adhoc

completed
2026-09-23T01:24:12.307613+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
290.9 s
total steps
167
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

overheat

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteTop view shows a small dark cap left of centre and a longer pen just right of centre, both mid-table. Moving the left gripper over the cap and the right gripper over the pen (yawed 45° so its jaws close across the pen axis) to inspect with the wrist cameras.
move_to
left_x0.3500left_y-0.2000left_z0.1500left_gripper1.0000right_x0.3500right_y0.2900right_z0.1500right_yaw0.7850right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7918, 0.6014, -0.3805, -0.0231, -0.025, 0.9993, -0.0185, 0.791, 0.6094, -0.3759, -0.0208, -0.0124, 0.9991] state[eef_state]: left_x=0.2942 left_y=0.0017 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2957 right_y=0.0018 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.4991, -1.3607, 10.5231, 1.7558, -0.0464, 0.0757, -0.0806, -0.759, -1.1145, 9.7983, 1.7705, -0.0562, -0.0562, -0.1099] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.2, "left_z": 0.15, "left_gripper": 1, "right_x": 0.35, "right_y": 0.29, "right_z": 0.15, "right_yaw": 0.785, "right_gripper": 1}, "note": "Top view shows a small dark cap left of centre and a longer pen just right of centre, both mid-table. Moving the left gripper over the cap and the right gripper over the pen (yawed 45\u00b0 so its jaws close across the pen axis) to inspect with the wrist cameras."})
tool
executing move_to over 25 steps (2.5s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteIn the wrist views the cap sits up-left of the left jaws and the pen up-right of the right jaws, both a few centimetres beyond the fingertips. Nudging each arm forward and sideways to centre its target on the jaw column before descending.
move_to
left_x0.3900left_y-0.1620right_x0.3900right_y0.2670
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7906, 1.4658, 0.857, -0.1967, -0.6277, -0.5156, 0.9993, 0.6247, 1.5311, 0.8795, 0.0219, -0.1146, -0.075, 0.9991] state[eef_state]: left_x=0.3403 left_y=-0.1913 left_z=0.1301 left_yaw=-0.0125 left_pitch=-0.0532 left_roll=0.0349 left_gripper=0.9993 right_x=0.3424 right_y=0.2762 right_z=0.1305 right_yaw=0.7561 right_pitch=-0.0675 right_roll=0.0058 right_gripper=0.9991 state[joint_eff]: [-0.294, -6.4205, 9.7026, 1.6239, -0.4322, -0.0171, -0.0806, 0.6769, -6.8855, 8.9368, 1.9951, -0.1734, -0.0122, -0.1148] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.162, "right_x": 0.39, "right_y": 0.267}, "note": "In the wrist views the cap sits up-left of the left jaws and the pen up-right of the right jaws, both a few centimetres beyond the fingertips. Nudging each arm forward and sideways to centre its target on the jaw column before descending."})
tool
executing move_to over 4 steps (0.4s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteBoth targets are now nearly on their jaw columns but still a couple of centimetres short of the fingertips; advancing each arm radially by ~3 cm before descending.
move_to
left_x0.4080left_y-0.1520right_x0.4100right_y0.2670
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6106, 1.5272, 0.8688, -0.1379, -0.5385, -0.4225, 0.9993, 0.5274, 1.6516, 0.9745, -0.0002, -0.1753, -0.1238, 0.999] state[eef_state]: left_x=0.3769 left_y=-0.1488 left_z=0.1149 left_yaw=0.0511 left_pitch=-0.0914 left_roll=0.0552 left_gripper=0.9993 right_x=0.3803 right_y=0.2613 right_z=0.1156 right_yaw=0.7369 right_pitch=-0.1078 right_roll=0.0112 right_gripper=0.999 state[joint_eff]: [-0.3487, -6.4752, 9.4427, 1.746, -0.0464, 0.2369, -0.0171, -0.1983, -7.8974, 9.3333, 1.6874, -0.2173, -0.0855, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.408, "left_y": -0.152, "right_x": 0.41, "right_y": 0.267}, "note": "Both targets are now nearly on their jaw columns but still a couple of centimetres short of the fingertips; advancing each arm radially by ~3 cm before descending."})
tool
executing move_to over 3 steps (0.3s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe pen is now centred right under the right jaws, so the right arm descends to table level to grasp it; the left arm under-tracked its last small step, so I re-command it slightly further forward toward the cap.
move_to
left_x0.4150left_y-0.1520right_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5961, 1.5581, 0.8726, -0.128, -0.5095, -0.4019, 0.9993, 0.5087, 1.7412, 1.0576, -0.0181, -0.1932, -0.1413, 0.999] state[eef_state]: left_x=0.3801 left_y=-0.1494 left_z=0.1045 left_yaw=0.0337 left_pitch=-0.1185 left_roll=0.065 left_gripper=0.9993 right_x=0.3998 right_y=0.2659 right_z=0.107 right_yaw=0.7433 right_pitch=-0.1289 right_roll=0.014 right_gripper=0.999 state[joint_eff]: [0.0889, -6.5026, 8.759, 1.5263, -0.4322, -0.0904, -0.0122, -0.8, -8.7863, 8.5949, 1.5849, -0.1783, -0.0464, -0.0171] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.415, "left_y": -0.152, "right_z": 0.0}, "note": "The pen is now centred right under the right jaws, so the right arm descends to table level to grasp it; the left arm under-tracked its last small step, so I re-command it slightly further forward toward the cap."})
tool
executing move_to over 7 steps (0.7s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe pen lies exactly between the right jaws at table level; closing the right gripper to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5961, 1.5581, 0.8726, -0.1326, -0.5167, -0.4023, 0.9993, 0.506, 1.9759, 0.9009, 0.347, -0.1921, -0.1474, 0.999] state[eef_state]: left_x=0.3798 left_y=-0.1478 left_z=0.1042 left_yaw=0.0397 left_pitch=-0.1191 left_roll=0.0717 left_gripper=0.9993 right_x=0.3976 right_y=0.263 right_z=0.0058 right_yaw=0.7438 right_pitch=-0.1546 right_roll=0.0148 right_gripper=0.999 state[joint_eff]: [-0.0068, -6.612, 8.5675, 1.4628, -0.3492, -0.0855, -0.0122, 0.1299, -7.5966, 4.2872, 1.3162, -0.0855, 0.0464, -0.0122] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The pen lies exactly between the right jaws at table level; closing the right gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteGripper settled at 0.046 (~4 mm, consistent with the pen barrel). Lifting the right arm 12 cm to confirm the pen came with it.
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]: [-0.5961, 1.5581, 0.8722, -0.1383, -0.5163, -0.4019, 0.9993, 0.506, 1.9862, 0.8955, 0.374, -0.1925, -0.1535, 0.0456] state[eef_state]: left_x=0.3789 left_y=-0.1473 left_z=0.1032 left_yaw=0.0396 left_pitch=-0.1241 left_roll=0.0754 left_gripper=0.9993 right_x=0.3988 right_y=0.2637 right_z=0.0042 right_yaw=0.747 right_pitch=-0.1433 right_roll=0.0076 right_gripper=0.0456 state[joint_eff]: [-0.1846, -6.7214, 6.4068, 1.5018, -0.2759, -0.0464, -0.0122, -0.1436, -10.4, 5.5726, 1.326, -0.0757, 0.0513, 1.0867] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Gripper settled at 0.046 (~4 mm, consistent with the pen barrel). Lifting the right arm 12 cm to confirm the pen came with it."})
tool
executing move_to over 8 steps (0.8s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent notePen is securely held in the right gripper and lifted. The left arm has stopped tracking forward commands, so I raise it to z=0.20 to free the pose before approaching the cap again.
move_to
left_z0.2000left_x0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5961, 1.5581, 0.8722, -0.1421, -0.5159, -0.4023, 0.9993, 0.506, 1.7611, 1.0607, -0.0349, -0.1921, -0.1547, 0.0487] state[eef_state]: left_x=0.3783 left_y=-0.147 left_z=0.1026 left_yaw=0.0398 left_pitch=-0.1274 left_roll=0.0772 left_gripper=0.9993 right_x=0.3988 right_y=0.2636 right_z=0.096 right_yaw=0.748 right_pitch=-0.1615 right_roll=0.011 right_gripper=0.0487 state[joint_eff]: [-0.1436, -6.5026, 6.5026, 1.453, -0.2125, -0.0366, -0.0171, -0.3624, -11.4256, 8.7726, 1.5165, -0.0952, -0.0171, 1.0281] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2, "left_x": 0.4}, "note": "Pen is securely held in the right gripper and lifted. The left arm has stopped tracking forward commands, so I raise it to z=0.20 to free the pose before approaching the cap again."})
tool
executing move_to over 7 steps (0.7s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe cap lies on the jaw column of the left wrist view with its long axis running image-left/right, so I yaw the left wrist 90° to close across the cap and descend to 6 cm for a final look.
move_to
left_yaw1.5700left_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]: [-0.5629, 1.5478, 1.1862, -0.4782, -0.4961, -0.3977, 0.9993, 0.506, 1.7576, 1.0634, -0.0658, -0.1921, -0.1543, 0.0487] state[eef_state]: left_x=0.3977 left_y=-0.1472 left_z=0.1777 left_yaw=0.0565 left_pitch=-0.1458 left_roll=0.0757 left_gripper=0.9993 right_x=0.395 right_y=0.2615 right_z=0.0931 right_yaw=0.7488 right_pitch=-0.1856 right_roll=0.0173 right_gripper=0.0487 state[joint_eff]: [0.6222, -8.4855, 9.5795, 1.5214, -0.1783, 0.2515, -0.0122, -0.1162, -8.5812, 6.2291, 1.8779, -0.1099, -0.022, 1.033] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_yaw": 1.57, "left_z": 0.06}, "note": "The cap lies on the jaw column of the left wrist view with its long axis running image-left/right, so I yaw the left wrist 90\u00b0 to close across the cap and descend to 6 cm for a final look."})
tool
executing move_to over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe yaw rotation unexpectedly dragged the left grasp point 6 cm sideways, losing sight of the cap; returning the left tool to the cap position (x 0.408, y -0.148) at 10 cm with the wrist yawed 90°, and re-lifting the pen-holding right arm which had sagged.
move_to
left_x0.4080left_y-0.1480left_z0.1000left_yaw1.5700right_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]: [-0.5064, 2.4802, 2.0357, -1.5204, -0.7437, -1.9804, 0.9993, 0.506, 1.7824, 1.0454, -0.115, -0.1627, -0.1364, 0.0533] state[eef_state]: left_x=0.408 left_y=-0.0854 left_z=0.0385 left_yaw=1.3698 left_pitch=-0.1819 left_roll=0.1113 left_gripper=0.9993 right_x=0.3851 right_y=0.2502 right_z=0.0661 right_yaw=0.7187 right_pitch=-0.2802 right_roll=0.0304 right_gripper=0.0533 state[joint_eff]: [1.4564, -14.0923, 7.5009, -0.9206, -0.3053, -0.0659, -0.0171, -0.7316, -10.7145, 7.747, 1.9414, -0.1734, -0.0122, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.408, "left_y": -0.148, "left_z": 0.1, "left_yaw": 1.57, "right_z": 0.12}, "note": "The yaw rotation unexpectedly dragged the left grasp point 6 cm sideways, losing sight of the cap; returning the left tool to the cap position (x 0.408, y -0.148) at 10 cm with the wrist yawed 90\u00b0, and re-lifting the pen-holding right arm which had sagged."})
tool
executing move_to over 6 steps (0.6s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe left arm is stuck in an awkward wrist configuration (high shoulder effort, not tracking targets) after the yaw command; unwinding yaw to 0 and lifting it up and back to recover a clean pose.
move_to
left_yaw0.0000left_z0.2000left_x0.3300left_y-0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4606, 2.4668, 1.9766, -1.5581, -0.6899, -2.0865, 0.9993, 0.5102, 1.742, 1.1446, -0.2943, -0.1764, -0.1459, 0.0561] state[eef_state]: left_x=0.3878 left_y=-0.0629 left_z=0.0316 left_yaw=1.5142 left_pitch=-0.1911 left_roll=0.1298 left_gripper=0.9993 right_x=0.3798 right_y=0.2522 right_z=0.0942 right_yaw=0.7429 right_pitch=-0.3164 right_roll=0.0438 right_gripper=0.0561 state[joint_eff]: [0.1436, -16.6632, 4.4239, -0.6178, -0.3004, -0.1197, -0.0122, -0.7043, -10.947, 8.9641, 1.2821, 0.0269, 0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_yaw": 0.0, "left_z": 0.2, "left_x": 0.33, "left_y": -0.12}, "note": "The left arm is stuck in an awkward wrist configuration (high shoulder effort, not tracking targets) after the yaw command; unwinding yaw to 0 and lifting it up and back to recover a clean pose."})
tool
executing move_to over 11 steps (1.1s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteLeft wrist view shows the cap up and right of the jaws, its axis running diagonally; commanding position over the cap together with a 45° yaw so the jaws will close across the cap's axis.
move_to
left_x0.4100left_y-0.1470left_z0.1600left_yaw0.7850
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6079, 1.3224, 1.0863, -0.7433, -0.5728, -0.5705, 0.9993, 0.511, 1.7443, 1.1439, -0.3042, -0.1772, -0.1467, 0.0561] state[eef_state]: left_x=0.3269 left_y=-0.1065 left_z=0.1876 left_yaw=0.1776 left_pitch=-0.2048 left_roll=0.0853 left_gripper=0.9993 right_x=0.3776 right_y=0.2515 right_z=0.0914 right_yaw=0.7457 right_pitch=-0.3288 right_roll=0.047 right_gripper=0.0561 state[joint_eff]: [0.253, -5.0393, 6.5436, 1.5311, -0.2711, 0.2906, -0.0171, -0.0615, -8.9231, 6.5983, 1.5067, -0.1343, -0.0562, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.147, "left_z": 0.16, "left_yaw": 0.785}, "note": "Left wrist view shows the cap up and right of the jaws, its axis running diagonally; commanding position over the cap together with a 45\u00b0 yaw so the jaws will close across the cap's axis."})
tool
executing move_to over 7 steps (0.7s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe cap is centred on the left jaw column but now appears lying along the jaw closing axis, so I rotate the wrist 90° the other way (yaw -45°) while holding position, so the jaws will close across the cap instead of along it.
move_to
left_x0.4140left_y-0.1580left_z0.1500left_yaw-0.7850
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6487, 2.0441, 1.8153, -1.174, -0.7502, -1.2259, 0.9993, 0.5121, 1.7462, 1.14, -0.3099, -0.1772, -0.1463, 0.0561] state[eef_state]: left_x=0.4142 left_y=-0.1584 left_z=0.1535 left_yaw=0.6756 left_pitch=-0.2379 left_roll=0.0776 left_gripper=0.9993 right_x=0.3754 right_y=0.2509 right_z=0.0883 right_yaw=0.7476 right_pitch=-0.34 right_roll=0.0501 right_gripper=0.0561 state[joint_eff]: [0.1846, -11.0974, 6.5709, -0.0659, -0.569, -0.0171, -0.0171, -0.212, -8.9094, 6.735, 1.5018, -0.1197, -0.0317, 1.0281] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.414, "left_y": -0.158, "left_z": 0.15, "left_yaw": -0.785}, "note": "The cap is centred on the left jaw column but now appears lying along the jaw closing axis, so I rotate the wrist 90\u00b0 the other way (yaw -45\u00b0) while holding position, so the jaws will close across the cap instead of along it."})
tool
executing move_to over 10 steps (1.0s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe cap now lies across the left jaws' closing axis and sits on the jaw column, slightly short of the fingertips; advancing 1.5 cm and descending to table level for the grasp.
move_to
left_x0.4250left_z0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2668, 1.6253, 1.1709, -0.4541, 0.1444, 0.2371, 0.9993, 0.5121, 1.7466, 1.1366, -0.308, -0.1772, -0.1467, 0.0595] state[eef_state]: left_x=0.4104 left_y=-0.1348 left_z=0.129 left_yaw=-0.5433 left_pitch=-0.3256 left_roll=0.0404 left_gripper=0.9993 right_x=0.3749 right_y=0.2506 right_z=0.0871 right_yaw=0.748 right_pitch=-0.3418 right_roll=0.0503 right_gripper=0.0595 state[joint_eff]: [0.2667, -6.8581, 10.1402, 1.5214, 0.2662, 0.2564, -0.0171, -0.0342, -8.7043, 6.694, 1.3309, -0.1148, -0.0562, 1.0281] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.425, "left_z": 0.005}, "note": "The cap now lies across the left jaws' closing axis and sits on the jaw column, slightly short of the fingertips; advancing 1.5 cm and descending to table level for the grasp."})
tool
executing move_to over 9 steps (0.9s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe cap sits between the open left jaws at table level; closing the gripper on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2615, 1.8782, 0.9501, -0.0387, 0.1543, 0.2443, 0.9993, 0.5121, 1.7466, 1.1366, -0.308, -0.1772, -0.1467, 0.0596] state[eef_state]: left_x=0.4128 left_y=-0.1349 left_z=0.0022 left_yaw=-0.5569 left_pitch=-0.3795 left_roll=0.0193 left_gripper=0.9993 right_x=0.3749 right_y=0.2506 right_z=0.0871 right_yaw=0.748 right_pitch=-0.3418 right_roll=0.0503 right_gripper=0.0596 state[joint_eff]: [0.2393, -8.9231, 5.6547, 1.4969, 0.0024, 0.0122, -0.0122, -0.0615, -8.4855, 6.4342, 1.3065, -0.1148, -0.0464, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The cap sits between the open left jaws at table level; closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteLeft gripper closed to 0.046 (~4 mm) which is ambiguous; lifting 15 cm to see in the wrist and top views whether the cap came with it.
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]: [-0.2623, 1.8851, 0.9451, -0.0113, 0.1413, 0.2409, 0.0464, 0.5121, 1.7466, 1.1366, -0.3077, -0.1776, -0.1467, 0.0596] state[eef_state]: left_x=0.4164 left_y=-0.1338 left_z=0.0013 left_yaw=-0.5425 left_pitch=-0.3674 left_roll=0.0329 left_gripper=0.0464 right_x=0.3749 right_y=0.2507 right_z=0.0872 right_yaw=0.7483 right_pitch=-0.3414 right_roll=0.0505 right_gripper=0.0596 state[joint_eff]: [-0.294, -9.5795, 5.8598, 1.0525, 0.1929, 0.1148, 1.1306, -0.3624, -8.6085, 6.653, 1.37, -0.1245, -0.0415, 1.0281] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.15}, "note": "Left gripper closed to 0.046 (~4 mm) which is ambiguous; lifting 15 cm to see in the wrist and top views whether the cap came with it."})
tool
executing move_to over 10 steps (1.0s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteBoth grippers report ~5 mm closures; the pen is clearly held by the right arm. Moving the left gripper toward the pen so the right wrist camera can show me whether the cap is actually in the left jaws and how it is oriented.
move_to
left_x0.4500left_y-0.2900left_z0.1300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2623, 1.6981, 1.2636, -0.5617, 0.1371, 0.2356, 0.05, 0.5121, 1.7466, 1.1366, -0.3077, -0.1776, -0.1467, 0.0596] state[eef_state]: left_x=0.414 left_y=-0.1324 left_z=0.1196 left_yaw=-0.5408 left_pitch=-0.4116 left_roll=0.0197 left_gripper=0.05 right_x=0.3749 right_y=0.2507 right_z=0.0872 right_yaw=0.7483 right_pitch=-0.3414 right_roll=0.0505 right_gripper=0.0596 state[joint_eff]: [-0.2393, -10.7282, 9.6342, 1.3309, 0.0611, -0.0122, 1.0281, -0.3214, -8.7316, 6.4205, 1.37, -0.1343, -0.0708, 1.0281] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.29, "left_z": 0.13}, "note": "Both grippers report ~5 mm closures; the pen is clearly held by the right arm. Moving the left gripper toward the pen so the right wrist camera can show me whether the cap is actually in the left jaws and how it is oriented."})
tool
executing move_to over 15 steps (1.5s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe cap appears held, protruding forward from the left jaws. Rotating the left wrist (first stage of a large yaw) so the cap's axis will line up with the pen's axis, holding the wrist position fixed.
move_to
left_yaw-1.5000left_x0.4400left_y-0.2790left_z0.1300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5835, 2.059, 1.7439, -0.7181, -0.0383, -0.0303, 0.0542, 0.5121, 1.7466, 1.1366, -0.313, -0.1768, -0.1459, 0.0596] state[eef_state]: left_x=0.441 left_y=-0.2787 left_z=0.1146 left_yaw=-0.5431 left_pitch=-0.4618 left_roll=0.0218 left_gripper=0.0542 right_x=0.3741 right_y=0.25 right_z=0.0864 right_yaw=0.7476 right_pitch=-0.3467 right_roll=0.0517 right_gripper=0.0596 state[joint_eff]: [-1.0325, -11.2615, 9.7026, 1.4383, 0.0855, -0.1245, 1.033, -0.0889, -8.7179, 6.4205, 1.5311, -0.105, -0.0269, 1.0281] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_yaw": -1.5, "left_x": 0.44, "left_y": -0.279, "left_z": 0.13}, "note": "The cap appears held, protruding forward from the left jaws. Rotating the left wrist (first stage of a large yaw) so the cap's axis will line up with the pen's axis, holding the wrist position fixed."})
tool
executing move_to over 7 steps (0.7s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteCap still protruding from the left jaws through the rotation. Completing the wrist rotation so the cap points back toward the pen tip, position held.
move_to
left_yaw-2.3500left_x0.4500left_y-0.2800left_z0.1300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4263, 2.3005, 2.1864, -1.1034, 0.3729, 0.7963, 0.0563, 0.5102, 1.7466, 1.1366, -0.3283, -0.1791, -0.1467, 0.0596] state[eef_state]: left_x=0.455 left_y=-0.2734 left_z=0.1206 left_yaw=-1.2976 left_pitch=-0.4924 left_roll=0.0113 left_gripper=0.0563 right_x=0.3717 right_y=0.2482 right_z=0.0842 right_yaw=0.7495 right_pitch=-0.3611 right_roll=0.057 right_gripper=0.0596 state[joint_eff]: [0.2667, -13.135, 7.8701, 0.4664, 0.3492, 0.232, 1.0281, 0.0068, -8.7453, 6.5436, 1.5311, -0.105, -0.0513, 1.0281] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_yaw": -2.35, "left_x": 0.45, "left_y": -0.28, "left_z": 0.13}, "note": "Cap still protruding from the left jaws through the rotation. Completing the wrist rotation so the cap points back toward the pen tip, position held."})
tool
executing move_to over 7 steps (0.7s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe extreme wrist angle made the left arm droop and lose tracking. Unwinding yaw back toward -0.6 (an angle the arm handled well) as the first half of a 180° flip that will point the cap's open end back toward the pen tip.
move_to
left_yaw-0.6000left_x0.4200left_y-0.3000left_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]: [-0.4278, 2.5523, 2.3959, -1.5532, 0.4759, 1.7199, 0.0563, 0.5102, 1.7477, 1.1358, -0.3367, -0.1802, -0.1467, 0.0596] state[eef_state]: left_x=0.3857 left_y=-0.2609 left_z=0.0551 left_yaw=-2.1845 left_pitch=-0.5081 left_roll=-0.078 left_gripper=0.0563 right_x=0.3699 right_y=0.2474 right_z=0.0822 right_yaw=0.7514 right_pitch=-0.3709 right_roll=0.0606 right_gripper=0.0596 state[joint_eff]: [-0.841, -18.1128, 5.7094, 0.0073, 0.3346, 0.1978, 1.0281, -0.253, -8.5265, 6.5162, 1.4872, -0.1441, -0.0122, 1.0281] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_yaw": -0.6, "left_x": 0.42, "left_y": -0.3, "left_z": 0.12}, "note": "The extreme wrist angle made the left arm droop and lose tracking. Unwinding yaw back toward -0.6 (an angle the arm handled well) as the first half of a 180\u00b0 flip that will point the cap's open end back toward the pen tip."})
tool
executing move_to over 11 steps (1.1s)
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 29.98 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7918, 0.6014, -0.3805, -0.0231, -0.025, 0.9993, -0.0185, 0.791, 0.6094, -0.3759, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=0.0017 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2957 right_y=0.0018 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.3607, 10.5231, 1.7558, -0.0464, 0.0757, -0.0806, -0.759, -1.1145, 9.7983, 1.7705, -0.0562, -0.0562, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:307cb1c752a68341bd6de828ae5246d61461d4ff76f17710c2e87b312b8d8e6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5ef52dd466fec5e22d2b87650e7ba2b9f8412f34984ef396611f5d3d486d605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:740f7f8bcbc84f6cf9d525597fc4492b80d7d72e939aec9132399a68fb9c2afa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 307cb1c752a6
wire blob e5ef52dd466f
wire blob 740f7f8bcbc8
call 1 attempt 0 · /messages · status 200 · 19.73 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7918, 0.6014, -0.3805, -0.0231, -0.025, 0.9993, -0.0185, 0.791, 0.6094, -0.3759, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=0.0017 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2957 right_y=0.0018 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.3607, 10.5231, 1.7558, -0.0464, 0.0757, -0.0806, -0.759, -1.1145, 9.7983, 1.7705, -0.0562, -0.0562, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:307cb1c752a68341bd6de828ae5246d61461d4ff76f17710c2e87b312b8d8e6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5ef52dd466fec5e22d2b87650e7ba2b9f8412f34984ef396611f5d3d486d605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:740f7f8bcbc84f6cf9d525597fc4492b80d7d72e939aec9132399a68fb9c2afa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 307cb1c752a6]
[blob e5ef52dd466f]
[blob 740f7f8bcbc8]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013AfXh7ot4WXgiXnz3XMiup",
      "input": {
        "note": "Top view shows a small dark cap left of centre and a longer pen just right of centre, both mid-table. Moving the left gripper over the cap and the right gripper over the pen (yawed 45° so its jaws close across the pen axis) to inspect with the wrist cameras.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.35,
          "left_y": -0.2,
          "left_z": 0.15,
          "right_gripper": 1,
          "right_x": 0.35,
          "right_y": 0.29,
          "right_yaw": 0.785,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 25 steps (2.5s)",
      "tool_use_id": "toolu_013AfXh7ot4WXgiXnz3XMiup",
      "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]: [-0.7906, 1.4658, 0.857, -0.1967, -0.6277, -0.5156, 0.9993, 0.6247, 1.5311, 0.8795, 0.0219, -0.1146, -0.075, 0.9991]\nstate[eef_state]: left_x=0.3403 left_y=-0.1913 left_z=0.1301 left_yaw=-0.0125 left_pitch=-0.0532 left_roll=0.0349 left_gripper=0.9993 right_x=0.3424 right_y=0.2762 right_z=0.1305 right_yaw=0.7561 right_pitch=-0.0675 right_roll=0.0058 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -6.4205, 9.7026, 1.6239, -0.4322, -0.0171, -0.0806, 0.6769, -6.8855, 8.9368, 1.9951, -0.1734, -0.0122, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dd22afa6616c02ff46109a5a8c78ed8916783ec5edecb851d2ecc59cbe293f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8b3a3424f03f8999ad1bc2320040a57906ad3475ff8bd7fab676d9c11bf0854",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b32f2165d6b46c60fd15c29dc14597c6b2b71295d9acc7a501a02f0715e7ad3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5dd22afa6616
wire blob c8b3a3424f03
wire blob b32f2165d6b4
call 2 attempt 0 · /messages · status 200 · 8.899 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7918, 0.6014, -0.3805, -0.0231, -0.025, 0.9993, -0.0185, 0.791, 0.6094, -0.3759, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=0.0017 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2957 right_y=0.0018 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.3607, 10.5231, 1.7558, -0.0464, 0.0757, -0.0806, -0.759, -1.1145, 9.7983, 1.7705, -0.0562, -0.0562, -0.1099]",
      "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]: [-0.7906, 1.4658, 0.857, -0.1967, -0.6277, -0.5156, 0.9993, 0.6247, 1.5311, 0.8795, 0.0219, -0.1146, -0.075, 0.9991]\nstate[eef_state]: left_x=0.3403 left_y=-0.1913 left_z=0.1301 left_yaw=-0.0125 left_pitch=-0.0532 left_roll=0.0349 left_gripper=0.9993 right_x=0.3424 right_y=0.2762 right_z=0.1305 right_yaw=0.7561 right_pitch=-0.0675 right_roll=0.0058 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -6.4205, 9.7026, 1.6239, -0.4322, -0.0171, -0.0806, 0.6769, -6.8855, 8.9368, 1.9951, -0.1734, -0.0122, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dd22afa6616c02ff46109a5a8c78ed8916783ec5edecb851d2ecc59cbe293f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8b3a3424f03f8999ad1bc2320040a57906ad3475ff8bd7fab676d9c11bf0854",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b32f2165d6b46c60fd15c29dc14597c6b2b71295d9acc7a501a02f0715e7ad3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5dd22afa6616]
[blob c8b3a3424f03]
[blob b32f2165d6b4]
{
  "content": [
    {
      "signature": "CAIS1hcKjgEIEhgCKkANqcJuznH0i7FIL+GRU+l4qzW+5xhjLtBxrS1ZAJxHDi31I9oamVRUkruLbAJxB8CcgqC/5dlo3mS1SkTCrEETMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfvUzNUGEgzF0QujCGVEGn4u6lUaDEXK6NdOUeC6moxnJiIwVXg4Soe7unQ8zf3Anw9esFn2iBvRtBcVwcUamSp2e4jvwZpFl6/pQRJvAFrVOTf5KvQVYPF9qhohVTLQADL9hEw4D+UxiguYaEARVKKyIRIlrNjSYVXdKTC/rcWY58Ob+1ekGEgeMXKigM4nrNuJQ9/eSbqnuYdxI3MZh0ncTmA5H4XRdYv6GYhKJmA3aPFRV6+eWDHEB6sm1MmIomGKDylOltiQEz4u/GzUB1J2s/oNf0OodlfUW++3bsmbo+X/C14f8FNfpL1IWxxJESr5kjdf0oKLaro4qL5cwNq5KxXqijGxnXEd1rjLrM8ODmPuh3yCVzikgn9N7VNDcwKyTL+Iib7/Lcn8yhfeQKrQE2N6hk7RgIQSvUBvK4epeF3yBVPukiW5wwE3PsQb4p3LeyNLh5K5sT5ZERY0BVUdMtKnIAZZKAM/s3ciT2T0sDfVm8ruxwx25aKZgKRCG7iOajwlHTGeOoOsnMxbed8zhWA00Wsrttc4XG8f/VUtxszSJWWlTf5aT/BXV8eJmQHengxU5m8lo+37NexgiGbptMYUCV7GLSc/5IP61va9qQSXEjq2TthzMD0xMvRacEVVSqOt+Fh8Ti//rlz9fBR2G5hbnSS8fFez0sLKT9MR81pcZXQ/etyYsvJG1XMxeGcyx8pw9tuf7YeJF4y77hiiZS3DNJT7sebmr6hZYOxv8yHAHwpgFD0xDwtxeXqzPQKaGxlq+WJ6kXnyXMhutU3mM5UhnY97X6XOFiUBtPVfwWS2CJswOPc0mXh8MJqgJ/6R3wVoOnJUK/+GbLeJuuACdIBm/+q+bS4XTZRFRzQ4e4xFTSQ6gFeGilESoHXVmdve+0yDur9IYw+jNUbvFESK/ZS+Wumnsol3DE2JiXaEn6+WWCJV+RBS9Wgh1F+L6eSyTOCiKSjmcnieVmHOeY2WIYpUTsnT5wxaIbs7jui1BvLudK0kcFWZUy9Ht1gzCPiAQE4GOdWGu21ilPXA+um1H9W9pxhj4zj6SdAkCId9pDPm0LNXbyaT6ruUYG63rYn8L4z12KswuovJYhGSdcJBodnFQ2fGFR1x2uw/XQxc09hInqyxFN32xr3XgDksCG/m1SnkueQXEBJnWG+X9OPPPCtDhxAMmOdjYy53rKvwqMHuKc0n2nw6V9Sf/WyFoDUO5AErloe4BtCQvbApgspnZpkwYwvQJi+hT/HCfEDk0Qz9UcNrqmZX1zonnF2H6WV6DCGNbBmGp6zogMaDamM8IchmXAbP0NIS4uGIhinkhAECarDdnQp6/uPM/kNMssZn0gQFe1JaJ/GtFHqQt1C33ibtfeQK2/dAhBkueg+P5XQSfZVo2URUl8VdyfojcE5lQUfBvXxtUKqWgxR8W5AWYH+6Hi1tht+AHPbxKSqwqT3AWRXmPyLXKsV9r8NJMio/S2klkKWn1LLuIilZWqJ5Z/gurJK+Kp4/BAA166J57QF8HGnJ+zR/rWlNj50goj933rP6O5U2UkB5VuSEd3Kif3OlGCfRIOypH9bDMDXyEHjelDvQlz+t2q/chfoPxK5fGC+kYHdirlqeColrJRQ6aJvJU8DzB84JGMeQfK2pyXfoVmzPtdMBocMsIIyupS2OjMODQC8YJlfVh3kBNoKCH4sOUMD1EsZMktwFSFYfJzDo/CuTG53G/yRCLvUiP2TUjMa4JqL7R1DzkiOpEYtLCgfOsP9LFUC/bhpsDYSHb2EpYaz4b9oujyOiOVfrFgPx4ovlkNeAqkXqxQcpC1Y4DSYpY0pAmkpQzHOpevBkOPnwxyIUlNKQlxYlnPwlk+lcYESBbZmETz1iaTeBCbuX2OiTzudpzFDZXz6rlWQefTRAt91kG+hXx+MDGSi6mZ/2XPL1kVEGWY711ygJQ8qqgyabDu5ceNXO+IiJ4Xt+YBZtvWihNjuik3UllHxMrEiuOf6/b4Zwxa7vdmZ2VsMEWcQSWBoZk9ezLuLtY63w+c7l6zEoIihA8ZWezBt/DifSnsmAo7OiLO1IwcjcYtE/+SGQ/WZM7WOS3aFBJNOWAxTYm4vJMXzINekN0ZG/9UF+JwH7Q7xpYRaUxTCT72/ZNhn8rSnVIIt8TpsVbrlm1RxaccR5ctXXaFScKFwzWeMv9aeq0tHTOiqK095wvlZHiNCUAE7lJh7P+5H2QUNkMKIhVNFr+2CcmhFj/Th1hmh49Kj5pjLvGTfEs+THpPW28fH98657Atu+nnWmX0osXwpM7kJZ4VOFzqFl5A3BZiuO67ci6/Nn544PzKb4VpHNbfUkOgLEr1lXEiyELc73eSymViuwgHVERx/C7q0tF7TOVogQkavP10sPaAcU5B1B7yF3m5kJualDYiAH2qkqQbiLL+It/5nnbym/bn9oJLwb0jTTMeVYfILVOocdNVCx32fzvY+Fx++jo9F2ye1Nr+OXFEYpqzXp+iaeGI+w60aQfvvEjLpWlbOC70PeM04r9ENVnE/TswwVodSaDn3nZujun313mediaXiBjKB6V7LcN4kUG+LdxVoNfBN8F8QAcFn1sURuuiKSeceD4BKZ5Jnest4dMUKmZyXEPHtA2Qyre3jZKtEq1klcLZLpeh897HiML04jUSASjn39GIKaPpxsReXsma5FusB/Qg+G5vCzXM71h9JwgAexTnsrz73y5gNZWIWJHnmYKiwAKJrFHLfYqSIl8+HqPuUgJnPQQGtFZKBPptcbMowvft5I3/+h26Fypa7m9XinjMF4niy04XK9X9PgbO+c0ZsW+oG7TAzdBS5qqEAGoEVDPsWLhBgyoETuBcF9Dyg5RaiCTcFE6cCPeKprADtVbmy1Wiu1AY0QsQJQuHpDNLOqMszAX2d2jsUBmxXuXNsK4mtBtVvZplFWDah3Sc1K1/TPI2/zwDy3K8Yek8OKdiPTzhsCxPkIgJlxos9VMjLAravN0zsIe8XjHpzJhYjY3wjCmGGl/DV65gw0980Ll/NLpSJovUkeoppn3t2JXX55Dx6qjN2wrS1PIgMGIeiNAfoE++UyiZemLj+7kTUruDRJiIwk6N9ZDo1lYnYKdcM2XkfsVfNathceW2jx8HjJ2V5wAzXgt+wpXYFdhHCs54UpXvJaUHpTFTe7qP6HJEvT7lz6cRKLeLaXvRN03mluSqnd+MYSjTe+GJPyqxkQGc0T3yTYGSIjRFRjTcyEqJexEhp8e+CkqE/iC3cGzxhEgouYy/H0ujo6IT32jWnD/7cTRKcOkhBc+R8YcKWwln+wrURVp9NK3jDoMGInpFDGoiTBBZ5QAH/l3R9QpLYre1+yQKPGarlcM/9uKHl94TXjQRKnmjdGYuu5pSh/+eCdVepeDtfDs9hJcF2yLfVFHyvIz8sPBguz8IKXulgTxtMTmKjhga5IsQe79cbfBZwvhtzKnxBrGCHmloM23g6JwbtWUlKQnjw7ug95Zafzn+ZVJPl6Eu4zCGRqsEEY7bkHUP8yFYhPXiL9EwzBrDfiGS4GJ5RefJGjP0WEDfeH3jmWdVDMFI/+/mEZv1o3oI0j6yuVPyxyqucOKmRZL+BEwdukwHJpcM2Yl/zXpzmwIJLrf7i/pKNS3vLLjC2TQn/+6FILxvBgcjia4fbB/iMQ+B/0OAQBQkUNR9bEeHkBLg851ukL8ZjWcNO0XANapyzYkp0rPUykF9BdfZM4lpVMkYljIjnT2u+IlzwFtt+kQu15KmViZTRGB5NlUg7z1yEeXxqxaUOYUWWF5y4IsOjz9YCC3raOa56DLDW7B9iDRTDRGsTl3jOiF59KbFnC1WeljERNb5rtL/iz8i1eg2X36L0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0182pLZVNdMJHUv552kWGUMa",
      "input": {
        "note": "In the wrist views the cap sits up-left of the left jaws and the pen up-right of the right jaws, both a few centimetres beyond the fingertips. Nudging each arm forward and sideways to centre its target on the jaw column before descending.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.162,
          "right_x": 0.39,
          "right_y": 0.267
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0182pLZVNdMJHUv552kWGUMa",
      "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]: [-0.6106, 1.5272, 0.8688, -0.1379, -0.5385, -0.4225, 0.9993, 0.5274, 1.6516, 0.9745, -0.0002, -0.1753, -0.1238, 0.999]\nstate[eef_state]: left_x=0.3769 left_y=-0.1488 left_z=0.1149 left_yaw=0.0511 left_pitch=-0.0914 left_roll=0.0552 left_gripper=0.9993 right_x=0.3803 right_y=0.2613 right_z=0.1156 right_yaw=0.7369 right_pitch=-0.1078 right_roll=0.0112 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -6.4752, 9.4427, 1.746, -0.0464, 0.2369, -0.0171, -0.1983, -7.8974, 9.3333, 1.6874, -0.2173, -0.0855, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb5cb7674726585a1d66a7f47c2301585421c2d0ff8a9629f6acd6361f4278fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bf58c21466c21544cd1d099f4f49ce346471fd1702baba97693186fc7b0e7fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4f1046d1c8b81ea85fcc16bd16066c6b0b82ba84ad7cbce83d61a56f31c69709",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob fb5cb7674726
wire blob 9bf58c21466c
wire blob 4f1046d1c8b8
call 3 attempt 0 · /messages · status 200 · 10.01 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7918, 0.6014, -0.3805, -0.0231, -0.025, 0.9993, -0.0185, 0.791, 0.6094, -0.3759, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=0.0017 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2957 right_y=0.0018 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.3607, 10.5231, 1.7558, -0.0464, 0.0757, -0.0806, -0.759, -1.1145, 9.7983, 1.7705, -0.0562, -0.0562, -0.1099]",
      "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]: [-0.7906, 1.4658, 0.857, -0.1967, -0.6277, -0.5156, 0.9993, 0.6247, 1.5311, 0.8795, 0.0219, -0.1146, -0.075, 0.9991]\nstate[eef_state]: left_x=0.3403 left_y=-0.1913 left_z=0.1301 left_yaw=-0.0125 left_pitch=-0.0532 left_roll=0.0349 left_gripper=0.9993 right_x=0.3424 right_y=0.2762 right_z=0.1305 right_yaw=0.7561 right_pitch=-0.0675 right_roll=0.0058 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -6.4205, 9.7026, 1.6239, -0.4322, -0.0171, -0.0806, 0.6769, -6.8855, 8.9368, 1.9951, -0.1734, -0.0122, -0.1148]",
      "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]: [-0.6106, 1.5272, 0.8688, -0.1379, -0.5385, -0.4225, 0.9993, 0.5274, 1.6516, 0.9745, -0.0002, -0.1753, -0.1238, 0.999]\nstate[eef_state]: left_x=0.3769 left_y=-0.1488 left_z=0.1149 left_yaw=0.0511 left_pitch=-0.0914 left_roll=0.0552 left_gripper=0.9993 right_x=0.3803 right_y=0.2613 right_z=0.1156 right_yaw=0.7369 right_pitch=-0.1078 right_roll=0.0112 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -6.4752, 9.4427, 1.746, -0.0464, 0.2369, -0.0171, -0.1983, -7.8974, 9.3333, 1.6874, -0.2173, -0.0855, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb5cb7674726585a1d66a7f47c2301585421c2d0ff8a9629f6acd6361f4278fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bf58c21466c21544cd1d099f4f49ce346471fd1702baba97693186fc7b0e7fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f1046d1c8b81ea85fcc16bd16066c6b0b82ba84ad7cbce83d61a56f31c69709",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob fb5cb7674726]
[blob 9bf58c21466c]
[blob 4f1046d1c8b8]
{
  "content": [
    {
      "signature": "CAISxwYKjgEIEhgCKkC6rGIoV8M9A4fWvAd56EIxCeopqCgDuq+pF9Z791M8H6rjWlOSToHoz/x4Y6L89y3MGIUO4S3zCPrwjoLqtDSzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYXVzNUGEgyVf0PtkDsYXNnVa24aDKVERMQTx0LOFCl6DyIwpChnVunQ0RIKVx/XxJW0DBhXp6a/JgPSW1awzAvxxZOQLUs1HDmSmH6OKtbjkBdLKuUEN2YBR3DypiYXXhiENBUc6GNex/DaHx4lOiC+yZ1dhMexGeEgw4fHNz7aVgl8WWxE/vUq9LuMVsm//JNwPOBglq5YvCEZPWWyEA3y/nmSKteriB+1Jk9X41j6027iqubGvK2jWYOnMWfmWHuk2i7kH8rAMlxeepnSXMxkIpb0ICtAYyx1jczsCOMEPIKOY5HorPmiew4NB6bDqwZ4li4npT3gQ3tn4DzZoJ2eRB+btkEMbsn44J6JSyIpjG+xXAM73hmGbOjACsQei00XuY0aAgt9Ao9k8H7G+rMxmaFOCr9MHBm+1nrNs5ObOsRtsMTQMFZkVz76zJCSnWGFErSdft7vbSZaiuSPZXzCeub08IKOsG0TBbposuhsuOATBCxu6sVP83Kfq2dAWF7Ey0PVCoorz2HMaoycZqKyl8VVist798hXSc5HZaWeoDozOAXHB3WTpynCqVFn+T85avadtkohv0DSogynldUX46AxFXLWptKd/hEF//2CB4yCsU306zEwoAsvgkGXIqKVbJ44AUk+0ir/gJ7x+x9uM8WuqZ9amLWVo/ykbH174HqwelhbfgOTSv2G6dk9/8rnUZuNMQ1ULtt+/SgpeP+rZtIKizY1BkVFNb7J2dEz03c8Td+D7l/JdTgz9ZnVM4OmbHnb6y7+gokl3Zsed+LFt+ff7b0fQl4Fz+L5hM7BCIGkU4yjC9ffnUJ+beM19p3bHw+FS4IK07Y0zbURpZA1zJy13v8hOZWylYA60vOrbRMYhxOOh8FsEecV0mgb/lH+ItFkuhh22crxD3w/gf8Ewl17YjYp/8mcURgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019xzXArbDkquxL4xN1zhFHf",
      "input": {
        "note": "Both targets are now nearly on their jaw columns but still a couple of centimetres short of the fingertips; advancing each arm radially by ~3 cm before descending.",
        "targets": {
          "left_x": 0.408,
          "left_y": -0.152,
          "right_x": 0.41,
          "right_y": 0.267
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_019xzXArbDkquxL4xN1zhFHf",
      "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]: [-0.5961, 1.5581, 0.8726, -0.128, -0.5095, -0.4019, 0.9993, 0.5087, 1.7412, 1.0576, -0.0181, -0.1932, -0.1413, 0.999]\nstate[eef_state]: left_x=0.3801 left_y=-0.1494 left_z=0.1045 left_yaw=0.0337 left_pitch=-0.1185 left_roll=0.065 left_gripper=0.9993 right_x=0.3998 right_y=0.2659 right_z=0.107 right_yaw=0.7433 right_pitch=-0.1289 right_roll=0.014 right_gripper=0.999\nstate[joint_eff]: [0.0889, -6.5026, 8.759, 1.5263, -0.4322, -0.0904, -0.0122, -0.8, -8.7863, 8.5949, 1.5849, -0.1783, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:608ee3a181452fd00cc67d86b34dfbc2af76657f0df2fbe030e74fa6724cecff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d6313bd9ff15ec003cf25ed1b51e1f99106d319bf9eb33790c78bdbe60c8373",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6361246cc3dcecefa4575b057d80599b6bb96cf23237cbd82235664ed687de8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 608ee3a18145
wire blob 7d6313bd9ff1
wire blob f6361246cc3d
call 4 attempt 0 · /messages · status 200 · 7.227 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7906, 1.4658, 0.857, -0.1967, -0.6277, -0.5156, 0.9993, 0.6247, 1.5311, 0.8795, 0.0219, -0.1146, -0.075, 0.9991]\nstate[eef_state]: left_x=0.3403 left_y=-0.1913 left_z=0.1301 left_yaw=-0.0125 left_pitch=-0.0532 left_roll=0.0349 left_gripper=0.9993 right_x=0.3424 right_y=0.2762 right_z=0.1305 right_yaw=0.7561 right_pitch=-0.0675 right_roll=0.0058 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -6.4205, 9.7026, 1.6239, -0.4322, -0.0171, -0.0806, 0.6769, -6.8855, 8.9368, 1.9951, -0.1734, -0.0122, -0.1148]",
      "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]: [-0.6106, 1.5272, 0.8688, -0.1379, -0.5385, -0.4225, 0.9993, 0.5274, 1.6516, 0.9745, -0.0002, -0.1753, -0.1238, 0.999]\nstate[eef_state]: left_x=0.3769 left_y=-0.1488 left_z=0.1149 left_yaw=0.0511 left_pitch=-0.0914 left_roll=0.0552 left_gripper=0.9993 right_x=0.3803 right_y=0.2613 right_z=0.1156 right_yaw=0.7369 right_pitch=-0.1078 right_roll=0.0112 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -6.4752, 9.4427, 1.746, -0.0464, 0.2369, -0.0171, -0.1983, -7.8974, 9.3333, 1.6874, -0.2173, -0.0855, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5961, 1.5581, 0.8726, -0.128, -0.5095, -0.4019, 0.9993, 0.5087, 1.7412, 1.0576, -0.0181, -0.1932, -0.1413, 0.999]\nstate[eef_state]: left_x=0.3801 left_y=-0.1494 left_z=0.1045 left_yaw=0.0337 left_pitch=-0.1185 left_roll=0.065 left_gripper=0.9993 right_x=0.3998 right_y=0.2659 right_z=0.107 right_yaw=0.7433 right_pitch=-0.1289 right_roll=0.014 right_gripper=0.999\nstate[joint_eff]: [0.0889, -6.5026, 8.759, 1.5263, -0.4322, -0.0904, -0.0122, -0.8, -8.7863, 8.5949, 1.5849, -0.1783, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:608ee3a181452fd00cc67d86b34dfbc2af76657f0df2fbe030e74fa6724cecff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d6313bd9ff15ec003cf25ed1b51e1f99106d319bf9eb33790c78bdbe60c8373",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6361246cc3dcecefa4575b057d80599b6bb96cf23237cbd82235664ed687de8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 608ee3a18145]
[blob 7d6313bd9ff1]
[blob f6361246cc3d]
{
  "content": [
    {
      "signature": "CAISmwoKjgEIEhgCKkCf3XVrVMIpTdxKtkKMOhSmiU66MlrTDcr75Thr2qqsSAN5OPG//CcFXnz8OXrKyL0mf9qfMfoTNnSgqSA0eWlgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY/VzNUGEgw0FC6B69SbEe4dN3kaDD/Lq02Qy2hVBW9JhyIwK5J5Yb9xXy6irKFyg/kdXHWMCo6a5N4lrn5vuz5GgCZCoooVmBifSzn5BbSArQvoKrkIiRakPrzl80f9cY9/UAgCgIfNe7YySRgN6P2EhxN/KafjCXAfWnVyFMNbyLZXWXk60WsvA0eHvvU9hwLqQUkvwX4IGAVrXKxq+Z6OCgXTJcY6+MToQ3r9PX4sZvikT2ulzS927CQAT3rEMJDSIcVW9wqEQcE5GSuMuodYXBS5cki4WT/T/H+SlQMfoYTNm5/eeyYbadn+sH+JFzrsH7M5FVGS415UGGiHvSPM8QzfDKeHR6laUYe7VP+5f12OJqCa2DE7v2skqevocqYF9mPz+LYeM65lNPa+rRMTUGv4jw8haPaZimE5aVKBJKsWCDFsFMP6qT7Mzn/kBIm68yIVdSiP7QDw9JOJmjw46wQLRDfBy59i7dEUWKuCLsWV18PWJmLLsDwhkScOKLfSUDGaqTOcReSuNlVZ6Nkq9ncUjmuor+94UNnJcNZzThwar3Pt5ZjDAiOrJIZQqiNN0VaaRwcwdACoflIpzDozz0VBdV8se5wmd9IO2EFXBMRfIlmzNHdswjPuwuyIn2iMXGi0LUOq/pty+WOEYtpyuDR+gRoYjRRIwS4yrbBdhMt8+PBNs3rWR0SNpnSSJx6Y/n9yrRVv9ols2lFtTJLqepmCtfafExxqiNkHaT5dA20+qw3FM3CmUooDTP9/I2OAOPgAV9admkvwy1CMk+U1oCaMWBeDGyGG1876dAYUKoz/djPliw+sj0tN0R/e6ELKWdb3UeM554p2TmYl8LSsa6xL25cfvg1vojU5wq4y4HmiZzbCEX4WHdJ7q1qXnW2q91uqsjawQBxWF7cJj4c9cE+cWVk+yigTR1vvgI6vFsNxdVV5QRlJsZkk3SXTAqYfoTEXKggfaCVkRep4fFrLohyZS3rThYNtr0oWo5BCKPX4HxDzV90dnKqcrrr4wFlpQSYG4pkZLbi+6vhZ2gAZyQ0yHB7aZlsnZFvM/CfDpf8SC8IlU9J/eSeOuZmvJIyJCPuv/0qLmqsOUrRHUcjsUTwNa/kHdR+od6/gTkNP+s8j3gwVlcvwF0+/1W1qe+nRZJWlv/fImLlNXGxUjzNb7sNwqZqdN+mjwwiVAkLbuzZcF2soKD2PyI5u2Cq/k99PnKkoeELyAkO0rY2OIpTVEeHYfASpCsgy/TQKlHuo6+EusBjjMfiq4Uu+16qLCQo9A2/Apf8lKF3mSU4y+RmJ5ZYgAeSHUDSFjz6q6yauwG/hhbEf1V8C2QM/4c/TSyF9RkEtSWCeWMKoS3wMVlSVdzzXjdCS/W+2+Z26nXhutCU8kiR69bVLR8LZx/HPNsk40b2fl0Pbs3Us66I/6Yamn325XsHFFpR818CpJb2+KfjKFUn3qO9iVfgFgGTZUpmdPRD2e9NB4tLRsu/mXhJ4CFrxKGeEAsu9ZdHsBVm2x72I5aXTpvJzL5o2P+t4eaFyyojGDwloKv3af1JF4RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019LLLMLNe39GYcLXA1NQkE6",
      "input": {
        "note": "The pen is now centred right under the right jaws, so the right arm descends to table level to grasp it; the left arm under-tracked its last small step, so I re-command it slightly further forward toward the cap.",
        "targets": {
          "left_x": 0.415,
          "left_y": -0.152,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_019LLLMLNe39GYcLXA1NQkE6",
      "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]: [-0.5961, 1.5581, 0.8726, -0.1326, -0.5167, -0.4023, 0.9993, 0.506, 1.9759, 0.9009, 0.347, -0.1921, -0.1474, 0.999]\nstate[eef_state]: left_x=0.3798 left_y=-0.1478 left_z=0.1042 left_yaw=0.0397 left_pitch=-0.1191 left_roll=0.0717 left_gripper=0.9993 right_x=0.3976 right_y=0.263 right_z=0.0058 right_yaw=0.7438 right_pitch=-0.1546 right_roll=0.0148 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -6.612, 8.5675, 1.4628, -0.3492, -0.0855, -0.0122, 0.1299, -7.5966, 4.2872, 1.3162, -0.0855, 0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37fa31eba7d426723112a9c03cb335d560ebceb9d7027333f0b5fcaa7b2a227d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cded72771bc05c86d1aaa5d57cf5d6739792dc5dc9acd269fd67d974198aceb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9a43990d5cc71dc0b6181e3222fb64965829083487083d7d9ca7b67632967be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 37fa31eba7d4
wire blob 3cded72771bc
wire blob e9a43990d5cc
call 5 attempt 0 · /messages · status 200 · 6.618 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6106, 1.5272, 0.8688, -0.1379, -0.5385, -0.4225, 0.9993, 0.5274, 1.6516, 0.9745, -0.0002, -0.1753, -0.1238, 0.999]\nstate[eef_state]: left_x=0.3769 left_y=-0.1488 left_z=0.1149 left_yaw=0.0511 left_pitch=-0.0914 left_roll=0.0552 left_gripper=0.9993 right_x=0.3803 right_y=0.2613 right_z=0.1156 right_yaw=0.7369 right_pitch=-0.1078 right_roll=0.0112 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -6.4752, 9.4427, 1.746, -0.0464, 0.2369, -0.0171, -0.1983, -7.8974, 9.3333, 1.6874, -0.2173, -0.0855, -0.022]\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]: [-0.5961, 1.5581, 0.8726, -0.128, -0.5095, -0.4019, 0.9993, 0.5087, 1.7412, 1.0576, -0.0181, -0.1932, -0.1413, 0.999]\nstate[eef_state]: left_x=0.3801 left_y=-0.1494 left_z=0.1045 left_yaw=0.0337 left_pitch=-0.1185 left_roll=0.065 left_gripper=0.9993 right_x=0.3998 right_y=0.2659 right_z=0.107 right_yaw=0.7433 right_pitch=-0.1289 right_roll=0.014 right_gripper=0.999\nstate[joint_eff]: [0.0889, -6.5026, 8.759, 1.5263, -0.4322, -0.0904, -0.0122, -0.8, -8.7863, 8.5949, 1.5849, -0.1783, -0.0464, -0.0171]",
      "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]: [-0.5961, 1.5581, 0.8726, -0.1326, -0.5167, -0.4023, 0.9993, 0.506, 1.9759, 0.9009, 0.347, -0.1921, -0.1474, 0.999]\nstate[eef_state]: left_x=0.3798 left_y=-0.1478 left_z=0.1042 left_yaw=0.0397 left_pitch=-0.1191 left_roll=0.0717 left_gripper=0.9993 right_x=0.3976 right_y=0.263 right_z=0.0058 right_yaw=0.7438 right_pitch=-0.1546 right_roll=0.0148 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -6.612, 8.5675, 1.4628, -0.3492, -0.0855, -0.0122, 0.1299, -7.5966, 4.2872, 1.3162, -0.0855, 0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37fa31eba7d426723112a9c03cb335d560ebceb9d7027333f0b5fcaa7b2a227d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cded72771bc05c86d1aaa5d57cf5d6739792dc5dc9acd269fd67d974198aceb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9a43990d5cc71dc0b6181e3222fb64965829083487083d7d9ca7b67632967be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 37fa31eba7d4]
[blob 3cded72771bc]
[blob e9a43990d5cc]
{
  "content": [
    {
      "signature": "CAISxwYKjgEIEhgCKkALc6p5rY67XMvArth2EY0ICWLSctGk2YPB9InoAUH6xC4Ea4ysqpgodvy9sTBeXFO97vgdmW+5CrwnlHOLu4AMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZfVzNUGEgweDp484FwaN68PL90aDM4KvzHsLS4zi48YFCIwK4wXaB3c0+UiekwMa62R51MbWbl7II+536mmpa7LoMZmw65LoDww//pVb6KSMc6eKuUELESkfmJpltsFQ/8Ee2ug4DDlk1e8E+1SYs19ILlm2H7jqxfSFK+iXCZmgPUiFkAfVLIMnsh+m3vDwJxt1jlbeEh9ZiokhL08YxneM5NcxsHHGLJaYaTyR9WrPC9UN3DueM9Dx5ryIlyMaaWAcsdgch995vzf2yTMAlS28ktjOPvV0p0b6yHw4p3pkhS1t6tymuIHi8ZgJwQGSbR5AuCBo5iIhJsH9VzgQFiJrKNkEGlaq+Mvq381SoJl/OvAExTVfjGXWiQGrKu0oORw0E4e2BvDDn/6nCAmHcIkVCUE7iMVTbgCPRGjmX3oX0f4idJfrnupaX6PpQz/xIpRicvrBNGHXGp+SjdKB9ghV7IkoaMBniRnqvHo3qKmEQ7pP79w47avR0685sx6Ktp6hVHvC/tP46Da6Sd128yPFUriWbb4MRZ7DC9BLDFnlfFx7zNUZv0t9QoGGC775Z2bmkE3jRcxkCBitI0wjnPlJb+K4MDAFrWAlXYn35IzaEVaMA16Oc4agAz5bz9cibK5PwlvSouaGv3WuJzqu71lbbWbcwvNhwaiFQTRMsHBJwgpOGmv5i4fkvYaQ0mL262FLrYcftRvR3ztlewWl2rjovOiS/BHNyFDJ4f+XW9+qZvEIzYscypuy78b5pnZv6yHIklHUc+phlPVe/MgRCcZ06eCnrzxG/eMSQqBVPRNXCd6PQgXRkQrYNhM0PDSQYBm+e0jN826vHJyZv/5oqexF+WnQjDBoWYccMlXnORtSM6EkhZsYDcDL2usNzTFm+Afr4X4zckLFuGYPPktwIFcCQiGuXW8DHJS2RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TZy3zB3Y84yqoPd6aCDqVm",
      "input": {
        "note": "The pen lies exactly between the right jaws at table level; closing the right gripper to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TZy3zB3Y84yqoPd6aCDqVm",
      "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]: [-0.5961, 1.5581, 0.8722, -0.1383, -0.5163, -0.4019, 0.9993, 0.506, 1.9862, 0.8955, 0.374, -0.1925, -0.1535, 0.0456]\nstate[eef_state]: left_x=0.3789 left_y=-0.1473 left_z=0.1032 left_yaw=0.0396 left_pitch=-0.1241 left_roll=0.0754 left_gripper=0.9993 right_x=0.3988 right_y=0.2637 right_z=0.0042 right_yaw=0.747 right_pitch=-0.1433 right_roll=0.0076 right_gripper=0.0456\nstate[joint_eff]: [-0.1846, -6.7214, 6.4068, 1.5018, -0.2759, -0.0464, -0.0122, -0.1436, -10.4, 5.5726, 1.326, -0.0757, 0.0513, 1.0867]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5f10b3e3eb3464032b6c7409028917ffaff0b2f6b021fd0e2f080abfd5998ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e649be07c836ae03832c006dc93c75fcad69f0cfe54162e95fb3a50ca5941c38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d913f69cf4ea5c1fc241e44bafd9781d6df0d3c04d9d94e7a475123a27e45793",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d5f10b3e3eb3
wire blob e649be07c836
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 5.941 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.5581, 0.8726, -0.128, -0.5095, -0.4019, 0.9993, 0.5087, 1.7412, 1.0576, -0.0181, -0.1932, -0.1413, 0.999]\nstate[eef_state]: left_x=0.3801 left_y=-0.1494 left_z=0.1045 left_yaw=0.0337 left_pitch=-0.1185 left_roll=0.065 left_gripper=0.9993 right_x=0.3998 right_y=0.2659 right_z=0.107 right_yaw=0.7433 right_pitch=-0.1289 right_roll=0.014 right_gripper=0.999\nstate[joint_eff]: [0.0889, -6.5026, 8.759, 1.5263, -0.4322, -0.0904, -0.0122, -0.8, -8.7863, 8.5949, 1.5849, -0.1783, -0.0464, -0.0171]",
      "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]: [-0.5961, 1.5581, 0.8726, -0.1326, -0.5167, -0.4023, 0.9993, 0.506, 1.9759, 0.9009, 0.347, -0.1921, -0.1474, 0.999]\nstate[eef_state]: left_x=0.3798 left_y=-0.1478 left_z=0.1042 left_yaw=0.0397 left_pitch=-0.1191 left_roll=0.0717 left_gripper=0.9993 right_x=0.3976 right_y=0.263 right_z=0.0058 right_yaw=0.7438 right_pitch=-0.1546 right_roll=0.0148 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -6.612, 8.5675, 1.4628, -0.3492, -0.0855, -0.0122, 0.1299, -7.5966, 4.2872, 1.3162, -0.0855, 0.0464, -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]: [-0.5961, 1.5581, 0.8722, -0.1383, -0.5163, -0.4019, 0.9993, 0.506, 1.9862, 0.8955, 0.374, -0.1925, -0.1535, 0.0456]\nstate[eef_state]: left_x=0.3789 left_y=-0.1473 left_z=0.1032 left_yaw=0.0396 left_pitch=-0.1241 left_roll=0.0754 left_gripper=0.9993 right_x=0.3988 right_y=0.2637 right_z=0.0042 right_yaw=0.747 right_pitch=-0.1433 right_roll=0.0076 right_gripper=0.0456\nstate[joint_eff]: [-0.1846, -6.7214, 6.4068, 1.5018, -0.2759, -0.0464, -0.0122, -0.1436, -10.4, 5.5726, 1.326, -0.0757, 0.0513, 1.0867]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5f10b3e3eb3464032b6c7409028917ffaff0b2f6b021fd0e2f080abfd5998ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e649be07c836ae03832c006dc93c75fcad69f0cfe54162e95fb3a50ca5941c38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d913f69cf4ea5c1fc241e44bafd9781d6df0d3c04d9d94e7a475123a27e45793",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d5f10b3e3eb3]
[blob e649be07c836]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4QUKjgEIEhgCKkAJv6TFpl2AkguJt3kybMVRpyJJPzP/qPeOLxiLbr4CpZQOIojo6tMVFTdBubbKvIlCn3AW31IffPs3N2N84WE0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ/VzNUGEgyF0qlQlD9taqj2fTIaDAJaJfqQjvPycOmZFyIwWyMEKz1qu54kLB1kB1cqIsJgMpST7f6Hh5fqtt2BnL/43w+rIgboJkOwhEIajN80Kv8Di6bry8Wc3nMM6AO8a+eTH9QtrpGin2MR1r84jiajNeMYqiRnuNuQ01GpmGn8gUBC/fYbdTa0iq3HHVwuCZ/ZAqkNDZg+GVLNBquNrJhHzYSkRN+Dq8pOOLP+21n0yvh5QE1xjSHKKTVQuw42K2tUiSfT05Ya8TG3ccKJ0GJun0N9XFgy1lXOCbmEM6hbCleeMsIo4dhBZ+Fnc98pmX/Ops1kgdE2x29ffRTbCuZv2TkF5C6kAEQhhE7iKPwzCArPjffAJKJsIpzjHY0ha46iFQ1+Se15CwqezLLs6IdEoSaIHOcpNt+95/su/N1M6k2vZRNOs5qbbzDuR4akK6J0ArZS6uBQGo83MN6N2hStRwU4bOMRSHl/2OZSITtIDm1Sl7X0RsScejS5JOZ78I/PPrjfYJimLPJsv7pP7WxlzDHerY9rfZHWr4BYElkIpcVkIyCB4ij89gTxmYNgdnbiSkhSh5MTZmzuxeFZg2GYJAKB1vYkKVjFRLHxRu+0jybRlJDTJjEnfaOwPfmify/6QIcMmBiQtNX6m+g1ce9uZM1VpJVvyQd3dgujehBfEIhn2fyR0mdUhe+HOZzjiXFm+irXnmFhZSpXp3ivSRYQ5n5TF4/SXAITUUus5iLG3dbmd9NiUbFacmHG3QDVnFTrxb4Yy+v+8a/h5gsSBX4B8BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011fwDSg491Cn9h4687T2dQW",
      "input": {
        "note": "Gripper settled at 0.046 (~4 mm, consistent with the pen barrel). Lifting the right arm 12 cm to confirm the pen came with it.",
        "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_011fwDSg491Cn9h4687T2dQW",
      "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]: [-0.5961, 1.5581, 0.8722, -0.1421, -0.5159, -0.4023, 0.9993, 0.506, 1.7611, 1.0607, -0.0349, -0.1921, -0.1547, 0.0487]\nstate[eef_state]: left_x=0.3783 left_y=-0.147 left_z=0.1026 left_yaw=0.0398 left_pitch=-0.1274 left_roll=0.0772 left_gripper=0.9993 right_x=0.3988 right_y=0.2636 right_z=0.096 right_yaw=0.748 right_pitch=-0.1615 right_roll=0.011 right_gripper=0.0487\nstate[joint_eff]: [-0.1436, -6.5026, 6.5026, 1.453, -0.2125, -0.0366, -0.0171, -0.3624, -11.4256, 8.7726, 1.5165, -0.0952, -0.0171, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd0da27630642c574ddac67535bb31f85f66116adcc784f8a4ef0b2c767fa005",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e36e304f040769c82ccd941251e01b5d04f099ddc799818d5fcbf1cd07a5a33b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e4c2df950cbfe66225fef51068d9da3df61549fc20ee66d9d877ab0d9b73409",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 13.64 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.5581, 0.8726, -0.1326, -0.5167, -0.4023, 0.9993, 0.506, 1.9759, 0.9009, 0.347, -0.1921, -0.1474, 0.999]\nstate[eef_state]: left_x=0.3798 left_y=-0.1478 left_z=0.1042 left_yaw=0.0397 left_pitch=-0.1191 left_roll=0.0717 left_gripper=0.9993 right_x=0.3976 right_y=0.263 right_z=0.0058 right_yaw=0.7438 right_pitch=-0.1546 right_roll=0.0148 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -6.612, 8.5675, 1.4628, -0.3492, -0.0855, -0.0122, 0.1299, -7.5966, 4.2872, 1.3162, -0.0855, 0.0464, -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]: [-0.5961, 1.5581, 0.8722, -0.1383, -0.5163, -0.4019, 0.9993, 0.506, 1.9862, 0.8955, 0.374, -0.1925, -0.1535, 0.0456]\nstate[eef_state]: left_x=0.3789 left_y=-0.1473 left_z=0.1032 left_yaw=0.0396 left_pitch=-0.1241 left_roll=0.0754 left_gripper=0.9993 right_x=0.3988 right_y=0.2637 right_z=0.0042 right_yaw=0.747 right_pitch=-0.1433 right_roll=0.0076 right_gripper=0.0456\nstate[joint_eff]: [-0.1846, -6.7214, 6.4068, 1.5018, -0.2759, -0.0464, -0.0122, -0.1436, -10.4, 5.5726, 1.326, -0.0757, 0.0513, 1.0867]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.5581, 0.8722, -0.1421, -0.5159, -0.4023, 0.9993, 0.506, 1.7611, 1.0607, -0.0349, -0.1921, -0.1547, 0.0487]\nstate[eef_state]: left_x=0.3783 left_y=-0.147 left_z=0.1026 left_yaw=0.0398 left_pitch=-0.1274 left_roll=0.0772 left_gripper=0.9993 right_x=0.3988 right_y=0.2636 right_z=0.096 right_yaw=0.748 right_pitch=-0.1615 right_roll=0.011 right_gripper=0.0487\nstate[joint_eff]: [-0.1436, -6.5026, 6.5026, 1.453, -0.2125, -0.0366, -0.0171, -0.3624, -11.4256, 8.7726, 1.5165, -0.0952, -0.0171, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd0da27630642c574ddac67535bb31f85f66116adcc784f8a4ef0b2c767fa005",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e36e304f040769c82ccd941251e01b5d04f099ddc799818d5fcbf1cd07a5a33b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e4c2df950cbfe66225fef51068d9da3df61549fc20ee66d9d877ab0d9b73409",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgQUKjgEIEhgCKkAcXaWCa1OTyzU+rfpsVZUMmINLNV+kW+tmPQp6aJjhgYfSugt8l2Af7d3UeljCbk+T43Ph9HJGqNzqmkzdBqH4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaXVzNUGEgwbuYA1W2gMRJ56BOQaDKm+d9bgYmRN8gY5DCIwq9q112srSQmkNhHAWmnO+IY9eWFxRQLu5L9K5WnopOaFH0LQz/D18VHaSrkqCD8SKp8D0r0hYee42f/ePe+/WfHT/VEYs2s31MEPcFfRMvHg9r7AV4my0/ERSbBdY3VG56DI7zjK1GmzknwDSCiBc7K2WFvfwzOtJREZ1l+IlekQBHzRCMuQIOR0ehDz2pWeewZRWX5ljc6ImlJbtrY53HETsRO7c5sAl02pa8O5ezHyOpQF1ToMyHK+5o5A+CZNLom+Ps6jhGXFTdM1ryO+E5wkCdUSsVwClHsH/MyR5iSD/UobUTxzqBo2848JVFo5zwK9YVWD/HHnUKekpfAZjEl8uehbiWvOh4oSFngK0EjQg2tuB6T7A6vkjLAz4x1zwsFHgwpSn81d8873toWjKmN1/VFRxJA20+0IxUxEqAQ9KGJaiK1wkKK/bCj42AyXS2OmaMEca+5PDEG4wq/MFRw8PquD97MSV+9PZp2TU1AqpoYsP1jnXQcLO5HbwlRGrI//QfGqbTHqJJmBxjwZ0/P4lOm8/C8ctU3Nu7WhGkhxxG7+2tc/A3io9gpWNqJVdqrnbX+WWno5MVG0uujxs+oYyMqttejBNX5zx5tVVZGQfBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CXTh9hRQiVkYd3qD6QrRvq",
      "input": {
        "note": "Pen is securely held in the right gripper and lifted. The left arm has stopped tracking forward commands, so I raise it to z=0.20 to free the pose before approaching the cap again.",
        "targets": {
          "left_x": 0.4,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01CXTh9hRQiVkYd3qD6QrRvq",
      "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]: [-0.5629, 1.5478, 1.1862, -0.4782, -0.4961, -0.3977, 0.9993, 0.506, 1.7576, 1.0634, -0.0658, -0.1921, -0.1543, 0.0487]\nstate[eef_state]: left_x=0.3977 left_y=-0.1472 left_z=0.1777 left_yaw=0.0565 left_pitch=-0.1458 left_roll=0.0757 left_gripper=0.9993 right_x=0.395 right_y=0.2615 right_z=0.0931 right_yaw=0.7488 right_pitch=-0.1856 right_roll=0.0173 right_gripper=0.0487\nstate[joint_eff]: [0.6222, -8.4855, 9.5795, 1.5214, -0.1783, 0.2515, -0.0122, -0.1162, -8.5812, 6.2291, 1.8779, -0.1099, -0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ae5c0744eca9760b3f9b992deca761cafb32ee29fee12402664574539f24e0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bf0200074afe9a52d4a7fdd7c43f65102b1c5cbc3248303b40e95568355bc7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1bfd843bf0e998250b9e00ffac8dc283b47f7f1cbe800a0cb8810241f2241dce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 8.203 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.5581, 0.8722, -0.1383, -0.5163, -0.4019, 0.9993, 0.506, 1.9862, 0.8955, 0.374, -0.1925, -0.1535, 0.0456]\nstate[eef_state]: left_x=0.3789 left_y=-0.1473 left_z=0.1032 left_yaw=0.0396 left_pitch=-0.1241 left_roll=0.0754 left_gripper=0.9993 right_x=0.3988 right_y=0.2637 right_z=0.0042 right_yaw=0.747 right_pitch=-0.1433 right_roll=0.0076 right_gripper=0.0456\nstate[joint_eff]: [-0.1846, -6.7214, 6.4068, 1.5018, -0.2759, -0.0464, -0.0122, -0.1436, -10.4, 5.5726, 1.326, -0.0757, 0.0513, 1.0867]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.5581, 0.8722, -0.1421, -0.5159, -0.4023, 0.9993, 0.506, 1.7611, 1.0607, -0.0349, -0.1921, -0.1547, 0.0487]\nstate[eef_state]: left_x=0.3783 left_y=-0.147 left_z=0.1026 left_yaw=0.0398 left_pitch=-0.1274 left_roll=0.0772 left_gripper=0.9993 right_x=0.3988 right_y=0.2636 right_z=0.096 right_yaw=0.748 right_pitch=-0.1615 right_roll=0.011 right_gripper=0.0487\nstate[joint_eff]: [-0.1436, -6.5026, 6.5026, 1.453, -0.2125, -0.0366, -0.0171, -0.3624, -11.4256, 8.7726, 1.5165, -0.0952, -0.0171, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5629, 1.5478, 1.1862, -0.4782, -0.4961, -0.3977, 0.9993, 0.506, 1.7576, 1.0634, -0.0658, -0.1921, -0.1543, 0.0487]\nstate[eef_state]: left_x=0.3977 left_y=-0.1472 left_z=0.1777 left_yaw=0.0565 left_pitch=-0.1458 left_roll=0.0757 left_gripper=0.9993 right_x=0.395 right_y=0.2615 right_z=0.0931 right_yaw=0.7488 right_pitch=-0.1856 right_roll=0.0173 right_gripper=0.0487\nstate[joint_eff]: [0.6222, -8.4855, 9.5795, 1.5214, -0.1783, 0.2515, -0.0122, -0.1162, -8.5812, 6.2291, 1.8779, -0.1099, -0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ae5c0744eca9760b3f9b992deca761cafb32ee29fee12402664574539f24e0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bf0200074afe9a52d4a7fdd7c43f65102b1c5cbc3248303b40e95568355bc7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bfd843bf0e998250b9e00ffac8dc283b47f7f1cbe800a0cb8810241f2241dce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011U9TyomK6b4njh81xX1zuL",
      "input": {
        "note": "The cap lies on the jaw column of the left wrist view with its long axis running image-left/right, so I yaw the left wrist 90° to close across the cap and descend to 6 cm for a final look.",
        "targets": {
          "left_yaw": 1.57,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011U9TyomK6b4njh81xX1zuL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5064, 2.4802, 2.0357, -1.5204, -0.7437, -1.9804, 0.9993, 0.506, 1.7824, 1.0454, -0.115, -0.1627, -0.1364, 0.0533]\nstate[eef_state]: left_x=0.408 left_y=-0.0854 left_z=0.0385 left_yaw=1.3698 left_pitch=-0.1819 left_roll=0.1113 left_gripper=0.9993 right_x=0.3851 right_y=0.2502 right_z=0.0661 right_yaw=0.7187 right_pitch=-0.2802 right_roll=0.0304 right_gripper=0.0533\nstate[joint_eff]: [1.4564, -14.0923, 7.5009, -0.9206, -0.3053, -0.0659, -0.0171, -0.7316, -10.7145, 7.747, 1.9414, -0.1734, -0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2359d6e7c8b10e6895c950ac42ace5327d77b7dea620dd1ed43a46e0eb3270f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fed42b7ffa31569f03729c7fc140f0f48ee62506ca068aec3c7b2d7a1db04d3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7bf4190a90b975288274fec9bafbe42e0f8f04c59913b9431708de3d7db01c6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 10.31 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5961, 1.5581, 0.8722, -0.1421, -0.5159, -0.4023, 0.9993, 0.506, 1.7611, 1.0607, -0.0349, -0.1921, -0.1547, 0.0487]\nstate[eef_state]: left_x=0.3783 left_y=-0.147 left_z=0.1026 left_yaw=0.0398 left_pitch=-0.1274 left_roll=0.0772 left_gripper=0.9993 right_x=0.3988 right_y=0.2636 right_z=0.096 right_yaw=0.748 right_pitch=-0.1615 right_roll=0.011 right_gripper=0.0487\nstate[joint_eff]: [-0.1436, -6.5026, 6.5026, 1.453, -0.2125, -0.0366, -0.0171, -0.3624, -11.4256, 8.7726, 1.5165, -0.0952, -0.0171, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5629, 1.5478, 1.1862, -0.4782, -0.4961, -0.3977, 0.9993, 0.506, 1.7576, 1.0634, -0.0658, -0.1921, -0.1543, 0.0487]\nstate[eef_state]: left_x=0.3977 left_y=-0.1472 left_z=0.1777 left_yaw=0.0565 left_pitch=-0.1458 left_roll=0.0757 left_gripper=0.9993 right_x=0.395 right_y=0.2615 right_z=0.0931 right_yaw=0.7488 right_pitch=-0.1856 right_roll=0.0173 right_gripper=0.0487\nstate[joint_eff]: [0.6222, -8.4855, 9.5795, 1.5214, -0.1783, 0.2515, -0.0122, -0.1162, -8.5812, 6.2291, 1.8779, -0.1099, -0.022, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5064, 2.4802, 2.0357, -1.5204, -0.7437, -1.9804, 0.9993, 0.506, 1.7824, 1.0454, -0.115, -0.1627, -0.1364, 0.0533]\nstate[eef_state]: left_x=0.408 left_y=-0.0854 left_z=0.0385 left_yaw=1.3698 left_pitch=-0.1819 left_roll=0.1113 left_gripper=0.9993 right_x=0.3851 right_y=0.2502 right_z=0.0661 right_yaw=0.7187 right_pitch=-0.2802 right_roll=0.0304 right_gripper=0.0533\nstate[joint_eff]: [1.4564, -14.0923, 7.5009, -0.9206, -0.3053, -0.0659, -0.0171, -0.7316, -10.7145, 7.747, 1.9414, -0.1734, -0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2359d6e7c8b10e6895c950ac42ace5327d77b7dea620dd1ed43a46e0eb3270f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fed42b7ffa31569f03729c7fc140f0f48ee62506ca068aec3c7b2d7a1db04d3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bf4190a90b975288274fec9bafbe42e0f8f04c59913b9431708de3d7db01c6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9QUKjgEIEhgCKkDkOlCCM6H+1CoFP6Ln3IsG8DVGON2geGYHDSIxUBpmomULybfM/mwUhSETYyceiF92byoMjs6ukyWK4CajxAfoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbzVzNUGEgwtiHcySUCQ/YUdH9saDBkA9tKLq11sSMWVaiIwo+C2ONWMqZQG1pLBzpJwsQIjDGIXdFGnsfLan89ogV1SnTpjAL607RYh7+YJSdO0KpMEtITHVWDdvWQRlh9lGeUJV0LEL5/HQO98foE4YrKVVJyj1UjUXVT+YU8A0pSlhKgT1Cb2gWslABF07FLX+9IOTz+HwOsGuQTYI6oTBTF7H3Gsg1oaXc8bT0gOqwCXfzoQjwPou7fUJyRUYvuQkIpeRLp0/072O7AW/E5Du736a+A+1ywpm8gkgOlD/0um1C3oAChYme+1gsKCAtnlG1OxFsxJcqQCZXBB7v5LlJ+Vq73kR3P8ek1yGayP8KbHpCJVE2TVWMX42a52+DxODsrNwjUgnghcKkos2pUVBN3MhMjpUsusoSRE8me7zUmwILGF+gc9LuEuAS8CQJUiTgDXK1xpic+BZOSn2jJgGVC2Jbx2GOj3zxzTXH1a4bC9+BrXkU3Fno7lLyUv7ZiBUVsPq2Z/S3mjqtd4daWk7ERavIAQqo6RkDDwePx6cs/TsFcHLvK9mGQ2qewsvz2QV/gab7HbErCQzqOHDYMDNJy1odPGn3INYBit3uBck+B94Jjx9e07S+iOglQj4hsQZlCnpsXB9/10fbbnkmBqrCymoaR6Nt6NUEjwUo2RZFbOe/RZWl1rxaSf2/SVmOr833Er8NvqOd0Tu3VzzfEj/rD3DQHCyaGrZ15EQih4hltszOQHf0S5xmCv32PpNadFkheTrTPXv1ROeBEMSjHqiEywPPCS8krshqTwQDvg5GPVMJFojhWkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014EveuJYLmofSM128HNAoTS",
      "input": {
        "note": "The yaw rotation unexpectedly dragged the left grasp point 6 cm sideways, losing sight of the cap; returning the left tool to the cap position (x 0.408, y -0.148) at 10 cm with the wrist yawed 90°, and re-lifting the pen-holding right arm which had sagged.",
        "targets": {
          "left_x": 0.408,
          "left_y": -0.148,
          "left_yaw": 1.57,
          "left_z": 0.1,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_014EveuJYLmofSM128HNAoTS",
      "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]: [-0.4606, 2.4668, 1.9766, -1.5581, -0.6899, -2.0865, 0.9993, 0.5102, 1.742, 1.1446, -0.2943, -0.1764, -0.1459, 0.0561]\nstate[eef_state]: left_x=0.3878 left_y=-0.0629 left_z=0.0316 left_yaw=1.5142 left_pitch=-0.1911 left_roll=0.1298 left_gripper=0.9993 right_x=0.3798 right_y=0.2522 right_z=0.0942 right_yaw=0.7429 right_pitch=-0.3164 right_roll=0.0438 right_gripper=0.0561\nstate[joint_eff]: [0.1436, -16.6632, 4.4239, -0.6178, -0.3004, -0.1197, -0.0122, -0.7043, -10.947, 8.9641, 1.2821, 0.0269, 0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:686867719ee689ebe2d5e7f330182aae13db094fce3e58f24b250afdaad0e63b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f495d6e6e2eba0bfaf8339ce8ebb52f7ea50f0f49bc14461114abc09dcd4f7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8774c9a2fa4c802713bfc6a6d99367b228b651bbe62d4c0545f22e0915722f1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 17.43 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5629, 1.5478, 1.1862, -0.4782, -0.4961, -0.3977, 0.9993, 0.506, 1.7576, 1.0634, -0.0658, -0.1921, -0.1543, 0.0487]\nstate[eef_state]: left_x=0.3977 left_y=-0.1472 left_z=0.1777 left_yaw=0.0565 left_pitch=-0.1458 left_roll=0.0757 left_gripper=0.9993 right_x=0.395 right_y=0.2615 right_z=0.0931 right_yaw=0.7488 right_pitch=-0.1856 right_roll=0.0173 right_gripper=0.0487\nstate[joint_eff]: [0.6222, -8.4855, 9.5795, 1.5214, -0.1783, 0.2515, -0.0122, -0.1162, -8.5812, 6.2291, 1.8779, -0.1099, -0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5064, 2.4802, 2.0357, -1.5204, -0.7437, -1.9804, 0.9993, 0.506, 1.7824, 1.0454, -0.115, -0.1627, -0.1364, 0.0533]\nstate[eef_state]: left_x=0.408 left_y=-0.0854 left_z=0.0385 left_yaw=1.3698 left_pitch=-0.1819 left_roll=0.1113 left_gripper=0.9993 right_x=0.3851 right_y=0.2502 right_z=0.0661 right_yaw=0.7187 right_pitch=-0.2802 right_roll=0.0304 right_gripper=0.0533\nstate[joint_eff]: [1.4564, -14.0923, 7.5009, -0.9206, -0.3053, -0.0659, -0.0171, -0.7316, -10.7145, 7.747, 1.9414, -0.1734, -0.0122, 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 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]: [-0.4606, 2.4668, 1.9766, -1.5581, -0.6899, -2.0865, 0.9993, 0.5102, 1.742, 1.1446, -0.2943, -0.1764, -0.1459, 0.0561]\nstate[eef_state]: left_x=0.3878 left_y=-0.0629 left_z=0.0316 left_yaw=1.5142 left_pitch=-0.1911 left_roll=0.1298 left_gripper=0.9993 right_x=0.3798 right_y=0.2522 right_z=0.0942 right_yaw=0.7429 right_pitch=-0.3164 right_roll=0.0438 right_gripper=0.0561\nstate[joint_eff]: [0.1436, -16.6632, 4.4239, -0.6178, -0.3004, -0.1197, -0.0122, -0.7043, -10.947, 8.9641, 1.2821, 0.0269, 0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:686867719ee689ebe2d5e7f330182aae13db094fce3e58f24b250afdaad0e63b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f495d6e6e2eba0bfaf8339ce8ebb52f7ea50f0f49bc14461114abc09dcd4f7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8774c9a2fa4c802713bfc6a6d99367b228b651bbe62d4c0545f22e0915722f1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkQsKjgEIEhgCKkC+kH97enlPePg4rNjPJg8Rrd5cmngP2AIH4nJoWdwJ0FOZ3G8p+M3rH0Lnu4eyK/ULTg7Q6jHEb67z19Zd7jj7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcfVzNUGEgwWqGEvtBdSdWjNnoMaDNG1aOfoYS0T1e7LjyIwrxx0eShsGAgPJpgp3qUisTG6eNsxvtyNZnS4P8j2lrgrWGq8GCG8B45wsvFjd0ZaKq8J/AsHBlSHn7ye89PL1oOcdaCKIPmVckKmL7Fm/+z0EhF2HiLE53Kg8fYeNfQms5dLTYY1N/WM6tWrF0LSCsb6H7WnXBENl8fw93blda7mHYedcQDzXKtYLupBNt+5Q79Qg6H0nDq66ALT9eAnfvNuP3Zb4PvDC9vZyeilwQx+ayr7deb6aFNObXnMuRSDilHaqF2TQlVPnm2Ew1aleG3PgGd4TOUcE6yi478GJPROz9xLkQo6h8d87uDO0lHXqVnkrIrUnErDXSsl8fapKk4PM+nDidclNsFmWvsEAwIAMPxac7sEpiGHQKd8gdY2A0bjyXbdW5jbytkfAXfGfi/nQlIrVQJpS4Rc+W6vke7a3yONnp+gF8iAmN0ivO6GtK9b+CU+a4MxG0Gq5ULxvxuXkdv1rLJ0T6Zb3m1lIjijBDcWh1dqbulkTCsNqFf8buSJy6Ufp7XZyLmQsOOCPDNWs7WfC80OgDDY3PbqoEOQOy4nGOy8zTjP7yXFJ5U1HEJ38htBj70tPqTtaxXNjZZCUBJc8tvmZ+xs8m0APwMKXb3RS/lDCkOjPg7U8Kc/KBdJSKi/3Ijk4/mvQYj2OHeoBs5crVks4rHRUbfLrGpLN5v1tWsCX6U5e24xWr41Bxb0ZRb8KXpnh0Rh8ehwyrYU+u8YRgqcee+0RXB/ld/QrLs1hdfWvwBnwhk9LDh/aNvIvkbRjmNHXgnK/0VBd/2l6i8jAwI7PcHbiTRAZ6b6GR1mEoLuNw7wLi+gcRqzDurul4oNI/h9CmTmMSbE4hKw3Sokgeg8MxE0nihEeRmUcKqDuRjdkeEl6NUbnM141pwV/v3nCaGg5Y4tbx2OAuH9tQbjcVW79xcwhODUJtgiUqwvL0VGXxJ6u8dM991dKxLJxzEzNnfeArPvMkWXFnSW7cJ/mCAEmcNh/YO+cug3PurmO1KdS22YHPOkVxkymoskyECCYk0knsj5DpUNXSk9oI8ZCXV54O9yx1DLxbcOzwweOQ3BkFaO5WdQTJcdtdRPED1iU6QBkU0zoLbG7ZZN8KcmUq8OTA4U1uiyTsxH5Tve9i0G++Jq1fbillKqCq3eE2zuxtBEzjWFCowbU1zCbcYGNBJxNiTGmFAfTAT9eZFvfw3zPLUToN/l9+LBYfuCP9kxBflg63wqNnF4jcFsn2sIRShHm8NJOt9e6Z3ojoJqntVN6nZ29fiYMIgARSZePiseGQQ3ZldKiilQFRHPJrsS2RJ17igMof8sOafHRBr1nFrbkTrfHwkz+xaafOEhrisqnNp7r/OY8sWbzRBvqZxPJr8XVXGAlk7fxwtCL5I10mHhiejPxxJOhytNLmWg0tGKookU4UJ2qMjVQaD6mOkMI/JX3FopsC53+zgnJVQ2mKLSQ8WmEOVIRJ+BTdnymNyKH4Mi0dLxDxWoi0z/Xkme2mde7EGlCJPcykHjb/+NsuampGSkX57+AI/AGfsc4lyRKY/sSwNLoUFket+WYHSucLIP5zBOe03z8jl3cTGUaye4l9MLhplpweTkDpN02OW3tSBS1jYKaz62juCd8OOC8+Cfg0c44PMwHT3EVYNvswIlDwupkaNpc1m1PKQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JZ4HPmQgWHfJfR8p47Vvn5",
      "input": {
        "note": "The left arm is stuck in an awkward wrist configuration (high shoulder effort, not tracking targets) after the yaw command; unwinding yaw to 0 and lifting it up and back to recover a clean pose.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.12,
          "left_yaw": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01JZ4HPmQgWHfJfR8p47Vvn5",
      "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]: [-0.6079, 1.3224, 1.0863, -0.7433, -0.5728, -0.5705, 0.9993, 0.511, 1.7443, 1.1439, -0.3042, -0.1772, -0.1467, 0.0561]\nstate[eef_state]: left_x=0.3269 left_y=-0.1065 left_z=0.1876 left_yaw=0.1776 left_pitch=-0.2048 left_roll=0.0853 left_gripper=0.9993 right_x=0.3776 right_y=0.2515 right_z=0.0914 right_yaw=0.7457 right_pitch=-0.3288 right_roll=0.047 right_gripper=0.0561\nstate[joint_eff]: [0.253, -5.0393, 6.5436, 1.5311, -0.2711, 0.2906, -0.0171, -0.0615, -8.9231, 6.5983, 1.5067, -0.1343, -0.0562, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40063351bb67c9903b24b14b2afb1263fc16cfc1f1608d5dd3edeb16c31a961f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34fc796eabccb76e63c53e6374a6e095e4b026344653d44158b17b54f31b4a4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab33cdbbdbdee708dcc2e0832f2f421be73b83ac471dd2cd72e859f7328c9f08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 13.69 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5064, 2.4802, 2.0357, -1.5204, -0.7437, -1.9804, 0.9993, 0.506, 1.7824, 1.0454, -0.115, -0.1627, -0.1364, 0.0533]\nstate[eef_state]: left_x=0.408 left_y=-0.0854 left_z=0.0385 left_yaw=1.3698 left_pitch=-0.1819 left_roll=0.1113 left_gripper=0.9993 right_x=0.3851 right_y=0.2502 right_z=0.0661 right_yaw=0.7187 right_pitch=-0.2802 right_roll=0.0304 right_gripper=0.0533\nstate[joint_eff]: [1.4564, -14.0923, 7.5009, -0.9206, -0.3053, -0.0659, -0.0171, -0.7316, -10.7145, 7.747, 1.9414, -0.1734, -0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4606, 2.4668, 1.9766, -1.5581, -0.6899, -2.0865, 0.9993, 0.5102, 1.742, 1.1446, -0.2943, -0.1764, -0.1459, 0.0561]\nstate[eef_state]: left_x=0.3878 left_y=-0.0629 left_z=0.0316 left_yaw=1.5142 left_pitch=-0.1911 left_roll=0.1298 left_gripper=0.9993 right_x=0.3798 right_y=0.2522 right_z=0.0942 right_yaw=0.7429 right_pitch=-0.3164 right_roll=0.0438 right_gripper=0.0561\nstate[joint_eff]: [0.1436, -16.6632, 4.4239, -0.6178, -0.3004, -0.1197, -0.0122, -0.7043, -10.947, 8.9641, 1.2821, 0.0269, 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 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]: [-0.6079, 1.3224, 1.0863, -0.7433, -0.5728, -0.5705, 0.9993, 0.511, 1.7443, 1.1439, -0.3042, -0.1772, -0.1467, 0.0561]\nstate[eef_state]: left_x=0.3269 left_y=-0.1065 left_z=0.1876 left_yaw=0.1776 left_pitch=-0.2048 left_roll=0.0853 left_gripper=0.9993 right_x=0.3776 right_y=0.2515 right_z=0.0914 right_yaw=0.7457 right_pitch=-0.3288 right_roll=0.047 right_gripper=0.0561\nstate[joint_eff]: [0.253, -5.0393, 6.5436, 1.5311, -0.2711, 0.2906, -0.0171, -0.0615, -8.9231, 6.5983, 1.5067, -0.1343, -0.0562, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40063351bb67c9903b24b14b2afb1263fc16cfc1f1608d5dd3edeb16c31a961f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34fc796eabccb76e63c53e6374a6e095e4b026344653d44158b17b54f31b4a4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab33cdbbdbdee708dcc2e0832f2f421be73b83ac471dd2cd72e859f7328c9f08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TVHmxLqywQizaEKc2HKk5D",
      "input": {
        "note": "Left wrist view shows the cap up and right of the jaws, its axis running diagonally; commanding position over the cap together with a 45° yaw so the jaws will close across the cap's axis.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.147,
          "left_yaw": 0.785,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01TVHmxLqywQizaEKc2HKk5D",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6487, 2.0441, 1.8153, -1.174, -0.7502, -1.2259, 0.9993, 0.5121, 1.7462, 1.14, -0.3099, -0.1772, -0.1463, 0.0561]\nstate[eef_state]: left_x=0.4142 left_y=-0.1584 left_z=0.1535 left_yaw=0.6756 left_pitch=-0.2379 left_roll=0.0776 left_gripper=0.9993 right_x=0.3754 right_y=0.2509 right_z=0.0883 right_yaw=0.7476 right_pitch=-0.34 right_roll=0.0501 right_gripper=0.0561\nstate[joint_eff]: [0.1846, -11.0974, 6.5709, -0.0659, -0.569, -0.0171, -0.0171, -0.212, -8.9094, 6.735, 1.5018, -0.1197, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76c28d977d74d7aadcefc5ded86e2cb043df17cb700c77f5f731a28ad6533e34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0fd0200474411501663f38901c2825a13798d0af777e19d13ce628244dfa873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ac452a883b62536ab18c788502b95458bf01fc26d833c5b7c02c4b0314e53d13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 8.469 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4606, 2.4668, 1.9766, -1.5581, -0.6899, -2.0865, 0.9993, 0.5102, 1.742, 1.1446, -0.2943, -0.1764, -0.1459, 0.0561]\nstate[eef_state]: left_x=0.3878 left_y=-0.0629 left_z=0.0316 left_yaw=1.5142 left_pitch=-0.1911 left_roll=0.1298 left_gripper=0.9993 right_x=0.3798 right_y=0.2522 right_z=0.0942 right_yaw=0.7429 right_pitch=-0.3164 right_roll=0.0438 right_gripper=0.0561\nstate[joint_eff]: [0.1436, -16.6632, 4.4239, -0.6178, -0.3004, -0.1197, -0.0122, -0.7043, -10.947, 8.9641, 1.2821, 0.0269, 0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6079, 1.3224, 1.0863, -0.7433, -0.5728, -0.5705, 0.9993, 0.511, 1.7443, 1.1439, -0.3042, -0.1772, -0.1467, 0.0561]\nstate[eef_state]: left_x=0.3269 left_y=-0.1065 left_z=0.1876 left_yaw=0.1776 left_pitch=-0.2048 left_roll=0.0853 left_gripper=0.9993 right_x=0.3776 right_y=0.2515 right_z=0.0914 right_yaw=0.7457 right_pitch=-0.3288 right_roll=0.047 right_gripper=0.0561\nstate[joint_eff]: [0.253, -5.0393, 6.5436, 1.5311, -0.2711, 0.2906, -0.0171, -0.0615, -8.9231, 6.5983, 1.5067, -0.1343, -0.0562, 1.0281]\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 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]: [-0.6487, 2.0441, 1.8153, -1.174, -0.7502, -1.2259, 0.9993, 0.5121, 1.7462, 1.14, -0.3099, -0.1772, -0.1463, 0.0561]\nstate[eef_state]: left_x=0.4142 left_y=-0.1584 left_z=0.1535 left_yaw=0.6756 left_pitch=-0.2379 left_roll=0.0776 left_gripper=0.9993 right_x=0.3754 right_y=0.2509 right_z=0.0883 right_yaw=0.7476 right_pitch=-0.34 right_roll=0.0501 right_gripper=0.0561\nstate[joint_eff]: [0.1846, -11.0974, 6.5709, -0.0659, -0.569, -0.0171, -0.0171, -0.212, -8.9094, 6.735, 1.5018, -0.1197, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76c28d977d74d7aadcefc5ded86e2cb043df17cb700c77f5f731a28ad6533e34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0fd0200474411501663f38901c2825a13798d0af777e19d13ce628244dfa873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac452a883b62536ab18c788502b95458bf01fc26d833c5b7c02c4b0314e53d13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016UjpWzXZ9qs193wemtLhrh",
      "input": {
        "note": "The cap is centred on the left jaw column but now appears lying along the jaw closing axis, so I rotate the wrist 90° the other way (yaw -45°) while holding position, so the jaws will close across the cap instead of along it.",
        "targets": {
          "left_x": 0.414,
          "left_y": -0.158,
          "left_yaw": -0.785,
          "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_016UjpWzXZ9qs193wemtLhrh",
      "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]: [-0.2668, 1.6253, 1.1709, -0.4541, 0.1444, 0.2371, 0.9993, 0.5121, 1.7466, 1.1366, -0.308, -0.1772, -0.1467, 0.0595]\nstate[eef_state]: left_x=0.4104 left_y=-0.1348 left_z=0.129 left_yaw=-0.5433 left_pitch=-0.3256 left_roll=0.0404 left_gripper=0.9993 right_x=0.3749 right_y=0.2506 right_z=0.0871 right_yaw=0.748 right_pitch=-0.3418 right_roll=0.0503 right_gripper=0.0595\nstate[joint_eff]: [0.2667, -6.8581, 10.1402, 1.5214, 0.2662, 0.2564, -0.0171, -0.0342, -8.7043, 6.694, 1.3309, -0.1148, -0.0562, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59cfc151784834c1d1109fc6936f5467752c3bbdb0c53daec1082d143b8908c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77075dcc81ab2d992461aa7d1c27d70b801e2abfebb0a9b85443b88ea731ee2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:302a7ac5ce90d83efc2c8020c4b5a272cc850fe55b32947d97d9c2b17715fc4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 5.521 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6079, 1.3224, 1.0863, -0.7433, -0.5728, -0.5705, 0.9993, 0.511, 1.7443, 1.1439, -0.3042, -0.1772, -0.1467, 0.0561]\nstate[eef_state]: left_x=0.3269 left_y=-0.1065 left_z=0.1876 left_yaw=0.1776 left_pitch=-0.2048 left_roll=0.0853 left_gripper=0.9993 right_x=0.3776 right_y=0.2515 right_z=0.0914 right_yaw=0.7457 right_pitch=-0.3288 right_roll=0.047 right_gripper=0.0561\nstate[joint_eff]: [0.253, -5.0393, 6.5436, 1.5311, -0.2711, 0.2906, -0.0171, -0.0615, -8.9231, 6.5983, 1.5067, -0.1343, -0.0562, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.6487, 2.0441, 1.8153, -1.174, -0.7502, -1.2259, 0.9993, 0.5121, 1.7462, 1.14, -0.3099, -0.1772, -0.1463, 0.0561]\nstate[eef_state]: left_x=0.4142 left_y=-0.1584 left_z=0.1535 left_yaw=0.6756 left_pitch=-0.2379 left_roll=0.0776 left_gripper=0.9993 right_x=0.3754 right_y=0.2509 right_z=0.0883 right_yaw=0.7476 right_pitch=-0.34 right_roll=0.0501 right_gripper=0.0561\nstate[joint_eff]: [0.1846, -11.0974, 6.5709, -0.0659, -0.569, -0.0171, -0.0171, -0.212, -8.9094, 6.735, 1.5018, -0.1197, -0.0317, 1.0281]",
      "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]: [-0.2668, 1.6253, 1.1709, -0.4541, 0.1444, 0.2371, 0.9993, 0.5121, 1.7466, 1.1366, -0.308, -0.1772, -0.1467, 0.0595]\nstate[eef_state]: left_x=0.4104 left_y=-0.1348 left_z=0.129 left_yaw=-0.5433 left_pitch=-0.3256 left_roll=0.0404 left_gripper=0.9993 right_x=0.3749 right_y=0.2506 right_z=0.0871 right_yaw=0.748 right_pitch=-0.3418 right_roll=0.0503 right_gripper=0.0595\nstate[joint_eff]: [0.2667, -6.8581, 10.1402, 1.5214, 0.2662, 0.2564, -0.0171, -0.0342, -8.7043, 6.694, 1.3309, -0.1148, -0.0562, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59cfc151784834c1d1109fc6936f5467752c3bbdb0c53daec1082d143b8908c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77075dcc81ab2d992461aa7d1c27d70b801e2abfebb0a9b85443b88ea731ee2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:302a7ac5ce90d83efc2c8020c4b5a272cc850fe55b32947d97d9c2b17715fc4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS9wcKjgEIEhgCKkALUSisk5Tu4Zmr11N95F6rLZLpfmf64OcXSVP2cJEipTrrs5JuGkNdCPfu57Mc+XllWcLrJ8CEztM2X+OO+7JkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfHVzNUGEgybje/xQoOO6VVi2YMaDKXIGrSP/bPHjw20tiIw7HpI0SEtE/BP0pKyNxDscEPC3K8kbF8jvzctLRtXJS+Mdkll3kuQPadVuieUhsCSKpUGjr7se755cuEy2Cbbc8JqHZHff0nRejUefyO2AzpppD+NlENzngo89vleUDli/x8aO/No3n/ugKwsy1htF8PfFnQ3on55hSLdsb+OoUgVNU9MscOMQOCgogRVaENF+89e/fq3psJDECiSu0WqgGL+5kz4DIGmO9+UwWE253cSPi4B7S8cd66qDArk4W8kKCvkIcihVvRcFhRCvceR3ggfnbNKYtgb05QvL3Jv0+xs8PlRl6cuFAzycuXKrmR8fxHg31AyKCfIugSI13hRG/nBPmPfKEG5VjQwpCyWUhjp1DujP7rCVt5z+pj8YR/LNE795qmPYYcWg732xgHWsDrqShb4KsbjDWHSS6RnnfJZEU1ZZjhWrD8s+n5bonIMvMJ5kd2D9FImYLwR8Rn2FcVl5FkGd6khKG5klxWzND559yBl28ctC5SPckVlTZdzxH1QfoUs8er4BWWtnyS7ssll1Z4FCinM+VEMhLPhCfT9yLpWVhwcfNMjlaPY9zGcXS+YVPyjtwd6TlkhJKGHe3fSOlmPl15LDxI9MMcHT0m0iNapayzs9Z86xfsCD2eG4jC/BAGqdxTnJ8f1YEbDr8U0M544RyYI2ueWERAHjrZtK8cy2ygmk1S6feedsZYvrvy8qE0XRNahEm1S4Ci4X2Y62c61kY8myXqiACfU9k1C3ylPFOXUWampyc6p6yfI2j3vil3gsKTbvKbNxgh7geGjYk4ZTIjPp4+pj6syojOXa+87G7pzMSd7TwoAbMaFd7SD0l6rjj0XWc+euX1Mapx14wdu3wCJR9maYZilMZ8kTZV/h014+SdlckQ/0fkjx50T9SiWdKdN9D+NzHMsQbLzo8Ft3qqH//r6TJoGx+UOvK5JUyx/zuEitLeScx4lw08Gq3iWkcMh1VpN0GeeLvLABW2AKPYVpIl2efi9kCoymG/uG9GTYRaERvcGRciajDP76RKIL1Ca3h9cmQFieB99ZNDwStFJDIrOE1wrgBPLLrwaUrtiEgOQyrmJYJQ9kRYG9Jte5w6gQ8fWMWACcGz6eZYeweNNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U4ESokfXUNb5A6vuvmTnmZ",
      "input": {
        "note": "The cap now lies across the left jaws' closing axis and sits on the jaw column, slightly short of the fingertips; advancing 1.5 cm and descending to table level for the grasp.",
        "targets": {
          "left_x": 0.425,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01U4ESokfXUNb5A6vuvmTnmZ",
      "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]: [-0.2615, 1.8782, 0.9501, -0.0387, 0.1543, 0.2443, 0.9993, 0.5121, 1.7466, 1.1366, -0.308, -0.1772, -0.1467, 0.0596]\nstate[eef_state]: left_x=0.4128 left_y=-0.1349 left_z=0.0022 left_yaw=-0.5569 left_pitch=-0.3795 left_roll=0.0193 left_gripper=0.9993 right_x=0.3749 right_y=0.2506 right_z=0.0871 right_yaw=0.748 right_pitch=-0.3418 right_roll=0.0503 right_gripper=0.0596\nstate[joint_eff]: [0.2393, -8.9231, 5.6547, 1.4969, 0.0024, 0.0122, -0.0122, -0.0615, -8.4855, 6.4342, 1.3065, -0.1148, -0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb9a2220e2f3bc4fc3a1089eb52f924dfdf1b3e39514ea1d9d2ae28cdd394f21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05e512a13bcf22306cd7264c16173c24e16a6a831869e99349e145c4fb63a41a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6113e3bde468c0d65f5bd7602323f12f672fa870e418b23e5a7cf7b2da2f2b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 6.817 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6487, 2.0441, 1.8153, -1.174, -0.7502, -1.2259, 0.9993, 0.5121, 1.7462, 1.14, -0.3099, -0.1772, -0.1463, 0.0561]\nstate[eef_state]: left_x=0.4142 left_y=-0.1584 left_z=0.1535 left_yaw=0.6756 left_pitch=-0.2379 left_roll=0.0776 left_gripper=0.9993 right_x=0.3754 right_y=0.2509 right_z=0.0883 right_yaw=0.7476 right_pitch=-0.34 right_roll=0.0501 right_gripper=0.0561\nstate[joint_eff]: [0.1846, -11.0974, 6.5709, -0.0659, -0.569, -0.0171, -0.0171, -0.212, -8.9094, 6.735, 1.5018, -0.1197, -0.0317, 1.0281]",
      "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]: [-0.2668, 1.6253, 1.1709, -0.4541, 0.1444, 0.2371, 0.9993, 0.5121, 1.7466, 1.1366, -0.308, -0.1772, -0.1467, 0.0595]\nstate[eef_state]: left_x=0.4104 left_y=-0.1348 left_z=0.129 left_yaw=-0.5433 left_pitch=-0.3256 left_roll=0.0404 left_gripper=0.9993 right_x=0.3749 right_y=0.2506 right_z=0.0871 right_yaw=0.748 right_pitch=-0.3418 right_roll=0.0503 right_gripper=0.0595\nstate[joint_eff]: [0.2667, -6.8581, 10.1402, 1.5214, 0.2662, 0.2564, -0.0171, -0.0342, -8.7043, 6.694, 1.3309, -0.1148, -0.0562, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2615, 1.8782, 0.9501, -0.0387, 0.1543, 0.2443, 0.9993, 0.5121, 1.7466, 1.1366, -0.308, -0.1772, -0.1467, 0.0596]\nstate[eef_state]: left_x=0.4128 left_y=-0.1349 left_z=0.0022 left_yaw=-0.5569 left_pitch=-0.3795 left_roll=0.0193 left_gripper=0.9993 right_x=0.3749 right_y=0.2506 right_z=0.0871 right_yaw=0.748 right_pitch=-0.3418 right_roll=0.0503 right_gripper=0.0596\nstate[joint_eff]: [0.2393, -8.9231, 5.6547, 1.4969, 0.0024, 0.0122, -0.0122, -0.0615, -8.4855, 6.4342, 1.3065, -0.1148, -0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb9a2220e2f3bc4fc3a1089eb52f924dfdf1b3e39514ea1d9d2ae28cdd394f21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05e512a13bcf22306cd7264c16173c24e16a6a831869e99349e145c4fb63a41a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6113e3bde468c0d65f5bd7602323f12f672fa870e418b23e5a7cf7b2da2f2b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuwUKjgEIEhgCKkDR0B50QBEeABFigcTQEuztuwDr+anIyUHWjKHqstHeDjsG7sU79siDl0pODHGlyVN8RClILrheCXHEsnZ4vAO9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfjVzNUGEgwgmPRbKdCjC9Y92NMaDFlrYetVMowlrbn4XCIw79BdiPTkokQaVzgNPVGTJkRtWyklKq4gidAymR3zwMIr92vcnfWruZ2D9k1C/R2aKtkD5afafgn9sWGLIsVdkErkuy2WzGz3L/Z3UJiQtyUWgoA7P06VNRjkZiMjZfit//Xc5La5tKJTf6ctBBm/ZKFHcRDpmV1unDJ8EBbeN+YVd66v14fwUSNufsDm+NfP2g5SISt5/FFKkf2RnSlcSUW62m8CjwyMqQXYVw7FRL7/T4aSEPWTPG253Nn+eFfNrVPnDCOTWj12s6+/jHc5CgBQzmvJeQG5bygKnvwD/U7jXWVpP6Ql10NGGaKSGu42po88JAEOhOYkMYIsBl6o8KQR+PtNEWEQtlq4LBpfCf8ih9UgF5fnXQdfgmRZUfyGMAWqpNEPsdZUb71doGTO7Fz025B5tpT8ARESWBMEN34R4+G5OAQ/6q2+VWjKf4UNJat2HkJ21EaowrUfgtrr/1WTImxh6qwhjia10e3Z+0d8wY9H+qxQjNyTWUhyWDnh1aLkkSNuSawlek/K5djBUXrHIc7f5Fzl7iBt4c7LI2/Izcgdq6nhxOpjgEau4cGs2nhEToKWtce8l6ERFp922fUdo4fYmgNBAfwWUpGivuH63N7/2CK7Tbef6mn+Y/u+DSxlutTbZqb68nnD/yEokpNR1ZJuFshtbkri1GYe+bFySNOAQtk2iKH9D2MYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ut5Jn4mEtiF6gR935VyZXX",
      "input": {
        "note": "The cap sits between the open left jaws at table level; closing the gripper on it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ut5Jn4mEtiF6gR935VyZXX",
      "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]: [-0.2623, 1.8851, 0.9451, -0.0113, 0.1413, 0.2409, 0.0464, 0.5121, 1.7466, 1.1366, -0.3077, -0.1776, -0.1467, 0.0596]\nstate[eef_state]: left_x=0.4164 left_y=-0.1338 left_z=0.0013 left_yaw=-0.5425 left_pitch=-0.3674 left_roll=0.0329 left_gripper=0.0464 right_x=0.3749 right_y=0.2507 right_z=0.0872 right_yaw=0.7483 right_pitch=-0.3414 right_roll=0.0505 right_gripper=0.0596\nstate[joint_eff]: [-0.294, -9.5795, 5.8598, 1.0525, 0.1929, 0.1148, 1.1306, -0.3624, -8.6085, 6.653, 1.37, -0.1245, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf039b506f332139ada6f9cff1373edb3da97b8bb4beb00c242a8538d426c791",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e133c197009f3af6c226bf64c7c1797398f6ae29475e836f5d9e0bbd849a3da9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:805ceef1fd53b06687bdf1ec1eb60bed0bc6cbbfbaaebc9c89fb43ee590c612c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 27.24 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2668, 1.6253, 1.1709, -0.4541, 0.1444, 0.2371, 0.9993, 0.5121, 1.7466, 1.1366, -0.308, -0.1772, -0.1467, 0.0595]\nstate[eef_state]: left_x=0.4104 left_y=-0.1348 left_z=0.129 left_yaw=-0.5433 left_pitch=-0.3256 left_roll=0.0404 left_gripper=0.9993 right_x=0.3749 right_y=0.2506 right_z=0.0871 right_yaw=0.748 right_pitch=-0.3418 right_roll=0.0503 right_gripper=0.0595\nstate[joint_eff]: [0.2667, -6.8581, 10.1402, 1.5214, 0.2662, 0.2564, -0.0171, -0.0342, -8.7043, 6.694, 1.3309, -0.1148, -0.0562, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2615, 1.8782, 0.9501, -0.0387, 0.1543, 0.2443, 0.9993, 0.5121, 1.7466, 1.1366, -0.308, -0.1772, -0.1467, 0.0596]\nstate[eef_state]: left_x=0.4128 left_y=-0.1349 left_z=0.0022 left_yaw=-0.5569 left_pitch=-0.3795 left_roll=0.0193 left_gripper=0.9993 right_x=0.3749 right_y=0.2506 right_z=0.0871 right_yaw=0.748 right_pitch=-0.3418 right_roll=0.0503 right_gripper=0.0596\nstate[joint_eff]: [0.2393, -8.9231, 5.6547, 1.4969, 0.0024, 0.0122, -0.0122, -0.0615, -8.4855, 6.4342, 1.3065, -0.1148, -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 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]: [-0.2623, 1.8851, 0.9451, -0.0113, 0.1413, 0.2409, 0.0464, 0.5121, 1.7466, 1.1366, -0.3077, -0.1776, -0.1467, 0.0596]\nstate[eef_state]: left_x=0.4164 left_y=-0.1338 left_z=0.0013 left_yaw=-0.5425 left_pitch=-0.3674 left_roll=0.0329 left_gripper=0.0464 right_x=0.3749 right_y=0.2507 right_z=0.0872 right_yaw=0.7483 right_pitch=-0.3414 right_roll=0.0505 right_gripper=0.0596\nstate[joint_eff]: [-0.294, -9.5795, 5.8598, 1.0525, 0.1929, 0.1148, 1.1306, -0.3624, -8.6085, 6.653, 1.37, -0.1245, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf039b506f332139ada6f9cff1373edb3da97b8bb4beb00c242a8538d426c791",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e133c197009f3af6c226bf64c7c1797398f6ae29475e836f5d9e0bbd849a3da9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:805ceef1fd53b06687bdf1ec1eb60bed0bc6cbbfbaaebc9c89fb43ee590c612c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnQYKjgEIEhgCKkC9eaCytfVB8phZ0ASOmzzIL8Btw3p6lLJOCw2W3Lxe3c3HQHB6T7xi44hkxKFiyxGbv8oU0HUMEZFmfreiEwt/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYDWzNUGEgyoeP7r9S+4S/Cy2BwaDDa5P9yIr9y0oADJKyIwedWRv5iki/oKFhIOkTAaTmZa2O6PdqrzkDhl9xMM59dtbiUun57BLO6SO0qJDymLKrsEdzdIsMu1P5Yk0z0NXIh9L47E9NGGzP4mP1+SwOVMDRziVleDRttuVcTToPXR50veqAyzFt5Fvaa4GxPlaYPPGJG56dpj5WIr5t2IlLtVDXaIdFmAAmGS9uo5Du78UDjN6epCjp5n07s03iRI6Gj9EO+Wpvoq1lMKgvQRWF4FD4EVa+Z3DHMg46tNSJ8HLFNRNwjVm48oUvDdxVCgBJ8xK1njzm5ZgKGtfW81fHOm2de3ghDRCSbyhHZEp8uH1ix7QSccQges59B0J5jSc36Pq/3GDVSVaMo1qUvXbGGYFzUsjturEceWQFcZqlThopfIwEuXrmJ58sAeX8kcJs/MWXP8XH2Hsu2jh73L22RyI2zM9yOhluTTNMTl/fYxazj5UaOL/QjXIQ5EQKvSpnTA+mt3KL9urKdLYdz2KAuyPJnWDDev70nwkczHD6Wh1sNWY7wzZekNE1V6sBM069njjpFtPzHrCoj1egYE5okKOi5C88VduUAGvfcGhV529nUMDziY6EkTiX/kIWdthGGj7jLLgh+renKp5F69NKBlo7rl+8ks4sSwOXUdYDIBXptZGdPVA+80K39F+SbYlWkgJYShFhe3L+0Ntci8fp3/DEIUJ6jna9DZBMTQcsh3cC77Xyq+p/ahoOMUswn+g9u2ssnHgZVWm+lipcxmDZvu9BmrEZFI82ODBaejk6eGDQf17VcnXcq+SkjshiYXBaFIEBKZ+zZrKzVG62WTxu3gFrUTinXvTbzUlX6mgRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0126AC7BYR23vjP6ZZvUENSN",
      "input": {
        "note": "Left gripper closed to 0.046 (~4 mm) which is ambiguous; lifting 15 cm to see in the wrist and top views whether the cap came with it.",
        "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_0126AC7BYR23vjP6ZZvUENSN",
      "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]: [-0.2623, 1.6981, 1.2636, -0.5617, 0.1371, 0.2356, 0.05, 0.5121, 1.7466, 1.1366, -0.3077, -0.1776, -0.1467, 0.0596]\nstate[eef_state]: left_x=0.414 left_y=-0.1324 left_z=0.1196 left_yaw=-0.5408 left_pitch=-0.4116 left_roll=0.0197 left_gripper=0.05 right_x=0.3749 right_y=0.2507 right_z=0.0872 right_yaw=0.7483 right_pitch=-0.3414 right_roll=0.0505 right_gripper=0.0596\nstate[joint_eff]: [-0.2393, -10.7282, 9.6342, 1.3309, 0.0611, -0.0122, 1.0281, -0.3214, -8.7316, 6.4205, 1.37, -0.1343, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2169cb784b77893374bbcfab84cc946595ae9d7e0b406c504ed7487da84738c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00376bec9fff73f96ab9be1a6e7079cc3db9d4344700f54093a56f23dded5e08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9d4e34ed37dce00d696a38631ee95b87395d7eb1f576fb1e2ad8b3ed6ecdf6af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 32.44 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2615, 1.8782, 0.9501, -0.0387, 0.1543, 0.2443, 0.9993, 0.5121, 1.7466, 1.1366, -0.308, -0.1772, -0.1467, 0.0596]\nstate[eef_state]: left_x=0.4128 left_y=-0.1349 left_z=0.0022 left_yaw=-0.5569 left_pitch=-0.3795 left_roll=0.0193 left_gripper=0.9993 right_x=0.3749 right_y=0.2506 right_z=0.0871 right_yaw=0.748 right_pitch=-0.3418 right_roll=0.0503 right_gripper=0.0596\nstate[joint_eff]: [0.2393, -8.9231, 5.6547, 1.4969, 0.0024, 0.0122, -0.0122, -0.0615, -8.4855, 6.4342, 1.3065, -0.1148, -0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.8851, 0.9451, -0.0113, 0.1413, 0.2409, 0.0464, 0.5121, 1.7466, 1.1366, -0.3077, -0.1776, -0.1467, 0.0596]\nstate[eef_state]: left_x=0.4164 left_y=-0.1338 left_z=0.0013 left_yaw=-0.5425 left_pitch=-0.3674 left_roll=0.0329 left_gripper=0.0464 right_x=0.3749 right_y=0.2507 right_z=0.0872 right_yaw=0.7483 right_pitch=-0.3414 right_roll=0.0505 right_gripper=0.0596\nstate[joint_eff]: [-0.294, -9.5795, 5.8598, 1.0525, 0.1929, 0.1148, 1.1306, -0.3624, -8.6085, 6.653, 1.37, -0.1245, -0.0415, 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]: [-0.2623, 1.6981, 1.2636, -0.5617, 0.1371, 0.2356, 0.05, 0.5121, 1.7466, 1.1366, -0.3077, -0.1776, -0.1467, 0.0596]\nstate[eef_state]: left_x=0.414 left_y=-0.1324 left_z=0.1196 left_yaw=-0.5408 left_pitch=-0.4116 left_roll=0.0197 left_gripper=0.05 right_x=0.3749 right_y=0.2507 right_z=0.0872 right_yaw=0.7483 right_pitch=-0.3414 right_roll=0.0505 right_gripper=0.0596\nstate[joint_eff]: [-0.2393, -10.7282, 9.6342, 1.3309, 0.0611, -0.0122, 1.0281, -0.3214, -8.7316, 6.4205, 1.37, -0.1343, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2169cb784b77893374bbcfab84cc946595ae9d7e0b406c504ed7487da84738c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00376bec9fff73f96ab9be1a6e7079cc3db9d4344700f54093a56f23dded5e08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d4e34ed37dce00d696a38631ee95b87395d7eb1f576fb1e2ad8b3ed6ecdf6af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0151qKdxQT88FRnCBmitppUq",
      "input": {
        "note": "Both grippers report ~5 mm closures; the pen is clearly held by the right arm. Moving the left gripper toward the pen so the right wrist camera can show me whether the cap is actually in the left jaws and how it is oriented.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.29,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_0151qKdxQT88FRnCBmitppUq",
      "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]: [-0.5835, 2.059, 1.7439, -0.7181, -0.0383, -0.0303, 0.0542, 0.5121, 1.7466, 1.1366, -0.313, -0.1768, -0.1459, 0.0596]\nstate[eef_state]: left_x=0.441 left_y=-0.2787 left_z=0.1146 left_yaw=-0.5431 left_pitch=-0.4618 left_roll=0.0218 left_gripper=0.0542 right_x=0.3741 right_y=0.25 right_z=0.0864 right_yaw=0.7476 right_pitch=-0.3467 right_roll=0.0517 right_gripper=0.0596\nstate[joint_eff]: [-1.0325, -11.2615, 9.7026, 1.4383, 0.0855, -0.1245, 1.033, -0.0889, -8.7179, 6.4205, 1.5311, -0.105, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f56249e1c538d8d4a4ce88ca571afaf92a0409f8be618d48a3123b81cab1b6d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:134720b727eaf7ed26eab826a502d285acf8bf2c7e451e72bf78fcb38f81d316",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b178061f90a011f83c189d3aedf1d10aa69733e1d92deceb62f6b0c619dc2074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 6.456 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.8851, 0.9451, -0.0113, 0.1413, 0.2409, 0.0464, 0.5121, 1.7466, 1.1366, -0.3077, -0.1776, -0.1467, 0.0596]\nstate[eef_state]: left_x=0.4164 left_y=-0.1338 left_z=0.0013 left_yaw=-0.5425 left_pitch=-0.3674 left_roll=0.0329 left_gripper=0.0464 right_x=0.3749 right_y=0.2507 right_z=0.0872 right_yaw=0.7483 right_pitch=-0.3414 right_roll=0.0505 right_gripper=0.0596\nstate[joint_eff]: [-0.294, -9.5795, 5.8598, 1.0525, 0.1929, 0.1148, 1.1306, -0.3624, -8.6085, 6.653, 1.37, -0.1245, -0.0415, 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]: [-0.2623, 1.6981, 1.2636, -0.5617, 0.1371, 0.2356, 0.05, 0.5121, 1.7466, 1.1366, -0.3077, -0.1776, -0.1467, 0.0596]\nstate[eef_state]: left_x=0.414 left_y=-0.1324 left_z=0.1196 left_yaw=-0.5408 left_pitch=-0.4116 left_roll=0.0197 left_gripper=0.05 right_x=0.3749 right_y=0.2507 right_z=0.0872 right_yaw=0.7483 right_pitch=-0.3414 right_roll=0.0505 right_gripper=0.0596\nstate[joint_eff]: [-0.2393, -10.7282, 9.6342, 1.3309, 0.0611, -0.0122, 1.0281, -0.3214, -8.7316, 6.4205, 1.37, -0.1343, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5835, 2.059, 1.7439, -0.7181, -0.0383, -0.0303, 0.0542, 0.5121, 1.7466, 1.1366, -0.313, -0.1768, -0.1459, 0.0596]\nstate[eef_state]: left_x=0.441 left_y=-0.2787 left_z=0.1146 left_yaw=-0.5431 left_pitch=-0.4618 left_roll=0.0218 left_gripper=0.0542 right_x=0.3741 right_y=0.25 right_z=0.0864 right_yaw=0.7476 right_pitch=-0.3467 right_roll=0.0517 right_gripper=0.0596\nstate[joint_eff]: [-1.0325, -11.2615, 9.7026, 1.4383, 0.0855, -0.1245, 1.033, -0.0889, -8.7179, 6.4205, 1.5311, -0.105, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f56249e1c538d8d4a4ce88ca571afaf92a0409f8be618d48a3123b81cab1b6d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:134720b727eaf7ed26eab826a502d285acf8bf2c7e451e72bf78fcb38f81d316",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b178061f90a011f83c189d3aedf1d10aa69733e1d92deceb62f6b0c619dc2074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BgALeKv3SniATL54pe7ahr",
      "input": {
        "note": "The cap appears held, protruding forward from the left jaws. Rotating the left wrist (first stage of a large yaw) so the cap's axis will line up with the pen's axis, holding the wrist position fixed.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.279,
          "left_yaw": -1.5,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01BgALeKv3SniATL54pe7ahr",
      "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]: [-0.4263, 2.3005, 2.1864, -1.1034, 0.3729, 0.7963, 0.0563, 0.5102, 1.7466, 1.1366, -0.3283, -0.1791, -0.1467, 0.0596]\nstate[eef_state]: left_x=0.455 left_y=-0.2734 left_z=0.1206 left_yaw=-1.2976 left_pitch=-0.4924 left_roll=0.0113 left_gripper=0.0563 right_x=0.3717 right_y=0.2482 right_z=0.0842 right_yaw=0.7495 right_pitch=-0.3611 right_roll=0.057 right_gripper=0.0596\nstate[joint_eff]: [0.2667, -13.135, 7.8701, 0.4664, 0.3492, 0.232, 1.0281, 0.0068, -8.7453, 6.5436, 1.5311, -0.105, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbaa0dea3b176de0d52295dcae775628ad8e26d2ab59f1901c7b94be429f393d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eda20b1f457c457413688389686fa21f4db03d51e0116360b1fc69a23c8fcf15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8536816dae7c010524a63a080aa19685523bd9f5daf07545e10dba932e69acb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 25.9 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.6981, 1.2636, -0.5617, 0.1371, 0.2356, 0.05, 0.5121, 1.7466, 1.1366, -0.3077, -0.1776, -0.1467, 0.0596]\nstate[eef_state]: left_x=0.414 left_y=-0.1324 left_z=0.1196 left_yaw=-0.5408 left_pitch=-0.4116 left_roll=0.0197 left_gripper=0.05 right_x=0.3749 right_y=0.2507 right_z=0.0872 right_yaw=0.7483 right_pitch=-0.3414 right_roll=0.0505 right_gripper=0.0596\nstate[joint_eff]: [-0.2393, -10.7282, 9.6342, 1.3309, 0.0611, -0.0122, 1.0281, -0.3214, -8.7316, 6.4205, 1.37, -0.1343, -0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5835, 2.059, 1.7439, -0.7181, -0.0383, -0.0303, 0.0542, 0.5121, 1.7466, 1.1366, -0.313, -0.1768, -0.1459, 0.0596]\nstate[eef_state]: left_x=0.441 left_y=-0.2787 left_z=0.1146 left_yaw=-0.5431 left_pitch=-0.4618 left_roll=0.0218 left_gripper=0.0542 right_x=0.3741 right_y=0.25 right_z=0.0864 right_yaw=0.7476 right_pitch=-0.3467 right_roll=0.0517 right_gripper=0.0596\nstate[joint_eff]: [-1.0325, -11.2615, 9.7026, 1.4383, 0.0855, -0.1245, 1.033, -0.0889, -8.7179, 6.4205, 1.5311, -0.105, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4263, 2.3005, 2.1864, -1.1034, 0.3729, 0.7963, 0.0563, 0.5102, 1.7466, 1.1366, -0.3283, -0.1791, -0.1467, 0.0596]\nstate[eef_state]: left_x=0.455 left_y=-0.2734 left_z=0.1206 left_yaw=-1.2976 left_pitch=-0.4924 left_roll=0.0113 left_gripper=0.0563 right_x=0.3717 right_y=0.2482 right_z=0.0842 right_yaw=0.7495 right_pitch=-0.3611 right_roll=0.057 right_gripper=0.0596\nstate[joint_eff]: [0.2667, -13.135, 7.8701, 0.4664, 0.3492, 0.232, 1.0281, 0.0068, -8.7453, 6.5436, 1.5311, -0.105, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbaa0dea3b176de0d52295dcae775628ad8e26d2ab59f1901c7b94be429f393d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eda20b1f457c457413688389686fa21f4db03d51e0116360b1fc69a23c8fcf15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8536816dae7c010524a63a080aa19685523bd9f5daf07545e10dba932e69acb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISpwUKjgEIEhgCKkDWAYvPw4OkE65Z6AjarmPJBy4r+ku6LoOyC2MloC8Ol+WnExFpJDrvm5gnedGQEmx3ReuU8pHDsgK3GhbCgZvbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcTWzNUGEgzhyzTVKWt3pFKwdkwaDH+SsVfcLRhe+z999CIwP8mpNunUvXyhswGczgAKWCnsxqHv10TnGXXiejLafLURn4wRzxgJY9wX0exmdVrYKsUDzYfhn0gV5R9qE/E6WeGWujQm32NPFErxsYEg6NMBJhooMDrQwTvrbn86071GyzdLHsi+GweSMqhAeI7yFdzvTFw6g5Cuaief3QwS3+DatDkRgNi7otK5jI1w7x+Ea6qrn7osNmPey9HAzUyJ/8v2pCT3qESDXvyhOwGSguNCcvYuWjX260YAXEdD/5ZNn/CDDnXEEqxzuKtDataA7e142PYVPRwBppZZKopu4KCkYq9bHj03pe+qB3Cp2WNHaPhOCY509Ejwhy3cD4+tvsyuTQi6tOV9CddUGG92GfKxoCoeUw9FmZC5/Pukg/XQLGj/b+elssdPNUzvqundxbyjyeX1WZjai1O5SMTvQcVpUDwJ8Q02A4Q6v5Ro9PCOIenrVysOWkPa54z/D3W49VHN1qgYlcIAKNnSe/eqGEmqQMAhQOsZjkqIKuMmW9R1e+W9W9fW3oBwV5wHJ0gwREYYA45fVZjJKiBmub8cmon2jriNnyC2Bs0Jw+DFJJyHQHS45Yu8abKKNDjof5g1o0S6FZ6lt/+7hwmwbcSKZfBQAG2EGVrR64/yfI4mIARDJGZefOiMSsh5B371yGDAB7W4xmDCB1EsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016X8MpeMgrC1pVu3xF4LDyp",
      "input": {
        "note": "Cap still protruding from the left jaws through the rotation. Completing the wrist rotation so the cap points back toward the pen tip, position held.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.28,
          "left_yaw": -2.35,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_016X8MpeMgrC1pVu3xF4LDyp",
      "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]: [-0.4278, 2.5523, 2.3959, -1.5532, 0.4759, 1.7199, 0.0563, 0.5102, 1.7477, 1.1358, -0.3367, -0.1802, -0.1467, 0.0596]\nstate[eef_state]: left_x=0.3857 left_y=-0.2609 left_z=0.0551 left_yaw=-2.1845 left_pitch=-0.5081 left_roll=-0.078 left_gripper=0.0563 right_x=0.3699 right_y=0.2474 right_z=0.0822 right_yaw=0.7514 right_pitch=-0.3709 right_roll=0.0606 right_gripper=0.0596\nstate[joint_eff]: [-0.841, -18.1128, 5.7094, 0.0073, 0.3346, 0.1978, 1.0281, -0.253, -8.5265, 6.5162, 1.4872, -0.1441, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa7b4300ef42da99c40d5aaf58ea9f674577ba4d341883be6fd2bd73c4f65585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ecc0af45d2e1f13b57b708db21acb6c968e3109099f8b89548e568cfeb42c03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d9d0e15f6ce217c4cb0a0d10a1a5149a36316230be84bd70b71553e3d3ceeed0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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