adhoc

completed
2026-09-22T23:55:50.851472+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 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
428.8 s
total steps
217
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

done

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 pen cap left-of-centre and a longer pen right-of-centre. Moving the left arm to hover ~10 cm above my estimate of the cap to check alignment in the wrist camera.
move_to
left_x0.3300left_y-0.1800left_z0.1500left_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, 0.7925, 0.6018, -0.3805, -0.0196, -0.0113, 0.9996, -0.0177, 0.7902, 0.6086, -0.3756, -0.0227, -0.0227, 0.9991] state[eef_state]: left_x=0.2943 left_y=0.0011 left_z=0.1792 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2957 right_y=0.0024 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, -1.4701, 10.5368, 1.7802, -0.0317, -0.0317, -0.0562, -0.6632, -1.1282, 9.894, 1.746, -0.0611, 0.0806, -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": 0.33, "left_y": -0.18, "left_z": 0.15, "left_gripper": 1}, "note": "Top view shows a small pen cap left-of-centre and a longer pen right-of-centre. Moving the left arm to hover ~10 cm above my estimate of the cap to check alignment in the wrist camera."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteLeft wrist view shows the cap up and to the image-left of the jaw column, i.e. farther out and toward the table centre. Shifting the gripper that way to centre it before descending.
move_to
left_x0.3500left_y-0.1200left_z0.1400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7868, 1.346, 0.7612, -0.2298, -0.6147, -0.4889, 0.9996, -0.0193, 0.7975, 0.6128, -0.3893, -0.0227, -0.0227, 0.9991] state[eef_state]: left_x=0.3188 left_y=-0.1703 left_z=0.1283 left_yaw=-0.0218 left_pitch=-0.0661 left_roll=0.047 left_gripper=0.9996 right_x=0.2948 right_y=0.0019 right_z=0.1812 right_yaw=-0.0015 right_pitch=-0.0168 right_roll=0.0003 right_gripper=0.9991 state[joint_eff]: [-0.253, -5.2444, 9.6615, 1.6923, -0.3346, 0.1245, -0.0611, -0.1026, -1.8393, 6.735, 1.8584, -0.0464, -0.0269, -0.0171] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.12, "left_z": 0.14}, "note": "Left wrist view shows the cap up and to the image-left of the jaw column, i.e. farther out and toward the table centre. Shifting the gripper that way to centre it before descending."})
tool
executing move_to over 5 steps (0.5s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe cap is now nearly on the jaw column in the left wrist view but still a few cm short of the fingertips. Advancing radially, dropping height, and yawing the wrist so the jaws close across the cap's axis rather than along it.
move_to
left_x0.3750left_z0.0900left_yaw-1.1300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5636, 1.3113, 0.7498, -0.2108, -0.4847, -0.3553, 0.9995, -0.0193, 0.7979, 0.6128, -0.3908, -0.0223, -0.0227, 0.9991] state[eef_state]: left_x=0.345 left_y=-0.1164 left_z=0.1297 left_yaw=0.0297 left_pitch=-0.0955 left_roll=0.0545 left_gripper=0.9995 right_x=0.2947 right_y=0.0019 right_z=0.1807 right_yaw=-0.0018 right_pitch=-0.0187 right_roll=0.0001 right_gripper=0.9991 state[joint_eff]: [0.212, -6.2564, 6.7761, 1.8339, -0.0952, 0.1832, -0.0171, -0.212, -1.306, 7.2684, 1.7705, -0.022, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.375, "left_z": 0.09, "left_yaw": -1.13}, "note": "The cap is now nearly on the jaw column in the left wrist view but still a few cm short of the fingertips. Advancing radially, dropping height, and yawing the wrist so the jaws close across the cap's axis rather than along it."})
tool
executing move_to over 8 steps (0.8s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteCap is centred on the jaw column in the left wrist view with its axis across the jaws. Descending to table level to grasp it.
move_to
left_x0.3850left_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]: [-0.0025, 1.6611, 0.9077, -0.2367, 0.6094, 0.7143, 0.9995, -0.0193, 0.8032, 0.6128, -0.3958, -0.0223, -0.0227, 0.9991] state[eef_state]: left_x=0.3812 left_y=-0.0985 left_z=0.0715 left_yaw=-0.9078 left_pitch=-0.1843 left_roll=-0.0038 left_gripper=0.9995 right_x=0.2943 right_y=0.0019 right_z=0.1782 right_yaw=-0.0018 right_pitch=-0.029 right_roll=0.0003 right_gripper=0.9991 state[joint_eff]: [0.2393, -8.5128, 7.6103, 1.0183, 0.4762, 0.2173, -0.0122, -0.1983, -1.6752, 7.1863, 1.8144, -0.0366, -0.0122, -0.0171] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.385, "left_z": 0.0}, "note": "Cap is centred on the jaw column in the left wrist view with its axis across the jaws. Descending to table level to grasp it."})
tool
executing move_to over 5 steps (0.5s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteCap sits between the open jaws at table level; closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0006, 1.8431, 0.8082, -0.0113, 0.6186, 0.7368, 0.9995, -0.0193, 0.8047, 0.6128, -0.3969, -0.0223, -0.0227, 0.9991] state[eef_state]: left_x=0.3748 left_y=-0.0991 left_z=0.0012 left_yaw=-0.933 left_pitch=-0.2119 left_roll=-0.0376 left_gripper=0.9995 right_x=0.2943 right_y=0.0019 right_z=0.1776 right_yaw=-0.0018 right_pitch=-0.0317 right_roll=0.0004 right_gripper=0.9991 state[joint_eff]: [-0.1846, -6.8991, 4.2735, 0.8474, 0.1587, -0.1783, -0.0122, -0.1709, -1.1966, 7.2274, 1.7265, -0.022, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Cap sits between the open jaws at table level; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteGripper closed to 0.05 (~5 mm), suggesting it holds something thin. Lifting 8 cm to confirm the object came with the jaws.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0006, 1.8496, 0.8009, 0.017, 0.6178, 0.7338, 0.0511, -0.0193, 0.8051, 0.6128, -0.3969, -0.0227, -0.0227, 0.9991] state[eef_state]: left_x=0.3767 left_y=-0.099 left_z=-0.0002 left_yaw=-0.9284 left_pitch=-0.2038 left_roll=-0.0275 left_gripper=0.0511 right_x=0.2943 right_y=0.0019 right_z=0.1775 right_yaw=-0.0015 right_pitch=-0.032 right_roll=0.0006 right_gripper=0.9991 state[joint_eff]: [-0.335, -8.6359, 5.4632, 0.8962, 0.3053, 0.0366, 1.2576, -0.1846, -1.3607, 6.9949, 1.7363, -0.0122, -0.0757, -0.0171] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.08}, "note": "Gripper closed to 0.05 (~5 mm), suggesting it holds something thin. Lifting 8 cm to confirm the object came with the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe cap appears to be in the left gripper (jaws settled at ~6 mm and the cap is gone from the wrist view). Now moving the right arm to hover above the pen lying near the table centre.
move_to
right_x0.4000right_y0.2200right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0006, 1.6829, 0.9077, -0.2745, 0.6052, 0.7334, 0.06, -0.0193, 0.8051, 0.6128, -0.3973, -0.0227, -0.0227, 0.9991] state[eef_state]: left_x=0.3737 left_y=-0.0971 left_z=0.0591 left_yaw=-0.9235 left_pitch=-0.2233 left_roll=-0.0358 left_gripper=0.06 right_x=0.2943 right_y=0.0019 right_z=0.1774 right_yaw=-0.0015 right_pitch=-0.0324 right_roll=0.0006 right_gripper=0.9991 state[joint_eff]: [-0.2393, -9.0735, 8.7043, 1.1697, 0.3932, -0.0366, 1.033, -0.0068, -1.1556, 7.2, 1.7949, -0.0317, -0.022, -0.0171] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.22, "right_z": 0.15, "right_gripper": 1}, "note": "The cap appears to be in the left gripper (jaws settled at ~6 mm and the cap is gone from the wrist view). Now moving the right arm to hover above the pen lying near the table centre."})
tool
executing move_to over 19 steps (1.9s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteRight wrist view shows the pen just below the jaws, angled up-right with its tip at the upper end. Yawing the wrist to close across the pen shaft and descending close to the table.
move_to
right_x0.3950right_y0.2150right_z0.0300right_yaw-0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0002, 1.6848, 0.9096, -0.2955, 0.5983, 0.7338, 0.0663, 0.6941, 1.6424, 1.0481, -0.1719, 0.524, 0.3908, 0.9991] state[eef_state]: left_x=0.3706 left_y=-0.096 left_z=0.0563 left_yaw=-0.9231 left_pitch=-0.2407 left_roll=-0.049 left_gripper=0.0663 right_x=0.3896 right_y=0.2139 right_z=0.1333 right_yaw=0.0353 right_pitch=-0.0871 right_roll=-0.0404 right_gripper=0.9991 state[joint_eff]: [0.0752, -7.6923, 5.6684, 1.2821, 0.3736, -0.0611, 1.033, 0.2803, -7.9795, 8.6906, 1.6337, 0.5592, 0.2515, -0.1099] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.395, "right_y": 0.215, "right_z": 0.03, "right_yaw": -0.5}, "note": "Right wrist view shows the pen just below the jaws, angled up-right with its tip at the upper end. Yawing the wrist to close across the pen shaft and descending close to the table."})
tool
executing move_to over 7 steps (0.7s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteAfter the last yaw the pen lies along the jaw-closing axis, which would squeeze it lengthwise; rotating the wrist the other way (and lifting slightly) so the jaws close across the pen shaft.
move_to
right_yaw0.5000right_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]: [-0.0006, 1.6867, 0.9096, -0.3038, 0.5854, 0.7338, 0.0663, 0.7944, 2.0857, 1.2793, -0.3649, 0.8135, 0.9455, 0.9991] state[eef_state]: left_x=0.3694 left_y=-0.0942 left_z=0.0536 left_yaw=-0.9176 left_pitch=-0.256 left_roll=-0.0503 left_gripper=0.0663 right_x=0.3954 right_y=0.2245 right_z=0.0302 right_yaw=-0.3849 right_pitch=-0.1293 right_roll=-0.0718 right_gripper=0.9991 state[joint_eff]: [-0.1436, -7.665, 5.7778, 1.1844, 0.398, -0.0366, 1.0281, 0.4308, -10.5504, 6.5983, 0.5495, 0.8083, 0.3346, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 0.5, "right_z": 0.06}, "note": "After the last yaw the pen lies along the jaw-closing axis, which would squeeze it lengthwise; rotating the wrist the other way (and lifting slightly) so the jaws close across the pen shaft."})
tool
executing move_to over 6 steps (0.6s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe pen now runs vertically in the right wrist view (across the jaw axis) but sits ~2 cm to the image-right of the jaw column; shifting the gripper that way and descending to table level.
move_to
right_y0.1850right_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]: [-0.0006, 1.6905, 0.9092, -0.3042, 0.5785, 0.7338, 0.0663, 0.5537, 1.7809, 0.8444, 0.1463, 0.2329, 0.1665, 0.999] state[eef_state]: left_x=0.3693 left_y=-0.0932 left_z=0.0515 left_yaw=-0.9144 left_pitch=-0.2636 left_roll=-0.0502 left_gripper=0.0663 right_x=0.3929 right_y=0.1992 right_z=0.0366 right_yaw=0.2485 right_pitch=-0.2065 right_roll=-0.0416 right_gripper=0.999 state[joint_eff]: [-0.3487, -7.8427, 5.7504, 1.1111, 0.3199, 0.0073, 1.0281, -0.294, -10.2222, 5.4496, 1.6825, -0.0171, -0.0611, -0.0171] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.185, "right_z": 0.005}, "note": "The pen now runs vertically in the right wrist view (across the jaw axis) but sits ~2 cm to the image-right of the jaw column; shifting the gripper that way and descending to table level."})
tool
executing move_to over 3 steps (0.3s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent notePen shaft is centred between the jaws at table level; closing the right gripper on 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]: [-0.0006, 1.6905, 0.9092, -0.3073, 0.5751, 0.7338, 0.0663, 0.5243, 1.8339, 0.7822, 0.2581, 0.1547, 0.0811, 0.999] state[eef_state]: left_x=0.3689 left_y=-0.0927 left_z=0.0509 left_yaw=-0.9129 left_pitch=-0.2679 left_roll=-0.0508 left_gripper=0.0663 right_x=0.3875 right_y=0.1968 right_z=0.0097 right_yaw=0.3319 right_pitch=-0.225 right_roll=-0.0499 right_gripper=0.999 state[joint_eff]: [-0.2667, -7.3504, 5.8188, 1.0769, 0.2515, -0.0415, 1.0281, -0.8137, -8.2393, 5.6684, 1.8388, 0.1343, 0.1294, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Pen shaft is centred between the jaws at table level; closing the right gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteRight gripper settled at 0.01 — an empty close, so the pen was not between the jaws. Opening and lifting to re-look at the pen's position.
move_to
right_gripper1.0000right_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]: [-0.0006, 1.6905, 0.9092, -0.308, 0.5743, 0.7338, 0.0663, 0.5182, 1.8397, 0.7727, 0.3134, 0.1928, 0.1276, 0.0114] state[eef_state]: left_x=0.3688 left_y=-0.0926 left_z=0.0508 left_yaw=-0.9126 left_pitch=-0.2689 left_roll=-0.051 left_gripper=0.0663 right_x=0.396 right_y=0.191 right_z=0.0145 right_yaw=0.2699 right_pitch=-0.1794 right_roll=-0.0331 right_gripper=0.0114 state[joint_eff]: [-0.3487, -7.5282, 5.9145, 1.1209, 0.2173, -0.0513, 1.0281, -0.3624, -6.6393, 4.6154, 1.1697, 0.188, 0.0806, 0.4664] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": 0.06}, "note": "Right gripper settled at 0.01 \u2014 an empty close, so the pen was not between the jaws. Opening and lifting to re-look at the pen's position."})
tool
executing move_to over 10 steps (1.0s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteWith the jaws open I can see the pen lies ~3 cm to the image-left of the jaw column, which is why the close came up empty; shifting the right gripper toward it.
move_to
right_y0.2220
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0006, 1.6905, 0.9085, -0.308, 0.572, 0.7334, 0.0663, 0.5182, 1.7386, 0.8188, 0.128, 0.1829, 0.123, 0.995] state[eef_state]: left_x=0.3686 left_y=-0.0923 left_z=0.0503 left_yaw=-0.9112 left_pitch=-0.271 left_roll=-0.0506 left_gripper=0.0663 right_x=0.3891 right_y=0.189 right_z=0.0404 right_yaw=0.279 right_pitch=-0.2182 right_roll=-0.039 right_gripper=0.995 state[joint_eff]: [-0.2393, -7.5966, 5.9556, 1.0916, 0.2466, -0.0513, 1.0232, -0.3487, -9.9624, 8.1026, 1.4383, 0.149, 0.0513, -0.1392] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.222}, "note": "With the jaws open I can see the pen lies ~3 cm to the image-left of the jaw column, which is why the close came up empty; shifting the right gripper toward it."})
tool
executing move_to over 3 steps (0.3s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent notePen is now almost on the jaw column, just ~1 cm to the image-left; nudging over and descending to table level for another grasp attempt.
move_to
right_y0.2300right_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]: [-0.0006, 1.6905, 0.9077, -0.3111, 0.572, 0.7338, 0.0712, 0.5877, 1.7851, 0.8631, 0.0978, 0.215, 0.1547, 0.996] state[eef_state]: left_x=0.3678 left_y=-0.0922 left_z=0.0498 left_yaw=-0.9122 left_pitch=-0.2733 left_roll=-0.0535 left_gripper=0.0712 right_x=0.3825 right_y=0.2138 right_z=0.033 right_yaw=0.3018 right_pitch=-0.243 right_roll=-0.0477 right_gripper=0.996 state[joint_eff]: [-0.1436, -7.3504, 5.8188, 1.0623, 0.2759, -0.0659, 1.0379, 0.3897, -7.7607, 7.8838, 1.5165, 0.3199, 0.2515, 0.0855] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.23, "right_z": 0.0}, "note": "Pen is now almost on the jaw column, just ~1 cm to the image-left; nudging over and descending to table level for another grasp attempt."})
tool
executing move_to over 3 steps (0.3s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe last descent didn't take effect (z still 0.034); re-commanding a descent to table level with the pen centred between the jaws.
move_to
right_z-0.0050right_y0.2320
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0006, 1.6905, 0.9077, -0.3111, 0.572, 0.7338, 0.0712, 0.6083, 1.7931, 0.8787, 0.0853, 0.2291, 0.1726, 0.9961] state[eef_state]: left_x=0.3678 left_y=-0.0922 left_z=0.0498 left_yaw=-0.9122 left_pitch=-0.2733 left_roll=-0.0535 left_gripper=0.0712 right_x=0.381 right_y=0.2208 right_z=0.0336 right_yaw=0.3003 right_pitch=-0.2444 right_roll=-0.0466 right_gripper=0.9961 state[joint_eff]: [-0.1026, -7.1863, 5.7231, 1.0769, 0.2125, -0.0171, 1.033, -0.3897, -8.0205, 7.241, 1.5702, 0.2027, 0.0757, -0.0073] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": -0.005, "right_y": 0.232}, "note": "The last descent didn't take effect (z still 0.034); re-commanding a descent to table level with the pen centred between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe right arm has stopped tracking (identical readback twice), so I'm changing the target slightly — pulling in 1.5 cm and levelling pitch — to unstick the IK and get the fingertips down to the pen.
move_to
right_x0.3650right_z0.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0006, 1.6905, 0.9077, -0.3111, 0.5716, 0.7338, 0.0754, 0.6083, 1.7931, 0.8791, 0.0849, 0.2291, 0.1726, 0.9961] state[eef_state]: left_x=0.3678 left_y=-0.0922 left_z=0.0498 left_yaw=-0.912 left_pitch=-0.2736 left_roll=-0.0533 left_gripper=0.0754 right_x=0.3811 right_y=0.2208 right_z=0.0337 right_yaw=0.3003 right_pitch=-0.2444 right_roll=-0.0466 right_gripper=0.9961 state[joint_eff]: [-0.212, -7.5692, 5.7915, 1.0623, 0.2418, -0.0513, 1.033, -0.4581, -8.0068, 7.2821, 1.5946, 0.2076, 0.0659, -0.0122] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.365, "right_z": 0.0, "right_pitch": 0.0}, "note": "The right arm has stopped tracking (identical readback twice), so I'm changing the target slightly \u2014 pulling in 1.5 cm and levelling pitch \u2014 to unstick the IK and get the fingertips down to the pen."})
tool
executing move_to over 9 steps (0.9s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteFingertips are now at table level with the pen shaft running straight into the jaw gap; closing on the pen.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0006, 1.6905, 0.9077, -0.3107, 0.572, 0.7338, 0.0789, 0.6624, 1.9049, 0.606, 0.6689, 0.3058, 0.1711, 0.9961] state[eef_state]: left_x=0.3679 left_y=-0.0922 left_z=0.0498 left_yaw=-0.9121 left_pitch=-0.2731 left_roll=-0.0532 left_gripper=0.0789 right_x=0.3641 right_y=0.2211 right_z=0.0011 right_yaw=0.3003 right_pitch=-0.0396 right_roll=-0.0305 right_gripper=0.9961 state[joint_eff]: [-0.3487, -7.5145, 5.9282, 1.0965, 0.3053, -0.0415, 1.033, 0.4444, -6.065, 3.5077, 1.3162, 0.1538, -0.2076, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Fingertips are now at table level with the pen shaft running straight into the jaw gap; closing on the pen."})
tool
executing move_to over 10 steps (1.0s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteRight gripper settled at 0.048 (~4.5 mm), consistent with holding the pen shaft; lifting to confirm the pen comes up 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]: [-0.0006, 1.6905, 0.9077, -0.3111, 0.5716, 0.7338, 0.079, 0.6628, 1.9167, 0.6018, 0.7029, 0.3027, 0.1711, 0.0478] state[eef_state]: left_x=0.3678 left_y=-0.0922 left_z=0.0498 left_yaw=-0.912 left_pitch=-0.2736 left_roll=-0.0533 left_gripper=0.079 right_x=0.3653 right_y=0.2229 right_z=0.0015 right_yaw=0.3034 right_pitch=-0.0235 right_roll=-0.0225 right_gripper=0.0478 state[joint_eff]: [-0.294, -7.5419, 5.8735, 1.0623, 0.2418, 0.0024, 1.0281, -0.3487, -8.9641, 5.0667, 1.409, 0.105, -0.0317, 1.3407] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Right gripper settled at 0.048 (~4.5 mm), consistent with holding the pen shaft; lifting to confirm the pen comes up with it."})
tool
executing move_to over 8 steps (0.8s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe pen is clearly held by the right gripper, sticking out forward. Now bringing the left gripper (which should hold the cap) into the right wrist camera's view so I can see the cap's orientation relative to the pen tip.
move_to
left_x0.4500left_y-0.3200left_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]: [-0.0006, 1.6955, 0.9028, -0.3119, 0.5709, 0.7334, 0.079, 0.6628, 1.5616, 0.7544, 0.1905, 0.2943, 0.1684, 0.0536] state[eef_state]: left_x=0.3658 left_y=-0.0921 left_z=0.0463 left_yaw=-0.9137 left_pitch=-0.2807 left_roll=-0.0619 left_gripper=0.079 right_x=0.3648 right_y=0.2243 right_z=0.1024 right_yaw=0.3117 right_pitch=-0.0295 right_roll=-0.0218 right_gripper=0.0536 state[joint_eff]: [-0.335, -7.4735, 6.1333, 1.16, 0.2173, -0.0513, 1.0037, -0.0752, -8.8137, 8.2667, 1.7656, 0.1148, 0.0073, 1.0281] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.32, "left_z": 0.12}, "note": "The pen is clearly held by the right gripper, sticking out forward. Now bringing the left gripper (which should hold the cap) into the right wrist camera's view so I can see the cap's orientation relative to the pen tip."})
tool
executing move_to over 21 steps (2.1s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteBoth objects are held and each protrudes forward from its own gripper, so they cannot meet; I am yawing the right arm so the pen points along +y (toward the left arm) and the left arm so the cap points along -y (toward the pen), setting up a head-on mating along the y axis.
move_to
left_x0.3500left_y-0.3000left_z0.1500left_yaw-1.5700right_x0.3500right_y0.2000right_z0.1500right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5278, 2.0766, 1.6562, -0.5129, 0.284, 0.2474, 0.079, 0.6628, 1.5574, 0.7528, 0.1703, 0.2878, 0.1684, 0.0588] state[eef_state]: left_x=0.4423 left_y=-0.311 left_z=0.1053 left_yaw=-0.9212 left_pitch=-0.3121 left_roll=-0.0782 left_gripper=0.079 right_x=0.3618 right_y=0.2233 right_z=0.0993 right_yaw=0.3169 right_pitch=-0.0472 right_roll=-0.0242 right_gripper=0.0588 state[joint_eff]: [-0.5812, -11.7812, 9.3333, 1.2821, 0.0513, 0.0269, 1.0037, -0.3487, -6.4889, 6.3795, 1.8339, 0.1392, -0.0806, 1.0281] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.3, "left_z": 0.15, "left_yaw": -1.57, "right_x": 0.35, "right_y": 0.2, "right_z": 0.15, "right_yaw": 1.57}, "note": "Both objects are held and each protrudes forward from its own gripper, so they cannot meet; I am yawing the right arm so the pen points along +y (toward the left arm) and the left arm so the cap points along -y (toward the pen), setting up a head-on mating along the y axis."})
tool
executing move_to over 8 steps (0.8s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent notePen now points along +y from the right gripper and the cap points along -y from the left gripper, roughly anti-parallel. Bringing the left arm to the pen tip's height and line, stopping a few cm short to check alignment.
move_to
left_x0.4200left_y-0.3100left_z0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4931, 2.027, 1.7073, -0.9138, 0.5579, 0.7975, 0.079, 0.1562, 1.7969, 1.3342, -0.5503, -0.8165, -0.9615, 0.0621] state[eef_state]: left_x=0.363 left_y=-0.2972 left_z=0.1216 left_yaw=-1.4701 left_pitch=-0.3629 left_roll=-0.1222 left_gripper=0.079 right_x=0.4005 right_y=0.197 right_z=0.1517 right_yaw=1.3042 right_pitch=-0.064 right_roll=-0.0741 right_gripper=0.0621 state[joint_eff]: [-0.0479, -13.4359, 9.1692, 1.0818, 0.4762, 0.1929, 1.0037, -0.4171, -9.4974, 5.9692, 0.4957, -0.9206, -0.1441, 1.0281] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.31, "left_z": 0.18}, "note": "Pen now points along +y from the right gripper and the cap points along -y from the left gripper, roughly anti-parallel. Bringing the left arm to the pen tip's height and line, stopping a few cm short to check alignment."})
tool
executing move_to over 5 steps (0.5s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteRight wrist view shows the pen tip pointing up-frame with the left gripper just beyond it; the left grasp point reads 2.6 cm higher than the right, so I'm lowering the cap to the pen's height and closing 2 cm of the gap.
move_to
left_z0.1530left_y-0.3300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4618, 2.3459, 2.3981, -1.2758, 0.5568, 0.8284, 0.079, 0.1539, 1.816, 1.3319, -0.5816, -0.8185, -0.9905, 0.0621] state[eef_state]: left_x=0.4265 left_y=-0.3125 left_z=0.1665 left_yaw=-1.4529 left_pitch=-0.3566 left_roll=-0.093 left_gripper=0.079 right_x=0.3959 right_y=0.1956 right_z=0.1404 right_yaw=1.3219 right_pitch=-0.0843 right_roll=-0.0485 right_gripper=0.0621 state[joint_eff]: [0.0889, -12.5744, 6.2017, 0.105, 0.3883, 0.0513, 1.0037, 0.0205, -10.7692, 6.4752, 1.3162, -0.3834, 0.1294, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.153, "left_y": -0.33}, "note": "Right wrist view shows the pen tip pointing up-frame with the left gripper just beyond it; the left grasp point reads 2.6 cm higher than the right, so I'm lowering the cap to the pen's height and closing 2 cm of the gap."})
tool
executing move_to over 2 steps (0.2s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteBoth wrist views show the cap and pen tip nearly collinear and about a centimetre apart; advancing the cap 1 cm along the shared axis toward the pen tip.
move_to
left_y-0.3130
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.3998, 0.5545, 0.8288, 0.079, 0.1535, 1.816, 1.3319, -0.569, -0.8112, -0.9806, 0.0621] state[eef_state]: left_x=0.4125 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4826 left_pitch=-0.4164 left_roll=-0.1909 left_gripper=0.079 right_x=0.3986 right_y=0.1949 right_z=0.1407 right_yaw=1.3115 right_pitch=-0.085 right_roll=-0.0547 right_gripper=0.0621 state[joint_eff]: [-0.6085, -12.6564, 8.1299, 0.6911, 0.3736, -0.0171, 1.0232, -0.253, -9.3197, 6.5299, 0.9158, -0.4957, -0.1538, 1.0281] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.313}, "note": "Both wrist views show the cap and pen tip nearly collinear and about a centimetre apart; advancing the cap 1 cm along the shared axis toward the pen tip."})
tool
executing move_to over 2 steps (0.2s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
assistant
agent noteThe left arm stalled (identical readback), so I'm re-commanding the 1.5 cm approach with small simultaneous changes in x and z to unstick the IK and bring the cap onto the pen tip.
move_to
left_y-0.3150left_x0.4050left_z0.1550
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.3998, 0.5549, 0.8288, 0.079, 0.1535, 1.8168, 1.3312, -0.5735, -0.8108, -0.9833, 0.0621] state[eef_state]: left_x=0.4125 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4828 left_pitch=-0.4161 left_roll=-0.1911 left_gripper=0.079 right_x=0.3977 right_y=0.1948 right_z=0.1397 right_yaw=1.3132 right_pitch=-0.0878 right_roll=-0.0513 right_gripper=0.0621 state[joint_eff]: [-0.4171, -12.547, 8.0615, 0.7204, 0.3785, 0.0122, 1.0232, -0.3897, -9.1145, 6.6667, 1.1551, -0.4371, -0.0415, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.315, "left_x": 0.405, "left_z": 0.155}, "note": "The left arm stalled (identical readback), so I'm re-commanding the 1.5 cm approach with small simultaneous changes in x and z to unstick the IK and bring the cap onto the pen tip."})
tool
executing move_to over 2 steps (0.2s)
step 182
assistant
agent noteThe left arm is frozen at its IK limit, so instead I'm advancing the right arm 2 cm along the pen's axis to push the pen tip into the waiting cap.
move_to
right_y0.2130right_x0.4040
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.3998, 0.5549, 0.8288, 0.079, 0.1535, 1.8168, 1.3312, -0.569, -0.8043, -0.9833, 0.0621] state[eef_state]: left_x=0.4125 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4828 left_pitch=-0.4161 left_roll=-0.1911 left_gripper=0.079 right_x=0.399 right_y=0.1941 right_z=0.1394 right_yaw=1.3094 right_pitch=-0.0911 right_roll=-0.0578 right_gripper=0.0621 state[joint_eff]: [-0.5675, -12.6838, 8.4444, 0.7009, 0.3639, 0.0122, 1.0232, -0.3487, -9.2239, 6.5299, 1.0281, -0.4322, -0.0366, 1.0281] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.213, "right_x": 0.404}, "note": "The left arm is frozen at its IK limit, so instead I'm advancing the right arm 2 cm along the pen's axis to push the pen tip into the waiting cap."})
tool
executing move_to over 2 steps (0.2s)
step 184
assistant
agent noteThe gap between the pen tip and the cap is now about a centimetre; continuing to drive the right arm along the pen axis to seat the tip into the cap.
move_to
right_y0.2250right_x0.4080
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.3998, 0.5549, 0.8288, 0.079, 0.1757, 1.8233, 1.3315, -0.5583, -0.7887, -0.9638, 0.0621] state[eef_state]: left_x=0.4125 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4828 left_pitch=-0.4161 left_roll=-0.1911 left_gripper=0.079 right_x=0.3979 right_y=0.2016 right_z=0.1362 right_yaw=1.3125 right_pitch=-0.1012 right_roll=-0.0521 right_gripper=0.0621 state[joint_eff]: [-0.4034, -12.6564, 8.4991, 0.6813, 0.3883, 0.0024, 1.0232, 1.0051, -8.0205, 8.4718, 1.3016, -0.4908, 0.1148, 1.033] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.225, "right_x": 0.408}, "note": "The gap between the pen tip and the cap is now about a centimetre; continuing to drive the right arm along the pen axis to seat the tip into the cap."})
tool
executing move_to over 2 steps (0.2s)
step 186
assistant
agent notePen tip and cap now appear to touch; pushing 1 cm further along the axis (and correcting the right arm's height sag which put the pen ~2 cm below the cap) to seat the cap on the pen.
move_to
right_y0.2340right_z0.1450
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.4002, 0.5549, 0.8288, 0.079, 0.218, 1.8481, 1.3479, -0.5392, -0.7692, -0.9264, 0.0621] state[eef_state]: left_x=0.4124 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4829 left_pitch=-0.4163 left_roll=-0.1915 left_gripper=0.079 right_x=0.3982 right_y=0.2177 right_z=0.1314 right_yaw=1.3234 right_pitch=-0.1111 right_roll=-0.0395 right_gripper=0.0621 state[joint_eff]: [-0.3897, -12.6838, 8.1709, 0.6813, 0.3785, 0.0366, 1.0183, 0.841, -8.1436, 8.8137, 1.2283, -0.4664, 0.1441, 1.0379] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.234, "right_z": 0.145}, "note": "Pen tip and cap now appear to touch; pushing 1 cm further along the axis (and correcting the right arm's height sag which put the pen ~2 cm below the cap) to seat the cap on the pen."})
tool
executing move_to over 2 steps (0.2s)
step 188
assistant
agent noteThe cap and pen tip are pressed together along a common axis; releasing the left gripper to see whether the cap stays seated on the pen.
move_to
left_gripper0.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4545, 2.3775, 2.4454, -1.4006, 0.5533, 0.8284, 0.079, 0.231, 1.861, 1.3613, -0.5224, -0.7586, -0.9085, 0.0621] state[eef_state]: left_x=0.4126 left_y=-0.301 left_z=0.1571 left_yaw=-1.4816 left_pitch=-0.4176 left_roll=-0.1909 left_gripper=0.079 right_x=0.4023 right_y=0.2231 right_z=0.1312 right_yaw=1.3192 right_pitch=-0.1111 right_roll=-0.0449 right_gripper=0.0621 state[joint_eff]: [-0.1026, -13.135, 5.8325, 0.6862, 0.2466, -0.0317, 1.0183, 0.0205, -8.9915, 8.1436, 1.1355, -0.3785, 0.0415, 1.0379] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.55}, "note": "The cap and pen tip are pressed together along a common axis; releasing the left gripper to see whether the cap stays seated on the pen."})
tool
executing move_to over 5 steps (0.5s)
step 193
assistant
agent noteLeft jaws are open and the cap appears to have stayed with the pen; retracting the left arm clear so I can confirm the cap is seated on the pen tip.
move_to
left_x0.3000left_y-0.2500left_z0.2800left_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]: [-0.4545, 2.3775, 2.4447, -1.4029, 0.5503, 0.8204, 0.5455, 0.231, 1.861, 1.3613, -0.5224, -0.7589, -0.9085, 0.0621] state[eef_state]: left_x=0.4123 left_y=-0.3003 left_z=0.1565 left_yaw=-1.4767 left_pitch=-0.4225 left_roll=-0.1969 left_gripper=0.5455 right_x=0.4023 right_y=0.2232 right_z=0.1312 right_yaw=1.3194 right_pitch=-0.1108 right_roll=-0.0448 right_gripper=0.0621 state[joint_eff]: [-0.1162, -13.2034, 5.9829, 0.7399, 0.3053, 0.0562, -0.2076, -0.0889, -9.1009, 8.1436, 1.1453, -0.4127, 0.0415, 1.0379] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.25, "left_z": 0.28, "left_gripper": 1}, "note": "Left jaws are open and the cap appears to have stayed with the pen; retracting the left arm clear so I can confirm the cap is seated on the pen tip."})
tool
executing move_to over 9 steps (0.9s)
step 202
assistant
agent noteThe cap slipped off and is lying on the table (visible at the left of the left wrist view); moving the left gripper back over its estimated position to pick it up again.
move_to
left_x0.4100left_y-0.3100left_z0.1000left_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]: [-0.4721, 1.9324, 2.1521, -1.5536, 0.5426, 0.7948, 0.9972, 0.231, 1.861, 1.3598, -0.522, -0.7586, -0.9089, 0.0621] state[eef_state]: left_x=0.3086 left_y=-0.256 left_z=0.2559 left_yaw=-1.4751 left_pitch=-0.4305 left_roll=-0.2061 left_gripper=0.9972 right_x=0.4021 right_y=0.2231 right_z=0.1307 right_yaw=1.3195 right_pitch=-0.1117 right_roll=-0.0442 right_gripper=0.0621 state[joint_eff]: [-0.7179, -11.3846, 5.6957, 0.8571, 0.398, 0.1197, -0.0904, -0.1846, -9.5248, 6.7897, 1.2186, -0.4176, -0.022, 1.0379] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.31, "left_z": 0.1, "left_gripper": 1}, "note": "The cap slipped off and is lying on the table (visible at the left of the left wrist view); moving the left gripper back over its estimated position to pick it up again."})
tool
executing move_to over 11 steps (1.1s)
step 213
assistant
agent noteThe last left wrist frame was motion-blurred; making a small settling move to get a clear view of the table where the cap fell.
move_to
left_z0.1300left_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]: [-0.4774, 2.3184, 2.0922, -1.1973, 0.5304, 0.7856, 0.9985, 0.2306, 1.861, 1.359, -0.5236, -0.7586, -0.9092, 0.0621] state[eef_state]: left_x=0.3906 left_y=-0.2987 left_z=0.0892 left_yaw=-1.5074 left_pitch=-0.4891 left_roll=-0.2894 left_gripper=0.9985 right_x=0.4017 right_y=0.2228 right_z=0.1302 right_yaw=1.3196 right_pitch=-0.1127 right_roll=-0.0425 right_gripper=0.0621 state[joint_eff]: [-0.1846, -13.3812, 9.6889, 0.6667, 0.3541, 0.0073, -0.1734, -0.3487, -9.5795, 6.4068, 1.1062, -0.3687, -0.0317, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.13, "left_x": 0.4}, "note": "The last left wrist frame was motion-blurred; making a small settling move to get a clear view of the table where the cap fell."})
tool
executing move_to over 3 steps (0.3s)
step 216
assistant
agent noteI picked up the pen cap with the left arm and the pen with the right arm, yawed both wrists so the two objects pointed at each other along the y axis, and drove them together tip-to-tip. When I released the left gripper the cap did not stay on the pen — it butted against the tip rather than seating, and fell to the table. The pen is still held by the right gripper; the cap is loose on the table. Task not completed.
done
hindsightUseful things learned: (1) Small objects are found much faster with the wrist camera than the top camera; at wrist heights of ~10 cm assume ~8-10 px/cm near the bottom of the frame. (2) Wrist yaw rotates the wrist image by more than the commanded yaw appears to, and my sign convention was wrong once — verify empirically with a small yaw and re-look before committing. (3) The IK frequently FREEZES: identical readback across calls, especially at long reach (x>0.40) combined with large |y| and yawed wrist. Changing only one dimension will not unstick it; changing x, y and z together by a few mm does. Plan mating motions with the arm that is NOT near its limit. (4) Grippers report thickness well: pen shaft read 0.048 (4.5 mm), cap read 0.079 (7.5 mm); an empty close reads ~0.01. (5) Free-space height sag differs per arm (up to 2.6 cm), so two grasp points commanded to the same z are NOT at the same height — compare readbacks and correct before trying to mate objects. (6) Capping a pen held in the other gripper is very sensitive to which end of the cap is open; before lifting the cap, note in the wrist view which end is open and grasp so the open end protrudes toward the intended mating direction. A likely better plan is to lay the pen on the table (or hold it fixed) and align the cap coaxially in two views before pushing.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4732, 2.397, 2.3272, -1.3479, 0.5274, 0.7853, 0.9983, 0.231, 1.861, 1.359, -0.5232, -0.7586, -0.9092, 0.0621] state[eef_state]: left_x=0.4031 left_y=-0.3022 left_z=0.1137 left_yaw=-1.4991 left_pitch=-0.4888 left_roll=-0.2823 left_gripper=0.9983 right_x=0.4017 right_y=0.223 right_z=0.1303 right_yaw=1.3199 right_pitch=-0.1125 right_roll=-0.0428 right_gripper=0.0621 state[joint_eff]: [0.5402, -12.6291, 7.8427, 0.3639, 0.2076, 0.0855, -0.0269, -0.0342, -9.7299, 6.3385, 1.0769, -0.3736, -0.0366, 1.0379] camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
done({"summary": "I picked up the pen cap with the left arm and the pen with the right arm, yawed both wrists so the two objects pointed at each other along the y axis, and drove them together tip-to-tip. When I released the left gripper the cap did not stay on the pen \u2014 it butted against the tip rather than seating, and fell to the table. The pen is still held by the right gripper; the cap is loose on the table. Task not completed.", "hindsight": "Useful things learned: (1) Small objects are found much faster with the wrist camera than the top camera; at wrist heights of ~10 cm assume ~8-10 px/cm near the bottom of the frame. (2) Wrist yaw rotates the wrist image by more than the commanded yaw appears to, and my sign convention was wrong once \u2014 verify empirically with a small yaw and re-look before committing. (3) The IK frequently FREEZES: identical readback across calls, especially at long reach (x>0.40) combined with large |y| and yawed wrist. Changing only one dimension will not unstick it; changing x, y and z together by a few mm does. Plan mating motions with the arm that is NOT near its limit. (4) Grippers report thickness well: pen shaft read 0.048 (4.5 mm), cap read 0.079 (7.5 mm); an empty close reads ~0.01. (5) Free-space height sag differs per arm (up to 2.6 cm), so two grasp points commanded to the same z are NOT at the same height \u2014 compare readbacks and correct before trying to mate objects. (6) Capping a pen held in the other gripper is very sensitive to which end of the cap is open; before lifting the cap, note in the wrist view which end is open and grasp so the open end protrudes toward the intended mating direction. A likely better plan is to lay the pen on the table (or hold it fixed) and align the cap coaxially in two views before pushing."})
tool
done: I picked up the pen cap with the left arm and the pen with the right arm, yawed both wrists so the two objects pointed at each other along the y axis, and drove them together tip-to-tip. When I released the left gripper the cap did not stay on the pen — it butted against the tip rather than seating, and fell to the table. The pen is still held by the right gripper; the cap is loose on the table. Task not completed.
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 · 15.55 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, 0.7925, 0.6018, -0.3805, -0.0196, -0.0113, 0.9996, -0.0177, 0.7902, 0.6086, -0.3756, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.2943 left_y=0.0011 left_z=0.1792 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2957 right_y=0.0024 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, -1.4701, 10.5368, 1.7802, -0.0317, -0.0317, -0.0562, -0.6632, -1.1282, 9.894, 1.746, -0.0611, 0.0806, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:075823ecc1038b087c4952874c4a2a5cf626903b9afcb9eba2c6487d5fd713cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdf8886bdb8d02af0c6b858cdb0eb53a4d049f2fd05d63f1898b97e453a7d6e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09d5dbbc7160f016551aed2f00eec86ed626efeba5898a816deb63a3290ae0eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 9.684 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, 0.7925, 0.6018, -0.3805, -0.0196, -0.0113, 0.9996, -0.0177, 0.7902, 0.6086, -0.3756, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.2943 left_y=0.0011 left_z=0.1792 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2957 right_y=0.0024 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, -1.4701, 10.5368, 1.7802, -0.0317, -0.0317, -0.0562, -0.6632, -1.1282, 9.894, 1.746, -0.0611, 0.0806, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:075823ecc1038b087c4952874c4a2a5cf626903b9afcb9eba2c6487d5fd713cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdf8886bdb8d02af0c6b858cdb0eb53a4d049f2fd05d63f1898b97e453a7d6e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09d5dbbc7160f016551aed2f00eec86ed626efeba5898a816deb63a3290ae0eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vpu5BZNWdBXTo9SKxRw52w",
      "input": {
        "note": "Top view shows a small pen cap left-of-centre and a longer pen right-of-centre. Moving the left arm to hover ~10 cm above my estimate of the cap to check alignment in the wrist camera.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.33,
          "left_y": -0.18,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01Vpu5BZNWdBXTo9SKxRw52w",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7868, 1.346, 0.7612, -0.2298, -0.6147, -0.4889, 0.9996, -0.0193, 0.7975, 0.6128, -0.3893, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3188 left_y=-0.1703 left_z=0.1283 left_yaw=-0.0218 left_pitch=-0.0661 left_roll=0.047 left_gripper=0.9996 right_x=0.2948 right_y=0.0019 right_z=0.1812 right_yaw=-0.0015 right_pitch=-0.0168 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -5.2444, 9.6615, 1.6923, -0.3346, 0.1245, -0.0611, -0.1026, -1.8393, 6.735, 1.8584, -0.0464, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:535da169a14f3cff13023941aa9769c05d75b4acadfb5bf23fd611781525b5ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efe02cd67ba598c0b5fbfb0e442f3380e1550694d58f16f64b44bc4f7451e571",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f51a2047846b86bacd2b360183e1978b85155419e66890e9b9d28e2ad84ba05a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 21.2 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, 0.7925, 0.6018, -0.3805, -0.0196, -0.0113, 0.9996, -0.0177, 0.7902, 0.6086, -0.3756, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.2943 left_y=0.0011 left_z=0.1792 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2957 right_y=0.0024 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, -1.4701, 10.5368, 1.7802, -0.0317, -0.0317, -0.0562, -0.6632, -1.1282, 9.894, 1.746, -0.0611, 0.0806, -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]: [-0.7868, 1.346, 0.7612, -0.2298, -0.6147, -0.4889, 0.9996, -0.0193, 0.7975, 0.6128, -0.3893, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3188 left_y=-0.1703 left_z=0.1283 left_yaw=-0.0218 left_pitch=-0.0661 left_roll=0.047 left_gripper=0.9996 right_x=0.2948 right_y=0.0019 right_z=0.1812 right_yaw=-0.0015 right_pitch=-0.0168 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -5.2444, 9.6615, 1.6923, -0.3346, 0.1245, -0.0611, -0.1026, -1.8393, 6.735, 1.8584, -0.0464, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:535da169a14f3cff13023941aa9769c05d75b4acadfb5bf23fd611781525b5ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efe02cd67ba598c0b5fbfb0e442f3380e1550694d58f16f64b44bc4f7451e571",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f51a2047846b86bacd2b360183e1978b85155419e66890e9b9d28e2ad84ba05a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS+woKjgEIEhgCKkDID1xevl7dzt+03oFfSzrkFcs6jyvGTl4RpJVX5InR83vPJQCXgzpXix3jFzzGNPDhPrtbBAJljZh/ZWsMuPiIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa2rzNUGEgzg6DTXoeRmSTxYOAYaDK+dMRlooQxenQUz+iIwLajCP2HyUOtkoLdBkBZZxOZmz82D1w4W/Q2BLkzRwX5M6TTIpQjei5nkJw8uQDhbKpkJKFwgsCUudLd2x+Gze61Scmwi74ojOwW+WmjT7aYOOgGQO9314GUza7h6czOGzsCiiUx+7ScUdwzi5oKN4uatjSyBsHp/CMaKpREssnL2H932K8MpJthX6RTWhTr33deED1e4ox3xqiIP0kF2UUwOMWeK74lZYCMS8qekUgPGTl6BVWFw+W5vhEanzppsOjzkiyHMfeBYZz6jLEHc9UuIPlggO8hjm/59oLUXkv2PwW3oozxOiOr+w11ZDOWDU5lq7eH/z9bezFEkW2SK0pgJXe4nr/JubXt3gTNpe6LJOs/CB/MbKQMCVbzCKE3K3XWjvCCLj1/UjThWbf5JJmduf5PnwBiIHzyjUrqwJsOyzk/VqirZ2kp5aU2phwdppOirdRE3hp/QcR69weYPMPALse5IrOrFrIw4ebLS0x6hnKXA/XNGHI2HQc3Jutu3OBTbpf/DxI+8tmoM5g2PBgbgpfdo5T0JWDCQitcinoZbV21zzvZ2PrQE45JVIqSbvLEGGbPhtfOWgSGydCWEI6X7RZd5IAUCCV82HxveQQ3l78IqVUOZn90vJDUAIEBBbDyDqT9lpkt4qe33BAPGrh0Q+PaoMiphnmrvMgqNKDiyom8VbpLlcyG8zs/Pe8bhFwhqvhguIe2t1odrMtFxlX+dwDkSfzoBgKo5JIEyuHPoHLiAZ7CeDaorqHKg9sUIm3yVsGL9IrPDj0+8XM9xmYuatVSKb+3onQ6LV7+CK/edqXKWPMl6B0Fbr+doTajWXe5XG1iY8b5nqzCEZoSo2Y9KIkq/JBuEF/F9z2TU9Nz9ecvFJ3gMp9LXQUaKyhNTvJ7qsB4kznRUBvtYKNKxdALAjoNRnNaW4L6G6Q07BW30A4YEjjPyzUimWsox9+TxRTC9NgI9g/Z7+SznfzyYvjpIwBbBJZgWjSzz7daCdgnuowSZiqpen9kqWt5zJTBneBircVl//eO5h+hoaHdxtNcw7NifSi6g14v7vfYdCPRBsXzpYDpPio49ybfmKitKxu+8XzbZAwp0uC7+ulGbi1cTjVYvPviPSd3s2d3p3f4jDqo/7wh54gnz8eJbmaykEmOBhy2wsE7nNkBaQuEt99Dh3udE5Yi6N2TG9+78vDx0TIdT39CrCNezMRJrjVWFYcjPZ1/5MVMSTfa4mAboOrjQHR7vFZWZcFJhag/m4v6xUsrozZd4XiuDqmieavi1ZRvsLzv+EBs2ZxZf6KPHgCDwcDu7f+W5dmN53mcVIq6RwhzZzNHN8b8YfX7G71qO0KUq9OATt+0evMiH8nSja8FEzNesh190WK3VVAiQQCdPpr65TbKyK150eAyEFo9uiZvM8WHaTUGgD4j8bDG6nYc3ypS1ZirtJsDwdNZoqpQ2OFHvHqBqGgPomEwuGf0EBchuzjLtzHSAAvLDuLct4NjDHWdDdD+2W+GiJRd2mAkctFcmVleF1m6dRV7LD/rJHH0ljieiTz5HhbEzBRq4Nkwi3QxlIgX3sgx2arWusEyp8Snwv5azBUYCkiPQOioWLOEOTZzhFyuV3Mn42oz1VyNcHk6ZIGsg9brgvhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mqinas6xZomzhzXKTcinHG",
      "input": {
        "note": "Left wrist view shows the cap up and to the image-left of the jaw column, i.e. farther out and toward the table centre. Shifting the gripper that way to centre it before descending.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.12,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Mqinas6xZomzhzXKTcinHG",
      "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]: [-0.5636, 1.3113, 0.7498, -0.2108, -0.4847, -0.3553, 0.9995, -0.0193, 0.7979, 0.6128, -0.3908, -0.0223, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.345 left_y=-0.1164 left_z=0.1297 left_yaw=0.0297 left_pitch=-0.0955 left_roll=0.0545 left_gripper=0.9995 right_x=0.2947 right_y=0.0019 right_z=0.1807 right_yaw=-0.0018 right_pitch=-0.0187 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.212, -6.2564, 6.7761, 1.8339, -0.0952, 0.1832, -0.0171, -0.212, -1.306, 7.2684, 1.7705, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0146d6ff110e1bc723149f8e249b77f505214319169d2a4364918587425743ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4bba42a1f61092de8c37c3c2308da1c55b2e0e5474c8e19a2dd9b0355c9a60d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d86b319caa172e104ccaaba69007994310b382a03a0336aaa43dbf928b29a2ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 8.01 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, 0.7925, 0.6018, -0.3805, -0.0196, -0.0113, 0.9996, -0.0177, 0.7902, 0.6086, -0.3756, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.2943 left_y=0.0011 left_z=0.1792 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2957 right_y=0.0024 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, -1.4701, 10.5368, 1.7802, -0.0317, -0.0317, -0.0562, -0.6632, -1.1282, 9.894, 1.746, -0.0611, 0.0806, -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]: [-0.7868, 1.346, 0.7612, -0.2298, -0.6147, -0.4889, 0.9996, -0.0193, 0.7975, 0.6128, -0.3893, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3188 left_y=-0.1703 left_z=0.1283 left_yaw=-0.0218 left_pitch=-0.0661 left_roll=0.047 left_gripper=0.9996 right_x=0.2948 right_y=0.0019 right_z=0.1812 right_yaw=-0.0015 right_pitch=-0.0168 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -5.2444, 9.6615, 1.6923, -0.3346, 0.1245, -0.0611, -0.1026, -1.8393, 6.735, 1.8584, -0.0464, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5636, 1.3113, 0.7498, -0.2108, -0.4847, -0.3553, 0.9995, -0.0193, 0.7979, 0.6128, -0.3908, -0.0223, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.345 left_y=-0.1164 left_z=0.1297 left_yaw=0.0297 left_pitch=-0.0955 left_roll=0.0545 left_gripper=0.9995 right_x=0.2947 right_y=0.0019 right_z=0.1807 right_yaw=-0.0018 right_pitch=-0.0187 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.212, -6.2564, 6.7761, 1.8339, -0.0952, 0.1832, -0.0171, -0.212, -1.306, 7.2684, 1.7705, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0146d6ff110e1bc723149f8e249b77f505214319169d2a4364918587425743ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4bba42a1f61092de8c37c3c2308da1c55b2e0e5474c8e19a2dd9b0355c9a60d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d86b319caa172e104ccaaba69007994310b382a03a0336aaa43dbf928b29a2ef",
        "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_01Ks7k5eaDCfZjPvYUg5B33c",
      "input": {
        "note": "The cap is now nearly on the jaw column in the left wrist view but still a few cm short of the fingertips. Advancing radially, dropping height, and yawing the wrist so the jaws close across the cap's axis rather than along it.",
        "targets": {
          "left_x": 0.375,
          "left_yaw": -1.13,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Ks7k5eaDCfZjPvYUg5B33c",
      "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]: [-0.0025, 1.6611, 0.9077, -0.2367, 0.6094, 0.7143, 0.9995, -0.0193, 0.8032, 0.6128, -0.3958, -0.0223, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3812 left_y=-0.0985 left_z=0.0715 left_yaw=-0.9078 left_pitch=-0.1843 left_roll=-0.0038 left_gripper=0.9995 right_x=0.2943 right_y=0.0019 right_z=0.1782 right_yaw=-0.0018 right_pitch=-0.029 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [0.2393, -8.5128, 7.6103, 1.0183, 0.4762, 0.2173, -0.0122, -0.1983, -1.6752, 7.1863, 1.8144, -0.0366, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2448d91f8e00fe05a1d04f9dc6b17d8324a95117dd231e97ecaab61d449dcdea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8db62994314d3cbee44c35687a5aaa1d0a783542cb17509af274d3bc9010c2d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:679c1a718e114d6d537e49008750b40038dd12b501cd03d313e67f7550edf4c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 3.548 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]: [-0.7868, 1.346, 0.7612, -0.2298, -0.6147, -0.4889, 0.9996, -0.0193, 0.7975, 0.6128, -0.3893, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3188 left_y=-0.1703 left_z=0.1283 left_yaw=-0.0218 left_pitch=-0.0661 left_roll=0.047 left_gripper=0.9996 right_x=0.2948 right_y=0.0019 right_z=0.1812 right_yaw=-0.0015 right_pitch=-0.0168 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -5.2444, 9.6615, 1.6923, -0.3346, 0.1245, -0.0611, -0.1026, -1.8393, 6.735, 1.8584, -0.0464, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5636, 1.3113, 0.7498, -0.2108, -0.4847, -0.3553, 0.9995, -0.0193, 0.7979, 0.6128, -0.3908, -0.0223, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.345 left_y=-0.1164 left_z=0.1297 left_yaw=0.0297 left_pitch=-0.0955 left_roll=0.0545 left_gripper=0.9995 right_x=0.2947 right_y=0.0019 right_z=0.1807 right_yaw=-0.0018 right_pitch=-0.0187 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.212, -6.2564, 6.7761, 1.8339, -0.0952, 0.1832, -0.0171, -0.212, -1.306, 7.2684, 1.7705, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0025, 1.6611, 0.9077, -0.2367, 0.6094, 0.7143, 0.9995, -0.0193, 0.8032, 0.6128, -0.3958, -0.0223, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3812 left_y=-0.0985 left_z=0.0715 left_yaw=-0.9078 left_pitch=-0.1843 left_roll=-0.0038 left_gripper=0.9995 right_x=0.2943 right_y=0.0019 right_z=0.1782 right_yaw=-0.0018 right_pitch=-0.029 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [0.2393, -8.5128, 7.6103, 1.0183, 0.4762, 0.2173, -0.0122, -0.1983, -1.6752, 7.1863, 1.8144, -0.0366, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2448d91f8e00fe05a1d04f9dc6b17d8324a95117dd231e97ecaab61d449dcdea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8db62994314d3cbee44c35687a5aaa1d0a783542cb17509af274d3bc9010c2d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:679c1a718e114d6d537e49008750b40038dd12b501cd03d313e67f7550edf4c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISjQgKjgEIEhgCKkDFC3A4iKIfgPpu/DijZTofAWfCcY1tNzA7qozBGztqLFEJDCz/X7lKcIPkrNj/x8kz3NrUIspoGfA13qiU9bF4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcyrzNUGEgwhlfnsekjjKpxyFeEaDNlQ67Ll7SZSz/FTMSIwwsWFMaBDJNRS7C958StTNI7EZVadfcJHYmrJPBoD5DL5GeLIUeVaoz3YEOKo0lIzKqsGN+MHlFHVUBGEk4zlxB86hv1d9uTGEHSeOx/FEHA8qyBug30DqAK0aPCllRPHYCX75j2gkDdkTQ/PeLzHcDsrFDfhc++XsY3tM7e+7Y+Ky65dbP4WGuCm0ntYfWAjY+0b0wcEpG4AxRhhSEXvAByCWXfN9SQRIhmCP6ItMJocmwG7aeQIfuWl63h2eBDw9bxxe5nFXkuDVQvs2G5q2wchD9F26GMDRfo8Fj1Yy7X05aZMc+Wv58he3o/SaGAACp2hMGHPiyj182+U43GKEJYU/g3/8PPDbxoa6iZmMUNm/JS0CMDfAXeAN+1GyrBF8ukRLWmUYpcV3QLfQtL/RZheHn0lxI6c5xVc7+IBb2pv3J035Ya8ThMcnz4MlajN61KmVafQaGyPU0BL4nXqwEl7xEf+2Wv/HHKT/bhsbccgRZyCCVHdh8UHbXZ06VF2p+GlWPZ5SVOGkK3MW7Huwqn7oj7kC9IZ6lT3NmmHoU8vzXjYqcdx2UNglesYczbQPQOciRFQIjy+RSEHYPRhI5/QklzRy6vem8OlbcMRfRs+O34p2uh175idxrFtz3zrKTJA3X1a6BNGOUF72fJjban1lA0KylFL0vLAN/YFFBZ3JSEihY1AIz16xIWeIVxEqsZKV0z+09byHpN4ntC4f9hyViZvFXiAyX/k0qb9iI55Dna69yCoINC/02lXn6s2K0YnjvGV3oP79t5vw2uREVOYQb6ISFULJEX3BWU8X28aXm5waWQf2XQRScVmfNI9ZCLoSCkhRzuAvr/SUuGIY6mIFJbavFUnZODm66ieJUa4EbSOmBeW2HDMZClCtS791l/xswinoOPAm9HSHl44Qkw7RCxWujqgBchvnNdpoDWyB2CkfjcFP6S+heIWT6+jg3IrQemGzbAk9rqP0e7z0u9XpJH7wUFmkfnECaYj5HEJPNvL72SKJisR8/yqlRrxlLCzRm1Yq8/qBZnIziCapl0a0q3h3RabUEFQ4YOt+oPVELcHh/sOAZX3iswzQhtZVyRQ5J/xPlrM4WTEdMR/koYFziEr5f43OBCYKMJ/KxVdUtynD7j8SSIN+QuU/hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AgzK5DkV29tGjW8G1ndVRX",
      "input": {
        "note": "Cap is centred on the jaw column in the left wrist view with its axis across the jaws. Descending to table level to grasp it.",
        "targets": {
          "left_x": 0.385,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01AgzK5DkV29tGjW8G1ndVRX",
      "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]: [-0.0006, 1.8431, 0.8082, -0.0113, 0.6186, 0.7368, 0.9995, -0.0193, 0.8047, 0.6128, -0.3969, -0.0223, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3748 left_y=-0.0991 left_z=0.0012 left_yaw=-0.933 left_pitch=-0.2119 left_roll=-0.0376 left_gripper=0.9995 right_x=0.2943 right_y=0.0019 right_z=0.1776 right_yaw=-0.0018 right_pitch=-0.0317 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -6.8991, 4.2735, 0.8474, 0.1587, -0.1783, -0.0122, -0.1709, -1.1966, 7.2274, 1.7265, -0.022, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ed1f6f80532c8f1bd5b6df51f25de32dd3efe3107fa421fd4a200e7a25644d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4fe97398f03118fa18b688aee27ee74e0db7b938935d50a20e23b29f97e737d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f32031dc99c16cc42389cf14d30f555a2eeba86097d8384e36297413b3d02848",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 7.31 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]: [-0.5636, 1.3113, 0.7498, -0.2108, -0.4847, -0.3553, 0.9995, -0.0193, 0.7979, 0.6128, -0.3908, -0.0223, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.345 left_y=-0.1164 left_z=0.1297 left_yaw=0.0297 left_pitch=-0.0955 left_roll=0.0545 left_gripper=0.9995 right_x=0.2947 right_y=0.0019 right_z=0.1807 right_yaw=-0.0018 right_pitch=-0.0187 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.212, -6.2564, 6.7761, 1.8339, -0.0952, 0.1832, -0.0171, -0.212, -1.306, 7.2684, 1.7705, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0025, 1.6611, 0.9077, -0.2367, 0.6094, 0.7143, 0.9995, -0.0193, 0.8032, 0.6128, -0.3958, -0.0223, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3812 left_y=-0.0985 left_z=0.0715 left_yaw=-0.9078 left_pitch=-0.1843 left_roll=-0.0038 left_gripper=0.9995 right_x=0.2943 right_y=0.0019 right_z=0.1782 right_yaw=-0.0018 right_pitch=-0.029 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [0.2393, -8.5128, 7.6103, 1.0183, 0.4762, 0.2173, -0.0122, -0.1983, -1.6752, 7.1863, 1.8144, -0.0366, -0.0122, -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]: [-0.0006, 1.8431, 0.8082, -0.0113, 0.6186, 0.7368, 0.9995, -0.0193, 0.8047, 0.6128, -0.3969, -0.0223, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3748 left_y=-0.0991 left_z=0.0012 left_yaw=-0.933 left_pitch=-0.2119 left_roll=-0.0376 left_gripper=0.9995 right_x=0.2943 right_y=0.0019 right_z=0.1776 right_yaw=-0.0018 right_pitch=-0.0317 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -6.8991, 4.2735, 0.8474, 0.1587, -0.1783, -0.0122, -0.1709, -1.1966, 7.2274, 1.7265, -0.022, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ed1f6f80532c8f1bd5b6df51f25de32dd3efe3107fa421fd4a200e7a25644d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4fe97398f03118fa18b688aee27ee74e0db7b938935d50a20e23b29f97e737d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f32031dc99c16cc42389cf14d30f555a2eeba86097d8384e36297413b3d02848",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3QIKjgEIEhgCKkAy/2E2b461rCLpNAHwrJ8GAObMsj0McnHUxC1/s+JIwh/wRP7Q5qB0agSvjGDQWxY/M2dwH7XsPnYczfYAzc7bMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdCrzNUGEgyye0ehqR1YIIa5+0MaDEZtZkX1GT8TA4luvCIwi7MH1+uOGiH/mrBZkvT+SHJwDlpcz3VWPpzsxQw4h7n/D1grV9zLi/tCwZbc7bfrKny96TH02JhHhrxreNEDguc7rqYUnY/X8vD41gI4xjH1/IbByjdKd6PMPl6GUoA2114uPPczQudlCCzjdNDcnU49JbIpxJCUcb6H8BnqeVGBjiOe5udL+3+yIKJmVxOBztYaOzXULxYXaWtg7Zcsi9Z0i4T3wW7apb2yEyUwGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YXufQv8BCdgz4tLaTXNyJG",
      "input": {
        "note": "Cap sits between the open jaws at table level; closing to grasp 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_01YXufQv8BCdgz4tLaTXNyJG",
      "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]: [-0.0006, 1.8496, 0.8009, 0.017, 0.6178, 0.7338, 0.0511, -0.0193, 0.8051, 0.6128, -0.3969, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3767 left_y=-0.099 left_z=-0.0002 left_yaw=-0.9284 left_pitch=-0.2038 left_roll=-0.0275 left_gripper=0.0511 right_x=0.2943 right_y=0.0019 right_z=0.1775 right_yaw=-0.0015 right_pitch=-0.032 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -8.6359, 5.4632, 0.8962, 0.3053, 0.0366, 1.2576, -0.1846, -1.3607, 6.9949, 1.7363, -0.0122, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cafa01a0f9558ef89f1b2180476fca40e1d712d7d73b682378bef6487518e4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf1709adb1003e1fbd95716df0c14a9886928c4eff316897439481cf3549dd82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6cf3ddf3b8967834166bd8298501eb75c08c0b3fc71a8001ed482519ee529344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 26.56 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]: [-0.0025, 1.6611, 0.9077, -0.2367, 0.6094, 0.7143, 0.9995, -0.0193, 0.8032, 0.6128, -0.3958, -0.0223, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3812 left_y=-0.0985 left_z=0.0715 left_yaw=-0.9078 left_pitch=-0.1843 left_roll=-0.0038 left_gripper=0.9995 right_x=0.2943 right_y=0.0019 right_z=0.1782 right_yaw=-0.0018 right_pitch=-0.029 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [0.2393, -8.5128, 7.6103, 1.0183, 0.4762, 0.2173, -0.0122, -0.1983, -1.6752, 7.1863, 1.8144, -0.0366, -0.0122, -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]: [-0.0006, 1.8431, 0.8082, -0.0113, 0.6186, 0.7368, 0.9995, -0.0193, 0.8047, 0.6128, -0.3969, -0.0223, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3748 left_y=-0.0991 left_z=0.0012 left_yaw=-0.933 left_pitch=-0.2119 left_roll=-0.0376 left_gripper=0.9995 right_x=0.2943 right_y=0.0019 right_z=0.1776 right_yaw=-0.0018 right_pitch=-0.0317 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -6.8991, 4.2735, 0.8474, 0.1587, -0.1783, -0.0122, -0.1709, -1.1966, 7.2274, 1.7265, -0.022, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0006, 1.8496, 0.8009, 0.017, 0.6178, 0.7338, 0.0511, -0.0193, 0.8051, 0.6128, -0.3969, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3767 left_y=-0.099 left_z=-0.0002 left_yaw=-0.9284 left_pitch=-0.2038 left_roll=-0.0275 left_gripper=0.0511 right_x=0.2943 right_y=0.0019 right_z=0.1775 right_yaw=-0.0015 right_pitch=-0.032 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -8.6359, 5.4632, 0.8962, 0.3053, 0.0366, 1.2576, -0.1846, -1.3607, 6.9949, 1.7363, -0.0122, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cafa01a0f9558ef89f1b2180476fca40e1d712d7d73b682378bef6487518e4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf1709adb1003e1fbd95716df0c14a9886928c4eff316897439481cf3549dd82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cf3ddf3b8967834166bd8298501eb75c08c0b3fc71a8001ed482519ee529344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7AYKjgEIEhgCKkAuPU2+n2ag26snkzySO9rnuuMWNizXBCvtifJfLHVNZHJY/np2OpvxZzyWkwUzI9j7F2/5syGE+6FTeYBcU/CrMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAderzNUGEgxeFXnQ8R0l7klQXqgaDAvtK//ZMOwgswJ6fyIwGwc/lumPx2ChmW+FbesNgc14s7gz0qbxn0vuEm+Ykhv+f6tyfu4OjRphNbmER45NKooFJByOb2IKhS5HH1wIYGxUzLl8Clmk0g2GZWSrPrdZprNOQzNU27JdpUXmIx1z+7NS0SBqI6ERnAkuMSUR5qpBqrL2rrB6tZvrJ+4oG/9mAAB/qzCy0QiAP3sdqEfybt144Np9ft2qqpKZOf20EhFfKEaDsG/PsnNNIonpDw5ZLPSTtlMtyAfX6sKeqBwA5iky2C5LlzCIhYZJwhuGoh5qYLQdMXxpD3nHD4UyNDAT604ZPR3Y5mifUikIFvYH3VNDq3/IMaFmfxOlfo2yJ0DD5+JP51lXry9/6iD1O0oSzzCS2KE1qlmlcLp6VTq7I7FTEIcXLwC9pjxw01aLt8w9VDehmnf9m9G9XyxSYGyewtgRpfIZWnOcX1tMfZ/A27NlsJLRRua7Me5ZTkIdtE2Lv3s47OE0LIw089OQk7a4ePmnUHU7iqUYNYhnaqdn4TlBg7NZC9UwSN8MuDmgQn4IKqO57bhE9AfRf+bAqBaz2qJQ+331mimoTexshdmphsyQal/+XH94F7HFDs1oZ7iAa7x8eTQMuwS/Eo2hStkRorn1pkKFwUeuXag0FYOcGlWWW3VLULy9+21DM7aWN/UXriFVI0xcIvzBlhelyRv5vHH4kPl2DS8zRycfmvt+i0PXdQ1PZwah+NjChIzIXxvffKPKLYj9fZSImSQyc0Bls9Dj6AEj5QJEkm9h4CJz5HByCLVe1x7CfzYyvVAJ9JfiuHNwmA+0eAmnVJiRFo9iqdpv7I48/RVdoaktLh6aQvlPD75RgYcURJDZWws+6iTChriF79Lg75py+FBNhzJ/sU+68gXWM6RwKu+G/BKmfM6sHLaXQlz+4p3K/mTKZs0CriUgftSA24s23bYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RJzZDEwiN3gk1uo4K48Qhp",
      "input": {
        "note": "Gripper closed to 0.05 (~5 mm), suggesting it holds something thin. Lifting 8 cm to confirm the object came with the jaws.",
        "targets": {
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01RJzZDEwiN3gk1uo4K48Qhp",
      "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]: [-0.0006, 1.6829, 0.9077, -0.2745, 0.6052, 0.7334, 0.06, -0.0193, 0.8051, 0.6128, -0.3973, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3737 left_y=-0.0971 left_z=0.0591 left_yaw=-0.9235 left_pitch=-0.2233 left_roll=-0.0358 left_gripper=0.06 right_x=0.2943 right_y=0.0019 right_z=0.1774 right_yaw=-0.0015 right_pitch=-0.0324 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -9.0735, 8.7043, 1.1697, 0.3932, -0.0366, 1.033, -0.0068, -1.1556, 7.2, 1.7949, -0.0317, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:026aafddcb0a576516b2f0f16cb86908b61ee9145435e1dbbdb077fa5bd9e77c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f46bf00e1ecbd8319c87d46893dfe20790ea69e1cca3cda49862000d0fc2309",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30c36533aa7d1760405e432cf65ede353fe5f77774ab475300432e818d8861e0",
        "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 · 11.02 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]: [-0.0006, 1.8431, 0.8082, -0.0113, 0.6186, 0.7368, 0.9995, -0.0193, 0.8047, 0.6128, -0.3969, -0.0223, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3748 left_y=-0.0991 left_z=0.0012 left_yaw=-0.933 left_pitch=-0.2119 left_roll=-0.0376 left_gripper=0.9995 right_x=0.2943 right_y=0.0019 right_z=0.1776 right_yaw=-0.0018 right_pitch=-0.0317 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -6.8991, 4.2735, 0.8474, 0.1587, -0.1783, -0.0122, -0.1709, -1.1966, 7.2274, 1.7265, -0.022, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0006, 1.8496, 0.8009, 0.017, 0.6178, 0.7338, 0.0511, -0.0193, 0.8051, 0.6128, -0.3969, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3767 left_y=-0.099 left_z=-0.0002 left_yaw=-0.9284 left_pitch=-0.2038 left_roll=-0.0275 left_gripper=0.0511 right_x=0.2943 right_y=0.0019 right_z=0.1775 right_yaw=-0.0015 right_pitch=-0.032 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -8.6359, 5.4632, 0.8962, 0.3053, 0.0366, 1.2576, -0.1846, -1.3607, 6.9949, 1.7363, -0.0122, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0006, 1.6829, 0.9077, -0.2745, 0.6052, 0.7334, 0.06, -0.0193, 0.8051, 0.6128, -0.3973, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3737 left_y=-0.0971 left_z=0.0591 left_yaw=-0.9235 left_pitch=-0.2233 left_roll=-0.0358 left_gripper=0.06 right_x=0.2943 right_y=0.0019 right_z=0.1774 right_yaw=-0.0015 right_pitch=-0.0324 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -9.0735, 8.7043, 1.1697, 0.3932, -0.0366, 1.033, -0.0068, -1.1556, 7.2, 1.7949, -0.0317, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:026aafddcb0a576516b2f0f16cb86908b61ee9145435e1dbbdb077fa5bd9e77c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f46bf00e1ecbd8319c87d46893dfe20790ea69e1cca3cda49862000d0fc2309",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30c36533aa7d1760405e432cf65ede353fe5f77774ab475300432e818d8861e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BBPX8jE55yNQUU7r1w6UMB",
      "input": {
        "note": "The cap appears to be in the left gripper (jaws settled at ~6 mm and the cap is gone from the wrist view). Now moving the right arm to hover above the pen lying near the table centre.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.4,
          "right_y": 0.22,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01BBPX8jE55yNQUU7r1w6UMB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0002, 1.6848, 0.9096, -0.2955, 0.5983, 0.7338, 0.0663, 0.6941, 1.6424, 1.0481, -0.1719, 0.524, 0.3908, 0.9991]\nstate[eef_state]: left_x=0.3706 left_y=-0.096 left_z=0.0563 left_yaw=-0.9231 left_pitch=-0.2407 left_roll=-0.049 left_gripper=0.0663 right_x=0.3896 right_y=0.2139 right_z=0.1333 right_yaw=0.0353 right_pitch=-0.0871 right_roll=-0.0404 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -7.6923, 5.6684, 1.2821, 0.3736, -0.0611, 1.033, 0.2803, -7.9795, 8.6906, 1.6337, 0.5592, 0.2515, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32c872b6ce08c35f391811b1515ef888833e96a7dc7d7e69da57319b3dccdbf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31b50212688cb5ecb1de7a8108345518dc348a4217545bd2d549512cbd79faac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f36392c2b20519ef2fe026a278d8fba18c882f0eee99ca7d71e9e97e4c44453f",
        "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 · 21.72 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]: [-0.0006, 1.8496, 0.8009, 0.017, 0.6178, 0.7338, 0.0511, -0.0193, 0.8051, 0.6128, -0.3969, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3767 left_y=-0.099 left_z=-0.0002 left_yaw=-0.9284 left_pitch=-0.2038 left_roll=-0.0275 left_gripper=0.0511 right_x=0.2943 right_y=0.0019 right_z=0.1775 right_yaw=-0.0015 right_pitch=-0.032 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -8.6359, 5.4632, 0.8962, 0.3053, 0.0366, 1.2576, -0.1846, -1.3607, 6.9949, 1.7363, -0.0122, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0006, 1.6829, 0.9077, -0.2745, 0.6052, 0.7334, 0.06, -0.0193, 0.8051, 0.6128, -0.3973, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3737 left_y=-0.0971 left_z=0.0591 left_yaw=-0.9235 left_pitch=-0.2233 left_roll=-0.0358 left_gripper=0.06 right_x=0.2943 right_y=0.0019 right_z=0.1774 right_yaw=-0.0015 right_pitch=-0.0324 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -9.0735, 8.7043, 1.1697, 0.3932, -0.0366, 1.033, -0.0068, -1.1556, 7.2, 1.7949, -0.0317, -0.022, -0.0171]",
      "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]: [-0.0002, 1.6848, 0.9096, -0.2955, 0.5983, 0.7338, 0.0663, 0.6941, 1.6424, 1.0481, -0.1719, 0.524, 0.3908, 0.9991]\nstate[eef_state]: left_x=0.3706 left_y=-0.096 left_z=0.0563 left_yaw=-0.9231 left_pitch=-0.2407 left_roll=-0.049 left_gripper=0.0663 right_x=0.3896 right_y=0.2139 right_z=0.1333 right_yaw=0.0353 right_pitch=-0.0871 right_roll=-0.0404 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -7.6923, 5.6684, 1.2821, 0.3736, -0.0611, 1.033, 0.2803, -7.9795, 8.6906, 1.6337, 0.5592, 0.2515, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32c872b6ce08c35f391811b1515ef888833e96a7dc7d7e69da57319b3dccdbf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31b50212688cb5ecb1de7a8108345518dc348a4217545bd2d549512cbd79faac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f36392c2b20519ef2fe026a278d8fba18c882f0eee99ca7d71e9e97e4c44453f",
        "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_012okGEpiMCY4zFH8dWhx8Lj",
      "input": {
        "note": "Right wrist view shows the pen just below the jaws, angled up-right with its tip at the upper end. Yawing the wrist to close across the pen shaft and descending close to the table.",
        "targets": {
          "right_x": 0.395,
          "right_y": 0.215,
          "right_yaw": -0.5,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_012okGEpiMCY4zFH8dWhx8Lj",
      "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]: [-0.0006, 1.6867, 0.9096, -0.3038, 0.5854, 0.7338, 0.0663, 0.7944, 2.0857, 1.2793, -0.3649, 0.8135, 0.9455, 0.9991]\nstate[eef_state]: left_x=0.3694 left_y=-0.0942 left_z=0.0536 left_yaw=-0.9176 left_pitch=-0.256 left_roll=-0.0503 left_gripper=0.0663 right_x=0.3954 right_y=0.2245 right_z=0.0302 right_yaw=-0.3849 right_pitch=-0.1293 right_roll=-0.0718 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -7.665, 5.7778, 1.1844, 0.398, -0.0366, 1.0281, 0.4308, -10.5504, 6.5983, 0.5495, 0.8083, 0.3346, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90bc21eb1b357153d785b207133108c1a663589802e29c0de218593c18da62ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07a719913ab7c1278d313e51ab9f25461977a3e925a5435d61ce42f25fa94c55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:542aa326d9c7c972f51d6457f6f2af3d1abdf2d4f8c38327ecb9dd64ea0fe7d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 13.22 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]: [-0.0006, 1.6829, 0.9077, -0.2745, 0.6052, 0.7334, 0.06, -0.0193, 0.8051, 0.6128, -0.3973, -0.0227, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3737 left_y=-0.0971 left_z=0.0591 left_yaw=-0.9235 left_pitch=-0.2233 left_roll=-0.0358 left_gripper=0.06 right_x=0.2943 right_y=0.0019 right_z=0.1774 right_yaw=-0.0015 right_pitch=-0.0324 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -9.0735, 8.7043, 1.1697, 0.3932, -0.0366, 1.033, -0.0068, -1.1556, 7.2, 1.7949, -0.0317, -0.022, -0.0171]",
      "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]: [-0.0002, 1.6848, 0.9096, -0.2955, 0.5983, 0.7338, 0.0663, 0.6941, 1.6424, 1.0481, -0.1719, 0.524, 0.3908, 0.9991]\nstate[eef_state]: left_x=0.3706 left_y=-0.096 left_z=0.0563 left_yaw=-0.9231 left_pitch=-0.2407 left_roll=-0.049 left_gripper=0.0663 right_x=0.3896 right_y=0.2139 right_z=0.1333 right_yaw=0.0353 right_pitch=-0.0871 right_roll=-0.0404 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -7.6923, 5.6684, 1.2821, 0.3736, -0.0611, 1.033, 0.2803, -7.9795, 8.6906, 1.6337, 0.5592, 0.2515, -0.1099]",
      "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]: [-0.0006, 1.6867, 0.9096, -0.3038, 0.5854, 0.7338, 0.0663, 0.7944, 2.0857, 1.2793, -0.3649, 0.8135, 0.9455, 0.9991]\nstate[eef_state]: left_x=0.3694 left_y=-0.0942 left_z=0.0536 left_yaw=-0.9176 left_pitch=-0.256 left_roll=-0.0503 left_gripper=0.0663 right_x=0.3954 right_y=0.2245 right_z=0.0302 right_yaw=-0.3849 right_pitch=-0.1293 right_roll=-0.0718 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -7.665, 5.7778, 1.1844, 0.398, -0.0366, 1.0281, 0.4308, -10.5504, 6.5983, 0.5495, 0.8083, 0.3346, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90bc21eb1b357153d785b207133108c1a663589802e29c0de218593c18da62ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07a719913ab7c1278d313e51ab9f25461977a3e925a5435d61ce42f25fa94c55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:542aa326d9c7c972f51d6457f6f2af3d1abdf2d4f8c38327ecb9dd64ea0fe7d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NJruXLzJRxjfQxNxAcE4Wn",
      "input": {
        "note": "After the last yaw the pen lies along the jaw-closing axis, which would squeeze it lengthwise; rotating the wrist the other way (and lifting slightly) so the jaws close across the pen shaft.",
        "targets": {
          "right_yaw": 0.5,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01NJruXLzJRxjfQxNxAcE4Wn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0006, 1.6905, 0.9092, -0.3042, 0.5785, 0.7338, 0.0663, 0.5537, 1.7809, 0.8444, 0.1463, 0.2329, 0.1665, 0.999]\nstate[eef_state]: left_x=0.3693 left_y=-0.0932 left_z=0.0515 left_yaw=-0.9144 left_pitch=-0.2636 left_roll=-0.0502 left_gripper=0.0663 right_x=0.3929 right_y=0.1992 right_z=0.0366 right_yaw=0.2485 right_pitch=-0.2065 right_roll=-0.0416 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -7.8427, 5.7504, 1.1111, 0.3199, 0.0073, 1.0281, -0.294, -10.2222, 5.4496, 1.6825, -0.0171, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a1509ebc924a47c57929f1d1727358b155c07d5649221c89c8894ea2f41f633",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc80f2234b5cf9c9519301ff98f509f64d75ab1059e8e3c4191f1cd4cad6a3ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:597449b272f98a05dfc2df4508461eba07db6d02afc298f1064955aca80b4c84",
        "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 · 5.02 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]: [-0.0002, 1.6848, 0.9096, -0.2955, 0.5983, 0.7338, 0.0663, 0.6941, 1.6424, 1.0481, -0.1719, 0.524, 0.3908, 0.9991]\nstate[eef_state]: left_x=0.3706 left_y=-0.096 left_z=0.0563 left_yaw=-0.9231 left_pitch=-0.2407 left_roll=-0.049 left_gripper=0.0663 right_x=0.3896 right_y=0.2139 right_z=0.1333 right_yaw=0.0353 right_pitch=-0.0871 right_roll=-0.0404 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -7.6923, 5.6684, 1.2821, 0.3736, -0.0611, 1.033, 0.2803, -7.9795, 8.6906, 1.6337, 0.5592, 0.2515, -0.1099]",
      "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]: [-0.0006, 1.6867, 0.9096, -0.3038, 0.5854, 0.7338, 0.0663, 0.7944, 2.0857, 1.2793, -0.3649, 0.8135, 0.9455, 0.9991]\nstate[eef_state]: left_x=0.3694 left_y=-0.0942 left_z=0.0536 left_yaw=-0.9176 left_pitch=-0.256 left_roll=-0.0503 left_gripper=0.0663 right_x=0.3954 right_y=0.2245 right_z=0.0302 right_yaw=-0.3849 right_pitch=-0.1293 right_roll=-0.0718 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -7.665, 5.7778, 1.1844, 0.398, -0.0366, 1.0281, 0.4308, -10.5504, 6.5983, 0.5495, 0.8083, 0.3346, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0006, 1.6905, 0.9092, -0.3042, 0.5785, 0.7338, 0.0663, 0.5537, 1.7809, 0.8444, 0.1463, 0.2329, 0.1665, 0.999]\nstate[eef_state]: left_x=0.3693 left_y=-0.0932 left_z=0.0515 left_yaw=-0.9144 left_pitch=-0.2636 left_roll=-0.0502 left_gripper=0.0663 right_x=0.3929 right_y=0.1992 right_z=0.0366 right_yaw=0.2485 right_pitch=-0.2065 right_roll=-0.0416 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -7.8427, 5.7504, 1.1111, 0.3199, 0.0073, 1.0281, -0.294, -10.2222, 5.4496, 1.6825, -0.0171, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a1509ebc924a47c57929f1d1727358b155c07d5649221c89c8894ea2f41f633",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc80f2234b5cf9c9519301ff98f509f64d75ab1059e8e3c4191f1cd4cad6a3ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:597449b272f98a05dfc2df4508461eba07db6d02afc298f1064955aca80b4c84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KskeT185jHVAFiyw7rrQ8G",
      "input": {
        "note": "The pen now runs vertically in the right wrist view (across the jaw axis) but sits ~2 cm to the image-right of the jaw column; shifting the gripper that way and descending to table level.",
        "targets": {
          "right_y": 0.185,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KskeT185jHVAFiyw7rrQ8G",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0006, 1.6905, 0.9092, -0.3073, 0.5751, 0.7338, 0.0663, 0.5243, 1.8339, 0.7822, 0.2581, 0.1547, 0.0811, 0.999]\nstate[eef_state]: left_x=0.3689 left_y=-0.0927 left_z=0.0509 left_yaw=-0.9129 left_pitch=-0.2679 left_roll=-0.0508 left_gripper=0.0663 right_x=0.3875 right_y=0.1968 right_z=0.0097 right_yaw=0.3319 right_pitch=-0.225 right_roll=-0.0499 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -7.3504, 5.8188, 1.0769, 0.2515, -0.0415, 1.0281, -0.8137, -8.2393, 5.6684, 1.8388, 0.1343, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a09482c7e3542559a9e6f75876f66317f0b224cc7e8b001acb0d7c00169a6252",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7296522e96b569c1a0a37ba098eae683469ad2db7ac8c64b79eb8530ee387d39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1f5d466d32c7421d7f96f2e02c6ab240cea7fa85e2d88cd3c2aa4b880808b9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 11.17 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]: [-0.0006, 1.6867, 0.9096, -0.3038, 0.5854, 0.7338, 0.0663, 0.7944, 2.0857, 1.2793, -0.3649, 0.8135, 0.9455, 0.9991]\nstate[eef_state]: left_x=0.3694 left_y=-0.0942 left_z=0.0536 left_yaw=-0.9176 left_pitch=-0.256 left_roll=-0.0503 left_gripper=0.0663 right_x=0.3954 right_y=0.2245 right_z=0.0302 right_yaw=-0.3849 right_pitch=-0.1293 right_roll=-0.0718 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -7.665, 5.7778, 1.1844, 0.398, -0.0366, 1.0281, 0.4308, -10.5504, 6.5983, 0.5495, 0.8083, 0.3346, -0.0171]\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]: [-0.0006, 1.6905, 0.9092, -0.3042, 0.5785, 0.7338, 0.0663, 0.5537, 1.7809, 0.8444, 0.1463, 0.2329, 0.1665, 0.999]\nstate[eef_state]: left_x=0.3693 left_y=-0.0932 left_z=0.0515 left_yaw=-0.9144 left_pitch=-0.2636 left_roll=-0.0502 left_gripper=0.0663 right_x=0.3929 right_y=0.1992 right_z=0.0366 right_yaw=0.2485 right_pitch=-0.2065 right_roll=-0.0416 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -7.8427, 5.7504, 1.1111, 0.3199, 0.0073, 1.0281, -0.294, -10.2222, 5.4496, 1.6825, -0.0171, -0.0611, -0.0171]",
      "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]: [-0.0006, 1.6905, 0.9092, -0.3073, 0.5751, 0.7338, 0.0663, 0.5243, 1.8339, 0.7822, 0.2581, 0.1547, 0.0811, 0.999]\nstate[eef_state]: left_x=0.3689 left_y=-0.0927 left_z=0.0509 left_yaw=-0.9129 left_pitch=-0.2679 left_roll=-0.0508 left_gripper=0.0663 right_x=0.3875 right_y=0.1968 right_z=0.0097 right_yaw=0.3319 right_pitch=-0.225 right_roll=-0.0499 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -7.3504, 5.8188, 1.0769, 0.2515, -0.0415, 1.0281, -0.8137, -8.2393, 5.6684, 1.8388, 0.1343, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a09482c7e3542559a9e6f75876f66317f0b224cc7e8b001acb0d7c00169a6252",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7296522e96b569c1a0a37ba098eae683469ad2db7ac8c64b79eb8530ee387d39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1f5d466d32c7421d7f96f2e02c6ab240cea7fa85e2d88cd3c2aa4b880808b9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrwUKjgEIEhgCKkCJCYrZjnKedhdtCSKPbM/7sFNlO/g6TeL23bkIzzNq0Ucf6nrZKKLxGM4BLNBFMYLK/Awy7zDr4rvrioD/8fWsMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAamszNUGEgwobHDVKJmGWYCqKfwaDJYtC2b+FqyhXKU8MyIwSZxpVQ8Mli5iWFYZwM1w7oXsqCrftSsHQ41uLMs3oY1hDgMoqjL8yfGC51Vs8GQKKs0DxuqciBXyCDUaqlTfpBOVop7omyAtPKiTRtTdiY6NYUOGr0/l8tX8ETddwRpuPde2hNyrPZYEJ7cPAeH4nFxmltE0qdnEtFVAPcE5wScHNdBzlZsQNt3Vnw9+vUuvQsOGhoz89udmpwnrPV+Sh/m1Idnq0uAa+Y2gbYmsPLNoT1AF+Po0jC5igB/qh1fsR0l61N6YwuLYUUQAvxAASqufgW30W/KtIrOILtm7amd7oRMXc6LEycngY1g0+XIuIXqhKiwT8mC6dXQ0/TebCXefIz9WmQ4agKtDD6/ec3gqR5MNjdyQvujSo0l/zKBsKJKAa2HcljnNDnyTRa4YDxPuL5dHmhUrDQ2uviZGJFIwWmHoXG1If45J0G6FE1pfUA9Md9OjZCVNR2cT8RnuIkg4bND/vBXwaO5IwIw0J7FdoOm0VdmIjs5rUsyLDAUAX+uon9e0YbvCRO6a+7aJ8gYVXQtUkfqT891+g9CmW5rb/5ff2LhtXiNs257Wb6o7qlQT4vYircuJN27m4OoCgx0QAv6dQGu0skR4jxYNXWerPm7gz3KZtm07Rcl2PiZrat5ag+IINfatby5luuOK3qhBdZGGxVW+ehWwgktAu90YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ui4wGqzMEnzBT7mhjuiKHk",
      "input": {
        "note": "Pen shaft is centred between the jaws at table level; closing the right gripper on 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_01Ui4wGqzMEnzBT7mhjuiKHk",
      "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]: [-0.0006, 1.6905, 0.9092, -0.308, 0.5743, 0.7338, 0.0663, 0.5182, 1.8397, 0.7727, 0.3134, 0.1928, 0.1276, 0.0114]\nstate[eef_state]: left_x=0.3688 left_y=-0.0926 left_z=0.0508 left_yaw=-0.9126 left_pitch=-0.2689 left_roll=-0.051 left_gripper=0.0663 right_x=0.396 right_y=0.191 right_z=0.0145 right_yaw=0.2699 right_pitch=-0.1794 right_roll=-0.0331 right_gripper=0.0114\nstate[joint_eff]: [-0.3487, -7.5282, 5.9145, 1.1209, 0.2173, -0.0513, 1.0281, -0.3624, -6.6393, 4.6154, 1.1697, 0.188, 0.0806, 0.4664]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5db21b5fff5d2f76bfb8750833f0b995ee2a8895d867a4c2ac1babe17fc22cde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3a2151a9a13a8bdbba3bbefc822406f2f7d7e4536d96e5418e31e5c7175349d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ac0bd79f88491897686ea2a94d456a62910077cf8be565defbdf340d97a89412",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 12.33 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]: [-0.0006, 1.6905, 0.9092, -0.3042, 0.5785, 0.7338, 0.0663, 0.5537, 1.7809, 0.8444, 0.1463, 0.2329, 0.1665, 0.999]\nstate[eef_state]: left_x=0.3693 left_y=-0.0932 left_z=0.0515 left_yaw=-0.9144 left_pitch=-0.2636 left_roll=-0.0502 left_gripper=0.0663 right_x=0.3929 right_y=0.1992 right_z=0.0366 right_yaw=0.2485 right_pitch=-0.2065 right_roll=-0.0416 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -7.8427, 5.7504, 1.1111, 0.3199, 0.0073, 1.0281, -0.294, -10.2222, 5.4496, 1.6825, -0.0171, -0.0611, -0.0171]",
      "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]: [-0.0006, 1.6905, 0.9092, -0.3073, 0.5751, 0.7338, 0.0663, 0.5243, 1.8339, 0.7822, 0.2581, 0.1547, 0.0811, 0.999]\nstate[eef_state]: left_x=0.3689 left_y=-0.0927 left_z=0.0509 left_yaw=-0.9129 left_pitch=-0.2679 left_roll=-0.0508 left_gripper=0.0663 right_x=0.3875 right_y=0.1968 right_z=0.0097 right_yaw=0.3319 right_pitch=-0.225 right_roll=-0.0499 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -7.3504, 5.8188, 1.0769, 0.2515, -0.0415, 1.0281, -0.8137, -8.2393, 5.6684, 1.8388, 0.1343, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0006, 1.6905, 0.9092, -0.308, 0.5743, 0.7338, 0.0663, 0.5182, 1.8397, 0.7727, 0.3134, 0.1928, 0.1276, 0.0114]\nstate[eef_state]: left_x=0.3688 left_y=-0.0926 left_z=0.0508 left_yaw=-0.9126 left_pitch=-0.2689 left_roll=-0.051 left_gripper=0.0663 right_x=0.396 right_y=0.191 right_z=0.0145 right_yaw=0.2699 right_pitch=-0.1794 right_roll=-0.0331 right_gripper=0.0114\nstate[joint_eff]: [-0.3487, -7.5282, 5.9145, 1.1209, 0.2173, -0.0513, 1.0281, -0.3624, -6.6393, 4.6154, 1.1697, 0.188, 0.0806, 0.4664]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5db21b5fff5d2f76bfb8750833f0b995ee2a8895d867a4c2ac1babe17fc22cde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3a2151a9a13a8bdbba3bbefc822406f2f7d7e4536d96e5418e31e5c7175349d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac0bd79f88491897686ea2a94d456a62910077cf8be565defbdf340d97a89412",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UUAQrRkvQrWahcLdQa8etx",
      "input": {
        "note": "Right gripper settled at 0.01 — an empty close, so the pen was not between the jaws. Opening and lifting to re-look at the pen's position.",
        "targets": {
          "right_gripper": 1,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UUAQrRkvQrWahcLdQa8etx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0006, 1.6905, 0.9085, -0.308, 0.572, 0.7334, 0.0663, 0.5182, 1.7386, 0.8188, 0.128, 0.1829, 0.123, 0.995]\nstate[eef_state]: left_x=0.3686 left_y=-0.0923 left_z=0.0503 left_yaw=-0.9112 left_pitch=-0.271 left_roll=-0.0506 left_gripper=0.0663 right_x=0.3891 right_y=0.189 right_z=0.0404 right_yaw=0.279 right_pitch=-0.2182 right_roll=-0.039 right_gripper=0.995\nstate[joint_eff]: [-0.2393, -7.5966, 5.9556, 1.0916, 0.2466, -0.0513, 1.0232, -0.3487, -9.9624, 8.1026, 1.4383, 0.149, 0.0513, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:698dbddb343b906085959ccf676f8f1496e1ddb236ff64399fb089b0fcf38a0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ab2f6a80cfb7321254f566edd74923419223a834a154c4809a746510de3946e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9fe69ef46f84d72b1263b8fbcfca03e19a7d07a451d5b551e33bbaac20f18598",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 5.418 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]: [-0.0006, 1.6905, 0.9092, -0.3073, 0.5751, 0.7338, 0.0663, 0.5243, 1.8339, 0.7822, 0.2581, 0.1547, 0.0811, 0.999]\nstate[eef_state]: left_x=0.3689 left_y=-0.0927 left_z=0.0509 left_yaw=-0.9129 left_pitch=-0.2679 left_roll=-0.0508 left_gripper=0.0663 right_x=0.3875 right_y=0.1968 right_z=0.0097 right_yaw=0.3319 right_pitch=-0.225 right_roll=-0.0499 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -7.3504, 5.8188, 1.0769, 0.2515, -0.0415, 1.0281, -0.8137, -8.2393, 5.6684, 1.8388, 0.1343, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0006, 1.6905, 0.9092, -0.308, 0.5743, 0.7338, 0.0663, 0.5182, 1.8397, 0.7727, 0.3134, 0.1928, 0.1276, 0.0114]\nstate[eef_state]: left_x=0.3688 left_y=-0.0926 left_z=0.0508 left_yaw=-0.9126 left_pitch=-0.2689 left_roll=-0.051 left_gripper=0.0663 right_x=0.396 right_y=0.191 right_z=0.0145 right_yaw=0.2699 right_pitch=-0.1794 right_roll=-0.0331 right_gripper=0.0114\nstate[joint_eff]: [-0.3487, -7.5282, 5.9145, 1.1209, 0.2173, -0.0513, 1.0281, -0.3624, -6.6393, 4.6154, 1.1697, 0.188, 0.0806, 0.4664]",
      "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]: [-0.0006, 1.6905, 0.9085, -0.308, 0.572, 0.7334, 0.0663, 0.5182, 1.7386, 0.8188, 0.128, 0.1829, 0.123, 0.995]\nstate[eef_state]: left_x=0.3686 left_y=-0.0923 left_z=0.0503 left_yaw=-0.9112 left_pitch=-0.271 left_roll=-0.0506 left_gripper=0.0663 right_x=0.3891 right_y=0.189 right_z=0.0404 right_yaw=0.279 right_pitch=-0.2182 right_roll=-0.039 right_gripper=0.995\nstate[joint_eff]: [-0.2393, -7.5966, 5.9556, 1.0916, 0.2466, -0.0513, 1.0232, -0.3487, -9.9624, 8.1026, 1.4383, 0.149, 0.0513, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:698dbddb343b906085959ccf676f8f1496e1ddb236ff64399fb089b0fcf38a0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ab2f6a80cfb7321254f566edd74923419223a834a154c4809a746510de3946e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fe69ef46f84d72b1263b8fbcfca03e19a7d07a451d5b551e33bbaac20f18598",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DJeYZqefvZxG9uricBMYJq",
      "input": {
        "note": "With the jaws open I can see the pen lies ~3 cm to the image-left of the jaw column, which is why the close came up empty; shifting the right gripper toward it.",
        "targets": {
          "right_y": 0.222
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DJeYZqefvZxG9uricBMYJq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0006, 1.6905, 0.9077, -0.3111, 0.572, 0.7338, 0.0712, 0.5877, 1.7851, 0.8631, 0.0978, 0.215, 0.1547, 0.996]\nstate[eef_state]: left_x=0.3678 left_y=-0.0922 left_z=0.0498 left_yaw=-0.9122 left_pitch=-0.2733 left_roll=-0.0535 left_gripper=0.0712 right_x=0.3825 right_y=0.2138 right_z=0.033 right_yaw=0.3018 right_pitch=-0.243 right_roll=-0.0477 right_gripper=0.996\nstate[joint_eff]: [-0.1436, -7.3504, 5.8188, 1.0623, 0.2759, -0.0659, 1.0379, 0.3897, -7.7607, 7.8838, 1.5165, 0.3199, 0.2515, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54b006da282c6fa9d580075adac2a06d75d3ef4bbf6394df79530e189dea1979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23caf0ba9aaafc71ef9a08b4a15388d396ca4126849910fc1484bb0f1f5054e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e33648f14d3aaa9465d4ea8ef2d289e6d4ff57748d131878509e34cd104675da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 5.309 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]: [-0.0006, 1.6905, 0.9092, -0.308, 0.5743, 0.7338, 0.0663, 0.5182, 1.8397, 0.7727, 0.3134, 0.1928, 0.1276, 0.0114]\nstate[eef_state]: left_x=0.3688 left_y=-0.0926 left_z=0.0508 left_yaw=-0.9126 left_pitch=-0.2689 left_roll=-0.051 left_gripper=0.0663 right_x=0.396 right_y=0.191 right_z=0.0145 right_yaw=0.2699 right_pitch=-0.1794 right_roll=-0.0331 right_gripper=0.0114\nstate[joint_eff]: [-0.3487, -7.5282, 5.9145, 1.1209, 0.2173, -0.0513, 1.0281, -0.3624, -6.6393, 4.6154, 1.1697, 0.188, 0.0806, 0.4664]",
      "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]: [-0.0006, 1.6905, 0.9085, -0.308, 0.572, 0.7334, 0.0663, 0.5182, 1.7386, 0.8188, 0.128, 0.1829, 0.123, 0.995]\nstate[eef_state]: left_x=0.3686 left_y=-0.0923 left_z=0.0503 left_yaw=-0.9112 left_pitch=-0.271 left_roll=-0.0506 left_gripper=0.0663 right_x=0.3891 right_y=0.189 right_z=0.0404 right_yaw=0.279 right_pitch=-0.2182 right_roll=-0.039 right_gripper=0.995\nstate[joint_eff]: [-0.2393, -7.5966, 5.9556, 1.0916, 0.2466, -0.0513, 1.0232, -0.3487, -9.9624, 8.1026, 1.4383, 0.149, 0.0513, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0006, 1.6905, 0.9077, -0.3111, 0.572, 0.7338, 0.0712, 0.5877, 1.7851, 0.8631, 0.0978, 0.215, 0.1547, 0.996]\nstate[eef_state]: left_x=0.3678 left_y=-0.0922 left_z=0.0498 left_yaw=-0.9122 left_pitch=-0.2733 left_roll=-0.0535 left_gripper=0.0712 right_x=0.3825 right_y=0.2138 right_z=0.033 right_yaw=0.3018 right_pitch=-0.243 right_roll=-0.0477 right_gripper=0.996\nstate[joint_eff]: [-0.1436, -7.3504, 5.8188, 1.0623, 0.2759, -0.0659, 1.0379, 0.3897, -7.7607, 7.8838, 1.5165, 0.3199, 0.2515, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54b006da282c6fa9d580075adac2a06d75d3ef4bbf6394df79530e189dea1979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23caf0ba9aaafc71ef9a08b4a15388d396ca4126849910fc1484bb0f1f5054e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e33648f14d3aaa9465d4ea8ef2d289e6d4ff57748d131878509e34cd104675da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiQUKjgEIEhgCKkD5ywcDly5ut8ScoCtKzyhuSw+jSV6ziFeiAAuknBbBIyaY7uTC8M4qSZKJ08hyXTpOiYQSB5hycWxmU7q/qZgWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAciszNUGEgwfrHrhsekjK/aJKRYaDEDvfrBuAWrkIPsJjiIwKUJ1KoWJXmlVJ9YvluCDt4M6hGZGykNR/h6aHddLTSZMDjNDCTtHqKDCrtEH9U5/KqcD8Bni/AqoX60mf26nBVFwNCPnydWWvafXU16NQ48j7C+9N0Ore2CyWwklI9AAsc7949WiJ3hy9nT+KmnSxkfdQhDueiu8eh+D85vAXdRSVcde54I2/tJN+MvVdVdJx30maWqZd5mI5dvopdCdwOT8M2X32dIwm3zQAlmarYEQM6nkKPrRYxxLq12CgtOPnitc22f6DGtIzUBaKorNXtWQk7tGAx54T5pdfZuomQKR/m2Yw6XAuvLnVvS5sCQ3WYm+7auZQ1xqLBHhkvAsQUNqIvzQhWv08bT2izV6fPR9WNptelctdwmnkpdAYTNqeQYR0NFdQpnAKxQ4VY6FKJNsLvJLwPsKbfd4723MdbcXJ/4zF7JI9CpuB8sdN+WWkznYvg3TligrTILsnS4e1cJlz8iDh/gdhoI5UZYRwWBHyMDgFZlXX7GMWeG0fT0PNpdACqBgS0Z6z1s1ZbPyPi/wKmldPGcLvpEaCAOZK6+/9v1zk90N+n4WzIRmhrs3F1FgfqlOQccdw00jDfl0zSwALfMbJi3wUZ90BxixlPs7VBH2yxSz0kSTGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015W3dzPN5Lzdp74XHskcFKG",
      "input": {
        "note": "Pen is now almost on the jaw column, just ~1 cm to the image-left; nudging over and descending to table level for another grasp attempt.",
        "targets": {
          "right_y": 0.23,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015W3dzPN5Lzdp74XHskcFKG",
      "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]: [-0.0006, 1.6905, 0.9077, -0.3111, 0.572, 0.7338, 0.0712, 0.6083, 1.7931, 0.8787, 0.0853, 0.2291, 0.1726, 0.9961]\nstate[eef_state]: left_x=0.3678 left_y=-0.0922 left_z=0.0498 left_yaw=-0.9122 left_pitch=-0.2733 left_roll=-0.0535 left_gripper=0.0712 right_x=0.381 right_y=0.2208 right_z=0.0336 right_yaw=0.3003 right_pitch=-0.2444 right_roll=-0.0466 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -7.1863, 5.7231, 1.0769, 0.2125, -0.0171, 1.033, -0.3897, -8.0205, 7.241, 1.5702, 0.2027, 0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5f09742f92c1e3e45a4e7a584ff062d333d4a59f03197958b12c92cb5cad467",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd2da98f6081b844dd541eee22b8440136b39545fe6582eca7499dfd120e183d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92499bd597ca6ce5ad8929f56eedde7fbf5818011a71081bbbaaf7f1831fafe8",
        "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 · 9.623 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]: [-0.0006, 1.6905, 0.9085, -0.308, 0.572, 0.7334, 0.0663, 0.5182, 1.7386, 0.8188, 0.128, 0.1829, 0.123, 0.995]\nstate[eef_state]: left_x=0.3686 left_y=-0.0923 left_z=0.0503 left_yaw=-0.9112 left_pitch=-0.271 left_roll=-0.0506 left_gripper=0.0663 right_x=0.3891 right_y=0.189 right_z=0.0404 right_yaw=0.279 right_pitch=-0.2182 right_roll=-0.039 right_gripper=0.995\nstate[joint_eff]: [-0.2393, -7.5966, 5.9556, 1.0916, 0.2466, -0.0513, 1.0232, -0.3487, -9.9624, 8.1026, 1.4383, 0.149, 0.0513, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0006, 1.6905, 0.9077, -0.3111, 0.572, 0.7338, 0.0712, 0.5877, 1.7851, 0.8631, 0.0978, 0.215, 0.1547, 0.996]\nstate[eef_state]: left_x=0.3678 left_y=-0.0922 left_z=0.0498 left_yaw=-0.9122 left_pitch=-0.2733 left_roll=-0.0535 left_gripper=0.0712 right_x=0.3825 right_y=0.2138 right_z=0.033 right_yaw=0.3018 right_pitch=-0.243 right_roll=-0.0477 right_gripper=0.996\nstate[joint_eff]: [-0.1436, -7.3504, 5.8188, 1.0623, 0.2759, -0.0659, 1.0379, 0.3897, -7.7607, 7.8838, 1.5165, 0.3199, 0.2515, 0.0855]",
      "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]: [-0.0006, 1.6905, 0.9077, -0.3111, 0.572, 0.7338, 0.0712, 0.6083, 1.7931, 0.8787, 0.0853, 0.2291, 0.1726, 0.9961]\nstate[eef_state]: left_x=0.3678 left_y=-0.0922 left_z=0.0498 left_yaw=-0.9122 left_pitch=-0.2733 left_roll=-0.0535 left_gripper=0.0712 right_x=0.381 right_y=0.2208 right_z=0.0336 right_yaw=0.3003 right_pitch=-0.2444 right_roll=-0.0466 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -7.1863, 5.7231, 1.0769, 0.2125, -0.0171, 1.033, -0.3897, -8.0205, 7.241, 1.5702, 0.2027, 0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5f09742f92c1e3e45a4e7a584ff062d333d4a59f03197958b12c92cb5cad467",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd2da98f6081b844dd541eee22b8440136b39545fe6582eca7499dfd120e183d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92499bd597ca6ce5ad8929f56eedde7fbf5818011a71081bbbaaf7f1831fafe8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISigUKjgEIEhgCKkCXp+31dIxJlRWf2cKKvPmwew7xRWCWw9F3PnrCQb3IojTRKLpBqziX5Ujfv4h7mLnNbMayfkgOV+odwJRWdxS/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc2szNUGEgxuPAeYA2R0sAQSZSUaDEjZpwnkIr8YezMBIyIwCnxngaBD3qancZBVs1dZoeQccULnhz+/dythpXHChcAEprnJBhmN5graiCqGNDgEKqgDX1zZbDrFn/WqyZUL0BzisQE99jU88OGHqLaNIgAbhM8toDoDC2zDAC4FYeonB8AAuAdKtZbAIwxbImISDNj3IXIACpLp1toeCgA+Fw9Js0D093hvhodEHVGvQzBbET/SBmoQOSeUr5xfud7seevT3ej8LGTfPQL4Q2o5DrFhg4VTFQKn3y6hJdJ0y4zHaHwG+vhjXjOtu7AoOvP9mKpksm5ESPuHcDEH7oylV/RHy1w4fFzq1ZhHBHuTbXiw4sUSki8Sunb9tkJzU5JcUNx9euo3+xHYnPH9W0mnKVBDbHtrEb8IHsrXSMMmG2TyPLzlW4vQPf6iFc049nXSlU5LSIE4J5P4oyOue7Z0qF9PtxFHLY4jlDhtKerc1TjCOxKklp38hkV99ApPhiXiBP6sg7ezplIU+KNffJqq3/mHpcMGAJb1yYm+cU/UNpGeufxKbE8juxyZppEhH5NgUxEi3dDzuxi+0C9O3MKYx4Y6atMMMo3YJPg+f8P9YfcVVdM1cm+od/2V+gRpYX5tNrOklAqUKgF6QleopJszsuRXu7HFi3rf0m5WThgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VRCiMdgj6C37EeXi47FWGK",
      "input": {
        "note": "The last descent didn't take effect (z still 0.034); re-commanding a descent to table level with the pen centred between the jaws.",
        "targets": {
          "right_y": 0.232,
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VRCiMdgj6C37EeXi47FWGK",
      "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]: [-0.0006, 1.6905, 0.9077, -0.3111, 0.5716, 0.7338, 0.0754, 0.6083, 1.7931, 0.8791, 0.0849, 0.2291, 0.1726, 0.9961]\nstate[eef_state]: left_x=0.3678 left_y=-0.0922 left_z=0.0498 left_yaw=-0.912 left_pitch=-0.2736 left_roll=-0.0533 left_gripper=0.0754 right_x=0.3811 right_y=0.2208 right_z=0.0337 right_yaw=0.3003 right_pitch=-0.2444 right_roll=-0.0466 right_gripper=0.9961\nstate[joint_eff]: [-0.212, -7.5692, 5.7915, 1.0623, 0.2418, -0.0513, 1.033, -0.4581, -8.0068, 7.2821, 1.5946, 0.2076, 0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5edaa5f59b000593e1e1b42f01163074961eb56d5432b4abc094edc92f404a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebfd3c24213dbe0f5b8a01638085fa2bd4c21b8213502932e93a4063d41d347b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:781b612eb3ad8a5891d7f894147a0402bf92f32cde9d7e62e1528b976faa8968",
        "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 · 5.807 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]: [-0.0006, 1.6905, 0.9077, -0.3111, 0.572, 0.7338, 0.0712, 0.5877, 1.7851, 0.8631, 0.0978, 0.215, 0.1547, 0.996]\nstate[eef_state]: left_x=0.3678 left_y=-0.0922 left_z=0.0498 left_yaw=-0.9122 left_pitch=-0.2733 left_roll=-0.0535 left_gripper=0.0712 right_x=0.3825 right_y=0.2138 right_z=0.033 right_yaw=0.3018 right_pitch=-0.243 right_roll=-0.0477 right_gripper=0.996\nstate[joint_eff]: [-0.1436, -7.3504, 5.8188, 1.0623, 0.2759, -0.0659, 1.0379, 0.3897, -7.7607, 7.8838, 1.5165, 0.3199, 0.2515, 0.0855]",
      "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]: [-0.0006, 1.6905, 0.9077, -0.3111, 0.572, 0.7338, 0.0712, 0.6083, 1.7931, 0.8787, 0.0853, 0.2291, 0.1726, 0.9961]\nstate[eef_state]: left_x=0.3678 left_y=-0.0922 left_z=0.0498 left_yaw=-0.9122 left_pitch=-0.2733 left_roll=-0.0535 left_gripper=0.0712 right_x=0.381 right_y=0.2208 right_z=0.0336 right_yaw=0.3003 right_pitch=-0.2444 right_roll=-0.0466 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -7.1863, 5.7231, 1.0769, 0.2125, -0.0171, 1.033, -0.3897, -8.0205, 7.241, 1.5702, 0.2027, 0.0757, -0.0073]",
      "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]: [-0.0006, 1.6905, 0.9077, -0.3111, 0.5716, 0.7338, 0.0754, 0.6083, 1.7931, 0.8791, 0.0849, 0.2291, 0.1726, 0.9961]\nstate[eef_state]: left_x=0.3678 left_y=-0.0922 left_z=0.0498 left_yaw=-0.912 left_pitch=-0.2736 left_roll=-0.0533 left_gripper=0.0754 right_x=0.3811 right_y=0.2208 right_z=0.0337 right_yaw=0.3003 right_pitch=-0.2444 right_roll=-0.0466 right_gripper=0.9961\nstate[joint_eff]: [-0.212, -7.5692, 5.7915, 1.0623, 0.2418, -0.0513, 1.033, -0.4581, -8.0068, 7.2821, 1.5946, 0.2076, 0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5edaa5f59b000593e1e1b42f01163074961eb56d5432b4abc094edc92f404a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebfd3c24213dbe0f5b8a01638085fa2bd4c21b8213502932e93a4063d41d347b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:781b612eb3ad8a5891d7f894147a0402bf92f32cde9d7e62e1528b976faa8968",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1goKjgEIEhgCKkCr4+/L2yGJzCuRqev1FeCKS1O2nP9WOkKJMRycbzRNtIf5iASDLL2c4iCA8lcUxpSvgAS8z3SDATemvgTVE7TNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdeszNUGEgx72zEoXJTseyK5+LEaDEeDH7afgyysjV9wZCIw0IhF0jAXQHOdli22l4Ylz3N6WbnDyGWWzKC87g6Oe1hktYGeaCYBoDWsdlzLBA8yKvQIZ/BcWTHcGdnjDMrtNApSN/yqQI371gWNimpwgiWLbF+yFIz9fzl8ryTdiEF2k4kUMSXTQKqfJLy23XK71QEW2IOcpSO8NQVoU83qRSSwylR2+SkU5WUzhhmxA1nQQJABzG6lYtyxVQOn/CuZwZmUV/S6PHc2RSpFPwYXQ68dcCPuweGtpin2w4N+BdiJvcshDwgkbL2ae5EqkwF7aPBsyGBQ+sd6QC94gFNgAvnwk0tlX4Ur7I7uEg0MwhfCz/8zfBo2qjrtUpN2tmwWIXRGZtlRd+qgQ6mUAu68QxL/QMkDcoWavR2+MrdA3SCykkMZlW3/kL2B94PeIjGODtqNJq6NR/10nFJCtGeHzqB0tEweOOjvDRRfdjKsNw6dJJMXibwJLPIsoXJM74dzAhFyuSgZebnpq2KbVRrJjMKOjz68lxjLbvpSOSTN2hcUWdufvQ4Qve22qvDsI3s2MmM+8fvqYpX5cWh4sVY2O6bi8kD5TF13jygodG6DkAeGs0qKVkG5PsljezNzqNn/naYd0Ue46q5rasXKZP6GCVb5MrpSrUTqS+c4vFlWdmCai8roeqwOCeGms0nW4t0H3Jv/cZ1wIW4BqO5SZH2jCoJ9fkpoLDG26jzags0E46LkyZZoFZz2DvpgE3hpJor8fTBGkAeANP5pKH1ZCYlTWekncEnOY6u8nwjO2w3tZhpDIsH+yF11b6qHM4uAXHeh4KuOjxdVfmCWKAzs+RnqN/YebxcmO5TTO+gc3YsTPymFcjIeF4phLM2DMNhzwEUS6aBpVchNeA60E8XLlVCaf3czvPTR5sxo1XGdjsQRZ3YxTfJvLw7yS5Q52FmZLhfCJH/gWgjRQoHxze2Z8WXC2JBHjIypPHxY64u6rI5trzN4MiPhStsF1r3EweaVtbiOFDeX27LXSxzFEG1JoE53NVrVUG4AVbCGnm88/CVEdMmTnEHyHcxBzdHQGDRQt0ITESI5hQT3xjPjBB+cwWYUy/TwhF+aMkS99nM2WdXtbIsVdMAKKW7gjMG/y2b2PzqmWQOr2P+AI0w6CmyThdHUiei5Vjy8f0aOMKoms4HOPIymK/5FqCMqQxA9YlPltQP+jQzoDngWnhQ2sLC/YPv5tdgL3wu+9o2ui4msBo/SDZdDDJMmR7EyoNA/myjiQpILh0qhyATWz4BzNBPAqw4+7TfoJU+D9shuKp+elG1zwME/4IT6bL2Sa0vSRaXSnHTS+Yiv+S1ZWBlZD+hvRkVYFkmnm8oylcrEohIkfDpAwbn3NJNI7lxpnV0m6sazrve0LPySs7XZLr5U5q4mb2MKvBC9IFLGG3HJWRWVPg9PJpNN7/d6N4wtaRQLIIqDOtmSUGJ37jkyxtDLlZO8+26qooD7FHD9D1Yh9Ssk+Nj0dqzm5EsHunO6Ze1JMulvpwUldJqZuArQLaSdqf+VE3PxfAOQ9SdUigKRomK0D1V2+atHL+aRj42pIEbWVN37zt12kIO/oyL1at7C669R0P3sbVKz4NRcvmOqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UUc5tUBzUCTJrHdPUbJVWj",
      "input": {
        "note": "The right arm has stopped tracking (identical readback twice), so I'm changing the target slightly — pulling in 1.5 cm and levelling pitch — to unstick the IK and get the fingertips down to the pen.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.365,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01UUc5tUBzUCTJrHdPUbJVWj",
      "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]: [-0.0006, 1.6905, 0.9077, -0.3107, 0.572, 0.7338, 0.0789, 0.6624, 1.9049, 0.606, 0.6689, 0.3058, 0.1711, 0.9961]\nstate[eef_state]: left_x=0.3679 left_y=-0.0922 left_z=0.0498 left_yaw=-0.9121 left_pitch=-0.2731 left_roll=-0.0532 left_gripper=0.0789 right_x=0.3641 right_y=0.2211 right_z=0.0011 right_yaw=0.3003 right_pitch=-0.0396 right_roll=-0.0305 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -7.5145, 5.9282, 1.0965, 0.3053, -0.0415, 1.033, 0.4444, -6.065, 3.5077, 1.3162, 0.1538, -0.2076, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:686843f88fd5527c8f65268110a2850ac11454342031bb4e1e7b6dfd0eba9ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d97ed25c922819a1662706497da1bd46874bc7f93001004638c0364899938a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf21989f37917ade9f23f33cae35a4c628eeb17861690a7d19b731ebed6af0cc",
        "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 · 3.722 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]: [-0.0006, 1.6905, 0.9077, -0.3111, 0.572, 0.7338, 0.0712, 0.6083, 1.7931, 0.8787, 0.0853, 0.2291, 0.1726, 0.9961]\nstate[eef_state]: left_x=0.3678 left_y=-0.0922 left_z=0.0498 left_yaw=-0.9122 left_pitch=-0.2733 left_roll=-0.0535 left_gripper=0.0712 right_x=0.381 right_y=0.2208 right_z=0.0336 right_yaw=0.3003 right_pitch=-0.2444 right_roll=-0.0466 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -7.1863, 5.7231, 1.0769, 0.2125, -0.0171, 1.033, -0.3897, -8.0205, 7.241, 1.5702, 0.2027, 0.0757, -0.0073]",
      "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]: [-0.0006, 1.6905, 0.9077, -0.3111, 0.5716, 0.7338, 0.0754, 0.6083, 1.7931, 0.8791, 0.0849, 0.2291, 0.1726, 0.9961]\nstate[eef_state]: left_x=0.3678 left_y=-0.0922 left_z=0.0498 left_yaw=-0.912 left_pitch=-0.2736 left_roll=-0.0533 left_gripper=0.0754 right_x=0.3811 right_y=0.2208 right_z=0.0337 right_yaw=0.3003 right_pitch=-0.2444 right_roll=-0.0466 right_gripper=0.9961\nstate[joint_eff]: [-0.212, -7.5692, 5.7915, 1.0623, 0.2418, -0.0513, 1.033, -0.4581, -8.0068, 7.2821, 1.5946, 0.2076, 0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0006, 1.6905, 0.9077, -0.3107, 0.572, 0.7338, 0.0789, 0.6624, 1.9049, 0.606, 0.6689, 0.3058, 0.1711, 0.9961]\nstate[eef_state]: left_x=0.3679 left_y=-0.0922 left_z=0.0498 left_yaw=-0.9121 left_pitch=-0.2731 left_roll=-0.0532 left_gripper=0.0789 right_x=0.3641 right_y=0.2211 right_z=0.0011 right_yaw=0.3003 right_pitch=-0.0396 right_roll=-0.0305 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -7.5145, 5.9282, 1.0965, 0.3053, -0.0415, 1.033, 0.4444, -6.065, 3.5077, 1.3162, 0.1538, -0.2076, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:686843f88fd5527c8f65268110a2850ac11454342031bb4e1e7b6dfd0eba9ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d97ed25c922819a1662706497da1bd46874bc7f93001004638c0364899938a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf21989f37917ade9f23f33cae35a4c628eeb17861690a7d19b731ebed6af0cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStAYKjgEIEhgCKkDUJjQfAnc7XaR+fc80QuXqui2v7lWpJmByg+AMkXMgqC862IpHNNClMNvU8Fvz+sJEKSStWKNzcDZ/qS+LDJnBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd6szNUGEgw5wQC1yFDozlBeY2MaDA6w2cwZyUHgAgZJTyIwilqxLUK9YO2sjimH7RlCVKDpB3FK1QrOrPNIdHJ2ggcsMdvn+u2eu9SQdjKKmTrdKtIEA4ppav7auErn1FydmDld/8eohosNkxboNYcySOoPu9fDJ72pVQmEHbcNSpIpzidVQRvz6pIZ6n5UB6JVPSBFh+AO41tqSlJAloRwA5yjmgxgwVJw8yle2rma7sMd6SbTCdb274HHV8QfR0/CFbo0Ta1gxBE7txAfyqdU0uEiouC9bCKIBuuLs6fGkFkVFCuSX9OThgjxnhBIlqZ/4cWqCqHzPwTBxFVhhN5wvxNNpbkR1yvkmN5corPcERhe0e3I2TURheT1ecSD3QQ62vNXCVb663TY2KPJK6NeNru6M6GpYSzM35lVhx+CJfHldcApcRmrdBzxsIF8nYFY586/Yf6DEaHg/XyZkDVbXmODYl67KYWW15VGqc9tocS80vaT8Rv+F4cErgG2cUynADk0bu8r52pmyUuh5W73d5TvK6ukvDCOKvwyp+Ah9znyEEQ/59vc/gAjxI5zhB+tLlqgnW/fH1oGk6e2SG4V/12fJD8iJXaQ1obah6JZGZ0bgvfiINoIiOsbsqQVBoP4+5ffIx2/MWBLXhqX3oNhszWjQ3ZxBX7MTHfjKntZotb+EZsn3hpvmjYJq0Cc9LQvRE848ZDEKi5U95Gu5UClzbxkJVR2bWR5LRirs7woLjX48y5uMxmG3JYMjTtwzVfKWK56qMGAHG96b7ZL40WUzR9xLqfgtfNibNgSFXFh/OSHuYCBnpTm5osLjyHHNXe3oZ26MTOaZuIk3fffkqWdSndgaxfsgVY+MIKDBUgEZq01BqCmetNQ+ymZPUdN6O4FhYa3cxyYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011b9xbGLhH8gom1jkftNu4W",
      "input": {
        "note": "Fingertips are now at table level with the pen shaft running straight into the jaw gap; closing on the pen.",
        "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_011b9xbGLhH8gom1jkftNu4W",
      "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]: [-0.0006, 1.6905, 0.9077, -0.3111, 0.5716, 0.7338, 0.079, 0.6628, 1.9167, 0.6018, 0.7029, 0.3027, 0.1711, 0.0478]\nstate[eef_state]: left_x=0.3678 left_y=-0.0922 left_z=0.0498 left_yaw=-0.912 left_pitch=-0.2736 left_roll=-0.0533 left_gripper=0.079 right_x=0.3653 right_y=0.2229 right_z=0.0015 right_yaw=0.3034 right_pitch=-0.0235 right_roll=-0.0225 right_gripper=0.0478\nstate[joint_eff]: [-0.294, -7.5419, 5.8735, 1.0623, 0.2418, 0.0024, 1.0281, -0.3487, -8.9641, 5.0667, 1.409, 0.105, -0.0317, 1.3407]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d879c2fba09b31c7907ffbfc70ed3225d75bd6b7aed4c6adf409b31366ec5e67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:506bd04ea101a04f45b788d8e33bfac6e6a2550066fa5df8b787746cbb8fb0b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d8abf7056626be2efc317b045c3fd7c716e65221be5630fd82eaaae331c91368",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 29.3 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]: [-0.0006, 1.6905, 0.9077, -0.3111, 0.5716, 0.7338, 0.0754, 0.6083, 1.7931, 0.8791, 0.0849, 0.2291, 0.1726, 0.9961]\nstate[eef_state]: left_x=0.3678 left_y=-0.0922 left_z=0.0498 left_yaw=-0.912 left_pitch=-0.2736 left_roll=-0.0533 left_gripper=0.0754 right_x=0.3811 right_y=0.2208 right_z=0.0337 right_yaw=0.3003 right_pitch=-0.2444 right_roll=-0.0466 right_gripper=0.9961\nstate[joint_eff]: [-0.212, -7.5692, 5.7915, 1.0623, 0.2418, -0.0513, 1.033, -0.4581, -8.0068, 7.2821, 1.5946, 0.2076, 0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0006, 1.6905, 0.9077, -0.3107, 0.572, 0.7338, 0.0789, 0.6624, 1.9049, 0.606, 0.6689, 0.3058, 0.1711, 0.9961]\nstate[eef_state]: left_x=0.3679 left_y=-0.0922 left_z=0.0498 left_yaw=-0.9121 left_pitch=-0.2731 left_roll=-0.0532 left_gripper=0.0789 right_x=0.3641 right_y=0.2211 right_z=0.0011 right_yaw=0.3003 right_pitch=-0.0396 right_roll=-0.0305 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -7.5145, 5.9282, 1.0965, 0.3053, -0.0415, 1.033, 0.4444, -6.065, 3.5077, 1.3162, 0.1538, -0.2076, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0006, 1.6905, 0.9077, -0.3111, 0.5716, 0.7338, 0.079, 0.6628, 1.9167, 0.6018, 0.7029, 0.3027, 0.1711, 0.0478]\nstate[eef_state]: left_x=0.3678 left_y=-0.0922 left_z=0.0498 left_yaw=-0.912 left_pitch=-0.2736 left_roll=-0.0533 left_gripper=0.079 right_x=0.3653 right_y=0.2229 right_z=0.0015 right_yaw=0.3034 right_pitch=-0.0235 right_roll=-0.0225 right_gripper=0.0478\nstate[joint_eff]: [-0.294, -7.5419, 5.8735, 1.0623, 0.2418, 0.0024, 1.0281, -0.3487, -8.9641, 5.0667, 1.409, 0.105, -0.0317, 1.3407]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d879c2fba09b31c7907ffbfc70ed3225d75bd6b7aed4c6adf409b31366ec5e67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:506bd04ea101a04f45b788d8e33bfac6e6a2550066fa5df8b787746cbb8fb0b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8abf7056626be2efc317b045c3fd7c716e65221be5630fd82eaaae331c91368",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISngMKjgEIEhgCKkAvmGJSQXUPW3OwgJ736GIQhnFKtMqiT583JL8MyhIYnYetcKxis+7DsPMJEoAFzvL+F57cTUfCSCK+f2ZbCRTaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeOszNUGEgzmKkZ8PZJBPuGxIz8aDIOSlKNywNbkUckZnSIwR0gAVn+A7FSwqBUkwpj6QC3KDpOmj5KIkL0MLt9/qWe8n71UY9EJ6ZHlB4IiN+u/KrwBFWkpzIey55B12/3G3xiBTWwadxGO9THyzD4zDHWRxMMVpL4eu9Z6qbrcbxKK3EYlTDu9UBgxaP6TpX6yzqUyf9XkxGPdb9uNajUCVimbHoyogkH3xuORoRAdNZH5kTU+cHmYiI4Z8ncz9JCFCNOrV881XmCQdmnoCjB9hRTEfME/HUXPH0Fec416PH1DJiNLitMx7VCu14hgZXKeNRxFxOsq/MRuVIdW02HQ/8x9XuUb4z+0drno1BWXxSAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JDGdoSayLcCyEunjGvGrKA",
      "input": {
        "note": "Right gripper settled at 0.048 (~4.5 mm), consistent with holding the pen shaft; lifting to confirm the pen comes up 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_01JDGdoSayLcCyEunjGvGrKA",
      "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]: [-0.0006, 1.6955, 0.9028, -0.3119, 0.5709, 0.7334, 0.079, 0.6628, 1.5616, 0.7544, 0.1905, 0.2943, 0.1684, 0.0536]\nstate[eef_state]: left_x=0.3658 left_y=-0.0921 left_z=0.0463 left_yaw=-0.9137 left_pitch=-0.2807 left_roll=-0.0619 left_gripper=0.079 right_x=0.3648 right_y=0.2243 right_z=0.1024 right_yaw=0.3117 right_pitch=-0.0295 right_roll=-0.0218 right_gripper=0.0536\nstate[joint_eff]: [-0.335, -7.4735, 6.1333, 1.16, 0.2173, -0.0513, 1.0037, -0.0752, -8.8137, 8.2667, 1.7656, 0.1148, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f1dcb5fe475ea1ecab664248b4eb070471d48a163ff5e4899954b885eaf9aa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd636fd33c89c2b50488ebdd48110f280ce9783af62c3c06d68660347ac99e50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5bb7fa4e5edaca7b63021affa470aea5849d2558d0da37aa82605f3ebd641a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 35.8 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0006, 1.6905, 0.9077, -0.3107, 0.572, 0.7338, 0.0789, 0.6624, 1.9049, 0.606, 0.6689, 0.3058, 0.1711, 0.9961]\nstate[eef_state]: left_x=0.3679 left_y=-0.0922 left_z=0.0498 left_yaw=-0.9121 left_pitch=-0.2731 left_roll=-0.0532 left_gripper=0.0789 right_x=0.3641 right_y=0.2211 right_z=0.0011 right_yaw=0.3003 right_pitch=-0.0396 right_roll=-0.0305 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -7.5145, 5.9282, 1.0965, 0.3053, -0.0415, 1.033, 0.4444, -6.065, 3.5077, 1.3162, 0.1538, -0.2076, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0006, 1.6905, 0.9077, -0.3111, 0.5716, 0.7338, 0.079, 0.6628, 1.9167, 0.6018, 0.7029, 0.3027, 0.1711, 0.0478]\nstate[eef_state]: left_x=0.3678 left_y=-0.0922 left_z=0.0498 left_yaw=-0.912 left_pitch=-0.2736 left_roll=-0.0533 left_gripper=0.079 right_x=0.3653 right_y=0.2229 right_z=0.0015 right_yaw=0.3034 right_pitch=-0.0235 right_roll=-0.0225 right_gripper=0.0478\nstate[joint_eff]: [-0.294, -7.5419, 5.8735, 1.0623, 0.2418, 0.0024, 1.0281, -0.3487, -8.9641, 5.0667, 1.409, 0.105, -0.0317, 1.3407]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0006, 1.6955, 0.9028, -0.3119, 0.5709, 0.7334, 0.079, 0.6628, 1.5616, 0.7544, 0.1905, 0.2943, 0.1684, 0.0536]\nstate[eef_state]: left_x=0.3658 left_y=-0.0921 left_z=0.0463 left_yaw=-0.9137 left_pitch=-0.2807 left_roll=-0.0619 left_gripper=0.079 right_x=0.3648 right_y=0.2243 right_z=0.1024 right_yaw=0.3117 right_pitch=-0.0295 right_roll=-0.0218 right_gripper=0.0536\nstate[joint_eff]: [-0.335, -7.4735, 6.1333, 1.16, 0.2173, -0.0513, 1.0037, -0.0752, -8.8137, 8.2667, 1.7656, 0.1148, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f1dcb5fe475ea1ecab664248b4eb070471d48a163ff5e4899954b885eaf9aa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd636fd33c89c2b50488ebdd48110f280ce9783af62c3c06d68660347ac99e50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5bb7fa4e5edaca7b63021affa470aea5849d2558d0da37aa82605f3ebd641a3",
        "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_01CxoXRbHvtmazqzo5m5TGp8",
      "input": {
        "note": "The pen is clearly held by the right gripper, sticking out forward. Now bringing the left gripper (which should hold the cap) into the right wrist camera's view so I can see the cap's orientation relative to the pen tip.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.32,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01CxoXRbHvtmazqzo5m5TGp8",
      "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]: [-0.5278, 2.0766, 1.6562, -0.5129, 0.284, 0.2474, 0.079, 0.6628, 1.5574, 0.7528, 0.1703, 0.2878, 0.1684, 0.0588]\nstate[eef_state]: left_x=0.4423 left_y=-0.311 left_z=0.1053 left_yaw=-0.9212 left_pitch=-0.3121 left_roll=-0.0782 left_gripper=0.079 right_x=0.3618 right_y=0.2233 right_z=0.0993 right_yaw=0.3169 right_pitch=-0.0472 right_roll=-0.0242 right_gripper=0.0588\nstate[joint_eff]: [-0.5812, -11.7812, 9.3333, 1.2821, 0.0513, 0.0269, 1.0037, -0.3487, -6.4889, 6.3795, 1.8339, 0.1392, -0.0806, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b097a10e996ceea8b7508f34b7853df444d074a1eb575ec590ddb3e8e136ebad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5d72860c93aeb2d35f1494ffd842b03e2381631556468e0584bcef13d80964c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0eabcb144486c40344c494d99b18d2a1275793c4de8fe0f9f70b6862acd26b4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 15.88 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0006, 1.6905, 0.9077, -0.3111, 0.5716, 0.7338, 0.079, 0.6628, 1.9167, 0.6018, 0.7029, 0.3027, 0.1711, 0.0478]\nstate[eef_state]: left_x=0.3678 left_y=-0.0922 left_z=0.0498 left_yaw=-0.912 left_pitch=-0.2736 left_roll=-0.0533 left_gripper=0.079 right_x=0.3653 right_y=0.2229 right_z=0.0015 right_yaw=0.3034 right_pitch=-0.0235 right_roll=-0.0225 right_gripper=0.0478\nstate[joint_eff]: [-0.294, -7.5419, 5.8735, 1.0623, 0.2418, 0.0024, 1.0281, -0.3487, -8.9641, 5.0667, 1.409, 0.105, -0.0317, 1.3407]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0006, 1.6955, 0.9028, -0.3119, 0.5709, 0.7334, 0.079, 0.6628, 1.5616, 0.7544, 0.1905, 0.2943, 0.1684, 0.0536]\nstate[eef_state]: left_x=0.3658 left_y=-0.0921 left_z=0.0463 left_yaw=-0.9137 left_pitch=-0.2807 left_roll=-0.0619 left_gripper=0.079 right_x=0.3648 right_y=0.2243 right_z=0.1024 right_yaw=0.3117 right_pitch=-0.0295 right_roll=-0.0218 right_gripper=0.0536\nstate[joint_eff]: [-0.335, -7.4735, 6.1333, 1.16, 0.2173, -0.0513, 1.0037, -0.0752, -8.8137, 8.2667, 1.7656, 0.1148, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5278, 2.0766, 1.6562, -0.5129, 0.284, 0.2474, 0.079, 0.6628, 1.5574, 0.7528, 0.1703, 0.2878, 0.1684, 0.0588]\nstate[eef_state]: left_x=0.4423 left_y=-0.311 left_z=0.1053 left_yaw=-0.9212 left_pitch=-0.3121 left_roll=-0.0782 left_gripper=0.079 right_x=0.3618 right_y=0.2233 right_z=0.0993 right_yaw=0.3169 right_pitch=-0.0472 right_roll=-0.0242 right_gripper=0.0588\nstate[joint_eff]: [-0.5812, -11.7812, 9.3333, 1.2821, 0.0513, 0.0269, 1.0037, -0.3487, -6.4889, 6.3795, 1.8339, 0.1392, -0.0806, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b097a10e996ceea8b7508f34b7853df444d074a1eb575ec590ddb3e8e136ebad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5d72860c93aeb2d35f1494ffd842b03e2381631556468e0584bcef13d80964c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eabcb144486c40344c494d99b18d2a1275793c4de8fe0f9f70b6862acd26b4f",
        "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_017qBndmcK69yFFt5DN8dkQj",
      "input": {
        "note": "Both objects are held and each protrudes forward from its own gripper, so they cannot meet; I am yawing the right arm so the pen points along +y (toward the left arm) and the left arm so the cap points along -y (toward the pen), setting up a head-on mating along the y axis.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.3,
          "left_yaw": -1.57,
          "left_z": 0.15,
          "right_x": 0.35,
          "right_y": 0.2,
          "right_yaw": 1.57,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_017qBndmcK69yFFt5DN8dkQj",
      "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]: [-0.4931, 2.027, 1.7073, -0.9138, 0.5579, 0.7975, 0.079, 0.1562, 1.7969, 1.3342, -0.5503, -0.8165, -0.9615, 0.0621]\nstate[eef_state]: left_x=0.363 left_y=-0.2972 left_z=0.1216 left_yaw=-1.4701 left_pitch=-0.3629 left_roll=-0.1222 left_gripper=0.079 right_x=0.4005 right_y=0.197 right_z=0.1517 right_yaw=1.3042 right_pitch=-0.064 right_roll=-0.0741 right_gripper=0.0621\nstate[joint_eff]: [-0.0479, -13.4359, 9.1692, 1.0818, 0.4762, 0.1929, 1.0037, -0.4171, -9.4974, 5.9692, 0.4957, -0.9206, -0.1441, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44872681e83ada0943143416324935db19e20ba947725f0e9e95ea7f637bf810",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab40db1fbdc6653c13d1acd42f62675fc57ee9672cd495266ed1a977d11d8d8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0121b6349f44aab05ed46c32a38d6809c237cf9148ca9564ddb4a1f9da7ae83a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 14.25 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0006, 1.6955, 0.9028, -0.3119, 0.5709, 0.7334, 0.079, 0.6628, 1.5616, 0.7544, 0.1905, 0.2943, 0.1684, 0.0536]\nstate[eef_state]: left_x=0.3658 left_y=-0.0921 left_z=0.0463 left_yaw=-0.9137 left_pitch=-0.2807 left_roll=-0.0619 left_gripper=0.079 right_x=0.3648 right_y=0.2243 right_z=0.1024 right_yaw=0.3117 right_pitch=-0.0295 right_roll=-0.0218 right_gripper=0.0536\nstate[joint_eff]: [-0.335, -7.4735, 6.1333, 1.16, 0.2173, -0.0513, 1.0037, -0.0752, -8.8137, 8.2667, 1.7656, 0.1148, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5278, 2.0766, 1.6562, -0.5129, 0.284, 0.2474, 0.079, 0.6628, 1.5574, 0.7528, 0.1703, 0.2878, 0.1684, 0.0588]\nstate[eef_state]: left_x=0.4423 left_y=-0.311 left_z=0.1053 left_yaw=-0.9212 left_pitch=-0.3121 left_roll=-0.0782 left_gripper=0.079 right_x=0.3618 right_y=0.2233 right_z=0.0993 right_yaw=0.3169 right_pitch=-0.0472 right_roll=-0.0242 right_gripper=0.0588\nstate[joint_eff]: [-0.5812, -11.7812, 9.3333, 1.2821, 0.0513, 0.0269, 1.0037, -0.3487, -6.4889, 6.3795, 1.8339, 0.1392, -0.0806, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4931, 2.027, 1.7073, -0.9138, 0.5579, 0.7975, 0.079, 0.1562, 1.7969, 1.3342, -0.5503, -0.8165, -0.9615, 0.0621]\nstate[eef_state]: left_x=0.363 left_y=-0.2972 left_z=0.1216 left_yaw=-1.4701 left_pitch=-0.3629 left_roll=-0.1222 left_gripper=0.079 right_x=0.4005 right_y=0.197 right_z=0.1517 right_yaw=1.3042 right_pitch=-0.064 right_roll=-0.0741 right_gripper=0.0621\nstate[joint_eff]: [-0.0479, -13.4359, 9.1692, 1.0818, 0.4762, 0.1929, 1.0037, -0.4171, -9.4974, 5.9692, 0.4957, -0.9206, -0.1441, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44872681e83ada0943143416324935db19e20ba947725f0e9e95ea7f637bf810",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab40db1fbdc6653c13d1acd42f62675fc57ee9672cd495266ed1a977d11d8d8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0121b6349f44aab05ed46c32a38d6809c237cf9148ca9564ddb4a1f9da7ae83a",
        "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_013g7VLd5GELdTvVT3mGtaZt",
      "input": {
        "note": "Pen now points along +y from the right gripper and the cap points along -y from the left gripper, roughly anti-parallel. Bringing the left arm to the pen tip's height and line, stopping a few cm short to check alignment.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.31,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_013g7VLd5GELdTvVT3mGtaZt",
      "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]: [-0.4618, 2.3459, 2.3981, -1.2758, 0.5568, 0.8284, 0.079, 0.1539, 1.816, 1.3319, -0.5816, -0.8185, -0.9905, 0.0621]\nstate[eef_state]: left_x=0.4265 left_y=-0.3125 left_z=0.1665 left_yaw=-1.4529 left_pitch=-0.3566 left_roll=-0.093 left_gripper=0.079 right_x=0.3959 right_y=0.1956 right_z=0.1404 right_yaw=1.3219 right_pitch=-0.0843 right_roll=-0.0485 right_gripper=0.0621\nstate[joint_eff]: [0.0889, -12.5744, 6.2017, 0.105, 0.3883, 0.0513, 1.0037, 0.0205, -10.7692, 6.4752, 1.3162, -0.3834, 0.1294, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85de904234d93b6894a854690590fde2052383e12a928a86959306b5fe99791d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a11ddcc7a6878f4784e49944eef8ef5259ca0ac4c265b0279a17ce1939b4dde9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:876d0be612ef87188925e56d8edc068295b0781aec511caf969a8783ad4c67d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 7.609 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5278, 2.0766, 1.6562, -0.5129, 0.284, 0.2474, 0.079, 0.6628, 1.5574, 0.7528, 0.1703, 0.2878, 0.1684, 0.0588]\nstate[eef_state]: left_x=0.4423 left_y=-0.311 left_z=0.1053 left_yaw=-0.9212 left_pitch=-0.3121 left_roll=-0.0782 left_gripper=0.079 right_x=0.3618 right_y=0.2233 right_z=0.0993 right_yaw=0.3169 right_pitch=-0.0472 right_roll=-0.0242 right_gripper=0.0588\nstate[joint_eff]: [-0.5812, -11.7812, 9.3333, 1.2821, 0.0513, 0.0269, 1.0037, -0.3487, -6.4889, 6.3795, 1.8339, 0.1392, -0.0806, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4931, 2.027, 1.7073, -0.9138, 0.5579, 0.7975, 0.079, 0.1562, 1.7969, 1.3342, -0.5503, -0.8165, -0.9615, 0.0621]\nstate[eef_state]: left_x=0.363 left_y=-0.2972 left_z=0.1216 left_yaw=-1.4701 left_pitch=-0.3629 left_roll=-0.1222 left_gripper=0.079 right_x=0.4005 right_y=0.197 right_z=0.1517 right_yaw=1.3042 right_pitch=-0.064 right_roll=-0.0741 right_gripper=0.0621\nstate[joint_eff]: [-0.0479, -13.4359, 9.1692, 1.0818, 0.4762, 0.1929, 1.0037, -0.4171, -9.4974, 5.9692, 0.4957, -0.9206, -0.1441, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4618, 2.3459, 2.3981, -1.2758, 0.5568, 0.8284, 0.079, 0.1539, 1.816, 1.3319, -0.5816, -0.8185, -0.9905, 0.0621]\nstate[eef_state]: left_x=0.4265 left_y=-0.3125 left_z=0.1665 left_yaw=-1.4529 left_pitch=-0.3566 left_roll=-0.093 left_gripper=0.079 right_x=0.3959 right_y=0.1956 right_z=0.1404 right_yaw=1.3219 right_pitch=-0.0843 right_roll=-0.0485 right_gripper=0.0621\nstate[joint_eff]: [0.0889, -12.5744, 6.2017, 0.105, 0.3883, 0.0513, 1.0037, 0.0205, -10.7692, 6.4752, 1.3162, -0.3834, 0.1294, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85de904234d93b6894a854690590fde2052383e12a928a86959306b5fe99791d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a11ddcc7a6878f4784e49944eef8ef5259ca0ac4c265b0279a17ce1939b4dde9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:876d0be612ef87188925e56d8edc068295b0781aec511caf969a8783ad4c67d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H5t3DusefZ2yfFrKGxkwf8",
      "input": {
        "note": "Right wrist view shows the pen tip pointing up-frame with the left gripper just beyond it; the left grasp point reads 2.6 cm higher than the right, so I'm lowering the cap to the pen's height and closing 2 cm of the gap.",
        "targets": {
          "left_y": -0.33,
          "left_z": 0.153
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01H5t3DusefZ2yfFrKGxkwf8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.3998, 0.5545, 0.8288, 0.079, 0.1535, 1.816, 1.3319, -0.569, -0.8112, -0.9806, 0.0621]\nstate[eef_state]: left_x=0.4125 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4826 left_pitch=-0.4164 left_roll=-0.1909 left_gripper=0.079 right_x=0.3986 right_y=0.1949 right_z=0.1407 right_yaw=1.3115 right_pitch=-0.085 right_roll=-0.0547 right_gripper=0.0621\nstate[joint_eff]: [-0.6085, -12.6564, 8.1299, 0.6911, 0.3736, -0.0171, 1.0232, -0.253, -9.3197, 6.5299, 0.9158, -0.4957, -0.1538, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83ab50262f2f0c089ed62df724c2a2ca01795a8cf61714984e0bf74ae54d7d15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25958df35cedcfe5240ebc6dac784a3c57105d62db3def814295e9b54abf7e91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e892a0d0747e73339a698b3fd6d46567c45c9365cde15f0d2eaf31eb3d05589",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 5.062 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4931, 2.027, 1.7073, -0.9138, 0.5579, 0.7975, 0.079, 0.1562, 1.7969, 1.3342, -0.5503, -0.8165, -0.9615, 0.0621]\nstate[eef_state]: left_x=0.363 left_y=-0.2972 left_z=0.1216 left_yaw=-1.4701 left_pitch=-0.3629 left_roll=-0.1222 left_gripper=0.079 right_x=0.4005 right_y=0.197 right_z=0.1517 right_yaw=1.3042 right_pitch=-0.064 right_roll=-0.0741 right_gripper=0.0621\nstate[joint_eff]: [-0.0479, -13.4359, 9.1692, 1.0818, 0.4762, 0.1929, 1.0037, -0.4171, -9.4974, 5.9692, 0.4957, -0.9206, -0.1441, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4618, 2.3459, 2.3981, -1.2758, 0.5568, 0.8284, 0.079, 0.1539, 1.816, 1.3319, -0.5816, -0.8185, -0.9905, 0.0621]\nstate[eef_state]: left_x=0.4265 left_y=-0.3125 left_z=0.1665 left_yaw=-1.4529 left_pitch=-0.3566 left_roll=-0.093 left_gripper=0.079 right_x=0.3959 right_y=0.1956 right_z=0.1404 right_yaw=1.3219 right_pitch=-0.0843 right_roll=-0.0485 right_gripper=0.0621\nstate[joint_eff]: [0.0889, -12.5744, 6.2017, 0.105, 0.3883, 0.0513, 1.0037, 0.0205, -10.7692, 6.4752, 1.3162, -0.3834, 0.1294, 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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.3998, 0.5545, 0.8288, 0.079, 0.1535, 1.816, 1.3319, -0.569, -0.8112, -0.9806, 0.0621]\nstate[eef_state]: left_x=0.4125 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4826 left_pitch=-0.4164 left_roll=-0.1909 left_gripper=0.079 right_x=0.3986 right_y=0.1949 right_z=0.1407 right_yaw=1.3115 right_pitch=-0.085 right_roll=-0.0547 right_gripper=0.0621\nstate[joint_eff]: [-0.6085, -12.6564, 8.1299, 0.6911, 0.3736, -0.0171, 1.0232, -0.253, -9.3197, 6.5299, 0.9158, -0.4957, -0.1538, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83ab50262f2f0c089ed62df724c2a2ca01795a8cf61714984e0bf74ae54d7d15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25958df35cedcfe5240ebc6dac784a3c57105d62db3def814295e9b54abf7e91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e892a0d0747e73339a698b3fd6d46567c45c9365cde15f0d2eaf31eb3d05589",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpQcKjgEIEhgCKkDu4lj4N23ZtiO7eNC9OcCgdlge8dEsv1AsQ3EDrfSmlvnba6beQ9a7g7cnpGks3zCgIq7iey6AUABtQwrdt/YtMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc2tzNUGEgzU3PlZq7HPAyUHmWUaDNHqZIKvHRmOu5n9TyIwDimtb41RzpBPGaFK2SoK8fO1IpKyLDba7QFPtc+qU3JjZ/ZaH3AbVP+YSoOTaFiAKsMF7RcLn0LlGexNXAuirB3mNRY4BJKWOitPjMvX2SecFYX0WIH3boFMGsXCvn6Lcdco3b/VXNO9+rfQLHqjQEMS8pRqhurAy/8u5UkS/6+tMixBZqCeweM1HnnLrvX8xPNl6F5VAs5rNaVM+Om3+qqtQ0Rl3sma0ek4GSbvWWBTkTgZtAk5FLUQM9R5r9KR8U82sgJsk2G2LG405ysC+4W3EaB24AdDbz2jXTzeZaItE5LK2uE0oQomdRMsEYqOrWQjpgEHzCj+F2M/meqiiwaUQpEOlN/XIIXrVpia1qd7b0j1Omutv0Lnb4iQyMlobBgkU/xrD03Uwiyk2v8vRab1OOMK3px2T2de5BFmhiBPeysEnwCXaCgXP4lzo6femr9KCmyYBccnzvqQxB2+Tj02sHrq55klJyfJWig06gduBpEmw1CadFpeXI+0wfN/9Ib1fkzKNJ2YIxJ79+BIEc1XgKh/lS2ujcsfAfLEfHoVnfvTN01snkzcH2xI+GMgYmIpbTfqxMd+usXUXlB1Coh61nSF4vDtAKVN0xpT1TC0wipqU7tZ76IvgmqeNetob0xZxxYEpXKpuz/70UGi58UMInB9spRVYhWO2RcVdIK1bAVVg3DyhkeluDIeXzoaYsyX/rWsgWVM3Z0uUK78S7MNscGiL2la71JUlf0rLeFkaW7p8yU5+DSBYLGv6+iyEJ1sUDWGa3cR9gsNiBKjivi8s2BKavGVBnERS+JzZG0QkpxlWZ5NCd41kEEF5BozAy3Xs5r7XOBzs98dkSCQLHcvpMvQnw7J4I8Bnvwe+ObERyjPn9DO56y3OYxKKEULVmaqtXrqbFijEtJ+NtPAFcZKE22zvILCMv/WvweWewYPi7YMLI3USQEURS+1DSH1qJYJUaFCSBF1uocRYgmPmXtCSc7kWVFKXln6LTLhmGdFql0p/TEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WqeQKhniMYjDkgcKNZkxKh",
      "input": {
        "note": "Both wrist views show the cap and pen tip nearly collinear and about a centimetre apart; advancing the cap 1 cm along the shared axis toward the pen tip.",
        "targets": {
          "left_y": -0.313
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01WqeQKhniMYjDkgcKNZkxKh",
      "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]: [-0.4549, 2.3775, 2.4451, -1.3998, 0.5549, 0.8288, 0.079, 0.1535, 1.8168, 1.3312, -0.5735, -0.8108, -0.9833, 0.0621]\nstate[eef_state]: left_x=0.4125 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4828 left_pitch=-0.4161 left_roll=-0.1911 left_gripper=0.079 right_x=0.3977 right_y=0.1948 right_z=0.1397 right_yaw=1.3132 right_pitch=-0.0878 right_roll=-0.0513 right_gripper=0.0621\nstate[joint_eff]: [-0.4171, -12.547, 8.0615, 0.7204, 0.3785, 0.0122, 1.0232, -0.3897, -9.1145, 6.6667, 1.1551, -0.4371, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:957de0c644490880ef5ebeb043f0be55d68be8c1b17d7651864cc37b32c9bb93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99aee1738aee028d3f5d1cb7075634463488f8a97119742d80ca7d020c749015",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:013395edb7a33295dd5eb65eaef852c61309d4d2c41ba63d2be10a1491321dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 11.78 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4618, 2.3459, 2.3981, -1.2758, 0.5568, 0.8284, 0.079, 0.1539, 1.816, 1.3319, -0.5816, -0.8185, -0.9905, 0.0621]\nstate[eef_state]: left_x=0.4265 left_y=-0.3125 left_z=0.1665 left_yaw=-1.4529 left_pitch=-0.3566 left_roll=-0.093 left_gripper=0.079 right_x=0.3959 right_y=0.1956 right_z=0.1404 right_yaw=1.3219 right_pitch=-0.0843 right_roll=-0.0485 right_gripper=0.0621\nstate[joint_eff]: [0.0889, -12.5744, 6.2017, 0.105, 0.3883, 0.0513, 1.0037, 0.0205, -10.7692, 6.4752, 1.3162, -0.3834, 0.1294, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.3998, 0.5545, 0.8288, 0.079, 0.1535, 1.816, 1.3319, -0.569, -0.8112, -0.9806, 0.0621]\nstate[eef_state]: left_x=0.4125 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4826 left_pitch=-0.4164 left_roll=-0.1909 left_gripper=0.079 right_x=0.3986 right_y=0.1949 right_z=0.1407 right_yaw=1.3115 right_pitch=-0.085 right_roll=-0.0547 right_gripper=0.0621\nstate[joint_eff]: [-0.6085, -12.6564, 8.1299, 0.6911, 0.3736, -0.0171, 1.0232, -0.253, -9.3197, 6.5299, 0.9158, -0.4957, -0.1538, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.3998, 0.5549, 0.8288, 0.079, 0.1535, 1.8168, 1.3312, -0.5735, -0.8108, -0.9833, 0.0621]\nstate[eef_state]: left_x=0.4125 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4828 left_pitch=-0.4161 left_roll=-0.1911 left_gripper=0.079 right_x=0.3977 right_y=0.1948 right_z=0.1397 right_yaw=1.3132 right_pitch=-0.0878 right_roll=-0.0513 right_gripper=0.0621\nstate[joint_eff]: [-0.4171, -12.547, 8.0615, 0.7204, 0.3785, 0.0122, 1.0232, -0.3897, -9.1145, 6.6667, 1.1551, -0.4371, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:957de0c644490880ef5ebeb043f0be55d68be8c1b17d7651864cc37b32c9bb93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99aee1738aee028d3f5d1cb7075634463488f8a97119742d80ca7d020c749015",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:013395edb7a33295dd5eb65eaef852c61309d4d2c41ba63d2be10a1491321dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStAQKjgEIEhgCKkALg0bxx/cxZLSYseP/rH6wjNoXlBD836wTlExGXDaWrph40F/cIDtr3wqVDfVzKl6yi+bIp00jRSolGvQLV5VzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdKtzNUGEgwuVLAuyPJSlUQlI+0aDFCPQLRFgwxuxExTFSIwujC4cH2R/rlTjVpSLh4a+CiSMCRHWUHGH30Fx7LfTazB2WsqUysMeg91W2Bh+6bHKtICQD5gQkuk7wX2215KHyA8Wg4TPm6r4vd2eWp5VLEnl5ytyDDcAWm6z/gflpZunXGBf7fCnt4C32hJmrqFp/+WEa0kUwdMThtG2gfQ1S/5DIkOpu8GrFWtC7NtY/+LTz/UnNqQSWmGAq67uo2ypAcVzQpA11q+wIWSSsKSKhe/vmCdBbnzrL95RLUPyjq1URwGSaKbTr71Us3dMbqskr/QQkYLL2LM7Kvbf1rSROeoGChLegFe3BR84ZfIP3ziCBJDxd6gR3qnh7iHLtYkxMXO8NUNX56orT08fGtljTfU2havyeuQsUqjt2DEvpjdSwQ5d7a6y8wmCbSlPA5n1jte0179HOygo2UQB8TALNYtCP9yw1GmGTL9aeUzACq/LRkLktJ0vAlqged4ZnR6X1ZTXqdF6LmjKLlIn6YEUBT1gNhNnsKqOhSW/KLM1cQ/9knb/HEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XiosB1jKRvu3YbtTq4L8Yg",
      "input": {
        "note": "The left arm stalled (identical readback), so I'm re-commanding the 1.5 cm approach with small simultaneous changes in x and z to unstick the IK and bring the cap onto the pen tip.",
        "targets": {
          "left_x": 0.405,
          "left_y": -0.315,
          "left_z": 0.155
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01XiosB1jKRvu3YbtTq4L8Yg",
      "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]: [-0.4549, 2.3775, 2.4451, -1.3998, 0.5549, 0.8288, 0.079, 0.1535, 1.8168, 1.3312, -0.569, -0.8043, -0.9833, 0.0621]\nstate[eef_state]: left_x=0.4125 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4828 left_pitch=-0.4161 left_roll=-0.1911 left_gripper=0.079 right_x=0.399 right_y=0.1941 right_z=0.1394 right_yaw=1.3094 right_pitch=-0.0911 right_roll=-0.0578 right_gripper=0.0621\nstate[joint_eff]: [-0.5675, -12.6838, 8.4444, 0.7009, 0.3639, 0.0122, 1.0232, -0.3487, -9.2239, 6.5299, 1.0281, -0.4322, -0.0366, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:542c13b9a9ced28be8d02b305dc2503df466ef07d630de4774a109e64a80dc02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4f2c55b1c93dd89741f87633f47589b128854aa0383e3529cdc289e41462420",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd2f3e3e6b934c5134d7defe72be917a92edd90f5cf994258818ec22c3f722fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 6.893 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.3998, 0.5545, 0.8288, 0.079, 0.1535, 1.816, 1.3319, -0.569, -0.8112, -0.9806, 0.0621]\nstate[eef_state]: left_x=0.4125 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4826 left_pitch=-0.4164 left_roll=-0.1909 left_gripper=0.079 right_x=0.3986 right_y=0.1949 right_z=0.1407 right_yaw=1.3115 right_pitch=-0.085 right_roll=-0.0547 right_gripper=0.0621\nstate[joint_eff]: [-0.6085, -12.6564, 8.1299, 0.6911, 0.3736, -0.0171, 1.0232, -0.253, -9.3197, 6.5299, 0.9158, -0.4957, -0.1538, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.3998, 0.5549, 0.8288, 0.079, 0.1535, 1.8168, 1.3312, -0.5735, -0.8108, -0.9833, 0.0621]\nstate[eef_state]: left_x=0.4125 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4828 left_pitch=-0.4161 left_roll=-0.1911 left_gripper=0.079 right_x=0.3977 right_y=0.1948 right_z=0.1397 right_yaw=1.3132 right_pitch=-0.0878 right_roll=-0.0513 right_gripper=0.0621\nstate[joint_eff]: [-0.4171, -12.547, 8.0615, 0.7204, 0.3785, 0.0122, 1.0232, -0.3897, -9.1145, 6.6667, 1.1551, -0.4371, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.3998, 0.5549, 0.8288, 0.079, 0.1535, 1.8168, 1.3312, -0.569, -0.8043, -0.9833, 0.0621]\nstate[eef_state]: left_x=0.4125 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4828 left_pitch=-0.4161 left_roll=-0.1911 left_gripper=0.079 right_x=0.399 right_y=0.1941 right_z=0.1394 right_yaw=1.3094 right_pitch=-0.0911 right_roll=-0.0578 right_gripper=0.0621\nstate[joint_eff]: [-0.5675, -12.6838, 8.4444, 0.7009, 0.3639, 0.0122, 1.0232, -0.3487, -9.2239, 6.5299, 1.0281, -0.4322, -0.0366, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:542c13b9a9ced28be8d02b305dc2503df466ef07d630de4774a109e64a80dc02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4f2c55b1c93dd89741f87633f47589b128854aa0383e3529cdc289e41462420",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd2f3e3e6b934c5134d7defe72be917a92edd90f5cf994258818ec22c3f722fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CW7T9DNLAkWxqctekRNLww",
      "input": {
        "note": "The left arm is frozen at its IK limit, so instead I'm advancing the right arm 2 cm along the pen's axis to push the pen tip into the waiting cap.",
        "targets": {
          "right_x": 0.404,
          "right_y": 0.213
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01CW7T9DNLAkWxqctekRNLww",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.3998, 0.5549, 0.8288, 0.079, 0.1757, 1.8233, 1.3315, -0.5583, -0.7887, -0.9638, 0.0621]\nstate[eef_state]: left_x=0.4125 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4828 left_pitch=-0.4161 left_roll=-0.1911 left_gripper=0.079 right_x=0.3979 right_y=0.2016 right_z=0.1362 right_yaw=1.3125 right_pitch=-0.1012 right_roll=-0.0521 right_gripper=0.0621\nstate[joint_eff]: [-0.4034, -12.6564, 8.4991, 0.6813, 0.3883, 0.0024, 1.0232, 1.0051, -8.0205, 8.4718, 1.3016, -0.4908, 0.1148, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:283e2fc360b05157881944f15d5b1269b6b9672fa4ca1a19b1831390f6b22351",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9683af1530a4c0bff19cbf391128ee277aa87e494b97a59d2d4a9b14999cb49a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:418a933c1360cfafef190fc2c61fc10ebac4cb09c53caea69b27672adeaf8698",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 9.742 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.3998, 0.5549, 0.8288, 0.079, 0.1535, 1.8168, 1.3312, -0.5735, -0.8108, -0.9833, 0.0621]\nstate[eef_state]: left_x=0.4125 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4828 left_pitch=-0.4161 left_roll=-0.1911 left_gripper=0.079 right_x=0.3977 right_y=0.1948 right_z=0.1397 right_yaw=1.3132 right_pitch=-0.0878 right_roll=-0.0513 right_gripper=0.0621\nstate[joint_eff]: [-0.4171, -12.547, 8.0615, 0.7204, 0.3785, 0.0122, 1.0232, -0.3897, -9.1145, 6.6667, 1.1551, -0.4371, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.3998, 0.5549, 0.8288, 0.079, 0.1535, 1.8168, 1.3312, -0.569, -0.8043, -0.9833, 0.0621]\nstate[eef_state]: left_x=0.4125 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4828 left_pitch=-0.4161 left_roll=-0.1911 left_gripper=0.079 right_x=0.399 right_y=0.1941 right_z=0.1394 right_yaw=1.3094 right_pitch=-0.0911 right_roll=-0.0578 right_gripper=0.0621\nstate[joint_eff]: [-0.5675, -12.6838, 8.4444, 0.7009, 0.3639, 0.0122, 1.0232, -0.3487, -9.2239, 6.5299, 1.0281, -0.4322, -0.0366, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.3998, 0.5549, 0.8288, 0.079, 0.1757, 1.8233, 1.3315, -0.5583, -0.7887, -0.9638, 0.0621]\nstate[eef_state]: left_x=0.4125 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4828 left_pitch=-0.4161 left_roll=-0.1911 left_gripper=0.079 right_x=0.3979 right_y=0.2016 right_z=0.1362 right_yaw=1.3125 right_pitch=-0.1012 right_roll=-0.0521 right_gripper=0.0621\nstate[joint_eff]: [-0.4034, -12.6564, 8.4991, 0.6813, 0.3883, 0.0024, 1.0232, 1.0051, -8.0205, 8.4718, 1.3016, -0.4908, 0.1148, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:283e2fc360b05157881944f15d5b1269b6b9672fa4ca1a19b1831390f6b22351",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9683af1530a4c0bff19cbf391128ee277aa87e494b97a59d2d4a9b14999cb49a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:418a933c1360cfafef190fc2c61fc10ebac4cb09c53caea69b27672adeaf8698",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmgcKjgEIEhgCKkCYef9Vf52Cm9Q45mmIYlJ2TAUBg5rO+yRbAgpTF6gxQI4yGn4z05nwAHO18mhq80Yx1H9OeroSKp7gVOBvV8t+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeatzNUGEgz3cEXhQymklkMdm64aDLN9XSvNk4yLbAKlliIwmhFf/iAYEBsKSwvbZlRIkfTr46GOPqMtpJkwwVKnFk+K+zfs95MGo2XNb5U6tjyDKrgFLr4j0mlQNx8cJzxtnv4pN32Gi4O+EJJXlcnjN0TwKF85VRnDfdq42NU+lE5UGRT9lNzpnhYZxFN+VoQnOPBao76Kenc3M96NQr2xqc/ZvLjolAeoh22xdsJ0l8zh1mgB8/BpXTIStp6RZD4PRvVuhBbV305xoGTRSoOhlFXMrp5mMABrh/3lPyYHJUQfjXiSHip/Ub4miNKwhTjHIneeOSGqOPTFO1arRRl7nSO3pEBeeNgIVv/rzUD+qdi5lmxrWPl9ZcJycZBheTxPIERIXp1CIx17lvpzaEjlrtbE2g/YnAaUoh7k+FIycjIw86wPMZDyrsqrDBx/3QL0zC2bMZNILqLtAf6W4YvE2QSCXGBTFns+kvCKHc8EeQMrArqDj0yXGurxA9liFPfRZYcXrcsNY0O642EH5nlbg3FmXfQbO5wCA+yaN9AXs6pCGOe9LyF+Fb8cMEKyv3B14qDRJu9GaRT8/R5jWcr1gRfQsEysrTkmu0XQIxWcg3uDV1x/ctOq/2P9D2mUgJROBtU5uRMPU1IwcxqM//BOrA0PgMD8uOVUNcal7UsfNKFPOoJUmCAXfNOsspxv5dhDSN72TrD9+ZDRs1SsPn6GWjvXJY7+BYQlJccpav+ddd07m1RrQZX4GfghNZZEqMFoKKkO/D41W19jRtBfyk1byGjwIF1fxpuWgIUF273QA23B5LB7JLJhidp/9a94+a3cCkdZJYFFghbdYWSC19yU0FcWcQ+QhUB71f4kzLxtg8Ii3jxLpEuSFw+GcSoTFANg1EQphpM0Z5sUS/9RrA+vvDyfIi36EDCtj3w4PMti5CWg4RzAZsjxjc19OHu4iImZL2XlrpIKA0ETbF6gEjGDqyUVyTaU6E3zKDmIhbxsLZVsQlgW/YIAcE/cKlKnRzhQtU8EixMLSVckx1U+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QQ5FrRMW2A2JxaKkGrjqhL",
      "input": {
        "note": "The gap between the pen tip and the cap is now about a centimetre; continuing to drive the right arm along the pen axis to seat the tip into the cap.",
        "targets": {
          "right_x": 0.408,
          "right_y": 0.225
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01QQ5FrRMW2A2JxaKkGrjqhL",
      "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]: [-0.4549, 2.3775, 2.4451, -1.4002, 0.5549, 0.8288, 0.079, 0.218, 1.8481, 1.3479, -0.5392, -0.7692, -0.9264, 0.0621]\nstate[eef_state]: left_x=0.4124 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4829 left_pitch=-0.4163 left_roll=-0.1915 left_gripper=0.079 right_x=0.3982 right_y=0.2177 right_z=0.1314 right_yaw=1.3234 right_pitch=-0.1111 right_roll=-0.0395 right_gripper=0.0621\nstate[joint_eff]: [-0.3897, -12.6838, 8.1709, 0.6813, 0.3785, 0.0366, 1.0183, 0.841, -8.1436, 8.8137, 1.2283, -0.4664, 0.1441, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e32596c9bf1b10efc362ecc879be4a3c7f3d6aeb26b983a08d57ea35322d5a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f074f80bb780f88dd226cc99ea7b2aa28921236917608b2d3ae1a852c756c3fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77f9c16e1aeddf777333e9bf2b7bc98719ab4f76d405e94115b314d4e47c974f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 8.126 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.3998, 0.5549, 0.8288, 0.079, 0.1535, 1.8168, 1.3312, -0.569, -0.8043, -0.9833, 0.0621]\nstate[eef_state]: left_x=0.4125 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4828 left_pitch=-0.4161 left_roll=-0.1911 left_gripper=0.079 right_x=0.399 right_y=0.1941 right_z=0.1394 right_yaw=1.3094 right_pitch=-0.0911 right_roll=-0.0578 right_gripper=0.0621\nstate[joint_eff]: [-0.5675, -12.6838, 8.4444, 0.7009, 0.3639, 0.0122, 1.0232, -0.3487, -9.2239, 6.5299, 1.0281, -0.4322, -0.0366, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.3998, 0.5549, 0.8288, 0.079, 0.1757, 1.8233, 1.3315, -0.5583, -0.7887, -0.9638, 0.0621]\nstate[eef_state]: left_x=0.4125 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4828 left_pitch=-0.4161 left_roll=-0.1911 left_gripper=0.079 right_x=0.3979 right_y=0.2016 right_z=0.1362 right_yaw=1.3125 right_pitch=-0.1012 right_roll=-0.0521 right_gripper=0.0621\nstate[joint_eff]: [-0.4034, -12.6564, 8.4991, 0.6813, 0.3883, 0.0024, 1.0232, 1.0051, -8.0205, 8.4718, 1.3016, -0.4908, 0.1148, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.4002, 0.5549, 0.8288, 0.079, 0.218, 1.8481, 1.3479, -0.5392, -0.7692, -0.9264, 0.0621]\nstate[eef_state]: left_x=0.4124 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4829 left_pitch=-0.4163 left_roll=-0.1915 left_gripper=0.079 right_x=0.3982 right_y=0.2177 right_z=0.1314 right_yaw=1.3234 right_pitch=-0.1111 right_roll=-0.0395 right_gripper=0.0621\nstate[joint_eff]: [-0.3897, -12.6838, 8.1709, 0.6813, 0.3785, 0.0366, 1.0183, 0.841, -8.1436, 8.8137, 1.2283, -0.4664, 0.1441, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e32596c9bf1b10efc362ecc879be4a3c7f3d6aeb26b983a08d57ea35322d5a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f074f80bb780f88dd226cc99ea7b2aa28921236917608b2d3ae1a852c756c3fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77f9c16e1aeddf777333e9bf2b7bc98719ab4f76d405e94115b314d4e47c974f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6QoKjgEIEhgCKkAPVNDa0d6Y0E9c9UKLiXac3bmCBr7K7mA72TkhrG4p3KZVLAo8DD5uMGYKGjpAWibqzrwH9Q1UlqSuNdYu8+vIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe+tzNUGEgyJ2gD3sm39nVNkP90aDBvMPJQzni+jnP/CYyIwzi+7Tksn89xuFclG7pbfdxWICaqM3bDfjplh+ZA5GKU0QT02rWanC9/n8ibN54BdKocJ1qKhubXuyAD0gqd6V5AfJTtE6VoBd8/hHzDT81RhWPgWAi9wZnTwGZAq2nO0hELhBHsyvs0jn8Vy1H0X8dR5QPEDbP0YNqqhht7Swh+oxulzHg8mRh95SwVUSsTixP/jkKvI1wR7Yoh363ijx5GBTpq8aJH7hURnYGNeaIn4g1XN7d95UxNs8jgLH+b9LnwKpAbbtP0/O/9R2d4wcZAXlcwkLMAO4a69E8JsaN7XkduvF7Xh6g+G+ZY7KWeXcSlAWdIdvZkObX1h5O5+rgf3uaQ77VWP8jYqVK3K8hiDdnV37SyykmOWVPMskEuRWX1xtH0kxpX6AmnSAEslVpUEFoEjmAyFytq+au1j5N+Zf3HfBqxBDzbev0El8JW1OoVpJVTitwtW+J/2K/qtOABXhlIU1TK50sIeI1bPb+9uMzTqHD/WE9XDI7o+ey0Ef79kIcQyZl/gseItkMCiqTW/1GXQoWbpY+T9+vqxoy/0xLi//gy3ntC+HZZWR3XS761BoJVjiKCoKrAi4Qj73EGKMokKl9jW208N84nZtdR77csteydrCjZu6TJn8h9Qi1iUvpjCXjTn9ttfbR4dTEb2sRawct0HdP3XXFO9t8OwT/z4A/ydTsUyHeFzI2B6WTha7n41394xO69+CI6D6+CpfEjPHnE8rlXED49FeoOapiPYuvxhXS5CQodIiSAKw5LxuaszXbk7rJIPEMWx8qcgyp+3rNmrva53RTajAXR8QvfAvymUyH2RaKH3RcQT/vfgke7KShH3YM4T8BvCox9Uvy4SHrSXu4VJsxrpK6pvGQFeexwmU2Q18vkEXrxq2xomPrMnG8HWOPELZPMhkB7nhScOAjAZO5woi64oSrVowQCNEHwic9AtMRiWiHB3sOeElzsQgJ7jxLLQFBUdyd47B6FEsUhQaGdP6nhOobEnyCWE2EyIyGH+ItwkNtRiFIUZi3RlZYOq/H7D2lPMn94PT3otqZ+vBFJ7iLSHhiLe9TUFBLd1gzXUnpY4+QCNkQdZ2gyeczfGV8pVemvy+h7WmX9CS7QPzpojSg3AyeqXrWNyPd9ZnMdhBdrPw4/VZ2ufsNUrdxUFm1SpwiK7/qZj+swXll1j9HYM7l815xZx7QPxmvcDRzLwga3BC0Ak+CPFs2+i4/9VZq9XWVsWegx5N7e8Yn33ZbfjUtcOL36nm9Zlx6/P2ZQKRD25QykhohC6yqjSU1DxoMRsM5r8Gu32Z9jvQuo9rVI1CjxbK4K4GaT60gWs38qcPAp1YAkTdPKiuJ3HxoeiJa4tEzpxyVaBGIM+qCaK5Bg+jwurJUvtweTkDOox2Gi4BlZ8VC1FDWv86ipk3xcddlk0BvHyvYxcYaO6tzSS2AUVjSwjqXpUqoKY9hZPFthdiFSRPjLToHaCEwncfkjp1/uNCiWjf/dRP9i/t77AYeFx70OvyqZ5x0BdfmvKe7j7ysxfPN694QcBK6Kp0SobE8tKeFMsvC8SbhCX8nyzoTD+O4Z4vZlzTi/2hbgr8XLgwuEUTdjjkrm4KwX34XEvPRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018VtCABZEMNRz4FYFisHVdx",
      "input": {
        "note": "Pen tip and cap now appear to touch; pushing 1 cm further along the axis (and correcting the right arm's height sag which put the pen ~2 cm below the cap) to seat the cap on the pen.",
        "targets": {
          "right_y": 0.234,
          "right_z": 0.145
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_018VtCABZEMNRz4FYFisHVdx",
      "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]: [-0.4545, 2.3775, 2.4454, -1.4006, 0.5533, 0.8284, 0.079, 0.231, 1.861, 1.3613, -0.5224, -0.7586, -0.9085, 0.0621]\nstate[eef_state]: left_x=0.4126 left_y=-0.301 left_z=0.1571 left_yaw=-1.4816 left_pitch=-0.4176 left_roll=-0.1909 left_gripper=0.079 right_x=0.4023 right_y=0.2231 right_z=0.1312 right_yaw=1.3192 right_pitch=-0.1111 right_roll=-0.0449 right_gripper=0.0621\nstate[joint_eff]: [-0.1026, -13.135, 5.8325, 0.6862, 0.2466, -0.0317, 1.0183, 0.0205, -8.9915, 8.1436, 1.1355, -0.3785, 0.0415, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3933349a103b45ec692481935b7d3bc4485fc0d65bc3c41741259a5f54f18b6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4485af449c38fac35594a178f5df15f40f8d1dab3fd8584203e90eedda92e54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f35a769127ae2f9ce43bfa146883fe76757ad7a78b7353ac3c79238b6538609",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 7.904 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.3998, 0.5549, 0.8288, 0.079, 0.1757, 1.8233, 1.3315, -0.5583, -0.7887, -0.9638, 0.0621]\nstate[eef_state]: left_x=0.4125 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4828 left_pitch=-0.4161 left_roll=-0.1911 left_gripper=0.079 right_x=0.3979 right_y=0.2016 right_z=0.1362 right_yaw=1.3125 right_pitch=-0.1012 right_roll=-0.0521 right_gripper=0.0621\nstate[joint_eff]: [-0.4034, -12.6564, 8.4991, 0.6813, 0.3883, 0.0024, 1.0232, 1.0051, -8.0205, 8.4718, 1.3016, -0.4908, 0.1148, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.4002, 0.5549, 0.8288, 0.079, 0.218, 1.8481, 1.3479, -0.5392, -0.7692, -0.9264, 0.0621]\nstate[eef_state]: left_x=0.4124 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4829 left_pitch=-0.4163 left_roll=-0.1915 left_gripper=0.079 right_x=0.3982 right_y=0.2177 right_z=0.1314 right_yaw=1.3234 right_pitch=-0.1111 right_roll=-0.0395 right_gripper=0.0621\nstate[joint_eff]: [-0.3897, -12.6838, 8.1709, 0.6813, 0.3785, 0.0366, 1.0183, 0.841, -8.1436, 8.8137, 1.2283, -0.4664, 0.1441, 1.0379]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4545, 2.3775, 2.4454, -1.4006, 0.5533, 0.8284, 0.079, 0.231, 1.861, 1.3613, -0.5224, -0.7586, -0.9085, 0.0621]\nstate[eef_state]: left_x=0.4126 left_y=-0.301 left_z=0.1571 left_yaw=-1.4816 left_pitch=-0.4176 left_roll=-0.1909 left_gripper=0.079 right_x=0.4023 right_y=0.2231 right_z=0.1312 right_yaw=1.3192 right_pitch=-0.1111 right_roll=-0.0449 right_gripper=0.0621\nstate[joint_eff]: [-0.1026, -13.135, 5.8325, 0.6862, 0.2466, -0.0317, 1.0183, 0.0205, -8.9915, 8.1436, 1.1355, -0.3785, 0.0415, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3933349a103b45ec692481935b7d3bc4485fc0d65bc3c41741259a5f54f18b6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4485af449c38fac35594a178f5df15f40f8d1dab3fd8584203e90eedda92e54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f35a769127ae2f9ce43bfa146883fe76757ad7a78b7353ac3c79238b6538609",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShAkKjgEIEhgCKkAx29m/rTNUuS58Qz4lMpf9EvrNhob4dNgrP5Jan+NfBOL3wMLzUhOt8ClU1dwQ8syMdULlorR7z3JBf4rihdazMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfitzNUGEgwOFYO21Ip7EfGBSRQaDApDFgC7tlDF6f4mISIwGq7D8wnzSBCMS3icC/I85APSlfh72Ptnw4u1W98TMlpgUCdhmd9z3eKGNXDyRORiKqIHRdsd6fuKdVWJNwzPMTFTbhuo+G5yjCco5QsGvg1j5vWLWETh6i3o7eLzZqhLnhO8f/g3MgwKNuL6ZvrQ39upBJGj6Cp3MDsYRU5G9wiVPJSMQiMkPRnw/WhcGFJRGHXhYBKu+T4SDOhryKKgyM1JSgQUdTEHDWwiGbN5ja+Mg0FSWLMq/yyss46hxDpRKS/T394me9JyY04hsCaN9KI3Yxyr/wlUWGlHHzUTwRXPLbO5eqaVEldVmPRLEQ0jKenuTeJ4/G0lYDQzstF+OdHpuw3W7p2UzNxs4T077nVn+pAvKuFpOV7Oc+g1DnEWM++jEfD2pq75fl9qJQ1IauHOt/61+7HLKW5JK1hQhNLeXMceqy4icTpNgT/aZ8o5ezgAUi21hPpUptoVwCB63vZRgKLxILmfzeVhJTVx3imnX0kesTe5/XmN5+UOJUcilQrU6QNQ0z4OK8YNu+Df605+JqAreGxz7XfuVGheETcdYwtzFOgwf4zH+K730Af7uHQMle5Om9ixalG5079vexIR+1cfolgUNRtI7h09zwYi5JBTDfH5qY1lDylUDF3Wa6cJdpaVXXKre9QoiYEvc5HgDa3tpR76gZ0BPYpz9/rYQnsii8RTweioDIa+qOlmPnV7KeZ4g1Qhd7rblpUNfJCmJ1f7xhr5R5c5fONWI0k6X4kEZ3XSkKrPNst6AHP4eakZDl5A9kHfnSAiTWZZRXONfrCNWdmSc+4L5kCJE9Vj6onQzffGGq77cnf+QEgua3ITSPOBZCUjcieMyWTTC8mgBm2bo3rQCPVah9LKmhY564dobWnPQOfB1U7A9hEgpFYqxC/gL4nWnIOvUzLY7WOhG518bqlnMnLX1t+DcAOpf6r/t20oLYsM3F0sFzgSVM9LnAd4hdxNE8LerJcytfh3v9qvkH5Tbwz6Bp3p607JqV62MtPDY8m6IZS0ranOYwW0mwnuWDRKsWMLORrxid90UnVPdXq595We4KTlUAXaoodFpEDj+/yOhz6BG1ekZBijN0cv/RBXJAEx8wjWktqQcHlHKnNzlWceoMbPqNZ5CgsTKTynf8mrmW/3t7DjsQLfn21UZ0+J9aB4Xe2nXoKsBbeYvxTafw6yOa9lVzHL4RmXZJY5cEH1yB27Vj61y9R8sbCJya4safZNyFlcTEbh3uHqM6KBkHkeF2oG+DFR5gjZ1snlr1zDilOXvg+AdzEVnz0/hYY1QTW6e6QFIB3eeG3WGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XBbDc1U2PXveWNbKeMgB9j",
      "input": {
        "note": "The cap and pen tip are pressed together along a common axis; releasing the left gripper to see whether the cap stays seated on the pen.",
        "targets": {
          "left_gripper": 0.55
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XBbDc1U2PXveWNbKeMgB9j",
      "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]: [-0.4545, 2.3775, 2.4447, -1.4029, 0.5503, 0.8204, 0.5455, 0.231, 1.861, 1.3613, -0.5224, -0.7589, -0.9085, 0.0621]\nstate[eef_state]: left_x=0.4123 left_y=-0.3003 left_z=0.1565 left_yaw=-1.4767 left_pitch=-0.4225 left_roll=-0.1969 left_gripper=0.5455 right_x=0.4023 right_y=0.2232 right_z=0.1312 right_yaw=1.3194 right_pitch=-0.1108 right_roll=-0.0448 right_gripper=0.0621\nstate[joint_eff]: [-0.1162, -13.2034, 5.9829, 0.7399, 0.3053, 0.0562, -0.2076, -0.0889, -9.1009, 8.1436, 1.1453, -0.4127, 0.0415, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5919d7b95073f3d8afff667428dd89c194f57fe91cf5b5a7876b9c88f62cbe45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19d91e59fda52a10e90d49c8a3dee2c837913febf271d3f87aa14d288b7cfd09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c324916948fe4e033f78b286c690081026e3ffde637526af0babe26bebafe1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /messages · status 200 · 24.43 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4549, 2.3775, 2.4451, -1.4002, 0.5549, 0.8288, 0.079, 0.218, 1.8481, 1.3479, -0.5392, -0.7692, -0.9264, 0.0621]\nstate[eef_state]: left_x=0.4124 left_y=-0.3013 left_z=0.1572 left_yaw=-1.4829 left_pitch=-0.4163 left_roll=-0.1915 left_gripper=0.079 right_x=0.3982 right_y=0.2177 right_z=0.1314 right_yaw=1.3234 right_pitch=-0.1111 right_roll=-0.0395 right_gripper=0.0621\nstate[joint_eff]: [-0.3897, -12.6838, 8.1709, 0.6813, 0.3785, 0.0366, 1.0183, 0.841, -8.1436, 8.8137, 1.2283, -0.4664, 0.1441, 1.0379]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4545, 2.3775, 2.4454, -1.4006, 0.5533, 0.8284, 0.079, 0.231, 1.861, 1.3613, -0.5224, -0.7586, -0.9085, 0.0621]\nstate[eef_state]: left_x=0.4126 left_y=-0.301 left_z=0.1571 left_yaw=-1.4816 left_pitch=-0.4176 left_roll=-0.1909 left_gripper=0.079 right_x=0.4023 right_y=0.2231 right_z=0.1312 right_yaw=1.3192 right_pitch=-0.1111 right_roll=-0.0449 right_gripper=0.0621\nstate[joint_eff]: [-0.1026, -13.135, 5.8325, 0.6862, 0.2466, -0.0317, 1.0183, 0.0205, -8.9915, 8.1436, 1.1355, -0.3785, 0.0415, 1.0379]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4545, 2.3775, 2.4447, -1.4029, 0.5503, 0.8204, 0.5455, 0.231, 1.861, 1.3613, -0.5224, -0.7589, -0.9085, 0.0621]\nstate[eef_state]: left_x=0.4123 left_y=-0.3003 left_z=0.1565 left_yaw=-1.4767 left_pitch=-0.4225 left_roll=-0.1969 left_gripper=0.5455 right_x=0.4023 right_y=0.2232 right_z=0.1312 right_yaw=1.3194 right_pitch=-0.1108 right_roll=-0.0448 right_gripper=0.0621\nstate[joint_eff]: [-0.1162, -13.2034, 5.9829, 0.7399, 0.3053, 0.0562, -0.2076, -0.0889, -9.1009, 8.1436, 1.1453, -0.4127, 0.0415, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5919d7b95073f3d8afff667428dd89c194f57fe91cf5b5a7876b9c88f62cbe45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19d91e59fda52a10e90d49c8a3dee2c837913febf271d3f87aa14d288b7cfd09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c324916948fe4e033f78b286c690081026e3ffde637526af0babe26bebafe1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8wcKjgEIEhgCKkA6IVm+fYpSCpO2bFVoCPEuU7ciAAbWPtj5EVba+Mu6GB1xC+0iceufo32tv0O4GG2mDbj2x+kCq7Zi2Xd3+/1YMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYCuzNUGEgyxNa1OxdXSwSUCKYwaDIUEt48jEbC7AhfnQCIwEzpdH/PRMU7b2deJk4W44YnzM2vd2lQMjOI3rBF+b9c7ZgjY2BmoD/UaZ3Yutv4OKpEG2qljdwsy2OoeJD57zbwI654J1E5FXuEzZ36p4tDmHJCnR0Z8rtlaxjuXBoIBSu8WSysXczdr6LFq1yxX/fGmWIFzkxr9XxRQiPgbbyPs8NR0KFhqe5RB5bDZc/SpKn/rC0v356aK2Z1zGqWu4PkXCqGJg+JJ1LCJ6AyZbe1Aj8gD3G3wpPCJkoXQm3z0H23mIgJfqO52dyFw5vbQlmEObFvDP3LGQntrrL98C3RfU1XdaotCaWU7Tgpr0YrSFjpykjaQ2Rakb7Kb91pO8bGH/59rjR4dL0fczseaHE5Op9MCT9BFIZJdcsH3NmJH320FV613sBXQoXgHOcBaP5WybkhUEdqQtMJzRpfbIN+j16fcfJ+lfNuFletRKo+Y3bYcGp5AGBrPN7VXYYs4WVAGN8avpNgO0u7OJYhk5ePZLn5mjvSdYkAAoz4HwkDBG7NkbkFCqFl3iT7YiMBrSWOY+pyr3cYxfJ09qB25ZyFRtAAT6prjxPGESzoKZKuCYSwBJVIlTeGgsTz/4YgcEeQororKMfS7NMh/7Xp8x1kd2P+2FFlhBgpP/T8BTGhrVTwh346FRUTPrteg6HLc3CbA1kzVdLR9DCP/T6FuWA2by0tV7C65X78Eb0PPksRV3t38DEUBO/3HMMa2z6+4bmqUgxKPqgWHzNmuQPwvKUY+pTLy6fJgLrZydfiGo7Eyc9a2r9h7v22+UDxx0Q2gBKfP8lHVTau44MlbffDptewVsC7NijHMnVXJ3D6FjRi8oAkS7L8ZKuniQg/RE6LIdqIe/1DI3RkpR8xM84ACeU+jqNX6a3dihWZc3TGsMTGz9jsY4/dLGvYhbnMyJK7MnlLy80PGuh4dJO0rb76WHf34OBdpO0zqojM42oyKztRr1eSsYwRdkfEK1eiav0XgVWCmmRTq2lDSUHv/6U2pcKKY7geRygFKE+OMz/qVLrhutZGvZcSnFeJeUCu5upqKVl3C5TVbJFhWUlBBa6TpKRAXjYedLl3ZCcFpInQ3BhDByVknkkqvCu/xJPEvrBJB2EkhoLcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011GNmWW2AvxW1vmsDn1MkB7",
      "input": {
        "note": "Left jaws are open and the cap appears to have stayed with the pen; retracting the left arm clear so I can confirm the cap is seated on the pen tip.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.3,
          "left_y": -0.25,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_011GNmWW2AvxW1vmsDn1MkB7",
      "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]: [-0.4721, 1.9324, 2.1521, -1.5536, 0.5426, 0.7948, 0.9972, 0.231, 1.861, 1.3598, -0.522, -0.7586, -0.9089, 0.0621]\nstate[eef_state]: left_x=0.3086 left_y=-0.256 left_z=0.2559 left_yaw=-1.4751 left_pitch=-0.4305 left_roll=-0.2061 left_gripper=0.9972 right_x=0.4021 right_y=0.2231 right_z=0.1307 right_yaw=1.3195 right_pitch=-0.1117 right_roll=-0.0442 right_gripper=0.0621\nstate[joint_eff]: [-0.7179, -11.3846, 5.6957, 0.8571, 0.398, 0.1197, -0.0904, -0.1846, -9.5248, 6.7897, 1.2186, -0.4176, -0.022, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bba306c7c3faf0bcf0688fbcb330654febf759cb54f345b1c7dc595c904e3ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0f6f16c65fa416f52b9dbf0428db3e0a855a573b00cc7f47a1b77402e8d223d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:837837fe13cd89c221961d061116cc05e2acfd1f1f913e0a1eb972820f45a5d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 9.692 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4545, 2.3775, 2.4454, -1.4006, 0.5533, 0.8284, 0.079, 0.231, 1.861, 1.3613, -0.5224, -0.7586, -0.9085, 0.0621]\nstate[eef_state]: left_x=0.4126 left_y=-0.301 left_z=0.1571 left_yaw=-1.4816 left_pitch=-0.4176 left_roll=-0.1909 left_gripper=0.079 right_x=0.4023 right_y=0.2231 right_z=0.1312 right_yaw=1.3192 right_pitch=-0.1111 right_roll=-0.0449 right_gripper=0.0621\nstate[joint_eff]: [-0.1026, -13.135, 5.8325, 0.6862, 0.2466, -0.0317, 1.0183, 0.0205, -8.9915, 8.1436, 1.1355, -0.3785, 0.0415, 1.0379]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4545, 2.3775, 2.4447, -1.4029, 0.5503, 0.8204, 0.5455, 0.231, 1.861, 1.3613, -0.5224, -0.7589, -0.9085, 0.0621]\nstate[eef_state]: left_x=0.4123 left_y=-0.3003 left_z=0.1565 left_yaw=-1.4767 left_pitch=-0.4225 left_roll=-0.1969 left_gripper=0.5455 right_x=0.4023 right_y=0.2232 right_z=0.1312 right_yaw=1.3194 right_pitch=-0.1108 right_roll=-0.0448 right_gripper=0.0621\nstate[joint_eff]: [-0.1162, -13.2034, 5.9829, 0.7399, 0.3053, 0.0562, -0.2076, -0.0889, -9.1009, 8.1436, 1.1453, -0.4127, 0.0415, 1.0379]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4721, 1.9324, 2.1521, -1.5536, 0.5426, 0.7948, 0.9972, 0.231, 1.861, 1.3598, -0.522, -0.7586, -0.9089, 0.0621]\nstate[eef_state]: left_x=0.3086 left_y=-0.256 left_z=0.2559 left_yaw=-1.4751 left_pitch=-0.4305 left_roll=-0.2061 left_gripper=0.9972 right_x=0.4021 right_y=0.2231 right_z=0.1307 right_yaw=1.3195 right_pitch=-0.1117 right_roll=-0.0442 right_gripper=0.0621\nstate[joint_eff]: [-0.7179, -11.3846, 5.6957, 0.8571, 0.398, 0.1197, -0.0904, -0.1846, -9.5248, 6.7897, 1.2186, -0.4176, -0.022, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bba306c7c3faf0bcf0688fbcb330654febf759cb54f345b1c7dc595c904e3ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0f6f16c65fa416f52b9dbf0428db3e0a855a573b00cc7f47a1b77402e8d223d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:837837fe13cd89c221961d061116cc05e2acfd1f1f913e0a1eb972820f45a5d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QxusFxVBHUWiBevQ8Jarbv",
      "input": {
        "note": "The cap slipped off and is lying on the table (visible at the left of the left wrist view); moving the left gripper back over its estimated position to pick it up again.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.41,
          "left_y": -0.31,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01QxusFxVBHUWiBevQ8Jarbv",
      "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]: [-0.4774, 2.3184, 2.0922, -1.1973, 0.5304, 0.7856, 0.9985, 0.2306, 1.861, 1.359, -0.5236, -0.7586, -0.9092, 0.0621]\nstate[eef_state]: left_x=0.3906 left_y=-0.2987 left_z=0.0892 left_yaw=-1.5074 left_pitch=-0.4891 left_roll=-0.2894 left_gripper=0.9985 right_x=0.4017 right_y=0.2228 right_z=0.1302 right_yaw=1.3196 right_pitch=-0.1127 right_roll=-0.0425 right_gripper=0.0621\nstate[joint_eff]: [-0.1846, -13.3812, 9.6889, 0.6667, 0.3541, 0.0073, -0.1734, -0.3487, -9.5795, 6.4068, 1.1062, -0.3687, -0.0317, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71593bbf863ab913ddb9ee731fa1ebfa0556e363c383c36b8053e056aad340da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6fd4beba9edefd899813d9259733a488435749e000dac76e58c2216c0c60ac7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:37289a6ec836b1f998541940fdb66cbb3504003c7d3e04beec17246593601c43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 18.78 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4545, 2.3775, 2.4447, -1.4029, 0.5503, 0.8204, 0.5455, 0.231, 1.861, 1.3613, -0.5224, -0.7589, -0.9085, 0.0621]\nstate[eef_state]: left_x=0.4123 left_y=-0.3003 left_z=0.1565 left_yaw=-1.4767 left_pitch=-0.4225 left_roll=-0.1969 left_gripper=0.5455 right_x=0.4023 right_y=0.2232 right_z=0.1312 right_yaw=1.3194 right_pitch=-0.1108 right_roll=-0.0448 right_gripper=0.0621\nstate[joint_eff]: [-0.1162, -13.2034, 5.9829, 0.7399, 0.3053, 0.0562, -0.2076, -0.0889, -9.1009, 8.1436, 1.1453, -0.4127, 0.0415, 1.0379]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4721, 1.9324, 2.1521, -1.5536, 0.5426, 0.7948, 0.9972, 0.231, 1.861, 1.3598, -0.522, -0.7586, -0.9089, 0.0621]\nstate[eef_state]: left_x=0.3086 left_y=-0.256 left_z=0.2559 left_yaw=-1.4751 left_pitch=-0.4305 left_roll=-0.2061 left_gripper=0.9972 right_x=0.4021 right_y=0.2231 right_z=0.1307 right_yaw=1.3195 right_pitch=-0.1117 right_roll=-0.0442 right_gripper=0.0621\nstate[joint_eff]: [-0.7179, -11.3846, 5.6957, 0.8571, 0.398, 0.1197, -0.0904, -0.1846, -9.5248, 6.7897, 1.2186, -0.4176, -0.022, 1.0379]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4774, 2.3184, 2.0922, -1.1973, 0.5304, 0.7856, 0.9985, 0.2306, 1.861, 1.359, -0.5236, -0.7586, -0.9092, 0.0621]\nstate[eef_state]: left_x=0.3906 left_y=-0.2987 left_z=0.0892 left_yaw=-1.5074 left_pitch=-0.4891 left_roll=-0.2894 left_gripper=0.9985 right_x=0.4017 right_y=0.2228 right_z=0.1302 right_yaw=1.3196 right_pitch=-0.1127 right_roll=-0.0425 right_gripper=0.0621\nstate[joint_eff]: [-0.1846, -13.3812, 9.6889, 0.6667, 0.3541, 0.0073, -0.1734, -0.3487, -9.5795, 6.4068, 1.1062, -0.3687, -0.0317, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71593bbf863ab913ddb9ee731fa1ebfa0556e363c383c36b8053e056aad340da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6fd4beba9edefd899813d9259733a488435749e000dac76e58c2216c0c60ac7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37289a6ec836b1f998541940fdb66cbb3504003c7d3e04beec17246593601c43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnAoKjgEIEhgCKkCVRqSd1TZW8tFEjbb1W0SOS4/dFoDR+CPWoTH8lUUpHBC4hko5VrDJFMss/h2zimQ9N2ByyLVHdFiwf0JCaqgVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaSuzNUGEgw5hTFk9FvebEP4JaQaDLxT9geh0vtJBCGz1iIw7hOWhP6O+5V9cGnVQcQxcISEahtX3yjHCpgrFxmVwebXAAifZ5meXin823iu+ybgKroItZjP5mCfRLP/HRtvMEYNlXBjUWdaaoUD4E6ggnXL+8fQebRPXtDgx/1t19FmVJuiocJXCXiNnhS8jUfoD3YW2r5uK6HBF9Dvfe03PdIBimdlKl9PGKWuaZng2O4gV5tRUrqj2nR1Nbfs72UojqRApxveJkR2LyyEd023ZrlklHv3JMYMyBD1KErtFP/Pib+5UpDndtMNoQF5MjnDBvJNq7Q4xW388GZ4T7eZys2iGWa58rn5lLbnhZ3LXH7SgUsBZTyA3dtRRsrNMrnQzMlZtAQF5RMxDe2nf8umpNpHhC0xC39n8/3KZXG4PoHH9o3lW3wUV4yCd1ayvaIOaxDd6wAIp0gnOj2L3nDkOE1uHCJV0u+yOSWO18/OyJQFmNHAMFcT1JG7DcnGBiY45wIAvBq2yDQKB0cJwqv23EjSoDJHe+pH4PLn+dgXWQueD0ZaA8B3x0zfuZab0OC5nL0M4eGRVvD+1XHrTBoc2nVGdGF5BeyMNR0O3irbp5/s5nZGweHRpJL7/5EXgNBJ5krdB9geyAyF15O0WrnkBWOC340tH/Es9RMiZV/H18Vsezdxac5ku9Iq2oyxYnj2Y49LOBcSVhQVGA6kqCXpnNwMyf242nA7vJvxnsF7tjSWvaxennBCh9A9L9706w2CSrur5ugiizoDYvywfZB2bGXboPV/3jJb9T+Gq/E+Fq8uY66ysba6027InA812DK2i4ivGypaeklNWXvSnd4CWXrGDZcaCkJc/y/BJy6E6KCkYvr3uIfQG5zDWbZqG4UlU0sC8twBz5gHBvpgD1+KOP8XBlFrQhvSsYQwyCW3sV6I1CT1fHSCsgm4OPvY14sXgY4FGiBWArp486o7EpB7qOULgD6BCS/VOAroFqdzcfKl/f4RzwCO9GLNjad3Y7wQkLNnRoMH1/7WmfXuILuE5vsLR0Fy3tBisuSyJduoI3W5/MLOZ1byETDcDCPWNi3jW/aDfG4/K9IFuoLCJG0M94PexsV71gJVi6d1zO7NrneWjcTW5SST3B5aAlg21K6TsoPhQnnU3q6GOzVXIovKvzjliv9lQgbuMJF0qeeSAM61xFpSCq4hw1I8gXC035cTf2+LVr1V5abX0CcWDP68WaL+4oHHU3qAdXpPb6M14kvER/ntFqwmak/cz+AGAoE620K2syiQDmc1+gT6EBw2lzSOTzkbb2oHjJUWK1oPjW0MJbc5Y4XomkunGXcg7MCzdLcoc16x/pq3ldKszD9gI9Q3jbPMIIfj6da+QFFh8IX7GJyGXdhsa1ZUmFqrNk50hsR1sgQEzTN8rb2PR4Nse7f0LHJJiBHq7rur2ozDgp1O3hMmHaaHkhNYpoqyNDzWxWVAGltV6ldCWJozdYfDSA3c6hiqBuJOtQefwX6O15KYQef0hD6/fNWuOS9E8qPeGGfnk2T5alyv1IsbhhMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015xZyuoUA4qQPfupUKW6Fr2",
      "input": {
        "note": "The last left wrist frame was motion-blurred; making a small settling move to get a clear view of the table where the cap fell.",
        "targets": {
          "left_x": 0.4,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015xZyuoUA4qQPfupUKW6Fr2",
      "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]: [-0.4732, 2.397, 2.3272, -1.3479, 0.5274, 0.7853, 0.9983, 0.231, 1.861, 1.359, -0.5232, -0.7586, -0.9092, 0.0621]\nstate[eef_state]: left_x=0.4031 left_y=-0.3022 left_z=0.1137 left_yaw=-1.4991 left_pitch=-0.4888 left_roll=-0.2823 left_gripper=0.9983 right_x=0.4017 right_y=0.223 right_z=0.1303 right_yaw=1.3199 right_pitch=-0.1125 right_roll=-0.0428 right_gripper=0.0621\nstate[joint_eff]: [0.5402, -12.6291, 7.8427, 0.3639, 0.2076, 0.0855, -0.0269, -0.0342, -9.7299, 6.3385, 1.0769, -0.3736, -0.0366, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ca55dcce4f1955eff045c8aa3dde626d4d54d1b95ecbfbf7d4b7a59f2507338",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c727114131e3cf379c6e179b4490f022cf59f11e69866a298df9c9032f6b72c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe1d991776c0fa39c02786ac100795eda85de376174221b7042f717a24b55160",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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