adhoc - adhoc_3d90fe06.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: 16000
max_speed_frac: 0.25
model: claude-opus-5
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: 396 s
total steps: 255

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteTop view shows a pen lying diagonally right-of-centre and a small pen cap left-of-centre. Moving the right arm to hover ~15 cm above my estimate of the pen, with the wrist yawed -45° so the jaws close across the pen's axis.

move_to

right_x0.3300right_y0.1700right_z0.1500right_yaw-0.7850right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.794, 0.6025, -0.3798, -0.0227, -0.0113, 0.9998, -0.0185, 0.7925, 0.6106, -0.3756, -0.0204, -0.0124, 0.9991] state[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1793 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.296 right_y=0.0017 right_z=0.1843 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.335, -1.5795, 10.4137, 1.7998, -0.0366, -0.0317, -0.0366, -0.759, -1.4017, 9.7846, 1.6874, -0.0024, -0.0122, -0.1099] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.33, "right_y": 0.17, "right_z": 0.15, "right_yaw": -0.785, "right_gripper": 1}, "note": "Top view shows a pen lying diagonally right-of-centre and a small pen cap left-of-centre. Moving the right arm to hover ~15 cm above my estimate of the pen, with the wrist yawed -45\u00b0 so the jaws close across the pen's axis."})

tool

executing move_to over 15 steps (1.5s)

step 15

assistant

agent noteIn the wrist view the pen now looks horizontal, i.e. parallel to the jaw closing axis — wrong way — so I flip the yaw to +45° so the pen appears vertical in the image, and advance ~3 cm outward since the pen sits above the jaw column.

move_to

right_x0.3700right_y0.1750right_z0.1200right_yaw0.7850

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.799, 0.6029, -0.3817, -0.0227, -0.0185, 0.9997, 0.868, 1.9087, 1.467, -1.1347, 0.9749, 1.5562, 0.9991] state[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1778 left_yaw=0.0039 left_pitch=-0.0068 left_roll=-0.0059 left_gripper=0.9997 right_x=0.3373 right_y=0.1776 right_z=0.1415 right_yaw=-0.7006 right_pitch=-0.0385 right_roll=-0.0182 right_gripper=0.9991 state[joint_eff]: [-0.1573, -1.5248, 7.0085, 1.7314, -0.0513, 0.0024, -0.0171, 0.6632, -9.5932, 6.3658, -0.1245, 0.8034, 0.3346, -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_x": 0.37, "right_y": 0.175, "right_z": 0.12, "right_yaw": 0.785}, "note": "In the wrist view the pen now looks horizontal, i.e. parallel to the jaw closing axis \u2014 wrong way \u2014 so I flip the yaw to +45\u00b0 so the pen appears vertical in the image, and advance ~3 cm outward since the pen sits above the jaw column."})

tool

executing move_to over 10 steps (1.0s)

step 25

assistant

agent noteWrist view shows the pen now nearly vertical (good jaw alignment) but offset to the right of the jaw column, so I shift the gripper ~3 cm to the arm's right (-y) and let the yaw finish converging to +45°.

move_to

right_x0.3700right_y0.1200right_z0.1200right_yaw0.7850

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8047, 0.6029, -0.3817, -0.0227, -0.0189, 0.9998, 0.2821, 1.4513, 0.7353, 0.0128, -0.2043, -0.0193, 0.999] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1762 left_yaw=0.0041 left_pitch=-0.0126 left_roll=-0.0061 left_gripper=0.9998 right_x=0.3715 right_y=0.1487 right_z=0.1015 right_yaw=0.4615 right_pitch=-0.1337 right_roll=0.1168 right_gripper=0.999 state[joint_eff]: [-0.1436, -1.7846, 7.0496, 1.7216, -0.0562, -0.0317, -0.0073, -0.212, -5.9282, 8.1026, 1.7753, -0.2857, -0.1001, -0.022] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.12, "right_z": 0.12, "right_yaw": 0.785}, "note": "Wrist view shows the pen now nearly vertical (good jaw alignment) but offset to the right of the jaw column, so I shift the gripper ~3 cm to the arm's right (-y) and let the yaw finish converging to +45\u00b0."})

tool

executing move_to over 3 steps (0.3s)

step 28

assistant

agent noteThe previous move was clamped after 3 steps; re-sending so the arm actually shifts right toward the pen, which still sits right of the jaw column in the wrist view.

move_to

right_x0.3700right_y0.1100right_z0.1200right_yaw0.7850

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3813, -0.0227, -0.0189, 0.9998, 0.2375, 1.4727, 0.7429, 0.0082, -0.3592, -0.1661, 0.9989] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1762 left_yaw=0.0041 left_pitch=-0.0126 left_roll=-0.0061 left_gripper=0.9998 right_x=0.3671 right_y=0.1564 right_z=0.1007 right_yaw=0.6247 right_pitch=-0.1136 right_roll=0.1048 right_gripper=0.9989 state[joint_eff]: [-0.3214, -1.3607, 7.0222, 1.7265, -0.0806, -0.0562, -0.0171, -0.1436, -7.7197, 6.147, 1.6337, -0.0855, 0.1929, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.11, "right_z": 0.12, "right_yaw": 0.785}, "note": "The previous move was clamped after 3 steps; re-sending so the arm actually shifts right toward the pen, which still sits right of the jaw column in the wrist view."})

tool

executing move_to over 4 steps (0.4s)

step 32

assistant

agent noteThe arm has barely moved over the last two commands, so I'm commanding a single larger lateral move (7 cm to the arm's right) to bring the jaw column onto the pen.

move_to

right_y0.0800

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, 0.807, 0.6029, -0.3809, -0.0227, -0.0189, 0.9997, 0.2359, 1.4727, 0.7422, 0.0086, -0.3405, -0.1341, 0.9989] state[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1757 left_yaw=0.0041 left_pitch=-0.0141 left_roll=-0.0061 left_gripper=0.9997 right_x=0.3688 right_y=0.153 right_z=0.0997 right_yaw=0.5909 right_pitch=-0.1205 right_roll=0.1186 right_gripper=0.9989 state[joint_eff]: [-0.335, -1.4564, 7.0632, 1.7509, -0.0464, -0.0513, -0.0171, -0.4581, -7.665, 6.2017, 1.6728, -0.0757, 0.1001, -0.0073] approver: 1 step(s) modified (delta_clamped). 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_y": 0.08}, "note": "The arm has barely moved over the last two commands, so I'm commanding a single larger lateral move (7 cm to the arm's right) to bring the jaw column onto the pen."})

tool

executing move_to over 7 steps (0.7s)

step 39

assistant

agent noteThe pen is now centred on the jaw column in the wrist view but sits above the jaw row, meaning it is a few cm further out; advancing 2.5 cm radially and dropping to 5 cm height for a final check before the grasp.

move_to

right_x0.4000right_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, 0.807, 0.6029, -0.3813, -0.0227, -0.0189, 0.9997, -0.0174, 1.4689, 0.7414, -0.065, -0.4664, -0.2729, 0.9989] state[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1756 left_yaw=0.0041 left_pitch=-0.0145 left_roll=-0.0061 left_gripper=0.9997 right_x=0.3774 right_y=0.0765 right_z=0.0944 right_yaw=0.5168 right_pitch=-0.1376 right_roll=0.1195 right_gripper=0.9989 state[joint_eff]: [-0.1846, -1.0325, 7.0496, 1.707, -0.0611, -0.0513, -0.0073, 3.1248, -7.7333, 6.4752, 1.4383, -0.7057, -0.1832, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_z": 0.05, "right_yaw": 0.6}, "note": "The pen is now centred on the jaw column in the wrist view but sits above the jaw row, meaning it is a few cm further out; advancing 2.5 cm radially and dropping to 5 cm height for a final check before the grasp."})

tool

executing move_to over 3 steps (0.3s)

step 42

assistant

agent noteThe pen runs straight down the middle of the wrist view between the open jaws; descending to table level (with a 5 mm lateral tweak) ready to close on it.

move_to

right_z0.0000right_y0.0720

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, 0.6029, -0.3824, -0.0227, -0.0189, 0.9997, -0.0402, 1.6726, 0.7555, 0.0223, -0.5282, -0.3508, 0.9989] state[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1749 left_yaw=0.0041 left_pitch=-0.0175 left_roll=-0.006 left_gripper=0.9997 right_x=0.3862 right_y=0.0771 right_z=0.0431 right_yaw=0.5922 right_pitch=-0.1915 right_roll=0.1564 right_gripper=0.9989 state[joint_eff]: [-0.0889, -1.4974, 7.2274, 1.7167, -0.022, -0.0269, -0.0122, -0.5812, -9.6479, 6.7761, 1.8046, -0.3785, -0.1734, -0.0073] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.0, "right_y": 0.072}, "note": "The pen runs straight down the middle of the wrist view between the open jaws; descending to table level (with a 5 mm lateral tweak) ready to close on it."})

tool

executing move_to over 3 steps (0.3s)

step 45

assistant

agent noteDescent is progressing only ~1 cm per command; commanding table level again to bring the jaws down around the pen.

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, 0.8097, 0.6029, -0.3813, -0.0227, -0.0189, 0.9997, -0.0444, 1.7123, 0.7536, 0.0608, -0.5358, -0.3569, 0.9989] state[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1749 left_yaw=0.0041 left_pitch=-0.0171 left_roll=-0.006 left_gripper=0.9997 right_x=0.3893 right_y=0.0765 right_z=0.0339 right_yaw=0.5973 right_pitch=-0.1899 right_roll=0.1585 right_gripper=0.9989 state[joint_eff]: [-0.0889, -1.4291, 7.241, 1.7167, -0.0366, -0.0611, -0.0122, -0.4991, -8.6906, 6.6667, 1.5702, -0.3785, -0.1343, -0.0073] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": -0.01}, "note": "Descent is progressing only ~1 cm per command; commanding table level again to bring the jaws down around the pen."})

tool

executing move_to over 3 steps (0.3s)

step 48

assistant

agent noteThe arm has stopped tracking the descent at z=0.034 (possible fingertip contact or awkward wrist tilt), so I level the wrist pitch and pull in 5 mm while re-commanding the descent.

move_to

right_z-0.0100right_pitch0.0000right_x0.3850

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, 0.8101, 0.6029, -0.3817, -0.0227, -0.0189, 0.9997, -0.0444, 1.7123, 0.7536, 0.0616, -0.5358, -0.3569, 0.9989] state[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1747 left_yaw=0.0041 left_pitch=-0.0179 left_roll=-0.006 left_gripper=0.9997 right_x=0.3894 right_y=0.0765 right_z=0.034 right_yaw=0.5972 right_pitch=-0.1892 right_roll=0.158 right_gripper=0.9989 state[joint_eff]: [-0.1709, -1.347, 7.0769, 1.7021, -0.0855, -0.0562, -0.0122, -0.4581, -8.841, 6.7077, 1.6093, -0.3687, -0.149, -0.0073] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": -0.01, "right_pitch": 0.0, "right_x": 0.385}, "note": "The arm has stopped tracking the descent at z=0.034 (possible fingertip contact or awkward wrist tilt), so I level the wrist pitch and pull in 5 mm while re-commanding the descent."})

tool

executing move_to over 7 steps (0.7s)

step 55

assistant

agent noteGripper is now at table level with the pen lying along the jaw column but its near end still short of the fingertips; sliding the open jaws ~2.7 cm further out so the pen body sits between them.

move_to

right_x0.4120right_y0.0820

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, 0.8135, 0.6029, -0.3824, -0.0223, -0.0189, 0.9997, -0.0902, 1.8492, 0.6037, 0.4614, -0.6617, -0.3637, 0.9987] state[eef_state]: left_x=0.2956 left_y=0.0016 left_z=0.1736 left_yaw=0.0038 left_pitch=-0.0221 left_roll=-0.0061 left_gripper=0.9997 right_x=0.3846 right_y=0.0778 right_z=0.0051 right_yaw=0.6393 right_pitch=-0.042 right_roll=0.1539 right_gripper=0.9987 state[joint_eff]: [-0.1709, -1.5795, 7.0769, 1.8144, -0.0415, -0.0611, -0.0122, 0.4171, -2.3726, 1.347, -0.8718, 0.5299, 0.6129, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.412, "right_y": 0.082}, "note": "Gripper is now at table level with the pen lying along the jaw column but its near end still short of the fingertips; sliding the open jaws ~2.7 cm further out so the pen body sits between them."})

tool

executing move_to over 3 steps (0.3s)

step 58

assistant

agent noteThe pen now runs right down into the jaw gap in the wrist view; dropping back to table level before closing.

move_to

right_z0.0020

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, 0.8154, 0.6029, -0.382, -0.0227, -0.0193, 0.9997, -0.0757, 1.9049, 0.693, 0.4999, -0.6621, -0.3523, 0.9988] state[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1732 left_yaw=0.0043 left_pitch=-0.0236 left_roll=-0.0062 left_gripper=0.9997 right_x=0.4147 right_y=0.081 right_z=0.0164 right_yaw=0.6474 right_pitch=0.0112 right_roll=0.1158 right_gripper=0.9988 state[joint_eff]: [-0.1162, -1.5385, 7.2, 1.6728, -0.0562, -0.0562, -0.0073, 0.5675, -6.7487, 5.1077, 1.2039, -0.2222, 0.022, -0.0073] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.002}, "note": "The pen now runs right down into the jaw gap in the wrist view; dropping back to table level before closing."})

tool

executing move_to over 1 steps (0.1s)

step 59

assistant

agent notePen is aligned between the open jaws at table level; closing the gripper to grasp it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8185, 0.6029, -0.382, -0.0231, -0.0193, 0.9997, -0.0704, 1.9106, 0.7071, 0.4519, -0.6556, -0.3523, 0.9988] state[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1723 left_yaw=0.0047 left_pitch=-0.0267 left_roll=-0.0059 left_gripper=0.9997 right_x=0.4124 right_y=0.0825 right_z=0.0104 right_yaw=0.648 right_pitch=-0.0214 right_roll=0.1387 right_gripper=0.9988 state[joint_eff]: [-0.2667, -1.7983, 7.0222, 1.7705, -0.0855, -0.022, -0.0122, -0.0342, -7.3915, 5.1761, 1.2869, -0.2271, 0.0073, -0.0024] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "Pen is aligned between the open jaws at table level; closing the gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 69

assistant

agent noteGripper closed to 0.012, which usually means an empty close; lifting 5 cm to check in the overhead view whether the pen came with it.

move_to

right_z0.0600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8192, 0.6029, -0.382, -0.0227, -0.0196, 0.9997, -0.0704, 1.9087, 0.7116, 0.4404, -0.6559, -0.3489, 0.0119] state[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1721 left_yaw=0.0045 left_pitch=-0.0274 left_roll=-0.0064 left_gripper=0.9997 right_x=0.4125 right_y=0.0825 right_z=0.0108 right_yaw=0.6466 right_pitch=-0.0253 right_roll=0.1451 right_gripper=0.0119 state[joint_eff]: [-0.1436, -0.8957, 7.0496, 1.707, -0.0757, -0.0415, -0.0073, -0.0068, -7.2821, 5.3128, 1.37, -0.105, 0.0073, 1.0183] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.06}, "note": "Gripper closed to 0.012, which usually means an empty close; lifting 5 cm to check in the overhead view whether the pen came with it."})

tool

executing move_to over 4 steps (0.4s)

step 73

assistant

agent noteThe close was empty: the pen is still on the table, well to the arm's left of the jaws in both views. Moving ~9 cm back toward +y and up to 10 cm for a fresh look, since my earlier wrist-view alignment was off.

move_to

right_y0.1700right_z0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.82, 0.6029, -0.3817, -0.0227, -0.0196, 0.9997, -0.0704, 1.7817, 0.7441, 0.2684, -0.6495, -0.3496, 0.0149] state[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.172 left_yaw=0.0045 left_pitch=-0.0278 left_roll=-0.0064 left_gripper=0.9997 right_x=0.4097 right_y=0.0818 right_z=0.0432 right_yaw=0.6424 right_pitch=-0.0377 right_roll=0.1493 right_gripper=0.0149 state[joint_eff]: [-0.0479, -1.3744, 7.159, 1.7509, -0.0855, -0.0806, -0.0122, -0.253, -9.3744, 7.0496, 1.4139, -0.3492, -0.0024, 0.8718] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.17, "right_z": 0.1}, "note": "The close was empty: the pen is still on the table, well to the arm's left of the jaws in both views. Moving ~9 cm back toward +y and up to 10 cm for a fresh look, since my earlier wrist-view alignment was off."})

tool

executing move_to over 8 steps (0.8s)

step 81

assistant

agent noteNow I can clearly see the real pen (bright, pointed) just right of the jaw column in the wrist view — earlier I was chasing a floor-plank seam. Shifting 1.7 cm right, 1.5 cm out and descending to 2 cm above the table.

move_to

right_x0.4150right_y0.1520right_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]: [-0.02, 0.8204, 0.6029, -0.3817, -0.0227, -0.0223, 0.9997, 0.205, 1.6855, 0.8124, 0.1627, -0.4675, -0.1722, 0.0174] state[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.1719 left_yaw=0.006 left_pitch=-0.0282 left_roll=-0.0086 left_gripper=0.9997 right_x=0.4005 right_y=0.1683 right_z=0.0766 right_yaw=0.6829 right_pitch=-0.0733 right_roll=0.1601 right_gripper=0.0174 state[joint_eff]: [-0.1162, -1.4017, 7.0632, 1.7265, -0.0562, -0.0171, -0.0122, 0.212, -10.0171, 8.3077, 1.4335, -0.0366, 0.1294, 0.6716] 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": {"right_x": 0.415, "right_y": 0.152, "right_z": 0.02}, "note": "Now I can clearly see the real pen (bright, pointed) just right of the jaw column in the wrist view \u2014 earlier I was chasing a floor-plank seam. Shifting 1.7 cm right, 1.5 cm out and descending to 2 cm above the table."})

tool

executing move_to over 4 steps (0.4s)

step 85

assistant

agent noteI had left the gripper closed; opening it and advancing 2.7 cm outward, since the pen's near end still sits above the jaw row in the wrist view.

move_to

right_gripper1.0000right_x0.4320

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, 0.8219, 0.6029, -0.3813, -0.0227, -0.0223, 0.9997, 0.1501, 1.8748, 0.7795, 0.2939, -0.4839, -0.1955, 0.0174] state[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1715 left_yaw=0.006 left_pitch=-0.0293 left_roll=-0.0085 left_gripper=0.9997 right_x=0.4046 right_y=0.1479 right_z=0.0111 right_yaw=0.6579 right_pitch=-0.1457 right_roll=0.1949 right_gripper=0.0174 state[joint_eff]: [-0.0068, -1.5795, 7.0222, 1.707, -0.0464, -0.0269, -0.0122, -0.1436, -8.8684, 5.5043, 2.0, -0.486, -0.1929, 0.6911] 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": {"right_gripper": 1, "right_x": 0.432}, "note": "I had left the gripper closed; opening it and advancing 2.7 cm outward, since the pen's near end still sits above the jaw row in the wrist view."})

tool

executing move_to over 10 steps (1.0s)

step 95

assistant

agent noteThe pen crosses the jaw column higher up in the wrist image and passes ~3 cm to the arm's left at the jaw row; nudging out and to +y so the pen lands between the fingertips.

move_to

right_x0.4350right_y0.1720

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, 0.8223, 0.6029, -0.3813, -0.0227, -0.0223, 0.9997, 0.1463, 1.8954, 0.7776, 0.3492, -0.5068, -0.2089, 0.9955] state[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1714 left_yaw=0.006 left_pitch=-0.0297 left_roll=-0.0085 left_gripper=0.9997 right_x=0.4093 right_y=0.1506 right_z=0.0123 right_yaw=0.677 right_pitch=-0.1078 right_roll=0.1822 right_gripper=0.9955 state[joint_eff]: [-0.1299, -1.388, 7.0222, 1.7167, -0.0806, -0.0513, -0.0122, -0.1162, -9.4291, 5.1761, 1.16, -0.0806, 0.1197, -0.2271] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.435, "right_y": 0.172}, "note": "The pen crosses the jaw column higher up in the wrist image and passes ~3 cm to the arm's left at the jaw row; nudging out and to +y so the pen lands between the fingertips."})

tool

executing move_to over 2 steps (0.2s)

step 97

assistant

agent noteThe arm stalled at the low pose and would not translate; lifting to 7 cm (with a slightly smaller yaw) to free the IK before re-approaching the pen 2 cm to its left.

move_to

right_z0.0700right_y0.1720right_yaw0.5500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8223, 0.6029, -0.3813, -0.0227, -0.0223, 0.9998, 0.1463, 1.8954, 0.7776, 0.3496, -0.5053, -0.21, 0.996] state[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1714 left_yaw=0.006 left_pitch=-0.0297 left_roll=-0.0085 left_gripper=0.9998 right_x=0.4095 right_y=0.1504 right_z=0.0123 right_yaw=0.6764 right_pitch=-0.1079 right_roll=0.1801 right_gripper=0.996 state[joint_eff]: [-0.1436, -1.4154, 7.1453, 1.7216, -0.0757, -0.0366, -0.0073, -0.2803, -9.265, 5.1897, 1.1062, -0.1099, 0.1636, 0.0317] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.07, "right_y": 0.172, "right_yaw": 0.55}, "note": "The arm stalled at the low pose and would not translate; lifting to 7 cm (with a slightly smaller yaw) to free the IK before re-approaching the pen 2 cm to its left."})

tool

executing move_to over 4 steps (0.4s)

step 101

assistant

agent noteThe pen is now centred between the jaws in the wrist view, running vertically; descending to table level to grasp it.

move_to

right_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8261, 0.6029, -0.3813, -0.0227, -0.0223, 0.9997, 0.2539, 1.7515, 0.791, 0.2321, -0.3874, -0.0975, 0.9961] state[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1704 left_yaw=0.006 left_pitch=-0.0335 left_roll=-0.0084 left_gripper=0.9997 right_x=0.4 right_y=0.1764 right_z=0.0499 right_yaw=0.6284 right_pitch=-0.1185 right_roll=0.179 right_gripper=0.9961 state[joint_eff]: [-0.0342, -1.5795, 7.0085, 1.6972, -0.0757, -0.0513, -0.0171, -0.212, -9.6889, 8.0752, 1.4823, 0.1001, 0.1587, -0.0122] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.0}, "note": "The pen is now centred between the jaws in the wrist view, running vertically; descending to table level to grasp it."})

tool

executing move_to over 4 steps (0.4s)

step 105

assistant

agent notePen centred in the jaw gap at table level; closing the jaws on it.

move_to

right_gripper0.0200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8295, 0.6029, -0.3813, -0.0231, -0.0227, 0.9997, 0.255, 1.8805, 0.7429, 0.411, -0.3794, -0.1009, 0.996] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1694 left_yaw=0.0065 left_pitch=-0.0369 left_roll=-0.0084 left_gripper=0.9997 right_x=0.4015 right_y=0.176 right_z=0.0109 right_yaw=0.6247 right_pitch=-0.1183 right_roll=0.1706 right_gripper=0.996 state[joint_eff]: [-0.1846, -1.7162, 7.2547, 1.6923, -0.0464, -0.0464, -0.0122, -0.3487, -6.2017, 4.0137, 1.0281, -0.232, 0.1636, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.02}, "note": "Pen centred in the jaw gap at table level; closing the jaws on it."})

tool

executing move_to over 10 steps (1.0s)

step 115

assistant

agent noteJaws closed on something; lifting 11 cm to check in the overhead view whether the pen is held.

move_to

right_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8314, 0.6029, -0.3813, -0.0227, -0.0227, 0.9997, 0.2569, 1.8904, 0.7422, 0.4343, -0.3958, -0.1081, 0.0269] state[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1689 left_yaw=0.0062 left_pitch=-0.0389 left_roll=-0.0086 left_gripper=0.9997 right_x=0.4019 right_y=0.1797 right_z=0.0113 right_yaw=0.6433 right_pitch=-0.1019 right_roll=0.1703 right_gripper=0.0269 state[joint_eff]: [-0.1573, -1.265, 7.0496, 1.6825, -0.0611, -0.0513, -0.0122, 0.0205, -8.6632, 5.3949, 1.326, -0.0611, 0.0562, 0.3443] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.12}, "note": "Jaws closed on something; lifting 11 cm to check in the overhead view whether the pen is held."})

tool

executing move_to over 8 steps (0.8s)

step 123

assistant

agent noteThe pen is now held by the right gripper (visible sticking out of the jaws) and the table shows only the black cap. Moving the left arm toward the cap for a closer look before grasping.

move_to

left_x0.3600left_y-0.1700left_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8333, 0.6029, -0.3813, -0.0227, -0.0257, 0.9997, 0.2558, 1.6413, 0.9035, 0.0097, -0.3935, -0.1097, 0.0275] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1684 left_yaw=0.0079 left_pitch=-0.0408 left_roll=-0.0111 left_gripper=0.9997 right_x=0.4023 right_y=0.1789 right_z=0.0999 right_yaw=0.6417 right_pitch=-0.1154 right_roll=0.173 right_gripper=0.0275 state[joint_eff]: [-0.1162, -1.6205, 7.2274, 1.6679, -0.0708, -0.0317, -0.0073, -0.253, -9.8667, 8.2803, 1.5849, -0.1783, -0.0122, 0.0513] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_y": -0.17, "left_z": 0.12}, "note": "The pen is now held by the right gripper (visible sticking out of the jaws) and the table shows only the black cap. Moving the left arm toward the cap for a closer look before grasping."})

tool

executing move_to over 16 steps (1.6s)

step 139

assistant

agent noteLeft wrist view shows the pen cap up and right of the jaw column, lying at ~30° in the image; moving out and right and yawing +57° so the cap will appear vertical, i.e. across the jaws.

move_to

left_x0.3950left_y-0.2000left_z0.0800left_yaw1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6743, 1.4609, 0.7547, -0.1062, -0.5198, -0.4377, 0.9997, 0.2558, 1.6321, 0.9028, -0.0078, -0.3935, -0.1093, 0.0282] state[eef_state]: left_x=0.3461 left_y=-0.1597 left_z=0.0991 left_yaw=-0.01 left_pitch=-0.1115 left_roll=0.0318 left_gripper=0.9997 right_x=0.3995 right_y=0.1782 right_z=0.1003 right_yaw=0.6419 right_pitch=-0.124 right_roll=0.1768 right_gripper=0.0282 state[joint_eff]: [-0.335, -6.2017, 9.2513, 1.7118, -0.4615, -0.0952, -0.0122, -0.294, -6.8581, 6.3658, 1.6825, -0.2076, -0.0415, 0.0611] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.395, "left_y": -0.2, "left_z": 0.08, "left_yaw": 1.0}, "note": "Left wrist view shows the pen cap up and right of the jaw column, lying at ~30\u00b0 in the image; moving out and right and yawing +57\u00b0 so the cap will appear vertical, i.e. across the jaws."})

tool

executing move_to over 7 steps (0.7s)

step 146

assistant

agent noteThe cap is now just in front of the jaws but lying horizontally in the image (parallel to the closing axis), so my yaw sign was backwards; rotating the wrist the other way to -57° and lifting slightly to avoid brushing the cap.

move_to

left_yaw-1.0000left_z0.0700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7872, 2.36, 1.8679, -1.0874, -0.8402, -1.5673, 0.9996, 0.2337, 1.6417, 0.897, -0.0231, -0.3676, -0.1051, 0.0283] state[eef_state]: left_x=0.4132 left_y=-0.2232 left_z=0.0473 left_yaw=0.7779 left_pitch=-0.1599 left_roll=0.0078 left_gripper=0.9996 right_x=0.4015 right_y=0.1645 right_z=0.0904 right_yaw=0.5979 right_pitch=-0.1593 right_roll=0.1747 right_gripper=0.0283 state[joint_eff]: [0.212, -12.1504, 4.8068, -0.6862, -0.6081, 0.0269, -0.0171, 1.6615, -8.3761, 6.7214, 1.6532, -0.4615, -0.0415, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_yaw": -1.0, "left_z": 0.07}, "note": "The cap is now just in front of the jaws but lying horizontally in the image (parallel to the closing axis), so my yaw sign was backwards; rotating the wrist the other way to -57\u00b0 and lifting slightly to avoid brushing the cap."})

tool

executing move_to over 12 steps (1.2s)

step 158

assistant

agent noteCap now appears vertical (across the jaws) just above the jaw row; advancing ~2.5 cm outward and descending to 2 cm for the final approach.

move_to

left_x0.4400left_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]: [-0.3489, 1.8408, 1.0275, -0.0444, 0.2836, 0.2638, 0.9994, 0.2352, 1.6459, 0.8932, -0.0376, -0.3733, -0.1085, 0.0289] state[eef_state]: left_x=0.4158 left_y=-0.2 left_z=0.0485 left_yaw=-0.746 left_pitch=-0.2423 left_roll=-0.0389 left_gripper=0.9994 right_x=0.3972 right_y=0.1651 right_z=0.0851 right_yaw=0.6073 right_pitch=-0.1785 right_roll=0.1841 right_gripper=0.0289 state[joint_eff]: [0.1573, -8.8821, 8.9094, 1.4383, 0.3101, 0.2418, -0.0317, -0.253, -7.9795, 6.5026, 1.6142, -0.1441, -0.0269, 0.0464] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_z": 0.02}, "note": "Cap now appears vertical (across the jaws) just above the jaw row; advancing ~2.5 cm outward and descending to 2 cm for the final approach."})

tool

executing move_to over 2 steps (0.2s)

step 160

assistant

agent noteMotion is being clamped to tiny increments, so re-commanding the approach: 3 cm further out, a few mm to the arm's left, and down to table level over the cap.

move_to

left_x0.4500left_y-0.2030left_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3298, 1.9083, 1.0748, -0.0387, 0.3859, 0.3843, 0.9994, 0.2352, 1.6459, 0.8932, -0.041, -0.3737, -0.1085, 0.029] state[eef_state]: left_x=0.4214 left_y=-0.2107 left_z=0.0412 left_yaw=-0.878 left_pitch=-0.2181 left_roll=-0.0306 left_gripper=0.9994 right_x=0.3966 right_y=0.165 right_z=0.0845 right_yaw=0.6079 right_pitch=-0.1816 right_roll=0.1856 right_gripper=0.029 state[joint_eff]: [-0.1026, -7.5419, 6.7487, 1.1893, 0.1734, -0.105, -0.0171, -0.335, -7.5966, 6.188, 1.4969, -0.2271, -0.0073, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.45, "left_y": -0.203, "left_z": 0.005}, "note": "Motion is being clamped to tiny increments, so re-commanding the approach: 3 cm further out, a few mm to the arm's left, and down to table level over the cap."})

tool

executing move_to over 3 steps (0.3s)

step 163

assistant

agent noteCap is centred on the jaw column but still ~2 cm short of the fingertips; pushing straight out along x at table level to bring it into the jaw gap.

move_to

left_x0.4550

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3199, 1.9923, 1.076, -0.0116, 0.3534, 0.355, 0.9993, 0.2352, 1.647, 0.8925, -0.0452, -0.3737, -0.1085, 0.0291] state[eef_state]: left_x=0.4244 left_y=-0.2012 left_z=0.0064 left_yaw=-0.8331 left_pitch=-0.2796 left_roll=-0.0578 left_gripper=0.9993 right_x=0.3957 right_y=0.1648 right_z=0.0831 right_yaw=0.6083 right_pitch=-0.1873 right_roll=0.1879 right_gripper=0.0291 state[joint_eff]: [0.2256, -12.4513, 7.159, 1.4237, 0.4713, 0.1343, -0.0171, 0.0205, -7.6786, 6.2291, 1.5556, -0.2173, 0.0024, -0.0073] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.455}, "note": "Cap is centred on the jaw column but still ~2 cm short of the fingertips; pushing straight out along x at table level to bring it into the jaw gap."})

tool

executing move_to over 3 steps (0.3s)

step 166

assistant

agent noteThe left arm has stopped advancing at x≈0.42 near the table (reach/IK limit at this low height), so I lift to 8 cm where reach is easier and push out to x=0.47 before dropping back onto the cap.

move_to

left_z0.0800left_x0.4700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3183, 1.9919, 1.076, -0.0181, 0.3744, 0.3771, 0.9993, 0.2352, 1.647, 0.8925, -0.0448, -0.3737, -0.1085, 0.0291] state[eef_state]: left_x=0.4217 left_y=-0.2032 left_z=0.0068 left_yaw=-0.8616 left_pitch=-0.2758 left_roll=-0.0609 left_gripper=0.9993 right_x=0.3958 right_y=0.1648 right_z=0.0831 right_yaw=0.6083 right_pitch=-0.1869 right_roll=0.1877 right_gripper=0.0291 state[joint_eff]: [0.1162, -12.4103, 7.4051, 1.3993, 0.3394, 0.149, -0.0122, -0.1709, -7.3641, 6.2154, 1.4823, -0.2076, -0.0171, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.08, "left_x": 0.47}, "note": "The left arm has stopped advancing at x\u22480.42 near the table (reach/IK limit at this low height), so I lift to 8 cm where reach is easier and push out to x=0.47 before dropping back onto the cap."})

tool

executing move_to over 5 steps (0.5s)

step 171

assistant

agent noteThe left arm is frozen at its current pose with high shoulder effort; retreating up and back to unstick it before re-approaching the cap.

move_to

left_x0.3600left_z0.1800left_yaw-0.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3183, 1.9915, 1.076, -0.0181, 0.3744, 0.3767, 0.9993, 0.2352, 1.647, 0.8925, -0.0456, -0.3737, -0.1089, 0.0298] state[eef_state]: left_x=0.4218 left_y=-0.2032 left_z=0.0069 left_yaw=-0.8613 left_pitch=-0.2755 left_roll=-0.0609 left_gripper=0.9993 right_x=0.3956 right_y=0.1648 right_z=0.083 right_yaw=0.6085 right_pitch=-0.1876 right_roll=0.1877 right_gripper=0.0298 state[joint_eff]: [-0.0615, -12.3556, 7.159, 1.3797, 0.3297, 0.1343, -0.0122, -0.1299, -7.5282, 6.2291, 1.5116, -0.1929, -0.0317, 0.0562] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_z": 0.18, "left_yaw": -0.5}, "note": "The left arm is frozen at its current pose with high shoulder effort; retreating up and back to unstick it before re-approaching the cap."})

tool

executing move_to over 12 steps (1.2s)

step 183

assistant

agent noteLeft arm is free again and I can see the cap ahead-left of the jaws; approaching the cap from above at 5 cm height and slightly further out than before.

move_to

left_x0.4500left_y-0.2150left_z0.0500left_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]: [-0.5064, 1.5154, 1.1549, -0.5064, 0.0555, -0.0219, 0.9993, 0.2352, 1.647, 0.8913, -0.0456, -0.374, -0.1089, 0.0304] state[eef_state]: left_x=0.3602 left_y=-0.2069 left_z=0.1576 left_yaw=-0.5482 left_pitch=-0.2954 left_roll=-0.0634 left_gripper=0.9993 right_x=0.3953 right_y=0.1648 right_z=0.0826 right_yaw=0.6089 right_pitch=-0.1885 right_roll=0.1884 right_gripper=0.0304 state[joint_eff]: [-0.4444, -8.3214, 9.853, 1.5263, 0.0269, 0.0317, -0.0122, -0.0889, -7.6103, 6.2427, 1.5067, -0.2076, -0.0513, 0.0464] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.45, "left_y": -0.215, "left_z": 0.05, "left_yaw": -0.75}, "note": "Left arm is free again and I can see the cap ahead-left of the jaws; approaching the cap from above at 5 cm height and slightly further out than before."})

tool

executing move_to over 7 steps (0.7s)

step 190

assistant

agent noteThe left arm keeps stalling at x≈0.425 with the wrist pitched backwards; commanding a forward pitch to extend the fingertips and pushing x out to 0.46 to finally reach the cap.

move_to

left_pitch0.3500left_x0.4600left_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]: [-0.3637, 1.9594, 1.2217, -0.2829, 0.2272, 0.1898, 0.9993, 0.2352, 1.6485, 0.8894, -0.0513, -0.3737, -0.1089, 0.0304] state[eef_state]: left_x=0.4248 left_y=-0.2004 left_z=0.0296 left_yaw=-0.6902 left_pitch=-0.4131 left_roll=-0.1034 left_gripper=0.9993 right_x=0.3938 right_y=0.1643 right_z=0.0803 right_yaw=0.6092 right_pitch=-0.1972 right_roll=0.1916 right_gripper=0.0304 state[joint_eff]: [0.4581, -10.9744, 8.8684, 1.5702, 0.4127, 0.2906, -0.0122, -0.3761, -7.7197, 6.3248, 1.4921, -0.188, -0.0171, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_pitch": 0.35, "left_x": 0.46, "left_z": 0.02}, "note": "The left arm keeps stalling at x\u22480.425 with the wrist pitched backwards; commanding a forward pitch to extend the fingertips and pushing x out to 0.46 to finally reach the cap."})

tool

executing move_to over 26 steps (2.6s)

step 216

assistant

agent noteWith the wrist pitched forward the left arm reached out and the cap now sits right in the jaw gap at the bottom of the wrist view; descending to table level and closing on the cap.

move_to

left_z0.0000left_gripper0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2619, 2.2517, 0.8028, 1.145, 0.4519, 0.0319, 0.9993, 0.2352, 1.6485, 0.889, -0.0532, -0.3737, -0.1089, 0.0304] state[eef_state]: left_x=0.4584 left_y=-0.199 left_z=0.013 left_yaw=-0.679 left_pitch=0.2958 left_roll=-0.1061 left_gripper=0.9993 right_x=0.3934 right_y=0.1642 right_z=0.0798 right_yaw=0.6094 right_pitch=-0.1993 right_roll=0.1924 right_gripper=0.0304 state[joint_eff]: [0.4581, -9.0325, 3.8769, 1.9414, 0.2076, -0.1099, -0.0122, -0.3214, -7.4462, 6.188, 1.4676, -0.188, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.0, "left_gripper": 0.05}, "note": "With the wrist pitched forward the left arm reached out and the cap now sits right in the jaw gap at the bottom of the wrist view; descending to table level and closing on the cap."})

tool

executing move_to over 10 steps (1.0s)

step 226

assistant

agent noteJaws closed to 5 mm where the cap was; lifting and retracting to see whether the cap came up with the left gripper.

move_to

left_z0.1200left_x0.4000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2623, 2.2799, 0.8028, 1.1931, 0.4488, 0.0261, 0.0544, 0.2352, 1.6485, 0.8886, -0.0528, -0.3737, -0.1089, 0.0304] state[eef_state]: left_x=0.459 left_y=-0.1989 left_z=0.01 left_yaw=-0.676 left_pitch=0.3133 left_roll=-0.1027 left_gripper=0.0544 right_x=0.3933 right_y=0.1642 right_z=0.0798 right_yaw=0.6094 right_pitch=-0.1993 right_roll=0.1924 right_gripper=0.0304 state[joint_eff]: [-0.0479, -8.212, 4.3692, 1.8095, 0.1197, 0.0562, 0.1001, -0.0889, -7.6103, 6.3521, 1.4628, -0.2125, -0.0757, -0.0122] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.12, "left_x": 0.4}, "note": "Jaws closed to 5 mm where the cap was; lifting and retracting to see whether the cap came up with the left gripper."})

tool

executing move_to over 8 steps (0.8s)

step 234

assistant

agent noteThe cap was not grasped — it is still on the table (visible in the right wrist view). Re-approaching with the jaws open, 2 cm less far out than last time since the cap had passed under the fingertips.

move_to

left_gripper1.0000left_x0.4380left_z0.0050left_pitch0.3200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3107, 1.7424, 0.6022, 0.8879, 0.4072, 0.0204, 0.0543, 0.2352, 1.6489, 0.8875, -0.0601, -0.3737, -0.1089, 0.0304] state[eef_state]: left_x=0.4053 left_y=-0.1999 left_z=0.1168 left_yaw=-0.6887 left_pitch=0.338 left_roll=-0.0849 left_gripper=0.0543 right_x=0.3918 right_y=0.1639 right_z=0.078 right_yaw=0.6101 right_pitch=-0.2075 right_roll=0.1957 right_gripper=0.0304 state[joint_eff]: [-0.4581, -8.1162, 5.2444, 1.7314, -0.0562, -0.1001, -0.0171, -0.335, -7.5966, 6.2427, 1.5897, -0.2027, -0.0317, -0.0122] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1, "left_x": 0.438, "left_z": 0.005, "left_pitch": 0.32}, "note": "The cap was not grasped \u2014 it is still on the table (visible in the right wrist view). Re-approaching with the jaws open, 2 cm less far out than last time since the cap had passed under the fingertips."})

tool

executing move_to over 10 steps (1.0s)

step 244

assistant

agent noteA dark object (the cap) is sitting between the open jaws in the left wrist view; closing fully 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]: [-0.2874, 2.2459, 0.7013, 1.2652, 0.4168, 0.038, 0.9951, 0.2352, 1.6508, 0.8875, -0.0711, -0.3737, -0.1089, 0.0304] state[eef_state]: left_x=0.4355 left_y=-0.1996 left_z=0.0111 left_yaw=-0.6804 left_pitch=0.3145 left_roll=-0.0802 left_gripper=0.9951 right_x=0.3898 right_y=0.1634 right_z=0.0755 right_yaw=0.6111 right_pitch=-0.2195 right_roll=0.2006 right_gripper=0.0304 state[joint_eff]: [0.5812, -7.6513, 3.9726, 1.3455, 0.1929, -0.0562, -0.1392, -0.335, -7.747, 6.188, 1.5067, -0.1392, -0.0415, -0.0122] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "A dark object (the cap) is sitting between the open jaws in the left wrist view; closing fully to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 254

assistant

agent noteI got the pen grasped in the right gripper, but repeated attempts to grasp the small black cap with the left arm all closed empty (gripper settles at ~0.01–0.05), and I am out of LLM-call budget to keep iterating, let alone to assemble the cap onto the pen.

give_up

hindsightConcrete lessons from this rig/trial: (1) The top view's long dark diagonal lines are floor-plank seams and an arm cable — I wasted ~8 calls aligning the right gripper to a seam before realising the real pen was elsewhere. Identify objects by colour/texture (the pen is bright/striped, the cap is a small black stub) before converting pixels. (2) Moves are frequently 'delta_clamped' and execute only 2–4 steps, advancing ~0.5–1 cm per call; budget several calls per centimetre of correction, or command one large single-axis delta at a time. (3) The arms stall hard near x≈0.42 at z≈0 when wrist pitch has drifted negative; commanding left_pitch=+0.3 (tool tilted forward) immediately unlocked reach out to x≈0.46. Set a forward pitch before any far reach. (4) Image-angle of an object in the wrist view changes as (original_angle − yaw): to make an object appear vertical (across the jaws) subtract. (5) A settled gripper reading equal to the commanded value means nothing was caught; always command 0 for the diagnostic close. (6) For an object this small, the wrist-view row-vs-radius ambiguity is the killer — approach in 1 cm radial steps with a diagnostic close at each, or pin the object's world x/y from two different arm poses by triangulation first.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2867, 2.2658, 0.7048, 1.2907, 0.4191, 0.0349, 0.0109, 0.2352, 1.6508, 0.8875, -0.0715, -0.3737, -0.1089, 0.0304] state[eef_state]: left_x=0.4361 left_y=-0.1997 left_z=0.0088 left_yaw=-0.681 left_pitch=0.3231 left_roll=-0.0802 left_gripper=0.0109 right_x=0.3898 right_y=0.1634 right_z=0.0754 right_yaw=0.6111 right_pitch=-0.2199 right_roll=0.2007 right_gripper=0.0304 state[joint_eff]: [-0.294, -11.2068, 2.8786, 1.6239, -0.0855, -0.0757, 0.8083, -0.2256, -7.4051, 6.106, 1.4628, -0.1734, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]

assistant

give_up({"reason": "I got the pen grasped in the right gripper, but repeated attempts to grasp the small black cap with the left arm all closed empty (gripper settles at ~0.01\u20130.05), and I am out of LLM-call budget to keep iterating, let alone to assemble the cap onto the pen.", "hindsight": "Concrete lessons from this rig/trial: (1) The top view's long dark diagonal lines are floor-plank seams and an arm cable \u2014 I wasted ~8 calls aligning the right gripper to a seam before realising the real pen was elsewhere. Identify objects by colour/texture (the pen is bright/striped, the cap is a small black stub) before converting pixels. (2) Moves are frequently 'delta_clamped' and execute only 2\u20134 steps, advancing ~0.5\u20131 cm per call; budget several calls per centimetre of correction, or command one large single-axis delta at a time. (3) The arms stall hard near x\u22480.42 at z\u22480 when wrist pitch has drifted negative; commanding left_pitch=+0.3 (tool tilted forward) immediately unlocked reach out to x\u22480.46. Set a forward pitch before any far reach. (4) Image-angle of an object in the wrist view changes as (original_angle \u2212 yaw): to make an object appear vertical (across the jaws) subtract. (5) A settled gripper reading equal to the commanded value means nothing was caught; always command 0 for the diagnostic close. (6) For an object this small, the wrist-view row-vs-radius ambiguity is the killer \u2014 approach in 1 cm radial steps with a diagnostic close at each, or pin the object's world x/y from two different arm poses by triangulation first."})

tool

give_up: I got the pen grasped in the right gripper, but repeated attempts to grasp the small black cap with the left arm all closed empty (gripper settles at ~0.01–0.05), and I am out of LLM-call budget to keep iterating, let alone to assemble the cap onto the pen.

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 · 23.33 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.794, 0.6025, -0.3798, -0.0227, -0.0113, 0.9998, -0.0185, 0.7925, 0.6106, -0.3756, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1793 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.296 right_y=0.0017 right_z=0.1843 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.5795, 10.4137, 1.7998, -0.0366, -0.0317, -0.0366, -0.759, -1.4017, 9.7846, 1.6874, -0.0024, -0.0122, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dda3d88fb58513704a701b1deaa78db5319762d22c6c36633e6a9775483f6250",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2a08f0f0d47f81a9326c0eb0e472fb65d2dcc2bcc74e1a3d692f28caa32d6ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9808d50cb931bf9818b0827ee8eb4c1e57e106c381ec43f08a0e78d02449c0f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 13.8 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.794, 0.6025, -0.3798, -0.0227, -0.0113, 0.9998, -0.0185, 0.7925, 0.6106, -0.3756, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1793 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.296 right_y=0.0017 right_z=0.1843 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.5795, 10.4137, 1.7998, -0.0366, -0.0317, -0.0366, -0.759, -1.4017, 9.7846, 1.6874, -0.0024, -0.0122, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dda3d88fb58513704a701b1deaa78db5319762d22c6c36633e6a9775483f6250",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2a08f0f0d47f81a9326c0eb0e472fb65d2dcc2bcc74e1a3d692f28caa32d6ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9808d50cb931bf9818b0827ee8eb4c1e57e106c381ec43f08a0e78d02449c0f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N2rcLmRUdEu4a9nu1TmcxV",
      "input": {
        "note": "Top view shows a pen lying diagonally right-of-centre and a small pen cap left-of-centre. Moving the right arm to hover ~15 cm above my estimate of the pen, with the wrist yawed -45° so the jaws close across the pen's axis.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.33,
          "right_y": 0.17,
          "right_yaw": -0.785,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01N2rcLmRUdEu4a9nu1TmcxV",
      "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, 0.799, 0.6029, -0.3817, -0.0227, -0.0185, 0.9997, 0.868, 1.9087, 1.467, -1.1347, 0.9749, 1.5562, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1778 left_yaw=0.0039 left_pitch=-0.0068 left_roll=-0.0059 left_gripper=0.9997 right_x=0.3373 right_y=0.1776 right_z=0.1415 right_yaw=-0.7006 right_pitch=-0.0385 right_roll=-0.0182 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.5248, 7.0085, 1.7314, -0.0513, 0.0024, -0.0171, 0.6632, -9.5932, 6.3658, -0.1245, 0.8034, 0.3346, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcffefbf8626e3f0a90cbf1c5ffa9bbeaf576be8baba35ccf66b648dc4ad52d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4c466f02a7a2e781cf8bf748d9f256127e50775be011416d2c7b8130a0b11ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:735f8eb4faba1e9cfe14a606a1ee551a8378b704b611233f46625134a7820bb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 13.32 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.794, 0.6025, -0.3798, -0.0227, -0.0113, 0.9998, -0.0185, 0.7925, 0.6106, -0.3756, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1793 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.296 right_y=0.0017 right_z=0.1843 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.5795, 10.4137, 1.7998, -0.0366, -0.0317, -0.0366, -0.759, -1.4017, 9.7846, 1.6874, -0.0024, -0.0122, -0.1099]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.799, 0.6029, -0.3817, -0.0227, -0.0185, 0.9997, 0.868, 1.9087, 1.467, -1.1347, 0.9749, 1.5562, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1778 left_yaw=0.0039 left_pitch=-0.0068 left_roll=-0.0059 left_gripper=0.9997 right_x=0.3373 right_y=0.1776 right_z=0.1415 right_yaw=-0.7006 right_pitch=-0.0385 right_roll=-0.0182 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.5248, 7.0085, 1.7314, -0.0513, 0.0024, -0.0171, 0.6632, -9.5932, 6.3658, -0.1245, 0.8034, 0.3346, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcffefbf8626e3f0a90cbf1c5ffa9bbeaf576be8baba35ccf66b648dc4ad52d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4c466f02a7a2e781cf8bf748d9f256127e50775be011416d2c7b8130a0b11ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:735f8eb4faba1e9cfe14a606a1ee551a8378b704b611233f46625134a7820bb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L7c1HgWqA5a9hCBCkxgHEP",
      "input": {
        "note": "In the wrist view the pen now looks horizontal, i.e. parallel to the jaw closing axis — wrong way — so I flip the yaw to +45° so the pen appears vertical in the image, and advance ~3 cm outward since the pen sits above the jaw column.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.175,
          "right_yaw": 0.785,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01L7c1HgWqA5a9hCBCkxgHEP",
      "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, 0.8047, 0.6029, -0.3817, -0.0227, -0.0189, 0.9998, 0.2821, 1.4513, 0.7353, 0.0128, -0.2043, -0.0193, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1762 left_yaw=0.0041 left_pitch=-0.0126 left_roll=-0.0061 left_gripper=0.9998 right_x=0.3715 right_y=0.1487 right_z=0.1015 right_yaw=0.4615 right_pitch=-0.1337 right_roll=0.1168 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.7846, 7.0496, 1.7216, -0.0562, -0.0317, -0.0073, -0.212, -5.9282, 8.1026, 1.7753, -0.2857, -0.1001, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:847f7e723822e7835842ed1ed111e3db07bcf11b8d593ca0f0f3e5f2dd97168d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a6828cc80f9ecf380ccb9f9211f9ebf8cf2b599aeab3ef3f746c1c15f47467f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:feb725c2669f72a71ff3d658d9951d851f0f2cec88357520218955600c3a9b7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 6.297 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.794, 0.6025, -0.3798, -0.0227, -0.0113, 0.9998, -0.0185, 0.7925, 0.6106, -0.3756, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1793 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.296 right_y=0.0017 right_z=0.1843 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.5795, 10.4137, 1.7998, -0.0366, -0.0317, -0.0366, -0.759, -1.4017, 9.7846, 1.6874, -0.0024, -0.0122, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.799, 0.6029, -0.3817, -0.0227, -0.0185, 0.9997, 0.868, 1.9087, 1.467, -1.1347, 0.9749, 1.5562, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1778 left_yaw=0.0039 left_pitch=-0.0068 left_roll=-0.0059 left_gripper=0.9997 right_x=0.3373 right_y=0.1776 right_z=0.1415 right_yaw=-0.7006 right_pitch=-0.0385 right_roll=-0.0182 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.5248, 7.0085, 1.7314, -0.0513, 0.0024, -0.0171, 0.6632, -9.5932, 6.3658, -0.1245, 0.8034, 0.3346, -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, 0.8047, 0.6029, -0.3817, -0.0227, -0.0189, 0.9998, 0.2821, 1.4513, 0.7353, 0.0128, -0.2043, -0.0193, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1762 left_yaw=0.0041 left_pitch=-0.0126 left_roll=-0.0061 left_gripper=0.9998 right_x=0.3715 right_y=0.1487 right_z=0.1015 right_yaw=0.4615 right_pitch=-0.1337 right_roll=0.1168 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.7846, 7.0496, 1.7216, -0.0562, -0.0317, -0.0073, -0.212, -5.9282, 8.1026, 1.7753, -0.2857, -0.1001, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:847f7e723822e7835842ed1ed111e3db07bcf11b8d593ca0f0f3e5f2dd97168d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a6828cc80f9ecf380ccb9f9211f9ebf8cf2b599aeab3ef3f746c1c15f47467f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:feb725c2669f72a71ff3d658d9951d851f0f2cec88357520218955600c3a9b7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NDWjxkDFqQCTXum5Zzy27p",
      "input": {
        "note": "Wrist view shows the pen now nearly vertical (good jaw alignment) but offset to the right of the jaw column, so I shift the gripper ~3 cm to the arm's right (-y) and let the yaw finish converging to +45°.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.12,
          "right_yaw": 0.785,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01NDWjxkDFqQCTXum5Zzy27p",
      "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, 0.6029, -0.3813, -0.0227, -0.0189, 0.9998, 0.2375, 1.4727, 0.7429, 0.0082, -0.3592, -0.1661, 0.9989]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1762 left_yaw=0.0041 left_pitch=-0.0126 left_roll=-0.0061 left_gripper=0.9998 right_x=0.3671 right_y=0.1564 right_z=0.1007 right_yaw=0.6247 right_pitch=-0.1136 right_roll=0.1048 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -1.3607, 7.0222, 1.7265, -0.0806, -0.0562, -0.0171, -0.1436, -7.7197, 6.147, 1.6337, -0.0855, 0.1929, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f4a6591a810a8e103ab94b2128718d08072afbc3bbe9471c98dc4befc0daa9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d5bbb54cf1dba558de064fd44b5c0a10a2a45a4b6139292b6349a764386c72b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8eaad3d628aa52eede970e9d122043bac2ff00bed0658056e556df04fa276153",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 10.34 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.799, 0.6029, -0.3817, -0.0227, -0.0185, 0.9997, 0.868, 1.9087, 1.467, -1.1347, 0.9749, 1.5562, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1778 left_yaw=0.0039 left_pitch=-0.0068 left_roll=-0.0059 left_gripper=0.9997 right_x=0.3373 right_y=0.1776 right_z=0.1415 right_yaw=-0.7006 right_pitch=-0.0385 right_roll=-0.0182 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.5248, 7.0085, 1.7314, -0.0513, 0.0024, -0.0171, 0.6632, -9.5932, 6.3658, -0.1245, 0.8034, 0.3346, -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, 0.8047, 0.6029, -0.3817, -0.0227, -0.0189, 0.9998, 0.2821, 1.4513, 0.7353, 0.0128, -0.2043, -0.0193, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1762 left_yaw=0.0041 left_pitch=-0.0126 left_roll=-0.0061 left_gripper=0.9998 right_x=0.3715 right_y=0.1487 right_z=0.1015 right_yaw=0.4615 right_pitch=-0.1337 right_roll=0.1168 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.7846, 7.0496, 1.7216, -0.0562, -0.0317, -0.0073, -0.212, -5.9282, 8.1026, 1.7753, -0.2857, -0.1001, -0.022]",
      "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, 0.6029, -0.3813, -0.0227, -0.0189, 0.9998, 0.2375, 1.4727, 0.7429, 0.0082, -0.3592, -0.1661, 0.9989]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1762 left_yaw=0.0041 left_pitch=-0.0126 left_roll=-0.0061 left_gripper=0.9998 right_x=0.3671 right_y=0.1564 right_z=0.1007 right_yaw=0.6247 right_pitch=-0.1136 right_roll=0.1048 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -1.3607, 7.0222, 1.7265, -0.0806, -0.0562, -0.0171, -0.1436, -7.7197, 6.147, 1.6337, -0.0855, 0.1929, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f4a6591a810a8e103ab94b2128718d08072afbc3bbe9471c98dc4befc0daa9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d5bbb54cf1dba558de064fd44b5c0a10a2a45a4b6139292b6349a764386c72b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eaad3d628aa52eede970e9d122043bac2ff00bed0658056e556df04fa276153",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS1wUKjgEIEhgCKkDebSI5BqvpmvZ/DDOFcGBbwvbGZLbuEKIFxG/Qp3fkzTvUaI7Pz6EfFyZ9IvddQlds0EXjTHLEEcF6xvbEdF/QMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaqZzNUGEgwZdD5d7tzUlkpZjoYaDOKkbliwaXbGx3Mw/CIwB+5Bq78Bbt2avwIajknSXOZuwJgXXSPboCKLv2nkq5dDcatsy6KmRoUctmIa1xCxKvUDIoLLo7HAJCF5cjhbrRedS5xJIy5yIJhic0MQC+KG4c65SjfM13PhnT5AvdU9wqWUJzCnolYoCGlBMvSD53BCED91W2P2q8JaFKfuk9VQUq79mB9Po4Xhk2ubaS9xgpE3n2Uk3nZRUkixVUOueoWpM2sH/WjktilkRf/gPIK7uLUN4IysEkKX6uPBiVIqm6TkD6GHW9ScXGWUDrCFh25MSgNaYqOB6IlHnFhdpBX6WvipSKiDEcLpdyXXLEOrBBFx9XkovyZPff6u6TsIJI+3QsUsJo+2IbDQIO3Ms/Vg+AL7smMWpB67qcM18evj7vcD7/Eqrs61NKwpE1aWkC+HGOG6u9OWM/xm534n+1i2W4u3QI1l2dI9ELFxDnvEgQDlIv+yLiTQoKstpDBH83+ZVpgFvF9TNKDskm3j7xO31iMhC86DVYsMqm/QkMFiFlQI491g5+6yhLFHheG+nnwwBCuQisjXluYSR3PapBItV0D0xZmahZxBrsgW9UvksFQmD8vW4074UttR4N3n9b7JqpRK8BEP0e2p+/BiixoONzdW46gi9YRCyL5tmmUZYchakE9Hj/0OE2ahuvPhdRWvUWwyyH9QNg5fNig8TCivotAOiHKXxcvEh/DlkF4pYVd/lAXMzvFazE9bddfvqBKF/MoTMPcaGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LbZ3FtTreL2JVAxWBdy7d9",
      "input": {
        "note": "The previous move was clamped after 3 steps; re-sending so the arm actually shifts right toward the pen, which still sits right of the jaw column in the wrist view.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.11,
          "right_yaw": 0.785,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01LbZ3FtTreL2JVAxWBdy7d9",
      "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, 0.807, 0.6029, -0.3809, -0.0227, -0.0189, 0.9997, 0.2359, 1.4727, 0.7422, 0.0086, -0.3405, -0.1341, 0.9989]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1757 left_yaw=0.0041 left_pitch=-0.0141 left_roll=-0.0061 left_gripper=0.9997 right_x=0.3688 right_y=0.153 right_z=0.0997 right_yaw=0.5909 right_pitch=-0.1205 right_roll=0.1186 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -1.4564, 7.0632, 1.7509, -0.0464, -0.0513, -0.0171, -0.4581, -7.665, 6.2017, 1.6728, -0.0757, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:635fc3b0ac5c882cf084fc622e066de4292742e700623be5ab13fca8ff5a26f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68e2869023fc80db2753371106001cff1e3f56e49832bce3bae6ed570b04980c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd73659a835d3a00ecb9f21950c4aa355b89a04621b3b5b270f1cdf7f9ed3f32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 7.077 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8047, 0.6029, -0.3817, -0.0227, -0.0189, 0.9998, 0.2821, 1.4513, 0.7353, 0.0128, -0.2043, -0.0193, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1762 left_yaw=0.0041 left_pitch=-0.0126 left_roll=-0.0061 left_gripper=0.9998 right_x=0.3715 right_y=0.1487 right_z=0.1015 right_yaw=0.4615 right_pitch=-0.1337 right_roll=0.1168 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.7846, 7.0496, 1.7216, -0.0562, -0.0317, -0.0073, -0.212, -5.9282, 8.1026, 1.7753, -0.2857, -0.1001, -0.022]",
      "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, 0.6029, -0.3813, -0.0227, -0.0189, 0.9998, 0.2375, 1.4727, 0.7429, 0.0082, -0.3592, -0.1661, 0.9989]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1762 left_yaw=0.0041 left_pitch=-0.0126 left_roll=-0.0061 left_gripper=0.9998 right_x=0.3671 right_y=0.1564 right_z=0.1007 right_yaw=0.6247 right_pitch=-0.1136 right_roll=0.1048 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -1.3607, 7.0222, 1.7265, -0.0806, -0.0562, -0.0171, -0.1436, -7.7197, 6.147, 1.6337, -0.0855, 0.1929, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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, 0.807, 0.6029, -0.3809, -0.0227, -0.0189, 0.9997, 0.2359, 1.4727, 0.7422, 0.0086, -0.3405, -0.1341, 0.9989]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1757 left_yaw=0.0041 left_pitch=-0.0141 left_roll=-0.0061 left_gripper=0.9997 right_x=0.3688 right_y=0.153 right_z=0.0997 right_yaw=0.5909 right_pitch=-0.1205 right_roll=0.1186 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -1.4564, 7.0632, 1.7509, -0.0464, -0.0513, -0.0171, -0.4581, -7.665, 6.2017, 1.6728, -0.0757, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:635fc3b0ac5c882cf084fc622e066de4292742e700623be5ab13fca8ff5a26f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68e2869023fc80db2753371106001cff1e3f56e49832bce3bae6ed570b04980c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd73659a835d3a00ecb9f21950c4aa355b89a04621b3b5b270f1cdf7f9ed3f32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIStQoKjgEIEhgCKkB0ggI/B/KXs0OOPshuJ1DbydGwgfYCTqEZn9TgWWEh4NvGcO+U+JFHypjzs8is1MgcVxIMYvPyPzNifLhJymRZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbSZzNUGEgz20AyVJKbos6UmtRIaDDifenjTrssBmFiceCIw4Ap4bf0gcK2HiUcDXm5F81Voj71jeF10G3guAgh63l9kJ73Pwkm0vyT4q7Hmtv2dKtMI/gGmrhxN0Fuee+asZKQgmhiUVDy7LXgvrtyjzqnfwJon6XZ3KLfgXCKR5Opu7vdVLrdpLYmUteHCBT3oumQ5yvKSsbcE9qHTRDz6roZjqhMmxDY+ywACCtqkJ/Z4IewBDTmxrAtMuF24iGH1Dc2Crv4j+P+fJytOFHhvMZEGeiV9YWYca7/jskRfpPwwqrKG2h++YxTs/2Pn+fTdM7w6d5bf/ST0LcdF74qb0/OzUIdUSi+4+nSqU7C6Xn4ccQoUv6M6s+dhEGxcYh49nHHzaAXkK1hoWl0hlJTGbBurZMkrOAcN5h6m+3T/GMojy8/8UE/p+nYbfIJF3+CEOU0L02yw4YbnohvjCGpnXNijgGQIQDrxzNDIYG3v7LKP6klmfSp2VDtS5eXYiM6lY/31h+1lqqDYn70lZcTKiffkenGEl2eKBr2F0CvpsTnDskrGeyy9DD0JW1mvOl/8jg8ImWAwzEjjJ1skEXTDU3mgHZr+xI5HR0d28HmyG4oFK1Zmlg3wt4SUR8rKhXKwV5tsMvYSivQpZsKKFklqu54kSAtZTVYjhqmOrgzZEMXY6p3brAx4uw8ENyXFPbVt1OLRHsRQQfzBuT2VJSz+DwAGdL7reT07gHowcarFBawjySEvhoGReQDVej/N6DdxknABGfpqFZK7B2WwV0GfV5TxeyG+QL/hWSq9Ku6F+yJ64JfmEKOK4g/mEGOkVpSaWsUlRNnY367t6sYptrrB3Q6zwDXy89kjw1i1stIjbMeI3j659XZutgkk57BZKqpyB8u31gfdrsUtm/fz/LuVIXqlnImF4bKHx2JkaaGxkJBErW1FEfIKExrBo+LergFfzxwmT4jQfVclkSgRxyZPpbYuQS9LYCdiKysHkyi8gHQ1GnqmgOUT59cDCGNQke0ASw6N39SrecX5OoKqMLxpAnGPFZfCaWLNYbOzQOfNhhqf8A1qNDeICp2oydtE2kPuODTSHQZhqmJ9vW8g+1yrTGn+ONRzMjc4jvpr0v2jYc1wTLu9/9ERUOn/7Th23IRHyuHsANKrU1dO/+Ia+25fDI9K7961PdohtCG9R8jYjullRmkNX7p5gknT3P1UxEoyZa8YyonYDhF05k6A3cqv333inNBUfdCtv9/8flF21jnOLaD6G0CU/DnIjnM8VEYhSNwWELz4fTEvUHr0jtOlPIz1V90MA4ptjgq5NcMYSunbLkLz1IgQyGH5x1UYuQOWvNt+gaMkaB2nx3gNSDoEOKRYx0Rhz+MGBHUInh0HhgMxFmVE89akMphSdcv2WkWzCNHopvRVGmxNwI0ZENol+gsUPhRQ3mbFzRDM108GKrmKX5ielvT3mBmh15vYyttiGIf47Y7HNhkx/ty5Ju7skLVNS5f4lTMW9udZ9IZjLA5j/bQF8wPQaivjBlRFjG8HyWBtueUuA7jdDYQitJVDq9GR2c4SA+XFY4eTzdLZb/7OknD6dEyWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U5Z6Y58nZEmxmTqg8xSysr",
      "input": {
        "note": "The arm has barely moved over the last two commands, so I'm commanding a single larger lateral move (7 cm to the arm's right) to bring the jaw column onto the pen.",
        "targets": {
          "right_y": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01U5Z6Y58nZEmxmTqg8xSysr",
      "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, 0.807, 0.6029, -0.3813, -0.0227, -0.0189, 0.9997, -0.0174, 1.4689, 0.7414, -0.065, -0.4664, -0.2729, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1756 left_yaw=0.0041 left_pitch=-0.0145 left_roll=-0.0061 left_gripper=0.9997 right_x=0.3774 right_y=0.0765 right_z=0.0944 right_yaw=0.5168 right_pitch=-0.1376 right_roll=0.1195 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -1.0325, 7.0496, 1.707, -0.0611, -0.0513, -0.0073, 3.1248, -7.7333, 6.4752, 1.4383, -0.7057, -0.1832, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5a032893e0326a80f8d6de6f42a8286c749a73d7f1ac0574fb674f2df4e7712",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81cc63f0f8f25219db3e1f01e6e14c338c8b68d6999e3b8485a0e8cbd183e12d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:336321de3e229e493814f0aae36bd2cfb8ebecdf99d861797edda291af859191",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 8.229 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3813, -0.0227, -0.0189, 0.9998, 0.2375, 1.4727, 0.7429, 0.0082, -0.3592, -0.1661, 0.9989]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1762 left_yaw=0.0041 left_pitch=-0.0126 left_roll=-0.0061 left_gripper=0.9998 right_x=0.3671 right_y=0.1564 right_z=0.1007 right_yaw=0.6247 right_pitch=-0.1136 right_roll=0.1048 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -1.3607, 7.0222, 1.7265, -0.0806, -0.0562, -0.0171, -0.1436, -7.7197, 6.147, 1.6337, -0.0855, 0.1929, -0.0171]\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, 0.807, 0.6029, -0.3809, -0.0227, -0.0189, 0.9997, 0.2359, 1.4727, 0.7422, 0.0086, -0.3405, -0.1341, 0.9989]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1757 left_yaw=0.0041 left_pitch=-0.0141 left_roll=-0.0061 left_gripper=0.9997 right_x=0.3688 right_y=0.153 right_z=0.0997 right_yaw=0.5909 right_pitch=-0.1205 right_roll=0.1186 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -1.4564, 7.0632, 1.7509, -0.0464, -0.0513, -0.0171, -0.4581, -7.665, 6.2017, 1.6728, -0.0757, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0227, -0.0189, 0.9997, -0.0174, 1.4689, 0.7414, -0.065, -0.4664, -0.2729, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1756 left_yaw=0.0041 left_pitch=-0.0145 left_roll=-0.0061 left_gripper=0.9997 right_x=0.3774 right_y=0.0765 right_z=0.0944 right_yaw=0.5168 right_pitch=-0.1376 right_roll=0.1195 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -1.0325, 7.0496, 1.707, -0.0611, -0.0513, -0.0073, 3.1248, -7.7333, 6.4752, 1.4383, -0.7057, -0.1832, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5a032893e0326a80f8d6de6f42a8286c749a73d7f1ac0574fb674f2df4e7712",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81cc63f0f8f25219db3e1f01e6e14c338c8b68d6999e3b8485a0e8cbd183e12d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:336321de3e229e493814f0aae36bd2cfb8ebecdf99d861797edda291af859191",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISxwYKjgEIEhgCKkA9xHL3CUjNzTAcgZ2oTXtz1ppCywbyqKMxE/o7pAC5nSi2lFhUHsP2CKyVrTZmad3fDEPcu9qB0ma1bHT+7juxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbyZzNUGEgyuYUuR7QEn05IKpLwaDHlmiOi7rBv5OjyGryIwbOZHFb9NtF+wdn0nuM+MjWS/Ane4R87J+qp008VfI8Mvw3qvcUUBMpLvLS4pQjLDKuUEM9WMp7tYUejKkZtrPid6Es8DmCaQWCsn1ME2V3KECiuO2Bde1omSaJYaoi9zRuXHJDn/N8aLtCMoJq7WmTHPAkH6oP6VqPCmM9tjeQ5hTo9cSy/RMVsU6C/Ft2eNH2aiA3hGdXX+28ShdlNxUl2etBU2jsMMQnUSKTDEPoZTTyztiECCZ+qXSDqOLmD9SrILNMsDYvGUyPpb97cYk+PqCrNPMQSvJ51iTnDiPvpE76QxAmCc/mMEnTudSPGuKBCOFnURwBGrtBxjp4KNTbqcV3H1U3QA+zuBl9T5bzTLrxPsinJwpwIMuoj/B+iPkBjgInXkfJmxFN3qf2hDjZJyhEsAEQc6qEXlLnJynQnjrB+bpXSlC3pnJYFS/wtmKY0sAtCfcW0HYWnsisfNwOqu+BDVM/axqLdG4jwbcoMDJU7SyfMobaCuSkIcRFvL5Fhxm4bNwTNzpw1DJdqs5hlAwu/Lh4ZJrK1wnhd8ez933DqiA7eyIxYyoYiNBBiE8IEQuMxa8GqKIpKglt/RfcLrLR0aQp4jB/5p6pmUajuJQYnvSR9ZRs4xoEIvcu2fTsgLA07heJk0CM3LI3Rp6Stw/B1rQhTU+1+rNnQ0YD+WH8X5GbmGiIuj55Z6z9DPZs1nYXyDkmctCxkrOx++NQNVqszwr12IZap1RQnmEO5Jk6QNHKEeX+ajXHXRIM/hUoa6T26QxmhOfr+hzFQAsmkL0offeEigo8VgEb6NmJKNug+ztO/zGviBU6atbs6chwVMavueccTQZHYsRQnzXw1Au4N2NTlWhrDi8DZQ7BDqta3bU/RishgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H5XMr76Pa3vxQRCpbYRZRt",
      "input": {
        "note": "The pen is now centred on the jaw column in the wrist view but sits above the jaw row, meaning it is a few cm further out; advancing 2.5 cm radially and dropping to 5 cm height for a final check before the grasp.",
        "targets": {
          "right_x": 0.4,
          "right_yaw": 0.6,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01H5XMr76Pa3vxQRCpbYRZRt",
      "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, 0.6029, -0.3824, -0.0227, -0.0189, 0.9997, -0.0402, 1.6726, 0.7555, 0.0223, -0.5282, -0.3508, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1749 left_yaw=0.0041 left_pitch=-0.0175 left_roll=-0.006 left_gripper=0.9997 right_x=0.3862 right_y=0.0771 right_z=0.0431 right_yaw=0.5922 right_pitch=-0.1915 right_roll=0.1564 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.4974, 7.2274, 1.7167, -0.022, -0.0269, -0.0122, -0.5812, -9.6479, 6.7761, 1.8046, -0.3785, -0.1734, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6749aeb0f295d8fc3e475e05280df85f7cbc143c9407dc2a04a473af9507440a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e93eccfe66cd8cc09e6ca1f69e007d43a0c0836943d992d60517e8c025f7b69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b68932b98e888f6c1fa16ca1275e755aa397384fd39bfa7aca4c916e52b42c40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 5.809 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.0227, -0.0189, 0.9997, 0.2359, 1.4727, 0.7422, 0.0086, -0.3405, -0.1341, 0.9989]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1757 left_yaw=0.0041 left_pitch=-0.0141 left_roll=-0.0061 left_gripper=0.9997 right_x=0.3688 right_y=0.153 right_z=0.0997 right_yaw=0.5909 right_pitch=-0.1205 right_roll=0.1186 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -1.4564, 7.0632, 1.7509, -0.0464, -0.0513, -0.0171, -0.4581, -7.665, 6.2017, 1.6728, -0.0757, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0227, -0.0189, 0.9997, -0.0174, 1.4689, 0.7414, -0.065, -0.4664, -0.2729, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1756 left_yaw=0.0041 left_pitch=-0.0145 left_roll=-0.0061 left_gripper=0.9997 right_x=0.3774 right_y=0.0765 right_z=0.0944 right_yaw=0.5168 right_pitch=-0.1376 right_roll=0.1195 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -1.0325, 7.0496, 1.707, -0.0611, -0.0513, -0.0073, 3.1248, -7.7333, 6.4752, 1.4383, -0.7057, -0.1832, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3824, -0.0227, -0.0189, 0.9997, -0.0402, 1.6726, 0.7555, 0.0223, -0.5282, -0.3508, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1749 left_yaw=0.0041 left_pitch=-0.0175 left_roll=-0.006 left_gripper=0.9997 right_x=0.3862 right_y=0.0771 right_z=0.0431 right_yaw=0.5922 right_pitch=-0.1915 right_roll=0.1564 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.4974, 7.2274, 1.7167, -0.022, -0.0269, -0.0122, -0.5812, -9.6479, 6.7761, 1.8046, -0.3785, -0.1734, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6749aeb0f295d8fc3e475e05280df85f7cbc143c9407dc2a04a473af9507440a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e93eccfe66cd8cc09e6ca1f69e007d43a0c0836943d992d60517e8c025f7b69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b68932b98e888f6c1fa16ca1275e755aa397384fd39bfa7aca4c916e52b42c40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS9gcKjgEIEhgCKkCT/jKj/7AVA2gtKl9ygbpn2BApuHl9CzHHXy56A6Zh0Cd3TWsdUbPjXWTV6UjRusU53fnkECLpP276A/XVkoZ1Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcWZzNUGEgwYVFeZrC4EAArBk0AaDI407YTnDK7/RylMgyIwVsyUIrDuUc+QeYUnFAGLGCgE7Yd/qemVKthISLQ+ylG71qFd5p/29QIuW7GNOGAzKpQGQXj97CyhYqfpfGwl4YPTlFK0c+Wn+BnPDFlrshD8O7Oh1H1Bra0o1yqCaQp1ZPPFITJewQz9j7v2W7aIEO5de2/f5oSTA28kMQKJ4KYPizeVooK82WmRuHT17iLhqmtEDQHKVJAY+0wYPpwkK/FA7jgVTctUmUMOG6QVgAWwrMlnS0EC2RoR8K1M2ajrq3fHSprfxYtH8+mwgneTwRTU+fcrvm1xT7UAA0fgjd5Svqdj5kG3CoQJiQ9B99enPv4AmQPouOBpgmla1aYvFeMj6RGaD7MCw7nBGwPzc1megrv6UB0gyW/kuJL39vFLSck1ZgLDeoVdo4mgfA3l7WJF9k0hYOs6wIpd6/3wUO6pTQ6mCYi/qOcxYaZPS0S5O///G1KEQFJifonJYdBETLcNQJRefSiBP0NcJe++RV8/IELjx6BMDnxKzj/qBjadhQJtB2sdSrZEtgAGlHmouqxVnonqol3FdQqyalG0e90YRvj6LCIqWpnjzzFtBAfy/iF141am/5cMVQ6/WBNf5zNohOjQnUA1RGSQPWfgM4K1ddPa+nVIBhWmRcwhyp4YenzoA7GS12PkDULWiLzkODhhAQcWVQW8XHpw3azYUWe53Z3q7ARW+twEcrSEz/Dz/yPFvRdzHYde0Z67sQ+wgO3n70kWxrPY2e1bYImzrI164JSIIN6mQ1QBzcWB90MybcB76o1MRJ5zZmILy0OdaBr/9Z60nvVBl9QBZ/r0NYdKzoKutoLKrfGcTVbqoXrfYAdizaxcQGy7RfXHcz7SjuaV/ogDfHR5JYP9TS2hB6MyaQ/Lqiok55cD6xwhExcbdLIz1ijoKgwmjAkq4PhdXLqVH2cVvWhMoyV6VirBjVr3Q9jLTGrXCM/f2SCqvIvUctZApv/Gx67Okt2pnAcg1xyjLbic5MTq3eholwTal+rtrYXTWKmAc94jkq5jUrsi0EvUnQvUlUHSTFeB9MD1zHFIvAe2nlbqMWGc5XfonZZI/2JVDKyYgvMcbozwjDGsrjrdk6TS81AuyMzoYPnETeGUw1x4ddEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DZuVGv3AtKpcVsFeWrgmHk",
      "input": {
        "note": "The pen runs straight down the middle of the wrist view between the open jaws; descending to table level (with a 5 mm lateral tweak) ready to close on it.",
        "targets": {
          "right_y": 0.072,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DZuVGv3AtKpcVsFeWrgmHk",
      "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, 0.8097, 0.6029, -0.3813, -0.0227, -0.0189, 0.9997, -0.0444, 1.7123, 0.7536, 0.0608, -0.5358, -0.3569, 0.9989]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1749 left_yaw=0.0041 left_pitch=-0.0171 left_roll=-0.006 left_gripper=0.9997 right_x=0.3893 right_y=0.0765 right_z=0.0339 right_yaw=0.5973 right_pitch=-0.1899 right_roll=0.1585 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.4291, 7.241, 1.7167, -0.0366, -0.0611, -0.0122, -0.4991, -8.6906, 6.6667, 1.5702, -0.3785, -0.1343, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:178f0f3d808d01900f80e3d9bb033b9502fe33135952c958409c73c6ddba2c36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ade5ad5379a01b4e7d1e353166acc794efef0bcfc3df0127d23b02054ed0b183",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d3c4633823adb599de7f7c21ae7097bd7c30e8beeaef837cf6fa399da7f4e7f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 10.06 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0227, -0.0189, 0.9997, -0.0174, 1.4689, 0.7414, -0.065, -0.4664, -0.2729, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1756 left_yaw=0.0041 left_pitch=-0.0145 left_roll=-0.0061 left_gripper=0.9997 right_x=0.3774 right_y=0.0765 right_z=0.0944 right_yaw=0.5168 right_pitch=-0.1376 right_roll=0.1195 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -1.0325, 7.0496, 1.707, -0.0611, -0.0513, -0.0073, 3.1248, -7.7333, 6.4752, 1.4383, -0.7057, -0.1832, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3824, -0.0227, -0.0189, 0.9997, -0.0402, 1.6726, 0.7555, 0.0223, -0.5282, -0.3508, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1749 left_yaw=0.0041 left_pitch=-0.0175 left_roll=-0.006 left_gripper=0.9997 right_x=0.3862 right_y=0.0771 right_z=0.0431 right_yaw=0.5922 right_pitch=-0.1915 right_roll=0.1564 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.4974, 7.2274, 1.7167, -0.022, -0.0269, -0.0122, -0.5812, -9.6479, 6.7761, 1.8046, -0.3785, -0.1734, -0.0073]",
      "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]: [-0.02, 0.8097, 0.6029, -0.3813, -0.0227, -0.0189, 0.9997, -0.0444, 1.7123, 0.7536, 0.0608, -0.5358, -0.3569, 0.9989]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1749 left_yaw=0.0041 left_pitch=-0.0171 left_roll=-0.006 left_gripper=0.9997 right_x=0.3893 right_y=0.0765 right_z=0.0339 right_yaw=0.5973 right_pitch=-0.1899 right_roll=0.1585 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.4291, 7.241, 1.7167, -0.0366, -0.0611, -0.0122, -0.4991, -8.6906, 6.6667, 1.5702, -0.3785, -0.1343, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:178f0f3d808d01900f80e3d9bb033b9502fe33135952c958409c73c6ddba2c36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ade5ad5379a01b4e7d1e353166acc794efef0bcfc3df0127d23b02054ed0b183",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3c4633823adb599de7f7c21ae7097bd7c30e8beeaef837cf6fa399da7f4e7f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISvwUKjgEIEhgCKkApArf25DFRrMU+3YMhSh9Ptb0ofv5mGbA6+gAy/fBM9BtQSIKXEXDF0545hLgQPy8pnwh6N2ZZqUdFFe0xg9cZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcuZzNUGEgyla4X4H7iXeMQ0BPwaDK5JSEW3X2fKzrgGqSIwUe4H34OlExwOgisexxMmp5uadzbIEs1HUyfb/c1/FIkhbKU16yaF4/PtcdkfGm5DKt0DVE0XpIaBjRQtfdEqAktv0yJXtNAbYVFgC+xFeUKGyZ1Iji4vl7zBRp7Yf7UJCuZ+9Ejpm62IbZNRshtnX0oIEgBP0baHq/QGxjDrc2vyYbZL2j1G7k+pDYX34qyfk3dcG+8osbwT3mlSXgCkjdEgIFMLo2LEC59AeW0En421ONFT/6jP53oYJXmN/rGwUEw3SFPN3IUiZKuCqrv9pqbDHkEzDPCxG4AL+7rydOI3Umoj1Ilfj490Nw08k1b4dsh1x/WpYYkdDBt/jKvkzMnXY3KeRkZKa3HkuMUjPKZy1ESuqIUb7zYLz9X4Zxxysx4u5YW80VC9QtcMkgIopAsDqRFeJfcFEBI4q/WY2HtYQSICIZmocpQe6E6i57QQlccRfbSCqNnQQcpIqlVkiZO+IlgX8FrKjkZjP2yFLo+ZMdg284GmYCxeXK39QHIJHBF1N1HuiKTQrm2KhEYKUrMmUV5jo23+2TSxP7aVCdcyekzjRB6bzasfQ0dwbpngON6W7pi0unma/+ci2KMpkRNftedsGBBp1CVgdtQBOxwXXh+rwzYPTscLbzPJ+96mWF38GGQpYh3/NtqbUNUskkVOgxaWtFaInreBMvyocvMDlwABl6douSRfbKdNTSpOGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FyW6rNrHLU3MgJwvyzfgxF",
      "input": {
        "note": "Descent is progressing only ~1 cm per command; commanding table level again to bring the jaws down around the pen.",
        "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_01FyW6rNrHLU3MgJwvyzfgxF",
      "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, 0.8101, 0.6029, -0.3817, -0.0227, -0.0189, 0.9997, -0.0444, 1.7123, 0.7536, 0.0616, -0.5358, -0.3569, 0.9989]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1747 left_yaw=0.0041 left_pitch=-0.0179 left_roll=-0.006 left_gripper=0.9997 right_x=0.3894 right_y=0.0765 right_z=0.034 right_yaw=0.5972 right_pitch=-0.1892 right_roll=0.158 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -1.347, 7.0769, 1.7021, -0.0855, -0.0562, -0.0122, -0.4581, -8.841, 6.7077, 1.6093, -0.3687, -0.149, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d3773e29fe1ed0c0b4eced967480b23d53d4633abb78950e34440148688df2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cb2219a1407fa2051847f2806a434fc9a4ce9c47e587da5a7db883b6e7fe6b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea141398594b13b591f9b1a2949f3d2b59ec0c71af669b2e2c1eff4834665418",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 10.68 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3824, -0.0227, -0.0189, 0.9997, -0.0402, 1.6726, 0.7555, 0.0223, -0.5282, -0.3508, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1749 left_yaw=0.0041 left_pitch=-0.0175 left_roll=-0.006 left_gripper=0.9997 right_x=0.3862 right_y=0.0771 right_z=0.0431 right_yaw=0.5922 right_pitch=-0.1915 right_roll=0.1564 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.4974, 7.2274, 1.7167, -0.022, -0.0269, -0.0122, -0.5812, -9.6479, 6.7761, 1.8046, -0.3785, -0.1734, -0.0073]",
      "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]: [-0.02, 0.8097, 0.6029, -0.3813, -0.0227, -0.0189, 0.9997, -0.0444, 1.7123, 0.7536, 0.0608, -0.5358, -0.3569, 0.9989]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1749 left_yaw=0.0041 left_pitch=-0.0171 left_roll=-0.006 left_gripper=0.9997 right_x=0.3893 right_y=0.0765 right_z=0.0339 right_yaw=0.5973 right_pitch=-0.1899 right_roll=0.1585 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.4291, 7.241, 1.7167, -0.0366, -0.0611, -0.0122, -0.4991, -8.6906, 6.6667, 1.5702, -0.3785, -0.1343, -0.0073]",
      "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]: [-0.02, 0.8101, 0.6029, -0.3817, -0.0227, -0.0189, 0.9997, -0.0444, 1.7123, 0.7536, 0.0616, -0.5358, -0.3569, 0.9989]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1747 left_yaw=0.0041 left_pitch=-0.0179 left_roll=-0.006 left_gripper=0.9997 right_x=0.3894 right_y=0.0765 right_z=0.034 right_yaw=0.5972 right_pitch=-0.1892 right_roll=0.158 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -1.347, 7.0769, 1.7021, -0.0855, -0.0562, -0.0122, -0.4581, -8.841, 6.7077, 1.6093, -0.3687, -0.149, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d3773e29fe1ed0c0b4eced967480b23d53d4633abb78950e34440148688df2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cb2219a1407fa2051847f2806a434fc9a4ce9c47e587da5a7db883b6e7fe6b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea141398594b13b591f9b1a2949f3d2b59ec0c71af669b2e2c1eff4834665418",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISuAsKjgEIEhgCKkAUNpnrRB4Epcb4sczvmSZ6Jupwx3s8r3NInXthrzfWkTStWkffJ7eRCXMUOCFT7AKRNVA6gJ6nt7VqjP0qql/3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdWZzNUGEgyDSTV13pbxhi9QmrIaDDuvqgRD+//xmihztCIwDd79CeTl81xLVq1jPTbEq5MvG8CUjbPTAZVaU7zYpWt2vntcYpFCcR7cfAvUBbreKtYJk6vHyv7rWFBFD3d88ubPjdERy5PjXUHcmGisjQegwYgdk0ie/O6sCQS/NDK1dh9ovvJfP6xCUhih9sKrdVrcVk15ssAJ45xF0vMrEeVzJKAgnh1ktE8dh1woCIVGDWld1uguwAQ0TBi/CJXstSHp0FkVf1d2d+mqSMGe3/V4qyj5u+klqPKlA/6oIZwiUO1nOzi8IeF4wJFmoeTrNQeHuUFX7GxcAwNCbZqhsxzuOSrfGp0jDR8UlvvDpKkHS3o8JSChXIthRtkwvOE8t2xGNgV835+kSFyCk0z6mprVxLmybzj+04xGLqI6nTraZugpn+ClmeRruS22zgMVdbCxTB8hbesImnyfe1JyLDFFNgqHYcbNBfNgnjl3b76XqHPVkxXk8BRBBwZtfKP/0SXtgzAZJpoIUbNpW5cIHLkx1xjKo146rOGKArevhW84xNUbsU8YJ9nkzl14FYVTIQYNu0sXRrOfaIvjeAyL61FVnaLdBKWJsuSMdaLjEAm4A2by7MLqIhj1tglE0x2ThiXr9qnea5ISGLZgDwIjEeHObd79aZDIZTNk7K1PDZ3g1kZONfCoSfv/vgxHlK6CduYpNKr93wIKsz80pWAj/jBVPKw6/PZdkVaryRghOFMuiYd1ITMKnDimCqDiGxLU4C3qth4fIxajcoENrZD+2IRVFD+zquH0Heqfbln0mBjzy/Xta5UCxI01QajGEc9nTBoQPRd1iCKBO1nPHDUnHUI7Zb3AEjF5npMJi6uindEJy89xTWZSTRdWCphYGvchXxXphy4TzAXvOsySHTa9ErK9oLDxWQqb3UrmbdG0op3HlTXj8t35Cd6Ces+Gy7xG+JKBfEiQJNkmyEEPahM7JOrx9Lta7wioKI7Fkx3nxGPrS+CZFyyQqXkRSNwOA09Wn4beCGDb+YozsBTtib/4W6xJPX9kUYwLOlkPYNG1sukL+nS+FOZWYRSvhmBkUb3Mle7FtZvFCIuz77ZFpU1EZ6kIQ5I6ADC9asbO4tbXZTee+/ap381eC8mBYzv7jxzis3WQPYTliO/eKnXQgIFnM8O3uLHrKdJmrlKBr1Y2CAEMEf+++sq6S7pKR6aB4RVKU10FNO7ML+iQsnn9y0oJd6tfRUe6YdDqJou0zR18YW13YRaqHwvTVgFnvAzIQ6ULd4R4CLz6apAalFXtWRvSrdr11wInd816G4upRTZvo+QGtsfCUBMwRIxe7sGV5QYg/2DuTxHzn3+Z+w8IAJA1yyrWF50a3sFtQLRSsycmjf0oKeMFUINyKJ534SjoeLJHch3MRYxfPvc4ViZyQq0ubDNIIK+o+/o7ys2KPtPe6fm8es5NqgVkbRnLNPputWG1MzcTpECHiA79beubUxPk/pIO2dheYGs1C29sRnSFgX+yl1jZsnlMSg5/w3XvVIavCJn9LqxuoFs2MlS11+6ZGTSb+uTyx4HVehek+TBPF4Py+1Qh0IyvgVMdG0NFMUQ6JpzOvHi+lXcyCe0z8GzBSNejyleQZoIIJ9721UpEm6AKb9u++Sg2hu9X5oJCqQgA9klsYt2fgRpVZmmFaBGyUd27VwSunD3Us9EdmPgZrW/qebESBcYradCyF5wAek8HHqdkiI9zBzKAZEskyeDnXjcZhRYsUfgtBZcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EY3syG9CLBioiH75tGVczv",
      "input": {
        "note": "The arm has stopped tracking the descent at z=0.034 (possible fingertip contact or awkward wrist tilt), so I level the wrist pitch and pull in 5 mm while re-commanding the descent.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.385,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01EY3syG9CLBioiH75tGVczv",
      "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, 0.8135, 0.6029, -0.3824, -0.0223, -0.0189, 0.9997, -0.0902, 1.8492, 0.6037, 0.4614, -0.6617, -0.3637, 0.9987]\nstate[eef_state]: left_x=0.2956 left_y=0.0016 left_z=0.1736 left_yaw=0.0038 left_pitch=-0.0221 left_roll=-0.0061 left_gripper=0.9997 right_x=0.3846 right_y=0.0778 right_z=0.0051 right_yaw=0.6393 right_pitch=-0.042 right_roll=0.1539 right_gripper=0.9987\nstate[joint_eff]: [-0.1709, -1.5795, 7.0769, 1.8144, -0.0415, -0.0611, -0.0122, 0.4171, -2.3726, 1.347, -0.8718, 0.5299, 0.6129, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29b8c0a6639567ee4f2c4711627d18d2ade3f88d5081de464c9d56ddc7f8997d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16be8d58deb8a6de87d3188de6aa737bdb31c9619bf5f2ee4d13f022f6e61eee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29fd5fadb95058288c7d93bf9bdfcada223ecaef587be15bdfa763df447022cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 6.38 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8097, 0.6029, -0.3813, -0.0227, -0.0189, 0.9997, -0.0444, 1.7123, 0.7536, 0.0608, -0.5358, -0.3569, 0.9989]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1749 left_yaw=0.0041 left_pitch=-0.0171 left_roll=-0.006 left_gripper=0.9997 right_x=0.3893 right_y=0.0765 right_z=0.0339 right_yaw=0.5973 right_pitch=-0.1899 right_roll=0.1585 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.4291, 7.241, 1.7167, -0.0366, -0.0611, -0.0122, -0.4991, -8.6906, 6.6667, 1.5702, -0.3785, -0.1343, -0.0073]",
      "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]: [-0.02, 0.8101, 0.6029, -0.3817, -0.0227, -0.0189, 0.9997, -0.0444, 1.7123, 0.7536, 0.0616, -0.5358, -0.3569, 0.9989]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1747 left_yaw=0.0041 left_pitch=-0.0179 left_roll=-0.006 left_gripper=0.9997 right_x=0.3894 right_y=0.0765 right_z=0.034 right_yaw=0.5972 right_pitch=-0.1892 right_roll=0.158 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -1.347, 7.0769, 1.7021, -0.0855, -0.0562, -0.0122, -0.4581, -8.841, 6.7077, 1.6093, -0.3687, -0.149, -0.0073]",
      "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]: [-0.02, 0.8135, 0.6029, -0.3824, -0.0223, -0.0189, 0.9997, -0.0902, 1.8492, 0.6037, 0.4614, -0.6617, -0.3637, 0.9987]\nstate[eef_state]: left_x=0.2956 left_y=0.0016 left_z=0.1736 left_yaw=0.0038 left_pitch=-0.0221 left_roll=-0.0061 left_gripper=0.9997 right_x=0.3846 right_y=0.0778 right_z=0.0051 right_yaw=0.6393 right_pitch=-0.042 right_roll=0.1539 right_gripper=0.9987\nstate[joint_eff]: [-0.1709, -1.5795, 7.0769, 1.8144, -0.0415, -0.0611, -0.0122, 0.4171, -2.3726, 1.347, -0.8718, 0.5299, 0.6129, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29b8c0a6639567ee4f2c4711627d18d2ade3f88d5081de464c9d56ddc7f8997d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16be8d58deb8a6de87d3188de6aa737bdb31c9619bf5f2ee4d13f022f6e61eee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29fd5fadb95058288c7d93bf9bdfcada223ecaef587be15bdfa763df447022cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS2QoKjgEIEhgCKkARhgpTvuNlVV9Q0YTjo1/5qDeY7D0rYCNchRSKF1qfy7cN4pqwovEkxkAJmjOVbx0Q1fggxdQ69pQp4+UAU0/bMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeCZzNUGEgyrN6OsNje1YVN+XJ8aDIs97rnmfRnwEL20CSIwNWICE4mMyMRWdWCD6U/Zi6UUn7sLFGwppi/hn46B73biwcgyDgRnNU5jzE34ZTuyKvcINJQsb5qv3T/eSHwS8YwMHJag3d3x+ZUlQimQZj/T9gIlVNswrA+GkSmr9Q6I/5ThJ5VTpRsWajd7dbPOR9dfyc2iaq8myPM1cCmnteOmBzqIgwEW1XjikQ86xKAgIUntrYN4AZxOB7lXawnOvNHHi7sfkmIqalca9Ngox9Gx4XUWNSqPdOAiuBZXsNMr53A3iHfASYNtd7l9E3NHXl7QgZ2PfwtwD3UVM/NkfXzR8RsTEB2tUxalFnsrS9FKM12UZQ3jlxTpKWIps9rPQlb+epyTmHeZGUCHCXN3zE/MW/irX3Ogx3GgK/1JWPXQpGnTALnNgsDKULTbn18BZwMb8JnIhpz9cdQpqQUgLv+b/naxBNb0gPrMPqsfj7f/XzBUVsBlaVDQwkc6cESZEoFaniU2Axq5osO9cNwRlxvtFgZ0bWKEL4EJ/xygUOoR/CoQoSfls3kV3zbLSH9nKI433fHJZoE4CtcRm1J8OLfjE+mmWFzJ7Xa2qtTMnZSaApq+xv/jmKgWWH3obJNAHgipiFepzTKUQ0dZ8aHbTitYmGTbYowTL0AYebVVYgQx1yk2lvYmXZgo9BSvHQlOc1ly5fzk3Jl2Lg7dvx2bUNqFHdb2QGtaQYoPWv4FKV2ToHme9cIb+scWxfZVzTsKXPJgFWF+7GxUQ6Lvl7wCrTD2g78JzS7hj/ZtEdFiTX0v1kQWKdwjtbjLharsg4w6G4+VI1swfQNGRVBMrJ2gFzLqUqil/yfA0LFmYobsOhqPl+G2rWfH2aH1vAsVf1T+Aqb/J4an+tG4+phbLNKtckYnE/Wu4Ybc/GHcUa23HDikzWbawUnuCZ0Wx4Rge6ynDRn113oFbBJcJR0sJf3+vS4iXWTVaFnyyAetOg+bAdRmEyt8yvqTI4774ehbzsvxddEhjSy92KyHRzOhl/zAMzReFCCJklSpcLZ9r0ycaxKD/VjCZl7DwZWb1WNq8QfjkGIyimmK9a8rc8RU6/NzNZvRGWi2uALfKqqOBm8qnUTSUN3AUzXsE3pTpBLysffmz8Hx+tmNprzSecqmUiJDTuhr3DpQReL8XduSesbkf7PZ3FgppwfT1tCWAJMJcWiPgppgEHWCIpO6SYk3C0mwP9hC6jmqtlHg3ab1n7TTTXNi0/odmiXJ++0qNIIHnHAvViEAOaqwRMbdbU9oPb92JNRa7oPy+pHa+JghxfpolTaLmxAHrekjtVP+3pOvk2Bpm6bnxvwOhAVFsp1iqUPiveArigJc9dmh+4l3TyIFZOiWPF5RpjbObpWhn1nQTKsRFrOPKnD5ONJ1R/3/Xdl16TH4k2d+Ja8mYpB5qdmHX0c58hLUDZfRRUHuPGYQ456GN9CckIsZhIKsoqHO5laynA1TmyXd/q5vFtiLvLLzyqaDwc93Xd8puSyzeYcsXn5j/54uc2YMKKyj1lg71msND+SVT1kAR1+plKUvBENMDZu7P5CyfK1nBXEyro1l9yDopJLMmWNPu9t4Uuow4WGT5pnbZwyKf6kLnbKKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xj6aLqpxa6Hh88vy8vtaPJ",
      "input": {
        "note": "Gripper is now at table level with the pen lying along the jaw column but its near end still short of the fingertips; sliding the open jaws ~2.7 cm further out so the pen body sits between them.",
        "targets": {
          "right_x": 0.412,
          "right_y": 0.082
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Xj6aLqpxa6Hh88vy8vtaPJ",
      "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, 0.8154, 0.6029, -0.382, -0.0227, -0.0193, 0.9997, -0.0757, 1.9049, 0.693, 0.4999, -0.6621, -0.3523, 0.9988]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1732 left_yaw=0.0043 left_pitch=-0.0236 left_roll=-0.0062 left_gripper=0.9997 right_x=0.4147 right_y=0.081 right_z=0.0164 right_yaw=0.6474 right_pitch=0.0112 right_roll=0.1158 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -1.5385, 7.2, 1.6728, -0.0562, -0.0562, -0.0073, 0.5675, -6.7487, 5.1077, 1.2039, -0.2222, 0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c99aaaf8618e69ea7ce2fe81d2482e7b4ad7225885c7ae716ab65e4541c012ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17518c0a2b7791dd81496e7e4a2061de77623508815d62883aa34628acd1d5dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a25cd1d389c5336e84a145c72ff373f8f16a70a14afe96259529b7a258217345",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 3.149 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8101, 0.6029, -0.3817, -0.0227, -0.0189, 0.9997, -0.0444, 1.7123, 0.7536, 0.0616, -0.5358, -0.3569, 0.9989]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1747 left_yaw=0.0041 left_pitch=-0.0179 left_roll=-0.006 left_gripper=0.9997 right_x=0.3894 right_y=0.0765 right_z=0.034 right_yaw=0.5972 right_pitch=-0.1892 right_roll=0.158 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -1.347, 7.0769, 1.7021, -0.0855, -0.0562, -0.0122, -0.4581, -8.841, 6.7077, 1.6093, -0.3687, -0.149, -0.0073]",
      "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]: [-0.02, 0.8135, 0.6029, -0.3824, -0.0223, -0.0189, 0.9997, -0.0902, 1.8492, 0.6037, 0.4614, -0.6617, -0.3637, 0.9987]\nstate[eef_state]: left_x=0.2956 left_y=0.0016 left_z=0.1736 left_yaw=0.0038 left_pitch=-0.0221 left_roll=-0.0061 left_gripper=0.9997 right_x=0.3846 right_y=0.0778 right_z=0.0051 right_yaw=0.6393 right_pitch=-0.042 right_roll=0.1539 right_gripper=0.9987\nstate[joint_eff]: [-0.1709, -1.5795, 7.0769, 1.8144, -0.0415, -0.0611, -0.0122, 0.4171, -2.3726, 1.347, -0.8718, 0.5299, 0.6129, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8154, 0.6029, -0.382, -0.0227, -0.0193, 0.9997, -0.0757, 1.9049, 0.693, 0.4999, -0.6621, -0.3523, 0.9988]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1732 left_yaw=0.0043 left_pitch=-0.0236 left_roll=-0.0062 left_gripper=0.9997 right_x=0.4147 right_y=0.081 right_z=0.0164 right_yaw=0.6474 right_pitch=0.0112 right_roll=0.1158 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -1.5385, 7.2, 1.6728, -0.0562, -0.0562, -0.0073, 0.5675, -6.7487, 5.1077, 1.2039, -0.2222, 0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c99aaaf8618e69ea7ce2fe81d2482e7b4ad7225885c7ae716ab65e4541c012ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17518c0a2b7791dd81496e7e4a2061de77623508815d62883aa34628acd1d5dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a25cd1d389c5336e84a145c72ff373f8f16a70a14afe96259529b7a258217345",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISvwYKjgEIEhgCKkBVHzl0GdVgA5zoWa/iNXfnxx7BS3FmnoHoheFRRW3lTLTj+NiKOsXi5XZFPc2Bqzn8Mj6VMOhJMtjOc70ziTDcMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeeZzNUGEgxh5/JJspvjf8gzZMsaDC2H8d4ew2pIq02qdiIwLobBIXDB9WTrJEWl3F39BNrhosljSXqaBS4rqeKUBP8Zo4Ypmt9nw26RTYm1gI6LKt0EwhhANqfWYqqiHtlqRhSMx0UMpc251qbZ/tL/agrrSFKepRYz+jFRMQn0UEfqlK0FrK9O38wQQ4+U9BqUydwaTQopKJcXaWkFo2zCcYT26nIxgdMCyelLvdelEulOIM9VIuQSJfr1u9JpV8HCxmO0TE1KyT284ak8FMqny8s+ln5YT0feysa3kgvlEFqdseOX8RZIJAifK2+uO32pG1JmkydWaATZVSRxMFGU7s5oqWZd2+AR8y72DrMNSzapVw+t6/6SvjTMk0b7qPmHkbOA/kPir3M+Vaps6D5Py6f7SJFr5ea8+UgK5eRPHAwOyl5J0nWLfGXCk6y2bQQma6auOBHiEnP/DOqahyfZ8vNN02YjXak34EKjBxge1fxj6yW5fxYc86CkP0mEhJ+Ffk1xKJO4V9W1u/ygzbUkbk+mUMSJFSJxegonAqSB6R/NC9EBPPT7TspxBIXhnqZkmswSBJOv+eLmjb51JeG32tY0tr1EayXaPhExApa7yzSIAK+27iOtM/mAUhJdFHpbz7fuIPm0wK5e7Jpj5Og0hhMnMsWB0XpEVT1wOpzO5X+ui73likRLPh3jSwY7RmdZ+Vr2SpipixYLk5VDH2wmD2T5t3j2iBeD2WKFBpBY4jkqzaorhj2OTn0QQcYnJJl0h8penfrzrdAyq+rBIILGqrcsTK5ZVyXeR8jFa/ukEP9otoaxBZYbr+lJESZpdzXCejxTZw3OE806fUKooql3esLarKdUCHCAfEBwv4PrtATUFrg5YUTH22lo4I+CEVZjQXPIo3D/PKlqdkQx8fBoU8AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QXTSbg2oGwPEs6n1Kvs9yE",
      "input": {
        "note": "The pen now runs right down into the jaw gap in the wrist view; dropping back to table level before closing.",
        "targets": {
          "right_z": 0.002
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_01QXTSbg2oGwPEs6n1Kvs9yE",
      "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, 0.8185, 0.6029, -0.382, -0.0231, -0.0193, 0.9997, -0.0704, 1.9106, 0.7071, 0.4519, -0.6556, -0.3523, 0.9988]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1723 left_yaw=0.0047 left_pitch=-0.0267 left_roll=-0.0059 left_gripper=0.9997 right_x=0.4124 right_y=0.0825 right_z=0.0104 right_yaw=0.648 right_pitch=-0.0214 right_roll=0.1387 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -1.7983, 7.0222, 1.7705, -0.0855, -0.022, -0.0122, -0.0342, -7.3915, 5.1761, 1.2869, -0.2271, 0.0073, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1554ad5818e84d0b3ac178a0b127eb21125d7f32d1917ec074f620f7219157ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae6a97418108546ad3f4f75002a8bf7283a39ee466a7534129910006501f9679",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f77e5889c383f84fff008d6cab711c52b960670c247b2296ae27b5529191bd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 5.85 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8135, 0.6029, -0.3824, -0.0223, -0.0189, 0.9997, -0.0902, 1.8492, 0.6037, 0.4614, -0.6617, -0.3637, 0.9987]\nstate[eef_state]: left_x=0.2956 left_y=0.0016 left_z=0.1736 left_yaw=0.0038 left_pitch=-0.0221 left_roll=-0.0061 left_gripper=0.9997 right_x=0.3846 right_y=0.0778 right_z=0.0051 right_yaw=0.6393 right_pitch=-0.042 right_roll=0.1539 right_gripper=0.9987\nstate[joint_eff]: [-0.1709, -1.5795, 7.0769, 1.8144, -0.0415, -0.0611, -0.0122, 0.4171, -2.3726, 1.347, -0.8718, 0.5299, 0.6129, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8154, 0.6029, -0.382, -0.0227, -0.0193, 0.9997, -0.0757, 1.9049, 0.693, 0.4999, -0.6621, -0.3523, 0.9988]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1732 left_yaw=0.0043 left_pitch=-0.0236 left_roll=-0.0062 left_gripper=0.9997 right_x=0.4147 right_y=0.081 right_z=0.0164 right_yaw=0.6474 right_pitch=0.0112 right_roll=0.1158 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -1.5385, 7.2, 1.6728, -0.0562, -0.0562, -0.0073, 0.5675, -6.7487, 5.1077, 1.2039, -0.2222, 0.022, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8185, 0.6029, -0.382, -0.0231, -0.0193, 0.9997, -0.0704, 1.9106, 0.7071, 0.4519, -0.6556, -0.3523, 0.9988]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1723 left_yaw=0.0047 left_pitch=-0.0267 left_roll=-0.0059 left_gripper=0.9997 right_x=0.4124 right_y=0.0825 right_z=0.0104 right_yaw=0.648 right_pitch=-0.0214 right_roll=0.1387 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -1.7983, 7.0222, 1.7705, -0.0855, -0.022, -0.0122, -0.0342, -7.3915, 5.1761, 1.2869, -0.2271, 0.0073, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1554ad5818e84d0b3ac178a0b127eb21125d7f32d1917ec074f620f7219157ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae6a97418108546ad3f4f75002a8bf7283a39ee466a7534129910006501f9679",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f77e5889c383f84fff008d6cab711c52b960670c247b2296ae27b5529191bd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISnAIKjgEIEhgCKkDX1KqmeWpwJ8yWm7aMiMP0bus+W5MtgYXEPSj6CSx8T9kL9hSLtJT3mWgwyot8nUTXv8oHk4U0Sim/oSL3lvPNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeuZzNUGEgyTCLijri6tWmkmX5IaDKAIzSQcmHrTpr5XwyIwfvbYj/VL2XLdq8yLRWzXnzGGmorzRM1rKlKB7Urfsx/h8OJICgIxL2Kf/SUvQqJrKjtDxsiV3lmfi6PhX3ZGSyFoCBCIcHhH2obAsmMmDos9qg9Le5e7kjL/56E22jy0HBPy+VJw/JZ6GuGscxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SD77z3bUWMSbS4sU4ja6ph",
      "input": {
        "note": "Pen is aligned between the open jaws at table level; closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SD77z3bUWMSbS4sU4ja6ph",
      "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, 0.8192, 0.6029, -0.382, -0.0227, -0.0196, 0.9997, -0.0704, 1.9087, 0.7116, 0.4404, -0.6559, -0.3489, 0.0119]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1721 left_yaw=0.0045 left_pitch=-0.0274 left_roll=-0.0064 left_gripper=0.9997 right_x=0.4125 right_y=0.0825 right_z=0.0108 right_yaw=0.6466 right_pitch=-0.0253 right_roll=0.1451 right_gripper=0.0119\nstate[joint_eff]: [-0.1436, -0.8957, 7.0496, 1.707, -0.0757, -0.0415, -0.0073, -0.0068, -7.2821, 5.3128, 1.37, -0.105, 0.0073, 1.0183]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09239be6e82d448547946d00b2747d1dc0b015624fb1c982fce7cd0d9c7eebde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25d767462b7cb081608d8f157f63cd1bd567361cd02673be6ede8d715e398ab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f06259954d207091aa5489226f94c546116cfef6780085617c0a0eff14b71afb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 20.82 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8154, 0.6029, -0.382, -0.0227, -0.0193, 0.9997, -0.0757, 1.9049, 0.693, 0.4999, -0.6621, -0.3523, 0.9988]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1732 left_yaw=0.0043 left_pitch=-0.0236 left_roll=-0.0062 left_gripper=0.9997 right_x=0.4147 right_y=0.081 right_z=0.0164 right_yaw=0.6474 right_pitch=0.0112 right_roll=0.1158 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -1.5385, 7.2, 1.6728, -0.0562, -0.0562, -0.0073, 0.5675, -6.7487, 5.1077, 1.2039, -0.2222, 0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8185, 0.6029, -0.382, -0.0231, -0.0193, 0.9997, -0.0704, 1.9106, 0.7071, 0.4519, -0.6556, -0.3523, 0.9988]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1723 left_yaw=0.0047 left_pitch=-0.0267 left_roll=-0.0059 left_gripper=0.9997 right_x=0.4124 right_y=0.0825 right_z=0.0104 right_yaw=0.648 right_pitch=-0.0214 right_roll=0.1387 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -1.7983, 7.0222, 1.7705, -0.0855, -0.022, -0.0122, -0.0342, -7.3915, 5.1761, 1.2869, -0.2271, 0.0073, -0.0024]",
      "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]: [-0.02, 0.8192, 0.6029, -0.382, -0.0227, -0.0196, 0.9997, -0.0704, 1.9087, 0.7116, 0.4404, -0.6559, -0.3489, 0.0119]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1721 left_yaw=0.0045 left_pitch=-0.0274 left_roll=-0.0064 left_gripper=0.9997 right_x=0.4125 right_y=0.0825 right_z=0.0108 right_yaw=0.6466 right_pitch=-0.0253 right_roll=0.1451 right_gripper=0.0119\nstate[joint_eff]: [-0.1436, -0.8957, 7.0496, 1.707, -0.0757, -0.0415, -0.0073, -0.0068, -7.2821, 5.3128, 1.37, -0.105, 0.0073, 1.0183]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09239be6e82d448547946d00b2747d1dc0b015624fb1c982fce7cd0d9c7eebde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25d767462b7cb081608d8f157f63cd1bd567361cd02673be6ede8d715e398ab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f06259954d207091aa5489226f94c546116cfef6780085617c0a0eff14b71afb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISwgUKjgEIEhgCKkDWRM/IQJzoaMbPa+x2V65wfqbjRLjoK4CtTCq/FEJ+YgKywRVwNViQsczs7Up+/W1v0MnSJrZQs/NosEf8LZ+VMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfGZzNUGEgwSCXPgMc8lv4Px8HcaDAUuH6gUecnxuCLH8SIw9TJoM5/m/3uvk3lwTeFE782qoR0LZvYcgGHgHBrrL/yHx16bZoOGvnE/bq7iUahYKuADyU+sDHkgjws8qle3hM0zXhH6bgghhZjpPrHyhedzs2ZxUrP9okqmysp6yNdRsqAvM+yR1q4W8pWy/HGAGzjkOQcUliqsA25HzJkknx7p0dAfGyKGviY1FR3h6NCki15FUPg6F2m+vb015FISUJqGdWjuhu7V3p5FuDPuSWmePi974vPu3/Ol8Oqd1/J694BiDGylc29S4HIkAx6LRD6rEyRMjzDryPrjPhPFpfzE6MW4j4VLMrjaeWX9H9Fkoq4l+hOA7LoAyATBxgHgsgYEW5RTuSuu4LVLDDxecwQnN73wjmyztpcybi9+/+QG4bt2JhYj3K26RscdAIjzyszXNvyYv8LzpbKn9iCRTLeBlt2a9uEJtLHGeRrN5jRoFN77lyXVrBb7IogwQ/XJqZl9X8FGCJzHzWs/RWMejcdZvRblc1opOzrtOEQHA/LMClcDJbIXmYK8SvpC1lbT2TrNEtQCO5RmVkbHw32uQV0nxlQMQ5rkWMdpUI347Vb5Yic64HQMldyQV1erNqxdlcbZjFQTzPOLdEU/NNKsboQ7FW8Kaaf7lTC5/AMaGF2Wp2WJSkfdoKtwk3p8aR8yi+GB4WegJcQJhIzE7/NeaHA3xbC+ZCTz9PQpTp/400tODGbeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C39mWsro6RoPEG1ppSzNJJ",
      "input": {
        "note": "Gripper closed to 0.012, which usually means an empty close; lifting 5 cm to check in the overhead view whether the pen came with it.",
        "targets": {
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01C39mWsro6RoPEG1ppSzNJJ",
      "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, 0.82, 0.6029, -0.3817, -0.0227, -0.0196, 0.9997, -0.0704, 1.7817, 0.7441, 0.2684, -0.6495, -0.3496, 0.0149]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.172 left_yaw=0.0045 left_pitch=-0.0278 left_roll=-0.0064 left_gripper=0.9997 right_x=0.4097 right_y=0.0818 right_z=0.0432 right_yaw=0.6424 right_pitch=-0.0377 right_roll=0.1493 right_gripper=0.0149\nstate[joint_eff]: [-0.0479, -1.3744, 7.159, 1.7509, -0.0855, -0.0806, -0.0122, -0.253, -9.3744, 7.0496, 1.4139, -0.3492, -0.0024, 0.8718]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f61d505724f4ce32a0e74332202fc1f9c8c9d340b96a8f1129f6157eb6e91029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6381a01f1b143f71902f539d9cb7cb9d8e2f50457146879d25bcb3f808726ba6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2b30216a5640b846f7e6d3424ecf5a4dc4bd652ca1e87a18569d99ac8229e602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 15.69 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8185, 0.6029, -0.382, -0.0231, -0.0193, 0.9997, -0.0704, 1.9106, 0.7071, 0.4519, -0.6556, -0.3523, 0.9988]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1723 left_yaw=0.0047 left_pitch=-0.0267 left_roll=-0.0059 left_gripper=0.9997 right_x=0.4124 right_y=0.0825 right_z=0.0104 right_yaw=0.648 right_pitch=-0.0214 right_roll=0.1387 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -1.7983, 7.0222, 1.7705, -0.0855, -0.022, -0.0122, -0.0342, -7.3915, 5.1761, 1.2869, -0.2271, 0.0073, -0.0024]",
      "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]: [-0.02, 0.8192, 0.6029, -0.382, -0.0227, -0.0196, 0.9997, -0.0704, 1.9087, 0.7116, 0.4404, -0.6559, -0.3489, 0.0119]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1721 left_yaw=0.0045 left_pitch=-0.0274 left_roll=-0.0064 left_gripper=0.9997 right_x=0.4125 right_y=0.0825 right_z=0.0108 right_yaw=0.6466 right_pitch=-0.0253 right_roll=0.1451 right_gripper=0.0119\nstate[joint_eff]: [-0.1436, -0.8957, 7.0496, 1.707, -0.0757, -0.0415, -0.0073, -0.0068, -7.2821, 5.3128, 1.37, -0.105, 0.0073, 1.0183]",
      "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]: [-0.02, 0.82, 0.6029, -0.3817, -0.0227, -0.0196, 0.9997, -0.0704, 1.7817, 0.7441, 0.2684, -0.6495, -0.3496, 0.0149]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.172 left_yaw=0.0045 left_pitch=-0.0278 left_roll=-0.0064 left_gripper=0.9997 right_x=0.4097 right_y=0.0818 right_z=0.0432 right_yaw=0.6424 right_pitch=-0.0377 right_roll=0.1493 right_gripper=0.0149\nstate[joint_eff]: [-0.0479, -1.3744, 7.159, 1.7509, -0.0855, -0.0806, -0.0122, -0.253, -9.3744, 7.0496, 1.4139, -0.3492, -0.0024, 0.8718]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f61d505724f4ce32a0e74332202fc1f9c8c9d340b96a8f1129f6157eb6e91029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6381a01f1b143f71902f539d9cb7cb9d8e2f50457146879d25bcb3f808726ba6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b30216a5640b846f7e6d3424ecf5a4dc4bd652ca1e87a18569d99ac8229e602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LzT77GNguYWzpifWeXfYQc",
      "input": {
        "note": "The close was empty: the pen is still on the table, well to the arm's left of the jaws in both views. Moving ~9 cm back toward +y and up to 10 cm for a fresh look, since my earlier wrist-view alignment was off.",
        "targets": {
          "right_y": 0.17,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01LzT77GNguYWzpifWeXfYQc",
      "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, 0.8204, 0.6029, -0.3817, -0.0227, -0.0223, 0.9997, 0.205, 1.6855, 0.8124, 0.1627, -0.4675, -0.1722, 0.0174]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.1719 left_yaw=0.006 left_pitch=-0.0282 left_roll=-0.0086 left_gripper=0.9997 right_x=0.4005 right_y=0.1683 right_z=0.0766 right_yaw=0.6829 right_pitch=-0.0733 right_roll=0.1601 right_gripper=0.0174\nstate[joint_eff]: [-0.1162, -1.4017, 7.0632, 1.7265, -0.0562, -0.0171, -0.0122, 0.212, -10.0171, 8.3077, 1.4335, -0.0366, 0.1294, 0.6716]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03dd589c8e8d3da38854064951ffd810094a3f7ae542a18be46237362b58241a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a22c16d0e1657dcf809c57416474c3658656f96d29803026f04146662e5eae2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:daf37e472e3c4c9de62e58bc0814112f00cfd44e6751357b8b8a3d28af770e86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 6.452 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8192, 0.6029, -0.382, -0.0227, -0.0196, 0.9997, -0.0704, 1.9087, 0.7116, 0.4404, -0.6559, -0.3489, 0.0119]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1721 left_yaw=0.0045 left_pitch=-0.0274 left_roll=-0.0064 left_gripper=0.9997 right_x=0.4125 right_y=0.0825 right_z=0.0108 right_yaw=0.6466 right_pitch=-0.0253 right_roll=0.1451 right_gripper=0.0119\nstate[joint_eff]: [-0.1436, -0.8957, 7.0496, 1.707, -0.0757, -0.0415, -0.0073, -0.0068, -7.2821, 5.3128, 1.37, -0.105, 0.0073, 1.0183]",
      "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]: [-0.02, 0.82, 0.6029, -0.3817, -0.0227, -0.0196, 0.9997, -0.0704, 1.7817, 0.7441, 0.2684, -0.6495, -0.3496, 0.0149]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.172 left_yaw=0.0045 left_pitch=-0.0278 left_roll=-0.0064 left_gripper=0.9997 right_x=0.4097 right_y=0.0818 right_z=0.0432 right_yaw=0.6424 right_pitch=-0.0377 right_roll=0.1493 right_gripper=0.0149\nstate[joint_eff]: [-0.0479, -1.3744, 7.159, 1.7509, -0.0855, -0.0806, -0.0122, -0.253, -9.3744, 7.0496, 1.4139, -0.3492, -0.0024, 0.8718]",
      "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]: [-0.02, 0.8204, 0.6029, -0.3817, -0.0227, -0.0223, 0.9997, 0.205, 1.6855, 0.8124, 0.1627, -0.4675, -0.1722, 0.0174]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.1719 left_yaw=0.006 left_pitch=-0.0282 left_roll=-0.0086 left_gripper=0.9997 right_x=0.4005 right_y=0.1683 right_z=0.0766 right_yaw=0.6829 right_pitch=-0.0733 right_roll=0.1601 right_gripper=0.0174\nstate[joint_eff]: [-0.1162, -1.4017, 7.0632, 1.7265, -0.0562, -0.0171, -0.0122, 0.212, -10.0171, 8.3077, 1.4335, -0.0366, 0.1294, 0.6716]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03dd589c8e8d3da38854064951ffd810094a3f7ae542a18be46237362b58241a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a22c16d0e1657dcf809c57416474c3658656f96d29803026f04146662e5eae2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daf37e472e3c4c9de62e58bc0814112f00cfd44e6751357b8b8a3d28af770e86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H7PHUzbpVqh4HqmhHQKJuc",
      "input": {
        "note": "Now I can clearly see the real pen (bright, pointed) just right of the jaw column in the wrist view — earlier I was chasing a floor-plank seam. Shifting 1.7 cm right, 1.5 cm out and descending to 2 cm above the table.",
        "targets": {
          "right_x": 0.415,
          "right_y": 0.152,
          "right_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_01H7PHUzbpVqh4HqmhHQKJuc",
      "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, 0.8219, 0.6029, -0.3813, -0.0227, -0.0223, 0.9997, 0.1501, 1.8748, 0.7795, 0.2939, -0.4839, -0.1955, 0.0174]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1715 left_yaw=0.006 left_pitch=-0.0293 left_roll=-0.0085 left_gripper=0.9997 right_x=0.4046 right_y=0.1479 right_z=0.0111 right_yaw=0.6579 right_pitch=-0.1457 right_roll=0.1949 right_gripper=0.0174\nstate[joint_eff]: [-0.0068, -1.5795, 7.0222, 1.707, -0.0464, -0.0269, -0.0122, -0.1436, -8.8684, 5.5043, 2.0, -0.486, -0.1929, 0.6911]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10729a1561e698ef44437e22daf8ae746df31ebe94274a733b8763a857d67a4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34186a4b5ee219d1806b0b4b9b6720e13a3cfb0bc8574a198daaf987ad938493",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8bb6619c26deea78778557ecc1acfa2de99cee90cb3a2acda7964058f2ae7bd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 9.542 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.82, 0.6029, -0.3817, -0.0227, -0.0196, 0.9997, -0.0704, 1.7817, 0.7441, 0.2684, -0.6495, -0.3496, 0.0149]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.172 left_yaw=0.0045 left_pitch=-0.0278 left_roll=-0.0064 left_gripper=0.9997 right_x=0.4097 right_y=0.0818 right_z=0.0432 right_yaw=0.6424 right_pitch=-0.0377 right_roll=0.1493 right_gripper=0.0149\nstate[joint_eff]: [-0.0479, -1.3744, 7.159, 1.7509, -0.0855, -0.0806, -0.0122, -0.253, -9.3744, 7.0496, 1.4139, -0.3492, -0.0024, 0.8718]",
      "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]: [-0.02, 0.8204, 0.6029, -0.3817, -0.0227, -0.0223, 0.9997, 0.205, 1.6855, 0.8124, 0.1627, -0.4675, -0.1722, 0.0174]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.1719 left_yaw=0.006 left_pitch=-0.0282 left_roll=-0.0086 left_gripper=0.9997 right_x=0.4005 right_y=0.1683 right_z=0.0766 right_yaw=0.6829 right_pitch=-0.0733 right_roll=0.1601 right_gripper=0.0174\nstate[joint_eff]: [-0.1162, -1.4017, 7.0632, 1.7265, -0.0562, -0.0171, -0.0122, 0.212, -10.0171, 8.3077, 1.4335, -0.0366, 0.1294, 0.6716]",
      "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]: [-0.02, 0.8219, 0.6029, -0.3813, -0.0227, -0.0223, 0.9997, 0.1501, 1.8748, 0.7795, 0.2939, -0.4839, -0.1955, 0.0174]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1715 left_yaw=0.006 left_pitch=-0.0293 left_roll=-0.0085 left_gripper=0.9997 right_x=0.4046 right_y=0.1479 right_z=0.0111 right_yaw=0.6579 right_pitch=-0.1457 right_roll=0.1949 right_gripper=0.0174\nstate[joint_eff]: [-0.0068, -1.5795, 7.0222, 1.707, -0.0464, -0.0269, -0.0122, -0.1436, -8.8684, 5.5043, 2.0, -0.486, -0.1929, 0.6911]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10729a1561e698ef44437e22daf8ae746df31ebe94274a733b8763a857d67a4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34186a4b5ee219d1806b0b4b9b6720e13a3cfb0bc8574a198daaf987ad938493",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bb6619c26deea78778557ecc1acfa2de99cee90cb3a2acda7964058f2ae7bd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIShgYKjgEIEhgCKkDIDEgINSAh6ouWGoteLB44cge9ym9B2W+eZwuy8T/kZ1usNMhQ4QL6/pBFYU9PQAg5BAl0JM5xLmQD5cXTMjYoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ2azNUGEgyOSmLlU1t0dcRIUNAaDLTF6cz8NME53/wyqiIw5imDmJfPcP2ryDn4YngZSr9uXA78Ng6JDBeeZVA41egBlCw+CPGc8J+xB9qbBiaOKqQE3xRvxUIPR0BLjR+bxgMXlJtrdKUMmZQJBV4dTOdnEvC5ETWTx/JJ4QPBU3tAZke/yx7Det3wvPiVNKRs1v2GVWrn9xmIskKFlYEo2B3PEyOPrEIU33XDX5YLYTSDyC1AHSJT/MnlHpImUvTYOPa5r6l8mcq9YyD6H4LW+oTPIJEXNmL9WUhEkfNKh2zLUyxpiBUaxeHsYEM48o+aON+wox96mum6owKwO/tsrOYeaK/cQwV+lm+81TffFEYxNaAPBSSj38Lew6CXmmFGsATWadPoq/kguNqiTG/HGHWZrgrq7bOV1WOSs37rrMvq50I5sAN0kbeu97Km7aMIzIOL8m9UNPY4rVSeyyGXiSLkYJzMhIHssZgHqMO/JcpO4omoUWSbNsUH6qyXSV/mtOUdMJ77acX8FqsJ2YNS4CEK+Q5fAqxky6hgrhqw0BWmIw69heLuSlZZyWvpwNTPxQ0FeAdWY08vgs8FRRAnAbUw9A5Uyez1Se2s2D/ar3CWIHqcR0Xvq+elCYMpW99+gVcmHhjqR009flInOaWHYCldjs7iVh4ws0EB29AVtEnvzc0muCC6gUTPhDzE/TRCeCQGlByP6gCY90WTZwUcz8K+2SXfLjOgXAWqDmHJ0vFvgX5Temx2Q8hnJTcY1dhkrN+3Qs2XLs4W2UEYoh2EsDhCjhpmsXMvB9qj3qK2OH8Ocs4HcGBWSnVHtgY6u9rVF9aIAiZ/ySkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CG9DGLRTeuRZMnWdN1QuS3",
      "input": {
        "note": "I had left the gripper closed; opening it and advancing 2.7 cm outward, since the pen's near end still sits above the jaw row in the wrist view.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.432
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CG9DGLRTeuRZMnWdN1QuS3",
      "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, 0.8223, 0.6029, -0.3813, -0.0227, -0.0223, 0.9997, 0.1463, 1.8954, 0.7776, 0.3492, -0.5068, -0.2089, 0.9955]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1714 left_yaw=0.006 left_pitch=-0.0297 left_roll=-0.0085 left_gripper=0.9997 right_x=0.4093 right_y=0.1506 right_z=0.0123 right_yaw=0.677 right_pitch=-0.1078 right_roll=0.1822 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.388, 7.0222, 1.7167, -0.0806, -0.0513, -0.0122, -0.1162, -9.4291, 5.1761, 1.16, -0.0806, 0.1197, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc00cba3cd6e3a128f317b3b7f7762895b7ed3533ab65c2f7f35603481d142a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64ddcfa7926f5bb17dfa469b6ca81bd628ea8f925dd0bac189e277b1dfe44c6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:658ccac4c20a4b0b5eefc67e63d17d011a9b50e68afb35d406df0e40314aa867",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 10.44 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8204, 0.6029, -0.3817, -0.0227, -0.0223, 0.9997, 0.205, 1.6855, 0.8124, 0.1627, -0.4675, -0.1722, 0.0174]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.1719 left_yaw=0.006 left_pitch=-0.0282 left_roll=-0.0086 left_gripper=0.9997 right_x=0.4005 right_y=0.1683 right_z=0.0766 right_yaw=0.6829 right_pitch=-0.0733 right_roll=0.1601 right_gripper=0.0174\nstate[joint_eff]: [-0.1162, -1.4017, 7.0632, 1.7265, -0.0562, -0.0171, -0.0122, 0.212, -10.0171, 8.3077, 1.4335, -0.0366, 0.1294, 0.6716]",
      "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]: [-0.02, 0.8219, 0.6029, -0.3813, -0.0227, -0.0223, 0.9997, 0.1501, 1.8748, 0.7795, 0.2939, -0.4839, -0.1955, 0.0174]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1715 left_yaw=0.006 left_pitch=-0.0293 left_roll=-0.0085 left_gripper=0.9997 right_x=0.4046 right_y=0.1479 right_z=0.0111 right_yaw=0.6579 right_pitch=-0.1457 right_roll=0.1949 right_gripper=0.0174\nstate[joint_eff]: [-0.0068, -1.5795, 7.0222, 1.707, -0.0464, -0.0269, -0.0122, -0.1436, -8.8684, 5.5043, 2.0, -0.486, -0.1929, 0.6911]\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]: [-0.02, 0.8223, 0.6029, -0.3813, -0.0227, -0.0223, 0.9997, 0.1463, 1.8954, 0.7776, 0.3492, -0.5068, -0.2089, 0.9955]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1714 left_yaw=0.006 left_pitch=-0.0297 left_roll=-0.0085 left_gripper=0.9997 right_x=0.4093 right_y=0.1506 right_z=0.0123 right_yaw=0.677 right_pitch=-0.1078 right_roll=0.1822 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.388, 7.0222, 1.7167, -0.0806, -0.0513, -0.0122, -0.1162, -9.4291, 5.1761, 1.16, -0.0806, 0.1197, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc00cba3cd6e3a128f317b3b7f7762895b7ed3533ab65c2f7f35603481d142a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64ddcfa7926f5bb17dfa469b6ca81bd628ea8f925dd0bac189e277b1dfe44c6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:658ccac4c20a4b0b5eefc67e63d17d011a9b50e68afb35d406df0e40314aa867",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS9QkKjgEIEhgCKkBBS3ZXfgarLCPUwR7nUBNnF2CmeFOLyxjcnkXv8kFsvjloOmNW7KxtSAmujoQ802OKpLwfWgr4EHTOLsJrX9aLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaeazNUGEgyttba1gGqHHKuw0XEaDC0MTzdX1WoQHqOpwSIwU/zQbt1Q1FxX5yvfo2klz5DS2BVzB67WB5XmAuPyP5r0W+yH7gpyILoM4T9bBgPCKpMIi6dngqNQZ3Gsb4Bih5nnWUIj4fm1zsbn8INkv4s6rk4jSQU4mlKWMCpPXj/ngQnGn+ASM9XERTXMJlxxHoeoLjdIe2VaAPsdU4IfQFOwy/KiQonLsFawcjZT+Lsf7dlK/akLSI7P0+xSnd/jqedzIYn/r7VB72aBvapa6tn/bbpIfkv+YAvQ2SqGUOMINgiZnEgB8wWpM4Febjt2MGXbkh1fG0jmiA9ms+GJfAgpamDe7ZlNbouZmqNErw/Msdh7D6hvRlC274LK4KNp4N5+JfM8/cPHGcp0SJujC+U9mJ009ADsOBL1uAO+S9okIGqwBci+5vLwNsBXYhO01Y42VlCjFCmGW9UE5rKHCsIzYlE+SNiWnhf5nbEu1sDC0SoxuCZuqIA7V07wRGZpQtDOs0uASbKNsIpV72+zOVO01MH2i5ASugJ38ilz/jTBblR+9ccLOYTDCw10Eenk5daE8d/XcaS6Y+R5+vcobc2av9kUzDJQSDY5uGFpjpWbQQzRmoSeHcbw+c8YgqqTLyjWfbigwfqX61U0z9jXnGZc68OYfVpNB4kgBqjFW7iB4cGUAddr7FFE/vXuHkCqyQTRIzslZ3lG8+F2iIxoyj2ksFBas25kVUh1Tx22YeZMChAz6P8XcjwjN8L5+vEPrvf2XsVsPci3SWzkpAqo1wR6gYwu6iEarw3zDWG+IkH4UXkG/dzbRIZpSoRGBr2r7SKf3bhKP+2aPUbbAoigIVltvdOaQ9IYqyC3VTcux5Ax+dY9CvIBwYWKNy+QQ3to2qdy1FTlfmAq6BRxTW57Avhe/XyLPAJDhlepxqCfUYZ6EEtIG8ziUN6g0/SUIp4+c1C94Q9+MkP2VIi0Y0gJPN+1VUhhZ2+5utFIcMpsIhHyOrP6g5VFDYnvsOaoEB2g8vKqFxSMpxZ+9NrqevEzg5HHdh9vFYPm8OAgQ/2he74dz2w/5LS6mL6Y4HsQNr3w2fJ5BZ52wQBDk7/jj7X16dY+D7JGChqMmawOpRa8YGFUe7MBUag40zuE+9W/RwjFtZkI7g5X1dxwy9xnU1pxfrTwF86hP/+lX6S7PUc9g89XUfyP/StTqZacXQB8hmtq9EHLdSU3EBnP4EjiFz6hv8TbxQx2iAv2IshnFhSJwGuSaDG4S+aQ539at3Krw6p3qq0B03Uu3WeLt4j2KjYUWhMzmf6ANVUfACgMJk1gQfhxCKv/yX1mIolP8XumrwvLDEZZOXnmkgO5LXJVZb50/O+xi6coKckcVJLSuA5zLclLwtwkE6AALp+08bj96rjgVMOyK5cnleXcGn/PfqA7mpEibiOJCpKa7rGwXrYjD6LVN4r8cfnHa3deTc1s2aiTTRd/Dis68epmPW7GgIbfbugD23IW3K4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TLVAwejzYwRnbGTTkfEaSv",
      "input": {
        "note": "The pen crosses the jaw column higher up in the wrist image and passes ~3 cm to the arm's left at the jaw row; nudging out and to +y so the pen lands between the fingertips.",
        "targets": {
          "right_x": 0.435,
          "right_y": 0.172
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01TLVAwejzYwRnbGTTkfEaSv",
      "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, 0.8223, 0.6029, -0.3813, -0.0227, -0.0223, 0.9998, 0.1463, 1.8954, 0.7776, 0.3496, -0.5053, -0.21, 0.996]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1714 left_yaw=0.006 left_pitch=-0.0297 left_roll=-0.0085 left_gripper=0.9998 right_x=0.4095 right_y=0.1504 right_z=0.0123 right_yaw=0.6764 right_pitch=-0.1079 right_roll=0.1801 right_gripper=0.996\nstate[joint_eff]: [-0.1436, -1.4154, 7.1453, 1.7216, -0.0757, -0.0366, -0.0073, -0.2803, -9.265, 5.1897, 1.1062, -0.1099, 0.1636, 0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d670bd8aca89ae01fc49bed4e4b2c26ce6bb09578b1dc2d47ca56d08abd511f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee3139a0950225ad88aea60a7697fa921ec9295f77cf3ef97b5b3db02210801a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:66679c829279a7756821806e51a530fe4fb15ddc57433fd5e658fccb6984411f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 5.136 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8219, 0.6029, -0.3813, -0.0227, -0.0223, 0.9997, 0.1501, 1.8748, 0.7795, 0.2939, -0.4839, -0.1955, 0.0174]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1715 left_yaw=0.006 left_pitch=-0.0293 left_roll=-0.0085 left_gripper=0.9997 right_x=0.4046 right_y=0.1479 right_z=0.0111 right_yaw=0.6579 right_pitch=-0.1457 right_roll=0.1949 right_gripper=0.0174\nstate[joint_eff]: [-0.0068, -1.5795, 7.0222, 1.707, -0.0464, -0.0269, -0.0122, -0.1436, -8.8684, 5.5043, 2.0, -0.486, -0.1929, 0.6911]\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]: [-0.02, 0.8223, 0.6029, -0.3813, -0.0227, -0.0223, 0.9997, 0.1463, 1.8954, 0.7776, 0.3492, -0.5068, -0.2089, 0.9955]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1714 left_yaw=0.006 left_pitch=-0.0297 left_roll=-0.0085 left_gripper=0.9997 right_x=0.4093 right_y=0.1506 right_z=0.0123 right_yaw=0.677 right_pitch=-0.1078 right_roll=0.1822 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.388, 7.0222, 1.7167, -0.0806, -0.0513, -0.0122, -0.1162, -9.4291, 5.1761, 1.16, -0.0806, 0.1197, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6029, -0.3813, -0.0227, -0.0223, 0.9998, 0.1463, 1.8954, 0.7776, 0.3496, -0.5053, -0.21, 0.996]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1714 left_yaw=0.006 left_pitch=-0.0297 left_roll=-0.0085 left_gripper=0.9998 right_x=0.4095 right_y=0.1504 right_z=0.0123 right_yaw=0.6764 right_pitch=-0.1079 right_roll=0.1801 right_gripper=0.996\nstate[joint_eff]: [-0.1436, -1.4154, 7.1453, 1.7216, -0.0757, -0.0366, -0.0073, -0.2803, -9.265, 5.1897, 1.1062, -0.1099, 0.1636, 0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d670bd8aca89ae01fc49bed4e4b2c26ce6bb09578b1dc2d47ca56d08abd511f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee3139a0950225ad88aea60a7697fa921ec9295f77cf3ef97b5b3db02210801a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66679c829279a7756821806e51a530fe4fb15ddc57433fd5e658fccb6984411f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISsgoKjgEIEhgCKkCFjIRgPPbNbzvRnjpbcMniRuFLMpi0weXjp81vkv3gHwU/HzeFwU3G91Ix5MeqllFKQKjI97zKx2tuvKaT4z/TMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbKazNUGEgzIF7Pry4vX2BdJE24aDP726Vs4UqwStyfiIyIwjGlBPBaKZ+O/ah741w+ejG1nwIA7rD31dckPAIUwulzww2CvLu777pDn7oYRBArfKtAIu9k0EVitIztlAhVEfsW6Y66wQcBfX1qSeAiyQanRHC6h+tM/O8lGl/YyjoQt9Dv5+glcFDh1+Q0Q9yeAK++3vvD3g9tawN5Zd+H9t1UQ8CyLgb7J6E0ZeXy4fe+vUDEUh7Dph1RoLPxpwIxys0uVh+nvHECD7MIDptUHQTu9IGLyl5isQQxXcgoangzemrXMealVbSHO5IRowiBd5KFSuC31xekOVLmf2qTNbA+m+GBR5gLeUgsxG5i8LYYgVMwP8OROrJ4mCu65ZOhlZidQmVq7ewwxqtZb6BtS3GFx5GFo8dm05Kd/2cYYzCAXEyJzOIWkxWl39SrXfbXVb76SkDU5rxXziXvIAtM7s3PKlKcxa7qD1B/rAfJoTtH7I3d95Ydjz56mtjYiCzvL0P65qccmxTICPg1d2fXq+yLJTKTICS9LA9D8ARel0ioCZ8EcO8MCVgF1bI0ooWzrKrtRr8bK1uHsLc20sVeDp99h+HqTNcdD3IYQsjCdQuwJOV0f1C1UNGwB5gsdIXEgjc6bevcJG+5NtAsyGQOaF/td6fnZsCmakrQyLs0pWUsNauq6mhNrFS83ixQNdzdSRtmpD8RwHkvPbfJ7jJjt6Y2ehp01KKM8YZRuJpFqnzeNdMgjn32CnD6Ylz9FagCszr4xL/IpLN/JyKVIRu5U6AGdsCJB4reFQtne8sYF41H1hyEmgWqOCE/uNTG6qCS/cqkVQ4iP1PMsupvpWAjbJ+P4HQnH6/H0NckOC0zWx1hsFReGg0zi9dUwzwGt6d9kJKgTtYrhDO2x0EuSyBa+o9blWzGKGGt1NmKk2h/bOBx2znA+NASymH/YRzgGgMF+GXfySmM8+oj2Kb1v45JCZbra81GuYTB4YCg8Xl+01XkOR/c5HcBuDOzrVIYw9u168pZpa4GBx22Nc8TEnraOy/31m+Lcmja/+4Hf6quwPRDaG1w7UZ5bscOfb5pC1BjRaF/Ty0WaxTa68SBhVb8p75itect4agxeEpttw1BycjnDzGyqF5UOe5yz13NH9nHUlK8jlZZQCOAr+yKHZiFGgO039DZnAn6MIipUFwGlHE4jFMGftYcghn5JrvP6h9XrhnzdTH02s6uB8OG8B20GlOlSTr5lqz4KyWceS58I/rLe6kv5gyzjF0w61Ha77PIiXuczOSa7kf15RaBYGNQel1EwK5uZE5UtAIRviDDoO9wptzNoiJXg6WvceHMzhmHcpjbvwMExSs6lxnvFBgiVAxwx2aSClkKfM+G96F+OPzDKSlGH6HWZu4wgYW5LtwHDtXTrsUU3Q1/Qfbq2BWAboKZZZdJEScaDmmD2J5s85UklVZy6x4d461e6iDx3EdikdlU6tNrUinjggRjGepddLcaGtjDDS7Mgw3pQvVVb5GcHT/Z6Z7XOXxq86nTCwRznYul6ATMSApSuBJfDJoZrbR0GlTxcPa8remGUB1JXHAwlEusYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FjsEW1qWFdunCczsBoPzXu",
      "input": {
        "note": "The arm stalled at the low pose and would not translate; lifting to 7 cm (with a slightly smaller yaw) to free the IK before re-approaching the pen 2 cm to its left.",
        "targets": {
          "right_y": 0.172,
          "right_yaw": 0.55,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01FjsEW1qWFdunCczsBoPzXu",
      "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, 0.8261, 0.6029, -0.3813, -0.0227, -0.0223, 0.9997, 0.2539, 1.7515, 0.791, 0.2321, -0.3874, -0.0975, 0.9961]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1704 left_yaw=0.006 left_pitch=-0.0335 left_roll=-0.0084 left_gripper=0.9997 right_x=0.4 right_y=0.1764 right_z=0.0499 right_yaw=0.6284 right_pitch=-0.1185 right_roll=0.179 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -1.5795, 7.0085, 1.6972, -0.0757, -0.0513, -0.0171, -0.212, -9.6889, 8.0752, 1.4823, 0.1001, 0.1587, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:614eb07439fae9a9832c780198e7776c62f8cae2bb2a2a628050569262f50405",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:481ba76b909532d12a72b07cbd70eada98cc4b17d65597294d6808ed6e3b690a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:efa5f4854990e9419429b68d9a52ab33c64c48364d5765c4423d9ae475ff48fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 2.948 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6029, -0.3813, -0.0227, -0.0223, 0.9997, 0.1463, 1.8954, 0.7776, 0.3492, -0.5068, -0.2089, 0.9955]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1714 left_yaw=0.006 left_pitch=-0.0297 left_roll=-0.0085 left_gripper=0.9997 right_x=0.4093 right_y=0.1506 right_z=0.0123 right_yaw=0.677 right_pitch=-0.1078 right_roll=0.1822 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.388, 7.0222, 1.7167, -0.0806, -0.0513, -0.0122, -0.1162, -9.4291, 5.1761, 1.16, -0.0806, 0.1197, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6029, -0.3813, -0.0227, -0.0223, 0.9998, 0.1463, 1.8954, 0.7776, 0.3496, -0.5053, -0.21, 0.996]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1714 left_yaw=0.006 left_pitch=-0.0297 left_roll=-0.0085 left_gripper=0.9998 right_x=0.4095 right_y=0.1504 right_z=0.0123 right_yaw=0.6764 right_pitch=-0.1079 right_roll=0.1801 right_gripper=0.996\nstate[joint_eff]: [-0.1436, -1.4154, 7.1453, 1.7216, -0.0757, -0.0366, -0.0073, -0.2803, -9.265, 5.1897, 1.1062, -0.1099, 0.1636, 0.0317]",
      "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]: [-0.02, 0.8261, 0.6029, -0.3813, -0.0227, -0.0223, 0.9997, 0.2539, 1.7515, 0.791, 0.2321, -0.3874, -0.0975, 0.9961]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1704 left_yaw=0.006 left_pitch=-0.0335 left_roll=-0.0084 left_gripper=0.9997 right_x=0.4 right_y=0.1764 right_z=0.0499 right_yaw=0.6284 right_pitch=-0.1185 right_roll=0.179 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -1.5795, 7.0085, 1.6972, -0.0757, -0.0513, -0.0171, -0.212, -9.6889, 8.0752, 1.4823, 0.1001, 0.1587, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:614eb07439fae9a9832c780198e7776c62f8cae2bb2a2a628050569262f50405",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:481ba76b909532d12a72b07cbd70eada98cc4b17d65597294d6808ed6e3b690a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efa5f4854990e9419429b68d9a52ab33c64c48364d5765c4423d9ae475ff48fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS2wQKjgEIEhgCKkByShe0wCzEO5sx3TR24PsvEBk1tsmPB3aa0rVmSIf5P6a55MGW45JyElnlMg48LONjVpwS5s96whzsxcxurWeeMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbiazNUGEgztOUidfBm3N5svTZ8aDP1qDCLeJdotC8LryiIwPCDRE1QpisIlB4rPGMDKGKar2Ne25NKpiH4GPr2juZV2Rc8tp+wIboarEkG8tjV9KvkCa5Ycm4A0nSTB3VTFj01442tYlaLWhFlogwrn5OXs45BU2lHLQmbSAg6Kj8dRBlBcW5xvkc736C4N85016YpJEhd64il4oOziqUm+qAq/QExQidYtFgbUQjeA6/bwtpPWV1VVkrMyIVu5kJP60M0Ua0vrZJ8dY0XKJk/iRfpDbgY3TmV8RnxHoq536j9OiNqmDYDFmlwRbR2F1n2Xux5RIR2GGVyChEIUATaYQLjsa0riw9SDRZ8mEJudkJ//1vrwn1YbF1pAgkHNXp889uoE8aDsL4GFo3ICc4bHF4PZG/DsuMxhKXdnQwMIQ2K0NyhWppx+EDo86vPLHzQcpHUoUfR2H4DlifdpGG62tUHAQeCROTb9rUf1VyG6z/MPIcdVxkzeo18KIes92MQQk+sjF4+kj26ArmU2Nyz8OdRf5B9FJdVet8dlseHj2vRE/ln0f+X6lklir1oMgRmWBhjNFhaO8sr0+ksRGlAHX7xCDrk5PR9KfQgIAOYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BnNrF5HR4sy9prZ7vzzioY",
      "input": {
        "note": "The pen is now centred between the jaws in the wrist view, running vertically; descending to table level to grasp it.",
        "targets": {
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01BnNrF5HR4sy9prZ7vzzioY",
      "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, 0.8295, 0.6029, -0.3813, -0.0231, -0.0227, 0.9997, 0.255, 1.8805, 0.7429, 0.411, -0.3794, -0.1009, 0.996]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1694 left_yaw=0.0065 left_pitch=-0.0369 left_roll=-0.0084 left_gripper=0.9997 right_x=0.4015 right_y=0.176 right_z=0.0109 right_yaw=0.6247 right_pitch=-0.1183 right_roll=0.1706 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -1.7162, 7.2547, 1.6923, -0.0464, -0.0464, -0.0122, -0.3487, -6.2017, 4.0137, 1.0281, -0.232, 0.1636, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:942f5d277001f12da2081438ee9b82e6b66886e7c76372215034a056bc23e684",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d039243cd244b9f31c0dc5afe463d02a92f15b546b7982e974a1e96256c9d4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c04869a84edb7c37ad8d44291de1e29ef50a145bdf2c16b209635208f7071295",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 6.365 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6029, -0.3813, -0.0227, -0.0223, 0.9998, 0.1463, 1.8954, 0.7776, 0.3496, -0.5053, -0.21, 0.996]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1714 left_yaw=0.006 left_pitch=-0.0297 left_roll=-0.0085 left_gripper=0.9998 right_x=0.4095 right_y=0.1504 right_z=0.0123 right_yaw=0.6764 right_pitch=-0.1079 right_roll=0.1801 right_gripper=0.996\nstate[joint_eff]: [-0.1436, -1.4154, 7.1453, 1.7216, -0.0757, -0.0366, -0.0073, -0.2803, -9.265, 5.1897, 1.1062, -0.1099, 0.1636, 0.0317]",
      "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]: [-0.02, 0.8261, 0.6029, -0.3813, -0.0227, -0.0223, 0.9997, 0.2539, 1.7515, 0.791, 0.2321, -0.3874, -0.0975, 0.9961]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1704 left_yaw=0.006 left_pitch=-0.0335 left_roll=-0.0084 left_gripper=0.9997 right_x=0.4 right_y=0.1764 right_z=0.0499 right_yaw=0.6284 right_pitch=-0.1185 right_roll=0.179 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -1.5795, 7.0085, 1.6972, -0.0757, -0.0513, -0.0171, -0.212, -9.6889, 8.0752, 1.4823, 0.1001, 0.1587, -0.0122]",
      "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]: [-0.02, 0.8295, 0.6029, -0.3813, -0.0231, -0.0227, 0.9997, 0.255, 1.8805, 0.7429, 0.411, -0.3794, -0.1009, 0.996]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1694 left_yaw=0.0065 left_pitch=-0.0369 left_roll=-0.0084 left_gripper=0.9997 right_x=0.4015 right_y=0.176 right_z=0.0109 right_yaw=0.6247 right_pitch=-0.1183 right_roll=0.1706 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -1.7162, 7.2547, 1.6923, -0.0464, -0.0464, -0.0122, -0.3487, -6.2017, 4.0137, 1.0281, -0.232, 0.1636, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:942f5d277001f12da2081438ee9b82e6b66886e7c76372215034a056bc23e684",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d039243cd244b9f31c0dc5afe463d02a92f15b546b7982e974a1e96256c9d4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c04869a84edb7c37ad8d44291de1e29ef50a145bdf2c16b209635208f7071295",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISygIKjgEIEhgCKkAdmKGYy39Z1eQghxBwPaP/VzwKv+kZBgGEzZBU7AW8wXfCOzsmb4b+P4hG+L72i9OD+v3PhyN32tsUhVsPbvzFMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbyazNUGEgwMtlaOYl/TPk9FOEoaDAKeJVRifg5I6KsPmSIwNAPGVoomxsEp/YD3LgDOnmGicYhVR7Fyy3ofuTSrf3TW/g0bfhkzMW8P2HdnelWtKmmzgCwCLcQnz6LMoyZJtt7WqnlcfKE5GGTKBN96SZ7GDdajunhVNamgPEtlLinRwa5aYkhcAQJ6t/iHhK6B+JZtVYBs/MGgSHTj2hBgyfVABAJE57vj3I0yH3dqY6Sb+jFw8hOTYSQLw3IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019p8Y9i3u9fqn9nR5i27dJa",
      "input": {
        "note": "Pen centred in the jaw gap at table level; closing the jaws on it.",
        "targets": {
          "right_gripper": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019p8Y9i3u9fqn9nR5i27dJa",
      "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, 0.8314, 0.6029, -0.3813, -0.0227, -0.0227, 0.9997, 0.2569, 1.8904, 0.7422, 0.4343, -0.3958, -0.1081, 0.0269]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1689 left_yaw=0.0062 left_pitch=-0.0389 left_roll=-0.0086 left_gripper=0.9997 right_x=0.4019 right_y=0.1797 right_z=0.0113 right_yaw=0.6433 right_pitch=-0.1019 right_roll=0.1703 right_gripper=0.0269\nstate[joint_eff]: [-0.1573, -1.265, 7.0496, 1.6825, -0.0611, -0.0513, -0.0122, 0.0205, -8.6632, 5.3949, 1.326, -0.0611, 0.0562, 0.3443]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edbd21b620cc75dc9db5a0d33ef8ea7d6deb0a92152a5e853d4239368b4577bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8db2ecf1ac2ccc1d4fde23e8d8316674379bdf2a60baf6d22001e1e4c194e2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d3527e8dfd1ab1e05c5c57084ce0c7a9e46404d3795a56ad64107d96e55392a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 23.72 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8261, 0.6029, -0.3813, -0.0227, -0.0223, 0.9997, 0.2539, 1.7515, 0.791, 0.2321, -0.3874, -0.0975, 0.9961]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1704 left_yaw=0.006 left_pitch=-0.0335 left_roll=-0.0084 left_gripper=0.9997 right_x=0.4 right_y=0.1764 right_z=0.0499 right_yaw=0.6284 right_pitch=-0.1185 right_roll=0.179 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -1.5795, 7.0085, 1.6972, -0.0757, -0.0513, -0.0171, -0.212, -9.6889, 8.0752, 1.4823, 0.1001, 0.1587, -0.0122]",
      "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]: [-0.02, 0.8295, 0.6029, -0.3813, -0.0231, -0.0227, 0.9997, 0.255, 1.8805, 0.7429, 0.411, -0.3794, -0.1009, 0.996]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1694 left_yaw=0.0065 left_pitch=-0.0369 left_roll=-0.0084 left_gripper=0.9997 right_x=0.4015 right_y=0.176 right_z=0.0109 right_yaw=0.6247 right_pitch=-0.1183 right_roll=0.1706 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -1.7162, 7.2547, 1.6923, -0.0464, -0.0464, -0.0122, -0.3487, -6.2017, 4.0137, 1.0281, -0.232, 0.1636, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.02, 0.8314, 0.6029, -0.3813, -0.0227, -0.0227, 0.9997, 0.2569, 1.8904, 0.7422, 0.4343, -0.3958, -0.1081, 0.0269]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1689 left_yaw=0.0062 left_pitch=-0.0389 left_roll=-0.0086 left_gripper=0.9997 right_x=0.4019 right_y=0.1797 right_z=0.0113 right_yaw=0.6433 right_pitch=-0.1019 right_roll=0.1703 right_gripper=0.0269\nstate[joint_eff]: [-0.1573, -1.265, 7.0496, 1.6825, -0.0611, -0.0513, -0.0122, 0.0205, -8.6632, 5.3949, 1.326, -0.0611, 0.0562, 0.3443]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edbd21b620cc75dc9db5a0d33ef8ea7d6deb0a92152a5e853d4239368b4577bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8db2ecf1ac2ccc1d4fde23e8d8316674379bdf2a60baf6d22001e1e4c194e2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d3527e8dfd1ab1e05c5c57084ce0c7a9e46404d3795a56ad64107d96e55392a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIStgUKjgEIEhgCKkClL6a8QhIudiMpqfB7OGZ69BbuzGYWCHXEj0cIJa0xLnRJP6zU4srFM4Zz7ufVp4Q1o1r48NAya/8pJwPlXF80Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcOazNUGEgwTKSoFZ+oeOyhPps4aDERzdQswfxgMi43nzyIwXXUxzdwfGIVqDgUCcvsbbbfdbvmZc0uptVc7qws13MfNJpRQCQ3m/Do+Vfk+j0S3KtQDRP4qu8ZgXNX8vsdCBbgrXlbR56EXdc577byQcPh7S9vBRAiuaw2hYwldPvSvg2YbvmqZO3xp27OrQHYRcUSWTLcFL63TsvkfgIxf1NRR94By9FJbrf15oPLRwy2ivOCOFsK1c5o4SWeyvuFvrv61E2nDCwxmRTRu912cJog9p4sWHc27oxFqRIK6B9j8kS4+w2ngF1/+BE54vNxJSxOKDpQNnhgT+PvZlfJ4l8UKB0oKjjYnDVdr02IyiYVlw+NhCyRBev7SdE6ID2M9ERYBde1Ca2drLG+Cp8tJWF7+JYu4ACxCT3wwJA9btqENVoj/uKC6lcqo/kuoUP1eIwfDWhGwZjk+2SyU0STUqtphaPG+waW67cdkPAR0F4ziPTH2fCnOJoH/LywEv6qKpVfbBRo33S2KDPI3V79AEDnFqFp4i4ripxwOYLlZoXlVKnHP9gfQ5ixlGGuYSPjJfU+efMH2Pbayh/GrbXnf1y05nX3Uds/+AwLI8FubTiSUpP5ziagCTk+9JnJrZ099EU+Vwf2bctD6ki+3weTLry/ctjzw6hdPTHhiYQ4NRaWVGbMEW1g4d+hNTcsuQq56oqwrz9tzbswv+QCgl/bqrcgjZYxDSuesGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EbVAfkJXD8rgPybATAQqVW",
      "input": {
        "note": "Jaws closed on something; lifting 11 cm to check in the overhead view whether the pen is held.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01EbVAfkJXD8rgPybATAQqVW",
      "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, 0.8333, 0.6029, -0.3813, -0.0227, -0.0257, 0.9997, 0.2558, 1.6413, 0.9035, 0.0097, -0.3935, -0.1097, 0.0275]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1684 left_yaw=0.0079 left_pitch=-0.0408 left_roll=-0.0111 left_gripper=0.9997 right_x=0.4023 right_y=0.1789 right_z=0.0999 right_yaw=0.6417 right_pitch=-0.1154 right_roll=0.173 right_gripper=0.0275\nstate[joint_eff]: [-0.1162, -1.6205, 7.2274, 1.6679, -0.0708, -0.0317, -0.0073, -0.253, -9.8667, 8.2803, 1.5849, -0.1783, -0.0122, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:039d6324000cb998f2b3683146c0a298e62e8ff5927eaa5ac767c91013519cc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73ec6418ccc8877357b3b4fe1afe95977aff18f3a08f58aa0d22a1768ad0278d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:801019f3cf234a9990db3e110bc0480f315aea3ff79e903b5b3976243a37dbf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 14.6 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8295, 0.6029, -0.3813, -0.0231, -0.0227, 0.9997, 0.255, 1.8805, 0.7429, 0.411, -0.3794, -0.1009, 0.996]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1694 left_yaw=0.0065 left_pitch=-0.0369 left_roll=-0.0084 left_gripper=0.9997 right_x=0.4015 right_y=0.176 right_z=0.0109 right_yaw=0.6247 right_pitch=-0.1183 right_roll=0.1706 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -1.7162, 7.2547, 1.6923, -0.0464, -0.0464, -0.0122, -0.3487, -6.2017, 4.0137, 1.0281, -0.232, 0.1636, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8314, 0.6029, -0.3813, -0.0227, -0.0227, 0.9997, 0.2569, 1.8904, 0.7422, 0.4343, -0.3958, -0.1081, 0.0269]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1689 left_yaw=0.0062 left_pitch=-0.0389 left_roll=-0.0086 left_gripper=0.9997 right_x=0.4019 right_y=0.1797 right_z=0.0113 right_yaw=0.6433 right_pitch=-0.1019 right_roll=0.1703 right_gripper=0.0269\nstate[joint_eff]: [-0.1573, -1.265, 7.0496, 1.6825, -0.0611, -0.0513, -0.0122, 0.0205, -8.6632, 5.3949, 1.326, -0.0611, 0.0562, 0.3443]",
      "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]: [-0.02, 0.8333, 0.6029, -0.3813, -0.0227, -0.0257, 0.9997, 0.2558, 1.6413, 0.9035, 0.0097, -0.3935, -0.1097, 0.0275]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1684 left_yaw=0.0079 left_pitch=-0.0408 left_roll=-0.0111 left_gripper=0.9997 right_x=0.4023 right_y=0.1789 right_z=0.0999 right_yaw=0.6417 right_pitch=-0.1154 right_roll=0.173 right_gripper=0.0275\nstate[joint_eff]: [-0.1162, -1.6205, 7.2274, 1.6679, -0.0708, -0.0317, -0.0073, -0.253, -9.8667, 8.2803, 1.5849, -0.1783, -0.0122, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:039d6324000cb998f2b3683146c0a298e62e8ff5927eaa5ac767c91013519cc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73ec6418ccc8877357b3b4fe1afe95977aff18f3a08f58aa0d22a1768ad0278d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:801019f3cf234a9990db3e110bc0480f315aea3ff79e903b5b3976243a37dbf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JgvU2NuRguyB8mm1e3qVQ9",
      "input": {
        "note": "The pen is now held by the right gripper (visible sticking out of the jaws) and the table shows only the black cap. Moving the left arm toward the cap for a closer look before grasping.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.17,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01JgvU2NuRguyB8mm1e3qVQ9",
      "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]: [-0.6743, 1.4609, 0.7547, -0.1062, -0.5198, -0.4377, 0.9997, 0.2558, 1.6321, 0.9028, -0.0078, -0.3935, -0.1093, 0.0282]\nstate[eef_state]: left_x=0.3461 left_y=-0.1597 left_z=0.0991 left_yaw=-0.01 left_pitch=-0.1115 left_roll=0.0318 left_gripper=0.9997 right_x=0.3995 right_y=0.1782 right_z=0.1003 right_yaw=0.6419 right_pitch=-0.124 right_roll=0.1768 right_gripper=0.0282\nstate[joint_eff]: [-0.335, -6.2017, 9.2513, 1.7118, -0.4615, -0.0952, -0.0122, -0.294, -6.8581, 6.3658, 1.6825, -0.2076, -0.0415, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7588f7e97344514e9432a5bcc6bd2c1a916f27693f169ce87011659ac614444c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea67507b7efa4ab18f3bad1fb1d02a8d6d80021d97622f690310db93de6aaab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f331b6625a8699d35bddc7059c6cc7834a3f9fea4c1697219939f75cd8151f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 10.58 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8314, 0.6029, -0.3813, -0.0227, -0.0227, 0.9997, 0.2569, 1.8904, 0.7422, 0.4343, -0.3958, -0.1081, 0.0269]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1689 left_yaw=0.0062 left_pitch=-0.0389 left_roll=-0.0086 left_gripper=0.9997 right_x=0.4019 right_y=0.1797 right_z=0.0113 right_yaw=0.6433 right_pitch=-0.1019 right_roll=0.1703 right_gripper=0.0269\nstate[joint_eff]: [-0.1573, -1.265, 7.0496, 1.6825, -0.0611, -0.0513, -0.0122, 0.0205, -8.6632, 5.3949, 1.326, -0.0611, 0.0562, 0.3443]",
      "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]: [-0.02, 0.8333, 0.6029, -0.3813, -0.0227, -0.0257, 0.9997, 0.2558, 1.6413, 0.9035, 0.0097, -0.3935, -0.1097, 0.0275]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1684 left_yaw=0.0079 left_pitch=-0.0408 left_roll=-0.0111 left_gripper=0.9997 right_x=0.4023 right_y=0.1789 right_z=0.0999 right_yaw=0.6417 right_pitch=-0.1154 right_roll=0.173 right_gripper=0.0275\nstate[joint_eff]: [-0.1162, -1.6205, 7.2274, 1.6679, -0.0708, -0.0317, -0.0073, -0.253, -9.8667, 8.2803, 1.5849, -0.1783, -0.0122, 0.0513]",
      "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]: [-0.6743, 1.4609, 0.7547, -0.1062, -0.5198, -0.4377, 0.9997, 0.2558, 1.6321, 0.9028, -0.0078, -0.3935, -0.1093, 0.0282]\nstate[eef_state]: left_x=0.3461 left_y=-0.1597 left_z=0.0991 left_yaw=-0.01 left_pitch=-0.1115 left_roll=0.0318 left_gripper=0.9997 right_x=0.3995 right_y=0.1782 right_z=0.1003 right_yaw=0.6419 right_pitch=-0.124 right_roll=0.1768 right_gripper=0.0282\nstate[joint_eff]: [-0.335, -6.2017, 9.2513, 1.7118, -0.4615, -0.0952, -0.0122, -0.294, -6.8581, 6.3658, 1.6825, -0.2076, -0.0415, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7588f7e97344514e9432a5bcc6bd2c1a916f27693f169ce87011659ac614444c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea67507b7efa4ab18f3bad1fb1d02a8d6d80021d97622f690310db93de6aaab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f331b6625a8699d35bddc7059c6cc7834a3f9fea4c1697219939f75cd8151f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013vP5mzc4m2tGn2gWSdh4Ma",
      "input": {
        "note": "Left wrist view shows the pen cap up and right of the jaw column, lying at ~30° in the image; moving out and right and yawing +57° so the cap will appear vertical, i.e. across the jaws.",
        "targets": {
          "left_x": 0.395,
          "left_y": -0.2,
          "left_yaw": 1.0,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_013vP5mzc4m2tGn2gWSdh4Ma",
      "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]: [-0.7872, 2.36, 1.8679, -1.0874, -0.8402, -1.5673, 0.9996, 0.2337, 1.6417, 0.897, -0.0231, -0.3676, -0.1051, 0.0283]\nstate[eef_state]: left_x=0.4132 left_y=-0.2232 left_z=0.0473 left_yaw=0.7779 left_pitch=-0.1599 left_roll=0.0078 left_gripper=0.9996 right_x=0.4015 right_y=0.1645 right_z=0.0904 right_yaw=0.5979 right_pitch=-0.1593 right_roll=0.1747 right_gripper=0.0283\nstate[joint_eff]: [0.212, -12.1504, 4.8068, -0.6862, -0.6081, 0.0269, -0.0171, 1.6615, -8.3761, 6.7214, 1.6532, -0.4615, -0.0415, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db1901683fb4b56e86167d87b4c1493833edcaf823a9ff3ca1e6bf88cb325400",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe28fa67b6e099248b9d1feb76c7f68ca222a5ce40670a5c0c2ccd0631419980",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1603b6d767e75cd173e367078dfe960125f02f979ce64a421e068e6688c9afdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 7.296 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8333, 0.6029, -0.3813, -0.0227, -0.0257, 0.9997, 0.2558, 1.6413, 0.9035, 0.0097, -0.3935, -0.1097, 0.0275]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1684 left_yaw=0.0079 left_pitch=-0.0408 left_roll=-0.0111 left_gripper=0.9997 right_x=0.4023 right_y=0.1789 right_z=0.0999 right_yaw=0.6417 right_pitch=-0.1154 right_roll=0.173 right_gripper=0.0275\nstate[joint_eff]: [-0.1162, -1.6205, 7.2274, 1.6679, -0.0708, -0.0317, -0.0073, -0.253, -9.8667, 8.2803, 1.5849, -0.1783, -0.0122, 0.0513]",
      "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]: [-0.6743, 1.4609, 0.7547, -0.1062, -0.5198, -0.4377, 0.9997, 0.2558, 1.6321, 0.9028, -0.0078, -0.3935, -0.1093, 0.0282]\nstate[eef_state]: left_x=0.3461 left_y=-0.1597 left_z=0.0991 left_yaw=-0.01 left_pitch=-0.1115 left_roll=0.0318 left_gripper=0.9997 right_x=0.3995 right_y=0.1782 right_z=0.1003 right_yaw=0.6419 right_pitch=-0.124 right_roll=0.1768 right_gripper=0.0282\nstate[joint_eff]: [-0.335, -6.2017, 9.2513, 1.7118, -0.4615, -0.0952, -0.0122, -0.294, -6.8581, 6.3658, 1.6825, -0.2076, -0.0415, 0.0611]",
      "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]: [-0.7872, 2.36, 1.8679, -1.0874, -0.8402, -1.5673, 0.9996, 0.2337, 1.6417, 0.897, -0.0231, -0.3676, -0.1051, 0.0283]\nstate[eef_state]: left_x=0.4132 left_y=-0.2232 left_z=0.0473 left_yaw=0.7779 left_pitch=-0.1599 left_roll=0.0078 left_gripper=0.9996 right_x=0.4015 right_y=0.1645 right_z=0.0904 right_yaw=0.5979 right_pitch=-0.1593 right_roll=0.1747 right_gripper=0.0283\nstate[joint_eff]: [0.212, -12.1504, 4.8068, -0.6862, -0.6081, 0.0269, -0.0171, 1.6615, -8.3761, 6.7214, 1.6532, -0.4615, -0.0415, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db1901683fb4b56e86167d87b4c1493833edcaf823a9ff3ca1e6bf88cb325400",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe28fa67b6e099248b9d1feb76c7f68ca222a5ce40670a5c0c2ccd0631419980",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1603b6d767e75cd173e367078dfe960125f02f979ce64a421e068e6688c9afdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISzwoKjgEIEhgCKkD2qHPGNsai7vIvgLVZR4BkUZ35W9Y/Q9NaQnVlHvDJSp9rJh/pPVmxaFyVAjGavZGfw5CB/33F0ThQRc9X6z06Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfWazNUGEgxseKOlK2PtTlGY2/saDEu2ZT6o+MR5oAn8SSIw81se42LsRgGBSjBuN6xCZuUi7XCR0hJ3q7hR2WJ/io5jK4vjI66qWOgRxIMESo5LKu0Ipt3/YgQpdrhokxmuLOShFSlPy6+ZMx7EY8Xol9zPtrH4r7t0BUApN6B9B+4/X03/ATWuf1iLZQwbIQiFfj4f/dEXiEEznfJFhw7zzZkRR4lTfn+1PT/XwzcItBkgN6mqHzHcuQboPOjRmveXPh3d5+rAMySsaK5xzFTfvGI27lFZ6P/fNl7n4OfsFNbxY99lkkjIo6Om5hKopTcAskW/+OnUgA7sbItCCOqKwgJgbZKAhCLUs3JamPMQVchg0SMdi+rcAcqAPgt3C58HDqETpgpg6A3bTkypa4VX637OBsXabg3PeATVGVajbCXa3lptrYtkj83VSclUz9siMMBmVePF2bBUVaGf0201nrZtYQdBG26+ThnZFpJZjDZmfW5vGA5kB9G2hA4btSK0KtqYd8VOnSGa8ZI9dRZRYUFu94GOteV59K9VoLVoJrcRpbqEnxxIf2sa18azB/fzkOoeb7zzCcEJ7O/stCbpvL9HZ1Uq3MgeI5+VC/DeHzYv/c1Xk0lexl0PD+9xIa+08n+vwvU0i5T/6y5X4POqVuk5Tn1JChH++43VRYDkRdhwldx/hWDh38ZHAxHPjOb9xuFFcFxYwy65imWcAleq3wSdSCeDxGKkOwzDAdpxRCeWqM757jPgBQsKt+zDpqOqfktcjwFSWAsjCw99mh7D/cQZZjBitkS7D0y1fF0+LE//3HkiDdxLFql6aaEWwIQAfnr4JGEQ8vizCiT0pE9B8vgEB+q8Gope4JZ2ZN84bROVAXd/ViM9UjKr9/0lpnyvrFv7dEkqE8dvIsxw979d8rIczU7AjmdnLBuDIArTqD+STXyeuAYrxDGRyamMEB31C5ISb4vxD1fceP7ZEt4U7qqtcvJ2Qmkplq6GKgNBDP3XpPcTQnhQdGimYj1jrFkRZZeVaV02mfpkbJ54WapbbYxZH2vwCMpiE+RukKv1KlQAV8+YWMfq6yoopKzP2mAc1tLCzFZXUkA/K+M4DB38Ty/RExZqlyf5jNjAPNEQwV3uYXyt8rHNjon6jK7+tua0tyHw95vEB44LNivA7SjMIVmKzLx9yZr4hXjAF1tpjIu5jUrUQUPHHkRvlBEveKtsdPqofDAAPxY8i0oOz0/SmKyDasRjqHdfnVJky7oue7lXRfgED4tyls2iDwlUR8KQzIQ4+LVfvb0tC+n5ihZft192sW5ciWGiCQBTNR6i2fTr1E46b0rbjyRCSxAU/GO+SyhAnZ9M6K33AbGQML3f+LI7fSggNetcMc4CAY6CS0kP/rSNpJnLGXg+G8LNYG6GcKetHdONj3mlTxLruF5TGNS9cSPcJIoKL2AJDte6yrAhggtXNXSboQayvCkhicunUUpXf1Clx4dASnFH2VdFcJ0mH3n99987+qlGCdKdXv6O5TrrxH+G5ztCywPhihI4uFosrmhlOf8kd7mexZ1VrAkjKRSFPd6gCQqC6Ry1eaedptM3xfSw1yRf3kF9vDkNmU5kIyPkb0Z20Tr4K8kByocYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JxucLPfKG61oMGNNGTmWSU",
      "input": {
        "note": "The cap is now just in front of the jaws but lying horizontally in the image (parallel to the closing axis), so my yaw sign was backwards; rotating the wrist the other way to -57° and lifting slightly to avoid brushing the cap.",
        "targets": {
          "left_yaw": -1.0,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01JxucLPfKG61oMGNNGTmWSU",
      "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]: [-0.3489, 1.8408, 1.0275, -0.0444, 0.2836, 0.2638, 0.9994, 0.2352, 1.6459, 0.8932, -0.0376, -0.3733, -0.1085, 0.0289]\nstate[eef_state]: left_x=0.4158 left_y=-0.2 left_z=0.0485 left_yaw=-0.746 left_pitch=-0.2423 left_roll=-0.0389 left_gripper=0.9994 right_x=0.3972 right_y=0.1651 right_z=0.0851 right_yaw=0.6073 right_pitch=-0.1785 right_roll=0.1841 right_gripper=0.0289\nstate[joint_eff]: [0.1573, -8.8821, 8.9094, 1.4383, 0.3101, 0.2418, -0.0317, -0.253, -7.9795, 6.5026, 1.6142, -0.1441, -0.0269, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcbbc92c564693a4b2a9a47196cda45aa3955ebb5eaa21735642dff48424569d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2b6f0879ab96bdc2e90fa05baf837b86444644668192bc5529fed2e8c87a415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9a4b01c8fd3255c09e0ba468c4f81f9f5a7f6e2a0a24565edbf48d17eb6f694",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 6.3 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6743, 1.4609, 0.7547, -0.1062, -0.5198, -0.4377, 0.9997, 0.2558, 1.6321, 0.9028, -0.0078, -0.3935, -0.1093, 0.0282]\nstate[eef_state]: left_x=0.3461 left_y=-0.1597 left_z=0.0991 left_yaw=-0.01 left_pitch=-0.1115 left_roll=0.0318 left_gripper=0.9997 right_x=0.3995 right_y=0.1782 right_z=0.1003 right_yaw=0.6419 right_pitch=-0.124 right_roll=0.1768 right_gripper=0.0282\nstate[joint_eff]: [-0.335, -6.2017, 9.2513, 1.7118, -0.4615, -0.0952, -0.0122, -0.294, -6.8581, 6.3658, 1.6825, -0.2076, -0.0415, 0.0611]",
      "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]: [-0.7872, 2.36, 1.8679, -1.0874, -0.8402, -1.5673, 0.9996, 0.2337, 1.6417, 0.897, -0.0231, -0.3676, -0.1051, 0.0283]\nstate[eef_state]: left_x=0.4132 left_y=-0.2232 left_z=0.0473 left_yaw=0.7779 left_pitch=-0.1599 left_roll=0.0078 left_gripper=0.9996 right_x=0.4015 right_y=0.1645 right_z=0.0904 right_yaw=0.5979 right_pitch=-0.1593 right_roll=0.1747 right_gripper=0.0283\nstate[joint_eff]: [0.212, -12.1504, 4.8068, -0.6862, -0.6081, 0.0269, -0.0171, 1.6615, -8.3761, 6.7214, 1.6532, -0.4615, -0.0415, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3489, 1.8408, 1.0275, -0.0444, 0.2836, 0.2638, 0.9994, 0.2352, 1.6459, 0.8932, -0.0376, -0.3733, -0.1085, 0.0289]\nstate[eef_state]: left_x=0.4158 left_y=-0.2 left_z=0.0485 left_yaw=-0.746 left_pitch=-0.2423 left_roll=-0.0389 left_gripper=0.9994 right_x=0.3972 right_y=0.1651 right_z=0.0851 right_yaw=0.6073 right_pitch=-0.1785 right_roll=0.1841 right_gripper=0.0289\nstate[joint_eff]: [0.1573, -8.8821, 8.9094, 1.4383, 0.3101, 0.2418, -0.0317, -0.253, -7.9795, 6.5026, 1.6142, -0.1441, -0.0269, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcbbc92c564693a4b2a9a47196cda45aa3955ebb5eaa21735642dff48424569d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2b6f0879ab96bdc2e90fa05baf837b86444644668192bc5529fed2e8c87a415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9a4b01c8fd3255c09e0ba468c4f81f9f5a7f6e2a0a24565edbf48d17eb6f694",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS6gYKjgEIEhgCKkDI0jsXK7pE6T6BYb+d6OYwHY/yn+dx0t3KA9xwN/mbPMHrjMyjruKVBXOEnNIAaXHHhRewtkqKk3hvYR1c6UaZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf6azNUGEgwikELS7iot60Toh3IaDBE45isDvgmOLquLFiIwo2/Fm4ro0/zwFDD+E1khjKiUrv6wQ/qbpC+HT9rLHqf7cbJ7jNco7ClkmjWZ7ZDHKogFsMdgpEljyTgB+bDwZXqc/2F3mdT7eX/gfDw+dUNrEMCuYc3o3GoSmkGz0GwfIkR8KfVpO4AGMatH6pH9SmlelHauGTinrSvBp9OAfe58GX5mXQlrNaX2WB/5sYd0AJm+38fv5zSCGqtkF+rXRLhAfZ6iHd94Qsxy1KFgS3aKyOU+8AjTm5/gBMMW4NYeOKh0rG+NJiPY/g3WAYLHB34d73t63Co0UZiHPBaHcOAPS8vkP8pgizRBdo1XVy/0G6P2lKaNV8sILiSJiIFPEhUmDPp/EeqMHr4qMPIxybvU3r64cek7FX4oy67YqfHtD2wBNcvrWYKG0XOYsGLJSn8ivcF0UAig8EOpwFlwXJVy72ZCqf0qkm4nS+Vog8rTZKGTHCHRNPcV+TdBxfLaE6/CNYxZ/dC1whdv53CFNAjHJ/jp6CVw4LtDli+YAvR4OaRHBBZltcAPK5pT6WeRMkMeZ9cOkjy7pEswS7PR4tOviNw62FbD/WAk0PwJvbke7n3racwQg8a+GLnltypHMKaXz/6sSdWDL7A1XorhteGjf7/cbhQQmeabJJHuVSX4R/+ePuVIfWCyYC/DNm5XqRynlpvRsZeaIEgFJxgUKJ/CDpaHoKa6pi9SGxZEcLXJxHEzYdoxCeFla15W5l7X2wx1XEDoZ/TrlfkwUYG6yGmFFlf6aGIAarCEfkYP1a9IUFQCBIRltDTjJO01eRVoFHqhFvuyMl5Lv6MMetX3CirGnCEpZkm9oAt4xurmehfSzEVwF7XZzAg+QU82pl91X6TE1RgEIaRkHtU8E8XRpi7Ac4iC6k2sWnaQQQ6SYIhXbznTdGUnZc+O1gn6gk6rN+qvXVszyb1ezg5eGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WQ4FtxSe2r56LpKr3HK8Td",
      "input": {
        "note": "Cap now appears vertical (across the jaws) just above the jaw row; advancing ~2.5 cm outward and descending to 2 cm for the final approach.",
        "targets": {
          "left_x": 0.44,
          "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_01WQ4FtxSe2r56LpKr3HK8Td",
      "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]: [-0.3298, 1.9083, 1.0748, -0.0387, 0.3859, 0.3843, 0.9994, 0.2352, 1.6459, 0.8932, -0.041, -0.3737, -0.1085, 0.029]\nstate[eef_state]: left_x=0.4214 left_y=-0.2107 left_z=0.0412 left_yaw=-0.878 left_pitch=-0.2181 left_roll=-0.0306 left_gripper=0.9994 right_x=0.3966 right_y=0.165 right_z=0.0845 right_yaw=0.6079 right_pitch=-0.1816 right_roll=0.1856 right_gripper=0.029\nstate[joint_eff]: [-0.1026, -7.5419, 6.7487, 1.1893, 0.1734, -0.105, -0.0171, -0.335, -7.5966, 6.188, 1.4969, -0.2271, -0.0073, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54ca071690f496b478708538baeb99d5d7b31f6f641e9f678bdee73fc15e1508",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8908e008a320878b02ac297ce625dd360c70fe8c4ba30307a8ad4cd3eed63497",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:10bcc0c70ec55251bbea26656007fd4cc8cf705c66503b7b0b83240011adfb36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 4.846 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7872, 2.36, 1.8679, -1.0874, -0.8402, -1.5673, 0.9996, 0.2337, 1.6417, 0.897, -0.0231, -0.3676, -0.1051, 0.0283]\nstate[eef_state]: left_x=0.4132 left_y=-0.2232 left_z=0.0473 left_yaw=0.7779 left_pitch=-0.1599 left_roll=0.0078 left_gripper=0.9996 right_x=0.4015 right_y=0.1645 right_z=0.0904 right_yaw=0.5979 right_pitch=-0.1593 right_roll=0.1747 right_gripper=0.0283\nstate[joint_eff]: [0.212, -12.1504, 4.8068, -0.6862, -0.6081, 0.0269, -0.0171, 1.6615, -8.3761, 6.7214, 1.6532, -0.4615, -0.0415, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3489, 1.8408, 1.0275, -0.0444, 0.2836, 0.2638, 0.9994, 0.2352, 1.6459, 0.8932, -0.0376, -0.3733, -0.1085, 0.0289]\nstate[eef_state]: left_x=0.4158 left_y=-0.2 left_z=0.0485 left_yaw=-0.746 left_pitch=-0.2423 left_roll=-0.0389 left_gripper=0.9994 right_x=0.3972 right_y=0.1651 right_z=0.0851 right_yaw=0.6073 right_pitch=-0.1785 right_roll=0.1841 right_gripper=0.0289\nstate[joint_eff]: [0.1573, -8.8821, 8.9094, 1.4383, 0.3101, 0.2418, -0.0317, -0.253, -7.9795, 6.5026, 1.6142, -0.1441, -0.0269, 0.0464]\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]: [-0.3298, 1.9083, 1.0748, -0.0387, 0.3859, 0.3843, 0.9994, 0.2352, 1.6459, 0.8932, -0.041, -0.3737, -0.1085, 0.029]\nstate[eef_state]: left_x=0.4214 left_y=-0.2107 left_z=0.0412 left_yaw=-0.878 left_pitch=-0.2181 left_roll=-0.0306 left_gripper=0.9994 right_x=0.3966 right_y=0.165 right_z=0.0845 right_yaw=0.6079 right_pitch=-0.1816 right_roll=0.1856 right_gripper=0.029\nstate[joint_eff]: [-0.1026, -7.5419, 6.7487, 1.1893, 0.1734, -0.105, -0.0171, -0.335, -7.5966, 6.188, 1.4969, -0.2271, -0.0073, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54ca071690f496b478708538baeb99d5d7b31f6f641e9f678bdee73fc15e1508",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8908e008a320878b02ac297ce625dd360c70fe8c4ba30307a8ad4cd3eed63497",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10bcc0c70ec55251bbea26656007fd4cc8cf705c66503b7b0b83240011adfb36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS6QUKjgEIEhgCKkBj3WBcZL0JDhtUMJeo999k2cbnn9MizmA0vWrGPsSLvK3N9lmvTsVcSX/k1U6ysvbPcNrp6pYMJnvBlysL6QMOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYSbzNUGEgw3zqjSGfAO0fZz1BsaDA1viQ7u42egcQ5MWyIwXjuaKdU4ozxmg3TYyQettmajUHnwzAo9AQx5x2Uk9j+pxRHjHOF3ihhoitGj3T0IKocECf470ElwQWVZnTPUlxFecT4LGpfKEnecgncsEvyDT/pAURCiFmdWDOxeBWDbu4utzVzjF50IgXtNbZrodRD9j9r8uxI2e9Rkn9QcjYzfXDzz8YD6PyrKo+SSvexrCW6VbUWY9jg5Mwo2AxEh8Giw+gQlPvd7C2g2NkFMfiPWNaeuRNlkd2LfmqwxOFqNgMWe/HNCFTJKFU2KJFG9ztVDZZGcGM1iH4hfyscEkBHiQ9m9QhUOGpcHD7epd3Y+G8LkjR7KTN8+YQfObkw+j8xqEOOwDZQAX3jXSFkGewMNLdP7YjTi8Yv4eP3HmXSmB1b9QWn3cyLurU7PSt8ZOf/nrAYrUI5/k2QenACG/yGbIPGswhvYmNXjzsVNHQ7jCsQP54IE7bRPmV1Dq9j50SeUetNrZI136YsKrrLHkQ2r9RQmdTAoewz5+uGdGxNG03RILHbTfDCc2li1rLkX4g7dR0g9tB1EnNgxE1BZV/Jy0QX8+Xo1bDJ/zEtogT/FZk9aMV9jGCALL+tPFo1bWzIW4nyjnWQMwtO5QCtCZwBNKkDh2qLI5npYlVjPHURVvCx1vVtKovXxCubR/M3P7C6K6UAcuj3XRTCAS26jxgsppZOkkYT9wyCGo1ZRvO6htkyUMbBfVUM+fhffz3LFADl5HMi+l1XMS5n3x07Ons3TEYiSRbFBLVZoGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0166ddsjZHTRvoTvc9epEpVD",
      "input": {
        "note": "Motion is being clamped to tiny increments, so re-commanding the approach: 3 cm further out, a few mm to the arm's left, and down to table level over the cap.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.203,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0166ddsjZHTRvoTvc9epEpVD",
      "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]: [-0.3199, 1.9923, 1.076, -0.0116, 0.3534, 0.355, 0.9993, 0.2352, 1.647, 0.8925, -0.0452, -0.3737, -0.1085, 0.0291]\nstate[eef_state]: left_x=0.4244 left_y=-0.2012 left_z=0.0064 left_yaw=-0.8331 left_pitch=-0.2796 left_roll=-0.0578 left_gripper=0.9993 right_x=0.3957 right_y=0.1648 right_z=0.0831 right_yaw=0.6083 right_pitch=-0.1873 right_roll=0.1879 right_gripper=0.0291\nstate[joint_eff]: [0.2256, -12.4513, 7.159, 1.4237, 0.4713, 0.1343, -0.0171, 0.0205, -7.6786, 6.2291, 1.5556, -0.2173, 0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fb81c80e1987e7111357307a47782dc896629c93ee0d1e978819425849d465d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dca1953acfb91e6438189dbf8e4aaa1ceca16a24e3a4843fd0b7d9841f6ce53f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af551f0f5ec2cf27a2007bc6c930bec9cfe6e2111fa68c8f1030cb9f662b0c11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 10.91 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3489, 1.8408, 1.0275, -0.0444, 0.2836, 0.2638, 0.9994, 0.2352, 1.6459, 0.8932, -0.0376, -0.3733, -0.1085, 0.0289]\nstate[eef_state]: left_x=0.4158 left_y=-0.2 left_z=0.0485 left_yaw=-0.746 left_pitch=-0.2423 left_roll=-0.0389 left_gripper=0.9994 right_x=0.3972 right_y=0.1651 right_z=0.0851 right_yaw=0.6073 right_pitch=-0.1785 right_roll=0.1841 right_gripper=0.0289\nstate[joint_eff]: [0.1573, -8.8821, 8.9094, 1.4383, 0.3101, 0.2418, -0.0317, -0.253, -7.9795, 6.5026, 1.6142, -0.1441, -0.0269, 0.0464]\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]: [-0.3298, 1.9083, 1.0748, -0.0387, 0.3859, 0.3843, 0.9994, 0.2352, 1.6459, 0.8932, -0.041, -0.3737, -0.1085, 0.029]\nstate[eef_state]: left_x=0.4214 left_y=-0.2107 left_z=0.0412 left_yaw=-0.878 left_pitch=-0.2181 left_roll=-0.0306 left_gripper=0.9994 right_x=0.3966 right_y=0.165 right_z=0.0845 right_yaw=0.6079 right_pitch=-0.1816 right_roll=0.1856 right_gripper=0.029\nstate[joint_eff]: [-0.1026, -7.5419, 6.7487, 1.1893, 0.1734, -0.105, -0.0171, -0.335, -7.5966, 6.188, 1.4969, -0.2271, -0.0073, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3199, 1.9923, 1.076, -0.0116, 0.3534, 0.355, 0.9993, 0.2352, 1.647, 0.8925, -0.0452, -0.3737, -0.1085, 0.0291]\nstate[eef_state]: left_x=0.4244 left_y=-0.2012 left_z=0.0064 left_yaw=-0.8331 left_pitch=-0.2796 left_roll=-0.0578 left_gripper=0.9993 right_x=0.3957 right_y=0.1648 right_z=0.0831 right_yaw=0.6083 right_pitch=-0.1873 right_roll=0.1879 right_gripper=0.0291\nstate[joint_eff]: [0.2256, -12.4513, 7.159, 1.4237, 0.4713, 0.1343, -0.0171, 0.0205, -7.6786, 6.2291, 1.5556, -0.2173, 0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fb81c80e1987e7111357307a47782dc896629c93ee0d1e978819425849d465d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dca1953acfb91e6438189dbf8e4aaa1ceca16a24e3a4843fd0b7d9841f6ce53f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af551f0f5ec2cf27a2007bc6c930bec9cfe6e2111fa68c8f1030cb9f662b0c11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISmwQKjgEIEhgCKkBdVqUmYzh8VR+r2XVOH3HwAm7mHUFwgeabcvZX5piufuhFtNgHAjWmTCtZhVCWQrnV9FUvLZYjwAvqVM5AC7sdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYqbzNUGEgwiUDnYQPE0mqnrHWkaDJwCoMdqeINj/bpbnSIwZiFM3tfP+sy1zFaKGUZR697ph80kiBy7lyNztBLWcMc2IU5vOuWk4uMHS6/HGp+MKrkCOmyUOKeJlwmjCGDoEoKbKO4NXeUfhnXZcWspmBH9VZjN/grSc24CO5X+FOb+14BYG2lQeLVQ7L/lA41eFYx88QkW9lSpdGDzTnRiH8/ZcmV69gogUO0/Z8Kh0jAOIM4Z/G/ybOXX092BkGNHu9ukXVDeMNR3b+3vpkoGlFbo4+whr/xF0C7LDi5wXGfX2BVpBkTHNnu/3r4oHU/YefVVbbV4J2GVOsCYG4Gt5WdgQqh/yXoDZ+yxVdk1QW2LCTXVZEotJL96IYnq52W6P5ot9SiW/ulYX8g1gQNrLO7vTmpfwV4Tguu8rL3JDfahKJ7f9Gq2+PGn0NZ+zU5Zr3JUWIHQzgutkhIQzgzCqByC7LIB6MYr/WsOBs/C6HzQYD6Z/hu7+QHq7ilLEXDZhVjw7/2nut5lY5Zw3BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011H8bygb5ufrKzNuJRkfS3f",
      "input": {
        "note": "Cap is centred on the jaw column but still ~2 cm short of the fingertips; pushing straight out along x at table level to bring it into the jaw gap.",
        "targets": {
          "left_x": 0.455
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_011H8bygb5ufrKzNuJRkfS3f",
      "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]: [-0.3183, 1.9919, 1.076, -0.0181, 0.3744, 0.3771, 0.9993, 0.2352, 1.647, 0.8925, -0.0448, -0.3737, -0.1085, 0.0291]\nstate[eef_state]: left_x=0.4217 left_y=-0.2032 left_z=0.0068 left_yaw=-0.8616 left_pitch=-0.2758 left_roll=-0.0609 left_gripper=0.9993 right_x=0.3958 right_y=0.1648 right_z=0.0831 right_yaw=0.6083 right_pitch=-0.1869 right_roll=0.1877 right_gripper=0.0291\nstate[joint_eff]: [0.1162, -12.4103, 7.4051, 1.3993, 0.3394, 0.149, -0.0122, -0.1709, -7.3641, 6.2154, 1.4823, -0.2076, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73af2a9121528c880f2b44527446fa2102685340e31fc6971eac6e19c3cb7530",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35a45a262089680da593a0e245ca264e416e94fb8f6afc648eb7eb2c06ef131c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:33f53353b72cf897ea53a3bebbd8111100071d406d60144e6f194c73e7559485",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 5.268 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3298, 1.9083, 1.0748, -0.0387, 0.3859, 0.3843, 0.9994, 0.2352, 1.6459, 0.8932, -0.041, -0.3737, -0.1085, 0.029]\nstate[eef_state]: left_x=0.4214 left_y=-0.2107 left_z=0.0412 left_yaw=-0.878 left_pitch=-0.2181 left_roll=-0.0306 left_gripper=0.9994 right_x=0.3966 right_y=0.165 right_z=0.0845 right_yaw=0.6079 right_pitch=-0.1816 right_roll=0.1856 right_gripper=0.029\nstate[joint_eff]: [-0.1026, -7.5419, 6.7487, 1.1893, 0.1734, -0.105, -0.0171, -0.335, -7.5966, 6.188, 1.4969, -0.2271, -0.0073, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3199, 1.9923, 1.076, -0.0116, 0.3534, 0.355, 0.9993, 0.2352, 1.647, 0.8925, -0.0452, -0.3737, -0.1085, 0.0291]\nstate[eef_state]: left_x=0.4244 left_y=-0.2012 left_z=0.0064 left_yaw=-0.8331 left_pitch=-0.2796 left_roll=-0.0578 left_gripper=0.9993 right_x=0.3957 right_y=0.1648 right_z=0.0831 right_yaw=0.6083 right_pitch=-0.1873 right_roll=0.1879 right_gripper=0.0291\nstate[joint_eff]: [0.2256, -12.4513, 7.159, 1.4237, 0.4713, 0.1343, -0.0171, 0.0205, -7.6786, 6.2291, 1.5556, -0.2173, 0.0024, -0.0073]",
      "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]: [-0.3183, 1.9919, 1.076, -0.0181, 0.3744, 0.3771, 0.9993, 0.2352, 1.647, 0.8925, -0.0448, -0.3737, -0.1085, 0.0291]\nstate[eef_state]: left_x=0.4217 left_y=-0.2032 left_z=0.0068 left_yaw=-0.8616 left_pitch=-0.2758 left_roll=-0.0609 left_gripper=0.9993 right_x=0.3958 right_y=0.1648 right_z=0.0831 right_yaw=0.6083 right_pitch=-0.1869 right_roll=0.1877 right_gripper=0.0291\nstate[joint_eff]: [0.1162, -12.4103, 7.4051, 1.3993, 0.3394, 0.149, -0.0122, -0.1709, -7.3641, 6.2154, 1.4823, -0.2076, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73af2a9121528c880f2b44527446fa2102685340e31fc6971eac6e19c3cb7530",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35a45a262089680da593a0e245ca264e416e94fb8f6afc648eb7eb2c06ef131c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33f53353b72cf897ea53a3bebbd8111100071d406d60144e6f194c73e7559485",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISywkKjgEIEhgCKkC37acYjeiYmDIOQPz1XRDyigtmuCokWWE8TNSuhT+GNxe9ApfavJdgT9/ZDNQTeIm/beSkOfhdLKoMPCHWEyxmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZSbzNUGEgxnslqJAfYsxc6zcVEaDCi8KJ0E6IFKvJ0BLyIw6CW/hlMWIRtmj8kEQF/GBkFOO8l9jsqWZFLKX1mEthSL/o8oRnNGdJJ4LG9nWxVCKukHWsatWIYKdhZLw8AasuUxCWdGSoVbkDJf/LiMfji3SyawOm3rUdtevrD6IurfNC6DddtS/kY8EUmX7IFLsDtic4WV3UsDyjAwPBm12PiFEbp2yXR/uPFnUwgJlw03AhzOF3eMlHQZ8U1xEgmZgriTLL5fjhWkOH5yCEBDnwH1bG/O/GJ5K1ggDRW+/uvnxvLnro74CFpZ5tIJECjG/xa5F/C7sgFNrNxEeS7tToQRgqOEQXopmscolP4lcee6uRIE44XyTIzV00SqxRinNr/7RQK8R5q1jJ4jcrSg+tyJwafE66gDptjEY/uRE+jBidadfTDClNnFjX9qDvyI2PRkhzYZjck9Tdr61UQBsa3PcRgK3Qu9SUNttOZSjp5PjbGjRb0tIy5ILn8I3hj7cJJA9NSDmqTgWh+v3shbz05FQO0DDyIk0kNOK3pr5zLlyJR5AHaNkIhH7aeAxrQ14jauv8x2msKDDtA3k+Ipoc97SuxIcnI5tct9zySHSIJwlGegYL0a2aiqlp8Su7acvBVa2kOP7p4+jbq7BqbPT1isoFFeteoCFng0m2OZ1sqtpNVZ3eDJU5cngC7Gq48Axj09yLl91vtHamMqfkC/jb0UGO4tkY7B44lCdgnwfLNYNuiYsnXHeqGNglDYgatP169HbOsf+dQLEKw49y0Pt7RUdQoEEOR5HEPiajdVWs6n7nUJ81djhjt6suiKiiK/2SwOaTdEKqieHcYw0BH1PlM6JME1GfqruTgLg2Gc73OhVxoyutj8YJooBiLXkHu14pvKZduCASzlC2H41cqvKJznmEchVztAJYA+Uw8lneAoxjuRc6m7T8Oeuryx0f1j2UR0nt7FGj7QoPcmWl/wZm/thEODJFduqWsl0VpOY/ChS2cP2s/I6Z88DXAs3ZfP/92+E9aNaGrFmgsMtYKZh+GLcox/2G2i5wu/XxSDkgYQWFHbiDupB5UgQNLQ69QW3VSnbJYpepnHOBHPGyl9TbkuonZJjfW4H34p2nuGUv+eAsRxGQ2xaDpcjmg7Kmvq6t4isg2g6obfuoxMTBiEdD2A47az6XNrZGB/UoaMz4qdm2eiQeeMsb9VlUGe+NaaO11U4H9m8qkG9OYrlIiQpgCvfTlgl3nccSoqkIrB/MvyPYze3q9eQdQE5TU74C2BGupLG3WkLHTwq9iSYZInZfsYbVmMjEqorEs+wWJAtsp8TFfctkcFBBrWjaDlAfvdESMfI3WGV5brlVNqVzJvWHP8gsIcZ6HUkqzNEh67oTL9YBHtkWwkllAqkJHquOZlSjkkH/5qdFkvHGIq8lUmSZhlCzIkKLRdcJbizfIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G4DQxbAsxVZCkRjsj5vL6X",
      "input": {
        "note": "The left arm has stopped advancing at x≈0.42 near the table (reach/IK limit at this low height), so I lift to 8 cm where reach is easier and push out to x=0.47 before dropping back onto the cap.",
        "targets": {
          "left_x": 0.47,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01G4DQxbAsxVZCkRjsj5vL6X",
      "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]: [-0.3183, 1.9915, 1.076, -0.0181, 0.3744, 0.3767, 0.9993, 0.2352, 1.647, 0.8925, -0.0456, -0.3737, -0.1089, 0.0298]\nstate[eef_state]: left_x=0.4218 left_y=-0.2032 left_z=0.0069 left_yaw=-0.8613 left_pitch=-0.2755 left_roll=-0.0609 left_gripper=0.9993 right_x=0.3956 right_y=0.1648 right_z=0.083 right_yaw=0.6085 right_pitch=-0.1876 right_roll=0.1877 right_gripper=0.0298\nstate[joint_eff]: [-0.0615, -12.3556, 7.159, 1.3797, 0.3297, 0.1343, -0.0122, -0.1299, -7.5282, 6.2291, 1.5116, -0.1929, -0.0317, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:258b8778c1d4a7f5e984faa4b55194f25b1f9666b044d861fbcd0d89b9396a28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7d490bc16e9d53cf333345d2ae49cbb19184244c36af2afa92a648faf15d8b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d6c7ef080bec6f9689b8212db9e1b444680ac679b0d8333f5e028b3dd4e4a9df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 16.31 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3199, 1.9923, 1.076, -0.0116, 0.3534, 0.355, 0.9993, 0.2352, 1.647, 0.8925, -0.0452, -0.3737, -0.1085, 0.0291]\nstate[eef_state]: left_x=0.4244 left_y=-0.2012 left_z=0.0064 left_yaw=-0.8331 left_pitch=-0.2796 left_roll=-0.0578 left_gripper=0.9993 right_x=0.3957 right_y=0.1648 right_z=0.0831 right_yaw=0.6083 right_pitch=-0.1873 right_roll=0.1879 right_gripper=0.0291\nstate[joint_eff]: [0.2256, -12.4513, 7.159, 1.4237, 0.4713, 0.1343, -0.0171, 0.0205, -7.6786, 6.2291, 1.5556, -0.2173, 0.0024, -0.0073]",
      "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]: [-0.3183, 1.9919, 1.076, -0.0181, 0.3744, 0.3771, 0.9993, 0.2352, 1.647, 0.8925, -0.0448, -0.3737, -0.1085, 0.0291]\nstate[eef_state]: left_x=0.4217 left_y=-0.2032 left_z=0.0068 left_yaw=-0.8616 left_pitch=-0.2758 left_roll=-0.0609 left_gripper=0.9993 right_x=0.3958 right_y=0.1648 right_z=0.0831 right_yaw=0.6083 right_pitch=-0.1869 right_roll=0.1877 right_gripper=0.0291\nstate[joint_eff]: [0.1162, -12.4103, 7.4051, 1.3993, 0.3394, 0.149, -0.0122, -0.1709, -7.3641, 6.2154, 1.4823, -0.2076, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3183, 1.9915, 1.076, -0.0181, 0.3744, 0.3767, 0.9993, 0.2352, 1.647, 0.8925, -0.0456, -0.3737, -0.1089, 0.0298]\nstate[eef_state]: left_x=0.4218 left_y=-0.2032 left_z=0.0069 left_yaw=-0.8613 left_pitch=-0.2755 left_roll=-0.0609 left_gripper=0.9993 right_x=0.3956 right_y=0.1648 right_z=0.083 right_yaw=0.6085 right_pitch=-0.1876 right_roll=0.1877 right_gripper=0.0298\nstate[joint_eff]: [-0.0615, -12.3556, 7.159, 1.3797, 0.3297, 0.1343, -0.0122, -0.1299, -7.5282, 6.2291, 1.5116, -0.1929, -0.0317, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:258b8778c1d4a7f5e984faa4b55194f25b1f9666b044d861fbcd0d89b9396a28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7d490bc16e9d53cf333345d2ae49cbb19184244c36af2afa92a648faf15d8b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6c7ef080bec6f9689b8212db9e1b444680ac679b0d8333f5e028b3dd4e4a9df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS+QQKjgEIEhgCKkCFZUsiuiwk2vZlHJGn+vEgIh4qynxIxZ0ebPF0HJmkHnBtrQ3qhdQFwH49MNbgEsgcml/fxfl49HM+JIOI+p5sMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZubzNUGEgwXLmm0n+3W9QFJYZ8aDIczA06oWfwsaScW6SIwutP4cMjsqNRYOhDJ0fU/UJ/dGLJASqS3pNNGqmmqaC00OMxprh3FN99X9GP5j1v/KpcD8nagKDCwyMPArgMEdVpBWwu2L7Onp6NY8r6W3ip92fppHXt+Y78G8aIl8P+0BLcJ/nPnS6iY7RUOuWv9szEWMbI3clEK7DD4see12+O9m1WHvHdjywpAH2RspyD50XUwALrWJM7tk1CE7b7kJq7KDdX2z7+205oLzYvfBXF5LX37V/6blPvUvbZZQ0k8OZROoLFiB3iMUVK7tSOTFRMlTIDS8zGTj60UzTT8ephI1CbVFFw0VhzASrscOjSKZq6TeXZ0594MTKFM73jbIfotxcE37BrUqfWpnZm/Hhc08o/Gdk0vRP9GFAIK8bmVUc3S6FDpil6pjvhnp44DslkjkVHM4VSR+7uduxH67xKbb9CTCB/iX24M41aQnhE8zKM4Ka8OpyRNEI3GACQUt0xM8Cm7dJT6b2cc06w+X1ClroWP1vSFvjUYSbQ7j07bexSIOO3Mrxj7Irs5jvBNzSHjOUM6QcoT4QwAmtapqFTt9+jZtLXuEwjzzKeLSakpvOoFt8FBc0d3I1pBM0InHKpYP4XpdkVf0kQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015md3XSAdGWBWgifZhv1FjF",
      "input": {
        "note": "The left arm is frozen at its current pose with high shoulder effort; retreating up and back to unstick it before re-approaching the cap.",
        "targets": {
          "left_x": 0.36,
          "left_yaw": -0.5,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_015md3XSAdGWBWgifZhv1FjF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5064, 1.5154, 1.1549, -0.5064, 0.0555, -0.0219, 0.9993, 0.2352, 1.647, 0.8913, -0.0456, -0.374, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.3602 left_y=-0.2069 left_z=0.1576 left_yaw=-0.5482 left_pitch=-0.2954 left_roll=-0.0634 left_gripper=0.9993 right_x=0.3953 right_y=0.1648 right_z=0.0826 right_yaw=0.6089 right_pitch=-0.1885 right_roll=0.1884 right_gripper=0.0304\nstate[joint_eff]: [-0.4444, -8.3214, 9.853, 1.5263, 0.0269, 0.0317, -0.0122, -0.0889, -7.6103, 6.2427, 1.5067, -0.2076, -0.0513, 0.0464]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5acabd7a774d23895284a4fc6eb9aa726800cc71d76b3aa7bf5c3b12da1524f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92ccd3184b22245087e52cb39573d5c14aedcb42135852d7d91630cdd8f101b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f4d26847c1f24a59ee4074a0d0b1bc04df8310532c6ee6ac86a8e2c618c96b77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 9.402 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3183, 1.9919, 1.076, -0.0181, 0.3744, 0.3771, 0.9993, 0.2352, 1.647, 0.8925, -0.0448, -0.3737, -0.1085, 0.0291]\nstate[eef_state]: left_x=0.4217 left_y=-0.2032 left_z=0.0068 left_yaw=-0.8616 left_pitch=-0.2758 left_roll=-0.0609 left_gripper=0.9993 right_x=0.3958 right_y=0.1648 right_z=0.0831 right_yaw=0.6083 right_pitch=-0.1869 right_roll=0.1877 right_gripper=0.0291\nstate[joint_eff]: [0.1162, -12.4103, 7.4051, 1.3993, 0.3394, 0.149, -0.0122, -0.1709, -7.3641, 6.2154, 1.4823, -0.2076, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3183, 1.9915, 1.076, -0.0181, 0.3744, 0.3767, 0.9993, 0.2352, 1.647, 0.8925, -0.0456, -0.3737, -0.1089, 0.0298]\nstate[eef_state]: left_x=0.4218 left_y=-0.2032 left_z=0.0069 left_yaw=-0.8613 left_pitch=-0.2755 left_roll=-0.0609 left_gripper=0.9993 right_x=0.3956 right_y=0.1648 right_z=0.083 right_yaw=0.6085 right_pitch=-0.1876 right_roll=0.1877 right_gripper=0.0298\nstate[joint_eff]: [-0.0615, -12.3556, 7.159, 1.3797, 0.3297, 0.1343, -0.0122, -0.1299, -7.5282, 6.2291, 1.5116, -0.1929, -0.0317, 0.0562]",
      "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]: [-0.5064, 1.5154, 1.1549, -0.5064, 0.0555, -0.0219, 0.9993, 0.2352, 1.647, 0.8913, -0.0456, -0.374, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.3602 left_y=-0.2069 left_z=0.1576 left_yaw=-0.5482 left_pitch=-0.2954 left_roll=-0.0634 left_gripper=0.9993 right_x=0.3953 right_y=0.1648 right_z=0.0826 right_yaw=0.6089 right_pitch=-0.1885 right_roll=0.1884 right_gripper=0.0304\nstate[joint_eff]: [-0.4444, -8.3214, 9.853, 1.5263, 0.0269, 0.0317, -0.0122, -0.0889, -7.6103, 6.2427, 1.5067, -0.2076, -0.0513, 0.0464]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5acabd7a774d23895284a4fc6eb9aa726800cc71d76b3aa7bf5c3b12da1524f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92ccd3184b22245087e52cb39573d5c14aedcb42135852d7d91630cdd8f101b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4d26847c1f24a59ee4074a0d0b1bc04df8310532c6ee6ac86a8e2c618c96b77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QTrdMSgdsx1eTYMQ6bTtxb",
      "input": {
        "note": "Left arm is free again and I can see the cap ahead-left of the jaws; approaching the cap from above at 5 cm height and slightly further out than before.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.215,
          "left_yaw": -0.75,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01QTrdMSgdsx1eTYMQ6bTtxb",
      "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]: [-0.3637, 1.9594, 1.2217, -0.2829, 0.2272, 0.1898, 0.9993, 0.2352, 1.6485, 0.8894, -0.0513, -0.3737, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.4248 left_y=-0.2004 left_z=0.0296 left_yaw=-0.6902 left_pitch=-0.4131 left_roll=-0.1034 left_gripper=0.9993 right_x=0.3938 right_y=0.1643 right_z=0.0803 right_yaw=0.6092 right_pitch=-0.1972 right_roll=0.1916 right_gripper=0.0304\nstate[joint_eff]: [0.4581, -10.9744, 8.8684, 1.5702, 0.4127, 0.2906, -0.0122, -0.3761, -7.7197, 6.3248, 1.4921, -0.188, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f971e9884c83c9afea736d7f40639f7b714c70ab41c89fdd7de39d9857be1e69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d03ed4b2bfa9c99fbe0d9499b32ed5696450106ca7056e806e55e417b1154c8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff0b4cd9e04ab7d0737b78776dd87e3a1c6ce60a8a0641857f887eff4afb4986",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 8.13 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3183, 1.9915, 1.076, -0.0181, 0.3744, 0.3767, 0.9993, 0.2352, 1.647, 0.8925, -0.0456, -0.3737, -0.1089, 0.0298]\nstate[eef_state]: left_x=0.4218 left_y=-0.2032 left_z=0.0069 left_yaw=-0.8613 left_pitch=-0.2755 left_roll=-0.0609 left_gripper=0.9993 right_x=0.3956 right_y=0.1648 right_z=0.083 right_yaw=0.6085 right_pitch=-0.1876 right_roll=0.1877 right_gripper=0.0298\nstate[joint_eff]: [-0.0615, -12.3556, 7.159, 1.3797, 0.3297, 0.1343, -0.0122, -0.1299, -7.5282, 6.2291, 1.5116, -0.1929, -0.0317, 0.0562]",
      "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]: [-0.5064, 1.5154, 1.1549, -0.5064, 0.0555, -0.0219, 0.9993, 0.2352, 1.647, 0.8913, -0.0456, -0.374, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.3602 left_y=-0.2069 left_z=0.1576 left_yaw=-0.5482 left_pitch=-0.2954 left_roll=-0.0634 left_gripper=0.9993 right_x=0.3953 right_y=0.1648 right_z=0.0826 right_yaw=0.6089 right_pitch=-0.1885 right_roll=0.1884 right_gripper=0.0304\nstate[joint_eff]: [-0.4444, -8.3214, 9.853, 1.5263, 0.0269, 0.0317, -0.0122, -0.0889, -7.6103, 6.2427, 1.5067, -0.2076, -0.0513, 0.0464]\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]: [-0.3637, 1.9594, 1.2217, -0.2829, 0.2272, 0.1898, 0.9993, 0.2352, 1.6485, 0.8894, -0.0513, -0.3737, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.4248 left_y=-0.2004 left_z=0.0296 left_yaw=-0.6902 left_pitch=-0.4131 left_roll=-0.1034 left_gripper=0.9993 right_x=0.3938 right_y=0.1643 right_z=0.0803 right_yaw=0.6092 right_pitch=-0.1972 right_roll=0.1916 right_gripper=0.0304\nstate[joint_eff]: [0.4581, -10.9744, 8.8684, 1.5702, 0.4127, 0.2906, -0.0122, -0.3761, -7.7197, 6.3248, 1.4921, -0.188, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f971e9884c83c9afea736d7f40639f7b714c70ab41c89fdd7de39d9857be1e69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d03ed4b2bfa9c99fbe0d9499b32ed5696450106ca7056e806e55e417b1154c8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff0b4cd9e04ab7d0737b78776dd87e3a1c6ce60a8a0641857f887eff4afb4986",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS+AkKjgEIEhgCKkA3ITB74yt5yQpLcRhB6a7m/r9EstMt09CL2H/DwF/H8CYs24neyiad4xRLG6Swi/7MIumIlA7g0cfNaAjiZ7K7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbabzNUGEgyrdW9ZK1woc33g45IaDFqrl4R5f/PZCZScbCIw/qc//iTgyulcxinAApqnjMnqaqAFNpF6t7q9uDCJCTA2knwlwn/q3TcQzlYh3A6cKpYI7y9g4sY0JrSipu07fS8YhEGZk8BadWrpUJhnRiI1XYoQ5kJ5rrWlhmvy9Gbx6M8Fh6HUzmzfecfNUhC2ippfAe5YJ9camjyWhWjBqUz4EB8EKhvB2XLS859CArri3CeWPjHKAKo1ghCZ+YZOIncyHdoI8PdHstmJVKvdC2K17p3iLTNXY8pv+bZq8O2ApFjlVtPuPlzVJWyPyCw76BMDvcMc3Wh14s2533MaeDyhW5IiO2PXShurvnm2Ovd8AZs6qDuRwFGrIqo+GkyoF4wR3Lr6E3sKccf9L4Tt1Q4lKr4lG/GayMAxA1nIXAfHFo7ojl7j9JSUhs7808WA3g0rQoYkVvFbmVIDWAdegrVi1s6bG/szaVIemrDtv/Ly7AV68Aop88cRvqUB8D+dNEMerWXBxtTuqFDdD42lYMidRVPKSFF0lYSDTNCB7RH9kjm4H/SbCcgDL5MfTBhPp6tjvyFhrXL4VjFFw8y49ooeOafL3x1GIYvch1q+bi2+CKDVlgVuyzE51O9T2bOa4BotuKlxYAJa00x64RT7GyF3gGsxz+Q6pRNAEqeyJbumK/saFKyVOFOz2lpC2TVtGKFnF7gAfGFDeV2c1/uivFboDFqCRP3hbuvYmKdfb5Ep2VnIqqA2rhDDyHY97e7MZuifvSaw7acevtzbiUONLxW/q70Ww9xB/gqX5stjv5FcgqRkE1Q+zMbd+N7PsRndlyQnyxiPypRZpk4bblOI/OcOBMxDKCIALASYq96wtTv0tJ32Nwa+eO8GAvCr1SBD/7zxjEV6x2/Wz75rP6dEVOGV7qisH+v+36/jrXrJ5RYBtehU/DlDj1l2Q3V8eNfu70Tb1JzJGpNBPx/7H8tX+Q+XVj0doUpzRvQrLjnG0yY7sq+XKYJCm5LrZSVVB1DVaE/q5IzwWEx93L5E7Ko3dS5wI/FqPUE7vT2Yfw3xChw2QHgZdyKMXgDCJ0UxNhaRbtSkNWEw9+uNrMd8KjGa+7y2LQkCrNhcSvkt4ZTs9tsy42mb5iU+RiSOhaYnMH86gsZzXy43Oe5+4Hpi/HbCwdYKKWKAVjkcG0SYCQeEuaxzUAenMvD9trFpDi1xV90Ci5ZfPtVEvAzDVkjZSeva1hLz5OZFn8L6djR6nwAmoJBbFUmA38niHC5mkPM95458OR28/JaQ1rwgMQO21WBQ3lY0HZJ/bv/W89cX2kstWChSOeNRxvywmEl0+J8caElvNqlp9juvswu2nEjuok6+jBYubIN4P/LkhtvQIUmFsGAOS7Y/ZxzuKFj2lMlMPkSUsqhE+bT87jJ2Lo4ZWacpDB0VMFrGA3GyXTRPpdiqE2bxDEauAT/hpXpZzWlNry/flWCeIm/jCO5EjbOr1TKGQqDHh0Hggmx640gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G17WG2oXviWdvP6M2F8MDW",
      "input": {
        "note": "The left arm keeps stalling at x≈0.425 with the wrist pitched backwards; commanding a forward pitch to extend the fingertips and pushing x out to 0.46 to finally reach the cap.",
        "targets": {
          "left_pitch": 0.35,
          "left_x": 0.46,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01G17WG2oXviWdvP6M2F8MDW",
      "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]: [-0.2619, 2.2517, 0.8028, 1.145, 0.4519, 0.0319, 0.9993, 0.2352, 1.6485, 0.889, -0.0532, -0.3737, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.4584 left_y=-0.199 left_z=0.013 left_yaw=-0.679 left_pitch=0.2958 left_roll=-0.1061 left_gripper=0.9993 right_x=0.3934 right_y=0.1642 right_z=0.0798 right_yaw=0.6094 right_pitch=-0.1993 right_roll=0.1924 right_gripper=0.0304\nstate[joint_eff]: [0.4581, -9.0325, 3.8769, 1.9414, 0.2076, -0.1099, -0.0122, -0.3214, -7.4462, 6.188, 1.4676, -0.188, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eed4efb677d290d5e2ad83fb782c1be440db413662cd95017cac89af335deb51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8325b3502c5749a6a4c5f2d687b97ae3ad8e16cd68d121f42624eca42ad0ecc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:278738e778b155a989d3492bddf0ba3f54d031f30b8c63555f115d5769259496",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 6.902 s

model: claude-opus-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]: [-0.5064, 1.5154, 1.1549, -0.5064, 0.0555, -0.0219, 0.9993, 0.2352, 1.647, 0.8913, -0.0456, -0.374, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.3602 left_y=-0.2069 left_z=0.1576 left_yaw=-0.5482 left_pitch=-0.2954 left_roll=-0.0634 left_gripper=0.9993 right_x=0.3953 right_y=0.1648 right_z=0.0826 right_yaw=0.6089 right_pitch=-0.1885 right_roll=0.1884 right_gripper=0.0304\nstate[joint_eff]: [-0.4444, -8.3214, 9.853, 1.5263, 0.0269, 0.0317, -0.0122, -0.0889, -7.6103, 6.2427, 1.5067, -0.2076, -0.0513, 0.0464]\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]: [-0.3637, 1.9594, 1.2217, -0.2829, 0.2272, 0.1898, 0.9993, 0.2352, 1.6485, 0.8894, -0.0513, -0.3737, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.4248 left_y=-0.2004 left_z=0.0296 left_yaw=-0.6902 left_pitch=-0.4131 left_roll=-0.1034 left_gripper=0.9993 right_x=0.3938 right_y=0.1643 right_z=0.0803 right_yaw=0.6092 right_pitch=-0.1972 right_roll=0.1916 right_gripper=0.0304\nstate[joint_eff]: [0.4581, -10.9744, 8.8684, 1.5702, 0.4127, 0.2906, -0.0122, -0.3761, -7.7197, 6.3248, 1.4921, -0.188, -0.0171, -0.0073]\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]: [-0.2619, 2.2517, 0.8028, 1.145, 0.4519, 0.0319, 0.9993, 0.2352, 1.6485, 0.889, -0.0532, -0.3737, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.4584 left_y=-0.199 left_z=0.013 left_yaw=-0.679 left_pitch=0.2958 left_roll=-0.1061 left_gripper=0.9993 right_x=0.3934 right_y=0.1642 right_z=0.0798 right_yaw=0.6094 right_pitch=-0.1993 right_roll=0.1924 right_gripper=0.0304\nstate[joint_eff]: [0.4581, -9.0325, 3.8769, 1.9414, 0.2076, -0.1099, -0.0122, -0.3214, -7.4462, 6.188, 1.4676, -0.188, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eed4efb677d290d5e2ad83fb782c1be440db413662cd95017cac89af335deb51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8325b3502c5749a6a4c5f2d687b97ae3ad8e16cd68d121f42624eca42ad0ecc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:278738e778b155a989d3492bddf0ba3f54d031f30b8c63555f115d5769259496",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS9ggKjgEIEhgCKkCXxuHC/dwiMmSm8f0nISXqAOhHP7uirWG7kCllnIWYFERKQH+nBOiTLNC6HVcGgwoG120ZvMDQwlpBb6uAQqjIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcGbzNUGEgw+vtGBXtSFcFxnPKQaDNwk4Euc059+Soo1ECIw3l1OtDX/95xPxL+J8gQ9RUl7IyL/JzEV928KE/QBgPaXvet3P9ijQdq9vcSetIEEKpQHOKeOQ5coTQJ/D09iwtiHPMe+C4AUIS9iq/a2cfcSYKLadfgKacuOCaxjXRD7uieJF2JIv5TttXN22EncL36WlppmCmC8/Cw0ozfwBs8XUpcR8U7DNayfeITLLAsE3jGsw0BTrAtmG4nOezSu2dsbQxqOg39oVqQajk+Vp7aXZNhjZINqRokdJPu8JIEheacNFhDnKGnuAjrQiUn3nSptMl9jbVCxg/oe0rWaHUTpdw+BlMdSMncn0GxjY4gKGmCBP/U/nkSTMQa0DqL0u8BCFgz0DUIaTxQQcwe1wnU55JWkriKhZL52dmSPiCxQ18dwwIuimV2VUKUB3vWUMldmBlqxCxsqgwftEyxMqJ0xIKGAbM10Xo2SdDuLqZJPhq/YQRE4fBog5vKC3i7gyKZuaDnAn8iD9/ySZbo/okgLJhBZS3xipB6IsFt/iEkaU+zARtJqfKrNdLieYL9Nt6l4aq+W2jGfAMclzpUdP6gWGRnGQMz4Yxcp6UXnBMbOVARiHua5CADZ0bQyUZYMyZWqt8phXAafwgAR/rE4b1orlgeLeE6WmWX7K/JuMFjiLDJk4vYmbtH4Mis346m8v+U5/xWH70WKO6WS41tz/sPKsQSXYNX5DqoX5kEuvPZgvpvK71yBLYXL+qIan0PRONTGxxXmD9oGfiXhGcZLPTfEbYageOGinFeC1FRitBDeU4hTxn9/bonl69670bWV4T40+M86H9qaMGIZqHdrZy0tilKTm/DaaIFmHZnRY2tMSPQqGRclWS/8nJ8jWnfBPz6bEg8P+xEKAJK1zAqiGLmHD/hZ4XER6byKjTIR4UVFkEX7zG557u5QtNmqgCHIojQS3ySY/ceIUGGMxedFkl70AOrm1IiP1PpCJKCeQn6UByCnkfNLFi5ofMXnxrMSRGKpE4zjZ6BPNUvx8OYX5wzpEyfR8umlMz6mtW0YEExP+zuc3OMg2B5fvtyKsgJuEf1f3SIPFincj40HZa5HnGEGuEyp0pJWL4VaCCJdt1tPhtUvcEQATr/MRzwqDPRxRKrQJlDJI43L1Y322f0TsfHEYZayG2lfvpmQYXfvzYrdJY9N8/ce8XTLzu2qs9AXawqN2SeFJ+s3YL62l6Tq7Wgw13vDb3UQNxGdBrT3lmRQ4pRIUQMZwaOIywjGc/iDV1zzLplRUwf4SrG2Mum869wGiPfG/sg1RM9dhgpf1WcHWb4oZ1T/JhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019gS4SFLJMkkSvy79uSzGvC",
      "input": {
        "note": "With the wrist pitched forward the left arm reached out and the cap now sits right in the jaw gap at the bottom of the wrist view; descending to table level and closing on the cap.",
        "targets": {
          "left_gripper": 0.05,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019gS4SFLJMkkSvy79uSzGvC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 2.2799, 0.8028, 1.1931, 0.4488, 0.0261, 0.0544, 0.2352, 1.6485, 0.8886, -0.0528, -0.3737, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.459 left_y=-0.1989 left_z=0.01 left_yaw=-0.676 left_pitch=0.3133 left_roll=-0.1027 left_gripper=0.0544 right_x=0.3933 right_y=0.1642 right_z=0.0798 right_yaw=0.6094 right_pitch=-0.1993 right_roll=0.1924 right_gripper=0.0304\nstate[joint_eff]: [-0.0479, -8.212, 4.3692, 1.8095, 0.1197, 0.0562, 0.1001, -0.0889, -7.6103, 6.3521, 1.4628, -0.2125, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7779658592a2c7a9c1b36cc1098383f221bfec9b46729ff1f87a052aa699132c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87f45e45d1c6b51630f287d267ba989f6958f2ba01d025be7ae3696cfa7dc034",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:24cf819d5a77aa6f950ccbc7a75863e4c34094686f4c276fce7891f5760b355e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 12.01 s

model: claude-opus-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]: [-0.3637, 1.9594, 1.2217, -0.2829, 0.2272, 0.1898, 0.9993, 0.2352, 1.6485, 0.8894, -0.0513, -0.3737, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.4248 left_y=-0.2004 left_z=0.0296 left_yaw=-0.6902 left_pitch=-0.4131 left_roll=-0.1034 left_gripper=0.9993 right_x=0.3938 right_y=0.1643 right_z=0.0803 right_yaw=0.6092 right_pitch=-0.1972 right_roll=0.1916 right_gripper=0.0304\nstate[joint_eff]: [0.4581, -10.9744, 8.8684, 1.5702, 0.4127, 0.2906, -0.0122, -0.3761, -7.7197, 6.3248, 1.4921, -0.188, -0.0171, -0.0073]\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]: [-0.2619, 2.2517, 0.8028, 1.145, 0.4519, 0.0319, 0.9993, 0.2352, 1.6485, 0.889, -0.0532, -0.3737, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.4584 left_y=-0.199 left_z=0.013 left_yaw=-0.679 left_pitch=0.2958 left_roll=-0.1061 left_gripper=0.9993 right_x=0.3934 right_y=0.1642 right_z=0.0798 right_yaw=0.6094 right_pitch=-0.1993 right_roll=0.1924 right_gripper=0.0304\nstate[joint_eff]: [0.4581, -9.0325, 3.8769, 1.9414, 0.2076, -0.1099, -0.0122, -0.3214, -7.4462, 6.188, 1.4676, -0.188, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2623, 2.2799, 0.8028, 1.1931, 0.4488, 0.0261, 0.0544, 0.2352, 1.6485, 0.8886, -0.0528, -0.3737, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.459 left_y=-0.1989 left_z=0.01 left_yaw=-0.676 left_pitch=0.3133 left_roll=-0.1027 left_gripper=0.0544 right_x=0.3933 right_y=0.1642 right_z=0.0798 right_yaw=0.6094 right_pitch=-0.1993 right_roll=0.1924 right_gripper=0.0304\nstate[joint_eff]: [-0.0479, -8.212, 4.3692, 1.8095, 0.1197, 0.0562, 0.1001, -0.0889, -7.6103, 6.3521, 1.4628, -0.2125, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7779658592a2c7a9c1b36cc1098383f221bfec9b46729ff1f87a052aa699132c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87f45e45d1c6b51630f287d267ba989f6958f2ba01d025be7ae3696cfa7dc034",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24cf819d5a77aa6f950ccbc7a75863e4c34094686f4c276fce7891f5760b355e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISkQcKjgEIEhgCKkCJv2SFlOEwH5sbGYpuZ6BO/DD39XayTzqTGHbOnJtL0ZqFblVqoWgeiPYqFYEH7rDyC7wsYSdxRCdpZylm7ObCMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcmbzNUGEgzxdZ8qMRZTat1krHkaDJNNmj9061vn8qiTKyIw8bfYAle6UiWnvYeym/j4FRFu/v1hn7FOW8WxG+MR5Fil6qr/INE9kEMDz17pDIx7Kq8Fo5FHPO+g2M6KMY2DMpJ57FdzTpIFRp7skzs5vsqA+ONn2wzUYgKFuCA0HvtgvE4Hy1UYgtnBnEzg6JdBnHem5Hui+DU6GtixaNIql0ZjOFn5CBvom2By1WktnNBfLTbOlWYkkDoJ+LaE2W/+SiRhQIwHUrYVpnMjtP9xJTRFFHtMKe1vq/Nq6F99iGd6+pi8MsVVANcLmM0HXwowDL0K1KX1YGP2qP3l5F8gysqFnYK8YBupHCrc5aOVB4vcAE/3TqGy5cJ9ceEdIDEkih1Sjwg1zs7tlNMBgHvqmgZ7K3d8kdw+hphhZhXHPOTmqyqy2KzACGz1Ma7u5pOp+HnQTXZCYC1jhWGWNpITsyewRRs/QC0N9r90DBtVAuEkYfeRIU1ipIZFqwQb7Zb+HYVTIG/QG2d/NEtjmlH+NlIUo7RWOTnFiPFMdgqxKD5EnE09jk76hENIKrrpKAjjuQoZr1Avwg9BJZBNkg2yCH7FSyNYN5on3gi7AUfjOTdc0KPoQZPXeTN1clYofvJhenWz8LJA8AxGz+eRUw/tqqThIMz7168rViXV65Qp3kI75/MkySa869+zdlty5SWbqC41tLKo2ogxyNpBnnDKIIxFJrHls4ihXWvhMnM7Ti8vmmnPk18rUejXuHARQqSSbTDPkRUQrWmms9xw5aTL/8s6NL74uJmSSz0rTitIe35E/Sp/L7yJ2VRAWupKw/+HF13/BOoFdb5qcnxp57vIg2SlAqJBJMKDojS4edIeOTPLYzHU+abvm/1UFgmBhIYrie9ZcmQpbzFKaBp//Za1p0x5UnnelAJjy1aPlq3Zb0qrObk8TNBicBs8DZA5qG1pm7uWVTTeRLdXUtep3hEv6HwviJSHMM4dQ/w2yHMs0KKhQo2CWm6ch+tNCPwLWwTlR+mkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014mxJ4fxSkxH6bZuHhw7bsK",
      "input": {
        "note": "Jaws closed to 5 mm where the cap was; lifting and retracting to see whether the cap came up with the left gripper.",
        "targets": {
          "left_x": 0.4,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_014mxJ4fxSkxH6bZuHhw7bsK",
      "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]: [-0.3107, 1.7424, 0.6022, 0.8879, 0.4072, 0.0204, 0.0543, 0.2352, 1.6489, 0.8875, -0.0601, -0.3737, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.4053 left_y=-0.1999 left_z=0.1168 left_yaw=-0.6887 left_pitch=0.338 left_roll=-0.0849 left_gripper=0.0543 right_x=0.3918 right_y=0.1639 right_z=0.078 right_yaw=0.6101 right_pitch=-0.2075 right_roll=0.1957 right_gripper=0.0304\nstate[joint_eff]: [-0.4581, -8.1162, 5.2444, 1.7314, -0.0562, -0.1001, -0.0171, -0.335, -7.5966, 6.2427, 1.5897, -0.2027, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df32831ced279d7e6e182048e45fd2e5591390556348452bb4ae300c36c2cb2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f1ddde92f568d2ccf47fee1be878d1807826959b138c2df959df6ae467caf33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47937f3fd44bcd2e481d7dc4cd9104856d54ccc575b495c15460a6cffa26f707",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 6.387 s

model: claude-opus-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]: [-0.2619, 2.2517, 0.8028, 1.145, 0.4519, 0.0319, 0.9993, 0.2352, 1.6485, 0.889, -0.0532, -0.3737, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.4584 left_y=-0.199 left_z=0.013 left_yaw=-0.679 left_pitch=0.2958 left_roll=-0.1061 left_gripper=0.9993 right_x=0.3934 right_y=0.1642 right_z=0.0798 right_yaw=0.6094 right_pitch=-0.1993 right_roll=0.1924 right_gripper=0.0304\nstate[joint_eff]: [0.4581, -9.0325, 3.8769, 1.9414, 0.2076, -0.1099, -0.0122, -0.3214, -7.4462, 6.188, 1.4676, -0.188, -0.022, -0.0122]\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]: [-0.2623, 2.2799, 0.8028, 1.1931, 0.4488, 0.0261, 0.0544, 0.2352, 1.6485, 0.8886, -0.0528, -0.3737, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.459 left_y=-0.1989 left_z=0.01 left_yaw=-0.676 left_pitch=0.3133 left_roll=-0.1027 left_gripper=0.0544 right_x=0.3933 right_y=0.1642 right_z=0.0798 right_yaw=0.6094 right_pitch=-0.1993 right_roll=0.1924 right_gripper=0.0304\nstate[joint_eff]: [-0.0479, -8.212, 4.3692, 1.8095, 0.1197, 0.0562, 0.1001, -0.0889, -7.6103, 6.3521, 1.4628, -0.2125, -0.0757, -0.0122]",
      "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]: [-0.3107, 1.7424, 0.6022, 0.8879, 0.4072, 0.0204, 0.0543, 0.2352, 1.6489, 0.8875, -0.0601, -0.3737, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.4053 left_y=-0.1999 left_z=0.1168 left_yaw=-0.6887 left_pitch=0.338 left_roll=-0.0849 left_gripper=0.0543 right_x=0.3918 right_y=0.1639 right_z=0.078 right_yaw=0.6101 right_pitch=-0.2075 right_roll=0.1957 right_gripper=0.0304\nstate[joint_eff]: [-0.4581, -8.1162, 5.2444, 1.7314, -0.0562, -0.1001, -0.0171, -0.335, -7.5966, 6.2427, 1.5897, -0.2027, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df32831ced279d7e6e182048e45fd2e5591390556348452bb4ae300c36c2cb2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f1ddde92f568d2ccf47fee1be878d1807826959b138c2df959df6ae467caf33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47937f3fd44bcd2e481d7dc4cd9104856d54ccc575b495c15460a6cffa26f707",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A29DnUcPVTqn7d8FJV5K1c",
      "input": {
        "note": "The cap was not grasped — it is still on the table (visible in the right wrist view). Re-approaching with the jaws open, 2 cm less far out than last time since the cap had passed under the fingertips.",
        "targets": {
          "left_gripper": 1,
          "left_pitch": 0.32,
          "left_x": 0.438,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01A29DnUcPVTqn7d8FJV5K1c",
      "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]: [-0.2874, 2.2459, 0.7013, 1.2652, 0.4168, 0.038, 0.9951, 0.2352, 1.6508, 0.8875, -0.0711, -0.3737, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.4355 left_y=-0.1996 left_z=0.0111 left_yaw=-0.6804 left_pitch=0.3145 left_roll=-0.0802 left_gripper=0.9951 right_x=0.3898 right_y=0.1634 right_z=0.0755 right_yaw=0.6111 right_pitch=-0.2195 right_roll=0.2006 right_gripper=0.0304\nstate[joint_eff]: [0.5812, -7.6513, 3.9726, 1.3455, 0.1929, -0.0562, -0.1392, -0.335, -7.747, 6.188, 1.5067, -0.1392, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e9532b6a7538caf11f9521222f9dbb4aa0c22a7df1accd64dff551da6c49a4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ca36b3d273f6066f9cf9adb0221c163a3f5fd59e5403cbcc5f9a83d2eb79214",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb152871711f459026b887f6c8ded3f6d1576e472ec017e5a881d09e51b8607d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 20.77 s

model: claude-opus-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]: [-0.2623, 2.2799, 0.8028, 1.1931, 0.4488, 0.0261, 0.0544, 0.2352, 1.6485, 0.8886, -0.0528, -0.3737, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.459 left_y=-0.1989 left_z=0.01 left_yaw=-0.676 left_pitch=0.3133 left_roll=-0.1027 left_gripper=0.0544 right_x=0.3933 right_y=0.1642 right_z=0.0798 right_yaw=0.6094 right_pitch=-0.1993 right_roll=0.1924 right_gripper=0.0304\nstate[joint_eff]: [-0.0479, -8.212, 4.3692, 1.8095, 0.1197, 0.0562, 0.1001, -0.0889, -7.6103, 6.3521, 1.4628, -0.2125, -0.0757, -0.0122]",
      "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]: [-0.3107, 1.7424, 0.6022, 0.8879, 0.4072, 0.0204, 0.0543, 0.2352, 1.6489, 0.8875, -0.0601, -0.3737, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.4053 left_y=-0.1999 left_z=0.1168 left_yaw=-0.6887 left_pitch=0.338 left_roll=-0.0849 left_gripper=0.0543 right_x=0.3918 right_y=0.1639 right_z=0.078 right_yaw=0.6101 right_pitch=-0.2075 right_roll=0.1957 right_gripper=0.0304\nstate[joint_eff]: [-0.4581, -8.1162, 5.2444, 1.7314, -0.0562, -0.1001, -0.0171, -0.335, -7.5966, 6.2427, 1.5897, -0.2027, -0.0317, -0.0122]",
      "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]: [-0.2874, 2.2459, 0.7013, 1.2652, 0.4168, 0.038, 0.9951, 0.2352, 1.6508, 0.8875, -0.0711, -0.3737, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.4355 left_y=-0.1996 left_z=0.0111 left_yaw=-0.6804 left_pitch=0.3145 left_roll=-0.0802 left_gripper=0.9951 right_x=0.3898 right_y=0.1634 right_z=0.0755 right_yaw=0.6111 right_pitch=-0.2195 right_roll=0.2006 right_gripper=0.0304\nstate[joint_eff]: [0.5812, -7.6513, 3.9726, 1.3455, 0.1929, -0.0562, -0.1392, -0.335, -7.747, 6.188, 1.5067, -0.1392, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e9532b6a7538caf11f9521222f9dbb4aa0c22a7df1accd64dff551da6c49a4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ca36b3d273f6066f9cf9adb0221c163a3f5fd59e5403cbcc5f9a83d2eb79214",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb152871711f459026b887f6c8ded3f6d1576e472ec017e5a881d09e51b8607d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISoQYKjgEIEhgCKkBohXiCyty5n1RINjHaifGy4k8+hB5IdLAk7do50eg0xnIVvwwYCcuewlqrwN3Gvqs26dVVTHhae9CdEAWKSE+9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd2bzNUGEgwYM4+WxeOc2kNowT0aDMXEqMYhZoiWHUsSpyIwjtxh91Lvu9irwkAP1pjMPX9PDR8caTQB//n9gfvbxCGpk8uAWuTABRKp99kR51ruKr8ECF/A0v84C7spq3wLWGI/dAcZJ8YwWxF+FiQybTK/LKswhZD869TjKoaA+jK7Cpbjkr4+8KgnxBw3H4JgC2T7RTQldFzK4K3RpgnDuQxMzb91m5WJJuTiiNueoDHeaCIq4Uen4m1I3l1b83lcYHRmMnrxHAuOM74M0dHsrl/OTq7ILPRNx/HIxOF3sDpbDE7riKgLPcQR2E7oBZcDsIr0BNDt7ecTJHZxvyWGAjAo8EaFIxJt6xw/ud0gGkYlL7bM2qyv+9j7QT+8MGMow1ztkDST5Ilvm3i8cV2XHHyS1OmmEEDyL/XgMC2k+IvzvzB2cq2+LLObLhwVjgo1WnX9EdPWu+f2HqHMqqDHynIplJLgfg/DOZpwYrkkY1RBbJVsX/Y6JKI/oaFoskYBkXBdOwW6ueMD4s6PfDN2JWH3c5nDS/66J6Wxk54yURp8oiklPnwQflHFxE9mqOwb4DRWJrT7TNFFLVSPDI9XmNtawfD8tR1gp6vjG+4zNUCb6Fdtx1YXqqx6zgIBGIana4BiT73OK1ssFyEOl+z7q4+VegAwBWDgQEVymGU7ZggzFKXE8BhprhYdbNCu5MeqTgcOK55DBQ1zGNJUUEmhGCr88ve43g7lwMENGMG4nPF4A8oWIpH9nolUY0CZMELWrUuDIu/WR+e3IZjGifu/nNzr7yBFh4hiOOUELGUKrOj/2bgN92l5Em35X3nEBHEz/pwcdJ/ZYeV7JzsJsbFlc28x6ns0uM81+2DGS43JXlBFXu4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0116HfbJtFTMwv8bCwg1N7X5",
      "input": {
        "note": "A dark object (the cap) is sitting between the open jaws in the left wrist view; closing fully to grasp it.",
        "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_0116HfbJtFTMwv8bCwg1N7X5",
      "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]: [-0.2867, 2.2658, 0.7048, 1.2907, 0.4191, 0.0349, 0.0109, 0.2352, 1.6508, 0.8875, -0.0715, -0.3737, -0.1089, 0.0304]\nstate[eef_state]: left_x=0.4361 left_y=-0.1997 left_z=0.0088 left_yaw=-0.681 left_pitch=0.3231 left_roll=-0.0802 left_gripper=0.0109 right_x=0.3898 right_y=0.1634 right_z=0.0754 right_yaw=0.6111 right_pitch=-0.2199 right_roll=0.2007 right_gripper=0.0304\nstate[joint_eff]: [-0.294, -11.2068, 2.8786, 1.6239, -0.0855, -0.0757, 0.8083, -0.2256, -7.4051, 6.106, 1.4628, -0.1734, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6abb2f17a6704e63550ec57cdbef1f3a72ed6e7e020e9ee556ff54cdf791f235",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a971d6ad50c8c4cb882c73b21866de4b6564274e3712e080be3109124988c458",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:07142fe869634df22959c7ef82c948a8a38165c3caf00631135ce2d9a1d75444",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]