0.0145 left_roll=-0.0 left_gripper=0.9997 right_x=0.389 right_y=0.1479 right_z=0.0153 right_yaw=0.6632 right_pitch=-0.1861 right_roll=0.021 right_gripper=0.0113\nstate[joint_eff]: [-0.212, -1.3333, 7.0769, 1.7705, -0.0562, -0.0415, -0.0073, -0.0615, -7.788, 5.1077, 1.536, -0.1978, -0.0073, 0.9597]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:197d628a23840053822e5a0dcc77dc908a19fc639745b813443bef7b5a03dbbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:823a91622edcb52414704d1366f72ccaba490494b5fb4d5bd02114920063aad5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e5e5055968df8c1b95cf6b76891c32c77873b85ab7d54ee191dc8da7d178221",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7woKEAgSGAI4AUIIdGhpbmtpbmcSDBOxlMfJuGRwAqYp1BoMByky62UuMUuW6ks3IjALv0T846j8IkBc3/F4NI2PNDQ4XXw9YnPQN09RGtheYbWyMlcpxZs769z3Jn5US0UqjAp3x/mMwb+wJtbH4RrU/QQBg52ab1iicEqULFVe3W1uNLotBhNor2tMnDctVkpsOp0rOYRNkJ7upI3mz5pdU5Do9rlhQMavkqNt9SOEqBlWA3X2t05Ra1e8yx557OF+fKF7WmjGT+O0tqLzbGaJZXoRmWVWq9TKXZ6QhCAaia/Aa92wZ+s/lMnZhBlDQcBsH2u+4vJvi1oyg1FV6tCWbVQK9M6z6Ivzo+8wJ0D7YvqIJYvwcS5HpNaZndbgbEo3YHI3q7nBX/yOOhWgaahMAcsU4sA9lG3xMTIVZmHWd67wGgG4Q7WuLAOQi0Fr//dFQRLEW6cWH4Et1N+xrDGMdxZ1MwBETm53nGnjSxhuX6vMj/sZAusME4OMhJpqtYMv9VhrnmhREHgkWZSk/DG5783nQRh2BmupYtjXosJdCiRMVdgcRsax1glyBlDsGx6L0iBkSNGRcTX+F2YePiiOMAxibnTJWpl26ZPsUsdm5zOzgYmzYOqy9DOyCJ0IJ4Iqhwzjv/wlGJMiZXyGrufFygVJyhjbsUwdwOAT/Yo1ZHoGUKJA5WjaSBRYKNoxqOtCPU6wfGNFVBpW8/DwOG1HnetR03/RkAxzgHI7pm9bU3qovmjL2x9J7pXtZyTcLnP26i3/4ZoP04K4e/6YOaowaz90hFpEVbT/yN00vTYyIGyX3Dvc97U4cqGSaz0FAYIGGJiGqTgl6gscxyUuTOe1Ro1rY1Mva4xQhLnefX7nB/ol3wxvyDLCSz1mEz1ENP5zIBKI9gfCgSKjvOU6xoKqxrumjmF3JQ0T30468+WQ21fU1etlZAfizV0pnvQfzwZIE2sbymGyeCwFwPAKLGsp0GJSiU28iN4RJNA3GWbXqqrbCGoPn1gR6VTr/NtyfJvs3wO7FSTKL4Ei8h+LZuWCTu2xL31mucIVQw5IlD0KWfLyIUcTHGzppPANGPLZTemU8zH486G3EIE7h2BRc9r+bcFgJY2jrvIjCu8DjnxHrhpTK5AmjIRZYMHy4Jh0juBxWw5H7J64p2UlhLiXRHkcH/CfTH9a9ykAx3PxbZNdCiRR25uGN2rcQ8iPIct1qD5XKID0D9ZvYbhEiR8iRR4UrhCbLUoZPR90o5VGGluPFeJeV1eIISzqvrcoykQVynA2pQJXspF19Lc49BF6UFt0wk91NsA+AfPx/MQCo6QPBD2Ag2Lzli68eG2RRwy6abn0hyJav4yeL1po5Fih1tsYKK6URjWz4BYRj9+4NHYmzgmrilo+GglAEacuJWf/58L3PouJV/Fx9PCWstnTASoi5aCHv/hnREU9MB+qbx5yHkrpl71Y41xqHu9YBkpj+tbKQAAluMeeOKp1Msg4657kXtCLJQJjJPxPle3e+S3IBjqQ+gMkm/ArKI80uoPXDTZg78OjZHEmc0Z/1Mq35Epdgtknm/wDPYovSzxgwTbiozmVM517TNyKEI6MtEVXvk9f1eugQwwX0IsRr7d8ILF0EGUAzweoQwHrg2EI7TlHyBk/itIth5jxqOlamY5okQq9GEQIb5GvjFHyhfi+a4HOgJtlJuCUlKWIc7L6w52XHjM1LhI4da03KcEWOP/fcdy5U2i0y4W3gks6ukn10F3tYS9nxg0tPtd+Rb9IANZ4fRYENgMyGCD3XkM2rrwuzvdxNYdOz+KsbaXIsNyF/VZdpueIzeQ7HDaqqRhz8nU3mracWg5paf2sMmn26DYOahgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L3QT31sWoWcgBtW7XFfndu",
      "input": {
        "note": "Empty close (0.011): the pen sits right of the jaw column. Opening and lifting slightly before repositioning.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01L3QT31sWoWcgBtW7XFfndu",
      "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]: [-0.0212, 0.8089, 0.6033, -0.3801, -0.0219, -0.0254, 0.9997, 0.2115, 1.7344, 0.7322, 0.1612, -0.3412, -0.3042, 0.9949]\nstate[eef_state]: left_x=0.2957 left_y=0.0012 left_z=0.1755 left_yaw=-0.0003 left_pitch=-0.0156 left_roll=-0.0003 left_gripper=0.9997 right_x=0.3811 right_y=0.146 right_z=0.0222 right_yaw=0.668 right_pitch=-0.2227 right_roll=0.0355 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -1.1009, 7.0632, 1.7509, -0.0855, -0.0757, -0.0122, -0.1162, -10.0034, 7.4598, 1.3162, -0.2369, -0.0024, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:875ca4bd2f50da39af4cff1c23ea894a024d7a16384130931baed72fecec8e5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a850ba2d2902d35e8e189840c009d9902d8fb5395ecdd255af980fd42c23bd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:097ec0146ee75cc1224c46dd2c290ea5773a41c11e408244b150c4e53dfa652a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 6.585 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]: [-0.0212, 0.807, 0.6033, -0.3809, -0.0219, -0.0254, 0.9997, 0.2115, 1.7821, 0.7174, 0.2665, -0.3481, -0.3, 0.9992]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1759 left_yaw=-0.0003 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9997 right_x=0.3889 right_y=0.1488 right_z=0.016 right_yaw=0.6675 right_pitch=-0.1822 right_roll=0.024 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -1.4564, 7.0359, 1.6923, -0.0855, -0.0513, -0.0122, 0.0479, -7.1179, 5.2308, 1.7167, -0.0659, 0.1001, -0.0171]",
      "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]: [-0.0212, 0.807, 0.6033, -0.3809, -0.0219, -0.025, 0.9997, 0.2115, 1.7821, 0.7174, 0.2642, -0.3424, -0.3004, 0.0113]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1759 left_yaw=-0.0006 left_pitch=-0.0145 left_roll=-0.0 left_gripper=0.9997 right_x=0.389 right_y=0.1479 right_z=0.0153 right_yaw=0.6632 right_pitch=-0.1861 right_roll=0.021 right_gripper=0.0113\nstate[joint_eff]: [-0.212, -1.3333, 7.0769, 1.7705, -0.0562, -0.0415, -0.0073, -0.0615, -7.788, 5.1077, 1.536, -0.1978, -0.0073, 0.9597]",
      "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]: [-0.0212, 0.8089, 0.6033, -0.3801, -0.0219, -0.0254, 0.9997, 0.2115, 1.7344, 0.7322, 0.1612, -0.3412, -0.3042, 0.9949]\nstate[eef_state]: left_x=0.2957 left_y=0.0012 left_z=0.1755 left_yaw=-0.0003 left_pitch=-0.0156 left_roll=-0.0003 left_gripper=0.9997 right_x=0.3811 right_y=0.146 right_z=0.0222 right_yaw=0.668 right_pitch=-0.2227 right_roll=0.0355 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -1.1009, 7.0632, 1.7509, -0.0855, -0.0757, -0.0122, -0.1162, -10.0034, 7.4598, 1.3162, -0.2369, -0.0024, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:875ca4bd2f50da39af4cff1c23ea894a024d7a16384130931baed72fecec8e5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a850ba2d2902d35e8e189840c009d9902d8fb5395ecdd255af980fd42c23bd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:097ec0146ee75cc1224c46dd2c290ea5773a41c11e408244b150c4e53dfa652a",
        "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_01BhS255haq1Fyr45Rt616N7",
      "input": {
        "note": "Pen's near end sits by the right jaw, ~2.5 cm right of centre and angled. Shifting right, a bit forward, and yawing to align before descending again.",
        "targets": {
          "right_x": 0.406,
          "right_y": 0.135,
          "right_yaw": 0.85,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01BhS255haq1Fyr45Rt616N7",
      "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]: [-0.0212, 0.807, 0.6029, -0.3817, -0.0219, -0.0254, 0.9997, 0.1604, 1.7985, 0.8444, 0.0395, -0.4263, -0.4129, 0.9961]\nstate[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.1756 left_yaw=-0.0003 left_pitch=-0.0156 left_roll=-0.0003 left_gripper=0.9997 right_x=0.3936 right_y=0.1413 right_z=0.0212 right_yaw=0.7529 right_pitch=-0.2506 right_roll=0.0532 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -0.9231, 7.2274, 1.6825, -0.0366, -0.0659, -0.0122, -1.6342, -8.6906, 6.5299, 1.3114, -0.3834, -0.0562, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b75174514ca4e99772c5aff11bec392a7dee72f56f382a53bce1edb69c00ef4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dd0c9ef9d79fdd502e803dd6edc777fcef1fdbcace1d5e45e2591bb13b0fa66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4fd6778bd84bce19add4d92d6bae19d3319ccb0796223e2553071b46989bcb39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 4.181 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]: [-0.0212, 0.807, 0.6033, -0.3809, -0.0219, -0.025, 0.9997, 0.2115, 1.7821, 0.7174, 0.2642, -0.3424, -0.3004, 0.0113]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1759 left_yaw=-0.0006 left_pitch=-0.0145 left_roll=-0.0 left_gripper=0.9997 right_x=0.389 right_y=0.1479 right_z=0.0153 right_yaw=0.6632 right_pitch=-0.1861 right_roll=0.021 right_gripper=0.0113\nstate[joint_eff]: [-0.212, -1.3333, 7.0769, 1.7705, -0.0562, -0.0415, -0.0073, -0.0615, -7.788, 5.1077, 1.536, -0.1978, -0.0073, 0.9597]",
      "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]: [-0.0212, 0.8089, 0.6033, -0.3801, -0.0219, -0.0254, 0.9997, 0.2115, 1.7344, 0.7322, 0.1612, -0.3412, -0.3042, 0.9949]\nstate[eef_state]: left_x=0.2957 left_y=0.0012 left_z=0.1755 left_yaw=-0.0003 left_pitch=-0.0156 left_roll=-0.0003 left_gripper=0.9997 right_x=0.3811 right_y=0.146 right_z=0.0222 right_yaw=0.668 right_pitch=-0.2227 right_roll=0.0355 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -1.1009, 7.0632, 1.7509, -0.0855, -0.0757, -0.0122, -0.1162, -10.0034, 7.4598, 1.3162, -0.2369, -0.0024, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0212, 0.807, 0.6029, -0.3817, -0.0219, -0.0254, 0.9997, 0.1604, 1.7985, 0.8444, 0.0395, -0.4263, -0.4129, 0.9961]\nstate[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.1756 left_yaw=-0.0003 left_pitch=-0.0156 left_roll=-0.0003 left_gripper=0.9997 right_x=0.3936 right_y=0.1413 right_z=0.0212 right_yaw=0.7529 right_pitch=-0.2506 right_roll=0.0532 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -0.9231, 7.2274, 1.6825, -0.0366, -0.0659, -0.0122, -1.6342, -8.6906, 6.5299, 1.3114, -0.3834, -0.0562, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b75174514ca4e99772c5aff11bec392a7dee72f56f382a53bce1edb69c00ef4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dd0c9ef9d79fdd502e803dd6edc777fcef1fdbcace1d5e45e2591bb13b0fa66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fd6778bd84bce19add4d92d6bae19d3319ccb0796223e2553071b46989bcb39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrwgKEAgSGAI4AUIIdGhpbmtpbmcSDNd5w8GTkRYm6mE9TBoMhxYqkTdka1lO4SJYIjDloF0WoY6B0O9aTZDMVLxDXwu7q/JM4FnMk8TYSNEsUfyxQt5o9xrDYKOQn3+2DZoqzAeor3YX4Ar1LutkypYr6S6CIaLlNkE/d03gey0l77NIzmZcxF2/oRqMtno4V1kFzPfz92wv004kefXZkmQcV8ZtAJZKkC0ErA+z0VXrZoRf955Z+EeKt/3Oz25EPt5lh1LQpYwZ6KOWsulRmVK1tUs+T/bSBoiZ2a9r47GiR52SVLMijDnOACBXaYJktumEjDgNnJ8kvhqd7g3xjnDgmebqKuadpQE8/Sj6EUzHYz0MjNhbgWf+0wtRb4b51F33IYIlFQAGr0L6iA807zDlWSLJGl1kRqfehVfHiLzxsqdxbCvxKiWNxhi1q81FSn9CD2r/Un1MFINeytZuYDvjB0ic7Ewz2pt57q5kt2PvPHkW57jaHPMjmL7BtS1n+WF1WVkjjQ3OCk+akR23izFr8yZhZbDPXOwQmtgVOCcF+bULIkkZNTIwa7dlV5UEvzY9zaP0c8Up36dB8BbhrIyLUz8L7bOm6EoH1SdVoKaFcRabalNEIf8mruBZSoL5rhSYvmUvTRkxZHkPhV95oKCv8rNrL+Dq+HpMw+QhKViBINcvxywLt2TbXL56iB3RuYB8xIKQ87ak5KerVpfCmspZWfZAwhVQpVWl1oZtJOZ7YjQXDxp1YZ5x7mnV25h2Gl2XA6EzGgQJt2TwgI11LeEcleVWUGRHlvEgwD7ZojPClJ5i5lkx+6+8ZpJdt/d5cNIb/dWR3bqoXLclwe3TgBwU3nHFBVVfTsj6UUMaNAp587IAGy8Y8MePrKH70D8pPXXd8aZwXqLmjGSTaQeR/ykNSKuJKE9hOCpfJ7VGDS5WlvIU6yqtZcpMlBZ8wxltdHy3LBTol4c+/AMwEcwT4nCJYFojHzOf9btbGKXdOc7KJvhY62rhjqAhfkOrwqa4RSiEtcMeajmWKjRmKLvv5u/Egv+scIM9/HQTcIkDUaTkrEAgzUZyUp+TfKjzIgcfzsugW4kj+z+z0b8gXKuFlkHEKzCgL+7XioWskQrB0l80QYxAvM3qhaIbfblPrRCqSX7EJ2u8wwi/NEMRilZmWVMBONtZ1gzvP3GoknOkk/dRouRWm0H6hUqsqhxH85jbI0QmX5ML5gRIYoHcmmws4B/RE4RMw/a9w+xYPLymGJ3VZXc7r5vSYmSQeakfK3AO0cQB26pqn1L26rWx5I3GZ+PYy57ABFEoEuN6gEJdKdeQYcTmTFV9K5Y+oMyJ0s4QCVFJUSr4gxkXTX66NydLAqH9gnPL5q6JtVzLYIgeB0WCllOSRf6lBuHTEsELQff+rl3cB+YldJNWwHwHCnRyY9UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SD87pWL6r2EQfyj6ZavZoF",
      "input": {
        "note": "Arm still lagging the last target; pen remains right of centre and tilted. Continuing the right/forward shift and yaw.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.13,
          "right_yaw": 0.95,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01SD87pWL6r2EQfyj6ZavZoF",
      "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]: [-0.0212, 0.8108, 0.6029, -0.3809, -0.0219, -0.0254, 0.9997, 0.0875, 1.869, 0.9852, -0.1219, -0.5388, -0.6041, 0.9962]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1747 left_yaw=-0.0003 left_pitch=-0.0187 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4082 right_y=0.1304 right_z=0.0259 right_yaw=0.8824 right_pitch=-0.2555 right_roll=0.0505 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -1.5658, 7.0632, 1.7021, -0.0855, -0.0513, -0.0073, -0.9915, -8.4581, 7.1316, 1.1844, -0.5495, -0.0855, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfcf71c034a788dee2c808bd4df70142dad78b83d084cf947a241f119e115dfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cdc014286a9580227bff3f6dd8ebcddc12c9d99b22c0496041fcfb8d9b07350",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e2181090e055a22ad589a84a40fda02e3d1c06e4079dcaf5189cbf7eeaf8d9a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 3.796 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]: [-0.0212, 0.8089, 0.6033, -0.3801, -0.0219, -0.0254, 0.9997, 0.2115, 1.7344, 0.7322, 0.1612, -0.3412, -0.3042, 0.9949]\nstate[eef_state]: left_x=0.2957 left_y=0.0012 left_z=0.1755 left_yaw=-0.0003 left_pitch=-0.0156 left_roll=-0.0003 left_gripper=0.9997 right_x=0.3811 right_y=0.146 right_z=0.0222 right_yaw=0.668 right_pitch=-0.2227 right_roll=0.0355 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -1.1009, 7.0632, 1.7509, -0.0855, -0.0757, -0.0122, -0.1162, -10.0034, 7.4598, 1.3162, -0.2369, -0.0024, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0212, 0.807, 0.6029, -0.3817, -0.0219, -0.0254, 0.9997, 0.1604, 1.7985, 0.8444, 0.0395, -0.4263, -0.4129, 0.9961]\nstate[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.1756 left_yaw=-0.0003 left_pitch=-0.0156 left_roll=-0.0003 left_gripper=0.9997 right_x=0.3936 right_y=0.1413 right_z=0.0212 right_yaw=0.7529 right_pitch=-0.2506 right_roll=0.0532 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -0.9231, 7.2274, 1.6825, -0.0366, -0.0659, -0.0122, -1.6342, -8.6906, 6.5299, 1.3114, -0.3834, -0.0562, 0.1099]",
      "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]: [-0.0212, 0.8108, 0.6029, -0.3809, -0.0219, -0.0254, 0.9997, 0.0875, 1.869, 0.9852, -0.1219, -0.5388, -0.6041, 0.9962]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1747 left_yaw=-0.0003 left_pitch=-0.0187 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4082 right_y=0.1304 right_z=0.0259 right_yaw=0.8824 right_pitch=-0.2555 right_roll=0.0505 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -1.5658, 7.0632, 1.7021, -0.0855, -0.0513, -0.0073, -0.9915, -8.4581, 7.1316, 1.1844, -0.5495, -0.0855, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfcf71c034a788dee2c808bd4df70142dad78b83d084cf947a241f119e115dfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cdc014286a9580227bff3f6dd8ebcddc12c9d99b22c0496041fcfb8d9b07350",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2181090e055a22ad589a84a40fda02e3d1c06e4079dcaf5189cbf7eeaf8d9a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSgggKEAgSGAI4AUIIdGhpbmtpbmcSDDs1VIvGO8lD7/GpEBoMnh+ZbEvazhMvWmEdIjDyplX0QDUDSQZIv47XF7Hu+EB89zzXYkRVL3jlGmU80GlwzEhTTLExYUDZB3ySyeEqnwc1UMQvgyuR5Q5pW7vpOJtqMNHnELHycjP69B1hMTr3JqL2AXK3ja/FuMs3EIgbV3lCkplE5z0qIToCUgPM1Z3xTRgRTgDS76URkAE3Gnnd3HDOwBES9qpUEEtoHxdc1uhR56N7PAP2UAwCODxc6c+e4Gl0yYcb/GWkjgZc1RY4x4vW8Ne2AJ6bzT/NyB2+ztjl9Urk+3Mq/3lbAGk7LY/Wdj+s4yUHFuKGDz48TfPso4ie6qE31Wpa7bZMlQlaQ2htceGbFYvoKGo3OlQYDjA2TCehuhem0RYxLf+XA7QkQxalcwDh4wUNzlxixM7cKA5zwc25SS9FBuRxHm4z5APnZcXBKUr6X86C0axvMvb0NHVpMWOpVpDm/LZmuzLnpQLG/ZyGW02UY1aAPe/rY8MaZi6drr4Is6Z9Rp+SlFbgIwL/MZPirvQK7ClUTkSTo+dyILLVH/0kIe3bdKLbJ6Al0F+k+Ad0emgyCs6dj6QzYhn/FuCJ1+mPaHHwOWcecGJTVfSDN6SUbAtD8DgLFbAE9QkAFdgLUDCW9A2wOr0G2vMYd4dh9IgKmKYEotZx8n27v4L6MbaZLJ+jmLISxHFjZ50HY9xZwTXWqCWjlHBy/ncT/Dk8ngFWEKAfVklqZ8gh1qz8Jdnr0gWd962ujWZGxdprKoTINt6FDT4HwOsRAaSW/Au93rYpZJiJ9fvEd6ZzwCo7U6NgbPv1xkR0A0FTysLkCb+axUD76dyTiw68dN4SqRXG4yi0pkoeauacyyAmuDmhWN/CJ+jNV0LxZUXtlPL2yDZh7/PbMNQI0QuzUO5xFkvtO6+9EUO61BGTSFKmXNfSb64GDktgHg1CAC/x4dH8OMAQW8MBkU/9HhKgAudpN3s5XF4PTVj3l7kyMMWRs8eawA83TG847drRTb4oP16eMVqVxqwJX0WRL5JLxPjgCBhxdAfU10TVdQDKliuuDrUK8yF4+LwBfogYLASNymrRBsJy/j8/I5oYNUzQdacuax/nuVUnZiyo9Bp6bz7Z+L6PB1B3RDYp/5KSBsnk5VB9mU9Yo2WCF1kMfqpXLzuqI8VzimQsVCqJ/PauLZ3P3zUnHHQef54jXz/AvdD2flHBRLPv+x8K02MVX8u7GR5Wv8rBCUs12ATL9ALLxFqfIWWYu6zIlkfeBs7LHeTQZdeolDAX4jv0IxKNRGYxPB/d1uxI1JW0DHR3Ghm9DDi9uTgXXwtOaFfxX7MZl8EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018v2uKx99nccXEgVSyL19pH",
      "input": {
        "note": "Pen now aligned along the jaw column, just right of centre. Nudging right and descending to the table to grasp.",
        "targets": {
          "right_x": 0.412,
          "right_y": 0.127,
          "right_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_018v2uKx99nccXEgVSyL19pH",
      "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]: [-0.0212, 0.8108, 0.6029, -0.3809, -0.0219, -0.025, 0.9997, 0.0677, 1.8874, 1.0248, -0.1963, -0.5739, -0.6712, 0.9962]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1747 left_yaw=-0.0006 left_pitch=-0.0187 left_roll=0.0001 left_gripper=0.9997 right_x=0.4064 right_y=0.1273 right_z=0.0256 right_yaw=0.9331 right_pitch=-0.2667 right_roll=0.0645 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.3607, 7.0085, 1.6923, -0.0708, -0.0562, -0.0122, -0.2256, -8.8684, 6.8034, 1.0867, -0.442, -0.2027, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:854ea1f7dc53d6aed4489a327229252317f468d793c608eea782071506f5250b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:884b92e33ecf461de05d35c002b7febbbc39e3809ef27d8e83f87306eccca775",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c8745aad0aef93781f165398eb080b157ea5ad5aca8501c8f950f49ebf78955e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 6.254 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]: [-0.0212, 0.807, 0.6029, -0.3817, -0.0219, -0.0254, 0.9997, 0.1604, 1.7985, 0.8444, 0.0395, -0.4263, -0.4129, 0.9961]\nstate[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.1756 left_yaw=-0.0003 left_pitch=-0.0156 left_roll=-0.0003 left_gripper=0.9997 right_x=0.3936 right_y=0.1413 right_z=0.0212 right_yaw=0.7529 right_pitch=-0.2506 right_roll=0.0532 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -0.9231, 7.2274, 1.6825, -0.0366, -0.0659, -0.0122, -1.6342, -8.6906, 6.5299, 1.3114, -0.3834, -0.0562, 0.1099]",
      "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]: [-0.0212, 0.8108, 0.6029, -0.3809, -0.0219, -0.0254, 0.9997, 0.0875, 1.869, 0.9852, -0.1219, -0.5388, -0.6041, 0.9962]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1747 left_yaw=-0.0003 left_pitch=-0.0187 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4082 right_y=0.1304 right_z=0.0259 right_yaw=0.8824 right_pitch=-0.2555 right_roll=0.0505 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -1.5658, 7.0632, 1.7021, -0.0855, -0.0513, -0.0073, -0.9915, -8.4581, 7.1316, 1.1844, -0.5495, -0.0855, -0.0024]",
      "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]: [-0.0212, 0.8108, 0.6029, -0.3809, -0.0219, -0.025, 0.9997, 0.0677, 1.8874, 1.0248, -0.1963, -0.5739, -0.6712, 0.9962]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1747 left_yaw=-0.0006 left_pitch=-0.0187 left_roll=0.0001 left_gripper=0.9997 right_x=0.4064 right_y=0.1273 right_z=0.0256 right_yaw=0.9331 right_pitch=-0.2667 right_roll=0.0645 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.3607, 7.0085, 1.6923, -0.0708, -0.0562, -0.0122, -0.2256, -8.8684, 6.8034, 1.0867, -0.442, -0.2027, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:854ea1f7dc53d6aed4489a327229252317f468d793c608eea782071506f5250b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:884b92e33ecf461de05d35c002b7febbbc39e3809ef27d8e83f87306eccca775",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8745aad0aef93781f165398eb080b157ea5ad5aca8501c8f950f49ebf78955e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSnQcKEAgSGAI4AUIIdGhpbmtpbmcSDIKsllmsAuogPdNMwBoMs07w/deenBZyTu/YIjAWxG44iY6K700TGwm7IF40vZNw2KUb4MWe8thoeIjYYmhqErlxut1plpsSx1BPtXwqugbadwlcZ4e7/08zzQs84aT5v99BEZ7hf3Po+RWo/YAD6AI0KWbkzEe8mn4dp89aKht4/W9He4Cdt9u1LmY1mcLxcksBtSw1F9etKIFLAkj56lfnEqRTKF4QqFO1sGNW2q27eCHH/FbY3EYo+2CleP5oH0YtijA5U+p2HxonubwTBx0d4YQbTmL6mcvzOTam4CNy3JGp5nG9AB+pkup8u1owP0gGfAHACeqDyvu5pOKx08pUtI24NZ/h75dwZJgkbRqE58oRhGv3Da0maVU5cBX4IyTZos/eJu8CzJ1r5kO1KG9XVevMbAYkHjuOTiKU5EENDtibq2310xlQwIAYgy+v4e4Gn7N4M12Ap7JAmspWTYKFQ5lLVupNZ86f0+LVM4tJwi1ruaMU9s5lyKMbWOTSoaDJyF1I6IUjgZL+lQ12P4qQjsoSUIfK/6Wsj9D2YehELxXszwljKGTLqOHEyQb55/mDupWq7K4FoO+5SmzLkH6YMVEUlf0vTCI3CklS60j1Bx04V1HdLdSKGcyIIfuYN3RQ6Irl8B6yplWlMA8V7M51RGHvQFmdiCxC1fhBdp6u0Cp8+rQnHSspAcDkcTHU3qMJGWsfd6zc1+CIx26wrOFXGT0C7khHBeD2vgsehnqkZCzphq1zq1LRexeKjcmISxG3Tq97zEYHI+eT0WSIto/cBVA3cwHilubvLZSSICAjEgYxi8/22bEFwJNOHUyoxzFW0WOtj6lVUn1buwuzueth36QejVeTg6LahdpF67zIX6GBIDGu0tBIJhFJbaFxtwmTarvjuhKCfn00wpnQQniZuGXOg6b2954tvDp9xHfePUi0t2d3zx6UOPfh9ZRCG64XPfYuCS60BT8F3vwUH3wEXvCxnSLjuT+OrSZM69yvFxAaZMiKqbcl0RRVEQci8e5An/5mBVtOtzNG9OxLIk9sH6fRzTk1VWYS9qD2WfIm8M/+Cu+VJKM0PmhF1ofHVQu9dKK2l9GDWUht9EIpGdyCocw8MtsrRnh5dxKyQTLaGg6w2WIqx5JrVJCjx1p8y5G5c3hGh6M4F0FqK3RE58qjlUR4R4A24/iIETjtAZ5xHEdFNKcLabdqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xhq9UpA7iMCBGeQSKUhVY5",
      "input": {
        "note": "Pen centred between the jaws; the arm has not descended yet. Commanding the descent to the table again.",
        "targets": {
          "right_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Xhq9UpA7iMCBGeQSKUhVY5",
      "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]: [-0.0212, 0.8146, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.0677, 1.8877, 1.0271, -0.2035, -0.5743, -0.6857, 0.9962]\nstate[eef_state]: left_x=0.2958 left_y=0.0012 left_z=0.1735 left_yaw=-0.0003 left_pitch=-0.0229 left_roll=-0.0002 left_gripper=0.9997 right_x=0.4058 right_y=0.1273 right_z=0.0254 right_yaw=0.9424 right_pitch=-0.2694 right_roll=0.0588 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -1.6752, 7.0359, 1.6874, -0.0708, -0.0562, -0.0073, -0.1846, -8.8957, 6.6256, 1.116, -0.4762, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e252fb99cea44da4ae69807f1fc9905f24382f26560620201f280c05a2b0fb6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b3245876af7770f09728508c668857c9523e5b4c14ca30d06af2b1b3802a5ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b1e6d671fa14a7d43d7d16cbf24da808128f6f06e696138b485659eb1b439b56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 3.324 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]: [-0.0212, 0.8108, 0.6029, -0.3809, -0.0219, -0.0254, 0.9997, 0.0875, 1.869, 0.9852, -0.1219, -0.5388, -0.6041, 0.9962]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1747 left_yaw=-0.0003 left_pitch=-0.0187 left_roll=-0.0003 left_gripper=0.9997 right_x=0.4082 right_y=0.1304 right_z=0.0259 right_yaw=0.8824 right_pitch=-0.2555 right_roll=0.0505 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -1.5658, 7.0632, 1.7021, -0.0855, -0.0513, -0.0073, -0.9915, -8.4581, 7.1316, 1.1844, -0.5495, -0.0855, -0.0024]",
      "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]: [-0.0212, 0.8108, 0.6029, -0.3809, -0.0219, -0.025, 0.9997, 0.0677, 1.8874, 1.0248, -0.1963, -0.5739, -0.6712, 0.9962]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1747 left_yaw=-0.0006 left_pitch=-0.0187 left_roll=0.0001 left_gripper=0.9997 right_x=0.4064 right_y=0.1273 right_z=0.0256 right_yaw=0.9331 right_pitch=-0.2667 right_roll=0.0645 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.3607, 7.0085, 1.6923, -0.0708, -0.0562, -0.0122, -0.2256, -8.8684, 6.8034, 1.0867, -0.442, -0.2027, -0.0073]",
      "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]: [-0.0212, 0.8146, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.0677, 1.8877, 1.0271, -0.2035, -0.5743, -0.6857, 0.9962]\nstate[eef_state]: left_x=0.2958 left_y=0.0012 left_z=0.1735 left_yaw=-0.0003 left_pitch=-0.0229 left_roll=-0.0002 left_gripper=0.9997 right_x=0.4058 right_y=0.1273 right_z=0.0254 right_yaw=0.9424 right_pitch=-0.2694 right_roll=0.0588 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -1.6752, 7.0359, 1.6874, -0.0708, -0.0562, -0.0073, -0.1846, -8.8957, 6.6256, 1.116, -0.4762, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e252fb99cea44da4ae69807f1fc9905f24382f26560620201f280c05a2b0fb6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b3245876af7770f09728508c668857c9523e5b4c14ca30d06af2b1b3802a5ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1e6d671fa14a7d43d7d16cbf24da808128f6f06e696138b485659eb1b439b56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkwsKEAgSGAI4AUIIdGhpbmtpbmcSDBEgmkcz0ogZfljarRoMlj4dYNcmnQVjLZ32IjDJblKDJSVXJ23WbOkkjTLFeRmS7V2ck8/SpLr4HA3PzwLnn6rVzGXTE0F4qYNIb44qsApoCqhJQgo0JqECZyj2593s+8iEZ/8eqP6ECOGOWNRV2s/GgnuiB6O07gCEQ3n69n9Hiv/cCnrAkNHCmCiL8M1EV+I5c/+SWIQhlkjpYGDX4A1hxs9t6DxvWNSkXfgBtmnxPG5Ybv5Xv75g2OFb7SVFo4T3lF+1GJDsXeoczpcEs6xB7QPQpVOvu5l0GaP+JkKEZzwt/4pHjFz+oDPhrr377ZSKKlR9srREc/H4KhDToQYF5/WwWP698fwDhbuCf3tV/PDSDBqScUIrOeHeyZq1JeBnFx0BLzSGtM5CY4ie9nhvjhjNbRJBcIDjodoi5yE/KzdrxoAf+NftK6MTbenYnRd9GmmIj8hX50hQ0tfaxUa7U+GLjkEg01TU4rZ9VasKAxHvSqb34sWPkQT5BqLuu8Cq+TP/sDvjWDhzfdXkfdjgh4MtUtJERnBNQZNW069BcBh+ITup+1DFJxNAeUS3CybrelbanDolGbXT402bhdaOSvxFwrLC4+AEDUR9u3gsa5kkxCStlKQskXUGkhqkLpyDMRm5CEoKqlcKTaamdqb/WvpIl7XrvboyO5cTC96vOlfTM4jecPLd8fIz5uxoVKymJrIzOgAP4/EiJKU7CDmCedkY8KXilc5ruiO/b1PgujkdvONTMqA6V6IPzARPBfRm8UO0w6t/roJD5ee2xQpponh/UXp2eJPqZ17qqXkxT5wzN1mA5b6zryJN3Jbz8s1djYtJrbfI9wnRWsJtct0EVZGxvwj8a+2GlnnosvA9XgV/UVvAwBNOOAm/GJ2oadKUY8g7SGgDwCuERFVtEJtuL1DXwXm3YtDhk8fXcq/87is2PQ65MY4k2fuNuqmutYrQGLZlzq1F1O2lb9M5qmTrvUQPB6a9MGaaZFHSXHMuYRe3H7haNDccT8OGBFUuqHsjieppy9XYzQSgaQT8csuW5HZfrz4YRnHCM/BDUBTJR8BnalDoJVXQ4VMN22m5V+8GED7OyZtfBUcg4x+EvvYI0BXZ5dSYVI64bCTXdCVDrzpCdWJBgvBfDb4VgHNt/VP0vh7P5BL899e4KDhDrZqLEuYYKmuJ2Y/yTSMCtm++K4IvfUnX879HziIGesQoUNxkfsob48wGMCI2LNRGpiTOQPahfZ47HykxjSXxx5C0FbShELj7/8t9ndIHCitnetDjkUS5hnBTR9cAvXNg/mO7IwP+0tJ1LU/PMQMCGAomj0TGSbOGSWH5334rPO2SbhjXqByCjhA9r3p99iR2Pcubte/nG5vGIcvKyBuFQ6Tv6Qaso23zxSLvOvP5llOJeljC25r+DBDsGt37VEF1AEYGoVshJl3tF9oG8s3dB3p+kb8qfBWH+60zFz4WQdgntX28KvkAyvOAB/t6m6KCzRC8LI77ANIu2bWbAfoYVuLkOdOrOLPi/rERrZRS0f+dV0rV1OtEFQqRTbAoea8Pjeiq7aU/2V7/lm0hh41veoo6xkrETE4+5GQyuydTkdlkruDkzPhLuPEIlitBMrQxGyO5VOUtwhnXIog8jo2mdDHgwhnvKkCWnLIXJmNFYT03yNwxYvsD1oHpW93ojWeVlZeetnR0KshZU45QJ0CK+uQ9vWJoWXC6dfWLB9Julx9gAlQgtc8nj9SXqQJjWT450iLGcmmnlwAcF2VvTkFIyiKkZAUkb/zlXNsaBs7A6/lZHgL4IlnXp/pIE2VIkYfaHAON6bxqPdzB12913XEBlX1gI0TAuUy2gyDBItn+TgQiEI7OJ0A0ZuB4zSXqi3JXdxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HsfuRGK6sfNV26VkdDRxfR",
      "input": {
        "note": "Descent stalls at 2.5 cm with the tool pitched back -0.27; commanding the pitch back toward vertical so the fingertips can reach the pen at table level.",
        "targets": {
          "right_pitch": 0.1,
          "right_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01HsfuRGK6sfNV26VkdDRxfR",
      "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]: [-0.0212, 0.8192, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, -0.0204, 2.0903, 0.7757, 0.6247, -0.8619, -0.5896, 0.9962]\nstate[eef_state]: left_x=0.2961 left_y=0.0012 left_z=0.1723 left_yaw=-0.0003 left_pitch=-0.0275 left_roll=-0.0001 left_gripper=0.9997 right_x=0.4168 right_y=0.1292 right_z=0.0017 right_yaw=0.9782 right_pitch=0.1293 right_roll=-0.0299 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -1.7299, 7.1726, 1.6874, -0.0415, -0.0513, -0.0073, -0.4991, -6.0239, 2.4137, 0.7253, -0.0415, 0.442, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86bed5b48ec38fcbc603fcaefec9496a2caf41991ac935d588cbd8f96dc22eaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c43b524d622b480248d0f990195661b1efabe941fb2ca2eff7517e664da7253",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bb8062405a592c48d25ab160e03456b77efd8f9e15c3a254fc8bbc0f514d5ed3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 4.213 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]: [-0.0212, 0.8108, 0.6029, -0.3809, -0.0219, -0.025, 0.9997, 0.0677, 1.8874, 1.0248, -0.1963, -0.5739, -0.6712, 0.9962]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1747 left_yaw=-0.0006 left_pitch=-0.0187 left_roll=0.0001 left_gripper=0.9997 right_x=0.4064 right_y=0.1273 right_z=0.0256 right_yaw=0.9331 right_pitch=-0.2667 right_roll=0.0645 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.3607, 7.0085, 1.6923, -0.0708, -0.0562, -0.0122, -0.2256, -8.8684, 6.8034, 1.0867, -0.442, -0.2027, -0.0073]",
      "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]: [-0.0212, 0.8146, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.0677, 1.8877, 1.0271, -0.2035, -0.5743, -0.6857, 0.9962]\nstate[eef_state]: left_x=0.2958 left_y=0.0012 left_z=0.1735 left_yaw=-0.0003 left_pitch=-0.0229 left_roll=-0.0002 left_gripper=0.9997 right_x=0.4058 right_y=0.1273 right_z=0.0254 right_yaw=0.9424 right_pitch=-0.2694 right_roll=0.0588 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -1.6752, 7.0359, 1.6874, -0.0708, -0.0562, -0.0073, -0.1846, -8.8957, 6.6256, 1.116, -0.4762, -0.0806, -0.0073]",
      "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]: [-0.0212, 0.8192, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, -0.0204, 2.0903, 0.7757, 0.6247, -0.8619, -0.5896, 0.9962]\nstate[eef_state]: left_x=0.2961 left_y=0.0012 left_z=0.1723 left_yaw=-0.0003 left_pitch=-0.0275 left_roll=-0.0001 left_gripper=0.9997 right_x=0.4168 right_y=0.1292 right_z=0.0017 right_yaw=0.9782 right_pitch=0.1293 right_roll=-0.0299 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -1.7299, 7.1726, 1.6874, -0.0415, -0.0513, -0.0073, -0.4991, -6.0239, 2.4137, 0.7253, -0.0415, 0.442, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86bed5b48ec38fcbc603fcaefec9496a2caf41991ac935d588cbd8f96dc22eaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c43b524d622b480248d0f990195661b1efabe941fb2ca2eff7517e664da7253",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb8062405a592c48d25ab160e03456b77efd8f9e15c3a254fc8bbc0f514d5ed3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Now at z≈0 with the pen centred between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DverM3PvGnJnp6LasGGB2L",
      "input": {
        "note": "Grasp point is at table level with the pen centred between the jaws. Closing the right gripper.",
        "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_01DverM3PvGnJnp6LasGGB2L",
      "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]: [-0.0212, 0.82, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, -0.02, 2.1048, 0.7719, 0.6632, -0.8734, -0.5903, 0.0557]\nstate[eef_state]: left_x=0.2961 left_y=0.0012 left_z=0.1721 left_yaw=-0.0003 left_pitch=-0.0282 left_roll=-0.0001 left_gripper=0.9997 right_x=0.4171 right_y=0.1307 right_z=0.0015 right_yaw=0.9897 right_pitch=0.1463 right_roll=-0.0439 right_gripper=0.0557\nstate[joint_eff]: [-0.1162, -1.4701, 7.2137, 1.707, -0.0855, -0.0659, -0.0122, -0.253, -10.2496, 4.3556, 1.1258, -0.1685, 0.0171, 1.3748]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23e2be34c34b7824ab5fc61efe72ae4973d92bffb35dbc90758d023ec19eafbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:413d239f4d309fb60ac7c807780b5dc5e3ad2903fca89ba98a2c12d27cd840f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2cbcc29fc94bc2b525bdbaf3fb9734be39ef5572c1c71f68a510fe0b61f6756",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 9.437 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]: [-0.0212, 0.8146, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.0677, 1.8877, 1.0271, -0.2035, -0.5743, -0.6857, 0.9962]\nstate[eef_state]: left_x=0.2958 left_y=0.0012 left_z=0.1735 left_yaw=-0.0003 left_pitch=-0.0229 left_roll=-0.0002 left_gripper=0.9997 right_x=0.4058 right_y=0.1273 right_z=0.0254 right_yaw=0.9424 right_pitch=-0.2694 right_roll=0.0588 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -1.6752, 7.0359, 1.6874, -0.0708, -0.0562, -0.0073, -0.1846, -8.8957, 6.6256, 1.116, -0.4762, -0.0806, -0.0073]",
      "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]: [-0.0212, 0.8192, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, -0.0204, 2.0903, 0.7757, 0.6247, -0.8619, -0.5896, 0.9962]\nstate[eef_state]: left_x=0.2961 left_y=0.0012 left_z=0.1723 left_yaw=-0.0003 left_pitch=-0.0275 left_roll=-0.0001 left_gripper=0.9997 right_x=0.4168 right_y=0.1292 right_z=0.0017 right_yaw=0.9782 right_pitch=0.1293 right_roll=-0.0299 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -1.7299, 7.1726, 1.6874, -0.0415, -0.0513, -0.0073, -0.4991, -6.0239, 2.4137, 0.7253, -0.0415, 0.442, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0212, 0.82, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, -0.02, 2.1048, 0.7719, 0.6632, -0.8734, -0.5903, 0.0557]\nstate[eef_state]: left_x=0.2961 left_y=0.0012 left_z=0.1721 left_yaw=-0.0003 left_pitch=-0.0282 left_roll=-0.0001 left_gripper=0.9997 right_x=0.4171 right_y=0.1307 right_z=0.0015 right_yaw=0.9897 right_pitch=0.1463 right_roll=-0.0439 right_gripper=0.0557\nstate[joint_eff]: [-0.1162, -1.4701, 7.2137, 1.707, -0.0855, -0.0659, -0.0122, -0.253, -10.2496, 4.3556, 1.1258, -0.1685, 0.0171, 1.3748]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23e2be34c34b7824ab5fc61efe72ae4973d92bffb35dbc90758d023ec19eafbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:413d239f4d309fb60ac7c807780b5dc5e3ad2903fca89ba98a2c12d27cd840f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2cbcc29fc94bc2b525bdbaf3fb9734be39ef5572c1c71f68a510fe0b61f6756",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQShQgKEAgSGAI4AUIIdGhpbmtpbmcSDPlXWcXAYaINQWk5SRoM/GpTnbh44U99VGypIjBQKzpXHEJDG1mNRCqD5pnMT4dN2LivBY8iqmJek1QbQoju3Gp+ig+sYQYG51az6IwqogfR8Yr8EIa7l6verx3V0/XCYIYPRMqWgCsiubZqn4YQhzozkKDR5mA5+J6hfhUejqEvst0x+oYUyAfPEkAlQLpiuTnr/KfIKJG9h7rbo81eeRE/UI16G54H+qOLjx93c1z0uT/W+c31s+PIE2wsfaVvZw7in5zg849xUy7K6hvBGuwd7lQr3cUiTriGld0Fh5U7QCKYXBSYZzfoJbBJDxMHAFSVplVwj9Wx+pE19w8s4HE7So1dIN9Swaq9gyg7cutvjvjaSvA8tb0BKvp/EVWzPhplLcHu7CkYlXl2gi/tAkqZhgf58OMJzOLk6XNfEafusQfS/1UCW4hEmXuccMNInWY9CZxBSFc9c1tlJOOjedCgEmywhnFEzm/nqoXR9z4Xh9y36dBRmjlPSXCXIKnJjfB1kOWmPi23Zj/jUFWzR0vVzVasH2+9nKA8Oks1I7w9atjeWhAjmxug3ZaukSMvIFFNSAlCMZX2aADKMtYAUw5+GkxtUUOsuwjyd2rzShRN/q6QN5EhKzng9CvAOOF8bKASERBQ+jApBOQ8USHj4m1Hoq0/kG1aCRFArs4D8FAKluVS3KLsEPYpmW5Ff1Ae9ahtf7qlfOKrR6UWmcEte8y9IhHrh/cYUpZA2dluQcDvjFvrNzFo8fIrGQswKVSX/l0Y86V8oalwkrH5JdAlIMT+eqgFueVoMp+NO7GCJ4LmduCZamPZ7/TlyC0I6oh7u9RUrkp+6f2zXdvJYHFg0l9bsDLZmoNT/7qYTigcOlXCMmNDYwnsPQ0ntwoOrGcGC5kDPW5D68tQj6drToyyUl1h7KzQAFBUzbTourRYUnz0QpkBA/nsue6kBzHe3ZopENWgeq8kdZZ6FtMwwnPXUZncHghLGkto/K/2IRF23IImBoUf6eagi8AXTcU8sK6Wq+bQSTylN+JtpsNxj2xZHOR+tqHkjTbAjcQpqsNhaAEpCERnQIHrAJKqLFoJd8PXBhLG3bLJXkQ7H8hdAJbIuFlEqG/eTqUFEXIZ8j+urpQdvx6hIEAxDVAp6RuICqTxjtbBG96rO6GPeGeiZOXUHiDFQo8arT/FyJpe9lFYSFBxfQ/1G735wt6mKWJEno+HhMydPR8oZSbgtu2L6PpblQ+tn9s3jl7S9yjVyFrNK7yJpTDELuRgKoZ3leDBtDcEXHJCxnzQ/X4IXH9Brvvsbudz8Op9yOCxLddg7V9ilR6wfU8Q/3qMnH1S5xdetPzMpZsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sokg4CfGPJMhavvCeSeVsw",
      "input": {
        "note": "Gripper settled at 0.056 (~5 mm), consistent with holding the pen; its tip sticks out forward. Lifting to confirm the grasp.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Sokg4CfGPJMhavvCeSeVsw",
      "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]: [-0.0212, 0.8238, 0.6029, -0.3805, -0.0219, -0.0254, 0.9997, -0.0193, 1.7664, 0.8612, 0.2302, -0.8688, -0.5919, 0.0675]\nstate[eef_state]: left_x=0.2965 left_y=0.0012 left_z=0.1712 left_yaw=-0.0003 left_pitch=-0.0313 left_roll=0.0 left_gripper=0.9997 right_x=0.4163 right_y=0.1305 right_z=0.1004 right_yaw=0.9873 right_pitch=0.141 right_roll=-0.0423 right_gripper=0.0675\nstate[joint_eff]: [-0.3761, -1.7709, 7.0085, 1.7411, -0.0708, -0.0659, -0.0073, -0.3624, -10.3453, 8.2256, 1.3309, -0.398, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0981bcba2f6b3288e023112c162c3ab4db715a0ba04b29af7e7824f901f38d5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fce51a1f250662081d2ea1cb7e9b91aad3d767d4f8cf9ea42a33a0cc948033f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:812a96b6663d3fde4939619f96d43dba9d2938091e7c865d5f346ea37395b486",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 8.845 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]: [-0.0212, 0.8192, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, -0.0204, 2.0903, 0.7757, 0.6247, -0.8619, -0.5896, 0.9962]\nstate[eef_state]: left_x=0.2961 left_y=0.0012 left_z=0.1723 left_yaw=-0.0003 left_pitch=-0.0275 left_roll=-0.0001 left_gripper=0.9997 right_x=0.4168 right_y=0.1292 right_z=0.0017 right_yaw=0.9782 right_pitch=0.1293 right_roll=-0.0299 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -1.7299, 7.1726, 1.6874, -0.0415, -0.0513, -0.0073, -0.4991, -6.0239, 2.4137, 0.7253, -0.0415, 0.442, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0212, 0.82, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, -0.02, 2.1048, 0.7719, 0.6632, -0.8734, -0.5903, 0.0557]\nstate[eef_state]: left_x=0.2961 left_y=0.0012 left_z=0.1721 left_yaw=-0.0003 left_pitch=-0.0282 left_roll=-0.0001 left_gripper=0.9997 right_x=0.4171 right_y=0.1307 right_z=0.0015 right_yaw=0.9897 right_pitch=0.1463 right_roll=-0.0439 right_gripper=0.0557\nstate[joint_eff]: [-0.1162, -1.4701, 7.2137, 1.707, -0.0855, -0.0659, -0.0122, -0.253, -10.2496, 4.3556, 1.1258, -0.1685, 0.0171, 1.3748]",
      "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]: [-0.0212, 0.8238, 0.6029, -0.3805, -0.0219, -0.0254, 0.9997, -0.0193, 1.7664, 0.8612, 0.2302, -0.8688, -0.5919, 0.0675]\nstate[eef_state]: left_x=0.2965 left_y=0.0012 left_z=0.1712 left_yaw=-0.0003 left_pitch=-0.0313 left_roll=0.0 left_gripper=0.9997 right_x=0.4163 right_y=0.1305 right_z=0.1004 right_yaw=0.9873 right_pitch=0.141 right_roll=-0.0423 right_gripper=0.0675\nstate[joint_eff]: [-0.3761, -1.7709, 7.0085, 1.7411, -0.0708, -0.0659, -0.0073, -0.3624, -10.3453, 8.2256, 1.3309, -0.398, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0981bcba2f6b3288e023112c162c3ab4db715a0ba04b29af7e7824f901f38d5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fce51a1f250662081d2ea1cb7e9b91aad3d767d4f8cf9ea42a33a0cc948033f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:812a96b6663d3fde4939619f96d43dba9d2938091e7c865d5f346ea37395b486",
        "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_01FuqcwNRkH62QwN7zoPQ5YN",
      "input": {
        "note": "Right arm is holding the pen in the air (tip pointing forward-left). Now moving the left arm above the cap, which lies right of it.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.17,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01FuqcwNRkH62QwN7zoPQ5YN",
      "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]: [-0.6125, 1.5482, 0.8219, -0.0505, -0.482, -0.3916, 0.9997, -0.0193, 1.7618, 0.8577, 0.2169, -0.8658, -0.5919, 0.0675]\nstate[eef_state]: left_x=0.3754 left_y=-0.1593 left_z=0.0994 left_yaw=-0.0104 left_pitch=-0.101 left_roll=0.0361 left_gripper=0.9997 right_x=0.4141 right_y=0.1302 right_z=0.0988 right_yaw=0.9836 right_pitch=0.1328 right_roll=-0.0329 right_gripper=0.0675\nstate[joint_eff]: [-0.4718, -7.0906, 9.1829, 1.7314, -0.2759, 0.0122, -0.0122, -0.3214, -7.665, 5.9966, 1.5507, -0.3736, -0.0708, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04d07bb1ac6e2550d00469c3a06aa6604c0125e828f45aa955a207fd26e06a25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1035f2cb06ae66a7cdeeaf93553e34d246d2c70d7c798b806aa56c741360ee2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e7b66c0a0493eb3846ee74970048f3ccee82e960e57ea2604d7281a381ad013e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 13.22 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]: [-0.0212, 0.82, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, -0.02, 2.1048, 0.7719, 0.6632, -0.8734, -0.5903, 0.0557]\nstate[eef_state]: left_x=0.2961 left_y=0.0012 left_z=0.1721 left_yaw=-0.0003 left_pitch=-0.0282 left_roll=-0.0001 left_gripper=0.9997 right_x=0.4171 right_y=0.1307 right_z=0.0015 right_yaw=0.9897 right_pitch=0.1463 right_roll=-0.0439 right_gripper=0.0557\nstate[joint_eff]: [-0.1162, -1.4701, 7.2137, 1.707, -0.0855, -0.0659, -0.0122, -0.253, -10.2496, 4.3556, 1.1258, -0.1685, 0.0171, 1.3748]",
      "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]: [-0.0212, 0.8238, 0.6029, -0.3805, -0.0219, -0.0254, 0.9997, -0.0193, 1.7664, 0.8612, 0.2302, -0.8688, -0.5919, 0.0675]\nstate[eef_state]: left_x=0.2965 left_y=0.0012 left_z=0.1712 left_yaw=-0.0003 left_pitch=-0.0313 left_roll=0.0 left_gripper=0.9997 right_x=0.4163 right_y=0.1305 right_z=0.1004 right_yaw=0.9873 right_pitch=0.141 right_roll=-0.0423 right_gripper=0.0675\nstate[joint_eff]: [-0.3761, -1.7709, 7.0085, 1.7411, -0.0708, -0.0659, -0.0073, -0.3624, -10.3453, 8.2256, 1.3309, -0.398, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6125, 1.5482, 0.8219, -0.0505, -0.482, -0.3916, 0.9997, -0.0193, 1.7618, 0.8577, 0.2169, -0.8658, -0.5919, 0.0675]\nstate[eef_state]: left_x=0.3754 left_y=-0.1593 left_z=0.0994 left_yaw=-0.0104 left_pitch=-0.101 left_roll=0.0361 left_gripper=0.9997 right_x=0.4141 right_y=0.1302 right_z=0.0988 right_yaw=0.9836 right_pitch=0.1328 right_roll=-0.0329 right_gripper=0.0675\nstate[joint_eff]: [-0.4718, -7.0906, 9.1829, 1.7314, -0.2759, 0.0122, -0.0122, -0.3214, -7.665, 5.9966, 1.5507, -0.3736, -0.0708, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04d07bb1ac6e2550d00469c3a06aa6604c0125e828f45aa955a207fd26e06a25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1035f2cb06ae66a7cdeeaf93553e34d246d2c70d7c798b806aa56c741360ee2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7b66c0a0493eb3846ee74970048f3ccee82e960e57ea2604d7281a381ad013e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrAkKEAgSGAI4AUIIdGhpbmtpbmcSDEx1PGFvHuRJKMdGphoMXeJAUqSl/tYPh3vEIjBQgWZt29JnCItz2v6dI2ZjcGJMSNy9tDglfy69Xoi2xD3Z97SWdwuMw1W+uxgt+VoqyQi3q5Ab4UNxm/VIM8klwyVeysu9VEtq0FeK5KAkS/lMvCBIl0uAcyqjtXheCxP+W/pTuRJuUW0fVsY8pAjvch5WaMz71jq00Pp+s2jEWZ4Qc2y4iWjK/rJuuouWUHuGdPSEPXckxu7Juf85+FJSr/aKgjYcUqH51mBQqyzEjvQ2VsBBqMbITHiBd7YwA2fw/I+XBGKS5j2kFYEjY5YtdpC2WVk65PV0CG2VN+/7B/izX5Hk177QHAAfKwKhu7yq/tx4T9u09wN5JW3aHchGEyvzxeaXUcP6G5lXvYeLy8hTrdsmaNKa9hZqYjGVIzzmOklNs34dpnFURZYAKNBZIdALULbciSu0BDG8etzwjBdDX7HcGokcsyB5oqxfkmOIQr2QT1NpfFG9PeyOldMn3qP1Tjnu4oIE2LZhJBPQFVp2gJsk66S2k/2wElTswJEsxm54nX3xaCiXGEFSeTpbLAG7AZhTbYCqTnUMltY7qasW32MgBtIG6+/ZMQFBaBgxGO7HPtXgD8LisNzVjzb5pHWfVZ+G3hQcSaP97Zo5FC+DTrnGU2RYNbbZvPkFiv8cI+3SY6IyplAPg5DjjxLfkueFiLvL7+oAbabxZA90zIMEjJlRzeOFFOZdrGw7r9bvmarGMB0Cq54gN794wm42SlwQdhTsey+B+7wfl2gzwhWMul3MWdMjX0w1AnXJnyBZ3f6gWTPJATM15XfRCXwebejhfHi6BL2c+Z/DlpH85Ido/42dQr+aZvg2tKrGGdlD37yEy7/mx+D7eJr0jjZlebapJ7PZKDze7MgVnKx9hhu1DXAH4M24MnUQZHZYJrlQq6L7TO2UqOUyl3KNmEhQCPSe252YfdU9TYr9Dv6Th8xl6CdwmTCjghoKz4yZdxFQgjJnblhq2NkJoyZxSGnQdSSn1+nwmHtKyM1Nyp2j9oFOh4Zln4ygD2+CJTW/JLaE+pocibwEmJMIpL1Iw+bU1EPh9HqmcA+FjJuF41Vu/DLTL3LEMidHjq6ne1iFXhXndrZTYaOnMtmZl1dgetElk1RQLuWDROHKPhbN16ZwRRqLSzkSIb7HMPCd8Nw0oUTrDtD71X6qRYdmJsbXNuiFft3dyXQHF5LRkMyWjojK5nzJ/3xIP8DgP+YFDtPiSZy8cP20raA7kB3ezskz5SDwZjIq51ya/7p+rdP7yKlagys0xds9WWB0A9cDuYSwIEBBuw4LejvLhPsqtF5NhHB7/WsVxwT0gG8z0ndjylUXDWbsMReQQOB+fkeLMIc1pOuuJ3t+44EM0Er7L1DOfbjcC04wUk5vElTSvCEtT9jn6QrNQ5ZyQ60Fi15lkkFZYG3ZXOYFYtQA2MoFDGa1knzTB6Qs479W68go6MP2pNSdA0SyMF/PEffOJ9SekFw14YcDNcWk3XP2NvBrFdYjTLXExvnebhp3ETEJveRwxswk3osBYxpvQ55+OTsJ3xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013azHYbka4CRejj7YPffRnQ",
      "input": {
        "note": "Cap is on the jaw column in the left wrist view, tilted ~30°. Advancing ~3 cm, yawing to align the jaws across it, and descending.",
        "targets": {
          "left_x": 0.405,
          "left_y": -0.16,
          "left_yaw": -0.5,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_013azHYbka4CRejj7YPffRnQ",
      "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]: [-0.3634, 1.7615, 0.6914, 0.2813, -0.057, -0.02, 0.9997, -0.0193, 1.7618, 0.8551, 0.2157, -0.8658, -0.5915, 0.073]\nstate[eef_state]: left_x=0.3919 left_y=-0.1344 left_z=0.0104 left_yaw=-0.3147 left_pitch=-0.2177 left_roll=0.0333 left_gripper=0.9997 right_x=0.4133 right_y=0.1302 right_z=0.0978 right_yaw=0.983 right_pitch=0.1308 right_roll=-0.0293 right_gripper=0.073\nstate[joint_eff]: [0.3077, -8.3624, 6.0376, 2.0195, 0.2027, 0.188, -0.0122, -0.335, -8.212, 5.9009, 1.4139, -0.3248, -0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76e72d8f9eb22993b54a741594fe0598c70cf69a944dff433f775d8d2409014d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59ceb57f3113fe07e7e3ff83df290b626683ca25da69949680578296458ed4e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e278f52aeb1bd861e86e5438371d08820d08f70ce89d34c4484849f5f0cf3570",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 4.641 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]: [-0.0212, 0.8238, 0.6029, -0.3805, -0.0219, -0.0254, 0.9997, -0.0193, 1.7664, 0.8612, 0.2302, -0.8688, -0.5919, 0.0675]\nstate[eef_state]: left_x=0.2965 left_y=0.0012 left_z=0.1712 left_yaw=-0.0003 left_pitch=-0.0313 left_roll=0.0 left_gripper=0.9997 right_x=0.4163 right_y=0.1305 right_z=0.1004 right_yaw=0.9873 right_pitch=0.141 right_roll=-0.0423 right_gripper=0.0675\nstate[joint_eff]: [-0.3761, -1.7709, 7.0085, 1.7411, -0.0708, -0.0659, -0.0073, -0.3624, -10.3453, 8.2256, 1.3309, -0.398, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6125, 1.5482, 0.8219, -0.0505, -0.482, -0.3916, 0.9997, -0.0193, 1.7618, 0.8577, 0.2169, -0.8658, -0.5919, 0.0675]\nstate[eef_state]: left_x=0.3754 left_y=-0.1593 left_z=0.0994 left_yaw=-0.0104 left_pitch=-0.101 left_roll=0.0361 left_gripper=0.9997 right_x=0.4141 right_y=0.1302 right_z=0.0988 right_yaw=0.9836 right_pitch=0.1328 right_roll=-0.0329 right_gripper=0.0675\nstate[joint_eff]: [-0.4718, -7.0906, 9.1829, 1.7314, -0.2759, 0.0122, -0.0122, -0.3214, -7.665, 5.9966, 1.5507, -0.3736, -0.0708, 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]: [-0.3634, 1.7615, 0.6914, 0.2813, -0.057, -0.02, 0.9997, -0.0193, 1.7618, 0.8551, 0.2157, -0.8658, -0.5915, 0.073]\nstate[eef_state]: left_x=0.3919 left_y=-0.1344 left_z=0.0104 left_yaw=-0.3147 left_pitch=-0.2177 left_roll=0.0333 left_gripper=0.9997 right_x=0.4133 right_y=0.1302 right_z=0.0978 right_yaw=0.983 right_pitch=0.1308 right_roll=-0.0293 right_gripper=0.073\nstate[joint_eff]: [0.3077, -8.3624, 6.0376, 2.0195, 0.2027, 0.188, -0.0122, -0.335, -8.212, 5.9009, 1.4139, -0.3248, -0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76e72d8f9eb22993b54a741594fe0598c70cf69a944dff433f775d8d2409014d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59ceb57f3113fe07e7e3ff83df290b626683ca25da69949680578296458ed4e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e278f52aeb1bd861e86e5438371d08820d08f70ce89d34c4484849f5f0cf3570",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSlQoKEAgSGAI4AUIIdGhpbmtpbmcSDFelqJEtgQPIW8w2whoM/gRURWxV8PGp1hmmIjC27sq/GDMoTG2W8D0J+POsbXZ96/J9mYLemgsWmAfXLAAIVCnmqCpL13JyQyRRerwqsgkOmOg0akqDr2Sa41Y1Fq5NNvF+XVKXbPQ0HgvIeyDMDBGtFlFMAxxja19B5uxKrrtBh6yr3iJBXQgfI9g1GHlwLMtuhUkKEFhFPAMsSNRl3SykeV7ty6anOIBLyVvKlkePSwIS/wiR8DFOFUBCjPLABJ5Vagr8OJpT+mpLBxRxJqMLONLBwp2LipcdVuMeHEyMjTk6oW67ngDQ9IRdXW3TA9ez5I6Nx29oudMmUE7mfscSKCTVeWyY6yRiX5JHvYYwALcuNCTMl9mV4JNSbkfSDyjS8ZMLWcejCF6hU/sE4POUphgcJZbkJgPvv61SR7E7FBizfgB/x9TqZjmL79dZ+yzW/SV98zpMMj8+ZUXzBjVLntZw2+GcoEwDTfi8Yev6uy9W+qFmJsTR8l8FwAr+IO+qHuXMInbJOoCLvfafh8apow0d9zhaZRDNjrjYOEEp5cOgeCs6+6fezXspB1A6IEa3pTAMznxWO7PEI+nHMJEJpIvRfvxmdrvoJ484RYkUPXbOBSvZISn2MomDC4jUucxsundtc/t77BzHuuBtx08HQlq8OyAKAbDpEEqNNE35+6r4Bkp+HOG/BiMah4F32sUCzn/pehno7HpngJSZ4Yxz5Dl85+l6oVtS6gPeQjHAG2yYiZQTimJqfMwtif74SffP7e3jnFHcI5kkWVLX4W50GRcjmpJz0o+8jV1HkuBmGo9ETnP5LKgBeGBmWh0XIiDhANyyLnkDJ3erv3csXqrNsVi+Iey25YACo+WefhYYqpLBywcCtJTkwsuh0Zr+OI9GbYH3tMF7QiTGBirY0uIaP9yufTe1Y8dzR92wc0Zt2ItS400tmkTC0tiu39/bRJPqCg7UFi+X8cLWzZ52yk1Q+W27k8jUXReRG2ZtdtjfHE4SJ6sbog/YFRzpQ4IhmlaWOH2dFiJqm653XqJKMEmFcw1ez+D0baUYfXXWF2PbY2i6FEiYyA9xfhIJZnA4yQnRmojtuDo+KITAHX7oSQLvP8dDpD577aQFfw3f/NYiRmmCv9fIto9q8Ei1DVRvyvtHOIbk24U34WSVuA20z3qxpFieuXPTzjedH3WOLdUqcy99/4ELZWk6IiIUmDMPj2Hs/S31C54Qzj5v0IO+xC1gBR8jDiYMCVCWrgwUeE/v+VtpEIBsSGnatJxDfkPA9AApmxga7IKY5h4fvc6hMj4kg5Q0HOhI3fNtYc1w7DrO/zLSNe02vZSv06fPo2CRRGSCuLpEprGSCG1pQFMJ1X+/wU+XlnT7V0/qHUQWTD8UlkZTvrhdyMk/f7sVN0BCUQ3MkO5wxwSS6YlH+heD9Uo1q7DunGRlzzZ5C7liHZMHQF+beoJI9Q/IYsJKJk2NTBYMR2QDgHB4Oyani3pnC63EliZbWEGNByPyA+a0V6RmnL9TUeG5axJeqtTEVSJx+E3aBG1PTQ/JfvIyvnPJHmZmYcJChCJ3ey0erNw7puVo1roc9HtQd0g+h/GNbNJi5U4gYC+vXgAKOoyWc8sXu6ErArKmKtyOfiNBmJ02zCp+TPMr9o4zjWq9bQ76zf4WeEcuTnCWr4icvDBrWTAX4X7GdsW1+dWjK0A/psb4vydeqBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VpqrMEES7pHEm58PqewzKR",
      "input": {
        "note": "Cap still ahead of the fingertips and tilted in the left wrist view. Advancing ~4 cm, yawing further, and leveling pitch before the final descent.",
        "targets": {
          "left_pitch": 0.1,
          "left_x": 0.435,
          "left_y": -0.16,
          "left_yaw": -0.7,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01VpqrMEES7pHEm58PqewzKR",
      "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]: [-0.3428, 1.7866, 0.6907, 0.3637, 0.0837, 0.0895, 0.9997, -0.0193, 1.7622, 0.8539, 0.2161, -0.8654, -0.5915, 0.0766]\nstate[eef_state]: left_x=0.3965 left_y=-0.1534 left_z=0.015 left_yaw=-0.4745 left_pitch=-0.1594 left_roll=0.0179 left_gripper=0.9997 right_x=0.413 right_y=0.1301 right_z=0.0972 right_yaw=0.9826 right_pitch=0.1299 right_roll=-0.0285 right_gripper=0.0766\nstate[joint_eff]: [-0.335, -8.5265, 6.0786, 1.9365, 0.1441, 0.1734, -0.0122, -0.3624, -8.1846, 6.0239, 1.4383, -0.3443, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a58278fe9b67f900f9d8d7babcd35bf5a578cbae74f52751e94ee1b9240bdef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8423ebab2d2f0d8d7b0a77a35d5478e198558aaa58b426414867530946967d1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0de4d2239b716decc57a344474640c5a4d79c72845f6b508114d73dff7daa4dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 5.941 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]: [-0.6125, 1.5482, 0.8219, -0.0505, -0.482, -0.3916, 0.9997, -0.0193, 1.7618, 0.8577, 0.2169, -0.8658, -0.5919, 0.0675]\nstate[eef_state]: left_x=0.3754 left_y=-0.1593 left_z=0.0994 left_yaw=-0.0104 left_pitch=-0.101 left_roll=0.0361 left_gripper=0.9997 right_x=0.4141 right_y=0.1302 right_z=0.0988 right_yaw=0.9836 right_pitch=0.1328 right_roll=-0.0329 right_gripper=0.0675\nstate[joint_eff]: [-0.4718, -7.0906, 9.1829, 1.7314, -0.2759, 0.0122, -0.0122, -0.3214, -7.665, 5.9966, 1.5507, -0.3736, -0.0708, 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]: [-0.3634, 1.7615, 0.6914, 0.2813, -0.057, -0.02, 0.9997, -0.0193, 1.7618, 0.8551, 0.2157, -0.8658, -0.5915, 0.073]\nstate[eef_state]: left_x=0.3919 left_y=-0.1344 left_z=0.0104 left_yaw=-0.3147 left_pitch=-0.2177 left_roll=0.0333 left_gripper=0.9997 right_x=0.4133 right_y=0.1302 right_z=0.0978 right_yaw=0.983 right_pitch=0.1308 right_roll=-0.0293 right_gripper=0.073\nstate[joint_eff]: [0.3077, -8.3624, 6.0376, 2.0195, 0.2027, 0.188, -0.0122, -0.335, -8.212, 5.9009, 1.4139, -0.3248, -0.0464, 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 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]: [-0.3428, 1.7866, 0.6907, 0.3637, 0.0837, 0.0895, 0.9997, -0.0193, 1.7622, 0.8539, 0.2161, -0.8654, -0.5915, 0.0766]\nstate[eef_state]: left_x=0.3965 left_y=-0.1534 left_z=0.015 left_yaw=-0.4745 left_pitch=-0.1594 left_roll=0.0179 left_gripper=0.9997 right_x=0.413 right_y=0.1301 right_z=0.0972 right_yaw=0.9826 right_pitch=0.1299 right_roll=-0.0285 right_gripper=0.0766\nstate[joint_eff]: [-0.335, -8.5265, 6.0786, 1.9365, 0.1441, 0.1734, -0.0122, -0.3624, -8.1846, 6.0239, 1.4383, -0.3443, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a58278fe9b67f900f9d8d7babcd35bf5a578cbae74f52751e94ee1b9240bdef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8423ebab2d2f0d8d7b0a77a35d5478e198558aaa58b426414867530946967d1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0de4d2239b716decc57a344474640c5a4d79c72845f6b508114d73dff7daa4dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQShggKEAgSGAI4AUIIdGhpbmtpbmcSDGDtKQVDnKZd7bNN4RoMk6Ht3sqwNe493QTdIjCNy46jRSO5O1y+pAwTiNp/jrq0JDkNGHKIB4d004vfZVn+Bfz68Ppd6CitzEHSkeYqowcYZVWY3kxiTES1rh0/WbnT0yiJK/oVoVgtGvjFb9M+YZ2q0blnZziV4S97z33iiJAVfB55OzIHpsBmCuxNP71VfKJACfpu6hk+Q8Cl7wydxZ4vHTYmprzHS/rtqQ++xN2AukQNfO99JCbS27XmY9NRVdQ6qdh1ioNny5i7IX7/YWv13T4WrRkMR0CSJnuIW18IWghVEyvPvlNBAHiuSN0dPtvQ6wKhX2dvjk57qaZRLeHLX+/TXHmF+dCVLndEsejEiRFr4hlDQAW4BMV+AzBmzG7mLhfuWiL0JeEAkSeF54eYEYDksH7erYDOQ+a/1yYuIpqa/EuNevD+DWp5D7F/fRrPPO3H59qjZMCi/jYRmaLDr7ccMq6BatMsjwObrtULwvVl3mzE/bGBNbDht+lygEFn+o25N64VxYeN1NqgNRk266GgeRnFk7WUJKAdQ4YJAVSryDkEx4dYPt95wqOEqzIcaGKble0wpuJFvqRfVaibv0CGfSmOEESKpiDxezwri4FsHLo/ssMSqbcTVrZmBKe9pq1hUVNwQxKffszXrn8r5FaLEs6X5oO7cCt+ZiKl12aszlLfbTsZ86GCswXS/fNxbDRHZWnXGTRWqKENfs38XGnCrftyVXnDdf2/y7qF9ySo8jMIcpjqEKz2zwdP0FboYCqJX9aAvaR/O64zSWa3HYOboHle1mWKgpF/JAk6tJAoVENsvYt/ZPMZP/8/WtcNa+kkI8r1N7JvZBpDGC5QVB8dqgu6fylgzy3iu5aYPgeBiy9CJcDb52mKfCcQW3rECMX0tFP7cMQS07sbB/oHFyIoU4k5TYNCqm6LgcwuJVNtQJlsYIghVfCRtKW+uO8fbuz9eEAGDTPFj+833E0kO+xOTN0ndhfFLfn0GTWkugkUdj4nFNSUp0ruPmpTaCvGYkGBJF8LM5xDcvQZq0h1pZsEDsNN9O4BqMSDfrbvGGqNotoBtlkqLNm10QeBTo7BMclLY+Tnb9vtg1waZnQu/SFu3OYwXUxivbkp+NHVKbXtyaXWvqZ0hQ46EWvrlGsEB/HpMbbXjVK44QL06thMuCRk+30JqSRTmxUDc8huRn2uqAhqAc9l1W8f8ScdJuMmYSfOmMXXWo4g2lbZWsIYjHlMIWI1ppiFzfMXvG/Cb4XtkdomOeMaN27RkFJceRKCZwqoqVkmiid+yrFy4TIVPEXA9Yw4SzmHg3+QYYOQIXNRar+HdAQYjI7VNNAdE/dDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N1ATV27yeURxKk25cARBd5",
      "input": {
        "note": "Left arm lagged behind the previous target; cap is still ahead and slightly left of the jaw column. Re-commanding the advance.",
        "targets": {
          "left_pitch": 0.1,
          "left_x": 0.435,
          "left_y": -0.155,
          "left_yaw": -0.75,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01N1ATV27yeURxKk25cARBd5",
      "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]: [-0.1734, 1.9514, 0.709, 0.6094, 0.4225, 0.2543, 0.9996, -0.0193, 1.7622, 0.8536, 0.2165, -0.8658, -0.5915, 0.0772]\nstate[eef_state]: left_x=0.4219 left_y=-0.1438 left_z=0.0079 left_yaw=-0.6729 left_pitch=-0.0 left_roll=-0.0231 left_gripper=0.9996 right_x=0.4129 right_y=0.1302 right_z=0.0972 right_yaw=0.9829 right_pitch=0.1301 right_roll=-0.0283 right_gripper=0.0772\nstate[joint_eff]: [0.2803, -8.0752, 7.0359, 1.9805, 0.2759, 0.1441, -0.0171, -0.3624, -8.1299, 5.7094, 1.4579, -0.3492, -0.0513, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b6db149afced8b28b0aea64aef49c9c11d9fcfad44890291e85d27f92409980",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4783d6511061b9e70b277e34460255d53a604aa29677fc43491500bef83e08c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:12fe99b7e2633fce1962d8a55b8ddae97e370cacf011875ca3f79c4b29f32f39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 3.459 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]: [-0.3634, 1.7615, 0.6914, 0.2813, -0.057, -0.02, 0.9997, -0.0193, 1.7618, 0.8551, 0.2157, -0.8658, -0.5915, 0.073]\nstate[eef_state]: left_x=0.3919 left_y=-0.1344 left_z=0.0104 left_yaw=-0.3147 left_pitch=-0.2177 left_roll=0.0333 left_gripper=0.9997 right_x=0.4133 right_y=0.1302 right_z=0.0978 right_yaw=0.983 right_pitch=0.1308 right_roll=-0.0293 right_gripper=0.073\nstate[joint_eff]: [0.3077, -8.3624, 6.0376, 2.0195, 0.2027, 0.188, -0.0122, -0.335, -8.212, 5.9009, 1.4139, -0.3248, -0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3428, 1.7866, 0.6907, 0.3637, 0.0837, 0.0895, 0.9997, -0.0193, 1.7622, 0.8539, 0.2161, -0.8654, -0.5915, 0.0766]\nstate[eef_state]: left_x=0.3965 left_y=-0.1534 left_z=0.015 left_yaw=-0.4745 left_pitch=-0.1594 left_roll=0.0179 left_gripper=0.9997 right_x=0.413 right_y=0.1301 right_z=0.0972 right_yaw=0.9826 right_pitch=0.1299 right_roll=-0.0285 right_gripper=0.0766\nstate[joint_eff]: [-0.335, -8.5265, 6.0786, 1.9365, 0.1441, 0.1734, -0.0122, -0.3624, -8.1846, 6.0239, 1.4383, -0.3443, -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 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]: [-0.1734, 1.9514, 0.709, 0.6094, 0.4225, 0.2543, 0.9996, -0.0193, 1.7622, 0.8536, 0.2165, -0.8658, -0.5915, 0.0772]\nstate[eef_state]: left_x=0.4219 left_y=-0.1438 left_z=0.0079 left_yaw=-0.6729 left_pitch=-0.0 left_roll=-0.0231 left_gripper=0.9996 right_x=0.4129 right_y=0.1302 right_z=0.0972 right_yaw=0.9829 right_pitch=0.1301 right_roll=-0.0283 right_gripper=0.0772\nstate[joint_eff]: [0.2803, -8.0752, 7.0359, 1.9805, 0.2759, 0.1441, -0.0171, -0.3624, -8.1299, 5.7094, 1.4579, -0.3492, -0.0513, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b6db149afced8b28b0aea64aef49c9c11d9fcfad44890291e85d27f92409980",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4783d6511061b9e70b277e34460255d53a604aa29677fc43491500bef83e08c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12fe99b7e2633fce1962d8a55b8ddae97e370cacf011875ca3f79c4b29f32f39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSvAoKEAgSGAI4AUIIdGhpbmtpbmcSDO03aMuQ6373kOrA5hoMjp/Kf8sNmY39kukzIjAZUIFPQUTTRdwnq/ArpJOh9sRRx7diUzKhXyCoFkbX/PGHTDy70vJJ56moD0a1xYgq2Qnx5/Xh0AePSmXTQi+0foJASciaFhbXYFEnsAH43reRbYuTR+lNHpjEATn1/3gDJXCAeOy5+oalN6d9WixjeaVQpSxu7A6WXxXmaNgxRaXDVRKiH1jHk6C9m+4PBgsewLtqeJY13XpNgbR4IxTvzcHamE4HZYCzqua47hm78GaaFOXmxQwdULWyNlqcmj1gU3a7E2DssE1//Lu4+tA95NkGhqiO5w1Z/HXOiaSeK7ClktfCSM14KQMF7s1URPHs89wOhDyWvY5UAYi6jiptWOoiMwEzZ465erQSP18neaAjZg1KePAJpu4xPbKkrHxyHBy6ynrhBv+9RuWxd1ziHjZYf18riz2Kk9zFPpTPJXtRIgnQ+2Lnb09TzhVydJrb0D86LM9doe7nu4mLbUve/wQ22oUUyrYwU8hjfWbIFMhHwVtpFHQ5xZnZPsbhHnheJrYl2vJb14YL4S7qJM5YomI7+lwG1AvACnaX8u2kKADIbJ3T6Nnagml5kUKTsIVBdwYzpvJShQfwEayVp2HIcsG7rUpN2wgpl14m/eeuma3YfbVqI1vrGNgID7Tak6hmdNQPrFB1zrM5qMxeD3YWoZJOw17PhXpy3qeEDhnRX05ppK3ENB8Zo7tPvZk7V86h78+xiKFAoLF8EcOLhHGp/mYOg0he/9kcc00HeBYb0I9LQKBCDOhnLE21jCWlxNwbrU/SXJzlW7ckYO/ht1faXFEFH3MDISxd9RR3bMCyqyhJ/kcdfxhjV2VXF7U2xApqIh+9m17PuSj3oSdXaEM+xTOvWdtvkBsijnUMrVMyaGCzVnfuc91B0E8d1lH27FA3HqKnsIP3PdkAKFKvi3yoYZXBDw9o/8ZOONBe9KC3JjsgtDIfIVnjgQQl/J73u5X7bXR2vPy+CyEZG6UU4xnrlOW2wiIba6aQ8t7lZyFsxvp6LJinm9ts3jAnDwXGb0eJ+fNdVRiPx2s/BG7tbeW0s8EEU3LQFmUHPJqPRFZ69jPMhIdPKV4md4rLazOVw18qZ5LKd54AAC0ciuYc3xSbxdSnoNcExemJw+9Q9qO7lYWeynD6i4GRjV4xr3Y6+6OUEb3jTSdSjiYtDPA0jC8RWQ5O8urfvVY1hY3UthdHn4ioq1qip/1qFoG2P/rH1/HIIZvQKfHht0raPnqURqSfsdN33958zyon8LYvrlSAxG3WLe+NHf5X77NeRIuK/TtZPvmPiWfPMcCGffh1h42tHaDzhrRz/LbWvGE3NqPjBP1rRHZkFip/xDEbxcfNSpnzd2FbDoSQNLO+0hYPyUeEebkD4THsRdI41ecZBdMSR3nAyybRR60Lkb8oFGTRuOk77XVyJ2QQfcj2SpCYUiaCk3rYSSs8FVtUIsQYBT1ZoAvHHNfq8dGgHHv3uqsU9KiivBXWpXry9hZC+j3D/SO5QP1LeMXL3LhKUJKX+yj8wOrXX4IiqbM0Z3+rTQZrwvoAqFM7dfzKM4gAQiBInT4WBsTRAmB8reHNOykZWtj9hCVaA7mstT0TxveV5VA1K/pZEaS5XECrDa9UQN2PU2lAH8rfxZVFj+P/7zfq9N8USUiY+RxcchVlzxkfJsjU3nTR4/sh4FUFuO2bQQNlmA7dzatHQfuB+u5+xlHOnDA1ihvcD1toK5lc4wTv2BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013ns3PE1Tevh42p1RhSKgCm",
      "input": {
        "note": "Cap now aligned vertically on the jaw column, its near end at the fingertips. Advancing ~2 cm to centre it and descending to table level.",
        "targets": {
          "left_x": 0.438,
          "left_y": -0.156,
          "left_yaw": -0.7,
          "left_z": -0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_013ns3PE1Tevh42p1RhSKgCm",
      "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]: [-0.1772, 2.0327, 0.7563, 0.6758, 0.4603, 0.2718, 0.9997, -0.0193, 1.7622, 0.8505, 0.2169, -0.8658, -0.5915, 0.0772]\nstate[eef_state]: left_x=0.4344 left_y=-0.1538 left_z=0.0024 left_yaw=-0.7169 left_pitch=0.039 left_roll=-0.011 left_gripper=0.9997 right_x=0.4122 right_y=0.1302 right_z=0.0962 right_yaw=0.9826 right_pitch=0.1287 right_roll=-0.0261 right_gripper=0.0772\nstate[joint_eff]: [-0.6359, -8.3214, 5.9419, 0.1978, -0.0708, -0.5104, -0.0122, -0.2256, -8.1573, 5.9419, 1.3993, -0.3297, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8dcca9ba1f6655413f331e7633d3b09ec715f38866fc3b02bdc40326c9b406f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fa31e5f43597c362d2fccfc370da0a6f8f0a9120fd21ec080224a5cb0d77172",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:41c520eac995746531e5e30b8a36d3f0408638903ce78ca57bd18adf88acb409",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 18.52 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]: [-0.3428, 1.7866, 0.6907, 0.3637, 0.0837, 0.0895, 0.9997, -0.0193, 1.7622, 0.8539, 0.2161, -0.8654, -0.5915, 0.0766]\nstate[eef_state]: left_x=0.3965 left_y=-0.1534 left_z=0.015 left_yaw=-0.4745 left_pitch=-0.1594 left_roll=0.0179 left_gripper=0.9997 right_x=0.413 right_y=0.1301 right_z=0.0972 right_yaw=0.9826 right_pitch=0.1299 right_roll=-0.0285 right_gripper=0.0766\nstate[joint_eff]: [-0.335, -8.5265, 6.0786, 1.9365, 0.1441, 0.1734, -0.0122, -0.3624, -8.1846, 6.0239, 1.4383, -0.3443, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1734, 1.9514, 0.709, 0.6094, 0.4225, 0.2543, 0.9996, -0.0193, 1.7622, 0.8536, 0.2165, -0.8658, -0.5915, 0.0772]\nstate[eef_state]: left_x=0.4219 left_y=-0.1438 left_z=0.0079 left_yaw=-0.6729 left_pitch=-0.0 left_roll=-0.0231 left_gripper=0.9996 right_x=0.4129 right_y=0.1302 right_z=0.0972 right_yaw=0.9829 right_pitch=0.1301 right_roll=-0.0283 right_gripper=0.0772\nstate[joint_eff]: [0.2803, -8.0752, 7.0359, 1.9805, 0.2759, 0.1441, -0.0171, -0.3624, -8.1299, 5.7094, 1.4579, -0.3492, -0.0513, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.1772, 2.0327, 0.7563, 0.6758, 0.4603, 0.2718, 0.9997, -0.0193, 1.7622, 0.8505, 0.2169, -0.8658, -0.5915, 0.0772]\nstate[eef_state]: left_x=0.4344 left_y=-0.1538 left_z=0.0024 left_yaw=-0.7169 left_pitch=0.039 left_roll=-0.011 left_gripper=0.9997 right_x=0.4122 right_y=0.1302 right_z=0.0962 right_yaw=0.9826 right_pitch=0.1287 right_roll=-0.0261 right_gripper=0.0772\nstate[joint_eff]: [-0.6359, -8.3214, 5.9419, 0.1978, -0.0708, -0.5104, -0.0122, -0.2256, -8.1573, 5.9419, 1.3993, -0.3297, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8dcca9ba1f6655413f331e7633d3b09ec715f38866fc3b02bdc40326c9b406f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fa31e5f43597c362d2fccfc370da0a6f8f0a9120fd21ec080224a5cb0d77172",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41c520eac995746531e5e30b8a36d3f0408638903ce78ca57bd18adf88acb409",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Cap is centred between the jaws at table level. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H8B2SNu4A1irr7a1ZfC2R2",
      "input": {
        "note": "Cap sits centred between the left jaws at table level. Closing the left gripper.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01H8B2SNu4A1irr7a1ZfC2R2",
      "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]: [-0.1905, 2.0655, 0.7864, 0.7078, 0.4301, 0.26, 0.0522, -0.0193, 1.7626, 0.8494, 0.2165, -0.8654, -0.5915, 0.0772]\nstate[eef_state]: left_x=0.4457 left_y=-0.1573 left_z=0.0024 left_yaw=-0.7002 left_pitch=0.0562 left_roll=0.0079 left_gripper=0.0522 right_x=0.4118 right_y=0.1302 right_z=0.0956 right_yaw=0.9821 right_pitch=0.1275 right_roll=-0.0246 right_gripper=0.0772\nstate[joint_eff]: [-0.294, -7.5966, 4.5197, 1.2723, 0.1343, 0.0562, 1.3944, -0.1983, -8.1709, 5.9556, 1.453, -0.3541, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1ff9d965557f345dfa3e4ad7e1dd9791301fdc411ff6356af3cc69921d2e858",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e69838127a1b5da75cb2fd4a12011287cb0adca0c67fdca6350b81d68b10d89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:da29eed2445a3c9ae17076da456782901bdcf4e08c751a7c56236447e0f923b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 5.606 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]: [-0.1734, 1.9514, 0.709, 0.6094, 0.4225, 0.2543, 0.9996, -0.0193, 1.7622, 0.8536, 0.2165, -0.8658, -0.5915, 0.0772]\nstate[eef_state]: left_x=0.4219 left_y=-0.1438 left_z=0.0079 left_yaw=-0.6729 left_pitch=-0.0 left_roll=-0.0231 left_gripper=0.9996 right_x=0.4129 right_y=0.1302 right_z=0.0972 right_yaw=0.9829 right_pitch=0.1301 right_roll=-0.0283 right_gripper=0.0772\nstate[joint_eff]: [0.2803, -8.0752, 7.0359, 1.9805, 0.2759, 0.1441, -0.0171, -0.3624, -8.1299, 5.7094, 1.4579, -0.3492, -0.0513, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1772, 2.0327, 0.7563, 0.6758, 0.4603, 0.2718, 0.9997, -0.0193, 1.7622, 0.8505, 0.2169, -0.8658, -0.5915, 0.0772]\nstate[eef_state]: left_x=0.4344 left_y=-0.1538 left_z=0.0024 left_yaw=-0.7169 left_pitch=0.039 left_roll=-0.011 left_gripper=0.9997 right_x=0.4122 right_y=0.1302 right_z=0.0962 right_yaw=0.9826 right_pitch=0.1287 right_roll=-0.0261 right_gripper=0.0772\nstate[joint_eff]: [-0.6359, -8.3214, 5.9419, 0.1978, -0.0708, -0.5104, -0.0122, -0.2256, -8.1573, 5.9419, 1.3993, -0.3297, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.1905, 2.0655, 0.7864, 0.7078, 0.4301, 0.26, 0.0522, -0.0193, 1.7626, 0.8494, 0.2165, -0.8654, -0.5915, 0.0772]\nstate[eef_state]: left_x=0.4457 left_y=-0.1573 left_z=0.0024 left_yaw=-0.7002 left_pitch=0.0562 left_roll=0.0079 left_gripper=0.0522 right_x=0.4118 right_y=0.1302 right_z=0.0956 right_yaw=0.9821 right_pitch=0.1275 right_roll=-0.0246 right_gripper=0.0772\nstate[joint_eff]: [-0.294, -7.5966, 4.5197, 1.2723, 0.1343, 0.0562, 1.3944, -0.1983, -8.1709, 5.9556, 1.453, -0.3541, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1ff9d965557f345dfa3e4ad7e1dd9791301fdc411ff6356af3cc69921d2e858",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e69838127a1b5da75cb2fd4a12011287cb0adca0c67fdca6350b81d68b10d89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da29eed2445a3c9ae17076da456782901bdcf4e08c751a7c56236447e0f923b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSlCEKEAgSGAI4AUIIdGhpbmtpbmcSDFI115Lr57kBuwJECRoMsYNtooXMo+Gy0mWkIjD1O/oyHsEiVoFvu+g4H8b7SZegFP4qM9sAA/Jz8JTzH8Eh8hgJs4kPI5bYiEDiW3MqsSDwxR1WBALxBopRRpI5hOv/GZRCGd1mzQhfH8lGeIa1auQwIC8xZxocgD4j/IVDHig7qMwXf0dwGreJgs009KzX8AQ8TxQ7UZlILieNGyDHGCWbC3ks2pmBk2tohH2UfhfJ2er1uGn928hWCmfeNep7s35G4lQbqY05MRQmKItbIF6nwXXJOY+hJCLwKkUNM81M2UYBu4OqO98Wr8timOZyY6BZ37AK0F9iJk05WfGjtgHj+m4b9j55G4x8ocSmv3n08EqvkpXrMbhUSZ+jug7r8nN5EZB4C9H+8IsbXVGAXSiEdv5djl1x4nOnUNoBoUiMpwCJzrNulowIdJCYJtjBwCkACNV8oCiNrQgI6IDwtdSgAbN49dM9mBnSv876syTYQfA+DgTKwi/WYtGrYNXryuHF9Lf1cFZozSGzxMDb1P1/BS3a5U1pJgsvASO6/5eGmxqMcOjZbKYFGfwaMEUaNhD/LU/tNecuDQCSdIarefAwIMdjGH/SaqBHTXD16r36fI26SrbZlhkJgIHQ8wZcay+xyrsVb/t6kocXQtyJUviBFNCUodVxyMGnlJeevvEZgx9RAr/Hapbam8EFhCGLplUPtn0BgaTTwGrSrf4OLgQQJcfizPAtV7qfwglsGjXZ4ptx3yBuiEY86LaW83yhbMPXWY/bz3aiOQ8rQ/hKhROrqGHIAoP6syY8gEFBNjNNOixjZnJEkeHaxQXkVFYQhtCbg51TjumpHayBlVGW9dLg8waAxsZMQlvA/qOcjdDWtWW6cjcAnyP2ErlXKlHQgyNAsrC8apCfKhFYkHmwd2KFO909bWaW+c7NJRMaxG27cz6W3n28GSaCIOPxVIjb5fvci/3VYXS3TxzSqRXCAc86srGTcqB2a9pRg2WZ0H3roT1xQen+l/ksl+Lb3O3frFfg6v/YJqeaYT6pws+dn6iQBq8EZ36CZ3vN5v6c0yJryM0CdccX7ffOBd3W5Bz7zZakEga9n0fCqPqO69z/R3lJG/Fri+BLR+1nGARC740AP+3krTYbUZ3714/BiJCQkMgaOFjOH1x1IlsnjI8H0/wWkTh4808l/r0DVhQ+NRMJOVB1LCTQ0fgdRWytFv8KDPrSYvj6BVTnr0a7duBBynlWxATNkeWWSj14FeH6fjkzw6pEMzLYMRJzv7qRULHyHA2ygYi8JF4+Ay3Kk46nwih5Cwim/PlqBh3vqxRbIgIrrnvurUQL2L3fn6TZL5DmgxRnGBhYNYuVXbeHbCm9dc81qoOjmD8eCbyblafiwn/xe8Zoq88aEcWz8bA/pvzltMofTWECggtzBSvCbUeOY6EQkbc6MA0tHOJsZUBnIeWflGsqe1oRnF0tCliM6m3j8gpNiDQIha0XtIrhNZ2k7pANIGCMz0CblIn0v0GM8XIvhvmf29UyIxV2Z5x021QFtlLQQ7luHtsDbwHzG7MFD9nSf0WsLjuzl2WZ7LJAV0dqAv3vnw13wNrGS0/PI+I/nRgWxoWJrcdkFYV4hy6uQNx11vw0jEhidJEE6pDQjVs2QdjFWwK1APKeeg185zQ/Y/i+ZGJt2tb6B9Cn9vfM9ZDVDBej7w2v+MP/SHjPgJ7AK/GFdw/LFye5GK/FqDbRYiliRfoVF3kRANeOiUsSfjMydkwpEcDEA+gV7QEUuJJ5P6UbtAkcpv4M+Waj2co/fl+5sJ8GBijOTgEHe5y1VTEVZ0rlbGYcW83/qBgr6ZGsjbKvMoHF8HCg3QGXgYrTNvZ+3Oax7unZjT0lg9Bm18BJcpQJiGv081/P6YPbt1Lxqh8xJDJQ/srhmecX5PGyexd3fLb1hoJNyPONicFgqROuXA7zmhLnii02EtL3gCwwDERYgRy8R9LgkZSJddUFUowvaL0xMV+oRQzt8+4RjkIv0VQV05FIw8qZrJNt+/26/nvjl3WCWjDSrFlCBi9nAa8OSHQm1QiQc5f58f2SEXa4a+iEbp3BhAFEDBmQ7oCVS41ggrB/6Qx+GSbc/I1tyY9CXoHQSMPvMCnmtKrXUji+x9cNv9T32HxiRaJFNkMG4TkgiY+TUxbDEgxaq9O/unfXkV8YFedR0f5TmOrGLQomHr5Fvst8iAUjoOcwvYn0+A399mh8dLy+Bql1IhU8/53qhB7icobRI7PzbRBn/Sz3tel8wZfG3aQRVYWX7bDv8jTRwcfk3QZB8/PSR31fxD2WX5Ru37dO3MuWegn8VJ2b/ZMa1Fcxi9JWEuY/yDwzjiHFS3/wb9uurEFqdl2OfrMUyGuNI0DG2Ck6Qapo5ShqT5UnnFkNCc6X7zjSEVEuwEEE6MN7yIt07inm9FwiBQSRyO+am+2Qw0BAXM/4EZVV7e+QnNww7hG633RWbf8CgLF2Pev++eKCcUisit9fQuiVPAiril0a2JZxZc5WQxkCs5ZLfh3NDBDQlveMFwmdtjR+LFszdD3e1hMNg9194nI41zoiLLJGUnHEWWDKYDj8FJl9drJcRtCm9xPxAOqyk6DOFXqPNq91QwCJu5OJCUXUApLW6LmPK9Deg3GV4hp94RFT0T+fQEyuEJrarVjtqSOryVU3rv78LgJC4u2MsXlit2/dd0Y+YUMwqDtTh9b1qBQbCVWV4N2grIIOjoesnxOP0FNw+R0IewJoo22+3UuvmAVxwwmwHaaaaRegO6dalKz8eKRkqX9FsEijB9z1VyaSy6vex7qKwV/YhDaAsfwFVLkb/RvRt7rzUEUOXRQBVe9UHYjEHiWOtbQnGEdfDoTiyEAXu3MhXgU0a9dtL4pjMx2mYou1jJ9Oken55BGwZrCL7H6tWg7jjWeedMYnfNbGyHBpEaozQap9bdJhvF1rWT77Wr4gQs3+rDURcCWgB4Mf9XCgPlBI/Zar5PhU+jZU+kDDbv0Ef+yoG3Ogdwltuo5TjSt7iq1vf/MMVVnlFZXrORJ1WB3tfNE/z2UK1AptE2qTmAuIhn1huRf/Hu0h2TLrLLUPnd2dCxc9H13fwgTefR9wuk0AsKKfCPSZn15cGg8KKSctkH9vcR7o4hgrBg55sp9JkIFwR2MZkMHqiaqE+4w+2icNR8v1JNIskzMbqryC51JJcC845RE79cWRpTrKUjuNkD8Iv3wH+03kn56HCxDWgcmFEJBdz8vbtlk1E2MKPfOLyWhcDasHjBi0KS3ZDjN3YX1JCNC5VynPSnrSrxBUGAoa0HTv4U14teGfcfHmYS9K4ERrJuJqRXvTHgj24fDMOce9lbr1Yi45vJ77stGFIlkQ5GQY7m/rtte9flS+1ll9Gd1ok9nBbO1btha9+SlXvpAFgEgmiTZpwyN/ZQxxd6vjRpb5JXK+6VLHf2yS87sRhVVTAsnv4ILYdzdRp8VQkFl7z50+X+/aNoq+ked8+4ckGkS6r5O901z30IEKHqK14opOqsyvvwLlTAcnjxQcQHX6wUv8qNi/XW2YnmeQxjbR8byg1QOMNYzDaIjI3AP1NXJQ9T53NZx79FyWl8GL5i6tW1/YneBpH35cNJ9FPjXUrshVQjI84yXO+qSXBa3duiRHiwc5Ff/AlyjUK9l8efq8oe+OFKCs9+BdEb2VPSWoxDakx61EWWgJv4/gXfweoxMyKxWf0IqB+4QbmTMhBXfrYePQnUN4N+uHuO1Rgb9myNqXUw2FxQsJc5Yzk48jN+7i6x7dcllrIT/Ha3uAxGhuUfXfdPCooqSsiIsmRQ8uK/QMFuu54XtOepDP1ZlGmaTr7dgRnUoyG1qgkn+QSk+GQ/YEiXSXi5tB0PfA6EekBhx5dNrmK79XWXdGS92TgRKN/UCAC+1onEZNub3z7rnHgTspcP4zeOs41JDdgz9n36EBHjg9dh878YxjK9vuiQkBF3R/YhFO3BWcEG3hMIa1p0wiYt/CcLLvsAIWYyCgDHrNMDd01DjTufUZ2O+6PIBiezvIeKFm72ZKcXNSZhFwQG80X0T2XLKDp5MtdfyRu3U3gc6qxdc0PiWhVcMLIAcEfV4//+flpn/MHjskyP3qllJhtUB4ltkkq1Xnxfk4UlB6A5U+VzDP29tW7+NCtTnmMOdrpYB2OCczQNAbiMPuzFZYJ1fnhHVqeUtzoAKrxzdKYJxJPmZNj8YehPjHRh6dkkfKbzf8bSrNPkR8aXyuiSSy2QrcoM2JNFgSCKIeCMxOleSOIbp+SPtyShi6AInCl186o99UKW6nTK059f/M3uM/K4myAy6KvW5E/qmf9FJlwAuVEhrn/02wxxvzsE6WhbnEflMO9KAvB7t30I34le5W+8UG9Ij4byogv5a990sJrlSdfnOHYDW2Ww/vcUOHgrYjt0Iu8b7v6onDFW5T3Qjr2g0rkaAAxVhg95+I+HaubF2N0CwibzvH7nrZcyjUBDz1otUHUiHp9h4MikK3uAzAx60wWDJjqwlkCiyk6n7qiLe0y91JcAEKL6cl3Lw3OlYdTqUFLOjOJjnMCzDg8DYJzrVzMb2dDbYSssBcD7IP1eiVWKz6y+54revio+mSlvphZxjyekn5PeA8B4YSUZFMSEw6LK0PWXTw6i9x5zF5Hb4LW4JducSYfxeN5VEHG0kaBs6xawM/q78M/Wtk15xSyf34Mw3wM6/ariPKa1Se7S7Xjt2EoyuXmAluTpGcPZNpn5z/xKmQvmynNXFxWhgzR3bB5I4X9AUtQeeN5Pw6uRRfHYwIGJQmKiyHMbg3n2yVXmvU5SsKG7mSUuBkyl53ljWnigpwoZANJ62fN3+fnBr1pvlUh6nsimeds3ub2uO2VxKA0kU5kJffs65Vry/4gOa13DOFZapMVzAaEJYvYgOesZtNPq998bBnm3PA+kjATMesx1UC8+uJDplGr1b6Fo5MIRADkr58pgv1J3Lyw1T9c25xSfRWzhYozP/Ec9Hd3H8YYHEpr8MjBD6Lh23yFL9sWoNv1EivgMdTn5ZnQ/EV9mf+9z4phQUC6uMKHNfWMFDwlRHG3UoZI+jBkHLlhP3eDkoJDaFGZH5heRnSxoUPY8NdtbwQROnJKNir0wxl+SKBT2PgolecORxt3uSOGhCTtiULUXnh0XTiE/c40gIw9b953IL75ZNUVIa5JK1pZ44kUQ7B4NaVOdZZEkQoIbOlTnFjHD53kv37uEE1zFNMwookZW9ZxkGbtjcU66tmZ39H9KG7hjSw0cy874WwhL7Zg/ewwhaCehzOiPYHl2d62CkBrIPchQxsV4K52RBY+ckHA7+kraFTBIUwSkcZ9PXd722Lhfl8vStKX2E9FZPu238ou4aKdSbwIAO+YMtcrMfn5BnOUTF16bmr6XPPm//aSXGvJGY6gBgkxiOHSFWpZZ8J3e60nZIl+ixASQwdgm7DTqpvgQTyjbLBmMC2wLN8dutjf1zduByJtBwJUg6prB9Mt5Ne9Z3cxGCIMnKIw3yKZsrMF/+RinaU1piCfdmEL/ZbEUFbUuDNkTaAcd91NuzRyby1gcTPsLjU0i6x29BljZLmgUnL42IxmFd6SkxUyl9l+jx2U0jisaLNU9deuLA1tdIzbrJjfbXsicnRFRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LVMVPo39mXWAtMGTesxS27",
      "input": {
        "note": "Left gripper settled at 0.052 (~5 mm), so the cap appears grasped. Lifting it 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_01LVMVPo39mXWAtMGTesxS27",
      "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]: [-0.1905, 1.6928, 0.9546, 0.1383, 0.4225, 0.2604, 0.0607, -0.0193, 1.7626, 0.8486, 0.2165, -0.8654, -0.5915, 0.0772]\nstate[eef_state]: left_x=0.4433 left_y=-0.1556 left_z=0.1232 left_yaw=-0.6936 left_pitch=0.0291 left_roll=-0.002 left_gripper=0.0607 right_x=0.4116 right_y=0.1302 right_z=0.0953 right_yaw=0.982 right_pitch=0.1271 right_roll=-0.0239 right_gripper=0.0772\nstate[joint_eff]: [-0.2667, -10.3043, 9.6205, 1.7021, 0.1392, -0.0513, 1.0281, -0.3761, -8.1299, 5.9966, 1.4335, -0.3346, -0.0611, 1.0427]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:022cdd95f6344055dffa49a56430eda99d4032c5576d56a4751f7f4adc3f1fa0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d46520e9e1a90961831c97d1894035484b624e1cdfe2929235e693fd31fffb43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8b6afbd9f9d93cfa0c2d498783677c2f7f4f37757023c4be9c65658ab4dbea61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 4.322 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]: [-0.1772, 2.0327, 0.7563, 0.6758, 0.4603, 0.2718, 0.9997, -0.0193, 1.7622, 0.8505, 0.2169, -0.8658, -0.5915, 0.0772]\nstate[eef_state]: left_x=0.4344 left_y=-0.1538 left_z=0.0024 left_yaw=-0.7169 left_pitch=0.039 left_roll=-0.011 left_gripper=0.9997 right_x=0.4122 right_y=0.1302 right_z=0.0962 right_yaw=0.9826 right_pitch=0.1287 right_roll=-0.0261 right_gripper=0.0772\nstate[joint_eff]: [-0.6359, -8.3214, 5.9419, 0.1978, -0.0708, -0.5104, -0.0122, -0.2256, -8.1573, 5.9419, 1.3993, -0.3297, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1905, 2.0655, 0.7864, 0.7078, 0.4301, 0.26, 0.0522, -0.0193, 1.7626, 0.8494, 0.2165, -0.8654, -0.5915, 0.0772]\nstate[eef_state]: left_x=0.4457 left_y=-0.1573 left_z=0.0024 left_yaw=-0.7002 left_pitch=0.0562 left_roll=0.0079 left_gripper=0.0522 right_x=0.4118 right_y=0.1302 right_z=0.0956 right_yaw=0.9821 right_pitch=0.1275 right_roll=-0.0246 right_gripper=0.0772\nstate[joint_eff]: [-0.294, -7.5966, 4.5197, 1.2723, 0.1343, 0.0562, 1.3944, -0.1983, -8.1709, 5.9556, 1.453, -0.3541, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1905, 1.6928, 0.9546, 0.1383, 0.4225, 0.2604, 0.0607, -0.0193, 1.7626, 0.8486, 0.2165, -0.8654, -0.5915, 0.0772]\nstate[eef_state]: left_x=0.4433 left_y=-0.1556 left_z=0.1232 left_yaw=-0.6936 left_pitch=0.0291 left_roll=-0.002 left_gripper=0.0607 right_x=0.4116 right_y=0.1302 right_z=0.0953 right_yaw=0.982 right_pitch=0.1271 right_roll=-0.0239 right_gripper=0.0772\nstate[joint_eff]: [-0.2667, -10.3043, 9.6205, 1.7021, 0.1392, -0.0513, 1.0281, -0.3761, -8.1299, 5.9966, 1.4335, -0.3346, -0.0611, 1.0427]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:022cdd95f6344055dffa49a56430eda99d4032c5576d56a4751f7f4adc3f1fa0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d46520e9e1a90961831c97d1894035484b624e1cdfe2929235e693fd31fffb43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b6afbd9f9d93cfa0c2d498783677c2f7f4f37757023c4be9c65658ab4dbea61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrwgKEAgSGAI4AUIIdGhpbmtpbmcSDLWLIdsimIPxjqLFUxoMBR5q99ckX36Gy/cNIjBZ8as/o2hLaf/SynuYySZ6svrT+eiNabSb1ujMpTN2tAMzNMToA0EqeY3qlKe9yT8qzAcKuLOyp6eUJeCkCnVI+lsQEk0uqEsgwQCRKT1xpKCnpe8D2Jm591hAs0MBpgqV33rA2J+B0JIImy3L9S8Rr40CbGKJQ1sx6ho3gl2T9Vf0KvJ1i3KYSCdynoGq0IZ+jd8KXAycssENrqq+O2NqCLXAlPGRLPgIj+YtdunnjnvqHHXXDvbrjb7wGkS9j1JfZVwtH0SdaQPbIe9c8fWHVT9p3cfLYJ6kYQRIbIxMpuSlpbAMRC4ZubdO5HEKOLjIfc801sZAoaSZlCLGVmVNwlIrO/rKoSz3Ro/O7IGdVd0Z91l2ZVuohSyPk4HXMPF/tkXcE0Z8q0Xof83rhPP8r190wYPOGmKMddA8blYhMYuPQchkqLBtcAJ0RrYwjBDGhkUxsMN0yV7WxzlufGUArVfekVs6wIsjXL7sGQ2Mp6F7oN3NVEB7HNCBOY3x7KzZfa+XeaWbEFyvmyd6oS1mJ92kGygApyGb3Vz/z7fMh08E5916cJqz/YbwhW285/Xh1cR95l+HbUUC8FgFTd0Dsy57gu+8TTkji4fw4FW42NGknX37+FMDiZteEzSlLsfZMIUv3D2LiDChJ+8cjSWqC0LGORl5Hu8bgoyQoaK/qSyngo0oH8yOZINA5xTPF442JHJpyobz1nWNLS4b8yqtT9gcTAeFGkrg+8OIvzHYtbEMBfdoWHB8qQ2bycSG3smFq8fNpL0aPe6QFUhYvT0GlgR3o8tKJTpb+bYpJ/rYfAPuTOKET9bliJJb9r+Lj8G2G9m7wkYljG6kew+2HyLWNwxozOyGRhefkANOe7Oiadw9ik1+75X729WV7D4uL0RW27kbMCYRwls5BzrKDnpfQ1cLoOh5REzDCvRrYS/lfCjoVL8O53k+DF8AA5NuRjPXCsCHomiZPR2xBsf92686plBr4I38eNNmeK2D9J/u/4rGCVBpI6fVer4Bsj8zTfM2NvS7PcDKegzfgAXhNeI/AYdrnZXfm+oy0ZU5aguLnne2tQK0mcqOyEhtuRLJ1NDy5b8FzskmkVA9gaiz/uAD43qz/2lK2N1Bs1kRbR4+FlyhAlfTwOiWZl/6JwBbgV2cxZopiU4NdACTYfeJU/VEZ134g/1nZ5Rlruh2o5LW9p6+q2P1srlXM9eadmgSdRh+pNIDJes8U3o4qVRP6nT83hbXghlfoURpFytdG+7O1q4gr7BfjermjNHThJPmpkaTq8OzaApavar179grgrzI5rax1kTWNgI61zhsVs4VnQ0r1gFTS7sP2LbRdGvTWUZau7Ccuuo1jjY8vNpuuykYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E9dnbyWGatDfZxMNqUim7x",
      "input": {
        "note": "Cap is lifted in the left gripper (gone from the table). Starting to rotate the left tool toward yaw +90° so the cap's open end faces the pen.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.25,
          "left_yaw": 0.4,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01E9dnbyWGatDfZxMNqUim7x",
      "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]: [-0.8635, 1.9556, 1.4639, -0.4023, -0.8185, -0.8066, 0.0607, -0.0193, 1.7626, 0.8444, 0.2142, -0.8658, -0.5915, 0.0772]\nstate[eef_state]: left_x=0.4146 left_y=-0.2809 left_z=0.1453 left_yaw=0.203 left_pitch=0.0076 left_roll=-0.0494 left_gripper=0.0607 right_x=0.4101 right_y=0.1302 right_z=0.0936 right_yaw=0.9816 right_pitch=0.1238 right_roll=-0.0183 right_gripper=0.0772\nstate[joint_eff]: [-0.212, -11.8222, 7.2, 0.6911, -0.6374, -0.1245, 1.0379, -0.3624, -8.0889, 6.065, 1.4188, -0.3541, -0.0562, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2435ffcbfa084424c13db4d2b4ea55dbcf8e45935cc64a7bace39d0d98281859",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:819d8a8aeb6c355126cbb642597f04eea30a314cf29df75cf293e903a009ad9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eaba95478455f44eac475a52c4fe3702408c9649612e7e64ece14afa2429331d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 13.92 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]: [-0.1905, 2.0655, 0.7864, 0.7078, 0.4301, 0.26, 0.0522, -0.0193, 1.7626, 0.8494, 0.2165, -0.8654, -0.5915, 0.0772]\nstate[eef_state]: left_x=0.4457 left_y=-0.1573 left_z=0.0024 left_yaw=-0.7002 left_pitch=0.0562 left_roll=0.0079 left_gripper=0.0522 right_x=0.4118 right_y=0.1302 right_z=0.0956 right_yaw=0.9821 right_pitch=0.1275 right_roll=-0.0246 right_gripper=0.0772\nstate[joint_eff]: [-0.294, -7.5966, 4.5197, 1.2723, 0.1343, 0.0562, 1.3944, -0.1983, -8.1709, 5.9556, 1.453, -0.3541, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1905, 1.6928, 0.9546, 0.1383, 0.4225, 0.2604, 0.0607, -0.0193, 1.7626, 0.8486, 0.2165, -0.8654, -0.5915, 0.0772]\nstate[eef_state]: left_x=0.4433 left_y=-0.1556 left_z=0.1232 left_yaw=-0.6936 left_pitch=0.0291 left_roll=-0.002 left_gripper=0.0607 right_x=0.4116 right_y=0.1302 right_z=0.0953 right_yaw=0.982 right_pitch=0.1271 right_roll=-0.0239 right_gripper=0.0772\nstate[joint_eff]: [-0.2667, -10.3043, 9.6205, 1.7021, 0.1392, -0.0513, 1.0281, -0.3761, -8.1299, 5.9966, 1.4335, -0.3346, -0.0611, 1.0427]",
      "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]: [-0.8635, 1.9556, 1.4639, -0.4023, -0.8185, -0.8066, 0.0607, -0.0193, 1.7626, 0.8444, 0.2142, -0.8658, -0.5915, 0.0772]\nstate[eef_state]: left_x=0.4146 left_y=-0.2809 left_z=0.1453 left_yaw=0.203 left_pitch=0.0076 left_roll=-0.0494 left_gripper=0.0607 right_x=0.4101 right_y=0.1302 right_z=0.0936 right_yaw=0.9816 right_pitch=0.1238 right_roll=-0.0183 right_gripper=0.0772\nstate[joint_eff]: [-0.212, -11.8222, 7.2, 0.6911, -0.6374, -0.1245, 1.0379, -0.3624, -8.0889, 6.065, 1.4188, -0.3541, -0.0562, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2435ffcbfa084424c13db4d2b4ea55dbcf8e45935cc64a7bace39d0d98281859",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:819d8a8aeb6c355126cbb642597f04eea30a314cf29df75cf293e903a009ad9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eaba95478455f44eac475a52c4fe3702408c9649612e7e64ece14afa2429331d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSwgcKEAgSGAI4AUIIdGhpbmtpbmcSDDAofOOQkl8yq5zlAhoMvRIgg88M8pYk7Un4IjB2QaAYfNwlVPjWZe4+Ep48rK8fRI/8wUqTXtm8W/9IBCFknHd8NtLBXzr+W4n6wfEq3waIQSCdFmgWRsmGjVoS2X8D4/KfhFIIqrpg24OkKIoYOdjpfd+kFNm2IQaM7WLR5VDe4kqcfzMvfuybFgjjVRUTjwdUmjmbXszLmcfS+czPG0uJqy0/Bw3NxWfoqPWi3cnAjVFLLzmQcd9HOx+EKdHMXgHDfw1XdmOwN+PvsjYhPEby9U2QKVZuMoiNEK1xgypYwWoO+qy87nla7EtKX4b8apdJMo5SgKMIHca+TtLyhdTJeBWq9U5saY/ujinqzRuymEo6cYYRpryBrl+gOVkfPQBU5W6FplgiHakSKDehOXyl6GPjL3FrBv9YbKliloRWFI4yGfVoDtgcCTp67aWhG7g7qQQ1+tL1LLvjaG1kOcAu2DbWQDZM6Nl8SUnmbePJKAhxmaGuCyiZ4ATgi/uw0lA2ozGVUxQfYxgZSKLKAgxLyVca/b5VW2YYy1TUAvilArM9dKN+2Ummxkd3P4L+88XhkmtvQU6wVr7ujSeELXchrrCen73h5n5zEl+L1ox5FVSJsKmcZ0Utd30i2Z1MKbkfAYzX6K8GkYQZLP+HYuDkT9hFGGlsjXNVDD6eTOmHii3JdmbnVc8Pt1+fFTLkUVnsIKfCxwru/pPhs9sbYcqrghlvq9dOrO2ncG/ZnSFpmaSnnIRSg8fxkgNlLl/PUqed6C+EEujEoeKONJ3s8T+dIJHWws2homRZnEjBWfAKuW3Jb55U2CiXqlWzoajM8p7cb5Fql2R1fIuR5m2vwXZBbNo9tR6KpcA2FJB3gxMBpFVTyCpfLxi6paOU4e8CCNyAwz1c+EFrw5B3qu3y1DPpvA9fRT1Xt+UnxDumnjn2PfFf9G4gdHoIddo3y+kG7xdvxW+onRP7lyJAuJP+2wi9CDjruo6xkmk9lOn5T90uwy+Mlc5iTll42sP7BV5C6d1TEL40z51Fetv0GmDBFBZvUKXehnsn+7g0M1JRRArSweqF0rCfnrSMZoHDfdspguG1IEe5q0Ufu4u1fuKOh/cwHXwtre0nSfGczXp0xL8zPrOePNoZIoqo6a8DHHEksFWTsUOlcEUvxq/0/QrAe7IMlTeEV6cuBdA/2qXzVFfRkibGpClBfL75++86mmq1AAqz2eMtb9a+ddv/nTKqkeM7V10Uxh4kQpXx7CouoxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NwykJjBSkDMmZ1GKFsGQ68",
      "input": {
        "note": "Left arm mid-rotation holding the cap. Finishing the yaw to +90° so the cap lies along the y axis with its open end toward the right arm.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.3,
          "left_yaw": 1.57,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01NwykJjBSkDMmZ1GKFsGQ68",
      "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]: [-0.9115, 2.4039, 2.0106, -0.9543, -0.9886, -1.4132, 0.0607, -0.0303, 1.7908, 0.8188, 0.1635, -0.8051, -0.6151, 0.0772]\nstate[eef_state]: left_x=0.4267 left_y=-0.3039 left_z=0.0882 left_yaw=0.5613 left_pitch=0.0023 left_roll=-0.082 left_gripper=0.0607 right_x=0.4021 right_y=0.1188 right_z=0.062 right_yaw=0.9339 right_pitch=0.0313 right_roll=0.0246 right_gripper=0.0772\nstate[joint_eff]: [-1.0872, -12.0684, 5.5453, -0.0659, -0.7497, -0.1197, 1.0281, 0.5949, -10.1265, 7.4598, 1.8486, -0.9744, 0.1685, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f471a671ec785e891fae9573ce955d812b97834a2ada5249c8d76f8d0236f8ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf92e94ccb4d42c8e9e18d007cb619d0bcef6c1b095fc9cbe92940cc63a1d436",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:17ab6d9c25e9d48d051043bdd343523fe30ce8d94c5ef305fd6780bed12e8432",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 5.518 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]: [-0.1905, 1.6928, 0.9546, 0.1383, 0.4225, 0.2604, 0.0607, -0.0193, 1.7626, 0.8486, 0.2165, -0.8654, -0.5915, 0.0772]\nstate[eef_state]: left_x=0.4433 left_y=-0.1556 left_z=0.1232 left_yaw=-0.6936 left_pitch=0.0291 left_roll=-0.002 left_gripper=0.0607 right_x=0.4116 right_y=0.1302 right_z=0.0953 right_yaw=0.982 right_pitch=0.1271 right_roll=-0.0239 right_gripper=0.0772\nstate[joint_eff]: [-0.2667, -10.3043, 9.6205, 1.7021, 0.1392, -0.0513, 1.0281, -0.3761, -8.1299, 5.9966, 1.4335, -0.3346, -0.0611, 1.0427]",
      "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]: [-0.8635, 1.9556, 1.4639, -0.4023, -0.8185, -0.8066, 0.0607, -0.0193, 1.7626, 0.8444, 0.2142, -0.8658, -0.5915, 0.0772]\nstate[eef_state]: left_x=0.4146 left_y=-0.2809 left_z=0.1453 left_yaw=0.203 left_pitch=0.0076 left_roll=-0.0494 left_gripper=0.0607 right_x=0.4101 right_y=0.1302 right_z=0.0936 right_yaw=0.9816 right_pitch=0.1238 right_roll=-0.0183 right_gripper=0.0772\nstate[joint_eff]: [-0.212, -11.8222, 7.2, 0.6911, -0.6374, -0.1245, 1.0379, -0.3624, -8.0889, 6.065, 1.4188, -0.3541, -0.0562, 1.0379]",
      "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]: [-0.9115, 2.4039, 2.0106, -0.9543, -0.9886, -1.4132, 0.0607, -0.0303, 1.7908, 0.8188, 0.1635, -0.8051, -0.6151, 0.0772]\nstate[eef_state]: left_x=0.4267 left_y=-0.3039 left_z=0.0882 left_yaw=0.5613 left_pitch=0.0023 left_roll=-0.082 left_gripper=0.0607 right_x=0.4021 right_y=0.1188 right_z=0.062 right_yaw=0.9339 right_pitch=0.0313 right_roll=0.0246 right_gripper=0.0772\nstate[joint_eff]: [-1.0872, -12.0684, 5.5453, -0.0659, -0.7497, -0.1197, 1.0281, 0.5949, -10.1265, 7.4598, 1.8486, -0.9744, 0.1685, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f471a671ec785e891fae9573ce955d812b97834a2ada5249c8d76f8d0236f8ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf92e94ccb4d42c8e9e18d007cb619d0bcef6c1b095fc9cbe92940cc63a1d436",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17ab6d9c25e9d48d051043bdd343523fe30ce8d94c5ef305fd6780bed12e8432",
        "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_015m3zYJVThpL31stQuy5oP6",
      "input": {
        "note": "The left arm couldn't reach +90° yaw and sagged near the right arm (right arm got nudged). Backing the left arm away and settling on yaw 0.6, which is reachable; I will align the pen to that angle instead.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.24,
          "left_yaw": 0.6,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_015m3zYJVThpL31stQuy5oP6",
      "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]: [-0.8845, 2.3543, 1.9396, -1.0027, -0.9661, -1.3777, 0.0607, -0.0277, 1.7893, 0.815, 0.1642, -0.8043, -0.6174, 0.0772]\nstate[eef_state]: left_x=0.4198 left_y=-0.2774 left_z=0.0869 left_yaw=0.5658 left_pitch=-0.0268 left_roll=0.0146 left_gripper=0.0607 right_x=0.4008 right_y=0.1198 right_z=0.0614 right_yaw=0.9373 right_pitch=0.03 right_roll=0.0236 right_gripper=0.0772\nstate[joint_eff]: [3.535, -20.1231, 7.9521, 0.9402, -0.8767, 0.1538, 1.0281, -0.253, -7.9795, 5.8872, 1.3846, -0.3346, -0.0464, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e3cf0f821f5ddb024c6742955407236299f3f06eea5374da92fd34367214d8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:904ea46d4e2cc18de7b3a23904dd16fe8a6c625fdea3fa6112634a69e394e677",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:627c46fa767f857200d66b4a4487bf45ef250b9faae37607cb74f129fe81828a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 4.963 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]: [-0.8635, 1.9556, 1.4639, -0.4023, -0.8185, -0.8066, 0.0607, -0.0193, 1.7626, 0.8444, 0.2142, -0.8658, -0.5915, 0.0772]\nstate[eef_state]: left_x=0.4146 left_y=-0.2809 left_z=0.1453 left_yaw=0.203 left_pitch=0.0076 left_roll=-0.0494 left_gripper=0.0607 right_x=0.4101 right_y=0.1302 right_z=0.0936 right_yaw=0.9816 right_pitch=0.1238 right_roll=-0.0183 right_gripper=0.0772\nstate[joint_eff]: [-0.212, -11.8222, 7.2, 0.6911, -0.6374, -0.1245, 1.0379, -0.3624, -8.0889, 6.065, 1.4188, -0.3541, -0.0562, 1.0379]",
      "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]: [-0.9115, 2.4039, 2.0106, -0.9543, -0.9886, -1.4132, 0.0607, -0.0303, 1.7908, 0.8188, 0.1635, -0.8051, -0.6151, 0.0772]\nstate[eef_state]: left_x=0.4267 left_y=-0.3039 left_z=0.0882 left_yaw=0.5613 left_pitch=0.0023 left_roll=-0.082 left_gripper=0.0607 right_x=0.4021 right_y=0.1188 right_z=0.062 right_yaw=0.9339 right_pitch=0.0313 right_roll=0.0246 right_gripper=0.0772\nstate[joint_eff]: [-1.0872, -12.0684, 5.5453, -0.0659, -0.7497, -0.1197, 1.0281, 0.5949, -10.1265, 7.4598, 1.8486, -0.9744, 0.1685, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8845, 2.3543, 1.9396, -1.0027, -0.9661, -1.3777, 0.0607, -0.0277, 1.7893, 0.815, 0.1642, -0.8043, -0.6174, 0.0772]\nstate[eef_state]: left_x=0.4198 left_y=-0.2774 left_z=0.0869 left_yaw=0.5658 left_pitch=-0.0268 left_roll=0.0146 left_gripper=0.0607 right_x=0.4008 right_y=0.1198 right_z=0.0614 right_yaw=0.9373 right_pitch=0.03 right_roll=0.0236 right_gripper=0.0772\nstate[joint_eff]: [3.535, -20.1231, 7.9521, 0.9402, -0.8767, 0.1538, 1.0281, -0.253, -7.9795, 5.8872, 1.3846, -0.3346, -0.0464, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e3cf0f821f5ddb024c6742955407236299f3f06eea5374da92fd34367214d8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:904ea46d4e2cc18de7b3a23904dd16fe8a6c625fdea3fa6112634a69e394e677",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:627c46fa767f857200d66b4a4487bf45ef250b9faae37607cb74f129fe81828a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSigoKEAgSGAI4AUIIdGhpbmtpbmcSDEmKfLgqCNisd3bTzhoMWK7rKUpBWs0bn0NyIjA9m49BmlodTrZWL7cu8Vcu9ktIHtFdu9+ZpgujQQM1Uvd0k1RQ82CgCKmRpwhOn50qpwk+8u8LNwf7CQZjH9gzJDx5NYajCgaE/YYBK8BejDiwMuYN0HjpRq+RwPAV9cD1e2cv4Ftw58CO2J5s9eQNxooLFOKPEEh5PbGL8+ReUj7qQsw+/9VfwrjRMT2x4gBa7xW/FMZTwNlJK72zXcSdyHrWEO8Csblu0U+aPXqDu37y6zVdyECD1g5pa6JjkC/0h/c+GhAWH3ohzLOFQHGDz8P1yhNiGmN3oxSQtt24NEES0e1t8RdDqiCIG3C4nKewqeSAdyigV92Bi9QBk9S8NfW+tuOrv47HJsXJ4daHoM8FzQxUyj8bDABM0Px5zzcuCPeUe1NUa6E2lLmNGxrqpLOoyTX4GqNJKr8ffcBMztVA6tor/2LcG/UCHnV5WkheJ/EgkvjwYqlytFg0jc2G+yHh8E8b8sG1ZVtKk58546Wg21256PXNQtm3a3UygTiRpvTOjyCJMmBw4GVwFCkozZLeDuas7zBQWWqa2KkxLZcu6iFtLijdTivigpwHiG/mT71CP1F7WR0Xk/9jd6kLOteOezc74pDp7C/nl0fyIc6wKMkDAFAOB2MCe0bn5hKEWEMz8fRJMtiV4WAbpOocFNt8yolSkAxpPbk6XOpTiwxjJklEl5CRXsEezQJa2pUSGQCXqrCMqWovbcO8TP6RKvdg/Y8yCoqA8w7Z2WNkTbJfeHxsJppphVnm7X4EScRWzEYIOF5aBhVVugpB7BPnxpQirn11tS8uFB3gP5+2BnSmZk6WethCX1gMidmi40ZQ08S94WMBzW4zTgix6QFDrBhG7NAy4/aYNFbQSMu6iDnW1gWkKkBNFYmCGrJ8Mr/i41YjCBSq+TR1lyJIm7tL5rloHkYYV5vJSVCzdsq1CVONbeAt2Xss9TpoFbQWLuo4pDkIY6YkCSRTIGZ5OJKVoWpMtpFFbp68twF6EGU13eN8AKbAJfKx/sMJaognGiPYm3BdHciPpSXucM+pTp8XTRozD+oLTim7pBHqM6Dw26gQR3iFqX8KGYE4pfOQ9n5pGmAsyR7TJDj0WRnTdwt2diY4fjOBxAdD8Ab3KubUz3kAJYGlc1iudSYPel9wiwyCoAew8rIBP+BFtEEndtV2tDM+3gSpVugVVmUNoQ9Revgg2ftW7+6DDwn3DSrqGnHYUkbFoFQ6xGHcuhhKD1bP3TLrcjpKhtlWb3RXG0uLCra2he8QNhgbFhFHUTYCERc7kZjbrhRlwkQSB3mDLmNf+FM7e0lnpnh3R45qpQwcCP0jEq6bGPviXW3FO4EJsPs7vBzatn5kPQJXHzsOk0jLH2Gf1TUA/5CnpzsCUatPGuaDKH0niKOGtTKli4SSzoXZ4G+Zdz5JykHsmwaEF8JCHshU4velAXhTC+1SkLwdpPulUQmjTHsoehkWp5Q0J3KN8IfPUQyPtplFavg/fkTb1UleVLYTWU1qSlRssrNyy8M1hNaaSRXQYpmijm2ylQooqdHf0rfIov2VnY1AD+cfogHoRZefyjdVUEjhrCvne1RoHqiVhsZ1Zfl1V9IPlkBHB00jf9vDBaWMKzKMOyIXzKrwryFdltTrrgBEr0/BsLgaNjYB6waXZTcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RDeg7XKfmKhSrBA1jEKdSy",
      "input": {
        "note": "The arms appear to be touching (left arm stuck with high shoulder effort). Moving the right arm, still holding the pen, away to its own side to free them.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.02,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01RDeg7XKfmKhSrBA1jEKdSy",
      "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]: [-0.8822, 2.3699, 1.9331, -1.0058, -0.9539, -1.3712, 0.0607, -0.3733, 1.6604, 0.8577, -0.3656, -0.9588, -1.0378, 0.0772]\nstate[eef_state]: left_x=0.4181 left_y=-0.2756 left_z=0.0761 left_yaw=0.5637 left_pitch=-0.042 left_roll=0.0435 left_gripper=0.0607 right_x=0.3559 right_y=0.0198 right_z=0.0827 right_yaw=0.8973 right_pitch=-0.0011 right_roll=0.0424 right_gripper=0.0772\nstate[joint_eff]: [-0.3761, -14.4889, 6.3248, 0.5104, -0.6178, -0.0904, 1.033, -0.3487, -8.9778, 7.8838, 0.823, -0.7595, -0.0904, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c3580c91ad2c0c2853d662518e3395bb6a96f46945265b679ee8083d26f18d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:135b8218b53a68c5bc485332f38edc7222a922361fd35c361deaf485c0db95f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:321805e7eb1103192ee7a12eb18543f23f55d8246c26208648bdebb961a24fd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 10.88 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]: [-0.9115, 2.4039, 2.0106, -0.9543, -0.9886, -1.4132, 0.0607, -0.0303, 1.7908, 0.8188, 0.1635, -0.8051, -0.6151, 0.0772]\nstate[eef_state]: left_x=0.4267 left_y=-0.3039 left_z=0.0882 left_yaw=0.5613 left_pitch=0.0023 left_roll=-0.082 left_gripper=0.0607 right_x=0.4021 right_y=0.1188 right_z=0.062 right_yaw=0.9339 right_pitch=0.0313 right_roll=0.0246 right_gripper=0.0772\nstate[joint_eff]: [-1.0872, -12.0684, 5.5453, -0.0659, -0.7497, -0.1197, 1.0281, 0.5949, -10.1265, 7.4598, 1.8486, -0.9744, 0.1685, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8845, 2.3543, 1.9396, -1.0027, -0.9661, -1.3777, 0.0607, -0.0277, 1.7893, 0.815, 0.1642, -0.8043, -0.6174, 0.0772]\nstate[eef_state]: left_x=0.4198 left_y=-0.2774 left_z=0.0869 left_yaw=0.5658 left_pitch=-0.0268 left_roll=0.0146 left_gripper=0.0607 right_x=0.4008 right_y=0.1198 right_z=0.0614 right_yaw=0.9373 right_pitch=0.03 right_roll=0.0236 right_gripper=0.0772\nstate[joint_eff]: [3.535, -20.1231, 7.9521, 0.9402, -0.8767, 0.1538, 1.0281, -0.253, -7.9795, 5.8872, 1.3846, -0.3346, -0.0464, 1.033]\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 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]: [-0.8822, 2.3699, 1.9331, -1.0058, -0.9539, -1.3712, 0.0607, -0.3733, 1.6604, 0.8577, -0.3656, -0.9588, -1.0378, 0.0772]\nstate[eef_state]: left_x=0.4181 left_y=-0.2756 left_z=0.0761 left_yaw=0.5637 left_pitch=-0.042 left_roll=0.0435 left_gripper=0.0607 right_x=0.3559 right_y=0.0198 right_z=0.0827 right_yaw=0.8973 right_pitch=-0.0011 right_roll=0.0424 right_gripper=0.0772\nstate[joint_eff]: [-0.3761, -14.4889, 6.3248, 0.5104, -0.6178, -0.0904, 1.033, -0.3487, -8.9778, 7.8838, 0.823, -0.7595, -0.0904, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c3580c91ad2c0c2853d662518e3395bb6a96f46945265b679ee8083d26f18d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:135b8218b53a68c5bc485332f38edc7222a922361fd35c361deaf485c0db95f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:321805e7eb1103192ee7a12eb18543f23f55d8246c26208648bdebb961a24fd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSigkKEAgSGAI4AUIIdGhpbmtpbmcSDGb1TCHVxOvCwuOIghoMPhPrZDG2ElVRMbgNIjBe6MMHdyUmLotl6w15u7Mwn6GfVJgYQj9WTg4hYtUUdazo9lHMJuJhVeLQK9Bn4xIqpwhIottOO4uafWrbixQqdbXL+AllVWVBNRdDnWPVFvYDFNA/DrZY4HC15Kw4en+BEcF0RN9ObsikB8b3gUIvpeEYMWOMCGYkA5qLnLJgBP1grqyJJpuW08R/qqCg714VTG6/9po2e0JBl3Pc5jKN9wJZOMGZeTw/5q3HJpGZKEF2aRDUaxAujqbmXcioIB2T6xujdJ0yR9dFfxoVoXtONfdD0WAKPpNGX/WQhTbyhVdo0aji1oY6dNFMrz2sn1kOI/A8kxPIBF5ywbmfwwqFMgzUUouWOWoVHtNpPeUQOVhiXaDe5e3vq8iR7Bt5RfWvyzUzGSUZOG9SxoIXcs6UpitvjTUaDGtcL/Ruzsb2iQEfRNlafYeLIYViRuAaEpxbO+uy8NMNyPPgmeGreOQTFt6YtuBM31JgbHjHR3hUSkJmsQvltwYARbd+9ntXF2GzAZ+ZDiHpabx/73DgzAorH8Z6AK0X864iES6ip9EL3SPzDXQtyVuQFtbRV+ngHI//Txi54BxadEwG6/ozQ+DlK1t2MYHEFDyva0bQfYJ7oFrcmEOs9ZRRCyNcrPboWAehTAL41mQt5N8Ok35kcH551uI7MlaWBkHg2qtpvQu5De6G08rZPwyjcIvnsaKPNyoz0iFfPDUARzurhmc8zE6+3awL7uaMNO36qymE4aRjnfUOGNPQHZhyjso/PCI/GG7RwKwoqBN8HawAbCigDCrMnuOQLjJFD8x1VGpzAAAcZrXqjcbVVgtCgpk93JMTplbad1sZk52mqbz+Y28uO3MfBKWNFxgPMS2YIDrrl1jCSCOrGXk2ciKEY8nqYtPX04NyLa3YYgJOy/hvdEElVYDib78mDYKaQOqjXGmNbh4Ffxgke2iigjXHKAQSFdEdBdFqrC4yZ5fRxHv5FJYLAHTCLFPHyCvL05kTZq7RBt6jhxblMEg8hoIHzHKj+lBloFU7GRH7OCHMHFqk+PC8jGcrwCWj/4JlyWlfIoxMdOTOyJBdHNL8UPGyg9tkR8sJj0IEfh6k9XA6xnp95utFSPvBt1hH3pOm5ebSUq4vmSRCfIknKQZi0qfwhJILi28ylCrJSMyPGon4My9tzmuE67nMAjipbphEKymVd3gtHovBVKozEcXTppeQ0+fiNJ7tN99XGJP9eTva5fK923s2fWM+B0IuSdsQ+7YKItkkVVIRawalbuuTLY0FdIDb1zABzFa69791XSR9KFAFRjJvpCJOH3VgXvJWQt9etoMoz8QqZlHhN1fdY3zFjwSBmkKht6wHxyjQcFnEQaNBqUk1EVCnd5dtU19IYKhMN/8OBYFGCR5Z4RqdfEwavEd3YXKwmzt3v+KWmssYCjasOScdH4yJop9Dzp+d2sMbqYQcbmXZCMeXwILgasEKppXCXDSHxnq15B7KVg70xPVhGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TjJXzEZsVfZn7qi9pTDykN",
      "input": {
        "note": "Arms are now separated but the left arm is sagging in an awkward pose. Bringing it closer and higher with a milder yaw.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.2,
          "left_yaw": 0.3,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01TjJXzEZsVfZn7qi9pTDykN",
      "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]: [-0.8764, 1.7348, 1.2297, -0.6601, -0.8814, -1.0229, 0.0607, -0.3733, 1.6623, 0.8577, -0.3767, -0.9539, -1.0542, 0.0772]\nstate[eef_state]: left_x=0.3497 left_y=-0.2013 left_z=0.1389 left_yaw=0.3469 left_pitch=-0.0551 left_roll=0.0408 left_gripper=0.0607 right_x=0.3542 right_y=0.0199 right_z=0.0808 right_yaw=0.9041 right_pitch=-0.0088 right_roll=0.0396 right_gripper=0.0772\nstate[joint_eff]: [0.6632, -8.8957, 6.7761, 1.3797, -0.4908, 0.1587, 1.0281, -0.1026, -7.0496, 5.6957, 0.9841, -0.4908, 0.1148, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c986cf163dab1cd7f9b21925f300de4ab386a217f6c98e9cf4cdf5a0c9eb8293",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d002f746822b934f142ea7c76b3c7cb679ae2ad69d35911fd99ddccf1b69e983",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2b60a6b65706cffa27b40077849cbd1b314b57fab806dfb8c7f06eb186b678a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 6.32 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]: [-0.8845, 2.3543, 1.9396, -1.0027, -0.9661, -1.3777, 0.0607, -0.0277, 1.7893, 0.815, 0.1642, -0.8043, -0.6174, 0.0772]\nstate[eef_state]: left_x=0.4198 left_y=-0.2774 left_z=0.0869 left_yaw=0.5658 left_pitch=-0.0268 left_roll=0.0146 left_gripper=0.0607 right_x=0.4008 right_y=0.1198 right_z=0.0614 right_yaw=0.9373 right_pitch=0.03 right_roll=0.0236 right_gripper=0.0772\nstate[joint_eff]: [3.535, -20.1231, 7.9521, 0.9402, -0.8767, 0.1538, 1.0281, -0.253, -7.9795, 5.8872, 1.3846, -0.3346, -0.0464, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.8822, 2.3699, 1.9331, -1.0058, -0.9539, -1.3712, 0.0607, -0.3733, 1.6604, 0.8577, -0.3656, -0.9588, -1.0378, 0.0772]\nstate[eef_state]: left_x=0.4181 left_y=-0.2756 left_z=0.0761 left_yaw=0.5637 left_pitch=-0.042 left_roll=0.0435 left_gripper=0.0607 right_x=0.3559 right_y=0.0198 right_z=0.0827 right_yaw=0.8973 right_pitch=-0.0011 right_roll=0.0424 right_gripper=0.0772\nstate[joint_eff]: [-0.3761, -14.4889, 6.3248, 0.5104, -0.6178, -0.0904, 1.033, -0.3487, -8.9778, 7.8838, 0.823, -0.7595, -0.0904, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.8764, 1.7348, 1.2297, -0.6601, -0.8814, -1.0229, 0.0607, -0.3733, 1.6623, 0.8577, -0.3767, -0.9539, -1.0542, 0.0772]\nstate[eef_state]: left_x=0.3497 left_y=-0.2013 left_z=0.1389 left_yaw=0.3469 left_pitch=-0.0551 left_roll=0.0408 left_gripper=0.0607 right_x=0.3542 right_y=0.0199 right_z=0.0808 right_yaw=0.9041 right_pitch=-0.0088 right_roll=0.0396 right_gripper=0.0772\nstate[joint_eff]: [0.6632, -8.8957, 6.7761, 1.3797, -0.4908, 0.1587, 1.0281, -0.1026, -7.0496, 5.6957, 0.9841, -0.4908, 0.1148, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c986cf163dab1cd7f9b21925f300de4ab386a217f6c98e9cf4cdf5a0c9eb8293",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d002f746822b934f142ea7c76b3c7cb679ae2ad69d35911fd99ddccf1b69e983",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b60a6b65706cffa27b40077849cbd1b314b57fab806dfb8c7f06eb186b678a2",
        "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_0168TM2sV12QpNpAsGv8Hm4w",
      "input": {
        "note": "Both objects held (pen in right, cap in left). Positioning the pen at yaw 0.6 so its tip points forward-left, where the left arm will bring the cap in along the same line.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.21,
          "right_yaw": 0.6,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_0168TM2sV12QpNpAsGv8Hm4w",
      "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]: [-0.8757, 1.7363, 1.206, -0.6617, -0.86, -1.0203, 0.0607, 0.6071, 1.0733, 0.6209, -0.1528, -0.0978, -0.0216, 0.0772]\nstate[eef_state]: left_x=0.3449 left_y=-0.1989 left_z=0.1282 left_yaw=0.3393 left_pitch=-0.0829 left_roll=0.0613 left_gripper=0.0607 right_x=0.2698 right_y=0.2128 right_z=0.1511 right_yaw=0.6979 right_pitch=-0.0459 right_roll=0.0349 right_gripper=0.0772\nstate[joint_eff]: [-0.1436, -8.4718, 7.9795, 0.8767, -0.6667, -0.0806, 1.0281, 0.212, -3.1932, 10.0171, 1.6532, 0.0904, 0.1587, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3c2fc0a54f6b2907e9ef331428a989162128dacfa5bd529ae7d7de4d35f6829",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c9b752d2de0c628719ad9ac085181527526c983435ea52f0ae95ee189c586e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cffdec5d35664ecfedbafb98915a3959ec0baa6571d2fbb22b0ee0ad22293038",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 11.41 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]: [-0.8822, 2.3699, 1.9331, -1.0058, -0.9539, -1.3712, 0.0607, -0.3733, 1.6604, 0.8577, -0.3656, -0.9588, -1.0378, 0.0772]\nstate[eef_state]: left_x=0.4181 left_y=-0.2756 left_z=0.0761 left_yaw=0.5637 left_pitch=-0.042 left_roll=0.0435 left_gripper=0.0607 right_x=0.3559 right_y=0.0198 right_z=0.0827 right_yaw=0.8973 right_pitch=-0.0011 right_roll=0.0424 right_gripper=0.0772\nstate[joint_eff]: [-0.3761, -14.4889, 6.3248, 0.5104, -0.6178, -0.0904, 1.033, -0.3487, -8.9778, 7.8838, 0.823, -0.7595, -0.0904, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.8764, 1.7348, 1.2297, -0.6601, -0.8814, -1.0229, 0.0607, -0.3733, 1.6623, 0.8577, -0.3767, -0.9539, -1.0542, 0.0772]\nstate[eef_state]: left_x=0.3497 left_y=-0.2013 left_z=0.1389 left_yaw=0.3469 left_pitch=-0.0551 left_roll=0.0408 left_gripper=0.0607 right_x=0.3542 right_y=0.0199 right_z=0.0808 right_yaw=0.9041 right_pitch=-0.0088 right_roll=0.0396 right_gripper=0.0772\nstate[joint_eff]: [0.6632, -8.8957, 6.7761, 1.3797, -0.4908, 0.1587, 1.0281, -0.1026, -7.0496, 5.6957, 0.9841, -0.4908, 0.1148, 1.033]",
      "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]: [-0.8757, 1.7363, 1.206, -0.6617, -0.86, -1.0203, 0.0607, 0.6071, 1.0733, 0.6209, -0.1528, -0.0978, -0.0216, 0.0772]\nstate[eef_state]: left_x=0.3449 left_y=-0.1989 left_z=0.1282 left_yaw=0.3393 left_pitch=-0.0829 left_roll=0.0613 left_gripper=0.0607 right_x=0.2698 right_y=0.2128 right_z=0.1511 right_yaw=0.6979 right_pitch=-0.0459 right_roll=0.0349 right_gripper=0.0772\nstate[joint_eff]: [-0.1436, -8.4718, 7.9795, 0.8767, -0.6667, -0.0806, 1.0281, 0.212, -3.1932, 10.0171, 1.6532, 0.0904, 0.1587, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3c2fc0a54f6b2907e9ef331428a989162128dacfa5bd529ae7d7de4d35f6829",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c9b752d2de0c628719ad9ac085181527526c983435ea52f0ae95ee189c586e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cffdec5d35664ecfedbafb98915a3959ec0baa6571d2fbb22b0ee0ad22293038",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSmwsKEAgSGAI4AUIIdGhpbmtpbmcSDPOPnJnrJ2cStwUTOBoMLH/GvBiSfUDQ50ifIjC0mHcSQJiXeeXe5H0Nw35229vIPVizU2SWcsn5mGiEuMFDJgG3zWSHwyizrHdLQDoquApmtr+RfC5xNw/5yJJZkpsjWdguiDUt5oxVEH4+8t7X1xNCEVe4RxPHmz/2o1cw1T+/jgqq7uirrFl7wPeqV3O11BsA1RpryXrbXBHY9Vp1GPyghnU5XYIjLr/zyaySjJZkHe5VYjfSA+F/JPYTD57gulMqmlBAAcL1i3iqfJOw4+f98WS0LQAB4ihygyi8pCpaq1AWVRXxQHxS5dizioVWE8KHVl9nL+JINDbwcJIwEaYAgm1b2Jz4ACwYLzpR1SlnpfhYmduogrfP4GuwYM0GjSVeS3shfOXYwdsbJ0X9qONLGqoLLltKDgvJGoy/y3ZsXdQE07wPEKowtcubaYLPnBjXnMdgxHdmF/dd8d7AlC39etwH8uypgOc2qLioO4HfewET/NrLkpTVDaXPyTuhlPxOHn6MePNnugl4Ltl56fPP9vPQkDgTTxjXYOvxV8mV5e2ekLe29w81M8az3uIcHlq87ZYyVIFKgDoTzJUOy2n4Or/ruFNYvvOAQhBiPIKASp+WfD7O+X7VLd96Em83wGz0bwshmN8xfWqBLML9+m7Bx0Ga9p9Lqhh9f8MGgPm3jcSyXMm3WtaCLBtQTKGGegkJd9LrUYYpQTMAuPs8lZwGUhNn1ZvfeXARkKPeLkW614gghjAAw/U7ffDT7hmx8JXmXNlMBAwNzv0KPfj5ixa59Ab1aale5egeaXTmd8UkYVrmMNAASORfvcyh6tPMbFA0nm2rZAMBnNVQI83kXOf3jjcsA5JAx78sJTAb0KvkREqsOZ1b5fznaIoVX3ymeclOBx44ZC5v96KOj932NJyPJzCUjaX3cZKt8YNWIyZhlzQw6iWeZucfgLFjK/saZ4Jjo30dRXFtT//BOUEyGW7Abep1N7CddoVs/8H6zFrvuzEiFZISa3Ne82sS3OUkrUDsTsLhZvIZR3f0Ln7aweBCDQOvgsYkfMjpO4gMjmwrDSOTtVHpkFpCkD0lVxAKBBAAsn074uJnVgVW3iTlq6kfniHpe1QB37AkXBIdy4DDLUTkg0cH14Sf1lOgBL8ggpg3XdU9OCcS895t5u/FbEjUr0mP6f5HPVOzM6+U7dmZ2rDGT3x184lW89D8pJ/596lgXTTyBifwqc2LDppSSQyzPOha+2R1/WbpuwYp/zM8pt/SUQXDGhy/Gzq3/90iXpoDtnlq6UNxNtbStHqWGoBofAj9lQlRRTPpQDOrAzVncEXnVihV7nCFKc2k4zjSdaaZR+sPW962aEdrv04jGw6eDsF79HXExkBjfaxYWGAKdmxi687wkiMiwYbSYnXRr6Q+2u7XZFK8R0pOkflz/kI8QadIQEdb1+3bBjmhYmoAXjGm2PrW6z7eWCeEz8qcJqchNHi2+8ECWJkOCLcTx8f58U3q61j0vtf/kYICkgSISl4x0jT6nIfHpru8Hvqc9Z74TOJqxwgLTKFBhME0j92jnc/5t0rJGDYyMKgXBbBNOEBWdbw96ji+MxOAJIK3EBMLjGWnu6uhXzW2j5/21eDp7tVwXi8vfwy7fSdc0czofN0HLAb8NR7MhwKWIqMC78xE4eGWf34nN1dSAw9uiLEu4T01OnCdUzgjcyU+HZxluZAu4oyW1QdCD0BCFJKIf9/Lsx22SNVSqJyxESgYD5wKzmZDaA0Rth34cO4aG36q2GHl65A7pQGMkqY1RaJ/ezQHK5zO4dGZRL8PvYmw+cLxn2B1X1KEWgeVeyGXJqiyzNvQf249sRkKG7Y3pgHVKJXGCceMdfUdCZurZ20D1TlS8NJBSKBfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VqTUbsvJzAD6EMobdpwqJx",
      "input": {
        "note": "Pen is held pointing forward-left with its tip visible in the right wrist view. Bringing the cap in the left gripper to a point on the pen's axis a few cm beyond the tip, with matching yaw.",
        "targets": {
          "left_x": 0.415,
          "left_y": -0.315,
          "left_yaw": 0.7,
          "left_z": 0.165
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01VqTUbsvJzAD6EMobdpwqJx",
      "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]: [-0.8825, 2.4779, 2.4302, -1.5387, -0.8894, -1.5532, 0.0607, 0.5957, 1.0801, 0.6075, -0.2291, -0.0692, 0.0025, 0.0772]\nstate[eef_state]: left_x=0.4089 left_y=-0.2755 left_z=0.1418 left_yaw=0.669 left_pitch=-0.112 left_roll=0.037 left_gripper=0.0607 right_x=0.2637 right_y=0.1978 right_z=0.1279 right_yaw=0.6499 right_pitch=-0.144 right_roll=0.0437 right_gripper=0.0772\nstate[joint_eff]: [-0.5675, -11.1795, 6.9675, 0.1441, -0.8474, -0.0806, 1.0281, 0.9641, -3.6444, 8.1026, 2.3712, -0.2564, -0.232, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6b7c3244cc93d615ff78d0d6c2b7c61eba23626b593c0d02e3e726de771ff7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:536f44a406564b289ac55127838c060aafb6f42c2c5c75f9e1d997a95708b1d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8293a84898ed1282df27965bb7692410eed9fbedc210e06b579477d9d894fa35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 3.758 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]: [-0.8764, 1.7348, 1.2297, -0.6601, -0.8814, -1.0229, 0.0607, -0.3733, 1.6623, 0.8577, -0.3767, -0.9539, -1.0542, 0.0772]\nstate[eef_state]: left_x=0.3497 left_y=-0.2013 left_z=0.1389 left_yaw=0.3469 left_pitch=-0.0551 left_roll=0.0408 left_gripper=0.0607 right_x=0.3542 right_y=0.0199 right_z=0.0808 right_yaw=0.9041 right_pitch=-0.0088 right_roll=0.0396 right_gripper=0.0772\nstate[joint_eff]: [0.6632, -8.8957, 6.7761, 1.3797, -0.4908, 0.1587, 1.0281, -0.1026, -7.0496, 5.6957, 0.9841, -0.4908, 0.1148, 1.033]",
      "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]: [-0.8757, 1.7363, 1.206, -0.6617, -0.86, -1.0203, 0.0607, 0.6071, 1.0733, 0.6209, -0.1528, -0.0978, -0.0216, 0.0772]\nstate[eef_state]: left_x=0.3449 left_y=-0.1989 left_z=0.1282 left_yaw=0.3393 left_pitch=-0.0829 left_roll=0.0613 left_gripper=0.0607 right_x=0.2698 right_y=0.2128 right_z=0.1511 right_yaw=0.6979 right_pitch=-0.0459 right_roll=0.0349 right_gripper=0.0772\nstate[joint_eff]: [-0.1436, -8.4718, 7.9795, 0.8767, -0.6667, -0.0806, 1.0281, 0.212, -3.1932, 10.0171, 1.6532, 0.0904, 0.1587, 1.033]",
      "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]: [-0.8825, 2.4779, 2.4302, -1.5387, -0.8894, -1.5532, 0.0607, 0.5957, 1.0801, 0.6075, -0.2291, -0.0692, 0.0025, 0.0772]\nstate[eef_state]: left_x=0.4089 left_y=-0.2755 left_z=0.1418 left_yaw=0.669 left_pitch=-0.112 left_roll=0.037 left_gripper=0.0607 right_x=0.2637 right_y=0.1978 right_z=0.1279 right_yaw=0.6499 right_pitch=-0.144 right_roll=0.0437 right_gripper=0.0772\nstate[joint_eff]: [-0.5675, -11.1795, 6.9675, 0.1441, -0.8474, -0.0806, 1.0281, 0.9641, -3.6444, 8.1026, 2.3712, -0.2564, -0.232, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6b7c3244cc93d615ff78d0d6c2b7c61eba23626b593c0d02e3e726de771ff7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:536f44a406564b289ac55127838c060aafb6f42c2c5c75f9e1d997a95708b1d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8293a84898ed1282df27965bb7692410eed9fbedc210e06b579477d9d894fa35",
        "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_01MXA3CK5a5mmfSMWG2vJDNy",
      "input": {
        "note": "The grippers bumped side-by-side again (both arms stalled). Moving the left arm forward and up, with a smaller yaw, so the cap can approach the pen more from the front.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.24,
          "left_yaw": 0.3,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01MXA3CK5a5mmfSMWG2vJDNy",
      "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]: [-0.7765, 2.0731, 1.9358, -1.0985, -0.7902, -1.0756, 0.0607, 0.5968, 1.0809, 0.6033, -0.2337, -0.0795, -0.0109, 0.0772]\nstate[eef_state]: left_x=0.4199 left_y=-0.2316 left_z=0.1858 left_yaw=0.4464 left_pitch=-0.1577 left_roll=0.0371 left_gripper=0.0607 right_x=0.261 right_y=0.1987 right_z=0.1251 right_yaw=0.6671 right_pitch=-0.1527 right_roll=0.0407 right_gripper=0.0772\nstate[joint_eff]: [0.0889, -9.2239, 6.3795, 1.6337, -0.232, 0.2906, 1.0281, -0.1709, -2.7009, 7.159, 1.6972, 0.0171, 0.0659, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a604df1633544175836bd04f9011d0453ba7a3178111fe04f585ac59b7bfcae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e32a6650e73fb36abb076b75cf6b71a748379f4073908e51ede820273684c4b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:98d868a78dcdd3e19286c5278e75e389b27b7e3f2e22c2374f40c68e6644f014",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 7.679 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]: [-0.8757, 1.7363, 1.206, -0.6617, -0.86, -1.0203, 0.0607, 0.6071, 1.0733, 0.6209, -0.1528, -0.0978, -0.0216, 0.0772]\nstate[eef_state]: left_x=0.3449 left_y=-0.1989 left_z=0.1282 left_yaw=0.3393 left_pitch=-0.0829 left_roll=0.0613 left_gripper=0.0607 right_x=0.2698 right_y=0.2128 right_z=0.1511 right_yaw=0.6979 right_pitch=-0.0459 right_roll=0.0349 right_gripper=0.0772\nstate[joint_eff]: [-0.1436, -8.4718, 7.9795, 0.8767, -0.6667, -0.0806, 1.0281, 0.212, -3.1932, 10.0171, 1.6532, 0.0904, 0.1587, 1.033]",
      "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]: [-0.8825, 2.4779, 2.4302, -1.5387, -0.8894, -1.5532, 0.0607, 0.5957, 1.0801, 0.6075, -0.2291, -0.0692, 0.0025, 0.0772]\nstate[eef_state]: left_x=0.4089 left_y=-0.2755 left_z=0.1418 left_yaw=0.669 left_pitch=-0.112 left_roll=0.037 left_gripper=0.0607 right_x=0.2637 right_y=0.1978 right_z=0.1279 right_yaw=0.6499 right_pitch=-0.144 right_roll=0.0437 right_gripper=0.0772\nstate[joint_eff]: [-0.5675, -11.1795, 6.9675, 0.1441, -0.8474, -0.0806, 1.0281, 0.9641, -3.6444, 8.1026, 2.3712, -0.2564, -0.232, 1.033]",
      "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]: [-0.7765, 2.0731, 1.9358, -1.0985, -0.7902, -1.0756, 0.0607, 0.5968, 1.0809, 0.6033, -0.2337, -0.0795, -0.0109, 0.0772]\nstate[eef_state]: left_x=0.4199 left_y=-0.2316 left_z=0.1858 left_yaw=0.4464 left_pitch=-0.1577 left_roll=0.0371 left_gripper=0.0607 right_x=0.261 right_y=0.1987 right_z=0.1251 right_yaw=0.6671 right_pitch=-0.1527 right_roll=0.0407 right_gripper=0.0772\nstate[joint_eff]: [0.0889, -9.2239, 6.3795, 1.6337, -0.232, 0.2906, 1.0281, -0.1709, -2.7009, 7.159, 1.6972, 0.0171, 0.0659, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a604df1633544175836bd04f9011d0453ba7a3178111fe04f585ac59b7bfcae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e32a6650e73fb36abb076b75cf6b71a748379f4073908e51ede820273684c4b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98d868a78dcdd3e19286c5278e75e389b27b7e3f2e22c2374f40c68e6644f014",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS1gYKEAgSGAI4AUIIdGhpbmtpbmcSDCKgLMn/iglczCc/ehoML+yBKNKYOJpMG76hIjCYfnALdo1c3VmX9FWdyZt4SyTyAmcwf/9CNmhHlv8Gi5/wxJO3jR7mBxYHQ5zfwS4q8wVKqnWGZU89ID5pB7NWI4iRFnh2e8+yBwb6thvlhbrtultOqi3nDldC4F8LLkBSu3Zi+6MmALFJRAUOwAESptBZ4tNTZ39Pnm45s0MpevgeDg6SyJk/6bY67iX830hdj95BGusOOKxPhSqjMJWcxUO37JHfyOAGZ/QVbNLFiRXtYt3kCWOF8QtWjAnf6zXnD0wvpzTeOsGgPPi/3Mh+DrlVYfAT1+4aW/1g1nn1D7Z0oShdB07/yE1cHI0QAyMAJRqDFPgyBhBif7NSwtb/kWqXTcKx36w1c/IU45zx009rocSABMFkMqOx1Qw7SuLsnqe0OsV65GCLRyoTvRXX/ZdUITkWT3Gg5/xhAPAM3EyWXxYI/khBs5N7XZi1r35lWROgBERH4kcyAAFsDBxXZrm7xdegC+uAbj9tfrCALDgABlxVWdseMZmn9chjriXroXkG7moehV/Fn6EHa2/PJ/IbRLBrys7QB4JlHPCenG2A9dqlaUwwG+bPbxwvArWy8SPDjod49KyMYFyyo1ACplFIQO592G4098uKuUf7NkqNdH9uF9qPnhbbK9FIshLEVJI31RiJhgjUarHtfWXMd0Yj9CanQr0LxFCX2+CHuFCXeqyZq+uS+lFA5/ag81rseXPOPPtGs6z26Edknte/ntMwQzoxcShHFT7yYKsJypdurrOfRGB7PqSHjvyI3QyvBqJ0hNjfFRT/Qma7CJ1nnV+S/7Dyd1fZ25A11/PIPFeQie/GZo7ryGS5j+bTV5+CaGYh8chZL/od9VPMwL37v4eguY6/6jcCvao5zz3sVWUq3d3Ux2XGNlvhqJhMyWWI12nolCbsaS6uWrpp5FYzGVt3gCSJ0db2j3ffZ9YM0Uc9kwpaAGlqqvuh2fnIL0mHPadg0TZR2ZiFskvq181YB9a+dofFpha9iIsp/iMjmImEnjSCe0XWW9F9ZFBeLMy1la/ZVTo+khBFrJsxZp2kj/SljTh0mTJU45NZFEzCkac+c55gmxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016TcPhMWWkECp6kFnxcAQYt",
      "input": {
        "note": "Arms separated again. Moving the pen back and toward the centre with yaw 0.3 so its tip points mostly forward, where the cap can approach from in front.",
        "targets": {
          "right_x": 0.22,
          "right_y": 0.25,
          "right_yaw": 0.3,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_016TcPhMWWkECp6kFnxcAQYt",
      "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]: [-0.7795, 2.0785, 1.9091, -1.0794, -0.7628, -1.0576, 0.0607, 1.0904, 1.2037, 0.8867, -0.5034, 0.4175, 0.4686, 0.0772]\nstate[eef_state]: left_x=0.4172 left_y=-0.2357 left_z=0.1731 left_yaw=0.4252 left_pitch=-0.1871 left_roll=0.0536 left_gripper=0.0607 right_x=0.215 right_y=0.2654 right_z=0.1698 right_yaw=0.4786 right_pitch=-0.1765 right_roll=0.0406 right_gripper=0.0772\nstate[joint_eff]: [0.294, -11.8496, 8.5265, 0.6813, -0.6911, -0.1148, 1.0232, 0.1436, -4.6838, 7.8701, 1.1551, 0.3492, 0.2271, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50cf35c1d22f73bfb77ec430194ba12811d294ac3fd625c86bab54b0815ccc5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62aaf505fbc86a9394cbdede740706ce34bbe5e31ad9dbbcdd4eab3c3291a5b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:844044c55eb930179bd9a83c6ca47f6d10c54a4a43626ee4a4fc20057b0e0717",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 9.597 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]: [-0.8825, 2.4779, 2.4302, -1.5387, -0.8894, -1.5532, 0.0607, 0.5957, 1.0801, 0.6075, -0.2291, -0.0692, 0.0025, 0.0772]\nstate[eef_state]: left_x=0.4089 left_y=-0.2755 left_z=0.1418 left_yaw=0.669 left_pitch=-0.112 left_roll=0.037 left_gripper=0.0607 right_x=0.2637 right_y=0.1978 right_z=0.1279 right_yaw=0.6499 right_pitch=-0.144 right_roll=0.0437 right_gripper=0.0772\nstate[joint_eff]: [-0.5675, -11.1795, 6.9675, 0.1441, -0.8474, -0.0806, 1.0281, 0.9641, -3.6444, 8.1026, 2.3712, -0.2564, -0.232, 1.033]",
      "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]: [-0.7765, 2.0731, 1.9358, -1.0985, -0.7902, -1.0756, 0.0607, 0.5968, 1.0809, 0.6033, -0.2337, -0.0795, -0.0109, 0.0772]\nstate[eef_state]: left_x=0.4199 left_y=-0.2316 left_z=0.1858 left_yaw=0.4464 left_pitch=-0.1577 left_roll=0.0371 left_gripper=0.0607 right_x=0.261 right_y=0.1987 right_z=0.1251 right_yaw=0.6671 right_pitch=-0.1527 right_roll=0.0407 right_gripper=0.0772\nstate[joint_eff]: [0.0889, -9.2239, 6.3795, 1.6337, -0.232, 0.2906, 1.0281, -0.1709, -2.7009, 7.159, 1.6972, 0.0171, 0.0659, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.7795, 2.0785, 1.9091, -1.0794, -0.7628, -1.0576, 0.0607, 1.0904, 1.2037, 0.8867, -0.5034, 0.4175, 0.4686, 0.0772]\nstate[eef_state]: left_x=0.4172 left_y=-0.2357 left_z=0.1731 left_yaw=0.4252 left_pitch=-0.1871 left_roll=0.0536 left_gripper=0.0607 right_x=0.215 right_y=0.2654 right_z=0.1698 right_yaw=0.4786 right_pitch=-0.1765 right_roll=0.0406 right_gripper=0.0772\nstate[joint_eff]: [0.294, -11.8496, 8.5265, 0.6813, -0.6911, -0.1148, 1.0232, 0.1436, -4.6838, 7.8701, 1.1551, 0.3492, 0.2271, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50cf35c1d22f73bfb77ec430194ba12811d294ac3fd625c86bab54b0815ccc5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62aaf505fbc86a9394cbdede740706ce34bbe5e31ad9dbbcdd4eab3c3291a5b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:844044c55eb930179bd9a83c6ca47f6d10c54a4a43626ee4a4fc20057b0e0717",
        "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_015Mjh56EV18KCSJAdyenxmX",
      "input": {
        "note": "Pen points forward-left from the right gripper at similar height and yaw to the cap. Bringing the cap onto the pen's axis just beyond its tip, open end facing the pen.",
        "targets": {
          "left_x": 0.368,
          "left_y": -0.311,
          "left_yaw": 0.45,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_015Mjh56EV18KCSJAdyenxmX",
      "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]: [-0.9672, 2.3058, 2.299, -1.412, -0.7773, -1.327, 0.067, 1.0943, 1.2194, 0.8867, -0.5301, 0.4137, 0.4744, 0.0772]\nstate[eef_state]: left_x=0.3728 left_y=-0.3162 left_z=0.1726 left_yaw=0.4234 left_pitch=-0.2124 left_roll=0.0274 left_gripper=0.067 right_x=0.2118 right_y=0.2633 right_z=0.1606 right_yaw=0.4775 right_pitch=-0.2128 right_roll=0.0224 right_gripper=0.0772\nstate[joint_eff]: [-0.4581, -12.1094, 7.6376, 0.149, -0.7692, 0.0904, 1.0281, -0.5675, -5.5043, 6.735, 1.663, 0.1441, -0.0708, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a894131249add4e075c90c458f72ba41b4e06fe6339f89d932aebca509c5c304",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:678a202627e48b8e47491aa7a3d0d157c3a0ceff04df3def04264f1711b878b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a05a4a3dd8d52bd8c6c927b529462b9b25612651e5e79eeb44dcd81b9003da8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 8.703 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]: [-0.7765, 2.0731, 1.9358, -1.0985, -0.7902, -1.0756, 0.0607, 0.5968, 1.0809, 0.6033, -0.2337, -0.0795, -0.0109, 0.0772]\nstate[eef_state]: left_x=0.4199 left_y=-0.2316 left_z=0.1858 left_yaw=0.4464 left_pitch=-0.1577 left_roll=0.0371 left_gripper=0.0607 right_x=0.261 right_y=0.1987 right_z=0.1251 right_yaw=0.6671 right_pitch=-0.1527 right_roll=0.0407 right_gripper=0.0772\nstate[joint_eff]: [0.0889, -9.2239, 6.3795, 1.6337, -0.232, 0.2906, 1.0281, -0.1709, -2.7009, 7.159, 1.6972, 0.0171, 0.0659, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.7795, 2.0785, 1.9091, -1.0794, -0.7628, -1.0576, 0.0607, 1.0904, 1.2037, 0.8867, -0.5034, 0.4175, 0.4686, 0.0772]\nstate[eef_state]: left_x=0.4172 left_y=-0.2357 left_z=0.1731 left_yaw=0.4252 left_pitch=-0.1871 left_roll=0.0536 left_gripper=0.0607 right_x=0.215 right_y=0.2654 right_z=0.1698 right_yaw=0.4786 right_pitch=-0.1765 right_roll=0.0406 right_gripper=0.0772\nstate[joint_eff]: [0.294, -11.8496, 8.5265, 0.6813, -0.6911, -0.1148, 1.0232, 0.1436, -4.6838, 7.8701, 1.1551, 0.3492, 0.2271, 1.033]",
      "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]: [-0.9672, 2.3058, 2.299, -1.412, -0.7773, -1.327, 0.067, 1.0943, 1.2194, 0.8867, -0.5301, 0.4137, 0.4744, 0.0772]\nstate[eef_state]: left_x=0.3728 left_y=-0.3162 left_z=0.1726 left_yaw=0.4234 left_pitch=-0.2124 left_roll=0.0274 left_gripper=0.067 right_x=0.2118 right_y=0.2633 right_z=0.1606 right_yaw=0.4775 right_pitch=-0.2128 right_roll=0.0224 right_gripper=0.0772\nstate[joint_eff]: [-0.4581, -12.1094, 7.6376, 0.149, -0.7692, 0.0904, 1.0281, -0.5675, -5.5043, 6.735, 1.663, 0.1441, -0.0708, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a894131249add4e075c90c458f72ba41b4e06fe6339f89d932aebca509c5c304",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:678a202627e48b8e47491aa7a3d0d157c3a0ceff04df3def04264f1711b878b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a05a4a3dd8d52bd8c6c927b529462b9b25612651e5e79eeb44dcd81b9003da8",
        "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_014ju2mwWzXcwtxUA3ofMLCL",
      "input": {
        "note": "Right wrist view shows the left gripper up and to the right of the pen tip, so the cap sits slightly right of the pen's axis. Shifting the cap left onto the axis and a bit closer to the tip.",
        "targets": {
          "left_x": 0.355,
          "left_y": -0.302,
          "left_yaw": 0.47,
          "left_z": 0.172
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_014ju2mwWzXcwtxUA3ofMLCL",
      "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]: [-0.9802, 2.2818, 2.2257, -1.4357, -0.7799, -1.3846, 0.067, 1.0973, 1.2201, 0.8818, -0.5312, 0.392, 0.4583, 0.0772]\nstate[eef_state]: left_x=0.3598 left_y=-0.3072 left_z=0.1633 left_yaw=0.4584 left_pitch=-0.2195 left_roll=0.0599 left_gripper=0.067 right_x=0.2078 right_y=0.2654 right_z=0.1571 right_yaw=0.5055 right_pitch=-0.2276 right_roll=0.0206 right_gripper=0.0772\nstate[joint_eff]: [-0.5812, -14.9675, 5.6274, 0.4908, -0.5299, -0.0073, 1.033, -0.7179, -4.3692, 7.159, 1.663, 0.7204, 0.1099, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7a6ebe625841790be3c299559e5477bb6b7a2e8eaa51d80d3dd156f7f35d819",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01393df14765b989e600644292766ba38fee896c32ba9a915a6206a2ea96a4f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ae8ff3f908f96d1d14c144412b2134b083a49546a75abe2af9a74cf111e76af4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 7.597 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]: [-0.7795, 2.0785, 1.9091, -1.0794, -0.7628, -1.0576, 0.0607, 1.0904, 1.2037, 0.8867, -0.5034, 0.4175, 0.4686, 0.0772]\nstate[eef_state]: left_x=0.4172 left_y=-0.2357 left_z=0.1731 left_yaw=0.4252 left_pitch=-0.1871 left_roll=0.0536 left_gripper=0.0607 right_x=0.215 right_y=0.2654 right_z=0.1698 right_yaw=0.4786 right_pitch=-0.1765 right_roll=0.0406 right_gripper=0.0772\nstate[joint_eff]: [0.294, -11.8496, 8.5265, 0.6813, -0.6911, -0.1148, 1.0232, 0.1436, -4.6838, 7.8701, 1.1551, 0.3492, 0.2271, 1.033]",
      "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]: [-0.9672, 2.3058, 2.299, -1.412, -0.7773, -1.327, 0.067, 1.0943, 1.2194, 0.8867, -0.5301, 0.4137, 0.4744, 0.0772]\nstate[eef_state]: left_x=0.3728 left_y=-0.3162 left_z=0.1726 left_yaw=0.4234 left_pitch=-0.2124 left_roll=0.0274 left_gripper=0.067 right_x=0.2118 right_y=0.2633 right_z=0.1606 right_yaw=0.4775 right_pitch=-0.2128 right_roll=0.0224 right_gripper=0.0772\nstate[joint_eff]: [-0.4581, -12.1094, 7.6376, 0.149, -0.7692, 0.0904, 1.0281, -0.5675, -5.5043, 6.735, 1.663, 0.1441, -0.0708, 1.0379]",
      "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]: [-0.9802, 2.2818, 2.2257, -1.4357, -0.7799, -1.3846, 0.067, 1.0973, 1.2201, 0.8818, -0.5312, 0.392, 0.4583, 0.0772]\nstate[eef_state]: left_x=0.3598 left_y=-0.3072 left_z=0.1633 left_yaw=0.4584 left_pitch=-0.2195 left_roll=0.0599 left_gripper=0.067 right_x=0.2078 right_y=0.2654 right_z=0.1571 right_yaw=0.5055 right_pitch=-0.2276 right_roll=0.0206 right_gripper=0.0772\nstate[joint_eff]: [-0.5812, -14.9675, 5.6274, 0.4908, -0.5299, -0.0073, 1.033, -0.7179, -4.3692, 7.159, 1.663, 0.7204, 0.1099, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7a6ebe625841790be3c299559e5477bb6b7a2e8eaa51d80d3dd156f7f35d819",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01393df14765b989e600644292766ba38fee896c32ba9a915a6206a2ea96a4f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae8ff3f908f96d1d14c144412b2134b083a49546a75abe2af9a74cf111e76af4",
        "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_01LPw6yEAc5sd1T7YHHoz2qk",
      "input": {
        "note": "The left gripper still sits to the right of the pen's axis in the right wrist view. Shifting the cap further left onto the axis and moving it toward the pen tip.",
        "targets": {
          "left_x": 0.333,
          "left_y": -0.296,
          "left_yaw": 0.5,
          "left_z": 0.165
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01LPw6yEAc5sd1T7YHHoz2qk",
      "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]: [-0.9825, 2.273, 2.1857, -1.422, -0.7769, -1.4132, 0.067, 1.1019, 1.227, 0.8803, -0.5457, 0.3794, 0.4549, 0.0772]\nstate[eef_state]: left_x=0.3567 left_y=-0.305 left_z=0.1564 left_yaw=0.4755 left_pitch=-0.2236 left_roll=0.0567 left_gripper=0.067 right_x=0.2037 right_y=0.2654 right_z=0.1515 right_yaw=0.5188 right_pitch=-0.252 right_roll=0.0134 right_gripper=0.0772\nstate[joint_eff]: [-1.1556, -13.6274, 5.8598, 0.1001, -0.486, -0.0806, 1.033, -0.6906, -4.6564, 6.8444, 1.5116, 0.2369, -0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59e2c24bd66ac9acb1837c31251e2862132b21cbdcfea01297d87ce97a6862e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78f18a23bc6e79fc4a7b6a80b995a674f2876cf99ae68ba3e523e11886d88d12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:335e708681556cfc6104a976c43668a05fba7625a21a940179dff24d8a0f9fe3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 11.07 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]: [-0.9672, 2.3058, 2.299, -1.412, -0.7773, -1.327, 0.067, 1.0943, 1.2194, 0.8867, -0.5301, 0.4137, 0.4744, 0.0772]\nstate[eef_state]: left_x=0.3728 left_y=-0.3162 left_z=0.1726 left_yaw=0.4234 left_pitch=-0.2124 left_roll=0.0274 left_gripper=0.067 right_x=0.2118 right_y=0.2633 right_z=0.1606 right_yaw=0.4775 right_pitch=-0.2128 right_roll=0.0224 right_gripper=0.0772\nstate[joint_eff]: [-0.4581, -12.1094, 7.6376, 0.149, -0.7692, 0.0904, 1.0281, -0.5675, -5.5043, 6.735, 1.663, 0.1441, -0.0708, 1.0379]",
      "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]: [-0.9802, 2.2818, 2.2257, -1.4357, -0.7799, -1.3846, 0.067, 1.0973, 1.2201, 0.8818, -0.5312, 0.392, 0.4583, 0.0772]\nstate[eef_state]: left_x=0.3598 left_y=-0.3072 left_z=0.1633 left_yaw=0.4584 left_pitch=-0.2195 left_roll=0.0599 left_gripper=0.067 right_x=0.2078 right_y=0.2654 right_z=0.1571 right_yaw=0.5055 right_pitch=-0.2276 right_roll=0.0206 right_gripper=0.0772\nstate[joint_eff]: [-0.5812, -14.9675, 5.6274, 0.4908, -0.5299, -0.0073, 1.033, -0.7179, -4.3692, 7.159, 1.663, 0.7204, 0.1099, 1.0379]",
      "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]: [-0.9825, 2.273, 2.1857, -1.422, -0.7769, -1.4132, 0.067, 1.1019, 1.227, 0.8803, -0.5457, 0.3794, 0.4549, 0.0772]\nstate[eef_state]: left_x=0.3567 left_y=-0.305 left_z=0.1564 left_yaw=0.4755 left_pitch=-0.2236 left_roll=0.0567 left_gripper=0.067 right_x=0.2037 right_y=0.2654 right_z=0.1515 right_yaw=0.5188 right_pitch=-0.252 right_roll=0.0134 right_gripper=0.0772\nstate[joint_eff]: [-1.1556, -13.6274, 5.8598, 0.1001, -0.486, -0.0806, 1.033, -0.6906, -4.6564, 6.8444, 1.5116, 0.2369, -0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59e2c24bd66ac9acb1837c31251e2862132b21cbdcfea01297d87ce97a6862e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78f18a23bc6e79fc4a7b6a80b995a674f2876cf99ae68ba3e523e11886d88d12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:335e708681556cfc6104a976c43668a05fba7625a21a940179dff24d8a0f9fe3",
        "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_01HqMNdZDxL7vHjW8qiM4fe7",
      "input": {
        "note": "The left arm has stalled near the pen tip, with the cap still a little right of the pen's axis. Moving the pen tip right and forward toward the cap's open end instead.",
        "targets": {
          "right_x": 0.23,
          "right_y": 0.257,
          "right_yaw": 0.5,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01HqMNdZDxL7vHjW8qiM4fe7",
      "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]: [-0.9733, 2.2734, 2.1857, -1.4029, -0.7769, -1.4178, 0.067, 1.0481, 1.2362, 0.8875, -0.5468, 0.3096, 0.3786, 0.0772]\nstate[eef_state]: left_x=0.3616 left_y=-0.3049 left_z=0.1565 left_yaw=0.483 left_pitch=-0.2214 left_roll=0.0344 left_gripper=0.067 right_x=0.2098 right_y=0.2635 right_z=0.1482 right_yaw=0.5629 right_pitch=-0.2816 right_roll=0.0066 right_gripper=0.0772\nstate[joint_eff]: [-1.6889, -13.8188, 5.9419, -0.188, -0.4957, -0.0611, 1.0379, -3.9453, -3.2615, 9.5932, 1.4188, 0.5201, 0.4029, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de4ffd879cad42f82957be84fd3790f96694ef8ee3e1e28fc103a494816c5cec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09205725ec82cd04312a4b42912705b3883c5b5333ae39d9878ccc50a8f8d1bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2c5242a157aea64afc2cbc3f94a63dacade375fe109128a1ec85ea7a133c859c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]