adhoc - adhoc_4212d51a.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-5-5
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: 342.8 s
total steps: 315

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 noteCap is left of centre in the overhead view, pen right of centre at ~45°. Moving the left arm above my estimate of the cap position (x 0.41, y -0.20).

move_to

left_x0.4100left_y-0.2000left_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, 0.7933, 0.6022, -0.3801, -0.0219, -0.0246, 0.9996, -0.0196, 0.7918, 0.6102, -0.3759, -0.0265, -0.0334, 0.9993] state[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1793 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2959 right_y=0.0025 right_z=0.1843 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9993 state[joint_eff]: [-0.3761, -1.5795, 10.4684, 1.7802, -0.0464, 0.0952, -0.0513, -0.6632, -1.3333, 9.7846, 1.7216, 0.0513, 0.1392, -0.0904] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.41, "left_y": -0.2, "left_z": 0.12}, "note": "Cap is left of centre in the overhead view, pen right of centre at ~45\u00b0. Moving the left arm above my estimate of the cap position (x 0.41, y -0.20)."})

tool

executing move_to over 18 steps (1.8s)

step 18

assistant

agent noteCap visible in left wrist cam slightly left of the jaw column and a few cm ahead, lying diagonally. Advancing ~3 cm, shifting 1 cm left, yawing to align jaws across the cap, and descending partway.

move_to

left_x0.4300left_y-0.1800left_z0.0600left_yaw-0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6571, 1.6707, 0.9272, -0.0097, -0.5278, -0.4114, 0.9996, -0.02, 0.7967, 0.6132, -0.3897, -0.0265, -0.0338, 0.9992] state[eef_state]: left_x=0.3968 left_y=-0.1893 left_z=0.1008 left_yaw=-0.0108 left_pitch=-0.0616 left_roll=0.0322 left_gripper=0.9996 right_x=0.2948 right_y=0.0024 right_z=0.1815 right_yaw=-0.0002 right_pitch=-0.0153 right_roll=-0.0 right_gripper=0.9992 state[joint_eff]: [-0.5538, -8.1162, 8.9094, 1.8242, -0.4811, -0.0659, -0.0171, -0.3077, -1.6342, 6.8171, 1.8535, -0.0611, -0.0122, -0.0171] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.43, "left_y": -0.18, "left_z": 0.06, "left_yaw": -0.6}, "note": "Cap visible in left wrist cam slightly left of the jaw column and a few cm ahead, lying diagonally. Advancing ~3 cm, shifting 1 cm left, yawing to align jaws across the cap, and descending partway."})

tool

executing move_to over 4 steps (0.4s)

step 22

assistant

agent noteCap now centred on the jaw column, slightly ahead of the fingertips. Advancing 1.5 cm, finishing the yaw, and descending to table level to grasp.

move_to

left_x0.4400left_y-0.1450left_z0.0000left_yaw-0.5500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3485, 1.7729, 0.8253, 0.2131, -0.0429, -0.0147, 0.9996, -0.02, 0.7982, 0.6132, -0.3923, -0.0265, -0.0341, 0.9992] state[eef_state]: left_x=0.4247 left_y=-0.1424 left_z=0.0416 left_yaw=-0.3157 left_pitch=-0.163 left_roll=0.025 left_gripper=0.9996 right_x=0.2945 right_y=0.0024 right_z=0.1805 right_yaw=0.0 right_pitch=-0.0194 right_roll=-0.0003 right_gripper=0.9992 state[joint_eff]: [-1.7299, -8.4171, 8.2803, 1.7949, 0.3004, 0.3053, -0.0171, -0.2256, -1.265, 7.1179, 1.79, -0.022, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.145, "left_z": 0.0, "left_yaw": -0.55}, "note": "Cap now centred on the jaw column, slightly ahead of the fingertips. Advancing 1.5 cm, finishing the yaw, and descending to table level to grasp."})

tool

executing move_to over 3 steps (0.3s)

step 25

assistant

agent noteCap is now roughly aligned with the jaw opening, slightly left of centre; continuing the descent to table level with a small leftward correction.

move_to

left_x0.4400left_y-0.1520left_z-0.0100left_yaw-0.5500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3519, 1.8423, 0.8143, 0.3042, 0.0559, 0.0639, 0.9996, -0.02, 0.799, 0.6132, -0.3935, -0.0269, -0.0341, 0.9992] state[eef_state]: left_x=0.4235 left_y=-0.1622 left_z=0.0244 left_yaw=-0.4463 left_pitch=-0.1516 left_roll=0.0181 left_gripper=0.9996 right_x=0.2944 right_y=0.0024 right_z=0.18 right_yaw=0.0004 right_pitch=-0.0213 right_roll=-0.0 right_gripper=0.9992 state[joint_eff]: [-0.2393, -8.5538, 5.4085, 1.9853, 0.0073, -0.0317, -0.0122, -0.253, -1.2786, 7.0222, 1.7363, -0.0122, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.152, "left_z": -0.01, "left_yaw": -0.55}, "note": "Cap is now roughly aligned with the jaw opening, slightly left of centre; continuing the descent to table level with a small leftward correction."})

tool

executing move_to over 3 steps (0.3s)

step 28

assistant

agent noteDescent stalled at z 0.024 with no sign of contact; commanding the table floor with pitch reset to 0 to push the fingertips down around the cap.

move_to

left_x0.4400left_y-0.1550left_z-0.0200left_yaw-0.5000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3542, 1.8469, 0.8085, 0.3264, 0.0067, 0.0338, 0.9996, -0.02, 0.799, 0.6132, -0.3939, -0.0261, -0.0341, 0.9992] state[eef_state]: left_x=0.4275 left_y=-0.1555 left_z=0.0243 left_yaw=-0.3901 left_pitch=-0.1414 left_roll=0.0286 left_gripper=0.9996 right_x=0.2944 right_y=0.0023 right_z=0.18 right_yaw=-0.0003 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9992 state[joint_eff]: [-0.2803, -8.8137, 5.3675, 1.7753, -0.0073, -0.0708, -0.0122, -0.3214, -1.1282, 7.0359, 1.7656, -0.0317, -0.0757, -0.0171] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.155, "left_z": -0.02, "left_yaw": -0.5, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Descent stalled at z 0.024 with no sign of contact; commanding the table floor with pitch reset to 0 to push the fingertips down around the cap."})

tool

executing move_to over 5 steps (0.5s)

step 33

assistant

agent noteThe left arm froze completely (IK likely holding at a limit). Backing up and raising slightly to get it tracking again before re-approaching the cap.

move_to

left_x0.4100left_y-0.1550left_z0.0600left_yaw-0.4000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3542, 1.8469, 0.8085, 0.3264, 0.0067, 0.0338, 0.9996, -0.02, 0.799, 0.6132, -0.3943, -0.0261, -0.0341, 0.9992] state[eef_state]: left_x=0.4275 left_y=-0.1555 left_z=0.0243 left_yaw=-0.3901 left_pitch=-0.1414 left_roll=0.0286 left_gripper=0.9996 right_x=0.2943 right_y=0.0023 right_z=0.1799 right_yaw=-0.0003 right_pitch=-0.0221 right_roll=-0.0004 right_gripper=0.9992 state[joint_eff]: [-0.1436, -8.9504, 5.3402, 1.8046, 0.0073, -0.0562, -0.0122, -0.212, -1.0872, 7.0222, 1.7363, -0.0024, -0.0513, -0.0122] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.41, "left_y": -0.155, "left_z": 0.06, "left_yaw": -0.4, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The left arm froze completely (IK likely holding at a limit). Backing up and raising slightly to get it tracking again before re-approaching the cap."})

tool

executing move_to over 5 steps (0.5s)

step 38

assistant

agent noteArm is tracking again; cap is centred and a couple of cm ahead of the fingertips. Advancing slightly and descending to table level.

move_to

left_x0.4250left_y-0.1520left_z0.0000left_yaw-0.4000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3542, 1.7374, 0.6716, 0.411, 0.0116, 0.0223, 0.9996, -0.02, 0.8005, 0.6132, -0.3943, -0.0261, -0.0341, 0.9992] state[eef_state]: left_x=0.4044 left_y=-0.1479 left_z=0.0369 left_yaw=-0.3879 left_pitch=-0.0839 left_roll=0.0185 left_gripper=0.9996 right_x=0.2944 right_y=0.0023 right_z=0.1795 right_yaw=-0.0003 right_pitch=-0.0236 right_roll=-0.0004 right_gripper=0.9992 state[joint_eff]: [-0.3077, -8.9915, 5.559, 1.9902, 0.1783, -0.1636, -0.0122, -0.2393, -0.8821, 7.0496, 1.7753, -0.022, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.425, "left_y": -0.152, "left_z": 0.0, "left_yaw": -0.4, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Arm is tracking again; cap is centred and a couple of cm ahead of the fingertips. Advancing slightly and descending to table level."})

tool

executing move_to over 3 steps (0.3s)

step 41

assistant

agent noteAt table level; cap is aligned between the jaws but still fully visible ahead of the fingertips. Sliding ~2.5 cm forward along the tool direction so the jaws straddle it.

move_to

left_x0.4450left_y-0.1570left_z-0.0050left_yaw-0.4000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3378, 1.9411, 0.6632, 0.6708, 0.02, 0.0299, 0.9994, -0.02, 0.8028, 0.6132, -0.3988, -0.0261, -0.0341, 0.9992] state[eef_state]: left_x=0.4213 left_y=-0.1479 left_z=0.0003 left_yaw=-0.3826 left_pitch=-0.0362 left_roll=0.0216 left_gripper=0.9994 right_x=0.294 right_y=0.0023 right_z=0.1779 right_yaw=-0.0003 right_pitch=-0.0305 right_roll=-0.0002 right_gripper=0.9992 state[joint_eff]: [0.5675, -8.5538, 4.2735, -0.0269, 0.4469, -0.1929, -0.0269, -0.1026, -1.3607, 7.2137, 1.7705, -0.0269, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.445, "left_y": -0.157, "left_z": -0.005, "left_yaw": -0.4}, "note": "At table level; cap is aligned between the jaws but still fully visible ahead of the fingertips. Sliding ~2.5 cm forward along the tool direction so the jaws straddle it."})

tool

executing move_to over 2 steps (0.2s)

step 43

assistant

agent noteThe arm seems to be limited reaching forward at table level; tipping the tool forward (pitch 0.4) to extend the fingertips the extra ~2 cm onto the cap.

move_to

left_x0.4500left_y-0.1580left_z0.0000left_yaw-0.4000left_pitch0.4000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3344, 1.9682, 0.6834, 0.7048, 0.0296, 0.0261, 0.9994, -0.02, 0.8036, 0.6132, -0.4103, -0.0265, -0.0341, 0.9992] state[eef_state]: left_x=0.4296 left_y=-0.151 left_z=0.0023 left_yaw=-0.3851 left_pitch=-0.0088 left_roll=0.0144 left_gripper=0.9994 right_x=0.2924 right_y=0.0024 right_z=0.1754 right_yaw=0.0 right_pitch=-0.0427 right_roll=0.0002 right_gripper=0.9992 state[joint_eff]: [-0.1983, -7.3778, 6.653, 1.536, -0.0464, 0.0611, -0.0122, -0.1299, -1.1556, 7.0085, 1.8095, -0.0317, -0.0415, -0.0122] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.45, "left_y": -0.158, "left_z": 0.0, "left_yaw": -0.4, "left_pitch": 0.4}, "note": "The arm seems to be limited reaching forward at table level; tipping the tool forward (pitch 0.4) to extend the fingertips the extra ~2 cm onto the cap."})

tool

executing move_to over 14 steps (1.4s)

step 57

assistant

agent noteFingertips now at x 0.458 with the cap's tip visible just between the jaws; closing the gripper on the cap.

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]: [-0.326, 2.3199, 0.6849, 1.4322, 0.0517, 0.0223, 0.9993, -0.02, 0.807, 0.6132, -0.4126, -0.0265, -0.0341, 0.9992] state[eef_state]: left_x=0.4583 left_y=-0.1608 left_z=0.0076 left_yaw=-0.3981 left_pitch=0.3683 left_roll=0.0256 left_gripper=0.9993 right_x=0.2923 right_y=0.0024 right_z=0.174 right_yaw=0.0 right_pitch=-0.0484 right_roll=0.0003 right_gripper=0.9992 state[joint_eff]: [0.3624, -6.106, 0.8, 0.5104, 0.0024, -0.1294, -0.0269, -0.294, -1.5795, 7.1179, 1.7314, -0.0611, -0.0269, -0.0171] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "Fingertips now at x 0.458 with the cap's tip visible just between the jaws; closing the gripper on the cap."})

tool

executing move_to over 10 steps (1.0s)

step 67

assistant

agent noteGripper closed to 0.008 — empty grasp. Opening and lifting back to look for the cap in the wrist and overhead views.

move_to

left_gripper1.0000left_z0.1200left_x0.4000left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3256, 2.3295, 0.6807, 1.4879, 0.0509, 0.0235, 0.0083, -0.02, 0.8074, 0.6132, -0.4126, -0.0265, -0.0341, 0.9992] state[eef_state]: left_x=0.4587 left_y=-0.1606 left_z=0.0155 left_yaw=-0.3989 left_pitch=0.4102 left_roll=0.0303 left_gripper=0.0083 right_x=0.2923 right_y=0.0024 right_z=0.1739 right_yaw=0.0 right_pitch=-0.0488 right_roll=0.0003 right_gripper=0.9992 state[joint_eff]: [-0.1983, -10.2769, 3.4667, 1.4921, 0.0366, -0.0464, 0.5495, -0.212, -1.1556, 7.0085, 1.746, -0.0464, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0, "left_z": 0.12, "left_x": 0.4, "left_pitch": 0.0}, "note": "Gripper closed to 0.008 \u2014 empty grasp. Opening and lifting back to look for the cap in the wrist and overhead views."})

tool

executing move_to over 14 steps (1.4s)

step 81

assistant

agent noteThe cap is visible just ahead of and slightly left of the jaws in the left wrist view, lying along the tool direction. Descending straight onto it with a small forward/left correction.

move_to

left_x0.4150left_y-0.1530left_z0.0000left_pitch0.0000left_yaw-0.3900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3935, 1.5387, 0.7109, 0.2798, -0.0193, 0.0036, 0.9966, -0.02, 0.8108, 0.6132, -0.4129, -0.0265, -0.0341, 0.9992] state[eef_state]: left_x=0.4018 left_y=-0.1592 left_z=0.1077 left_yaw=-0.391 left_pitch=0.0229 left_roll=0.0222 left_gripper=0.9966 right_x=0.2925 right_y=0.0024 right_z=0.1728 right_yaw=0.0 right_pitch=-0.0526 right_roll=0.0004 right_gripper=0.9992 state[joint_eff]: [-0.6359, -7.8291, 9.347, 1.9365, 0.0317, 0.0659, -0.0073, -0.335, -1.4291, 7.0085, 1.707, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.415, "left_y": -0.153, "left_z": 0.0, "left_pitch": 0.0, "left_yaw": -0.39}, "note": "The cap is visible just ahead of and slightly left of the jaws in the left wrist view, lying along the tool direction. Descending straight onto it with a small forward/left correction."})

tool

executing move_to over 7 steps (0.7s)

step 88

assistant

agent noteAt table level the cap is still fully visible ahead of the jaws, slightly left. Tipping forward and extending ~5 cm along the tool direction, pressing slightly lower so the jaws straddle the cap's middle.

move_to

left_x0.4620left_y-0.1630left_z-0.0150left_pitch0.3500left_yaw-0.3900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3618, 1.9171, 0.6216, 0.6884, -0.0185, 0.0082, 0.9977, -0.02, 0.8162, 0.6132, -0.4137, -0.0269, -0.0341, 0.9992] state[eef_state]: left_x=0.4108 left_y=-0.1482 left_z=0.0003 left_yaw=-0.3624 left_pitch=-0.0363 left_roll=0.0257 left_gripper=0.9977 right_x=0.2927 right_y=0.0025 right_z=0.1712 right_yaw=0.0004 right_pitch=-0.0587 right_roll=0.0008 right_gripper=0.9992 state[joint_eff]: [0.5128, -6.8308, 4.7932, 1.0183, 0.2369, 0.1099, 0.1001, -0.0889, -1.7573, 7.2137, 1.6679, -0.0464, -0.0659, -0.0122] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.462, "left_y": -0.163, "left_z": -0.015, "left_pitch": 0.35, "left_yaw": -0.39}, "note": "At table level the cap is still fully visible ahead of the jaws, slightly left. Tipping forward and extending ~5 cm along the tool direction, pressing slightly lower so the jaws straddle the cap's middle."})

tool

executing move_to over 13 steps (1.3s)

step 101

assistant

agent noteCap end now just at the bottom of the wrist view between the jaws; pressing down slightly and closing.

move_to

left_gripper0.0000left_z-0.0200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3389, 2.3581, 0.7166, 1.4872, 0.0078, 0.0086, 0.9977, -0.02, 0.8185, 0.6132, -0.4133, -0.0265, -0.0341, 0.9992] state[eef_state]: left_x=0.4663 left_y=-0.1621 left_z=0.012 left_yaw=-0.364 left_pitch=0.4166 left_roll=0.022 left_gripper=0.9977 right_x=0.2929 right_y=0.0024 right_z=0.1707 right_yaw=0.0001 right_pitch=-0.0606 right_roll=0.0006 right_gripper=0.9992 state[joint_eff]: [0.4718, -6.9128, 3.1385, 0.8083, 0.2418, 0.0708, -0.0024, -0.3487, -1.5521, 7.2137, 1.7314, -0.0415, -0.0366, -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": {"left_gripper": 0.0, "left_z": -0.02}, "note": "Cap end now just at the bottom of the wrist view between the jaws; pressing down slightly and closing."})

tool

executing move_to over 10 steps (1.0s)

step 111

assistant

agent noteSecond empty close — the forward-pitched pose rides up to z ≈ 0.02, above the thin cap's midline. Opening and backing up a little to re-see the cap.

move_to

left_gripper1.0000left_z0.0500left_x0.4300left_pitch0.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3386, 2.4302, 0.778, 1.5852, -0.0006, 0.0078, 0.0113, -0.02, 0.8204, 0.6132, -0.4133, -0.0261, -0.0341, 0.9992] state[eef_state]: left_x=0.4788 left_y=-0.1647 left_z=0.0191 left_yaw=-0.3562 left_pitch=0.5039 left_roll=0.0243 left_gripper=0.0113 right_x=0.293 right_y=0.0023 right_z=0.1702 right_yaw=-0.0003 right_pitch=-0.0625 right_roll=0.0004 right_gripper=0.9992 state[joint_eff]: [-0.1299, -5.1077, 1.3197, 1.7314, 0.0562, -0.0708, 0.7448, -0.3624, -1.5111, 7.0496, 1.707, -0.0317, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0, "left_z": 0.05, "left_x": 0.43, "left_pitch": 0.15}, "note": "Second empty close \u2014 the forward-pitched pose rides up to z \u2248 0.02, above the thin cap's midline. Opening and backing up a little to re-see the cap."})

tool

executing move_to over 12 steps (1.2s)

step 123

assistant

agent noteCap now sits right at the bottom of the wrist view between the jaws, aligned with the tool. Descending straight down to the table floor with a slight leftward correction.

move_to

left_x0.4370left_y-0.1620left_z-0.0200left_pitch0.1900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3874, 1.9182, 0.6308, 0.91, -0.0483, -0.0074, 0.9959, -0.02, 0.8242, 0.6132, -0.4133, -0.0265, -0.0341, 0.9992] state[eef_state]: left_x=0.4355 left_y=-0.1646 left_z=0.0511 left_yaw=-0.3539 left_pitch=0.1938 left_roll=0.0222 left_gripper=0.9959 right_x=0.2932 right_y=0.0024 right_z=0.1691 right_yaw=0.0001 right_pitch=-0.0664 right_roll=0.0007 right_gripper=0.9992 state[joint_eff]: [-0.759, -9.9214, 5.012, 1.873, -0.0904, 0.0464, -0.105, -0.3624, -1.5111, 7.0496, 1.7118, -0.022, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). 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": 0.437, "left_y": -0.162, "left_z": -0.02, "left_pitch": 0.19}, "note": "Cap now sits right at the bottom of the wrist view between the jaws, aligned with the tool. Descending straight down to the table floor with a slight leftward correction."})

tool

executing move_to over 5 steps (0.5s)

step 128

assistant

agent noteAt z 0 with the cap centred between the jaws and reaching the bottom edge of the wrist view; closing.

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]: [-0.384, 2.1956, 0.6392, 1.2156, -0.0486, -0.0025, 0.9963, -0.02, 0.828, 0.6132, -0.4133, -0.0261, -0.0341, 0.9992] state[eef_state]: left_x=0.4408 left_y=-0.165 left_z=-0.0002 left_yaw=-0.3526 left_pitch=0.2304 left_roll=0.0259 left_gripper=0.9963 right_x=0.2934 right_y=0.0023 right_z=0.1681 right_yaw=-0.0003 right_pitch=-0.0702 right_roll=0.0005 right_gripper=0.9992 state[joint_eff]: [0.4444, -7.0085, 3.1932, 0.652, 0.0464, -0.0611, 0.0317, -0.2803, -1.6889, 7.0906, 1.6923, -0.0317, -0.0611, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "At z 0 with the cap centred between the jaws and reaching the bottom edge of the wrist view; closing."})

tool

executing move_to over 10 steps (1.0s)

step 138

assistant

agent noteGripper settled at 0.051, suggesting the cap is held. Lifting to confirm it comes up with the jaws.

move_to

left_z0.1500left_x0.3800left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.382, 2.2089, 0.6422, 1.2503, -0.0532, -0.0006, 0.0511, -0.02, 0.8288, 0.6132, -0.4129, -0.0261, -0.0341, 0.9992] state[eef_state]: left_x=0.4435 left_y=-0.1642 left_z=0.0028 left_yaw=-0.3476 left_pitch=0.2548 left_roll=0.0284 left_gripper=0.0511 right_x=0.2935 right_y=0.0023 right_z=0.1679 right_yaw=-0.0003 right_pitch=-0.0706 right_roll=0.0005 right_gripper=0.9992 state[joint_eff]: [-0.2803, -10.3316, 2.8239, 1.5263, 0.0952, -0.0269, 1.2772, -0.3761, -1.4838, 7.0359, 1.6972, -0.0122, -0.0806, -0.0171] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.15, "left_x": 0.38, "left_pitch": 0.0}, "note": "Gripper settled at 0.051, suggesting the cap is held. Lifting to confirm it comes up with the jaws."})

tool

executing move_to over 10 steps (1.0s)

step 148

assistant

agent noteCap is held by the left arm (it's gone from the table, gripper reads 0.06). Moving the right arm above the pen, which lies diagonally just right of centre, yawing so the jaws close across it.

move_to

right_x0.4200right_y0.2500right_z0.1200right_yaw0.7500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4622, 1.4193, 0.7334, 0.1604, -0.1093, -0.0525, 0.0595, -0.02, 0.8333, 0.6132, -0.4137, -0.0265, -0.0341, 0.9992] state[eef_state]: left_x=0.3865 left_y=-0.167 left_z=0.1412 left_yaw=-0.3535 left_pitch=0.0489 left_roll=0.0187 left_gripper=0.0595 right_x=0.2937 right_y=0.0024 right_z=0.1665 right_yaw=0.0001 right_pitch=-0.0759 right_roll=0.0009 right_gripper=0.9992 state[joint_eff]: [-0.4581, -7.0632, 9.3197, 1.8486, -0.1978, -0.0659, 1.0281, -0.3624, -1.4564, 7.0359, 1.6923, -0.0464, -0.0513, -0.0171] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.25, "right_z": 0.12, "right_yaw": 0.75}, "note": "Cap is held by the left arm (it's gone from the table, gripper reads 0.06). Moving the right arm above the pen, which lies diagonally just right of centre, yawing so the jaws close across it."})

tool

executing move_to over 21 steps (2.1s)

step 169

assistant

agent noteRight wrist view shows the pen aligned with the jaws, tip pointing forward. Backing ~3 cm along the pen so I grab its rear half (leaving the tip free for the cap) and descending to the table.

move_to

right_x0.3900right_y0.2130right_z0.0000right_pitch0.0000right_yaw0.7200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4644, 1.4223, 0.73, 0.1448, -0.1204, -0.0551, 0.0595, 0.4282, 1.7264, 1.0363, -0.0166, -0.2379, -0.1967, 0.9992] state[eef_state]: left_x=0.3844 left_y=-0.1649 left_z=0.1353 left_yaw=-0.3452 left_pitch=0.0276 left_roll=0.0246 left_gripper=0.0595 right_x=0.4106 right_y=0.2371 right_z=0.1063 right_yaw=0.7151 right_pitch=-0.1254 right_roll=0.0132 right_gripper=0.9992 state[joint_eff]: [0.1162, -6.147, 6.8991, 1.8291, 0.0757, -0.0024, 1.0281, 0.8, -8.1846, 8.5128, 1.8584, -0.0708, -0.0806, -0.0171] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": 0.213, "right_z": 0.0, "right_pitch": 0.0, "right_yaw": 0.72}, "note": "Right wrist view shows the pen aligned with the jaws, tip pointing forward. Backing ~3 cm along the pen so I grab its rear half (leaving the tip free for the cap) and descending to the table."})

tool

executing move_to over 7 steps (0.7s)

step 176

assistant

agent notePen lies between the open jaws at table level, tip pointing forward; closing on its rear half.

move_to

right_gripper0.0000right_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]: [-0.4652, 1.4223, 0.7296, 0.1448, -0.1238, -0.0555, 0.0661, 0.3759, 1.9324, 0.6785, 0.6178, -0.2932, -0.218, 0.9991] state[eef_state]: left_x=0.3844 left_y=-0.1645 left_z=0.1351 left_yaw=-0.3428 left_pitch=0.0274 left_roll=0.026 left_gripper=0.0661 right_x=0.3885 right_y=0.2121 right_z=0.0029 right_yaw=0.7185 right_pitch=-0.0474 right_roll=0.0069 right_gripper=0.9991 state[joint_eff]: [-0.1026, -5.9282, 6.5983, 1.7167, -0.0855, -0.0757, 1.033, -0.6222, -6.4342, 3.494, 0.9353, -0.315, 0.1001, -0.0171] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0, "right_z": -0.01}, "note": "Pen lies between the open jaws at table level, tip pointing forward; closing on its rear half."})

tool

executing move_to over 10 steps (1.0s)

step 186

assistant

agent notePen is grasped (reading 0.051, centred between jaws). Lifting it and yawing so the pen tip points toward the left arm (+y), ready to meet the cap near the table centre.

move_to

right_x0.3500right_y0.2000right_z0.2000right_yaw1.5700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4652, 1.4223, 0.728, 0.1448, -0.1242, -0.0551, 0.0661, 0.3733, 1.9648, 0.6731, 0.6952, -0.2974, -0.2195, 0.051] state[eef_state]: left_x=0.3841 left_y=-0.1643 left_z=0.1345 left_yaw=-0.3427 left_pitch=0.0259 left_roll=0.0268 left_gripper=0.0661 right_x=0.3936 right_y=0.2136 right_z=0.0027 right_yaw=0.7198 right_pitch=-0.0092 right_roll=-0.0055 right_gripper=0.051 state[joint_eff]: [-0.2803, -5.9282, 6.8991, 1.7167, -0.1099, -0.0659, 1.033, 0.0342, -6.3932, 4.6154, 1.5018, -0.0757, -0.0122, 1.4921] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.35, "right_y": 0.2, "right_z": 0.2, "right_yaw": 1.57}, "note": "Pen is grasped (reading 0.051, centred between jaws). Lifting it and yawing so the pen tip points toward the left arm (+y), ready to meet the cap near the table centre."})

tool

executing move_to over 13 steps (1.3s)

step 199

assistant

agent notePen is up with its tip pointing toward the left arm. Bringing the cap to the same height and x, yawed so its open end faces the pen tip, leaving a ~10 cm gap.

move_to

left_x0.3750left_y-0.2500left_z0.2000left_yaw1.5700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4652, 1.4223, 0.7261, 0.1444, -0.1242, -0.0551, 0.0661, 0.1432, 1.8053, 1.5215, -0.8959, -0.939, -1.2156, 0.0583] state[eef_state]: left_x=0.3837 left_y=-0.1641 left_z=0.1336 left_yaw=-0.3427 left_pitch=0.0236 left_roll=0.027 left_gripper=0.0661 right_x=0.3748 right_y=0.2017 right_z=0.1967 right_yaw=1.4834 right_pitch=-0.0212 right_roll=-0.0843 right_gripper=0.0583 state[joint_eff]: [-0.2256, -5.9009, 6.7624, 1.6972, -0.0904, -0.0513, 1.0281, -0.841, -7.9111, 6.7897, 0.4713, -0.7057, -0.0806, 1.033] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.375, "left_y": -0.25, "left_z": 0.2, "left_yaw": 1.57}, "note": "Pen is up with its tip pointing toward the left arm. Bringing the cap to the same height and x, yawed so its open end faces the pen tip, leaving a ~10 cm gap."})

tool

executing move_to over 13 steps (1.3s)

step 212

assistant

agent noteThe large left yaw produced a bad IK solution: the left arm swung to y -0.03 and the pen got knocked out of the right gripper (it's back on the table). Returning the left arm, still holding the cap, to a sane pose.

move_to

left_x0.3500left_y-0.1500left_z0.1800left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4503, 2.2902, 1.8526, -1.512, -0.9081, -2.0228, 0.0707, 0.1398, 1.8194, 1.5162, -0.8841, -0.9112, -1.2228, 0.0581] state[eef_state]: left_x=0.3997 left_y=-0.0346 left_z=0.0953 left_yaw=1.3813 left_pitch=-0.0377 left_roll=0.0211 left_gripper=0.0707 right_x=0.3795 right_y=0.198 right_z=0.1867 right_yaw=1.4734 right_pitch=-0.0483 right_roll=-0.0888 right_gripper=0.0581 state[joint_eff]: [-0.1026, -13.7231, 4.5333, -0.6081, -0.4664, -0.2027, 1.033, -0.0205, -10.3726, 6.7214, 0.7399, -0.7253, 0.0562, -0.0317] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.35, "left_y": -0.15, "left_z": 0.18, "left_yaw": 0.0}, "note": "The large left yaw produced a bad IK solution: the left arm swung to y -0.03 and the pen got knocked out of the right gripper (it's back on the table). Returning the left arm, still holding the cap, to a sane pose."})

tool

executing move_to over 11 steps (1.1s)

step 223

assistant

agent noteThe pen is back on the table (just right of centre, pointing forward-right). Opening the right gripper and moving above it with the jaws turned across the pen to re-grasp.

move_to

right_gripper1.0000right_x0.3200right_y0.2300right_z0.1000right_yaw-0.4000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6605, 1.3727, 0.9173, -0.4503, -0.6292, -0.6388, 0.0723, 0.1398, 1.8214, 1.512, -0.8814, -0.9096, -1.2232, 0.0581] state[eef_state]: left_x=0.3391 left_y=-0.1273 left_z=0.1496 left_yaw=0.1926 left_pitch=-0.1186 left_roll=0.0114 left_gripper=0.0723 right_x=0.3794 right_y=0.1978 right_z=0.1846 right_yaw=1.4732 right_pitch=-0.0505 right_roll=-0.0861 right_gripper=0.0581 state[joint_eff]: [0.5265, -6.5436, 6.9949, 1.746, -0.3101, 0.2808, 1.033, -0.0479, -9.2376, 6.6393, 0.9109, -0.4469, -0.0415, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1.0, "right_x": 0.32, "right_y": 0.23, "right_z": 0.1, "right_yaw": -0.4}, "note": "The pen is back on the table (just right of centre, pointing forward-right). Opening the right gripper and moving above it with the jaws turned across the pen to re-grasp."})

tool

executing move_to over 12 steps (1.2s)

step 235

assistant

agent noteRight wrist view shows the pen slightly right of and ahead of the jaws, tilted clockwise. Shifting ~1 cm right, ~2 cm forward, rotating to match, and descending to table level.

move_to

right_x0.3450right_y0.2500right_z0.0000right_yaw-0.5000right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6647, 1.3735, 0.8963, -0.4305, -0.6289, -0.606, 0.0724, 0.9726, 1.8389, 1.1893, -0.4843, 0.8047, 0.7723, 0.9959] state[eef_state]: left_x=0.3375 left_y=-0.1279 left_z=0.144 left_yaw=0.1704 left_pitch=-0.1207 left_roll=0.0381 left_gripper=0.0724 right_x=0.329 right_y=0.2631 right_z=0.0918 right_yaw=-0.1134 right_pitch=-0.1285 right_roll=-0.1633 right_gripper=0.9959 state[joint_eff]: [-0.5265, -5.9009, 6.694, 1.3797, -0.4762, -0.1099, 1.0281, 0.2667, -10.2085, 5.9692, 0.5104, 0.7643, 0.2369, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.345, "right_y": 0.25, "right_z": 0.0, "right_yaw": -0.5, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Right wrist view shows the pen slightly right of and ahead of the jaws, tilted clockwise. Shifting ~1 cm right, ~2 cm forward, rotating to match, and descending to table level."})

tool

executing move_to over 6 steps (0.6s)

step 241

assistant

agent notePen is aligned with the jaws and inside the opening (a bit right of centre) at table level; closing.

move_to

right_gripper0.0000right_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]: [-0.6643, 1.3758, 0.8963, -0.4313, -0.627, -0.6056, 0.0724, 0.9817, 2.1731, 1.2545, -0.4606, 0.9733, 1.2343, 0.9962] state[eef_state]: left_x=0.3374 left_y=-0.128 left_z=0.143 left_yaw=0.1696 left_pitch=-0.1239 left_roll=0.0397 left_gripper=0.0724 right_x=0.3396 right_y=0.2518 right_z=0.0051 right_yaw=-0.4246 right_pitch=-0.0283 right_roll=-0.0748 right_gripper=0.9962 state[joint_eff]: [-0.2393, -5.5316, 6.5983, 1.243, -0.359, -0.0464, 1.033, -0.8137, -9.1692, 5.6684, 0.4078, 0.2369, 0.1929, 0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0, "right_z": -0.01}, "note": "Pen is aligned with the jaws and inside the opening (a bit right of centre) at table level; closing."})

tool

executing move_to over 10 steps (1.0s)

step 251

assistant

agent noteEmpty close — the jaws pushed the pen, which now lies roughly across the tool (along world y) a few cm ahead, tip pointing right. Opening, moving over its rear half, and yawing ~90° so the jaws close across it.

move_to

right_gripper1.0000right_x0.4000right_y0.2800right_z0.0800right_yaw1.1400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6643, 1.3758, 0.8963, -0.4313, -0.6209, -0.6056, 0.0724, 0.9817, 2.1948, 1.2537, -0.408, 0.9916, 1.2339, 0.0128] state[eef_state]: left_x=0.3372 left_y=-0.129 left_z=0.1425 left_yaw=0.1654 left_pitch=-0.1274 left_roll=0.0364 left_gripper=0.0724 right_x=0.3442 right_y=0.2554 right_z=0.001 right_yaw=-0.4277 right_pitch=-0.0057 right_roll=-0.0482 right_gripper=0.0128 state[joint_eff]: [-0.0889, -5.2308, 6.8034, 1.3211, -0.398, -0.0317, 1.033, -0.2256, -9.7436, 3.9453, 0.5641, 0.2711, -0.0024, 0.6374] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1.0, "right_x": 0.4, "right_y": 0.28, "right_z": 0.08, "right_yaw": 1.14}, "note": "Empty close \u2014 the jaws pushed the pen, which now lies roughly across the tool (along world y) a few cm ahead, tip pointing right. Opening, moving over its rear half, and yawing ~90\u00b0 so the jaws close across it."})

tool

executing move_to over 10 steps (1.0s)

step 261

assistant

agent noteOverhead view shows the pen now lying straight forward (tip forward) just left of the right gripper, near the centre line. Setting yaw back to 0 so the jaws cross it and moving over its rear half, low.

move_to

right_x0.3700right_y0.2900right_z0.0300right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6636, 1.3785, 0.8963, -0.4324, -0.6209, -0.6056, 0.0724, 0.4217, 1.8725, 0.9905, 0.2539, -0.3717, -0.3363, 0.9947] state[eef_state]: left_x=0.3372 left_y=-0.1286 left_z=0.1415 left_yaw=0.1666 left_pitch=-0.13 left_roll=0.0392 left_gripper=0.0724 right_x=0.4198 right_y=0.2626 right_z=0.0753 right_yaw=0.8917 right_pitch=-0.0219 right_roll=-0.0517 right_gripper=0.9947 state[joint_eff]: [-0.1846, -5.641, 6.6667, 1.2723, -0.3394, -0.0562, 1.0281, -0.3624, -8.3487, 6.2154, 1.3651, -0.2711, 0.0024, 0.0317] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.29, "right_z": 0.03, "right_yaw": 0.0}, "note": "Overhead view shows the pen now lying straight forward (tip forward) just left of the right gripper, near the centre line. Setting yaw back to 0 so the jaws cross it and moving over its rear half, low."})

tool

executing move_to over 6 steps (0.6s)

step 267

assistant

agent noteRight wrist view shows the pen ~4 cm ahead of the jaws, tip up-right; its rear half is straight ahead. Advancing ~4 cm along the tool direction, finishing yaw to 0 (jaws across the pen) and descending to the table.

move_to

right_x0.3950right_y0.3250right_z0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6636, 1.3811, 0.8963, -0.4313, -0.6205, -0.6056, 0.0724, 0.5903, 1.869, 0.8593, 0.3672, -0.2157, -0.141, 0.9954] state[eef_state]: left_x=0.3374 left_y=-0.1289 left_z=0.1407 left_yaw=0.1665 left_pitch=-0.1313 left_roll=0.0402 left_gripper=0.0724 right_x=0.37 right_y=0.2977 right_z=0.0436 right_yaw=0.8275 right_pitch=-0.0682 right_roll=0.0275 right_gripper=0.9954 state[joint_eff]: [-0.2256, -5.6, 6.5299, 1.3016, -0.3199, -0.0415, 1.0281, -0.0479, -10.2085, 6.5162, 1.9072, -0.0269, 0.1294, 0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.395, "right_y": 0.325, "right_z": 0.0, "right_yaw": 0.0}, "note": "Right wrist view shows the pen ~4 cm ahead of the jaws, tip up-right; its rear half is straight ahead. Advancing ~4 cm along the tool direction, finishing yaw to 0 (jaws across the pen) and descending to the table."})

tool

executing move_to over 6 steps (0.6s)

step 273

assistant

agent noteThe right arm froze (no motion on the last command). Raising and taking a smaller yaw step to get the IK tracking again before descending on the pen.

move_to

right_x0.3850right_y0.3100right_z0.0900right_yaw0.4000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6636, 1.3811, 0.8963, -0.4313, -0.6205, -0.6056, 0.0724, 0.5888, 1.869, 0.8593, 0.3775, -0.2089, -0.1287, 0.9955] state[eef_state]: left_x=0.3374 left_y=-0.1289 left_z=0.1407 left_yaw=0.1665 left_pitch=-0.1313 left_roll=0.0402 left_gripper=0.0724 right_x=0.3725 right_y=0.2971 right_z=0.0454 right_yaw=0.8135 right_pitch=-0.0595 right_roll=0.0311 right_gripper=0.9955 state[joint_eff]: [-0.253, -5.5179, 6.5573, 1.3114, -0.2759, -0.0269, 1.0281, -0.1846, -10.2222, 6.7077, 1.9853, 0.0122, 0.1148, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.385, "right_y": 0.31, "right_z": 0.09, "right_yaw": 0.4}, "note": "The right arm froze (no motion on the last command). Raising and taking a smaller yaw step to get the IK tracking again before descending on the pen."})

tool

executing move_to over 3 steps (0.3s)

step 276

assistant

agent noteArm is tracking again; pen's rear end is on the jaw column a few cm ahead. Advancing ~3 cm, turning jaws across the pen, and descending to the table.

move_to

right_x0.3900right_y0.3450right_z0.0000right_yaw0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6636, 1.3811, 0.8963, -0.4309, -0.6201, -0.6056, 0.0724, 0.7338, 1.8687, 0.96, 0.2356, 0.0246, 0.07, 0.9955] state[eef_state]: left_x=0.3374 left_y=-0.129 left_z=0.1407 left_yaw=0.1662 left_pitch=-0.1312 left_roll=0.0397 left_gripper=0.0724 right_x=0.3632 right_y=0.3265 right_z=0.0544 right_yaw=0.6548 right_pitch=-0.1167 right_roll=0.0516 right_gripper=0.9955 state[joint_eff]: [-0.1573, -5.3265, 6.6803, 1.2918, -0.2808, -0.022, 1.0281, -0.253, -12.8889, 8.0752, 1.8046, 0.2613, 0.2418, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": 0.345, "right_z": 0.0, "right_yaw": 0.05}, "note": "Arm is tracking again; pen's rear end is on the jaw column a few cm ahead. Advancing ~3 cm, turning jaws across the pen, and descending to the table."})

tool

executing move_to over 4 steps (0.4s)

step 280

assistant

agent notePen runs through the open jaws (right of centre, nearly aligned) at table level; closing on it.

move_to

right_gripper0.0000right_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]: [-0.6628, 1.3811, 0.8959, -0.4473, -0.6384, -0.6033, 0.0739, 0.8963, 2.167, 1.2213, 0.1604, 0.4736, 0.4583, 0.9955] state[eef_state]: left_x=0.336 left_y=-0.1242 left_z=0.14 left_yaw=0.1797 left_pitch=-0.1317 left_roll=0.0639 left_gripper=0.0739 right_x=0.3855 right_y=0.3589 right_z=0.0063 right_yaw=0.2322 right_pitch=-0.1237 right_roll=0.0357 right_gripper=0.9955 state[joint_eff]: [-0.4308, -4.8752, 6.7077, 2.0586, 0.6032, -0.0806, 0.5446, 0.2803, -10.4547, 5.8188, 0.7497, 0.442, 0.2418, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0, "right_z": -0.01}, "note": "Pen runs through the open jaws (right of centre, nearly aligned) at table level; closing on it."})

tool

executing move_to over 10 steps (1.0s)

step 290

assistant

agent notePen is held (0.049) with its tip pointing forward; cap is held by the left arm, pointing forward. Pulling the pen back and up while the left arm places the cap in front of the pen tip on the same line (centre line), at matching height.

move_to

right_x0.2500right_y0.3400right_z0.1700right_yaw0.0000left_x0.4200left_y-0.3100left_z0.1700left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6571, 1.3777, 0.8944, -0.4576, -0.6254, -0.6052, 0.0736, 0.902, 2.1914, 1.2625, 0.086, 0.6083, 0.6247, 0.0489] state[eef_state]: left_x=0.3344 left_y=-0.1228 left_z=0.1381 left_yaw=0.1786 left_pitch=-0.145 left_roll=0.0617 left_gripper=0.0736 right_x=0.3935 right_y=0.3409 right_z=0.0061 right_yaw=0.0443 right_pitch=-0.1034 right_roll=0.0555 right_gripper=0.0489 state[joint_eff]: [-0.6085, -4.9709, 6.653, 1.3944, -0.4664, -0.022, 0.9451, 0.4991, -10.4, 6.6803, 1.2625, 0.1343, 0.0317, 1.1062] camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.25, "right_y": 0.34, "right_z": 0.17, "right_yaw": 0.0, "left_x": 0.42, "left_y": -0.31, "left_z": 0.17, "left_yaw": 0.0}, "note": "Pen is held (0.049) with its tip pointing forward; cap is held by the left arm, pointing forward. Pulling the pen back and up while the left arm places the cap in front of the pen tip on the same line (centre line), at matching height."})

tool

executing move_to over 17 steps (1.7s)

step 307

assistant

agent noteBoth parts are up; the cap is ~3.6 cm off the pen's line and the pen arm sagged to z 0.13. Aligning the cap onto the pen axis and matching heights before pushing the pen in.

move_to

left_y-0.3220left_z0.1650left_x0.4100right_z0.1850right_y0.3280right_x0.2500right_pitch0.0000left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8307, 1.9762, 1.6947, -0.7269, -0.6487, -0.6201, 0.0736, 1.1961, 1.8023, 1.3453, -0.7414, 0.7589, 1.063, 0.0538] state[eef_state]: left_x=0.4109 left_y=-0.2864 left_z=0.1659 left_yaw=0.0365 left_pitch=-0.1742 left_roll=0.1147 left_gripper=0.0736 right_x=0.2558 right_y=0.3281 right_z=0.1302 right_yaw=-0.0338 right_pitch=-0.1847 right_roll=0.0168 right_gripper=0.0538 state[joint_eff]: [-0.8274, -8.0615, 8.6359, 1.9609, -0.1978, 0.0464, 1.0134, 3.1521, -12.1368, 10.8513, 1.4188, 0.9353, -0.7155, 1.0281] camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.322, "left_z": 0.165, "left_x": 0.41, "right_z": 0.185, "right_y": 0.328, "right_x": 0.25, "right_pitch": 0.0, "left_pitch": 0.0}, "note": "Both parts are up; the cap is ~3.6 cm off the pen's line and the pen arm sagged to z 0.13. Aligning the cap onto the pen axis and matching heights before pushing the pen in."})

tool

executing move_to over 7 steps (0.7s)

step 314

assistant

agent noteI picked up both parts: the left gripper is holding the cap (reads 0.074) and the right is holding the pen with its tip forward (reads 0.054). I could not get the cap onto the pen. On the last alignment the arms stopped tracking: the right arm sagged to z 0.13 with its shoulder effort gone positive, which suggests the two arms or the pen and gripper are touching. I don't know which way the cap's open end faces, and I'm nearly out of calls, so I stopped instead of pushing the pen blind and risking a collision.

give_up

hindsight- Moves often don't finish in one call: the approver limits the step size ("delta_clamped"), so check the readback and re-send. - Near table level the arm sometimes freezes completely with no contact. To recover, raise z by about 5 cm and use a smaller yaw step, then go again. - Reaching table level past x ≈ 0.43 with the tool vertical stalls. Pitching forward 0.2–0.4 extends reach, but the fingertips ride up to z ≈ 0.012–0.019, too high for a thin (~1 cm) cap. Pitch 0.2 at x ≈ 0.44 and z = 0 worked. - A thin pen or cap gripped properly settles at a reading of about 0.05–0.07. - Big yaw changes (about 1.9 rad on the left arm) can flip the IK. The arm swung wildly and knocked the pen out of the other gripper. Keep yaw within about ±0.8 and keep the other arm well away. - Wrist-camera images rotate with yaw, so an object's angle in the image is relative to the tool, not the table. Work out the pen's direction on the table from the overhead view. - Overhead scale near the centre was about 2.2 px/cm across. The cap at image (77,95) turned out to be at left x ≈ 0.44, y ≈ −0.16. - Before grabbing the cap, decide from the overhead view which end is open, and grab the pen far back so its tip sticks out. - For putting the parts together, keep both tools at yaw 0 and line them up along x: the pen tip points +x and the cap sits in front of it. The arms get in each other's way when both grasp points are near the centre line (y ≈ −0.31 for the left arm, 0.33 for the right). Keep at least 15 cm between them in x, and command the pen arm about 5 cm higher than you want because it sags.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8803, 1.9823, 1.6611, -0.6403, -0.7872, -0.6209, 0.0736, 1.2003, 1.8019, 1.3418, -0.8398, 0.8101, 1.1378, 0.0538] state[eef_state]: left_x=0.4104 left_y=-0.2946 left_z=0.174 left_yaw=0.0679 left_pitch=-0.0544 left_roll=0.1485 left_gripper=0.0736 right_x=0.2527 right_y=0.3072 right_z=0.1292 right_yaw=-0.106 right_pitch=-0.1689 right_roll=-0.0399 right_gripper=0.0538 state[joint_eff]: [-3.4256, -7.8427, 5.094, 2.1465, -0.4078, 0.0855, 1.0134, 4.8752, -13.7504, 9.1282, 1.5116, 1.7265, -0.9304, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]

assistant

give_up({"reason": "I picked up both parts: the left gripper is holding the cap (reads 0.074) and the right is holding the pen with its tip forward (reads 0.054). I could not get the cap onto the pen. On the last alignment the arms stopped tracking: the right arm sagged to z 0.13 with its shoulder effort gone positive, which suggests the two arms or the pen and gripper are touching. I don't know which way the cap's open end faces, and I'm nearly out of calls, so I stopped instead of pushing the pen blind and risking a collision.", "hindsight": "- Moves often don't finish in one call: the approver limits the step size (\"delta_clamped\"), so check the readback and re-send.\n- Near table level the arm sometimes freezes completely with no contact. To recover, raise z by about 5 cm and use a smaller yaw step, then go again.\n- Reaching table level past x \u2248 0.43 with the tool vertical stalls. Pitching forward 0.2\u20130.4 extends reach, but the fingertips ride up to z \u2248 0.012\u20130.019, too high for a thin (~1 cm) cap. Pitch 0.2 at x \u2248 0.44 and z = 0 worked.\n- A thin pen or cap gripped properly settles at a reading of about 0.05\u20130.07.\n- Big yaw changes (about 1.9 rad on the left arm) can flip the IK. The arm swung wildly and knocked the pen out of the other gripper. Keep yaw within about \u00b10.8 and keep the other arm well away.\n- Wrist-camera images rotate with yaw, so an object's angle in the image is relative to the tool, not the table. Work out the pen's direction on the table from the overhead view.\n- Overhead scale near the centre was about 2.2 px/cm across. The cap at image (77,95) turned out to be at left x \u2248 0.44, y \u2248 \u22120.16.\n- Before grabbing the cap, decide from the overhead view which end is open, and grab the pen far back so its tip sticks out.\n- For putting the parts together, keep both tools at yaw 0 and line them up along x: the pen tip points +x and the cap sits in front of it. The arms get in each other's way when both grasp points are near the centre line (y \u2248 \u22120.31 for the left arm, 0.33 for the right). Keep at least 15 cm between them in x, and command the pen arm about 5 cm higher than you want because it sags."})

tool

give_up: I picked up both parts: the left gripper is holding the cap (reads 0.074) and the right is holding the pen with its tip forward (reads 0.054). I could not get the cap onto the pen. On the last alignment the arms stopped tracking: the right arm sagged to z 0.13 with its shoulder effort gone positive, which suggests the two arms or the pen and gripper are touching. I don't know which way the cap's open end faces, and I'm nearly out of calls, so I stopped instead of pushing the pen blind and risking a collision.

Trial 0 Wire

Tools (trial initial)

[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]

System (trial initial)

[
{
"cache_control": {
"type": "ephemeral"
},
"text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n (both face forward), each with its own base frame: +x forward, +y left,\n +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n With the tool pointing straight down the wrist reaches ~0.51 m from the\n base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n normalized fraction of that (0 closed, 1 open). After a full close the\n settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n and stays there for many seconds. Effort cannot tell an empty close\n from a grasp. Judge grasps by the settled reading, then by lifting\n 5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n at ~45°. It is not a plan view: you see the sides of objects, and image-y\n is compressed relative to image-x. Arm-forward is image-up, arm-right is\n image-right, the two bases sit just below the bottom edge, and an arm\n extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n px/cm in the far half of the frame where the arms work, rising to ≈ 8\n px/cm at the bottom edge, and x and y scales differ at the same spot.\n Derive the local scale from your first sizeable move and reuse it.\n Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n forward of the finger axis, so they look *past* the fingertips. Anything\n at or nearer than the grasp point is out of frame; the dark wedge at the\n bottom-centre is the jaws; a held object is never visible in its own\n wrist camera; the working arm hides from the top camera whatever it\n hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n at or below the bottom edge of the wrist image. An object that appears\n centred on the jaw column with clear space below it is still a few\n centimetres short of the fingertips, toward the base. The jaws converge\n on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n pitched forward, ≈ 200 with the tool vertical): a brief empty close\n shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n table and changes within a single frame (larger toward the bottom\n edge). To calibrate it, make a pure radial move of known size and read\n the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n 3 cm radial move and a 1.4 cm descent shift features about equally), so\n depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n toward the base. Rolling the wrist rotates the scene but the jaws still\n close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n description). The fence-side y bound is tight because a low fence runs\n along each outer table edge; the cross-over side reaches past the\n table's centre line, so any point on the table is reachable by at least\n one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n reach and with a load. Aim ~2 cm high when carrying and when clearing\n obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n unfold from there; if a move out of a folded pose stalls, first raise z\n and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n the shoulder stops tracking while its effort stays negative (still\n holding the arm up); effort flipping positive means the arm is pressing\n into the surface: back off. A grasped object touching down reads as a\n stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n more than ~1.5 cm means one of three things: the target was clipped to\n the workspace box (the tool description lists the bounds), the arm is\n at its reach or folded limit (the arm simply stops), or you are in\n contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n the tool about the grasp point; it does not move the grasp point\n sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n with the far-region scale from the facts, remembering the view is\n oblique: a target's image-y position over-states its distance from the\n base by the compression factor, and it sits in whichever arm's frame\n you convert to (the workspace box gives the base spacing for switching\n frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n look at the wrist camera. The object should sit on the jaw column\n (x ≈ 110). If it is fully visible with empty frame below it, advance\n 2–3 cm radially before descending, because the fingertips are further\n out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n retry once. If the second close is also empty, do not repeat it:\n re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n lift clear, then verify in the overhead frame after the arm has moved\n away. The working arm's occlusion of the top view is expected; do not\n retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n cross-over bound), so any object on the table is reachable by at least\n one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n moves, scale probes or table touches; the first task motion is the\n sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n off-centre. Align in the wrist view before closing, and close no further\n than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n and give up early; the operator can move it or widen the box for the\n next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"type": "text"
}
]

call 0 attempt 0 · /messages · status 200 · 15.14 s

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7933, 0.6022, -0.3801, -0.0219, -0.0246, 0.9996, -0.0196, 0.7918, 0.6102, -0.3759, -0.0265, -0.0334, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1793 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2959 right_y=0.0025 right_z=0.1843 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.5795, 10.4684, 1.7802, -0.0464, 0.0952, -0.0513, -0.6632, -1.3333, 9.7846, 1.7216, 0.0513, 0.1392, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03d94f6f2f059bb224052906a1ef39a389dddb7695abcaa4bf9ea23288cde30c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a36f82853afb5453ed977b514cd7f0dc86c55a2605776a9012d2dee16c352c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
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        "data": "$blob:0e59e3f1dd795a5755db5479fc39f2333f1736cec9c5089521f9e44f545be43c",
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        "type": "base64"
      },
      "type": "image"
    }
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  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 8.133 s

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

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7933, 0.6022, -0.3801, -0.0219, -0.0246, 0.9996, -0.0196, 0.7918, 0.6102, -0.3759, -0.0265, -0.0334, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1793 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2959 right_y=0.0025 right_z=0.1843 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.5795, 10.4684, 1.7802, -0.0464, 0.0952, -0.0513, -0.6632, -1.3333, 9.7846, 1.7216, 0.0513, 0.1392, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03d94f6f2f059bb224052906a1ef39a389dddb7695abcaa4bf9ea23288cde30c",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a36f82853afb5453ed977b514cd7f0dc86c55a2605776a9012d2dee16c352c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e59e3f1dd795a5755db5479fc39f2333f1736cec9c5089521f9e44f545be43c",
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  "role": "user"
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[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UiTbF21A8obbQPLKrPYaeE",
      "input": {
        "note": "Cap is left of centre in the overhead view, pen right of centre at ~45°. Moving the left arm above my estimate of the cap position (x 0.41, y -0.20).",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.2,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01UiTbF21A8obbQPLKrPYaeE",
      "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]: [-0.6571, 1.6707, 0.9272, -0.0097, -0.5278, -0.4114, 0.9996, -0.02, 0.7967, 0.6132, -0.3897, -0.0265, -0.0338, 0.9992]\nstate[eef_state]: left_x=0.3968 left_y=-0.1893 left_z=0.1008 left_yaw=-0.0108 left_pitch=-0.0616 left_roll=0.0322 left_gripper=0.9996 right_x=0.2948 right_y=0.0024 right_z=0.1815 right_yaw=-0.0002 right_pitch=-0.0153 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -8.1162, 8.9094, 1.8242, -0.4811, -0.0659, -0.0171, -0.3077, -1.6342, 6.8171, 1.8535, -0.0611, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fcba492331877fa136d3db3638f184f26a3267a5c4f99181d0132dc72967123",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f18b333b382d220fe0ce5c43ea16b3ea443848fb6a33c22d796973f10b47a0a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:644b0b927e1cb587049410a61c8c7e2b9801830149f54daa01248111f35850aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 7.909 s

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

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7933, 0.6022, -0.3801, -0.0219, -0.0246, 0.9996, -0.0196, 0.7918, 0.6102, -0.3759, -0.0265, -0.0334, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1793 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2959 right_y=0.0025 right_z=0.1843 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.5795, 10.4684, 1.7802, -0.0464, 0.0952, -0.0513, -0.6632, -1.3333, 9.7846, 1.7216, 0.0513, 0.1392, -0.0904]",
      "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]: [-0.6571, 1.6707, 0.9272, -0.0097, -0.5278, -0.4114, 0.9996, -0.02, 0.7967, 0.6132, -0.3897, -0.0265, -0.0338, 0.9992]\nstate[eef_state]: left_x=0.3968 left_y=-0.1893 left_z=0.1008 left_yaw=-0.0108 left_pitch=-0.0616 left_roll=0.0322 left_gripper=0.9996 right_x=0.2948 right_y=0.0024 right_z=0.1815 right_yaw=-0.0002 right_pitch=-0.0153 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -8.1162, 8.9094, 1.8242, -0.4811, -0.0659, -0.0171, -0.3077, -1.6342, 6.8171, 1.8535, -0.0611, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fcba492331877fa136d3db3638f184f26a3267a5c4f99181d0132dc72967123",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f18b333b382d220fe0ce5c43ea16b3ea443848fb6a33c22d796973f10b47a0a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:644b0b927e1cb587049410a61c8c7e2b9801830149f54daa01248111f35850aa",
        "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_014rhVTfpdwU32pWxMWGGExA",
      "input": {
        "note": "Cap visible in left wrist cam slightly left of the jaw column and a few cm ahead, lying diagonally. Advancing ~3 cm, shifting 1 cm left, yawing to align jaws across the cap, and descending partway.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.18,
          "left_yaw": -0.6,
          "left_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_014rhVTfpdwU32pWxMWGGExA",
      "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]: [-0.3485, 1.7729, 0.8253, 0.2131, -0.0429, -0.0147, 0.9996, -0.02, 0.7982, 0.6132, -0.3923, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4247 left_y=-0.1424 left_z=0.0416 left_yaw=-0.3157 left_pitch=-0.163 left_roll=0.025 left_gripper=0.9996 right_x=0.2945 right_y=0.0024 right_z=0.1805 right_yaw=0.0 right_pitch=-0.0194 right_roll=-0.0003 right_gripper=0.9992\nstate[joint_eff]: [-1.7299, -8.4171, 8.2803, 1.7949, 0.3004, 0.3053, -0.0171, -0.2256, -1.265, 7.1179, 1.79, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6191f4e6815cd62c0946dcccb9cb8f53bfe4087e5e0aa04fab1c6c805e6cd32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76fcd3a9f19acbeb12748532da61bc9e9039a56e3439a52a2a12a346bce7e243",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:82cfb197ecf2e82bb53e0d5c242b0ff898a4c2687ff33e1eff2a08d3a8280dfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 4.733 s

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

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7933, 0.6022, -0.3801, -0.0219, -0.0246, 0.9996, -0.0196, 0.7918, 0.6102, -0.3759, -0.0265, -0.0334, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1793 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2959 right_y=0.0025 right_z=0.1843 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.5795, 10.4684, 1.7802, -0.0464, 0.0952, -0.0513, -0.6632, -1.3333, 9.7846, 1.7216, 0.0513, 0.1392, -0.0904]",
      "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]: [-0.6571, 1.6707, 0.9272, -0.0097, -0.5278, -0.4114, 0.9996, -0.02, 0.7967, 0.6132, -0.3897, -0.0265, -0.0338, 0.9992]\nstate[eef_state]: left_x=0.3968 left_y=-0.1893 left_z=0.1008 left_yaw=-0.0108 left_pitch=-0.0616 left_roll=0.0322 left_gripper=0.9996 right_x=0.2948 right_y=0.0024 right_z=0.1815 right_yaw=-0.0002 right_pitch=-0.0153 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -8.1162, 8.9094, 1.8242, -0.4811, -0.0659, -0.0171, -0.3077, -1.6342, 6.8171, 1.8535, -0.0611, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3485, 1.7729, 0.8253, 0.2131, -0.0429, -0.0147, 0.9996, -0.02, 0.7982, 0.6132, -0.3923, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4247 left_y=-0.1424 left_z=0.0416 left_yaw=-0.3157 left_pitch=-0.163 left_roll=0.025 left_gripper=0.9996 right_x=0.2945 right_y=0.0024 right_z=0.1805 right_yaw=0.0 right_pitch=-0.0194 right_roll=-0.0003 right_gripper=0.9992\nstate[joint_eff]: [-1.7299, -8.4171, 8.2803, 1.7949, 0.3004, 0.3053, -0.0171, -0.2256, -1.265, 7.1179, 1.79, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6191f4e6815cd62c0946dcccb9cb8f53bfe4087e5e0aa04fab1c6c805e6cd32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76fcd3a9f19acbeb12748532da61bc9e9039a56e3439a52a2a12a346bce7e243",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82cfb197ecf2e82bb53e0d5c242b0ff898a4c2687ff33e1eff2a08d3a8280dfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQStwoKEAgSGAI4AUIIdGhpbmtpbmcSDDwRizzczgyQuxy5TxoMCe96T1ILkKzZuLoLIjAntNkvC1bN+rlYmYoDvOJlVW65mlOLtEDcHJndJKvv6SFiuF5n5eZczhNVRl69VyAq1AnrIde995eE7qDrmYXr8ktE52TOvEVpUO7Qeb6uKZU2pJTFhg1UFyvwbsD0KjdQwDMOJNO8mL9gRYZeRpiPpZERXOmxmXBf10UgMKHpEXmF1XEh9QLocPTvOhvgy2dvPZ8fC++nCj5IvCpiOw5283g2LPYMGkL4AQ+OXXWTbBVJC6iOs87XBaMgQ5NWMDMsN1YprEEcvNsp4OG1Lz+Bvxu1pYXtUAm+RQ2IgY4MRrTE7YRiPUy6V2+IbssgmxdyCkutYCNbFCI/GD58J8IcNwRPSHLx8CKwNy4SriVqPyp2GKog4z2vZN+b7sPJirgIM3i33fFdQ4jWHI7kznTjRlzM+a4wkx9XsMknaYqGXDlaLWqatHlvGV+evkaAHec6rJiZgvOdSx+f9jX+IrZsfLkI8zhs+qkYmvXd2u86n/u60X8DEUSyaeRZzvTgXH2PRhZB45SSINGJrX71GKrdpUw/2NIa3pem8WFhay0YJK+BC69J1xGyzApqZDn5Fa/VXv3k3gE/FxIw35+r3yR7GARBFgf4llBjhg/vmJx/cwjRcIl9nwAfTHzoBT5jYeHCWJhWNBs/L5aD4m05nlIFAU+q0c3W8hESwkbO0RNzGMDbFfED1p2japQMicLhsDtJv+V8pOs8FAN/VN4eRmrqK7mIymcWuA8ENL00L3aLpchi6UwTYX/t9lgeHtdCOa7mEsy9HTiCNMOwNzae/DsqgGlgQmok4XxBmQnxmxHODABdvvKHgRbaIYY6oPsSBq4m07Uv+CWbLPYt1pRkXMft4vdTEQQopVYjyu7JBux7Q6fsjIf3xCOIYBLjA0nRgON704eyAb9lY31YcCSggxbWhL+BgiyHbB5pcjmowuDYyxd8M3WLU3x3bM3J4i/pAtl/2CNBcsF3Dv36TW1h0sjTbDITtDT9h9JxUAHy/eD7PV67H5FbYCrTbA5xptWln42ownwUDoK5Ra2w431vfdAI3Mrt45TWnnHRsaBKkX4t4sSyTBDpzguq5QmTKtUzwkX/fhs5Bv0leuafKZok+NPnwAm8OzBSIa/jzIcwo19ea1Vj8eWRxXcwzL4yw3B2+h+LMkrViiJj9yd6lktbSAPqaidHKsGqww+U+g3930SoaXZM+mTFUFDS6kPkku7fNBPIvPvLh/X3cQR/mmfKY8IjKokbRyf3thZ25+by0SpUst+bWYOTrEbMA+h2VE0uPP+8usztHgzwtrd42pVb0tbOMcfiruKVyMMVE68w/lw5NvcBHdnAiureGa0f5u2qnpKvGePgbVfmbfAqh3t0eA8zzHrtXrobeA9wOYofZoY1pZh+xM6xJG6PAoUfGMAXMXTLI00vbv0fSdYTRBd0sjUsfSQM75WY0MBBrW9BuiswC9y4LL0S6CvakVtuSbAikkU3yK/O3MtKTuoGkv4qvxQZHGBktWYZsYqBfsRHi69KfoLk5nd44TfClag6v3vM/QLWZWIaJKkj0Tc/SettI9TqMy8n6xYc+Fb9LEhhqZ+aY2b7uxQPBN/wNycc5rnUmAhIO4E5v35+UdSbFtRNpvdlP2pRDbKOXLPcm7XszwukzdfYD5z37nhCpvR4Lf4cylaUJnYh6+GnxG7uc90JSKB0mi8Xxsay306OtiPSB7lxOJzgBnZ0+A0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A1CCQNmS82mKfJtt9PtdjL",
      "input": {
        "note": "Cap now centred on the jaw column, slightly ahead of the fingertips. Advancing 1.5 cm, finishing the yaw, and descending to table level to grasp.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.145,
          "left_yaw": -0.55,
          "left_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_01A1CCQNmS82mKfJtt9PtdjL",
      "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]: [-0.3519, 1.8423, 0.8143, 0.3042, 0.0559, 0.0639, 0.9996, -0.02, 0.799, 0.6132, -0.3935, -0.0269, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4235 left_y=-0.1622 left_z=0.0244 left_yaw=-0.4463 left_pitch=-0.1516 left_roll=0.0181 left_gripper=0.9996 right_x=0.2944 right_y=0.0024 right_z=0.18 right_yaw=0.0004 right_pitch=-0.0213 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -8.5538, 5.4085, 1.9853, 0.0073, -0.0317, -0.0122, -0.253, -1.2786, 7.0222, 1.7363, -0.0122, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bd58423574607d3b88ba7240b2ac1ea0baa5e445ec46ea199adbb8739a9c8c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c3fdc1cb6eb577826daa602a335a3151cec325695a76ef070d6a7103c1e6845",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9501776a97ea2247bd0d30f1c1748ed82f8963757f6773961d63544225219347",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 6.391 s

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

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6571, 1.6707, 0.9272, -0.0097, -0.5278, -0.4114, 0.9996, -0.02, 0.7967, 0.6132, -0.3897, -0.0265, -0.0338, 0.9992]\nstate[eef_state]: left_x=0.3968 left_y=-0.1893 left_z=0.1008 left_yaw=-0.0108 left_pitch=-0.0616 left_roll=0.0322 left_gripper=0.9996 right_x=0.2948 right_y=0.0024 right_z=0.1815 right_yaw=-0.0002 right_pitch=-0.0153 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -8.1162, 8.9094, 1.8242, -0.4811, -0.0659, -0.0171, -0.3077, -1.6342, 6.8171, 1.8535, -0.0611, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3485, 1.7729, 0.8253, 0.2131, -0.0429, -0.0147, 0.9996, -0.02, 0.7982, 0.6132, -0.3923, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4247 left_y=-0.1424 left_z=0.0416 left_yaw=-0.3157 left_pitch=-0.163 left_roll=0.025 left_gripper=0.9996 right_x=0.2945 right_y=0.0024 right_z=0.1805 right_yaw=0.0 right_pitch=-0.0194 right_roll=-0.0003 right_gripper=0.9992\nstate[joint_eff]: [-1.7299, -8.4171, 8.2803, 1.7949, 0.3004, 0.3053, -0.0171, -0.2256, -1.265, 7.1179, 1.79, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3519, 1.8423, 0.8143, 0.3042, 0.0559, 0.0639, 0.9996, -0.02, 0.799, 0.6132, -0.3935, -0.0269, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4235 left_y=-0.1622 left_z=0.0244 left_yaw=-0.4463 left_pitch=-0.1516 left_roll=0.0181 left_gripper=0.9996 right_x=0.2944 right_y=0.0024 right_z=0.18 right_yaw=0.0004 right_pitch=-0.0213 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -8.5538, 5.4085, 1.9853, 0.0073, -0.0317, -0.0122, -0.253, -1.2786, 7.0222, 1.7363, -0.0122, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bd58423574607d3b88ba7240b2ac1ea0baa5e445ec46ea199adbb8739a9c8c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c3fdc1cb6eb577826daa602a335a3151cec325695a76ef070d6a7103c1e6845",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9501776a97ea2247bd0d30f1c1748ed82f8963757f6773961d63544225219347",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7QcKEAgSGAI4AUIIdGhpbmtpbmcSDMBNdUwr78AvDr5svRoM/LGD9u1SwmmDX0xrIjASrVqx6yKWVhTgi0bgx+Lzmzq3d1q23KActjBsZuxJZ3WbaTsbnLNl5/U/vzIwZcoqigfhKf/2H6H/nKVM39w5sy9ZuAjgdwLzShI8Jw6cCYawpoIRZXIYnDVuwztMoSlYU1/58tANf46n9SSqoCx0qoxJXryyeOajgY7nd0pxPYYDFK1UmC+g1YzheV1JLGX+/PIxwbj5FGGkDi3ENjjfnT77hyLx8QnKfcJZNxQFM+6kIt1KiVDZfHiP9XeAiwA2vHpDgU1RCxWDRqECvFO4ucbJZgQzIPq9OAJYxqM6G3xWXPuc6BWaBZLxvsoOmaf2GELW3s/KAzOFqACepKHouutsj33mQzixc8eqyXiarKWAtTh39avO7nJwhwix6hSpLRgh6dcL9gQ7Tj7+N/gnbJ9E1WtzxxGYPArL3GV3Pj9e5YiGwcySszEVuc3CYIOTeswgHqWqDxD+vKn/nzC7SzSxkBJjWsNQKZ3WKyzTXf+j8dp2PZulCMsgzVyHdm5SXsCEJirVgWRFjq60XsrbUEYhBgnPejOGlKg+70+ip+smH8UfwPzifyVM6VaSptUx63g4LQNcvut0qqc7g9zFzbbww2/4gXekSjWy0COGjQfSudbTZuwPYw8sOBwUmRLeBQBM2K0w59w1JKLCedfE/19xLYg2aG+5Lzq1QK0I/3SvRhSXIQD4+FzUSNX3318QCULM8reMOuL2454e7xrmFnpdKrkiSVzZOi5OxqPYRsW1GbWARTZ85+Sz9LljwoCIkXWK1X5RPDlWHbYDRgxxLQc6eeuuceIL/BH8vRKOKZ3MgFx2VQBcE9MOELz9cYFVQUrnGvJGziGJNmvrK/LhlJo7rR/970dhc9m5NZ7VHEsu0qk1ULbISXLO0yvfcJQYHx6Qg2Vpp/79+qIT4uvSWJBM6/x/ZYaSOxAMHo7uw6m54dHt974iElBbSFfgYf81ljEYOaN5xFoVmdZ5wE2/eIvROQbVeVbezDtHE7/xApsM3fCoLtutwfeIrFefCSuuv1rU/gTMuv6R6m/clRakOj5FoQgAj+0lCaoeY9c7/y1IwvDE1+UtxuwvH7VDVeea24x7jFiJ5GHSPPyCVIqRnpo2evWmdWK2sKdK03lazIvN8Mp4IPWU3zdyAYOIFpyTuCio8mrHGhP8cedDH1sVDBPetB2+Ah5BRJwOCLFktqE2znwgO8MJ370Vgb+zLAW148ijEuwN2ddoyaVejLrze4+xGy5xozNUKe897sfhHZnr+Mt1i4y7p5tBPvoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011GukeuAfZ6bNxMeqCiqFLw",
      "input": {
        "note": "Cap is now roughly aligned with the jaw opening, slightly left of centre; continuing the descent to table level with a small leftward correction.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.152,
          "left_yaw": -0.55,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_011GukeuAfZ6bNxMeqCiqFLw",
      "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]: [-0.3542, 1.8469, 0.8085, 0.3264, 0.0067, 0.0338, 0.9996, -0.02, 0.799, 0.6132, -0.3939, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4275 left_y=-0.1555 left_z=0.0243 left_yaw=-0.3901 left_pitch=-0.1414 left_roll=0.0286 left_gripper=0.9996 right_x=0.2944 right_y=0.0023 right_z=0.18 right_yaw=-0.0003 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -8.8137, 5.3675, 1.7753, -0.0073, -0.0708, -0.0122, -0.3214, -1.1282, 7.0359, 1.7656, -0.0317, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f72b96f797754583bce8e4bb8ae4895bca3901ff184bdf77fca4f60482d7aa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5176b3a6f131093246c7cffbadb2dae7a67ebbf38ae90a5c89f78899a8dca0b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dcd833562808c627b3a71ed6838b41b6ebd92b69caf7caf73fa17cdd42c32ab4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 5.88 s

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

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3485, 1.7729, 0.8253, 0.2131, -0.0429, -0.0147, 0.9996, -0.02, 0.7982, 0.6132, -0.3923, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4247 left_y=-0.1424 left_z=0.0416 left_yaw=-0.3157 left_pitch=-0.163 left_roll=0.025 left_gripper=0.9996 right_x=0.2945 right_y=0.0024 right_z=0.1805 right_yaw=0.0 right_pitch=-0.0194 right_roll=-0.0003 right_gripper=0.9992\nstate[joint_eff]: [-1.7299, -8.4171, 8.2803, 1.7949, 0.3004, 0.3053, -0.0171, -0.2256, -1.265, 7.1179, 1.79, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3519, 1.8423, 0.8143, 0.3042, 0.0559, 0.0639, 0.9996, -0.02, 0.799, 0.6132, -0.3935, -0.0269, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4235 left_y=-0.1622 left_z=0.0244 left_yaw=-0.4463 left_pitch=-0.1516 left_roll=0.0181 left_gripper=0.9996 right_x=0.2944 right_y=0.0024 right_z=0.18 right_yaw=0.0004 right_pitch=-0.0213 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -8.5538, 5.4085, 1.9853, 0.0073, -0.0317, -0.0122, -0.253, -1.2786, 7.0222, 1.7363, -0.0122, -0.0757, -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 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]: [-0.3542, 1.8469, 0.8085, 0.3264, 0.0067, 0.0338, 0.9996, -0.02, 0.799, 0.6132, -0.3939, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4275 left_y=-0.1555 left_z=0.0243 left_yaw=-0.3901 left_pitch=-0.1414 left_roll=0.0286 left_gripper=0.9996 right_x=0.2944 right_y=0.0023 right_z=0.18 right_yaw=-0.0003 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -8.8137, 5.3675, 1.7753, -0.0073, -0.0708, -0.0122, -0.3214, -1.1282, 7.0359, 1.7656, -0.0317, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f72b96f797754583bce8e4bb8ae4895bca3901ff184bdf77fca4f60482d7aa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5176b3a6f131093246c7cffbadb2dae7a67ebbf38ae90a5c89f78899a8dca0b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcd833562808c627b3a71ed6838b41b6ebd92b69caf7caf73fa17cdd42c32ab4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS0wkKEAgSGAI4AUIIdGhpbmtpbmcSDEPG978XimfWQkt91BoMYnb4pK7slbFZ3YwlIjAfnyOWHH2j2tw7GbhSeKx1LPdD6MiFazHqMl++IfxWJGJb+7sr2BAz60SFiJPvFUkq8Ajp5KiUM+pVQWjLvei1CFwo3BHIQk+EZ7qg4dfdN6qpBi7PoZuKsZdJ4g7Vq0Hd5fW1cEtJgfR89TSZmIY0VwpCJvk4Gjbp8Me/dECC+93ob24I8ZMXPCs5RinALZApJlDPr/+/nCE2fodplW9zEJcVUgEG++AFAIpF2rGBdrqvnbdyKA90KlRa+6+kjMD4tQfSXoWzWm/8bnZmNS3QIgegyB4AQs6snTUoNH+X8Ydh25B69cS+0BPa3wat4HHKHV1Qa0C982nA0AWy1W2kYMv0J0Dro2dr7PhMet26gMRls/eherypWNnigq+5Bw9M4RVCd6qG6nSbE3TpSK/gw3NgTPV/fnJ+8ObyRmGR9Z9h6QH6dV3HGrgPB6xnggUvXdLN+VbuMit4r9q99E73cODMGkzQsZ40F67RrpTX+EocUi+5Crj8UosTksoRgA7gUVlYV9t8p9hkvNV8tG73JHDeetNMZx4CX+WesAuPagzCvu02YsW0JL4H+aSthlDRdfXbpzn5/LGYfa4jghF/s4pRp8K6cui8RAlR+Z0jn+NpSCvi+f/twKvmcM+J0XTNBVzNishhXy94BIN0UN8itVk3tUt+ED06jCYDo+f2fNxvIti3KUgMILEBNRQrhhkY6ScBWrwEyF2pxRcdTVdtoDycDh7yHjX3LvDWCNE6gTsVTG1IeN1UnNtIvnH0bkxhG5QgOo35HGdwnGRhvozmZE5Fee2hmwEaM9Lf9P67fWVOK0dB2vBVJXs8mcckW54MZ/zlPjQgjcvDGQnuH3E8i3XCwkeiay6Cvx2zq5Hwc/w9uqMSKsu/x0HuFmWZ0wAewqBWICIsJSfR12UO335KoBGJORz3VTG41f8KGw54ybKbsNDkCUQBb9WbE15qd7rJvR/czTSmvuo4a15RBaG4wzy5Xi1lmZD8i6iIwG9Va/cl9MDGu2841/GoT2iuPPr0cq+QM0EXDzmqbJT1pqpS8iSejC3+xcNPwg6AsXYz+2/dKaeaZerx+NXsKVE6bwa1Qkcvs0XGecrVy4a3gz4MIxp+mWGGaqvN1L+p+88BbNRA7nkQaI0DPFRg4JTVmMSCLYqY4IeuPM/DzUFn7Ighw3QOYoAeT/vNt3fhLBrJTNfyVsy+Hdq6rNvaQmI8tzTSlZ47vvTziKknHx64rg4/NouvO/M0ud4B0YiETbUUdgcN4zHsGBIbjS9QFGowFUYuQUwNeREf1GDlidDljy9AoDcuY4vrwIR3fmCbScKDsS8Om9D7czYyBJRw34A7h8Xyt/X2+Vmo4TRTSZCd6B9eyh1eaf2wNScUJI6qdcWxlE+TTCJcSj1iyrYSfedDXCpDT8/OiMD8zQbEMnpSMMH5bZ5AGBNogJJ3qgm3ookf+PSjx9PyEMM5SiqgV7vBsENaGTDgUEY7xwo42gWmwGc+aDl8SGL2ixDDcLHDtanAMN+5t5q8DU4eRJWAJ4XBVytJ/1YedgW/4aTgyV9f6OCysSiZpUksDJMy3mSyXiV3nvGhpBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LLm1RLUCSm5PJ1Upt9gLfn",
      "input": {
        "note": "Descent stalled at z 0.024 with no sign of contact; commanding the table floor with pitch reset to 0 to push the fingertips down around the cap.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.44,
          "left_y": -0.155,
          "left_yaw": -0.5,
          "left_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LLm1RLUCSm5PJ1Upt9gLfn",
      "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]: [-0.3542, 1.8469, 0.8085, 0.3264, 0.0067, 0.0338, 0.9996, -0.02, 0.799, 0.6132, -0.3943, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4275 left_y=-0.1555 left_z=0.0243 left_yaw=-0.3901 left_pitch=-0.1414 left_roll=0.0286 left_gripper=0.9996 right_x=0.2943 right_y=0.0023 right_z=0.1799 right_yaw=-0.0003 right_pitch=-0.0221 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -8.9504, 5.3402, 1.8046, 0.0073, -0.0562, -0.0122, -0.212, -1.0872, 7.0222, 1.7363, -0.0024, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19411ecf48aa833c31db4fe4bade689b1da12af0f364dd6dcf8ea2e83263ab58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85b302b60b60a0b42ab536728a53e7960e88360453f43382f0f195dcda46d87d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3dc638bfeecc714c70ad02356dc048b1531c3f6ad8d84d8bfe95a61dcac74fcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 6.736 s

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

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3519, 1.8423, 0.8143, 0.3042, 0.0559, 0.0639, 0.9996, -0.02, 0.799, 0.6132, -0.3935, -0.0269, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4235 left_y=-0.1622 left_z=0.0244 left_yaw=-0.4463 left_pitch=-0.1516 left_roll=0.0181 left_gripper=0.9996 right_x=0.2944 right_y=0.0024 right_z=0.18 right_yaw=0.0004 right_pitch=-0.0213 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -8.5538, 5.4085, 1.9853, 0.0073, -0.0317, -0.0122, -0.253, -1.2786, 7.0222, 1.7363, -0.0122, -0.0757, -0.0122]\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]: [-0.3542, 1.8469, 0.8085, 0.3264, 0.0067, 0.0338, 0.9996, -0.02, 0.799, 0.6132, -0.3939, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4275 left_y=-0.1555 left_z=0.0243 left_yaw=-0.3901 left_pitch=-0.1414 left_roll=0.0286 left_gripper=0.9996 right_x=0.2944 right_y=0.0023 right_z=0.18 right_yaw=-0.0003 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -8.8137, 5.3675, 1.7753, -0.0073, -0.0708, -0.0122, -0.3214, -1.1282, 7.0359, 1.7656, -0.0317, -0.0757, -0.0171]",
      "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]: [-0.3542, 1.8469, 0.8085, 0.3264, 0.0067, 0.0338, 0.9996, -0.02, 0.799, 0.6132, -0.3943, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4275 left_y=-0.1555 left_z=0.0243 left_yaw=-0.3901 left_pitch=-0.1414 left_roll=0.0286 left_gripper=0.9996 right_x=0.2943 right_y=0.0023 right_z=0.1799 right_yaw=-0.0003 right_pitch=-0.0221 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -8.9504, 5.3402, 1.8046, 0.0073, -0.0562, -0.0122, -0.212, -1.0872, 7.0222, 1.7363, -0.0024, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19411ecf48aa833c31db4fe4bade689b1da12af0f364dd6dcf8ea2e83263ab58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85b302b60b60a0b42ab536728a53e7960e88360453f43382f0f195dcda46d87d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dc638bfeecc714c70ad02356dc048b1531c3f6ad8d84d8bfe95a61dcac74fcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrwkKEAgSGAI4AUIIdGhpbmtpbmcSDP6dVLz7UCj78SZHZxoMuZTudtuty287UViJIjDwyCy+CVbQz93nSAkxOvHvn8xpVZnSs63BZvja9UqgXVHsvUayUuvLKDHyetTiflQqzAheKTDh/Bfpkg53bXhyWwmtXs+16QMlkEeivuF7im4BLDQqRgMuZhxJtJp2ppv3MDxhUJ8yMj/6QPuDtgoEceAPt9LFFWJeN9SKcgFF64W8CMrFh7kLGE48+GV5j6//bzzYxYJrMnzEWaEB7LuR5A/w5XqAQkP0DZ/QXxlY0W9ny1o+nMQfop1BO+qkKrcdB51yKO5bWrXFQRjqEBB9Lv5XDmIJmcaUdMCjpHRvUIMmD4egbtVGO4g7lprJXI1nZRpodzrTTuaVDdKZBOWOgRN5urG99lhbKcxjwptG/Z/+qexg4IjjmMdtIHSI2aP555XKZrL+fFW7eNghdmFmGFuEevVLMrdbOMRhScDTZLrAazzO9JTjGRO1k3ClAmsoF+9/vgYhaBFIXKbp3rgY5VeXfpaHwf7GQzOxCw+mDRuLETKoOcKXmoINCV5+LQbNd76jpm2RFdKttdzaN0uZ17ppHqcj3G8l/E0NXo3c/PyxsEzPSuAhRv9Ed5FBRxB+9M+wZKt6LjW/jeOZ5y7FxVDjOQjRv4D6Xnn1Km+j1JMRzG97492yGI73dqYthxl8a4KCFR85iNxk2mf4xUKKzBbyY0xbTc5B5AiuW+mmA3/Pk8aDePCj+29htDPXGt6vUfP/ryxPG4xAgop5kYxFf51oM1tRSkbKP7E3P44u8BaeZjmxfqB04f77ECy0NhG+8nYnECOhONLXClDVA8m1XXiDO/qWc3JZIvGyL0vTeYrA8GrXC85yJeln0NK3PFLrLy7aWjYEyycZ7FmhuMeJKPeL1RTqBe7AbTENU79wwS+K+BnmblbF1XXFLSmAZJOvEBFHXXAEErotUJ/OivP7t85sQEXkCGkt3CXUj87gLxsdAuJEfn7nq6ofV3xvyzQI6iP7e9glTwjggHpMtJ35Wo3N7E6bBZvf5Ye6O9uipj84o+arldUASamVMzLzv8yPTXppDxQZ4JoXA9xwO/osBcn07PEnCatYzJSU6lrE0LRfbEIEifVhAAyEhfqZI5dFyyTM+l9jTPYwlO0DkQ5FrDf/3BbU1cGm+jUeuWwfCK7DlKvFqC3G5vuBTaCuduDzPis5UT2E1gFE3VzFC3Ge598pHZ81PM9g/cuQrAwPPEby3Zsg4QD9LYqJAUvaF6leL0TvL01z3FoF9bGgtHfm/fwUUyD4f+fTPQcetmA7roIrqUUa7+1Xs2+VqhM9/ud86UP25Z6f8d8oW0hKjIf4cVwaTyhF9f2Ia3uUvKaTlEWbqkpm485NpAs1rwFjccRgKricvjfPjWnRZtTOHhroiLK58ruCpCH35V/6tAUYDNHXx/L/0+SZMH7VzLfhOBs48xKjdZLJhgVRUe7QxUld9lhrA6aJhrLbgX/vp7XkwjKXMo1fxFDNaNjxo/JfBxQEAYbDr2M+5QZ5mcwaHN37jgH7jULN4bQW98MGVP8o4WMTGTughRimCD1zqGxOLhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hpsb6q7Mgpkr6pnF4Kv6MU",
      "input": {
        "note": "The left arm froze completely (IK likely holding at a limit). Backing up and raising slightly to get it tracking again before re-approaching the cap.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.41,
          "left_y": -0.155,
          "left_yaw": -0.4,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Hpsb6q7Mgpkr6pnF4Kv6MU",
      "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]: [-0.3542, 1.7374, 0.6716, 0.411, 0.0116, 0.0223, 0.9996, -0.02, 0.8005, 0.6132, -0.3943, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4044 left_y=-0.1479 left_z=0.0369 left_yaw=-0.3879 left_pitch=-0.0839 left_roll=0.0185 left_gripper=0.9996 right_x=0.2944 right_y=0.0023 right_z=0.1795 right_yaw=-0.0003 right_pitch=-0.0236 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -8.9915, 5.559, 1.9902, 0.1783, -0.1636, -0.0122, -0.2393, -0.8821, 7.0496, 1.7753, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:605506fc111c1b716a1ccd6bd82a70ced0e459a1ecd4bb38e82af232cb8ac132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b43503d27519a728ae660f8891aae18fcb81ae6efb6500cc7c5c3b101da4d70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a7ba4af70df6d5baaedac61105b1cb9fdf6fbc2a2c395e5acff0b4341db8332",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 5.55 s

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

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3542, 1.8469, 0.8085, 0.3264, 0.0067, 0.0338, 0.9996, -0.02, 0.799, 0.6132, -0.3939, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4275 left_y=-0.1555 left_z=0.0243 left_yaw=-0.3901 left_pitch=-0.1414 left_roll=0.0286 left_gripper=0.9996 right_x=0.2944 right_y=0.0023 right_z=0.18 right_yaw=-0.0003 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -8.8137, 5.3675, 1.7753, -0.0073, -0.0708, -0.0122, -0.3214, -1.1282, 7.0359, 1.7656, -0.0317, -0.0757, -0.0171]",
      "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]: [-0.3542, 1.8469, 0.8085, 0.3264, 0.0067, 0.0338, 0.9996, -0.02, 0.799, 0.6132, -0.3943, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4275 left_y=-0.1555 left_z=0.0243 left_yaw=-0.3901 left_pitch=-0.1414 left_roll=0.0286 left_gripper=0.9996 right_x=0.2943 right_y=0.0023 right_z=0.1799 right_yaw=-0.0003 right_pitch=-0.0221 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -8.9504, 5.3402, 1.8046, 0.0073, -0.0562, -0.0122, -0.212, -1.0872, 7.0222, 1.7363, -0.0024, -0.0513, -0.0122]",
      "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]: [-0.3542, 1.7374, 0.6716, 0.411, 0.0116, 0.0223, 0.9996, -0.02, 0.8005, 0.6132, -0.3943, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4044 left_y=-0.1479 left_z=0.0369 left_yaw=-0.3879 left_pitch=-0.0839 left_roll=0.0185 left_gripper=0.9996 right_x=0.2944 right_y=0.0023 right_z=0.1795 right_yaw=-0.0003 right_pitch=-0.0236 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -8.9915, 5.559, 1.9902, 0.1783, -0.1636, -0.0122, -0.2393, -0.8821, 7.0496, 1.7753, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:605506fc111c1b716a1ccd6bd82a70ced0e459a1ecd4bb38e82af232cb8ac132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b43503d27519a728ae660f8891aae18fcb81ae6efb6500cc7c5c3b101da4d70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a7ba4af70df6d5baaedac61105b1cb9fdf6fbc2a2c395e5acff0b4341db8332",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrgkKEAgSGAI4AUIIdGhpbmtpbmcSDN1KYZ8Qrd/UKsZPWRoMLnR8MKtu3FBb042kIjCcTkaHcLThrIkg07mO4dk+PFE7BG64ZEmg/0AXVWwJJ1A9eBOHr3LrW2MFgjhEsLUqywjy6SrznvC7Hs8J+E11FebMHhXsgOAXBqcr3P0rOzXeFlbvhsMtwzv8k/0m60F2u9uRilpuc6RKut4nS+GTnxO2wTU0JMWdePpvTW8KzkJERZZpbNbW5vMtpFMdET2tDex89rKUG1ZROhyDFiXHj9+SbqM4R9sD8bwiwbZpBkNP1gpkTl2M3xkdWaWINYIzZLywdhQZ9O/ywWCN+pes9nhMGZCAgmIQImKfLSdGbln0LK8QcUgsX1pzOlRjgwWcmeUZ4dUMgXz54Tl+pnyV97uSBdqAIAsyd9C44yP+P9Ma1Tz7Mf/PuRwMByRLerFwNMh6OvyouYm3ShVzX+uV8J7yEmKMWtMY1i/FFXbTUE30LqU8OK5NWo39978AWfx6Vq783ovIcyyG48SCVRdIJKGTJiJPo8Yk6YeQZcAhUs1bS0J1sDSL03sbQZFq2lGscMqbvu5jyvV0QhNHx7uxZ6wa5pw1awPrXBl27NA0HltiJezdNyO30f5UVvO7PbVuhmU4BCRY+WnK2fuTy6GPPUiumXfO3Sn++sIkofC3EUwhn4mcLm0W4baTp6W/Kw25VaGS1M236GNxYsryxJ4/9kMWKxgHY635/C4xZpmr5MnjbsZGDXda3Pm0+x+z/OGRFIDrPaA2F+unqTj/+A0Ncior/bOYfAZ/57ZQkgenXFuR+BNc2ZEfgSw5S5fOWj8HYIiXE7ZMnfX8DoHOVqJXdOm9jqdvjzb0WK48XlPAUNQIDGmKrVor8YitbPiWeFeVfxkigATXx6JFVgf5qZp1y6npE7eQjAjow0tf7hKF14j2SxlJp1pksADZoFhSlHO3iT7Kb072mh+EU16CGYbC7jaBmw2UVZYq2/2Cl8BvDYHNqFva260V9JDFpEDVmY8IHPJ31rkGGEZxgkSZ+YIlvlYmBR3z1Mei29a9zlaIUwwJiG3Plqb1F/gUAR1m6V2wqpp5Nyikn8DfgtEvNXGKwJ8oFgVh/3QShSXwJHkj7FjNJzT/9dZaTivqbfJQTFoUYnAq568E1qebGrTvkQbtcznjKmENI8cYF8IjlRUxopOpELXfDyWEKI69LFmI+fsOq+sKI3JWMTnIig2VldCNDjgcdZlB7M+2/PH/r5TR/AZkyvz8n8c+KwRJ9NrCsydjNPl8OdFzF64Azoh/E6u8nTGr3EkDfxk+NM5A7Ri056Mf6GlrF9zXmS34OMXfoqdWJ6muUGEx5Nj1Rq+yaoqX/xcs3JEyFWIS0aC/0msnElY9Etda4hqxWweUe99PV2bWR8VOCvtNX4cqayo2KsKC6pnXUjDHytHIfgpdeDnUV+JRne3fa8tfOOCkgCTvGgYS9ZPVFWoiPVynOBVqSBa9Wut5JQ8xJEZTlCBvckJMcrYH9HnMWEcqeSCYfybq8vozKJ3YAYsiTQMerH9lWFu3tD9GLzsOpsEWck34NyiZ4DpcS6v7N7XZwumXR3o0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011CX4wfM3SAJXcxPJ9oM7sy",
      "input": {
        "note": "Arm is tracking again; cap is centred and a couple of cm ahead of the fingertips. Advancing slightly and descending to table level.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.425,
          "left_y": -0.152,
          "left_yaw": -0.4,
          "left_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_011CX4wfM3SAJXcxPJ9oM7sy",
      "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]: [-0.3378, 1.9411, 0.6632, 0.6708, 0.02, 0.0299, 0.9994, -0.02, 0.8028, 0.6132, -0.3988, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4213 left_y=-0.1479 left_z=0.0003 left_yaw=-0.3826 left_pitch=-0.0362 left_roll=0.0216 left_gripper=0.9994 right_x=0.294 right_y=0.0023 right_z=0.1779 right_yaw=-0.0003 right_pitch=-0.0305 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.5675, -8.5538, 4.2735, -0.0269, 0.4469, -0.1929, -0.0269, -0.1026, -1.3607, 7.2137, 1.7705, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1d163bfdfe5b2f7bf08c14aa37edc5d8d3d72d2f6fc7a23eb5e266954e56da2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:805adfb09a63e88611af35e688a1d44ab1a43444e2fa555fc4a799a3dde34cee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1fddcd8d758ea569fc3b5dd21eee0fa85b895487742e72b5e4915e0b12acf768",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 6.052 s

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

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3542, 1.8469, 0.8085, 0.3264, 0.0067, 0.0338, 0.9996, -0.02, 0.799, 0.6132, -0.3943, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4275 left_y=-0.1555 left_z=0.0243 left_yaw=-0.3901 left_pitch=-0.1414 left_roll=0.0286 left_gripper=0.9996 right_x=0.2943 right_y=0.0023 right_z=0.1799 right_yaw=-0.0003 right_pitch=-0.0221 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -8.9504, 5.3402, 1.8046, 0.0073, -0.0562, -0.0122, -0.212, -1.0872, 7.0222, 1.7363, -0.0024, -0.0513, -0.0122]",
      "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]: [-0.3542, 1.7374, 0.6716, 0.411, 0.0116, 0.0223, 0.9996, -0.02, 0.8005, 0.6132, -0.3943, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4044 left_y=-0.1479 left_z=0.0369 left_yaw=-0.3879 left_pitch=-0.0839 left_roll=0.0185 left_gripper=0.9996 right_x=0.2944 right_y=0.0023 right_z=0.1795 right_yaw=-0.0003 right_pitch=-0.0236 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -8.9915, 5.559, 1.9902, 0.1783, -0.1636, -0.0122, -0.2393, -0.8821, 7.0496, 1.7753, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.3378, 1.9411, 0.6632, 0.6708, 0.02, 0.0299, 0.9994, -0.02, 0.8028, 0.6132, -0.3988, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4213 left_y=-0.1479 left_z=0.0003 left_yaw=-0.3826 left_pitch=-0.0362 left_roll=0.0216 left_gripper=0.9994 right_x=0.294 right_y=0.0023 right_z=0.1779 right_yaw=-0.0003 right_pitch=-0.0305 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.5675, -8.5538, 4.2735, -0.0269, 0.4469, -0.1929, -0.0269, -0.1026, -1.3607, 7.2137, 1.7705, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1d163bfdfe5b2f7bf08c14aa37edc5d8d3d72d2f6fc7a23eb5e266954e56da2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:805adfb09a63e88611af35e688a1d44ab1a43444e2fa555fc4a799a3dde34cee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fddcd8d758ea569fc3b5dd21eee0fa85b895487742e72b5e4915e0b12acf768",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSngkKEAgSGAI4AUIIdGhpbmtpbmcSDMlbq2HhB0vXYl06DRoMMCKFJyVAazrh8asOIjDJr9lkYroEyfjaAEyJc9Iy/UvY/GzqK6B2Ec+sY3d4neAgQpwIsz8018A5qXEM/f0quwiVVnd2yjWnU/p/3Vrwfm2IQlLF56fJ1StdOxT6qkLS/DzXAbmEEjL+Z5ud2p440lIhUHWxnpAW0RmkrleqmAnxzEve1IVb3NOON5o2qbq3ISExvLH/cUlEzDLOx5aR3qXPDGhQPiTdpH4kSTNMnq4M9kzgu+aer7jWxDa+chTfkPrb3zJ5RDIlFyLZk0f1/drJDvOW5YNTD91KtrkpuoTXJXrc3qFO4ttgjqWg6Wd7N1xfMNpVDhHRi53xSElMI0ScT4r/rFyWRvZ/qgA4fOAhIQKP1pGpU//ieubmXXiBwowwUfJ3hDx5oovoEu+VEWZMfec8qGzafsUKYE54G3GtxN2SF7EemMpy6dh6m7h1ozfceWLdypvflaKI38PoSqSgSuUUkFxjd5lzLv7u4NkGcC3tUxJCNkwfqp9aCAykPI6R8xJSrwr+GP3VGMUEeczfuO7ZSRaFmhGQvCEza0Ezyb0WinXBLh4AiTwJODFQl8R5uOB2CfIlh3huN9qd8QwT2XgBxI+1unXWzrUKRUkYCbF1/K9CGs3xfrMh9SIGOR6jf7mdYpx4mNfHK1Hk/xWXYSPh8If2OPOBBBvtfPm0K3R0wIu/aOBAnqUmUVaiQsAZmcQptvWmP+HS4AQDQxJjOTYEorVL8ayUT98ONNgIzcEVc4E5Rzly3zzuUw9bS+QMi4aGR2P7XHXp+tjUnLIjRdVYnlxdBSxTEV5nhlV2ltwtfmmREGCFbpi9AUkji5CzGeioHfd1jSLEMFAviHfGdEHGUwinTy3O1kSvUCzlSwP4iZTHqVA9imeui1kgzsWm0X9ksx8s/+coxtdwJYTAtG3gxRzCbhF4/G6+OSeAKZXxOZ1Ik5T31iJmv/hZqgtGEWulwvZzByr6cSLtV7lsSlX3cq1THGiZYum6PUMmKGVEe9cp9oW6Sh2CrBz3m1uZzqftg6SPlJsXwE7B3JJ6OWgBj52tbCQL+KRQQXR3AuDRNn20HwhsCILiYIRyDoXKAR6UsYi1BA2yxoRQenJuqF9OzuPHLuVv9Vd0DtNEKp7hJJdbO7FUmfs3nlOq9vjbmymsr0+Ysfg3MCJIbLEUzUlzrue/UPkY03R374ioV6K3rSfojp48drt3wT+YHHJVQlN6/bgLFWdb5VxgT0Jq2ygCIuH5hcJnAYjn+qrL9EN1T73EZzmYLEOiGaaEZcJtiCqmIWPDOPILVckfoEYMT6HhpPf1zhx11A9S03cmM0agR9kSHOPHSucVCTuJPJiz8dqgkjWi8KMzSaEAeH1RBAuDoy1/Rn19GXX+8fIb2Xtpe9JqtjJ/JDx3W7yy3OAPMblsTDhuuu+oCU9bVZSa/Z6cTVpmTRlfW6dZ094z/SRGwO7sczFUNYQZEbmDDLyncTiEJoFAlJAwAVcrMrEpdWeGVVSMC4mhwO+6iTzQSPpZIIu2vsuQ8QUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DA2zyNeMSUjf4ApNkxWfiD",
      "input": {
        "note": "At table level; cap is aligned between the jaws but still fully visible ahead of the fingertips. Sliding ~2.5 cm forward along the tool direction so the jaws straddle it.",
        "targets": {
          "left_x": 0.445,
          "left_y": -0.157,
          "left_yaw": -0.4,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01DA2zyNeMSUjf4ApNkxWfiD",
      "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]: [-0.3344, 1.9682, 0.6834, 0.7048, 0.0296, 0.0261, 0.9994, -0.02, 0.8036, 0.6132, -0.4103, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4296 left_y=-0.151 left_z=0.0023 left_yaw=-0.3851 left_pitch=-0.0088 left_roll=0.0144 left_gripper=0.9994 right_x=0.2924 right_y=0.0024 right_z=0.1754 right_yaw=0.0 right_pitch=-0.0427 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -7.3778, 6.653, 1.536, -0.0464, 0.0611, -0.0122, -0.1299, -1.1556, 7.0085, 1.8095, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdebb9655e71f9bf67265ec6a5018f9e012f36d19b244d6fb8deddd26f6618e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f4f5ca3cc02e681f5c5f7a929d92447b78fa0e26ca1fa3280828c2a8fabda0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b0ecb9eb6b69959b6f8b283a55839c5b4b43c38c7ae7055ff7567dfa25fe8b9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 4.765 s

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

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3542, 1.7374, 0.6716, 0.411, 0.0116, 0.0223, 0.9996, -0.02, 0.8005, 0.6132, -0.3943, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4044 left_y=-0.1479 left_z=0.0369 left_yaw=-0.3879 left_pitch=-0.0839 left_roll=0.0185 left_gripper=0.9996 right_x=0.2944 right_y=0.0023 right_z=0.1795 right_yaw=-0.0003 right_pitch=-0.0236 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -8.9915, 5.559, 1.9902, 0.1783, -0.1636, -0.0122, -0.2393, -0.8821, 7.0496, 1.7753, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3378, 1.9411, 0.6632, 0.6708, 0.02, 0.0299, 0.9994, -0.02, 0.8028, 0.6132, -0.3988, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4213 left_y=-0.1479 left_z=0.0003 left_yaw=-0.3826 left_pitch=-0.0362 left_roll=0.0216 left_gripper=0.9994 right_x=0.294 right_y=0.0023 right_z=0.1779 right_yaw=-0.0003 right_pitch=-0.0305 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.5675, -8.5538, 4.2735, -0.0269, 0.4469, -0.1929, -0.0269, -0.1026, -1.3607, 7.2137, 1.7705, -0.0269, -0.0513, -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 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]: [-0.3344, 1.9682, 0.6834, 0.7048, 0.0296, 0.0261, 0.9994, -0.02, 0.8036, 0.6132, -0.4103, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4296 left_y=-0.151 left_z=0.0023 left_yaw=-0.3851 left_pitch=-0.0088 left_roll=0.0144 left_gripper=0.9994 right_x=0.2924 right_y=0.0024 right_z=0.1754 right_yaw=0.0 right_pitch=-0.0427 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -7.3778, 6.653, 1.536, -0.0464, 0.0611, -0.0122, -0.1299, -1.1556, 7.0085, 1.8095, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdebb9655e71f9bf67265ec6a5018f9e012f36d19b244d6fb8deddd26f6618e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f4f5ca3cc02e681f5c5f7a929d92447b78fa0e26ca1fa3280828c2a8fabda0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0ecb9eb6b69959b6f8b283a55839c5b4b43c38c7ae7055ff7567dfa25fe8b9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSlgoKEAgSGAI4AUIIdGhpbmtpbmcSDNIOBgwu9fBBySlhOxoMdpTHJOzUu1wQk3XdIjBYkEXXz+tpFl2ubeHtNlPd3r2xFPEFCYUfo24Umi9QdG3SnsqTW5PWhePKzWmq1CQqswmF6bmRL2o47YEQKsnTXC/+OHPybmOaHSmEBTlEXqvaNGrPpiqb7FBkE9+Nq+Xw/b1WY1iwfHszJXiBkLOhMj5ck946MjLTIufjww5rt976zjUYwOIgGtjuO8XG5pxhWgeeMuzupwnODY/O6n2w6xzLK1f+9bHTdPbmLiSPHjG9FO7/j7g7hemvrAy5mCi0PsR/Np0RXvlwpTnXISgwvg2ZdBXEHGFcEcpZsz2WbYGxG4weTqMjPJiAJb/HrYCD9V7pp1d8bBu0wBlXjr9Hg4zKGuEh39TVhi1Ao3V5FteMnO/W41JcdUIaFTeY4pgdnngrOKmMq5geg3uEjbqwpEL6wqy+u08aS20NEHPhwwIVOr0gVp0HPCr1+9WIG8MRYBtLdagrMLVC7N3iCtZJG7oNQCSDMeoYQxaLPVye+1YSyA4zHjNpEyzWi/4/DwTJ11cXIlNAV9YN7SObHg31USnx/onq1nQAaR3slCHJFA0neuPiZrpe6Mmkel1NgatOrZ+V2zdzYg4HPuQ5yJQX4SQbZgUAqo+9EaHRylyQRY/HAIrFWfIT0HlEkSY8PAX+9LIG4cQOXezZdcLB875ULfR5+5Ix9pFNzTRMhF00AMKYu+qHjbCj//SncFuUtQHwDmSjL3fw4+Q8A7XJ5FRAgVQ2773o2+ibrmcBG+ST7psmlgHK05WsXriRlHfbb91Cf3XO6UyVF3pi3e5CAUZPsiAuNACykpQ3tbG0QhAt12qv91+srHJgkhf+IJ9eq15RfDEv/UanQ5A23MoRZw75p9n7nXPNfDtXT8VTWDCncW4vMuXZ/KcLYWcZXVuDmzJqkhzGte4QDo5TdCAil6ro8Tjnyehy90P3NJT+dC9+3VVLERlEVfTVxeyk7DiTlZ2uhLe5No67uStwBBXhuFUWFygU47u2wk/rAsoacWY8AiTtErLl2RbE1ZxgkLK1DCF/RDb/LdswXcLWaxIWEw+cAKT3QA4eCyvqEIqq9uIfatCjtWbAdGz6rnBd54FGOR64DuRTSNOUC2duF5r2DdW0LU4GI5o1RkAZrOkfiJsjwJu4C+E78ER4BrKvyR4TJVgaZIAK5lcT0ya0CgxW1GPIjXAeXj5ud/Dnv+BVP+g/k5MX/rBfLPRjKSRT6neW25/fNsLGCjth/Thns2dLB8wDB1TLJ7IlMoeIYCFhicU/qijGLHVXzNgasv/LIH7s9+8DNLTTmWVzlI4mt77q37asfqedkIP8lpPZ0i06QmpcsJ2L3Mv9vgOl1ztF4aHMk3UPU7Pr9sHIreQsf6gfyxLl6xT9DtDt3VO3mscml+nf47sfoYYDmtDMuEpMGK2xfZ+Y2ZWQf4lvYXagRaMiSc46RnP+TXnM6wKl4UbmMUny0ppQJR3MaxowEQmiuFtSrFFZX/sAn6uw9jhvn3gQ7LOrGyqI507ODlW9yT1NfnOpewVCVZboVqs8lyAsGR/n0YIxpU9l56OCMlgcrn1QsfNp11RYwcu4EQjKR6XC5K2hrWY5l+5bc1Iid+QILBUUiPVlfAloLhkoVTGcO/Lg//VYUgsPS77GseEg6oY7vXl97ldkcJd3wXdzRFyQE91rZL5CtYVXrH8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Y8tCKYS7U8dRHugoXgFn4",
      "input": {
        "note": "The arm seems to be limited reaching forward at table level; tipping the tool forward (pitch 0.4) to extend the fingertips the extra ~2 cm onto the cap.",
        "targets": {
          "left_pitch": 0.4,
          "left_x": 0.45,
          "left_y": -0.158,
          "left_yaw": -0.4,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_011Y8tCKYS7U8dRHugoXgFn4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.326, 2.3199, 0.6849, 1.4322, 0.0517, 0.0223, 0.9993, -0.02, 0.807, 0.6132, -0.4126, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4583 left_y=-0.1608 left_z=0.0076 left_yaw=-0.3981 left_pitch=0.3683 left_roll=0.0256 left_gripper=0.9993 right_x=0.2923 right_y=0.0024 right_z=0.174 right_yaw=0.0 right_pitch=-0.0484 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [0.3624, -6.106, 0.8, 0.5104, 0.0024, -0.1294, -0.0269, -0.294, -1.5795, 7.1179, 1.7314, -0.0611, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ddbd4d37645d97cdcdebf82748ec796294fab19682e681273f2e627cf8f03b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4eff11028397740c95a58c7a83b3b5354ec19a2751c0e7366f679bf2b93f6fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e3a066aeb6b670a0fea502ff2c5914876d9ba4cf53e1da22dcbfe64a38f64384",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 4.548 s

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

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3378, 1.9411, 0.6632, 0.6708, 0.02, 0.0299, 0.9994, -0.02, 0.8028, 0.6132, -0.3988, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4213 left_y=-0.1479 left_z=0.0003 left_yaw=-0.3826 left_pitch=-0.0362 left_roll=0.0216 left_gripper=0.9994 right_x=0.294 right_y=0.0023 right_z=0.1779 right_yaw=-0.0003 right_pitch=-0.0305 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.5675, -8.5538, 4.2735, -0.0269, 0.4469, -0.1929, -0.0269, -0.1026, -1.3607, 7.2137, 1.7705, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3344, 1.9682, 0.6834, 0.7048, 0.0296, 0.0261, 0.9994, -0.02, 0.8036, 0.6132, -0.4103, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4296 left_y=-0.151 left_z=0.0023 left_yaw=-0.3851 left_pitch=-0.0088 left_roll=0.0144 left_gripper=0.9994 right_x=0.2924 right_y=0.0024 right_z=0.1754 right_yaw=0.0 right_pitch=-0.0427 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -7.3778, 6.653, 1.536, -0.0464, 0.0611, -0.0122, -0.1299, -1.1556, 7.0085, 1.8095, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.326, 2.3199, 0.6849, 1.4322, 0.0517, 0.0223, 0.9993, -0.02, 0.807, 0.6132, -0.4126, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4583 left_y=-0.1608 left_z=0.0076 left_yaw=-0.3981 left_pitch=0.3683 left_roll=0.0256 left_gripper=0.9993 right_x=0.2923 right_y=0.0024 right_z=0.174 right_yaw=0.0 right_pitch=-0.0484 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [0.3624, -6.106, 0.8, 0.5104, 0.0024, -0.1294, -0.0269, -0.294, -1.5795, 7.1179, 1.7314, -0.0611, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ddbd4d37645d97cdcdebf82748ec796294fab19682e681273f2e627cf8f03b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4eff11028397740c95a58c7a83b3b5354ec19a2751c0e7366f679bf2b93f6fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3a066aeb6b670a0fea502ff2c5914876d9ba4cf53e1da22dcbfe64a38f64384",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS6gYKEAgSGAI4AUIIdGhpbmtpbmcSDG+ifCPLslPnAvSgyxoM3Fu8yXxlxcNGSDQKIjCpi2ltTRvY01nTz8P6kacLnF/7dqO20eIO8eQZf9dE91j3j5nwU5uWBUIQztYClQsqhwZSK2qRnj1fbSwGdF1tp0BXcjMnAslR39v9PvAb0ipnjcFE3Q3dQmMKFvntNxPS45NtimBX7+gmyi3wgzf+tESVMwvWmwx1WFqHnJYxh2EZukOFmlmErcC74k8yacdeB3vBhO66dfUkrtWgJdwP5c/k3BlSSfesUYIeNUeI1tNN4cgRgy0ZeGmE5ddo/WrgeoaoR05xMWBRBiE6XseI2SH3IhH0SFQO0Q0opy+gQiSne1WAvfa6++qf50pVMUZfuIVsN4yBp+WrqaZ7XvHtwRzyZAUwQVUGUmKyFcNGGUChasiWGFckS/iixa4buHh7cVHt1Rp06j+x9umcsIgUJ41zbwdglezjKxjDjTwAMGvcJ3vzJXTKS7cCeiu5/E3sVStiRas+kRbma7E8yN/Rug8eQKjOhIMoppOb6T09thyPAVsqpdGOR5vKYJyvCbySoFX2tFAT48YUbSOuaK9kA3TmcDOqXUY4eRbiVHh+JHiFfefZgP7o7zm9DLLXtGC1VqbPwr2pjdtpgEgoIUmYPDJzAjII3hHpWXfT2fdBLuLEdbsruQIQ4ehimByHknZrMtH1m/dAqaJfc+r5sfnv+7tpX7q/1ngo6JdNaHKi90ZvMkrAco0lAZAnhpcrz6CgI6ZI1RsB3hI2sMTbqwtrpbpWX49YL4r11CzWu6vNRe/OdKeuXyJt50BGzqqdi1YvZHOwF9acwavsn+msTul/VOccH+5oCpxMtys+5vn/BN4qfQ+upIn1oMqKYhVsDB9JzFAEaJrDhk/AjcE5gecREXOe5M0nYep1AT41M3n2XpHSiTkRFG8IlOVNi1LgYkhjwOMS5xv4Y00ZQ5PkwhptiikJDyrcRRI5/CRh4t5j0B+C6v8nCuXrOVPDyEXVkDSTAPZe0DmuPyJilclU7rJ1zMZOWdABIOF+Z0MNzZ2G2C19djhnKh7WNw+OTj3ji74Rg1X/2bV2VB8BLRYPeup/rqRQhqiiMe10gRXGRGkc4h0YQC2/aAW96XT6TuImV6VEmFmKR/2mqtsJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B86MQQrRP1UyDh3xmkXvpz",
      "input": {
        "note": "Fingertips now at x 0.458 with the cap's tip visible just between the jaws; closing the gripper on the cap.",
        "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_01B86MQQrRP1UyDh3xmkXvpz",
      "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]: [-0.3256, 2.3295, 0.6807, 1.4879, 0.0509, 0.0235, 0.0083, -0.02, 0.8074, 0.6132, -0.4126, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4587 left_y=-0.1606 left_z=0.0155 left_yaw=-0.3989 left_pitch=0.4102 left_roll=0.0303 left_gripper=0.0083 right_x=0.2923 right_y=0.0024 right_z=0.1739 right_yaw=0.0 right_pitch=-0.0488 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -10.2769, 3.4667, 1.4921, 0.0366, -0.0464, 0.5495, -0.212, -1.1556, 7.0085, 1.746, -0.0464, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d1467e545fe5178719c285f1a453f8e2c35ff4178e84e38c31f723643ac3579",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff072a1b37484a7ba47c53ce132a07685f19cf6273e0f25ffc6336db98c029e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9368857b1abd0df059a78dab776289026e08fd31fbbad4c0a18670654ae775ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 8.157 s

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

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3344, 1.9682, 0.6834, 0.7048, 0.0296, 0.0261, 0.9994, -0.02, 0.8036, 0.6132, -0.4103, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4296 left_y=-0.151 left_z=0.0023 left_yaw=-0.3851 left_pitch=-0.0088 left_roll=0.0144 left_gripper=0.9994 right_x=0.2924 right_y=0.0024 right_z=0.1754 right_yaw=0.0 right_pitch=-0.0427 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -7.3778, 6.653, 1.536, -0.0464, 0.0611, -0.0122, -0.1299, -1.1556, 7.0085, 1.8095, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.326, 2.3199, 0.6849, 1.4322, 0.0517, 0.0223, 0.9993, -0.02, 0.807, 0.6132, -0.4126, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4583 left_y=-0.1608 left_z=0.0076 left_yaw=-0.3981 left_pitch=0.3683 left_roll=0.0256 left_gripper=0.9993 right_x=0.2923 right_y=0.0024 right_z=0.174 right_yaw=0.0 right_pitch=-0.0484 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [0.3624, -6.106, 0.8, 0.5104, 0.0024, -0.1294, -0.0269, -0.294, -1.5795, 7.1179, 1.7314, -0.0611, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3256, 2.3295, 0.6807, 1.4879, 0.0509, 0.0235, 0.0083, -0.02, 0.8074, 0.6132, -0.4126, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4587 left_y=-0.1606 left_z=0.0155 left_yaw=-0.3989 left_pitch=0.4102 left_roll=0.0303 left_gripper=0.0083 right_x=0.2923 right_y=0.0024 right_z=0.1739 right_yaw=0.0 right_pitch=-0.0488 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -10.2769, 3.4667, 1.4921, 0.0366, -0.0464, 0.5495, -0.212, -1.1556, 7.0085, 1.746, -0.0464, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d1467e545fe5178719c285f1a453f8e2c35ff4178e84e38c31f723643ac3579",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff072a1b37484a7ba47c53ce132a07685f19cf6273e0f25ffc6336db98c029e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9368857b1abd0df059a78dab776289026e08fd31fbbad4c0a18670654ae775ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSuwcKEAgSGAI4AUIIdGhpbmtpbmcSDDifpWlMjH8KmNaEwRoM2QXl1nZ60ambXXgsIjCBeVyTvBs8xYX5gCRIwNc+pIb2RyK8TBn4Yrso/kDegFcR1OaPpRqelTP9FeOp1lAq2Ab/hDg8BIKyMu7Fs8xYgh6ZkaOJkgnZiqGoMQHvO3D0oc/6Ee6/GdBpv1V6D+BqG8dAjbzChzBF9nEQA5wQJK7d+PNeWeqzKTI7ut2eFmbTrmjTLcWdgVy9KRt6WTeVRtFDSJ76NiSmthE9/wboL4+NCXSarkIhLXIGG5xO9Bz5fKKPq6lzFTTkFCXI/ZefhNec2Jf++HKnKBujcoyFVMLivGur+0cQzDN2WG1SdD7saImKhIMIEKft+OcGlRiPVVXWRLsM/sh399rdHTx2yf5XMSMbS01q8F2UeFp7TY5C1iGnw6tUS8R90i4ykV9FcQItxkl9Umn15jz+BiH8fGtQJRgMU9ZF7GeXyxictxM44SES3QFQFO6YEioDGXFQsD0JY/PjeaRfiKZ/1MXTfW2x+nMqlMc2KkBR6kO9ZIoziSuk1KVWh3gQULND9GM90+KdpmB48ro/wQn2BCwVxiTMODJEzG/eOhePzP9sGHZkfOxGDSHELudAcG8HurC+j7QqhCHxmjUasovTD1TyAh+fzUXd54slx3OHj9O2cDUmutt6AYpK0L2JH1y/n1lBKyerlu8sjwrSi+4vw2qGSv84oD+B4Sx4i4FfVNIYRYCozGXAlKVYRMvjbbBHLVHsPQ4asQXkeb1HhbP9llaHKqLM3E3B5scCwOglVvIRL5V62m4v/0KqQVagnHZxbvflcJ9nAb5jMAT7rvG7828cmxtWNlWOgBB7aUBzkZS6xlbUAaS2asQEK+ukambxVh2qOwnv1p0feQETPlT+TYzurrTARy12cGx7W4r/yPmafB7q5JcScJawPvo0D0nFbTl4/krle6pzN1kKxArbRyi8i62QK2bhXQKXpB6nZzb0fO2gW+t6P+lwnbLkH41NwD2iJRRvzapxylMz4FMgasVJBnzsO6F3TM2H1hPBXw0/BUwlttz8v4VxhqV9iX+zAMyRDIKMnKhTh65f2XHd5IazlJWk8QVAw3WFYvE8y+gwea1Ve4QwGVfDX/nKawme5r2UuKx4V/gQr0DGtqNsd/CnfHNyzZTmwc9M98LrtVoT3t0jj8KUrwDZdZLMgwlTQkaM+FEQtQDdv9Q2GliIKGKR+oZyYejvtv3kLlU+WMcjusiZliK5PzCm7ofyGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PiJQs7signdGtEGSw5apYh",
      "input": {
        "note": "Gripper closed to 0.008 — empty grasp. Opening and lifting back to look for the cap in the wrist and overhead views.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.4,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01PiJQs7signdGtEGSw5apYh",
      "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]: [-0.3935, 1.5387, 0.7109, 0.2798, -0.0193, 0.0036, 0.9966, -0.02, 0.8108, 0.6132, -0.4129, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4018 left_y=-0.1592 left_z=0.1077 left_yaw=-0.391 left_pitch=0.0229 left_roll=0.0222 left_gripper=0.9966 right_x=0.2925 right_y=0.0024 right_z=0.1728 right_yaw=0.0 right_pitch=-0.0526 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.6359, -7.8291, 9.347, 1.9365, 0.0317, 0.0659, -0.0073, -0.335, -1.4291, 7.0085, 1.707, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d089c9e44e70a328a7da2f0e3d99d45541296719236556935e1db0a692663045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7e6ebf342c1c4b9ab62743983bb2ff84e9e77bddaa32a64acc7d34db924308b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7c694df5dc2a9ccb1994c673a31ad2c52c3b880c3b5ae72ad200020cb318781",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 6.56 s

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

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.326, 2.3199, 0.6849, 1.4322, 0.0517, 0.0223, 0.9993, -0.02, 0.807, 0.6132, -0.4126, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4583 left_y=-0.1608 left_z=0.0076 left_yaw=-0.3981 left_pitch=0.3683 left_roll=0.0256 left_gripper=0.9993 right_x=0.2923 right_y=0.0024 right_z=0.174 right_yaw=0.0 right_pitch=-0.0484 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [0.3624, -6.106, 0.8, 0.5104, 0.0024, -0.1294, -0.0269, -0.294, -1.5795, 7.1179, 1.7314, -0.0611, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3256, 2.3295, 0.6807, 1.4879, 0.0509, 0.0235, 0.0083, -0.02, 0.8074, 0.6132, -0.4126, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4587 left_y=-0.1606 left_z=0.0155 left_yaw=-0.3989 left_pitch=0.4102 left_roll=0.0303 left_gripper=0.0083 right_x=0.2923 right_y=0.0024 right_z=0.1739 right_yaw=0.0 right_pitch=-0.0488 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -10.2769, 3.4667, 1.4921, 0.0366, -0.0464, 0.5495, -0.212, -1.1556, 7.0085, 1.746, -0.0464, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3935, 1.5387, 0.7109, 0.2798, -0.0193, 0.0036, 0.9966, -0.02, 0.8108, 0.6132, -0.4129, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4018 left_y=-0.1592 left_z=0.1077 left_yaw=-0.391 left_pitch=0.0229 left_roll=0.0222 left_gripper=0.9966 right_x=0.2925 right_y=0.0024 right_z=0.1728 right_yaw=0.0 right_pitch=-0.0526 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.6359, -7.8291, 9.347, 1.9365, 0.0317, 0.0659, -0.0073, -0.335, -1.4291, 7.0085, 1.707, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d089c9e44e70a328a7da2f0e3d99d45541296719236556935e1db0a692663045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7e6ebf342c1c4b9ab62743983bb2ff84e9e77bddaa32a64acc7d34db924308b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7c694df5dc2a9ccb1994c673a31ad2c52c3b880c3b5ae72ad200020cb318781",
        "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_019oug42H4teAh3CLf4NnFxE",
      "input": {
        "note": "The cap is visible just ahead of and slightly left of the jaws in the left wrist view, lying along the tool direction. Descending straight onto it with a small forward/left correction.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.415,
          "left_y": -0.153,
          "left_yaw": -0.39,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_019oug42H4teAh3CLf4NnFxE",
      "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]: [-0.3618, 1.9171, 0.6216, 0.6884, -0.0185, 0.0082, 0.9977, -0.02, 0.8162, 0.6132, -0.4137, -0.0269, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4108 left_y=-0.1482 left_z=0.0003 left_yaw=-0.3624 left_pitch=-0.0363 left_roll=0.0257 left_gripper=0.9977 right_x=0.2927 right_y=0.0025 right_z=0.1712 right_yaw=0.0004 right_pitch=-0.0587 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [0.5128, -6.8308, 4.7932, 1.0183, 0.2369, 0.1099, 0.1001, -0.0889, -1.7573, 7.2137, 1.6679, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:172309b264044b4a113568165431803344d4c56ec98a2390885230546a041012",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea6d532e2cf84e6d672c10c4dd9ebf74a8971d123311c8b39d188e3e1ebd4385",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:55c585a452674e147f4284cdba3c0cad26007431daf971c47c37547c4caecd40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 6.045 s

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

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3256, 2.3295, 0.6807, 1.4879, 0.0509, 0.0235, 0.0083, -0.02, 0.8074, 0.6132, -0.4126, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4587 left_y=-0.1606 left_z=0.0155 left_yaw=-0.3989 left_pitch=0.4102 left_roll=0.0303 left_gripper=0.0083 right_x=0.2923 right_y=0.0024 right_z=0.1739 right_yaw=0.0 right_pitch=-0.0488 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -10.2769, 3.4667, 1.4921, 0.0366, -0.0464, 0.5495, -0.212, -1.1556, 7.0085, 1.746, -0.0464, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3935, 1.5387, 0.7109, 0.2798, -0.0193, 0.0036, 0.9966, -0.02, 0.8108, 0.6132, -0.4129, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4018 left_y=-0.1592 left_z=0.1077 left_yaw=-0.391 left_pitch=0.0229 left_roll=0.0222 left_gripper=0.9966 right_x=0.2925 right_y=0.0024 right_z=0.1728 right_yaw=0.0 right_pitch=-0.0526 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.6359, -7.8291, 9.347, 1.9365, 0.0317, 0.0659, -0.0073, -0.335, -1.4291, 7.0085, 1.707, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3618, 1.9171, 0.6216, 0.6884, -0.0185, 0.0082, 0.9977, -0.02, 0.8162, 0.6132, -0.4137, -0.0269, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4108 left_y=-0.1482 left_z=0.0003 left_yaw=-0.3624 left_pitch=-0.0363 left_roll=0.0257 left_gripper=0.9977 right_x=0.2927 right_y=0.0025 right_z=0.1712 right_yaw=0.0004 right_pitch=-0.0587 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [0.5128, -6.8308, 4.7932, 1.0183, 0.2369, 0.1099, 0.1001, -0.0889, -1.7573, 7.2137, 1.6679, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:172309b264044b4a113568165431803344d4c56ec98a2390885230546a041012",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea6d532e2cf84e6d672c10c4dd9ebf74a8971d123311c8b39d188e3e1ebd4385",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c585a452674e147f4284cdba3c0cad26007431daf971c47c37547c4caecd40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSwgoKEAgSGAI4AUIIdGhpbmtpbmcSDFBatP9Q2OtXboqU6BoMo6pyAls3v46l6ehaIjDUmGlFNuaKi1pGDeLy5fsSFYw7nITpAk/GhUWyw2m5VZ7LoWHKP5E8mKHTJhmTMdUq3wmQNeu+S9OzbAGzZPIOe7uaEAXOTFpQmrHW2s3eJJRRdVjK4gDZOQ1Qq09A8I0Z42JSs6dNAkmVvvhRiqf0poLDFuAzRy59t0bytoM8bD+ujbXR/AXBeTy61WfDAsa/sWAStVlj3xh01wTlicuQ0WOZonEDyp5UfJ+i4KOJP5yb3ksgx7/gmBWQb9JpGC/UDqXjis4bydsbGAFut02LTMMuVvYHx7Tbu+rnPsGn/hN8UJeXBw9rfrLshJTHAK8lTvZ0rSYColOuX4DpWj5KS1MfldKKaQx0qW027MGC39MAxcmhfdGuGUX3ieXLQJQZQsFLsda/Fq30XKMrQU7GP8rtIxjDQsOErEwfTSgLeWWLR8KRnBCj113uFlJOeMr3MseSEk2XFoHvetqYyQpU12XYMy2V0v4lW+Cd427TFNJJk2cAVEi4JxjO8WzAbOhS7YOXsGWBMCA+dPDAuBjSMvOJoooajlXvSBk/gJtJodAh5eGmb+QVei1DuqwoVzPof3CeVsHuYp1ql5y27KnrbplyYAeny2DD52hMvvV5nCIVMS8nz+Si1EdcCgJrvsUg87CimrAjC7cCdvNDihKLEhLeYtAsQh2z/3mASnvXsMlcF4p2TTzYHTZnhDgHlCs6wc7w5wt3RLEUqsjdSPnAgptoeT0R8A8kVt9a/3CMJnxCo5KPyZJ0ph5m4WGx3h63FH5cqMkUPxUHHEB2f/9oVfn3pqEvzsY3qT8T2/1LIVDkqyyuBaHkReKB/NPk1tE1o5YcyuIL2kzmTlibc4agaNH3nh7l13iOW6O880zBcfJ2iSjh19AzZfNmQBXu5huKQZT95rpZHuKrHigKCKdr1BuyIOdbsmsIEkzX3p0uoamEY8VmjccrIMSGKmIGmXEWhYC46rX+tHw3lQR4yuDOlJSREjvgRzpsSI+VxlUZuC0ju3KGpHJoQUJDAsMhlvNtw5Mfe1srjBZq4yhghBM/05/BcWVzjma5nHJ4BeuK+m+liX6VJyp77DWngucsEnoimTxY9hYXSvgb7tzsGGruBWvtyVxAcW+8eNAZ4vl0NWpdsy6gvZnAZ3/kmJOLKF1xrMGUhJpDS10fdJpNkhC8qEGwOuOVqh7zIJF4YZG3QEb6X7tW2nYpzZufwFSR/yRv9VUonTs8PzTIiYHMzKr6woEcXReGfRqYAi+Hn6P+rDMgJKw3R+0UXVIA7ARaWM1zOXGUantX1Pihv+w3hjFpavb3EDoFG2zi9KCWVtMWShrJ+LWpvr4WMKhklb/m8Meg+uWBU9DZyWnVYhRLuPytRxJa8FwPu/j4QgME9dYuhn6Qj1eP53juKCEAUF+Yn5tl7zejnOit6CrRJLLggT3loNYZme1N1PyagBdv+qDfrxvzzYvK+6xSKOz3ja34dtIRqWhRzoKake1Z8zig25+KCKGiFWoBrnn4ULF78JER/4llYP+MRVpzbnx4ugUKKyGNT7RKqt4JQxxpFFnyWiybfdupQDsoBKX1gpZi3RIHql1rKeuF8kKr+98vsMItFBaSLjuPjgQmeUgINZMhKpdfdSkc2koUpfmTXH3lAVCivXhZJiQYY7IJgsKbfHtQncrOiUiASWqrweflxuy2T8LXOYZxF/HEw/lYq1YppiwUKLZ417uMvHnbYJODksP0ZvgCOxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CLLiVYnWMqo6Trgi1xzTTW",
      "input": {
        "note": "At table level the cap is still fully visible ahead of the jaws, slightly left. Tipping forward and extending ~5 cm along the tool direction, pressing slightly lower so the jaws straddle the cap's middle.",
        "targets": {
          "left_pitch": 0.35,
          "left_x": 0.462,
          "left_y": -0.163,
          "left_yaw": -0.39,
          "left_z": -0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01CLLiVYnWMqo6Trgi1xzTTW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3389, 2.3581, 0.7166, 1.4872, 0.0078, 0.0086, 0.9977, -0.02, 0.8185, 0.6132, -0.4133, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4663 left_y=-0.1621 left_z=0.012 left_yaw=-0.364 left_pitch=0.4166 left_roll=0.022 left_gripper=0.9977 right_x=0.2929 right_y=0.0024 right_z=0.1707 right_yaw=0.0001 right_pitch=-0.0606 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [0.4718, -6.9128, 3.1385, 0.8083, 0.2418, 0.0708, -0.0024, -0.3487, -1.5521, 7.2137, 1.7314, -0.0415, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:045764d4df3ddcc48656564cb2be0bd5e0cae55181570c624591ca54c555ba71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ce54f3ebd18a7204c0ba4328559620900fba1cb2de9b1fbd567dd3dc40b6818",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c3ccc5bb01a7e83eb9d54f459ee166c6745ea14882aa641d23033929fa21f780",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 14.01 s

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

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3935, 1.5387, 0.7109, 0.2798, -0.0193, 0.0036, 0.9966, -0.02, 0.8108, 0.6132, -0.4129, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4018 left_y=-0.1592 left_z=0.1077 left_yaw=-0.391 left_pitch=0.0229 left_roll=0.0222 left_gripper=0.9966 right_x=0.2925 right_y=0.0024 right_z=0.1728 right_yaw=0.0 right_pitch=-0.0526 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.6359, -7.8291, 9.347, 1.9365, 0.0317, 0.0659, -0.0073, -0.335, -1.4291, 7.0085, 1.707, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3618, 1.9171, 0.6216, 0.6884, -0.0185, 0.0082, 0.9977, -0.02, 0.8162, 0.6132, -0.4137, -0.0269, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4108 left_y=-0.1482 left_z=0.0003 left_yaw=-0.3624 left_pitch=-0.0363 left_roll=0.0257 left_gripper=0.9977 right_x=0.2927 right_y=0.0025 right_z=0.1712 right_yaw=0.0004 right_pitch=-0.0587 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [0.5128, -6.8308, 4.7932, 1.0183, 0.2369, 0.1099, 0.1001, -0.0889, -1.7573, 7.2137, 1.6679, -0.0464, -0.0659, -0.0122]",
      "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]: [-0.3389, 2.3581, 0.7166, 1.4872, 0.0078, 0.0086, 0.9977, -0.02, 0.8185, 0.6132, -0.4133, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4663 left_y=-0.1621 left_z=0.012 left_yaw=-0.364 left_pitch=0.4166 left_roll=0.022 left_gripper=0.9977 right_x=0.2929 right_y=0.0024 right_z=0.1707 right_yaw=0.0001 right_pitch=-0.0606 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [0.4718, -6.9128, 3.1385, 0.8083, 0.2418, 0.0708, -0.0024, -0.3487, -1.5521, 7.2137, 1.7314, -0.0415, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:045764d4df3ddcc48656564cb2be0bd5e0cae55181570c624591ca54c555ba71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ce54f3ebd18a7204c0ba4328559620900fba1cb2de9b1fbd567dd3dc40b6818",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3ccc5bb01a7e83eb9d54f459ee166c6745ea14882aa641d23033929fa21f780",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSvwoKEAgSGAI4AUIIdGhpbmtpbmcSDCWv3vWyQs+M7SW11xoMkMSSo5GiiACKlwyzIjAB0/oqRGyLgmGuAbFCkWQ7LjEkgPu4BhE2iCfe4NbWAHpIQHGSyeCNQHXWkhFDanQq3AlCAKhS5B0r+ti6zdSU5kNdN7MZTDS1PrqZ5TqOGY6XwnJWfZUQlBJGn+t3F5485HRcYovvlTF4hSG/nMo8ovatA2qveIbjufGh16d3fYwjtUX+LyiKjXc7Guo1O9GF8wZTUOy/fqEUxp3kRNlNe9y14/Vd4up8n4gYrwqzL6lv+8W3FeITFNf6igoP1WmdNlu5Ll0P9iEPiz1vBzp1176C7iubNCpgOJ1EaBXw0w3xIrCDGPwa8dZgeI/ra0tDfGe02N9+DRYSnXuUq0zEEXunn0Gt2TvaCzLTiLma9muzvaa5iDaftWJbOPJXXZ94BJ2zHGPk6BIk1n9xwEPyZyY+jkIpdPMT5rG+LCJ1Pr7a2eRHgYlVgn71I8JBgwHNHjA8DhpZWPcidB5GH3MMX6dOiXyjr9/a6aXow3VQQti+QLvKj2YNtBKyzfddTe3WWoHnqY8ArJAr+Om4CipmZWj7z3ZVpBirTuaYbTLF8l9BhW/R1ArAoxHsUs2dKhSTRwO6jWg2840RJy0L/AnQCFtPdhCrRjF0HrFXCsT2oWsxCyFcvtt26+SeubvhYB3c0QlyZnJhJoAmrxBkC+uDmH/jRRe6UzKkUN2ngwC+jRkPhwn/nCi6e9q6CwK9v9MOc0Ftm/0Imk9BtLBI5/wNUyq30fA5H2V/iCRZD7ZgsEAChCCDCNujhthLVsZxsN6YC4ygPS7QI+Nu+Wkcfa92mBCNLj80rpJ1yQcw9weShk7beUV4LvWoAFO6s/6k43rXlILpxoFVoii36NnGvW7NZ5cGkL4xGNBhT3i2wwQIt4eKIHOCiwnwiICBmWytojdHBx6X9TL8eVq+UGRs9mNHoCINiwmUvBQYJAnaPk4qTpMkdw4HKFwSB8UkBQkH6gSHJ7+dsq0FFNIH+DhiqJfatzryPQnmD4UzgtO02sTfn0Nx+dNvIhEYHGlmY4gkFx7OMsDfdguRaCrTRYbr6Z58nzXcJ0mklMpwwrFt+Juxw1xY8BxyNUKwkWdBn2niScHr+4rF6COIDwU11TVE3iOyL8hedI7e12bJYmBjEzOW5WPoYCm/WJbEZ0/7Old/Ic4T46y9/jkXNkVikJQuezwh0cOPsdBRu28kTEINy8be1yZeyrYWUlWesmH1SoJjtDiaRlCGVXsDIvDyOTFQC1TKy3Jzl/hQ5lFb47+wrkH6pQC3X9Xi2HEcDs/ZecWwpCWHn9Jkb7lF9bCKGrCJu4yP7tShzxc3yQ9YjI0rKSAdFwokr8if18TizAZSon/xjsnYBEE0NfkvU2e2SC/mCEIIePlG6VcQrvE82YfE77GO4KbQJiVBUVHy8hvT/BQGVhKH88DbmV8Xibj811hVIsuOKvHU+ssYCbGr4Tz8wLvCchBg5G8Xt95CK5lvK1XDm8J+9NHp75OIPuWxIBpRyr6A3sYnVcDtSpzB/gcT0Kg136SZkjbUTu0xoyP+9F4eQcEebjk/eJLfl8tWw+G6h3QYgCUcJ7VWbzjqk/mWZyXzgaITo2nyxVqFP2ORmHEIriMbdh0KTbtN0Hb0uYLNluRVFbFy5dOIO1piT8kMG1MZ93X71LyMk6Qzug83JUQLWIRsjfEhBhCIS6ZwkSGtW25TYWvTrwGDJwDqzEDnuRU4/3ZerzixtyIv+MKf8lKBZRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WUu2mS6LnLNhk3NyR8mTu5",
      "input": {
        "note": "Cap end now just at the bottom of the wrist view between the jaws; pressing down slightly and closing.",
        "targets": {
          "left_gripper": 0.0,
          "left_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WUu2mS6LnLNhk3NyR8mTu5",
      "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]: [-0.3386, 2.4302, 0.778, 1.5852, -0.0006, 0.0078, 0.0113, -0.02, 0.8204, 0.6132, -0.4133, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4788 left_y=-0.1647 left_z=0.0191 left_yaw=-0.3562 left_pitch=0.5039 left_roll=0.0243 left_gripper=0.0113 right_x=0.293 right_y=0.0023 right_z=0.1702 right_yaw=-0.0003 right_pitch=-0.0625 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -5.1077, 1.3197, 1.7314, 0.0562, -0.0708, 0.7448, -0.3624, -1.5111, 7.0496, 1.707, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:177315ba86024522a90b19b097a5b2ef1c577deebf24264889c678266e3e462b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52b27f66534ac857fcbbd843c93b41034e7bc7a5a6282ca342fddeefcc8c90a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9df29ea099a29839adac488aa5f0a7e2c1b2f7ff9cb0b6038ed46cfa432f414b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 5.229 s

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

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3618, 1.9171, 0.6216, 0.6884, -0.0185, 0.0082, 0.9977, -0.02, 0.8162, 0.6132, -0.4137, -0.0269, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4108 left_y=-0.1482 left_z=0.0003 left_yaw=-0.3624 left_pitch=-0.0363 left_roll=0.0257 left_gripper=0.9977 right_x=0.2927 right_y=0.0025 right_z=0.1712 right_yaw=0.0004 right_pitch=-0.0587 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [0.5128, -6.8308, 4.7932, 1.0183, 0.2369, 0.1099, 0.1001, -0.0889, -1.7573, 7.2137, 1.6679, -0.0464, -0.0659, -0.0122]",
      "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]: [-0.3389, 2.3581, 0.7166, 1.4872, 0.0078, 0.0086, 0.9977, -0.02, 0.8185, 0.6132, -0.4133, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4663 left_y=-0.1621 left_z=0.012 left_yaw=-0.364 left_pitch=0.4166 left_roll=0.022 left_gripper=0.9977 right_x=0.2929 right_y=0.0024 right_z=0.1707 right_yaw=0.0001 right_pitch=-0.0606 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [0.4718, -6.9128, 3.1385, 0.8083, 0.2418, 0.0708, -0.0024, -0.3487, -1.5521, 7.2137, 1.7314, -0.0415, -0.0366, -0.0122]",
      "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]: [-0.3386, 2.4302, 0.778, 1.5852, -0.0006, 0.0078, 0.0113, -0.02, 0.8204, 0.6132, -0.4133, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4788 left_y=-0.1647 left_z=0.0191 left_yaw=-0.3562 left_pitch=0.5039 left_roll=0.0243 left_gripper=0.0113 right_x=0.293 right_y=0.0023 right_z=0.1702 right_yaw=-0.0003 right_pitch=-0.0625 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -5.1077, 1.3197, 1.7314, 0.0562, -0.0708, 0.7448, -0.3624, -1.5111, 7.0496, 1.707, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:177315ba86024522a90b19b097a5b2ef1c577deebf24264889c678266e3e462b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52b27f66534ac857fcbbd843c93b41034e7bc7a5a6282ca342fddeefcc8c90a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9df29ea099a29839adac488aa5f0a7e2c1b2f7ff9cb0b6038ed46cfa432f414b",
        "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_01E6Jr5oAdRW5CZgxMbaERzh",
      "input": {
        "note": "Second empty close — the forward-pitched pose rides up to z ≈ 0.02, above the thin cap's midline. Opening and backing up a little to re-see the cap.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.15,
          "left_x": 0.43,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01E6Jr5oAdRW5CZgxMbaERzh",
      "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]: [-0.3874, 1.9182, 0.6308, 0.91, -0.0483, -0.0074, 0.9959, -0.02, 0.8242, 0.6132, -0.4133, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4355 left_y=-0.1646 left_z=0.0511 left_yaw=-0.3539 left_pitch=0.1938 left_roll=0.0222 left_gripper=0.9959 right_x=0.2932 right_y=0.0024 right_z=0.1691 right_yaw=0.0001 right_pitch=-0.0664 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.759, -9.9214, 5.012, 1.873, -0.0904, 0.0464, -0.105, -0.3624, -1.5111, 7.0496, 1.7118, -0.022, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1df40e6514cc459e8b0f7500e3ffe5954e890d8d5635be74284bc3a7a50750b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4169c5f3d3447a3ec5ea616be20b51b87fb7edd5d6da74dd8363d8951b9ef5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:336789257632b6db4c282866769d868f52bb3b45dac9e384f3cf0bb744f8f669",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 3.793 s

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

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3389, 2.3581, 0.7166, 1.4872, 0.0078, 0.0086, 0.9977, -0.02, 0.8185, 0.6132, -0.4133, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4663 left_y=-0.1621 left_z=0.012 left_yaw=-0.364 left_pitch=0.4166 left_roll=0.022 left_gripper=0.9977 right_x=0.2929 right_y=0.0024 right_z=0.1707 right_yaw=0.0001 right_pitch=-0.0606 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [0.4718, -6.9128, 3.1385, 0.8083, 0.2418, 0.0708, -0.0024, -0.3487, -1.5521, 7.2137, 1.7314, -0.0415, -0.0366, -0.0122]",
      "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]: [-0.3386, 2.4302, 0.778, 1.5852, -0.0006, 0.0078, 0.0113, -0.02, 0.8204, 0.6132, -0.4133, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4788 left_y=-0.1647 left_z=0.0191 left_yaw=-0.3562 left_pitch=0.5039 left_roll=0.0243 left_gripper=0.0113 right_x=0.293 right_y=0.0023 right_z=0.1702 right_yaw=-0.0003 right_pitch=-0.0625 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -5.1077, 1.3197, 1.7314, 0.0562, -0.0708, 0.7448, -0.3624, -1.5111, 7.0496, 1.707, -0.0317, -0.0269, -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 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]: [-0.3874, 1.9182, 0.6308, 0.91, -0.0483, -0.0074, 0.9959, -0.02, 0.8242, 0.6132, -0.4133, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4355 left_y=-0.1646 left_z=0.0511 left_yaw=-0.3539 left_pitch=0.1938 left_roll=0.0222 left_gripper=0.9959 right_x=0.2932 right_y=0.0024 right_z=0.1691 right_yaw=0.0001 right_pitch=-0.0664 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.759, -9.9214, 5.012, 1.873, -0.0904, 0.0464, -0.105, -0.3624, -1.5111, 7.0496, 1.7118, -0.022, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1df40e6514cc459e8b0f7500e3ffe5954e890d8d5635be74284bc3a7a50750b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4169c5f3d3447a3ec5ea616be20b51b87fb7edd5d6da74dd8363d8951b9ef5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:336789257632b6db4c282866769d868f52bb3b45dac9e384f3cf0bb744f8f669",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSvQgKEAgSGAI4AUIIdGhpbmtpbmcSDIdcZnc1dweM4odH4xoM1rqmE6DgZBgmVK8gIjCzaaEdFeGSrHaRSosYgrQuONUxHlRlRngvMR7uhPNA70Hoao7gCEb0hL3kyBeuV84q2ge8lOBVX1D5vu63Xc/vFfYmuhn5iotr1p0HpFJEzo+gt9/NaAJ2CBGuHLZEI8eSVjkhYCrf+g9oix/mVdTZcNuqxy+Xmp2ubgOMxwK/+3GP+uGDPFmUK6CxwXbotmjfnLcSGUBnoIzHsvokU1zn3Bl5f6ST7Yvp9IDoIvxtO5SfG8Y2BOwy2Yitg+yqjrWg1psC8bJ1M0fh8MAYpKqRlIPI8qqaXTtzBUbrg7RsYurIli90D6KPVUUnhebjSSDbWPXbViebsOltukmHppKre1GsXbSIxDdHwDy8IM4xGVBk18XltwTIweDqG1GEelSwJwDGqtBtX8PqmA9JxJR8qy1ATUDa/9+drGkO/Q6zFR/lc2QfXYEw08putkeSDP9YIa7AkeEo5RjEdflUC4KpCPqbFfucvXsy603+uTXKtMPSImHAt8wy+J2gggx7TkE99oC5X+CGBKQrw2FGmCv6uFrtisi+ZmT8tIAEoOcTpU774KsxZGLro9F8m5ST46ApZo1slpsO+zKxUaC75fvHmdID9fVaMeTllwiS9WFUZQNTnRz3Cbo/m1YO8g+BIYYsb5XN/+EzHuyTyRfCdQmZ/gUFBAhZHhaiG/UwvX2Juk5CKaKU3dWQWsc3F6rT4Zc3lDQlIQ9Ao3UWGIamqHk8A4IY1SYMoJMxDiL/CroQCLZ86ku8+x1UvO1Sg+E77s+uli0yUlSbOUmEGU0QrgsumbrD7q1Ab75xPKEz1jnBekbA6gnPlGf42MI1ScnyxVBpt4rtDrZOyQrcvHRefZwFHKLq7yy0s1Y4rKwi0VLqZ5uAKkcQQkd7dPFN4F0G2sGavJdV7nVfTRu9YvYFMqwMQuZE4BiOvWvzdS0KLuEXrdg2t0/A1LzPveS+JnRwb4UdIlw4gLn+hcaNKJFwadif1ukWRyD87bQlkFWLR+oZ0LF+eVNf4aNuO9WHxZdFhbs3/dmq4or93xXGR6z5slJxNhQIacT9Xo6Nb4UKV2Z42qw9VX1F+NMSp1HA3kMXZ5xcLssf5LQ06Opuoyq68Nih0P35xCnpHRrzLbNma1m7AgBY3IncMBpBItwG4lg6AD5rmPvjvKa/wr5rqaHt6sKmECyL1LKASRwXPMzH58hhyV3nEwwk9yThJvoZEzfIrflCRC3IyLbQWw+KzMDajLzigk3Qfw5GAshQ9RGwHzt5jZjqdwsg0MK+1rvNOKK3YdslmE6kAcy65fxrGqe3xaDuIqdTcfEfdRuIkzbK8WiF5rDaMNiUS/v9y65iVvtn+GC6hOdwlE+mdMDGBVj7+rjReOY8yRRl1vVwprtpuxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017X1733kFNkAVbQqbTRL1AD",
      "input": {
        "note": "Cap now sits right at the bottom of the wrist view between the jaws, aligned with the tool. Descending straight down to the table floor with a slight leftward correction.",
        "targets": {
          "left_pitch": 0.19,
          "left_x": 0.437,
          "left_y": -0.162,
          "left_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_017X1733kFNkAVbQqbTRL1AD",
      "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]: [-0.384, 2.1956, 0.6392, 1.2156, -0.0486, -0.0025, 0.9963, -0.02, 0.828, 0.6132, -0.4133, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4408 left_y=-0.165 left_z=-0.0002 left_yaw=-0.3526 left_pitch=0.2304 left_roll=0.0259 left_gripper=0.9963 right_x=0.2934 right_y=0.0023 right_z=0.1681 right_yaw=-0.0003 right_pitch=-0.0702 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.4444, -7.0085, 3.1932, 0.652, 0.0464, -0.0611, 0.0317, -0.2803, -1.6889, 7.0906, 1.6923, -0.0317, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8661d1fb86c354d0df65470b3fc624d104200a6ce74cec51cd92172c59c8252f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa63ba9682eba0b25b0630f3f470fbbd758956441e1012876e966cb4af02d82a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:94f5403d8118c3e176095eb7cb4681ab38fc5c40b3566f9416d5aaa1ab8baefd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 4.387 s

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

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3386, 2.4302, 0.778, 1.5852, -0.0006, 0.0078, 0.0113, -0.02, 0.8204, 0.6132, -0.4133, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4788 left_y=-0.1647 left_z=0.0191 left_yaw=-0.3562 left_pitch=0.5039 left_roll=0.0243 left_gripper=0.0113 right_x=0.293 right_y=0.0023 right_z=0.1702 right_yaw=-0.0003 right_pitch=-0.0625 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -5.1077, 1.3197, 1.7314, 0.0562, -0.0708, 0.7448, -0.3624, -1.5111, 7.0496, 1.707, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3874, 1.9182, 0.6308, 0.91, -0.0483, -0.0074, 0.9959, -0.02, 0.8242, 0.6132, -0.4133, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4355 left_y=-0.1646 left_z=0.0511 left_yaw=-0.3539 left_pitch=0.1938 left_roll=0.0222 left_gripper=0.9959 right_x=0.2932 right_y=0.0024 right_z=0.1691 right_yaw=0.0001 right_pitch=-0.0664 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.759, -9.9214, 5.012, 1.873, -0.0904, 0.0464, -0.105, -0.3624, -1.5111, 7.0496, 1.7118, -0.022, -0.0415, -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 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]: [-0.384, 2.1956, 0.6392, 1.2156, -0.0486, -0.0025, 0.9963, -0.02, 0.828, 0.6132, -0.4133, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4408 left_y=-0.165 left_z=-0.0002 left_yaw=-0.3526 left_pitch=0.2304 left_roll=0.0259 left_gripper=0.9963 right_x=0.2934 right_y=0.0023 right_z=0.1681 right_yaw=-0.0003 right_pitch=-0.0702 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.4444, -7.0085, 3.1932, 0.652, 0.0464, -0.0611, 0.0317, -0.2803, -1.6889, 7.0906, 1.6923, -0.0317, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8661d1fb86c354d0df65470b3fc624d104200a6ce74cec51cd92172c59c8252f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa63ba9682eba0b25b0630f3f470fbbd758956441e1012876e966cb4af02d82a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94f5403d8118c3e176095eb7cb4681ab38fc5c40b3566f9416d5aaa1ab8baefd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS9wYKEAgSGAI4AUIIdGhpbmtpbmcSDGXgOFrv9QG9Q5TVUhoMfSBwxAAz80U8xzcrIjBe2AkjiKVti3i+vBJY6OZQaSmK+qYyeOjauulHNNryqzZ2R6S9biZBoCuQhUSKdggqlAawCQnFKQtccQYuKAMAc9Yf45lFKXOSmpod+NNkDno5sov0bcXsLn0q4Qxb3CQnqeZDc8SLaWuVROWdHeRRiRKwfW4hQt1nTqVhlKo+n5ynI71+q3FuD+o8qZ6VgUBPmY54csQoa93MUSczLRfbyMcMm5k0dFYe7vRhXnfW7nCinywStsUDkTrtYB0YAoXHvxOl4wqkEYWR+Zz2bGmG70uEw+z19xN8e+WfgJXJISaMcQqQUwGIMZGbVjQMoI/A2qPqnAH9faxVYG5ByTtD9ns1b/mgZVqnHJmX/3XrVCBi4KP+AYWJkH/tHEnRnblk8p4/xGtiFg7l1666uqEZHBgbY6uVxXlPqtkUfMQMsHqAiNQE5SQkhhHezvL/wT9mfdZkWJzlU7QlpghC1Ky9PfmNMJMX3f0V8J0koTLub3MQfGYQ0XSISGHAds6KGrQJwZZBx6ARgDjyq1X3u0GE1dtNSYhxvA+R9XmhKjvQK06BkEOGBIdJ7nwcahP0eEKSWtaiBPC2VbOmE+IpmeJv3FBl5Sd8kI98npZLbqIAQ4GNi8fwhycZa1NajxU1JnGjzkHIPksyfmean5cLnKd0BGKBIjA6j6bs7LU1RWuXvpIqjp7/EQRgBLQ07wMAiWqXsiQPoeATv6IvLpfzJRHDjgWvvhMZ/0oBx5YwLzyUhzK+Q90Ij3t2B6vTnMZwcfCr3LsVXnApKxEpNNC4lnWNmiM9GeHzgiAVGhRKneNiHxUzdWKSFjiHhu/4z3lZEcuoKK3ZUk8BcaaFf9ERaXeCzTVse7Y1/tbbiShypWoi1ULQoyMn8/FrdL0QRC3qDC5sbOmrOw+309ZB0q9NC4Zabv3MW/YVLEkfD4JeXOaqDQ1Lzn77oBZtHa90cHvu4ChijmvaUecVcgZi47xMmGK2CAdc7NuNhHFMFBuyvvm7JJI+mIRMKLrlT8vxBd3pG+MpwCUChaSVg3+DTVxT9Z24R5xhOH3afPSCTuXrgWqOOdIVU60WqKfnf/qJZ3960GDmTwQ4T2bijkBa9QMdOFm9J95dQ26m/BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014nJ2hUGU2uaaGzkqNQpETw",
      "input": {
        "note": "At z 0 with the cap centred between the jaws and reaching the bottom edge of the wrist view; closing.",
        "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_014nJ2hUGU2uaaGzkqNQpETw",
      "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]: [-0.382, 2.2089, 0.6422, 1.2503, -0.0532, -0.0006, 0.0511, -0.02, 0.8288, 0.6132, -0.4129, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4435 left_y=-0.1642 left_z=0.0028 left_yaw=-0.3476 left_pitch=0.2548 left_roll=0.0284 left_gripper=0.0511 right_x=0.2935 right_y=0.0023 right_z=0.1679 right_yaw=-0.0003 right_pitch=-0.0706 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -10.3316, 2.8239, 1.5263, 0.0952, -0.0269, 1.2772, -0.3761, -1.4838, 7.0359, 1.6972, -0.0122, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb6ade0214a7fb2732876fde90164dbaccc6317c98d1eddaf75cff1d7c20240e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74d5e5318352dbaa7b56d94e175830cff0105d530ac6ab39c2f444583a14e733",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:325250508293f8510e5ec60b879a03682585f7656e5555572e251c62a2d3b651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 13.9 s

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

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3874, 1.9182, 0.6308, 0.91, -0.0483, -0.0074, 0.9959, -0.02, 0.8242, 0.6132, -0.4133, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4355 left_y=-0.1646 left_z=0.0511 left_yaw=-0.3539 left_pitch=0.1938 left_roll=0.0222 left_gripper=0.9959 right_x=0.2932 right_y=0.0024 right_z=0.1691 right_yaw=0.0001 right_pitch=-0.0664 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.759, -9.9214, 5.012, 1.873, -0.0904, 0.0464, -0.105, -0.3624, -1.5111, 7.0496, 1.7118, -0.022, -0.0415, -0.0171]\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]: [-0.384, 2.1956, 0.6392, 1.2156, -0.0486, -0.0025, 0.9963, -0.02, 0.828, 0.6132, -0.4133, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4408 left_y=-0.165 left_z=-0.0002 left_yaw=-0.3526 left_pitch=0.2304 left_roll=0.0259 left_gripper=0.9963 right_x=0.2934 right_y=0.0023 right_z=0.1681 right_yaw=-0.0003 right_pitch=-0.0702 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.4444, -7.0085, 3.1932, 0.652, 0.0464, -0.0611, 0.0317, -0.2803, -1.6889, 7.0906, 1.6923, -0.0317, -0.0611, -0.0122]",
      "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]: [-0.382, 2.2089, 0.6422, 1.2503, -0.0532, -0.0006, 0.0511, -0.02, 0.8288, 0.6132, -0.4129, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4435 left_y=-0.1642 left_z=0.0028 left_yaw=-0.3476 left_pitch=0.2548 left_roll=0.0284 left_gripper=0.0511 right_x=0.2935 right_y=0.0023 right_z=0.1679 right_yaw=-0.0003 right_pitch=-0.0706 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -10.3316, 2.8239, 1.5263, 0.0952, -0.0269, 1.2772, -0.3761, -1.4838, 7.0359, 1.6972, -0.0122, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb6ade0214a7fb2732876fde90164dbaccc6317c98d1eddaf75cff1d7c20240e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74d5e5318352dbaa7b56d94e175830cff0105d530ac6ab39c2f444583a14e733",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:325250508293f8510e5ec60b879a03682585f7656e5555572e251c62a2d3b651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS1QcKEAgSGAI4AUIIdGhpbmtpbmcSDKz4ohN2uKnzRRxz7xoM5+Os0Ajtm9a+wSzfIjDOtFEUfxn1RgzGlWc8v0IkoAF6+DcI+4A9GABIWFBLFufqUiTauwkePsaC04NvQyQq8gb+wv4qFc0bRcWvWA8g/2yq+EwXPsNkuReIGCp5AVnHOBFR46JNIa7Z6GG3k7qAU7q/+gpnogQDQecRuebUItvZ/f40GHGrmRI2YyefApp5LtaiEie5tUJou8pK5Iauv/BZCKgYwgZS77WDZ0K1HGmzPyFAEmLsVJEdNsvOOK7D07pK4iHE/nxM4CBOgu0YNc4sjDMRGVNPdTYm5rmjgPPE4L7ojw/9eOVFp/IdqA07artjEoMzDy1rg5RatU2JoxUCUxGWVXpypRADhAj+8NRScn7M2xUWOXh7o3EZabQbtkEzXOo6qbBM8FsasgSxhkFs2sEF8JCC+OjUTuY2eV/YJGW3nmCe6f/QDGsUB/IssB/3qiYxcsZ9RfYJkpdKLbWdgBw8NUVALlhz7WKyE6+zK/pG/IS/54SNzzM0wICX6HQ5/+kJERdcUGPBMQckm9MupScf2M8W465yVrDz71R2rASF0M7a6Zpgy7x/Ih3V9PHnqbg6mJUqtoVOsrPfHPEQLCPcgoSIiexFyr7qaa2moKE5iaMkWEUGGic18euLKcSyaX81pXe0bTXG7g+R+xQIP7S8fW+i1AvfFsoRPjRiNzqROhiksZ0D0qiGPvI8IA0E7CDlwwtb2RnbcSfE3Um6E6C/LbKMKc+eOzstcCsY1LO4D3IS3dqD2fCG88uPrvrvoru9lQ0I28kSPsCLcM+TL1XJv5QUPn/dVHnMBymUHrE7zmLUTiFYhDC+3IZlcyoKLNxvDxwj99C/54k+xRB8/3nn3jvRfpr7y7JchcYESDiQpPJygfhrICK1bIA5LHFWzDnV5dsYOS47LHAbsDGc83eGBzzPdrnOrwjkHh7MoTZm/LxkHYfdbg5zcf0G9FD5SlFS266EHTBM9Lq9le3JlfK3QhCdKWAi6Gadx62pr2DHy6Konhf9beUiqQLyDljH+x9a3AkJJvaIuqN0D12Ji0+jFWK2VnIwPGJ4yrGIvZLXIjOx2CPVradf8jdhOaZZh+X+zZWDnCZE8C+4UA8mcSL/U0Nz8PfMvjtlYG+1cNuv25Jnmk5i7gj6S4/WnFUY015s1Nv/wcb22vgrf4cg0rvTusCzqxish2YBparRkmuXs0mZShGkyjzlyh9uW2pj87RKrCt1PgUfFpYflwrO4WofVwn7Z+IGZDnsMEnuyp0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018CH4YgmE5zpjRXjygZZy4m",
      "input": {
        "note": "Gripper settled at 0.051, suggesting the cap is held. Lifting to confirm it comes up with the jaws.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.38,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018CH4YgmE5zpjRXjygZZy4m",
      "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]: [-0.4622, 1.4193, 0.7334, 0.1604, -0.1093, -0.0525, 0.0595, -0.02, 0.8333, 0.6132, -0.4137, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3865 left_y=-0.167 left_z=0.1412 left_yaw=-0.3535 left_pitch=0.0489 left_roll=0.0187 left_gripper=0.0595 right_x=0.2937 right_y=0.0024 right_z=0.1665 right_yaw=0.0001 right_pitch=-0.0759 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -7.0632, 9.3197, 1.8486, -0.1978, -0.0659, 1.0281, -0.3624, -1.4564, 7.0359, 1.6923, -0.0464, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aaa444ba5a6272dee07a3a6fd81cc5aa74d1311ab80a9d5cf9d7d3e2b5a53695",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e48555f47fbe5798cae85c962a79cea65f3fb58a4bae310604c305343fbedbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8804c3e209849c384c7cd9ddcfab7e99a5fa7dded67100d37c7c96d3274e6710",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 8.877 s

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

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.384, 2.1956, 0.6392, 1.2156, -0.0486, -0.0025, 0.9963, -0.02, 0.828, 0.6132, -0.4133, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4408 left_y=-0.165 left_z=-0.0002 left_yaw=-0.3526 left_pitch=0.2304 left_roll=0.0259 left_gripper=0.9963 right_x=0.2934 right_y=0.0023 right_z=0.1681 right_yaw=-0.0003 right_pitch=-0.0702 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.4444, -7.0085, 3.1932, 0.652, 0.0464, -0.0611, 0.0317, -0.2803, -1.6889, 7.0906, 1.6923, -0.0317, -0.0611, -0.0122]",
      "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]: [-0.382, 2.2089, 0.6422, 1.2503, -0.0532, -0.0006, 0.0511, -0.02, 0.8288, 0.6132, -0.4129, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4435 left_y=-0.1642 left_z=0.0028 left_yaw=-0.3476 left_pitch=0.2548 left_roll=0.0284 left_gripper=0.0511 right_x=0.2935 right_y=0.0023 right_z=0.1679 right_yaw=-0.0003 right_pitch=-0.0706 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -10.3316, 2.8239, 1.5263, 0.0952, -0.0269, 1.2772, -0.3761, -1.4838, 7.0359, 1.6972, -0.0122, -0.0806, -0.0171]",
      "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]: [-0.4622, 1.4193, 0.7334, 0.1604, -0.1093, -0.0525, 0.0595, -0.02, 0.8333, 0.6132, -0.4137, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3865 left_y=-0.167 left_z=0.1412 left_yaw=-0.3535 left_pitch=0.0489 left_roll=0.0187 left_gripper=0.0595 right_x=0.2937 right_y=0.0024 right_z=0.1665 right_yaw=0.0001 right_pitch=-0.0759 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -7.0632, 9.3197, 1.8486, -0.1978, -0.0659, 1.0281, -0.3624, -1.4564, 7.0359, 1.6923, -0.0464, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aaa444ba5a6272dee07a3a6fd81cc5aa74d1311ab80a9d5cf9d7d3e2b5a53695",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e48555f47fbe5798cae85c962a79cea65f3fb58a4bae310604c305343fbedbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8804c3e209849c384c7cd9ddcfab7e99a5fa7dded67100d37c7c96d3274e6710",
        "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_01Jo7Pw1LVMrik9xZe6aqCFn",
      "input": {
        "note": "Cap is held by the left arm (it's gone from the table, gripper reads 0.06). Moving the right arm above the pen, which lies diagonally just right of centre, yawing so the jaws close across it.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.25,
          "right_yaw": 0.75,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01Jo7Pw1LVMrik9xZe6aqCFn",
      "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]: [-0.4644, 1.4223, 0.73, 0.1448, -0.1204, -0.0551, 0.0595, 0.4282, 1.7264, 1.0363, -0.0166, -0.2379, -0.1967, 0.9992]\nstate[eef_state]: left_x=0.3844 left_y=-0.1649 left_z=0.1353 left_yaw=-0.3452 left_pitch=0.0276 left_roll=0.0246 left_gripper=0.0595 right_x=0.4106 right_y=0.2371 right_z=0.1063 right_yaw=0.7151 right_pitch=-0.1254 right_roll=0.0132 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -6.147, 6.8991, 1.8291, 0.0757, -0.0024, 1.0281, 0.8, -8.1846, 8.5128, 1.8584, -0.0708, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c148ceb2e8491fecdaed6859c512c169022a379a27889f4ca4cc6c29c4183432",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac747b471fdedd30e99548b357061f5923e8830085fe168b49720ba2a619e70a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eaffe903856968635747e0e8a0123db7cde63239aac8279193aaeac1f80cdab5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 5.11 s

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

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.382, 2.2089, 0.6422, 1.2503, -0.0532, -0.0006, 0.0511, -0.02, 0.8288, 0.6132, -0.4129, -0.0261, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4435 left_y=-0.1642 left_z=0.0028 left_yaw=-0.3476 left_pitch=0.2548 left_roll=0.0284 left_gripper=0.0511 right_x=0.2935 right_y=0.0023 right_z=0.1679 right_yaw=-0.0003 right_pitch=-0.0706 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -10.3316, 2.8239, 1.5263, 0.0952, -0.0269, 1.2772, -0.3761, -1.4838, 7.0359, 1.6972, -0.0122, -0.0806, -0.0171]",
      "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]: [-0.4622, 1.4193, 0.7334, 0.1604, -0.1093, -0.0525, 0.0595, -0.02, 0.8333, 0.6132, -0.4137, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3865 left_y=-0.167 left_z=0.1412 left_yaw=-0.3535 left_pitch=0.0489 left_roll=0.0187 left_gripper=0.0595 right_x=0.2937 right_y=0.0024 right_z=0.1665 right_yaw=0.0001 right_pitch=-0.0759 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -7.0632, 9.3197, 1.8486, -0.1978, -0.0659, 1.0281, -0.3624, -1.4564, 7.0359, 1.6923, -0.0464, -0.0513, -0.0171]",
      "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]: [-0.4644, 1.4223, 0.73, 0.1448, -0.1204, -0.0551, 0.0595, 0.4282, 1.7264, 1.0363, -0.0166, -0.2379, -0.1967, 0.9992]\nstate[eef_state]: left_x=0.3844 left_y=-0.1649 left_z=0.1353 left_yaw=-0.3452 left_pitch=0.0276 left_roll=0.0246 left_gripper=0.0595 right_x=0.4106 right_y=0.2371 right_z=0.1063 right_yaw=0.7151 right_pitch=-0.1254 right_roll=0.0132 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -6.147, 6.8991, 1.8291, 0.0757, -0.0024, 1.0281, 0.8, -8.1846, 8.5128, 1.8584, -0.0708, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c148ceb2e8491fecdaed6859c512c169022a379a27889f4ca4cc6c29c4183432",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac747b471fdedd30e99548b357061f5923e8830085fe168b49720ba2a619e70a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eaffe903856968635747e0e8a0123db7cde63239aac8279193aaeac1f80cdab5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSgw0KEAgSGAI4AUIIdGhpbmtpbmcSDPOKm6mNbCFjxEC8pxoMj3wuhJyhofPJj9GUIjC6j3Pk3Tw/cGo7A27iHSPUayD5VHME+E4E0NK8HsT/jsT4zbvHaXcP5lZ8chg4joIqoAwKb0UUGv1RDfux3IjpxS7nFGR4umGgLwnVpniTXBu350i87Vf/uufsmEODKSOpdo4w3atlKMdJ8tcT/bQQjElljbNKMorea2o1KhMi6rprqB4TqhYfNDcloHRhXxUPNip3ywS4cdlfVzVHlmhgU0I/v8crCNbTHcvndmabbTuVuMYyM+ovEMONB307rsBQNVW3hN27whVbuj5fN4pH7pWyQTMpdzBluwjHOEecd2vDeCfKtL0ZOTavs9hFiUAWi8dWn/hI95DXHwTthR/nEkkHfAzYmg1mp+61zpjsjb+JVeeES6jlKl0VjF4kmlCoz6rTi67lnAbd0mdzQP1vq5Ubsq2QAJ/gEnpgSU5NakCX2SVNuxyB+D+vBip0Xf8+4YlK1152mfWyfjxcOhy2pnK3PJ7FLvgFP7N3rxC/buXzLkpoWc05ebMbAwsaAZC6zpKTiPzXObyFSd2GrTNzIN2LG8FSmSAuKxeYZJNcQrStBRUi5qEI6UjrmljAd1MvnVuMjBuazODah5koYQJqBb7kwidBqnlIUWeRigmHnpvKrY8FBCpsiPoliz3sR1u7n50Nd5/Zu3vOsENO5B/Mbd1+q7re1k2BKKj0U08COSr6KwrLfRMd+i6/SWEZ6rsWRmwQEwC/6zFJEh6/btDuUT0810YOyU3aRpd68e5yqnV5QiQ5VFblRP91DayAHO4FshRV7o6MpTCId1NGgbktTKJ+3UTQfl61uGQzY0/Z3FFVyeTIV4c/d/k5oo/PdMi0Bm63kLX7/1JicQ45kxjcfgEeTr31xH66+E60b4pSSh4WME7KDF1pLR7eflxV0qNlnNyYaTt2AgmCRCNQOFOVqBk71ikrDto8kMFh9Rop1qTPLGI7LuNk9JcN0Ak06P7nNe50/Lq+KOWYKdZBRSRtc9lmB8rW/DV+2eEwwmTOoRWxdYpm7NeXIDrOp+uDihpkipkqfCXIOn+rcOtV8iWYz9yMhQ/O512u2LlpvyjCTJMTdc1xpaP9zdQdoq9xirgHDFHU0aN2FN/g72fJmfx9F//aUJyb9IB2roRbslrACNfeBuac5+OiuiaVH2KkWgsMS+jbSXlBNuTmhjVLELi9joHyP6BYcPsO93Ny+b0kI0sClVUSzWQ3tQfXKYcePANsrsvoDWtDtjjsrN0L/y7+6lobMiomGfN2alQRXNS4f+rZcEnPwdAC51zAcP8FytHWvG1TntGJWRe2vvOsZPfDbYY+nxZlLOFrQM5Vd5oMvO1UXURQ1q4hmjl2pqFi13GHny3Y6Dt9YovwRKGs8Wxt1FR22f1Q5vO6TzFiAcPN96xuus9PVpMyGSkE2ATBN3lGLSbScXmCHWiZzP1jduh/BjQMNr/sUv3Sb2XdZLLVY0ueXZ9TLR4M2eM31b4AVnIE6iBFWARHVxXrXVIrfNHD5T3IEI3KD+o0r1p5Qw6yCIEpzqliDRigXIfb5wzzjMIMthp+B4h5y9b93rgqN3DqBzfwZo6JAAow3pc67H2JTVs0aS58j2GBEFNcFcb+peMPu3zO8N7S2wFt2GAnGASaeeiT5xg86znjL7X+WgoqFwO0a++zfI/UYOCpu9qjo2LGLKdbF9U35vs5RcniDfKFUuPb0E+5mGgGIgZOV/rQqxdxjKg4skbetL+0CgL0Rab2ZP+jHV3m4BRIYV12AHs6w3SWeIAwF1Q0id17tLRQKlWWkU9AnWkYnCUtBsfWEvXzcNSSUQmi4mCOUcei09GzVyeV/BGjhuiI7JCwnPnkm/VbdYnV1nBX0qxOKyUAAwVFUjBwRValsOspR/5NaH1UTCDE+9maF2BwdySNvBsakZmD1/tnKYKOL3AXR0yrZprvfZY9u38FxvxhsieTpigXfnXoEMIcIN6MmDakqC9b4PBHCJvSEVtaXt8P251b9qs3mX+UwUspcdnVwm8XOeLZ8yun+347uD4zCpvtU5bjTyW1hGnRl7w2vl79Qj48ws/J/kG3ysISTgmSwW+WgmyTnCihdMG38SW0oexR0UyAog1F7p5FrAbfGpEeL5kYFCWRwwKdFa7JO4VmTCoWrVznx12UODKCFsGKdF3OGsWKaRXqkhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KniHd8uUFit8vtMhYB5RKR",
      "input": {
        "note": "Right wrist view shows the pen aligned with the jaws, tip pointing forward. Backing ~3 cm along the pen so I grab its rear half (leaving the tip free for the cap) and descending to the table.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.39,
          "right_y": 0.213,
          "right_yaw": 0.72,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01KniHd8uUFit8vtMhYB5RKR",
      "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]: [-0.4652, 1.4223, 0.7296, 0.1448, -0.1238, -0.0555, 0.0661, 0.3759, 1.9324, 0.6785, 0.6178, -0.2932, -0.218, 0.9991]\nstate[eef_state]: left_x=0.3844 left_y=-0.1645 left_z=0.1351 left_yaw=-0.3428 left_pitch=0.0274 left_roll=0.026 left_gripper=0.0661 right_x=0.3885 right_y=0.2121 right_z=0.0029 right_yaw=0.7185 right_pitch=-0.0474 right_roll=0.0069 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -5.9282, 6.5983, 1.7167, -0.0855, -0.0757, 1.033, -0.6222, -6.4342, 3.494, 0.9353, -0.315, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da49c304074ac19de96def55be3ead3d429f799a0dff29610fa70d524281b7af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c9ef895fcad1bcfc04578b463740cdaf6f9fb6d71c270cebcbc301c60094f18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:48ba6b5174efd43a01119e8c38979c8d6cc570730aa04141728f51b3c1785edc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 15.3 s

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

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4622, 1.4193, 0.7334, 0.1604, -0.1093, -0.0525, 0.0595, -0.02, 0.8333, 0.6132, -0.4137, -0.0265, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3865 left_y=-0.167 left_z=0.1412 left_yaw=-0.3535 left_pitch=0.0489 left_roll=0.0187 left_gripper=0.0595 right_x=0.2937 right_y=0.0024 right_z=0.1665 right_yaw=0.0001 right_pitch=-0.0759 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -7.0632, 9.3197, 1.8486, -0.1978, -0.0659, 1.0281, -0.3624, -1.4564, 7.0359, 1.6923, -0.0464, -0.0513, -0.0171]",
      "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]: [-0.4644, 1.4223, 0.73, 0.1448, -0.1204, -0.0551, 0.0595, 0.4282, 1.7264, 1.0363, -0.0166, -0.2379, -0.1967, 0.9992]\nstate[eef_state]: left_x=0.3844 left_y=-0.1649 left_z=0.1353 left_yaw=-0.3452 left_pitch=0.0276 left_roll=0.0246 left_gripper=0.0595 right_x=0.4106 right_y=0.2371 right_z=0.1063 right_yaw=0.7151 right_pitch=-0.1254 right_roll=0.0132 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -6.147, 6.8991, 1.8291, 0.0757, -0.0024, 1.0281, 0.8, -8.1846, 8.5128, 1.8584, -0.0708, -0.0806, -0.0171]",
      "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]: [-0.4652, 1.4223, 0.7296, 0.1448, -0.1238, -0.0555, 0.0661, 0.3759, 1.9324, 0.6785, 0.6178, -0.2932, -0.218, 0.9991]\nstate[eef_state]: left_x=0.3844 left_y=-0.1645 left_z=0.1351 left_yaw=-0.3428 left_pitch=0.0274 left_roll=0.026 left_gripper=0.0661 right_x=0.3885 right_y=0.2121 right_z=0.0029 right_yaw=0.7185 right_pitch=-0.0474 right_roll=0.0069 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -5.9282, 6.5983, 1.7167, -0.0855, -0.0757, 1.033, -0.6222, -6.4342, 3.494, 0.9353, -0.315, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da49c304074ac19de96def55be3ead3d429f799a0dff29610fa70d524281b7af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c9ef895fcad1bcfc04578b463740cdaf6f9fb6d71c270cebcbc301c60094f18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48ba6b5174efd43a01119e8c38979c8d6cc570730aa04141728f51b3c1785edc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSzwgKEAgSGAI4AUIIdGhpbmtpbmcSDC6bHykMb89jlneA/xoMAWZSzT4WA0BAw2kTIjCBEN24PA/9vZ5dKuzFgwNcA2BwTP4M00TUD75DUimcfTbuXi/4kpP+XQEBqPXbnAEq7Aes2aMM3dUTBPsG/M/Jra9mCSzJLFzvE+ouwy3lk38KgRRkZ1+hIx+vIuoMbvLzxzKkP0+Yw3KIc4ejWsfNra5qSrXibN5ryNxlNGm/VP0LzZZNTDJOM89HMqNQow9wmVgtcEC4alTyaCTyCiV14QAtKe9oERMFRdctd7nPTXW8d1EaOaSNSEKKVkn+SEHRH9QnyinCtPio775HBTR+bUv/yzz7pkBYnys9a5RI/1W46kH+ttcOLXXxJQliJaESxvVbY3t8E/F/GCLcrQUaceH6PzZ7Ieb013CbnbCpn4DGrx99WQAMgOmy+wHJVc7kp4y2ktoXOBNh6PmOjOUJN+vCz08yKV4fkLoE2Lhx1tnQBXck/gPIUrL/Ftm60huLHkYbzMo7009DQWiWPmju07JmH3OeHR7BBiNgFwjjugwJX7Lj3rDgzMTGvC5tP8lFtUIfeydkN4ejsnrEZrCz4pCrq4dNjFh8lu0j0AzAE5sYsiRtO+F9TY95Yit6Gug+TtuO8Pl7B2nueX7oxgcvabOlssMJDqXxfmUBhn50Pi3BuBTGzWZ8YZOsknSbSvMjlP9VsTTpqFc674QHQ+qN0pzVfcXcQd1/f9JaYolIuuh7N1ZqjDPGMPDaZTcukovZQmw6mEjsN+24k3L3D1iObYnz6YVGCYeFk/VNA+s8cXl0qWh09QJ/swccqb5bjmKqASrJ5ufsd86oX0pzzVPX2nf/R8Alr0U1XVj7M3Gj24t8xmCh+D5y9HTNiEPbGXWyoW84S8+v0Ds4bT8Yi8BVFGC2DfWKmluRFUyN7m9evVZ14okLnolT88jNZrewyVBoJP4zvcQ6KXux0Pvu6Kc642b8w5UJhI43z7wcyC/1XSGfzeboLhJb+H0o71hgr1Ilq28xiJ/a25BW5HGLi7m543DiPP8NYPBAmkiNN2Lg+g4bvWF4uAyc6sITVIZ04TVCTAH/mOyl36iSbZKKlzBhHrB/VeqxT6UyNS8G63aWxu70YDajxzwN0OrU+RPEGhIujMBFbQySfwyTGThCY+fro0nrukBsuKLeXM5P5woQMvX6NOAzY9tpRl9UasWZVMtxdLI15A7ZWunazBg+PaXwhvlnOWj0uHyH4IX/kxwwhh8aFdpJrioxX3eEi3hxrN7fYqmJs1l+eVllLBDUoIcvnzHD7e30rNR2HmvTX9e3WhLKPSQu3zminYHqcIPiJwMAgV4jUGDeqd/lZmlTNIEcy8l9QOkyJ+MjI5dtYZi1P8eW5VYhTTV04Gt+le1Va9F3PikBv7aIf1r/4qLq+mZS6lJJl/JhwG3eNW9kYmE9Y6CIQwRctO80j4axaF8aSRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0179kTGK76BVdcmcDpFUgYik",
      "input": {
        "note": "Pen lies between the open jaws at table level, tip pointing forward; closing on its rear half.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0179kTGK76BVdcmcDpFUgYik",
      "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]: [-0.4652, 1.4223, 0.728, 0.1448, -0.1242, -0.0551, 0.0661, 0.3733, 1.9648, 0.6731, 0.6952, -0.2974, -0.2195, 0.051]\nstate[eef_state]: left_x=0.3841 left_y=-0.1643 left_z=0.1345 left_yaw=-0.3427 left_pitch=0.0259 left_roll=0.0268 left_gripper=0.0661 right_x=0.3936 right_y=0.2136 right_z=0.0027 right_yaw=0.7198 right_pitch=-0.0092 right_roll=-0.0055 right_gripper=0.051\nstate[joint_eff]: [-0.2803, -5.9282, 6.8991, 1.7167, -0.1099, -0.0659, 1.033, 0.0342, -6.3932, 4.6154, 1.5018, -0.0757, -0.0122, 1.4921]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b25bb84307947466646768c258beff85b64aa2641988a6cd89e157d2ab689d78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:146dc266a821c03401657d909325427e065d8e7192e3778ddc82bc8b05ed9f0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:acff41861b8793d21f58695fa26eb4f8f0e4892aae47015c7ac2f7f4ca1b6de5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 9.96 s

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

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4644, 1.4223, 0.73, 0.1448, -0.1204, -0.0551, 0.0595, 0.4282, 1.7264, 1.0363, -0.0166, -0.2379, -0.1967, 0.9992]\nstate[eef_state]: left_x=0.3844 left_y=-0.1649 left_z=0.1353 left_yaw=-0.3452 left_pitch=0.0276 left_roll=0.0246 left_gripper=0.0595 right_x=0.4106 right_y=0.2371 right_z=0.1063 right_yaw=0.7151 right_pitch=-0.1254 right_roll=0.0132 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -6.147, 6.8991, 1.8291, 0.0757, -0.0024, 1.0281, 0.8, -8.1846, 8.5128, 1.8584, -0.0708, -0.0806, -0.0171]",
      "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]: [-0.4652, 1.4223, 0.7296, 0.1448, -0.1238, -0.0555, 0.0661, 0.3759, 1.9324, 0.6785, 0.6178, -0.2932, -0.218, 0.9991]\nstate[eef_state]: left_x=0.3844 left_y=-0.1645 left_z=0.1351 left_yaw=-0.3428 left_pitch=0.0274 left_roll=0.026 left_gripper=0.0661 right_x=0.3885 right_y=0.2121 right_z=0.0029 right_yaw=0.7185 right_pitch=-0.0474 right_roll=0.0069 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -5.9282, 6.5983, 1.7167, -0.0855, -0.0757, 1.033, -0.6222, -6.4342, 3.494, 0.9353, -0.315, 0.1001, -0.0171]",
      "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]: [-0.4652, 1.4223, 0.728, 0.1448, -0.1242, -0.0551, 0.0661, 0.3733, 1.9648, 0.6731, 0.6952, -0.2974, -0.2195, 0.051]\nstate[eef_state]: left_x=0.3841 left_y=-0.1643 left_z=0.1345 left_yaw=-0.3427 left_pitch=0.0259 left_roll=0.0268 left_gripper=0.0661 right_x=0.3936 right_y=0.2136 right_z=0.0027 right_yaw=0.7198 right_pitch=-0.0092 right_roll=-0.0055 right_gripper=0.051\nstate[joint_eff]: [-0.2803, -5.9282, 6.8991, 1.7167, -0.1099, -0.0659, 1.033, 0.0342, -6.3932, 4.6154, 1.5018, -0.0757, -0.0122, 1.4921]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b25bb84307947466646768c258beff85b64aa2641988a6cd89e157d2ab689d78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:146dc266a821c03401657d909325427e065d8e7192e3778ddc82bc8b05ed9f0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acff41861b8793d21f58695fa26eb4f8f0e4892aae47015c7ac2f7f4ca1b6de5",
        "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_015rCBjqHpUsdLKBLyuj5HAz",
      "input": {
        "note": "Pen is grasped (reading 0.051, centred between jaws). Lifting it and yawing so the pen tip points toward the left arm (+y), ready to meet the cap near the table centre.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.2,
          "right_yaw": 1.57,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_015rCBjqHpUsdLKBLyuj5HAz",
      "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]: [-0.4652, 1.4223, 0.7261, 0.1444, -0.1242, -0.0551, 0.0661, 0.1432, 1.8053, 1.5215, -0.8959, -0.939, -1.2156, 0.0583]\nstate[eef_state]: left_x=0.3837 left_y=-0.1641 left_z=0.1336 left_yaw=-0.3427 left_pitch=0.0236 left_roll=0.027 left_gripper=0.0661 right_x=0.3748 right_y=0.2017 right_z=0.1967 right_yaw=1.4834 right_pitch=-0.0212 right_roll=-0.0843 right_gripper=0.0583\nstate[joint_eff]: [-0.2256, -5.9009, 6.7624, 1.6972, -0.0904, -0.0513, 1.0281, -0.841, -7.9111, 6.7897, 0.4713, -0.7057, -0.0806, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e05b57d9dadd8483b56e00842cdd5b193a4c7f6a7d9c704c9d95cf6d4ebe0787",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c665d152a1a99ee350008a24ed2b29ff4f6ccd32fcb580e86bc45fd48c95577",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3600024f00cdb29816ec315cef969ffb048b68a19eb25a35816d0508f3aef452",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 7.625 s

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

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4652, 1.4223, 0.7296, 0.1448, -0.1238, -0.0555, 0.0661, 0.3759, 1.9324, 0.6785, 0.6178, -0.2932, -0.218, 0.9991]\nstate[eef_state]: left_x=0.3844 left_y=-0.1645 left_z=0.1351 left_yaw=-0.3428 left_pitch=0.0274 left_roll=0.026 left_gripper=0.0661 right_x=0.3885 right_y=0.2121 right_z=0.0029 right_yaw=0.7185 right_pitch=-0.0474 right_roll=0.0069 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -5.9282, 6.5983, 1.7167, -0.0855, -0.0757, 1.033, -0.6222, -6.4342, 3.494, 0.9353, -0.315, 0.1001, -0.0171]",
      "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]: [-0.4652, 1.4223, 0.728, 0.1448, -0.1242, -0.0551, 0.0661, 0.3733, 1.9648, 0.6731, 0.6952, -0.2974, -0.2195, 0.051]\nstate[eef_state]: left_x=0.3841 left_y=-0.1643 left_z=0.1345 left_yaw=-0.3427 left_pitch=0.0259 left_roll=0.0268 left_gripper=0.0661 right_x=0.3936 right_y=0.2136 right_z=0.0027 right_yaw=0.7198 right_pitch=-0.0092 right_roll=-0.0055 right_gripper=0.051\nstate[joint_eff]: [-0.2803, -5.9282, 6.8991, 1.7167, -0.1099, -0.0659, 1.033, 0.0342, -6.3932, 4.6154, 1.5018, -0.0757, -0.0122, 1.4921]",
      "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]: [-0.4652, 1.4223, 0.7261, 0.1444, -0.1242, -0.0551, 0.0661, 0.1432, 1.8053, 1.5215, -0.8959, -0.939, -1.2156, 0.0583]\nstate[eef_state]: left_x=0.3837 left_y=-0.1641 left_z=0.1336 left_yaw=-0.3427 left_pitch=0.0236 left_roll=0.027 left_gripper=0.0661 right_x=0.3748 right_y=0.2017 right_z=0.1967 right_yaw=1.4834 right_pitch=-0.0212 right_roll=-0.0843 right_gripper=0.0583\nstate[joint_eff]: [-0.2256, -5.9009, 6.7624, 1.6972, -0.0904, -0.0513, 1.0281, -0.841, -7.9111, 6.7897, 0.4713, -0.7057, -0.0806, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e05b57d9dadd8483b56e00842cdd5b193a4c7f6a7d9c704c9d95cf6d4ebe0787",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c665d152a1a99ee350008a24ed2b29ff4f6ccd32fcb580e86bc45fd48c95577",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3600024f00cdb29816ec315cef969ffb048b68a19eb25a35816d0508f3aef452",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS/REKEAgSGAI4AUIIdGhpbmtpbmcSDKRs/HXG05jeUvGw1BoMVaJpOP7fF2/A1dImIjCGTZt9qM54m8dIkbBcPiG+EP95g81ji/d3fbzZcaAbK5NmjCVrN94yF/9RmbbHNX0qmhE92n4PsX9SK11A/AGevHr5al852obTNjIknqDseD3TXulM60uKzx8snUrjfIRyu+JKxotqAFUXxa+uJGlDvnFK495H1oEE8vyJxIKWAeB77bMDhFumZ+n9ldAt798Kosvse5Xzz0ptULox8j94AOTZWyNfhkPJFh7PG7/WoZvFNfo77/SY+aGaEOFTBp1s0vT6OUeTzsOO2/lMPNZSDJv+QAJ7ZICU7aGH4vcjYuxOgf86kTUECrUYwc4NRBqMsQHoo/pdJvWEcjeVzEjXPK4pA7qFOzemZCs1u8En4RkzOVvJAVOg+8pKopZnT/uzdlS32ZCovJnpS1t93QtuB0Z7K6W7pJ6z/YhKoVB8doh4ORHQOS0gl3dwO/Tmfki37ROQBr6D60oHCiIh5Ja5S3YoxWgv24sUhmarB0YGviDsDjZ/Oy5iI/AK+G065VHyf2v5VVakfAzdb4wn9/c+xxAZxohWJMmWT8ndPV4JbZEPlWdTlLx0EETHcOxjdXLVtmU66xn3+I51iXkh5H3xZO/DRC2ugf7/MciuoErOmRFWzRMGvXDkyggBdO45GL9rrZ0StgsNzqO271Hr0w6Z4pbMHsYGsXbSEgpTW8Qsd3JWPQ/X1cOVQYPDKlkl7uzTr/4xfEFF6SfBN3+dz7mP+MesMET/xzub6VgOa2tz98YTKorqzR4+n+SP0kqCh+CKA9es9Zh48hhbmhLBLVD5YuM7Ra0pb+zyk9oXSdEB7sXP0QO92ZCynuJAv4+hs7phkKWuPbd+YavcBVA5vcf+s6Xr03Ca7dc7TbD+bDDqnj9syF/10aPxYlxbXKNmf6f83sBXxnhlwfaXFeunG2VeVT6cHnrnNwx5Warrc+76G9Ps93vgALesSXdtcF8wZOFvDoA2FbTeYlYy5ny12Pdf/YR6pnyIR4zLG7O7FRRb5BuNL7S5jxDFxjuobOkik+Fx0tNi4gQP35fdLNkMDZlOLZHAZmwKfnnS8V8ljHIFemWj3Iynxl1EVNB9WLNFuW14RXGrvtCEPqeYF1pHBo/bv33GBuupDUVyk+zTi8ZGiIHJ5Xjpx+gkM0IvqCnmIfubHkU1evpSo055Cc5G7K5BGANJ8/Sg/d+hyBleRq3apGXYqWgCsCOZlX+1kLcHg5ntUqSmZa+kYPlZCrMKIDB3SQLNF9P68K5Cdq4LZxn7Hc7YcWtnidgU6CLWXETDY1Kd3ZB4xx0cIQzaGrt8xjv4CUiIUCDlYg+CPDDDTV0k5lN8+sfFD2Ldr3L5LjAdwrElBW6rrQfT39mQnBli2iUAfQ5KMaJUL1R4SNS9iSk9Y/OZJGxQbcOAQW+BJS9/+sUrivRnaNbIPNM9+CijF5NuI2swbYHviDulq/zDRAuok+FmqY3uF68TDnkS047t95NFrqXzH18uJJy5+7TGMHIgvkRAwVtgjR2yanG78vTorRKowf8IJnMWahWV0D38vQVwc+8VkpgMGRMdko4VOT+/comtBa5G5fHEEonqEitQ9xpnFp7MgSYHx5TZc8y57o0FsNuTbu6N+ut4ib1tIXkHoKer84jf2AeNaT4hrYMya6gU+zO2ozoy2naL1WmFlD9mw5PTYs1jtuA+/z5qN+ANlS5m4hh5kIOELGxRr60FVRvq3rS7XOzMAU9vaFEQCqyYD1PvUn3VjxSUolWPDsekV9Xmr9vMYDxGQfXuBuGgDmIndIck4R4uBSK1FwVgRj+O6CJim9BF3Nqv8Ee0QJNQ4/PM7OJmIrYUNJ8PT4h35o31gVRewpW9F6zQsb4MMvPcwdjsCX96YUQB4furfhfgPRJBU+0HA+ixHdtfwQPpMb3SQwvNAWbqXhvsVdU+tcpDpi4jkXbjMwKnK7u3kJDBrYOUQCggV9c6y+xuyfLb0axbyC8A2shN8g1p8swRRtkVjBjV4nFzhmbSr+MXF8tqFJq0N1NclA5dT4Ou+u7dtGZrN2LI9rlOUIIPo0q+zpCfc+Oovw0I5u3s2WeK8B8vUPu03HU7lQdeLC5l7u32NGrJmrKk4UT0GR7oxuDNU0sq3RbMrEzFsArWkz1WwrL7cW0oPEtCbzSM2jGjpjU0eKKL/iQ9pvcyI4MUc8TuDS7YepPjGpaSPbT5hC1foZJWzEZCWfYHyAtqhebVfEb5bqb5ayreWY4d4PRAulJ+iFFvZD5/sR3ljL4RbQyawX6T8Bqe4eWqll0malaxvuFMJWRJCANXmB//bIxPyyXwXbsyoNVmh7vDa7yLOjr5HrptBcFOo+rzwFE+yhykVc/2LtJQsPwpc8GB2fVJ97lvj3QdqEjZkRtwpn4EjBtZzu537F0dyCu3SigYKoCQ2U/ICMMiKewEdtvnS/zWlTZJs9xe+wyuRAcJLvYUdHX7yYtFTRt232XQrjYRnFL77MHqHOT+WrdxJgLkOVG6/QEyTliZmKlUIFclzC5YES2Ls6tNAVcnQHAepH1N9XrodZe2TmJNDftL/aGTNu1b9VWYaiUgqPNJa3g/KFN+I91VUSGmW26wNComgZqIeTIt17eQcr14dKedH3m/GNiocTZ02MxTHhCKfIOJl3538yJG/s16OkSHJ/yoe5yTYk4gIhNF1U6NaVjYan7lM34WJzdV9f6sESaAD82Tgog6b84jmk7SJvAN65OcZVDZV4jUMdhE/d0yHaf46IQJXwyFNz60Nx/BZmz5uHylSDN7ZtSzcaN0XQqbWhCOJLr3F2fJ0UyCvEU7QSlp7fZ2j+E0eoSsLsAKB+4vAWD9M7LpaIPjwanc04tPxnlmzOeONQ7YYgpTkok6MGpuSQkdLLiqvyUzsCgUviWuEraHpHmfx7cauKqxlMRRC3hX57bVxBQfUiP5ymSpbncOT4iU9fxwd2nHK/53c3TMZePy5JJbVb+BqOMjL4jjj1Nk7evXR63k7tD00APgrXEV03eMaVG0hIoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Eb7i1ztaKSAuaEpGRfFd86",
      "input": {
        "note": "Pen is up with its tip pointing toward the left arm. Bringing the cap to the same height and x, yawed so its open end faces the pen tip, leaving a ~10 cm gap.",
        "targets": {
          "left_x": 0.375,
          "left_y": -0.25,
          "left_yaw": 1.57,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01Eb7i1ztaKSAuaEpGRfFd86",
      "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]: [-0.4503, 2.2902, 1.8526, -1.512, -0.9081, -2.0228, 0.0707, 0.1398, 1.8194, 1.5162, -0.8841, -0.9112, -1.2228, 0.0581]\nstate[eef_state]: left_x=0.3997 left_y=-0.0346 left_z=0.0953 left_yaw=1.3813 left_pitch=-0.0377 left_roll=0.0211 left_gripper=0.0707 right_x=0.3795 right_y=0.198 right_z=0.1867 right_yaw=1.4734 right_pitch=-0.0483 right_roll=-0.0888 right_gripper=0.0581\nstate[joint_eff]: [-0.1026, -13.7231, 4.5333, -0.6081, -0.4664, -0.2027, 1.033, -0.0205, -10.3726, 6.7214, 0.7399, -0.7253, 0.0562, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eeaf9c8d701404d18ff1395689630027ff0b6a954863661141229135df8950ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec0fb3c327923d4c20090a436376f8fd6703e5e3b0aad230d942c12489c2bc63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fddd0dc03751e68962ff52224e2865f5575ae2319fcfc6c39ed3f2d821381224",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 15.14 s

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

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4652, 1.4223, 0.728, 0.1448, -0.1242, -0.0551, 0.0661, 0.3733, 1.9648, 0.6731, 0.6952, -0.2974, -0.2195, 0.051]\nstate[eef_state]: left_x=0.3841 left_y=-0.1643 left_z=0.1345 left_yaw=-0.3427 left_pitch=0.0259 left_roll=0.0268 left_gripper=0.0661 right_x=0.3936 right_y=0.2136 right_z=0.0027 right_yaw=0.7198 right_pitch=-0.0092 right_roll=-0.0055 right_gripper=0.051\nstate[joint_eff]: [-0.2803, -5.9282, 6.8991, 1.7167, -0.1099, -0.0659, 1.033, 0.0342, -6.3932, 4.6154, 1.5018, -0.0757, -0.0122, 1.4921]",
      "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]: [-0.4652, 1.4223, 0.7261, 0.1444, -0.1242, -0.0551, 0.0661, 0.1432, 1.8053, 1.5215, -0.8959, -0.939, -1.2156, 0.0583]\nstate[eef_state]: left_x=0.3837 left_y=-0.1641 left_z=0.1336 left_yaw=-0.3427 left_pitch=0.0236 left_roll=0.027 left_gripper=0.0661 right_x=0.3748 right_y=0.2017 right_z=0.1967 right_yaw=1.4834 right_pitch=-0.0212 right_roll=-0.0843 right_gripper=0.0583\nstate[joint_eff]: [-0.2256, -5.9009, 6.7624, 1.6972, -0.0904, -0.0513, 1.0281, -0.841, -7.9111, 6.7897, 0.4713, -0.7057, -0.0806, 1.033]",
      "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]: [-0.4503, 2.2902, 1.8526, -1.512, -0.9081, -2.0228, 0.0707, 0.1398, 1.8194, 1.5162, -0.8841, -0.9112, -1.2228, 0.0581]\nstate[eef_state]: left_x=0.3997 left_y=-0.0346 left_z=0.0953 left_yaw=1.3813 left_pitch=-0.0377 left_roll=0.0211 left_gripper=0.0707 right_x=0.3795 right_y=0.198 right_z=0.1867 right_yaw=1.4734 right_pitch=-0.0483 right_roll=-0.0888 right_gripper=0.0581\nstate[joint_eff]: [-0.1026, -13.7231, 4.5333, -0.6081, -0.4664, -0.2027, 1.033, -0.0205, -10.3726, 6.7214, 0.7399, -0.7253, 0.0562, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eeaf9c8d701404d18ff1395689630027ff0b6a954863661141229135df8950ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec0fb3c327923d4c20090a436376f8fd6703e5e3b0aad230d942c12489c2bc63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fddd0dc03751e68962ff52224e2865f5575ae2319fcfc6c39ed3f2d821381224",
        "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_01Wz9h82SW7iwkaLx8izJGva",
      "input": {
        "note": "The large left yaw produced a bad IK solution: the left arm swung to y -0.03 and the pen got knocked out of the right gripper (it's back on the table). Returning the left arm, still holding the cap, to a sane pose.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.15,
          "left_yaw": 0.0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Wz9h82SW7iwkaLx8izJGva",
      "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]: [-0.6605, 1.3727, 0.9173, -0.4503, -0.6292, -0.6388, 0.0723, 0.1398, 1.8214, 1.512, -0.8814, -0.9096, -1.2232, 0.0581]\nstate[eef_state]: left_x=0.3391 left_y=-0.1273 left_z=0.1496 left_yaw=0.1926 left_pitch=-0.1186 left_roll=0.0114 left_gripper=0.0723 right_x=0.3794 right_y=0.1978 right_z=0.1846 right_yaw=1.4732 right_pitch=-0.0505 right_roll=-0.0861 right_gripper=0.0581\nstate[joint_eff]: [0.5265, -6.5436, 6.9949, 1.746, -0.3101, 0.2808, 1.033, -0.0479, -9.2376, 6.6393, 0.9109, -0.4469, -0.0415, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58558fadec9f6a31e874cd9af94ce2b3a996f451f71038df3c27e10d72261c81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c73968e99c7eec35e004876783b857d8c9adb3eceafb62456e68695855fad358",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d3c93c3344281e7deffdbdd304feae85192cb615a6382c47d93bd207f024cf9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 8.021 s

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

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4652, 1.4223, 0.7261, 0.1444, -0.1242, -0.0551, 0.0661, 0.1432, 1.8053, 1.5215, -0.8959, -0.939, -1.2156, 0.0583]\nstate[eef_state]: left_x=0.3837 left_y=-0.1641 left_z=0.1336 left_yaw=-0.3427 left_pitch=0.0236 left_roll=0.027 left_gripper=0.0661 right_x=0.3748 right_y=0.2017 right_z=0.1967 right_yaw=1.4834 right_pitch=-0.0212 right_roll=-0.0843 right_gripper=0.0583\nstate[joint_eff]: [-0.2256, -5.9009, 6.7624, 1.6972, -0.0904, -0.0513, 1.0281, -0.841, -7.9111, 6.7897, 0.4713, -0.7057, -0.0806, 1.033]",
      "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]: [-0.4503, 2.2902, 1.8526, -1.512, -0.9081, -2.0228, 0.0707, 0.1398, 1.8194, 1.5162, -0.8841, -0.9112, -1.2228, 0.0581]\nstate[eef_state]: left_x=0.3997 left_y=-0.0346 left_z=0.0953 left_yaw=1.3813 left_pitch=-0.0377 left_roll=0.0211 left_gripper=0.0707 right_x=0.3795 right_y=0.198 right_z=0.1867 right_yaw=1.4734 right_pitch=-0.0483 right_roll=-0.0888 right_gripper=0.0581\nstate[joint_eff]: [-0.1026, -13.7231, 4.5333, -0.6081, -0.4664, -0.2027, 1.033, -0.0205, -10.3726, 6.7214, 0.7399, -0.7253, 0.0562, -0.0317]",
      "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]: [-0.6605, 1.3727, 0.9173, -0.4503, -0.6292, -0.6388, 0.0723, 0.1398, 1.8214, 1.512, -0.8814, -0.9096, -1.2232, 0.0581]\nstate[eef_state]: left_x=0.3391 left_y=-0.1273 left_z=0.1496 left_yaw=0.1926 left_pitch=-0.1186 left_roll=0.0114 left_gripper=0.0723 right_x=0.3794 right_y=0.1978 right_z=0.1846 right_yaw=1.4732 right_pitch=-0.0505 right_roll=-0.0861 right_gripper=0.0581\nstate[joint_eff]: [0.5265, -6.5436, 6.9949, 1.746, -0.3101, 0.2808, 1.033, -0.0479, -9.2376, 6.6393, 0.9109, -0.4469, -0.0415, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58558fadec9f6a31e874cd9af94ce2b3a996f451f71038df3c27e10d72261c81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c73968e99c7eec35e004876783b857d8c9adb3eceafb62456e68695855fad358",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3c93c3344281e7deffdbdd304feae85192cb615a6382c47d93bd207f024cf9c",
        "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_01ApECoxKz6pDC3RnLr1H9ne",
      "input": {
        "note": "The pen is back on the table (just right of centre, pointing forward-right). Opening the right gripper and moving above it with the jaws turned across the pen to re-grasp.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.32,
          "right_y": 0.23,
          "right_yaw": -0.4,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01ApECoxKz6pDC3RnLr1H9ne",
      "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]: [-0.6647, 1.3735, 0.8963, -0.4305, -0.6289, -0.606, 0.0724, 0.9726, 1.8389, 1.1893, -0.4843, 0.8047, 0.7723, 0.9959]\nstate[eef_state]: left_x=0.3375 left_y=-0.1279 left_z=0.144 left_yaw=0.1704 left_pitch=-0.1207 left_roll=0.0381 left_gripper=0.0724 right_x=0.329 right_y=0.2631 right_z=0.0918 right_yaw=-0.1134 right_pitch=-0.1285 right_roll=-0.1633 right_gripper=0.9959\nstate[joint_eff]: [-0.5265, -5.9009, 6.694, 1.3797, -0.4762, -0.1099, 1.0281, 0.2667, -10.2085, 5.9692, 0.5104, 0.7643, 0.2369, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a6c5425b1598d912c424b18b64d79b1ec61665575d3c33570611c9437329816",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e89cbe2dc00a7077f6fede904c72f0af57d9b45c85131815d521f995e21714b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:806ddf409ad19c0ce8cabb73443fc3e907f18b7b3eeaa5adeb5f9363aba918b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 4.778 s

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

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4503, 2.2902, 1.8526, -1.512, -0.9081, -2.0228, 0.0707, 0.1398, 1.8194, 1.5162, -0.8841, -0.9112, -1.2228, 0.0581]\nstate[eef_state]: left_x=0.3997 left_y=-0.0346 left_z=0.0953 left_yaw=1.3813 left_pitch=-0.0377 left_roll=0.0211 left_gripper=0.0707 right_x=0.3795 right_y=0.198 right_z=0.1867 right_yaw=1.4734 right_pitch=-0.0483 right_roll=-0.0888 right_gripper=0.0581\nstate[joint_eff]: [-0.1026, -13.7231, 4.5333, -0.6081, -0.4664, -0.2027, 1.033, -0.0205, -10.3726, 6.7214, 0.7399, -0.7253, 0.0562, -0.0317]",
      "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]: [-0.6605, 1.3727, 0.9173, -0.4503, -0.6292, -0.6388, 0.0723, 0.1398, 1.8214, 1.512, -0.8814, -0.9096, -1.2232, 0.0581]\nstate[eef_state]: left_x=0.3391 left_y=-0.1273 left_z=0.1496 left_yaw=0.1926 left_pitch=-0.1186 left_roll=0.0114 left_gripper=0.0723 right_x=0.3794 right_y=0.1978 right_z=0.1846 right_yaw=1.4732 right_pitch=-0.0505 right_roll=-0.0861 right_gripper=0.0581\nstate[joint_eff]: [0.5265, -6.5436, 6.9949, 1.746, -0.3101, 0.2808, 1.033, -0.0479, -9.2376, 6.6393, 0.9109, -0.4469, -0.0415, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.6647, 1.3735, 0.8963, -0.4305, -0.6289, -0.606, 0.0724, 0.9726, 1.8389, 1.1893, -0.4843, 0.8047, 0.7723, 0.9959]\nstate[eef_state]: left_x=0.3375 left_y=-0.1279 left_z=0.144 left_yaw=0.1704 left_pitch=-0.1207 left_roll=0.0381 left_gripper=0.0724 right_x=0.329 right_y=0.2631 right_z=0.0918 right_yaw=-0.1134 right_pitch=-0.1285 right_roll=-0.1633 right_gripper=0.9959\nstate[joint_eff]: [-0.5265, -5.9009, 6.694, 1.3797, -0.4762, -0.1099, 1.0281, 0.2667, -10.2085, 5.9692, 0.5104, 0.7643, 0.2369, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a6c5425b1598d912c424b18b64d79b1ec61665575d3c33570611c9437329816",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e89cbe2dc00a7077f6fede904c72f0af57d9b45c85131815d521f995e21714b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:806ddf409ad19c0ce8cabb73443fc3e907f18b7b3eeaa5adeb5f9363aba918b4",
        "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_01AFPLa9gwSPfAEm83eHF6VN",
      "input": {
        "note": "Right wrist view shows the pen slightly right of and ahead of the jaws, tilted clockwise. Shifting ~1 cm right, ~2 cm forward, rotating to match, and descending to table level.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.345,
          "right_y": 0.25,
          "right_yaw": -0.5,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01AFPLa9gwSPfAEm83eHF6VN",
      "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]: [-0.6643, 1.3758, 0.8963, -0.4313, -0.627, -0.6056, 0.0724, 0.9817, 2.1731, 1.2545, -0.4606, 0.9733, 1.2343, 0.9962]\nstate[eef_state]: left_x=0.3374 left_y=-0.128 left_z=0.143 left_yaw=0.1696 left_pitch=-0.1239 left_roll=0.0397 left_gripper=0.0724 right_x=0.3396 right_y=0.2518 right_z=0.0051 right_yaw=-0.4246 right_pitch=-0.0283 right_roll=-0.0748 right_gripper=0.9962\nstate[joint_eff]: [-0.2393, -5.5316, 6.5983, 1.243, -0.359, -0.0464, 1.033, -0.8137, -9.1692, 5.6684, 0.4078, 0.2369, 0.1929, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6962b9877b97a2a28051609048e0eaa8fdcd95448615fb7c7b49cadbc5813f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5d17a04ad88b8958830955d214e4c6eeb195b9fef5761425fd59be0576f31e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1e3795b96862b1bc75bdccaeeb49ad453176e9338bab4ec4b20b6a650780547a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 16.08 s

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

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6605, 1.3727, 0.9173, -0.4503, -0.6292, -0.6388, 0.0723, 0.1398, 1.8214, 1.512, -0.8814, -0.9096, -1.2232, 0.0581]\nstate[eef_state]: left_x=0.3391 left_y=-0.1273 left_z=0.1496 left_yaw=0.1926 left_pitch=-0.1186 left_roll=0.0114 left_gripper=0.0723 right_x=0.3794 right_y=0.1978 right_z=0.1846 right_yaw=1.4732 right_pitch=-0.0505 right_roll=-0.0861 right_gripper=0.0581\nstate[joint_eff]: [0.5265, -6.5436, 6.9949, 1.746, -0.3101, 0.2808, 1.033, -0.0479, -9.2376, 6.6393, 0.9109, -0.4469, -0.0415, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.6647, 1.3735, 0.8963, -0.4305, -0.6289, -0.606, 0.0724, 0.9726, 1.8389, 1.1893, -0.4843, 0.8047, 0.7723, 0.9959]\nstate[eef_state]: left_x=0.3375 left_y=-0.1279 left_z=0.144 left_yaw=0.1704 left_pitch=-0.1207 left_roll=0.0381 left_gripper=0.0724 right_x=0.329 right_y=0.2631 right_z=0.0918 right_yaw=-0.1134 right_pitch=-0.1285 right_roll=-0.1633 right_gripper=0.9959\nstate[joint_eff]: [-0.5265, -5.9009, 6.694, 1.3797, -0.4762, -0.1099, 1.0281, 0.2667, -10.2085, 5.9692, 0.5104, 0.7643, 0.2369, -0.1148]\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]: [-0.6643, 1.3758, 0.8963, -0.4313, -0.627, -0.6056, 0.0724, 0.9817, 2.1731, 1.2545, -0.4606, 0.9733, 1.2343, 0.9962]\nstate[eef_state]: left_x=0.3374 left_y=-0.128 left_z=0.143 left_yaw=0.1696 left_pitch=-0.1239 left_roll=0.0397 left_gripper=0.0724 right_x=0.3396 right_y=0.2518 right_z=0.0051 right_yaw=-0.4246 right_pitch=-0.0283 right_roll=-0.0748 right_gripper=0.9962\nstate[joint_eff]: [-0.2393, -5.5316, 6.5983, 1.243, -0.359, -0.0464, 1.033, -0.8137, -9.1692, 5.6684, 0.4078, 0.2369, 0.1929, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6962b9877b97a2a28051609048e0eaa8fdcd95448615fb7c7b49cadbc5813f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5d17a04ad88b8958830955d214e4c6eeb195b9fef5761425fd59be0576f31e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e3795b96862b1bc75bdccaeeb49ad453176e9338bab4ec4b20b6a650780547a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSxQgKEAgSGAI4AUIIdGhpbmtpbmcSDKvQSBjik//dHhOyEBoMcR4cL9MEpyx45xXmIjAeCTJDBwUMOTjn9ODeim5z8XtmEb8d1W0Lxhsg4A0xKISrKU/BCZyQ36McUi1Sy68q4gdTL+wGkBdFVHBeTmu5vjLKW0n9oUn9j1ihG0CciEKQeDSFv8taI7OwefmcJpDcRY1YzPqyNgWI+m/1PzA5iCuOcuGrV9GA3/DPSk2icB+l3ra3QO8bAZgl1rz6lpvVUKCxC62sBkwAbW9q56q1foJQW7Mex8qNDSI1GNpy6m0kTofVThc2d+1bx62CcpmuJF9j8rvy5v1AaOaUFIe0etdInmDj9sR9g/lBxKwb9N6QoI27Wsx2tG0NLOI6rtwCehxZ2cMF3F5+vRLm0aQMeZUVd1qJfkA/FwNPObDwoezmr2VWs/Ee1cAivRkJKmUVuRH6FpjVeJFBdlpbluFE1TDCKWCwuSCkqIzGYsjjclp3qlh4eYn5fF1z8fgbybhgy4VfcenNWX4Mvo6eYUjimwRfTj97erhr7Rz5Ez93l1TMINskLCy2Jun6h1NFumcD14Ta/IBzjjleKZf/NaTCc/D1d8kvToaFpPg7sUUjZI3tVFFhw42ekomqyl3xS0sLdsBW4HztUeRwbFJGO1Wn9FNGs6aLm5uYXTqNY2xHea4gH2SPqqV9zyAeNRhftW3fcnkW3axVYANWGDpzDW0qeRpuFaOiejvevlKC0OXMSoKZrhAuVVjwvPZPP7/UgUm/B7qwYzI81M5twRow80xquMRdHPwRdRK29ApsZh/jt3ssG/nIIf8S+ti6tkmcL87JuTAwiY+QqYYPfRHL9MkskDdXu23swvQ68pAlcRbn4ym3XjeRgdUddChRK0lkbAO5+Pvvd7NEcjwdnLeMOa2wLmuPml79VUaeDJrZPzUgd5ToDhQ2RAcSM7LHitw65zoBwlZhrrBht19AuDAh0x6jp7Y21nmIpzOqOhQ2O8Mn0pB44n3lVqkUcGHU3//S3yQlses64jWmfFtcVt7PQKYRiu8YovGF0X1lsZVxCt+wm9dmoIPR/89uqflHAKP4XB4gKPLOfa4hd9xw7cEjEzrEPzIXfpOJ0SwWtCGWXwVkRObyHRY0bWvRNAPrE3JSWwL1zlZfexc9weTs5UV+MldQtxz/whG9lIJu8frv5uqlgDKJMKu7rWcthXsUSCzk1hu7PPpcmmz7KA/QPvoQsdi8lMab7OAshZ/u00b/Ix6lO9DeJ2XVV08My9JnhtyEEFYVApaJeuP7xNSzlGUyivtwHOL1NW+e3F41GS9PEyxfplavbuDDyrlUsvFceXJOWwHUYD8uQpmEYMsHTUa4ktKE8sRSrg2GYKkIYouBiUT6yu6PyXy++880xPeojkL1LsYCAgH0F75jxOMCsm62cQskmKMNl20KVHfDPTrW9yAhECWEh2TAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015hjcbuxXsa7i8r8hV9NmQa",
      "input": {
        "note": "Pen is aligned with the jaws and inside the opening (a bit right of centre) at table level; closing.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015hjcbuxXsa7i8r8hV9NmQa",
      "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]: [-0.6643, 1.3758, 0.8963, -0.4313, -0.6209, -0.6056, 0.0724, 0.9817, 2.1948, 1.2537, -0.408, 0.9916, 1.2339, 0.0128]\nstate[eef_state]: left_x=0.3372 left_y=-0.129 left_z=0.1425 left_yaw=0.1654 left_pitch=-0.1274 left_roll=0.0364 left_gripper=0.0724 right_x=0.3442 right_y=0.2554 right_z=0.001 right_yaw=-0.4277 right_pitch=-0.0057 right_roll=-0.0482 right_gripper=0.0128\nstate[joint_eff]: [-0.0889, -5.2308, 6.8034, 1.3211, -0.398, -0.0317, 1.033, -0.2256, -9.7436, 3.9453, 0.5641, 0.2711, -0.0024, 0.6374]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09d765c081d673cc7b3618713bbe0262d7e41eb8460ed7d29877d2062eee7493",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc02acf5cfe4b1fbf9b8b498aea093f4471adb86ba1f6c5cb08ea21961aecccc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f0d805bd07b57857baecd17c0abf1ad9a871095fb98d8258b9d2b1b83aed853",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 10.08 s

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

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6647, 1.3735, 0.8963, -0.4305, -0.6289, -0.606, 0.0724, 0.9726, 1.8389, 1.1893, -0.4843, 0.8047, 0.7723, 0.9959]\nstate[eef_state]: left_x=0.3375 left_y=-0.1279 left_z=0.144 left_yaw=0.1704 left_pitch=-0.1207 left_roll=0.0381 left_gripper=0.0724 right_x=0.329 right_y=0.2631 right_z=0.0918 right_yaw=-0.1134 right_pitch=-0.1285 right_roll=-0.1633 right_gripper=0.9959\nstate[joint_eff]: [-0.5265, -5.9009, 6.694, 1.3797, -0.4762, -0.1099, 1.0281, 0.2667, -10.2085, 5.9692, 0.5104, 0.7643, 0.2369, -0.1148]\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]: [-0.6643, 1.3758, 0.8963, -0.4313, -0.627, -0.6056, 0.0724, 0.9817, 2.1731, 1.2545, -0.4606, 0.9733, 1.2343, 0.9962]\nstate[eef_state]: left_x=0.3374 left_y=-0.128 left_z=0.143 left_yaw=0.1696 left_pitch=-0.1239 left_roll=0.0397 left_gripper=0.0724 right_x=0.3396 right_y=0.2518 right_z=0.0051 right_yaw=-0.4246 right_pitch=-0.0283 right_roll=-0.0748 right_gripper=0.9962\nstate[joint_eff]: [-0.2393, -5.5316, 6.5983, 1.243, -0.359, -0.0464, 1.033, -0.8137, -9.1692, 5.6684, 0.4078, 0.2369, 0.1929, 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 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]: [-0.6643, 1.3758, 0.8963, -0.4313, -0.6209, -0.6056, 0.0724, 0.9817, 2.1948, 1.2537, -0.408, 0.9916, 1.2339, 0.0128]\nstate[eef_state]: left_x=0.3372 left_y=-0.129 left_z=0.1425 left_yaw=0.1654 left_pitch=-0.1274 left_roll=0.0364 left_gripper=0.0724 right_x=0.3442 right_y=0.2554 right_z=0.001 right_yaw=-0.4277 right_pitch=-0.0057 right_roll=-0.0482 right_gripper=0.0128\nstate[joint_eff]: [-0.0889, -5.2308, 6.8034, 1.3211, -0.398, -0.0317, 1.033, -0.2256, -9.7436, 3.9453, 0.5641, 0.2711, -0.0024, 0.6374]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09d765c081d673cc7b3618713bbe0262d7e41eb8460ed7d29877d2062eee7493",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc02acf5cfe4b1fbf9b8b498aea093f4471adb86ba1f6c5cb08ea21961aecccc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f0d805bd07b57857baecd17c0abf1ad9a871095fb98d8258b9d2b1b83aed853",
        "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_01MvrjZZPrkkhpf2kCsbexyK",
      "input": {
        "note": "Empty close — the jaws pushed the pen, which now lies roughly across the tool (along world y) a few cm ahead, tip pointing right. Opening, moving over its rear half, and yawing ~90° so the jaws close across it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.28,
          "right_yaw": 1.14,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MvrjZZPrkkhpf2kCsbexyK",
      "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]: [-0.6636, 1.3785, 0.8963, -0.4324, -0.6209, -0.6056, 0.0724, 0.4217, 1.8725, 0.9905, 0.2539, -0.3717, -0.3363, 0.9947]\nstate[eef_state]: left_x=0.3372 left_y=-0.1286 left_z=0.1415 left_yaw=0.1666 left_pitch=-0.13 left_roll=0.0392 left_gripper=0.0724 right_x=0.4198 right_y=0.2626 right_z=0.0753 right_yaw=0.8917 right_pitch=-0.0219 right_roll=-0.0517 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -5.641, 6.6667, 1.2723, -0.3394, -0.0562, 1.0281, -0.3624, -8.3487, 6.2154, 1.3651, -0.2711, 0.0024, 0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e500aca45474140e34efa1be90f6afa1cf440b612391874c8770d79f365ba520",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b35ff7bb21165bc0647602f5851bc34f207bc7ba033e8fef8f5c6bb03c9deff6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e04c15d955b41dfe243a1b641053da912968745506f6bb38b40dc1ad1edb117",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 10.39 s

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

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6643, 1.3758, 0.8963, -0.4313, -0.627, -0.6056, 0.0724, 0.9817, 2.1731, 1.2545, -0.4606, 0.9733, 1.2343, 0.9962]\nstate[eef_state]: left_x=0.3374 left_y=-0.128 left_z=0.143 left_yaw=0.1696 left_pitch=-0.1239 left_roll=0.0397 left_gripper=0.0724 right_x=0.3396 right_y=0.2518 right_z=0.0051 right_yaw=-0.4246 right_pitch=-0.0283 right_roll=-0.0748 right_gripper=0.9962\nstate[joint_eff]: [-0.2393, -5.5316, 6.5983, 1.243, -0.359, -0.0464, 1.033, -0.8137, -9.1692, 5.6684, 0.4078, 0.2369, 0.1929, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6643, 1.3758, 0.8963, -0.4313, -0.6209, -0.6056, 0.0724, 0.9817, 2.1948, 1.2537, -0.408, 0.9916, 1.2339, 0.0128]\nstate[eef_state]: left_x=0.3372 left_y=-0.129 left_z=0.1425 left_yaw=0.1654 left_pitch=-0.1274 left_roll=0.0364 left_gripper=0.0724 right_x=0.3442 right_y=0.2554 right_z=0.001 right_yaw=-0.4277 right_pitch=-0.0057 right_roll=-0.0482 right_gripper=0.0128\nstate[joint_eff]: [-0.0889, -5.2308, 6.8034, 1.3211, -0.398, -0.0317, 1.033, -0.2256, -9.7436, 3.9453, 0.5641, 0.2711, -0.0024, 0.6374]",
      "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]: [-0.6636, 1.3785, 0.8963, -0.4324, -0.6209, -0.6056, 0.0724, 0.4217, 1.8725, 0.9905, 0.2539, -0.3717, -0.3363, 0.9947]\nstate[eef_state]: left_x=0.3372 left_y=-0.1286 left_z=0.1415 left_yaw=0.1666 left_pitch=-0.13 left_roll=0.0392 left_gripper=0.0724 right_x=0.4198 right_y=0.2626 right_z=0.0753 right_yaw=0.8917 right_pitch=-0.0219 right_roll=-0.0517 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -5.641, 6.6667, 1.2723, -0.3394, -0.0562, 1.0281, -0.3624, -8.3487, 6.2154, 1.3651, -0.2711, 0.0024, 0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e500aca45474140e34efa1be90f6afa1cf440b612391874c8770d79f365ba520",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b35ff7bb21165bc0647602f5851bc34f207bc7ba033e8fef8f5c6bb03c9deff6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e04c15d955b41dfe243a1b641053da912968745506f6bb38b40dc1ad1edb117",
        "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_01UqBVSv8SUWYwvH4KWJPTtW",
      "input": {
        "note": "Overhead view shows the pen now lying straight forward (tip forward) just left of the right gripper, near the centre line. Setting yaw back to 0 so the jaws cross it and moving over its rear half, low.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.29,
          "right_yaw": 0.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01UqBVSv8SUWYwvH4KWJPTtW",
      "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]: [-0.6636, 1.3811, 0.8963, -0.4313, -0.6205, -0.6056, 0.0724, 0.5903, 1.869, 0.8593, 0.3672, -0.2157, -0.141, 0.9954]\nstate[eef_state]: left_x=0.3374 left_y=-0.1289 left_z=0.1407 left_yaw=0.1665 left_pitch=-0.1313 left_roll=0.0402 left_gripper=0.0724 right_x=0.37 right_y=0.2977 right_z=0.0436 right_yaw=0.8275 right_pitch=-0.0682 right_roll=0.0275 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -5.6, 6.5299, 1.3016, -0.3199, -0.0415, 1.0281, -0.0479, -10.2085, 6.5162, 1.9072, -0.0269, 0.1294, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9672e5d94a5cdb8c185ea45df7d3d8b521daea1deb9f06173f4137256c0439f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af38bdce5995d764febd2568313a6c79c5ee91ba9c40c2c16d6ce9506ae2adad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1029c577985533a093e7966c63bd426f4d00ad0478f0eebc051a51ab8f0880e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 4.843 s

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

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6643, 1.3758, 0.8963, -0.4313, -0.6209, -0.6056, 0.0724, 0.9817, 2.1948, 1.2537, -0.408, 0.9916, 1.2339, 0.0128]\nstate[eef_state]: left_x=0.3372 left_y=-0.129 left_z=0.1425 left_yaw=0.1654 left_pitch=-0.1274 left_roll=0.0364 left_gripper=0.0724 right_x=0.3442 right_y=0.2554 right_z=0.001 right_yaw=-0.4277 right_pitch=-0.0057 right_roll=-0.0482 right_gripper=0.0128\nstate[joint_eff]: [-0.0889, -5.2308, 6.8034, 1.3211, -0.398, -0.0317, 1.033, -0.2256, -9.7436, 3.9453, 0.5641, 0.2711, -0.0024, 0.6374]",
      "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]: [-0.6636, 1.3785, 0.8963, -0.4324, -0.6209, -0.6056, 0.0724, 0.4217, 1.8725, 0.9905, 0.2539, -0.3717, -0.3363, 0.9947]\nstate[eef_state]: left_x=0.3372 left_y=-0.1286 left_z=0.1415 left_yaw=0.1666 left_pitch=-0.13 left_roll=0.0392 left_gripper=0.0724 right_x=0.4198 right_y=0.2626 right_z=0.0753 right_yaw=0.8917 right_pitch=-0.0219 right_roll=-0.0517 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -5.641, 6.6667, 1.2723, -0.3394, -0.0562, 1.0281, -0.3624, -8.3487, 6.2154, 1.3651, -0.2711, 0.0024, 0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6636, 1.3811, 0.8963, -0.4313, -0.6205, -0.6056, 0.0724, 0.5903, 1.869, 0.8593, 0.3672, -0.2157, -0.141, 0.9954]\nstate[eef_state]: left_x=0.3374 left_y=-0.1289 left_z=0.1407 left_yaw=0.1665 left_pitch=-0.1313 left_roll=0.0402 left_gripper=0.0724 right_x=0.37 right_y=0.2977 right_z=0.0436 right_yaw=0.8275 right_pitch=-0.0682 right_roll=0.0275 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -5.6, 6.5299, 1.3016, -0.3199, -0.0415, 1.0281, -0.0479, -10.2085, 6.5162, 1.9072, -0.0269, 0.1294, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9672e5d94a5cdb8c185ea45df7d3d8b521daea1deb9f06173f4137256c0439f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af38bdce5995d764febd2568313a6c79c5ee91ba9c40c2c16d6ce9506ae2adad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1029c577985533a093e7966c63bd426f4d00ad0478f0eebc051a51ab8f0880e0",
        "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_01LfceSdWpwkK4hcmfeFidYB",
      "input": {
        "note": "Right wrist view shows the pen ~4 cm ahead of the jaws, tip up-right; its rear half is straight ahead. Advancing ~4 cm along the tool direction, finishing yaw to 0 (jaws across the pen) and descending to the table.",
        "targets": {
          "right_x": 0.395,
          "right_y": 0.325,
          "right_yaw": 0.0,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01LfceSdWpwkK4hcmfeFidYB",
      "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]: [-0.6636, 1.3811, 0.8963, -0.4313, -0.6205, -0.6056, 0.0724, 0.5888, 1.869, 0.8593, 0.3775, -0.2089, -0.1287, 0.9955]\nstate[eef_state]: left_x=0.3374 left_y=-0.1289 left_z=0.1407 left_yaw=0.1665 left_pitch=-0.1313 left_roll=0.0402 left_gripper=0.0724 right_x=0.3725 right_y=0.2971 right_z=0.0454 right_yaw=0.8135 right_pitch=-0.0595 right_roll=0.0311 right_gripper=0.9955\nstate[joint_eff]: [-0.253, -5.5179, 6.5573, 1.3114, -0.2759, -0.0269, 1.0281, -0.1846, -10.2222, 6.7077, 1.9853, 0.0122, 0.1148, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d64079b2ca8b31ab3738946b2c9736ba10a5f51805078d163fd3bbd72a8291e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b93c96bdb792c0125f71dc8d823adfee043c69bd44463a84e1de300e5e8898a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:654d165a450a00cd5dbecac56b5a2bd4f1df5b0660f6f96c41cc42ed6788ad4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 6.55 s

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

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6636, 1.3785, 0.8963, -0.4324, -0.6209, -0.6056, 0.0724, 0.4217, 1.8725, 0.9905, 0.2539, -0.3717, -0.3363, 0.9947]\nstate[eef_state]: left_x=0.3372 left_y=-0.1286 left_z=0.1415 left_yaw=0.1666 left_pitch=-0.13 left_roll=0.0392 left_gripper=0.0724 right_x=0.4198 right_y=0.2626 right_z=0.0753 right_yaw=0.8917 right_pitch=-0.0219 right_roll=-0.0517 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -5.641, 6.6667, 1.2723, -0.3394, -0.0562, 1.0281, -0.3624, -8.3487, 6.2154, 1.3651, -0.2711, 0.0024, 0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.6636, 1.3811, 0.8963, -0.4313, -0.6205, -0.6056, 0.0724, 0.5903, 1.869, 0.8593, 0.3672, -0.2157, -0.141, 0.9954]\nstate[eef_state]: left_x=0.3374 left_y=-0.1289 left_z=0.1407 left_yaw=0.1665 left_pitch=-0.1313 left_roll=0.0402 left_gripper=0.0724 right_x=0.37 right_y=0.2977 right_z=0.0436 right_yaw=0.8275 right_pitch=-0.0682 right_roll=0.0275 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -5.6, 6.5299, 1.3016, -0.3199, -0.0415, 1.0281, -0.0479, -10.2085, 6.5162, 1.9072, -0.0269, 0.1294, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6636, 1.3811, 0.8963, -0.4313, -0.6205, -0.6056, 0.0724, 0.5888, 1.869, 0.8593, 0.3775, -0.2089, -0.1287, 0.9955]\nstate[eef_state]: left_x=0.3374 left_y=-0.1289 left_z=0.1407 left_yaw=0.1665 left_pitch=-0.1313 left_roll=0.0402 left_gripper=0.0724 right_x=0.3725 right_y=0.2971 right_z=0.0454 right_yaw=0.8135 right_pitch=-0.0595 right_roll=0.0311 right_gripper=0.9955\nstate[joint_eff]: [-0.253, -5.5179, 6.5573, 1.3114, -0.2759, -0.0269, 1.0281, -0.1846, -10.2222, 6.7077, 1.9853, 0.0122, 0.1148, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d64079b2ca8b31ab3738946b2c9736ba10a5f51805078d163fd3bbd72a8291e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b93c96bdb792c0125f71dc8d823adfee043c69bd44463a84e1de300e5e8898a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:654d165a450a00cd5dbecac56b5a2bd4f1df5b0660f6f96c41cc42ed6788ad4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS/QcKEAgSGAI4AUIIdGhpbmtpbmcSDJoYiMNNRepJiBJBQRoMh9VXOxj/LeR0YfwlIjBTeGUUeZkqxcSAqyTUIvG+KpJtqC8rPZAb6KClIQuYv6OjtijsitBUf3eSr5r7XOQqmgfo7vypcOxn2Qqv1+s8bctWJ/jfTIw3a9G5c6rRDU/OKLAkFVvfRUOy4NBGxyA4GFU2K0E8vhQ4nkQwcoZXjnPW25Tu98YXWpcUZYW1ax0qPGXab0TKrhp/7JoZ3Cugz7V6ixUhCHPQZXHFnPVKj43M8ZNYxes3zjb+KAfa42rqZ/S7FSRv68S2Jez7fhPs0TrXvtdvcQVzcU6k4pj22dsCmblovKlhgHKHNt/oFzphZJIe1OgoGLN0rOh1DDIGwOtncrnJTIu6IfGeRiIGC9m9lQKfUv5Dt6LipShkZfJF8EVpHKcyA1qrCIQ5bxkvEzMvtPwwxpRPPpYsChHaaix+6QKFtOD+8rhIx4itJ5F05ogyoWlclx0uPbUYuv0CjgoyEUdjmW1+BcMY739LkM6T3KNjDs2jBmQcKXFUxeMFwac0PImvGSEvyvB9+n5mwTXKIWIDxfv+by2MWugbwieb45lim3hzLtR8/hdiltjGP+lAJ2vyNiX+WIQgSOYO9cR98D8dOgAkraGfiYgWOs1i8MocYGnnNxFBWY6q4n3v8A5IzOoS3DAY0521mep627yhcCaTU7cgW9vjYmcE2wosL+3w/NPg+jwV5JbxsSsDjXL6IMzJaxOHh/pWxdApNs5weHPlQQpyV8+AyqpbzI3gRluPv9dUVENQidxWYni0YMu+thncWZtD0tADsuH52eU/lEYhIjO4pcEWo1PUMVslUFEXFYAxL8YKe4iXfpMW+RfR8kjj2Jlx2+JxUvhY9AewsON8S3WvvkjTvc8+1e9mYoVitjjgnRon/Mgt4mwJCP2gyiBN7zrENUcVNVgiYQNPW1rAw1X6BeMF7VpU+6m1EJzHWdXGFr95G+EsEq91gz/iIKl3/da1A/CRJPyLt2b8wscOdktoxACzVZskM1GLC4ACiuQHjawcqwJgU8awTusN7ht769qs9LjahWFmtSQ04T0TTAXL8p6tBnQ+mTQUb9tuaBR9nGMYGP6zXWBqB7WWdTsy1O0+qTB8lHfLLGpm0Mpd/Uh+wnqslJ2DQ+j5MNYgFRChPAsJmZRa5qtlHDRep8U1He6Y/uetgJxohA1R+uH6TA1f/UNiU/Fw3yOG4j0jOmK0ain4+5uS3WiB2oDUOZD5vxGtHwKBT/gVjAZ4DYwrNWaitzNZvtVFbDjskRlq98ZQBlfn05qQxh1YvydXmU8wekIHVOQgw+ZBncOn4Bt/okPyWw9nGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013MT4M1dm19UHJjJMok597u",
      "input": {
        "note": "The right arm froze (no motion on the last command). Raising and taking a smaller yaw step to get the IK tracking again before descending on the pen.",
        "targets": {
          "right_x": 0.385,
          "right_y": 0.31,
          "right_yaw": 0.4,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_013MT4M1dm19UHJjJMok597u",
      "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]: [-0.6636, 1.3811, 0.8963, -0.4309, -0.6201, -0.6056, 0.0724, 0.7338, 1.8687, 0.96, 0.2356, 0.0246, 0.07, 0.9955]\nstate[eef_state]: left_x=0.3374 left_y=-0.129 left_z=0.1407 left_yaw=0.1662 left_pitch=-0.1312 left_roll=0.0397 left_gripper=0.0724 right_x=0.3632 right_y=0.3265 right_z=0.0544 right_yaw=0.6548 right_pitch=-0.1167 right_roll=0.0516 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -5.3265, 6.6803, 1.2918, -0.2808, -0.022, 1.0281, -0.253, -12.8889, 8.0752, 1.8046, 0.2613, 0.2418, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a04dcc4b0ec0dc9ba0ca685b74e03509f0b96d133c751503a1a04fa79ec26ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55f2a3317b2eb461570b6b79360245bc0572a217da3dfeec981f729ccbd4ff61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40d859d74d10f394abb4c13e6be4568cc124111246ca5a421b023395a55efa38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 4.596 s

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

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6636, 1.3811, 0.8963, -0.4313, -0.6205, -0.6056, 0.0724, 0.5903, 1.869, 0.8593, 0.3672, -0.2157, -0.141, 0.9954]\nstate[eef_state]: left_x=0.3374 left_y=-0.1289 left_z=0.1407 left_yaw=0.1665 left_pitch=-0.1313 left_roll=0.0402 left_gripper=0.0724 right_x=0.37 right_y=0.2977 right_z=0.0436 right_yaw=0.8275 right_pitch=-0.0682 right_roll=0.0275 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -5.6, 6.5299, 1.3016, -0.3199, -0.0415, 1.0281, -0.0479, -10.2085, 6.5162, 1.9072, -0.0269, 0.1294, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6636, 1.3811, 0.8963, -0.4313, -0.6205, -0.6056, 0.0724, 0.5888, 1.869, 0.8593, 0.3775, -0.2089, -0.1287, 0.9955]\nstate[eef_state]: left_x=0.3374 left_y=-0.1289 left_z=0.1407 left_yaw=0.1665 left_pitch=-0.1313 left_roll=0.0402 left_gripper=0.0724 right_x=0.3725 right_y=0.2971 right_z=0.0454 right_yaw=0.8135 right_pitch=-0.0595 right_roll=0.0311 right_gripper=0.9955\nstate[joint_eff]: [-0.253, -5.5179, 6.5573, 1.3114, -0.2759, -0.0269, 1.0281, -0.1846, -10.2222, 6.7077, 1.9853, 0.0122, 0.1148, -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 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]: [-0.6636, 1.3811, 0.8963, -0.4309, -0.6201, -0.6056, 0.0724, 0.7338, 1.8687, 0.96, 0.2356, 0.0246, 0.07, 0.9955]\nstate[eef_state]: left_x=0.3374 left_y=-0.129 left_z=0.1407 left_yaw=0.1662 left_pitch=-0.1312 left_roll=0.0397 left_gripper=0.0724 right_x=0.3632 right_y=0.3265 right_z=0.0544 right_yaw=0.6548 right_pitch=-0.1167 right_roll=0.0516 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -5.3265, 6.6803, 1.2918, -0.2808, -0.022, 1.0281, -0.253, -12.8889, 8.0752, 1.8046, 0.2613, 0.2418, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a04dcc4b0ec0dc9ba0ca685b74e03509f0b96d133c751503a1a04fa79ec26ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55f2a3317b2eb461570b6b79360245bc0572a217da3dfeec981f729ccbd4ff61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40d859d74d10f394abb4c13e6be4568cc124111246ca5a421b023395a55efa38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS6gkKEAgSGAI4AUIIdGhpbmtpbmcSDAxFtD1ZZK1MCCyGABoMGUCPcq7z2MMYLIwXIjBTQXiDHiJ0+XhT8d8p9fWZh1bkFkgWxwJXK1A0rJLh2SKMdRWjex0dn/JODkjzMugqhwleQTfXnSoKU0RHZZ9JhecbuCx1ihg4uJFQ1f9ChF+ORHN7J/a/MbMiy5Ct/z9VkQVRNNk67XPn2/mJaV40jpu1AlZ4AOfgMrX8fYZnlg9hhilUJpwfHgHynPsKYfKYUnnsnnTGiANhcw54Kf0ch2e3GtP2mTrRm+6YRIwK63303UP0xOnPajRA8+rpaJEt8DF+6gvhAYyxPh27M5lp6KxWpZRV48kX1eA5454/IiUSP7e8/VzADV1rXcMt+KP/ibAGbOEhY/fgXtDD1Uj1X5SjmtBeK3EXMulUxVFmJLpMKRfMDl6sxBf74SAOhESMDgHxbYw5RuPjjhlRV/ppLtxgW+ayNIYmx1aTaANLnOHmx1j1rvE02pYGp/NNHYY2TZ5zoYq4Y1FzJsvi7ga9bsF/apFNdkVYT2S597LE/ltoUj26KweKXLm5gfWAokeSgDF+bVNy0YS7Rily0AdI1pE/o9wDIg0XDQpa+szSpNbjwmiTD0wWFiegXuwVqwID1LBMfdCaOZxcoRdpjJ+y3vydbeeSt0NSajluRXaXJHwgPnrqtAF05L0O7wVd0Yk1opOgSE5Jpe9lZhPstCfObG80vtTaULKmPNGyBYEoP86Q3MadJhaPuJNxiPT+T51Fj52VQVvVZZGWUY7LmX0XWSGsJqk4N828TN9nXHB04ulf46xiulRBZ2TeM2qPhiJEmrNWfdT3Gas7/XHFIg7yIvxrZnWbpbIXcOv89Jc0HKyHKgoca+SWKqY8oimeM1SVv6S6ksAf8eH5ahYf91VEByBhegXzFYwDlPcB/HF6eZKBAMyGAvOkqJpRnoih4BsBbLHYCscGQzVwQsmXPCkkboeUMA04LXPL9mpDbbfvjcmkgcF1SMoZJ9YypSP4USkGkHUVPktwI5FGo+Ewy1xDp5Z/ZicGGIY8/hUqaDTOp1z3Vlu6RqoqF0OEiB1LZjhPkBMxebd/wuhkNmbdaPASYguyTmN/zX+eQWWaHePf9Dlrj2XzUV05zgtl9+fgOs83SQP3wQWjIyCqdVsDHW+0D2oqy132C/tOt34mvdoDxCMt+vZ3e34Odvg4BmGVLXNkFhMsIC4m9pRbqXsj487gAYhYySdcBD7inSFt+i9A1ZzKdEgQQARggIMFcEchU28vmqhqVrATCl0F5kUaMNu9dwUYPxwhmjyRReo9glRKdsj2xiGksGJY640xtM+r0N6wBG13zTFHWxjlJiiRe9jEPtMsqSQiIsvfAqyp4Hk3mgr+pfyqQFLWEwkRX20eGdebIXPRFUWFruUGQhc4OvVXUEZYrNMotcQwCQwsFUhmROtt5jOCmTSYEmsPCSZAU5x/UhtOTvwhPy6dBxb7axlNt8sRXTDcR4Ek1IV0O6G3S2XfC22HxWFAUuM6ny35Wnm35kov2gUdgv41aTg21s36VLUBuCEt8SobAn9yizr1omYgh6JKnaAY4DSdB3b0dwQK5z+erj9nvpqaf0SZC7QhNY/wbz6oKwK0nn0cJIwI3/h+i7R9bE7+A6ERypyPw+XtMqmyFmzzsRhJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WNwJcjJiH71yQEJwCoQTAu",
      "input": {
        "note": "Arm is tracking again; pen's rear end is on the jaw column a few cm ahead. Advancing ~3 cm, turning jaws across the pen, and descending to the table.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.345,
          "right_yaw": 0.05,
          "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_01WNwJcjJiH71yQEJwCoQTAu",
      "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]: [-0.6628, 1.3811, 0.8959, -0.4473, -0.6384, -0.6033, 0.0739, 0.8963, 2.167, 1.2213, 0.1604, 0.4736, 0.4583, 0.9955]\nstate[eef_state]: left_x=0.336 left_y=-0.1242 left_z=0.14 left_yaw=0.1797 left_pitch=-0.1317 left_roll=0.0639 left_gripper=0.0739 right_x=0.3855 right_y=0.3589 right_z=0.0063 right_yaw=0.2322 right_pitch=-0.1237 right_roll=0.0357 right_gripper=0.9955\nstate[joint_eff]: [-0.4308, -4.8752, 6.7077, 2.0586, 0.6032, -0.0806, 0.5446, 0.2803, -10.4547, 5.8188, 0.7497, 0.442, 0.2418, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66102addbd6728c00d3582df8567dffb9f3da714dfbd78c5b4081fe584487b1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01bd06ca95ef41d70556856ffd8b11e9eb82fa2e5f2fdaa2a75d3dceada21344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d484c6a2d0879ab9e49d7d81861cf67ffe69c5d6901a0d741cbfbbfa2c5bf13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 16.86 s

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

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6636, 1.3811, 0.8963, -0.4313, -0.6205, -0.6056, 0.0724, 0.5888, 1.869, 0.8593, 0.3775, -0.2089, -0.1287, 0.9955]\nstate[eef_state]: left_x=0.3374 left_y=-0.1289 left_z=0.1407 left_yaw=0.1665 left_pitch=-0.1313 left_roll=0.0402 left_gripper=0.0724 right_x=0.3725 right_y=0.2971 right_z=0.0454 right_yaw=0.8135 right_pitch=-0.0595 right_roll=0.0311 right_gripper=0.9955\nstate[joint_eff]: [-0.253, -5.5179, 6.5573, 1.3114, -0.2759, -0.0269, 1.0281, -0.1846, -10.2222, 6.7077, 1.9853, 0.0122, 0.1148, -0.0024]\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]: [-0.6636, 1.3811, 0.8963, -0.4309, -0.6201, -0.6056, 0.0724, 0.7338, 1.8687, 0.96, 0.2356, 0.0246, 0.07, 0.9955]\nstate[eef_state]: left_x=0.3374 left_y=-0.129 left_z=0.1407 left_yaw=0.1662 left_pitch=-0.1312 left_roll=0.0397 left_gripper=0.0724 right_x=0.3632 right_y=0.3265 right_z=0.0544 right_yaw=0.6548 right_pitch=-0.1167 right_roll=0.0516 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -5.3265, 6.6803, 1.2918, -0.2808, -0.022, 1.0281, -0.253, -12.8889, 8.0752, 1.8046, 0.2613, 0.2418, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6628, 1.3811, 0.8959, -0.4473, -0.6384, -0.6033, 0.0739, 0.8963, 2.167, 1.2213, 0.1604, 0.4736, 0.4583, 0.9955]\nstate[eef_state]: left_x=0.336 left_y=-0.1242 left_z=0.14 left_yaw=0.1797 left_pitch=-0.1317 left_roll=0.0639 left_gripper=0.0739 right_x=0.3855 right_y=0.3589 right_z=0.0063 right_yaw=0.2322 right_pitch=-0.1237 right_roll=0.0357 right_gripper=0.9955\nstate[joint_eff]: [-0.4308, -4.8752, 6.7077, 2.0586, 0.6032, -0.0806, 0.5446, 0.2803, -10.4547, 5.8188, 0.7497, 0.442, 0.2418, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66102addbd6728c00d3582df8567dffb9f3da714dfbd78c5b4081fe584487b1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01bd06ca95ef41d70556856ffd8b11e9eb82fa2e5f2fdaa2a75d3dceada21344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d484c6a2d0879ab9e49d7d81861cf67ffe69c5d6901a0d741cbfbbfa2c5bf13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS6AcKEAgSGAI4AUIIdGhpbmtpbmcSDHH+uKitsUz84XfRRRoMj8Y9KZlPxrTww2tZIjDFIpVrYQOC6NHpp/XwGwmXXMBQ9/poYxGLSVqt/FtDglwxdFeXE0ALjbL+sGKskpwqhQeoZ6Ozp7egK7TakGA4GIxlRz3Vqs0I6znekpSLlKt8X/FbPk4grooVqx1qgsxaKxTy4jUpLleRZHwaUOzMdxUr3hNKd/pT6YR0ZMdb0qzlKP98I8OHQ2zL9uGXhHXCrDiZTuAXHCmeuL/CBw2jZFaLFU/vFIoZCjavvYZzCjcBaovQ6u/gnZDVtVzugyMiWbv9b0wzoHWSVhe/HMimK3KNc/DhUBm9nwNUHn5+OaRRF7ky3wPH4UEG3jb9AiXgR49wuEB7L2qWulBHdohzbLWiosKJFylpFYSDOUYgzpx7hxCgayCggQ4I89PGLuK3SMwMv6A52WAOKSN/ANTnToNF05ZOOoBVMIgt9+Ue3+9wPahI4pOfr90vQOkHDvkmSDNS9dJ3QUk4pjR8YTfc5xyVbsN3S4yxtcLqEsnY32T+QEOUwQcgesBUKo4NnVjsiQstnTx0eF7dA9R6Bj+gxh3qD8pQO0tCCa08Kbda6Q7oYg9Z/uHm1unnczc+ebf3SAnxxj030eN82C6xIdG+py/eU1413AJZuHA2Uyu3wVASRvj80BE5uq/1or5VVl5IVd4nBY4QcDhCMi2FnruBWXRbzBUhqdpb23LuHQnWRinXDBAbt6ZEec0YPVvxsRjasObqsYtlbguz3rurNd7lJoUsgx6XqK6hLCmCKStIO2HDeMWGdYmdWvID9iNjPTlasNgZXgVYdGylRFSp0I23L/oAKn1mRDqpTuwtIx/hGtZuaEfWht4u/OeRTvN/d9cvgBQXNX26MU9Mbp0v+mO8Y9eJI12kj09MQDNJHer6xaPaIvgBsE28iMKvQib6iu3YsoL3flQyYbMW4M35djQ+X+LT51Si518LcsJ1GADrYElZLZwMkxPwn8BH1ipPp9/6vbLUNlTPa3W1G7JjDZmdu4asIkf0HNH61zrDc88F202tmGcwY0SlaRxw6Ll87jj95nPIaJEn4BYLX99TKK/TWbEEk2xMpSahF/TAytGSRwAKq7M7IKiueryyOaAQhClRup9YAUD1F9/CJB/igkPQFpi8maDghetQOZae3u6gGa3wb9yb4yUEGoVBKmYJ8o2t9iYuT8t6/BmxVk/OUemgPeC+1j+Jw3MfM1V18M/uZvCkDMVshnrCUIfhbBdhza/uxGimeD9VRqa+rU9qXBENVCAv6pRuIiU7f81e2EIZXcw/hRfE3KfBGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019DYncxJ4qoqnSUsCAf2cSr",
      "input": {
        "note": "Pen runs through the open jaws (right of centre, nearly aligned) at table level; closing on it.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019DYncxJ4qoqnSUsCAf2cSr",
      "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]: [-0.6571, 1.3777, 0.8944, -0.4576, -0.6254, -0.6052, 0.0736, 0.902, 2.1914, 1.2625, 0.086, 0.6083, 0.6247, 0.0489]\nstate[eef_state]: left_x=0.3344 left_y=-0.1228 left_z=0.1381 left_yaw=0.1786 left_pitch=-0.145 left_roll=0.0617 left_gripper=0.0736 right_x=0.3935 right_y=0.3409 right_z=0.0061 right_yaw=0.0443 right_pitch=-0.1034 right_roll=0.0555 right_gripper=0.0489\nstate[joint_eff]: [-0.6085, -4.9709, 6.653, 1.3944, -0.4664, -0.022, 0.9451, 0.4991, -10.4, 6.6803, 1.2625, 0.1343, 0.0317, 1.1062]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:879171547dde3ca7ca5c48449eade3618816588358f9e7e46cab2a395da084d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c445626f1135bf66db758fca1ff59915fecd6dc993acd801bcbbbf82d71f865",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:287bdaeb06ea5308053dfecce619601e32a6ff29c5402c669905dc3cb7bd8fd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 10.46 s

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

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6636, 1.3811, 0.8963, -0.4309, -0.6201, -0.6056, 0.0724, 0.7338, 1.8687, 0.96, 0.2356, 0.0246, 0.07, 0.9955]\nstate[eef_state]: left_x=0.3374 left_y=-0.129 left_z=0.1407 left_yaw=0.1662 left_pitch=-0.1312 left_roll=0.0397 left_gripper=0.0724 right_x=0.3632 right_y=0.3265 right_z=0.0544 right_yaw=0.6548 right_pitch=-0.1167 right_roll=0.0516 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -5.3265, 6.6803, 1.2918, -0.2808, -0.022, 1.0281, -0.253, -12.8889, 8.0752, 1.8046, 0.2613, 0.2418, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.6628, 1.3811, 0.8959, -0.4473, -0.6384, -0.6033, 0.0739, 0.8963, 2.167, 1.2213, 0.1604, 0.4736, 0.4583, 0.9955]\nstate[eef_state]: left_x=0.336 left_y=-0.1242 left_z=0.14 left_yaw=0.1797 left_pitch=-0.1317 left_roll=0.0639 left_gripper=0.0739 right_x=0.3855 right_y=0.3589 right_z=0.0063 right_yaw=0.2322 right_pitch=-0.1237 right_roll=0.0357 right_gripper=0.9955\nstate[joint_eff]: [-0.4308, -4.8752, 6.7077, 2.0586, 0.6032, -0.0806, 0.5446, 0.2803, -10.4547, 5.8188, 0.7497, 0.442, 0.2418, -0.0073]\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 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]: [-0.6571, 1.3777, 0.8944, -0.4576, -0.6254, -0.6052, 0.0736, 0.902, 2.1914, 1.2625, 0.086, 0.6083, 0.6247, 0.0489]\nstate[eef_state]: left_x=0.3344 left_y=-0.1228 left_z=0.1381 left_yaw=0.1786 left_pitch=-0.145 left_roll=0.0617 left_gripper=0.0736 right_x=0.3935 right_y=0.3409 right_z=0.0061 right_yaw=0.0443 right_pitch=-0.1034 right_roll=0.0555 right_gripper=0.0489\nstate[joint_eff]: [-0.6085, -4.9709, 6.653, 1.3944, -0.4664, -0.022, 0.9451, 0.4991, -10.4, 6.6803, 1.2625, 0.1343, 0.0317, 1.1062]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:879171547dde3ca7ca5c48449eade3618816588358f9e7e46cab2a395da084d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c445626f1135bf66db758fca1ff59915fecd6dc993acd801bcbbbf82d71f865",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:287bdaeb06ea5308053dfecce619601e32a6ff29c5402c669905dc3cb7bd8fd2",
        "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_01MJdqDDn2KEmAKtEbPgzE4k",
      "input": {
        "note": "Pen is held (0.049) with its tip pointing forward; cap is held by the left arm, pointing forward. Pulling the pen back and up while the left arm places the cap in front of the pen tip on the same line (centre line), at matching height.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.31,
          "left_yaw": 0.0,
          "left_z": 0.17,
          "right_x": 0.25,
          "right_y": 0.34,
          "right_yaw": 0.0,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01MJdqDDn2KEmAKtEbPgzE4k",
      "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]: [-0.8307, 1.9762, 1.6947, -0.7269, -0.6487, -0.6201, 0.0736, 1.1961, 1.8023, 1.3453, -0.7414, 0.7589, 1.063, 0.0538]\nstate[eef_state]: left_x=0.4109 left_y=-0.2864 left_z=0.1659 left_yaw=0.0365 left_pitch=-0.1742 left_roll=0.1147 left_gripper=0.0736 right_x=0.2558 right_y=0.3281 right_z=0.1302 right_yaw=-0.0338 right_pitch=-0.1847 right_roll=0.0168 right_gripper=0.0538\nstate[joint_eff]: [-0.8274, -8.0615, 8.6359, 1.9609, -0.1978, 0.0464, 1.0134, 3.1521, -12.1368, 10.8513, 1.4188, 0.9353, -0.7155, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f611c417f2a7fffc4fedd52821a6ff0d18f35afe22b88e14920af86687d73f18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7398ac07645dc732e82830d5758b60050a1a3804b8475f7ecbb2709e48581ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6403bd94a30bb5b1f2c91c7a0fc02b6ccb87dc14d50d9721cfe7e7b5fc075bce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 13.34 s

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

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6628, 1.3811, 0.8959, -0.4473, -0.6384, -0.6033, 0.0739, 0.8963, 2.167, 1.2213, 0.1604, 0.4736, 0.4583, 0.9955]\nstate[eef_state]: left_x=0.336 left_y=-0.1242 left_z=0.14 left_yaw=0.1797 left_pitch=-0.1317 left_roll=0.0639 left_gripper=0.0739 right_x=0.3855 right_y=0.3589 right_z=0.0063 right_yaw=0.2322 right_pitch=-0.1237 right_roll=0.0357 right_gripper=0.9955\nstate[joint_eff]: [-0.4308, -4.8752, 6.7077, 2.0586, 0.6032, -0.0806, 0.5446, 0.2803, -10.4547, 5.8188, 0.7497, 0.442, 0.2418, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.6571, 1.3777, 0.8944, -0.4576, -0.6254, -0.6052, 0.0736, 0.902, 2.1914, 1.2625, 0.086, 0.6083, 0.6247, 0.0489]\nstate[eef_state]: left_x=0.3344 left_y=-0.1228 left_z=0.1381 left_yaw=0.1786 left_pitch=-0.145 left_roll=0.0617 left_gripper=0.0736 right_x=0.3935 right_y=0.3409 right_z=0.0061 right_yaw=0.0443 right_pitch=-0.1034 right_roll=0.0555 right_gripper=0.0489\nstate[joint_eff]: [-0.6085, -4.9709, 6.653, 1.3944, -0.4664, -0.022, 0.9451, 0.4991, -10.4, 6.6803, 1.2625, 0.1343, 0.0317, 1.1062]",
      "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]: [-0.8307, 1.9762, 1.6947, -0.7269, -0.6487, -0.6201, 0.0736, 1.1961, 1.8023, 1.3453, -0.7414, 0.7589, 1.063, 0.0538]\nstate[eef_state]: left_x=0.4109 left_y=-0.2864 left_z=0.1659 left_yaw=0.0365 left_pitch=-0.1742 left_roll=0.1147 left_gripper=0.0736 right_x=0.2558 right_y=0.3281 right_z=0.1302 right_yaw=-0.0338 right_pitch=-0.1847 right_roll=0.0168 right_gripper=0.0538\nstate[joint_eff]: [-0.8274, -8.0615, 8.6359, 1.9609, -0.1978, 0.0464, 1.0134, 3.1521, -12.1368, 10.8513, 1.4188, 0.9353, -0.7155, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f611c417f2a7fffc4fedd52821a6ff0d18f35afe22b88e14920af86687d73f18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7398ac07645dc732e82830d5758b60050a1a3804b8475f7ecbb2709e48581ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6403bd94a30bb5b1f2c91c7a0fc02b6ccb87dc14d50d9721cfe7e7b5fc075bce",
        "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_01P8qbDH5iFSB1uq3Q1JNHdj",
      "input": {
        "note": "Both parts are up; the cap is ~3.6 cm off the pen's line and the pen arm sagged to z 0.13. Aligning the cap onto the pen axis and matching heights before pushing the pen in.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.41,
          "left_y": -0.322,
          "left_z": 0.165,
          "right_pitch": 0.0,
          "right_x": 0.25,
          "right_y": 0.328,
          "right_z": 0.185
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01P8qbDH5iFSB1uq3Q1JNHdj",
      "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]: [-0.8803, 1.9823, 1.6611, -0.6403, -0.7872, -0.6209, 0.0736, 1.2003, 1.8019, 1.3418, -0.8398, 0.8101, 1.1378, 0.0538]\nstate[eef_state]: left_x=0.4104 left_y=-0.2946 left_z=0.174 left_yaw=0.0679 left_pitch=-0.0544 left_roll=0.1485 left_gripper=0.0736 right_x=0.2527 right_y=0.3072 right_z=0.1292 right_yaw=-0.106 right_pitch=-0.1689 right_roll=-0.0399 right_gripper=0.0538\nstate[joint_eff]: [-3.4256, -7.8427, 5.094, 2.1465, -0.4078, 0.0855, 1.0134, 4.8752, -13.7504, 9.1282, 1.5116, 1.7265, -0.9304, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91ebc84767bf2721c64b45a42b765d27d302b0e7679b66144acb4bcd26b7e333",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5baf7d46b2d7edaabc5a55af3e2a9f284760a1688302d1d5af08455632f0be44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd46a7d48d03fe5e0c498cfd8915ce59f6ab4b163c047796efcec4aae93dc37a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]