adhoc - adhoc_45536686.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: 332.6 s
total steps: 270

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 noteOverhead view shows the pen cap left of centre (lying roughly along y) and the pen right of centre. Moving the left arm above the cap, with the wrist yawed 90° so the jaws close across it.

move_to

left_x0.3600left_y-0.1500left_z0.1200left_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]: [-0.0204, 0.7933, 0.6029, -0.3794, -0.0216, -0.0246, 0.9995, -0.0185, 0.7918, 0.6102, -0.3725, -0.0204, -0.0124, 0.9991] state[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1798 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2963 right_y=0.0017 right_z=0.185 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9991 state[joint_eff]: [-0.4034, -1.5658, 10.3726, 1.79, -0.0269, 0.105, -0.0659, -0.7863, -1.388, 9.7299, 1.707, -0.0562, -0.0024, -0.105] 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": 0.36, "left_y": -0.15, "left_z": 0.12, "left_yaw": 1.57}, "note": "Overhead view shows the pen cap left of centre (lying roughly along y) and the pen right of centre. Moving the left arm above the cap, with the wrist yawed 90\u00b0 so the jaws close across it."})

tool

executing move_to over 14 steps (1.4s)

step 14

assistant

agent noteLeft arm appears over the cap region in the top view but readback lags the target (large yaw move); re-issuing to let it settle.

move_to

left_x0.3600left_y-0.1500left_z0.1200left_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]: [-0.3988, 2.2917, 1.8538, -1.5269, -0.9024, -2.0567, 0.9994, -0.0181, 0.7979, 0.6128, -0.3878, -0.0208, -0.0124, 0.9991] state[eef_state]: left_x=0.3984 left_y=-0.0135 left_z=0.0953 left_yaw=1.4542 left_pitch=-0.0401 left_roll=0.0096 left_gripper=0.9994 right_x=0.2951 right_y=0.0019 right_z=0.1814 right_yaw=0.001 right_pitch=-0.0187 right_roll=0.0008 right_gripper=0.9991 state[joint_eff]: [-1.0735, -11.7538, 6.5709, -0.7399, -0.3736, -0.0855, -0.0171, -0.0752, -1.7026, 6.8581, 1.8926, -0.0415, -0.0659, -0.022] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_y": -0.15, "left_z": 0.12, "left_yaw": 1.57}, "note": "Left arm appears over the cap region in the top view but readback lags the target (large yaw move); re-issuing to let it settle."})

tool

executing move_to over 13 steps (1.3s)

step 27

assistant

agent noteLeft arm is stuck near x0.40,y-0.01,z0.08 and not tracking the yawed target; returning yaw to 0 to see if position tracks, then I'll add yaw gradually.

move_to

left_x0.3600left_y-0.1500left_z0.1500left_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]: [-0.3878, 2.3421, 1.8881, -1.5574, -0.8558, -2.0933, 0.9994, -0.0185, 0.7986, 0.6128, -0.3901, -0.0204, -0.012, 0.9991] state[eef_state]: left_x=0.3952 left_y=-0.0135 left_z=0.0799 left_yaw=1.507 left_pitch=-0.0662 left_roll=0.037 left_gripper=0.9994 right_x=0.2948 right_y=0.0017 right_z=0.1807 right_yaw=0.0001 right_pitch=-0.0217 right_roll=0.0009 right_gripper=0.9991 state[joint_eff]: [0.294, -15.665, 4.506, -0.6178, -0.3883, -0.0269, -0.0122, -0.0615, -1.1556, 7.1043, 1.7802, -0.0415, -0.022, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_y": -0.15, "left_z": 0.15, "left_yaw": 0.0}, "note": "Left arm is stuck near x0.40,y-0.01,z0.08 and not tracking the yawed target; returning yaw to 0 to see if position tracks, then I'll add yaw gradually."})

tool

executing move_to over 13 steps (1.3s)

step 40

assistant

agent noteCap now visible centred ahead of the left jaws. Advancing ~3 cm and rotating yaw gradually (to 0.8 first) so the jaws will close across the cap's short axis.

move_to

left_x0.3850left_y-0.1300left_z0.1500left_yaw0.8000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6346, 1.4246, 0.8791, -0.3191, -0.6086, -0.5564, 0.9993, -0.0181, 0.8043, 0.6132, -0.3954, -0.0208, -0.0124, 0.9991] state[eef_state]: left_x=0.3533 left_y=-0.1302 left_z=0.1339 left_yaw=0.1565 left_pitch=-0.1055 left_roll=0.0347 left_gripper=0.9993 right_x=0.2945 right_y=0.0019 right_z=0.1782 right_yaw=0.001 right_pitch=-0.0324 right_roll=0.001 right_gripper=0.9991 state[joint_eff]: [0.4718, -6.8171, 6.8855, 1.8046, -0.1148, 0.2662, -0.022, -0.0615, -1.7573, 6.9949, 1.8535, -0.0366, -0.0513, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.385, "left_y": -0.13, "left_z": 0.15, "left_yaw": 0.8}, "note": "Cap now visible centred ahead of the left jaws. Advancing ~3 cm and rotating yaw gradually (to 0.8 first) so the jaws will close across the cap's short axis."})

tool

executing move_to over 5 steps (0.5s)

step 45

assistant

agent noteYaw is tracking gradually; cap is just ahead of the jaws in the wrist view. Continuing the yaw to ~1.45 so the cap lies across the jaw column.

move_to

left_x0.3850left_y-0.1400left_z0.1500left_yaw1.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6868, 1.9148, 1.5097, -0.9123, -0.8211, -1.1595, 0.9993, -0.0181, 0.8082, 0.6128, -0.4107, -0.0208, -0.0124, 0.9991] state[eef_state]: left_x=0.3978 left_y=-0.1544 left_z=0.1349 left_yaw=0.6043 left_pitch=-0.1529 left_roll=0.0615 left_gripper=0.9993 right_x=0.2926 right_y=0.002 right_z=0.1738 right_yaw=0.0011 right_pitch=-0.0519 right_roll=0.0014 right_gripper=0.9991 state[joint_eff]: [0.3761, -11.1795, 6.6256, 0.1148, -0.6618, -0.1001, -0.0171, -0.1436, -1.5385, 7.0085, 1.8877, -0.0415, -0.0708, -0.0122] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.385, "left_y": -0.14, "left_z": 0.15, "left_yaw": 1.45}, "note": "Yaw is tracking gradually; cap is just ahead of the jaws in the wrist view. Continuing the yaw to ~1.45 so the cap lies across the jaw column."})

tool

executing move_to over 6 steps (0.6s)

step 51

assistant

agent noteAt yaw ~1.3 the cap now appears aligned perpendicular to the jaws in the wrist view, but the position drifted (y -0.09, z 0.09). Holding yaw at 1.3 and re-commanding the position over the cap.

move_to

left_x0.3850left_y-0.1400left_z0.1400left_yaw1.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5568, 2.2475, 1.8545, -1.5177, -0.7685, -1.9636, 0.9993, -0.0181, 0.8127, 0.6128, -0.4141, -0.0208, -0.0124, 0.9991] state[eef_state]: left_x=0.3797 left_y=-0.0875 left_z=0.0939 left_yaw=1.292 left_pitch=-0.1776 left_roll=0.0651 left_gripper=0.9993 right_x=0.2924 right_y=0.002 right_z=0.1719 right_yaw=0.0011 right_pitch=-0.0599 right_roll=0.0016 right_gripper=0.9991 state[joint_eff]: [0.1573, -11.0291, 5.9966, -0.3785, -0.3346, -0.1343, -0.0171, -0.0615, -1.6342, 7.0222, 1.7509, -0.0708, -0.0757, -0.0171] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.385, "left_y": -0.14, "left_z": 0.14, "left_yaw": 1.3}, "note": "At yaw ~1.3 the cap now appears aligned perpendicular to the jaws in the wrist view, but the position drifted (y -0.09, z 0.09). Holding yaw at 1.3 and re-commanding the position over the cap."})

tool

executing move_to over 5 steps (0.5s)

step 56

assistant

agent noteCap is visible just ahead of the jaws and aligned perpendicular to them. Descending toward the cap (to z 0.03) while nudging toward its estimated position.

move_to

left_x0.3850left_y-0.1200left_z0.0300left_yaw1.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5877, 2.2566, 1.8843, -1.557, -0.7483, -2.0132, 0.9993, -0.0181, 0.8131, 0.6128, -0.4133, -0.0204, -0.0124, 0.9991] state[eef_state]: left_x=0.374 left_y=-0.1004 left_z=0.0965 left_yaw=1.2995 left_pitch=-0.1885 left_roll=0.0521 left_gripper=0.9993 right_x=0.2925 right_y=0.0019 right_z=0.172 right_yaw=0.0007 right_pitch=-0.0595 right_roll=0.0013 right_gripper=0.9991 state[joint_eff]: [0.5538, -10.906, 6.9402, -0.4567, -0.5397, 0.2027, -0.0171, -0.0889, -1.347, 7.0632, 1.6728, -0.0415, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.385, "left_y": -0.12, "left_z": 0.03, "left_yaw": 1.3}, "note": "Cap is visible just ahead of the jaws and aligned perpendicular to them. Descending toward the cap (to z 0.03) while nudging toward its estimated position."})

tool

executing move_to over 5 steps (0.5s)

step 61

assistant

agent noteLeft arm is locked at a joint limit with yaw +1.3 (position not changing). Backing out to yaw 0 above the cap so I can try the opposite yaw direction.

move_to

left_x0.3600left_y-0.1300left_z0.1500left_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]: [-0.5785, 2.2566, 1.8843, -1.5562, -0.7483, -2.006, 0.9993, -0.0185, 0.8139, 0.6128, -0.4129, -0.0208, -0.0124, 0.9991] state[eef_state]: left_x=0.375 left_y=-0.0971 left_z=0.0964 left_yaw=1.3045 left_pitch=-0.189 left_roll=0.0567 left_gripper=0.9993 right_x=0.2926 right_y=0.0018 right_z=0.1718 right_yaw=0.0007 right_pitch=-0.0599 right_roll=0.0016 right_gripper=0.9991 state[joint_eff]: [-0.2667, -11.3026, 6.9265, -0.4957, -0.5543, 0.1441, -0.0073, -0.1436, -1.4017, 7.0222, 1.6923, -0.0366, -0.0513, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_y": -0.13, "left_z": 0.15, "left_yaw": 0.0}, "note": "Left arm is locked at a joint limit with yaw +1.3 (position not changing). Backing out to yaw 0 above the cap so I can try the opposite yaw direction."})

tool

executing move_to over 9 steps (0.9s)

step 70

assistant

agent noteArm is unwinding; cap visible ahead in the wrist view. Trying the negative yaw direction (to -0.7 first) to align the jaws across the cap without hitting the wrist limit.

move_to

left_x0.3700left_y-0.1400left_z0.1500left_yaw-0.7000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5579, 1.4384, 0.9752, -0.6621, -0.5297, -1.0573, 0.9991, -0.0181, 0.8204, 0.6128, -0.4179, -0.0208, -0.0124, 0.9991] state[eef_state]: left_x=0.3266 left_y=-0.0944 left_z=0.1173 left_yaw=0.5045 left_pitch=-0.3322 left_roll=-0.1558 left_gripper=0.9991 right_x=0.2923 right_y=0.002 right_z=0.1691 right_yaw=0.0011 right_pitch=-0.0713 right_roll=0.0018 right_gripper=0.9991 state[joint_eff]: [0.3214, -8.253, 7.8838, 1.5018, -0.315, 0.2955, -0.0269, -0.2393, -1.5111, 7.0085, 1.8095, -0.0122, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.37, "left_y": -0.14, "left_z": 0.15, "left_yaw": -0.7}, "note": "Arm is unwinding; cap visible ahead in the wrist view. Trying the negative yaw direction (to -0.7 first) to align the jaws across the cap without hitting the wrist limit."})

tool

executing move_to over 8 steps (0.8s)

step 78

assistant

agent noteNegative yaw is tracking; cap seen ahead-left in wrist view. Continuing yaw to -1.3 and resetting pitch/roll to 0 so the jaws are vertical over the cap.

move_to

left_x0.3800left_y-0.1400left_z0.1400left_yaw-1.3000left_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]: [-0.2211, 1.5166, 1.1156, -0.5957, 0.226, 0.0448, 0.9991, -0.0181, 0.8238, 0.6128, -0.4206, -0.0208, -0.0124, 0.9991] state[eef_state]: left_x=0.369 left_y=-0.1198 left_z=0.132 left_yaw=-0.4662 left_pitch=-0.4011 left_roll=-0.1745 left_gripper=0.9991 right_x=0.2921 right_y=0.002 right_z=0.1676 right_yaw=0.0011 right_pitch=-0.0774 right_roll=0.0019 right_gripper=0.9991 state[joint_eff]: [0.2667, -7.0085, 9.0188, 1.16, 0.3004, 0.2955, -0.0171, -0.0479, -1.6752, 6.9675, 1.6728, -0.0366, -0.0513, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.38, "left_y": -0.14, "left_z": 0.14, "left_yaw": -1.3, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Negative yaw is tracking; cap seen ahead-left in wrist view. Continuing yaw to -1.3 and resetting pitch/roll to 0 so the jaws are vertical over the cap."})

tool

executing move_to over 14 steps (1.4s)

step 92

assistant

agent noteCap now sits near the bottom of the wrist view, aligned perpendicular to the jaws, slightly toward tool-left (+x). Shifting ~2 cm forward and descending to table level to grasp it.

move_to

left_x0.3950left_y-0.1300left_z0.0050left_yaw-1.2500left_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]: [-0.0059, 1.7454, 1.1866, -0.6144, 0.8562, 0.9527, 0.9991, -0.0181, 0.8242, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991] state[eef_state]: left_x=0.3765 left_y=-0.1321 left_z=0.1218 left_yaw=-1.2043 left_pitch=-0.0812 left_roll=-0.0802 left_gripper=0.9991 right_x=0.2922 right_y=0.002 right_z=0.1676 right_yaw=0.0011 right_pitch=-0.0774 right_roll=0.0019 right_gripper=0.9991 state[joint_eff]: [0.294, -8.0068, 8.8137, 0.9451, 0.7399, 0.2027, -0.0122, -0.0205, -1.4427, 7.1863, 1.6532, -0.0415, -0.0611, -0.0122] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.395, "left_y": -0.13, "left_z": 0.005, "left_yaw": -1.25, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Cap now sits near the bottom of the wrist view, aligned perpendicular to the jaws, slightly toward tool-left (+x). Shifting ~2 cm forward and descending to table level to grasp it."})

tool

executing move_to over 8 steps (0.8s)

step 100

assistant

agent noteGrippers at table level with the cap between the jaws (visible at bottom of wrist view). Closing the left gripper.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.017, 2.0327, 1.0183, -0.1772, 0.8982, 1.0084, 0.9991, -0.0185, 0.8268, 0.6128, -0.4202, -0.0204, -0.0124, 0.9991] state[eef_state]: left_x=0.3869 left_y=-0.128 left_z=0.0048 left_yaw=-1.2293 left_pitch=-0.0491 left_roll=-0.0658 left_gripper=0.9991 right_x=0.2923 right_y=0.0018 right_z=0.1668 right_yaw=0.0004 right_pitch=-0.0801 right_roll=0.0017 right_gripper=0.9991 state[joint_eff]: [0.2803, -9.2923, 4.5744, 1.0867, 0.7106, 0.188, -0.0122, -0.2256, -1.5795, 7.0222, 1.6386, -0.0513, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "Grippers at table level with the cap between the jaws (visible at bottom of wrist view). Closing the left gripper."})

tool

executing move_to over 10 steps (1.0s)

step 110

assistant

agent noteGripper closed fully (0.012) — missed the cap. Opening and lifting to re-locate the cap in the wrist and top views.

move_to

left_gripper1.0000left_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]: [0.0193, 2.0377, 1.0119, -0.1474, 0.9161, 1.0042, 0.012, -0.0185, 0.8288, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991] state[eef_state]: left_x=0.3884 left_y=-0.1291 left_z=0.0057 left_yaw=-1.2311 left_pitch=-0.0276 left_roll=-0.0572 left_gripper=0.012 right_x=0.2924 right_y=0.0019 right_z=0.1663 right_yaw=0.0007 right_pitch=-0.082 right_roll=0.002 right_gripper=0.9991 state[joint_eff]: [-0.4581, -9.6479, 5.6274, 0.5641, 0.4615, 0.0366, 0.3297, -0.335, -1.3607, 7.2, 1.6484, -0.0317, -0.0855, -0.0122] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0, "left_z": 0.12}, "note": "Gripper closed fully (0.012) \u2014 missed the cap. Opening and lifting to re-locate the cap in the wrist and top views."})

tool

executing move_to over 10 steps (1.0s)

step 120

assistant

agent noteThe cap still appears just below the jaws at the bottom of the wrist view; the first close was likely too high. Descending again, this time pressing slightly below table level.

move_to

left_x0.3900left_y-0.1270left_z-0.0120left_yaw-1.2300left_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]: [0.0193, 1.8381, 1.1698, -0.548, 0.897, 0.9962, 0.9951, -0.0181, 0.8291, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991] state[eef_state]: left_x=0.3842 left_y=-0.1271 left_z=0.0929 left_yaw=-1.2213 left_pitch=-0.0585 left_roll=-0.0989 left_gripper=0.9951 right_x=0.2924 right_y=0.002 right_z=0.1662 right_yaw=0.0011 right_pitch=-0.0824 right_roll=0.002 right_gripper=0.9991 state[joint_eff]: [-0.2256, -11.2479, 8.6085, 0.8767, 0.5055, -0.0073, -0.149, -0.0752, -1.4427, 7.0085, 1.6581, -0.022, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.39, "left_y": -0.127, "left_z": -0.012, "left_yaw": -1.23, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The cap still appears just below the jaws at the bottom of the wrist view; the first close was likely too high. Descending again, this time pressing slightly below table level."})

tool

executing move_to over 7 steps (0.7s)

step 127

assistant

agent noteAt table contact with the dark cap visible between the jaws. Closing again.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0223, 2.0441, 0.9733, -0.083, 0.9375, 1.008, 0.9961, -0.0185, 0.8314, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991] state[eef_state]: left_x=0.3841 left_y=-0.1303 left_z=0.0012 left_yaw=-1.2384 left_pitch=-0.0029 left_roll=-0.0416 left_gripper=0.9961 right_x=0.2926 right_y=0.0018 right_z=0.1656 right_yaw=0.0007 right_pitch=-0.0847 right_roll=0.002 right_gripper=0.9991 state[joint_eff]: [0.1299, -7.0769, 3.6444, 0.5983, -0.2173, -0.0464, 0.0952, -0.2803, -1.6205, 7.1179, 1.6972, -0.0366, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "At table contact with the dark cap visible between the jaws. Closing again."})

tool

executing move_to over 10 steps (1.0s)

step 137

assistant

agent noteGripper settled at 0.055 (~5 mm), suggesting something is held. Lifting to confirm the cap came up with the jaws.

move_to

left_z0.0800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0238, 2.0544, 0.9646, -0.0578, 0.9512, 1.0046, 0.055, -0.0185, 0.8318, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991] state[eef_state]: left_x=0.3834 left_y=-0.1311 left_z=-0.001 left_yaw=-1.2406 left_pitch=0.0109 left_roll=-0.0424 left_gripper=0.055 right_x=0.2926 right_y=0.0018 right_z=0.1655 right_yaw=0.0007 right_pitch=-0.085 right_roll=0.002 right_gripper=0.9991 state[joint_eff]: [-0.4718, -10.3453, 5.7368, 0.7399, 0.3736, -0.0122, 1.1502, -0.1846, -1.4427, 7.0085, 1.6435, -0.0269, -0.0464, -0.0122] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.08}, "note": "Gripper settled at 0.055 (~5 mm), suggesting something is held. Lifting to confirm the cap came up with the jaws."})

tool

executing move_to over 6 steps (0.6s)

step 143

assistant

agent noteLeft gripper is holding the cap (settled at 0.065, cap gone from the table). Now moving the right arm above the pen (diagonal, ~36° from forward) with yaw 0.6 so the jaws close across it.

move_to

right_x0.3200right_y0.2200right_z0.1200right_yaw0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0238, 1.8874, 1.0382, -0.3122, 0.9398, 1.0039, 0.0652, -0.0185, 0.8318, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991] state[eef_state]: left_x=0.3816 left_y=-0.13 left_z=0.0588 left_yaw=-1.2355 left_pitch=-0.0033 left_roll=-0.053 left_gripper=0.0652 right_x=0.2926 right_y=0.0018 right_z=0.1655 right_yaw=0.0007 right_pitch=-0.085 right_roll=0.002 right_gripper=0.9991 state[joint_eff]: [-0.2256, -10.8103, 7.8017, 0.9206, 0.486, -0.0269, 1.0281, -0.1299, -1.4564, 7.2547, 1.6777, -0.0562, -0.0757, -0.0122] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.32, "right_y": 0.22, "right_z": 0.12, "right_yaw": 0.6}, "note": "Left gripper is holding the cap (settled at 0.065, cap gone from the table). Now moving the right arm above the pen (diagonal, ~36\u00b0 from forward) with yaw 0.6 so the jaws close across it."})

tool

executing move_to over 19 steps (1.9s)

step 162

assistant

agent noteRight wrist view shows the pen aligned perpendicular to the jaws but ~3 cm to the tool's right. Shifting right and descending to 3 cm to check alignment before grasping near the pen's back end.

move_to

right_x0.3260right_y0.1800right_z0.0300right_yaw0.6000right_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]: [0.0238, 1.8862, 1.0367, -0.3256, 0.9237, 1.0039, 0.0708, 0.5728, 1.3273, 0.6514, -0.036, -0.0055, 0.001, 0.9991] state[eef_state]: left_x=0.3799 left_y=-0.1283 left_z=0.0558 left_yaw=-1.2293 left_pitch=-0.0216 left_roll=-0.0615 left_gripper=0.0708 right_x=0.3101 right_y=0.2054 right_z=0.1007 right_yaw=0.5719 right_pitch=-0.1581 right_roll=0.0036 right_gripper=0.9991 state[joint_eff]: [-0.0752, -8.841, 5.5179, 0.989, 0.5495, -0.0317, 1.0281, 0.6632, -4.9573, 8.8137, 1.8974, -0.0611, -0.0952, -0.0122] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.326, "right_y": 0.18, "right_z": 0.03, "right_yaw": 0.6, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Right wrist view shows the pen aligned perpendicular to the jaws but ~3 cm to the tool's right. Shifting right and descending to 3 cm to check alignment before grasping near the pen's back end."})

tool

executing move_to over 6 steps (0.6s)

step 168

assistant

agent notePen lies between the right jaws with its back end right at the grasp line. Moving ~2 cm forward along the pen and pressing to table level so the jaws straddle the pen barrel near its back end.

move_to

right_x0.3300right_y0.1800right_z-0.0100right_yaw0.6000right_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]: [0.0238, 1.8862, 1.0359, -0.3267, 0.9134, 1.0035, 0.0708, 0.4347, 1.5951, 0.3695, 0.5255, -0.1204, -0.0742, 0.9991] state[eef_state]: left_x=0.38 left_y=-0.1272 left_z=0.0542 left_yaw=-1.2252 left_pitch=-0.0312 left_roll=-0.0606 left_gripper=0.0708 right_x=0.3103 right_y=0.1714 right_z=0.0077 right_yaw=0.5723 right_pitch=-0.1404 right_roll=0.02 right_gripper=0.9991 state[joint_eff]: [-0.3077, -8.9641, 5.4222, 0.8767, 0.5006, -0.0659, 1.0281, -0.4991, -6.0376, 4.4103, 1.956, -0.2222, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.33, "right_y": 0.18, "right_z": -0.01, "right_yaw": 0.6, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Pen lies between the right jaws with its back end right at the grasp line. Moving ~2 cm forward along the pen and pressing to table level so the jaws straddle the pen barrel near its back end."})

tool

executing move_to over 5 steps (0.5s)

step 173

assistant

agent notePen barrel runs between the right jaws with its writing tip pointing forward, well clear. Closing the right gripper on the back half of the pen.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0238, 1.8862, 1.0355, -0.3275, 0.8974, 1.0039, 0.0708, 0.4183, 1.8378, 0.3462, 0.9394, -0.1551, -0.112, 0.999] state[eef_state]: left_x=0.3806 left_y=-0.1255 left_z=0.052 left_yaw=-1.2191 left_pitch=-0.0456 left_roll=-0.0567 left_gripper=0.0708 right_x=0.3322 right_y=0.1814 right_z=-0.001 right_yaw=0.6038 right_pitch=0.0092 right_roll=-0.0146 right_gripper=0.999 state[joint_eff]: [-0.1846, -8.9231, 5.4222, 0.862, 0.5885, -0.022, 1.0232, -0.7179, -4.7795, 2.9607, 0.9353, -0.1929, 0.1636, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "Pen barrel runs between the right jaws with its writing tip pointing forward, well clear. Closing the right gripper on the back half of the pen."})

tool

executing move_to over 10 steps (1.0s)

step 183

assistant

agent noteRight gripper holds the pen (0.055) with the tip pointing forward along the tool. Lifting it and yawing to ~1.2 so the tip points toward the left arm's cap for the capping step.

move_to

right_x0.3000right_y0.1700right_z0.1000right_yaw1.2000right_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]: [0.0238, 1.8862, 1.0348, -0.3264, 0.8894, 1.0039, 0.0708, 0.4183, 1.866, 0.3401, 1.0019, -0.1619, -0.1062, 0.0547] state[eef_state]: left_x=0.3809 left_y=-0.1246 left_z=0.0508 left_yaw=-1.2159 left_pitch=-0.0525 left_roll=-0.0539 left_gripper=0.0708 right_x=0.3338 right_y=0.1835 right_z=0.0004 right_yaw=0.6067 right_pitch=0.0376 right_roll=-0.0114 right_gripper=0.0547 state[joint_eff]: [-0.335, -8.9504, 5.4222, 0.8523, 0.4176, -0.0317, 1.0281, -0.5675, -5.1487, 3.494, 1.5653, -0.0806, -0.0073, 1.3602] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.3, "right_y": 0.17, "right_z": 0.1, "right_yaw": 1.2, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Right gripper holds the pen (0.055) with the tip pointing forward along the tool. Lifting it and yawing to ~1.2 so the tip points toward the left arm's cap for the capping step."})

tool

executing move_to over 7 steps (0.7s)

step 190

assistant

agent notePen is held up with its tip pointing toward the left arm. Moving the cap (held by left gripper) to a spot a few cm beyond the pen tip, yawed so the cap's axis lines up with the pen.

move_to

left_x0.3550left_y-0.3300left_z0.1200left_yaw-1.9000left_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]: [0.0238, 1.8862, 1.0348, -0.3264, 0.8864, 1.0035, 0.0708, 0.1188, 1.4723, 0.6407, 0.0452, -0.7464, -0.6525, 0.0609] state[eef_state]: left_x=0.3811 left_y=-0.1242 left_z=0.0504 left_yaw=-1.2145 left_pitch=-0.0551 left_roll=-0.0533 left_gripper=0.0708 right_x=0.3275 right_y=0.1635 right_z=0.0928 right_yaw=1.0613 right_pitch=0.0071 right_roll=-0.047 right_gripper=0.0609 state[joint_eff]: [-0.1436, -8.9504, 5.3949, 0.8816, 0.4029, -0.0757, 1.0281, -0.335, -7.6923, 6.9538, 1.243, -0.525, -0.1636, 1.0281] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.355, "left_y": -0.33, "left_z": 0.12, "left_yaw": -1.9, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Pen is held up with its tip pointing toward the left arm. Moving the cap (held by left gripper) to a spot a few cm beyond the pen tip, yawed so the cap's axis lines up with the pen."})

tool

executing move_to over 19 steps (1.9s)

step 209

assistant

agent noteLeft wrist view shows the pen tip pointing at the left jaws but slightly to tool-left and low, with the pen axis ~13° off. Rotating the cap to yaw -2.08 to match the pen axis, shifting 1.5 cm forward (+x) and lowering to pen height.

move_to

left_x0.3700left_y-0.3200left_z0.0950left_yaw-2.0800left_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]: [-0.4358, 2.2135, 1.787, -0.9474, 0.9543, 1.2861, 0.0708, 0.1135, 1.4673, 0.6392, 0.0341, -0.7521, -0.6617, 0.0609] state[eef_state]: left_x=0.3574 left_y=-0.3215 left_z=0.1079 left_yaw=-1.8561 left_pitch=-0.0338 left_roll=-0.0282 left_gripper=0.0708 right_x=0.326 right_y=0.1622 right_z=0.0928 right_yaw=1.0647 right_pitch=0.0057 right_roll=-0.0463 right_gripper=0.0609 state[joint_eff]: [-0.4171, -11.494, 7.9795, 0.5153, 0.7937, 0.2564, 1.0281, 0.0615, -5.1761, 6.0376, 1.4579, -0.2955, 0.0659, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.37, "left_y": -0.32, "left_z": 0.095, "left_yaw": -2.08, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Left wrist view shows the pen tip pointing at the left jaws but slightly to tool-left and low, with the pen axis ~13\u00b0 off. Rotating the cap to yaw -2.08 to match the pen axis, shifting 1.5 cm forward (+x) and lowering to pen height."})

tool

executing move_to over 2 steps (0.2s)

step 211

assistant

agent noteTop view shows the cap gripper right next to the pen tip; yaw is still settling. Backing the cap ~2 cm away along the pen axis and matching the pen height so I can line it up before sliding it on.

move_to

left_x0.3800left_y-0.3100left_z0.0920left_yaw-2.0800left_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]: [-0.4381, 2.4187, 2.1162, -1.1904, 0.9775, 1.4837, 0.0751, 0.1131, 1.4643, 0.6373, 0.0322, -0.7528, -0.6624, 0.0657] state[eef_state]: left_x=0.3765 left_y=-0.3342 left_z=0.1028 left_yaw=-1.9716 left_pitch=-0.0222 left_roll=0.0145 left_gripper=0.0751 right_x=0.3252 right_y=0.1621 right_z=0.0929 right_yaw=1.0653 right_pitch=0.0057 right_roll=-0.046 right_gripper=0.0657 state[joint_eff]: [1.5932, -11.7402, 1.9897, -1.2234, 0.4762, 0.2466, 0.8669, -0.0752, -5.2855, 6.0786, 1.453, -0.2662, -0.0317, 1.0379] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.38, "left_y": -0.31, "left_z": 0.092, "left_yaw": -2.08, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Top view shows the cap gripper right next to the pen tip; yaw is still settling. Backing the cap ~2 cm away along the pen axis and matching the pen height so I can line it up before sliding it on."})

tool

executing move_to over 3 steps (0.3s)

step 214

assistant

agent noteRight wrist view shows the cap gripper lined up just beyond the pen tip, but the left arm sagged to z 0.05, below the pen (z 0.09). Commanding it higher to bring the cap level with the pen.

move_to

left_x0.3700left_y-0.3100left_z0.1250left_yaw-2.0800left_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]: [-0.4129, 2.5801, 2.1872, -1.3739, 0.9764, 1.6859, 0.078, 0.1127, 1.4677, 0.6323, 0.0235, -0.7521, -0.6624, 0.0657] state[eef_state]: left_x=0.3637 left_y=-0.3152 left_z=0.0487 left_yaw=-2.0614 left_pitch=-0.0145 left_roll=-0.0914 left_gripper=0.078 right_x=0.3226 right_y=0.1616 right_z=0.0888 right_yaw=1.0643 right_pitch=-0.0047 right_roll=-0.0323 right_gripper=0.0657 state[joint_eff]: [-0.3761, -16.6222, 6.7897, -0.149, 0.5885, 0.1832, 0.6032, -0.0342, -5.8598, 6.4615, 1.4969, -0.3736, -0.0269, 1.033] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.37, "left_y": -0.31, "left_z": 0.125, "left_yaw": -2.08, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Right wrist view shows the cap gripper lined up just beyond the pen tip, but the left arm sagged to z 0.05, below the pen (z 0.09). Commanding it higher to bring the cap level with the pen."})

tool

executing move_to over 5 steps (0.5s)

step 219

assistant

agent noteLeft arm is frozen at a joint limit (no motion on the last command). Easing it back to a less strained pose (closer in, yaw -1.6, higher) — I'll bring the pen to it instead.

move_to

left_x0.3300left_y-0.2500left_z0.1300left_yaw-1.6000left_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]: [-0.4129, 2.5801, 2.1872, -1.3739, 0.9764, 1.6859, 0.0793, 0.1127, 1.4677, 0.6319, 0.0227, -0.7521, -0.6621, 0.0699] state[eef_state]: left_x=0.3637 left_y=-0.3152 left_z=0.0487 left_yaw=-2.0614 left_pitch=-0.0145 left_roll=-0.0914 left_gripper=0.0793 right_x=0.3224 right_y=0.1616 right_z=0.0886 right_yaw=1.0641 right_pitch=-0.0054 right_roll=-0.0311 right_gripper=0.0699 state[joint_eff]: [-0.3897, -16.6632, 6.7897, -0.1392, 0.6276, 0.1587, 0.8278, -0.2256, -5.6547, 5.8598, 1.3651, -0.3053, -0.0562, 1.033] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.33, "left_y": -0.25, "left_z": 0.13, "left_yaw": -1.6, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Left arm is frozen at a joint limit (no motion on the last command). Easing it back to a less strained pose (closer in, yaw -1.6, higher) \u2014 I'll bring the pen to it instead."})

tool

executing move_to over 6 steps (0.6s)

step 225

assistant

agent noteLeft arm is free again, holding the cap at z≈0.13 with its axis nearly along -y. Bringing the pen up to the same height with its tip pointing at the cap, stopping ~5 cm short.

move_to

right_x0.3210right_y0.2390right_z0.1350right_yaw1.3000right_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]: [-0.297, 2.0708, 1.6585, -0.9909, 0.9348, 1.3106, 0.0822, 0.1127, 1.4677, 0.63, 0.0162, -0.7521, -0.6621, 0.0699] state[eef_state]: left_x=0.365 left_y=-0.2566 left_z=0.1281 left_yaw=-1.7281 left_pitch=-0.0567 left_roll=-0.0346 left_gripper=0.0822 right_x=0.3209 right_y=0.1614 right_z=0.0871 right_yaw=1.0642 right_pitch=-0.0102 right_roll=-0.0242 right_gripper=0.0699 state[joint_eff]: [-2.359, -11.2752, 7.5145, 1.4432, 0.5299, -0.1441, 0.6422, -0.1162, -5.1487, 6.3111, 1.5116, -0.2711, -0.0317, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.321, "right_y": 0.239, "right_z": 0.135, "right_yaw": 1.3, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Left arm is free again, holding the cap at z\u22480.13 with its axis nearly along -y. Bringing the pen up to the same height with its tip pointing at the cap, stopping ~5 cm short."})

tool

executing move_to over 7 steps (0.7s)

step 232

assistant

agent noteBoth wrist views show the pen perfectly lined up with the cap in the left jaws, but the left arm sagged ~1.4 cm below the pen. Raising the cap to match the pen height before pushing them together.

move_to

left_z0.1430left_x0.3626left_y-0.2554left_yaw-1.7200left_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]: [-0.3008, 2.0918, 1.6428, -0.9863, 0.9157, 1.293, 0.0828, 0.2977, 1.549, 0.8917, -0.1791, -0.7612, -0.6697, 0.0699] state[eef_state]: left_x=0.3626 left_y=-0.2554 left_z=0.1128 left_yaw=-1.7215 left_pitch=-0.0804 left_roll=-0.0778 left_gripper=0.0828 right_x=0.3242 right_y=0.2307 right_z=0.127 right_yaw=1.2596 right_pitch=-0.0133 right_roll=-0.0146 right_gripper=0.0699 state[joint_eff]: [0.1846, -12.8342, 7.2137, 0.5788, 0.5934, 0.149, 0.7106, 0.3077, -6.106, 8.2256, 1.1697, -0.7448, -0.1197, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.143, "left_x": 0.3626, "left_y": -0.2554, "left_yaw": -1.72, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Both wrist views show the pen perfectly lined up with the cap in the left jaws, but the left arm sagged ~1.4 cm below the pen. Raising the cap to match the pen height before pushing them together."})

tool

executing move_to over 3 steps (0.3s)

step 235

assistant

agent notePen tip appears to be at/inside the cap mouth (left arm wouldn't lift, suggesting engagement). Pushing the pen 1.5 cm along its axis into the cap and watching for a stall.

move_to

right_x0.3280right_y0.2460right_z0.1300right_yaw1.2600right_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]: [-0.2909, 2.0838, 1.6184, -0.9733, 0.9363, 1.2926, 0.0828, 0.3008, 1.5536, 0.8978, -0.1947, -0.7597, -0.6693, 0.074] state[eef_state]: left_x=0.361 left_y=-0.2528 left_z=0.1126 left_yaw=-1.7146 left_pitch=-0.0608 left_roll=-0.0845 left_gripper=0.0828 right_x=0.3229 right_y=0.2313 right_z=0.1253 right_yaw=1.2616 right_pitch=-0.0223 right_roll=-0.0034 right_gripper=0.074 state[joint_eff]: [0.4718, -15.5692, 5.9829, 0.7497, 0.8034, 0.0855, 0.7399, -0.3077, -7.0496, 5.9009, 1.4921, -0.359, -0.0171, 1.033] 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": 0.328, "right_y": 0.246, "right_z": 0.13, "right_yaw": 1.26, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Pen tip appears to be at/inside the cap mouth (left arm wouldn't lift, suggesting engagement). Pushing the pen 1.5 cm along its axis into the cap and watching for a stall."})

tool

executing move_to over 2 steps (0.2s)

step 237

assistant

agent notePen advanced only ~0.5 cm, suggesting the tip is in contact with the cap. Pushing a little further to seat the cap onto the pen.

move_to

right_x0.3300right_y0.2520right_z0.1300right_yaw1.2600right_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]: [-0.2878, 2.0659, 1.6135, -0.9615, 0.939, 1.2919, 0.0849, 0.3176, 1.5608, 0.8955, -0.1715, -0.7498, -0.6491, 0.0776] state[eef_state]: left_x=0.3624 left_y=-0.2522 left_z=0.1191 left_yaw=-1.7101 left_pitch=-0.0545 left_roll=-0.0609 left_gripper=0.0849 right_x=0.323 right_y=0.2367 right_z=0.1241 right_yaw=1.2609 right_pitch=-0.0205 right_roll=-0.0019 right_gripper=0.0776 state[joint_eff]: [-0.3761, -9.5795, 6.2701, 0.5592, 0.5446, 0.0073, 0.6471, 0.7179, -5.6547, 8.5675, 1.5409, -0.486, 0.1245, 0.9695] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.33, "right_y": 0.252, "right_z": 0.13, "right_yaw": 1.26, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Pen advanced only ~0.5 cm, suggesting the tip is in contact with the cap. Pushing a little further to seat the cap onto the pen."})

tool

executing move_to over 2 steps (0.2s)

step 239

assistant

agent notePen and cap are collinear in both wrist views and the pen advances slowly against resistance. One more push along the axis to seat the cap.

move_to

right_x0.3320right_y0.2600right_z0.1250right_yaw1.2600right_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]: [-0.2882, 2.0785, 1.6135, -0.9695, 0.9207, 1.2919, 0.0851, 0.3378, 1.5799, 0.8978, -0.1535, -0.7292, -0.6189, 0.079] state[eef_state]: left_x=0.3619 left_y=-0.2502 left_z=0.1113 left_yaw=-1.709 left_pitch=-0.0755 left_roll=-0.0787 left_gripper=0.0851 right_x=0.3238 right_y=0.2423 right_z=0.1186 right_yaw=1.2511 right_pitch=-0.0322 right_roll=0.0132 right_gripper=0.079 state[joint_eff]: [-0.0342, -12.0, 5.8325, 0.5592, 0.7009, -0.022, 0.6081, 0.8957, -5.9419, 9.0325, 1.6044, -0.5446, 0.105, 0.8571] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.332, "right_y": 0.26, "right_z": 0.125, "right_yaw": 1.26, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Pen and cap are collinear in both wrist views and the pen advances slowly against resistance. One more push along the axis to seat the cap."})

tool

executing move_to over 2 steps (0.2s)

step 241

assistant

agent notePen stalls against the cap with both parts collinear, suggesting the cap is seated. Releasing the cap from the left gripper to check that it stays on the pen.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2859, 2.0785, 1.6135, -0.9695, 0.9115, 1.2915, 0.087, 0.3431, 1.5871, 0.9012, -0.1471, -0.7219, -0.6121, 0.0803] state[eef_state]: left_x=0.3629 left_y=-0.2485 left_z=0.11 left_yaw=-1.7051 left_pitch=-0.0845 left_roll=-0.0776 left_gripper=0.087 right_x=0.3252 right_y=0.2439 right_z=0.1174 right_yaw=1.2478 right_pitch=-0.0349 right_roll=0.0135 right_gripper=0.0803 state[joint_eff]: [-0.3624, -10.8786, 5.7915, 0.5543, 0.4811, -0.0366, 0.4127, 0.4444, -6.8034, 8.4855, 1.5409, -0.4713, 0.1343, 0.8132] 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": {"left_gripper": 1.0}, "note": "Pen stalls against the cap with both parts collinear, suggesting the cap is seated. Releasing the cap from the left gripper to check that it stays on the pen."})

tool

executing move_to over 10 steps (1.0s)

step 251

assistant

agent noteRelease showed the cap was not on the pen: the pen tip is bare and the cap dropped to the table just below the left gripper. Pulling the pen back out of the way and lowering the left gripper over the fallen cap to regrasp it.

move_to

right_x0.3050right_y0.1900right_z0.1250right_yaw1.2600left_x0.3300left_y-0.2650left_z0.0500left_yaw-1.5700left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2867, 2.0785, 1.6135, -0.9691, 0.8936, 1.2842, 0.9953, 0.3466, 1.5871, 0.9009, -0.1482, -0.7216, -0.6132, 0.0816] state[eef_state]: left_x=0.3637 left_y=-0.247 left_z=0.1076 left_yaw=-1.6992 left_pitch=-0.1022 left_roll=-0.0802 left_gripper=0.9953 right_x=0.3241 right_y=0.2449 right_z=0.1171 right_yaw=1.2516 right_pitch=-0.0361 right_roll=0.0136 right_gripper=0.0816 state[joint_eff]: [-0.0615, -11.0838, 6.0513, 0.4713, 0.5934, 0.0562, -0.0269, -0.4991, -7.1043, 6.2974, 1.3748, -0.359, -0.0269, 0.8034] 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_x": 0.305, "right_y": 0.19, "right_z": 0.125, "right_yaw": 1.26, "left_x": 0.33, "left_y": -0.265, "left_z": 0.05, "left_yaw": -1.57, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Release showed the cap was not on the pen: the pen tip is bare and the cap dropped to the table just below the left gripper. Pulling the pen back out of the way and lowering the left gripper over the fallen cap to regrasp it."})

tool

executing move_to over 5 steps (0.5s)

step 256

assistant

agent noteA dark shape (likely the cap) appears near the left jaw at the bottom of the wrist view, slightly toward +x. Shifting 2 cm forward and descending to table level to grasp it.

move_to

left_x0.3250left_y-0.2600left_z-0.0120left_yaw-1.5700left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3443, 1.9793, 1.0763, -0.3931, 0.894, 1.0386, 0.9962, 0.1864, 1.5017, 0.8532, -0.3, -0.7872, -0.7593, 0.0825] state[eef_state]: left_x=0.3055 left_y=-0.252 left_z=0.0253 left_yaw=-1.612 left_pitch=-0.0836 left_roll=-0.1399 left_gripper=0.9962 right_x=0.317 right_y=0.1907 right_z=0.1171 right_yaw=1.2155 right_pitch=-0.057 right_roll=0.016 right_gripper=0.0825 state[joint_eff]: [-0.4718, -12.3009, 6.3932, 1.0769, 0.5397, -0.1441, 0.0806, -0.3761, -8.1846, 5.8462, 1.1453, -0.5983, -0.0855, 0.4176] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.325, "left_y": -0.26, "left_z": -0.012, "left_yaw": -1.57, "left_pitch": 0.0, "left_roll": 0.0}, "note": "A dark shape (likely the cap) appears near the left jaw at the bottom of the wrist view, slightly toward +x. Shifting 2 cm forward and descending to table level to grasp it."})

tool

executing move_to over 3 steps (0.3s)

step 259

assistant

agent noteLeft jaws are at table level straddling where the cap fell (dark shape near the jaws). Closing to regrasp 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]: [-0.3443, 2.0556, 0.9821, -0.0502, 0.9268, 0.9794, 0.9962, 0.1791, 1.4963, 0.8494, -0.3252, -0.7891, -0.7818, 0.0829] state[eef_state]: left_x=0.3195 left_y=-0.2608 left_z=0.0002 left_yaw=-1.585 left_pitch=-0.003 left_roll=-0.034 left_gripper=0.9962 right_x=0.3132 right_y=0.1878 right_z=0.1149 right_yaw=1.2225 right_pitch=-0.0674 right_roll=0.0187 right_gripper=0.0829 state[joint_eff]: [-0.3487, -8.1299, 3.959, 0.232, -0.8034, -0.359, -0.0024, 0.3624, -5.2308, 6.4889, 1.453, -0.4322, 0.1099, 0.8718] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "Left jaws are at table level straddling where the cap fell (dark shape near the jaws). Closing to regrasp the cap."})

tool

executing move_to over 10 steps (1.0s)

step 269

assistant

agent noteI didn't get the cap onto the pen. I picked up both parts: the right gripper still holds the pen. I lined the pen up with the cap in both wrist cameras, then pushed until it stalled. When I let go of the cap to check, the pen tip was still bare and the cap fell onto the table. It probably met the cap's closed end or its side, not the open end. My attempt to pick the cap up again closed on nothing, and there aren't enough calls left in the budget to find it and try again.

give_up

hindsight- Wrist yaw limits are asymmetric. The left arm locked at a joint limit for yaw above about +1.2: its readback froze, the position drifted, and every command after that was ignored. Negative yaw down to about -1.9 tracked fine. By mirror symmetry the right arm is probably happy with positive yaw (+0.6 to +1.3 worked). Change yaw in steps of 0.6–0.8 rad or less. - If an arm stops responding (the readback doesn't change after a command), back out right away with yaw nearer 0, lower x and higher z. Re-sending the same target doesn't help. - The left arm reaching toward y ≈ -0.32 at yaw -2 hit a joint limit and sagged 4–6 cm. Do the handover near y_L ≈ -0.25 / y_R ≈ 0.23. The pen-holding right arm can cross further over; the left arm should stay closer in. - Pitch drifts to -0.1 to -0.4 unless you command it; always send pitch=0 and roll=0. - Top-camera mapping for this setup: left arm at (x 0.38, y -0.13) appears at about px (50,100); right arm at (0.29, 0) appears at about px (195,120). That's about 2.8 px/cm across the image and about 2.8 px/cm in image-y for x. - The pen was at right-frame (0.33, 0.18), lying about 36° from forward with its gold writing tip pointing forward-left. The cap was at left-frame (0.39, -0.13), lying roughly along y. It's thin: a good grasp reads about 0.055–0.085. The first close at z=0.005 missed; pressing to z=-0.012 worked. - The pen grasped at yaw 0.6 lines up with the tool's forward axis. Both wrist cameras give an excellent collinearity check (the pen runs straight into the other gripper's jaws). - Main lesson: you can't tell which end of the cap is open from these cameras once it's grasped. Before grasping, look closely at the cap's ends in the top or wrist camera to find the open end, and pick the yaw sign so the open end faces the pen tip. A stall during insertion doesn't prove the cap is seated. Instead of releasing to test, pull the pen back slightly and see whether the cap arm gets dragged along.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3408, 2.0712, 0.9661, 0.0685, 0.9268, 0.9665, 0.0107, 0.1783, 1.4971, 0.8494, -0.3298, -0.786, -0.775, 0.0858] state[eef_state]: left_x=0.3309 left_y=-0.2635 left_z=0.0002 left_yaw=-1.5755 left_pitch=0.0255 left_roll=0.0372 left_gripper=0.0107 right_x=0.3129 right_y=0.187 right_z=0.1138 right_yaw=1.2166 right_pitch=-0.0724 right_roll=0.0277 right_gripper=0.0858 state[joint_eff]: [-0.2803, -8.1983, 4.1641, 0.9158, 0.2515, -0.022, 0.696, -0.2667, -6.188, 6.1333, 1.2332, -0.4078, -0.0659, 0.6081] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]

assistant

give_up({"reason": "I didn't get the cap onto the pen. I picked up both parts: the right gripper still holds the pen. I lined the pen up with the cap in both wrist cameras, then pushed until it stalled. When I let go of the cap to check, the pen tip was still bare and the cap fell onto the table. It probably met the cap's closed end or its side, not the open end. My attempt to pick the cap up again closed on nothing, and there aren't enough calls left in the budget to find it and try again.", "hindsight": "- Wrist yaw limits are asymmetric. The left arm locked at a joint limit for yaw above about +1.2: its readback froze, the position drifted, and every command after that was ignored. Negative yaw down to about -1.9 tracked fine. By mirror symmetry the right arm is probably happy with positive yaw (+0.6 to +1.3 worked). Change yaw in steps of 0.6\u20130.8 rad or less.\n- If an arm stops responding (the readback doesn't change after a command), back out right away with yaw nearer 0, lower x and higher z. Re-sending the same target doesn't help.\n- The left arm reaching toward y \u2248 -0.32 at yaw -2 hit a joint limit and sagged 4\u20136 cm. Do the handover near y_L \u2248 -0.25 / y_R \u2248 0.23. The pen-holding right arm can cross further over; the left arm should stay closer in.\n- Pitch drifts to -0.1 to -0.4 unless you command it; always send pitch=0 and roll=0.\n- Top-camera mapping for this setup: left arm at (x 0.38, y -0.13) appears at about px (50,100); right arm at (0.29, 0) appears at about px (195,120). That's about 2.8 px/cm across the image and about 2.8 px/cm in image-y for x.\n- The pen was at right-frame (0.33, 0.18), lying about 36\u00b0 from forward with its gold writing tip pointing forward-left. The cap was at left-frame (0.39, -0.13), lying roughly along y. It's thin: a good grasp reads about 0.055\u20130.085. The first close at z=0.005 missed; pressing to z=-0.012 worked.\n- The pen grasped at yaw 0.6 lines up with the tool's forward axis. Both wrist cameras give an excellent collinearity check (the pen runs straight into the other gripper's jaws).\n- Main lesson: you can't tell which end of the cap is open from these cameras once it's grasped. Before grasping, look closely at the cap's ends in the top or wrist camera to find the open end, and pick the yaw sign so the open end faces the pen tip. A stall during insertion doesn't prove the cap is seated. Instead of releasing to test, pull the pen back slightly and see whether the cap arm gets dragged along."})

tool

give_up: I didn't get the cap onto the pen. I picked up both parts: the right gripper still holds the pen. I lined the pen up with the cap in both wrist cameras, then pushed until it stalled. When I let go of the cap to check, the pen tip was still bare and the cap fell onto the table. It probably met the cap's closed end or its side, not the open end. My attempt to pick the cap up again closed on nothing, and there aren't enough calls left in the budget to find it and try again.

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 · 17.02 s

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6029, -0.3794, -0.0216, -0.0246, 0.9995, -0.0185, 0.7918, 0.6102, -0.3725, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1798 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2963 right_y=0.0017 right_z=0.185 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -1.5658, 10.3726, 1.79, -0.0269, 0.105, -0.0659, -0.7863, -1.388, 9.7299, 1.707, -0.0562, -0.0024, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b9f31380760f815149b31f29814d51d87cc1e43fcc6f76822c9a58daa53e87c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:605b7cde8dedd9c8bacc7ebd69bd365493f5b5fa65b46ec3d42da454544cd2e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
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    {
      "cache_control": {
        "type": "ephemeral"
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      "source": {
        "data": "$blob:c353874cc84fe0df88511f58c2ddba937e456f8ce5df2cf0c84a182676c29136",
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      "type": "image"
    }
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  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 5.724 s

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

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6029, -0.3794, -0.0216, -0.0246, 0.9995, -0.0185, 0.7918, 0.6102, -0.3725, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1798 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2963 right_y=0.0017 right_z=0.185 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -1.5658, 10.3726, 1.79, -0.0269, 0.105, -0.0659, -0.7863, -1.388, 9.7299, 1.707, -0.0562, -0.0024, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b9f31380760f815149b31f29814d51d87cc1e43fcc6f76822c9a58daa53e87c",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:605b7cde8dedd9c8bacc7ebd69bd365493f5b5fa65b46ec3d42da454544cd2e3",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
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    {
      "source": {
        "data": "$blob:c353874cc84fe0df88511f58c2ddba937e456f8ce5df2cf0c84a182676c29136",
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[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NdUWY7VFFxA8H2dyABWTga",
      "input": {
        "note": "Overhead view shows the pen cap left of centre (lying roughly along y) and the pen right of centre. Moving the left arm above the cap, with the wrist yawed 90° so the jaws close across it.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.15,
          "left_yaw": 1.57,
          "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_01NdUWY7VFFxA8H2dyABWTga",
      "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]: [-0.3988, 2.2917, 1.8538, -1.5269, -0.9024, -2.0567, 0.9994, -0.0181, 0.7979, 0.6128, -0.3878, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3984 left_y=-0.0135 left_z=0.0953 left_yaw=1.4542 left_pitch=-0.0401 left_roll=0.0096 left_gripper=0.9994 right_x=0.2951 right_y=0.0019 right_z=0.1814 right_yaw=0.001 right_pitch=-0.0187 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-1.0735, -11.7538, 6.5709, -0.7399, -0.3736, -0.0855, -0.0171, -0.0752, -1.7026, 6.8581, 1.8926, -0.0415, -0.0659, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0172cbb54c79ee38b28d8eef3ee7ca1860a3c68dc7c3d0f0844febac6284488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:665e6cf67fb3137772e737407822bd4558c70361b94c8003b769d10004f0f0c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:893ee4703bfb88c885c63705874ef9ebd7b5306a2ccb9798a1950107df707c65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 7.574 s

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

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6029, -0.3794, -0.0216, -0.0246, 0.9995, -0.0185, 0.7918, 0.6102, -0.3725, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1798 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2963 right_y=0.0017 right_z=0.185 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -1.5658, 10.3726, 1.79, -0.0269, 0.105, -0.0659, -0.7863, -1.388, 9.7299, 1.707, -0.0562, -0.0024, -0.105]",
      "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]: [-0.3988, 2.2917, 1.8538, -1.5269, -0.9024, -2.0567, 0.9994, -0.0181, 0.7979, 0.6128, -0.3878, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3984 left_y=-0.0135 left_z=0.0953 left_yaw=1.4542 left_pitch=-0.0401 left_roll=0.0096 left_gripper=0.9994 right_x=0.2951 right_y=0.0019 right_z=0.1814 right_yaw=0.001 right_pitch=-0.0187 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-1.0735, -11.7538, 6.5709, -0.7399, -0.3736, -0.0855, -0.0171, -0.0752, -1.7026, 6.8581, 1.8926, -0.0415, -0.0659, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0172cbb54c79ee38b28d8eef3ee7ca1860a3c68dc7c3d0f0844febac6284488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:665e6cf67fb3137772e737407822bd4558c70361b94c8003b769d10004f0f0c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:893ee4703bfb88c885c63705874ef9ebd7b5306a2ccb9798a1950107df707c65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS+AgKEAgSGAI4AUIIdGhpbmtpbmcSDGPnThAH0ob2UpVIXhoMK/De2/9wyvs4kooDIjAOv8yFYJLDM5mTVrP0w0dCEvnFIykaIRJHZ4+MymQtCb9uG8zMEYrz8NN+fQjqFxAqlQgQtj1EqqVid3P24J9MEvMuOotm9/+X6mcJ1bhjPoI0O3fAHNrnNZl/74fODcP7HNMLEwk4S5PujhiybIOfgjKWUuDkfwLos3J7cx6Kj/SomXPxAEErn5awqw5wg2nWDj1biWsMm8JqwEPsUKFo8VJnr8LIOGYVsqdrs2tBvW0kKqQyRwVv+ftozsWK9t1FbADHDhq0yaEyemy0jsI9MdU/lZLHUfG1k+zP28atHABq7RQvL+owaKLAQfjHzmIipcuR6FAVzijqDLhlzucvQXvus+vtkd0GS8Yb9/zFhRw1UDsbfuRIfWQH7eiF4NB4XMKgNYaDg54SKj+k+x3KHBvOgldv4pbRiJc4K9F0ZqnBDjnKwqn9RSgKEn/SHSdliklJHr6uP1SWCGEtPWCmuds1Kd3ArUFtpnZ1sWNSeNOe3aKpA+3g6/mZNmFD0AN3iSPGEvcVLn73pemroylOeezRrKkqcWM4woN8KLmBAKvSUyLYeRXDdBFA8ftuw2TMu8C0rqIpusdbIaZqVfYMIV5C4oMMvV6bkjePoiMimNnT4LVj04+hD+XFVaRh/pIrf0GZRrKEQLWrpk8PyJaqxnyfLjvI5FccP81hnNK71u7hc4K7H3MeoPBF2KXiowsBXoePZHVJQRJOlNq5cbVBB+BK3vQnOgRc9CEW1rka0PZaFsT7Ja7LNhlnUBbLDiSYFPUq+orhHcGPoCE0HAVR+mzle0o6H2oyXs34ANZRYiskHSJGhSaVzu73raOz4oQjzkLLJ1DNWIrGFvi3cbPyH14mFgEhDsW6Dt4UTMCgfQI1syXOyRjzneqUO5zj55d9Q2Hw7tGfFTiGta7TlhY9A+CGG4B1cSwjIDAwFVHhUhr4z03t37CxmMx88H/xoxlPG0UhbXJpzDgzHUOLGuS748MaIR/J+X770d5bh6aPdYxnqEIGC9/di9xxbFOH03K2zkYPVXfGTwafIBNlGq7Igig0WWPBi7s+nD/Tu/9DGfv1rVl5WCja0VETIpT5zio1iI1LJwURoEfVTMN7KezXarts1Usz3TASW+FblKW/MowA1jlEy7AlDZo4fturepm9Ytd8xq/3G+OOA1j40NF+ubPaPA/344OtZr9Ty+dxhaJdsnlF8otutBgA8e8lxUqBO8M37GCmLKbLK2zu9yQVucsJc9/wMH3BCnlJT+qM50C3a6AQUq8RoBo/qVH9ubWVPdoEuZprMxEuvA8CzoNvhClyfwczE27/OkOaeAS2r/yx1IlPcjJ/ql6Y5fwldXmx1gmqQYM7FnI0Wqva3DNEyOQagab9YxUToVc5tUe8d6PnMlzYF1t2yAizq6yyhsSbczJEP3OVXhHgumMX5gJ6OYlQT/CSVn3h3QeeCAXkQ1ig0e0AdkqKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KeLh2598kU2mHZriuhpdmU",
      "input": {
        "note": "Left arm appears over the cap region in the top view but readback lags the target (large yaw move); re-issuing to let it settle.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.15,
          "left_yaw": 1.57,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01KeLh2598kU2mHZriuhpdmU",
      "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]: [-0.3878, 2.3421, 1.8881, -1.5574, -0.8558, -2.0933, 0.9994, -0.0185, 0.7986, 0.6128, -0.3901, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3952 left_y=-0.0135 left_z=0.0799 left_yaw=1.507 left_pitch=-0.0662 left_roll=0.037 left_gripper=0.9994 right_x=0.2948 right_y=0.0017 right_z=0.1807 right_yaw=0.0001 right_pitch=-0.0217 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.294, -15.665, 4.506, -0.6178, -0.3883, -0.0269, -0.0122, -0.0615, -1.1556, 7.1043, 1.7802, -0.0415, -0.022, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1644931a511821acfe092ad879702a80afea6466563a8d7c3254a72ef7a25f57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68d3470fabd166839619e6e9c2ae4a687d0db30e8fdbb45c2c7b40048661695c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:474b23b41edf935b4d6ac058750219ab8a8676b16506e4d911779ab04e99a760",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 6.438 s

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

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6029, -0.3794, -0.0216, -0.0246, 0.9995, -0.0185, 0.7918, 0.6102, -0.3725, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1798 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2963 right_y=0.0017 right_z=0.185 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -1.5658, 10.3726, 1.79, -0.0269, 0.105, -0.0659, -0.7863, -1.388, 9.7299, 1.707, -0.0562, -0.0024, -0.105]",
      "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]: [-0.3988, 2.2917, 1.8538, -1.5269, -0.9024, -2.0567, 0.9994, -0.0181, 0.7979, 0.6128, -0.3878, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3984 left_y=-0.0135 left_z=0.0953 left_yaw=1.4542 left_pitch=-0.0401 left_roll=0.0096 left_gripper=0.9994 right_x=0.2951 right_y=0.0019 right_z=0.1814 right_yaw=0.001 right_pitch=-0.0187 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-1.0735, -11.7538, 6.5709, -0.7399, -0.3736, -0.0855, -0.0171, -0.0752, -1.7026, 6.8581, 1.8926, -0.0415, -0.0659, -0.022]",
      "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]: [-0.3878, 2.3421, 1.8881, -1.5574, -0.8558, -2.0933, 0.9994, -0.0185, 0.7986, 0.6128, -0.3901, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3952 left_y=-0.0135 left_z=0.0799 left_yaw=1.507 left_pitch=-0.0662 left_roll=0.037 left_gripper=0.9994 right_x=0.2948 right_y=0.0017 right_z=0.1807 right_yaw=0.0001 right_pitch=-0.0217 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.294, -15.665, 4.506, -0.6178, -0.3883, -0.0269, -0.0122, -0.0615, -1.1556, 7.1043, 1.7802, -0.0415, -0.022, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1644931a511821acfe092ad879702a80afea6466563a8d7c3254a72ef7a25f57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68d3470fabd166839619e6e9c2ae4a687d0db30e8fdbb45c2c7b40048661695c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:474b23b41edf935b4d6ac058750219ab8a8676b16506e4d911779ab04e99a760",
        "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_01QdxPxb1qUpzfDX1iexrnEB",
      "input": {
        "note": "Left arm is stuck near x0.40,y-0.01,z0.08 and not tracking the yawed target; returning yaw to 0 to see if position tracks, then I'll add yaw gradually.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.15,
          "left_yaw": 0.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01QdxPxb1qUpzfDX1iexrnEB",
      "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]: [-0.6346, 1.4246, 0.8791, -0.3191, -0.6086, -0.5564, 0.9993, -0.0181, 0.8043, 0.6132, -0.3954, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3533 left_y=-0.1302 left_z=0.1339 left_yaw=0.1565 left_pitch=-0.1055 left_roll=0.0347 left_gripper=0.9993 right_x=0.2945 right_y=0.0019 right_z=0.1782 right_yaw=0.001 right_pitch=-0.0324 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.4718, -6.8171, 6.8855, 1.8046, -0.1148, 0.2662, -0.022, -0.0615, -1.7573, 6.9949, 1.8535, -0.0366, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d891d57565a77cc5ce89fcd4fcb1745c221e6cbf33f6390d378551984e6640a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86841bd55698a316603ae7de2b556fa036b59c48076d18545cbfbdf04fc18083",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4e4f45281b054afc1706c5bdb00fb998214d78d993ad668e4a1305e1d130aca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 4.948 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]: [-0.3988, 2.2917, 1.8538, -1.5269, -0.9024, -2.0567, 0.9994, -0.0181, 0.7979, 0.6128, -0.3878, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3984 left_y=-0.0135 left_z=0.0953 left_yaw=1.4542 left_pitch=-0.0401 left_roll=0.0096 left_gripper=0.9994 right_x=0.2951 right_y=0.0019 right_z=0.1814 right_yaw=0.001 right_pitch=-0.0187 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-1.0735, -11.7538, 6.5709, -0.7399, -0.3736, -0.0855, -0.0171, -0.0752, -1.7026, 6.8581, 1.8926, -0.0415, -0.0659, -0.022]",
      "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]: [-0.3878, 2.3421, 1.8881, -1.5574, -0.8558, -2.0933, 0.9994, -0.0185, 0.7986, 0.6128, -0.3901, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3952 left_y=-0.0135 left_z=0.0799 left_yaw=1.507 left_pitch=-0.0662 left_roll=0.037 left_gripper=0.9994 right_x=0.2948 right_y=0.0017 right_z=0.1807 right_yaw=0.0001 right_pitch=-0.0217 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.294, -15.665, 4.506, -0.6178, -0.3883, -0.0269, -0.0122, -0.0615, -1.1556, 7.1043, 1.7802, -0.0415, -0.022, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6346, 1.4246, 0.8791, -0.3191, -0.6086, -0.5564, 0.9993, -0.0181, 0.8043, 0.6132, -0.3954, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3533 left_y=-0.1302 left_z=0.1339 left_yaw=0.1565 left_pitch=-0.1055 left_roll=0.0347 left_gripper=0.9993 right_x=0.2945 right_y=0.0019 right_z=0.1782 right_yaw=0.001 right_pitch=-0.0324 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.4718, -6.8171, 6.8855, 1.8046, -0.1148, 0.2662, -0.022, -0.0615, -1.7573, 6.9949, 1.8535, -0.0366, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d891d57565a77cc5ce89fcd4fcb1745c221e6cbf33f6390d378551984e6640a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86841bd55698a316603ae7de2b556fa036b59c48076d18545cbfbdf04fc18083",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4e4f45281b054afc1706c5bdb00fb998214d78d993ad668e4a1305e1d130aca",
        "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_01DQN7yeWxHQ5AQfgYnjo7Ge",
      "input": {
        "note": "Cap now visible centred ahead of the left jaws. Advancing ~3 cm and rotating yaw gradually (to 0.8 first) so the jaws will close across the cap's short axis.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.13,
          "left_yaw": 0.8,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01DQN7yeWxHQ5AQfgYnjo7Ge",
      "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]: [-0.6868, 1.9148, 1.5097, -0.9123, -0.8211, -1.1595, 0.9993, -0.0181, 0.8082, 0.6128, -0.4107, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3978 left_y=-0.1544 left_z=0.1349 left_yaw=0.6043 left_pitch=-0.1529 left_roll=0.0615 left_gripper=0.9993 right_x=0.2926 right_y=0.002 right_z=0.1738 right_yaw=0.0011 right_pitch=-0.0519 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [0.3761, -11.1795, 6.6256, 0.1148, -0.6618, -0.1001, -0.0171, -0.1436, -1.5385, 7.0085, 1.8877, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42fd250f08f2f05b86b7a917375738e1e4e98accbfc61083937408a102e00078",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8ce91e8bf605869623265596fc600853a00e71c8fffde03f734ab6343386ee5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc1a5b34cb6f861c450b843e0115bcc634f4366df8a073fa637245e52d8ca4d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 9.238 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]: [-0.3878, 2.3421, 1.8881, -1.5574, -0.8558, -2.0933, 0.9994, -0.0185, 0.7986, 0.6128, -0.3901, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3952 left_y=-0.0135 left_z=0.0799 left_yaw=1.507 left_pitch=-0.0662 left_roll=0.037 left_gripper=0.9994 right_x=0.2948 right_y=0.0017 right_z=0.1807 right_yaw=0.0001 right_pitch=-0.0217 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.294, -15.665, 4.506, -0.6178, -0.3883, -0.0269, -0.0122, -0.0615, -1.1556, 7.1043, 1.7802, -0.0415, -0.022, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.6346, 1.4246, 0.8791, -0.3191, -0.6086, -0.5564, 0.9993, -0.0181, 0.8043, 0.6132, -0.3954, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3533 left_y=-0.1302 left_z=0.1339 left_yaw=0.1565 left_pitch=-0.1055 left_roll=0.0347 left_gripper=0.9993 right_x=0.2945 right_y=0.0019 right_z=0.1782 right_yaw=0.001 right_pitch=-0.0324 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.4718, -6.8171, 6.8855, 1.8046, -0.1148, 0.2662, -0.022, -0.0615, -1.7573, 6.9949, 1.8535, -0.0366, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6868, 1.9148, 1.5097, -0.9123, -0.8211, -1.1595, 0.9993, -0.0181, 0.8082, 0.6128, -0.4107, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3978 left_y=-0.1544 left_z=0.1349 left_yaw=0.6043 left_pitch=-0.1529 left_roll=0.0615 left_gripper=0.9993 right_x=0.2926 right_y=0.002 right_z=0.1738 right_yaw=0.0011 right_pitch=-0.0519 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [0.3761, -11.1795, 6.6256, 0.1148, -0.6618, -0.1001, -0.0171, -0.1436, -1.5385, 7.0085, 1.8877, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42fd250f08f2f05b86b7a917375738e1e4e98accbfc61083937408a102e00078",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8ce91e8bf605869623265596fc600853a00e71c8fffde03f734ab6343386ee5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc1a5b34cb6f861c450b843e0115bcc634f4366df8a073fa637245e52d8ca4d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrAcKEAgSGAI4AUIIdGhpbmtpbmcSDL597I5mgc+fn1LNSBoMKFmJQjLx+BSuOZYDIjC0o7Lwmu5vuIwV0/sffaYIUWhLn2F8mMBeoiXjekBtALdRqMsb7khpoVGEK7o212QqyQYjvqDKrG0lUso3L21G/OGvfONbQI0TsN3PAM9NrYdl/GClaXn3O6D0fA5OhRJNV/DtId7vVeYebH992HPmfuV9eNCSZTSxBWWG3QqykZ8OmjgY0s3VEPCq6NFSbDzerVQ9R6XAUfZz+yQhv3sqPP7o8RaDC2djRgPwOU9DjdzpJmHJloUvWzh24RjX9PprMVya3aZhKuXht3kgtW4hpIEEyppbBgPUVWNhBlXAdpZnCoWXmOmZSmp0UWVZ5DcgJ1bdm6U8WKsxOYaW0Qw2ZH6i/dmCJpE/GtDUhDDq3fwm/Pt9PFgBl+ViSFLhlmEBekSJKdXX0IQAxrlgg36xf12yefWVUvb8FAbFrfOYtyRmmcvw4+ulEqfZp/dITC75nvA9GoxMpruTBseGZZaBAFCAP5slFz94oEzBI0MPZOty+mjCrs4gfMfw+CaxO9yKCkA0CsG+kET/sQG1Xzsdd2KpbftWnronVoTv4oBjFp/0B+I7ydl6O3c9lkSrtFb2IsKyHb6UO9TUADbPku1jQf11qi5huoKAYC2v4DQd+UdbA3PtFurULDz63KlIw2mkja0zOG+SmRAkt0g3+MaJ00BbLwHg+Sns1Xv3cX0MqTXhz+aJ1EaaHQEcO5sSagFFTUS3ESj/3L4l8B/7EiuRqEFZI+IZsjAL4TXQrW+1FRZ14kqu0hU3JazoKC8KPzANUglMihU7QvY+wHbp3CDIg29IQ5f9trsAMNf691K21JlSmrZpko9KZOPe7h+6DmfGfAuYSBp24fQrKMo2/dTx5Vgw5hyi9tQW7HjLjwynhNeoTxl0sE+alUOKBnzWnnIRQV82LlAANGD9oGDI92oWVxik7wyOHkvLiyTd9kMe63RY2zhAMv/ln4qyVbBBFYIMktfoop0Ya1SXsD1vvZagoDqzkl4/z7FA1QDU5xOA/pP3Kro2qQJ74TsvCxe5KtQN9c4fc6zoxKWgGQvc2pVodAMwFBXaFVU+p+lqMQZH0Vy/a8K3d9azTB1wjffadeIDBiRUXhFO5aQ3wLpD1pVMuQ3HKefU4hOxC204nxBTbEBcFID//RD1G2bpYXpOF+TVALFpGaBJXQddj7MuSz5CW/F6vRDKB28I2Q7nGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E7VxiWhJgh92iKQKBrCbJ8",
      "input": {
        "note": "Yaw is tracking gradually; cap is just ahead of the jaws in the wrist view. Continuing the yaw to ~1.45 so the cap lies across the jaw column.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.14,
          "left_yaw": 1.45,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01E7VxiWhJgh92iKQKBrCbJ8",
      "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]: [-0.5568, 2.2475, 1.8545, -1.5177, -0.7685, -1.9636, 0.9993, -0.0181, 0.8127, 0.6128, -0.4141, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3797 left_y=-0.0875 left_z=0.0939 left_yaw=1.292 left_pitch=-0.1776 left_roll=0.0651 left_gripper=0.9993 right_x=0.2924 right_y=0.002 right_z=0.1719 right_yaw=0.0011 right_pitch=-0.0599 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [0.1573, -11.0291, 5.9966, -0.3785, -0.3346, -0.1343, -0.0171, -0.0615, -1.6342, 7.0222, 1.7509, -0.0708, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e95d5511aeca6aa8cab43456dc3d167ecf2809d964da2b58e45c535530e9fc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4daac17eddc6136b6672e785a7e12e988d39253f983f61349b2cd2310effb950",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f1587a9d6e2a24484542c203948a2b9fca29d4b690567af8bc75ff5d7ac749f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 10.04 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]: [-0.6346, 1.4246, 0.8791, -0.3191, -0.6086, -0.5564, 0.9993, -0.0181, 0.8043, 0.6132, -0.3954, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3533 left_y=-0.1302 left_z=0.1339 left_yaw=0.1565 left_pitch=-0.1055 left_roll=0.0347 left_gripper=0.9993 right_x=0.2945 right_y=0.0019 right_z=0.1782 right_yaw=0.001 right_pitch=-0.0324 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.4718, -6.8171, 6.8855, 1.8046, -0.1148, 0.2662, -0.022, -0.0615, -1.7573, 6.9949, 1.8535, -0.0366, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.6868, 1.9148, 1.5097, -0.9123, -0.8211, -1.1595, 0.9993, -0.0181, 0.8082, 0.6128, -0.4107, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3978 left_y=-0.1544 left_z=0.1349 left_yaw=0.6043 left_pitch=-0.1529 left_roll=0.0615 left_gripper=0.9993 right_x=0.2926 right_y=0.002 right_z=0.1738 right_yaw=0.0011 right_pitch=-0.0519 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [0.3761, -11.1795, 6.6256, 0.1148, -0.6618, -0.1001, -0.0171, -0.1436, -1.5385, 7.0085, 1.8877, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5568, 2.2475, 1.8545, -1.5177, -0.7685, -1.9636, 0.9993, -0.0181, 0.8127, 0.6128, -0.4141, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3797 left_y=-0.0875 left_z=0.0939 left_yaw=1.292 left_pitch=-0.1776 left_roll=0.0651 left_gripper=0.9993 right_x=0.2924 right_y=0.002 right_z=0.1719 right_yaw=0.0011 right_pitch=-0.0599 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [0.1573, -11.0291, 5.9966, -0.3785, -0.3346, -0.1343, -0.0171, -0.0615, -1.6342, 7.0222, 1.7509, -0.0708, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e95d5511aeca6aa8cab43456dc3d167ecf2809d964da2b58e45c535530e9fc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4daac17eddc6136b6672e785a7e12e988d39253f983f61349b2cd2310effb950",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f1587a9d6e2a24484542c203948a2b9fca29d4b690567af8bc75ff5d7ac749f",
        "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_019jzecs32QsYZ9ACUQmZ3YN",
      "input": {
        "note": "At yaw ~1.3 the cap now appears aligned perpendicular to the jaws in the wrist view, but the position drifted (y -0.09, z 0.09). Holding yaw at 1.3 and re-commanding the position over the cap.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.14,
          "left_yaw": 1.3,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_019jzecs32QsYZ9ACUQmZ3YN",
      "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]: [-0.5877, 2.2566, 1.8843, -1.557, -0.7483, -2.0132, 0.9993, -0.0181, 0.8131, 0.6128, -0.4133, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.374 left_y=-0.1004 left_z=0.0965 left_yaw=1.2995 left_pitch=-0.1885 left_roll=0.0521 left_gripper=0.9993 right_x=0.2925 right_y=0.0019 right_z=0.172 right_yaw=0.0007 right_pitch=-0.0595 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.5538, -10.906, 6.9402, -0.4567, -0.5397, 0.2027, -0.0171, -0.0889, -1.347, 7.0632, 1.6728, -0.0415, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35254927c58e04d75157bfc0b9cce38291d13ec174f14a9ea53b37828084d25f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dab50cc9439a2ec71ab91d8481888fb4e9a23db1c77da3656e2efe07aaebf1a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:41474f4f27850c5512de24963aa882589ba1b6a90f5c397254f2eb85eee7abf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 4.833 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]: [-0.6868, 1.9148, 1.5097, -0.9123, -0.8211, -1.1595, 0.9993, -0.0181, 0.8082, 0.6128, -0.4107, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3978 left_y=-0.1544 left_z=0.1349 left_yaw=0.6043 left_pitch=-0.1529 left_roll=0.0615 left_gripper=0.9993 right_x=0.2926 right_y=0.002 right_z=0.1738 right_yaw=0.0011 right_pitch=-0.0519 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [0.3761, -11.1795, 6.6256, 0.1148, -0.6618, -0.1001, -0.0171, -0.1436, -1.5385, 7.0085, 1.8877, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5568, 2.2475, 1.8545, -1.5177, -0.7685, -1.9636, 0.9993, -0.0181, 0.8127, 0.6128, -0.4141, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3797 left_y=-0.0875 left_z=0.0939 left_yaw=1.292 left_pitch=-0.1776 left_roll=0.0651 left_gripper=0.9993 right_x=0.2924 right_y=0.002 right_z=0.1719 right_yaw=0.0011 right_pitch=-0.0599 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [0.1573, -11.0291, 5.9966, -0.3785, -0.3346, -0.1343, -0.0171, -0.0615, -1.6342, 7.0222, 1.7509, -0.0708, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5877, 2.2566, 1.8843, -1.557, -0.7483, -2.0132, 0.9993, -0.0181, 0.8131, 0.6128, -0.4133, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.374 left_y=-0.1004 left_z=0.0965 left_yaw=1.2995 left_pitch=-0.1885 left_roll=0.0521 left_gripper=0.9993 right_x=0.2925 right_y=0.0019 right_z=0.172 right_yaw=0.0007 right_pitch=-0.0595 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.5538, -10.906, 6.9402, -0.4567, -0.5397, 0.2027, -0.0171, -0.0889, -1.347, 7.0632, 1.6728, -0.0415, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35254927c58e04d75157bfc0b9cce38291d13ec174f14a9ea53b37828084d25f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dab50cc9439a2ec71ab91d8481888fb4e9a23db1c77da3656e2efe07aaebf1a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41474f4f27850c5512de24963aa882589ba1b6a90f5c397254f2eb85eee7abf2",
        "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_015A8fNS13JST4USmPuhXXtZ",
      "input": {
        "note": "Cap is visible just ahead of the jaws and aligned perpendicular to them. Descending toward the cap (to z 0.03) while nudging toward its estimated position.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.12,
          "left_yaw": 1.3,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_015A8fNS13JST4USmPuhXXtZ",
      "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]: [-0.5785, 2.2566, 1.8843, -1.5562, -0.7483, -2.006, 0.9993, -0.0185, 0.8139, 0.6128, -0.4129, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.375 left_y=-0.0971 left_z=0.0964 left_yaw=1.3045 left_pitch=-0.189 left_roll=0.0567 left_gripper=0.9993 right_x=0.2926 right_y=0.0018 right_z=0.1718 right_yaw=0.0007 right_pitch=-0.0599 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -11.3026, 6.9265, -0.4957, -0.5543, 0.1441, -0.0073, -0.1436, -1.4017, 7.0222, 1.6923, -0.0366, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc02caa9a024ea24c632b3d8747c6550e508a3438e52de0b49ee61d758dd09c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8409904bd8e41b82bcfaab98a946561c6c4a7a5be73be817150172cf29d1832c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cdaf269743bb3aaa4e743f8d6df0a06a3d5cfda5bf3e0e1290577235cc23e638",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 4.609 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]: [-0.5568, 2.2475, 1.8545, -1.5177, -0.7685, -1.9636, 0.9993, -0.0181, 0.8127, 0.6128, -0.4141, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3797 left_y=-0.0875 left_z=0.0939 left_yaw=1.292 left_pitch=-0.1776 left_roll=0.0651 left_gripper=0.9993 right_x=0.2924 right_y=0.002 right_z=0.1719 right_yaw=0.0011 right_pitch=-0.0599 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [0.1573, -11.0291, 5.9966, -0.3785, -0.3346, -0.1343, -0.0171, -0.0615, -1.6342, 7.0222, 1.7509, -0.0708, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5877, 2.2566, 1.8843, -1.557, -0.7483, -2.0132, 0.9993, -0.0181, 0.8131, 0.6128, -0.4133, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.374 left_y=-0.1004 left_z=0.0965 left_yaw=1.2995 left_pitch=-0.1885 left_roll=0.0521 left_gripper=0.9993 right_x=0.2925 right_y=0.0019 right_z=0.172 right_yaw=0.0007 right_pitch=-0.0595 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.5538, -10.906, 6.9402, -0.4567, -0.5397, 0.2027, -0.0171, -0.0889, -1.347, 7.0632, 1.6728, -0.0415, -0.0806, -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]: [-0.5785, 2.2566, 1.8843, -1.5562, -0.7483, -2.006, 0.9993, -0.0185, 0.8139, 0.6128, -0.4129, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.375 left_y=-0.0971 left_z=0.0964 left_yaw=1.3045 left_pitch=-0.189 left_roll=0.0567 left_gripper=0.9993 right_x=0.2926 right_y=0.0018 right_z=0.1718 right_yaw=0.0007 right_pitch=-0.0599 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -11.3026, 6.9265, -0.4957, -0.5543, 0.1441, -0.0073, -0.1436, -1.4017, 7.0222, 1.6923, -0.0366, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc02caa9a024ea24c632b3d8747c6550e508a3438e52de0b49ee61d758dd09c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8409904bd8e41b82bcfaab98a946561c6c4a7a5be73be817150172cf29d1832c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdaf269743bb3aaa4e743f8d6df0a06a3d5cfda5bf3e0e1290577235cc23e638",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS9QgKEAgSGAI4AUIIdGhpbmtpbmcSDPSYEJFWaNc/6hOR0BoMT19s3+xCB966DR5tIjCQRsBL+TRvKxW98+j70seGPWMVy8nAJttzHzSeQxZi9/+F9kCULgE32GJdf4u5rKcqkghgN6s86MNPnjS4vi01H6yYItvwl93Pw6tBnod9WZKMcc7QR0del9ZVQbBp4Bmz0p8PCqdi2JqJByrwt2IvmSjtQfYSq9mLGUZSKilyqePhKNJIlcrYI7xtJPocxh4lnNbLvWomegR6Utp6RmtSlJ51dpehuWA0buxJPIL1D8xNPQVGjWh/c7H5ODPwCsWiSZhPl2WYQBeTYTg+vIQJW0CZITOqGW+z0Q9cEduq4QHcZEM/0aUalmNG8t/zH918Uc3PPl8KS3NogdC1Ct//B+Iku/QrOdH3R8elQT6wPjIDE7jZIK1Jlp+LFTOLzxfmOlhsQGzQe17pjL9rxaMlw2e/Uig+JAplF8c5zaKWEAxhNbFfY0h9xyleltuEo6hF8irx/ad4FeCNTxfFi219vDYP03kNFB4mJRA/CXUqrG2rwAKrYLaIV5f7XA9E2ZmHwTKU627j4VUYPwjSFcMxQufm9NGnVjIMV6D+ckOZulLc/y+fRP8gRv00bFo4pmP2HmHZOs/B5KLqWpJw6QSnmAKwAWw4uLrYIBRM6jsvZ1ZZ6rr/OlI1+ExsdWqg6D09UU2LC/O2kryaZ/HW76iQVjycQGLDgHcOoCIXvk/EMPATYSx8s8KeXmrnElsSD4mSdL4vJQz/aTvcXJTB0Uvlel82uwGsMMUV4017GWi7KMnVrxRlTm9GtJ8JxcSDl2ENEmzmb60dZTCECri0WcAl0yKyNlfc18b0PE3609RM8vX6jh5iuVjbOzM/jOSe3xQEHGaxwHJH5dtfd9UhoEyY9A1rAHPvtJr3ZmeR0+pv6GY7VfpPu0p7DUUX4YP+Zn+tJrjAsd/tJOo9/kVfT7dDjgcTuN4fQ/ol/HAnCya7+z1ibag4hOc6j4Xm67Pg+ppkjKCLrnsbgq4Lr2v7aa1udnfBWzFiRASXTM0GQfTHj9P/rvxHMABNTK8TPjC0Rzcvohu64cbkb/ftMBfkW0P8OAUFSIilLsHSE/FNqi0WrN41EXr8IGY9i/dopunWJWdqetV9OjHwTpyxY2kz3cavf9KAkIkpJGOwlB6kQdG3/0lyfvhNnwH+/p5RcH3fWfqw3zib3jNL0DA2yHG+ixbkGQTZdVgZ5+J+oJJk1VWwUTcGVhmPCXjXxSi77ScuU9xzhngrWbqcOp8NSumx2TFTuYk6NmQTCFm03+4xrJreKfVpOQyNU7TyAFCkoubWRG2efjBF++/F5wSEnO6Y2VfTl1SJ22P4jFDRyAS/PO7Nxh3gW6KCYK8W9g5OEGN7pMlYeW9ihoi9d8OtwBnMBo7q6hL5unRPi+nCqGnw0d7fl7aU9DdrCon9zUPtq6lizwwsv36iHCcWepHKw1yluIBY72y+j6RcuNkAvrjdGgEwqKoRuml/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01THoyDZW8gYDMfuZrcZQ9bt",
      "input": {
        "note": "Left arm is locked at a joint limit with yaw +1.3 (position not changing). Backing out to yaw 0 above the cap so I can try the opposite yaw direction.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.13,
          "left_yaw": 0.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01THoyDZW8gYDMfuZrcZQ9bt",
      "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]: [-0.5579, 1.4384, 0.9752, -0.6621, -0.5297, -1.0573, 0.9991, -0.0181, 0.8204, 0.6128, -0.4179, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3266 left_y=-0.0944 left_z=0.1173 left_yaw=0.5045 left_pitch=-0.3322 left_roll=-0.1558 left_gripper=0.9991 right_x=0.2923 right_y=0.002 right_z=0.1691 right_yaw=0.0011 right_pitch=-0.0713 right_roll=0.0018 right_gripper=0.9991\nstate[joint_eff]: [0.3214, -8.253, 7.8838, 1.5018, -0.315, 0.2955, -0.0269, -0.2393, -1.5111, 7.0085, 1.8095, -0.0122, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5645888ce60747c44efe3187da6d6ca6926581f8af94371018bed9b420b1643",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f6b928b721ff70dae4ae639236a69ba898dba089c2e89d80e5b31c6c0462d80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:87a63b29c865e6ba8722466ef78eba0c411b763410368e30c1ba346c496aaa0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 4.64 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]: [-0.5877, 2.2566, 1.8843, -1.557, -0.7483, -2.0132, 0.9993, -0.0181, 0.8131, 0.6128, -0.4133, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.374 left_y=-0.1004 left_z=0.0965 left_yaw=1.2995 left_pitch=-0.1885 left_roll=0.0521 left_gripper=0.9993 right_x=0.2925 right_y=0.0019 right_z=0.172 right_yaw=0.0007 right_pitch=-0.0595 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.5538, -10.906, 6.9402, -0.4567, -0.5397, 0.2027, -0.0171, -0.0889, -1.347, 7.0632, 1.6728, -0.0415, -0.0806, -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]: [-0.5785, 2.2566, 1.8843, -1.5562, -0.7483, -2.006, 0.9993, -0.0185, 0.8139, 0.6128, -0.4129, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.375 left_y=-0.0971 left_z=0.0964 left_yaw=1.3045 left_pitch=-0.189 left_roll=0.0567 left_gripper=0.9993 right_x=0.2926 right_y=0.0018 right_z=0.1718 right_yaw=0.0007 right_pitch=-0.0599 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -11.3026, 6.9265, -0.4957, -0.5543, 0.1441, -0.0073, -0.1436, -1.4017, 7.0222, 1.6923, -0.0366, -0.0513, -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 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]: [-0.5579, 1.4384, 0.9752, -0.6621, -0.5297, -1.0573, 0.9991, -0.0181, 0.8204, 0.6128, -0.4179, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3266 left_y=-0.0944 left_z=0.1173 left_yaw=0.5045 left_pitch=-0.3322 left_roll=-0.1558 left_gripper=0.9991 right_x=0.2923 right_y=0.002 right_z=0.1691 right_yaw=0.0011 right_pitch=-0.0713 right_roll=0.0018 right_gripper=0.9991\nstate[joint_eff]: [0.3214, -8.253, 7.8838, 1.5018, -0.315, 0.2955, -0.0269, -0.2393, -1.5111, 7.0085, 1.8095, -0.0122, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5645888ce60747c44efe3187da6d6ca6926581f8af94371018bed9b420b1643",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f6b928b721ff70dae4ae639236a69ba898dba089c2e89d80e5b31c6c0462d80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87a63b29c865e6ba8722466ef78eba0c411b763410368e30c1ba346c496aaa0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS2QgKEAgSGAI4AUIIdGhpbmtpbmcSDP0XDjCyJiU+S8v5mRoMT4Y605NOZEumCK69IjDDZ7KHi+5bBPCw2bTRe2VJ7aaBy8+v6ubhi4eOBvaOmHoMq52BQnX6N4R9J0UIZuAq9gf+q4KmZ9BL+cnjcx2RdafxY2PcD7jmiG+zV2TacBC1O4FtTEm8pWdNzUrKu2goutSh10xJfryXYOUS/xLIGWXy1Ik0/bI3NfeF+LepiWwylNby91FSNDvUhgOWmn7R2el1vCOeOoHeuCW015NXQH6azwPehE3KDpn5G9RV0AMLySnXYYE4Zbm8B4x55Q/nDKPjStTGuXIsecOWSrAultBV1M5YSHEkbUXnxdt2e4GCxFj3dCuCTxK9XpwlRi+rAXEh4YnmgbCf6d0P/k10hMjF9t1PEn6Dyi1N/94wjeZwmW6j/Zo2aSwrVlSajH5o+u4uhfLwfQzml/tDp3gDy24pf+tZr0U7v3F2BV8I/TMHot0+K9l00NvskkiR0HC+jQTYU1bs5h/khA7PKvuuzqwEtEZrIzFI4pn6hDguPJvCqH4j0tvMl4cKrBzlrd5IZ7Bjb6TTe4cw7EW2/WGmvrv2YyBnf5QWkmkhuRorFZEnBwYO3s8guySA3EIg3kVXTQE2EAQJvifmZ/BF8kLg6GlR/ldq+y0+eFSKojIgvphuQ0iTwtXsLbz05IXlxzTlaCOUpLMK7GPzX13d8IUjVuCkMJVoHydPxXOSUs7ygILOBX88QABHs+inp9i8kP0QFjWgw5AYJvqvECdA+dR+dtaXSD3PEjeG1OaaBYk1EPw3irOxAatNNe0k4KoqByVMWr8WFdkEZnVszLvV7SWVeNJrfULVUXDIUo7BbBSJhQncyxOUkRCT08KfoCoasoILEBXarXulD3adKde/Z4hGYhdx5/vO3t1z6ounjq/0jJ+mZRfIIalD16iv4/chnne+SKHgisp2MTTuqWn0La+W7ZI/2GYr8MsKQmFdGU65NCPA42IRyHQyGnlhjsB7lopQOlXjTUuPRqx7tmlp4KZJqGT9TjP7XXuwpnE79plqTJwCewURwoLNGgL2dwDFlnvOl+/dWK90MBjfk45CqlzSgMYqVm5vW2ZcrTAgMbp9oQL7C/W47aiNLE9xq5KNNh551WgDfERIDdyIxu628glgQ90E5FA70W2QnePpyr+vmdESWuzK93qa99oPmKR4H6X0AudmCDo2yoxtzPZc95GVHzo8puD6x0ITRZZnZnWoeTHSeG0BR31kE/yDoLb0C/lfx/OaFYm1bXk5UXmaMxA0Ky4/aVqPuYn3q74Rujg1yxw8RsByKMeL0p9f2SEmXvMnpiByxrFJ0j9g3/va3UWJtTEseJSjV29Bf/RMxH3C7QfP/yCYm1wkcoMqAlWqdm2IVfynaeAbwQz7ljyZLI1ChGmixWOmxzNZNHw6ThvItlE/JiiOMI5EwTAjg8ivik9rnJ9ba2ID3AMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U53vsi7gQTRRxkYYY7bF1c",
      "input": {
        "note": "Arm is unwinding; cap visible ahead in the wrist view. Trying the negative yaw direction (to -0.7 first) to align the jaws across the cap without hitting the wrist limit.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.14,
          "left_yaw": -0.7,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01U53vsi7gQTRRxkYYY7bF1c",
      "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]: [-0.2211, 1.5166, 1.1156, -0.5957, 0.226, 0.0448, 0.9991, -0.0181, 0.8238, 0.6128, -0.4206, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.369 left_y=-0.1198 left_z=0.132 left_yaw=-0.4662 left_pitch=-0.4011 left_roll=-0.1745 left_gripper=0.9991 right_x=0.2921 right_y=0.002 right_z=0.1676 right_yaw=0.0011 right_pitch=-0.0774 right_roll=0.0019 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -7.0085, 9.0188, 1.16, 0.3004, 0.2955, -0.0171, -0.0479, -1.6752, 6.9675, 1.6728, -0.0366, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a399d402c502a64fa0177906a61c52a1fbc74f4bc3893913e752f9a645074ffa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c2fc96fec7f7068eb4aee32490c8e3904b0cb0bee2ba1240c7f5c6bde2239d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63efc6dc1b640269bab00e076829eb48505a243d80e9eb815dce494b679c5b84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 6.764 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]: [-0.5785, 2.2566, 1.8843, -1.5562, -0.7483, -2.006, 0.9993, -0.0185, 0.8139, 0.6128, -0.4129, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.375 left_y=-0.0971 left_z=0.0964 left_yaw=1.3045 left_pitch=-0.189 left_roll=0.0567 left_gripper=0.9993 right_x=0.2926 right_y=0.0018 right_z=0.1718 right_yaw=0.0007 right_pitch=-0.0599 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -11.3026, 6.9265, -0.4957, -0.5543, 0.1441, -0.0073, -0.1436, -1.4017, 7.0222, 1.6923, -0.0366, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.5579, 1.4384, 0.9752, -0.6621, -0.5297, -1.0573, 0.9991, -0.0181, 0.8204, 0.6128, -0.4179, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3266 left_y=-0.0944 left_z=0.1173 left_yaw=0.5045 left_pitch=-0.3322 left_roll=-0.1558 left_gripper=0.9991 right_x=0.2923 right_y=0.002 right_z=0.1691 right_yaw=0.0011 right_pitch=-0.0713 right_roll=0.0018 right_gripper=0.9991\nstate[joint_eff]: [0.3214, -8.253, 7.8838, 1.5018, -0.315, 0.2955, -0.0269, -0.2393, -1.5111, 7.0085, 1.8095, -0.0122, -0.0317, -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 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]: [-0.2211, 1.5166, 1.1156, -0.5957, 0.226, 0.0448, 0.9991, -0.0181, 0.8238, 0.6128, -0.4206, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.369 left_y=-0.1198 left_z=0.132 left_yaw=-0.4662 left_pitch=-0.4011 left_roll=-0.1745 left_gripper=0.9991 right_x=0.2921 right_y=0.002 right_z=0.1676 right_yaw=0.0011 right_pitch=-0.0774 right_roll=0.0019 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -7.0085, 9.0188, 1.16, 0.3004, 0.2955, -0.0171, -0.0479, -1.6752, 6.9675, 1.6728, -0.0366, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a399d402c502a64fa0177906a61c52a1fbc74f4bc3893913e752f9a645074ffa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c2fc96fec7f7068eb4aee32490c8e3904b0cb0bee2ba1240c7f5c6bde2239d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63efc6dc1b640269bab00e076829eb48505a243d80e9eb815dce494b679c5b84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSnAgKEAgSGAI4AUIIdGhpbmtpbmcSDBklpdNQE/eBuqDDzRoMaS4RfE7nszEHDKTcIjAA4HKan5Ht3LdZbfV1c4kgOiBl/3wSBoNx3Oxy9A7ZUvoEi0iA+Npp+BJBsQ0MPYQquQfJz37VcFTSFB4dRltUM77jozmAk5HJ39xZhZplMkzZYWHV0TWpSdmjALplW1chSIPqYXAP1VRgwr90NPnZAjbI4uvHxDwWv9SKUr1/IkjoWfiqgpIYQ9P6f6ndGjS1HuhidjoiNgUtk6Du1voJ5XSk6AiKG9lnEKNabezHAvZlt8a/qbV3KNDizLyqvp2vEFfFEwbd4Zledwdot8dMDfABoSYzVspz56tvZv0243tPwOXEFfDXcYX7og/08DrgxbKIlQs/106+MOSMTiQi3gHPqZPFJ+apvLNLubYHEijHI8MhFn7iAmVcFSBK8qHN65edhFt2NezFwZW2LsRPWqyr5pCm7CAqAxGzJcjFQxudJ0pL5matGuqsxIVb0J6jS/gVL3eOgMgnDzDIzP2Wc7yXB4+lcDvfslpTOqYGxGSVsnw1JWZUxXqQ7bJjjvYIxu/rYdP9NNjImIgT8VcCmhSnrXy92JoJpyI4lzeOfgns7H7H4AyO2IrcJkEmLmpWBnLD5i+8NyAwBjMCrsTJ4W5CE6J/14yl4Dqn6FGdgX6ConwepZLw/tZFhO6EUkZPZ8oworqAJCoX5ayG8swfDHnB0GJnqIWc3I/o0Oa9hYbOfCeQl7+JfgsaO0qyfx1Nm+8ifHWZCcy5hjHrlOZjSdxAfPFx/kt2O8M3qUI+C4mt6KBvpEjdispzTRwtA3NDSoboE69Nf03oqUPtktdeaLcoZxmiZP4e+HQ0bTubGcPPuO0rgnmZC1rw6lvolYnmxaaom3bMCPG+pso5DxOQaQnONJgaG0Z1JMR4dFKxw68CCkQCxYqLS1XsTBv5AzcbAIp4X8GLBFPMPtCvX29ciKQnFSTNnwr/KwAfwQsD7O/dONTgclIbpS4+NiZEv9KDOjsFBWkMXZBIRZzqRXHoPK9CMXXJk7S0kQ/xPHn+vviI3MWTL5bxX0TwJPoQQc6MgD/o1ExCR7WauRGbw1m6Ji0DcU6cv1qCfUxtxMoX+/EgY47IgpuHpj4QcM+w87ffQAvknejvYUzWOgMat5kYhAi38Q96GPRTvs7oV//0CmVkZgF40XTQ0PXPvb0tKjOqRNyjc4+7yd5MYAflj9F2FL6Gcf2tyD+xKxCGDMCxjLORiqN/7co/OXqs7UE1JLu3r7JGBndYhUGv4T6g8AZJvsodFqHGrbJe2ZHPywJpK75pzkpiEDWvBJQF58sw/LqOLqu3LB4eNkYGh4Bvl7Nz9DNKzXUG3QxvuHU4QKwpR5iBfZMIfdaPuZW2XRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B5Gntj7cSuPd8YzDpCxSjf",
      "input": {
        "note": "Negative yaw is tracking; cap seen ahead-left in wrist view. Continuing yaw to -1.3 and resetting pitch/roll to 0 so the jaws are vertical over the cap.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.38,
          "left_y": -0.14,
          "left_yaw": -1.3,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01B5Gntj7cSuPd8YzDpCxSjf",
      "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]: [-0.0059, 1.7454, 1.1866, -0.6144, 0.8562, 0.9527, 0.9991, -0.0181, 0.8242, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3765 left_y=-0.1321 left_z=0.1218 left_yaw=-1.2043 left_pitch=-0.0812 left_roll=-0.0802 left_gripper=0.9991 right_x=0.2922 right_y=0.002 right_z=0.1676 right_yaw=0.0011 right_pitch=-0.0774 right_roll=0.0019 right_gripper=0.9991\nstate[joint_eff]: [0.294, -8.0068, 8.8137, 0.9451, 0.7399, 0.2027, -0.0122, -0.0205, -1.4427, 7.1863, 1.6532, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cda4ba2ffc530dc7478fddf962d0e9d884177a96b4b14ad232c28973d0f1beb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:953e90fb92e9ac4c54d39fa6989f6118b16124d5861314a463857674f17bfc02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bb4f723577a5740299335f59c02b743feca20cab500a478e8036fb2eeedead6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 3.214 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]: [-0.5579, 1.4384, 0.9752, -0.6621, -0.5297, -1.0573, 0.9991, -0.0181, 0.8204, 0.6128, -0.4179, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3266 left_y=-0.0944 left_z=0.1173 left_yaw=0.5045 left_pitch=-0.3322 left_roll=-0.1558 left_gripper=0.9991 right_x=0.2923 right_y=0.002 right_z=0.1691 right_yaw=0.0011 right_pitch=-0.0713 right_roll=0.0018 right_gripper=0.9991\nstate[joint_eff]: [0.3214, -8.253, 7.8838, 1.5018, -0.315, 0.2955, -0.0269, -0.2393, -1.5111, 7.0085, 1.8095, -0.0122, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.2211, 1.5166, 1.1156, -0.5957, 0.226, 0.0448, 0.9991, -0.0181, 0.8238, 0.6128, -0.4206, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.369 left_y=-0.1198 left_z=0.132 left_yaw=-0.4662 left_pitch=-0.4011 left_roll=-0.1745 left_gripper=0.9991 right_x=0.2921 right_y=0.002 right_z=0.1676 right_yaw=0.0011 right_pitch=-0.0774 right_roll=0.0019 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -7.0085, 9.0188, 1.16, 0.3004, 0.2955, -0.0171, -0.0479, -1.6752, 6.9675, 1.6728, -0.0366, -0.0513, -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 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]: [-0.0059, 1.7454, 1.1866, -0.6144, 0.8562, 0.9527, 0.9991, -0.0181, 0.8242, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3765 left_y=-0.1321 left_z=0.1218 left_yaw=-1.2043 left_pitch=-0.0812 left_roll=-0.0802 left_gripper=0.9991 right_x=0.2922 right_y=0.002 right_z=0.1676 right_yaw=0.0011 right_pitch=-0.0774 right_roll=0.0019 right_gripper=0.9991\nstate[joint_eff]: [0.294, -8.0068, 8.8137, 0.9451, 0.7399, 0.2027, -0.0122, -0.0205, -1.4427, 7.1863, 1.6532, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cda4ba2ffc530dc7478fddf962d0e9d884177a96b4b14ad232c28973d0f1beb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:953e90fb92e9ac4c54d39fa6989f6118b16124d5861314a463857674f17bfc02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb4f723577a5740299335f59c02b743feca20cab500a478e8036fb2eeedead6a",
        "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_01VqWLZdrnQkXSPdRzh4BY8y",
      "input": {
        "note": "Cap now sits near the bottom of the wrist view, aligned perpendicular to the jaws, slightly toward tool-left (+x). Shifting ~2 cm forward and descending to table level to grasp it.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.395,
          "left_y": -0.13,
          "left_yaw": -1.25,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01VqWLZdrnQkXSPdRzh4BY8y",
      "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]: [0.017, 2.0327, 1.0183, -0.1772, 0.8982, 1.0084, 0.9991, -0.0185, 0.8268, 0.6128, -0.4202, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3869 left_y=-0.128 left_z=0.0048 left_yaw=-1.2293 left_pitch=-0.0491 left_roll=-0.0658 left_gripper=0.9991 right_x=0.2923 right_y=0.0018 right_z=0.1668 right_yaw=0.0004 right_pitch=-0.0801 right_roll=0.0017 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -9.2923, 4.5744, 1.0867, 0.7106, 0.188, -0.0122, -0.2256, -1.5795, 7.0222, 1.6386, -0.0513, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36a3d94cac40979a33b2f73b79256c067c2873b76892d8711158f429f30eb166",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba69759d2d5455e13e150dca7aecf743fa15150c6b7f508ea5dc45b1c3bb8a00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b691b418c9a2607497cdb279206c860487b05cd4623db4580ad9bfc8b3a2677e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 4.013 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]: [-0.2211, 1.5166, 1.1156, -0.5957, 0.226, 0.0448, 0.9991, -0.0181, 0.8238, 0.6128, -0.4206, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.369 left_y=-0.1198 left_z=0.132 left_yaw=-0.4662 left_pitch=-0.4011 left_roll=-0.1745 left_gripper=0.9991 right_x=0.2921 right_y=0.002 right_z=0.1676 right_yaw=0.0011 right_pitch=-0.0774 right_roll=0.0019 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -7.0085, 9.0188, 1.16, 0.3004, 0.2955, -0.0171, -0.0479, -1.6752, 6.9675, 1.6728, -0.0366, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0059, 1.7454, 1.1866, -0.6144, 0.8562, 0.9527, 0.9991, -0.0181, 0.8242, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3765 left_y=-0.1321 left_z=0.1218 left_yaw=-1.2043 left_pitch=-0.0812 left_roll=-0.0802 left_gripper=0.9991 right_x=0.2922 right_y=0.002 right_z=0.1676 right_yaw=0.0011 right_pitch=-0.0774 right_roll=0.0019 right_gripper=0.9991\nstate[joint_eff]: [0.294, -8.0068, 8.8137, 0.9451, 0.7399, 0.2027, -0.0122, -0.0205, -1.4427, 7.1863, 1.6532, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.017, 2.0327, 1.0183, -0.1772, 0.8982, 1.0084, 0.9991, -0.0185, 0.8268, 0.6128, -0.4202, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3869 left_y=-0.128 left_z=0.0048 left_yaw=-1.2293 left_pitch=-0.0491 left_roll=-0.0658 left_gripper=0.9991 right_x=0.2923 right_y=0.0018 right_z=0.1668 right_yaw=0.0004 right_pitch=-0.0801 right_roll=0.0017 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -9.2923, 4.5744, 1.0867, 0.7106, 0.188, -0.0122, -0.2256, -1.5795, 7.0222, 1.6386, -0.0513, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36a3d94cac40979a33b2f73b79256c067c2873b76892d8711158f429f30eb166",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba69759d2d5455e13e150dca7aecf743fa15150c6b7f508ea5dc45b1c3bb8a00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b691b418c9a2607497cdb279206c860487b05cd4623db4580ad9bfc8b3a2677e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS8AYKEAgSGAI4AUIIdGhpbmtpbmcSDJUue34evUlgxI8yNxoMUOuM1Uy2c7KCXjcKIjC9M1j5rogaSYJKszNmR+/5zIYB+YgztxyCUpQFBUGc6cVLJm2WV3g7NnVQHEQ1eCkqjQYhkqpO+qM3HQ1SRRiapzLzLHNUufDQy4ysw0qsopjvmxePbu88FTYJXq6Ez8mjuZJ9G2MEgnCwsN0EWU/wUa687yxaqPknuvlmV6adtdS93//D6KsN247l8u4jPf9WlLGw+IF8J6UOFkKJ7V4xkVFpCcWvTyNSBvTgaHXdTa1bRHYJnCwMgS3XZ1BK3Ru1GlxQiDYt4kz1CBxN6MgRYZ/1oPsOwcLqxZSiq+YJrIo+oHAYwDRzEz0dvC6dxPJ8TpetcLduF4Aqi4MmbVMUhHsjuSIQttq/p0YAGzzf+JaGi2BE8jal2meoEQnve0VaEyACaXMBU5QKW6xD8tqHJBeKWgtEjVMy9JSipv3qQ7PC+WfGT+GSg79YfRJ9Kftgboo3UIvVGs8JS9wNyGyYWEIvoiTrApu2qOXHbFw714THzkLOfv4RRsHu5fK54rP7gvh+YwXjEY3ofcC9YnKjQ6tPnhIo7DCRk9H4IdDt2SrwzcX0sElUA0DiLKNNfBUC0YIUg0d/RX210m7hjLXltzOu1ejGHUXMz2vyJmKr9DTBO7HCobYBSHLuohZ3ZBB1x9F8txlGJlL38omCPdZqANc50VUiDpkSfzqqvOzc1gLiuvdNxm8Fhadt8tKZlb46qJbdbd7tdwhXxJMr5j6M+Tffy2MwrosewPe98HnAhXJLqEKBr7vmmP/Q5lByw5v8TympWQ4J7CkP2668eunMvha9eXwp6aDuotje9+FgdN5pEVOaVSPt3cmQ1QsR0pi5uiGc0YLz6LC3k8FJHcC+zxKDVkV0FXoZNV8lofnIJvkCgJ1qX7LBkM99/S8l93gtf5sqKA3tw00hFFOw84JAfSYo1p6xvYXU9tiR3c0o5bVDNtbIxUzc7n9R2hBu2emFtMgjKhBN+WZW78NjDzDcwLVz3jKvvLVXuzIbkdupmBjq98+2g6eyHAbKxyNHhghlW/IHzdKS4Lw4i7po24r4WIZKXvOTCilKNZItiEwwtrlqYTMbXpF+jArK6NC9MJtkS3Ls6tCKBmBfdHO00qwLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VmmGm4JfLemULTKECqiUgP",
      "input": {
        "note": "Grippers at table level with the cap between the jaws (visible at bottom of wrist view). Closing the left gripper.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VmmGm4JfLemULTKECqiUgP",
      "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]: [0.0193, 2.0377, 1.0119, -0.1474, 0.9161, 1.0042, 0.012, -0.0185, 0.8288, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3884 left_y=-0.1291 left_z=0.0057 left_yaw=-1.2311 left_pitch=-0.0276 left_roll=-0.0572 left_gripper=0.012 right_x=0.2924 right_y=0.0019 right_z=0.1663 right_yaw=0.0007 right_pitch=-0.082 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.4581, -9.6479, 5.6274, 0.5641, 0.4615, 0.0366, 0.3297, -0.335, -1.3607, 7.2, 1.6484, -0.0317, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d06722330055657c0b0d088e088e3309c2945c9054fd9771f6617383d90ae35f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04b728044fcce2c62c758decb19d05dc4d212f83225e419ae28e163ab273b50b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fae14b6f762a00d11ead8a46bf14896820a853588c87720e6c2e930bc29b6251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 10.9 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]: [-0.0059, 1.7454, 1.1866, -0.6144, 0.8562, 0.9527, 0.9991, -0.0181, 0.8242, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3765 left_y=-0.1321 left_z=0.1218 left_yaw=-1.2043 left_pitch=-0.0812 left_roll=-0.0802 left_gripper=0.9991 right_x=0.2922 right_y=0.002 right_z=0.1676 right_yaw=0.0011 right_pitch=-0.0774 right_roll=0.0019 right_gripper=0.9991\nstate[joint_eff]: [0.294, -8.0068, 8.8137, 0.9451, 0.7399, 0.2027, -0.0122, -0.0205, -1.4427, 7.1863, 1.6532, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.017, 2.0327, 1.0183, -0.1772, 0.8982, 1.0084, 0.9991, -0.0185, 0.8268, 0.6128, -0.4202, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3869 left_y=-0.128 left_z=0.0048 left_yaw=-1.2293 left_pitch=-0.0491 left_roll=-0.0658 left_gripper=0.9991 right_x=0.2923 right_y=0.0018 right_z=0.1668 right_yaw=0.0004 right_pitch=-0.0801 right_roll=0.0017 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -9.2923, 4.5744, 1.0867, 0.7106, 0.188, -0.0122, -0.2256, -1.5795, 7.0222, 1.6386, -0.0513, -0.0659, -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 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]: [0.0193, 2.0377, 1.0119, -0.1474, 0.9161, 1.0042, 0.012, -0.0185, 0.8288, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3884 left_y=-0.1291 left_z=0.0057 left_yaw=-1.2311 left_pitch=-0.0276 left_roll=-0.0572 left_gripper=0.012 right_x=0.2924 right_y=0.0019 right_z=0.1663 right_yaw=0.0007 right_pitch=-0.082 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.4581, -9.6479, 5.6274, 0.5641, 0.4615, 0.0366, 0.3297, -0.335, -1.3607, 7.2, 1.6484, -0.0317, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d06722330055657c0b0d088e088e3309c2945c9054fd9771f6617383d90ae35f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04b728044fcce2c62c758decb19d05dc4d212f83225e419ae28e163ab273b50b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fae14b6f762a00d11ead8a46bf14896820a853588c87720e6c2e930bc29b6251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS+AcKEAgSGAI4AUIIdGhpbmtpbmcSDMbrjsbwVW2hR8Lj8RoMVbkW+maIzqyayytQIjD/8vs/Qr5MRg0tuZJ59dI1WZ3p7cwYUCT7VFdPp5K+JzoqJ4w3jGCfNjMwv+QqsBQqlQdI/DTSnZJJo/5X+W+o9ShM24wQ6pksYHDvLwrxz3UZb95ozubU0WwbGKYgSMR91woPo0tcs8+74yl1iQx1mvwge2CRofgNciwPBE+HOtT9oJdGy4IeOrufTmjMw4kA1OnaJD33Lw3lcnXphSHswXSNjH3tY3/GZzUjbpSIegtHaQH5FsT9Gm5xCHw3/iaBkTkLDisQcAxD+o078dd0jd32BLIvxYb8nRuxB0MJF2KI5T2sWL1mgI/avHboUNKk3rxetMqtKxfVpH40/UB6Dr9zngKabG/3zwtlTUyIwZYiF+7LNSfOjkhOmB8S5ARldeCZmoX8N9yhG3MY6YSt9hLs6x06eT8RLH7rjiFQcsLkqfHu/MIN/GhRSZQCtCcu+3d19XvrNeQQ0HnX44KyFIaQC5G7vLS5ZWhS14+3nr9YLkD2WG5w7k/mossD6nHn3xo/yvc2xhm0kQvwlUyxjY74RnCDxfotNS4T2FD8/zXZozgHj+Uk9YX+Zq4ZDYgoPMnArpt/A5Dppu58jp8A90ZabcPBHhDdbHrvXCJSY+dJ3yipjsnYu6wn1HRbVdCaPmyBIWkqfAggkbgRNKaCIjZ5iqe0O4Gv3EkCbbswbab4mstK9GZLAiTp2Bx98a7zdmPD+lVqkX40va2cAh00JkpnvQKLMz0PuzZhdu8ovcPoBOiVY8V7j4Uwp60uxzn5C8HD3GmYHBMUO7tfCoEhK9jo9LvEFMYXfl2JIoI+2kpMFJQHZDdchaA3nICiiimEf9EUNUsKehpMbdZSYES4olh7RecJwr5WVb9T+9Ivf3IQ7r/eXNKEe1ONRC2alfLxxTqVUNGLkBEdkmcWCMnNQIxKRI53tIWm19TxmAK41r035Q3VVZn5NORHLIDmstLwryVV5wxHgRQU4IkawaYfA7jJTw2QdMCuurUBUp9rlaZ/VV62Xz017bhe7NkyEtz1SZF7C008VBv4UlfmG9bEUm9UsrqTVVt8pwe01C8xf3klY5lHNB28KLu76u7KKHv8JP0zyy/XtaOo6RwYxkWSADJGPKkM582t/oYZrvDl08X48mJlF4hvzfdqZyX8GiqKeWXzmKr9IB58c9wYe69Z3kDdXOFafyZiixXKg2brF2JpRQsfxMegOQlmRDBktqclpe5s3gtsBov4825qk/S4f5dVoR3pKoTpE3B4/VaPfw13sNRkf/9K3ndjhb2Z9dPsdnWWZt76xBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013NtyCW8MQf7iwaSUwnXreN",
      "input": {
        "note": "Gripper closed fully (0.012) — missed the cap. Opening and lifting to re-locate the cap in the wrist and top views.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013NtyCW8MQf7iwaSUwnXreN",
      "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]: [0.0193, 1.8381, 1.1698, -0.548, 0.897, 0.9962, 0.9951, -0.0181, 0.8291, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3842 left_y=-0.1271 left_z=0.0929 left_yaw=-1.2213 left_pitch=-0.0585 left_roll=-0.0989 left_gripper=0.9951 right_x=0.2924 right_y=0.002 right_z=0.1662 right_yaw=0.0011 right_pitch=-0.0824 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -11.2479, 8.6085, 0.8767, 0.5055, -0.0073, -0.149, -0.0752, -1.4427, 7.0085, 1.6581, -0.022, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cae104d516c2f68dbb3b9b8a54bd43c16bea25b621d816d9a3da47335c17d9ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8aceae6970bee7a05f8fbbfead0497f7b84b99328883ed82ce811880763105b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ae0ac7181dcf60661e8622baddb348fdfe1e6d14f568c7de90803f46ad7ae28d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 3.743 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]: [0.017, 2.0327, 1.0183, -0.1772, 0.8982, 1.0084, 0.9991, -0.0185, 0.8268, 0.6128, -0.4202, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3869 left_y=-0.128 left_z=0.0048 left_yaw=-1.2293 left_pitch=-0.0491 left_roll=-0.0658 left_gripper=0.9991 right_x=0.2923 right_y=0.0018 right_z=0.1668 right_yaw=0.0004 right_pitch=-0.0801 right_roll=0.0017 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -9.2923, 4.5744, 1.0867, 0.7106, 0.188, -0.0122, -0.2256, -1.5795, 7.0222, 1.6386, -0.0513, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [0.0193, 2.0377, 1.0119, -0.1474, 0.9161, 1.0042, 0.012, -0.0185, 0.8288, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3884 left_y=-0.1291 left_z=0.0057 left_yaw=-1.2311 left_pitch=-0.0276 left_roll=-0.0572 left_gripper=0.012 right_x=0.2924 right_y=0.0019 right_z=0.1663 right_yaw=0.0007 right_pitch=-0.082 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.4581, -9.6479, 5.6274, 0.5641, 0.4615, 0.0366, 0.3297, -0.335, -1.3607, 7.2, 1.6484, -0.0317, -0.0855, -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]: [0.0193, 1.8381, 1.1698, -0.548, 0.897, 0.9962, 0.9951, -0.0181, 0.8291, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3842 left_y=-0.1271 left_z=0.0929 left_yaw=-1.2213 left_pitch=-0.0585 left_roll=-0.0989 left_gripper=0.9951 right_x=0.2924 right_y=0.002 right_z=0.1662 right_yaw=0.0011 right_pitch=-0.0824 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -11.2479, 8.6085, 0.8767, 0.5055, -0.0073, -0.149, -0.0752, -1.4427, 7.0085, 1.6581, -0.022, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cae104d516c2f68dbb3b9b8a54bd43c16bea25b621d816d9a3da47335c17d9ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8aceae6970bee7a05f8fbbfead0497f7b84b99328883ed82ce811880763105b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae0ac7181dcf60661e8622baddb348fdfe1e6d14f568c7de90803f46ad7ae28d",
        "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_015N3UMBG1wcMBgQw3mdsoUy",
      "input": {
        "note": "The cap still appears just below the jaws at the bottom of the wrist view; the first close was likely too high. Descending again, this time pressing slightly below table level.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.39,
          "left_y": -0.127,
          "left_yaw": -1.23,
          "left_z": -0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_015N3UMBG1wcMBgQw3mdsoUy",
      "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]: [0.0223, 2.0441, 0.9733, -0.083, 0.9375, 1.008, 0.9961, -0.0185, 0.8314, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3841 left_y=-0.1303 left_z=0.0012 left_yaw=-1.2384 left_pitch=-0.0029 left_roll=-0.0416 left_gripper=0.9961 right_x=0.2926 right_y=0.0018 right_z=0.1656 right_yaw=0.0007 right_pitch=-0.0847 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [0.1299, -7.0769, 3.6444, 0.5983, -0.2173, -0.0464, 0.0952, -0.2803, -1.6205, 7.1179, 1.6972, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5914c3feed4a98cd1318c7cae1d6ffdec4311f034bc6e364396311aa94590d79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3789d808c61719390e10371babdd4c95019e1448290a22884f5cb64412115330",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:374aa376cd4889c9ecd8a00af61cf8fe53f5a7d82b953d01fab0a6447ac85105",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 3.507 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]: [0.0193, 2.0377, 1.0119, -0.1474, 0.9161, 1.0042, 0.012, -0.0185, 0.8288, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3884 left_y=-0.1291 left_z=0.0057 left_yaw=-1.2311 left_pitch=-0.0276 left_roll=-0.0572 left_gripper=0.012 right_x=0.2924 right_y=0.0019 right_z=0.1663 right_yaw=0.0007 right_pitch=-0.082 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.4581, -9.6479, 5.6274, 0.5641, 0.4615, 0.0366, 0.3297, -0.335, -1.3607, 7.2, 1.6484, -0.0317, -0.0855, -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]: [0.0193, 1.8381, 1.1698, -0.548, 0.897, 0.9962, 0.9951, -0.0181, 0.8291, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3842 left_y=-0.1271 left_z=0.0929 left_yaw=-1.2213 left_pitch=-0.0585 left_roll=-0.0989 left_gripper=0.9951 right_x=0.2924 right_y=0.002 right_z=0.1662 right_yaw=0.0011 right_pitch=-0.0824 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -11.2479, 8.6085, 0.8767, 0.5055, -0.0073, -0.149, -0.0752, -1.4427, 7.0085, 1.6581, -0.022, -0.0611, -0.0122]\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 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]: [0.0223, 2.0441, 0.9733, -0.083, 0.9375, 1.008, 0.9961, -0.0185, 0.8314, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3841 left_y=-0.1303 left_z=0.0012 left_yaw=-1.2384 left_pitch=-0.0029 left_roll=-0.0416 left_gripper=0.9961 right_x=0.2926 right_y=0.0018 right_z=0.1656 right_yaw=0.0007 right_pitch=-0.0847 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [0.1299, -7.0769, 3.6444, 0.5983, -0.2173, -0.0464, 0.0952, -0.2803, -1.6205, 7.1179, 1.6972, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5914c3feed4a98cd1318c7cae1d6ffdec4311f034bc6e364396311aa94590d79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3789d808c61719390e10371babdd4c95019e1448290a22884f5cb64412115330",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:374aa376cd4889c9ecd8a00af61cf8fe53f5a7d82b953d01fab0a6447ac85105",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSigcKEAgSGAI4AUIIdGhpbmtpbmcSDBiC9M9h5lttPEJ4OhoMfabxF4pM0hPi4wdOIjC/tM35b+aiWSwnn9RHBJNWYkQ3ZbseyMoJlxCRmzL5EC9IZJpV5Aif6/OZ9empqdAqpwa/HnRYvGB85liccBWQ6yqMVxR1MpLae9kqSx/aca2RMn7Ir+6/Joi3nUq1DRXCjoPnuLuEkT8ip35OBU3D38aMBB2Pzn1+pqmKLOSivNk1uzvn7xgG0C24k25VZZv30NKIFxD7pe4GYPLSioNLo63y9FwKxlR4ccANDHEiSZ5HF9SdXdzhPe+XjQnxToRLzvm/etjeAngZSsPdBq93l/4+65CFuurJPrJbGgFTcOEQSNfXpq6ar+5z3wLScVbHMXF8tXVM+5upDBkD/g/4wqgFv1Nm4Fy7QhzUO9d9syZF9VmQAqjlzEyTSELycXTu2N88Az6Do4GNC5O49X4eCzSwUjBgZktDcWPhJMoM/PM3DtMNuYpTuP7nM0po1V1fQRiuutLcIEsfONQFLgOJ/OBFQXW9+dCqApzTZc5K+vxUzXl3tTX9yr8BPZjMv5V4cuUtbWBbJM2bOCpxnsLnORJ193sRokrLA/6uwIrcBH/qwTqXRrk9I5V+TEktfXKSP6YdqxqNL2LP7coi+YWCpU/LyYCdRW+N/pyNBoOa9sQfGiPOPBjuQ2JV9jgKclex7Hf1sNrVimC4i1vsLV/661nBOsU5r2vUQWSrkxOlUFERYqG59YWXeNNZ8RvP/ShceVV5hiINTDw/rC7HoB43P5xcdc4sMTnCEAEvRFmSwl80yZjDBKE3laA8uYCiC6BIRwVbcIX79tzAdkkPFVyjxxN9gBO0JtkxPxL+HwqBZCvL3eMGKdXLa95ch2MjSqk/9DRWEaRpSYeRXiBXg2TzMm4YC36YXzk5eOsvNXMEdgOyH+YVQckgpqhM9gZy1Q0b9IrnebpnJYWdDbUGxi100TYgT+yHmXkq+uoqAqEiF0GOJcha/O00HqI1UnSZzWTIaX0lImIP672TWYaFTpT+7mi4q5yGM7OB+Y9VX2nIwlCmymLo9qgF/LaSWLgiwi/maSfUWbqgdqY9Wz520J+4hT8cfFwNj3HQnOmDqIvJoyx5MCMXdyDEg1SGmvrm88RB+QQjGacIlOYSwgXb18shCZet16N262vaOHUIH68NrxARc8Xl8BWXfSsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M54HFmtK9qTSUaswewYPLj",
      "input": {
        "note": "At table contact with the dark cap visible between the jaws. Closing again.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01M54HFmtK9qTSUaswewYPLj",
      "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]: [0.0238, 2.0544, 0.9646, -0.0578, 0.9512, 1.0046, 0.055, -0.0185, 0.8318, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3834 left_y=-0.1311 left_z=-0.001 left_yaw=-1.2406 left_pitch=0.0109 left_roll=-0.0424 left_gripper=0.055 right_x=0.2926 right_y=0.0018 right_z=0.1655 right_yaw=0.0007 right_pitch=-0.085 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -10.3453, 5.7368, 0.7399, 0.3736, -0.0122, 1.1502, -0.1846, -1.4427, 7.0085, 1.6435, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50b297cb64e1032f2583909f2366e13463c784da974457d97632044956750fe4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d52d6390d367eb9a4d85104b5f7eb89f7776872b55deaa6a5307ed00d3139d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2b1d1c5d02fc52c5df44d72ae7b4b2218936fed637bd7cfd22abbdcb85bb2cd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 13.66 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]: [0.0193, 1.8381, 1.1698, -0.548, 0.897, 0.9962, 0.9951, -0.0181, 0.8291, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3842 left_y=-0.1271 left_z=0.0929 left_yaw=-1.2213 left_pitch=-0.0585 left_roll=-0.0989 left_gripper=0.9951 right_x=0.2924 right_y=0.002 right_z=0.1662 right_yaw=0.0011 right_pitch=-0.0824 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -11.2479, 8.6085, 0.8767, 0.5055, -0.0073, -0.149, -0.0752, -1.4427, 7.0085, 1.6581, -0.022, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [0.0223, 2.0441, 0.9733, -0.083, 0.9375, 1.008, 0.9961, -0.0185, 0.8314, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3841 left_y=-0.1303 left_z=0.0012 left_yaw=-1.2384 left_pitch=-0.0029 left_roll=-0.0416 left_gripper=0.9961 right_x=0.2926 right_y=0.0018 right_z=0.1656 right_yaw=0.0007 right_pitch=-0.0847 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [0.1299, -7.0769, 3.6444, 0.5983, -0.2173, -0.0464, 0.0952, -0.2803, -1.6205, 7.1179, 1.6972, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [0.0238, 2.0544, 0.9646, -0.0578, 0.9512, 1.0046, 0.055, -0.0185, 0.8318, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3834 left_y=-0.1311 left_z=-0.001 left_yaw=-1.2406 left_pitch=0.0109 left_roll=-0.0424 left_gripper=0.055 right_x=0.2926 right_y=0.0018 right_z=0.1655 right_yaw=0.0007 right_pitch=-0.085 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -10.3453, 5.7368, 0.7399, 0.3736, -0.0122, 1.1502, -0.1846, -1.4427, 7.0085, 1.6435, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50b297cb64e1032f2583909f2366e13463c784da974457d97632044956750fe4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d52d6390d367eb9a4d85104b5f7eb89f7776872b55deaa6a5307ed00d3139d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b1d1c5d02fc52c5df44d72ae7b4b2218936fed637bd7cfd22abbdcb85bb2cd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS6AYKEAgSGAI4AUIIdGhpbmtpbmcSDCf0q+FP+KgGJ9Ti+hoMFcPYAyrkVbc8ciu4IjBrM5zfp3WWj1/UoGYUecQlMoWIIHrhtZo/uUHnMcxhC8QPqlwIbjOJs5NYBQLvHmMqhQY5jYthdN1LNYyz+aa5++CBdogYnswx0Huv8t9Ognx8KhUvLBlFi97Z/WD0QdPSqfwbMZib4fW2FXIqZrrV1ykYO8F061f25mbUpV6ainNjgz4chJRNXv2pWpY1LTowOnZP3AxZK0+njqThVs5ZuZUJCq51HfqIJNXjwuT5C0Pgm1B/k/2vFSuNgWT6MxA216YUcyLzpoNIBgYHuiRpPYKO5GwzPo21tL2l6FC5DSp7fUhdbdImLJ2/gT9y3IdykYD1TthHKfXJJ1E9WTvArHy+wo3i/mliRSZD5gyuXAHNMpStBIoX6WgYB0dE9ycuGtuogebaOq8+uS17V6+BOk8pTFk5YTmnbB+ZtY/6nlJy6Ugvy4YyWhCnly+lHg9965D4l4ektVtHGm7OwAUlNO1Rjy6QI+6FbojldLY+5kf0D+jfUGdiQRc2oMaHzpyRm3hP/Te5URldBNKYRaAR959ch14xVz10LWSWt1gntHo11JuHqQc32uUtPe0IJYpffueeg5OOpNmvIlBdMRHQ65Xl9zsPw4H7m52F4/IUFnF6s6/EQeXDLwiXVqv1wNDQ0J25opEXuWJqdyuR2olrkeLIQLj3vKKf4/MZlu+rKm3FEd/whbVq9go9Isci0BSvZENC/jnF7xfkU0nVEXWjT/i6RXXFHokosN7FTMhcOeIMX0r04XHQvE/6j72+iRGY9fv+GlAwKLIwHqhQ3xAylhaciQmUpFZgQw7tLhZzUQwKY3qE4NRUGC/oDleD5I4GkcarXlFQ/TyRbGEQ2NdmgOEGymh7G3kZ52vx3yAPWOPaNqo5Bjj1m/c+GM6f+bG/bNhHUbu1hgCg9qkK86+/LKFur4Nv/hGiBCzHmvCCxCaGnG+p+zZdkHhfJ/xNEVw5MGI8JnI2olqV48CQroDyLXgUkM1C+V2GiK7RdMCt8XqSddQ0nuQwmovtlqe0YAzvxHycXndwz/l2Wygzaski0Knza/n0XvntlQURUrUkwi9G9vKRlpazMqf3viogtpgqgk9ARi8m5RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BzZ3bwK9s2vCX6LLHFJkiW",
      "input": {
        "note": "Gripper settled at 0.055 (~5 mm), suggesting something is held. Lifting to confirm the cap came up with the jaws.",
        "targets": {
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01BzZ3bwK9s2vCX6LLHFJkiW",
      "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]: [0.0238, 1.8874, 1.0382, -0.3122, 0.9398, 1.0039, 0.0652, -0.0185, 0.8318, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3816 left_y=-0.13 left_z=0.0588 left_yaw=-1.2355 left_pitch=-0.0033 left_roll=-0.053 left_gripper=0.0652 right_x=0.2926 right_y=0.0018 right_z=0.1655 right_yaw=0.0007 right_pitch=-0.085 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -10.8103, 7.8017, 0.9206, 0.486, -0.0269, 1.0281, -0.1299, -1.4564, 7.2547, 1.6777, -0.0562, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:831dc8bd64fc070b86a28a042164e2ba53077c1ffc7d343f2ed0caebb971cbe3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:426ca0a5752a165869163f8dbf43f901ae13b4745385fcad81d5baae94d208b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04dd47c6b2d3f46670a32967cebb0de1c432dacff70321865c441b41c8b8920d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 11.26 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]: [0.0223, 2.0441, 0.9733, -0.083, 0.9375, 1.008, 0.9961, -0.0185, 0.8314, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3841 left_y=-0.1303 left_z=0.0012 left_yaw=-1.2384 left_pitch=-0.0029 left_roll=-0.0416 left_gripper=0.9961 right_x=0.2926 right_y=0.0018 right_z=0.1656 right_yaw=0.0007 right_pitch=-0.0847 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [0.1299, -7.0769, 3.6444, 0.5983, -0.2173, -0.0464, 0.0952, -0.2803, -1.6205, 7.1179, 1.6972, -0.0366, -0.0611, -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]: [0.0238, 2.0544, 0.9646, -0.0578, 0.9512, 1.0046, 0.055, -0.0185, 0.8318, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3834 left_y=-0.1311 left_z=-0.001 left_yaw=-1.2406 left_pitch=0.0109 left_roll=-0.0424 left_gripper=0.055 right_x=0.2926 right_y=0.0018 right_z=0.1655 right_yaw=0.0007 right_pitch=-0.085 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -10.3453, 5.7368, 0.7399, 0.3736, -0.0122, 1.1502, -0.1846, -1.4427, 7.0085, 1.6435, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0238, 1.8874, 1.0382, -0.3122, 0.9398, 1.0039, 0.0652, -0.0185, 0.8318, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3816 left_y=-0.13 left_z=0.0588 left_yaw=-1.2355 left_pitch=-0.0033 left_roll=-0.053 left_gripper=0.0652 right_x=0.2926 right_y=0.0018 right_z=0.1655 right_yaw=0.0007 right_pitch=-0.085 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -10.8103, 7.8017, 0.9206, 0.486, -0.0269, 1.0281, -0.1299, -1.4564, 7.2547, 1.6777, -0.0562, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:831dc8bd64fc070b86a28a042164e2ba53077c1ffc7d343f2ed0caebb971cbe3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:426ca0a5752a165869163f8dbf43f901ae13b4745385fcad81d5baae94d208b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04dd47c6b2d3f46670a32967cebb0de1c432dacff70321865c441b41c8b8920d",
        "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_01LUq9UPnzyqekyE3nWBaTNL",
      "input": {
        "note": "Left gripper is holding the cap (settled at 0.065, cap gone from the table). Now moving the right arm above the pen (diagonal, ~36° from forward) with yaw 0.6 so the jaws close across it.",
        "targets": {
          "right_x": 0.32,
          "right_y": 0.22,
          "right_yaw": 0.6,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01LUq9UPnzyqekyE3nWBaTNL",
      "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]: [0.0238, 1.8862, 1.0367, -0.3256, 0.9237, 1.0039, 0.0708, 0.5728, 1.3273, 0.6514, -0.036, -0.0055, 0.001, 0.9991]\nstate[eef_state]: left_x=0.3799 left_y=-0.1283 left_z=0.0558 left_yaw=-1.2293 left_pitch=-0.0216 left_roll=-0.0615 left_gripper=0.0708 right_x=0.3101 right_y=0.2054 right_z=0.1007 right_yaw=0.5719 right_pitch=-0.1581 right_roll=0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -8.841, 5.5179, 0.989, 0.5495, -0.0317, 1.0281, 0.6632, -4.9573, 8.8137, 1.8974, -0.0611, -0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cba18f4d623de24c57503611c988b502aa8316982061d43e56bad9f1935fad7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a6d650e2992c45d95d527f39e063c35d42d1fe3e793018e66dbfd4ec5b06cdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9348633b7f8325b87a70bbf6a79bba7a37aa80272ebdcccb6b72762ce9afb245",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 7.339 s

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

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0238, 2.0544, 0.9646, -0.0578, 0.9512, 1.0046, 0.055, -0.0185, 0.8318, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3834 left_y=-0.1311 left_z=-0.001 left_yaw=-1.2406 left_pitch=0.0109 left_roll=-0.0424 left_gripper=0.055 right_x=0.2926 right_y=0.0018 right_z=0.1655 right_yaw=0.0007 right_pitch=-0.085 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -10.3453, 5.7368, 0.7399, 0.3736, -0.0122, 1.1502, -0.1846, -1.4427, 7.0085, 1.6435, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0238, 1.8874, 1.0382, -0.3122, 0.9398, 1.0039, 0.0652, -0.0185, 0.8318, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3816 left_y=-0.13 left_z=0.0588 left_yaw=-1.2355 left_pitch=-0.0033 left_roll=-0.053 left_gripper=0.0652 right_x=0.2926 right_y=0.0018 right_z=0.1655 right_yaw=0.0007 right_pitch=-0.085 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -10.8103, 7.8017, 0.9206, 0.486, -0.0269, 1.0281, -0.1299, -1.4564, 7.2547, 1.6777, -0.0562, -0.0757, -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]: [0.0238, 1.8862, 1.0367, -0.3256, 0.9237, 1.0039, 0.0708, 0.5728, 1.3273, 0.6514, -0.036, -0.0055, 0.001, 0.9991]\nstate[eef_state]: left_x=0.3799 left_y=-0.1283 left_z=0.0558 left_yaw=-1.2293 left_pitch=-0.0216 left_roll=-0.0615 left_gripper=0.0708 right_x=0.3101 right_y=0.2054 right_z=0.1007 right_yaw=0.5719 right_pitch=-0.1581 right_roll=0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -8.841, 5.5179, 0.989, 0.5495, -0.0317, 1.0281, 0.6632, -4.9573, 8.8137, 1.8974, -0.0611, -0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cba18f4d623de24c57503611c988b502aa8316982061d43e56bad9f1935fad7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a6d650e2992c45d95d527f39e063c35d42d1fe3e793018e66dbfd4ec5b06cdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9348633b7f8325b87a70bbf6a79bba7a37aa80272ebdcccb6b72762ce9afb245",
        "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_01NjfFjsicsafy77zk3uWdVX",
      "input": {
        "note": "Right wrist view shows the pen aligned perpendicular to the jaws but ~3 cm to the tool's right. Shifting right and descending to 3 cm to check alignment before grasping near the pen's back end.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.326,
          "right_y": 0.18,
          "right_yaw": 0.6,
          "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_01NjfFjsicsafy77zk3uWdVX",
      "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]: [0.0238, 1.8862, 1.0359, -0.3267, 0.9134, 1.0035, 0.0708, 0.4347, 1.5951, 0.3695, 0.5255, -0.1204, -0.0742, 0.9991]\nstate[eef_state]: left_x=0.38 left_y=-0.1272 left_z=0.0542 left_yaw=-1.2252 left_pitch=-0.0312 left_roll=-0.0606 left_gripper=0.0708 right_x=0.3103 right_y=0.1714 right_z=0.0077 right_yaw=0.5723 right_pitch=-0.1404 right_roll=0.02 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -8.9641, 5.4222, 0.8767, 0.5006, -0.0659, 1.0281, -0.4991, -6.0376, 4.4103, 1.956, -0.2222, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50cb108dc75b05b138fa794f0ecdf250cf0b04f3b6ef55ec400e312f7f27660f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4438967fb0a62535e387ab8bc4e235626b857270a9c3a5713472dc82005dec24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e2f9978f48fdb488fd906438862c77954f9d0151b2bcd975a15d4835f9fb0a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 3.605 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]: [0.0238, 1.8874, 1.0382, -0.3122, 0.9398, 1.0039, 0.0652, -0.0185, 0.8318, 0.6128, -0.4202, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3816 left_y=-0.13 left_z=0.0588 left_yaw=-1.2355 left_pitch=-0.0033 left_roll=-0.053 left_gripper=0.0652 right_x=0.2926 right_y=0.0018 right_z=0.1655 right_yaw=0.0007 right_pitch=-0.085 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -10.8103, 7.8017, 0.9206, 0.486, -0.0269, 1.0281, -0.1299, -1.4564, 7.2547, 1.6777, -0.0562, -0.0757, -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]: [0.0238, 1.8862, 1.0367, -0.3256, 0.9237, 1.0039, 0.0708, 0.5728, 1.3273, 0.6514, -0.036, -0.0055, 0.001, 0.9991]\nstate[eef_state]: left_x=0.3799 left_y=-0.1283 left_z=0.0558 left_yaw=-1.2293 left_pitch=-0.0216 left_roll=-0.0615 left_gripper=0.0708 right_x=0.3101 right_y=0.2054 right_z=0.1007 right_yaw=0.5719 right_pitch=-0.1581 right_roll=0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -8.841, 5.5179, 0.989, 0.5495, -0.0317, 1.0281, 0.6632, -4.9573, 8.8137, 1.8974, -0.0611, -0.0952, -0.0122]",
      "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]: [0.0238, 1.8862, 1.0359, -0.3267, 0.9134, 1.0035, 0.0708, 0.4347, 1.5951, 0.3695, 0.5255, -0.1204, -0.0742, 0.9991]\nstate[eef_state]: left_x=0.38 left_y=-0.1272 left_z=0.0542 left_yaw=-1.2252 left_pitch=-0.0312 left_roll=-0.0606 left_gripper=0.0708 right_x=0.3103 right_y=0.1714 right_z=0.0077 right_yaw=0.5723 right_pitch=-0.1404 right_roll=0.02 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -8.9641, 5.4222, 0.8767, 0.5006, -0.0659, 1.0281, -0.4991, -6.0376, 4.4103, 1.956, -0.2222, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50cb108dc75b05b138fa794f0ecdf250cf0b04f3b6ef55ec400e312f7f27660f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4438967fb0a62535e387ab8bc4e235626b857270a9c3a5713472dc82005dec24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e2f9978f48fdb488fd906438862c77954f9d0151b2bcd975a15d4835f9fb0a7",
        "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_01GUVHTCcdoRFXDLnxynYXJs",
      "input": {
        "note": "Pen lies between the right jaws with its back end right at the grasp line. Moving ~2 cm forward along the pen and pressing to table level so the jaws straddle the pen barrel near its back end.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.33,
          "right_y": 0.18,
          "right_yaw": 0.6,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01GUVHTCcdoRFXDLnxynYXJs",
      "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]: [0.0238, 1.8862, 1.0355, -0.3275, 0.8974, 1.0039, 0.0708, 0.4183, 1.8378, 0.3462, 0.9394, -0.1551, -0.112, 0.999]\nstate[eef_state]: left_x=0.3806 left_y=-0.1255 left_z=0.052 left_yaw=-1.2191 left_pitch=-0.0456 left_roll=-0.0567 left_gripper=0.0708 right_x=0.3322 right_y=0.1814 right_z=-0.001 right_yaw=0.6038 right_pitch=0.0092 right_roll=-0.0146 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -8.9231, 5.4222, 0.862, 0.5885, -0.022, 1.0232, -0.7179, -4.7795, 2.9607, 0.9353, -0.1929, 0.1636, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c65e67361c79d1691fbf83bc0a36716d17561e0d8cf2b8094aad28cccba1b66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c78a162a0a3003c9dfe36a97d12eb9c0d753566303a7b4fa8d56b044d499719a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b47deb473ac4113023703bade6618901178b7e89c5bd24fa485da3b15fb48d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 21.29 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]: [0.0238, 1.8862, 1.0367, -0.3256, 0.9237, 1.0039, 0.0708, 0.5728, 1.3273, 0.6514, -0.036, -0.0055, 0.001, 0.9991]\nstate[eef_state]: left_x=0.3799 left_y=-0.1283 left_z=0.0558 left_yaw=-1.2293 left_pitch=-0.0216 left_roll=-0.0615 left_gripper=0.0708 right_x=0.3101 right_y=0.2054 right_z=0.1007 right_yaw=0.5719 right_pitch=-0.1581 right_roll=0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -8.841, 5.5179, 0.989, 0.5495, -0.0317, 1.0281, 0.6632, -4.9573, 8.8137, 1.8974, -0.0611, -0.0952, -0.0122]",
      "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]: [0.0238, 1.8862, 1.0359, -0.3267, 0.9134, 1.0035, 0.0708, 0.4347, 1.5951, 0.3695, 0.5255, -0.1204, -0.0742, 0.9991]\nstate[eef_state]: left_x=0.38 left_y=-0.1272 left_z=0.0542 left_yaw=-1.2252 left_pitch=-0.0312 left_roll=-0.0606 left_gripper=0.0708 right_x=0.3103 right_y=0.1714 right_z=0.0077 right_yaw=0.5723 right_pitch=-0.1404 right_roll=0.02 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -8.9641, 5.4222, 0.8767, 0.5006, -0.0659, 1.0281, -0.4991, -6.0376, 4.4103, 1.956, -0.2222, -0.0806, -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 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]: [0.0238, 1.8862, 1.0355, -0.3275, 0.8974, 1.0039, 0.0708, 0.4183, 1.8378, 0.3462, 0.9394, -0.1551, -0.112, 0.999]\nstate[eef_state]: left_x=0.3806 left_y=-0.1255 left_z=0.052 left_yaw=-1.2191 left_pitch=-0.0456 left_roll=-0.0567 left_gripper=0.0708 right_x=0.3322 right_y=0.1814 right_z=-0.001 right_yaw=0.6038 right_pitch=0.0092 right_roll=-0.0146 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -8.9231, 5.4222, 0.862, 0.5885, -0.022, 1.0232, -0.7179, -4.7795, 2.9607, 0.9353, -0.1929, 0.1636, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c65e67361c79d1691fbf83bc0a36716d17561e0d8cf2b8094aad28cccba1b66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c78a162a0a3003c9dfe36a97d12eb9c0d753566303a7b4fa8d56b044d499719a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b47deb473ac4113023703bade6618901178b7e89c5bd24fa485da3b15fb48d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS2QcKEAgSGAI4AUIIdGhpbmtpbmcSDHoHl6ThavPPoXd/ahoMTK3lxHNDzJNcM6RfIjB/zNI7PIZvKHgPe0CeBJuInl/wilOkf3Nz+pOYMhLEKg9iYA1Uobutj0wcJA/gQ/Yq9gaA3xa0OYBVSwzKyXHhYkZyb8Mx+VNUDd7B5h/gHuK2oLtSusSccRi7ufYd+3MuBPMsCOEQPhdH4JiVR598ERpcvp8yfanWaFN+Zy/FosHi0YyvtJO699P382/ct4MizBoa+W1QM9HOh723f4ZivuvAfNtO9Ixt3CPsMHwQutxPCN5OTRNOvP6uvM6gmLssJAngVtrzgG6IXZtYiIbWDByU1hCmQWbNnOwOEF/j2d2Gnn2gGshqDqit8gDKbZI7O6V5hNQhmFrobmxySGU/iuL2bKQTQf18Jj+Jud0Okvh9Dk6+sHAnRCm+pseUxNfv2Lvhy3e8AlRV2sxrQUd2oMIYGv4/JiDhwzxs/ZA4jsVmw2LlSN/MY9xamvlK1Ba1udO5PmF8hL8GOU3MvOU5kLgLSCag3erejd3EfMDiv0et9cQc0hQhczzSaDemF5B94dgv1CDecUgvhtRWhmbb8U0DWbfdfQWpUES7/7GtuOqxXOuCGqGwsTuZL4RLPzgpxiUdrGZplelt8PZDV8i226uyDMdl+T+bTiPKXfuTG32KcZ3IETFVKsvSxpHa2oWXvq1tGU+8B/p/JRznGZRFtrMIa6uAFjplW6sj6e9QLMtwcCV/M8jMFtYAGc9bhB+7JMSeeh2AEDzBL0KOoiuH853HTdbUuO/rvOnjdlN+NJdzJYKzxmmeIHeGs9i9bSN1Ra9xSB4MwVuWFEpZQjQ4cZ6nyVJwZ4I1eRvB1yxkf/oZkg6jZd6ryNkOtn8cw4f7XuwxKYN4/3R85WS+6E1JltXa5eJ7XE6bifdYOCgOJ1/GOoMKhIXzjWkZ0Ry7/bz83OzakOg9cUE3c2aJy7z9fjWV8QZ21k2arrRZlaKere9iOjag0B0FRWeMkaLpNziuIRft0Chy0ucLFFS9QLNp/Bf4oXQ7rbyyLkUPzIHP6ZvhXAOmgMWh+PWI83bHGPBWaPFuB2C4SWXDvtkfnPwoLFr4264z/Q4rGVtxJkTNcRueGIkv2PS3notVUDZEcCfS7819wA5pLqn+OQN2MVroSb6AVtVCve6MtkyV+QC7ti5cmNkNS3Cmu9m7djT1jnX3CV9S2PnxlhLj3v0nIj7EtgQXtDF71AUMdGU3KuCBbS+SDDwh13GIKJF+do0ZNA/45K7Spthju7P7OhK8iVCyM54avZkMpLjLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VjPUENZPgF2GLPRSPcPCUa",
      "input": {
        "note": "Pen barrel runs between the right jaws with its writing tip pointing forward, well clear. Closing the right gripper on the back half of the pen.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VjPUENZPgF2GLPRSPcPCUa",
      "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]: [0.0238, 1.8862, 1.0348, -0.3264, 0.8894, 1.0039, 0.0708, 0.4183, 1.866, 0.3401, 1.0019, -0.1619, -0.1062, 0.0547]\nstate[eef_state]: left_x=0.3809 left_y=-0.1246 left_z=0.0508 left_yaw=-1.2159 left_pitch=-0.0525 left_roll=-0.0539 left_gripper=0.0708 right_x=0.3338 right_y=0.1835 right_z=0.0004 right_yaw=0.6067 right_pitch=0.0376 right_roll=-0.0114 right_gripper=0.0547\nstate[joint_eff]: [-0.335, -8.9504, 5.4222, 0.8523, 0.4176, -0.0317, 1.0281, -0.5675, -5.1487, 3.494, 1.5653, -0.0806, -0.0073, 1.3602]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:118ff6265a69fea0c466a311bc0bdeec860a75736d528db3d1a95ff13dfed693",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:256fa1766d9346812c846169b1d31506d24f7c4532270042a5887b82b9d5d2bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:59f31adf9faca0578c9cf0c5bfcdd4e29fcd0945c54668b5ee31b56a52dde8c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 10.48 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]: [0.0238, 1.8862, 1.0359, -0.3267, 0.9134, 1.0035, 0.0708, 0.4347, 1.5951, 0.3695, 0.5255, -0.1204, -0.0742, 0.9991]\nstate[eef_state]: left_x=0.38 left_y=-0.1272 left_z=0.0542 left_yaw=-1.2252 left_pitch=-0.0312 left_roll=-0.0606 left_gripper=0.0708 right_x=0.3103 right_y=0.1714 right_z=0.0077 right_yaw=0.5723 right_pitch=-0.1404 right_roll=0.02 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -8.9641, 5.4222, 0.8767, 0.5006, -0.0659, 1.0281, -0.4991, -6.0376, 4.4103, 1.956, -0.2222, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0238, 1.8862, 1.0355, -0.3275, 0.8974, 1.0039, 0.0708, 0.4183, 1.8378, 0.3462, 0.9394, -0.1551, -0.112, 0.999]\nstate[eef_state]: left_x=0.3806 left_y=-0.1255 left_z=0.052 left_yaw=-1.2191 left_pitch=-0.0456 left_roll=-0.0567 left_gripper=0.0708 right_x=0.3322 right_y=0.1814 right_z=-0.001 right_yaw=0.6038 right_pitch=0.0092 right_roll=-0.0146 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -8.9231, 5.4222, 0.862, 0.5885, -0.022, 1.0232, -0.7179, -4.7795, 2.9607, 0.9353, -0.1929, 0.1636, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0238, 1.8862, 1.0348, -0.3264, 0.8894, 1.0039, 0.0708, 0.4183, 1.866, 0.3401, 1.0019, -0.1619, -0.1062, 0.0547]\nstate[eef_state]: left_x=0.3809 left_y=-0.1246 left_z=0.0508 left_yaw=-1.2159 left_pitch=-0.0525 left_roll=-0.0539 left_gripper=0.0708 right_x=0.3338 right_y=0.1835 right_z=0.0004 right_yaw=0.6067 right_pitch=0.0376 right_roll=-0.0114 right_gripper=0.0547\nstate[joint_eff]: [-0.335, -8.9504, 5.4222, 0.8523, 0.4176, -0.0317, 1.0281, -0.5675, -5.1487, 3.494, 1.5653, -0.0806, -0.0073, 1.3602]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:118ff6265a69fea0c466a311bc0bdeec860a75736d528db3d1a95ff13dfed693",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:256fa1766d9346812c846169b1d31506d24f7c4532270042a5887b82b9d5d2bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59f31adf9faca0578c9cf0c5bfcdd4e29fcd0945c54668b5ee31b56a52dde8c4",
        "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_01Arkq8KQoGAJCosP1MWofK7",
      "input": {
        "note": "Right gripper holds the pen (0.055) with the tip pointing forward along the tool. Lifting it and yawing to ~1.2 so the tip points toward the left arm's cap for the capping step.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.3,
          "right_y": 0.17,
          "right_yaw": 1.2,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Arkq8KQoGAJCosP1MWofK7",
      "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]: [0.0238, 1.8862, 1.0348, -0.3264, 0.8864, 1.0035, 0.0708, 0.1188, 1.4723, 0.6407, 0.0452, -0.7464, -0.6525, 0.0609]\nstate[eef_state]: left_x=0.3811 left_y=-0.1242 left_z=0.0504 left_yaw=-1.2145 left_pitch=-0.0551 left_roll=-0.0533 left_gripper=0.0708 right_x=0.3275 right_y=0.1635 right_z=0.0928 right_yaw=1.0613 right_pitch=0.0071 right_roll=-0.047 right_gripper=0.0609\nstate[joint_eff]: [-0.1436, -8.9504, 5.3949, 0.8816, 0.4029, -0.0757, 1.0281, -0.335, -7.6923, 6.9538, 1.243, -0.525, -0.1636, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b268b2960c6d30b45d6eb83f938842e1e1bdf5f04c63d944980548c4f4350da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7331bd2c8701fbcb50ac45d56c46ad39c7addb6b2bc9c25a121eef2f010aa568",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a148ad0e02bae97ae707956514fbb4d4cc5e2b114011407b7eab2624ae623f52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 15.2 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]: [0.0238, 1.8862, 1.0355, -0.3275, 0.8974, 1.0039, 0.0708, 0.4183, 1.8378, 0.3462, 0.9394, -0.1551, -0.112, 0.999]\nstate[eef_state]: left_x=0.3806 left_y=-0.1255 left_z=0.052 left_yaw=-1.2191 left_pitch=-0.0456 left_roll=-0.0567 left_gripper=0.0708 right_x=0.3322 right_y=0.1814 right_z=-0.001 right_yaw=0.6038 right_pitch=0.0092 right_roll=-0.0146 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -8.9231, 5.4222, 0.862, 0.5885, -0.022, 1.0232, -0.7179, -4.7795, 2.9607, 0.9353, -0.1929, 0.1636, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0238, 1.8862, 1.0348, -0.3264, 0.8894, 1.0039, 0.0708, 0.4183, 1.866, 0.3401, 1.0019, -0.1619, -0.1062, 0.0547]\nstate[eef_state]: left_x=0.3809 left_y=-0.1246 left_z=0.0508 left_yaw=-1.2159 left_pitch=-0.0525 left_roll=-0.0539 left_gripper=0.0708 right_x=0.3338 right_y=0.1835 right_z=0.0004 right_yaw=0.6067 right_pitch=0.0376 right_roll=-0.0114 right_gripper=0.0547\nstate[joint_eff]: [-0.335, -8.9504, 5.4222, 0.8523, 0.4176, -0.0317, 1.0281, -0.5675, -5.1487, 3.494, 1.5653, -0.0806, -0.0073, 1.3602]",
      "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]: [0.0238, 1.8862, 1.0348, -0.3264, 0.8864, 1.0035, 0.0708, 0.1188, 1.4723, 0.6407, 0.0452, -0.7464, -0.6525, 0.0609]\nstate[eef_state]: left_x=0.3811 left_y=-0.1242 left_z=0.0504 left_yaw=-1.2145 left_pitch=-0.0551 left_roll=-0.0533 left_gripper=0.0708 right_x=0.3275 right_y=0.1635 right_z=0.0928 right_yaw=1.0613 right_pitch=0.0071 right_roll=-0.047 right_gripper=0.0609\nstate[joint_eff]: [-0.1436, -8.9504, 5.3949, 0.8816, 0.4029, -0.0757, 1.0281, -0.335, -7.6923, 6.9538, 1.243, -0.525, -0.1636, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b268b2960c6d30b45d6eb83f938842e1e1bdf5f04c63d944980548c4f4350da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7331bd2c8701fbcb50ac45d56c46ad39c7addb6b2bc9c25a121eef2f010aa568",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a148ad0e02bae97ae707956514fbb4d4cc5e2b114011407b7eab2624ae623f52",
        "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_01GHpjA1KDQGKUZ8YvjosRrW",
      "input": {
        "note": "Pen is held up with its tip pointing toward the left arm. Moving the cap (held by left gripper) to a spot a few cm beyond the pen tip, yawed so the cap's axis lines up with the pen.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.355,
          "left_y": -0.33,
          "left_yaw": -1.9,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01GHpjA1KDQGKUZ8YvjosRrW",
      "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]: [-0.4358, 2.2135, 1.787, -0.9474, 0.9543, 1.2861, 0.0708, 0.1135, 1.4673, 0.6392, 0.0341, -0.7521, -0.6617, 0.0609]\nstate[eef_state]: left_x=0.3574 left_y=-0.3215 left_z=0.1079 left_yaw=-1.8561 left_pitch=-0.0338 left_roll=-0.0282 left_gripper=0.0708 right_x=0.326 right_y=0.1622 right_z=0.0928 right_yaw=1.0647 right_pitch=0.0057 right_roll=-0.0463 right_gripper=0.0609\nstate[joint_eff]: [-0.4171, -11.494, 7.9795, 0.5153, 0.7937, 0.2564, 1.0281, 0.0615, -5.1761, 6.0376, 1.4579, -0.2955, 0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89bb28972dff3cfa27add6991408bdebb36f62fc98d8956acbdfef0095cfe3c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e9fde87bb6da0519d886d224f3034ed142ec462fb8145ed1bd3ebb458c193f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bdd0ae031849e741ce8c7af961d361edfdc153ebb683eb403cfbde8f38fcbc32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 13.33 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]: [0.0238, 1.8862, 1.0348, -0.3264, 0.8894, 1.0039, 0.0708, 0.4183, 1.866, 0.3401, 1.0019, -0.1619, -0.1062, 0.0547]\nstate[eef_state]: left_x=0.3809 left_y=-0.1246 left_z=0.0508 left_yaw=-1.2159 left_pitch=-0.0525 left_roll=-0.0539 left_gripper=0.0708 right_x=0.3338 right_y=0.1835 right_z=0.0004 right_yaw=0.6067 right_pitch=0.0376 right_roll=-0.0114 right_gripper=0.0547\nstate[joint_eff]: [-0.335, -8.9504, 5.4222, 0.8523, 0.4176, -0.0317, 1.0281, -0.5675, -5.1487, 3.494, 1.5653, -0.0806, -0.0073, 1.3602]",
      "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]: [0.0238, 1.8862, 1.0348, -0.3264, 0.8864, 1.0035, 0.0708, 0.1188, 1.4723, 0.6407, 0.0452, -0.7464, -0.6525, 0.0609]\nstate[eef_state]: left_x=0.3811 left_y=-0.1242 left_z=0.0504 left_yaw=-1.2145 left_pitch=-0.0551 left_roll=-0.0533 left_gripper=0.0708 right_x=0.3275 right_y=0.1635 right_z=0.0928 right_yaw=1.0613 right_pitch=0.0071 right_roll=-0.047 right_gripper=0.0609\nstate[joint_eff]: [-0.1436, -8.9504, 5.3949, 0.8816, 0.4029, -0.0757, 1.0281, -0.335, -7.6923, 6.9538, 1.243, -0.525, -0.1636, 1.0281]",
      "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]: [-0.4358, 2.2135, 1.787, -0.9474, 0.9543, 1.2861, 0.0708, 0.1135, 1.4673, 0.6392, 0.0341, -0.7521, -0.6617, 0.0609]\nstate[eef_state]: left_x=0.3574 left_y=-0.3215 left_z=0.1079 left_yaw=-1.8561 left_pitch=-0.0338 left_roll=-0.0282 left_gripper=0.0708 right_x=0.326 right_y=0.1622 right_z=0.0928 right_yaw=1.0647 right_pitch=0.0057 right_roll=-0.0463 right_gripper=0.0609\nstate[joint_eff]: [-0.4171, -11.494, 7.9795, 0.5153, 0.7937, 0.2564, 1.0281, 0.0615, -5.1761, 6.0376, 1.4579, -0.2955, 0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89bb28972dff3cfa27add6991408bdebb36f62fc98d8956acbdfef0095cfe3c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e9fde87bb6da0519d886d224f3034ed142ec462fb8145ed1bd3ebb458c193f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdd0ae031849e741ce8c7af961d361edfdc153ebb683eb403cfbde8f38fcbc32",
        "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_011CZF4Pov3gLbfBk9Rxps2R",
      "input": {
        "note": "Left wrist view shows the pen tip pointing at the left jaws but slightly to tool-left and low, with the pen axis ~13° off. Rotating the cap to yaw -2.08 to match the pen axis, shifting 1.5 cm forward (+x) and lowering to pen height.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.37,
          "left_y": -0.32,
          "left_yaw": -2.08,
          "left_z": 0.095
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_011CZF4Pov3gLbfBk9Rxps2R",
      "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]: [-0.4381, 2.4187, 2.1162, -1.1904, 0.9775, 1.4837, 0.0751, 0.1131, 1.4643, 0.6373, 0.0322, -0.7528, -0.6624, 0.0657]\nstate[eef_state]: left_x=0.3765 left_y=-0.3342 left_z=0.1028 left_yaw=-1.9716 left_pitch=-0.0222 left_roll=0.0145 left_gripper=0.0751 right_x=0.3252 right_y=0.1621 right_z=0.0929 right_yaw=1.0653 right_pitch=0.0057 right_roll=-0.046 right_gripper=0.0657\nstate[joint_eff]: [1.5932, -11.7402, 1.9897, -1.2234, 0.4762, 0.2466, 0.8669, -0.0752, -5.2855, 6.0786, 1.453, -0.2662, -0.0317, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff02741088ff346428b0aa15bae82cc7fd671e2b6d776496fa29281d24ac5bb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:722cf27a2db367ae6126dfa6d1a6f91420449ee0b558ceb77af230b74d5a68b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c7895c8bc84498f7bde3aff4feb508f165b4c6e19d449c10fc0d7cf422a9350",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 13.22 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]: [0.0238, 1.8862, 1.0348, -0.3264, 0.8864, 1.0035, 0.0708, 0.1188, 1.4723, 0.6407, 0.0452, -0.7464, -0.6525, 0.0609]\nstate[eef_state]: left_x=0.3811 left_y=-0.1242 left_z=0.0504 left_yaw=-1.2145 left_pitch=-0.0551 left_roll=-0.0533 left_gripper=0.0708 right_x=0.3275 right_y=0.1635 right_z=0.0928 right_yaw=1.0613 right_pitch=0.0071 right_roll=-0.047 right_gripper=0.0609\nstate[joint_eff]: [-0.1436, -8.9504, 5.3949, 0.8816, 0.4029, -0.0757, 1.0281, -0.335, -7.6923, 6.9538, 1.243, -0.525, -0.1636, 1.0281]",
      "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]: [-0.4358, 2.2135, 1.787, -0.9474, 0.9543, 1.2861, 0.0708, 0.1135, 1.4673, 0.6392, 0.0341, -0.7521, -0.6617, 0.0609]\nstate[eef_state]: left_x=0.3574 left_y=-0.3215 left_z=0.1079 left_yaw=-1.8561 left_pitch=-0.0338 left_roll=-0.0282 left_gripper=0.0708 right_x=0.326 right_y=0.1622 right_z=0.0928 right_yaw=1.0647 right_pitch=0.0057 right_roll=-0.0463 right_gripper=0.0609\nstate[joint_eff]: [-0.4171, -11.494, 7.9795, 0.5153, 0.7937, 0.2564, 1.0281, 0.0615, -5.1761, 6.0376, 1.4579, -0.2955, 0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.4381, 2.4187, 2.1162, -1.1904, 0.9775, 1.4837, 0.0751, 0.1131, 1.4643, 0.6373, 0.0322, -0.7528, -0.6624, 0.0657]\nstate[eef_state]: left_x=0.3765 left_y=-0.3342 left_z=0.1028 left_yaw=-1.9716 left_pitch=-0.0222 left_roll=0.0145 left_gripper=0.0751 right_x=0.3252 right_y=0.1621 right_z=0.0929 right_yaw=1.0653 right_pitch=0.0057 right_roll=-0.046 right_gripper=0.0657\nstate[joint_eff]: [1.5932, -11.7402, 1.9897, -1.2234, 0.4762, 0.2466, 0.8669, -0.0752, -5.2855, 6.0786, 1.453, -0.2662, -0.0317, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff02741088ff346428b0aa15bae82cc7fd671e2b6d776496fa29281d24ac5bb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:722cf27a2db367ae6126dfa6d1a6f91420449ee0b558ceb77af230b74d5a68b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c7895c8bc84498f7bde3aff4feb508f165b4c6e19d449c10fc0d7cf422a9350",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS/xcKEAgSGAI4AUIIdGhpbmtpbmcSDNCZoiOC9spBkUwhVBoMUUAdhHLqfZfN+3y7IjCAHYQtwZ7ThAGvEeyeAmP5hpg2bjZpl543+k8Y8nmCrtebV3OOfAYbjOOcXapAHNsqnBfPO5LMZj9sTUkDXEUY71aazRdRXG3cNjPVH9/h38s2SOroHvnDMTQePOcU2tapYi4QGfhP/k8Wz8pvyCnzIaN9Wfysb9tyakVC3FTNfnsYoSET5+iCvAr5IBKZ8EMa1eckAIt5MELoCdxYTiK7i3bRtCfaBoVsRLy2vi1v6iQsH6jUy/43yMhF2ElTZf2DAe0L0nXQvJawuh7iWFXC13Zd9tr914WAkgDaZYJkMMK7Iv0C7tuUB+b6EC88uJnV8cpH+NoECk6yIo7thbhzl2R6rbqxiRVLap0JGzB2WcPAWuYYdixp5R1xPa7OaUTfTc7tIi0xbW2DJFwURsxels/l2M0mmhmknlO0s+3bGABFDmG0vvPBnr6nVaV4xHtjCX6uv9FkjVJ1LZWP/8Vngj++1ubjq1HXZh6iU8y6VfYo5yOc0KvTWCFnRR7s7DIL22+Z7fYIMGSFjDcQLUi4LdlUUW0W2mx8dTE2K7CyaJElbmmOkCPl1jY8Kc+/q0OpSjv6hXKlnctTfRC5lgxxZgzf1vSoyQcQoO8SquhcPsXwbs9TBnWTnaw8/jUeiQf3BilKZAMORrbzDQtisgDOp0cfcazt4Ah1FAn5ybh8NYI2APPPSMw548SHrGicAxfGjpvtK6MUyw1zCXFYWpizEnM4HTynDt2q2T5KndnMIR0O2mhd5Jp+nMLP/DMSJGusfkK5q5jWk+59hIoH+LhkkPSkfi8RRgu0JTo4QbOKx//I/OFiPzd/Hz4JvoH6bVYdaA1d0pJfoPzcvdLZfZr4Dgt0js5GZ/mOntq6hwyON6y3Fbsg4eb3RERKZupUkHsH6ompiVb/6Wl2VOCObVKXF2TfHib9YREdV5c83dwTdhCJAzWIaLWE05aqMdEHCvD6ixueeoTdeNaTA9zog35h2Eq6rCygQR0RBxLXmSNCRI77Ol7yxjOBhML6sd7vxr0dsYOFgSee3wlF6EV/hY2Tkkna7lSDd0Pii65HNCl1Hzpf6x8ozJxz8aME/1+clMaceuIClnqMI5ALNtvY1HKzU6vqfLKZkISppsj8OTJOsWciDyvSNSMrMuLGk7fZ1hsaNb60yC3BFOJBbN4WB6JeodFdKTSMfQbFFrOhXzqewUZcEYkkkFgZJTvkgWWpBq/c1ZYBuc87jlfzbCz7sX2Xxw5ZsYzIkZN3nSYNG82Uz/zWkjonmOlY7Cy3P5zgN7b5xzS4iCpfGmFv1wyVpV68TVLFlFv2MBzkw7GgrpiuuC/8B6yiKzpJ6oBRx7YD9Rj4rb1q7Wk9182eQccQEqXUWdqcx7ntGvzMvkLBHqHH/j/pq7RHotuUTKWbvl/XXFeGWyJ+il9+B/0TSkxU2O36+4t8IX/An7oivJ8XwCIBk74LaKHsVRrKwQX/x5CCbhzGjJiq36OGG9pQHywKny7vAyHV+jxFGyhI4hoou6+5Gmf7C4YXGYE1OgL+pbJ+sUA6BrCMAFQuhCe1Cwup/FA3ykX4MrBrEv7McIEnKZ6jOfQiecv90zrNNV+3ncI9d8rq/d8b1E7+7D6NcyAiSfNCDRsC57S0cyWCnI03D5jCvq4++wB5vvj0XrYqqadfsGvpsHindjgNjpVqJc1YCK+TTlyfDeJS/Yg+wKOtl1jGFCRn4ML2WU0twdaOotluEqwAYLwAaTOq5HPyEnasjfno0sp28mipkYg+nfJR0kCcXN7DnEgNW9sojyfY6AE193gPWjBfr4fWoD2L9cEpIvOMojIzgPnPpFeEB+RHSOsx0jgfkHH4aFjhTX+W490Y9lDF7KEXeHzPnYeub5Dm0lTqDmhpsw8r8hgxGgLyZNmamIJQ1tKNb5i0vpVNDvxQNI/vE/Nr4bKHbocnAtZAMEBZcOVxkGeW8atoctcy6JUUv77PLwyzaedgpMg+qMRFZxyntmqsbz8/QbrUAMd6VRV/W26lXOFOrEh2CYzR8YI4Fk8fRZqriIBFM1Ca9ok+PQttjCG2V9CPSkeFLRLRAStAUVnLBf9MEYe6Q2kKTzASbFNF8z9KW9OdGPYVb19j4RuI0E7IuZxxXgeldRkSQOfrSXvNTi9nXVYOve64bzZd19fbjOzbFqzHV2rF21Z85ypNTMpIiXcIoEj5kIrTv5UKqwSBciQpa7UEP1XUbWXEplrLppEqlZNeOV3tG9pbeQwlzJOsMvvfnUunDONOCewk/vAlWoxWGW14WwLX4G5cNJmyZKIYz1FE0Nhia0heKZKlTmxHnw5tym8d0jQteUfIowu+8sdFkCXItjboqbsbDq3sp9nVp8X2L09lFeJebkVP1IxwmGimiUXP+HJYBKPjeFz/MJRnVr9ygSyi/1S3rTfM6GL3qxCs1JISUWOibghWmO1TJtEpBbrpfJfYhErN9P07QigenYjICa/OvY6WG0YcqD1HF6VqI30KvwUgquKRLamOoH9v6PLHSpL3s3p8ymS4a74566WyBvG8jPKEe8qz48qbYp6UJ3xrmrNA8EMtDP5Iksh2cSB/Agc3IG3bF6OyzpGNbaOjM2Uup+wxIvu7T4ZsVBPa34+IlCFy/lWPLa5xhRIiCOlEamCHoal18PuUtPLn3MQRCDam9PYzxl/edMtrdcP3LfLiLgdCfR/zuESKKk5CSiAJI3wOTvIf/jKUjiRFkdVRBymrzm+5INEra++b31ae3LscuDj2JpybUIGmx5kL66jnFrEYJ1cmxqxVUq5o17C7jowZ+VD9CjCSBatE91aL6yzqSx9AAj6H+qTO1xBsD6cOetQtHiMwwOmmK950expzLcyg2MNTd57MSOCS5F00PRb3qQc75hn1zNCsD1m7uniCoGHccRsXWqkgtjmn9RQLR61n3sdg6Kb7sOIQkPZBC5QBxa/42wdA7yvasooPt+UW9V0pTBz3poJln7XkNUSeTTwWkN46ANBueGUkZIOYTHC++1Y7y9SeAgi6gnJuki3JN3nSJ44QxnaC0rj39rJE6KTI6O/1cbmNODhYbqudC+WP6UM5J+QyYHgRhtdue7MYjykR2tOWVOG7dAxssCJ/4qVJxCS7pJykgQqtyTHbGtOp5gbXODJLIpJLURcbAUtBDD1Y6qHboWt7ZNXAGV6/MCBOq8XQZzKP7Dtel08aK3J9K8bd0s2bUF9W9vGy+R1++hKY+95DrN6/H40zrgQJI8ABufuOfX86CIh8QmVQ8jnVtANKlyXUTx+NuudoPVLkEZ53WTPbrhL7g1lAJoXagdLXsCF5SdZH16Uj4H2v0jRkOKvlgKHnrbBGv7ODtBwZSL56Tm/5VWEjs+9Qt+jxc8Ly9MRqFkVQXyTei0ZbWVyY/1iRoCBQoHcFiU7VhZ0+BmjB4PQCBmziDPw+NtLINyv+I8KA6XTgp+fRid+A+MsGkeZk3BcW1g2mB0THjpPAZDKSe/V/GcFagv1/ESseTqGHvcKP0vSXu+ixA20bnWJdsga3KF2z1ayjWfQn0+UjMoB91RstMUBozII1v42GQzgPagv2GEJDkVF8sUHC4boskQCLrViHbkhjHf8nB7DnIdCBAK6nN84T6ZppVUWPxfJLUl5pLgH20CIJriXJ+71UL7MEHVI14sQXg8bzAa6GfJ77A16Pbit1OtpJ2K4kBzeQVS9ijoflRt2t9KJxPktAAxq8pDLfvDK69PrBlvlqepD+RVgl8X9dBuDFGigfEeI2NnrK+qIvdOTVCBv70zsSUL7B8V2bol8v6lYj+fDVABHfF2k7TLy8gf2egUgwW5p3Ca85HL+AbzoTs3GoD1SXu8VkUBEYg0FtUZ8BB5j2dc7HNp8ZrRWo1EZicVB3r816Rh6yuMIIgJxwAU6Hqdl0FAyK7Bqfihex3XDf/ihy5AgGzt4q8utbikEOBPcWrBmvM8bH0v0NoFOdelF6RBseKdd59dsAT+3NoybzVyu9oLdGp71yvqilboZT1klWGvFGc0QVe8EU5WYfLCDrwGp3JFDVBRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LnXp9j8i8mvtw3A8wXf5iU",
      "input": {
        "note": "Top view shows the cap gripper right next to the pen tip; yaw is still settling. Backing the cap ~2 cm away along the pen axis and matching the pen height so I can line it up before sliding it on.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.38,
          "left_y": -0.31,
          "left_yaw": -2.08,
          "left_z": 0.092
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01LnXp9j8i8mvtw3A8wXf5iU",
      "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]: [-0.4129, 2.5801, 2.1872, -1.3739, 0.9764, 1.6859, 0.078, 0.1127, 1.4677, 0.6323, 0.0235, -0.7521, -0.6624, 0.0657]\nstate[eef_state]: left_x=0.3637 left_y=-0.3152 left_z=0.0487 left_yaw=-2.0614 left_pitch=-0.0145 left_roll=-0.0914 left_gripper=0.078 right_x=0.3226 right_y=0.1616 right_z=0.0888 right_yaw=1.0643 right_pitch=-0.0047 right_roll=-0.0323 right_gripper=0.0657\nstate[joint_eff]: [-0.3761, -16.6222, 6.7897, -0.149, 0.5885, 0.1832, 0.6032, -0.0342, -5.8598, 6.4615, 1.4969, -0.3736, -0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d39fa2e5d323bdea34db4e77817edac6a74dfd5f269186bf0c1cbedd2e9e845e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa7d230c40b9916129e2fc45b267e3ebce48d423d4a9ba8068829cebff3ce0ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf31580b1189e4f8e6022d375d6ec36773c41315c6212586babeae64d056d4df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 5.413 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]: [-0.4358, 2.2135, 1.787, -0.9474, 0.9543, 1.2861, 0.0708, 0.1135, 1.4673, 0.6392, 0.0341, -0.7521, -0.6617, 0.0609]\nstate[eef_state]: left_x=0.3574 left_y=-0.3215 left_z=0.1079 left_yaw=-1.8561 left_pitch=-0.0338 left_roll=-0.0282 left_gripper=0.0708 right_x=0.326 right_y=0.1622 right_z=0.0928 right_yaw=1.0647 right_pitch=0.0057 right_roll=-0.0463 right_gripper=0.0609\nstate[joint_eff]: [-0.4171, -11.494, 7.9795, 0.5153, 0.7937, 0.2564, 1.0281, 0.0615, -5.1761, 6.0376, 1.4579, -0.2955, 0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4381, 2.4187, 2.1162, -1.1904, 0.9775, 1.4837, 0.0751, 0.1131, 1.4643, 0.6373, 0.0322, -0.7528, -0.6624, 0.0657]\nstate[eef_state]: left_x=0.3765 left_y=-0.3342 left_z=0.1028 left_yaw=-1.9716 left_pitch=-0.0222 left_roll=0.0145 left_gripper=0.0751 right_x=0.3252 right_y=0.1621 right_z=0.0929 right_yaw=1.0653 right_pitch=0.0057 right_roll=-0.046 right_gripper=0.0657\nstate[joint_eff]: [1.5932, -11.7402, 1.9897, -1.2234, 0.4762, 0.2466, 0.8669, -0.0752, -5.2855, 6.0786, 1.453, -0.2662, -0.0317, 1.0379]",
      "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]: [-0.4129, 2.5801, 2.1872, -1.3739, 0.9764, 1.6859, 0.078, 0.1127, 1.4677, 0.6323, 0.0235, -0.7521, -0.6624, 0.0657]\nstate[eef_state]: left_x=0.3637 left_y=-0.3152 left_z=0.0487 left_yaw=-2.0614 left_pitch=-0.0145 left_roll=-0.0914 left_gripper=0.078 right_x=0.3226 right_y=0.1616 right_z=0.0888 right_yaw=1.0643 right_pitch=-0.0047 right_roll=-0.0323 right_gripper=0.0657\nstate[joint_eff]: [-0.3761, -16.6222, 6.7897, -0.149, 0.5885, 0.1832, 0.6032, -0.0342, -5.8598, 6.4615, 1.4969, -0.3736, -0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d39fa2e5d323bdea34db4e77817edac6a74dfd5f269186bf0c1cbedd2e9e845e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa7d230c40b9916129e2fc45b267e3ebce48d423d4a9ba8068829cebff3ce0ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf31580b1189e4f8e6022d375d6ec36773c41315c6212586babeae64d056d4df",
        "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_011ZC7e16oFSZmjjQdUmxqx4",
      "input": {
        "note": "Right wrist view shows the cap gripper lined up just beyond the pen tip, but the left arm sagged to z 0.05, below the pen (z 0.09). Commanding it higher to bring the cap level with the pen.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.37,
          "left_y": -0.31,
          "left_yaw": -2.08,
          "left_z": 0.125
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_011ZC7e16oFSZmjjQdUmxqx4",
      "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]: [-0.4129, 2.5801, 2.1872, -1.3739, 0.9764, 1.6859, 0.0793, 0.1127, 1.4677, 0.6319, 0.0227, -0.7521, -0.6621, 0.0699]\nstate[eef_state]: left_x=0.3637 left_y=-0.3152 left_z=0.0487 left_yaw=-2.0614 left_pitch=-0.0145 left_roll=-0.0914 left_gripper=0.0793 right_x=0.3224 right_y=0.1616 right_z=0.0886 right_yaw=1.0641 right_pitch=-0.0054 right_roll=-0.0311 right_gripper=0.0699\nstate[joint_eff]: [-0.3897, -16.6632, 6.7897, -0.1392, 0.6276, 0.1587, 0.8278, -0.2256, -5.6547, 5.8598, 1.3651, -0.3053, -0.0562, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68ba588b2952434dc8854dc6c8038a5cbecad76518e817cf02c838686276ff20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:026ed34993d4641dad06efa581bb1ed1a26a2caf28cfbbe1f758b888c95c4fb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b7c96179597c1008eb7c810e5481316c316d6974b002b2f84822f92ef42b3c63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 10.28 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]: [-0.4381, 2.4187, 2.1162, -1.1904, 0.9775, 1.4837, 0.0751, 0.1131, 1.4643, 0.6373, 0.0322, -0.7528, -0.6624, 0.0657]\nstate[eef_state]: left_x=0.3765 left_y=-0.3342 left_z=0.1028 left_yaw=-1.9716 left_pitch=-0.0222 left_roll=0.0145 left_gripper=0.0751 right_x=0.3252 right_y=0.1621 right_z=0.0929 right_yaw=1.0653 right_pitch=0.0057 right_roll=-0.046 right_gripper=0.0657\nstate[joint_eff]: [1.5932, -11.7402, 1.9897, -1.2234, 0.4762, 0.2466, 0.8669, -0.0752, -5.2855, 6.0786, 1.453, -0.2662, -0.0317, 1.0379]",
      "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]: [-0.4129, 2.5801, 2.1872, -1.3739, 0.9764, 1.6859, 0.078, 0.1127, 1.4677, 0.6323, 0.0235, -0.7521, -0.6624, 0.0657]\nstate[eef_state]: left_x=0.3637 left_y=-0.3152 left_z=0.0487 left_yaw=-2.0614 left_pitch=-0.0145 left_roll=-0.0914 left_gripper=0.078 right_x=0.3226 right_y=0.1616 right_z=0.0888 right_yaw=1.0643 right_pitch=-0.0047 right_roll=-0.0323 right_gripper=0.0657\nstate[joint_eff]: [-0.3761, -16.6222, 6.7897, -0.149, 0.5885, 0.1832, 0.6032, -0.0342, -5.8598, 6.4615, 1.4969, -0.3736, -0.0269, 1.033]",
      "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]: [-0.4129, 2.5801, 2.1872, -1.3739, 0.9764, 1.6859, 0.0793, 0.1127, 1.4677, 0.6319, 0.0227, -0.7521, -0.6621, 0.0699]\nstate[eef_state]: left_x=0.3637 left_y=-0.3152 left_z=0.0487 left_yaw=-2.0614 left_pitch=-0.0145 left_roll=-0.0914 left_gripper=0.0793 right_x=0.3224 right_y=0.1616 right_z=0.0886 right_yaw=1.0641 right_pitch=-0.0054 right_roll=-0.0311 right_gripper=0.0699\nstate[joint_eff]: [-0.3897, -16.6632, 6.7897, -0.1392, 0.6276, 0.1587, 0.8278, -0.2256, -5.6547, 5.8598, 1.3651, -0.3053, -0.0562, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68ba588b2952434dc8854dc6c8038a5cbecad76518e817cf02c838686276ff20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:026ed34993d4641dad06efa581bb1ed1a26a2caf28cfbbe1f758b888c95c4fb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7c96179597c1008eb7c810e5481316c316d6974b002b2f84822f92ef42b3c63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS5AkKEAgSGAI4AUIIdGhpbmtpbmcSDGkMGqqmi+wBSTkYdBoMDexC6WL05j0DPT/xIjBA4ty0+3yO1Fr3r3HNtuqj03USWGZk26W/eTizM+gIr1pKS5npc/zNPczbcEGzhiYqgQlCY0B/M/ZXRXcrVuudhk9gouxq+FOE3YMBsYxINOL+dcFrj4NxO3ee70pCtcOF0+XBPg+PaIntwNBOhZbdj+V/73n/JQdlH92ps+7b5WVxQRrPPdBrSCEi6SrPxphTEPZcat1fsMvMX41h0QCnBac8YfzcF83B/LmijWI5ioohTOTz2a9ROC0Bo4sB9HOa4TwAF6XdjUZhrMsD+V+SLbVGZ6D3AQ5L+CaM4lTFjZoIyQPsUWfJOjJR3DHgEgksnOfjq9MmRwisjBEAp9IFpnXTWnsofsdvSWOVf2FklxjbH/ghvmMQ60wyVnbHsI7WG1DWUwgybOGYoTUqHDYpvQLNGf7ZMLaHoTaE/DA8GIqHblz7bQR9emLTewDi998j9rplVACG1p0jLcm+ZMtsEr36puG3dbzRhcqH1MAgqeJCxB9PjFn2G1UV6oqkTH9LRRiCUP22rdisLgz/uWv2UbSGgRbvgLKDv4lYAP0y58edlC3BB02gG3+bc1+q/BbxCi7Bi/QFzmDin/u6PG08xdt4W9tbA/6+73/+AcPkZHrnV+ajysSdg5tjZz1LiW2qGYsEn5NpHiunh/9epDvl4ugeVafAFp24tSwgGhjdLqqjdWWIJxlZO5S6NWNnqUHeOZpnsj6iTfKoJcDI0IxCFaeeoEE/Wbo6/v/09nCElxRC5aAVYbj2DLmWzMwo6VUI6kQ+1SDhJt1WEVB8lYOXhnefeqp3Fc6hJThZ0Jb5OeAAq7jUgKBlNdztkCnP+iXBz67rmw/OVTXaPr/AqgnXiT4p5wvM9RhuRiNxdZsa6R01heLzeMp8//HmXzlbdOTc8wP73W/ds2MqSRLsi2lIfurSPaGOtRQ19Jc2LVSJi+29YJdb0bHH3AReemZYpnrTBC9deT0qyBkKoIehRBr4OYs7zAXkNWHgq8X/Pf92G+4GZLR0tRObfgz9CfsgGIds+AgXzpbHS53ca2Tx/mTb9Tuj5ArwWuJmLXJvI71+HD91XcXN6H2M7DMO/eMQDc81KLTAn3TThBsR3ff/s/+gQwLSzI8VHHQB9foLXvQx6/VCxgCIhbKq/BmHI2fNDm67W39I92sgF+I+l4y49IH21DTBMJXJtlFn9MwynuA1pTP3RF6WcQimC6hN3gIxDs8ciqcDxdublQmWfQhAb5YPf+E48naDJXUgTtOYBKY28QTFVQOkqXCvxR952iF+jLAC7EFwdEPpyPW0DkQ6PUka+BSwrBzb0zBJgJadSeyY4mDdf702qajyUv5FljoxCjJZEKJdbNfx2LvuMPExU4AN5NDZI/NLkP0cNCGf597rnFSlOuPflsyJFu5PGEom3f+tCa2mzukFbQfwwvNHAW4C9jmdVJuZ6VTAwVtcfeSGv0Wbiez2qNC5QqTPgAfp1LCxJ1dPS/zXJgNsh0+25UDz5XKEytf7Y27KiefyGNfeXNyDkLWIWXgL2Gy0yfBQjFTCxzitFer8EUW7M1RwAt1tVsmS6QYw8DbU+t3rzwGbliHK5y1CGMe3MCLQSFD4bMAT2aciGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KozGW5BwJkFzcu6CQsrbGp",
      "input": {
        "note": "Left arm is frozen at a joint limit (no motion on the last command). Easing it back to a less strained pose (closer in, yaw -1.6, higher) — I'll bring the pen to it instead.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.33,
          "left_y": -0.25,
          "left_yaw": -1.6,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01KozGW5BwJkFzcu6CQsrbGp",
      "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]: [-0.297, 2.0708, 1.6585, -0.9909, 0.9348, 1.3106, 0.0822, 0.1127, 1.4677, 0.63, 0.0162, -0.7521, -0.6621, 0.0699]\nstate[eef_state]: left_x=0.365 left_y=-0.2566 left_z=0.1281 left_yaw=-1.7281 left_pitch=-0.0567 left_roll=-0.0346 left_gripper=0.0822 right_x=0.3209 right_y=0.1614 right_z=0.0871 right_yaw=1.0642 right_pitch=-0.0102 right_roll=-0.0242 right_gripper=0.0699\nstate[joint_eff]: [-2.359, -11.2752, 7.5145, 1.4432, 0.5299, -0.1441, 0.6422, -0.1162, -5.1487, 6.3111, 1.5116, -0.2711, -0.0317, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:216401b3cca684a1390f3a7372aa15dfa7bcf63c407ea1a5ce9e91582eb60ff0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b75cc1cab9d4fac192a3a3a465c34213e2ff112152fbdf9bc4696a8fe4554b73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:52fb78845ece47d73105e363152d3c0c691d9fb386261579c6e9cf5f997a3335",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 7.371 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]: [-0.4129, 2.5801, 2.1872, -1.3739, 0.9764, 1.6859, 0.078, 0.1127, 1.4677, 0.6323, 0.0235, -0.7521, -0.6624, 0.0657]\nstate[eef_state]: left_x=0.3637 left_y=-0.3152 left_z=0.0487 left_yaw=-2.0614 left_pitch=-0.0145 left_roll=-0.0914 left_gripper=0.078 right_x=0.3226 right_y=0.1616 right_z=0.0888 right_yaw=1.0643 right_pitch=-0.0047 right_roll=-0.0323 right_gripper=0.0657\nstate[joint_eff]: [-0.3761, -16.6222, 6.7897, -0.149, 0.5885, 0.1832, 0.6032, -0.0342, -5.8598, 6.4615, 1.4969, -0.3736, -0.0269, 1.033]",
      "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]: [-0.4129, 2.5801, 2.1872, -1.3739, 0.9764, 1.6859, 0.0793, 0.1127, 1.4677, 0.6319, 0.0227, -0.7521, -0.6621, 0.0699]\nstate[eef_state]: left_x=0.3637 left_y=-0.3152 left_z=0.0487 left_yaw=-2.0614 left_pitch=-0.0145 left_roll=-0.0914 left_gripper=0.0793 right_x=0.3224 right_y=0.1616 right_z=0.0886 right_yaw=1.0641 right_pitch=-0.0054 right_roll=-0.0311 right_gripper=0.0699\nstate[joint_eff]: [-0.3897, -16.6632, 6.7897, -0.1392, 0.6276, 0.1587, 0.8278, -0.2256, -5.6547, 5.8598, 1.3651, -0.3053, -0.0562, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.297, 2.0708, 1.6585, -0.9909, 0.9348, 1.3106, 0.0822, 0.1127, 1.4677, 0.63, 0.0162, -0.7521, -0.6621, 0.0699]\nstate[eef_state]: left_x=0.365 left_y=-0.2566 left_z=0.1281 left_yaw=-1.7281 left_pitch=-0.0567 left_roll=-0.0346 left_gripper=0.0822 right_x=0.3209 right_y=0.1614 right_z=0.0871 right_yaw=1.0642 right_pitch=-0.0102 right_roll=-0.0242 right_gripper=0.0699\nstate[joint_eff]: [-2.359, -11.2752, 7.5145, 1.4432, 0.5299, -0.1441, 0.6422, -0.1162, -5.1487, 6.3111, 1.5116, -0.2711, -0.0317, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:216401b3cca684a1390f3a7372aa15dfa7bcf63c407ea1a5ce9e91582eb60ff0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b75cc1cab9d4fac192a3a3a465c34213e2ff112152fbdf9bc4696a8fe4554b73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52fb78845ece47d73105e363152d3c0c691d9fb386261579c6e9cf5f997a3335",
        "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_01DS7gwJp5ySPiE3Qi5LtQec",
      "input": {
        "note": "Left arm is free again, holding the cap at z≈0.13 with its axis nearly along -y. Bringing the pen up to the same height with its tip pointing at the cap, stopping ~5 cm short.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.321,
          "right_y": 0.239,
          "right_yaw": 1.3,
          "right_z": 0.135
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01DS7gwJp5ySPiE3Qi5LtQec",
      "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]: [-0.3008, 2.0918, 1.6428, -0.9863, 0.9157, 1.293, 0.0828, 0.2977, 1.549, 0.8917, -0.1791, -0.7612, -0.6697, 0.0699]\nstate[eef_state]: left_x=0.3626 left_y=-0.2554 left_z=0.1128 left_yaw=-1.7215 left_pitch=-0.0804 left_roll=-0.0778 left_gripper=0.0828 right_x=0.3242 right_y=0.2307 right_z=0.127 right_yaw=1.2596 right_pitch=-0.0133 right_roll=-0.0146 right_gripper=0.0699\nstate[joint_eff]: [0.1846, -12.8342, 7.2137, 0.5788, 0.5934, 0.149, 0.7106, 0.3077, -6.106, 8.2256, 1.1697, -0.7448, -0.1197, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:993a6cb4e0880f94a8d2be8609fcdfec091ba395fa8c5e1fb00928d424d91e2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8616e1386d38c338582cef10e2b1e2505bf1766f780684cb99ca46e0eb6d86c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ce5db2e20236ef195640434bf1358b2aabe1e43e143c58b84dcbe29325449f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 6.822 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]: [-0.4129, 2.5801, 2.1872, -1.3739, 0.9764, 1.6859, 0.0793, 0.1127, 1.4677, 0.6319, 0.0227, -0.7521, -0.6621, 0.0699]\nstate[eef_state]: left_x=0.3637 left_y=-0.3152 left_z=0.0487 left_yaw=-2.0614 left_pitch=-0.0145 left_roll=-0.0914 left_gripper=0.0793 right_x=0.3224 right_y=0.1616 right_z=0.0886 right_yaw=1.0641 right_pitch=-0.0054 right_roll=-0.0311 right_gripper=0.0699\nstate[joint_eff]: [-0.3897, -16.6632, 6.7897, -0.1392, 0.6276, 0.1587, 0.8278, -0.2256, -5.6547, 5.8598, 1.3651, -0.3053, -0.0562, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.297, 2.0708, 1.6585, -0.9909, 0.9348, 1.3106, 0.0822, 0.1127, 1.4677, 0.63, 0.0162, -0.7521, -0.6621, 0.0699]\nstate[eef_state]: left_x=0.365 left_y=-0.2566 left_z=0.1281 left_yaw=-1.7281 left_pitch=-0.0567 left_roll=-0.0346 left_gripper=0.0822 right_x=0.3209 right_y=0.1614 right_z=0.0871 right_yaw=1.0642 right_pitch=-0.0102 right_roll=-0.0242 right_gripper=0.0699\nstate[joint_eff]: [-2.359, -11.2752, 7.5145, 1.4432, 0.5299, -0.1441, 0.6422, -0.1162, -5.1487, 6.3111, 1.5116, -0.2711, -0.0317, 1.0379]\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]: [-0.3008, 2.0918, 1.6428, -0.9863, 0.9157, 1.293, 0.0828, 0.2977, 1.549, 0.8917, -0.1791, -0.7612, -0.6697, 0.0699]\nstate[eef_state]: left_x=0.3626 left_y=-0.2554 left_z=0.1128 left_yaw=-1.7215 left_pitch=-0.0804 left_roll=-0.0778 left_gripper=0.0828 right_x=0.3242 right_y=0.2307 right_z=0.127 right_yaw=1.2596 right_pitch=-0.0133 right_roll=-0.0146 right_gripper=0.0699\nstate[joint_eff]: [0.1846, -12.8342, 7.2137, 0.5788, 0.5934, 0.149, 0.7106, 0.3077, -6.106, 8.2256, 1.1697, -0.7448, -0.1197, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:993a6cb4e0880f94a8d2be8609fcdfec091ba395fa8c5e1fb00928d424d91e2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8616e1386d38c338582cef10e2b1e2505bf1766f780684cb99ca46e0eb6d86c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ce5db2e20236ef195640434bf1358b2aabe1e43e143c58b84dcbe29325449f8",
        "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_01NmPnNunayUFspVAn8YSn8X",
      "input": {
        "note": "Both wrist views show the pen perfectly lined up with the cap in the left jaws, but the left arm sagged ~1.4 cm below the pen. Raising the cap to match the pen height before pushing them together.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.3626,
          "left_y": -0.2554,
          "left_yaw": -1.72,
          "left_z": 0.143
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01NmPnNunayUFspVAn8YSn8X",
      "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]: [-0.2909, 2.0838, 1.6184, -0.9733, 0.9363, 1.2926, 0.0828, 0.3008, 1.5536, 0.8978, -0.1947, -0.7597, -0.6693, 0.074]\nstate[eef_state]: left_x=0.361 left_y=-0.2528 left_z=0.1126 left_yaw=-1.7146 left_pitch=-0.0608 left_roll=-0.0845 left_gripper=0.0828 right_x=0.3229 right_y=0.2313 right_z=0.1253 right_yaw=1.2616 right_pitch=-0.0223 right_roll=-0.0034 right_gripper=0.074\nstate[joint_eff]: [0.4718, -15.5692, 5.9829, 0.7497, 0.8034, 0.0855, 0.7399, -0.3077, -7.0496, 5.9009, 1.4921, -0.359, -0.0171, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc5ddef0910b6ce39f65a721fb02e5cc8338fe392d0d5a29613bea4062fa01d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53977f965ce0ea262b08af8f623e079cee48b4fc6a29691d8b6489d208d76881",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9d312042cbe69f9b707eed32540717ae1cdce792b6627a26830344a7b15d5538",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 5.37 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]: [-0.297, 2.0708, 1.6585, -0.9909, 0.9348, 1.3106, 0.0822, 0.1127, 1.4677, 0.63, 0.0162, -0.7521, -0.6621, 0.0699]\nstate[eef_state]: left_x=0.365 left_y=-0.2566 left_z=0.1281 left_yaw=-1.7281 left_pitch=-0.0567 left_roll=-0.0346 left_gripper=0.0822 right_x=0.3209 right_y=0.1614 right_z=0.0871 right_yaw=1.0642 right_pitch=-0.0102 right_roll=-0.0242 right_gripper=0.0699\nstate[joint_eff]: [-2.359, -11.2752, 7.5145, 1.4432, 0.5299, -0.1441, 0.6422, -0.1162, -5.1487, 6.3111, 1.5116, -0.2711, -0.0317, 1.0379]\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]: [-0.3008, 2.0918, 1.6428, -0.9863, 0.9157, 1.293, 0.0828, 0.2977, 1.549, 0.8917, -0.1791, -0.7612, -0.6697, 0.0699]\nstate[eef_state]: left_x=0.3626 left_y=-0.2554 left_z=0.1128 left_yaw=-1.7215 left_pitch=-0.0804 left_roll=-0.0778 left_gripper=0.0828 right_x=0.3242 right_y=0.2307 right_z=0.127 right_yaw=1.2596 right_pitch=-0.0133 right_roll=-0.0146 right_gripper=0.0699\nstate[joint_eff]: [0.1846, -12.8342, 7.2137, 0.5788, 0.5934, 0.149, 0.7106, 0.3077, -6.106, 8.2256, 1.1697, -0.7448, -0.1197, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2909, 2.0838, 1.6184, -0.9733, 0.9363, 1.2926, 0.0828, 0.3008, 1.5536, 0.8978, -0.1947, -0.7597, -0.6693, 0.074]\nstate[eef_state]: left_x=0.361 left_y=-0.2528 left_z=0.1126 left_yaw=-1.7146 left_pitch=-0.0608 left_roll=-0.0845 left_gripper=0.0828 right_x=0.3229 right_y=0.2313 right_z=0.1253 right_yaw=1.2616 right_pitch=-0.0223 right_roll=-0.0034 right_gripper=0.074\nstate[joint_eff]: [0.4718, -15.5692, 5.9829, 0.7497, 0.8034, 0.0855, 0.7399, -0.3077, -7.0496, 5.9009, 1.4921, -0.359, -0.0171, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc5ddef0910b6ce39f65a721fb02e5cc8338fe392d0d5a29613bea4062fa01d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53977f965ce0ea262b08af8f623e079cee48b4fc6a29691d8b6489d208d76881",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d312042cbe69f9b707eed32540717ae1cdce792b6627a26830344a7b15d5538",
        "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_01Tra9RJiyDyUdwvREu82ZFZ",
      "input": {
        "note": "Pen tip appears to be at/inside the cap mouth (left arm wouldn't lift, suggesting engagement). Pushing the pen 1.5 cm along its axis into the cap and watching for a stall.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.328,
          "right_y": 0.246,
          "right_yaw": 1.26,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Tra9RJiyDyUdwvREu82ZFZ",
      "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]: [-0.2878, 2.0659, 1.6135, -0.9615, 0.939, 1.2919, 0.0849, 0.3176, 1.5608, 0.8955, -0.1715, -0.7498, -0.6491, 0.0776]\nstate[eef_state]: left_x=0.3624 left_y=-0.2522 left_z=0.1191 left_yaw=-1.7101 left_pitch=-0.0545 left_roll=-0.0609 left_gripper=0.0849 right_x=0.323 right_y=0.2367 right_z=0.1241 right_yaw=1.2609 right_pitch=-0.0205 right_roll=-0.0019 right_gripper=0.0776\nstate[joint_eff]: [-0.3761, -9.5795, 6.2701, 0.5592, 0.5446, 0.0073, 0.6471, 0.7179, -5.6547, 8.5675, 1.5409, -0.486, 0.1245, 0.9695]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eac8c35e153fe6df5af0a2b4ac36ef0d0fbf3516cd8b9f29aa83242dbedffee8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01d82a838246ba427ebe4e236e6235cab97e53ba36afbac7487c61f08e852226",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2c6b6db5f382ba0036233a5ed5b741023474344da90d7994f4ca21ccaafdee31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 4.644 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]: [-0.3008, 2.0918, 1.6428, -0.9863, 0.9157, 1.293, 0.0828, 0.2977, 1.549, 0.8917, -0.1791, -0.7612, -0.6697, 0.0699]\nstate[eef_state]: left_x=0.3626 left_y=-0.2554 left_z=0.1128 left_yaw=-1.7215 left_pitch=-0.0804 left_roll=-0.0778 left_gripper=0.0828 right_x=0.3242 right_y=0.2307 right_z=0.127 right_yaw=1.2596 right_pitch=-0.0133 right_roll=-0.0146 right_gripper=0.0699\nstate[joint_eff]: [0.1846, -12.8342, 7.2137, 0.5788, 0.5934, 0.149, 0.7106, 0.3077, -6.106, 8.2256, 1.1697, -0.7448, -0.1197, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2909, 2.0838, 1.6184, -0.9733, 0.9363, 1.2926, 0.0828, 0.3008, 1.5536, 0.8978, -0.1947, -0.7597, -0.6693, 0.074]\nstate[eef_state]: left_x=0.361 left_y=-0.2528 left_z=0.1126 left_yaw=-1.7146 left_pitch=-0.0608 left_roll=-0.0845 left_gripper=0.0828 right_x=0.3229 right_y=0.2313 right_z=0.1253 right_yaw=1.2616 right_pitch=-0.0223 right_roll=-0.0034 right_gripper=0.074\nstate[joint_eff]: [0.4718, -15.5692, 5.9829, 0.7497, 0.8034, 0.0855, 0.7399, -0.3077, -7.0496, 5.9009, 1.4921, -0.359, -0.0171, 1.033]",
      "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]: [-0.2878, 2.0659, 1.6135, -0.9615, 0.939, 1.2919, 0.0849, 0.3176, 1.5608, 0.8955, -0.1715, -0.7498, -0.6491, 0.0776]\nstate[eef_state]: left_x=0.3624 left_y=-0.2522 left_z=0.1191 left_yaw=-1.7101 left_pitch=-0.0545 left_roll=-0.0609 left_gripper=0.0849 right_x=0.323 right_y=0.2367 right_z=0.1241 right_yaw=1.2609 right_pitch=-0.0205 right_roll=-0.0019 right_gripper=0.0776\nstate[joint_eff]: [-0.3761, -9.5795, 6.2701, 0.5592, 0.5446, 0.0073, 0.6471, 0.7179, -5.6547, 8.5675, 1.5409, -0.486, 0.1245, 0.9695]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eac8c35e153fe6df5af0a2b4ac36ef0d0fbf3516cd8b9f29aa83242dbedffee8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01d82a838246ba427ebe4e236e6235cab97e53ba36afbac7487c61f08e852226",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c6b6db5f382ba0036233a5ed5b741023474344da90d7994f4ca21ccaafdee31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQStwoKEAgSGAI4AUIIdGhpbmtpbmcSDIsnUkJA4r8HuWdBoxoMHG0Mwfa5zD585JZwIjB4iDp1fXQSdkk6VVas4WG/Y44lJ40kyxTAW9AKlTSmQbaH8WMyw9BPjbttLlzAyoMq1AnfQA1lWOwXQ0a2N/+V8VFA85fDsO/iThGPICYxT8VmPS/N1Hps5iEZ3yg6SyKfPyFHQMpu+gxvR7lYdOQ2U+nCQ37tQDEz2AEclIVEhNN7GXxgTw9gfAk0vQEQDlWkJKwksSbVoNmZkNkr3WeHDNC62SiiXQbm9A3+oUvRiwrxOQR+yQ4xhxfdBtHCvUY57EUnx+SCdvUyTeFiul+Y6W9cwUR/yea6r86uX52SS6MjrM8NdPpsVuNp3HBIkseBwzlIM4v4IioPdi4wyTMP08NUAhyr/AO+XYgzX0NYYPg9zMJPRCEXRbxEv0AVjspRWD8urOBzGHXo0SwgtnSfBkILSN1wgQ7VZ110sAUVWoG51DBzMojTuVGd1+JtltfEYyBH2/MzR6ukw8jTp22LRbxJLzbd/EH+03eEF5AvdWdwF6fx6IiPHA3WXlrM8Q1u3N3HLImcggIHHVuAi9/Bo2Q0KExgtJLcDyw4DJ1h3+pddR18LjZ+3j25PcakagI3nWBvEREVxaj1EUNISw1R2pRlooZ0fDbLFw2d3cDdIE1WkX1S8wTesvBPvl7jWx27kOGlomKFciTgveLJUuhxxTQ7wnnyjm3/bz2jHxQ6CCyEJngRlDZTCcDDJ0QfrsYFu80PBD810NnurrajK3Axwdfh+j17kTUkraqvJ+7N+3+5qdDtlaK74niu0EuECWjTD9BZ3T9rQigmrjL/rh2gWl7GN4Zol5rUad8nZxT4b1xg0uHI2SP2OU6iDt3OvTwf+AbMv1pwzl7ulS2D4rLKMfww5nFwKHpAPyjlabtknveWo74wN+yd6nHFK0iJIx15QeLi4wc17it+a9GipMOVJf6tJsY65as5jHaF7OYunpMqd6QvsPBXayD4WavyqmKr0TtnCS2oHbRvAnLRsGuWvzkSooqlZOSDNyNPHE6M7QhUorJnwMkGY0Pa0/2C/dOkPaBbgNA5s3ThlQ5QA838q/bLhQJMan0vnKgN7w85rwh6dpxmAUFz7NlO5IL7R2rVAE6QR0uJ61BZ0uvQGF/hFY34hBZGquAMpFYlr3RHHuE7u8/qvMgF08La+Vi7B35RqXvVwlgoDyCbXKpmH6dj+VYBJgAkV8c69h582gSvxWBRjt9YsstWFPqHR2hu8XyZ6zLqlKSUONmRidhyFW2mIF6+kgnqXvckg2f6PbCY8K9WZVU2AVUYsScJBVgKAFnZJ+PSwhQLSGY4P3/5c0AzepHcLbfpdP7m8DE2vgtbFqbZFs6Lgd4Om7jf/th/y8Vyd4HBSYIOdH53FSKOpM4rb4qpEFBO+BlmgsOoCAJ+I9iCDYizFfB+S1lrrj+EzrznLMMa7EbCrY8BdWoxflhkZpq4WFxkXv62yskGqyp1N726pVsMExbdIKtuxWmZYpTHEfIfkj+l2RthohotFIqrJzFz/nkNkiBBbPZNWOl9SpL9lS7JxoYyummtuftY+4aDsrEE28beax51lPFz/4vVJ07h4v4gJ3iPiGp7I6j40Dp82Yf4FPM3EWsdlR4BWLAL9xKTiioInZoLlxjiXcHetFFrbVds0PNU77Hmhuc6+dZ/9twqxT6dckH2hlVq8EnfozZyG/I7o/fxFJfSuveokK2WJevpocTbRfy7u/PTPHDMLE/yN30YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q8PtoBJ6GoDpJ6Ao5DH5Xk",
      "input": {
        "note": "Pen advanced only ~0.5 cm, suggesting the tip is in contact with the cap. Pushing a little further to seat the cap onto the pen.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.33,
          "right_y": 0.252,
          "right_yaw": 1.26,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Q8PtoBJ6GoDpJ6Ao5DH5Xk",
      "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]: [-0.2882, 2.0785, 1.6135, -0.9695, 0.9207, 1.2919, 0.0851, 0.3378, 1.5799, 0.8978, -0.1535, -0.7292, -0.6189, 0.079]\nstate[eef_state]: left_x=0.3619 left_y=-0.2502 left_z=0.1113 left_yaw=-1.709 left_pitch=-0.0755 left_roll=-0.0787 left_gripper=0.0851 right_x=0.3238 right_y=0.2423 right_z=0.1186 right_yaw=1.2511 right_pitch=-0.0322 right_roll=0.0132 right_gripper=0.079\nstate[joint_eff]: [-0.0342, -12.0, 5.8325, 0.5592, 0.7009, -0.022, 0.6081, 0.8957, -5.9419, 9.0325, 1.6044, -0.5446, 0.105, 0.8571]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5febc54a2b3cb81a80867c19b2b45762f452c2541b5145da4843fc5b9ef52ba7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dde7064a6737ed2bba6fced23745caa078406f225710f8ce7999e2ebc96f87d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aef5dccc65588d848f085bc69df7293e5005c3aeb94e242128259e415a42e947",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 5.292 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]: [-0.2909, 2.0838, 1.6184, -0.9733, 0.9363, 1.2926, 0.0828, 0.3008, 1.5536, 0.8978, -0.1947, -0.7597, -0.6693, 0.074]\nstate[eef_state]: left_x=0.361 left_y=-0.2528 left_z=0.1126 left_yaw=-1.7146 left_pitch=-0.0608 left_roll=-0.0845 left_gripper=0.0828 right_x=0.3229 right_y=0.2313 right_z=0.1253 right_yaw=1.2616 right_pitch=-0.0223 right_roll=-0.0034 right_gripper=0.074\nstate[joint_eff]: [0.4718, -15.5692, 5.9829, 0.7497, 0.8034, 0.0855, 0.7399, -0.3077, -7.0496, 5.9009, 1.4921, -0.359, -0.0171, 1.033]",
      "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]: [-0.2878, 2.0659, 1.6135, -0.9615, 0.939, 1.2919, 0.0849, 0.3176, 1.5608, 0.8955, -0.1715, -0.7498, -0.6491, 0.0776]\nstate[eef_state]: left_x=0.3624 left_y=-0.2522 left_z=0.1191 left_yaw=-1.7101 left_pitch=-0.0545 left_roll=-0.0609 left_gripper=0.0849 right_x=0.323 right_y=0.2367 right_z=0.1241 right_yaw=1.2609 right_pitch=-0.0205 right_roll=-0.0019 right_gripper=0.0776\nstate[joint_eff]: [-0.3761, -9.5795, 6.2701, 0.5592, 0.5446, 0.0073, 0.6471, 0.7179, -5.6547, 8.5675, 1.5409, -0.486, 0.1245, 0.9695]\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]: [-0.2882, 2.0785, 1.6135, -0.9695, 0.9207, 1.2919, 0.0851, 0.3378, 1.5799, 0.8978, -0.1535, -0.7292, -0.6189, 0.079]\nstate[eef_state]: left_x=0.3619 left_y=-0.2502 left_z=0.1113 left_yaw=-1.709 left_pitch=-0.0755 left_roll=-0.0787 left_gripper=0.0851 right_x=0.3238 right_y=0.2423 right_z=0.1186 right_yaw=1.2511 right_pitch=-0.0322 right_roll=0.0132 right_gripper=0.079\nstate[joint_eff]: [-0.0342, -12.0, 5.8325, 0.5592, 0.7009, -0.022, 0.6081, 0.8957, -5.9419, 9.0325, 1.6044, -0.5446, 0.105, 0.8571]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5febc54a2b3cb81a80867c19b2b45762f452c2541b5145da4843fc5b9ef52ba7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dde7064a6737ed2bba6fced23745caa078406f225710f8ce7999e2ebc96f87d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aef5dccc65588d848f085bc69df7293e5005c3aeb94e242128259e415a42e947",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSjAkKEAgSGAI4AUIIdGhpbmtpbmcSDHjeJ/GK/xMnNgP7xRoMK99y9AnhmySVGK0DIjBtUEke46wifGWCmalUuMV85z3CqUf6BPsgNz08uFPTvLprqj/7dFrS1Cfh14IBUlMqqQhUs2GGoj0c7LRdJq9UqPi1NquxgQ6a0b5J03N+xSsi9+eRuWM/QqmpNnDBsd+tH5w4uR3fBqgwxjZk21RGrPvLg/LOKOe6yz/vgU4fB8RsA3HQ6O/30aBxSVm6ET76gGl84wJIuCppoITZLBbhaVJSBtgboxS7MAztnxlPaAExzu6CzaESYduc9E8x2VvsoMh4t8ZuBejcDN9YNkmZU87llCjeqzB9rRTiQPcsu19o7xJdScmCwm+QTA9576xlCbqiCtFYcXVLy63M78drg4lQGr1qW9f0UlF7HiVbS5BmPqmEn6dD7doAS2dkakaXE49Xf1mGmjRJNfqUv7TIc32ZKN8kJZyLkLEpJJJ84tRv+GEJCYypeigwYx3dmqK8Zgq9IJbnp7Uod58PariOziFNFywttIHG216ydEPHQiF/VfdWnzJHfaXV4Y/AzsMAydKHMjy2+CvA5HFzPkTYMGY4EwOCWxQsUKlcx/91irAqHoS59g0VS7ncAIXiml00C3AOTpLCRpYv2apiyc7jHZxRR62LdXiVrAAzsh+Y94YYGBiE3iRnZWmS0CsI7dnjirEFFNm7031d8EViLBeJY3jnj7CpHlGkfegZ1n2oIYMGQ9p0gj3CWDuEQXHG+/6Dp1s6WN1UUPqbKv9KHqSZSC88n95KmqW+rKo6GXg8vx5OrnJyVHkOmb+VjARFNUp5ju6WVK16CDzBldB8WdnzOd8q+KT9mh7WXeVt3AENfd5HnH/U+B+rJb+XwZAJQ/GNOHohPhUutLw42uxihDiDPOpXgNk5UNqVgeXSY0PBfkOFqDnLgaFqh1oOfdIWcRyvpt4rHNTBVG2SSCjcJ7rCcpPVP9MXFgcyN90I2BheXh0UCYCCRL4vFnOSX7ZzOqTZ5DSEv3Oonj5mKfpZ+sblby4+66rVuRxiyok+RAnOcq9NndsYx9ZP+YhdvYqXFQ0trlLu1/Fr3X1wF6Wtm2ulkFtKWRrK5fyGYOWTAo2sOLaTtIC3J/6x1Agz6dsOiemlaxH0SesHd1hID54zavvHhWsjZWtqt3qZosMlaMF0Xi1q7dEq7xNRu6ZPYcBRJUNoMqmy8ymEDllW3Uf51UcwXd57eGXMOkN4RRfX3P4KCSwMZNU+j2bHxDLJayXL6XXT4jNH2zOAOdXiaVTkzU/DOfA/Hi/vRNEZdVX78rwDVK86rDru43BVqprAkuPa/FJ1buibptwrmEERdsklrFBnOyhJEZ4uXVBLMV+GZ2br0A0ltZA9S11Dx+fnWtGL63tbg+uY6ZYKH2xOKFKBD/+Tf56CGaJ72kEijKv6ZsdLzLdPhYbrAHrqpNEhuxbcV8UMHY4Gm7N9jTOuaS+2E0Onm+jdjdo/46GBgGOX7d+EJR4EyKoxLHM4S72UBiwpLgNi4ZKUZl7GJImk9AkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FnQkiBxTM1QCyuEFQzLJgG",
      "input": {
        "note": "Pen and cap are collinear in both wrist views and the pen advances slowly against resistance. One more push along the axis to seat the cap.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.332,
          "right_y": 0.26,
          "right_yaw": 1.26,
          "right_z": 0.125
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01FnQkiBxTM1QCyuEFQzLJgG",
      "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]: [-0.2859, 2.0785, 1.6135, -0.9695, 0.9115, 1.2915, 0.087, 0.3431, 1.5871, 0.9012, -0.1471, -0.7219, -0.6121, 0.0803]\nstate[eef_state]: left_x=0.3629 left_y=-0.2485 left_z=0.11 left_yaw=-1.7051 left_pitch=-0.0845 left_roll=-0.0776 left_gripper=0.087 right_x=0.3252 right_y=0.2439 right_z=0.1174 right_yaw=1.2478 right_pitch=-0.0349 right_roll=0.0135 right_gripper=0.0803\nstate[joint_eff]: [-0.3624, -10.8786, 5.7915, 0.5543, 0.4811, -0.0366, 0.4127, 0.4444, -6.8034, 8.4855, 1.5409, -0.4713, 0.1343, 0.8132]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2f8504ebaa411a1b62dfcba5b8da5ee80a4700a1b79e3cbb4c1746127a64d61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:250f32912cbb917238419ab19441a75e628650a347ef7fb900c4b6fe849d13ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6228655c91b10ed2abef0075f925c51bf66d0aaf6fc9f356a53a704c2ab68cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 14.3 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]: [-0.2878, 2.0659, 1.6135, -0.9615, 0.939, 1.2919, 0.0849, 0.3176, 1.5608, 0.8955, -0.1715, -0.7498, -0.6491, 0.0776]\nstate[eef_state]: left_x=0.3624 left_y=-0.2522 left_z=0.1191 left_yaw=-1.7101 left_pitch=-0.0545 left_roll=-0.0609 left_gripper=0.0849 right_x=0.323 right_y=0.2367 right_z=0.1241 right_yaw=1.2609 right_pitch=-0.0205 right_roll=-0.0019 right_gripper=0.0776\nstate[joint_eff]: [-0.3761, -9.5795, 6.2701, 0.5592, 0.5446, 0.0073, 0.6471, 0.7179, -5.6547, 8.5675, 1.5409, -0.486, 0.1245, 0.9695]\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]: [-0.2882, 2.0785, 1.6135, -0.9695, 0.9207, 1.2919, 0.0851, 0.3378, 1.5799, 0.8978, -0.1535, -0.7292, -0.6189, 0.079]\nstate[eef_state]: left_x=0.3619 left_y=-0.2502 left_z=0.1113 left_yaw=-1.709 left_pitch=-0.0755 left_roll=-0.0787 left_gripper=0.0851 right_x=0.3238 right_y=0.2423 right_z=0.1186 right_yaw=1.2511 right_pitch=-0.0322 right_roll=0.0132 right_gripper=0.079\nstate[joint_eff]: [-0.0342, -12.0, 5.8325, 0.5592, 0.7009, -0.022, 0.6081, 0.8957, -5.9419, 9.0325, 1.6044, -0.5446, 0.105, 0.8571]",
      "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]: [-0.2859, 2.0785, 1.6135, -0.9695, 0.9115, 1.2915, 0.087, 0.3431, 1.5871, 0.9012, -0.1471, -0.7219, -0.6121, 0.0803]\nstate[eef_state]: left_x=0.3629 left_y=-0.2485 left_z=0.11 left_yaw=-1.7051 left_pitch=-0.0845 left_roll=-0.0776 left_gripper=0.087 right_x=0.3252 right_y=0.2439 right_z=0.1174 right_yaw=1.2478 right_pitch=-0.0349 right_roll=0.0135 right_gripper=0.0803\nstate[joint_eff]: [-0.3624, -10.8786, 5.7915, 0.5543, 0.4811, -0.0366, 0.4127, 0.4444, -6.8034, 8.4855, 1.5409, -0.4713, 0.1343, 0.8132]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2f8504ebaa411a1b62dfcba5b8da5ee80a4700a1b79e3cbb4c1746127a64d61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:250f32912cbb917238419ab19441a75e628650a347ef7fb900c4b6fe849d13ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6228655c91b10ed2abef0075f925c51bf66d0aaf6fc9f356a53a704c2ab68cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSvgoKEAgSGAI4AUIIdGhpbmtpbmcSDBWsuE/d0dlGZ53IkxoMBMG75X+p/JZez1/uIjDS285vmTBzYtDr9K1SGUrRnu4sFZQOLoVAKyP60aCnAM5KaH4zo8jyNe8TZYqKJS4q2wnQfwTPKDwx1FvrdjM8Zw3luagT8eUT5hQAiuRdPTBrhg+7xhwFl7sbLXMesq5Q9IT8jl0C0QVCsC+45UH0k51i7NRNeY8G13bMtS66pQwGssP77yB/4y+SS8597fDcxMWTTlT2etxT/bFNaAEIT8MHR+C8qlwkQKiQLhKOQkfCXOIMWZ+j0svyIOtkGs0agopGjvVIqsJUKE6FfxtEhcNYB5ewLVfhRI5spNVCtp15T+vUPGKqBx8UoXRdN+agK3//hnOIfOtkuHREYCNbG0Dheq1nXR6V8afC2ecGpidTE4X+3rzFPoVfmWS2EOL3vnpWJIFZKYi//Sj5fo1bPp4n6gVJVXNlZQBxiyjg7UxHEPEPgccfwUT9MQMvSoEVp0qrSId42BdzU1KO96U3KvxKiu/2Q5L2VEP7YJVQTi/1Wtso/ZNiT6/d8nd1PfWXKawG62T63AErALkkxfquEQx0bi8l4X/s/bdO8xRUwGyIy8sN2c1YhfwCcb1Pf6d7CeUyfxqiZjtwQ8KGEz8oz19o8NIYOgILZ8DFxGzXP4PDMz8/lNTKGNu6fpnJpmjEBCgGu2amQvlB0s/WRTpmCT+bpInczS/FHqEqX+A3cUjXAu0USOSxN7vYY7YCjeIU7KL9sYCQ9dOKwDXpKaZhtfdiIY2ZEE0Cx+CVaXjzdDG4p/Wr3q9wzwLWSPwRILKsBm2oEXJDb1G3vyCtmCHNkduIc1+b40RGb5SB0B5roZTeJMSPPPG7xcD5YjwvKu/Q4BCEuy9EBcnezJfUcJZTYO2wxpR1MbbMHGMbaA0RBCQkb3vJTMWX3OeVnNwhB8QDb6ETM4vSQH1oQ4/h70lD2cdHBoa2ttDyQA1PyBrmIbcX1BssFLLJocgkhpGPDJ7aTiTQMYzdALtCmuwsDD/DzXj2zqxd2tt1Fli6UCcRZoYMqdnkWekPE0oL9z8mDvwbyT1zpHOksLLYzzAaQCgjpZ1pakiyWcRDAt8qWN2FHqHukLaR89sE2wRM86g0mSYhqGpA+Wo/BvoZWa8BadrM6Dq5oPJ/gBY5dnWRtcfQw3PM/B77iHiMHq3TkpM9hyB+et/sg0yzuai28CIicigm9uzFSPI8ZxIkCVkF2TDVliPpJLNAZfqTunKueEhbTXGpdgx41KVCUHkWKomuZqIiV6hvi50iEjHSRNhrr83L0XBZCOJTgp2NjzqQDa5Nu/iw+QjhEN1GjmYDIlGYaOHIQIFYnMJBuW9VQYXJ1P2fjvitzfYGqHhHxhWJzQ42xbifEOdzWUSm5h/MgahqPcr08KozE7p2pjY5RaBLWHuk+C2M42M37t7oPZYJjU1Qwt+lhDSvweYR9+9ZvYQrQf0SKB3SIIm24iqPr7Prwg0+0RB2xq+AU5TX9MOqBeURfxf+GV/uPH9B4/oOpr9O/fdSKhEYrsaYxunv/2hweMXjpS/yJPOw35/QWqZGqs6YHu8pCasARHnC8e1ewiZORSosVWk9y0uQJZ9D/N7nMPZj7ocYpDFQb1sJrbs6cdYWZbJTKoWCFSw1gjL5gpP89f4MCGJbeh6lkwZQJLNVNKWH4kAH9Pc8d9dQcNbRS4fFKtJdwXF/cMDpmzn18oUEh3x1MQyUil79Caoc8NE9xtj/iFh+DWRDSp20IysSBP+GGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S5wRnxxWuE95YBVuRavUxR",
      "input": {
        "note": "Pen stalls against the cap with both parts collinear, suggesting the cap is seated. Releasing the cap from the left gripper to check that it stays on the pen.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01S5wRnxxWuE95YBVuRavUxR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2867, 2.0785, 1.6135, -0.9691, 0.8936, 1.2842, 0.9953, 0.3466, 1.5871, 0.9009, -0.1482, -0.7216, -0.6132, 0.0816]\nstate[eef_state]: left_x=0.3637 left_y=-0.247 left_z=0.1076 left_yaw=-1.6992 left_pitch=-0.1022 left_roll=-0.0802 left_gripper=0.9953 right_x=0.3241 right_y=0.2449 right_z=0.1171 right_yaw=1.2516 right_pitch=-0.0361 right_roll=0.0136 right_gripper=0.0816\nstate[joint_eff]: [-0.0615, -11.0838, 6.0513, 0.4713, 0.5934, 0.0562, -0.0269, -0.4991, -7.1043, 6.2974, 1.3748, -0.359, -0.0269, 0.8034]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2265c1112835d71d80467695127549b42d857d1824b598ec5ecbd6d0160b9e33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d88ac81a8d0e4e12082a8ed52746e18af25eb3b95af5addc5610bc42ff161c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6f3f008dead134cc26927e15d4c6d564ab413aa639173744aaaeebcf8690aa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 5.604 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]: [-0.2882, 2.0785, 1.6135, -0.9695, 0.9207, 1.2919, 0.0851, 0.3378, 1.5799, 0.8978, -0.1535, -0.7292, -0.6189, 0.079]\nstate[eef_state]: left_x=0.3619 left_y=-0.2502 left_z=0.1113 left_yaw=-1.709 left_pitch=-0.0755 left_roll=-0.0787 left_gripper=0.0851 right_x=0.3238 right_y=0.2423 right_z=0.1186 right_yaw=1.2511 right_pitch=-0.0322 right_roll=0.0132 right_gripper=0.079\nstate[joint_eff]: [-0.0342, -12.0, 5.8325, 0.5592, 0.7009, -0.022, 0.6081, 0.8957, -5.9419, 9.0325, 1.6044, -0.5446, 0.105, 0.8571]",
      "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]: [-0.2859, 2.0785, 1.6135, -0.9695, 0.9115, 1.2915, 0.087, 0.3431, 1.5871, 0.9012, -0.1471, -0.7219, -0.6121, 0.0803]\nstate[eef_state]: left_x=0.3629 left_y=-0.2485 left_z=0.11 left_yaw=-1.7051 left_pitch=-0.0845 left_roll=-0.0776 left_gripper=0.087 right_x=0.3252 right_y=0.2439 right_z=0.1174 right_yaw=1.2478 right_pitch=-0.0349 right_roll=0.0135 right_gripper=0.0803\nstate[joint_eff]: [-0.3624, -10.8786, 5.7915, 0.5543, 0.4811, -0.0366, 0.4127, 0.4444, -6.8034, 8.4855, 1.5409, -0.4713, 0.1343, 0.8132]",
      "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]: [-0.2867, 2.0785, 1.6135, -0.9691, 0.8936, 1.2842, 0.9953, 0.3466, 1.5871, 0.9009, -0.1482, -0.7216, -0.6132, 0.0816]\nstate[eef_state]: left_x=0.3637 left_y=-0.247 left_z=0.1076 left_yaw=-1.6992 left_pitch=-0.1022 left_roll=-0.0802 left_gripper=0.9953 right_x=0.3241 right_y=0.2449 right_z=0.1171 right_yaw=1.2516 right_pitch=-0.0361 right_roll=0.0136 right_gripper=0.0816\nstate[joint_eff]: [-0.0615, -11.0838, 6.0513, 0.4713, 0.5934, 0.0562, -0.0269, -0.4991, -7.1043, 6.2974, 1.3748, -0.359, -0.0269, 0.8034]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2265c1112835d71d80467695127549b42d857d1824b598ec5ecbd6d0160b9e33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d88ac81a8d0e4e12082a8ed52746e18af25eb3b95af5addc5610bc42ff161c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6f3f008dead134cc26927e15d4c6d564ab413aa639173744aaaeebcf8690aa6",
        "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_01R5FiS3Htt4KLtbKNv8zykn",
      "input": {
        "note": "Release showed the cap was not on the pen: the pen tip is bare and the cap dropped to the table just below the left gripper. Pulling the pen back out of the way and lowering the left gripper over the fallen cap to regrasp it.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.33,
          "left_y": -0.265,
          "left_yaw": -1.57,
          "left_z": 0.05,
          "right_x": 0.305,
          "right_y": 0.19,
          "right_yaw": 1.26,
          "right_z": 0.125
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01R5FiS3Htt4KLtbKNv8zykn",
      "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]: [-0.3443, 1.9793, 1.0763, -0.3931, 0.894, 1.0386, 0.9962, 0.1864, 1.5017, 0.8532, -0.3, -0.7872, -0.7593, 0.0825]\nstate[eef_state]: left_x=0.3055 left_y=-0.252 left_z=0.0253 left_yaw=-1.612 left_pitch=-0.0836 left_roll=-0.1399 left_gripper=0.9962 right_x=0.317 right_y=0.1907 right_z=0.1171 right_yaw=1.2155 right_pitch=-0.057 right_roll=0.016 right_gripper=0.0825\nstate[joint_eff]: [-0.4718, -12.3009, 6.3932, 1.0769, 0.5397, -0.1441, 0.0806, -0.3761, -8.1846, 5.8462, 1.1453, -0.5983, -0.0855, 0.4176]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:168faa74ddc0ea52c2715a70567b0538182763237ccc4124c6884c8b4fc45a01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abd20bb7e4611aee1991dbabc45b79ccec26dc8449ba36072fa0f72cb9eb66c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:defcada76d3a602ccc38da02e983879586682afbb1c0d8d7b162c2c5fffd436d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 5.411 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]: [-0.2859, 2.0785, 1.6135, -0.9695, 0.9115, 1.2915, 0.087, 0.3431, 1.5871, 0.9012, -0.1471, -0.7219, -0.6121, 0.0803]\nstate[eef_state]: left_x=0.3629 left_y=-0.2485 left_z=0.11 left_yaw=-1.7051 left_pitch=-0.0845 left_roll=-0.0776 left_gripper=0.087 right_x=0.3252 right_y=0.2439 right_z=0.1174 right_yaw=1.2478 right_pitch=-0.0349 right_roll=0.0135 right_gripper=0.0803\nstate[joint_eff]: [-0.3624, -10.8786, 5.7915, 0.5543, 0.4811, -0.0366, 0.4127, 0.4444, -6.8034, 8.4855, 1.5409, -0.4713, 0.1343, 0.8132]",
      "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]: [-0.2867, 2.0785, 1.6135, -0.9691, 0.8936, 1.2842, 0.9953, 0.3466, 1.5871, 0.9009, -0.1482, -0.7216, -0.6132, 0.0816]\nstate[eef_state]: left_x=0.3637 left_y=-0.247 left_z=0.1076 left_yaw=-1.6992 left_pitch=-0.1022 left_roll=-0.0802 left_gripper=0.9953 right_x=0.3241 right_y=0.2449 right_z=0.1171 right_yaw=1.2516 right_pitch=-0.0361 right_roll=0.0136 right_gripper=0.0816\nstate[joint_eff]: [-0.0615, -11.0838, 6.0513, 0.4713, 0.5934, 0.0562, -0.0269, -0.4991, -7.1043, 6.2974, 1.3748, -0.359, -0.0269, 0.8034]",
      "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]: [-0.3443, 1.9793, 1.0763, -0.3931, 0.894, 1.0386, 0.9962, 0.1864, 1.5017, 0.8532, -0.3, -0.7872, -0.7593, 0.0825]\nstate[eef_state]: left_x=0.3055 left_y=-0.252 left_z=0.0253 left_yaw=-1.612 left_pitch=-0.0836 left_roll=-0.1399 left_gripper=0.9962 right_x=0.317 right_y=0.1907 right_z=0.1171 right_yaw=1.2155 right_pitch=-0.057 right_roll=0.016 right_gripper=0.0825\nstate[joint_eff]: [-0.4718, -12.3009, 6.3932, 1.0769, 0.5397, -0.1441, 0.0806, -0.3761, -8.1846, 5.8462, 1.1453, -0.5983, -0.0855, 0.4176]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:168faa74ddc0ea52c2715a70567b0538182763237ccc4124c6884c8b4fc45a01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abd20bb7e4611aee1991dbabc45b79ccec26dc8449ba36072fa0f72cb9eb66c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:defcada76d3a602ccc38da02e983879586682afbb1c0d8d7b162c2c5fffd436d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS8QkKEAgSGAI4AUIIdGhpbmtpbmcSDOnyZsSY8rfJaHiCpBoMr1+JVxriKo0F6WVuIjA88KymFYXBfwTl2XFTc1L0bn1QqCALnnBI8KNWHRCIRyMJygWma6ngefyaybmQOxcqjglkEjyxC/CVBwlBQS0k9z7wCvprHLFx57QKZJi7K1dJBkBJiYCmu52SF0OtC9DBMh14G5Rc2eI6ZUfIWYv84pnYGAd0t4NrCFJRXWXfzw7Me7Nd3/MpWUhjvRGBTutF9PoJzij9XvQNcoWnRP8C3KpfJKzs5+h28TwPu1QdBvvck6wnFA4QhXn0EK0Q0ZfS5HSM1k3gzZb/LooZmL83tcGuEy90/DyKv/d8F2UdQln/ZHEU4wCOcOblCKzfRmCFSVYe7lMlZEtuAJzRvXODo49sbngbsXVHQbcGNJJ+pyjSrRntSl2Qn0eXYWrVY6f8AyklvAMjTq2dFdcAOX5fHzfjdar4GwlgOfKvIRzp37Zk1N4a5Ia8QPjNWJufYfRkLunT5vyYLaMfOlxgQGBs7bxljVLYARuH+1HU8wQ01v5rlM2Zrc7OU7lpcOrjVkgIU4O/OG8umIsj3XQwHsvFkrRToAxsUgeq+//zuQwbGg+GwiLA62BR2ztDFqsXAFmjfnmLYL2TokyeneajWDD/AaddPjgrAQAFOYzKXbvWZc5R2GrFb5tXeTyExHHCbnzfJQzraNJvrs7sIP6qETQhrj41lK9C6ksbsOFJv+yoTD7mahHoGdAXNjN/si/IioRcIa7p2ptEeZct8f9pIbCHQkxarjPdLtUQihoRnhLCgFfBNvLY0Z4Qla4EYFn4edc1X0BGReyBMD7gWQgMdnvZ73r63SSYQUow/kZISoe4ckqvBR4gwG+dMNiARVBuL3x5wRiFuyjKEuOkS7DF+FqjOfXENZoFr5VA8vgmMFufR7SBPgvLGXN4yKUhQZaNJ1v7vvBBH1qwf3CEizl+Fex0AFOBkwW55gPqVsiUbgAcmLZ3pi3y7dbQwVZwtmUHue0pRhghHdJ11l+zTnIiTIoWM2yPMR0K6FidjT4Zf+MKbdBTOadWVzzkGpTRSrD4R00bGlfnKTWcKNE8lFmbjFPCds9HV/DQOSa6AT2e3PUd6CPRGScD0L8LbK4QOOMB8K65Ocx5EM3DCQ3/0ItWnhulmKRe9N9mjWVV894syI+NzRCmWgMcn2TM/GjOXpCil7J04FR6F6B02f+IF4JkWMaXMfilTRFA6aa8noB+8GddJCoNfPNT5j0GgZqx/8bCQG6LCdxCTy2ZBJzzVNMKGOwzKhzX+ow8jsXtLgEQarA+BlzztMmPQspBr67BJvusZasxuGf3PsdpkutVwkVSKWuwZQp03Kv2VwWo7NO7oEOPg97jk9YxcMIEil2WaMvir5ZeCM0Qa0MVCD+R3iCI+cqWrmy8IcXTFFvbhJhMG48TnM6Jwg5bBJ8LUArVt5xe9Mof5w/n+yJpqXuEAXFgqEeo9MXEAMWMUqb2GDJ55NAM+ZETneyuFRcpjJ9F6CCpBmkXjr6IXnMrUNZNIU5yJzke8ENwgTk4YRxCq8oqmCGhUG0EYb+S9rSflarHueMCIYnbam36W2VRAkPO2+1ugXAvP34/UAa6yoITyLN0geFqmcN/Xyq5Ccmh0m9+OKRzZnuIw2XZSxH2FBz1b3py52OVkxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SDQpHc1EGVvihkCoyYd6ra",
      "input": {
        "note": "A dark shape (likely the cap) appears near the left jaw at the bottom of the wrist view, slightly toward +x. Shifting 2 cm forward and descending to table level to grasp it.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.325,
          "left_y": -0.26,
          "left_yaw": -1.57,
          "left_z": -0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01SDQpHc1EGVvihkCoyYd6ra",
      "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]: [-0.3443, 2.0556, 0.9821, -0.0502, 0.9268, 0.9794, 0.9962, 0.1791, 1.4963, 0.8494, -0.3252, -0.7891, -0.7818, 0.0829]\nstate[eef_state]: left_x=0.3195 left_y=-0.2608 left_z=0.0002 left_yaw=-1.585 left_pitch=-0.003 left_roll=-0.034 left_gripper=0.9962 right_x=0.3132 right_y=0.1878 right_z=0.1149 right_yaw=1.2225 right_pitch=-0.0674 right_roll=0.0187 right_gripper=0.0829\nstate[joint_eff]: [-0.3487, -8.1299, 3.959, 0.232, -0.8034, -0.359, -0.0024, 0.3624, -5.2308, 6.4889, 1.453, -0.4322, 0.1099, 0.8718]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdc7eddfb01da5d457c9715c9dcb140947600072bbfb03d3229885ada6636f3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e1d0631a60d6e6026f7a766216b5980a6abf41aaf5434305d6d54c13cc6fc00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:52402541ec2ed2a1732270eefd60f3044abe354cb645fc4d94ffe77ecc7c87a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 13.16 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]: [-0.2867, 2.0785, 1.6135, -0.9691, 0.8936, 1.2842, 0.9953, 0.3466, 1.5871, 0.9009, -0.1482, -0.7216, -0.6132, 0.0816]\nstate[eef_state]: left_x=0.3637 left_y=-0.247 left_z=0.1076 left_yaw=-1.6992 left_pitch=-0.1022 left_roll=-0.0802 left_gripper=0.9953 right_x=0.3241 right_y=0.2449 right_z=0.1171 right_yaw=1.2516 right_pitch=-0.0361 right_roll=0.0136 right_gripper=0.0816\nstate[joint_eff]: [-0.0615, -11.0838, 6.0513, 0.4713, 0.5934, 0.0562, -0.0269, -0.4991, -7.1043, 6.2974, 1.3748, -0.359, -0.0269, 0.8034]",
      "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]: [-0.3443, 1.9793, 1.0763, -0.3931, 0.894, 1.0386, 0.9962, 0.1864, 1.5017, 0.8532, -0.3, -0.7872, -0.7593, 0.0825]\nstate[eef_state]: left_x=0.3055 left_y=-0.252 left_z=0.0253 left_yaw=-1.612 left_pitch=-0.0836 left_roll=-0.1399 left_gripper=0.9962 right_x=0.317 right_y=0.1907 right_z=0.1171 right_yaw=1.2155 right_pitch=-0.057 right_roll=0.016 right_gripper=0.0825\nstate[joint_eff]: [-0.4718, -12.3009, 6.3932, 1.0769, 0.5397, -0.1441, 0.0806, -0.3761, -8.1846, 5.8462, 1.1453, -0.5983, -0.0855, 0.4176]",
      "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]: [-0.3443, 2.0556, 0.9821, -0.0502, 0.9268, 0.9794, 0.9962, 0.1791, 1.4963, 0.8494, -0.3252, -0.7891, -0.7818, 0.0829]\nstate[eef_state]: left_x=0.3195 left_y=-0.2608 left_z=0.0002 left_yaw=-1.585 left_pitch=-0.003 left_roll=-0.034 left_gripper=0.9962 right_x=0.3132 right_y=0.1878 right_z=0.1149 right_yaw=1.2225 right_pitch=-0.0674 right_roll=0.0187 right_gripper=0.0829\nstate[joint_eff]: [-0.3487, -8.1299, 3.959, 0.232, -0.8034, -0.359, -0.0024, 0.3624, -5.2308, 6.4889, 1.453, -0.4322, 0.1099, 0.8718]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdc7eddfb01da5d457c9715c9dcb140947600072bbfb03d3229885ada6636f3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e1d0631a60d6e6026f7a766216b5980a6abf41aaf5434305d6d54c13cc6fc00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52402541ec2ed2a1732270eefd60f3044abe354cb645fc4d94ffe77ecc7c87a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSuAoKEAgSGAI4AUIIdGhpbmtpbmcSDOCsMPCx7wmAEAdj7hoMGv5dk+Z5pGf4GoOTIjDdNxKA90pRIEn84Js3YtvoPGXHQ7t4Q9lZooVzLBhLKg5ok3yKKKv1OQ97Ee0LQ6Aq1QmAhgN8SMteqah8wKEIXXf7JwnbrY599yioOBiDR7uYN23ziEczlYmSI/wulopNqygNjoObgL+YzGQGIs129McFKbEfk+uttVH3JdvdBj+s/7NTga+EJeiH+whJLcjN2cM3uATEqYBTVGFvIKLN+PLrclXSWDb01Bh5jlnUVn5fwlESgTJuV/SbEbZj0/6UM/vP4Vp3DOiMcA+Hq9UtPayLxMokQdBoQA6vjgGiL3HpbRHPjOt9hGgDhfo19mKdzLDC2JgpoItzL1dKHj51nzHuNhrrCILPcBlLuhubpuVShyc75VHjLoRvLvK8TLeZZ/JwrmcNJdtSLbGbDXEFZZKjLyun94aWEU5KEuMaNjNjaVw9Msk1mhEkrG8HjxxEaaIiB3QuJxFEtWdMaB5Wr+74wzrhio9WeLJIKlGx5X4Weh6PfBsSgeBxtw90T89Zz6HYtPpKGhwQi0YJmFsfH4aZ0s6uYsf7Z0Nan9B/Wy9sxT7CLDQx6zmvt/vcTqNEAPDB694EedcL1+0f5DWFa2zWyqTFzzCoksUja/OppN/TB9ZlsvvDDa5KFyemTT/FHrU44GZgKpd/xNSUn7BrOnPE8xWqEp0RjnCAemZtQeGpNzM2I5xH3AjxJsGqTckvOaPBzgJdhcqcttxqgTp5oWnERH2H1zQEWnTjT8EYmbcUoM8tABgfnuCoqexJ6+cQzYLsNORQXhPe5mlZXTe+CKIWpKYCf6figNjfvaN2pxn6nsO385RrqGUxQudKxteskwQRw0aeYrkCJvZ1LMWdFYXWoR358YGP9xhx6lzQsaHU5LUlcD9W08JN9ZtwTZxZ1/wdneQzcwsD1IsPRyyTWD8HB9txyYmqhxYHpyDAmeY4pfYpHK9DU4h223fGURdz5c3WL12kOzOyqC5+VLqHNGN9l1MeQlYBx6viyAazr4I8QM6mMbpR1jY+R+ebIlDpqw5rv07ATPEQUgr0BQe/zxQPO3Z7BQqKh1hNnri70KxEMDiW5s+bYjsKns/wNR5Fql50yy8uRyXut35lTC+PeRDnEfPjvvRNPnLdrqge13rykmc9CcjYHr/Y5So7B8feYZgoh3R6508YLczOOzzW8BUduYOToMWHYoNu/iWJf8IQ6GEK4c36FCYeJjFjbO3ROl9ythc3Oni79G3DSzm5xvKD4UZ98c7zkd/3dDlBExFzAAK/tAptvx/iIYYp09qwEm9zGqC7XK4e6WGdE8vRHi6ZD7A6/U4QQjW+hbGGaPS/Yiah4wuTntmmTRwI1GiyiP2TIPtVXa3BFLRvZfpDD7ZFy1fmADbcaBgQpmKmUoeHFVWdyW78jda0UX1yIqf6nKOu4UVxOAYlNzLLw2AczSE4CVNBGR4cJ3BNnspZRCvJedsPFjr/lQ+GD1IJ5dFdg+Dmmy8HffR2Y1DuTTkv9BIQ9IfsC9FDpxIG7WY8wVfDmPkmLTP6G56/+Ma67LnfxT/vb7lmEis2MjOJ5kOVwsr6qEBQJCCtOwYDmW7R1mPlWL4RYBz2eOePaBI12KEK9OLgudBHp6ZIMef6bFrWMeZzcuEmPapuMhU38Apv8QTNK7Hd6BNi0sPSL0CxzZVsJrMevDAk/WtjEtu7JZeNJmWE5FT0Ew8JOl2dLSip0/lDlsXxKeXGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AJR3nXnj7bU9oHMKn7gyc2",
      "input": {
        "note": "Left jaws are at table level straddling where the cap fell (dark shape near the jaws). Closing to regrasp 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_01AJR3nXnj7bU9oHMKn7gyc2",
      "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]: [-0.3408, 2.0712, 0.9661, 0.0685, 0.9268, 0.9665, 0.0107, 0.1783, 1.4971, 0.8494, -0.3298, -0.786, -0.775, 0.0858]\nstate[eef_state]: left_x=0.3309 left_y=-0.2635 left_z=0.0002 left_yaw=-1.5755 left_pitch=0.0255 left_roll=0.0372 left_gripper=0.0107 right_x=0.3129 right_y=0.187 right_z=0.1138 right_yaw=1.2166 right_pitch=-0.0724 right_roll=0.0277 right_gripper=0.0858\nstate[joint_eff]: [-0.2803, -8.1983, 4.1641, 0.9158, 0.2515, -0.022, 0.696, -0.2667, -6.188, 6.1333, 1.2332, -0.4078, -0.0659, 0.6081]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccbfe612786aed334dbe7f6ee1830b454217b780c4080f22e125c8f929466046",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:327064507b3180fd380d850f84e20c5aca77312bed7e5d5062eb89978fe71ac4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c700fdd27cd67f47dbe7671bd926e218da7a7e7a69a312d086867cf996f8a828",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]