adhoc

completed
2026-09-22T19:09:23.604665+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-5-5
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
337.8 s
total steps
240
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

give_up

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 notePen cap lies right of the left arm, the pen is further right in the middle of the table. I'm moving the left arm over the cap first.
move_to
left_x0.3300left_y-0.1700left_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0208, 0.7925, 0.6018, -0.3801, -0.0196, -0.0113, 0.9998, -0.0181, 0.7906, 0.609, -0.3759, -0.0265, -0.0223, 0.999] state[eef_state]: left_x=0.2944 left_y=0.0009 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0029 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999 state[joint_eff]: [-0.5675, -1.5111, 10.5504, 1.7753, -0.0757, -0.0611, -0.0366, -0.5675, -1.1966, 9.8667, 1.7411, -0.0024, 0.0415, -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": -0.17, "left_z": 0.12}, "note": "Pen cap lies right of the left arm, the pen is further right in the middle of the table. I'm moving the left arm over the cap first."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteCap is on the jaw column but ahead of the fingertips, lying diagonally. Moving forward, lowering, and yawing so jaws close across the cap.
move_to
left_x0.3750left_y-0.1600left_z0.0600left_yaw-0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7582, 1.3651, 0.6495, -0.0849, -0.5941, -0.4599, 0.9997, -0.0193, 0.7967, 0.6132, -0.3878, -0.0265, -0.0227, 0.999] state[eef_state]: left_x=0.3182 left_y=-0.1602 left_z=0.0998 left_yaw=-0.0241 left_pitch=-0.0671 left_roll=0.0499 left_gripper=0.9997 right_x=0.295 right_y=0.0026 right_z=0.1819 right_yaw=-0.0009 right_pitch=-0.0137 right_roll=-0.0001 right_gripper=0.999 state[joint_eff]: [-0.3077, -5.4769, 9.1829, 1.6874, -0.3492, -0.0904, -0.0171, -0.0889, -1.7299, 6.735, 1.8535, -0.0562, -0.0464, -0.0171] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.375, "left_y": -0.16, "left_z": 0.06, "left_yaw": -0.7}, "note": "Cap is on the jaw column but ahead of the fingertips, lying diagonally. Moving forward, lowering, and yawing so jaws close across the cap."})
tool
executing move_to over 5 steps (0.5s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteArm hadn't fully reached the target (clamped step); cap still ahead of the jaws. Continuing forward to get over the cap.
move_to
left_x0.3900left_y-0.1600left_z0.0500left_yaw-0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3138, 1.5848, 0.5915, 0.2134, 0.0776, 0.1081, 0.9997, -0.0193, 0.8009, 0.6132, -0.3935, -0.0265, -0.0231, 0.999] state[eef_state]: left_x=0.361 left_y=-0.1278 left_z=0.0305 left_yaw=-0.442 left_pitch=-0.2064 left_roll=0.0215 left_gripper=0.9997 right_x=0.2946 right_y=0.0026 right_z=0.1795 right_yaw=-0.0007 right_pitch=-0.0236 right_roll=-0.0002 right_gripper=0.999 state[joint_eff]: [0.0752, -7.7744, 8.4855, 1.9316, 0.1734, 0.2125, -0.0122, -0.2667, -1.4701, 7.0222, 1.7656, -0.0122, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.16, "left_z": 0.05, "left_yaw": -0.7}, "note": "Arm hadn't fully reached the target (clamped step); cap still ahead of the jaws. Continuing forward to get over the cap."})
tool
executing move_to over 3 steps (0.3s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteCap is now aligned roughly perpendicular to the jaw axis, slightly left of and ahead of the jaws. Shifting forward/left in the tool frame and descending to table level.
move_to
left_x0.4200left_y-0.1480left_z0.0100left_yaw-0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2836, 1.6814, 0.7441, 0.1169, 0.2508, 0.2737, 0.9997, -0.0193, 0.8036, 0.6132, -0.3954, -0.0269, -0.0227, 0.999] state[eef_state]: left_x=0.3795 left_y=-0.1526 left_z=0.0362 left_yaw=-0.6524 left_pitch=-0.2167 left_roll=0.0082 left_gripper=0.9997 right_x=0.2945 right_y=0.0027 right_z=0.1784 right_yaw=-0.0006 right_pitch=-0.0282 right_roll=0.0004 right_gripper=0.999 state[joint_eff]: [0.2667, -7.9932, 7.5966, 1.5995, 0.2857, 0.3248, -0.0122, -0.335, -1.4017, 7.4188, 1.7656, -0.0317, -0.0806, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.148, "left_z": 0.01, "left_yaw": -0.7}, "note": "Cap is now aligned roughly perpendicular to the jaw axis, slightly left of and ahead of the jaws. Shifting forward/left in the tool frame and descending to table level."})
tool
executing move_to over 4 steps (0.4s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent notePrevious move barely changed the pose; retrying with a smaller forward step and explicit zero pitch, descending toward the cap.
move_to
left_x0.4000left_y-0.1500left_z0.0200left_yaw-0.7000left_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]: [-0.2829, 1.6962, 0.8001, 0.0406, 0.2668, 0.2985, 0.9997, -0.0193, 0.8047, 0.6132, -0.3969, -0.0261, -0.0227, 0.999] state[eef_state]: left_x=0.3824 left_y=-0.1559 left_z=0.0387 left_yaw=-0.6818 left_pitch=-0.2449 left_roll=0.0011 left_gripper=0.9997 right_x=0.2943 right_y=0.0025 right_z=0.1778 right_yaw=-0.0013 right_pitch=-0.0309 right_roll=0.0 right_gripper=0.999 state[joint_eff]: [0.0342, -7.9111, 7.2, 1.5849, 0.2222, 0.1441, -0.0122, -0.253, -1.1966, 7.0222, 1.7656, -0.0269, -0.0757, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.15, "left_z": 0.02, "left_yaw": -0.7, "left_pitch": 0.0}, "note": "Previous move barely changed the pose; retrying with a smaller forward step and explicit zero pitch, descending toward the cap."})
tool
executing move_to over 9 steps (0.9s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteAt table height the cap is still ~5 cm ahead of the jaws; x isn't advancing, so lifting slightly and pushing forward.
move_to
left_x0.4300left_y-0.1400left_z0.0300left_yaw-0.7000left_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]: [-0.2066, 1.8111, 0.6643, 0.3485, 0.3698, 0.3069, 0.9994, -0.0193, 0.807, 0.6132, -0.3985, -0.0269, -0.0227, 0.999] state[eef_state]: left_x=0.3813 left_y=-0.1415 left_z=0.0018 left_yaw=-0.689 left_pitch=-0.1608 left_roll=-0.0378 left_gripper=0.9994 right_x=0.2943 right_y=0.0027 right_z=0.1768 right_yaw=-0.0006 right_pitch=-0.0347 right_roll=0.0005 right_gripper=0.999 state[joint_eff]: [-0.4034, -4.8615, 2.8786, 1.326, 0.486, 0.0024, -0.0415, -0.0342, -1.0188, 7.0222, 1.7265, -0.0464, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.14, "left_z": 0.03, "left_yaw": -0.7, "left_pitch": 0.0}, "note": "At table height the cap is still ~5 cm ahead of the jaws; x isn't advancing, so lifting slightly and pushing forward."})
tool
executing move_to over 6 steps (0.6s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteCap is now centred between the jaws, oriented across the jaw axis, a couple cm ahead. Advancing ~2 cm and pressing to table level before closing.
move_to
left_x0.4300left_y-0.1450left_z-0.0050left_yaw-0.7000left_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]: [-0.1463, 1.8866, 0.7403, 0.4137, 0.4397, 0.2928, 0.9994, -0.0193, 0.807, 0.6132, -0.4118, -0.0269, -0.0227, 0.999] state[eef_state]: left_x=0.4136 left_y=-0.1333 left_z=0.0108 left_yaw=-0.6727 left_pitch=-0.0803 left_roll=-0.0595 left_gripper=0.9994 right_x=0.2924 right_y=0.0027 right_z=0.1741 right_yaw=-0.0006 right_pitch=-0.048 right_roll=0.0008 right_gripper=0.999 state[joint_eff]: [0.2393, -7.7607, 7.5692, 2.0195, 0.3883, -0.0269, -0.0171, -0.1573, -1.3333, 7.2684, 1.8193, -0.0464, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.145, "left_z": -0.005, "left_yaw": -0.7, "left_pitch": 0.0}, "note": "Cap is now centred between the jaws, oriented across the jaw axis, a couple cm ahead. Advancing ~2 cm and pressing to table level before closing."})
tool
executing move_to over 3 steps (0.3s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteSmall moves aren't converging; overshooting the target slightly so the jaws press down to table level around the cap.
move_to
left_x0.4400left_y-0.1500left_z-0.0200left_yaw-0.7000left_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]: [-0.144, 1.8938, 0.7483, 0.4374, 0.4534, 0.2901, 0.9993, -0.0193, 0.8074, 0.6132, -0.4126, -0.0265, -0.0227, 0.999] state[eef_state]: left_x=0.4184 left_y=-0.1352 left_z=0.0152 left_yaw=-0.679 left_pitch=-0.0548 left_roll=-0.0571 left_gripper=0.9993 right_x=0.2923 right_y=0.0026 right_z=0.1739 right_yaw=-0.0009 right_pitch=-0.0492 right_roll=0.0006 right_gripper=0.999 state[joint_eff]: [0.1026, -8.1573, 7.3915, 1.8584, 0.3687, 0.0073, -0.0171, -0.3214, -1.2376, 7.0085, 1.7167, -0.022, -0.0415, -0.0122] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.15, "left_z": -0.02, "left_yaw": -0.7, "left_pitch": 0.0}, "note": "Small moves aren't converging; overshooting the target slightly so the jaws press down to table level around the cap."})
tool
executing move_to over 3 steps (0.3s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteArm appears stuck at this reach with the tool vertical; tipping the tool forward (pitch 0.3) to let the IK reach down to the cap.
move_to
left_x0.4300left_y-0.1450left_z0.0000left_yaw-0.7000left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1444, 1.8938, 0.7483, 0.4374, 0.4534, 0.2905, 0.9993, -0.0193, 0.8074, 0.6132, -0.4126, -0.0269, -0.0227, 0.999] state[eef_state]: left_x=0.4183 left_y=-0.1354 left_z=0.0152 left_yaw=-0.6796 left_pitch=-0.0547 left_roll=-0.0568 left_gripper=0.9993 right_x=0.2923 right_y=0.0027 right_z=0.1739 right_yaw=-0.0006 right_pitch=-0.0492 right_roll=0.0008 right_gripper=0.999 state[joint_eff]: [0.1436, -8.335, 7.2137, 1.8388, 0.359, 0.0415, -0.0073, -0.1026, -1.0462, 7.0222, 1.7167, -0.0611, -0.0415, -0.0122] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.145, "left_z": 0.0, "left_yaw": -0.7, "left_pitch": 0.3}, "note": "Arm appears stuck at this reach with the tool vertical; tipping the tool forward (pitch 0.3) to let the IK reach down to the cap."})
tool
executing move_to over 12 steps (1.2s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteCap is between the jaws at table level; closing the left gripper.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1219, 2.2211, 0.6537, 1.2301, 0.5629, 0.168, 0.9993, -0.0193, 0.8093, 0.6132, -0.4129, -0.0265, -0.0227, 0.999] state[eef_state]: left_x=0.4336 left_y=-0.1445 left_z=0.0049 left_yaw=-0.7036 left_pitch=0.2869 left_roll=-0.0177 left_gripper=0.9993 right_x=0.2924 right_y=0.0026 right_z=0.1733 right_yaw=-0.0009 right_pitch=-0.0515 right_roll=0.0006 right_gripper=0.999 state[joint_eff]: [0.5265, -7.2684, 2.9744, 1.3065, 0.3053, -0.2369, -0.0122, -0.1436, -1.4838, 7.2, 1.7558, -0.0171, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Cap is between the jaws at table level; closing the left gripper."})
tool
executing move_to over 10 steps (1.0s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteGripper settled at 0.055 (≈5 mm), suggesting the cap is held. Lifting to verify in the overhead view.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1184, 2.2337, 0.6533, 1.2579, 0.5571, 0.1646, 0.0551, -0.0193, 0.8093, 0.6132, -0.4129, -0.0265, -0.0227, 0.999] state[eef_state]: left_x=0.4352 left_y=-0.1422 left_z=0.005 left_yaw=-0.6957 left_pitch=0.2984 left_roll=-0.011 left_gripper=0.0551 right_x=0.2924 right_y=0.0026 right_z=0.1733 right_yaw=-0.0009 right_pitch=-0.0515 right_roll=0.0006 right_gripper=0.999 state[joint_eff]: [-0.6359, -10.2906, 2.9744, 1.5409, 0.105, 0.0513, 1.3309, -0.1983, -1.3333, 7.0085, 1.6972, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.1}, "note": "Gripper settled at 0.055 (\u22485 mm), suggesting the cap is held. Lifting to verify in the overhead view."})
tool
executing move_to over 7 steps (0.7s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteLeft gripper holds the cap (settled 0.06). Now moving the right arm over the pen in the middle of the table, yawed to be across the pen.
move_to
right_x0.3600right_y0.2500right_z0.1200right_yaw0.4300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1184, 1.8641, 0.6395, 0.8925, 0.5541, 0.1646, 0.0616, -0.0193, 0.8108, 0.6132, -0.4129, -0.0265, -0.0227, 0.999] state[eef_state]: left_x=0.4307 left_y=-0.1413 left_z=0.083 left_yaw=-0.6915 left_pitch=0.2898 left_roll=-0.0155 left_gripper=0.0616 right_x=0.2925 right_y=0.0026 right_z=0.1728 right_yaw=-0.0009 right_pitch=-0.053 right_roll=0.0006 right_gripper=0.999 state[joint_eff]: [-0.253, -9.6752, 7.7333, 1.6874, 0.0806, -0.0611, 1.033, -0.2256, -1.4701, 7.0085, 1.707, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.25, "right_z": 0.12, "right_yaw": 0.43}, "note": "Left gripper holds the cap (settled 0.06). Now moving the right arm over the pen in the middle of the table, yawed to be across the pen."})
tool
executing move_to over 21 steps (2.1s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent notePen lies nearly along the right wrist camera's vertical, i.e. across the jaw axis, a few cm ahead. Advancing ~3 cm along it and descending to table level.
move_to
right_x0.3800right_y0.2500right_z0.0000right_yaw0.4300right_pitch0.2500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1184, 1.8565, 0.6365, 0.8711, 0.5541, 0.1581, 0.0616, 0.6662, 1.5326, 0.8036, 0.0395, 0.1818, 0.1234, 0.999] state[eef_state]: left_x=0.4285 left_y=-0.141 left_z=0.0808 left_yaw=-0.6852 left_pitch=0.2756 left_roll=-0.0314 left_gripper=0.0616 right_x=0.3484 right_y=0.2378 right_z=0.1024 right_yaw=0.4292 right_pitch=-0.1186 right_roll=-0.0163 right_gripper=0.999 state[joint_eff]: [-0.2256, -7.2957, 5.0393, 1.9902, 0.1197, 0.0366, 1.0281, 0.3077, -6.653, 8.4718, 1.9902, 0.0904, 0.0464, -0.0171] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.25, "right_z": 0.0, "right_yaw": 0.43, "right_pitch": 0.25}, "note": "Pen lies nearly along the right wrist camera's vertical, i.e. across the jaw axis, a few cm ahead. Advancing ~3 cm along it and descending to table level."})
tool
executing move_to over 13 steps (1.3s)
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 pen runs straight between the right jaws at table level; closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1184, 1.8565, 0.6361, 0.8555, 0.5537, 0.1577, 0.0616, 0.6617, 2.1689, 0.5777, 1.2388, 0.2092, 0.0463, 0.9989] state[eef_state]: left_x=0.4273 left_y=-0.1408 left_z=0.0774 left_yaw=-0.6823 left_pitch=0.262 left_roll=-0.0406 left_gripper=0.0616 right_x=0.3768 right_y=0.2515 right_z=0.0004 right_yaw=0.4388 right_pitch=0.2132 right_roll=-0.0203 right_gripper=0.9989 state[joint_eff]: [-0.253, -8.0205, 4.9026, 1.9365, 0.0757, -0.0464, 1.0281, -0.759, -7.0632, 3.1932, 1.1844, 0.0464, 0.0757, -0.0171] 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_gripper": 0.0}, "note": "The pen runs straight between the right jaws at table level; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteRight gripper settled at 0.052 (~5 mm), so the pen is held. Lifting it and turning it so the pen tip points toward the left arm.
move_to
right_x0.4000right_y0.2400right_z0.1500right_yaw1.2000right_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]: [-0.1184, 1.8565, 0.6361, 0.8505, 0.5541, 0.1577, 0.0658, 0.6609, 2.1834, 0.5804, 1.2697, 0.2062, 0.0441, 0.0521] state[eef_state]: left_x=0.4268 left_y=-0.1408 left_z=0.0764 left_yaw=-0.6819 left_pitch=0.2579 left_roll=-0.0435 left_gripper=0.0658 right_x=0.3782 right_y=0.2528 right_z=0.0019 right_yaw=0.441 right_pitch=0.2315 right_roll=-0.0172 right_gripper=0.0521 state[joint_eff]: [-0.2393, -7.9932, 4.7248, 1.8046, 0.0757, -0.0611, 1.033, 0.0479, -9.8803, 2.6735, 1.5946, 0.0415, -0.0122, 1.2283] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.24, "right_z": 0.15, "right_yaw": 1.2, "right_pitch": 0.0}, "note": "Right gripper settled at 0.052 (~5 mm), so the pen is held. Lifting it and turning it so the pen tip points toward the left arm."})
tool
executing move_to over 10 steps (1.0s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent notePen is lifted by the right arm, pointing left. Raising the cap with the left arm and turning it to point right, toward the pen.
move_to
left_x0.4200left_y-0.1500left_z0.1500left_yaw-1.5700left_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]: [-0.1184, 1.8565, 0.6361, 0.8478, 0.5537, 0.1581, 0.068, 0.2848, 1.7672, 1.1488, -0.0517, -0.6544, -0.5301, 0.0601] state[eef_state]: left_x=0.4267 left_y=-0.1407 left_z=0.0758 left_yaw=-0.6814 left_pitch=0.2556 left_roll=-0.0444 left_gripper=0.068 right_x=0.4206 right_y=0.2389 right_z=0.1474 right_yaw=1.086 right_pitch=0.0416 right_roll=-0.0647 right_gripper=0.0601 state[joint_eff]: [-0.212, -7.9795, 4.8068, 1.79, 0.0611, -0.0317, 1.0379, -0.7179, -8.4855, 7.9932, 1.4286, -0.4957, -0.0513, 1.0232] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.15, "left_z": 0.15, "left_yaw": -1.57, "left_pitch": 0.0}, "note": "Pen is lifted by the right arm, pointing left. Raising the cap with the left arm and turning it to point right, toward the pen."})
tool
executing move_to over 9 steps (0.9s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteBoth objects are raised; aligning the pen (pointing left) and the cap (pointing right) on the same line at x=0.42, z=0.15, still ~18 cm apart.
move_to
right_x0.4200right_y0.2200right_z0.1500right_yaw1.5700left_x0.4200left_y-0.1500left_z0.1500left_yaw-1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0051, 2.1571, 1.8, -0.6743, 0.9817, 1.3022, 0.0703, 0.2817, 1.7687, 1.1412, -0.0711, -0.6552, -0.5472, 0.0651] state[eef_state]: left_x=0.5022 left_y=-0.1459 left_z=0.1583 left_yaw=-1.4364 left_pitch=0.0436 left_roll=0.3102 left_gripper=0.0703 right_x=0.4172 right_y=0.2365 right_z=0.1405 right_yaw=1.0919 right_pitch=0.0218 right_roll=-0.0585 right_gripper=0.0651 state[joint_eff]: [-0.759, -13.1077, 7.1453, 0.4762, 0.6178, 0.1392, 0.652, -0.1436, -9.1145, 7.1863, 1.7265, -0.2711, 0.1343, 1.033] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.22, "right_z": 0.15, "right_yaw": 1.57, "left_x": 0.42, "left_y": -0.15, "left_z": 0.15, "left_yaw": -1.57}, "note": "Both objects are raised; aligning the pen (pointing left) and the cap (pointing right) on the same line at x=0.42, z=0.15, still ~18 cm apart."})
tool
executing move_to over 7 steps (0.7s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent notePen tip is visible straight ahead in the left wrist camera. Bringing the cap closer (10 cm to the right) and raising the left arm to match the pen's height.
move_to
left_x0.4400left_y-0.2500left_z0.1650left_yaw-1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0021, 2.1082, 1.6985, -0.9016, 0.9848, 1.3464, 0.0707, 0.1661, 2.067, 1.6695, -0.725, -0.947, -1.1587, 0.0681] state[eef_state]: left_x=0.4464 left_y=-0.1445 left_z=0.1342 left_yaw=-1.4514 left_pitch=0.0051 left_roll=0.0699 left_gripper=0.0707 right_x=0.4391 right_y=0.2226 right_z=0.1486 right_yaw=1.4833 right_pitch=0.0012 right_roll=-0.0995 right_gripper=0.0681 state[joint_eff]: [0.1709, -14.7487, 6.0923, 0.8913, 0.779, 0.0122, 0.8767, -1.1692, -11.0017, 6.9675, 0.4713, -0.7204, -0.0513, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.25, "left_z": 0.165, "left_yaw": -1.57}, "note": "Pen tip is visible straight ahead in the left wrist camera. Bringing the cap closer (10 cm to the right) and raising the left arm to match the pen's height."})
tool
executing move_to over 10 steps (1.0s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent notePen tip is a few cm ahead of the left jaws, centred but slightly lower (right arm sagged to z≈0.14). Lowering the cap to pen height and advancing 2.5 cm.
move_to
left_x0.4370left_y-0.2700left_z0.1450left_yaw-1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2306, 2.1338, 1.8259, -0.8837, 0.9413, 1.1778, 0.0714, 0.1658, 2.0846, 1.6676, -0.7437, -0.9428, -1.1774, 0.0687] state[eef_state]: left_x=0.4325 left_y=-0.2445 left_z=0.1566 left_yaw=-1.575 left_pitch=-0.009 left_roll=0.0533 left_gripper=0.0714 right_x=0.4367 right_y=0.2216 right_z=0.1383 right_yaw=1.4913 right_pitch=-0.0126 right_roll=-0.0793 right_gripper=0.0687 state[joint_eff]: [-0.841, -10.8103, 9.1419, 0.9158, 0.4713, -0.1099, 0.9499, -0.294, -12.8205, 6.3658, 1.0574, -0.525, 0.1245, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.437, "left_y": -0.27, "left_z": 0.145, "left_yaw": -1.57}, "note": "Pen tip is a few cm ahead of the left jaws, centred but slightly lower (right arm sagged to z\u22480.14). Lowering the cap to pen height and advancing 2.5 cm."})
tool
executing move_to over 3 steps (0.3s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent notePen tip is centred ahead of the left jaws at matching height. Advancing the cap 3.5 cm toward the pen to start sliding it on.
move_to
left_x0.4370left_y-0.2950left_z0.1430left_yaw-1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2661, 2.149, 1.8175, -0.831, 0.9134, 1.1172, 0.0714, 0.1658, 2.0846, 1.6676, -0.7456, -0.939, -1.1782, 0.0694] state[eef_state]: left_x=0.4332 left_y=-0.2593 left_z=0.1468 left_yaw=-1.5664 left_pitch=-0.0252 left_roll=0.0373 left_gripper=0.0714 right_x=0.4367 right_y=0.2212 right_z=0.1376 right_yaw=1.4902 right_pitch=-0.0165 right_roll=-0.0789 right_gripper=0.0694 state[joint_eff]: [-0.7316, -10.5368, 6.4342, 1.1502, 0.4567, -0.0513, 0.8913, -0.335, -11.4803, 6.2427, 0.9939, -0.4811, -0.0171, 1.033] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.437, "left_y": -0.295, "left_z": 0.143, "left_yaw": -1.57}, "note": "Pen tip is centred ahead of the left jaws at matching height. Advancing the cap 3.5 cm toward the pen to start sliding it on."})
tool
executing move_to over 4 steps (0.4s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent notePen tip now appears to pass under/into the left jaws. Pushing the cap another ~2 cm onto the pen while watching for a stall.
move_to
left_x0.4350left_y-0.3150left_z0.1400left_yaw-1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.326, 2.1735, 1.8271, -0.791, 0.886, 1.042, 0.0722, 0.1658, 2.0846, 1.6672, -0.7483, -0.9386, -1.179, 0.0729] state[eef_state]: left_x=0.4279 left_y=-0.2853 left_z=0.1379 left_yaw=-1.5735 left_pitch=-0.0407 left_roll=0.0068 left_gripper=0.0722 right_x=0.4362 right_y=0.2211 right_z=0.1373 right_yaw=1.4905 right_pitch=-0.0176 right_roll=-0.0767 right_gripper=0.0729 state[joint_eff]: [-0.4855, -10.9197, 9.4427, 1.2381, 0.315, -0.0855, 0.8913, -0.335, -11.3436, 6.2427, 0.9158, -0.4957, -0.0171, 0.8474] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.435, "left_y": -0.315, "left_z": 0.14, "left_yaw": -1.57}, "note": "Pen tip now appears to pass under/into the left jaws. Pushing the cap another ~2 cm onto the pen while watching for a stall."})
tool
executing move_to over 3 steps (0.3s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteLeft arm stalled ~2 cm short with the pen tip right at the left jaws, suggesting the cap is contacting the pen tip. Pushing a bit harder and correcting the height sag to seat the cap.
move_to
left_x0.4360left_y-0.3300left_z0.1500left_yaw-1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3393, 2.1948, 1.8282, -0.7723, 0.8677, 1.0176, 0.0748, 0.1658, 2.085, 1.6665, -0.7486, -0.936, -1.1816, 0.075] state[eef_state]: left_x=0.4293 left_y=-0.2906 left_z=0.1272 left_yaw=-1.5657 left_pitch=-0.0569 left_roll=-0.0091 left_gripper=0.0748 right_x=0.4362 right_y=0.2208 right_z=0.1365 right_yaw=1.4909 right_pitch=-0.0204 right_roll=-0.078 right_gripper=0.075 state[joint_eff]: [-0.2803, -12.6017, 9.265, 1.1453, 0.525, -0.0708, 0.6569, -0.253, -11.2889, 6.3385, 0.9255, -0.5153, 0.0171, 0.6716] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.436, "left_y": -0.33, "left_z": 0.15, "left_yaw": -1.57}, "note": "Left arm stalled ~2 cm short with the pen tip right at the left jaws, suggesting the cap is contacting the pen tip. Pushing a bit harder and correcting the height sag to seat the cap."})
tool
executing move_to over 4 steps (0.4s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteLeft arm is at a kinematic limit (no joint motion at all), so instead pushing the pen 2.5 cm leftward into the cap with the right arm, matching the left arm's x.
move_to
right_x0.4310right_y0.2450right_z0.1400right_yaw1.4900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3393, 2.1948, 1.8282, -0.7723, 0.8677, 1.018, 0.0742, 0.1658, 2.085, 1.6665, -0.7483, -0.9356, -1.1816, 0.0747] state[eef_state]: left_x=0.4293 left_y=-0.2906 left_z=0.1272 left_yaw=-1.5659 left_pitch=-0.0569 left_roll=-0.0088 left_gripper=0.0742 right_x=0.4363 right_y=0.2208 right_z=0.1365 right_yaw=1.4907 right_pitch=-0.0207 right_roll=-0.0785 right_gripper=0.0747 state[joint_eff]: [-0.3214, -12.6154, 9.1009, 1.1306, 0.4957, -0.0757, 0.3639, -0.253, -11.494, 6.3658, 0.8913, -0.4908, -0.0269, 0.3932] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.431, "right_y": 0.245, "right_z": 0.14, "right_yaw": 1.49}, "note": "Left arm is at a kinematic limit (no joint motion at all), so instead pushing the pen 2.5 cm leftward into the cap with the right arm, matching the left arm's x."})
tool
executing move_to over 3 steps (0.3s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
assistant
agent notePen tip is now right at the left jaws; pushing another ~2 cm to seat it into the cap held there.
move_to
right_x0.4310right_y0.2600right_z0.1350right_yaw1.4900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3389, 2.1948, 1.8282, -0.7719, 0.8677, 1.018, 0.0768, 0.207, 2.0846, 1.6466, -0.7055, -0.9119, -1.132, 0.0775] state[eef_state]: left_x=0.4295 left_y=-0.2905 left_z=0.1272 left_yaw=-1.5655 left_pitch=-0.0568 left_roll=-0.0084 left_gripper=0.0768 right_x=0.4314 right_y=0.237 right_z=0.1303 right_yaw=1.4954 right_pitch=-0.0342 right_roll=-0.0652 right_gripper=0.0775 state[joint_eff]: [-0.0479, -12.6154, 9.2376, 1.1648, 0.5495, -0.0513, 0.5299, 0.4991, -13.1214, 6.1744, 1.0574, -0.4713, 0.1392, 0.5641] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.431, "right_y": 0.26, "right_z": 0.135, "right_yaw": 1.49}, "note": "Pen tip is now right at the left jaws; pushing another ~2 cm to seat it into the cap held there."})
tool
executing move_to over 2 steps (0.2s)
step 177
assistant
agent notePen is pushed as far as it goes into the left jaws; releasing the cap so it stays on the pen, then I'll check whether it's seated.
move_to
left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3393, 2.1948, 1.8278, -0.7742, 0.8665, 1.018, 0.0774, 0.2417, 2.0846, 1.6432, -0.6853, -0.8967, -1.0908, 0.077] state[eef_state]: left_x=0.429 left_y=-0.2904 left_z=0.1268 left_yaw=-1.5656 left_pitch=-0.0586 left_roll=-0.0106 left_gripper=0.0774 right_x=0.4267 right_y=0.251 right_z=0.1288 right_yaw=1.5011 right_pitch=-0.0417 right_roll=-0.0512 right_gripper=0.077 state[joint_eff]: [-0.2256, -12.3556, 6.3521, 0.9304, 0.359, -0.0122, 0.7009, 1.1556, -11.6171, 7.2684, 1.1941, -0.5201, 0.1734, 0.6813] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.6}, "note": "Pen is pushed as far as it goes into the left jaws; releasing the cap so it stays on the pen, then I'll check whether it's seated."})
tool
executing move_to over 6 steps (0.6s)
step 183
assistant
agent noteLeft jaws opened; a small object is visible near the pen tip in the right camera. Moving the left arm away to inspect whether the cap stayed on the pen.
move_to
left_x0.3500left_y-0.2000left_z0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3389, 2.1948, 1.8278, -0.775, 0.8619, 1.0107, 0.5957, 0.2436, 2.0846, 1.6432, -0.68, -0.8837, -1.0882, 0.0771] state[eef_state]: left_x=0.4295 left_y=-0.2898 left_z=0.1262 left_yaw=-1.5593 left_pitch=-0.0628 left_roll=-0.0158 left_gripper=0.5957 right_x=0.4281 right_y=0.2508 right_z=0.1276 right_yaw=1.4956 right_pitch=-0.0511 right_roll=-0.0577 right_gripper=0.0771 state[joint_eff]: [-0.1026, -12.2598, 6.3385, 0.9304, 0.359, 0.0122, -0.1636, 0.0889, -11.5761, 6.2427, 0.9646, -0.6032, -0.0366, 0.7253] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.2, "left_z": 0.2}, "note": "Left jaws opened; a small object is visible near the pen tip in the right camera. Moving the left arm away to inspect whether the cap stayed on the pen."})
tool
executing move_to over 8 steps (0.8s)
step 191
assistant
agent noteThe cap fell to the table just ahead of the pen tip when I opened the left jaws (seen in right cam), so it wasn't seated. Pulling the pen back and bringing the open left gripper over the cap to regrasp.
move_to
right_y0.1700right_z0.1500left_x0.4400left_y-0.2900left_z0.1000left_yaw-1.5700left_pitch0.2000left_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]: [-0.1864, 1.8664, 1.6112, -1.0412, 0.8764, 1.2022, 0.5963, 0.2436, 2.085, 1.6432, -0.6792, -0.8822, -1.0885, 0.0796] state[eef_state]: left_x=0.3672 left_y=-0.2037 left_z=0.1846 left_yaw=-1.5276 left_pitch=-0.0929 left_roll=-0.0152 left_gripper=0.5963 right_x=0.4284 right_y=0.2507 right_z=0.1273 right_yaw=1.4951 right_pitch=-0.0523 right_roll=-0.0588 right_gripper=0.0796 state[joint_eff]: [0.4581, -11.7538, 5.8735, 0.6618, 0.7546, 0.2076, 0.0513, 0.0889, -11.3846, 6.2838, 0.9939, -0.4225, -0.0562, 0.5836] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.17, "right_z": 0.15, "left_x": 0.44, "left_y": -0.29, "left_z": 0.1, "left_yaw": -1.57, "left_pitch": 0.2, "left_gripper": 1.0}, "note": "The cap fell to the table just ahead of the pen tip when I opened the left jaws (seen in right cam), so it wasn't seated. Pulling the pen back and bringing the open left gripper over the cap to regrasp."})
tool
executing move_to over 10 steps (1.0s)
step 201
assistant
agent noteNo cap visible on the pen; it likely dropped straight below where the left jaws released. Descending the open left gripper to table level at that spot.
move_to
left_x0.4300left_y-0.2850left_z0.0000left_yaw-1.5700left_pitch0.2500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2787, 2.2284, 1.5738, -0.4393, 1.0569, 0.931, 0.998, 0.0662, 2.0846, 1.718, -0.968, -0.9108, -1.3464, 0.0821] state[eef_state]: left_x=0.4242 left_y=-0.2777 left_z=0.0801 left_yaw=-1.5411 left_pitch=0.1163 left_roll=-0.0954 left_gripper=0.998 right_x=0.4312 right_y=0.172 right_z=0.1368 right_yaw=1.479 right_pitch=-0.0816 right_roll=-0.0539 right_gripper=0.0821 state[joint_eff]: [-0.4718, -12.3145, 9.2513, 1.1648, 0.9206, 0.0171, 0.0366, -0.4034, -11.7265, 8.335, 0.5006, -0.7253, -0.0708, 0.2515] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.285, "left_z": 0.0, "left_yaw": -1.57, "left_pitch": 0.25}, "note": "No cap visible on the pen; it likely dropped straight below where the left jaws released. Descending the open left gripper to table level at that spot."})
tool
executing move_to over 6 steps (0.6s)
step 207
assistant
agent noteRight wrist cam shows the dropped cap lying along x just forward of the left gripper's front finger. Lifting and turning the left jaws to close across it (yaw 0), heading forward.
move_to
left_x0.4600left_y-0.2850left_z0.0600left_yaw0.0000left_pitch0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2722, 2.4191, 1.5085, -0.1104, 1.161, 0.8829, 0.9983, 0.0631, 2.085, 1.7214, -0.9764, -0.9096, -1.3617, 0.0842] state[eef_state]: left_x=0.4285 left_y=-0.2841 left_z=0.0102 left_yaw=-1.567 left_pitch=0.2218 left_roll=-0.096 left_gripper=0.9983 right_x=0.431 right_y=0.1705 right_z=0.1372 right_yaw=1.4842 right_pitch=-0.0838 right_roll=-0.0611 right_gripper=0.0842 state[joint_eff]: [0.2667, -10.2359, 5.012, 0.8083, 0.2173, -0.2662, 0.0269, 0.0342, -11.1248, 5.7778, 0.696, -0.525, 0.0904, 0.2027] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.285, "left_z": 0.06, "left_yaw": 0.0, "left_pitch": 0.4}, "note": "Right wrist cam shows the dropped cap lying along x just forward of the left gripper's front finger. Lifting and turning the left jaws to close across it (yaw 0), heading forward."})
tool
executing move_to over 10 steps (1.0s)
step 217
assistant
agent noteThe cap is visible on the table ahead of the left gripper (top cam ~(75,68), left cam shiny object ahead-right). Reaching forward with the tool tipped forward to get over it.
move_to
left_x0.5000left_y-0.3400left_z0.0100left_yaw-0.3000left_pitch0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7589, 2.2471, 0.9947, 1.0237, -0.3843, -0.1761, 0.9984, 0.0631, 2.0872, 1.7184, -0.9779, -0.9012, -1.3621, 0.0856] state[eef_state]: left_x=0.4449 left_y=-0.3257 left_z=0.0512 left_yaw=-0.316 left_pitch=0.3569 left_roll=-0.0933 left_gripper=0.9984 right_x=0.4305 right_y=0.1696 right_z=0.1341 right_yaw=1.483 right_pitch=-0.0929 right_roll=-0.0558 right_gripper=0.0856 state[joint_eff]: [-0.1026, -9.894, 5.4359, 1.7509, -0.0415, -0.1685, -0.0073, -0.1983, -11.494, 6.2701, 0.5983, -0.6032, -0.0122, 0.1245] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.34, "left_z": 0.01, "left_yaw": -0.3, "left_pitch": 0.6}, "note": "The cap is visible on the table ahead of the left gripper (top cam ~(75,68), left cam shiny object ahead-right). Reaching forward with the tool tipped forward to get over it."})
tool
executing move_to over 9 steps (0.9s)
step 226
assistant
agent noteTop camera shows the cap further forward-left of the left gripper (~x 0.52, y -0.25). Trying to stretch the left arm out to it with maximum forward tilt.
move_to
left_x0.5200left_y-0.2500left_z0.0000left_yaw0.0000left_pitch0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7467, 2.3497, 1.0344, 1.1046, -0.4103, -0.1738, 0.9984, 0.0631, 2.0872, 1.7184, -0.9779, -0.894, -1.3624, 0.087] state[eef_state]: left_x=0.4559 left_y=-0.321 left_z=0.0297 left_yaw=-0.2787 left_pitch=0.3756 left_roll=-0.0939 left_gripper=0.9984 right_x=0.4307 right_y=0.1688 right_z=0.1331 right_yaw=1.4814 right_pitch=-0.0999 right_roll=-0.0572 right_gripper=0.087 state[joint_eff]: [-0.3761, -11.8496, 5.135, 2.127, 0.2222, 0.1929, -0.0122, -0.3624, -11.3026, 6.0786, 0.6178, -0.5543, -0.0122, 0.1343] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.52, "left_y": -0.25, "left_z": 0.0, "left_yaw": 0.0, "left_pitch": 0.6}, "note": "Top camera shows the cap further forward-left of the left gripper (~x 0.52, y -0.25). Trying to stretch the left arm out to it with maximum forward tilt."})
tool
executing move_to over 8 steps (0.8s)
step 234
assistant
agent noteLeft gripper now reaches x≈0.51; the cap sits just left of it in the top view. Shifting ~5 cm left and descending to table level to straddle it.
move_to
left_x0.5000left_y-0.2250left_z-0.0100left_yaw0.0000left_pitch0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6502, 2.5935, 1.2324, 1.4776, -0.5396, -0.0845, 0.9982, 0.0631, 2.0888, 1.718, -0.9787, -0.8909, -1.3621, 0.0885] state[eef_state]: left_x=0.5151 left_y=-0.2733 left_z=0.0485 left_yaw=-0.0109 left_pitch=0.6639 left_roll=-0.1827 left_gripper=0.9982 right_x=0.4307 right_y=0.1685 right_z=0.132 right_yaw=1.4808 right_pitch=-0.1032 right_roll=-0.0546 right_gripper=0.0885 state[joint_eff]: [2.0991, -5.2308, 4.4376, 1.0281, -0.1148, 0.1294, -0.0269, -0.3487, -11.412, 6.2427, 0.5983, -0.5397, -0.0073, 0.1441] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.225, "left_z": -0.01, "left_yaw": 0.0, "left_pitch": 0.6}, "note": "Left gripper now reaches x\u22480.51; the cap sits just left of it in the top view. Shifting ~5 cm left and descending to table level to straddle it."})
tool
executing move_to over 5 steps (0.5s)
step 239
assistant
agent noteI picked up both parts but didn't get the cap onto the pen. When I pushed the pen into the left gripper's cap, it never seated. When I opened the jaws to check, the cap fell and rolled forward to about left_x ≈ 0.52 on the table. That's past the ~0.49 m limit for reaching the table: the left arm stops at z ≈ 0.05 there even fully tipped forward. The right arm still holds the pen in the air, and I don't have enough calls left to recover the cap.
give_up
hindsight- With the tool vertical (pitch 0), the left arm stalled at about x = 0.38–0.42 near the table. Commanding pitch +0.25 to +0.3 let it reach table level at x ≈ 0.43. For grasps on the table beyond x ≈ 0.4, command a forward pitch. - Short moves of 3–4 steps often don't converge. Overshoot the target a little or check the readback again. - A pen and a cap about 1 cm thick read ≈ 0.05–0.07 when grasped at table level with the jaws across them. That's above the empty level of 0.04, so these readings do mean a grasp. - Pitch 0 means the tool points down. Grasping flat on the table leaves the objects horizontal under the fingertips. The pen stuck out about 10 cm past the right fingertips, which is plenty of room to put them tip to tip. - Holding the left arm at yaw −1.57 with the tool vertical at x ≈ 0.43, z ≈ 0.13 put it at a kinematic limit near left_y ≈ −0.29. The joints froze and it wouldn't go further right. Do the insertion with the other arm, or use a more comfortable pose. - Neither wrist camera can see the held cap, so I couldn't check the cap's axis alignment or which way its opening faced before inserting. Before grasping, note from the top camera or the wrist camera which end of the cap is open, and grasp so the opening faces outward along the tool-forward axis. - Never open the gripper to 'check'. Instead, lift or pull back the other arm and watch for resistance. A dropped rounded cap rolls and can end up out of reach (x > 0.49). - The top camera is the best view for finding small dropped objects. A left-arm grasp point at x ≈ 0.51 appeared at top-cam pixel ≈ (100, 80).
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6022, 2.5851, 1.1652, 1.5848, -0.5163, -0.1291, 0.9982, 0.0631, 2.0888, 1.718, -0.9783, -0.8909, -1.3621, 0.0899] state[eef_state]: left_x=0.514 left_y=-0.2431 left_z=0.0554 left_yaw=0.0662 left_pitch=0.699 left_roll=-0.274 left_gripper=0.9982 right_x=0.4307 right_y=0.1685 right_z=0.132 right_yaw=1.4808 right_pitch=-0.1032 right_roll=-0.055 right_gripper=0.0899 state[joint_eff]: [1.6615, -4.1915, 2.3453, 1.5409, 0.3443, 0.022, -0.0171, -0.1709, -11.3573, 5.9966, 0.6032, -0.4615, -0.0171, 0.1294] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I picked up both parts but didn't get the cap onto the pen. When I pushed the pen into the left gripper's cap, it never seated. When I opened the jaws to check, the cap fell and rolled forward to about left_x \u2248 0.52 on the table. That's past the ~0.49 m limit for reaching the table: the left arm stops at z \u2248 0.05 there even fully tipped forward. The right arm still holds the pen in the air, and I don't have enough calls left to recover the cap.", "hindsight": "- With the tool vertical (pitch 0), the left arm stalled at about x = 0.38\u20130.42 near the table. Commanding pitch +0.25 to +0.3 let it reach table level at x \u2248 0.43. For grasps on the table beyond x \u2248 0.4, command a forward pitch.\n- Short moves of 3\u20134 steps often don't converge. Overshoot the target a little or check the readback again.\n- A pen and a cap about 1 cm thick read \u2248 0.05\u20130.07 when grasped at table level with the jaws across them. That's above the empty level of 0.04, so these readings do mean a grasp.\n- Pitch 0 means the tool points down. Grasping flat on the table leaves the objects horizontal under the fingertips. The pen stuck out about 10 cm past the right fingertips, which is plenty of room to put them tip to tip.\n- Holding the left arm at yaw \u22121.57 with the tool vertical at x \u2248 0.43, z \u2248 0.13 put it at a kinematic limit near left_y \u2248 \u22120.29. The joints froze and it wouldn't go further right. Do the insertion with the other arm, or use a more comfortable pose.\n- Neither wrist camera can see the held cap, so I couldn't check the cap's axis alignment or which way its opening faced before inserting. Before grasping, note from the top camera or the wrist camera which end of the cap is open, and grasp so the opening faces outward along the tool-forward axis.\n- Never open the gripper to 'check'. Instead, lift or pull back the other arm and watch for resistance. A dropped rounded cap rolls and can end up out of reach (x > 0.49).\n- The top camera is the best view for finding small dropped objects. A left-arm grasp point at x \u2248 0.51 appeared at top-cam pixel \u2248 (100, 80)."})
tool
give_up: I picked up both parts but didn't get the cap onto the pen. When I pushed the pen into the left gripper's cap, it never seated. When I opened the jaws to check, the cap fell and rolled forward to about left_x ≈ 0.52 on the table. That's past the ~0.49 m limit for reaching the table: the left arm stops at z ≈ 0.05 there even fully tipped forward. The right arm still holds the pen in the air, and I don't have enough calls left to recover the cap.
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 · 16.93 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0208, 0.7925, 0.6018, -0.3801, -0.0196, -0.0113, 0.9998, -0.0181, 0.7906, 0.609, -0.3759, -0.0265, -0.0223, 0.999]\nstate[eef_state]: left_x=0.2944 left_y=0.0009 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0029 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.5675, -1.5111, 10.5504, 1.7753, -0.0757, -0.0611, -0.0366, -0.5675, -1.1966, 9.8667, 1.7411, -0.0024, 0.0415, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c74ee1060b8ee0c5206bbf4c18f6728c0490aa84d58966de1795a12bd6bb71a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5599279c92f86054bf0bb44fe22329733928f95297e087aadb6440768a515919",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bb7b410627c8f4978d755878a661cb6750607752233f28721a1e994d375f82bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 1 attempt 0 · /messages · status 200 · 9.079 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0208, 0.7925, 0.6018, -0.3801, -0.0196, -0.0113, 0.9998, -0.0181, 0.7906, 0.609, -0.3759, -0.0265, -0.0223, 0.999]\nstate[eef_state]: left_x=0.2944 left_y=0.0009 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0029 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.5675, -1.5111, 10.5504, 1.7753, -0.0757, -0.0611, -0.0366, -0.5675, -1.1966, 9.8667, 1.7411, -0.0024, 0.0415, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c74ee1060b8ee0c5206bbf4c18f6728c0490aa84d58966de1795a12bd6bb71a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5599279c92f86054bf0bb44fe22329733928f95297e087aadb6440768a515919",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb7b410627c8f4978d755878a661cb6750607752233f28721a1e994d375f82bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QtVoyhzL6ZKJxwWpvaikYF",
      "input": {
        "note": "Pen cap lies right of the left arm, the pen is further right in the middle of the table. I'm moving the left arm over the cap first.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.17,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01QtVoyhzL6ZKJxwWpvaikYF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7582, 1.3651, 0.6495, -0.0849, -0.5941, -0.4599, 0.9997, -0.0193, 0.7967, 0.6132, -0.3878, -0.0265, -0.0227, 0.999]\nstate[eef_state]: left_x=0.3182 left_y=-0.1602 left_z=0.0998 left_yaw=-0.0241 left_pitch=-0.0671 left_roll=0.0499 left_gripper=0.9997 right_x=0.295 right_y=0.0026 right_z=0.1819 right_yaw=-0.0009 right_pitch=-0.0137 right_roll=-0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -5.4769, 9.1829, 1.6874, -0.3492, -0.0904, -0.0171, -0.0889, -1.7299, 6.735, 1.8535, -0.0562, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbda8fb52a7ea19ad52a8acc7e3c21097259314dd0e1dfe57a1125b13586fcd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b466d83d47f3a67a5e7741fcbd445e413fb70a41d6f0c760fab1902a40dfb362",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c37388da76a48536614fc39f096bff233a9e2f403212e4963fa1a9ec31903f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 5.159 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0208, 0.7925, 0.6018, -0.3801, -0.0196, -0.0113, 0.9998, -0.0181, 0.7906, 0.609, -0.3759, -0.0265, -0.0223, 0.999]\nstate[eef_state]: left_x=0.2944 left_y=0.0009 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0029 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.5675, -1.5111, 10.5504, 1.7753, -0.0757, -0.0611, -0.0366, -0.5675, -1.1966, 9.8667, 1.7411, -0.0024, 0.0415, -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]: [-0.7582, 1.3651, 0.6495, -0.0849, -0.5941, -0.4599, 0.9997, -0.0193, 0.7967, 0.6132, -0.3878, -0.0265, -0.0227, 0.999]\nstate[eef_state]: left_x=0.3182 left_y=-0.1602 left_z=0.0998 left_yaw=-0.0241 left_pitch=-0.0671 left_roll=0.0499 left_gripper=0.9997 right_x=0.295 right_y=0.0026 right_z=0.1819 right_yaw=-0.0009 right_pitch=-0.0137 right_roll=-0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -5.4769, 9.1829, 1.6874, -0.3492, -0.0904, -0.0171, -0.0889, -1.7299, 6.735, 1.8535, -0.0562, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbda8fb52a7ea19ad52a8acc7e3c21097259314dd0e1dfe57a1125b13586fcd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b466d83d47f3a67a5e7741fcbd445e413fb70a41d6f0c760fab1902a40dfb362",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c37388da76a48536614fc39f096bff233a9e2f403212e4963fa1a9ec31903f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HtnqXZrKJSszaPac6BzViC",
      "input": {
        "note": "Cap is on the jaw column but ahead of the fingertips, lying diagonally. Moving forward, lowering, and yawing so jaws close across the cap.",
        "targets": {
          "left_x": 0.375,
          "left_y": -0.16,
          "left_yaw": -0.7,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01HtnqXZrKJSszaPac6BzViC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3138, 1.5848, 0.5915, 0.2134, 0.0776, 0.1081, 0.9997, -0.0193, 0.8009, 0.6132, -0.3935, -0.0265, -0.0231, 0.999]\nstate[eef_state]: left_x=0.361 left_y=-0.1278 left_z=0.0305 left_yaw=-0.442 left_pitch=-0.2064 left_roll=0.0215 left_gripper=0.9997 right_x=0.2946 right_y=0.0026 right_z=0.1795 right_yaw=-0.0007 right_pitch=-0.0236 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.0752, -7.7744, 8.4855, 1.9316, 0.1734, 0.2125, -0.0122, -0.2667, -1.4701, 7.0222, 1.7656, -0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8de3391242287eac847f26ebbfc2057420fad8ec5b0f464ba526ee89c0edcad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:829030c106f32142e2d03b2c9addc96a9fcaba768d219472ec2eba7ecd6aab7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a74242f78edb2518614eaf83a45f0e5797462d56ec2f15bc49a8b62d09f246f5",
        "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 · 8.026 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0208, 0.7925, 0.6018, -0.3801, -0.0196, -0.0113, 0.9998, -0.0181, 0.7906, 0.609, -0.3759, -0.0265, -0.0223, 0.999]\nstate[eef_state]: left_x=0.2944 left_y=0.0009 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0029 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.5675, -1.5111, 10.5504, 1.7753, -0.0757, -0.0611, -0.0366, -0.5675, -1.1966, 9.8667, 1.7411, -0.0024, 0.0415, -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]: [-0.7582, 1.3651, 0.6495, -0.0849, -0.5941, -0.4599, 0.9997, -0.0193, 0.7967, 0.6132, -0.3878, -0.0265, -0.0227, 0.999]\nstate[eef_state]: left_x=0.3182 left_y=-0.1602 left_z=0.0998 left_yaw=-0.0241 left_pitch=-0.0671 left_roll=0.0499 left_gripper=0.9997 right_x=0.295 right_y=0.0026 right_z=0.1819 right_yaw=-0.0009 right_pitch=-0.0137 right_roll=-0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -5.4769, 9.1829, 1.6874, -0.3492, -0.0904, -0.0171, -0.0889, -1.7299, 6.735, 1.8535, -0.0562, -0.0464, -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]: [-0.3138, 1.5848, 0.5915, 0.2134, 0.0776, 0.1081, 0.9997, -0.0193, 0.8009, 0.6132, -0.3935, -0.0265, -0.0231, 0.999]\nstate[eef_state]: left_x=0.361 left_y=-0.1278 left_z=0.0305 left_yaw=-0.442 left_pitch=-0.2064 left_roll=0.0215 left_gripper=0.9997 right_x=0.2946 right_y=0.0026 right_z=0.1795 right_yaw=-0.0007 right_pitch=-0.0236 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.0752, -7.7744, 8.4855, 1.9316, 0.1734, 0.2125, -0.0122, -0.2667, -1.4701, 7.0222, 1.7656, -0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8de3391242287eac847f26ebbfc2057420fad8ec5b0f464ba526ee89c0edcad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:829030c106f32142e2d03b2c9addc96a9fcaba768d219472ec2eba7ecd6aab7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a74242f78edb2518614eaf83a45f0e5797462d56ec2f15bc49a8b62d09f246f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvAgKEAgSGAI4AUIIdGhpbmtpbmcSDIdwhXXjyKo/djG3mRoMQW4/KIVvEIGwEGjDIjC7I0MhXa0Wvs8/xnYPORVM7/ZPU0HtH8NydUwqiM4YfQzeeZaBxLGZGQYibG038oEq2QcxvQpiEOmV0UmjOuvCw2wN5SVSSCXVRxf2+fHc/dXaPt6sFbLWevq7gzsSdqFyy0fmht5fBKAJKGmXUNVcni09NRacmLDBOq5eKxH7ehPn3DCR0XBrQrhMGmVfkTCl86y6OzdOL4NQs4Svy2Zr+RFFUITwIXxYFfG/GHmM2agFZll+kt5AgR5J7nDp93MpgEPV1xUUngS6e3mg+e7kelcjv4VP03hrN5j+dxVK4Tkk/0GfJ2fPMV7EyTOk/4IQfrWkrzeo51v42y5+gWYdtU0923RR7fn9hKBuFk5pc1tJLMjxfHms18JIxTpwggkR0gkiBVOqNhYX9aCzdUwABmHP7M13n0z68UFa3sLBxJD4VDohHrtaYhdIfmzEFspXomjzm5lQSA2ZqN+yJZizcArGN3WGm0bMroCLp9QBKHw3h8t6YiUgNiVVe1qXKNJu/bBLuum7Oa8Pmu2wmosxXLK4RoMH5sgoJSdVBRXRahIIe/pQYAOoFhEC12yh/vg6lt3+uP9ZXMP4V/jvpNBGBkLYTtyq7TCwCnkxZnEocGxPKbFflzhULulEBN/8qk9o7ebfblPEDT84XkrMY3ivje8gwBpY9g5gTH2C8uZVcsdqTeWmawxui2mtR/sgV3vIMnQDS6RzZTRGRdoHAN5wt0tGv1bBYmOwiMlydVdgtGHNJ3KoNjppNKylSPPKdvJSgp6ghoZ4LXp9dR9t1y2FWLRa10BrQfhHGeGP88e8Q1GR/0zVjxmrmAT1xieERHIr1JdjGA0zmP+v4EB0ctOisNmRBY5z98R49eEjtqrwHwD6UAen2J/TFJn3AbOLElqhp1EKMPluqTEZ5JnXCT99h185j4djRAHuoSeS6NIDFCuXaCIWau7Avdk6dKiEOxZrbEUkbzpByH9tWH6Xi3uuew3eGdhjJWB7AF3AIJsnHOrLfJUcvmUK3sebjO0bDbrRaFD/0SieeIDws90CRx1a2XUWaDuwt0sHjqIGiwa/l0z/pTaPRr+yno8JRvXJIESzkSmMR78wKGxWO7UYVateMviJ2JtTFyUq/ClWhJeJj8G0aE/jEGWFBy89sdfeJ9Fwj79UrLchlg/G7/lVxMXj1IXW8bcr8Wr6yB1CboKT+Tv7c3u13LQfEc5H09gJqRc8mZTRFIOeL6ag60NA8kQNHcnXkhCNoFkhMZ1SAo2T4Y5tAxkXAKImtj744W7ys+e6n3fKAs9MKhXn9CvPjYIQsVJxgX/Z/euKNVk8P1baEn5/4Mt0IxcrEScvUurxvXA29B2aGJXXXts7NRWvXTgbQKZjY1uGUI3I1AOAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015LuBw7wRnUKaKeYJL8ntSH",
      "input": {
        "note": "Arm hadn't fully reached the target (clamped step); cap still ahead of the jaws. Continuing forward to get over the cap.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.16,
          "left_yaw": -0.7,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015LuBw7wRnUKaKeYJL8ntSH",
      "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]: [-0.2836, 1.6814, 0.7441, 0.1169, 0.2508, 0.2737, 0.9997, -0.0193, 0.8036, 0.6132, -0.3954, -0.0269, -0.0227, 0.999]\nstate[eef_state]: left_x=0.3795 left_y=-0.1526 left_z=0.0362 left_yaw=-0.6524 left_pitch=-0.2167 left_roll=0.0082 left_gripper=0.9997 right_x=0.2945 right_y=0.0027 right_z=0.1784 right_yaw=-0.0006 right_pitch=-0.0282 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [0.2667, -7.9932, 7.5966, 1.5995, 0.2857, 0.3248, -0.0122, -0.335, -1.4017, 7.4188, 1.7656, -0.0317, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d54d69cccb6a9164e67c5ba1cf6474632efe379ddd70324d63ff892d71a0510e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6e835aa162fd698a13674d038590c6ef384ec2565089802682e306bba134e49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be9e573abaa1aa3621f76ad8472551ed19edd0d8e76952a80b45fa312cbe6ff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 6.191 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7582, 1.3651, 0.6495, -0.0849, -0.5941, -0.4599, 0.9997, -0.0193, 0.7967, 0.6132, -0.3878, -0.0265, -0.0227, 0.999]\nstate[eef_state]: left_x=0.3182 left_y=-0.1602 left_z=0.0998 left_yaw=-0.0241 left_pitch=-0.0671 left_roll=0.0499 left_gripper=0.9997 right_x=0.295 right_y=0.0026 right_z=0.1819 right_yaw=-0.0009 right_pitch=-0.0137 right_roll=-0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -5.4769, 9.1829, 1.6874, -0.3492, -0.0904, -0.0171, -0.0889, -1.7299, 6.735, 1.8535, -0.0562, -0.0464, -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]: [-0.3138, 1.5848, 0.5915, 0.2134, 0.0776, 0.1081, 0.9997, -0.0193, 0.8009, 0.6132, -0.3935, -0.0265, -0.0231, 0.999]\nstate[eef_state]: left_x=0.361 left_y=-0.1278 left_z=0.0305 left_yaw=-0.442 left_pitch=-0.2064 left_roll=0.0215 left_gripper=0.9997 right_x=0.2946 right_y=0.0026 right_z=0.1795 right_yaw=-0.0007 right_pitch=-0.0236 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.0752, -7.7744, 8.4855, 1.9316, 0.1734, 0.2125, -0.0122, -0.2667, -1.4701, 7.0222, 1.7656, -0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2836, 1.6814, 0.7441, 0.1169, 0.2508, 0.2737, 0.9997, -0.0193, 0.8036, 0.6132, -0.3954, -0.0269, -0.0227, 0.999]\nstate[eef_state]: left_x=0.3795 left_y=-0.1526 left_z=0.0362 left_yaw=-0.6524 left_pitch=-0.2167 left_roll=0.0082 left_gripper=0.9997 right_x=0.2945 right_y=0.0027 right_z=0.1784 right_yaw=-0.0006 right_pitch=-0.0282 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [0.2667, -7.9932, 7.5966, 1.5995, 0.2857, 0.3248, -0.0122, -0.335, -1.4017, 7.4188, 1.7656, -0.0317, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d54d69cccb6a9164e67c5ba1cf6474632efe379ddd70324d63ff892d71a0510e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6e835aa162fd698a13674d038590c6ef384ec2565089802682e306bba134e49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be9e573abaa1aa3621f76ad8472551ed19edd0d8e76952a80b45fa312cbe6ff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H5Q73BDYyianvPfhuXpb2x",
      "input": {
        "note": "Cap is now aligned roughly perpendicular to the jaw axis, slightly left of and ahead of the jaws. Shifting forward/left in the tool frame and descending to table level.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.148,
          "left_yaw": -0.7,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01H5Q73BDYyianvPfhuXpb2x",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2829, 1.6962, 0.8001, 0.0406, 0.2668, 0.2985, 0.9997, -0.0193, 0.8047, 0.6132, -0.3969, -0.0261, -0.0227, 0.999]\nstate[eef_state]: left_x=0.3824 left_y=-0.1559 left_z=0.0387 left_yaw=-0.6818 left_pitch=-0.2449 left_roll=0.0011 left_gripper=0.9997 right_x=0.2943 right_y=0.0025 right_z=0.1778 right_yaw=-0.0013 right_pitch=-0.0309 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [0.0342, -7.9111, 7.2, 1.5849, 0.2222, 0.1441, -0.0122, -0.253, -1.1966, 7.0222, 1.7656, -0.0269, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec8ea109ee04b7ae5900b3cabdbd8693b50db16989f201ae105aa5e5ced316b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:977e1648e572fec434a4b6e0784df6ee55b347f66c4aaf1f973bcab6b98840b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3da6c621b1ad9b57d5436af555eb387372b2ea82dcc17c26e0b53d5b42e876b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 5.275 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3138, 1.5848, 0.5915, 0.2134, 0.0776, 0.1081, 0.9997, -0.0193, 0.8009, 0.6132, -0.3935, -0.0265, -0.0231, 0.999]\nstate[eef_state]: left_x=0.361 left_y=-0.1278 left_z=0.0305 left_yaw=-0.442 left_pitch=-0.2064 left_roll=0.0215 left_gripper=0.9997 right_x=0.2946 right_y=0.0026 right_z=0.1795 right_yaw=-0.0007 right_pitch=-0.0236 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.0752, -7.7744, 8.4855, 1.9316, 0.1734, 0.2125, -0.0122, -0.2667, -1.4701, 7.0222, 1.7656, -0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2836, 1.6814, 0.7441, 0.1169, 0.2508, 0.2737, 0.9997, -0.0193, 0.8036, 0.6132, -0.3954, -0.0269, -0.0227, 0.999]\nstate[eef_state]: left_x=0.3795 left_y=-0.1526 left_z=0.0362 left_yaw=-0.6524 left_pitch=-0.2167 left_roll=0.0082 left_gripper=0.9997 right_x=0.2945 right_y=0.0027 right_z=0.1784 right_yaw=-0.0006 right_pitch=-0.0282 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [0.2667, -7.9932, 7.5966, 1.5995, 0.2857, 0.3248, -0.0122, -0.335, -1.4017, 7.4188, 1.7656, -0.0317, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2829, 1.6962, 0.8001, 0.0406, 0.2668, 0.2985, 0.9997, -0.0193, 0.8047, 0.6132, -0.3969, -0.0261, -0.0227, 0.999]\nstate[eef_state]: left_x=0.3824 left_y=-0.1559 left_z=0.0387 left_yaw=-0.6818 left_pitch=-0.2449 left_roll=0.0011 left_gripper=0.9997 right_x=0.2943 right_y=0.0025 right_z=0.1778 right_yaw=-0.0013 right_pitch=-0.0309 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [0.0342, -7.9111, 7.2, 1.5849, 0.2222, 0.1441, -0.0122, -0.253, -1.1966, 7.0222, 1.7656, -0.0269, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec8ea109ee04b7ae5900b3cabdbd8693b50db16989f201ae105aa5e5ced316b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:977e1648e572fec434a4b6e0784df6ee55b347f66c4aaf1f973bcab6b98840b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3da6c621b1ad9b57d5436af555eb387372b2ea82dcc17c26e0b53d5b42e876b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkgkKEAgSGAI4AUIIdGhpbmtpbmcSDFSk9T78v/2vqmQuARoM29Il2/WWBX9dJJN9IjCebwskrcl/s1T9X+riTaVYxxF0yH30/vZ5l3XlIUJ9/b6qsBDHPC8H4Ot5a6LvBtUqrwgI5FQ3kHhYzrsaf5t90ILNvASQcnAw1X+wGEwR83y7WAv5DuRMSndSzkyp/lzGT4kpf58SJ4BlzgtGV/IEFg6rKgV8BZCCknmvp50f59QS2GljPtRwIO+Y/lfSmR+smI+Hc2Qymfjp1CoW/MIQrbQXC8D+TMRvS3VcLhKmL1PfB//SBj2wNuLBriKbEEMps6yfDM1uUPnhH0eLEfvfuee4/Tw21IfvY/UewQsROTSrkozPyk1zcBfyZS1r79WlN8zTCMYsDIpmBKEvepKzRhxsdSlizBQvIphPCCEbDKWbUBD8sk53yMqOb4K2wdjorjUWQ0/aXP1UXkaq2KfeSRZJDrBHvOVbLmNqUYSQkQ0FPRxi4cmgQKJD38qXnu9vtuCD6sG2gNbwBWdYx2INX9RRcvg9XQvB/FdAzqx3QfTiyACE0RAEPDYxtOapB89jz8jgprLKwj8vlbYDIyW+kRyOn8XDH2mrA7x3yKZYLwti939rRaJVieyC9XrqQX8eeDg4LC+2mKvG4YziH3oWoYdb5c1dHGJxJYRlqWSzMfBoqhWg8qgh8Zk+VwNTOquBuYipSwi3/abTxN4G0ndN341iFFj2myxHksZpqRPDrxR556kt7QU/TeKZqYRX/OD3o0GhHYKbBTphelBk+9HANoUaVy2hILCg8+y9C7X4vD3XVZLaO+kePu3q8eEU4v5hDIIkmJ4S/krzN9bI4t4EuFo5kD5q8P4Fcxi/fuMCeyCuBKg4W+QGYksK9IG21EEidspVNhXrZP8lqbZpS4y/QD+2ywvGT3UOXd4EwspVyYTJVSElcjEsvmAaZMPAA7ERc21R1Di2lonVKFapyhdEkYR3QfLNF6590Jb8IBwSp8nJRBy3Sdoh+dCWinXh2Eh0d7Df8xO67UkEiSVlfwVbgqxpEsAsUBBGtJ57x1EcYDD21h9WGipgAE6ZySoqr6Rmry0t0m6uI286VIlWaCRBemIFofT43GfPXZyme9iuPIv29dDvbasjZEGf+N23aFZPl1wcQpk/PzLOXv63iKLqxPBoXRBFVHqyHdcMBPphxHgqoWl/UCmHvvvKDcAvq9XdZWQfzOTmu9mwIQVT++CLio2ZwKoQOlMwZUF3LjSoIPzpATnhNFxnNBkZ5fjwcWgBnPE+VG4KSxTeAHOr4cDEM+xYYEXxxv6sHm9c+Y76oXB4T0C3vG5wvKcnFI6/nS7GlDHMm98fFnzWd9NrPiFkviQoX33q6OJsXvlfZYPIJyrBtGL2lc6jiEEKYg3HuncwGQr3e04Zieyi4z/hytlGQwZlJzsrPVCDRU5ZwafWv9885DFDjMpTuWXyCnIcu0NLhqtgv4R4spYoEa+s4y4FKAu4q0iWAvBSd7T5s21W7L3apHQPsNzvCCg/huGoI9UGRZmB52PL4QOe4w80S0H2hdgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014mnqWJsuX1XeAHEgvmTmCd",
      "input": {
        "note": "Previous move barely changed the pose; retrying with a smaller forward step and explicit zero pitch, descending toward the cap.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.4,
          "left_y": -0.15,
          "left_yaw": -0.7,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_014mnqWJsuX1XeAHEgvmTmCd",
      "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]: [-0.2066, 1.8111, 0.6643, 0.3485, 0.3698, 0.3069, 0.9994, -0.0193, 0.807, 0.6132, -0.3985, -0.0269, -0.0227, 0.999]\nstate[eef_state]: left_x=0.3813 left_y=-0.1415 left_z=0.0018 left_yaw=-0.689 left_pitch=-0.1608 left_roll=-0.0378 left_gripper=0.9994 right_x=0.2943 right_y=0.0027 right_z=0.1768 right_yaw=-0.0006 right_pitch=-0.0347 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -4.8615, 2.8786, 1.326, 0.486, 0.0024, -0.0415, -0.0342, -1.0188, 7.0222, 1.7265, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab404b4fb40b10f259c777d9257c65b420c0b57d55b2a692e18fd9fc2349bc26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1cb987c63318f6492bb4956c92a2b40edcd9659055b97129ea9691e7cb7660d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab8d0c2cef804583dd3ab86e07b4bd735c772faf6e9d12d54c0e54385348604a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 4.918 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2836, 1.6814, 0.7441, 0.1169, 0.2508, 0.2737, 0.9997, -0.0193, 0.8036, 0.6132, -0.3954, -0.0269, -0.0227, 0.999]\nstate[eef_state]: left_x=0.3795 left_y=-0.1526 left_z=0.0362 left_yaw=-0.6524 left_pitch=-0.2167 left_roll=0.0082 left_gripper=0.9997 right_x=0.2945 right_y=0.0027 right_z=0.1784 right_yaw=-0.0006 right_pitch=-0.0282 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [0.2667, -7.9932, 7.5966, 1.5995, 0.2857, 0.3248, -0.0122, -0.335, -1.4017, 7.4188, 1.7656, -0.0317, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.2829, 1.6962, 0.8001, 0.0406, 0.2668, 0.2985, 0.9997, -0.0193, 0.8047, 0.6132, -0.3969, -0.0261, -0.0227, 0.999]\nstate[eef_state]: left_x=0.3824 left_y=-0.1559 left_z=0.0387 left_yaw=-0.6818 left_pitch=-0.2449 left_roll=0.0011 left_gripper=0.9997 right_x=0.2943 right_y=0.0025 right_z=0.1778 right_yaw=-0.0013 right_pitch=-0.0309 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [0.0342, -7.9111, 7.2, 1.5849, 0.2222, 0.1441, -0.0122, -0.253, -1.1966, 7.0222, 1.7656, -0.0269, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2066, 1.8111, 0.6643, 0.3485, 0.3698, 0.3069, 0.9994, -0.0193, 0.807, 0.6132, -0.3985, -0.0269, -0.0227, 0.999]\nstate[eef_state]: left_x=0.3813 left_y=-0.1415 left_z=0.0018 left_yaw=-0.689 left_pitch=-0.1608 left_roll=-0.0378 left_gripper=0.9994 right_x=0.2943 right_y=0.0027 right_z=0.1768 right_yaw=-0.0006 right_pitch=-0.0347 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -4.8615, 2.8786, 1.326, 0.486, 0.0024, -0.0415, -0.0342, -1.0188, 7.0222, 1.7265, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab404b4fb40b10f259c777d9257c65b420c0b57d55b2a692e18fd9fc2349bc26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1cb987c63318f6492bb4956c92a2b40edcd9659055b97129ea9691e7cb7660d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab8d0c2cef804583dd3ab86e07b4bd735c772faf6e9d12d54c0e54385348604a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrgkKEAgSGAI4AUIIdGhpbmtpbmcSDMgf9AloXlg5BbvAshoMzOm+vbWT9jviV6TJIjBhvDWMXsGhgDnLcmgQ8sB4TDFBuNjy9xBA5AxDIDEVKjPdi82lkEpGTz2F1Q3kd28qywgtW/EqJ03QR58sU0UtQbqwTsyLWz8a+90PaL0bEOVTFTgHt/kur5rhVI6Y/QunohY9fyjCVa12ZPUJ1ZGddBAJBEC8Kt5dnbh63rdqS1zmmWnhBtGS4HDwtihbCOH5r99CxgSOQCwbpqpn5AOTShClwD7Bjf+/I1Rx9o+RaA0CLD02oKjJ8+qreg+/VRRiK8igH8FBsqS0fANyuQe2+ExNUxGtOhyYRVpsQodS2UNoXidJTCv1A1WrjRZWKi1rpPmKkZP0ja7qrSgfARG6u95VgmXSXQru7p4BppsMdktBcB0sU+YGKYYtMthVcs+Uu8dtcxs/KhjnklF5OnekC13dRz0C10UzmMwMBcOCEyWIhbwrlJS+Z1qEmBO0kyrGpYZ9wlzj20FjUkPni/FYaomOeWgJloE+Ee9ZW9JtEj7tbQbpXMAVcVjdQydPTl1jjz3QFTqJuZJ18fPokgQQ2EwueomOhuQvxEQpZh3Agt8OUPiijAmkm3F3vX13GTOBqotyKj4coBp4LMbpuo4yAIRMthY+8Km3Jq1mlCql8Z8Cv3hXhQF+vhr6Nb69Y2B+jonGUvBKCrbRkF6oOsojuNv8/9hxmb7Jw2KIOF49iLZSrC+jCiKijIqCxPYgE2d1QyR6EeDCauypIr4Q0pH+Rv/uUdJt115LXM7FTIoNs3OP45vAXfwpFdyAJguBI+hASjWB58dZAugqIdG3quYiXeOttscpZzgYpTJoX/Ya0QLfIZ5yM4nIeRQ6vSe9rGBA39k/dmIWBe5qKweFWnSSh5OxptUa6cfcIARG/EVdHiyqgC3v/YkL8907sHZdG7nSi6JZyogRajsr22FR2XGJx3y/ZiGw67pjVUIhjqiNzhQF6J08jb3HvaArbLYoVlB+VBR1uoaVMwbNFLdTHFi2meKWVUqTGjjfLYd6lLR59HDfHhPVRohiGfqnuw3QYav5XeMrSzOXHoEVBKnEg4JdNCE5+at4GnJcyeJ6hYkodiUMfCHWK4NiGHdalbQUqVCQT5yGWnPd4JixffRGeyoGVI//WoKC6oftFJefU1sV6FI9SHHW1+EvEpo4D3Gc83Lk19a+GOC1UpmUixt1PUuKdvNryW7uivI9U0jtCKowPqLdcgQ1vrccst4pwNszsqnbhQMQN7Gq76DnHvO5wbdCbSGv/GfbLie0fouqUE8PH+A5G0rM2FhaGJG/u6vT/fft+jZcRhswH8OJYiSD6LkVWuK+V6pDVpil0vGLiouHTMb+wzJlW4Nt2kbkYXATHBUf08kt4KWrvqxEp8sq7GFDoWB/zTDmtK0aA3tePWnLpL84xPeDR7U7kXxmNyw2oi2eNyekK4Jp1zfmw6kNW2s0vhJoLY70siqoJodvOlGJCbXDtYPUZH/W7qB4V6XnAA5MWpvAjLyPeKF9vysPcn75awb3lvrCDR4pzHMrY5zjmY0X4p6AwqQO/6z5MhBZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YSDpKjXQUmYjh6CEn3oGcm",
      "input": {
        "note": "At table height the cap is still ~5 cm ahead of the jaws; x isn't advancing, so lifting slightly and pushing forward.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.43,
          "left_y": -0.14,
          "left_yaw": -0.7,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01YSDpKjXQUmYjh6CEn3oGcm",
      "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]: [-0.1463, 1.8866, 0.7403, 0.4137, 0.4397, 0.2928, 0.9994, -0.0193, 0.807, 0.6132, -0.4118, -0.0269, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4136 left_y=-0.1333 left_z=0.0108 left_yaw=-0.6727 left_pitch=-0.0803 left_roll=-0.0595 left_gripper=0.9994 right_x=0.2924 right_y=0.0027 right_z=0.1741 right_yaw=-0.0006 right_pitch=-0.048 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.2393, -7.7607, 7.5692, 2.0195, 0.3883, -0.0269, -0.0171, -0.1573, -1.3333, 7.2684, 1.8193, -0.0464, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f4002708607afd13bbabcac088203c42d4ae7ff6099aa7e399455143987eb4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a8696386bb6c687e134ebed5f6bb790749b0ae35c65b437d990ba1295bf3f99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e31c9c7cb19912f21ef8487777c745f5cbae944994764d1076c48a5d25c1fc0",
        "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 · 5.86 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2829, 1.6962, 0.8001, 0.0406, 0.2668, 0.2985, 0.9997, -0.0193, 0.8047, 0.6132, -0.3969, -0.0261, -0.0227, 0.999]\nstate[eef_state]: left_x=0.3824 left_y=-0.1559 left_z=0.0387 left_yaw=-0.6818 left_pitch=-0.2449 left_roll=0.0011 left_gripper=0.9997 right_x=0.2943 right_y=0.0025 right_z=0.1778 right_yaw=-0.0013 right_pitch=-0.0309 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [0.0342, -7.9111, 7.2, 1.5849, 0.2222, 0.1441, -0.0122, -0.253, -1.1966, 7.0222, 1.7656, -0.0269, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2066, 1.8111, 0.6643, 0.3485, 0.3698, 0.3069, 0.9994, -0.0193, 0.807, 0.6132, -0.3985, -0.0269, -0.0227, 0.999]\nstate[eef_state]: left_x=0.3813 left_y=-0.1415 left_z=0.0018 left_yaw=-0.689 left_pitch=-0.1608 left_roll=-0.0378 left_gripper=0.9994 right_x=0.2943 right_y=0.0027 right_z=0.1768 right_yaw=-0.0006 right_pitch=-0.0347 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -4.8615, 2.8786, 1.326, 0.486, 0.0024, -0.0415, -0.0342, -1.0188, 7.0222, 1.7265, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1463, 1.8866, 0.7403, 0.4137, 0.4397, 0.2928, 0.9994, -0.0193, 0.807, 0.6132, -0.4118, -0.0269, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4136 left_y=-0.1333 left_z=0.0108 left_yaw=-0.6727 left_pitch=-0.0803 left_roll=-0.0595 left_gripper=0.9994 right_x=0.2924 right_y=0.0027 right_z=0.1741 right_yaw=-0.0006 right_pitch=-0.048 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.2393, -7.7607, 7.5692, 2.0195, 0.3883, -0.0269, -0.0171, -0.1573, -1.3333, 7.2684, 1.8193, -0.0464, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f4002708607afd13bbabcac088203c42d4ae7ff6099aa7e399455143987eb4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a8696386bb6c687e134ebed5f6bb790749b0ae35c65b437d990ba1295bf3f99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e31c9c7cb19912f21ef8487777c745f5cbae944994764d1076c48a5d25c1fc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1QgKEAgSGAI4AUIIdGhpbmtpbmcSDAR5GGWLUW5tIPmRExoMr8oHZhx98DjO75uwIjBS7G8IZGE0201Kd7I8oXzAVvavVLnCxB1MPWU48l5A28jrxwLNFsr5d4l+tNg6uwwq8ge2jMLQEWPX55FJFHBd9kjGLOLROObkrAP5Lmm7908GFoiipgIiD3+y+ZOBvW1jIusNM+VXqtezv0Vvcl0qFGZsyZ8gm6bxP8NlCSxeVq+2eLZwea9pdLDwWq9BPhA7i6lImlFWWrTs7PxrfJIQj+M9+NcjdWWsv2kKdxjUNGcHwNdawdi3b+DOmrHdbhosAsIndJqykHBXbiF3WdosgciUrRqCmO2YUjIonApWCWRaAaACgIcQ2vcazWfTJGDo06baWFMA6r7XpL4v4+5CXH3JWpK7HtbHiJfPViOpeeIpJqdXWpGnYlbWABrn4sgZwc0fQ61/b9RG+oROgX3HL52Ek/KzMPzwmBdle2/0O8xGZ7yrJL5RDB/Z3peks/J8wIaQiGH13Eqlm0nJ3y93RgwIACcHvIX6T2ZQ31v1ijLivpnJ7hZSXJqRQD14Y3nMX/zk4d3aTOr1CZxOBpuK1AsahSFQoAaGcUVMwX+fRQtP5h8pHmBLpafdoDNJV9acUxoTEPIUdRH0qmYA3a7T+reI5u7LzFecCWkGLA2TwEzFuWQedJVqCsLGW2q+qCk/pgHFXU289iQJM5mTFVW4QSuVIg1xu7XAi9L0FvWED4lzOglL2prl0/3mgXdxmn36gWkmGZbaJw10k72GUxW/9s+H7UvVKN1TUMyb3MW3sG8jqFj3UbYX5gcGtTmf3+SKDScJS41Y2rumccQA54E4yxy3kK6w+Q09zerTFh27klLntSpuGr3mE38Sxfci3H5IOOglM4Yrk0F+/kN8toABrtEnI2c/Ai1s7zMNZh7Uwi791ibFyWcKt7wP0SBa8uOchMBLtt8OI1HcjWzQm1S4NqlAH1zngH6dLQAXx6Tja5Ou/VQnkNguv26sVm6bfX7Y57MlH87391EOG7m8slXsY+g81heIAJ5QtYL0CO0Jeik0Fc+sDK3/1o8DefwIbSUY4BkZESBqX9BAFWn07GlH+xRxoTgn4Iefkc1Ezm7rGZROZI6Eqc18SFMCKZucMm8EgFtXyheXyMa62lGkNHfeKFlDQ0LlTniUe/SGPmGWakx3dscJrjoCIUZL3fvmfT9yuIs149+b5xovm0iegSzcJwYvg8v4Wq9EQuhT2ZcGs2+b7qvIuQramkSDT/VQeMaYx8cva+OOg2hO2veSDjsrmKExjTreRbvnKaYbAe6ULWIblU9BM+zqT6visOTAc1wJzgd+Nl894rYAfnfzonTFjcZ9Ub/WlK2NFckUz3mecLaUyiiosAR9kFhK54onywjujv7PZ6C5Jxjf+g2W15FCPdbZWqzl2IlxRDP4VlP5z6EZDRFgm+H8Ro7wBuFjbl+eV6cEyBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DGzWcLTDWE8Y7r7JEmcB3R",
      "input": {
        "note": "Cap is now centred between the jaws, oriented across the jaw axis, a couple cm ahead. Advancing ~2 cm and pressing to table level before closing.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.43,
          "left_y": -0.145,
          "left_yaw": -0.7,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DGzWcLTDWE8Y7r7JEmcB3R",
      "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]: [-0.144, 1.8938, 0.7483, 0.4374, 0.4534, 0.2901, 0.9993, -0.0193, 0.8074, 0.6132, -0.4126, -0.0265, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4184 left_y=-0.1352 left_z=0.0152 left_yaw=-0.679 left_pitch=-0.0548 left_roll=-0.0571 left_gripper=0.9993 right_x=0.2923 right_y=0.0026 right_z=0.1739 right_yaw=-0.0009 right_pitch=-0.0492 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [0.1026, -8.1573, 7.3915, 1.8584, 0.3687, 0.0073, -0.0171, -0.3214, -1.2376, 7.0085, 1.7167, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df8b9442e6ab613f94f35a9ac045ea0ca69012c90a598c03df70e084f1f647f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31aa7db2c3127ee3dccd40056d96abd10f1c58d496d27a5db598617e92762599",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50ec9c8cae24aa937e9c1b3171bb2db16a8147baed0a07b6fd721a966d86b035",
        "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 · 5.75 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2066, 1.8111, 0.6643, 0.3485, 0.3698, 0.3069, 0.9994, -0.0193, 0.807, 0.6132, -0.3985, -0.0269, -0.0227, 0.999]\nstate[eef_state]: left_x=0.3813 left_y=-0.1415 left_z=0.0018 left_yaw=-0.689 left_pitch=-0.1608 left_roll=-0.0378 left_gripper=0.9994 right_x=0.2943 right_y=0.0027 right_z=0.1768 right_yaw=-0.0006 right_pitch=-0.0347 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -4.8615, 2.8786, 1.326, 0.486, 0.0024, -0.0415, -0.0342, -1.0188, 7.0222, 1.7265, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1463, 1.8866, 0.7403, 0.4137, 0.4397, 0.2928, 0.9994, -0.0193, 0.807, 0.6132, -0.4118, -0.0269, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4136 left_y=-0.1333 left_z=0.0108 left_yaw=-0.6727 left_pitch=-0.0803 left_roll=-0.0595 left_gripper=0.9994 right_x=0.2924 right_y=0.0027 right_z=0.1741 right_yaw=-0.0006 right_pitch=-0.048 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.2393, -7.7607, 7.5692, 2.0195, 0.3883, -0.0269, -0.0171, -0.1573, -1.3333, 7.2684, 1.8193, -0.0464, -0.0611, -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 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]: [-0.144, 1.8938, 0.7483, 0.4374, 0.4534, 0.2901, 0.9993, -0.0193, 0.8074, 0.6132, -0.4126, -0.0265, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4184 left_y=-0.1352 left_z=0.0152 left_yaw=-0.679 left_pitch=-0.0548 left_roll=-0.0571 left_gripper=0.9993 right_x=0.2923 right_y=0.0026 right_z=0.1739 right_yaw=-0.0009 right_pitch=-0.0492 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [0.1026, -8.1573, 7.3915, 1.8584, 0.3687, 0.0073, -0.0171, -0.3214, -1.2376, 7.0085, 1.7167, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df8b9442e6ab613f94f35a9ac045ea0ca69012c90a598c03df70e084f1f647f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31aa7db2c3127ee3dccd40056d96abd10f1c58d496d27a5db598617e92762599",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50ec9c8cae24aa937e9c1b3171bb2db16a8147baed0a07b6fd721a966d86b035",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmgkKEAgSGAI4AUIIdGhpbmtpbmcSDJJrzHZB5aUcSP2q8xoMQ+wZ1JfBOblvMz7yIjCAg70LnxeThRO44c+u8Ny6ZLTLJp5Pj9+7n3W2CdLLht88riQaeEBjbKimQTgNhMwqtwhF4D5IYcwDzg8FzpMfSqLTxEZq5apLNIGfjmeZvx921efbVQwoGbJpucDjAecP2znWYwRZjvGgBsfSTbR9jgoh0Ki1O/V8IVYpLRSMYcN3pbZ8F3lfHTi9M9h2xO8L45EyWt17Lc2DT5csjHdpmBprqdJka5hzro8DdiAOII0eobYYS38vz1qD4sCdDsM3vQuwyMA0Hsj7JjjzHxm4DVq4XetZAwMjYjqfZOiEUbmUKerLC9sEmD1RLw7h3kvTyWLWFD+6R/ayEwZ+ycELrEVguUXssCKJX/SNLyaQnzIrsjLHGX5FEd+aDRTuYko/kJDwBPOV9wz+IelFpeJvgk5yCJ4wLs/ka1wy9/6KYc3ns3ub8ul/C54+7GICn5eRDhSDsFuV9o6Cp5LSivz37CBHMitNKcHUrbQwSFAfAM/v9LSCKe4amHCWW8LkC9sCBCu0EeCkjnyrPS9CXQLjElBhKjR2LTlXE2H1XhJ4+/i8fPZZnd9JIe0pRSM1J9noq8GG/knJOkyVB8BQpesdDwsk6OFS85TZx17yF01oT2ORh6W6i75O7eIfTSkKLAokzIpWHyu7nYdvvVcqzou1Yv1dQ4/MxICZ9aqpPg3j00gX6B59ebXLblxmfeto7GtwaiXUjzGxVurrL31rwNK4vqp3Nhn+rvlNYfrww2sbGrGO/j5VK34yZFCkxzkGpUohWZYZ6pyrqRER+klRyl4GTR+T2w43ZLFK1m7qltOjC+vxl2qiYtvcIp9c0l4Eb0qlWMSsYaEc9JD7gLopzqzme6Z47E2DbRq5X+rc4+vDZ6IWuD30J+dC02/+6Tx+Q/my4m+fkSWM/VHo9ZPONUjdubXps/0kxkHeQEPuMsaaSWuzw5kvTE8x1XBlSpFXa8rX4gz0cdIm9wGLzCRceH/GSKJWlLiEI4MDRt0ixCkmxPaEXoQqXycODDlFKFnoXzttTRzwKlquNOz39QgrROGzdYbDdqA92DGRylDvhBbS5MLrP3dhZkHOi7ESRr7e736UrL3bpRcHbR9NKQUT61PQwm8+yIn8xjdS/pBaTKCNhnKPb+sDeNrRujR3Vyq3JYhOGhysNCP1d9JaijpYWcvxJth6JJDLx00hcht+qXnfjtTTpH9oP8OlbxUjJfR0x9XS6gvcVFNIlSJvEgl6tE+NKcoKBV2GL5+vLEgZ9X7SWyFpZr25Ne/Lw2QuHxLAf66ARCXHDu3Oaah6YxTw4j5KyIa+MQjHnqAZeraKCgHP+eaFPyx4J6wcBG0HBJEu87XhHCBjRIR9O9+KFZAtyE0P4mxB5EvmTKKjaD1iHWQpwV7J1WEsRBbklknNxiUt28lAxpWPpc1WxN+kYLj3xFMW3rtLJ0rtUjARvez8RRrhghM/q06gQ7Hek/LtqHgt4pbVIz/Dl81Yd31QdeDqajkz9SYczDAZjKn0JRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RTtqKDWkTYELxirwCx45t7",
      "input": {
        "note": "Small moves aren't converging; overshooting the target slightly so the jaws press down to table level around the cap.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.44,
          "left_y": -0.15,
          "left_yaw": -0.7,
          "left_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01RTtqKDWkTYELxirwCx45t7",
      "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]: [-0.1444, 1.8938, 0.7483, 0.4374, 0.4534, 0.2905, 0.9993, -0.0193, 0.8074, 0.6132, -0.4126, -0.0269, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4183 left_y=-0.1354 left_z=0.0152 left_yaw=-0.6796 left_pitch=-0.0547 left_roll=-0.0568 left_gripper=0.9993 right_x=0.2923 right_y=0.0027 right_z=0.1739 right_yaw=-0.0006 right_pitch=-0.0492 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.1436, -8.335, 7.2137, 1.8388, 0.359, 0.0415, -0.0073, -0.1026, -1.0462, 7.0222, 1.7167, -0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fad9e74798d334d505db8cce32f7ad3b8ab3e91cad598bb63d5500a108d59eb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5deedc9cb437d19bd536e5ec75e3e2ac10215d35e0095d223e736b323df55cf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2236baba7c5a37bc99d0b2cd01e98181f7a4816e37dd5425c0a7a3f4fd31b36a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 3.457 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1463, 1.8866, 0.7403, 0.4137, 0.4397, 0.2928, 0.9994, -0.0193, 0.807, 0.6132, -0.4118, -0.0269, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4136 left_y=-0.1333 left_z=0.0108 left_yaw=-0.6727 left_pitch=-0.0803 left_roll=-0.0595 left_gripper=0.9994 right_x=0.2924 right_y=0.0027 right_z=0.1741 right_yaw=-0.0006 right_pitch=-0.048 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.2393, -7.7607, 7.5692, 2.0195, 0.3883, -0.0269, -0.0171, -0.1573, -1.3333, 7.2684, 1.8193, -0.0464, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.144, 1.8938, 0.7483, 0.4374, 0.4534, 0.2901, 0.9993, -0.0193, 0.8074, 0.6132, -0.4126, -0.0265, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4184 left_y=-0.1352 left_z=0.0152 left_yaw=-0.679 left_pitch=-0.0548 left_roll=-0.0571 left_gripper=0.9993 right_x=0.2923 right_y=0.0026 right_z=0.1739 right_yaw=-0.0009 right_pitch=-0.0492 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [0.1026, -8.1573, 7.3915, 1.8584, 0.3687, 0.0073, -0.0171, -0.3214, -1.2376, 7.0085, 1.7167, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1444, 1.8938, 0.7483, 0.4374, 0.4534, 0.2905, 0.9993, -0.0193, 0.8074, 0.6132, -0.4126, -0.0269, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4183 left_y=-0.1354 left_z=0.0152 left_yaw=-0.6796 left_pitch=-0.0547 left_roll=-0.0568 left_gripper=0.9993 right_x=0.2923 right_y=0.0027 right_z=0.1739 right_yaw=-0.0006 right_pitch=-0.0492 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.1436, -8.335, 7.2137, 1.8388, 0.359, 0.0415, -0.0073, -0.1026, -1.0462, 7.0222, 1.7167, -0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fad9e74798d334d505db8cce32f7ad3b8ab3e91cad598bb63d5500a108d59eb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5deedc9cb437d19bd536e5ec75e3e2ac10215d35e0095d223e736b323df55cf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2236baba7c5a37bc99d0b2cd01e98181f7a4816e37dd5425c0a7a3f4fd31b36a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmgkKEAgSGAI4AUIIdGhpbmtpbmcSDJvK5vAOnyf7Unb+3BoMc83vb0TIGo3VMIFzIjCNsa7y7mrIonZwMmJnEaObDogOvSMMa3anmtoAdjChi5WUNqeLK54x0trahPDIAAoqtwixAnoo3Y1Ftak27SP0yI5X3fSx4cTnby23nF7FAuG/EnOeNbmH/hHnjIplijE2JBDd9uP0vw31/AN0GnKAZMAC47RvwTzAadSNPR7f0f6pnRHeObBcg8gjbBkgL6PiDX6xcJCaom5uqO1QVn8bg8ilP9ZabM/rfpYegUgmbjCVdbHMqDEpuTnk89uD7Va13VBDNkVoT3fEaRfCk1NFX9v/sgD3eGC87DYPbpCIqTAU4xSh+Od/Ys0CjbMObbEwADCPQejWtbce60775U1iV6QVGczS/LixbKFZZOLVhVvlG0shWLYBSPlKhnSd2skBmMRatoHGdo9gDJUJ3TtR66EAVO4pXiKopbRuz+d6CJ9KiOtIAhOxWMfUdBPyDuOVBiygph80Eq4vJtGwM7LUn7fL/uxZsGvMAp/NmIx3cCUcU8bamXZ/hEQO0S0y328woASM+tLbVDxeLbFebcY9YFZ/83vnSyllzKL8j1lMqfhvD7e5xkbJqk7iyFImOfHpOzrgm5VPiVWP75CI4hMKmWaLwyA7yBh1+i+rDmcnUKCBs0fX9QaCsra4hPBgrZmsz2AyIQxBZbDDWZJ0H2nAP8TZv8HCSQGEHfE/UEkfhZ93lfIVyI05gs+ZdLMc0EXxJdXzZ0jWWVXUmoeDsUZw8aDeBx1k7TjZDE+ceR3TnTngpTKUMMuYOVw/1hQyKDTILQCulwuK9MN/3I3S9oI0HvSYL15MQtGmogM3Clt5nF7+1F1nNKN+r+wpAhArIc7g02Ms/leNadOb0qCd82FKwiUD3wc+JeY+b2bMQKCwmCSQ+Rym+7/ZUyCRWqDPum/heMNV8B3G8UNdWSrtfyZ2mRzD2LBykdotPyBL5s6MVBgWOkW8JCraQUBqNP7z507ajYhcpDB2opWlGk4QjQRQdS5XXuXUveCofOTBa8lpgJZtj55FPzF4jyupDOcTJqZByCZQfFpeK5shU5jYzvBvpo42yLYiOXO/VJOV3nGNvfxfcdlJjX3IhvoP9tsZ4mS5ckS+LzOIcSo/UM9obnSqEBYMd00Dngkk+g1X1gFhM/9M+WhA5Uuh82tsfMvfQuWRZdR/iPMjedCpAHtOsrK4HbhV8q05RRkrQM0iDk/FZz01TelV2k4w+DoWhBcmRCPVdzAowwiCBrv1G8cTQ48UVvFg2j2ByAJ+Bc8zXBCWiBEDzwkSnYV0br3PBoYWZY+ZkLrtkbdxakBytFG6BjGvrzyS9XLx2fuYcZ7mlfw28hywLlGaS1GpyGDpEdtdTEjXuI9zH9/6bnaSCM66fuoH8+9blYC0rtVWtzbp29qU9dPNBYl84aaW3LZQmDZOblQcJhQXQpIUVDUmGI9eAGzh9DZbLgJ1qXJKURh2+luaSXT7N3QD3ZK61FpzxYvMcxr/+bTITzVsOJNvzqRUnFlHpMBumODFQ+JVlBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014egBNBqGa9WHFY2d8wtY5s",
      "input": {
        "note": "Arm appears stuck at this reach with the tool vertical; tipping the tool forward (pitch 0.3) to let the IK reach down to the cap.",
        "targets": {
          "left_pitch": 0.3,
          "left_x": 0.43,
          "left_y": -0.145,
          "left_yaw": -0.7,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_014egBNBqGa9WHFY2d8wtY5s",
      "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]: [-0.1219, 2.2211, 0.6537, 1.2301, 0.5629, 0.168, 0.9993, -0.0193, 0.8093, 0.6132, -0.4129, -0.0265, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4336 left_y=-0.1445 left_z=0.0049 left_yaw=-0.7036 left_pitch=0.2869 left_roll=-0.0177 left_gripper=0.9993 right_x=0.2924 right_y=0.0026 right_z=0.1733 right_yaw=-0.0009 right_pitch=-0.0515 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [0.5265, -7.2684, 2.9744, 1.3065, 0.3053, -0.2369, -0.0122, -0.1436, -1.4838, 7.2, 1.7558, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f06271f10930fa3b9895c364de489f38bd4c57f3ef9788bfce61de37c4a8290",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eddc04100c998ca76e62ac418a403f0761a20eb5de7cac9fdec22f5251bb9c32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:abae8ce8b20e9a3d70a3cd51d656e7eb99de9d10641fd393d76f50694fdd8b52",
        "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 · 3.913 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.144, 1.8938, 0.7483, 0.4374, 0.4534, 0.2901, 0.9993, -0.0193, 0.8074, 0.6132, -0.4126, -0.0265, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4184 left_y=-0.1352 left_z=0.0152 left_yaw=-0.679 left_pitch=-0.0548 left_roll=-0.0571 left_gripper=0.9993 right_x=0.2923 right_y=0.0026 right_z=0.1739 right_yaw=-0.0009 right_pitch=-0.0492 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [0.1026, -8.1573, 7.3915, 1.8584, 0.3687, 0.0073, -0.0171, -0.3214, -1.2376, 7.0085, 1.7167, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1444, 1.8938, 0.7483, 0.4374, 0.4534, 0.2905, 0.9993, -0.0193, 0.8074, 0.6132, -0.4126, -0.0269, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4183 left_y=-0.1354 left_z=0.0152 left_yaw=-0.6796 left_pitch=-0.0547 left_roll=-0.0568 left_gripper=0.9993 right_x=0.2923 right_y=0.0027 right_z=0.1739 right_yaw=-0.0006 right_pitch=-0.0492 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.1436, -8.335, 7.2137, 1.8388, 0.359, 0.0415, -0.0073, -0.1026, -1.0462, 7.0222, 1.7167, -0.0611, -0.0415, -0.0122]",
      "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]: [-0.1219, 2.2211, 0.6537, 1.2301, 0.5629, 0.168, 0.9993, -0.0193, 0.8093, 0.6132, -0.4129, -0.0265, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4336 left_y=-0.1445 left_z=0.0049 left_yaw=-0.7036 left_pitch=0.2869 left_roll=-0.0177 left_gripper=0.9993 right_x=0.2924 right_y=0.0026 right_z=0.1733 right_yaw=-0.0009 right_pitch=-0.0515 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [0.5265, -7.2684, 2.9744, 1.3065, 0.3053, -0.2369, -0.0122, -0.1436, -1.4838, 7.2, 1.7558, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f06271f10930fa3b9895c364de489f38bd4c57f3ef9788bfce61de37c4a8290",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eddc04100c998ca76e62ac418a403f0761a20eb5de7cac9fdec22f5251bb9c32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abae8ce8b20e9a3d70a3cd51d656e7eb99de9d10641fd393d76f50694fdd8b52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1QcKEAgSGAI4AUIIdGhpbmtpbmcSDLe8o0igf6gmvdCF1BoMDyROWP8VO1oSKd8cIjD7UdcSLBmSuEt7UBXrR4wV24qsPmkQhRpyOpmALozar+MLo8pEQizhqS1RchSmVJsq8gb+4f3J9uM82pdEp4Kd/NX0gOK3mnvGK1pZK3ONNB856KKYnWdDUSpE7mupGUDXDyQBV3ZEYplihPePtRjgq/bKSpnPXy1/MCSw4711jbRvLoLallMiuUH0VB3WoSuWmnU7AF+iaz06zXjhC0bTW0Wbr9wcq6+qcTtMfmbFmNnKYtnMY6BdkemLfoFNN/TOK7fvXCvOS3CMTGyqrU3qSo9+2N6xz7Z0qwFYD90U0wO6RlFkp7MMDAAh9NmHPZYxg2LuWA+lepDKkWk1VQMY6ha1/Jla0qP2MlWbt5R+FU64NqdPfdMBIZVOEcCMRU//gQzB+SkHmwDE9dDsf1l2GhITFjnwpYZh+Z1JqEa0ZrLJf8IJxkJcjeKuncfdO+e/7sbuxWRrS87LY4B/tgj63IMXWd/q7P0gqGp9geJLymARtIcfyE7XGXuBnLHc3tdQauctakGZzTkkVSmnIv/PpK8XCoef1qDTz6ZVgucEAquaiTEdsPWONDj+9a9q7Nd3HfxYV4wXXpt4rSMATE9fnfHPKv7diA+dB4Sj7wPYHqHz7kHMWK+QiAm+Z/+FamlJZi7gCF1MzZNAuXkaCvTgf1j8eWcXkHutN1j8WHIsyOLL74JPYI2wGlOr8TNyaJhTL7yeqgfB4YN/OayCEV0zbSjRsSyNXkDS4AVQl/pGvvRd0UZL39jQV9UNtCNk87Pne3Z8uwO7zWp15tKbOj+jcP1JkPSJnvUWvoCuGDYcWbf2Vnk6aoTR2jkqlz1TpVxqADt47/2P/UO5FJZHBB+UeWmwSbi7uhie/ZYYsHOG9Wa6TErYL9jpwiL47eDoPBJKAKg96J3xNCQ0o9QEdzibCH7uIfc5jA9ley6TpSLyVbT7mCtgyS71ZjhOosJaLuw8IOR4FeHUYijvgZ9/FiIQfPQLB3y5RNGiNJOlfgFG4hJDqfXYlPEQbRKk8cJ1YPXec07wganljhDwGw4ejnOmrFhytPD02KSNZ7j8V6CC4y+HLbhFgNR3TDsvYB5t3WcCOOyt83XmnNXC8PQYW63KxkpE7vRNApA/SNtD+jTw9At5/g8AaGKdprxwEhG6iVbKh9HzNQi8cCu91Tc2anlYtD7Flehp//Z5XKsiKhAC3HgUWoIXGHRiJfugu/921SnZt1dfkqYMubDm5JVXuExeTq9zxuAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SecW48nB61sqghLsZCvVi1",
      "input": {
        "note": "Cap is between the jaws at table level; closing the left gripper.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SecW48nB61sqghLsZCvVi1",
      "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]: [-0.1184, 2.2337, 0.6533, 1.2579, 0.5571, 0.1646, 0.0551, -0.0193, 0.8093, 0.6132, -0.4129, -0.0265, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4352 left_y=-0.1422 left_z=0.005 left_yaw=-0.6957 left_pitch=0.2984 left_roll=-0.011 left_gripper=0.0551 right_x=0.2924 right_y=0.0026 right_z=0.1733 right_yaw=-0.0009 right_pitch=-0.0515 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.6359, -10.2906, 2.9744, 1.5409, 0.105, 0.0513, 1.3309, -0.1983, -1.3333, 7.0085, 1.6972, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:362653dabeb2b744e969578388ef93268751de8c9bd9ec5f134bf60270875a97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0365b672a6888ceae7cb9844bd4168c2853f7e0e02087f34e566606f487b003e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1d4908eccedbc3fd23a8223dccdc756715f6a864c2a3e1cdac0815e5b6636377",
        "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 · 12.96 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1444, 1.8938, 0.7483, 0.4374, 0.4534, 0.2905, 0.9993, -0.0193, 0.8074, 0.6132, -0.4126, -0.0269, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4183 left_y=-0.1354 left_z=0.0152 left_yaw=-0.6796 left_pitch=-0.0547 left_roll=-0.0568 left_gripper=0.9993 right_x=0.2923 right_y=0.0027 right_z=0.1739 right_yaw=-0.0006 right_pitch=-0.0492 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.1436, -8.335, 7.2137, 1.8388, 0.359, 0.0415, -0.0073, -0.1026, -1.0462, 7.0222, 1.7167, -0.0611, -0.0415, -0.0122]",
      "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]: [-0.1219, 2.2211, 0.6537, 1.2301, 0.5629, 0.168, 0.9993, -0.0193, 0.8093, 0.6132, -0.4129, -0.0265, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4336 left_y=-0.1445 left_z=0.0049 left_yaw=-0.7036 left_pitch=0.2869 left_roll=-0.0177 left_gripper=0.9993 right_x=0.2924 right_y=0.0026 right_z=0.1733 right_yaw=-0.0009 right_pitch=-0.0515 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [0.5265, -7.2684, 2.9744, 1.3065, 0.3053, -0.2369, -0.0122, -0.1436, -1.4838, 7.2, 1.7558, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1184, 2.2337, 0.6533, 1.2579, 0.5571, 0.1646, 0.0551, -0.0193, 0.8093, 0.6132, -0.4129, -0.0265, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4352 left_y=-0.1422 left_z=0.005 left_yaw=-0.6957 left_pitch=0.2984 left_roll=-0.011 left_gripper=0.0551 right_x=0.2924 right_y=0.0026 right_z=0.1733 right_yaw=-0.0009 right_pitch=-0.0515 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.6359, -10.2906, 2.9744, 1.5409, 0.105, 0.0513, 1.3309, -0.1983, -1.3333, 7.0085, 1.6972, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:362653dabeb2b744e969578388ef93268751de8c9bd9ec5f134bf60270875a97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0365b672a6888ceae7cb9844bd4168c2853f7e0e02087f34e566606f487b003e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d4908eccedbc3fd23a8223dccdc756715f6a864c2a3e1cdac0815e5b6636377",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStwcKEAgSGAI4AUIIdGhpbmtpbmcSDOhCGddulIjlbl1qIhoMkpAMF2CT8uQY9l4GIjC0UCX3bb/RtVdgtkzuaTId4S02TXo/L+RoaOVg5y6GYgFJlLzdhZdBAEWgGjfcM78q1AaEAXWRxMx1LXeOvOraow9PV28gl/AD6fg0MPRg8YprnzX1nO8t04cJJq7GeNiKQ6C0r+EklvIUWSf2k1U7cn8YCr49Nv3lsc1sx9X3uwbcDFR2S5aDfPwdwMxwOPo7PKqNZxrlYC6IeIgJ6Cuw4wxyDusBj7M46XtAWQZOSt/DVz3ZDF4GQXgDFYrrWhm9vtKZ9MNOfIrl0GVeI4Sy2SGEwQLY29UMJnCkAUcWGowbSsL9IYqxvxeUYOy39wc/D39z/mUwWKb6avumblIIcKUutFjqd7fzFm02gTr7GDX3fyDCE9iS9mP4PbhzYYl6zniBZS/MXWIUcQYGHphh70paKd9wHjGaUB5nI+iSkIVT8lMHcU57ReKKhw0nUJqj42SaeHkR0Ri4DhDVhLugz9dOL1ThlSxwUOlfZGdp2gbhZJy8R50Sed5QByzL9xdNIDPjnYXNhxtIVu1DkUw5o4b3t3vogH9XAV5yxrA03q8sLC0w2MqO7hxoqnKqN9K58XRtERPAfqd0BiFslDlL/6UM3ur2FyWdk9UY6eu1P9mVGWyFwlHzMScKYFVhCS64qx2zhwNyvjWBkBEC5nP66pDtnPZJ64pv+7VdGU1aMoZpw/Nm0kf/wsk/ltKKAAaAEG/LZ6vMYAWChJ87wBza8gthJAcp4XIuarJAiMfWEXTWvoYD1GpWl/RR1y+IbsZM7pJ2ZGRD8rX7yEBkNBkopKuASvuitVeOmh+gJ4XwG7FdFnJXgxVmbd1Tmi6Jc9EA3OHmqjxc2pF4vL5yeXSbn1KLGYgIXgNKYfo/B3S+32e1XGnoHMrkb1119ON7CwHQipinXTK4uLCUmxe0bqVOiivH47Upi0VDWJTRRmWNWioyqRsdiGI7RW0hRIlhs9GVXAWiVTj2hjTeByfjhkeiXN6tNOxdloBiIxB+Q0JWHvHQ+mmqjAegcoo4xIhxAVwXdDfK2Jr3YSwkmJnhNsjLqo1S5nbhF27wMZLI36qc5+Bk1ujLYG+41JVQUC77rVemtCbV55OYm0zzKvbBKIofPJ27Y7RoPi/qbRPZ/mFSLoWQGQ3/7y488MXO+X5FDAP/7B3ioZEDRNvqh6sJtkpVskiBDKjReCxUdcEpFzl6/eSJESKASksYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013PE5nsEG7GCSJjm1kY2bnZ",
      "input": {
        "note": "Gripper settled at 0.055 (≈5 mm), suggesting the cap is held. Lifting to verify in the overhead view.",
        "targets": {
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_013PE5nsEG7GCSJjm1kY2bnZ",
      "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]: [-0.1184, 1.8641, 0.6395, 0.8925, 0.5541, 0.1646, 0.0616, -0.0193, 0.8108, 0.6132, -0.4129, -0.0265, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4307 left_y=-0.1413 left_z=0.083 left_yaw=-0.6915 left_pitch=0.2898 left_roll=-0.0155 left_gripper=0.0616 right_x=0.2925 right_y=0.0026 right_z=0.1728 right_yaw=-0.0009 right_pitch=-0.053 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.253, -9.6752, 7.7333, 1.6874, 0.0806, -0.0611, 1.033, -0.2256, -1.4701, 7.0085, 1.707, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6566fa3d99d5a07358c94a191c8b61a5b43ddc3a78f4f943169a66201827ee3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b955b1100001a22b886a532aa41a8103ae5cdce68b99c35199930209c5aa54e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f2dfc7ce67cbf6c897d3aa1eecd747ebef1793d0203e442bf1b636ba123cba9",
        "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 · 8.589 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1219, 2.2211, 0.6537, 1.2301, 0.5629, 0.168, 0.9993, -0.0193, 0.8093, 0.6132, -0.4129, -0.0265, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4336 left_y=-0.1445 left_z=0.0049 left_yaw=-0.7036 left_pitch=0.2869 left_roll=-0.0177 left_gripper=0.9993 right_x=0.2924 right_y=0.0026 right_z=0.1733 right_yaw=-0.0009 right_pitch=-0.0515 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [0.5265, -7.2684, 2.9744, 1.3065, 0.3053, -0.2369, -0.0122, -0.1436, -1.4838, 7.2, 1.7558, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1184, 2.2337, 0.6533, 1.2579, 0.5571, 0.1646, 0.0551, -0.0193, 0.8093, 0.6132, -0.4129, -0.0265, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4352 left_y=-0.1422 left_z=0.005 left_yaw=-0.6957 left_pitch=0.2984 left_roll=-0.011 left_gripper=0.0551 right_x=0.2924 right_y=0.0026 right_z=0.1733 right_yaw=-0.0009 right_pitch=-0.0515 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.6359, -10.2906, 2.9744, 1.5409, 0.105, 0.0513, 1.3309, -0.1983, -1.3333, 7.0085, 1.6972, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1184, 1.8641, 0.6395, 0.8925, 0.5541, 0.1646, 0.0616, -0.0193, 0.8108, 0.6132, -0.4129, -0.0265, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4307 left_y=-0.1413 left_z=0.083 left_yaw=-0.6915 left_pitch=0.2898 left_roll=-0.0155 left_gripper=0.0616 right_x=0.2925 right_y=0.0026 right_z=0.1728 right_yaw=-0.0009 right_pitch=-0.053 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.253, -9.6752, 7.7333, 1.6874, 0.0806, -0.0611, 1.033, -0.2256, -1.4701, 7.0085, 1.707, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6566fa3d99d5a07358c94a191c8b61a5b43ddc3a78f4f943169a66201827ee3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b955b1100001a22b886a532aa41a8103ae5cdce68b99c35199930209c5aa54e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f2dfc7ce67cbf6c897d3aa1eecd747ebef1793d0203e442bf1b636ba123cba9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014diBXdtYEJoaXyZ2sYPxmn",
      "input": {
        "note": "Left gripper holds the cap (settled 0.06). Now moving the right arm over the pen in the middle of the table, yawed to be across the pen.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.25,
          "right_yaw": 0.43,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_014diBXdtYEJoaXyZ2sYPxmn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1184, 1.8565, 0.6365, 0.8711, 0.5541, 0.1581, 0.0616, 0.6662, 1.5326, 0.8036, 0.0395, 0.1818, 0.1234, 0.999]\nstate[eef_state]: left_x=0.4285 left_y=-0.141 left_z=0.0808 left_yaw=-0.6852 left_pitch=0.2756 left_roll=-0.0314 left_gripper=0.0616 right_x=0.3484 right_y=0.2378 right_z=0.1024 right_yaw=0.4292 right_pitch=-0.1186 right_roll=-0.0163 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -7.2957, 5.0393, 1.9902, 0.1197, 0.0366, 1.0281, 0.3077, -6.653, 8.4718, 1.9902, 0.0904, 0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:999a18a44747da229824b5323eea873822b42b75972a5a29be6cd057d3043098",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:218b5ce765a904f79453963fe1a88666d290dad58ae16f342016cf43f9aa9307",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:977142741bb0fe83211cfe86f24647375ef582f23bfcfbe7894d0ddbc33507f3",
        "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 · 3.382 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1184, 2.2337, 0.6533, 1.2579, 0.5571, 0.1646, 0.0551, -0.0193, 0.8093, 0.6132, -0.4129, -0.0265, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4352 left_y=-0.1422 left_z=0.005 left_yaw=-0.6957 left_pitch=0.2984 left_roll=-0.011 left_gripper=0.0551 right_x=0.2924 right_y=0.0026 right_z=0.1733 right_yaw=-0.0009 right_pitch=-0.0515 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.6359, -10.2906, 2.9744, 1.5409, 0.105, 0.0513, 1.3309, -0.1983, -1.3333, 7.0085, 1.6972, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1184, 1.8641, 0.6395, 0.8925, 0.5541, 0.1646, 0.0616, -0.0193, 0.8108, 0.6132, -0.4129, -0.0265, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4307 left_y=-0.1413 left_z=0.083 left_yaw=-0.6915 left_pitch=0.2898 left_roll=-0.0155 left_gripper=0.0616 right_x=0.2925 right_y=0.0026 right_z=0.1728 right_yaw=-0.0009 right_pitch=-0.053 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.253, -9.6752, 7.7333, 1.6874, 0.0806, -0.0611, 1.033, -0.2256, -1.4701, 7.0085, 1.707, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1184, 1.8565, 0.6365, 0.8711, 0.5541, 0.1581, 0.0616, 0.6662, 1.5326, 0.8036, 0.0395, 0.1818, 0.1234, 0.999]\nstate[eef_state]: left_x=0.4285 left_y=-0.141 left_z=0.0808 left_yaw=-0.6852 left_pitch=0.2756 left_roll=-0.0314 left_gripper=0.0616 right_x=0.3484 right_y=0.2378 right_z=0.1024 right_yaw=0.4292 right_pitch=-0.1186 right_roll=-0.0163 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -7.2957, 5.0393, 1.9902, 0.1197, 0.0366, 1.0281, 0.3077, -6.653, 8.4718, 1.9902, 0.0904, 0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:999a18a44747da229824b5323eea873822b42b75972a5a29be6cd057d3043098",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:218b5ce765a904f79453963fe1a88666d290dad58ae16f342016cf43f9aa9307",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:977142741bb0fe83211cfe86f24647375ef582f23bfcfbe7894d0ddbc33507f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CQ8cMqCXPt4Qz8AiyDEfio",
      "input": {
        "note": "Pen lies nearly along the right wrist camera's vertical, i.e. across the jaw axis, a few cm ahead. Advancing ~3 cm along it and descending to table level.",
        "targets": {
          "right_pitch": 0.25,
          "right_x": 0.38,
          "right_y": 0.25,
          "right_yaw": 0.43,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01CQ8cMqCXPt4Qz8AiyDEfio",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1184, 1.8565, 0.6361, 0.8555, 0.5537, 0.1577, 0.0616, 0.6617, 2.1689, 0.5777, 1.2388, 0.2092, 0.0463, 0.9989]\nstate[eef_state]: left_x=0.4273 left_y=-0.1408 left_z=0.0774 left_yaw=-0.6823 left_pitch=0.262 left_roll=-0.0406 left_gripper=0.0616 right_x=0.3768 right_y=0.2515 right_z=0.0004 right_yaw=0.4388 right_pitch=0.2132 right_roll=-0.0203 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -8.0205, 4.9026, 1.9365, 0.0757, -0.0464, 1.0281, -0.759, -7.0632, 3.1932, 1.1844, 0.0464, 0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d79fb079592fce1a112e17f1c7648d8c82750d2035bdef5c9579e3ee4aa2fa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b4c7a485b271f0e972e408508aeacba76d2b4205104ff976e19a42e765e1309",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f32ac1da1a2290c8580db35d98d70d477d6fc66103ec00c2a8d1e0093489ecf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 26.32 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1184, 1.8641, 0.6395, 0.8925, 0.5541, 0.1646, 0.0616, -0.0193, 0.8108, 0.6132, -0.4129, -0.0265, -0.0227, 0.999]\nstate[eef_state]: left_x=0.4307 left_y=-0.1413 left_z=0.083 left_yaw=-0.6915 left_pitch=0.2898 left_roll=-0.0155 left_gripper=0.0616 right_x=0.2925 right_y=0.0026 right_z=0.1728 right_yaw=-0.0009 right_pitch=-0.053 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.253, -9.6752, 7.7333, 1.6874, 0.0806, -0.0611, 1.033, -0.2256, -1.4701, 7.0085, 1.707, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1184, 1.8565, 0.6365, 0.8711, 0.5541, 0.1581, 0.0616, 0.6662, 1.5326, 0.8036, 0.0395, 0.1818, 0.1234, 0.999]\nstate[eef_state]: left_x=0.4285 left_y=-0.141 left_z=0.0808 left_yaw=-0.6852 left_pitch=0.2756 left_roll=-0.0314 left_gripper=0.0616 right_x=0.3484 right_y=0.2378 right_z=0.1024 right_yaw=0.4292 right_pitch=-0.1186 right_roll=-0.0163 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -7.2957, 5.0393, 1.9902, 0.1197, 0.0366, 1.0281, 0.3077, -6.653, 8.4718, 1.9902, 0.0904, 0.0464, -0.0171]",
      "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]: [-0.1184, 1.8565, 0.6361, 0.8555, 0.5537, 0.1577, 0.0616, 0.6617, 2.1689, 0.5777, 1.2388, 0.2092, 0.0463, 0.9989]\nstate[eef_state]: left_x=0.4273 left_y=-0.1408 left_z=0.0774 left_yaw=-0.6823 left_pitch=0.262 left_roll=-0.0406 left_gripper=0.0616 right_x=0.3768 right_y=0.2515 right_z=0.0004 right_yaw=0.4388 right_pitch=0.2132 right_roll=-0.0203 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -8.0205, 4.9026, 1.9365, 0.0757, -0.0464, 1.0281, -0.759, -7.0632, 3.1932, 1.1844, 0.0464, 0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d79fb079592fce1a112e17f1c7648d8c82750d2035bdef5c9579e3ee4aa2fa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b4c7a485b271f0e972e408508aeacba76d2b4205104ff976e19a42e765e1309",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f32ac1da1a2290c8580db35d98d70d477d6fc66103ec00c2a8d1e0093489ecf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9wYKEAgSGAI4AUIIdGhpbmtpbmcSDFpbHMjOy5QLV1qHpBoMZIDeM8kV4YcHnLA/IjBc0cHMgUweUuz0POaTpsCgDSmoZR+TyEhYcw97sLPavYEfTuzjXXtxxRuX49QU2J4qlAaKOme1Zgx2vkr2lVfjodVll4XBkvCV2c17IAh5qB1fwSLHz68y5/HLWDU61MPlKD6tE+zF+0NUwh3jiDqy+YRpxJbDZCc7uTT1LL6D+7Mt7MOHbz0mqMZ09Ead7dmpMiuAyuJi2ZUTOkPnXD4IIeVDDOLfC3JnC0zjVZW0LJ0piIbGzMjNamadL92X8yFlJcPaAv8GnV+/fIs3iIOgfRCDjzxZOxGbm+Jo4+Qu9tuijP/StNCTHHL7PnK2/JKH1ko3b7sdqwjG4C7yFL3k9yijsyHPmKB/4QL2/8gSH/kVMi7WykgP3cSUI4JM8ocXqbItDePJCXpOdQNIjDzWw+6x9FaTROAQE0bC7pdVPNz9p/QYjtmopoUZJLtv/VYiloYIBSNVlc+wsAGfGhSSjILvqDfUIsE0KUWfPoJ628BrrL6T3x/HdXWkM0CM4XHIR4LR6vK1cZ/rWQ9XIwQNBD5WkxIVsWw5tulTIIA2M+kYpQVhMwJacs+ppba7qLYfap2fFkUu26oQsxBsDS6FGcbPMLbJ7kuMVo3QHTNkAGzr3aSJCKBc062tbGY9Juad9lDIpNcR3nspmMnDcBHo6/Jyk19EdkwmowpBgpQsvSPM8IZZHoSrURcnAe//uHCBJb/RIoTO/Bk27VrM1N8NfOybNb/rprVNi0OXUsbTElr0KMu4clJvWqpiYubn6QXT34nAy5+tut2LwHshJmSvFDd0Y9sJwPriLljG5tfddNsVs+TPJ65ImxIq4cFinE5HI/Il+kgapxWqxHLNZkLUiG1/WESXeGKx8ZfXi92u8UxpE6wavb6BT43qfg/CfE3Wcz9Qq8qMfwZ0lvVBhb7gW2fG7MjHrjTkppdsZYN17dhbXR1df2fIE2Bn0JI8viDEvYDyApyds191aB0Gk87u/6rU5oJqFYg7oEPeL6ibFAOkoKCL/isy2urgCN8Kt4nifngHvBgpuomvOYHMO+SugWXxA4gBk8snxDiajhfG53WQhnnWV/6YTNPWYX6l4whpo9HR94CaC8HW6ulLzQ5bg+PhkR2tXhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ECcVDggH4gzPLqgN9wGXEM",
      "input": {
        "note": "The pen runs straight between the right jaws at table level; closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01ECcVDggH4gzPLqgN9wGXEM",
      "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]: [-0.1184, 1.8565, 0.6361, 0.8505, 0.5541, 0.1577, 0.0658, 0.6609, 2.1834, 0.5804, 1.2697, 0.2062, 0.0441, 0.0521]\nstate[eef_state]: left_x=0.4268 left_y=-0.1408 left_z=0.0764 left_yaw=-0.6819 left_pitch=0.2579 left_roll=-0.0435 left_gripper=0.0658 right_x=0.3782 right_y=0.2528 right_z=0.0019 right_yaw=0.441 right_pitch=0.2315 right_roll=-0.0172 right_gripper=0.0521\nstate[joint_eff]: [-0.2393, -7.9932, 4.7248, 1.8046, 0.0757, -0.0611, 1.033, 0.0479, -9.8803, 2.6735, 1.5946, 0.0415, -0.0122, 1.2283]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f65aade26b672c9af07986a3ad251463c4178005ee27eac9265d616b6055b0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d9a41b1085a9f36f45586c272b63988f4b26af0bc159c46517e5c21e406c700",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:20b5db6d0188e7a219d78e07beae91fff657ac76501a5b93bbb90b1b29eee468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /messages · status 200 · 6.517 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1184, 1.8565, 0.6365, 0.8711, 0.5541, 0.1581, 0.0616, 0.6662, 1.5326, 0.8036, 0.0395, 0.1818, 0.1234, 0.999]\nstate[eef_state]: left_x=0.4285 left_y=-0.141 left_z=0.0808 left_yaw=-0.6852 left_pitch=0.2756 left_roll=-0.0314 left_gripper=0.0616 right_x=0.3484 right_y=0.2378 right_z=0.1024 right_yaw=0.4292 right_pitch=-0.1186 right_roll=-0.0163 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -7.2957, 5.0393, 1.9902, 0.1197, 0.0366, 1.0281, 0.3077, -6.653, 8.4718, 1.9902, 0.0904, 0.0464, -0.0171]",
      "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]: [-0.1184, 1.8565, 0.6361, 0.8555, 0.5537, 0.1577, 0.0616, 0.6617, 2.1689, 0.5777, 1.2388, 0.2092, 0.0463, 0.9989]\nstate[eef_state]: left_x=0.4273 left_y=-0.1408 left_z=0.0774 left_yaw=-0.6823 left_pitch=0.262 left_roll=-0.0406 left_gripper=0.0616 right_x=0.3768 right_y=0.2515 right_z=0.0004 right_yaw=0.4388 right_pitch=0.2132 right_roll=-0.0203 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -8.0205, 4.9026, 1.9365, 0.0757, -0.0464, 1.0281, -0.759, -7.0632, 3.1932, 1.1844, 0.0464, 0.0757, -0.0171]",
      "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]: [-0.1184, 1.8565, 0.6361, 0.8505, 0.5541, 0.1577, 0.0658, 0.6609, 2.1834, 0.5804, 1.2697, 0.2062, 0.0441, 0.0521]\nstate[eef_state]: left_x=0.4268 left_y=-0.1408 left_z=0.0764 left_yaw=-0.6819 left_pitch=0.2579 left_roll=-0.0435 left_gripper=0.0658 right_x=0.3782 right_y=0.2528 right_z=0.0019 right_yaw=0.441 right_pitch=0.2315 right_roll=-0.0172 right_gripper=0.0521\nstate[joint_eff]: [-0.2393, -7.9932, 4.7248, 1.8046, 0.0757, -0.0611, 1.033, 0.0479, -9.8803, 2.6735, 1.5946, 0.0415, -0.0122, 1.2283]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f65aade26b672c9af07986a3ad251463c4178005ee27eac9265d616b6055b0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d9a41b1085a9f36f45586c272b63988f4b26af0bc159c46517e5c21e406c700",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20b5db6d0188e7a219d78e07beae91fff657ac76501a5b93bbb90b1b29eee468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS4iYKEAgSGAI4AUIIdGhpbmtpbmcSDPoIqDzgRbfEwr/V0xoM9XgAAK9vlKFuXoz0IjAdfyBbsKhIRB7wRuukyBblzZizfECZpKq5E+VNCKrGkCQJd0D4NjeoZB6tZZCcMxkq/yVMSvH17sam+wGKtuxGQC9oHu33DrtQEu7Ta1f+JiWDKGpwYuliWkkMG+ZiHglOt8aciuZQbsx9AmiGkkYEmvFYKx9Ssc7uzoThBtHOnl6MaAFJIokOjxB2pI7nqllRTsp67XV1IyjaFprIUUxf/CRd+HQqfYl9tZ61vn6vKR/DJLl73oAl7B/UgEbOoeQnSnebT1yqp8bjmQUfPwJWuMrMr4KFCERsjOQ2er7fxSaOQw5nr0vdIXH9qOSudh4EoQJHumCnLgq3CW/35zWf8GZ0MnByj0mX7Us8mx6h1LhLP4wNfh0dkkMsLgCNO3fvGYqNuhFaUEaku71dhxl1gmSfZqn2tR/b6TMAhZUH1TZJ6nNjSlBnuymkIcPwgAbVjd4sjex0vp5JmcjU64CWlss75fMGGeiTYdSSQy0wj5dJ3RwH8vrBH/UwRGulfGpO/0EV7FvPFOMgWsDyHjGPyXfZrKpookMN0iyqB0vom4pGnmvdB2Nvx51jgvO2AYRu5QQn0aF4TjGxi7oAoscoc0PLS7pxdiP2IS+0l8Bb/cFSseb5se0PtuWWcnDpvFkjUQ11ryDC4qx+A80uH126QKE8x/I305rHcnTRT9ixKT+GvDV+VqBC2ZFdJPAPPIV+zoix4FQRpNKQC9sJSt2AsEq6UqAf13CLjLmd8wVObN9/4eWxdylc+OT/PRtCHJl68c9v7j9eUB2MDc/gY4cSeJ1YYWMCWZ8/Ktc8eLYYnI2JSE7m8UMpIzrW6WYsLqmPL0W3iLMoHp2fdXbSJCt6G1XBMWU6yIft61YD1tLuKqXI64GfC+f2mG+fXL5+nMRYVTEoOlCgHVtuw5e+l4PahqxwRDU6fiyrXNwxf667o8JgCnGptjPdU64v4Srd/DaIw8vlJioWuCQ1I4nvWiulAW61uTZ9Gib/4OK4wsEAGgYnkViBGSpTUM1nz3S/1q3Bb42+Mz9+ymeYuJ32yVDU6fZmBuUT4Y6E+ZmEJxdD0Djdeizp4PVTuaZKs4Wc+3vQn7OkIrjYkeC2MDzrglpKJAHJ64G8llSXlAq84RaJZD8IMDXBTqmEFLCqQgNo5ggIjUL/hqMsara/g8HyHO2lGVia/Uepp2wnmvMA4EYKz07CocuYkFAc1aay/VQpk9HF50K8/bL8mxRz6zNGVbos8gZbWia9tfR6g42UZh9/FcQzc4wsb5+kiosQ4T3AmSBvyLvplqeHFzQtWroIWeDXH+JKlZavV2Jx+tNuey+BczzevrDvl9PwhnTMlY6Qf9wYO6kKmvhiAk/KCIzdRZKr7xSffzOwb569+985D2t4NGvUk7XhWNL6fRjWSgImJu2dQShkeQJpp+sU9FqBEo/nuerb/uKwMBTPsHu68os7QkiZLPvMdcCoNqdKk6DrKq5VRbI2thyyLY3NsIvTptmcLKqpBVR25PXUru1MHT6c1TFaHPn14zTHsLSkYRHpkc20y3vAdPsgRk8ujJVx9+GZL7L9D7hhIor5TaBXd4VwJAhx7vpNzh6TFe/9bcvbkvh12Hc3Xrz5WmWvYvYO5qISJj+DeaId9SpPMQIkDtrIa54ASjMqbgainJraJQUkhlS3rQdTvu1E61A0T5EqoBknUQ/fCaVORqr6On3o7EQjOAhd6czhQcoKFvMBQ628bOEjMk5UcTPf3zTxsW9f/FejCT7KkIt7Rmz13R3CTj81DhyPgYHn5WIttyi/XAniqpKTQkn2PI8bXXjjwr7orT8lXzOFjJlK2aabcI6qfAy+SphFOMpBBFCkOhAz6hdD+TjrrskbMoMBAIPmZYGDFQPF9rsO04bZMhrYaB1meFvD6wftBzuZ1QNsYsEMJ5DAdD/8aSV457YaslKWMta82jwQTluspeUgdQTh5pEt7k8c5CwmexNpXWR/PsGokfhx6zbBGRVXMReuKsAnDERiJ+Q41HSvd/lmfxEbzDpl9uylh6nVN9+MUa5l8VigTfAkYgQN4m1Daivql6t78BsZVtT17U1fZGWvIBTWLZvjus9B8z+0V5Soz3Ot81WDhBuP3XeOEUDIET3oG2iHS3S243RC4T31h20pOMVeYjOz/UFC4nCSsi/3yRvp47cOuUIwpoKsuDXk2DKSC9+ZOflPnM2vTVHr6oTomXpsPo5EVYjdSYaiO3NiVRRMwA7ajWEMky9go3FWlvansyjGBfpnRoBv/EEsXBgFx8uic7EuFcyBvGAOIR7lkXJFDC4jNhotEEStmSYm+4gwa0I1OodIeWJAU7qJoF+qf8wGQmAEyX58Wm37sdNs2yWIwA+a9IqUmJTnSWaP6mzunwsVI0CQlBMaerA4gGkT754Yl3gZpUGOsSNGTeO5SaLkguWOt2/WZobqU7reNc0BlXoW2RjwRUaxbmglqEk7zYnIXV7E+jRDJgkSjRRIuF/YIr6VZeW+pndNnxKWBAUIRfONuEcI3QEIWuOZ93sN8HURtnzcoNyhul386QhUQmHM4XubHn4FlLPVJ7orNtuaYJL8+6YDdSXrBJqYWBzdCaPjXU4pc0JOq2yDTfIfGtLRMbpLo1D86cdsOlGvzjAyrATwe2RNNqd469rpOS+FZECinfT6VXGEcFfQr44s2DSJ2qdgH5XoV/V0O2LYCxJRVhnovfL9dOiwGpNgKYOw9HTy70NluMJE74pfc6wv2MeMlqs62f46IPcaPXAHvx0zHiQPe/qvtA/2cJtjthSxPqczC3zMBlNwjwkjAs6xrzaTEK7O7BBGCBsvQIb7gWQ0ylR83ocHli4BmGxNOj00Uy3yWT5ZHWbSsPtJm2ljPVF62ygrDVXRRnzihJMWcK0w45JKFOB6ZZAiQ1nP2/clAJI3D609Fx2F+RYWxtw8OKAbkHyQunl3rMQGt+x6xS9FujYz5bcTWs2u7y5g4Re3ZZx4sUoah3gOB4Q7AwPCdOCktT9oGvd7ZoLFK6xn4VuQoMcF+W1BhYw4OdW+iyY8MKeECjhRLomoV2GiUIv3oWW08+4k91aBsb4j0yAMGmOn4EJNfFUtm46Xdz3YjDdNC7YbKHybpoc5hQ7QgsFGLdaUMpT3Reu/WJMRvlB9WtOrRzErEDe/qq+21KRkEna/NeBl6T8SQiKzw1mNS1i9k+xPtzVo8dbh6jM2kuo+Kc2FWGguj7Ka9olUwzgJu75w9ZEw69KzejsqgNGORm2ly4HQyTfkTq58/6+luDHA4xMqZ7F6FXJ1+BU6dvtd9n3huNa77d5F0/QrVxOlTF6lH4BRp2boRN9PY8t8woiRTEs7QnXaUnW6ZZZQ8wq+qCWZzhU4h/OECG3ebwk2F1wy6rxMyunpeqFzVdyO0d4p2YgN21NA685ovNutNifTP99pnTkuA22l8KBqTmpH4OTdNPfMv83tYqL+nwcLgxCTBGyaGd0guPU6wrhfvB1qSNJkziuBNJoHNEZZsE6L5KSxVJ1k/Z8WsOJalsxnrmT0gq4yxTHS3YttAHeExbtq3Boayt+HOkFd6EYuOzMCrcAgXrgVQAoSZ2fkeELt+AOwYXXvqOvbaHDDq0iK2AasuGfvv6jhBuqV1wSA7nR59PXlPgslij40KQDIm3V8lVHwIZV2HUYO9CBLQFfIoB6c+1qgRglDS5ESTOKHrfCjiWVfIT+9Kau2sOAM87VWpTZSva5Tr8hLQ37nt9UCA60hQTKkbU2jhBdoM9CPkd30/dVLhOjwM4fVbZTcaMU2BVgOdHtAUo0ROBxg0pyY1dxoojLH8A2KeBKLa6cw93haKlg0ohKHTSAfOr6ehjQcvryombixxTvPIC4p90S97z79MfzfiVGY2dhJFImlmB/ZoXJYg9PltwSBB4e6UI/5yj13fv8K1wWdVWdfPsor7ceQh3PMvKnFVnbf3oSwJGzh2opSGaCyh6Uep2BbrdFavgyHfgOXEAHve0+BQEDJEp4mDZI9mXDriteLy7QLJeuNyuvdfq2NK8mW1ap0ycBJ4XMFMgGEtrIlYfHMLthOvxTUcqpYfRrbkuTz7gzZ9BRK5q/KLYQ7vv2w32HVpJBAL7ZdPIPnd9ywkhzQkI+aUm5reZ87DRbTfxevp/hlki3lvha3NHSlHtqcMB7NFpTPnafiMzFfYeTB7yTaACzYUH1+HiId3UjxIpY50sWvURPd5DF/bvjT1vz2T1rxXH2cJzb/BP7pYSkx8it7uNjlb+nH7SEwGP2v9qaM40fmdEJnp3hrl9Xc+D1JwN2Eg/FcPUCp5atVBYM/MI1GlHjWuaYn72LpjVQ2MtyHRj/Y6ExItRlpWTHx0UEJIu2wAkHI0BXNAdMoVPjiVPL8KyQpsq7jcwEGjyqJZ3Qm5QE11I/Rr4y21f/p2o7859Htb+8F9+au6tGQWaAubCGSnbS6rSqSZgkvWfGKrCvWASVzsbd1FqV6CBEGZriQ54gO/IwYPOHvZxOlRT73IK3JrNf4qcZMogctuQHPHjpFOLRKqgO8zOn3r954+QJnPkdaU6viQ1WucKKTTy/oizMWhQWys77J6eJfCxqktQiUUNLqCr0nstXBR1RCrUemxZ2IPgP3ge5EOARHm029TQSQKHYivJXciwMp5sdE29M37St6OMKuG0zwPM9yLWD4A0We67GR+VMlgDV8m1vqyO4qmgilQwNmn/41wUUQ7hMJPnVt1/oNlYF4iPZ45Q0G5oJsDdZh73p9FzXe2g4Qs5aLTz5OdD7Lqno+KGEdXlaKcwNMIZNtyC03mJ+s595LyL6kYBZ8D9rUwQyeT6kn08rZY9tF69ms4FuZDKDIzuO57JcaIRNtprwiP+3XercwRRzNER106elnMrVQGFXzWGq8NpAwH4MFJk+rNGeo/UbD1uRsfr91oRAKj+uP/UW1NeC1hcSQpeUoVBJeNxH7Y/eIeN5tzy9tbY7gDP6aOUEq0tm1PMt8OkRBdGBNYOES7Soq0OPih96n/pE+xS5g0htWgC7HCwWXU7s1OzR+gQucuVbFU2tnzQPEmI9bR7TWIsc5AvQIeip1MXKfUe9T+8et5ZKKCOJu8Nur+5CYY2cVpIgVlV7XrsgJtpdwxSnIzhnIF1EkHvXSBjux0Vvb+n+leycaE1hNMKTlY5LJIlh82TujrpuZWGQ0+qdZK7FAhHeNm4+AlmwWYQHNdPe7eK1jTJ1dv7M+SsPVBqsHLsQNKRh4dJoO+fIzmXXWOJvh10cPjyYjYbop5d1tK2ORlTVOqAC/drVGfI6lyWKwfsZR5xKL6mz8xmh0QR+1MDqZb0ZvNVc+cFQsIQcjTmhSfVhGyiG6Z8X4y+uIYd/jcZ40jx66zJCwgTbeGxkQMFoaWxHktQBbDue8ZDMl6bVmcgz/QsN2OE6lASztwTQNrR/zwfkRCKnPX/zT7dHjv2xhBtBeYzwgb9t6bXu6K5Uc7N/Wn0G5WfJnmbs6AmLSfMIwmCpCBO6z8hPZtxkKmaTw4INc9eLkiz45SAtZL2UoH6XoQ1/4wpNGu7GP21/xQXv3x5yr7ImwMdZjg6gJaZJ/l6KG8u7znaTt4w4vdPOobk4DYmvDgHTOmnDRtmmUA30Slk9vqQkJ5bSnN92EPXmJ/hUJE2czZ5euMIZ+/z/2/W0DEyX3U0cDR6OI22oy1CdKfTp/hwLLFMIBEilQ0AhszzSQh8+T2MfJhSR/o+vq/6OjMsTy3mFAN1dzZLuW2rZOLKeSgRdQxvK/HVZs5ABNI58VswjFlWXGzoyIihqBy6Kivn6jwdUwEClSTdOHEFkmQOb+YBhQfn32yHGniD0rJiRsbDYAb8+KQm8n0nQ80z9JLiMxQUsJOllPjRZ9vEPCa/fujfD28yCjQi2vrk1nQ2xCsXF4L1aZd4xeXmYLWN+lnmyH1+C6DUuALbS24KI9YP+++8dy8cGO4q5Rkk3kgvlhwyH/fgtvAgfd3iiRC0TnCRIk17iqWBQRQKRw5ZDq7rZ3wqeuxUqI3hZRi9WFXsEOV7kvIGWBk+NumGHV13m0mK0XjGu5ah6643pUWeMDkzYFakUXapC10rEHs2vFFXSgcx8OFlb2RN7d7/YBbHbkTIBqpQpU6yNSIslox7QRXaCO3iiA/v4xNFCROIlOHccCgYkcS+ABONHiwtsr4ipGU0/T9wZCRmo6DBTE5FHYvgLywSLN/oEW6DfWIJXRuHcUMnjR94n3g5WFmbXARx+JxOXgF5vMOOJqFTUjhnR8OVgNkoXiDMOJ6dMsxwoTx24kaZiZ1N/2wCbFTag2AzRXsfjipq0Y6YPMjrFMpNMWIILUgfFREgjbtabqleDBZSdcnYWw+zBusDrh9S1Ddf0oOm0BLpwiwQz/1VEBrmMgLVDhhdu40KWZmGRu+5P0+nETz4+P7H/x4NHvGBvt1YGrQIfLB/ZdDz2cyafZX3NTi2dViG8OPnwbAMXOESK6+52IAMK1qqXOLeqFhl2YU2evNr1IWaaAfzY7eAGCvWJyrVT9r88dzW2kxxoVAmUn9RNNL2dqsgPk3/iGvFdDcTTYpDc5VUcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q6dEpffPWKgEshMK21TaLR",
      "input": {
        "note": "Right gripper settled at 0.052 (~5 mm), so the pen is held. Lifting it and turning it so the pen tip points toward the left arm.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.4,
          "right_y": 0.24,
          "right_yaw": 1.2,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Q6dEpffPWKgEshMK21TaLR",
      "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]: [-0.1184, 1.8565, 0.6361, 0.8478, 0.5537, 0.1581, 0.068, 0.2848, 1.7672, 1.1488, -0.0517, -0.6544, -0.5301, 0.0601]\nstate[eef_state]: left_x=0.4267 left_y=-0.1407 left_z=0.0758 left_yaw=-0.6814 left_pitch=0.2556 left_roll=-0.0444 left_gripper=0.068 right_x=0.4206 right_y=0.2389 right_z=0.1474 right_yaw=1.086 right_pitch=0.0416 right_roll=-0.0647 right_gripper=0.0601\nstate[joint_eff]: [-0.212, -7.9795, 4.8068, 1.79, 0.0611, -0.0317, 1.0379, -0.7179, -8.4855, 7.9932, 1.4286, -0.4957, -0.0513, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d83a924383baf55d1cfe57451daa228025c51c4448dcf6baa8999a6f31a1095a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61f074cc3ab6b3f937147f5db7b15d9743af14da12bb0f362c5c92b0097dc223",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bcb21983889b9ccebba567786254ac7db2afb1f59e308743feb64d673f8ab430",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 9.234 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1184, 1.8565, 0.6361, 0.8555, 0.5537, 0.1577, 0.0616, 0.6617, 2.1689, 0.5777, 1.2388, 0.2092, 0.0463, 0.9989]\nstate[eef_state]: left_x=0.4273 left_y=-0.1408 left_z=0.0774 left_yaw=-0.6823 left_pitch=0.262 left_roll=-0.0406 left_gripper=0.0616 right_x=0.3768 right_y=0.2515 right_z=0.0004 right_yaw=0.4388 right_pitch=0.2132 right_roll=-0.0203 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -8.0205, 4.9026, 1.9365, 0.0757, -0.0464, 1.0281, -0.759, -7.0632, 3.1932, 1.1844, 0.0464, 0.0757, -0.0171]",
      "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]: [-0.1184, 1.8565, 0.6361, 0.8505, 0.5541, 0.1577, 0.0658, 0.6609, 2.1834, 0.5804, 1.2697, 0.2062, 0.0441, 0.0521]\nstate[eef_state]: left_x=0.4268 left_y=-0.1408 left_z=0.0764 left_yaw=-0.6819 left_pitch=0.2579 left_roll=-0.0435 left_gripper=0.0658 right_x=0.3782 right_y=0.2528 right_z=0.0019 right_yaw=0.441 right_pitch=0.2315 right_roll=-0.0172 right_gripper=0.0521\nstate[joint_eff]: [-0.2393, -7.9932, 4.7248, 1.8046, 0.0757, -0.0611, 1.033, 0.0479, -9.8803, 2.6735, 1.5946, 0.0415, -0.0122, 1.2283]",
      "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]: [-0.1184, 1.8565, 0.6361, 0.8478, 0.5537, 0.1581, 0.068, 0.2848, 1.7672, 1.1488, -0.0517, -0.6544, -0.5301, 0.0601]\nstate[eef_state]: left_x=0.4267 left_y=-0.1407 left_z=0.0758 left_yaw=-0.6814 left_pitch=0.2556 left_roll=-0.0444 left_gripper=0.068 right_x=0.4206 right_y=0.2389 right_z=0.1474 right_yaw=1.086 right_pitch=0.0416 right_roll=-0.0647 right_gripper=0.0601\nstate[joint_eff]: [-0.212, -7.9795, 4.8068, 1.79, 0.0611, -0.0317, 1.0379, -0.7179, -8.4855, 7.9932, 1.4286, -0.4957, -0.0513, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d83a924383baf55d1cfe57451daa228025c51c4448dcf6baa8999a6f31a1095a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61f074cc3ab6b3f937147f5db7b15d9743af14da12bb0f362c5c92b0097dc223",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcb21983889b9ccebba567786254ac7db2afb1f59e308743feb64d673f8ab430",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSzQoKEAgSGAI4AUIIdGhpbmtpbmcSDPjjDcU446aGN7hrvhoMrQyZZ09rPaW2sVy9IjDZ5f2HzLcGaMGrJwatXyWGZ9ptuLOpLwKjurIDISyc5zCv2VWSKRoovs5akQb0HIcq6gnxPaxSPQMmjCpZ8Tz91+u00PuOwaAq6K+diPoshtBruNxdLXdxAc39ByDAAglvJXa27+3SWTq7sRQxgC/vVP/LxkKRddLe078gF0QPDvoijs6lvuajYaJumqrZpuvYZaKDDATavJt99+Fjp2AsWzsf67qTeomRw4OEK/lMO5xujuLQUQe4uBDKRgGHNlCpSEga/JXdl/wZs1xbnptbaobBOQAuKJDCZe7kDt+jmtBGhTL0wbyTLXFHlU6Le6wQOhf2cUP+0/I7HgNiIXoalXOiaMxpXRtWBJRz4Io7et+IQzCcG5XoepIpYD9SpQZ7P/9Zf9jMcBENZUerDiWDEmXv0ixSq2UsulKS6Y31gtCgh/DoiSZK8FsowGpAPXy10nYVTgS5ijXplw2jO4bUxiKyhqgnZAjAkiz7/YxAyOSC961QhBD3VANgw/dAeow0cMhk3fZRi2r7mQaQ0Kr0cw3d05AB4neMguL/Pcp/WDZSXkFb4vWrEcCZr4gFx3wV3R4XwE/bJDF7EV6jdoNSX1DPdqI+1Bph+ycjrVu6SIlgKfWlnUEnzjX7mWY8yJzmpCYqkbzgG3DQ/MJislNTg+ElmERaq796TmBjdZUZICM2oW1J3q9TM0ZgilcoNYsG1DVd2UBT0aqVZQM1+LrjKinzYL0C7KgBUDdm8xfhbvnN3FWrOtodu0aLNWBFLTO2D/pEgscD07bLmu64spVdOFH+K1Wbv4IuG41cQeJ88JvzCgdvFaHvvG/1M/ZHGcACpoV1wuLw2hOcXnG9WFRt0RHg6xpyAfMfy4lMsJ06TThT4r966B6UaVjzfhx4qZQgy6H4DiIYwzuxaaVL/yDlha+0xIqh1omrrGZA82I+I+Cq/LdrBdfRtfBCd+L1W74zteCYSV4bRTeSZ6enwFEUm4fvjjWlbvheOqi2K3eey76TrCY5UJCYLm26HZHC+2bfZQa5dbOT/1BLdqfXYn5M1ZmT+VxfE+Q2h05Yw+KnukBaKevYx+es1dXtpV8GtikEpH3zmom7XdTW+tkxq/d4JNdI4uD1ygz14UD3xmADID5QCE8Up6CmA7hPy/QBKhUg5baCoaO4gHtvq/QG21e+hyI7anhy8KQnxxylNWz8NZ1vc9n6wQ9MGWwC1vHlHSk8XDcJJEI1Zu9Y/RWwEXP2npvuELLBIOOiLyPjnNzfZTe/dSR306B86llf8cyPGErXTAODiPGXD9tI8/ZQMdMbm0B6J1IIZuDZ0/PWk3Yo1iV+yP8Dm9VTP08QrnKgJt/HB9Sv9nYpMR/POWUbyYPzshjG0l6BU51AJc1vaoCWhMYHQqZS3432psYP7of+ls39Fpch1Hu168kQXeGmzOVm6q+Of8M45oSLRHIqz9LcI7iZESqOdAzIu+FpMS534I1ynPdgsDxvh9Pugm1T9fq0YcIGf8Mhgj2EhhLPFavQ+F6hnhDeSclPxtChz+Dn17pfY4ylt4ZS8cZMyWJu6B9P+hmalwHr4rB5j8cqN+fe66OnbUEYrRPl8j2GiapvJqNdjj1AVJ2kz9QeeU0d7Z8fC0SMezzMJ07a6QGlgeBAtgelHNZj4IzhVEwzpBBxgNkEVa9OFKG7gvXTHL6iUVgWK5n52le17PZF1L7+8GrL8x7asf5eh8D0+SoDOldB1yeY0GhBZei9Gpi80zm1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VGopU8QBY7xAA1UWYjYy9e",
      "input": {
        "note": "Pen is lifted by the right arm, pointing left. Raising the cap with the left arm and turning it to point right, toward the pen.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.42,
          "left_y": -0.15,
          "left_yaw": -1.57,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01VGopU8QBY7xAA1UWYjYy9e",
      "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]: [-0.0051, 2.1571, 1.8, -0.6743, 0.9817, 1.3022, 0.0703, 0.2817, 1.7687, 1.1412, -0.0711, -0.6552, -0.5472, 0.0651]\nstate[eef_state]: left_x=0.5022 left_y=-0.1459 left_z=0.1583 left_yaw=-1.4364 left_pitch=0.0436 left_roll=0.3102 left_gripper=0.0703 right_x=0.4172 right_y=0.2365 right_z=0.1405 right_yaw=1.0919 right_pitch=0.0218 right_roll=-0.0585 right_gripper=0.0651\nstate[joint_eff]: [-0.759, -13.1077, 7.1453, 0.4762, 0.6178, 0.1392, 0.652, -0.1436, -9.1145, 7.1863, 1.7265, -0.2711, 0.1343, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb4d2c2411cba1b82bcb5a790d0ae775c04c324df876efe9150ba07ce2b33dca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffb19cb8929e05db90ed654618851bca011b7781977bb61a692b2dade98312b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd8ff6d69f6d55a8b17e6f5940f7afa2f02cdefdf48f2f3da148c35108b01c31",
        "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 · 8.499 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1184, 1.8565, 0.6361, 0.8505, 0.5541, 0.1577, 0.0658, 0.6609, 2.1834, 0.5804, 1.2697, 0.2062, 0.0441, 0.0521]\nstate[eef_state]: left_x=0.4268 left_y=-0.1408 left_z=0.0764 left_yaw=-0.6819 left_pitch=0.2579 left_roll=-0.0435 left_gripper=0.0658 right_x=0.3782 right_y=0.2528 right_z=0.0019 right_yaw=0.441 right_pitch=0.2315 right_roll=-0.0172 right_gripper=0.0521\nstate[joint_eff]: [-0.2393, -7.9932, 4.7248, 1.8046, 0.0757, -0.0611, 1.033, 0.0479, -9.8803, 2.6735, 1.5946, 0.0415, -0.0122, 1.2283]",
      "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]: [-0.1184, 1.8565, 0.6361, 0.8478, 0.5537, 0.1581, 0.068, 0.2848, 1.7672, 1.1488, -0.0517, -0.6544, -0.5301, 0.0601]\nstate[eef_state]: left_x=0.4267 left_y=-0.1407 left_z=0.0758 left_yaw=-0.6814 left_pitch=0.2556 left_roll=-0.0444 left_gripper=0.068 right_x=0.4206 right_y=0.2389 right_z=0.1474 right_yaw=1.086 right_pitch=0.0416 right_roll=-0.0647 right_gripper=0.0601\nstate[joint_eff]: [-0.212, -7.9795, 4.8068, 1.79, 0.0611, -0.0317, 1.0379, -0.7179, -8.4855, 7.9932, 1.4286, -0.4957, -0.0513, 1.0232]",
      "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]: [-0.0051, 2.1571, 1.8, -0.6743, 0.9817, 1.3022, 0.0703, 0.2817, 1.7687, 1.1412, -0.0711, -0.6552, -0.5472, 0.0651]\nstate[eef_state]: left_x=0.5022 left_y=-0.1459 left_z=0.1583 left_yaw=-1.4364 left_pitch=0.0436 left_roll=0.3102 left_gripper=0.0703 right_x=0.4172 right_y=0.2365 right_z=0.1405 right_yaw=1.0919 right_pitch=0.0218 right_roll=-0.0585 right_gripper=0.0651\nstate[joint_eff]: [-0.759, -13.1077, 7.1453, 0.4762, 0.6178, 0.1392, 0.652, -0.1436, -9.1145, 7.1863, 1.7265, -0.2711, 0.1343, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb4d2c2411cba1b82bcb5a790d0ae775c04c324df876efe9150ba07ce2b33dca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffb19cb8929e05db90ed654618851bca011b7781977bb61a692b2dade98312b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd8ff6d69f6d55a8b17e6f5940f7afa2f02cdefdf48f2f3da148c35108b01c31",
        "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_01BfumzTpd7jbWwM7ExYVFQL",
      "input": {
        "note": "Both objects are raised; aligning the pen (pointing left) and the cap (pointing right) on the same line at x=0.42, z=0.15, still ~18 cm apart.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.15,
          "left_yaw": -1.57,
          "left_z": 0.15,
          "right_x": 0.42,
          "right_y": 0.22,
          "right_yaw": 1.57,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01BfumzTpd7jbWwM7ExYVFQL",
      "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]: [-0.0021, 2.1082, 1.6985, -0.9016, 0.9848, 1.3464, 0.0707, 0.1661, 2.067, 1.6695, -0.725, -0.947, -1.1587, 0.0681]\nstate[eef_state]: left_x=0.4464 left_y=-0.1445 left_z=0.1342 left_yaw=-1.4514 left_pitch=0.0051 left_roll=0.0699 left_gripper=0.0707 right_x=0.4391 right_y=0.2226 right_z=0.1486 right_yaw=1.4833 right_pitch=0.0012 right_roll=-0.0995 right_gripper=0.0681\nstate[joint_eff]: [0.1709, -14.7487, 6.0923, 0.8913, 0.779, 0.0122, 0.8767, -1.1692, -11.0017, 6.9675, 0.4713, -0.7204, -0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1800ae5c80c3b05b39ea7b590cd144ab7fee86732f22c1311db73647ec4e0677",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fd9e9e14168216438fad55ab64496aa2ee240175a03e6ffc36edf14dbcf1999",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:24b13641d000e29b65981b2656d69decbccf1c429ec3de7549f118ec023f5e31",
        "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 · 9.339 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1184, 1.8565, 0.6361, 0.8478, 0.5537, 0.1581, 0.068, 0.2848, 1.7672, 1.1488, -0.0517, -0.6544, -0.5301, 0.0601]\nstate[eef_state]: left_x=0.4267 left_y=-0.1407 left_z=0.0758 left_yaw=-0.6814 left_pitch=0.2556 left_roll=-0.0444 left_gripper=0.068 right_x=0.4206 right_y=0.2389 right_z=0.1474 right_yaw=1.086 right_pitch=0.0416 right_roll=-0.0647 right_gripper=0.0601\nstate[joint_eff]: [-0.212, -7.9795, 4.8068, 1.79, 0.0611, -0.0317, 1.0379, -0.7179, -8.4855, 7.9932, 1.4286, -0.4957, -0.0513, 1.0232]",
      "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]: [-0.0051, 2.1571, 1.8, -0.6743, 0.9817, 1.3022, 0.0703, 0.2817, 1.7687, 1.1412, -0.0711, -0.6552, -0.5472, 0.0651]\nstate[eef_state]: left_x=0.5022 left_y=-0.1459 left_z=0.1583 left_yaw=-1.4364 left_pitch=0.0436 left_roll=0.3102 left_gripper=0.0703 right_x=0.4172 right_y=0.2365 right_z=0.1405 right_yaw=1.0919 right_pitch=0.0218 right_roll=-0.0585 right_gripper=0.0651\nstate[joint_eff]: [-0.759, -13.1077, 7.1453, 0.4762, 0.6178, 0.1392, 0.652, -0.1436, -9.1145, 7.1863, 1.7265, -0.2711, 0.1343, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0021, 2.1082, 1.6985, -0.9016, 0.9848, 1.3464, 0.0707, 0.1661, 2.067, 1.6695, -0.725, -0.947, -1.1587, 0.0681]\nstate[eef_state]: left_x=0.4464 left_y=-0.1445 left_z=0.1342 left_yaw=-1.4514 left_pitch=0.0051 left_roll=0.0699 left_gripper=0.0707 right_x=0.4391 right_y=0.2226 right_z=0.1486 right_yaw=1.4833 right_pitch=0.0012 right_roll=-0.0995 right_gripper=0.0681\nstate[joint_eff]: [0.1709, -14.7487, 6.0923, 0.8913, 0.779, 0.0122, 0.8767, -1.1692, -11.0017, 6.9675, 0.4713, -0.7204, -0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1800ae5c80c3b05b39ea7b590cd144ab7fee86732f22c1311db73647ec4e0677",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fd9e9e14168216438fad55ab64496aa2ee240175a03e6ffc36edf14dbcf1999",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24b13641d000e29b65981b2656d69decbccf1c429ec3de7549f118ec023f5e31",
        "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_01EGDy2nXXSsKi3Tmr29NRGn",
      "input": {
        "note": "Pen tip is visible straight ahead in the left wrist camera. Bringing the cap closer (10 cm to the right) and raising the left arm to match the pen's height.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.25,
          "left_yaw": -1.57,
          "left_z": 0.165
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EGDy2nXXSsKi3Tmr29NRGn",
      "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]: [-0.2306, 2.1338, 1.8259, -0.8837, 0.9413, 1.1778, 0.0714, 0.1658, 2.0846, 1.6676, -0.7437, -0.9428, -1.1774, 0.0687]\nstate[eef_state]: left_x=0.4325 left_y=-0.2445 left_z=0.1566 left_yaw=-1.575 left_pitch=-0.009 left_roll=0.0533 left_gripper=0.0714 right_x=0.4367 right_y=0.2216 right_z=0.1383 right_yaw=1.4913 right_pitch=-0.0126 right_roll=-0.0793 right_gripper=0.0687\nstate[joint_eff]: [-0.841, -10.8103, 9.1419, 0.9158, 0.4713, -0.1099, 0.9499, -0.294, -12.8205, 6.3658, 1.0574, -0.525, 0.1245, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5698aca900e111f6f5a96ffcc2128bdfcadf5db360b39ad51efd23aeba06285c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:670f92c02f31ae51b83628b27dba86cbcb5b34ca4491d7e1b9d0ed0ad429ac59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8474a6bee9b73a639294dcc9fd639246ba13976d13491cae24b425e91a01bfba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 14.83 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0051, 2.1571, 1.8, -0.6743, 0.9817, 1.3022, 0.0703, 0.2817, 1.7687, 1.1412, -0.0711, -0.6552, -0.5472, 0.0651]\nstate[eef_state]: left_x=0.5022 left_y=-0.1459 left_z=0.1583 left_yaw=-1.4364 left_pitch=0.0436 left_roll=0.3102 left_gripper=0.0703 right_x=0.4172 right_y=0.2365 right_z=0.1405 right_yaw=1.0919 right_pitch=0.0218 right_roll=-0.0585 right_gripper=0.0651\nstate[joint_eff]: [-0.759, -13.1077, 7.1453, 0.4762, 0.6178, 0.1392, 0.652, -0.1436, -9.1145, 7.1863, 1.7265, -0.2711, 0.1343, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0021, 2.1082, 1.6985, -0.9016, 0.9848, 1.3464, 0.0707, 0.1661, 2.067, 1.6695, -0.725, -0.947, -1.1587, 0.0681]\nstate[eef_state]: left_x=0.4464 left_y=-0.1445 left_z=0.1342 left_yaw=-1.4514 left_pitch=0.0051 left_roll=0.0699 left_gripper=0.0707 right_x=0.4391 right_y=0.2226 right_z=0.1486 right_yaw=1.4833 right_pitch=0.0012 right_roll=-0.0995 right_gripper=0.0681\nstate[joint_eff]: [0.1709, -14.7487, 6.0923, 0.8913, 0.779, 0.0122, 0.8767, -1.1692, -11.0017, 6.9675, 0.4713, -0.7204, -0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2306, 2.1338, 1.8259, -0.8837, 0.9413, 1.1778, 0.0714, 0.1658, 2.0846, 1.6676, -0.7437, -0.9428, -1.1774, 0.0687]\nstate[eef_state]: left_x=0.4325 left_y=-0.2445 left_z=0.1566 left_yaw=-1.575 left_pitch=-0.009 left_roll=0.0533 left_gripper=0.0714 right_x=0.4367 right_y=0.2216 right_z=0.1383 right_yaw=1.4913 right_pitch=-0.0126 right_roll=-0.0793 right_gripper=0.0687\nstate[joint_eff]: [-0.841, -10.8103, 9.1419, 0.9158, 0.4713, -0.1099, 0.9499, -0.294, -12.8205, 6.3658, 1.0574, -0.525, 0.1245, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5698aca900e111f6f5a96ffcc2128bdfcadf5db360b39ad51efd23aeba06285c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:670f92c02f31ae51b83628b27dba86cbcb5b34ca4491d7e1b9d0ed0ad429ac59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8474a6bee9b73a639294dcc9fd639246ba13976d13491cae24b425e91a01bfba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuw4KEAgSGAI4AUIIdGhpbmtpbmcSDIkosyHiINcCHJ+7QxoM0oZdFS+JexDmNT/mIjDq/bkXjQP6vaJOL+EuA+u3vu78nkgKhO1UVa9FrjrKRNPdt+8dXdmYJertCp8XXIQq2A0aIOP1uO4qL07T+ya29TjzKP4GoqX6PhtN/ugw7nzkxkFwguWtqnFwJmJPmiBD+eGKw7cOf9WDNZP84pq87Gl9U/2ru96fEU15fAk3CwpiQlHEvfIA7gQTy9VRgCbK2JzYbVL02F2FzcF1pkl4t178ZkGKHg9VgTnn0RaJP17LvlLDcIRxmbqyVJH9XD5e58zgGUckoHzAkrxYcsrup82VOHWbA12zDDeAHUrmbsCBKz5ygybY/dlDtf/xl7aE7FZ9bLOKXXV5vWyOvFZ1bKZc68tRVnnWZKETWXfGxtWeUvW2yIcdK2GTyBRkxH/2WjQgvxBSCLQXuQx/Z8RVD/qiMC6mXWcK4t5MG6KOpY3rwvQNDVJfCbF7jj8EhXXV8d0g/N9E+pNE7RZhSAb1vaguLNYVjxOyE1TBZTRXClHcHUHUhQEWdsTZRh7Dm+1JL9KbBeeBF03mpuOjtN8nQk3TECerh4DXNEigS4WGQwnsEmIZknilmOEQyeWgzG9V1DytaAj6HQugVuWHgTaJ2H/vt6i0h/MR7n2lHSQagqQcw/FiCbCE4a+K2WkNDfnxoYI49KUGMpMqHpv2pMcJoaquP2VL0H//E96FBsTAdAiCoovEVNcuPg9Vcyplx2jCRc0Ftx/rDt/O9e2WLmmlpnn6tSHlcJRnYIM2KvCUucCO30LkClXBB0xeV38ze7MmHwjn6Jo94zP8GtrgDyi0Z7JbmkwhDBmsUIxt2GCZ2hjUFcO0XRaKlvPhJfPiRzEOj3q6raCcWkbRnxG44Tf19pJ8/tJMGlvv4MxAJjMTSvmSr7NCG0yG4MtNKG6jguSyeL87vxHRMLK/htWchnJQTtRYh124hiKZ/kiOMlJDbEZXLvf2d+xcGQnFCnR5BlISajNAzibZR7Nuq4sN2yR95ZMq8g0U6P8H4pKpVBVB3nMLtxSC4MyaGac/VA/Fz4bEItSttE61hNKTcIf/NFDqWFo4MXgjJCUbbVd9RcUx8MZwzQ/D1fb/ZvzeG5G+uYNqLizeJSNceHkHIqDvnFqG1LU28pIjwUMxGDilz96hMe/4a2XA2P0WBIrjO9WDorLJWv1d9exvEs9uSWK4oXW89P16PRqYq8xlTEfwC245I0JhosEfR9oSU0Jkx9JbOeXY/NvtrcbaAQHFDgrT83XeQvvqaN9qxD2S30RKAZRo4M7Iyh/JdqjySGHX8q7sBBgi36O/BZ0CVqVtagx+XL+6ZX0CfAOGm+Swq2yx5U/mmdm6znS5ZcGIhPzjecFpgm3a9W1/8XkOfqVG+30rVZqcLVQXNAuDCG6CERRzm7DFQKwTj8axn5QlndTu/JItH7z8XhQTyUxMMHPvIcMIsFUz3rXwQhJkz1ibVHDmZ3nIOdEM6etTPpzihFJfZ4u7sRG7bYnLc303sDv03MjC4/XhLLYF91x+JgIE+vJvXj8Vix4im2mZetW09KdmIaxy4U7C3Vm9HoFdzNq7wRCmwHgtiJoCely0Mbsmjk6GYuMCdxetQrFcm2EK8zlJYemqTec9MxDQd4VNZ9w3IchExvKsbl7N70uRC1Zs8/y1glqe/zfZ8czC4uvUMiVmsv4YHefcRY9SPvYfRZ0RHnJ7O5QwNcrlYtNjTJm7fnG5Zo4rum3Cmboo1GXpOyaYLd2d48nNtqdwenY63mS/7JWvBuHhggQN+n+NQijLZ5yeaSg0o/LWrkHKi2TzXp45vfwIXk+S4ZQfDVYB6pQvL+frPZ2+Zsz67Kj9i9MLPJqCrP76lbkq1DjOHvWXzz0c7y5Ig5KjCjFx9gEcSrQPr3RJQ4iqW+U9fZqYEsosWv6V26A3C8d1opnWuStCH4Ctp7/e3zxYtJ45KILS26k59O27QWTZ/sTRLqpFSf/saGQdIYiXrDByRn+lrMRCHdbStQecrGk2+fsTQHeBUSGVCOCv3eostHN0DcxJ5Dp2J0UsnD4Ab9g0wjDE+kC598wu7e83nUERDTovdCbsC1+WRYqFiNJaysLLyPWf2z/CiITYHJPxv5+WocY0WZZfXvEyVQncrgPNknYMcA+7mUPizdY0w2yUhPKYmE+q1+yhumtze2YHzUEjyu/WK8fsN38flmUnhpp4TUDzNPDFQwFH0s4X3MUbmX/tI9sJKAZa8xXAcEyrenaXtP6LjeNLlD6Nm0LLPJ1+JGtyZMM9/rn47V8hABTYrpgTBfSnBPlJbFQu4mvb3/WopmUA8fqSSUo6sDH438ZSCTWY5K81sCzP51Jx8PuUZAf6wQIkkDsmbOwaVhR6+Lhxx72UIjj8u2NMS/hoBKdjZKr5uv4rKnOYN3LvMFKhQU4VZYIFy2cK9YYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PhXDFv5dSE6FAwCSCKgLDD",
      "input": {
        "note": "Pen tip is a few cm ahead of the left jaws, centred but slightly lower (right arm sagged to z≈0.14). Lowering the cap to pen height and advancing 2.5 cm.",
        "targets": {
          "left_x": 0.437,
          "left_y": -0.27,
          "left_yaw": -1.57,
          "left_z": 0.145
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01PhXDFv5dSE6FAwCSCKgLDD",
      "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]: [-0.2661, 2.149, 1.8175, -0.831, 0.9134, 1.1172, 0.0714, 0.1658, 2.0846, 1.6676, -0.7456, -0.939, -1.1782, 0.0694]\nstate[eef_state]: left_x=0.4332 left_y=-0.2593 left_z=0.1468 left_yaw=-1.5664 left_pitch=-0.0252 left_roll=0.0373 left_gripper=0.0714 right_x=0.4367 right_y=0.2212 right_z=0.1376 right_yaw=1.4902 right_pitch=-0.0165 right_roll=-0.0789 right_gripper=0.0694\nstate[joint_eff]: [-0.7316, -10.5368, 6.4342, 1.1502, 0.4567, -0.0513, 0.8913, -0.335, -11.4803, 6.2427, 0.9939, -0.4811, -0.0171, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e528ab1fb8350b577e12b3ef76f1a5d5db91da3e5796412a368054723ed8af6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9955c40632c81a8f7a144d8fa1716b0c99c80f3f1491c0b8dc12f70b49e91dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00791bad098c07d2d5fa1f832f526cb2e6a75022c8d20f50f0ba2ef316a22912",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 10.44 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0021, 2.1082, 1.6985, -0.9016, 0.9848, 1.3464, 0.0707, 0.1661, 2.067, 1.6695, -0.725, -0.947, -1.1587, 0.0681]\nstate[eef_state]: left_x=0.4464 left_y=-0.1445 left_z=0.1342 left_yaw=-1.4514 left_pitch=0.0051 left_roll=0.0699 left_gripper=0.0707 right_x=0.4391 right_y=0.2226 right_z=0.1486 right_yaw=1.4833 right_pitch=0.0012 right_roll=-0.0995 right_gripper=0.0681\nstate[joint_eff]: [0.1709, -14.7487, 6.0923, 0.8913, 0.779, 0.0122, 0.8767, -1.1692, -11.0017, 6.9675, 0.4713, -0.7204, -0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.2306, 2.1338, 1.8259, -0.8837, 0.9413, 1.1778, 0.0714, 0.1658, 2.0846, 1.6676, -0.7437, -0.9428, -1.1774, 0.0687]\nstate[eef_state]: left_x=0.4325 left_y=-0.2445 left_z=0.1566 left_yaw=-1.575 left_pitch=-0.009 left_roll=0.0533 left_gripper=0.0714 right_x=0.4367 right_y=0.2216 right_z=0.1383 right_yaw=1.4913 right_pitch=-0.0126 right_roll=-0.0793 right_gripper=0.0687\nstate[joint_eff]: [-0.841, -10.8103, 9.1419, 0.9158, 0.4713, -0.1099, 0.9499, -0.294, -12.8205, 6.3658, 1.0574, -0.525, 0.1245, 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 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]: [-0.2661, 2.149, 1.8175, -0.831, 0.9134, 1.1172, 0.0714, 0.1658, 2.0846, 1.6676, -0.7456, -0.939, -1.1782, 0.0694]\nstate[eef_state]: left_x=0.4332 left_y=-0.2593 left_z=0.1468 left_yaw=-1.5664 left_pitch=-0.0252 left_roll=0.0373 left_gripper=0.0714 right_x=0.4367 right_y=0.2212 right_z=0.1376 right_yaw=1.4902 right_pitch=-0.0165 right_roll=-0.0789 right_gripper=0.0694\nstate[joint_eff]: [-0.7316, -10.5368, 6.4342, 1.1502, 0.4567, -0.0513, 0.8913, -0.335, -11.4803, 6.2427, 0.9939, -0.4811, -0.0171, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e528ab1fb8350b577e12b3ef76f1a5d5db91da3e5796412a368054723ed8af6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9955c40632c81a8f7a144d8fa1716b0c99c80f3f1491c0b8dc12f70b49e91dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00791bad098c07d2d5fa1f832f526cb2e6a75022c8d20f50f0ba2ef316a22912",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WbWScC1ZE89CNjr6sa3nas",
      "input": {
        "note": "Pen tip is centred ahead of the left jaws at matching height. Advancing the cap 3.5 cm toward the pen to start sliding it on.",
        "targets": {
          "left_x": 0.437,
          "left_y": -0.295,
          "left_yaw": -1.57,
          "left_z": 0.143
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01WbWScC1ZE89CNjr6sa3nas",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.326, 2.1735, 1.8271, -0.791, 0.886, 1.042, 0.0722, 0.1658, 2.0846, 1.6672, -0.7483, -0.9386, -1.179, 0.0729]\nstate[eef_state]: left_x=0.4279 left_y=-0.2853 left_z=0.1379 left_yaw=-1.5735 left_pitch=-0.0407 left_roll=0.0068 left_gripper=0.0722 right_x=0.4362 right_y=0.2211 right_z=0.1373 right_yaw=1.4905 right_pitch=-0.0176 right_roll=-0.0767 right_gripper=0.0729\nstate[joint_eff]: [-0.4855, -10.9197, 9.4427, 1.2381, 0.315, -0.0855, 0.8913, -0.335, -11.3436, 6.2427, 0.9158, -0.4957, -0.0171, 0.8474]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ef4732609a070309ed0e15e39771ddb4f099a9943b45dca68fdcbf9c59dcdaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d3a6d66794b5877d4f8fb93f9bdd3dd178b0207b8930fb760e6d9145f6c1b7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a03dcf1ffbb98cc275ca3cf9e1477518cabec660a8218e04c2684255e357bd57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 12.68 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2306, 2.1338, 1.8259, -0.8837, 0.9413, 1.1778, 0.0714, 0.1658, 2.0846, 1.6676, -0.7437, -0.9428, -1.1774, 0.0687]\nstate[eef_state]: left_x=0.4325 left_y=-0.2445 left_z=0.1566 left_yaw=-1.575 left_pitch=-0.009 left_roll=0.0533 left_gripper=0.0714 right_x=0.4367 right_y=0.2216 right_z=0.1383 right_yaw=1.4913 right_pitch=-0.0126 right_roll=-0.0793 right_gripper=0.0687\nstate[joint_eff]: [-0.841, -10.8103, 9.1419, 0.9158, 0.4713, -0.1099, 0.9499, -0.294, -12.8205, 6.3658, 1.0574, -0.525, 0.1245, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2661, 2.149, 1.8175, -0.831, 0.9134, 1.1172, 0.0714, 0.1658, 2.0846, 1.6676, -0.7456, -0.939, -1.1782, 0.0694]\nstate[eef_state]: left_x=0.4332 left_y=-0.2593 left_z=0.1468 left_yaw=-1.5664 left_pitch=-0.0252 left_roll=0.0373 left_gripper=0.0714 right_x=0.4367 right_y=0.2212 right_z=0.1376 right_yaw=1.4902 right_pitch=-0.0165 right_roll=-0.0789 right_gripper=0.0694\nstate[joint_eff]: [-0.7316, -10.5368, 6.4342, 1.1502, 0.4567, -0.0513, 0.8913, -0.335, -11.4803, 6.2427, 0.9939, -0.4811, -0.0171, 1.033]",
      "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]: [-0.326, 2.1735, 1.8271, -0.791, 0.886, 1.042, 0.0722, 0.1658, 2.0846, 1.6672, -0.7483, -0.9386, -1.179, 0.0729]\nstate[eef_state]: left_x=0.4279 left_y=-0.2853 left_z=0.1379 left_yaw=-1.5735 left_pitch=-0.0407 left_roll=0.0068 left_gripper=0.0722 right_x=0.4362 right_y=0.2211 right_z=0.1373 right_yaw=1.4905 right_pitch=-0.0176 right_roll=-0.0767 right_gripper=0.0729\nstate[joint_eff]: [-0.4855, -10.9197, 9.4427, 1.2381, 0.315, -0.0855, 0.8913, -0.335, -11.3436, 6.2427, 0.9158, -0.4957, -0.0171, 0.8474]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ef4732609a070309ed0e15e39771ddb4f099a9943b45dca68fdcbf9c59dcdaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d3a6d66794b5877d4f8fb93f9bdd3dd178b0207b8930fb760e6d9145f6c1b7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a03dcf1ffbb98cc275ca3cf9e1477518cabec660a8218e04c2684255e357bd57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PBpUUSdRGjKPWvkonSD4bu",
      "input": {
        "note": "Pen tip now appears to pass under/into the left jaws. Pushing the cap another ~2 cm onto the pen while watching for a stall.",
        "targets": {
          "left_x": 0.435,
          "left_y": -0.315,
          "left_yaw": -1.57,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01PBpUUSdRGjKPWvkonSD4bu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3393, 2.1948, 1.8282, -0.7723, 0.8677, 1.0176, 0.0748, 0.1658, 2.085, 1.6665, -0.7486, -0.936, -1.1816, 0.075]\nstate[eef_state]: left_x=0.4293 left_y=-0.2906 left_z=0.1272 left_yaw=-1.5657 left_pitch=-0.0569 left_roll=-0.0091 left_gripper=0.0748 right_x=0.4362 right_y=0.2208 right_z=0.1365 right_yaw=1.4909 right_pitch=-0.0204 right_roll=-0.078 right_gripper=0.075\nstate[joint_eff]: [-0.2803, -12.6017, 9.265, 1.1453, 0.525, -0.0708, 0.6569, -0.253, -11.2889, 6.3385, 0.9255, -0.5153, 0.0171, 0.6716]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:519cdeba8e8cbbb0c017df7492e4b13d6797166211c26bcb82a5911f242e00b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2cc9015b3f5e5651d7d36eba8e68ae9280d708c7322f5a0f1d457253feb9b29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8906f6564989b900662a48a928ad56f44f48d53da6c2a46910ff17470beee847",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 5.502 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2661, 2.149, 1.8175, -0.831, 0.9134, 1.1172, 0.0714, 0.1658, 2.0846, 1.6676, -0.7456, -0.939, -1.1782, 0.0694]\nstate[eef_state]: left_x=0.4332 left_y=-0.2593 left_z=0.1468 left_yaw=-1.5664 left_pitch=-0.0252 left_roll=0.0373 left_gripper=0.0714 right_x=0.4367 right_y=0.2212 right_z=0.1376 right_yaw=1.4902 right_pitch=-0.0165 right_roll=-0.0789 right_gripper=0.0694\nstate[joint_eff]: [-0.7316, -10.5368, 6.4342, 1.1502, 0.4567, -0.0513, 0.8913, -0.335, -11.4803, 6.2427, 0.9939, -0.4811, -0.0171, 1.033]",
      "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]: [-0.326, 2.1735, 1.8271, -0.791, 0.886, 1.042, 0.0722, 0.1658, 2.0846, 1.6672, -0.7483, -0.9386, -1.179, 0.0729]\nstate[eef_state]: left_x=0.4279 left_y=-0.2853 left_z=0.1379 left_yaw=-1.5735 left_pitch=-0.0407 left_roll=0.0068 left_gripper=0.0722 right_x=0.4362 right_y=0.2211 right_z=0.1373 right_yaw=1.4905 right_pitch=-0.0176 right_roll=-0.0767 right_gripper=0.0729\nstate[joint_eff]: [-0.4855, -10.9197, 9.4427, 1.2381, 0.315, -0.0855, 0.8913, -0.335, -11.3436, 6.2427, 0.9158, -0.4957, -0.0171, 0.8474]",
      "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]: [-0.3393, 2.1948, 1.8282, -0.7723, 0.8677, 1.0176, 0.0748, 0.1658, 2.085, 1.6665, -0.7486, -0.936, -1.1816, 0.075]\nstate[eef_state]: left_x=0.4293 left_y=-0.2906 left_z=0.1272 left_yaw=-1.5657 left_pitch=-0.0569 left_roll=-0.0091 left_gripper=0.0748 right_x=0.4362 right_y=0.2208 right_z=0.1365 right_yaw=1.4909 right_pitch=-0.0204 right_roll=-0.078 right_gripper=0.075\nstate[joint_eff]: [-0.2803, -12.6017, 9.265, 1.1453, 0.525, -0.0708, 0.6569, -0.253, -11.2889, 6.3385, 0.9255, -0.5153, 0.0171, 0.6716]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:519cdeba8e8cbbb0c017df7492e4b13d6797166211c26bcb82a5911f242e00b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2cc9015b3f5e5651d7d36eba8e68ae9280d708c7322f5a0f1d457253feb9b29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8906f6564989b900662a48a928ad56f44f48d53da6c2a46910ff17470beee847",
        "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_01S2CLKqN9Zc636Q331WnW83",
      "input": {
        "note": "Left arm stalled ~2 cm short with the pen tip right at the left jaws, suggesting the cap is contacting the pen tip. Pushing a bit harder and correcting the height sag to seat the cap.",
        "targets": {
          "left_x": 0.436,
          "left_y": -0.33,
          "left_yaw": -1.57,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01S2CLKqN9Zc636Q331WnW83",
      "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]: [-0.3393, 2.1948, 1.8282, -0.7723, 0.8677, 1.018, 0.0742, 0.1658, 2.085, 1.6665, -0.7483, -0.9356, -1.1816, 0.0747]\nstate[eef_state]: left_x=0.4293 left_y=-0.2906 left_z=0.1272 left_yaw=-1.5659 left_pitch=-0.0569 left_roll=-0.0088 left_gripper=0.0742 right_x=0.4363 right_y=0.2208 right_z=0.1365 right_yaw=1.4907 right_pitch=-0.0207 right_roll=-0.0785 right_gripper=0.0747\nstate[joint_eff]: [-0.3214, -12.6154, 9.1009, 1.1306, 0.4957, -0.0757, 0.3639, -0.253, -11.494, 6.3658, 0.8913, -0.4908, -0.0269, 0.3932]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aae8674d918c719a75e9b248c764353d5dedf89defe19cb9fa1d213aec837fa0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffc326528ede9614774f4f2a0861c8ea85ab899398be15cdff8f2d4e93594fcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e2f3b3179f145af5525aeabafb6c47bb2ef16565a6e0a969bb75caa923c1d05f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /messages · status 200 · 15.62 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.326, 2.1735, 1.8271, -0.791, 0.886, 1.042, 0.0722, 0.1658, 2.0846, 1.6672, -0.7483, -0.9386, -1.179, 0.0729]\nstate[eef_state]: left_x=0.4279 left_y=-0.2853 left_z=0.1379 left_yaw=-1.5735 left_pitch=-0.0407 left_roll=0.0068 left_gripper=0.0722 right_x=0.4362 right_y=0.2211 right_z=0.1373 right_yaw=1.4905 right_pitch=-0.0176 right_roll=-0.0767 right_gripper=0.0729\nstate[joint_eff]: [-0.4855, -10.9197, 9.4427, 1.2381, 0.315, -0.0855, 0.8913, -0.335, -11.3436, 6.2427, 0.9158, -0.4957, -0.0171, 0.8474]",
      "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]: [-0.3393, 2.1948, 1.8282, -0.7723, 0.8677, 1.0176, 0.0748, 0.1658, 2.085, 1.6665, -0.7486, -0.936, -1.1816, 0.075]\nstate[eef_state]: left_x=0.4293 left_y=-0.2906 left_z=0.1272 left_yaw=-1.5657 left_pitch=-0.0569 left_roll=-0.0091 left_gripper=0.0748 right_x=0.4362 right_y=0.2208 right_z=0.1365 right_yaw=1.4909 right_pitch=-0.0204 right_roll=-0.078 right_gripper=0.075\nstate[joint_eff]: [-0.2803, -12.6017, 9.265, 1.1453, 0.525, -0.0708, 0.6569, -0.253, -11.2889, 6.3385, 0.9255, -0.5153, 0.0171, 0.6716]",
      "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]: [-0.3393, 2.1948, 1.8282, -0.7723, 0.8677, 1.018, 0.0742, 0.1658, 2.085, 1.6665, -0.7483, -0.9356, -1.1816, 0.0747]\nstate[eef_state]: left_x=0.4293 left_y=-0.2906 left_z=0.1272 left_yaw=-1.5659 left_pitch=-0.0569 left_roll=-0.0088 left_gripper=0.0742 right_x=0.4363 right_y=0.2208 right_z=0.1365 right_yaw=1.4907 right_pitch=-0.0207 right_roll=-0.0785 right_gripper=0.0747\nstate[joint_eff]: [-0.3214, -12.6154, 9.1009, 1.1306, 0.4957, -0.0757, 0.3639, -0.253, -11.494, 6.3658, 0.8913, -0.4908, -0.0269, 0.3932]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aae8674d918c719a75e9b248c764353d5dedf89defe19cb9fa1d213aec837fa0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffc326528ede9614774f4f2a0861c8ea85ab899398be15cdff8f2d4e93594fcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2f3b3179f145af5525aeabafb6c47bb2ef16565a6e0a969bb75caa923c1d05f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSowkKEAgSGAI4AUIIdGhpbmtpbmcSDOE9WfgBkYA8YTYmFBoMd+47/aU7En6Sl5juIjDTWnUzoOzsQRQPEkQvcaLhLtnnSzHBtdgqzMlPWJQgECNHf/22p4rWtWntDQF4j5gqwAjSsV6w1F4gd3hnTkAZOMh6YBDfjV5GZU29iIH6QT4Z/N3PLdQeQJjlu0oQ7IPFRvzyqvah6y+NmR3U6G18HNBQAIttfsJfM+IMNkybEVtmRhNqp7sEQ5DQKyc58FdR09IFG0L9iuYsN5sOLCNXe4Ao5NYEpJlxidrdZpkKj2r9h8ZUxhlduWRozFUypzPwNPVImYTwcEcVCl1aoiIDwq2OleyWs6Z5Ehmf1qiUYVVoxNMhsiHFHFFju5ah0S8lmVY1AJPnkhsPNN82C3kDRhD4UCwBQmBo3mRbNxV9Ddk05by4IamYEXXyFmwLgHJzjzYnbNvMaG0ok8VcVBM7AmI0yFl+27ThuGgX9tWO8G2CtvybO0Ukt6urLl824VVjIrlV157pJQjeUkC9dpoyvUvRWEwecWYK+RMGaM/Wtws2Lxh3TF8N+eBLIeo1a06o85FxP2RPh8FfBos+h2XTLnUrbmVPd8b7ywk8jLlEedQnNCr9a3QNSFEKagbChxhFyNm2XisitWQrGfaoseurpn+FFAG22UxVCjLsgqYHVH8zpOp/v6DW/+hzx8NJaJX4wg1Ovix4lOKw0SbvYroGc8sSLorWAdDnaSVMLdgWqCA8qFtWbAQUAKm47Lm2CveCgAUMPasinT1UKzrLm0rfLhceMPmB+1riTB2Lw8A7kGCR2JrqzIu99N2IfjblsLTuhXyk2zdaWasJhv7xaoI9uHs9aEtiuJZIoYuxVcaaXbJ0vH9ldgkLoOSVkCIiGWmjb/qKR0uZ/E++XNE3SGs2Ai+yDLV6J/mb6lwNu9Qo/xuri45UVbUB5ynQSfcixzgpKY7CP7ug8DftWQw/kgMbe9XHrlNZX4pBD8pXJSoHj+twfdxzogcQNfBvwLvPDhvJCmBNQ+YGQKB0SOUyyi+i1zBbGoiRLs6NK8mnHHsY4Tmb/lh77Gd3OTdxX+Z/3xjBrs+Xs8y+8uxwfFSO4RMweB8hNDRZx1NksjtzVsWxMKtwdO5KkVQzwG0rEMmVchQHM92S6SWoIcUgoT8ZKsb9GMv8ghPg9tRq0RgEDHr+Ux0eKlqyNStMTxJXJDHyN5wp5AUozzYZh8vW2ROLRBmNBpmMZlmMkIurmSFDcpKMTCGanMw1l931f8vFibpyIgY6uVWTJwnwcID/c9khJIn0FzR32/F2gn0RiCWl5cNhJ6jL2lsRzMgEZQwmHmeaFOPjOqX71si3Bs3knvz3dG5QlO2YbGagua6sZDp4boBHiI2UrPwSM1WsDMRzpMSYHbmL7xiki+9R8e92Avx/wO2TFr38gaZyNr1D3BnDb0xUScN8eZIFdATT3rs6YphO088zL+IpZ6gAjjFOFG7sur2BkEgmhCaL7+DYb4CcWfpM3BKTfE/IkYFIkEco8RlRBmQtZcJS9E0xpwFx8Kduu81u3UkaUZhLINLPjNS7F515oPUFUBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ubkh3op9QRh7yipD5PjVb5",
      "input": {
        "note": "Left arm is at a kinematic limit (no joint motion at all), so instead pushing the pen 2.5 cm leftward into the cap with the right arm, matching the left arm's x.",
        "targets": {
          "right_x": 0.431,
          "right_y": 0.245,
          "right_yaw": 1.49,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Ubkh3op9QRh7yipD5PjVb5",
      "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]: [-0.3389, 2.1948, 1.8282, -0.7719, 0.8677, 1.018, 0.0768, 0.207, 2.0846, 1.6466, -0.7055, -0.9119, -1.132, 0.0775]\nstate[eef_state]: left_x=0.4295 left_y=-0.2905 left_z=0.1272 left_yaw=-1.5655 left_pitch=-0.0568 left_roll=-0.0084 left_gripper=0.0768 right_x=0.4314 right_y=0.237 right_z=0.1303 right_yaw=1.4954 right_pitch=-0.0342 right_roll=-0.0652 right_gripper=0.0775\nstate[joint_eff]: [-0.0479, -12.6154, 9.2376, 1.1648, 0.5495, -0.0513, 0.5299, 0.4991, -13.1214, 6.1744, 1.0574, -0.4713, 0.1392, 0.5641]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:133b67c4e5e729821cd5f68470d42d3b99d61918aca7e1f72137ecf79389b4b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f819c8129e049abe360987a3e51a8a2ca5d65b4c8ba19f0f49364e5a913552fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2af77537beafff0de709a498f33f61e1c4450666243db3a905369d2ac422d32d",
        "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 · 4.955 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3393, 2.1948, 1.8282, -0.7723, 0.8677, 1.0176, 0.0748, 0.1658, 2.085, 1.6665, -0.7486, -0.936, -1.1816, 0.075]\nstate[eef_state]: left_x=0.4293 left_y=-0.2906 left_z=0.1272 left_yaw=-1.5657 left_pitch=-0.0569 left_roll=-0.0091 left_gripper=0.0748 right_x=0.4362 right_y=0.2208 right_z=0.1365 right_yaw=1.4909 right_pitch=-0.0204 right_roll=-0.078 right_gripper=0.075\nstate[joint_eff]: [-0.2803, -12.6017, 9.265, 1.1453, 0.525, -0.0708, 0.6569, -0.253, -11.2889, 6.3385, 0.9255, -0.5153, 0.0171, 0.6716]",
      "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]: [-0.3393, 2.1948, 1.8282, -0.7723, 0.8677, 1.018, 0.0742, 0.1658, 2.085, 1.6665, -0.7483, -0.9356, -1.1816, 0.0747]\nstate[eef_state]: left_x=0.4293 left_y=-0.2906 left_z=0.1272 left_yaw=-1.5659 left_pitch=-0.0569 left_roll=-0.0088 left_gripper=0.0742 right_x=0.4363 right_y=0.2208 right_z=0.1365 right_yaw=1.4907 right_pitch=-0.0207 right_roll=-0.0785 right_gripper=0.0747\nstate[joint_eff]: [-0.3214, -12.6154, 9.1009, 1.1306, 0.4957, -0.0757, 0.3639, -0.253, -11.494, 6.3658, 0.8913, -0.4908, -0.0269, 0.3932]",
      "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]: [-0.3389, 2.1948, 1.8282, -0.7719, 0.8677, 1.018, 0.0768, 0.207, 2.0846, 1.6466, -0.7055, -0.9119, -1.132, 0.0775]\nstate[eef_state]: left_x=0.4295 left_y=-0.2905 left_z=0.1272 left_yaw=-1.5655 left_pitch=-0.0568 left_roll=-0.0084 left_gripper=0.0768 right_x=0.4314 right_y=0.237 right_z=0.1303 right_yaw=1.4954 right_pitch=-0.0342 right_roll=-0.0652 right_gripper=0.0775\nstate[joint_eff]: [-0.0479, -12.6154, 9.2376, 1.1648, 0.5495, -0.0513, 0.5299, 0.4991, -13.1214, 6.1744, 1.0574, -0.4713, 0.1392, 0.5641]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:133b67c4e5e729821cd5f68470d42d3b99d61918aca7e1f72137ecf79389b4b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f819c8129e049abe360987a3e51a8a2ca5d65b4c8ba19f0f49364e5a913552fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2af77537beafff0de709a498f33f61e1c4450666243db3a905369d2ac422d32d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TKsGAErvU58oh8UhQfMVwa",
      "input": {
        "note": "Pen tip is now right at the left jaws; pushing another ~2 cm to seat it into the cap held there.",
        "targets": {
          "right_x": 0.431,
          "right_y": 0.26,
          "right_yaw": 1.49,
          "right_z": 0.135
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01TKsGAErvU58oh8UhQfMVwa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3393, 2.1948, 1.8278, -0.7742, 0.8665, 1.018, 0.0774, 0.2417, 2.0846, 1.6432, -0.6853, -0.8967, -1.0908, 0.077]\nstate[eef_state]: left_x=0.429 left_y=-0.2904 left_z=0.1268 left_yaw=-1.5656 left_pitch=-0.0586 left_roll=-0.0106 left_gripper=0.0774 right_x=0.4267 right_y=0.251 right_z=0.1288 right_yaw=1.5011 right_pitch=-0.0417 right_roll=-0.0512 right_gripper=0.077\nstate[joint_eff]: [-0.2256, -12.3556, 6.3521, 0.9304, 0.359, -0.0122, 0.7009, 1.1556, -11.6171, 7.2684, 1.1941, -0.5201, 0.1734, 0.6813]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06096f927a977796cb01cde2b910c4254f2aa84d324c6ab90604ca8e122782fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fde22eb6a6614271eef3196e0f763d4e9f427404eda9947cfa1f56c523e3dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e2a46650ed547155433d9790692a74c4326db79246a0166c8c82e55bfb7e204",
        "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 · 5.59 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3393, 2.1948, 1.8282, -0.7723, 0.8677, 1.018, 0.0742, 0.1658, 2.085, 1.6665, -0.7483, -0.9356, -1.1816, 0.0747]\nstate[eef_state]: left_x=0.4293 left_y=-0.2906 left_z=0.1272 left_yaw=-1.5659 left_pitch=-0.0569 left_roll=-0.0088 left_gripper=0.0742 right_x=0.4363 right_y=0.2208 right_z=0.1365 right_yaw=1.4907 right_pitch=-0.0207 right_roll=-0.0785 right_gripper=0.0747\nstate[joint_eff]: [-0.3214, -12.6154, 9.1009, 1.1306, 0.4957, -0.0757, 0.3639, -0.253, -11.494, 6.3658, 0.8913, -0.4908, -0.0269, 0.3932]",
      "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]: [-0.3389, 2.1948, 1.8282, -0.7719, 0.8677, 1.018, 0.0768, 0.207, 2.0846, 1.6466, -0.7055, -0.9119, -1.132, 0.0775]\nstate[eef_state]: left_x=0.4295 left_y=-0.2905 left_z=0.1272 left_yaw=-1.5655 left_pitch=-0.0568 left_roll=-0.0084 left_gripper=0.0768 right_x=0.4314 right_y=0.237 right_z=0.1303 right_yaw=1.4954 right_pitch=-0.0342 right_roll=-0.0652 right_gripper=0.0775\nstate[joint_eff]: [-0.0479, -12.6154, 9.2376, 1.1648, 0.5495, -0.0513, 0.5299, 0.4991, -13.1214, 6.1744, 1.0574, -0.4713, 0.1392, 0.5641]\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]: [-0.3393, 2.1948, 1.8278, -0.7742, 0.8665, 1.018, 0.0774, 0.2417, 2.0846, 1.6432, -0.6853, -0.8967, -1.0908, 0.077]\nstate[eef_state]: left_x=0.429 left_y=-0.2904 left_z=0.1268 left_yaw=-1.5656 left_pitch=-0.0586 left_roll=-0.0106 left_gripper=0.0774 right_x=0.4267 right_y=0.251 right_z=0.1288 right_yaw=1.5011 right_pitch=-0.0417 right_roll=-0.0512 right_gripper=0.077\nstate[joint_eff]: [-0.2256, -12.3556, 6.3521, 0.9304, 0.359, -0.0122, 0.7009, 1.1556, -11.6171, 7.2684, 1.1941, -0.5201, 0.1734, 0.6813]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06096f927a977796cb01cde2b910c4254f2aa84d324c6ab90604ca8e122782fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fde22eb6a6614271eef3196e0f763d4e9f427404eda9947cfa1f56c523e3dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e2a46650ed547155433d9790692a74c4326db79246a0166c8c82e55bfb7e204",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvAkKEAgSGAI4AUIIdGhpbmtpbmcSDIu7aAtKaOnq4rvO5hoMq4dMH7mEhm/jzoFYIjAHefPUBrqOLOFHg0x4P1uzRQKatV3Br11T2rGmB2PLT7Rl98VvYVmj8/hWoVw/u1sq2Qgj1vI9FAge84mT/t4NLMwr++n/JuHWWw20nghjB70j072dqEnD3Pz7T/RxlI7xu1n+FuenqeJo9T6fA0pKxxwRiBm7x1VhPKOc2gNQGvMVvAWohwOwhyag1HMOLVJ59daMjr5x28Og3x72vGNrgUqgZGW7IbBqiffNTr5rbkg/VMydaVVkz4V5cx10CRlWwA8abtDGTJnzhjKO9M80Tr0msd638+0NYw94Jas8hyCMidGCUSGVE+xSVTGkU7E+1hlnC3i7nE9Eb3h+8cm5MBMUUArIpjj0KRKiuKDIrJJzkfwm9/8wlTx1cDtNBAyKUCKG8s711sVCw32MTiIELW4zEVz6suVrMJEoT5zo3wmSJ70w5s/TkNHZlu8eNrImlMbJsBvV/kwrDsBPCx6SMXRsbCCoNAS5wrgNdzU9tDGkUL086MEempJZ8IiOLkuZ8JftZA+TUMSG8smnWe/lLM9+bYgDbC3kus4L963odQ8WvOcQTgs+KY5SvIM3CoOlkPIhM+axmhb2VSZibA/w4jhmZJXNj7Zeel/DxJRuW5EMHJy+YxXRIZ7YyXgpdXCXXIhZ5o8Kj1awHH9jJxTR80sjms/DF/Au5WQGmtQa3BPdCoNNByCTRpkDv1Q24/HPPiVaW7b1F9/jGGtqnr8vYsJxMZ38hlSWcOLd2U+bxmqMQk+g7bJ+MisJ5d5yDnRkVKrTamRH0SWqMrDMGBGP9mZ6Ib4GCUMTDCVwk3bPsCm0bCXr4E0g5yI7Tz5O6tXQjXDhXhMI5I57+1cTN19/oDxSuFNGXs+B3er8/19yhgVcd7KvorEwJeAzagrmtyp/yxaHyIwUtTY+tmGbF9ZIro5LsOUf3JppzCjct0dzlmybayy3BEDj/9Q0u5Irey4ueEP2lGkX1GN9fGLqHHMJ4zV0x9g2pplg6AJtpK4Cw+UYukk+uz+zGBZreU+JJL95V0JMYASc5qnLPCE7RLmc7Q7t7PlN8GLhx0K/maiRG56jS3iLl5scUviPYzyWmdbPDvtNLOSgHSHjhi9RceFig8V1eHRskSiITTgYLvsdH442zRmKHfsO5siPEWLf31NFleHhffu3oLlYBmaaKf14ntSFgo4F04Rt6YjGuqy2rVQGN8aS2p11sxsWxp7R/bJrusQtnFPl5zMJ3om8MRCeD2+9YraZdI2nulzH5oemy4VKr67Q1G87+ttyTIFH4ud7Qep+BJ1iNRpcwn7EENjGs7Am284QAjmPA/woLrqsDvhgUv0JSiJS0qd+daB2JHUfLosBvVzXkJM5Rw3JS/Ywux9+fxamM9LfwtzER+SwjdRhA6mN+kpeps7xA//dOnrmHehtoxP2cF6K9DpslHNYqwjgJ2UIsWG1/AuWhxBTSoUqKGPTyokc2ZmF5KNo+LNInUcbRhagRFXwAGVKDMr/L/ig2m2PJbQXJwp8WW22pxX3jNRiJGKJ2z9DvGtZlbEmmegZ9NgdoaJ7IjcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BmrGR7D2Npf5vR2kmJURVp",
      "input": {
        "note": "Pen is pushed as far as it goes into the left jaws; releasing the cap so it stays on the pen, then I'll check whether it's seated.",
        "targets": {
          "left_gripper": 0.6
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01BmrGR7D2Npf5vR2kmJURVp",
      "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]: [-0.3389, 2.1948, 1.8278, -0.775, 0.8619, 1.0107, 0.5957, 0.2436, 2.0846, 1.6432, -0.68, -0.8837, -1.0882, 0.0771]\nstate[eef_state]: left_x=0.4295 left_y=-0.2898 left_z=0.1262 left_yaw=-1.5593 left_pitch=-0.0628 left_roll=-0.0158 left_gripper=0.5957 right_x=0.4281 right_y=0.2508 right_z=0.1276 right_yaw=1.4956 right_pitch=-0.0511 right_roll=-0.0577 right_gripper=0.0771\nstate[joint_eff]: [-0.1026, -12.2598, 6.3385, 0.9304, 0.359, 0.0122, -0.1636, 0.0889, -11.5761, 6.2427, 0.9646, -0.6032, -0.0366, 0.7253]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3a83d45e4d70e5ea61074099ebeef62fb03e99cb74b67f2dc384349282428a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b9b4f7af21c7f3081bfa38da1884ee0b17200a1363b487829314c3c280d9388",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0125bdfe1eb5b6e34f6973f80a75140647adcb61a9e928d98ed99d4ca0225a5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 15.46 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3389, 2.1948, 1.8282, -0.7719, 0.8677, 1.018, 0.0768, 0.207, 2.0846, 1.6466, -0.7055, -0.9119, -1.132, 0.0775]\nstate[eef_state]: left_x=0.4295 left_y=-0.2905 left_z=0.1272 left_yaw=-1.5655 left_pitch=-0.0568 left_roll=-0.0084 left_gripper=0.0768 right_x=0.4314 right_y=0.237 right_z=0.1303 right_yaw=1.4954 right_pitch=-0.0342 right_roll=-0.0652 right_gripper=0.0775\nstate[joint_eff]: [-0.0479, -12.6154, 9.2376, 1.1648, 0.5495, -0.0513, 0.5299, 0.4991, -13.1214, 6.1744, 1.0574, -0.4713, 0.1392, 0.5641]\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]: [-0.3393, 2.1948, 1.8278, -0.7742, 0.8665, 1.018, 0.0774, 0.2417, 2.0846, 1.6432, -0.6853, -0.8967, -1.0908, 0.077]\nstate[eef_state]: left_x=0.429 left_y=-0.2904 left_z=0.1268 left_yaw=-1.5656 left_pitch=-0.0586 left_roll=-0.0106 left_gripper=0.0774 right_x=0.4267 right_y=0.251 right_z=0.1288 right_yaw=1.5011 right_pitch=-0.0417 right_roll=-0.0512 right_gripper=0.077\nstate[joint_eff]: [-0.2256, -12.3556, 6.3521, 0.9304, 0.359, -0.0122, 0.7009, 1.1556, -11.6171, 7.2684, 1.1941, -0.5201, 0.1734, 0.6813]",
      "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]: [-0.3389, 2.1948, 1.8278, -0.775, 0.8619, 1.0107, 0.5957, 0.2436, 2.0846, 1.6432, -0.68, -0.8837, -1.0882, 0.0771]\nstate[eef_state]: left_x=0.4295 left_y=-0.2898 left_z=0.1262 left_yaw=-1.5593 left_pitch=-0.0628 left_roll=-0.0158 left_gripper=0.5957 right_x=0.4281 right_y=0.2508 right_z=0.1276 right_yaw=1.4956 right_pitch=-0.0511 right_roll=-0.0577 right_gripper=0.0771\nstate[joint_eff]: [-0.1026, -12.2598, 6.3385, 0.9304, 0.359, 0.0122, -0.1636, 0.0889, -11.5761, 6.2427, 0.9646, -0.6032, -0.0366, 0.7253]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3a83d45e4d70e5ea61074099ebeef62fb03e99cb74b67f2dc384349282428a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b9b4f7af21c7f3081bfa38da1884ee0b17200a1363b487829314c3c280d9388",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0125bdfe1eb5b6e34f6973f80a75140647adcb61a9e928d98ed99d4ca0225a5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqgoKEAgSGAI4AUIIdGhpbmtpbmcSDI8VNj0IRl/FCKrdUhoMZhJUxMZr3R8WEzsfIjBEd01G6Yis8mfOGhaPPSOfRDWZeKJQlqRe3if267iG2UchvfmZ3sUbgRUJ5qJCzn8qxwn08cnXVccNG2i7EhfTCpe+7QHeDyJnKKgFmycW6tY05XyfyVNPpE+28OUqrypN8FDNRhPSjqNg2oLEBJrLplDOTgrwCuaJGjHmsBPUh0tnx8/BgtQ8PLHbML8G1rkNOnUu5dyGx4Wg2Paq/NdW8yugyUi7oDezz5tJb07mnSNO3aHJbaWhca0BGYBKfDAnaBsr4X6DCp9Xp0G0I5uTiRsUjiDqkTAW8HR+fGK69kfX/lVtLtiCbMzev63wDy6HjE0FqG+N15xOLgfA90/9WOuMmkEGacInt7MaT6l9h8f4FxuhqJ2bohKi3at6acKaINhNNOqJgVkRWWcR4dxtXO2M9BrQI0LSD24DpOkp9G3/un1gv2UaN4NnCd24xv9OlS/7r6GkfJJBKwbvGMw9Tiu7J0ZSYP10XnjFmk8RRA01r5pYDbBrnEsota6D0fwkaNuhWKFWr96RXorYG3q2Y1rBr+wksETMgY5UnYdDQ57BN3wTT7FaNVHFlR2WHPAJjbV2jwLj533TxYmMVTW0DoCXULLFrBmbhwQo1z/jjDF/jkjIUxgxKxfcDg9h4lydFWX8qFiWb6l0VbzsFCeTms6V+yb/2AUZwQhyJj54SmOzVyGxwwXH3iuDV2clko2dEgeKAoMRMLcvjADyb7HQbAI3OkD4xavpLHf9N3RzMXJIZscz9v5OBWj8uP/BKzUlwR6Q1JmzCjl1/1Yz2OVlhS0ezZr3/b70zPpCAn7BmKs8ZIKGZo5Iefj2szxjHQSTkpaEOlthSHNo7umH4/rGhhLz48mefnDfQvGPIuqgIqKXRCchiD8LxO+RLawlyPOj0NLA/NkJ9ZZlmXKwA1MHKfvxnx0jRA2q68Jry+01VLIP4zu2qNwPMiG/tGgpY+lQBtoJiAMUb7HG0sg8D6W5GgOs0Gvi+z6B2PuswGTzjZXIfbvsx4piajKwzuvsB39iWvG89J6f4XqXBajyCN/1L3To2/J5R+ekkuPGhKU6ib2WkLPn+OdjLStBcX3sPXTp+qQTEdpgeWJd7qc1KhxoeLbEYP5fsQ+WV797vt4B5JsS5VgoN+NgFTvb3nl3GJHrCsKLBoN4MWOn6tjrXdrmW0zsDxVksf4iZ+5S/Dxeqno9OpWHb54n2vhLiCSOmWkGv5IcJIh/DvPtNdi2Y6NEZIUH0R5H1chcNdAyazAUw8k+yS2slW3WB/du+I5ivnS/dHpDDfgBzmQtlrlMceDmo8sZDLdYOrICXuOncjGXzcu1TNqZjq+5hToDQbUNR5/7T4iF42Q0Ed/tGhQHniAyR4GmblAHIL9MxysJo5PmcjpQqIncOTjT3LNNZblKbHV1MeB8/E8WfAfr6MrkUSUSvoo1+9rhK62K+hKu14bQ/MgKeGYk6J8xkjjBLKdJxnE8mYGV3yI2hM9Y752aExknxc+OBBLDSUuCAQPS/mPNTlokzsgtknblsL7HyZt89D6PrwasKF92iDBWb3+HxqNiXStqIo5Sv+NdShYdfBhlM2eBzpIhYvzU6Mr57LAwbNL42EaKFQeRYEx2+uUdwqQf4wJv15kq/WN6XEj9w0lVpXbA8j57eyp/q5wIxidqd+9VDP4/Mr+lBIYn5XFVFc1r7X2kclG13C7HHhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016qgbZ4qJAFVtjeSg17dpLy",
      "input": {
        "note": "Left jaws opened; a small object is visible near the pen tip in the right camera. Moving the left arm away to inspect whether the cap stayed on the pen.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.2,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_016qgbZ4qJAFVtjeSg17dpLy",
      "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]: [-0.1864, 1.8664, 1.6112, -1.0412, 0.8764, 1.2022, 0.5963, 0.2436, 2.085, 1.6432, -0.6792, -0.8822, -1.0885, 0.0796]\nstate[eef_state]: left_x=0.3672 left_y=-0.2037 left_z=0.1846 left_yaw=-1.5276 left_pitch=-0.0929 left_roll=-0.0152 left_gripper=0.5963 right_x=0.4284 right_y=0.2507 right_z=0.1273 right_yaw=1.4951 right_pitch=-0.0523 right_roll=-0.0588 right_gripper=0.0796\nstate[joint_eff]: [0.4581, -11.7538, 5.8735, 0.6618, 0.7546, 0.2076, 0.0513, 0.0889, -11.3846, 6.2838, 0.9939, -0.4225, -0.0562, 0.5836]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76ad3100ee9a99dc84e5eb0052fbbb3a6c974270e297e4f421c9fc89e8308f2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5cd0abab2e345f7a808f039ffea7b7c42841784bdaa970de7cb411a1a232753",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:027eba0590eefe9c1ab4cb49e80c759933aa23cd6c355665a671ae443b1db859",
        "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 · 8.48 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3393, 2.1948, 1.8278, -0.7742, 0.8665, 1.018, 0.0774, 0.2417, 2.0846, 1.6432, -0.6853, -0.8967, -1.0908, 0.077]\nstate[eef_state]: left_x=0.429 left_y=-0.2904 left_z=0.1268 left_yaw=-1.5656 left_pitch=-0.0586 left_roll=-0.0106 left_gripper=0.0774 right_x=0.4267 right_y=0.251 right_z=0.1288 right_yaw=1.5011 right_pitch=-0.0417 right_roll=-0.0512 right_gripper=0.077\nstate[joint_eff]: [-0.2256, -12.3556, 6.3521, 0.9304, 0.359, -0.0122, 0.7009, 1.1556, -11.6171, 7.2684, 1.1941, -0.5201, 0.1734, 0.6813]",
      "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]: [-0.3389, 2.1948, 1.8278, -0.775, 0.8619, 1.0107, 0.5957, 0.2436, 2.0846, 1.6432, -0.68, -0.8837, -1.0882, 0.0771]\nstate[eef_state]: left_x=0.4295 left_y=-0.2898 left_z=0.1262 left_yaw=-1.5593 left_pitch=-0.0628 left_roll=-0.0158 left_gripper=0.5957 right_x=0.4281 right_y=0.2508 right_z=0.1276 right_yaw=1.4956 right_pitch=-0.0511 right_roll=-0.0577 right_gripper=0.0771\nstate[joint_eff]: [-0.1026, -12.2598, 6.3385, 0.9304, 0.359, 0.0122, -0.1636, 0.0889, -11.5761, 6.2427, 0.9646, -0.6032, -0.0366, 0.7253]",
      "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]: [-0.1864, 1.8664, 1.6112, -1.0412, 0.8764, 1.2022, 0.5963, 0.2436, 2.085, 1.6432, -0.6792, -0.8822, -1.0885, 0.0796]\nstate[eef_state]: left_x=0.3672 left_y=-0.2037 left_z=0.1846 left_yaw=-1.5276 left_pitch=-0.0929 left_roll=-0.0152 left_gripper=0.5963 right_x=0.4284 right_y=0.2507 right_z=0.1273 right_yaw=1.4951 right_pitch=-0.0523 right_roll=-0.0588 right_gripper=0.0796\nstate[joint_eff]: [0.4581, -11.7538, 5.8735, 0.6618, 0.7546, 0.2076, 0.0513, 0.0889, -11.3846, 6.2838, 0.9939, -0.4225, -0.0562, 0.5836]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76ad3100ee9a99dc84e5eb0052fbbb3a6c974270e297e4f421c9fc89e8308f2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5cd0abab2e345f7a808f039ffea7b7c42841784bdaa970de7cb411a1a232753",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:027eba0590eefe9c1ab4cb49e80c759933aa23cd6c355665a671ae443b1db859",
        "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_016xx5VyVEBTi1LbyveVrnCM",
      "input": {
        "note": "The cap fell to the table just ahead of the pen tip when I opened the left jaws (seen in right cam), so it wasn't seated. Pulling the pen back and bringing the open left gripper over the cap to regrasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.2,
          "left_x": 0.44,
          "left_y": -0.29,
          "left_yaw": -1.57,
          "left_z": 0.1,
          "right_y": 0.17,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016xx5VyVEBTi1LbyveVrnCM",
      "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]: [-0.2787, 2.2284, 1.5738, -0.4393, 1.0569, 0.931, 0.998, 0.0662, 2.0846, 1.718, -0.968, -0.9108, -1.3464, 0.0821]\nstate[eef_state]: left_x=0.4242 left_y=-0.2777 left_z=0.0801 left_yaw=-1.5411 left_pitch=0.1163 left_roll=-0.0954 left_gripper=0.998 right_x=0.4312 right_y=0.172 right_z=0.1368 right_yaw=1.479 right_pitch=-0.0816 right_roll=-0.0539 right_gripper=0.0821\nstate[joint_eff]: [-0.4718, -12.3145, 9.2513, 1.1648, 0.9206, 0.0171, 0.0366, -0.4034, -11.7265, 8.335, 0.5006, -0.7253, -0.0708, 0.2515]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53a4d1676b9c9f5dc034496f629a9e090a9603cc36ff31101d21d291d2feefd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:661f039d9c628b0b66215dc502dd00a7ea463b8fa071ffc8a3cc28e81f187a24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47d3bea5c25e6611ed3bee27485c5d08afe83d92e7909e6533681a1a2c456958",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 15.35 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3389, 2.1948, 1.8278, -0.775, 0.8619, 1.0107, 0.5957, 0.2436, 2.0846, 1.6432, -0.68, -0.8837, -1.0882, 0.0771]\nstate[eef_state]: left_x=0.4295 left_y=-0.2898 left_z=0.1262 left_yaw=-1.5593 left_pitch=-0.0628 left_roll=-0.0158 left_gripper=0.5957 right_x=0.4281 right_y=0.2508 right_z=0.1276 right_yaw=1.4956 right_pitch=-0.0511 right_roll=-0.0577 right_gripper=0.0771\nstate[joint_eff]: [-0.1026, -12.2598, 6.3385, 0.9304, 0.359, 0.0122, -0.1636, 0.0889, -11.5761, 6.2427, 0.9646, -0.6032, -0.0366, 0.7253]",
      "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]: [-0.1864, 1.8664, 1.6112, -1.0412, 0.8764, 1.2022, 0.5963, 0.2436, 2.085, 1.6432, -0.6792, -0.8822, -1.0885, 0.0796]\nstate[eef_state]: left_x=0.3672 left_y=-0.2037 left_z=0.1846 left_yaw=-1.5276 left_pitch=-0.0929 left_roll=-0.0152 left_gripper=0.5963 right_x=0.4284 right_y=0.2507 right_z=0.1273 right_yaw=1.4951 right_pitch=-0.0523 right_roll=-0.0588 right_gripper=0.0796\nstate[joint_eff]: [0.4581, -11.7538, 5.8735, 0.6618, 0.7546, 0.2076, 0.0513, 0.0889, -11.3846, 6.2838, 0.9939, -0.4225, -0.0562, 0.5836]",
      "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]: [-0.2787, 2.2284, 1.5738, -0.4393, 1.0569, 0.931, 0.998, 0.0662, 2.0846, 1.718, -0.968, -0.9108, -1.3464, 0.0821]\nstate[eef_state]: left_x=0.4242 left_y=-0.2777 left_z=0.0801 left_yaw=-1.5411 left_pitch=0.1163 left_roll=-0.0954 left_gripper=0.998 right_x=0.4312 right_y=0.172 right_z=0.1368 right_yaw=1.479 right_pitch=-0.0816 right_roll=-0.0539 right_gripper=0.0821\nstate[joint_eff]: [-0.4718, -12.3145, 9.2513, 1.1648, 0.9206, 0.0171, 0.0366, -0.4034, -11.7265, 8.335, 0.5006, -0.7253, -0.0708, 0.2515]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53a4d1676b9c9f5dc034496f629a9e090a9603cc36ff31101d21d291d2feefd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:661f039d9c628b0b66215dc502dd00a7ea463b8fa071ffc8a3cc28e81f187a24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47d3bea5c25e6611ed3bee27485c5d08afe83d92e7909e6533681a1a2c456958",
        "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_01PDT4HdoDDPtiKytvcCmHzo",
      "input": {
        "note": "No cap visible on the pen; it likely dropped straight below where the left jaws released. Descending the open left gripper to table level at that spot.",
        "targets": {
          "left_pitch": 0.25,
          "left_x": 0.43,
          "left_y": -0.285,
          "left_yaw": -1.57,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01PDT4HdoDDPtiKytvcCmHzo",
      "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]: [-0.2722, 2.4191, 1.5085, -0.1104, 1.161, 0.8829, 0.9983, 0.0631, 2.085, 1.7214, -0.9764, -0.9096, -1.3617, 0.0842]\nstate[eef_state]: left_x=0.4285 left_y=-0.2841 left_z=0.0102 left_yaw=-1.567 left_pitch=0.2218 left_roll=-0.096 left_gripper=0.9983 right_x=0.431 right_y=0.1705 right_z=0.1372 right_yaw=1.4842 right_pitch=-0.0838 right_roll=-0.0611 right_gripper=0.0842\nstate[joint_eff]: [0.2667, -10.2359, 5.012, 0.8083, 0.2173, -0.2662, 0.0269, 0.0342, -11.1248, 5.7778, 0.696, -0.525, 0.0904, 0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e05a0effd58267a3f084ba754420329a65f054a15a4fd8360deafe90eed70653",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7a1bc86cb7eb068b89e4021c49813112c0b337d3788306bb51d93a625312b56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f73ae3edb4d40a8f0ceb4731e0e07785a0601c8e8245e532733c79aa705a070",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 12.07 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1864, 1.8664, 1.6112, -1.0412, 0.8764, 1.2022, 0.5963, 0.2436, 2.085, 1.6432, -0.6792, -0.8822, -1.0885, 0.0796]\nstate[eef_state]: left_x=0.3672 left_y=-0.2037 left_z=0.1846 left_yaw=-1.5276 left_pitch=-0.0929 left_roll=-0.0152 left_gripper=0.5963 right_x=0.4284 right_y=0.2507 right_z=0.1273 right_yaw=1.4951 right_pitch=-0.0523 right_roll=-0.0588 right_gripper=0.0796\nstate[joint_eff]: [0.4581, -11.7538, 5.8735, 0.6618, 0.7546, 0.2076, 0.0513, 0.0889, -11.3846, 6.2838, 0.9939, -0.4225, -0.0562, 0.5836]",
      "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]: [-0.2787, 2.2284, 1.5738, -0.4393, 1.0569, 0.931, 0.998, 0.0662, 2.0846, 1.718, -0.968, -0.9108, -1.3464, 0.0821]\nstate[eef_state]: left_x=0.4242 left_y=-0.2777 left_z=0.0801 left_yaw=-1.5411 left_pitch=0.1163 left_roll=-0.0954 left_gripper=0.998 right_x=0.4312 right_y=0.172 right_z=0.1368 right_yaw=1.479 right_pitch=-0.0816 right_roll=-0.0539 right_gripper=0.0821\nstate[joint_eff]: [-0.4718, -12.3145, 9.2513, 1.1648, 0.9206, 0.0171, 0.0366, -0.4034, -11.7265, 8.335, 0.5006, -0.7253, -0.0708, 0.2515]",
      "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]: [-0.2722, 2.4191, 1.5085, -0.1104, 1.161, 0.8829, 0.9983, 0.0631, 2.085, 1.7214, -0.9764, -0.9096, -1.3617, 0.0842]\nstate[eef_state]: left_x=0.4285 left_y=-0.2841 left_z=0.0102 left_yaw=-1.567 left_pitch=0.2218 left_roll=-0.096 left_gripper=0.9983 right_x=0.431 right_y=0.1705 right_z=0.1372 right_yaw=1.4842 right_pitch=-0.0838 right_roll=-0.0611 right_gripper=0.0842\nstate[joint_eff]: [0.2667, -10.2359, 5.012, 0.8083, 0.2173, -0.2662, 0.0269, 0.0342, -11.1248, 5.7778, 0.696, -0.525, 0.0904, 0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e05a0effd58267a3f084ba754420329a65f054a15a4fd8360deafe90eed70653",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7a1bc86cb7eb068b89e4021c49813112c0b337d3788306bb51d93a625312b56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f73ae3edb4d40a8f0ceb4731e0e07785a0601c8e8245e532733c79aa705a070",
        "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_01KMJjTDAM9KHg69zryUULXh",
      "input": {
        "note": "Right wrist cam shows the dropped cap lying along x just forward of the left gripper's front finger. Lifting and turning the left jaws to close across it (yaw 0), heading forward.",
        "targets": {
          "left_pitch": 0.4,
          "left_x": 0.46,
          "left_y": -0.285,
          "left_yaw": 0.0,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KMJjTDAM9KHg69zryUULXh",
      "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]: [-0.7589, 2.2471, 0.9947, 1.0237, -0.3843, -0.1761, 0.9984, 0.0631, 2.0872, 1.7184, -0.9779, -0.9012, -1.3621, 0.0856]\nstate[eef_state]: left_x=0.4449 left_y=-0.3257 left_z=0.0512 left_yaw=-0.316 left_pitch=0.3569 left_roll=-0.0933 left_gripper=0.9984 right_x=0.4305 right_y=0.1696 right_z=0.1341 right_yaw=1.483 right_pitch=-0.0929 right_roll=-0.0558 right_gripper=0.0856\nstate[joint_eff]: [-0.1026, -9.894, 5.4359, 1.7509, -0.0415, -0.1685, -0.0073, -0.1983, -11.494, 6.2701, 0.5983, -0.6032, -0.0122, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8d5ddcf6529fe884c1cc7d5afb847d339cd7581f7ae9c34cd5d3fa46d869281",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7199a450d87cf345d9919fae007e0c7845ba6c91f90b19a03107816bd3f656c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd57c93bc66831083c107fc0708d581ae5dea9d4570382aaacdd23e91095717f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 8.692 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2787, 2.2284, 1.5738, -0.4393, 1.0569, 0.931, 0.998, 0.0662, 2.0846, 1.718, -0.968, -0.9108, -1.3464, 0.0821]\nstate[eef_state]: left_x=0.4242 left_y=-0.2777 left_z=0.0801 left_yaw=-1.5411 left_pitch=0.1163 left_roll=-0.0954 left_gripper=0.998 right_x=0.4312 right_y=0.172 right_z=0.1368 right_yaw=1.479 right_pitch=-0.0816 right_roll=-0.0539 right_gripper=0.0821\nstate[joint_eff]: [-0.4718, -12.3145, 9.2513, 1.1648, 0.9206, 0.0171, 0.0366, -0.4034, -11.7265, 8.335, 0.5006, -0.7253, -0.0708, 0.2515]",
      "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]: [-0.2722, 2.4191, 1.5085, -0.1104, 1.161, 0.8829, 0.9983, 0.0631, 2.085, 1.7214, -0.9764, -0.9096, -1.3617, 0.0842]\nstate[eef_state]: left_x=0.4285 left_y=-0.2841 left_z=0.0102 left_yaw=-1.567 left_pitch=0.2218 left_roll=-0.096 left_gripper=0.9983 right_x=0.431 right_y=0.1705 right_z=0.1372 right_yaw=1.4842 right_pitch=-0.0838 right_roll=-0.0611 right_gripper=0.0842\nstate[joint_eff]: [0.2667, -10.2359, 5.012, 0.8083, 0.2173, -0.2662, 0.0269, 0.0342, -11.1248, 5.7778, 0.696, -0.525, 0.0904, 0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7589, 2.2471, 0.9947, 1.0237, -0.3843, -0.1761, 0.9984, 0.0631, 2.0872, 1.7184, -0.9779, -0.9012, -1.3621, 0.0856]\nstate[eef_state]: left_x=0.4449 left_y=-0.3257 left_z=0.0512 left_yaw=-0.316 left_pitch=0.3569 left_roll=-0.0933 left_gripper=0.9984 right_x=0.4305 right_y=0.1696 right_z=0.1341 right_yaw=1.483 right_pitch=-0.0929 right_roll=-0.0558 right_gripper=0.0856\nstate[joint_eff]: [-0.1026, -9.894, 5.4359, 1.7509, -0.0415, -0.1685, -0.0073, -0.1983, -11.494, 6.2701, 0.5983, -0.6032, -0.0122, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8d5ddcf6529fe884c1cc7d5afb847d339cd7581f7ae9c34cd5d3fa46d869281",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7199a450d87cf345d9919fae007e0c7845ba6c91f90b19a03107816bd3f656c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd57c93bc66831083c107fc0708d581ae5dea9d4570382aaacdd23e91095717f",
        "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_01TaMhWoLGuzGGCqqCmxJkyc",
      "input": {
        "note": "The cap is visible on the table ahead of the left gripper (top cam ~(75,68), left cam shiny object ahead-right). Reaching forward with the tool tipped forward to get over it.",
        "targets": {
          "left_pitch": 0.6,
          "left_x": 0.5,
          "left_y": -0.34,
          "left_yaw": -0.3,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01TaMhWoLGuzGGCqqCmxJkyc",
      "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]: [-0.7467, 2.3497, 1.0344, 1.1046, -0.4103, -0.1738, 0.9984, 0.0631, 2.0872, 1.7184, -0.9779, -0.894, -1.3624, 0.087]\nstate[eef_state]: left_x=0.4559 left_y=-0.321 left_z=0.0297 left_yaw=-0.2787 left_pitch=0.3756 left_roll=-0.0939 left_gripper=0.9984 right_x=0.4307 right_y=0.1688 right_z=0.1331 right_yaw=1.4814 right_pitch=-0.0999 right_roll=-0.0572 right_gripper=0.087\nstate[joint_eff]: [-0.3761, -11.8496, 5.135, 2.127, 0.2222, 0.1929, -0.0122, -0.3624, -11.3026, 6.0786, 0.6178, -0.5543, -0.0122, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4eb6126be1a67d45491fa837aae94cd03135eab313b5c248045777b0e5ade4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5178d172af24de89af705e21285711761eda03b68046e2c709ce6c44d904d97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e39b373ad919fd403d56dd61980c66b517570dad2eaeee472111197fe8e103a",
        "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 · 5.835 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2722, 2.4191, 1.5085, -0.1104, 1.161, 0.8829, 0.9983, 0.0631, 2.085, 1.7214, -0.9764, -0.9096, -1.3617, 0.0842]\nstate[eef_state]: left_x=0.4285 left_y=-0.2841 left_z=0.0102 left_yaw=-1.567 left_pitch=0.2218 left_roll=-0.096 left_gripper=0.9983 right_x=0.431 right_y=0.1705 right_z=0.1372 right_yaw=1.4842 right_pitch=-0.0838 right_roll=-0.0611 right_gripper=0.0842\nstate[joint_eff]: [0.2667, -10.2359, 5.012, 0.8083, 0.2173, -0.2662, 0.0269, 0.0342, -11.1248, 5.7778, 0.696, -0.525, 0.0904, 0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7589, 2.2471, 0.9947, 1.0237, -0.3843, -0.1761, 0.9984, 0.0631, 2.0872, 1.7184, -0.9779, -0.9012, -1.3621, 0.0856]\nstate[eef_state]: left_x=0.4449 left_y=-0.3257 left_z=0.0512 left_yaw=-0.316 left_pitch=0.3569 left_roll=-0.0933 left_gripper=0.9984 right_x=0.4305 right_y=0.1696 right_z=0.1341 right_yaw=1.483 right_pitch=-0.0929 right_roll=-0.0558 right_gripper=0.0856\nstate[joint_eff]: [-0.1026, -9.894, 5.4359, 1.7509, -0.0415, -0.1685, -0.0073, -0.1983, -11.494, 6.2701, 0.5983, -0.6032, -0.0122, 0.1245]",
      "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]: [-0.7467, 2.3497, 1.0344, 1.1046, -0.4103, -0.1738, 0.9984, 0.0631, 2.0872, 1.7184, -0.9779, -0.894, -1.3624, 0.087]\nstate[eef_state]: left_x=0.4559 left_y=-0.321 left_z=0.0297 left_yaw=-0.2787 left_pitch=0.3756 left_roll=-0.0939 left_gripper=0.9984 right_x=0.4307 right_y=0.1688 right_z=0.1331 right_yaw=1.4814 right_pitch=-0.0999 right_roll=-0.0572 right_gripper=0.087\nstate[joint_eff]: [-0.3761, -11.8496, 5.135, 2.127, 0.2222, 0.1929, -0.0122, -0.3624, -11.3026, 6.0786, 0.6178, -0.5543, -0.0122, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4eb6126be1a67d45491fa837aae94cd03135eab313b5c248045777b0e5ade4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5178d172af24de89af705e21285711761eda03b68046e2c709ce6c44d904d97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e39b373ad919fd403d56dd61980c66b517570dad2eaeee472111197fe8e103a",
        "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_01E1r7WGUERybbtt6Y1iJ8yJ",
      "input": {
        "note": "Top camera shows the cap further forward-left of the left gripper (~x 0.52, y -0.25). Trying to stretch the left arm out to it with maximum forward tilt.",
        "targets": {
          "left_pitch": 0.6,
          "left_x": 0.52,
          "left_y": -0.25,
          "left_yaw": 0.0,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01E1r7WGUERybbtt6Y1iJ8yJ",
      "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]: [-0.6502, 2.5935, 1.2324, 1.4776, -0.5396, -0.0845, 0.9982, 0.0631, 2.0888, 1.718, -0.9787, -0.8909, -1.3621, 0.0885]\nstate[eef_state]: left_x=0.5151 left_y=-0.2733 left_z=0.0485 left_yaw=-0.0109 left_pitch=0.6639 left_roll=-0.1827 left_gripper=0.9982 right_x=0.4307 right_y=0.1685 right_z=0.132 right_yaw=1.4808 right_pitch=-0.1032 right_roll=-0.0546 right_gripper=0.0885\nstate[joint_eff]: [2.0991, -5.2308, 4.4376, 1.0281, -0.1148, 0.1294, -0.0269, -0.3487, -11.412, 6.2427, 0.5983, -0.5397, -0.0073, 0.1441]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:437d5d4d6fae569358ac30373e0286447f1998d46047cbdab70f11d668ef6101",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01246b444e4d9ae3c4d06f550e21fee99e9c98b52424031f27530c05dc8099e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:888166314bab7edb0ff6eed7f68127aa38a5121fe10db2d9a848b7d177472aa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 13.39 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7589, 2.2471, 0.9947, 1.0237, -0.3843, -0.1761, 0.9984, 0.0631, 2.0872, 1.7184, -0.9779, -0.9012, -1.3621, 0.0856]\nstate[eef_state]: left_x=0.4449 left_y=-0.3257 left_z=0.0512 left_yaw=-0.316 left_pitch=0.3569 left_roll=-0.0933 left_gripper=0.9984 right_x=0.4305 right_y=0.1696 right_z=0.1341 right_yaw=1.483 right_pitch=-0.0929 right_roll=-0.0558 right_gripper=0.0856\nstate[joint_eff]: [-0.1026, -9.894, 5.4359, 1.7509, -0.0415, -0.1685, -0.0073, -0.1983, -11.494, 6.2701, 0.5983, -0.6032, -0.0122, 0.1245]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7467, 2.3497, 1.0344, 1.1046, -0.4103, -0.1738, 0.9984, 0.0631, 2.0872, 1.7184, -0.9779, -0.894, -1.3624, 0.087]\nstate[eef_state]: left_x=0.4559 left_y=-0.321 left_z=0.0297 left_yaw=-0.2787 left_pitch=0.3756 left_roll=-0.0939 left_gripper=0.9984 right_x=0.4307 right_y=0.1688 right_z=0.1331 right_yaw=1.4814 right_pitch=-0.0999 right_roll=-0.0572 right_gripper=0.087\nstate[joint_eff]: [-0.3761, -11.8496, 5.135, 2.127, 0.2222, 0.1929, -0.0122, -0.3624, -11.3026, 6.0786, 0.6178, -0.5543, -0.0122, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6502, 2.5935, 1.2324, 1.4776, -0.5396, -0.0845, 0.9982, 0.0631, 2.0888, 1.718, -0.9787, -0.8909, -1.3621, 0.0885]\nstate[eef_state]: left_x=0.5151 left_y=-0.2733 left_z=0.0485 left_yaw=-0.0109 left_pitch=0.6639 left_roll=-0.1827 left_gripper=0.9982 right_x=0.4307 right_y=0.1685 right_z=0.132 right_yaw=1.4808 right_pitch=-0.1032 right_roll=-0.0546 right_gripper=0.0885\nstate[joint_eff]: [2.0991, -5.2308, 4.4376, 1.0281, -0.1148, 0.1294, -0.0269, -0.3487, -11.412, 6.2427, 0.5983, -0.5397, -0.0073, 0.1441]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:437d5d4d6fae569358ac30373e0286447f1998d46047cbdab70f11d668ef6101",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01246b444e4d9ae3c4d06f550e21fee99e9c98b52424031f27530c05dc8099e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:888166314bab7edb0ff6eed7f68127aa38a5121fe10db2d9a848b7d177472aa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSmQkKEAgSGAI4AUIIdGhpbmtpbmcSDMmACZyS6Col3Xb5VRoMaNN89Gwm9iT7gW1mIjDQu8QzUdKfjvxlgqaCeEP5WgAJwY9ZPY1QfwBS485uhch0CgGEM3iXVtC1tHzJJVYqtgiLqOTK4pxPg/YU9IObDsWB7yN4woIXOqsjA2T/spqF35eizihfM8LGHjfwGh7hwnFGw3PZDMKZEJ6MJZcnRmH/dAlMhUgon4yycbqyG0FtVkoBqnjeutRBSI+7wI7GPlr0qiErFT234iWVrp+wN2bqmb6WDoP7AFzuhehIAEVjvfOab5qHwuWOydMWWohQYl79ln4tUuEHJ9jyyc+PHt7Gzvrpg7uLZ2czoyNLfTQRORuPIc8qAH8UCgnPIDzQweRn9WO7B8R65tGlnvbnY1Ais+l2TjDKWthiqprJfo33NUg9oqHYZrup2BEM3o0iFe1fOYraCGWJz2Bvj1C6AyYHgaxkeRli2ZCKkiLV96vdwAX8D5u/ekPIrZej6FflrFohc+jnn+K2ERpmj7w1tjVOl+zuBBqW/1RJTTPktkVuojdxJzRj6ZBjAWSNk/MymloKBBI7dUeRwGTIH6SwO1RBaKa9xG8RoYNmEUhxZ/M0E5UJwPKmuwEpAZSRHvnL8ddZcOggoByPugXl410BbGGyDl9mx29Kogw788f60Pgec6LyruWSwnmJATJILmmDDoN5bzlVzyPucBm/VbiSt04Oiq1pJ2nwc8FKGE/BmUaAYaSwdQcQ/vaARd3dId8B1VFdiwBxckhvNDMybzgfnjoYtiHyFh6LadM0I8AIpwBrX0DJmSn1jZHp5ozwEYXcV/DkwJEc4q16OUEdA4BDTD4Eebul4u0Fupz4tjQMn1wjoFGtJpzwvxbWJMQhA5o5N3MFzOm8DiHMNQIosQ0UeARByz7BuZLAx9fipv4ciu7PCvBIjW70Xf2J4h/CqtSNILGTDxaExr/kaylpjca+epScocVQ6bqZCoPrI2cdvHpvrPEY7hwjJh4gGBXZuGkAcgB6SOKHnM1oRQ876y3cnU95f5HImDXLG8SnGdmUxRxv/IAqZS+/BtkIm+wNo9aJg5nf2AQvjJhcjpqIWhbm5sxytjo3C0rwrHcdiXBuVPoLZ/DaZ1rqT1fu/6N0DA5UJvLfN/4k0ZuJmLgfZaQdWdQgtsDf5uc4tvkJDqPuWZwHbv0tDjz/AKmZFj4t3Ni6ny4Txf4hDKaF+YJ61BxAkh/5YoVxN0oDq1lNO8DD7LlcCDirdI9Yx1ttNCECZ31XxKLI5I3TR5aEb5sCwQgLOd8EPD8WAwkKECqq0eGGwKmaScgDrlD97hIozuxbQ00debCYieomzvj4LvdNDr4aBNsOJc26XhUz7v9eI360AeI3UtEL5zUoJTdEoK4X+AKqTxhlIOJk/m5V1tCR72r3LAtOF1BM2lzSBRzYlV4g9kFEqHZJvn+J37EYrNl5iBA0mXAEr8v+03+hoY1qDXJjOYu1A0GQ5AnWZwe31qmnfSsdar5RMP5Kgd74sZyVp9reTogwXVjKDdRtVdv9vZHWPYWcyhyMH0dgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jdm1rYcUxixBPk2XfneLDe",
      "input": {
        "note": "Left gripper now reaches x≈0.51; the cap sits just left of it in the top view. Shifting ~5 cm left and descending to table level to straddle it.",
        "targets": {
          "left_pitch": 0.6,
          "left_x": 0.5,
          "left_y": -0.225,
          "left_yaw": 0.0,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Jdm1rYcUxixBPk2XfneLDe",
      "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]: [-0.6022, 2.5851, 1.1652, 1.5848, -0.5163, -0.1291, 0.9982, 0.0631, 2.0888, 1.718, -0.9783, -0.8909, -1.3621, 0.0899]\nstate[eef_state]: left_x=0.514 left_y=-0.2431 left_z=0.0554 left_yaw=0.0662 left_pitch=0.699 left_roll=-0.274 left_gripper=0.9982 right_x=0.4307 right_y=0.1685 right_z=0.132 right_yaw=1.4808 right_pitch=-0.1032 right_roll=-0.055 right_gripper=0.0899\nstate[joint_eff]: [1.6615, -4.1915, 2.3453, 1.5409, 0.3443, 0.022, -0.0171, -0.1709, -11.3573, 5.9966, 0.6032, -0.4615, -0.0171, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:093ca1319c6221e5980c02abc55f41278be798c6ec1b342dcc61cb6464d916e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80f73a6c5143a32d281b23ad0f3c546cebb308ba0555bdcf4ecd529027a1c030",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:21c77607a80e4c500b85a0446826f8e2ffc2f780e5106b4b97d66c10273c7c41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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