adhoc

completed
2026-09-22T18:31:19.087148+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 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
316.5 s
total steps
280
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 lies diagonally on the right-centre of the table, cap on the left-centre. Moving the right arm above the pen, rotated so the jaws close across it.
move_to
right_x0.3300right_y0.1700right_z0.1200right_yaw0.4000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7925, 0.6022, -0.3801, -0.0216, -0.0246, 0.9993, -0.0181, 0.791, 0.609, -0.3763, -0.0208, -0.0128, 0.9991] state[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2957 right_y=0.0019 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.3897, -1.5248, 10.5504, 1.746, -0.0073, 0.0904, -0.0855, -0.5949, -1.2376, 9.8393, 1.7607, -0.0708, -0.0464, -0.1148] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.17, "right_z": 0.12, "right_yaw": 0.4, "right_gripper": 1.0}, "note": "Pen lies diagonally on the right-centre of the table, cap on the left-centre. Moving the right arm above the pen, rotated so the jaws close across it."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteWrist view shows the pen slightly right of the jaw column and tilted; shifting right ~3 cm, rotating a bit more, and descending partway.
move_to
right_y0.1350right_x0.3300right_z0.0500right_yaw0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7994, 0.6037, -0.3809, -0.0219, -0.0254, 0.9993, 0.4961, 1.2354, 0.5316, 0.0753, 0.0776, 0.0448, 0.9991] state[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1782 left_yaw=0.0011 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3197 right_y=0.1615 right_z=0.1039 right_yaw=0.4 right_pitch=-0.0681 right_roll=-0.0099 right_gripper=0.9991 state[joint_eff]: [-0.0615, -1.7983, 6.9265, 1.6777, -0.0708, -0.0562, -0.0122, 0.335, -4.3419, 8.294, 1.9023, 0.0317, 0.0415, -0.1099] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.135, "right_x": 0.33, "right_z": 0.05, "right_yaw": 0.6}, "note": "Wrist view shows the pen slightly right of the jaw column and tilted; shifting right ~3 cm, rotating a bit more, and descending partway."})
tool
executing move_to over 4 steps (0.4s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent notePen is centred on the jaw column and roughly vertical in the wrist view; descending to table level to grasp.
move_to
right_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8013, 0.6037, -0.3813, -0.0219, -0.025, 0.9993, 0.2546, 1.4158, 0.416, 0.2649, -0.178, -0.1471, 0.999] state[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9993 right_x=0.3234 right_y=0.1202 right_z=0.0357 right_yaw=0.4799 right_pitch=-0.1627 right_roll=0.0076 right_gripper=0.999 state[joint_eff]: [0.0752, -1.347, 7.2137, 1.6777, -0.0513, -0.0024, -0.0171, -0.212, -5.5863, 6.0513, 2.0684, -0.3297, -0.1099, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": -0.01}, "note": "Pen is centred on the jaw column and roughly vertical in the wrist view; descending to table level to grasp."})
tool
executing move_to over 3 steps (0.3s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
Pen is between the jaws at table level; closing.
agent noteFingertips at table level with the pen running between the jaws; closing to grasp the pen.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8051, 0.6037, -0.3813, -0.0219, -0.025, 0.9993, 0.2493, 1.6169, 0.3561, 0.5301, -0.2119, -0.1867, 0.9989] state[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1765 left_yaw=0.0009 left_pitch=-0.0122 left_roll=0.0001 left_gripper=0.9993 right_x=0.3242 right_y=0.1246 right_z=-0.0012 right_yaw=0.5244 right_pitch=-0.1527 right_roll=-0.0015 right_gripper=0.9989 state[joint_eff]: [-0.2393, -1.3607, 7.0359, 1.7021, -0.0611, -0.0317, -0.0171, 0.1573, -4.0957, 3.5487, 0.0611, -0.1197, 0.1197, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
Pen is between the jaws at table level; closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "Fingertips at table level with the pen running between the jaws; closing to grasp the pen."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteGripper settled at 0.05 with the pen aligned in the jaws; lifting to check the grasp.
move_to
right_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8062, 0.6037, -0.3813, -0.0219, -0.0254, 0.9993, 0.2512, 1.6405, 0.3447, 0.6003, -0.1837, -0.1516, 0.05] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1762 left_yaw=0.0011 left_pitch=-0.0133 left_roll=-0.0002 left_gripper=0.9993 right_x=0.33 right_y=0.1217 right_z=-0.0002 right_yaw=0.4825 right_pitch=-0.1235 right_roll=-0.0012 right_gripper=0.05 state[joint_eff]: [-0.3624, -1.3744, 7.0632, 1.7607, -0.0855, -0.0611, -0.0171, 0.2393, -4.4376, 4.1778, 1.409, -0.0415, 0.0317, 1.2723] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.08}, "note": "Gripper settled at 0.05 with the pen aligned in the jaws; lifting to check the grasp."})
tool
executing move_to over 6 steps (0.6s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent notePen is held in the right gripper with its tip pointing forward. Raising it, and moving the left arm above the cap (left-centre of table), rotated so the jaws close across it.
move_to
right_z0.1500left_x0.3400left_y-0.2100left_z0.1000left_yaw-0.5000left_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]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0219, -0.025, 0.9993, 0.2501, 1.3216, 0.4702, 0.1753, -0.1841, -0.1535, 0.0565] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0009 left_pitch=-0.0156 left_roll=0.0002 left_gripper=0.9993 right_x=0.3319 right_y=0.1218 right_z=0.0707 right_yaw=0.4822 right_pitch=-0.1045 right_roll=-0.007 right_gripper=0.0565 state[joint_eff]: [-0.2256, -1.1282, 7.0769, 1.7949, -0.0464, -0.0562, -0.0171, -0.294, -5.4769, 8.6496, 1.6093, -0.0855, -0.0024, 1.0281] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15, "left_x": 0.34, "left_y": -0.21, "left_z": 0.1, "left_yaw": -0.5, "left_gripper": 1.0}, "note": "Pen is held in the right gripper with its tip pointing forward. Raising it, and moving the left arm above the cap (left-centre of table), rotated so the jaws close across it."})
tool
executing move_to over 19 steps (1.9s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteLeft wrist view shows the cap left of the jaw column and tilted; shifting toward it, slightly forward, rotating further, and descending partway.
move_to
left_x0.3600left_y-0.1650left_z0.0400left_yaw-0.7500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5941, 1.417, 0.5728, 0.1516, -0.1131, -0.0952, 0.9993, 0.2501, 1.1809, 0.6792, -0.2169, -0.1841, -0.1539, 0.0614] state[eef_state]: left_x=0.325 left_y=-0.1912 left_z=0.073 left_yaw=-0.4577 left_pitch=-0.117 left_roll=0.0064 left_gripper=0.9993 right_x=0.3272 right_y=0.1206 right_z=0.1307 right_yaw=0.4836 right_pitch=-0.1457 right_roll=0.0026 right_gripper=0.0614 state[joint_eff]: [-0.3077, -5.5453, 9.1829, 2.0928, 0.1343, 0.2271, -0.0855, -0.3487, -5.4496, 9.7162, 1.6532, -0.1343, -0.0415, 1.033] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.165, "left_z": 0.04, "left_yaw": -0.75}, "note": "Left wrist view shows the cap left of the jaw column and tilted; shifting toward it, slightly forward, rotating further, and descending partway."})
tool
executing move_to over 3 steps (0.3s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteCap is now near the jaw column in the left wrist view; descending to table level over it.
move_to
left_x0.3600left_y-0.1650left_z-0.0100left_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]: [-0.3153, 1.6123, 0.5938, 0.2371, 0.1604, 0.1307, 0.9993, 0.2501, 1.1831, 0.6788, -0.234, -0.1841, -0.1539, 0.0658] state[eef_state]: left_x=0.3576 left_y=-0.1425 left_z=0.0266 left_yaw=-0.536 left_pitch=-0.1984 left_roll=-0.0126 left_gripper=0.9993 right_x=0.3245 right_y=0.1199 right_z=0.1266 right_yaw=0.4843 right_pitch=-0.165 right_roll=0.0072 right_gripper=0.0658 state[joint_eff]: [-3.0017, -8.5265, 7.7744, 1.9609, 0.8132, 0.3346, -0.0171, -0.1299, -3.9863, 6.9265, 1.7167, -0.1343, -0.0513, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.165, "left_z": -0.01, "left_yaw": -0.7}, "note": "Cap is now near the jaw column in the left wrist view; descending to table level over it."})
tool
executing move_to over 3 steps (0.3s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteCap is slightly left of the jaw column and still ahead of the fingertips; nudging forward/left and pressing to table level.
move_to
left_x0.3660left_y-0.1560left_z-0.0150
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2893, 1.6524, 0.5941, 0.2363, 0.3225, 0.2726, 0.9993, 0.2501, 1.1831, 0.6788, -0.234, -0.1841, -0.1539, 0.0693] state[eef_state]: left_x=0.3452 left_y=-0.1575 left_z=0.0171 left_yaw=-0.726 left_pitch=-0.1978 left_roll=-0.0343 left_gripper=0.9993 right_x=0.3245 right_y=0.1199 right_z=0.1266 right_yaw=0.4843 right_pitch=-0.165 right_roll=0.0072 right_gripper=0.0693 state[joint_eff]: [-0.1026, -7.8017, 7.3231, 1.8095, 0.2857, 0.1783, -0.0171, -0.3214, -3.8222, 6.9675, 1.5897, -0.149, -0.0757, 1.0183] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.366, "left_y": -0.156, "left_z": -0.015}, "note": "Cap is slightly left of the jaw column and still ahead of the fingertips; nudging forward/left and pressing to table level."})
tool
executing move_to over 3 steps (0.3s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent notePrevious move stalled near z=0.02; trying the forward/left nudge at current height first to get the cap between the jaws.
move_to
left_x0.3700left_y-0.1550left_z0.0200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2886, 1.6505, 0.5941, 0.2508, 0.3229, 0.2726, 0.9992, 0.2501, 1.187, 0.6785, -0.2485, -0.1841, -0.1539, 0.0706] state[eef_state]: left_x=0.3479 left_y=-0.158 left_z=0.0202 left_yaw=-0.7243 left_pitch=-0.1829 left_roll=-0.0275 left_gripper=0.9992 right_x=0.3221 right_y=0.1193 right_z=0.1227 right_yaw=0.4851 right_pitch=-0.1832 right_roll=0.0116 right_gripper=0.0706 state[joint_eff]: [-0.253, -7.8564, 7.5692, 1.6825, 0.2906, 0.2173, -0.0171, -0.335, -4.2735, 6.7487, 1.6679, -0.1441, -0.0513, 1.0232] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.155, "left_z": 0.02}, "note": "Previous move stalled near z=0.02; trying the forward/left nudge at current height first to get the cap between the jaws."})
tool
executing move_to over 2 steps (0.2s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteLeft arm is stuck at the current pose (IK hold); raising it and easing the yaw to free it before re-approaching the cap.
move_to
left_x0.3700left_y-0.1550left_z0.0600left_yaw-0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2886, 1.6505, 0.5949, 0.2504, 0.3229, 0.2726, 0.9992, 0.2501, 1.1866, 0.6785, -0.2558, -0.1837, -0.1535, 0.0735] state[eef_state]: left_x=0.3481 left_y=-0.1581 left_z=0.0204 left_yaw=-0.7242 left_pitch=-0.1825 left_roll=-0.0273 left_gripper=0.9992 right_x=0.3209 right_y=0.119 right_z=0.1215 right_yaw=0.4848 right_pitch=-0.1899 right_roll=0.0133 right_gripper=0.0735 state[joint_eff]: [-0.1983, -7.8564, 7.2684, 1.6972, 0.3492, 0.2173, -0.0073, -0.1573, -3.9316, 6.8718, 1.5995, -0.1441, -0.0366, 0.862] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.155, "left_z": 0.06, "left_yaw": -0.6}, "note": "Left arm is stuck at the current pose (IK hold); raising it and easing the yaw to free it before re-approaching the cap."})
tool
executing move_to over 3 steps (0.3s)
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 noteLeft arm has not responded to the last two moves; sending it back to the earlier reachable pose above the cap to unstick it.
move_to
left_x0.3300left_y-0.1900left_z0.1000left_yaw-0.4500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2886, 1.6505, 0.5957, 0.2508, 0.3229, 0.2726, 0.9992, 0.2501, 1.1896, 0.6785, -0.2565, -0.1841, -0.1539, 0.0768] state[eef_state]: left_x=0.3484 left_y=-0.1582 left_z=0.0207 left_yaw=-0.7241 left_pitch=-0.1815 left_roll=-0.0268 left_gripper=0.9992 right_x=0.3208 right_y=0.119 right_z=0.1204 right_yaw=0.4856 right_pitch=-0.1936 right_roll=0.0142 right_gripper=0.0768 state[joint_eff]: [-0.2803, -7.665, 7.2274, 1.7216, 0.3297, 0.1978, -0.0073, -0.3487, -3.959, 6.7077, 1.6093, -0.1245, -0.0317, 0.6667] 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_x": 0.33, "left_y": -0.19, "left_z": 0.1, "left_yaw": -0.45}, "note": "Left arm has not responded to the last two moves; sending it back to the earlier reachable pose above the cap to unstick it."})
tool
executing move_to over 6 steps (0.6s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteLeft arm is free again; the cap is left of and ahead of the jaws. Moving to my estimated cap position (~0.375, -0.165) at 5 cm height.
move_to
left_x0.3750left_y-0.1650left_z0.0500left_yaw-0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5468, 1.4139, 0.6785, -0.0261, 0.0051, -0.0406, 0.9992, 0.2501, 1.1904, 0.6785, -0.263, -0.1841, -0.1535, 0.0785] state[eef_state]: left_x=0.3254 left_y=-0.195 left_z=0.0827 left_yaw=-0.5401 left_pitch=-0.1914 left_roll=-0.0266 left_gripper=0.9992 right_x=0.3197 right_y=0.1187 right_z=0.119 right_yaw=0.4857 right_pitch=-0.2006 right_roll=0.0162 right_gripper=0.0785 state[joint_eff]: [-0.2803, -7.2684, 9.0188, 1.5946, -0.0708, 0.0073, -0.0073, -0.212, -4.0547, 6.9128, 1.6093, -0.1294, -0.0122, 0.7448] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.375, "left_y": -0.165, "left_z": 0.05, "left_yaw": -0.6}, "note": "Left arm is free again; the cap is left of and ahead of the jaws. Moving to my estimated cap position (~0.375, -0.165) at 5 cm height."})
tool
executing move_to over 4 steps (0.4s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteCap is now centred on the left jaw column just ahead of the fingertips; pressing down to table level.
move_to
left_z-0.0200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3515, 1.6215, 0.6968, 0.0479, 0.1169, 0.0681, 0.9992, 0.2501, 1.1931, 0.6785, -0.2703, -0.1841, -0.1539, 0.0796] state[eef_state]: left_x=0.3564 left_y=-0.1488 left_z=0.0276 left_yaw=-0.5045 left_pitch=-0.2988 left_roll=-0.0424 left_gripper=0.9992 right_x=0.3186 right_y=0.1184 right_z=0.1169 right_yaw=0.4864 right_pitch=-0.2103 right_roll=0.0183 right_gripper=0.0796 state[joint_eff]: [-0.0889, -7.5692, 9.1145, 1.8535, 0.3248, 0.2418, -0.0073, -0.1162, -4.2051, 6.8171, 1.6239, -0.0904, -0.0317, 0.779] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": -0.02}, "note": "Cap is now centred on the left jaw column just ahead of the fingertips; pressing down to table level."})
tool
executing move_to over 4 steps (0.4s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteDescent stalls at z≈0.025 and the cap is still a bit ahead of the fingertips; narrowing the jaws and advancing ~2 cm along the tool direction.
move_to
left_x0.3750left_y-0.1630left_z0.0200left_gripper0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3363, 1.6409, 0.6968, 0.0727, 0.1734, 0.1184, 0.9992, 0.2501, 1.1942, 0.6785, -0.279, -0.1837, -0.1535, 0.0809] state[eef_state]: left_x=0.3573 left_y=-0.1534 left_z=0.0254 left_yaw=-0.5663 left_pitch=-0.2842 left_roll=-0.0515 left_gripper=0.9992 right_x=0.3171 right_y=0.118 right_z=0.115 right_yaw=0.4863 right_pitch=-0.22 right_roll=0.0207 right_gripper=0.0809 state[joint_eff]: [-0.4308, -7.6376, 8.4444, 1.8486, 0.2564, 0.2173, -0.0122, -0.2256, -4.0957, 6.8991, 1.6337, -0.1001, -0.0415, 0.6667] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.375, "left_y": -0.163, "left_z": 0.02, "left_gripper": 0.5}, "note": "Descent stalls at z\u22480.025 and the cap is still a bit ahead of the fingertips; narrowing the jaws and advancing ~2 cm along the tool direction."})
tool
executing move_to over 5 steps (0.5s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteLeft arm keeps holding at z≈0.025 with the wrist pitched back; commanding a slightly higher, more forward pose with explicit zero pitch to break the hold.
move_to
left_x0.3800left_y-0.1650left_z0.0500left_pitch0.0000left_roll0.0000left_yaw-0.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3363, 1.6409, 0.6971, 0.0731, 0.1772, 0.1352, 0.5053, 0.2501, 1.1942, 0.6785, -0.2817, -0.1837, -0.1535, 0.0819] state[eef_state]: left_x=0.3572 left_y=-0.1541 left_z=0.0257 left_yaw=-0.5789 left_pitch=-0.2824 left_roll=-0.0428 left_gripper=0.5053 right_x=0.3167 right_y=0.1179 right_z=0.1146 right_yaw=0.4865 right_pitch=-0.2226 right_roll=0.0213 right_gripper=0.0819 state[joint_eff]: [-0.294, -7.4325, 8.4444, 1.8339, 0.3346, 0.1197, 0.0904, -0.2256, -3.8906, 6.694, 1.5263, -0.1148, -0.0562, 0.6618] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.165, "left_z": 0.05, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": -0.55}, "note": "Left arm keeps holding at z\u22480.025 with the wrist pitched back; commanding a slightly higher, more forward pose with explicit zero pitch to break the hold."})
tool
executing move_to over 10 steps (1.0s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteCap now sits between the left jaws on the jaw column; descending to table level (keeping pitch at zero, which fixed the stall).
move_to
left_z-0.0150left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3428, 1.6558, 0.5667, 0.4335, 0.165, 0.1024, 0.505, 0.2501, 1.1942, 0.6785, -0.2825, -0.1841, -0.1539, 0.0813] state[eef_state]: left_x=0.3709 left_y=-0.1594 left_z=0.0369 left_yaw=-0.5483 left_pitch=-0.0748 left_roll=-0.0104 left_gripper=0.505 right_x=0.3165 right_y=0.1179 right_z=0.1145 right_yaw=0.4871 right_pitch=-0.2232 right_roll=0.0215 right_gripper=0.0813 state[joint_eff]: [-0.6769, -6.2427, 5.3265, 1.9609, 0.0611, -0.0855, -0.0464, -0.3214, -4.0137, 6.694, 1.5507, -0.1245, -0.0415, 0.2515] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": -0.015, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Cap now sits between the left jaws on the jaw column; descending to table level (keeping pitch at zero, which fixed the stall)."})
tool
executing move_to over 4 steps (0.4s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteLeft jaws are at table level straddling the cap; closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3424, 1.8927, 0.4843, 0.8352, 0.1646, 0.0986, 0.5049, 0.2501, 1.1961, 0.6785, -0.2836, -0.1841, -0.1535, 0.082] state[eef_state]: left_x=0.3756 left_y=-0.1608 left_z=-0.002 left_yaw=-0.5449 left_pitch=0.0059 left_roll=0.0034 left_gripper=0.5049 right_x=0.3163 right_y=0.1179 right_z=0.1137 right_yaw=0.487 right_pitch=-0.2262 right_roll=0.0225 right_gripper=0.082 state[joint_eff]: [-0.0068, -5.3538, 2.4274, 0.3687, 0.0855, -0.0464, -0.022, -0.1573, -4.1368, 6.735, 1.4676, -0.1294, -0.0171, 0.3785] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Left jaws are at table level straddling the cap; closing to grasp it."})
tool
executing move_to over 6 steps (0.6s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteCap grasped (gripper settled ~0.095 ≈ 9 mm). Lifting it and starting to rotate both tools toward yaw ≈ +90° so the pen tip and cap opening face each other across the table centre.
move_to
left_z0.1500left_yaw0.3000left_pitch0.0000right_x0.3500right_y0.2000right_z0.1500right_yaw1.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3424, 1.9041, 0.4767, 0.8787, 0.1627, 0.0948, 0.0953, 0.2501, 1.1965, 0.6785, -0.2832, -0.1837, -0.1535, 0.0817] state[eef_state]: left_x=0.3773 left_y=-0.161 left_z=0.0002 left_yaw=-0.5414 left_pitch=0.0296 left_roll=0.006 left_gripper=0.0953 right_x=0.3164 right_y=0.1178 right_z=0.1136 right_yaw=0.4867 right_pitch=-0.2263 right_roll=0.0222 right_gripper=0.0817 state[joint_eff]: [-0.1709, -8.3077, 4.4376, 1.2821, -0.0024, -0.0122, 0.8816, -0.1709, -4.0547, 6.735, 1.4676, -0.105, -0.0317, 0.6422] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.15, "left_yaw": 0.3, "left_pitch": 0.0, "right_x": 0.35, "right_y": 0.2, "right_z": 0.15, "right_yaw": 1.0, "right_pitch": 0.0}, "note": "Cap grasped (gripper settled ~0.095 \u2248 9 mm). Lifting it and starting to rotate both tools toward yaw \u2248 +90\u00b0 so the pen tip and cap opening face each other across the table centre."})
tool
executing move_to over 10 steps (1.0s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteBoth objects held and lifted; pen tip visible pointing toward the centre. Completing rotation to yaw +90° so the pen tip points left toward the cap's open end, with a ~10 cm gap between them.
move_to
left_x0.3600left_y-0.2000left_z0.1600left_yaw1.5700left_pitch0.0000right_x0.3600right_y0.2200right_z0.1600right_yaw1.5700right_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]: [-0.7204, 1.5959, 0.9897, -0.1787, -0.7109, -0.6243, 0.0952, 0.2485, 1.4445, 0.8375, -0.168, -0.5629, -0.4168, 0.084] state[eef_state]: left_x=0.3839 left_y=-0.1789 left_z=0.1417 left_yaw=0.1767 left_pitch=0.005 left_roll=-0.0302 left_gripper=0.0952 right_x=0.3434 right_y=0.1881 right_z=0.13 right_yaw=0.9313 right_pitch=-0.0763 right_roll=0.0517 right_gripper=0.084 state[joint_eff]: [-0.2803, -6.6803, 8.2803, 1.1453, -0.4908, -0.0611, 0.3492, -0.0615, -5.6137, 8.8274, 1.7363, -0.442, -0.0024, 0.6618] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.2, "left_z": 0.16, "left_yaw": 1.57, "left_pitch": 0.0, "right_x": 0.36, "right_y": 0.22, "right_z": 0.16, "right_yaw": 1.57, "right_pitch": 0.0}, "note": "Both objects held and lifted; pen tip visible pointing toward the centre. Completing rotation to yaw +90\u00b0 so the pen tip points left toward the cap's open end, with a ~10 cm gap between them."})
tool
executing move_to over 9 steps (0.9s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteLeft arm readback is far off target (y −0.04, z 0.10) after the big yaw rotation; re-commanding the same pose to let it settle before judging.
move_to
left_x0.3600left_y-0.2000left_z0.1600left_yaw1.5700left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4408, 2.281, 1.8759, -1.4712, -0.8997, -2.0052, 0.0951, 0.1837, 1.8751, 1.467, -0.8028, -0.9268, -1.1122, 0.0835] state[eef_state]: left_x=0.4102 left_y=-0.0366 left_z=0.0994 left_yaw=1.3813 left_pitch=-0.0647 left_roll=-0.0333 left_gripper=0.0951 right_x=0.3764 right_y=0.2173 right_z=0.157 right_yaw=1.4797 right_pitch=-0.0388 right_roll=0.0152 right_gripper=0.0835 state[joint_eff]: [-1.2103, -13.559, 5.3812, -0.5299, -0.4811, -0.0855, 0.7448, -0.6359, -8.5812, 6.3111, 0.3736, -0.779, -0.0024, 0.6764] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.2, "left_z": 0.16, "left_yaw": 1.57, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Left arm readback is far off target (y \u22120.04, z 0.10) after the big yaw rotation; re-commanding the same pose to let it settle before judging."})
tool
executing move_to over 15 steps (1.5s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteLeft arm is stuck near y≈−0.01, z≈0.10 with yaw ~1.5; taking a smaller intermediate step toward the centre and higher up.
move_to
left_x0.3600left_y-0.1000left_z0.1800left_yaw1.5700left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.395, 2.2807, 1.8614, -1.557, -0.8825, -2.0869, 0.0969, 0.1837, 1.8992, 1.4654, -0.8116, -0.9173, -1.1294, 0.084] state[eef_state]: left_x=0.3936 left_y=-0.0124 left_z=0.1001 left_yaw=1.4832 left_pitch=-0.0529 left_roll=0.0013 left_gripper=0.0969 right_x=0.3762 right_y=0.2162 right_z=0.1454 right_yaw=1.4871 right_pitch=-0.0563 right_roll=0.0318 right_gripper=0.084 state[joint_eff]: [0.4718, -13.2171, 4.7932, -0.5299, -0.5006, -0.1245, 0.5495, -0.1436, -11.7402, 6.2291, 0.8767, -0.6032, 0.1099, 0.652] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.1, "left_z": 0.18, "left_yaw": 1.57, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Left arm is stuck near y\u2248\u22120.01, z\u22480.10 with yaw ~1.5; taking a smaller intermediate step toward the centre and higher up."})
tool
executing move_to over 8 steps (0.8s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteLeft arm can't track yaw +90° (sagging to z 0.08 near y 0). Backing off to yaw 0.8 at a comfortable pose; I'll align the pen diagonally instead.
move_to
left_x0.3800left_y-0.2000left_z0.1800left_yaw0.8000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4522, 2.3581, 1.9366, -1.557, -0.8486, -2.0899, 0.0992, 0.1837, 1.8996, 1.4647, -0.812, -0.9165, -1.1328, 0.085] state[eef_state]: left_x=0.402 left_y=-0.0439 left_z=0.0816 left_yaw=1.4418 left_pitch=-0.0818 left_roll=0.0107 left_gripper=0.0992 right_x=0.376 right_y=0.2161 right_z=0.1449 right_yaw=1.4887 right_pitch=-0.0573 right_roll=0.0303 right_gripper=0.085 state[joint_eff]: [-0.4171, -12.465, 6.735, -0.569, -0.4615, -0.0806, 0.2271, -0.335, -9.853, 6.2701, 0.7741, -0.4908, 0.022, 0.315] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.2, "left_z": 0.18, "left_yaw": 0.8, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Left arm can't track yaw +90\u00b0 (sagging to z 0.08 near y 0). Backing off to yaw 0.8 at a comfortable pose; I'll align the pen diagonally instead."})
tool
executing move_to over 14 steps (1.4s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteCap is held by the left arm at yaw 0.87 pointing forward-left. Rotating the pen to the same yaw and positioning it behind the cap along that line, leaving a ~3 cm gap between pen tip and cap opening.
move_to
right_x0.2700right_y0.3400right_z0.1500right_yaw0.8700right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8272, 2.2375, 1.9575, -1.5368, -0.947, -1.795, 0.1014, 0.1806, 1.8988, 1.4639, -0.8139, -0.926, -1.1378, 0.0876] state[eef_state]: left_x=0.3741 left_y=-0.1897 left_z=0.1416 left_yaw=0.8651 left_pitch=-0.034 left_roll=0.0711 left_gripper=0.1014 right_x=0.3756 right_y=0.2157 right_z=0.1461 right_yaw=1.4916 right_pitch=-0.049 right_roll=0.0304 right_gripper=0.0876 state[joint_eff]: [-1.6615, -16.5128, 9.3607, 0.0708, -0.8913, 0.2564, 0.2125, 0.1162, -9.7162, 6.3385, 0.7497, -0.315, 0.0122, 0.2711] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.27, "right_y": 0.34, "right_z": 0.15, "right_yaw": 0.87, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Cap is held by the left arm at yaw 0.87 pointing forward-left. Rotating the pen to the same yaw and positioning it behind the cap along that line, leaving a ~3 cm gap between pen tip and cap opening."})
tool
executing move_to over 11 steps (1.1s)
step 177
assistant
agent noteRight shoulder effort spiked to 18 N·m — the arms appear to be touching in the middle. Pulling the right arm back toward its own side to separate them.
move_to
right_x0.3000right_y0.0800right_z0.1500right_yaw0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7479, 2.2372, 1.9255, -1.6901, -0.9352, -1.7897, 0.1028, 0.6491, 1.4487, 0.8333, 0.0174, 0.1539, 0.152, 0.0906] state[eef_state]: left_x=0.3641 left_y=-0.1389 left_z=0.1429 left_yaw=0.9508 left_pitch=-0.0225 left_roll=0.2606 left_gripper=0.1028 right_x=0.3527 right_y=0.2381 right_z=0.1441 right_yaw=0.4318 right_pitch=-0.0325 right_roll=0.0395 right_gripper=0.0906 state[joint_eff]: [-6.4752, -11.453, 7.6239, 1.1355, -0.5983, -0.0562, 0.1343, 18.0718, -5.4496, 7.1863, 2.1905, -3.0989, -2.6935, 0.2955] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.08, "right_z": 0.15, "right_yaw": 0.6}, "note": "Right shoulder effort spiked to 18 N\u00b7m \u2014 the arms appear to be touching in the middle. Pulling the right arm back toward its own side to separate them."})
tool
executing move_to over 14 steps (1.4s)
step 191
assistant
agent noteArms separated; cap still in the left jaws, pen in the right. Lining both up along the same diagonal (yaw 0.9): cap forward-left, pen tip behind it with a ~2 cm gap.
move_to
left_x0.4000left_y-0.1200left_z0.1600left_yaw0.9000left_roll0.0000left_pitch0.0000right_x0.2900right_y0.4000right_z0.1600right_yaw0.9000right_roll0.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7216, 2.2036, 1.7985, -1.562, -0.9352, -1.7512, 0.105, -0.0288, 1.0317, 0.6018, -0.2661, -0.474, -0.3054, 0.0926] state[eef_state]: left_x=0.3644 left_y=-0.1265 left_z=0.1224 left_yaw=0.9561 left_pitch=-0.0321 left_roll=0.258 left_gripper=0.105 right_x=0.309 right_y=0.0753 right_z=0.1454 right_yaw=0.5229 right_pitch=-0.05 right_roll=0.048 right_gripper=0.0926 state[joint_eff]: [-0.212, -12.6427, 5.3812, -0.4518, -0.5739, 0.105, 0.2173, -0.2667, -4.1504, 7.0906, 1.6679, -0.3004, -0.1441, 0.1978] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.12, "left_z": 0.16, "left_yaw": 0.9, "left_roll": 0.0, "left_pitch": 0.0, "right_x": 0.29, "right_y": 0.4, "right_z": 0.16, "right_yaw": 0.9, "right_roll": 0.0, "right_pitch": 0.0}, "note": "Arms separated; cap still in the left jaws, pen in the right. Lining both up along the same diagonal (yaw 0.9): cap forward-left, pen tip behind it with a ~2 cm gap."})
tool
executing move_to over 28 steps (2.8s)
step 219
assistant
agent noteThe pen tip is pressed into the left gripper area (both shoulders show contact effort, left arm pushed ~3 cm along the pen axis), suggesting the cap is being pushed onto the pen. Releasing the cap so it stays on the pen.
move_to
left_gripper0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5755, 2.0911, 1.6962, -1.2686, -0.9653, -1.6043, 0.1063, 0.886, 1.6176, 1.0218, -0.0444, 0.1032, 0.0704, 0.0947] state[eef_state]: left_x=0.4035 left_y=-0.0844 left_z=0.1325 left_yaw=1.0056 left_pitch=-0.0343 left_roll=0.0738 left_gripper=0.1063 right_x=0.3061 right_y=0.3517 right_z=0.1412 right_yaw=0.7545 right_pitch=-0.0782 right_roll=-0.0057 right_gripper=0.0947 state[joint_eff]: [-7.5692, -15.5145, 5.9829, 0.4322, -0.8425, 0.1929, 0.1245, 4.9709, -3.8222, 11.7538, 2.3663, -0.779, -0.6471, 0.2173] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.4}, "note": "The pen tip is pressed into the left gripper area (both shoulders show contact effort, left arm pushed ~3 cm along the pen axis), suggesting the cap is being pushed onto the pen. Releasing the cap so it stays on the pen."})
tool
executing move_to over 3 steps (0.3s)
step 222
assistant
agent noteLeft jaws opened; lifting the left arm straight up away from the pen to see whether the cap stayed on the pen tip.
move_to
left_z0.2400left_x0.3800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5613, 2.0911, 1.6909, -1.2549, -0.9569, -1.6043, 0.3949, 0.8852, 1.626, 1.0275, -0.0467, 0.12, 0.0784, 0.096] state[eef_state]: left_x=0.4052 left_y=-0.08 left_z=0.1299 left_yaw=1.0202 left_pitch=-0.0428 left_roll=0.0655 left_gripper=0.3949 right_x=0.3093 right_y=0.3504 right_z=0.1397 right_yaw=0.7352 right_pitch=-0.0817 right_roll=-0.0099 right_gripper=0.096 state[joint_eff]: [-1.4838, -10.5504, 6.3111, 0.0122, -0.6081, 0.0464, -0.1392, -0.2667, -8.5949, 6.2974, 1.7363, -0.1148, -0.1148, 0.1245] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.24, "left_x": 0.38}, "note": "Left jaws opened; lifting the left arm straight up away from the pen to see whether the cap stayed on the pen tip."})
tool
executing move_to over 8 steps (0.8s)
step 230
assistant
agent noteBoth arms rose together, so the pen seems snagged on the left gripper, and a small dark object (likely the cap) now lies on the table below. Opening fully and moving the left arm away to free the pen.
move_to
left_gripper1.0000left_y0.0000left_z0.2000left_x0.3300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5499, 2.0686, 1.8549, -1.52, -0.9527, -1.6352, 0.3958, 0.8852, 1.594, 1.0355, 0.0601, 0.1268, 0.0784, 0.0963] state[eef_state]: left_x=0.3926 left_y=-0.0676 left_z=0.1807 left_yaw=1.0522 left_pitch=-0.0436 left_roll=0.1189 left_gripper=0.3958 right_x=0.3193 right_y=0.3607 right_z=0.1799 right_yaw=0.7296 right_pitch=0.064 right_roll=0.0088 right_gripper=0.0963 state[joint_eff]: [-1.1829, -17.6889, 8.841, -0.4664, -0.5543, 0.3394, 0.0806, -0.2393, -5.1624, 6.3248, 0.6813, -0.0659, -0.0366, 0.0171] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_y": 0.0, "left_z": 0.2, "left_x": 0.33}, "note": "Both arms rose together, so the pen seems snagged on the left gripper, and a small dark object (likely the cap) now lies on the table below. Opening fully and moving the left arm away to free the pen."})
tool
executing move_to over 7 steps (0.7s)
step 237
assistant
agent notePen is free in the right gripper, uncapped; the cap lies on the table just right of the left fingertips. Re-orienting the left gripper across the cap and moving above it to re-grasp.
move_to
left_x0.3600left_y-0.0300left_z0.0600left_yaw-0.4000left_pitch0.0000left_roll0.0000left_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]: [-0.4747, 1.7134, 1.4536, -1.38, -0.9382, -1.5299, 0.9958, 0.8852, 1.6226, 1.0309, 0.0189, 0.12, 0.0746, 0.0976] state[eef_state]: left_x=0.3313 left_y=-0.0061 left_z=0.1945 left_yaw=1.0673 left_pitch=-0.0651 left_roll=0.1105 left_gripper=0.9958 right_x=0.3155 right_y=0.358 right_z=0.1559 right_yaw=0.7378 right_pitch=-0.01 right_roll=-0.0023 right_gripper=0.0976 state[joint_eff]: [0.4034, -7.5282, 5.5726, 0.3834, -0.6813, 0.1636, -0.1197, -0.253, -10.2496, 7.1726, 2.1661, 0.1099, -0.0366, 0.1197] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.03, "left_z": 0.06, "left_yaw": -0.4, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "Pen is free in the right gripper, uncapped; the cap lies on the table just right of the left fingertips. Re-orienting the left gripper across the cap and moving above it to re-grasp."})
tool
executing move_to over 10 steps (1.0s)
step 247
assistant
agent noteLeft wrist view shows the cap ahead and slightly right, already aligned along the jaw column direction; holding yaw near -0.15 and moving ~4 cm forward, 2.5 cm right, and lower.
move_to
left_x0.3800left_y-0.0290left_z0.0200left_yaw-0.1500left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0738, 1.4162, 0.4232, 0.2466, 0.1532, 0.0921, 0.9983, 0.8852, 1.6238, 1.026, 0.0078, 0.1196, 0.0746, 0.0984] state[eef_state]: left_x=0.3439 left_y=0.002 left_z=0.0344 left_yaw=-0.1183 left_pitch=-0.1654 left_roll=-0.0289 left_gripper=0.9983 right_x=0.3139 right_y=0.3561 right_z=0.1509 right_yaw=0.738 right_pitch=-0.027 right_roll=-0.0046 right_gripper=0.0984 state[joint_eff]: [-0.0068, -5.559, 6.6667, 1.7607, 0.1587, 0.2271, -0.1929, -0.0342, -8.0615, 7.1453, 1.8046, -0.0171, -0.0415, 0.0806] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.029, "left_z": 0.02, "left_yaw": -0.15, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Left wrist view shows the cap ahead and slightly right, already aligned along the jaw column direction; holding yaw near -0.15 and moving ~4 cm forward, 2.5 cm right, and lower."})
tool
executing move_to over 6 steps (0.6s)
step 253
assistant
agent noteCap is centred on the jaw column but still ~4 cm ahead; the forward move didn't track at low height, so advancing at a slightly higher z.
move_to
left_x0.3900left_y-0.0300left_z0.0400left_yaw-0.2000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0383, 1.4788, 0.3313, 0.4656, 0.2085, 0.0853, 0.9986, 0.8852, 1.6238, 1.0245, 0.0078, 0.1192, 0.0746, 0.0996] state[eef_state]: left_x=0.3408 left_y=-0.0199 left_z=0.0232 left_yaw=-0.1947 left_pitch=-0.0949 left_roll=-0.0562 left_gripper=0.9986 right_x=0.3136 right_y=0.3559 right_z=0.1503 right_yaw=0.7383 right_pitch=-0.0285 right_roll=-0.0046 right_gripper=0.0996 state[joint_eff]: [-0.1573, -4.9983, 5.5043, 1.9512, -0.0611, -0.1343, 0.0269, -0.335, -7.9658, 6.8718, 1.6874, -0.0317, -0.0269, 0.1197] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.03, "left_z": 0.04, "left_yaw": -0.2, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Cap is centred on the jaw column but still ~4 cm ahead; the forward move didn't track at low height, so advancing at a slightly higher z."})
tool
executing move_to over 4 steps (0.4s)
step 257
assistant
agent noteLeft arm is holding still at x≈0.34 again; raising to 10 cm while moving forward to get over the cap, then I'll descend.
move_to
left_x0.3900left_y-0.0300left_z0.1000left_yaw-0.2000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0383, 1.4788, 0.3313, 0.4759, 0.205, 0.0784, 0.9987, 0.8852, 1.6238, 1.0241, 0.0078, 0.1192, 0.0746, 0.1005] state[eef_state]: left_x=0.3424 left_y=-0.0193 left_z=0.0251 left_yaw=-0.1879 left_pitch=-0.0855 left_roll=-0.0572 left_gripper=0.9987 right_x=0.3136 right_y=0.3558 right_z=0.1501 right_yaw=0.7383 right_pitch=-0.0289 right_roll=-0.0047 right_gripper=0.1005 state[joint_eff]: [-0.1299, -4.7521, 5.6684, 1.8828, -0.022, -0.0513, -0.0073, -0.3214, -7.6239, 6.8171, 1.7265, -0.0024, -0.0562, 0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.03, "left_z": 0.1, "left_yaw": -0.2, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Left arm is holding still at x\u22480.34 again; raising to 10 cm while moving forward to get over the cap, then I'll descend."})
tool
executing move_to over 5 steps (0.5s)
step 262
assistant
agent noteCap is now at the bottom of the left wrist view, lined up with the jaws; going straight down to table level.
move_to
left_z-0.0150left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0151, 1.417, 0.5354, 0.2974, 0.1608, 0.0757, 0.9987, 0.8852, 1.6238, 1.0233, 0.0078, 0.1192, 0.0746, 0.101] state[eef_state]: left_x=0.3853 left_y=-0.0305 left_z=0.0873 left_yaw=-0.2021 left_pitch=-0.0054 left_roll=-0.0159 left_gripper=0.9987 right_x=0.3134 right_y=0.3557 right_z=0.1498 right_yaw=0.7383 right_pitch=-0.0297 right_roll=-0.0048 right_gripper=0.101 state[joint_eff]: [-0.5812, -6.4615, 7.5556, 1.4481, -0.0708, 0.022, -0.0122, -0.3214, -7.9385, 6.9128, 1.6972, -0.0317, -0.0659, 0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": -0.015, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Cap is now at the bottom of the left wrist view, lined up with the jaws; going straight down to table level."})
tool
executing move_to over 7 steps (0.7s)
step 269
assistant
agent noteThe cap is lying between the left jaws at table level. Closing to grab it again.
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]: [-0.0166, 1.8652, 0.4084, 0.8997, 0.1352, 0.0914, 0.9987, 0.8852, 1.6238, 1.0225, 0.0059, 0.1192, 0.0746, 0.1012] state[eef_state]: left_x=0.3919 left_y=-0.0267 left_z=-0.0014 left_yaw=-0.1907 left_pitch=0.0187 left_roll=0.0157 left_gripper=0.9987 right_x=0.3132 right_y=0.3554 right_z=0.149 right_yaw=0.7383 right_pitch=-0.0323 right_roll=-0.0052 right_gripper=0.1012 state[joint_eff]: [-0.7043, -5.1077, 2.1675, 0.5739, 0.1587, -0.0904, -0.0122, -0.2803, -7.9248, 6.9949, 1.663, -0.0171, -0.0513, 0.0024] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The cap is lying between the left jaws at table level. Closing to grab it again."})
tool
executing move_to over 10 steps (1.0s)
step 279
assistant
agent noteThe pen is in the right gripper, but I could not get the cap onto it. My first try at inserting the pen into the cap, held by the left arm, hit the left gripper and knocked the cap onto the table. The second close on the cap came up empty (reading 0.011), and I have too few calls left to grasp it again and line the two up.
give_up
hindsight- The left arm often stops moving at low height (z ≈ 0.02–0.03, x ≈ 0.34–0.36) while its wrist is pitched back (pitch readback −0.15 to −0.3). Re-sending the target or small nudges do nothing. What freed it was commanding left_pitch=0 and left_roll=0 explicitly, with a slightly higher z (≥0.05, sometimes 0.10), then descending straight down. Include pitch:0, roll:0 in every low move. - Top-cam positions matched well: grippers at home (x≈0.29, y=0) show near image x≈20 (left) and ≈190 (right). At table level the lateral scale is ≈2.5 px/cm. The pen was around right_y 0.13 and x 0.33; the cap around left_y −0.16 and x 0.37. - The pen grasp worked well: set yaw so the pen runs vertically in the wrist image (yaw 0.5 for this pen), centre it on column ~110, descend to −0.01, close. The reading settled at 0.05–0.09 for the pen and ~0.095 for the cap, both held. - The left arm cannot track yaw ≈ +1.57 near y −0.1 to −0.2. It sagged to z 0.08 and drifted toward y 0. Yaw ≈ 0.9–1.0 was trackable. - The arms collide easily in the middle: the gripper bodies are large, and a spike of ~18 N·m on right joint 0 meant contact. Plan the capping so the pen tip enters the cap along a line well clear of the other gripper body, e.g. hold the cap near its closed end so the open end sticks out past the jaws. Before any insertion, check in the wrist camera which end of the cap is open. I never confirmed that, and that uncertainty wrecked the insertion. - Once lifted, the pen extended ~10–12 cm beyond the grasp point toward the tip. - A better strategy may be to leave the cap upright or on the table and bring the pen to it, or to grasp the cap near its closed end, then align both arms at the same z with the right arm at the edge of its y range (0.4).
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0158, 1.8706, 0.403, 0.9489, 0.1349, 0.0872, 0.0108, 0.8852, 1.6238, 1.0225, 0.0071, 0.1196, 0.0746, 0.1012] state[eef_state]: left_x=0.3956 left_y=-0.0264 left_z=0.0054 left_yaw=-0.1876 left_pitch=0.0567 left_roll=0.0189 left_gripper=0.0108 right_x=0.3133 right_y=0.3554 right_z=0.1493 right_yaw=0.738 right_pitch=-0.0312 right_roll=-0.0052 right_gripper=0.1012 state[joint_eff]: [-0.4308, -7.0906, 4.4103, 1.3651, 0.1587, 0.022, 0.398, -0.3624, -7.8974, 6.735, 1.7363, 0.0317, -0.0611, -0.0073] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
give_up({"reason": "The pen is in the right gripper, but I could not get the cap onto it. My first try at inserting the pen into the cap, held by the left arm, hit the left gripper and knocked the cap onto the table. The second close on the cap came up empty (reading 0.011), and I have too few calls left to grasp it again and line the two up.", "hindsight": "- The left arm often stops moving at low height (z \u2248 0.02\u20130.03, x \u2248 0.34\u20130.36) while its wrist is pitched back (pitch readback \u22120.15 to \u22120.3). Re-sending the target or small nudges do nothing. What freed it was commanding left_pitch=0 and left_roll=0 explicitly, with a slightly higher z (\u22650.05, sometimes 0.10), then descending straight down. Include pitch:0, roll:0 in every low move.\n- Top-cam positions matched well: grippers at home (x\u22480.29, y=0) show near image x\u224820 (left) and \u2248190 (right). At table level the lateral scale is \u22482.5 px/cm. The pen was around right_y 0.13 and x 0.33; the cap around left_y \u22120.16 and x 0.37.\n- The pen grasp worked well: set yaw so the pen runs vertically in the wrist image (yaw 0.5 for this pen), centre it on column ~110, descend to \u22120.01, close. The reading settled at 0.05\u20130.09 for the pen and ~0.095 for the cap, both held.\n- The left arm cannot track yaw \u2248 +1.57 near y \u22120.1 to \u22120.2. It sagged to z 0.08 and drifted toward y 0. Yaw \u2248 0.9\u20131.0 was trackable.\n- The arms collide easily in the middle: the gripper bodies are large, and a spike of ~18 N\u00b7m on right joint 0 meant contact. Plan the capping so the pen tip enters the cap along a line well clear of the other gripper body, e.g. hold the cap near its closed end so the open end sticks out past the jaws. Before any insertion, check in the wrist camera which end of the cap is open. I never confirmed that, and that uncertainty wrecked the insertion.\n- Once lifted, the pen extended ~10\u201312 cm beyond the grasp point toward the tip.\n- A better strategy may be to leave the cap upright or on the table and bring the pen to it, or to grasp the cap near its closed end, then align both arms at the same z with the right arm at the edge of its y range (0.4)."})
tool
give_up: The pen is in the right gripper, but I could not get the cap onto it. My first try at inserting the pen into the cap, held by the left arm, hit the left gripper and knocked the cap onto the table. The second close on the cap came up empty (reading 0.011), and I have too few calls left to grasp it again and line the two up.
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 · 23.5 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6022, -0.3801, -0.0216, -0.0246, 0.9993, -0.0181, 0.791, 0.609, -0.3763, -0.0208, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2957 right_y=0.0019 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -1.5248, 10.5504, 1.746, -0.0073, 0.0904, -0.0855, -0.5949, -1.2376, 9.8393, 1.7607, -0.0708, -0.0464, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2afda01b457799f2243e1d8223d553e3f3715c8becf882dbd7ea92dfc5686f95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5623725410c431eba63d21e0634a9c6772f7a07f1d2dee4b38a8eaa90b566a24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1e15c9939cff99d4681fac0d01d318e21c42beed666d33f75d8a5edb81762cf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 9.71 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6022, -0.3801, -0.0216, -0.0246, 0.9993, -0.0181, 0.791, 0.609, -0.3763, -0.0208, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2957 right_y=0.0019 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -1.5248, 10.5504, 1.746, -0.0073, 0.0904, -0.0855, -0.5949, -1.2376, 9.8393, 1.7607, -0.0708, -0.0464, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2afda01b457799f2243e1d8223d553e3f3715c8becf882dbd7ea92dfc5686f95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5623725410c431eba63d21e0634a9c6772f7a07f1d2dee4b38a8eaa90b566a24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e15c9939cff99d4681fac0d01d318e21c42beed666d33f75d8a5edb81762cf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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gDaTgKXSj94SNftfSYtO1IIzaUsGkpUVAiy9jhPzyNizDokRnuMA/v6UyCLG+RbBW3q3s8bgg9RxqbiwCbDvDgSqKhEZLXTrb0AmTMwqbxSObpgcfh+mutKL3eSP2sreCu4JecR0HIfnGHbevuMRHeDWZv3k4wYqBFDJoBU+Mz1I00ztabBQXCRzZRYQwWIPJtBLSfc9jkvmfrCcm0NabxeGEclzyGq8e7P72IVwHVW47nTOY/Ey1gGoiO0m7hJb9lckc5hC6tt8ZVJO2vzMuY1uFWvuguhnhHNNH0tjciEv2dLgiwTLxcO38lyY2fHMMGwnuJFKR7Ms8RpZL9lcBoWLW+WIIo0VwRxu6xEnWV3DzagqKOI74a8ILfuYr3NN9iGaImQPlt2Hgi7Jkp0j5RKKt3tQDq4chqn1I9aAzmj65THUSO8YQIJ95EQ9bq1UPRNEiG9+d1DCZnCZYX8wDRBTr9xgRHtAqlWgFtGoZZh9vOLjAQgTZuxCMiMdxXgrULjJZYQpc2dNKNr8PGn13OTIHwnMLTA0h1Yjbhye3CRyVvkjERzHAk2ffmP/bI3TqphjAGlp+a9ZqRdfttEtcbrKglUtos5KZo1TN+V+F/8qB6lHYokgqWJuJmyJP1QxxhCqfaBdF/buPRgWAOBNGigCzxq84vBjKbUYBLlUmDBH/E+nAITm3sJZTMEfiN/GAG1aysiB9uPbZ1j6O6YyvOFVymuWjrHvat5E/VjZxgKD7QIU3TQga7Z8ie8cswP1RLn8JGS/gWCqiDC71HknzuMVIzfZstt7RjGnztjEwLPdeyKyk3zj/V3LSw1+Yg2WpFdRVrPgw710ift2F+WD6w1TWyh3yLMm8YmTKEnedqxCn7dxXAlzHGxRLRVm/NQojdzs6WoxVpQ0Lp0HZwpWNvg58u9KVWYn2uVk/6Hk8uvDubKLk0MFJjZcwGEaOzLrP+MnezmXwRVaRc6phOQYbrqiaohiLOV9e9A71BUkjimGdXk1lD1W7OyMwxT4qkRFqwdI/wn1fqScnN9OYPpmbGiS1Gvwqj3J25MEVljFCrOesCKEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019fPLZnFdPHK5W7UHcUHp1R",
      "input": {
        "note": "Pen lies diagonally on the right-centre of the table, cap on the left-centre. Moving the right arm above the pen, rotated so the jaws close across it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.33,
          "right_y": 0.17,
          "right_yaw": 0.4,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_019fPLZnFdPHK5W7UHcUHp1R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6037, -0.3809, -0.0219, -0.0254, 0.9993, 0.4961, 1.2354, 0.5316, 0.0753, 0.0776, 0.0448, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1782 left_yaw=0.0011 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3197 right_y=0.1615 right_z=0.1039 right_yaw=0.4 right_pitch=-0.0681 right_roll=-0.0099 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.7983, 6.9265, 1.6777, -0.0708, -0.0562, -0.0122, 0.335, -4.3419, 8.294, 1.9023, 0.0317, 0.0415, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3720b36204fa799110a65976775f5ffa94bf93424894429b200586ee433c4192",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c74cf44de01860a04f697b20d3a74d1deddb5dfaf64d214e078e1a85babc66e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ea0d0c448214e451499101cbac6300497c3b1f813f8a617224307ce98b8a209",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 4.863 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6022, -0.3801, -0.0216, -0.0246, 0.9993, -0.0181, 0.791, 0.609, -0.3763, -0.0208, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2957 right_y=0.0019 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -1.5248, 10.5504, 1.746, -0.0073, 0.0904, -0.0855, -0.5949, -1.2376, 9.8393, 1.7607, -0.0708, -0.0464, -0.1148]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6037, -0.3809, -0.0219, -0.0254, 0.9993, 0.4961, 1.2354, 0.5316, 0.0753, 0.0776, 0.0448, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1782 left_yaw=0.0011 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3197 right_y=0.1615 right_z=0.1039 right_yaw=0.4 right_pitch=-0.0681 right_roll=-0.0099 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.7983, 6.9265, 1.6777, -0.0708, -0.0562, -0.0122, 0.335, -4.3419, 8.294, 1.9023, 0.0317, 0.0415, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3720b36204fa799110a65976775f5ffa94bf93424894429b200586ee433c4192",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c74cf44de01860a04f697b20d3a74d1deddb5dfaf64d214e078e1a85babc66e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ea0d0c448214e451499101cbac6300497c3b1f813f8a617224307ce98b8a209",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M15pNcnD8mvmBfxaU27tZC",
      "input": {
        "note": "Wrist view shows the pen slightly right of the jaw column and tilted; shifting right ~3 cm, rotating a bit more, and descending partway.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.135,
          "right_yaw": 0.6,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01M15pNcnD8mvmBfxaU27tZC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6037, -0.3813, -0.0219, -0.025, 0.9993, 0.2546, 1.4158, 0.416, 0.2649, -0.178, -0.1471, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9993 right_x=0.3234 right_y=0.1202 right_z=0.0357 right_yaw=0.4799 right_pitch=-0.1627 right_roll=0.0076 right_gripper=0.999\nstate[joint_eff]: [0.0752, -1.347, 7.2137, 1.6777, -0.0513, -0.0024, -0.0171, -0.212, -5.5863, 6.0513, 2.0684, -0.3297, -0.1099, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:707d5c5f3ef669835c9f6a8e788b8d091499335fac013b34896f41ec7122cd51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c2974157db07d5f712d8aa0edc36cdb45a01b03e878cdc590989ed38645cf64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:de764ce43fd7a35d858adff05819790657937d20e4bb2e3f54c183e7d637e9da",
        "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 · 2.98 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6022, -0.3801, -0.0216, -0.0246, 0.9993, -0.0181, 0.791, 0.609, -0.3763, -0.0208, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2957 right_y=0.0019 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -1.5248, 10.5504, 1.746, -0.0073, 0.0904, -0.0855, -0.5949, -1.2376, 9.8393, 1.7607, -0.0708, -0.0464, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6037, -0.3809, -0.0219, -0.0254, 0.9993, 0.4961, 1.2354, 0.5316, 0.0753, 0.0776, 0.0448, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1782 left_yaw=0.0011 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3197 right_y=0.1615 right_z=0.1039 right_yaw=0.4 right_pitch=-0.0681 right_roll=-0.0099 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.7983, 6.9265, 1.6777, -0.0708, -0.0562, -0.0122, 0.335, -4.3419, 8.294, 1.9023, 0.0317, 0.0415, -0.1099]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6037, -0.3813, -0.0219, -0.025, 0.9993, 0.2546, 1.4158, 0.416, 0.2649, -0.178, -0.1471, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9993 right_x=0.3234 right_y=0.1202 right_z=0.0357 right_yaw=0.4799 right_pitch=-0.1627 right_roll=0.0076 right_gripper=0.999\nstate[joint_eff]: [0.0752, -1.347, 7.2137, 1.6777, -0.0513, -0.0024, -0.0171, -0.212, -5.5863, 6.0513, 2.0684, -0.3297, -0.1099, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:707d5c5f3ef669835c9f6a8e788b8d091499335fac013b34896f41ec7122cd51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c2974157db07d5f712d8aa0edc36cdb45a01b03e878cdc590989ed38645cf64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de764ce43fd7a35d858adff05819790657937d20e4bb2e3f54c183e7d637e9da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7gcKEAgSGAI4AUIIdGhpbmtpbmcSDJ0UKbYMtOTGuf9ByhoMR9AjL7tKJ23mFfpRIjBE/kitJ0pjtV165xIOhqZAPC/j6MbB9eNaDWj1REeUwBSRAX1YFL4cGi9BkZ2+RJEqiwfAO1UF+bwpMA67TFNi2UpGP1MTw0BnFBdh0c0cvhrHRXJvFzyxBc42uAFaRK8U5pzuGphoPcvZD4KC565JkPl+z68om7foG1sjVZ9/CL8iIK3M417vUJvSf6FZzLXuFSh7c233bLdSRyL+XBI8UkohR3MHZCyNTYkHxui+R+yGABULpJcNesu6QSSJEUpRVIvNSj7tCJm5qyZXmZO6hr4IIg5PoZNBvtKqtS+e2kcUrzEeLkqDWVXqY1y9dHXTToURE5bsS72itJ1GZ1sSGxIhtIezKfufNTs3ajlZ3lQDpXt8akH7fDlwfp97n6zKqKF7J075iXnG1/EFK0E99hVw7eqjaYCZ4vnEIsG1f4O41gmB76Y16yqyVshIAAUIz0fBZR0JAxz56WwM1udTJOgiFGNCrEOS1PiKmYNrN7ahn7fOdoncw4b6i59x2ubFX52yw9kyB4FYOejxjPkYUUzJ8Vx12QHPZGcAy18qrOBHcFeebtdqxVmsv9fVVJxzzk9f5PMi2k67zWB+kbQ79c3BIaFyRpW3PQiOYqWbIvFEKADtkboPlsXTmRCUndFtbhj2M2ON3pd5qJ5QGV1uSPhREYddhkOzqRiV2+W6U5FI+trYDysnXlEsENgV+CIkoTvGvcvsxalrmyQd/BL1ci3BgOJeRdw+4OxyW//Lf3kfWSM1aI5xSuHeHIdnxlCH6/vBLfzJMd/Jn2y0ku/cWS06L9x0f8f8rcxnJYiMCwTCQ1CKG+yUPYJWFHd4IX94WmisiMI3BuKCZpebj86qlTgtniOCT3Ak/ZFwkvAVNmWPGGIhX0oqq+AZRmx6I0F7mQen3KvYs+EHORHFOEKUyQFu+TpnwUrxrZyWgEufhbzlDVFeq7mEbpTuRf5cf6ZKHSFcx8Kba6jdOi/Vswn9Q80imnbJzIsQKTUnZeemKyBwjONyZ794f5Q+ph2/OEqbrqUYO8v0DLFG4zmgO0Z4A98M3e1m6nc4N9CyNRGBCz364Fd03XiQETr6qRzJYUd2nhCa2rgPphfLWP28CL6fUrnsb7qwPvmU4VuBx/o2xDylq6q0bKTvBJa1CrWsXOKmIU7OgLIv9MCKdNGvfQtpkIb6tc0an3trKt/qhnJ3NYsnVOyF4rDMlwmWAo2zdhOQwX01sYPppTfOduM1hwADwJfrZ7sTQOA8l9PCnL0bn3Ji7dLQ4qOBrV7nzsRUGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018CTisD5ZRdGAt9rAVQPUZa",
      "input": {
        "note": "Pen is centred on the jaw column and roughly vertical in the wrist view; descending to table level to grasp.",
        "targets": {
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_018CTisD5ZRdGAt9rAVQPUZa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6037, -0.3813, -0.0219, -0.025, 0.9993, 0.2493, 1.6169, 0.3561, 0.5301, -0.2119, -0.1867, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1765 left_yaw=0.0009 left_pitch=-0.0122 left_roll=0.0001 left_gripper=0.9993 right_x=0.3242 right_y=0.1246 right_z=-0.0012 right_yaw=0.5244 right_pitch=-0.1527 right_roll=-0.0015 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -1.3607, 7.0359, 1.7021, -0.0611, -0.0317, -0.0171, 0.1573, -4.0957, 3.5487, 0.0611, -0.1197, 0.1197, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de3ccf79681e99739c048a1b126d74f3baaf312b2045ff332e8488d1b2536f67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:604974fe41f31202185f3f1aaa0580fbd3b7d6c998c89e66a29809d06b722874",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0dea426a2902382eef84874942a41ab5c62902a4bdf310d2e52fa92c31932191",
        "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 · 3.6 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6037, -0.3809, -0.0219, -0.0254, 0.9993, 0.4961, 1.2354, 0.5316, 0.0753, 0.0776, 0.0448, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1782 left_yaw=0.0011 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3197 right_y=0.1615 right_z=0.1039 right_yaw=0.4 right_pitch=-0.0681 right_roll=-0.0099 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.7983, 6.9265, 1.6777, -0.0708, -0.0562, -0.0122, 0.335, -4.3419, 8.294, 1.9023, 0.0317, 0.0415, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6037, -0.3813, -0.0219, -0.025, 0.9993, 0.2546, 1.4158, 0.416, 0.2649, -0.178, -0.1471, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9993 right_x=0.3234 right_y=0.1202 right_z=0.0357 right_yaw=0.4799 right_pitch=-0.1627 right_roll=0.0076 right_gripper=0.999\nstate[joint_eff]: [0.0752, -1.347, 7.2137, 1.6777, -0.0513, -0.0024, -0.0171, -0.212, -5.5863, 6.0513, 2.0684, -0.3297, -0.1099, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6037, -0.3813, -0.0219, -0.025, 0.9993, 0.2493, 1.6169, 0.3561, 0.5301, -0.2119, -0.1867, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1765 left_yaw=0.0009 left_pitch=-0.0122 left_roll=0.0001 left_gripper=0.9993 right_x=0.3242 right_y=0.1246 right_z=-0.0012 right_yaw=0.5244 right_pitch=-0.1527 right_roll=-0.0015 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -1.3607, 7.0359, 1.7021, -0.0611, -0.0317, -0.0171, 0.1573, -4.0957, 3.5487, 0.0611, -0.1197, 0.1197, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de3ccf79681e99739c048a1b126d74f3baaf312b2045ff332e8488d1b2536f67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:604974fe41f31202185f3f1aaa0580fbd3b7d6c998c89e66a29809d06b722874",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dea426a2902382eef84874942a41ab5c62902a4bdf310d2e52fa92c31932191",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pen is between the jaws at table level; closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VKBDDxmNaLCRjoEqEiEPJt",
      "input": {
        "note": "Fingertips at table level with the pen running between the jaws; closing to grasp the pen.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VKBDDxmNaLCRjoEqEiEPJt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8062, 0.6037, -0.3813, -0.0219, -0.0254, 0.9993, 0.2512, 1.6405, 0.3447, 0.6003, -0.1837, -0.1516, 0.05]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1762 left_yaw=0.0011 left_pitch=-0.0133 left_roll=-0.0002 left_gripper=0.9993 right_x=0.33 right_y=0.1217 right_z=-0.0002 right_yaw=0.4825 right_pitch=-0.1235 right_roll=-0.0012 right_gripper=0.05\nstate[joint_eff]: [-0.3624, -1.3744, 7.0632, 1.7607, -0.0855, -0.0611, -0.0171, 0.2393, -4.4376, 4.1778, 1.409, -0.0415, 0.0317, 1.2723]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae0270db470a02840244a65e8a9b833c7aa61e5d8298cea003bc3389f7adce7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35000639b34fdb7aa1d88c421daf96d643f894854a11a85c2e066503fd0112e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2520b466ffbb4dd0dc0aeb35f07722e4c0e6c236841d8c340baaceb228eb232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 13.29 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6037, -0.3813, -0.0219, -0.025, 0.9993, 0.2546, 1.4158, 0.416, 0.2649, -0.178, -0.1471, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9993 right_x=0.3234 right_y=0.1202 right_z=0.0357 right_yaw=0.4799 right_pitch=-0.1627 right_roll=0.0076 right_gripper=0.999\nstate[joint_eff]: [0.0752, -1.347, 7.2137, 1.6777, -0.0513, -0.0024, -0.0171, -0.212, -5.5863, 6.0513, 2.0684, -0.3297, -0.1099, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6037, -0.3813, -0.0219, -0.025, 0.9993, 0.2493, 1.6169, 0.3561, 0.5301, -0.2119, -0.1867, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1765 left_yaw=0.0009 left_pitch=-0.0122 left_roll=0.0001 left_gripper=0.9993 right_x=0.3242 right_y=0.1246 right_z=-0.0012 right_yaw=0.5244 right_pitch=-0.1527 right_roll=-0.0015 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -1.3607, 7.0359, 1.7021, -0.0611, -0.0317, -0.0171, 0.1573, -4.0957, 3.5487, 0.0611, -0.1197, 0.1197, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8062, 0.6037, -0.3813, -0.0219, -0.0254, 0.9993, 0.2512, 1.6405, 0.3447, 0.6003, -0.1837, -0.1516, 0.05]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1762 left_yaw=0.0011 left_pitch=-0.0133 left_roll=-0.0002 left_gripper=0.9993 right_x=0.33 right_y=0.1217 right_z=-0.0002 right_yaw=0.4825 right_pitch=-0.1235 right_roll=-0.0012 right_gripper=0.05\nstate[joint_eff]: [-0.3624, -1.3744, 7.0632, 1.7607, -0.0855, -0.0611, -0.0171, 0.2393, -4.4376, 4.1778, 1.409, -0.0415, 0.0317, 1.2723]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae0270db470a02840244a65e8a9b833c7aa61e5d8298cea003bc3389f7adce7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35000639b34fdb7aa1d88c421daf96d643f894854a11a85c2e066503fd0112e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2520b466ffbb4dd0dc0aeb35f07722e4c0e6c236841d8c340baaceb228eb232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShAcKEAgSGAI4AUIIdGhpbmtpbmcSDCn7ddWm5jTGnNdAJxoMjoJS1QVHaf2K7A1JIjDNQW2Z1btVnEqcu2V76mSAUtHCR2+XYjyM6i5dRyf8XdJa6sjwaFKP/5T/JUlSPCoqoQYkA5odRIHDoKH/QXJ0CG/popZwEz0GPoBUVyFPPqXUURcwPJwkE0LQD6TSo8ab+RdLtPMhhIGKNpBkp6w/Sk5r09qlwKMWsMy/Ux6Lh62Arfe1/fusEZaQ2mISAat6LPS5KtMWsREq423LLMiXmFjTKbSl+WXxaSzkJy9HdrQRkeR6a0C3ror8hHrgrsUyUcuUDiwnwrPplp/e0v1t/7HTYLZpX10XlebspPjLlZujFMDFZFxbHzUuzaMjVYpj9qq/IOC/aNWtLwMtDeEJudfjXS6HxBBfel6MZPsg94SvkgZ6AhYYB2peOgulPgiACRLdH1F7mBXmZ+Aq4x0heYwmweIs/5dcvo+gLCsiByDhdVLrzO2XzTFH+LDalTn0TLiN3EU+vhRaaRsJuZsLbeI5N58UY3EdX52If+uMG4pqmRVTFdoTvNPHsBPvt8lsnJv0TFzGhX65kJwwAQiLUceG3rum+XyxsK1dcd7I/nYv1AVLi5OUJwk2rSNGoztpKe3nB4zpf8WMW/03qVtZXdXuja+X7YmYwzEx/vG8/ZlxsDqDL+1RvUfcnKOlNpSNTcY4wB6FsUNvpAP8/QvVF8xMKazHhSVFnE6+u1uZjHaqijLVUBBp2yJKAjcQZ2WDrqZ92hHO4vsB2vsTSOszuRyBERH/vHeqy/yQkKE+mJZqNr1LMuLDnoat62hvC8DoemdLbR+Bkzl4qnbsclbo7sSrBpqxcekKVCuefxcrzFjBB1tN7PIu5TQxJrwk8clHcyJhb9y3oNlKMghFn+jdeYns4ZIhZR8AKyHG/tBOJphYEflNYkveDfS5ADKzqhiudLzEdi4PZYzVETdbtGdfUvwicCOgFWXx3gN/Gd0QDCDu6lJCqkDkD2ZqhIKlWSsjEJ/3HmtXCjIFaBRXB4SFnXiFuinvlMzB9P0zQDrzW9Vdv2WZK4PxgN6KzI1cjErvINBrTwJv0wAZHpE/l9A3e1QukuSI12qyANH4w/3BTzmkgq54xNcOT/cJT1oG5MDL/bkf66/tYMr9Pmve+hxUqhpwEQ1GnP9mlD9CgXpcRh0xzuIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0124L4QYPmaR26qm9pfT5mwR",
      "input": {
        "note": "Gripper settled at 0.05 with the pen aligned in the jaws; lifting to check the grasp.",
        "targets": {
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0124L4QYPmaR26qm9pfT5mwR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0219, -0.025, 0.9993, 0.2501, 1.3216, 0.4702, 0.1753, -0.1841, -0.1535, 0.0565]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0009 left_pitch=-0.0156 left_roll=0.0002 left_gripper=0.9993 right_x=0.3319 right_y=0.1218 right_z=0.0707 right_yaw=0.4822 right_pitch=-0.1045 right_roll=-0.007 right_gripper=0.0565\nstate[joint_eff]: [-0.2256, -1.1282, 7.0769, 1.7949, -0.0464, -0.0562, -0.0171, -0.294, -5.4769, 8.6496, 1.6093, -0.0855, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64ed4fcce4b8ad8105cf168a8c8a57d28d62f17011113ee3163faf2b382aa211",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c0f842f1af5ecb90f4328d7cedc2fab21138d43140f12ac48cd7181c1ab592c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cdeedfea5c1762ae18b489d6768afb3cf9bca67fbf197f4198ed5f284aaa40e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 10.4 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6037, -0.3813, -0.0219, -0.025, 0.9993, 0.2493, 1.6169, 0.3561, 0.5301, -0.2119, -0.1867, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1765 left_yaw=0.0009 left_pitch=-0.0122 left_roll=0.0001 left_gripper=0.9993 right_x=0.3242 right_y=0.1246 right_z=-0.0012 right_yaw=0.5244 right_pitch=-0.1527 right_roll=-0.0015 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -1.3607, 7.0359, 1.7021, -0.0611, -0.0317, -0.0171, 0.1573, -4.0957, 3.5487, 0.0611, -0.1197, 0.1197, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8062, 0.6037, -0.3813, -0.0219, -0.0254, 0.9993, 0.2512, 1.6405, 0.3447, 0.6003, -0.1837, -0.1516, 0.05]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1762 left_yaw=0.0011 left_pitch=-0.0133 left_roll=-0.0002 left_gripper=0.9993 right_x=0.33 right_y=0.1217 right_z=-0.0002 right_yaw=0.4825 right_pitch=-0.1235 right_roll=-0.0012 right_gripper=0.05\nstate[joint_eff]: [-0.3624, -1.3744, 7.0632, 1.7607, -0.0855, -0.0611, -0.0171, 0.2393, -4.4376, 4.1778, 1.409, -0.0415, 0.0317, 1.2723]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0219, -0.025, 0.9993, 0.2501, 1.3216, 0.4702, 0.1753, -0.1841, -0.1535, 0.0565]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0009 left_pitch=-0.0156 left_roll=0.0002 left_gripper=0.9993 right_x=0.3319 right_y=0.1218 right_z=0.0707 right_yaw=0.4822 right_pitch=-0.1045 right_roll=-0.007 right_gripper=0.0565\nstate[joint_eff]: [-0.2256, -1.1282, 7.0769, 1.7949, -0.0464, -0.0562, -0.0171, -0.294, -5.4769, 8.6496, 1.6093, -0.0855, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64ed4fcce4b8ad8105cf168a8c8a57d28d62f17011113ee3163faf2b382aa211",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c0f842f1af5ecb90f4328d7cedc2fab21138d43140f12ac48cd7181c1ab592c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdeedfea5c1762ae18b489d6768afb3cf9bca67fbf197f4198ed5f284aaa40e8",
        "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_01NSCCrKmKbFk8h4rRNARUTP",
      "input": {
        "note": "Pen is held in the right gripper with its tip pointing forward. Raising it, and moving the left arm above the cap (left-centre of table), rotated so the jaws close across it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.34,
          "left_y": -0.21,
          "left_yaw": -0.5,
          "left_z": 0.1,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01NSCCrKmKbFk8h4rRNARUTP",
      "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]: [-0.5941, 1.417, 0.5728, 0.1516, -0.1131, -0.0952, 0.9993, 0.2501, 1.1809, 0.6792, -0.2169, -0.1841, -0.1539, 0.0614]\nstate[eef_state]: left_x=0.325 left_y=-0.1912 left_z=0.073 left_yaw=-0.4577 left_pitch=-0.117 left_roll=0.0064 left_gripper=0.9993 right_x=0.3272 right_y=0.1206 right_z=0.1307 right_yaw=0.4836 right_pitch=-0.1457 right_roll=0.0026 right_gripper=0.0614\nstate[joint_eff]: [-0.3077, -5.5453, 9.1829, 2.0928, 0.1343, 0.2271, -0.0855, -0.3487, -5.4496, 9.7162, 1.6532, -0.1343, -0.0415, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba647646500677b19310719e5f6c0d69767373de9e03b7486ffa5a2282480623",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b601431ed8ab4b71168588717e3757574f0d591408c49d80bfa33dd09ab5862c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:804d0a95c684951285cae656e2e1c560572fda68bc5b843893c032ffc6a46f63",
        "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 · 3.996 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8062, 0.6037, -0.3813, -0.0219, -0.0254, 0.9993, 0.2512, 1.6405, 0.3447, 0.6003, -0.1837, -0.1516, 0.05]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1762 left_yaw=0.0011 left_pitch=-0.0133 left_roll=-0.0002 left_gripper=0.9993 right_x=0.33 right_y=0.1217 right_z=-0.0002 right_yaw=0.4825 right_pitch=-0.1235 right_roll=-0.0012 right_gripper=0.05\nstate[joint_eff]: [-0.3624, -1.3744, 7.0632, 1.7607, -0.0855, -0.0611, -0.0171, 0.2393, -4.4376, 4.1778, 1.409, -0.0415, 0.0317, 1.2723]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0219, -0.025, 0.9993, 0.2501, 1.3216, 0.4702, 0.1753, -0.1841, -0.1535, 0.0565]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0009 left_pitch=-0.0156 left_roll=0.0002 left_gripper=0.9993 right_x=0.3319 right_y=0.1218 right_z=0.0707 right_yaw=0.4822 right_pitch=-0.1045 right_roll=-0.007 right_gripper=0.0565\nstate[joint_eff]: [-0.2256, -1.1282, 7.0769, 1.7949, -0.0464, -0.0562, -0.0171, -0.294, -5.4769, 8.6496, 1.6093, -0.0855, -0.0024, 1.0281]",
      "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]: [-0.5941, 1.417, 0.5728, 0.1516, -0.1131, -0.0952, 0.9993, 0.2501, 1.1809, 0.6792, -0.2169, -0.1841, -0.1539, 0.0614]\nstate[eef_state]: left_x=0.325 left_y=-0.1912 left_z=0.073 left_yaw=-0.4577 left_pitch=-0.117 left_roll=0.0064 left_gripper=0.9993 right_x=0.3272 right_y=0.1206 right_z=0.1307 right_yaw=0.4836 right_pitch=-0.1457 right_roll=0.0026 right_gripper=0.0614\nstate[joint_eff]: [-0.3077, -5.5453, 9.1829, 2.0928, 0.1343, 0.2271, -0.0855, -0.3487, -5.4496, 9.7162, 1.6532, -0.1343, -0.0415, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba647646500677b19310719e5f6c0d69767373de9e03b7486ffa5a2282480623",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b601431ed8ab4b71168588717e3757574f0d591408c49d80bfa33dd09ab5862c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:804d0a95c684951285cae656e2e1c560572fda68bc5b843893c032ffc6a46f63",
        "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_01TtJVYSPb2W3h42xTkknhpf",
      "input": {
        "note": "Left wrist view shows the cap left of the jaw column and tilted; shifting toward it, slightly forward, rotating further, and descending partway.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.165,
          "left_yaw": -0.75,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01TtJVYSPb2W3h42xTkknhpf",
      "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]: [-0.3153, 1.6123, 0.5938, 0.2371, 0.1604, 0.1307, 0.9993, 0.2501, 1.1831, 0.6788, -0.234, -0.1841, -0.1539, 0.0658]\nstate[eef_state]: left_x=0.3576 left_y=-0.1425 left_z=0.0266 left_yaw=-0.536 left_pitch=-0.1984 left_roll=-0.0126 left_gripper=0.9993 right_x=0.3245 right_y=0.1199 right_z=0.1266 right_yaw=0.4843 right_pitch=-0.165 right_roll=0.0072 right_gripper=0.0658\nstate[joint_eff]: [-3.0017, -8.5265, 7.7744, 1.9609, 0.8132, 0.3346, -0.0171, -0.1299, -3.9863, 6.9265, 1.7167, -0.1343, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfaf110a2ac335320bcbcc302bd3a391758d8c60cfd4d59173a07c02101381ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b64a7eb090ef1c2a60c6ecfc47893b1da0a9e591d177f00bc864e1c4997c4f2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:966abad40f77aec9e0dc296fc46002eac2c9a8cb06407f90c196f33b782da8ba",
        "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 · 5.205 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0219, -0.025, 0.9993, 0.2501, 1.3216, 0.4702, 0.1753, -0.1841, -0.1535, 0.0565]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0009 left_pitch=-0.0156 left_roll=0.0002 left_gripper=0.9993 right_x=0.3319 right_y=0.1218 right_z=0.0707 right_yaw=0.4822 right_pitch=-0.1045 right_roll=-0.007 right_gripper=0.0565\nstate[joint_eff]: [-0.2256, -1.1282, 7.0769, 1.7949, -0.0464, -0.0562, -0.0171, -0.294, -5.4769, 8.6496, 1.6093, -0.0855, -0.0024, 1.0281]",
      "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]: [-0.5941, 1.417, 0.5728, 0.1516, -0.1131, -0.0952, 0.9993, 0.2501, 1.1809, 0.6792, -0.2169, -0.1841, -0.1539, 0.0614]\nstate[eef_state]: left_x=0.325 left_y=-0.1912 left_z=0.073 left_yaw=-0.4577 left_pitch=-0.117 left_roll=0.0064 left_gripper=0.9993 right_x=0.3272 right_y=0.1206 right_z=0.1307 right_yaw=0.4836 right_pitch=-0.1457 right_roll=0.0026 right_gripper=0.0614\nstate[joint_eff]: [-0.3077, -5.5453, 9.1829, 2.0928, 0.1343, 0.2271, -0.0855, -0.3487, -5.4496, 9.7162, 1.6532, -0.1343, -0.0415, 1.033]",
      "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]: [-0.3153, 1.6123, 0.5938, 0.2371, 0.1604, 0.1307, 0.9993, 0.2501, 1.1831, 0.6788, -0.234, -0.1841, -0.1539, 0.0658]\nstate[eef_state]: left_x=0.3576 left_y=-0.1425 left_z=0.0266 left_yaw=-0.536 left_pitch=-0.1984 left_roll=-0.0126 left_gripper=0.9993 right_x=0.3245 right_y=0.1199 right_z=0.1266 right_yaw=0.4843 right_pitch=-0.165 right_roll=0.0072 right_gripper=0.0658\nstate[joint_eff]: [-3.0017, -8.5265, 7.7744, 1.9609, 0.8132, 0.3346, -0.0171, -0.1299, -3.9863, 6.9265, 1.7167, -0.1343, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfaf110a2ac335320bcbcc302bd3a391758d8c60cfd4d59173a07c02101381ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b64a7eb090ef1c2a60c6ecfc47893b1da0a9e591d177f00bc864e1c4997c4f2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:966abad40f77aec9e0dc296fc46002eac2c9a8cb06407f90c196f33b782da8ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpggKEAgSGAI4AUIIdGhpbmtpbmcSDPUTcFgifgWBLYSXcBoMUpyWAieCOf0OTmDXIjBKMC6y/KK2xymsRFJGwnVxlAgyptSYIPVb4LwgsJaVwwcC6FVW1TgSz7i4ut9qUhwqwwfdlJa68ZvUNYQdm10p/0kCN25Nh6l5coT8MWY0fY/SBYd6kgNuWCBfJEuoHZJIoxgZPD8psHsjWOeGAkT2wFbjpMiGSEpQvAndm8lS7B9ef2zMMsC3nhSo5K2KDPDmypXENoeot6jN0XkMBcJfBneGZSu6iO16GBYVcs4pYwdnDnhX8Jp0ODLbNBtdPfotp9pMeEBNeDjRnhann+feKMybnUX7VFqZ/3LjdeI8U9HawZWxj9QW1TKAUiwISeukmFWb2t3pwhIGwvdQmW4viDcqyfmlcl5o7LufO68zFqU/PfuJuXuPZGfVz2+RcLq883TH3KnwE6Lx69bG83d7dGcNu+0ajw1UwkhT9TQ5jUyThnzJpDCN7QWOoDW1bMzUW/DbfkLustvTSo8LlBYdT28ufJ+WH+hHGUXG9Z2k0iXOP7FTTLw7WdQwuqFQdFEjLJsTnbLTFw1XP6zOEG9t58JdHK+bPZDNPqg1cqbJy6MEfg8mtjXq19GGR2lguwlnS6PiC4ViDgor0xblNLl+p1OcXuIPo2pja66KYl6oT96HuQDeMT2OgXZqQKhtc0hYVnMpiu6jKP83K9mH2edcR2jJRjx0Fg9ck/8QkUnjnCfXmhQwJl7RbaQK52u8Wk0GwGdMBlLZ0nLDUwKg7NIwTFclGfOw2PGw5HWdWGveM9rqCyl76qx3Hqlpmi8VAuPG6wWVfkVaFkDbm9XSmZPsGgF4CDMsE1eouMexUoJ03OXCve0EcOCeLaCzNYL2hOQLYSTgnC3n1UJWIHzho9w8yN+UIsnOBp00frrAem9tSu2CUy3L6swM064KblZn/GGbSSeo0f+1uaHn9ig4icof7kXfGs05XtIis17G2Zs4LzJEh/ZDdAGWmmI+eJIIgqrZB00bonRtPnev2FOJ8eqvyvfUjeZIdpDdwc9sgDvQuLDdyoaYIapjF9k8iNESslLZfz11AUyxUvQcSyUKAkPHQb98LP21sVEHBnWno/1575apJ3EA3m+vKYDdJNN3rcycHTx8zvvReTmb7uze96lc10Irgt+ap+zkQoqyGFPcXPF0aGqz3+id0btbo6RJFm5uaN3hxzIjGVLTuBAlCNA1ALrGAOKExdNhXiVJnMMCTAczbNQfOVfUL0HLu8QKwGUkWnPkg203/xF07krZ+pbzL6Zyo7htBAVImrjiH6BtN4kDEQFsGC8qYftO4um5+QmW+5H024AcGHGQrWYt7JMvsQSDevIGAOCiwKJyGso0uAhPWitzFBcd/lelMxzhofd9HYWMivMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wuyx7J7VFxYLLtGFovy5cc",
      "input": {
        "note": "Cap is now near the jaw column in the left wrist view; descending to table level over it.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.165,
          "left_yaw": -0.7,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Wuyx7J7VFxYLLtGFovy5cc",
      "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]: [-0.2893, 1.6524, 0.5941, 0.2363, 0.3225, 0.2726, 0.9993, 0.2501, 1.1831, 0.6788, -0.234, -0.1841, -0.1539, 0.0693]\nstate[eef_state]: left_x=0.3452 left_y=-0.1575 left_z=0.0171 left_yaw=-0.726 left_pitch=-0.1978 left_roll=-0.0343 left_gripper=0.9993 right_x=0.3245 right_y=0.1199 right_z=0.1266 right_yaw=0.4843 right_pitch=-0.165 right_roll=0.0072 right_gripper=0.0693\nstate[joint_eff]: [-0.1026, -7.8017, 7.3231, 1.8095, 0.2857, 0.1783, -0.0171, -0.3214, -3.8222, 6.9675, 1.5897, -0.149, -0.0757, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b62e1709dd678eda308ea2ed6ac2c89f066cd8e488a04d13acd0d22490e3e37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f0d37667e6689d455a8f9421c6810f4737b6964fdd7f75aadfff25d683b3748",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a29ea0e00c314ed91b01eec100776062d65fac5338824535ec5c8881a7e02cc3",
        "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 · 5.298 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]: [-0.5941, 1.417, 0.5728, 0.1516, -0.1131, -0.0952, 0.9993, 0.2501, 1.1809, 0.6792, -0.2169, -0.1841, -0.1539, 0.0614]\nstate[eef_state]: left_x=0.325 left_y=-0.1912 left_z=0.073 left_yaw=-0.4577 left_pitch=-0.117 left_roll=0.0064 left_gripper=0.9993 right_x=0.3272 right_y=0.1206 right_z=0.1307 right_yaw=0.4836 right_pitch=-0.1457 right_roll=0.0026 right_gripper=0.0614\nstate[joint_eff]: [-0.3077, -5.5453, 9.1829, 2.0928, 0.1343, 0.2271, -0.0855, -0.3487, -5.4496, 9.7162, 1.6532, -0.1343, -0.0415, 1.033]",
      "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]: [-0.3153, 1.6123, 0.5938, 0.2371, 0.1604, 0.1307, 0.9993, 0.2501, 1.1831, 0.6788, -0.234, -0.1841, -0.1539, 0.0658]\nstate[eef_state]: left_x=0.3576 left_y=-0.1425 left_z=0.0266 left_yaw=-0.536 left_pitch=-0.1984 left_roll=-0.0126 left_gripper=0.9993 right_x=0.3245 right_y=0.1199 right_z=0.1266 right_yaw=0.4843 right_pitch=-0.165 right_roll=0.0072 right_gripper=0.0658\nstate[joint_eff]: [-3.0017, -8.5265, 7.7744, 1.9609, 0.8132, 0.3346, -0.0171, -0.1299, -3.9863, 6.9265, 1.7167, -0.1343, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2893, 1.6524, 0.5941, 0.2363, 0.3225, 0.2726, 0.9993, 0.2501, 1.1831, 0.6788, -0.234, -0.1841, -0.1539, 0.0693]\nstate[eef_state]: left_x=0.3452 left_y=-0.1575 left_z=0.0171 left_yaw=-0.726 left_pitch=-0.1978 left_roll=-0.0343 left_gripper=0.9993 right_x=0.3245 right_y=0.1199 right_z=0.1266 right_yaw=0.4843 right_pitch=-0.165 right_roll=0.0072 right_gripper=0.0693\nstate[joint_eff]: [-0.1026, -7.8017, 7.3231, 1.8095, 0.2857, 0.1783, -0.0171, -0.3214, -3.8222, 6.9675, 1.5897, -0.149, -0.0757, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b62e1709dd678eda308ea2ed6ac2c89f066cd8e488a04d13acd0d22490e3e37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f0d37667e6689d455a8f9421c6810f4737b6964fdd7f75aadfff25d683b3748",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a29ea0e00c314ed91b01eec100776062d65fac5338824535ec5c8881a7e02cc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkgkKEAgSGAI4AUIIdGhpbmtpbmcSDO++3NIq3FCa5wJvixoMZiY+HlovythHf6GDIjBYbSodNR4YF93WX2jACQf73RDAiBOW3LwZFN6PnSWrSIJu6gDrbaGFV/fQrJahgL8qrwjGGwKo0aD4TxBLE1vbe3b3KGe5COkGQ7mh3j20YY3MwdEEb3El3oiWbt9imr2sjH35tW8ieOm+8hBb7kaew/kdDO36NinbxjG7vM0pv2QfylvWfEBsvap89kPsOAtXVTfEnuMCJiRW9ngJWSW3MnhwggCBzGTjBKSh9fU/iUdS0rqSr30DILlmeAdr8F5gDPkVYeA2YrWT8J4yij8KrXHncH9DobkI3EscgP/lyqAbZ/lvZs5z5k1pZ5aiBxPDBJLZJhXZEUTZgHZxHVgbrbV4vDJzLvR8mcgmKSDjiAHg/JzGlLLFp9Y3B6cc4mRbNjgH2y7H2+VEbHhjhXeCdGwjsSSJX8aBCt+6H4arn2NhlHf9AM8CBXkuCk0vK0BE8nKw6n10H36IMpdqcM0JnIzSCsTvlfdJzu16OlaV87eu7IHCgaNnf6jJj6osGC45XwsbDQAfTGc3KhmA+WsdiMhQPnOHnEWbAZ/NXiC/pO8jcxOKGHml9QLv7pJOUP/U+sNPPXr4HoleciwUzVkcT+KAwmVJWW6q7+mbN4YrPcPGLIOYSDQFjfgSV8TirrIK/q9yitYJENmWpcqx1+UyG8mUpmaT4Wr5p6KbZASCAUhab7eGfDmoGvMYj4/L0yU4yIqkBuCIP1qabS1djExQ9kQP9yqCEesgorzdSJ3iujbkjjfWN5H0R8DfWIyk7BuhteT1b9KSJgN7lT2gUjBzycqOG1xju+1GH0wuWi1/8rVAFoZqrOSZhsreVED7fL3OuAd8fDAmhPw5+Uj9wWPi+pgnsciOz+vI4SFzqpTsnVYsNABSL/b2+LVkxoag5MaUGm0ufdXwFvZF3woDn/bieWfeqst7NN+GMCeMKFDLzKDGhKDmv3UEmsVlHH+UIyS7OUnzxsg4sbQk69j5rvUt6uEcfGaVKHqqEa0mO2fySbGkOzk3EkdCl7IpgcJAXiidkvjMFWEH/PLYR9ifpaH84vPHge0fNbWzx3M+OKFiJwZYds4uure5QS4iB1puLsYbTKao7a5PTNLE3QzgLXYFhqKnr2Bw0ZH9+LukK+9POJ//MiymUlMrnalAp2ve12lexVIebZ+OGwS7vQjNQsSbvA42/q2WrR6FSSKyuIvGaCgfJ5LcVQmAx4b0H64kO3sl0QBbrc8HVNNFmoQNbPQ2r6xWtZaMl0qTJW9+dMVcgwb0RmuK8cXkXX22olpXUYJHtgwqB1ZNuK2k83Sjo9K69daTSTWwzVuESSiML9IDs5xwc4xNmLFYAs5fVZFeX1eTVRCtp0a5EMlE6B1Utezn6jJ4dWpAKqJY205bzpbwQq4LXM2USCXzH4QKuYyVM4VmmtJ6ZAEDKy291uvzpi6q5P3Jr/aMTEy3bOaBErmsPV+HG2DSGEU/CBVVhSc8mWAIPIGzttSc49LsZy3QxkoRk/YYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FvezmTmjDD1s4F8uwc7sTg",
      "input": {
        "note": "Cap is slightly left of the jaw column and still ahead of the fingertips; nudging forward/left and pressing to table level.",
        "targets": {
          "left_x": 0.366,
          "left_y": -0.156,
          "left_z": -0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01FvezmTmjDD1s4F8uwc7sTg",
      "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]: [-0.2886, 1.6505, 0.5941, 0.2508, 0.3229, 0.2726, 0.9992, 0.2501, 1.187, 0.6785, -0.2485, -0.1841, -0.1539, 0.0706]\nstate[eef_state]: left_x=0.3479 left_y=-0.158 left_z=0.0202 left_yaw=-0.7243 left_pitch=-0.1829 left_roll=-0.0275 left_gripper=0.9992 right_x=0.3221 right_y=0.1193 right_z=0.1227 right_yaw=0.4851 right_pitch=-0.1832 right_roll=0.0116 right_gripper=0.0706\nstate[joint_eff]: [-0.253, -7.8564, 7.5692, 1.6825, 0.2906, 0.2173, -0.0171, -0.335, -4.2735, 6.7487, 1.6679, -0.1441, -0.0513, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5becf89d34a8095a7f14796741396a94030542615e425b8d51e9c4b93f552f16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86df027de1d60637ecff954d7bea21c62b9736a7a1138ed0365600f5b9afc310",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e6543100c5c4d7bd6fd3550fdd84f9072c105fefd55994d4e893df6c13ae759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 5.003 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]: [-0.3153, 1.6123, 0.5938, 0.2371, 0.1604, 0.1307, 0.9993, 0.2501, 1.1831, 0.6788, -0.234, -0.1841, -0.1539, 0.0658]\nstate[eef_state]: left_x=0.3576 left_y=-0.1425 left_z=0.0266 left_yaw=-0.536 left_pitch=-0.1984 left_roll=-0.0126 left_gripper=0.9993 right_x=0.3245 right_y=0.1199 right_z=0.1266 right_yaw=0.4843 right_pitch=-0.165 right_roll=0.0072 right_gripper=0.0658\nstate[joint_eff]: [-3.0017, -8.5265, 7.7744, 1.9609, 0.8132, 0.3346, -0.0171, -0.1299, -3.9863, 6.9265, 1.7167, -0.1343, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2893, 1.6524, 0.5941, 0.2363, 0.3225, 0.2726, 0.9993, 0.2501, 1.1831, 0.6788, -0.234, -0.1841, -0.1539, 0.0693]\nstate[eef_state]: left_x=0.3452 left_y=-0.1575 left_z=0.0171 left_yaw=-0.726 left_pitch=-0.1978 left_roll=-0.0343 left_gripper=0.9993 right_x=0.3245 right_y=0.1199 right_z=0.1266 right_yaw=0.4843 right_pitch=-0.165 right_roll=0.0072 right_gripper=0.0693\nstate[joint_eff]: [-0.1026, -7.8017, 7.3231, 1.8095, 0.2857, 0.1783, -0.0171, -0.3214, -3.8222, 6.9675, 1.5897, -0.149, -0.0757, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2886, 1.6505, 0.5941, 0.2508, 0.3229, 0.2726, 0.9992, 0.2501, 1.187, 0.6785, -0.2485, -0.1841, -0.1539, 0.0706]\nstate[eef_state]: left_x=0.3479 left_y=-0.158 left_z=0.0202 left_yaw=-0.7243 left_pitch=-0.1829 left_roll=-0.0275 left_gripper=0.9992 right_x=0.3221 right_y=0.1193 right_z=0.1227 right_yaw=0.4851 right_pitch=-0.1832 right_roll=0.0116 right_gripper=0.0706\nstate[joint_eff]: [-0.253, -7.8564, 7.5692, 1.6825, 0.2906, 0.2173, -0.0171, -0.335, -4.2735, 6.7487, 1.6679, -0.1441, -0.0513, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5becf89d34a8095a7f14796741396a94030542615e425b8d51e9c4b93f552f16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86df027de1d60637ecff954d7bea21c62b9736a7a1138ed0365600f5b9afc310",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e6543100c5c4d7bd6fd3550fdd84f9072c105fefd55994d4e893df6c13ae759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwQoKEAgSGAI4AUIIdGhpbmtpbmcSDCWNkUWhHzZujBDIpBoMeJRU6t+oA/2MwCpKIjCwTJKw383uvD2EfiRcQKPZH98RjHXDa5VG2bMkNKRFWaLUP44TexEDRpzVw7JwCx0q3gkdMcIb395W6lJtXcZeyoJVMr8o9jqc3JfYwazy3nAvqQbee9NmZS66tTdY+dJdGdJosWYALiJ0zOhpzXm2GtmvZIKKebFt6VuTyRKdwYubIodnn9gI8CitS3N9DVDv5QF+mZQ6q6tHifKYw+5YigIyc1zveGIGKDu53X+OLS9lBS+wpenh06S/aDyk9S3pYPrAIlkd5x86QQuLgud/fnsAga86FsJzdhw3IbfEqjNH3p7JqOlQ4MnC07fdkOzxbHlQZTkomYbXWZIOLURJzDVOQIb4C0SYdbSsISF7m4RZMG4ByNnLiuxU0uwwL+QrM7LRj4YdMQy6r3RGVzJEuqcOwcp35VU8ipUwGtbfOb2Zg3S4OIgKIj6Bxw3KYP426NxFcXpp0fLL3fQbhSv33dr3QiTa0L2rO3ULtcQ76mYHC2uZURj9GCyU+smv6VT8mbvl5T2BtvHf8s6ralS15kwe7b6I1cFwZGxIVuXi+5cL/wHfZSJH5D1EY5Zsmep/15BX7qPA5VedUcZBkIWV/FtNvtptfUzC/gibbA0IwFyO1iWh3s1Z39f7tiNBHYvByVswvOyc3aIb4GEWrXWHZjc+yGBnT8HKON0sXuwLY/rSCOIFcaCvpFCPH5GHUd1z9Y94R1ew8v4FWAzlGxAvz3tWBdQFWgJxDII3M2en7wRR1tm6PoluWxPirrWRx+kA5K1xIGd6MvY9pTDMNjzB/PQUHBLw8HXNk+QIcry7HV/hH6q1eRBVA4yWwsFBXXd60Y90evsG1+GUgz6m+Q5G3378NCxRJITu2jUswgvJX4EznkzsBASpqnUMF11mtUZQsyfYSrVUv708l14bSdcpDfU2tPuAmYPudBRqccxqmTq7Govcb1YtjgXL4uuh3kJK06QJolHuYkU8rd2PuoiuzDnFARfoDnP3C6ZH4r3/hoNZgOcqW8CaiMoSh+k7RHIdv6nZeJnHzuu+kvrtNdCGIprwj+w2/dbuzJTX/GTvrcB0kX1kY0hEFdxctFnw4/AkL508DxVlkuCO4d5hVKVED0dBS+uDvXFTmdNtGcRjcviZHg7rc/PB1BOwKMGLLOkISwlpSdZavwdXtcy2J+Vep5e/bHjl7aK1eB5GJYcti9W1xjLEk7heeh0JndD6ylz1sMyld0u5z5oBVpA5CmV5f4MI/fucMOLTt8iMNuJVUyzyTwgw00tIfTD216a0wrQXif5zTpegWY6V99zxDkfR6NLsGyYDF+5sIbBFAlQFne0La9Nz3MYH0fGMM8cBDY2f4jb22AqtHeWd3PUd7QtSN8f0R+2GzRkFP1fMY/9NWcTaZEllsfxm1m4pKW6u1agqG4gFYaFwuT7INLt7AcL55fliG9vV/w58FInUvP/zZeN4rQqzVUQABlXyseVDn0lFzNamgSNSym4GJiG2qP88KO393FSoLX5yG6iVAzmrqfEgQS5vVuHKM4yodNd6EaE5U/KvJDRs9JWisLjYiyJVkk3qsaCG7+VRazeIniyW15+BqXizp0hutzYhqCoYQSyuHOKa7ovO+JibvZv+HeuZsa0qIHqBzaEJm/lWKdo1UiAZptNNSDM3AWsUvNffZFKVka3NNBaKJd10FtXdemJWXh3h950nxdwj9bRxTPREnufyaChG+N3VRXuwc87OiM0lGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RHGjip6GtDkjMoBjKapnii",
      "input": {
        "note": "Previous move stalled near z=0.02; trying the forward/left nudge at current height first to get the cap between the jaws.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.155,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01RHGjip6GtDkjMoBjKapnii",
      "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]: [-0.2886, 1.6505, 0.5949, 0.2504, 0.3229, 0.2726, 0.9992, 0.2501, 1.1866, 0.6785, -0.2558, -0.1837, -0.1535, 0.0735]\nstate[eef_state]: left_x=0.3481 left_y=-0.1581 left_z=0.0204 left_yaw=-0.7242 left_pitch=-0.1825 left_roll=-0.0273 left_gripper=0.9992 right_x=0.3209 right_y=0.119 right_z=0.1215 right_yaw=0.4848 right_pitch=-0.1899 right_roll=0.0133 right_gripper=0.0735\nstate[joint_eff]: [-0.1983, -7.8564, 7.2684, 1.6972, 0.3492, 0.2173, -0.0073, -0.1573, -3.9316, 6.8718, 1.5995, -0.1441, -0.0366, 0.862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:548297b3c3a45ec9f6a3047cfa9fa30248f6138f4e4472af8863b0c76638f44c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df07dba073fa39b60495a88a447e2151003a7d9ab4bb826f20e93cadc9540bbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:218380db7c2462d30b43541d34ba55d5d3a3af70ace9ae21978422f66114b30c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 4.221 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]: [-0.2893, 1.6524, 0.5941, 0.2363, 0.3225, 0.2726, 0.9993, 0.2501, 1.1831, 0.6788, -0.234, -0.1841, -0.1539, 0.0693]\nstate[eef_state]: left_x=0.3452 left_y=-0.1575 left_z=0.0171 left_yaw=-0.726 left_pitch=-0.1978 left_roll=-0.0343 left_gripper=0.9993 right_x=0.3245 right_y=0.1199 right_z=0.1266 right_yaw=0.4843 right_pitch=-0.165 right_roll=0.0072 right_gripper=0.0693\nstate[joint_eff]: [-0.1026, -7.8017, 7.3231, 1.8095, 0.2857, 0.1783, -0.0171, -0.3214, -3.8222, 6.9675, 1.5897, -0.149, -0.0757, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2886, 1.6505, 0.5941, 0.2508, 0.3229, 0.2726, 0.9992, 0.2501, 1.187, 0.6785, -0.2485, -0.1841, -0.1539, 0.0706]\nstate[eef_state]: left_x=0.3479 left_y=-0.158 left_z=0.0202 left_yaw=-0.7243 left_pitch=-0.1829 left_roll=-0.0275 left_gripper=0.9992 right_x=0.3221 right_y=0.1193 right_z=0.1227 right_yaw=0.4851 right_pitch=-0.1832 right_roll=0.0116 right_gripper=0.0706\nstate[joint_eff]: [-0.253, -7.8564, 7.5692, 1.6825, 0.2906, 0.2173, -0.0171, -0.335, -4.2735, 6.7487, 1.6679, -0.1441, -0.0513, 1.0232]",
      "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]: [-0.2886, 1.6505, 0.5949, 0.2504, 0.3229, 0.2726, 0.9992, 0.2501, 1.1866, 0.6785, -0.2558, -0.1837, -0.1535, 0.0735]\nstate[eef_state]: left_x=0.3481 left_y=-0.1581 left_z=0.0204 left_yaw=-0.7242 left_pitch=-0.1825 left_roll=-0.0273 left_gripper=0.9992 right_x=0.3209 right_y=0.119 right_z=0.1215 right_yaw=0.4848 right_pitch=-0.1899 right_roll=0.0133 right_gripper=0.0735\nstate[joint_eff]: [-0.1983, -7.8564, 7.2684, 1.6972, 0.3492, 0.2173, -0.0073, -0.1573, -3.9316, 6.8718, 1.5995, -0.1441, -0.0366, 0.862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:548297b3c3a45ec9f6a3047cfa9fa30248f6138f4e4472af8863b0c76638f44c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df07dba073fa39b60495a88a447e2151003a7d9ab4bb826f20e93cadc9540bbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:218380db7c2462d30b43541d34ba55d5d3a3af70ace9ae21978422f66114b30c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSvwgKEAgSGAI4AUIIdGhpbmtpbmcSDG/pmRgttxKv/GUD1xoMAcDDIS8jeZk0sPtUIjByG3ywNm4R3KG3waLsftx+SiE3MkEb0LiSsWI5/jGBdzYNmNFzmLsV4X7T7qlSBFQq3Ac3D4W7BIwVlTL6NHaUDAjx8ugikfQ7+OtWEgNtO1fDB1peDmOqjEeHumD5CqSxvFKw2cPSONi0rblkiDhN+QmZNCX8+MurK1+hpXCdGR2qIHF5xRxTv+3zpBova2/Xs8AVjnq0RLQjrBFzHW++LH7cf8MD+P+5Mk0Mmr9JLUPmrDbV+b2BQrZpYfw+zN11BlTBb7laFeVXn+QwLrdUvYw7iDYmcB0eHCR4W34Qaa+5qKPqyGfAHig7dcweTmqo4uZ5KZd9RlrnSXC85EJW0yTgWmwr9Bz4cOHSwMweNrxhQXVIqzYQalPtSuQ5+ATgcxrKXffWgIxLbyt9pLfABV/6HgwitnWLY7ulntb3OSBSDGGfDL+T2PW/GvQMorU39TG/I7b/lznRNkMDeq+bP20baBoXmPW1e0gCMXPZnoshM8O5RIfd5+439FRNQbSr7BVGAsn5JdLV8Q0vo+380iio+BeA6iZ0LZauYYuflb/b4frUAXrTT31/We0FJMo5uIEx4ERzur96ZwhoaCieGwt7EHnY7T9g6G/QoVg00BPGQCwd7vERHtaubDdu6zF0PQaOxuJ6vrXglKJVm/qtxccGSbb7sHZPkDGS9c5E1mBjw2K8X4RYFpG9aU/0oHvGlXJx/sXI+0DMxz9148yyJM2V4ZPVzme3wd1D1JaZr5wG78NyAVFd+SOo/JGUYfL6gD0UjNdhcx9LY13dguw1k6oTUcMmbh5GEmlbcBU8f71deKz7pDvdiRaNUTMnlmm96IdfZcl593/D6McVpU3a6EhxLbagF2PwpQPXpniyClOwtQJX4gLL3RsItC7RI22S2lhuzt1tDrelPzcrd4/4eqBNKZKBjxkiV4dICGt/jyyKFvThIhTEb082OkVYXLm54GseaXmS5BUGAwYOjkYGqF3B935Y2kn2i2Z9wYoqzZkQi7379bz1lT+DwJqayer+xc8d4qNQ7fn77E5UPfdk16B090z2HfaMwQrIbVJXP//nFrUzRJdThrsx8G/btTq5AORoCNh1l5hz6ISLJYQRuv31egQwM1rokYMvmo/P5m9r1ZYqG/yAYcYFFMFCGe+e7FykFqHzcMwDJFmS1wdZN+w5egKqlvw3nFNZit51cXw1PXBX3GroUdFZnUrI2frMQPztXKHjXMyislbXjFEp+mikwRi3866HaDAg0aL7GosUWwYbfcEPypiMNMEK4Y+G8+epD+hIRh3kvzn2yi2N0fPqH0SCw7xOLnbeBGz9CcRkzvWBSO/0U8Q7yIvGO5DLBeXCsEMeon/GVAmY6Kwu/PPidEFkj+qiduOcNgJ0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JtjDtkx8GfemyJ9C7r547d",
      "input": {
        "note": "Left arm is stuck at the current pose (IK hold); raising it and easing the yaw to free it before re-approaching the cap.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.155,
          "left_yaw": -0.6,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01JtjDtkx8GfemyJ9C7r547d",
      "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]: [-0.2886, 1.6505, 0.5957, 0.2508, 0.3229, 0.2726, 0.9992, 0.2501, 1.1896, 0.6785, -0.2565, -0.1841, -0.1539, 0.0768]\nstate[eef_state]: left_x=0.3484 left_y=-0.1582 left_z=0.0207 left_yaw=-0.7241 left_pitch=-0.1815 left_roll=-0.0268 left_gripper=0.9992 right_x=0.3208 right_y=0.119 right_z=0.1204 right_yaw=0.4856 right_pitch=-0.1936 right_roll=0.0142 right_gripper=0.0768\nstate[joint_eff]: [-0.2803, -7.665, 7.2274, 1.7216, 0.3297, 0.1978, -0.0073, -0.3487, -3.959, 6.7077, 1.6093, -0.1245, -0.0317, 0.6667]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d7554625454903ea65035f813614629d5d26e934d17299c08a1f8726fc5d269",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c05edd0799e0118dc9adee9acab5ac8d11ab62428b999b0ec8dba38da29373fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1114d0ebff71738626796f847ffa411d4634a7274a2a82f8fa8108b63b90963e",
        "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 · 7.099 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]: [-0.2886, 1.6505, 0.5941, 0.2508, 0.3229, 0.2726, 0.9992, 0.2501, 1.187, 0.6785, -0.2485, -0.1841, -0.1539, 0.0706]\nstate[eef_state]: left_x=0.3479 left_y=-0.158 left_z=0.0202 left_yaw=-0.7243 left_pitch=-0.1829 left_roll=-0.0275 left_gripper=0.9992 right_x=0.3221 right_y=0.1193 right_z=0.1227 right_yaw=0.4851 right_pitch=-0.1832 right_roll=0.0116 right_gripper=0.0706\nstate[joint_eff]: [-0.253, -7.8564, 7.5692, 1.6825, 0.2906, 0.2173, -0.0171, -0.335, -4.2735, 6.7487, 1.6679, -0.1441, -0.0513, 1.0232]",
      "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]: [-0.2886, 1.6505, 0.5949, 0.2504, 0.3229, 0.2726, 0.9992, 0.2501, 1.1866, 0.6785, -0.2558, -0.1837, -0.1535, 0.0735]\nstate[eef_state]: left_x=0.3481 left_y=-0.1581 left_z=0.0204 left_yaw=-0.7242 left_pitch=-0.1825 left_roll=-0.0273 left_gripper=0.9992 right_x=0.3209 right_y=0.119 right_z=0.1215 right_yaw=0.4848 right_pitch=-0.1899 right_roll=0.0133 right_gripper=0.0735\nstate[joint_eff]: [-0.1983, -7.8564, 7.2684, 1.6972, 0.3492, 0.2173, -0.0073, -0.1573, -3.9316, 6.8718, 1.5995, -0.1441, -0.0366, 0.862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2886, 1.6505, 0.5957, 0.2508, 0.3229, 0.2726, 0.9992, 0.2501, 1.1896, 0.6785, -0.2565, -0.1841, -0.1539, 0.0768]\nstate[eef_state]: left_x=0.3484 left_y=-0.1582 left_z=0.0207 left_yaw=-0.7241 left_pitch=-0.1815 left_roll=-0.0268 left_gripper=0.9992 right_x=0.3208 right_y=0.119 right_z=0.1204 right_yaw=0.4856 right_pitch=-0.1936 right_roll=0.0142 right_gripper=0.0768\nstate[joint_eff]: [-0.2803, -7.665, 7.2274, 1.7216, 0.3297, 0.1978, -0.0073, -0.3487, -3.959, 6.7077, 1.6093, -0.1245, -0.0317, 0.6667]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d7554625454903ea65035f813614629d5d26e934d17299c08a1f8726fc5d269",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c05edd0799e0118dc9adee9acab5ac8d11ab62428b999b0ec8dba38da29373fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1114d0ebff71738626796f847ffa411d4634a7274a2a82f8fa8108b63b90963e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3QcKEAgSGAI4AUIIdGhpbmtpbmcSDKmIWWtvtbtPUJLSlBoM7BDV1t8N3dNdyKYyIjAx3D7G9JKEQ5hvugEku1Gy4HB49tuZPFIWYJrRwFa1FewzoeCKrf6V8ycKb/2nbOkq+gYO+Vtesl8WYX/cdk636qQKFWmtl4z7BFzgaIxmVCBKL5OVSwvpagsJJrodi6NIwaMXGG9xCrK1ZVIZSwjczzOORO5N3M6jVWJd9dssvap/pqDri8sbIKHQznvm17DMNHiZHHMyLBTCDw5LJn1qkRBE45BKULUAJliuM7Np66qSSpE8U0bymPIu+7JNvA0/1cqU5noeJ7CZ+wqajzLsdXg7wxJBD5FHOlxmLBhFU3fRkXWxJJf5j9UDJ2myzIjcYw1jO2VzOjoNHB2pRqZ0yN8CV+i2OxgN0ThCFsKgtoAfE93c7bb0iAvlr7/URosJq+8ZMMkd4D3UGdNDBsutUbcAyPVk7ESZYXKWXZs46GGZg1QHf7bgldQn5hbAAh5eXOp5BG8y+APP5omcn3NLxEcGj8DwBfZ3BOsbKLOaTfwntfmUjYYmCLgRWqrWdoK/5K3nFNpIV9WXmBw7hJ0ogwCxOYqQjWgLyE9PF2eguEW75spEQ3GDt8aNs4emXhd07dBd2EM4j39tVJcUs8VEoFhsmu0FATunH/H9yEcbpoD6rgZzK96EAs7VFuqeeXJPMkjzjaQ7TUOvlnHuIjF43bD4AMQs0H3nEMaDBHPYzTM8ijAY9Q74SiUCt66jJaO6rihMRk+T2CTEH7cLjltWWhP46uhiHIelnebxWjR7iIn2i7gKgo0TETrXLR6B6M02YNDto5LDMPs6TsTxAANtfc/Pvpbg7B+hna4ymZS8bGECbfGXuew5KDxkIBTYLicSPRgMzY7ZtQ1ItYHzcVt+PypAOTmK4BpTPbPFNVnjjW8e1aU3TmsyWbEfykyQ8zOl/YhtiAQPCAdH6OoHAVaa+qa++2YBhUdway0u4u3wlhERshkcd0X3keMuYhK+FzH6pxRbX4Pf1XR0as0Rscbf8IA9DoglxneZ46x8FlyzFmS9oiKxMT5WliZTl6KeKc+MeEFJV+zaHPet37GiE8VFJqEXCwEbvkT7VKZRTuE64cOOtd+Jhiup3OaLkI14czgLwZN3inX0Y3EcvVdaha+LYjuBYPr/3oImuCunXebUGGRY+x3gkjURYcjpyKIy2j202TnDQM8frojpd1S5PiMqC2N5LXrv8DiE5Xilo3xZAb4ry5MdKwpA88RyDUoOA1rFGrbPtIjiAu2YWganS70kqcNb63L5Fu2r+bKz+hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CwVfwEnEDE9grTEeeAurKy",
      "input": {
        "note": "Left arm has not responded to the last two moves; sending it back to the earlier reachable pose above the cap to unstick it.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.19,
          "left_yaw": -0.45,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01CwVfwEnEDE9grTEeeAurKy",
      "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]: [-0.5468, 1.4139, 0.6785, -0.0261, 0.0051, -0.0406, 0.9992, 0.2501, 1.1904, 0.6785, -0.263, -0.1841, -0.1535, 0.0785]\nstate[eef_state]: left_x=0.3254 left_y=-0.195 left_z=0.0827 left_yaw=-0.5401 left_pitch=-0.1914 left_roll=-0.0266 left_gripper=0.9992 right_x=0.3197 right_y=0.1187 right_z=0.119 right_yaw=0.4857 right_pitch=-0.2006 right_roll=0.0162 right_gripper=0.0785\nstate[joint_eff]: [-0.2803, -7.2684, 9.0188, 1.5946, -0.0708, 0.0073, -0.0073, -0.212, -4.0547, 6.9128, 1.6093, -0.1294, -0.0122, 0.7448]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6afa58ead4afa01ee447e33aed5b3fa13875f18cfff96739b189a0642c73f177",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ae97192ce494b07af3ade8df4eecc76451f55bafed151d0c0558c6a67e51b27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f8d7c9800512fa1ad98b439c6dd50345b3fd4e34eb3ed2c1fa67aac22631721",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 5.623 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]: [-0.2886, 1.6505, 0.5949, 0.2504, 0.3229, 0.2726, 0.9992, 0.2501, 1.1866, 0.6785, -0.2558, -0.1837, -0.1535, 0.0735]\nstate[eef_state]: left_x=0.3481 left_y=-0.1581 left_z=0.0204 left_yaw=-0.7242 left_pitch=-0.1825 left_roll=-0.0273 left_gripper=0.9992 right_x=0.3209 right_y=0.119 right_z=0.1215 right_yaw=0.4848 right_pitch=-0.1899 right_roll=0.0133 right_gripper=0.0735\nstate[joint_eff]: [-0.1983, -7.8564, 7.2684, 1.6972, 0.3492, 0.2173, -0.0073, -0.1573, -3.9316, 6.8718, 1.5995, -0.1441, -0.0366, 0.862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2886, 1.6505, 0.5957, 0.2508, 0.3229, 0.2726, 0.9992, 0.2501, 1.1896, 0.6785, -0.2565, -0.1841, -0.1539, 0.0768]\nstate[eef_state]: left_x=0.3484 left_y=-0.1582 left_z=0.0207 left_yaw=-0.7241 left_pitch=-0.1815 left_roll=-0.0268 left_gripper=0.9992 right_x=0.3208 right_y=0.119 right_z=0.1204 right_yaw=0.4856 right_pitch=-0.1936 right_roll=0.0142 right_gripper=0.0768\nstate[joint_eff]: [-0.2803, -7.665, 7.2274, 1.7216, 0.3297, 0.1978, -0.0073, -0.3487, -3.959, 6.7077, 1.6093, -0.1245, -0.0317, 0.6667]",
      "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]: [-0.5468, 1.4139, 0.6785, -0.0261, 0.0051, -0.0406, 0.9992, 0.2501, 1.1904, 0.6785, -0.263, -0.1841, -0.1535, 0.0785]\nstate[eef_state]: left_x=0.3254 left_y=-0.195 left_z=0.0827 left_yaw=-0.5401 left_pitch=-0.1914 left_roll=-0.0266 left_gripper=0.9992 right_x=0.3197 right_y=0.1187 right_z=0.119 right_yaw=0.4857 right_pitch=-0.2006 right_roll=0.0162 right_gripper=0.0785\nstate[joint_eff]: [-0.2803, -7.2684, 9.0188, 1.5946, -0.0708, 0.0073, -0.0073, -0.212, -4.0547, 6.9128, 1.6093, -0.1294, -0.0122, 0.7448]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6afa58ead4afa01ee447e33aed5b3fa13875f18cfff96739b189a0642c73f177",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ae97192ce494b07af3ade8df4eecc76451f55bafed151d0c0558c6a67e51b27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f8d7c9800512fa1ad98b439c6dd50345b3fd4e34eb3ed2c1fa67aac22631721",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QbJdxP2itzCxDAEuy1jbjg",
      "input": {
        "note": "Left arm is free again; the cap is left of and ahead of the jaws. Moving to my estimated cap position (~0.375, -0.165) at 5 cm height.",
        "targets": {
          "left_x": 0.375,
          "left_y": -0.165,
          "left_yaw": -0.6,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01QbJdxP2itzCxDAEuy1jbjg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3515, 1.6215, 0.6968, 0.0479, 0.1169, 0.0681, 0.9992, 0.2501, 1.1931, 0.6785, -0.2703, -0.1841, -0.1539, 0.0796]\nstate[eef_state]: left_x=0.3564 left_y=-0.1488 left_z=0.0276 left_yaw=-0.5045 left_pitch=-0.2988 left_roll=-0.0424 left_gripper=0.9992 right_x=0.3186 right_y=0.1184 right_z=0.1169 right_yaw=0.4864 right_pitch=-0.2103 right_roll=0.0183 right_gripper=0.0796\nstate[joint_eff]: [-0.0889, -7.5692, 9.1145, 1.8535, 0.3248, 0.2418, -0.0073, -0.1162, -4.2051, 6.8171, 1.6239, -0.0904, -0.0317, 0.779]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66dcaa17a6e5a9235c3e6b602cb534d846425bec8d14e50f8e72960385df0eed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c746d49623412d43c0a01f61f743761152c37b792cd18ab8febd7380cfdecbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a9508978abd9c6edcd6be0ebed1521fdef6e164dcad1c54c5b99cb4c607cff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 6.648 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]: [-0.2886, 1.6505, 0.5957, 0.2508, 0.3229, 0.2726, 0.9992, 0.2501, 1.1896, 0.6785, -0.2565, -0.1841, -0.1539, 0.0768]\nstate[eef_state]: left_x=0.3484 left_y=-0.1582 left_z=0.0207 left_yaw=-0.7241 left_pitch=-0.1815 left_roll=-0.0268 left_gripper=0.9992 right_x=0.3208 right_y=0.119 right_z=0.1204 right_yaw=0.4856 right_pitch=-0.1936 right_roll=0.0142 right_gripper=0.0768\nstate[joint_eff]: [-0.2803, -7.665, 7.2274, 1.7216, 0.3297, 0.1978, -0.0073, -0.3487, -3.959, 6.7077, 1.6093, -0.1245, -0.0317, 0.6667]",
      "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]: [-0.5468, 1.4139, 0.6785, -0.0261, 0.0051, -0.0406, 0.9992, 0.2501, 1.1904, 0.6785, -0.263, -0.1841, -0.1535, 0.0785]\nstate[eef_state]: left_x=0.3254 left_y=-0.195 left_z=0.0827 left_yaw=-0.5401 left_pitch=-0.1914 left_roll=-0.0266 left_gripper=0.9992 right_x=0.3197 right_y=0.1187 right_z=0.119 right_yaw=0.4857 right_pitch=-0.2006 right_roll=0.0162 right_gripper=0.0785\nstate[joint_eff]: [-0.2803, -7.2684, 9.0188, 1.5946, -0.0708, 0.0073, -0.0073, -0.212, -4.0547, 6.9128, 1.6093, -0.1294, -0.0122, 0.7448]",
      "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]: [-0.3515, 1.6215, 0.6968, 0.0479, 0.1169, 0.0681, 0.9992, 0.2501, 1.1931, 0.6785, -0.2703, -0.1841, -0.1539, 0.0796]\nstate[eef_state]: left_x=0.3564 left_y=-0.1488 left_z=0.0276 left_yaw=-0.5045 left_pitch=-0.2988 left_roll=-0.0424 left_gripper=0.9992 right_x=0.3186 right_y=0.1184 right_z=0.1169 right_yaw=0.4864 right_pitch=-0.2103 right_roll=0.0183 right_gripper=0.0796\nstate[joint_eff]: [-0.0889, -7.5692, 9.1145, 1.8535, 0.3248, 0.2418, -0.0073, -0.1162, -4.2051, 6.8171, 1.6239, -0.0904, -0.0317, 0.779]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66dcaa17a6e5a9235c3e6b602cb534d846425bec8d14e50f8e72960385df0eed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c746d49623412d43c0a01f61f743761152c37b792cd18ab8febd7380cfdecbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a9508978abd9c6edcd6be0ebed1521fdef6e164dcad1c54c5b99cb4c607cff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpwoKEAgSGAI4AUIIdGhpbmtpbmcSDFhF7+k+1RFM7TOCNxoMRIS3mZE4vriXF2m/IjAQwccMCvGYAO90olzhpH7UW9KZUK1B2H2ffJmDmANKHLCL2+juvtjw8JCWdZMYZ2AqxAm92UIs9/XV+o09oQK1byBlpfyC570eOvf/rpQxf0R7JWKWkJaxHSpxJXQZOmx1WEBoeVMG6Uvf9eGJC7v25vScLAxIluyc9rIS0tnHjlKa9fWJMk50F4negfRc0qF2f4LcVaNbGeC+P5+DpTssvvvFuox87SmnvnTkLXXFDbRXOUKVulDMKmk+TFERXoJOjdRmV+BxBb58rxaflxjdMdH9bTyl8kocq+Tnln28v5JpEqzJkkI8J5FJ8p+Q0apL5pbIQfQRlDBT0Y4ezv+Yb88sEJB1XHx3exv5+6iDF5dQyKDYXJwiJrLcOgeA3Yoikg9Y6Oym240EAgTfEboLb7D0GrZEjlXlu+HfapsfZrHhcdN7t+/Vf5qKW/aj2XlWy/FMrhfMYUKpgbAyCzx7DE6feAx7FUd3l1S0WFtthbGngm3FuqFc+jr+pUVWV84EKkSfB369yH52ztDsss9HkrSzkCP4t0nESY/T8sfF5ral0AQHxbIRTIyyR75NbRZyxbAs9qy6HI/csnfxzDGs6MBQodP5RB79VE/UcM+Iv47Mmhfq7HQ0Xs0rb6lycGYlds5KClF/MB0SFTmiXwOZMmQsmInkcrxqzIQqPGP6gDBne7TsgdYv7kphgxDNfaeyizjLupYgvv5krz/DG2XpBQfz0XEteIn1H8uKRYM86EiyK/E2HoHhUeLltEHXG/o2+2g32UINKr+91RLh55FJEHBhLiIxS+Nf1fxjiNaX+kuqJFPBJAJwiw4VU/39q7x4FDsVzuw8PZqPNGrAKERWN8aiNLR6A9GlKonOUmgcYaxYfjXOBODM5Aezf+lwD/zZ694lRcX66NVQKyVLWCP6BsfAF8UvsCOuzT3WshCkY0ZaUMjaY+s94FFdRgw1Jc6MlLil9i5+v4yug+P1tnR1ApmthqTtzPdreHFH1yz4yMK42qivLsJUROUGvhJ4Is1ufObDok+pyveF6grA0m6/5E75y6grTDaYVI7Db+N3gc4f/xs+3Yz6xjEP7KYJutkZ87l3kiDlezqlCJLZdOwvS5L0u5rCTtMtafptYECE1qajInEQehSpWUa+JSBDKD/mKIYpRdduh7AB5EXFprnU6VGQOPKhVtumkzE18ghOReioOziZ+H4noXGthVAsHDkXoVP4IUlPYj1aYFxnzAu5piNbeIhxJaztbNNnMp2gXnuHHZYDD8uAgIo7TlnMo8R4m97HCjaRr5K4hzQ0UBmm4qIzj83aJ6uuXEDh5i5kSErpNbm2wdkE1c/73Hu3meCP+9MxDj7BEvRWReVDjuovmMNZmOeoDvjem3HQlVxaCLQS0kijriB+uSJRaTcGzUv31+IFlx9IFFRuT/3vM0p9EqTnbxeT/NrM3wCvTlU5OO/4iiijNAIHrtV/ERhjtL1QJqzwgBx83ep9mm5Fk96OW36/EbjpAzpgyTDvvtQdFJ1AoTsxZqC9eIH8e/gJTI11GgWPLveHI3XYx577b3VVUKr8c/O/Tgq3slYGhLlS2RcdAvc9bHDxbFU5ECIVfnyOCQcK4E4IClyZACZxvqGBIg5DBKzWSaVKp9hEssQir1w/ZKSbglv7F0YUB2d65j1AcjIt7oslGaRThf/1DpXq/UKiyJ4/rxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RvTo1w7vheNvqHDYe4x9L2",
      "input": {
        "note": "Cap is now centred on the left jaw column just ahead of the fingertips; pressing down to table level.",
        "targets": {
          "left_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RvTo1w7vheNvqHDYe4x9L2",
      "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]: [-0.3363, 1.6409, 0.6968, 0.0727, 0.1734, 0.1184, 0.9992, 0.2501, 1.1942, 0.6785, -0.279, -0.1837, -0.1535, 0.0809]\nstate[eef_state]: left_x=0.3573 left_y=-0.1534 left_z=0.0254 left_yaw=-0.5663 left_pitch=-0.2842 left_roll=-0.0515 left_gripper=0.9992 right_x=0.3171 right_y=0.118 right_z=0.115 right_yaw=0.4863 right_pitch=-0.22 right_roll=0.0207 right_gripper=0.0809\nstate[joint_eff]: [-0.4308, -7.6376, 8.4444, 1.8486, 0.2564, 0.2173, -0.0122, -0.2256, -4.0957, 6.8991, 1.6337, -0.1001, -0.0415, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2537633735f92f9ad4b7bb718255646ea82a46f4da0c68b7343bd89d3841b82a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30da7e835a3d0293c070b4e6efe9e32d524fec6a6758fe6787106d1b68649157",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e28fe51d8ff3e75800a95a9f484ee5b477fb4eb9317d007d5434e158a01ddfef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 8.583 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]: [-0.5468, 1.4139, 0.6785, -0.0261, 0.0051, -0.0406, 0.9992, 0.2501, 1.1904, 0.6785, -0.263, -0.1841, -0.1535, 0.0785]\nstate[eef_state]: left_x=0.3254 left_y=-0.195 left_z=0.0827 left_yaw=-0.5401 left_pitch=-0.1914 left_roll=-0.0266 left_gripper=0.9992 right_x=0.3197 right_y=0.1187 right_z=0.119 right_yaw=0.4857 right_pitch=-0.2006 right_roll=0.0162 right_gripper=0.0785\nstate[joint_eff]: [-0.2803, -7.2684, 9.0188, 1.5946, -0.0708, 0.0073, -0.0073, -0.212, -4.0547, 6.9128, 1.6093, -0.1294, -0.0122, 0.7448]",
      "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]: [-0.3515, 1.6215, 0.6968, 0.0479, 0.1169, 0.0681, 0.9992, 0.2501, 1.1931, 0.6785, -0.2703, -0.1841, -0.1539, 0.0796]\nstate[eef_state]: left_x=0.3564 left_y=-0.1488 left_z=0.0276 left_yaw=-0.5045 left_pitch=-0.2988 left_roll=-0.0424 left_gripper=0.9992 right_x=0.3186 right_y=0.1184 right_z=0.1169 right_yaw=0.4864 right_pitch=-0.2103 right_roll=0.0183 right_gripper=0.0796\nstate[joint_eff]: [-0.0889, -7.5692, 9.1145, 1.8535, 0.3248, 0.2418, -0.0073, -0.1162, -4.2051, 6.8171, 1.6239, -0.0904, -0.0317, 0.779]",
      "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]: [-0.3363, 1.6409, 0.6968, 0.0727, 0.1734, 0.1184, 0.9992, 0.2501, 1.1942, 0.6785, -0.279, -0.1837, -0.1535, 0.0809]\nstate[eef_state]: left_x=0.3573 left_y=-0.1534 left_z=0.0254 left_yaw=-0.5663 left_pitch=-0.2842 left_roll=-0.0515 left_gripper=0.9992 right_x=0.3171 right_y=0.118 right_z=0.115 right_yaw=0.4863 right_pitch=-0.22 right_roll=0.0207 right_gripper=0.0809\nstate[joint_eff]: [-0.4308, -7.6376, 8.4444, 1.8486, 0.2564, 0.2173, -0.0122, -0.2256, -4.0957, 6.8991, 1.6337, -0.1001, -0.0415, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2537633735f92f9ad4b7bb718255646ea82a46f4da0c68b7343bd89d3841b82a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30da7e835a3d0293c070b4e6efe9e32d524fec6a6758fe6787106d1b68649157",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e28fe51d8ff3e75800a95a9f484ee5b477fb4eb9317d007d5434e158a01ddfef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BpcGUCBEvWT1kwCBozyVLq",
      "input": {
        "note": "Descent stalls at z≈0.025 and the cap is still a bit ahead of the fingertips; narrowing the jaws and advancing ~2 cm along the tool direction.",
        "targets": {
          "left_gripper": 0.5,
          "left_x": 0.375,
          "left_y": -0.163,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01BpcGUCBEvWT1kwCBozyVLq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3363, 1.6409, 0.6971, 0.0731, 0.1772, 0.1352, 0.5053, 0.2501, 1.1942, 0.6785, -0.2817, -0.1837, -0.1535, 0.0819]\nstate[eef_state]: left_x=0.3572 left_y=-0.1541 left_z=0.0257 left_yaw=-0.5789 left_pitch=-0.2824 left_roll=-0.0428 left_gripper=0.5053 right_x=0.3167 right_y=0.1179 right_z=0.1146 right_yaw=0.4865 right_pitch=-0.2226 right_roll=0.0213 right_gripper=0.0819\nstate[joint_eff]: [-0.294, -7.4325, 8.4444, 1.8339, 0.3346, 0.1197, 0.0904, -0.2256, -3.8906, 6.694, 1.5263, -0.1148, -0.0562, 0.6618]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6174afa9688f1903e8218eed2a68d20c02cc10e5dcc591cb05f54065b23fd37f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc8c82a11a6c4f5f099bb1a2e7295f619560f327e9835f575ffac43a4b37a7e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7c6704c6bf3fd72355e3d638a6031c02d849ea470a28258588a6ba4928d4f48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 3.934 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]: [-0.3515, 1.6215, 0.6968, 0.0479, 0.1169, 0.0681, 0.9992, 0.2501, 1.1931, 0.6785, -0.2703, -0.1841, -0.1539, 0.0796]\nstate[eef_state]: left_x=0.3564 left_y=-0.1488 left_z=0.0276 left_yaw=-0.5045 left_pitch=-0.2988 left_roll=-0.0424 left_gripper=0.9992 right_x=0.3186 right_y=0.1184 right_z=0.1169 right_yaw=0.4864 right_pitch=-0.2103 right_roll=0.0183 right_gripper=0.0796\nstate[joint_eff]: [-0.0889, -7.5692, 9.1145, 1.8535, 0.3248, 0.2418, -0.0073, -0.1162, -4.2051, 6.8171, 1.6239, -0.0904, -0.0317, 0.779]",
      "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]: [-0.3363, 1.6409, 0.6968, 0.0727, 0.1734, 0.1184, 0.9992, 0.2501, 1.1942, 0.6785, -0.279, -0.1837, -0.1535, 0.0809]\nstate[eef_state]: left_x=0.3573 left_y=-0.1534 left_z=0.0254 left_yaw=-0.5663 left_pitch=-0.2842 left_roll=-0.0515 left_gripper=0.9992 right_x=0.3171 right_y=0.118 right_z=0.115 right_yaw=0.4863 right_pitch=-0.22 right_roll=0.0207 right_gripper=0.0809\nstate[joint_eff]: [-0.4308, -7.6376, 8.4444, 1.8486, 0.2564, 0.2173, -0.0122, -0.2256, -4.0957, 6.8991, 1.6337, -0.1001, -0.0415, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3363, 1.6409, 0.6971, 0.0731, 0.1772, 0.1352, 0.5053, 0.2501, 1.1942, 0.6785, -0.2817, -0.1837, -0.1535, 0.0819]\nstate[eef_state]: left_x=0.3572 left_y=-0.1541 left_z=0.0257 left_yaw=-0.5789 left_pitch=-0.2824 left_roll=-0.0428 left_gripper=0.5053 right_x=0.3167 right_y=0.1179 right_z=0.1146 right_yaw=0.4865 right_pitch=-0.2226 right_roll=0.0213 right_gripper=0.0819\nstate[joint_eff]: [-0.294, -7.4325, 8.4444, 1.8339, 0.3346, 0.1197, 0.0904, -0.2256, -3.8906, 6.694, 1.5263, -0.1148, -0.0562, 0.6618]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6174afa9688f1903e8218eed2a68d20c02cc10e5dcc591cb05f54065b23fd37f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc8c82a11a6c4f5f099bb1a2e7295f619560f327e9835f575ffac43a4b37a7e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7c6704c6bf3fd72355e3d638a6031c02d849ea470a28258588a6ba4928d4f48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxA4KEAgSGAI4AUIIdGhpbmtpbmcSDDHwqvyDcVMmdZX3/RoMb87fp6CS/Cc/WuTJIjDCsGVUW0WIvu0RwBUopiaTlqzUDoUZCWIzz4+MQi8cddiSeoaCcAVmGekTB8Mn26Qq4Q1dWSMpLnmMBH5TOeneKvUigzsGBvsxdmuAS2okXQ1akNb6hHhCBgOaZ9idDQmQI7ZoFfzhyBrdcPJtu3G7xxqDFAuaVAsjh44dVdutgBkKP7WclSLmjoHtuqUQONoanVipDmTCvIQb2wiGzDOvdGALEuOElXFO+4Fl5b3IVzxQbenQ1OPhpYYPQg0VPZ7QpiAHvdKfZM6EevamZLbf5oZ6KWWr5m+4ig6BJOXnlddeT08RB37j1k+kqdZP1m946KuaNnWX0HP/o9kSRiWoK0BIUbyuJwCaN6Rz4SQqo9IvVnKS3L6KQ5nebpKsvu76EIjHrhw6Y7hjVXoP5QGG8aSUS2QQKDnGaQuZaxND5wlOmf/uZOZlmPn3wCJr6zt8lwSbvJwi6yqvEiDGj7qX3z8mMDjMc1UR7pMR42vIxQ7M3sMOFDnqJWHNtLzVWUiedxcN2eL6RTGu5jcL6aZjqU5e2ppWUMNjQLnVZbOGqJUP9BYq98c2I6Hw6i8xHuyWfBB1JO0gerAb3nw5jxob3xHE18o4ydk5A/8GVpUlyvpbTN/vPRZtevW9hXo/EJMJrZSMhaA6K0gwhpMhTQQuloxafHSzu9D+TIPNWIh2lAUfr0r5MqEy8CYGd/TdyqvBUNrKNwVXy5bP5zCuPUOcQhgvmxNAfZp892IoQi1T9MMdn50XoHx1/iIy76kHBm5VPReyP8ajEfwSgFlpS96SjXdk3Mm3zubfHg4s1IjiqP1GGfZjz888O9Dl4kYM0hzMS9gWZEpAptbwDVCjUEqpM4ESnZ4EEZpSJ6mOoBkihCTqCZapYXU7ByOb0F30GihDyIwZJuiI6cXJmB4mgKyAeszsDyGuuqy6A5ASiCybQ3OafiNO7HPYnTPrell8j2c9qTHFIoHAweN8De8XruXKI6ucZdR4knPTYslImwfLk+jU6bheiTuiozZjIDqr2Lr3b5sNj280RaU8rO4CNhP8BObVbTC5BAaC1GNu73lZ73H1K4nd5Z9UAT+bimC6MzUaX8UJX2kpg8EXryn9mwjzjkCe5naRKBcQrSRcSNR7OOjGINaY6z8Snfju+jPCKugJYYxjRICNl/UnWa1CS4xAs0cxDiAMAZzsswD/UeoWqCGa0SAbRs9MyUwjl7vs5cG9hybYORK9zmqGRARaQExk5splNrFAGNcegTbLTdivlxYqWRocdaXpNLPXJsPPvjhp2oMuqFY96dsQIs68TiQoZqen0cmuB84SqvDfyoM7EH36Oknb9sc7Gya246nFPsvR+dAiYDIXAxRkeKDiAgTNGhUKCJ/xVm2mZOBF4gxQWcn5LhSN1nlW9cZn6ag/PpfJ/oyAnoFJXDrhejsGR/Q4Bq47zKWyyML5AjyipXO3/Ii1b1wn/adilDgVXfJm+9u7E3DIwUJr7/GTqsK3+ESNzDzSja2NktWPwQU2Ir9sfHX6urb5eraQzYeDEfX0ZDihVkLCkn01ktGp5L8PnOttPMSYQ3IcSXC33vo+rvL1T+l3HLBSNVIu+XxW42BjDeCEfhxaInHXUezuoW72+ibTHCwXGlchG+fDEzdiNSuzRYrIBLj8Sa2SdDm3Pu1xL1ujKadeuibDq4Jar5hLIgmfXmUPyXhA9UbCEhGPu1ZGJDcIJXglcwztXG8vr+O97kWzPfPDcxTEnyG+WnTTFBmX6AOUU3i3cJ0miobRx03Q/mjRvI74tPg2LzwEKNzLeuseHtwOCfIhoK9Ev0CxX7IsYIBK6jdlV7cXU2fD3uvvwr3cAFEwbSCwZ2RHsQUyrNnx0n8NaTeT4S02eNCJuROKza4hgIIMcVROucy94fxRJ6GsEfOHJ5GvQsLzsAopaU4xQ4cyn/8ILv1l1mCIh4HwpgkDsODENc1idNwOFl0KFAmy2olU94HIKBRRRsbPiVJKrjsZoD4hMZsG917aWg9DcI0SfHEEabbJolJ+FCB5H73b7TLTMCD2Oz1KFbdmWekBBmCiKeU6MzYhKYpQEYuLdRqyfxcyJLCSi4Zg8zwEHAj3O7mkRmMlR6CabG+4cDxovY0a0pXOxcTURmRjekUY9Ayc5Kk8eGwjjzxg77Av5fV6kmIB3+TREp9CM2jqI3ZRXye8G6WcRxouV/RROnb76URP7gfIVpDia3KsBX1FNrB/G2jC9M9kLRzFxMZiVSftm9MaDIIiql1bC+dN8s6uSgt8tKEfO65h3lc1/qM5GXGrqQTZG9F8T/YLUMw7i84dZ+qhgFBTJd59zfXUC9ONQl/gAIXuIZ7FZ0VOJDWnoRTzkup4WLv7Hyds29RFPdZL6R1ZSVMU2ecW8bSqrAJSrsW+MImdU0DWMqTWPgN8pBRY6IAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017ozeC66hQmftuNRvVqC4M2",
      "input": {
        "note": "Left arm keeps holding at z≈0.025 with the wrist pitched back; commanding a slightly higher, more forward pose with explicit zero pitch to break the hold.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.38,
          "left_y": -0.165,
          "left_yaw": -0.55,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017ozeC66hQmftuNRvVqC4M2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3428, 1.6558, 0.5667, 0.4335, 0.165, 0.1024, 0.505, 0.2501, 1.1942, 0.6785, -0.2825, -0.1841, -0.1539, 0.0813]\nstate[eef_state]: left_x=0.3709 left_y=-0.1594 left_z=0.0369 left_yaw=-0.5483 left_pitch=-0.0748 left_roll=-0.0104 left_gripper=0.505 right_x=0.3165 right_y=0.1179 right_z=0.1145 right_yaw=0.4871 right_pitch=-0.2232 right_roll=0.0215 right_gripper=0.0813\nstate[joint_eff]: [-0.6769, -6.2427, 5.3265, 1.9609, 0.0611, -0.0855, -0.0464, -0.3214, -4.0137, 6.694, 1.5507, -0.1245, -0.0415, 0.2515]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e58448ef05cad962dd193bd93f928d2f4d22f8761fd28f6cee07a13ec93ba375",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c9862d75a61aadfb50dae5b952280409c974e1ba60fe4e64638e46409826724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:829d67147bf463c11c194eefc31921e40dfe4af2c731fe22ae5a1e77f0052be1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 2.982 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]: [-0.3363, 1.6409, 0.6968, 0.0727, 0.1734, 0.1184, 0.9992, 0.2501, 1.1942, 0.6785, -0.279, -0.1837, -0.1535, 0.0809]\nstate[eef_state]: left_x=0.3573 left_y=-0.1534 left_z=0.0254 left_yaw=-0.5663 left_pitch=-0.2842 left_roll=-0.0515 left_gripper=0.9992 right_x=0.3171 right_y=0.118 right_z=0.115 right_yaw=0.4863 right_pitch=-0.22 right_roll=0.0207 right_gripper=0.0809\nstate[joint_eff]: [-0.4308, -7.6376, 8.4444, 1.8486, 0.2564, 0.2173, -0.0122, -0.2256, -4.0957, 6.8991, 1.6337, -0.1001, -0.0415, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3363, 1.6409, 0.6971, 0.0731, 0.1772, 0.1352, 0.5053, 0.2501, 1.1942, 0.6785, -0.2817, -0.1837, -0.1535, 0.0819]\nstate[eef_state]: left_x=0.3572 left_y=-0.1541 left_z=0.0257 left_yaw=-0.5789 left_pitch=-0.2824 left_roll=-0.0428 left_gripper=0.5053 right_x=0.3167 right_y=0.1179 right_z=0.1146 right_yaw=0.4865 right_pitch=-0.2226 right_roll=0.0213 right_gripper=0.0819\nstate[joint_eff]: [-0.294, -7.4325, 8.4444, 1.8339, 0.3346, 0.1197, 0.0904, -0.2256, -3.8906, 6.694, 1.5263, -0.1148, -0.0562, 0.6618]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3428, 1.6558, 0.5667, 0.4335, 0.165, 0.1024, 0.505, 0.2501, 1.1942, 0.6785, -0.2825, -0.1841, -0.1539, 0.0813]\nstate[eef_state]: left_x=0.3709 left_y=-0.1594 left_z=0.0369 left_yaw=-0.5483 left_pitch=-0.0748 left_roll=-0.0104 left_gripper=0.505 right_x=0.3165 right_y=0.1179 right_z=0.1145 right_yaw=0.4871 right_pitch=-0.2232 right_roll=0.0215 right_gripper=0.0813\nstate[joint_eff]: [-0.6769, -6.2427, 5.3265, 1.9609, 0.0611, -0.0855, -0.0464, -0.3214, -4.0137, 6.694, 1.5507, -0.1245, -0.0415, 0.2515]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e58448ef05cad962dd193bd93f928d2f4d22f8761fd28f6cee07a13ec93ba375",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c9862d75a61aadfb50dae5b952280409c974e1ba60fe4e64638e46409826724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:829d67147bf463c11c194eefc31921e40dfe4af2c731fe22ae5a1e77f0052be1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStAcKEAgSGAI4AUIIdGhpbmtpbmcSDN2BF5efUM8JbQ2YLRoMvuJLZ4WDOx7A3jysIjDoWAyfKrZtT3WMwm8AGbr2ch/pn1qc8CIUoRGavIM2bwBZES6WtVYeOo30Q9znto4q0Qbxy006e8IJ/ygZ3CcZWBTBQmzVaYtM2vTwZX6MgtdIvyAs9xD3Mhwmd5HGfteOd9lyPaanFrRgMtxpDzlm5rQailMQxsXfWPl/T9Cc67Rfwc1TGPhK9LdFTFSkiY6g2x/CkLt6DTfrN/UJEd9DMSwqPTLkTkYqLgMUxtdr54+C2nCNGBoBsFZRiMFsXBsgGgW32Qn1ke5XiIpANE8e3Z7lHTLdfERM4fB4vGhZhwMzSt9TY35BvmTI9y3SnEsdXfeLYK+X70IFhIiloM80pZ8hWGNb+rvBjAY8syCe/GpmgPELOtfjAFuQr+YnTsztRJJ3VLmCrYp84lACCvoNzN082RoiFPkCkHE7RJiI7uR5GCSKeUouaZVRcPCyBnEVxAVm96KHWgbwN1Sk/lUtDNGuXFh2rB9NKmTCCswYCYs6lKmPZmSg6kiB60NrCAjjy7ak15MOveeqOyMN7IzSPcR1heja63HPCqwoYXsz3F+pLH/GEtd3Mij9a3ijD1IUMJxDlSQqAUwRT7OC+z2isCzEEbYRZ5GBe6yGroct0Ao6WZhIoTHbdjNgg17/aFyqyP3YNGK/KaFBAAaFt1k05FYD4BRE8sFEhh84wSm51QBRoWvP47qIx00eJyJIfH5EUT6ArU4C8Lq2kROgcbundcFEqFLuDADjaDZTMc68SGrMNuuw1GdfK440NBSIjFa9mowAKBitDsXOmgPoOPwELkcPnKcmAhXmVH01gCotURzjdkzP5XQAQVCCUMHzQJVdIM8Ye37nLdwb/0WuAGqEmzVbbByKer2PZ+FzPDiQamG/ZTbFTEUDvHo+OopO0lqdrn4yUOlD09fh+E7yH1KsSuRCn5RE6omQPd2ZqPmJLtsB1E7h2xBSaSK2zsE1p6uGtF5gcXkE8xnd+GjnCfAj8xUM1OvuMixLkSKsg2TPNj4RCrC1fqBgCsgDNjge1M5VDMOYrDDdpDFfsANZMmvYm0jZUauvaU8bzTbW8XuZgNYFbHS15xoxitOl8JOx7DG0edtKe5fEPWWM514u/JM11XyyObS3mr0SVev6lLVAfTUz3g9SztCGeMGWdKEjU82/SipfpIlUZQyYMZY6MJjbe1pxctdflHP9xEENIfMp31P7e1MYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01APfcZACitcXoeJJbNCm2kX",
      "input": {
        "note": "Cap now sits between the left jaws on the jaw column; descending to table level (keeping pitch at zero, which fixed the stall).",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_z": -0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01APfcZACitcXoeJJbNCm2kX",
      "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]: [-0.3424, 1.8927, 0.4843, 0.8352, 0.1646, 0.0986, 0.5049, 0.2501, 1.1961, 0.6785, -0.2836, -0.1841, -0.1535, 0.082]\nstate[eef_state]: left_x=0.3756 left_y=-0.1608 left_z=-0.002 left_yaw=-0.5449 left_pitch=0.0059 left_roll=0.0034 left_gripper=0.5049 right_x=0.3163 right_y=0.1179 right_z=0.1137 right_yaw=0.487 right_pitch=-0.2262 right_roll=0.0225 right_gripper=0.082\nstate[joint_eff]: [-0.0068, -5.3538, 2.4274, 0.3687, 0.0855, -0.0464, -0.022, -0.1573, -4.1368, 6.735, 1.4676, -0.1294, -0.0171, 0.3785]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5157f1125f61c21146b4e51d3b1b1bc47f19b7727ac1fe41bcd0867c87f075d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cad747ccc80b976da07fe55648c6bc096d25c4bb1964695f926ad8ae56673d59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:01089b82b925e8f7b3a51f5479630a44560bcb5184a115c56b616bed2ffdcf14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 16.8 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]: [-0.3363, 1.6409, 0.6971, 0.0731, 0.1772, 0.1352, 0.5053, 0.2501, 1.1942, 0.6785, -0.2817, -0.1837, -0.1535, 0.0819]\nstate[eef_state]: left_x=0.3572 left_y=-0.1541 left_z=0.0257 left_yaw=-0.5789 left_pitch=-0.2824 left_roll=-0.0428 left_gripper=0.5053 right_x=0.3167 right_y=0.1179 right_z=0.1146 right_yaw=0.4865 right_pitch=-0.2226 right_roll=0.0213 right_gripper=0.0819\nstate[joint_eff]: [-0.294, -7.4325, 8.4444, 1.8339, 0.3346, 0.1197, 0.0904, -0.2256, -3.8906, 6.694, 1.5263, -0.1148, -0.0562, 0.6618]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3428, 1.6558, 0.5667, 0.4335, 0.165, 0.1024, 0.505, 0.2501, 1.1942, 0.6785, -0.2825, -0.1841, -0.1539, 0.0813]\nstate[eef_state]: left_x=0.3709 left_y=-0.1594 left_z=0.0369 left_yaw=-0.5483 left_pitch=-0.0748 left_roll=-0.0104 left_gripper=0.505 right_x=0.3165 right_y=0.1179 right_z=0.1145 right_yaw=0.4871 right_pitch=-0.2232 right_roll=0.0215 right_gripper=0.0813\nstate[joint_eff]: [-0.6769, -6.2427, 5.3265, 1.9609, 0.0611, -0.0855, -0.0464, -0.3214, -4.0137, 6.694, 1.5507, -0.1245, -0.0415, 0.2515]",
      "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]: [-0.3424, 1.8927, 0.4843, 0.8352, 0.1646, 0.0986, 0.5049, 0.2501, 1.1961, 0.6785, -0.2836, -0.1841, -0.1535, 0.082]\nstate[eef_state]: left_x=0.3756 left_y=-0.1608 left_z=-0.002 left_yaw=-0.5449 left_pitch=0.0059 left_roll=0.0034 left_gripper=0.5049 right_x=0.3163 right_y=0.1179 right_z=0.1137 right_yaw=0.487 right_pitch=-0.2262 right_roll=0.0225 right_gripper=0.082\nstate[joint_eff]: [-0.0068, -5.3538, 2.4274, 0.3687, 0.0855, -0.0464, -0.022, -0.1573, -4.1368, 6.735, 1.4676, -0.1294, -0.0171, 0.3785]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5157f1125f61c21146b4e51d3b1b1bc47f19b7727ac1fe41bcd0867c87f075d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cad747ccc80b976da07fe55648c6bc096d25c4bb1964695f926ad8ae56673d59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01089b82b925e8f7b3a51f5479630a44560bcb5184a115c56b616bed2ffdcf14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012CoVk56WUBPGue8M9Bk66u",
      "input": {
        "note": "Left jaws are at table level straddling the cap; closing to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_012CoVk56WUBPGue8M9Bk66u",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3424, 1.9041, 0.4767, 0.8787, 0.1627, 0.0948, 0.0953, 0.2501, 1.1965, 0.6785, -0.2832, -0.1837, -0.1535, 0.0817]\nstate[eef_state]: left_x=0.3773 left_y=-0.161 left_z=0.0002 left_yaw=-0.5414 left_pitch=0.0296 left_roll=0.006 left_gripper=0.0953 right_x=0.3164 right_y=0.1178 right_z=0.1136 right_yaw=0.4867 right_pitch=-0.2263 right_roll=0.0222 right_gripper=0.0817\nstate[joint_eff]: [-0.1709, -8.3077, 4.4376, 1.2821, -0.0024, -0.0122, 0.8816, -0.1709, -4.0547, 6.735, 1.4676, -0.105, -0.0317, 0.6422]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d1b7a9a7e076f5cb657df52138a1196b45744ed8c3a4711cf37ba65ed3a711d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cd221d61d7e7d539b36de49b6ce2a489590d56c38de2ed19b3ad0fd5072a3be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9112f80681d23b86df82757ba82d49d15091bed07d9196ce2921180dcf0c9b38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 6.202 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]: [-0.3428, 1.6558, 0.5667, 0.4335, 0.165, 0.1024, 0.505, 0.2501, 1.1942, 0.6785, -0.2825, -0.1841, -0.1539, 0.0813]\nstate[eef_state]: left_x=0.3709 left_y=-0.1594 left_z=0.0369 left_yaw=-0.5483 left_pitch=-0.0748 left_roll=-0.0104 left_gripper=0.505 right_x=0.3165 right_y=0.1179 right_z=0.1145 right_yaw=0.4871 right_pitch=-0.2232 right_roll=0.0215 right_gripper=0.0813\nstate[joint_eff]: [-0.6769, -6.2427, 5.3265, 1.9609, 0.0611, -0.0855, -0.0464, -0.3214, -4.0137, 6.694, 1.5507, -0.1245, -0.0415, 0.2515]",
      "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]: [-0.3424, 1.8927, 0.4843, 0.8352, 0.1646, 0.0986, 0.5049, 0.2501, 1.1961, 0.6785, -0.2836, -0.1841, -0.1535, 0.082]\nstate[eef_state]: left_x=0.3756 left_y=-0.1608 left_z=-0.002 left_yaw=-0.5449 left_pitch=0.0059 left_roll=0.0034 left_gripper=0.5049 right_x=0.3163 right_y=0.1179 right_z=0.1137 right_yaw=0.487 right_pitch=-0.2262 right_roll=0.0225 right_gripper=0.082\nstate[joint_eff]: [-0.0068, -5.3538, 2.4274, 0.3687, 0.0855, -0.0464, -0.022, -0.1573, -4.1368, 6.735, 1.4676, -0.1294, -0.0171, 0.3785]",
      "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]: [-0.3424, 1.9041, 0.4767, 0.8787, 0.1627, 0.0948, 0.0953, 0.2501, 1.1965, 0.6785, -0.2832, -0.1837, -0.1535, 0.0817]\nstate[eef_state]: left_x=0.3773 left_y=-0.161 left_z=0.0002 left_yaw=-0.5414 left_pitch=0.0296 left_roll=0.006 left_gripper=0.0953 right_x=0.3164 right_y=0.1178 right_z=0.1136 right_yaw=0.4867 right_pitch=-0.2263 right_roll=0.0222 right_gripper=0.0817\nstate[joint_eff]: [-0.1709, -8.3077, 4.4376, 1.2821, -0.0024, -0.0122, 0.8816, -0.1709, -4.0547, 6.735, 1.4676, -0.105, -0.0317, 0.6422]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d1b7a9a7e076f5cb657df52138a1196b45744ed8c3a4711cf37ba65ed3a711d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cd221d61d7e7d539b36de49b6ce2a489590d56c38de2ed19b3ad0fd5072a3be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9112f80681d23b86df82757ba82d49d15091bed07d9196ce2921180dcf0c9b38",
        "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_01EmE5xRWdUPFD62h7DJQAWL",
      "input": {
        "note": "Cap grasped (gripper settled ~0.095 ≈ 9 mm). Lifting it and starting to rotate both tools toward yaw ≈ +90° so the pen tip and cap opening face each other across the table centre.",
        "targets": {
          "left_pitch": 0.0,
          "left_yaw": 0.3,
          "left_z": 0.15,
          "right_pitch": 0.0,
          "right_x": 0.35,
          "right_y": 0.2,
          "right_yaw": 1.0,
          "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_01EmE5xRWdUPFD62h7DJQAWL",
      "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]: [-0.7204, 1.5959, 0.9897, -0.1787, -0.7109, -0.6243, 0.0952, 0.2485, 1.4445, 0.8375, -0.168, -0.5629, -0.4168, 0.084]\nstate[eef_state]: left_x=0.3839 left_y=-0.1789 left_z=0.1417 left_yaw=0.1767 left_pitch=0.005 left_roll=-0.0302 left_gripper=0.0952 right_x=0.3434 right_y=0.1881 right_z=0.13 right_yaw=0.9313 right_pitch=-0.0763 right_roll=0.0517 right_gripper=0.084\nstate[joint_eff]: [-0.2803, -6.6803, 8.2803, 1.1453, -0.4908, -0.0611, 0.3492, -0.0615, -5.6137, 8.8274, 1.7363, -0.442, -0.0024, 0.6618]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:932090cadeec33108afe2f4859c32d6e05214768ae58f621d7759ba183d8b911",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b09cc0023e2341e210f1e386019f8591bea2154dd59ae1177e2e8c144f3ef06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb51a7bf5d22cb1821d5f0a1f1cf0bb8151c020af898da50a04f06cdc8a854d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 5.963 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]: [-0.3424, 1.8927, 0.4843, 0.8352, 0.1646, 0.0986, 0.5049, 0.2501, 1.1961, 0.6785, -0.2836, -0.1841, -0.1535, 0.082]\nstate[eef_state]: left_x=0.3756 left_y=-0.1608 left_z=-0.002 left_yaw=-0.5449 left_pitch=0.0059 left_roll=0.0034 left_gripper=0.5049 right_x=0.3163 right_y=0.1179 right_z=0.1137 right_yaw=0.487 right_pitch=-0.2262 right_roll=0.0225 right_gripper=0.082\nstate[joint_eff]: [-0.0068, -5.3538, 2.4274, 0.3687, 0.0855, -0.0464, -0.022, -0.1573, -4.1368, 6.735, 1.4676, -0.1294, -0.0171, 0.3785]",
      "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]: [-0.3424, 1.9041, 0.4767, 0.8787, 0.1627, 0.0948, 0.0953, 0.2501, 1.1965, 0.6785, -0.2832, -0.1837, -0.1535, 0.0817]\nstate[eef_state]: left_x=0.3773 left_y=-0.161 left_z=0.0002 left_yaw=-0.5414 left_pitch=0.0296 left_roll=0.006 left_gripper=0.0953 right_x=0.3164 right_y=0.1178 right_z=0.1136 right_yaw=0.4867 right_pitch=-0.2263 right_roll=0.0222 right_gripper=0.0817\nstate[joint_eff]: [-0.1709, -8.3077, 4.4376, 1.2821, -0.0024, -0.0122, 0.8816, -0.1709, -4.0547, 6.735, 1.4676, -0.105, -0.0317, 0.6422]",
      "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]: [-0.7204, 1.5959, 0.9897, -0.1787, -0.7109, -0.6243, 0.0952, 0.2485, 1.4445, 0.8375, -0.168, -0.5629, -0.4168, 0.084]\nstate[eef_state]: left_x=0.3839 left_y=-0.1789 left_z=0.1417 left_yaw=0.1767 left_pitch=0.005 left_roll=-0.0302 left_gripper=0.0952 right_x=0.3434 right_y=0.1881 right_z=0.13 right_yaw=0.9313 right_pitch=-0.0763 right_roll=0.0517 right_gripper=0.084\nstate[joint_eff]: [-0.2803, -6.6803, 8.2803, 1.1453, -0.4908, -0.0611, 0.3492, -0.0615, -5.6137, 8.8274, 1.7363, -0.442, -0.0024, 0.6618]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:932090cadeec33108afe2f4859c32d6e05214768ae58f621d7759ba183d8b911",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b09cc0023e2341e210f1e386019f8591bea2154dd59ae1177e2e8c144f3ef06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb51a7bf5d22cb1821d5f0a1f1cf0bb8151c020af898da50a04f06cdc8a854d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxQkKEAgSGAI4AUIIdGhpbmtpbmcSDEmMBp76ierRn1gDcxoMIogoE+HQ29R4cK8bIjCj4Nt1EDfIDcRKJp7EMdPTqTg/awPAuzOEAEzCxPU2d76rs0/Zwle3ZQ+u9+R/xR4q4ggB0BtG1x6J3/J1WOYraepZ/03bXYUsNaec559j7dkPlgqzmmB6vtUuV4CfBIXAFV86RwWA2PBkAvOA3ck4u7TXsOBSOIbe9cTT4WJM1BReSCK6APIZwA6hQJpm9txHVRWvZa6JdPTZYcHNg1nPshVPRafcZVk6pUP18IMYCdW2sfb3aEAFz6VkIrjKFoVp7nxWFnjadt2kN6h57JXTszDC5ZYiZ14ELfw5zNtBhBmp/12/CHoN/HQqX8t4EIQgumaMuBVgMftsUIgeUrce0VOvTBiVKqwUZVxIgQ9+SQpvpUo8GBXxOmrNpDZqoST1ryUwu8OzcuXc0VNA37THLELmD4gEQKvq9/GG6BzCDsnsmqme/2oXnx9tQCM7k8TCKCUAlyxfEOWibV7ktdg8ufoPaDtSomU+EdPbvHCVMT9eZTzjmFEjZcsk8pG7mYdblaxTlYwcQQU4CVHh+ABW2PItx9n1x284V7kvIyEnwUf3ZHF8PbeTVkuxrmHGVJxdbpTCDlUDHYrGLITt+iwBBY8GfRKZvYrUK0deh9wL/vwfgkeEBKAyg1jz4m35uWGn6SArhxoRN1noZf0x5agd3OnLYbM+GBmG2ayQF/LmSB+jYGgDBHEVtP40Tao47GLCCSmh6K9k0tG8+kK354y3ZFlfKYpafOqAxHHFhj9UQPXSDc97RaM70Sv0DLVsg/GZ4ZZ+LOy5x14BNaInvq7H9N+OcX+wLA7QDJF2a95BR8iwYJVDfedKb/hD2WMyViGLpd/9wDx8u7qK/abNxh06DWDHaoAt6cHjKP7ZoGe70R5WenJmCCci3D+6deJk898JwUTfcNk2We1FhQW+atMP2zBTJbqxNzDjPyfEq43XYGoHQCmetxP9QrO4euyavrLI+W5YatWJs+fAhU6LbFTXgITrZ4OqqFl7qV1aow9LVHB+bwE9vmSNv5huPHe0jW22K1+EyN2t/Zi9xUg+UL4aXNl1wbFEaScTm/GGOur+NZmBOyx7BoQDvsCjaAwjKa909m3uAiZYCpFshnPEc5svGxcoPsySGrB8/0zfKz8Lcu+T7MBxN2yIPsZEQQqMMu/fS4hrBmTFib9oyuNgLZuVWylVWKySWMWzTZ8RNaRJWaOTJy0njYfqFdhz3ogvnKhOu0p+m+iozAXOdpIwvhIjcRAy76UIJbRdm0xU983IAvFggWPG+9t+efjJQLi9XL4rG8b38NFsyh/vSGCSeopdsGTLwVBZrNyhROvQ0ztBTeCtk9dlEl13ZhB/9ZcdyRaSOxqvZZkeLTYj2nADnZ9z4mUZEkya7K/80gQbCZYzcmInM0svxspff9lNOA+zq3odNQSZnHwfmQ1AAx0OCiWji3qD81fWdAGNQ4v156Ou/3HkYynXxYJoO2SJqxcWuLo7JWoK0/W93O+UVngGL/XIYptd/8kQ5Ci6/u9k4+u2c64aWCvcqR3TrXqCzcol4VM81U9FlQqAUoDIE9uTRNEEduk2dCkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UdmxpSF913LHSfFAEKo3ss",
      "input": {
        "note": "Both objects held and lifted; pen tip visible pointing toward the centre. Completing rotation to yaw +90° so the pen tip points left toward the cap's open end, with a ~10 cm gap between them.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.36,
          "left_y": -0.2,
          "left_yaw": 1.57,
          "left_z": 0.16,
          "right_pitch": 0.0,
          "right_x": 0.36,
          "right_y": 0.22,
          "right_yaw": 1.57,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01UdmxpSF913LHSfFAEKo3ss",
      "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]: [-0.4408, 2.281, 1.8759, -1.4712, -0.8997, -2.0052, 0.0951, 0.1837, 1.8751, 1.467, -0.8028, -0.9268, -1.1122, 0.0835]\nstate[eef_state]: left_x=0.4102 left_y=-0.0366 left_z=0.0994 left_yaw=1.3813 left_pitch=-0.0647 left_roll=-0.0333 left_gripper=0.0951 right_x=0.3764 right_y=0.2173 right_z=0.157 right_yaw=1.4797 right_pitch=-0.0388 right_roll=0.0152 right_gripper=0.0835\nstate[joint_eff]: [-1.2103, -13.559, 5.3812, -0.5299, -0.4811, -0.0855, 0.7448, -0.6359, -8.5812, 6.3111, 0.3736, -0.779, -0.0024, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64deae6a8ccb614c843d98e5ed861323018e3020c8b7c8fdd026f8f1a3d35572",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e608dc1477297c0f3396adc8d47fb9bc73633f1b4ca2bd7056a4fe51e2e2cb7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a8b036feff97c6539681819613cca61a6829cc8e8113c2a86246097139b6872a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 10.25 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]: [-0.3424, 1.9041, 0.4767, 0.8787, 0.1627, 0.0948, 0.0953, 0.2501, 1.1965, 0.6785, -0.2832, -0.1837, -0.1535, 0.0817]\nstate[eef_state]: left_x=0.3773 left_y=-0.161 left_z=0.0002 left_yaw=-0.5414 left_pitch=0.0296 left_roll=0.006 left_gripper=0.0953 right_x=0.3164 right_y=0.1178 right_z=0.1136 right_yaw=0.4867 right_pitch=-0.2263 right_roll=0.0222 right_gripper=0.0817\nstate[joint_eff]: [-0.1709, -8.3077, 4.4376, 1.2821, -0.0024, -0.0122, 0.8816, -0.1709, -4.0547, 6.735, 1.4676, -0.105, -0.0317, 0.6422]",
      "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]: [-0.7204, 1.5959, 0.9897, -0.1787, -0.7109, -0.6243, 0.0952, 0.2485, 1.4445, 0.8375, -0.168, -0.5629, -0.4168, 0.084]\nstate[eef_state]: left_x=0.3839 left_y=-0.1789 left_z=0.1417 left_yaw=0.1767 left_pitch=0.005 left_roll=-0.0302 left_gripper=0.0952 right_x=0.3434 right_y=0.1881 right_z=0.13 right_yaw=0.9313 right_pitch=-0.0763 right_roll=0.0517 right_gripper=0.084\nstate[joint_eff]: [-0.2803, -6.6803, 8.2803, 1.1453, -0.4908, -0.0611, 0.3492, -0.0615, -5.6137, 8.8274, 1.7363, -0.442, -0.0024, 0.6618]",
      "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]: [-0.4408, 2.281, 1.8759, -1.4712, -0.8997, -2.0052, 0.0951, 0.1837, 1.8751, 1.467, -0.8028, -0.9268, -1.1122, 0.0835]\nstate[eef_state]: left_x=0.4102 left_y=-0.0366 left_z=0.0994 left_yaw=1.3813 left_pitch=-0.0647 left_roll=-0.0333 left_gripper=0.0951 right_x=0.3764 right_y=0.2173 right_z=0.157 right_yaw=1.4797 right_pitch=-0.0388 right_roll=0.0152 right_gripper=0.0835\nstate[joint_eff]: [-1.2103, -13.559, 5.3812, -0.5299, -0.4811, -0.0855, 0.7448, -0.6359, -8.5812, 6.3111, 0.3736, -0.779, -0.0024, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64deae6a8ccb614c843d98e5ed861323018e3020c8b7c8fdd026f8f1a3d35572",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e608dc1477297c0f3396adc8d47fb9bc73633f1b4ca2bd7056a4fe51e2e2cb7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8b036feff97c6539681819613cca61a6829cc8e8113c2a86246097139b6872a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSnQoKEAgSGAI4AUIIdGhpbmtpbmcSDDJoD4VlLiYwKwLgchoM76brR/IL/MGAU6onIjDQMdeWzJLXAKnIbSeXtz8Wm5ebROgkxkrEoFCqLj2SwhGUVxVDK4tRc5lo2HoacbcqugnOsukNgmrnl7jAWCBO/PaxkK6OfgjPyw+YjO+yJw0urAXqj/vHzBf0DuUDwvxtK8cGZ2DrnSYN9PljhanHqKSqPJwKY9cptZmGxQ3hhIlwo4yfOIqTUp3/mluEORnlN7j+pzA6S4GVM4R9AJfm0sGH6jKXHBTWIg3UH34rJKdRY7CHmcwKofvvQxcLxxwp+YZ7Vfvb4z/VUoryandbbPmrYguz4qMp9rCQ7njf6YLkSCsPV+7H6+L5VoeqvC414dfqoxuFiEffzpQxalh57V/mQU+Ybl+6XHe0DgIs2l6SN/csG5BhxxPdJX8R5FkZgjTxv+L0D7XjEJ19etvyFnTj+Jp8nm3Iix2FHno35Xi0TcDg7oBC2SX2BnfVeVpEiB57wZUY+ZO6tD7P2Mkks9iCG2qSRO859HxEbruAqg8EMm7ZbA0PT8rV7SEHu2uYt00QiWNFzd6Njlpw3Ze5fR6QaE5QhWGVxaKvsNMqpt3lM6jyWXgSHzQh6vxg07NI/CO1B0WanW/xDXXbJG4kYhC7+3xF5PsqiOl30CE1G6Qyt2Uuc14z8Ym+f6ZzlnR3lNDxAFUvFcF//g2Ra5pCujTOHCVoFzZdgf1p7yfF2Rs5t5ExdfEoGLNwV48Br1A8MZGTkXSJ9lxqJKwWOAWdI395Pl9Q9wWPfGfG0vxZ1HeNL1ubGFKSldaaoS1ocXkduD81y0Ps7CCRjWsKSO3YK8DpsbdkVIuFQ3g5/X/uO0TO/1NNJePOwmgxnCt9RCYJwSFnm3VupwqgQAWYPC1NAfixXDvI3+qqRrKIpFKTHrJA3j/syIdNAj/6x4mEX5Fp8NbivId0L6dHL83YP9HRs5uNPc2XmVkcRuOfwrIxA5KKXQRSS+O/5ncL3t/+UIvUJbivYz4p7NAup8q5UVMfqsCaSvnDBuDIFtu+syOu+JHqJye512eZDBe27j1CL+YotDCWqTBiGo5XWk9/B5L5SbQNHdC4UYw8nVKBNGTJszNvAPhgqOFpm4ZwoZsQMrEeUjrCXYSZYAghO6zKA1HZMrl0H+trwDlidbtHV3Z/vip7DWaif8PEh2Z7FA1rbUKBt3FZwjTzfmvS606h8vJMRqzRxjhG9OrIniFhQoy6G8ZJ26EwSqT9riCmTooE669KOFz7dPxH6d+UGGQgrPcAjxCeI5ajN+h0BdrqcDcZ3iLlLny5gBuVMu+PU7aoFedMPL2m9BJBhq95v2mZrePgeZ0GIJ9mQylD0C/E/uxSWqiQJTudWMkAtBaf925uryM7jwTEz5LtEoZGtaotYbbvjPG4/KrvyK8w5tyBnpzOC3EWy1YZu2KJ4iAr5wWJEfx6kdLnzCng1NhpQ4CRadB35dKpGv6J/AAF+daVi4XHLJgK6HpyJgoqlreTU3cyGgOomMx0iph3UD5N6Itb6dpdP1mu1UwiJOMF1I734pnWgr3Pg7hxd4jm/A8OnRAkHLORdljEQWMkG6+wLQ9vTzn2Uzb3izum0KiYxLyU7PVaRg39QEIKKfogJWWK+EOnFfChajY8GncLd9IDBz7fw6l6d9yOAAGcPiVIA+QQ8/6s5EV/YAeeF8ShCLOi6kAxOpG5TeeNQPwR7044XuR4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AxMfGVq8BxDiMD1tp7ChJw",
      "input": {
        "note": "Left arm readback is far off target (y −0.04, z 0.10) after the big yaw rotation; re-commanding the same pose to let it settle before judging.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.36,
          "left_y": -0.2,
          "left_yaw": 1.57,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01AxMfGVq8BxDiMD1tp7ChJw",
      "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]: [-0.395, 2.2807, 1.8614, -1.557, -0.8825, -2.0869, 0.0969, 0.1837, 1.8992, 1.4654, -0.8116, -0.9173, -1.1294, 0.084]\nstate[eef_state]: left_x=0.3936 left_y=-0.0124 left_z=0.1001 left_yaw=1.4832 left_pitch=-0.0529 left_roll=0.0013 left_gripper=0.0969 right_x=0.3762 right_y=0.2162 right_z=0.1454 right_yaw=1.4871 right_pitch=-0.0563 right_roll=0.0318 right_gripper=0.084\nstate[joint_eff]: [0.4718, -13.2171, 4.7932, -0.5299, -0.5006, -0.1245, 0.5495, -0.1436, -11.7402, 6.2291, 0.8767, -0.6032, 0.1099, 0.652]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0736683d6b7bacf3f560700960a096a5cf920fd93fb97f69cf33b58c8cabc24e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5de87cf2e3aea5d3e21f34b22ec52cd51a16b190f8bc2190d713c20e9705c9c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b2ed7e4427b8d49feb704e8c4e2cad945bfff74c803afca4015d42cd0f889f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 10.47 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]: [-0.7204, 1.5959, 0.9897, -0.1787, -0.7109, -0.6243, 0.0952, 0.2485, 1.4445, 0.8375, -0.168, -0.5629, -0.4168, 0.084]\nstate[eef_state]: left_x=0.3839 left_y=-0.1789 left_z=0.1417 left_yaw=0.1767 left_pitch=0.005 left_roll=-0.0302 left_gripper=0.0952 right_x=0.3434 right_y=0.1881 right_z=0.13 right_yaw=0.9313 right_pitch=-0.0763 right_roll=0.0517 right_gripper=0.084\nstate[joint_eff]: [-0.2803, -6.6803, 8.2803, 1.1453, -0.4908, -0.0611, 0.3492, -0.0615, -5.6137, 8.8274, 1.7363, -0.442, -0.0024, 0.6618]",
      "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]: [-0.4408, 2.281, 1.8759, -1.4712, -0.8997, -2.0052, 0.0951, 0.1837, 1.8751, 1.467, -0.8028, -0.9268, -1.1122, 0.0835]\nstate[eef_state]: left_x=0.4102 left_y=-0.0366 left_z=0.0994 left_yaw=1.3813 left_pitch=-0.0647 left_roll=-0.0333 left_gripper=0.0951 right_x=0.3764 right_y=0.2173 right_z=0.157 right_yaw=1.4797 right_pitch=-0.0388 right_roll=0.0152 right_gripper=0.0835\nstate[joint_eff]: [-1.2103, -13.559, 5.3812, -0.5299, -0.4811, -0.0855, 0.7448, -0.6359, -8.5812, 6.3111, 0.3736, -0.779, -0.0024, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.395, 2.2807, 1.8614, -1.557, -0.8825, -2.0869, 0.0969, 0.1837, 1.8992, 1.4654, -0.8116, -0.9173, -1.1294, 0.084]\nstate[eef_state]: left_x=0.3936 left_y=-0.0124 left_z=0.1001 left_yaw=1.4832 left_pitch=-0.0529 left_roll=0.0013 left_gripper=0.0969 right_x=0.3762 right_y=0.2162 right_z=0.1454 right_yaw=1.4871 right_pitch=-0.0563 right_roll=0.0318 right_gripper=0.084\nstate[joint_eff]: [0.4718, -13.2171, 4.7932, -0.5299, -0.5006, -0.1245, 0.5495, -0.1436, -11.7402, 6.2291, 0.8767, -0.6032, 0.1099, 0.652]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0736683d6b7bacf3f560700960a096a5cf920fd93fb97f69cf33b58c8cabc24e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5de87cf2e3aea5d3e21f34b22ec52cd51a16b190f8bc2190d713c20e9705c9c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b2ed7e4427b8d49feb704e8c4e2cad945bfff74c803afca4015d42cd0f889f7",
        "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_01QN93NRUWjZbLRfDd7QqW5i",
      "input": {
        "note": "Left arm is stuck near y≈−0.01, z≈0.10 with yaw ~1.5; taking a smaller intermediate step toward the centre and higher up.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.36,
          "left_y": -0.1,
          "left_yaw": 1.57,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01QN93NRUWjZbLRfDd7QqW5i",
      "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]: [-0.4522, 2.3581, 1.9366, -1.557, -0.8486, -2.0899, 0.0992, 0.1837, 1.8996, 1.4647, -0.812, -0.9165, -1.1328, 0.085]\nstate[eef_state]: left_x=0.402 left_y=-0.0439 left_z=0.0816 left_yaw=1.4418 left_pitch=-0.0818 left_roll=0.0107 left_gripper=0.0992 right_x=0.376 right_y=0.2161 right_z=0.1449 right_yaw=1.4887 right_pitch=-0.0573 right_roll=0.0303 right_gripper=0.085\nstate[joint_eff]: [-0.4171, -12.465, 6.735, -0.569, -0.4615, -0.0806, 0.2271, -0.335, -9.853, 6.2701, 0.7741, -0.4908, 0.022, 0.315]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be5d58d6acbf28fe357610d7c4a9b1bf297d68f0de7561af962f2c47b1a4ec73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d413da34eb038d6de9b4bef7abd6afe5e9815c282b92cbfd0949aefe6459987",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e023126bf212bfb5817669b906cc31f6e32bc2893148b8f59d530edcd1d0ac97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 9.519 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]: [-0.4408, 2.281, 1.8759, -1.4712, -0.8997, -2.0052, 0.0951, 0.1837, 1.8751, 1.467, -0.8028, -0.9268, -1.1122, 0.0835]\nstate[eef_state]: left_x=0.4102 left_y=-0.0366 left_z=0.0994 left_yaw=1.3813 left_pitch=-0.0647 left_roll=-0.0333 left_gripper=0.0951 right_x=0.3764 right_y=0.2173 right_z=0.157 right_yaw=1.4797 right_pitch=-0.0388 right_roll=0.0152 right_gripper=0.0835\nstate[joint_eff]: [-1.2103, -13.559, 5.3812, -0.5299, -0.4811, -0.0855, 0.7448, -0.6359, -8.5812, 6.3111, 0.3736, -0.779, -0.0024, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.395, 2.2807, 1.8614, -1.557, -0.8825, -2.0869, 0.0969, 0.1837, 1.8992, 1.4654, -0.8116, -0.9173, -1.1294, 0.084]\nstate[eef_state]: left_x=0.3936 left_y=-0.0124 left_z=0.1001 left_yaw=1.4832 left_pitch=-0.0529 left_roll=0.0013 left_gripper=0.0969 right_x=0.3762 right_y=0.2162 right_z=0.1454 right_yaw=1.4871 right_pitch=-0.0563 right_roll=0.0318 right_gripper=0.084\nstate[joint_eff]: [0.4718, -13.2171, 4.7932, -0.5299, -0.5006, -0.1245, 0.5495, -0.1436, -11.7402, 6.2291, 0.8767, -0.6032, 0.1099, 0.652]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4522, 2.3581, 1.9366, -1.557, -0.8486, -2.0899, 0.0992, 0.1837, 1.8996, 1.4647, -0.812, -0.9165, -1.1328, 0.085]\nstate[eef_state]: left_x=0.402 left_y=-0.0439 left_z=0.0816 left_yaw=1.4418 left_pitch=-0.0818 left_roll=0.0107 left_gripper=0.0992 right_x=0.376 right_y=0.2161 right_z=0.1449 right_yaw=1.4887 right_pitch=-0.0573 right_roll=0.0303 right_gripper=0.085\nstate[joint_eff]: [-0.4171, -12.465, 6.735, -0.569, -0.4615, -0.0806, 0.2271, -0.335, -9.853, 6.2701, 0.7741, -0.4908, 0.022, 0.315]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be5d58d6acbf28fe357610d7c4a9b1bf297d68f0de7561af962f2c47b1a4ec73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d413da34eb038d6de9b4bef7abd6afe5e9815c282b92cbfd0949aefe6459987",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e023126bf212bfb5817669b906cc31f6e32bc2893148b8f59d530edcd1d0ac97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3hEKEAgSGAI4AUIIdGhpbmtpbmcSDAjbPBxe79JJaZisPBoMa5nQ69f/YpsFZ46zIjAqx6W7cOEheP3O+3uzpJChi3uvWV/EijOnownZ9lpa/zofkL7bPEBiVBgiJqxQ7vQq+xAFuHIz9PYvW7I6GdYoOqHaZGimP54N1W7HrGn7rs85HJUNA2Aj/0FiInIjksUjR+btPzI5CHRse1nccVADgvPYRmHghfkXM9QthB++6ikeHpb8dodu1pleG6MAi1mo9jR/iZZ/cnj+RH6u4Oxv864lN0jKbG0Zai49BYyy7odgq6gjXSZpa1z3yRS+onbwU/0Quq9TBiKvJ40L9MhItsg9AU6nuvCrzqRRxcGQ/r7t9KiSdRAUXm+6IVyXU5UrPEhLCSC8juhH9rN56lnQE0maRsxHmfNSUgn5rQkWPf0rw30iS840XaQvAqUvpHMub1bY3TObP2xCRV8zMdXpfnsiapjIpnSm0szld/c/NH9qVr9UkXSfoLQ/cAaLZcGbtU8ZDEYhsNWTWNnS3iC/E55m9S/o9GSnpsDGmnnQv3ga+oKZzTKvZLS7Rlh4pklmsBwWxxeVakHcEk/98yRrMfQa5m0ujU/4Rxk8mLi66y5E/ZIO2w6HQI/J3y0/NZfmjLA6j6uXyW64U6VL65I8neeXvddLOpV+i9x+C8CtL8v7RwOICNPR6oCM7yFoelA7pV6CnbC85ay+g/2UW9eMwsOmj3Y2fCXi0EpMmjWyatODglsObUTmHfDXt0lbyprIrfV5q6tP7coHi+3NLtJpsLE/pjLhPqsBb2DUWuPBwfQjSVYEDzx1aFGqoGf0qw8VMAcKesJw4eATijxa9zSbGiowKlGPXzixSXnEN0GnxzfCz1tZSrBbpH0Zh0Z/AA158ybyOGMs5ppJtu8ad6njjFM6BWtg9+xFkqfmQ3vGu5RrFwOK4xpiaTZlzS2+3TvNFaP3lMdvHvHu/Rale46Dx0LGt2KloWjKZCpEdPmKkqForJVln28HPkR1TwvSARO++M7Xk+3wlPEGuTtY92mPJGEZZsSBEDIGVLJuULKioJKHOcbBQ2fUVONhkapm/LqZJ2BXbIFk3c7yUp8yZhBCC4W5SY8ZavaH7BDw9ii6i4VvpQCgEtgYXW9Om2MPT90TSPtvl0bNKiwlbiV8lwDT3zzbq9NXc/ldgx1keJZYbDVQruWoswrbEGqWwV1zuquxF6HMLqtzgfQUNR2TRtwt9KRIQ3hxBX6NoleiJbSrjcOnfPS6Ss7oWt3kDqyIoOyJGRCjrJnwGo6JwgQDW/Gkp9HQuSAeZxwfVGTp49Ai9qlb84CJ8OH1t7FIyY5z14U3vEXqwpf630DZqOck7KwTLXLyfYGZyYC6hrWho5uas1gM9hw2XNkpJMzDwyR38A0UwBh6x5QV2wJUGMv6W0+cN28CmT0+mKk/4/Tbu/d5spPVSCVkIjmQKmPYuLEUvlmiYMNNfW/jfl//uGRO4iD89IgYctNme/4f6CNZp3wLwWADD1kOybiXa/KkRtDkvmeRh/6oL7NvcplEHa3g0yY2CE2zL8dQiB/zVpGMw/baj9JDDoYkYcUm3sdf7j/YcyXacKoBnukxoXAtap35EWHvbh29m90JUqcWJiAsFQo21o76Xf3p2/LQ1Jr8ZG2bSq8Be80cjUcwNDXkilajrPUE1DHpCUuOzpD9+lNO+sSoOenR4l2avctNBd0Shy/53hEDQwBA31O34qKYUnDL/ob+kNaeyOJdWoi7kfuyyx0Iwg1FtedYScx8mbWLE8tozPrK8nKy9Q3B/eVbTmGmQOaxJHM3egPr4I+aOKsldzgGfjdDFuiDGr6vdMcbFDwQZUTzCOS3Hb4B/2of46a2hV4udHZuqVzLmOQ/hzgJYUr8YiYNrmy7gE8dCYZe7Bcsu8RMgGDYk4WnFmkU2b8f0Vq3YU+IBaIQ5wC9F9F63UUykyfYzrLRymkjoIo/7lDGs7/XfwX574Q2WtzAsYXDlISgApxNr3Wtk5Lfg4VdFnnhta7zxRH6lP/4osrgyurRwppRMpVG8llEBBw7RofAaMYp+rClNmso+f7EfqQ9A6NVhTlpq4LRa/tj7bK5L1UUGJESuhBFZ88cSHoK78wwBLt1qLdgmJ6IgO0v1GmclVzkoj9bdrp6I7dbUnpB+GHNrkrlPC5EMSoKz7gpj/2BpjDtJFE7DoIWhus4tbkATOh07vpKU1PMLQLIJ0Hovjl5ASDHFss9uE+QXNkU5YQ4VsDg6k/c3BQ3fU8W4i46bpMttLqqw7oB1T/uK0valxzBTgdjScMrjxYx9uTtX9FdC/YHW2MGd5pwv7l23SEe4+/SN+y/te3XUf2nsmmm06dKFsb+HhL1xjLLt4oer8+i0nS8BrQsJRF9VIl9ZYMb/yJAOyoywsWS/u4zynJRSqEszEW/oYeku88PaIUiJbm4HKIDcmqq8wxubHdpEUYMjdIogw8IDDg54+k0uNsizbf9j6rPUMGlyy5Tm+gfkkXIfdV16azxyqRq5rSLeqVWg9JAn0g2TLdzHm3c15UhdHGUFt5DBDfKrxsO5HFhuNECBUOFiBuajPAIU18vGt7b1wbe5/AVQKMoy3PqT16iSnc0Pi2WspTpTSsUQdqKZjSSEmFgqbRUAnjPjiWWVNdXQTHoVlor8VZMrtWR2gJ8zvcAuLaCDbUeasl2MsqQKhkAPykz2j9R8pHzf8NYhO4aQcxALa8u7QL1b5BxsaQzpRDTqfx+fm7KA83NIVkKnxW1IJYhpCWjBXkKpzudwXkzg8VoDuyLY5pZqb+6xwaKFU6WccIvzdQTF6Hx4LJJz+0kdYJWHqabIKk5Xq+1WBaf8jxFpn3BC0YTrlFJnjOaQkKo1WdjPl+/M7ZxqoVj7eM26rvsjjcCvFse0JeRDaGns/VxB4KUcxOuagNI+wx2VF1nithassaSXAqkAD4TUEnMmTPzYq0+jSFoRMJwPeWJ1Gmg3qupuar6ogBW2IfNmNRZOg1i8YD1k5/Xd8EhP3eWXxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hbp16VV3PcgB8LFivcjNQk",
      "input": {
        "note": "Left arm can't track yaw +90° (sagging to z 0.08 near y 0). Backing off to yaw 0.8 at a comfortable pose; I'll align the pen diagonally instead.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.38,
          "left_y": -0.2,
          "left_yaw": 0.8,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01Hbp16VV3PcgB8LFivcjNQk",
      "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]: [-0.8272, 2.2375, 1.9575, -1.5368, -0.947, -1.795, 0.1014, 0.1806, 1.8988, 1.4639, -0.8139, -0.926, -1.1378, 0.0876]\nstate[eef_state]: left_x=0.3741 left_y=-0.1897 left_z=0.1416 left_yaw=0.8651 left_pitch=-0.034 left_roll=0.0711 left_gripper=0.1014 right_x=0.3756 right_y=0.2157 right_z=0.1461 right_yaw=1.4916 right_pitch=-0.049 right_roll=0.0304 right_gripper=0.0876\nstate[joint_eff]: [-1.6615, -16.5128, 9.3607, 0.0708, -0.8913, 0.2564, 0.2125, 0.1162, -9.7162, 6.3385, 0.7497, -0.315, 0.0122, 0.2711]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0de93b68217af4b10e6e6f60d024b5141627eaa22de077244a34f54e575556fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bf0df9f0aa07b48e87a2582d5f74df1a38f86f4d66a8fc21620b5e2e49eb10a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:67d11d91217acb7cb6a36d308a08fcaf2465e98f7493120ce93348af09cbdcea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 5.774 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]: [-0.395, 2.2807, 1.8614, -1.557, -0.8825, -2.0869, 0.0969, 0.1837, 1.8992, 1.4654, -0.8116, -0.9173, -1.1294, 0.084]\nstate[eef_state]: left_x=0.3936 left_y=-0.0124 left_z=0.1001 left_yaw=1.4832 left_pitch=-0.0529 left_roll=0.0013 left_gripper=0.0969 right_x=0.3762 right_y=0.2162 right_z=0.1454 right_yaw=1.4871 right_pitch=-0.0563 right_roll=0.0318 right_gripper=0.084\nstate[joint_eff]: [0.4718, -13.2171, 4.7932, -0.5299, -0.5006, -0.1245, 0.5495, -0.1436, -11.7402, 6.2291, 0.8767, -0.6032, 0.1099, 0.652]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.4522, 2.3581, 1.9366, -1.557, -0.8486, -2.0899, 0.0992, 0.1837, 1.8996, 1.4647, -0.812, -0.9165, -1.1328, 0.085]\nstate[eef_state]: left_x=0.402 left_y=-0.0439 left_z=0.0816 left_yaw=1.4418 left_pitch=-0.0818 left_roll=0.0107 left_gripper=0.0992 right_x=0.376 right_y=0.2161 right_z=0.1449 right_yaw=1.4887 right_pitch=-0.0573 right_roll=0.0303 right_gripper=0.085\nstate[joint_eff]: [-0.4171, -12.465, 6.735, -0.569, -0.4615, -0.0806, 0.2271, -0.335, -9.853, 6.2701, 0.7741, -0.4908, 0.022, 0.315]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8272, 2.2375, 1.9575, -1.5368, -0.947, -1.795, 0.1014, 0.1806, 1.8988, 1.4639, -0.8139, -0.926, -1.1378, 0.0876]\nstate[eef_state]: left_x=0.3741 left_y=-0.1897 left_z=0.1416 left_yaw=0.8651 left_pitch=-0.034 left_roll=0.0711 left_gripper=0.1014 right_x=0.3756 right_y=0.2157 right_z=0.1461 right_yaw=1.4916 right_pitch=-0.049 right_roll=0.0304 right_gripper=0.0876\nstate[joint_eff]: [-1.6615, -16.5128, 9.3607, 0.0708, -0.8913, 0.2564, 0.2125, 0.1162, -9.7162, 6.3385, 0.7497, -0.315, 0.0122, 0.2711]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0de93b68217af4b10e6e6f60d024b5141627eaa22de077244a34f54e575556fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bf0df9f0aa07b48e87a2582d5f74df1a38f86f4d66a8fc21620b5e2e49eb10a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67d11d91217acb7cb6a36d308a08fcaf2465e98f7493120ce93348af09cbdcea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FBzdLxXKhA76jQFKNsvXNH",
      "input": {
        "note": "Cap is held by the left arm at yaw 0.87 pointing forward-left. Rotating the pen to the same yaw and positioning it behind the cap along that line, leaving a ~3 cm gap between pen tip and cap opening.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.27,
          "right_y": 0.34,
          "right_yaw": 0.87,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01FBzdLxXKhA76jQFKNsvXNH",
      "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]: [-0.7479, 2.2372, 1.9255, -1.6901, -0.9352, -1.7897, 0.1028, 0.6491, 1.4487, 0.8333, 0.0174, 0.1539, 0.152, 0.0906]\nstate[eef_state]: left_x=0.3641 left_y=-0.1389 left_z=0.1429 left_yaw=0.9508 left_pitch=-0.0225 left_roll=0.2606 left_gripper=0.1028 right_x=0.3527 right_y=0.2381 right_z=0.1441 right_yaw=0.4318 right_pitch=-0.0325 right_roll=0.0395 right_gripper=0.0906\nstate[joint_eff]: [-6.4752, -11.453, 7.6239, 1.1355, -0.5983, -0.0562, 0.1343, 18.0718, -5.4496, 7.1863, 2.1905, -3.0989, -2.6935, 0.2955]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:048d30d68cdfb8145b670b8402ca77b00dc2fa5fe658e8320db41a052813a9d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e53723c02a6307b5ae916eb094c5070f7fa91b85612324fcecb14270a2360bee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e151790161b8772d53c2649797337e37ac6005e7c6da6f16e9874d1ec95de412",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 20.54 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]: [-0.4522, 2.3581, 1.9366, -1.557, -0.8486, -2.0899, 0.0992, 0.1837, 1.8996, 1.4647, -0.812, -0.9165, -1.1328, 0.085]\nstate[eef_state]: left_x=0.402 left_y=-0.0439 left_z=0.0816 left_yaw=1.4418 left_pitch=-0.0818 left_roll=0.0107 left_gripper=0.0992 right_x=0.376 right_y=0.2161 right_z=0.1449 right_yaw=1.4887 right_pitch=-0.0573 right_roll=0.0303 right_gripper=0.085\nstate[joint_eff]: [-0.4171, -12.465, 6.735, -0.569, -0.4615, -0.0806, 0.2271, -0.335, -9.853, 6.2701, 0.7741, -0.4908, 0.022, 0.315]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.8272, 2.2375, 1.9575, -1.5368, -0.947, -1.795, 0.1014, 0.1806, 1.8988, 1.4639, -0.8139, -0.926, -1.1378, 0.0876]\nstate[eef_state]: left_x=0.3741 left_y=-0.1897 left_z=0.1416 left_yaw=0.8651 left_pitch=-0.034 left_roll=0.0711 left_gripper=0.1014 right_x=0.3756 right_y=0.2157 right_z=0.1461 right_yaw=1.4916 right_pitch=-0.049 right_roll=0.0304 right_gripper=0.0876\nstate[joint_eff]: [-1.6615, -16.5128, 9.3607, 0.0708, -0.8913, 0.2564, 0.2125, 0.1162, -9.7162, 6.3385, 0.7497, -0.315, 0.0122, 0.2711]\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 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]: [-0.7479, 2.2372, 1.9255, -1.6901, -0.9352, -1.7897, 0.1028, 0.6491, 1.4487, 0.8333, 0.0174, 0.1539, 0.152, 0.0906]\nstate[eef_state]: left_x=0.3641 left_y=-0.1389 left_z=0.1429 left_yaw=0.9508 left_pitch=-0.0225 left_roll=0.2606 left_gripper=0.1028 right_x=0.3527 right_y=0.2381 right_z=0.1441 right_yaw=0.4318 right_pitch=-0.0325 right_roll=0.0395 right_gripper=0.0906\nstate[joint_eff]: [-6.4752, -11.453, 7.6239, 1.1355, -0.5983, -0.0562, 0.1343, 18.0718, -5.4496, 7.1863, 2.1905, -3.0989, -2.6935, 0.2955]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:048d30d68cdfb8145b670b8402ca77b00dc2fa5fe658e8320db41a052813a9d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e53723c02a6307b5ae916eb094c5070f7fa91b85612324fcecb14270a2360bee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e151790161b8772d53c2649797337e37ac6005e7c6da6f16e9874d1ec95de412",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSgAoKEAgSGAI4AUIIdGhpbmtpbmcSDFZMwt02QeUavdk8txoM+zbqBpfLjjpir9ZcIjBmPme/+cXbNufRGSaVugPrSpTqUtV3aNiIVrDislRFN3C34EgBa0WjiFxtvQoNukcqnQm5+LlsndUdkvzlMUihFOI+VLStwW1/i0GhYDdPkOdsloARimS0q/mDGQi/777U5VMj5YFotSSD87CU3G86RGfmydY/+DE/cryKFPlbqEA7o+x9cr7vsa6NUilunGtMwrnpw6+mtReD+lhPtSqW+mmEbtH0IxC59i6znSyxjPSwz0J2QU9kMYPr7xP1dImk8ZacNSrU6p8lunpqAeeNQFFjgnE74H/rFaOikRVEMvDb4C/M61tWGFixjOfj+HqYloWql9vtPMtHq9bM9jGxc+dOMcqQoJRrVLpm/tWq52ekEP3XL21zOE/zm8gnouXoadPV7hh9v0rpMm/l+O8nmCYaXLz5xdMu9IQRETlrOcazbyK/ayIudiQDY43z655dHqVjJtWDA5IhcsU5fDnfEDvMnyPHzDRJpwiSGNbH9+xDyCbbeeFJiTLsAPMXrTWRdzD/VU3+65/G8psC5EXlu9mzZegW0m+3G3iS+D+mN5ICCFpNw9+OICM3Fioqfm1t6vtEml6GOGciZmzCUV8K4E0shTcJ8sUCHy6A+DFxdRpwXWeTqof/rjhQICWKUb1EV/zpqcd7Mu5Yy05SZwGf3HnnN0SYbBPgYyah4vzKi57u4yNBcF7xzLIrfb3TVO+OdibPhhbQKYye/zA3w4C2f10pEb1hkk6HpQwPNHeoee4O4Kf4RWxJi7OKZxsUSASmojeGHFhmN9AbVTdzqf/254ThBYNTE+wH+I/aAPyxsTNPGSlmbKNtfZOhMa15RjKNXqZEmG7T3hHvrMuqdeK5+B7eTjuqRwzPwpTOHq3UIlBR/Vn/2iFqBD6cbNRT5Icfv9Bs0MYxehQYOMX77PwzqLo+SgRrNO6WyShD8DuXNAp+U2nkqRKsJ0s5CAl2X8s8QnCeKy0fdkJprXAq87BWxcN4PVVlYMfn2wnuZSTeD3+CGYIGGASnJqZs54HlNHwsm9HOmY0zCq6RKMtMILDLFjQrHhq5SOG1A2lme1XLFk3zvbXS6Ve1zHktOdJR2GAn5h2p9NssJscWDsZXDJwIqGFLUylN7bhyx6NOz7snIByU0bwOf9zql8+Z//yVuJ9hOHS6Zrq1zvrTT6r8qVp3a/mtBaydSpY53uCt/sYTjc+bK1HqMV0n9NApXR58ZVLkEiRnG2h5vKbi+K2caKCKwTz9UB2tKJ1Qo6HvzLtwhvuZKtfbXLhYZ2rNhCK4i/M1FYaKF3X4ebkJeLdFg3Vs6otGmXLU4gxa7cqd+nKmNzL4uwQZTZmuSKLeLD1072qi4bRM7x0mwwgG05UedpqwNaI4FZcBKRku4xL3FOdwWJXIM2mdBbmGK9LXt/eV1mh/064LAUGpkvWmnKCPCTNzZvTgFaRTu9Rc+a2WFvcBZ5N+n2mgsD2cl3cwGWc2g+HCChDMVjOVU8wvb5PtZpzVXdHobPWphrAxiY3qk8Ltdpc8Iwt5HEl4exyAcMSHfMSffDUqnRb1Vs2z/d4mRuI7P4IQ6jZG9+7dMDQFENdpYRi/jsVVg5tx7rKoYEikRYqghO+7oMC51JF4NW2RTfWKaigQAdFGXR7Z3jztne6F5xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KqKiHtkN3UigmJHaUBPS3n",
      "input": {
        "note": "Right shoulder effort spiked to 18 N·m — the arms appear to be touching in the middle. Pulling the right arm back toward its own side to separate them.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.08,
          "right_yaw": 0.6,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01KqKiHtkN3UigmJHaUBPS3n",
      "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]: [-0.7216, 2.2036, 1.7985, -1.562, -0.9352, -1.7512, 0.105, -0.0288, 1.0317, 0.6018, -0.2661, -0.474, -0.3054, 0.0926]\nstate[eef_state]: left_x=0.3644 left_y=-0.1265 left_z=0.1224 left_yaw=0.9561 left_pitch=-0.0321 left_roll=0.258 left_gripper=0.105 right_x=0.309 right_y=0.0753 right_z=0.1454 right_yaw=0.5229 right_pitch=-0.05 right_roll=0.048 right_gripper=0.0926\nstate[joint_eff]: [-0.212, -12.6427, 5.3812, -0.4518, -0.5739, 0.105, 0.2173, -0.2667, -4.1504, 7.0906, 1.6679, -0.3004, -0.1441, 0.1978]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84f3bce3360c2db68aacdb104e9438e792f03a641d5a87e4686f5f8bf076bac3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f50577bd1afff5a0deed3d447b0ed588b918506edaf5d97d982ebce0b69ba1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2345cad3aa81ad8513f51a2265ce74f7c4f705dabd60906f9307356d8aaaac5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 9.661 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]: [-0.8272, 2.2375, 1.9575, -1.5368, -0.947, -1.795, 0.1014, 0.1806, 1.8988, 1.4639, -0.8139, -0.926, -1.1378, 0.0876]\nstate[eef_state]: left_x=0.3741 left_y=-0.1897 left_z=0.1416 left_yaw=0.8651 left_pitch=-0.034 left_roll=0.0711 left_gripper=0.1014 right_x=0.3756 right_y=0.2157 right_z=0.1461 right_yaw=1.4916 right_pitch=-0.049 right_roll=0.0304 right_gripper=0.0876\nstate[joint_eff]: [-1.6615, -16.5128, 9.3607, 0.0708, -0.8913, 0.2564, 0.2125, 0.1162, -9.7162, 6.3385, 0.7497, -0.315, 0.0122, 0.2711]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.7479, 2.2372, 1.9255, -1.6901, -0.9352, -1.7897, 0.1028, 0.6491, 1.4487, 0.8333, 0.0174, 0.1539, 0.152, 0.0906]\nstate[eef_state]: left_x=0.3641 left_y=-0.1389 left_z=0.1429 left_yaw=0.9508 left_pitch=-0.0225 left_roll=0.2606 left_gripper=0.1028 right_x=0.3527 right_y=0.2381 right_z=0.1441 right_yaw=0.4318 right_pitch=-0.0325 right_roll=0.0395 right_gripper=0.0906\nstate[joint_eff]: [-6.4752, -11.453, 7.6239, 1.1355, -0.5983, -0.0562, 0.1343, 18.0718, -5.4496, 7.1863, 2.1905, -3.0989, -2.6935, 0.2955]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7216, 2.2036, 1.7985, -1.562, -0.9352, -1.7512, 0.105, -0.0288, 1.0317, 0.6018, -0.2661, -0.474, -0.3054, 0.0926]\nstate[eef_state]: left_x=0.3644 left_y=-0.1265 left_z=0.1224 left_yaw=0.9561 left_pitch=-0.0321 left_roll=0.258 left_gripper=0.105 right_x=0.309 right_y=0.0753 right_z=0.1454 right_yaw=0.5229 right_pitch=-0.05 right_roll=0.048 right_gripper=0.0926\nstate[joint_eff]: [-0.212, -12.6427, 5.3812, -0.4518, -0.5739, 0.105, 0.2173, -0.2667, -4.1504, 7.0906, 1.6679, -0.3004, -0.1441, 0.1978]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84f3bce3360c2db68aacdb104e9438e792f03a641d5a87e4686f5f8bf076bac3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f50577bd1afff5a0deed3d447b0ed588b918506edaf5d97d982ebce0b69ba1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2345cad3aa81ad8513f51a2265ce74f7c4f705dabd60906f9307356d8aaaac5a",
        "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_01MK4JLc84NoJ7qCKbS1Rk6Q",
      "input": {
        "note": "Arms separated; cap still in the left jaws, pen in the right. Lining both up along the same diagonal (yaw 0.9): cap forward-left, pen tip behind it with a ~2 cm gap.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.4,
          "left_y": -0.12,
          "left_yaw": 0.9,
          "left_z": 0.16,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.29,
          "right_y": 0.4,
          "right_yaw": 0.9,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 28 steps (2.8s)",
      "tool_use_id": "toolu_01MK4JLc84NoJ7qCKbS1Rk6Q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5755, 2.0911, 1.6962, -1.2686, -0.9653, -1.6043, 0.1063, 0.886, 1.6176, 1.0218, -0.0444, 0.1032, 0.0704, 0.0947]\nstate[eef_state]: left_x=0.4035 left_y=-0.0844 left_z=0.1325 left_yaw=1.0056 left_pitch=-0.0343 left_roll=0.0738 left_gripper=0.1063 right_x=0.3061 right_y=0.3517 right_z=0.1412 right_yaw=0.7545 right_pitch=-0.0782 right_roll=-0.0057 right_gripper=0.0947\nstate[joint_eff]: [-7.5692, -15.5145, 5.9829, 0.4322, -0.8425, 0.1929, 0.1245, 4.9709, -3.8222, 11.7538, 2.3663, -0.779, -0.6471, 0.2173]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7f02daf2aad1f745b753394f9068758a29f0e8a722cda91724232230eb3171a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f935258ff837fc22ca2bf8e7ae6c93b70b47e18152695d386f2d49fba45929a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dfabf5d4b94bc36dc1df203ba493e8b8d0f8ca6618fa716c88ce5db41a98fe6e",
        "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 · 4.041 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]: [-0.7479, 2.2372, 1.9255, -1.6901, -0.9352, -1.7897, 0.1028, 0.6491, 1.4487, 0.8333, 0.0174, 0.1539, 0.152, 0.0906]\nstate[eef_state]: left_x=0.3641 left_y=-0.1389 left_z=0.1429 left_yaw=0.9508 left_pitch=-0.0225 left_roll=0.2606 left_gripper=0.1028 right_x=0.3527 right_y=0.2381 right_z=0.1441 right_yaw=0.4318 right_pitch=-0.0325 right_roll=0.0395 right_gripper=0.0906\nstate[joint_eff]: [-6.4752, -11.453, 7.6239, 1.1355, -0.5983, -0.0562, 0.1343, 18.0718, -5.4496, 7.1863, 2.1905, -3.0989, -2.6935, 0.2955]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7216, 2.2036, 1.7985, -1.562, -0.9352, -1.7512, 0.105, -0.0288, 1.0317, 0.6018, -0.2661, -0.474, -0.3054, 0.0926]\nstate[eef_state]: left_x=0.3644 left_y=-0.1265 left_z=0.1224 left_yaw=0.9561 left_pitch=-0.0321 left_roll=0.258 left_gripper=0.105 right_x=0.309 right_y=0.0753 right_z=0.1454 right_yaw=0.5229 right_pitch=-0.05 right_roll=0.048 right_gripper=0.0926\nstate[joint_eff]: [-0.212, -12.6427, 5.3812, -0.4518, -0.5739, 0.105, 0.2173, -0.2667, -4.1504, 7.0906, 1.6679, -0.3004, -0.1441, 0.1978]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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]: [-0.5755, 2.0911, 1.6962, -1.2686, -0.9653, -1.6043, 0.1063, 0.886, 1.6176, 1.0218, -0.0444, 0.1032, 0.0704, 0.0947]\nstate[eef_state]: left_x=0.4035 left_y=-0.0844 left_z=0.1325 left_yaw=1.0056 left_pitch=-0.0343 left_roll=0.0738 left_gripper=0.1063 right_x=0.3061 right_y=0.3517 right_z=0.1412 right_yaw=0.7545 right_pitch=-0.0782 right_roll=-0.0057 right_gripper=0.0947\nstate[joint_eff]: [-7.5692, -15.5145, 5.9829, 0.4322, -0.8425, 0.1929, 0.1245, 4.9709, -3.8222, 11.7538, 2.3663, -0.779, -0.6471, 0.2173]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7f02daf2aad1f745b753394f9068758a29f0e8a722cda91724232230eb3171a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f935258ff837fc22ca2bf8e7ae6c93b70b47e18152695d386f2d49fba45929a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfabf5d4b94bc36dc1df203ba493e8b8d0f8ca6618fa716c88ce5db41a98fe6e",
        "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_01PXcYVBiB6hBg719A7PR8an",
      "input": {
        "note": "The pen tip is pressed into the left gripper area (both shoulders show contact effort, left arm pushed ~3 cm along the pen axis), suggesting the cap is being pushed onto the pen. Releasing the cap so it stays on the pen.",
        "targets": {
          "left_gripper": 0.4
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01PXcYVBiB6hBg719A7PR8an",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5613, 2.0911, 1.6909, -1.2549, -0.9569, -1.6043, 0.3949, 0.8852, 1.626, 1.0275, -0.0467, 0.12, 0.0784, 0.096]\nstate[eef_state]: left_x=0.4052 left_y=-0.08 left_z=0.1299 left_yaw=1.0202 left_pitch=-0.0428 left_roll=0.0655 left_gripper=0.3949 right_x=0.3093 right_y=0.3504 right_z=0.1397 right_yaw=0.7352 right_pitch=-0.0817 right_roll=-0.0099 right_gripper=0.096\nstate[joint_eff]: [-1.4838, -10.5504, 6.3111, 0.0122, -0.6081, 0.0464, -0.1392, -0.2667, -8.5949, 6.2974, 1.7363, -0.1148, -0.1148, 0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eac9bba6a0c9c2234998792741ecb4c877115c512c952004ee44f94ffffcd3f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:245293c41dad7f267e49851dd5fcdea8beb0c1399378512e78b383329c48a621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2b3681eb39b6e8597cb902f1241c0de420bb4b2009f537caaa4791d3e6eaa097",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 7.292 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]: [-0.7216, 2.2036, 1.7985, -1.562, -0.9352, -1.7512, 0.105, -0.0288, 1.0317, 0.6018, -0.2661, -0.474, -0.3054, 0.0926]\nstate[eef_state]: left_x=0.3644 left_y=-0.1265 left_z=0.1224 left_yaw=0.9561 left_pitch=-0.0321 left_roll=0.258 left_gripper=0.105 right_x=0.309 right_y=0.0753 right_z=0.1454 right_yaw=0.5229 right_pitch=-0.05 right_roll=0.048 right_gripper=0.0926\nstate[joint_eff]: [-0.212, -12.6427, 5.3812, -0.4518, -0.5739, 0.105, 0.2173, -0.2667, -4.1504, 7.0906, 1.6679, -0.3004, -0.1441, 0.1978]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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]: [-0.5755, 2.0911, 1.6962, -1.2686, -0.9653, -1.6043, 0.1063, 0.886, 1.6176, 1.0218, -0.0444, 0.1032, 0.0704, 0.0947]\nstate[eef_state]: left_x=0.4035 left_y=-0.0844 left_z=0.1325 left_yaw=1.0056 left_pitch=-0.0343 left_roll=0.0738 left_gripper=0.1063 right_x=0.3061 right_y=0.3517 right_z=0.1412 right_yaw=0.7545 right_pitch=-0.0782 right_roll=-0.0057 right_gripper=0.0947\nstate[joint_eff]: [-7.5692, -15.5145, 5.9829, 0.4322, -0.8425, 0.1929, 0.1245, 4.9709, -3.8222, 11.7538, 2.3663, -0.779, -0.6471, 0.2173]",
      "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]: [-0.5613, 2.0911, 1.6909, -1.2549, -0.9569, -1.6043, 0.3949, 0.8852, 1.626, 1.0275, -0.0467, 0.12, 0.0784, 0.096]\nstate[eef_state]: left_x=0.4052 left_y=-0.08 left_z=0.1299 left_yaw=1.0202 left_pitch=-0.0428 left_roll=0.0655 left_gripper=0.3949 right_x=0.3093 right_y=0.3504 right_z=0.1397 right_yaw=0.7352 right_pitch=-0.0817 right_roll=-0.0099 right_gripper=0.096\nstate[joint_eff]: [-1.4838, -10.5504, 6.3111, 0.0122, -0.6081, 0.0464, -0.1392, -0.2667, -8.5949, 6.2974, 1.7363, -0.1148, -0.1148, 0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eac9bba6a0c9c2234998792741ecb4c877115c512c952004ee44f94ffffcd3f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:245293c41dad7f267e49851dd5fcdea8beb0c1399378512e78b383329c48a621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b3681eb39b6e8597cb902f1241c0de420bb4b2009f537caaa4791d3e6eaa097",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS+AcKEAgSGAI4AUIIdGhpbmtpbmcSDNgPWZ4sZORUALyTOhoMJo/rGRE389GkvDPLIjBSrH5MRrWqjusgCI+21XaB+petGU0Tvvmo4Y73pU3s8Op+z01cued4y9tWdyvz1CgqlQd2QVVNjezIf4DHIt2lImktX6CgfgAaUQtEBWXgbnmFwcxOxRe+TJqmFFmkF+jK0Ybjh+/e5ENuEJIhBw7KXj1LtcFZnXdhjzybdUqAf9jFuUbZC81xt2Bx2Ai1TAOy4gc+b+eyOtpxqE6ZuXTp17bgamwNubovGERufcOJ6f5Ui9USK023AY7qIRI9k1xhLPTJ+nIuNW1C1mSE7Zapad/7a3wW/GaVDnt5LU9VjoZBTSAP7kDtqJoY1IxTeDsH9/2qqqv1NRYIgqw7Rn1JqV2sybuuqF9oqkL23arYZjighj7LMz/mbyFkcl6L3ID+YEn14U0Ued4XTACM9pzI9qOdM7Jzrwq9CgfPJ7p0ldGNWLx65vtd02J9QCmxO5fBycdX0YomrQjTumu7fU7UQDZWZTGzpKfYx5IRy6sfan//RLSVFWCxoQOeoB1mbjvJDiqKwHv7A3KXRuqQZosqN9baII1v4GXUFP3sYzejYeb0ug5kSpk+7u4IaBw1d0a5W4HtwBuXM8Dl91nrTLPYKwhXeTUQgNBwTGZ2CJKH2FIe/+1ExSUJKhLJ9BtPANKLkbeoRV0Yw88iBCpWp1BQjOJWYp/06x1TRv8iQSrx4wggPmZEvIb0wn8qHyJtMSTGSg5Eq+0EQEJmtLWPUOKyru9AFo4PBTPs49rTNtLxsaEfp4HULvLSO88AHgwjlBNrg5EKvMkH5D5mtAoYshvbbkwU3pXRrLrQRrqg9UXvHT78Uf4RIVePmTjnSKgsJS/Ylm0uoZ/e0ranBLYukN8aPaYjGzw5UyD5C/sSgXYZyqzocRFm+uchklI3US/LeZ75VDiZjHZOCfh2lhQhW9ZV8SwiOBqPyVGRvG60bF2Nqo4FI/QN74JJl8+wJm6HCYjtgt+pM9ZRRC7QbjNaKB0EqE1O9eMzsxxC8dlVsZfOnrA2qRQz4YDBWQjCpbEHBcUQWzHmKrUd9r44OXq9uwaqFeyX+nOt/MW7B9X1Uh4lCZ/DEmleRxCvn4kDwO53kuI6dJPhwvPoaCIFX5V6Xhqe8+9Q5o+2kvH6kzGu4wc6RoSoBllnjCnZdI0foUPYJSSeZw1WBr5R9eOglkHk7acOONYJE9POH2ydHVv7ETvqqAIYzcDXApqFTraMWiiz2e01fsGgVnnyydSFFLLkOhrdQ7hrUY9hv1NLfjWKtbuZADaX1QBwYVa/rbACP2+nUlrtibGQaktF3xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KaeYPNNSyywxHKPpzd1svy",
      "input": {
        "note": "Left jaws opened; lifting the left arm straight up away from the pen to see whether the cap stayed on the pen tip.",
        "targets": {
          "left_x": 0.38,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KaeYPNNSyywxHKPpzd1svy",
      "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]: [-0.5499, 2.0686, 1.8549, -1.52, -0.9527, -1.6352, 0.3958, 0.8852, 1.594, 1.0355, 0.0601, 0.1268, 0.0784, 0.0963]\nstate[eef_state]: left_x=0.3926 left_y=-0.0676 left_z=0.1807 left_yaw=1.0522 left_pitch=-0.0436 left_roll=0.1189 left_gripper=0.3958 right_x=0.3193 right_y=0.3607 right_z=0.1799 right_yaw=0.7296 right_pitch=0.064 right_roll=0.0088 right_gripper=0.0963\nstate[joint_eff]: [-1.1829, -17.6889, 8.841, -0.4664, -0.5543, 0.3394, 0.0806, -0.2393, -5.1624, 6.3248, 0.6813, -0.0659, -0.0366, 0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed831b2017d32bc6a964543acd189aa858513047ee4e6b9a834c3725e5eaec64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d2795c92525a73e1fbe23ce536f9a41f4b541785605014d5b94b880557303f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d0a9dfc7afb41208b3bb74732c307e9b7cc0108aea2acbfb576d6468adbfadc",
        "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 · 12.99 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]: [-0.5755, 2.0911, 1.6962, -1.2686, -0.9653, -1.6043, 0.1063, 0.886, 1.6176, 1.0218, -0.0444, 0.1032, 0.0704, 0.0947]\nstate[eef_state]: left_x=0.4035 left_y=-0.0844 left_z=0.1325 left_yaw=1.0056 left_pitch=-0.0343 left_roll=0.0738 left_gripper=0.1063 right_x=0.3061 right_y=0.3517 right_z=0.1412 right_yaw=0.7545 right_pitch=-0.0782 right_roll=-0.0057 right_gripper=0.0947\nstate[joint_eff]: [-7.5692, -15.5145, 5.9829, 0.4322, -0.8425, 0.1929, 0.1245, 4.9709, -3.8222, 11.7538, 2.3663, -0.779, -0.6471, 0.2173]",
      "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]: [-0.5613, 2.0911, 1.6909, -1.2549, -0.9569, -1.6043, 0.3949, 0.8852, 1.626, 1.0275, -0.0467, 0.12, 0.0784, 0.096]\nstate[eef_state]: left_x=0.4052 left_y=-0.08 left_z=0.1299 left_yaw=1.0202 left_pitch=-0.0428 left_roll=0.0655 left_gripper=0.3949 right_x=0.3093 right_y=0.3504 right_z=0.1397 right_yaw=0.7352 right_pitch=-0.0817 right_roll=-0.0099 right_gripper=0.096\nstate[joint_eff]: [-1.4838, -10.5504, 6.3111, 0.0122, -0.6081, 0.0464, -0.1392, -0.2667, -8.5949, 6.2974, 1.7363, -0.1148, -0.1148, 0.1245]\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 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]: [-0.5499, 2.0686, 1.8549, -1.52, -0.9527, -1.6352, 0.3958, 0.8852, 1.594, 1.0355, 0.0601, 0.1268, 0.0784, 0.0963]\nstate[eef_state]: left_x=0.3926 left_y=-0.0676 left_z=0.1807 left_yaw=1.0522 left_pitch=-0.0436 left_roll=0.1189 left_gripper=0.3958 right_x=0.3193 right_y=0.3607 right_z=0.1799 right_yaw=0.7296 right_pitch=0.064 right_roll=0.0088 right_gripper=0.0963\nstate[joint_eff]: [-1.1829, -17.6889, 8.841, -0.4664, -0.5543, 0.3394, 0.0806, -0.2393, -5.1624, 6.3248, 0.6813, -0.0659, -0.0366, 0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed831b2017d32bc6a964543acd189aa858513047ee4e6b9a834c3725e5eaec64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d2795c92525a73e1fbe23ce536f9a41f4b541785605014d5b94b880557303f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d0a9dfc7afb41208b3bb74732c307e9b7cc0108aea2acbfb576d6468adbfadc",
        "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_01BQxm9hfLuFawdyyYbW79zL",
      "input": {
        "note": "Both arms rose together, so the pen seems snagged on the left gripper, and a small dark object (likely the cap) now lies on the table below. Opening fully and moving the left arm away to free the pen.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.33,
          "left_y": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01BQxm9hfLuFawdyyYbW79zL",
      "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]: [-0.4747, 1.7134, 1.4536, -1.38, -0.9382, -1.5299, 0.9958, 0.8852, 1.6226, 1.0309, 0.0189, 0.12, 0.0746, 0.0976]\nstate[eef_state]: left_x=0.3313 left_y=-0.0061 left_z=0.1945 left_yaw=1.0673 left_pitch=-0.0651 left_roll=0.1105 left_gripper=0.9958 right_x=0.3155 right_y=0.358 right_z=0.1559 right_yaw=0.7378 right_pitch=-0.01 right_roll=-0.0023 right_gripper=0.0976\nstate[joint_eff]: [0.4034, -7.5282, 5.5726, 0.3834, -0.6813, 0.1636, -0.1197, -0.253, -10.2496, 7.1726, 2.1661, 0.1099, -0.0366, 0.1197]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f8e5f45f0f9826a0afbde61c09e22aa76d46de61c002961373b6515a340e3ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fefd93fa44a27355f018cf7de775f61f4912eeb5ea41d3636404d94adabe33ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:feb199b1aefb02cee72c81edf05c7996688cdd06f37194c942ea1edce44bfe07",
        "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 · 6.952 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]: [-0.5613, 2.0911, 1.6909, -1.2549, -0.9569, -1.6043, 0.3949, 0.8852, 1.626, 1.0275, -0.0467, 0.12, 0.0784, 0.096]\nstate[eef_state]: left_x=0.4052 left_y=-0.08 left_z=0.1299 left_yaw=1.0202 left_pitch=-0.0428 left_roll=0.0655 left_gripper=0.3949 right_x=0.3093 right_y=0.3504 right_z=0.1397 right_yaw=0.7352 right_pitch=-0.0817 right_roll=-0.0099 right_gripper=0.096\nstate[joint_eff]: [-1.4838, -10.5504, 6.3111, 0.0122, -0.6081, 0.0464, -0.1392, -0.2667, -8.5949, 6.2974, 1.7363, -0.1148, -0.1148, 0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.5499, 2.0686, 1.8549, -1.52, -0.9527, -1.6352, 0.3958, 0.8852, 1.594, 1.0355, 0.0601, 0.1268, 0.0784, 0.0963]\nstate[eef_state]: left_x=0.3926 left_y=-0.0676 left_z=0.1807 left_yaw=1.0522 left_pitch=-0.0436 left_roll=0.1189 left_gripper=0.3958 right_x=0.3193 right_y=0.3607 right_z=0.1799 right_yaw=0.7296 right_pitch=0.064 right_roll=0.0088 right_gripper=0.0963\nstate[joint_eff]: [-1.1829, -17.6889, 8.841, -0.4664, -0.5543, 0.3394, 0.0806, -0.2393, -5.1624, 6.3248, 0.6813, -0.0659, -0.0366, 0.0171]",
      "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]: [-0.4747, 1.7134, 1.4536, -1.38, -0.9382, -1.5299, 0.9958, 0.8852, 1.6226, 1.0309, 0.0189, 0.12, 0.0746, 0.0976]\nstate[eef_state]: left_x=0.3313 left_y=-0.0061 left_z=0.1945 left_yaw=1.0673 left_pitch=-0.0651 left_roll=0.1105 left_gripper=0.9958 right_x=0.3155 right_y=0.358 right_z=0.1559 right_yaw=0.7378 right_pitch=-0.01 right_roll=-0.0023 right_gripper=0.0976\nstate[joint_eff]: [0.4034, -7.5282, 5.5726, 0.3834, -0.6813, 0.1636, -0.1197, -0.253, -10.2496, 7.1726, 2.1661, 0.1099, -0.0366, 0.1197]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f8e5f45f0f9826a0afbde61c09e22aa76d46de61c002961373b6515a340e3ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fefd93fa44a27355f018cf7de775f61f4912eeb5ea41d3636404d94adabe33ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:feb199b1aefb02cee72c81edf05c7996688cdd06f37194c942ea1edce44bfe07",
        "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_01UA495BVbAzmr3pQaWSxLfi",
      "input": {
        "note": "Pen is free in the right gripper, uncapped; the cap lies on the table just right of the left fingertips. Re-orienting the left gripper across the cap and moving above it to re-grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.36,
          "left_y": -0.03,
          "left_yaw": -0.4,
          "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_01UA495BVbAzmr3pQaWSxLfi",
      "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]: [0.0738, 1.4162, 0.4232, 0.2466, 0.1532, 0.0921, 0.9983, 0.8852, 1.6238, 1.026, 0.0078, 0.1196, 0.0746, 0.0984]\nstate[eef_state]: left_x=0.3439 left_y=0.002 left_z=0.0344 left_yaw=-0.1183 left_pitch=-0.1654 left_roll=-0.0289 left_gripper=0.9983 right_x=0.3139 right_y=0.3561 right_z=0.1509 right_yaw=0.738 right_pitch=-0.027 right_roll=-0.0046 right_gripper=0.0984\nstate[joint_eff]: [-0.0068, -5.559, 6.6667, 1.7607, 0.1587, 0.2271, -0.1929, -0.0342, -8.0615, 7.1453, 1.8046, -0.0171, -0.0415, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5896f391082eee4e91be766c8e112f32f7a136dd5be2ef313df0d31043a35b32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ec161cf0caa952950598bc904e26c69ced7234c01a62d13813b98e20ef05afe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a48c91399db8c27f72ada1c8f36d7e28c0d84d920f22e5952dbaded19e6584c0",
        "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 · 4.714 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]: [-0.5499, 2.0686, 1.8549, -1.52, -0.9527, -1.6352, 0.3958, 0.8852, 1.594, 1.0355, 0.0601, 0.1268, 0.0784, 0.0963]\nstate[eef_state]: left_x=0.3926 left_y=-0.0676 left_z=0.1807 left_yaw=1.0522 left_pitch=-0.0436 left_roll=0.1189 left_gripper=0.3958 right_x=0.3193 right_y=0.3607 right_z=0.1799 right_yaw=0.7296 right_pitch=0.064 right_roll=0.0088 right_gripper=0.0963\nstate[joint_eff]: [-1.1829, -17.6889, 8.841, -0.4664, -0.5543, 0.3394, 0.0806, -0.2393, -5.1624, 6.3248, 0.6813, -0.0659, -0.0366, 0.0171]",
      "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]: [-0.4747, 1.7134, 1.4536, -1.38, -0.9382, -1.5299, 0.9958, 0.8852, 1.6226, 1.0309, 0.0189, 0.12, 0.0746, 0.0976]\nstate[eef_state]: left_x=0.3313 left_y=-0.0061 left_z=0.1945 left_yaw=1.0673 left_pitch=-0.0651 left_roll=0.1105 left_gripper=0.9958 right_x=0.3155 right_y=0.358 right_z=0.1559 right_yaw=0.7378 right_pitch=-0.01 right_roll=-0.0023 right_gripper=0.0976\nstate[joint_eff]: [0.4034, -7.5282, 5.5726, 0.3834, -0.6813, 0.1636, -0.1197, -0.253, -10.2496, 7.1726, 2.1661, 0.1099, -0.0366, 0.1197]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0738, 1.4162, 0.4232, 0.2466, 0.1532, 0.0921, 0.9983, 0.8852, 1.6238, 1.026, 0.0078, 0.1196, 0.0746, 0.0984]\nstate[eef_state]: left_x=0.3439 left_y=0.002 left_z=0.0344 left_yaw=-0.1183 left_pitch=-0.1654 left_roll=-0.0289 left_gripper=0.9983 right_x=0.3139 right_y=0.3561 right_z=0.1509 right_yaw=0.738 right_pitch=-0.027 right_roll=-0.0046 right_gripper=0.0984\nstate[joint_eff]: [-0.0068, -5.559, 6.6667, 1.7607, 0.1587, 0.2271, -0.1929, -0.0342, -8.0615, 7.1453, 1.8046, -0.0171, -0.0415, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5896f391082eee4e91be766c8e112f32f7a136dd5be2ef313df0d31043a35b32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ec161cf0caa952950598bc904e26c69ced7234c01a62d13813b98e20ef05afe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a48c91399db8c27f72ada1c8f36d7e28c0d84d920f22e5952dbaded19e6584c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmQsKEAgSGAI4AUIIdGhpbmtpbmcSDKcz++DxTNTtLLs4XxoMkcg4w+wtlnyQLWAGIjAcCEAhHL/Dun5Y1iTdfJW00lGzM49NF1VpeAzITD0YCb2RSvfKiCSrEz3ipf90lZQqtgqYYnC5waLmdndUwRcIiZKN5GZkq+T/3EKpF92xVfa3im4NL56JDT8a/gAJIBkV/cvINaELvKj+iVVrYrIBt5Dt2up4iflhPXYYdxxZ58NBIVcNKJQupr6/CE0dvMe6UhEaWZfVDwONBEYMgb/V6jPj9iatquGP1n/0NhLlTGcfOFfP8Ryk+YOr2eQ7SLceMip+W5Iior3bENHk40B9qKKz35ceqSP+8+UoEMWDrHGtF0N/ACB+nuoaop7fg8cu8LvZRccTFqZ+5VHjHRgYMWXarMT56WP5eB2AvWMkd0jkscHGH7BrEoy2xeBxm9HQ3Jef6YUen9HngUZpbXJS8bqFAAh6LNmAKTp+aLoICF89G+b+00FzCmDCaroGON3b8EgMdTgYo1f7R1ZBqO+vDWTvdV26DlevGDEips0YPeHw3LfENkxXxRhTBj9pucz+0fDGbpL+bGnyColMmaqzmyIFW9ijIJLTNiyxv4V193gZWY8MgmQa8pEs17WRGObjKm84BfZFtCYd3z2u+xio86fVqq6S7BhEgUhLiXfSPFj/ef3OgDZxenzB3Pi+W56F/pvOdd+gVAldThA4Aqss3FAfnG2oZV9BoPPX1so5smUM8D5GTMa8eWRH1yIddxhsYjMpXEx112AkiU4kIxwT6BxCrMYNBGd2qTZjr6vmdKkGboDW0IUFnUKdnOke/sjFaQN2mh3IjOdvPxAOGekSsQ2qIFUOELBIO1nJrLZY+rsnutYzVTGKNLjsl9INsZc89wd8qeQWJ5u/oI/h4aXEMoXxCXMXVLdi7Wd1uOyAEPjBDQkG2Zdv9iFkQjHC4pgUoBNp7dlU/nrDTHKrlru8mg2UzuXZ/4Z//X4b9Cz1e2rno0xuHzVTkQWO1CJJNsWqGgjFYTgEToyPzBhyk3WleN0pCu8YIfJkdiuOkhAQYa/r9jQzMXj/jZhRnxBFgt/ePqE88dNuMAxlEZCgQJNgzr4tLi9a4Cfld7m/89LcwhFvSmsBSbjZSHs2y8EG8RquXPO9+q8QDQ9kUpzWbDoQSwF7pBy1CtynAs2JY0mYvFlLqMaSO1CwhhbH8uihmDSc4oBWidKL5vpyjb333cZplqk0OBJZ/zMS5StjxyKlMpwXHgYDj2A0Uosp+L54Zw/+F3p7pIIkcv4pUq6sbdopoNbgjm5RjgD1ONoPQfVRC8k5ePAAnSNeRf4xhd/kQtV7CKJ9v6XE1VBYLG8Zx7+UEvpAwQxLekgxXNgSxVLb46pyI5ysV0HVS88pNwaWCh51pEExO5Rlpd4O26HyANQSs66KDweA26Xwfcm5j5e1vbonq3Mc098PTs8CCcZR1zhbQeSdtw8+XYQop6nwV31cp4a0loCW6LNtljHHT04RclS09mqcFib1C3pXSzr+svkZMlZeVJdES83p6Ownrabw+Rb6YNyrH333EEZ53+tMki8EaYQDySji08REDFXXfJ4J9Fqp878XaQoBgmpB1cacGze2iSjLS6ju3bVD31G/8plE1Usgno42IpmnJm1wuDj2ttRHNNKylhvGRjKkmodxfADMdnAstaS/PVP/ur0HmQt3/kowCKpM4SDaVWR7gDQNdUodhbMsYN4JoMuDGdGPDcSihF5KWB0kjADIFq4RPWUHo8dflkzhpAlTDEGHD369MCrgC9At53NT1Ti7EDNjGUth9XoU02CVziKhRBL8XLwuYamOd/buZEG6OQjGezV5XnZUSFVuysx3zW3NF+143vuY8VjrnPdWgSG73r0LjsbTq0fk7piY9RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GXfgmewcD6t4H5G9N3uBiV",
      "input": {
        "note": "Left wrist view shows the cap ahead and slightly right, already aligned along the jaw column direction; holding yaw near -0.15 and moving ~4 cm forward, 2.5 cm right, and lower.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.38,
          "left_y": -0.029,
          "left_yaw": -0.15,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01GXfgmewcD6t4H5G9N3uBiV",
      "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]: [0.0383, 1.4788, 0.3313, 0.4656, 0.2085, 0.0853, 0.9986, 0.8852, 1.6238, 1.0245, 0.0078, 0.1192, 0.0746, 0.0996]\nstate[eef_state]: left_x=0.3408 left_y=-0.0199 left_z=0.0232 left_yaw=-0.1947 left_pitch=-0.0949 left_roll=-0.0562 left_gripper=0.9986 right_x=0.3136 right_y=0.3559 right_z=0.1503 right_yaw=0.7383 right_pitch=-0.0285 right_roll=-0.0046 right_gripper=0.0996\nstate[joint_eff]: [-0.1573, -4.9983, 5.5043, 1.9512, -0.0611, -0.1343, 0.0269, -0.335, -7.9658, 6.8718, 1.6874, -0.0317, -0.0269, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79edf82f11d4c784528ac2d963fc920e7a3a4ef0f82d6ddfc43383950f256486",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03ef32fe28bc9f0aa2f7170038019aa947168af7f42ce40c08c84a7fcdc1d8d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:123e201ef2deaf26647f8e6e0739403054c7cad484a731e9eecf964a69af35ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 5.249 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]: [-0.4747, 1.7134, 1.4536, -1.38, -0.9382, -1.5299, 0.9958, 0.8852, 1.6226, 1.0309, 0.0189, 0.12, 0.0746, 0.0976]\nstate[eef_state]: left_x=0.3313 left_y=-0.0061 left_z=0.1945 left_yaw=1.0673 left_pitch=-0.0651 left_roll=0.1105 left_gripper=0.9958 right_x=0.3155 right_y=0.358 right_z=0.1559 right_yaw=0.7378 right_pitch=-0.01 right_roll=-0.0023 right_gripper=0.0976\nstate[joint_eff]: [0.4034, -7.5282, 5.5726, 0.3834, -0.6813, 0.1636, -0.1197, -0.253, -10.2496, 7.1726, 2.1661, 0.1099, -0.0366, 0.1197]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0738, 1.4162, 0.4232, 0.2466, 0.1532, 0.0921, 0.9983, 0.8852, 1.6238, 1.026, 0.0078, 0.1196, 0.0746, 0.0984]\nstate[eef_state]: left_x=0.3439 left_y=0.002 left_z=0.0344 left_yaw=-0.1183 left_pitch=-0.1654 left_roll=-0.0289 left_gripper=0.9983 right_x=0.3139 right_y=0.3561 right_z=0.1509 right_yaw=0.738 right_pitch=-0.027 right_roll=-0.0046 right_gripper=0.0984\nstate[joint_eff]: [-0.0068, -5.559, 6.6667, 1.7607, 0.1587, 0.2271, -0.1929, -0.0342, -8.0615, 7.1453, 1.8046, -0.0171, -0.0415, 0.0806]\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]: [0.0383, 1.4788, 0.3313, 0.4656, 0.2085, 0.0853, 0.9986, 0.8852, 1.6238, 1.0245, 0.0078, 0.1192, 0.0746, 0.0996]\nstate[eef_state]: left_x=0.3408 left_y=-0.0199 left_z=0.0232 left_yaw=-0.1947 left_pitch=-0.0949 left_roll=-0.0562 left_gripper=0.9986 right_x=0.3136 right_y=0.3559 right_z=0.1503 right_yaw=0.7383 right_pitch=-0.0285 right_roll=-0.0046 right_gripper=0.0996\nstate[joint_eff]: [-0.1573, -4.9983, 5.5043, 1.9512, -0.0611, -0.1343, 0.0269, -0.335, -7.9658, 6.8718, 1.6874, -0.0317, -0.0269, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79edf82f11d4c784528ac2d963fc920e7a3a4ef0f82d6ddfc43383950f256486",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03ef32fe28bc9f0aa2f7170038019aa947168af7f42ce40c08c84a7fcdc1d8d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:123e201ef2deaf26647f8e6e0739403054c7cad484a731e9eecf964a69af35ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpAgKEAgSGAI4AUIIdGhpbmtpbmcSDCJ/nUlXmXT5ZpHa5xoM4ru4I5okWhxt8eWJIjBv3xZkDYhndRIGpuR2mr3EpRVY8DaTGrXrrihzSfNPGYtcLfH7slcQjRrVY7r6q2sqwQcIC+Dw1Q/RkC6IVOeWjcvRaOuThV0BV8LZUAT3gwhj2YH8S6p+863/JvIEkskSsbxtuWBBB4fuyhn8K8unnMnOmvxIzCHxs+RJythErLNgN2TEayQ4HtQuLpam9YQuqfx3w0Cx+5Li/K2tGmRopeY67jtomnU9Tq4TnblsOLt0cI2tvLYnX/5QxiMf1UEsR0oqDxczx0q7Vtte1OZxGdZLit2/ZJEt1BpOp6vAqg9n4kTib4a2/JaqIPNS/GiHD9aX1RP+W1qAStq8Ni27XG6EZw8MjrEJmASg7NhK2m5Nr8N+YRnQ+/6ypJsFfoI3HKAFgF1Y66zS7FxAQwF99ee3QThrO2XJ5NRhEULaWp20F4jh/cJeJ5TMLHEH+uz1zF/bXNrIOYvxn1lIrat73LGfb7fwowsmrSN8q+U3k/fE9Ww8Av8vjg1NZmyIfT9C3JmRkUjRbfmGGD7gBdKwU356kG78TCQKeeZJEhqXm7WOtvMJ73kv4KPEsI1GDqn/8Lkv77pEQMGnFRHAtBWvEoJTutUO2XFacJcE0dcc/j84ZNYz9aHWPG++oAug8u5VroU6PyZgjdxb183J6f8IAo234GJntCvB/CiFvFYtL/na52sdCqGMQbVya/9kuPgMHc0EsDJlFolhNRYTTiUHeKPZuwpJLBhRxQ1Cg/R8Q6bTXpT5ulZ3i3aicSY8TtA6Xd4gWZT0K7G0MaC8apA26Kl+ztVIcHvc/ooD0hehrEGaeckj0PxZ6gXC73hoLrMWB7vvlYXcYRIqRqOKX6ClorziNyVYqOjyCZWIj4mFgzrZVjBEBk8vrYQRY9qge7AqQijjmc6na04jUC6JabEfIYlGH++vfEXBXboJFe1hhiHfICaNLsIHlHQ4ARXXirVevNfF3SsLLoaXAPRAteTJexIFFgC0mPRUGuWvrqX2Uq84qVBMeCzf1p3Jo1IDqzGi+6x9qPaNd1sPr8UVFejGFmhwiYam35EN5diZwKhEQJz4lKpTVszCsPQFNXEQTxPdMf2rZnpN3C2/tbagvaJtciDr1QLurB+phbmYf+q8BtTJsHnNI3XZOzp3yjbhg0t35CdPvKpH49yM9FdYhMWTr14+AqvQe9MciDRLLD+hA8ZUtBShAV6kIiOFQWTYW6R2ryze2sIJgmrbRo+1OKLUhmeM2c+Y3/CY8fnrg6fTjNWDFskRLnDK3c0LWmZCjoun8dNB0H5jko/0fZqoKnYdnsQaAVl0kIqhs6ABxY5zyFYpfPXgg4GbUJnNMCmFkdQ/rzqAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016Bc4vpQ14VawQMqQRGEQ6Y",
      "input": {
        "note": "Cap is centred on the jaw column but still ~4 cm ahead; the forward move didn't track at low height, so advancing at a slightly higher z.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.39,
          "left_y": -0.03,
          "left_yaw": -0.2,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_016Bc4vpQ14VawQMqQRGEQ6Y",
      "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]: [0.0383, 1.4788, 0.3313, 0.4759, 0.205, 0.0784, 0.9987, 0.8852, 1.6238, 1.0241, 0.0078, 0.1192, 0.0746, 0.1005]\nstate[eef_state]: left_x=0.3424 left_y=-0.0193 left_z=0.0251 left_yaw=-0.1879 left_pitch=-0.0855 left_roll=-0.0572 left_gripper=0.9987 right_x=0.3136 right_y=0.3558 right_z=0.1501 right_yaw=0.7383 right_pitch=-0.0289 right_roll=-0.0047 right_gripper=0.1005\nstate[joint_eff]: [-0.1299, -4.7521, 5.6684, 1.8828, -0.022, -0.0513, -0.0073, -0.3214, -7.6239, 6.8171, 1.7265, -0.0024, -0.0562, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b752c5710865963b120e914886b3eb8485816609882a6e0bff6f620a35b35cf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:501f41af6ee833bd6a9bf38546735f1e4fc8e099298c787b4daac51d6bcc8822",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:26606cb3e1f85583f3acfa930763d981eb2bd4ffa7effdfb41da2259925522ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 4.164 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0738, 1.4162, 0.4232, 0.2466, 0.1532, 0.0921, 0.9983, 0.8852, 1.6238, 1.026, 0.0078, 0.1196, 0.0746, 0.0984]\nstate[eef_state]: left_x=0.3439 left_y=0.002 left_z=0.0344 left_yaw=-0.1183 left_pitch=-0.1654 left_roll=-0.0289 left_gripper=0.9983 right_x=0.3139 right_y=0.3561 right_z=0.1509 right_yaw=0.738 right_pitch=-0.027 right_roll=-0.0046 right_gripper=0.0984\nstate[joint_eff]: [-0.0068, -5.559, 6.6667, 1.7607, 0.1587, 0.2271, -0.1929, -0.0342, -8.0615, 7.1453, 1.8046, -0.0171, -0.0415, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0383, 1.4788, 0.3313, 0.4656, 0.2085, 0.0853, 0.9986, 0.8852, 1.6238, 1.0245, 0.0078, 0.1192, 0.0746, 0.0996]\nstate[eef_state]: left_x=0.3408 left_y=-0.0199 left_z=0.0232 left_yaw=-0.1947 left_pitch=-0.0949 left_roll=-0.0562 left_gripper=0.9986 right_x=0.3136 right_y=0.3559 right_z=0.1503 right_yaw=0.7383 right_pitch=-0.0285 right_roll=-0.0046 right_gripper=0.0996\nstate[joint_eff]: [-0.1573, -4.9983, 5.5043, 1.9512, -0.0611, -0.1343, 0.0269, -0.335, -7.9658, 6.8718, 1.6874, -0.0317, -0.0269, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0383, 1.4788, 0.3313, 0.4759, 0.205, 0.0784, 0.9987, 0.8852, 1.6238, 1.0241, 0.0078, 0.1192, 0.0746, 0.1005]\nstate[eef_state]: left_x=0.3424 left_y=-0.0193 left_z=0.0251 left_yaw=-0.1879 left_pitch=-0.0855 left_roll=-0.0572 left_gripper=0.9987 right_x=0.3136 right_y=0.3558 right_z=0.1501 right_yaw=0.7383 right_pitch=-0.0289 right_roll=-0.0047 right_gripper=0.1005\nstate[joint_eff]: [-0.1299, -4.7521, 5.6684, 1.8828, -0.022, -0.0513, -0.0073, -0.3214, -7.6239, 6.8171, 1.7265, -0.0024, -0.0562, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b752c5710865963b120e914886b3eb8485816609882a6e0bff6f620a35b35cf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:501f41af6ee833bd6a9bf38546735f1e4fc8e099298c787b4daac51d6bcc8822",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26606cb3e1f85583f3acfa930763d981eb2bd4ffa7effdfb41da2259925522ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8AgKEAgSGAI4AUIIdGhpbmtpbmcSDKjEeneWq+u/Fs7RzRoM4SEJZWV0KL69UagpIjAyEBY8Np5jDLprqoYZWMSp2mf/cOMXH4mmLt8CZ5TGbODWMHmBXZc0W1uDN6LMrZsqjQhxnd2sXns26BtkKp1X313VmpU11HzxfMLf4WYHurESGbuhTee2hVE8ZpFWm7p3XWWbgH9HTaaqmgNvQzaR6wuDFjrcAh3bQDXxibcg4BRMNnJHCgj9okfcsedSGgT5ognqvq8zW3gqnFMNB7X6gLUN2X4ee/uHKW37Qqzt/zV4ZEoB1uBslvqklT/eTOBS9X2Fs1hJxvlL6qx2DWlhXA0hpFiySD8uC5TlgQJ07wLhoXjgXlYlwwm2XhkTT26MeFz+2EOjMPCPhOAsj2WMxC7CfFkqQQyzKYUwq5EGKYmFzalkyxOBBj6jFbMylvVyM43O2u22ASTCtr4fy+MbHl35vCXyGKPMeKwSMc5qF8aok4lOf5BlAMolxYD25BbcGQrL9rqmi9dF4aGs2l4cxSyG3qTuisfDYe1zteWZmWXAKPvbbSrN0tCSbxrKMYrqv+PfPq8kX4k/3nR1YMJtgpa8DFgbk1ecqNEBqxM0LZifr9VjjTKP7QoyOiz0LzAkNChmorEX0CF3B7vhw5HzG6eyMaQw+NqIsbqrplre7fRmSV63b6+QtEaCYh9ijziI9gmmbOfZ7P6RJ7VdQja1bqf7b7fWaFNtoDAOImdqfUysHYdyphUhdNmi+9wgZ49K9RWenzJTK1gjPiRcAyRN4XwYyFsoZSMm7b/xx1p0fMZVl+V3DAyQF6Ey3RrtIvdgXEjON1d1VOIg+jsJLvlJ5sUYomg4Uo2JQ0z7kZPzzutLKMkALeQLWJ+DbMXYjYu39azDwmmO57zhUFwa3YPkSsuM7UOlIGZYMPUf1k5uD4udbjAzlGo6uW+EpLI5nF7StTObVxI+gM8TQOlZHN0LObAHAuNcDBH3H5OYR5JyIqeHB1vx86brILWFwhqIsdHjMPNsP4RE7bZilp9FO890jgcJMY/DbjWpR48qbXhrawSJvguiujaRJmKMWClqbAORO16rAGI+9bzRc+F4zaCoJe6on7YZXG8Nud11vwXbBYAdHLMnXuDgYl5kTul+Nj+NSBotcdxDejigm9Ljy3xKpHPVfarK7sqxEoETKNw+Jr00p0EJurHHM/mWiemPOU5PmmFAKQ2hwlEXme9EN/pYdz5Mu3hxi8GeKz80+zuYgA37cBo4SBRcw533Qr9MgLAWm11IN9ZP9kXNj46KcGh5n4CUSd2vnUAVWT5L9WPz1TlGGO2UutrGqQ0Hyg5EsYHhQFMymcdBDTLHsN7op78/ORI7moMS8QbbZeXtT9ofPpxlcy2AQRYBlpbf/sV20piCBE8dmUOHwpQ0FynZJYpmEyn7ZUkkcoPjtMsebcI5HnGkeDp8SGnl765DVNWx82r3e1Jau40M8rwMKoeytVbZeA7Gyk7fzSAzv4fJ8Wk4+hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UU2DgkYHhtD5dR3E1ryF14",
      "input": {
        "note": "Left arm is holding still at x≈0.34 again; raising to 10 cm while moving forward to get over the cap, then I'll descend.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.39,
          "left_y": -0.03,
          "left_yaw": -0.2,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01UU2DgkYHhtD5dR3E1ryF14",
      "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]: [-0.0151, 1.417, 0.5354, 0.2974, 0.1608, 0.0757, 0.9987, 0.8852, 1.6238, 1.0233, 0.0078, 0.1192, 0.0746, 0.101]\nstate[eef_state]: left_x=0.3853 left_y=-0.0305 left_z=0.0873 left_yaw=-0.2021 left_pitch=-0.0054 left_roll=-0.0159 left_gripper=0.9987 right_x=0.3134 right_y=0.3557 right_z=0.1498 right_yaw=0.7383 right_pitch=-0.0297 right_roll=-0.0048 right_gripper=0.101\nstate[joint_eff]: [-0.5812, -6.4615, 7.5556, 1.4481, -0.0708, 0.022, -0.0122, -0.3214, -7.9385, 6.9128, 1.6972, -0.0317, -0.0659, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1e15d0deb946d83ad94c02b326586ed2a0ef489a5f905769e5911899b62c0a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1cbbaa8b4b8d27e18c5e0292a741e705cf0243a5c431292b44ad20fe3629d65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2dff8e62461d203f46f8fe3f6aaa094abea4443b9b3e78c42e7ae61d0c55ae34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 3.521 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0383, 1.4788, 0.3313, 0.4656, 0.2085, 0.0853, 0.9986, 0.8852, 1.6238, 1.0245, 0.0078, 0.1192, 0.0746, 0.0996]\nstate[eef_state]: left_x=0.3408 left_y=-0.0199 left_z=0.0232 left_yaw=-0.1947 left_pitch=-0.0949 left_roll=-0.0562 left_gripper=0.9986 right_x=0.3136 right_y=0.3559 right_z=0.1503 right_yaw=0.7383 right_pitch=-0.0285 right_roll=-0.0046 right_gripper=0.0996\nstate[joint_eff]: [-0.1573, -4.9983, 5.5043, 1.9512, -0.0611, -0.1343, 0.0269, -0.335, -7.9658, 6.8718, 1.6874, -0.0317, -0.0269, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0383, 1.4788, 0.3313, 0.4759, 0.205, 0.0784, 0.9987, 0.8852, 1.6238, 1.0241, 0.0078, 0.1192, 0.0746, 0.1005]\nstate[eef_state]: left_x=0.3424 left_y=-0.0193 left_z=0.0251 left_yaw=-0.1879 left_pitch=-0.0855 left_roll=-0.0572 left_gripper=0.9987 right_x=0.3136 right_y=0.3558 right_z=0.1501 right_yaw=0.7383 right_pitch=-0.0289 right_roll=-0.0047 right_gripper=0.1005\nstate[joint_eff]: [-0.1299, -4.7521, 5.6684, 1.8828, -0.022, -0.0513, -0.0073, -0.3214, -7.6239, 6.8171, 1.7265, -0.0024, -0.0562, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0151, 1.417, 0.5354, 0.2974, 0.1608, 0.0757, 0.9987, 0.8852, 1.6238, 1.0233, 0.0078, 0.1192, 0.0746, 0.101]\nstate[eef_state]: left_x=0.3853 left_y=-0.0305 left_z=0.0873 left_yaw=-0.2021 left_pitch=-0.0054 left_roll=-0.0159 left_gripper=0.9987 right_x=0.3134 right_y=0.3557 right_z=0.1498 right_yaw=0.7383 right_pitch=-0.0297 right_roll=-0.0048 right_gripper=0.101\nstate[joint_eff]: [-0.5812, -6.4615, 7.5556, 1.4481, -0.0708, 0.022, -0.0122, -0.3214, -7.9385, 6.9128, 1.6972, -0.0317, -0.0659, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1e15d0deb946d83ad94c02b326586ed2a0ef489a5f905769e5911899b62c0a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1cbbaa8b4b8d27e18c5e0292a741e705cf0243a5c431292b44ad20fe3629d65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dff8e62461d203f46f8fe3f6aaa094abea4443b9b3e78c42e7ae61d0c55ae34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkggKEAgSGAI4AUIIdGhpbmtpbmcSDJdY4C87AJ0aRKSkXBoMUyhWg0N8s2tJnTFgIjBPYZKOJdnkfNZpr3n2z2+cVt6Dp5KO+9l0VvVwPbdS3ROmykyNXNzWliF1PonDkZgqrwdpQR6/TxedUpvP74ZXR3+fkilwNmFE8htmoiz+BtydTTFOmKzoyN9I/yXKNtrxnwsASnJLanyQ6UJEvt/fO6rr1LuQMekZTm4qpp+HHsVpKwZx132pq4MCPTXhtD5hPBTztjHF+McWj+BGOw1vlfdmxuCgqWUwnRYWFmwJU0ipEKZFSsgmeEmt16Q839+Wa/kAcDLNyORLSzs+fmah6KaZEsIxW0NFIDPxUSWXlrt4ymFbEAFc+oPpkCe7G2wXR5d2T8j3wKtx8lkw2gnncHzJZyvYUAAxf3kiXEYDGqE0UTos5vYML8Cqag04ohvGSHKF4htRvwDm35ZOuwWoL9d5paNu43vVhv1RDZTTYIfBm3DM29HxQQaR45Fsk6vNI/rSMVDAZhn62H5X51nRJmd4SOYrYjBoDP624UuAGaV5aZ7uNMclu642n+Zg2T/C0aqySCkceNTGRS/X1vbtRoAoV4XWv3L4iKrdQQsYuU6fSThpvcXngzwo7m6FXJGLPJFccxP/SDtYuQRmcSoF4LRjiHVtyuVyzCU56JH/dN+wm7VLjdLKzVvoNGbVQdka6cvfjwxXg5l+IRrKpV3p7cocXdKZbYHscPRP+8PkMhUEgWb1Bnn4231YLY/9HApfDWgVwoZB41680XytQp+9ktUchmbvDby8hQSb68ID0/t7DwVPJNsdGKqgGUWIw3qEDBKsSd7ssRnb8D8KhPMaYaqjYY57kG+7nlmXBpKFtW/Fppd3Qaz1iiPquqt4birixaO6OEjdc2fVe9KqoO1qS7DhVvPU4RTtCF+vEClkenXvGlmM4sPeZfHrOCqZUzgn+RBwNwj6fVAhAwPYIAdsvvjS4lNKDvcO1IeUqHn/vu20SnWUgct/4ETntPOickKsdqiDIIvPTyy0FT5MsLC1NxIVF7DnjXJ18tuCqvixwm9857rMPXjt3G7rP0oebZdie1D47EJRjleQrPT5XX/26ioYCUmrjS3d5WpNLqlIrGmfJqnUySGCpwx3IpjiS/yw7UcF3Aj877NQl6I0RsdxmJfuZ7vIACQHAyicNn4DMBgl5hFK/hBbowGKW5py1PSW62DBetaruL2RW4GJBS9KYfAFnrnryK4jaxB9ByFlPOapsMSgiRDkylFjhDndzL75cGffRKHhM82wx5sOHHJRnZTxiXFeb7+OP91YEY1sfRHhWGzCEyzEmiab2bVsD0rU/e37kpfb2wxiDBi0EhFysm132MAaLOH89N4JttgkByh5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015K89UwiE3gb1DbG9VPCePb",
      "input": {
        "note": "Cap is now at the bottom of the left wrist view, lined up with the jaws; going straight down to table level.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_z": -0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_015K89UwiE3gb1DbG9VPCePb",
      "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]: [-0.0166, 1.8652, 0.4084, 0.8997, 0.1352, 0.0914, 0.9987, 0.8852, 1.6238, 1.0225, 0.0059, 0.1192, 0.0746, 0.1012]\nstate[eef_state]: left_x=0.3919 left_y=-0.0267 left_z=-0.0014 left_yaw=-0.1907 left_pitch=0.0187 left_roll=0.0157 left_gripper=0.9987 right_x=0.3132 right_y=0.3554 right_z=0.149 right_yaw=0.7383 right_pitch=-0.0323 right_roll=-0.0052 right_gripper=0.1012\nstate[joint_eff]: [-0.7043, -5.1077, 2.1675, 0.5739, 0.1587, -0.0904, -0.0122, -0.2803, -7.9248, 6.9949, 1.663, -0.0171, -0.0513, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0cab03302faddf48367ad9ecec4884e1a594c197622bcba28dc54b0e7a4abc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad1344a6c48384668a31bc109e2230235c00e1813eaaeb7b134e616858c4f3d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:23f2446b4f7b40a63cc5af2019041006bbd107e671c51fc0b5f758e4dc692654",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 12.09 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0383, 1.4788, 0.3313, 0.4759, 0.205, 0.0784, 0.9987, 0.8852, 1.6238, 1.0241, 0.0078, 0.1192, 0.0746, 0.1005]\nstate[eef_state]: left_x=0.3424 left_y=-0.0193 left_z=0.0251 left_yaw=-0.1879 left_pitch=-0.0855 left_roll=-0.0572 left_gripper=0.9987 right_x=0.3136 right_y=0.3558 right_z=0.1501 right_yaw=0.7383 right_pitch=-0.0289 right_roll=-0.0047 right_gripper=0.1005\nstate[joint_eff]: [-0.1299, -4.7521, 5.6684, 1.8828, -0.022, -0.0513, -0.0073, -0.3214, -7.6239, 6.8171, 1.7265, -0.0024, -0.0562, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0151, 1.417, 0.5354, 0.2974, 0.1608, 0.0757, 0.9987, 0.8852, 1.6238, 1.0233, 0.0078, 0.1192, 0.0746, 0.101]\nstate[eef_state]: left_x=0.3853 left_y=-0.0305 left_z=0.0873 left_yaw=-0.2021 left_pitch=-0.0054 left_roll=-0.0159 left_gripper=0.9987 right_x=0.3134 right_y=0.3557 right_z=0.1498 right_yaw=0.7383 right_pitch=-0.0297 right_roll=-0.0048 right_gripper=0.101\nstate[joint_eff]: [-0.5812, -6.4615, 7.5556, 1.4481, -0.0708, 0.022, -0.0122, -0.3214, -7.9385, 6.9128, 1.6972, -0.0317, -0.0659, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0166, 1.8652, 0.4084, 0.8997, 0.1352, 0.0914, 0.9987, 0.8852, 1.6238, 1.0225, 0.0059, 0.1192, 0.0746, 0.1012]\nstate[eef_state]: left_x=0.3919 left_y=-0.0267 left_z=-0.0014 left_yaw=-0.1907 left_pitch=0.0187 left_roll=0.0157 left_gripper=0.9987 right_x=0.3132 right_y=0.3554 right_z=0.149 right_yaw=0.7383 right_pitch=-0.0323 right_roll=-0.0052 right_gripper=0.1012\nstate[joint_eff]: [-0.7043, -5.1077, 2.1675, 0.5739, 0.1587, -0.0904, -0.0122, -0.2803, -7.9248, 6.9949, 1.663, -0.0171, -0.0513, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0cab03302faddf48367ad9ecec4884e1a594c197622bcba28dc54b0e7a4abc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad1344a6c48384668a31bc109e2230235c00e1813eaaeb7b134e616858c4f3d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23f2446b4f7b40a63cc5af2019041006bbd107e671c51fc0b5f758e4dc692654",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSxgcKEAgSGAI4AUIIdGhpbmtpbmcSDFOuBuvOqmAQFpJGHhoM1BtxnV6FSf+bSWvNIjA8gal+T+bJcKbqaz3aO4PijRLarKYct7hXkNW+YLfv4sUgoiL8deO2arxUSzXgKwYq4wZW1hujasYNgIwDJwRVTd5+o0DeDDZzzp9U5CjUKVeNEE1ajiIlNZpYdHZlHV82BsLJIxLK47wxbjMYRDxXv011TQDg3qpteHusFlRO8nzFuN75PoRRVjTOCfIKpmIEECFtq8XTwH5Cp+JhMf0aC2ZQTqwcTQgYNmq5HA8fCTSIQKA/gGvYYFOn81hqKR8xBUL6L6AW9pMVbJs1mTy941yOL8sh1gkrWpqentsZRlg2ZB3nvfRmi+MVasr5QrAxbF2wCi8aSjwALLspIUhnSkV+OTDH1NBaZsSXSRtZRrj/yKn8oAD+Wfez8tBOqfPJfiJDZbktpS0y0TuaU7/C+Mj0qcd+gGGjbNNjUJnoJQb4+XHJa6ANJl729coC0b+t7oM6phc8RHHDskgUTOboCJtg7Hnq39lmtd94lpcmM8fqb0dbdK6YrqKAH6pJQ44iT1Ao2QdQt20GJXB+4o7t51QpuLORBJ76cOg5kBLTg54c8nuHc7bs6yiG1J0svyho6XgNHujaUuDHRirz2RR/EFDkurkUneTSX95/aiVpv7yXOXDccSB0DKp+DHjoqSdjMmv9+G0HLEYApDjHHLM03S8pBfinow+4HYYy7nnq7GLsp5mwar660xVoPWt8vtob437mRyUnPCbQuKo0SbP5TEAy9dGmz2qY2fGxWBM6QXP5891Momv6vbRK1Pv01NDhLKO5GCWqVlKslqcXWD9klQlU2dNJ3NbAemr+STpCHkEB7yC5WxwMpA0SvEfXIlMWB+zsjN33w2fI6yM/enXkYq5wqN8qQxdUdNLglS+w+doHHquoN1SwOSJrb1CAP9VoBt6/e5dALX0H5mlWO1ro6MLEoaAOZxzFpE3bfS2fK09bOp72qbK+ukDt5wXa0b8GDNvveWOFai9TEWjGm0BhcnpB1y1MTfKvsen8FOAdaE5xe29BJ5kuPpDw+CtMCdHpYUozw1VpToQmzp95DPL4pMhNEENHwmflbQQOz4LnCyb+YlZMz+eAdDYpHQOyuNP1jSiN4Np0swVuVa5kdc5VgGfy/MIBxY+MOeVt+GgR0XD6eTmTdq5XKCThA5yt+Fuxe5LtJRtLDwdi91LYYAWv1Wjx1N5bwqBNyQZkEFLaM4/r5HvhZt8lxKxlMD9zyLFDT/RnOGYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QYTDMXiX3DMLzrwkzp95d8",
      "input": {
        "note": "The cap is lying between the left jaws at table level. Closing to grab it again.",
        "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_01QYTDMXiX3DMLzrwkzp95d8",
      "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]: [-0.0158, 1.8706, 0.403, 0.9489, 0.1349, 0.0872, 0.0108, 0.8852, 1.6238, 1.0225, 0.0071, 0.1196, 0.0746, 0.1012]\nstate[eef_state]: left_x=0.3956 left_y=-0.0264 left_z=0.0054 left_yaw=-0.1876 left_pitch=0.0567 left_roll=0.0189 left_gripper=0.0108 right_x=0.3133 right_y=0.3554 right_z=0.1493 right_yaw=0.738 right_pitch=-0.0312 right_roll=-0.0052 right_gripper=0.1012\nstate[joint_eff]: [-0.4308, -7.0906, 4.4103, 1.3651, 0.1587, 0.022, 0.398, -0.3624, -7.8974, 6.735, 1.7363, 0.0317, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e4971f0706c2560dcd8bbe4813def8099166b010af763e8092cae1e6c157e7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2eadbb6e0c5d5daf0dba7d554c8bf83f501de3ac55ee6f2f3dce9601b49eb04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8524121f2f3810c819667abecf93cdc8e6fd5957ab170b7613254b12a9dace6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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